@1576337748.20EST = @EST1576337750.41 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0x3671, state=0x3350, ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.22 I2C Gateway v3.06 +208 #>RESET< ESP2 v3.22 I2C Gateway v3.06 +45 #Powering up Dwarves =ECan =tMAIN =Ssampler =hcore =Pprocessing =FMFB =mMAIN_scheduler =Astorage =Ccollection =Mmanipulator +669 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +309 !o:Instrument::ISUSCore: @refiȡ6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E# " +4 # " + S) +2 ) + h  +2 C' + ' +3 h  + P% + % +3 h  +3 C' 9\ +3 ' 0\ + ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +3 S)&\ +2 .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready? + C'& +3 h & 2 5  +396 #t-> ESP.ready! +2 C'& +2 P%& +6 h & 2 4  +2 ."rdySampler"Intake.select :close +2 .\Exhaust.select :close + .\CTV.dial :air + C'  +3 h &\ +3 ."rdyProcessing"\PSV.dial :air +3 .t\PC.reconfigure PCconfig +2 P%\  + %$x2 ^22b +3 h +2 .t\PC.home.seek :open +2 ."rdySampler"\CSV.dial :waste1 +2 P% ( + C' +4 h + ."rdyProcessing"\PS.reconfigure PSconfig +3 P%#A d`xb +2 h + ."rdySampler"\SSV.dial :spit,avoiding: :exhaust +2 ."rdyProcessing"\PS.home.seek 0 +2 S) + P% 'ؾ +4 h  +2 S)  +5 h  +2 C'& +2 ."rdySampler"\SS.reconfigure SSconfig +3 ."readyCS"\CS.reconfigure CSfast +4 S)#.0X exit +4 #m\EXIT @1576337806.09EST @1577988273.99EST = @EST1577988276.31 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0xEC54, state=0x3350, ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.22 I2C Gateway v3.06 +209 #>RESET< ESP2 v3.22 I2C Gateway v3.06 +54 #Powering up Dwarves =Astorage =ECan =Mmanipulator =hcore =Ssampler =Pprocessing =FMFB =Ccollection =mMAIN_scheduler =tMAIN +711 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +336 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 E $! +4  $! + S) +2 ) +2 h  + C' +2 ' +2 h  + P% +2 % +2 h  +4 C' 9\ + ' 0\ +2 ' -\ +4 P% 9\ + % 2\ +2 % *\ + % 0\ +4 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready? + C'& +3 h & \ +589 #t-> ESP.ready! + C'& +2 P%& +4 h & \ +3 ."rdySampler"Intake.select :close +2 .\Exhaust.select :close + .\CTV.dial :air +2 C'  +3 h &M\ + ."rdyProcessing"\PSV.dial :air +3 .t\PC.reconfigure PCconfig +2 P%\  +3 %$x2 ^22b +2 h + + ."rdyProcessing"\PS.reconfigure PSconfig +3 ."rdySampler"\CSV.dial :waste1 +2 .t\PC.home.seek :open +3 C' + P%#A d`xb +2 % ( +4 ."rdyProcessing"\PS.home.seek 0 +2 P% 'ؾ +2 h + ."rdySampler"\SSV.dial :spit,avoiding: :exhaust +2 S) +2 h  +2 S)  +4 h  +3 C'& + ."rdySampler"\SS.reconfigure SSconfig +3 ."readyCS"\CS.reconfigure CSfast +5 S)#.0X access 1 +8 .\SE.seek :down +2 A(3' +4 h ' +2 M&4% +3 h %   +  +2 M&5& +3 h &   P * +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(6(<- +983 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (7& +2 h &<,) y \ \  +14708 E A> +9662 #t-> access 2 +8 .\SE.seek :down +2 A(8' +3 h ' + M&9% +4 h %    H  +2 M&:& +3 h &   F * + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(;(K +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (<& +2 h &K `\  +22626 #t-> access 3 +8 .\SE.seek :down +2 A(=' +3 h ' + M&>% +4 h %     +2 M&?& +3 h &   * + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(@([ +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (A& +2 h &[ y\  +26937 E CA +2930 #t-> access 4 +8 .\SE.seek :down +2 A(B' +3 h ' +2 M&C% +3 h %    7  +2 M&D& +3 h &   ` * +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(E(C +1928 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (F& +2 h &F \ +11931 #t-> access 5 +8 .\SE.seek :down +2 A(G' +3 h ' +2 M&H% +3 h %   \   +2 M&I& +3 h &   O * + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(J(  +361 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (K& +2 h &  y\ \ +12961 #t-> access 6 +8 .\SE.seek :down +2 A(L' +3 h ' + M&M% +4 h %     + M&N& +3 h &   3 * +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(O( +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (P& +2 h & \  +14669 #t-> access 7 +8 .\SE.seek :down +2 A(Q' +4 h ' +2 M&R% +3 h %     +2 M&S& +3 h &    * +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(T(,y +369 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (U& +2 h &,{ \ +14351 E A> +38042 #t-> CC.unloadPuck + C'V& +3 h &  +2 !to:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"#Collection Clamp is NOT CLOSED +5932 #-> CC.close + C'W& +3 h &  + C'X& +4 .t\CC.seek :closed +2 C'Y(\\ +3 h &  +3 &  A +10 &J}\ 2 +9 &Su\ G +9 &d\ N +10 &`\ M +9 &c\ N +10 &Ee\ N +9 &_\ M +9 &_\ M +10 &e\ N +9 &Mb\ N +9 &!_\ M +10 &"e\ M +9 &$c\ M +10 &&U`\ N +9 &(b\ M +9 &)b\ M +10 &+`\ M +9 &-^`\ M +9 &/!a\ M +10 &0`\ M +9 &2`\ M +10 &4eb\ N +9 &6)a\ M +9 &7b\ N +10 &9`\ M +9 &;n_\ M +9 &=0a\ M +10 &>^\ M +9 &@b\ M +10 &Bub\ N +9 &D7b\ N +9 &Ek\ N +10 &Gu\ O +9 &Ir\ Q +9 &K(_n\ V +10 &L4=\ X +9 &N+/\ X +10 &Pe')\ Y +9 &R'$$\ Y +9 &S!#\ Z +10 &U \ Z +9 &Wg\ [ +9 &Y&\ \\ +10 &Z\ [ +9 &\\U` \ , +10 &\\\ T +8 ( +2 &\\u\ O + C'X& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 1.83 + C'Z& +4 h &\\u\ O +564 #t-> CC.unloadPuck + C'[& +3 h &\\u\ O + !to:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"4Specify puck type in Collection Clamp to unload +1342 #-> CC.open + .\CC.seek :open +2 C'\\( +449 h ( +2 C']& +3 h &  +496 #t-> CC.close +2 C'^& +3 h &  + C'_& +4 .t\CC.seek :closed +2 C'`(\\ +3 h &  + &  +9 &2}\ *y +9 &c\ > +10 &}}\ N +9 &@_\ M +9 &_\ L +10 &b\ M +9 &_\ M +10 &H_\ M +9 &\ c\ M +9 &`\ M +10 & _\ M +9 &"Pb\ M +9 &$`\ M +10 &%_\ M +9 &'`\ M +10 &)Z_\ L +9 &+`\ M +9 &,b\ M +10 &.^\ M +9 &0a]\ M +9 &2#^\ M +10 &3a\ L +9 &5_\ M +10 &7ic\ M +9 &9+]\ M +9 &:]\ M +10 &<\\\ M +9 &>q]\ M +9 &@3]\ M +10 &A]\ M +9 &C`\ L +10 &Eyb\ M +9 &G7h\ N +9 &Hx\ O +10 &J6M\ S +9 &Le\ V +9 &N#\ X +10 &O\ X +9 &Q\ X +10 &Sd\ Y +9 &U&\ Y +9 &V\ Z +10 &X\ [\ +9 &Zg\ [\ +9 &\\ y\ 7 +10 &\\(\ %m +9 &\\\ T +2 ( + C'_& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 1.89 +2 C'a& +3 h &\\\ T +8334 #t-> CC.unloadPuck 7, :SVS +2 C'b& +3 h &\\}\ T + #t\Storing SVS puck in Collection Clamp to tube 7 + .Hand.open + M&c1 +70 h 1 +2 M&d% +3 h %     +2 A(e% +3 h % w { 8\  + A(f. +3 h .(,} + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(g([ +981 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (h& +2 h &[ t f \  +2 M&i& +3 h &  & * + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&j(r +42 h ( +2 M&k& +3 h &~   B +2 A(l& +3 h &[ r \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b + .t\Forearm.seek 7 + 450 counts +2 M&m'= +100 h ' +2 A(n& +3 h &[ ~ \  +40 .t\SE.reconfigure SEpick +10 A(#]K-0-\ b +5 .t\SE.seek beamBreak + A(o'j +277 h ' +2 A(p- +3 h -'j + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(q'T +33 h ' +2 M&r& +3 h &~    B +2 M&s% +3 h %?    + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&t' +87 h ' +2 .t\Elbow.seek CC +2 M&u(ӂ +154 h ( +2 M&v& +3 h &Ӌ.   . E +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &w& +3 h &Ӌ. F E + .t\Forearm.seek :CC +2 M&x'? +97 h ' + .tHand.close +2 M&y/ +71 h / +2 .t\CC.seek :open +2 C'z( +447 h ( +2 A({& +3 h &[ h i t\  +2 A(|& +3 h &[ k l\  +2 M&}& +3 h &$   1 + M&~% +3 h %   D +2 .t\Forearm.seek :retract + M&' +94 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&(r +154 h ( +2 M&& +3 h &q    +2 A(& +3 h &[ \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 7 + M&'{ +92 h ' +2 .t\Elbow.hold + M&, +4 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +62 h 1 +2 M&% +3 h % ΍   +2 A(& +3 h &[ X\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 318 counts +2 M&\ 'Ϲ +14 h ' +2 M& & +3 h & y +2 A( & +3 h &[ `\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +19 h ' +2 A(% +4 h %\\ \ +2 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %eI k\ U^ + M&% +4 h %Q  l + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +66 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast + A(6 +534 E ;8 +116 #t-> access 7 +8 .\SE.seek :down +2 A( ' +2 h ' +2 M& % +4 h %  g  + M&& +4 h &    y + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A((,y +984 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (!& +3 h &,| P\ +3446 #t-> PC.close + P%& +3 h &\  +2 P%& +4 .t\PC.seek :closed + P%#(^ +3 h &\  +2 &\ \  +9 &6~\ +} +10 &e\ @ +9 &c\ O +9 &&f\ N +10 &d\ N +9 &c\ N +9 &lh\ N +10 &.g\ N +9 &c\ N +10 &h\ N +9 & tf\ N +9 &"6d\ N +10 &#h\ N +9 &%e\ N +9 &'|g\ N +10 &)>j\ N +9 &+f\ N +10 &,j\ N +9 &.f\ O +9 &0Eh\ O +10 &2e\ N +9 &3a\ N +9 &5g\ N +10 &7Mg\ O +9 &9g\ N +10 &:l\ N +9 &<h\ N +9 &>Uj\ O +10 &@h\ O +9 &Ak\ O +9 &Cr\ O +10 &EYy\ P +9 &G\ R +10 &H\ T +9 &J\ T +9 &LV\ T +10 &N\ T +9 &O\ U +9 &Q\ U +10 &SY\ V +9 &U\ U +10 &V\ U +9 &X\ U +9 &Zd\ T +10 &\\#\ U +9 &]\ 8 +9 &^/\ V +10 &^%\ 3 +2 ( + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.48 + P%$& +3 h &^$\ 3 +2195 #t-> PC.unloadPuck 4, :LAF +2 P%%& +3 h &^# \ 3 + #t\Storing LAF puck in Processing Clamp to tube 4 +2 M&&% +3 h %    #  +2 A('% +3 h % c\ + A((. +3 h .(,| + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A()(,y +5 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (*& +2 h &,{ )\ +2 M&+& +3 h &   A y + .t\Elbow.seek 4 +2 M&,( +35 h ( +2 M&-& +3 h &   +2 A(.& +3 h &,w \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&/' +99 h ' +2 A(0& +3 h &,x \ +2 .t\SE.reconfigure SEpick +2 A(#]K-0-\ b +5 .t\SE.seek beamBreak + A(1'j +274 h ' +2 A(2- +3 h -'j + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek :place +3 A('T +33 h ' +2 M& & +3 h &     +2 M&4% +3 h %    y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&5' +89 h ' +2 .t\Elbow.seek PC + M&( +245 h ( +2 M&& +3 h &  6 +2 .t\Elbow.reconfigure LooseElbow + M&$ &.,(#b +3 &7& +2 h &    5 +2 .t\Forearm.seek :PC +2 M&9' +99 h ' + .tHand.close +2 M&:/ +76 h / +2 .t\PC.seek :open +2 P%3( +456 h ( +3 A(6& +3 h &,z s\  +2 A(<& +3 h &,z q\  + M&>& +3 h &     +2 M&?% +3 h % \   . S +2 .t\Forearm.seek :retract + M&8' +100 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&;( +245 h ( +2 M&A& +3 h &  R / +2 A(C& +3 h &,z \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 4 + M&D'7 +97 h ' +2 .t\Elbow.hold + M&=, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&@1 +63 h 1 +2 M&F% +3 h % D    +2 A(H& +3 h &,z \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 313 counts +2 M&I'p +19 h ' +2 M&B& +3 h & ' +2 A(E& +3 h &,z \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&K' +14 h ' +2 A(M% +4 h %^ G\ +2 ."downElevator"\SE.seek :down +2 A(N' +99 (G% +3 h %Z< }\ T[ + M&J% +4 h % z + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&P' +91 h ' +66 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +433 #t-> access 4 +8 .\SE.seek :down +2 A(R' +3 h ' +2 M&S% +3 h %  !  +2 M&L& +3 h &   7 ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(O(C +984 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (U& +2 h &F \ +15115 #t-> PC.unloadPuck 4, :LAFHand.home.to :home +2 !o:SyntaxError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"compile error\ (ESP):20: syntax error, unexpected tSYMBEG, expecting $end\ PC.unloadPuck 4, :LAFHand.home.to :home\ ^ +1727 #-> Hand.home.to :home + !o:NoMethodError :bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message-undefined method `home' for Hand:Gripper: name: home: args[ +27804 #-> Arm.ready! + .\Forearm.reconfigure LooseForearm +2 M&#@2^d^2b +2 .t\Forearm.home.seek :retract +2 M&V' +70 h ' +2 .t\Elbow.jog 1500 + ."closeHand"Hand.close +3 M&W* +3 &/ +41 h * +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.home.seek :clear + M&Z(d +23 h / +416 ( +2 M&X& +3 h &d   ' +2 M&[% +3 h %    +3599 E GE +60003  HE +60002  HE +60003  HE +60002  HE +60003  HE +60003  HE +60002  HE +60003  HE +60002  HE +60003  HE +60003  HE +60002  HE +60003  HE +60002  HE +60003  HE +60003  HE +60002  HE +60003  GE +60002  HE +60003  GE +60002  HF +60003  HE\ +60003  HE +60002  GE +60003  HE +60002  HE +60003  HE +60002  HF +60003  HF +60003  HE +60002   HE +60003  HE +60002 # HE +60003 $ GE +60003 + HE +60002 $ HE +60003 - HE +60002 - HE +60003 1 HE +60002 . HE +60003 3 GE +60003 2 HE +60002 7 HE +29934 !to:SignalException:\ signoi:bt[ "1/opt/mbari/lib/ruby/1.8/irb.rb:76:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg" SIGHUP + !o:Errno::EIO :bt["1/home/esp/esp2/lib/threads.rb:711:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ :@timestampu: Time b¹N: mesg"Input/output error + !o:Errno::EIO:bt["7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error +4 #m\EXIT @1578017990.14EST @1578683071.69EST = @EST1578683073.89 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0x6EE0, state=0x32F4, ifg=0x10, ie=0xFD + #@0x7163, state=0x32F4, ifg=0x10, ie=0xFD + #@0x73E7, state=0x32F4, ifg=0x10, ie=0xFD + #@0x766B, state=0x32F4, ifg=0x10, ie=0xFD #@0x78EF, state=0x32F4, ifg=0x10, ie=0xFD + #@0x7B73, state=0x32F4, ifg=0x10, ie=0xFD + #@0x7DF6, state=0x32F4, ifg=0x10, ie=0xFD #@0x7F53, state=0x32F4, ifg=0x80, ie=0xFD + #@0x5BCE, state=0x3350, ifg=0x00, ie=0x75 #ESP2 v3.22 I2C Gateway v3.06 +9 #ESP2 v3.22 I2C Gateway v3.06 =tMAIN =ECan =hcore =Pprocessing =Astorage =mMAIN_scheduler =FMFB =Ssampler =Ccollection =Mmanipulator +381 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +323 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +3 E IF +4  IF + S) + ) +2 h  +2 C' +2 ' +2 h  +2 P% + % +3 h  +3 C' 9\ +3 ' 0\ + ' -\ +4 P% 9\ + % 2\ +2 % *\ + % 0\ +4 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X exit +4 #m\EXIT @1578683117.42EST @1598991047.59EDT = @EDT1598991049.87 #"core_reset"Sent BREAK + #"MAIN_scheduler"@0x1CB7, state=0x3350, ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.22 I2C Gateway v3.06 +208 #>RESET< ESP2 v3.22 I2C Gateway v3.06 +48 #Powering up Dwarves =Mmanipulator =ECan =Ccollection =hcore =Ssampler =Pprocessing =FMFB =tMAIN =mMAIN_scheduler =Astorage +683 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +336 !o:Instrument::ISUSCore: @refi(6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 Em\ m$! +5 m\ m$! S) +2 ) +2 h  + C' +2 ' +2 h  + P% +2 % +2 h  +4 C' 9\ + ' 0\ +3 ' -\ +3 P% 9\ + % 2\ +2 % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X CS.status + C'% +3 h %  4\ b +4112 #t-> exit +4 #m\EXIT @1598991108.04EDT @1584119085.24EDT = @EDT1584119087.50 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0xAAB4, state=0x3350, ifg=0x00, ie=0x75 #>RESET< ESP2 v3.22 I2C Gateway v3.06 +208 #>RESET< ESP2 v3.22 I2C Gateway v3.06 +43 #Powering up Dwarves =Astorage =FMFB =ECan =Pprocessing =hcore =Ssampler =tMAIN =mMAIN_scheduler =Mmanipulator =Ccollection +706 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +338 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E\ m%! +4 \ m%! + S) +2 ) + h  +2 C' + ' +3 h  + P% +2 % +2 h  +4 C' 9\ + ' 0\ +2 ' -\ +3 P% 9\ + % 2\ +2 % *\ + % 0\ +3 S)&\ +2 .t\SS.stop S)5 +2 .t\SS.configure SSconfig +2 S)#.0X CS.status + C'% +3 h % \ \ c +1073 #t-> CS.status + C'% +3 h % \ b +7110 #t-> CS.status + C'% +3 h % l\ b +2589 #t-> CS.status + C' % +3 h % \ b +6315 #t-> CS.status + C'\ % +3 h % \ b +5437 #t-> CS.status + C' % +3 h % g\ c +15176 #t-> CS.status + C' % +3 h % \ b +628 #t-> CS.status + C' % +3 h % \ b +1297 #t-> CS.status + C'% +3 h % g\ b +1379 #t-> exit +4 #m\EXIT @1584119515.47EDT @1599656843.76EDT = @EDT1599656846.02 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0x1FF8, state=0x3350, ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.22 I2C Gateway v3.06 +208 #>RESET< ESP2 v3.22 I2C Gateway v3.06 +43 #Powering up Dwarves =tMAIN =Astorage =ECan =Mmanipulator =hcore =Ssampler =Pprocessing =FMFB =Ccollection =mMAIN_scheduler +699 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +334 !o:Instrument::ISUSCore: @refi46 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E\ l%" +4 \ l%" + S) + ) +2 h  +2 C' + ' +2 h  +2 P% + % +3 h  +3 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ + % *\ +2 % 0\ +3 S)&\ +2 .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready! +2 C'& +2 P%& +5 h & &\ b +2 &z\ @ + ."rdyProcessing"\PSV.dial :air +4 ."rdySampler"Intake.select :close + .t\PC.reconfigure PCconfig +2 P%  + ."rdySampler"\Exhaust.select :close +4 .\CTV.dial :air +3 P%$x2 ^22b + C'  +3 .t\PC.home.seek :open +3 P%\ ( +2 h + + ."rdySampler"\CSV.dial :waste1 +2 ."rdyProcessing"\PS.reconfigure PSconfig +3 C' + P%#A d`xb +3 h + ."rdyProcessing"\PS.home.seek 0 +3 ."rdySampler"\SSV.dial :spit,avoiding: :exhaust +2 P% 'ؾ S)  +4 h  +2 S)  +5 h +3 C'& + ."rdySampler"\SS.reconfigure SSconfig +3 ."readyCS"\CS.reconfigure CSfast +4 S)#.0X  U (\  +2 !to:Slide::Error\ :@checkpoint: omitted:bt[ "5/home/esp/esp2/utils/misc.rb:506:in `coreReady!'"1/home/esp/esp2/utils/misc.rb:494:in `ready!'"1/home/esp/esp2/utils/misc.rb:853:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: mesg"!Storage Elevator overCurrent:@axisName"Storage Elevator: @replyo:I2C::Servo::AbsMove3Reply : @tagi :@destinationi%: @sourcei-: @channeli: @statusS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni>: velocityi: currenti:pwmi:erri: inPressi : outPressiU :deltaPressi( : voltagef12.765865488463428+: @error:overCurrent + .\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.hold + A(+ +14 h + +2 .t\SE.jog -128 + A() +28 h ) +2 A(& +3 h & u\ ) +2 .t\SC.reconfigure SCsloppy + A($-.\ 1~b +2 .t\SC.home.seek :initial +2 A((  +64 h ) X\ ! +3 !to:Slide::Error\ :@checkpoint: omitted:bt[ "5/home/esp/esp2/utils/misc.rb:518:in `coreReady!'"1/home/esp/esp2/utils/misc.rb:494:in `ready!'"1/home/esp/esp2/utils/misc.rb:853:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: mesg">Storage Elevator positionErr during Storage Carousel move:@axisName"Storage Elevator: @replyo:I2C::Servo::RelMove3Reply : @tagi":@destinationi%: @sourcei-: @channeli: @statusS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiX : voltagef12.893504172803143: @error:positionErr + A( & +4 h &  _\ 0 + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 .t\SC.hold + A(!, +3 h ( \ / +29 , +2 .t\SC.jog 90 +2 A("*Z +46 h * +2 .t\SE.reconfigure SEconfig +2 A(#K-0-\ b +2 .t\SE.home.seek :down + A(#' +51 h ' +2 .t\SC.reconfigure SCsloppy +2 A($-.\ 1~b +2 .t\SC.home.seek :initial +2 A($(  +1569 h ( +2 .t\Forearm.seek :retract +2 M&%' +2 h ' +2 .t\Elbow.seek :hammer + M&&( +95 h ( + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 4 + M&''7 +109 h ' +2 M&(% +3 h %f f +2 .t\Forearm.seek :retract + M&)' +103 h ' +2 M&*% +3 h % \  *  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 C'+ +2 h  + P%, +3 h V + P%- +3 h  +2 P%. +2 h ~ +2 S)/% +3 h %چ Z\ D + C'0& +4 h & +\ Z + C'1% +3 h %e /\ Z +2 P%2& +3 h &l\ 8 +2 P%3% +3 h %z\ 8 +2 M&4% +3 h % \   +2 M&5& +3 h & * +3 A(6& +3 h & $  .\ 9  + A(7% +3 h % + ?\ 8 +2 C'89 +3 h 9 + P%99 +3 h 9 +1118 #t-> CS.status + C':% +3 h %e /\ Z +1531 #t-> Arm.grab Garage +2 M&;& +2 h & * +2 M&<% +4 h %    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage + M&=(- +171 h ( +2 M&>& +3 h &- > S + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &?& +3 h &- F S + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&@'w +75 h ' . +2 !to:Slide::Error\ :@checkpoint: omitted:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Forearm speedErr:@axisName" Forearm: @replyo:I2C::Servo::AbsMove3Reply : @tagiE:@destinationi%: @sourcei+: @channeli: @statusS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi. : voltagef12.132581246931762E: @error: speedErr +563 #-> Arm.clear + M&A& +3 h &- R + M&B% +4 h %  - + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&C' +68 h ' +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +2 .t\Elbow.seek :clear +2 M&D(d +129 h ( +2 M&E& +3 h &d  ( "z +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &F& +2 h &d  b "z +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear + M&G' +10 h ' +2 M&H& +3 h &d  8 "z +2 M&I% +4 h % ( ? !. +71 #t-> Hand.open + .Hand.open +2 M&J1 +65 h 1 +165 #t-> Arm.grab Garage +2 M&K& +3 h &d  F "z + M&L% +3 h % ( Y !. +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage + M&M(- +133 h ( +2 M&N& +3 h &-   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &O& +3 h &-   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :garage + M&P'w +93 h ' + .tHand.close +2 M&Q/ +71 h / +756 #t-> Arm.to PC + M&R& +3 h &- 7  +2 M&S% +3 h % z L 6 +2 .t\Forearm.seek :retract + M&T' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&U( +115 h ( +2 M&V& +3 h &  " + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &W& +3 h & > " + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&X' +100 h ' +2 M&Y& +3 h & " +2 M&Z% +3 h % \\  +4912 #t-> Arm.clear + M&[& +3 h & + " + M&\\% +4 h % 4  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&]' +92 h ' +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +2 .t\Elbow.seek :clear +2 M&^(d +199 h ( +2 M&_& +3 h &d  % $ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &`& +3 h &d  $ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear + M&a' +20 h ' +2 M&b& +3 h &d  k $ +2 M&c% +3 h %  r +101 #t-> Arm.to PC + M&d& +3 h &d  # $ + M&e% +4 h %  7 r + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&f( +195 h ( +2 M&g& +3 h & B ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &h& +3 h & ` ( + .t\Forearm.seek :PC +2 M&i' +92 h ' +2 M&j& +3 h &  ' +2 M&k% +3 h %  i +2958 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%l* +55 h * +2 P%m& +3 h &af\ 8 +119 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%n* +54 h * +2 P%o& +3 h &3l\ 9 +69 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%p* +58 h * +2 P%q& +3 h &T\ 9 +20 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%r* +56 h * +2 P%s& +3 h &U\ 8 +6 #t-> PC.jog 1000 +2 .\PC.jog 1000 + P%t* +55 h * +3 P%u& +3 h &"\\\ 8 +6 #t-> PC.jog 1000 + .\PC.jog 1000 + P%v* +58 h * +2 P%w& +3 h &&Z\ 9 +5213 #t-> PC.legend +916 #-> PC.status +2 P%x& +3 h &&^\ 8 +1868 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%y* +55 h * +2 P%z& +3 h &*Yo\ 9 +62 #t-> PC.jog 1000 + .\PC.jog 1000 +36 P%{* +65 h * +2 P%|& +3 h &.+p\ 8 +79 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%}* +57 h * +2 P%~& +3 h &1]\ 8 +71 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%* +52 h * +3 P%& +3 h &5]\ 9 +2063 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%* +53 h * +2 P%& +3 h &9m\ 9 +44 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%* +54 h * +2 P%& +3 h &=n\ 9 +54 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%* +54 h * +2 P%& +3 h &AO[\ 8 +69 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%* +54 h * +2 P% & +4 h &E c\ 6/ +343 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P% * +55 h * +2 P% & +3 h &H#U\ 63 +107 #t-> PC.jog 1000 +2 .\PC.jog 1000 +2 P%* +52 h * +2 P%& +3 h &L d\ 60 +410 #t-> PC.status +2 P%& +3 h &L i\ 60 +1243 #t-> PC.jog 1000 + .\PC.jog 1000 +2 P%* +53 h * +2 P%& +3 h &P%_\ 63 +685 #t-> PC.open +2 .\PC.seek :open + P% ( +382 h ( +2 P%\ & +3 h &`\ 8 +1584 #t-> Arm.to Garage +2 M&& +3 h & O ' + M&% +4 h % i + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +91 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek FlushPuck::Garage +2 M&(- +129 h ( +2 M&& +3 h &- h + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 & & +3 h &- 1 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&'w +102 h ' +2 M&& +3 h &- P +2 M&!% +3 h %| (  +2413 E\ eKI +60002 \ eKH +60003 \ eLI +60002 \ eLI +60003 \ eLI +60002 \ eLI +60003 \ fLI +60002 \ eLI +60003 \ eLI +60002 \ fKH +60003 \ eLI +60003 \ eKH +60002 \ eLI +60003 \ eKH +60002 \ eLI +60003 \ eLH +60002 \ eKI +60003 \ dLI +60002 \ eKI +60003 s\ eKI +60002 a\ eLI +60003 y\ eLI +60002 g\ eLI +60003 [\ eKI +60002 _\ dKI +60003 P\ eLI +60002 `\ eKI +60003 V\ eLI\ +60002 P\ eKH +60003 B\ eKI +60002 =\ eLI +60003 ;\ eKI +60003 4\ eLI +60002 4\ eLH +60003 ,\ eKI +60002 '\ eKI +60003 0\ eKH +60002 X\ dLI +60003 C\ eKI +60002 8\ eKH +60003 5\ eLI +60002 <\ eLI +60003 ?\ dLI +60002 E\ eKI +20018 !to:SignalException :\ signoi:bt["1/home/esp/esp2/lib/threads.rb:711:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:@timestampu: Time 6!iT+: mesg" SIGHUP +2 !o:Errno::EIO:bt["7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error +3 #m\EXIT @1599689459.65EDT @1600958647.35EDT = @EDT1600958649.73 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0x5811, state=0x32F4, ifg=0x10, ie=0xFD + #@0x5A96, state=0x32F4, ifg=0x10, ie=0xFD + #@0x5D1B, state=0x32F4, ifg=0x10, ie=0xFD + #@0x5FA0, state=0x32F4, ifg=0x10, ie=0xFD #@0x6224, state=0x32F4, ifg=0x10, ie=0xFD + #@0x64A9, state=0x32F4, ifg=0x10, ie=0xFD + #@0x672D, state=0x32F4, ifg=0x10, ie=0xFD #@0x688B, state=0x32F4, ifg=0x80, ie=0xFD + #@0x6E85, state=0x3350, ifg=0x00, ie=0x75 #ESP2 v3.22 I2C Gateway v3.06 +9 #ESP2 v3.22 I2C Gateway v3.06 =FMFB =Ssampler =Ccollection =Mmanipulator =ECan =hcore =Pprocessing =tMAIN =Astorage =mMAIN_scheduler +379 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +326 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 E\\\ eLJ +5 \\\ eLJ S) +2 ) +2 h  + C' +2 ' +3 h  + P% +2 % +2 h  +4 C' 9\ + ' 0\ +2 ' -\ +4 P% 9\ + % 2\ +2 % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X exitg + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message?undefined local variable or method `exitg' for main:Object: name:\ exitg +208 #-> exit +3 #m\EXIT @1600958662.77EDT @1600959064.26EDT = @EDT1600959066.54 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0xBF1E, state=0x3350, ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.22 I2C Gateway v3.06 +207 #>RESET< ESP2 v3.22 I2C Gateway v3.06 +33 #Powering up Dwarves =ECan =Mmanipulator =hcore =Astorage =tMAIN =Ssampler =Pprocessing =FMFB =mMAIN_scheduler =Ccollection +694 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +336 !o:Instrument::ISUSCore: @refi|6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 EX\ m$" +4 X\ m$" + S) +2 ) + h  +2 C' + ' +3 h  + P% +2 % +2 h  +4 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ + % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 +2 .t\SS.configure SSconfig + S)#.0X Hand.open + .Hand.open +2 M&1 +75 h 1 +313 #t-> Arm.ready! +2 .\Forearm.reconfigure LooseForearm +2 M&#@2^d^2b +2 .t\Forearm.home.seek :retract + M&' +139 h ' +3 .t\Elbow.jog 1500 + M&* + ."closeHand"Hand.close +3 M& / +36 h * + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 .t\Elbow.home.seek :clear +2 M&\ (d +27 h / +286 ( + M& & +4 h &d + + M& % +3 h % ! - . +51420 EP\ i63 +60003 H\ h75 +60002 >\ h85 +17962 #t-> exit +4 #m\EXIT @1600961058.22EDT @1600961190.90EDT = @EDT1600961193.05 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0x3B4A, state=0x32F4, ifg=0x10, ie=0xFD + #@0x3DCD, state=0x32F4, ifg=0x10, ie=0xFD #@0x4050, state=0x32F4, ifg=0x10, ie=0xFD + #@0x42D3, state=0x32F4, ifg=0x10, ie=0xFD + #@0x4556, state=0x32F4, ifg=0x10, ie=0xFD #@0x47D8, state=0x32F4, ifg=0x10, ie=0xFD + #@0x4A5B, state=0x32F4, ifg=0x10, ie=0xFD + #@0x4BB8, state=0x32F4, ifg=0x80, ie=0xFD #@0xBCD9, state=0x3350, ifg=0x00, ie=0x75 + #ESP2 v3.22 I2C Gateway v3.06 +8 #ESP2 v3.22 I2C Gateway v3.06 =ECan =tMAIN =hcore =FMFB =Mmanipulator =Pprocessing =mMAIN_scheduler =Astorage =Ssampler =Ccollection +371 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +316 !o:Instrument::ISUSCore: @refiī6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E9\ h:8 +4 9\ h:8 + S) +2 ) +2 h  + C' +2 ' +2 h  +2 P% + % +3 h  +4 C' 9\ +2 ' 0\ + ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +3 S)&\ +2 .t\SS.stop S)5 +2 .t\SS.configure SSconfig +2 S)#.0X ESP.ready! +2 C'& +3 P%& +5 h & j j\ a +2 &\ @ + ."rdyProcessing"\PSV.dial :air +4 ."rdySampler"Intake.select :close + .t\PC.reconfigure PCconfig + P%  +2 ."rdySampler"\Exhaust.select :close +4 .\CTV.dial :air +2 P%$x2 ^22b +2 C'  +3 .t\PC.home.seek :open +2 P%\ ( +5 h + + ."rdyProcessing"\PS.reconfigure PSconfig +2 ."rdySampler"\CSV.dial :waste1 +2 C' +2 P%#A d`xb +3 ."rdyProcessing"\PS.home.seek 0 +2 P% 'ؾ +2 h + ."rdySampler"\SSV.dial :spit,avoiding: :exhaust +2 S)  +2 h  +2 S)  +4 h +2 C'& +2 ."rdySampler"\SS.reconfigure SSconfig +3 ."readyCS"\CS.reconfigure CSfast +3 S)#.0X SE.legend +2296 #-> PC.loadFlush + #Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 P%4& +3 h &\ 9 + M&5& +4 h & 0 1 + M&6% +3 h % \  <  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage + M&7(- +175 h ( + M&8& +4 h &- a R + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &9& +3 h &- R + .t\Forearm.seek :garage +2 M&:'w +93 h ' + .tHand.close + M&;/ +68 h / + M&<& +4 h &- R + M&=% +3 h % a  +2 .t\Forearm.seek :retract +2 M&>' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&?( +116 h ( + M&@& +4 h & @  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &A& +3 h & !  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&B' +102 h ' + P%C& +4 h &\ 9 + P%D& +4 .t\PC.seek :closed +2 P%E(^ +2 h &\ 9 +3 &\ 8\  +10 &3{\ 3,~ +10 &`\ 3@ +9 &?{\ 3S +9 &X\ 5S +10 &W\ 4S +9 &T\ 5R +9 &DX\ 4S +10 &W\ 4S +9 &X\ 4S +10 &Y\ 5S +9 & MW\ 4S +8 &"T\ 5S +11 &#Y\ 4S +9 &%U\ 4R +8 &'TW\ 4S +11 &)W\ 4S +9 &*V\ 5S +10 &,Y\ 4S +9 &.\\V\ 5S +9 &0X\ 4S +9 &1W\ 5S +9 &3W\ 5S +9 &5eW\ 5S +11 &7'Y\ 5S +8 &8\\\ 4S +10 &:Z\ 4S +9 &-]\ 4S +11 &?_\ 4S +9 &Am\ 3U +9 &Ci}\ 2W +10 &E%\ 1Y +9 &F\ 2X +9 &H\ 2Y +9 &Jj\ 1Y +9 &L,\ 2Y +11 &M\ 1Z +9 &O\ 1Y +8 &Qo\ 1Z +10 &S/\ 0[\ +9 &T\ 1[\ +11 &V\ 1Z +8 &Xw\ 1Z +9 &Z6\ 0[ +10 &[\ 1[\ +9 &]\ 0H +10 &^&h\ 3#f +9 &^E\ 5> +2 ( + P%D& +3 #t\Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 +2 P%F& +3 h &^A\ 5> + .tHand.open + M&G1 +70 h 1 + M&H% +4 h %  \\  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&I' +90 h ' + P%J& +4 h &^A\ 5> +1961 #t-> CC.loadFlush + #Loading FlushPuck into Collection Clamp from Processing Clamp +2 C'K& +3 h & j k\ W + M&L& +4 h &   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&M( +3 h ( + M&N& +3 h &  H  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &O& +3 h &   + .t\Forearm.seek :PC +2 M&P' +93 h ' + .tHand.close + M&Q/ +65 h / + .t\PC.seek :open +2 P%R( +460 h ( + M&S& +4 h &   + M&T% +3 h %  J f +2 .t\Forearm.seek :retract + M&U' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC + M&V(ӂ +363 h ( + M&W& +4 h &ӈ  > :, + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &X& +2 h &ӈ  :, +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&Y'? +97 h ' + C'Z& +4 h & i j\ Y + C'[& +4 .t\CC.seek :closed + C'\\(\\ +3 h & j j\ Y +4 & j i\ XC +10 &F{ h j\ S3 +10 &Dp k k\ QH +9 &d i j\ TR +9 &T j k\ TR +10 &fW j k\ TR +9 &'W j i\ TR +9 &W k i\ SS +9 &T k j\ TR +10 &nW j k\ TR +9 &.Y k j\ TS +10 & U i j\ TR +10 &"X j k\ TR +9 &$wV l j\ TR +8 &&9V i k\ TR +11 &'Z k j\ TR +8 &)W j j\ TR +9 &+|U j k\ US +10 &-?W k k\ TR +10 &/S k k\ TR +10 &0V j k\ UR +9 &2U i k\ TR +8 &4GW j i\ TR +11 &6\ S i k\ TR +8 &7W j j\ TR +10 &9W j k\ TR +10 &;OW j j\ TR +8 &=W j h\ TR +10 &>W k k\ TR +9 &@\\ l k\ TR +9 &BU` m i\ SS +10 &Dn k l\ SU +9 &E o o\ QX +9 &G n l\ N] +10 &I= l m\ N^ +9 &J m m\ M_ +10 &L n l\ M_ +10 &N| o n\ L` +8 &P@ k n\ M` +10 &R m o\ L` +9 &S o m\ Lb +10 &U o p\ Lb +9 &W> n o\ Kb" +10 &X o o\ Jb) +9 &Z n o\ Ib8 +9 &\\Q o n\ K8 +9 &\\ m o\ P7 +11 &\\ n n\ P _ +5 ( + C'[& +4 #t\Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.30 + C']& +4 h &\\ m m\ Q _ + &\\ n p\ Q _ + .tHand.open + M&^1 +70 h 1 +2 M&_% +4 h % A 9 : + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&`' +93 h ' + C'a& +4 h &\\ n o\ P _ +1691 #t-> CC.unloadFlush +2 #Garaging FlushPuck in Collection Clamp + M&b& +3 h &ӈ! 6 :, + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&c(ӂ +3 h ( + M&d& +4 h &ӈ! M :, + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &e& +3 h &ӈ! :, + .t\Forearm.seek :CC +2 M&f'? +90 h ' + .tHand.close + M&g/ +75 h / + .t\CC.seek :open +2 C'h( +451 h ( + M&i& +4 h &ӈ! P :, + M&j% +3 h % W m +2 .t\Forearm.seek :retract + M&k' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :garage +2 M&l(- +285 h ( + M&m& +4 h &- 5 ' + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &n& +3 h &- B ' + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage + M&o'w +93 h ' +2 .tHand.open + M&p1 +72 h 1 + M&q% +4 h % k  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&r' +87 h ' +43914 E3\ dJG\ +60003 E\ fJG +60003 K\ eJG +60002 Q\ eJG +60003 K\ eJG +60002 C\ eHF +56330 #t-> SC.to 1 +3 .\SC.reconfigure SCloose +2 A($.\ 1~b +2 .t\SC.seek 1 + A(s(C +363 h ( + A(t& +4 h &C !  b\ 8 +465 #t-> SE.top + .\SE.seek :top +36 A(u' +279 h ' + A(v% +4 h % % # H\ 8 +2144 #t-> SE.down +2 .\SE.seek :down + A(w' +271 h ' + A(x% +4 h %  \ 8 +88 EM\ eJH +32184 #t-> access 1 +9 .\SE.seek :down +2 A(y' +3 h ' +2 M&z% +3 h %    +2 M&{& +4 h &- 0 & + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(|(<- +1296 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (}& +2 h &<+  \ 8  +11306 #t-> to 1 +2 .\SE.seek :down + A(~' +3 h ' + M&% +4 h %  J  +2 M&& +3 h &- A & +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A((C +1304 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &C   l\ 8 +635 #t-> PC.loadPuck, 1 +2 !o:SyntaxError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"[compile error\ (ESP):11: syntax error, unexpected '\\n', expecting tCOLON2 or '[' or '.' +512 #-> PC.loadPuck 1 +2 !o:RuntimeError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg" No Storage.srcTube defined! +663 #-> PC.loadPuck 1,sh1 + !o:ArgumentError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"(wrong number of arguments (0 for 2) +659 #-> PC.loadPuck sh1,1 + !o:ArgumentError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"(wrong number of arguments (0 for 2) +1100 #-> PC.loadPuck:SH1,1 +2 #Loading SH1 puck from tube 1 into Processing Clamp + P%& +3 h &\ : +2 M&% +3 h %   +2 A(% +3 h % < < \ : + A(. +3 h .(F + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A((C +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &F 9 -\ ; + M& & +3 h &- & +2 M& % +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 + M&( +176 h ( + M&& +4 h & I K + A(& +4 h &F = < B\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +101 h ' + A(& +4 h &F 9 2 \ : +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +304 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &F   u\ 8 +2 M&& +3 h & # J + .t\Elbow.seek 1 +2 M& ( +2 h ( +2 M&\ & +3 h & P J + A(& +3 h &F < 3 \ 9 +2 .t\Forearm.seek 1 + 300 counts +2 M&"'d +22 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +66 h / +2 ."downElevator"\SE.seek :down +2 M&$& +3 A(%' +5 h & 1 J +2 M&&% +3 h % a +2 .t\Forearm.seek :retract + M&'' +90 h ' + .t\Elbow.seek PC +2 M&(( +172 h ' + ."downElevator"\SE.coast + A(5 +73 h ( + M&)& +4 h & $ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &*& +3 h &  $ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&+' +102 h ' + P%,& +4 h &\ : + P%-& +4 .t\PC.seek :closed + P%.(^ +3 h &d\ : +5 &l\ :/ +9 &(D~z\ 43 +10 &In9\ 4G +9 &j,\ 5S +10 &Y1\ 6S +9 &dW,\ 6R +9 &$[3\ 6S +10 &U?\ 6S +9 &V;\ 6S +9 &lZD\ 6R +10 &.U\ 6R +9 & V\ 6S +10 &"Y\ 6R +9 &$s[\ 6S +9 &&5W\ 7S +10 &'Z\ 6S +9 &)Z\ 6S +9 &+{Y\ 6S +10 &->V\ 6R +9 &.Z\ 6S +10 &0]\ 6S +9 &2U\ 6R +9 &4FW\ 6R +10 &6\\\ 6S +8 &7Y\ 6S +10 &9X\ 6R +9 &;MZ\ 6S +10 &=V\ 6R +9 &>Z\ 5S +10 &@Z\ 6S +9 &BQg\ 5T +10 &Dn\ 5U +9 &E\ 4W +9 &G\ 3X +9 &IL\ 3Y +10 &K\ 3Y +10 &L\ 3X +9 &N\ 2Z +9 &PP\ 2Z +10 &R\ 2Z +9 &S\ 2Z +9 &U\ 3Z +9 &WY\ 2Z +10 &Y\ 2Z +9 &Z\ 3Z +9 &\\\ 2Z +9 &^>yz\ 4+ +11 &^\ 3L +8 ( +2 &^A\ 7> + P%-& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 M&/1 +65 h 1 + M&0% +4 h %   1  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&1' +91 h ' + .t\SC.coast + A(6 +8335 E@\ dLI +721 #t-> PC.unloadPuck +2 P%2& +3 h &^A\ 8> + #t\Storing SH1 puck in Processing Clamp to tube 0 + M&3% +4 h %  b  + A(% +3 h %   \ 8 +2 A(!. +2 h . +2 !to:Axis::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg")Unknown Storage Carousel position: 0:@axisName"Storage Carousel +363 #-> PC.unloadPuck 1 + P%4& +3 h &^A\ 7> +2 #t\Storing SH1 puck in Processing Clamp to tube 1 + M&5% +3 h %  l  +2 A(6% +3 h %   \ 8 + A(8. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(9(C +9 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M& & + A(;& +3 h & $ +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h &F ) $ .\ 8 +2 .t\Elbow.seek PC + ."raiseStack"\SE.reconfigure SEplace +3 M&<( +2 A(#]kK-0-\ b +5 h ( + M&=& +3 h & E $ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +3 M&#& + A(@'s +4 h &  $ +2 .t\Forearm.seek :PC + M&A' +92 h ' +2 .tHand.close + M&:/ +75 h / + .t\PC.seek :open +2 P%C( +99 h ' + A(7- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(>'1 +40 h ' +309 ( +2 A(& +3 h &F = = Q\ : +2 A(F& +3 h &F : 2 \ ; + M&G& +3 h & $ +2 M&H% +3 h %  L + .t\Forearm.seek :retract +2 M&J' +86 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&D( +246 h ( + M&B& +4 h & 4 + A(K& +3 h &F > = Y\ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 1 + M&L'8 +101 h ' + .t\Elbow.hold +2 M&N, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&O1 +72 h 1 + M&Q% +4 h %  X a + A(?& +3 h &F   ^\ 8 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 241 counts + M&I') +15 h ' + M&E& +4 h & $ 3 + A(S& +3 h &F = = E\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&T' +28 h ' + A(P% +4 h %3 < = `\ : +3 ."downElevator"\SE.seek :down +2 A(M' +99 (W% +2 h %}:   \ 8Zq +2 M&X% +3 h % r +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&Z' +88 h ' +77 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +618 #t-> access 1 +9 .\SE.seek :down + A(U' +2 h ' +2 M&% +4 h %  ?  + M&[& +3 h & ' 3 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(](<- +1295 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (^& +3 h &<*) 0 0 3\ 7  +1876 #t-> require 'mrlshuffle' +294 #-> shuffleall .Hand.open + M&_1 +24 h 1 + A(a% +4 h % / % #\ 6 + .t\SE.seek :down +2 A(Y' +2 h ' + .t\SE.coast + A(5 +2 M&b% +3 h %   +2 .t\SC.coast A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(d(C +1301 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (e& +3 h &B > < \ 9 + M&g& +3 h &  3 +2 .t\Elbow.seek 1 + M&V( +3 h ( +2 M&`& +3 h & x 3 + A(\\& +4 h &B 8 < \ 9 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&i' +95 h ' + A(j& +4 h &B = < \ : + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(f's +319 h ' + A(m- +3 h -'J + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (n% +4 h % I   e\ 8 +2 ."downElevator"\SE.seek :down +2 A(c' +99 (p% +2 h %> / % 6\ 6[s +2 M&q% +3 h % n + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&k' +90 h ' +50 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(o(  +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  < < \ 9\ + M&t& +3 h &  2 +2 .t\Elbow.seek 2 + M&v( +3 h ( + M&& +3 h & b 2 +2 A(x& +3 h &  < < 3\ 9\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&u'S +96 h ' + A(z& +4 h &  = < J\ :\ + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A({'s +277 h ' + A(w- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (s% +2 h %r - i\ 7 +4 ."downElevator"\SE.seek :down +4 A(}' +97 (% +3 h %~?  ! p\ 6[s +2 M&% +3 h %T = x + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&y' +90 h ' +73 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(|( +356 h ( +10 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &   B\ 7\  + M&& +3 h & * 2 +2 .t\Elbow.seek 3 + M&( +24 h ( + M&& +4 h & \\  + A(& +3 h &   G\ 8\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M& '7 +93 h ' + A( & +4 h & 2 :\ 9\  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A( 's +275 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (% +2 h %} . # \ 7 +2 ."downElevator"\SE.seek :down +2 A(' +100 (% +3 h %J? # $ `\ 6[t +2 M&l% +3 h %- [ + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&r' +90 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(~(,y +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,x = > \ 9 +2 M&& +3 h & +  + .t\Elbow.seek 4 +2 M&( +30 h ( + M&\ & +4 h & p 6 + A(& +4 h &,x < <\ 8 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +98 h ' + A($& +4 h &,x = < "\ 9 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(&'s +278 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (% +3 h %j % "\ 6 +2 ."downElevator"\SE.seek :down +2 A(' +100 ("% +2 h %D " $ \ 6[u +2 M&)% +3 h % 3 D + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&*' +87 h ' +85 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 5 + A( (<- +349 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (,& +2 h &<+  * \ 9  +2 M&%& +3 h & c 6 + .t\Elbow.seek 5 +2 M&'( +22 h ( + M&R& +4 h & w  + A(/& +4 h &<.1 , $ \ 7  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&0'O +100 h ' + A(-& +4 h &<.1   \ 8  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(+'s +277 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (2% +2 h %l . ' \ 6 +2 ."downElevator"\SE.seek :down +2 A(3' +100 (% +2 h %A  8\ 4[u +2 M&!% +3 h %2  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&4' +85 h ' +80 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(5(K +356 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (6& +3 h &K#  ! r\ 8  + M&8& +3 h &  +2 .t\Elbow.seek 6 + M& ( +4 h ( + M&;& +4 h & 2  + A(=& +3 h &K#  |\ 7  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&#' +94 h ' + A(:& +4 h &K#   Y\ 8  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(('s +274 h ' + A(7- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (1% +2 h %l ! - \ 6 +3 ."downElevator"\SE.seek :down +2 A(.' +99 (@% +4 h %D  \ 4[u + M&% +4 h % ! I + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&F' +87 h ' +73 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(G([ +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (H& +3 h &[1 + % \ 6  + M&A& +3 h & Q  +2 .t\Elbow.seek 7 + M&B(r +38 h ( + M&K& +4 h & # Q + A(<& +3 h &[1 ! +\ 6  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&O'= +92 h ' + A(Q& +4 h &[1 +  \ 7  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(?'s +275 h ' + A(E- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (S% +3 h %r # " ?\ 5 +2 ."downElevator"\SE.seek :down +2 A(P' +100 (J% +2 h %N= E\ 4[u +2 M&W% +3 h %> R + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&X' +89 h ' +78 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 1 of 1..1 + #Loading generic puck from tube 1 into Collection Clamp + C'D& +4 h & f f\ \\ + M&L% +4 h %   + A(I% +4 h % = 3 %\ : + A(>. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(T(C +1930 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (M& +3 h &@ $ , \ 8 + M&9& +3 h & P +2 .t\Elbow.seek 1 + M&( +21 h ( + M&[& +4 h & ' + A(^& +4 h &@ 7 , 9\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&_' +102 h ' + A(a& +4 h &@ ; < \ 9 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(b's +296 h ' + A(U- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (Y& +2 h &@ 0 % *\ 7 +2 M&]& +3 h & & + .t\Elbow.seek 1 +2 M&e( +18 h ( +2 M&g& +4 h & P  + A(`& +3 h &@   \ 8 +2 .t\Forearm.seek 1 + 300 counts +2 M&\\'d +22 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&j/ +76 h / +2 ."downElevator"\SE.seek :down +2 M&N& +3 A(Z' +5 h & Z  +2 M&m% +3 h % Z  +2 .t\Forearm.seek :retract +2 M&n' +89 h ' + .t\Elbow.seek CC +2 M&p(ӂ +164 h ' + ."downElevator"\SE.coast + A(5 +7 h ( + M&q& +4 h &ӄ 3 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &f& +3 h &ӄ 3 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&i'? +94 h ' +2 C'c& +4 h & e g\ Z + C'd& +3 .t\CC.seek :closed +2 C'(\\ +2 h & f g\ Y +3 & f g\ Y\ +9 &-t i f\ T+| +10 &a g g\ S@ +9 &Vw f g\ SR +9 &T h e\ UR +10 &X i g\ UR +9 &Y g g\ US +8 &]U f g\ UR +11 &U f hc\ UR +9 &W f hB\ UR +10 &V g h_\ UR +9 & eV f fL\ VR +9 &"'T i h\ UR +10 &#U h h\ UR +9 &%V i g\ UR +9 &'mV g fF\ UR +10 &)/W g h\ UR +9 &*W h g\ UR +9 &,W d f\ UR +10 &.uX h gI\ UR +9 &08T h hD\ UR +9 &1U h gL\ UQ +10 &3U g hH\ UR +9 &5~R g hJ\ UR +9 &7@U f g\ UR +9 &9T i fX\ UQ +10 &:U g hJ\ UQ +9 &<X g hJ\ UR +9 &>IU g gP\ UQ +10 &@ U g fQ\ UQ +9 &AW g gQ\ UR +10 &C] g iO\ US +9 &EIj e hR\ ST +9 &G g gQ\ RX +10 &H c fN\ O\\ +10 &Js a cP\ N^ +8 &L4 e dM\ N^ +10 &M d cL\ N_ +9 &O b bZ\ N_ +10 &Qx c c`\ M_ +9 &S6 b c^\ M` +9 &T b aZ\ M` +11 &V c a^\ La +8 &Xt a b]\ Lb! +10 &Z/ b a^\ Kb( +9 &[ b b^\ JI +9 &\\ _ `_\ M6 +10 &\\ b b^\ RX +6 ( + C'd& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 M&t1 +2 h &\\~ ` ca\ RX +66 1 + M&% +4 h % L ] + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&x' +89 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 1 into Processing Clamp + P%z& +4 h &\ 5 + M&V% +4 h %    +2 A(k% +3 h % ! #\ 5 + A(w. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(s(C +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &A $ " l\ 5 + M&& +3 h &ӄ 3 +2 M&{% +3 h %  k  +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&u( +161 h ( + M&}& +4 h & ?  + A(o& +4 h &D / % )\ 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +97 h ' + A(& +4 h &D 0 0 X\ 6 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( & +2 h &D  3\ 4 +2 M&v& +3 h & >  +2 .t\Elbow.seek 1 + M&y( +3 h ( + M&& +3 h &  +2 A(& +3 h &D $ $\ 5 +2 .t\Forearm.seek 1 + 300 counts +2 M&'d +28 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&l/ +65 h / +2 ."downElevator"\SE.seek :down +2 M& & +3 A( ' +5 h &   +2 M&% +3 h % a  +2 .t\Forearm.seek :retract + M&|' +90 h ' + .t\Elbow.seek PC +2 M&( +169 h ' + ."downElevator"\SE.coast + A(5 +70 h ( + M&& +4 h & G  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &\ & +3 h &  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&' +101 h ' + P%$& +4 h &\ 6 + P%& +4 .t\PC.seek :closed + P%r(^ +3 h &\ 6 +3 &\ 61 +10 &*C{\ 02 +9 &Jn\ /F +9 &j\ 1S +43 &U\ 1R +12 &cQ\ 2R + &$Y\ 1S + &V\ 2R + &U\ 2R + &jZ\ 1S +7 &,U\ 2S +10 & W\ 2S +9 &"T\ 2R +10 &$sT\ 2R +8 &&4U\ 2S +10 &'V\ 2S +10 &)W\ 2S +9 &+|S\ 3R +9 &-=W\ 2R +10 &.W\ 2R +9 &0T\ 2R +10 &2T\ 2R +9 &4DU\ 2S +9 &6W\ 2R +10 &7T\ 2R +9 &9U\ 2S +9 &;MZ\ 2R +10 &=Z\ 1S +9 &>Z\ 1S +10 &@X\ 2R +9 &BQb\ 1T +9 &Di\ 1T +10 &E|\ 0V +9 &G\ /X +9 &IL\ /X +10 &K\ /X +9 &L\ /Y +10 &N\ .Y +9 &PP\ .Z +9 &R\ .Z +10 &S\ .Z +9 &U\ .Y +9 &WW\ .Z +10 &Y\ .Y +9 &Z\ .Z +10 &\\\ .Z +9 &^>yz\ 0, +9 &^t\ 0B +9 ( +2 &^C\ 3= + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.68 + .Hand.open +2 M&1 +74 h 1 + M&% +4 h %   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&"' +92 h ' + .t\SC.coast + A(6 +2 P%)& +4 h &^B\ 3= +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + M&&% +3 h %  :  +2 A(% +3 h % \ \ 4 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(~(C +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (,& +3 h &D \ n\ 3 +2 ."raiseStack"\SE.reconfigure SEplace +2 M&%& +2 A(#]kK-0-\ b +4 h & '  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&R( +3 h ( + ."raiseStack"\SE.seek beamBreak +2 M&/& +2 A(-'s +5 h &   +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +2 h & e  +2 .t\Forearm.seek :PC +2 M&*' +94 h ' + .tHand.close + M&/ +66 h / +2 .t\PC.seek :open +2 P%2( +92 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(!'1 +41 h ' +314 ( + A(+& +4 h &D % $ \ 5 + M&0& +3 h & '  +2 M&3% +3 h %  F +2 .t\Forearm.seek :retract + M& ' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&6( +246 h ( + M&8& +4 h & 0 ; + A(;& +3 h &D  \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&=' +103 h ' + .tHand.open + M&:1 +67 h 1 + A('- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(4' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(7' +50 h ' +2 #tLights, camera, ACTION! + A(1- +3 h -' +2 A(@& +3 h &D &\ , +2 M&& +3 h & } ; + .t\Elbow.seek 1 +2 M&(( +2 h ( +2 M&#& +3 h & L ; +2 A(.& +3 h &D O\ , +2 .t\Forearm.seek 1 + 450 counts + M&5' +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(H' +52 h ' + M&A& +4 h & ; +2 A(K& +3 h &D   \ 5 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&<'8 +16 h ' + .t\Elbow.hold +2 M&Q, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek -0.33 + A( ' +24 h ' +2 M&F% +4 h %R  ' +2 A(E& +3 h &D ! , \ 5 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 326 counts + M&S'~ +36 h ' +2 M&J& +3 h & L ; +2 A(W& +3 h &D $ " \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&D' +21 h ' +2 A(L% +3 h % " $ $\ 6 +3 ."downElevator"\SE.seek :down +2 A(?' +99 (I% +2 h %A  \ 3[t +2 M&>% +3 h %  P +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&O' +85 h ' +74 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'P& +4 h &\\} d d\ TX +2 #t\Storing generic puck in Collection Clamp to tube 1 + M&G% +3 h %   +2 A(M% +3 h % . $ \ 7 + A(9. +3 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +3 .t\SC.seek 1 + A([(C +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (^& +2 h &D " ! \ 6 +2 M&a& +3 h & : + .t\Elbow.seek 1 +2 M&B( +3 h ( + M&X& +4 h & 7 : + A(U& +3 h &D ! !\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&Y' +93 h ' + A(]& +4 h &D / / K\ 7 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(g's +310 h ' + A(`- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&j& +2 h & D : +2 A(N& +3 h &D $ + @\ 6 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&m'8 +20 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(_- +2 h -' +2 .t\SE.seek 0.16 + A(q'k +26 h ' + M&f% +4 h %R h 8 + A(b& +3 h &D $ , T\ 5 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 326 counts + M&\\'~ +37 h ' + M&c& +4 h & ( : + A(e& +4 h &D " $ \ 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&Z' +20 h ' +2 .t\SE.seek 1.16 + A(n' +37 h ' + M&h& +4 h & J : +2 M&d% +3 h % d > +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&t' +89 h ' + .t\Elbow.seek CC +2 M&(ӂ +153 h ( + M&z& +4 h &Ӛ& < ?T + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &V& +2 h &Ӛ& & ?T +2 .t\Forearm.seek :CC +2 M&k'? +92 h ' + .tHand.close + M&w/ +66 h / + .t\CC.seek :open +2 C'( +450 h ( +2 A(& +4 h &D . . n\ 9 + A({& +3 h &D 2 <\ 9 +2 M&i& +3 h &Ӛ& B ?T + M&}% +3 h % `  u +2 .t\Forearm.seek :retract +2 M&o' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&T( +165 h ( + M&& +4 h &  + A(p& +3 h &D < < \ : +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 1 + M&x'8 +100 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +72 h 1 + M&v% +4 h % 7 = # + A(& +3 h &D / / \ : +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 299 counts + M&'c +33 h ' + M&l& +4 h & >  + A( & +4 h &D = ? p\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts + M&' +21 h ' +2 A(u% +3 h % ? ? ]\ ; +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +2 h %3 0 2 h\ :Yn +2 M&% +3 h % b 3 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +88 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 1 to 2 +2 M&\ % +3 h %    +2 A(y% +3 h % ? ? f\ ; +2 A($. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A( (C +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (|& +3 h &D ? ? ^\ ; + M&C& +3 h & F  +2 .t\Elbow.seek 1 +2 M&( +2 h ( +2 M&& +3 h &   +2 A()& +3 h &D ? > \ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&&' +93 h ' +2 A(& +4 h &D 2 :\ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +296 h ' + A(- +3 h -'\ + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close +2 M&,/ +71 h / + M&%& +4 h &  + M&/% +3 h % \   Y +2 .t\Forearm.seek :retract + M&' +91 h ' +2 .t\Elbow.seek :clear +2 M&(d +104 h ( + M&& +4 h &d y N + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &s& +2 h &d N +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +10 h ' + .t\SE.seek :down +2 A(' +264 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A("(  +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (r& +3 h &  3 1\ 9  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(-'s +275 h ' + A(+- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(0'1 +47 h ' +2 A(3& +4 h &  A = \ : + A(*& +3 h &  2 4 \ : +2 M&8& +3 h &d N + M&;% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +39 M&R( +111 h ( + M&:& +4 h &  4 + A('& +3 h &  = < \ : +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&1'Α +105 h ' + .t\Elbow.hold +2 M&@, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +69 h 1 + M&#% +4 h % p + A(.& +4 h &  2 9\ : + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 267 counts +2 M& 'Ϝ +23 h ' + M&A& +4 h & 3 + A(K& +4 h &  9 > +\ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&F'S +19 h ' +2 A(E% +3 h %7 ? ? t\ ; +3 ."downElevator"\SE.seek :down +2 A(!' +104 (J% +5 h %9 < < \ 9Zp +7 M&W% +4 h %3  # +2 .t\Forearm.reconfigure LooseForearm +7 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&4' +87 h ' +50 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 1 to 2 + M&L% +4 h %   + A(6% +3 h % ? ? k\ ; +2 A(=. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(7(C +351 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (I& +3 h &F < < \ 9 + M&>& +3 h & 2 +2 .t\Elbow.seek 1 + M&5( +4 h ( + M&(& +4 h & 2 + A(H& +3 h &F 0 2\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&<' +99 h ' + A(S& +4 h &F < <\ 9 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(P's +301 h ' + A(G- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&M/ +75 h / + M&9& +4 h & 2 + M& % +3 h %  ( 5 +2 .t\Forearm.seek :retract +2 M&^' +92 h ' + .t\Elbow.seek :clear +2 M&a(d +101 h ( + M&X& +4 h &d i u + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &U& +3 h &d X u + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&D' +18 h ' + .t\SE.seek :down +2 A(]' +274 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(?(  +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (~& +3 h & = < \ 9\  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(Q's +319 h ' + A(O- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (`& +2 h &   ! \ 7\  +2 A(j& +3 h &    \ 8\  + M&N& +3 h &d D u +2 M&_% +3 h %  5 z + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&f( +99 h ( + M&b& +4 h & : 0 + A(c& +3 h &    \ 8\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&e'Α +97 h ' + .t\Elbow.hold +2 M&h, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&d1 +65 h 1 + M&Y% +4 h % z p + A(B& +3 h &  / / G\ 7\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 277 counts + M&g'Ϧ +26 h ' + M&m& +4 h &  0 + A(\\& +3 h &    \ 8\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&q'S +12 h ' +2 A(z% +3 h % %  B\ 8 +3 ."downElevator"\SE.seek :down +2 A(V' +99 (Z% +3 h %0 $ "\ 6Yn +2 M&% +3 h %S +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&w' +87 h ' +63 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 2 of 2..2 +2 #Loading generic puck from tube 2 into Collection Clamp + C't& +4 h & g h\ \\ + M&% +4 h %   +2 A(% +3 h % ? ? r\ ; +2 A({. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b + .t\SC.seek 2 +2 A(i(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (}& +2 h &  @ = L\ ; +2 M&& +3 h & , 0 +2 .t\Elbow.seek 2 + M&p( +3 h ( + M&k& +4 h & Q 0 +2 A(& +3 h & % ) \ 7  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M& 'S +96 h ' + A(v& +4 h & 1  \ 7  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +299 h ' + A(l- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( & +3 h & 2 !  $\ 5  + M&u& +3 h & / +2 .t\Elbow.seek 2 +2 M&o( +3 h ( + M&& +3 h & / +2 A(& +3 h & / " $\ 6  +2 .t\Forearm.seek 2 + 300 counts + M&T'Ͻ +44 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close +2 M&x/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&& +3 A(\ ' +5 h &  / +2 M&y% +3 h %  T ( +2 .t\Forearm.seek :retract + M&$' +90 h ' + .t\Elbow.seek CC +2 M&n(ӂ +153 h ( + M&|& +4 h &Ӎ. E + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 h ' + M&C& +3 ."downElevator"\SE.coast + A(5 +3 h &Ӎ. C E + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +96 h ' + C')& +4 h & g hn\ X + C'& +4 .t\CC.seek :closed + C'(\\ +3 h & f f\ W +2 & g g`\ W +10 &.v i gM\ Q+| +9 &a g gH\ P@ +10 &Zv g gM\ PR +9 &U h gI\ SR +9 &Y h gF\ RR +10 &Y i fG\ RR +9 &bW g hG\ RQ +9 &$R g hf\ RQ +10 &U e h\ SQ +9 &R j gi\ SQ +10 & jT h g\ RQ +9 &"+T g g\ SR +9 &#W e gL\ RQ +10 &%V h ge\ RR +8 &'rW g fa\ RQ +10 &)3X f ee\ RR +10 &*U g i\ RR +9 &,W f f\ RR +10 &.zT h f\ RQ +9 &0<U h h\ RQ +9 &1V f g\ RR +9 &3U f g\ RQ +9 &5Q h i\ RQ +10 &7CW f j\ SR +9 &9U f h\ SQ +9 &:W g hf\ RQ +10 &<T h g\ SQ +10 &>LV f h\ RQ +9 &@ U f h\ SR +9 &AU g i\ RR +9 &C\\ h i\ RR +10 &EOg h gc\ QS +9 &G v j i_\ PU +9 &H k j\ NY +10 &Jy k k\ L] +9 &L8 i k\ L^ +10 &M i k\ K^ +9 &O l md\ K^ +9 &Qz k i]\ K_ +9 &S< l k\ K_ +11 &T j kk\ J` +9 &V k mH\ J` +10 &X| j j\ Ja +8 &Z; k k\ Ib +9 &[~ l k\ KF +11 &\\, k m\ K+ +8 &\\ l j\ O[ +3 ( + C'& +5 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 M&1 +69 h 1 +2 M&[% +3 h % 2 [ D +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +88 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 P%& +3 h &\ 3 +2 M&% +3 h %  [  +2 A(,% +3 h %  \ 5 + A(%. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(/(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h &   V\ 3 +2 M&s& +3 h &ӎ. N E + M&&% +4 h %  6  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&( +165 h ( + M&& +4 h &  + A(& +4 h &  % # \ 7 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M& 'S +94 h ' + A(r& +4 h &   , L\ 7 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(+'s +310 h ' + A(- +3 h -' + .t\SE.configure SEconfig +3 A(#QK-0-\ b +2 (3& +2 h &  ! ! \ 6 +2 M&*& +3 h &  + .t\Elbow.seek 2 +2 M&8( +3 h ( + M&;& +3 h & I  + A(:& +4 h &  0 0\ 7 + .t\Forearm.seek 2 + 300 counts +2 M&''Ͻ +23 h ' + .t\Forearm.reconfigure LooseForearm +46 M&#Q@2^d^2b +5 .tHand.close +2 M&-/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&& +3 A(' +5 h & &  +2 M&#% +3 h % ϟ  z +2 .t\Forearm.seek :retract +2 M&.' +87 h ' + .t\Elbow.seek PC +2 M&A( +180 h ' + ."downElevator"\SE.coast + A(5 +59 h ( +2 M&K& +4 h & : 4 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &E& +3 h & 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +101 h ' + P%J& +4 h &\ 6 +2 P%W& +3 .t\PC.seek :closed +2 P%R(^ +2 h &\ 6 +3 &\ 6 +10 &-v\ 1+| +9 &`\ 0@ +9 &\\v\ 0R +10 &R\ 2S +9 &V\ 2S +9 &T\ 2S +10 &`V\ 2S +9 &#W\ 1R +10 &X\ 2R +9 &T\ 2R +9 & iR\ 2R +10 &"+S\ 2R +9 &#S\ 2R +9 &%S\ 2S +10 &'pU\ 2S +9 &)3U\ 2R +10 &*R\ 2R +9 &,R\ 2R +9 &.yQ\ 2R +9 &0;R\ 2R +9 &1R\ 2R +10 &3R\ 2R +10 &5U\ 2S +9 &7BU\ 2S +9 &9Y\ 2R +10 &:Y\ 2S +9 &<V\ 2S +10 &>JZ\ 2S +9 &@ Y\ 2S +9 &A]\ 1S +9 &Cm\ 1U +10 &EG}\ 0W +9 &G\ /X +10 &H\ /X +9 &J\ /X +10 &LJ\ /X +9 &N\ /Z +9 &O\ /Z +10 &Q\ .Y +8 &SM\ /Z +11 &U\ .Z +9 &V\ .Y +8 &X\ /Y +11 &ZV\ .Z +9 &\\\ .Z +9 &]\ /= +9 &^-\ 0] +10 &^?\ 3: +2 ( + P%W& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open + M&11 +76 h 1 + M& % +4 h %    + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&L' +93 h ' + .t\SC.coast + A(6 +2 P%6& +4 h &^>\ 3: +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&=% +3 h %   +2 A(0% +3 h % \ b\ 3 + A(F. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(!(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ("& +3 h &   T\ 3 +2 ."raiseStack"\SE.reconfigure SEplace +2 M&I& +2 A(#]kK-0-\ b +4 h & _ 3 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&>( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + A(('s +2 M&H& +5 h &  3 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &S& +3 h & Y 3 + .t\Forearm.seek :PC +2 M&@' +89 h ' + .tHand.close + M&4/ +71 h / +2 .t\PC.seek :open +2 P%G( +93 h ' + A(M- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(9'1 +41 h ' +310 ( + A( & +4 h &  0 / G\ 6 + M&X& +3 h & N 3 +2 M&U% +3 h % & i +2 .t\Forearm.seek :retract + M&<' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&5( +251 h ( + M&^& +4 h &  # R + A(P& +3 h &  ! c\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&7'S +97 h ' + .tHand.open + M&~1 +72 h 1 + A(]- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(O' +35 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(`' +51 h ' + #tLights, camera, ACTION! +2 A(j- +2 h -' +2 A(N& +3 h &  k\ , +2 M&_& +3 h & , Q + .t\Elbow.seek 2 +2 M&b( +31 h ( + M&c& +4 h &  c + A(d& +3 h &  \ - +2 .t\Forearm.seek 2 + 450 counts +2 M&Y'S +4 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(B' +54 h ' + M&a& +4 h & c +2 A(m& +3 h &  " $ v\ 6 + .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&\\'Α +24 h ' + .t\Elbow.hold +2 M&z, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(D' +20 h ' + M&Z% +4 h %o | +2 A(& +3 h &   !\ 4 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 266 counts + M&f'ϛ +24 h ' + M&e& +4 h &  a +2 A(t& +3 h &  ! !\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&g'S +12 h ' +2 A(% +3 h % % " \ 6 +3 ."downElevator"\SE.seek :down +2 A(' +99 ({% +2 h %C $  j\ 4[u +2 M&Q% +4 h %O + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&}' +88 h ' +71 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +4 h &\\ l n\ S[ +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&k% +3 h %    +2 A(% +3 h % ! "\ 6 + A(q. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(v(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (V& +3 h &  " $ r\ 6 + M&?& +4 h & 0 a + .t\Elbow.seek 2 +2 M&h( +9 h ( + M&w& +4 h & k + A(l& +4 h &  % % C\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M& 'S +97 h ' + A(u& +4 h &    \ 7 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +295 h ' +3 A(- +6 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&x& +3 h & \ k + A(& +3 h &  " ,\ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&y'Α +19 h ' + .t\Elbow.hold +2 M&p, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A( - +2 h -' +2 .t\SE.seek 0.15 + A(|'h +28 h ' + M&C% +4 h %Γ  + A(& +3 h &  ! " _\ 6 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 302 counts + M&T'Ͽ +28 h ' + M&)& +4 h & " i + A(o& +4 h &  + % !\ 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&\ 'S +27 h ' + .t\SE.seek 1.15 +2 A($' +35 h ' + M&& +4 h & R i +2 M&% +3 h %p T  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&[' +89 h ' + .t\Elbow.seek CC +2 M&(ӂ +156 h ( +2 M&& +3 h &ӄ- q E + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &,& +3 h &ӄ. # E + .t\Forearm.seek :CC +2 M&%'? +95 h ' + .tHand.close + M&/ +73 h / + .t\CC.seek :open +2 C'( +449 h ( +2 A(s& +3 h &  ' .\ 8 +2 A(&& +3 h &    f\ 8 + M&& +3 h &Ӈ. K E +2 M&% +3 h % Q H + .t\Forearm.seek :retract +2 M&' +91 h ' + .t\Elbow.reconfigure TightElbow +48 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&i( +167 h ( + M&r& +4 h &  + A(n& +3 h &  < < \ : +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 2 +2 M&'Α +98 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&31 +75 h 1 + M&*% +4 h % o q + A(;& +4 h &  = = R\ 9 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 266 counts +2 M&:'ϛ +25 h ' + M&-& +4 h & S ~ +2 A(& +3 h &  ? A x\ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts + M&#'S +12 h ' +2 A(% +4 h % > ? @\ : +2 ."downElevator"\SE.seek :down +2 A( ' +100 (+% +3 h % 8 2 : \ 9Zp + M&'% +4 h %O I + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&K' +89 h ' +63 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 2 to 3 + M&E% +4 h %   + A(8% +4 h % 2 : 5\ ; +2 A(J. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 2 + A((  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (.& +2 h &  = < \ ; +2 M&2& +3 h &  ~ +2 .t\Elbow.seek 2 + M&1( +3 h ( + M& & +3 h & Q ~ +2 A(6& +3 h &  > @ \ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&='S +99 h ' +3 A(0& +3 h &  / . _\ < +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(W's +299 h ' + A(F- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&"/ +70 h / + M&I& +4 h & ~ + M&H% +3 h % T ` +2 .t\Forearm.seek :retract + M&S' +86 h ' + .t\Elbow.seek :clear +2 M&(d +95 h ( + M&4& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &/& +3 h &d   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&M' +9 h ' + .t\SE.seek :down +2 A(A' +265 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(L( +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (R& +3 h & 2 <\ 9  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +4 .t\SE.seek beamBreak +2 A(('s +277 h ' + A( - +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(X'1 +58 h ' + A(U& +4 h & @ A \ 9 + A(@& +3 h & = = .\ 9 +2 M&^& +3 h &d   + M&P% +3 h %  N  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&>( +101 h ( + M&~& +4 h & s D + A(]& +3 h & < <\ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&j'u +99 h ' + .t\Elbow.hold +2 M&N, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&_1 +65 h 1 + M&<% +4 h % \\ h  + A(c& +4 h & < :\ 9 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 275 counts +2 M&d'ψ +23 h ' + M&a& +4 h & ' 8 + A(m& +3 h & < < \ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&9'7 +19 h ' +2 A(Z% +3 h %0 > = |\ : +3 ."downElevator"\SE.seek :down +2 A(' +99 (O% +2 h %;  ) \ \ 9Zq +2 M&e% +3 h %* +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&t' +90 h ' +67 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 2 to 3 + M&% +4 h %   +2 A(5% +3 h % > ? j\ ; + A(7. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(`(  +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ({& +3 h & < <\ 9 + M&Q& +3 h &  8 +2 .t\Elbow.seek 2 + M&Y( +19 h ( + M&b& +4 h & T W + A(B& +4 h &  < < \ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&\\'S +94 h ' +2 A(& +4 h &  ? @ \ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(f's +295 h ' + A(k- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +66 h / + M&q& +4 h & V + M&D% +3 h % Z ` +2 .t\Forearm.seek :retract + M&V' +85 h ' + .t\Elbow.seek :clear +2 M&?(d +109 h ( + M&w& +4 h &d 5 O + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &l& +3 h &d & O + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&g' +9 h ' + .t\SE.seek :down +2 A(u' +273 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +370 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (!& +3 h & > ? R\ ; + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(z's +327 h ' + A(}- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +3 h &\   \ 8 + A(x& +3 h &\ )  7\ 9 +2 M&& +3 h &d O + M& % +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek 3 +2 M&C( +122 h ( + M&& +4 h & i  +2 A()& +3 h &\ < *\ 8 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&o'u +101 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +77 h 1 + M& % +4 h % v B . + A(h& +3 h &\ < 9\ 9 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 301 counts +2 M&'Ϣ +21 h ' + M&y& +4 h & )  + A(T& +3 h &\ = = I\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&|'7 +13 h ' +2 A(% +3 h % = = [\ : +2 ."downElevator"\SE.seek :down +2 A(,' +100 (\ % +2 h %3 / 9 W\ 8Yn +2 M&p% +3 h %@ # +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +89 h ' +58 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of 3..3 + #Loading generic puck from tube 3 into Collection Clamp + C'[& +4 h & i g\ \\ +2 M&% +3 h %   +2 A(s% +3 h % @ ? `\ ; +2 A(&. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +9 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & = ? M\ ; + M&%& +4 h & W  + .t\Elbow.seek 3 +41 M&r( +11 h ( + M&n& +3 h &  +2 A(& +3 h & @ ? P\ ; +2 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&3'7 +100 h ' + A(*& +4 h & 1 / ^\ < +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(;'s +299 h ' + A(-- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h & ; 2\ : +2 M&& +3 h & H  + .t\Elbow.seek 3 +2 M&( +3 h ( +2 M&+& +3 h & 6  +2 A('& +3 h & ? ? u\ ; +2 .t\Forearm.seek 3 + 300 counts +2 M&i'ϡ +40 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +77 h / +2 ."downElevator"\SE.seek :down +3 M&E& +4 A(:' +4 h &  +2 M&8% +3 h % c ! +2 .t\Forearm.seek :retract + M&J' +90 h ' + .t\Elbow.seek CC +2 M&$(ӂ +164 h ' + ."downElevator"\SE.coast + A(5 +3 h ( +2 M&.& +3 h &Ӏ I 1 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &2& +2 h &Ӏ V 1 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M& '? +100 h ' +2 C'6& +4 h & e h\ [ +2 C'#& +3 .t\CC.seek :closed + C'0(\\ +3 h & h g\ [ +3 & g i\ [ +10 &-u h f\ U,} +9 &a f g\ S@ +9 &_t h f\ TQ +10 &X g f\ VQ +9 &V i f\ VQ +9 &W h f\ VQ +10 &eU f f\ VQ +9 &(U g g\ WQ +10 &U f h\ VQ +9 &U g h\ VQ +9 & oU g f\ VQ +10 &"0W g g\ VQ +9 &#U f h\ VQ +9 &%U g g\ VP +10 &'vU g g\ VQ +9 &)8V g g\ VQ +10 &*U f h\ VQ +9 &,T h g\ VQ +9 &.~U h i\ VQ +10 &0@T f h\ VQ +9 &2U g h\ VQ +9 &3Y h f\ VQ +9 &5S f g\ VP +10 &7IU g g\ VQ +10 &9 R h g\ WQ +8 &:T h h\ VQ +9 &<W g g\ VQ +11 &>PW g g\ VQ +9 &@U h f\ VP +9 &AV e i\ VQ +9 &C[ h g\ VQ +10 &ERh g i\ US +10 &G g g\ SV +8 &H e f\ P[ +10 &J| d e\ O] +10 &L< d d\ O] +8 &M d e\ O^ +10 &O f e\ O^ +9 &Q} c d\ N_ +10 &S@ c d\ N_ +9 &T e c\ N` +10 &V b d\ M` +9 &X~ c c\ Ma +9 &Z> a d\ Lb +9 &[} c a\ OG +10 &\\* b `\ N, +10 &\\ a `\ S _ + ( + C'#& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 M& 1 +66 h 1 + M&v% +4 h % C F  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 3 into Processing Clamp +2 P%K& +3 h &\ 5 +2 M&F% +3 h %   +2 A("% +3 h % % "\ 5 + A(I. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(H( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (4& +3 h & # $ \ 5 + M&/& +3 h &Ӏ , 1 +2 M&=% +3 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&1( +183 h ( + M&S& +4 h & = + A(W& +4 h & ! !\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +96 h ' + A(R& +4 h & 0 / 0\ 7 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A( 's +295 h ' + A(A- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (U& +2 h &\ u\ 3 +2 M&@& +3 h & < + .t\Elbow.seek 3 +2 M&^( +3 h ( + M&P& +3 h & \\ < + A(~& +4 h &   \ 5 +2 .t\Forearm.seek 3 + 300 counts + M&]'ϡ +32 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&(/ +74 h / +2 ."downElevator"\SE.seek :down +2 M&_& +3 A(<' +5 h & 6 < +2 M&% +3 h % ϊ F  +2 .t\Forearm.seek :retract + M&c' +86 h ' + .t\Elbow.seek PC +2 M&a( +186 h ' + ."downElevator"\SE.coast + A(5 +56 h ( +2 M&m& +3 h &  5 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &Z& +2 h & 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&M' +102 h ' + P%O& +4 h &\ 5 +2 P%e& +3 .t\PC.seek :closed +2 P%>(^ +2 h &\ 6 +3 &\ 6 +9 &-v\ 0+| +9 &`\ 0@ +10 &\\v\ /R +9 &R\ 2R +10 &U\ 1S +9 &T\ 2R +9 &aU\ 1R +10 &$W\ 2R +9 &V\ 1R +9 &V\ 2R +10 & jR\ 3R +8 &",S\ 1R +11 &#V\ 2R +9 &%T\ 1R +8 &'qU\ 2R +10 &)3U\ 2R +10 &*W\ 2R +9 &,U\ 2R +9 &.zT\ 2R +10 &0<U\ 2R +10 &1T\ 1R +8 &3U\ 2R +10 &5U\ 2R +10 &7CU\ 2R +9 &9W\ 2R +9 &:T\ 2R +9 &<W\ 2S +9 &>KY\ 1R +11 &@ V\ 2S +8 &Ab\ 1S +10 &Ck\ 1T +9 &EIv\ \ /V +9 &G=\ /W +10 &H\ 0X +10 &J7\ /X +9 &LJC\ /X +10 &N\ .Z +8 &O7\ .Y +10 &QS\ .Y +9 &SM\ .Z +10 &UI\ .Z +9 &V\ .Z +9 &X\ .Y +9 &ZW\ .Y +11 &\\\ .Z +8 &] \ /> +9 &^.\ /\\ +10 &^0\ 37 +2 ( + P%e& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 M&j1 +75 h 1 + M&d% +4 h %  (  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\SC.coast + A(6 +2 P%5& +4 h &^.\ 37 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&7% +3 h %  :  +2 A(X% +3 h % \ 4 +2 A(9. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 3 + A(( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (L& + M&{& +4 h & \ 4 +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h & l 4 +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek PC +2 M&Q( +2 h ( + M&b& +4 ."raiseStack"\SE.seek beamBreak +2 A(B's +2 h & m 4 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & % 4 + .t\Forearm.seek :PC +2 M&N' +92 h ' + .tHand.close + M&t/ +73 h / + .t\PC.seek :open +2 P%k( +92 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(q'1 +41 h ' +311 ( + A(D& +4 h & $ !\ 6 + M&w& +3 h & s 4 +2 M&l% +3 h %  + f + .t\Forearm.seek :retract +2 M&\\' +91 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&Y( +262 h ( + M&V& +4 h &w  + A(f& +3 h & #  \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&`'7 +102 h ' + .tHand.open + M&!1 +67 h 1 + A(u- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(}' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +51 h ' + #tLights, camera, ACTION! + A(x- +3 h -' +2 A(& +3 h & \ , +2 M& & +3 h &w w  + .t\Elbow.seek 3 +2 M&( +46 h ( + M&)& +4 h & < X + A(?& +3 h & \ + +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A( ' +50 h ' + M&h& +4 h & = X +2 A(y& +3 h & $  \ 4 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 +48 M&T'u +21 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek -0.33 +2 A(g' +20 h ' + M&\ % +4 h %x - W +2 A(p& +3 h & % % \ 5 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 303 counts +2 M&C'Ϥ +23 h ' +2 M&o& +3 h & x X +2 A([& +3 h & # $ b\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +10 h ' +2 A(% +3 h % ! !\ 6 +3 ."downElevator"\SE.seek :down +2 A(s' +99 (&% +3 h %?  \ 4[t + M&z% +4 h %/ P + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +86 h ' +73 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'%& +3 h &\\ e d\ T _ +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&n% +4 h %  /  + A(% +3 h % $ %\ 6 +2 A(|. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(*( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (,& +3 h & % " 9\ 6 + M&& +4 h &  W + .t\Elbow.seek 3 +2 M&( +28 h ( + M&& +4 h & R e +2 A(-& +3 h & ! " \ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +98 h ' + A(& +4 h &  *\ 7 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(+'s +297 h ' + A('- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h & ' e +2 A(E& +3 h & " $ e\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&8'u +17 h ' + .t\Elbow.hold +2 M&r, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(3- +2 h -' +2 .t\SE.seek 0.16 +2 A(.'m +30 h ' + M&2% +4 h %Έ  k + A(;& +3 h & ( / \ 6 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 319 counts + M&i'ϴ +22 h ' + M&6& +4 h &  c + A(& +4 h & / 0 +\ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&:'7 +10 h ' +2 .t\SE.seek 1.16 + A(J' +38 h ' + M&& +4 h & > c +2 M& % +3 h %8  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&v' +86 h ' +2 .t\Elbow.seek CC + M&K(ӂ +161 h ( + M&F& +4 h &{6  K + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &"& +3 h &{6  K + .t\Forearm.seek :CC +2 M&I'? +95 h ' + .tHand.close + M&#/ +73 h / + .t\CC.seek :open +2 C'4( +450 h ( +2 A(/& +4 h &  \ 7 + A(=& +3 h & / ) e\ 7 +2 M& & +3 h &ӡ/ F + M&S% +3 h % Q +2 .t\Forearm.seek :retract + M&W' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +190 h ( + M&R& +4 h & p < + A($& +3 h & < < \ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&'u +102 h ' + .t\Elbow.hold +2 M&A, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&U1 +68 h 1 +2 M&@% +4 h % X G + A(P& +4 h & . 8 T\ 9 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 271 counts +2 M&~'τ +25 h ' + M&(& +4 h & & : + A(_& +4 h & < = $\ : + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +12 h ' +2 A(1% +3 h % ? = ^\ ; +3 ."downElevator"\SE.seek :down +2 A(' +99 ( % +2 h %(1 = 2\ 9Yn +2 M&]% +3 h %-  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&m' +89 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 3 to 4 + M&Z% +4 h %  l  + A(^% +3 h % < = Z\ ; +2 A(O. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(<( +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (c& +3 h & > = =\ : +2 M&G& +3 h & : +2 .t\Elbow.seek 3 + M&j( +10 h ( + M&d& +4 h &  + A(5& +4 h & = = j\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&7'7 +99 h ' +2 A(X& +4 h & > 9\ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(9's +299 h ' + A(e- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&L/ +69 h / + M&{& +4 h & \\  + M&b% +3 h % 2 Z r +2 .t\Forearm.seek :retract + M&' +91 h ' +2 .t\Elbow.seek :clear + M&M(d +99 h ( + M&t& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &H& +3 h &d g  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +17 h ' + .t\SE.seek :down +2 A(a' +268 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A((,y +358 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (>& +3 h &,y < < \ 9\  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(B's +279 h ' + A(D- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(w'1 +42 h ' + A(l& +4 h &,y $ - \ 8\  + A(N& +3 h &,y  * \ 7\  +2 M&V& +3 h &d _  + M&f% +3 h %  " d +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&Q( +98 h ( + M&!& +4 h & M 4 + A(u& +3 h &,y   U\ 8\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&x'7 +96 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +72 h 1 + M&\\% +4 h %  2  + A()& +4 h &,y / / ^\ 7\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 271 counts + M&?'F +18 h ' + M&h& +4 h & 1 3 + A(y& +3 h &,y  ) *\ 7\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&q' +24 h ' + A(}% +4 h %0   \ 8 +2 ."downElevator"\SE.seek :down +2 A(\ ' +100 (p% +2 h %T6 # % "\ 6Zs +2 M&o% +3 h % & +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +40 M&[' +97 h ' +17 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 3 to 4 + M&Y% +4 h %    + A(% +4 h % ? @\ ; +2 A(`. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (&& +3 h & = 3\ : + M&z& +3 h & > 3 +2 .t\Elbow.seek 3 + M&( +66 h ( + M&& +4 h & 8  + A( & +3 h & < = =\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&T'7 +98 h ' + A(%& +4 h & @ > v\ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(C's +295 h ' +5 A(n- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +65 h / + M&|& +4 h & <  + M&g% +3 h % - ( d +2 .t\Forearm.seek :retract + M&,' +91 h ' + .t\Elbow.seek :clear +2 M&(d +96 h ( + M&& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &-& +3 h &d Y  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +9 h ' + .t\SE.seek :down +2 A(' +279 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(s(,y +358 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h &,x   N\ 8\  +2 .t\SE.reconfigure SEplace + A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A('s +321 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ('& +2 h &,w  +\ 9 + A(& +3 h &,w . 8 Z\ 9 +2 M&E& +3 h &d k  + M&3% +3 h %  T  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&2( +98 h ( + M&;& +4 h & 7 ) + A(6& +3 h &,w / 2\ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&'7 +97 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +74 h 1 + M&% +4 h %   + A(& +3 h &,w < 2\ 9 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 264 counts +2 M&+'? +18 h ' + M&8& +4 h & -  + A(i& +3 h &,w = <\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&.' +22 h ' + A(F% +4 h % ? = ~\ : +3 ."downElevator"\SE.seek :down +2 A("' +99 (:% +3 h %3 / - Y\ 9Yn +2 M&r% +3 h % , + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&#' +87 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of 4..4 + #Loading generic puck from tube 4 into Collection Clamp + C'v& +4 h & f h\ [ +2 M&0% +3 h %    +2 A(/% +3 h % = ? k\ ; + A(=. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A( (,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (S& +2 h &,w = = G\ ; +2 M&R& +3 h &   + .t\Elbow.seek 4 +2 M&$( +3 h ( + M&I& +4 h & @  +2 A(K& +3 h &,w"  v\ 7  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&U' +94 h ' + A(@& +4 h &,x'   \ 8  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(P's +296 h ' + A((- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (_& +2 h &,x& - # :\ 5  +2 M&1& +3 h &  + .t\Elbow.seek 4 +2 M&W( +3 h ( + M& & +4 h &  + A(]& +3 h &,x& / - ^\ 6  +2 .t\Forearm.seek 4 + 300 counts +2 M&'c +22 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +77 h / +2 ."downElevator"\SE.seek :down +2 M&Z& +3 A(^' +5 h &   +2 M&O% +3 h % ] + +2 .t\Forearm.seek :retract +2 M&~' +88 h ' + .t\Elbow.seek CC +2 M&c(ӂ +155 h ( + M&J& +4 h &Ӎ0 F + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &G& +3 h ' + &ӎ0 F +2 .t\Forearm.reconfigure TightForearm + ."downElevator"\SE.coast +2 A(5 +3 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&d'? +101 h ' +2 C'5& +4 h & h g\ W +2 C'& +3 .t\CC.seek :closed +2 C'X(\\ +2 h & j j\ W +3 & g i\ W +9 &-v f f\ Q,} +10 &c e f\ P@ +9 &bs g g\ PQ +9 &#T h h\ RQ +10 &S e f\ RQ +9 &V i f\ RQ +9 &jT h h\ RP +10 &*U i i\ RQ +9 &U i h\ RQ +10 &S h g\ RQ +9 & qT g f\ RQ +9 &"3W h g\ RQ +10 &#T j h\ SP +9 &%U h i\ SQ +10 &'xR h h\ SQ +9 &):U g g\ SQ +9 &*T h h\ RQ +10 &,U g h\ SQ +9 &.T i g\ RQ +9 &0CT g h\ SQ +9 &2U i i\ RP +9 &3U f h\ RQ +11 &5Q g h\ RQ +8 &7KU h f\ RQ +10 &9 W h h\ RQ +10 &:V h j\ RQ +9 &<V g g\ RQ +9 &>SW k g\ SQ +9 &@R i j\ RQ +9 &AW i h\ RQ +10 &C[ i j\ RR +10 &EUg g k\ QS +9 &Gy j k\ PU +9 &H k i\ OX +9 &J h i\ K\\ +9 &LA j k\ L\\ +10 &M l k\ K^ +10 &O l j\ K^ +9 &Q k l\ K_ +9 &SA l j\ K_ +9 &U j k\ K` +11 &V l l\ J` +8 &X l j\ Ia +9 &Z@ j l\ Hb +10 &[} i k\ LF +10 &\\# l m\ M. +9 &\\ k l\ O _ +2 ( + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + M&1 +76 h 1 +2 M&*% +4 h % A  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&A' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%m& +3 h &\ 3 +2 M&e% +3 h %  S  +2 A(L% +3 h %  \ 4 + A({. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(b(,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (t& +3 h &,w  O\ 4 + M&H& +3 h &ӑ. E +2 M&7% +3 h %  "  + .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b + .t\Elbow.seek 4 +2 M&j( +169 h ( + M&& +4 h & s f + A(9& +4 h &,x  \ 3\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&<' +96 h ' + A(>& +4 h &,x   K\ 4\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(D's +299 h ' + A(a- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (l& +2 h &,x   '\ 3\  +2 M&N& +3 h & D f + .t\Elbow.seek 4 +2 M&V( +3 h ( + M&f& +4 h &  f + A(!& +3 h &,x \ 3\  +2 .t\Forearm.seek 4 + 300 counts +2 M&u'c +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&B/ +13 E2\ ``] +58 h / +2 M& & +2 ."downElevator"\SE.seek :down +4 A(\\' +3 h & ; f + M&M% +4 h % D C +2 .t\Forearm.seek :retract + M&)' +90 h ' + .t\Elbow.seek PC +2 M&h( +168 h ' + ."downElevator"\SE.coast + A(5 +69 h ( + M&y& +4 h & M 9 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &}& +3 h & = 9 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +47 M&' +98 h ' + P%p& +4 h &\ 4 +2 P%o& +3 .t\PC.seek :closed + P%Q(^ +3 h &\ 4 +4 &\ 43 +10 &6Dy\ /2 +9 &Xn\ .F +9 &h\ /S +10 &T\ 0R +9 &rQ\ 0R +10 &4R\ 1R +9 &U\ 0R +9 &V\ 0R +10 &yU\ 0S +9 &<S\ 0R +9 & R\ 0R +10 &"S\ 1R +9 &$R\ 0R +10 &&DT\ 0R +9 &(U\ 1R +9 &)T\ 0S +10 &+S\ 0R +9 &-LU\ 0R +9 &/U\ 1R +10 &0S\ 1R +9 &2T\ 0S +10 &4TR\ 0R +9 &6T\ 0S +9 &7T\ 1S +10 &9T \ 1S +9 &;[V%\ 0S +9 &=S\ 1R +10 &>V\ 0S +9 &@W3\ 0S +10 &B``\ 0T +9 &Dj\ /U +9 &E\ .X +10 &G\ -X +9 &IZ\ -Y +9 &K\ .Y +9 &L \ -Y +9 &N\ -Z +11 &P_\ -Z +8 &R!\ -Z +10 &S\ ,[ +10 &U\ -Z +9 &We$\ ,Z +9 &Y&\ -[ +9 &Z\ -Z +9 &\\\ ,[ +11 &^1fy\ /0 +9 &^y\ /B +8 ( +2 &^9\ 1; + P%o& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.74 + .Hand.open +2 M&x1 +72 h 1 + M&?% +4 h %  Y U +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&Y' +93 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^9\ 3; +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&`% +3 h %   +2 A(w% +3 h % \ 4 + A(q. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(\ (,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 M&&& +4 h &,w  S\ 3 +2 & R 9 +3 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.reconfigure TightElbow +2 A(#]kK-0-\ b +3 M&$&.,(\ #b +3 .t\Elbow.seek PC + M&z( +3 h ( + M&& +3 ."raiseStack"\SE.seek beamBreak +2 A( 's +2 h & 9 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &%& +2 h & ! 9 +2 .t\Forearm.seek :PC +2 M&' +89 h ' + .tHand.close + M&[/ +70 h / + .t\PC.seek :open +2 P%n( +99 h ' +2 A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(|'1 +42 h ' +303 ( + A(g& +4 h &,x  W\ 3\  + M&& +3 h & 9 +2 M&-% +3 h % % V { +2 .t\Forearm.seek :retract + M&T' +87 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&( +245 h ( + M&,& +4 h & Q + A(C& +3 h &,x \ 1\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +95 h ' + .tHand.open + M&1 +70 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +35 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A('' +53 h ' + #tLights, camera, ACTION! +2 A(- +2 h -' +2 A(E& +3 h &,x \ (\  +2 M&3& +3 h & P + .t\Elbow.seek 4 +2 M&;( +3 h ( + M&6& +3 h & B P +2 A( & +3 h &,x \ (\  +2 .t\Forearm.seek 4 + 450 counts +2 M&' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +49 h ' + M&& +4 h & > P +2 A(8& +3 h &,x  H\ 2\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&i'7 +19 h ' + .t\Elbow.hold +2 M&F, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +21 h ' +2 M&:% +3 h %W g \\ +2 A(r& +3 h &,x  m\ 2\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 332 counts + M&2'σ +26 h ' +2 M&& +4 h & . P +2 A(v& +3 h &,x \ b\ 3\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&+' +18 h ' +2 A(0% +3 h %  \ 3 +3 ."downElevator"\SE.seek :down +2 A(/' +99 (=% +2 h %< \ 1Zr +2 M&% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&S' +86 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'R& +3 h &\\ k l\ S _ +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&I% +3 h %   +2 A(K% +3 h % $ " \ 6 +2 A(.. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(@(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ("& +3 h &,w % $ $\ 6 + M&s& +3 h & | P +2 .t\Elbow.seek 4 + M&( +3 h ( +2 M&#& +3 h & P +2 A((& +3 h &,x" \ 3\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&_' +99 h ' + A(1& +4 h &,x  Z\ 4\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A( 's +299 h ' + A(]- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h & 8 P +2 A(Z& +3 h &,x \ 2\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&O'7 +18 h ' + .t\Elbow.hold +2 M&$, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(U- +2 h -' +2 .t\SE.seek 0.16 + A(J'k +31 h ' + M&G% +4 h %H u 5 + A(P& +3 h &,x  W\ 3\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 317 counts + M&'t +28 h ' +2 M&5& +3 h & P +2 A(W& +3 h &,x \ 0\ 3\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&^' +24 h ' +2 .t\SE.seek 1.16 + A(~' +39 h ' +2 M&4& +5 h & P + M&% +3 h % ] \ X +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&*' +87 h ' +2 .t\Elbow.seek CC + M&m(ӂ +155 h ( + M&e& +4 h &ӑ. < E + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &L& +3 h &ӑ. T E + .t\Forearm.seek :CC +2 M&'? +97 h ' + .tHand.close + M&{/ +73 h / + .t\CC.seek :open +2 C't( +449 h ( + A(H& +4 h &,x $ ! \ 6\  + A(7& +3 h &,x " !\ 6\  +2 M&d& +3 h &Ӓ. $ E + M&% +3 h % D F d +2 .t\Forearm.seek :retract +2 M&9' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M& ( +165 h ( + M&>& +4 h & P  + A(c& +3 h &,x & , <\ 7\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 4 +2 M&A'7 +97 h ' + .t\Elbow.hold +2 M&a, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&l1 +75 h 1 + M&N% +4 h %   + A(f& +3 h &,x 0 0 \\\ 7\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 276 counts +47 M&!'K +20 h ' + M&B& +4 h & X } + A( & +4 h &,x . $ '\ 8\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&M' +24 h ' +2 A(j% +3 h % ( . :\ 9 +3 ."downElevator"\SE.seek :down +2 A(<' +99 (D% +2 h %q8 . 0 F\ 7Zo +2 M&u% +3 h % 6 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&y' +90 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 4 to 5 + M&}% +4 h %    +2 A(V% +3 h % : = 0\ ; +2 A(p. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(\\(,y +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ()& +3 h &,x = ; E\ ; + M&k& +4 h & W } + .t\Elbow.seek 4 +2 M&x( +9 h ( + M&?& +4 h & ~ +2 A(& +3 h &,x > ? \ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&`' +95 h ' +2 A(w& +4 h &,x > 9\ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(o's +300 h ' + A(q- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&&/ +68 h / + M&& +4 h & s ~ + M&% +3 h %   +2 .t\Forearm.seek :retract + M&%' +88 h ' + .t\Elbow.seek :clear +3 M&(d +96 h ( + M&[& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &b& +3 h &d Q  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +3 h ' + .t\SE.seek :down +2 A(h' +268 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(Y(<- +363 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (Q& +3 h & E\ ; +2 ."downElevator"\SE.seek :down +3 A(|' +99 (% +2 h %9? 2 <\ 8Zs +2 M&v% +3 h %k H +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +88 h ' +69 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 4 to 5 +2 M&0% +3 h %   +2 A(% +3 h % 8 = E\ ; +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A('(,y +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (=& +2 h &,{   \ 8 +2 M&& +3 h & \\ | + .t\Elbow.seek 4 +2 M&( +10 h ( + M&;& +4 h & + A(& +3 h &,{   \ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&i' +92 h ' + A(R& +4 h &,{ < 9 (\ 9 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(2's +293 h ' + A(I- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&K/ +65 h / + M&.& +4 h & + M&% +3 h %  c +2 .t\Forearm.seek :retract + M&"' +91 h ' + .t\Elbow.seek :clear +2 M&s(d +94 h ( + M&#& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &(& +3 h &d T  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&+' +9 h ' + .t\SE.seek :down +2 A(1' +279 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(/(<- +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (\ & +3 h &<-# . ,\ 7  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +4 .t\SE.seek beamBreak +2 A(F's +319 h ' + A(S- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (]& +3 h &<-# - O\ 5  + A(& +3 h &<-# " % G\ 6  +2 M&Z& +3 h &d }  + M&U% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&G( +113 h ( + M&P& +4 h & s  + A(5& +3 h &<-# % $ \ 7  +2 .t\Elbow.reconfigure LimpElbow + M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +3 .t\Forearm.seek 5 +2 M&W'΍ +93 h ' + .t\Elbow.hold +2 M&4, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +70 h 1 + M&_% +4 h % } 8 + A(& +3 h &<-# / 1 R\ 7  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 284 counts +2 M& 'ϩ +24 h ' + M&O& +4 h &  + A(& +3 h &<-# - 0 5\ 7  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&J'O +25 h ' +2 A(e% +3 h %   \ 8 +2 ."downElevator"\SE.seek :down +3 A(L' +99 (^% +2 h %+7 0 / O\ 7Zq +2 M&$% +3 h %i +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&{' +88 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of 5..5 + #Loading generic puck from tube 5 into Collection Clamp + C'*& +4 h & f h\ [ + M&X% +4 h %   + A(H% +3 h % ? > c\ ; +2 A(7. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(d(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h &<, < > C\ ; +2 M&>& +3 h &   +2 .t\Elbow.seek 5 + M&c( +9 h ( + M&& +4 h & B  + A(m& +4 h &<, 9 9 J\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&l'O +92 h ' + A(N& +4 h &<, . . H\ < +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(f's +300 h ' + A(B- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( & +2 h &<, 1 0 O\ : +2 M&9& +3 h &  +2 .t\Elbow.seek 5 +2 M&j( +2 h ( +2 M& & +3 h &  + A(D& +3 h &<, 2 = <\ : +48 .t\Forearm.seek 5 + 300 counts +3 M&u'Ϲ +14 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&A/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&}& +6 A(!' +2 h & "  +2 M&V% +3 h %   t +2 .t\Forearm.seek :retract +2 M&p' +87 h ' + .t\Elbow.seek CC +2 M&)(ӂ +158 h ( + M&~& +4 h &ӈ2 H + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &k& +2 h &ӈ1 ( H +2 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b + h ' + ."downElevator"\SE.coast +2 A(5 +2 .t\Forearm.seek :CC +3 M&?'? +92 h ' +2 C'& +4 h & f h\ [ +2 C'M& +3 .t\CC.seek :closed +2 C'w(\\ +2 h & f h\ Z +3 & f g\ Z +11 &-v k i\ T,~ +9 &b h j\ S@ +9 &as g g\ SQ +10 &"T e g\ VQ +9 &Y h g\ UP +9 &V i h\ VQ +10 &iW e h\ UP +9 &+U g f\ VP +10 &W g i\ UQ +9 &W f g\ VQ +9 & pT i f\ VQ +10 &"3U h h\ VP +9 &#R i f\ VQ +9 &%W g i\ UP +10 &'xQ g h\ VQ +9 &);R g g\ VP +10 &*T i h\ VP +9 &,W h g\ UQ +9 &.X f h\ VP +10 &0CQ g g\ VP +9 &2T i f\ VP +9 &3X g g\ VQ +9 &5S i f\ UP +10 &7JR g g\ VQ +10 &9 S f k\ VQ +9 &:U h i\ VP +9 &<V h h\ VP +10 &>RU i g\ VQ +8 &@W g g\ VP +10 &AY j h\ UQ +10 &C\\ h j\ UQ +8 &ETi g g\ TS +11 &G f i\ RV +9 &H f f\ PZ +9 &J~ f e\ O\\ +9 &L@ f f\ O\\ +10 &N d d\ O] +9 &O e d\ N^ +10 &Q e d\ O] +8 &SA d c\ N_ +11 &U c f\ M_ +8 &V d e\ L` +9 &X d d\ Ma +10 &Z@ d d\ Lb +10 &[} b d\ OF +9 &\\% c b\ O. +10 &\\ e b\ S!a + ( + C'M& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 M&<1 +69 h 1 +2 M&@% +3 h % H = +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&a' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%y& +3 h &\ 3 +2 M&q% +3 h %  *  +2 A(&% +3 h %  \ 4 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A((<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ([& +2 h &<,  3\ 4 +2 M&b& +3 h &ӌ1 H +2 M&`% +3 h %  -  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&x( +165 h ( + M&%& +4 h & C ~ +2 A(o& +3 h &<, 0 / R\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&\\'O +96 h ' +3 A(Q& +4 h &<, 1 2 _\ 7 + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(g's +303 h ' + A(h- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (-& +2 h &<, " - .\ 6 +2 M&& +3 h & ~ + .t\Elbow.seek 5 +2 M&,( +4 h ( + M&C& +4 h &  ~ + A(& +3 h &<, 0 - \ 7 +2 .t\Forearm.seek 5 + 300 counts +2 M&'Ϲ +19 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +68 h / +2 ."downElevator"\SE.seek :down +2 M&& +6 A(3' +2 h & 9 ~ +2 M&6% +3 h % ϶ ' 4 +2 .t\Forearm.seek :retract +2 M& ' +88 h ' + .t\Elbow.seek PC +2 M&( +168 h ' +2 ."downElevator"\SE.coast + A(5 +68 h ( + M&8& +4 h &  8 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &r& +3 h &  8 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +99 h ' + P%& +4 h &\ 6 + P%v& +4 .t\PC.seek :closed +2 P%z(^ +2 h &\ 6 +5 &\ 62 +9 &9D{\ 02 +9 &[o\ 0F +10 &f\ 1R +9 &R\ 2R +9 &vU\ 2R +10 &8T\ 2R +9 &S\ 2R +10 &T\ 2R +9 &}U\ 2R +9 &@T\ 2R +9 &!T\ 2R +8 &"R\ 2R +10 &$T\ 2R +10 &&IS\ 2R +9 &(\ T\ 1R +10 &)T\ 2R +9 &+S\ 2R +8 &-OP\ 2R +11 &/T\ 2R +8 &0W\ 2R +10 &2T\ 2R +10 &4WR\ 2R +8 &6T\ 2R +10 &7T\ 2R +10 &9R\ 2R +9 &;_X\ 2R +9 &=!X\ 2R +9 &>Y\ 2S +10 &@W\ 2S +10 &Bd^\ 2S +9 &D"g\ 1U +9 &Ex\ 0V +9 &G\ /X +10 &I_\ /X +10 &K \ /X +8 &L\ /X +10 &N\ /Y +9 &Pb\ .Z +10 &R$\ /Z +10 &S\ .Z +9 &U\ /Y +8 &Wi\ /Z +10 &Y.\ /Y +10 &Z\ .Y +9 &\\\ .Z +10 &^/bv\ 04 +9 &^s\ 1? +8 ( +2 &^0\ 49 + P%v& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.69 + .Hand.open +2 M&1 +66 h 1 + M&T% +4 h %   , + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&0' +91 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^0\ 39 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 M&% +3 h %   + A(% +4 h %  /\ 4 + A(:. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(|(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +4 M&=& + A(Y& +5 h & ! 8 + &<,  2\ 3 +2 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 A(#]kK-0-\ b +2 .t\Elbow.seek PC +4 M&( +3 h ( + ."raiseStack"\SE.seek beamBreak +4 A(;'s + M&& +5 h & 8 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &R& +2 h & 8 +2 .t\Forearm.seek :PC +2 M&E' +93 h ' +2 .tHand.close + M&/ +77 h / + .t\PC.seek :open +2 P%I( +81 h ' + A(K- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(.'1 +41 h ' +322 ( + A(& +4 h &<, ' % "\ 4 + M&#& +3 h & / 8 +2 M&(% +3 h %  Y +2 .t\Forearm.seek :retract + M&i' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&( +247 h ( + M&"& +4 h & ] > + A(2& +3 h &<, \ 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&''O +97 h ' + .tHand.open + M&\ 1 +76 h 1 + A(1- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(S' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(]' +49 h ' + #tLights, camera, ACTION! + A(- +3 h -' +2 A(Z& +3 h &<, 3\ + +2 M&U& +3 h & I > + .t\Elbow.seek 5 +2 M&P( +3 h ( + M&5& +3 h & > +2 A(s& +3 h &<, 6\ + +2 .t\Forearm.seek 5 + 450 counts + M&'O +4 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(_' +50 h ' + M&& +4 h & > +2 A(O& +3 h &<, $ " \ 5 +2 .t\Elbow.reconfigure LimpElbow + M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&'΍ +24 h ' + .t\Elbow.hold +2 M&e, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(+' +19 h ' +2 M&^% +3 h %q +2 A($& +3 h &<,  "\ 4 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 272 counts + M&G'ϝ +22 h ' +2 M&W& +3 h & = +2 A(*& +3 h &<, $ %\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M& 'O +21 h ' +2 A(X% +3 h % $ "\ 6 +51 ."downElevator"\SE.seek :down +2 A(H' +99 (7% +3 h %A \ 4[t +2 M&% +3 h %E q . +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&F' +87 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'>& +3 h &\\ d c\ S!a +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&% +4 h %  k  + A(m% +4 h % " % \ 6 +2 A(J. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(N(<- +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (L& +3 h &<, $ % C\ 6 + M&/& +4 h & = +2 .t\Elbow.seek 5 +2 M&4( +2 h ( +2 M&{& +3 h & ~ = +2 A(B& +3 h &<, ! $ E\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M& 'O +100 h ' + A(9& +4 h &<, / % *\ 6 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A( 's +299 h ' + A(D- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&A& +2 h & < +2 A(}& +3 h &<, # $ \ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&V'΍ +19 h ' + .t\Elbow.hold +2 M&c, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(l- +2 h -' +2 .t\SE.seek 0.16 + A(~'n +31 h ' + M&k% +4 h %w &  + A(f& +3 h &<, % $ \ 5 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 278 counts + M&u'ϣ +22 h ' + M&& +4 h & 9 < + A(j& +4 h &<, % % C\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&!'O +12 h ' +2 .t\SE.seek 1.16 + A(p' +40 h ' + M&t& +4 h & ; < +2 M&<% +3 h %I  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&@' +88 h ' + .t\Elbow.seek CC +2 M&y(ӂ +156 h ( + M&q& +4 h &ӓ. 8 E + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &&& +3 h &ӓ. ` E + .t\Forearm.seek :CC +2 M&'? +95 h ' + .tHand.close + M&M/ +72 h / + .t\CC.seek :open +2 C'[( +449 h ( +2 A(b& +3 h &<, +  =\ 7 +2 A(`& +3 h &<,   Q\ 8 + M&?& +3 h &ӓ. q E +2 M&%% +3 h % @ ? +2 .t\Forearm.seek :retract + M&o' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&d( +167 h ( + M&Q& +4 h & :  + A()& +4 h &<, > 2\ 9 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 5 + M&a'΍ +105 h ' + .t\Elbow.hold +2 M&h, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&-1 +77 h 1 + M&% +4 h % \\ +2 A(C& +3 h &<, / 0 M\ 9 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 251 counts + M&'ψ +24 h ' + M& & +4 h & b v + A(& +4 h &<, ? = \ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&6'O +32 h ' +2 A(x% +3 h % ? @ @\ ; +3 ."downElevator"\SE.seek :down +2 A(\\' +99 (g% +2 h %6 = <\ :Zo +2 M&% +3 h %6 X  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&8' +87 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 5 to 6 + M&r% +4 h %   + A(,% +3 h % ? @ a\ ; +2 A(. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(3(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &<, > > B\ ; + M&n& +4 h & ^ v +2 .t\Elbow.seek 5 + M&( +11 h ( + M&T& +4 h & t  + A(& +4 h &<, ? > W\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&'O +93 h ' +3 A(& +3 h &<, 1 / f\ < +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(:'s +310 h ' + A(v- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&Y/ +67 h / + M&=& +4 h & `  + M&% +3 h % V g +2 .t\Forearm.seek :retract + M&R' +90 h ' +2 .t\Elbow.seek :clear +2 M&(d +94 h ( + M&& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&K' +8 h ' + .t\SE.seek :down +2 A(' +268 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(0(K +348 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (z& +3 h &K '  \ 8  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(;'s +275 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(#'1 +42 h ' + A((& +4 h &K ,  2\ 7  + A(E& +3 h &K 1 0 <\ 7  +2 M&"& +3 h &d   + M&2% +3 h % "  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&( +111 h ( + M&\ & +4 h &  + A(1& +3 h &K 1 1 j\ 7  +2 .t\Elbow.reconfigure LimpElbow + M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 +2 M&'< +99 h ' + .t\Elbow.hold +2 M&Z, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&U1 +70 h 1 + M&5% +4 h % #  + A(s& +3 h &K !  U\ 7  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 275 counts + M&i'O +18 h ' + M&& +4 h & E  + A(O& +3 h &K   m\ 8  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&^' +22 h ' + A($% +4 h %7 )  8\ 8 +2 ."downElevator"\SE.seek :down +2 A(W' +100 (.% +2 h %=< / 1 U\ 6[s +2 M&*% +3 h % ] +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&S' +89 h ' +68 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +3 #t\Moving puck from tube 5 to 6 + M&X% +4 h %   + A(% +3 h % ? = \ ; +2 A('. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(](<- +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (7& +3 h &<.  * %\ 9 + M&& +3 h &   +2 .t\Elbow.seek 5 + M&( +9 h ( + M&P& +4 h &  + A(_& +3 h &<. ? > W\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +47 M&'O +94 h ' + A(G& +4 h &'s +298 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&m/ +71 h / + M&J& +4 h &   + M&+% +3 h % e & +2 .t\Forearm.seek :retract +2 M&L' +86 h ' + .t\Elbow.seek :clear +2 M&/(d +101 h ( + M&{& +4 h &d 5 d + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &B& +3 h &d d + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M& ' +2 h ' + .t\SE.seek :down +2 A(9' +274 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(H(K +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (|& +3 h &K( + 1 N\ 7\  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(e's +316 h ' + A(F- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (D& +2 h &K   <\ 8 +2 A(A& +3 h &K 9 )\ 9 + M&}& +4 h &d # d + M&l% +3 h %  k  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&k( +103 h ( + M&f& +4 h & 3 + A(& +3 h &K $ - 1\ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&j'< +97 h ' + .t\Elbow.hold +2 M&t, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&<1 +76 h 1 + M& % +4 h % ,  + A(4& +3 h &K = <\ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 284 counts + M& 'X +18 h ' + M&V& +4 h & " 2 + A(u& +3 h &K 2 9 \ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&~' +20 h ' + A(q% +4 h % 0 3\ 9 +2 ."downElevator"\SE.seek :down +3 A(&' +99 (!% +2 h % ;  * \ 8Zq +2 M&c% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&M' +91 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of 6..6 + #Loading generic puck from tube 6 into Collection Clamp + C'@& +4 h & f h\ [ + M&w% +4 h %   +2 A(b% +3 h % < ? 5\ ; +2 A(`. +2 h . + .t\SC.reconfigure SCtight +3 A($\ .\ 1~b +2 .t\SC.seek 6 + A(?(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (%& +2 h &K = 3\ : +2 M&Q& +3 h & 2 +2 .t\Elbow.seek 6 + M&)( +3 h ( + M&& +4 h & 2 + A(y& +4 h &K 0 / =\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&-' +93 h ' + A(& +4 h &K ? > p\ ; +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(C's +296 h ' + A( - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &K   >\ 8 +2 M&x& +3 h &  1 + .t\Elbow.seek 6 +2 M&o( +3 h ( + M&g& +4 h & X 1 + A(& +3 h &K = =\ 9 +2 .t\Forearm.seek 6 + 300 counts +2 M&d'h +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&a/ +75 h / +2 ."downElevator"\SE.seek :down +2 M&& +3 A(r' +5 h & 1 +2 M&,% +3 h % J X +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.seek CC +2 M& (ӂ +150 h ( + M&p& +4 h &x3 I + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &n& +3 h &x3  I + ' + ."downElevator"\SE.coast +2 A(5 +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&T'? +93 h ' + C'& +4 h & f f\ [ +2 C'6& +3 .t\CC.seek :closed +2 C'(\\ +2 h & e g\ [ +5 & g hG\ Z5 +9 &1G| f iP\ T2 +10 &Yp i g\ SF +9 &c h fq\ UQ +9 &S g f\ VP +10 &zT f g\ UQ +9 &<R g h\ VQ +10 &R f h\ VP +9 &S h h\ VP +9 &Y i h\ UQ +10 &DU h h\ VQ +9 &!U h g\ UP +9 &"W g h\ UP +10 &$Q f g\ VP +9 &&MQ g i\ VP +10 &(U h f\ UP +9 &)W e h\ UQ +9 &+U j g\ UQ +10 &-UW h h\ VP +9 &/V k i\ UQ +9 &0S g h\ VP +10 &2R f f\ VQ +8 &4\\S g i\ VQ +10 &6T g g\ UQ +10 &7U h g\ VQ +8 &9S g e\ VQ +10 &;dT f g\ VQ +10 &='T g i\ VP +9 &>S h g\ VP +10 &@T g g\ VQ +8 &BlT h h\ VQ +11 &D,[ i i\ UQ +8 &Ei i j\ US +9 &G j j\ SU +11 &I[ m l\ PY +8 &K j j\ O\\ +10 &L j k\ O] +9 &N m k\ N^ +9 &PU j j\ M^ +11 &R m k\ M^ +9 &S k k\ M_ +9 &U l k\ M_ +9 &WT k k\ La +10 &Y k k\ Kb +9 &Z m k\ Ka +9 &\\Ng l l\ M4 +10 &\\ j k\ M&q +8 ( +2 &\\x m l\ S\\ +2 C'6& +2 #t\Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + M&\\1 +76 h 1 + M&N% +4 h % J f + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&h' +90 h ' +2 .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp +2 P%8& +3 h &\ 4 +2 M&v% +3 h %   +2 A(Y% +3 h % $  2\ 4 + A(=. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A((K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K  \ 4 + M&& +3 h &ӛ, Dy +2 M&% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&( +167 h ( + M&R& +4 h & + A(:& +3 h &K % #\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&3' +102 h ' + A(z& +4 h &K / , n\ 7 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +304 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ((& +2 h &K " $ k\ 5 +2 M&E& +3 h &  + .t\Elbow.seek 6 +2 M&"( +3 h ( + M&2& +3 h & q +2 A(\ & +3 h &K ! ,\ 6 +2 .t\Forearm.seek 6 + 300 counts + M&1'h +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&;/ +74 h / +2 ."downElevator"\SE.seek :down +2 M&& +6 A(U' +2 h & +2 M&5% +3 h % q & $ +2 .t\Forearm.seek :retract + M&s' +89 h ' + .t\Elbow.seek PC +2 M&( +171 h ' + ."downElevator"\SE.coast + A(5 +66 h ( + M&O& +4 h & x 9 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &$& +2 h & Q 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&K' +94 h ' + P%.& +4 h &\ 7 + P%*& +4 .t\PC.seek :closed + P%(^ +3 h &\ 7 +3 &\ 7 +10 &.v\ 2+{ +9 &_}\ 1? +9 &Us\ 1R +10 &T\ 3S +9 &T\ 3R +9 &R\ 3R +10 &[Q\ 3R +9 &S\ 3R +10 &Q\ 3R +9 &T\ 3R +9 & bS\ 3R +9 &"$R\ 3R +10 &#U\ 3R +10 &%R\ 3R +9 &'iR\ 3S +9 &),R\ 3R +9 &*U\ 3R +10 &,T\ 3R +9 &.rR\ 3R +10 &05P\ 3R +8 &1R\ 3R +10 &3R\ 3R +10 &5zR\ 3R +8 &7<R\ 3R +11 &8V\ 3R +9 &:U\ 3R +9 &<Q\ 3R +9 &>DX\ 3R +9 &@Y\ 3S +10 &A[\ 3S +9 &Cj\ 2T +10 &EA|\ 1V +10 &F\ 0X +9 &H\ 0X +9 &J\ 0X +10 &LB\ 0Y +8 &N\ 0Y +11 &O\ 0Y +9 &Q\ 0Z +8 &SF\ /Z +10 &U\ /Z +9 &V\ /Z +10 &X\ /Z +56 &ZN\ /Z + &\\\ /[ + &]\ /B + &^,\ 0!c + &^3\ 48 ( + &^/\ 48 + P%*& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 M&1 +72 h 1 + M&i% +4 h %  ^ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&X' +91 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^/\ 48 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&'% +3 h %    +2 A(#% +3 h %   2\ 4 +2 A(^. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 6 + A(W(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (0& +3 h &K  4\ 4 +2 M&7& +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +3 h & 9 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&( +4 h ( + M&P& +3 ."raiseStack"\SE.seek beamBreak +2 A(_'s +2 h & 9 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &G& +3 h &  9 + .t\Forearm.seek :PC +2 M&Z' +92 h ' + .tHand.close + M&S/ +76 h / +3 .t\PC.seek :open + P%( +89 h ' + A(m- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(J'1 +41 h ' +314 ( + A(+& +4 h &K $ "\ 6 + M&{& +4 h & + 9 + M&B% +3 h % !  c +2 .t\Forearm.seek :retract + M&' +87 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +242 h ( + M&L& +4 h & z Z + A(>& +3 h &K  \\\ 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&]' +92 h ' + .tHand.open + M&|1 +76 h 1 + A(9- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(F' +27 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(D' +52 h ' +2 #tLights, camera, ACTION! + A(A- +3 h -' +2 A(}& +3 h &K &\ * +2 M&l& +3 h &  9 Z + .t\Elbow.seek 6 +2 M&f( +3 h ( + M&& +3 h &  ( Z +2 A(/& +3 h &K f\ * +2 .t\Forearm.seek 6 + 450 counts +2 M&<' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A( ' +52 h ' + M&4& +4 h &  w Z +2 A(V& +3 h &K % %\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 +2 M&u'< +18 h ' + .t\Elbow.hold +2 M&q, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A( ' +21 h ' +2 M&!% +3 h %_ F +2 A(c& +3 h &K "  \ 4 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 335 counts + M&k'ϋ +27 h ' +2 M&j& +3 h &  4 Z +2 A(@& +3 h &K " $\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M& ' +20 h ' +2 A(w% +3 h % $ "\ 5 +3 ."downElevator"\SE.seek :down +2 A(b' +99 (`% +2 h %;  b\ 3[t +2 M&e% +3 h %  P +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&%' +87 h ' +72 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'Q& +4 h &\\w k j\ T\\ +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&% +3 h %  "  +2 A(y% +3 h % " !\ 6 + A(~. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (&& +3 h &K % (\ 6 + M&H& +4 h & Z +2 .t\Elbow.seek 6 + M&t( +3 h ( + M&M& +3 h &  Z +2 A( & +3 h &K # %\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +97 h ' + A(x& +4 h &K 0 / \ 6 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(g's +296 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&a& +2 h & Y +2 A(& +4 h &K   j\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&,'< +17 h ' + .t\Elbow.hold +2 M&), +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(-- +2 h -' + .t\SE.seek 0.15 +2 A(p'i +35 h ' + M&n% +4 h %P N < + A(C& +3 h &K ! ,\ 5 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 320 counts + M&d'| +27 h ' + M&& +4 h & 5 Y +2 A(o& +3 h &K / ,\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&r' +18 h ' +2 .t\SE.seek 1.15 + A(' +40 h ' + M&[& +4 h & Y +2 M&\\% +3 h % +2 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&N' +91 h ' + .t\Elbow.seek CC +2 M&8(ӂ +164 h ( + M&v& +4 h &Ӈ t * + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &Y& +3 h &Ӈ * + .t\Forearm.seek :CC +2 M&6'? +95 h ' + .tHand.close + M&=/ +76 h / + .t\CC.seek :open +2 C'( +450 h ( +6 A(& +3 h &K 3 9 \ 9 +2 A(& +3 h &K 3 < \ 9 + M&T& +3 h &Ӈ G * +2 M&R% +3 h % H z / + .t\Forearm.seek :retract +2 M&:' +87 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&?( +159 h ( + M&z& +4 h & | ~ + A( & +3 h &K 9 /\ : +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&h'< +95 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&(1 +69 h 1 + M&E% +4 h % 7  + A(2& +3 h &K < < J\ : +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 295 counts + M&\ 'c +18 h ' +2 M&;& +4 h & u + A(& +3 h &K < < L\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&5' +17 h ' + A(% +4 h % > : W\ ; +3 ."downElevator"\SE.seek :down +2 A(3' +99 (% +2 h %; = +\ 8Zr +2 M&1% +3 h %  D +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&O' +89 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 6 to 7 +48 M&$% +4 h %   +2 A("% +3 h % ? @ n\ ; +2 A(.. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(U(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (s& +3 h &K ? ? n\ ; +2 M&I& +3 h & 7 u + .t\Elbow.seek 6 +2 M&( +3 h ( + M&i& +3 h & ) u +2 A(& +3 h &K = = m\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&'' +95 h ' + A(#& +4 h &K > ? \ ; +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(^'s +299 h ' + A(*- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&0/ +67 h / + M&7& +4 h & u + M&P% +3 h %  = { +2 .t\Forearm.seek :retract + M&G' +88 h ' + .t\Elbow.seek :clear +2 M&K(d +105 h ( + M&S& +4 h &d @ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d @ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&m' +8 h ' + .t\SE.seek :down +2 A(' +265 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(X([ +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[* % . K\ 6  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(_'s +275 h ' + A(+- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A({'1 +47 h ' + A(B& +4 h &[ > A \ 9 + A(Z& +3 h &[ = 2 \ 9 +2 M&L& +3 h &d @ + M&>% +3 h % "  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&(r +103 h ( + M&|& +4 h &{  ~ h + A(9& +3 h &[ . 8 E\ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 + M&A'{ +94 h ' + .t\Elbow.hold +2 M&}, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&l1 +66 h 1 + M&% +4 h % Ζ d + A(/& +4 h &[ < @ 4\ : + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 327 counts +2 M&' +23 h ' + M&4& +4 h &|  g + A(V& +4 h &[ = 3 F\ : + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&!'= +19 h ' + A(c% +4 h %2 ? ? \ ; +2 ."downElevator"\SE.seek :down +3 A(J' +99 (j% +2 h %t>   \ 8Zq +2 M&@% +3 h %$  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&F' +88 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 6 to 7 +2 M&w% +3 h %    +2 A(% +3 h % ? = q\ ; +2 A(]. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(D(K +361 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (`& +3 h &K - / 1\ 7 + M&e& +3 h &|  g +2 .t\Elbow.seek 6 + M&<( +35 h ( + M&f& +4 h & ~  + A( & +3 h &K   \ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&u' +95 h ' + A(k& +4 h &K < = \ 9 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(Q's +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&y/ +75 h / + M&~& +4 h & m  + M& % +3 h %  +2 .t\Forearm.seek :retract + M&&' +88 h ' + .t\Elbow.seek :clear +2 M&H(d +97 h ( + M&M& +4 h &d   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &d N  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M& ' +10 h ' + .t\SE.seek :down +2 A(x' +274 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(b([ +358 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (W& +3 h &[) . 0 G\ 7  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(q's +316 h ' + A(%- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +3 h &[.   \ 5  + A(a& +3 h &[. $ # G\ 5  +2 M&& +3 h &d  + M&-% +3 h % ! \  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&n(r +120 h ( + M&C& +4 h &h   + A(& +3 h &[. ' % \ 5  +2 .t\Elbow.reconfigure LimpElbow + M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M&o'{ +94 h ' + .t\Elbow.hold +2 M&[, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .tHand.open +2 M&\\1 +67 h 1 + M&% +4 h % Ν 8 + A(t& +3 h &[. & " \ 6  + .t\Forearm.force -20 +2 M&5 +2 .t\Forearm.seek 7 + 334 counts + M&g' +26 h ' + M&,& +4 h &k  + A(d& +3 h &[- % " \ 6  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&p'= +22 h ' + A(v% +4 h % 0 0 R\ 7 +3 ."downElevator"\SE.seek :down +2 A(Y' +99 (r% +2 h %8 ' . \ 5[r +2 M&)% +3 h %S w +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&=' +86 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 7 of 7..7 +2 #Loading generic puck from tube 7 into Collection Clamp + C'N& +4 h & d g \ \\ + M&% +4 h %  )  + A(% +3 h % @ ? B\ ; +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(T([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (R& +3 h &[ > > B\ ; + M&z& +4 h &k  + .t\Elbow.seek 7 +2 M& (r +2 h ( +2 M&6& +3 h &k  +2 A(8& +3 h &[#  % \ \ 8\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&('= +93 h ' + A(E& +4 h &[ < = \ 9\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(2's +296 h ' + A(;- +3 h -'\ + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &[ % 0 /\ 7\  +2 M&& +3 h &k 7  + .t\Elbow.seek 7 +2 M&:(r +3 h ( + M&& +4 h &k q  + A(1& +3 h &[ - $ ;\ 8\  +2 .t\Forearm.seek 7 + 300 counts +2 M&?'ϧ +36 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&h/ +70 h / +2 ."downElevator"\SE.seek :down +2 M&$& +3 A(\ ' +5 h &k "  +2 M&% +3 h %  K +2 .t\Forearm.seek :retract +2 M&"' +90 h ' + .t\Elbow.seek CC +2 M&.(ӂ +162 h ' + ."downElevator"\SE.coast + A(5 +3 h ( +2 M&s& +3 h &ӆ f 4 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &I& +3 h &ӆ  4 + .t\Forearm.reconfigure TightForearm +48 M&#Q@2^d^\ b +4 .t\Forearm.seek :CC +2 M&i'? +94 h ' + C'& +4 h & h hZ\ Z +2 C'5& +3 .t\CC.seek :closed +2 C'#(\\ +2 h & h h^\ Y +3 & g fP\ Z +10 &.v g gU\ S+| +9 &c i hR\ R@ +10 &as f gQ\ SQ +9 &$R g fV\ UP +9 &U d f[\ UQ +10 &R f fS\ UP +9 &jS g eW\ TP +9 &+W h hQ\ UP +10 &V h f\ TQ +9 &U g gp\ UQ +10 & pT i fO\ UQ +9 &"2T f gK\ TQ +9 &#V e hQ\ TP +10 &%W f fn\ TP +9 &'xW f g\ UQ +9 &):T g g\ UQ +10 &*T h g\ TQ +9 &,W e i\ TP +10 &.X g g\ TQ +9 &0CT f g\ TP +9 &2R g g\ TP +10 &3S g f\ UP +9 &5S i e\ UQ +9 &7JT h f\ TQ +10 &9 S h f\ UQ +9 &:S h h\ UQ +10 &<T f js\ TP +9 &>SQ g h\ UP +9 &@Q d e\ UQ +10 &AU i g\ TQ +9 &C\\ g h\ TQ +9 &ETi j h\ SS +10 &G h i\ QV +8 &H e g\ OZ +11 &J} g f\ N] +9 &L? f e\ N] +9 &M d e\ M] +10 &O d d\ M^ +9 &Q e e\ M^ +9 &SA d d\ L_ +10 &U c d\ L_ +9 &V c e\ Ka +10 &X c c\ Ka +9 &Z? b d\ Ib +9 &[| b c\ NH +10 &\\! b c\ O3 +9 &\\ a c\ P!b + ( + C'5& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 +2 .Hand.open + M&31 +66 h 1 +2 M&% +3 h % F u +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 P%O& +3 h &\ 4 +2 M&*% +3 h %   +2 A(0% +3 h % $  6\ 4 + A(7. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(P([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (S& +3 h &[   \ 4 + M&& +4 h &ӆ  4 + M&'% +3 h %  L  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&(r +158 h ( + M&G& +4 h &r q  + A(^& +4 h &[ # "\ 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&U'= +97 h ' + A(& +4 h &[ / % .\ 6 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(+'s +299 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (B& +2 h &[  \ 4 +2 M&Z& +3 h &r c  + .t\Elbow.seek 7 +2 M&L(r +4 h ( + M&>& +4 h &r  + A(|& +3 h &[ - \ 4 +2 .t\Forearm.seek 7 + 300 counts +2 M&9'ϧ +45 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&_/ +65 h / +2 ."downElevator"\SE.seek :down +2 M&l& +3 A(' +9 h &r   +3 M&K% +5 h % ϻ ( + .t\Forearm.seek :retract +2 M&/' +89 h ' + .t\Elbow.seek PC +2 M&4( +172 h ' +2 ."downElevator"\SE.coast + A(5 +67 h ( + M&V& +4 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &c& +3 h & g  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&m' +99 h ' + P%j& +4 h &\ 5 +2 P%@& +3 .t\PC.seek :closed + P%(^ +3 h &\ 5 +4 &\ 54 +10 &8Dx\ 02 +9 &[o\ 0F +10 &d\ 0R +9 &R\ 2R +9 &sS\ 1S +10 &6S\ 2R +9 &R\ 2R +9 &R\ 1R +10 &|U\ 1R +9 &?R\ 2R +10 &!S\ 2R +9 &"Q\ 2R +9 &$R\ 2R +10 &&GR\ 2R +9 &( T\ 1R +9 &)S\ 2R +10 &+R\ 2R +9 &-NR\ 2R +10 &/S\ 1R +8 &0T\ 1R +10 &2R\ 2R +10 &4VR\ 2R +9 &6S\ 2R +9 &7R\ 2R +9 &9S\ 2R +9 &;^W\ 2R +11 &= U\ 1R +9 &>R\ 2R +9 &@R\ 2R +10 &Bc]\ 1S +9 &D!e\ 1U +9 &Ey\ 0V +10 &G\ .X +8 &I^\ /X +11 &K\ /Y +9 &L\ /Y +9 &N\ .Z +10 &P`\ .Z +8 &R" \ .Z +10 &S\ .Z +10 &U\ .Y +9 &Wi\ .Z +10 &Y+\ .Z +9 &Z\ .Y +9 &\\>\ -[ +9 &^0ex=\ 01 +9 &^Q\ 0C +9 ( +2 &^4\ 39 +2 P%@& +2 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.70 + .Hand.open +2 M&A1 +69 h 1 + M&% +4 h %  ) + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&w' +92 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^4\ 29 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 M&]% +3 h % " ^  +2 A({% +3 h %  \ k\ 2 + A(!. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(J([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (X& +4 M&`& +2 h &[  (\ 2 +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&e( + h ( +2 M&f& +3 ."raiseStack"\SE.seek beamBreak +2 A( 's +2 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &k& +3 h & P  +2 .t\Forearm.seek :PC + M&}' +94 h ' +2 .tHand.close + M&F/ +68 h / +2 .t\PC.seek :open + P%( +94 h ' + A(y- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(~'1 +40 h ' +312 ( + A( & +4 h &[ ! ! \ 6 + M&M& +3 h &  +2 M& % +3 h %   T + .t\Forearm.seek :retract +2 M&u' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&<(r +256 h ( + M&&& +4 h &  + A(Q& +3 h &[   \ 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&D'= +102 h ' + .tHand.open + M&W1 +76 h 1 +2 A(x- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(%' +28 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +52 h ' + #tLights, camera, ACTION! +2 A(a- +2 h -' +2 A(& +3 h &[ \ ) +2 M&-& +3 h &   + .t\Elbow.seek 7 +2 M&C(r +36 h ( + M&& +4 h &{ M  + A(H& +3 h &[ \ * +2 .t\Forearm.seek 7 + 450 counts +2 M&\\'= +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(' +62 h ' + M&t& +4 h &{ '  +2 A(,& +3 h &[ ! % \ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&d'{ +21 h ' + .t\Elbow.hold +2 M&v, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A( ' +21 h ' + M&r% +4 h %u +2 A()& +3 h &[  ,\ 5 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 294 counts + M&n'ϡ +23 h ' +2 M&o& +3 h &{  +2 A(N& +3 h &[ " % 4\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&g'= +13 h ' +2 A(% +3 h % " ! \ 5 +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %D \ \ 3\\w + M&R% +3 h %> # +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&q' +87 h ' +69 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'z& +3 h &\\ g d\ S!b +2 #t\Storing generic puck in Collection Clamp to tube 7 + M&6% +3 h %    +2 A(8% +3 h % + $ \ 6 +2 A(p. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(E([ +42 h ( +10 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (Y& +2 h &[ # ! s\ 5 +2 M&b& +3 h &{  +2 .t\Elbow.seek 7 + M&[(r +3 h ( + M&=& +4 h &{  + A(;& +3 h &[ $ " \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +95 h ' + A(& +4 h &[ - $ E\ 7 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +298 h ' + A(1- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&h& +2 h &{  +2 A($& +3 h &[ " $ ^\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M&'{ +15 h ' + .t\Elbow.hold +2 M& , +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A((- +2 h -' +2 .t\SE.seek 0.15 + A(s'i +28 h ' + M&I% +4 h %Ι w Y + A(2& +4 h &[ % $ \ 6 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 330 counts +2 M&?' +23 h ' + M&:& +4 h &{ 5  +2 A(& +3 h &[ % " ,\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&\ '= +15 h ' +2 .t\SE.seek 1.15 + A("' +42 h ' + M&& +4 h &{   +2 M&3% +3 h %< +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\Elbow.seek CC +2 M&O(ӂ +158 h ( + M&*& +4 h &z1 G + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &0& +3 h &z1 / G + .t\Forearm.seek :CC +2 M&7'? +96 h ' + .tHand.close + M&5/ +71 h / + .t\CC.seek :open +2 C'S( +447 h ( + A(& +4 h &[ ( 9 \ \ 8 + A('& +3 h &[   \ 8 +2 M&i& +3 h &ӎ. ) E} + M&G% +4 h % ? o F + .t\Forearm.seek :retract +2 M&^' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&T(r +160 h ( + M&& +4 h &{ S  + A(.& +4 h &[ / . \ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 7 +2 M&'{ +96 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&B1 +70 h 1 + M&Z% +4 h % t  + A(>& +4 h &[ 2 / \ \ : + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 293 counts +2 M&|'Ϡ +24 h ' +2 M&_& +3 h &   +2 A(l& +3 h &[ > 9 Y\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&K'= +13 h ' +2 A(% +3 h % 9 3\ ; +3 ."downElevator"\SE.seek :down +2 A(U' +99 (+% +2 h %? < <\ 8[s +2 M&9% +3 h %? 6 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&V' +88 h ' +66 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 7 to 6 + M&c% +4 h %   + A(L% +4 h % @ @ G\ ; + A(j. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (/& +3 h &[ = ; O\ ; + M&& +3 h & `  +2 .t\Elbow.seek 7 +2 M&A(r +8 h ( + M&& +4 h &y V  + A(& +4 h &[ 9 = \ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&]'= +100 h ' + A({& +4 h &[ 9 2\ < + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(!'s +294 h ' + A(@- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&X/ +68 h / + M&`& +4 h &y j  + M&f% +3 h % @ f +2 .t\Forearm.seek :retract + M&k' +91 h ' + .t\Elbow.seek :clear +2 M&m(d +100 h ( +2 M&F& +4 h &d U + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &P& +3 h &d a U + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&y' +4 h ' + .t\SE.seek :down +2 A(4' +268 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(w(K +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K ( / 2\ 9 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A( 's +277 h ' + A( - +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(M'1 +41 h ' + A( & +4 h &K  0 *\ 8 + A(}& +3 h &K   l\ 7 +2 M&&& +3 h &d U + M&Q% +3 h % $  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&e( +103 h ( + M&W& +4 h & , , + A(x& +3 h &K   \ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&a'< +96 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&-1 +76 h 1 + M&u% +4 h % P ~ : + A(& +3 h &K 2 <\ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 320 counts + M&H'| +33 h ' + M&t& +4 h & , + A(,& +3 h &K < 2\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&~' +17 h ' + A(r% +4 h %4 < <\ 9 +2 ."downElevator"\SE.seek :down +2 A()' +100 (%% +2 h %,A * / 4\ 8[t +2 M&o% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&N' +86 h ' +71 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 7 to 6 +2 M&% +3 h %   +2 A(<% +3 h % @ ? o\ ; +2 A(D. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b + .t\SC.seek 7 +2 A(([ +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[1 1 & S\ 6  + M&R& +3 h & , +2 .t\Elbow.seek 7 + M&\\(r +51 h ( + M&C& +4 h & K + A(& +3 h &[1 $ ,\ 6  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&d'= +101 h ' + A(z& +4 h &[1 . * 3\ 7  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(n's +300 h ' + A(6- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&8/ +72 h / + M&p& +4 h & K + M& % +3 h % , o +2 .t\Forearm.seek :retract + M&Y' +86 h ' + .t\Elbow.seek :clear +2 M&b(d +102 h ( + M&=& +4 h &d |  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &;& +3 h &d O  + .t\Forearm.reconfigure TightForearm +41 M&#Q@2^d^\ b +10 .t\Forearm.seek :clear +2 M&g' +9 h ' + .t\SE.seek :down +2 A(' +271 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +360 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (J& +3 h &K   D\ 8 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(v's +324 h ' + A(q- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (1& +3 h &K / / 7\ 7 + A(h& +3 h &K  0 ,\ 8 +2 M&$& +3 h &d   + M&(% +3 h %  A  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&I( +102 h ( + M&2& +4 h & & + A(:& +3 h &K / / U\ 7 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&'< +94 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&31 +65 h 1 + M&% +4 h % g f K + A([& +4 h &K 0 0 v\ 7 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 343 counts +2 M&'ϓ +23 h ' + M&& +4 h & e % + A(?& +4 h &K   s\ 8 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&s' +19 h ' +2 A(*% +3 h % < ) -\ 8 +3 ."downElevator"\SE.seek :down +2 A(0' +99 (\ % +3 h %6 & 0 \ 6Zq + M& % +4 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&5' +89 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 6 of 6..6 +2 #Loading generic puck from tube 6 into Collection Clamp + C'& +4 h & f fR\ \\ + M&#% +3 h %   +2 A(% +3 h % 9 > \ ; +2 A('. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(i(K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (G& +3 h &K 3 ? ;\ : +2 M&& +3 h &  % +2 .t\Elbow.seek 6 + M&.( +3 h ( +2 M&7& +3 h & % +2 A(O& +3 h &K = = 9\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&B' +92 h ' + A(Z& +4 h &K 0 ;\ ; +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(>'s +298 h ' + A(_- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (l& +2 h &K 8 < \ 9 +2 M&& +3 h & % + .t\Elbow.seek 6 +2 M&^( +3 h ( + M&+& +4 h & q % + A(9& +3 h &K = > I\ : +2 .t\Forearm.seek 6 + 300 counts +2 M&T'h +28 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&c& +3 A(|' +5 h & % +2 M&L% +3 h % x b  +2 .t\Forearm.seek :retract +2 M&j' +85 h ' + .t\Elbow.seek CC +2 M&"(ӂ +150 h ( + M&/& +4 h &x0 G +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +2 h &y1 G +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 h ' +2 ."downElevator"\SE.coast + .t\Forearm.seek :CC +2 A(5 +2 M&'? +95 h ' +2 C'& +4 h & g h9\ Z +2 C'K& +3 .t\CC.seek :closed +2 C'{(\\ +3 h & g gZ\ Z +2 & i gX\ [ +9 &1{ g gQ\ T+{ +9 &a~ f h\\\ S? +10 &ts g i[\ TQ +9 &6Q g g_\ VP +9 &T e f^\ VQ +10 &U g g]\ VQ +9 &{T g gQ\ UQ +9 &=T f gS\ VQ +10 &U g fW\ VP +9 &Q h eP\ VP +10 & P f gP\ VP +9 &"FT h eO\ VP +9 &$R h gO\ VP +10 &%V e h[\ VP +9 &'T g gQ\ VP +9 &)NR f hP\ VP +10 &+Q f gR\ VP +9 &,T e hX\ VQ +10 &.U f gM\ VP +9 &0VU g iQ\ VP +9 &2U f gR\ UP +9 &3Q g gT\ VP +9 &5R h iT\ VP +10 &7_R f gZ\ VP +10 &9 T g hY\ VP +9 &:U h eT\ UP +10 &<T e hP\ VP +9 &>fT i g\ VP +8 &@)Q h f\ VP +11 &AW i h\ VQ +9 &CW i gp\ VQ +9 &Ehd h hT\ UR +9 &G$~ j iq\ ST +10 &H h k\ RW +9 &J j l\ M] +9 &LT i k\ O\\ +10 &N j l\ N] +9 &O i j\ N^ +10 &Q j k\ N] +9 &SS j i\ M_ +10 &U j j\ N_ +9 &V l n\ M` +10 &X l k\ M` +9 &ZU k j\ La +9 &[{ k m\ O? +10 &\\' l j\ O+ +8 &\\ k l\ R _ +3 ( + C'K& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + .Hand.open +2 M&U1 +67 h 1 +2 M&E% +4 h % E } w + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp +2 P%V& +3 h &\ 3 +2 M&@% +3 h %  X  +2 A(X% +3 h % \ 4 +2 A(`. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(f(K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (F& +3 h &K _\ 4 +2 M&P& +3 h &Ӈ. E +2 M&]% +3 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&A( +165 h ( + M&k& +4 h & m  + A(!& +4 h &K ! #\ 5 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +95 h ' + A(& +4 h &K . 1 [\ 7 + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A( 's +299 h ' + A(4- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( & +2 h &K " # M\ 6 +2 M&}& +3 h &  + .t\Elbow.seek 6 +2 M&&( +4 h ( + M&Q& +4 h &  + A(W& +3 h &K ! !\ 6 +2 .t\Forearm.seek 6 + 300 counts +2 M&x'h +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +77 h / +2 ."downElevator"\SE.seek :down +2 M&m& +3 A(-' +5 h &  +2 M&u% +3 h % R +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\Elbow.seek PC +2 M&t( +169 h ' + ."downElevator"\SE.coast + A(5 +68 h ( + M&,& +4 h & < + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &r& +3 h & < +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&y' +100 h ' + P%%& +4 h &\ 6 + P%o& +4 .t\PC.seek :closed +2 P%e(^ +2 h &\ 5 +5 &\ 54 +9 &9F{\ 02 +10 &\\o\ /G +9 &a\ 1R +9 &S\ 2R +10 &xQ\ 2R +9 &:R\ 2R +9 &Q\ 2S +10 &R\ 2R +9 &S\ 2S +9 &CR\ 2R +10 &!R\ 2R +8 &"Q\ 2R +10 &$R\ 3R +9 &&KQ\ 2R +9 &( R\ 2R +10 &)R\ 2R +9 &+Q\ 2R +9 &-SN\ 2R +10 &/R\ 2R +9 &0T\ 2R +10 &2R\ 2R +8 &4[Q\ 2R +9 &6R\ 2R +10 &7R\ 2R +9 &9R\ 3R +9 &;bU\ 2R +9 &=$U\ 2R +9 &>R\ 2R +10 &@W\ 2R +10 &Bi\\\ 1S +9 &D&n\ 0T +9 &E\ /W +9 &G\ /W +10 &Ib\ /X +10 &K#\ /X +9 &L\ /Y +10 &N\ /Y +8 &Pd\ -Z +9 &R'\ /Z +10 &S\ .Z +10 &U\ /Y +9 &Wk\ .Z +9 &Y/\ .Z +9 &Z\ .Z +11 &\\\ .Z +9 &^:j{\ 0* +9 &^~\ 0@ +9 ( +2 &^4\ 38 + P%o& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.75 + .Hand.open + M&a1 +76 h 1 + M&% +4 h %  * . + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&H' +91 h ' + .t\SC.coast + A(6 +2 P%<& +4 h &^4\ 38 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&D% +3 h %  E  +2 A(M% +3 h % \ \ 3 +2 A(~. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A()(K +49 h ( +3 .t\SC.reconfigure SCloose +2 A($.\ 1~b +4 (w& + M&& +5 h &K 3\ 2 + & " ; +2 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.reconfigure TightElbow +4 M&$&.,(\ #b + A(#]kK-0-\ b +4 .t\Elbow.seek PC +2 M&R( +2 h ( +2 M&C& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h & H ; + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &z& +3 h & 0 ; + .t\Forearm.seek :PC +2 M&' +87 h ' + .tHand.close + M&N/ +75 h / +2 .t\PC.seek :open + P%6( +96 h ' + A(8- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(p'1 +41 h ' +307 ( + A( & +4 h &K % 0 >\ 6 + M&=& +4 h & ; + M&;% +3 h % + +2 .t\Forearm.seek :retract +2 M&d' +89 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&\\( +242 h ( + M&Y& +4 h & U + A(n& +4 h &K ! $\ 5 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +98 h ' + .tHand.open + M&J1 +67 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(q' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(1' +54 h ' +2 #tLights, camera, ACTION! + A(h- +3 h -' +2 A($& +3 h &K V\ ' +2 M&(& +3 h & { U +2 .t\Elbow.seek 6 + M&2( +3 h ( + M&:& +3 h & / U +2 A(3& +3 h &K \ ' +2 .t\Forearm.seek 6 + 450 counts +2 M&' +18 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A([' +52 h ' + M&b& +4 h & U +2 A(& +3 h &K % $ \ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&?'< +18 h ' + .t\Elbow.hold +2 M&*, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(g' +21 h ' +2 M&\ % +3 h %G +2 A( & +3 h &K  >\ 4 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 311 counts +2 M&I's +24 h ' +2 M&& +3 h & 6 M +2 A(& +3 h &K  /\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +25 h ' +2 A(#% +3 h % " % \ 5 +3 ."downElevator"\SE.seek :down +2 A(' +99 ('% +3 h %? \ \ n\ 3[t + M&v% +3 h % 2 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&G' +89 h ' +69 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &\\ k m\ S _ +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&7% +3 h %   +2 A(O% +3 h % $ ,\ 6 +2 A(s. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(Z(K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (0& +3 h &K & " *\ 5 +2 M&& +3 h & M +2 .t\Elbow.seek 6 + M&( +3 h ( +2 M&5& +3 h & @ M + A(_& +4 h &K " # X\ 5 + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&l' +93 h ' + A(& +4 h &K " $ .\ 6 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(+'s +299 h ' + A(9- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h &  M +2 A(c& +3 h &K  T\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&L'< +17 h ' + .t\Elbow.hold +2 M&., +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(B- +2 h -' +2 .t\SE.seek 0.15 + A(/'i +30 h ' + M&% +4 h %f Z + A(>& +3 h &K $ ! \ 5 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 342 counts + M&T'ϒ +29 h ' + M&& +4 h & M + A(^& +4 h &K % %\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&j' +28 h ' + .t\SE.seek 1.15 +2 A(|' +37 h ' + M&S& +4 h & M +2 M&U% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&E' +90 h ' + .t\Elbow.seek CC +2 M&V(ӂ +166 h ( + M&@& +4 h &Ӌ ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &X& +3 h &Ӌ ( + .t\Forearm.seek :CC +2 M&`'? +90 h ' + .tHand.close + M&K/ +67 h / + .t\CC.seek :open +2 C'F( +450 h ( +2 A(P& +4 h &K < = 4\ : + A(]& +3 h &K = = P\ : +2 M&& +3 h &Ӌ ( + M&k% +3 h % Q 0 r +2 .t\Forearm.seek :retract +2 M&!' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&i( +158 h ( + M&& +4 h & k | + A("& +4 h &K > ? e\ ; + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 6 + M&'< +99 h ' + .t\Elbow.hold +2 M&4, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +66 h 1 + M&}% +4 h % .  + A(Q& +3 h &K ? ? \ ; +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 286 counts + M&W'Z +30 h ' +2 M& & +4 h & / f + A(m& +3 h &K / 1 c\ < +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&u' +34 h ' +2 A(A% +3 h % 1 : \ ; +3 ."downElevator"\SE.seek :down +2 A(' +99 ( % +2 h %< < = \ 9Zr +2 M&x% +3 h % N +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&,' +88 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 6 to 5 + M&r% +4 h %  g  + A(&% +3 h % ? ? t\ ; +2 A(%. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(-(K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K > ? C\ ; + M&& +3 h &  f +2 .t\Elbow.seek 6 + M&a( +10 h ( + M&& +4 h &  m + A(<& +4 h &K ? ? \ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&D' +94 h ' + A(M& +4 h &K 2 :\ < + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak +47 A(o's +311 h ' + A(~- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&w/ +68 h / + M&& +4 h & H m + M&C% +3 h %   +2 .t\Forearm.seek :retract +2 M&z' +90 h ' + .t\Elbow.seek :clear +2 M&y(d +95 h ( + M&N& +4 h &d W  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &f& +3 h &d  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&8' +10 h ' + .t\SE.seek :down +2 A(t' +266 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(H(<- +99 E'\ `b_ +259 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (e& +3 h &<* 2 9\ 9 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak +2 A('s +285 h ' +2 A( - +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(='1 +45 h ' + A(;& +4 h &<* - / P\ 7 + A(& +3 h &<*   q\ 8 +2 M&Y& +3 h &d  + M&n% +4 h %  '  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&R( +99 h ( + M&J& +4 h & = + A(& +3 h &<* . ) J\ 7 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&h'΍ +92 h ' + .t\Elbow.hold +2 M&$, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&(1 +76 h 1 + M&:% +4 h % Ώ 8 + A(3& +3 h &<*   \ 8 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 302 counts +2 M&d'ϻ +27 h ' + M&b& +4 h & n 3 + A(& +3 h &<* . / b\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&\ 'O +23 h ' +2 A( % +3 h %4 9 ;\ 9 +3 ."downElevator"\SE.seek :down +2 A(p' +99 (% +2 h %|= 2 1 3\ 7Zt +2 M&% +3 h %Ѐ  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&q' +88 h ' +66 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 6 to 5 + M&#% +4 h %   +2 A(\\% +3 h % ? ? n\ ; + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(1(K +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ('& +3 h &K   B\ 8  + M&v& +3 h & 3 +2 .t\Elbow.seek 6 + M&( +10 h ( + M&2& +4 h & 0  + A([& +3 h &K > > z\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&?' +94 h ' + A(I& +4 h &K > 9 \ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +296 h ' + A(7- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&O/ +71 h / +2 M&s& +4 h & #  + M&g% +3 h %   | +2 .t\Forearm.seek :retract + M&0' +91 h ' + .t\Elbow.seek :clear +2 M&(d +99 h ( + M&5& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &_& +3 h &d  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +11 h ' + .t\SE.seek :down +2 A(' +272 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ()& +3 h && +4 h & w ? + A(& +3 h &VT h g\ SQ +8 &@S g gb\ SP +11 &AT g fU\ TQ +9 &CZ g gK\ TQ +9 &EYg h f_\ SR +9 &G f h_\ PV +56 &H d d_\ NZ +5 &J e eT\ L\\ +2 &LD d g\ L\\ +2 &N d eU\ K] + &O c d\ L] + &Q e f\ L] +3 &SE d e\ K_ +5 &U c d\ J` +10 &V d d\ J` +9 &X d d\ Ja +10 &ZF a b\ Ja +9 &[{ c bm\ LG +10 &\\! a a\ N2 +9 &\\ d b\ P _ +2 ( + C'u& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + .Hand.open +2 M&1 +73 h 1 + M&Z% +4 h % >  T +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&4' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%,& +3 h &\ 4 +2 M&~% +3 h %   +2 A(w% +3 h %  P\ 5 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(C(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (N& +3 h &<.   8\ 5 +2 M&f& +3 h &ӈ 5 +2 M&D% +3 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&a( +163 h ( + M&z& +4 h & v +2 A(o& +3 h &<. ! ! $\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&-'O +99 h ' + A(e& +4 h &<. 0 0 G\ 7 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A( 's +295 h ' + A(t- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (;& +2 h &<.   _\ 5 +2 M&& +3 h & v + .t\Elbow.seek 5 +2 M&Y( +3 h ( +2 M&n& +3 h &  v + A(J& +3 h &<. % # \ 5 +2 .t\Forearm.seek 5 + 300 counts +2 M&'Ϲ +23 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&(& +3 A(y' +5 h & v +2 M&:% +3 h % Ͻ # o +2 .t\Forearm.seek :retract +2 M&3' +92 h ' +2 .t\Elbow.seek PC + M&b( +167 h ' + ."downElevator"\SE.coast + A(5 +71 h ( + M&& +4 h & S % + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 & & +2 h & % +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b + .t\Forearm.seek :PC +2 M&8' +99 h ' + P%& +4 h &\ 6 +2 P%& +3 .t\PC.seek :closed + P%R(^ +3 h &\ 6 +3 &\ 6 +9 &-v\ 0,} +10 &a\ 0@ +9 &ds\ 1R +9 &#T\ 2R +10 &R\ 2R +9 &Q\ 3R +9 &iR\ 2R +10 &,O\ 2R +9 &R\ 2R +9 &R\ 2R +10 & pQ\ 2S +9 &"4Q\ 2R +10 &#R\ 2R +9 &%Q\ 2R +9 &'zQ\ 2R +10 &)<Q\ 2R +9 &*R\ 2R +9 &,R\ 2R +10 &.Q\ 2R +9 &0DR\ 2R +10 &2Q\ 2R +9 &3Q\ 3R +8 &5R\ 2R +11 &7LQ\ 2R +8 &9 T\ 2R +11 &:T\ 2S +9 &<R\ 2R +9 &>SS\ 2R +10 &@U\ 2R +9 &A_\ 1S +9 &Cg\ 1T +10 &EQt\ 0V +9 &G\ /X +9 &H\ 0X +10 &J\ /Y +9 &LR\ /X +9 &N\ .Z +10 &O\ /Y +9 &Q\ .Z +10 &ST\ .Z +9 &U\ /Z +9 &V\ .Z +9 &X\ /Z +10 &ZY\ .[ +10 &\\\ .Z +9 &]\ 07 +9 &^5x\ 0G +9 ( +2 &^,\ 44 + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open +2 M&h1 +75 h 1 +3 M&d% +4 h %  $ ; + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&#' +91 h ' + .t\SC.coast + A(6 +2 P%\\& +4 h &^-\ 24 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 M&% +3 h %  $  + A(=% +4 h %  =\ 4 + A(\ . +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(p(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (H& + M&'& +6 h &<.  U\ 4 +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  % +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&v( +3 h ( +2 M&2& +3 ."raiseStack"\SE.seek beamBreak +2 A(['s +3 h & l % + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &I& +3 h & % +2 .t\Forearm.seek :PC + M&$' +89 h ' + .tHand.close + M&q/ +70 h / + .t\PC.seek :open +2 P%7( +99 h ' + A(O- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(s'1 +46 h ' +299 ( + A(g& +4 h &<. $ " [\ 6 + M&5& +3 h & % +2 M&_% +3 h % ) +2 .t\Forearm.seek :retract + M&?' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&( +246 h ( + M&0& +4 h & } G + A(& +3 h &<. \ 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&1'O +92 h ' + .tHand.open + M&)1 +70 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(G' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(9' +51 h ' + #tLights, camera, ACTION! +2 A(- +2 h -' +2 A(c& +3 h &<. \ , +2 M&B& +3 h & z G + .t\Elbow.seek 5 +2 M&>( +3 h ( + M&& +3 h & G +2 A(U& +3 h &<. _\ , +2 .t\Forearm.seek 5 + 450 counts +2 M&l'O +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(' +49 h ' + M&& +4 h & G +2 A(L& +3 h &<.  \ 4 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 +2 M&T'΍ +20 h ' + .t\Elbow.hold +2 M&@, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(' +21 h ' +2 M&j% +3 h %Ζ  +2 A(.& +3 h &<.  .\ 4 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 309 counts + M&' +28 h ' +2 M&^& +3 h & | / +2 A(+& +4 h &<.  # \ 5 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&E'O +21 h ' +2 A({% +3 h % % # \ 5 +3 ."downElevator"\SE.seek :down +2 A(P' +99 (]% +2 h %<  {\ 4[t +2 M&*% +3 h %{ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&k' +88 h ' +71 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &\\ e d\ S _ +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&`% +3 h %   +2 A(V% +3 h % $ "\ 6 + A(/. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(}(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (X& +3 h &<. & % '\ 5 + M&& +4 h & { / + .t\Elbow.seek 5 +2 M&S( +24 h ( + M&K& +4 h &  +2 A( & +3 h &<. ! $\ 6 +2 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&m'O +97 h ' + A(A& +4 h &<. / 0 N\ 6 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A( 's +297 h ' + A(x- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&& +3 h & 4  +48 A(W& +5 h &<. ! %\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 + M&&'΍ +18 h ' + .t\Elbow.hold +2 M&", +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A( - +2 h -' +2 .t\SE.seek 0.16 +2 A('l +36 h ' + M&|% +4 h %α  + A(Q& +4 h &<. $ " 9\ 5 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 336 counts + M&i' +23 h ' + M&<& +4 h &  +2 A(!& +4 h &<. ! !\ 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&r'O +16 h ' +2 .t\SE.seek 1.16 + A(%' +36 h ' +2 M&F& +3 h &  +2 M&% +3 h %,  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Z' +87 h ' +2 .t\Elbow.seek CC + M&,(ӂ +150 h ( + M&~& +4 h &Ӏ) Ae + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &w& +2 h &Ӏ)  Ae +2 .t\Forearm.seek :CC + M&'? +95 h ' + .tHand.close + M&u/ +68 h / +2 .t\CC.seek :open +2 C'N( +452 h ( + A(f& +4 h &<. & 2 e\ 8 + A(D& +3 h &<.   \ 8 +2 M&& +3 h &Ӂ) H Ad + M&z% +4 h % ] + .t\Forearm.seek :retract +2 M&o' +88 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&( +164 h ( + M&e& +4 h &  + A(& +4 h &<. < <\ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 5 + M&4'΍ +94 h ' + .t\Elbow.hold +2 M&t, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&;1 +77 h 1 + M&% +4 h % s  , + A(n& +3 h &<. = = F\ : +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 274 counts + M&J'ϟ +30 h ' + M&& +4 h & E +2 A((& +3 h &<. < 2 *\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&:'O +35 h ' +2 A(a% +3 h % = : 5\ ; +3 ."downElevator"\SE.seek :down +2 A(-' +99 ( % +2 h %K6 < 9\ 9Zn +2 M&% +3 h %X \  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 5 to 4 + M& % +4 h %   + A(Y% +3 h % ? ? |\ ; +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(y(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (3& +3 h &<. ? = J\ ; + M&6& +4 h & E +2 .t\Elbow.seek 5 + M&h( +29 h ( + M&d& +4 h &  +2 A(\\& +3 h &<. < = U\ : + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +94 h ' + A(=& +4 h &<. / 9\ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +298 h ' + A(\ - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close +2 M&H/ +68 h / + M&'& +4 h &   + M&2% +3 h % Y +2 .t\Forearm.seek :retract + M&I' +89 h ' + .t\Elbow.seek :clear +2 M&8(d +100 h ( + M&q& +4 h &d F  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &C& +3 h &d  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&O' +10 h ' + .t\SE.seek :down +2 A(b' +263 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(#(,y +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (R& +3 h &,| 0 / O\ 7 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(['s +275 h ' + A(g- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(5'1 +43 h ' + A(_& +4 h &,}Y  0\ 4 + A($& +3 h &,}W \ \ 3 +2 M&0& +3 h &d J  + M&% +3 h % "  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&v( +98 h ( + M&)& +4 h & n . + A(& +3 h &,}W  4\ 3 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&'7 +93 h ' + .t\Elbow.hold +2 M&c, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&B1 +68 h 1 + M&% +4 h % h o + A(U& +4 h &,}W  U\ 4 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 349 counts +2 M&?'ϔ +24 h ' + M&& +4 h & I . + A(L& +3 h &,}W  r\ 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&j' +19 h ' + A(.% +4 h %;  \ 4 +2 ."downElevator"\SE.seek :down +2 A(^' +100 (s% +2 h %9 *  W\ 9[s +2 M&+% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&G' +90 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 5 to 4 +2 M&{% +3 h %   +2 A(% +3 h % ? @ d\ ; +2 A(1. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(9(<- +350 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (]& +2 h &<+   \ 8  +2 M&*& +3 h & . + .t\Elbow.seek 5 +2 M&l( +31 h ( + M&>& +4 h & ( b + A(& +3 h &<,0 % , \ 7  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&T'O +95 h ' + A(& +4 h &<,0   P\ 7  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +300 h ' + A(`- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&V/ +73 h / + M&/& +4 h & b + M&% +3 h % S p { +2 .t\Forearm.seek :retract + M&X' +89 h ' + .t\Elbow.seek :clear +2 M&(d +96 h ( + M&K& +4 h &d t  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &d U  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&E' +9 h ' + .t\SE.seek :down +2 A(A' +274 h ' +3 .t\SC.reconfigure SCtight +4 A($\ .\ 1~b +3 .t\SC.seek 4 +3 A(P(,y +359 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (p& +2 h &,| 2 0 ]\ 7 +2 .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(@'s +313 h ' + A(k- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (x& +3 h &,{ 2 0 W\ 7\ + A(& +3 h &,{   4\ 7\ +2 M&W& +3 h &d  + M& % +3 h %   +47 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&|( +100 h ( + M&Q& +4 h & < + A(<& +3 h &,{  \ 7\ +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&!'7 +93 h ' + .t\Elbow.hold +2 M&F, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +75 h 1 + M&m% +4 h % g X + A(S& +3 h &,{   \ 8\ +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 348 counts + M& 'ϓ +24 h ' + M&&& +4 h & < + A(i& +4 h &,{ , / \ 9\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&~' +19 h ' +2 A(% +3 h % : *\ 8 +3 ."downElevator"\SE.seek :down +2 A(w' +99 (r% +2 h %:   )\ 8[r +2 M&"% +3 h % B +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&u' +89 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of 4..4 + #Loading generic puck from tube 4 into Collection Clamp + C'Z& +4 h & f e+\ [ + M&M% +4 h %   # +2 A(f% +3 h % = ? S\ ; +2 A(D. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A((,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (z& +3 h &,{ < <\ : +2 M&e& +3 h & < +2 .t\Elbow.seek 4 +2 M&( +2 h ( +2 M&& +3 h & < + A(,& +4 h &,y < 9\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&;' +99 h ' + A(& +4 h &,y < > I\ ; +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(n's +301 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 ((& +2 h &,y   \ 8 +2 M&a& +3 h & ; +2 .t\Elbow.seek 4 + M&o( +3 h ( + M& & +3 h & Y ; +2 A(& +3 h &,y / 9 }\ 9 +2 .t\Forearm.seek 4 + 300 counts + M&'c +28 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&4/ +73 h / +2 ."downElevator"\SE.seek :down +3 M&J& +4 A( ' +4 h & 5 ; +2 M&Y% +3 h % j j  + .t\Forearm.seek :retract +2 M&' +85 h ' + .t\Elbow.seek CC +2 M&3(ӂ +154 h ( + M&6& +4 h &ӆ1  G + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &%& +3 h ' + &Ӈ0 i G +2 ."downElevator"\SE.coast + A(5 +2 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +4 .t\Forearm.seek :CC + M&d'? +95 h ' +2 C'\\& +4 h & g ic\ Z + C':& +4 .t\CC.seek :closed + C'=(\\ +3 h & f f#\ Z +3 & e gd\ Z +10 &.v g ff\ T+| +10 &c h hi\ R@ +9 &gr f eg\ TQ +9 &+N e fj\ VP +10 &R g iV\ VP +9 &U g f\\\ UP +9 &oT f g]\ UP +10 &1S e eT\ UP +9 &V h f[\ UP +10 &T f fc\ VP +9 & wS f gc\ VP +9 &"9R e gd\ VP +10 &#U f fi\ UP +9 &%S h ef\ VP +9 &'S f he\ UP +10 &)AU e gc\ VP +9 &+Q g gp\ VP +10 &,T f gn\ UP +9 &.U f fg\ UQ +9 &0JR f gf\ UP +10 &2 T h gc\ UP +9 &3T f fg\ VP +9 &5R h fd\ VP +10 &7QT g gb\ UP +9 &9S g gd\ VP +10 &:S g h[\ UP +8 &<S f hZ\ UP +10 &>YT f hY\ VP +10 &@R h gZ\ UP +8 &AV f gZ\ UQ +10 &CW g h[\ VQ +10 &E[g h i]\ TR +8 &Gu h ia\ SU +11 &H l j\\\ QX +9 &J j j_\ N\\ +8 &LB j kb\ M^ +10 &N l ia\ O\\ +10 &O i k[\ N^ +9 &Q i j[\ M] +10 &SH i j\\\ M^ +8 &U k lY\ L_ +10 &V h lY\ M` +9 &X h kY\ L` +9 &ZI j jU\ Ka +11 &[y j m_\ OG +9 &\\ j l]\ Q/ +9 &\\ i jb\ R!a +2 ( + C':& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + .Hand.open +2 M&-1 +72 h 1 + M&}% +4 h % @ m + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&t' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%& +3 h &\ 4 +2 M&\ % +3 h %   +2 A(H% +3 h % \ 4 + A('. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(2(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (q& +3 h &,y\ 4 + M&C& +3 h &Ӌ1 G +2 M&% +3 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&h( +168 h ( + M&I& +4 h & i i + A(& +4 h &,y " $ l\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&y' +90 h ' + A(R& +4 h &,y , / /\ 7 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(g's +296 h ' + A(b- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (_& +2 h &,y - ! ,\ 5 +2 M&$& +3 h & & i + .t\Elbow.seek 4 +2 M&0( +4 h ( + M&& +4 h & P i + A()& +3 h &,y % % \ 5 +2 .t\Forearm.seek 4 + 300 counts +2 M&'c +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&[/ +67 h / +2 ."downElevator"\SE.seek :down +2 M&B& +3 A(' +5 h &  i +2 M&U% +3 h % [ T +2 .t\Forearm.seek :retract + M&8' +91 h ' + .t\Elbow.seek PC +2 M&( +169 h ' + ."downElevator"\SE.coast + A(5 +68 h ( + M&L& +4 h & 8 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &.& +3 h & 8 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&O' +93 h ' + P%s& +4 h &\ 6 + P%+& +4 .t\PC.seek :closed +2 P%v(^ +3 h &\ 6 + &\ 6 +10 &,s\ 1+| +9 &a\ 0@ +10 &Ys\ 1Q +9 &O\ 3R +9 &R\ 3R +10 &R\ 3R +9 &`R\ 2Q +9 & S\ 3R +10 &S\ 3R +9 &Q\ 3R +9 & fR\ 3R +10 &")P\ 3R +9 &#R\ 3R +10 &%O\ 3R +8 &'nR\ 3R +9 &)1Q\ 3R +11 &*R\ 3R +9 &,R\ 3R +9 &.wT\ 3R +10 &09R\ 3R +8 &1P\ 3R +11 &3Q\ 3R +9 &5R\ 3R +9 &7BQ\ 3Q +10 &9S\ 3R +8 &:T\ 2S +10 &<R\ 2R +9 &>GW\ 2R +9 &@ R\ 3R +11 &AW\ 2S +8 &Ci\ 1T +10 &EEy\ 1V +10 &G\ 0X +9 &H\ 0X +9 &J\ 0X +9 &LF\ 0X +10 &N\ 0Y +10 &O\ /Y +9 &Q\ 0Z +8 &SI\ /Z +11 &U \ /Z +9 &V\ /Z +9 &X\ /Z +9 &ZQ\ /Z +10 &\\\ /[ +9 &]\ 0= +10 &^.~\ 0 ^ +8 &^8\ 38 +3 ( + P%+& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open + M&1 +74 h 1 + M&?% +4 h %  V + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&{' +88 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^4\ 38 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 M&1% +3 h %  \ + A(5% +3 h %  H\ 3 +2 A(j. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(^(,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&#& + A(]& +3 h & 8 +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h &,y \ \ g\ 3 +2 .t\Elbow.seek PC + ."raiseStack"\SE.reconfigure SEplace +3 M&*( +2 A(#]kK-0-\ b +4 h ( +2 M&>& +4 h & 2 8 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +2 M&& +2 A('s +5 h & 8 +2 .t\Forearm.seek :PC + M&c' +90 h ' + .tHand.close + M&G/ +72 h / +48 .t\PC.seek :open +4 P%`( +56 h ' + A(V- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(/'1 +42 h ' +347 ( + A(& +4 h &,z6  i\ 1 + M&K& +4 h & ' 8 +2 M& % +3 h %   + .t\Forearm.seek :retract +2 M&T' +90 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&l( +245 h ( + M&X& +4 h & G +2 A(& +3 h &,z6 \ / + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 4 + 450 counts + M&9' +94 h ' + .tHand.open + M&p1 +67 h 1 + A(A- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(k' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(x' +51 h ' + #tLights, camera, ACTION! +2 A(- +3 h -' + A(W& +3 h &,z5 M\ $ +2 M& & +3 h & 0 G +2 .t\Elbow.seek 4 + M&Q( +3 h ( +2 M&<& +4 h & G + A(& +3 h &,z5 \ $ +2 .t\Forearm.seek 4 + 450 counts +2 M&' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(m' +50 h ' + M&S& +4 h & - G +2 A(&& +3 h &,z8 [\ 2 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&i'7 +17 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(E' +25 h ' +2 M&r% +3 h %c / T +2 A("& +3 h &,z6  \ 1 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 344 counts + M&|'Ϗ +25 h ' +2 M&!& +3 h & R G +2 A(Z& +3 h &,z6  $\ 1 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M& ' +11 h ' +2 A(M% +3 h %  \ 1 +3 ."downElevator"\SE.seek :down +2 A(f' +99 (D% +2 h %?  g\ 3[t +2 M&z% +3 h % > +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&@' +89 h ' +70 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'e& +3 h &\\ j j\ S!a +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&% +3 h %   +2 A(,% +3 h % $ !\ 6 +2 A(~. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A((,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (w& +3 h &,z % % (\ 4 +2 M&P& +3 h & G +2 .t\Elbow.seek 4 + M&F( +3 h ( +2 M&u& +4 h & G + A(& +3 h &,z " $\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&(' +98 h ' + A(a& +4 h &,z $ , \ 6 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A( 's +306 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +4 M&4& +2 h & ^ G +2 A(J& +3 h &,z \ 4 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&Y'7 +17 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(;- +2 h -' +2 .t\SE.seek 0.15 +2 A(6'g +30 h ' + M&%% +4 h %U @ + A(n& +3 h &,z , % \ 6 +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 330 counts +2 M&'ρ +31 h ' + M&\\& +4 h & k F + A(o& +4 h &,z / 0 Q\ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M& ' +12 h ' +2 .t\SE.seek 1.15 + A(' +37 h ' + M&N& +4 h & F +2 M&-% +3 h % +2 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&}' +88 h ' + .t\Elbow.seek CC +2 M&(ӂ +145 h ( + M&\ & +4 h &Ӌ* f Bi + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &H& +3 h &Ӌ* Bi + .t\Forearm.seek :CC +2 M&''? +94 h ' + .tHand.close + M&:/ +74 h / + .t\CC.seek :open +2 C'q( +450 h ( +2 A(C& +3 h &,z 9 < \ 9 +2 A(& +3 h &,z 0 2 3\ 9 + M&d& +4 h &Ӎ* e Bg + M&I% +3 h % 8 A +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&( +162 h ( + M&R& +4 h &  + A(3& +3 h &,z = =\ : +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 4 +2 M&t'7 +98 h ' + .t\Elbow.hold +2 M&b, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&_1 +76 h 1 + M&$% +4 h %  + A(& +3 h &,z < < \ : +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 270 counts + M&)'E +18 h ' + M&[& +4 h & S  + A(B& +4 h &,z > ? s\ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&U' +20 h ' +2 A(h% +3 h % ? ? ]\ ; +3 ."downElevator"\SE.seek :down +2 A(y' +99 (g% +2 h %n7 9 0\ 9Zo +2 M&% +3 h % / +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&L' +91 h ' +55 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 4 to 3 + M&.% +4 h %    + A(0% +4 h % ? ? \ ; + A(s. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A((,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (8& +2 h &,z 8 1\ ; +2 M&7& +3 h &  +2 .t\Elbow.seek 4 + M&( +4 h ( +2 M&?& +3 h &  + A(& +3 h &,z = < j\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&1' +97 h ' + A(5& +4 h &,z . / W\ < + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak +2 A(j's +307 h ' + A(+- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&#/ +71 h / + M&]& +4 h & 7  + M&>% +3 h %  8 +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\Elbow.seek :clear +3 M&O(d +100 h ( + M&G& +4 h &d p f + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &2& +3 h &d X f + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +20 h ' + .t\SE.seek :down +49 A(V' +277 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A({( +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (v& +3 h & < < \ : + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A('s +277 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(K'1 +41 h ' + A( & +4 h & A > \ 9 + A(c& +3 h & ; ; \ 9 +2 M&X& +3 h &d f +2 M&% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&*( +103 h ( + M&p& +4 h & d E + A(A& +4 h &  +\ 9 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&'u +95 h ' + .t\Elbow.hold +2 M&W, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +74 h 1 + M&<% +4 h % ΅ j 4 + A(& +3 h & / . \ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 316 counts + M&T'ϱ +29 h ' + M&S& +4 h & z D + A(&& +3 h & = 9\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&r'7 +28 h ' + A("% +4 h %6 3 =\ 9 +2 ."downElevator"\SE.seek :down +2 A(/' +100 (!% +3 h %;   d\ 7Zr + M&Z% +4 h %M  \ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&M' +87 h ' +67 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 4 to 3 +2 M&k% +3 h %  O  +2 A(l% +3 h % = = g\ ; +2 A(9. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(x(,y +358 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (D& +3 h &,x" 1  -\ 8\  + M&z& +3 h & D +2 .t\Elbow.seek 4 +2 M&( +31 h ( +2 M&Q& +4 h &  + A(m& +3 h &,w 3 = Y\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&i' +95 h ' + A(e& +4 h &,w > = \ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(|'s +299 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&,/ +71 h / +2 M&~& +4 h & G  + M&E% +3 h %  ] +2 .t\Forearm.seek :retract + M&w' +87 h ' + .t\Elbow.seek :clear +2 M&P(d +96 h ( + M&u& +4 h &d n  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d =  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M& ' +9 h ' + .t\SE.seek :down +2 A(a' +274 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(f( +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (^& +3 h & 2 8\ 9 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +4 .t\SE.seek beamBreak + A('s +314 h ' + A(@- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +3 h & "  S\ 8 +2 A(4& +3 h &  \ 8 + M&J& +4 h &d  + M&;% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&%( +116 h ( + M&n& +4 h &  + A(\\& +3 h & < )\ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&o'u +94 h ' + .t\Elbow.hold +2 M&N, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&-1 +66 h 1 + M&(% +4 h % Β @ G + A(F& +3 h & 2 <\ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 329 counts + M& 'Ͼ +29 h ' + M&Y& +4 h & =  + A(& +3 h & = =\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&\ '7 +15 h ' + A(H% +4 h % > =\ : +2 ."downElevator"\SE.seek :down +3 A(6' +99 ( % +3 h %> 3 % \ 8Zp +2 M&% +3 h %'  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&:' +87 h ' +74 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 3 of 3..3 + #Loading generic puck from tube 3 into Collection Clamp + C'}& +4 h & f e2\ \\ +2 M&=% +3 h %  *  +2 A(C% +3 h % ? ? |\ ; +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(d( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (I& +3 h & > > '\ ; + M&R& +4 h &  +2 .t\Elbow.seek 3 + M&3( +3 h ( + M&'& +3 h &   +2 A(& +3 h & ? ? u\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&_'7 +103 h ' + A($& +4 h & . . T\ ; +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +299 h ' + A([- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (B& +2 h & / ;\ : +2 M&h& +3 h & (  + .t\Elbow.seek 3 +2 M&( +2 h ( +2 M&g& +3 h &  + A(& +3 h & = < T\ : +2 .t\Forearm.seek 3 + 300 counts +2 M&'ϡ +11 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&t/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&.& +3 A()' +5 h & 9  +2 M&0% +3 h % ϛ W g +2 .t\Forearm.seek :retract + M&s' +91 h ' + .t\Elbow.seek CC +2 M&8(ӂ +153 h ( + M&7& +4 h &ӏ+ T Co + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' + ."downElevator"\SE.coast +2 A(5 + M&& +5 h &ӏ+  Co +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&?'? +93 h ' +2 C'& +4 h & i g.\ Z + C'U& +4 .t\CC.seek :closed + C'5(\\ +3 h & f f#\ Z +4 & h fl\ Z6 +10 &1G} e hn\ S2 +9 &[q~ d eq\ SF +10 &b g gr\ UQ +9 &R g hq\ VP +9 &T f go\ VP +10 &@T g ge\ VP +9 &P h gd\ VP +9 &S g ec\ VP +10 &T g gd\ VP +9 &IQ d gd\ VP +10 &! R g d`\ VP +8 &"T h g\\\ VP +10 &$T g gh\ VP +10 &&PS e e_\ VP +9 &(U h h_\ UQ +9 &)T j gp\ UP +10 &+S h hl\ VP +9 &-XT g gp\ VP +10 &/O g ho\ UP +8 &0R c gp\ VP +9 &2T g gq\ UP +11 &4aS f fq\ VP +9 &6#S h fl\ VP +9 &7T f gm\ VP +9 &9R g fo\ UP +10 &;iR e gr\ UP +9 &=+R e fj\ UP +10 &>S f ho\ VP +8 &@S e he\ UP +10 &BqU g fd\ VP +9 &D0^ f fm\ UQ +10 &En g fo\ TS +10 &G g io\ RW +9 &IY e fc\ O[\ +9 &K d de\ N\\ +10 &L f eb\ N] +9 &N e dW\ N] +9 &P[ c dV\ N] +9 &R e da\ M^ +10 &S e c_\ M^ +9 &U b c\\\ M_ +9 &WZ d db\ M` +10 &Y d dZ\ Ka +9 &Z b a`\ La +9 &\\Pe b bc\ M3 +10 &\\ b ac\ M&q +9 ( +2 &\\ c ba\ R!` + C'U& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.32 + .Hand.open +2 M&y1 +70 h 1 +2 M&% +4 h % I } U + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&b' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 3 into Processing Clamp +2 P%L& +3 h &\ 4 +2 M&+% +3 h %   +2 A(#% +3 h %  A\ 4 + A(]. +3 h . + .t\SC.reconfigure SCtight +49 A($\ .\ 1~b +3 .t\SC.seek 3 +2 A(>( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (G& +2 h & \ 4 +2 M&2& +3 h &Ӕ* Bj +2 M&1% +3 h %  [  +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +155 h ( + M&& +4 h & 7 + A(j& +4 h & ! ! !\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +91 h ' + A(v& +4 h & 2 0 U\ 6 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +299 h ' + A(V- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 ( & +2 h &  \ 5 +2 M&c& +3 h & F +2 .t\Elbow.seek 3 + M&X( +4 h ( + M&& +4 h & 2 + A(p& +4 h & " $ -\ 6 +2 .t\Forearm.seek 3 + 300 counts +2 M&A'ϡ +33 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +73 h / +2 ."downElevator"\SE.seek :down +2 M&O& +6 A( ' +2 h & , +3 M&<% +3 h % ϯ 7 +2 .t\Forearm.seek :retract + M&' +92 h ' + .t\Elbow.seek PC +2 M&S( +167 h ' + ."downElevator"\SE.coast + A(5 +76 h ( +2 M&&& +3 h & 6 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &"& +2 h & l 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +96 h ' + P%!& +4 h &\ 6 +2 P%Z& +3 .t\PC.seek :closed + P%*(^ +3 h &\ 6 +2 &\ 6 +10 &.u\ 1+{ +10 &_|\ 0? +9 &]r\ 0R +9 &Q\ 2R +10 &R\ 2R +9 &Q\ 2R +9 &cQ\ 2R +10 &%Q\ 3R +9 &U\ 3R +10 &Q\ 3R +9 & jQ\ 3R +9 &"-P\ 2R +10 &#Q\ 3R +8 &%O\ 2R +10 &'sQ\ 3R +10 &)5Q\ 2R +9 &*Q\ 3R +10 &,Q\ 3R +9 &.{O\ 2R +9 &0=Q\ 3R +10 &1P\ 3R +9 &3N\ 3R +9 &5Q\ 2R +10 &7DP\ 2R +9 &9R\ 2R +9 &:R\ 2R +10 &<R\ 3R +9 &>KR\ 3R +10 &@ R\ 2R +8 &AZ\ 2S +11 &Ch\ 1T +8 &EJs\ 0V +10 &G\ 0W +9 &H\ 0X +10 &J\ /X +8 &LJ\ 0X +10 &N\ /Z +10 &O\ /Y +10 &Q\ /Z +9 &SM\ .Z +9 &U\ .Z +10 &V\ /Z +8 &X\ /Y +10 &ZV\ /Z +10 &\\\ /[ +9 &]\ 0: +9 &^+k\ 1!b +9 &^;\ 3; +2 ( + P%Z& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open + M&1 +73 h 1 + M&T% +4 h %  ; + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&k' +90 h ' + .t\SC.coast + A(6 +2 P%l& +4 h &^6\ 3; + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 M&9% +3 h %  i  + A(K% +4 h %  \ 3 + A(r. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(/( +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&{& + A(D& +3 h & : 6 +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h & \ L\ 3 +2 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.seek PC +3 A(#]kK-0-\ b +2 M&z( +5 ."raiseStack"\SE.seek beamBreak +2 h ( + A(Q's +2 M&m& +5 h & 6 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &e& +3 h &  6 +2 .t\Forearm.seek :PC + M&W' +92 h ' + .tHand.close + M&M/ +68 h / + .t\PC.seek :open +2 P%( +105 h ' + A(,- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(~'1 +40 h ' +299 ( + A(E& +4 h & $ , (\ 5 + M&u& +4 h &  6 + M&% +3 h %  m z +2 .t\Forearm.seek :retract + M&i' +92 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&( +249 h ( + M&w& +4 h & 8 9 + A(|& +3 h &  [\ 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&x'7 +97 h ' + .tHand.open + M&^1 +73 h 1 + A(a- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(@' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +65 h ' + #tLights, camera, ACTION! +2 A(4- +2 h -' +2 A(J& +3 h & U\ ' +2 M&;& +3 h & t 9 + .t\Elbow.seek 3 +2 M&n( +39 h ( + M&\\& +4 h & 6 + +2 A(P& +3 h & g\ ' +2 .t\Forearm.seek 3 + 450 counts +2 M&-'7 +4 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b + .t\SE.seek -0.52 +2 A((' +60 h ' + M&F& +4 h & + +2 A(Y& +3 h & " " 4\ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&'u +22 h ' + .t\Elbow.hold +2 M&H, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A( ' +18 h ' + M& % +4 h %Ή 5 +2 A(& +3 h & " $ ^\ 5 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 320 counts + M&%'ϵ +28 h ' +2 M&o& +3 h & b * +2 A( & +3 h & ! "\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&}'7 +24 h ' +2 A(=% +3 h % % / E\ 6 +3 ."downElevator"\SE.seek :down +2 A(C' +99 (% +2 h %< # $ w\ 4Zq +2 M&% +3 h %c . +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&I' +87 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'R& +4 h &\\ c b\ T!` +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&'% +3 h %   +2 A(% +3 h % $ , *\ 6 +2 A(\ . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A($( +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (6& +2 h & % & #\ 6 +2 M&f& +3 h & < * + .t\Elbow.seek 3 +2 M&N( +3 h ( + M&:& +3 h & K * +2 A([& +3 h & ! ! \ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&B'7 +100 h ' + A(h& +4 h & 0 1 A\ 7 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(g's +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&t& +2 h & C * +2 A(.& +3 h & ! " S\ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&0'u +16 h ' + .t\Elbow.hold +2 M&3, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(_- +2 h -' + .t\SE.seek 0.16 +2 A(7'l +30 h ' + M&% +4 h %Α  = + A(& +3 h & ! ! \ 6 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 328 counts + M&'Ͻ +28 h ' + M&& +4 h &  * +2 A(& +3 h & $ / *\ 6 +41 .t\Forearm.reconfigure TightForearm +10 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&)'7 +24 h ' +2 .t\SE.seek 1.16 + A(s' +37 h ' +2 M&q& +3 h & * +2 M&y% +3 h %<  . +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +88 h ' + .t\Elbow.seek CC +2 M&L(ӂ +156 h ( + M&+& +4 h &z2  H + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &#& +3 h &z2 H +2 .t\Forearm.seek :CC + M&]'? +95 h ' + .tHand.close + M&U/ +68 h / + .t\CC.seek :open +2 C'G( +450 h ( + A(2& +4 h & % . \ 8 + A(1& +4 h &   !\ 8 + M&?& +4 h &ӥ* Bi +2 M&% +3 h % Q _ + .t\Forearm.seek :retract +2 M&j' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&d( +168 h ( + M&v& +4 h & N q +2 A(8& +3 h & 3 < \ 9 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 3 + M&b'u +97 h ' + .t\Elbow.hold +2 M&V, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +71 h 1 + M&c% +4 h % V + A(& +3 h & < 8\ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 269 counts + M&p'ς +33 h ' + M&& +4 h & P > +2 A(O& +3 h & < < Q\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&<'7 +15 h ' +2 A(% +3 h % > ? f\ ; +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %2 = = \ :Ym + M&A% +3 h %3 / +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&&' +87 h ' +66 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 3 to 2 + M&"% +4 h %   + A(X% +4 h % ? > W\ ; + A(!. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A( ( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +2 h & = ? O\ : +2 M&`& +3 h & > +2 .t\Elbow.seek 3 +2 M&( +29 h ( + M&T& +4 h &z { 7 +2 A(l& +3 h & < ; L\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&9'7 +94 h ' +2 A(K& +4 h & > 8\ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(r's +298 h ' + A(Z- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&{/ +77 h / + M&D& +4 h &z  7 + M&m% +3 h % 5 ' +2 .t\Forearm.seek :retract + M&e' +86 h ' +2 .t\Elbow.seek :clear +2 M&(d +104 h ( + M&M& +4 h &d R q + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &>& +3 h &d q + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&,' +8 h ' + .t\SE.seek :down +2 A(S' +271 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(k(  +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (*& +3 h &  - 8 R\ 9 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +4 .t\SE.seek beamBreak +2 A(Q's +277 h ' + A(E- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(u'1 +40 h ' + A(& +4 h &  1 B \ 9 + A(W& +3 h &  %  D\ 8 +2 M&w& +3 h &d & q + M&|% +3 h %  ]  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&z( +100 h ( + M&^& +4 h & m 7 + A(a& +4 h &  9 ( 4\ 8 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&4'Α +98 h ' + .t\Elbow.hold +2 M&J, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&;1 +76 h 1 + M&i% +4 h % Ό e * + A(\\& +3 h & 8 *\ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 295 counts + M&P'ϸ +29 h ' + M&F& +4 h & , + A(Y& +3 h &  < = =\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&~'S +26 h ' +2 A( % +3 h %8 < = _\ 9 +3 ."downElevator"\SE.seek :down + A(' +100 (@% +2 h %oB  \ 8[t +2 M&o% +3 h %D  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +88 h ' +69 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 3 to 2 +2 M&=% +3 h %   +2 A(% +3 h % = = f\ : + A(x. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &   [\ 8\  + M&& +3 h & ` , +2 .t\Elbow.seek 3 + M&-( +43 h ( + M&n& +4 h & T + A((& +3 h &  . ?\ 8\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&'7 +98 h ' + A(%& +4 h & 8 1 d\ 8\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(R's +300 h ' + A('- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +76 h / + M&\ & +4 h &   T + M& % +3 h % "  +2 .t\Forearm.seek :retract + M&6' +91 h ' + .t\Elbow.seek :clear +2 M&f(d +110 h ( + M&:& +4 h &d W + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &[& +3 h &d K W + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&}' +3 h ' + .t\SE.seek :down +2 A(h' +270 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(C(  +376 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (/& +3 h &  > < \ ; + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(H's +318 h ' + A(I- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +3 h &  * B\ 9 + A(t& +4 h & = = \ 9 + M&.& +3 h &d W +2 M&_% +3 h %  d  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +112 h ( + M&& +4 h &  + A(& +3 h & - ) \ \ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&'Α +103 h ' + .t\Elbow.hold +2 M&q, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&y1 +65 h 1 + M&B% +4 h % c b + A(N& +3 h &   ]\ 8 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 254 counts +46 M&g'Ϗ +24 h ' + M&0& +4 h & w  + A(& +4 h & < :\ : + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&7'S +30 h ' + A(+% +4 h % = = `\ ; +3 ."downElevator"\SE.seek :down +2 A(#' +99 ()% +2 h %; < <\ 9Zr +2 M&3% +3 h %: :  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&U' +88 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 2 of 2..2 + #Loading generic puck from tube 2 into Collection Clamp + C'& +4 h & f g%\ [ + M&5% +4 h %  s  + A(2% +4 h % > ? x\ ; + A(1. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(?(  +18 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  = < \ : +2 M&v& +3 h &  +2 .t\Elbow.seek 2 + M&8( +9 h ( + M&]& +4 h & E  +2 A(L& +3 h &  = = c\ :\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M& 'S +92 h ' + A(c& +4 h & 1 : \ < +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +301 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (O& +2 h &  < < ?\ 9 +2 M&& +3 h & ~  + .t\Elbow.seek 2 +2 M&j( +2 h ( +2 M&& +3 h & @  + A(A& +4 h & ; 9\ ; + .t\Forearm.seek 2 + 300 counts +2 M&d'Ͻ +18 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .tHand.close +2 M&b/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&"& +3 A(p' +5 h & x  +2 M&X% +3 h %  +2 .t\Forearm.seek :retract +2 M&!' +87 h ' + .t\Elbow.seek CC +2 M&(ӂ +166 h ' + ."downElevator"\SE.coast + A(5 +3 h ( +2 M&s& +3 h &Ӄ ? 4 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &`& +3 h &Ӄ ' 4 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&T'? +102 h ' +2 C'l& +4 h & g fz\ Y + C'<& +4 .t\CC.seek :closed +2 C'K(\\ +3 h & g g3\ [ +2 & e gr\ Z +10 &.v f eq\ T+{ +9 &b} f fp\ S? +10 &bs f dp\ TP +9 &#T f eo\ UP +10 &T g fn\ VP +9 &U f gq\ UP +9 &iS f fk\ VP +10 &+S g he\ VP +9 &T f hp\ VP +9 &T e fm\ VP +10 & pT g da\ VP +9 &"3S h gk\ VP +10 &#T f gl\ VP +9 &%T e fg\ UP +9 &'xT f gm\ VP +10 &):T f e^\ UP +9 &*S e eY\ VP +9 &,U j eg\ VP +10 &.U g em\ VP +9 &0CR g gn\ UP +10 &2T f ie\ VP +9 &3T g g]\ UP +8 &5R g e]\ VP +10 &7KT f ef\ VP +10 &9 R f hh\ WP +8 &:S g f`\ VP +10 &<S d f\\\ VP +10 &>ST g g^\ VP +10 &@S d g]\ VP +9 &AU f fe\ VP +8 &CY g g_\ UQ +10 &EWd h g[\ UQ +9 &Gz h h[\ ST +9 &H i h_\ QX +10 &J i kk\ O[ +9 &LA l ia\ O\\ +10 &N h j^\ O\\ +8 &O h k^\ O\\ +10 &Q j kQ\ N\\ +9 &SE i ia\ O] +10 &U i iT\ N^ +9 &V j l_\ L^ +9 &X j h^\ M` +10 &ZD i jX\ L` +10 &[{ j j_\ OE +9 &\\' j mc\ O, +9 &\\| j iU\ S\\ +2 ( + C'<& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open + M&1 +67 h 1 + M&$% +4 h % E & + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&V' +89 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 P%&& +3 h &\ 5 +2 M&Z% +3 h %   +2 A({% +3 h % $ "\ 4 + A(D. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(m(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (M& +2 h &  $ ! @\ 5 +2 M&>& +3 h &Ӄ B 4 + M&9% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +159 h ( + M&e& +4 h & w  + A(r& +4 h &  ! " 2\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M& 'S +89 h ' + A(*& +4 h &    \ 8 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(E's +299 h ' + A(S- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &  - %\ 6 +2 M&W& +3 h & 4  + .t\Elbow.seek 2 +2 M&w( +2 h ( +2 M&|& +3 h & j  + A(^& +3 h &  / 0 \ 7 +2 .t\Forearm.seek 2 + 300 counts +2 M&a'Ͻ +14 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .tHand.close +2 M&Q/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&& +3 A(;' +5 h & .  +2 M&i% +3 h % Ͻ +2 .t\Forearm.seek :retract + M&\\' +93 h ' + .t\Elbow.seek PC +2 M&F( +164 h ' + ."downElevator"\SE.coast + A(5 +75 h ( + M&Y& +4 h & , + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h & ` , + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +3 M&,' +97 h ' + P%@& +4 h &\ 7 + P%o& +4 .t\PC.seek :closed +2 P%z(^ +2 h &\ 6 +3 &\ 7 +9 &.w\ 1+| +10 &a\ 1@ +9 &\\s\ 1R +9 &P\ 3R +10 &Q\ 3R +9 &P\ 3Q +9 &bQ\ 3R +10 &%Q\ 3R +9 &R\ 3R +9 &R\ 3R +9 & kQ\ 3R +9 &"-O\ 3R +10 &#R\ 3R +9 &%O\ 3Q +10 &'rR\ 3R +10 &)5Q\ 3R +9 &*R\ 3R +9 &,R\ 3R +9 &.{O\ 3R +9 &0<Q\ 3R +11 &1Q\ 3R +8 &3Q\ 3R +10 &5Q\ 3R +9 &7EQ\ 3R +10 &9T\ 3R +9 &:S\ 3R +9 &<R\ 3R +9 &>JU\ 3S +11 &@ U\ 3S +9 &AY\ 2S +9 &Cj\ 1T +9 &EI{\ 1V +9 &G\ 0X +10 &H\ 0X +10 &J\ 0X +9 &LK\ 0X +9 &N\ /Z +9 &O\ /Y +9 &Q\ /Z +10 &SL\ /Z +10 &U\ 0Y +8 &V\ /Y +10 &X\ /Y +9 &ZS\ /[ +11 &\\\ /Z +9 &]\ /> +9 &^/\ 0\\ +9 &^0\ 47 +2 ( + P%o& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 + .Hand.open +2 M&41 +75 h 1 + M&P% +4 h %  @ ; + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&=' +90 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^.\ 37 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 M&x% +3 h %  2  + A(u% +4 h % \ 4 + A(~. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A((  +2 h ( +2 .t\SC.reconfigure SCloose + A($.\ 1~b +3 (k& + M&& +6 h &   \ 4 + & , +2 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.reconfigure TightElbow +4 M&$&.,(\ #b +2 A(#]kK-0-\ b + .t\Elbow.seek PC +4 M&( +3 h ( +2 M&n& +3 ."raiseStack"\SE.seek beamBreak + A(('s +3 h & x , + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &%& +3 h & j , +2 .t\Forearm.seek :PC + M&J' +94 h ' + .tHand.close + M& / +68 h / +2 .t\PC.seek :open +2 P%'( +98 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(\ '1 +43 h ' +302 ( + A( & +4 h &  " $\ 6 + M&:& +4 h & , + M&[% +3 h %  # _ +2 .t\Forearm.seek :retract +2 M&' +87 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&-( +242 h ( + M&6& +4 h & > +47 A(R& +6 h &  % \ 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&'S +93 h ' + .tHand.open + M&/1 +65 h 1 + A(h- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(I' +25 h ' +2 .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +57 h ' + #tLights, camera, ACTION! +2 A(t- +2 h -' +2 A(.& +3 h &  (\ & +2 M&_& +3 h & j > +2 .t\Elbow.seek 2 + M&( +3 h ( +2 M&& +3 h & 1 > +2 A(f& +3 h &  p\ & +2 .t\Forearm.seek 2 + 450 counts +2 M&y'S +14 h ' + .t\SE.reconfigure SEgently +3 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(B' +62 h ' +2 M&N& +3 h & > +2 A(0& +3 h &  $ # -\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&'Α +16 h ' + .t\Elbow.hold +2 M&}, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(+' +21 h ' +2 M&% +3 h %α 7 W +2 A()& +3 h &  " " 0\ 5 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 332 counts +2 M&3' +20 h ' +2 M&& +3 h &  = +2 A(g& +3 h &  % $ S\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +15 h ' +2 A(5% +3 h % / / c\ 6 +3 ."downElevator"\SE.seek :down +2 A(2' +99 (1% +3 h %A " " h\ 4[u + M&H% +3 h %1  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +69 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'v& +3 h &\\x k kV\ T\\ +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&]% +4 h %   + A(L% +3 h % 0 0 -\ 7 +2 A(7. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(c(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (#& +2 h &  , % \ 7 +2 M&C& +3 h & = +2 .t\Elbow.seek 2 + M&q( +3 h ( + M&U& +4 h & n = +2 A(& +3 h &  ! $\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&O'S +99 h ' + A(& +4 h &  / / V\ 7 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +295 h ' + A(A- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&b& +2 h & = +2 A("& +3 h &  ! # C\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&X'Α +17 h ' + .t\Elbow.hold +2 M&8, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A( - +2 h -' +2 .t\SE.seek 0.15 + A(s'i +30 h ' + M&`% +4 h %Ω R + A(& +4 h &  $ ! 0\ 6 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 324 counts +2 M&d' +25 h ' + M&l& +4 h & = +2 A(j& +3 h &  % " \ 6 + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&p'S +13 h ' +2 .t\SE.seek 1.15 + A(!' +36 h ' + M&G& +4 h & 3 = +2 M&% +3 h %Y : +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&$' +88 h ' + .t\Elbow.seek CC +2 M&&(ӂ +154 h ( + M&Z& +4 h &ӌ1 ] G + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &{& +3 h &ӌ0 G +2 .t\Forearm.seek :CC +2 M&D'? +96 h ' +2 .tHand.close + M&& +4 h &    \ 8 + A(9& +3 h &   \ 8 +2 M&T& +3 h &ӎ0 W G + M&e% +3 h % M X j +2 .t\Forearm.seek :retract +2 M&r' +87 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&?( +165 h ( + M&*& +4 h &  +2 A(& +3 h &  3 /\ : +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 2 + M&V'Α +94 h ' + .t\Elbow.hold +2 M&S, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +69 h 1 + M&W% +4 h % ΃ D . + A(|& +4 h &  = = 3\ : + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 286 counts +2 M&^'ϯ +28 h ' +6 M&Q& +4 h &  + A(& +4 h &  = = /\ : + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&i'S +25 h ' +2 A(% +3 h % ? @ )\ ; +3 ."downElevator"\SE.seek :down +2 A( ' +99 (E% +2 h %1 2 <\ 9Yn +2 M&a% +3 h %] + +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Y' +87 h ' +73 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 2 to 1 +2 M& % +3 h %  o  +2 A(w% +3 h % ? ? v\ ; +2 A(@. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(;(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (\\& +3 h &  8 < \ ; + M&& +3 h &   +2 .t\Elbow.seek 2 +2 M&4( +8 h ( + M&P& +4 h & @  + A(& +3 h &  ? ? z\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&x'S +97 h ' +2 A(u& +4 h &  9 ; +\ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(o's +298 h ' + A(~- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&k/ +77 h / + M&& +4 h &   + M&n% +3 h % U +2 .t\Forearm.seek :retract + M&%' +90 h ' +2 .t\Elbow.seek :clear + M&,(d +98 h ( + M& & +4 h &d ~ h + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &m& +3 h &d h + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear + M&' +2 h ' +2 .t\SE.seek :down + A(F' +267 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(=(C +361 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (z& +3 h &? 2 ;\ : + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(('s +276 h ' + A( - +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(:'1 +40 h ' + A([& +4 h &? A 3 7\ : + A(J& +3 h &? 9 /\ 9 +2 M&6& +3 h &d h + M&R% +3 h %   +2 .t\Elbow.reconfigure TightElbow +48 M&$&.,(\ #b +3 .t\Elbow.seek 1 + M&( +102 h ( + M&/& +4 h & v 5 + A(h& +3 h &? : <\ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&t'8 +97 h ' + .t\Elbow.hold +2 M&., +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&_1 +66 h 1 + M&% +4 h % f n Q +2 A(f& +3 h &? ; /\ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 346 counts + M&'ϒ +25 h ' + M&N& +4 h & ~ 5 + A(0& +4 h &? < < \ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts + M&' +15 h ' +2 A()% +3 h %; = 3 4\ : +3 ."downElevator"\SE.seek :down +2 A(\ ' +99 (% +2 h %A  , F\ 8[u +2 M&g% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&I' +89 h ' +64 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast + A(6 +2 #t\Moving puck from tube 2 to 1 + M&5% +4 h %   +2 A(-% +3 h % ? ? |\ ; +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A((  +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (1& +3 h &  < <\ 9 + M&H& +3 h & 5 +2 .t\Elbow.seek 2 + M&y( +3 h ( + M&& +3 h & W 5 +2 A(B& +3 h &  9 / ?\ 9 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +92 h ' +3 A(v& +3 h &  2 /\ : +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(3's +300 h ' + A(]- +33 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&L/ +67 h / + M&7& +4 h & _ 4 + M&+% +3 h % m +2 .t\Forearm.seek :retract +2 M&#' +86 h ' + .t\Elbow.seek :clear +2 M&C(d +98 h ( + M&U& +4 h &d t  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +2 h ' + .t\SE.seek :down +2 A(' +271 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(2(C +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &F = < \ 9 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(}'s +325 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (A& +2 h &F  * \ 7 +2 A(b& +3 h &F   ]\ 8 + M&"& +3 h &d  +2 M& % +3 h % !  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&`( +98 h ( + M&& +4 h & x ) + A(l& +3 h &F   \ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&j'8 +96 h ' + .t\Elbow.hold +2 M&G, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +71 h 1 + M&O% +4 h % / + A(q& +4 h &F   \ 8 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 291 counts + M&'[ +18 h ' + M&X& +4 h & 1 ( + A(d& +4 h &F < :\ : + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&Z' +20 h ' + A(s% +4 h % 9 2\ 9 +2 ."downElevator"\SE.seek :down +2 A({' +100 (p% +2 h %&;   \ 8Zq +2 M&8% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&<' +90 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 M&$& +3 h & ' ( +2 M&K% +3 h %   +2535 E\ g@= +60002 \ g@= +60003 \ gA> +60002 6\ fC@ +6267 #t-> PC.loadPuck:SH1,1 + #Loading SH1 puck from tube 1 into Processing Clamp + P%>& +3 h &\ : + M&9% +4 h %   + A(T% +3 h % ? < \ ; +2 A(e. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(*(C +15 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &F ; D "\ 9 + M&D& +3 h & ( +2 .t\Elbow.seek 1 +2 M&&( +3 h ( + M&& +3 h & f ( +2 A(W& +3 h &F @ ; P\ 9 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&|' +95 h ' + A(Q& +4 h &F = E r\ : + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +299 h ' + A(- +3 h -'\ + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (r& +2 h &F !  z\ 8 +2 M&E& +4 h & ( + .t\Elbow.seek 1 +2 M&a( +2 h ( +2 M&?& +3 h & f ( +2 A(V& +3 h &F ; 4 ^\ 8 +2 .t\Forearm.seek 1 + 300 counts + M&^'d +28 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +77 h / +2 ."downElevator"\SE.seek :down +3 M&w& +4 A(@' +3 h & & ( + M&!% +3 h % l Q  +2 .t\Forearm.seek :retract +2 M&\\' +89 h ' + .t\Elbow.seek PC +2 M&( +164 h ' + ."downElevator"\SE.coast + A(5 +80 h ( + M&P& +4 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & *  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&i' +99 h ' + P%u& +4 h &\ 9 + P% & +4 .t\PC.seek :closed + P%c(^ +2 h &\ 9 +5 &\ 93 +9 &8Dy\ 32 +10 &Wl\ 3F +9 &g\ 4R +10 &T\ 5R +9 &pO\ 6R +9 &1T\ 6R +10 &P\ 5R +9 &T\ 6R +9 &wS\ 6R +9 &:O\ 6R +10 & U \ 5R +10 &"RI\ 6R +9 &$~U\ 5S +8 &&BTK\ 5R +10 &(TC\ 5S +10 &)TO\ 5R +9 &+Q?\ 6R +10 &-IQA\ 6R +9 &/ UA\ 5R +9 &0VQ\ 5R +10 &2UQ\ 6R +9 &4PSF\ 5S +10 &6TA\ 5R +8 &7Q@\ 6R +10 &9RA\ 6S +10 &;XW?\ 5S +9 &=S?\ 6R +9 &>V?\ 5R +9 &@T<\ 6S +9 &B^]>\ 5S +11 &Dm<\ 4U +9 &E?\ 3X +9 &G>\ 3X +9 &IX?\ 3X +9 &K?\ 3X +11 &L@\ 2X +8 &N;\ 2Z +9 &P[:\ 2Z +11 &R?\ 2Z +9 &S?\ 2Z +9 &U>\ 2Z +9 &Wb?\ 2Z +9 &Y&;\ 2Z +10 &Z-\ 2Z +9 &\\&\ 1Z +9 &^9ny+\ 4'{ +10 &^!}&\ 4@ +9 ( +2 &^.(\ 77 + P% & +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.73 + .Hand.open + M&S1 +72 h 1 + M&Y% +4 h %  p ! + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&~' +91 h ' + .t\SC.coast + A(6 +1263 #t-> Gate.power :camera :on + !o:SyntaxError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"vcompile error\ (ESP):22: syntax error, unexpected ':', expecting $end\ Gate.power :camera :on\ ^ +399 #-> Gate.power :camera :on + !o:SyntaxError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"vcompile error\ (ESP):23: syntax error, unexpected ':', expecting $end\ Gate.power :camera :on\ ^ +3043 #-> Gate.power :camera, :on + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg" uninitialized constant Gate: name: Gate +1347 #-> Sleepy.power :camera, :on + .\Sleepy.power :camera,:ON +3324 #-> PC.imagePuck 2,:SH1 + P%k& +3 h &^.*\ 7 +2 !to:Puck::Warning:bt[ "6/home/esp/esp2/utils/puckmoves.rb:315:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:393:in `image'"9/home/esp/esp2/utils/puckmoves.rb:814:in `imagePuck'"(ESP):26:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: mesg"7Unloading SH1 puck from tube 1 to Storage Carousel + #Imaging SH1 puck in Processing Clamp while storing it to tube 2 + M&% +4 h %  q i  + A(n% +3 h % N P g\  +2 A( . +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(m(  +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&x& + A(4& +3 h & c Z  +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h &  Q H 7\  +2 .t\Elbow.seek PC + ."raiseStack"\SE.reconfigure SEplace +3 M&%( +2 A(#]kK-0-\ b +5 h ( + M&o& +4 h & ` d 5  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b + ."raiseStack"\SE.seek beamBreak +3 M&;& + A(z's +6 h & c d  + .t\Forearm.seek :PC +2 M& ' +92 h ' +2 .tHand.close + M&F/ +75 h / + .t\PC.seek :open +2 P%[( +94 h ' + A(J- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(6'1 +41 h ' +314 ( + A(R& +4 h &  i i \  + M&/& +3 h & | ~   +2 M&h% +3 h % z 0 S +2 .t\Forearm.seek :retract + M&(' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&_( +245 h ( + M&& +4 h & h o 4 4 + A(,& +3 h &  P O 6\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&f'S +100 h ' + .tHand.open + M&N1 +70 h 1 +2 A(0- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate + A()' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +50 h ' + #tLights, camera, ACTION! +5894 #-> PuckCamera.snapImages "focustest",{:image=>[:hires,40]} +12 #\PuckCamera: snap -bin=1,1 40.0 /var/log/esp/hires/focustest40s.tif +4186 #\SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 40 seconds\ /var/log/esp/hires/focustest40s.tif: TIFF Upload Complete\ +8310 #-> Puck.finishImage + A(- +3 h -' + A(g& +4 h &    F\ \ +2 M&& +5 h & {3 +3 .t\Elbow.seek 2 +3 M&t( +5 h ( + M&5& +3 h & W |3 +2 A(& +3 h &    B\ \ +2 .t\Forearm.seek 2 + 450 counts +2 M&-'S +30 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(' +56 h ' + M&:& +4 h &  3 +2 A(& +4 h &  A\ + + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 +2 M&\ 'Α +18 h ' + .t\Elbow.hold +2 M&=, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(1' +29 h ' + M&H% +4 h %ΐ }   +2 A(& +3 h &  l h 8\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 299 counts +2 M&B'ϼ +27 h ' +2 M&v& +3 h &  3 +2 A(.& +3 h &  s w \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&I'S +27 h ' +2 A(]% +3 h % i t \  +3 ."downElevator"\SE.seek :down +2 A(L' +99 (7% +7 h %< (\ (Yl +4 M&+% +4 h %Ћ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&U' +89 h ' +71 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 M&& +3 h & 3 +2 M&% +3 h %  <  +21870 E\ W +2322 #t-> Sleepy.power :camera, :off .\Sleepy.power :camera,:OFF +17777 #-> PC.loadPuck:SH1,2 +2 #Loading SH1 puck from tube 2 into Processing Clamp + P%y& +3 h &\ : +2 M&#% +3 h %  V  +2 A(3% +3 h % ? > y\ : +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A((  + h ( +2 .t\SC.reconfigure SCloose + A($.\ 1~b +3 (& +2 h &  6 $ \ : +2 M&& +3 h & 3 + .t\Elbow.seek 2 +2 M&A( +2 h ( +2 M&b& +3 h & ) 3 + A("& +4 h &  ? = \ : + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M& 'S +97 h ' + A(& +4 h &  ; ? \ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(l's +296 h ' + A(- +3 h -' + .t\SE.configure SEconfig +3 A(#QK-0-\ b +2 (O& +2 h &  ? = \ 9 +2 M&C& +3 h & + 3 +2 .t\Elbow.seek 2 + M&q( +4 h ( + M&X& +4 h & 3 +2 A(d& +3 h &  > :\ 9 +2 .t\Forearm.seek 2 + 300 counts +2 M&s'Ͻ +23 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +71 h / +2 ."downElevator"\SE.seek :down +3 A(8' +2 M&p& +5 h & 3 +2 M&`% +3 h %  B l +2 .t\Forearm.seek :retract + M&j' +88 h ' + .t\Elbow.seek PC +2 M&$( +168 h ' + ."downElevator"\SE.coast + A(5 +74 h ( + M&& +4 h & . + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &K& +3 h & 0 . + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&}' +98 h ' + P%Z& +4 h &\ : + P%{& +4 .t\PC.seek :closed +2 P%2(^ +3 h &\ : + &\ : +10 &.v\ 6+| +9 &a\ 4@ +9 &Zu\ 5R +10 &W\ 7R +9 &W\ 6R +10 &T\ 7R +9 &^U\ 6S +9 &!T\ 7R +10 &U\ 7R +9 &R\ 7R +9 & fT\ 7S +10 &"*R\ 7R +9 &#U\ 7R +10 &%S\ 7R +9 &'oT\ 6R +9 &)1U\ 7R +10 &*T\ 6R +9 &,V\ 7R +9 &.wT\ 7R +10 &0:U\ 7R +9 &1T\ 7R +10 &3R\ 7R +9 &5T\ 7R +9 &7AS\ 7R +10 &9W\ 7R +9 &:V\ 7S +9 &<T\ 6R +10 &>IW\ 7R +8 &@ X\ 6R +11 &AY\ 6S +9 &Cm\ 5T +9 &EF{\ 5V +10 &G\ 4X +8 &H\ 4X +10 &J\ 3Y +10 &LG\ 4Y +9 &N\ 3Y +9 &O\ 3Z +10 &Q\ 3Z +9 &SK\ 3Z +10 &U \ 3Z +9 &V\ 3Z +9 &X\ 3Y +10 &ZT\ 3Z +9 &\\\ 3Z +9 &]\ 4? +9 &^.\ 4[ +10 &^6\ 88 +2 ( + P%{& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 .Hand.open +2 M&>1 +65 h 1 +2 M&9% +3 h %  O ( +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&T' +93 h ' + .t\SC.coast + A(6 +733 #t-> PC.unloadPuck:SH1,1 +2 P%e& +3 h &^4G\ 88 + !to:Puck::Warning:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:315:in `unload'":/home/esp/esp2/utils/puckmoves.rb:806:in `unloadPuck'"(ESP):31:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: mesg"7Unloading SH1 puck from tube 2 to Storage Carousel +2 #\Storing 1 puck in Processing Clamp to tube SH1 + M&% +3 h %  ; \ +2 A(D% +3 h %   3\ 8 + A(. +3 h . + !to:Axis::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"+Unknown Storage Carousel position: SH1:@axisName"Storage Carousel +1631 #-> PC.unloadPuck:1 + !o:SyntaxError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"compile error\ (ESP):32: syntax error, unexpected tINTEGER, expecting tSTRING_CONTENT or tSTRING_DBEG or tSTRING_DVAR or tSTRING_END +621 #-> PC.unloadPuck 1 + P%W& +3 h &^4\ 88 +2 #t\Storing SH1 puck in Processing Clamp to tube 1 + M&Q% +3 h %  \ +2 A(G% +3 h %   u\ 8 + A(<. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A((C +359 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (r& +3 h &D % $\ 5 + M&E& +3 h &  . +2 M&?% +3 h %  3 \ + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +51 M&V( +249 h ( + M& & +4 h & V + A(w& +3 h &D $ %\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&!' +98 h ' + A(&& +4 h &D ! "\ 5 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(|'s +299 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&^& +2 h & V +2 A(P& +3 h &D "  B\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 1 + M&'8 +18 h ' + .t\Elbow.hold +2 M&a, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(u- +2 h -' +2 .t\SE.seek 0.15 + A(@'h +29 h ' +2 M&\\% +4 h %2 + A('& +4 h &D # & X\ 5 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 1 + 294 counts +2 M&S'^ +17 h ' + M&Y& +4 h & V +2 A( & +3 h &D & - \ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts + M&i' +21 h ' +2 .t\SE.seek 1.15 + A(*' +37 h ' + M&k& +4 h & ? V +2 M&% +3 h % W +2 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&n' +87 h ' +2 .t\Elbow.seek PC + M& ( +245 h ( + M&x& +4 h & # + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &4& +3 h & Z # + .t\Forearm.seek :PC +2 M&o' +90 h ' + .tHand.close + M&;/ +75 h / + .t\PC.seek :open +2 P%F( +457 h ( + A(J& +4 h &D   \ 8 + A(& +3 h &D   i\ 8 +2 M&~& +3 h & # + M&c% +4 h %  # l + .t\Forearm.seek :retract +2 M&z' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&R( +245 h ( + M&/& +4 h & 9 + A(h& +3 h &D & / ;\ 6 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 1 + M& '8 +96 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&,1 +76 h 1 +2 M&%% +3 h % U 9 +2 A(N& +3 h &D 2 0 i\ 7 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 1 + 329 counts + M&0'ρ +32 h ' + M&(& +4 h & E 9 + A(6& +3 h &D 1 0 J\ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&)' +17 h ' + A(% +4 h %   \ 8 +3 ."downElevator"\SE.seek :down +2 A(g' +99 (% +2 h %1 3 2 ^\ 7Zn +2 M&5% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +90 h ' +57 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +291 #t-> shuffleall + .Hand.open + M&:1 +26 h 1 + A(% +4 h % 8 8\ ; + .t\SE.seek :down +2 A(H' +2 h ' + .t\SE.coast + A(5 +2 M&% +3 h %    + .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(v(C +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (.& +3 h &E < ;\ : + M&]& +3 h & 9 +2 .t\Elbow.seek 1 + M&_( +3 h ( + M&f& +3 h & 9 +2 A(& +3 h &E = = >\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts + M&7' +98 h ' + A(+& +4 h &D / * w\ 7 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(-'s +314 h ' +2 A(t- +3 h -'I + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (% +3 h % T . $ \ 5 +2 ."downElevator"\SE.seek :down +2 A(\ ' +99 (B% +2 h %04   `\ 4Zp +2 M&% +3 h % Z R + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' +64 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(1(  +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (I& +3 h &  = < 8\ 9\ + M&L& +3 h & 9 +2 .t\Elbow.seek 2 + M&m( +4 h ( + M&y& +3 h & s 9 +2 A(#& +3 h &  < = \ 9\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&3'S +90 h ' + A(& +4 h &  < : \ :\ + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A('s +288 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (b% +2 h %l ; + K\ 9 +2 ."downElevator"\SE.seek :down +2 A("' +100 (% +2 h %> 2 0 J\ 7Zr +2 M&=% +3 h %J + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&U' +91 h ' +75 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +348 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (O& +2 h & = 1\ 9 +2 M&C& +3 h & 8 + .t\Elbow.seek 3 +2 M&X( +24 h ( + M&d& +4 h &{ W  + A(& +3 h &* / . V\ 7  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&p'7 +93 h ' + A(`& +4 h &+   \ 8  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(A's +277 h ' + A( - +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (l% +3 h %l # # \ 6 +2 ."downElevator"\SE.seek :down +2 A(s' +100 (% +2 h %9?   \ 4[u +2 M&K% +3 h %@ # j + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&q' +89 h ' +76 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(Z(,y +353 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (8& +2 h &,w ; 5 \ : +2 M&j& +4 h &{ \\  + .t\Elbow.seek 4 +2 M&[( +25 h ( + M&>& +4 h & r G + A(9& +3 h &,y( / 0 G\ 7  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&{' +100 h ' + A(}& +4 h &,y( '  \ 7  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A('s +278 h ' + A(e- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (% +3 h %m  \ 3 +2 ."downElevator"\SE.seek :down +2 A(D' +100 (% +2 h %<  \ 4Zr +2 M&W% +3 h % N k + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Q' +88 h ' +79 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +41 A($\ .\ 1~b +10 .t\SC.seek 5 + A(G(<- +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (<& +3 h &<+0 # $ I\ 6  + M&r& +3 h & G +2 .t\Elbow.seek 5 + M&E( +26 h ( + M&?& +4 h &  + A( & +3 h &<+0 0 / 4\ 7  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&w'O +89 h ' + A($& +4 h &<+0 *  +\ 7  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(&'s +277 h ' + A(T- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (% +2 h %l # $ +\ 6 +3 ."downElevator"\SE.seek :down + A(^' +100 (P% +3 h %<   \ 4[s +2 M&u% +3 h %] F +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&\\' +89 h ' +77 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A('(K +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (Y& +3 h &K / % 9\ 8 + M& & +3 h &  +2 .t\Elbow.seek 6 +2 M&k( +3 h ( + M&& +4 h & c  + A(!& +3 h &K = = t\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&V' +99 h ' + A(|& +4 h &K = < e\ 9 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A('s +277 h ' + A(S- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (@% +2 h %j  + C\ 7 +3 ."downElevator"\SE.seek :down +2 A(i' +99 (x% +3 h %A % ,\ 6[u + M&4% +3 h % P +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&a' +88 h ' +75 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(;([ +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (n& +3 h &[   (\ 8  + M&2& +3 h & 1  +2 .t\Elbow.seek 7 + M&J(r +32 h ( + M&& +4 h &l W + A(~& +3 h &[ #  {\ 8  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&c'= +99 h ' + A(o& +4 h &[ * <\ 8  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(/'s +275 h ' + A(h- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( % +2 h %w ! /\ 7 +3 ."downElevator"\SE.seek :down +2 A(,' +99 (%% +3 h %8C % , \ 5[u +2 M&N% +3 h %. C r + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&(' +90 h ' +76 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 1 of 1..1 + #Loading generic puck from tube 1 into Collection Clamp + C'6& +4 h & ^ _\ [ + M&% +4 h %   +2 A(z% +3 h % > = c\ ; +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(5(C +1924 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (R& +3 h &F - % 2\ 9 + M& & +3 h &l W +2 .t\Elbow.seek 1 + M&0( +29 h ( + M&*& +4 h &  + A()& +3 h &F / 9\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&g' +91 h ' + A(& +4 h &F < = \ 9 + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(:'s +298 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &F / 0 G\ 7 +2 M&.& +3 h & + .t\Elbow.seek 1 +2 M&]( +8 h ( + M&f& +4 h & }  + A(& +3 h &F   \ 8 +3 .t\Forearm.seek 1 + 300 counts +2 M&+'d +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&H/ +65 h / +2 ."downElevator"\SE.seek :down +2 M&& +3 A(' +6 h & M  +2 M&t% +3 h % m o  + .t\Forearm.seek :retract +2 M&' +86 h ' + .t\Elbow.seek CC +2 M&B(ӂ +161 h ( + M&& +4 h &Ә% - =F + ' + ."downElevator"\SE.coast +2 A(5 +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &-& +2 h &Ә% =F +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&7'? +95 h ' + C'\ & +4 h & ` _\ Y +3 C'v& +3 .t\CC.seek :closed +2 C'I(\\ +2 h & _ _\ Y +3 & ^ _\ Z +10 &.x ^ `\ S+| +9 &a a `\ R@ +9 &[v ] _\ RQ +10 &U _ \\\ UQ +9 &X [ ]\ UQ +9 &Z ^ ^\ TQ +10 &bY ^ _\ UQ +9 &#X ` _\ TR +10 &W ^ _\ TQ +9 &Z ^ _\ TQ +9 & jV ] ^\ UQ +10 &"-W ^ _\ UQ +9 &#W ^ ^\ TQ +10 &%X a _c\ UR +8 &'rV ] _Q\ UQ +10 &)4Z ^ _z\ TQ +10 &*W \\ ]k\ TQ +8 &,Y ] ]}\ TQ +10 &.zY ] `|\ TQ +10 &0=R _ _|\ UQ +9 &1X ^ ^s\ UQ +9 &3W _ _m\ TQ +9 &5U ^ _c\ UQ +10 &7EW ` _a\ TQ +9 &9U ] _e\ UQ +9 &:U ` _k\ UQ +10 &<U ` `{\ TQ +9 &>NV ^ ^w\ TQ +10 &@W \\ ]r\ UQ +9 &AX _ _q\ TQ +9 &C_ _ _x\ TR +10 &EOj _ ^p\ SS +10 &G _ `r\ RV +9 &H ^ _y\ OZ +9 &Jz \\ ^}\ M\\ +9 &L< [ ^q\ N\\ +10 &M \\ ]d\ M] +10 &O ^ ]b\ M] +9 &Q \\ \\n\ M] +9 &S= [ ^e\ L_ +9 &T ] Zb\ L_ +9 &V ] ]c\ L_ +9 &X~ ] [^\ K` +11 &Z> Z [_\ Ka +8 &[ Z [j\ MC +10 &\\) Y Zi\ M- +9 &\\y Y Za\ RY +3 ( + C'v& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + M&L1 +68 h 1 +2 M&y% +4 h % @ n + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&#' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 1 into Processing Clamp +2 P%& +3 h &\ 4 +2 M&_% +3 h %   +2 A(% +3 h % % % \ 5 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(b(C +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &F $ " f\ 5 + M&=& +4 h &Ә$ =F +2 M&% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 + M&3( +164 h ( + M&"& +4 h &   + A(1& +3 h &F 2 0 9\ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&O' +99 h ' + A(C& +4 h &F  \ 7 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(d's +296 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (`& +2 h &G # %\ 5 +2 M&m& +3 h & h  + .t\Elbow.seek 1 +2 M&U( +3 h ( + M& & +4 h &  + A(l& +3 h &G " %\ 6 +2 .t\Forearm.seek 1 + 300 counts +2 M&'d +28 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&K/ +73 h / +2 ."downElevator"\SE.seek :down +2 M&A& +2 A(p' +6 h & F  +2 M&s% +3 h % x  +2 .t\Forearm.seek :retract +2 M&' +86 h ' + .t\Elbow.seek PC +2 M&8( +178 h ' + ."downElevator"\SE.coast + A(5 +59 h ( + M&j& +4 h & 8 = + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &>& +3 h &  = + .t\Forearm.reconfigure TightForearm +48 M&#Q@2^d^\ b +3 .t\Forearm.seek :PC +2 M&9' +102 h ' + P%}& +4 h &\ 8 +2 P%X& +3 .t\PC.seek :closed + P%q(^ +3 h &\ 7 +3 &\ 8 +10 &.u\ 3+| +9 &a\ 2@ +10 &^t\ 2Q +9 &Q\ 4R +10 &S\ 4R +9 &R\ 4R +9 &bS\ 4R +10 &$T\ 4R +9 &U\ 4S +9 &S\ 4R +10 & kT\ 4R +9 &".R\ 4R +10 &#T\ 4R +9 &%Q\ 4R +9 &'sS\ 4R +10 &)5S\ 4R +9 &*T\ 4R +9 &,T\ 4R +10 &.{T\ 3R +9 &0>T\ 4R +10 &2R\ 4R +9 &3Q\ 4R +9 &5S\ 4R +10 &7ES\ 4R +9 &9U\ 4R +9 &:U\ 4R +10 &<V\ 4R +9 &>LW\ 4R +10 &@ T\ 4S +9 &A_\ 3S +9 &Cg\ 3U +10 &EKr\ 2V +9 &G\ 1W +9 &H\ 2X +9 &J\ 1X +10 &LJ\ 1Y +9 &N\ \ 1Y +10 &O\ 1Y +9 &Q\ 1Y +10 &SM\ 0Z +9 &U\ 1Z +9 &V\ 1Z +9 &X\ 0Y +9 &ZV\ 1Z +11 &\\\ 1Z +8 &]\ 1= +10 &^,{\ 2\\ +10 &^;\ 5: + ( + P%X& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + M&e1 +69 h 1 + M&% +4 h %   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 P%W& +4 h &^9!\ 4: + #tImaging generic puck in Processing Clamp while storing it to tube 1 +2 M&% +3 h %   + A({% +4 h % \ 4 +2 A(D. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(Z(C +15 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (<& + M&r& +3 h &F\ 2 +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h & = +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&?( +2 h ( +2 M& & +2 ."raiseStack"\SE.seek beamBreak +2 A($'s +2 h & n = +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &[& +3 h &  = + .t\Forearm.seek :PC +2 M&Q' +93 h ' + .tHand.close + M&T/ +71 h / +2 .t\PC.seek :open +2 P%( +93 h ' + A(P- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(u'1 +40 h ' +312 ( + A(&& +4 h &F % " >\ 5 + M&w& +4 h & ; = +2 M&^% +3 h %  ] + .t\Forearm.seek :retract +2 M&G' +87 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&Y( +245 h ( + M& & +4 h & E * + A(& +3 h &F d\ 3 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&!' +89 h ' + .tHand.open + M&|1 +74 h 1 + A(E- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(\\' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(S' +52 h ' +2 #tLights, camera, ACTION! +2 A(@- +3 h -' + A(x& +3 h &F \ + +2 M&4& +3 h & 4 * +2 .t\Elbow.seek 1 + M&( +3 h ( + M&V& +3 h & l * +2 A(i& +3 h &F \ + +2 .t\Forearm.seek 1 + 450 counts +2 M&'' +10 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(n' +50 h ' + M&2& +4 h & * +2 A(& +3 h &F  \ 4 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&~'8 +18 h ' + .t\Elbow.hold +2 M&o, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(k' +20 h ' +2 M&a% +3 h %^ > +2 A(h& +3 h &F  \ 4 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 338 counts + M& 'ϊ +23 h ' +2 M&%& +4 h & * + A(N& +4 h &F \ 5 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&6' +17 h ' +2 A(% +3 h % $ "\ 5 +3 ."downElevator"\SE.seek :down +2 A(/' +99 (z% +3 h %9  \ 3[s + M&% +3 h % d +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&c' +85 h ' +75 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C',& +4 h &\\r \\ \\d\ UY + #t\Storing generic puck in Collection Clamp to tube 1 + M&;% +4 h %   +2 A(R% +3 h % 0 0 ;\ 7 + A( . +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(*(C +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ()& +3 h &F 0 / N\ 7 + M&& +3 h & C * +2 .t\Elbow.seek 1 +2 M&J( +2 h ( +2 M&(& +3 h & ; * + A(& +4 h &F / - %\ 7 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +94 h ' + A(.& +4 h &F *  M\ 7 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(f's +296 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&H& +2 h & U * +2 A(& +3 h &F " $ v\ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&t'8 +19 h ' + .t\Elbow.hold +2 M&0, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(g- +2 h -' +2 .t\SE.seek 0.15 + A('h +30 h ' + M&-% +4 h %Y 5 G + A(:& +3 h &F 1 1 i\ 7 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 333 counts + M&+'υ +23 h ' + M&\ & +4 h & * + A(]& +4 h &F / + \ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts + M&' +13 h ' + .t\SE.seek 1.15 +2 A(' +36 h ' + M&M& +4 h & + * +2 M&L% +3 h % w +2 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&y' +86 h ' + .t\Elbow.seek CC +2 M&(ӂ +158 h ( + M&_& +4 h &ә" ;8 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +2 h &ә" ;8 +2 .t\Forearm.seek :CC +2 M&'? +89 h ' +2 .tHand.close + M&v/ +72 h / + .t\CC.seek :open +2 C'( +451 h ( +2 A(=& +4 h &F . 0 N\ 9 + A(& +3 h &F / % A\ 8 +2 M&7& +3 h &Ӛ" ;7 + M&"% +4 h % l m U + .t\Forearm.seek :retract +2 M&1' +87 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 + M&5( +159 h ( + M&C& +4 h &  + A(B& +4 h &F < < -\ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 1 +2 M&#'8 +96 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&`1 +71 h 1 + M&m% +4 h % c f + A( & +3 h &F @ = |\ ; +2 .t\Forearm.force -20 M&5 +42 .t\Forearm.seek 1 + 343 counts +10 M&l'Ϗ +26 h ' + M&K& +4 h &   + A(A& +4 h &F > > \ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&s' +20 h ' +2 A(3% +3 h % ? ? ~\ ; +3 ."downElevator"\SE.seek :down +2 A(O' +99 (d% +2 h %; 2 : \ 8Zq +2 M&% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&j' +96 h ' +64 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 1 to 2 + M&>% +4 h % \  5  + A(U% +4 h % 2 ; \ < +2 A(}. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(p(C +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &F 1 / T\ < +2 M&F& +3 h & X  +2 .t\Elbow.seek 1 + M&e( +8 h ( + M&& +4 h &  +2 A(W& +3 h &F : > <\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +91 h ' +2 A({& +4 h &F . . W\ < +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(D's +300 h ' + A(X- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&4   \ 8Yn +2 M&0% +3 h %w +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&v' +88 h ' +69 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 2 of 2..2 +2 #Loading generic puck from tube 2 into Collection Clamp + C'y& +4 h & ` \\\ \\ + M&I% +3 h %    +2 A(=% +3 h % = = s\ ; +2 A(. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(7(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ("& +3 h &  = > ?\ ; + M&C& +4 h &  +2 .t\Elbow.seek 2 +2 M&B( +2 h ( +2 M&& +3 h &  + A(& +4 h &  = = E\ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&`'S +94 h ' + A(m& +4 h &  : >\ ; +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A( 's +304 h ' + A(K- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (A& +2 h &  9 2\ 9 +2 M&1& +3 h &  +2 .t\Elbow.seek 2 + M&3( +3 h ( + M&5& +3 h & p  +45 A(d& +8 h &  < <\ : + .t\Forearm.seek 2 + 300 counts +2 M&'Ͻ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&#/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&l& +6 A(>' +2 h &  +2 M&U% +3 h %  +2 .t\Forearm.seek :retract +2 M&}' +87 h ' + .t\Elbow.seek CC +2 M&(ӂ +148 h ( + M&& +4 h &|, - Cq + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &F& +2 h &|+ M Cq +2 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b + h ' + ."downElevator"\SE.coast +2 A(5 +3 .t\Forearm.seek :CC +2 M&'? +103 h ' +2 C'W& +3 h & ^ ]\ Z +2 C's& +3 .t\CC.seek :closed +3 C'{(\\ +3 h & ` _\ Z + & ^ _\ Z\ +9 &,s _ `\ T+| +9 &b ] _\ S@ +10 &\\u _ _\ SQ +9 &T ^ _\ UQ +10 &T _ ^\ UP +9 &W _ ]\ TQ +9 &dS _ _\ UQ +10 &&S _ _\ UQ +9 &U ^ ^\ UP +9 &U ` ]\ UQ +10 & lW ` _\ UQ +9 &".V ^ a\ UQ +10 &#W ^ ^\ UQ +9 &%S ] _\ UQ +9 &'tS \\ ^u\ UQ +10 &)6U _ _y\ UQ +9 &*X ^ ^r\ UQ +9 &,R _ ]z\ UQ +10 &.|V ^ _|\ TQ +9 &0>R _ _f\ UQ +10 &2V \\ ^i\ UP +9 &3V _ ]t\ UQ +9 &5W _ ]q\ UQ +10 &7FY ] `p\ UQ +9 &9W ^ _\ UQ +9 &:W a _7\ UQ +9 &<V _ _D\ UP +10 &>NT ` ^d\ UQ +10 &@W ] ^o\ UP +8 &AW ` _i\ TQ +10 &C\\ ^ _h\ UQ +10 &EQc ` `u\ TR +8 &G _ `W\ RU +10 &H b `b\ QX +10 &J{ a al\ N\\ +8 &L: c av\ N] +10 &M e as\ M^ +9 &O c a|\ N] +10 &Q c a}\ N] +10 &S> ` bw\ L^ +8 &T a b~\ L` +10 &V a ci\ L` +10 &X} c bv\ La +9 &Z= b a|\ Ja +9 &[} c c{\ NF +10 &\\+ d cy\ N)y +9 &\\y c cz\ SU +2 ( + C's& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open +2 M&O1 +70 h 1 + M&*% +4 h % C ( * + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +93 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 P%j& +3 h &\ 4 +2 M&X% +3 h %  ]  +2 A(<% +3 h %   ~\ 5 + A(r. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A( (  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (T& +3 h &  #  e\ 4 +2 M&b& +3 h &}+ Cp + M&% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&e( +162 h ( + M&[& +4 h &  + A(D& +4 h &  / 0\ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&p'S +101 h ' + A(q& +4 h &   ( G\ 7 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(&'s +300 h ' + A(8- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (^& +2 h &  " # )\ 6 +2 M&Q& +3 h &  + .t\Elbow.seek 2 +2 M& ( +8 h ( + M&& +4 h & z  + A(|& +3 h &  $ $ =\ 6 +2 .t\Forearm.seek 2 + 300 counts +3 M&E'Ͻ +19 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&$/ +77 h / +2 ."downElevator"\SE.seek :down +2 M&4& +3 A(V' +5 h &  +2 M&9% +3 h %  y +2 .t\Forearm.seek :retract + M&i' +88 h ' + .t\Elbow.seek PC +2 M&2( +172 h ' + ."downElevator"\SE.coast + A(5 +67 h ( + M&& +4 h & F / +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &h& +3 h & / + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&P' +93 h ' + P%%& +4 h &\ 7 + P%N& +4 .t\PC.seek :closed + P%?(^ +3 h &\ 7 +3 &\ 7 +9 &.v\ 2+| +10 &a\ 1@ +9 &[t\ 2R +10 &O\ 3R +9 &T\ 3R +9 &P\ 4R +10 &aT\ 3R +9 &"T\ 3R +9 &Q\ 3R +10 &S\ 3R +9 & iS\ 3R +10 &"+Q\ 3R +9 &#T\ 3R +9 &%Q\ 3Q +10 &'qR\ 3R +9 &)3S\ 3R +9 &*T\ 3R +10 &,S\ 3R +9 &.yR\ 3R +10 &0<S\ 3R +8 &1Q\ 3R +10 &3U\ 3R +9 &5R\ 3R +10 &7ER\ 4Q +9 &9U\ 3R +10 &:U\ 3R +8 &<T\ 3R +11 &>JX\ 3R +9 &@ V\ 3S +9 &AZ\ 3S +9 &Ci\ 2T +10 &EH}\ 1V +9 &G\ 0X +10 &H\ 1X +8 &J\ 1X +11 &LI\ 0X +8 &N\ 0Z +10 &O\ 0Y +9 &Q\ 0Z +9 &SL\ /Z +10 &U\ 0Z +9 &V\ 0Z +10 &X\ 0Y +9 &ZU\ /Z +10 &\\\ /Z +8 &]\ 0> +10 &^-\ 1 _ +10 &^8\ 48 +2 ( + P%N& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open + M&@1 +73 h 1 + M&% +4 h %  " k + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&G' +91 h ' + .t\SC.coast + A(6 +2 P%Y& +4 h &^4\ 38 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&!% +3 h %    +2 A(w% +3 h %  '\ 4 + A(a. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(u(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +2 M&z& +4 h &  \ 4 +2 & G / +3 ."raiseStack"\SE.reconfigure SEplace + .t\Elbow.reconfigure TightElbow +4 M&$&.,(\ #b +2 A(#]kK-0-\ b +2 .t\Elbow.seek PC +4 M&( +3 h ( + M&& +3 ."raiseStack"\SE.seek beamBreak +2 A(n's +2 h & $ / + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 & & +2 h & C / +2 .t\Forearm.seek :PC +2 M&x' +92 h ' + .tHand.close + M&\\/ +69 h / +2 .t\PC.seek :open +2 P%;( +95 h ' + A(R- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A( '1 +38 h ' +311 ( + A(k& +4 h &  . . V\ 6 + M&(& +3 h & 6 / +2 M&% +3 h %  ] +2 .t\Forearm.seek :retract + M&~' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&'( +246 h ( + M&)& +4 h & u 4 + A(,& +3 h &  p\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&S'S +90 h ' + .tHand.open + M&Z1 +73 h 1 + A(.- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(c' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +54 h ' +2 #tLights, camera, ACTION! + A(H- +3 h -' +2 A(& +3 h &  \ + +2 M&g& +3 h & T 3 + .t\Elbow.seek 2 +2 M&:( +3 h ( + M&\ & +3 h & 3 +2 A(L& +3 h &  0\ , +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(' +53 h ' + M&J& +4 h & 3 + A(t& +4 h &  $ #\ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&+'Α +21 h ' + .t\Elbow.hold +2 M&_, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +3 A(#QK-0-\ b + .t\SE.seek -0.33 +2 A(6' +20 h ' +2 M&% +3 h %Ν 1 5 +2 A(0& +3 h &  + $ S\ 5 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 312 counts +2 M&-' +24 h ' +2 M&]& +3 h & 3 +2 A(f& +3 h &  # \ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +49 M&y'S +16 h ' +2 A(I% +3 h % 0 / R\ 7 +3 ."downElevator"\SE.seek :down +2 A(=' +99 (% +3 h %> $ \ 5Zr + M&o% +4 h %5 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&"' +87 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'C& +3 h &\\w b bq\ TU +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&% +4 h %   + A(% +3 h % " %\ 6 +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(m(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  $ % \ 6 +2 M&/& +3 h & 3 +2 .t\Elbow.seek 2 +2 M&M( +2 h ( +2 M&v& +3 h & 3 +2 A(K& +3 h &  $ $ `\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&A'S +98 h ' + A(1& +4 h &  0 1 \\\ 7 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(5's +302 h ' + A(d- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&#& +2 h &  3 + A(l& +4 h &  $ $ ~\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&U'Α +16 h ' + .t\Elbow.hold +2 M&B, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(`- +2 h -' +2 .t\SE.seek 0.15 + A('i +31 h ' + M&F% +4 h %Ϊ x Y + A( & +4 h &  $ $\ 5 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 325 counts +2 M&' +22 h ' + M&W& +4 h & ) 3 + A(3& +4 h &  . . O\ 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&>'S +16 h ' +2 .t\SE.seek 1.15 + A(}' +40 h ' +2 M&& +3 h & K 3 +2 M&O% +3 h %1 #  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&*' +88 h ' + .t\Elbow.seek CC +2 M&j(ӂ +153 h ( + M&X& +4 h &ә& g ?R + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &<& +4 h &ә& t ?R + .t\Forearm.seek :CC +2 M&r'? +94 h ' + .tHand.close + M&s/ +70 h / + .t\CC.seek :open +2 C'T( +452 h ( + A(b& +4 h &  ' 8 Z\ 8 + A(& +3 h &  - $ \ 8 +2 M&& +3 h &Ӛ& ?Q + M&[% +3 h % T K +2 .t\Forearm.seek :retract +2 M&D' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&7( +167 h ( + M&q& +4 h &  + A(& +4 h &  < 9\ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 2 + M&'Α +94 h ' + .t\Elbow.hold +2 M&8, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&^1 +74 h 1 + M&Q% +4 h % ΄ 8 + A(& +3 h &  < < #\ : +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 287 counts +2 M&|'ϰ +23 h ' +2 M&$& +4 h &  + A(4& +3 h &  ? > /\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&9'S +27 h ' +4 A(e% +5 h % ; 9 (\ ; +2 ."downElevator"\SE.seek :down +2 A(p' +100 (&% +2 h %|8 = = )\ 9Zo +2 M&E% +3 h %v ] +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +90 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 2 to 3 + M&h% +4 h %   +2 A( % +3 h % ? ? [\ ; +2 A(%. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(V(  + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (i& +2 h &  > < ?\ : +2 M&& +3 h &   +2 .t\Elbow.seek 2 + M&@( +9 h ( + M&& +4 h &  + A(Y& +4 h &  > ? C\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&!'S +92 h ' + A(w& +4 h &  2 4 \ < + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(a's +300 h ' + A(N- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +75 h / + M&z& +4 h & B  + M&% +3 h % Z B +2 .t\Forearm.seek :retract + M& ' +89 h ' + .t\Elbow.seek :clear +2 M&P(d +96 h ( + M&\\& +4 h &d W  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &d T  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&R' +9 h ' + .t\SE.seek :down +2 A(2' +249 E?\ dRO +18 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(G( +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (?& +3 h &  . _\ 7\  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +4 .t\SE.seek beamBreak +2 A(n's +275 h ' + A(k- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(('1 +42 h ' + A(& +4 h &   \ 7\  + A(x& +3 h & / 0 D\ 7\  +2 M&)& +3 h &d  + M&,% +3 h %  ,  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&( +100 h ( + M&Z& +4 h & X + + A(.& +3 h & ! ! d\ 6\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&H'u +99 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&g1 +77 h 1 + M&\ % +4 h % M q + A(L& +3 h & $ " \ 6\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 260 counts + M&~'y +32 h ' +6 M&J& +3 h & F * +2 A(t& +3 h & / / V\ 7\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&'7 +21 h ' + A(0% +4 h %6   \ 7 +2 ."downElevator"\SE.seek :down +2 A( ' +100 (]% +2 h %J< & % D\ 7Zs +2 M&f% +3 h %9  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&c' +90 h ' +64 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 2 to 3 +2 M&I% +4 h %   + A('% +4 h % @ ? :\ ; + A(S. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A((  +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &    l\ 8 + M&o& +3 h & * +2 .t\Elbow.seek 2 + M&( +21 h ( + M&:& +4 h & z  + A(& +3 h &    P\ 8 +46 .t\Forearm.reconfigure TightForearm +5 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&+'S +98 h ' + A(-& +4 h &  2 9\ 9 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(C's +299 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +73 h / + M&& +4 h & -  + M&6% +3 h % V u +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.seek :clear +2 M&/(d +108 h ( + M&v& +4 h &d ` + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &K& +3 h &d ` + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&y' +3 h ' + .t\SE.seek :down +2 A(1' +281 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(=( +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (u& +3 h &   o\ 8\  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(_'s +322 h ' + A("- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (d& +3 h & ! ! "\ 6\  + A(#& +3 h & . /\ 7\  +2 M&l& +3 h &d ` + M&`% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&F( +114 h ( + M& & +4 h &   + A(W& +3 h & . / J\ 7\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&3'u +100 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&O1 +77 h 1 + M&A% +4 h % M + A(M& +3 h & 0 / E\ 7\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 260 counts + M&5'y +26 h ' + M&U& +4 h &  + A(& +4 h &   \ 8\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +28 h ' +2 A(X% +3 h % ' = 3\ 8 +3 ."downElevator"\SE.seek :down +2 A(<' +99 (>% +2 h %8 1 1 z\ 5Zq +2 M&B% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&s' +90 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 3 of 3..3 + #Loading generic puck from tube 3 into Collection Clamp +2 C'*& +3 h & _ _\ \\ +2 M&{% +3 h %   +2 A(b% +3 h % ? ? q\ : + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ([& +3 h & = @ #\ ; + M&q& +3 h & l  +2 .t\Elbow.seek 3 +2 M&( +7 h ( + M&r& +4 h & l  +2 A(j& +3 h &. +  \ 7 +2 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&^'7 +99 h ' + A(Q& +4 h &9 0 / G\ 7 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +295 h ' + A($- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (4& +2 h &8  0\ 5 +2 M&e& +3 h & %  + .t\Elbow.seek 3 +2 M&D( +2 h ( +2 M&&& +3 h & !  + A(E& +3 h &8 \ 5 +2 .t\Forearm.seek 3 + 300 counts +2 M&7'ϡ +34 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +68 h / +2 ."downElevator"\SE.seek :down +2 M&|& +3 A(h' +5 h & 4  +2 M& % +3 h % ϲ +2 .t\Forearm.seek :retract +2 M&%' +88 h ' + .t\Elbow.seek CC +2 M&i(ӂ +158 h ( + M&& +4 h &ӎ) \\ Ae + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &}& +3 h &ӎ( k Ae + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 h ' + .t\Forearm.seek :CC +2 ."downElevator"\SE.coast +2 M&'? A(5 +95 h ' +2 C'Y& +4 h & \\ _\ [ + C'9& +3 .t\CC.seek :closed +2 C'w(\\ +3 h & ] ^\ [ +3 & _ \\\ Z\ +10 &.v \\ ]\ T+{ +9 &a~ ] ^\ T? +9 &\\t ] ]\ TQ +10 &T ^ \\\ VP +9 &U ^ ]\ VQ +10 &T _ _\ VQ +9 &dR Z ^\ VP +9 &&U ] ^\ VP +10 &X ^ ^\ VQ +9 &W _ _\ VQ +9 & kU ^ ]\ VQ +10 &".Q _ ]\ WP +9 &#T ^ ]\ VP +10 &%W ^ ^\ VP +9 &'sR ^ ]\ VQ +9 &)5W ` ^\ VQ +10 &*U ] ^K\ VQ +9 &,Q ^ ^\ WP +9 &.|U _ ^\ VP +10 &0>U ^ ^\ VP +9 &1S ] _\ VQ +9 &3S ] ^\ WP +10 &5Q ] ^\ VP +9 &7FT ] _\ VP +10 &9V [ ^7\ VP +8 &:U \\ `\ VQ +10 &<T [ ^\ VP +10 &>MQ _ ^\ VQ +9 &@U ] ^\ WQ +10 &AR _ ]\ VP +8 &CZ ^ ^\ VQ +9 &EPi ^ ^\ UR +10 &G\ ^ ]\ SU +10 &H ^ _\ PZ +9 &Jz ^ _\ O\\ +9 &L< \\ ^\ O\\ +10 &M [ ]\ O] +9 &O \\ \\\ O] +10 &Q~ ] \\;\ N] +9 &S= [ [\ N^ +10 &T [ [\ M_ +8 &V Z [8\ M` +10 &Xz Z ZH\ La +9 &Z< Z Z>\ La +10 &[ X Yf\ M? +9 &\\( X Zs\ Q, +9 &\\ Y [r\ Q#e +2 ( + C'9& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 +2 .Hand.open + M&p1 +68 h 1 + M&m% +4 h % ? H n + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&8' +91 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + P%& +4 h &\ 3 + M&N% +3 h %    +2 A(% +3 h % \ 4 +2 A(z. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (\\& +3 h &  )\ 3 + M& & +3 h &ӏ)  Ad +2 M&!% +3 h %  "  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&@( +166 h ( + M& & +4 h & u  + A(a& +3 h & % "\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&V'7 +100 h ' + A(?& +4 h & " % \ 4 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(k's +298 h ' + A(2- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h & T\ 4 +2 M&x& +3 h &   + .t\Elbow.seek 3 +2 M&)( +3 h ( + M&,& +4 h &   + A(Z& +3 h &  3\ 4 +2 .t\Forearm.seek 3 + 300 counts +2 M&.'ϡ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&n/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&P& +2 A(g' +6 h &  + M&\ % +4 h %   +2 .t\Forearm.seek :retract +2 M&L' +90 h ' + .t\Elbow.seek PC +2 M&J( +173 h ' + ."downElevator"\SE.coast + A(5 +66 h ( + M&t& +4 h & Y ' + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &0& +3 h & X ' + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&R' +97 h ' + P%]& +4 h &\ 6 + P%f& +4 .t\PC.seek :closed + P%(^ +3 h &\ 6 +3 &\ 6 +10 &.v\ 1+| +9 &a\ 0@ +9 &_r\ 0R +10 &Q\ 2R +9 &R\ 2R +10 &Q\ 2R +9 &eQ\ 2R +9 &&R\ 2R +10 &T\ 2R +9 &O\ 2R +9 & mR\ 2R +10 &"0Q\ 2R +8 &#V\ 2R +11 &%Q\ 2R +9 &'uR\ 3R +8 &)7Q\ 2R +11 &*R\ 2R +9 &,R\ 2R +9 &.~R\ 2R +9 &0?Q\ 2R +10 &2R\ 2R +9 &3Q\ 3Q +9 &5S\ 2R +10 &7IR\ 2Q +10 &9 U\ 2R +8 &:T\ 2R +10 &<T\ 2R +9 &>OW\ 2R +10 &@W\ 2S +10 &A\\\ 2S +8 &Ci\ 1T +9 &ENt\ 0U +10 &G\ \ 0W +9 &H\ /X +10 &J\ /Y +9 &LL\ /Y +57 &N \ /Y +8 &O\ .Y + &Q\ .Y + &SQ\ -Z + &U\ .Z + &V\ .Z +2 &X\ .Y +4 &ZY\ .Z +10 &\\\ .Z +10 &]\ /< +9 &^,{\ 0 ^ +9 &^1\ 39 +2 ( + P%f& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open +2 M&H1 +65 h 1 + M&I% +4 h %  B w + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&~' +87 h ' + .t\SC.coast + A(6 +2 P%'& +4 h &^.\ 29 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&S% +3 h %  2  +2 A((% +3 h %  m\ 3 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A( ( +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (G& + M&& +3 h & \ 2 +4 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h & ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&o( +2 ."raiseStack"\SE.seek beamBreak +2 h ( +2 A(:'s +3 M&& +3 h & ' +2 .t\Elbow.reconfigure LooseElbow + M&$ &.,(#b +3 &-& +2 h &  ' +2 .t\Forearm.seek :PC +2 M&' +90 h ' + .tHand.close + M&c/ +75 h / + .t\PC.seek :open +2 P%( +89 h ' +2 A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A('1 +46 h ' +309 ( + A(6& +4 h & % # \ 5 + M&v& +4 h & ' +2 M&K% +3 h % # 8 + .t\Forearm.seek :retract +2 M&+' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +245 h ( + M&& +4 h & ? + A(C& +4 h &  z\ 3 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +97 h ' + .tHand.open + M&u1 +74 h 1 + A(1- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A("' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(d' +54 h ' + #tLights, camera, ACTION! +2 A(#- +3 h -' + A(l& +3 h & &\ ) +2 M&`& +3 h & ? +2 .t\Elbow.seek 3 + M& ( +3 h ( + M&W& +3 h & s ? +2 A(/& +3 h & @\ ) +2 .t\Forearm.seek 3 + 450 counts +2 M&O'7 +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(A' +56 h ' + M&M& +4 h & ? +2 A(U& +3 h &   N\ 4 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&'u +19 h ' + .t\Elbow.hold +2 M&X, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b + .t\SE.seek -0.33 +2 A(y' +20 h ' +2 M&>% +3 h %· K D +2 A(B& +3 h &  J\ 4 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 318 counts + M&F'ϳ +25 h ' +3 M&3& +3 h & > +2 A(5& +3 h & \ 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&*'7 +12 h ' +2 A({% +3 h % #  \ 4 +3 ."downElevator"\SE.seek :down +2 A(b' +99 (% +3 h %@  >\ 3[u + M&_% +3 h %@ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&[' +88 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'q& +3 h &\\ Z Yr\ R#e +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&r% +4 h %   + A(j% +3 h % % # \ 5 +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(Q( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (<& +2 h & . , Q\ 5 +2 M&=& +3 h &  > +2 .t\Elbow.seek 3 + M&( +3 h ( +2 M&s& +4 h & F > + A($& +3 h &   ;\ 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&4'7 +100 h ' + A(e& +4 h & $ ! \ 5 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(&'s +300 h ' + A(E- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h &  > +2 A(|& +3 h &  <\ 4 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M& 'u +16 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(^- +2 h -' +2 .t\SE.seek 0.16 + A('k +30 h ' + M&}% +4 h %Έ ` I + A(& +4 h & " % >\ 5 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 319 counts +2 M&7'ϴ +25 h ' + M&Y& +4 h & * > + A(D& +4 h & $ # \ \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&%'7 +14 h ' +2 .t\SE.seek 1.16 + A(h' +46 h ' +2 M&T& +4 h & & > + M&p% +3 h %5 5 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&m' +86 h ' + .t\Elbow.seek CC +2 M&(ӂ +152 h ( + M&N& +4 h &Ӌ- Dz + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &Ӌ- 9 Dz + .t\Forearm.seek :CC +2 M&z'? +97 h ' + .tHand.close + M&9/ +74 h / + .t\CC.seek :open +2 C'\\( +452 h ( + A( & +4 h &   a\ 8 + A(!& +3 h &   \ 8 +2 M&& +3 h &ӏ- Dv + M& % +3 h % 2 { 6 +2 .t\Forearm.seek :retract +2 M&a' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +163 h ( + M&?& +4 h & h  + A(i& +4 h & < ; \ 9 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 3 + M&8'u +96 h ' + .t\Elbow.hold +2 M&2, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +74 h 1 + M&x% +4 h % s 4 + A(,& +3 h & < < $\ : +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 298 counts + M&Z'ϟ +24 h ' + M&n& +4 h & p  + A(P& +4 h & = > [\ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&\ '7 +12 h ' + A(@% +4 h % 8 < \ ; +3 ."downElevator"\SE.seek :down +2 A(V' +99 (k% +2 h %P6 . / r\ 9Zn +2 M&.% +3 h %2  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&t' +88 h ' +61 ' +2 ."downElevator"\SE.coast +45 A(5 +5 .t\SC.coast + A(6 +2 #t\Moving puck from tube 3 to 4 +2 M&0% +3 h %    +2 A()% +4 h % : > K\ ; + A(]. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(g( +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (L& +3 h & ; 8 #\ : + M&;& +4 h & i  +2 .t\Elbow.seek 3 + M&H( +3 h ( + M&I& +3 h &  +2 A('& +3 h & > = a\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&S'7 +97 h ' + A((& +4 h & / / O\ < +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +299 h ' +2 A(f- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&G/ +67 h / + M&& +4 h &   + M&% +3 h % ) u +2 .t\Forearm.seek :retract + M&-' +91 h ' + .t\Elbow.seek :clear +2 M&R(d +114 h ( + M&c& +4 h &d R + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d R + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +3 h ' + .t\SE.seek :down +2 A(J' +264 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(~(,y +358 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,x   \ 8 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(:'s +275 h ' + A(6- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(v'1 +48 h ' + A(K& +4 h &,u 2 A\ 9 + A(& +3 h &,u < ; \ 9 +2 M&& +3 h &d Z R + M&C% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&o( +93 h ( + M&u& +4 h & w # + A(1& +3 h &,u / 8\ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&#'7 +97 h ' + .t\Elbow.hold +2 M&l, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&`1 +76 h 1 + M&W% +4 h % V K + A(/& +4 h &,u 3 < .\ : + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 331 counts +2 M&+'ς +29 h ' + M&M& +4 h & # + A(U& +3 h &,u = = Q\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&>' +14 h ' + A(B% +4 h %5 < 9 \ : +2 ."downElevator"\SE.seek :down +3 A(' +99 (3% +3 h %6 + - 4\ 9Zq +2 M&5% +3 h % d +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&"' +88 h ' +64 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 3 to 4 + M&{% +4 h %   + A(% +4 h % ? : F\ ; + A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(d( +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & = = \ : + M&_& +3 h &  # +2 .t\Elbow.seek 3 + M&O( +21 h ( + M& & +4 h &~  + A(A& +3 h & = = c\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +94 h ' + A(q& +4 h & ? = e\ : + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(F's +300 h ' + A(r- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&j/ +76 h / +2 M&& +4 h &~ /  + M&y% +3 h % L M +2 .t\Forearm.seek :retract + M&<' +90 h ' + .t\Elbow.seek :clear +2 M&=(d +96 h ( + M&s& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &$& +3 h &d +  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&*' +14 h ' + .t\SE.seek :down +2 A(e' +270 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(b(,y +362 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &,x 3 /\ 9  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(X's +325 h ' + A([- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (E& +3 h &,w 0 :\ : + A(& +4 h &,w = 2\ : + M&|& +3 h &d 9  +2 M&^% +3 h %  { + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&}( +100 h ( + M&& +4 h & o " + A(Y& +3 h &,w 0 . :\ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&D'7 +94 h ' + .t\Elbow.hold +2 M&T, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&p1 +71 h 1 + M&4% +4 h %  q  + A(& +4 h &,w / 0 \ 9 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 275 counts +2 M&&'J +17 h ' + M& & +4 h &   + A(7& +3 h &,w 0 / @\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +21 h ' + A(N% +4 h % > > T\ : +2 ."downElevator"\SE.seek :down +2 A(' +100 (%% +2 h %6 3 ( j\ 8Yn +2 M&% +3 h % + +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&9' +89 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 4 of 4..4 +2 #Loading generic puck from tube 4 into Collection Clamp + C'm& +4 h & ^ ]\ \\ + M&w% +4 h %   + A( % +3 h % ? : Z\ ; +2 A(!. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A((,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &,w = @ E\ ; +2 M&?& +3 h &  +2 .t\Elbow.seek 4 + M&i( +4 h ( +2 M&z& +3 h & A  +2 A(& +3 h &,x   \ 8\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&' +92 h ' + A(x& +4 h &,x = < \ 8\  +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(,'s +299 h ' + A(n- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (P& +2 h &,x . 3 >\ 7\  +2 M&@& +3 h &  + .t\Elbow.seek 4 +2 M&a( +3 h ( + M&k& +3 h & 2  + A(.& +3 h &,x 0 & 0\ 7\  +2 .t\Forearm.seek 4 + 300 counts +2 M&'c +26 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&8/ +76 h / +2 ."downElevator"\SE.seek :down +2 M&0& +3 A(Z' +5 h & E  +2 M&h% +3 h % h  +2 .t\Forearm.seek :retract +2 M&)' +85 h ' + .t\Elbow.seek CC +2 M&](ӂ +164 h ' + ."downElevator"\SE.coast + A(5 +3 h ( +2 M&L& +3 h &Ӊ 4 + .t\Elbow.reconfigure LooseElbow +48 M&$ &.,(#b +3 &;& +3 h &Ӊ v 4 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&I'? +92 h ' +2 C''& +3 h & ] ^\ Y +2 C'\ & +3 .t\CC.seek :closed +2 C'((\\ +3 h & ] ^\ Y +4 & _ ^\ Y3 +10 &4Fy ] ]\ S2 +9 &Yo _ ^\ RF +9 &` ] ^\ TQ +10 &O ^ ^\ UP +9 &yS ] \\\ UQ +10 &;T ^ ]\ TQ +9 &Q ^ _\ UP +9 &S ] \\:\ TQ +10 &U ^ ^@\ TQ +9 &CU ] ^\ TQ +9 &!S \\ _\ TQ +10 &"U ^ ^\ TQ +9 &$S _ _\ UQ +9 &&LT ^ ^\ TP +10 &( R ^ ]\ UQ +9 &)U ` _\ UQ +10 &+T \\ ]\ \ UQ +9 &-SU _ ]\ TQ +9 &/T ^ ]\ UQ +10 &0S ] \\\ TQ +9 &2U a ^r\ TQ +10 &4[T ^ \\\ TQ +9 &6T _ \\\ TP +9 &7R _ ]q\ UQ +9 &9R ] ^s\ UP +10 &;dP ] ^\ UP +9 &=%T ] ^@\ UQ +10 &>T [ ^n\ UQ +9 &@T Z _A\ TQ +9 &BkY _ ^N\ TQ +9 &D-Z _ `D\ TQ +10 &Ej ^ ^\ SS +9 &G _ _\ QU +10 &I\\ a as\ OY +9 &K b `w\ N\\ +10 &L a bs\ N\\ +9 &N ` `s\ N] +10 &PV b `q\ M] +9 &R b aq\ M^ +9 &S b as\ L^ +10 &U ` ar\ M^ +8 &WY c ar\ L_ +10 &Y ` ap\ K` +9 &Z b dq\ Ka +9 &\\Md c co\ L3 +10 &\\ a cp\ M"f +9 ( +2 &\\x b `h\ R[ + C'\ & +3 #t\Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + M&V1 +71 h 1 +2 M&Q% +4 h % 7 ] v + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&2' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%t& +3 h &\ 5 +2 M&f% +3 h %  r  +2 A(G% +3 h % " "\ 5 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A((,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (c& +3 h &,x / % 8\ 5 + M&& +4 h &Ӊ 4 + M&S% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&H( +162 h ( + M&-& +4 h &  +2 A(& +3 h &,x 1 2 \\\ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&g' +96 h ' + A(& +4 h &,x * 0 F\ 7 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(6's +308 h ' + A(J- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (K& +2 h &,x ! 0 3\ 7 +2 M&& +3 h &  + .t\Elbow.seek 4 +2 M&( +3 h ( + M&C& +3 h & \  +2 A(u& +3 h &,x 0 0 5\ 7 +2 .t\Forearm.seek 4 + 300 counts + M&1'c +27 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&:/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&`& +3 A(W' +5 h & ]  +2 M&R% +3 h % l +  +2 .t\Forearm.seek :retract + M&/' +86 h ' + .t\Elbow.seek PC +2 M&M( +173 h ' + ."downElevator"\SE.coast + A(5 +64 h ( + M&U& +4 h & 4 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &B& +3 h & 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&' +101 h ' + P%3& +4 h &\ 7 + P%5& +4 .t\PC.seek :closed +2 P%o(^ +2 h &\ 7 +3 &\ 7 +9 &.u\ 2+| +9 &a\ 1@ +10 &_s\ 1R +9 & R\ 3R +10 &S\ 3R +9 &S\ 3R +9 &fP\ 3R +10 &'S\ 3R +9 &T\ 3S +9 &R\ 3R +10 & mT\ 3R +9 &"/Q\ 3R +9 &#S\ 2R +9 &%Q\ 3R +10 &'uR\ 3R +10 &)7R\ 3R +9 &*R\ 3R +9 &,R\ 2R +10 &.~O\ 3R +9 &0@R\ 2R +9 &2R\ 3R +9 &3Q\ 3R +10 &5R\ 3R +10 &7IR\ 3R +9 &9\ S\ 3R +9 &:T\ 3R +10 &<S\ 3R +8 &>OS\ 3R +10 &@R\ 2R +9 &AV\ 2S +10 &Cj\ 2T +10 &EL}\ 0V +9 &G \ 0X +9 &H\ 0W +9 &J\ 0Y +10 &LN\ 0X +10 &N \ /Y +9 &O\ /Y +9 &Q\ /Y +10 &SR\ /Z +9 &U\ 0Y +9 &V\ 0Z +9 &X\ /Y +9 &Z[\ /Y +11 &\\\ /Z +9 &]\ 0< +9 &^+|\ 1 ` +10 &^3\ 4: + ( + P%5& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 M +68 h 1 + M&{% +4 h %  . / + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&+' +90 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^6\ 3: +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&% +3 h %   +2 A(v% +3 h % \ 4 +2 A(>. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A((,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (~& + M&& +3 h &,x  =\ 3 +2 ."raiseStack"\SE.reconfigure SEplace +5 A(#]kK-0-\ b +2 h & 9 4 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&_( +2 ."raiseStack"\SE.seek beamBreak +2 h ( +2 A( 's +3 M&A& +3 h & 4 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &q& +3 h &  4 + .t\Forearm.seek :PC +2 M&l' +92 h ' + .tHand.close + M&"/ +71 h / + .t\PC.seek :open +2 P%r( +94 h ' + A(j- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A('1 +44 h ' +307 ( + A(y& +4 h &,y. \ \ 4\ 3  + M&s& +4 h & 4 + M&$% +3 h %  L \\ +2 .t\Forearm.seek :retract + M&' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&O( +243 h ( +2 M&<& +4 h & + 4 + A(F& +3 h &,y.  \ 1  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&d' +93 h ' + .tHand.open + M& 1 +68 h 1 + A(e- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A([' +31 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(E' +57 h ' + #tLights, camera, ACTION! +2 A(- +2 h -' +2 A(|& +3 h &,y, \   +2 M&^& +3 h & 4 + .t\Elbow.seek 4 +2 M&( +3 h ( + M&Y& +3 h & s 4 +2 A(p& +3 h &,y, \   +2 .t\Forearm.seek 4 + 450 counts + M&4' +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(=' +52 h ' + M&& +4 h & 4 +2 A( & +3 h &,y.  \ 1  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&7'7 +16 h ' + .t\Elbow.hold +2 M&N, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(*' +33 h ' +2 M&%% +3 h %[ l U +2 A(& +3 h &,y. \ 1  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 336 counts + M&}'χ +23 h ' +3 M&D& +3 h & f 4 +2 A(m& +3 h &,y. \ 1  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&&' +13 h ' +2 A(w% +3 h %  !\ 2 +3 ."downElevator"\SE.seek :down +2 A( ' +99 (!% +2 h %9 \ 0Zq +2 M& % +3 h %  + +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&X' +88 h ' +76 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'?& +3 h &\\v b ad\ S[ +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&z% +3 h %   +2 A(% +3 h % / / E\ 6 + A(. +3 h . + .t\SC.reconfigure SCtight +42 A($\ .\ 1~b +10 .t\SC.seek 4 +2 A(x(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,x $ % D\ 6 + M&b& +3 h & 4 +2 .t\Elbow.seek 4 +2 M&T( +3 h ( + M&9& +4 h & 4 + A(n& +4 h &,x ! " \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&P' +93 h ' +2 A(@& +3 h &,x 0 0 G\ 7 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(k's +310 h ' + A(.- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&8& +2 h & K 4 +2 A(0& +3 h &,x 0 0 5\ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&h'7 +16 h ' + .t\Elbow.hold +2 M&i, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.16 +2 A(L'l +33 h ' + M&;% +4 h %W = M + A(,& +4 h &,x % "\ 6 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 332 counts +2 M&'σ +23 h ' + M&a& +5 h & 4 + A('& +3 h &,x & # \ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&Z' +19 h ' +2 .t\SE.seek 1.16 + A()' +36 h ' +3 M&\\& +3 h & 8 4 +2 M&V% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&Q' +95 h ' + .t\Elbow.seek CC +2 M&t(ӂ +149 h ( + M&f& +4 h &}- v D{ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &G& +3 h &}, [ D{ + .t\Forearm.seek :CC +2 M&'? +91 h ' + .tHand.close + M&\ / +72 h / + .t\CC.seek :open +2 C'c( +451 h ( + A(& +4 h &,x $  \ 8 + A(S& +3 h &,x * $ \ 8 +2 M&I& +3 h &Ӕ) Ad + M&-% +4 h % 6 u Z + .t\Forearm.seek :retract +2 M&' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&( +163 h ( + M&& +4 h &  + A(]& +4 h &,x = < e\ 9 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 4 + M&2'7 +96 h ' + .t\Elbow.hold +2 M&J, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&K1 +75 h 1 + M&% +4 h %  c + A(C& +3 h &,x = > j\ : +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 269 counts + M&u'D +18 h ' +2 M&:& +3 h &  +2 A(`& +3 h &,x C ? A\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&R' +20 h ' +2 A(H% +3 h % ; > 9\ ; +3 ."downElevator"\SE.seek :down +2 A(g' +99 (6% +2 h %B3 = = f\ 9Ym +2 M&1% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&U' +85 h ' +76 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 4 to 5 +2 M&B% +3 h %   +2 A(% +3 h % @ ? b\ ; +2 A(3. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(W(,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (/& +3 h &,x < > ^\ ; + M&& +3 h &  +2 .t\Elbow.seek 4 +2 M&#( +7 h ( + M&{& +4 h & 7  +2 A(& +3 h &,x @ : \ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +95 h ' + A(v& +4 h &,x 0 0 P\ < + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak +2 A(>'s +298 h ' + A(5- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&~/ +72 h / + M&& +4 h & c  + M&A% +3 h %  +2 .t\Forearm.seek :retract + M&q' +90 h ' +2 .t\Elbow.seek :clear +2 M&(d +97 h ( + M&"& +4 h &d + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&j' +2 h ' + .t\SE.seek :down +2 A(M' +275 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(+(<- +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (o& +3 h &<,( 1 0 B\ 7  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A( 's +276 h ' + A(y- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(s'1 +41 h ' + A($& +4 h &<+ ? B f\ : + A(l& +3 h &<+ = = \ 9 +2 M&<& +3 h &d + M&F% +4 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&_( +99 h ( + M& & +4 h & o ! + A(e& +3 h &<+ = = r\ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&'΍ +94 h ' +2 .t\Elbow.hold +2 M&|, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&^1 +75 h 1 + M&Y% +4 h % s & ' + A(p& +3 h &<+ : 0\ 9 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 274 counts + M&'ϟ +24 h ' + M&& +4 h & u  + A( & +3 h &<+ = > K\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&%'O +17 h ' + A(% +4 h %7 : > <\ ; +2 ."downElevator"\SE.seek :down +2 A(' +100 (D% +2 h %BB = < \ 9Zr +2 M&m% +3 h %1 # +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&[' +88 h ' +69 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 4 to 5 +2 M&w% +3 h %   +2 A(O% +3 h % @ @ L\ ; +2 A(d. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b + .t\SC.seek 4 +2 A(E(,y +359 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (!& +3 h &,z , \ 8 + M& & +3 h &  +2 .t\Elbow.seek 4 + M&4( +14 h ( + M&& +4 h & | \ + A(=& +3 h &,z = < ,\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&7' +99 h ' + A(}& +4 h &,{ > 9 O\ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(?'s +295 h ' + A(z- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +67 h / +2 M&*& +3 h & + \ +2 M&% +3 h %  M W + .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.seek :clear +2 M&b(d +95 h ( + M&9& +4 h &d C  + .t\Elbow.reconfigure LooseElbow +47 M&$ &.,(#b +5 &n& +2 h &d @  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear + M&&' +4 h ' + .t\SE.seek :down +2 A(@' +271 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A( (<- +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<*/ - #\ 6  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(N's +329 h ' + A(X- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (.& +2 h &<+.  " x\ 4  +2 A(8& +3 h &<+. ! , ;\ 5  + M&0& +3 h &d  +2 M&% +3 h %    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&;( +100 h ( + M&,& +4 h & % + A(a& +3 h &<+. , /\ 5  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&''΍ +94 h ' + .t\Elbow.hold +2 M&\\, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&V1 +75 h 1 + M&P% +4 h % k  + A(T& +3 h &<+. # %\ 5  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 266 counts + M&k'ϗ +21 h ' + M&h& +4 h & _ \ + A(& +4 h &<+. 1 0 [\ 6  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&L'O +21 h ' +2 A(f% +3 h % 0 1 w\ 6 +3 ."downElevator"\SE.seek :down +2 A(G' +99 (Z% +3 h %9 % #\ 5Zq +2 M&i% +3 h %_ S  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&\ ' +88 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 5 of 5..5 +2 #Loading generic puck from tube 5 into Collection Clamp + C'Q& +4 h & ] [\ \\ + M&(% +4 h %   + A(% +4 h % : ? C\ ; + A(S. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(I(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (-& +3 h &<* < = D\ : + M&& +4 h & K \ +2 .t\Elbow.seek 5 + M&]( +18 h ( + M&& +4 h &  +2 A(t& +3 h &<* > > \ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&K'O +99 h ' + A(& +4 h &<* = @\ ; +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(C's +300 h ' + A(:- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (`& +2 h &<* @ < O\ : +2 M&H& +3 h &  +2 .t\Elbow.seek 5 + M&( +4 h ( + M&6& +4 h & i  + A(1& +3 h &<* = = k\ : +2 .t\Forearm.seek 5 + 300 counts +2 M&'Ϲ +27 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&2/ +68 h / +2 ."downElevator"\SE.seek :down +2 M&u& +3 A(B' +5 h & !  +2 M&% +3 h % ϲ  F +2 .t\Forearm.seek :retract + M&3' +91 h ' + .t\Elbow.seek CC +2 M&)(ӂ +153 h ( + M&/& +5 h &x0 ~ F ' + ."downElevator"\SE.coast +2 A(5 + .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b +2 && +2 h &x0 7 F +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&{'? +93 h ' + C'& +4 h & \\ \\\ Z +2 C'R& +3 .t\CC.seek :closed +2 C'v(\\ +2 h & \\ \\\ Y +5 & [ ^\ Y3 +10 &.Fy ] ]\ T2 +9 &Wq \\ ^\ TF +9 &b \\ Z\ UQ +10 &R ] [;\ VP +9 &zS ] ]o\ UP +10 &<Q [ [\ VP +9 &Q ] \\\ VP +9 &T ] \\\ VQ +10 &T [ ^\ VP +9 &DR [ [\ VP +9 &!S \\ [\ VP +10 &"Q \\ ]\ VP +9 &$S ] [r\ VQ +10 &&LR ] \\z\ VP +9 &(V _ \\r\ UP +9 &)T \\ ]q\ VQ +10 &+S \\ \\x\ VP +9 &-TQ \\ \\t\ VP +9 &/U ] ^r\ UP +9 &0R ] ]t\ VP +9 &2U \\ ]p\ VP +11 &4\\S \\ \\q\ UP +9 &6P \\ ]|\ VP +8 &7T ] _{\ VP +10 &9T ] \\v\ UP +10 &;eS ] ]q\ VP +9 &=&T \\ ]o\ VP +9 &>T _ ]r\ UQ +10 &@S ] \\x\ VP +9 &BlW ^ [p\ UP +9 &D-Z ] \\y\ UQ +9 &Ep [ \\x\ TT +11 &G \\ \\r\ QX +9 &IU Z [w\ O[\ +9 &K Y [e\ O\\ +10 &L ] ]j\ O\\ +8 &N ] ]i\ O] +11 &PS \\ [k\ M^ +9 &R [ [c\ N^ +9 &S Y [c\ M_ +10 &U X [c\ M` +8 &WT [ Zn\ La +10 &Y Z Yf\ Ka +10 &Z Z Zb\ La +9 &\\Pj X Xf\ M7 +9 &\\ X Yg\ O< +9 &] X Wg\ SW +6 ( + C'R& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.32 + .Hand.open +2 M&g1 +67 h 1 +2 M&x% +3 h % : y c +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&J' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%U& +3 h &\ 4 +2 M&5% +3 h %   +2 A(~% +3 h % , # \ 5 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(A(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ("& +3 h &<*   =\ 4 + M&& +3 h &ӟ'  @^ +2 M&% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&#( +162 h ( + M&q& +4 h &   +2 A(>& +3 h &<* - / b\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&W'O +92 h ' + A(o& +4 h &<* *  \ 7 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(y's +299 h ' + A(M- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ($& +2 h &<* 0 / +\ 5 +2 M&l& +3 h &   + .t\Elbow.seek 5 +2 M&<( +3 h ( + M&F& +4 h & 0  + A( & +3 h &<* 0 / M\ 6 +2 .t\Forearm.seek 5 + 300 counts +2 M&e'Ϲ +14 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +69 h / +2 ."downElevator"\SE.seek :down +2 M&^& +2 A(' +6 h &   +2 M&Y% +3 h % Ͽ * +2 .t\Forearm.seek :retract + M&p' +91 h ' + .t\Elbow.seek PC +2 M&( +181 h ' + ."downElevator"\SE.coast + A(5 +56 h ( + M& & +4 h & r 3 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & 3 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&j' +100 h ' + P%D& +4 h &\ 6 +2 P%m& +3 .t\PC.seek :closed + P%_(^ +3 h &\ 6 +5 &\ 62 +9 &=Ex\ 12 +10 &\\l~\ 0F +9 &d\ 1R +9 &R\ 3R +10 &vR\ 3R +9 &8Q\ 3R +10 &Q\ 3R +9 &Q\ 3R +9 &~R\ 3R +10 &AQ\ 3R +9 &!Q\ 3R +9 &"O\ 3R +9 &$Q\ 3R +10 &&IP\ 3R +10 &( Q\ 3R +9 &)R\ 3R +9 &+Q\ 3R +10 &-PQ\ 3R +9 &/R\ 3R +8 &0R\ 3R +10 &2Q\ 3R +10 &4WQ\ 3R +9 &6R\ 3R +9 &7R\ 3R +9 &9S\ 3R +11 &;_T\ 3R +8 &=!U\ 3R +10 &>W\ 3R +10 &@R\ 3R +9 &Bd\\\ 2S +10 &D"d\ 2U +9 &Ev\ 1V +8 &G\ 0X +11 &I_\ 0X +8 &K \ 0X +10 &L\ 0Y +10 &N\ /Y +9 &Pa\ /Z +9 &R%\ /Y +10 &S\ /Z +9 &U\ /Y +9 &Wh\ /Z +9 &Y,\ /Z +10 &Z\ /Z +10 &\\\ .[ +8 &^0cw\ 12 +11 &^!\ 0G +8 ( +2 &^.\ 48 + P%m& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.73 + .Hand.open + M&1 +76 h 1 + M&w% +4 h %  > + + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 P%O& +4 h &^.\ 48 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 M&d% +3 h %   + A(s% +3 h %  \ 5 +2 A(%. +2 h . +2 .t\SC.reconfigure SCtight +47 A($\ .\ 1~b +6 .t\SC.seek 5 + A((<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&+& + A(!& +3 h & y 3 +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h &<*   N\ 4 +2 .t\Elbow.seek PC +2 ."raiseStack"\SE.reconfigure SEplace +2 M& ( +2 A(#]kK-0-\ b +5 h ( + M&& +4 h & k 3 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +3 M&}& +3 A(='s +3 h & 3 +2 .t\Forearm.seek :PC +2 M&|' +93 h ' +2 .tHand.close + M&[/ +73 h / + .t\PC.seek :open +2 P%z( +99 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(*'1 +44 h ' +302 ( + A(& +4 h &<* ' , \ 6 + M&9& +4 h & . 3 +2 M&n% +3 h %  N K +2 .t\Forearm.seek :retract + M&7' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&4( +244 h ( + M&& +4 h & 4 + A(?& +4 h &<* +  ;\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&E'O +94 h ' + .tHand.open + M&1 +65 h 1 + A(@- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(X' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(.' +52 h ' + #tLights, camera, ACTION! +2 A(8- +2 h -' +2 A(0& +3 h &<* \ * +2 M&& +3 h & 2 4 + .t\Elbow.seek 5 +2 M&,( +3 h ( + M&a& +3 h & + 4 +2 A(V& +3 h &<* \ * +2 .t\Forearm.seek 5 + 450 counts +2 M&b'O +12 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(P' +57 h ' + M&T& +4 h &  4 +2 A(h& +3 h &<* & - \ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 + M&'΍ +21 h ' + .t\Elbow.hold +2 M&f, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(&' +19 h ' +2 M&Z% +3 h %Ή / +2 A(i& +3 h &<* " " \ 5 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 296 counts +2 M&;'ϵ +27 h ' +2 M&'& +3 h & A " +2 A(Q& +3 h &<* 0 2 O\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&k'O +36 h ' +2 A((% +3 h % 2 1 n\ 6 +3 ."downElevator"\SE.seek :down +2 A(' +99 (S% +2 h %A !  +\ 4[t +2 M&N% +3 h %> " +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&-' +87 h ' +69 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &]p X Y2\ TW +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&% +3 h %   +2 A(t% +3 h % 1 1 \ 7 + A(L. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (G& +3 h &<* / - \ 6 + M& & +3 h & W " +2 .t\Elbow.seek 5 +2 M&\\( +21 h ( + M&\ & +4 h & e  +2 A(:& +3 h &<* % 0 $\ 7 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&`'O +97 h ' + A(H& +4 h &<* . 2 9\ 7 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(6's +299 h ' + A(1- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&2& +2 h & &  +2 A(u& +3 h &<* / . /\ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&'΍ +17 h ' + .t\Elbow.hold +2 M&], +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(K- +2 h -' +2 .t\SE.seek 0.16 + A(/'k +28 h ' + M&% +4 h %Δ  e + A(C& +3 h &<* 3 3 ,\ 7 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 307 counts + M&' +24 h ' + M&& +4 h & x  +2 A(& +3 h &<* 4 2 k\ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&B'O +15 h ' +2 .t\SE.seek 1.16 + A(3' +36 h ' + M&c& +4 h &  +2 M&g% +3 h %* W  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&x' +88 h ' + .t\Elbow.seek CC +2 M&U(ӂ +157 h ( + M&5& +4 h &Ә( | @Z + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &~& +3 h &Ә(  @Z + .t\Forearm.seek :CC +2 M&'? +95 h ' + .tHand.close + M&R/ +72 h / + .t\CC.seek :open +2 C'"( +454 h ( +2 A(& +3 h &<* = = x\ 9 +2 A(& +3 h &<* > * E\ 8 + M&{& +3 h &Ә( @Z +2 M&q% +3 h % L l +2 .t\Forearm.seek :retract + M&>' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&I( +165 h ( + M&o& +4 h & <  + A()& +4 h &<* @ > j\ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&J'΍ +97 h ' + .t\Elbow.hold +2 M&M, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&$1 +69 h 1 + M&l% +4 h % y " + A(F& +3 h &<* = = \ : +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 280 counts + M& 'ϥ +23 h ' +2 M& & +4 h &  + A(^& +3 h &<* ? = `\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&Y'O +23 h ' +2 A(#% +3 h % G @ \ : +3 ."downElevator"\SE.seek :down +2 A(W' +99 (y% +2 h %8< > ? `\ 9Zq +2 M&e% +3 h %v  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +91 h ' +65 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 5 to 6 +2 M&% +3 h %    +2 A(<% +3 h % @ ; P\ ; +2 A(D. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (p& +3 h &<* = 9 \ ; + M&r& +3 h &  +2 .t\Elbow.seek 5 +2 M&( +11 h ( + M&w& +4 h & Q  + A(O& +4 h &<* : C G\ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&d'O +92 h ' +47 A(s& +6 h &<* = = e\ < +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(m's +298 h ' + A(%- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&+/ +69 h / + M&!& +4 h & #  + M&% +3 h % T  +2 .t\Forearm.seek :retract +2 M&}' +86 h ' + .t\Elbow.seek :clear +2 M&j(d +100 h ( + M&A& +4 h &d ^ w + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &[& +3 h &d k w + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +3 h ' + .t\SE.seek :down +2 A(' +267 h ' + .t\SC.reconfigure SCtight +3 A($\ .\ 1~b +2 .t\SC.seek 6 + A((K +358 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (_& +3 h &K '  $\ 8  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(='s +276 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(9'1 +46 h ' + A(n& +4 h &K , 0 G\ 7  + A(|& +3 h &K 4 4 q\ 7  +2 M&& +3 h &d  w +2 M&?% +3 h %  .  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M& ( +102 h ( + M&& +4 h & b / +2 A(@& +3 h &K 1 2 C\ 7  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&8'< +96 h ' + .t\Elbow.hold +2 M&0, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +71 h 1 + M&a% +4 h % ]  Q + A(V& +3 h &K . & 4\ 7  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 333 counts +2 M&7'ω +29 h ' + M&T& +4 h & w / + A(h& +3 h &K $  p\ 8  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&Z' +14 h ' +2 A(i% +3 h %/  , \ 8 +3 ."downElevator"\SE.seek :down +2 A(*' +99 ('% +2 h %> 3 3 \ 6[t +2 M&Q% +3 h % & +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&X' +90 h ' +67 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 5 to 6 +2 M&(% +3 h %   +2 A(4% +3 h % 9 : \ ; +2 A(E. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(.(<- +362 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (S& +3 h &<.   r\ 8 + M&N& +3 h & / +2 .t\Elbow.seek 5 + M&b( +4 h ( + M&,& +3 h & / +2 A(P& +3 h &<. 8 ; Y\ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +90 h ' + A(;& +4 h &<0 E < p\ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +313 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&t/ +72 h / + M&L& +4 h & . + M&&% +3 h % Z b +2 .t\Forearm.seek :retract + M&G' +96 h ' +2 .t\Elbow.seek :clear +2 M& (d +101 h ( + M&\ & +4 h &d D + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &:& +3 h &d + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&k' +11 h ' + .t\SE.seek :down +2 A(H' +270 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K ? ? O\ 9\  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(f's +317 h ' + A(-- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (1& +2 h &K + 1 \ 7\  +2 A(2& +3 h &K ' / \ 8\  + M&u& +4 h &d + M&K% +3 h %  / y +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek 6 +2 M&( +100 h ( + M&C& +4 h & [ % + A(& +3 h &K "  9\ 7\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&'< +91 h ' + .t\Elbow.hold +2 M&c, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&g1 +71 h 1 + M&`% +4 h % l } + A(\\& +4 h &K *  '\ 7\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 348 counts + M&6'Ϙ +26 h ' +2 M&& +4 h & @ % + A(& +3 h &K & / Y\ 7\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&/' +16 h ' + A(5% +4 h % + 1 p\ 7 +2 ."downElevator"\SE.seek :down +2 A(~' +100 (B% +2 h %; - ' W\ 6[s +2 M&]% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&R' +89 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of 6..6 + #Loading generic puck from tube 6 into Collection Clamp + C'x& +4 h & Z \\G\ \\ + M&v% +4 h %  ?  + A(% +4 h % D 9 Z\ : + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A({(K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (q& +3 h &K 9 < |\ ; +2 M&o& +3 h &  % +2 .t\Elbow.seek 6 + M&)( +3 h ( + M&& +3 h &  % +2 A(U& +3 h &K > > f\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts +2 M&$' +96 h ' + A(l& +4 h &K 9 D #\ ; +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(F's +297 h ' + A( - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (^& +2 h &K  1\ 8 +2 M&#& +3 h & J % + .t\Elbow.seek 6 +2 M&>( +2 h ( +2 M&y& +3 h & > % + A(e& +3 h &K ? > \ 9 +2 .t\Forearm.seek 6 + 300 counts +2 M&I'h +25 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&J/ +65 h / +2 ."downElevator"\SE.seek :down +2 M& & +3 A(' +5 h & % +2 M&<% +3 h % q 5  + .t\Forearm.seek :retract +2 M&D' +90 h ' + .t\Elbow.seek CC +2 M&3(ӂ +150 h ( + M&p& +4 h &z0 . F + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &r& +3 h ' +2 ."downElevator"\SE.coast + A(5 +3 h &z/ D F + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&w'? +97 h ' + C'O& +4 h & Y Y7\ Z +2 C'Y& +3 .t\CC.seek :closed +2 C's(\\ +2 h & [ Z\ Z +3 & Z Z\ Z +9 &.v [ [\ T+| +9 &c Z X\ S@ +10 &gr [ YK\ SQ +9 &)R Z Zg\ VP +10 &R Y ]S\ VP +9 &Q Y [C\ VP +9 &nS [ \\{\ VQ +10 &2S Z [z\ UP +8 &T Z \\|\ VP +10 &O Z ZR\ VP +10 & wR [ Y\ UP +9 &"9R \\ \\\ UP +10 &#T [ [\ UP +9 &%S Z Zk\ UP +8 &'T [ \\m\ VP +11 &)AQ [ ]l\ VP +9 &+T [ [_\ VQ +9 &,T Z Zk\ UP +10 &.T Z [k\ VQ +9 &0JR [ \\l\ UP +10 &2 S [ \\o\ UP +9 &3T Z Yj\ UQ +8 &5Q \\ [l\ UP +10 &7RS Z Zd\ VP +9 &9R Y \\f\ UP +43 &:R Z Yd\ UP +11 &<R [ \\c\ UP + &>XR Y [c\ UQ +4 &@R Y [a\ UP + &AU \\ [_\ UQ + &CZ [ [U\ TQ +5 &E\\d \\ ^^\ TR +10 &Gx \\ \\c\ TT +10 &H ] ]`\ QX +8 &J \\ _h\ N[ +10 &LF \\ _e\ N\\ +10 &N \\ _`\ N] +9 &O \\ ^_\ M_ +9 &Q _ `W\ N] +10 &SK ] ^R\ M] +9 &U ] _T\ M_ +9 &V \\ `\\\ L` +10 &X ] ^\\\ L` +9 &ZJ ^ ^h\ K` +10 &[{ _ _h\ ND +9 &\\, ^ _d\ N(w +9 &\\l _ ]]\ SV +2 ( + C'Y& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + .Hand.open +2 M&W1 +73 h 1 + M&% +4 h % F H + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&M' +90 h ' +2 .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp +2 P% & +3 h &\ 5 +2 M&%% +3 h %   +2 A(+% +3 h % 1 1 |\ 5 +2 A(!. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A((K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (A& +3 h &K ' $ 2\ 5 + M&[& +4 h &}. ' E + M&d% +3 h %  M  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +166 h ( + M&}& +4 h &  +2 A(m& +3 h &K & 2 \\\ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +96 h ' + A(_& +4 h &K  }\ 8 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +299 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (n& +2 h &K 1 1 \ 5 +2 M&|& +3 h & c  + .t\Elbow.seek 6 +2 M&( +3 h ( + M&?& +4 h & 2  + A(& +3 h &K # - \ 6 +2 .t\Forearm.seek 6 + 300 counts +2 M&@'h +26 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&=/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&j& +3 A(' +5 h &   +2 M&a% +3 h % e P  +2 .t\Forearm.seek :retract + M&V' +87 h ' + .t\Elbow.seek PC +2 M&T( +186 h ' + ."downElevator"\SE.coast + A(5 +51 h ( + M&h& +4 h & D + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &i& +3 h &  D +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&' +99 h ' + P%'& +4 h &\ 7 +2 P%Q& +3 .t\PC.seek :closed + P% (^ +3 h &\ 7 +4 &\ 75 +10 &=Ev\ 12 +9 &\\m~\ 1F +9 &c\ 2R +10 &S\ 3R +9 &tR\ 3R +9 &6R\ 4R +10 &S\ 3R +9 &R\ 3R +10 &|R\ 3R +9 &>Q\ 3R +9 &!R\ 4R +10 &"P\ 3R +9 &$Q\ 3R +9 &&HQ\ 3R +10 &(\ R\ 3R +9 &)R\ 3R +10 &+Q\ 3R +9 &-PQ\ 3R +9 &/R\ 3R +10 &0Q \ 3R +9 &2Q\ 3R +9 &4WR\ 3R +10 &6R\ 3R +9 &7R\ 3R +10 &9R\ 3R +9 &;^S\ 3R +9 &=!Q\ 3R +10 &>V\ 3R +9 &@U\ 3R +9 &Bc]\ 2S +10 &D"i\ 2T +9 &E\ 1W +10 &G\ 0X +9 &I^\ 1X +9 &K\ 1Y +10 &L\ 0Y +9 &N4\ /Z +9 &Pa\ /Z +10 &R$:\ 0Y +9 &S\ /Z +10 &U\ 0Z +9 &Wi\ /Z +8 &Y+.\ 0Z +11 &Z3\ /Z +9 &\\@\ /[ +9 &^/dyD\ 12 +10 &^#\ 1H +8 ( +2 &^8A\ 4; + P%Q& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.74 + .Hand.open +2 M&81 +69 h 1 + M&(% +4 h %  , + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&7' +91 h ' + .t\SC.coast + A(6 +2 P%4& +4 h &^8A\ 4; + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 M&E% +3 h %   +2 A(9% +3 h % !  F\ 5 +2 A(Z. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(*(K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&& + A(S& +5 h & @ D + &K   \ 4 +2 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.reconfigure TightElbow +3 A(#]kK-0-\ b +2 M&$&.,(\ #b +4 .t\Elbow.seek PC +2 M&N( +2 h ( +2 M&,& +3 ."raiseStack"\SE.seek beamBreak + A(P's +3 h & . D + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &;& +3 h & - D + .t\Forearm.seek :PC +2 M&0' +93 h ' + .tHand.close + M&X/ +77 h / +2 .t\PC.seek :open +2 P%( +87 h ' + A(t- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(L'1 +41 h ' +316 ( + A(&& +4 h &K " / \ 6 + M&\ & +4 h & 6 D + M&:% +3 h %  [ +2 .t\Forearm.seek :retract + M&' +92 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&b( +245 h ( + M&G& +4 h & $ + A(& +3 h &K 2 1 \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&.' +103 h ' + .tHand.open + M&1 +70 h 1 + A(H- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(-' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(1' +59 h ' + #tLights, camera, ACTION! +2 A(2- +3 h -' + A(u& +3 h &K \ $ +2 M&K& +3 h &  $ +2 .t\Elbow.seek 6 + M&C( +3 h ( +2 M&& +3 h & & $ +2 A(g& +3 h &K \ $ +2 .t\Forearm.seek 6 + 450 counts +2 M&`' +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A( ' +58 h ' + M&\\& +4 h & $ +2 A(& +3 h &K 1 3 }\ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 +2 M&'< +16 h ' + .t\Elbow.hold +2 M&5, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(k' +21 h ' +2 M&B% +4 h %P  9 +2 A(]& +3 h &K 2 1 _\ 5 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 320 counts + M&'| +30 h ' +2 M&& +3 h & S $ +2 A(x& +3 h &K 1 1 \ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&v' +21 h ' +2 A(6% +3 h % 4 4 `\ 7 +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +2 h %A   '\ 4[u +2 M&f% +3 h % ! +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&q' +88 h ' +72 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'o& +4 h &\\j _ _0\ UV + #t\Storing generic puck in Collection Clamp to tube 6 +2 M&% +3 h %   +2 A(U% +3 h % # 0 A\ 7 + A(/. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(l(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (~& +3 h &K 3 . $\ 7 + M&& +4 h & $ + .t\Elbow.seek 6 +2 M&c( +2 h ( +2 M&R& +3 h & b $ +2 A( & +3 h &K 1 2 \ 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts + M&^' +95 h ' + A(#& +4 h &K  +\ 7 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(y's +303 h ' + A(e- +40 h -' +13 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&J& +3 h & I $ + A( & +3 h &K & / E\ 7 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&<'< +18 h ' + .t\Elbow.hold +2 M&), +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A($- +2 h -' +2 .t\SE.seek 0.16 +2 A(p'j +30 h ' + M&r% +4 h %\\ ! b +2 A(F& +3 h &K 1 1 W\ 6 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 332 counts + M&I'ψ +26 h ' + M&O& +4 h & $ +2 A(>& +3 h &K 0 1 j\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +16 h ' +2 .t\SE.seek 1.16 + A(D' +40 h ' +2 M&"& +3 h & $ +2 M&W% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.seek CC +3 M& (ӂ +146 h ( + M&%& +4 h &|+ 0 Cs + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &+& +2 h &|+  Cs +2 .t\Forearm.seek :CC + M&Y'? +92 h ' + .tHand.close + M&!/ +65 h / + .t\CC.seek :open +2 C'A( +451 h ( + A([& +4 h &K ? *\ 8 + A(d& +4 h &K  H\ 8 + M&w& +3 h &Ӏ+ * Co +2 M&}% +3 h % 7 5 +2 .t\Forearm.seek :retract + M&m' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&{( +165 h ( + M&_& +4 h & ,  +2 A(3& +3 h &K A @ \ : +2 .t\Elbow.reconfigure LimpElbow + M&$ ,(#b +3 .t\Forearm.seek 6 + M&M'< +94 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&n1 +73 h 1 + M&|% +4 h % Z ) u + A(?& +4 h &K D : i\ ; + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 330 counts +2 M&'φ +25 h ' +3 M&=& +3 h & )  +2 A(j& +3 h &K : : c\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&a' +19 h ' +2 A(% +3 h % : D H\ ; +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +2 h %x; @ < 9\ 9Zq +2 M&@% +3 h % ( +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&h' +88 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 6 to 7 + M&i% +4 h %   + A(% +4 h % > G Y\ ; +2 A('. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (V& +3 h &K H I \ ; + M&z& +4 h & !  +2 .t\Elbow.seek 6 + M&8( +3 h ( +2 M&(& +3 h & z  +2 A(4& +3 h &K H G\ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&E' +100 h ' + A(9& +4 h &K ; D \ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(Z's +298 h ' + A(Q- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +75 h / + M&S& +4 h & k  + M&,% +3 h %  9 ` +2 .t\Forearm.seek :retract + M&;' +88 h ' +3 .t\Elbow.seek :clear +3 M&(d +93 h ( + M&X& +4 h &d d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&t' +3 h ' + .t\SE.seek :down +2 A(T' +264 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(7([ +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &[ (  -\ 8  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +4 .t\SE.seek beamBreak +2 A(P's +278 h ' + A(&- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(\ '1 +41 h ' + A(:& +4 h &[  " \ 7  + A(0& +3 h &[ 2 - \ 6  +2 M&G& +3 h &d y  + M&% +3 h %  C  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&N(r +104 h ( + M&& +4 h &} + + A(H& +3 h &[ # # \\\ 7  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 + M&2'{ +100 h ' + .t\Elbow.hold +2 M&u, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&K1 +69 h 1 + M&% +4 h % l h + A(g& +3 h &[ 0 ) 2\ 7  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 285 counts + M&'Ϙ +21 h ' + M&\\& +4 h & < ) + A(& +3 h &[ ! # |\ 8  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&B'= +12 h ' + A(]% +4 h %3 % , ;\ 8 +3 ."downElevator"\SE.seek :down + A(L' +100 (% +2 h %&: # # B\ 7Zq +2 M&x% +3 h %6 N +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&-' +87 h ' +77 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 6 to 7 + M&6% +3 h %  $  +2 A(b% +3 h % H H P\ ; +2 A(.. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b + .t\SC.seek 6 +2 A(1(K +362 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K & . ,\ 7 + M&f& +3 h & ) +2 .t\Elbow.seek 6 + M&`( +28 h ( + M&C& +4 h & + A( & +3 h &K   .\ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +92 h ' + A(& +4 h &K * >\ 8 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(o's +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&U/ +65 h / + M&/& +4 h & + M&k% +3 h %  s +2 .t\Forearm.seek :retract + M&~' +90 h ' + .t\Elbow.seek :clear +2 M&(d +101 h ( + M&R& +4 h &d G q + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &d q + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear + M&v' +11 h ' + .t\SE.seek :down +2 A(#' +280 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(([ +359 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (*& +3 h &[0 ' 2 R\ 6  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(5's +314 h ' + A(q- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (e& +3 h &[0  ;\ 4  + A(J& +4 h &[.  + 5\ 5  +47 M& & +4 h &d q + M&$% +3 h % "   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&r(r +118 h ( + M&F& +4 h &x + A(O& +3 h &[. 2 1 t\ 5  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 + M&>'{ +93 h ' + .t\Elbow.hold +2 M&", +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&W1 +74 h 1 + M&^% +4 h % Μ I r + A(c& +4 h &[. 1 3 c\ 6  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 333 counts +2 M&y' +23 h ' + M&<& +4 h &{ u + A(I& +4 h &[. 4 2\ 6  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&%'= +13 h ' +2 A(p% +3 h % $ ' .\ 7 +3 ."downElevator"\SE.seek :down +2 A(+' +99 (% +3 h %: 2 2 \ 5Zr + M&)% +3 h %9  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&!' +87 h ' +57 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of 7..7 + #Loading generic puck from tube 7 into Collection Clamp + C'& +4 h & Z [k\ \\ + M&s% +4 h %   + A([% +4 h % H G\ ; + A(d. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(w([ +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (}& +3 h &[ ? < \ ; +2 M&_& +3 h &{ +2 .t\Elbow.seek 7 + M&3(r +3 h ( +2 M&Y& +3 h &{ a + A( & +4 h &[ = B \ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&n'= +96 h ' + A(|& +4 h &[ @ < \ ; +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(?'s +300 h ' + A(=- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (j& +2 h &[ B > \ 9 +2 M&& +3 h &{ + .t\Elbow.seek 7 +2 M&m(r +2 h ( +2 M&& +3 h &{ B + A(@& +4 h &[ @ A \ : + .t\Forearm.seek 7 + 300 counts +2 M&{'ϧ +13 h ' + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b + .tHand.close +2 M&M/ +68 h / +2 ."downElevator"\SE.seek :down +3 M&i& +4 A(' +4 h &{ e +2 M&% +3 h % ϝ X +2 .t\Forearm.seek :retract + M&'' +93 h ' + .t\Elbow.seek CC +2 M&V(ӂ +151 h ( + M&D& +4 h &x1  ' G + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' +2 M&z& +2 ."downElevator"\SE.coast +2 A(5 +2 h &x1 G +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&('? +94 h ' +2 C'4& +4 h & W Zk\ Z +2 C'a& +3 .t\CC.seek :closed +2 C'9(\\ +2 h & Y Z.\ Z +4 & X Xh\ Z +9 &.v [ Ys\ T+| +10 &c X Xl\ S@ +9 &dr Y Zn\ SQ +10 &(N [ Zo\ VP +9 &R Z Zl\ VP +9 &T Z Yj\ UP +10 &lR Z Yd\ VP +9 &-R [ Yg\ VQ +9 &S X ZY\ VP +10 &R Z Y_\ VP +9 & tR Z Z]\ VP +10 &"6R W Y]\ VP +9 &#O Z Z[\ VP +9 &%R Y [^\ VP +10 &'}R X Z]\ VP +9 &)>S Y YW\ UP +9 &+U X YS\ UP +10 &,S Y YR\ UP +9 &.T X Yg\ VP +10 &0FR X YR\ VP +9 &2S Y XQ\ VP +9 &3R W [S\ VQ +10 &5Q Z YZ\ UP +9 &7PS Y ZL\ UP +9 &9R [ X]\ UP +10 &:Q Z WR\ VP +9 &<R Y [Y\ VP +9 &>XS [ Z]\ VP +10 &@R [ Z^\ VP +8 &AS Y X^\ VP +11 &CX Y W`\ UQ +8 &EYg W Xf\ UR +10 &G Z Za\ SV +10 &H Y Y_\ PZ +9 &J Y Y[\ N] +10 &LB Y Y\\\ O] +9 &N W Zi\ O\\ +9 &O X XW\ N] +10 &Q Z X_\ N] +9 &SF Z W_\ N^ +9 &U X W_\ M^ +10 &V Y VZ\ M_ +9 &X U WY\ L` +10 &ZE T WZ\ Ka +9 &[{ W WW\ OG +9 &\\! U TZ\ P2 +10 &\\ W UZ\ Q _ + ( + C'a& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.37 + .Hand.open +2 M&1 +68 h 1 + M&l% +4 h % 2 - E + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 P%h& +3 h &\ 4 +2 M&Q% +3 h %  _  +2 A(% +3 h %  0\ 4 + A(S. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(,([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (X& +3 h &[  \ 4 + M&& +3 h &ӥ( \ Ac +2 M&E% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&8(r +165 h ( + M&;& +4 h &q n  + A(Z& +4 h &[ 2 2 \ 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +97 h ' + A( & +4 h &[ - & :\ 7 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(&'s +299 h ' + A(T- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (:& +2 h &[ \ J\ 4 +2 M&0& +3 h &q <  + .t\Elbow.seek 7 +2 M&G(r +2 h ( +2 M&& +3 h &q  + A(& +3 h &[ 2 1 \ 5 +2 .t\Forearm.seek 7 + 300 counts +2 M&H'ϧ +22 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&P/ +67 h / +2 ."downElevator"\SE.seek :down +2 M&& +3 A(K' +5 h &q \  +2 M&% +3 h %   +2 .t\Forearm.seek :retract + M&g' +91 h ' + .t\Elbow.seek PC +2 M&\\( +20 E\ _jg +160 h ' + ."downElevator"\SE.coast + A(5 +57 h ( +2 M&& +4 h & ! + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &]& +3 h & ! + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&t' +98 h ' + P%& +4 h &\ 6 + P%x& +4 .t\PC.seek :closed +2 P%N(^ +2 h &\ 5 +5 &\ 62 +9 &=Dy\ 02 +10 &`o~\ /F +9 &b\ 0R +9 &Q/\ 2R +10 &zPG\ 2R +9 &<Q<\ 2R +10 &O9\ 2R +9 &P\ 2R +9 &TB\ 2R +10 &EOG\ 3R +9 &!QG\ 2R +9 &"OF\ 2Q +10 &$Q?\ 2R +9 &&NQF\ 2R +10 &(RB\ 2R +9 &)QD\ 2R +9 &+P;\ 2R +10 &-VQC\ 2R +9 &/TE\ 2R +9 &0RF\ 2R +9 &2PD\ 2R +9 &4^QF\ 2R +10 &6 RE\ 2R +10 &7PF\ 2R +8 &9QE\ 1R +11 &;cTG\ 2S +9 &=&SF\ 2R +9 &>UC\ 2R +10 &@UF\ 2R +9 &Bi]D\ 1S +10 &D(dC\ 1T +9 &E|?\ /W +9 &GE\ /X +10 &IeE\ 0X +9 &K'C\ /X +9 &L@\ /Y +10 &NB\ /Y +9 &PgB\ .Z +10 &R)E\ /Z +8 &SB\ .Z +9 &U@\ .Y +10 &WoB\ /Z +10 &Y.C\ .[ +9 &ZE\ /Z +9 &\\E\ .Z +9 &^2auE\ 02 +10 &^D\ /K +9 ( +2 &^?B\ 3= + P%x& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.76 + .Hand.open + M&21 +76 h 1 + M&% +4 h %  " + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&6' +93 h ' + .t\SC.coast + A(6 +2 P%b& +4 h &^@A\ 2= + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 M&.% +3 h %   + A(\ % +3 h %  R\ 3 +2 A(B. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(L([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (7& + M&& +3 h &[   \ 3 +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h & ! +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&f( +2 h ( + M&C& +4 ."raiseStack"\SE.seek beamBreak + A( 's +3 h & ] ! + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & ! + .t\Forearm.seek :PC +2 M&u' +141 h ' +3 .tHand.close + M&-/ +65 h / + .t\PC.seek :open +2 P%( +48 h ' + A(U- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(/'1 +40 h ' +357 ( +2 A(k& +4 h &[   I\ 4 + M&R& +3 h & I ! +2 M& % +3 h %  > 9 +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&`(r +251 h ( + M&~& +4 h &  + +2 A(o& +3 h &[ a\ 3 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&1'= +99 h ' + .tHand.open + M&*1 +67 h 1 + A(#- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(q' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(e' +57 h ' + #tLights, camera, ACTION! +2 A(J- +3 h -' + A( & +3 h &[ ^\ " +2 M&$& +3 h & v + +2 .t\Elbow.seek 7 + M&F(r +29 h ( + M&O& +4 h &{ + w +2 A(& +3 h &[ \ # +2 .t\Forearm.seek 7 + 450 counts + M&W'= +4 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(^' +54 h ' + M&c& +4 h &{  w +2 A(<& +3 h &[ 4 2 \ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 7 +2 M&I'{ +15 h ' + .t\Elbow.hold +2 M&p, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(v' +19 h ' +2 M&% +3 h %Ώ Z K +2 A()& +3 h &[ 4 2 \ 5 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 320 counts +2 M&r'ϻ +24 h ' +2 M&>& +3 h &} L u +2 A(& +3 h &[ 2 1 \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&s'= +20 h ' +2 A(y% +3 h % 2 3 \ 5 +3 ."downElevator"\SE.seek :down +2 A([' +99 (d% +3 h %D  D\ 4[t + M&5% +3 h %3 A +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&}' +88 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'_& +3 h &\\ V YF\ S _ +2 #t\Storing generic puck in Collection Clamp to tube 7 + M&Y% +3 h %   +2 A( % +3 h % 4 1 b\ 7 +2 A(%. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 7 + A(|([ +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (+& +3 h &[ 5 3 ~\ 6 + M&& +4 h &} % u + .t\Elbow.seek 7 +2 M&"(r +10 h ( + M&!& +4 h &n y +2 A(=& +3 h &[ 2 2 \ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&j'= +97 h ' + A(& +4 h &[ 2 ' ]\ 7 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +304 h ' + A(@- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&M& +2 h &n  y +2 A(i& +3 h &[ 3 2\ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M&'{ +16 h ' + .t\Elbow.hold +2 M&3, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(n- +2 h -' +2 .t\SE.seek 0.15 + A(D'h +30 h ' + M&z% +4 h %Ζ O + A(?& +4 h &[ 3 2 \ 6 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 327 counts +2 M&{' +25 h ' + M&4& +4 h &q  v + A(m& +4 h &[ 1 1 \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +13 h ' +2 .t\SE.seek 1.15 + A('' +41 h ' +2 M&A& +3 h &q  v +2 M&% +3 h %; Z +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&l' +88 h ' + .t\Elbow.seek CC +2 M&h(ӂ +159 h ( + M&Q& +4 h &Ӗ& ? ?R + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &Ӗ&  ?R + .t\Forearm.seek :CC +2 M&S'? +94 h ' +2 .tHand.close + M&a/ +67 h / + .t\CC.seek :open +2 C'X( +451 h ( + A(& +4 h &[ A A \ 9 + A(E& +3 h &[ = : \ 8 +2 M&(& +3 h &ә% >O +2 M&;% +3 h % 4 b +2 .t\Forearm.seek :retract + M&Z' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&w(r +164 h ( + M& & +4 h &z x  + A(V& +4 h &[ B A \ 9 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 7 +2 M&'{ +90 h ' + .t\Elbow.hold +2 M&T, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&:1 +68 h 1 + M&0% +4 h % Λ } + A(& +3 h &[ < @ \ ; +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 332 counts + M&' +29 h ' +2 M&P& +4 h &~ "  + A(& +3 h &[ B < \ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +16 h ' +2 A(8% +3 h % H I\ ; +3 ."downElevator"\SE.seek :down +2 A(' +99 (&% +2 h %@ ? A \ 8Zp +2 M&H% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +88 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 7 to 6 + M&]% +4 h %   + A(G% +3 h % H H\ ; +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(K([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (g& +3 h &[ H I \ ; + M&& +4 h &~  +2 .t\Elbow.seek 7 + M&2(r +7 h ( + M&& +4 h &t 8  +2 A(b& +3 h &[ H G J\ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&.'= +93 h ' + A(\ & +4 h &[ A < \ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(x's +299 h ' + A(B- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&7/ +68 h / + M&& +4 h &t  + M&C% +3 h % B N +2 .t\Forearm.seek :retract + M&' +89 h ' + .t\Elbow.seek :clear +2 M&t(d +97 h ( + M&-& +4 h &d o ~ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &,& +3 h &d ~ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +49 M&U' +11 h ' + .t\SE.seek :down +2 A(\\' +264 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(6(K +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (N& +3 h &K = < b\ 9 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A( 's +280 h ' + A(k- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(R'1 +39 h ' + A( & +4 h &K +  _\ 8 + A(u& +3 h &K ' / G\ 8 +2 M&~& +3 h &d  ~ +2 M&o% +3 h % !   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&f( +98 h ( + M&*& +4 h & i  + A(#& +4 h &K )  #\ 8 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&J'< +96 h ' + .t\Elbow.hold +2 M& , +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&$1 +73 h 1 + M&% +4 h % I _  + A(O& +3 h &K # % \ 8 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 313 counts +2 M&'u +25 h ' + M&c& +4 h & E  + A(<& +4 h &K @ A \ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +13 h ' +2 A()% +3 h %7 @ ; `\ 9 +3 ."downElevator"\SE.seek :down +2 A(/' +99 (>% +2 h %l8 $ 0 =\ 7Zs +2 M&q% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +86 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 7 to 6 +2 M&y% +3 h %   +2 A(`% +3 h % I H 4\ ; +2 A(1. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(e([ +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (d& +3 h &[( ' $ >\ 7  + M&5& +3 h &  +2 .t\Elbow.seek 7 + M&W(r +15 h ( + M&F& +4 h &y 7 + A(^& +3 h &[( 0 1\ 7  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&I'= +92 h ' + A(r& +4 h &[( $ & ^\ 8  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(_'s +308 h ' + A(Y- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M& / +77 h / + M&%& +4 h &y A + M&v% +3 h % C +2 .t\Forearm.seek :retract + M&+' +90 h ' + .t\Elbow.seek :clear +2 M&(d +100 h ( + M&!& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &=& +3 h &d   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&s' +3 h ' + .t\SE.seek :down +2 A(' +272 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A([(K +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (L& +3 h &K ' ' %\ 8 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(p's +317 h ' + A(}- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (@& +3 h &K + 1 K\ 6 + A(M& +3 h &K 4 ) Z\ 7 +2 M&i& +3 h &d 4  + M&n% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&z( +109 h ( + M&?& +4 h & o \ + A(4& +3 h &K 3 4 |\ 6 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&m'< +96 h ' + .t\Elbow.hold +2 M&A, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +68 h 1 + M&j% +4 h % b A V + A("& +3 h &K 1 1 w\ 7 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 338 counts + M&'ώ +25 h ' + M&& +4 h & = \ + A({& +4 h &K  ) '\ 8 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&D' +13 h ' + A(Q% +4 h % $ $ \ 8 +2 ."downElevator"\SE.seek :down +2 A(' +100 (% +3 h %: 3 5 r\ 6Zr +2 M&3% +3 h %  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&a' +88 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of 6..6 + #Loading generic puck from tube 6 into Collection Clamp + C'l& +4 h & X X1\ \\ + M&9% +4 h %  E  +2 A(% +3 h % H H\ ; +2 A(E. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(((K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (;& +3 h &K H J \ ; + M& & +4 h &  \ + .t\Elbow.seek 6 +2 M&V( +3 h ( + M&S& +3 h & $ \ +2 A(h& +3 h &K H I \ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&:' +94 h ' + A(0& +4 h &K ? ? \ < +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +300 h ' + A(P- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &K < > i\ : +2 M&8& +3 h & L \ + .t\Elbow.seek 6 +2 M&Z( +2 h ( +2 M&&& +3 h & @ \ + A(H& +3 h &K G C \ ; +2 .t\Forearm.seek 6 + 300 counts +2 M&w'h +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +77 h / +2 ."downElevator"\SE.seek :down +2 M&]& +3 A(G' +5 h & \ +2 M&% +3 h % ~ +2 .t\Forearm.seek :retract + M&' +86 h ' + .t\Elbow.seek CC +2 M&g(ӂ +147 h ( + M&'& +4 h &x+ S Bk + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &x* Bk + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +3 h ' +2 ."downElevator"\SE.coast + A(5 +3 M&'? +92 h ' +2 C'b& +4 h & V Z(\ [ + C'& +3 .t\CC.seek :closed +2 C'\ (\\ +3 h & X Xi\ [ +3 & Y Xn\ [ +9 &.v W Yk\ T+| +9 &c Y Xm\ S@ +10 &fp X Yi\ TP +9 &(N X Xc\ WP +9 &Q [ X\\\ WP +10 &V X X[\ VP +9 &nQ X ZY\ WP +9 &1Q X Y^\ WP +10 &R W Z\\\ VP +9 &R Y YX\ VP +10 & vU X YZ\ VP +9 &"9Q Y YQ\ WP +9 &#Q X ZX\ VP +10 &%Q Z ZW\ WP +9 &'~R Z Y\\\ VP +9 &)@R Y YP\ VP +10 &+R Z XX\ VP +9 &,R W YU\ VP +10 &.S X XW\ VP +9 &0IO X ZR\ VP +8 &2\ R X YM\ VP +11 &3R X YR\ WP +9 &5Q W WW\ VO +9 &7PS X X_\ WP +10 &9Q Z Y[\ VP +9 &:O Y YY\ WP +9 &<Q X W]\ VP +10 &>ZQ X Y^\ VO +9 &@Q Y ZY\ VP +10 &AU Z [X\ VP +8 &CZ Z Y\\\ VQ +10 &E\\b Z \\]\ UQ +10 &G~ Z Z^\ ST +9 &H _ [W\ RW +10 &J ] ZU\ O[\ +8 &LF \\ \\Y\ O\\ +9 &N \\ _P\ O\\ +10 &O ] [`\ N^ +9 &Q \\ ]\ N] +10 &SH \\ \\\ N^ +9 &U _ \\b\ N^ +10 &V ] \\M\ M_ +9 &X \\ \\P\ M` +10 &ZI ] \\M\ L` +8 &[y ` ]\ OH +11 &\\ ^ [Z\ S(u +9 &]) \\ \\R\ PZ +9 ( + &]u ] ]S\ TT + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 +2 .Hand.open + M&1 +75 h 1 +2 M&|% +3 h % A _ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&T' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp +2 P%& +3 h &\ 4 +2 M&B% +3 h %   +48 A(7% +5 h % 2 2 \ 5 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(C(K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (-& +3 h &K 2 2\ 5 + M&,& +4 h &{* Bh +2 M&.% +3 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&2( +165 h ( + M&& +4 h & }  +2 A(x& +3 h &K # $ /\ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&K' +93 h ' + A(N& +4 h &K $ $ \ \ 8 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(k's +299 h ' + A(\\- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 ( & +2 h &K 1 4 \ 6 +2 M&u& +3 h & K  +2 .t\Elbow.seek 6 + M&~( +3 h ( +2 M&o& +3 h &  +2 A(*& +3 h &K 4 4 f\ 6 +2 .t\Forearm.seek 6 + 300 counts + M&#'h +27 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +77 h / +2 ."downElevator"\SE.seek :down +3 M&$& +4 A(t' +4 h &  +2 M&% +3 h % q  +2 .t\Forearm.seek :retract +2 M&O' +85 h ' + .t\Elbow.seek PC +2 M&c( +178 h ' + ."downElevator"\SE.coast + A(5 +60 h ( + M&<& +4 h & ; + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &)& +3 h & ' ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&U' +103 h ' + P%>& +4 h &\ 8 +2 P%q& +3 .t\PC.seek :closed + P%f(^ +3 h &\ 8 +4 &\ 84 +10 &CEw\ 22 +9 &fn~\ 2F +10 &b\ 3R +9 &Q\ 4R +9 &R\ 4R +10 &BR@\ 5R +9 &PL\ 4R +9 &Q\ 5R +10 &R\ 4R +9 &JP\ 4R +9 &! Q\ 4R +10 &"P\ 4R +9 &$Q\ 4Q +10 &&SP\ 5R +9 &(Q\ 4R +9 &)Q\ 5R +10 &+PC\ 4R +9 &-\\P=\ 4R +10 &/TE\ 4R +9 &0Q9\ 4R +9 &2Q@\ 4R +10 &4cS;\ 4R +9 &6&Q?\ 5R +9 &7Q>\ 4R +10 &9QD\ 5R +9 &;lR9\ 4R +10 &=-R>\ 5R +9 &>T@\ 5R +9 &@QC\ 4R +10 &BqZF\ 4S +9 &D.kD\ 3T +10 &E<\ 2W +9 &GE\ 2X +9 &Ii9\ 2X +10 &K+C\ 2X +9 &LD\ 1Y +8 &N@\ 1Y +9 &Pm@\ 0Z +10 &R/8\ 0Z +9 &SA\ 0Z +10 &U:\ 1Y +9 &WtC\ 0Z +9 &Y8A\ 1Y +10 &ZE\ 1Z +9 &\\@\ 0Z +10 &^2_w@\ 27 +9 &^Q;\ 54 +5 ( + P%q& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.73 + .Hand.open +2 M&J1 +68 h 1 + M&y% +4 h %  H + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +88 h ' +2 .t\SC.coast + A(6 +3 P%`& +3 h &^(\ 54 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&1% +3 h %  !  +2 A(R% +3 h % .  2\ 4 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(/(K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&6& +4 A(d& + h & ? ; + .t\Elbow.reconfigure TightElbow +4 M&$&.,(\ #b +2 h &K 2 1 #\ 5 +3 ."raiseStack"\SE.reconfigure SEplace + .t\Elbow.seek PC +3 A(#]kK-0-\ b + M&5( +6 h ( + M&F& +3 ."raiseStack"\SE.seek beamBreak +2 A(^'s +2 h &  ; + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &r& +2 h & ; +2 .t\Forearm.seek :PC +2 M& ' +92 h ' + .tHand.close + M&/ +67 h / + .t\PC.seek :open +2 P%Y( +97 h ' + A( - +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(%'1 +41 h ' +307 ( + A(v& +4 h &K 0 & ;\ 7 + M&!& +3 h & \ ; +2 M&=% +3 h %  @ U +2 .t\Forearm.seek :retract + M&I' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&W( +243 h ( + M&+& +4 h & c ; + A(_& +3 h &K 1 2 ~\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&e' +102 h ' + .tHand.open + M&L1 +75 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(}' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(@' +56 h ' + #tLights, camera, ACTION! + A(M- +3 h -' +2 A(i& +3 h &K \ & +2 M&n& +3 h & A ; + .t\Elbow.seek 6 +2 M&?( +3 h ( + M&4& +3 h & " ; +2 A(& +3 h &K z\ ' +2 .t\Forearm.seek 6 + 450 counts +2 M&' +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(j' +49 h ' + M&"& +4 h & ; +2 A(& +3 h &K 3 3 \ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&{'< +17 h ' + .t\Elbow.hold +2 M&Q, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(s' +20 h ' +2 M&% +3 h %7 I +2 A(3& +3 h &K 2  R\ 4 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 295 counts + M&z'c +28 h ' +2 M&m& +3 h & j $ +2 A(l& +3 h &K 2 3 \ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&9' +14 h ' +2 A(% +3 h % 3 0 [\ 6 +3 ."downElevator"\SE.seek :down +2 A(' +99 (E% +3 h %A   \ 4Zs + M&p% +3 h % & +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&;' +85 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C' & +4 h &]v \\ ^ \ TT + #t\Storing generic puck in Collection Clamp to tube 6 +2 M&S% +3 h %   +2 A(h% +3 h % 2 0 J\ 6 + A(D. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(0(K +9 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K ' # +\ 7 + M&[& +4 h & $ + .t\Elbow.seek 6 +2 M&A( +22 h ( + M&a& +4 h &  +2 A(P& +3 h &K $ $ \ 7 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +94 h ' + A(8& +4 h &K # \ 8 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(&'s +300 h ' + A(H- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h &   + A(]& +4 h &K 3 2 \ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&'< +16 h ' + .t\Elbow.hold +2 M&V, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(:- +3 h -' + .t\SE.seek 0.16 +2 A(''j +28 h ' + M&% +4 h %k  K + A(& +3 h &K ' 4 \ 7 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 347 counts +40 M&w'ϗ +34 h ' + M&b& +4 h & <  +2 A(Z& +3 h &K $ $ q\ 7 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts + M&' +16 h ' +2 .t\SE.seek 1.16 + A(G' +39 h ' +2 M&X& +3 h & ,  +2 M&% +3 h % 8 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&|' +85 h ' + .t\Elbow.seek CC +2 M&(ӂ +172 h ( +2 M&B& +3 h &ӂ 2 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &7& +2 h &ӂ 2 +2 .t\Forearm.seek :CC +2 M&'? +97 h ' + .tHand.close + M&/ +65 h / + .t\CC.seek :open +2 C'-( +454 h ( + A(,& +4 h &K A A \ : + A(.& +4 h &K B B \ : + M&& +3 h &ӂ 2 +2 M&% +3 h % U  v + .t\Forearm.seek :retract +2 M&x' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&(( +162 h ( + M&N& +4 h & {  +2 A(g& +3 h &K A A \ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&T'< +94 h ' + .t\Elbow.hold +2 M&\\, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +76 h 1 +2 M&u% +4 h % n u ^ + A(o& +3 h &K I H\ ; +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 350 counts + M&*'Ϛ +21 h ' + M& & +4 h & V  + A($& +4 h &K H H\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +15 h ' +2 A(2% +3 h % G F \ ; +3 ."downElevator"\SE.seek :down +2 A(K' +99 (k% +2 h %54 B A \ 9Zo +2 M&#% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&<' +91 h ' +54 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 6 to 5 + M&)% +4 h %   +2 A(~% +3 h % I H\ ; + A(>. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(t(K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (O& +3 h &K D < \ ; + M&& +4 h & :  +2 .t\Elbow.seek 6 + M&J( +3 h ( + M&y& +4 h &   + A(`& +3 h &K H H\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&1' +93 h ' +2 A(R& +4 h &K ? ? \ < + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +299 h ' + A(q- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&6/ +67 h / + M&d& +4 h & F  + M&F% +3 h %  )  +2 .t\Forearm.seek :retract + M&r' +89 h ' + .t\Elbow.seek :clear +2 M&U(d +99 h ( + M&& +4 h &d 1  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &C& +3 h &d >  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M& ' +9 h ' + .t\SE.seek :down +2 A(c' +266 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (f& +3 h &<0 B C \ 9 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(^'s +275 h ' + A(v- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(!'1 +41 h ' +2 A(=& +4 h &<0 = B \ 9 + A( & +3 h &<0 @ ? n\ 9 +2 M&+& +3 h &d '  + M&_% +3 h % % z  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&5( +101 h ( + M&L& +4 h & U 1 + A(& +3 h &<0 A ? \ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&M'΍ +99 h ' + .t\Elbow.hold +2 M&i, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&n1 +66 h 1 + M&4% +4 h % Υ  + A(I& +4 h &<0 A A \ 9 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 324 counts +2 M&' +18 h ' + M&"& +4 h &  + A(& +3 h &<0 A A \ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +16 h ' + A(3% +4 h %; ? < \ 9 +3 ."downElevator"\SE.seek :down +2 A(%' +99 (m% +3 h %J> 1 2\ 7Zt +2 M&l% +3 h %$ %  +2 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&}' +88 h ' +67 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 6 to 5 +2 M&% +3 h %   +2 A(W% +3 h % H H \ ; +2 A(e. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(@(K +360 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (E& +2 h &K $ . Q\ 7 +2 M&p& +3 h &  + .t\Elbow.seek 6 +2 M&( +19 h ( + M&?& +4 h & .  + A(j& +3 h &K ? : {\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&{' +97 h ' + A( & +4 h &K H I\ : + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(z's +297 h ' + A(S- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&h/ +67 h / +2 M&D& +4 h & X  + M&s% +3 h %  ` +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\Elbow.seek :clear +2 M&[(d +100 h ( + M&a& +4 h &d I y + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &P& +3 h &d y + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&9' +9 h ' + .t\SE.seek :down +2 A(8' +285 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (/& +2 h &' +87 h ' + .t\Elbow.seek CC +2 M&O(ӂ +152 h ( + M&G& +4 h &ӈ) A` + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +3 h &ӈ( A` + ' + ."downElevator"\SE.coast +2 A(5 + .t\Forearm.reconfigure TightForearm +4 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&y'? +92 h ' +2 C'`& +4 h & Y Zm\ V +2 C'& +3 .t\CC.seek :closed +2 C'R(\\ +2 h & Y Xp\ W +3 & [ [p\ W +10 &.v X Xm\ Q+| +9 &d~ Y Xj\ P@ +9 &ip Y [d\ PP +10 &*N Z ]b\ SP +9 &Q X \\\\\ SP +9 &S Y [^\ SP +10 &qS Z Y_\ SP +9 &3Q X [^\ SP +10 &R Y ]]\ SP +9 &Q X [_\ RP +9 & xR X Y\\\ SP +10 &":Q Z [Y\ SP +9 &#Q [ [U\ SP +9 &%R X [^\ RP +10 &'Q Y [Q\ SP +9 &)CT Z [a\ SP +10 &+R Z [S\ SP +9 &,R [ ZO\ SP +9 &.S [ ZU\ SP +9 &0LP Y ]R\ RP +9 &2R [ []\ SP +10 &3R [ [^\ SP +10 &5Q Z \\^\ SP +9 &7TR Y [^\ SP +10 &9Q Z [^\ RP +9 &:Q Z [_\ SP +9 &<O Z \\_\ SP +10 &>[R Z \\^\ SP +9 &@Q Z \\]\ SP +9 &AR X \\]\ RP +10 &CW Y Z_\ RQ +9 &E\\e Y X]\ QR +10 &G Y Y[\ PU +9 &H Y Z[\ MY +8 &J Y ZY\ L\\ +11 &LI W [X\ L\\ +9 &N X YU\ L\\ +9 &O X XX\ K] +10 &Q W WN\ K\\ +9 &SJ Z WJ\ K^ +10 &U\ X W\ J_ +9 &V W XV\ J_ +9 &X Y XP\ J` +10 &ZH T XM\ Ia +8 &[{ U WW\ LF +10 &\\# V ZZ\ L. +9 &\\ T WT\ O!a +3 ( + C'& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + .Hand.open +2 M&K1 +65 h 1 +2 M&0% +4 h % 9 J x + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\\' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%<& +3 h &\ 2 +2 M&q% +3 h %  P  +2 A(6% +3 h % \  #\ 4 + A(d. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(F(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<, \ 3 + M&C& +4 h &ӊ( @^ + M&1% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&J( +163 h ( + M&r& +4 h &  +2 A(& +3 h &<, 1 1 \ 5 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&t'O +97 h ' + A(f& +4 h &<, / 3 \ 6 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(v's +313 h ' + A(c- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (=& +2 h &<, / ' a\ 5 +2 M& & +3 h & >  + .t\Elbow.seek 5 +2 M&+( +2 h ( +2 M&_& +3 h &   + A(L& +3 h &<, 3 3 \ 6 +2 .t\Forearm.seek 5 + 300 counts +2 M&'Ϲ +23 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&^/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&n& +6 A(4' +2 h & 5  +2 M&U% +3 h % ϧ # +2 .t\Forearm.seek :retract + M&I' +92 h ' + .t\Elbow.seek PC +2 M&"( +166 h ' + ."downElevator"\SE.coast + A(5 +73 h ( + M&& +4 h & 7 ) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &3& +4 h & ( + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M& ' +96 h ' + P%m& +4 h &\ 6 + P%l& +4 .t\PC.seek :closed + P%5(^ +3 h &\ 6 +5 &\ 51 +9 &2Dy\ 02 +9 &Uo~\ 0F +10 &c\ 1R +9 &Q\ 2R +9 &oR\ 2R +10 &1R\ 2R +9 &P\ 2R +9 &P\ 2R +10 &wR\ 2R +9 &9Q\ 2R +10 & Q\ 2R +9 &"O\ 2R +9 &$Q\ 2R +10 &&BT\ 2R +9 &(Q\ 2R +9 &)Q\ 2R +10 &+P\ 2R +9 &-KQ\ 2R +9 &/ QA\ 2R +9 &0RC\ 2Q +10 &2QE\ 2R +10 &4SOF\ 2R +9 &6TF\ 2R +9 &7Q@\ 1R +9 &9QE\ 2R +10 &;YRE\ 2R +10 &=RN\ 3S +9 &>TG\ 2S +8 &@SK\ 2S +11 &B_\\O\ 1S +8 &DcL\ 1T +10 &EwJ\ 0U +9 &GF\ /X +9 &IZO\ /X +11 &KO\ /X +8 &LI\ /Y +9 &NF\ /Y +10 &P\\L\ .Z +9 &RI\ /Y +10 &SF\ .Z +9 &UH\ /Y +10 &WdF\ /Z +9 &Y&F\ /Z +10 &ZD\ .Z +8 &\\F\ .Z +10 &^7lxK\ 0) +10 &^cF\ 26 +8 ( +2 &^"G\ 43 +2 P%l& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.70 .Hand.open + M&M1 +77 h 1 + M&% +4 h %  ; + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 P%W& +4 h &^"\ 33 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 M&e% +3 h %   +2 A(!% +3 h %   %\ 4 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(%(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&& + A(E& +4 h & | ( + .t\Elbow.reconfigure TightElbow +4 M&$&.,(\ #b +2 h &<,   $\ 4 +2 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.seek PC +2 A(#]kK-0-\ b + M&p( +5 h ( +2 M&?& +3 h &  ( +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b + ."raiseStack"\SE.seek beamBreak +4 A(j's +3 M& & +3 h & ( +2 .t\Forearm.seek :PC + M&i' +92 h ' + .tHand.close + M&}/ +67 h / +2 .t\PC.seek :open +2 P%S( +105 h ' + A(h- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place + A(D'1 +44 h ' +298 ( + A(s& +4 h &<, 1 1 \ 5 +2 M&a& +3 h & ( +2 M&P% +3 h %  " _ + .t\Forearm.seek :retract +2 M&{' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +41 M&( +259 h ( + M&& +4 h & B W + A(z& +3 h &<,   "\ 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&@'O +92 h ' + .tHand.open + M&/1 +76 h 1 + A(8- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(;' +28 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(H' +54 h ' + #tLights, camera, ACTION! +2 A(- +3 h -' + A(]& +3 h &<, \ * +2 M&:& +3 h & m W +2 .t\Elbow.seek 5 + M&( +4 h ( + M&b& +3 h & ; W +2 A(& +3 h &<, \ + +2 .t\Forearm.seek 5 + 450 counts +2 M&['O +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +50 h ' + M&A& +4 h & # W +2 A(& +3 h &<,  @\ 4 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&w'΍ +22 h ' + .t\Elbow.hold +2 M&B, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(9' +20 h ' +2 M&% +3 h %Λ +2 A(& +3 h &<,  \ 4 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 314 counts + M&V' +17 h ' +2 M&Z& +3 h & I 4 +2 A(|& +4 h &<, 1 2 \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&\ 'O +15 h ' +2 A(&% +3 h % 1 1 \ 5 +3 ."downElevator"\SE.seek :down +2 A(,' +99 (.% +3 h %B \  F\ 3\\v + M&% +4 h %#   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Q' +87 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'N& +3 h &\\ X X\ S!a +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&% +4 h %  (  + A(% +3 h % 1 1 \ 5 +2 A('. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(u(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (7& +3 h &<, 4 2 ^\ 5 + M&& +3 h & 4 +2 .t\Elbow.seek 5 +2 M&X( +22 h ( + M&& +4 h &  +2 A( & +3 h &<, 1 1 \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&$'O +91 h ' + A(2& +4 h &<, ' 0 A\ 7 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(k's +300 h ' + A(#- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&T& +2 h & ,  +2 A()& +3 h &<, 1 2 [\ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&*'΍ +19 h ' + .t\Elbow.hold +2 M&g, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A( - +2 h -' +2 .t\SE.seek 0.16 +2 A(G'k +29 h ' + M&% +4 h %η + A(o& +3 h &<, 1 0 f\ 5 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 342 counts + M&(' +15 h ' + M&`& +4 h &   + A(x& +4 h &<, 1 1 \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&~'O +20 h ' +2 .t\SE.seek 1.16 + A(>' +40 h ' + M&-& +4 h &  +2 M&K% +3 h %l  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&0' +90 h ' + .t\Elbow.seek CC +2 M&<(ӂ +158 h ( + M&q& +4 h &ӌ-  Dy + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &6& +3 h &ӌ, F Dy + .t\Forearm.seek :CC +2 M&d'? +92 h ' + .tHand.close + M&/ +77 h / + .t\CC.seek :open +2 C'( +451 h ( +2 A(C& +4 h &<, A > `\ 9 + A(1& +3 h &<, . :\ 9 +2 M&y& +3 h &ӓ+  Cr + M&r% +3 h % L b +2 .t\Forearm.seek :retract +2 M&' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&( +163 h ( + M&f& +4 h & x  + A(O& +4 h &<, A A \ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 5 + M&\\'΍ +91 h ' + .t\Elbow.hold +2 M&c, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&=1 +66 h 1 + M& % +4 h % ο O ` + A(_& +3 h &<, H D \ ; +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 350 counts + M&L' +17 h ' +2 M&^& +4 h &   + A(n& +4 h &<, D = ^\ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&U'O +17 h ' +2 A(J% +3 h % H D s\ ; +3 ."downElevator"\SE.seek :down +2 A(t' +99 (v% +2 h %y5 A @ |\ 9Yn +2 M&% +3 h %# E , +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +90 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 5 to 4 + M&3% +4 h %   + A(+% +4 h % > G ~\ ; + A(m. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(4(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (I& +3 h &<, H I \ ; + M&Y& +4 h &   +2 .t\Elbow.seek 5 + M&M( +3 h ( + M&& +4 h & :  + A(W& +3 h &<, H G\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&e'O +97 h ' + A(!& +4 h &<, E @ \ < +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(l's +296 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +71 h / + M&E& +4 h &  + M&?% +3 h % O  o +2 .t\Forearm.seek :retract + M& ' +90 h ' + .t\Elbow.seek :clear +2 M& (d +98 h ( + M&}& +4 h &d | + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &F& +3 h &d | + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&"' +2 h ' + .t\SE.seek :down +2 A(h' +267 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A((,y +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (5& +3 h &,| @ A \ 9 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(j's +278 h ' + A(s- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(a'1 +41 h ' + A(P& +4 h &,~@ ,  \ 6  + A(i& +3 h &,~( . ' H\ 6\  +48 M&& +4 h &d | +2 M&z% +3 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&p( +102 h ( + M&/& +4 h & n  + A(8& +4 h &,} @ ? \ 9\ + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&'7 +92 h ' + .t\Elbow.hold +2 M&], +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&:1 +75 h 1 +2 M&b% +4 h % i 8 x + A(& +3 h &,} @ A z\ :\ + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 350 counts +2 M&{'ϕ +22 h ' + M&A& +4 h & M  + A(& +4 h &,} A A \ :\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&' +16 h ' +2 A(% +3 h %; B D \ : +4 ."downElevator"\SE.seek :down +2 A(Z' +99 (D% +2 h %3 #\ 8Yo +2 M&|% +3 h % x +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&&' +87 h ' +63 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 5 to 4 + M&;% +4 h %  >  + A(% +4 h % : : 8\ ; + A(@. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(H(<- +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (.& +3 h &<* ; ? \ 9  + M&& +3 h &  +2 .t\Elbow.seek 5 + M&[( +17 h ( + M&& +4 h &  + A(& +3 h &<* ) 1 L\ 8  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&w'O +98 h ' + A(N& +4 h &<* > A \ 9  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(V's +296 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +65 h / +2 M&'& +4 h & %  + M&9% +3 h % P . b +2 .t\Forearm.seek :retract + M&7' +91 h ' + .t\Elbow.seek :clear +2 M&(d +94 h ( + M&& +4 h &d i  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &d   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&\ ' +8 h ' + .t\SE.seek :down +2 A(2' +271 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(,(,y +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (%& +3 h &,|  $ \ 8 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(B's +319 h ' + A(Q- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (#& +3 h &,|/  &\ 4  +2 A(T& +3 h &,|/ * / J\ 5  + M&)& +3 h &d  +2 M& % +3 h % "  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&( +98 h ( + M&o& +4 h & q 0 + A(`& +3 h &,|/   "\ 5  +2 .t\Elbow.reconfigure LimpElbow + M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&x'7 +94 h ' + .t\Elbow.hold +2 M&-, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&K1 +77 h 1 + M&$% +4 h % X f I + A(X& +3 h &,|0 1 0 q\ 6  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 333 counts +2 M&k'τ +31 h ' + M&*& +4 h & f / + A((& +3 h &,|/ 0 1 Z\ 5  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&G' +14 h ' +2 A(q% +3 h % 1 2 \ 6 +2 ."downElevator"\SE.seek :down +2 A(6' +100 (~% +3 h %6 $ \ 8Yo +2 M&g% +3 h %  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 4 of 4..4 +2 #Loading generic puck from tube 4 into Collection Clamp + C'0& +4 h & Y X)\ \\ + M&R% +4 h %   + A(C% +3 h % G H \ ; +2 A(1. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(y(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (r& +3 h &,{ B A \ : + M&f& +4 h & / +2 .t\Elbow.seek 4 + M&O( +3 h ( + M&d& +4 h &  / +2 A(<& +3 h &,y ; @ d\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&=' +95 h ' + A( & +4 h &,y G B\ : +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(_'s +300 h ' + A(^- +3 h -'\ + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (n& +2 h &,y / ) \ 9 +2 M&J& +3 h &  / + .t\Elbow.seek 4 +2 M&( +3 h ( + M&v& +3 h & ' / +2 A(& +4 h &,y ? @ x\ : +2 .t\Forearm.seek 4 + 300 counts + M&'c +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&\\/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&3& +3 A(L' +5 h & J / +2 M&+% +3 h % [  +2 .t\Forearm.seek :retract + M&m' +91 h ' + .t\Elbow.seek CC +2 M&I(ӂ +157 h ' + ."downElevator"\SE.coast +2 A(5 +2 h ( +2 M&>& +3 h &Ӌ   9) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &Y& +3 h &Ӌ H 9) + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +91 h ' + C'W& +4 h & Y Vq\ [ +2 C'U& +3 .t\CC.seek :closed +2 C'!(\\ +2 h & Z X6\ [ +4 & [ Wn\ [ +9 &/v Y Wq\ T+| +10 &c~ Z Yh\ S@ +9 &gp Z ZZ\ TP +10 &(Q Y [_\ VP +9 &Q [ XV\ VP +9 &R Y Z_\ VP +10 &pQ Y Y\\\ VP +9 &1U X X_\ VP +9 &R X YZ\ VP +10 &R Y ZY\ VP +9 & wT Y Y^\ VP +10 &";Q W \\]\ VO +9 &#Q Y ZT\ VP +9 &%R Z [D\ VP +10 &'U Z X\ VP +9 &)AR Y Z\ VP +9 &+R Z XT\ VP +10 &,R W XL\ VO +9 &.S Z ZP\ VP +9 &0JQ Z YU\ VP +9 &2 U Z Yb\ UP +10 &3R X Z`\ VP +9 &5Q Z Y_\ VP +10 &7QU Z Xd\ UP +9 &9Q Z Zf\ VP +10 &:O X Ya\ VP +8 &<Q Z [`\ VP +11 &>ZO X Yc\ VP +8 &@R X Y`\ VP +9 &AU Z Y]\ VP +10 &CZ W Y\\\ UQ +10 &E[b Z YT\ UR +9 &Gw [ [^\ TT +9 &H \\ \\T\ RW +9 &J _ [\\\ O[ +11 &LH ] \\_\ O[ +9 &N ] \\W\ N\\ +9 &O [ \\K\ N] +9 &Q [ \\e\ N] +9 &SI ] ]\ N^ +10 &U [ ]\\\ N_ +10 &V ] \\P\ M_ +8 &X ] ]\ M_ +11 &ZI \\ _S\ L` +9 &[z \\ _V\ OF +9 &\\# ^ ^R\ P+~ +10 &\\ \\ ^S\ R!a + ( + C'U& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + .Hand.open +2 M&t1 +71 h 1 +2 M&u% +3 h % A z +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&c' +88 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%& +3 h &\ 5 +2 M&% +3 h %  ^  + A(% +4 h % . ' C\ 5 + A(E. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(?(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (}& +3 h &,y  \ 4 + M&F& +3 h &Ӌ  9) +2 M&e% +3 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&M( +163 h ( + M& & +4 h & 7  + A(l& +3 h &,y 1 0 U\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&4' +96 h ' +46 A(5& +7 h &,y 0 0 p\ 6 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(s's +301 h ' + A(h- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (P& +2 h &,y "  4\ 5 +2 M&i& +3 h & =  + .t\Elbow.seek 4 +2 M&( +2 h ( +2 M&z& +3 h & M  + A(/& +3 h &,y - ! \ 5 +2 .t\Forearm.seek 4 + 300 counts +2 M&8'c +33 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&j/ +67 h / +2 ."downElevator"\SE.seek :down +3 M& & +5 A(:' +3 h &   +2 M&b% +3 h % g \ +2 .t\Forearm.seek :retract +2 M&' +92 h ' + .t\Elbow.seek PC +2 M&A( +164 h ' + ."downElevator"\SE.coast + A(5 +74 h ( + M&& +4 h & U 6 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +3 h &  6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&"' +97 h ' + P%D& +4 h &\ 6 +2 P%|& +3 .t\PC.seek :closed + P%p(^ +3 h &\ 6 +3 &\ 6 +9 &.u\ 1+{ +10 &`{\ 0? +9 &Zr\ 0R +9 &Q\ 2R +10 &R\ 2R +9 &O\ 3R +10 &`R\ 3R +9 &"R\ 2R +9 &Q\ 2R +10 &P\ 2R +9 & gQ\ 2R +9 &"*O\ 2R +10 &#T\ 3R +9 &%O\ 3R +10 &'pP\ 2R +9 &)1O\ 2R +9 &*Q\ 2R +10 &,P\ 2R +9 &.xO\ 2R +9 &0;P\ 3Q +10 &1P\ 2R +9 &3O\ 2R +10 &5O-\ 3R +9 &7AO3\ 2R +9 &9QC\ 2R +10 &:QC\ 2R +9 &<QE\ 2R +9 &>HV&\ 2R +10 &@\ VK\ 2R +9 &AYD\ 2S +10 &CfF\ 1U +9 &EDzF\ 0W +9 &GK\ /X +10 &H\ 0W +9 &J!\ /X +10 &LFO\ /Y +9 &N"\ /Y +9 &O#\ /Z +10 &QK\ /Z +9 &SJ#\ /Z +9 &U \ /Z +9 &VD\ /Z +10 &X=\ /Y +9 &ZSO\ /Z +10 &\\Q\ .Z +9 &]K\ /@ +10 &^0\ /[ +9 &^0B\ 46 +2 ( + P%|& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open + M&1 +76 h 1 + M&;% +4 h %  - . + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&{' +90 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^,S\ 36 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&@% +3 h %   +2 A(a% +3 h %  q\ 4 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(Z(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&.& +4 h &,y  \ 3 +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h & 6 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&( +2 h ( + M&& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h & 6 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &N& +2 h & * 6 +2 .t\Forearm.seek :PC +2 M&]' +94 h ' + .tHand.close + M&&/ +71 h / +2 .t\PC.seek :open +2 P%( +93 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(''1 +43 h ' +308 ( + A(9& +4 h &,z(  /\ 2  + M&& +4 h & 6 + M& % +3 h %  L W +2 .t\Forearm.seek :retract + M&w' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&[( +257 h ( + M&7& +4 h & K + A(V& +4 h &,z( U\ 1  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&H' +100 h ' + .tHand.open + M&%1 +74 h 1 + A(2- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(Q' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(#' +52 h ' +2 #tLights, camera, ACTION! + A(T- +3 h -' +2 A()& +3 h &,z& \ "  +2 M& & +3 h & K + .t\Elbow.seek 4 +2 M&o( +10 h ( + M&`& +4 h & 3 - + A(K& +4 h &,z& \ "  +2 .t\Forearm.seek 4 + 450 counts +2 M&' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A($' +54 h ' + M&X& +4 h & e - +2 A(*& +3 h &,z'  i\ 1  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&('7 +16 h ' + .t\Elbow.hold +2 M&q, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(\ ' +27 h ' +2 M&~% +3 h %K  8 +2 A(g& +3 h &,z(  \ 1  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 320 counts +2 M&'w +28 h ' +2 M&x& +3 h & 3 - +2 A(0& +3 h &,z( '\ 1  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&k' +18 h ' +2 A(R% +3 h % $\ 2 +3 ."downElevator"\SE.seek :down +2 A(C' +99 (1% +3 h %}? \ 2\\v + M&B% +4 h % = + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&r' +86 h ' +84 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'f& +3 h &\\ \\ ]\ S!a +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&d% +3 h %   +2 A(<% +3 h % 1 1 ^\ 6 + A(G. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A( (,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (6& +2 h &,z 0 1 ]\ 5 +2 M&,& +3 h & , +2 .t\Elbow.seek 4 + M&-( +10 h ( + M&& +4 h &   + A(^& +4 h &,z 1 1 \ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&n' +94 h ' + A(J& +4 h &,z 2 0 I\ 6 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(v's +299 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&\\& +2 h & P  +2 A(3& +3 h &,z 1 1 Z\ 6 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&+'7 +16 h ' + .t\Elbow.hold +2 M&O, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(=- +2 h -' + .t\SE.seek 0.16 +2 A(>'k +32 h ' + M&Y% +4 h %M ^ e + A(_& +4 h &,z 0 1 >\ 6 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 322 counts +2 M&'y +32 h ' + M&W& +4 h & #  + A(& +5 h &,z 1 1 n\ 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&L' +22 h ' + .t\SE.seek 1.16 +2 A(m' +36 h ' + M&& +4 h & G  +2 M&t% +3 h % J + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&u' +90 h ' + .t\Elbow.seek CC +2 M&(ӂ +154 h ( + M&& +4 h &Ӓ+ Cn + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +47 h &Ӓ+  Cn +6 .t\Forearm.seek :CC +2 M&E'? +93 h ' + .tHand.close + M&U/ +65 h / + .t\CC.seek :open +2 C'}( +451 h ( + A(F& +4 h &,z   e\ 8 + A(e& +3 h &,z & , +\ 8 +2 M&& +3 h &ӓ+ + Cm +2 M& % +3 h % 0 +2 .t\Forearm.seek :retract + M&l' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&y( +157 h ( + M&5& +4 h &  +2 A(I& +3 h &,z ? > \ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 4 +2 M&c'7 +94 h ' + .t\Elbow.hold +2 M&h, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&P1 +70 h 1 + M&i% +4 h % e 2 p + A(z& +4 h &,z > @ P\ : + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 346 counts +2 M&/'ϑ +25 h ' +2 M&j& +4 h & <  + A( & +3 h &,z B B \ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&b' +10 h ' +2 A(M% +3 h % : = A\ : +3 ."downElevator"\SE.seek :down +2 A(4' +99 (s% +2 h %5 @ ? d\ 9Ym +2 M&8% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +67 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 4 to 3 + M&% +4 h %   + A(% +4 h % 9 9 E\ ; +2 A(D. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(:(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,z F < v\ : + M&S& +4 h &  + .t\Elbow.seek 4 +2 M&( +3 h ( + M&;& +4 h & M  +2 A(& +3 h &,z G F \ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&@' +93 h ' + A(a& +4 h &,z = : \\\ ; + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(|'s +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +73 h / + M&.& +4 h & 4  + M&% +3 h %  ! +2 .t\Forearm.seek :retract +2 M&N' +90 h ' + .t\Elbow.seek :clear +2 M&"(d +105 h ( + M&&& +4 h &d  d + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &?& +3 h &d " d + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +9 h ' + .t\SE.seek :down +2 A(A' +264 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A({( +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (p& +3 h & ? @ /\ : + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A('s +275 h ' +2 A(9- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A('1 +47 h ' + A( & +4 h & F 6 ?\ 9 + A(]& +3 h & 9 2 a\ 9 +2 M&7& +3 h &d d + M&V% +4 h %    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +103 h ( + M&%& +4 h &  + A(2& +3 h & > > \ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&T'u +94 h ' + .t\Elbow.hold +2 M&), +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +74 h 1 + M&`% +4 h % Λ 6 + A(w& +3 h & ? > \ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 338 counts + M&K' +19 h ' + M&X& +4 h &  + A(*& +4 h & A @ \ : + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&~'7 +13 h ' + A(g% +4 h %2 ? > I\ : +3 ."downElevator"\SE.seek :down +2 A('' +99 (x% +2 h %x8  # \ \ 8Zr +2 M&0% +3 h %D  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&Q' +89 h ' +64 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 4 to 3 +2 M&R% +4 h %    + A([% +4 h % 9 9 =\ ; + A(H. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(#(,y +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (1& +3 h &,w ? A o\ 9 + M&B& +3 h & t  +2 .t\Elbow.seek 4 +2 M&( +36 h ( + M&o& +4 h & c  + A($& +3 h &,x , @ '\ 8\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&(' +95 h ' + A(& +4 h &,x > > \ 9\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(f's +299 h ' + A(d- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&\ / +76 h / + M&<& +4 h & =  + M&G% +3 h %  >  +2 .t\Forearm.seek :retract + M&6' +91 h ' + .t\Elbow.seek :clear +2 M&,(d +102 h ( + M&& +4 h &d ; a + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &^& +3 h &d  a + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&k' +8 h ' + .t\SE.seek :down +2 A(J' +274 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(C( +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (Z& +3 h & = 9 \ : + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(q's +319 h ' + A(r- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +3 h & $  p\ 8 + A(\\& +3 h & : > \ 9 +2 M&3& +3 h &d a + M&=% +3 h % "  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&Y( +104 h ( + M&_& +4 h & I + A(W& +3 h & " # J\ 8 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&'u +92 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .tHand.open +2 M&t1 +65 h 1 + M&n% +4 h % Ρ K + A(-& +3 h & @ ? |\ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 344 counts + M&v' +19 h ' + M&+& +4 h & W C + A(& +3 h & @ > v\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&>'7 +16 h ' + A(% +4 h % @ ? m\ : +2 ."downElevator"\SE.seek :down +2 A(' +100 (L% +5 h %3 )  \ 9Zo +2 M&O% +3 h % !  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&U' +90 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast +44 A(6 +6 #t\Shuffling pucks in tube 3 of 3..3 +2 #Loading generic puck from tube 3 into Collection Clamp + C'u& +4 h & Z Y5\ [ + M&!% +4 h %  0  + A(F% +3 h % : 9 7\ ; +2 A(e. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ( & +3 h & A > u\ : + M&5& +4 h & B +2 .t\Elbow.seek 3 + M&I( +3 h ( +2 M&E& +3 h & B +2 A(& +3 h & . ' -\ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&P'7 +98 h ' + A(i& +4 h & : :\ ; +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(z's +296 h ' + A(j- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( & +2 h & ? > \ 9 +2 M&M& +3 h &  B + .t\Elbow.seek 3 +2 M&l( +3 h ( + M&s& +4 h & $ B + A(8& +3 h & @ @ [\ : +2 .t\Forearm.seek 3 + 300 counts +2 M&y'ϡ +22 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&c/ +73 h / +2 ."downElevator"\SE.seek :down +2 M&& +6 A(/' +2 h & B +2 M&% +3 h %  | +2 .t\Forearm.seek :retract +2 M&D' +87 h ' + .t\Elbow.seek CC +2 M&m(ӂ +155 h ( + M&& +4 h &ӏ* . Bk + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 h ' + ."downElevator"\SE.coast +2 A(5 +3 M&S& +3 h &ӏ* ; Bk +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&;'? +91 h ' +2 C'& +4 h & Z Y9\ [ + C'b& +3 .t\CC.seek :closed +2 C'a(\\ +3 h & X Y7\ [ +4 & W Yz\ [4 +10 &2H| Y Wv\ T2 +9 &Yo~ X X{\ TF +10 &] Z Ys\ VP +9 &Q Z Xr\ WP +9 &|P Y [r\ VP +10 &>R W Yq\ VP +9 &R X Yd\ VP +9 &O W Zp\ WP +10 &R Z Xh\ VP +9 &FQ X Yf\ VP +10 &! Q W Zd\ VP +9 &"U Y ]j\ VP +9 &$Q Y X`\ VP +10 &&OQ Y Y\\\ VP +9 &(S Z X`\ VP +9 &)R Y [Z\ WP +10 &+U Y YX\ VP +9 &-WR W ZT\ WP +10 &/Q Z [a\ VO +9 &0Q Y Yi\ WP +9 &2Q X Wi\ VP +9 &4^Q V Yq\ VP +10 &6"Q Y Zr\ VO +9 &7S Y Zr\ WP +10 &9Q Y Zr\ WP +9 &;gT Z [t\ WP +9 &=(O Y Ys\ WP +9 &>R Y Zr\ VP +9 &@R Y Zq\ VP +11 &BnU X Yq\ WP +9 &D.\\ X Xr\ VQ +9 &Eo X Yr\ US +10 &G X Zs\ RW +9 &IX W Ze\ PZ +10 &K Y Xn\ P\\ +9 &L W Xb\ P\\ +9 &N X Wa\ O\\ +10 &PW Y Yf\ N] +8 &R X Xb\ O^ +10 &S W Xd\ N^ +9 &U X Wb\ N_ +10 &WY X W]\ N_ +10 &Y V WV\ La +9 &Z W US\ L` +9 &\\Lb W W[\ N2 +10 &\\ Y X[\ O"f +8 ( +2 &\\ W VZ\ R!` + C'b& +3 #t\Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 +2 .Hand.open + M&41 +74 h 1 + M& % +4 h % > y +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&h' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 3 into Processing Clamp +2 P%& +3 h &\ 4 +2 M&% +3 h %   +2 A(% +3 h % 5\ 4 + A(.. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (&& +3 h & \ \ 3 + M&?& +4 h &Ӑ* Bj + M&@% +4 h %    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +166 h ( + M&N& +4 h &~ &  + A(|& +3 h & 1 0 P\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&:'7 +89 h ' + A(p& +4 h & 3 / e\ 7 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(9's +301 h ' + A(A- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 ( & +2 h & 0 1 [\ 5 +2 M&]& +3 h &~ Q  + .t\Elbow.seek 3 +2 M&7( +3 h ( + M&V& +3 h &~  +2 A(%& +3 h & . 1 <\ 5 +2 .t\Forearm.seek 3 + 300 counts + M&2'ϡ +13 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&"& +3 A( ' +5 h &~   +2 M&`% +3 h % Ϡ S +2 .t\Forearm.seek :retract +2 M&w' +92 h ' + .t\Elbow.seek PC +2 M&X( +164 h ' + ."downElevator"\SE.coast + A(5 +75 h ( + M&*& +4 h & b ' + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &g& +3 h & H ' + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +3 M&' +97 h ' + P%x& +4 h &\ 5 +2 P%0& +3 .t\PC.seek :closed +2 P%(^ +2 h &\ 6 +3 &\ 5 +9 &.u\ 0+| +10 &a~\ 0@ +9 &^q\ 0Q +9 &N\ 3R +10 &Q\ 2R +9 &P\ 2R +10 &bQ\ 3R +9 &$P\ 2R +9 &P\ 2R +10 &P\ 2R +9 & kP\ 2R +9 &".O\ 2R +9 &#Q\ 2R +10 &%M\ 3R +10 &'sP\ 2R +9 &)5O\ 2R +9 &*P\ 3R +10 &,P\ 2R +9 &.|N\ 2R +9 &0>P\ 2R +10 &2O\ 3R +8 &3N\ 2R +10 &5P\ 3R +9 &7FO\ 3R +9 &9R\ 2R +10 &:Q\ 2R +9 &<Q:\ 2R +10 &>KTQ\ 2S +10 &@ TB\ 2S +9 &AWA\ 2S +9 &CgK\ 1T +9 &EJqL\ 0V +10 &GQ\ /W +10 &HR\ /X +9 &JR\ /Y +9 &LK\ /X +9 &N\ L\ /Y +10 &OI\ /Y +9 &QR\ .Z +10 &SO?\ .Z +8 &U$\ /Z +11 &V\ .Z +9 &X\ /Y +10 &ZU\ /Z +8 &\\\ .Z +9 &]\ /; +11 &^+r\ 1#g +9 &^<\ 2; + ( + P%0& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open + M&T1 +76 h 1 + M&R% +4 h %  4 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&K' +90 h ' + .t\SC.coast + A(6 +2 P%[& +4 h &^8S\ 2; +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&H% +3 h %    +2 A(% +3 h % }\ 3 +2 A(~. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A('( +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ({& +4 M&1& + h & \ 3 +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h & % & +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&B( + h ( +2 M&o& +3 ."raiseStack"\SE.seek beamBreak +2 A($'s +2 h & 7 & + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & & +2 .t\Forearm.seek :PC + M&)' +92 h ' + .tHand.close + M&Q/ +74 h / +2 .t\PC.seek :open +2 P%d( +93 h ' + A(\ - +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(<'1 +40 h ' +314 ( + A(G& +4 h & 0 ' H\ 5 + M&& +3 h & m & +2 M&^% +3 h %  2 [ +2 .t\Forearm.seek :retract + M&(' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +246 h ( + M&6& +4 h &  3 + A(f& +3 h &   B\ 4 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&#'7 +95 h ' + .tHand.open + M&Z1 +75 h 1 + A(J- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(r' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +50 h ' +2 #tLights, camera, ACTION! + A(\\- +3 h -' +2 A(3& +3 h & \ * +2 M&=& +3 h &  3 +48 .t\Elbow.seek 3 +3 M&_( +3 h ( + M&W& +4 h &  3 + A(t& +3 h & v\ * +2 .t\Forearm.seek 3 + 450 counts +2 M&n'7 +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(-' +49 h ' + M&,& +4 h & 3 +2 A(+& +3 h & 1 0 J\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 +2 M&'u +13 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(k' +19 h ' +2 M&L% +3 h %Κ I +2 A(O& +3 h & 1 1 3\ 5 +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 337 counts +2 M&Y' +20 h ' +2 M&& +3 h & 4 2 +2 A(u& +4 h & ' #\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&v'7 +12 h ' +2 A(q% +4 h % ' / \ 5 +2 ."downElevator"\SE.seek :down +2 A(!' +100 (F% +3 h %9 \ 4[s + M&e% +4 h %. ; + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +87 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'5& +3 h &\\ W [\ S!` +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&E% +4 h %  *  + A(% +3 h % . 0 \ 6 +2 A(>. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(i( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & 0 1 L\ 6 +2 M&C& +3 h & 2 + .t\Elbow.seek 3 +2 M&( +3 h ( + M&U& +4 h & S 2 + A(j& +4 h & 0 0 F\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M& '7 +103 h ' + A(M& +4 h & 0 / _\ 6 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(s's +300 h ' + A(8- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&c& +2 h & 2 +2 A(& +3 h & #  \ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&'u +15 h ' + .t\Elbow.hold +2 M&I, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(P- +2 h -' +2 .t\SE.seek 0.16 + A('l +31 h ' + M&S% +4 h %Β 6 + A(z& +3 h & 1 0 9\ 5 +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 329 counts +2 M&y'Ͼ +24 h ' + M&& +4 h & a 2 +2 A(l& +3 h & & . \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&/'7 +15 h ' +2 .t\SE.seek 1.16 + A(D' +53 h ' +2 M&}& +3 h & # 2 +2 M&4% +3 h %/  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +90 h ' + .t\Elbow.seek CC +2 M&(ӂ +153 h ( + M&& +4 h &ӏ) E A_ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӏ) 6 A_ + .t\Forearm.seek :CC +2 M&b'? +92 h ' + .tHand.close + M&./ +74 h / + .t\CC.seek :open +2 C'&( +451 h ( +2 A(?& +4 h &   E\ 8 + A(@& +3 h &   \ 8 +2 M&;& +3 h &Ӑ( @^ + M&N% +4 h % < o +2 .t\Forearm.seek :retract + M&|' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +164 h ( + M&p& +4 h &~  + A(m& +4 h & > = \ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&h'u +93 h ' + .t\Elbow.hold +2 M&A, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +77 h 1 + M&]% +4 h % a s + A(V& +3 h & > > ~\ : +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 280 counts + M&%'ύ +30 h ' +2 M&& +4 h & [ [ + A("& +4 h & > @ m\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&`'7 +20 h ' +2 A(% +3 h % = : L\ ; +3 ."downElevator"\SE.seek :down +2 A(:' +99 (9% +2 h %6 > = \ :Yo +2 M&2% +3 h %U 2 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&*' +85 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 3 to 2 + M&g% +4 h %  -  + A(7% +4 h % G D \ ; + A(x. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A( ( +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (w& +3 h & G G \ ; + M&& +4 h & 1 [ +2 .t\Elbow.seek 3 + M&T( +29 h ( + M&R& +4 h & ^  + A([& +4 h & ? < ]\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&H'7 +89 h ' + A(& +4 h & > > y\ < + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(0's +299 h ' + A(~- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&{/ +71 h / + M&1& +4 h & U  + M&o% +3 h % ? " +2 .t\Forearm.seek :retract +2 M&' +86 h ' + .t\Elbow.seek :clear +2 M&(d +106 h ( + M&Q& +4 h &d F k + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d < k + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&\ ' +2 h ' + .t\SE.seek :down +2 A(X' +262 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(K(  +358 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  ' / I\ 9 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A($'s +110 E%\ cTQ +165 h ' + A(G- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A('1 +43 h ' + A(^& +4 h &  2 3 %\ 8 + A()& +3 h &  &  \ 7 +2 M&6& +3 h &d k + M&f% +3 h %  d  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&B( +102 h ( + M&Z& +4 h & * + A(J& +3 h & \ %  \ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 2 +2 M&\\'Α +93 h ' + .t\Elbow.hold +2 M&3, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&=1 +67 h 1 + M&(% +4 h % έ m + A(W& +4 h &  > > \ : + .t\Forearm.force -20 + M&5 +48 .t\Forearm.seek 2 + 328 counts +3 M&t' +17 h ' + M&,& +4 h &  ) + A(+& +3 h &  > > \ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&L'S +14 h ' +2 A(<% +3 h %8 : > F\ ; +2 ."downElevator"\SE.seek :down +3 A(O' +99 (r% +2 h %@B   B\ 8[v +2 M&% +4 h %t ; + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&u' +89 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 3 to 2 + M&q% +4 h %    + A(% +4 h % 8 9 P\ ; +2 A(#. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(F( +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & , : #\ 8 + M&e& +3 h & ) +2 .t\Elbow.seek 3 + M&n( +23 h ( + M&_& +4 h &{  + A(-& +3 h & 9 9 7\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +90 h ' +2 A(5& +4 h & 4 < D\ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(Y's +300 h ' + A(E- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +69 h / + M&>& +4 h &{  + M&k% +3 h % 8 < +2 .t\Forearm.seek :retract +2 M&' +86 h ' + .t\Elbow.seek :clear +2 M&C(d +103 h ( + M&U& +4 h &d S ` + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &j& +3 h &d ` + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&v' + h ' +2 .t\SE.seek :down +2 A(M' +272 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(!(  +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ('& +3 h &  )  \ 8 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak +2 A('s +326 h ' + A( - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (8& +3 h &  : ,\ 9 + A(c& +3 h &  @ ? \ 9 +2 M&& +3 h &d ` + M&P% +4 h %  &  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek 2 +2 M&S( +112 h ( +2 M&z& +4 h & 8  + A(& +4 h &  > = \ 9 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&l'Α +92 h ' + .t\Elbow.hold +2 M&}, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&41 +70 h 1 + M& % +4 h % Γ ; + A(& +3 h &  > @ |\ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 302 counts + M&s'Ͽ +17 h ' + M&& +4 h & W  + A(y& +3 h &  > @ I\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +20 h ' + A(% +4 h % 9 ? *\ : +3 ."downElevator"\SE.seek :down +2 A(' +99 (/% +2 h %: "  \ 8Zq +2 M&I% +3 h %g l +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&.' +89 h ' +59 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 2 of 2..2 +2 #Loading generic puck from tube 2 into Collection Clamp + C' & +4 h & Y Y\ \\ + M&a% +4 h %  G  + A(?% +3 h % ? : F\ ; +2 A(@. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(;(  +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (N& +2 h &  > ? @\ : +2 M&p& +3 h &  +2 .t\Elbow.seek 2 + M&m( +10 h ( + M&b& +4 h & 9  +2 A(& +3 h &  > > n\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M& 'S +93 h ' + A(]& +4 h &  = @ T\ : +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(V's +311 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ("& +2 h &  @ A f\ ; +2 M&& +3 h & r  + .t\Elbow.seek 2 +2 M&|( +2 h ( +2 M&9& +3 h &  + A(2& +3 h &  9 9 \\\ ; +2 .t\Forearm.seek 2 + 300 counts +2 M&'Ͻ +13 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&h/ +66 h / +2 ."downElevator"\SE.seek :down +2 M&g& +3 A(%' +5 h &  +2 M&7% +3 h % ϸ } +2 .t\Forearm.seek :retract + M&x' +94 h ' + .t\Elbow.seek CC +2 M&w(ӂ +155 h ( +2 M&D& +4 h ' + &{.  E +2 .t\Elbow.reconfigure LooseElbow + ."downElevator"\SE.coast +2 A(5 +3 M&$ &.,(#b +2 && +3 h &{. , E + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&R'? +95 h ' +2 C'[& +3 h & X W\ Z +2 C'`& +3 .t\CC.seek :closed +2 C'(\\ +2 h & X VS\ [ +3 & Y Y \ Z +10 &/w Z ZN\ S+| +9 &d~ Y Yy\ S@ +10 &ep Y Xs\ SP +9 &(N Y V{\ WP +9 &T Y Zs\ UP +10 &R X Yr\ VP +9 &mS Y Zr\ VP +8 &1Q Y [s\ UO +11 &R Z Yr\ VP +9 &R Z Zq\ VO +10 & vQ [ Zr\ VP +9 &"8T W Yk\ VP +9 &#Q [ Zm\ VO +10 &%Q X Y]\ VP +9 &'~O Z [e\ VP +9 &)@Q W Y^\ UP +10 &+P Y [j\ VP +9 &,Q Z Z`\ UP +9 &.Q Y X^\ WP +10 &0IQ Y Zp\ UO +8 &2\ Q Y [q\ VP +11 &3U Y Ys\ UP +9 &5O [ Ys\ VP +9 &7QR [ Zq\ VO +10 &9Q X [r\ VP +8 &:T Y Zm\ VP +10 &<O Y Zt\ VP +9 &>XP Y [t\ VP +10 &@P [ Zm\ UO +10 &AT \\ Zn\ VP +9 &CX \\ Zk\ UQ +9 &E[a \\ Zi\ UQ +10 &Gy \\ _q\ RT +9 &H \\ \\m\ RW +9 &J ] ]d\ OZ +10 &LG ^ \\c\ O[\ +9 &N ^ ]m\ O\\ +9 &O \\ \\k\ O\\ +10 &Q ^ \\_\ N] +9 &SG [ \\b\ M^ +9 &U ^ ]d\ N^ +9 &V _ \\d\ L_ +10 &X ^ ]b\ M_ +9 &ZF _ _b\ Ka +10 &[{ _ _]\ PE +10 &\\! _ ^d\ P/ +8 &\\ ` ]`\ S _ +3 ( + C'`& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.31 + .Hand.open + M&:1 +66 h 1 +2 M&i% +4 h % : n + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&A' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 P%*& +3 h &\ 4 +2 M&~% +3 h %   +2 A({% +3 h %  \ 5 +2 A(1. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(o(  +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (Q& +3 h &   \ 4 + M&& +4 h &Ӟ( A_ + M&H% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&T( +166 h ( + M&& +4 h & <  + A(0& +4 h &  . 0 #\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M& 'S +93 h ' + A(& +4 h &  3 4 y\ 7 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(G's +300 h ' + A(X- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (^& +2 h &  - # \ 5 +2 M&)& +3 h & U  + .t\Elbow.seek 2 +2 M&6( +2 h ( +2 M&f& +3 h &  + A(Z& +3 h &  - & !\ 5 +2 .t\Forearm.seek 2 + 300 counts +2 M&J'Ͻ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&$/ +73 h / +2 ."downElevator"\SE.seek :down +48 M&=& +5 A((' +5 h &  +2 M&% +3 h %  +2 .t\Forearm.seek :retract + M&W' +91 h ' + .t\Elbow.seek PC +2 M&,( +168 h ' + ."downElevator"\SE.coast + A(5 +69 h ( +2 M&+& +4 h & 2 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &<& +3 h &  2 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&\ ' +102 h ' + P%r& +4 h &\ 6 +2 P%B& +3 .t\PC.seek :closed +2 P%(^ +2 h &\ 6 +5 &\ 63 +10 &?Ew\ 12 +9 &_m}\ 1F +9 &a\ 1R +10 &P\ 3R +9 &yO\ 3R +9 &:S\ 2R +10 &N\ 3R +9 &O\ 2R +9 &Q\ 2R +10 &CO\ 3R +9 &!P\ 3R +10 &"L\ 3R +9 &$P\ 3R +9 &&KO\ 2R +10 &( Q\ 3R +9 &)P\ 3R +9 &+O\ 3R +10 &-SO\ 3R +9 &/T\ 2R +10 &0Q\ 2R +9 &2O\ 3R +9 &4ZO\ 3R +10 &6Q\ 2R +9 &7P\ 3R +9 &9Q\ 3R +10 &;aR\ 2R +9 &=#O\ 2R +10 &>U\ 2S +9 &@R\ 2R +9 &BfY\ 2S +10 &D%h\ 1T +9 &E\ 0W +10 &GI\ 0X +9 &I`'\ /X +9 &K"?\ /X +10 &LR\ 0Y +8 &N\ /Y +10 &PcK\ /Z +10 &R%L\ /Z +9 &S&\ .[ +9 &UO\ /Y +10 &Wk\ /Z +9 &Y,\ .Z +10 &Z\ /Z +9 &\\\ .Z +9 &^5fx\ 1. +10 &^~\ 0F +8 ( +2 &^I\ 3? + P%B& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.74 + .Hand.open +2 M&\\1 +73 h 1 + M&q% +4 h %   + + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&t' +91 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^J0\ 3? +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&#% +3 h %    +2 A(% +3 h %   6\ 3 + A(L. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(O(  +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (K& +4 M&& + h &  I\ 3 +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h & t 2 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&e( +2 h ( +2 M&_& + ."raiseStack"\SE.seek beamBreak +4 A(-'s +2 h & D 2 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &5& +3 h & A 2 +2 .t\Forearm.seek :PC + M&3' +93 h ' + .tHand.close + M&u/ +66 h / +2 .t\PC.seek :open +2 P%E( +97 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(>'1 +46 h ' +303 ( + A(k& +4 h &  & # \ 6 + M&U& +4 h &  2 + M&j% +3 h %  M _ +2 .t\Forearm.seek :retract + M&' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&n( +244 h ( + M&& +4 h & j 8 + A(Y& +3 h &  1 / I\ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&F'S +99 h ' + .tHand.open + M&'1 +76 h 1 + A(M- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A( ' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(8' +54 h ' + #tLights, camera, ACTION! +2 A(c- +2 h -' +2 A(& +3 h &  \ $ +2 M&P& +3 h & 8 + .t\Elbow.seek 2 +2 M&z( +3 h ( + M&& +3 h & - 8 +2 A(C& +3 h &  \ $ +2 .t\Forearm.seek 2 + 450 counts +2 M&4'S +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A( ' +61 h ' + M&& +4 h & G 8 +2 A(& +3 h &  & 0 >\ 5 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&y'Α +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b + .t\SE.seek -0.33 +2 A(v' +20 h ' +2 M&/% +3 h %δ  Q +2 A(I& +3 h &  1 ' &\ 5 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 335 counts +2 M&S' +16 h ' +2 M&l& +3 h & N 8 +2 A( & +4 h &  / 0 I\ 5 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&s'S +18 h ' +2 A(a% +3 h % - % 7\ 5 +3 ."downElevator"\SE.seek :down +2 A(?' +99 (@% +2 h %C  \ \ 3[v +2 M&% +3 h %, * ) +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&N' +87 h ' +79 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'p& +4 h &\\~ \\ _\ T _ + #t\Storing generic puck in Collection Clamp to tube 2 +2 M&b% +3 h %    + A(% +4 h % 0 0 V\ 6 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(](  +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  / & H\ 6 + M&!& +4 h & P 7 + .t\Elbow.seek 2 +2 M&}( +3 h ( + M&.& +3 h & l 7 +2 A(& +3 h &  0 0 e\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&"'S +101 h ' + A(& +4 h &  4 1 \ 6 + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(9's +299 h ' + A(2- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&h& +3 h & 7 + A(g& +3 h &  & 0 %\ 5 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&7'Α +15 h ' + .t\Elbow.hold +2 M&m, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A( - +2 h -' +2 .t\SE.seek 0.16 + A(D'k +30 h ' + M&% +4 h %ά U + A(V& +3 h &  0 0 S\ 5 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 327 counts + M&' +17 h ' + M&[& +4 h & < 7 + A(|& +4 h &  0 1 [\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&%'S +27 h ' + .t\SE.seek 1.16 +2 A(x' +36 h ' +2 M&&& +3 h & C 7 +2 M&:% +3 h %4  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&i' +88 h ' + .t\Elbow.seek CC +2 M&*(ӂ +162 h ( + M&~& +4 h &Ӎ I 2 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &{& +3 h &Ӎ 2 + .t\Forearm.seek :CC +2 M&1'? +95 h ' + .tHand.close + M&`/ +67 h / + .t\CC.seek :open +2 C'Q( +451 h ( +2 A(& +4 h &  , =\ 8 + A(H& +3 h &    `\ 8 +2 M&R& +3 h &Ӎ 2 + M&% +3 h % 2 Y  +2 .t\Forearm.seek :retract +2 M&0' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&;( +158 h ( + M&& +4 h & q  +48 A(w& +4 h &  ? > \ 9 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 2 +2 M&A'Α +98 h ' + .t\Elbow.hold +2 M&X, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&^1 +66 h 1 + M&)% +4 h % ΁ v + A(f& +4 h &  > > }\ : + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 284 counts +2 M&Z'ϭ +25 h ' + M&$& +4 h & B  +2 A(=& +3 h &  : @ 3\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +25 h ' +2 A(T% +3 h % E < w\ ; +3 ."downElevator"\SE.seek :down +2 A( ' +99 (G% +3 h % 3 ; = {\ 9Ym + M&J% +3 h %n +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&+' +89 h ' +67 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 2 to 1 + M&<% +4 h %  *  + A(6% +4 h % ; ? P\ ; + A(r. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(((  +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (W& +3 h &  @ : \ ; + M&d& +4 h &   +2 .t\Elbow.seek 2 + M&\\( +9 h ( + M&q& +4 h & 7  + A(& +4 h &  A C |\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&#'S +92 h ' + A(& +4 h &  = : k\ ; + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(L's +309 h ' + A(B- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&K/ +65 h / + M&& +4 h &   + M&_% +3 h % U \\ +2 .t\Forearm.seek :retract + M&5' +86 h ' +2 .t\Elbow.seek :clear +2 M&\ (d +98 h ( + M&u& +4 h &d {  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &o& +3 h &d   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +9 h ' + .t\SE.seek :down +2 A(,' +270 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(t(C +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &D ? 9 +\ : + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(-'s +275 h ' + A(k- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(U'1 +40 h ' + A(j& +4 h &D B 4 "\ 9 + A(3& +3 h &D > > m\ 9 +2 M&& +3 h &d  + M&Y% +3 h % # t  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 + M&e( +102 h ( + M&'& +4 h & s  + A(M& +3 h &D   \ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&c'8 +91 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&P1 +73 h 1 + M&% +4 h % ] ! s + A(C& +4 h &D > > \ 9 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 1 + 337 counts + M&'ω +30 h ' + M&& +4 h &  + A(& +3 h &D = > \ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&/' +14 h ' + A(I% +4 h %: > = \ 9 +2 ."downElevator"\SE.seek :down +2 A(l' +100 (>% +2 h %V;   B\ 8[s +2 M& % +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +86 h ' +71 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 2 to 1 + M&a% +4 h %   + A(n% +4 h % : 9\ ; + A(F. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(8(  +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (@& +3 h &  ? > E\ 9 + M&& +3 h & .  +2 .t\Elbow.seek 2 + M&4( +4 h ( + M&z& +4 h &  + A( & +3 h &  = > n\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&y'S +100 h ' + A(S& +4 h &  = > \ 9 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(p's +300 h ' + A(b- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +72 h / +2 M&v& +4 h &   + M&% +3 h % U p +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\Elbow.seek :clear +2 M&!(d +105 h ( + M&.& +4 h &d J m + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d  m + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&s' +4 h ' + .t\SE.seek :down +2 A(' +273 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(?(C +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (O& +3 h &F < = M\ : + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A('s +314 h ' + A(N- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (2& +3 h &F  X\ 9 + A(h& +3 h &F 8 9\ 9 +2 M&g& +3 h &d A m + M& % +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 + M&( +112 h ( + M&V& +4 h & r + A([& +3 h &F : 0\ 9 +2 .t\Elbow.reconfigure LimpElbow + M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&|'8 +96 h ' + .t\Elbow.hold +2 M&&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&:1 +76 h 1 + M&"% +4 h % 4 + A(}& +3 h &F > > y\ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 296 counts + M&9'` +33 h ' + M&7& +4 h &  + A(& +3 h &F ? = \ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&D' +27 h ' +2 A(~% +3 h % = > w\ : +2 ."downElevator"\SE.seek :down +2 A({' +100 (%% +2 h %8   )\ 8Zp +2 M&m% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&`' +89 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 M&i& +4 h & j + M&% +3 h %   +42958 E+\ g@< +60003 #\ g?= +60002 ,\ g?< +60003 8\ h?= +40418 #t-> exit +4 #m\EXIT @1600974804.39EDT @1601400469.67EDT = @EDT1601400471.90 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0x0B86, state=0x32F4, ifg=0x10, ie=0xFD + #@0x0E0A, state=0x32F4, ifg=0x10, ie=0xFD + #@0x108F, state=0x32F4, ifg=0x10, ie=0xFD #@0x1314, state=0x32F4, ifg=0x10, ie=0xFD + #@0x1598, state=0x32F4, ifg=0x10, ie=0xFD + #@0x181D, state=0x32F4, ifg=0x10, ie=0xFD #@0x1AA2, state=0x32F4, ifg=0x10, ie=0xFD + #@0x1BFF, state=0x32F4, ifg=0x80, ie=0xFD + #@0x7524, state=0x3350, ifg=0x00, ie=0x75 #ESP2 v3.22 I2C Gateway v3.06 +8 #ESP2 v3.22 I2C Gateway v3.06 =ECan =hcore =Pprocessing =Astorage =tMAIN =mMAIN_scheduler =FMFB =Ssampler =Ccollection =Mmanipulator +389 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +330 !o:Instrument::ISUSCore: @refiԪ6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E\ hB? +4 \ hB? + S) +2 ) +2 h  + C' +2 ' +3 h  + P% +2 % +2 h  +4 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ + % 2\ +2 % *\ + % 0\ +4 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready! +2 C'& +2 P%& +5 h & \ b +3 C'% +4 h &\ @ + %g \ b + P% % + S)\ % +6 h %ؿ\ @ + %ڨ \ K +2 M& % +3 h %  z  + M& & +3 h & N +2 A( & +3 h &F n ] :\ @ + A(% +3 h % w h *\ ? +2 C' +2 h  +2 C' +2 h  +2 C' +2 h  +2 P% +2 h  +2 P% +2 h V +2 P% +2 h  +2 P% +2 h  +2 S) +2 h  +2 S)% +3 h %ڨ \ L + C'& +4 h & \ c + C'% +3 h %g \ a +2 P%& +3 h &\ @ +2 P%% +3 h %ؿ\ @ + M&% +3 h %   +2 M&& +3 h &  _ +2 A(& +3 h &F w l ,\ ? + A(% +3 h % g \\ 3\ @ +2 C' 9 +3 h 9Z + P%!9 +3 h 9m +1457 #t-> Sampler.calibrate +3 E\ k,) + #t\Calibrating pressure and temperature sensors + .\CTV.dial :air + C'"  +4 h + .t\SSV.dial :spit,avoiding: :exhaust +2 S)# +2 h  +2 S)$  +4 h +2 .t\SS.reconfigure SSfast +2 S)#.0X Sampler.psi +2 !o:NoMethodError :bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message4undefined method `psi' for ShallowSampler:Class: name:psi: args[ +319 #-> Sampler.PSI + C'-% +3 h %g \ ^ +2 S).% +4 h %ڄ |\ H +2079 #t-> access 1 +9 .\SE.seek :down +2 A(/' +3 h ' + M&0% +4 h %   L  +2 M&1& +3 h &   + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(2(<- +1293 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (3& +3 h &<+ Z Z \ ;  +18094 #t-> PC.loadPuck :sh1,1 + #Loading sh1 puck from tube 1 into Processing Clamp +2 P%4& +3 h &\ 9 + .tHand.open + M&51 +20 h 1 + M&6% +4 h %  l  + A(7% +3 h % M L N\ 9 +2 A(8. +2 h .(<- +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(9(C +1296 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (:& +3 h &F _ P f\ < + M&;& +3 h & ^ +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 + M&<( +9 h ( + M&=& +4 h & s + A(>& +4 h &F V Q\ ; + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&?' +101 h ' + A(@& +4 h &F P _ \ < + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(A's +299 h ' + A(B- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (C& +3 h &F M N \ : +2 M&D& +3 h &  + .t\Elbow.seek 1 +2 M&E( +9 h ( + M&F& +4 h &  P \ + A(G& +4 h &F L N E\ : +2 .t\Forearm.seek 1 + 300 counts +2 M&H'd +27 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&I/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&J& +3 A(K' +6 h &  ' \ +2 M&L% +3 h % d = +2 .t\Forearm.seek :retract + M&M' +90 h ' + .t\Elbow.seek PC +2 M&N( +163 h ' + ."downElevator"\SE.coast + A(5 +77 h ( + M&O& +4 h &  F  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &P& +3 h &  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&Q' +101 h ' + P%R& +4 h &\ ; +2 P%S& +3 .t\PC.seek :closed + P%T(^ +3 h &\ ; +2 &\ ; +10 &2u\ 5+| +9 &_\ 4@ +10 &iv\ 5S +9 &)R\ 7S +9 &T\ 7S +10 &R\ 7S +9 &lT\ 6T +10 &/U\ 7S +9 &V\ 6S +9 &Q\ 7S +10 & uT\ 6S +9 &"7R\ 7S +9 &#T\ 7S +10 &%R\ 7S +9 &'|T\ 7T +10 &)?T\ 6S +9 &+U\ 7S +9 &,U\ 7T +10 &.R\ 7S +9 &0GR\ 7S +9 &2 V\ 7S +10 &3R\ 7S +9 &5T\ 7S +10 &7PQ\ 7S +9 &9V\ 6T +9 &:W\ 7T +10 &<Q\ 7S +9 &>VZ\ 7T +9 &@Y\ 6T +10 &Ad\ 6U +9 &Cs\ 5W +10 &EN\ 3Y +9 &G\ 5Y +9 &H\ 4Y +10 &J\ 4Z +9 &LV\ 4Y +9 &N\ 3[ +10 &O\ 3[ +9 &Q\ 3\\ +10 &SX\ 3[ +9 &U\ 3[\ +9 &V\ 3[\ +10 &X\ 4[\ +9 &Z`\ 3[ +9 &\\!\ 3\\ +10 &]~\ 4= +9 &^-\ 5 ^ +10 &^1\ 87 +2 ( + P%S& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 M&U1 +73 h 1 +2 M&V% +4 h %  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&W' +89 h ' + .t\SC.coast + A(6 +2949 #t-> Sleepy.power :camera,:on + .\Sleepy.power :camera,:ON +1997 #-> PC.imagePuck 1,:sh1 + P%X& +3 h &^4\ 7 + !to:Puck::Warning:bt[ "6/home/esp/esp2/utils/puckmoves.rb:315:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:393:in `image'"9/home/esp/esp2/utils/puckmoves.rb:814:in `imagePuck'"(ESP):8:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: mesg"7Unloading sh1 puck from tube 1 to Storage Carousel +2 #Imaging sh1 puck in Processing Clamp while storing it to tube 1 + M&Y% +3 h %  x z  +2 A(Z% +3 h % v ~\  +2 A([. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(\\(C +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (]& +3 h &F z x 0\  + M&^& +3 h & w w  +2 M&_% +3 h %  s x k  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek 1 +2 M&`( +251 h ( + M&a& +4 h & t ) N + A(b& +3 h &F l z `\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&c' +92 h ' + A(d& +4 h &F x w \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(e's +298 h ' + A(f- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&g& +3 h & k w { N + A(h& +4 h &F f e Y\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 1 + M&i'8 +15 h ' + .t\Elbow.hold +2 M&j, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(k- +2 h -' +2 .t\SE.seek 0.16 + A(l'j +37 h ' + M&m% +4 h %` x y 1 + A(n& +4 h &F b d /\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 1 + 340 counts +2 M&o'ό +22 h ' + M&p& +4 h & t u ` N +2 A(q& +3 h &F Z X \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&r' +15 h ' +2 .t\SE.seek 1.16 + A(s' +37 h ' +2 M&t& +4 h & O N +2 M&u% +3 h % }  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&v' +85 h ' + .t\Elbow.seek PC +2 M&w( +244 h ( + M&x& +4 h & k ~ g ) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &y& +3 h & w v ) + .t\Forearm.seek :PC +2 M&z' +92 h ' + .tHand.close + M&{/ +76 h / +2 .t\PC.seek :open +2 P%|( +457 h ( +2 A(}& +3 h &F \  +2 M&~& +3 h &  ) +2 M&% +3 h %   9 + .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&( +255 h ( + M&& +4 h & % H + A(& +3 h &F y z \\\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +96 h ' + .tHand.open + M&1 +67 h 1 + A(- +3 h -' +2 .t\SE.seek 0.80 Pucks below Top Plate +2 A(' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -0.17 Pucks below Top Plate +40 A( 'N +60 h ' + #tLights, camera, ACTION! +3123 #-> PuckCamera.snapImages "focustest1",{:image=>[:hires,40]} +3 #\PuckCamera: snap -bin=1,1 40.0 /var/log/esp/hires/focustest140s.tif +4179 #\SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 40 seconds\ /var/log/esp/hires/focustest140s.tif: TIFF Upload Complete\ +652 #-> puck.finishImage + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message>undefined local variable or method `puck' for main:Object: name: puck +466 #-> Puck.finishImage + A(\ - +3 h -'N + A( & +4 h &F = 1 \  +2 M& & +3 h & y w H +2 .t\Elbow.seek 1 +2 M& ( +32 h ( + M&& +4 h & } f 9 Q +2 A(& +3 h &F 1 < \\\  +2 .t\Forearm.seek 1 + 450 counts +2 M&' +3 h ' + .t\SE.reconfigure SEgently +3 A(#QK-0-\ b +2 .t\SE.seek 0.55 +2 A(' +55 h ' +2 M&& +3 h &  ' Q +2 A(& +4 h &F ' c\ 0 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 1 +2 M&'8 +17 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek 0.73 + A('` +29 h ' + M&% +4 h %g o ; _ +2 A(& +3 h &F \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 1 + 347 counts + M&'ϓ +32 h ' +2 M&& +3 h & D O +2 A(& +3 h &F Y\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +27 h ' +2 A(% +3 h %\\ 8\  +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %8 1\ (Zp + M& % +4 h %   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&!' +87 h ' +64 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 M&"& +3 h & H O +2 M&#% +3 h %  ~ L  +5244 #t-> Sleepy.power :camera,:off + .\Sleepy.power :camera,:OFF +8852 EK\ h;9 +130 #t-> Sleepy.power :camera,:on +2 .\Sleepy.power :camera,:ON +620 #-> PC.loadPuck :sh1,1 + #Loading sh1 puck from tube 1 into Processing Clamp + P%$& +3 h &\  +2 M&'% +3 h %  ~  +2 A(&% +3 h % o p\  + A((. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A()(C +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (*& +3 h &F q r Z\  + M&%& +3 h & [ O +2 .t\Elbow.seek 1 +2 M&,( +9 h ( + M&-& +4 h & { Q + A(.& +4 h &F o p\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&0' +92 h ' + A(1& +4 h &F ~ \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(3's +298 h ' + A(4- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (5& +2 h &F } x |\  +2 M&6& +3 h & g Q + .t\Elbow.seek 1 +2 M&7( +5 h ( + M&8& +4 h & 6 Q + A(2& +4 h &F } } \  +2 .t\Forearm.seek 1 + 300 counts + M&:'d +27 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&;/ +72 h / +2 M&=& +2 ."downElevator"\SE.seek :down +5 A(>' +2 h &  Q +2 M&@% +3 h % φ  +2 .t\Forearm.seek :retract +2 M&/' +90 h ' + .t\Elbow.seek PC +2 M&B( +163 h ' + ."downElevator"\SE.coast + A(5 +76 h ( + M&C& +4 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &D& +3 h & H  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&F' +92 h ' + P%G& +4 h &\  + P%I& +4 .t\PC.seek :closed +2 P%J(^ +2 h &\  +4 &\ \ +10 &,t\ ,} +9 &^\ @ +9 &St\ S +10 &R\ T +9 &U\ T +9 &S\ T +10 &UQ\ T +9 &U\ U +10 &T \ U +9 &O \ T +9 & ]O \ T +10 &"M\ T +9 &#R\ \ T +9 &%N \ T +10 &'fS \ T +9 &)'R\ \ T +10 &*R\ T +9 &,T\ \ T +9 &.mQ\ \ T +10 &0/R\ T +9 &1T\ T +9 &3S\ \ T +10 &5wR\ \ T +9 &78R\ \ T +10 &8U\ T +9 &:T\ U +9 &<~P\ T +10 &>=W\ U +9 &@S\ T +9 &A_\ V +10 &C|s\ X +9 &E9\ Y +10 &F\ Z +9 &H\ [ +9 &J{\ [ +10 &L=\ [ +9 &M\ \\ +9 &O\ [ +10 &Q}\ ] +9 &S@\ \\ +10 &T\ ] +9 &V\ \\ +9 &X\ \\ +10 &ZG\ ] +9 &\\\ ] +9 &]\ E +10 &^*\  _ +9 &^9\ ; +2 ( + P%I& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open + M&L1 +72 h 1 +2 M&<% +3 h % y S g +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&?' +91 h ' + .t\SC.coast + A(6 +521 #t-> PC.imagePuck 1,:sh1 + P%A& +3 h &^7\ ; + !to:Puck::Warning:bt[ "6/home/esp/esp2/utils/puckmoves.rb:315:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:393:in `image'"9/home/esp/esp2/utils/puckmoves.rb:814:in `imagePuck'"(ESP):15:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: mesg"7Unloading sh1 puck from tube 1 to Storage Carousel +2 #Imaging sh1 puck in Processing Clamp while storing it to tube 1 + M&H% +3 h %  r g 0  +2 A(O% +3 h % h Z !\  +2 A(P. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(E(C +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (R& +3 h &F Y ^ \  + M&K& +3 h & q u   +2 M&M% +3 h %  u u g  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&U( +258 h ( + M&V& +4 h &  m T C + A(S& +3 h &F W W\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&Q' +95 h ' + A(9& +4 h &F } { \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(X's +301 h ' + A(Y- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&Z& +2 h & w v C +2 A([& +3 h &F \\ X\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 1 + M&]'8 +15 h ' + .t\Elbow.hold +2 M&^, +2 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(_- +2 h -' + .t\SE.seek 0.15 +2 A(a'i +30 h ' + M&b% +4 h %f w s : ] + A(N& +3 h &F X Y\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 346 counts + M&d'ϒ +22 h ' + M&W& +4 h & f h K C +2 A(f& +3 h &F W W \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&g' +15 h ' +2 .t\SE.seek 1.15 + A(h' +36 h ' + M&k& +4 h & U C +2 M&m% +3 h % ; +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&n' +88 h ' + .t\Elbow.seek PC +2 M&p( +245 h ( +2 M&q& +4 h & z y 0 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &t& +3 h & w u + .t\Forearm.seek :PC +2 M&u' +93 h ' + .tHand.close + M&c/ +68 h / + .t\PC.seek :open +2 P%`( +458 h ( + A(e& +4 h &F 2\  + M&i& +3 h & +2 M&o% +3 h %  > +2 .t\Forearm.seek :retract + M&l' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&r( +246 h ( + M&x& +4 h & x  L + A(y& +3 h &F } } \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&j' +95 h ' + .tHand.open + M&{1 +76 h 1 +2 A(v- +3 h -' +2 .t\SE.seek 0.80 Pucks below Top Plate +2 A(T' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -0.17 Pucks below Top Plate +2 A(}'M +53 h ' + #tLights, camera, ACTION! +2422 #-> PuckCamera.snapImages "focustest2",{:image=>[:hires,40]} +2 #\PuckCamera: snap -bin=1,1 40.0 /var/log/esp/hires/focustest240s.tif +4156 #\SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 40 seconds\ /var/log/esp/hires/focustest240s.tif: TIFF Upload Complete\ +4223 #-> Sleepy.power :camera,:off +3 .\Sleepy.power :camera,:OFF +7836 #-> access 1 +9 .\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek :down + A(~' +280 h ' + M&% +4 h %   +2 M&z% +3 h %  m + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +88 h ' + .t\Elbow.seek :clear +2 M&(d +103 h ( + M&w% +4 h %   + M&& +4 h &d `  + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +1293 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<+ I L B\ : +1183 #t-> access 2 +10 .\SE.seek :down +2 A(s' +3 h ' + M&% +4 h %  Y  + M&\ & +3 h &d 3  +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A( (K +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &K @ < \ 9  +976 #t-> PC.loadPuck :sh1,2 + #Loading sh1 puck from tube 2 into Processing Clamp + P%& +3 h &4\ 9 +2 M&% +4 h %  /  + A(% +3 h % J J \ 9 +2 A(. +2 h .(K +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 2 +2 A((  +1301 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  K K -\ 9 +45 M&& +12 h &d *  + M&% +3 h %  `  +2 .t\Elbow.seek 2 +2 M&( +102 h ( + M&& +4 h & j " + A(& +4 h &  J J $\ 9 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M& 'S +96 h ' + A(& +4 h &  J G \ 9 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A( 's +297 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( & +3 h &  @ I \ 9 + M&& +3 h & " +2 .t\Elbow.seek 2 + M&( +10 h ( + M&& +4 h &   + A("& +4 h &  J J A\ : +2 .t\Forearm.seek 2 + 300 counts + M&#'Ͻ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&& +5 A(' +3 h &  + M&\\% +4 h %  | + .t\Forearm.seek :retract +2 M&$' +92 h ' + .t\Elbow.seek PC +2 M&'( +164 h ' + ."downElevator"\SE.coast + A(5 +80 h ( + M&&& +5 h & 8 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &(& +3 h & 0 8 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&*' +99 h ' + P%%& +4 h &\ : +2 P%-& +3 .t\PC.seek :closed +2 P%.(^ +3 h &0\ ; +2 &9\ ;\ +10 &-u<\ 6+| +10 &_=\ 5@ +9 &[u>\ 5S +9 &S\ 7S +10 &T\ 7R +9 &T\ 7R +10 &aU\ 7S +9 &#W\ 7S +9 &T\ 7S +10 &T\ 7S +9 & jS\ 7R +9 &"+R\ 7S +10 &#R\ 7S +9 &%Q\ 7R +10 &'oT\ 7S +9 &)1T\ 7S +9 &*T\ 7S +10 &,T\ 7S +9 &.wQ\ 7S +9 &09Q\ 7S +10 &1T\ 7S +9 &3Q\ 7S +10 &5R\ 7S +9 &7BR\ 7S +9 &9T\ 7T +10 &:T\ 7S +9 &<U\ 7S +9 &>IY\ 7S +10 &@ W\ 7S +9 &Aa\ 6T +10 &Cr\ 5W +9 &EB\ 4Y +9 &G\ 4Y +10 &H\ 4Z +9 &J\ 4Z +9 &LG\ 4Z +10 &N\ 3[ +9 &O\ 4[ +10 &Q\ 3[ +9 &SI\ 3\\ +9 &U \ 3[\ +10 &V\ 3[\ +9 &X\ 3[ +9 &ZQ\ 3\\ +10 &\\\ 3\\ +9 &]\ 4? +10 &^,\ 5 _ +9 &^;\ 8; +2 ( + P%-& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open + M&11 +69 h 1 + M&% +4 h %  -  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&!' +94 h ' + .t\SC.coast + A(6 +823 #t-> PC.imagePuck 2,:sh1 + P%4& +3 h &^9\ 8; + !to:Puck::Warning:bt[ "6/home/esp/esp2/utils/puckmoves.rb:315:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:393:in `image'"9/home/esp/esp2/utils/puckmoves.rb:814:in `imagePuck'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: mesg"7Unloading sh1 puck from tube 2 to Storage Carousel +2 #Imaging sh1 puck in Processing Clamp while storing it to tube 2 + M&5% +3 h %    +2 A(6% +3 h % ; < \ 9 +2 A(8. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(2(  +10 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&;& + A(=& +3 h &  E 8 +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h &  5 ) U\ 8 +2 .t\Elbow.seek PC + ."raiseStack"\SE.reconfigure SEplace +3 M&@( +4 A(#]kK-0-\ b +4 ."raiseStack"\SE.seek beamBreak +2 A(,'s +19 h ( + M&0& +4 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &3& +3 h & l + .t\Forearm.seek :PC +2 M&:' +92 h ' + .tHand.close + M&C/ +70 h / + .t\PC.seek :open +2 P%D( +76 h ' + A(7- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(G'1 +45 h ' +324 ( + A(>& +4 h &  X Y\ ; + M&/& +3 h & x +2 M&|% +3 h %  ( Q +2 .t\Forearm.seek :retract + M&L' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&<( +239 h ( + M&I& +4 h & % 6 + A(F& +3 h &  K M ^\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&)'S +95 h ' + .tHand.open + M&A1 +72 h 1 + A(H- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(O' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(P' +55 h ' + #tLights, camera, ACTION! +539 #-> Sleepy.power :camera,:on + .\Sleepy.power :camera,:ON +975 #-> PuckCamera.snapImages "focustest3",{:image=>[:hires,40]} +2 #\PuckCamera: snap -bin=1,1 40.0 /var/log/esp/hires/focustest340s.tif +4156 #\SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 40 seconds\ /var/log/esp/hires/focustest340s.tif: TIFF Upload Complete\ +4513 #-> Puck.finishImage + A(R- +2 h -' +2 A(K& +4 h & \  + M&M& +3 h & B y6 +2 .t\Elbow.seek 2 +2 M&V( +2 h ( +2 M&S& +3 h & } y6 + A(B& +4 h &  \  + .t\Forearm.seek 2 + 450 counts +2 M&9'S +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(?' +57 h ' + M&Y& +4 h &  6 +2 A(Z& +3 h &  u\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&['Α +15 h ' + .t\Elbow.hold +2 M&_, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(b' +28 h ' + M&N% +4 h %α R +2 A(W& +3 h &  \ \ + + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 332 counts +2 M&f' +18 h ' +2 M&k& +4 h & 6 + A(m& +4 h &  7\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&Q'S +15 h ' +2 A(U% +3 h % ~ 1\  +3 ."downElevator"\SE.seek :down +2 A(X' +99 (]% +3 h %EC v o \ Zq + M&d% +4 h %4 m  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&a' +84 h ' +84 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 M&g& +4 h & 7 5 + M&q% +3 h %    +265 #t-> Sleepy.power :camera,:off + .\Sleepy.power :camera,:OFF +642 #-> access 2 +9 .\SE.seek :down + A(t' +3 h ' +2 M&^% +4 h %  $  + M&c& +3 h & 5 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(n(K +1307 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (J& +3 h &K L J <\ ; +13009 E\ g?= +786 #t-> to 2 +2 .\SE.seek :down + A(e' +3 h ' +2 M&i% +3 h %  ?  +2 M&o& +3 h & v 5 + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(u(  +1299 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (x& +3 h &  < ? n\ : +86 #t-> Puck.stackHeight(2) +2 A(y% +3 h % < < g\ : + .t\SE.seek :down +2 A(p' +3 h ' + .t\SE.coast + A(5 +2 M&{% +3 h %   + .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(v(  +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (l& +3 h &  H D \ ; + M&h& +4 h & 5 +2 .t\Elbow.seek 2 + M&T( +3 h ( + M&& +4 h & Q 5 + A(z& +3 h &  @ F\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&}'S +92 h ' + A(w& +4 h &  @ A Q\ < +2 .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A('s +290 h ' + A(j- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (r% +3 h % I ? \ : +2 ."downElevator"\SE.seek :down +2 A(E' +99 (% +2 h %͉2 < < j\ :Xk +2 M&% +3 h %O  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\ ' +86 h ' +33 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +1412 #t-> Sleepy.power :camera,:on + .\Sleepy.power :camera,:ON +646 #-> PC.loadPuck :sh1,2 + #Loading sh1 puck from tube 2 into Processing Clamp + P%~& +3 h &\  +2 M&% +3 h %  a  +2 A( % +3 h % l o\  + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A((  +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  l l \  + M&& +3 h & 5 +2 .t\Elbow.seek 2 +2 M& ( +2 h ( +2 M&& +3 h & M 5 + A(& +3 h &  w m 6\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&'S +88 h ' + A(& +4 h &  K\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +271 h ' + A(- +3 h -'Z + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &  { x\  +2 M&& +3 h & 5 + .t\Elbow.seek 2 +2 M&( +3 h ( + M&s& +4 h & { + 5 + A( & +3 h &  u \  +2 .t\Forearm.seek 2 + 300 counts +2 M&'Ͻ +14 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&"& +3 A(' +5 h & * 5 +2 M&% +3 h % ~  6 { +2 .t\Forearm.seek :retract +45 M&\\' +100 h ' + .t\Elbow.seek PC +2 M&( +71 h ' + ."downElevator"\SE.coast + A(5 +172 h ( + M& & +4 h & v X 9 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &  9 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&#' +98 h ' +2 P%&& +4 h &\  + P%(& +4 .t\PC.seek :closed + P%(^ +3 h &\  +3 &\ 5 +10 &:Dy\ 2 +10 &Vl~\ G +9 &e\ U +9 &Q\ U +10 &jN\ T +9 &*Q\ U +10 &L\ T +9 &R\ T +9 &pR\ U +10 &3O\ T +9 & O\ T +9 &"O\ T +10 &$yR\ T +9 &&;Q\ T +10 &'P\ U +9 &)Q\ T +9 &+Q\ T +10 &-DQ\ T +9 &/Q\ T +9 &0R\ T +10 &2P\ T +9 &4LO\ T +10 &6Q\ T +9 &7Q\ S +9 &9Q\ T +10 &;SR\ T +9 &=O\ T +9 &>T\ T +10 &@Q\ T +9 &BV_\ V +10 &Dn\ X +9 &E\ Z +9 &G\ Z +10 &IP\ [\ +9 &K\ [\ +9 &L\ \\ +10 &N\ \\ +9 &PU\ \\ +10 &R\ \\ +9 &S\ ] +9 &U\ \\ +10 &W[\ ] +9 &Y\ \\ +9 &Z\ \\ +10 &\\\ ] +9 &^?xy\ - +10 &^\ N +8 ( +2 &^9\ < + P%(& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.77 + .Hand.open +2 M&%1 +68 h 1 +2 M&% +4 h %  r u I  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&$' +90 h ' + .t\SC.coast + A(6 +822 #t-> PC.imagePuck 2,:sh1 + P%`& +3 h &^B\ < + !to:Puck::Warning:bt[ "6/home/esp/esp2/utils/puckmoves.rb:315:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:393:in `image'"9/home/esp/esp2/utils/puckmoves.rb:814:in `imagePuck'"(ESP):31:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: mesg"7Unloading sh1 puck from tube 2 to Storage Carousel +2 #Imaging sh1 puck in Processing Clamp while storing it to tube 2 + M&1% +3 h %  u g '  +2 A(% +3 h % K P $\  +2 A(-. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(*(  +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  V U 5\  + M&4& +3 h & r x # 8 +2 M&5% +3 h %  v w X  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&6( +245 h ( + M&8& +4 h & u q  " + A(;& +4 h &  G I *\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&='S +89 h ' + A(0& +4 h &  y z K\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(3's +282 h ' + A(C- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&7& +2 h & u u i ! +2 A('& +3 h &  K H \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&!'Α +20 h ' + .t\Elbow.hold +2 M&., +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(,- +2 h -' +2 .t\SE.seek 5.24 + A(>' +31 h ' + M&/% +4 h %Τ g h ! + A(|& +3 h &  H H =\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 319 counts + M&:' +19 h ' + M&I& +4 h & w q : ! +2 A(F& +3 h &  X X A\  +2 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts + M&@'S +16 h ' +2 .t\SE.seek 6.24 + A(A'( +37 h ' + M&H& +4 h & o Y ! +2 M&L% +3 h %? s m 3 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&G' +91 h ' + .t\Elbow.seek PC +2 M&O( +244 h ( + M&R& +4 h & w u D  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &K& +3 h & g g s  + .t\Forearm.seek :PC +2 M&M' +92 h ' + .tHand.close + M&S/ +76 h / + .t\PC.seek :open +2 P%B( +460 h ( + A(Y& +4 h &  y z \  + M&Z& +3 h &   +2 M&N% +3 h % [ ? + .t\Forearm.seek :retract +2 M&W' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&k( +246 h ( + M&m& +4 h & x c : + A(U& +3 h &  y y \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&<'S +97 h ' + .tHand.open + M&)1 +71 h 1 +2 A(P- +3 h -'( +2 .t\SE.seek 5.89 Pucks below Top Plate +2 A(]' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek 4.91 Pucks below Top Plate +2 A(d' +54 h ' + #tLights, camera, ACTION! +1413 #-> PuckCamera.snapImages "focustest4",{:image=>[:hires,40]} +2 #\PuckCamera: snap -bin=1,1 40.0 /var/log/esp/hires/focustest440s.tif +4156 #\SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 40 seconds\ /var/log/esp/hires/focustest440s.tif: TIFF Upload Complete\ +4061 #-> Sleepy.power :camera,:off + .\Sleepy.power :camera,:OFF +497 #-> Puck.finishImage +2 A(9- +8 h -' +2 A(V& +4 h &  ?\ 0 + M&?& +3 h &  : +2 .t\Elbow.seek 2 + M&[( +3 h ( +2 M&f& +3 h & : + A(g& +4 h &  *\ 0 +2 .t\Forearm.seek 2 + 450 counts + M&q'S +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek 5.63 + A(b' +57 h ' + M&Q& +4 h & A : +2 A(X& +3 h &  J J D\ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&2'Α +14 h ' + .t\Elbow.hold +2 M&^, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek 5.81 + A(c' +20 h ' + M&J% +4 h %ξ  4 +2 A(i& +3 h &  J J ?\ 9 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 345 counts + M&o' +17 h ' +2 M&t& +3 h & : : +2 A(n& +4 h &  K K E\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&x'S +16 h ' +2 A(y% +3 h % M M a\ : +3 ."downElevator"\SE.seek :down +2 A({' +99 (l% +3 h % D J J \ :Ym + M&h% +4 h %9  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +84 h ' +33 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 M&z& +4 h &  : + M&w% +4 h %   +591 #t-> access 1 +10 .\SE.seek :down + A(e' +3 h ' + M&p% +4 h %  [  +2 M&u& +3 h & P : + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(_(<- +979 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (a& +3 h &<* 9 ? l\ 9  +2183 #t-> Puck.stackHeight(1) +2 A(j% +3 h % J I 2\ 9 + .t\SE.seek :down +2 A(r' +3 h ' + .t\SE.coast + A(5 +2 M&% +3 h %  D  + .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A((C +1300 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &E K J .\ : +2 M&}& +3 h & u : + .t\Elbow.seek 1 +2 M&E( +2 h ( +2 M&v& +3 h & f : +2 A(~& +3 h &D ( ( \ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +92 h ' + A( & +4 h &D J J 2\ 8 + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A('s +313 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (% +3 h % 5 1 \ 6 +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %6 ) 3 s\ 6Ym +2 M&% +3 h % r +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&T' +91 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +26479 #t-> exit +4 #m\EXIT @1601402210.09EDT @1601402216.61EDT = @EDT1601402218.76 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0xBE74, state=0x3380, ifg=0x20, ie=0x7F + #@0xC023, state=0x3380, ifg=0x20, ie=0x7F #@0xC56D, state=0x3380, ifg=0x20, ie=0x7F + #@0xCAD5, state=0x3380, ifg=0x08, ie=0x5F + #@0x39AA, state=0x3380, ifg=0x20, ie=0x7F #@0x3B5A, state=0x3380, ifg=0x20, ie=0x7F + #@0x40A4, state=0x3380, ifg=0x20, ie=0x7F + #@0x460C, state=0x3380, ifg=0x08, ie=0x5F #@0x7958, state=0x3350, ifg=0x00, ie=0x75 + #ESP2 v3.22 I2C Gateway v3.06 +9 #ESP2 v3.22 I2C Gateway v3.06 =ECan =hcore =FMFB =Mmanipulator =tMAIN =Pprocessing =mMAIN_scheduler =Astorage =Ssampler =Ccollection +364 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +308 !o:Instrument::ISUSCore: @refil6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 E\ hA> +5 \ hA> S) +2 ) +2 h  + C' +2 ' +2 h  +2 P% + % +3 h  +3 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +3 S)&\ +2 .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X Puck.stackHeight(1) +2 !o:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Hand must first be opened! +459 #-> ESP.ready! +2 C'& +2 P%& +4 h & H\ b +3 C'% +4 h &\ @ %g a\ b +2 S) % + P%\ % +7 h %ڨ t\ L + %ؿ\ @ +2 M& % +3 h %  Q 1 + M& & +3 h & = + A( & +3 h &E k ~ \ @ +3 A(% +3 h % w k )\ ? + C' +3 h  + C' +3 h  + C' +3 h ? + P% +3 h  + P% +3 h V + P% +3 h  + P% +3 h  + S) +3 h  + S)% +3 h %ڨ p\ K +2 C'& +3 h & b\ b +2 C'% +3 h %g @\ b + P%& +3 h &\ @ +2 P%% +3 h %ؿ\ @ +2 M&% +3 h %   m 1 +2 M&& +3 h &  + A(& +3 h &E g o n\ @ +2 A(% +3 h % w { \\\ ? +2 C' 9 +2 h 9j +2 P%!9 +2 h 9 +255 #t-> Puck.stackHeight(1) + !o:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Hand must first be opened! +607 #-> Hand.open + .Hand.open + M&"1 +23 h 1 +319 #t-> Arm.ready! +2 .\Forearm.reconfigure LooseForearm +2 M&#@2^d^2b +2 .t\Forearm.home.seek :retract + M&#' +72 h ' +2 ."closeHand"Hand.close +2 .t\Elbow.jog 1500 +2 M&$/ &%* +52 h * + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 .t\Elbow.home.seek :clear +2 M&&(d +12 h / +422 ( + M&'& +4 h &d   $ + M&(% +3 h %  R  +421 #t-> Hand.open + .Hand.open + M&)1 +71 h 1 +192 #t-> Puck.stackHeight(1) +2 A(*% +3 h % m m +\ > +2 .t\SE.seek :down + A(+' +3 h ' + .t\SE.coast + A(5 +2 M&,% +3 h %   + .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(-(C +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (.& +2 h &E p z Z\ > +2 M&/& +3 h &d  b $ +2 M&0% +3 h %  |  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&1( +93 h ( + M&2& +4 h & W 3 + A(3& +3 h &D Z Z -\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&4' +96 h ' + A(5& +4 h &D L M a\ < + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(6's +319 h ' + A(7- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (8% +2 h % N M \ 9 +2 ."downElevator"\SE.seek :down +2 A(9' +100 (:% +2 h %B G ; |\ 9[v +2 M&;% +3 h % + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&<' +90 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +522 #t-> Puck.stackHeight(2) +2 A(=% +2 h % z p j\ > +2 .t\SE.seek :down +2 A(>' +2 h ' + .t\SE.coast + A(5 +2 M&?% +3 h %  `  +2 .t\SC.coast A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(@(  +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (A& +3 h &  R b 1\ <\ + M&B& +3 h & > 3 +2 .t\Elbow.seek 2 + M&C( +4 h ( +2 M&D& +4 h & " 3 + A(E& +3 h &  ^ P \ =\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&F'S +94 h ' + A(G& +4 h &  m l\ =\ + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(H's +280 h ' + A(I- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (J% +3 h % J Y u\ ; +2 ."downElevator"\SE.seek :down +2 A(K' +100 (L% +3 h %O2 V Y \ ;Zo +2 M&M% +3 h %H  \\ x + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&N' +91 h ' +23 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +4291 #t-> Puck.stackHeight(2) + A(O% +3 h % m m _\ > +2 .t\SE.seek :down + A(P' +4 h ' + .t\SE.coast + A(5 +2 M&Q% +3 h %    + .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(R(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (S& +3 h &  p s "\ > + M&T& +3 h & R 3 +2 .t\Elbow.seek 2 + M&U( +4 h ( + M&V& +4 h &  v 3 + A(W& +3 h &  m p 8\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&X'S +97 h ' +2 A(Y& +4 h &  m p G\ > + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(Z's +287 h ' + A([- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (\\% +3 h % P W R\ ; +2 ."downElevator"\SE.seek :down +2 A(]' +100 (^% +2 h %Q0 Z Z\ ;Yo +2 M&_% +3 h %R  S W + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&`' +89 h ' +17 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +998 #t-> Puck.stackHeight(2) + A(a% +3 h % q { \ > +2 .t\SE.seek :down + A(b' +3 h ' + .t\SE.coast + A(5 +2 M&c% +3 h %  "  + .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(d(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (e& +3 h &  p m \ > + M&f& +3 h & w 3 +2 .t\Elbow.seek 2 + M&g( +4 h ( + M&h& +4 h & 3 + A(i& +3 h &  w o E\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts +2 M&j'S +90 h ' + A(k& +4 h &  z { \ > + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(l's +279 h ' + A(m- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (n% +3 h % [ P 9\ < +2 ."downElevator"\SE.seek :down +2 A(o' +100 (p% +2 h %Y- O O \ exit +4 #m\EXIT @1601402722.43EDT @1601402728.59EDT = @EDT1601402730.76 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0xC4AA, state=0x3380, ifg=0x20, ie=0x7F + #@0xC65A, state=0x3380, ifg=0x20, ie=0x7F #@0xCBA5, state=0x3380, ifg=0x20, ie=0x7F + #@0xD10D, state=0x3380, ifg=0x08, ie=0x5F + #@0x26D6, state=0x3380, ifg=0x20, ie=0x7F #@0x2886, state=0x3380, ifg=0x20, ie=0x7F + #@0x2DD1, state=0x3380, ifg=0x20, ie=0x7F + #@0x3339, state=0x3380, ifg=0x08, ie=0x5F #@0xDBE4, state=0x3350, ifg=0x00, ie=0x75 + #ESP2 v3.22 I2C Gateway v3.06 +9 #ESP2 v3.22 I2C Gateway v3.06 =FMFB =Ssampler =Ccollection =Mmanipulator =tMAIN =ECan =hcore =Pprocessing =Astorage =mMAIN_scheduler +346 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +318 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E\ j30 +4 \ j30 + S) + ) +2 h  +2 C' + ' +2 h  +2 P% +2 % +2 h  +4 C' 9\ + ' 0\ +2 ' -\ +4 P% 9\ + % 2\ +2 % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X Puck.stackHeight(1) +2 !o:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Hand must first be opened! +357 #-> Arm.ready! +2 .\Forearm.reconfigure LooseForearm +2 M&#@2^d^2b + .t\Forearm.home.seek :retract +2 M&' +70 h ' +2 .t\Elbow.jog 1500 + M&* + ."closeHand"Hand.close +3 M&/ +45 h * + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 .t\Elbow.home.seek :clear +2 M& (d +18 h / +420 ( + M&\ & +4 h &d  q $ + M& % +3 h %  Q  +330 #t-> Puck.stackHeight(1) + !o:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Hand must first be opened! +383 #-> Hand.open + .Hand.open + M& 1 +67 h 1 +142 #t-> Puck.stackHeight(1) + A( % +3 h % { { \ > +2 .t\SE.seek :down +2 A(' +2 h ' + .t\SE.coast + A(5 +2 M&% +3 h %    +2 .t\SC.coast A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A((C +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &F | { i\ = + M&& +3 h &d  $ +2 M&% +3 h %  B  +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&( +92 h ( + M&& +4 h & 0  + A(& +3 h &F { p \ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +98 h ' + A(& +4 h &F | { \ = + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A('s +315 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (% +3 h % Z Z\ ; +2 ."downElevator"\SE.seek :down +2 A(' +100 (% +2 h %A N O ]\ :[t +2 M&% +3 h %  ) S +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +91 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +682 #t-> Puck.stackHeight(2) +2 A( % +3 h % w n \ > + .t\SE.seek :down +2 A(!' +2 h ' + .t\SE.coast + A(5 +2 M&"% +3 h %  ;  +2 .t\SC.coast A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(#(  +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ($& +3 h &  b S 2\ <\ + M&%& +4 h & {  + .t\Elbow.seek 2 +2 M&&( +2 h ( +2 M&'& +3 h & P  +2 A((& +3 h &  M R \ <\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&)'S +94 h ' + A(*& +4 h &  p m R\ =\ + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(+'s +279 h ' + A(,- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (-% +3 h % O Z \ ; +2 ."downElevator"\SE.seek :down +2 A(.' +100 (/% +3 h %U0 Z [\ ;Yo +2 M&0% +3 h %U  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&1' +89 h ' +15 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +1939 #t-> access 1 +9 .\SE.seek :down +2 A(2' +2 h ' + M&3% +4 h %    +2 M&4& +3 h &   + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(5(<- +1007 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (6& +3 h &<. }  m\ > +181 #t-> access 2 +9 .\SE.seek :down +2 A(7' +3 h ' + M&8% +4 h %   +2 M&9& +3 h & 3  + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(:(K +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (;& +3 h &K O M C\ <  +2485 #t-> access 1 +9 .\SE.seek :down +2 A(<' +2 h ' +2 M&=% +3 h %   k  +2 M&>& +3 h & w  +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(?(<- +360 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (@& +3 h &<. V M j\ ; +4135 #t-> require 'mrlShuffle.rb' + !o:LoadError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"*no such file to load -- mrlShuffle.rb +1026 #-> require 'mrlshuffle.rb' +336 #-> shuffleall .Hand.open + M&A1 +27 h 1 + A(B% +4 h % M L \ < + .t\SE.seek :down +2 A(C' +3 h ' + .t\SE.coast + A(5 +2 M&D% +4 h %  (  + .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(E(C +1293 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (F& +3 h &D p y O\ = + M&G& +3 h &  [  +2 .t\Elbow.seek 1 +2 M&H( +2 h ( +2 M&I& +4 h & &  + A(J& +3 h &D z W\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts + M&K' +95 h ' + A(L& +4 h &D u o l\ > +2 .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(M's +327 h ' + A(N- +3 h -'S + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (O% +2 h % [ J O i\ < +3 ."downElevator"\SE.seek :down +2 A(P' +99 (Q% +2 h %U9 Z Z\ ;[t +2 M&R% +3 h % ( q +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&S' +92 h ' +48 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(T(  +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (U& +3 h &  s p ;\ = + M&V& +3 h & ,  +2 .t\Elbow.seek 2 +2 M&W( +2 h ( + M&X& +4 h &  Q  + A(Y& +3 h & s m \ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&Z'S +99 h ' + A([& +4 h & m l\ > + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(\\'s +279 h ' + A(]- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (^% +2 h %k _ [ Y\ < +2 ."downElevator"\SE.seek :down +2 A(_' +100 (`% +2 h %C Z [\ ;\\w +2 M&a% +3 h %M R +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&b' +93 h ' +85 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight + A($\ .\ 1~b +3 .t\SC.seek 3 + A(c( +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (d& +3 h & Z Z\ ;\  + M&e& +3 h & \  +2 .t\Elbow.seek 3 + M&f( +21 h ( + M&g& +4 h &x  + A(h& +3 h & W M \ ;\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&i'7 +95 h ' + A(j& +4 h & N M \ <\  +2 .t\SE.reconfigure SEplace + A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(k's +277 h ' + A(l- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (m% +2 h %q M X ~\ : +3 ."downElevator"\SE.seek :down +2 A(n' +99 (o% +3 h %8A O 1 h\ 8\\w +2 M&p% +3 h %0 o b + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&q' +90 h ' +78 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +3 A($\ .\ 1~b +2 .t\SC.seek 4 + A(r(,y +351 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (s& +3 h &,x r t :\ = + M&t& +3 h &x 9  +2 .t\Elbow.seek 4 + M&u( +24 h ( + M&v& +4 h & M 2 + A(w& +3 h &,x N V i\ < +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&x' +91 h ' + A(y& +4 h &,x t t \\\ = + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(z's +277 h ' + A({- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (|% +3 h %x L L j\ : +2 ."downElevator"\SE.seek :down +39 A(}' +62 (~% +3 h %r= N P \ :Zs +3 M&% +7 h % t a +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +91 h ' +117 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A((<- +376 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<. q m [\ > + M&& +3 h & f 2 +2 .t\Elbow.seek 5 + M&( +21 h ( + M&& +4 h &  L  + A(& +4 h &<2 m s \ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&\ 'O +96 h ' + A( & +4 h &<2 x p ]\ ? +2 .t\SE.reconfigure SEplace + A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A( 's +275 h ' + A( - +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (% +2 h %t A f \ = +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +2 h %9D V Y\ ;\\w +2 M&% +3 h %N P +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +89 h ' +77 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A((K +360 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K Y N\ <  + M&& +3 h &  +2 .t\Elbow.seek 6 +2 M& ( +3 h ( + M&& +4 h &  + A(& +3 h &K w p [\ ? +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +91 h ' + A(& +4 h &K { z \ > + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A('s +274 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (% +3 h %{ L A #\ < +2 ."downElevator"\SE.seek :down +2 A(' +99 (% +4 h %VD V M \ ;\\w + M& % +3 h % a i +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&"' +89 h ' +77 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight + A($\ .\ 1~b +3 .t\SC.seek 7 + A(!([ +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ($& +3 h &[ c P 1\ <  + M&%& +3 h &  +2 .t\Elbow.seek 7 +2 M&'(r +29 h ( + M&(& +4 h &g I + A(*& +3 h &[# X Z\ ;  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +92 h ' + A(& +4 h &[# [ Z\ ;  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(,'s +274 h ' + A(-- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (/% +3 h %s > 9 \ 9 +2 ."downElevator"\SE.seek :down +2 A(0' +99 (+% +2 h %'C 5 , \ 7\\x +2 M&)% +3 h %G u +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&.' +86 h ' +81 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 1 of 1..1 + #Loading generic puck from tube 1 into Collection Clamp + C'#& +4 h & N\ a + M&3% +4 h %  Z  + A(4% +4 h % u o \ > + A(6. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(8(C +1922 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (9& +3 h &E o y 8\ = + M&2& +3 h &h  H +2 .t\Elbow.seek 1 +2 M&5( +26 h ( + M&;& +4 h &   + A(=& +4 h &E w n L\ > + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&>' +97 h ' + A(7& +4 h &E r n G\ > + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(:'s +299 h ' + A(@- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (A& +2 h &E M N h\ < +2 M&B& +3 h & | + .t\Elbow.seek 1 +2 M&D( +8 h ( + M&<& +4 h &   +2 A(C& +3 h &E r w 8\ = +2 .t\Forearm.seek 1 + 300 counts + M&?'d +24 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&F/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&G& +3 A(I' +5 h &  .  +2 M&J% +3 h % ~ J +2 .t\Forearm.seek :retract +2 M&L' +87 h ' + .t\Elbow.seek CC +2 M&&(ӂ +160 h ( + M&1& +5 h ' &ӏ$ =D +2 ."downElevator"\SE.coast + A(5 + .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b +2 &N& +3 h &ӏ#  =D + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&O'? +103 h ' +2 C'Q& +4 h & Q\ ^ +2 C'R& +3 .t\CC.seek :closed + C'M(\\ +3 h & *\ _ +5 & K\ ^< +9 &9Fy O\ X2 +9 &^o ?\ WG +10 &e >\ YR +9 &W <\ ZQ +9 &~X B\ ZR +10 &@Z =\ ZR +9 &Z A\ ZQ +10 &T F\ [Q +9 &\\ D\ ZQ +9 &I\\ D\ ZQ +10 &! W E\ ZQ +9 &"Y =\ ZR +9 &$W B\ ZQ +10 &&QZ A\ ZQ +9 &(Z C\ ZR +10 &)Y ;\ ZR +9 &+X :\ ZR +9 &-XY =\ ZR +10 &/X @\ ZQ +9 &0T B\ ZQ +9 &2Z C\ ZR +10 &4aW B\ ZQ +9 &6#W @\ ZQ +10 &7Z :\ ZQ +9 &9U D\ ZQ +9 &;jV B\ [Q +10 &=,W C\ ZQ +9 &>W D\ ZQ +9 &@Y B\ ZQ +10 &Bp_ C\ ZR +9 &D/h E\ ZS +10 &E C\ XV +9 &G C\ T[ +9 &IX C\ U] +10 &K A\ S^ +9 &L C\ S^ +9 &N D\ S^ +10 &PZ C\ S_ +9 &R D\ S_ +10 &S @\ S` +9 &U =\ Qb +9 &WZ B\ Qa +10 &Y B\ Qb +9 &Z C\ Pb$ +9 &\\Oe 8\ R3 +10 &\\ :\ S$n +8 ( +2 &\\ 5\ W!a + C'R& +4 #t\Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + .Hand.open + M&K1 +70 h 1 +2 M&P% +4 h % : f  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&E' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 1 into Processing Clamp +2 P%U& +3 h &\ 7 +2 M&V% +3 h %   +2 A(X% +3 h % 6 7 .\ 8 + A(Y. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A([(C +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (H& +3 h &F 8 8 *\ 7 + M&S& +4 h &Ӑ$ : =C + M&]% +4 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&^( +164 h ( + M&`& +4 h &   + A(a& +4 h &B 5 6 \ 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&\\' +92 h ' + A(Z& +4 h &B 5 5 \ 5 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(_'s +299 h ' + A(T- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (d& +2 h &B 4 ? '\ 7 +2 M&e& +3 h & =  + .t\Elbow.seek 1 +2 M&g( +3 h ( + M&h& +4 h &   + A(j& +3 h &B 6 < &\ 8 +2 .t\Forearm.seek 1 + 300 counts +2 M&W'd +31 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&b/ +77 h / +2 ."downElevator"\SE.seek :down +2 M&l& +3 A(m' +5 h &   +2 M&o% +3 h % o 8 s +2 .t\Forearm.seek :retract +2 M&p' +90 h ' + .t\Elbow.seek PC +2 M&k( +169 h ' + ."downElevator"\SE.coast + A(5 +70 h ( +2 M&i& +3 h & ? # +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &n& +2 h & # +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&c' +95 h ' + P%s& +4 h &\ 9 +2 P%t& +3 .t\PC.seek :closed +2 P%v(^ +2 h &\ 9 +5 & \ 8< +9 &;Ft \ 32 +10 &[m\ \ 2G +9 &c \ 4S +9 &U \ 5S +10 &sR \ 5S +9 &5U \ 5S +9 &T\ 5S +10 &U\ 5S +9 &yV \ 5T +9 &=U \ 4S +10 &!T\ 5S +9 &"V\ 5S +10 &$X\ 5S +9 &&FT\ 5S +9 &(T\ 4S +10 &)T\ 5S +9 &+T\ 5S +9 &-LU\ 5S +10 &/T\ 5S +9 &0U\ 5S +10 &2T\ 4S +9 &4VQ\ 5S +9 &6T\ 5S +10 &7T\ 5S +9 &9U\ 5S +10 &;]W\ 5S +9 &=V\ 4S +9 &>W\ 5S +10 &@T\ 5T +9 &Bc]\ 4T +9 &D!k\ 4U +10 &Ex\ 3W +9 &G\ 1Y +9 &I[\ 2Y +10 &K\ 2Z +9 &L\ 2Z +10 &N\ 1[ +9 &P^\ 1[\ +9 &R \ 1[\ +10 &S\ 0\\ +9 &U\ 1[\ +9 &Wf\ 1[\ +10 &Y*\ 1Z +9 &Z\ 1[ +10 &\\\ 1\\ +9 &^0fw\ 31 +9 &^\ 3H +9 ( +2 &^8\ 6; + P%t& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.69 + .Hand.open +2 M&w1 +65 h 1 + M&y% +4 h %  C - + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&f' +90 h ' + .t\SC.coast + A(6 +2 P%q& +4 h &^8\ 5; + #tImaging generic puck in Processing Clamp while storing it to tube 1 +2 M&{% +3 h %   8  + A(|% +4 h % 6 6 +\ 6 + A(~. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A((C +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +4 M&x& + A(z& +3 h &  " +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h &B 5 7\ 6 +2 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.seek PC +3 A(#]kK-0-\ b + M&}( +5 h ( +2 M&r& +3 h & \ s " +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b + ."raiseStack"\SE.seek beamBreak +3 A('s +2 M&& +5 h &  z " +2 .t\Forearm.seek :PC + M&' +130 h ' +10 .tHand.close + M&/ +70 h / +2 .t\PC.seek :open +2 P% ( +51 h ' + A(u- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +41 h ' +352 ( + A( & +4 h &B M N O\ 9 +2 M&& +3 h & " +2 M&% +3 h %  o F +2 .t\Forearm.seek :retract + M&' +88 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M& ( +245 h ( +2 M&\ & +4 h & - & + A(& +3 h &B 2 + c\ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +96 h ' + .tHand.open + M&1 +65 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +28 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +53 h ' +2 #tLights, camera, ACTION! +2 A(- +3 h -' + A(& +4 h &B  T\ + + M&& +3 h &  < & +2 .t\Elbow.seek 1 +2 M&( +3 h ( +2 M&& +4 h &  S & + A(& +3 h &B  F\ + +2 .t\Forearm.seek 1 + 450 counts +2 M& ' +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +52 h ' + M&& +4 h & & +2 A(& +3 h &B 6 ; "\ 7 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&'8 +18 h ' + .t\Elbow.hold +2 M&$, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(%' +20 h ' +2 M&(% +3 h %f p 7 +2 A(*& +3 h &B 5 6 \ 7 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 346 counts +2 M&'ϒ +22 h ' +2 M& & +3 h & " & +2 A("& +3 h &B 8 7 \ \ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 1 + 450 counts + M&-' +17 h ' +2 A(/% +3 h % . 5\ 7 +3 ."downElevator"\SE.seek :down +2 A(+' +99 ()% +3 h %C 5 5 !\ 6\\w + M&#% +4 h %  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&3' +90 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C',& +4 h &\\ *\ X!a + #t\Storing generic puck in Collection Clamp to tube 1 +2 M&4% +3 h %  ,  + A(6% +4 h % N M ~\ 9 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(0(C +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (!& +3 h &B 5 6\ 8 + M&9& +4 h & e & +2 .t\Elbow.seek 1 + M&2( +3 h ( +2 M&;& +4 h & & + A(=& +4 h &B 5 5\ 8 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&7' +95 h ' + A('& +4 h &B N O \ 8 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(.'s +296 h ' + A(@- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&A& +2 h & I & +2 A(B& +3 h &B 6 5\ 8 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&<'8 +18 h ' + .t\Elbow.hold +2 M&C, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(F- +2 h -' +2 .t\SE.seek 0.16 + A(G'n +29 h ' + M&J% +4 h %g   E + A(5& +4 h &B = 9 {\ 9 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 1 + 347 counts +2 M&>'ϓ +21 h ' + M&1& +4 h & . & +2 A(N& +3 h &B L L \ 9 +2 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +3 .t\Forearm.seek 1 + 450 counts + M&:' +26 h ' +2 .t\SE.seek 1.16 + A(?' +34 h ' + M&Q& +4 h &  & +2 M&D% +3 h %  d  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&I' +85 h ' + .t\Elbow.seek CC +2 M&L(ӂ +158 h ( + M&K& +4 h &ӑ* = Bf + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &P& +4 h &ӑ* Bf + .t\Forearm.seek :CC +2 M&U'? +95 h ' + .tHand.close + M&V/ +70 h / + .t\CC.seek :open +2 C'X( +449 h ( + A(Y& +4 h &B L L 4\ ; + A(R& +4 h &B L K Y\ ; + M&H& +3 h &Ӓ) L Ae +2 M&S% +3 h % L  ^ + .t\Forearm.seek :retract +2 M&]' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&O( +164 h ( + M&`& +4 h &   + A(a& +4 h &B s _ \ < + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 1 + M&8'8 +93 h ' + .t\Elbow.hold +2 M&Z, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&&1 +66 h 1 + M&E% +4 h % l 1 A + A(T& +4 h &B n q ;\ = + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 1 + 352 counts +2 M&d'Ϙ +23 h ' +2 M&e& +4 h &  |  + A(h& +4 h &B s t $\ = + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&j' +13 h ' +2 A(b% +3 h % s r *\ > +3 ."downElevator"\SE.seek :down +2 A(l' +99 (o% +2 h %27 L L Z\ + A(i. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(n(C +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (g& +3 h &B p y 1\ > + M&s& +3 h &  +2 .t\Elbow.seek 1 + M&m( +8 h ( + M&p& +4 h &    + A(w& +4 h &B n v L\ > + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&y' +97 h ' + A(q& +4 h &B z w ]\ > + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A({'s +310 h ' + A(|- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&~/ +66 h / + M&t& +4 h & @  + M&x% +3 h %  k H +2 .t\Forearm.seek :retract + M&z' +93 h ' + .t\Elbow.seek :clear +2 M&r(d +95 h ( + M&& +4 h &d B  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &c& +3 h &d v  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +13 h ' + .t\SE.seek :down +2 A([' +272 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(u(  +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (k& +3 h &  A I B\ <  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(f's +279 h ' + A(v- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A('1 +40 h ' + A( & +4 h &  O : 2\ ;  + A(& +3 h &  L U h\ ;  +2 M&& +3 h &d  + M&% +3 h %  m u +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&\ ( +102 h ( + M&& +4 h &  ( + A(}& +3 h &  K V N\ ;  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&'Α +94 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +77 h 1 + M&% +4 h % Χ / Q + A(& +3 h &  N M y\ :  +2 .t\Forearm.force -20 M&5 +2 .t\Forearm.seek 2 + 322 counts +2 M&' +18 h ' + M&& +4 h &  ' + A(& +3 h &  U L U\ ;  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +12 h ' + A(% +5 h %5 P L\ ; +2 ."downElevator"\SE.seek :down +2 A((' +99 (*% +2 h %uB O N \ 9[w +2 M&% +3 h %U +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +90 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 1 to 2 +2 M&"% +3 h %   +2 A(% +3 h % k l \ > +2 A(/. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A( (C +353 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &F M P b\ ; + M&& +3 h & [ ' +2 .t\Elbow.seek 1 + M&)( +4 h ( + M&#& +4 h & O ' + A( & +3 h &F N M 7\ < +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +97 h ' + A(& +4 h &F L L \ < + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +42 .t\SE.seek beamBreak +10 A('s +296 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&,/ +68 h / + M&4& +4 h & & + M&6% +3 h %    +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.seek :clear +2 M&%(d +101 h ( + M&!& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &9& +3 h &d <  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&;' +10 h ' + .t\SE.seek :down +2 A(=' +285 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(-(  +358 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ('& +3 h &  N N \ :\  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(+'s +323 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ($& +2 h &  L L Z\ 9\  +2 A(3& +3 h &  M L w\ :\  + M&@& +3 h &d 9  +2 M&A% +3 h %  K  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&B( +104 h ( + M&F& +4 h & % + A(J& +3 h &  L N \ :\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&5'Α +93 h ' + .t\Elbow.hold +2 M&1, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&N1 +71 h 1 + M&Q% +4 h % Η  ? + A(D& +3 h &  L N g\ :\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 306 counts +2 M&7' +24 h ' + M&2& +4 h & n  + A(.& +4 h &  N K \ :\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&<'S +15 h ' +2 A(>% +3 h % K L 7\ ; +3 ."downElevator"\SE.seek :down +2 A(K' +99 (G% +2 h %@8 K N \ 9[r +2 M&P% +3 h %< : +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&:' +88 h ' +66 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 2 of 2..2 + #Loading generic puck from tube 2 into Collection Clamp + C'C& +4 h & U\ ` + M&V% +4 h %   +2 A(I% +3 h % r t \ > +2 A(M. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(Y(  +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (R& +3 h &  s u <\ = +2 M&H& +3 h & U  + .t\Elbow.seek 2 +2 M&S( +22 h ( + M&`& +4 h & %  +2 A(a& +3 h & N K P\ ;\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&U'S +100 h ' + A(L& +4 h & K L c\ ;\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(&'s +298 h ' + A(E- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (T& +2 h &  L M \ 9\  +2 M&e& +3 h & i  + .t\Elbow.seek 2 +2 M&h( +3 h ( + M&b& +3 h & \  +2 A(]& +3 h &  N M \ :\  +2 .t\Forearm.seek 2 + 300 counts + M&o'Ͻ +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&^/ +75 h / +2 ."downElevator"\SE.seek :down +2 M&O& +3 A(8' +5 h & T  +2 M&_% +3 h % Ͻ B  +2 .t\Forearm.seek :retract +2 M&d' +90 h ' + .t\Elbow.seek CC +2 M&W(ӂ +155 h ( + M&i& +4 h &z.  E} + ' + ."downElevator"\SE.coast +2 A(5 +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &?& +3 h &z. E} + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&g'? +94 h ' + C's& +4 h & N\ ] + C'p& +4 .t\CC.seek :closed + C'w(\\ +3 h & 0\ ] +3 & P\ ]\ +10 &.x T\ W+{ +9 &a U\ W? +10 &\\v Q\ WQ +9 &U S\ YQ +9 &U U\ YQ +10 &X Q\ XQ +9 &cV R\ XQ +10 &$Y L\ YQ +9 &W N\ YQ +9 &Y M\ XQ +10 & kV P\ XQ +9 &",W P\ XQ +9 &#V K\ YQ +10 &%V =\ YQ +9 &'rZ 9\ XQ +10 &)4V 7\ YQ +9 &*W A\ XQ +9 &,T A\ YQ +10 &.{W >\ YQ +9 &0=R C\ YQ +9 &2W D\ XP +10 &3W A\ YQ +9 &5T B\ YP +10 &7EW A\ YQ +9 &9T B\ XQ +9 &:U D\ YP +10 &<U D\ YP +9 &>MT C\ YQ +9 &@Y B\ YQ +10 &AX C\ XQ +9 &C\\ B\ YQ +10 &EOe A\ XS +9 &G } =\ WT +9 &H =\ UX +10 &J{ 6\ S\\ +9 &L7 5\ R^ +9 &M 9\ S] +10 &O 5\ R_ +9 &Qz 5\ R_ +10 &S: .\ P_ +9 &T 1\ Q` +9 &V 6\ Q` +10 &X| 8\ Qa +9 &Z; -\ Pb +9 &[~ (\ SE +10 &\\+ *\ R, +9 &\\{ +\ VW +2 ( + C'p& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + M&j1 +71 h 1 +2 M&q% +3 h % G e +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&l' +91 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + P%0& +3 h &\ \ 7 +2 M&Z% +3 h %  (  +2 A(\\% +3 h % 8 4\ 7 +2 A(|. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 2 + A(~(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (t& +3 h &  5 7 \ 7 + M&x& +3 h &|- D{ +2 M&% +3 h %  M  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&c( +165 h ( + M&y& +4 h &   +2 A(m& +3 h &  K K b\ 9 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&z'S +96 h ' + A({& +4 h &  M L \ : + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(n's +300 h ' + A(k- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (v& +2 h &  ' 1 D\ 8 +2 M&[& +3 h &   + .t\Elbow.seek 2 +2 M& ( +4 h ( + M&& +4 h &   + A(& +4 h &  L L a\ 9 + .t\Forearm.seek 2 + 300 counts +2 M&'Ͻ +21 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&}& +6 A(f' +2 h & $  +2 M&r% +3 h %  U +2 .t\Forearm.seek :retract +2 M&' +91 h ' +2 .t\Elbow.seek PC +2 M&( +166 h ' + ."downElevator"\SE.coast + A(5 +72 h ( +2 M&& +4 h & n ) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &  ` ) + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +99 h ' + P%& +4 h &\ 9 +2 P%& +3 .t\PC.seek :closed +2 P%*(^ +2 h &\ \ 9 +5 &\ 93 +9 &7E}\ 42 +9 &Xn\ 3G +10 &c\ 5S +9 &Q\ 5S +9 &oT\ 5S +10 &2Q\ 6S +9 &R\ 5S +10 &R\ 5R +9 &wS\ 5S +9 &8S\ 5T +10 & Q\ 6S +9 &"O\ 6S +9 &$S\ 5S +10 &&BU\ 6S +9 &(R \ 5S +10 &)R\ 5S +9 &+Q\ 5S +9 &-IR\ 5S +10 &/ R\ 6S +9 &0R\ \ 5S +9 &2R\ 6S +10 &4QO\ 6S +9 &6R\ 6S +10 &7Q\ 5S +9 &9R\ 5S +9 &;YT \ 6S +10 &=P\ 5S +9 &>U\ \ 5S +9 &@X\ 5S +10 &B]b\ 5U +9 &Dp\ 4W +10 &E\ 2Y +9 &G\ 3Y +9 &IW\ \ 3Z +10 &K \ 3Z +9 &L \ 2Z +9 &N\ 2Z +10 &PZ \ 1[ +9 &R \ 2[\ +10 &S \ 1\\ +9 &U\ 3[\ +9 &Wb\ 2[ +10 &Y$\ 2[ +9 &Z \ 2[ +9 &\\\ 2\\ +10 &^3j{\ 3- +9 &^}\ 4B +8 ( +2 P%& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.77 + .Hand.open +2 M&1 +2 h &^>\ 6: +72 1 + M&\ % +4 h %    ! + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +92 h ' + .t\SC.coast + A(6 +2 P%"& +4 h &^>\ 7: + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 M&% +3 h %    \  +2 A(% +3 h % 5 5 \ 6 +2 A(/. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A((  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +3 h &  4 4\ 6 +3 ."raiseStack"\SE.reconfigure SEplace + M&(& +4 A(#]kK-0-\ b +2 h &  v ) +3 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&u( +2 h ( +2 M&& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h &   ) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &#& +3 h &  ) ) +2 .t\Forearm.seek :PC +2 M& ' +91 h ' + .tHand.close + M&/ +71 h / + .t\PC.seek :open +2 P%( +94 h ' + A( - +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A('1 +43 h ' +309 ( + A(,& +4 h &  L / y\ 8 + M&4& +3 h & ) +2 M&6% +3 h %   ^ +2 .t\Forearm.seek :retract + M&!' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&9( +246 h ( + M&& +4 h & G + A()& +3 h &  > 5 =\ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +95 h ' + .tHand.open + M&1 +75 h 1 + A( - +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A('' +26 h ' +39 .t\SE.reconfigure SEseal +12 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(=' +56 h ' + #tLights, camera, ACTION! + A(- +3 h -' +2 A($& +3 h &  \\\ ) +2 M&3& +3 h &  p F + .t\Elbow.seek 2 +2 M&@( +3 h ( + M&A& +3 h & ` F +2 A(F& +3 h &  Y\ ) +2 .t\Forearm.seek 2 + 450 counts +2 M&J'S +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(N' +61 h ' +2 M&%& +3 h & S F +2 A(Q& +3 h &  4 * !\ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&D'Α +15 h ' + .t\Elbow.hold +2 M&2, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(.' +18 h ' +2 M&>% +3 h %α  N +2 A(;& +3 h &  1 3 T\ 8 +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 332 counts +2 M&G' +16 h ' +2 M&P& +3 h & 0 F +2 A(B& +4 h &  ' <\ 9 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts + M&5'S +16 h ' +2 A(C% +3 h % L L +\ 9 +3 ."downElevator"\SE.seek :down +2 A(7' +99 (V% +3 h %D 4 4\ 7\\v +2 M&I% +3 h %I +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&M' +89 h ' +76 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'+& +3 h &\\~ \ YW +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&R% +3 h %  M  +2 A(H% +3 h % K L h\ 9 +2 A(`. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(a(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (<& +3 h &  L L !\ 9 + M&L& +4 h & F +2 .t\Elbow.seek 2 + M&K( +4 h ( + M&-& +3 h & X F +2 A(1& +3 h &  K K c\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&:'S +94 h ' + A(E& +4 h &  L L S\ 9 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(T's +295 h ' +4 A(e- +3 h -' + .t\SE.configure SEconfig +3 A(#QK-0-\ b +2 M&b& +2 h & L F +2 A(]& +3 h &  5 5 \ 8 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&^'Α +14 h ' + .t\Elbow.hold +2 M&O, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(_- +2 h -' +2 .t\SE.seek 0.17 +2 A(S's +28 h ' + M&U% +4 h %ί  E +2 A(i& +3 h &  K M \ 9 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 330 counts + M&?' +17 h ' + M&&& +4 h & S F +2 A(o& +3 h &  K K j\ : + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&s'S +14 h ' +2 .t\SE.seek 1.17 + A(h' +40 h ' +2 M&8& +3 h & F +2 M&d% +3 h %k +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&X' +91 h ' + .t\Elbow.seek CC +2 M&j(ӂ +161 h ( + M&q& +4 h &ӎ 6 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &0& +3 h &ӎ 0 6 +2 .t\Forearm.seek :CC + M&Z'? +93 h ' + .tHand.close + M&\\/ +77 h / + .t\CC.seek :open +2 C'|( +452 h ( +2 A(p& +3 h &  K K ]\ < +2 A(t& +3 h &  K K ^\ < + M&x& +4 h &ӎ < 6 + M&% +3 h % U 5 L +2 .t\Forearm.seek :retract + M&g' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&y( +164 h ( + M&m& +4 h & j  + A(Y& +4 h &  s r )\ = + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 2 + M&{'Α +95 h ' + .t\Elbow.hold +2 M&W, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&l1 +74 h 1 + M&k% +4 h % ΅ - + A(v& +3 h &  ` n 4\ = +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 288 counts +2 M&['ϱ +31 h ' + M&& +4 h & ?  + A(& +4 h &  s s 8\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&'S +16 h ' +2 A(}% +4 h % q s \ > +2 ."downElevator"\SE.seek :down +2 A(r' +100 (c% +2 h %_8 N T \ + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A( (  +3 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +2 h &  s r \ > +2 M&f& +3 h & e  +2 .t\Elbow.seek 2 +2 M&( +8 h ( + M& & +4 h &   + A(& +4 h &  s s \ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +104 h ' + A(\ & +4 h &  z y y\ ? + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A("'s +299 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +65 h / + M&/& +4 h & P  + M&% +3 h % 0 +2 .t\Forearm.seek :retract + M&(' +93 h ' + .t\Elbow.seek :clear +2 M&(d +95 h ( + M&#& +4 h &d X  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d 9  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +15 h ' + .t\SE.seek :down +2 A(~' +267 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A( ( +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & ? H R\ <  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A('s +280 h ' + A(*- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A('1 +42 h ' + A(,& +4 h & G 9 :\ <  + A(4& +3 h & > H y\ ;  +2 M&6& +3 h &d ,  + M& % +3 h %  * i +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&( +104 h ( + M&)& +4 h & 7 + A(u& +3 h & L O E\ :  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&'u +92 h ' + .t\Elbow.hold +2 M& , +39 h , +9 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&!1 +71 h 1 + M&% +4 h % Γ   - + A($& +3 h & L K B\ 9  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 330 counts + M&3'Ͽ +22 h ' + M&A& +4 h & Q 6 + A(F& +4 h & M L t\ :  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&%'7 +28 h ' +2 A(Q% +4 h %9 N L s\ ; +2 ."downElevator"\SE.seek :down +2 A(' +100 (>% +2 h %49 K K x\ 9Zs +2 M&;% +3 h %7 V +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&P' +89 h ' +66 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 2 to 3 + M&B% +4 h %  c  + A('% +3 h % s t 1\ > +2 A(C. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(9(  +361 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & K K :\ < + M&=& +3 h & V 6 +2 .t\Elbow.seek 2 + M&V( +35 h ( + M&I& +4 h & 9  + A(J& +3 h & J H &\ < +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&@'S +97 h ' + A(N& +4 h & q r \ < + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(D's +299 h ' + A(G- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&+/ +68 h / +2 M&R& +4 h & #  + M&H% +4 h % Q  Y b + .t\Forearm.seek :retract +2 M&.' +89 h ' + .t\Elbow.seek :clear +2 M&`(d +94 h ( + M&<& +4 h &d "  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &L& +3 h &d g  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&-' +10 h ' + .t\SE.seek :down +2 A(1' +278 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(5( +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (E& +2 h & K L C\ < +2 .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(7's +315 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (2& +2 h & L M \ :\ +2 A(M& +3 h & K T T\ ; +2 M&e& +3 h &d )  + M&b% +4 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek 3 +2 M&]( +102 h ( + M&_& +4 h & ^ 0 + A(U& +3 h & O K c\ ; +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&i'u +91 h ' + .t\Elbow.hold +2 M&&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&o1 +76 h 1 +2 M&8% +3 h % Σ i p +2 A(d& +3 h & R L \ < + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 346 counts + M&:' +26 h ' + M&K& +4 h & I / + A(T& +3 h & a m O\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&^'7 +14 h ' +2 A(?% +3 h % q m \ = +3 ."downElevator"\SE.seek :down +2 A(S' +99 (q% +2 h %&< K J ?\ +2 A(w. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(p( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (t& +3 h & q q \ = +2 M&x& +3 h & / +2 .t\Elbow.seek 3 +2 M&( +2 h ( +2 M&m& +3 h & 3 / +2 A(Y& +3 h & m q \ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&Z'7 +96 h ' + A(j& +4 h & p s \ = +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(l's +299 h ' + A(k- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (v& +2 h & A H ?\ < +2 M&& +3 h & / + .t\Elbow.seek 3 +2 M&( +3 h ( + M&}& +3 h &  / +2 A(g& +3 h & ^ O E\ < +2 .t\Forearm.seek 3 + 300 counts +2 M&c'ϡ +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&z/ +66 h / +2 ."downElevator"\SE.seek :down +2 M&y& +3 A({' +5 h &  / +2 M&% +3 h % ϛ J +2 .t\Forearm.seek :retract + M&[' +91 h ' + .t\Elbow.seek CC +2 M&(ӂ +153 h ( + M&& +4 h &ӏ- r Du + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' +2 M&& + ."downElevator"\SE.coast +4 A(5 +2 h &Ӑ+ Ct +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&h'? +101 h ' + C'f& +4 h & +\ ^ +2 C' & +3 .t\CC.seek :closed +2 C'(\\ +3 h & R\ ] + & O\ ^ +10 &/w O\ Y+| +9 &b T\ X@ +10 &at R\ XQ +9 &#U N\ ZP +9 &X I\ ZQ +10 &X I\ ZQ +9 &iT L\ ZP +9 &*X F\ ZQ +10 &Y F\ ZP +9 &U H\ ZP +10 & pR K\ ZQ +9 &"2U G\ ZQ +9 &#T C\ ZP +10 &%Y C\ ZQ +9 &'xV 9\ ZQ +9 &):S :\ ZQ +10 &*S 7\ ZP +9 &,U A\ ZP +10 &.Z @\ ZQ +9 &0BU @\ ZQ +9 &2T J\ ZQ +10 &3Y B\ ZQ +9 &5T F\ ZQ +9 &7KX M\ ZP +10 &9 R T\ ZQ +9 &:W Q\ ZP +10 &<W K\ YQ +9 &>RU K\ ZQ +9 &@W H\ ZP +10 &AU S\ ZQ +9 &C^ U\ ZR +9 &EP| O\ XT +10 &G T\ WX +9 &H C\ T\\ +10 &J{ J\ S] +9 &L9 A\ S_ +9 &M B\ S^ +10 &O F\ S^ +9 &Q F\ S_ +9 &S= H\ R` +10 &T >\ Ra +9 &V ;\ Ra +10 &X} *\ Qb +9 &Z< 1\ Pb" +9 &[ '\ SC +10 &\\) '\ T, +9 &\\ 5\ V"c +2 ( + C' & +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.41 + .Hand.open +2 M&1 +76 h 1 + M&\ % +4 h % ; - \ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&r' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 3 into Processing Clamp +2 P%a& +3 h &\ 6 +2 M&W% +3 h %   +2 A(n% +3 h % 4 4\ 6 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (/& +3 h & 4 4 \ 6 + M&& +4 h &Ӓ+ n Cr + M&#% +3 h %  p  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&( +167 h ( + M&& +4 h &  +2 A(& +3 h & G < T\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&('7 +89 h ' + A("& +4 h & K L P\ 9 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A( 's +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (*& +2 h & 7 7\ 7 +2 M&~& +3 h &  + .t\Elbow.seek 3 +2 M&,( +3 h ( + M&4& +3 h &  +2 A(6& +3 h & 5 4 "\ 8 +2 .t\Forearm.seek 3 + 300 counts +45 M& 'ϡ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&)/ +75 h / +2 ."downElevator"\SE.seek :down +2 M&u& +4 A(' +5 h & W  +2 M&% +3 h % Ϟ ` x +2 .t\Forearm.seek :retract +2 M&!' +94 h ' + .t\Elbow.seek PC +2 M&( +172 h ' + ."downElevator"\SE.coast + A(5 +67 h ( +2 M&$& +4 h & > 1 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &A& +3 h & 1 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&F' +91 h ' +2 P%& +3 h &\ 9 +2 P%Q& +3 .t\PC.seek :closed +2 P%(^ +2 h &\ 9 +3 &\ 9 +9 &-u\ 4,} +10 &`~\ 3@ +9 &^u\ 4R +9 &Q\ 5S +10 &R\ 6S +9 &S\ 5S +9 &cS\ 5S +10 &%S\ 6S +9 &W\ 5S +10 &R\ 6S +9 & kQ\ 5S +9 &".O\ 5R +10 &#T\ 5S +9 &%O\ 5S +9 &'sR\ 5S +10 &)4Q\ 5S +9 &*R\ 6S +10 &,S\ 5S +9 &.{T\ 5S +9 &0=R\ 5S +10 &1Q\ 5S +9 &3S\ 5S +9 &5P\ 5S +10 &7EQ \ 6S +9 &9T\ 5S +10 &:T\ 5S +9 &<R\ 5S +9 &>KU\ 5S +10 &@ W \ 5S +9 &A_\ 5T +9 &Ch\ 4U +10 &EJs\ 4W +9 &G\ 3X +10 &H\ 3Z +9 &J\ 2Y +9 &LI\ 2Z +10 &N\  \ 2Z +9 &O \ 2[\ +9 &Q\ 2[\ +10 &SM \ 2[\ +9 &U\ 2[\ +10 &V \ 1\\ +9 &X\ 2[\ +9 &ZV\ 2[ +10 &\\\ 2[\ +9 &]\ 2@ +9 &^0\ 2[ +10 &^*\ 66 + ( + P%Q& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 M&>1 +66 h 1 + M&;% +4 h %  L j + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\SC.coast + A(6 +2 P%3& +4 h &^(\ 56 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&B% +3 h %  e  +2 A('% +3 h % 3 3 \ 6 + A(C. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +4 (%& + M&& +3 h & * 4 z\ 6 +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &  1 +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M& ( +2 h ( +2 M&& +3 ."raiseStack"\SE.seek beamBreak + A(='s +3 h &  n 1 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &I& +3 h & a 1 +2 .t\Forearm.seek :PC + M&J' +90 h ' + .tHand.close + M&N/ +75 h / + .t\PC.seek :open +3 P% ( +91 h ' + A(P- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(G'1 +41 h ' +314 ( +2 A(+& +3 h & ' + ;\ 8 +2 M&R& +3 h &  1 +2 M&H% +3 h % .  / } + .t\Forearm.seek :retract +2 M&<' +90 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&L( +99 E\ cVT +148 h ( + M&@& +4 h &  @ + A(V& +3 h & 7 7 \ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&.'7 +101 h ' + .tHand.open + M&D1 +67 h 1 + A(9- +3 h -'1 +4 .t\SE.seek -0.26 Pucks below Top Plate + A(E' +27 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(1' +49 h ' + #tLights, camera, ACTION! +2 A(- +3 h -' + A(2& +3 h & K\ - +2 M&M& +3 h &   @ +2 .t\Elbow.seek 3 + M&e( +3 h ( + M&b& +3 h & & @ +2 A(_& +3 h & @\ - +2 .t\Forearm.seek 3 + 450 counts +2 M&U'7 +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(`' +50 h ' + M&o& +4 h & @ +2 A(8& +3 h & 6 7\ 7 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&d'u +13 h ' + .t\Elbow.hold +2 M&K, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(T' +20 h ' +2 M&?% +3 h %Ώ : +2 A(-& +3 h & 6 7\ 7 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 326 counts +2 M&q'ϻ +25 h ' +2 M&0& +3 h & @ +2 A(]& +4 h & 4 6\ 7 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts +2 M&i'7 +14 h ' +2 A(O% +3 h % & 1 \ 7 +3 ."downElevator"\SE.seek :down +2 A(\\' +99 (:% +2 h %= 4 4\ 6[t +2 M&X% +3 h %> S +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&w' +88 h ' +72 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C't& +3 h &\\ %\ X"c +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&7% +3 h %    +2 A(x% +3 h % 3 2 N\ 8 +2 A(m. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(Y( +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (^& +2 h & 4 3\ 7 +2 M&j& +3 h & # @ +2 .t\Elbow.seek 3 + M&S( +3 h ( + M&5& +4 h & @ +2 A(&& +3 h & ) 1 \ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&s'7 +102 h ' + A(k& +4 h & 6 ; s\ 8 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(v's +296 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&}& +2 h & F @ +2 A(g& +3 h & 4 6\ 7 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&z'u +14 h ' + .t\Elbow.hold +2 M&y, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' + .t\SE.seek 0.16 +2 A('p +30 h ' + M&Z% +4 h %Ζ 1 + A(& +4 h & ' ) S\ 8 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 333 counts +2 M&' +23 h ' + M&l& +4 h & # @ + A(c& +4 h & ( * \ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&f'7 +12 h ' +2 .t\SE.seek 1.16 + A(' +37 h ' + M&{& +4 h &  } @ +2 M&[% +3 h %<  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&|' +88 h ' + .t\Elbow.seek CC +2 M&(ӂ +152 h ( + M&\ & +4 h &Ӑ* b Bh + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &a& +2 h &Ӑ* - Bh +2 .t\Forearm.seek :CC + M&W'? +93 h ' + .tHand.close +2 M&n/ +65 h / + .t\CC.seek :open +2 C' ( +452 h ( + A(& +4 h & J J a\ ; + A(/& +4 h & N M q\ ; + M&& +3 h &ӑ* P Bg +2 M&#% +3 h % R r +2 .t\Forearm.seek :retract +48 M&h' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +168 h ( + M&& +4 h & u  +2 A(p& +3 h & L K g\ < + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&"'u +96 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&r1 +72 h 1 +2 M&% +4 h % Μ l 0 + A(*& +4 h & R ^ \ = + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 339 counts + M&~' +25 h ' + M&4& +4 h &   +2 A(6& +3 h & p p \ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&)'7 +14 h ' +2 A(u% +3 h % q p \ > +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %A4 @ L \ +2 A(A. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(,( +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h & q n #\ > +2 M&& +3 h &  + .t\Elbow.seek 3 +2 M&!( +3 h ( + M&& +3 h & W  +2 A(>& +3 h & q l\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&;'7 +95 h ' +2 A(3& +4 h & o k \ > + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(B's +298 h ' + A('- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&C/ +70 h / + M&Q& +4 h &  + M&%% +3 h % * . m +2 .t\Forearm.seek :retract + M&' +89 h ' +2 .t\Elbow.seek :clear +2 M&(d +95 h ( + M&I& +4 h &d   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &F& +3 h &d Y  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&N' +11 h ' + .t\SE.seek :down +2 A(' +266 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(P(,y +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,x M J \ ; + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A('s +277 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(='1 +57 h ' + A(+& +4 h &,v t _\ = + A(R& +3 h &,v L N N\ < +2 M&H& +3 h &d `  +2 M&J% +3 h %  Y  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&@( +101 h ( + M&V& +4 h & M  + A( & +3 h &,v J J P\ < +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&D'7 +93 h ' + .t\Elbow.hold +2 M&9, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +71 h 1 + M&2% +4 h % Q  A + A(M& +4 h &,v T ^ N\ = + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 326 counts +2 M&b'} +31 h ' + M&_& +4 h &  + A(<& +3 h &,v r r +\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&o' +14 h ' + A(8% +4 h %; r r \ = +2 ."downElevator"\SE.seek :down +2 A(?' +100 (-% +2 h %j; K K .\ ;[t +2 M&0% +3 h % 0 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&]' +88 h ' +68 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 3 to 4 + M&G% +4 h %    + A(O% +4 h % r r ,\ > +2 A(E. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(L( +359 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (.& +3 h & r s %\ = + M&1& +3 h &   +2 .t\Elbow.seek 3 + M&:( +38 h ( + M&X& +4 h &{ D + A(U& +3 h & ^ m X\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&e'7 +96 h ' + A(`& +4 h & r s \ = + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(d's +299 h ' + A(q- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&t/ +71 h / + M&7& +4 h &{ 8 D + M&x% +3 h % ( 8 v +2 .t\Forearm.seek :retract + M&m' +90 h ' +2 .t\Elbow.seek :clear +2 M&T(d +100 h ( + M&^& +4 h &d " w + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &j& +3 h &d D w + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&5' +10 h ' + .t\SE.seek :down +2 A(&' +278 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(i(,y +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (k& +3 h &,{ ` O T\ < + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(\\'s +314 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (K& +2 h &,x V K ^\ ; +2 A(w& +3 h &,x B =\ < + M&& +3 h &d  w +2 M&}% +3 h %   +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&g( +101 h ( + M&& +4 h & 1 + + A(Z& +3 h &,x = = \ ; +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&'7 +96 h ' + .t\Elbow.hold +2 M&l, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&c1 +68 h 1 + M&{% +4 h % U  3 + A([& +4 h &,x K @ \ < + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 330 counts +2 M&s'ρ +26 h ' + M&S& +4 h & + + A(v& +3 h &,x L R (\ < +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&z' +27 h ' + A(% +4 h % p p \ = +2 ."downElevator"\SE.seek :down +2 A(\ ' +100 (% +3 h %5 K O `\ ;Yo +2 M&a% +3 h %# & +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&f' +89 h ' +65 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of 4..4 + #Loading generic puck from tube 4 into Collection Clamp + C'y& +4 h & 6\ ` + M&n% +4 h %   + A(|% +3 h % s s \ > +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A((,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (/& +3 h &,x p q\ > +2 M&& +43 h &  + +9 .t\Elbow.seek 4 +2 M&#( +3 h ( + M&& +4 h & < + + A(p& +3 h &,x p r \ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&W' +92 h ' + A(& +4 h &,x o l\ > +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(r's +298 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (*& +2 h &,x = = \ < +2 M&4& +3 h & + +2 .t\Elbow.seek 4 + M&6( +3 h ( + M&u& +4 h &  ) + +2 A(h& +3 h &,x T ` )\ = +2 .t\Forearm.seek 4 + 300 counts +2 M&'c +14 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&(/ +76 h / +3 M&& +2 ."downElevator"\SE.seek :down +4 A("' +3 h & / + +2 M& % +3 h % Z   +2 .t\Forearm.seek :retract + M&~' +91 h ' + .t\Elbow.seek CC +2 M&$(ӂ +150 h ( + M&A& +4 h &Ӆ) Y A_ + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' +2 M&& + ."downElevator"\SE.coast +2 A(5 +5 h &Ӆ) ! A_ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +99 h ' + C'& +4 h & d\ _ +2 C'& +3 .t\CC.seek :closed +2 C'>(\\ +2 h & c\ ^ +3 & e\ ^ +10 &-w c\ Y,} +9 &c e\ X@ +9 &cs e\ YQ +10 &%R f\ [P +9 &R g\ ZP +10 &Y c\ [P +9 &kV `\ ZP +9 &-W \\\ [P +10 &U W\ ZQ +9 &T \\\ ZP +9 & tQ ^\ [P +10 &"5T Z\ [P +9 &#R X\ [P +10 &%W P\ ZP +9 &'zU Y\ ZQ +9 &)<U U\ [Q +10 &*U V\ ZP +9 &,R U\ ZP +9 &.T J\ ZP +10 &0EV K\ ZP +9 &2U Q\ [Q +10 &3U U\ ZP +9 &5P S\ [P +9 &7MU T\ [P +10 &9R R\ [P +9 &:U T\ ZP +9 &<T T\ [P +10 &>VV O\ ZP +9 &@T T\ [P +10 &AZ T\ ZP +9 &CY S\ ZQ +9 &EXg T\ YR +10 &G~ U\ XT +9 &H R\ WX +9 &J S\ T\\ +10 &LC N\ U\\ +9 &N M\ S^ +10 &O N\ S^ +9 &Q M\ T] +9 &SC I\ S_ +10 &U I\ S_ +9 &V O\ S_ +9 &X M\ R` +10 &ZD F\ Ra +9 &[z F\ UH +10 &\\ L\ V- +9 &\\ F\ V"c + ( + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 M&)1 +67 h 1 + M&3% +4 h % A 7  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%Y& +3 h &"\ 6 +2 M&% +3 h %  g  +2 A( % +3 h % 6 5\ 7 +2 A('. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(C(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (Q& +3 h &,x 4 4\ 6 +2 M&%& +3 h &Ӈ( > @] + M&I% +3 h %  )  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&F( +164 h ( + M&;& +4 h &  +2 A(!& +3 h &,x & ) 4\ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&' +93 h ' + A(B& +4 h &,x K ; \ 8 + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(,'s +302 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (& +2 h &,x 5 7\ 7 +2 M&& +3 h & ]  + .t\Elbow.seek 4 +2 M&+( +3 h ( + M&R& +3 h &  +2 A(H& +3 h &,x 6 7\ 7 +2 .t\Forearm.seek 4 + 300 counts + M&J'c +32 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&V/ +74 h / +2 ."downElevator"\SE.seek :down +2 M& & +3 A(' +5 h &  +2 M&% +3 h % u - +2 .t\Forearm.seek :retract +2 M&2' +85 h ' + .t\Elbow.seek PC +2 M&( +169 h ' + ."downElevator"\SE.coast + A(5 +70 h ( + M&M& +4 h & ) +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &_& +3 h &  ) + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&<' +98 h ' + P%8& +4 h &!\ 8 +2 P%N& +3 .t\PC.seek :closed +2 P%-(^ +3 h &\ 8 +3 &\ 8 +10 &-u\ 2,} +9 &`~\ 2@ +9 &_s\ 2R +10 &S\ 4S +9 &S\ 4R +10 &Q\ 5R +9 &cS\ 4S +9 &%Q\ 5S +10 &S\ 4S +9 &S\ 5R +9 & kR\ 4S +10 &"-S\ 4S +9 &#U\ 4S +10 &%O\ 5S +9 &'sQ\ 4S +9 &)4Q\ 4S +10 &*Q\ 4S +9 &,R\ 4S +9 &.zP\ 4S +10 &0<Q\ 4S +9 &1Q\ 4S +10 &3O\ 4R +9 &5Q\ 4S +9 &7EP\ 4S +10 &9R\ 4S +9 &:R\ 4S +9 &<R\ 5S +10 &>KU\ 4S +9 &@ R\ 4S +10 &A]\ 4T +9 &Cq\ 2V +9 &EC\ 1Y +10 &G\ 2Y +9 &H\ 2Y +9 &J\ 1Z +10 &LI\ 1Z +9 &N\ 1[ +10 &O\ 1Z +9 &Q \ 1[ +9 &SK\ 1\\ +10 &U  \ 1\\ +9 &V\ 1[ +9 &X \ 1[ +10 &ZU\ 1[\ +9 &\\\ 0[ +10 &] \ 1= +9 &^-\ 2] +9 &^D\ 5; +2 ( + P%N& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 + .Hand.open +2 M&01 +65 h 1 + M&@% +4 h %    + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&D' +90 h ' + .t\SC.coast + A(6 +2 P%G& +4 h &^A\ 5; +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&b% +3 h %  U  +2 A(O% +3 h % % & \ 5 +2 A(E. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(=(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +5 (o& + M&?& +5 h &,x & / \ 5 +3 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &   ) +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&P( +2 h ( +2 ."raiseStack"\SE.seek beamBreak +3 A(.'s + M&1& +5 h & \  ) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &X& +3 h & g ) + .t\Forearm.seek :PC +2 M&U' +93 h ' + .tHand.close + M&`/ +67 h / +2 .t\PC.seek :open +2 P%9( +95 h ' + A(]- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(q'1 +41 h ' +308 ( + A(t& +4 h &,z 5 3\ 7 + M&7& +3 h & 8 ) +2 M&x% +3 h %  3 8 +2 .t\Forearm.seek :retract + M&^' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&j( +246 h ( + M&e& +4 h & W 6 + A(:& +3 h &,z 1 / Y\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&m' +92 h ' + .tHand.open + M&d1 +65 h 1 + A(L- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(k' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(&' +53 h ' +2 #tLights, camera, ACTION! + A(- +3 h -' +2 A(K& +3 h &,y o\ * +2 M&w& +3 h &  Q 6 +2 .t\Elbow.seek 4 + M&( +3 h ( + M&}& +4 h &  6 + A(& +4 h &,y s\ ) +2 .t\Forearm.seek 4 + 450 counts +2 M&Z' +3 h ' + .t\SE.reconfigure SEgently +3 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(c' +51 h ' + M&{& +4 h &  6 +2 A(T& +3 h &,y 7 4 \ 7 + .t\Elbow.reconfigure LimpElbow +50 M&$ ,(#b +4 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 4 +2 M&['7 +16 h ' + .t\Elbow.hold +2 M&S, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(v' +20 h ' +2 M&% +3 h %c  W +2 A(5& +3 h &,y ( 0 #\ 7 +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 344 counts +2 M&'Ϗ +22 h ' +2 M&a& +3 h & O 6 +2 A(g& +4 h &,y 6 6 \ 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 4 + 450 counts + M&' +16 h ' +2 A(s% +3 h % 4 5 ,\ 7 +3 ."downElevator"\SE.seek :down +2 A(y' +99 (n% +3 h %> 4 ) x\ 6[t + M&|% +4 h % 1 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +86 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'\\& +3 h &\\ \ W"c +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&/% +4 h %  (  + A(% +3 h % ) ' \ 8 +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(p(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (z& +2 h &,y 1 ( T\ 7 +2 M&& +3 h & B 6 +2 .t\Elbow.seek 4 + M&\ ( +3 h ( +2 M&i& +3 h & " 6 +2 A(l& +3 h &,y ) *\ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&f' +98 h ' + A(& +4 h &,y K K L\ 9 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(*'s +297 h ' + A(4- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&u& +2 h & f 6 +2 A(h& +3 h &,y 6 6\ 7 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&('7 +21 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A( - +2 h -' + .t\SE.seek 0.17 +2 A(#'v +31 h ' + M&W% +4 h %S 0 : + A(A& +3 h &,y ' 0 Y\ 7 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 328 counts +2 M&' +28 h ' + M&r& +4 h &  6 +2 A(& +3 h &,y 4 4\ 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +13 h ' +2 .t\SE.seek 1.17 + A(6' +38 h ' + M&"& +4 h & 6 +2 M&~% +3 h %   +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +88 h ' +2 .t\Elbow.seek CC + M&)(ӂ +158 h ( + M&3& +4 h &ӑ& ?T + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &Y& +3 h &ӑ&  ?T +2 .t\Forearm.seek :CC + M&'? +93 h ' + .tHand.close + M& / +72 h / + .t\CC.seek :open +2 C''( +452 h ( +2 A(& +4 h &,y K L `\ : + A(Q& +3 h &,y L K M\ ; +2 M&%& +3 h &ӑ& c ?T +2 M&I% +3 h % 8 2 +2 .t\Forearm.seek :retract + M&' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&;( +163 h ( + M&!& +4 h & &  + A(& +4 h &,y = > \ < + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 4 + M&B'7 +97 h ' + .t\Elbow.hold +2 M&$, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +69 h 1 + M&% +4 h % ] q 0 + A(& +4 h &,y p o\ = + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 338 counts +2 M&'ω +30 h ' +2 M&R& +4 h &   + A(H& +4 h &,y p r .\ = + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&V' +19 h ' +2 A( % +3 h % q r \ = +3 ."downElevator"\SE.seek :down +2 A(' +99 (F% +3 h %3 G J \ +2 A(_. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(+(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (8& +3 h &,y p r \ > + M&& +3 h & l  +2 .t\Elbow.seek 4 + M&2( +3 h ( +2 M& & +3 h & B  +2 A(0& +3 h &,y q o\ = + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&@' +103 h ' + A(G& +4 h &,y r p\ = + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak +2 A(b's +296 h ' + A(O- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&E/ +76 h / + M&N& +4 h & +  + M&o% +3 h %  _ > +2 .t\Forearm.seek :retract +2 M&?' +87 h ' + .t\Elbow.seek :clear +2 M&1(d +101 h ( + M&X& +4 h &d M r + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &<& +3 h &d n r + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&`' +9 h ' + .t\SE.seek :down +2 A(C' +272 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(](<- +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<+ M J e\ ;  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(D's +277 h ' + A(-- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(.'1 +43 h ' + A(t& +4 h &<. _ \\ J\ < + A(7& +3 h &<. C I {\ < +2 M&x& +3 h &d r + M&U% +4 h %  (  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&e( +102 h ( + M&:& +4 h & >  + A(P& +3 h &<. F L X\ < +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&d'΍ +98 h ' + .t\Elbow.hold +2 M&L, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +67 h 1 + M&K% +4 h % r r + A(w& +3 h &<. p r \ = + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 273 counts +2 M&}'Ϟ +21 h ' + M&& +4 h &  + A(^& +3 h &<. r r (\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&{'O +25 h ' + A(T% +4 h %/ q p \ > +2 ."downElevator"\SE.seek :down +2 A(q' +100 (% +2 h %B J G f\ <[w +2 M&5% +49 h %8 % +4 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&k' +86 h ' +21 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 4 to 5 +2 M&a% +4 h %  !  + A(g% +3 h % q p\ > +2 A(s. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(j(,y +379 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (m& +3 h &,{ o o #\ > + M&&& +3 h & %  +2 .t\Elbow.seek 4 +2 M&n( +14 h ( + M&|& +4 h & V + A(Z& +3 h &,v p p\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +103 h ' + A(c& +4 h &,{ p o\ > + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(['s +299 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&\\/ +70 h / +2 M&/& +3 h & q +2 M&% +3 h %  = 7 + .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.seek :clear +2 M&v(d +100 h ( + M&z& +31 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&i' +2 h ' +2 .t\SE.seek :down +2 A(l' +274 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<* K J %\ <  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(y's +315 h ' + A(=- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (S& +2 h &<* J K \\\ 9  +2 A(& +3 h &<* L K L\ ;  +2 M&4& +3 h &d   +2 M&u% +3 h %  3  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&h( +106 h ( + M& & +4 h & $  + A(W& +3 h &<* K K Y\ :  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&A'΍ +96 h ' + .t\Elbow.hold +2 M&r, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +72 h 1 + M&"% +4 h % · > + A(~& +3 h &<* L K l\ :  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 294 counts + M&f'ϳ +21 h ' + M&\ & +4 h & B + A(*& +4 h &<* J L ]\ ;  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&('O +14 h ' + A(% +4 h % J M d\ ; +2 ."downElevator"\SE.seek :down +3 A(#' +99 (3% +3 h %9 K M `\ 9Zr +2 M&Y% +3 h %R 3 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +88 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of 5..5 + #Loading generic puck from tube 5 into Collection Clamp + C'& +4 h & g\ ` +2 M& % +3 h %   +2 A( % +3 h % r q $\ > +2 A(>. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A((<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (Q& +3 h &<* p p\ > +2 M&%& +3 h &  +2 .t\Elbow.seek 5 + M&I( +13 h ( + M&!& +4 h & \ +2 A(& +3 h &<* p p M\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&'O +94 h ' + A()& +4 h &<* r r \ > +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +299 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &<* I @ o\ < +2 M&R& +3 h &  \ + .t\Elbow.seek 5 +2 M&H( +3 h ( +2 M& & +3 h & \ + A(& +3 h &<* p q 1\ = +2 .t\Forearm.seek 5 + 300 counts +2 M&F'Ϲ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&;& +3 A(B' +5 h &  \ +2 M&% +3 h % Ͽ  +2 .t\Forearm.seek :retract +2 M&J' +88 h ' + .t\Elbow.seek CC +2 M&M(ӂ +160 h ( + ' + ."downElevator"\SE.coast +2 A(5 +5 M&_& +4 h &ӏ( @X + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &6& +2 h &ӏ( M @X +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&8'? +92 h ' + C'& +4 h & i\ _ +2 C' & +3 .t\CC.seek :closed +2 C'0(\\ +2 h & b\ _ +3 & i\ ^ +10 &.w g\ Y+| +9 &c j\ X@ +10 &cr ]\ YQ +9 &'P \\\ [P +9 &S _\ [P +10 &U \\\ [P +9 &lT Y\ [P +9 &-T _\ [P +10 &T ^\ [P +9 &W X\ [P +10 & tS X\ [P +9 &"6S [\ [P +9 &#T \\\ ZP +10 &%T Z\ [P +9 &'|T X\ [P +9 &)=T ]\ ZP +10 &+Q ^\ [P +9 &,T X\ [P +10 &.U L\ ZP +9 &0FT C\ [P +9 &2T L\ [P +10 &3T I\ [P +9 &5R O\ [P +9 &7MT R\ ZP +10 &9S [\ [P +9 &:T Q\ [P +10 &<S R\ [P +9 &>VT S\ [P +9 &@R Y\ [P +10 &AU Q\ [P +9 &C_ I\ ZQ +9 &ETr P\ YT +10 &G ]\ VX +9 &H `\ U[ +10 &J| _\ T^ +9 &L@ V\ T] +9 &N M\ T] +10 &O X\ S^ +9 &Q L\ S_ +9 &SB M\ S_ +10 &U H\ S` +9 &V J\ Ra +10 &X I\ Ra +9 &Z? O\ Qb! +9 &[~ K\ TF +10 &\\+ M\ S- +9 &\\ C\ X _ +2 ( + C' & +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.47 + .Hand.open +2 M&V1 +67 h 1 +2 M&G% +4 h % 9 n + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%p& +3 h &(\ 7 +2 M&$% +3 h %   +2 A(,% +3 h % 6 5\ 8 + A(O. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(E(<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (N& +3 h &<* 6 4\ 7 + M&o& +3 h &ӑ& ?V +2 M&X% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&<( +164 h ( + M&@& +4 h & <  + A(2& +4 h &<* K K ,\ 9 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&?'O +97 h ' + A(b& +4 h &<* J J 2\ 9 + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(+'s +298 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (-& +2 h &<* 3 4\ 7 +2 M&C& +3 h & F  + .t\Elbow.seek 5 +2 M&t( +3 h ( + M&7& +3 h & ]  +2 A(x& +3 h &<* ) %\ 8 +2 .t\Forearm.seek 5 + 300 counts + M&U'Ϲ +22 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&:/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&P& +3 A(D' +5 h & #  +2 M&% +3 h % ϸ q +2 .t\Forearm.seek :retract +2 M&1' +92 h ' + .t\Elbow.seek PC +2 M&K( +172 h ' + ."downElevator"\SE.coast + A(5 +65 h ( + M&w& +4 h & 6 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +49 && +4 h & H 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&^' +96 h ' + P%T& +4 h &\ 9 +2 P%`& +3 .t\PC.seek :closed +2 P%(^ +2 h &)\ 9 +3 &(\ 9 +9 &-v*\ 4+| +9 &`)\ 3@ +10 &\\t*\ 3R +9 &Q)\ 5S +10 &R)\ 6S +9 &Q)\ 5R +9 &bQ(\ 5R +10 &#R#\ 5S +9 &T'\ 5S +9 &O(\ 6S +10 & iQ&\ 5S +9 &",N\ 6R +10 &#U'\ 5S +9 &%Q\ 6S +9 &'rS\ 5R +10 &)4Q%\ 6R +9 &*Q!\ 5R +9 &,P\ 5S +10 &.zO\ 5R +9 &0<Q\ 5R +10 &1P\ 5R +9 &3P\ 5R +9 &5O\ 6S +10 &7DO\ 5R +9 &9R\ 5S +9 &:R\ 5S +10 &<R\ 5S +9 &>KU\ 5S +10 &@ T\ 5S +9 &A\\\ 5U +9 &Cf\ 4U +10 &EGs\ 3W +9 &G\ 3Y +9 &H\ 2Y +10 &J\ 2Z +9 &LH\ 3Y +10 &N\ 2[ +9 &O\ 2Z +9 &Q\ 1[ +10 &SK\ 2[\ +9 &U \ 2[\ +9 &V\ 2Z +10 &X\ 2Z +9 &ZT\ 2[ +10 &\\\ 1[ +9 &]\ 2@ +9 &^3\ 2V +10 &^(\ 75 + ( + P%`& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open + M&51 +70 h 1 + M&e% +4 h %   + + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&d' +91 h ' + .t\SC.coast + A(6 +2 P%}& +4 h &^(\ 65 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + M&a% +3 h %  W  +2 A(g% +3 h % 6 4\ 7 + A(s. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(.(<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ({& +3 h &<* 0 ( I\ 6 +2 ."raiseStack"\SE.reconfigure SEplace +2 M&q& +2 A(#]kK-0-\ b +5 h & 5 6 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&]( +2 h ( + M&m& +3 ."raiseStack"\SE.seek beamBreak +2 A(&'s +2 h & 6 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &|& +2 h &  6 +2 .t\Forearm.seek :PC +2 M&Z' +91 h ' + .tHand.close +2 M&c/ +66 h / + .t\PC.seek :open +2 P%L( +97 h ' + A(k- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +57 h ' +290 ( + A(\\& +4 h &<* ) ) 6\ 7 + M&/& +4 h & R 6 +2 M&% +3 h %  7 + .t\Forearm.seek :retract +2 M&z' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&( +255 h ( + M&& +4 h &  \ + A(n& +4 h &<* 0 5 M\ 7 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&'O +92 h ' + .tHand.open + M&[1 +70 h 1 +2 A(j- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(l' +50 h ' + #tLights, camera, ACTION! +2 A(=- +2 h -' +2 A(S& +3 h &<* 1\ / +2 M&& +3 h &  \ +2 .t\Elbow.seek 5 + M&4( +7 h ( + M&u& +4 h & +2 A( & +3 h &<* ]\ / +2 .t\Forearm.seek 5 + 450 counts + M&W'O +11 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(v' +49 h ' + M&& +4 h & +2 A("& +3 h &<* 3 3\ 8 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&~'΍ +15 h ' + .t\Elbow.hold +2 M&\ , +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(*' +28 h ' +2 M&% +3 h %Π  V +2 A(i& +3 h &<* 7 *\ 8 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 319 counts + M&3' +18 h ' +2 M&Y& +4 h & S + A(h& +4 h &<* * ) \ 8 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&A'O +16 h ' +2 A(% +3 h % J J *\ 9 +3 ."downElevator"\SE.seek :down +2 A( ' +99 (f% +3 h %A 4 6\ 7\\w + M& % +4 h %I  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&>' +90 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'y& +4 h &\\ 5\ Z _ + #t\Storing generic puck in Collection Clamp to tube 5 +2 M&Q% +3 h %  '  +2 A(%% +3 h % G @ \ 9 +2 A(!. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 5 + A((<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ((& +3 h &<* L K \ 9 + M&)& +4 h & k +2 .t\Elbow.seek 5 + M&#( +9 h ( + M&& +4 h &   +2 A(r& +3 h &<* J J 0\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +92 h ' + A(& +4 h &<* K J F\ : +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +296 h ' +2 A(R- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M& & +2 h &   +2 A(& +3 h &<* & ( \ 8 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&'΍ +20 h ' + .t\Elbow.hold +2 M&;, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(- +2 h -' +2 .t\SE.seek 0.16 + A(I'q +30 h ' + M&% +4 h %Κ > + A(_& +3 h &<* K J @\ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 313 counts + M&6' +21 h ' + M&& +4 h & n  +2 A(F& +3 h &<* I J \ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +14 h ' + .t\SE.seek 1.16 +2 A(H' +37 h ' + M&B& +4 h & <  +2 M&J% +3 h %H G +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&'' +87 h ' + .t\Elbow.seek CC +2 M&V(ӂ +155 h ( + M&G& +4 h &ӈ-  Dw + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &p& +3 h &ӈ- G Dw + .t\Forearm.seek :CC +2 M&$'? +94 h ' + .tHand.close + M&,/ +70 h / + .t\CC.seek :open +2 C'O( +452 h ( +2 A( & +4 h &<* K J G\ : + A(N& +3 h &<* > C \ ; +2 M&o& +3 h &Ӑ+ @ Co + M&X% +3 h % ( 2 +2 .t\Forearm.seek :retract +2 M&8' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&@( +163 h ( + M&2& +4 h & R  + A(& +4 h &<* = B \\\ < + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&b'΍ +98 h ' + .t\Elbow.hold +2 M&M, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +70 h 1 + M&% +4 h % { g  + A(-& +51 h &<* < < \ < +2 .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 282 counts + M&C'ϧ +25 h ' + M&7& +4 h &  +2 A(x& +3 h &<* o p\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&:'O +26 h ' +2 A(P% +3 h % p o\ > +3 ."downElevator"\SE.seek :down +2 A(' +99 (<% +3 h % 5 B = \ +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(t(<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (T& +3 h &<* o o\ > + M&D& +4 h &  S  +2 .t\Elbow.seek 5 + M&1( +11 h ( + M&9& +4 h & a  + A(5& +4 h &<* p r \ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&e'O +96 h ' +2 A(}& +4 h &<* p p \ = +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(a's +298 h ' + A(g- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&s/ +74 h / + M&`& +4 h & J  + M&{% +3 h % U a +2 .t\Forearm.seek :retract + M&q' +93 h ' +2 .t\Elbow.seek :clear +2 M&m(d +97 h ( + M&|& +4 h &d S  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &^& +3 h &d   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&c' +16 h ' + .t\SE.seek :down +2 A(E' +267 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(k(K +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (K& +3 h &K F I \ <  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(d's +276 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(&'1 +41 h ' + A(\\& +4 h &K s s V\ = + A(/& +4 h &K p R <\ < + M&& +3 h &d 5  + M&Z% +4 h %   K m + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +100 h ( +2 M&n& +4 h & ,  + A(]& +3 h &K l _ >\ = +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&['< +90 h ' + .t\Elbow.hold +2 M&j, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&=1 +66 h 1 + M&S% +4 h % X 6 I + A(& +4 h &K = = h\ < + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 328 counts +2 M&u'τ +22 h ' + M& & +4 h &  + A(z& +4 h &K p S [\ < + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +13 h ' + A("% +4 h %3 o o \ = +3 ."downElevator"\SE.seek :down +2 A(' +99 (i% +2 h %I9 M M w\ ;Zs +2 M&% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Y' +88 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 5 to 6 + M&h% +3 h %  U  +2 A(% +4 h % p p\ = + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<+ D F w\ < + M&l& +3 h & ;  +2 .t\Elbow.seek 5 + M&f( +10 h ( + M& & +4 h & 1  + A(W& +3 h &<, o p\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&4'O +102 h ' +2 A(v& +4 h &<, q p\ = + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(~'s +296 h ' + A(3- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&y/ +67 h / + M&Q& +4 h &   + M&%% +3 h % O  R +2 .t\Forearm.seek :retract +2 M&!' +92 h ' + .t\Elbow.seek :clear +2 M&*(d +100 h ( + M&(& +4 h &d I  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &)& +3 h &d  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +15 h ' + .t\SE.seek :down +2 A(r' +284 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(A(K +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K p p \ = + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A( 's +313 h ' + A(.- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (\ & +3 h &K J U n\ ; + A(>& +3 h &K N @ \ < +2 M&R& +3 h &d  + M& % +4 h %  < i + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +101 h ( + M&& +4 h &  + A(& +3 h &K I @\ ; +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&_'< +90 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&F1 +66 h 1 + M&B% +4 h % X c % + A(J& +3 h &K M M `\ ; +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 328 counts + M&'τ +24 h ' + M&#& +4 h & F  + A(& +3 h &K J G\ < +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +13 h ' +2 A(6% +3 h % ? G\ < +3 ."downElevator"\SE.seek :down +2 A(G' +99 (I% +2 h %8 J J &\ :Zq +2 M&p% +3 h % 0 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' +54 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of 6..6 + #Loading generic puck from tube 6 into Collection Clamp + C';& +4 h & u\ ` + M&,% +3 h %    +2 A('% +4 h % o p \ \ = + A(0. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A( (K +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (N& +3 h &K p r '\ = +2 M&o& +3 h &  +2 .t\Elbow.seek 6 +2 M&X( +3 h ( + M&2& +4 h &   +2 A(& +3 h &K q q \ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&$' +100 h ' + A(V& +4 h &K p o\ > +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +298 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (-& +2 h &K < = \ < +2 M&7& +3 h &   + .t\Elbow.seek 6 +47 M&x( +5 h ( + M&8& +4 h & r  + A(P& +3 h &K Q Z\ < +2 .t\Forearm.seek 6 + 300 counts +2 M&@'h +28 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&TV d\ [P +10 &@S f\ [P +9 &AW g\ ZP +9 &CX ]\ [P +10 &EVc d\ ZR +9 &G ^\ YU +10 &H d\ WX +9 &J \\\ U[ +9 &LB T\ T\\ +10 &M a\ T] +9 &O _\ T^ +9 &Q c\ T] +10 &S? U\ S_ +9 &U W\ T_ +10 &V Z\ Sa +9 &X a\ Ra +9 &ZA [\ Sa +10 &[} V\ TF +9 &\\# [\ U- +9 &\\ \\\ X ^ +2 ( + C'9& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 + .Hand.open +2 M&:1 +69 h 1 + M&}% +4 h % : v +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +90 h ' +2 .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp + P%& +4 h &\ 7 +2 M&M% +3 h %   + A(+% +4 h % , 3 B\ 8 +2 A(g. +2 h . + .t\SC.reconfigure SCtight +3 A($\ .\ 1~b +2 .t\SC.seek 6 + A(s(K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (`& +3 h &K 6 4\ 7 + M&{& +4 h &Ӗ) ) Ab + M&|% +4 h %  u  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&^( +158 h ( + M&e& +4 h & + A(1& +4 h &K J J 2\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&q' +92 h ' + A(a& +4 h &K J J -\ : +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(t's +300 h ' + A(K- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &K % ' \ 8 +2 M&E& +3 h &  + .t\Elbow.seek 6 +2 M&\\( +4 h ( + M&/& +4 h & ^ + A(& +4 h &K J K .\ 9 + .t\Forearm.seek 6 + 300 counts +2 M&Z'h +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&n/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&]& +3 A(d' +6 h &  +2 M&=% +3 h % ϛ b +2 .t\Forearm.seek :retract + M&S' +90 h ' + .t\Elbow.seek PC +2 M&( +169 h ' + ."downElevator"\SE.coast + A(5 +71 h ( +2 M&m& +3 h &  4 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h & 4 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&z' +92 h ' + P%"& +4 h &(\ 9 +2 P%c& +3 .t\PC.seek :closed +2 P%i(^ +3 h &:\ 9 +2 &?\ 9 +9 &.u9\ 4+| +9 &a~7\ 4@ +9 &Vs6\ 4R +10 &R7\ 6S +9 &Q5\ 6R +9 &S7\ 6S +10 &\\O0\ 6R +9 &Q/\ 6S +10 &T,\ 6S +9 &T/\ 6S +9 & cR4\ 6S +10 &"'N-\ 6R +9 &#U,\ 6R +9 &%Q.\ 6R +10 &'lO1\ 6R +9 &).O4\ 6R +10 &*Q/\ 6R +9 &,S4\ 5S +9 &.sQ2\ 6S +10 &07T0\ 6R +9 &1Q.\ 6S +9 &3Q,\ 6S +10 &5|Q,\ 6R +9 &7?Q.\ 6R +10 &9U+\ 6R +9 &:R.\ 6R +9 &<R+\ 6R +10 &>DX)\ 6S +9 &@T,\ 6R +9 &A_,\ 5T +10 &Cr)\ 4V +9 &E=(\ 3X +10 &F&\ 3Y +9 &H*\ 3Y +9 &J%\ 3Y +10 &LA&\ 3Z +9 &N(\ 3Z +9 &O"\ 2[ +10 &Q\ 2[ +9 &SE!\ 2[\ +10 &U\ 1\\ +9 &V#\ 3[\ +9 &X$\ 2[\ +10 &ZK$\ 2\\ +9 &\\ %\ 2\\ +9 &]"\ 2A +10 &^3"\ 2Z +9 &^5!\ 77 +2 ( + P%c& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.74 + .Hand.open + M&1 +70 h 1 + M&% +4 h %  A ^ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&[' +90 h ' + .t\SC.coast + A(6 +2 P%h& +4 h &^4 \ 67 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&u% +3 h %  \ `  +2 A(% +3 h % & (\ 6 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(&(K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 M&& +4 h &K 3 ) J\ 6 +2 & 7 3 +2 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b + A(#]kK-0-\ b +4 .t\Elbow.seek PC +2 M&k( +5 h ( + M&& +3 ."raiseStack"\SE.seek beamBreak +2 A(l's +2 h &   + 3 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +2 h & C 3 +2 .t\Forearm.seek :PC +2 M&W' +94 h ' + .tHand.close + M&v/ +66 h / +3 .t\PC.seek :open + P%j( +97 h ' + A(Y- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(3'1 +41 h ' +309 ( + A(y& +4 h &K : J s\ 8 + M&Q& +3 h & 3 +2 M&%% +3 h %  I +2 .t\Forearm.seek :retract + M&(' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&)( +257 h ( + M&4& +4 h & 7  + A(f& +3 h &K ) ( A\ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&!' +95 h ' + .tHand.open + M&~1 +76 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +27 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(r' +49 h ' + #tLights, camera, ACTION! +2 A(.- +3 h -' + A(\ & +3 h &K 5\ . +2 M&>& +3 h & J  +2 .t\Elbow.seek 6 + M&R( +4 h ( + M& & +4 h & (  +2 A(& +3 h &K\ . +2 .t\Forearm.seek 6 + 450 counts + M&' +3 h ' + .t\SE.reconfigure SEgently +3 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(F' +49 h ' + M&B& +4 h & ;  +2 A(J& +3 h &K ( - \ 8 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 +2 M&*'< +18 h ' + .t\Elbow.hold +2 M&#, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +3 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(' +20 h ' +2 M&6% +3 h %_ 7 D +2 A(& +3 h &K ( ( 0\ 8 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 335 counts +2 M&I'ϋ +22 h ' +2 M&p& +3 h &  +2 A(& +4 h &K 5 ;\ 8 +48 .t\Forearm.reconfigure TightForearm +4 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&_' +16 h ' +2 A(;% +3 h % ; J \ 8 +3 ."downElevator"\SE.seek :down +2 A(,' +99 (% +3 h %@ 6 6\ 7\\w + M&'% +4 h % N + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&0' +91 h ' +80 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'N& +4 h &\\ ]\ Y ^ + #t\Storing generic puck in Collection Clamp to tube 6 + M& % +4 h %  F  + A(o% +4 h % G @ :\ 9 + A(2. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K > 9 \ 9 + M&V& +3 h & d  +2 .t\Elbow.seek 6 +2 M&G( +3 h ( + M&A& +4 h &  + A(& +3 h &K J J 3\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +97 h ' + A(& +4 h &K J J 3\ : +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(-'s +296 h ' +2 A(7- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&8& +3 h & #  + A(P& +3 h &K ) ) /\ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&<'< +14 h ' + .t\Elbow.hold +2 M&?, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(C- +2 h -' +2 .t\SE.seek 0.17 +2 A(X's +32 h ' + M&$% +4 h %] 6 + A(& +4 h &K - ) \ 8 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 333 counts +2 M&H'ω +23 h ' + M&& +4 h & R  +2 A(@& +3 h &K 6 = \ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&D' +11 h ' +2 .t\SE.seek 1.17 + A(x' +37 h ' +2 M&b& +3 h & ?  +2 M&U% +3 h %  S +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&O' +87 h ' + .t\Elbow.seek CC +2 M&:(ӂ +172 h ( + M&}& +4 h &Ӏ  5 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &Ӏ k 5 + .t\Forearm.seek :CC +2 M&M'? +92 h ' + .tHand.close + M&+/ +65 h / + .t\CC.seek :open +2 C'g( +452 h ( +2 A(9& +4 h &K @ G\ ; + A(`& +3 h &K J L \ ; +2 M&{& +3 h &Ӏ U 5 + M&|% +4 h % N O M + .t\Forearm.seek :retract +2 M&T' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&e( +163 h ( + M&1& +4 h & '  +2 A( & +3 h &K ; = \ < +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&a'< +91 h ' + .t\Elbow.hold +2 M&w, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +65 h 1 + M&K% +4 h % n M + A(& +4 h &K _ l 3\ = + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 350 counts +2 M&E'Ϛ +23 h ' +2 M&/& +4 h &  #  + A(& +4 h &K p o \\\ = + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&n' +20 h ' +2 A(]% +3 h % q q *\ = +3 ."downElevator"\SE.seek :down +2 A(=' +99 (^% +2 h %6 < = |\  +2 M&d& +3 h &  a  +2 .t\Elbow.seek 6 + M&S( +3 h ( + M&L& +4 h & /  + A(& +3 h &K q p \ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +96 h ' + A(h& +4 h &K p p\ > + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(u's +301 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +70 h / + M&c& +4 h &   + M&% +3 h %  +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\Elbow.seek :clear +2 M&(d +119 h ( + M& & +4 h &d f 5 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &z& +3 h &d @ 5 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&v' +10 h ' + .t\SE.seek :down +2 A(s' +272 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(Y([ +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[# J J ;\ :  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(['s +287 h ' + A(i- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(l'1 +40 h ' + A(y& +4 h &[# 9 F\ 9  + A(Q& +3 h &[# : 5 E\ 8  +2 M&%& +3 h &d  5 + M&W% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&4(r +100 h ( + M&f& +4 h &{ 9 + A(k& +3 h &[# ; + \ 8  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 + M&~'{ +94 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&.1 +68 h 1 + M&\ % +4 h % ΅   + A(>& +4 h &[# 6 ) \ 8  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 310 counts +2 M& 'ϱ +25 h ' + M&& +4 h &  4 + A((& +4 h &[# I J /\ 9  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&B'= +14 h ' + A(J% +4 h %4 F = 3\ : +2 ."downElevator"\SE.seek :down +2 A(6' +100 (% +2 h %T< ) ( \ 7Zs +2 M&p% +3 h %H +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&3' +88 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 6 to 7 +2 M&% +3 h %   +2 A(% +3 h % p o \ = +2 A(;. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A()(K +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (!& +3 h &K F O J\ < + M&r& +3 h &  4 +2 .t\Elbow.seek 6 +46 M&( +31 h ( + M&'& +4 h & s + A(& +3 h &K ? < @\ < +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&R' +97 h ' + A(F& +4 h &K o p \ = + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(*'s +299 h ' +2 A(I- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&N/ +73 h / + M& & +4 h &  + M&% +3 h %  6  +2 .t\Forearm.seek :retract +2 M&o' +90 h ' + .t\Elbow.seek :clear +2 M&2(d +106 h ( + M&& +4 h &d W + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &V& +3 h &d p W + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&A' +14 h ' + .t\SE.seek :down +2 A(' +272 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(_([ +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[* M K \ ;  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(,'s +314 h ' + A(&- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (#& +2 h &[( @ G c\ 9  +2 A(0& +3 h &[( I J !\ 9  +2 M&7& +3 h &d  W + M&8% +3 h %   f +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&P(r +115 h ( + M&C& +4 h &| 3  + A($& +3 h &[) = G \ :  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 + M&'{ +93 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&@1 +75 h 1 + M&b% +4 h % Δ  * + A(U& +3 h &[) J I 5\ 9  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 325 counts + M&' +26 h ' + M&G& +4 h &  + A(-& +4 h &[) I J "\ 9  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&<'= +14 h ' +2 A(H% +3 h % < < m\ : +3 ."downElevator"\SE.seek :down +2 A(X' +99 (}% +2 h %6 ; ( \ 7Zr +2 M&% +3 h %=  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&D' +88 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of 7..7 + #Loading generic puck from tube 7 into Collection Clamp + C'?& +4 h & M\ ` + M&+% +4 h %    +2 A(O% +3 h % p p \ > + A(5. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(9([ +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (`& +3 h &[ o n \ > +2 M&{& +3 h & 4  +2 .t\Elbow.seek 7 + M&|(r +8 h ( + M&1& +4 h &v L  +2 A( & +3 h &[0 J I !\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&M'= +101 h ' + A(:& +4 h &[A J K 4\ 9 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +300 h ' + A(K- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &[6 ' &\ 7 +2 M&/& +3 h &v  + .t\Elbow.seek 7 +2 M&(r +3 h ( +2 M&]& +3 h &v  +2 A(T& +3 h &[6 - 6 =\ 8 +2 .t\Forearm.seek 7 + 300 counts + M&^'ϧ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&q/ +77 h / +2 ."downElevator"\SE.seek :down +2 M&e& +3 A(a' +5 h &v  b  +2 M&Z% +3 h % ϸ 8 +2 .t\Forearm.seek :retract +2 M&E' +92 h ' + .t\Elbow.seek CC +2 M&m(ӂ +158 h ' + ."downElevator"\SE.coast +2 A(5 +2 h ( +2 M& & +3 h &ә% " >N + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &"& +3 h &ә% O >N + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&x'? +96 h ' +2 C'd& +4 h & W\ [ +2 C'L& +3 .t\CC.seek :closed +2 C'(\\ +3 h & p\ [ +3 & |\ [ +8 &.v x\ V+| +9 &c s\ U@ +10 &eq s\ VQ +9 &(O v\ WP +10 &R w\ WP +9 &T v\ WQ +9 &mR u\ WP +10 &0Q r\ WP +9 &T u\ WP +9 &T v\ WQ +10 & vR v\ WP +9 &"8R t\ WP +10 &#R w\ WP +9 &%R u\ WQ +9 &'~S u\ WP +10 &)?S q\ WP +9 &+T n\ WP +9 &,R a\ WP +10 &.U i\ WP +9 &0GR t\ WP +10 &2\ T e\ WP +9 &3S b\ WP +9 &5R h\ WP +10 &7OT s\ WP +9 &9R q\ XP +9 &:R w\ WP +10 &<R x\ XP +9 &>WR w\ WP +10 &@O z\ WP +9 &AU x\ WP +9 &C[ x\ WQ +10 &EUs |\ VT +9 &G }\ RY +9 &H w\ R[ +10 &J l\ Q] +9 &L> m\ Q^ +10 &N u\ Q^ +9 &O k\ P^ +9 &Q f\ Q_ +10 &SA g\ O` +9 &T j\ Na +9 &V f\ Na +10 &X _\ Ob +9 &Z@ b\ Nb" +10 &[ b\ PF +9 &\\) [\ O. +9 &\\ b\ T _ +2 ( + C'L& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.49 + .Hand.open + M&n1 +78 h 1 + M&h% +4 h % I M " + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&=' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 P%& +3 h &A\ 7 +2 M&w% +3 h %  h  +2 A(t% +3 h % 3 3\ 7 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (c& +3 h &[ 3 5\ 7 + M&& +3 h &ә% R >N +2 M& % +3 h %  :  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&z(r +164 h ( + M&& +4 h &u /  +2 A(S& +3 h &[ J J %\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +92 h ' + A(u& +4 h &[ I J \ : + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(\\'s +298 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (i& +2 h &[ ( ( \ 8 +2 M&s& +3 h &u %  + .t\Elbow.seek 7 +2 M&y(r +3 h ( + M&Q& +4 h &u \  + A(%& +4 h &[ : 6\ 8 +2 .t\Forearm.seek 7 + 300 counts +2 M&W'ϧ +21 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&f/ +75 h / +2 ."downElevator"\SE.seek :down +2 M&k& +3 A([' +5 h &u  @  +2 M&.% +3 h %  A +2 .t\Forearm.seek :retract +2 M&\ ' +92 h ' + .t\Elbow.seek PC +2 M&( +175 h ' + ."downElevator"\SE.coast + A(5 +65 h ( + M&>& +4 h &  r  +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&(' +100 h ' + P%J& +4 h &=\ 9 + P%v& +4 .t\PC.seek :closed +2 P%(^ +2 h &/\ 9 +3 &=\ 8 +10 &.u:\ 3+| +9 &a=\ 2@ +10 &Zt8\ 3R +9 &P9\ 5S +10 &U8\ 5S +9 &N;\ 5R +9 &_P:\ 5S +10 &!T9\ 5S +9 &R:\ 5R +9 &R8\ 5S +10 & gO0\ 5S +9 &"*N)\ 5R +10 &#U0\ 5S +9 &%Q-\ 5S +9 &'oT0\ 5S +10 &)2S(\ 5R +9 &*R+\ 5R +9 &,V"\ 5S +10 &.xT*\ 5R +9 &09T*\ 5S +10 &1O3\ 5S +9 &3R/\ 5S +9 &5~R,\ 5S +10 &7BP,\ 5R +9 &9S+\ 5S +9 &:U-\ 5S +10 &<R(\ 5S +9 &>GU,\ 5S +10 &@ W+\ 5S +51 &A](\ 4T + &Cf.\ 3U +5 &EFr2\ 3W + &G)\ 2X + &H%\ 1Y &J\ 2Z +6 &LF-\ 2Y +10 &N&\ 2[ +9 &O&\ 2Z +9 &Q"\ 1[\ +10 &SE+\ 1\\ +9 &U\ 1\ 1[ +9 &V(\ 2[\ +10 &X \ 1[ +9 &ZM\ 1\\ +10 &\\\ 1[\ +9 &]-\ 1C +9 &^,$\ 2X +10 &^7!\ 6: + ( + P%v& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open + M&p1 +70 h 1 + M&4% +4 h %     +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&~' +93 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^6%\ 6: +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + M& % +3 h %  n  +2 A(% +3 h % ) 2 l\ 6 +2 A(;. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(l([ +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (B& +3 h &[ % & *\ 6 + M&6& +4 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&Y( +2 h ( +2 M&!& + ."raiseStack"\SE.seek beamBreak +4 A(r's +2 h &  :  +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &'& +3 h &   + .t\Forearm.seek :PC +2 M&' +94 h ' + .tHand.close + M&F/ +78 h / + .t\PC.seek :open +2 P%( +83 h ' + A(3- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(I'1 +41 h ' +320 ( + A(N& +4 h &[ , 9 \ 8 + M& & +4 h &  + M&% +3 h %  C +2 .t\Forearm.seek :retract +2 M&' +87 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&V(r +249 h ( + M&R& +4 h &q + X + A(& +4 h &[ 3 3 Z\ 7 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&o'= +97 h ' + .tHand.open + M&*1 +76 h 1 + A()- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +26 h ' + .t\SE.reconfigure SEseal +3 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate + A(' +53 h ' + #tLights, camera, ACTION! +2 A(&- +2 h -' +2 A(#& +3 h &[ :\ - +2 M&0& +3 h &r   W +2 .t\Elbow.seek 7 + M&7(r +3 h ( +2 M&8& +3 h &r W + A(C& +4 h &[ `\ - +2 .t\Forearm.seek 7 + 450 counts + M&$'= +17 h ' + .t\SE.reconfigure SEgently +3 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(2' +61 h ' + M&@& +4 h &r A W +2 A(b& +3 h &[ 6 > \ 9 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 7 +2 M&U'{ +19 h ' + .t\Elbow.hold +2 M&G, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(-' +21 h ' +2 M&H% +3 h %Β  +2 A(A& +3 h &[ ( & D\ 7 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 323 counts + M&}'Ͼ +26 h ' +2 M&& +3 h &~  K +2 A(P& +3 h &[ ) ( \ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +13 h ' +2 A(?% +3 h % @ 7 n\ 8 +3 ."downElevator"\SE.seek :down +2 A(' +99 (+% +3 h %? 3 3\ 7[u + M&O% +4 h %9  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&5' +89 h ' +70 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C',& +3 h &\\ \\\ Y _ +2 #t\Storing generic puck in Collection Clamp to tube 7 + M&`% +3 h %  ,  +2 A({% +3 h % = < b\ 9 +2 A(1. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A( ([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (<& +3 h &[ 9 G S\ 8 +2 M&:& +3 h &~ K + .t\Elbow.seek 7 +2 M&X(r +9 h ( + M&_& +4 h & P + +2 A(& +3 h &[ J I &\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&D'= +90 h ' + A(K& +4 h &[ I F \ : +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +300 h ' + A(/- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&]& +2 h & o * +2 A(T& +3 h &[ ' %\ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 + M&q'{ +18 h ' + .t\Elbow.hold +2 M&e, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(Z- +2 h -' +2 .t\SE.seek 0.16 + A(|'n +31 h ' + M&M% +4 h %Α # + A( & +3 h &[ ? I \ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 322 counts + M&"'Ͻ +24 h ' + M&& +4 h & * +2 A(^& +3 h &[ I - Z\ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&d'= +15 h ' +2 .t\SE.seek 1.16 + A(' +43 h ' + M&a& +4 h &  * +2 M&E% +3 h %-  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&g' +88 h ' + .t\Elbow.seek CC +2 M&n(ӂ +153 h ( + M&h& +4 h &ӕ&  ?Q + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӕ& Q ?Q + .t\Forearm.seek :CC +2 M&w'? +92 h ' + .tHand.close + M&t/ +75 h / + .t\CC.seek :open +2 C'L( +452 h ( +2 A(& +3 h &[ G K P\ ; +2 A(c& +3 h &[ M L ?\ ; + M&& +3 h &ӕ& . ?Q +2 M& % +3 h % _  Y +2 .t\Forearm.seek :retract + M&x' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&(r +163 h ( + M&S& +4 h &z T  + A(9& +5 h &[ o o\ = + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 7 +2 M&u'{ +95 h ' + .t\Elbow.hold +2 M&m, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&=1 +72 h 1 + M&% +4 h % ΃  + A(i& +4 h &[ o o\ = + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 308 counts +2 M&s'ϯ +22 h ' +2 M&Q& +3 h &   +2 A(%& +3 h &[ p o\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&f'= +33 h ' + A(k% +4 h % o o\ > +3 ."downElevator"\SE.seek :down +2 A(.' +99 (z% +3 h %V8 ? B\ % +3 h % o o\ > +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(y([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (J& +3 h &[ n o \ = +2 M&[& +4 h &  + .t\Elbow.seek 7 +2 M&\ (r +10 h ( + M&j& +4 h &x S  +2 A(p& +3 h &[ o o\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&4'= +90 h ' + A(& +4 h &[ o q \ ? +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A( 's +298 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .tHand.close + M&;/ +69 h / + M&v& +4 h &x o  + M&B% +3 h % P 1 +2 .t\Forearm.seek :retract +2 M&6' +90 h ' + .t\Elbow.seek :clear +2 M&!(d +94 h ( + M&'& +4 h &d '  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &(& +3 h &d  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&F' +16 h ' + .t\SE.seek :down +2 A(' +264 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(3(K +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K B @ V\ < + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(~'s +274 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(r'1 +42 h ' + A(N& +4 h &K G 7 \ ; + A( & +3 h &K K K /\ ; +2 M&& +3 h &d   + M&% +4 h %   q +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&R( +102 h ( + M&& +4 h &  ^  + A(Y& +4 h &K K L ;\ ; + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&*'< +92 h ' + .t\Elbow.hold +2 M&), +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&&1 +74 h 1 + M&#% +4 h % j - + A(0& +3 h &K I J :\ : + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 346 counts +2 M&8'ϖ +24 h ' + M&C& +4 h & n  + A(& +5 h &K J L K\ : + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&@' +13 h ' + A(b% +4 h %4 G L \ ; +3 ."downElevator"\SE.seek :down +2 A(H' +99 (A% +2 h %Z> < F \ 9[t +2 M&I% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +88 h ' +65 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 7 to 6 + M&P% +4 h %   + A(% +4 h % n l E\ = + A(?. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(V([ +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (o& +3 h &[# J J +\ :  + M&& +3 h &   +2 .t\Elbow.seek 7 + M&+(r +18 h ( + M&O& +4 h &x 0  + A($& +3 h &[$ G I \ :  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&7'= +95 h ' + A(2& +4 h &[$ B H\ ;  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(U's +303 h ' + A(,- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&}/ +71 h / +2 M&`& +4 h &x   + M&{% +3 h % ; +2 .t\Forearm.seek :retract + M&1' +79 E \ gB? +12 h ' + .t\Elbow.seek :clear +2 M&-(d +97 h ( + M&<& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &:& +3 h &d .  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&_' +16 h ' + .t\SE.seek :down +2 A(' +280 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +360 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (K& +3 h &K L K C\ ; + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A('s +319 h ' + A(l- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (G& +2 h &K H > F\ : + A(5& +4 h &K J J \ : + M&/& +4 h &d  + M&]% +3 h %  6 e +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&T( +102 h ( + M&Z& +4 h & \ * + A(M& +3 h &K I J C\ : +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M& '< +90 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&^1 +67 h 1 + M&a% +4 h % `  e , + A(E& +4 h &K I J \ : + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 336 counts +2 M&D'ό +29 h ' + M&X& +4 h &  # + A(& +3 h &K J J %\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&q' +14 h ' + A("% +4 h % L K U\ : +3 ."downElevator"\SE.seek :down +2 A(|' +99 (h% +3 h %; * 4\ 8Zr +2 M&% +3 h %  ; + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&d' +89 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of 6..6 + #Loading generic puck from tube 6 into Collection Clamp + C'e& +4 h & \ ` + M&t% +4 h %  T  +2 A(g% +3 h % o o\ > +2 A(. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +3 .t\SC.seek 6 + A((K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (c& +3 h &K n o \ = + M&& +3 h & : # +2 .t\Elbow.seek 6 +2 M& ( +9 h ( + M&S& +4 h &   +2 A(9& +3 h &K J K 0\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&w' +100 h ' + A(n& +4 h &K 6 > c\ 8 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(='s +299 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (i& +2 h &K 1 ( N\ 7 +2 M&Q& +3 h &  + .t\Elbow.seek 6 +2 M&%( +10 h ( + M&k& +4 h &  + A(x& +3 h &K 2 5 \ \ 7 +2 .t\Forearm.seek 6 + 300 counts +2 M&z'h +21 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +66 h / +2 ."downElevator"\SE.seek :down +2 M&& +3 A(u' +5 h & d  +2 M&s% +3 h % h +2 .t\Forearm.seek :retract +2 M&W' +89 h ' + .t\Elbow.seek CC +2 M&>(ӂ +147 h ( + M&& +4 h &y( @] +47 .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b + h ' +3 M&J& + ."downElevator"\SE.coast +3 A(5 +3 h &y( $ @] +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +92 h ' +2 C'[& +3 h & t\ [ +2 C'j& +3 .t\CC.seek :closed +2 C'p(\\ +2 h & \ [ +3 & \ [ +9 &.v \ V+{ +10 &a} \ U? +9 &cr \ UP +9 &%O \ WP +10 &R \ XP +9 &T \ WP +10 &jR \ XP +9 &,R \ WP +9 &T \ WP +10 &P \ WP +9 & tR \ WP +9 &"6R \ WP +10 &#S \ XP +9 &%S \ WP +10 &'{R \ WP +9 &)=S \ WP +9 &*S \ XP +10 &,S \ WP +9 &.T \ XP +9 &0DR \ WP +10 &2S \ WP +9 &3T \ WP +10 &5Q \ WP +9 &7LT \ WP +9 &9R \ WP +10 &:R \ WP +9 &<R }\ XP +9 &>US y\ WP +10 &@R u\ WP +9 &AV w\ XP +10 &CV v\ XQ +9 &EWd v\ VR +9 &Gt v\ VT +10 &H u\ TW +9 &J z\ R[ +9 &LC y\ R\\ +10 &N x\ Q] +9 &O y\ Q] +10 &Q w\ Q] +9 &SE y\ Q^ +9 &U x\ P_ +10 &V {\ P_ +9 &X x\ O` +9 &ZD y\ Oa +10 &[y x\ QJ +9 &\\ v\ T&o +10 &]( {\ Q\\ +8 ( +2 &]\ k z\ VU + C'j& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open + M&f1 +74 h 1 + M&% +4 h % ? 5 K + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&.' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp +2 P% & +3 h &M\ 7 +2 M&m% +3 h %  K  +2 A(\\% +3 h % ( &\ 8 +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(;(K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (v& +3 h &K & + @\ 7 +2 M&B& +3 h &y( W @] + M&'% +4 h %    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&(( +163 h ( + M&4& +4 h & S  +2 A(\ & +3 h &K I J .\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&6' +99 h ' + A( & +4 h &K J J O\ : +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(y's +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &K 0 4 {\ 8 +2 M&& +3 h &  + .t\Elbow.seek 6 +2 M&N( +3 h ( +2 M& & +3 h & 9  +2 A(& +3 h &K ? F\ 9 +2 .t\Forearm.seek 6 + 300 counts +2 M&'h +26 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +75 h / +2 ."downElevator"\SE.seek :down +2 M&Y& +6 A(~' +2 h &  ]  +2 M&&% +3 h % ~ | +2 .t\Forearm.seek :retract +2 M&!' +89 h ' + .t\Elbow.seek PC +2 M&#( +170 h ' +2 ."downElevator"\SE.coast + A(5 +69 h ( + M&0& +4 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &C& +3 h &   +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +93 h ' + P%b& +4 h &C\ : +2 P%F& +3 .t\PC.seek :closed + P%A(^ +4 h &W\ : + &Y\ : +10 &-uX\ 5,} +9 &`V\ 4@ +9 &dqV\ 5Q +10 &"NU\ 7R +9 &QV\ 7R +9 &RW\ 6R +10 &hNV\ 7R +9 &+QO\ 7R +10 &SL\ 6S +9 &OL\ 6R +9 & qQM\ 7R +10 &"1PP\ 7S +9 &#RQ\ 6S +10 &%PP\ 7S +9 &'xOL\ 7R +9 &):PP\ 7R +10 &*TN\ 6R +9 &,SN\ 6S +9 &.PR\ 7S +10 &0BPQ\ 7R +9 &2RP\ 6S +9 &3PP\ 7R +10 &5OO\ 7R +9 &7JRP\ 6R +10 &9 PP\ 7S +9 &:TM\ 6S +9 &<SM\ 6S +10 &>QRJ\ 6S +9 &@TI\ 6S +10 &A]I\ 6T +9 &CuG\ 5V +9 &EHH\ 3Y +10 &G I\ 4Y +9 &HM\ 4Y +9 &JE\ 3Z +10 &LMA\ 4Z +9 &N?\ 3Z +10 &OG\ 3[ +9 &QA\ 2[ +9 &SO>\ 3\\ +10 &U?\ 3[\ +9 &VI\ 3[ +9 &XA\ 3[\ +10 &ZY@\ 3[\ +9 &\\@\ 3\\ +9 &]?\ 3< +10 &^.s;\ 5Z +9 &^;=\ 7< +2 ( + P%F& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.78 + .Hand.open + M&I1 +71 h 1 + M&R% +4 h %  3 j + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&*' +92 h ' + .t\SC.coast + A(6 +2 P%P& +4 h &^C>\ 6< +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&8% +3 h %  \   +2 A(% +3 h % 4 3 \ 7 +2 A(?. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(r(K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&H& + A(@& +4 h &  \\  +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h &K % $ \ 6 + .t\Elbow.seek PC +3 ."raiseStack"\SE.reconfigure SEplace + M&3( +4 A(#]kK-0-\ b +2 h ( +2 M&o& +4 h &   g  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && + ."raiseStack"\SE.seek beamBreak +4 A(O's +2 h &   q  +2 .t\Forearm.seek :PC + M&$' +93 h ' +2 .tHand.close +2 M&2/ +76 h / + .t\PC.seek :open +2 P%)( +94 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(,'1 +44 h ' +306 ( + A(}& +4 h &K J ?\ 9 + M&`& +4 h & *  + M&{% +3 h %  ' P +2 .t\Forearm.seek :retract + M&<' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&:( +254 h ( + M&7& +4 h &   + A(+& +3 h &K @ = z\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&1' +96 h ' + .tHand.open + M&U1 +73 h 1 +2 A(V- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate + A(K' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +49 h ' + #tLights, camera, ACTION! + A(l- +3 h -' +2 A(G& +3 h &K =\ / +2 M&5& +3 h &  U  + .t\Elbow.seek 6 +2 M&/( +6 h ( + M&]& +4 h & 9  +2 A(Z& +3 h &K \ / +2 .t\Forearm.seek 6 + 450 counts + M&M' +4 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(^' +51 h ' + M&a& +4 h &   +2 A(E& +3 h &K > ; o\ 9 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 +2 M&-'< +18 h ' + .t\Elbow.hold +2 M&X, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b + .t\SE.seek -0.33 +2 A(' +20 h ' +2 M&"% +3 h %l i = +2 A(_& +3 h &K ? = \ 9 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 348 counts + M&h'Ϙ +22 h ' +2 M&& +3 h & G  +2 A(T& +3 h &K < < u\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts + M& ' +16 h ' +2 A(e% +3 h % < @ :\ 9 +3 ."downElevator"\SE.seek :down +2 A(D' +99 (t% +3 h %? & ( \ 8\\v + M&g% +4 h % + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +73 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &]\ k p\ ZU +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&c% +3 h %    +49 A(% +5 h % J @\ : + A(S. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(9(K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (q& +3 h &K I J L\ : +2 M&n& +3 h &  E  + .t\Elbow.seek 6 +2 M&|( +9 h ( + M&& +4 h &  +2 A(& +3 h &K I J ,\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&d' +95 h ' + A(& +4 h &K M M Y\ ; +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(i's +300 h ' + A(Q- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&k& +2 h & .  +2 A(x& +3 h &K J J +\ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&'< +21 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(s- +2 h -' +2 .t\SE.seek 0.17 +2 A( 'r +30 h ' + M&w% +4 h %k  + A(& +4 h &K ? < T\ 9 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 347 counts +2 M&='ϗ +32 h ' + M&J& +4 h & C  +2 A(z& +3 h &K I F U\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&%' +23 h ' +2 .t\SE.seek 1.17 + A([' +42 h ' +2 M&u& +3 h &  +2 M&W% +3 h %  e +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&L' +90 h ' + .t\Elbow.seek CC +2 M&f(ӂ +158 h ( + M&& +4 h &ӏ) i Ac +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +2 h &ӏ) [ Ac +2 .t\Forearm.seek :CC +2 M&m'? +94 h ' + .tHand.close + M&\\/ +68 h / + .t\CC.seek :open +2 C'j( +452 h ( + A(& +4 h &K = B \ < + A(v& +3 h &K F ? \\\ ; +2 M&B& +3 h &ӏ) 5 Ac +2 M&'% +3 h % [ x [ +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&4( +165 h ( + M&\ & +4 h & Y  +2 A(& +3 h &K o o \ = + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M& '< +93 h ' + .t\Elbow.hold +2 M&>, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&.1 +77 h 1 + M&% +4 h % k 5 4 + A(& +4 h &K p o\ = + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 347 counts +2 M&'ϗ +22 h ' + M& & +4 h &  + A(& +4 h &K o o\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +11 h ' +2 A(Y% +3 h % p p I\ = +3 ."downElevator"\SE.seek :down +2 A(&' +99 ((% +2 h %r< M N a\ ;Zq +2 M&6% +3 h %  : +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&y' +89 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 6 to 5 + M&% +4 h %   K  + A(0% +4 h % o o\ = + A(C. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +3 A(N(K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (b& +3 h &K o o\ = + M&~& +4 h & m  + .t\Elbow.seek 6 +2 M&!( +2 h ( +2 M&& +3 h &   + A(I& +4 h &K o o\ > + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&R' +95 h ' + A(P& +4 h &K q o \ > + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(8's +297 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&?/ +73 h / + M&F& +4 h &  + M&H% +3 h %   +2 .t\Forearm.seek :retract +2 M&@' +91 h ' + .t\Elbow.seek :clear +2 M&o(d +101 h ( + M&& +4 h &d % l + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d  l + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&2' +19 h ' + .t\SE.seek :down +2 A(;' +267 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(#(<- +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & + A(K. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(:(K +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (1& +3 h &K @ @ \ < + M&& +3 h &   +2 .t\Elbow.seek 6 + M&t( +18 h ( + M&g& +4 h &  + A(M& +3 h &K ; Y \ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&/' +100 h ' + A(^& +4 h &K U j Z\ = + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(-'s +302 h ' + A(h- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +70 h / + M&c& +4 h &  + M&% +3 h %   X +2 .t\Forearm.seek :retract + M&' +89 h ' + .t\Elbow.seek :clear +47 M&S(d +105 h ( + M&q& +4 h &d 0 Y + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &n& +3 h &d  Y + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +2 h ' + .t\SE.seek :down +2 A(' +274 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A( (<- +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<0 M L \ ; + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(D's +315 h ' + A(r- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (X& +2 h &<0 J ? \ : +2 A(& +3 h &<0 F < \ : + M&Q& +4 h &d @ Y + M&k% +3 h %  O  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&x( +104 h ( + M&s& +4 h &  + A(w& +4 h &<0 E ? \ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 + M&'΍ +95 h ' + .t\Elbow.hold +2 M&J, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&z1 +72 h 1 + M&u% +4 h % ΄   + A(W& +4 h &<0 F I \ : + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 291 counts +2 M&d'ϰ +22 h ' + M&|& +4 h & C +2 A(i& +3 h &<0 L N 6\ ; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +24 h ' +2 A(=% +3 h % H K +\ ; +3 ."downElevator"\SE.seek :down +2 A( ' +100 (% +4 h %3 J I *\ 9Yo + M& % +4 h %@ l + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&%' +88 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of 5..5 + #Loading generic puck from tube 5 into Collection Clamp + C'& +4 h & \ ` + M&\\% +4 h %  E  +2 A(L% +3 h % p n )\ > +2 A(p. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A((<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (v& +3 h &<0 o o\ > +2 M&B& +3 h & + .t\Elbow.seek 5 +2 M&'( +14 h ( + M&\ & +4 h &  +2 A(& +3 h &<0 o o\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&m'O +93 h ' + A(f& +4 h &<0 p l\ ? +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(.'s +298 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &<0 n o \ = +2 M& & +3 h &  +2 .t\Elbow.seek 5 + M&( +3 h ( + M&Y& +3 h & l +2 A(& +3 h &<0 o o\ = +2 .t\Forearm.seek 5 + 300 counts +2 M&('Ϲ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&6/ +66 h / +2 ."downElevator"\SE.seek :down +2 M&4& +3 A( ' +6 h &  + M&% +3 h %   +2 .t\Forearm.seek :retract +2 M&0' +90 h ' + .t\Elbow.seek CC +2 M&C(ӂ +158 h ( + ' + ."downElevator"\SE.coast +2 A(5 +5 M&& +4 h &ӎ) Ac + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &b& +2 h &ӎ) Ac +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&['? +100 h ' +2 C'~& +4 h & \ _ + C'& +4 .t\CC.seek :closed +2 C'I(\\ +4 h & \ _ + & \ ^ +9 &.x \ Y,} +9 &d \ Y@ +10 &kp \ YP +9 &-N \ [P +9 &S \ ZP +10 &T \ ZP +9 &sR \ [P +10 &6R \ ZP +9 &T \ ZP +9 &R \ [P +10 & |R \ ZP +9 &"=U \ ZP +9 &$S \ [P +10 &%T \ [P +9 &'S \ [O +10 &)DT \ [P +9 &+T \ ZP +9 &,R \ [P +10 &.T \ [P +9 &0MR \ [P +9 &2T \ ZP +10 &3T \ ZP +9 &5Q \ [O +10 &7VS \ [P +9 &9R \ [P +9 &:U \ [P +10 &<R \ [P +9 &>]Q \ ZP +9 &@ R \ ZP +10 &AV \ ZP +9 &C_ \ ZQ +10 &EZt \ XT +9 &G \ WX +9 &H \ U[ +10 &J \ T] +9 &LF \ T] +9 &N \ T^ +10 &O \ S_ +9 &Q ~\ S_ +10 &SI \ R_ +9 &U ~\ S` +9 &V }\ Qb +10 &X ~\ Pb +9 &ZH \ Qb +9 &[{ \ TE +10 &\\- {\ R)| +9 &\\ \ W\\ +2 ( + C'& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.48 + .Hand.open +2 M&1 +70 h 1 + M&P% +4 h % ; &  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&&' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%9& +3 h &N\ 7 +2 M&>% +3 h %  ^  +2 A(y% +3 h % 3 3\ 7 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(?(<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (F& +3 h &<0 4 3\ 7 + M&H& +4 h &ӏ) ^ Ab + M&% +4 h %  ]  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&( +164 h ( + M&R& +4 h & d  +2 A(!& +3 h &<0 ? G <\ : + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&@'O +96 h ' + A(8& +4 h &<0 @ J \ 9 +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(N's +302 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (A& +2 h &<0 & ( %\ 8 +2 M&;& +3 h &  + .t\Elbow.seek 5 +2 M&}( +3 h ( + M&`& +4 h &   + A({& +4 h &<0 < F \ 9 +2 .t\Forearm.seek 5 + 300 counts +2 M&$'Ϲ +19 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&+/ +68 h / +2 ."downElevator"\SE.seek :down +2 M&3& +3 A(*' +5 h &  +2 M&o% +3 h %  > +2 .t\Forearm.seek :retract +2 M&l' +90 h ' + .t\Elbow.seek PC +2 M&G( +165 h ' + ."downElevator"\SE.coast + A(5 +73 h ( +2 M&5& +4 h & n ' + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &Z& +3 h & ' + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&<' +95 h ' + P%E& +4 h &l\ 9 + P%2& +4 .t\PC.seek :closed +2 P%_(^ +2 h &S\ 9 +3 &k\ 9 +10 &-u`\ 4,} +10 &a^\ 3@ +9 &br]\ 4R +9 & Ra\ 6S +10 &S^\ 5S +9 &Qh\ 6R +10 &gPi\ 6R +9 &(Te\ 5S +9 &R_\ 5S +10 &Od\ 5R +9 & oQ^\ 6R +9 &"1Qa\ 5R +10 &#RU\ 6S +9 &%NK\ 6R +10 &'vRZ\ 6S +9 &)9N]\ 6R +9 &*PS\ 6R +10 &,SU\ 5R +9 &.NN\ 5R +9 &0@OU\ 6S +10 &2R^\ 6R +9 &3R_\ 6R +9 &5R_\ 6R +10 &7IN_\ 6R +9 &9 PW\ 6R +10 &:RT\ 5S +9 &<T^\ 5R +9 &>PTZ\ 6S +10 &@SY\ 6S +9 &A\\[\ 5T +10 &CdX\ 5U +9 &ENpV\ 4V +9 &G Y\ 3X +10 &HO\ 3Y +9 &JT\ 3Y +9 &LMQ\ 3Y +10 &N T\ 2Z +9 &OQ\ 2Z +9 &Q^\ 2[ +10 &SPQ\ 2[\ +9 &UM\ 2[\ +10 &VQ\ 2Z +9 &XT\ 2Z +9 &ZYU\ 1[ +10 &\\V\ 1\\ +9 &]T\ 3; +10 &^+qR\ 4#g +9 &^<P\ 6; +2 ( + P%2& +2 #t\Processing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.68 + .Hand.open + M&1 +67 h 1 + M&7% +4 h %  f @ + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&U' +93 h ' + .t\SC.coast + A(6 +2 P%,& +4 h &^8E\ 6; + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 M&]% +3 h %  K  + A(e% +4 h % $ %\ 6 +48 A(K. +4 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(O(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (a& + M&"& +3 h &<0 ) % _\ 6 +4 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h & + ' +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&#( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + A(1's +4 M&& +3 h & N ' + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &g& +2 h &  ' +2 .t\Forearm.seek :PC +2 M&M' +90 h ' + .tHand.close + M&^/ +65 h / +2 .t\PC.seek :open + P%V( +97 h ' + A(T- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(h'1 +45 h ' +302 ( + A(& +4 h &<0 J : j\ 8 +2 M&c& +3 h & > ' +2 M&% +3 h %  j +2 .t\Forearm.seek :retract + M&q' +92 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&n( +245 h ( + M&/& +4 h & 4 , + A(t& +4 h &<0 3 3 ;\ 7 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +100 h ' + .tHand.open + M&-1 +72 h 1 + A(:- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +49 h ' + #tLights, camera, ACTION! +2 A(r- +2 h -' +2 A(X& +3 h &<0 ?\ . +2 M&& +3 h &  + +2 .t\Elbow.seek 5 + M&Q( +4 h ( + M&k& +4 h & A + +2 A(s& +3 h &<0 `\ . +2 .t\Forearm.seek 5 + 450 counts + M&w'O +4 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(S' +50 h ' + M&z& +4 h & + +2 A(u& +3 h &<0 & ) \ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&W'΍ +15 h ' + .t\Elbow.hold +2 M&|, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(i' +20 h ' +2 M&=% +4 h %λ k # +2 A(& +3 h &<0 0 * K\ 7 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 346 counts + M&' +16 h ' +2 M& & +4 h & ! ! + A(x& +4 h &<0 < < \ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +18 h ' +2 A(d% +4 h % J J +\ 9 +2 ."downElevator"\SE.seek :down +2 A(' +98 (\\% +3 h %@ 0 4 U\ 7[t + M&L% +4 h %S  V + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&p' +88 h ' +72 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'D& +3 h &\\ p\ X\\ +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&v% +3 h %  M  +2 A(B% +6 h % : E H\ 8 +3 A(\ . +5 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<0 J ; \ 8 +2 M&f& +3 h & ! +2 .t\Elbow.seek 5 +2 M& ( +23 h ( + M& & +4 h & Y  +2 A(J& +3 h &<0 J J "\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&%'O +89 h ' + A(& +4 h &<0 J K U\ : +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +296 h ' +2 A( - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&Y& +3 h &    + A(& +4 h &<0 = = \ 9 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&6'΍ +24 h ' + .t\Elbow.hold +2 M&4, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.16 + A(''q +26 h ' + M&m% +4 h %{ + A(& +4 h &<0 ( ( ;\ 8 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 282 counts + M&b'ϧ +23 h ' + M&.& +4 h & c +2 A((& +3 h &<0 = = }\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&~'O +17 h ' +2 .t\SE.seek 1.16 + A(' +39 h ' + M& & +4 h & } c +2 M&0% +3 h %C  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&j' +85 h ' + .t\Elbow.seek CC +2 M&(ӂ +160 h ( + M&P& +4 h &Ә% C >O + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &9& +3 h &Ә% ) >O + .t\Forearm.seek :CC +2 M&>'? +90 h ' + .tHand.close + M&y/ +65 h / + .t\CC.seek :open +2 C'( +449 h ( +2 A(& +4 h &<0 G L P\ ; + A(F& +3 h &<0 G ? \ : +2 M&H& +3 h &Ә% >O + M&% +4 h % W C e + .t\Forearm.seek :retract +2 M&[' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&R( +159 h ( + M&!& +4 h &  + A(& +4 h &<0 U o 5\ < + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&8'΍ +91 h ' + .t\Elbow.hold +2 M&C, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&&1 +72 h 1 + M&% +4 h % ή  S + A(A& +4 h &<0 o o\ = + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 333 counts +2 M&;' +17 h ' +2 M&`& +3 h &  +2 A({& +3 h &<0 o o\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&+'O +13 h ' +2 A(3% +3 h % o q \ > +3 ."downElevator"\SE.seek :down +2 A(o' +99 (% +2 h %<9 Z N \ +2 A(Z. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(}(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (E& +3 h &<0 p o\ > +2 M&*& +3 h &  H  + .t\Elbow.seek 5 +2 M&l( +12 h ( + M&)& +4 h &  + A(& +4 h &<0 p p \ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +48 M&7'O +100 h ' +2 A(,& +4 h &<0 p q \ > + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(]'s +299 h ' + A(e- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&K/ +71 h / + M&2& +4 h & Z  + M&a% +3 h % S  t T +2 .t\Forearm.seek :retract +2 M&"' +85 h ' + .t\Elbow.seek :clear +2 M&(d +100 h ( + M&g& +4 h &d f + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &<& +4 h &d , f + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&^' +18 h ' + .t\SE.seek :down +2 A(?' +268 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(T(,y +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (G& +3 h &,z r r \ = + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(U's +279 h ' + A(_- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(1'1 +42 h ' + A(& +4 h &,z' P ; \ :  + A(c& +3 h &,z' G =\ 9  +2 M&& +3 h &d  f +2 M&M% +3 h %  ?  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&/( +112 h ( + M&t& +4 h & + + A(#& +4 h &,z' K J >\ 9  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&-'7 +94 h ' + .t\Elbow.hold +2 M&:, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&r1 +77 h 1 + M&X% +4 h % _ B 9 + A(& +3 h &,z( J J -\ 9  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 340 counts + M&k'ϋ +23 h ' + M&s& +4 h &   + A(q& +4 h &,z( K J 5\ 9  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&z' +12 h ' + A(u% +4 h %4 J J 0\ : +3 ."downElevator"\SE.seek :down +2 A(=' +99 (% +2 h %bA K M V\ ;[u +2 M& % +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&x' +91 h ' +65 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Moving puck from tube 5 to 4 +2 M&h% +4 h %     + A(d% +4 h % p q \ > + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(n(<- +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<*( J K \ :  + M&& +3 h & d  +2 .t\Elbow.seek 5 + M&\\( +3 h ( + M&L& +3 h &  +2 A(w& +3 h &<*( K J ?\ :  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&Q'O +97 h ' + A(S& +4 h &<*( M L k\ ;  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(W's +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&D/ +70 h / + M&v& +4 h & :  + M&B% +3 h % = I w +2 .t\Forearm.seek :retract +2 M&i' +88 h ' +2 .t\Elbow.seek :clear +2 M&\ (d +117 h ( + M&& +4 h &d ? \\ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &f& +3 h &d \\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M& ' +8 h ' + .t\SE.seek :down +2 A(J' +273 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A((,y +362 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,{ M M b\ ; + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A('s +313 h ' +2 A(O- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (|& +2 h &,y G @ \ 9 + A(p& +4 h &,y = G 9\ ; + M& & +3 h &d  \\ +2 M&Y% +3 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&( +96 h ( + M&& +4 h & $  + A(m& +3 h &,y K M S\ ; +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&'7 +94 h ' + .t\Elbow.hold +2 M&., +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&(1 +68 h 1 + M& % +4 h % F N ! + A(0& +4 h &,y J M )\ ; + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 315 counts +2 M&%'r +17 h ' + M& & +4 h & @  + A(& +4 h &,y = = \ < +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&6' +19 h ' + A(b% +4 h % U o ]\ < +3 ."downElevator"\SE.seek :down +2 A('' +99 (P% +3 h %; N K a\ :Zq +2 M&9% +3 h % ^ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&~' +88 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 4 of 4..4 +2 #Loading generic puck from tube 4 into Collection Clamp + C'4& +4 h & \ a + M&y% +4 h %   e  + A(j% +4 h % q p\ > +2 A(I. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A((,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (F& +3 h &,y p q\ > + M&H& +4 h & W  +2 .t\Elbow.seek 4 + M&( +12 h ( + M&!& +4 h &  +2 A(& +3 h &,y o q \ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&>' +96 h ' + A(& +4 h &,y o n \ > +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(&'s +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (A& +2 h &,y [ P 1\ < +2 M&`& +3 h &    + .t\Elbow.seek 4 +2 M&{( +4 h ( + M&3& +4 h &  + A([& +4 h &,y l p\ = + .t\Forearm.seek 4 + 300 counts +2 M&'c +24 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&@/ +73 h / +2 ."downElevator"\SE.seek :down +2 M&R& +3 A(8' +5 h &  U  +2 M&$% +3 h % c z +2 .t\Forearm.seek :retract + M&5' +91 h ' + .t\Elbow.seek CC +2 M&;(ӂ +158 h ( +2 ' + ."downElevator"\SE.coast +2 A(5 +2 M&Z& +6 h &Ӎ) 5 A_ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &E& +3 h &Ӎ) A_ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +92 h ' + C'*& +4 h & \ _ +2 C')& +3 .t\CC.seek :closed +2 C'(\\ +2 h & \ _ +3 & \ _ +10 &.w \ Z,} +9 &b} \ Y? +9 &cr \ YP +10 &#R \ [P +9 &R \ [P +9 &T \ [P +10 &lQ \ [O +9 &,R \ [P +10 &R \ [P +9 &U \ [P +9 & sQ \ [P +10 &"5U \ [P +9 &#Q \ [O +9 &%R \ [P +10 &'{O \ [P +9 &)=R \ [P +10 &*Q \ [P +9 &,R \ [P +9 &.T \ [O +57 &0ER \ [P +3 &2Q ~\ [P + &3R \ [P +5 &5O \ [P +2 &7MR \ ZP + &9U ~\ ZP +2 &:P \ ZP +6 &<R \ ZP +8 &>TU \ [P +9 &@R \ \\O +9 &AU \ [P +10 &CZ |\ ZQ +9 &EVg {\ ZR +10 &Gw z\ YT +9 &H \ WW +9 &J \ U[ +10 &LB \ U\\ +9 &N \ T] +9 &O \ U] +10 &Q \ T] +9 &SD \ T^ +10 &U \ T^ +9 &V \ S_ +9 &X \ S_ +10 &ZC \ Ra +9 &[| \ UE +9 &\\% \ U, +10 &\\ \ X _ + ( + C')& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 +2 .Hand.open + M&+1 +67 h 1 +2 M&,% +4 h % ; e + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&o' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%& +4 h &C\ 7 + M&C% +3 h %  0  +2 A(N% +3 h % ) 4\ 8 +2 A(e. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(K(,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (2& +3 h &,y 4 4\ 7 +2 M&a& +3 h &ӏ( b @] +2 M&g% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&<( +164 h ( + M&7& +4 h & ;  +2 A(l& +3 h &,y K J N\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&"' +90 h ' + A(]& +4 h &,y L K :\ : +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(}'s +297 h ' + A(G- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (_& +2 h &,y I > 9\ 9 +2 M&?& +3 h &  :  +2 .t\Elbow.seek 4 + M&( +3 h ( + M&c& +4 h & l  +2 A(& +3 h &,y J J \ : +2 .t\Forearm.seek 4 + 300 counts + M&M'c +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&t/ +69 h / +2 ."downElevator"\SE.seek :down +3 M&#& +4 A(U' +4 h &   +2 M&% +3 h % b  +2 .t\Forearm.seek :retract +2 M&r' +90 h ' + .t\Elbow.seek PC +2 M&X( +168 h ' + ."downElevator"\SE.coast + A(5 +71 h ( + M&& +4 h & 1 - + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &s& +3 h & @ - + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek :PC + M&q' +98 h ' + P%u& +4 h &A\ 9 +2 P%^& +3 .t\PC.seek :closed +2 P%(^ +2 h &G\ 9 +5 &Z\ 95 +10 &?EuV\ 42 +9 &bo}W\ 3F +9 &dT\ 4S +10 &OL\ 6R +9 &yTU\ 5S +9 &;QO\ 5S +10 &QL\ 5R +9 &NT\ 5R +10 &QS\ 5S +9 &CPR\ 5S +9 &!NK\ 5R +10 &"LP\ 6S +9 &$RS\ 5S +9 &&KOL\ 5S +10 &(NL\ 5R +9 &)OO\ 6S +10 &+QQ\ 5S +9 &-TOO\ 5R +9 &/SO\ 5R +10 &0QO\ 5R +9 &2MO\ 5R +9 &4\\NO\ 5R +10 &6RU\ 5S +9 &7QL\ 5S +10 &9PO\ 6R +9 &;cRO\ 5S +9 &=%TO\ 5S +10 &>SQ\ 5S +9 &@TP\ 5S +9 &BfcO\ 4T +10 &D"nN\ 4W +9 &EP\ 2Y +10 &GN\ 2Y +9 &I_O\ 2Z +9 &K!P\ 3Z +10 &LO\ 2Z +9 &NK\ 1[ +9 &PcJ\ 2[\ +10 &R&I\ 2[ +9 &SJ\ 1[ +10 &UL\ 2[\ +9 &WjI\ 1[ +9 &Y*I\ 1\\ +10 &ZG\ 2[\ +9 &\\B\ 1\\ +9 &^1dx@\ 32 +10 &^?\ 3L +8 ( +2 &^P?\ 6@ + P%^& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.79 + .Hand.open +2 M& 1 +73 h 1 + M&/% +4 h %   O  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&-' +93 h ' + .t\SC.coast + A(6 +3 P%h& +3 h &^Q4\ 5@ +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&k% +3 h %  Q  +2 A(d% +3 h % & ) L\ 5 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(1(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (z& + M&=& +4 h &,y / ( \ 5 +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h & \ G - +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&T( +3 h ( + ."raiseStack"\SE.seek beamBreak +2 M&& +2 A('s +5 h &  - +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &L& +3 h & 8 - + .t\Forearm.seek :PC +2 M&w' +94 h ' + .tHand.close + M&S/ +77 h / +2 .t\PC.seek :open +2 P%:( +85 h ' + A(x- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +40 h ' +321 ( + A(D& +4 h &,z ) ) \ 8 + M&v& +4 h &  m - + M&B% +4 h %  Q +2 .t\Forearm.seek :retract + M&' +91 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&f( +243 h ( + M&Q& +4 h &  2 + A(\\& +4 h &,z 5 6\ 7 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&i' +96 h ' + .tHand.open + M&W1 +76 h 1 + A(n- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(J' +52 h ' + #tLights, camera, ACTION! + A(O- +3 h -' +2 A(|& +3 h &,y j\ . +2 M&p& +3 h &  2 +2 .t\Elbow.seek 4 + M& ( +4 h ( + M&Y& +4 h &  A 2 +2 A(& +3 h &,y\ . +2 .t\Forearm.seek 4 + 450 counts + M&m' +4 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A((' +51 h ' + M& & +4 h & S 2 +2 A(0& +3 h &,y 7 6 \ 7 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&\ '7 +16 h ' + .t\Elbow.hold +2 M& , +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +21 h ' +2 M&b% +3 h %^ @ 3 +2 A( & +3 h &,y 6 3 \ 7 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 339 counts +2 M&P'ϊ +24 h ' +2 M&9& +3 h & 2 +2 A(& +4 h &,y & ( !\ 8 + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +12 h ' +2 A(4% +3 h % K ; \ 8 +3 ."downElevator"\SE.seek :down +2 A(%' +99 (y% +3 h %< 4 6\ 6[t + M&j% +4 h %  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&I' +85 h ' +75 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +4 h &\\ O\ Y _ +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&F% +3 h %   +2 A(H% +3 h % K J 9\ 9 +2 A(!. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 4 + A((,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (6& +3 h &,y < A \ 9 +2 M&& +3 h & 5 1 +2 .t\Elbow.seek 4 + M&'( +4 h ( + M&& +3 h & 1 +2 A(.& +3 h &,y K J $\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&~' +97 h ' + A(& +4 h &,y J J D\ 9 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +47 A(A's +298 h ' +2 A(`- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&3& +3 h & 1 + A([& +3 h &,y 5 4\ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&@'7 +18 h ' + .t\Elbow.hold +2 M&R, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A($- +2 h -' +2 .t\SE.seek 0.17 +2 A('v +31 h ' + M&>% +4 h %W t 3 +2 A(Z& +3 h &,y K J -\ 9 + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 332 counts + M&E'σ +31 h ' + M&&& +4 h & ~ 1 +2 A(& +3 h &,y K J .\ : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&*' +21 h ' +2 .t\SE.seek 1.17 + A({' +36 h ' +2 M&8& +3 h &  1 +2 M&5% +3 h % V +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +88 h ' + .t\Elbow.seek CC +2 M&+(ӂ +157 h ( + M&,& +4 h &Ӝ# <: + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &Ӝ" <: +2 .t\Forearm.seek :CC + M&C'? +93 h ' + .tHand.close + M&N/ +65 h / + .t\CC.seek :open +2 C'e( +449 h ( + A()& +4 h &,y M K Y\ ; + A(2& +4 h &,y J M b\ ; + M&a& +3 h &Ӝ# 1 <: +2 M&g% +3 h % B O a +2 .t\Forearm.seek :retract + M&' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&7( +160 h ( + M&l& +4 h & .  +2 A(& +3 h &,y ? G\ < +2 .t\Elbow.reconfigure LimpElbow + M&$ ,(#b +3 .t\Forearm.seek 4 +2 M&]'7 +93 h ' + .t\Elbow.hold +2 M&;, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&o1 +69 h 1 +3 M&G% +4 h %  3 + A(_& +3 h &,y J I W\ < +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 263 counts +2 M&?'> +15 h ' + M&c& +4 h &   +2 A(& +3 h &,y r r \ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&t' +20 h ' +2 A(#% +3 h % r r -\ = +3 ."downElevator"\SE.seek :down +2 A(' +99 (<% +2 h % 1 @ L \ + A(s. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A((,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (u& +3 h &,y q r \\\ = +2 M&U& +3 h & p  + .t\Elbow.seek 4 +2 M&r( +8 h ( + M&V& +4 h &  +2 A( & +3 h &,y p q\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&/' +91 h ' +5 A(h& +3 h &,y k k\ > +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(k's +298 h ' + A(d- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&^/ +74 h / + M&& +4 h &  + M&z% +3 h %  "  +2 .t\Forearm.seek :retract + M&=' +93 h ' +2 .t\Elbow.seek :clear +2 M&(d +94 h ( + M&L& +4 h &d   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &q& +3 h &d `  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&S' +14 h ' + .t\SE.seek :down +2 A(K' +268 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(x( +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (X& +3 h & q q ,\ = + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(-'s +282 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A('1 +40 h ' + A(D& +4 h & s _ \ < + A(v& +4 h & C > g\ < + M&B& +3 h &d  4  +2 M&w% +3 h %   b t +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&Q( +104 h ( + M&\\& +4 h & < + A(T& +4 h & @ I\ ; + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&W'u +94 h ' + .t\Elbow.hold +2 M&n, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&O1 +74 h 1 + M&|% +4 h % Ώ % + A(p& +3 h & K J /\ ; +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 326 counts + M&Y'ϻ +22 h ' + M&& +4 h & \ # +2 A(& +3 h & @ C \ < +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M& '7 +12 h ' + A(0% +4 h %0 = H \ < +3 ."downElevator"\SE.seek :down +2 A(b' +99 ( % +2 h %>8 K M h\ ;Zq +2 M&9% +3 h %5 T +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +67 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 4 to 3 + M&% +4 h %  4  + A(4% +4 h % r q $\ = + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(f(,y +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (i& +3 h &,x < @ \ <\ + M&J& +3 h & [ # +2 .t\Elbow.seek 4 + M&y( +21 h ( + M&j& +4 h &  + A(m& +3 h &,x G < \ <\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M& ' +100 h ' + A((& +4 h &,x q S 3\ <\ + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(\ 's +308 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&P/ +69 h / + M&F& +4 h &   + M&H% +3 h %  D +2 .t\Forearm.seek :retract + M&!' +92 h ' +2 .t\Elbow.seek :clear + M&(d +100 h ( + M&6& +4 h &d  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &d  %  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +9 h ' + .t\SE.seek :down +2 A(.' +274 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & G J \ < + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(%'s +317 h ' + A(1- +3 h -' + .t\SE.configure SEconfig +41 A(#QK-0-\ b +10 ( & +3 h & I B 9\ ; + A(I& +3 h & M J L\ ; +2 M&`& +3 h &d  + M&3% +4 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&[( +103 h ( +2 M&$& +3 h & G +2 A(>& +3 h & K K [\ : + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&Z'u +93 h ' + .t\Elbow.hold +2 M&&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +68 h 1 + M&8% +4 h % Θ  ! +2 A(5& +3 h & K K R\ ; + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 335 counts +2 M&~' +21 h ' + M&'& +4 h &  , +2 A(A& +3 h & K @ \ < + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&@'7 +16 h ' +2 A(E% +3 h % K K $\ < +3 ."downElevator"\SE.seek :down +2 A(' +99 (,% +2 h %": J J n\ ;[q +2 M&% +3 h %$  c +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&*' +89 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of 3..3 + #Loading generic puck from tube 3 into Collection Clamp + C'R& +4 h & \ ` + M&N% +4 h %  X  +2 A(% +3 h % s r "\ = +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A()( +9 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (2& +3 h & q p \ = +2 M&a& +3 h & ` , +2 .t\Elbow.seek 3 + M&g( +24 h ( + M&l& +4 h & 7  +2 A(& +3 h & q r )\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&C'7 +96 h ' + A(+& +4 h & u t 0\ = +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(o's +298 h ' +2 A(G- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (_& +2 h & o ]\ = +2 M&c& +3 h & |  + .t\Elbow.seek 3 +2 M&( +2 h ( +2 M&#& +3 h &  +2 A(& +3 h & p r \ = +2 .t\Forearm.seek 3 + 300 counts + M&<'ϡ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&"/ +75 h / +2 ."downElevator"\SE.seek :down +2 M&7& +3 A(]' +6 h & :  + M&M% +3 h % ϳ  +2 .t\Forearm.seek :retract +2 M&?' +92 h ' + .t\Elbow.seek CC +2 M&(ӂ +153 h ( + M&s& +5 h &ӊ* I ?V ' + ."downElevator"\SE.coast +2 A(5 +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &u& +3 h &Ӌ+   ?U + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&{'? +91 h ' +2 C'U& +4 h & \ _ + C'V& +3 .t\CC.seek :closed +2 C' (\\ +3 h & \ ` +3 & \ ` +9 &.w \ Z+| +9 &d \ Y@ +10 &ep \ YP +9 &&R \ \\P +9 &Q \ \\P +10 &Q \ [P +9 &mR \ [P +10 &1R \ [O +9 &S \ [P +9 &U \ [P +10 & wR \ [O +9 &"9Q \ [O +9 &#R \ [P +10 &%P \ \\P +9 &'Q \ \\O +10 &)?S \ [P +9 &+R \ [O +9 &,R \ [P +10 &.Q \ [P +9 &0IQ \ \\O +9 &2\ R \ [P +10 &3U \ [P +9 &5Q \ [O +10 &7QS \ \\O +9 &9R \ [P +9 &:T \ [P +10 &<P \ [P +9 &>XO \ [P +9 &@Q \ [O +10 &AU |\ [P +9 &C\\ \ [Q +10 &EVq \ ZS +9 &G \ WX +9 &H \ VZ +10 &J \ T] +9 &LA \ T] +9 &N \ T^ +10 &O \ U] +9 &Q \ T^ +10 &SB \ S_ +9 &U \ S` +9 &V \ S` +10 &X \ Sb +9 &ZC \ Rb +9 &[| \ UF +10 &\\$ \ U/ +9 &\\ \ W"c +2 ( + C'V& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.48 + .Hand.open +2 M&t1 +73 h 1 + M&h% +4 h % E > q + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 3 into Processing Clamp +2 P%& +3 h &?\ 6 +2 M&;% +3 h %  ?  +2 A(}% +3 h % 4 4\ 6 + A(d. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 3 + A(^( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & ) ' d\ 6 +2 M&z& +3 h &Ӌ& l ?U + M&L% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&q( +166 h ( + M&/& +4 h & )  + A(r& +4 h & ; 6 5\ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&='7 +91 h ' + A(k& +4 h & > A \ 9 + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +299 h ' + A(X- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h & 7 4\ 7 +2 M&K& +3 h &   + .t\Elbow.seek 3 +2 M&D( +3 h ( + M&v& +4 h & !  +2 A(B& +3 h & * ' g\ 8 +2 .t\Forearm.seek 3 + 300 counts + M&w'ϡ +39 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&\\/ +67 h / +2 ."downElevator"\SE.seek :down +3 M&T& +2 A(-' +6 h & \  + M&% +3 h % ϧ  : N +2 .t\Forearm.seek :retract +2 M&O' +92 h ' + .t\Elbow.seek PC +2 M&|( +169 h ' + ."downElevator"\SE.coast + A(5 +71 h ( +2 M&p& +4 h & # + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & G # + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +98 h ' + P%0& +4 h &M\ 8 +2 P%S& +3 .t\PC.seek :closed +2 P% (^ +2 h &6\ 8 +3 &E\ 8 +10 &-uI\ 3+| +9 &a~D\ 3@ +10 &OsC\ 3S +9 &QN\ 5R +10 &RM\ 5S +9 &QP\ 5R +9 &UNN\ 5S +10 &QL\ 5S +9 &OL\ 5R +9 &OP\ 5R +10 & ^NO\ 5R +9 &" MQ\ 5R +10 &#OP\ 5S +9 &%OP\ 5R +9 &'fSO\ 5R +10 &)(RP\ 4R +9 &*RK\ 4R +9 &,SL\ 5S +10 &.nOG\ 5R +9 &0/ON\ 5S +10 &1RE\ 5R +9 &3R>\ 4R +9 &5uQH\ 5S +10 &78NN\ 5R +9 &8OH\ 5S +9 &:TK\ 5S +10 &<~SD\ 4R +9 &>@TK\ 4R +10 &@TB\ 5S +9 &AYB\ 4S +9 &ChL\ 3U +10 &E>nI\ 3V +9 &F=\ 2X +9 &H?\ 2X +10 &JyF\ 1Z +9 &L<?\ 1Y +10 &M6\ 1Z +9 &O<\ 2Z +9 &Q~>\ 1[ +10 &S@?\ 1[ +9 &U:\ 1[ +9 &V3\ 1[ +10 &X@\ 1Z +9 &ZH<\ 1[ +10 &\\ 5\ 1[\ +9 &]2\ 1F +9 &^#m6\ 3$h +10 &^<7\ 59 + ( + P%S& +3 #t\Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 + .Hand.open +2 M&91 +72 h 1 + M&Q% +4 h %  Z % + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&W' +90 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^68\ 69 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&Y% +3 h %    +2 A(4% +3 h % 4 4\ 6 + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M& & +3 h &  F # + A(b& +2 .t\Elbow.reconfigure TightElbow +4 M&$&.,(\ #b +3 h & & &\ 6 + .t\Elbow.seek PC +3 ."raiseStack"\SE.reconfigure SEplace + M&x( +5 A(#]kK-0-\ b +2 h ( +2 M&i& +4 h & : # +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b + ."raiseStack"\SE.seek beamBreak +3 A(J's +2 M&j& +52 h &  # +3 .t\Forearm.seek :PC +2 M&m' +92 h ' +2 .tHand.close + M&(/ +75 h / + .t\PC.seek :open +2 P%n( +44 h ' + A(- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +43 h ' +357 ( + A(P& +4 h & & 1 \ 7 +2 M&F& +3 h &  # +2 M&H% +3 h %  U +2 .t\Forearm.seek :retract + M&6' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +246 h ( + M& & +4 h &~ L +2 A(y& +3 h & 4 4\ 6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&!'7 +96 h ' + .tHand.open + M&\ 1 +76 h 1 +2 A(f- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate + A(' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(.' +50 h ' + #tLights, camera, ACTION! +2 A(1- +3 h -' + A( & +3 h & G\ . +2 M&I& +3 h &~  L +2 .t\Elbow.seek 3 +2 M&`( +3 h ( + M&3& +3 h &~ w L +2 A($& +3 h & J\ . +2 .t\Forearm.seek 3 + 450 counts +2 M&>'7 +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(' +51 h ' + M&8& +4 h &~ : L +2 A(& +3 h & 7 7 7\ 7 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 3 +2 M&5'u +18 h ' + .t\Elbow.hold +2 M&', +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(A' +21 h ' +2 M&E% +3 h %Ο A +2 A(& +4 h & 5 6 \ 7 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 342 counts +2 M&,' +20 h ' +2 M&& +3 h &  = +2 A([& +4 h & ' ' \ 8 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts +2 M&Z'7 +13 h ' +2 A(R% +3 h % , < =\ 8 +3 ."downElevator"\SE.seek :down +2 A(~' +99 (N% +3 h %< 2 3\ 6[u + M&% +4 h %: # + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +88 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'%& +4 h &\\ r\ W"c + #t\Storing generic puck in Collection Clamp to tube 3 + M&2% +4 h %  :  +2 A(a% +3 h % ) 1 \ 8 +2 A(l. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (@& +3 h & * * :\ 8 +2 M&+& +3 h & = + .t\Elbow.seek 3 +2 M&( +3 h ( + M&& +4 h & > = +2 A(&& +3 h & * * \ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&*'7 +95 h ' + A(G& +4 h & K L 6\ 9 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(_'s +297 h ' +2 A(c- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&#& +2 h & c = +2 A(& +3 h & 4 * \ 8 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&"'u +18 h ' + .t\Elbow.hold +2 M&7, +3 h , +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +3 A(M- +2 h -' + .t\SE.seek 0.16 +2 A(g'q +39 h ' + M&C% +4 h %Χ Y + A(s& +4 h & 7 7 '\ 7 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 350 counts +2 M&u' +20 h ' + M&o& +4 h & = +2 A(<& +3 h & 4 * \ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&U'7 +13 h ' +2 .t\SE.seek 1.16 + A(' +39 h ' + M&]& +4 h & C = +2 M&?% +3 h %2  Y +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&e' +85 h ' + .t\Elbow.seek CC +2 M&t(ӂ +155 h ( + M&h& +4 h &ӎ* . Bl + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӎ* 5 Bl + .t\Forearm.seek :CC +2 M&;'? +92 h ' + .tHand.close + M&}/ +66 h / + .t\CC.seek :open +2 C'd( +449 h ( +2 A(V& +4 h & K M c\ : + A(& +3 h & K M y\ ; +2 M&z& +3 h &ӏ*  Bk + M&L% +4 h % H < + .t\Forearm.seek :retract +2 M&{' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&/( +165 h ( + M&r& +4 h & i  + A()& +4 h & T L %\ < + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 3 + M&k'u +91 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +67 h 1 + M&X% +4 h % Χ M + A(& +4 h & s s 1\ = + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 350 counts +2 M&K' +19 h ' +2 M&v& +4 h & R  +2 A(B& +3 h & r s 2\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&\\'7 +13 h ' +2 A(T% +3 h % p k \ > +3 ."downElevator"\SE.seek :down +2 A(' +99 (q% +3 h %8 q l x\ =Yn + M&=% +3 h %B  ; +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +88 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 3 to 2 + M&w% +4 h %  8  + A(p% +4 h % r r +\ > + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(D( +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (0& +3 h & q s \ > +2 M&-& +3 h & n  +2 .t\Elbow.seek 3 + M&O( +3 h ( + M&:& +3 h & I  +2 A(9& +3 h & q r 7\ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&Q'7 +97 h ' + A(& +4 h & r t >\ > + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(Y's +299 h ' + A(4- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +77 h / + M&S& +4 h &  + M& % +3 h % /  w e +2 .t\Forearm.seek :retract + M&b' +93 h ' + .t\Elbow.seek :clear +2 M&i(d +101 h ( + M&j& +4 h &d  o + .t\Elbow.reconfigure LooseElbow +48 M&$ &.,(#b +3 && +3 h &d  o + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&^' +8 h ' + .t\SE.seek :down +2 A((' +263 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(|(  +374 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & P [ G\ < + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(W's +288 h ' + A( - +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place +2 A(J'1 +43 h ' + A(P& +4 h & \ Q 7 /\ ; + A(F& +4 h & \ K K #\ ; +2 M&H& +3 h &d o + M&m% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M& ( +101 h ( + M&y& +4 h &  & + A(x& +4 h & \ N K j\ ; + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&\ 'Α +90 h ' + .t\Elbow.hold +2 M&f, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&11 +70 h 1 + M& % +4 h % ι h i + A(I& +4 h & \ K K H\ < +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 340 counts + M&3' +18 h ' + M&$& +4 h & D & + A(6& +4 h & \ K K 7\ < + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&8'S +13 h ' +2 A(% +3 h %1 q r *\ = +3 ."downElevator"\SE.seek :down +2 A(E' +99 (% +3 h %28 X T x\ ;Zr +2 M&% +3 h %M  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&[' +87 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 3 to 2 + M&% +4 h %  Y  + A(R% +4 h % l q \ > + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (!& +3 h & K N 7\ < + M&.& +3 h & ^ & +2 .t\Elbow.seek 3 + M&N( +21 h ( + M&& +4 h & 2  + A(>& +3 h & q q *\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&`'7 +94 h ' + A(& +4 h & q t 8\ > + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(5's +302 h ' + A(%- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&,/ +68 h / +2 M&2& +4 h & 2  + M&a% +4 h % 2  T i + .t\Forearm.seek :retract +2 M&l' +90 h ' + .t\Elbow.seek :clear +2 M&A(d +96 h ( + M&@& +4 h &d h  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &+& +3 h &d 8  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +9 h ' + .t\SE.seek :down +2 A(&' +271 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(Z(  +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (G& +3 h &  M U \ ; + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(~'s +318 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ('& +2 h &  H J O\ ; +2 A(& +3 h &  K K J\ < + M&c& +4 h &d 7  + M&#% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&( +103 h ( + M&M& +4 h & ' + A(C& +3 h &  K K e\ < +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&s'Α +92 h ' + .t\Elbow.hold +2 M&o, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&<1 +74 h 1 + M&]% +4 h % Χ 0 + A(?& +3 h &  K K 3\ < + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 322 counts + M&*' +18 h ' + M&& +4 h & R  + A(_& +3 h &  r s 1\ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&"'S +16 h ' +2 A(u% +3 h % s s <\ = +3 ."downElevator"\SE.seek :down +2 A(g' +99 (h% +3 h %@ K K :\ ;[u +2 M&% +3 h %0  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&U' +90 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 2 of 2..2 + #Loading generic puck from tube 2 into Collection Clamp + C'7& +4 h & \ ` + M&}% +4 h %   *  +2 A(e% +3 h % s s +\ = +2 A( . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(V(  +10 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  r r $\ = +2 M&z& +3 h &    + .t\Elbow.seek 2 +2 M&L( +18 h ( + M&r& +4 h & k  +2 A()& +3 h &  q q \ = +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&;'S +95 h ' + A(t& +4 h &  l q /\ > +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +299 h ' + A(X- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &  K _ K\ = +2 M&v& +3 h &  + .t\Elbow.seek 2 +2 M&B( +3 h ( + M&T& +3 h & -  +2 A({& +3 h &  q q )\ = +2 .t\Forearm.seek 2 + 300 counts +2 M&q'Ͻ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&=/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&/& +3 A(k' +5 h & *  +2 M&w% +3 h % Ͻ  +2 .t\Forearm.seek :retract +2 M&p' +88 h ' + .t\Elbow.seek CC +2 M&K(ӂ +161 h ( +2 M&& +3 h ' + &Ӑ)  < Ad +2 ."downElevator"\SE.coast + A(5 + .t\Elbow.reconfigure LooseElbow +5 M&$ &.,(#b +2 &0& +2 h &Ӑ) H Ad +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +100 h ' +2 C'-& +4 h & \ _ + C':& +4 .t\CC.seek :closed +2 C'9(\\ +2 h & w\ ^ +3 & \ _ +10 &/v \ Y+| +9 &d \ X@ +10 &hp \ YP +9 &*R \ ZP +10 &Q \ [O +9 &S \ [P +9 &rQ \ ZO +10 &3R \ [P +9 &V \ ZP +9 &O \ [P +10 & zQ \ [O +9 &"<Q \ [O +10 &#Q \ ZP +9 &%V \ ZP +9 &'P \ [P +10 &)CR \ ZP +9 &+P \ ZP +9 &,R \ [O +10 &.R \ [P +9 &0KO \ [P +10 &2R \ [O +9 &3R \ [P +9 &5O \ [P +10 &7SQ \ ZP +9 &9Q \ ZO +9 &:Q \ [P +10 &<T \ [P +9 &>[U \ ZP +10 &@P \ [P +9 &AU \ ZP +9 &CY \ ZQ +10 &E^b \ ZQ +9 &Gx \ YT +9 &H \ WW +10 &J \ U[ +9 &LJ \ U[\ +10 &N \ T\\ +9 &O \ T] +9 &Q \ T] +10 &SK \ S] +9 &U\ \ S^ +9 &V \ S_ +10 &X \ S_ +9 &ZL \ S` +10 &[z \ TE +9 &\\ \ V1 +9 &\\ \ X[ +2 ( + C':& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + .Hand.open +2 M&\\1 +70 h 1 + M&% +4 h % H  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +49 P%& +4 h &=\ 7 + M&% +4 h %  K  + A(% +3 h % 7 7 \ 8 +2 A(4. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A((  +9 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (S& +3 h &  : 7 P\ 7 + M& & +4 h &ӑ( i Ac +2 M&j% +3 h %  X  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&( +157 h ( + M&Q& +4 h &  +2 A(O& +3 h &  K L J\ 9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&b'S +95 h ' + A(Y& +4 h &  K K o\ 9 +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(D's +299 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 ( & +3 h &  7 8\ 7 + M&(& +3 h &  +2 .t\Elbow.seek 2 + M&P( +3 h ( + M&F& +4 h & 1 + A(H& +3 h &  ' ' \ 7 +2 .t\Forearm.seek 2 + 300 counts +2 M&m'Ͻ +22 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&y/ +75 h / +2 ."downElevator"\SE.seek :down +2 M&x& +4 A(W' +5 h & N +2 M&1% +3 h %  j +2 .t\Forearm.seek :retract +2 M& ' +91 h ' + .t\Elbow.seek PC +2 M&i( +168 h ' + ."downElevator"\SE.coast + A(5 +72 h ( + M&I& +4 h &   +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &$& +3 h & )  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&6' +93 h ' + P%& +4 h &,\ : +2 P%^& +3 .t\PC.seek :closed +2 P%(^ +2 h &=\ : +5 &;\ 95 +9 &?Ev>\ 42 +10 &^m}<\ 4F +9 &c<\ 5R +10 &Q<\ 7R +9 &tS=\ 6S +9 &7PB\ 6R +10 &O:\ 6R +9 &P7\ 6R +9 &|T9\ 6S +10 &>Q:\ 6S +9 &!N7\ 6R +10 &"P7\ 7S +9 &$R6\ 6R +9 &&GR9\ 6R +10 &( N/\ 6R +9 &)O6\ 6S +9 &+Q/\ 6S +10 &-OQ-\ 6R +9 &/R(\ 6R +10 &0P*\ 6R +9 &2R/\ 6S +9 &4WQ,\ 6R +10 &6S.\ 6S +9 &7R/\ 6S +9 &9R-\ 6R +10 &;^R-\ 6S +9 &= P,\ 6S +10 &>T+\ 6S +9 &@V,\ 6S +9 &Bad1\ 5T +10 &Dr+\ 4W +9 &E,\ 3Y +9 &G+\ 3Y +10 &I[1\ 3Y +9 &K-\ 3Z +10 &L+\ 3Z +9 &N+\ 3Z +9 &P_.\ 2[ +10 &R",\ 2Z +9 &S+\ 2[ +9 &U,\ 2[\ +10 &Wg,\ 3[ +9 &Y(-\ 3[\ +10 &Z,\ 2[\ +9 &\\,\ 1\\ +9 &^0fy,\ 41 +10 &^,\ 3E +8 ( +2 &^6*\ 7: + P%^& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.78 + .Hand.open +2 M&1 +76 h 1 + M& % +4 h %  r k + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\ ' +93 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^7&\ 6: +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&3% +3 h %  '  +2 A(R% +3 h % 4 5\ 6 +2 A(. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(J(  +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (8& + M&E& +4 h &  5 5 \ 6 +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h & :  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&|( +3 h ( + ."raiseStack"\SE.seek beamBreak +2 A(.'s +2 M&!& +5 h &  c  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &  +2 .t\Forearm.seek :PC + M&>' +95 h ' + .tHand.close + M&/ +73 h / +2 .t\PC.seek :open +2 P%f( +89 h ' + A([- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(%'1 +43 h ' +313 ( + A(,& +4 h &  L = \ 8 + M&2& +4 h & P  + M&a% +3 h %  H \\ +2 .t\Forearm.seek :retract +2 M&@' +91 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&+( +246 h ( + M&`& +4 h & f 7 + A(N& +3 h &  ( + U\ 8 +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&l'S +93 h ' + .tHand.open + M&51 +76 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(G' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(&' +50 h ' + #tLights, camera, ACTION! +2 A(- +2 h -' +2 A('& +3 h &   \ / +2 M&& +3 h & 7 +2 .t\Elbow.seek 2 + M&c( +3 h ( + M&#& +4 h & K 7 + A(M& +3 h &  ^\ / +3 .t\Forearm.seek 2 + 450 counts +2 M&C'S +13 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 E\ ^om +2 .t\SE.seek -0.52 +2 A(<' +61 h ' + M&A& +4 h &  7 +2 A(]& +3 h &  4 *\ 8 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 +2 M&?'Α +14 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(_' +20 h ' +2 M&u% +3 h %ι  J +2 A(& +3 h &  4 * #\ 8 +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 340 counts + M&h' +16 h ' +2 M&& +3 h &  p 7 +2 A(& +3 h &  * * \ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&s'S +16 h ' +2 A(7% +3 h % = K \ 8 +3 ."downElevator"\SE.seek :down +2 A(*' +99 (}% +3 h %D 6 8 \ 6\\w + M&e% +4 h %I k + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +87 h ' +69 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'~& +3 h &\\ O\ Y[ +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&% +3 h %  <  +2 A(z% +3 h % I M \ 9 +2 A(r. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A()(  +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ("& +3 h &  H > M\ 9 +2 M&t& +3 h &  7 + .t\Elbow.seek 2 +2 M&g( +3 h ( + M&Z& +3 h & 7 +2 A(o& +3 h &  B : \ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&U'S +89 h ' + A(X& +4 h &  L M o\ : +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +304 h ' + A(v- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&T& +2 h & 7 +2 A({& +3 h &  M J r\ 9 + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&='Α +17 h ' + .t\Elbow.hold +2 M&/, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(w- +2 h -' + .t\SE.seek 0.17 +2 A(L's +30 h ' + M&;% +4 h %β 2 + A(& +4 h &  4 4 C\ 8 +47 .t\Forearm.force -20 +2 M&5 +2 .t\Forearm.seek 2 + 333 counts +2 M&0' +20 h ' + M&& +4 h & I 6 +2 A(q& +3 h &  ? , a\ 8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&-'S +16 h ' +2 .t\SE.seek 1.17 + A(B' +34 h ' +2 M&k& +3 h & " 6 +2 M&p% +3 h %H  T +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&d' +87 h ' + .t\Elbow.seek CC +2 M&\\(ӂ +153 h ( + M&& +5 h &|1 1 G +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &|1 H G +2 .t\Forearm.seek :CC +2 M&:'? +89 h ' + .tHand.close + M&/ +70 h / + .t\CC.seek :open +2 C'( +452 h ( + A(4& +4 h &  Z O\ < + A(S& +4 h &  L K \ < +2 M& & +3 h &Ӱ' q @\\ + M&j% +3 h % k 6 L +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&Q( +157 h ( + M&O& +4 h &  +2 A(V& +3 h &  q m 2\ = + .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.seek 2 +2 M&Y'Α +91 h ' + .t\Elbow.hold +2 M&K, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +71 h 1 + M&% +4 h % λ K r + A( & +4 h &  m r \ > + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 342 counts +2 M&(' +18 h ' +2 M&F& +4 h & x +2 A(H& +3 h &  z p \ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&y'S +15 h ' +2 A(x% +3 h % z z \ ? +3 ."downElevator"\SE.seek :down +2 A(1' +99 (% +2 h %> K L X\ +2 A($. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(P(  +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  u r @\ > +2 M&W& +3 h & $ + .t\Elbow.seek 2 +2 M& ( +3 h ( + M&n& +4 h & J + A(& +3 h &  r m \ > +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M& 'S +96 h ' + A(& +4 h &  o r J\ > + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(3's +299 h ' + A(R- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&^/ +69 h / + M&& +4 h & + M&8% +3 h % W  g +2 .t\Forearm.seek :retract +2 M&E' +90 h ' +2 .t\Elbow.seek :clear +2 M&!(d +102 h ( + M&& +4 h &d H [ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &6& +3 h &d ? [ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&' +2 h ' + .t\SE.seek :down +2 A(' +266 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A([(C +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (i& +3 h &E ] m\ = + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(\ 's +282 h ' + A(- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(.'1 +42 h ' + A(,& +4 h &D S N ^\ 9 + A(2& +3 h &D M N }\ 9 +2 M&a& +3 h &d \\ [ +2 M&>% +3 h %  m  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&`( +101 h ( + M&N& +4 h & % + A(|& +3 h &D 1 4\ 8 +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&5'8 +94 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +73 h 1 +2 M&'% +3 h % ^   +2 A(& +3 h &D 4 A R\ 9 + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 1 + 338 counts +2 M&#'ϊ +31 h ' + M&M& +4 h & R % + A(@& +4 h &D L L g\ 9 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&A' +15 h ' + A(]% +4 h %; M K u\ 9 +3 ."downElevator"\SE.seek :down +2 A(u' +99 (% +3 h %E: ( 1 ,\ 8[v +2 M&%% +3 h % D +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 2 to 1 + M&% +4 h %  %  + A(G% +4 h % s s '\ > +2 A(7. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(+(  +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (l& +3 h &  ` a r\ = + M&&& +3 h & 3 % +2 .t\Elbow.seek 2 + M&}( +3 h ( + M&e& +4 h & % + A(C& +3 h &  K K O\ < +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&c'S +98 h ' + A(<& +4 h &  l ] K\ < + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(?'s +299 h ' + A(~- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&h/ +65 h / +2 M&& +4 h & A % + M&z% +3 h % U  S +2 .t\Forearm.seek :retract + M&r' +92 h ' + .t\Elbow.seek :clear +2 M&_(d +106 h ( + M&"& +4 h &d O ` + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &t& +3 h &d ` + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&Z' +15 h ' + .t\SE.seek :down +2 A(o' +273 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(s(C +359 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (X& +3 h &A ` a z\ = + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(*'s +327 h ' + A(J- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +3 h &B j R T\ = + A( & +4 h &B m q \ > + M&v& +3 h &d r ` +2 M&T% +3 h %   B g + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&{( +101 h ( + M&w& +4 h & E  + A(;& +3 h &B s m '\ = +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&'8 +91 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +46 M&q1 +75 h 1 + M&k% +4 h % > + A(p& +3 h &B K L 2\ < +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 306 counts + M&U'j +17 h ' + M&g& +4 h &   +2 A(& +3 h &B l n \ = + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 1 + 450 counts + M&=' +29 h ' + A(0% +4 h % q m )\ = +3 ."downElevator"\SE.seek :down +2 A(' +99 (L% +3 h %> L V h\ ;[s +2 M&% +3 h % C x +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&-' +91 h ' +54 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 M&/& +4 h & '  + M&% +4 h %  j  +51745 E\ j30 +29521 #t-> exit +5 #m\EXIT @1601405432.75EDT @1602690352.89EDT = @EDT1602690355.19 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@0x3692, state=0x3350, ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.22 I2C Gateway v3.06 +208 #>RESET< ESP2 v3.22 I2C Gateway v3.06 +33 #Powering up Dwarves =Astorage =ECan =Mmanipulator =tMAIN =hcore =Ssampler =Pprocessing =FMFB =Ccollection =mMAIN_scheduler +717 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +332 !o:Instrument::ISUSCore: @refit6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E\ m%" +4 \ m%" + S) +2 ) + h  +2 C' + ' +3 h  + P% +2 % +2 h  +3 C' 9\ +3 ' 0\ + ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +3 S)&\ +2 .t\SS.stop S)5 +2 .t\SS.configure SSconfig +2 S)#.0X ESP.ready! +2 C'& +2 P%& +4 h &\ \ \ b +3 ."rdySampler"Intake.select :close + .\Exhaust.select :close + .\CTV.dial :air +2 C'  +2 h &\ A +2 ."rdyProcessing"\PSV.dial :air +3 .t\PC.reconfigure PCconfig +2 P%  +2 %$x2 ^22b +3 h + +2 ."rdyProcessing"\PS.reconfigure PSconfig +2 ."rdySampler"\CSV.dial :waste1 +2 .t\PC.home.seek :open +4 C'\ P%#A d`xb +2 % ( +5 ."rdyProcessing"\PS.home.seek 0 +2 P% 'ؾ + h +2 ."rdySampler"\SSV.dial :spit,avoiding: :exhaust + S)  +3 h  +2 S) +132 h +2 ."readyCS"\CS.reconfigure CSfast +4 ."rdySampler"\SS.reconfigure SSconfig +2 C'#d @b + '& +3 S)#.0X Sampler.PSI + C'2% +3 h %k\ \ \ \ [ +2 S)3% +3 h %}\ ;\ : \ E2 +472 #t-> Sampler.calibrate +3 E\ fGD + #t\Calibrating pressure and temperature sensors + .\CTV.dial :air + .\SSV.dial :spit,avoiding: :exhaust +2 .\SS.reconfigure SSfast +2 S)#.0X Sampler.PSI + C'<% +3 h %k\ \ `\ \\ +2 S)=% +3 h %ڄ\ =\ < \ E, +3674 #t-> CC.loadFlush + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + C'>& +3 h &\ \ o\ [ +2 .tHand.open + M&?1 +69 h 1 + M&@& +4 h &  E 1 + M&A% +3 h %  i  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage + M&B(- +182 h ( +2 M&C& +4 h &- :  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &D& +3 h &-    + .t\Forearm.seek :garage +2 M&E'w +93 h ' + .tHand.close + M&F/ +77 h / + M&G& +4 h &- O  + M&H% +3 h % ϥ p ! +2 .t\Forearm.seek :retract + M&I' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC + M&J(ӂ +286 h ( + M&K& +4 h &Ӑ) A_ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &L& +3 h &Ӑ)  x A_ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&M'? +98 h ' + C'N& +4 h &\ \  \ Z + C'O& +3 .t\CC.seek :closed +2 C'P(\\ +2 h &\ \ h\ Z +3 &\ \ \ Z\  +10 &4}\ \ \ S, +9 &c\ \ \ RA +10 &Sv\ \ \ SR +9 &W\ \ \ UR +9 &W\ \ \ UR +10 &X\ \ \ \ UQ +9 &\\U\ \ \ \ UQ +9 &T\ \ \ UQ +10 &Z\ \ \ \ UR +9 &R\ \ \ \ UQ +10 & dT\ \ \ UQ +9 &"%W\ \ \ \ \ UR +9 &#R\ \ \ \ \ UR +10 &%Y\ \ \ \ UR +9 &'jV\ \ \ \ UR +9 &)-W\ \ \ \ UR +10 &*Y\ \ \ UR +9 &,Y\ \ \ \ UR +10 &.sU\ \ \  \ TR +9 &06Q\ \ \ UQ +9 &1U\ \ \ UR +10 &3R\ \ \ UQ +9 &5|S\ \ \ \ UQ +9 &7>V\ \ \ \ UQ +10 &9T\ \ \ \ UQ +9 &:R\ \ \ !\ UR +10 &<R\ \ \ !\ UQ +9 &>FU\ \ "\ UQ +9 &@U\ \ \ \ !\ UQ +10 &AY\ \ !\ UR +9 &Cd\ \ !\ TS +9 &E@\ \  \ RV +10 &F\ \  \ PZ +9 &H\ \ "\ N] +10 &Jq\ \ #\ O] +9 &L1\ \ \ N^ +9 &M\ \  \ N^ +10 &O\ \  \ N_ +9 &Qu\ \  \ N_ +9 &S3\ \ \ M` +10 &T\ \  \ M` +9 &V\ \ "\ Ma +10 &Xr\ \ !\ Kb +9 &Z/\ \  \ Kb% +9 &[\ \ \ LC +10 &\\)\ \ \ N- +9 &\\\ \ \ R!b +2 ( + C'O& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.36 + C'Q& +3 h &\\\ \ c\ R!b +2 .tHand.open + M&R1 +66 h 1 + M&S% +4 h % D   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&T' +91 h ' + C'U& +4 h &\\\ \ f\ R!b +871 #t-> puckEvac 15 +2 #\Evacuating Puck (bubblePt=15psi, evacVolume=10ml, delay 15 seconds) .Intake.select :close +2 C'V& +3 h &\\\ \ m\ Q!b + ."airStroke"\CSV.dial :waste +3 .\CS.seek 0 +2 S)W% +4 C'X'i +4 h %ڄ\ <\ 9 \ =, ' + ."airStroke"\CSV.dial :air +3 E\ ac` +3 #t\Calibrating pressure sensors + C'Y @ .t\CTV.dial :air +2 .\SSV.dial :spit,avoiding: :exhaust +4 S)Z +68 h A + ."airStroke"\CS.seek 10 +2 C'[' +63 h  + .t\SS.seek 5 +2 S)\\'/ +315 h ' + .t\CBV.dial SSV +2 ."connect"\SSV.dial CBV +2 S)]  +134 h + .tdelay 3.8 seconds +383 C'^% +2 h %Af\ \ h\ T`j +2 S)_% +3 h %/\ :\ 9 \ > + .t\SSV.dial :spit + S)` +135 h  + .t\SS.seek 0 +2 S)a'ڀ +253 h ' + .t\SSV.dial CBV + S)b  +132 h  + ."connect"\SSV.dial CBV,avoiding: :exhaust +2 .t\CBV.dial SSV + .\CTV.dial :air +2 .delay 15 seconds +1120 h ' +381 .t\SSV.dial :spit,avoiding: :exhaust +2 S)c +135 h  + ."prepCSV"\CTV.dial CSV,avoiding: :intake +3 .t\SS.reconfigure SSexhale +2 C'd  +3 S)#.0X Sampler.PSI + C'% +3 h %k\ \ \ V +2 S)% +3 h %\ :\ 6 \ @ +910 #t-> SS.status + S)% +3 h %\ 9\ 7 \ A +514 #t-> CS.status +2 C'% +3 h %k\ \ \ U +730 #t-> access 1 +9 .\SE.seek :down +2 A(' +3 h ' +2 M&% +3 h %  :  +2 M&& +3 h &ӑ'  @^ +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A( (<- +993 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & SC +2 A(\ & +3 h &< 8 6 \ 8 +334 #t-> SC.to 1 + .\SC.seek 1 +2 A( (C +1300 h ( + A(& +4 h &C 8 ? \ 6 +269 #t-> exit +4 #m\EXIT @1602690844.54EDT @1586130547.66EDT = @EDT1586130549.95 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@31145 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +32 #Powering up Dwarves =ECan =Ssampler =hcore =Pprocessing =FMFB =tMAIN =mMAIN_scheduler =Astorage =Ccollection =Mmanipulator +695 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +331 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E\ m%# +4 \ m%# + S) + ) +2 h  +2 C' + ' +2 h  +2 P% +2 % +2 h  +4 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ + % 2\ +2 % *\ + % 0\ +4 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X Arm.ready! + .\Forearm.reconfigure LooseForearm +2 M&#@2^d^2b +3 .t\Forearm.home.seek :retract + M&' +68 h ' +2 .t\Elbow.jog 1500 +2 ."closeHand"Hand.close +2 M&* + &/ +55 h * +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b + .t\Elbow.home.seek :clear +2 M& (d +15 h / +545 ( +2 M&\ & +3 h &d   $ +2 M& % +3 h %    +243 #t-> Hand.open + .Hand.open +2 M& 1 +74 h 1 +292 #t-> Arm.grab CC + M& & +3 h &d  % $ +2 M&% +3 h %  F  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC + M&(ӂ +203 h ( +2 M&& +3 h &Ӕ" ;5 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &Ӕ" b ;5 + .t\Forearm.seek :CC +2 M&'? +90 h ' + .tHand.close +2 M&/ +68 h / +543 #t-> CC.home.to :home + .\CC.reconfigure CCconfig +2 C'$x2 ^22b +2 .t\CC.home.seek :home + C'( +502 h ( +2 C'& +3 h & I\ _ +605 #t-> Arm.to Garage + M&& +3 h &Ә" :1 +2 M&% +3 h % _  K +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage +2 M&(- +290 h ( +2 M&& +3 h &- &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &-   + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&'w +102 h ' +3 M&& +3 h &-  {  +2 M&% +3 h %t  +39 #t-> Hand.open + .Hand.open + M&1 +76 h 1 +95 #t-> Arm.clear +2 M& & +3 h &-    + M&!% +4 h % t + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&"' +87 h ' +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +2 .t\Elbow.seek :clear +2 M&#(d +132 h ( +2 M&$& +3 h &d   # + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &%& +2 h &d  W # +2 .t\Forearm.seek :clear + M&&' +3 h ' + M&'& +3 h &d   # +2 M&(% +3 h %   +122 #t-> ESP.ready! + C')& +4 h & S\ ` +2 C'+% + P%*& +6 h % R\ _ + &\ = + ."rdySampler"Intake.select :close + .\Exhaust.select :close +3 ."rdyProcessing"\PSV.dial :air +2 ."rdySampler"\CTV.dial :air +2 P%,  +3 .t\PC.reconfigure PCconfig +3 C'-  + P%$x2 ^22b +3 h +2 .t\PC.home.seek :open +2 ."rdyProcessing"\PS.reconfigure PSconfig +2 P%.( +3 %#A d`xb +2 ."rdyProcessing"\PS.home.seek 0 +2 P%/'ؾ +2 h + ."rdySampler"\CSV.dial :waste1 +2 C'0 +72 h +2 ."rdySampler"\SSV.dial :spit,avoiding: :exhaust + S)1 +3 h  +2 S)2  +3 h  +3 C'3& + ."rdySampler"\SS.reconfigure SSconfig +4 ."readyCS"\CS.reconfigure CSfast +3 S)#.0X(d +3 h ( +2 .t\SE.reconfigure SEconfig +2 A(#K-0-\ b +2 .t\SE.home.seek :down + A(?' +63 h ' +2 .t\SC.reconfigure SCsloppy +2 A($-.\ 1~b +2 .t\SC.home.seek :initial + A(@(  +360 h ( +2 .t\Forearm.seek :retract + M&A' +3 h ' + .t\Elbow.seek :hammer +2 M&B( +95 h ( + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 4 + M&C'7 +101 h ' +2 M&D% +3 h %= e  +2 .t\Forearm.seek :retract + M&E' +100 h ' +2 M&F% +3 h % " "  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 C'G +2 h A + P%H +3 h V + P%I +3 h  + P%J +3 h ~ +2 S)K% +3 h %z x\ F + C'L& +3 h & f\ \\ +2 C'M% +3 h %g S\ [ +2 P%N& +3 h &\ 9 + P%O% +4 h %ؼ\ 9 + M&P% +3 h %  t  +2 M&Q& +3 h & ;  +2 A(R& +3 h & # > ? \ 9  + A(S% +3 h % G ? \ 9 +2 C'T9 +3 h 9 + P%U9 +3 h 9 +52383 E\ gEB +28778 #t-> exit +4 #m\EXIT @1586131449.73EDT @1604607602.52EST = @EST1604607604.79 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@18142 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +32 #Powering up Dwarves =ECan =Ccollection =hcore =Astorage =tMAIN =mMAIN_scheduler =Ssampler =Mmanipulator =Pprocessing =FMFB +678 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +333 !o:Instrument::ISUSCore: @refi86 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E\ # +4 \ # + S) +2 ) +2 h  + C' +2 ' +2 h  +2 P% + % +3 h  +3 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +3 S)&\ +2 .t\SS.stop S)5 +2 .t\SS.configure SSconfig +2 S)#.0X ESP.ready? +2 C'& +3 h & \ +392 #t-> ESP.ready! +2 C'& +2 P%& +5 h & \ +3 ."rdySampler"Intake.select :close + .\Exhaust.select :close +2 .\CTV.dial :air + C'  +3 h &\ + ."rdyProcessing"\PSV.dial :air +4 .t\PC.reconfigure PCconfig + P%\  +3 %$x2 ^22b +3 h +2 .t\PC.home.seek :open +2 ."rdySampler"\CSV.dial :waste1 +2 P% ( + C' +3 h +2 ."rdyProcessing"\PS.reconfigure PSconfig +3 P%#A d`xb + h +2 ."rdySampler"\SSV.dial :spit,avoiding: :exhaust + ."rdyProcessing"\PS.home.seek 0 +3 S) + P% 'ؾ +4 h  +2 S)  +4 h  +2 C'& +2 ."rdySampler"\SS.reconfigure SSconfig +4 ."readyCS"\CS.reconfigure CSfast +3 S)#.0X require 'PrimeReagent.rb' +37509 #-> primeCSVflush + #**Prepare to clean and prime CSV flush reagent to CSV port 5** + .\CSV.dial :air + C'3 @ +70 h B +2 .t\CS.reconfigure CSconfig +2 C'#P d@b +2 .t\CS.seek :empty +2 C'4'7 +37 h ' + .t\CSV.dial :flush +2 C'5  +53 h  + #t\Awaiting answer to "**Disinfect and attach CSV flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +1662 .\CS.seek 10 +2 C'6' +2642 h ' + .t\CSV.dial :waste1 +2 C'7 +44 h + .t\CS.seek :empty +2 C'8'7 +2634 h ' + .t\CSV.dial :flush +2 C'9  +53 h + .t\CS.seek 10 +2 C':' +2644 h ' + .t\CSV.dial :waste1 +2 C'; +39 h + .t\CS.seek :empty +2 C'<'7 +1610 E\ B? +1033 h ' + .t\CSV.dial :flush +2 C'=  +42 h  + .t\CS.seek 10 +2 C'>' +2636 h ' + .t\CSV.dial :waste1 +2 C'? +41 h + .t\CS.seek :empty +2 C'@'7 +2656 h ' + .t\CSV.dial :flush +2 C'A  +41 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1821 C'B% +3 h %6 i\  + .t\CS.seek 0.494 +2 C'C'1 +231 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +3540 .\CS.seek 10 +2 C'D' +2517 h ' + .t\CSV.dial :waste2 +2 C'E +125 h  + .t\CS.seek :empty +2 C'F'7 +2641 h ' + .t\CSV.dial :flush + C'G  +126 h  + .t\CS.seek 10 +2 C'H' +2634 h ' + .t\CSV.dial :waste2 +2 C'I +124 h  + .t\CS.seek :empty +2 C'J'7 +2648 h ' + .t\CSV.dial :flush +2 C'K  +124 h  +2 .t\CS.seek 10 + C'L' +2645 h ' + .t\CSV.dial :waste2 + C'M +125 h  + .t\CS.seek :empty +2 C'N'7 +2639 h ' + .t\CSV.dial :flush + C'O  +125 h  + #t\Awaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1227 C'P% +3 h %< {\ +2 .t\CS.seek 0.494 + C'Q'7 +208 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +2765 .\CS.seek 10 +2 C'R' +2507 h ' + .t\CSV.dial :waste1 +2 C'S +42 h + .t\CS.seek :empty +2 C'T'7 +2636 h ' + .t\CSV.dial :flush +2 C'U  +41 h  + .t\CS.seek 10 +2 C'V' +2635 h ' + .t\CSV.dial :waste1 +2 C'W +42 h + .t\CS.seek :empty +2 C'X'7 +2642 h ' + .t\CSV.dial :flush +2 C'Y  +41 h  + .t\CS.seek 10 +2 C'Z' +2647 h ' + .t\CSV.dial :waste1 +2 C'[ +41 h + .t\CS.seek :empty +2 C'\\'7 +2634 h ' + .t\CSV.dial :flush +2 C']  +41 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2283 C'^% +3 h %; }\ +2 .t\CS.seek 0.494 + C'_'6 +235 h ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #\Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +8714 E \ ?= +14119 #t\Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +320 #**Priming reagent line** +2 C'`% +3 h %; *\ + .t\CS.seek 5.495 +2 C'a' +1362 h ' + .t\CSV.dial :waste1 +2 C'b +41 h + .t\CS.seek :empty +2 C'c'7 +1488 h ' + #t**SUCCESSFULLY PRIMED CSV FLUSH REAGENT** +1072 #-> exit +4 #m\EXIT @1604609001.00EST @1604609008.91EST = @EST1604609011.06 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@18095 sendCRC with ifg=0x20, ie=0x7F + #@19930 sendCRC with ifg=0x08, ie=0x5F #@28827 idle with ifg=0x84, ie=0x75 + #@29508 select with ifg=0x10, ie=0xF5 + #@30156 receive with ifg=0x10, ie=0xFD #@30804 receive with ifg=0x10, ie=0xFD + #@31452 receive with ifg=0x10, ie=0xFD #@31779 receive with ifg=0x80, ie=0xFD + #@53474 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =ECan =hcore =Pprocessing =Astorage =tMAIN =mMAIN_scheduler =FMFB =Ssampler =Ccollection =Mmanipulator +380 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +311 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +3 E\ EB +4 \ EB + S) + ) +2 h  +2 C' +2 ' +2 h  +2 P% + % +3 h  +4 C' 9\ +2 ' 0\ + ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +3 S)&\ +2 .t\SS.stop S)5 +2 .t\SS.configure SSconfig +2 S)#.0X require 'PrimeReagent.rb' +1388 #-> primeCSRflush + #**Prepare to clean and prime CSR flush reagent** .\CSV.dial :air +2 C' @ +70 h B +2 .t\CS.seek :empty + C''7 +3 h ' + .t\CSV.dial :CSR + C'  +68 h  + .t\CSR.select :flush +2 C' +9 #t\Awaiting answer to "**Disinfect and attach CSR flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +13818 .\CS.seek 10 +2 C' ' +2645 h ' + .t\CSV.dial :waste1 +2 C'\ +124 h +2 .t\CS.seek :empty + C' '7 +2642 h ' + .t\CSV.dial :CSR +2 C'  +125 h  +2 .t\CS.seek 10 + C' ' +2644 h ' + .t\CSV.dial :waste1 +2 C' +125 h +2 .t\CS.seek :empty + C''7 +2647 h ' + .t\CSV.dial :CSR +2 C'  +124 h  +2 .t\CS.seek 10 + C'' +2648 h ' + .t\CSV.dial :waste1 +2 C' +124 h +2 .t\CS.seek :empty + C''7 +2639 h ' + .t\CSV.dial :CSR +2 C'  +125 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1183 C'% +3 h %9 \ +2 .t\CS.seek 0.494 + C''4 +213 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1830 .\CS.seek 10 +2 C'' +2508 h ' + .t\CSV.dial :waste2 +2 C' +53 h  +3 .t\CS.seek :empty + C''7 +2637 h ' + .t\CSV.dial :CSR +2 C'  +41 h  + .t\CS.seek 10 +2 C'' +2634 h ' + .t\CSV.dial :waste2 +2 C' +41 h  + .t\CS.seek :empty +2 C''7 +2659 h ' + .t\CSV.dial :CSR +2 C'  +41 h  + .t\CS.seek 10 +2 C'' +2647 h ' + .t\CSV.dial :waste2 +2 C' +41 h  + .t\CS.seek :empty +2 C'!'7 +2634 h ' + .t\CSV.dial :CSR +2 C'"  +41 h  + #t\Awaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +2488 C'#% +3 h %; \ +2 .t\CS.seek 0.494 + C'$'6 +218 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1461 .\CS.seek 10 +2 C'%' +2305 E\ 0- +227 h ' + .t\CSV.dial :waste1 +2 C'& +124 h +2 .t\CS.seek :empty + C'''7 +2642 h ' + .t\CSV.dial :CSR +2 C'(  +125 h  + .t\CS.seek 10 +2 C')' +2635 h ' + .t\CSV.dial :waste1 +2 C'* +125 h + .t\CS.seek :empty +2 C'+'7 +2656 h ' + .t\CSV.dial :CSR +2 C',  +126 h  + .t\CS.seek 10 +2 C'-' +2637 h ' + .t\CSV.dial :waste1 + C'. +125 h + .t\CS.seek :empty +2 C'/'7 +2661 h ' + .t\CSV.dial :CSR +2 C'0  +138 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1363 C'1% +3 h %6 \  +2 .t\CS.seek 0.494 + C'2'1 +204 h ' +2 #t**Prepare to connect reagent bag to ESP fluidic line** + #\Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +42772 #\Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +859 #**Priming reagent line** +2 C'3% +2 h %, \  +2 .t\CS.seek 5.493 + C'4' +534 E\ 1.\ +829 h ' + .t\CSV.dial :waste1 + C'5 +126 h +2 .t\CS.seek :empty + C'6'7 +1484 h ' + #t**Air out CSR manifold** .\CSR.select :air +2 C' +9 .t\CSV.dial :CSR + C'7  +126 h  +2 .t\CS.seek 10 + C'8' +2643 h ' + .t\CSV.dial :waste1 +2 C'9 +125 h + .t\CS.seek :empty +2 C':'7 +2641 h ' + #t**SUCCESSFULLY PRIMED CSR FLUSH REAGENT** +1483 #-> exit +4 #m\EXIT @1604610312.77EST @1604610319.47EST = @EST1604610321.63 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@46654 sendCRC with ifg=0x20, ie=0x7F + #@48489 sendCRC with ifg=0x08, ie=0x5F #@9996 idle with ifg=0x84, ie=0x75 + #@10677 select with ifg=0x10, ie=0xF5 + #@11325 receive with ifg=0x10, ie=0xFD #@11972 receive with ifg=0x10, ie=0xFD + #@12620 receive with ifg=0x10, ie=0xFD #@12948 receive with ifg=0x80, ie=0xFD + #@60334 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =ECan =hcore =FMFB =Mmanipulator =Pprocessing =mMAIN_scheduler =tMAIN =Astorage =Ssampler =Ccollection +326 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +308 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E\ 0- +4 \ 0- + S) +2 ) + h  +2 C' +2 ' +3 h  + P% +2 % +2 h  +4 C' 9\ + ' 0\ +2 ' -\ +4 P% 9\ + % 2\ +2 % *\ + % 0\ +4 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X require 'PrimeReagent.rb' +1163 #-> primePSRflush + #**Prepare to clean and prime PSR flush reagent** + .\PSV.dial :air + P%  +5 h +2 .t\PS.seek :empty + P%'ؠ +25 h ' + .t\PSV.dial :PSR +2 P% +132 h  + .t\PSR.select :flush +2 P%j +9 #t\Awaiting answer to "**Disinfect and attach PSR flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +14106 .\PS.seek 2.5 +2 P% ' +2655 h ' + .t\PSV.dial :waste1 +2 P%\  +42 h  +2 .t\PS.seek :empty + P% 'ؠ +2655 h ' + .t\PSV.dial :PSR +2 P% +44 h  +2 .t\PS.seek 2.5 + P% ' +2653 h ' + .t\PSV.dial :waste1 +2 P%  +44 h  +2 .t\PS.seek :empty + P%'ؠ +2656 h ' + .t\PSV.dial :PSR +2 P% +42 h  +2 .t\PS.seek 2.5 + P%' +2649 h ' + .t\PSV.dial :waste1 +2 P%  +42 h  +2 .t\PS.seek :empty + P%'ؠ +2671 h ' + .t\PSV.dial :PSR +2 P% +44 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1345 P%% +3 h %أ\  +2 .t\PS.seek 0.499 + P%'r +604 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +2846 .\PS.seek 2.5 +2 P%' +2135 h ' + .t\PSV.dial :waste2 +2 P%  +74 h ~ + .t\PS.seek :empty +2 P%'ؠ +2645 h ' + .t\PSV.dial :PSR +2 P% +72 h  +2 .t\PS.seek 2.5 + P%' +2657 h ' + .t\PSV.dial :waste2 +2 P%  +73 h  + .t\PS.seek :empty +2 P%'ؠ +2643 h ' + .t\PSV.dial :PSR +2 P% +72 h  +2 .t\PS.seek 2.5 + P%' +2665 h ' + .t\PSV.dial :waste2 +2 P%  +72 h ~ + .t\PS.seek :empty +2 P%!'ؠ +2672 h ' + .t\PSV.dial :PSR +2 P%" +83 h + #t\Awaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1333 P%#% +3 h %؟\ \  +2 .t\PS.seek 0.499 + P%$'n +624 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1606 E\ +( +29 .t\PS.seek 2.5 +2 P%%' +2156 h ' + .t\PSV.dial :waste1 +2 P%&  +41 h  + .t\PS.seek :empty +2 P%''ؠ +2650 h ' + .t\PSV.dial :PSR +2 P%( +44 h  +2 .t\PS.seek 2.5 + P%)' +2653 h ' + .t\PSV.dial :waste1 +2 P%*  +42 h  + .t\PS.seek :empty +2 P%+'ؠ +2649 h ' + .t\PSV.dial :PSR +2 P%, +55 h +2 .t\PS.seek 2.5 + P%-' +2648 h ' + .t\PSV.dial :waste1 +2 P%.  +41 h  +2 .t\PS.seek :empty + P%/'ؠ +2656 h ' + .t\PSV.dial :PSR +2 P%0 +43 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1952 P%1% +3 h %ء\ + .t\PS.seek 0.499 +2 P%2'p +608 h ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #\Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +20133 #\Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +48 #**Priming reagent line** +2 .\PS.seek 2.5 + P%3' +2136 h ' + .t\PSV.dial :waste1 +2 P%4  +44 h  + .t\PS.seek :empty +2 P%5'ؠ +2650 h ' + .t\PSV.dial :PSR +2 P%6 +44 h  +3 .t\PS.seek 2.5 + P%7' +2658 h ' + .t\PSV.dial :waste1 +2 P%8  +43 h  + .t\PS.seek :empty +2 P%9'ؠ +2654 h ' + #t**Air out PSR manifold** .\PSR.select :air +2 P% +9 .t\PSV.dial :PSR + P%: +42 h +2 .t\PS.seek 2.5 + P%;' +2655 h ' + .t\PSV.dial :waste1 +2 P%<  +44 h  + .t\PS.seek :empty +2 P%='ؠ +2672 h ' + .t\PSV.dial :PSR +2 P%> +44 h  +2 .t\PS.seek 2.5 + P%?' +2643 h ' + .t\PSV.dial :waste1 +2 P%@  +43 h  + .t\PS.seek :empty +2 P%A'ؠ +2645 h ' + #t**SUCCESSFULLY PRIMED PSR FLUSH REAGENT** +437 E\ -* +60002 \ -) +60003 \ -* +60002 \ -* +60003 \ ,) +60002 \ -) +60003 \ ,) +60002 \ ,)\ +60003 \ -) +60002 \ -) +60003 \ -) +60003 ;\ ,) +60002 +\ -) +60003 U\ ,) +60002 v\ ,* +60003 w\ ,) +60002 b\ ,) +60003 3\ -* +60003 6\ -* +60002 \ ,) +60003 \ ,) +60002  \ -* +60003 X\ ,) +60002 *\ ,) +60003 \ -* +60002 \ ,) +60003 \ ,) +60003 ;\ ,) +60002 \ -* +60003 \ -* +60002 \ ,) +60003 '\ -) +60002 *\ ,) +60003 \ -* +60002 \ -* +60003 \ ,) +60003 \ -* +60002 \ -* +60003  \ ,* +60002 \ -* +60003 \ -* +60002 \ ,) +60003 \ -* +60002 \ -* +60003 \ -* +60002 \ ,* @EST1604639129.11 \ ,) +60003 \ -) +60002 \ -* +60003 \ -* +60002 \ ,) +60003 \ -* +60002 \ -* +60003 \ -* +60002 \ -* +60003 \ -* +60003 \ -* +60002 \ -* +60003 \ ,* +60002 \ -) +60003 \ -) +60002 \ -) +60003 \ -* +60003 \ -) +60002 \ ,) +60003  \ -) +60002 \ -) +60003  \ ,) +60002 \ -) +60003 \ -) +60002 \ -* +60003  \ ,) +60003 \ ,) +60002 \ -* +60003 \ ,)\ +60002  \ ,) +60003 \ ,+ +60002 \ -) +60003 \ -* +60002 \ ,) +60003 \ \ -* +60003 \ -* +60002 \ ,* +60003 \ -* +60002 \ -) +60003 \ -) +60002 \ ,) +60003 \ -) +60002 \ -) +60003 \ ,) +60003 \ -* +60002 \ -) +60003 \ -* +60002 \ -) +60003 \ -) +60002 \ ,) +60003 \ ,) +60002 \ ,) +60003 \ -* +60003 \ ,* +60002 \ ,) +60003 \ ,) +60002 *\ ,) +60003 \ -* +60002 \ ,) +60003 \ ,) +60003 \ -) +60002 \ -) +60003  \ -* +60002 \ ,) +60003 \ ,) +60002 \ ,) +60003 \ -* +60002 \ -)\ +44759 #t-> exit +4 #m\EXIT @1604679778.47EST @1604679784.70EST = @EST1604679786.85 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@37662 sendCRC with ifg=0x20, ie=0x7F + #@39497 sendCRC with ifg=0x08, ie=0x5F #@60577 idle with ifg=0x84, ie=0x75 + #@61249 select with ifg=0x10, ie=0xF5 + #@61882 receive with ifg=0x10, ie=0xFD #@62516 receive with ifg=0x10, ie=0xFD + #@63149 receive with ifg=0x10, ie=0xFD #@63476 receive with ifg=0x80, ie=0xFD + #@47497 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =ECan =hcore =Pprocessing =Astorage =mMAIN_scheduler =FMFB =tMAIN =Ssampler =Ccollection =Mmanipulator +348 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +308 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 E\ /, +4 \ /, + S) +2 ) +2 h  + C' +2 ' +2 h  + P% +2 % +2 h  +4 C' 9\ + ' 0\ +2 ' -\ +4 P% 9\ + % 2\ +2 % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X require 'PrimeReagent.rb' +1583 #-> primeCSRkill + #**Prepare to clean and prime CSR kill reagent** .\CSV.dial :air +2 C' @ +70 h B +2 .t\CS.seek :empty + C''7 +3 h ' + .t\CSV.dial :CSR +2 C'  +68 h  + .t\CSR.select :kill +2 C' +9 #t\Awaiting answer to "**Disinfect and attach CSR kill fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +17732 .\CS.seek 10 +2 C' ' +2643 h ' + .t\CSV.dial :waste1 +2 C'\ +125 h + .t\CS.seek :empty +2 C' '7 +2647 h ' +2 .t\CSV.dial :CSR + C'  +136 h  + .t\CS.seek 10 +2 C' ' +2646 h ' + .t\CSV.dial :waste1 +2 C' +123 h + .t\CS.seek :empty +2 C''7 +2643 h ' + .t\CSV.dial :CSR +2 C'  +125 h  + .t\CS.seek 10 +2 C'' +2647 h ' + .t\CSV.dial :waste1 +2 C' +125 h + .t\CS.seek :empty +2 C''7 +2647 h ' + .t\CSV.dial :CSR +2 C'  +137 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2774 C'% +3 h %: \ + .t\CS.seek 0.494 +2 C''5 +213 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1101 .\CS.seek 10 +2 C'' +2512 h ' + .t\CSV.dial :waste2 +2 C' +55 h  + .t\CS.seek :empty +2 C''7 +2645 h ' + .t\CSV.dial :CSR +2 C'  +39 h  + .t\CS.seek 10 +2 C'' +2646 h ' + .t\CSV.dial :waste2 +2 C' +42 h  + .t\CS.seek :empty +2 C''7 +2642 h ' + .t\CSV.dial :CSR +2 C'  +41 h  + .t\CS.seek 10 +2 C'' +2657 h ' + .t\CSV.dial :waste2 +2 C' +42 h  + .t\CS.seek :empty +2 C'!'7 +2636 h ' + .t\CSV.dial :CSR +2 C'"  +42 h  + #t\Awaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1284 C'#% +3 h %7 \ +2 .t\CS.seek 0.494 + C'$'2 +230 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +652 E\ ,) +673 .t\CS.seek 10 +2 C'%' +2518 h ' + .t\CSV.dial :waste1 +2 C'& +124 h + .t\CS.seek :empty +2 C'''7 +2661 h ' + .t\CSV.dial :CSR +2 C'(  +124 h  + .t\CS.seek 10 +2 C')' +2645 h ' + .t\CSV.dial :waste1 +2 C'* +124 h + .t\CS.seek :empty +2 C'+'7 +2642 h ' + .t\CSV.dial :CSR +2 C',  +124 h  + .t\CS.seek 10 +2 C'-' +2639 h ' + .t\CSV.dial :waste1 +2 C'. +125 h + .t\CS.seek :empty +2 C'/'7 +2656 h ' + .t\CSV.dial :CSR +2 C'0  +124 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2686 C'1% +3 h %4 \  + .t\CS.seek 0.494 +2 C'2'/ +227 h ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #\Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +22514 #\Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +265 #**Priming reagent line** +2 C'3% +3 h %2 \ + .t\CS.seek 5.494 +2 C'4' +1364 h ' + .t\CSV.dial :waste1 +2 C'5 +124 h + .t\CS.seek :empty +2 C'6'7 +1505 h ' + #t**Flush clean and air out CSR manifold** .\CSR.select :flush +2 C' +9 .t\CSV.dial :CSR + C'7  +138 h  + C'8% +4 h %6 \  + .t\CS.seek 4.994 +2 C'9's +1381 h ' + .t\CSV.dial :waste1 +2 C': +122 h +2 .t\CS.seek :empty +2 C';'7 +1353 h ' + .t\CSR.select :air + C' +10 .t\CSV.dial :CSR + C'<  +138 h  + .t\CS.seek 10 +2 C'=' +2658 h ' + .t\CSV.dial :waste1 +2 C'> +124 h + .t\CS.seek :empty +2 C'?'7 +2642 h ' + #t**SUCCESSFULLY PRIMED CSR KILL REAGENT** +5474 E\ .+ +60002 \ -* +60003 \ -* +60002 \ -* +60003 \ -+ +60002 \ .* +60003 \ .+ +60002 \ -* +60003 \ -* +60002 \ .+ +60003 \ -* +60003 \ -* +60002 "\ .* +60003 -\ -* +60002 1\ -+ +60003 $\ -+ +60002 .\ -* +60003 -\ -* +47134 #t-> exit +4 #m\EXIT @1604691664.76EST @1604691671.55EST = @EST1604691673.69 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@57588 sendCRC with ifg=0x20, ie=0x7F + #@59423 sendCRC with ifg=0x08, ie=0x5F #@57217 idle with ifg=0x84, ie=0x75 + #@57902 select with ifg=0x10, ie=0xF5 + #@58550 receive with ifg=0x10, ie=0xFD #@59198 receive with ifg=0x10, ie=0xFD + #@59846 receive with ifg=0x10, ie=0xFD #@60174 receive with ifg=0x80, ie=0xFD + #@22049 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =FMFB =Ssampler =Ccollection =Mmanipulator =ECan =hcore =Pprocessing =tMAIN =Astorage =mMAIN_scheduler +343 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +308 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E,\ /, +4 ,\ /, + S) +2 ) + h  +2 C' +2 ' +2 h  + P% +2 % +2 h  +4 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ + % *\ +2 % 0\ +3 S)&\ +2 .t\SS.stop S)5 +2 .t\SS.configure SSconfig +2 S)#.0X require 'PrimeReagent.rb' +4642 #-> primePSRwash + #**Prepare to clean and prime PSR wash reagent** .\PSV.dial :air +2 P%  +102 h +2 .t\PS.seek :empty + P%'ؠ +5 h ' + .t\PSV.dial :PSR +2 P% +128 h  + .t\PSR.select :wash +2 P% +9 #t\Awaiting answer to "**Disinfect and attach PSR wash fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +304 .\PS.seek 2.5 +3 P% ' +2647 h ' + .t\PSV.dial :waste1 +2 P%\  +42 h  + .t\PS.seek :empty +2 P% 'ؠ +2658 h ' + .t\PSV.dial :PSR +2 P% +44 h  +2 .t\PS.seek 2.5 + P% ' +1175 E\ 0- +1494 h ' + .t\PSV.dial :waste1 +2 P%  +44 h  + .t\PS.seek :empty +2 P%'ؠ +2653 h ' + .t\PSV.dial :PSR +2 P% +44 h  +2 .t\PS.seek 2.5 + P%' +2640 h ' + .t\PSV.dial :waste1 +2 P%  +43 h  + .t\PS.seek :empty +2 P%'ؠ +2648 h ' + .t\PSV.dial :PSR +2 P% +43 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1647 P%% +3 h %؟\ + .t\PS.seek 0.499 +2 P%'n +607 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1585 .\PS.seek 2.5 +2 P%' +2133 h ' + .t\PSV.dial :waste2 +2 P%  +72 h  +2 .t\PS.seek :empty + P%'ؠ +2647 h ' + .t\PSV.dial :PSR +2 P% +71 h  +2 .t\PS.seek 2.5 + P%' +2673 h ' + .t\PSV.dial :waste2 +2 P%  +72 h ~ + .t\PS.seek :empty +2 P%'ؠ +2651 h ' + .t\PSV.dial :PSR +2 P% +72 h  +2 .t\PS.seek 2.5 + P%' +2647 h ' + .t\PSV.dial :waste2 +2 P%  +72 h  +2 .t\PS.seek :empty + P%!'ؠ +2668 h ' + .t\PSV.dial :PSR +2 P%" +71 h  + #t\Awaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +26563 P%#% +3 h %ؠ\  +2 .t\PS.seek 0.499 + P%$'o +610 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +3461 E&\ ,) +2713 .t\PS.seek 2.5 +3 P%%' +2140 h ' + .t\PSV.dial :waste1 +2 P%&  +43 h  + .t\PS.seek :empty +2 P%''ؠ +2661 h ' + .t\PSV.dial :PSR + P%( +45 h  +2 .t\PS.seek 2.5 + P%)' +2643 h ' + .t\PSV.dial :waste1 +2 P%*  +43 h  + .t\PS.seek :empty +2 P%+'ؠ +2645 h ' + .t\PSV.dial :PSR +2 P%, +42 h  +2 .t\PS.seek 2.5 +2 P%-' +2654 h ' + .t\PSV.dial :waste1 +2 P%.  +43 h  + .t\PS.seek :empty +2 P%/'ؠ +2648 h ' + .t\PSV.dial :PSR +2 P%0 +42 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2366 P%1% +3 h %أ\ +2 .t\PS.seek 0.499 + P%2'r +601 h ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #\Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +29170 #\Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +136 #**Priming reagent line** +2 .\PS.seek 2.5 + P%3' +2145 h ' + .t\PSV.dial :waste1 +2 P%4  +43 h  + .t\PS.seek :empty +2 P%5'ؠ +2651 h ' + .t\PSV.dial :PSR +2 P%6 +43 h  +2 .t\PS.seek 2.5 + P%7' +2673 h ' + .t\PSV.dial :waste1 +2 P%8  +44 h  +3 .t\PS.seek :empty +3 P%9'ؠ +1699 E)\ /, +945 h ' + #t**Flush clean and air out PSR manifold** .\PSR.select :flush +2 P%` +10 .t\PSV.dial :PSR + P%: +44 h  +2 .t\PS.seek 2.5 + P%;' +2648 h ' + .t\PSV.dial :waste1 +2 P%<  +43 h  + .t\PS.seek :empty +2 P%='ؠ +2648 h ' + .t\PSR.select :air +2 P% +9 .t\PSV.dial :PSR + P%> +42 h +2 .t\PS.seek 2.5 + P%?' +2658 h ' + .t\PSV.dial :waste1 +2 P%@  +44 h  +2 .t\PS.seek :empty + P%A'ؠ +2644 h ' + .t\PSV.dial :PSR +2 P%B +43 h  +2 .t\PS.seek 2.5 + P%C' +2657 h ' + .t\PSV.dial :waste1 +2 P%D  +44 h  + .t\PS.seek :empty +2 P%E'ؠ +2669 h ' + #t**SUCCESSFULLY PRIMED PSR WASH REAGENT** +19222 #-> exit +4 #m\EXIT @1604694444.66EST @1604694451.68EST = @EST1604694453.77 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@35438 sendCRC with ifg=0x20, ie=0x7F + #@37273 sendCRC with ifg=0x08, ie=0x5F #@9763 idle with ifg=0x84, ie=0x75 + #@10436 select with ifg=0x10, ie=0xF5 + #@11075 receive with ifg=0x10, ie=0xFD #@11708 receive with ifg=0x10, ie=0xFD + #@12342 receive with ifg=0x10, ie=0xFD #@12669 receive with ifg=0x80, ie=0xFD + #@6413 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =tMAIN =ECan =hcore =Ssampler =FMFB =mMAIN_scheduler =Astorage =Pprocessing =Ccollection =Mmanipulator +340 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +309 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 E\ .+ +4 \ .+ + S) +2 ) + h  +2 C' + ' +3 h  + P% +2 % +2 h  +5 C' 9\ + ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ + % *\ +2 % 0\ +3 S)&\ +2 .t\SS.stop S)5 +2 .t\SS.configure SSconfig +2 S)#.0X require 'PrimeReagent.rb' +3801 #-> primeCSRaqmeoh + #**Prepare to clean and prime CSR AqMeOH reagent** + .\CSV.dial :air + C' @ +70 h B +2 .t\CS.seek :empty + C''7 +3 h ' + .t\CSV.dial :CSR +2 C'  +69 h  + .t\CSR.select :AqMeOH +2 C'\ +9 #t\Awaiting answer to "**Disinfect and attach CSR AqMeOH fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +351 .\CS.seek 10 +2 C' ' +2645 h ' + .t\CSV.dial :waste1 +2 C'\ +125 h +2 .t\CS.seek :empty + C' '7 +2637 h ' + .t\CSV.dial :CSR +2 C'  +124 h  +2 .t\CS.seek 10 + C' ' +2645 h ' + .t\CSV.dial :waste1 +2 C' +124 h + .t\CS.seek :empty +2 C''7 +2633 h ' + .t\CSV.dial :CSR +2 C'  +125 h  +2 .t\CS.seek 10 + C'' +2644 h ' + .t\CSV.dial :waste1 +2 C' +125 h + .t\CS.seek :empty +2 C''7 +2641 h ' + .t\CSV.dial :CSR +2 C'  +125 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1936 C'% +3 h %2 \ + .t\CS.seek 0.493 +2 C''- +207 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1416 .\CS.seek 10 +2 C'' +2515 h ' + .t\CSV.dial :waste2 +2 C' +52 h  +2 .t\CS.seek :empty + C''7 +2658 h ' + .t\CSV.dial :CSR +2 C'  +53 h  + .t\CS.seek 10 +2 C'' +2657 h ' + .t\CSV.dial :waste2 +2 C' +40 h  + .t\CS.seek :empty +2 C''7 +2641 h ' + .t\CSV.dial :CSR +2 C'  +41 h  + .t\CS.seek 10 +2 C'' +2647 h ' + .t\CSV.dial :waste2 +2 C' +42 h  + .t\CS.seek :empty +2 C'!'7 +2642 h ' + .t\CSV.dial :CSR +2 C'"  +41 h  + #t\Awaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1597 C'#% +3 h %: \ + .t\CS.seek 0.494 +2 C'$'5 +215 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1412 E\ .+ +1510 .t\CS.seek 10 +2 C'%' +2528 h ' + .t\CSV.dial :waste1 +2 C'& +125 h +2 .t\CS.seek :empty + C'''7 +2660 h ' + .t\CSV.dial :CSR +2 C'(  +125 h  + .t\CS.seek 10 +2 C')' +2644 h ' + .t\CSV.dial :waste1 +2 C'* +125 h +2 .t\CS.seek :empty + C'+'7 +2641 h ' + .t\CSV.dial :CSR +2 C',  +125 h  +6 .t\CS.seek 10 + C'-' +2643 h ' + .t\CSV.dial :waste1 +2 C'. +125 h + .t\CS.seek :empty +2 C'/'7 +2641 h ' + .t\CSV.dial :CSR +2 C'0  +137 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1251 C'1% +3 h %4 \ +2 .t\CS.seek 0.494 + C'2'/ +214 h ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #\Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +18942 #\Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +192 #**Priming reagent line** +2 C'3% +3 h %. \  + .t\CS.seek 5.493 +2 C'4' +1356 h ' + .t\CSV.dial :waste1 +2 C'5 +136 h +2 .t\CS.seek :empty + C'6'7 +1496 h ' + #t**Flush clean and air out CSR manifold** .\CSR.select :flush +2 C'  +9 .t\CSV.dial :CSR + C'7  +126 h  + C'8% +4 h %5 \ + .t\CS.seek 4.994 +2 C'9's +1365 h ' + .t\CSV.dial :waste1 +2 C': +124 h + .t\CS.seek :empty +2 C';'7 +1358 h ' + .t\CSR.select :air + C' +10 .t\CSV.dial :CSR + C'<  +126 h  +2 .t\CS.seek 10 + C'=' +2636 h ' + .t\CSV.dial :waste1 +2 C'> +125 h + .t\CS.seek :empty +2 C'?'7 +2660 h ' + #t**SUCCESSFULLY PRIMED CSR AQMEOH REAGENT** +9754 E\ +( +45958 #t-> exit +4 #m\EXIT @1604696119.25EST @1604696125.58EST = @EST1604696127.73 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@24457 sendCRC with ifg=0x20, ie=0x7F + #@26292 sendCRC with ifg=0x08, ie=0x5F #@42305 idle with ifg=0x84, ie=0x75 + #@42986 select with ifg=0x10, ie=0xF5 + #@43634 receive with ifg=0x10, ie=0xFD #@44282 receive with ifg=0x10, ie=0xFD + #@44930 receive with ifg=0x10, ie=0xFD #@45257 receive with ifg=0x80, ie=0xFD + #@14202 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =tMAIN =ECan =hcore =FMFB =Mmanipulator =Pprocessing =mMAIN_scheduler =Astorage =Ssampler =Ccollection +323 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +306 !o:Instrument::ISUSCore: @refi(6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E\ .* +4 \ .* + S) +2 ) +2 h  + C' +2 ' +2 h  +2 P% + % +3 h  +4 C' 9\ +2 ' 0\ + ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +3 S)&\ +2 .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X require 'PrimeReagent.rb' +2881 #-> primePSRsub1 + #**Prepare to clean and prime PSR sub1 reagent** .\PSV.dial :air +2 P%  +100 h +2 .t\PS.seek :empty + P%'ؠ +4 h ' + .t\PSV.dial :PSR +2 P% +127 h  + .t\PSR.select :sub1 +2 P% +9 #t\Awaiting answer to "**Disinfect and attach PSR sub1 fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +16267 .\PS.seek 2.5 +2 P% ' +2658 h ' + .t\PSV.dial :waste1 +2 P%\  +41 h  +2 .t\PS.seek :empty + P% 'ؠ +2656 h ' + .t\PSV.dial :PSR +2 P% +43 h  +2 .t\PS.seek 2.5 + P% ' +2648 h ' + .t\PSV.dial :waste1 +2 P%  +42 h  + .t\PS.seek :empty +2 P%'ؠ +2649 h ' + .t\PSV.dial :PSR +2 P% +44 h  +2 .t\PS.seek 2.5 + P%' +2644 h ' + .t\PSV.dial :waste1 +2 P%  +44 h  + .t\PS.seek :empty +2 P%'ؠ +2656 h ' + .t\PSV.dial :PSR +2 P% +42 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +5823 P%% +3 h %؝\ + .t\PS.seek 0.499 +2 P%'l +603 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1856 .\PS.seek 2.5 +2 P%' +2135 h ' + .t\PSV.dial :waste2 +2 P%  +73 h  + .t\PS.seek :empty +2 P%'ؠ +2646 h ' + .t\PSV.dial :PSR +2 P% +72 h  +2 .t\PS.seek 2.5 + P%' +2650 h ' + .t\PSV.dial :waste2 +2 P%  +72 h ~ + .t\PS.seek :empty +2 P%'ؠ +2644 h ' +2 .t\PSV.dial :PSR + P% +72 h  +2 .t\PS.seek 2.5 + P%' +2659 h ' + .t\PSV.dial :waste2 +2 P%  +71 h  + .t\PS.seek :empty +2 P%!'ؠ +690 E\ /, +1980 h ' + .t\PSV.dial :PSR +2 P%" +71 h  + #t\Awaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1685 P%#% +2 h %أ\  +2 .t\PS.seek 0.499 +2 P%$'r +600 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +2422 .\PS.seek 2.5 +2 P%%' +2134 h ' + .t\PSV.dial :waste1 +2 P%&  +43 h  + .t\PS.seek :empty +2 P%''ؠ +2648 h ' + .t\PSV.dial :PSR +2 P%( +42 h  +2 .t\PS.seek 2.5 + P%)' +2668 h ' + .t\PSV.dial :waste1 +2 P%*  +44 h  + .t\PS.seek :empty +2 P%+'ؠ +2656 h ' + .t\PSV.dial :PSR +2 P%, +42 h  +2 .t\PS.seek 2.5 + P%-' +2646 h ' + .t\PSV.dial :waste1 +2 P%.  +44 h  + .t\PS.seek :empty +2 P%/'ؠ +2644 h ' + .t\PSV.dial :PSR +2 P%0 +42 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2328 P%1% +3 h %ؤ\ +2 .t\PS.seek 0.499 + P%2's +610 h ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #\Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +20678 #\Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +49 #**Priming reagent line** +2 .\PS.seek 2.5 +2 P%3' +2136 h ' + .t\PSV.dial :waste1 +2 P%4  +44 h  + .t\PS.seek :empty +2 P%5'ؠ +2644 h ' + .t\PSV.dial :PSR +2 P%6 +44 h  +2 .t\PS.seek 2.5 + P%7' +2684 h ' + .t\PSV.dial :waste1 + P%8  +43 h  + .t\PS.seek :empty +2 P%9'ؠ +2652 h ' + #t**Flush clean and air out PSR manifold** .\PSR.select :flush +2 P%B +10 .t\PSV.dial :PSR + P%: +42 h  +2 .t\PS.seek 2.5 + P%;' +2644 h ' + .t\PSV.dial :waste1 +2 P%<  +43 h  + .t\PS.seek :empty +2 P%='ؠ +851 E\ /, +1803 h ' + .t\PSR.select :air +2 P% +9 .t\PSV.dial :PSR + P%> +55 h +2 .t\PS.seek 2.5 + P%?' +2645 h ' + .t\PSV.dial :waste1 +2 P%@  +41 h  + .t\PS.seek :empty +2 P%A'ؠ +2650 h ' + .t\PSV.dial :PSR +2 P%B +42 h +2 .t\PS.seek 2.5 + P%C' +2658 h ' + .t\PSV.dial :waste1 +2 P%D  +42 h  + .t\PS.seek :empty +2 P%E'ؠ +2674 h ' + #t**SUCCESSFULLY PRIMED PSR SUB1 REAGENT** +47358 E\ +( +60002  \ ,) +60003 \ +( +60003 \ ,) +60002 \ +( +60003 \ ,) +60002  \ ,) +60003 \ ,) +60002  \ +( +60003  \ +( +60002  \ +( +60003 \ +( +60003 \ ,( +60002 \ ,( +60003 \ +( +60002 \ +( +60003 \ +) +60002 \ +( +60003 \ +( +60002 \ +) +60003 \ +( +60003 \ +( +60002 \ +( +60003 \ +( +60002 \ +( +60003 \ +( +60002 \ +(\ +60003 \ +( +60002 \ +( +60003 \ +( +60003 \ ,( +60002 \ +) +60003 \ +( +60002 \ +( +60003 \ +( +60002 \ +( +60003 \ ,) +60002 \ +( +60003 \ +( +60002 \ +( +60003 \ +) +60003 \ +) +60002 \ ,( +60003 \ +( +60002 \ +( +60003 \ +( @EST1604725534.91 \ ,( +60003 \ +( +60002 \ +( +60003 \ +( +60003 \ +( +60002 \ +( +60003 \ +( +60002 \ +( +60003 \ +( +60002 \ +( +60003 \ +( +60002 \ +) +60003 \ +( +60002 \ +) +60003 \ ,) +60003 \ +( +60002 \ +( +60003 \ *( +60002 \ +) +60003 \ +( +60002 \ +( +60003 \ +( +60002 \ +( +60003 \ ,( +60003 \ +( +60002 \ 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+60002 \ +( +60003  \ +( +60002 \ +( +60003 \ +) +60002 \ +( +60003 \ ,( +60003 \ +) +60002 \ +( +60003 (\ +( +60002 g\ +) +1862 #t-> PSV.PTV +3 .\PSV.dial :PTV +2 P%F +100 h +425 #t-> PTV.PRV + .\PTV.dial :PRV +2 P%G @ +69 h A +695 #t-> PRV.AB1 +4 .\PRV.dial :AB1 + P%H @ +102 h A +56737 E\ +(\ +60002 \ +) +25189 #t-> PS.pull 2 + P%I% +3 h %؞\  +7 .t\PS.seek 1.999 +2 P%J' +2140 h ' + P%K% +4 h %\  +3679 #t-> PSV.waste1 +2 .\PSV.dial :waste1 + P%L  +99 h  +7395 #t-> PS.empty +2 .\PS.seek :empty + P%M'ؠ +2135 h ' + P%N% +4 h %ؠ\ +754 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%O +99 h +1496 #t-> PS.pull 0.4 + P%P% +3 h %ؠ\ +2 .t\PS.seek 0.399 + P%Q' +505 h ' +2 P%R% +4 h % \  +1058 #t-> PS.fill +2 .\PS.seek 2.5 + P%S' +2242 h ' + P%T% +4 h %\  +13159 E \ ,) +16645 #t-> PSV.waste 2 +2 !o:NoMethodError :bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message+undefined method `waste' for PSV:Shaft: name:\ waste: args[i +1487 #-> PSV.waste 2 + !o:NoMethodError :bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message+undefined method `waste' for PSV:Shaft: name:\ waste: args[i +1390 #-> PSV.waste2 + .\PSV.dial :waste2 +2 P%U  +128 h  +847 #t-> PS.empty +2 .\PS.seek :empty + P%V'ؠ +2652 h ' + P%W% +4 h %؜&\ +1548 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%X +128 h +774 #t-> PS>pull 0.4 + !o:SyntaxError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Ycompile error\ (ESP):17: syntax error, unexpected tFLOAT, expecting kDO or '{' or '(' +421 #-> PS>pull0.4 + !o:SyntaxError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Ycompile error\ (ESP):18: syntax error, unexpected tFLOAT, expecting kDO or '{' or '(' +780 #-> PS.pull 0.4 + P%Y% +3 h %؜.\ +2 .t\PS.seek 0.399 + P%Z' +513 h ' +2 P%[% +4 h % $\  +1573 #t-> PS.fill +2 .\PS.seek 2.5 + P%\\' +2240 h ' + P%]% +4 h %\  +1434 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%^  +102 h  +524 #t-> PS.empty +2 .\PS.seek :empty + P%_'ؠ +2654 h ' + P%`% +4 h %آ%\ +1044 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%a +101 h +799 #t-> PS.pull 0.4 + P%b% +3 h %آ\ +2 .t\PS.seek 0.399 + P%c' +507 h ' + P%d% +4 h % -\  +831 #t-> PS.fill +2 .\PS.seek 2.5 + P%e' +2242 h ' + P%f% +4 h %7\  +1462 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%g  +102 h  +501 #t-> PS.empty +2 .\PS.seek :empty + P%h'ؠ +2655 h ' + P%i% +4 h %؟\ +1153 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%j +102 h +1670 #t-> PS.pull 0.4 +2 P%k% +3 h %؟\ +2 .t\PS.seek 0.399 + P%l' +516 h ' + P%m% +4 h % 3\  +764 #t-> PS.fill + .\PS.seek 2.5 +2 P%n' +2234 h ' + P%o% +4 h % 6\ +1959 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%p  +102 h  +377 #t-> PS.empty +2 .\PS.seek :empty + P%q'ؠ +2641 h ' + P%r% +5 h %ؤ\ +477 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%s +100 h +794 #t-> PS.pull 0.4 + P%t% +3 h %ؤ5\ +2 .t\PS.seek 0.399 + P%u' +501 h ' +2 P%v% +4 h % *\  +391 E\ \ -* +523 #t-> PS.fill +2 .\PS.seek 2.5 + P%w' +2239 h ' + P%x% +4 h %\  +1428 #t-> PSV>waste1 +2 !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message@undefined local variable or method `waste1' for main:Object: name: waste1 +589 #-> PSV.waste1 + .\PSV.dial :waste1 +2 P%y  +102 h  +450 #t-> PS.empty +2 .\PS.seek :empty + P%z'ؠ +2650 h ' + P%{% +4 h %؟4\ +393 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%| +114 h +675 #t-> PS.pull 0.4 + P%}% +3 h %؟ \ +2 .t\PS.seek 0.399 + P%~' +500 h ' +2 P%% +4 h % (\  +773 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2236 h ' + P%% +4 h %\  +997 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%  +100 h  +628 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2671 h ' + P%% +4 h %أ\  +785 #t-> PSV.PTV + .\PSV.dial :PTV +2 P% +102 h +2265 #t-> PS.pull0.1 + !o:NoMethodError :bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message,undefined method `pull0' for PS:Syringe: name:\ pull0: args[f0.10000000000000001 +563 #-> PS.pull 0.1 + P%% +3 h %أ\  +2 .t\PS.seek 0.099 + P%'f +203 h ' + P%\ % +4 h %k\  +140 #t-> PS.pull 0.1 + P% % +3 h %k\  +2 .t\PS.seek 0.199 + P% '. +198 h ' +2 P% % +4 h %+\  +173 #t-> PS.pull 0.1 + P%% +3 h %+\  +2 .t\PS.seek 0.299 + P% ' +192 h ' + P%% +4 h %\  +176 #t-> PS.pull 0.1 + P%% +3 h %\  +2 .t\PS.seek 0.399 + P%' +193 h ' + P%% +4 h % \  +33843 #t-> PS.pull 0.5 + P%% +3 h %  \  +2 .t\PS.seek 0.899 + P%'K +630 h ' + P%% +4 h %K{ \ +850 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%  +101 h  +298 #t-> PS.empty +3 .\PS.seek :empty + P%'ؠ +1036 h ' + P%% +4 h %؟\  +512 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +44 h  +495 E\ +) +164 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +773 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2654 h ' + P%% +4 h %\  +860 #t-> PSV.PTV + .\PSV.dial :PTV +2 P% +82 h +638 #t-> PTV.PRV + .\PTV.dial :PRV +591 #-> PRV.air + .\PRV.dial :air +38 P%  +82 h  +1178 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2646 h ' + P% % +4 h %ؤ\ +725 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +70 h +421 #t-> PSR.flush + .\PSR.select :flush +614 #-> PS.fill +2 .\PS.seek 2.5 + P%"' +2642 h ' + P%#% +4 h %\  +750 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%! +72 h +661 #t-> PTV.PRV + .\PTV.dial :PRV +481 #-> PRV.air + .\PRV.dial :air +719 #-> PS.empty +2 .\PS.seek :empty + P%$'ؠ +2648 h ' + P%&% +4 h %آ\ +562 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%% +72 h  +339 #t-> PSR.air + .\PSR.select :air +2 P% +396 #t-> PS.fill +2 .\PS.seek 2.5 + P%(' +2642 h ' + P%'% +4 h %\  +522 #t-> PSV.PTV +2 .\PSV.dial :PTV +2 P%* +71 h +532 #t-> PTV.PRV + .\PTV.dial :PRV +478 #-> PRV.air + .\PRV.dial :air +860 #-> PS.empty +2 .\PS.seek :empty + P%)'ؠ +2642 h ' + P%,% +4 h %آ\ +875 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%+ +72 h  +349 #t-> PSR.air + .\PSR.select :air +441 #-> PS.fill +2 .\PS.seek 2.5 + P%.' +2648 h ' + P%-% +4 h %\  +461 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%0 +71 h +578 #t-> PTV.PRV + .\PTV.dial :PRV +432 #-> PRV.air + .\PRV.dial :air +552 #-> PS.empty +2 .\PS.seek :empty + P%1'ؠ +2674 h ' + P%/% +4 h %ؠ\  +22123 E\ +( +60002 \ ,) +25356 #t-> PSV.PTV + .\PSV.dial :PTV +692 #-> PTV.PRV + .\PTV.dial :PRV +584 #-> PRV.Ab2 + .\PRV.dial :Ab2 +2 P%2  +44 h ~ +921 #t-> PRV.AB2 + .\PRV.dial :AB2 +2753 #-> PS.pull 2 + P%4% +3 h %ؠc\  +2 .t\PS.seek 1.999 + P%3' +2135 h ' + P%6% +4 h %7\  +1928 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%5  +100 h  +560 #t-> PS.empty +2 .\PS.seek :empty +2 P%8'ؠ +2138 h ' + P%7% +4 h %ءq\ +386 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%: +100 h +502 #t-> PS.pull 0.4 + P%9% +3 h %ءO\ +2 .t\PS.seek 0.399 + P%<' +509 h ' + P%;% +4 h % Q\ +828 #t-> PS.fill +2 .\PS.seek 2.5 + P%>' +2242 h ' + P%=% +4 h %>\  +18172 E\ -* +11875 #t-> PSV.waste2 + .\PSV.dial :waste2 +2 P%@  +130 h  +374 #t-> PS.empty +6 .\PS.seek :empty + P%?'ؠ +2653 h ' + P%B% +4 h %آC\ +516 #t-> PSV.PTV +2 .\PSV.dial :PTV + P%A +129 h  +696 #t-> PS.pull 0.4 + P%D% +3 h %آ8\ +2 .t\PS.seek 0.399 + P%C' +510 h ' + P%F% +4 h % Z\ +1036 #t-> PS.fill +2 .\PS.seek 2.5 + P%G' +2237 h ' + P%H% +4 h %B\  +1885 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%I  +99 h  +2357 #t-> PS.empty +2 .\PS.seek :empty + P%E'ؠ +2648 h ' + P%K% +4 h %آ?\ +7678 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%L +102 h +2613 #t-> PS.pull 0.4 +2 P%J% +3 h %آ4\ + .t\PS.seek 0.399 +2 P%N' +505 h ' + P%O% +3 h % 0\  +21895 E\ ,) +19653 #t-> PS.fill +2 .\PS.seek 2.5 + P%P' +2244 h ' + P%M% +4 h %.\  +1068 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%R  +102 h  +984 #t-> PS.empty +2 .\PS.seek :empty + P%Q'ؠ +2641 h ' + P%T% +4 h %أ7\ +478 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%U +114 h +1359 #t-> PS.pull 0.4 + P%S% +3 h %أ \ +2 .t\PS.seek 0.399 + P%W' +512 h ' +2 P%X% +4 h % >\ \ +1199 #t-> PS.fill +2 .\PS.seek 2.5 + P%Y' +2248 h ' + P%V% +4 h %\  +1125 #t-> PSV.waste1 +2 .\PSV.dial :waste1 +2 P%[  +99 h  +459 #t-> PS.empty +2 .\PS.seek :empty + P%Z'ؠ +2649 h ' + P%]% +4 h %أ7\ +454 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%^ +102 h +525 #t-> PS.pull 0.4 + P%\\% +3 h %أ0\ +2 .t\PS.seek 0.399 + P%`' +510 h ' +2 P%a% +4 h % 7\  +890 #t-> PS.fill +2 .\PS.seek 2.5 + P%b' +2248 h ' + P%_% +4 h %\  +1254 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%d  +101 h  +401 #t-> PS.empty + .\PS.seek :empty +2 P%c'ؠ +2652 h ' + P%f% +4 h %؜7\ +608 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%g +101 h +420 #t-> PS.pull 0.4 +2 P%e% +3 h %؜7\ + .t\PS.seek 0.399 +2 P%i' +508 h ' + P%j% +4 h % 4\  +687 #t-> PS.fill +2 .\PS.seek 2.5 + P%k' +2236 h ' + P%h% +4 h % \  +1198 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%m  +101 h  +920 #t-> PS.empty +2 .\PS.seek :empty + P%l'ؠ +2658 h ' + P%o% +4 h %؞9\ +791 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%p +113 h +1067 #t-> PS.pull 0.1 + P%n% +3 h %؞C\ +2 .t\PS.seek 0.099 + P%r'a +204 h ' + P%s% +4 h %d\ \ +189 #t-> PS.pull 0.1 + P%t% +3 h %d \ \ +2 .t\PS.seek 0.199 + P%q'' +203 h ' + P%v% +4 h %&\ :\  +1776 E\ /+ +49346 #t-> PS.pull 0.5 + P%u% +3 h %&\ O\  + .t\PS.seek 0.699 +2 P%x'1 +609 h ' + P%y% +4 h %1Q\  +508 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%w  +102 h  +291 #t-> Ps.empty + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"uninitialized constant Ps: name:Ps +576 #-> PS.empty +2 .\PS.seek :empty + P%{'ؠ +815 h ' + P%|% +4 h %ءn\ +1555 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%} +43 h  +410 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +501 #t-> PS.fill +2 .\PS.seek 2.5 + P%z' +2648 h ' + P%% +4 h %V\  +407 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%~ +70 h +546 #t-> PTV.PRV + .\PTV.dial :PRV +487 #-> PRV.air + .\PRV.dial :air +2 P%  +42 h  +837 #t-> PS.empty +38 .\PS.seek :empty +11 P%'ؠ +115 E/\ 0- +2539 h ' + P%% +4 h %ؠp\ +457 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +72 h  +385 #t-> PSR.flush + .\PSR.select :flush +305 #-> PS.fill +2 .\PS.seek 2.5 + P%' +2653 h ' + P%% +4 h %p\ \ +534 #t-> PSV.PTV + .\PSV.dial :PTV +2 P%\ +72 h +470 #t-> PTV.PRV + .\PTV.dial :PRV +1517 #-> PRV.air +2 .\PRV.dial :air +996 #-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2653 h ' +2 P% % +4 h %؝v\ +574 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +72 h  +309 #t-> PSR.air + .\PSR.select :air +2 P% +282 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2645 h ' + P%% +4 h %\  +695 #t-> PSV.PTV + .\PSV.dial :PTV +2 P% +167 h +800 #t-> PTV.PRV + .\PTV.dial :PRV +383 #-> PRV.air + .\PRV.dial :air +889 #-> PS.empty +2 .\PS.seek :empty + P% 'ؠ +2647 h ' + P%% +4 h %ء\ +535 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +71 h  +230 #t-> PSR.air + .\PSR.select :air +247 #-> PS.fill +2 .\PS.seek 2.5 + P% ' +2658 h ' + P%% +4 h %\  +669 #t-> PSV.PTV + .\PSV.dial :PTV +2 P% +71 h +600 #t-> PTV.PRV + .\PTV.dial :PRV +530 #-> PRV.air + .\PRV.dial :air +480 #-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2668 h ' + P%% +4 h %ؠ6\  +29044 E)\ ,) +60002 \ ,) +31896 #t-> require 'PrimeReagent.rb' +3136 #-> require 'PrimeReagent.rb' +1673 #-> exit +4 #m\EXIT @1605196922.05EST @1605196945.96EST = @EST1605196948.19 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@29620 receive with ifg=0x10, ie=0xFD + #@30256 receive with ifg=0x10, ie=0xFD #@30912 receive with ifg=0x10, ie=0xFD + #@31549 receive with ifg=0x10, ie=0xFD + #@32184 receive with ifg=0x10, ie=0xFD #@32817 receive with ifg=0x10, ie=0xFD + #@33451 receive with ifg=0x10, ie=0xFD + #@33777 receive with ifg=0x80, ie=0xFD #@48746 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =ECan =hcore =FMFB =Mmanipulator =tMAIN =Pprocessing =mMAIN_scheduler =Astorage =Ssampler =Ccollection +366 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +323 !o:Instrument::ISUSCore: @refid6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +3 E)\ -* +4 )\ -* + S) + ) +2 h  +2 C' + ' +2 h  +2 P% + % +3 h  +4 C' 9\ + ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +3 S)&\ +2 .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready? +2 C'& +3 h & 8\ +2 C'% +3 h %5 '\ + S)% +3 h %ڒ v\ +2 M& % +3 h %  j + M&\ & +3 h &  V +2 A( & +3 h & \ \  \ + A( % +3 h % Q\  N\ +2 P% & +3 h &\ + P%% +3 h %ؠ\ +1397 #t-> require 'PrimeReagent.rb' +2560 #-> primePSRsub2 + #**Prepare to clean and prime PSR sub2 reagent** .\PSV.dial :air +2 P%  +72 h  +2 .t\PS.seek :empty + P%'ؠ +3 h ' + .t\PSV.dial :PSR +2 P% +128 h + .t\PSR.select :sub2 +2 P% +9 #t\Awaiting answer to "**Disinfect and attach PSR sub2 fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +1351 .\PS.seek 2.5 +2 P%' +2651 h ' + .t\PSV.dial :waste1 +2 P%  +44 h  +2 .t\PS.seek :empty + P%'ؠ +2640 h ' + .t\PSV.dial :PSR +2 P% +43 h  +2 .t\PS.seek 2.5 + P%' +2651 h ' + .t\PSV.dial :waste1 +2 P%  +43 h  +2 .t\PS.seek :empty + P%'ؠ +2651 h ' + .t\PSV.dial :PSR +2 P% +43 h  +2 .t\PS.seek 2.5 + P%' +2651 h ' + .t\PSV.dial :waste1 +2 P%  +43 h  +2 .t\PS.seek :empty + P%'ؠ +2648 h ' + .t\PSV.dial :PSR +2 P% +41 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2763 P%% +3 h %ء\ + .t\PS.seek 0.499 +2 P%'p +608 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +555 .\PS.seek 2.5 +2 P% ' +2142 h ' + .t\PSV.dial :waste2 +2 P%!  +71 h  + .t\PS.seek :empty +2 P%"'ؠ +2654 h ' + .t\PSV.dial :PSR +2 P%# +71 h  +2 .t\PS.seek 2.5 + P%$' +2652 h ' + .t\PSV.dial :waste2 +2 P%%  +72 h  +2 .t\PS.seek :empty + P%&'ؠ +2653 h ' + .t\PSV.dial :PSR +2 P%' +72 h  +2 .t\PS.seek 2.5 + P%(' +2647 h ' + .t\PSV.dial :waste2 +2 P%)  +72 h  + .t\PS.seek :empty +2 P%*'ؠ +2675 h ' + .t\PSV.dial :PSR +2 P%+ +72 h  + #t\Awaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +578 P%,% +3 h %أ\  + .t\PS.seek 0.499 +2 P%-'r +609 h ' + #t\Awaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1471 .\PS.seek 2.5 +2 P%.' +2132 h ' + .t\PSV.dial :waste1 +2 P%/  +42 h  +2 .t\PS.seek :empty +2 P%0'ؠ +2657 h ' + .t\PSV.dial :PSR +2 P%1 +43 h  +2 .t\PS.seek 2.5 + P%2' +2654 h ' + .t\PSV.dial :waste1 +2 P%3  +43 h  +3 .t\PS.seek :empty + P%4'ؠ +2647 h ' + .t\PSV.dial :PSR +2 P%5 +41 h  +2 .t\PS.seek 2.5 + P%6' +2656 h ' + .t\PSV.dial :waste1 +2 P%7  +43 h  +2 .t\PS.seek :empty +2 P%8'ؠ +1832 EQ\ /, +818 h ' + .t\PSV.dial :PSR +2 P%9 +43 h  + #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +667 P%:% +3 h %؛\ + .t\PS.seek 0.499 +2 P%;'j +612 h ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #\Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +30741 #\Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +277 #**Priming reagent line** +2 .\PS.seek 2.5 + P%<' +2139 h ' + .t\PSV.dial :waste1 +2 P%=  +43 h  + .t\PS.seek :empty +2 P%>'ؠ +2651 h ' + .t\PSV.dial :PSR +2 P%? +41 h  +2 .t\PS.seek 2.5 + P%@' +2669 h ' + .t\PSV.dial :waste1 +2 P%A  +44 h  + .t\PS.seek :empty +2 P%B'ؠ +2650 h ' + #t**Flush clean and air out PSR manifold** + .\PSR.select :flush + P%H +10 .t\PSV.dial :PSR + P%C +42 h +2 .t\PS.seek 2.5 + P%D' +2650 h ' + .t\PSV.dial :waste1 +2 P%E  +43 h  + .t\PS.seek :empty +2 P%F'ؠ +2645 h ' + .t\PSR.select :air +2 P% +9 .t\PSV.dial :PSR + P%G +54 h +2 .t\PS.seek 2.5 + P%H' +2655 h ' + .t\PSV.dial :waste1 +2 P%I  +41 h  + .t\PS.seek :empty +2 P%J'ؠ +2644 h ' + .t\PSV.dial :PSR +2 P%K +54 h +2 .t\PS.seek 2.5 + P%L' +2658 h ' + .t\PSV.dial :waste1 +2 P%M  +41 h  + .t\PS.seek :empty +2 P%N'ؠ +2653 h ' + #t**SUCCESSFULLY PRIMED PSR SUB2 REAGENT** +337 EG\ -* +60002 \ -* +60003 7\ -* +60003 #\ -* +60002 \ -* +60003  \ -* +60002 \ ,) +60003 L\ ,) +60002 #\ ,* +60003 \ -* +60002 \ -* +59794 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +2 P%O  +72 h +134 E>\ -)\ +350 #t-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P%P +130 h +403 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%Q  +101 h +1182 #t-> PS.fill +2 .\PS.seek 2.5 + P%R' +2647 h ' + P%S% +4 h %\  +774 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%T  +129 h  +499 #t-> PS.empty +2 .\PS.seek :empty + P%U'ؠ +2655 h ' + P%V% +4 h %؝\ +555 #t-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P%W +129 h +753 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +611 #-> PRV.sipper + .\PRV.dial :sipper +6347 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1003 P%X% +2 h %؝\ +2 .t\PS.seek 1.499 +2 P%Y'\ +1621 h ' + P%Z% +4 h %\  +1454 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%[  +127 h  +635 #t-> CBV.PRV + .\CBV.dial :PRV +2 C'\\  +102 h  +1166 #t-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +1827 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1003 P%]% +2 h %\  +2 .t\PS.seek 0.899 + P%^'Kv +1284 h ' + P%_% +4 h %Kv\ +1813 #t-> PRV.air + .\PRV.dial :air +2 P%`  +41 h  +1066 #t-> PS.reconfigure PSconfig + .\PS.reconfigure PSconfig +2 P%#A d`xb +523 #t-> PS.empty +2 .\PS.seek :empty +2 P%a'ؠ +1014 h ' + P%b% +4 h %؟\ +710 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%c  +100 h +776 #t-> PS.fill +2 .\PS.seek 2.5 + P%d' +2649 h ' + P%e% +4 h %\  +617 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%f  +127 h  +457 #t-> PS.empty +2 .\PS.seek :empty +36 P%g'ؠ +2675 h ' + P%h% +4 h %؝\  +1312 #t-> PTV.to :PRVmixing + .\PTV.dial :PRVmixing +826 #-> PSV.to :mixloop + .\PSV.dial :mixloop +2 P%i +130 h +524 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%j  +126 h +559 #t-> CBV.PRV + .\CBV.dial :PRV +1357 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +1230 #t-> PS.pull .15 + P%k% +3 h %؝\  + .t\PS.seek 0.149 +2 P%l' +363 h ' + P%m% +4 h % \  +795 #t-> PRV.air + .\PRV.dial :air +2 P%n  +43 h  +687 #t-> PS.pull .3 + P%o% +3 h % \  +2 .t\PS.seek 0.449 + P%p' +660 h ' + P%q% +4 h %\  +505 #t-> PSV.air +2 .\PSV.dial :air +2 P%r  +44 h  +576 #t-> PS.pull 1.2 + P%s% +3 h %\  +2 .t\PS.seek 1.649 + P%t') +2500 h ' + P%u% +4 h %)\  +595 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%v +44 h +511 #t-> PRV.sipper +2 .\PRV.dial :sipper +2 P%w  +100 h +1050 #t-> PS.empty +2 .\PS.seek :empty + P%x'ؠ +3422 h ' + P%y% +4 h %ؠ\ +1782 E\ -* +202 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig + P%#A d`xb +1332 #t-> PS.reconfigure PSconfig +957 #-> CTV.air + .\CTV.dial :air +2 C'z  +5 h +632 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + C'{& +3 h & \ + M&|& +4 h & ? + M&}% +4 h %  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage + M&~(- +173 h ( + M&& +4 h &-  P + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &- P + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage + M&'w +73 h '   + +2 !to:Slide::Error\ :@checkpoint: omitted:bt[ "9/home/esp/esp2/utils/puckmoves.rb:124:in `retryGrab'")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"2/home/esp/esp2/utils/puckmoves.rb:638:in `to'">/home/esp/esp2/utils/puckmoves.rb:665:in `method_missing'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: mesg"Forearm speedErr:@axisName" Forearm: @replyo:I2C::Servo::AbsMove3Reply : @tagi:@destinationi%: @sourcei+: @channeli: @statusS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi+ : voltagef12.255310751104567d: @error: speedErr + #Retry #1 of 3 + .Hand.open + M&1 +1002 !to:I2C::Request::Timeout:bt[")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"6/home/esp/esp2/lib/gripper.rb:77:in `openOrClose'"6/home/esp/esp2/lib/threads.rb:52:in `recoverable'"6/home/esp/esp2/lib/gripper.rb:72:in `openOrClose'"//home/esp/esp2/lib/gripper.rb:53:in `open'"4/home/esp/esp2/utils/puckmoves.rb:782:in `open'"9/home/esp/esp2/utils/puckmoves.rb:125:in `retryGrab'")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"2/home/esp/esp2/utils/puckmoves.rb:638:in `to'">/home/esp/esp2/utils/puckmoves.rb:665:in `method_missing'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: @requesto: I2C::Servo::Release3Request : @dontLog0: @timeout0: @tag0: @replyqo:\ Queue: @waiting[: @que[:@destinationi+:@maxDelayi: @channeli: mesg"8No Response to I2C::Servo::Release3Request[03:->26] + #Retry #1 of 3 +2 M&1 +2 h 1 !o:I2C::UnexpectedReply:bt[ "7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"1I2C::Servo::Release3Reply[03:26->20] aborted +1000 !to:I2C::Request::Timeout:bt[")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"6/home/esp/esp2/lib/gripper.rb:77:in `openOrClose'"6/home/esp/esp2/lib/threads.rb:52:in `recoverable'"6/home/esp/esp2/lib/gripper.rb:72:in `openOrClose'"//home/esp/esp2/lib/gripper.rb:53:in `open'"4/home/esp/esp2/utils/puckmoves.rb:782:in `open'"9/home/esp/esp2/utils/puckmoves.rb:125:in `retryGrab'")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"2/home/esp/esp2/utils/puckmoves.rb:638:in `to'">/home/esp/esp2/utils/puckmoves.rb:665:in `method_missing'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: @requesto: I2C::Servo::Release3Request : @dontLog0: @timeout0: @tag0: @replyqo:\ Queue: @waiting[: @que[:@destinationi+:@maxDelayi: @channeli: mesg"8No Response to I2C::Servo::Release3Request[04:->26] + #Retry #2 of 3 + M&1 +2 h 1 + !o:I2C::UnexpectedReply:bt[ "7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"1I2C::Servo::Release3Reply[04:26->20] aborted +999 !to:I2C::Request::Timeout:bt[")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"6/home/esp/esp2/lib/gripper.rb:77:in `openOrClose'"6/home/esp/esp2/lib/threads.rb:52:in `recoverable'"6/home/esp/esp2/lib/gripper.rb:72:in `openOrClose'"//home/esp/esp2/lib/gripper.rb:53:in `open'"4/home/esp/esp2/utils/puckmoves.rb:782:in `open'"9/home/esp/esp2/utils/puckmoves.rb:125:in `retryGrab'")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"2/home/esp/esp2/utils/puckmoves.rb:638:in `to'">/home/esp/esp2/utils/puckmoves.rb:665:in `method_missing'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: @requesto: I2C::Servo::Release3Request : @dontLog0: @timeout0: @tag0: @replyqo:\ Queue: @waiting[: @que[:@destinationi+:@maxDelayi: @channeli: mesg"8No Response to I2C::Servo::Release3Request[05:->26] + #Retry #3 of 3 + M&1 +2 h 1 + !o:I2C::UnexpectedReply:bt[ "7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"1I2C::Servo::Release3Reply[05:26->20] aborted +515 !to:IRB::Abort:bt["9/home/esp/esp2/lib/i2c/msg.rb:395:in `await1stReply'":/home/esp/esp2/lib/i2c/msg.rb:422:in `awaitOnlyReply'"3/home/esp/esp2/lib/i2c/servo.rb:1615:in `open'"//home/esp/esp2/lib/gripper.rb:78:in `send'"6/home/esp/esp2/lib/gripper.rb:78:in `openOrClose'",/home/esp/esp2/lib/msg.rb:86:in `retry'"6/home/esp/esp2/lib/gripper.rb:77:in `openOrClose'"6/home/esp/esp2/lib/threads.rb:52:in `recoverable'"6/home/esp/esp2/lib/gripper.rb:72:in `openOrClose'"//home/esp/esp2/lib/gripper.rb:53:in `open'"4/home/esp/esp2/utils/puckmoves.rb:782:in `open'"9/home/esp/esp2/utils/puckmoves.rb:125:in `retryGrab'")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"2/home/esp/esp2/utils/puckmoves.rb:638:in `to'">/home/esp/esp2/utils/puckmoves.rb:665:in `method_missing'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52: mesg"deferring User Abort!! + #until Hand finishes opening +484 !o:I2C::Request::Timeout :@checkpoint: omitted:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: @requesto: I2C::Servo::Release3Request : @dontLog0: @timeout0: @tag0: @replyqo:\ Queue: @waiting[: @que[:@destinationi+:@maxDelayi: @channeli: mesg"^Hand could not finish opening because\ No Response to I2C::Servo::Release3Request[06:->26] +2215 #-> Arm.home + M&& +3 h &- M P +2 M&% +3 h % 1 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +69 h ' + 1 + !o:I2C::UnexpectedReply:bt[ "7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"*I2C::Servo::Release3Reply[06:26->20] + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :home +2 M&\ ( +131 h ( + M& & +4 h & 8  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h & _  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :home +2 M& ' +46 h ' +3 M&& +3 h &   +2 M&% +3 h % N +953 #t-> hand.open +2 !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message>undefined local variable or method `hand' for main:Object: name: hand +712 #-> Hand.open + .Hand.open + M&1 +26 h 1 +452 #t-> Hand.close + .Hand.close + M&/ +71 h / +250 #t-> Hand.open + .Hand.open +2 M&1 +60 h 1 +502 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + C'& +3 h & \ + M&& +4 h & Z  + M&% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +30 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage +2 M&(- +112 h ( + M&& +4 h &-  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &- * + .t\Forearm.seek :garage +2 M&'w +92 h ' + .tHand.close + M&/ +67 h / + M&& +4 h &-  + M&% +4 h % Ϟ W < + .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&(ӂ +274 h ( + M&!& +4 h &}0   E + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &}.  E + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&#'? +100 h ' + C'"& +4 h & 9\ + C'%& +4 .t\CC.seek :closed + C'$(\\ +3 h & \ +2 & \  +10 &3 \ +{ +9 &e \ ? +9 &R} \ O +10 &` \ N +9 &` \ M +10 &b \ N +9 &^` \ M +9 & ` \ M +10 &a \ N +9 &] \ N +9 & f_ \ M +10 &"'c \ N +9 &#_ \ N +10 &%a \ M +9 &'m` \ N +9 &)/_ \ N +10 &*] \ N +9 &,_ \ N +9 &.vb \ M +10 &08` \ M +9 &1` \ N +10 &3` \ N +9 &5}` \ N +9 &7>e \ N +10 &9` \ N +9 &:` \ N +9 &<c \ N +10 &>Fb \ N +9 &@b \ N +10 &Af \ N +9 &Cn \ P +9 &EB \ R +10 &F g w\ V +9 &H V W\ Y +9 &Js V V\ Y +10 &L4 V V\ Z +9 &M Q S\ [\ +10 &O P R\ [ +9 &Qu N O\ [ +9 &S4 L L\ \\ +10 &T G H\ ] +9 &V @ D\ ] +9 &Xt : >\ ^ +10 &Z4 6 7\ _ +9 &[ 1 2\ @ +10 &\\, 0 1\ + +9 &\\ 6 6\ ^ + ( +2 C'%& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 C''& +3 h &\\ = =3\ ^ + .tHand.open + M&&1 +64 h 1 + M&)% +4 h % <    + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&(' +91 h ' +1808 #t-> PRV.connect CBV +2 .\CBV.dial PRV + ."connect"\PRV.dial CBV +2 P%+  +128 h  +374 #t-> PSV.PSR +2 .\PSV.dial :PSR +2 P%, +114 h +598 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +768 #t-> PS.fill +2 .\PS.seek 2.5 + P%*' +2655 h ' + P%-% +4 h %\  +749 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +541 #-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P%/ +100 h +296 #t-> PS.empty +2 .\PS.seek :empty + P%.'ؠ +2644 h ' + P%1% +4 h %ؤ\ +469 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%0 +103 h  +291 #t-> PS.fill +2 .\PS.seek 2.5 + P%3' +2651 h ' + P%2% +4 h %\  +680 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%5 +103 h +364 #t-> PS.empty +2 .\PS.seek :empty + P%4'ؠ +2645 h ' + P%7% +4 h %آ\ +535 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%6 +101 h  +319 #t-> PSR.air + .\PSR.select :air +2 P% +394 #t-> PS.fill +2 .\PS.seek 2.5 + P%9' +2641 h ' + P%:% +4 h %\  +644 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%8 +101 h +350 #t-> PS.empty +2 .\PS.seek :empty + P%;'ؠ +2644 h ' + P%=% +4 h %ؤ\ +512 #t-> PSV.PSR +2 .\PSV.dial :PSR + P%< +101 h +244 #t-> PS.fill +2 .\PS.seek 2.5 + P%?' +2644 h ' +2 P%>% +4 h %\  +551 #t-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P%A +103 h +314 #t-> PS.empty +2 .\PS.seek :empty + P%@'ؠ +2650 h ' +2 P%C% +4 h %ؠ\ +564 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + M&B& +3 h &Ӣ&   1 @^ + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&E(ӂ +46 h ( + M&D& +4 h &w#    =B + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &G& +3 h &w#  5 =B + .t\Forearm.seek :CC +2 M&F'? +93 h ' + .tHand.close + M&I/ +67 h / + .t\CC.seek :open +2 C'H( +448 h ( + M&K& +4 h &ӏ  o :* + M&J% +3 h % e j ; +2 .t\Forearm.seek :retract +2 M&M' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :garage +2 M&L(- +286 h ( +2 M&O& +4 h &- 1 9 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &P& +2 h &-  9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&Q'w +93 h ' + .tHand.open + M&N1 +64 h 1 + M&S% +4 h % q F Y +39 .t\Forearm.reconfigure LooseForearm +11 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&T' +89 h ' +6789 #t-> PTV.PRVmixing +2 .\PTV.dial :PRVmixing +718 #-> PSV.mixloop + .\PSV.dial :mixloop +550 #-> PRV.sipper + .\PRV.dial :sipper +2 P%R  +128 h +459 #t-> PS.fill +2 .\PS.seek 2.5 + P%V' +1859 E\ 42 +786 h ' + P%W% +4 h %\  +803 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%X  +130 h  +751 #t-> PS.empty +2 .\PS.seek :empty + P%U'ؠ +2655 h ' + P%Z% +4 h %ؠ\ +675 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%[ +130 h +550 #t-> PTV.PRVmixing +2 .\PTV.dial :PRVmixing +458 #-> PRV.sipper + .\PRV.dial :sipper +1707 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1003 P%\\% +2 h %ؠ\ +2 .t\PS.seek 1.499 +2 P%]' +1627 h ' + P%Y% +4 h %\ \  +846 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%_  +126 h  +417 #t-> CBV.PRV +2 .\CBV.dial :PRV +938 #-> Ps.reconfigure PSslow +2 !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"uninitialized constant Ps: name:Ps +1221 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +2328 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1003 P%`% +2 h %\ \  +2 .t\PS.seek 0.899 +2 P%^'Kx +1276 h ' + P%b% +4 h %Kx\ +501 #t-> PRV.air + .\PRV.dial :air +2 P%c  +41 h  +1094 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig +2 P%#A d`xb +466 #t-> PS.empty +2 .\PS.seek :empty + P%a'ؠ +1021 h ' + P%e% +4 h %؜\ +442 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%f  +98 h +304 #t-> PS.fill +2 .\PS.seek 2.5 + P%d' +2654 h ' + P%h% +4 h %\  +561 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%i  +128 h  +471 #t-> PS.empty +2 .\PS.seek :empty + P%j'ؠ +2648 h ' + P%k% +4 h %ؠ\ +1055 #t-> PTV.to :PRVmixing + .\PTV.dial :PRVmixing +777 #-> PSV.to :mixloop + .\PSV.dial :mixloop +2 P%g +140 h +378 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%m  +127 h  +367 #t-> CBV.PRV + .\CBV.dial :PRV +896 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +797 #t-> PS.pull .15 + P%n% +3 h %ؠ\ +2 .t\PS.seek 0.149 + P%o' +359 h ' + P%l% +4 h % \ +341 #t-> PRV.air + .\PRV.dial :air +2 P%q  +41 h  +404 #t-> PS.pull ,3 +2 !o:SyntaxError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"[compile error\ (ESP):98: syntax error, unexpected '\\n', expecting tCOLON2 or '[' or '.' +740 #-> PS.pull .3 + P%r% +3 h % \ +2 .t\PS.seek 0.449 + P%s'\ +691 h ' + P%p% +4 h %\ +480 #t-> PSV.air + .\PSV.dial :air +2 P%u  +56 h  +1832 #t-> PS.pull 1.2 + P%v% +3 h %\ + .t\PS.seek 1.649 +2 P%w'( +2539 h ' + P%t% +4 h %)\  +1133 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%y +42 h +388 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%z  +99 h +1414 #t-> PS.empty +2 .\PS.seek :empty + P%{'ؠ +3423 h ' + P%|% +4 h %ؠ\ +11461 E\ 1. +2588 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig +2 P%#A d`xb +482 #t-> CTV.air + .\CTV.dial :air +319 #-> Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 C'}& +3 h & \ + M&& +4 h &-  9 + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage +2 M&(- + h ( +2 M&& +3 h &- 9 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &- 4 9 + .t\Forearm.seek :garage +2 M&'w +93 h ' + .tHand.close + M&/ +76 h / + M&& +4 h &- V 9 + M&% +4 h % n 8 ; + .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M& (ӂ +281 h ( + M& & +4 h &ӏ%  H =D + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӏ%  =D + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +92 h ' + C'~& +4 h & \ + C' & +4 .t\CC.seek :closed + C'(\\ +3 h & \ +2 & \  +11 &3 \ +{ +9 &e \ ? +9 &{ \ O +10 &C] \ N +9 &a \ N +9 &d \ N +10 &b \ N +9 &Lb \ M +10 & _ \ N +9 &] \ N +9 & ] \ M +10 &"T^ \ M +9 &$_ \ M +10 &%b \ N +9 &'] \ M +9 &)\\] \ M +10 &+^ \ N +9 &,` \ N +9 &.c \ M +10 &0ca \ N +9 &2&b \ M +9 &3c \ N +10 &5a \ N +9 &7k_ \ N +10 &9-b \ N +9 &:^ \ M +9 &<` \ M +10 &>sc \ N +9 &@6c \ M +9 &Ad \ N +10 &Cm \ O +9 &Eo \ R +10 &G$ \ V +9 &H \ X +9 &J \ Y +10 &La \ Y +9 &N! \ Z +10 &O \ [ +9 &Q \ [ +9 &Sb \ \\ +10 &U" \ \\ +9 &V \ ] +9 &X \ ^ +10 &Zb \ ^ +9 &\\z \ ; +9 &\\* \ (v +10 &\\ \ [ + ( + C' & +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 C'& +3 h &\\ \ [ + .tHand.open + M&1 +65 h 1 + M&% +4 h % ;   X + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +92 h ' +1152 #t-> PRV.connect CBV +2 ."connect"\PRV.dial CBV +2 .t\CBV.dial PRV + P%  +127 h +574 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +101 h  +362 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +473 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2654 h ' + P% % +4 h %\  +659 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +526 #-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P% +100 h +371 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2656 h ' + P%% +4 h %ء\ +588 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%\ +101 h  +237 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2644 h ' + P%% +4 h %\  +648 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%! +101 h +303 #t-> PS.empty +2 .\PS.seek :empty + P% 'ؠ +2644 h ' + P%% +4 h %ء\ +539 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%" +101 h  +352 #t-> PSR.air + .\PSR.select :air +2 P% +536 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2645 h ' + P%'% +4 h %\  +684 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%& +102 h +553 #t-> PS.empty +2 .\PS.seek :empty + P%)'ؠ +2653 h ' + P%%% +4 h %ؠ\ +964 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%# +102 h  +284 #t-> PS.fill +2 .\PS.seek 2.5 + P%+' +2658 h ' + P%,% +4 h %\ \ +566 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%x +101 h +233 #t-> PS.empty +2 .\PS.seek :empty + P%-'ؠ +2655 h ' + P%/% +4 h %؝\ +455 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + M&*& +3 h &Ӑ#   + =C + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&1(ӂ +26 h ( + M&0& +4 h &Ӌ  % + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &.& +3 h &Ӌ  9 % +40 .t\Forearm.seek :CC +11 M&2'? +92 h ' + .tHand.close + M&5/ +69 h / + .t\CC.seek :open +2 C'3( +450 h ( + M&7& +4 h &Ӌ  % + M&6% +3 h % R C Y +2 .t\Forearm.seek :retract +2 M&4' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :garage +2 M&:(- +282 h ( + M&8& +4 h &- 3 : + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &9& +3 h &-  : + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&='w +94 h ' +2 .tHand.open + M&<1 +63 h 1 + M&;% +4 h % y  k + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&>' +91 h ' +20561 E\ 2/ +60003 \ 20 +3255 #t-> PTV.PRVmixing +2 .\PTV.dial :PRVmixing +572 #-> PSV.mixloop + .\PSV.dial :mixloop +569 #-> PRV.sipper + .\PRV.dial :sipper +2 P%A  +128 h +324 #t-> PS.fill +2 .\PS.seek 2.5 + P%?' +2644 h ' + P%C% +4 h %\  +635 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%B  +130 h  +564 #t-> PS.empty +2 .\PS.seek :empty + P%D'ؠ +2650 h ' + P%G% +4 h %؞\ +2056 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%I +128 h +542 #t-> PTV.PRVmixing +2 .\PTV.dial :PRVmixing +627 #-> PRV.sipper + .\PRV.dial :sipper +2768 #-> delay 10; PS.pull 1.5 + .delay 10 seconds +1003 P%% +2 h %؞\ +2 .t\PS.seek 1.499 +2 P%(' +1627 h ' + P%$% +4 h % \  +1191 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%K  +127 h  +370 #t-> CBV.PRV +2 .\CBV.dial :PRV +691 #-> PS.reconfigure PSslow +2 .\PS.reconfigure PSslow + P%#A 2`xb +1449 #t-> delay 10; PS.push .6 + .delay 10 seconds +1003 P%J% +2 h % \  +2 .t\PS.seek 0.899 +2 P%F'K{ +1283 h ' + P%O% +4 h %K|\ +962 #t-> PRV.air + .\PRV.dial :air +2 P%P  +41 h  +1013 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig +2 P%#A d`xb +503 #t-> PS.empty +2 .\PS.seek :empty + P%E'ؠ +1010 h ' + P%N% +4 h %أ\ +1135 #t-> PRV.sipper +2 .\PRV.dial :sipper +2 P%S  +98 h +352 #t-> PS.fill +2 .\PS.seek 2.5 + P%M' +2656 h ' + P%Q% +4 h %\  +577 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%R  +128 h  +343 #t-> PS.empty +2 .\PS.seek :empty + P%@'ؠ +2654 h ' + P%W% +4 h %ء\ +5498 #t-> PTV.to ;PRVmixing +2 !o:ArgumentError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"(wrong number of arguments (0 for 1) +729 #-> PTV.to :PRVmixing + .\PTV.dial :PRVmixing +1031 #-> PSV.to :mixloop + .\PSV.dial :mixloop +2 P%X +129 h +412 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%V  +127 h  +526 #t-> CBV.PRV + .\CBV.dial :PRV +912 #-> PS.reconfigure PSslow +2 .\PS.reconfigure PSslow +2 P%#A 2`xb +697 #t-> PS.pull .15 + P%Z% +3 h %ء\ +2 .t\PS.seek 0.149 +2 P%[' +359 h ' + P%\\% +4 h %\ \ +546 #t-> PRV.air + .\PRV.dial :air +2 P%U  +42 h  +702 #t-> PS.pull .3 + P%Y% +3 h %\ \ +2 .t\PS.seek 0.449 + P%_' +670 h ' + P%`% +4 h %\  +389 #t-> PSV.air + .\PSV.dial :air +2 P%]  +43 h  +688 #t-> PS.pull 1.2 + P%b% +3 h %\  +2 .t\PS.seek 1.649 + P%c'6 +2515 h ' + P%^% +4 h %8\ \ +537 #t-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P%e +43 h +423 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%f  +100 h +1830 #t-> PS.empty +2 .\PS.seek :empty + P%a'ؠ +3078 E\ 85 +355 h ' + P%h% +4 h %ؠ\ +2435 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig +2 P%#A d`xb +517 #t-> CTV.air + .\CTV.dial :air +624 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + C'i& +3 h & \ + M&d& +4 h &-  : + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage +2 M&k(- +2 h ( + M&g& +3 h &- : +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &m& +2 h &-  : +2 .t\Forearm.seek :garage +2 M&n'w +92 h ' + .tHand.close + M&j/ +73 h / + M&l& +4 h &- : + M&q% +4 h % σ + ? +2 .t\Forearm.seek :retract + M&r' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&o(ӂ +284 h ( + M&p& +4 h &ӛ! \  :. + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &u& +2 h &ӛ!  @ :. +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&v'? +93 h ' + C's& +4 h & \ + C't& +4 .t\CC.seek :closed + C'y(\\ +3 h & \ +3 & \  +9 &0~ \ +z +9 &c \ > +9 &r| \ N +10 &5_ \ N +9 &_ \ N +9 &b \ M +10 &|] \ M +9 &=a \ N +10 &c \ N +9 &` \ N +9 & ^ \ N +10 &"F\\ \ M +9 &$ ^ \ M +9 &%` \ N +10 &'\\ \ M +9 &)M\\ \ N +10 &+_ \ N +9 &,_ \ N +9 &.] \ M +10 &0V\\ \ M +9 &2] \ M +9 &3` \ M +10 &5b \ M +9 &7]c \ N +10 &9` \ N +9 &:\\ \ M +9 &<b \ N +10 &>e` \ N +9 &@(b \ M +9 &Ac \ N +10 &Ck \ O +9 &E` \ R +10 &G \ V +9 &H \ X +9 &J \ Y +10 &LU \ Y +9 &N \ Y +9 &O \ Z +10 &Q \ Z +9 &SV \ [\ +10 &U \ \\ +9 &V \ \\ +9 &X \ ] +10 &ZW \ ] +9 &[x \ A +9 &\\, \ (x +10 &\\z \ W + ( + C't& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 C'z& +3 h &\\z \ W + .tHand.open + M&w1 +62 h 1 + M&|% +4 h % <  \ Z m + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&}' +86 h ' +820 #t-> PRV.connect CBV + ."connect"\PRV.dial CBV +3 .t\CBV.dial PRV + P%  +128 h  +606 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +100 h  +446 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +357 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2644 h ' + P%% +4 h %\  +706 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +659 #-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +114 h +1114 #t-> PS.empty +39 .\PS.seek :empty +11 P%'ؠ +2655 h ' + P%L% +4 h %آ\ +505 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%T +99 h  +324 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2654 h ' + P% % +4 h %\  +827 #t-> PSV.mixloop +2 .\PSV.dial :mixloop + P% +114 h +324 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2643 h ' + P%~% +4 h %آ\ +647 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +100 h  +329 #t-> PSR.air + .\PSR.select :air +2 P% +463 #t-> PS.fill +2 .\PS.seek 2.5 + P%H' +2654 h ' + P%% +4 h %\  +1105 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +102 h +367 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2655 h ' + P% % +60 h %آ\ +571 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +101 h  +717 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2654 h ' + P%% +4 h %\ \ +753 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%{ +101 h +402 #t-> PS.empty +2 .\PS.seek :empty +2 P% 'ؠ +2650 h ' + P%% +4 h %ء\ +638 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + M&& +3 h &Ӝ   + :- + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&(ӂ +18 h ( + M&\ & +4 h &ӄ  ' , + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӄ  , + .t\Forearm.seek :CC +2 M&'? +92 h ' + .tHand.close + M&!/ +72 h / + .t\CC.seek :open +2 C'( +446 h ( + M&& +4 h &Ӆ  } , + M&"% +3 h % V  @ R +2 .t\Forearm.seek :retract +2 M& ' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :garage +2 M&'(- +288 h ( +2 M&&& +4 h &-  1 " + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &- o " + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&%'w +93 h ' + .tHand.open + M +64 h 1 + M&)% +4 h % n 0 Y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&,' +92 h ' +18329 E\ 2/ +60002 \ 2/ +58075 #t-> PS.reconfigure PSslow +2 .\PS.reconfigure PSslow +2 P%#A 2`xb +1047 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +755 #-> PSV.mixloop + .\PSV.dial :mixloop +120 E\ 2/ +256 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%x  +126 h +867 #t-> PS.pull 1.5 + P%+% +3 h %ء\ +2 .t\PS.seek 1.499 + P%/' +3119 h ' + P%*% +4 h %\  +8111 #t-> PRV.ab1 + .\PRV.dial :ab1 +2 P%0 @ +100 h > +47406 E\ 0- +1151 #t-> PS.pull .15 + P%.% +3 h %\  +2 .t\PS.seek 1.649 + P%5'3 +367 h ' +2 P% % +4 h %1\ +513 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%  +102 h  +1012 #t-> PS.pull .3 + P%% +3 h %1\ +2 .t\PS.seek 1.949 + P%7'z +664 h ' + P%6% +4 h %y\  +5617 #t-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%2'ؠ +4043 h ' + P%8% +4 h %؝\ +1616 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig +2 P%#A d`xb +2493 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + C'9& +3 h & \ + M&1& +4 h &-  " + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage +2 M&<(- +2 h ( + M&;& +3 h &- " +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &4& +2 h &- U " +2 .t\Forearm.seek :garage + M&='w +92 h ' + .tHand.close + M&A/ +73 h / + M&-& +4 h &- H " + M&C% +4 h % u u P + .t\Forearm.seek :retract +2 M&B' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&?(ӂ +282 h ( + M&G& +4 h &ӓ"  d ;4 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &I& +3 h &ӓ"  > ;4 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +93 h ' + C'D& +4 h & \ + C'$& +4 .t\CC.seek :closed + C'K(\\ +3 h & \ +2 & \  +10 &3 \ +{ +10 &c \ > +9 &} \ N +9 &F_ \ N +10 &_ \ N +9 &_ \ M +10 &\\ \ N +9 &O^ \ M +9 &_ \ N +10 &_ \ M +9 & \\ \ M +9 &"W\\ \ M +10 &$] \ M +9 &%` \ N +10 &'` \ N +9 &)__ \ M +9 &+!\\ \ M +10 &,] \ N +9 &.a \ M +9 &0gb \ M +10 &2)b \ M +9 &3] \ M +10 &5] \ N +9 &7nc \ N +9 &90_ \ N +10 &:_ \ N +9 &<b \ M +9 &>wc \ M +10 &@9] \ M +9 &Ac \ M +10 &Cm \ O +9 &Es \ Q +9 &G) \ V +10 &H \ X +9 &J \ Y +9 &Ld \ Y +10 &N" \ [ +9 &O \ [\ +9 &Q \ Z +10 &Sd \ \\ +9 &U& \ \\ +10 &V \ ] +9 &X \ ] +9 &Zf \ ^ +10 &\\ z \ 8 +9 &\\' \ (v +9 &\\ \ ^ +3 ( + C'$& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 C'J& +3 h &\\ \ ^ +2 .tHand.open + M&(1 +58 h 1 + M&O% +4 h % D  b w + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&P' +90 h ' +645 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%F +101 h  +437 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +842 #t-> PS.fill +2 .\PS.seek 2.5 + P%N' +2651 h ' + P%S% +4 h %\  +717 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%E +102 h +919 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +741 #-> PRV.sipper + .\PRV.dial :sipper +1483 #-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%Q'ؠ +2650 h ' + P%R% +41 h %أ\ +1101 #t-> CTV.air + .\CTV.dial :air +645 #-> PRV.CBV + .\PRV.dial :CBV +2 P%M  +126 h +412 #t-> PSV.PSR +2 .\PSV.dial :PSR +2 P%W +101 h  +698 #t-> PS.fill +2 .\PS.seek 2.5 + P%X' +2652 h ' + P%V% +4 h % \  +584 #t-> PSV.mixloop +2 .\PSV.dial :mixloop + P%Z +102 h +959 #t-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%@'ؠ +2650 h ' + P%\\% +4 h %ؠ\ +830 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%U +101 h  +406 #t-> PSR.air +2 .\PSR.select :air +2 P% +1042 #t-> PS.fill +2 .\PS.seek 2.5 + P%Y' +2647 h ' + P%[% +4 h %\  +647 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%` +103 h +1114 #t-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%]'ؠ +2653 h ' + P%b% +4 h %آ\ +1044 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%_ +101 h  +217 #t-> PS.fill +2 .\PS.seek 2.5 + P%^' +2671 h ' + P%e% +4 h %\ +373 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%f +114 h +1478 #t-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%c'ؠ +35 E\ US +2620 h ' + P%h% +4 h %؞2\ +1512 #t-> PS.reconfigure PSslow +2 .\PS.reconfigure PSslow +2 P%#A 2`xb +734 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +614 #-> PSV.mixloop + .\PSV.dial :mixloop +646 #-> PRV.sipper + .\PRV.dial :sipper +2 P%i  +130 h  +492 #t-> PS.pull 1.5 + P%d% +3 h %؞\ +2 .t\PS.seek 1.499 + P%g' +3117 h ' + P%m% +4 h %  \  +875 #t-> PRV.ab1 + .\PRV.dial :ab1 +2 P%j @ +101 h > +678 #t-> PS.pull .15 + P%l% +3 h % /\  +2 .t\PS.seek 1.649 + P%q'0 +356 h ' + P%:% +4 h %2 \  +357 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%>  +101 h  +556 #t-> PS.pull .3 + P%n% +3 h %2!\  +2 .t\PS.seek 1.949 + P%p'{ +677 h ' + P%u% +4 h %~1\  +1638 #t-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%k'ؠ +4042 h ' + P%s% +4 h %ء\ +1747 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig +2 P%#A d`xb +1045 #t-> Flush.CC +2 C'r& +3 h &\\ \ ^ + C'3& +4 h &\\ \ ^ +628 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%z +100 h +355 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +435 #t-> PS.fill +2 .\PS.seek 2.5 + P%w' +2649 h ' + P%|% +4 h %4\  +1501 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%t +113 h +262 #t-> PRV.sipper + .\PRV.dial :sipper +853 #-> delay 8; PS.empty +2 .delay 8 seconds +803 .\PS.seek :empty +2 P%v'ؠ +2649 h ' + P%% +4 h %ؠ\ +5 #t-> CTV.air + .\CTV.dial :air +6 #-> PRV.CBV + .\PRV.dial :CBV + P%  +128 h  +2965 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%a +101 h  +834 #t-> PS.fill +3 .\PS.seek 2.5 + P%' +2643 h ' + P%% +4 h %\  +539 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +114 h +1185 #t-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%L'ؠ +2651 h ' + P%T% +4 h %أ&\ +485 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +99 h  +348 #t-> PSR.air + .\PSR.select :air +2 P% +455 #t-> PS.fill +2 .\PS.seek 2.5 + P% ' +2646 h ' + P%% +4 h %3\  +434 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +114 h +841 #t-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%~'ؠ +2647 h ' + P%% +4 h %ؤ9\ +695 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +100 h  +331 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2657 h ' + P%% +4 h %6\  +592 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%H +114 h +891 #t-> delay 8; PS.empty + .delay 8 seconds +417 E\ NK +385 .t\PS.seek :empty +2 P% 'ؠ +2649 h ' + P%% +4 h %آ5\ +1121 #t-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +1223 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +601 #-> PSV.mixloop + .\PSV.dial :mixloop +325 #-> PRV.sipper + .\PRV.dial :sipper +2 P%  +128 h  +761 #t-> PS.pull 1.5 +9 P%% +3 h %آL\ +2 .t\PS.seek 1.499 + P%{' +3113 h ' + P%% +4 h %6\  +536 #t-> PRV.ab1 +2 .\PRV.dial :ab1 +2 P% @ +102 h > +606 #t-> PS.pull .15 + P%% +3 h %N\  +2 .t\PS.seek 1.649 +2 P%\ '3 +355 h ' + P%% +4 h %36\  +478 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%!  +101 h  +662 #t-> PS.pull .3 + P%o% +3 h %3K\  +2 .t\PS.seek 1.949 + P%}'| +678 h ' + P%y% +4 h %|6\ \ +1108 #t-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%'ؠ +4040 h ' + P%"% +4 h %؞I\ +1541 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig +2 P%#A d`xb +817 #t-> Flush.CC +2 C'& +3 h &\\ \ ^ + C'&& +4 h &\\ \ ^ +532 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +99 h  +348 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +577 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2646 h ' + P%#% +4 h %7\  +521 #t-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P%) +114 h +653 #t-> PRV.sipper + .\PRV.dial :sipper +977 #-> delay 8;PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P% 'ؠ +2650 h ' + P%%% +4 h %ء[\ +1747 #t-> CTV.air + .\CTV.dial :air +546 #-> PRV.CBV + .\PRV.dial :CBV +2 P%x  +128 h  +351 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%+ +99 h  +347 #t-> PS.fill +2 .\PS.seek 2.5 + P% ' +2658 h ' + P%*% +4 h %V\ +532 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%0 +102 h +736 #t-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%.'ؠ +2650 h ' + P%/% +4 h %ؠl\ +633 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +101 h  +371 #t-> PSR.air + .\PSR.select :air +2 P% +391 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2643 h ' + P%% +4 h %f\  +445 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%5 +102 h +726 #t-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%6'ؠ +2673 h ' + P%7% +4 h %؟S\  +494 #t-> PSV.PSR + .\PSV.dial :PSR +3 P%8 +101 h  +180 #t-> PS.fill +2 .\PS.seek 2.5 + P%9' +2650 h ' + P%1% +4 h %j\  +649 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%; +101 h +713 #t-> delay 8; PS.empty + .delay 8 seconds +803 .\PS.seek :empty +2 P%4'ؠ +2486 E\ SP +165 h ' + P%A% +4 h %؟o\ +356 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + M&-& +3 h &ӕ! q ;2 + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&C(ӂ +28 h ( + M&'& +4 h &  0 o + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &,& +3 h &  K o + .t\Forearm.seek :CC +2 M&='? +93 h ' + .tHand.close + M&G/ +76 h / + .t\CC.seek :open +2 C'I( +452 h ( + M&<& +4 h &\  o + M&D% +3 h % W 5 $ +2 .t\Forearm.seek :retract +2 M&B' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :garage +2 M&(- +278 h ( + M&J& +4 h &- A + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &(& +3 h &-  A + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&O'w +104 h ' + .tHand.open + M&$1 +56 h 1 + M&% +4 h % | M + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&F' +92 h ' +58120 E\ 0. +60002 \ 1. +60003 \ 1. +60002 \ 1. +60003 \ /. +60002 \ 1- +60003 \ 0. +57384 #t-> exit +3 #m\EXIT @1605217329.72EST @1605275954.69EST = @EST1605275956.86 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@55496 sendCRC with ifg=0x20, ie=0x7F + #@57331 sendCRC with ifg=0x08, ie=0x5F #@8567 idle with ifg=0x84, ie=0x75 + #@9237 select with ifg=0x10, ie=0xF5 + #@9870 receive with ifg=0x10, ie=0xFD #@10504 receive with ifg=0x10, ie=0xFD + #@11137 receive with ifg=0x10, ie=0xFD #@11464 receive with ifg=0x80, ie=0xFD + #@6171 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =FMFB =Ssampler =Ccollection =Mmanipulator =ECan =hcore =Pprocessing =Astorage =tMAIN =mMAIN_scheduler +354 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +322 !o:Instrument::ISUSCore: @refit6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 ER\ 30 +4 R\ 30 + S) +2 ) +2 h  + C' +2 ' +2 h  + P% +2 % +2 h  +4 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ + % *\ +2 % 0\ +3 S)&\ +2 .t\SS.stop S)5 +2 .t\SS.configure SSconfig +2 S)#.0X PTV.PRVmixing + .\PTV.dial :PRVmixing + P%  +4 h +600 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +5 h +457 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%  +126 h  +419 #t-> PS.fill +2 .\PS.seek 2.5 + P% ' +2648 h ' + P%\ % +4 h %$\  +3919 #t-> PSV.waste1 +2 .\PSV.dial :waste1 +2 P%  +140 h  +323 #t-> PS.empty +2 .\PS.seek :empty + P% 'ؠ +2653 h ' + P% % +4 h %آ \ +439 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +128 h +566 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +386 #-> PRV.sipper + .\PRV.dial :sipper +2581 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1003 P%% +2 h %آD\ +2 .t\PS.seek 1.499 +2 P%' +1648 h ' + P%% +4 h %8\ +1054 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%  +126 h  +426 #t-> CBV.PRV + .\CBV.dial :PRV +2 C'  +5 h +823 #t-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +1450 #t-> delay 10; PS.push.6 + .delay 10 seconds +1003 P%% +2 h %B\ +2 .t\PS.seek 0.899 +2 P%'K~ +1320 h ' + P%% +4 h %Ky&\ +439 #t-> PRV.air + .\PRV.dial :air +2 P%  +44 h  +685 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig + P%#A d`xb +545 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +1008 h ' + P%% +4 h %ؤ9\ +707 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%  +99 h +317 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2650 h ' + P%% +4 h %G\  +1562 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%  +130 h  +368 #t-> PS.empty +2 .\PS.seek :empty +2 P%'ؠ +2650 h ' + P%% +4 h %؞?\ +1099 #t-> PTV.to :PRVmixing + .\PTV.dial :PRVmixing +917 #-> PSV.to :mixloop + .\PSV.dial :mixloop +2 P% +130 h +399 #t-> PRV.CBV +2 .\PRV.dial :CBV +2 P%!  +126 h  +524 #t-> CBV.PRV + .\CBV.dial :PRV +861 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +1079 #t-> PS.pull .2 + P%"% +3 h %؞'\ +2 .t\PS.seek 0.199 + P%#'$ +463 h ' + P%$% +4 h %"H\ \ +614 #t-> PRV.air + .\PRV.dial :air +2 P%%  +42 h  +502 #t-> PS.pull .3 + P%&% +3 h %"C\ \ +2 .t\PS.seek 0.499 + P%''k +674 h ' + P%(% +4 h %o>\ \ +688 #t-> PSV.air + .\PSV.dial :air +2 P%)  +43 h  +671 #t-> PS.pull 1.2 + P%*% +3 h %oC\ \ +2 .t\PS.seek 1.699 + P%+' +2501 h ' + P%,% +4 h %#\  +606 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%- +44 h +325 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%.  +55 E\\\ EB +45 h +1603 #t-> PS.empty +2 .\PS.seek :empty + P%/'ؠ +3527 h ' + P%0% +4 h %أK\ +1963 #t-> PS.reconfigure PSconfig + .\PS.reconfigure PSconfig +2 P%#A d`xb +395 #t-> CTV.air + .\CTV.dial :air +2 C'1  +4 h +487 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + C'2& +3 h & Q U\ + M&3& +4 h &- + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage +2 M&4(- +31 h ( + M&5& +4 h &- ! + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &6& +2 h &- } ! +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage + M&7'w +89 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&8/ +77 h / + M&9& +4 h &- Y + M&:% +3 h % } 8 +2 .t\Forearm.seek :retract + M&;' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&<(ӂ +276 h ( + M&=& +4 h &y,  $ Cq +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &>& +2 h &y,  D Cq +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&?'? +97 h ' + C'@& +4 h & T T\ + C'A& +4 .t\CC.seek :closed + C'B(\\ +2 h & Q T\ +6 & U T\ < +9 &LJ| R S\ 2 +10 &u S U\ F +9 &(f U S\ O +9 &_ T T\ M +10 &^ T T\ N +9 &q^ Q S\ N +9 &4` T T\ M +10 &_ V R\ M +9 &_ T S\ N +10 &ya T V\ N +9 &!<[ U T\ M +9 &"_ S T\ M +10 &$` R T\ N +9 &&^ T S\ N +9 &(Da T U\ M +10 &*\\ T R\ M +9 &+\\ S S\ M +10 &-] R U\ M +9 &/K` T T\ N +9 &1 ^ U S\ N +10 &2^ T T\ N +9 &4\\ T T\ M +9 &6T] T T\ M +10 &8b U U\ N +9 &9b T T\ M +10 &;\\ T U\ M +9 &=\\_ S S\ M +9 &?` R T\ N +10 &@b U V\ N +9 &Bh R U\ N +10 &D[t V T\ P +9 &F T V \ T +9 &G W V\ X +10 &I X V\ X +9 &KJ V W\ Y +9 &M U W\ Y +10 &N U T\ Y +9 &P W W\ [ +10 &RM W Y\ [ +9 &T Z V\ \\ +9 &U W W\ \\ +10 &W W X\ \\ +9 &YK Z X\ ^ +9 &[ X W\ ^ +10 &\\cF Y V\ 3 +9 &\\ U Y\ R +5 ( + C'A& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.14 +2 C'C& +3 h &\\w V W\ R +2 .tHand.open + M&D1 +54 h 1 + M&E% +4 h % F  2 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&F' +91 h ' +1006 #t-> PRV.connect CBV + ."connect"\PRV.dial CBV +3 .t\CBV.dial PRV + P%G  +128 h  +362 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%H +113 h +453 #t-> PSR.flush + .\PSR.select :flush +2 P%j +280 #t-> PS.fill +2 .\PS.seek 2.5 + P%I' +2669 h ' + P%J% +4 h %1\ +617 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +475 #-> PSV.mixloop + .\PSV.dial :mixloop +2 P%K +99 h +384 #t-> PS.empty +2 .\PS.seek :empty + P%L'ؠ +2648 h ' + P%M% +4 h %؟Q\ +687 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%N +101 h  +313 #t-> PS.fill +2 .\PS.seek 2.5 + P%O' +2647 h ' + P%P% +4 h %Q\  +621 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%Q +113 h +340 #t-> PS.empty +2 .\PS.seek :empty + P%R'ؠ +2640 h ' + P%S% +4 h %أP\ +594 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%T +112 h +374 #t-> PSR.air + .\PSR.select :air +2 P% +395 #t-> PS.fill +2 .\PS.seek 2.5 + P%U' +2652 h ' + P%V% +4 h %R\  +684 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%W +100 h +594 #t-> PS.empty +2 .\PS.seek :empty + P%X'ؠ +2651 h ' + P%Y% +4 h %؜5\ +572 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%Z +102 h  +267 #t-> PS.fill +2 .\PS.seek 2.5 + P%[' +2654 h ' + P%\\% +4 h %3\ \ +528 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%] +104 h +267 #t-> PS.empty +2 .\PS.seek :empty + P%^'ؠ +2650 h ' + P%_% +4 h %؞N\ +687 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + M&`& +3 h &Ӏ) Bj + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&a(ӂ +2 h ( +2 M&b& +3 h &Ӏ) w Bj + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &c& +3 h &Ӏ)  s Bj + .t\Forearm.seek :CC +2 M&d'? +96 h ' + .tHand.close + M&e/ +73 h / + .t\CC.seek :open +2 C'f( +450 h ( + M&g& +4 h &Ӏ) Bj + M&h% +3 h % K > +2 .t\Forearm.seek :retract +2 M&i' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :garage +2 M&j(- +287 h ( + M&k& +4 h &- U = + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &l& +3 h &-  = + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&m'w +101 h ' + .tHand.open + M&n1 +64 h 1 + M&o% +4 h %  ` + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&p' +88 h ' +7605 #t-> PTV.PRVmixing +2 .\PTV.dial :PRVmixing +431 #-> PSV.mixloop + .\PSV.dial :mixloop +514 #-> PRV.sipper + .\PRV.dial :sipper +2 P%q  +125 h +429 #t-> PS.fill +2 .\PS.seek 2.5 + P%r' +2656 h ' + P%s% +4 h %S\  +620 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%t  +128 h  +445 #t-> PS.empty +2 .\PS.seek :empty + P%u'ؠ +2655 h ' + P%v% +4 h %؜1\ +841 E^\ 1/ +91 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%w +129 h +673 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +595 #-> PRV.sipper + .\PRV.dial :sipper +1827 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1003 P%x% +2 h %؜5\ +2 .t\PS.seek 1.499 +2 P%y' +1635 h ' + P%z% +4 h % P\  +1055 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%{  +126 h +336 #t-> CBV.PRV + .\CBV.dial :PRV +693 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +982 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1003 P%|% +2 h % 3\  +2 .t\PS.seek 0.899 +2 P%}'Ky +1275 h ' + P%~% +4 h %K|4\ +510 #t-> PRV.air +2 .\PRV.dial :air +2 P%  +42 h  +777 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig + P%#A d`xb +429 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +1034 h ' + P%% +4 h %آZ\  +822 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%  +98 h +249 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2654 h ' + P%% +4 h %W\ +732 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%  +127 h  +490 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2653 h ' + P%% +4 h %؝X\ +1058 #t-> PTV.to :PRVmixing + .\PTV.dial :PRVmixing +1082 #-> PSV.to :mixloop + .\PSV.dial :mixloop +2 P%\ +129 h +424 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%  +126 h  +509 #t-> CBV.PRV + .\CBV.dial :PRV +596 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +970 #t-> PS.pull .2 + P% % +3 h %؝S\ +2 .t\PS.seek 0.199 + P% '# +483 h ' + P%% +4 h %$Q\ +426 #t-> PRV.air + .\PRV.dial :air +2 P%  +42 h  +531 #t-> PS.pull .3 + P% % +3 h %$N\ +2 .t\PS.seek 0.499 + P%'m +673 h ' + P%% +4 h %oO\  +750 #t-> PSV.air + .\PSV.dial :air +2 P%  +42 h  +651 #t-> PS.pull 1.2 + P%% +3 h %oN\  +2 .t\PS.seek 1.699 + P%' +2498 h ' + P%% +4 h %-\  +1065 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +43 h +547 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%  +98 h +1187 #t-> PS.empty +3 .\PS.seek :empty +3 P%'ؠ +3528 h ' + P%% +4 h %ءZ\ +1429 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig + P%#A d`xb +415 #t-> CTV.air + .\CTV.dial :air +320 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + C'& +3 h & W X\ + M&& +4 h &- $ = + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage +2 M&(- +3 h ( + M&& +4 h &- G = + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &- . = + .t\Forearm.seek :garage +2 M& 'w +92 h ' + .tHand.close + M&!/ +71 h / + M&"& +4 h &- 9 = + M&% +3 h % o #  +2 .t\Forearm.seek :retract +2 M&$' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&%(ӂ +279 h ( + M&&& +4 h &y* 2 Bi + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &#& +3 h &y* A Bi + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&('? +103 h ' + C')& +4 h & V V\ + C'*& +3 .t\CC.seek :closed +2 C''(\\ +3 h & X W\ +4 & V U\ 8 +10 &DH| Y X\ 1 +9 &tt V X\ E +9 &f V W\ N +10 &] V X\ M +9 &_ V W\ M +9 &c_ U Y\ \ M +10 &%^ W W\ M +9 &^ W X\ M +9 &] X U\ M +10 &l^ W Y\ M +9 &!.] V Y\ M +10 &"] U W\ M +9 &$] V V\ M +9 &&t] X W\ M +10 &(7_ X W\ L +9 &)^ V W\ M +10 &+] W V\ M +9 &-{b V X\ M +9 &/>] U W\ M +10 &1\\ V V\ L +9 &2^ W U\ M +9 &4] X W\ M +10 &6D^ X V\ M +9 &8` W W\ M +10 &9] V U\ M +9 &;] V X\ M +9 &=L^ U W\ M +10 &? ^ W X\ N +9 &@_ V W\ M +9 &Bb W X\ M +10 &DMt Y X\ P +9 &F W Z\ T +10 &G W Z\ W +9 &Iy Y [\ Y +9 &K< X Z\ X +10 &L Y Z\ Y +9 &N [ W\ Y +9 &P} [ Z\ Z +10 &R= Y Y\ [ +9 &S Y Z\ [ +10 &U [ [\ \\ +9 &W~ [ Z\ \\ +9 &Y< \\ [\ ^ +10 &Z \\ \\\ ^ +9 &\\]R ] \\\ 3 +9 &\\ Z [\ "e +9 ( +2 &\\ Y \\\ !` + C'*& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.17 +2 C',& +3 h &\\ [ Z\ !` +2 .tHand.open + M&-1 +64 h 1 + M&.% +4 h % > Z + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&+' +91 h ' +687 #t-> PRV.connect CBV +2 ."connect"\PRV.dial CBV +2 .t\CBV.dial PRV + P%0  +128 h  +352 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%1 +101 h  +398 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +803 #t-> PS.fill +2 .\PS.seek 2.5 + P%2' +2651 h ' + P%3% +4 h %O\  +605 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +499 #-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P%5 +100 h +432 #t-> PS.empty +2 .\PS.seek :empty + P%6'ؠ +2670 h ' + P%8% +4 h %؜b\  +521 #t-> PSV.PSR + .\PSV.dial :PSR + P%9 +102 h  +176 #t-> PS.fill +2 .\PS.seek 2.5 + P%:' +2657 h ' + P%7% +4 h %r\  +395 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%= +101 h +207 #t-> PS.empty +2 .\PS.seek :empty +36 P%>'ؠ +2679 h ' + P%4% +4 h %؟r\  +480 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%@ + E_\ QO +103 h  +260 #t-> PSR.air + .\PSR.select :air +2 P% +306 #t-> PS.fill +2 .\PS.seek 2.5 + P%;' +2658 h ' + P%C% +4 h %p\ +557 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%D +114 h +248 #t-> PS.empty +2 .\PS.seek :empty + P%E'ؠ +2651 h ' + P%A% +4 h %؟o\ +368 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%? +100 h  +213 #t-> PS.fill +2 .\PS.seek 2.5 + P%G' +2655 h ' + P%H% +4 h %m\ +528 #t-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P%/ +114 h +400 #t-> PS.empty +3 .\PS.seek :empty + P%J'ؠ +2651 h ' + P%K% +4 h %ؠp\ +371 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + M&I& +3 h &ӛ# w =G +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&M(ӂ +24 h ( + M&N& +4 h &} ; ) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &L& +3 h &} D ) + .t\Forearm.seek :CC +2 M&P'? +92 h ' +2 .tHand.close + M&Q/ +70 h / + .t\CC.seek :open +2 C'O( +447 h ( +2 M&S& +4 h &Ӏ ( + M&T% +3 h % H S  +2 .t\Forearm.seek :retract +2 M&R' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :garage +2 M&V(- +283 h ( + M&W& +4 h &- m > + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &U& +3 h &- . > + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&Y'w +92 h ' +2 .tHand.open + M&Z1 +64 h 1 + M&X% +4 h % | - U + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\\' +90 h ' +3254 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +520 #-> PSV.mixloop +2 .\PSV.dial :mixloop +332 #-> PRV.sipper + .\PRV.dial :sipper +2 P%]  +126 h +205 #t-> PS.fill +2 .\PS.seek 2.5 + P%[' +2658 h ' + P%_% +4 h %v\ \ +560 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%`  +129 h  +169 #t-> PS.empty +2 .\PS.seek :empty + P%b'ؠ +2653 h ' + P%c% +4 h %آm\ +409 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%e +130 h +622 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +602 #-> PRV.sipper + .\PRV.dial :sipper +1383 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1003 P%<% +2 h %آs\ +2 .t\PS.seek 1.499 +2 P%F' +1630 h ' + P%B% +4 h % w\  +861 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%g  +126 h  +317 #t-> CBV.PRV +2 .\CBV.dial :PRV +890 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +930 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1003 P%h% +2 h % k\  +2 .t\PS.seek 0.899 + P%d'Kz +1278 h ' + P%k% +4 h %K~k\ +446 #t-> PRV.air + .\PRV.dial :air +2 P%l  +39 h  +813 #t-> PS.reconfigure PSconfig + .\PS.reconfigure PSconfig +2 P%#A d`xb +416 #t-> PS.empty +2 .\PS.seek :empty + P%a'ؠ +1015 h ' + P%n% +4 h %؟P\ +507 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%o  +98 h +238 #t-> PS.fill +2 .\PS.seek 2.5 + P%i' +2653 h ' + P%m% +4 h %k\  +735 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%q  +129 h  +197 #t-> Ps.empty +2 !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"uninitialized constant Ps: name:Ps +294 #-> PS.empty +2 .\PS.seek :empty + P%^'ؠ +2654 h ' + P%s% +4 h %؟`\ +922 #t-> PTV.to :PRVmixing + .\PTV.dial :PRVmixing +902 #-> PSV.to :mixloop + .\PSV.dial :mixloop +2 P%t +128 h +426 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%r  +127 h  +430 #t-> CBV.PRV + .\CBV.dial :PRV +750 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +696 #t-> PS.pull .2 + P%v% +3 h %؟b\ +2 .t\PS.seek 0.199 + P%w'% +461 h ' + P%x% +4 h %$?\ \ +302 #t-> PRV.air + .\PRV.dial :air +2 P%u  +40 h  +434 #t-> PS.pull .3 + P%z% +3 h %$=\ \ +2 .t\PS.seek 0.499 + P%{'m +672 h ' + P%|% +4 h %pe\  +417 #t-> PSV.air + .\PSV.dial :air +2 P%y  +54 h  +524 #t-> PS.pull 1.2 + P%~% +3 h %ph\  +2 .t\PS.seek 1.699 + P%' +2508 h ' + P%}% +4 h %K\  +497 #t-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P% +41 h +450 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%  +97 h +746 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +502 EV\ 63 +3027 h ' + P%% +4 h %ؠZ\ +1150 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig + P%#A d`xb +365 #t-> CTV.air + .\CTV.dial :air +430 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + C'& +3 h & Z ZE\ + M&& +4 h &-  > + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage +2 M&(- +3 h ( + M&\ & +4 h &- ! > + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &- Z > + .t\Forearm.seek :garage +2 M& 'w +92 h ' + .tHand.close + M&/ +73 h / + M&& +4 h &-  > + M&% +3 h % ϑ M R +2 .t\Forearm.seek :retract +2 M& ' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M& (ӂ +280 h ( + M&& +4 h &ӆ( - @^ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӆ( @^ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +93 h ' + C'& +4 h & W \\F\ + C'& +4 .t\CC.seek :closed + C'(\\ +3 h & Z [9\ +2 & X [<\  +9 &3 [ ]7\ +| +10 & e Z [9\ ? +9 &y \\ [;\ N +9 &TY Y Z<\ M +10 &\\ X Z7\ M +9 &^ [ Z4\ M +10 &\\ [ [6\ M +9 &]Y [ [:\ M +9 &_ Y Y:\ M +10 &\\ X Z5\ M +9 & Z X Y5\ M +9 &"e\\ Y [9\ M +10 &$&Z \\ Z0\ M +9 &%] Z Y*\ M +10 &'\\ Y Y2\ M +9 &)n\\ [ X*\ L +9 &+.\\ Y [5\ M +10 &,\\ X X'\ M +9 &.] Z [/\ M +9 &0t` [ Z#\ M +10 &27] Y [\ M +9 &3] Z [ \ M +10 &5] [ X#\ M +9 &7}^ Y \\\ M +9 &9?] Z [#\ M +10 &;] Y Y%\ M +9 &<] W [!\ M +9 &>] Y Y$\ M +10 &@F] Y Z$\ M +9 &Bb ] Z\ N +10 &Cj Y [\ N +9 &E} \\ [#\ R +9 &G4 ] ["\ V +10 &H \\ ]'\ Y +9 &J [ ^%\ X +9 &Lo ] ]'\ Z +10 &N2 \\ [.\ Y +9 &O \\ ]&\ Z +10 &Q \\ ^/\ Z +9 &Sq ] ^-\ \\ +9 &U4 ] ].\ [ +10 &V ^ ])\ \\ +9 &X ^ ^-\ ^ +9 &Zt ] ^.\ ] +10 &\\z ] _/\ 4 +9 &\\* ] `$\ #j +9 ( +2 &\\ _ ^*\ ] + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 C'& +3 h &\\ _ ^2\ ] +2 .tHand.open + M&1 +64 h 1 + M&% +4 h % K  ] F + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +93 h ' +646 #t-> PRV.connect CBV +2 ."connect"\PRV.dial CBV +2 .t\CBV.dial PRV + P%  +128 h  +337 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +102 h  +337 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +398 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2670 h ' + P%!% +4 h %n\ +573 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +451 #-> PSV.mixloop + .\PSV.dial :mixloop +2 P%" +101 h +297 #t-> PS.empty +2 .\PS.seek :empty +37 P%'ؠ +2652 h ' + P%j% +4 h %أs\ +466 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%p +101 h  +261 #t-> PS.fill +2 .\PS.seek 2.5 + P% ' +2645 h ' + P%&% +4 h %}\  +518 #t-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P%# +114 h +314 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2651 h ' + P%)% +4 h %؞`\ +517 #t-> PSV.PSR +2 .\PSV.dial :PSR +2 P%$ +99 h  +242 #t-> PSR.air + .\PSR.select :air +2 P% +340 #t-> PS.fill +2 .\PS.seek 2.5 +2 P%f' +2658 h ' + P%,% +4 h %f\  +493 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%- +115 h +284 #t-> PS.empty +2 .\PS.seek :empty + P%.'ؠ +2653 h ' + P%*% +4 h %آd\ +470 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%( +99 h  +167 #t-> PS.fill +2 .\PS.seek 2.5 + P%0' +2650 h ' + P%1% +4 h %f\  +571 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +101 h +372 #t-> PS.empty +2 .\PS.seek :empty + P%3'ؠ +2645 h ' + P%5% +4 h %أf\ +271 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + M&2& +3 h &Ӑ% \\ ?T + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&8(ӂ +19 h ( + M&9& +4 h &ӌ 3 1 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &6& +3 h &ӌ 1 + .t\Forearm.seek :CC +2 M&7'? +92 h ' + .tHand.close + M&=/ +68 h / + .t\CC.seek :open +2 C':( +449 h ( + M&4& +4 h &ӌ  1 + M&@% +3 h % K e +2 .t\Forearm.seek :retract +2 M&>' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :garage +2 M&C(- +285 h ( +2 M&D& +4 h &- 8 0 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &;& +3 h &-  0 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&A'w +101 h ' + .tHand.open + M&?1 +54 h 1 + M&E% +4 h % π   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&H' +94 h ' +21687 ET\ 31 +60002 W\ 31 +60003 X\ 40 +60002 b\ 41 +60003 f\ 30 +60003 h\ 31 +60002 l\ 31 +60003 r\ 31 +60002 p\ 31 +60003 r\ 41 +60002 m\ 30 +60003 m\ 30 +60002 j\ 41 +60003 `\ 41 +60002 f\ 41 +60003 ^\ 31 +60003 ^\ 31 +60002 d\ 31 +60003 b\ 41 +60002 h\ 41 +60003 j\ 31 +60002 j\ 41 +60003 l\ 31 +60002 k\ 41 +60003 m\ 41 +60002 p\ 30 +20655 #t-> PTV.PRVmixing +2 .\PTV.dial :PRVmixing +725 #-> PSV.mixloop + .\PSV.dial :mixloop +619 #-> PRV.sipper + .\PRV.dial :sipper +2 P%/  +126 h +436 #t-> PS.fill +2 .\PS.seek 2.5 +2 P%G' +2654 h ' + P%K% +4 h %\  +4765 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%I  +130 h  +254 #t-> PS.empty +2 .\PS.seek :empty + P%N'ؠ +2652 h ' + P%L% +4 h %؞A\ +1414 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%Q +128 h +557 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +980 #-> PRV.sipper + .\PRV.dial :sipper +1728 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1003 P%%% +2 h %؞\ +2 .t\PS.seek 1.499 +2 P%+' +1632 h ' + P%'% +4 h %\  +1512 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%S  +127 h  +518 #t-> CBV.PRV + .\CBV.dial :PRV +1030 #-> PS.reconfigure PSslow +2 .\PS.reconfigure PSslow + P%#A 2`xb +1507 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1003 P%T% +2 h %\  +2 .t\PS.seek 0.899 +2 P%P'K| +1283 h ' + P%W% +4 h %K{!\ +451 #t-> PRV.air + .\PRV.dial :air +2 P%U  +42 h  +854 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig +2 P%#A d`xb +790 #t-> PS.empty +2 .\PS.seek :empty + P%M'ؠ +1020 h ' + P%Z% +4 h %؞\ +873 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%X  +98 h +256 #t-> PS.fill +2 .\PS.seek 2.5 + P%R' +2659 h ' + P%Y% +4 h %\  +507 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%]  +142 h  +402 #t-> PS.empty +3 .\PS.seek :empty + P%J'ؠ +2658 h ' + P%_% +4 h %؞\ +1185 #t-> PTV.to :PRVmixing +2 .\PTV.dial :PRVmixing +524 En\ 31 +501 #t-> PSV.to :mixloop +2 .\PSV.dial :mixloop +2 P%` +126 h +537 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%[  +126 h  +621 #t-> CBV.PRV + .\CBV.dial :PRV +1005 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +955 #t-> PS.pull .22 + P%c% +3 h %؞\ +2 .t\PS.seek 0.219 + P%e' +505 h ' + P%<% +4 h %\ \ +579 #t-> PRV.air + .\PRV.dial :air +2 P%b  +41 h  +626 #t-> PS.pull .3 + P%B% +3 h %\ \ +2 .t\PS.seek 0.519 + P%g' +670 h ' + P%h% +4 h %\  +499 #t-> PSV.air + .\PSV.dial :air +2 P%F  +43 h  +482 #t-> PS.pull 1.2 +2 P%k% +3 h %\  + .t\PS.seek 1.719 +2 P%l'! +2501 h ' + P%d% +4 h %"\  +910 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%n +44 h +524 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%o  +98 h +902 #t-> PS.empty +2 .\PS.seek :empty + P%a'ؠ +3567 h ' + P%m% +4 h %ؤ\ +1606 #t-> PS.reconfigure PSconfig + .\PS.reconfigure PSconfig +37 P%#A d`xb +440 #t-> CTV.air + .\CTV.dial :air +445 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + C'q& +3 h & h g\ + M&i& +4 h &- 0 + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage +2 M&s(- +9 h ( + M&t& +4 h &- 5 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &r& +3 h &- +2 .t\Forearm.seek :garage + M&v'w +90 h ' + .tHand.close +2 M&^/ +69 h / + M&x& +4 h &-  +2 M&u% +3 h % | F + .t\Forearm.seek :retract +2 M&z' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&w(ӂ +285 h ( + M&|& +4 h &ӌ) M Ae + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &y& +3 h &ӌ) H Ae + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&~'? +94 h ' + C'{& +4 h & j g\ +2 C'}& +3 .t\CC.seek :closed +2 C'(\\ +2 h & h i\ +5 & f h\ 9 +9 &AHz h g\ 1 +9 &lq g h\ E +10 &f g h\ N +9 &Z h h\ M +9 &a h h\ M +10 &W[ h i\ N +9 &^ i i\ N +10 &\\ f g\ N +9 &_ g h\ M +9 &_^ g f\ N +10 &!!\\ h h\ N +9 &"_ g g\ N +9 &$^ h g\ M +10 &&i] h j\ M +9 &()_ j i\ N +10 &)^ f h\ M +9 &+_ h i\ M +9 &-p_ f j\ M +10 &/2_ g h\ M +9 &0] g j\ N +10 &2] g i\ N +9 &4x] k i\ M +9 &6;^ j h\ M +10 &7b g h\ M +9 &9` i h\ M +9 &;[ g g\ M +10 &=B\\ j i\ M +9 &?\\ j g\ N +10 &@` g h\ N +9 &Bd i g\ N +9 &DBu i j\ P +10 &E i h\ S +9 &G j j\ W +9 &Ip j k\ X +10 &K. j i\ Z +9 &L k j\ Z +9 &N k k\ Z +10 &Ps m l\ Z +9 &R3 m j\ [ +10 &S k l\ \\ +9 &U o l\ [ +9 &Ws l k\ ] +10 &Y2 k o\ ^ +9 &Z m l\ ^ +9 &\\WW m m\ 1 +10 &\\ n l\ b +8 ( +2 &\\ k m\ Z + C'}& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.15 +2 C'& +4 h &\\ m m\ Z + .tHand.open + M&1 +54 h 1 + M&% +4 h % B 6 K + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' +872 #t-> PRV.connect CBV +2 .\CBV.dial PRV + ."connect"\PRV.dial CBV +2 P%  +127 h  +507 #t-> PSV.PSR +2 .\PSV.dial :PSR +2 P%\ +101 h  +386 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +414 #t-> PS.fill +2 .\PS.seek 2.5 + P% ' +2649 h ' + P%% +4 h %\  +703 #t-> PTV.PRVmixing +2 .\PTV.dial :PRVmixing +526 #-> PSV.mixloop +3 .\PSV.dial :mixloop + P% +101 h +314 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2648 h ' + P%V% +4 h %ؠ\ +372 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%\\ +102 h  +182 #t-> PS.fill +2 .\PS.seek 2.5 + P% ' +2668 h ' + P%% +4 h %\ +568 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +114 h +332 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2643 h ' + P%% +4 h %أ\ +427 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +100 h  +427 #t-> PSR.air + .\PSR.select :air +2 P% +303 #t-> PS.fill +2 .\PS.seek 2.5 + P%O' +2651 h ' + P%% +4 h %\  +706 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +104 h +193 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2652 h ' + P%% +4 h %ء\ +454 #t-> PSV.PSR + .\PSV.dial :PSR +2 P% +100 h  +220 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2671 h ' + P%% +4 h %\ +963 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +114 h +509 #t-> PS.empty +2 .\PS.seek :empty + P%!'ؠ +2650 h ' + P%"% +4 h %ء\ +464 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + M&& +3 h &Ӣ$ >O + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&j(ӂ +21 h ( +2 M&p& +4 h &} z ) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +2 h &} x ) +2 .t\Forearm.seek :CC +2 M&&'? +92 h ' + .tHand.close + M&#/ +76 h / + .t\CC.seek :open +2 C' ( +448 h ( + M&)& +4 h & > ) + M&$% +3 h % \\ 6 +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :garage +2 M&,(- +282 h ( + M&-& +4 h &- ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &f& +3 h &-  ( + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&*'w +93 h ' +2 .tHand.open + M&(1 +55 h 1 + M&.% +4 h % ~ ] + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&1' +88 h ' +4240 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +471 #-> PSV.mixloop + .\PSV.dial :mixloop +468 #-> PRV.sipper + .\PRV.dial :sipper +2 P%  +126 h +237 #t-> PS.fill +2 .\PS.seek 2.5 + P%0' +1174 Eo\ 52 +1476 h ' + P%5% +4 h %\  +589 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%2  +130 h  +409 #t-> PS.empty +3 .\PS.seek :empty + P%9'ؠ +2666 h ' + P%6% +4 h %؟\  +537 #t-> PSV.mixloop +2 .\PSV.dial :mixloop +2 P%= +128 h +633 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +573 #-> PRV.sipper +2 .\PRV.dial :sipper +4800 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1003 P% % +2 h %؟\  +2 .t\PS.seek 1.499 +2 P%' +1622 h ' + P%% +4 h %\ \ +1610 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%4  +124 h  +392 #t-> CBV.PRV + .\CBV.dial :PRV +736 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +1332 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1003 P%@% +2 h %\ \ +2 .t\PS.seek 0.899 +2 P%7'Kv +1280 h ' + P%D% +4 h %Kv\ +344 #t-> PRV.air + .\PRV.dial :air +2 P%;  +42 h  +902 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig +2 P%#A d`xb +406 #t-> PS.empty +2 .\PS.seek :empty + P%8'ؠ +1016 h ' + P%?% +4 h %ء\ +819 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%E  +96 h +283 #t-> PS.fill +2 .\PS.seek 2.5 + P%>' +2653 h ' + P%A% +4 h %\  +567 #t-> PSV.waste1 +2 .\PSV.dial :waste1 +2 P%/  +128 h  +289 #t-> PS.empty +2 .\PS.seek :empty + P%3'ؠ +2670 h ' + P%K% +4 h %؟\  +887 #t-> PTV.to :PRVmixing + .\PTV.dial :PRVmixing +892 #-> PSV.to :mixloop + .\PSV.dial :mixloop +2 P%I +128 h +470 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%G  +127 h  +396 #t-> CBV.PRV +2 .\CBV.dial :PRV +801 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +1921 #t-> PS.pull .22 + P%L% +3 h %؟\  + .t\PS.seek 0.219 +2 P%Q' +504 h ' +2 P%%% +4 h %\  +547 #t-> PRV.air +2 .\PRV.dial :air +2 P%N  +40 h  +517 #t-> PS.pull .3 + P%'% +3 h %\  +2 .t\PS.seek 0.519 + P%S' +670 h ' + P%T% +4 h %\  +1148 #t-> PSV.air +2 .\PSV.dial :air + P%+  +42 h  +503 #t-> PS.pull 1.2 + P%W% +3 h %\  +2 .t\PS.seek 1.719 + P%U' +2507 h ' + P%P% +4 h %$\ +446 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%Z +43 h +580 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%X  +99 h +1045 #t-> PS.empty +2 .\PS.seek :empty + P%M'ؠ +3567 h ' + P%Y% +4 h %؟\ +1737 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig +2 P%#A d`xb +439 #t-> CTV.air + .\CTV.dial :air +419 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + C']& +3 h & h j\ + M&R& +4 h &- B ( + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage +2 M&_(- +3 h ( + M&`& +4 h &-  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &[& +3 h &- d  + .t\Forearm.seek :garage +2 M&c'w +94 h ' + .tHand.close + M&J/ +78 h / + M&<& +4 h &-  + M&b% +3 h % v g 9 +2 .t\Forearm.seek :retract +2 M&B' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&e(ӂ +283 h ( + M&h& +4 h &ӓ"  ;5 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &F& +3 h &ӓ"  ;5 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&k'? +99 h ' + C'g& +4 h & l k\ + C'd& +4 .t\CC.seek :closed + C'n(\\ +3 h & k i\ +3 & i j\  +10 &4 j k\ +{ +9 & e i j\ ? +9 &x h i\ N +10 &UY k j\ M +9 &\\ h j\ M +9 &_ j j\ M +10 &\\ k j\ M +9 &]\\ k k\ M +9 &_ i j\ M +10 &[ k m\ M +9 & [ i i\ M +10 &"d\\ i j\ M +9 &$&\\ h l\ M +9 &%] j j\ M +10 &'\\ g h\ M +9 &)m\\ k j\ M +9 &+0\\ g k\ M +10 &,\\ i k\ M +9 &.\\ h j\ M +10 &0u\\ j i\ M +9 &27\\ j l\ M +9 &3] i j\ M +10 &5^ j k\ M +9 &7}^ j k\ M +9 &9?] k j\ M +10 &;] k h\ M +9 &<] j k\ M +10 &>^ j k\ M +9 &@F] k i\ M +9 &Bc l l\ N +10 &Cj n n\ N +9 &E~ k k\ R +10 &G5 o n\ V +9 &H m n\ X +9 &J o o\ Y +10 &Lp n m\ Z +9 &N- n o\ [ +9 &O m n\ Z +10 &Q n n\ Z +9 &Sr n o\ \\ +10 &U1 o n\ ] +9 &V o p\ ] +9 &X p o\ ^ +10 &Zt o o\ ^ +9 &\\y p r\ 4 +9 &\\+ p o\ \\ +9 ( +2 &\\m p n\ S + C'd& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.31 +2 C'o& +3 h &\\m q p\ S +2 .tHand.open + M&l1 +64 h 1 + M&m% +4 h % B 0  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&q' +95 h ' +648 #t-> PRV.connect CBV +2 ."connect"\PRV.dial CBV +2 .t\CBV.dial PRV + P%i  +127 h  +331 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%t +101 h  +308 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +917 #t-> PS.fill +2 .\PS.seek 2.5 + P%r' +2672 h ' + P%^% +4 h %\ +796 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +729 #-> PSV.mixloop + .\PSV.dial :mixloop +2 P%x +80 Ek\ db +22 h +241 #t-> PS.empty +2 .\PS.seek :empty + P%u'ؠ +2651 h ' + P%C% +4 h %؝\ +366 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%H +101 h  +235 #t-> PS.fill +2 .\PS.seek 2.5 + P%v' +2671 h ' + P%|% +4 h %\ +477 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%y +101 h +433 #t-> PS.empty +2 .\PS.seek :empty + P%s'ؠ +2653 h ' + P%{% +4 h %؝\ +407 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%z +101 h  +342 #t-> PSR.air + .\PSR.select :air +2 P% +258 #t-> PS.fill +2 .\PS.seek 2.5 + P%:' +2644 h ' + P%% +4 h %\  +430 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P% +101 h +224 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2647 h ' + P%}% +4 h %؝\ +613 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%~ +100 h  +232 #t-> PS.fill +2 .\PS.seek 2.5 +35 P%' +2653 h ' + P%\ % +4 h %\  +425 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%a +102 h +370 #t-> PS.empty +2 .\PS.seek :empty + P%'ؠ +2667 h ' + P%% +4 h %ؠ\  +570 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp +2 M& & +3 h &Ӕ" 3 ;4 + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&V(ӂ +21 h ( + M&\\& +4 h &} ) , + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &} , + .t\Forearm.seek :CC +2 M&'? +93 h ' + .tHand.close + M&/ +67 h / + .t\CC.seek :open +2 C' ( +450 h ( + M&& +4 h &~ ~ + + M& % +3 h % I  +2 .t\Forearm.seek :retract +2 M&' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :garage +2 M&(- +282 h ( + M&& +4 h &- N = + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &O& +3 h &- = + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&'w +102 h ' +2 .tHand.open + M&1 +64 h 1 + M&% +4 h % ρ H  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' +3537 #t-> PTV.PRVmixing +2 .\PTV.dial :PRVmixing +742 #-> PSV.mixloop + .\PSV.dial :mixloop +485 #-> PRV.sipper + .\PRV.dial :sipper +2 P%  +127 h +201 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2644 h ' + P%"% +4 h %\  +502 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%  +129 h  +500 #t-> PS.empty +2 .\PS.seek :empty + P%p'ؠ +2655 h ' +2 P%% +4 h %؝\ +433 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%# +128 h +556 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +615 #-> PRV.sipper + .\PRV.dial :sipper +1761 #-> delay 10; PS.pull 1.5 +2 .delay 10 seconds +1003 P%w% +2 h %؝\ +2 .t\PS.seek 1.499 +2 P%'\ +1632 h ' + P%% +4 h % \ \ +1116 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%)  +126 h  +451 #t-> CBV.PRV + .\CBV.dial :PRV +669 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +1183 #t-> delay 10; PS.push .6 +2 .delay 10 seconds +1003 P%$% +2 h % \ \ +2 .t\PS.seek 0.899 +2 P%&'Kw +1288 h ' + P%-% +4 h %Ku\ +583 #t-> PRV.air + .\PRV.dial :air +2 P%f  +40 h  +820 #t-> PS.reconfigure PSconfig +2 .\PS.reconfigure PSconfig +2 P%#A d`xb +428 #t-> PS.empty +2 .\PS.seek :empty + P%j'ؠ +1011 h ' + P%(% +4 h %ؤ\ +781 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%.  +99 h +315 #t-> PS.fill +2 .\PS.seek 2.5 + P%' +2657 h ' + P%*% +4 h %\  +624 #t-> PSV.waste1 + .\PSV.dial :waste1 +2 P%  +128 h  +357 #t-> PS.empty +3 .\PS.seek :empty + P%!'ؠ +2277 Eh\ 41 +364 h ' + P%5% +4 h %ؤ\ +912 #t-> PTV.to :PRVmixing +2 .\PTV.dial :PRVmixing +1016 #-> PSV.to :mixloop + .\PSV.dial :mixloop +2 P%2 +128 h +360 #t-> PRV.CBV + .\PRV.dial :CBV +2 P%0  +124 h +339 #t-> CBV.PRV + .\CBV.dial :PRV +726 #-> Ps.reconfigure PSslow +2 !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"uninitialized constant Ps: name:Ps +728 #-> PS.reconfigure PSslow + .\PS.reconfigure PSslow +2 P%#A 2`xb +1054 #t-> PS.pull .22 + P%6% +3 h %ؤ\ +2 .t\PS.seek 0.219 + P%=' +506 h ' +2 P% % +4 h %\  +1181 #t-> PRV.air + .\PRV.dial :air +2 P%9  +41 h  +363 #t-> PS.pull .3 + P%% +3 h %\  +2 .t\PS.seek 0.519 + P%4' +671 h ' + P%@% +4 h %\  +1007 #t-> PSV.air + .\PSV.dial :air +2 P%  +55 h  +401 #t-> PS.pull 1.2 + P%D% +3 h %\  +2 .t\PS.seek 1.719 + P%;'" +2515 h ' + P%7% +4 h %*\ +435 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%? +42 h +312 #t-> PRV.sipper + .\PRV.dial :sipper +2 P%E  +96 h +980 #t-> PS.empty +2 .\PS.seek :empty + P%8'ؠ +3571 h ' + P%A% +4 h %؛\ +1445 #t-> PS.reconfigure PSconfig + .\PS.reconfigure PSconfig +2 P%#A d`xb +376 #t-> CTV.air + .\CTV.dial :air +427 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + C'/& +3 h & j m\ + M&>& +4 h &- = = + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek FlushPuck::Garage +2 M&K(- +10 h ( + M&I& +4 h &-  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &G& +3 h &- 3  + .t\Forearm.seek :garage +2 M&L'w +92 h ' + .tHand.close + M&3/ +65 h / + M&%& +4 h &- -  + M&N% +3 h % w  . +2 .t\Forearm.seek :retract +2 M&'' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&Q(ӂ +289 h ( + M&T& +4 h &Ӕ  9( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &+& +3 h &Ӕ 9( + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&W'? +99 h ' + C'S& +4 h & l jM\ + C'P& +50 .t\CC.seek :closed +2 C'Z(\\ +3 h & j j*\ + & m ku\ & j k\ + & h lK\ +2 & k k\ + & k k\ +2 & j l\ 9 +7 &DHy k l\ 1 +9 &tt k l\ F +10 &c j k\ N +9 &Z j j\ M +9 &] j k\ M +10 &f\\ k k\ M +9 &)\\ l l\ L +10 &\\ l k\ M +9 &] k k\ M +9 &o\\ l k\ L +10 &!0[ m i\ M +9 &"\\ k m\ L +9 &$\\ j l\ M +10 &&v\\ l j\ M +9 &(7_ k j\ M +10 &)\\ k k\ M +9 &+^ j k\ M +9 &-~\\ j m\ M +10 &/A\\ h j\ L +9 &1Z l k\ M +9 &2[ k k\ M +10 &4_ m l\ M +9 &6G] j j\ M +10 &8 ^ k k\ M +9 &9\\ k k\ M +9 &;\\ k k\ M +10 &=P] j k\ M +9 &?` k k\ M +9 &@] l k\ M +10 &Be k j\ N +9 &DQr l o\ O +10 &F l l\ S +9 &G n o\ W +10 &I{ o n\ Y +9 &K< p n\ Y +9 &L n o\ Y +9 &N o o\ Z +10 &P| m n\ [\ +9 &R> p o\ [\ +10 &S o o\ \\ +9 &U o p\ \\ +9 &W o o\ \\ +10 &Y= p o\ ^ +9 &Z q o\ _ +9 &\\[L r r\ 9 +10 &\\ p o\ "d +5 ( + C'P& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.22 +2 C'X& +3 h &\\ q p\ "c +2 .tHand.open + M&U1 +54 h 1 + M&Y% +4 h % ?  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&]' +91 h ' +759 #t-> PRV.connect CBV +2 ."connect"\PRV.dial CBV +2 .t\CBV.dial PRV + P%R  +126 h  +371 #t-> PSV.PSR +2 .\PSV.dial :PSR +2 P%` +102 h  +301 #t-> PSR.flush + .\PSR.select :flush +2 P%@ +613 #t-> PS.fill +2 .\PS.seek 2.5 + P%[' +2647 h ' + P%J% +4 h %\  +800 #t-> PTV.PRVmixing + .\PTV.dial :PRVmixing +475 #-> PSV.mixloop + .\PSV.dial :mixloop +2 P%< +102 h +403 #t-> PS.empty +2 .\PS.seek :empty + P%b'ؠ +2673 h ' + P%,% +4 h %ء\  +394 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%1 +102 h  +258 #t-> Ps.fill + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"uninitialized constant Ps: name:Ps +387 #-> PS.fill +2 .\PS.seek 2.5 + P%c' +2651 h ' + P%h% +4 h %\  +414 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%F +101 h +372 #t-> PS.empty +2 .\PS.seek :empty + P%_'ؠ +2648 h ' + P%g% +4 h %ؠ\ +403 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%B +100 h  +237 #t-> PSR.air + .\PSR.select :air +2 P% +718 #t-> PS.fill +2 .\PS.seek 2.5 + P% ' +2647 h ' + P%o% +4 h %\  +502 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%l +101 h +381 #t-> PS.empty +2 .\PS.seek :empty + P%m'ؠ +2655 h ' + P%d% +4 h %أ\ +367 #t-> PSV.PSR + .\PSV.dial :PSR +2 P%k +102 h  +220 #t-> Ps.fill + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"uninitialized constant Ps: name:Ps +276 #-> PS.fill +2 .\PS.seek 2.5 + P%i' +2654 h ' + P%t% +4 h %\  +429 #t-> PSV.mixloop + .\PSV.dial :mixloop +2 P%M +101 h +240 #t-> PS.empty +2 .\PS.seek :empty + P%^'ؠ +2648 h ' + P%x% +4 h %آ\ +475 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + M&r& +3 h &Ӕ  9( + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&C(ӂ +23 h ( + M&H& +4 h &Ӈ  X % + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &u& +3 h &Ӈ  % + .t\Forearm.seek :CC +2 M&|'? +93 h ' + .tHand.close + M&y/ +67 h / + .t\CC.seek :open +2 C'v( +447 h ( + M&{& +4 h &Ӈ  % + M&z% +3 h % 5  +2 .t\Forearm.seek :retract + M&s' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :garage +2 M&(- +282 h ( + M&& +4 h &- A + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &:& +3 h &-  A + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :garage +2 M&}'w +103 h ' +2 .tHand.open + M&~1 +55 h 1 + M&% +4 h % r  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\ ' +91 h ' +4953 Eq\ 1. +60003 n\ 1. +60002 w\ 1. +60003 r\ 1/ +60002 z\ 1. +60003 |\ 1. +60002 }\ 1. +60003 |\ 2/ +60002 \ 1. +60003 z\ 1. +60002 \ 1. +60003 \ 1/ +4984 !to: EOFError:bt[ "1/opt/mbari/lib/ruby/1.8/irb.rb:76:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"end of file reached +2 !o:Errno::EIO :bt["1/home/esp/esp2/lib/threads.rb:711:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ :@timestampu: Time ): mesg"Input/output error + !o:Errno::EIO:bt["7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error +4 #m\EXIT @1605303614.45EST @1606146973.55EST = @EST1606146975.85 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@15693 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +47 #Powering up Dwarves =Mmanipulator =ECan =Ccollection =tMAIN =hcore =Ssampler =Pprocessing =FMFB =mMAIN_scheduler =Astorage +695 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +333 !o:Instrument::ISUSCore: @refi46 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +3 E'\ $! +4 '\ $! + S) +2 ) + h  +2 C' + ' +3 h  + P% + % +3 h  +3 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ + % 2\ +2 % *\ +2 % 0\ +3 S)&\ +2 .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready! +2 P%& +2 C'& +4 h &\ +3 & \\\ + ."rdySampler"Intake.select :close +3 ."rdyProcessing"\PSV.dial :air +2 ."rdySampler"\Exhaust.select :close +2 .\CTV.dial :air +2 .t\PC.reconfigure PCconfig +2 P%  +2 %$x2 ^22b +3 C'  +4 .t\PC.home.seek :open + P%\ ( +3 h +2 ."rdySampler"\CSV.dial :waste1 + C' +14 h + ."rdySampler"\SSV.dial :spit,avoiding: :exhaust +2 S)  +3 h  + S)  +5 h  +2 C'& +3 ."rdySampler"\SS.reconfigure SSconfig +2 ."readyCS"\CS.reconfigure CSfast +4 S)#.0X access 2 +9 .\SE.seek :down +2 A(2' +3 h ' + M&3% +4 h %   +2 M&4& +3 h & \ + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(5(K +1293 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (6& +2 h &K /\  +990 #t-> access 3 +9 .\SE.seek :down +2 A(7' +3 h ' + M&8% +4 h %   S  +2 M&9& +3 h & \  H \ + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(:([ +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (;& +2 h &[( X\  +693 #t-> access 4 +9 .\SE.seek :down +2 A(<' +2 h ' +2 M&=% +3 h %     +2 M&>& +3 h &  \ +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(?(C +1933 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (@& +2 h &@ \ +732 #t-> access 5 +9 .\SE.seek :down +2 A(A' +2 h ' +2 M&B% +4 h %  \ \ a  + M&C& +3 h & w \ +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(D(  +358 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (E& +3 h &  M\  +619 #t-> access 6 +9 .\SE.seek :down +2 A(F' +2 h ' +2 M&G% +4 h %    + M&H& +4 h & $ \ + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(I( +348 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (J& +2 h & \  +583 #t-> access 7 +9 .\SE.seek :down +2 A(K' +2 h ' +2 M&L% +3 h %   +2 M&M& +3 h & \ +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(N(,y +362 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (O& +2 h &,~ \  +1307 #t-> require 'shuffle.rb' +1070 #-> shuffle 2..7 + #\Shuffling pucks in tube 2 of [2..7] +2 #Loading generic puck from tube 2 into Collection Clamp + C'P& +3 h & g\  + .tHand.open +2 M&Q1 +71 h 1 +2 M&R% +4 h %  <  +2 A(S% +3 h % G\  +2 A(T. +2 h .(,| + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(U(  +671 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (V& +3 h & \ + M&W& +4 h & ^ \ + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&X( +13 h ( + M&Y& +4 h &  +2 A(Z& +3 h & \ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&['S +91 h ' + A(\\& +4 h &  s\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(]'s +296 h ' + A(^- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (_& +3 h &  t\  + M&`& +3 h &  +2 .t\Elbow.seek 2 + M&a( +3 h ( + M&b& +3 h &  +2 A(c& +3 h &  \  +2 .t\Forearm.seek 2 + 300 counts +2 M&d'Ͻ +41 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&e/ +71 h / +3 ."downElevator"\SE.seek :down +2 M&f& +4 A(g' +4 h & 1  +2 M&h% +3 h % Ϧ l +2 .t\Forearm.seek :retract + M&i' +91 h ' +2 .t\Elbow.seek CC + M&j(ӂ +160 h ( + ' +2 ."downElevator"\SE.coast + A(5 +5 M&k& +4 h &ӎ-   Dx + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &l& +3 h &ӎ-  Dx +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&m'? +93 h ' +2 C'n& +3 h & c\  +2 C'o& +3 .t\CC.seek :closed +2 C'p(\\ +2 h & B\  +3 & \\\ \  +10 &7 b\ , +9 &f n\ A +10 &ju n\ P +9 &/W i\ O +9 &Y q\ O +10 &\\ o\ O +9 &vY q\ O +9 &8Y m\ O +10 &\\ l\ O +9 &X w\ N +10 & }Y y\ O +9 &"?Y u\ O +9 &$Y ~\ O +10 &%Z |\ O +9 &'Y \ O +9 &)IY }\ N +10 &+ Y |\ O +9 &,Y y\ O +10 &.Z ~\ O +9 &0OY \ O +9 &2Z \ O +10 &3Z \ O +9 &5Z \ O +9 &7V\\ \ O +10 &9Z \ O +9 &:W \ O +10 &<[ \ O +9 &>_\\ \ O +9 &@![ \ O +10 &A_ \ P +9 &Cd \ P +9 &E^w \ R +10 &G \ T +9 &H \ X +10 &J \ Z +9 &LM \ [ +9 &N \ [ +10 &O \ [ +9 &Q \ \\ +9 &SP \ \\ +10 &U \ ] +9 &V \ ^ +10 &X \ ^ +9 &ZO \ _ +9 &[z \ B +10 &\\* \ *} +9 &\\~ \ V +2 ( + C'o& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open + M&q1 +74 h 1 +2 M&r% +4 h % B   m + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&s' +90 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + P%t& +4 h &\  + M&u% +3 h %    +2 A(v% +3 h % G F \ +2 A(w. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(x(  +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (y& +2 h &  \  +2 M&z& +3 h &ӓ+    Cs +2 M&{% +42 h %    P  +9 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&|( +164 h ( + M&}& +4 h &   {  +2 A(~& +3 h &   \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +96 h ' +2 A(& +3 h &  \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +298 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &  e n \  +2 M&& +3 h &   +2 .t\Elbow.seek 2 + M&( +3 h ( + M&& +3 h & v  +2 A( & +3 h &  n n \  +2 .t\Forearm.seek 2 + 300 counts + M& 'Ͻ +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close +2 M& / +68 h / +2 ."downElevator"\SE.seek :down +3 M& & +3 A(' +5 h & ,  +2 M&% +3 h %  +2 .t\Forearm.seek :retract +2 M&' +92 h ' +2 .t\Elbow.seek PC + M&( +164 h ' + ."downElevator"\SE.coast + A(5 +75 h ( + M&& +4 h &   - +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &  A - + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +102 h ' +2 P%\ & +3 h &\  +2 P%& +3 .t\PC.seek :closed +2 P% (^ +2 h &\  +2 &\ \ \  +10 &4{\ {+| +9 &b\ \ y@ +9 &G}\ yQ +10 &]\ \ }Q +9 &_\ }Q +10 &]\ }Q +9 &O_\ }Q +9 &`\ }Q +10 &`\ }Q +9 &_\ |Q +9 & X^\ }P +10 &"\\\ }Q +9 &#`\ }Q +10 &%Y\ }Q +9 &'^\\\ }Q +9 &)!^\ |Q +10 &*]\ }P +9 &,a\ |Q +9 &.f^\ |Q +10 &0(_\ |Q +9 &1]"\ }Q +10 &3]\ |Q +9 &5n\\#\ |Q +9 &70]#\ |Q +10 &8`(\ |Q +9 &:`)\ |Q +9 &7c'\ |Q +9 &?b'\ |Q +10 &Aj'\ {R +9 &Cuu$\ zT +9 &E3'\ xV +10 &F,\ xW +9 &H&\ wW +9 &Jt&\ wW +10 &L7)\ wW +9 &M(\ vX +10 &O,\ vX +9 &Qy)\ uX +9 &S:'\ uY +10 &T$\ uX +9 &V(\ vX +9 &X%\ wY +10 &ZB$\ uX +9 &\\-\ uY +10 &]'\ uF +9 &^!c5\ }"c +9 &^D,\ @ +2 ( + P%& +3 #t\Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 M&1 +69 h 1 + M&% +4 h %    x +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&"' +91 h ' + .t\SC.coast + A(6 +3 P%#& +3 h &^H%\ |@ +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&$% +3 h %  \ M  +2 A(%% +3 h % \  S\ } + A(&. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A('(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ((& + M&)& +4 h &  y\ | +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  - +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&*( +2 ."raiseStack"\SE.seek beamBreak +3 h ( +2 A(+'s + M&,& +5 h &  4 - +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &-& +2 h & p - +2 .t\Forearm.seek :PC +2 M&.' +94 h ' + .tHand.close +2 M&// +66 h / +2 .t\PC.seek :open +2 P%0( +92 h ' + A(1- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +40 h ' +314 ( + A(& +4 h &  v s \  + M&3& +4 h &   - + M&4% +3 h %  < 4 +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +245 h ( + M&6& +4 h &   E + A(8& +3 h &  g a |\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&9'S +101 h ' + .tHand.open + M&21 +70 h 1 + A(5- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(;' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(=' +51 h ' +2 #tLights, camera, ACTION! +2 A(>- +2 h -' +2 A(7& +3 h &  l k \ k +2 M&:& +3 h &   D +2 .t\Elbow.seek 2 + M&@( +3 h ( +2 M&B& +3 h &   D +2 A(C& +3 h &  j k \ k +2 .t\Forearm.seek 2 + 450 counts +2 M&<'S +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(?' +49 h ' +2 M&E& +3 h &  \  D +2 A(G& +3 h &  q \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 +2 M&H'Α +13 h ' + .t\Elbow.hold +2 M&A, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(D' +19 h ' +2 M&J% +4 h %α   B " + A(L& +3 h &  H V \  +2 .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 332 counts + M&M' +13 h ' +2 M&F& +4 h & v C + A(I& +4 h &  p n )\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts + M&O'S +18 h ' +2 A(P% +4 h % d m \ +2 ."downElevator"\SE.seek :down +2 A(Q' +99 (R% +3 h %A r N\ Xi + M&S% +4 h %n ] + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&T' +87 h ' +73 ' + ."downElevator"\SE.coast +2 A(5 +2 .t\SC.coast + A(6 +2 C'N& +4 h &\\y \ V + #t\Storing generic puck in Collection Clamp to tube 2 +2 M&V% +3 h %   ?  + A(W% +4 h % q } o\ + A(Y. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(Z(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (\\& +3 h &  p s >\  + M&& +3 h &  C +2 .t\Elbow.seek 2 +2 M&!( +3 h ( + M&^& +3 h &   - C +2 A(K& +3 h &  o q \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&_'S +97 h ' +2 A(`& +3 h &  v t V\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(b's +296 h ' + A(c- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&e& +2 h &   C +2 A(f& +3 h &  z \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&h'Α +14 h ' + .t\Elbow.hold +2 M&X, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A([- +2 h -' +2 .t\SE.seek 0.17 + A(k's +29 h ' + M&l% +4 h %έ  & + A(]& +4 h &  q n /\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 328 counts + M&d' +14 h ' + M&n& +4 h & [ C +2 A(a& +3 h &  g b [\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&g'S +18 h ' +2 .t\SE.seek 1.17 +2 A(i' +33 h ' +2 M&& +3 h & C +2 M&q% +3 h %E +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&r' +88 h ' +2 .t\Elbow.seek CC + M&t(ӂ +152 h ( + M&u& +4 h &Ӈ.   5 E + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &v& +3 h &Ӈ.   P E +2 .t\Forearm.seek :CC + M&o'? +95 h ' + .tHand.close + M&w/ +74 h / + .t\CC.seek :open +2 C'y( +452 h ( +3 A(z& +3 h &  E\  +2 A({& +3 h &  "\  + M&m& +3 h &ӕ+   0 Cs +2 M&}% +3 h % 8   C + .t\Forearm.seek :retract +2 M&~' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&U( +163 h ( + M&& +4 h &  i  +2 A(j& +3 h &  \  +2 .t\Elbow.reconfigure LimpElbow + M&$ ,(#b +3 .t\Forearm.seek 2 + M&s'Α +96 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +74 h 1 + M&% +4 h % ΂ # +2 A(& +3 h &  6\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 285 counts + M& 'Ϯ +19 h ' +2 M& & +4 h &  } + A( & +4 h &  \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +17 h ' +2 A(|% +3 h % q\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %t5 y\ Vb + M& % +4 h %> * + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +85 h ' +72 ' +10 ."downElevator"\SE.coast +2 A(5 + .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 3 of [2..7] +2 #Loading generic puck from tube 3 into Collection Clamp + C'& +4 h & [\ + M&% +3 h %    +2 A(\ % +3 h % @\ +2 A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & U\  + M&& +4 h & t } + .t\Elbow.seek 3 +2 M&( +30 h ( + M&#& +4 h &w   S : +2 A($& +3 h & O\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&%'7 +101 h ' +2 A(&& +3 h & \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +297 h ' + A((- +3 h -'% +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 ()& +2 h & \  +2 M&,& +3 h &w    : +2 .t\Elbow.seek 3 + M&-( +23 h ( + M&& +4 h &  + ) + A(/& +4 h & -\  + .t\Forearm.seek 3 + 300 counts +2 M&x'ϡ +26 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&1/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&& +3 A("' +5 h & a ( +2 M& % +3 h %  +2 .t\Forearm.seek :retract +2 M&+' +88 h ' +2 .t\Elbow.seek CC + M&(ӂ +153 h ( +2 M&3& +3 h &Ә&   >K + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 h ' + ."downElevator"\SE.coast + A(5 +2 M&4& +5 h &Ә%  >K +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&.'? +91 h ' +2 C'6& +3 h & x\ +2 C'8& +3 .t\CC.seek :closed +2 C'*(\\ +2 h & q\ +3 & l\  +10 &/{ o\ +z +9 &b y\ > +10 &ev p\ O +9 &'Y m\ O +9 &Y o\ O +10 &W |\ N +9 &nW {\ N +9 &/\\ ~|\ O +10 &[ z\ O +9 &U t\ O +10 & wU z\ N +9 &"7Y x\ O +9 &#X {\ O +10 &%Z }\ N +9 &'~U |\ N +9 &)@W u\ N +10 &+Z }\ O +9 &,X {\ O +10 &.Y z\ O +9 &0HU }\ N +9 &2\ U {\ N +10 &3X |\ N +9 &5[ {\ O +10 &7O[ z\ O +9 &9V {\ N +9 &:X {\ N +10 &<[ }\ N +9 &>WW z\ O +9 &@Z \ N +10 &AZ ~\ O +9 &C` z\ O +10 &EWs }\ Q +9 &G {\ T +9 &H {\ W +10 &J {\ Z +9 &LD \ [ +9 &N |\ [\ +10 &O \ [\ +9 &Q }\ [ +10 &SG y\ \\ +9 &U z\ ] +9 &V y\ ^ +10 &X w\ ^ +9 &ZG x\ _ +9 &[z {\ E +10 &\\" z\ - +9 &\\ x\ _ +2 ( + C'8& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open +2 M&21 +73 h 1 +3 M&5% +3 h % ?   | +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&>' +90 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + P%7& +4 h &\ ~ + M&:% +3 h %     +2 A(B% +3 h %\ \  ?\  +2 A(C. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 3 + A(( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (E& +3 h & \  \ ~ +2 M&G& +3 h &ә&  \ >J + M&J% +3 h %    (  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&L( +164 h ( + M&F& +4 h &    +2 A(I& +3 h & q q \ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +97 h ' + A(P& +4 h & v L\ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(;'s +299 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (9& +2 h & m d \ +2 M&R& +3 h &   + .t\Elbow.seek 3 +2 M&=( +3 h ( + M&S& +3 h &   +2 A(<& +3 h & o p \ +2 .t\Forearm.seek 3 + 300 counts + M&@'ϡ +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&?/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&H& +2 A(M' +5 h &  +2 M&N% +3 h % ϗ F +2 .t\Forearm.seek :retract +2 M&V' +90 h ' +2 .t\Elbow.seek PC + M&W( +167 h ' + ."downElevator"\SE.coast + A(5 +70 h ( + M&Y& +4 h &   + + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &D& +3 h &   + + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek :PC +2 M&\\' +99 h ' +2 P%& +3 h &\ +2 P%^& +3 .t\PC.seek :closed +2 P%K(^ +2 h &\ \ +3 &\  +10 &0y\ x+z +10 &`\ u? +9 &b}\ vQ +10 &"]\ yQ +9 &^\ zQ +9 &]\ yQ +10 &g]\ zQ +9 &)]\ yQ +9 &^\ zR +10 &\\\ yQ +9 & p]!\ zQ +10 &"3Z\ yQ +9 &#`!\ yQ +9 &%Z\ zQ +10 &'yZ$\ zQ +9 &);\\!\ zQ +9 &*\\$\ zQ +10 &,]\ yQ +9 &.[!\ yQ +10 &0B\\#\ yQ +9 &2Z\ yQ +9 &3Z!\ yQ +10 &5\\\ yQ +9 &7K\\ \ yQ +9 &9 ]\ yQ +10 &:]$\ yQ +9 &<](\ yQ +10 &>P_&\ yR +9 &@b&\ yQ +9 &Ak$\ xS +10 &Cx&\ wT +9 &EL'\ uV +9 &G "\ sW +10 &H%\ sW +9 &J'\ sW +10 &LP&\ tW +9 &N)\ rX +9 &O'\ sW +10 &Q&\ qX +9 &ST%\ qY +9 &U&\ qY +10 &V'\ rY +9 &X'\ sY +10 &Z[.\ rY +9 &\\(\ qZ +9 &]%\ t: +10 &^+v'\ w] +9 &^4(\ {9 +2 ( + P%^& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open +2 M&O1 +76 h 1 + M&`% +4 h %    " + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Q' +94 h ' + .t\SC.coast + A(6 +3 P%'& +3 h &^0\ |9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&A% +3 h %   \ +2 A(T% +3 h % \ | +2 A(c. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(e( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (f& + M&[& +4 h & j\ | +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &   + +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&l( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + A(]'s +3 M&n& +3 h &  + + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &a& +3 h &  + + .t\Forearm.seek :PC +2 M&' +93 h ' + .tHand.close + M&q/ +73 h / +2 .t\PC.seek :open +2 P%_( +88 h ' + A(!- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(b'1 +41 h ' +317 ( + A(h& +4 h & n n \ +2 M&d& +3 h &   Z + + M&u% +3 h %  f $ +2 .t\Forearm.seek :retract + M&v' +93 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&k( +245 h ( + M&g& +4 h &|  % c + A(X& +3 h &\ \  #\ ~ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&w'7 +99 h ' + .tHand.open + M&r1 +70 h 1 + A(p- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(z' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A({' +49 h ' + #tLights, camera, ACTION! +2 A(m- +3 h -' + A(}& +4 h & k i \ k + M&& +4 h &}   b + .t\Elbow.seek 3 +2 M&j( +3 h ( + M&o& +4 h &} b +2 A(t& +3 h & h h \ k +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(' +51 h ' +2 M&& +3 h &}   b +2 A( & +3 h & \ \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M& 'u +13 h ' + .t\Elbow.hold +2 M&|, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b + .t\SE.seek -0.33 +2 A(~' +26 h ' +2 M&% +3 h %Κ    +2 A( & +3 h & [\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 337 counts + M&U' +16 h ' +2 M&s& +4 h & r R + A( & +4 h & n d c\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&'7 +30 h ' +2 A(% +3 h % a c |\ +3 ."downElevator"\SE.seek :down +2 A(\ ' +99 (i% +3 h %*@\ \  :\ }Xh + M&% +4 h %0   ~ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +88 h ' +70 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &\\ s\ _ +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&Z% +3 h %   I  +2 A(% +3 h % d j =\ +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(#( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ($& +3 h & b a [\ +2 M&&& +41 h & \  R +11 .t\Elbow.seek 3 +2 M&( +4 h ( +2 M&& +3 h & \  g R +2 A((& +3 h & k c \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&)'7 +94 h ' +2 A(,& +3 h & l c \ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +300 h ' +2 A(/- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&1& +3 h & % R + A(& +4 h & { 8\ + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M& 'u +14 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(%- + h -' +2 .t\SE.seek 0.18 +2 A(3'~ +29 h ' +2 M&4% +3 h %Δ   B +2 A(& +3 h & G K +\ +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 331 counts + M&x' +18 h ' +2 M&6& +3 h & O R +2 A(-& +3 h & n n\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&"'7 +27 h ' +2 .t\SE.seek 1.18 +2 A(+' +47 h ' +2 M&y& +3 h &  ? R +2 M&2% +3 h %7 k ~ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&5' +87 h ' +2 .t\Elbow.seek CC +2 M&7(ӂ +146 h ( + M&:& +4 h &x4   I + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &B& +3 h &x3   3 I +2 .t\Forearm.seek :CC + M&C'? +94 h ' + .tHand.close + M&8/ +66 h / +2 .t\CC.seek :open + C'E( +452 h ( + A(G& +4 h & T\ + A(J& +4 h & \ + M&.& +3 h &Ӯ*   Bg +2 M&F% +3 h % L    < +2 .t\Forearm.seek :retract + M&I' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +163 h ( + M&P& +4 h & \   +2 A(& +3 h & \ +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&>'u +94 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&91 +73 h 1 + M&R% +4 h % z :  +2 A(S& +3 h & \ + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 305 counts +2 M&<'Ϧ +26 h ' +2 M&?& +4 h & L  + A(H& +4 h & \ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&N'7 +13 h ' +2 A(L% +3 h % \ +3 ."downElevator"\SE.seek :down +2 A(' +99 (;% +3 h %V; \ Vb + M&@% +3 h %. +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Y' +90 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'D& +4 h &  e\ +2 M&=% +3 h %  !  +2 A(% +3 h % a\ +2 A(M. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(V(,y +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (0& +3 h &,w Y\ \ + M&O& +3 h &   +2 .t\Elbow.seek 4 + M&`( +31 h ( + M&'& +4 h &    + A(A& +4 h &,x! E\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&^' +93 h ' + A(T& +4 h &,x! K\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(c's +296 h ' + A(f- +3 h -'? +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 ([& +2 h &,x n P\  +2 M&n& +3 h &  &  + .t\Elbow.seek 4 +2 M&a( +21 h ( +2 M&\\& +4 h &   u  + A(q& +4 h &,x \  +2 .t\Forearm.seek 4 + 300 counts +2 M&'c +27 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&!/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&W& +3 A(Q' +5 h &  +2 M&K% +3 h % τ  +2 .t\Forearm.seek :retract +2 M&]' +88 h ' +2 .t\Elbow.seek CC + M&h(ӂ +159 h ( +2 M&d& +3 h &ӎ+   Co + ' +2 ."downElevator"\SE.coast + A(5 +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &u& +3 h &ӎ,  A Co + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +90 h ' +3 C'g& +3 h & Q\ +2 C'X& +3 .t\CC.seek :closed +2 C'l(\\ +2 h & g\ +3 & o\  +9 &0z o\ +z +9 &d o\ ? +10 &mu k\ O +9 &1W k\ N +10 &X m\ N +9 &Z m\ N +9 &wW q\ N +10 &9T l\ N +9 &Y s\ O +9 &W t\ N +10 & T s\ N +9 &"AW l\ N +10 &$X r\ O +9 &%X r\ N +9 &'X r\ N +10 &)JT q\ N +9 &+ W v\ N +9 &,X r\ N +10 &.X y\ O +9 &0RW q\ N +10 &2X z\ N +9 &3Y |\ N +9 &5X z\ N +10 &7YU x\ N +9 &9Y |\ O +9 &:X x\ N +10 &<X w\ N +9 &>aU {\ N +10 &@"Z {\ O +9 &A` x\ O +9 &Cd }\ P +10 &E_x |\ R +9 &G \ U +9 &H \ X +10 &J ~\ [ +9 &LO \ Z +10 &N u\ [ +9 &O v\ \\ +9 &Q y\ [ +10 &SM u\ ] +9 &U v\ ^ +9 &V {\ _ +10 &X }\ ^ +9 &ZN }\ ` +10 &[z \ A +9 &\\+ |\ + +9 &\\v |\ Y +2 ( + C'X& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 + .Hand.open +2 M&r1 +70 h 1 +2 M&p% +4 h % H    t + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&m' +93 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + P%}& +3 h &\  +2 M&% +3 h %  T  +2 A(o% +3 h % L H %\ +2 A(t. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(v(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,x \  + M& & +3 h &Ӕ*   \ Bi +2 M&% +3 h %     +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M& ( +165 h ( +2 M&s& +3 h &  h  +2 A( & +3 h &,x o p \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&b' +91 h ' + A(z& +4 h &,x Y\  +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +305 h ' + A(k- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (w& +2 h &,x o m\  +2 M&{& +4 h &  + .t\Elbow.seek 4 +2 M&i( +3 h ( + M&& +3 h &   +2 A(& +3 h &,x \  +2 .t\Forearm.seek 4 + 300 counts +2 M&j'c +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +72 h / +2 ."downElevator"\SE.seek :down +3 M& & +2 A(U' +5 h & 9  +2 M&% +3 h % P , +2 .t\Forearm.seek :retract +2 M&Z' +91 h ' +2 .t\Elbow.seek PC + M&( +167 h ' + ."downElevator"\SE.coast + A(5 +71 h ( + M&& +4 h &   , + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &~& +3 h &  f , +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&$' +102 h ' +2 P%&& +3 h &\ +2 P%& +3 .t\PC.seek :closed +2 P%((^ +3 h &\ + &\  +10 &/z\ y+{ +9 &a\ w? +9 &g{\ xQ +10 &(\\\ {Q +9 &\\\ {Q +9 &[\ {Q +10 &nY\ {Q +9 &0\\\ {Q +10 &_\ zQ +9 &Z\ {Q +9 & vY\ {Q +10 &"9Y\ {P +9 &#\\\ {Q +9 &%\\\ zQ +10 &']\ zP +9 &)AZ\ {P +10 &+Z\ {P +9 &,]\ {Q +9 &.\\\ {Q +10 &0H\\\ zQ +9 &2 \\\ {P +9 &3W\ |Q +10 &5]\ zQ +9 &7P\\\ {Q +10 &9[\ {Q +9 &:_\ zQ +9 &<\\\ {Q +10 &>X]\ {Q +9 &@^#\ zQ +9 &An\ yS +10 &Cy&\ xT +9 &EP!\ uV +10 &G\ vV +9 &H%\ vV +9 &J"\ tW +10 &LW%\ uV +9 &N!\ tX +9 &O\ uW +10 &Q"\ tX +9 &SZ\ sX +10 &U'\ sX +9 &V \ sY +9 &X'\ tX +10 &Za'\ sY +9 &\\"&\ sY +9 &]'\ v6 +10 &^5x"\ wB +8 ( +2 &^""\ ~3 + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + M&1 +74 h 1 + M&,% +4 h %      + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\ ' +93 h ' + .t\SC.coast + A(6 +3 P%e& +3 h &^"(\ ~3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&|% +3 h %    0  +2 A(% +3 h % \  +2 A(/. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(1(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&& + A(%& +4 h & \  + + .t\Elbow.reconfigure TightElbow +5 M&$&.,(\ #b +2 h &,x\ \  l\  + .t\Elbow.seek PC +41 M&4( +12 ."raiseStack"\SE.reconfigure SEplace +4 A(#]kK-0-\ b +3 h ( + M&& +3 h & \  + +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +3 M&-& A(6's +6 h &  \  + +2 .t\Forearm.seek :PC +2 M&y' +93 h ' + .tHand.close + M&2/ +76 h / +2 .t\PC.seek :open + P%)( +94 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +47 h ' +306 ( +2 A( & +3 h &,x \ {  +2 M&x& +3 h &  " + +2 M&3% +3 h %     J +2 .t\Forearm.seek :retract + M&:' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&B( +246 h ( + M&"& +4 h &  O +2 A(& +3 h &,x! \ y  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 4 + 450 counts + M&8' +97 h ' + .tHand.open + M&51 +73 h 1 + A(*- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(G' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(J' +57 h ' + #tLights, camera, ACTION! +2 A(.- +3 h -' + A(F& +3 h &,x N H\ [  +2 M&P& +3 h &    O +2 .t\Elbow.seek 4 + M&( +3 h ( + M&C& +3 h &   O +2 A(7& +3 h &,x N d\ Z  +2 .t\Forearm.seek 4 + 450 counts +2 M&9' +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(R' +49 h ' +2 M&S& +3 h &   ) O +2 A(?& +3 h &,x G\ y  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 +2 M&H'7 +15 h ' + .t\Elbow.hold +2 M&L, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(I' +30 h ' +2 M&;% +4 h %g   ; R + A(@& +3 h &,x S\ y  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 348 counts +2 M&'ϓ +22 h ' +2 M&>& +4 h &  O + A(D& +4 h &,x ]\ {  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&<' +15 h ' +2 A(=% +4 h % \ { +2 ."downElevator"\SE.seek :down +2 A(' +99 (M% +3 h %A ,\ wXk + M&+% +4 h %  \  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&N' +89 h ' +71 ' + ."downElevator"\SE.coast +2 A(5 +2 .t\SC.coast + A(6 +2 C'& +3 h &\\s W\ Y +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&#% +3 h %   \ )  +2 A(0% +3 h % o p *\ +2 A(O. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A('(,y + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (A& +3 h &,x b k \  + M&T& +3 h &  Z O +2 .t\Elbow.seek 4 +2 M&( +3 h ( + M&Y& +3 h &  O +2 A(f& +3 h &,x k c {\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&[' +96 h ' +2 A(n& +3 h &,x t \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(\\'s +301 h ' + A(q- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&!& +2 h &  c O +2 A(W& +3 h &,x ] k ^\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 +2 M&K'7 +14 h ' + .t\Elbow.hold +2 M&`, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(^- +2 h -' +2 .t\SE.seek 0.18 +2 A(d' +31 h ' + M&u% +4 h %a   + W + A(c& +4 h &,x K ^ \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 342 counts + M&'ύ +21 h ' +2 M&g& +3 h &  % O +2 A(a& +3 h &,x a c [\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&Q' +12 h ' +2 .t\SE.seek 1.18 + A(]' +39 h ' +2 M&E& +3 h &  O +2 M&r% +3 h %  u +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&p' +90 h ' +2 .t\Elbow.seek CC +2 M&}(ӂ +152 h ( + M&& +4 h &ӏ)   Ae + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &o& +3 h &ӏ)  ; Ae +2 .t\Forearm.seek :CC + M&t'? +95 h ' +2 .tHand.close + M&X/ +72 h / +2 .t\CC.seek :open + C'( +452 h ( + A( & +4 h &,x !\  + A(& +3 h &,x ;\  +2 M&& +3 h &ӝ'    @W + M&s% +4 h % =     + .t\Forearm.seek :retract +2 M& ' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&V( +162 h ( + M&z& +4 h & |  +2 A(h& +3 h &,x \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 4 +2 M&m'7 +95 h ' + .t\Elbow.hold +2 M&k, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&w1 +63 h 1 + M&{% +4 h % R 1 + A(& +4 h &,x \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 327 counts + M&'~ +24 h ' +2 M&& +4 h &  + A( & +4 h &,x \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +12 h ' +2 A( % +3 h % )\ +3 ."downElevator"\SE.seek :down +2 A(b' +99 (% +3 h %v; -\ Wd + M&j% +3 h % C +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp +2 C'~& +3 h & ~ c\ +2 M&i% +3 h %  0  +2 A(&% +3 h % d\ +2 A(U. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(Z(<- +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (_& +3 h &<* <\  +2 M&& +3 h &  P  + .t\Elbow.seek 5 +2 M&,( +7 h ( + M&e& +4 h &  \ ]  + A(|& +3 h &<* I\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +92 h ' + A(& +4 h &<* C\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(/'s +297 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (%& +2 h &<* \  +2 M&& +3 h &  + .t\Elbow.seek 5 +2 M&-( +2 h ( +2 M&$& +3 h & ?  + A(v& +3 h &<* \  +2 .t\Forearm.seek 5 + 300 counts +2 M&2'Ϲ +20 h ' + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .tHand.close + M&/ +68 h / +2 ."downElevator"\SE.seek :down +3 M&& +5 A(\ ' +3 h &   + M&(% +3 h % Ϸ +2 .t\Forearm.seek :retract +2 M&6' +90 h ' +2 .t\Elbow.seek CC + M& (ӂ +154 h ( + M&x& +4 h &|-   Dw + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' + M&3& +3 ."downElevator"\SE.coast +2 A(5 +2 h &|-   Dw +40 .t\Forearm.reconfigure TightForearm +11 M&#Q@2^d^\ b + .t\Forearm.seek :CC +2 M&y'? +94 h ' +3 C'"& +3 h & S\ +2 C'& +3 .t\CC.seek :closed +2 C'4(\\ +3 h & p\ +2 & g\  +9 &/y q\ +{ +9 &d  o\ ? +10 &rt r\ O +9 &7S k\ N +9 &Y p\ N +10 &W p\ N +9 &~U r\ M +10 &?U ~s\ N +9 &Y q\ N +9 &Y s\ N +10 & U p\ M +9 &"GV o\ N +9 &$\ U q\ M +10 &%W l\ N +9 &'U g\ N +10 &)OU o\ N +9 &+T p\ N +9 &,W o\ N +10 &.Z q\ N +9 &0XV r\ M +9 &2V q\ N +10 &3U p\ N +9 &5V p\ N +10 &7^Z q\ N +9 &9 W f\ N +9 &:W o\ N +10 &<U p\ N +9 &>gW q\ N +9 &@)W p\ N +10 &A] o\ O +9 &Cj l\ P +10 &E` q\ S +9 &G p\ V +9 &H p\ Y +10 &J q\ [ +9 &LP q\ [\ +9 &N p\ [ +10 &O p\ ] +9 &Q p\ \\ +10 &SR o\ ] +9 &U p\ ] +9 &V q\ _ +10 &X p\ _ +9 &ZQ k\ ` +9 &[| q\ ? +10 &\\* q\ ){ +9 &\\ p\ ^ +2 ( + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.37 + .Hand.open +2 M&51 +73 h 1 +6 M&*% +4 h % B \   i + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&.' +88 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + P%F& +4 h &\ } + M&P% +3 h %    +2 A(C% +3 h %\ \  `\ ~ +2 A(7. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(:(<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (S& +2 h &<* +\ | +2 M&?& +3 h &ӏ(   = Ad + M&;% +3 h %    )  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&@( +163 h ( + M&& +4 h &    +2 A(>& +3 h &<* ` ` \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&D'O +90 h ' +2 A(G& +3 h &<* l e T\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(='s +301 h ' + A(B- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (8& +2 h &<* \  :\  +2 M&J& +3 h & !  +2 .t\Elbow.seek 5 + M&M( +3 h ( + M&+& +3 h &   +2 A(9& +3 h &<* f b \  +2 .t\Forearm.seek 5 + 300 counts +2 M&'Ϲ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&R/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&H& +2 A(' +6 h & 3  + M&% +3 h % Ϲ  +2 .t\Forearm.seek :retract +2 M&#' +91 h ' +2 .t\Elbow.seek PC + M&0( +167 h ' + ."downElevator"\SE.coast + A(5 +71 h ( + M&O& +4 h &   + + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &I& +3 h &  X + +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&A' +100 h ' +2 P%T& +3 h &\ +2 P%Y& +3 .t\PC.seek :closed +2 P%f(^ +3 h &\ +3 &\ \ +10 &-u\ v+z +9 &`\ t? +9 &[z\ uP +10 &Y\ yQ +9 &Y\ yQ +9 &\\\ xQ +10 &bZ\ xP +9 &$Z\ xP +10 &[\ xQ +9 &Z\ xP +9 & iW\ yQ +10 &",V\ yP +9 &#Y\ xQ +9 &%Y\ yQ +10 &'qW\ yQ +9 &)4W\ xP +10 &*Z\ xP +9 &,Z\ yP +9 &.zY\ xP +10 &0:]\ wQ +9 &1W\ yQ +9 &3Z\ xP +10 &5W\ yQ +9 &7DY\ xP +10 &9[\ xQ +9 &:]\ xQ +9 &<Z\ xQ +10 &>K[\ xQ +9 &@ \\\ xQ +9 &Ac\ wR +10 &Cn\ vS +9 &EG\ tU +10 &G\ rW +9 &H\ sW +9 &J\ qW +10 &LH\ rW +9 &N \ qX +9 &O\ qX +10 &Q\ qY +9 &SL\ qY +10 &U \ pY +9 &V\ pY +9 &X\ qX +10 &ZS\ oY +9 &\\\ pY +9 &]\ s9 +10 &^+p\ v#e +9 &^-\ {7 +2 ( + P%Y& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + M&<1 +73 h 1 + M&n% +4 h %    &  + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +3 P%1& +3 h &^.\ \ {7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + M&L% +3 h %      +2 A(N% +3 h % \ | +2 A(q. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 5 + A(!(<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (W& + M&^& +4 h &<* K\ { +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &   & + +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&u( +2 ."raiseStack"\SE.seek beamBreak +3 h ( +2 A(c's +3 M&g& +3 h &   + + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &a& +3 h &   6 + + .t\Forearm.seek :PC +2 M&E' +92 h ' + .tHand.close +2 M&r/ +75 h / +2 .t\PC.seek :open +2 P%[( +85 h ' + A(- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(\\'1 +46 h ' +312 ( + A(K& +4 h &<* V b o\  + M&& +3 h &  L + +2 M&d% +3 h %   ? +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&o( +245 h ( + M&Q& +4 h &  t D + A(`& +3 h &<* \  \\\ ~ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&X'O +95 h ' + .tHand.open + M&p1 +68 h 1 + A(l- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A( ' +28 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +52 h ' +2 #tLights, camera, ACTION! +2 A(- +3 h -' + A(s& +3 h &<* / / J\ ] +2 M&z& +3 h & \  D +2 .t\Elbow.seek 5 + M&h( +3 h ( +2 M&t& +3 h &   D +2 A(}& +3 h &<* - - r\ ] +2 .t\Forearm.seek 5 + 450 counts +2 M&w'O +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A({' +51 h ' +2 M&& +3 h &   D +2 A(& +3 h &<* \  #\ ~ + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 +2 M& '΍ +14 h ' + .t\Elbow.hold +2 M& , +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A( ' +19 h ' +2 M&% +4 h %Ψ   C + A(j& +3 h &<*\  ?\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 327 counts +2 M&V' +13 h ' +2 M&m& +4 h &  q C + A(~& +4 h &<* G G .\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&i'O +15 h ' +2 A(% +4 h % Z k $\ +2 ."downElevator"\SE.seek :down +2 A(&' +99 (U% +3 h %XG \ {Xj + M&]% +4 h %= + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&' +88 h ' +70 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'b& +3 h &\\ p\ ^ +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&'% +4 h %   !  + A(_% +3 h % f a Z\ +2 A(. +2 h . +41 .t\SC.reconfigure SCtight +10 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(e(<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (|& +3 h &<* Z T\  +2 M&& +3 h &   C +2 .t\Elbow.seek 5 + M&k( +3 h ( +2 M&& +3 h &  * C +2 A(& +3 h &<* F G \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&%'O +92 h ' +2 A(& +3 h &<* o p *\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A($'s +295 h ' +2 A(v- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h &   C +2 A(& +3 h &<*\ \ \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 +2 M&('΍ +18 h ' + .t\Elbow.hold +2 M&,, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.16 +2 A(x'j +29 h ' + M&3% +4 h %Ν   2 +2 A(/& +3 h &<*\  d\ ~ + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 316 counts + M&2' +21 h ' +2 M&-& +3 h &  9 C +2 A("& +3 h &<* M\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&\ 'O +15 h ' +2 .t\SE.seek 1.16 +2 A(6' +35 h ' +2 M&& +3 h & S C +2 M&5% +3 h %K +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&*' +89 h ' +2 .t\Elbow.seek CC +2 M&F(ӂ +160 h ( + M&P& +4 h &ӄ   ( 7 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &C& +3 h &ӄ \  7 +2 .t\Forearm.seek :CC + M&'? +92 h ' + .tHand.close + M&7/ +68 h / +2 .t\CC.seek :open + C'S( +451 h ( +2 A(?& +4 h &<* E\  + A(;& +4 h &<* B\  + M&y& +3 h &ӄ   7 +2 M&% +3 h % Q    g +2 .t\Forearm.seek :retract + M&>' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&Z( +162 h ( + M&G& +4 h &  K q +2 A( & +3 h &<* \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&.'΍ +97 h ' + .t\Elbow.hold +2 M&B, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&81 +62 h 1 + M&J% +4 h % Ά T 0 +2 A(+& +3 h &<* 6\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 293 counts +2 M&9'ϲ +26 h ' +2 M&R& +3 h & : m +2 A(H& +3 h &<* \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +29 h ' +2 A(@% +3 h % Y\ +3 ."downElevator"\SE.seek :down +2 A(D' +99 (=% +3 h %=8 O\ Wd + M&% +3 h %Q 3 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&O' +88 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 6 of [2..7] +2 #Loading generic puck from tube 6 into Collection Clamp + C'I& +4 h &  Q\ + M&M% +3 h %   +2 A(T% +3 h % \ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(#(K +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ()& +3 h &K Z\  + M&<& +4 h & | m + .t\Elbow.seek 6 +2 M&n( +8 h ( + M&1& +4 h & | p + A(L& +4 h &K \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&N' +99 h ' +2 A(q& +3 h &K <\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(Y's +298 h ' + A(W- +3 h -'# +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (^& +2 h &K { \  +2 M&g& +3 h &  8 p + .t\Elbow.seek 6 +2 M&a( +3 h ( + M&A& +3 h &  7 p + A(r& +4 h &K \  + .t\Forearm.seek 6 + 300 counts +2 M&:'h +35 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +77 h / +2 ."downElevator"\SE.seek :down +3 M&0& +2 A(' +6 h & ^ p +2 M&f% +3 h % m - +2 .t\Forearm.seek :retract +2 M&c' +90 h ' +2 .t\Elbow.seek CC + M&K(ӂ +163 h ' + ( +3 ."downElevator"\SE.coast + A(5 +2 M&& +6 h &ӛ#   <9 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &d& +2 h &ӛ#   2 <9 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&E'? +92 h ' +2 C'Q& +3 h & P\ +2 C'`& +3 .t\CC.seek :closed +2 C'u(\\ +2 h & o\ +3 & ~l\  +9 &0z l\ +z +9 &c} o\ > +10 &os l\ N +9 &2V o\ N +9 &Y q\ M +10 &W o\ M +9 &yU m\ M +10 &;V n\ M +9 &[ p\ N +9 &T l\ N +10 & S p\ M +9 &"CV n\ M +9 &$V k\ M +10 &%U n\ N +9 &'T h\ M +10 &)KU f\ M +9 &+ T h\ N +9 &,T o\ M +10 &.W n\ M +9 &0RU j\ N +9 &2T g\ N +10 &3Z g\ N +9 &5Y c\ N +10 &7ZZ k\ N +9 &9Y d\ N +9 &:Z i\ N +10 &<X e\ N +9 &>cW g\ M +9 &@%W d\ M +10 &A\\ h\ N +9 &Cd m\ O +10 &E`s j\ Q +9 &G j\ T +9 &H j\ X +10 &J e\ Z +9 &LO k\ Z +9 &N k\ Z +10 &O d\ [\ +9 &Q d\ [\ +10 &SP e\ \\ +9 &U h\ ] +9 &V k\ ] +10 &X d\ ^ +9 &ZO l\ _ +9 &[{ j\ A +10 &\\' i\ / +9 &\\r h\ W +2 ( + C'`& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.26 + .Hand.open + M&p1 +75 h 1 +3 M&l% +7 h % 5  ( O +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +94 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + P%s& +4 h &\ + M&z% +4 h %    + A(t% +3 h % S H /\ +2 A(}. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A((K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K ] \  + M&& +3 h &Ӝ"  ;8 +2 M&% +3 h %     + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&j( +163 h ( + M&m& +4 h &    + A(~& +4 h &K( G\ {  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&\\' +97 h ' + A(& +4 h &K(\ \  H\ ~  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A( 's +295 h ' + A(o- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (X& +2 h &K' \ y  +2 M&U& +3 h &   :  + .t\Elbow.seek 6 +2 M&]( +3 h ( + M&& +3 h &  K  +2 A(w& +3 h &K( F\ z  +2 .t\Forearm.seek 6 + 300 counts + M&h'h +42 h ' +10 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&{/ +65 h / +2 ."downElevator"\SE.seek :down +3 M& & +3 A(b' +5 h & k  +2 M&V% +3 h % ρ +2 .t\Forearm.seek :retract +2 M&'' +95 h ' +2 .t\Elbow.seek PC + M&_( +164 h ' + ."downElevator"\SE.coast + A(5 +76 h ( +2 M&& +4 h &   & + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &  S & + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&|' +90 h ' +2 P%& +3 h &\ } +2 P%& +3 .t\PC.seek :closed +2 P%(^ +2 h &\ | +3 &\ } +10 &/y\ r+z +10 &a\ p? +9 &cy\ qP +10 &#Y\ tQ +9 &Y\ uQ +9 &X\ uP +10 &iY\ uQ +9 &+]\ tQ +9 &W\ uQ +10 &Y\ uQ +9 & q[\ tQ +10 &"3X\ uQ +9 &#W\ tQ +9 &%U\ uQ +10 &'yV\ uQ +9 &);W\ uQ +9 &*W\ uQ +10 &,W\ uQ +9 &.W\ uQ +10 &0DY\ uP +9 &2W \ tP +9 &3Z\ tQ +10 &5[\ tP +9 &7LX\ tP +9 &9 \\\ tQ +10 &:Y\ tQ +9 &<Y\ tP +10 &>S[\ tQ +9 &@[\ tQ +9 &Ag\ sR +10 &Cs\ qS +9 &EM\ oV +9 &G \ nW +10 &H\ nW +9 &J \ nX +10 &LP\ oW +9 &N\ mX +9 &O\ nX +10 &Q\ lY +9 &ST\ lY +9 &U\ mX +10 &V\ \ lY +9 &X\ \ mX +10 &Z\\\ mX +9 &\\\ lY +9 &]\ o7 +10 &^6|\ qH +8 ( +2 &^& \ x4 + P%& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + M&i1 +76 h 1 + M&% +4 h %   ) g +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&&' +91 h ' + .t\SC.coast + A(6 +3 P%!& +3 h &^'\ |4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M& % +3 h %    =  +2 A(% +3 h %\ \ +\ ~ + A(v. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&& +4 h &K\ \  \\\ ~ +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &   m & +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&3( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + A(/'s +2 M&-& +5 h &   6 & + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &"& +3 h & & + .t\Forearm.seek :PC +2 M&' +94 h ' + .tHand.close +2 M&5/ +66 h / +2 .t\PC.seek :open +2 P%%( +91 h ' + A(k- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A($'1 +43 h ' +315 ( +2 A((& +3 h &K m q h\  +2 M&2& +3 h &   D & + M&x% +3 h %  A +2 .t\Forearm.seek :retract +2 M&P' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&C( +245 h ( + M&\ & +4 h &  9 ; + A(,& +4 h &K ` a R\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&7' +100 h ' + .tHand.open + M&*1 +68 h 1 + A(4- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(?' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(;' +54 h ' +2 #tLights, camera, ACTION! + A(y- +3 h -' +2 A(& +3 h &K g 8\ a + M&G& +3 h &   3 ; +2 .t\Elbow.seek 6 +2 M& ( +3 h ( + M&& +3 h &   ; +2 A(F& +3 h &K - - x\ a +2 .t\Forearm.seek 6 + 450 counts +2 M&8' +17 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(J' +57 h ' +2 M&+& +3 h & y ; +2 A(R& +3 h &K n q \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 +2 M&H'< +21 h ' + .t\Elbow.hold +2 M&@, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(>' +19 h ' +2 M&=% +4 h %X   \  +2 A(& +3 h &K \  \  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 328 counts +2 M&Z'τ +23 h ' +2 M&.& +4 h & , 9 + A(9& +3 h &K j c z\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts + M&I' +16 h ' +2 A(M% +4 h % n d E\ +2 ."downElevator"\SE.seek :down +2 A(T' +99 (% +3 h %&F\ \  6\ }Yl + M&6% +4 h %   { + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +7 E8\ WT +80 h ' +73 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'D& +4 h &\\s d\ W + #t\Storing generic puck in Collection Clamp to tube 6 + M&e% +4 h %   n  + A()% +3 h % d j h\ +2 A(<. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(1(K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (L& +2 h &K o q 4\  +2 M&q& +3 h &  \  8 +2 .t\Elbow.seek 6 + M&B( +3 h ( + M&O& +3 h &  N 8 +2 A(W& +3 h &K n p\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&^' +92 h ' +2 A(g& +3 h &K v '\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(A's +299 h ' + A(r- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&& +2 h &  j 8 +2 A(0& +3 h &K n q \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 +2 M&f'< +15 h ' + .t\Elbow.hold +2 M&n, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(N- +2 h -' +2 .t\SE.seek 0.17 + A('t +29 h ' + M&d% +4 h %d N J + A(Y& +4 h &K W K G\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 340 counts + M&:'ϐ +22 h ' +2 M&Q& +3 h &   8 +2 A(a& +3 h &K p 3\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +14 h ' +2 .t\SE.seek 1.17 + A(c' +39 h ' +2 M&S& +3 h &  8 +2 M&p% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&l' +90 h ' +2 .t\Elbow.seek CC + M&s(ӂ +155 h ( + M&`& +4 h &Ӎ)   Ae + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &z& +3 h &ӎ)   + Ad + .t\Forearm.seek :CC +2 M&t'? +94 h ' + .tHand.close + M&}/ +69 h / +2 .t\CC.seek :open + C'( +452 h ( +3 A(& +3 h &K "\  +2 A(& +3 h &K \  + M&E& +3 h &ӫ$  & =G +2 M&m% +49 h % < % 2 +4 .t\Forearm.seek :retract + M&~' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&#( +168 h ( + M&& +4 h &  B +2 A(K& +3 h &K \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&'< +94 h ' + .t\Elbow.hold +2 M&o, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&X1 +57 h 1 +3 M&U% +3 h % S  b 2 +2 A(& +3 h &K \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 323 counts +2 M&w' +26 h ' +2 M&{& +3 h & u  +2 A( & +3 h &K \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&V' +13 h ' +2 A(j% +3 h % .\ +3 ."downElevator"\SE.seek :down +2 A(\\' +99 ( % +3 h %; K\ Wd + M&h% +3 h % - +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' +67 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp + C' & +4 h & ~ b\ +2 M&]% +3 h %  d  +2 A(% +3 h % \ +2 A(b. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A('([ +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ([& +3 h &[) S\  +2 M&i& +3 h &  1  + .t\Elbow.seek 7 +2 M&(r +12 h ( + M&!& +4 h &n  +  + A( & +3 h &[) G\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +97 h ' + A(& +4 h &[( \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(v's +297 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &[( h o &\  +2 M&-& +3 h &n u  + .t\Elbow.seek 7 +2 M&"(r +3 h ( + M&|& +3 h &n W  +2 A(5& +3 h &[( \  +2 .t\Forearm.seek 7 + 300 counts + M&'ϧ +21 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&k/ +65 h / +2 ."downElevator"\SE.seek :down +3 M&_& +2 A(&' +6 h &n  +2 M&% +3 h % ϳ +2 .t\Forearm.seek :retract +2 M&/' +88 h ' +2 .t\Elbow.seek CC + M&((ӂ +163 h ' + ."downElevator"\SE.coast + A(5 +42 h ( + M&2& +4 h &ә$    =A + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &x& +2 h &ә$   =A +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&'? +102 h ' +3 C'\ & +3 h &  ~^\ +2 C',& +3 .t\CC.seek :closed +2 C'3(\\ +2 h & ~ <\ +4 & \\\  +9 &/y  ~^\ +{ +10 &d ~ ~_\ ? +9 &ts  a\ O +10 &8U e\ N +9 &W d\ M +9 &W g\ N +10 &X |]\ M +9 &AT [\ M +9 &Z d\ N +10 &T f\ N +9 & S g\ N +10 &"HS h\ N +9 &$\ S ~ [\ N +9 &%T ^\ N +10 &'T ^\ M +9 &)PU b\ N +9 &+Y _\ M +10 &,V ~ ]\ M +9 &.V Y\ M +10 &0WY `\ N +9 &2S Z\ N +9 &3Y a\ N +10 &5Y ]\ N +9 &7`Z ~e\ N +9 &9"U b\ N +10 &:T `\ N +9 &<U  Z\ N +10 &>hU ^\ N +9 &@+U ]\ M +9 &AZ _\ N +10 &Ca ]\ O +9 &Egp `\ Q +9 &G! _\ T +10 &H `\ W +9 &J [\ Z +10 &LS `\ Z +9 &N a\ [ +9 &O f\ \\ +10 &Q _\ [ +9 &SP Z\ ^ +9 &U ^\ ] +10 &V ^\ ^ +9 &X [\ _ +10 &ZV ]\ _ +9 &[{ ^\ > +9 &\\/ a\ &t +10 &\\y `\ U +2 ( + C',& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 +2 .Hand.open + M&*1 +65 h 1 +2 M&4% +4 h % A   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&y' +91 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + P%& +3 h &\ ~ +2 M&G% +3 h %    &  +2 A(% +3 h %\ \  -\  + A(F. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(P([ +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (+& +3 h &[\ \  8\ ~ +2 M&R& +3 h &Ӛ&   <@ + M&=% +4 h %    #  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&(r +160 h ( + M&$& +4 h &s  O  +2 A(.& +3 h &[ n m S\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&9'= +94 h ' + A(?& +4 h &[ &\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(M's +297 h ' + A(C- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (7& +2 h &[ r @\  +2 M&;& +3 h &s   + .t\Elbow.seek 7 +2 M&(r +3 h ( + M&6& +3 h &s  x  +2 A(8& +3 h &[ c k \  +2 .t\Forearm.seek 7 + 300 counts + M& 'ϧ +19 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&J/ +66 h / +2 ."downElevator"\SE.seek :down +3 M&H& +3 A(Z' +5 h &s ]  +2 M&D% +3 h % ϟ ! +2 .t\Forearm.seek :retract +2 M&e' +88 h ' +2 .t\Elbow.seek PC + M&)( +170 h ' + ."downElevator"\SE.coast + A(5 +69 h ( + M&<& +4 h &   &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &>& +3 h &    + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b + .t\Forearm.seek :PC +2 M&L' +96 h ' +2 P%q& +3 h &\ +2 P%O& +3 .t\PC.seek :closed + P%W(^ +3 h &\ +3 & \  +10 &-v\ x+{ +9 &a\ v? +10 &]y\ wP +9 &Y\ zQ +9 &[\ yQ +10 &[\ zP +9 &dY\ zP +9 &%X\ {Q +10 &X\ zP +9 &X\ zP +10 & lZ \ zP +9 &".U\ {P +9 &#[\ zP +10 &%Y\ zP +9 &'sY\ {Q +9 &)5Y\ \ zQ +10 &*Y\ zQ +9 &,Z \ zQ +10 &.|Z\ \ zP +9 &0=\\\ zQ +9 &2Y\ {P +10 &3U \ {P +9 &5W\ {P +9 &7FW\ zP +10 &9X\ zQ +9 &:[ \ zQ +10 &<W\ zQ +9 &>M^\ zQ +9 &@b\ yQ +10 &Al\ xR +9 &Cv \ wT +9 &EG\ uV +10 &G\ tW +9 &H\ tV +10 &J\ tV +9 &LK\ tW +9 &N \ sX +10 &O \ sX +9 &Q\ \ sX +9 &SP \ sX +10 &U\ rX +9 &V \ rX +10 &X\ sX +9 &ZX \ sX +9 &\\\ qY +10 &]\ u7 +9 &^6{\ wE +9 ( + P%O& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + M&I1 +3 h &^" \ ~2 +65 1 + M&g% +4 h %    $ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&T' +88 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^"\ ~2 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 M&@% +3 h %   +2 A(% +3 h %\ \  R\  + A(r. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(([ +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&0& + A(N& +4 h & \   +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h &[\ \  K\ ~ +2 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.seek PC +2 A(#]kK-0-\ b +2 M&d( +5 h ( + M&Y& +3 h &    +50 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +2 M&a& + A(Q's +6 h &     +2 .t\Forearm.seek :PC +2 M&S' +91 h ' + .tHand.close +2 M&p/ +66 h / +2 .t\PC.seek :open +2 P%^( +107 h ' + A(B- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(A'1 +53 h ' +289 ( +2 A(f& +3 h &[ o p \  +2 M&:& +3 h &   C  + M&% +3 h % "  % f +2 .t\Forearm.seek :retract +2 M&`' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&z(r +246 h ( + M&& +4 h &~   ] +2 A(n& +3 h &[\ \  5\ ~ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&}'= +97 h ' + .tHand.open + M&l1 +69 h 1 +2 A(u- +2 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(' +54 h ' +2 #tLights, camera, ACTION! +2 A(E- +3 h -' + A(m& +4 h &[ - J \ a + M&& +3 h &~  ` ] +2 .t\Elbow.seek 7 + M&K(r +12 h ( +2 M&t& +3 h &     +2 A(s& +3 h &[ 0  [\ ` +2 .t\Forearm.seek 7 + 450 counts +2 M&X'= +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(U' +56 h ' +2 M&& +3 h &  p  +2 A({& +3 h &[ b j 9\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M& '{ +13 h ' + .t\Elbow.hold +2 M&j, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(~' +19 h ' +2 M& % +4 h %Η   ? ? + A(h& +3 h &[ G F \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 328 counts + M&#' +19 h ' +2 M&& +4 h &   Y  + A( & +4 h &[ a a d\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&w'= +15 h ' +2 A(]% +4 h % n q \ +2 ."downElevator"\SE.seek :down +2 A(' +99 (b% +3 h %E\ \  %\ ~Xk + M&c% +4 h %F  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&V' +90 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'\\& +4 h &\\x \\\ U + #t\Storing generic puck in Collection Clamp to tube 7 + M&1% +4 h %   !  + A([% +3 h % p o \ +2 A(i. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(!([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &[ f d \  +2 M&& +3 h & \ \   + .t\Elbow.seek 7 +2 M&o(r +10 h ( +2 M&& +3 h &   +2 A(& +3 h &[ d ` R\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +93 h ' +2 A(-& +3 h &[ v !\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(|'s +295 h ' + A(5- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&k& +2 h &   +2 A(_& +4 h &[ { \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&'{ +14 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.17 +2 A(v'v +31 h ' + M&2% +4 h %Υ R + A(& +4 h &[ g X \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 342 counts + M&x' +15 h ' +2 M&"& +3 h &   +2 A(\ & +3 h &[ ` a ^\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&&'= +16 h ' +2 .t\SE.seek 1.17 + A(/' +41 h ' +2 M&& +3 h & I  +2 M&*% +3 h %" : +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&4' +87 h ' +2 .t\Elbow.seek CC +2 M&(ӂ +155 h ( + M&G& +4 h &ә$  $ =C + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ә$   =C +2 .t\Forearm.seek :CC + M&F'? +95 h ' +2 .tHand.close + M&,/ +69 h / +2 .t\CC.seek :open + C'+( +451 h ( + A(R& +4 h &[ 2\  + A(=& +4 h &[ E\  + M&& +3 h &Ӛ(   =B +2 M&$% +3 h % [   ? } + .t\Forearm.seek :retract +2 M&.' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&'(r +163 h ( +2 M&?& +3 h &o  Q  +2 A((& +3 h &[ \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 7 +2 M&y'{ +94 h ' + .t\Elbow.hold +2 M&C, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&71 +63 h 1 + M&;% +4 h % Β B . + A(6& +4 h &[ \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 323 counts + M&8'Ͼ +18 h ' +2 M&J& +4 h &s c  + A(H& +4 h &[ \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&D'= +15 h ' +2 A(% +3 h % \ +3 ."downElevator"\SE.seek :down +2 A(9' +99 (M% +3 h %g< 4\ Wf + M& % +3 h %? \ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&<' +87 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +49120 E8\ 42 +60003 i\ 41 +60003 Q\ 52 +318 #t-> 5.times {shuffle 2..7; delay 10} +2 #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp + C'>& +3 h & /\ +2 M&% +4 h %   + A(q% +3 h % 3\ +2 A(Z. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(e(  +1605 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (%& +3 h &  h\ + M&O& +3 h &s 2  +2 .t\Elbow.seek 2 +2 M&I( +39 h ( + M&g& +4 h & N  + A(& +4 h &  J\ + .t\Forearm.reconfigure TightForearm +49 M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts +2 M&@'S +99 h ' +2 A(& +3 h & \ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(r's +291 h ' +2 A(0- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (N& +3 h &  P\ + M&Y& +3 h & k  +2 .t\Elbow.seek 2 +2 M&a( +3 h ( + M&L& +3 h &  b  +2 A(p& +3 h &  y\ +2 .t\Forearm.seek 2 + 300 counts +2 M&P'Ͻ +11 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&)/ +66 h / +2 ."downElevator"\SE.seek :down +3 M&B& +3 A(T' +5 h & M  +2 M&W% +3 h % ϸ  k +2 .t\Forearm.seek :retract +2 M&Q' +89 h ' +2 .t\Elbow.seek CC + M&f(ӂ +153 h ( +2 M&:& +3 h &{(  @^ + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 && +2 h &{' "  @^ +3 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +2 h ' +2 .t\Forearm.seek :CC +2 ."downElevator"\SE.coast + A(5 +2 M&S'? +93 h ' +2 C'& +4 h & &\ +2 C'n& +3 .t\CC.seek :closed +2 C'd(\\ +3 h & \ \ +3 & &\  +9 &/| .\ +{ +9 &c /\ ? +10 &kx /\ O +9 &-X .\ O +10 &U /\ N +9 &[ /\ N +9 &tU '\ O +10 &7Z '\ N +9 &_ &\ O +9 &U %\ N +10 & }W &\ N +9 &">[ !\ O +9 &$[ \ N +10 &%X $\ O +9 &'Y \ O +10 &)GV \ N +9 &+ W \ N +9 &,\\ \ O +10 &.Z \ O +9 &0O[  \ N +9 &2\\ $\ O +10 &3Z !\ O +9 &5\\ \ N +10 &7U] \ O +9 &9W \ N +9 &:Y !\ N +10 &<Y \ N +9 &>]] \ O +9 &@!W \ N +10 &A] \ O +9 &Cc #\ P +10 &E^s \ Q +9 &G $\ T +9 &H \ X +10 &J \ Z +9 &LM \ Z +10 &N \ [ +9 &O \ [\ +9 &Q \ [ +10 &SP \ \\ +9 &U \ \\ +9 &V "\ ] +10 &X \ ^ +9 &ZP \ ^ +9 &[y \ B +10 &\\/ \ %o +9 &\\x \ R +2 ( + C'n& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 +2 .Hand.open + M&l1 +58 h 1 +2 M&u% +4 h % E    T + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&E' +89 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + P%m& +4 h &\ + M&% +3 h %      +2 A(t% +3 h % &\ +2 A(s. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(`(  +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  \  +2 M&{& +3 h &Ӑ%   S >I +2 M& % +3 h %  \   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&h( +165 h ( + M&A& +4 h &   X  +2 A(& +3 h &  e h\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M& 'S +90 h ' +2 A(& +3 h &  D\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(]'s +300 h ' + A(z- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (}& +2 h &  \  +2 M&& +3 h &   8  +2 .t\Elbow.seek 2 + M&b( +3 h ( + M&c& +3 h &  1  + A(X& +4 h &  \  +2 .t\Forearm.seek 2 + 300 counts + M&K'Ͻ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&U/ +77 h / +2 ."downElevator"\SE.seek :down +3 M& & +5 A(#' +3 h &    + M&\\% +3 h %  + +2 .t\Forearm.seek :retract +2 M&1' +90 h ' +2 .t\Elbow.seek PC + M&[( +170 h ' + ."downElevator"\SE.coast + A(5 +69 h ( + M&i& +4 h &  "  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &~& +3 h &  5  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M& ' +95 h ' +2 P%& +3 h &\ +2 P%& +3 .t\PC.seek :closed +2 P%(^ +2 h &\ +3 &\  +9 &-u\ +{ +10 &a\ {? +9 &S{\ |Q +9 &Y\ Q +10 &[\ Q +9 &\\\ P +9 &Z\\\ Q +10 &_\ Q +9 &]\ Q +9 &]\ Q +10 & a\\\ Q +9 &"%Z\ P +10 &#_\ Q +9 &%]\ Q +9 &'k]\ P +10 &)-]\ P +9 &*\\\ P +9 &,_\ Q +10 &.r_\ Q +9 &05]\ P +10 &1\\\ P +9 &3[\ P +9 &5z_\ Q +10 &7<`\ Q +9 &8a\ Q +10 &:b\ Q +9 &<\\\ Q +9 &>C_\ Q +10 &@_\ Q +9 &Ak\ R +9 &Cv\ }S +10 &E?\ {U +9 &F \ zV +9 &H \ zW +10 &J~ \ zX +9 &LB \ zW +10 &N \ yX +9 &O\ zX +9 &Q \ xY +10 &SF\ yX +9 &U  \ yX +10 &V\ xX +9 &X \ wY +9 &ZN \ xX +10 &\\ \ wY +9 &] \ z< +9 &^/ \ { ` +10 &^6\ 7 + ( +2 P%& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open +2 M&w1 +55 h 1 + M&-% +4 h %   R $ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +94 h ' + .t\SC.coast + A(6 +3 P%& +3 h &^3\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&j% +3 h %    Z ! +2 A(V% +3 h % q o\ + A(5. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(k(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +4 (_& +4 M&& +9 h &  ` k A\  + &    +2 .t\Elbow.reconfigure TightElbow +2 ."raiseStack"\SE.reconfigure SEplace +3 M&$&.,(\ #b +3 .t\Elbow.seek PC +3 A(#]kK-0-\ b + M&2( +5 h ( + M&& +4 h &   k  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +3 A(\ 's + M&"& +5 h &   M  +2 .t\Forearm.seek :PC + M&' +89 h ' +2 .tHand.close + M&*/ +70 h / +2 .t\PC.seek :open + P%( +103 h ' + A(o- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(|'1 +38 h ' +308 ( +3 A(& +3 h &  ?\  +2 M&x& +3 h & [  + M&v% +4 h % *  L m + .t\Forearm.seek :retract +2 M&G' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +250 h ( + M&&& +4 h &   W + A(& +3 h &  H\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&,'S +94 h ' + .tHand.open + M&41 +68 h 1 + A(3- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(R' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(=' +54 h ' + #tLights, camera, ACTION! +2 A(- +3 h -' + A($& +3 h &  Q O K\ e +2 M&?& +3 h &   W +2 .t\Elbow.seek 2 + M&(( +3 h ( + M&F& +3 h &   W +2 A(& +3 h &  \\ [\ e +2 .t\Forearm.seek 2 + 450 counts +2 M&7'S +13 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(;' +57 h ' +3 M&6& +3 h & Y W +2 A(J& +3 h &  D\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 +2 M&H'Α +19 h ' + .t\Elbow.hold +2 M&, +4 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(.' +18 h ' +2 M&M% +4 h %Φ  + A( & +4 h &  \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 321 counts + M&'' +18 h ' +2 M&y& +4 h &  C + A(8& +4 h &  \ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&/'S +15 h ' +2 A(D% +4 h % Q\ +2 ."downElevator"\SE.seek :down +3 A(9' +98 (!% +3 h %jL l a T\ Zn + M&>% +4 h %< y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&' +93 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'q& +4 h &\\v \ R + #t\Storing generic puck in Collection Clamp to tube 2 + M&Z% +4 h %  u  +2 A(%% +3 h % o\ + A(O. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(g(  +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  .\  + M&& +4 h & R C + .t\Elbow.seek 2 +2 M&C( +31 h ( +2 M&<& +3 h &   >  +2 A(0& +3 h &  \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&N'S +91 h ' +2 A(Y& +3 h &  \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(L's +295 h ' + A(p- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&)& +2 h &   +2 A(B& +3 h &  \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 +2 M&W'Α +17 h ' + .t\Elbow.hold +2 M&I, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(@- +2 h -' +2 .t\SE.seek 0.16 +2 A(:'q +31 h ' + M&% +4 h %Φ b  +2 A(r& +3 h &  \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 321 counts + M&P' +17 h ' +2 M&& +3 h &  +2 A(a& +3 h &  (\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&Q'S +17 h ' +2 .t\SE.seek 1.16 +2 A(T' +45 h ' +2 M&+& +3 h & 1  +2 M&l% +3 h %P  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&u' +84 h ' +2 .t\Elbow.seek CC +2 M&m(ӂ +159 h ( + M&& +4 h &Ӗ#   * <: + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &t& +3 h &Ӗ#  # B <: +2 .t\Forearm.seek :CC + M&s'? +92 h ' + .tHand.close + M&/ +66 h / +2 .t\CC.seek :open + C'n( +451 h ( +2 A({& +3 h &  g\ z +2 A( & +3 h &  G\ z +2 M&S& +3 h &Ӗ#    <: + M&A% +3 h % K   6 ^ +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&e( +165 h ( + M&& +4 h & ,  +2 A(f& +3 h &  T\ { + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 2 + M&E'Α +94 h ' + .t\Elbow.hold +2 M&z, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&}1 +76 h 1 +2 M&% +3 h % Β q  +2 A(c& +3 h &  $\ | + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 301 counts +2 M&X'Ͼ +17 h ' +2 M&U& +4 h &  + A( & +4 h &  \ | +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&\\'S +14 h ' +2 A(h% +3 h %\ \  I\ } +3 ."downElevator"\SE.seek :down +2 A( ' +99 (]% +3 h %w; <\ zXh + M&K% +3 h %L 7 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&i' +90 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast +2 A(6 +2 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp +2 C'~& +3 h & \ +2 M&b% +3 h %   +2 A(% +3 h % \  L\ } +2 A(#. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(1( +358 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (^& +3 h & 7\ x + M&w& +3 h & Z  +2 .t\Elbow.seek 3 +2 M&-( +30 h ( + M&& +4 h &    ? + A(j& +4 h & O\ { + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&V'7 +94 h ' + A(5& +4 h & \  \ | +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +297 h ' + A(_- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h & \ y +2 M&& +3 h &  J > + .t\Elbow.seek 3 +2 M&"( +3 h ( + M& & +3 h & & > +2 A(*& +3 h & 3\ z +2 .t\Forearm.seek 3 + 300 counts +2 M&`'ϡ +44 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&o/ +73 h / +2 ."downElevator"\SE.seek :down +3 M&[& +5 A(' +3 h & A > + M&% +3 h %  +2 .t\Forearm.seek :retract +2 M&\ ' +89 h ' +2 .t\Elbow.seek CC + M&(ӂ +155 h ( + M&x& +4 h &ӏ&  = ?R + ' +2 ."downElevator"\SE.coast + A(5 +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &v& +3 h &ӏ&   ?R + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +93 h ' +2 C'&& +4 h & \ + C'& +4 .t\CC.seek :closed + C'2(\\ +3 h & \ +3 & \  +9 &/z \ +z +9 &b \ > +9 &dt \ O +10 &'V \ N +9 &T \ O +9 &U \ O +10 &lS \ O +9 &.X \ O +10 &Y \ O +9 &U \ N +9 & tX \ O +10 &"6W \ O +9 &#S \ O +9 &%Y \ N +10 &'}U \ N +9 &)>X \ O +10 &+W \ O +9 &,T  \ N +9 &.V \ \ N +10 &0FY  \ O +9 &2V \ \ O +9 &3T  \ N +10 &5V  \ N +9 &7NV \ O +10 &9U \ O +9 &:T \ N +9 &<W \ N +10 &>WX \ N +9 &@V  \ N +9 &A\\ \ O +10 &Ca \ P +9 &EVo \ Q +10 &G \ T +9 &H  \ X +9 &J \ \ [\ +10 &L@ \ \\ +9 &N \ [\ +9 &O  \ [ +10 &Q \ \\ +9 &SC \ ] +10 &U \ ^ +9 &V \ ^ +9 &X  \ _ +10 &ZE \ _ +56 &[z \ F +4 &\\$ \ +} +2 &\\ \ ] ( +2 &\\ \ ] +4 C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 +2 .Hand.open +2 M&41 +2 h &\\ \ ] + &\\ \ ] +2 !o:I2C::UnexpectedReply:bt[ "7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"I2C::Servo::Status3Reply[18:27->20] + &\\ \ ] + !o:I2C::UnexpectedReply:bt[ "7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"I2C::Servo::Status3Reply[18:27->20] +63 1 + M&3% +4 h % C   w +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + P%$& +4 h &\ p + M&?% +3 h %   3  +2 A(F% +3 h % \ q +2 A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(G( +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (6& +3 h & \ p +2 M&J& +3 h &Ӑ&   ?Q + M&M% +4 h %     + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M& ( +165 h ( +2 M&|& +3 h &    +2 A(y& +3 h & 8\ s +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&8'7 +89 h ' +2 A(R& +4 h & D\ u + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(D's +296 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (,& +2 h & \ q +2 M&=& +3 h & f  +2 .t\Elbow.seek 3 + M&!( +3 h ( +2 M&>& +3 h & \\  +2 A(7& +3 h & &\ r +2 .t\Forearm.seek 3 + 300 counts + M&('ϡ +24 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&;/ +67 h / +2 ."downElevator"\SE.seek :down +3 M&H& +3 A(q' +5 h &  H  +2 M&'% +3 h % Ͽ 3 +2 .t\Forearm.seek :retract +2 M&Z' +89 h ' +2 .t\Elbow.seek PC + M&%( +181 h ' + ."downElevator"\SE.coast + A(5 +56 h ( + M&O& +4 h &   ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &.& +2 h &  T ( +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&' +100 h ' +2 P%& +3 h &\ s +2 P%<& +3 .t\PC.seek :closed +2 P%0(^ +2 h &\ s +3 &\ s +9 &.y\ k+{ +10 &a\ i? +9 &`z\ jQ +9 &Z\ mQ +10 &\\\ lQ +9 &Z\ mQ +10 &fW\ mQ +9 &([\ lQ +9 &[\ lQ +10 &[\ mQ +9 & m[\ lQ +9 &"/X\ lQ +10 &#Z\ lQ +9 &%Y\ lQ +10 &'uZ\ mQ +9 &)7Z\ lQ +9 &*W\ mQ +10 &,]\ lQ +9 &.}Z\ lQ +9 &0?\\\ lQ +10 &2Y\ mQ +9 &3X\ lQ +10 &5Y\ lQ +9 &7HY \ mQ +9 &9 [\ lQ +10 &:Y \ lQ +9 &<\\\ lQ +9 &>N]\ lR +10 &@[\ lQ +9 &Ah \ kS +10 &Cv\ iT +9 &EI \ iV +9 &G \ hW +10 &H \ hW +9 &J\ gX +9 &LM\ \ gX +10 &N\ gX +9 &O \ gX +10 &Q \ gY +9 &SP\ fY +9 &U\ gX +10 &V\ gX +9 &X\ gX +9 &ZY\ fY +10 &\\\ fZ +9 &]\ g; +10 &^/\ iX +9 &^2\ o8 + ( +2 P%<& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + M&/1 +65 h 1 + M&Y% +4 h %     + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&9' +92 h ' +2 .t\SC.coast + A(6 +2 P%k& +4 h &^0\ o8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&% +3 h %     +2 A(% +3 h % r\ p +2 A(p. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A()( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (B& + M&@& +4 h & \ o +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  L ( +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + A(r's +3 M&& +3 h &  ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &a& +2 h &    ( +2 .t\Forearm.seek :PC +2 M&+' +93 h ' + .tHand.close +2 M&l/ +65 h / +2 .t\PC.seek :open + P%N( +96 h ' + A(C- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(L'1 +44 h ' +305 ( + A(W& +4 h & \ r +2 M&P& +3 h &  2 ( + M&:% +3 h %     A +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&t( +244 h ( + M&Q& +4 h &  E +2 A(I& +3 h &  6\ p + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +96 h ' + .tHand.open + M&u1 +67 h 1 +2 A(d- +3 h -'1 + .t\SE.seek -0.26 Pucks below Top Plate +2 A({' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A( ' +54 h ' + #tLights, camera, ACTION! +2 A(S- +3 h -' + A(A& +3 h &\ \  %\ W +2 M&& +3 h &   E +2 .t\Elbow.seek 3 + M&f( +3 h ( +2 M&s& +3 h &    E + A(m& +4 h &\ \  \ W +2 .t\Forearm.seek 3 + 450 counts + M&}'7 +17 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(' +50 h ' +2 M&c& +3 h & E +2 A(U& +3 h & '\ r + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 +2 M& 'u +18 h ' + .t\Elbow.hold +2 M&h, +3 h , +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(' +20 h ' +2 M&]% +4 h %Ώ     + A(K& +4 h &  R\ q + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 326 counts + M&e'ϻ +18 h ' +2 M&E& +4 h & 6 ? + A(~& +4 h & \ \ r + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&X'7 +12 h ' +2 A(b% +4 h % \ r +2 ."downElevator"\SE.seek :down +2 A(' +99 (#% +3 h %5E \ nYn + M&T% +4 h %9  3 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\\' +87 h ' +73 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C' & +4 h &\\ \ ] + #t\Storing generic puck in Collection Clamp to tube 3 + M&g% +4 h %    + A(^% +4 h % \ s + A(w. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (j& +3 h & 6\ s + M&5& +3 h & 3 ? +2 .t\Elbow.seek 3 +2 M&z( +3 h ( + M&i& +3 h &   ? +2 A(_& +3 h & \ r +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +50 M&'7 +96 h ' +2 A(& +3 h & P\ t +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A( 's +306 h ' + A(*- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&o& +2 h &   2 ? +2 A([& +3 h & \ r + .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&'u +14 h ' + .t\Elbow.hold +2 M&-, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(V- +2 h -' +2 .t\SE.seek 0.18 + A(x'} +29 h ' +2 M&v% +3 h %Ζ  T 3 +2 A(& +3 h & J\ q +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 333 counts + M&`' +22 h ' +2 M&&& +3 h &   ? +2 A("& +3 h & G\ q +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +15 h ' +2 .t\SE.seek 1.18 +2 A(\ ' +35 h ' +2 M&n& +3 h & % ? +2 M&% +3 h %^  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&4' +88 h ' +2 .t\Elbow.seek CC +2 M&3(ӂ +156 h ( + M&$& +4 h &ӎ(   3 @Y + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &?& +2 h &ӎ'   @Y +2 .t\Forearm.seek :CC + M&F'? +95 h ' + .tHand.close + M&/ +68 h / +2 .t\CC.seek :open + C'6( +451 h ( +2 A(J& +4 h & X\ x +2 A(M& +3 h & $\ x + M&& +3 h &ӑ& \   ?V +2 M&|% +3 h % : \  E +2 .t\Forearm.seek :retract + M&y' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&1( +162 h ( + M&R& +4 h & e  +2 A(& +3 h & e\ { + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 3 + M&'u +99 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&,1 +71 h 1 + M&=% +4 h % Y  I +2 A(>& +3 h & >\ { + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 272 counts + M&7'υ +24 h ' +2 M&;& +3 h &   +2 A(H& +3 h & L\ | +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&''7 +13 h ' +2 A( % +3 h % \  K\ } +3 ."downElevator"\SE.seek :down +2 A(8' +99 (D% +3 h %Q; p\ yXh + M&(% +4 h %; + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&O' +90 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'.& +4 h & \ +2 M&!% +3 h %    +2 A(% +3 h % \  @\ } +2 A(q. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(Z(,y +360 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,x ,\ x\  +2 M&/& +3 h &  I  +2 .t\Elbow.seek 4 + M&Y( +38 h ( + M&k& +4 h &  5  + A(& +4 h &,x m\ w\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +92 h ' + A(p& +4 h &,x \ y\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(<'s +297 h ' + A(B- +3 h -') +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (@& +2 h &,x C\ t\  +2 M&& +3 h & ;  +2 .t\Elbow.seek 4 + M&a( +21 h ( +3 M&& +3 h & >  +2 A(l& +3 h &,x \ v\  +2 .t\Forearm.seek 4 + 300 counts +2 M&G'c +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&C/ +70 h / +2 ."downElevator"\SE.seek :down +3 M&%& +4 A(9' +4 h &  +2 M&0% +3 h % U ; +2 .t\Forearm.seek :retract + M&r' +90 h ' +2 .t\Elbow.seek CC + M&W(ӂ +156 h ( +2 M&P& +3 h &~+    Ct + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' +2 M&:& + ."downElevator"\SE.coast +3 A(5 +3 h &+  \  Cs + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&+'? +94 h ' +2 C'Q& +4 h & \ +2 C'I& +3 .t\CC.seek :closed +2 C'(\\ +3 h & \ +4 & \ 5 +9 &5Fw \ 1 +10 &_r \ E +9 &b \ O +9 &R \ N +10 &T \ N +9 &IT \ N +10 & U \ O +9 &U \ O +9 &Y \ N +10 &PZ  \ N +9 &!W \ N +9 &"Y \ N +10 &$X \ N +9 &&XW \ N +10 &(Y \ N +9 &)W \ N +9 &+W \ N +10 &-`X \ N +9 &/"X \ N +9 &0W \ N +10 &2X \ N +9 &4hX \ N +10 &6*Y  \ N +9 &7T \ N +9 &9V \ N +10 &;pX \ N +9 &=2Y \ N +9 &>T \ N +10 &@W \ N +9 &Bw\\  \ O +10 &D5h \ P +9 &E{ \ R +9 &G \ V +10 &Ia \ Y +9 &K \ Z +9 &L \ [ +10 &N \ [\ +9 &Pb \ [ +10 &R# \ \\ +9 &S \ ] +9 &U \ ] +10 &Wd \ ] +9 &Y \ _ +9 &Z \ _ +10 &\\Q` \ 0 +9 &\\ \ X +9 ( +2 &\\n \ U + C'I& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.20 + .Hand.open + M&u1 +65 h 1 +2 M&d% +4 h % @   ) e +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&S' +89 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + P%A& +4 h &\ p + M&% +3 h %      +2 A(s% +3 h % \ q + A(m. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A((,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (c& +3 h &,x \ q + M&U& +3 h &Ӟ&   0 ?T +2 M&]% +3 h %  \    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&K( +166 h ( + M&L& +4 h & 1  +2 A(E& +3 h &,x s\ t + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&~' +92 h ' + A({& +4 h &,x K\ u +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(b's +300 h ' + A(t- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &,x \ r +2 M& & +3 h &   +2 .t\Elbow.seek 4 + M&#( +3 h ( + M&T& +3 h & U  +2 A(}& +3 h &,x B\ s +2 .t\Forearm.seek 4 + 300 counts + M&f'c +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +69 h / +2 ."downElevator"\SE.seek :down +3 M& & +5 A( ' +3 h &   + M&e% +49 h % { +3 .t\Forearm.seek :retract +2 M&g' +89 h ' +2 .t\Elbow.seek PC + M&^( +123 h ' + ."downElevator"\SE.coast + A(5 +116 h ( + M&w& +4 h & + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +3 h & L + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&j' +96 h ' +2 P%5& +3 h &\ t +2 P%i& +3 .t\PC.seek :closed +2 P%_(^ +2 h &\ t +4 &\ t2 +10 &7E~\ k2 +9 &[n\ jF +9 &g\ lQ +10 &Y\ nP +9 &zZ\ mQ +10 &;X\ mQ +9 &X\ mQ +9 &\\\ mQ +10 &Z\ mP +9 &DY\ mQ +9 &!\\\ mQ +10 &"V\ mQ +9 &$Y\ mP +10 &&MX\ nP +9 &(Z\ mQ +9 &)]\ mQ +10 &+W\ mQ +9 &-TY\ mQ +9 &/Y\ mQ +9 &0\\\ mQ +10 &2X \ mQ +10 &4\\\\\ mQ +9 &6\\ \ mQ +9 &7\\\ mQ +10 &9]\ mQ +9 &;dZ \ mQ +9 &=&Z\ mQ +10 &>_\ mQ +9 &@` \ mR +10 &Bek \ lS +9 &D%u \ kT +9 &E \ hV +10 &G\ hW +9 &Ib\ \ hW +9 &K# \ hW +10 &L\ hX +9 &N\ gX +10 &Pe\ gY +9 &R(\ gX +9 &S\ fY +10 &U\ hX +9 &Wm\ gY +9 &Y1\ gX +10 &Z\ gY +9 &\\\ gY +10 &^+]}\ j8 +9 &^T\ m4 +5 ( + P%i& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.65 + .Hand.open +2 M&X1 +73 h 1 + M&% +4 h %   4 ! +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +94 h ' + .t\SC.coast + A(6 +3 P%)& +4 h &^(\ o4 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 M&h% +3 h %    +2 A(\\% +3 h % \ o +2 A(*. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(o(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ([& + M&V& +4 h &,x $\ n +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&v( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + M&& +2 A(&'s +4 h &   ] +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &"& +3 h &   ( + .t\Forearm.seek :PC +2 M&n' +92 h ' + .tHand.close +2 M&/ +64 h / +3 .t\PC.seek :open + P%( +99 h ' + A(z- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A( '1 +50 h ' +299 ( +2 A(& +3 h &,x \ r +2 M&`& +3 h &   +2 M&x% +3 h %  \  7 +2 .t\Forearm.seek :retract + M&$' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&?( +245 h ( + M&& +4 h &   + + A(-& +4 h &,x J\ q + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +93 h ' + .tHand.open + M&41 +77 h 1 + A(2- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(J' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(M' +56 h ' +2 #tLights, camera, ACTION! + A(- +3 h -' +2 A(|& +3 h &,x\ ) K 3\ Y + M&R& +4 h &   * + .t\Elbow.seek 4 +2 M&( +3 h ( +2 M&F& +3 h &   C * +2 A(3& +3 h &,x M Z\ Z +2 .t\Forearm.seek 4 + 450 counts +2 M&,' +3 h ' + .t\SE.reconfigure SEgently +3 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(=' +51 h ' +2 M&>& +3 h &   * +2 A(;& +3 h &,x \ r + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 4 +2 M&H'7 +15 h ' + .t\Elbow.hold +2 M& , +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(y' +19 h ' +2 M&D% +4 h %e 3 : + A((& +3 h &,x q\ q +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 346 counts +2 M&1'ϑ +21 h ' +2 M&& +4 h &  3 * + A(.& +4 h &,x s\ r +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&7' +16 h ' +2 A(!% +3 h % \ s +3 ."downElevator"\SE.seek :down +2 A(' +99 (q% +3 h %G  \ oZo + M&\ % +4 h %  t + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&'' +92 h ' +71 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'8& +3 h &\\m \ U +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&% +3 h %     +2 A(% +3 h % \ t +2 A(/. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(k(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,x \ s +2 M&p& +3 h & * +2 .t\Elbow.seek 4 + M&( +3 h ( +2 M&O& +3 h &  * + A(B& +4 h &,x {\ s + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&@' +97 h ' +2 A(& +3 h &,x B\ t +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +301 h ' + A(l- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 M&C& +2 h &  N * +2 A(%& +3 h &,x _\ t + .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 +2 M&0'7 +15 h ' + .t\Elbow.hold +2 M&Y, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.18 + A(P' +29 h ' + M&:% +4 h %f R + A(<& +4 h &,x f\ s + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 347 counts +2 M&G'ϒ +22 h ' + M&Q& +4 h &  * +2 A(a& +3 h &,x \ s +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&9' +15 h ' +2 .t\SE.seek 1.18 +2 A(r' +35 h ' +2 M&6& +3 h &  M * +2 M&u% +3 h % { +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&d' +89 h ' +2 .t\Elbow.seek CC +2 M&A(ӂ +155 h ( + M&& +4 h &Ӎ*  Bl + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &s& +3 h &Ӎ*   Bl +2 .t\Forearm.seek :CC + M&m'? +92 h ' + .tHand.close + M&I/ +76 h / + .t\CC.seek :open +2 C'c( +451 h ( +2 A(U& +4 h &,x d\ w + A(]& +3 h &,x \ w +2 M&+& +3 h &ӥ&  ?T + M&L% +4 h % H   a + .t\Forearm.seek :retract +48 M&E' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&Z( +168 h ( + M&{& +4 h &  +2 A(W& +3 h &,x U\ z + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 4 + M&S'7 +97 h ' + .t\Elbow.hold +2 M&t, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&1 +70 h 1 +2 M& % +3 h % R :  +2 A(T& +3 h &,x t\ z + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 327 counts +2 M&}'~ +23 h ' +2 M&& +3 h &  +2 A( & +3 h &,x -\ { +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&e' +14 h ' +2 A(K% +3 h % \ { +3 ."downElevator"\SE.seek :down +2 A(~' +99 (b% +3 h %H8 \ xXg + M&f% +4 h %  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&w' +91 h ' +57 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp + C'& +4 h & \ +2 M&#% +3 h %  V  +2 A(5% +3 h %\ \ \ } +2 A( . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(g(<- +346 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (N& +3 h &<- \ x + M&X& +4 h &   + .t\Elbow.seek 5 +2 M&( +8 h ( + M&)& +4 h &  K  + A(h& +4 h &<- W\ x + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&\\'O +97 h ' + A(i& +4 h &<- s\ z +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(*'s +299 h ' + A([- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (V& +3 h &<- Z\ u + M&& +3 h & K  +2 .t\Elbow.seek 5 + M&"( +3 h ( +2 M&j& +3 h &   +2 A(& +3 h &<- \ v +2 .t\Forearm.seek 5 + 300 counts +2 M&'Ϲ +24 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&z/ +68 h / +2 ."downElevator"\SE.seek :down +3 M&^& +3 A(' +5 h &  +2 M&_% +3 h %   U +2 .t\Forearm.seek :retract +2 M&&' +86 h ' +2 .t\Elbow.seek CC + M&(ӂ +163 h ( +2 M&`& +4 h &ә  E 9% ' +2 ."downElevator"\SE.coast + A(5 +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &x& +3 h &ә   3 9% + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&n'? +94 h ' +2 C'& +3 h & \ +2 C'-& +3 .t\CC.seek :closed +2 C'v(\\ +2 h & \ +3 & \  +9 &0y \ +z +10 &c} #\ > +9 &ir \ O +9 &+U \ N +10 &U \ N +9 &T \ N +10 &qT \ N +9 &4V \ N +9 &W \ N +10 &T \ N +9 & yT  \ N +9 &";T \ N +10 &#Q \ N +9 &%U \ N +10 &'U \ N +9 &)CU \ N +9 &+Q \ N +10 &,T \ N +9 &.U  \ N +9 &0KT  \ N +10 &2 T  \ N +9 &3U \ O +10 &5U \ N +9 &7SW \ N +9 &9S \ N +10 &:U \ O +9 &<U  \ N +10 &>ZV \ O +9 &@U  \ N +9 &AY  \ O +10 &Cc \ P +9 &EVz \ S +9 &G \ U +10 &H \ Y +9 &J \ Z +9 &LI \ Z +10 &N \ \\ +9 &O \ [ +10 &Q \ [ +9 &SI \ ] +9 &U \ ] +10 &V \ ^ +9 &X \ ^ +9 &ZH \ ` +10 &[z \ D +9 &\\$ \ - +10 &\\ \ ^ +2 ( + C'-& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 +2 .Hand.open + M&41 +65 h 1 + M&2% +4 h % @  B m +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + P%|& +4 h &\ n + M&R% +3 h %     +2 A(F% +3 h % G\ o + A(3. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A($(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (>& +3 h &<- [\ n + M&;& +3 h &ә   9% +2 M&D% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&(( +161 h ( + M&& +4 h & {  +2 A( & +3 h &<- C\ q + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&.'O +95 h ' + A(J& +4 h &<- \ s +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(!'s +296 h ' + A(?- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &<- \ n +2 M&M& +3 h &   )  + .t\Elbow.seek 5 +2 M&q( +3 h ( + M&\ & +3 h &  J  + A(,& +4 h &<- q  \\\ p + .t\Forearm.seek 5 + 300 counts +2 M&'Ϲ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&=/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&H& +5 A(1' +4 h &    + M&8% +3 h %  % t +2 .t\Forearm.seek :retract +2 M&' +92 h ' +2 .t\Elbow.seek PC + M&( +172 h ' + ."downElevator"\SE.coast + A(5 +70 h ( +2 M&y& +4 h &   2 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &/& +3 h &  2 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +92 h ' +2 P%p& +3 h &\ r +2 P%O& +3 .t\PC.seek :closed +2 P%B(^ +2 h &\ r +5 &\ r0 +9 &,E}\ i1 +10 &Nn\ hF +9 &e\ jQ +10 &Y\ kQ +9 &mW\ kQ +9 &.Z\ kQ +10 &W\ kQ +9 &[\ kQ +9 &uY\ lQ +10 &8W\ kP +9 & X\ kQ +10 &"U\ lP +9 &$}Y\ kQ +9 &&?U\ kQ +10 &(W\ lQ +9 &)X\ kQ +9 &+[\ kQ +10 &-GW\ \ lQ +9 &/ V\ kQ +10 &0Y\ kQ +9 &2W\ lQ +9 &4OY\ kQ +10 &6W\ lQ +9 &7W \ lQ +9 &9X\ kQ +10 &;VY\ kQ +9 &=Y\ kQ +10 &>Z \ kQ +9 &@\\\ \ kQ +9 &BYe \ jS +10 &Dm\ iS +9 &E\ hV +9 &G\ gV +10 &IU\ gW +9 &K\ fX +10 &L\ fX +9 &N\ fX +9 &PZ\ eX +10 &R\ fX +9 &S\ dY +9 &U\ fX +10 &W`\ eY +9 &Y"\ fY +10 &Z\ fY +9 &\\\ eY +9 &^0i}\ h- +10 &^~\ i@ +8 ( +2 &^+\ m6 + P%O& +4 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.64 + .Hand.open + M&71 +74 h 1 + M&% +4 h %    Y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\SC.coast + A(6 +3 P%o& +3 h &^+\ l6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + M& % +3 h %      +2 A('% +3 h % 9\ m + A(l. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(C(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (%& +2 M&& +3 h &<-  { Y\ m +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &   ' 2 +2 .t\Elbow.reconfigure TightElbow +49 M&$&.,(\ #b +4 .t\Elbow.seek PC +2 M&:( +2 h ( + M&<& +3 ."raiseStack"\SE.seek beamBreak +2 A(Q's +2 h &   2 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &a& +2 h &    2 +2 .t\Forearm.seek :PC +2 M&6' +91 h ' + .tHand.close +2 M&u/ +75 h / +2 .t\PC.seek :open + P%@( +90 h ' +2 A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A('1 +40 h ' +315 ( +2 A(0& +3 h &<- } \ o +2 M&G& +3 h &    2 +2 M&P% +3 h %   k * +2 .t\Forearm.seek :retract +3 M&' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&s( +246 h ( +2 M&9& +3 h &  3 +2 A(Y& +3 h &<- \ m +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&I'O +93 h ' + .tHand.open + M&d1 +73 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(U' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(]' +49 h ' +2 #tLights, camera, ACTION! +2 A(+- +3 h -' + A(L& +3 h &<- - / b\ ^ +2 M&m& +3 h &   3 +2 .t\Elbow.seek 5 + M&{( +3 h ( +2 M&W& +3 h &   3 + A(A& +4 h &<- , . s\ ^ +2 .t\Forearm.seek 5 + 450 counts + M&'O +11 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A( ' +50 h ' +2 M&T& +3 h &    3 +2 A(& +3 h &<- \ n + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 5 +2 M& '΍ +19 h ' + .t\Elbow.hold +2 M&K, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(E' +27 h ' +2 M&b% +4 h %Ο    + A(f& +4 h &<- 7\ m + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 318 counts + M&Z' +18 h ' +2 M&S& +4 h & G  + A(& +4 h &<- \ p + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&}'O +16 h ' +2 A(#% +4 h % 7\ q +2 ."downElevator"\SE.seek :down +2 A(5' +99 ( % +3 h %A ~ d\ mYn + M&r% +4 h %= S + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&e' +87 h ' +73 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'~& +4 h &\\ \ ^ + #t\Storing generic puck in Collection Clamp to tube 5 + M&k% +4 h %     + A(N% +3 h % !\ p +2 A(X. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A()(<- + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (h& +2 h &<- t @\ p +2 M&i& +3 h &    +2 .t\Elbow.seek 5 +2 M&t( +22 h ( +2 M&w& +3 h &   ;  +2 A([& +3 h &<- \ p +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&V'O +97 h ' +2 A(& +3 h &<- :\ r +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(j's +300 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&z& +2 h &  V  +2 A(^& +3 h &<-  \ p + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 +2 M&_'΍ +13 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(\\- +2 h -' +2 .t\SE.seek 0.16 +2 A(`'l +29 h ' + M&x% +4 h %Ϊ v 8 + A(*& +4 h &<- u \ p + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 329 counts +2 M&' +16 h ' + M&& +4 h & y  +2 A("& +3 h &<- \ q +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts +2 M&'O +15 h ' +2 .t\SE.seek 1.16 + A(&' +39 h ' +2 M&c& +3 h & -  +2 M&4% +3 h %? B +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&2' +87 h ' +2 .t\Elbow.seek CC +2 M&|(ӂ +157 h ( + M&R& +4 h &ӑ(   @Z + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &F& +3 h &ӑ( \  @Z +2 .t\Forearm.seek :CC + M&3'? +93 h ' + .tHand.close + M&-/ +69 h / +2 .t\CC.seek :open + C'>( +450 h ( +2 A(;& +4 h &<- (\ w + A(D& +3 h &<- \ w +2 M&n& +3 h &Ӓ(  \ 8 @Y + M&% +4 h % = ' \\ + .t\Forearm.seek :retract +2 M& ' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&g( +165 h ( +2 M&J& +3 h &   +2 A(& +3 h &<- \ y + .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&'΍ +91 h ' + .t\Elbow.hold +2 M&?, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +74 h 1 + M&M% +4 h % Ο F M +2 A(\ & +3 h &<- D\ { + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 318 counts +2 M&,' +17 h ' + M&=& +4 h &  +2 A(H& +3 h &<- \ | +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&8'O +13 h ' +2 A((% +3 h % H\ | +3 ."downElevator"\SE.seek :down +2 A(.' +99 (!% +3 h %G= S\ xXi + M&% +3 h %i +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&y' +86 h ' +65 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp + C'/& +4 h & \ +2 M&q% +3 h %   +2 A(p% +4 h % P\ } + A(1. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K \ y + M&7& +3 h &  +2 .t\Elbow.seek 6 +2 M&( +2 h ( +2 M&o& +4 h &  l  + A( & +3 h &K \ y +48 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&'' +94 h ' + A(l& +4 h &K O\ z +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(O's +297 h ' + A(%- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +3 h &K X\ v +2 M&<& +3 h &   +2 .t\Elbow.seek 6 + M&a( +3 h ( + M&& +3 h & 7  +2 A(u& +3 h &K \ w +2 .t\Forearm.seek 6 + 300 counts +2 M&$'h +35 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +71 h / +2 ."downElevator"\SE.seek :down +3 M&& +3 A(' +5 h & H  +2 M&B% +3 h % d 9 +2 .t\Forearm.seek :retract +2 M&Q' +90 h ' +2 .t\Elbow.seek CC + M&0(ӂ +160 h ( +2 M&G& +4 h ' + &ӑ% R >J +2 ."downElevator"\SE.coast + A(5 + .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b +2 &P& +3 h &ӑ&   >J + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&6'? +95 h ' +2 C'9& +4 h & \ + C'Y& +4 .t\CC.seek :closed + C':(\\ +3 h & '\ +5 & &\ 4 +9 &6Hy &\ 1 +10 &_p '\ E +9 &_ \ N +9 &S !\ N +10 &U "\ N +9 &IT \ N +9 &\ W \ N +10 &T \ N +9 &U \ N +10 &QU \ N +9 &!W \ N +9 &"U \ N +10 &$U \ N +9 &&XS \ N +9 &(U \ N +10 &)S \ N +9 &+U \ N +10 &-bU \ M +9 &/"U \ N +9 &0T \ N +10 &2T \ N +9 &4jT \ M +9 &6*U \ N +10 &7V \ N +9 &9U \ N +10 &;oU \ N +9 &=2U \ N +9 &>V \ N +10 &@V  \ N +9 &BvZ \ O +9 &D5d \ P +10 &E{ \ S +9 &G \ V +10 &I` \ Y +9 &K \ [\ +9 &L \ [ +10 &N \ \\ +9 &P^ \ \\ +9 &R \ ] +10 &S \ ^ +9 &U \ ^ +10 &W_  \ _ +9 &Y  \ _ +9 &Z \ ` +10 &\\Q_ \ - +9 &\\( \ !f +8 ( +2 &\\u \ X +2 C'Y& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.29 + .Hand.open + M&d1 +72 h 1 +4 M&% +4 h % L  j +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&+' +88 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + P%L& +4 h &\ o + M&m% +3 h %    +2 A(W% +3 h %  s 5\ p +2 A(A. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (T& +3 h &K =\ o +2 M&& +3 h &ӑ%    >J +2 M&b% +3 h %      + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&f( +169 h ( + M&& +4 h &  - . +2 A(S& +3 h &K /\ r +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +97 h ' + A(U& +4 h &K \ s +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(#'s +297 h ' + A(s- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (I& +2 h &K K\ o +2 M&]& +3 h &  , +2 .t\Elbow.seek 6 + M& ( +3 h ( + M&r& +3 h & , +2 A(& +3 h &K ~ s\ p +2 .t\Forearm.seek 6 + 300 counts +2 M&{'h +32 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +77 h / +2 ."downElevator"\SE.seek :down +3 M& & +4 A(Z' +4 h & , +2 M&~% +3 h % z +2 .t\Forearm.seek :retract + M&k' +90 h ' +2 .t\Elbow.seek PC + M&N( +170 h ' + ."downElevator"\SE.coast + A(5 +72 h ( +2 M&X& +3 h &   1 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &E& +3 h & G 1 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&h' +94 h ' +2 P%i& +3 h &\ r +2 P%w& +3 .t\PC.seek :closed +2 P%[(^ +3 h &\ s +2 &\ r\ +9 &.u\ j+z +9 &`\ h? +10 &dw\ iP +9 &$W\ lQ +9 &\\\ lQ +10 &V\ lP +9 &jW\ lQ +9 &,X\ kQ +10 &W\ lQ +9 &W\ lQ +10 & qY\ kQ +9 &"5U\ lP +9 &#W\ lQ +10 &%T\ lP +9 &'yW\ lQ +9 &)<U\ lQ +10 &*W\ lP +9 &,Y\ lP +10 &.W \ kP +9 &0DY\ lQ +9 &2Z\ lQ +10 &3W\ lQ +9 &5V\ lP +9 &7MX\ lP +10 &9Y\ lP +9 &:Y \ kP +10 &<Y \ kP +9 &>T\\\ lQ +9 &@^ \ kQ +10 &Ag \ jR +9 &Ct\ iT +9 &EO\ \ hU +10 &G \ \ gV +9 &H \ gV +10 &J \ fW +9 &LR\ gW +9 &N\ fW +10 &O\ fX +9 &Q\ fY +9 &ST \ eY +10 &U\ fY +9 &V\ eY +10 &X\ dY +9 &Z]\ fY +9 &\\ \ eX +10 &]\ g8 +9 &^9\ hB +8 ( +2 &^\ o0 + P%w& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 +2 .Hand.open + M&}1 +65 h 1 + M&% +4 h %   \\ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&5' +90 h ' + .t\SC.coast + A(6 +3 P%C& +3 h &^\ n0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&K% +3 h %    +2 A(e% +3 h % \ o +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(z(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&^& + A(\\& +5 h &   1 + &K K\ m +2 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 A(#]kK-0-\ b +2 .t\Elbow.seek PC +4 M&x( +3 h ( + M&*& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h &  6 1 + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &"& +2 h &  1 +2 .t\Forearm.seek :PC +2 M&c' +88 h ' + .tHand.close +2 M&4/ +67 h / +2 .t\PC.seek :open +2 P%V( +100 h ' + A(t- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(j'1 +40 h ' +308 ( + A(_& +4 h &K ?\ p + M&& +4 h & N 1 + M&`% +3 h % ! k v +2 .t\Forearm.seek :retract +2 M&R' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&F( +244 h ( + M&& +4 h &  s 5 +2 A(& +3 h &K \ n + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&-' +100 h ' + .tHand.open + M&21 +69 h 1 + A(v- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(;' +22 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(D' +50 h ' +3 #tLights, camera, ACTION! + A(n- +3 h -' + A(& +4 h &K \ \ \\ + M&J& +3 h &  5 +2 .t\Elbow.seek 6 +2 M&( +2 h ( +2 M&3& +3 h &  \  5 +2 A(|& +3 h &K  0 ?\ \\ +2 .t\Forearm.seek 6 + 450 counts +2 M&' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +49 A(M' +52 h ' +2 M&\ & +3 h &  5 +2 A(=& +3 h &K 3\ o + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 6 +2 M&H'< +15 h ' + .t\Elbow.hold +2 M&(, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek -0.33 +2 A( ' +20 h ' +2 M&!% +3 h %U  T ) +2 A(& +3 h &K  ]\ q + .t\Forearm.force -20 +2 M&5 +2 .t\Forearm.seek 6 + 325 counts + M&g'ρ +24 h ' +2 M&& +4 h & _ 5 + A(/& +4 h &K \ q + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts + M&,' +14 h ' +2 A(q% +4 h % I\ r +2 ."downElevator"\SE.seek :down +3 A(p' +98 (1% +3 h %N n #\ lZp + M&&% +4 h %  m + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&8' +89 h ' +78 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'.& +3 h &\\s \ X +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&)% +4 h %  W  + A(% +3 h % E\ q +2 A(7. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(o(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &K \ q +2 M&l& +3 h &  \  5 +2 .t\Elbow.seek 6 +2 M&?( +2 h ( +2 M&y& +3 h & 5 +2 A(%& +3 h &K C\ q +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +99 h ' +2 A(<& +3 h &K M\ q +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +296 h ' + A(u- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&& +2 h &   % 4 +2 A(& +3 h &K \ n + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 +2 M&B'< +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A('- +2 h -' +2 .t\SE.seek 0.17 +2 A(G't +31 h ' + M&P% +4 h %O   & +2 A(O& +3 h &K ~ b\ o + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 319 counts + M&$'{ +23 h ' +2 M&9& +3 h & \\ 4 +2 A(a& +3 h &K \ o +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +15 h ' +2 .t\SE.seek 1.17 +2 A(Q' +36 h ' +2 M&>& +3 h &  4 +2 M&d% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +2 .t\Elbow.seek CC +2 M&L(ӂ +149 h ( + M&m& +4 h &z-   Dv + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &W& +2 h &z-    Dv +2 .t\Forearm.seek :CC +2 M&A'? +91 h ' + .tHand.close + M&Y/ +67 h / +2 .t\CC.seek :open + C'T( +450 h ( + A(& +4 h &K W\ u + A(b& +4 h &K `\ t + M&6& +3 h &Ӡ&  ?P +2 M&% +3 h % Y    Y + .t\Forearm.seek :retract +2 M&S' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +167 h ( + M&U& +4 h &     +2 A(0& +3 h &K >\ w +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&+'< +90 h ' + .t\Elbow.hold +2 M&s, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&I1 +66 h 1 +2 M&]% +3 h % l  f e +2 A(r& +3 h &K \ x + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 348 counts + M&'Ϙ +20 h ' +2 M& & +4 h & 9  + A( & +3 h &K *\ x +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&~' +14 h ' +2 A(f% +3 h % \ y +3 ."downElevator"\SE.seek :down +2 A(' +99 (#% +3 h %: \ uXi + M&{% +3 h %  ) +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&X' +89 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp + C'E& +4 h & \ +2 M& % +3 h %  )  +2 A(i% +3 h % l\ z +2 A(Z. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(k([ +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (@& +3 h &[ 3\ u\  +2 M&}& +3 h &  W  + .t\Elbow.seek 7 +2 M&(r +11 h ( + M&C& +4 h &t  n  + A(K& +4 h &[ w\ t\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&e'= +95 h ' + A(& +4 h &[ Y\ v\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(w's +297 h ' + A(^- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (\\& +3 h &[ \ r\  + M&*& +3 h &t   +2 .t\Elbow.seek 7 + M&"(r +3 h ( +2 M&h& +3 h &t c  +2 A(4& +3 h &[ 6\ s\  +2 .t\Forearm.seek 7 + 300 counts +2 M&'ϧ +34 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&t/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&N& +3 A(5' +6 h &t    + M&[% +3 h % Ͼ   3 +2 .t\Forearm.seek :retract +2 M&' +90 h ' +2 .t\Elbow.seek CC + M&_(ӂ +151 h ( +2 M&& +3 h &Ӆ(   Bf + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 h ' +2 M&`& +3 ."downElevator"\SE.coast +2 A(5 +2 h &Ӆ*  Bf + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&c'? +92 h ' +2 C'& +3 h & )\ +2 C'& +3 .t\CC.seek :closed +2 C'x(\\ +2 h & \ +4 & (\ 5 +10 &9Iz )\ 0 +9 &`q \ E +9 &]  \ N +10 &Q &\ N +9 &R %\ N +9 &HT "\ N +10 & T \ N +9 &U \ N +10 &Y \ N +9 &PU \ N +9 &!S \ N +10 &"Y "\ N +9 &$U \ N +9 &&YT \ N +10 &(X  \ N +9 &)S \ N +10 &+T  \ N +9 &-bT \ M +9 &/"U \ N +10 &0T \ N +9 &2T \ N +9 &4jT  \ M +10 &6*U \ N +9 &7U \ N +10 &9U \ N +9 &;pU  \ N +9 &=2U \ N +10 &>U \ N +9 &@U \ N +9 &Bw\\ \ N +10 &D6` \ O +9 &Eu  \ R +10 &G \ U +9 &Ib \ X +9 &K \ Z +10 &L \ Z +9 &N \ [ +9 &Pb \ [\ +10 &R!  \ \\ +9 &S \ \\ +10 &U \ ] +9 &Wb \ ^ +9 &Y! \ ~_ +52 &Z \ |_ +3 &\\Q` \ / +2 &\\ \ ] ( + &\\ \ W + &\\  \ W + &\\ \ W + C'& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.21 + .Hand.open + M&21 +67 h 1 +2 M&v% +4 h % B   % d + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&n' +89 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + P%& +4 h &\ m + M&J% +3 h %     +2 A(3% +3 h % \ m +2 A(|. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(R([ +18 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (\ & +3 h &[# J L 9\ g  + M&=& +3 h &Ӈ)    Ad +2 M&j% +3 h %     +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&!(r +164 h ( +2 M&& +3 h &q  [  +2 A(;& +3 h &[# j i \ k  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&'= +97 h ' +2 A(/& +3 h &[# m l \ l  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(q's +296 h ' + A(F- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (-& +3 h &[" [ ]\ g  + M&D& +3 h &q !  +2 .t\Elbow.seek 7 + M&1(r +4 h ( + M&&& +4 h &q  \ >  +2 A(& +3 h &[" F _ @\ i  +2 .t\Forearm.seek 7 + 300 counts +2 M&'ϧ +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&M/ +75 h / +2 ."downElevator"\SE.seek :down +3 M&H& +4 A(g' +4 h &q  +2 M&.% +3 h % Ϡ : +2 .t\Forearm.seek :retract +2 M&)' +86 h ' +2 .t\Elbow.seek PC + M&( +175 h ' + ."downElevator"\SE.coast + A(5 +62 h ( + M& & +4 h &    + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &7& +3 h &   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M& ' +96 h ' +2 P%l& +3 h &\ j +2 P%y& +3 .t\PC.seek :closed +2 P%%(^ +2 h &\ j +2 &\ j +10 &,t\ b+z +9 &`\ _? +10 &Yv\ `P +9 &V\ cQ +10 &W#\ cQ +9 &U\ cQ +9 &]W\ cQ +10 &W\ cQ +9 &W\ cQ +9 &T\ cQ +10 & gV\ cQ +9 &")U\ cQ +10 &#Y\ cQ +9 &%U\ cQ +9 &'oV\ cQ +10 &)0U\ cQ +9 &*U\ dQ +9 &,X \ cQ +10 &.uU \ cQ +9 &07W\ cQ +10 &1R \ dQ +9 &3U\ dQ +9 &5U \ cQ +10 &7AV \ cQ +9 &9X \ cQ +9 &:X\ cQ +10 &<W \ cQ +9 &>GV \ cQ +10 &@ ] \ bQ +9 &Ae\ bS +9 &Ct \ `T +10 &EA\ ^V +9 &G\ _W +9 &H\ ^W +10 &J \ ^W +9 &LF\ ^W +10 &N \ ]X +9 &O \ ^X +9 &Q\ ]X +10 &SH\ ]Y +9 &U\ [Z +9 &V\ ]X +10 &X\ ]Y +9 &ZQ\ \\Y +10 &\\\ [Z +9 &]\ ^< +9 &^-\ _ ^ +10 &^8\ d7 + ( +2 P%y& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open + M&,1 +71 h 1 + M&<% +4 h %   N  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&p' +92 h ' + .t\SC.coast + A(6 +3 P%z& +3 h &^6\ h7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + M&(% +4 h %  \   + A(8% +3 h % e h I\ j +2 A(u. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(([ +16 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&'& +4 h &[# . - K\ d  +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &   >  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&P( +3 h ( + M&O& +3 ."raiseStack"\SE.seek beamBreak +2 A(9's +2 h &   _  +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &a& +3 h &    + .t\Forearm.seek :PC +2 M&>' +93 h ' +2 .tHand.close + M&d/ +77 h / +2 .t\PC.seek :open + P%( +84 h ' +2 A(?- +2 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +42 h ' +323 ( + A(B& +4 h &[" i j \ j  + M&$& +4 h & \ h  + M&m% +3 h %  0 D +2 .t\Forearm.seek :retract + M&G' +86 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&W(r +248 h ( + M&& +4 h &l   n + A(& +4 h &[" ] ] \ g  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&Y'= +98 h ' + .tHand.open + M&1 +73 h 1 +2 A(:- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(b' +52 h ' + #tLights, camera, ACTION! +2 A(6- +3 h -' + A(& +3 h &[! H\ I  +2 M&U& +3 h &l\   n +2 .t\Elbow.seek 7 + M&0(r +3 h ( + M&A& +4 h &l\   n + A(L& +3 h &[! \ I  +2 .t\Forearm.seek 7 + 450 counts +2 M&I'= +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(]' +57 h ' +2 M&r& +3 h &l\  n +2 A( & +3 h &[" R O $\ f  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M& '{ +13 h ' + .t\Elbow.hold +2 M&f, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(S' +28 h ' +2 M&#% +4 h %Ο  , + A({& +3 h &[# R X @\ f  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 336 counts +2 M&' +16 h ' +2 M&+& +4 h &  V N + A(E& +4 h &[" K ^ \ h  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +11 h ' +2 A( % +4 h % J U b\ h +2 ."downElevator"\SE.seek :down +2 A(i' +99 (Z% +3 h %F S 6 Z\ dZo + M&Q% +4 h %A   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&~' +85 h ' +80 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +4 h &\\ \ W + #t\Storing generic puck in Collection Clamp to tube 7 +2 M&o% +3 h %     + A(@% +4 h % \ n + A(}. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(C([ +15 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (K& +3 h &[ _ l \ i\  +2 M&& +3 h &  N + .t\Elbow.seek 7 +2 M&s(r +25 h ( + M&X& +4 h &v S  +2 A(^& +3 h &[ k j \ j\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&\\'= +101 h ' +2 A(*& +3 h &[ l j \ k\  +2 .t\SE.reconfigure SEpick +48 A(#],K-0-\ b +7 .t\SE.seek beamBreak + A(h's +300 h ' + A(4- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&t& +2 h &v   +2 A(N& +3 h &[ j h \ j\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&['{ +14 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(e- +2 h -' +2 .t\SE.seek 0.17 + A('v +29 h ' +2 M&`% +3 h %Θ    * +2 A(w& +3 h &[ F K +\ h\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 329 counts + M&' +21 h ' +2 M&& +3 h &y   @  +2 A("& +3 h &[ i h t\ j\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&5'= +11 h ' +2 .t\SE.seek 1.17 +2 A(' +35 h ' +2 M&T& +4 h &y O  + M&2% +3 h %6  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&v' +87 h ' +2 .t\Elbow.seek CC +2 M&(ӂ +159 h ( + M&J& +4 h &Ӎ(  \  @^ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &3& +2 h &ӎ( \  @] +2 .t\Forearm.seek :CC + M&|'? +91 h ' + .tHand.close + M&/ +69 h / +2 .t\CC.seek :open + C'\ ( +450 h ( +2 A(=& +3 h &[ 8\ o\  +2 A(j& +3 h &[ u\ n\  +2 M&c& +3 h &ӏ'   @\\ + M&% +3 h % N  e +2 .t\Forearm.seek :retract +2 M&;' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&k(r +162 h ( + M&/& +4 h &| `  +2 A(_& +3 h &[ \ q\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 7 + M&n'{ +94 h ' + .t\Elbow.hold +2 M&F, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&-1 +69 h 1 +2 M&D% +3 h % u G +2 A(&& +3 h &[  \ p\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 294 counts +2 M&'ϡ +21 h ' +2 M&M& +4 h &   + A(H& +4 h &[ <\ r\  +2 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +3 .t\Forearm.seek 7 + 450 counts + M&.'= +14 h ' +2 A(!% +3 h % \ r +3 ."downElevator"\SE.seek :down +2 A(' +99 (q% +3 h %Y8  s =\ pXi + M&% +4 h %; Z + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +88 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .tdelay 10 seconds +1003 #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp +2 C'7& +2 h & #\ +2 M&1% +3 h %  _  +2 A(l% +3 h % [\ v + A(g. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A()(  +1611 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (V& +3 h &  o | K\ l +2 M&,& +3 h & C  + .t\Elbow.seek 2 +2 M&<( +36 h ( + M&z& +4 h &  X  + A((& +4 h &  \ m + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&8'S +96 h ' + A(u& +4 h &  D\ o +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(y's +313 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ('& +2 h &  ?\ p +2 M&O& +3 h & 9  + .t\Elbow.seek 2 +2 M&a( +7 h ( + M& & +4 h & i  + A(d& +4 h &  \ q + .t\Forearm.seek 2 + 300 counts +2 M&R'Ͻ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&?/ +66 h / +2 ."downElevator"\SE.seek :down +3 M&& +3 A(p' +5 h & 4  +2 M&%% +3 h %  [ z +2 .t\Forearm.seek :retract + M&9' +90 h ' +2 .t\Elbow.seek CC + M&B(ӂ +161 h ( + ' +2 ."downElevator"\SE.coast + A(5 +4 M&$& +5 h &Ӕ#  << + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &m& +3 h &Ӕ#   # << + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&>'? +96 h ' +2 C'& +4 h & \ +2 C'& +3 .t\CC.seek :closed +2 C'P(\\ +4 h & ;\ + & 9\  +9 &1y 6\ *y +9 &d 8\ ? +10 &mq 5\ O +9 &2P +\ N +9 &S 5\ N +10 &T ,\ N +9 &wR *\ N +9 &9R (\ N +10 &U )\ N +9 &R +\ N +9 & S /\ N +10 &"@T )\ N +9 &$T )\ N +10 &%T *\ N +9 &'T )\ N +9 &)HS &\ N +10 &+\ S *\ N +9 &,U +\ N +9 &.U )\ N +10 &0RT )\ N +9 &2T )\ N +10 &3T %\ N +9 &5T *\ N +9 &7YU $\ N +10 &9T (\ N +9 &:T %\ N +10 &<T "\ O +9 &>aU \ N +9 &@#U \ N +10 &AX )\ O +9 &C\\ &\ O +9 &E`n %\ Q +10 &G (\ T +9 &H &\ W +10 &J  \ |[ +9 &LL !\ ~[ +9 &N \ }[\ +10 &O $\ |] +9 &Q \ |\\ +9 &SL \ {] +10 &U \ {^ +9 &V \ y_ +10 &X \ y_ +9 &ZL \ w` +9 &[| \ ~A +10 &\\) \ {- +9 &\\ \ Y +2 ( + C'& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 +2 .Hand.open + M&1 +72 h 1 +2 M&:% +3 h % <   h +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&6' +91 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + P%& +4 h &\ e + M&U% +3 h %  \   +2 A(A% +3 h % N N Y\ e + A(L. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(G(  +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (r& +3 h &  N @ \ e +2 M& & +3 h &Ӗ#    <: + M&#% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&{( +161 h ( + M&& +4 h &   \ +2 A(+& +3 h &  X I 1\ h +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&E'S +97 h ' + A( & +4 h &  e ^ ]\ i +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +301 h ' + A(W- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (Y& +2 h &  R P 6\ e +2 M&b& +3 h &  + .t\Elbow.seek 2 +2 M&Z( +10 h ( + M&Q& +4 h & G  + A(I& +3 h &  X [ \ f +2 .t\Forearm.seek 2 + 300 counts +2 M&0'Ͻ +23 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&]/ +72 h / +2 ."downElevator"\SE.seek :down +4 A( ' +2 M&& +5 h & \ I  +2 M&% +3 h % Ϡ  c +2 .t\Forearm.seek :retract +47 M&o' +92 h ' +2 .t\Elbow.seek PC + M&@( +122 h ' + ."downElevator"\SE.coast + A(5 +119 h ( +2 M&S& +4 h & J - + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &}& +2 h & - +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&K' +99 h ' +2 P%& +3 h &\ g +2 P%X& +3 .t\PC.seek :closed +2 P%^(^ +2 h &\ f +3 &\ f +10 &-u\ _+{ +9 &a\ \\? +10 &^v\ ]Q +9 &W\ `Q +9 &W\ `Q +10 &U\ `Q +9 &dY\ _Q +10 &'W\ `Q +9 &W\ `Q +9 &W\ `Q +10 & mV\ `Q +9 &"0U\ `P +9 &#W\ `Q +10 &%U\ `P +9 &'tW\ `Q +10 &)6U\ `Q +9 &*U\ `Q +9 &,X\ `R +10 &.|U\ `Q +9 &0=W\ `Q +9 &2W\ `Q +10 &3T\ `Q +9 &5V\ `Q +10 &7GV\ `Q +9 &9W \ `Q +9 &:W\ `Q +10 &<T\ `Q +9 &>MW\ `Q +9 &@V\ `Q +10 &Ab\ _R +9 &Cp\ ^T +10 &EI\ \\V +9 &G \ \\W +9 &H\ [W +10 &J \ [X +9 &LK\ [X +9 &N \ ZX +10 &O\ [X +9 &Q \ ZY +10 &SN \ ZY +9 &U \ ZY +9 &V \ ZY +10 &X\ YZ +9 &ZV\ ZY +9 &\\\ YZ +10 &] \ [< +9 &^,\ ]!b +10 &^7\ b8 +2 ( + P%X& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open +2 M&1 +74 h 1 + M&*% +4 h %  '  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&i' +94 h ' + .t\SC.coast + A(6 +3 P%& +3 h &^-\ a8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&f% +3 h %    \  +2 A(~% +3 h % / / \ b +2 A(4. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(t(  +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (N& + M&e& +4 h &  , /\ c +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &   - - +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&`( +3 ."raiseStack"\SE.seek beamBreak +2 h ( + A(w's +2 M&& +5 h &   - +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &"& +2 h &   - +2 .t\Forearm.seek :PC +2 M&T' +92 h ' + .tHand.close +2 M&2/ +72 h / +2 .t\PC.seek :open +2 P%\\( +90 h ' + A(s- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(h'1 +45 h ' +310 ( + A([& +4 h &  ^ d\ i +2 M&& +3 h & 9 - + M&% +3 h %   Q +2 .t\Forearm.seek :retract +2 M&J' +90 h ' +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&3( +245 h ( + M&5& +4 h &  N 2 +2 A(& +3 h &  \\ \\\ g + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts + M&'S +94 h ' + .tHand.open + M&v1 +65 h 1 + A(x- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(=' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(j' +55 h ' +2 #tLights, camera, ACTION! +2 A(c- +3 h -' + A(& +4 h &  \ G + M&/& +3 h &  1 +2 .t\Elbow.seek 2 +2 M&_( +3 h ( + M&|& +3 h &  1 +2 A(& +3 h &  \ G +2 .t\Forearm.seek 2 + 450 counts +2 M&-'S +12 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(D' +58 h ' +2 M&&& +3 h &  1 +2 A(M& +3 h &  [ Q\ f + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 +2 M&H'Α +14 h ' + .t\Elbow.hold +2 M&!, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(;' +19 h ' +2 M&q% +4 h %ο  > + A(& +4 h &  T S M\ f + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 346 counts + M&k' +15 h ' +2 M&n& +4 h & 1 + A(& +4 h &  [ Q \ f + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +13 h ' +2 A(.% +4 h % \\ Q I\ f +2 ."downElevator"\SE.seek :down +2 A(' +99 (C% +3 h %J / 9\ c[r + M&7% +4 h %k  ~ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&1' +87 h ' +73 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'l& +4 h &\\} \ Y + #t\Storing generic puck in Collection Clamp to tube 2 + M&g% +4 h %    + A(V% +4 h % [ [\ g + A(,. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(z(  +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ((& +2 h &  [ g\ g +2 M&u& +3 h &  1 + .t\Elbow.seek 2 +2 M&F( +3 h ( + M& & +3 h &    1 +3 A(& +7 h &  \\ [\ g +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&''S +96 h ' +2 A(O& +3 h &  [ T\ h +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A( 's +233 E\ \\Z +76 h ' +2 A(d- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&?& +2 h & 1 +2 A(& +3 h &  M X F\ g + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 +2 M&%'Α +13 h ' + .t\Elbow.hold +2 M&<, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(8- +2 h -' +2 .t\SE.seek 0.17 +2 A($'s +29 h ' + M&m% +4 h %γ 2 + A(y& +4 h &  F E \ h + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 334 counts + M&R' +15 h ' +2 M&& +3 h &  T 1 +2 A(a& +3 h &  h e '\ i +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&p'S +16 h ' +2 .t\SE.seek 1.17 +2 A(9' +33 h ' +2 M&\ & +3 h & 1 +2 M&% +3 h %I +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&:' +87 h ' +2 .t\Elbow.seek CC +2 M&(ӂ +157 h ( + M&U& +4 h &Ӕ%   >K + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &A& +3 h &Ӕ%   >K + .t\Forearm.seek :CC +2 M&L'? +92 h ' + .tHand.close +2 M&/ +66 h / + .t\CC.seek :open +2 C'r( +450 h ( + A( & +4 h &  \ n + A(#& +3 h &  )\ n +2 M&>& +3 h &Ӕ%   >K + M&% +4 h % O  c + .t\Forearm.seek :retract +2 M&+' +91 h ' +48 .t\Elbow.reconfigure TightElbow +4 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&)( +165 h ( + M& & +4 h & v  + A(B& +4 h &  ~ ;\ p + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 2 +2 M&6'Α +94 h ' + .t\Elbow.hold +2 M&W, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&Y1 +65 h 1 +3 M&b% +3 h % Μ W 0 +2 A(Q& +3 h &  '\ q + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 311 counts + M&I' +17 h ' +2 M&]& +3 h &  +2 A(& +3 h &  +\ s +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +15 h ' +2 A({% +4 h % 0\ s +2 ."downElevator"\SE.seek :down +2 A(E' +99 (% +3 h %B t \ oYm + M&0% +4 h %B [ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&S' +87 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp +2 C'}& +3 h & (\ +2 M&Z% +3 h %  R  +2 A(% +3 h % ?\ r +2 A( . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(o( +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & c h\ l + M&& +3 h &  +2 .t\Elbow.seek 3 +2 M&*( +12 h ( + M&& +4 h &w   +2 A(f& +3 h & "\ q +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&~'7 +94 h ' + A(X& +4 h & >\ r +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(4's +299 h ' + A(N- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (e& +2 h & \ n +2 M&& +3 h &w '  +2 .t\Elbow.seek 3 + M&"( +10 h ( + M&K& +4 h &y > + A(2& +4 h & } u <\ p + .t\Forearm.seek 3 + 300 counts +2 M&G'ϡ +28 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&s/ +75 h / +2 ."downElevator"\SE.seek :down +3 M&@& +4 A(i' +4 h &y  +2 M&^% +3 h % ϛ ^ +2 .t\Forearm.seek :retract +2 M&w' +91 h ' +2 .t\Elbow.seek CC + M&[(ӂ +152 h ( +2 M&& +3 h &y+  Cn +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 h ' +2 ."downElevator"\SE.coast + A(5 +2 M&& +5 h &y,  ( Cn + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&T'? +92 h ' +2 C'5& +3 h & \ +2 C'& +3 .t\CC.seek :closed +2 C'`(\\ +2 h & *\ +3 & /\  +9 &/x *\ +{ +10 &b} .\ > +9 &jp )\ O +9 &-R )\ N +10 &S )\ N +9 &S *\ N +10 &uR *\ M +9 &5R &\ N +9 &T )\ N +10 &Q &\ M +9 & {R &\ N +9 &">R #\ N +10 &$R $\ N +9 &%U "\ N +10 &'R (\ N +9 &)FR $\ N +9 &+P \ N +10 &,R '\ N +9 &.T $\ N +9 &0NS '\ N +10 &2T  \ M +9 &3U \ N +10 &5T \ N +9 &7UU \ N +9 &9T \ N +10 &:S \ N +9 &<S !\ N +9 &>\\T \ N +10 &@T \ N +9 &AY \ N +10 &C\\ \ O +9 &E]m \ Q +9 &G \ T +10 &H \ W +9 &J \ }Z +9 &LI !\ }Z +10 &N\ \ }[ +9 &O \ }[\ +10 &Q \ |\\ +9 &SK \ {\\ +9 &U \ {] +10 &V \ z] +9 &X \ y^ +9 &ZJ \ w_ +10 &[z \ }D +9 &\\" "\ }. +9 &\\ \ !` +3 ( + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 +2 .Hand.open + M&v1 +70 h 1 +3 M&x% +3 h % C   O +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&c' +91 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + P%& +4 h &\ d + M&/% +3 h %    +2 A(|% +3 h % - 1 "\ d + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(J( +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (&& +3 h & - 0\ c + M&M& +4 h &ӑ&    ?V + M&q% +3 h %   +  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +165 h ( + M&h& +4 h &  &  +2 A(n& +3 h & Z Y 8\ g +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&'7 +95 h ' + A(=& +4 h & h X\ h +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(.'s +300 h ' + A(3- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h & Z Q \ f +2 M&j& +3 h &  @  +2 .t\Elbow.seek 3 + M&C( +3 h ( + M&7& +3 h &  +2 A(-& +3 h & [ [ \ g +2 .t\Forearm.seek 3 + 300 counts + M&_'ϡ +22 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&D/ +66 h / +2 ."downElevator"\SE.seek :down +3 M&H& +4 A(l' +4 h & A  +2 M&k% +3 h % ϳ ! +2 .t\Forearm.seek :retract +2 M&g' +89 h ' +2 .t\Elbow.seek PC + M&V( +170 h ' + ."downElevator"\SE.coast + A(5 +69 h ( + M&,& +4 h &    + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &;& +2 h &  r  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek :PC +2 M&(' +97 h ' +2 P%u& +3 h &\ f +2 P% & +3 .t\PC.seek :closed +2 P%(^ +2 h &\ f +2 &\ f +10 &/y\ ]+{ +9 &`\ \\? +10 &av\ ]Q +9 &!V\ _Q +9 &W\ \ _Q +10 &V\ _Q +9 &fV\ `Q +9 &'U \ _R +10 &W\ \ `Q +9 &U\ _Q +10 & oX\ `Q +9 &"1T \ `Q +9 &#U\ `Q +10 &%T\ `Q +9 &'wU\ \ `Q +9 &)8U \ `Q +10 &*W \ _Q +9 &,W\ _Q +10 &.~U\ _Q +9 &0AT\ `Q +9 &2U\ _R +10 &3T \ _Q +9 &5U\ \ `R +9 &7HU \ _Q +10 &9 V \ _R +9 &:V\ \ _Q +10 &<R\ _Q +9 &>PU\ _Q +9 &@W\ _Q +10 &Ab\ ^S +9 &Cr\ ]T +9 &EJ\ \\V +10 &G\ ZX +9 &H\ ZW +10 &J\ ZX +9 &LM\ ZX +9 &N \ YY +10 &O\ ZY +9 &Q\ ZY +9 &SR\ YY +10 &U\ YY +9 &V \ YY +10 &X\ YY +9 &ZX\ YZ +9 &\\\ YZ +10 &] \ [8 +9 &^8{\ \\> +9 ( + P% & +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open +2 M&1 +2 h &^\ b/ +64 1 + M&O% +4 h %   $  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +93 h ' + .t\SC.coast + A(6 +3 P%t& +3 h &^\ c/ +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&!% +3 h %     +2 A(1% +3 h % : 9 3\ c +2 A(d. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(?( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&8& +4 h & . / 2\ b +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +49 M&m( +3 h ( + M&y& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h &    + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &a& +3 h &   + .t\Forearm.seek :PC +2 M&\ ' +93 h ' + .tHand.close +2 M&/ +65 h / +2 .t\PC.seek :open +2 P%'( +101 h ' + A(F- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A( '1 +41 h ' +306 ( +2 A(%& +3 h & , - \ d +2 M&R& +3 h &   + M&$% +4 h %    F + .t\Forearm.seek :retract +2 M&U' +90 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&A( +247 h ( + M&p& +4 h & \  Y G +2 A(<& +3 h & i k \ k +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +93 h ' + .tHand.open + M&:1 +73 h 1 +2 A(P- +2 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A( ' +23 h ' +2 .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(#' +54 h ' + #tLights, camera, ACTION! +2 A(>- +3 h -' + A(& +4 h & 5\ T + M&L& +3 h &  F +2 .t\Elbow.seek 3 +2 M& ( +2 h ( +2 M&B& +3 h &    F +2 A(& +3 h & \ T +2 .t\Forearm.seek 3 + 450 counts +2 M&Y'7 +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +3 .t\SE.seek -0.52 + A(b' +50 h ' +2 M&Q& +3 h & x F +2 A(]& +3 h & k j \ k +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 3 +2 M&'u +14 h ' + .t\Elbow.hold +2 M&{, +4 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(+' +19 h ' +2 M&% +4 h %Β  Q + A(0& +4 h & i i \ k + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 329 counts +2 M&)'Ͼ +17 h ' +2 M&6& +4 h &  F + A(}& +4 h & g h \ k +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&I'7 +12 h ' +2 A(Z% +4 h % K\ m +2 ."downElevator"\SE.seek :down +2 A(' +99 ( % +3 h %? \\ ^ I\ jYl + M&9% +4 h %2  E + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract +2 M&' +87 h ' +70 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'E& +3 h &\\ !\ !` +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&z% +4 h %    + A(% +3 h % \ n +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (f& +2 h &  \ m +2 M&X& +3 h &    F +2 .t\Elbow.seek 3 + M&W( +3 h ( +2 M&S& +3 h &  g F +2 A(N& +3 h & { h\ m +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&e'7 +97 h ' +2 A(& +3 h & \ n +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(K's +295 h ' + A(2- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&s& +2 h &  u F +2 A(@& +3 h & T L ;\ e +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&^'u +14 h ' + .t\Elbow.hold +2 M&*, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(~- +2 h -' +2 .t\SE.seek 0.18 +2 A('| +34 h ' + M&% +4 h %ΐ \  A +2 A(4& +3 h & P ? \ e + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 327 counts +2 M&G'ϼ +17 h ' +2 M&5& +3 h &  j F +2 A("& +3 h & T T \ f +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&i'7 +15 h ' +2 .t\SE.seek 1.18 +2 A(w' +42 h ' +2 M&r& +3 h &  / F +2 M&v% +3 h %> C +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&x' +86 h ' +2 .t\Elbow.seek CC +3 M&(ӂ +152 h ( + M&/& +4 h &Ӑ%   >N + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &|& +2 h &Ӑ%   >N +2 .t\Forearm.seek :CC + M&'? +92 h ' +2 .tHand.close + M&/ +67 h / +2 .t\CC.seek :open + C'&( +451 h ( + A(M& +4 h & k k \ l + A(q& +4 h & f ^ \ l + M&T& +3 h &Ӑ%  >N +2 M&h% +3 h % S   _ + .t\Forearm.seek :retract +2 M&n' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&o( +163 h ( + M&=& +4 h &    +2 A([& +3 h & \ n + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&c'u +94 h ' + .t\Elbow.hold +2 M&3, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&1 +76 h 1 + M&j% +4 h % Ή  E +2 A(7& +3 h & N\ o + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 320 counts +2 M&-'ϵ +17 h ' +2 M&D& +4 h & H  + A(H& +3 h & \ p +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&k'7 +15 h ' +2 A(% +3 h % | \ o +3 ."downElevator"\SE.seek :down +2 A(' +99 (.% +3 h %|@ +\ mXj + M&_% +3 h %& k +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&,' +87 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C';& +4 h & /\ +2 M&C% +4 h %    +2 A(u% +3 h % \ p +2 A(l. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(g(,y +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (\\& +3 h &,x ~\ o\ + M& & +3 h & P  +2 .t\Elbow.seek 4 + M&( +29 h ( + M&O& +4 h & J  + A(t& +4 h &,x \ o\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +48 .t\Forearm.seek 4 + 450 counts +3 M&!' +99 h ' + A(1& +4 h &,x \ m\ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(d's +297 h ' +2 A(- +3 h -'% +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (8& +3 h &,x k d R\ k\ + M&y& +3 h &   \ +2 .t\Elbow.seek 4 + M&a( +17 h ( + M&(& +4 h &   +2 A(& +3 h &,x \ m\ +2 .t\Forearm.seek 4 + 300 counts +2 M&J'c +31 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&V/ +66 h / +2 ."downElevator"\SE.seek :down +3 M&F& +2 A(' +6 h & F  + M&% +4 h % Ϟ D + .t\Forearm.seek :retract +2 M&' +88 h ' +2 .t\Elbow.seek CC + M&%(ӂ +158 h ( + ' +2 ."downElevator"\SE.coast + A(5 +4 M&R& +5 h &z.  E~ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &$& +3 h &z.   E~ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&\ '? +93 h ' +2 C'p& +4 h & 3\ +2 C'<& +3 .t\CC.seek :closed +2 C'm(\\ +2 h &  \ +3 & $\  +10 &0x ,\ +z +9 &b} -\ > +10 &kp $\ N +9 &-R )\ N +10 &S )\ N +9 &R "\ N +9 &tR ,\ N +10 &6P )\ N +9 &S '\ N +9 &O %\ N +10 & |R (\ N +9 &"=U )\ N +10 &$R #\ N +9 &%R )\ N +9 &'R &\ N +10 &)GR %\ M +9 &+R \ N +9 &,R '\ N +10 &.V %\ N +9 &0NS \ N +10 &2S #\ M +9 &3T !\ N +9 &5S  \ N +10 &7UT $\ N +9 &9T "\ N +9 &:T !\ N +10 &<T \ N +9 &>^T $\ N +10 &@ T \ N +9 &AX \ N +9 &C_ \ O +10 &E\\p \ Q +9 &G \ T +9 &H \ ~X +10 &J \ ~Z +9 &LI \ |Z +10 &N\ \ |[ +9 &O '\ {[ +9 &Q %\ z[ +10 &SJ "\ z] +9 &U !\ x\\ +9 &V #\ w^ +10 &X \ v_ +9 &ZJ !\ u_ +10 &[| %\ {C +9 &\\* 0\ z, +9 &\\n +\ W +2 ( + C'<& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 +2 .Hand.open + M&:1 +65 h 1 + M&P% +4 h % 7   h +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&>' +97 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + P%& +4 h &\ b + M&L% +3 h %    +2 A(B% +3 h % / 7\ b + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 4 + A(U(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (Q& +3 h &,x @ 4 \ e + M&]& +3 h &Ӡ'   @X +2 M&% +3 h %   1  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&0( +164 h ( + M&6& +4 h &  _  +2 A(}& +3 h &,x l |\ k +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M& ' +94 h ' +2 A(Z& +3 h &,x s B\ l +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A( 's +306 h ' + A(A- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &,x F b @\ i +2 M& & +3 h &   F  + .t\Elbow.seek 4 +2 M&9( +3 h ( + M&#& +3 h &  c  +2 A(Y& +3 h &,x e ] *\ i +2 .t\Forearm.seek 4 + 300 counts + M& 'c +24 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&b/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&& +3 A(E' +5 h & #  +2 M&)% +3 h % X 6  +2 .t\Forearm.seek :retract +2 M&z' +89 h ' +2 .t\Elbow.seek PC + M&( +176 h ' + ."downElevator"\SE.coast + A(5 +63 h ( + M&& +4 h &  I = + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +7 &+& +3 h &  2 = + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&f' +97 h ' +2 P%X& +3 h &\ e +2 P%S& +3 .t\PC.seek :closed +2 P%N(^ +2 h &\ e +5 & \ d2 +9 &5E{\ [1 +9 &Wn\ [F +10 &e\ ]Q +9 &V\ ^Q +10 &sU\ \ _Q +9 &5U\ _Q +9 &T\ _Q +10 &W\ ^Q +9 &|U \ ^Q +9 &=U \ _Q +10 & U \ _Q +9 &"U\ _Q +10 &$U \ _Q +9 &&GX\ `Q +9 &( U\ `Q +10 &)T \ `Q +9 &+U\ `Q +9 &-OX\ _Q +10 &/V\ _Q +9 &0Z\ _Q +10 &2U\ _Q +9 &4WT\ _Q +9 &6U\ _Q +10 &7T\ _P +9 &9U\ \ `Q +9 &;]V\ _Q +10 &= S\ `Q +9 &>W\ `Q +10 &@Z\ ^Q +9 &B_h\ \\S +9 &Dt\ [U +10 &E \ YW +9 &G\ ZW +9 &I[\ ZX +10 &K\ ZX +9 &L\ ZX +10 &N\ ZX +9 &P`\ YY +9 &R#\ ZX +10 &S\ YY +9 &U\ ZX +9 &Wi\ YX +10 &Y)\ XY +9 &Z\ XY +10 &\\\ XY +9 &^5i~\ [, +9 &^{\ \\@ +9 ( +2 &^0\ _8 + P%S& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open + M&I1 +71 h 1 + M&% +4 h %    ! + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +93 h ' + .t\SC.coast + A(6 +3 P%?& +3 h &^0\ b8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&{% +3 h % !   . +2 A(% +3 h % , , I\ d +2 A(2. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(s(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (@& + M&~& +4 h &,x , , 1\ d +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &   = +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&( +3 h ( + M&4& +3 ."raiseStack"\SE.seek beamBreak + A(5's +3 h &   = + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &"& +3 h &   " = +2 .t\Forearm.seek :PC + M&r' +94 h ' + .tHand.close +2 M&v/ +66 h / +2 .t\PC.seek :open +2 P%e( +95 h ' + A(W- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(K'1 +42 h ' +307 ( + A(^& +4 h &,x < * C\ _  + M&G& +4 h &  = + M&% +3 h %   D +2 .t\Forearm.seek :retract + M&/' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&|( +245 h ( + M&i& +4 h &   O  + A(*& +4 h &,x H O\ Y  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +94 h ' + .tHand.open + M&x1 +68 h 1 + A(`- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(M' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(q' +53 h ' +2 #tLights, camera, ACTION! + A(T- +3 h -' +2 A(h& +3 h &,x X\ C  +2 M&=& +3 h &   +2 .t\Elbow.seek 4 + M&[( +20 h ( + M&& +4 h &    +2 A(& +3 h &,x \ E  +2 .t\Forearm.seek 4 + 450 counts +2 M&' +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(j' +60 h ' +2 M&7& +3 h &  l  +48 A(D& +5 h &,x - / {\ a  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 +2 M&H'7 +15 h ' + .t\Elbow.hold +2 M&, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(n' +21 h ' +2 M&.% +4 h %] \  B @ + A(_& +4 h &,x! / . \ a  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 338 counts + M&o'ω +22 h ' +2 M&c& +4 h &  K  + A(;& +4 h &,x - / l\ b  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 4 + 450 counts + M&-' +16 h ' +2 A(C% +4 h % . . \ b +2 ."downElevator"\SE.seek :down +3 A(u' +99 (l% +3 h % = 9 9\ _Yn + M&w% +4 h %  3 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&k' +90 h ' +69 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +4 h &\\p (\ W + #t\Storing generic puck in Collection Clamp to tube 4 +2 M&% +3 h %  Q  +2 A(\\% +4 h % G G \ h +2 A( . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(O(,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (t& +2 h &,x K a O\ i +2 M&1& +3 h & G  +2 .t\Elbow.seek 4 +2 M&3( +8 h ( +2 M&,& +3 h &  [  +2 A(& +3 h &,x G F \ h +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&8' +93 h ' +2 A(y& +3 h &,x ^ h N\ j +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(('s +296 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&V& +2 h & c  +2 A(F& +3 h &,x ^ K \ h + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 +2 M&'7 +16 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(!- +2 h -' +2 .t\SE.seek 0.18 +2 A(R'~ +30 h ' + M&$% +4 h %^ Q ? +2 A(d& +3 h &,x Z X \ g + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 339 counts + M&J'ϊ +21 h ' +2 M&p& +3 h &  +2 A(a& +3 h &,x [ [\ i +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&' +16 h ' +2 .t\SE.seek 1.18 +2 A(' +41 h ' +2 M&&& +3 h & U  +2 M&:% +3 h % H +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&P' +88 h ' +2 .t\Elbow.seek CC +2 M&(ӂ +159 h ( + M&L& +4 h &ӗ$    =G + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &B& +3 h &ӗ#  O =G +2 .t\Forearm.seek :CC + M&'? +92 h ' + .tHand.close + M&'7 +94 h ' + .t\Elbow.hold +2 M&A, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +76 h 1 +2 M& % +3 h % G * +2 A(#& +3 h &,x ;\ r + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 316 counts + M&Y's +27 h ' + M&b& +4 h &   +2 A(& +3 h &,x \ s +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&)' +15 h ' +2 A(0% +3 h % 9\ t +3 ."downElevator"\SE.seek :down +2 A( ' +99 ( % +3 h %N8 q \ pXi + M& % +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' +57 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp + C'+& +4 h & \ +2 M&9% +3 h %  F  +2 A(X% +3 h % R\ s +2 A(E. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(z(<- +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ('& +3 h &<+ \ o + M&I& +3 h &  +2 .t\Elbow.seek 5 +2 M&( +3 h ( + M&?& +4 h & $  + A({& +4 h &<+ \ o + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +102 h ' + A(2& +4 h &<+ W\ p +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(S's +300 h ' + A(@- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (~& +2 h &<+ >\ m +2 M&4& +3 h & 6  + .t\Elbow.seek 5 +2 M&"( +3 h ( + M&f& +4 h &  + A(v& +3 h &<+ \ n +2 .t\Forearm.seek 5 + 300 counts +2 M&U'Ϲ +10 h ' + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .tHand.close + M&W/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&& +3 A(' +5 h &   +2 M&N% +3 h % ϱ V u +2 .t\Forearm.seek :retract +2 M&5' +91 h ' +2 .t\Elbow.seek CC + M&^(ӂ +158 h ' + ( +2 ."downElevator"\SE.coast + A(5 +2 M&G& +7 h &ӑ% \  N >I +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӑ%   >I + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&r'? +92 h ' +2 C'i& +3 h & \ +2 C'*& +3 .t\CC.seek :closed +2 C'(\\ +2 h & \ +5 & H\ 3 +9 &8Hy :\ 1 +10 &bp} <\ E +9 &[ @\ N +9 &R =\ N +10 &Q =\ N +9 &LR 9\ N +9 &Q 0\ N +10 &Q <\ N +9 &S <\ N +10 &TW =\ N +9 &!P =\ N +9 &"R >\ M +10 &$S >\ N +9 &&\\Q 6\ N +9 &(T <\ N +10 &)P :\ N +9 &+R 8\ M +10 &-dR 1\ N +9 &/%V <\ N +9 &0R 1\ N +10 &2U :\ N +9 &4lR /\ N +9 &6-W -\ N +10 &7T /\ N +9 &9S 0\ N +10 &;uS 2\ M +9 &=5T 0\ N +9 &>T +\ N +10 &@T 2\ N +9 &By[ ,\ O +9 &D7i 6\ P +10 &E 8\ T +9 &G +\ W +10 &Ib ,\ ~Y +9 &K ,\ }[ +9 &L )\ [ +10 &N 0\ [ +9 &Pa +\ }\\ +9 &R$ )\ }\\ +10 &S 0\ {^ +9 &U 1\ {^ +10 &Wb 0\ z_ +9 &Y! *\ y` +9 &Z *\ y_ +10 &\\Sb &\ |1 +9 &\\ /\ ~"f +9 ( + C'*& +49 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.36 +3 .Hand.open + M&x1 +3 h &\\ *\ !` +64 1 +2 M&`% +4 h % C    y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&T' +90 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + P%h& +4 h &\ e + M&=% +3 h %     +2 A(% +3 h % T S \ e +2 A(/. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (7& +2 h &<+ Q N K\ e +2 M&D& +3 h &Ӓ%  >H + M&K% +4 h %  $  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&M( +161 h ( +2 M&.& +3 h &    +2 A(_& +3 h &<,8 @ h\ ` +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&c'O +95 h ' +2 A(;& +3 h &<,8 / 0 *\ b +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(|'s +300 h ' + A(C- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +3 h &<,6 . / 4\ ^ + M&q& +3 h &   +2 .t\Elbow.seek 5 + M&l( +3 h ( + M&w& +3 h &    +2 A(& +3 h &<,6 J o\ ` +2 .t\Forearm.seek 5 + 300 counts + M&['Ϲ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&j/ +76 h / +2 ."downElevator"\SE.seek :down +3 M&H& +3 A(o' +5 h & U  +2 M&% +3 h % \  o +2 .t\Forearm.seek :retract +2 M&' +87 h ' +2 .t\Elbow.seek PC + M&\\( +171 h ' + ."downElevator"\SE.coast + A(5 +66 h ( +2 M& & +4 h &  & + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &n& +3 h &  & + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&t' +93 h ' +2 P%1& +3 h &\ a +2 P%,& +3 .t\PC.seek :closed +2 P%(^ +3 h &\ ` +2 &\ ` +10 &0v\ X*y +9 &`\ W? +10 &`v\ WQ +9 &W \ ZQ +10 &U\ [Q +9 &U\ ZQ +9 &eU\ [Q +10 &(R\ [Q +9 &U\ [R +9 &U\ [Q +10 & mU\ [Q +9 &"0Q \ [Q +10 &#U\ [Q +9 &%P\ [Q +9 &'uT\ [Q +10 &)7Q \ [Q +9 &*T\ ZR +9 &,U\ ZQ +10 &.}Q \ [Q +9 &0?R\ ZQ +10 &2Q \ ZQ +9 &3T\ \ ZQ +9 &5T \ ZQ +10 &7HV\ ZQ +9 &9 W\ ZQ +9 &:V\ \ [R +10 &<U\ ZR +9 &>NW \ [R +10 &@W\ [R +9 &A]\ ZR +9 &Cn\ XS +10 &EKv\ WV +9 &G\ VW +9 &H\ VW +10 &J\ UX +9 &LL \ VX +10 &N \ UZ +9 &O\ WX +9 &Q\ VY +10 &SP\ VY +9 &U\ VY +9 &V\ VY +10 &X\ WY +9 &ZW\ VZ +10 &\\\ VZ +9 &]\ X; +9 &^-}\ Z[ +10 &^3\ _7 +2 ( + P%,& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open +2 M&-1 +71 h 1 + M&y% +4 h %    : +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&u' +91 h ' + .t\SC.coast + A(6 +3 P%s& +3 h &^0\ f7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + M&% +3 h %    +2 A(k% +3 h % ^ h \ i +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(V(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (F& + M&!& +4 h &<+ c U\ i +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  # & +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&$( +2 h ( + M&d& +3 ."raiseStack"\SE.seek beamBreak +2 A(p's +2 h &   O & +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &a& +2 h & # ` & +2 .t\Forearm.seek :PC +2 M&&' +92 h ' + .tHand.close +2 M&:/ +69 h / +2 .t\PC.seek :open +2 P%8( +92 h ' + A(3- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(('1 +43 h ' +312 ( +2 A(& +3 h &<," : / \ b  +2 M&J& +3 h &   & + M&R% +3 h %  2 +2 .t\Forearm.seek :retract +2 M&L' +93 h ' + .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&B( +245 h ( + M&& +4 h &     + A(& +4 h &<," / / J\ b  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&<'O +94 h ' + .tHand.open + M&P1 +73 h 1 + A(m- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(]' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +58 h ' +2 #tLights, camera, ACTION! +2 A(\ - +3 h -' + A(6& +3 h &<, \ G  +2 M&Z& +3 h &     +2 .t\Elbow.seek 5 + M&%( +15 h ( + M&& +4 h &   + A(& +4 h &<, 8\ G  + .t\Forearm.seek 5 + 450 counts +2 M&'O +12 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A( ' +58 h ' +2 M&#& +3 h &  h +2 A(b& +3 h &<," P X h\ e  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 5 +2 M&'΍ +14 h ' + .t\Elbow.hold +2 M&0, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(}' +27 h ' +2 M& % +4 h %ά  J + A( & +4 h &<," - +\ d  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 331 counts + M&g' +14 h ' +2 M&>& +4 h & + A(+& +4 h &<,# N N \ e  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&Y'O +15 h ' +2 A(9% +4 h % M W d\ e +2 ."downElevator"\SE.seek :down +2 A(X' +99 (E% +3 h %@ / / u\ aYo + M&% +4 h %C \  ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&)' +85 h ' +81 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C' & +3 h &\\ 1\ !` +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&O% +3 h %   +2 A('% +3 h % h i \ k +2 A(I. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(?(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ({& +3 h &<, [ _ w\ j + M&2& +3 h & ` +2 .t\Elbow.seek 5 +2 M&A( +7 h ( +2 M&& +3 h & \    +2 A(@& +3 h &<, ^ h S\ j +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&~'O +103 h ' +2 A(4& +3 h &<, k i \ k +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +48 A(f's +295 h ' +2 A(v- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&W& +3 h &  L  + A(& +3 h &<, k a j\ i + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 +2 M&N'΍ +13 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(- + h -' +2 .t\SE.seek 0.16 +2 A(G'l +31 h ' +2 M&% +3 h %Π y E +2 A(S& +3 h &<, ^ [ e\ i +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 319 counts +2 M&U' +16 h ' +2 M&i& +3 h & c  +2 A("& +3 h &<, i h \ j +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +15 h ' +2 .t\SE.seek 1.16 +2 A(5' +38 h ' +2 M&Q& +4 h &  +2 M&*% +3 h %@ ] +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&x' +86 h ' +2 .t\Elbow.seek CC +2 M&`(ӂ +157 h ( + M&h& +4 h &ӓ#   <? + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &=& +2 h &ӓ"  <? +2 .t\Forearm.seek :CC + M&'? +95 h ' + .tHand.close + M&// +68 h / +2 .t\CC.seek :open + C'7( +450 h ( +2 A(D& +4 h &<, \ s + A(K& +3 h &<, B\ s +2 M&r& +3 h &Ӕ#  <> + M&.% +4 h % 6  C + .t\Forearm.seek :retract +2 M&_' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&z( +162 h ( + M&;& +4 h & g  +2 A(^& +3 h &<, J\ v + .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&T'΍ +98 h ' + .t\Elbow.hold +2 M&C, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +74 h 1 +2 M&q% +3 h % Κ ? d +2 A(w& +3 h &<, Z\ w + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 313 counts + M&' +21 h ' +2 M&j& +24 h &  + A(H& +4 h &<, e\ w +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +11 h ' +2 A(M% +4 h % \ x +3 ."downElevator"\SE.seek :down +2 A(c' +99 (|% +3 h %f> w\ tWg + M&[% +3 h %E  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +89 h ' +64 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp + C'n& +4 h & :\ +2 M&l% +3 h %  /  +2 A(1% +3 h % \ w +2 A(o. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A((K +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (e& +3 h &K \ s + M&-& +3 h & s  +2 .t\Elbow.seek 6 +2 M&y( +2 h ( +2 M&s& +4 h &  + A(& +3 h &K \ s +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&k' +95 h ' +2 A(& +3 h &K \ \ s +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(,'s +297 h ' + A(F- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (!& +2 h &K \ p +2 M&d& +3 h &   + .t\Elbow.seek 6 +2 M&a( +3 h ( + M&t& +3 h & 5  +2 A(:& +3 h &K $\ q +2 .t\Forearm.seek 6 + 300 counts + M&'h +28 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .tHand.close +2 M&3/ +73 h / +2 ."downElevator"\SE.seek :down +3 M&\\& +3 A(u' +5 h &   +2 M&% +3 h % Ϗ ` +2 .t\Forearm.seek :retract +2 M&p' +89 h ' +2 .t\Elbow.seek CC + M&(ӂ +158 h ( + M&J& +5 h &ӏ&   ?U ' +2 ."downElevator"\SE.coast + A(5 +2 .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b +2 &R& +3 h &ӏ&   ?U +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&&'? +101 h ' +2 C'& +3 h & I\ +2 C'& +3 .t\CC.seek :closed +2 C'$(\\ +2 h & A\ +3 & G\  +9 &0x M\ *y +10 &b} K\ > +9 &mp F\ N +10 &0R E\ M +9 &Q >\ N +9 &Q =\ M +10 &vR >\ M +9 &9Q ;\ M +9 &V 8\ N +10 &T =\ M +9 & ~R ?\ M +10 &"?U <\ N +9 &$U =\ N +9 &%T =\ N +10 &'P <\ N +9 &)GU 8\ N +9 &+ S <\ N +10 &,Q 5\ N +9 &.Q <\ M +10 &0PS 0\ M +9 &2S <\ M +9 &3S 0\ N +10 &5Q /\ N +9 &7WW 0\ N +9 &9V 4\ N +10 &:V /\ N +9 &<W 4\ N +10 &>_W 7\ N +9 &@!Q 1\ N +9 &AX 0\ N +10 &C_ /\ O +9 &E]n +\ Q +9 &G -\ T +10 &H ,\ X +9 &J 1\ Z +10 &LJ ,\ Z +9 &N 1\ Z +9 &O *\ \\ +10 &Q +\ \\ +9 &SM 1\ \\ +9 &U 0\ ~] +10 &V /\ ~^ +9 &X +\ |_ +10 &ZL /\ |_ +9 &[y 2\ D +9 &\\& .\ + +10 &\\ .\ !` + ( +2 C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + .Hand.open + M&P1 +73 h 1 + M&m% +4 h % 3   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\ ' +87 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + P%6& +3 h &\ i +2 M&Z% +3 h %    +2 A(L% +3 h % [ [ \ j + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (#& +3 h &K i X 9\ h + M&b& +4 h &ӝ#  =G + M& % +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&(( +167 h ( + M& & +4 h &   +2 A(>& +3 h &K ~ X\ m + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts + M&+' +95 h ' + A(]& +4 h &K \ m +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(9's +300 h ' + A(B- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (<& +2 h &K | h r\ m +2 M&& +3 h & 0  + .t\Elbow.seek 6 +2 M&E( +2 h ( +2 M&& +3 h &  + A(& +4 h &K \ m + .t\Forearm.seek 6 + 300 counts +2 M&%'h +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +75 h / +2 ."downElevator"\SE.seek :down +3 M&& +3 A(g' +5 h &   +2 M& % +3 h % ] +2 .t\Forearm.seek :retract + M&O' +92 h ' +2 .t\Elbow.seek PC + M&'( +166 h ' +2 ."downElevator"\SE.coast + A(5 +71 h ( + M&}& +4 h &  f ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &I& +2 h &  ( +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&{' +93 h ' +2 P%2& +3 h & \ l +2 P%& +3 .t\PC.seek :closed +2 P%@(^ +3 h &\ l + &"\ l +10 &-t\ d+{ +9 &b\ b? +10 &cs\ cQ +9 &$U\ fQ +9 &S\ fQ +10 &S\ fQ +9 &kU\ eP +9 &,U\ eQ +10 &T\ fQ +9 &T\ fQ +9 & rW\ fQ +10 &"4W\ eQ +9 &#W\ fQ +10 &%U\ eQ +9 &'zT\ fQ +9 &)<W\ eQ +10 &*W\ eQ +9 &,W\ eQ +10 &.V\ eQ +9 &0EU \ fP +9 &2T\ fP +10 &3T\ eP +9 &5T\ eQ +9 &7KW\ eQ +10 &9U\ eQ +9 &:U \ eQ +9 &<U\ eQ +10 &>SW\ fQ +9 &@W\ eQ +10 &Ac\ dR +9 &Cq\ dT +9 &EM\ bV +10 &G \ aW +9 &H \ aW +9 &J\ `W +10 &LQ\ aW +9 &N \ `X +10 &O\ `X +9 &Q\ `Y +9 &ST\ _Y +10 &U\ `Y +9 &V \ _Y +9 &X\ `X +10 &Z\\\ _Y +9 &\\\ ^Y +10 &]\ `7 +9 &^6z\ bE +8 ( +2 &^"\ g2 + P%& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + M&Y1 +69 h 1 + M&4% +4 h %   Q +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&X' +89 h ' + .t\SC.coast + A(6 +3 P%V& +3 h &^"\ g2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&0% +3 h %    +2 A()% +3 h % [ [\ g +2 A(v. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(W(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&& +3 h &K N P W\ f +4 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &   ( +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + A(S's +2 M&i& +5 h &  ( +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &"& +3 h &   ( + .t\Forearm.seek :PC +2 M&Q' +91 h ' + .tHand.close +2 M&*/ +65 h / +2 .t\PC.seek :open + P%~( +96 h ' +2 A(A- +2 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(f'1 +47 h ' +305 ( + A(N& +4 h &K ^ [ ?\ j +2 M&U& +3 h & { ( + M&G% +3 h %    _ ; +2 .t\Forearm.seek :retract +2 M&h' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&=( +244 h ( + M&& +4 h &   C +2 A(& +3 h &K E G +\ h + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&/' +97 h ' + .tHand.open + M&x1 +73 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(D' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(K' +52 h ' + #tLights, camera, ACTION! +2 A(r- +3 h -' + A(.& +4 h &K \\\ N + M&;& +3 h &   C +2 .t\Elbow.seek 6 +2 M&^( +2 h ( +2 M&& +3 h &  C + A(`& +4 h &K i\ P +2 .t\Forearm.seek 6 + 450 counts + M&' +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(q' +57 h ' +2 M&w& +3 h &  C +2 A(j& +3 h &K \ o + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 6 +2 M&H'< +15 h ' + .t\Elbow.hold +2 M&M, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(_' +18 h ' +2 M&|% +4 h %n  ] W +2 A([& +3 h &K 3\ o + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 350 counts + M&z'Ϛ +24 h ' +2 M&T& +3 h &  r C +3 A(n& +3 h &K B\ o +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +12 h ' +2 A(l% +4 h % v \ p +2 ."downElevator"\SE.seek :down +2 A(1' +99 (o% +3 h %F s L\ lYn + M&5% +4 h %   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +71 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'c& +4 h &\\ \ !` + #t\Storing generic puck in Collection Clamp to tube 6 + M&?% +4 h %  J  +2 A(e% +3 h % 8\ r + A(-. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(s(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K \ q +2 M&& +3 h &  C +2 .t\Elbow.seek 6 + M&C( +3 h ( + M& & +4 h &   C + A(F& +3 h &K 1\ q +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&!' +99 h ' +2 A(d& +3 h &K \ r +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(t's +295 h ' + A(:- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 M&3& +2 h &  j C +2 A(\\& +3 h &K  o\ p + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 +2 M&'< +15 h ' + .t\Elbow.hold +2 M&y, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(k- +2 h -' +2 .t\SE.seek 0.17 + A(J'u +32 h ' + M&R% +4 h %Y  , +2 A(,& +3 h &K u R\ p + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 329 counts +2 M&'υ +22 h ' + M&& +4 h &  C +2 A(a& +3 h &K .\ q +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&u' +15 h ' +2 .t\SE.seek 1.17 + A(p' +39 h ' +2 M&7& +4 h &   b C + M&P% +4 h % Y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&m' +88 h ' +2 .t\Elbow.seek CC + M&6(ӂ +160 h ( + M&Z& +4 h &Ӎ   6 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &L& +3 h &Ӎ  6 +2 .t\Forearm.seek :CC + M&'? +93 h ' + .tHand.close + M&/ +69 h / + .t\CC.seek :open +2 C'#( +450 h ( + A(b& +4 h &K \ w + A( & +3 h &K \ w +2 M&&& +3 h &ӕ  5 + M& % +3 h % '  +2 .t\Forearm.seek :retract +2 M&>' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +158 h ( +47 M&]& +6 h &   + A(& +3 h &K \ z +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&\ '< +96 h ' + .t\Elbow.hold +2 M&B, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&<1 +70 h 1 +2 M&% +3 h % > F ) +2 A(& +3 h &K \ y + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 302 counts +2 M&'j +27 h ' +2 M& & +3 h & 1  +2 A(& +3 h &K p\ z +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M& ' +14 h ' +2 A((% +3 h % \ { +3 ."downElevator"\SE.seek :down +2 A(+' +99 (9% +3 h %B H\ wYk + M&%% +4 h % + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&}' +88 h ' +57 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast +2 A(6 +2 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp +2 C'I& +3 h & \ +2 M&E% +3 h %  G  +2 A(2% +4 h % n\ z + A(g. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(O([ +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (8& +3 h &[ \ t\  + M&Y& +4 h &  |  + .t\Elbow.seek 7 +2 M&4(r +14 h ( + M&V& +4 h &v F  + A(0& +5 h &[ O\ t\  +4 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +4 .t\Forearm.seek 7 + 450 counts + M&)'= +97 h ' + A(v& +4 h &[ u\ u\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +299 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &[ )\ p\  +2 M&i& +3 h &v ?  +2 .t\Elbow.seek 7 + M&"(r +3 h ( + M&{& +3 h &v   F  +2 A(*& +3 h &[ /\ r\  +2 .t\Forearm.seek 7 + 300 counts + M&'ϧ +23 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&A/ +76 h / +2 ."downElevator"\SE.seek :down +3 M&'& +3 A(X' +5 h &v q  +2 M&@% +3 h % ϫ & +2 .t\Forearm.seek :retract +2 M&S' +88 h ' +2 .t\Elbow.seek CC + M&N(ӂ +159 h ( +2 M&U& +4 h &ӓ"   ;8 ' +2 .t\Elbow.reconfigure LooseElbow +2 ."downElevator"\SE.coast + A(5 +3 M&$ &.,(#b +3 &G& +2 h &ӓ"  ;8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&Q'? +107 h ' +2 C'& +3 h & N\ +2 C'& +3 .t\CC.seek :closed +2 C'(\\ +2 h & #\ +4 & H\ 5 +10 &8Hv M\ 0 +9 &`q} N\ E +9 &Z J\ N +10 &P E\ M +9 &S I\ M +10 &JU I\ N +9 & U C\ M +9 &Q ?\ M +10 &S =\ M +9 &RR ;\ N +9 &!U 9\ M +10 &"V ;\ N +9 &$T <\ N +10 &&ZP =\ N +9 &(V =\ M +9 &)Q >\ N +10 &+U <\ N +9 &-bT =\ N +9 &/%Q =\ M +10 &0S =\ M +9 &2R ;\ M +10 &4jV =\ N +9 &6,W :\ N +9 &7W <\ N +10 &9W 6\ N +9 &;rV 9\ N +9 &=4W :\ N +10 &>W 4\ N +9 &@W 1\ N +10 &BzX :\ N +9 &D7` 9\ O +9 &Es 5\ Q +10 &G :\ T +9 &Id ;\ X +9 &K" 8\ Y +10 &L 5\ Z +9 &N 7\ Z +10 &Pc 4\ [\ +9 &R" /\ ~\\ +9 &S 6\ ~\\ +10 &U '\ }] +9 &We 0\ }] +9 &Y" +\ {_ +10 &Z *\ |_ +9 &\\Q\\ '\ / +10 &\\# ,\ ] +9 ( + &\\} %\ W + C'& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.21 + .Hand.open + M&x1 +66 h 1 +2 M&% +4 h % H   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&r' +88 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + P%.& +4 h &"\ j + M&;% +3 h %    +2 A(% +3 h % j i g\ k +2 A(`. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(h([ +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (w& +3 h &[ ^ i t\ j + M&j& +4 h &Ӕ"  ;7 + M&|% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&[(r +155 h ( +2 M&f& +3 h &   +2 A(T& +3 h &[ m k \ l +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&n'= +93 h ' + A(l& +4 h &[ \ n +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(D's +300 h ' + A(=- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (/& +2 h &[ h g \ k +2 M&K& +3 h & \ ' +2 .t\Elbow.seek 7 + M&o(r +7 h ( + M&5& +4 h &|  E  + A(& +4 h &[ i k z\ l + .t\Forearm.seek 7 + 300 counts +2 M&^'ϧ +43 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&q/ +68 h / +2 ."downElevator"\SE.seek :down +3 M&H& +2 A(c' +6 h &|   +2 M&z% +3 h % ϟ C O +2 .t\Forearm.seek :retract +2 M&?' +93 h ' +2 .t\Elbow.seek PC + M&e( +164 h ' +2 ."downElevator"\SE.coast + A(5 +77 h ( + M&-& +4 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &_& +3 h &   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +96 h ' +2 P%& +3 h & \ l +2 P% & +3 .t\PC.seek :closed +2 P%F(^ +2 h &\ \ l +3 &"\ k\ +10 &.s\ d+z +9 &a"\ b? +9 &`s\ cP +10 &T\ fQ +9 &T\ fP +9 &T\ fQ +10 &fR\ fQ +9 &(S!\ fQ +10 &T\ eP +9 &T\ eP +9 & nT\ eQ +10 &"/T\ eQ +9 &#T\ eP +10 &%Q\ eQ +9 &'vW\ eQ +9 &)8V\ eQ +10 &*V\ eQ +9 &,R\ eQ +9 &.~Q\ eQ +10 &0AT\ eP +9 &2T\ eQ +9 &3V\ eQ +10 &5W\ eQ +9 &7HV\ eQ +10 &9 W\ eQ +9 &:T\ eQ +9 &<S\ eQ +10 &>PW\ eQ +9 &@Y\ dQ +10 &Ab\ dR +9 &Cr\ cU +9 &EI\ `V +10 &G\ `W +9 &H\ `W +9 &J\ _W +10 &LL\ _X +9 &N\ _X +10 &O\ _X +9 &Q\ _Y +9 &SN\ ^Z +10 &U\ _Y +9 &V \ _Y +9 &X\ _Y +10 &ZX\ _Y +9 &\\\ ^Z +9 &] \ `9 +10 &^+n\ b#e +9 &^8\ f8 +2 ( + P% & +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open + M&1 +72 h 1 + M&d% +4 h %   ? +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&1' +89 h ' + .t\SC.coast + A(6 +3 P%W& +3 h &^1\ e8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + M&M% +3 h %     +2 A(% +3 h % Z [ .\ f + A(:. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(3([ +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (\\& +4 h &[ V U\ f +2 ."raiseStack"\SE.reconfigure SEplace +2 M&k& + A(#]kK-0-\ b +5 h &   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&R( +2 ."raiseStack"\SE.seek beamBreak + A(,'s +4 h ( +2 M&& +50 h &  u  +2 .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &a& +2 h &   +2 .t\Forearm.seek :PC +2 M&7' +91 h ' + .tHand.close +2 M&P/ +68 h / +2 .t\PC.seek :open +2 P%!( +42 h ' +2 A(C- +2 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(t'1 +55 h ' +347 ( +2 A(& +4 h &[ T ]\ h +2 M&& +3 h &  u  + M&J% +3 h %   L Q +2 .t\Forearm.seek :retract +2 M&Z' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&L(r +253 h ( + M&u& +4 h &    F +2 A(y& +3 h &[ [ [ \ g +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +91 h ' + .tHand.open + M&m1 +73 h 1 + A($- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(b' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A( ' +53 h ' + #tLights, camera, ACTION! +2 A(&- +3 h -' + A( & +4 h &[ H\ K + M&]& +3 h &  F +2 .t\Elbow.seek 7 +2 M&(r +35 h ( + M&& +4 h &y  S +2 A(6& +3 h &[ %\ L +2 .t\Forearm.seek 7 + 450 counts +2 M&<'= +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +58 h ' +2 M&& +4 h &y S +2 A( & +3 h &[ k i {\ k + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 7 +2 M&'{ +14 h ' + .t\Elbow.hold +2 M&(, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(>' +21 h ' +2 M&9% +4 h %Τ 1 L + A(%& +4 h &[ h i \ k + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 341 counts + M&' +15 h ' +2 M&\ & +4 h &| f P + A(I& +4 h &[ j i \ l +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&E'= +17 h ' +2 A(% +4 h % s G\ l +2 ."downElevator"\SE.seek :down +2 A(2' +99 (g% +3 h %E g h \ iZp + M&p% +4 h %,  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +88 h ' +76 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'+& +4 h &\\} )\ W + #t\Storing generic puck in Collection Clamp to tube 7 + M&s% +4 h %    =  + A(8% +3 h % \ n +2 A(Y. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(V([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (0& +2 h &[ G\ l +2 M&v& +3 h &|  I P +2 .t\Elbow.seek 7 + M&B(r +3 h ( +2 M&}& +3 h &|   4 P +2 A(& +3 h &[ |\ m +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +94 h ' +2 A(i& +3 h &[ \ n +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A({'s +300 h ' + A(*- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&A& +2 h &| _ P +2 A('& +3 h &[ w x\ m + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M&@'{ +17 h ' + .t\Elbow.hold +2 M&4, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A()- +2 h -' +2 .t\SE.seek 0.17 +2 A(U'z +31 h ' + M&G% +4 h %Ώ   +2 A(& +3 h &[ j h K\ k + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 320 counts +2 M&'ϻ +17 h ' +2 M&& +3 h &| n P +2 A("& +3 h &[ k i y\ l +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&X'= +15 h ' +2 .t\SE.seek 1.17 + A(S' +35 h ' +2 M&#& +3 h &| 9 P +2 M&x% +3 h %/  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +88 h ' +2 .t\Elbow.seek CC + M&.(ӂ +154 h ( + M&;& +4 h &ӊ*  ?W + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &ӊ(  @W +2 .t\Forearm.seek :CC + M&`'? +92 h ' + .tHand.close + M&/ +72 h / +2 .t\CC.seek :open + C'w( +450 h ( +2 A(j& +3 h &[ &\ s +2 A(|& +3 h &[ \ s +2 M&Q& +3 h &ӌ&   ?U + M&f% +3 h % <  ^ +2 .t\Forearm.seek :retract +2 M&T' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&O(r +162 h ( + M&l& +4 h &o  P  +2 A(N& +3 h &[ \ s + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 7 +2 M&r'{ +91 h ' + .t\Elbow.hold +2 M&=, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&/1 +68 h 1 + M&K% +4 h % Ϋ l T + A(5& +4 h &[ U\ u + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 348 counts + M&' +16 h ' +2 M&q& +4 h &r   +2 A(H& +3 h &[ c\ u +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&z'= +18 h ' +2 A([% +3 h % ^\ u +3 ."downElevator"\SE.seek :down +2 A(n' +99 (D% +3 h %C 1\ qYl + M&^% +3 h %& O +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&-' +87 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .tdelay 10 seconds +1002 #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp +2 C'_& +2 h & '\ + M&o% +3 h %  Y  +2 A(% +3 h % b\ v +2 A(c. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(?(  +1632 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (~& +3 h & s\ t + M&& +4 h &r 0  + .t\Elbow.seek 2 +2 M&d( +25 h ( + M&W& +4 h &   + A(M& +4 h & R\ r + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +94 h ' + A(:& +4 h &  \ u +47 .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A( 's +297 h ' +2 A(\\- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (k& +3 h &  w ]\ q + M&& +3 h &   +2 .t\Elbow.seek 2 + M&a( +26 h ( + M&& +4 h & M u +2 A(P& +3 h &  \ s +2 .t\Forearm.seek 2 + 300 counts +2 M&h'Ͻ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&C/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&e& +4 A(1' +4 h & w u +2 M&F% +3 h % ϼ  +2 .t\Forearm.seek :retract +2 M&,' +89 h ' +2 .t\Elbow.seek CC + M&(ӂ +158 h ( +2 M&& +4 h ' + &z.   E~ + .t\Elbow.reconfigure LooseElbow +2 ."downElevator"\SE.coast +2 M&$ &.,(#b + A(5 +4 M&J& +3 h &z.   E~ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&7'? +101 h ' +2 C'u& +3 h & 0\ +2 C'y& +3 .t\CC.seek :closed +2 C'R(\\ +3 h & 4\ +4 & Y\ 5 +9 &7Gv Z\ 1 +9 &bq~ X\ E +10 &\\ S\ N +9 &R V\ M +10 &V R\ N +9 &MQ R\ M +9 &R L\ M +10 &R G\ M +9 &V M\ N +9 &TW H\ N +10 &!S E\ N +9 &"S M\ M +10 &$W E\ N +9 &&\\Q E\ N +9 &(W J\ N +10 &)U N\ N +9 &+V H\ M +9 &-eS E\ M +10 &/'T E\ M +9 &0U @\ N +10 &2Q K\ N +9 &4lV K\ N +9 &6.W C\ N +10 &7S K\ N +9 &9T G\ M +9 &;uT B\ M +10 &=6T D\ N +9 &>W A\ N +10 &@T ?\ M +9 &BzY B\ N +9 &D:` B\ O +10 &Ep @\ Q +9 &G 6\ T +9 &Ig @\ X +10 &K! @\ Z +9 &L A\ Z +10 &N 9\ [\ +9 &Pb =\ }\\ +9 &R& 4\ [ +10 &S @\ ~] +9 &U 7\ |] +9 &Wc A\ {^ +10 &Y" 3\ z_ +9 &Z 9\ {_ +10 &\\S^ <\ - +9 &\\' 4\ }"i +8 ( +2 &\\q 8\ X + C'y& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.25 + .Hand.open + M&m1 +69 h 1 +2 M&$% +4 h % =   + + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&&' +94 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + P% & +3 h &\ h +2 M&]% +3 h %    +2 A(Z% +3 h % V d\ i + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 2 + A(6(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  U R \ h +2 M& & +3 h &Ӧ&  ?R + M&9% +3 h %     +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&t( +165 h ( + M&%& +4 h &   <  +2 A(\ & +3 h &  [ f !\ k +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&b'S +96 h ' + A(I& +4 h &  ~ b\ m +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +295 h ' + A(L- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &  N H \ h +2 M& & +3 h & t  + .t\Elbow.seek 2 +2 M&g( +3 h ( + M&p& +3 h &  l  +2 A(<& +3 h &  [ [\ j +2 .t\Forearm.seek 2 + 300 counts +2 M&'Ͻ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A(' +6 h & a  + M&+% +3 h %  a +2 .t\Forearm.seek :retract +2 M&s' +91 h ' +2 .t\Elbow.seek PC + M&8( +169 h ' + ."downElevator"\SE.coast + A(5 +70 h ( + M&>& +4 h &   3 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &Y& +4 h & V 3 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&0' +98 h ' +2 P%v& +3 h &*\ k +2 P%}& +3 .t\PC.seek :closed +2 P%(^ +2 h &'\ j +3 &$\ j +10 &/w)\ b+z +9 &`)\ `? +9 &it!\ aP +10 &(T)\ dQ +9 &U)\ dQ +9 &S#\ eQ +10 &pT)\ dP +9 &0T)\ dQ +10 &T%\ dQ +9 &T!\ dQ +9 & wT\ dQ +10 &":R!\ eP +9 &#T&\ dQ +9 &%R\ dQ +10 &'~W\ cQ +9 &)@S!\ cQ +9 &+T&\ dQ +10 &,U\ dQ +9 &.T \ dQ +10 &0GU\ dQ +9 &2 S\ eQ +9 &3R\ eQ +10 &5T\ dQ +9 &7QT\ dQ +9 &9Y\ dQ +10 &:U\ dQ +9 &<U\ dQ +10 &>XW\ dQ +9 &@W\ dQ +9 &Ab\ cR +10 &Cm\ bS +9 &ER~\ aV +10 &G\ `W +9 &H\ `W +9 &J\ _X +10 &LU\ ^X +9 &N\ _X +9 &O\ _X +10 &Q\ ^Y +9 &SY\ ^Y +9 &U\ _X +10 &V\ ^Y +9 &X\ _X +10 &Zb\ ^X +9 &\\"\ ]Y +9 &]\ `7 +10 &^4v\ aD +8 ( +2 &^"\ f2 + P%}& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + M&E1 +75 h 1 + M&i% +4 h %     +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&2' +92 h ' + .t\SC.coast + A(6 +3 P%3& +3 h &^"\ f2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&(% +3 h % #   1 +2 A( % +3 h % W \\ \ g +2 A(*. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(A(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&)& + A('& +3 h &   $ 3 +4 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 h &  [ Z\ g + ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.seek PC +3 M&G( + A(#]kK-0-\ b +5 h ( +2 M&& +3 h &   3 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +4 ."raiseStack"\SE.seek beamBreak +2 M&& + A("'s +5 h &   3 +2 .t\Forearm.seek :PC +2 M&#' +93 h ' + .tHand.close +2 M&x/ +73 h / +2 .t\PC.seek :open + P%( +97 h ' + A(B- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A({'1 +42 h ' +306 ( + A(@& +4 h &  ^ f M\ k +2 M&& +3 h &   t 3 + M&;% +3 h %  j - +2 .t\Forearm.seek :retract +2 M&U' +93 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +245 h ( + M&X& +4 h &   < + A(4& +3 h &  [ e\ i +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +92 h ' + .tHand.open + M&1 +65 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(j' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(|' +54 h ' +3 #tLights, camera, ACTION! +2 A(Q- +3 h -' + A(f& +3 h &  0\ K +2 M&l& +3 h &  < +2 .t\Elbow.seek 2 + M&N( +4 h ( +2 M&`& +3 h &  < +2 A(.& +3 h &  \ L +2 .t\Forearm.seek 2 + 450 counts +2 M&/'S +14 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(K' +60 h ' +2 M&5& +3 h &  j < +2 A(q& +3 h &  e ^ d\ j + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +50 M&#Q@2^d^2b +4 .t\Forearm.seek 2 +2 M&H'Α +14 h ' + .t\Elbow.hold +2 M&[, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(T' +19 h ' +2 M&D% +4 h %η  2 + A(^& +4 h &  a I ~\ i + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 338 counts + M&O' +15 h ' +2 M&r& +4 h &  < + A(& +3 h &  d g #\ j +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts + M&S'S +16 h ' +2 A(z% +4 h % h h o\ j +2 ."downElevator"\SE.seek :down +2 A(n' +99 (V% +3 h %D R D \ gZo + M&_% +4 h %L   r + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&o' +87 h ' +73 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &\\r @\ X + #t\Storing generic puck in Collection Clamp to tube 2 +2 M&c% +3 h %    +2 A(~% +3 h % h h ;\ j +2 A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(W(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (M& +3 h &  j o \ j + M&:& +4 h &  n < + .t\Elbow.seek 2 +2 M&=( +3 h ( +2 M&-& +3 h &   < +2 A(\\& +3 h &  [ [ \ j +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&k'S +92 h ' +2 A(& +4 h &  f j \ l + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +300 h ' + A(P- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&C& +2 h & h < +2 A(e& +3 h &  h i `\ k + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 +2 M&F'Α +17 h ' + .t\Elbow.hold +2 M&d, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.17 +2 A('s +29 h ' + M&J% +4 h %Ϋ    +2 A( & +3 h &  J T u\ h + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 326 counts + M&h' +16 h ' +2 M&u& +3 h & < +2 A(a& +3 h &  i g \ k +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&1'S +15 h ' +2 .t\SE.seek 1.17 +2 A(,' +37 h ' +2 M&w& +3 h &  < +2 M&m% +3 h %B ! +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&$' +87 h ' +2 .t\Elbow.seek CC +2 M& (ӂ +151 h ( + M&]& +4 h &Ӑ(   A_ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &Z& +4 h &ӑ)  @^ + .t\Forearm.seek :CC +2 M&'? +93 h ' + .tHand.close + M&y/ +65 h / +2 .t\CC.seek :open + C'( +451 h ( +2 A( & +4 h &  b\ o + A(9& +3 h &  %\ o +2 M&7& +3 h &Ӷ#   <9 +2 M&%% +3 h % C  5 + .t\Forearm.seek :retract +2 M&\ ' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&?( +156 h ( + M&I& +4 h & +2 A(& +3 h &  U\ r + .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.seek 2 +2 M&&'Α +92 h ' + .t\Elbow.hold +2 M&L, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .tHand.open + M&1 +70 h 1 + M& % +4 h % Φ  +2 A(p& +3 h &  \ s + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 321 counts +2 M&<' +14 h ' +3 M&& +3 h & ( \ +2 A(& +3 h &  \ t +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&+'S +16 h ' +2 A(t% +3 h % \ u +3 ."downElevator"\SE.seek :down +2 A(b' +99 (% +3 h %6 \ rWg + M&% +3 h %8 : +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&>' +87 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + C'Y& +4 h & %\ +2 M&g% +3 h %  -  +2 A(v% +3 h % \ u + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(s( +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (!& +3 h & \ q  + M&E& +3 h & e \ +2 .t\Elbow.seek 3 +2 M&i( +15 h ( + M&3& +4 h &     + A((& +4 h & \ r  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M& '7 +97 h ' + A(}& +4 h & \ s  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(*'s +297 h ' + A()- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 ('& +2 h & \ o  +2 M&& +3 h & R  + .t\Elbow.seek 3 +2 M&( +4 h ( + M&0& +4 h &  + A(x& +4 h & 4\ p  + .t\Forearm.seek 3 + 300 counts +2 M&6'ϡ +22 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&8/ +76 h / +2 ."downElevator"\SE.seek :down +3 M&B& +2 A(2' +6 h & \\  +2 M&% +3 h % Ϙ Y +2 .t\Forearm.seek :retract +2 M&"' +89 h ' +2 .t\Elbow.seek CC + M&@(ӂ +158 h ( + M&& +5 h ' + &ӎ%   >L + ."downElevator"\SE.coast + A(5 +2 .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +3 &;& +3 h &ӎ%   >L + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&#'? +95 h ' +2 C'X& +3 h & 6\ +2 C'4& +3 .t\CC.seek :closed +2 C'G(\\ +3 h & V\ +3 & U\  +8 &1y T\ *z +10 &d} M\ ? +9 &qp N\ O +9 &6Q D\ N +10 &R O\ N +9 &R N\ M +9 &}R P\ M +10 &>U R\ N +9 &W Q\ N +10 &U \\\ N +9 & U Q\ M +9 &"GR S\ M +10 &$ R N\ M +9 &%R A\ M +10 &'Q M\ N +9 &)NQ T\ N +9 &+Q N\ N +10 &,U K\ N +9 &.V P\ N +9 &0UT O\ N +10 &2Q H\ N +9 &3Q E\ N +9 &5U P\ N +10 &7^W K\ N +9 &9 R C\ N +10 &:R >\ N +9 &<R C\ N +9 &>fR A\ N +10 &@(Q 7\ N +9 &AU >\ N +9 &C_ I\ O +10 &Egi E\ P +9 &G! N\ S +10 &H N\ W +9 &J G\ Y +9 &LT E\ Y +10 &N G\ Z +9 &O H\ Z +10 &Q A\ [ +9 &SU I\ \\ +9 &U I\ \\ +10 &V B\ ] +9 &X K\ ^ +9 &ZV B\ ^ +10 &[y L\ A +9 &\\& G\ . +9 &\\u A\ X +3 ( + C'4& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open +48 M&1 +68 h 1 + M&% +4 h % C   h +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&Q' +90 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + P%f& +4 h &)\ q + M&l% +3 h %    +2 A(`% +3 h % &\ r +2 A(.. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(U( +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (5& +3 h & \ r +2 M&q& +3 h &Ӑ%  >J +2 M&{% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&D( +163 h ( +2 M&j& +3 h &   +2 A(^& +3 h & ^\ u +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&r'7 +98 h ' +2 A(& +3 h & \ v +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(z's +295 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h & !\ s +2 M&|& +3 h &   s  +2 .t\Elbow.seek 3 + M&V( +3 h ( + M&_& +3 h &   +2 A(/& +3 h & \ t +2 .t\Forearm.seek 3 + 300 counts + M&N'ϡ +21 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&K/ +75 h / +2 ."downElevator"\SE.seek :down +3 M&H& +4 A(O' +4 h &  +2 M&% +3 h % ϣ +2 .t\Forearm.seek :retract +2 M&c' +87 h ' +2 .t\Elbow.seek PC + M&~( +169 h ' + ."downElevator"\SE.coast + A(5 +87 h ( +2 M&& +4 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &T& +2 h &   e + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&M' +101 h ' +2 P%:& +3 h &\ v +2 P%-& +3 .t\PC.seek :closed +2 P%\\(^ +2 h &\ v +5 &)\ v2 +9 &6F{+\ m1 +10 &Yo*\ lF +9 &`)\ oQ +9 &R)\ pP +10 &yS*\ pP +9 &:R)\ pQ +10 &W)\ pP +9 &T(\ pP +9 &X)\ pQ +10 &BT(\ pQ +9 &!W\ pP +9 &"V'\ pP +10 &$S)\ pP +9 &&JQ'\ pQ +10 &( V\ pP +9 &)S&\ pQ +9 &+S\ pQ +10 &-RR\ pQ +9 &/T\ qQ +9 &0U\ pQ +10 &2R\ pP +9 &4ZR\ pQ +10 &6U\ pQ +9 &7R\ pP +9 &9U\ qP +10 &;aY\ pQ +9 &=%U\ pP +9 &>W\ pQ +10 &@Z\ pQ +9 &Bdg\ oS +10 &D"p\ nT +9 &E\ kW +9 &G\ kW +10 &I`\ kW +9 &K!\ kW +9 &L\ kW +10 &N\ kW +9 &Pe\ jX +10 &R&\ jX +9 &S\ jY +9 &U\ kW +10 &Wl\ jX +9 &Y.\ jX +9 &Z\ kX +10 &\\\ iY +9 &^5ex\ m- +9 &^s\ m= +9 ( +2 &^0\ r7 + P%-& +4 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.71 + .Hand.open + M&S1 +68 h 1 + M&% +4 h %   + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&n' +90 h ' + .t\SC.coast + A(6 +3 P%A& +3 h &^0\ r7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&[% +3 h %    +2 A(o% +3 h % 4\ s + A(P. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(C( +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&e& + A(& +4 h &  +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h & \ r +2 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.seek PC +2 A(#]kK-0-\ b +2 M&J( +4 h ( +2 M& & +3 h &   a +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +2 M&a& + A(u's +6 h &  +2 .t\Forearm.seek :PC +2 M&w' +89 h ' + .tHand.close +2 M&m/ +69 h / +2 .t\PC.seek :open +2 P%k( +107 h ' + A(=- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +44 h ' +297 ( +2 A(F& +3 h & \ u +2 M&h& +3 h & w + M&]% +3 h % - I Q +2 .t\Forearm.seek :retract +2 M&' +90 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&Z( +241 h ( + M&1& +4 h &~ \  K +2 A(d& +3 h & \ s +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&y'7 +91 h ' + .tHand.open + M&$1 +68 h 1 + A(R- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A( ' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(9' +57 h ' + #tLights, camera, ACTION! +2 A(7- +3 h -' + A(%& +4 h &\ \ -\ X + M&I& +3 h &~  K +2 .t\Elbow.seek 3 +2 M&( +3 h ( + M&& +4 h &~  5 K +2 A( & +3 h &\ \  c\ W +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A( ' +58 h ' +2 M&p& +3 h &~ D K +2 A(& +3 h & r\ v + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&'u +16 h ' + .t\Elbow.hold +2 M&t, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(\ ' +19 h ' +2 M&% +4 h %Ώ r  + A(& +3 h & {\ s +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 326 counts +2 M&?'ϻ +13 h ' +2 M&&& +4 h & $ J + A(Y& +4 h & l\ u +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&<'7 +19 h ' +2 A(g% +4 h % b\ v +2 ."downElevator"\SE.seek :down +2 A(v' +99 (% +3 h %'H \ rYm + M&,% +4 h %; + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&+' +78 E \ ZX +8 h ' +73 ' + ."downElevator"\SE.coast +2 A(5 +2 .t\SC.coast A(6 +3 C'b& +4 h &\\q \ X + #t\Storing generic puck in Collection Clamp to tube 3 +2 M&W% +3 h %  \  + A(!% +3 h % \ v +2 A(E. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(3( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ((& +3 h & W\ v + M&}& +4 h & J + .t\Elbow.seek 3 +2 M&L( +2 h ( +2 M&>& +3 h &  Q J +2 A()& +3 h & ^\ v +2 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&''7 +96 h ' +2 A(& +3 h & \ w +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(0's +300 h ' + A(x- +3 h -' +48 .t\SE.configure SEconfig +3 A(#QK-0-\ b +3 M&8& +2 h & Q J +2 A(B& +3 h & s\ v + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 +2 M&'u +14 h ' + .t\Elbow.hold +2 M&i, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A( - +2 h -' +2 .t\SE.seek 0.18 +2 A('| +29 h ' +2 M&;% +3 h %Ι  D +2 A(*& +3 h & 5\ t +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 336 counts +2 M&6' +13 h ' +2 M&X& +3 h &  J +2 A(& +3 h & \ v +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&2'7 +17 h ' +2 .t\SE.seek 1.18 +2 A("' +36 h ' +2 M&& +4 h & R J + M&% +4 h %! , + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' +2 .t\Elbow.seek CC +2 M&4(ӂ +149 h ( + M&f& +4 h &Ӆ*  Bg + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &l& +2 h &Ӆ*  Bg +2 .t\Forearm.seek :CC +2 M&`'? +93 h ' + .tHand.close + M&./ +77 h / +2 .t\CC.seek :open + C'5( +451 h ( +2 A(q& +4 h & \ { + A({& +3 h & 3\ { +2 M&#& +3 h &ӏ(  @] +2 M&j% +3 h % @  Y + .t\Forearm.seek :retract +2 M&^' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&s( +157 h ( + M&& +4 h &  ` +2 A(@& +3 h & \ } + .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&Q'u +92 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +70 h 1 + M&|% +4 h % Π T +2 A(_& +3 h &\  !\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 343 counts + M&/' +14 h ' +2 M&K& +4 h & ' +2 A(H& +3 h & D D \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&'7 +18 h ' +2 A(D% +3 h % g W \ +3 ."downElevator"\SE.seek :down +2 A(r' +99 (z% +3 h %: X\ }Xf + M&N% +3 h %> ~ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'T& +4 h & 1\ +2 M&V% +3 h %    +2 A(:% +3 h % V c H\ +2 A(O. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(c(,y +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,y L\ } + M&S& +3 h &  % +2 .t\Elbow.seek 4 +2 M&( +40 h ( + M&A& +4 h & I  + A([& +4 h &,y \ } + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&o' +89 h ' + A(P& +4 h &,y\ \ \ ~ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(-'s +297 h ' + A(e- +3 h -'% +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &,y X\ z +2 M& & +3 h & `  + .t\Elbow.seek 4 +2 M&a( +3 h ( + M&M& +3 h &  + A(m& +4 h &,y T\ | + .t\Forearm.seek 4 + 300 counts +2 M&U'c +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&~/ +69 h / +2 ."downElevator"\SE.seek :down +3 M&=& +3 A(n' +5 h & 8  +2 M&\\% +3 h % ^ S +2 .t\Forearm.seek :retract +2 M&u' +88 h ' +2 .t\Elbow.seek CC + M&F(ӂ +158 h ( + M&h& +5 h &ӊ+   Cs ' +2 ."downElevator"\SE.coast + A(5 +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &]& +3 h &ӊ+  Cs + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&w'? +92 h ' +2 C'1& +4 h & d\ +2 C'd& +3 .t\CC.seek :closed +2 C'J(\\ +3 h & @\ +3 & Z\  +9 &1y b\ *y +10 &c{ U\ > +9 &to V\ N +9 &7P b\ M +10 &U `\ M +9 &U [\ M +9 &}U _\ M +10 &?T Z\ M +9 &U X\ N +10 &S W\ N +9 & S U\ M +9 &"GQ ]\ M +10 &$ P T\ M +9 &%Q R\ M +9 &'Q R\ M +10 &)OQ R\ M +9 &+V T\ M +10 &,V V\ M +9 &.W R\ M +9 &0WW T\ M +10 &2U O\ M +9 &3W T\ M +9 &5V T\ N +10 &7^U L\ N +9 &9!W R\ M +10 &:W I\ N +9 &<U H\ N +9 &>eV J\ N +10 &@)Q B\ M +9 &AX E\ N +9 &C_ H\ O +10 &Eer E\ Q +9 &G I\ T +10 &H D\ X +9 &J F\ Z +9 &LQ A\ Z +10 &N H\ Z +9 &O F\ [ +9 &Q B\ [\ +10 &ST H\ \\ +9 &U H\ \\ +10 &V H\ ] +9 &X H\ ^ +9 &ZT G\ _ +10 &[z L\ @ +9 &\\+ G\ + +9 &\\s F\ X +3 ( + C'd& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + .Hand.open + M&$1 +68 h 1 +2 M&R% +4 h % >   y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&7' +89 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + P%%& +3 h &*\ r +2 M&I% +3 h %    +2 A(% +3 h % 3\ s + A( . +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A((,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (p& +2 h &,y \ s +2 M&& +3 h &Ӎ+   Cp + M&% +3 h %    <  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&( +166 h ( + M&&& +4 h &  7  +2 A(& +3 h &,y \\\ w + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&Y' +97 h ' + A( & +4 h &,y E\ x +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(g's +313 h ' + A(Z- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (y& +2 h &,y ?\ t +2 M&9& +3 h & 4  + .t\Elbow.seek 4 +2 M&( +3 h ( + M&,& +3 h &   +2 A(& +3 h &,y s\ u +2 .t\Forearm.seek 4 + 300 counts + M&'c +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +76 h / +2 ."downElevator"\SE.seek :down +3 M&& +3 A(?' +5 h & '  +2 M&b% +3 h % X  +2 .t\Forearm.seek :retract +2 M&W' +89 h ' +2 .t\Elbow.seek PC + M&!( +170 h ' + ."downElevator"\SE.coast + A(5 +82 h ( +4 M&E& +3 h &   +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &\ & +2 h &   +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&(' +102 h ' +2 P%}& +3 h &)\ w +2 P%>& +3 .t\PC.seek :closed +2 P%)(^ +2 h &\ w +4 &)\ v2 +10 &7F{)\ n1 +9 &[o'\ mF +10 &a(\ oQ +9 &V(\ qQ +9 &{T)\ qP +10 &=T)\ pP +9 &T)\ qP +9 &V#\ qQ +10 &Y(\ qQ +9 &DU(\ qQ +10 &!W)\ pP +9 &"U(\ pP +9 &$W(\ pQ +10 &&MT)\ qP +9 &(S#\ qQ +9 &)U"\ qQ +10 &+W\ qP +9 &-TS\ qQ +10 &/W%\ pQ +9 &0U\ qQ +9 &2R\ qP +10 &4]W\ pP +9 &6W\ pQ +9 &7U\ pP +10 &9T\ qP +9 &;dY\ pQ +10 &=&W\ qQ +9 &>W\ qP +9 &@Z\ pQ +10 &Bej\ oS +9 &D#u\ nT +9 &E\ kV +10 &G\ lW +9 &Ib\ mW +10 &K"\ kX +9 &L\ lW +9 &N\ lX +10 &Pg\ jX +9 &R)\ kX +9 &S\ jY +10 &U\ kX +9 &Wn\ kX +10 &Y0\ kX +9 &Z\ kX +9 &\\\ jY +10 &^+]|\ n8 +9 &^T\ q2 +5 ( + P%>& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 +2 .Hand.open + M&<1 +74 h 1 + M&% +4 h %    +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&v' +88 h ' + .t\SC.coast + A(6 +3 P%C& +3 h &^%\ q2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&t% +3 h %    +2 A(+% +3 h % "\ q +2 A(x. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 4 + A(8(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&B& + A( & +3 h &  \ G  +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h &,y \ q +2 .t\Elbow.seek PC +2 ."raiseStack"\SE.reconfigure SEplace +2 M&;( +2 A(#]kK-0-\ b +5 h ( + M&*& +4 h &    + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &X& +4 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h & ?  +2 .t\Forearm.seek :PC +2 M&' +91 h ' + .tHand.close +2 M&/ +71 h / +2 .t\PC.seek :open +2 P%'( +102 h ' + A(L- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(0'1 +42 h ' +303 ( + A(& +4 h &,x% u\ n  +2 M&6& +3 h &    + M&f% +3 h %  4 , +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&l( +245 h ( + M&2& +4 h &  ? +2 A(i& +3 h &,x% r  \ l  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&.' +97 h ' + .tHand.open + M&1 +74 h 1 + A(G- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(q' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A({' +54 h ' +2 #tLights, camera, ACTION! + A(#- +3 h -' +2 A(j& +3 h &,x$ \ K  +2 M&& +3 h &    ? + .t\Elbow.seek 4 +2 M&@( +3 h ( +2 M&`& +3 h &   & ? +2 A(4& +3 h &,x$ %\ K  +2 .t\Forearm.seek 4 + 450 counts +2 M&' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(|' +57 h ' +2 M&_& +3 h &  f ? +2 A(K& +3 h &,x% $\ m  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 +2 M&H'7 +16 h ' + .t\Elbow.hold +2 M&D, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(^' +28 h ' +2 M&z% +4 h %h  Q + A(N& +3 h &,x% .\ m  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 349 counts +2 M&s'ϔ +24 h ' +2 M&Q& +4 h &   ? + A(T& +4 h &,x% \ m  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&/' +15 h ' +2 A(V% +4 h % \ n +2 ."downElevator"\SE.seek :down +2 A(:' +99 (O% +3 h %-D ^ h M\ jZn + M&"% +4 h %   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +76 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'r& +3 h &\\r \ X +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&3% +3 h %    +2 A(% +3 h % \ t +2 A(S. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(A(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ([& +3 h &,x _\ s + M&P& +3 h &    ? +2 .t\Elbow.seek 4 +2 M&( +2 h ( + M&& +4 h & \ _ ? + A(e& +3 h &,x \ s +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +101 h ' +2 A( & +3 h &,x l\ t +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(M's +297 h ' + A(m- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 M&~& +2 h &  ? +2 A(=& +3 h &,x s  @\ p +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 +2 M&\\'7 +13 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(o- +2 h -' +2 .t\SE.seek 0.18 + A(h'~ +30 h ' + M&]% +4 h %W  $ +2 A(-& +3 h &,x  +\ p + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 332 counts + M&U'σ +21 h ' +2 M&1& +3 h &  ? +2 A(a& +3 h &,x '\ q +2 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +3 .t\Forearm.seek 4 + 450 counts + M&n' +16 h ' +2 .t\SE.seek 1.18 + A(u' +41 h ' +2 M&5& +3 h & V ? +2 M&$% +3 h % d +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&R' +88 h ' +2 .t\Elbow.seek CC + M&%(ӂ +162 h ( + M&I& +4 h &Ӈ   7 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &Ӈ  7 +2 .t\Forearm.seek :CC + M& '? +95 h ' +2 .tHand.close + M&d/ +74 h / +2 .t\CC.seek :open + C'p( +450 h ( + A(& +4 h &,x \ w + A(& +3 h &,x "\ w +2 M&w& +3 h &Ӈ  7 + M&&% +3 h % Q  d +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&c( +163 h ( + M& & +4 h &   +2 A(F& +3 h &,x \ y + .t\Elbow.reconfigure LimpElbow +50 M&$ ,(#b +3 .t\Forearm.seek 4 + M&7'7 +90 h ' + .t\Elbow.hold +2 M&Z, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&y1 +73 h 1 +2 M&9% +4 h % O  2 M +2 A(,& +3 h &,x U\ y + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 324 counts + M&'{ +17 h ' +2 M& & +3 h & C  +2 A(& +3 h &,x p\ z +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&b' +18 h ' +2 A(% +3 h % Q\ z +3 ."downElevator"\SE.seek :down +2 A(Y' +99 (g% +3 h %; h\ uXg + M&% +4 h %  b + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&E' +89 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp +2 C'\ & +3 h & _\ +2 M&% +4 h %    + A(}% +3 h % |\ x +2 A(?. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(W(<- +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (k& +3 h &<+# \ q  + M&<& +4 h & b  + .t\Elbow.seek 5 +2 M&( +2 h ( +2 M&C& +3 h &  C  +2 A(t& +3 h &<,) \ p  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&+'O +93 h ' + A(x& +4 h &<,( \ s  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(>'s +295 h ' + A(B- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 ( & +2 h &<,'  X\ o  +2 M&*& +3 h & O  + .t\Elbow.seek 5 +2 M&X( +3 h ( + M&(& +3 h &  +2 A(& +3 h &<,& \ o  +2 .t\Forearm.seek 5 + 300 counts +2 M&'Ϲ +10 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&!/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&L& +3 A(v' +5 h & M  +2 M&)% +3 h % Ϸ _ | +2 .t\Forearm.seek :retract +2 M&' +90 h ' +2 .t\Elbow.seek CC + M&(ӂ +155 h ( +2 M&6& +4 h ' + &ӄ*   Bg + .t\Elbow.reconfigure LooseElbow +2 ."downElevator"\SE.coast +2 M&$ &.,(#b + A(5 +4 M&f& +3 h &ӄ*   Bg +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&'? +90 h ' +2 C'2& +3 h & b\ +2 C'i& +3 .t\CC.seek :closed +2 C';(\\ +2 h & _\ +3 & b\  +10 &1x b\ *y +9 &cz _\ > +9 &pn d\ N +10 &3Q [\ N +9 &U b\ N +9 &U Z\ M +10 &zQ X\ M +9 &;T X\ N +10 &V V\ N +9 &T `\ M +9 & Q _\ M +10 &"CU `\ N +9 &$U `\ N +9 &%T Z\ N +10 &'Q X\ M +9 &)LR V\ M +10 &+ U Z\ N +9 &,Q Z\ M +9 &.S U\ N +10 &0SV R\ N +9 &2U Y\ M +9 &3T V\ M +10 &5R R\ M +9 &7[T S\ N +10 &9R X\ N +9 &:T X\ M +9 &<T R\ M +10 &>cT S\ N +9 &@%V F\ N +9 &AY O\ N +10 &Cc J\ P +9 &E_z D\ R +10 &G O\ V +9 &H G\ Y +9 &J D\ }[ +10 &LN K\ ~Z +9 &N K\ z] +9 &O H\ }[\ +10 &Q G\ |[ +9 &SO I\ {] +10 &U M\ z] +9 &V H\ x^ +9 &X I\ x^ +10 &ZN B\ w` +9 &[} E\ }> +9 &\\* M\ z+ +10 &\\ K\ ] + ( + C'i& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 +2 .Hand.open + M&1 +72 h 1 + M&G% +4 h % >   x + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&#' +91 h ' +2 .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%j& +3 h &%\ h +2 M&% +3 h %    +2 A(`% +3 h % [ [\ i + A(4. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (_& +3 h &<+ V d +\ i + M&K& +4 h &ӎ(  @] + M&z% +3 h %  \ 1  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&N( +164 h ( + M&0& +4 h &  n  +2 A(Q& +3 h &<,) O T ,\ f  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&T'O +94 h ' + A(q& +4 h &<,( P D \ g  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(V's +295 h ' + A(l- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (.& +2 h &<,( 7 *\ c  +2 M&{& +3 h &    + .t\Elbow.seek 5 +2 M&O( +3 h ( + M&"& +3 h &  A  +2 A(& +3 h &<,( + + X\ d  + .t\Forearm.seek 5 + 300 counts +2 M&@'Ϲ +19 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&|/ +69 h / +2 ."downElevator"\SE.seek :down +3 M&H& +2 A(s' +6 h & R  + M&r% +3 h %  B +2 .t\Forearm.seek :retract +2 M&3' +87 h ' +2 .t\Elbow.seek PC + M&( +181 h ' + ."downElevator"\SE.coast + A(5 +58 h ( + M&^& +4 h &  \\ / + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &S& +2 h &   / + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&[' +101 h ' +2 P%P& +3 h &\ f +2 P%& +3 .t\PC.seek :closed +2 P%e(^ +2 h &*\ e +2 &"\ e\ +9 &.s'\ ^*y +10 &`%\ \\? +9 &Vu#\ ]Q +10 &T#\ `Q +9 &T'\ _Q +9 &W)\ _Q +10 &^T)\ _P +9 &T)\ `Q +9 &W#\ _Q +10 &T"\ `P +9 & eU \ `Q +10 &"'U$\ `Q +9 &#W(\ _Q +9 &%Q#\ `P +10 &'mT!\ `Q +9 &)/Q$\ `Q +9 &*S&\ `Q +10 &,Y\ _Q +9 &.uS\ `Q +10 &07U'\ _Q +9 &1S!\ _Q +9 &3Q\ `Q +10 &5}R\ _Q +9 &7>U\ _Q +9 &9T\ _Q +10 &:U\ _Q +9 &<T\ _Q +10 &>FW\ _Q +9 &@U\ ^Q +9 &A\\\ _R +10 &Cj\ ]S +9 &ECy\ \\U +9 &F\ [W +10 &H\ [X +9 &J\ ZW +10 &LD\ ZW +9 &N\ ZX +9 &O\ ZX +10 &Q\ ZX +9 &SH\ [Y +9 &U \ ZY +10 &V\ YX +9 &X\ ZY +10 &ZO\ ZY +9 &\\\ YZ +9 &]\ [; +10 &^.{\ ]\\ +9 &^7\ a8 +2 ( + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + M&/1 +65 h 1 + M& % +4 h %  8  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&:' +95 h ' + .t\SC.coast + A(6 +3 P%8& +3 h &^5\ c8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + M&D% +3 h % ! \  ) +2 A(% +3 h % [ [\ g +2 A(m. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(~(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (=& +4 h &<+ P Y 9\ f + ."raiseStack"\SE.reconfigure SEplace +3 M&o& + A(#]kK-0-\ b +5 h &  ) / + .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&]( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + A(-'s +2 M&1& +5 h & \  / + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +49 &a& +4 h &   / +2 .t\Forearm.seek :PC + M&5' +94 h ' + .tHand.close +2 M&$/ +64 h / +2 .t\PC.seek :open +2 P%( +49 h ' + A(- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(M'1 +55 h ' +344 ( +2 A(\\& +3 h &<,( O S ]\ e  +2 M&U& +3 h &   / + M&h% +4 h %  Y + .t\Forearm.seek :retract +2 M&I' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&( +245 h ( + M&n& +4 h &  +  +2 A(& +3 h &<,( , > %\ e  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&d'O +93 h ' + .tHand.open +2 M&R1 +75 h 1 +2 A(J- +3 h -'1 + .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(' +53 h ' +2 #tLights, camera, ACTION! +2 A(w- +3 h -' + A(&& +3 h &<,& \ H  +2 M& & +3 h &   .  +2 .t\Elbow.seek 5 + M&F( +14 h ( +2 M& & +3 h &   ! \ +2 A(%& +4 h &<,& G\ H  +2 .t\Forearm.seek 5 + 450 counts + M&y'O +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(9' +58 h ' +2 M&,& +3 h &  \ +2 A( & +3 h &<,' T T `\ e  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 +2 M&'΍ +13 h ' + .t\Elbow.hold +2 M&, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(' +19 h ' +2 M&g% +4 h %η  P + A(& +3 h &<,( L I \ \ e  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 342 counts +2 M&c' +13 h ' +2 M&7& +4 h &  b \ + A(\ & +4 h &<,' U U i\ f  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +18 h ' +2 A(% +4 h % N Q l\ f +2 ."downElevator"\SE.seek :down +2 A(}' +99 (?% +3 h % D 0 6 \ cZp + M&u% +4 h %K  E + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&b' +87 h ' +79 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'Y& +3 h &\\ $\ ] +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&A% +3 h %  N  +2 A(k% +3 h % k k \ l +2 A(<. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(C(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (t& +3 h &<, k i \ k + M&x& +3 h &  \ +2 .t\Elbow.seek 5 +2 M&Z( +7 h ( +2 M&E& +3 h & H +2 A(B& +3 h &<, i k \ l +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M& 'O +90 h ' +2 A(*& +3 h &<, d\ n +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(('s +295 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&!& +2 h & I +2 A(L& +3 h &<, ^ [ C\ j + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +4 .t\Forearm.seek 5 +2 M&)'΍ +17 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(+- +2 h -' +2 .t\SE.seek 0.16 + A(6'l +31 h ' + M&f% +4 h %Κ  5 # + A(>& +4 h &<, h h /\ k + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 313 counts + M&' +14 h ' +2 M&2& +3 h &   +2 A(X& +3 h &<,  +\ m +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&v'O +14 h ' +2 .t\SE.seek 1.16 +2 A(' +39 h ' +2 M&p& +3 h & O  +2 M&% +3 h %[ U +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&G' +91 h ' +2 .t\Elbow.seek CC + M&j(ӂ +161 h ( + M&& +4 h &Ӝ"   ;4 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &`& +20 h &Ӝ"  a ;4 + .t\Forearm.seek :CC +2 M&4'? +95 h ' +2 .tHand.close + M&i/ +73 h / +2 .t\CC.seek :open + C'_( +451 h ( + A(K& +4 h &<, \ r + A(z& +3 h &<, \ q +2 M&& +3 h &Ӝ"  ;4 +2 M&0% +3 h % J  A + .t\Forearm.seek :retract +2 M&Q' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&W( +164 h ( + M&q& +4 h &   +2 A(& +3 h &<, \ u + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&#'΍ +93 h ' + .t\Elbow.hold +2 M&l, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&.1 +67 h 1 +2 M&{% +3 h % ~  * +2 A("& +3 h &<, U\ u + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 285 counts +2 M&'Ϫ +16 h ' +2 M&|& +4 h &   + A(H& +4 h &<, \ w + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&r'O +16 h ' +2 A(N% +3 h % \ w +3 ."downElevator"\SE.seek :down +2 A(T' +99 (V% +3 h %Y8 \ sXi + M&@% +3 h %8 A +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&^' +89 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp + C'S& +4 h & [\ +2 M&O% +3 h %  5  +2 A(P% +3 h % ^\ v +2 A(s. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(3(K +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ('& +3 h &K \ u + M&/& +3 h & V  +2 .t\Elbow.seek 6 + M& ( +11 h ( + M&8& +4 h &   + A(D& +3 h &K !\ x +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +92 h ' +2 A(m& +3 h &K 3\ z +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +47 A('s +299 h ' + A(=- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (o& +2 h &K 2\ { +2 M&1& +3 h & &  +2 .t\Elbow.seek 6 + M&a( +3 h ( + M&[& +3 h &   +2 A($& +3 h &K \ | +2 .t\Forearm.seek 6 + 300 counts +2 M&'h +38 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&& +4 A(:' +5 h &   + M&e% +3 h % r : y +2 .t\Forearm.seek :retract +2 M&-' +91 h ' +2 .t\Elbow.seek CC + M&\\(ӂ +158 h ( + ' +2 ."downElevator"\SE.coast + A(5 +4 M&U& +5 h &ӓ% >M + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &h& +2 h &ӓ%   >M +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&5'? +90 h ' +3 C'n& +3 h & ]\ +2 C'& +3 .t\CC.seek :closed +2 C'](\\ +2 h & ]\ +3 & d\  +9 &1y f\ *x +10 &c} b\ > +9 &pp `\ N +9 &4P ]\ M +10 &T b\ M +9 &W d\ M +10 &yS Y\ M +9 &;S \\\ M +9 &W Y\ M +10 &T R\ M +9 & U ]\ M +9 &"DT W\ M +10 &$T ^\ M +9 &%Q ]\ M +10 &'T ^\ M +9 &)LQ `\ M +9 &+ T W\ M +10 &,T `\ N +9 &.U `\ M +10 &0RT _\ N +9 &2T ^\ M +9 &3W W\ M +10 &5U U\ M +9 &7[R X\ M +9 &9R S\ M +10 &:W R\ M +9 &<Y X\ M +10 &>bU S\ N +9 &@$U R\ N +9 &A\\ R\ N +10 &C` Y\ N +9 &Ear R\ Q +9 &G J\ T +10 &H S\ W +9 &J P\ Y +9 &LO R\ Z +10 &N P\ Z +9 &O F\ Z +10 &Q L\ [ +9 &SR J\ [ +9 &U E\ \\ +10 &V H\ ] +9 &X D\ ^ +10 &ZP B\ _ +9 &[y D\ B +9 &\\, E\ ){ +10 &\\ D\ Y +2 ( + C'& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 +2 .Hand.open + M&R1 +66 h 1 +2 M&J% +4 h % E    | + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&w' +88 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + P%&& +4 h &-\ s + M& % +3 h %    +2 A( % +3 h % \ t +2 A(I. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(%(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (,& +3 h &K \ s + M& & +4 h &ӓ%   >M + M&g% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +163 h ( + M&M& +4 h &    +2 A(7& +3 h &K %\ w +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&\ ' +97 h ' +2 A(& +3 h &K \ x +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +295 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (d& +2 h &K A\ t +2 M&& +3 h &  E  + .t\Elbow.seek 6 +2 M&?( +3 h ( + M&u& +3 h &  +2 A(y& +3 h &K %\ v +2 .t\Forearm.seek 6 + 300 counts + M&F'h +27 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&9/ +67 h / +2 ."downElevator"\SE.seek :down +3 M&& +5 A(c' +2 h & \  +2 M&Y% +3 h % ϔ W +2 .t\Forearm.seek :retract +2 M&A' +88 h ' +2 .t\Elbow.seek PC + M&k( +172 h ' + ."downElevator"\SE.coast + A(5 +67 h ( + M&& +4 h &  # ) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &<& +2 h &  ) +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&t' +101 h ' +2 P%x& +3 h &.\ v +2 P%E& +3 .t\PC.seek :closed +2 P%B(^ +3 h &5\ v +2 &2\ v +10 &.s(\ n+z +9 &a+\ m? +9 &er'\ mP +10 &$V!\ pQ +9 &U"\ pP +9 &Q*\ qP +10 &kW(\ pP +9 &-W+\ pP +10 &V,\ pQ +9 &R)\ qP +9 & rU-\ pQ +10 &"4T*\ pQ +9 &#U*\ pQ +9 &%R#\ pP +10 &'zR \ pQ +9 &)=U\ qP +10 &*V#\ pP +9 &,T&\ qQ +9 &.V'\ pP +10 &0DT)\ pQ +9 &2R)\ pP +9 &3U+\ qP +10 &5R\ qP +9 &7MR!\ qP +10 &9U$\ pP +9 &:W\ pQ +9 &<W\ pP +10 &>UV\ pP +9 &@W\ pQ +9 &A`\ oR +10 &Cp\ nS +9 &EN~\ mV +10 &G \ lV +9 &H\ lV +9 &J\ kX +10 &LQ\ kW +9 &N\ kW +9 &O\ kX +10 &Q\ iY +9 &SV\ kX +10 &U\ kX +9 &V\ jY +9 &X\ kX +10 &Z^\ kX +9 &\\\ jY +9 &]\ l8 +10 &^,n\ n"c +9 &^3\ r8 +2 ( + P%E& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open +2 M&1 +74 h 1 + M&*% +4 h %     + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&}' +94 h ' + .t\SC.coast + A(6 +3 P%~& +3 h &^.\ r8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&% +3 h %    +2 A(b% +3 h % \ s +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(!(K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (L& + M&+& +4 h &K \ r +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  ) +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&f( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + A(>'s +3 M&2& +3 h &   ) + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &X& +2 h &   ) +2 .t\Forearm.seek :PC +2 M&p' +92 h ' + .tHand.close +2 M&/ +74 h / +3 .t\PC.seek :open +2 P% ( +83 h ' + A(Z- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(('1 +46 h ' +317 ( + A()& +4 h &K \\\ v +2 M&& +3 h &   ) + M&6% +3 h %  1 +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&`( +245 h ( + M&v& +4 h &  V > + A(& +4 h &K Z\ u + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&i' +99 h ' + .tHand.open + M&G1 +71 h 1 + A(;- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(K' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(z' +65 h ' +2 #tLights, camera, ACTION! + A(- +3 h -' +2 A(0& +3 h &K 7 . \ ^ +2 M&q& +3 h &  , > + .t\Elbow.seek 6 +2 M&( +3 h ( + M&4& +4 h &  > + A(j& +3 h &K > /\ e +2 .t\Forearm.seek 6 + 450 counts +2 M&.' +4 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A({' +46 h ' +2 M&"& +3 h &  > +2 A(|& +3 h &K G\ t + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 +2 M&H'< +14 h ' +48 .t\Elbow.hold +3 M&N, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(Q' +20 h ' +2 M&V% +4 h %[  % + A(@& +3 h &K 3\ u +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 331 counts +2 M&W'χ +25 h ' +2 M&#& +4 h &  h > + A(S& +4 h &K \ u + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts + M&' +17 h ' +2 A(O% +4 h % h\ w +2 ."downElevator"\SE.seek :down +3 A(P' +98 (s% +3 h %J \ sYm + M&% +4 h %  k + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&r' +90 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'T& +3 h &\\~ F\ Y +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&C% +3 h %     +2 A('% +3 h % \ w +2 A(/. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(8(K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (D& +2 h &K \ v +2 M&m& +3 h &  > +2 .t\Elbow.seek 6 +2 M&l( +2 h ( +2 M&^& +3 h &  \\ > +2 A(=& +3 h &K [\ w +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&o' +98 h ' +2 A(1& +3 h &K -\ w +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(['s +300 h ' + A($- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&& +2 h & \  b > +2 A(& +3 h &K z\ v + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 +2 M&e'< +16 h ' + .t\Elbow.hold +2 M& , +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(- + h -' +2 .t\SE.seek 0.17 +2 A(U't +29 h ' + M&h% +4 h %^  , + A(& +4 h &K #\ t + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 334 counts +2 M&'ϊ +17 h ' +2 M&n& +3 h &  > +2 A(a& +3 h &K ?\ w +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&:' +16 h ' +2 .t\SE.seek 1.17 + A(-' +46 h ' +2 M&_& +3 h & > +2 M&R% +3 h % ! +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&J' +89 h ' +2 .t\Elbow.seek CC +2 M&&(ӂ +154 h ( + M& & +4 h &ӕ%  >J + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &ӕ%  >J +2 .t\Forearm.seek :CC + M&I'? +92 h ' + .tHand.close + M&/ +76 h / +2 .t\CC.seek :open + C',( +450 h ( +6 A( & +3 h &K \ } +2 A(g& +3 h &K \ } + M&5& +3 h &ӕ%  " >J +2 M&M% +3 h % F   V +2 .t\Forearm.seek :retract + M&7' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&3( +163 h ( + M&& +4 h & C  +2 A(\\& +3 h &K E F 2\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 6 + M&w'< +91 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&d1 +66 h 1 +2 M&% +3 h % ^  U +2 A(u& +3 h &K V W \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 334 counts + M&y'ϊ +19 h ' +2 M&9& +4 h &  + A(& +4 h &K f g e\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts + M&Y' +15 h ' +2 A(% +3 h % f e X\ +3 ."downElevator"\SE.seek :down +2 A(\ ' +99 (% +3 h %3= F\ ~Wf + M&F% +3 h % # +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp + C'<& +4 h & +\ +2 M&?% +4 h %  .  + A(x% +3 h % o n $\ +2 A(c. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(A([ +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[ \ ~  + M&& +3 h &   +2 .t\Elbow.seek 7 +2 M&*(r +11 h ( + M&~& +4 h &u  ~  + A(& +4 h &[ \ \ ~  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&b'= +96 h ' + A(E& +4 h &[ G Z f\   +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +298 h ' + A(L- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (+& +2 h &[ ^\ |  +2 M&2& +3 h &u  + .t\Elbow.seek 7 +2 M&X(r +2 h ( +2 M&t& +3 h &u 9  + A(& +3 h &[ \ }  +2 .t\Forearm.seek 7 + 300 counts +2 M&%'ϧ +20 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&Z/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&k& +5 A(}' +2 h &u  +2 M&B% +3 h % ϛ \\  +2 .t\Forearm.seek :retract +2 M&>' +88 h ' +2 .t\Elbow.seek CC + M&)(ӂ +158 h ( + M&& +4 h &ӎ(   @X +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b + h ' +2 M&6& +4 ."downElevator"\SE.coast + A(5 +2 h &ӎ(  @X +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&p'? +105 h ' +2 C'v& +4 h & ]\ + C'& +3 .t\CC.seek :closed +2 C'f(\\ +3 h & 9\ +3 & c\  +10 &1y b\ *x +9 &d~ d\ > +10 &sr f\ N +9 &8P e\ M +9 &T ]\ M +10 &T [\ M +9 &}S ^\ M +9 &>T \\\ M +10 &V U\ M +9 &V Z\ M +10 & T a\ M +9 &"GT V\ M +9 &$ U S\ M +10 &%U S\ M +9 &'U Y\ M +9 &)NT ]\ M +10 &+Q T\ M +9 &,T S\ M +10 &.W T\ M +9 &0WU U\ M +9 &2T S\ M +10 &3Q T\ M +9 &5T U\ N +9 &7]U S\ N +10 &9 U R\ M +9 &:R T\ M +10 &<W V\ M +9 &>eU K\ N +9 &@(T R\ M +10 &AU T\ M +9 &C] Y\ N +9 &Efl R\ P +10 &G! Q\ R +9 &H R\ V +10 &J T\ Y +9 &LT S\ Y +9 &N [\ Z +10 &O \\\ Z +9 &Q F\ [ +9 &SV J\ [\ +10 &U K\ \\ +9 &V N\ ] +10 &X T\ ] +9 &ZU `\ ^ +9 &[z K\ ? +10 &\\. T\ (x +9 &\\x N\ V +2 ( + C'& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 +2 .Hand.open + M&G1 +69 h 1 +2 M&;% +4 h % 8   + .t\Forearm.reconfigure LooseForearm +48 M&#Q@2^d^2b +4 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + P%0& +3 h &\ u +2 M&q% +3 h %    +2 A(4% +3 h % f\ w + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(j([ +13 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ("& +3 h &[ \ r  +2 M&|& +3 h &Ӓ&  ?T +2 M&(% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&V(r +157 h ( +2 M&@& +3 h &z   \ +2 A(K& +3 h &[ >\ u  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&#'= +93 h ' +2 A(S& +3 h &[ \ v  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(O's +302 h ' +2 A(`- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (i& +3 h &[ B\ t  + M&z& +3 h &z  +2 .t\Elbow.seek 7 + M&s(r +3 h ( + M&& +3 h &z +2 A(.& +3 h &[ _\ u  +2 .t\Forearm.seek 7 + 300 counts +2 M&'ϧ +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&{/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&H& +3 A(W' +5 h &z P +2 M&T% +3 h % ϣ 8 +2 .t\Forearm.seek :retract +2 M&C' +91 h ' +2 .t\Elbow.seek PC + M&'( +165 h ' + ."downElevator"\SE.coast + A(5 +73 h ( + M&/& +4 h &  * + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &Q& +3 h & a * + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&D' +92 h ' +2 P%m& +3 h &C\ v +2 P%^& +3 .t\PC.seek :closed +2 P%=(^ +2 h &<\ v +3 &:\ u +9 &1v7\ n*z +10 &a7\ l? +9 &gr-\ mP +9 &&R:\ pQ +10 &V6\ oP +9 &Q6\ pQ +10 &mU2\ oP +9 &.Q4\ pQ +9 &V1\ pP +10 &Q.\ pQ +9 & tT/\ oQ +9 &"8P*\ pP +10 &#V/\ pP +9 &%T*\ oP +10 &'}U)\ pP +9 &)?Q-\ pP +9 &+S,\ pP +10 &,W!\ oQ +9 &.U'\ oP +9 &0GT+\ oP +10 &2 V,\ oP +9 &3U+\ oP +10 &5T-\ oQ +9 &7OU,\ oP +9 &9W'\ oP +10 &:W&\ oQ +9 &<U-\ pQ +9 &>VY%\ oQ +10 &@[&\ nQ +9 &Ae\ nR +10 &Cu(\ mS +9 &EO&\ kV +9 &G%\ kW +10 &H \ kV +9 &J)\ jW +9 &LT+\ jW +10 &N#\ iW +9 &O%\ jX +10 &Q#\ iX +9 &SY#\ iX +9 &U\ jX +10 &V\ jX +9 &X\ jX +9 &Z_#\ jY +10 &\\!#\ iY +9 &]!\ l6 +10 &^4x\ mE +8 ( +2 &^" \ r3 + P%^& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open + M&1 +69 h 1 + M&1% +4 h %    a +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&P' +91 h ' +2 .t\SC.coast + A(6 +2 P%!& +4 h &^" \ s3 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 M&N% +3 h %    + A(r% +3 h % H\ u +2 A($. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&& +4 h &[ <\ t +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  * +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&h( +2 h ( +2 M&& +3 ."raiseStack"\SE.seek beamBreak + A(n's +3 h &  * + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &a& +3 h &  % * + .t\Forearm.seek :PC +2 M&_' +92 h ' + .tHand.close +2 M&R/ +65 h / +2 .t\PC.seek :open + P%o( +98 h ' + A(l- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(['1 +44 h ' +302 ( + A(e& +4 h &[ O\ v +2 M&& +3 h &  y * + M&U% +3 h %    4 +2 .t\Forearm.seek :retract +2 M& ' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M& (r +248 h ( + M&:& +4 h & - % + A( & +4 h &[ b\ v + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +3 M&'= +95 h ' + .tHand.open + M&J1 +71 h 1 + A(]- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A( ' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(g' +51 h ' + #tLights, camera, ACTION! +2 A(5- +3 h -' + A(M& +3 h &[ / 6\ c +2 M&& +3 h &  k % +2 .t\Elbow.seek 7 +2 M&\\(r +28 h ( + M&I& +4 h &w D p +2 A(&& +3 h &[ ( *\ d +2 .t\Forearm.seek 7 + 450 counts +2 M&d'= +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +58 h ' +2 M&u& +3 h &w \ ^ p +2 A(9& +3 h &[ \ w + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&'{ +13 h ' + .t\Elbow.hold +2 M&, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(7' +19 h ' +2 M&% +4 h %Ρ  : + A(F& +3 h &[ \ \ w +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 338 counts +2 M&3' +13 h ' +2 M&w& +4 h &z - m + A(<& +3 h &[ H\ x +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&y'= +17 h ' +2 A(?% +4 h % \ x +2 ."downElevator"\SE.seek :down +2 A(x' +99 (c% +3 h %(B 9\ uYl + M&-% +4 h %5 " + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Y' +89 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'\ & +4 h &\\x  \ V + #t\Storing generic puck in Collection Clamp to tube 7 +2 M&8% +3 h %  $  +2 A(% +3 h % q\ y +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(~([ +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h &[ `\ x +2 M&E& +3 h &z  m + .t\Elbow.seek 7 +2 M&(r +2 h ( +2 M&& +3 h &z   m +2 A(L& +3 h &[ `\ y +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&+'= +97 h ' +2 A(2& +3 h &[ 8\ z +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(t's +308 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 M&Z& +2 h &z  / m +2 A(k& +3 h &[ 6\ x +47 .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&B'{ +14 h ' + .t\Elbow.hold +2 M&*, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(b- +2 h -' +2 .t\SE.seek 0.17 +2 A('y +29 h ' +2 M&6% +3 h %Μ 1 ? +2 A(& +3 h &[ c\ v + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 333 counts +2 M&%' +14 h ' +2 M&v& +3 h &z W m +2 A(X& +3 h &[ f\ w +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&}'= +15 h ' +2 .t\SE.seek 1.17 +2 A(>' +48 h ' +2 M&,& +4 h &z m + M&G% +4 h %4  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&;' +86 h ' +2 .t\Elbow.seek CC +2 M&(ӂ +154 h ( +2 M&0& +4 h &{-    Dx + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &q& +3 h &{-  Dx + .t\Forearm.seek :CC +2 M&4'? +92 h ' + .tHand.close + M&/ +67 h / +2 .t\CC.seek :open + C'"( +450 h ( + A(|& +4 h &[ \ | + A((& +3 h &[ l\ | +2 M&p& +3 h &|-   Dw +2 M&@% +3 h % W   P + .t\Forearm.seek :retract +2 M&K' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&A(r +160 h ( +2 M&S& +3 h &v  \  +2 A()& +3 h &[ N\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 7 +2 M&'{ +95 h ' + .t\Elbow.hold +2 M&`, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&i1 +77 h 1 + M&z% +4 h % Α z 8 +2 A(& +3 h &[ D E \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 322 counts +2 M&.'Ͻ +20 h ' +2 M&{& +3 h &~ u  +2 A(H& +3 h &[ f f i\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&T'= +14 h ' +2 A(V% +3 h % b f \ +3 ."downElevator"\SE.seek :down +2 A(#' +99 (O% +3 h %A; \ U\ ~Xh + M&% +3 h %4 P +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&/' +90 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .tdelay 10 seconds +1002 #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp +2 C'Q& +2 h & v\ + M&s% +4 h %  $  + A(m% +3 h % o c }\ +2 A(W. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(C(  +1618 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h & E Y H\  + M&& +4 h &~ b  + .t\Elbow.seek 2 +2 M&1( +27 h ( + M&!& +4 h & G  + A(N& +4 h & g\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&r'S +95 h ' +2 A($& +3 h & c o [\ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(^'s +292 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h & \  \ ~ +2 M&& +3 h &  + .t\Elbow.seek 2 +2 M&a( +22 h ( +2 M&D& +4 h & 6  + A(R& +4 h & z ] \ + .t\Forearm.seek 2 + 300 counts +2 M&j'Ͻ +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&l/ +66 h / +2 ."downElevator"\SE.seek :down +3 M&'& +2 A(P' +6 h & #  + M&=% +3 h % ϵ  +2 .t\Forearm.seek :retract +2 M&n' +88 h ' +2 .t\Elbow.seek CC + M&e(ӂ +160 h ( + M&& +4 h &Ӈ*   Bg + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' +2 ."downElevator"\SE.coast + A(5 +3 M&U& +5 h &Ӈ* Bg +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&_'? +98 h ' +3 C':& +3 h & \ +2 C' & +3 .t\CC.seek :closed +2 C'h(\\ +2 h & S\ +4 & \ 4 +10 &6Iy \ 0 +9 &`r} y\ E +10 &[ \ M +9 &S \ N +9 &T {\ M +10 &KQ \ M +9 & U \ M +9 &S \ M +10 &Q {\ M +9 &SQ z\ M +10 &!T w\ N +9 &"T o\ M +9 &$Q u\ M +10 &&[U x\ M +9 &(U o\ N +9 &)S y\ N +10 &+T w\ M +9 &-cQ y\ M +10 &/%W p\ M +9 &0V p\ M +9 &2U s\ M +10 &4jT p\ N +9 &6-W p\ M +9 &7W r\ N +10 &9U r\ M +9 &;sT n\ M +10 &=5W o\ M +9 &>W q\ N +9 &@U r\ N +10 &ByW n\ N +9 &D9b j\ O +9 &Et j\ Q +10 &G h\ T +9 &Ie b\ X +10 &K! h\ Z +9 &L c\ Z +9 &N c\ [ +10 &Pc c\ [\ +9 &R& h\ [ +9 &S c\ \\ +10 &U f\ ] +9 &Wc a\ ^ +10 &Y% g\ ^ +9 &Z m\ ^ +9 &\\R_ j\ / +10 &\\ h\ [ +8 ( +2 &\\ l\ W + C' & +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.25 + .Hand.open + M&J1 +70 h 1 + M&]% +4 h % G  - + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&5' +93 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + P%M& +3 h &,\ u +2 M&% +3 h %    +2 A( % +3 h % _\ u +2 A(I. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(&(  +9 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (u& +3 h &  h\ u +2 M&9& +3 h &ӌ)  Ab + M&% +3 h %  \   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&F( +166 h ( + M&[& +4 h &    + A(w& +4 h &  M\ x + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts + M&<'S +89 h ' + A( & +4 h &  C\ z + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(?'s +300 h ' + A( - +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (& +2 h &  \ w +2 M&g& +3 h &  + .t\Elbow.seek 2 +2 M&c( +2 h ( +2 M&-& +3 h & ;  + A(d& +3 h &  \ y +2 .t\Forearm.seek 2 + 300 counts +2 M&\\'Ͻ +14 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +77 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A(3' +6 h &  E  + M&\ % +3 h % ϵ 0 +2 .t\Forearm.seek :retract +2 M&8' +91 h ' +2 .t\Elbow.seek PC + M&( +168 h ' + ."downElevator"\SE.coast + A(5 +71 h ( +3 M&& +3 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +48 &7& +4 h &  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +93 h ' +2 P%E& +3 h &D\ y +2 P%& +3 .t\PC.seek :closed +2 P%L(^ +2 h &D\ y +3 &D\ x +10 &-tE\ q+{ +9 &bE\ o? +10 &esD\ pP +9 &&QD\ sP +9 &VC\ sQ +10 &TC\ sP +9 &kQB\ sP +9 &,UC\ sQ +10 &UD\ sP +9 &R9\ sP +10 & sR9\ sP +9 &"5T9\ sP +9 &#W5\ sP +10 &%R/\ sP +9 &'{V-\ rP +9 &)=U.\ sP +10 &*T.\ sQ +9 &,V-\ rQ +10 &.Q.\ sP +9 &0DW5\ rQ +9 &2T.\ sP +10 &3Q4\ sP +9 &5R5\ sP +9 &7MQ5\ sP +10 &9W3\ sQ +9 &:V.\ sQ +10 &<R-\ sP +9 &>UU4\ sP +9 &@U2\ sQ +10 &A_4\ rR +9 &Cn-\ qT +9 &EO~-\ oU +10 &G,\ nV +9 &H+\ oV +10 &J+\ nV +9 &LR+\ nW +9 &N,\ mX +10 &O+\ nX +9 &Q*\ mX +9 &SV-\ mX +10 &U-\ mX +9 &V+\ mX +10 &X)\ mX +9 &Z]-\ mY +9 &\\*\ mY +10 &](\ o8 +9 &^-s'\ p!b +9 &^8'\ t8 +3 ( + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open +2 M&y1 +67 h 1 + M&2% +4 h %    f V +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&x' +91 h ' + .t\SC.coast + A(6 +3 P%& +3 h &^3$\ t8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&% +3 h %    e  +2 A(Y% +3 h % \ t +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(Z(  +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (k& + M&b& +4 h &  \ s +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h & +2 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b + .t\Elbow.seek PC +2 M&6( +3 ."raiseStack"\SE.seek beamBreak +2 h ( + A('s +2 M&v& +5 h &    +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &X& +2 h &   +2 .t\Forearm.seek :PC +2 M&,' +93 h ' + .tHand.close +2 M&G/ +75 h / +2 .t\PC.seek :open + P%+( +84 h ' +2 A(- +2 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(t'1 +45 h ' +315 ( + A(B& +4 h &  \ w +2 M&%& +3 h &  + M&% +3 h %    F +2 .t\Forearm.seek :retract +2 M&0' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&q( +244 h ( + M&}& +4 h &   ? + A(*& +4 h &  _\ v + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +93 h ' + .tHand.open + M&;1 +70 h 1 + A(f- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(|' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A((' +57 h ' + #tLights, camera, ACTION! +2 A(p- +3 h -' + A(@& +3 h &  2 < d\ _ +2 M&S& +3 h &  > +2 .t\Elbow.seek 2 +2 M&)( +2 h ( + M&4& +4 h &   > + A(& +3 h & \ $\ ' G\ ` +2 .t\Forearm.seek 2 + 450 counts +2 M&i'S +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(z' +50 h ' +2 M&& +3 h &  s > +2 A({& +3 h &  .\ w + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 +2 M&H'Α +17 h ' + .t\Elbow.hold +2 M&V, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(K' +19 h ' +2 M&O% +4 h %ε  + A(& +3 h &  J\ u +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 336 counts + M&A' +16 h ' +2 M&& +4 h & O > + A(.& +4 h &  \ w +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&>'S +15 h ' +2 A(T% +4 h % =\ w +2 ."downElevator"\SE.seek :down +2 A(#' +98 (~% +3 h %ZI H\ sYm +2 M&Q% +3 h %P H +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&s' +86 h ' +71 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'm& +4 h &\\~ `\ W + #t\Storing generic puck in Collection Clamp to tube 2 + M&W% +4 h %     +2 A( % +3 h % \ y + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(!(  +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (N& +3 h &  _\ x +2 M&$& +3 h &  g > + .t\Elbow.seek 2 +2 M&`( +2 h ( +2 M&/& +3 h &  q > +2 A(& +3 h &  \ x +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +93 h ' +2 A(& +3 h &  \ y +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(D's +295 h ' + A(R- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&l& +2 h &  # > +2 A('& +3 h &  \ v + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 +2 M&='Α +18 h ' + .t\Elbow.hold +2 M&1, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(r- +2 h -' +2 .t\SE.seek 0.17 + A('t +29 h ' + M&U% +4 h %ά  +2 A(^& +3 h &  ]\ u + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 327 counts +2 M&j' +18 h ' +2 M&:& +3 h & > +2 A(a& +3 h &  ?\ w +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&P'S +17 h ' +2 .t\SE.seek 1.17 + A(n' +41 h ' +2 M&"& +3 h & " > +2 M&J% +3 h %Q  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&]' +87 h ' +2 .t\Elbow.seek CC +2 M&M(ӂ +147 h ( + M&& +4 h &x.   E + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &x.  E +2 .t\Forearm.seek :CC +2 M&I'? +90 h ' +2 .tHand.close + M& / +70 h / +2 .t\CC.seek :open + C'u( +450 h ( + A(9& +4 h &  \ ~ + A(& +3 h &  \ } +2 M&_& +3 h &Ӡ' ) @W + M&[% +3 h % U [ L +2 .t\Forearm.seek :retract +2 M&w' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&C( +163 h ( + M& & +4 h & .  + A(e& +4 h &  f f e\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 2 +48 M&5'Α +95 h ' + .t\Elbow.hold +2 M& , +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +69 h 1 +2 M&g% +4 h % α ) 3 + A(-& +3 h &  e e m\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 332 counts +2 M&d' +13 h ' +2 M&& +3 h &  +2 A(& +3 h &  f g \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&\ 'S +16 h ' +2 A(F% +3 h % c n o\ +3 ."downElevator"\SE.seek :down +2 A(<' +99 (?% +3 h %< R\ Xg + M&\\% +4 h %? ; + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast +2 A(6 +2 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp +2 C'7& +4 h & m\ + M&c% +4 h %  L  + A(E% +3 h % n o \ +2 A(3. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(8( +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (o& +3 h & \  P\ }  +2 M&y& +3 h & [  + .t\Elbow.seek 3 +2 M&2( +13 h ( + M&& +4 h & >  + A(& +4 h & \  j\ ~  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&Y'7 +94 h ' +2 A(& +3 h & _ N S\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +295 h ' + A(k- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (b& +2 h & \ |  +2 M&v& +3 h & r  +2 .t\Elbow.seek 3 + M&X( +3 h ( + M&& +3 h &  +2 A(G& +3 h & \ }  +2 .t\Forearm.seek 3 + 300 counts +2 M&&'ϡ +38 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +71 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A(x' +5 h &   +2 M&L% +3 h % Ϗ 1 r +2 .t\Forearm.seek :retract +2 M&' +92 h ' +2 .t\Elbow.seek CC + M&B(ӂ +155 h ( + ' +2 ."downElevator"\SE.coast + A(5 +5 M&%& +4 h &Ӏ)   Ac + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &Ӏ)  Ac +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&,'? +91 h ' +2 C'}& +3 h & c\ +2 C'*& +3 .t\CC.seek :closed +2 C'6(\\ +3 h & \ +2 & \  +9 &1y \ *y +9 &c} s\ > +10 &qp m\ N +9 &5P r\ M +9 &T s\ M +10 &Q u\ M +9 &{U v\ M +9 &<S x\ M +10 &R z\ M +9 &U w\ M +10 & T v\ M +9 &"EQ w\ M +9 &$T u\ N +10 &%T q\ M +9 &'U t\ M +9 &)LT n\ M +11 &+Q l\ M +8 &,W u\ M +10 &.T p\ M +9 &0TR n\ M +9 &2V c\ M +10 &3W h\ M +9 &5W o\ M +9 &7\\W c\ M +10 &9W b\ M +9 &:W l\ M +10 &<W c\ M +9 &>cX a\ N +9 &@&U j\ M +10 &AV c\ M +9 &C] j\ N +10 &Edk h\ P +9 &G g\ S +9 &H f\ V +10 &J h\ Y +9 &LP k\ Z +9 &N g\ Z +10 &O f\ Z +9 &Q d\ Z +10 &SR j\ \\ +9 &U g\ \\ +9 &V c\ \\ +10 &X j\ ^ +9 &ZS l\ ^ +9 &[y d\ B +10 &\\) b\ )y +9 &\\s h\ X +2 ( + C'*& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open + M&;1 +68 h 1 +2 M&f% +4 h % ;   Y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&p' +90 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + P%@& +3 h &1\ v +2 M&S% +3 h %    +2 A(4% +3 h % N\ w + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(0( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & <\ v + M&{& +4 h &Ӎ&  ?V + M&O% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&( +163 h ( + M&& +4 h &   *  +2 A(.& +3 h & \ y + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&t'7 +97 h ' +2 A(T& +3 h & \ { +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(|'s +308 h ' + A(q- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h & M\ w +2 M&(& +3 h &  +2 .t\Elbow.seek 3 + M&~( +4 h ( + M&Q& +4 h & v  + A(i& +3 h & >\ x +2 .t\Forearm.seek 3 + 300 counts +2 M&)'ϡ +32 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&z/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&H& +2 A(m' +5 h & )  +2 M&A% +3 h % Ϯ \\ T +2 .t\Forearm.seek :retract +2 M&W' +93 h ' +2 .t\Elbow.seek PC + M& ( +163 h ' + ."downElevator"\SE.coast + A(5 +74 h ( +2 M&& +3 h & ) +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &K& +2 h &  % ) +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&N' +103 h ' +2 P%$& +3 h &2\ y +2 P%/& +3 .t\PC.seek :closed +2 P%(^ +2 h &G\ y +5 &C\ w5 +9 &=EvE\ s1 +10 &bp~D\ pE +9 &cB\ qQ +9 &QC\ sP +10 &QA\ sP +9 &BWD\ rP +10 &T@\ sQ +9 &TD\ rQ +9 &UE\ rP +10 &JQD\ rP +9 &! QB\ sP +9 &"R@\ rP +10 &$Q<\ rP +9 &&QS5\ rQ +10 &(T<\ rQ +9 &)T;\ rP +9 &+Q5\ sP +10 &-ZQ5\ sP +9 &/R4\ rQ +9 &0T/\ rP +10 &2R4\ rP +9 &4aT5\ rQ +10 &6#T5\ rQ +9 &7T5\ rQ +9 &9Q.\ sP +10 &;jT2\ rP +9 &=+R4\ rQ +9 &>Y5\ rQ +10 &@\\5\ qQ +9 &Bkg4\ pS +10 &D)n4\ pT +9 &E-\ mV +9 &G3\ mV +10 &Ig5\ nW +9 &K)-\ mW +9 &L.\ mW +10 &N/\ mW +9 &Pk4\ lX +10 &R.-\ lX +9 &S/\ lY +9 &U,\ mW +10 &Ws-\ lX +9 &Y5+\ lX +9 &Z)\ lX +10 &\\-\ lY +9 &^1`/\ n0 +10 &^n,\ p= +8 ( +2 &^/+\ t9 + P%/& +4 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.72 + .Hand.open + M&>1 +69 h 1 + M&% +4 h %   \   + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&#' +92 h ' + .t\SC.coast + A(6 +3 P%Z& +3 h &^/ \ t9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&V% +3 h %   F  +2 A(s% +3 h % 9\ t +2 A(R. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(l( +6 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ('& +4 h & \ t +2 ."raiseStack"\SE.reconfigure SEplace +2 M&r& + A(#]kK-0-\ b +4 h &  ) +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&U( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + A(^'s +3 M&:& +3 h &  ) +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &a& +2 h & " * ) +2 .t\Forearm.seek :PC +50 M&"' +93 h ' + .tHand.close +2 M&J/ +76 h / +2 .t\PC.seek :open + P%( +36 h ' + A(`- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(D'1 +53 h ' +359 ( +2 A(=& +3 h & 8\ w +2 M&j& +3 h & U ) +2 M&% +3 h %  y . +2 .t\Forearm.seek :retract + M&' +90 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M& ( +246 h ( + M&P& +4 h & \  E L +2 A(1& +3 h & f\ u +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M& '7 +87 h ' + .tHand.open + M&]1 +68 h 1 +2 A(h- +2 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(9' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(' +58 h ' + #tLights, camera, ACTION! +2 A(_- +3 h -' + A([& +4 h & / 2 `\ _ + M& & +3 h &  K +2 .t\Elbow.seek 3 +2 M&e( +3 h ( + M&I& +3 h &   K +2 A(M& +3 h & 8 9 \ _ +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(g' +51 h ' +2 M&-& +3 h & K +2 A(& +3 h & \ v + .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&'u +16 h ' + .t\Elbow.hold +2 M&F, +4 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(w' +19 h ' +2 M&?% +4 h %Μ  % + A(\\& +3 h & \ u +2 .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 339 counts + M&C' +15 h ' +2 M&5& +4 h & K + A(7& +4 h & \ w +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&d'7 +17 h ' +2 A(c% +4 h % \ x +2 ."downElevator"\SE.seek :down +3 A(E' +98 (3% +3 h %B 7\ tYl + M&n% +4 h % \  $ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\ ' +87 h ' +73 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'<& +3 h &\\r d\ X +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&!% +3 h %   ]  +2 A(o% +3 h % \ y + A(y. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 3 + A(( +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h & m\ x +2 M&& +3 h &  3 K + .t\Elbow.seek 3 +2 M& ( +3 h ( +2 M&& +3 h &  K +2 A(k& +3 h & `\ x +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&b'7 +97 h ' +2 A(v& +3 h & \ y +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +296 h ' + A(G- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&& +2 h & \ I K +2 A(& +3 h & )\ v +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&L'u +14 h ' + .t\Elbow.hold +2 M&2, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(Y- +2 h -' +2 .t\SE.seek 0.18 + A(%'| +32 h ' + M&% +4 h %Χ ` [ + A(& +4 h & \ v + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 350 counts +2 M&&' +14 h ' +2 M&}& +3 h & \  J K +2 A(X& +3 h & x\ w +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&x'7 +15 h ' +2 .t\SE.seek 1.18 +2 A(' +41 h ' +2 M&u& +3 h & [ K +2 M&;% +3 h % X +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&f' +87 h ' +2 .t\Elbow.seek CC +2 M&@(ӂ +152 h ( + M&S& +4 h &ӏ)  A` + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &4& +3 h &ӏ) \ D A` +2 .t\Forearm.seek :CC + M&'? +95 h ' +2 .tHand.close + M&*/ +69 h / +2 .t\CC.seek :open + C'( +450 h ( +2 A({& +4 h & \ } + A(O& +3 h & {\ } +2 M&,& +3 h &ӑ(  @^ +2 M&% +3 h % H  k S + .t\Forearm.seek :retract +2 M&.' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&8( +165 h ( + M&T& +4 h &  Z  +2 A(B& +3 h & \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&p'u +95 h ' + .t\Elbow.hold +2 M&q, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&1 +75 h 1 +2 M&(% +3 h % {  G . +2 A(Q& +3 h & D E \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 306 counts +2 M&i'ϧ +17 h ' +2 M&z& +3 h &  +2 A(H& +3 h & e ` 4\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&A'7 +16 h ' +2 A(% +3 h % d a W\ +3 ."downElevator"\SE.seek :down +2 A(t' +99 (|% +3 h %< \  d\ ~Wf + M&)% +3 h %? K +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +65 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'K& +4 h & q\ +2 M&~% +3 h %   +2 A($% +3 h % f f g\ + A(m. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(W(,y +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (+& +3 h &,x \  b\ ~ + M&>& +3 h & [  +2 .t\Elbow.seek 4 + M&( +43 h ( + M&Z& +4 h & 9  + A(V& +4 h &,x \  @\ ~ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&s' +100 h ' + A(R& +4 h &,x\  \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(/'s +22 h ' Ve z "\ (b +49 !to:Slide::Error\ :@checkpoint: omitted:bt["9/home/esp/esp2/utils/puckmoves.rb:72:in `retryRaise'")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:263:in `load'"4/home/esp/esp2/utils/puckmoves.rb:251:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:251:in `load'"8/home/esp/esp2/utils/puckmoves.rb:802:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"7/home/esp/esp2/lib/log.rb:391:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"W c\ N +9 &@U b\ N +10 &B{\\ k\ N +9 &D9e n\ O +10 &Ey o\ Q +9 &G m\ U +9 &Ie a\ X +10 &K# c\ Z +9 &L l\ Z +9 &N d\ Z +10 &Pe h\ [\ +9 &R& g\ [ +10 &S b\ \\ +9 &U k\ ] +9 &Wg j\ ] +10 &Y% m\ ^ +9 &Z c\ ^ +9 &\\Sa `\ 2 +10 &\\ i\ $k +8 ( +2 &\\ i\ "c + C'& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.26 +2 .Hand.open + M&1 +70 h 1 + M&?% +4 h % 6   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\\' +89 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + P%5& +4 h &D\ n + M&7% +3 h %    +2 A(D% +3 h % \ o +2 A(c. +2 h . + .t\SC.reconfigure SCtight +3 A($\ .\ 1~b +3 .t\SC.seek 4 +3 A(9(,y +6 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &,x  ]\ n +2 M& & +3 h &ӗ&  ?Q + M&% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&3( +164 h ( +2 M&n& +3 h & \ H  +2 A(& +3 h &,x \ r +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&e' +93 h ' +2 A(g& +3 h &,x \ r +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +295 h ' + A(C- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (<& +2 h &,x g | N\ m +2 M&!& +3 h & s  + .t\Elbow.seek 4 +2 M&o( +3 h ( + M&y& +3 h &   + A(w& +4 h &,x \ n + .t\Forearm.seek 4 + 300 counts +2 M&'c +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +66 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A(k' +6 h &  + M&d% +3 h % T  G +2 .t\Forearm.seek :retract +2 M&v' +90 h ' +2 .t\Elbow.seek PC + M&E( +168 h ' + ."downElevator"\SE.coast + A(5 +71 h ( + M&l& +4 h & \ .  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &F& +2 h &   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&\ ' +96 h ' +2 P%G& +3 h &C\ n +2 P%& +3 .t\PC.seek :closed +2 P%(^ +3 h &0\ n +3 &B\ n +9 &.sC\ f+z +10 &a?\ d? +9 &crD\ eP +10 &#R=\ hP +9 &V=\ hQ +9 &SC\ hQ +10 &iUC\ hP +9 &+Q@\ hP +9 &TD\ hP +10 &U>\ hQ +9 & pT9\ hQ +10 &"3T8\ hP +9 &#U:\ gQ +9 &%O5\ hP +10 &'xU=\ gQ +9 &):S)\ gQ +9 &*U6\ hP +10 &,T;\ hP +9 &.R9\ hP +9 &0BX-\ gQ +10 &2R3\ hQ +9 &3U4\ gP +10 &5U1\ gQ +9 &7JT,\ gQ +9 &9 R4\ gQ +10 &:W-\ gQ +9 &<V1\ gQ +10 &>RY4\ gQ +9 &@V3\ gQ +9 &Ac.\ fR +10 &Co-\ eT +9 &EK-\ cV +9 &G\ 5\ cW +10 &H.\ dW +9 &J-\ bW +10 &LN(\ cX +9 &N)\ bX +9 &O*\ bX +10 &Q-\ aX +9 &SS*\ bY +9 &U+\ bX +10 &V4\ `Z +9 &X4\ bY +10 &ZZ!\ bY +9 &\\'\ aZ +9 &](\ c; +10 &^,~/\ d[ +9 &^2-\ i7 +2 ( + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + M&Y1 +66 h 1 +2 M&% +4 h %   5 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\SC.coast + A(6 +3 P%}& +3 h &^0#\ g7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&X% +3 h %     +2 A(u% +3 h % h ] !\ i + A(;. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(b(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M& & + A(& +3 h &   +4 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b + h &,x D D \ h +3 .t\Elbow.seek PC +2 ."raiseStack"\SE.reconfigure SEplace +2 M&L( +2 A(#]kK-0-\ b +4 h ( +3 M&&& +4 h &  )  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 ."raiseStack"\SE.seek beamBreak +2 A(%'s + M&S& +5 h &   + .t\Forearm.seek :PC +2 M&4' +93 h ' + .tHand.close +2 M&x/ +76 h / +2 .t\PC.seek :open + P%2( +92 h ' + A(*- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(f'1 +47 h ' +309 ( + A(6& +4 h &,x ~ e\ m + M&{& +4 h & @  + M&O% +3 h %  N +2 .t\Forearm.seek :retract + M&,' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&( +244 h ( + M&T& +4 h &  a 5 + A(B& +4 h &,x g g k\ j + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +99 h ' + .tHand.open + M&@1 +69 E\ RQ +4 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A((' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(Q' +57 h ' + #tLights, camera, ACTION! +48 A(z- +5 h -' + A(H& +3 h &,x p\ T +2 M&& +3 h &  5 +2 .t\Elbow.seek 4 + M&.( +3 h ( +2 M&|& +3 h &   5 +2 A()& +3 h &,x \ T +2 .t\Forearm.seek 4 + 450 counts +2 M&8' +20 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(p' +52 h ' +2 M&K& +3 h &  5 +2 A(i& +3 h &,x ^ [ I\ j +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 +2 M&~'7 +18 h ' + .t\Elbow.hold +2 M&$, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(m' +27 h ' +2 M&% +4 h %e  ' + A(A& +3 h &,x [ ] O\ j +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 346 counts + M&t'ϑ +19 h ' +2 M&& +4 h &  U 5 + A(+& +4 h &,x i i \ k + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&>' +16 h ' +2 A(Z% +4 h % n i 4\ k +2 ."downElevator"\SE.seek :down +2 A(V' +99 (R% +3 h %I E J j\ hZo + M&/% +4 h %  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&q' +90 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'r& +4 h &\\ k\ "c + #t\Storing generic puck in Collection Clamp to tube 4 +2 M&:% +3 h %    +2 A(N% +3 h % h h ^\ k +2 A(0. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A((,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (`& +3 h &,x f ] }\ k + M&& +3 h &  5 +2 .t\Elbow.seek 4 +2 M&s( +3 h ( + M&'& +3 h &   5 +2 A(#& +3 h &,x h h P\ k +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&' +95 h ' +2 A(^& +3 h &,x r\ m +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(j's +296 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&P& +2 h &  D 5 +2 A(1& +3 h &,x h ] ?\ j + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 +2 M&]'7 +15 h ' + .t\Elbow.hold +2 M&a, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(J- + h -' +2 .t\SE.seek 0.18 +2 A(['| +34 h ' + M& % +4 h %\\ \  e +2 A( & +3 h &,x h h F\ k +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 337 counts +2 M&"'ψ +18 h ' +2 M&M& +3 h & L 5 +2 A(=& +3 h &,x g h u\ k +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&U' +18 h ' +2 .t\SE.seek 1.18 +2 A(h' +34 h ' +2 M&& +4 h & 5 + M&% +4 h % T + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&?' +88 h ' +2 .t\Elbow.seek CC +2 M&5(ӂ +149 h ( +2 M&7& +3 h &ӏ$   =G + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &D& +2 h &Ӑ$  * =F +2 .t\Forearm.seek :CC +2 M&c'? +94 h ' + .tHand.close + M&/ +73 h / +2 .t\CC.seek :open + C' ( +450 h ( + A( & +4 h &,x Q\ t + A(& +4 h &,x 1\ t + M&I& +3 h &Ӕ% \ 3 =B +2 M&n% +3 h % C  a S + .t\Forearm.seek :retract +2 M&' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&W( +163 h ( + M&g& +4 h &  +2 A(_& +3 h &,x &\ w + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 4 +2 M&\\'7 +97 h ' + .t\Elbow.hold +2 M&C, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&<1 +72 h 1 +2 M&!% +3 h % =  ( +2 A(y& +3 h &,x C\ x + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 306 counts +2 M&w'i +23 h ' + M&& +4 h &  +2 A(& +3 h &,x \ y +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&d' +17 h ' +2 A(3% +3 h % \ y +3 ."downElevator"\SE.seek :down +2 A(e' +99 (% +3 h %: M\ vXg + M&% +3 h % ` +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&l' +90 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp + C'F& +4 h & w\ +2 M&o% +3 h %  K  +2 A(G% +3 h % =\ x + A(k. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(v(<- +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<, \ t + M&Y& +3 h &  +2 .t\Elbow.seek 5 +2 M&( +6 h ( + M&}& +4 h &  r  + A(X& +4 h &<, M\ u + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&u'O +91 h ' + A(;& +4 h &<, \ w + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +300 h ' + A( - +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &<, \ s +2 M&&& +3 h & %  + .t\Elbow.seek 5 +2 M&S( +3 h ( + M&\ & +3 h &  +2 A(x& +3 h &<, \ t + .t\Forearm.seek 5 + 300 counts +2 M&9'Ϲ +21 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .tHand.close +2 M&E/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&*& +5 A(' +3 h & b  + M&% +3 h %   +2 .t\Forearm.seek :retract +2 M&%' +88 h ' +2 .t\Elbow.seek CC + M&6(ӂ +160 h ( + ' +2 ."downElevator"\SE.coast + A(5 +5 M&{& +4 h &Ӎ)  Ad + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &O& +3 h &Ӎ)  Ad + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&4'? +89 h ' +2 C'T& +3 h & \ +2 C'B& +3 .t\CC.seek :closed +2 C'L(\\ +2 h & \ +3 & ~\  +9 &0x \ *y +10 &c} \ > +9 &po {\ N +49 &3P w\ M +3 &S n\ N +5 &U w\ M + &xT n\ M + &9R s\ N &T o\ N +7 &R {\ N +9 & R n\ N +10 &"BS s\ M +9 &$P s\ M +9 &%Q p\ M +10 &'P n\ N +9 &)IR s\ N +9 &+ S u\ N +10 &,T p\ N +9 &.T n\ N +10 &0SQ w\ M +9 &2V j\ M +9 &3S o\ N +10 &5U l\ N +9 &7ZQ p\ M +9 &9T n\ M +10 &:W n\ N +9 &<U i\ N +10 &>aW d\ N +9 &@#T X\ N +9 &AV `\ N +10 &Cc k\ O +9 &E^x e\ Q +9 &G `\ U +10 &H b\ Y +9 &J d\ Z +10 &LL a\ Z +9 &N a\ [\ +9 &O c\ \\ +10 &Q a\ [ +9 &SM d\ ] +9 &U [\ ] +10 &V ]\ ~^ +9 &X b\ }_ +10 &ZL c\ |` +9 &[y `\ D +9 &\\* b\ *} +10 &\\ c\ \\ +2 ( + C'B& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 + .Hand.open + M&@1 +69 h 1 +2 M&% +4 h % ?   | +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&z' +88 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + P%,& +4 h &I\ k + M&H% +3 h %    +2 A(% +3 h % j i h\ k +2 A(|. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A()(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (K& +2 h &<, _ g j\ k +2 M&i& +3 h &Ӑ(   Aa +2 M&f% +3 h %  \  o  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&(( +163 h ( + M&& +4 h &  h  +2 A(A& +3 h &<, \ n +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +97 h ' +2 A(+& +3 h &<, 4\ o +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(Z's +296 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &<, h ^ R\ j +2 M&Q& +3 h &  l  +2 .t\Elbow.seek 5 + M&R( +4 h ( + M&/& +4 h &   C  + A(8& +4 h &<, h i \ l +2 .t\Forearm.seek 5 + 300 counts +2 M&.'Ϲ +40 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&p/ +68 h / +2 ."downElevator"\SE.seek :down +3 M&~& +3 A(t' +5 h &  h  +2 M&r% +3 h % ϱ ~ T +2 .t\Forearm.seek :retract +2 M&:' +90 h ' +2 .t\Elbow.seek PC + M&N( +172 h ' + ."downElevator"\SE.coast + A(5 +67 h ( +2 M&0& +4 h & / ) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &m& +3 h & d ) + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&`' +99 h ' +2 P%& +3 h &%\ p +2 P%'& +3 .t\PC.seek :closed +2 P%#(^ +2 h &3\ p +5 &=\ o4 +9 &9Gw?\ g1 +10 &]o~?\ fE +9 &d=\ hQ +9 &R>\ jQ +10 &yU9\ iQ +9 &;U>\ jQ +9 &UD\ iQ +10 &T>\ jP +9 &T:\ iP +10 &CP9\ jQ +9 &!P9\ iQ +9 &"Q=\ jQ +10 &$O>\ jP +9 &&LQ9\ jP +9 &( U;\ iQ +10 &)S7\ jQ +9 &+P8\ jQ +10 &-SP=\ jQ +9 &/V:\ iQ +9 &0S+\ iQ +10 &2Q3\ jQ +9 &4\\P/\ jP +9 &6R-\ jP +10 &7U1\ jQ +9 &9U+\ iQ +10 &;cV)\ jQ +9 &=%V-\ iQ +9 &>W+\ jQ +10 &@U,\ iQ +9 &Bg_,\ hR +9 &D%h,\ hS +10 &E.\ eV +9 &G-\ dV +10 &Ia,\ eW +9 &K"2\ eW +9 &L,\ dX +10 &N%\ dW +9 &Pf4\ dX +9 &R'*\ dX +10 &S$\ cY +9 &U)\ eX +10 &Wl.\ dY +9 &Y/)\ dX +9 &Z-\ dX +10 &\\%\ cY +9 &^-`v'\ g8 +9 &^L'\ j. +6 ( + P%'& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open +2 M&>1 +3 h &^ )\ l. +73 1 + M&^% +4 h %    + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&V' +89 h ' + .t\SC.coast + A(6 +3 P%b& +3 h &^ \ j. +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + M&$% +3 h %  \ t  +2 A(q% +3 h % [ Z\ j + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(P(<- +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (1& + M&J& +3 h &<, [ ] M\ j +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &  ( +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M& ( +2 h ( +2 M& & +3 ."raiseStack"\SE.seek beamBreak +2 A(M's +2 h &  1 ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &=& +2 h &  C ( +2 .t\Forearm.seek :PC +2 M&' +93 h ' + .tHand.close +2 M&/ +71 h / +2 .t\PC.seek :open +2 P%( +91 h ' + A(s- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(j'1 +45 h ' +311 ( + A(]& +4 h &<, i ^ w\ k +2 M&"& +3 h & > ( + M&7% +3 h %  \ E . +2 .t\Forearm.seek :retract +2 M&[' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&D( +243 h ( + M&U& +4 h &   E + A(a& +4 h &<, Z Z\ j + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +93 h ' + .tHand.open + M&?1 +68 h 1 + A(-- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A( ' +22 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(' +54 h ' +2 #tLights, camera, ACTION! +2 A(I- +3 h -' + A(n& +4 h &<, U\ Q + M&g& +3 h &   E +2 .t\Elbow.seek 5 +2 M&_( +3 h ( + M&c& +4 h &   k E + A(5& +3 h &<, e\ P +2 .t\Forearm.seek 5 + 450 counts +2 M&<'O +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(!' +61 h ' +2 M&y& +3 h &  Y E +2 A(& +3 h &<, Z Y &\ i + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 +2 M&'΍ +16 h ' + .t\Elbow.hold +2 M&3, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(' +20 h ' +2 M&% +4 h %ΰ   + A(& +3 h &<, K W P\ h +2 .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 335 counts + M&W' +15 h ' +2 M&\\& +4 h &  % 4 + A(F& +4 h &<, c ]\ i +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&w'O +19 h ' +2 A(o% +4 h % [ f \ j +2 ."downElevator"\SE.seek :down +2 A(G' +99 (k% +3 h %D T T N\ eYo + M&h% +4 h %W   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&d' +86 h ' +73 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'e& +3 h &\\ 4\ \\ +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&% +3 h %    +2 A(% +3 h % h h L\ k + A(Y. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(}(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +49 (X& +4 h &<, ^ e ?\ k +2 M&;& +3 h &   4 +2 .t\Elbow.seek 5 + M&C( +4 h ( +2 M&l& +3 h &    ( +2 A( & +3 h &<, h h ]\ k +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +98 h ' +2 A(&& +3 h &<, i h S\ k +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(\ 's +301 h ' + A(x- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&E& +3 h & \  ( + A(*& +3 h &<, f \\ \ i +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 +2 M&'΍ +14 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(u- +2 h -' +2 .t\SE.seek 0.16 + A({'j +29 h ' +2 M&O% +4 h %Ν  8 @ + A(& +3 h &<, W h V\ h +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 316 counts + M&9' +15 h ' +2 M&T& +3 h & V ( +2 A(S& +3 h &<, f Y \ i +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&'O +14 h ' +2 .t\SE.seek 1.16 +2 A(%' +41 h ' +2 M& & +4 h &  ( + M&@% +3 h %Z +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +85 h ' +2 .t\Elbow.seek CC +2 M&,(ӂ +148 h ( +2 M&H& +3 h &{-    Dy + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &{- \  W Dy +2 .t\Forearm.seek :CC +2 M&|'? +91 h ' +2 .tHand.close + M&B/ +75 h / +2 .t\CC.seek :open + C'K( +450 h ( +2 A(i& +3 h &<, ~ \ n +2 A(f& +3 h &<, z M\ m +2 M&4& +3 h &Ӟ& r ?V + M&% +3 h % I  \\ +2 .t\Forearm.seek :retract +2 M&A' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&v( +162 h ( +2 M&+& +3 h &   +2 A(6& +3 h &<, @\ o +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&z'΍ +94 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +65 h 1 + M&Q% +4 h % · G  +2 A(/& +3 h &<, u  \ p + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 294 counts +2 M&8'ϳ +18 h ' +2 M&p& +4 h & +2 A(~& +3 h &<, \ q +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&r'O +15 h ' +2 A((% +3 h % \ r +3 ."downElevator"\SE.seek :down +2 A(' +99 (Z% +3 h %}? :\ mXj + M&.% +3 h %D  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&0' +87 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp + C'm& +4 h & M\ +2 M&R% +3 h %  <  +2 A(% +3 h % =\ q +2 A(t. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(:(K +364 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (2& +3 h &K h h 5\ k +2 M&'& +3 h & ( + .t\Elbow.seek 6 +2 M&>( +9 h ( + M&^& +4 h & b  + A(b& +4 h &K t \ o + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&$' +93 h ' + A(q& +4 h &K \ q +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +297 h ' + A(1- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (J& +2 h &K k l \ l +2 M& & +3 h & `  + .t\Elbow.seek 6 +2 M&=( +2 h ( +2 M&`& +3 h &  + A(& +3 h &K  \ n +2 .t\Forearm.seek 6 + 300 counts +2 M&)'h +36 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&s/ +76 h / +2 ."downElevator"\SE.seek :down +3 M&N& +4 A(V' +3 h &  + M&#% +3 h % ^ : +2 .t\Forearm.seek :retract +2 M&M' +90 h ' +2 .t\Elbow.seek CC + M&](ӂ +162 h ' + ."downElevator"\SE.coast + A(5 +6 h ( +2 M&"& +3 h &ӌ  g 1 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &7& +3 h &ӌ  1 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +107 h ' +2 C'U& +3 h & ~\ +2 C'a& +3 .t\CC.seek :closed +2 C' (\\ +3 h & Y\ +3 & w\ 4 +10 &:Ix u\ 0 +9 &dq} ~\ E +10 &Z }\ N +9 &N v\ M +9 &U t\ N +10 &OS n\ N +9 &R i\ N +9 &S k\ N +10 &U r\ M +9 &WV m\ N +10 &!R r\ M +9 &"P r\ M +9 &$R q\ M +10 &&_S o\ N +9 &("U k\ M +9 &)U e\ M +10 &+U s\ N +9 &-hS k\ M +10 &/*R n\ M +9 &0U q\ M +9 &2Q k\ M +10 &4pS g\ M +9 &61W d\ N +9 &7U c\ N +10 &9Q h\ N +9 &;xQ g\ M +10 &=:S f\ M +9 &>U Z\ N +9 &@R ^\ M +10 &B}Y a\ N +9 &D<b _\ O +9 &Ex [\ R +10 &G W\ U +9 &Ih [\ X +10 &K# [\ }[ +9 &L `\ ~Z +9 &N c\ |[ +10 &Pf h\ {\\ +9 &R( b\ |\\ +9 &S \\\ z] +10 &U ]\ |\\ +9 &Wg U\ z^ +10 &Y% V\ x_ +9 &Z i\ x` +9 &\\SZ f\ }0 +10 &\\ j\ }!c +8 ( +2 &\\ n\ Z + C'a& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.33 + .Hand.open + M&?1 +72 h 1 +2 M&-% +4 h % A  } + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&I' +91 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + P%n& +3 h &C\ c +2 M&g% +3 h %     +2 A(c% +3 h % , + E\ d + A(5. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A([(K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (y& +3 h &K . 6\ c +2 M&& +3 h &ӌ  1 +2 M&% +3 h %    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +159 h ( + M&\\& +4 h &   + A(j& +4 h &K T R W\ f + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&F' +100 h ' + A( & +4 h &K N R \ f +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(o's +300 h ' + A(D- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &K 6 , g\ c +2 M&& +3 h & @  + .t\Elbow.seek 6 +2 M&k( +2 h ( +2 M&h& +3 h & `  + A(<& +3 h &K N C \ e +2 .t\Forearm.seek 6 + 300 counts +48 M&_'h +29 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&!/ +69 h / +2 ."downElevator"\SE.seek :down +3 M&& +3 A(W' +5 h & 1  +2 M&e% +3 h % ω Y +2 .t\Forearm.seek :retract +2 M&' +89 h ' +2 .t\Elbow.seek PC +2 M&( +169 h ' + ."downElevator"\SE.coast + A(5 +70 h ( +2 M&Y& +4 h & 6 : + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &  : +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&X' +96 h ' +2 P%;& +3 h &5\ e +2 P%l& +3 .t\PC.seek :closed +2 P% (^ +2 h &5\ e +5 &H\ e1 +9 &.FyM\ ]2 +9 &Rn~M\ [F +10 &aC\ ^Q +9 &R?\ _Q +10 &qRE\ _Q +9 &3RF\ `Q +9 &UQ\ _Q +10 &RP\ _Q +9 &yRO\ `Q +9 &<QQ\ _P +10 & RQ\ `Q +9 &"OQ\ `Q +10 &$RP\ _Q +9 &&CSQ\ _Q +9 &(RD\ _Q +10 &)UF\ _Q +9 &+RI\ _Q +9 &-KRN\ _Q +10 &/ UM\ ^Q +9 &0T@\ _Q +10 &2RH\ ^Q +9 &4SQG\ _Q +9 &6UJ\ _Q +10 &7RC\ _Q +9 &9R?\ _Q +9 &;[T@\ _Q +10 &=RA\ _Q +9 &>T@\ _Q +10 &@V8\ ^R +9 &B^`>\ ]R +9 &Dk7\ ]T +10 &E@\ ZW +9 &G<\ ZW +9 &IX<\ ZW +10 &K1\ ZW +9 &L1\ ZX +10 &N8\ YX +9 &P[5\ XY +9 &R?\ YX +10 &S2\ YY +9 &U>\ YY +9 &Wa;\ WZ +10 &Y%<\ YY +9 &Z?\ YY +10 &\\?\ XZ +9 &^2jy@\ [, +9 &^s=\ ]< +9 ( +2 &^(:\ a6 + P%l& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + M&w1 +75 h 1 + M&&% +4 h %   3 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&G' +93 h ' + .t\SC.coast + A(6 +3 P%P& +3 h &^('\ `6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&3% +3 h % !  - +2 A(d% +3 h % , *\ ` + A(x. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(E(K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&*& + A(u& +5 h &  : + &K K U\ ` +2 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.reconfigure TightElbow +3 A(#]kK-0-\ b + M&$&.,(\ #b +4 .t\Elbow.seek PC +2 M&O( +3 h ( + M&& +3 ."raiseStack"\SE.seek beamBreak +2 A(T's +2 h &   : + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &S& +3 h & \ w : + .t\Forearm.seek :PC +2 M& ' +92 h ' + .tHand.close +2 M&@/ +66 h / +3 .t\PC.seek :open +2 P%( +97 h ' + A(C- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(\ '1 +43 h ' +318 ( + A(& +4 h &K , , 0\ c +2 M&9& +3 h & @ : + M&H% +3 h %   E +2 .t\Forearm.seek :retract +2 M&{' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +243 h ( + M&& +4 h &  2 + A(& +4 h &K . . e\ b + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&B' +99 h ' + .tHand.open + M&1 +76 h 1 + A(L- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(i' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(f' +57 h ' +2 #tLights, camera, ACTION! + A(4- +3 h -' +2 A(& +3 h &K >\ I +2 M&+& +3 h &   1 + .t\Elbow.seek 6 +2 M&6( +3 h ( +2 M&|& +3 h &   1 + A(,& +4 h &K 3\ I +2 .t\Forearm.seek 6 + 450 counts + M&' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(Q' +50 h ' +2 M&/& +3 h & \  1 +2 A(p& +3 h &K . / ~\ c + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 +2 M&~'< +14 h ' + .t\Elbow.hold +2 M&(, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(A' +19 h ' +2 M&Z% +4 h %m  S W + A(.& +3 h &K , , ]\ c +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 349 counts +2 M&v'ϙ +18 h ' +2 M&z& +4 h & K 1 + A(m& +4 h &K 5 / s\ c +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&8' +16 h ' +2 A(R% +4 h % - + ?\ c +2 ."downElevator"\SE.seek :down +3 A(' +98 (t% +3 h %C\ $\ ' $\ `Yo + M&%% +4 h %   q + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&r' +88 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +4 h &\\ G\ Z + #t\Storing generic puck in Collection Clamp to tube 6 + M&}% +4 h %   + A(2% +3 h % + + /\ d +2 A('. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(^(K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (b& +2 h &K . + 7\ c + M&q& +4 h &  . 1 + .t\Elbow.seek 6 +2 M&( +2 h ( +2 M&0& +3 h &   Z 1 +2 A(1& +3 h &K + + 6\ d + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts + M&J' +94 h ' +2 A( & +3 h &K U T e\ e +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(`'s +295 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&s& +2 h & P 1 +2 A(N& +3 h &K + . Q\ b + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 +2 M&#'< +16 h ' + .t\Elbow.hold +2 M&>, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A($- +2 h -' + .t\SE.seek 0.17 +2 A("'r +31 h ' + M&7% +4 h %j { C +2 A(& +3 h &K , . I\ c + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 346 counts + M&)'ϖ +19 h ' +2 M&U& +3 h & c 1 +2 A(=& +3 h &K 5 0\ c +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&V' +16 h ' +2 .t\SE.seek 1.17 +2 A(M' +41 h ' +2 M&K& +3 h & 1 +2 M&?% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&-' +87 h ' +2 .t\Elbow.seek CC + M&n(ӂ +150 h ( + M&g& +4 h &Ӊ,  j Du + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &c& +3 h &Ӊ- \ Du + .t\Forearm.seek :CC +2 M&5'? +94 h ' +2 .tHand.close + M&a/ +68 h / +47 .t\CC.seek :open +4 C'y( +449 h ( + A(& +4 h &K ^ e 6\ k + A(& +3 h &K g Z !\ j +2 M&& +3 h &Ӌ+   Cs +2 M&\\% +3 h % K  B s +2 .t\Forearm.seek :retract + M&j' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&:( +166 h ( +2 M& & +3 h &  +2 A(]& +3 h &K ~ \ m + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 6 + M&I'< +94 h ' + .t\Elbow.hold +2 M&D, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +66 h 1 +2 M&% +3 h % Q    +2 A(h& +4 h &K | \ n + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 321 counts + M&<'} +26 h ' +2 M&!& +3 h &   +2 A(& +3 h &K \ n +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&e' +15 h ' +2 A(% +3 h % w 3\ p +3 ."downElevator"\SE.seek :down +2 A(F' +99 (o% +3 h %N< h g \ kXk + M&_% +3 h % : +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Y' +89 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp + C'& +4 h & v\ +2 M&k% +3 h %  ?  +2 A(;% +3 h % \ o +2 A(W. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(([ +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[ ^ g \ j  + M&w& +3 h & 2  +2 .t\Elbow.seek 7 +2 M&&(r +11 h ( + M&P& +4 h &j  g  + A(3& +4 h &[ ] [ 1\ i  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&d'= +94 h ' +2 A(l& +3 h &[ m k \ l  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(x's +299 h ' + A(*- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (u& +2 h &[ H F `\ h  +2 M&& +3 h &j   +2 .t\Elbow.seek 7 + M&S(r +4 h ( + M&X& +4 h &j  + A(@& +4 h &[ T [ \ h  + .t\Forearm.seek 7 + 300 counts +2 M&['ϧ +23 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&C/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A(G' +6 h &j <  + M& % +3 h %  a +2 .t\Forearm.seek :retract +2 M&T' +89 h ' +2 .t\Elbow.seek CC + M&(ӂ +161 h ( +2 M&9& +3 h &Ӑ(   @Y +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &H& +3 h ' + &Ӑ(  @Y +2 .t\Forearm.reconfigure TightForearm +2 ."downElevator"\SE.coast + A(5 +3 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M& '? +101 h ' +2 C'& +3 h & \ +2 C'& +3 .t\CC.seek :closed +2 C'O(\\ +2 h & j\ +4 & \ 4 +10 &5Ix \ 0 +9 &^q| \ E +9 &Z \ N +10 &O \ M +9 &R \ M +9 &HU \ N +10 & R \ N +9 &O \ M +9 &R v\ M +10 &PV o\ N +9 &!R \ N +10 &"P \ M +9 &$Q w\ M +9 &&XU \ N +10 &(T \ N +9 &)O |\ N +9 &+T \ M +10 &-aR \ M +9 &/"U y\ N +10 &0R \ N +9 &2P {\ N +9 &4iP v\ M +10 &6*R x\ N +9 &7V s\ N +9 &9U o\ N +10 &;qU r\ M +9 &=3T u\ M +10 &>T t\ M +9 &@S t\ M +9 &BwX q\ N +10 &D5b y\ O +9 &Ep t\ Q +10 &G s\ ~T +9 &Ic k\ zX +9 &K w\ yZ +10 &L l\ xZ +9 &N }\ x[ +9 &Pb l\ w[ +10 &R# q\ w[\ +9 &S n\ v] +10 &U n\ v] +9 &Wc n\ u] +9 &Y! z\ s^ +10 &Z s\ s_ +9 &\\P_ m\ v0 +9 &\\ m\ zZ +9 ( +2 &\\q n\ W + C'& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.24 + .Hand.open + M&1 +69 h 1 +2 M&L% +4 h % <   6 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&4' +92 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + P%& +4 h &7\ b + M&+% +3 h %    +2 A(|% +3 h % + , G\ b +2 A({. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 7 + A(,([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (/& +3 h &[ , , ^\ b + M&p& +4 h &ӓ&   ?V + M&Z% +3 h %   7  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&.(r +166 h ( + M&z& +4 h &l    +2 A(m& +3 h &[ 8 -\ d +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&\ '= +94 h ' + A(R& +4 h &[ N R \ f +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(i's +300 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (B& +2 h &[ 5 O g\ d +2 M&f& +3 h &l  + .t\Elbow.seek 7 +2 M&t(r +2 h ( +2 M&%& +3 h &l  + A(& +3 h &[ R O ^\ f +2 .t\Forearm.seek 7 + 300 counts +2 M&6'ϧ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&Q/ +69 h / +2 ."downElevator"\SE.seek :down +3 M&~& +2 A(v' +5 h &l ?  +2 M&% +3 h % ϰ Q +2 .t\Forearm.seek :retract +2 M&}' +89 h ' +2 .t\Elbow.seek PC + M&2( +168 h ' + ."downElevator"\SE.coast + A(5 +71 h ( + M&'& +4 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &A& +3 h & h  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&b' +101 h ' +2 P%q& +3 h &S\ j +2 P%0& +3 .t\PC.seek :closed +2 P%1(^ +2 h &Q\ j +3 &O\ k +10 &/vT\ c+z +9 &a~H\ a? +9 &dqJ\ cP +10 &$RP\ fP +9 &RM\ fQ +9 &TL\ eP +10 &iRO\ fQ +9 &+UP\ fQ +10 &QO\ eQ +9 &RK\ aP +9 & qSR\ aQ +10 &"3OP\ bQ +9 &#UP\ cQ +10 &%OP\ bQ +9 &'zRR\ bP +9 &);QP\ aQ +10 &*UQ\ aQ +9 &,WR\ aQ +9 &.RQ\ aP +10 &0CUQ\ aQ +9 &2RI\ bQ +10 &3PQ\ bQ +9 &5RO\ aP +9 &7KRC\ aQ +10 &9T?\ aP +9 &:T?\ aQ +9 &<SB\ aQ +10 &>SU@\ aQ +9 &@WF\ aQ +10 &AcM\ `R +9 &CrE\ _T +9 &EK?\ \\V +10 &G ?\ ]W +9 &H?\ \\W +9 &J?\ \\X +10 &LP?\ \\W +9 &N?\ [X +10 &O?\ \\X +9 &Q@\ ZX +9 &ST?\ [Y +10 &U>\ ZX +9 &V?\ ZY +9 &X?\ [Y +10 &Z]@\ [X +9 &\\?\ ZY +9 &]?\ \\7 +10 &^5v@\ ]F +8 ( +2 &^+>\ b5 + P%0& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open +2 M&81 +75 h 1 + M& % +4 h %   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' + .t\SC.coast + A(6 +3 P%E& +3 h &^,;\ j5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + M&(% +3 h %   D  +2 A(r% +3 h % g g i\ k +2 A(. +2 h . + .t\SC.reconfigure SCtight +49 A($\ .\ 1~b +4 .t\SC.seek 7 + A(s([ +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (N& +3 h &[ k i x\ i +3 ."raiseStack"\SE.reconfigure SEplace +2 M&$& + A(#]kK-0-\ b +4 h &   +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&7( +2 ."raiseStack"\SE.seek beamBreak +4 h ( + A('s +3 M&U& +3 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &=& +2 h & f  +2 .t\Forearm.seek :PC +2 M&K' +91 h ' + .tHand.close +2 M&?/ +70 h / +2 .t\PC.seek :open + P%J( +91 h ' +2 A(- +2 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(`'1 +44 h ' +310 ( +3 A(#& +3 h &[ i m U\ k +2 M&)& +3 h &  +2 M&"% +3 h %   8 + .t\Forearm.seek :retract +2 M&g' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&c(r +246 h ( + M&V& +4 h &i    f +2 A(>& +3 h &[ + * T\ c +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&a'= +96 h ' + .tHand.open + M&-1 +76 h 1 +2 A( - +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(' +51 h ' + #tLights, camera, ACTION! +2 A(- +3 h -' + A(\\& +4 h &[ '\ J + M& & +3 h &i  f +2 .t\Elbow.seek 7 +2 M&](r +3 h ( + M&5& +3 h &i  f +2 A(n& +3 h &[ _\ J +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +11 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +49 h ' +2 M&h& +3 h &i  P f +2 A(!& +3 h &[ < " \ \ e + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 7 +2 M&'{ +19 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(j' +20 h ' +2 M&o% +4 h %Α  + A(_& +3 h &[ , 2 D\ d +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 322 counts +2 M&:'Ͻ +17 h ' +2 M&I& +4 h &  k D + A(& +4 h &[ T N +\ e +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&<'= +15 h ' +2 A(k% +3 h % T S [\ e +3 ."downElevator"\SE.seek :down +2 A(;' +99 (W% +3 h %G + + I\ bZp + M&M% +4 h %>  8 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&e' +87 h ' +71 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'F& +4 h &\\q l\ W + #t\Storing generic puck in Collection Clamp to tube 7 + M&^% +4 h %  \   + A(% +4 h % T T @\ f + A(w. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(P([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (3& +3 h &[ U U \ e +2 M&l& +3 h &  D + .t\Elbow.seek 7 +2 M&D(r +25 h ( +2 M&Y& +96 h &y \   + A(*& +4 h &[ P [ $\ g +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&u'= +98 h ' +2 A(& +3 h &[ R Y z\ g +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(X's +296 h ' + A(@- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 M&C& +2 h &y &  +2 A(& +3 h &[ + * G\ d + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 +2 M& '{ +14 h ' + .t\Elbow.hold +2 M&&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(d- +2 h -' +2 .t\SE.seek 0.17 +2 A(9'u +30 h ' + M&H% +4 h %Θ 1 +2 A(x& +3 h &[ U U T\ e + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 329 counts + M&[' +15 h ' +2 M&& +3 h &|  +2 A(S& +3 h &[ T S K\ f +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&G'= +16 h ' +2 .t\SE.seek 1.17 + A(T' +32 h ' +2 M&y& +3 h &| 3  +2 M&% +3 h %0 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&L' +86 h ' +2 .t\Elbow.seek CC +2 M&(ӂ +159 h ( +2 M&+& +4 h &ӎ)   A` + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &|& +3 h &ӎ)   A` + .t\Forearm.seek :CC +2 M&{'? +95 h ' + .tHand.close + M&/ +68 h / +2 .t\CC.seek :open + C'/( +451 h ( + A(p& +4 h &[ h ^ <\ j + A(Z& +3 h &[ ] h 9\ j +2 M& & +3 h &ӏ) 6 A_ + M&z% +4 h % -  r A + .t\Forearm.seek :retract +2 M&m' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&(r +163 h ( + M&R& +4 h &|  +2 A(& +3 h &[ \ n +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 7 +2 M&4'{ +96 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&B1 +74 h 1 + M&f% +4 h % o  +2 A(%& +3 h &[ ~ E\ n + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 288 counts + M&'ϛ +23 h ' + M&Q& +4 h & /  +2 A(~& +3 h &[ +\ p +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +13 h ' +2 A(.% +3 h % P\ o\ +3 ."downElevator"\SE.seek :down +2 A(\ ' +99 (i% +3 h %A h h y\ kXj + M&6% +3 h %; +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&'' +87 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .tdelay 10 seconds +1002 #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp +2 C'A& +2 h & m\ + M&t% +3 h %  ,  +2 A(q% +3 h % ~ \ p +2 A(v. +2 h . + .t\SC.reconfigure SCtight +48 A($\ .\ 1~b +3 .t\SC.seek 2 +2 A(}(  +1615 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & k z _\ m + M&8& +3 h & [  +2 .t\Elbow.seek 2 +2 M& ( +91 h ( + M&E& +4 h &  +2 A((& +3 h &  ~ |\ n + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts + M&r'S +94 h ' +2 A(& +3 h &   } j\ o +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(0's +298 h ' +3 A(N- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 ($& +3 h &  i l \ k + M&U& +3 h & 3  +2 .t\Elbow.seek 2 +2 M&=( +2 h ( + M&b& +4 h &  + A(?& +3 h &  | \\\ m +2 .t\Forearm.seek 2 + 300 counts +2 M&,'Ͻ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&2& +2 A(' +5 h &   +2 M&1% +3 h %  M u +2 .t\Forearm.seek :retract +2 M&' +92 h ' +2 .t\Elbow.seek CC + M&#(ӂ +153 h ( +2 M&)& +3 h &Ӊ(   @\\ +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b + h ' +3 ."downElevator"\SE.coast + A(5 + M&"& +5 h &Ӊ(  | @\\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&K'? +95 h ' +3 C'V& +3 h & \ +2 C'>& +3 .t\CC.seek :closed +2 C'7(\\ +2 h & ~\ +4 & \ 5 +10 &:Gu \ 0 +9 &bq} \ E +9 &Z \ N +10 &N \ M +9 &Q \ N +10 &KR \ N +9 &Q \ M +9 &T \ N +10 &U \ N +9 &UU \ M +9 &!Q \ M +10 &"U \ N +9 &$O \ N +10 &&\\O \ N +9 &(U \ N +9 &)T \ N +10 &+T \ N +9 &-dU \ N +9 &/&U \ N +10 &0T \ M +9 &2Q \ M +10 &4mQ \ M +9 &6.R \ N +9 &7W \ N +10 &9Q \ N +9 &;uR \ M +9 &=6T \ N +10 &>Q \ N +9 &@S \ N +10 &ByZ \ O +9 &D9b \ O +9 &Eq \ Q +10 &G \ T +9 &If \ |X +9 &K# \ |Z +10 &L \ {Z +9 &N ~\ {Z +10 &Pe \ z[\ +9 &R' \ y[\ +9 &S \ x\\ +10 &U \ x] +9 &Wg ~\ x] +9 &Y& \ u^ +10 &Z \ u_ +9 &\\RZ \ z0 +10 &\\ \ |] +8 ( +2 &\\r \ X + C'>& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.26 + .Hand.open + M&-1 +66 h 1 + M& % +4 h % ;   \\ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +93 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + P%\\& +4 h &I\ c + M& % +3 h %  \ z  +2 A(5% +3 h % 9 9 \ c +2 A(n. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(g(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (h& +3 h &  . * U\ c + M&!& +4 h &Ӌ(    @Z + M&o% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&_( +165 h ( + M&I& +4 h & G  +2 A(`& +3 h &  S N I\ f +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +97 h ' + A(& +4 h &  N P 3\ f +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(k's +297 h ' + A(c- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (a& +2 h &  + . _\ b +2 M&& +3 h &  p  + .t\Elbow.seek 2 +2 M&W( +3 h ( + M&M& +3 h &  0  +2 A(& +3 h &  ! ' \ d +2 .t\Forearm.seek 2 + 300 counts +2 M&]'Ͻ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +76 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A(F' +5 h & 3  +2 M&:% +3 h %  % +2 .t\Forearm.seek :retract +2 M&^' +91 h ' +2 .t\Elbow.seek PC + M&( +179 h ' +2 ."downElevator"\SE.coast + A(5 +57 h ( + M&w& +4 h &  \ N 2 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &j& +2 h &  2 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&3' +96 h ' +2 P%l& +3 h &[\ e +2 P%<& +3 .t\PC.seek :closed +2 P%Y(^ +2 h &K\ f +4 &\\\ e2 +10 &8Fz^\ ]1 +9 &Zn~V\ \\F +9 &`W\ ^Q +10 &RZ\ `Q +9 &yS[\ `Q +9 &:UY\ `Q +10 &QW\ `Q +9 &UW\ `Q +9 &TW\ `Q +10 &CTV\ `Q +9 &!UW\ _Q +10 &"OR\ `P +9 &$RW\ `Q +9 &&KOS\ `Q +10 &(QO\ `P +9 &)RM\ `Q +10 &+QQ\ `Q +9 &-SQM\ _Q +9 &/SQ\ `Q +10 &0TS\ `Q +9 &2RQ\ `Q +9 &4[UW\ _Q +10 &6VM\ _Q +9 &7RN\ _P +9 &9TQ\ `Q +10 &;cTP\ _Q +9 &=&RO\ `P +10 &>UQ\ `Q +9 &@UN\ _R +9 &Bg`T\ ^R +10 &D$mN\ ]T +9 &EN\ [V +9 &GR\ [W +10 &I_O\ ZX +9 &K R\ [X +10 &LQ\ ZX +9 &NP\ ZX +9 &PbK\ XY +10 &R&M\ ZX +9 &SK\ YY +10 &UO\ ZY +9 &WkJ\ YY +9 &Y.N\ ZY +10 &ZN\ ZX +9 &\\K\ YZ +9 &^1ctB\ ]1 +10 &^!G\ \\G +8 ( +2 &^3@\ a7 + P%<& +3 #t\Processing Clamp onSpring/offSpring for 14/25 samples, on/off torque 1.73 +2 .Hand.open + M&*1 +66 h 1 + M&% +4 h %    4 + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&;' +94 h ' + .t\SC.coast + A(6 +3 P%s& +3 h &^4@\ `7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&% +4 h %  - - + A(e% +3 h % / X \ a +2 A(@. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(C(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&& + A(d& +5 h & \  2 + &  a\ E\ _ +2 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.reconfigure TightElbow +3 A(#]kK-0-\ b + M&$&.,(\ #b +3 .t\Elbow.seek PC +3 M&H( +2 h ( +2 M&x& +3 ."raiseStack"\SE.seek beamBreak + A('s +3 h &   2 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &S& +3 h &  2 + .t\Forearm.seek :PC +2 M&y' +92 h ' + .tHand.close + M&/ +68 h / +2 .t\PC.seek :open + P%u( +101 h ' + A(D- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(X'1 +41 h ' +302 ( + A( & +4 h &  S 4 \ d + M&[& +4 h &  2 + M&9% +4 h %  W > + .t\Forearm.seek :retract +2 M&+' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&|( +245 h ( + M&G& +4 h &   2 + A(&& +4 h &  Z W M\ g + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +89 h ' + .tHand.open + M&L1 +73 h 1 + A(O- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(p' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(Z' +55 h ' +2 #tLights, camera, ACTION! +2 A( - +2 h -' +2 A(z& +3 h &  8\ M +2 M&R& +3 h &  1 +49 .t\Elbow.seek 2 +3 M&( +3 h ( + M&{& +4 h &  \ 1 + A(& +4 h &  \ L +2 .t\Forearm.seek 2 + 450 counts + M&B'S +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(f' +58 h ' +2 M&%& +3 h & f 1 +2 A(Q& +3 h &  ~ \ m +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 +2 M&~'Α +17 h ' + .t\Elbow.hold +2 M&., +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek -0.33 +2 A(m' +28 h ' +2 M&i% +4 h %Ϊ l  + A(6& +4 h &  } \ m + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 325 counts +2 M&' +15 h ' +2 M&4& +4 h & - 1 + A(& +4 h &  X\ n + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts + M&T'S +16 h ' +2 A(% +4 h % q \ o +2 ."downElevator"\SE.seek :down +2 A(\ ' +99 (P% +3 h %KD h i \ kYn + M&A% +4 h %?  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&t' +87 h ' +68 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast + A(6 +3 C'q& +3 h &\\r \ X +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&v% +4 h %  C  + A(% +4 h % \ o + A(8. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(E(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ((& +3 h &  i\ o + M&& +3 h &  1 +2 .t\Elbow.seek 2 +2 M&( +3 h ( + M&'& +4 h &  1 + A(N& +3 h &  \ o +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&$'S +94 h ' +2 A(U& +3 h &  v 8\ p +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(b's +295 h ' + A(?- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&& +2 h &   1 +2 A(2& +3 h &  ~ \ n + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek 2 +2 M&1'Α +14 h ' + .t\Elbow.hold +2 M& , +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(r- +2 h -' +2 .t\SE.seek 0.17 +2 A()'r +31 h ' + M&"% +4 h %α  9 C +2 A(0& +3 h &  \ o + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 332 counts +2 M&,' +16 h ' +2 M&V& +3 h & 1 +2 A(=& +3 h &  4\ o +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +14 h ' +2 .t\SE.seek 1.17 + A(' +41 h ' +2 M&/& +3 h & P 1 +2 M&-% +3 h %J  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +87 h ' +2 .t\Elbow.seek CC +2 M&\\(ӂ +154 h ( + M& & +4 h &ӏ)   A_ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &5& +3 h &ӏ(  - A_ +2 .t\Forearm.seek :CC + M&n'? +93 h ' +2 .tHand.close + M&>/ +72 h / +2 .t\CC.seek :open + C'h( +450 h ( + A(!& +4 h &  X\ w + A(o& +3 h &  _\ v +2 M&K& +3 h &Ӑ(   @^ +2 M&I% +3 h % Q   S + .t\Forearm.seek :retract +2 M&`' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&}( +164 h ( + M&& +4 h &  +2 A(#& +3 h &  \ y + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 2 +2 M&'Α +95 h ' + .t\Elbow.hold +2 M&c, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&a1 +75 h 1 +2 M&% +3 h % ΃  +2 A(M& +3 h &  O\ y + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 286 counts +2 M&'ϯ +16 h ' + M&& +4 h &  +2 A(& +3 h &  \ | +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&:'S +18 h ' +2 A(_% +3 h % )\ | +3 ."downElevator"\SE.seek :down +2 A(' +99 (k% +3 h %U9 \ yXh + M&]% +3 h %] +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&w' +87 h ' +64 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + C'j& +4 h & \ +2 M&W% +3 h %  y  +2 A(l% +3 h % \ | +2 A(F. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(^( +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (J& +3 h & =\ v\  + M&*& +3 h & '  +2 .t\Elbow.seek 3 +2 M&( +28 h ( + M&s& +4 h &w 9 + A(& +4 h & U\ v\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&e'7 +97 h ' + A(@& +4 h & \ w\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(<'s +297 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (d& +2 h & \ s\  +2 M&x& +3 h &w  W 9 + .t\Elbow.seek 3 +2 M&S( +23 h ( +2 M&3& +4 h & M L + A(& +3 h & \ t\  +2 .t\Forearm.seek 3 + 300 counts +2 M&g'ϡ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&D/ +77 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A(;' +5 h & O L +2 M&Y% +3 h % ϫ  +2 .t\Forearm.seek :retract +2 M&' +88 h ' +2 .t\Elbow.seek CC + M& (ӂ +160 h ( +2 M&[& +4 h ' + &ӎ \ S 6 + ."downElevator"\SE.coast + A(5 +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &9& +3 h &ӎ \  O 6 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&y'? +96 h ' +5 C'G& +3 h & ~\ +2 C'&& +3 .t\CC.seek :closed +2 C'H(\\ +4 h & \ + & \  +9 &1y \ *y +9 &c{ \ > +10 &rp \ N +9 &6O \ M +9 &Q \ M +10 &P \ M +9 &|O \ M +9 &>T \ M +10 &V \ M +9 &T \ M +10 & T \ M +9 &"ES \ N +56 &$R \ N +4 &%S \ N + &'R \ N +5 &)MS \ N + &+T \ N + &,T \ N &.T \ N +7 &0VU \ M +9 &2U \ M +10 &3U \ M +9 &5U \ N +9 &7]U }\ N +10 &9 V \ M +9 &:R \ N +10 &<U \ N +9 &>fR \ M +9 &@(S \ M +10 &AY \ N +9 &C\\ \ N +9 &Efk \ P +10 &G! \ R +9 &H \ W +10 &J \ Y +9 &LR \ Z +9 &N \ Z +10 &O \ Z +9 &Q \ Z +9 &SS \ \\ +10 &U {\ \\ +9 &V \ ] +10 &X \ ] +9 &ZU \ ^ +9 &[y \ @ +10 &\\' \ . +9 &\\o \ W +2 ( + C'&& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 +2 .Hand.open + M&L1 +76 h 1 +2 M&O% +3 h % E  ( r +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +92 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + P%z& +4 h &]\ p + M&R% +3 h %   U  +2 A(+% +3 h % \ q +2 A({. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +7 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (%& +2 h & ~ =\ p +2 M&Q& +3 h &ӎ  6 +2 M&X% +3 h %    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&i( +163 h ( + M&6& +4 h & B  +2 A(p& +3 h & \ s +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&4'7 +93 h ' + A(& +4 h & \ t +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +300 h ' + A(|- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h & \ r +2 M&Z& +3 h & /  +2 .t\Elbow.seek 3 + M&P( +4 h ( + M&A& +4 h &   + A(B& +4 h & +\ s + .t\Forearm.seek 3 + 300 counts +2 M&'ϡ +43 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&f/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&~& +2 A(q' +6 h & l  +2 M&% +3 h % Ϥ  M +2 .t\Forearm.seek :retract +2 M&v' +87 h ' +2 .t\Elbow.seek PC + M&( +172 h ' + ."downElevator"\SE.coast + A(5 +67 h ( +2 M&8& +4 h & b  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &m& +3 h &  V  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&(' +92 h ' +2 P%& +3 h &J\ s +2 P%'& +3 .t\PC.seek :closed +2 P%N(^ +2 h &]\ s +2 &X\ r +10 &0u^\ k+z +9 &a[\ j? +10 &jrW\ jP +9 &*RX\ mQ +9 &TW\ mQ +10 &QT\ mP +9 &qVW\ mP +9 &3SW\ mP +10 &UW\ mQ +9 &UV\ lP +10 & xTQ\ mQ +9 &"<OW\ mP +9 &#TN\ lQ +10 &%RP\ lP +9 &'QT\ mP +9 &)CQL\ lP +10 &+QM\ mP +9 &,RQ\ lQ +10 &.TN\ mQ +9 &0KRN\ mP +9 &2 RO\ mP +10 &3TN\ mP +9 &5UP\ mP +9 &7SPS\ mP +10 &9RL\ mQ +9 &:US\ mQ +9 &<RO\ mP +10 &>[VN\ lP +9 &@VN\ mQ +10 &A`Q\ kR +9 &CpQ\ jS +9 &ESP\ iV +10 &GM\ hW +9 &HO\ hV +9 &JO\ hW +10 &LWO\ hW +9 &NO\ fX +10 &OK\ gX +9 &QO\ fX +9 &SYP\ fY +10 &UQ\ fY +9 &VH\ fX +9 &XM\ fX +10 &ZaO\ eY +9 &\\$N\ fY +10 &]}E\ h; +9 &^.F\ iZ +9 &^1I\ n7 +2 ( + P%'& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open + M&T1 +73 h 1 + M&U% +4 h %   R +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&\ ' +91 h ' + .t\SC.coast + A(6 +3 P%C& +3 h &^0+\ m7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&.% +3 h %    +2 A(t% +3 h % ~ X\ n +2 A(?. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (2& + M&r& +4 h & } \ m +3 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &   +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek PC +2 M&"( +3 h ( +2 ."raiseStack"\SE.seek beamBreak +2 M&0& + A(V's +6 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &=& +3 h &   + .t\Forearm.seek :PC +2 M&/' +92 h ' + .tHand.close +2 M&-/ +75 h / +2 .t\PC.seek :open +2 P%$( +86 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(b'1 +44 h ' +317 ( +2 A(1& +3 h &  =\ n +2 M&,& +3 h &  P  + M&)% +3 h %  . S +2 .t\Forearm.seek :retract +2 M& ' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&5( +247 h ( + M&& +4 h &  R +2 A( & +3 h & h h Y\ k + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&>'7 +93 h ' + .tHand.open + M& 1 +77 h 1 + A(7- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(!' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(o' +55 h ' +3 #tLights, camera, ACTION! + A(K- +3 h -' + A(I& +4 h & (\ H + M&& +3 h &  R +2 .t\Elbow.seek 3 +2 M&#( +3 h ( + M&n& +3 h & \  R +2 A(\\& +3 h & \ H +2 .t\Forearm.seek 3 + 450 counts +2 M&a'7 +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +53 h ' +2 M&M& +3 h &  w R +2 A(& +3 h & j m \ l + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&'u +13 h ' + .t\Elbow.hold +2 M&_, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(`' +27 h ' +2 M&k% +3 h %Β # R +2 A(]& +3 h & i k f\ l +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 329 counts +2 M&}'Ͼ +15 h ' +2 M&& +4 h &  R + A(j& +4 h & | a\ m +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +16 h ' +2 A(W% +3 h % ~  \ m +3 ."downElevator"\SE.seek :down +2 A(l' +99 (F% +3 h %= h h |\ lXk + M&% +4 h %> \ m + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&:' +87 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +4 h &\\q W\ W + #t\Storing generic puck in Collection Clamp to tube 3 +2 M&E% +3 h %  \   + A(J% +4 h % \ q + A(*. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(s( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h &  '\ p +2 M&@& +3 h &  + R + .t\Elbow.seek 3 +49 M&c( +4 h ( + M&w& +4 h &   R + A(& +3 h & u w\ p +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&d'7 +89 h ' +2 A(x& +3 h & u\ p +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(3's +300 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&D& +2 h &   R +2 A(& +3 h & h h U\ k + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&Y'u +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(e- +2 h -' +2 .t\SE.seek 0.17 +2 A(['z +30 h ' +2 M&9% +3 h %Υ \ P i +2 A(<& +3 h & f Y 8\ i +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 348 counts + M&g' +17 h ' +2 M&G& +3 h & C R +2 A(S& +3 h & h j O\ j +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&;'7 +15 h ' +2 .t\SE.seek 1.17 +2 A(' +41 h ' +2 M&h& +4 h & @ R + M&L% +3 h %-  # +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&O' +90 h ' +2 .t\Elbow.seek CC +2 M&z(ӂ +160 h ( + M&R& +4 h &Ӎ   5 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &+& +2 h &Ӎ  5 +2 .t\Forearm.seek :CC + M&&'? +93 h ' + .tHand.close + M&{/ +66 h / +2 .t\CC.seek :open + C'%( +450 h ( +2 A(Q& +4 h & ~ H\ m + A(X& +3 h &  \ n +2 M&y& +3 h &Ӎ  5 +2 M&6% +3 h % E \ 4 Y + .t\Forearm.seek :retract +2 M&p' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&^( +162 h ( + M&& +4 h & 4  +2 A( & +3 h & \ q +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M& 'u +96 h ' + .t\Elbow.hold +2 M&|, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +75 h 1 + M&Z% +4 h % r . +2 A(A& +3 h & \ q + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 297 counts +2 M&B'Ϟ +19 h ' +2 M&f& +3 h &  +2 A(~& +3 h & \ r +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&'7 +15 h ' +2 A(i% +3 h % \ r +3 ."downElevator"\SE.seek :down +2 A(4' +99 (% +3 h %B: G\ oXj + M&% +3 h %@ ^ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&8' +86 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp +2 C'm& +3 h & \ +2 M&P% +3 h %    +2 A(% +3 h % \ r +2 A(q. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(v(,y +359 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (u& +3 h &,y ~ \ m  +2 M&T& +3 h & U  + .t\Elbow.seek 4 +2 M&U( +33 h ( + M&C& +4 h &   [  + A(.& +4 h &,y m z )\ m  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&t' +95 h ' + A(?& +4 h &,y ~\ n  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(''s +299 h ' + A(2- +3 h -'" +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (r& +3 h &,y k j S\ j  +2 M&0& +3 h & {  + .t\Elbow.seek 4 +2 M&=( +22 h ( + M&(& +4 h & 5 + A(-& +3 h &,y g g m\ k  +2 .t\Forearm.seek 4 + 300 counts +2 M&'c +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +67 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A(\ ' +5 h & Y +2 M&N% +3 h % \\ E +2 .t\Forearm.seek :retract +2 M&V' +92 h ' +2 .t\Elbow.seek CC + M&1(ӂ +158 h ( + ' +2 ."downElevator"\SE.coast + A(5 +4 M&,& +5 h &ӑ%  e >H + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &)& +3 h &Ӓ$   =G + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&/'? +97 h ' +3 C'& +3 h & \ +2 C' & +3 .t\CC.seek :closed +2 C'"(\\ +3 h & x\ +4 & \ 4 +9 &7Hx \ 1 +10 &bq} \ E +9 &Z \ N +9 &O \ M +10 &O \ N +9 &MO \ N +9 &O \ M +10 &Q \ M +9 &T \ N +9 &VP \ M +10 &!P \ M +9 &"U \ N +10 &$O \ M +9 &&^R \ M +9 &( R \ M +10 &)U \ N +9 &+T \ N +9 &-fT \ M +10 &/(R \ M +9 &0Q \ M +10 &2O \ N +9 &4nR \ M +9 &6.V \ N +10 &7S \ M +9 &9S \ N +9 &;uU \ N +10 &=7Q \ N +9 &>R \ M +10 &@S \ N +9 &B|Y \ N +9 &D9c \ P +10 &Ew \ R +9 &G \ ~V +10 &If }\ {X +9 &K# \ yZ +9 &L \ zZ +10 &N \ yZ +9 &Pg \ w[ +9 &R( ~\ x[\ +10 &S \ u] +9 &U \ v] +9 &Wh \ u] +10 &Y$ \ t_ +9 &Z \ t_ +10 &\\S^ \ x. +9 &\\# {\ x!c +8 ( +2 &\\w \ Z + C' & +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.30 +2 .Hand.open + M& 1 +70 h 1 + M&7% +4 h % F   1 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&K' +89 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + P%I& +3 h &X\ c +2 M&% +3 h %    +2 A(n% +3 h % 3 - 9\ d +2 A(\\. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A( (,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (M& +3 h &,y + - +\ c + M&& +3 h &Ӓ$  =G +2 M&k% +3 h %  z  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&]( +162 h ( + M&& +4 h & D  +2 A(b& +3 h &,y P X >\ g +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&j' +88 h ' + A(!& +4 h &,y g ^ =\ i +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(W's +296 h ' + A(5- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (>& +2 h &,y * + i\ d +2 M&o& +3 h & U  + .t\Elbow.seek 4 +2 M&F( +2 h ( +2 M&& +3 h & 4  + A(a& +3 h &,y U T U\ e +2 .t\Forearm.seek 4 + 300 counts +2 M&#'c +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +49 .tHand.close +3 M&/ +70 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A(}' +5 h & /  +2 M&% +3 h % d & +2 .t\Forearm.seek :retract +2 M&E' +90 h ' +2 .t\Elbow.seek PC + M&J( +168 h ' + ."downElevator"\SE.coast + A(5 +72 h ( +2 M&*& +4 h & [ 1 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &`& +3 h &  1 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +97 h ' +2 P%@& +3 h &D\ f +2 P%w& +3 .t\PC.seek :closed +2 P%(^ +3 h &`\ f +2 &]\ f +9 &/w]\ ^+z +10 &a\\\ \\? +9 &br[\ ]P +9 &"R[\ `P +10 &Q`\ aQ +9 &PX\ `Q +9 &gQ\\\ aQ +10 &)UX\ `Q +9 &VX\ `Q +10 &SW\ aP +9 & pRQ\ `P +9 &"2QT\ aP +10 &#UV\ `Q +9 &%NW\ `P +9 &'wRS\ `Q +10 &)9TF\ `Q +9 &*UK\ `Q +10 &,RR\ `Q +9 &.RV\ `P +9 &0@TM\ `Q +10 &2RN\ `Q +9 &3QO\ `Q +9 &5TL\ `Q +10 &7IOP\ aQ +9 &9 SQ\ `Q +10 &:RP\ aQ +9 &<RQ\ `Q +9 &>PUQ\ `Q +10 &@WQ\ `Q +9 &A`P\ _R +9 &CqP\ ]T +10 &EIT\ \\V +9 &G Q\ \\W +10 &HM\ [W +9 &JO\ [X +9 &LNM\ \\W +10 &NQ\ [X +9 &OO\ [X +9 &QP\ ZY +10 &SQO\ [Y +9 &UO\ ZY +10 &VJ\ ZY +9 &XG\ [Y +9 &ZZI\ ZY +10 &\\H\ ZY +9 &]E\ \\7 +9 &^6xE\ ]D +9 ( +2 &^"@\ c1 + P%w& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open + M&1 +75 h 1 + M&x% +4 h %    # +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&l' +93 h ' + .t\SC.coast + A(6 +3 P%& +3 h &^"9\ a1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&_% +3 h % "   c  +2 A(:% +3 h % . , L\ b +2 A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(D(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +4 M&e& + h &,y , - Q\ b +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  I 1 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&9( +3 h ( + M&<& +3 ."raiseStack"\SE.seek beamBreak +2 A(G's +2 h &   1 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &S& +2 h &   1 +2 .t\Forearm.seek :PC +2 M&h' +92 h ' + .tHand.close +2 M&L/ +66 h / +2 .t\PC.seek :open + P%d( +97 h ' + A(c- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(3'1 +53 h ' +298 ( + A(Y& +4 h &,x T T =\ e\  +2 M&g& +3 h & 1 + M&[% +3 h %   { M +2 .t\Forearm.seek :retract +2 M&R' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&+( +245 h ( + M&;& +4 h &  " 8 + A(& +4 h &,x + . {\ c\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&{' +94 h ' + .tHand.open + M&O1 +65 h 1 + A(H- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(Q' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(X' +54 h ' + #tLights, camera, ACTION! +2 A(y- +3 h -' + A(6& +3 h &,x u k \ ?\  +2 M&& +3 h &  \ i 8 +2 .t\Elbow.seek 4 + M& ( +3 h ( + M&&& +4 h &    8 + A(z& +3 h &,x k k \ ?\  +2 .t\Forearm.seek 4 + 450 counts +2 M&' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(Z' +58 h ' +2 M&A& +3 h & \ v 8 +2 A(f& +3 h &,x . , X\ a\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 +2 M&~'7 +14 h ' + .t\Elbow.hold +2 M&i, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(p' +26 h ' +2 M&% +4 h %e   @ + A(& +3 h &,x  B\ `\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 346 counts +2 M&^'ϑ +24 h ' +2 M& & +4 h &   7 + A(m& +4 h &,x , \ `\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&B' +18 h ' +2 A(P% +4 h % - + ?\ b +2 ."downElevator"\SE.seek :down +2 A(' +99 (q% +3 h %%C + - R\ ]Zo + M&% +4 h % e + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +88 h ' +70 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'4& +4 h &\\x d\ Z + #t\Storing generic puck in Collection Clamp to tube 4 +2 M&s% +3 h %    + A(u% +4 h % T T O\ f + A(T. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(C(,y + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (.& +3 h &,x T S\ e + M&?& +3 h &  7 +2 .t\Elbow.seek 4 +2 M&|( +3 h ( + M&8& +4 h & E 7 + A(2& +3 h &,x R S 2\ e +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&r' +96 h ' +2 A(0& +3 h &,x V [\ f +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(('s +295 h ' + A(-- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&& +2 h &  1 7 +2 A(& +3 h &,x + + U\ c + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +4 M&#Q@2^d^2b +2 .t\Forearm.seek 4 +2 M&N'7 +13 h ' + .t\Elbow.hold +2 M&U, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(t- +2 h -' +2 .t\SE.seek 0.18 +2 A(,'{ +31 h ' + M&)% +4 h %Z  ' +2 A('& +3 h &,x + -\ c + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 335 counts + M&'φ +19 h ' +2 M&& +3 h & u 7 +2 A(=& +3 h &,x B M ^\ e +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&\ ' +15 h ' +2 .t\SE.seek 1.18 + A(V' +41 h ' +2 M&%& +3 h & a 7 +2 M& % +3 h % c +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&7' +88 h ' +2 .t\Elbow.seek CC + M&I(ӂ +153 h ( + M&& +4 h &ӏ)   e A` + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &n& +3 h &ӏ(  A` + .t\Forearm.seek :CC +2 M&\\'? +92 h ' +2 .tHand.close + M& / +75 h / +2 .t\CC.seek :open + C'M( +450 h ( +47 A(& +6 h &,x g g \ k + A(k& +3 h &,x h g w\ k +2 M&/& +3 h &ӑ(   @^ + M&% +4 h % X  M V + .t\Forearm.seek :retract +2 M&b' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&v( +165 h ( +2 M&!& +3 h &  +2 A(1& +3 h &,x \ n + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 4 + M&K'7 +91 h ' + .t\Elbow.hold +2 M&5, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&>1 +70 h 1 +3 M&o% +3 h % K d K +2 A(& +3 h &,x \ o + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 320 counts +2 M&a'w +17 h ' +2 M&& +3 h &  +2 A(& +3 h &,x u \ p +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +18 h ' +2 A(]% +3 h %  4\ p +3 ."downElevator"\SE.seek :down +2 A(j' +99 (W% +3 h %: _ S\ lXi + M&#% +3 h % X +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&*' +87 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp +2 C'`& +3 h & \ +2 M&F% +4 h %  ,  + A(@% +3 h % { t /\ p +2 A(}. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(E(<- +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ($& +3 h &<+ h g }\ k\  + M&& +3 h &   +2 .t\Elbow.seek 5 +2 M&x( +8 h ( + M&& +4 h &   +2 A(_& +3 h &<+ h g j\ j\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&:'O +90 h ' +2 A(w& +3 h &<+ } m \ l\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +299 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (e& +2 h &<+ B E \ h\  +2 M&<& +3 h &  + .t\Elbow.seek 5 +2 M&S( +3 h ( + M&& +3 h &  +2 A(L& +3 h &<+ f \\ \ i\  +2 .t\Forearm.seek 5 + 300 counts +2 M& 'Ϲ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&c/ +71 h / +2 ."downElevator"\SE.seek :down +3 M&J& +2 A(l' +5 h &   +2 M&% +3 h % ϴ 2 +2 .t\Forearm.seek :retract +2 M&G' +89 h ' +2 .t\Elbow.seek CC + M&Y(ӂ +154 h ( +2 M&g& +3 h &y.   E~ + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' +2 ."downElevator"\SE.coast + A(5 + M&[& +5 h &y. \  E~ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&h'? +94 h ' +2 C';& +3 h & \ +2 C'& +3 .t\CC.seek :closed +2 C'9(\\ +2 h & \ +5 & \ 5 +10 &4Gu \ 1 +9 &^q} \ E +9 &Y \ N +10 &P \ M +9 &P \ N +10 &IO \ N +9 & O \ M +9 &Q \ M +10 &R \ M +9 &RR \ M +9 &!T \ N +10 &"U \ N +9 &$U \ M +10 &&ZQ \ M +9 &(R \ M +9 &)O \ N +10 &+O \ N +9 &-aO \ N +9 &/#U \ N +10 &0T \ N +9 &2P \ N +10 &4iO \ N +9 &6+Q \ N +9 &7R \ M +10 &9R \ N +9 &;qU \ N +9 &=3U \ N +10 &>Q \ N +9 &@S \ N +10 &BwY \ N +9 &D4f \ P +9 &E \ S +10 &G \ {V +9 &I` \ yY +9 &K \ xZ +10 &L \ xZ +9 &N \ w[ +10 &Pc \ w[ +9 &R$ \ v[\ +9 &S \ v\\ +10 &U \ v] +9 &Wc \ t] +9 &Y \ s_ +10 &Z \ s_ +9 &\\Q` \ u0 +10 &\\ \ y^ +8 ( +2 &\\x \ Z + C'& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.32 + .Hand.open + M&O1 +69 h 1 +2 M&H% +4 h % J   Q + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&y' +89 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + P%6& +4 h &W\ c + M&% +3 h %    +2 A(&% +3 h %  ( ,\ d +2 A(z. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(R(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (A& +3 h &<+ , . Y\ c + M&f& +4 h &Ӛ'  R @] + M&% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&( +168 h ( + M&3& +4 h & W z +2 A( & +3 h &<,) J\ `  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&m'O +92 h ' + A(Q& +4 h &<,) , , )\ b  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(P's +306 h ' + A(+- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 ({& +2 h &<,' + , <\ ^  +2 M&X& +3 h &  m z + .t\Elbow.seek 5 +2 M&q( +3 h ( + M&& +3 h &  z +2 A(& +3 h &<,' 4 7 \ _  +2 .t\Forearm.seek 5 + 300 counts + M& 'Ϲ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&Z/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&~& +2 A(^' +5 h & z +2 M&4% +3 h % ϭ . +2 .t\Forearm.seek :retract +2 M&s' +88 h ' +2 .t\Elbow.seek PC + M&u( +176 h ' + ."downElevator"\SE.coast + A(5 +61 h ( + M&T& +4 h &  d 1 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &p& +2 h &  C 1 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +3 M&.' +92 h ' +2 P%?& +3 h &e\ ` +2 P%8& +3 .t\PC.seek :closed +2 P%2(^ +3 h &M\ ` +2 &c\ ` +10 &.rn\ X+z +10 &`g\ W? +9 &Zq`\ WP +9 &Te\ ZQ +10 &Ri\ ZQ +9 &Qg\ ZQ +10 &_Qi\ ZQ +9 &!Qh\ ZQ +9 &Rc\ ZQ +10 &Qi\ ZQ +9 & hR^\ ZQ +9 &"+P]\ ZP +10 &#Ri\ ZQ +9 &%Oi\ [P +10 &'pQd\ [Q +9 &)3Q`\ [P +9 &*Q_\ [Q +10 &,R]\ [Q +9 &.yP[\ [P +9 &08TY\ ZQ +10 &1TY\ ZQ +9 &3QV\ [Q +10 &5TP\ [Q +9 &7BQQ\ [Q +9 &9SY\ ZQ +10 &:S`\ ZQ +9 &<R`\ ZQ +9 &>IT^\ ZQ +10 &@\ TM\ ZQ +9 &AY^\ YR +10 &ChQ\ XS +9 &EFyT\ WU +9 &GZ\ UW +10 &HR\ UX +9 &JS\ UX +9 &LGS\ UW +10 &NZ\ TY +9 &OY\ UX +10 &QU\ TY +9 &SKS\ TY +9 &U U\ TX +10 &V^\ TY +9 &XZ\ UX +9 &ZRM\ TY +10 &\\L\ TY +9 &]U\ U< +10 &^-{P\ W\\ +9 &^2R\ [8 + ( + P%8& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open +2 M&B1 +72 h 1 + M&0% +4 h %  r V +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +3 P%D& +3 h &^0F\ ]8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + M&i% +3 h %    +2 A(% +3 h % J \ ` +2 A(-. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A((<- +4 h ( + .t\SC.reconfigure SCloose +51 A($.\ 1~b +4 M&t& + A(& +4 h & 1 +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h &<+\ !\ $ .\ ` +2 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.seek PC +2 A(#]kK-0-\ b +2 M&)( +5 h ( + M&'& +3 h &  c 1 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +2 M&=& +2 A('s +5 h &  1 +2 .t\Forearm.seek :PC +2 M&%' +93 h ' + .tHand.close +2 M& / +75 h / +2 .t\PC.seek :open + P%r( +96 h ' + A(|- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(('1 +41 h ' +307 ( + E\ \\Z +2 A(N& +4 h &<,' * ' ]\ ]  + M&& +4 h &  1 + M&,% +4 h %    K + .t\Forearm.seek :retract +2 M&' +91 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&n( +245 h ( + M&\ & +4 h &  5 C +2 A(U& +3 h &<,' G @\ [  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M& 'O +98 h ' + .tHand.open + M&71 +71 h 1 + A("- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(k' +56 h ' + #tLights, camera, ACTION! +2 A(/- +3 h -' + A(& +3 h &<,& K L ,\ ;  +2 M&!& +3 h &   C +2 .t\Elbow.seek 5 +2 M&1( +3 h ( + M&\\& +3 h &   C +2 A(I& +3 h &<,& K L p\ ;  +2 .t\Forearm.seek 5 + 450 counts +2 M&>'O +17 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(o' +53 h ' +2 M&& +3 h &  O C +2 A(& +3 h &<,( \\ &\ ]  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 +2 M&'΍ +21 h ' + .t\Elbow.hold +2 M&], +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(b' +24 h ' +2 M&W% +4 h %Δ  ^ + A(#& +3 h &<,( I W\ [  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 307 counts +2 M&v' +16 h ' +2 M&K& +4 h &  N ? + A(`& +4 h &<,( . , >\ ^  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&a'O +17 h ' +2 A(F% +4 h % 1 - S\ ] +2 ."downElevator"\SE.seek :down +2 A(@' +99 (}% +3 h %C J 8\ ZZq + M&V% +4 h %N  : + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' +69 ' + ."downElevator"\SE.coast +2 A(5 +2 .t\SC.coast + A(6 +3 C'j& +3 h &\\x d\ Z + #t\Storing generic puck in Collection Clamp to tube 5 +2 M&C% +3 h %  -  +2 A($% +3 h % 0 ?\ d +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A((<- +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (_& +2 h &<, %  [\ d +2 M&w& +3 h &   ? + .t\Elbow.seek 5 +2 M&5( +24 h ( +2 M&*& +3 h &  )  +2 A(& +3 h &<, S R 5\ e +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&e'O +89 h ' +2 A(<& +3 h &<, Z U "\ f +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +300 h ' +2 A(L- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&c& +3 h & e  + A(J& +3 h &<, Q H Q\ e +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 +2 M&'΍ +17 h ' + .t\Elbow.hold +2 M&x, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(:- +2 h -' +2 .t\SE.seek 0.16 + A(g'j +31 h ' +2 M&[% +3 h %Ι ] 8 +2 A(& +3 h &<, . /\ c +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 312 counts + M& ' +17 h ' +2 M&;& +3 h & @  +2 A(S& +3 h &<, R S =\ e +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&l'O +16 h ' +2 .t\SE.seek 1.16 + A(G' +39 h ' +2 M&M& +3 h & 8  +2 M&O% +3 h %F +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&H' +87 h ' +2 .t\Elbow.seek CC +2 M&6(ӂ +168 h ( + M&& +4 h &Ӎ   f + + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &&& +2 h &Ӎ  + +2 .t\Forearm.seek :CC + M&z'? +97 h ' + .tHand.close + M&/ +76 h / +2 .t\CC.seek :open + C'A( +450 h ( +2 A(f& +4 h &<, j _ \ \ l + A(& +3 h &<, i i N\ l +2 M&h& +3 h &Ӎ  W + + M&3% +3 h % = f O +2 .t\Forearm.seek :retract +2 M& ' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&E( +163 h ( + M&Q& +4 h &    +2 A(Y& +3 h &<, ~\ n + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 5 +2 M&y'΍ +94 h ' + .t\Elbow.hold +2 M&+, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&{1 +74 h 1 + M&X% +4 h % x  + A(& +4 h &<, ~ \ n + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 279 counts + M&'Ϥ +24 h ' + M&Z& +4 h & } +2 A(~& +3 h &<, \ o +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&4'O +25 h ' +2 A(% +3 h % \ p +3 ."downElevator"\SE.seek :down +2 A(m' +99 (P% +3 h %@ i G\ lYk + M& % +3 h %k M +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&T' +88 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp + C'p& +4 h & x\ +2 M&q% +3 h %  ;  +2 A(?% +3 h % \ o +2 A(^. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(s(K +350 h ( + .t\SC.reconfigure SCloose +48 A($.\ 1~b +3 (d& +3 h &K w Z !\ k +2 M&B& +3 h &  } + .t\Elbow.seek 6 +2 M&0( +9 h ( + M&D& +4 h &    +2 A(i& +3 h &K e g :\ k +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +97 h ' +2 A(-& +3 h &K ~ \ n +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(8's +302 h ' +2 A(t- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &K Z e 0\ k +2 M&'& +3 h & B  + .t\Elbow.seek 6 +2 M&=( +3 h ( + M&.& +3 h & B  +2 A(R& +3 h &K f ^ h\ k +2 .t\Forearm.seek 6 + 300 counts + M& 'h +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&u/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&|& +3 A(' +5 h &  +2 M&2% +3 h % x +2 .t\Forearm.seek :retract +2 M&' +90 h ' +2 .t\Elbow.seek CC + M&N(ӂ +161 h ' +2 ."downElevator"\SE.coast + A(5 +3 h ( + M&& +3 h &Ӡ W 9' + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &,& +2 h &Ӡ  9' +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&%'? +98 h ' +3 C'\ & +3 h & \ +2 C'U& +3 .t\CC.seek :closed +2 C')(\\ +2 h & \ +4 & \ 6 +10 &7Ht \ 1 +9 &br| B\ E +9 &Z \ N +10 &N \ M +9 &O \ N +10 &MO \ M +9 &Q \ M +9 &T \ N +10 &R \ N +9 &UQ \ M +9 &!P \ M +10 &"T \ N +9 &$Q \ N +10 &&]O \ M +9 &(R \ M +9 &)O \ N +10 &+T \ N +9 &-dR \ N +9 &/&O \ N +10 &0T \ M +9 &2Q \ M +10 &4lP \ N +9 &6/Q \ M +9 &7S \ N +10 &9U \ N +9 &;tU \ N +9 &=6U \ N +10 &>U \ N +9 &@Q \ N +10 &BzW \ N +9 &D9a \ O +9 &Ex \ R +10 &G \ ~U +9 &Id \ zY +9 &K" \ yZ +10 &L \ yZ +9 &N \ w[ +10 &Pf \ x[ +9 &R% \ w\\ +9 &S \ w\\ +10 &U \ v] +9 &We \ u^ +9 &Y$ \ t_ +10 &Z \ s_ +9 &\\R] \ w. +10 &\\& \ v"g +8 ( +2 &\\x \ Z + C'U& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.30 + .Hand.open + M&71 +69 h 1 +2 M&"% +4 h % C   ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&/' +92 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + P%& +4 h &V\ c + M&!% +3 h %    +2 A(\\% +3 h % + * Q\ d +2 A(I. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K " . e\ d +2 M&& +3 h &Ӡ  \ 9' + M&W% +4 h %     + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&#( +161 h ( + M&(& +4 h &  +2 A(K& +3 h &K T T =\ f +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&`' +93 h ' + A(& +4 h &K D ; \ h +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(F's +295 h ' + A(n- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 ( & +2 h &K * + D\ c +2 M&k& +3 h & \\  + .t\Elbow.seek 6 +2 M&}( +3 h ( + M&V& +3 h & 0  +2 A(>& +3 h &K M M <\ e +2 .t\Forearm.seek 6 + 300 counts + M&1'h +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&o/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A(v' +6 h & P  + M&j% +3 h % Ϝ k +2 .t\Forearm.seek :retract +2 M&C' +87 h ' +2 .t\Elbow.seek PC + M&$( +177 h ' + ."downElevator"\SE.coast + A(5 +61 h ( + M&& +4 h &  _  + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &b& +3 h &  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&_' +100 h ' +2 P%w& +3 h &`\ f +2 P%*& +3 .t\PC.seek :closed +2 P%(^ +2 h &w\ e +2 &n\ e +10 &0un\ ]*y +9 &ak\ [? +9 &aql\ ]Q +10 &!Ql\ _Q +9 &Qm\ _Q +9 &Qm\ _Q +10 &hRl\ _Q +9 &)Tn\ _Q +10 &Rm\ _Q +9 &Qo\ _P +9 & pRn\ _Q +10 &"2Oi\ `Q +9 &#Qm\ _Q +9 &%Nm\ `Q +10 &'xTn\ _Q +9 &):Om\ _Q +10 &*Pi\ `Q +9 &,Th\ _P +9 &.Rc\ _Q +10 &0CTg\ _P +9 &2Rc\ _Q +9 &3Qa\ _P +10 &5RZ\ _P +9 &7KQ_\ _P +10 &9 S[\ _Q +9 &:RZ\ _Q +9 &<R]\ _Q +10 &>RU^\ _Q +9 &@U_\ _Q +9 &A__\ ^R +10 &Ck^\ ]T +9 &EK}^\ [V +10 &G\ ]\ [W +9 &H_\ [W +9 &J_\ [W +10 &LN\\\ [X +9 &N_\ YX +9 &O]\ ZX +10 &Q_\ ZX +9 &SSa\ ZY +10 &Ua\ ZX +9 &V_\ ZY +9 &X]\ ZY +10 &Z[`\ ZY +9 &\\_\ YY +9 &]_\ [9 +10 &^+r^\ ]!b +9 &^3_\ a8 +2 ( + P%*& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open +2 M&a1 +66 h 1 + M&<% +4 h %    + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&@' +92 h ' + .t\SC.coast + A(6 +3 P%& +3 h &^.T\ a8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&]% +3 h %    +2 A(% +3 h % + + (\ b +2 A(L. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(c(K +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (J& + M&:& +4 h &K + + 5\ a +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h & \   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&[( +2 ."raiseStack"\SE.seek beamBreak +3 h ( +2 A('s +3 M&;& +3 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &S& +2 h &   +2 .t\Forearm.seek :PC +2 M&M' +94 h ' + .tHand.close +2 M&O/ +75 h / +3 .t\PC.seek :open +2 P%e( +82 h ' + A(5- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +41 h ' +322 ( + A(& +4 h &K * * 1\ c +2 M& & +3 h & \ \ u  + M&g% +3 h %  1 * +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&&( +244 h ( + M&l& +4 h & Z P + A(x& +4 h &K 0 - S\ b + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +100 h ' + .tHand.open + M&H1 +73 h 1 + A(9- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(f' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +54 h ' +2 #tLights, camera, ACTION! + A(h- +3 h -' +2 A(3& +4 h &K q q \ > +3 M&Q& +7 h &  P +2 .t\Elbow.seek 6 + M&Y( +3 h ( +49 M&z& +5 h &  P +2 A(6& +4 h &K q p \ = +2 .t\Forearm.seek 6 + 450 counts + M&{' +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(X' +54 h ' +2 M&& +63 h &  P + A(Z& +4 h &K + * \ b + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 +2 M&~'< +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A( ' +20 h ' +2 M&P% +4 h %[ U  + A( & +3 h &K - - Q\ b +2 .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 331 counts + M&E'χ +19 h ' +2 M&y& +4 h & P + A(p& +4 h &K + * M\ d +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +21 h ' +2 A(q% +4 h % + / 6\ c +2 ."downElevator"\SE.seek :down +2 A(?' +99 (^% +3 h %I ( \ `Zq + M&G% +4 h %  B + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&4' +90 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'm& +3 h &\\y \ Z +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&% +3 h %    +2 A(d% +3 h % U T X\ e +2 A(B. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(D(K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (i& +2 h &K S R \ e +2 M&-& +3 h &  H O + .t\Elbow.seek 6 +2 M&+( +4 h ( +2 M&T& +3 h &   \ O +2 A(t& +3 h &K T T G\ e +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +101 h ' +2 A('& +3 h &K T S \\\ f +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(.'s +300 h ' +2 A(R- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&u& +2 h & \   O +2 A(|& +3 h &K S O \ e + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 +2 M&2'< +15 h ' + .t\Elbow.hold +2 M&0, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.16 +2 A('q +34 h ' + M&,% +4 h %[  b ( +2 A(8& +3 h &K + * d\ d + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 331 counts + M& 'χ +23 h ' +2 M&\ & +3 h &  O +2 A(=& +3 h &K Q Q ;\ e +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +17 h ' +2 .t\SE.seek 1.16 + A(' +34 h ' +2 M&A& +4 h & ] O + M&7% +3 h %  \\ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&"' +89 h ' +2 .t\Elbow.seek CC +2 M&(ӂ +149 h ( + M&!& +4 h &ӌ+   3 Cr + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &\\& +2 h &ӌ,  Cr +2 .t\Forearm.seek :CC + M&I'? +93 h ' + .tHand.close + M&U/ +68 h / +2 .t\CC.seek :open + C'( +450 h ( +2 A(& +4 h &K } \ m + A(W& +3 h &K j e \ m +2 M&%& +3 h &Ӫ& \   ?T +2 M&(% +3 h % R ^ Z + .t\Forearm.seek :retract +2 M&K' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&s( +165 h ( + M&& +4 h &   +2 A(N& +3 h &K t x |\ p + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&/'< +91 h ' + .t\Elbow.hold +2 M&n, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +69 h 1 + M&k% +4 h % a  M +2 A(V& +3 h &K \ q + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 337 counts +2 M&>'ύ +20 h ' +2 M&o& +4 h & 9  + A(& +4 h &K \ r + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&j' +14 h ' +2 A(#% +3 h % \ r +3 ."downElevator"\SE.seek :down +2 A(`' +99 (F% +3 h %5= d\ oXi + M&1% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +85 h ' +63 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp + C'b& +4 h & \ +2 M&}% +3 h %   +2 A(w% +3 h % \ q +2 A(v. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(C([ +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (r& +3 h &[# j j \ j  + M&a& +3 h & M  +2 .t\Elbow.seek 7 +2 M&<(r +13 h ( + M&& +4 h &{   } + A(]& +4 h &[# h h Z\ k  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +93 h ' + A(L& +4 h &[# l y \ l  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(*'s +299 h ' + A(J- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (:& +2 h &[" < T 7\ i  +2 M&;& +3 h &{ j } + .t\Elbow.seek 7 +2 M&S(r +3 h ( + M&_& +3 h &{ } +2 A(O& +3 h &[" j j \ i  + .t\Forearm.seek 7 + 300 counts +2 M&'ϧ +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&5/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&$& +2 A(@' +5 h &{ / } +2 M&% +3 h % ϱ K +2 .t\Forearm.seek :retract +2 M&' +90 h ' +2 .t\Elbow.seek CC + M&(ӂ +158 h ' +2 ."downElevator"\SE.coast + A(5 +2 h ( +2 M& & +3 h &Ә$  =F + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &g& +3 h &Ә%  =F + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&M'? +96 h ' +2 C'l& +3 h & \ +2 C'x& +4 .t\CC.seek :closed + C'[(\\ +3 h & \ +3 & I\  +9 &1x \ *y +9 &b{ \ > +10 &qn \ N +9 &3O \ M +9 &Q \ M +10 &T \ N +9 &xQ \ N +9 &;M \ M +10 &Q \ M +9 &R \ N +10 & Q \ N +9 &"CN \ M +9 &$P \ M +10 &%T \ N +9 &'Q \ N +10 &)JN \ N +9 &+ S \ M +9 &,O \ N +10 &.U \ N +9 &0RR \ N +56 &2O \ N +4 &3P \ N + &5T \ N +5 &7ZP \ N + &9O \ N + &:O \ N &<Q \ N +7 &>cR \ M +9 &@$R \ N +10 &AX \ N +9 &CZ \ O +9 &Ecj \ P +10 &G \ S +9 &H \ zW +10 &J \ xY +9 &LN \ xZ +9 &N \ wZ +10 &O \ w[ +9 &Q \ v[ +9 &SP \ u\\ +10 &U \ u] +9 &V \ t] +10 &X \ s_ +9 &ZP \ s_ +9 &[{ \ x? +10 &\\/ \ t(w +9 &\\w \ T +2 ( + C'x& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 +2 .Hand.open + M&H1 +66 h 1 + M&9% +4 h % 9    M +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&h' +92 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + P%3& +4 h &O\ c + M&Q% +3 h %    +2 A(z% +3 h % * * \ d +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(6([ +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[ , ! /\ d +2 M&& +3 h &ә$ \ r =E +2 M&Z% +3 h %    + .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&f(r +165 h ( + M&P& +4 h &t   $ } +2 A( & +3 h &[@ - + 6\ _ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&&'= +92 h ' + A(y& +4 h &[@ c\  j\ _ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(p's +296 h ' + A(q- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &[> F %\ [ +2 M&& +3 h &t \  } +2 .t\Elbow.seek 7 + M&^(r +4 h ( + M&G& +4 h &t   } + A({& +4 h &[>\ $\ ' E\ \\ +2 .t\Forearm.seek 7 + 300 counts + M&Y'ϧ +41 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&X/ +69 h / +2 ."downElevator"\SE.seek :down +3 M&~& +4 A(E' +4 h &t \  } +2 M&m% +3 h % Ϥ  P Q +2 .t\Forearm.seek :retract +2 M&' +91 h ' +2 .t\Elbow.seek PC + M&d( +168 h ' + ."downElevator"\SE.coast + A(5 +69 h ( +2 M&B& +4 h & \ k $ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &   $ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&i' +92 h ' +2 P%-& +3 h &\ _ +2 P%T& +3 .t\PC.seek :closed +2 P%t(^ +2 h &C\ ^ +3 &K\ ^ +10 &0ut\ V+z +9 &`~n\ T? +10 &fpz\ UP +9 &#Qj\ XR +9 &Qp\ XQ +10 &Qn\ XQ +9 &jQn\ XQ +10 &-Sr\ XQ +9 &Rp\ XQ +9 &Qm\ XQ +10 & qRl\ XR +9 &"6On\ XQ +9 &#Ro\ XQ +10 &%Ri\ XQ +9 &'|Qn\ XQ +10 &)>Qm\ YQ +9 &+Pn\ XQ +9 &,Uj\ XQ +10 &.Qm\ XQ +9 &0DTf\ XQ +9 &2Rg\ XQ +10 &3Qh\ XQ +9 &5Ql\ XQ +10 &7MQm\ XQ +9 &9Re\ XQ +9 &:Sg\ XQ +10 &<Ra\ XQ +9 &>TVc\ XQ +9 &@Xb\ WQ +10 &A`h\ WS +9 &Cp[\ UT +10 &EN_\ SV +9 &G `\ SW +9 &H^\ TW +10 &J`\ SW +9 &LS_\ SW +9 &N_\ SX +10 &O_\ SY +9 &Q_\ RY +10 &SV_\ SY +9 &U_\ RY +9 &Va\ RY +10 &X^\ SY +9 &Z]`\ RY +9 &\\_\ RZ +10 &]~`\ T9 +9 &^,m`\ V#e +10 &^.`\ Z7 +2 ( + P%T& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 M&1 +69 h 1 + M&'% +4 h %    P + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&?' +91 h ' + .t\SC.coast + A(6 +3 P%c& +3 h &^.B\ _7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + M&% +3 h %   d  +2 A(4% +3 h % - * H\ a + A(R. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(u([ +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (|& +4 h &[ ) * R\ a +2 ."raiseStack"\SE.reconfigure SEplace +2 M&& + A(#]kK-0-\ b +4 h &  @ $ +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&,( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + A(8's +2 M&\ & +5 h & \  $ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &=& +2 h &  $ +2 .t\Forearm.seek :PC +2 M&A' +91 h ' + .tHand.close +2 M&7/ +69 h / +2 .t\PC.seek :open +2 P%( +91 h ' + A(+- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(.'1 +41 h ' +314 ( + A(2& +4 h &[" ? \ `  +2 M& & +3 h &   $ + M&!% +3 h %   ] E +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&\\(r +248 h ( + M&& +4 h &   Z ( + A(0& +4 h &[" . / \ _  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&U'= +97 h ' + .tHand.open + M&"1 +71 h 1 + A()- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(W' +59 h ' +2 #tLights, camera, ACTION! +2 A(%- +3 h -' + A((& +3 h &[ n ` P\ @  +2 M&& +3 h &   ' +2 .t\Elbow.seek 7 + M&N(r +22 h ( +2 M&I& +3 h &|    +2 A(& +3 h &[! \ P  +2 .t\Forearm.seek 7 + 450 counts +2 M& '= +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(k' +50 h ' +2 M&V& +3 h &|  +2 A(o& +3 h &[" . < I\ _  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&'{ +16 h ' + .t\Elbow.hold +2 M&#, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek -0.33 +2 A(K' +20 h ' +2 M&F% +4 h %Α   + A(1& +3 h &[" + * 4\ _  +2 .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 322 counts + M&s'Ͻ +15 h ' +2 M&/& +4 h &  + A(b& +4 h &[" = \ `  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&>'= +16 h ' +2 A(}% +4 h %  *\ ` +2 ."downElevator"\SE.seek :down +2 A(w' +99 (v% +3 h % > . , H\ ]Ym + M&% +4 h %:  6 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&j' +86 h ' +74 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'`& +4 h &\\v h\ T + #t\Storing generic puck in Collection Clamp to tube 7 +2 M&D% +3 h %   +2 A(r% +3 h % L M C\ g + A(a. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (]& +2 h &[ U O \ g +2 M&L& +3 h &  + .t\Elbow.seek 7 +2 M&n(r +8 h ( +2 M&& +3 h &u   +48 A(J& +5 h &[ T S B\ g +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&:'= +95 h ' +2 A(;& +3 h &[ M E g\ h +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(_'s +300 h ' +3 A(O- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&5& +3 h &u m  + A($& +3 h &[ N N \ g +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&'{ +16 h ' + .t\Elbow.hold +2 M&<, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.17 +2 A( 'u +29 h ' +2 M&g% +3 h %Ν  C  +2 A(*& +3 h &[ !  H\ d +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 334 counts +2 M&' +17 h ' +2 M&l& +3 h &x a  +2 A(S& +3 h &[ S T L\ f +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&@'= +16 h ' +2 .t\SE.seek 1.17 +2 A(' +41 h ' +2 M&& +4 h &x *  + M&H% +3 h %A , +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&9' +87 h ' +2 .t\Elbow.seek CC +2 M&3(ӂ +152 h ( + M&Q& +4 h &y+   h Cr + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &z& +2 h &y, \  Cr +2 .t\Forearm.seek :CC + M&'? +94 h ' + .tHand.close + M&x/ +69 h / +2 .t\CC.seek :open + C'( +447 h ( +2 A(& +3 h &[ h h F\ l +2 A(Z& +3 h &[ g g [\ l +2 M&M& +3 h &ӥ$ \ \  =F + M&P% +3 h % F \  C +2 .t\Forearm.seek :retract +2 M& ' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&C(r +165 h ( + M&y& +4 h &o  z +2 A(& +3 h &[ q\ o + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 7 + M&h'{ +94 h ' + .t\Elbow.hold +2 M&q, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +67 h 1 +2 M&% +3 h % Σ \ @ +2 A(G& +3 h &[ ~ } \ p + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 340 counts + M&{' +17 h ' +3 M&X& +3 h &s  v +2 A(~& +3 h &[ \ q +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&m'= +16 h ' +2 A(f% +3 h % \ q +3 ."downElevator"\SE.seek :down +2 A(&' +99 (p% +3 h %@ } $\ mXi + M&Y% +3 h %= ^ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&B' +88 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .tdelay 10 seconds +39678 E\ 63 +60003 C\ 63 +60002 R\ 63 +60003 C\ 63 +60003 4\ 53 +60002 #\ 53 +60003 \ \ 53 +60002 \ 63 +60003 \ 53 +60002 \ 63 +60003 \ 52 +60002 \ 53 +60003 \ 53 +60003 \ 52 +60002 \ 53 +60003 \ 63 +60002 \ 63 +60003 {\ 53 +60002 p\ 53 +60003 ^\ 63 +60002 U\ 63 +60003 F\ 63 +60002 +\ 63 +60003 "\ 53 +60003 \ 53 +60002 \ 53 +60003 \ 63 +60002 \ 63 +60003 \ 63 +60002 n\ 53 +60003 e\ 63 +60002 l\ 63 +60003 _\ 53 +60003 T\ 53 +60002 J\ 62\ +60003 I\ 63 +60002 <\ 53 +60003 ;\ 63 +60002 2\ 62 +60003 +\ 53 +60003 !\ 63 +60002 \ \ 63 +60003 \ 53 +60002 \ 52 +60003 \ 53 +60002 \ 53 +60003 \ 63 +60003 \ 53 +60002 \ 53 +60003 \ 53 +60002 \ 53 +60003 \ 63 +60002 \ 63 +60003 \ 63 +60002 \ 52 +60003 \ 63 +60003 \ 63 +60002 \ 63 +60003 \ 63 +60002 \ 63 +60003 \ 63 +60002 \ 63 +60003 \ 63 +60002 \ 53 +60003 \ 63 +60003 \ 63 +60002 \ 63 +60003 \ 53 +60002 \ 53 +60003 \ 62 @EST1606194389.93 \ 63 +60003 \ 63 +60002 \ 53 +60003 \ 52 +60003 \ 63 +60002 \ 63 +60003 \ 63 +60002 \ 62 +60003 y\ 52 +60002 ~\ 63 +60003 \ 53 +60002 {\ 53 +60003 r\ 53 +60003 y\ 63 +60002 u\ 63 +60003 s\ 63 +60002 x\ 63 +60003 t\ 52 +60002 x\ 53 +60003 w\ 53 +60002 m\ 63 +60003 s\ 73 +60003 o\ 52 +60002 n\ 62 +60003 m\ 63 +60002 m\ 63 +60003 p\ 54 +60002 q\ 53 +60003 q\ 53 +60002 i\ 63 +60003 q\ 52 +60003 u\ 62 +60002 i\ 63 +60003 i\ 63 +60002 i\ 53\ +60003 j\ 63 +60002 i\ 63 +60003 e\ 53 +60002 g\ 62 +60003 j\ 63 +60003 m\ 63 +60002 h\ 63 +60003 n\ 75 +60002 j\ 52 +60003 k\ 53 +60002 n\ 52 +60003 l\ 63 +60002 o\ 63 +60003 r\ 63 +60003 p\ 63 +60002 n\ 63\ +60003 m\ 63 +60002 g\ 63 +60003 c\ 63 +60002 f\ 63 +60003 d\ 63 +60002 b\ 64 +60003 ^\ 53 +60003 f\ 53 +60002 W\ 63 +60003 N\ 63 +60002 P\ 64 +60003 S\ 63 +60002 N\ 63 +60003 L\ 62 +60002 C\ 62 +60003 ?\ 63 +60002 4\ 63 +60003 <\ 52 +60003 8\ 63 +60002 ;\ 52 +60003 :\ 63 +60002 ;\ 52 +60003 5\ 52 +60002 1\ 63 +60003 6\ 63 +60002 3\ 63 +60003 4\ 62 +60003 -\ 63 +60002 7\ 63 +60003 7\ 62 +60002 6\ 53 +60003 <\ 62 +60002 8\ 72 +60003 2\ 52 +60003 5\ 63 +60002 -\ 63\ +60003 .\ 52 +60002 &\ 52 +60003 (\ 63 +60002 ,\ 63 +60003 /\ 63 +60002 )\ 63 +60003 &\ 62 +60003  \ 63 +60002 \ 52 +60003 \ 63 +60002 \ 52 +60003 \ 63 +60002  \ 63 +60003  \ 63\ +60002  \ 63 +60003 \ 53 +60002 \ 53 +60003 \ 63 +60003 \ 53 +60002 \ 53 +60003 \ 52 +60002  \ 53 +60003  \ 53 +60002 \ 63 +60003 \ 53 +60003 =\ 63 +60002 $\ 52 +60003 \ 52 +60002 \ 63 +60003 \ 63 +60002 \ 52 +60003 \ 63 +60002 \ 62 +60003 \ 63 +60003 \ 63 +60002 \ 52 +60003 \ 62 +60002 \ 63 +60003 \ 52 +60002 \ 63 +60003 \ 63 +60003 \ 52 +60002 \ 53 +60003 \ 63 +60002 \ 62 +60003 \ 63 +60002 \ 52 +60003 \ 53 +60002 \ 63 +60003 \ 53 +60003 \ 53 +60002 \ 53 +60003 \ 62 +60002 \ 52 +60003 \ 63 +60002 \ 52 +60003 \ 63 @EST1606280793.61 \ 62 +60003 \ 63 +60003 \ 63 +60002 \ 63 +60003 \ 52 +60002  \ 53 +60003 \ 63 +60002  \ 63 +60003 \ 52 +60003 \ 52 +60002 \ 63 +60003 \ 63 +60002 \ 63 +60003 \ 62 +60002 \ 53 +60003 \ 63 +60002 \ 63 +60003 \ 53 +60003 \ 53 +60002  \ 53 +60003 \ 53 +60002  \ 62 +60003 \ 63 +60002 \ 62 +60003 \ 52 +60003 \ 63 +60002  \ 63 +60003 \ 63 +60002 \ 52 +60003 \ 63 +60002 \ 62 +60003 !\ 52 +60002 $\ 52 +60003 /\ 53 +60003 9\ 63 +60002 ;\ 62 +60003 H\ 63 +60002 T\ 63 +60003 W\ 52 +60002 Z\ 63 +60003 W\ 62 +60003 N\ 53 +60002 Z\ 52 +60003 c\ 52 +60002 n\ 52 +60003 w\ 63 +60002 v\ 53 +60003 \ 63 +60002 \ 52\ +60003 \ 52 +60003 \ 62 +60002 \ 63 +60003 \ 63 +60002 \ 62 +60003 \ 52 +60002 \ 52 +60003 \ 62 +60002 \ 52 +60003 \ 52 +60003 \ 63 +60002 \ 63 +60003 \ 52 +60002 \ 63 +60003 \ 53 +60002  \ 74 +60003 \ 52 +60003 \ 63 +59983 !to:SignalException:\ signoi:bt[ "1/opt/mbari/lib/ruby/1.8/irb.rb:76:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg" SIGHUP +2 !o:Errno::EIO :bt["1/home/esp/esp2/lib/threads.rb:711:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ :@timestampu: Time 0+>A: mesg"Input/output error + !o:Errno::EIO:bt["7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error +4 #m\EXIT @1606320995.23EST @1606322049.94EST = @EST1606322052.16 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@19760 sendCRC with ifg=0x20, ie=0x7F + #@20208 sendCRC with ifg=0x20, ie=0x7F #@21524 sendCRC with ifg=0x20, ie=0x7F + #@22890 sendCRC with ifg=0x08, ie=0x5F + #@57513 sendCRC with ifg=0x20, ie=0x7F #@57960 sendCRC with ifg=0x20, ie=0x7F + #@59276 sendCRC with ifg=0x20, ie=0x7F #@60642 sendCRC with ifg=0x08, ie=0x5F + #@4807 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 =tMAIN =FMFB =Ssampler =Ccollection =Mmanipulator =ECan =hcore =Pprocessing =Astorage =mMAIN_scheduler +349 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +325 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 EA\ 85 +4 A\ 85 + S) +2 ) + h  +2 C' +2 ' +3 h  + P% +2 % +2 h  +4 C' 9\ + ' 0\ +2 ' -\ +4 P% 9\ + % 2\ +2 % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready? +2 C'& +3 h &\ + C'% +4 h %h\ + S)% +3 h %څ~ j\ +2 M& % +3 h %   + M&\ & +3 h &s + A( & +3 h &[ X Y /\ +2 A( % +2 h % Y Y \ +2 P% & +3 h &\ + P%% +3 h %ؼ\ +3353 #t-> eit + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message=undefined local variable or method `eit' for main:Object: name:eit +210 #-> eit +2 !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message=undefined local variable or method `eit' for main:Object: name:eit +676 #-> exit +4 #m\EXIT @1606322131.17EST @1606756131.35EST = @EST1606756133.68 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@44448 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +32 #Powering up Dwarves =ECan =Ssampler =hcore =Pprocessing =FMFB =tMAIN =mMAIN_scheduler =Astorage =Ccollection =Mmanipulator +697 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +338 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 E\ # +4 \ # + S) +2 ) + h  +2 C' +2 ' +2 h  +2 P% + % +3 h  +3 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ + % *\ +2 % 0\ +3 S)&\ +2 .t\SS.stop S)5 +2 .t\SS.configure SSconfig +2 S)#.0X ESP.ready! +3 P%& +2 C'& +4 h &\ +5 ."rdyProcessing"\PSV.dial :air + .t\PC.reconfigure PCconfig +3 P%  +2 %$x2 ^22b +4 .t\PC.home.seek :open +2 P% ( +2 h &  \ +  + ."rdySampler"Intake.select :close +2 ."rdyProcessing"\PS.reconfigure PSconfig + ."rdySampler"\Exhaust.select :close +2 .\CTV.dial :air +3 P%#A d`xb + C'\  +3 ."rdyProcessing"\PS.home.seek 0 +2 P% 'ؾ +2 h +2 ."rdySampler"\CSV.dial :waste1 + C' +5 h + ."rdySampler"\SSV.dial :spit,avoiding: :exhaust +2 S)  +2 h  +2 S)  +4 h  +2 C'& + ."rdySampler"\SS.reconfigure SSconfig +4 ."readyCS"\CS.reconfigure CSfast +4 S)#.0X require 'shuffle.rb' +3179 #-> 5.times {shuffle 2..7; delay 10} + #\Shuffling pucks in tube 2 of [2..7] +2 #Loading generic puck from tube 2 into Collection Clamp + C'2& +3 h & " !;\  + .tHand.open + M&31 +77 h 1 + M&4% +4 h %   u  + A(5% +3 h % \  +2 A(6. +2 h .(  +2 A(7& +3 h &  \ + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (8& +3 h &  \ + M&9& +3 h & \  4 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&:( +24 h ( +2 M&;& +4 h &   k  + A(<& +3 h &  /\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&='S +95 h ' + A(>& +4 h &  \ + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(?'s +295 h ' + A(@- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (A& +2 h &  \ +2 M&B& +3 h & L  +2 .t\Elbow.seek 2 + M&C( +4 h ( + M&D& +4 h &   + A(E& +3 h &  8\ +2 .t\Forearm.seek 2 + 300 counts +2 M&F'Ͻ +38 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&G/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&H& +4 A(I' +5 h & a  +2 M&J% +3 h %  $ J +2 .t\Forearm.seek :retract + M&K' +91 h ' + .t\Elbow.seek CC +2 M&L(ӂ +161 h ' +2 ."downElevator"\SE.coast + A(5 +2 h ( +2 M&M& +3 h &ӎ)  A` + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &N& +3 h &ӎ)  \  A` +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&O'? +91 h ' + C'P& +4 h & ! :\  +2 C'Q& +3 .t\CC.seek :closed +2 C'R(\\ +2 h & (\  +4 & # >\ A +9 &'J} " 6\ 2 +9 &[u ! >\ F +10 &c ! "<\ N +9 &Z # #9\ M +9 &_ ! "<\ M +10 &L_ " "@\ N +9 &_ ! !;\ N +9 &Z " !@\ M +10 &] ! "<\ M +10 &T`  #?\ N +9 &!Y !4\ M +9 &"_ ! "5\ N +9 &$[ # "4\ M +10 &&]_ ! 9\ M +9 &(b $ !@\ N +9 &)] # #>\ M +10 &+Z # !8\ M +9 &-eZ !>\ M +10 &/(\\ ! "8\ M +9 &0] ! $;\ N +9 &2^ ! !:\ N +10 &4m_ ! #8\ M +9 &6/_ " $?\ M +9 &7a " "7\ N +10 &9] $ #)\ N +9 &;uZ # ";\ M +10 &=6a " #2\ N +9 &>^ %6\ N +9 &@` # %3\ M +10 &B|b # #3\ N +9 &D:k ' ':\ O +9 &E % &B\ Q +10 &G ' 'B\ S +9 &Ih $ '9\ W +10 &K' ) );\ X +9 &L ( ):\ Y +9 &N ( (:\ Y +10 &Pj ( ):\ Y +9 &R+ ) )8\ Z +9 &S ( )9\ [ +10 &U ) *1\ [\ +9 &Wk ) +3\ \\ +10 &Y* ) )5\ ] +9 &Z ) )6\ ] +9 &\\U\\ ' )-\ - +10 &\\! ( *,\ Y +9 ( +2 &\\m ) )3\ S + C'Q& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.08 +2 .Hand.open + M&S1 +52 h 1 + M&T% +4 h % =   e + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&U' +93 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + P%V& +4 h &\  + M&W% +3 h %     +2 A(X% +3 h % S Y\ +2 A(Y. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(Z(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ([& +2 h &  C : {\  +2 M&\\& +3 h &ӏ) \  A_ +2 M&]% +3 h %   4  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&^( +164 h ( + M&_& +4 h &    + A(`& +4 h &  V Y\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&a'S +100 h ' + A(b& +4 h &  \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(c's +296 h ' + A(d- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (e& +2 h &  7 : {\  +2 M&f& +3 h &  G  + .t\Elbow.seek 2 +2 M&g( +4 h ( + M&h& +4 h &   8  + A(i& +3 h &  U Z\  +2 .t\Forearm.seek 2 + 300 counts +2 M&j'Ͻ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&k/ +76 h / +2 ."downElevator"\SE.seek :down +3 M&l& +3 A(m' +5 h &   +2 M&n% +3 h % Ͻ $ + .t\Forearm.seek :retract +2 M&o' +93 h ' + .t\Elbow.seek PC +2 M&p( +163 h ' + ."downElevator"\SE.coast + A(5 +77 h ( + M&q& +4 h &  ) + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &r& +2 h &   ) +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&s' +96 h ' + P%t& +4 h &\  + P%u& +4 .t\PC.seek :closed +2 P%v(^ +4 h &\  &\  +9 &5y\ +| +9 &d\ @ +9 &Yx\ P +10 &[\ P +9 &[\ O +9 &\\\ O +10 &b\\\ P +9 &%]\ O +9 &]\ P +10 &\\\ O +9 & j]\ P +10 &"-Y\ O +9 &#\\\ P +10 &%Y\ O +9 &'q]\ P +9 &)4\\\ P +10 &*Z\ P +44 &,^\ P +12 &.z\\\ P +2 &0;]\ P + &1[\ P + &3Z\ P +2 &5[\ P +3 &7C\\\ P +9 &9_\ P +10 &:_\ P +9 &<\\\ P +10 &>J`\ P +9 &@ \\\ P +9 &Aj\ Q +10 &Cu\ S +9 &EF\ U +10 &G\ U +9 &H\ V +9 &J\ V +10 &LH\ V +9 &N \ W +9 &O\ W +10 &Q\ W +9 &SL\ X +9 &U\ X +10 &V\ X +9 &X\ W +10 &ZV\ W +9 &\\\ X +9 &]\ : +10 &^-\ \\ +9 &^+\ 6 +3 ( + P%u& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 M&w1 +62 h 1 + M&x% +4 h %   D 2 + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&y' +90 h ' + .t\SC.coast + A(6 +2 P%z& +4 h &^(\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&{% +3 h %    +2 A(|% +3 h % > D \ +2 A(}. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(~(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&& +3 h & "  F ) +2 .t\Elbow.reconfigure TightElbow +2 A(& +2 M&$&.,(\ #b +5 .t\Elbow.seek PC + M&( +3 h &  = > \  + ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 ."raiseStack"\SE.seek beamBreak +2 A('s +10 h ( + M&& +4 h &   H + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &   +2 .t\Forearm.seek :PC +2 M&' +94 h ' + .tHand.close + M&/ +70 h / +3 .t\PC.seek :open + P%( +80 h ' + A(\ - +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A( '1 +44 h ' +322 ( + A( & +4 h &  6 ; \  + M&& +4 h & ( + M&% +4 h %   + .t\Forearm.seek :retract +2 M&' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +243 h ( + M&& +4 h &  ] 2 + A( & +4 h &  < B \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M& 'S +102 h ' + .tHand.open + M&1 +56 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A( ' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +52 h ' +2 #tLights, camera, ACTION! + A(- +3 h -' +2 A("& +3 h &  `\  +2 M&#& +3 h &  2 + .t\Elbow.seek 2 +2 M&$( +3 h ( +2 M&%& +3 h &   H 2 +2 A(&& +3 h &  \  +2 .t\Forearm.seek 2 + 450 counts +2 M&''S +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A((' +56 h ' + M&)& +4 h &  2 +2 A(*& +3 h &  K K F\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 +2 M&+'Α +12 h ' + .t\Elbow.hold +2 M&,, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek -0.33 + A(-' +29 h ' +2 M&.% +3 h %ή   # +2 A(/& +3 h &  4 5 \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 329 counts +2 M&0' +16 h ' +2 M&1& +3 h & ( 2 +2 A(& +4 h &  ` b\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +15 h ' +2 A(2% +3 h % c X\ +3 ."downElevator"\SE.seek :down +2 A(3' +99 (4% +3 h %I C D \ Xg + M&5% +4 h %K  f + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&6' +87 h ' +70 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'7& +3 h &\\l + *2\ S +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&8% +3 h %    +2 A(9% +3 h % f e [\ +2 A(;. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(<(  +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (>& +3 h &  e v E\  + M&& +3 h &   2 +2 .t\Elbow.seek 2 +2 M&!( +2 h ( +2 M&@& +3 h &   2 +2 A(& +3 h &  d c \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&A'S +95 h ' + A(B& +4 h &  g `\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(D's +296 h ' + A(E- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&G& +2 h &  d 2 +2 A(H& +3 h &  6 6 X\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&J'Α +14 h ' + .t\Elbow.hold +2 M&:, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(=- +2 h -' + .t\SE.seek 0.16 +2 A(M'o +29 h ' + M&N% +4 h %έ   7 + A(?& +3 h &  F ? R\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 328 counts +2 M&F' +14 h ' + M&P& +4 h & T 2 + A(C& +4 h &  Z X\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&I'S +15 h ' + .t\SE.seek 1.16 +2 A(K' +47 h ' + M&& +4 h &  2 +2 M&S% +3 h %H # +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&T' +87 h ' + .t\Elbow.seek CC +2 M&V(ӂ +155 h ( + M&W& +4 h &Ӑ&  ?R + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &X& +3 h &Ӑ&   ?R +2 .t\Forearm.seek :CC + M&Y'? +92 h ' + .tHand.close + M&[/ +76 h / + .t\CC.seek :open +2 C'Q( +451 h ( +2 A(\\& +4 h &  | 7\  + A(]& +3 h &  | | G\  +2 M&O& +3 h &Ӑ&  ?R +2 M&_% +3 h % P   d + .t\Forearm.seek :retract +2 M&`' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +158 h ( + M&b& +4 h &   + A(L& +4 h &  \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 2 + M&U'Α +96 h ' + .t\Elbow.hold +2 M&d, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&e1 +55 h 1 + M&f% +4 h % Ώ F  + A(h& +3 h &  V\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 298 counts + M&i'ϻ +15 h ' + M&k& +4 h & \ + A(l& +4 h &  $\  +2 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&n'S +20 h ' + A(^% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(a' +99 (c% +2 h %_; \ U_ +2 M&j% +3 h %E  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&q' +88 h ' +66 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + C'r& +4 h &   \ + M&g% +4 h %    +2 A(t% +3 h % \ +2 A(m. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(o( +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &   K\ \  + M&w& +3 h &  \ +2 .t\Elbow.seek 3 + M&x( +15 h ( + M&z& +4 h &  5  + A({& +3 h & | x 9\ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&|'7 +97 h ' + A(}& +4 h & b\ \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(u's +308 h ' + A(- +3 h -' + .t\SE.configure SEconfig +3 A(#QK-0-\ b +2 (& +2 h & \ \  +2 M&& +3 h &    +2 .t\Elbow.seek 3 + M&( +3 h ( +2 M&s& +3 h &   +2 A(& +3 h & | o\ \  +3 .t\Forearm.seek 3 + 300 counts + M&Z'ϡ +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&\ / +74 h / +2 M&p& +2 ."downElevator"\SE.seek :down +4 A(y' +3 h & u  + M&v% +4 h % Ϫ   L + .t\Forearm.seek :retract +2 M&' +91 h ' + .t\Elbow.seek CC +38 M& (ӂ +124 h ' + ."downElevator"\SE.coast + A(5 +42 h ( + M&& +4 h &Ӌ-   A Du + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &Ӌ-  . Du +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&'? +101 h ' + C'& +4 h &  9\ +2 C' & +3 .t\CC.seek :closed +2 C'(\\ +2 h &  "\ +3 &  4\  +9 &1~  8\ *x +9 &c  6\ > +10 &ny  -\ N +9 &/\\  )\ N +10 &\\  6\ N +10 &]  8\ N +9 &wY  +\ M +9 &8_  /\ M +9 &b  4\ N +9 &\\  ,\ N +11 & ~Z  0\ M +8 &"@Y  ,\ M +10 &$Y  2\ M +9 &%Z  (\ M +9 &'Y  (\ M +10 &)HW  ,\ M +9 &+\ ^  ,\ M +9 &,\\  3\ N +10 &.\\  *\ M +9 &0PW  /\ M +10 &2]  +\ M +9 &3^  &\ M +9 &5]  4\ M +11 &7W`  3\ N +8 &9\\  %\ N +9 &:]  6\ M +10 &<^  )\ M +10 &>`Y  (\ M +9 &@#Y  -\ M +9 &A`  ,\ N +9 &Ce  !)\ O +10 &Eaq ! !%\ P +9 &G % #.\ S +9 &H ) '+\ V +10 &J * &,\ Y +9 &LN ) *-\ Y +10 &N ( ))\ Y +9 &O ) )0\ Z +9 &Q ( *,\ Z +10 &SP * +2\ [\ +9 &U ( )#\ [ +9 &V ) )*\ \\ +10 &X ) *(\ ] +9 &ZQ * )0\ ] +10 &[y * (3\ @ +9 &\\- ( +6\ 't +9 &\\} ( )-\ T +3 ( + C' & +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open +2 M&1 +58 h 1 +2 M&% +4 h % B    + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 3 into Processing Clamp +2 P%"& +3 h &\ +2 M&#% +3 h %  \   +2 A(%% +3 h %  &\ + A(&. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ()& +3 h & 4 3 T\  + M&*& +3 h &Ӑ+   Cp +2 M&.% +3 h %      +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&/( +165 h ( + M&1& +4 h &    + A( & +4 h & F S 2\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&'7 +96 h ' + A( & +4 h & V Z\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(2's +297 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( & +2 h & D ? K\  +2 M&& +3 h &  \  +2 .t\Elbow.seek 3 + M&4( +3 h ( +2 M&5& +3 h & c  +2 A('& +3 h & K K Z\  +2 .t\Forearm.seek 3 + 300 counts +2 M&$'ϡ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&(/ +74 h / +2 ."downElevator"\SE.seek :down +2 M&+& +5 A(7' +4 h & o  +2 M&0% +3 h % Ϝ S +2 .t\Forearm.seek :retract + M&8' +89 h ' + .t\Elbow.seek PC +2 M&9( +171 h ' + ."downElevator"\SE.coast + A(5 +67 h ( + M&;& +4 h &  8 ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &-& +3 h &   ( + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&>' +94 h ' + P%& +4 h &\ +2 P%@& +3 .t\PC.seek :closed +2 P%(^ +2 h &\ +3 &\ 3 +11 &7E{\ 1 +8 &]p\ E +10 &j\ Q +10 &Z\ P +8 &}\\\ P +10 &>\\\ P +9 &[\ P +9 &\\\ P +10 &]\ P +9 &FZ\ P +9 &![\ P +10 &"Z\ O +9 &$Z\ P +10 &&N[\ P +9 &(\\\ P +9 &)[\ P +10 &+[\ P +9 &-V[\ P +10 &/]\ P +9 &0_\ P +9 &2[\ P +10 &4_Z\ P +9 &6 _\ P +9 &7\\\ P +10 &9[\ P +9 &;e^\ P +9 &=(\\\ P +10 &>_\ P +9 &@b\ Q +10 &Bik\ R +9 &D&w\ S +9 &E\ V +10 &G\ V +9 &Id\ V +9 &K&\ V +10 &L\ V +9 &N\ W +10 &Ph\ X +9 &R+\ W +9 &S\ X +10 &U\ W +9 &Wq\ W +10 &Y2\ X +9 &Z\ W +9 &\\\ X +10 &^.`\ 4 +9 &^e\ < +9 ( +2 &^4\ 9 + P%@& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.62 +2 .Hand.open + M&1 +57 h 1 + M&B% +4 h %   ? I + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&3' +90 h ' + .t\SC.coast + A(6 +2 P%~& +4 h &^4\ 9 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 M&,% +3 h %  \   +2 A(6% +3 h % 0 2 L\ + A(E. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(G( +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (H& +2 M&=& +4 h & ' ( \  +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &  ( +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&N( +2 ."raiseStack"\SE.seek beamBreak +2 A(?'s +25 h ( + M&P& +4 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &C& +4 h &  + .t\Forearm.seek :PC +2 M&' +92 h ' + .tHand.close +2 M&S/ +67 h / + .t\PC.seek :open +2 P%A( +69 h ' + A(!- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(D'1 +41 h ' +337 ( +2 A(J& +4 h & F C \  + M&F& +3 h &  +2 M&M% +3 h %   5 + .t\Forearm.seek :retract +2 M&W' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&X( +240 h ( + M&I& +4 h &   T + A(:& +3 h & E B\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&['7 +95 h ' + .tHand.open + M&T1 +58 h 1 +2 A(R- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(\\' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(]' +52 h ' + #tLights, camera, ACTION! +2 A(O- +3 h -' + A(_& +3 h & z L\  +2 M&b& +3 h &  T +2 .t\Elbow.seek 3 + M&L( +3 h ( +2 M&Y& +3 h &    T + A(V& +4 h & ]\  +2 .t\Forearm.seek 3 + 450 counts +2 M&e'7 +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(f' +63 h ' + M&h& +4 h &  T +2 A(k& +3 h & & & C\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&l'u +14 h ' + .t\Elbow.hold +2 M&^, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(`' +20 h ' + M&c% +4 h %Β  : +2 A(j& +3 h & C D \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 329 counts +2 M&'Ͼ +13 h ' +2 M&U& +3 h &    T +2 A(r& +3 h & I K \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&i'7 +17 h ' +2 A(g% +3 h % 9 E o\ +3 ."downElevator"\SE.seek :down +3 A(t' +98 (m% +2 h %:J ) % \ Xf +2 M&K% +3 h %,  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&n' +90 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'a& +3 h &\\{ * )&\ T +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&<% +4 h %     + A(% +3 h % 8 F C\ +2 A(w. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(z( +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ({& +3 h & L K 6\  + M&}& +3 h &  T +2 .t\Elbow.seek 3 +2 M&d( +3 h ( + M&q& +3 h &   T +2 A(& +3 h & K K X\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +92 h ' + A(& +4 h & W Z\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(s's +300 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&\ & +2 h &   T +2 A(p& +3 h & C D \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&v'u +14 h ' + .t\Elbow.hold +2 M&x, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(|- +2 h -' +2 .t\SE.seek 0.17 + A(u'w +30 h ' + M&% +4 h %Β  S + A(Z& +3 h & B @ \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 329 counts + M&'Ͼ +16 h ' + M&& +4 h &   r T + A(& +4 h & L K +\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&y'7 +16 h ' + .t\SE.seek 1.17 +2 A(' +36 h ' + M&Q& +4 h & T +40 M&% +13 h %?  M + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\Elbow.seek CC +2 M&"(ӂ +149 h ( +2 M&#& +4 h &x-    D{ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &%& +3 h &x-   D{ + .t\Forearm.seek :CC +2 M&&'? +94 h ' + .tHand.close + M& / +71 h / + .t\CC.seek :open +2 C')( +452 h ( + A(*& +4 h & | } O\  + A(.& +3 h & \  +2 M&& +3 h &Ӧ%  >M +2 M&1% +3 h % ]  G +2 .t\Forearm.seek :retract + M& ' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&o( +162 h ( + M& & +4 h &    +2 A( & +3 h & I\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&'u +99 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +61 h 1 + M&% +4 h % b   + A(5& +4 h & \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 281 counts +2 M&''ώ +19 h ' +2 M&(& +4 h &  +2 A(+& +3 h & \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&0'7 +17 h ' + A(/% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(' +99 (2% +2 h %= \ U^ +2 M&$% +3 h %, P +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&;' +88 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'-& +4 h &  6\ +2 M&4% +3 h %  +  +2 A(% +3 h % \ + A(7. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(8(,y +359 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,x z \ \  + M&& +3 h &  g  +2 .t\Elbow.seek 4 + M&B( +29 h ( + M&~& +4 h & i  + A(,& +3 h &,v L\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&6' +102 h ' + A(E& +4 h &,v \ + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(@'s +297 h ' + A(H- +3 h -'! + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (=& +2 h &,v _\ +2 M&P& +3 h &   + .t\Elbow.seek 4 +2 M&C( +24 h ( +2 M&>& +3 h & I  +2 A(S& +3 h &,v \ +2 .t\Forearm.seek 4 + 300 counts +2 M&'c +31 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&!/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&9& +4 A(3' +5 h &  + M&% +4 h % ϗ  + .t\Forearm.seek :retract +2 M&?' +92 h ' + .t\Elbow.seek CC +2 M&J(ӂ +158 h ( +2 M&F& +3 h ' + &Ӈ,   Ct + ."downElevator"\SE.coast +2 A(5 +2 .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b +2 &M& +3 h &Ӈ,  Ct + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +91 h ' +2 C'I& +4 h &  (\ + C':& +3 .t\CC.seek :closed +2 C'N(\\ +3 h &  .\ +2 &  2\ \ +8 &/x  ,\ *y +10 &d  9\ > +9 &vw  /\ M +9 &:W  .\ M +11 &]  *\ M +9 &\\  5\ M +8 &Y  .\ L +10 &BY  (\ M +9 &\\  %\ M +10 &]  '\ M +9 & Y  $\ M +9 &"I\\  (\ M +10 &$ Y  0\ M +9 &%X  +\ M +9 &'Z  7\ M +10 &)RX  '\ M +9 &+Z  ,\ M +10 &,\\  -\ M +10 &.Y  *\ M +8 &0ZZ  1\ M +10 &2]  '\ M +9 &3[  *\ M +9 &5]  ,\ M +10 &7b\\  )\ M +9 &9$Y  -\ M +10 &:Z  '\ M +9 &<]  +\ M +9 &>j\\  1\ M +10 &@,^  &\ M +9 &A_  ,\ M +10 &Ch .\ N +9 &Egz " ".\ P +9 &G! $ $-\ S +10 &H % '2\ V +9 &J ' &2\ X +9 &LY & )2\ X +10 &N ( '2\ Y +9 &O ( )-\ Y +10 &Q ) (2\ Z +9 &SZ ' )-\ Z +9 &U ( )1\ [\ +10 &V ( *-\ \\ +9 &X ( *+\ ] +9 &ZY ) **\ ] +10 &[y ( +/\ > +9 &\\- ) +.\ (w +10 &\\y ' ,1\ S +2 ( + C':& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 M&T1 +55 h 1 +2 M&R% +4 h % <   t + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&O' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%_& +3 h &\ +2 M&b% +3 h %     +2 A(Y% +3 h % > > \ + A(V. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(W(,y +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (h& +3 h &,v C C \  +2 M&k& +3 h &Ӎ+  Cn + M&c% +4 h %     +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&j( +161 h ( + M&U& +4 h &  + + A(r& +4 h &,v U T (\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&D' +97 h ' + A(g& +4 h &,v Z a\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(\\'s +308 h ' + A(X- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ([& +2 h &,v > K \  +2 M&]& +3 h &   + .t\Elbow.seek 4 +2 M&m( +3 h ( + M&K& +3 h & \  1 +2 A(e& +3 h &,v O T d\  +2 .t\Forearm.seek 4 + 300 counts + M&L'c +22 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&f/ +74 h / +2 ."downElevator"\SE.seek :down +2 M&l& +4 A(a' +5 h &  +2 M&% +3 h % i M +2 .t\Forearm.seek :retract + M&<' +90 h ' + .t\Elbow.seek PC +2 M&( +174 h ' + ."downElevator"\SE.coast + A(5 +66 h ( + M&w& +4 h &  ! + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &`& +3 h &   ! + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&{' +96 h ' + P%}& +4 h &\ + P%q& +4 .t\PC.seek :closed +2 P%(^ +2 h &\ +3 &\ \ +10 &.v\ +z +9 &b\ ? +9 &ex\ P +10 &&[\ P +9 &Z\ P +9 &]\ P +10 &n[\ O +9 &/\\\ P +9 &^\ P +10 &Y\ O +9 & v[\ O +10 &"7X\ P +9 &#]\ P +9 &%[\ O +10 &'~Z\ O +9 &)?[\ P +9 &+]\ P +10 &,^\ P +9 &.\\\ O +10 &0F\\\ P +9 &2Z\ P +9 &3W\ P +10 &5Z\ P +9 &7PX\ O +9 &9\\\ P +10 &:Z\ P +9 &<[\ P +10 &>V`\ P +9 &@^\ P +9 &Ah\ Q +10 &Cy\ S +9 &EO\ U +9 &G\ V +10 &H\ U +9 &J\ W +10 &LS\ V +9 &N\ V +9 &O\ X +10 &Q\ W +9 &SX\ X +9 &U\ X +10 &V\ Y +9 &X\ W +10 &Za\ W +9 &\\\ Y +9 &]\ 7 +10 &^+r\ #e +9 &^3\ 6 +2 ( +2 P%q& +2 #t\Processing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.63 + .Hand.open + M&i1 +64 h 1 + M&% +4 h %  3  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&t' +93 h ' + .t\SC.coast + A(6 +2 P%G& +4 h &^(\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 M&^% +3 h %   =  + A(n% +4 h % & &\ +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(\ (,y +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (p& +3 h &,v 3 4 \  +2 ."raiseStack"\SE.reconfigure SEplace +2 M&|& +2 A(#]kK-0-\ b +4 h &  ! +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&( +3 h ( + M&Z& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h &   1 ! +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +2 h &  ! +2 .t\Forearm.seek :PC +2 M&Q' +93 h ' + .tHand.close + M&/ +76 h / +3 .t\PC.seek :open + P%( +86 h ' + A(d- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(s'1 +53 h ' +307 ( + A(v& +4 h &,v J E \  + M&& +3 h & A ! +2 M&u% +3 h %  4 +2 .t\Forearm.seek :retract + M&#' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&%( +251 h ( + M&y& +43 h & > I +11 A(x& +3 h &,v C C \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M& ' +96 h ' + .tHand.open + M&1 +58 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(*' +22 h ' +2 .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(.' +53 h ' + #tLights, camera, ACTION! +2 A(- +3 h -' + A(1& +3 h &,v \  +2 M& & +3 h &   H +2 .t\Elbow.seek 4 +2 M& ( +9 h ( + M&&& +5 h &   ' + A("& +4 h &,v r e Z\  +2 .t\Forearm.seek 4 + 450 counts + M& ' +12 h ' + .t\SE.reconfigure SEgently +3 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +49 h ' + M&5& +4 h &  ' +2 A((& +3 h &,v 2 ' h\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&+'7 +16 h ' + .t\Elbow.hold +2 M&/, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A( ' +31 h ' +2 M&2% +3 h %T  : +2 A($& +3 h &,v C C \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 329 counts +2 M&o'π +22 h ' +2 M&& +3 h &   ' +2 A(-& +3 h &,v = G \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&'' +15 h ' +2 A(4% +3 h % 4 :\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (7% +2 h %!I ( 0 )\ Xg +2 M&% +4 h % \  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&0' +89 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &\\w , *%\ S +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&z% +4 h %  o  +2 A(% +3 h % W _\ + A(. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(~(,y +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (,& +3 h &,v 4 8 2\  + M&E& +4 h &  ' +2 .t\Elbow.seek 4 + M&( +10 h ( + M&;& +4 h &  \\  +2 A(H& +3 h &,v [ [\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&=' +92 h ' + A(P& +4 h &,v b b\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(>'s +300 h ' + A(S- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&!& +2 h &    +2 A(9& +3 h &,v G J .\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&'7 +16 h ' + .t\Elbow.hold +2 M&B, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(6- +2 h -' +2 .t\SE.seek 0.17 + A(F'x +29 h ' + M&M% +4 h %N  N H + A(@& +4 h &,v B : k\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 323 counts +2 M&'z +17 h ' + M&I& +4 h & X  + A(C& +4 h &,v 9 4 ,\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&3' +17 h ' + .t\SE.seek 1.17 +2 A(?' +46 h ' + M&)& +4 h &  U  +2 M&T% +3 h % k +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&R' +90 h ' + .t\Elbow.seek CC +2 M&_(ӂ +150 h ( + M&b& +4 h &x0   F + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &Y& +3 h &x0  F + .t\Forearm.seek :CC +2 M&V'? +94 h ' + .tHand.close + M&h/ +77 h / + .t\CC.seek :open +2 C':( +452 h ( +2 A(k& +4 h &,v w \  + A(c& +3 h &,v  \\\  +2 M&& +3 h &ӡ(  @] + M&U% +4 h % P  V + .t\Forearm.seek :retract +2 M&r' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&8( +163 h ( + M&g& +4 h &    + A(J& +3 h &,v \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 4 +2 M&O'7 +91 h ' + .t\Elbow.hold +2 M&X, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&[1 +63 h 1 + M&]% +4 h % O  ! P + A(K& +3 h &,v G\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 324 counts +2 M&e'{ +17 h ' +2 M&f& +3 h & x  +2 A(l& +3 h &,v \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +18 h ' + A(j% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(D' +99 (\\% +2 h %o? \ V_ +2 M&L% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&w' +87 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp + C'`& +4 h &  ,\ +2 M&m% +3 h %  `  +2 A(}% +3 h % #\ + A(a. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(<(<- +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (A& +3 h &<+ ^\  + M&i& +3 h &  ?  +2 .t\Elbow.seek 5 +2 M&( +8 h ( + M&G& +4 h & U  + A(^& +3 h &<+" \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&n'O +91 h ' + A(& +4 h &<,. x %\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(q's +297 h ' + A(p- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (|& +2 h &<-- V V\  +2 M&Z& +3 h &  + .t\Elbow.seek 5 +2 M&( +3 h ( + M&{& +4 h &  + A(& +3 h &<-. a X\  +2 .t\Forearm.seek 5 + 300 counts +2 M&W'Ϲ +17 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&d/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&& +6 A(t' +2 h & '  +2 M&% +3 h % ϵ o +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.seek CC +2 M&v(ӂ +156 h ( + M&& +4 h &Ӊ(  \  @] + ' + ."downElevator"\SE.coast +2 A(5 + .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b +2 &u& +3 h &ӊ(   @\\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&Q'? +93 h ' + C'y& +4 h &  *\ +2 C'& +3 .t\CC.seek :closed +2 C'x(\\ +2 h &  \ +3 &  \  +9 &.x  4\ +z +10 &d  (\ > +9 &uv  3\ N +9 &9Y  ,\ M +10 &W  *\ M +9 &Z  (\ M +9 &~Y  (\ M +10 &AW  ,\ M +9 &^  (\ M +10 &Y  %\ M +9 & Y  $\ M +9 &"IZ  %\ M +10 &$\ [  '\ M +9 &%Y  (\ M +9 &'W  &\ M +10 &)QX  -\ M +9 &+V  ,\ M +9 &,Y  4\ M +10 &.]  5\ M +9 &0YY  &\ M +10 &2\\  *\ M +9 &3Z  3\ M +9 &5\\  5\ M +10 &7aZ  4\ M +9 &9"\\  '\ M +9 &:Y  (\ M +10 &<\\  (\ M +9 &>iZ  &\ M +10 &@*X  *\ M +9 &A_  (\ N +9 &Ch " 3\ N +10 &Ec $ 4\ Q +9 &G % &1\ T +10 &H * (%\ W +9 &J ( ).\ Y +9 &LT ( &2\ Y +10 &N ' (1\ Z +9 &O ' ($\ [\ +9 &Q ) )(\ Z +10 &SR ) ')\ ] +9 &U * (.\ \\ +10 &V , '%\ ^ +9 &X * (#\ ^ +9 &ZU * *)\ ^ +10 &[y * +!\ A +9 &\\( ) +#\ , +9 &\\x * *$\ X +3 ( + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + .Hand.open +2 M&1 +58 h 1 + M&% +4 h % A   O + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%1& +3 h &\ +2 M& % +3 h %     +2 A(&% +3 h % 4 6\ +50 A(". +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(#(<- +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (5& +3 h &<, - >\  + M&(& +4 h &ӑ&  ?U + M&2% +3 h %     +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&$( +165 h ( + M&s& +4 h &   +2 A(& +3 h &<, U U \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&-'O +90 h ' + A(*& +4 h &<, k x \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(4's +297 h ' + A(%- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( & +2 h &<, < G z\  +2 M&.& +3 h &  G  +2 .t\Elbow.seek 5 + M&7( +3 h ( +2 M&& +3 h & 4  + A( & +4 h &<, 4 5 d\  +2 .t\Forearm.seek 5 + 300 counts + M& 'Ϲ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&+& +4 A(' +5 h & 7  +2 M&o% +3 h % ϲ : +2 .t\Forearm.seek :retract + M&z' +88 h ' + .t\Elbow.seek PC +2 M&( +172 h ' + ."downElevator"\SE.coast + A(5 +67 h ( + M&& +4 h &  ! + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h & ! +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&,' +90 h ' + P%E& +4 h &\ +2 P%;& +3 .t\PC.seek :closed +2 P%H(^ +2 h &\ +3 &\  +9 &0{\ *y +10 &b\ ? +9 &ix\ P +9 &+X\ O +10 &Z\ O +9 &Y\ P +9 &qY\ O +11 &3Z\ O +8 &^\ P +10 &W\ P +9 & y]\ O +9 &";W\ O +10 &#Z\ O +9 &%[\ O +9 &'\\\ P +10 &)B\\\ P +9 &+Z\ P +10 &,Z\ O +9 &.]\ P +9 &0JZ\ P +10 &2 Y\ O +9 &3[\ O +9 &5]\ P +10 &7RZ\ P +9 &9Y\ P +9 &:]\ O +10 &<Z\ O +9 &>Y_\ P +10 &@\\\ P +9 &Ae\ P +9 &Cr\ R +10 &EV\ T +9 &G\ V +9 &H\ V +10 &J\ V +9 &LW\ V +10 &N\ W +9 &O\ W +9 &Q\ W +10 &S[\ X +9 &U\ X +10 &V\ W +9 &X\ W +9 &Zc\ X +10 &\\%\ X +9 &]\ : +9 &^1\ V +10 &^(\ 5 +2 ( + P%;& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 M&'1 +60 h 1 + M&P% +4 h %  \  j + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 P%\ & +4 h &^(x\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + M&/% +3 h %    +2 A(0% +3 h % B A \ + A(S. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(!(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (9& +3 h &<, 3 , Q\  +2 ."raiseStack"\SE.reconfigure SEplace +2 M&6& +2 A(#]kK-0-\ b +5 h &  ! +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&M( +2 h ( + M&@& +4 ."raiseStack"\SE.seek beamBreak + A(I's +3 h &   ! + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &C& +2 h &  ! +2 .t\Forearm.seek :PC +2 M&)' +93 h ' + .tHand.close + M&T/ +69 h / + .t\PC.seek :open +2 P%=( +95 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(>'1 +39 h ' +313 ( + A(& +4 h &<, 6 4 8\  + M&& +3 h &  ! +2 M&F% +3 h %   4 ; +2 .t\Forearm.seek :retract + M&b' +91 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&Y( +248 h ( + M&3& +4 h &   ; + A(B& +3 h &<, K J \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&h'O +94 h ' + .tHand.open + M&R1 +62 h 1 + A(N- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(k' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(c' +58 h ' + #tLights, camera, ACTION! +2 A(- +3 h -' + A(U& +3 h &<, b \\ l\  +2 M&g& +3 h &  ; +2 .t\Elbow.seek 5 +2 M&J( +2 h ( +2 M&V& +3 h &  ; + A(_& +4 h &<, _ c \  +2 .t\Forearm.seek 5 + 450 counts + M&['O +10 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(]' +51 h ' + M&K& +4 h &  ; +2 A(f& +3 h &<, 1 + \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 +2 M&l'΍ +14 h ' + .t\Elbow.hold +2 M&j, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(r' +19 h ' + M&\\% +4 h %δ  8 +2 A(L& +3 h &<, C D $\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 339 counts +2 M&8' +16 h ' +2 M&O& +3 h &  4 ; +2 A(`& +4 h &<, 6 6 T\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&e'O +17 h ' + A(m% +4 h % T W \ +3 ."downElevator"\SE.seek :down +2 A(}' +99 (a% +2 h %GG   4\ Xg +2 M&?% +4 h %R  . + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +71 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +3 C'D& +3 h &\\t + , \ X + #t\Storing generic puck in Collection Clamp to tube 5 +2 M&~% +4 h %   W  +2 A(A% +3 h % Y V\ + A(i. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(G(<- +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (^& +3 h &<, Z Z\  + M&& +4 h &  ; +2 .t\Elbow.seek 5 + M&X( +3 h ( + M&w& +4 h &    ; + A(p& +3 h &<, [ Y\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&|'O +99 h ' + A(Z& +4 h &<, c X\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A({'s +295 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&d& +2 h &   ; +2 A(& +3 h &<, < A %\  + .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 + M&'΍ +14 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +41 A(n- +11 h -' + .t\SE.seek 0.15 +2 A('g +29 h ' + M&u% +4 h %Υ  - + A(q& +4 h &<, ? 4 Q\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 324 counts +2 M&W' +14 h ' + M&y& +4 h &  : +2 A(& +3 h &<, ^ X 8\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&t'O +17 h ' + .t\SE.seek 1.15 +2 A(' +37 h ' + M&:& +4 h &  : +2 M&% +3 h %@  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +85 h ' + .t\Elbow.seek CC +2 M&1(ӂ +151 h ( + M& & +4 h &.   E} + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &&& +2 h &.  E} +2 .t\Forearm.seek :CC +2 M&'? +92 h ' + .tHand.close + M&"/ +71 h / + .t\CC.seek :open +2 C'5( +452 h ( +2 A((& +3 h &<, y { Q\  +2 A(2& +3 h &<, z { \  + M&Q& +4 h &Ӟ(  @^ +2 M&s% +3 h % J  ^ +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&<( +163 h ( + M&*& +4 h & f  + A(v& +4 h &<, =\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 5 +2 M&'΍ +95 h ' + .t\Elbow.hold +2 M&%, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +61 h 1 + M&.% +4 h % · U ( +2 A(& +3 h &<, {\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 294 counts +2 M& 'ϳ +14 h ' +3 M&& +3 h &   +2 A(+& +3 h &<, \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&o'O +19 h ' + A($% +4 h % 4\ +3 ."downElevator"\SE.seek :down +2 A(-' +99 (4% +2 h %? \ V` +2 M& % +3 h %` V +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +86 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp +2 C' & +3 h &  \ +2 M&7% +3 h %    +2 A(E% +3 h % %\ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(z(K +361 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K" \  + M&'& +3 h & @  +2 .t\Elbow.seek 6 +2 M&P( +9 h ( + M&\ & +4 h &  B  + A(/& +3 h &K D\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&0' +97 h ' + A(S& +4 h &K \ + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(9's +299 h ' + A(;- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (6& +2 h &K \ +2 M&@& +3 h &  + .t\Elbow.seek 6 +2 M&C( +3 h ( +2 M&,& +3 h &   +2 A(T& +3 h &K 5\ +2 .t\Forearm.seek 6 + 300 counts +2 M&#'h +35 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +70 h / +2 ."downElevator"\SE.seek :down +2 M&& +6 A(' +3 h & S  +2 M&H% +3 h % π K X +2 .t\Forearm.seek :retract +2 M&I' +87 h ' + .t\Elbow.seek CC +2 M&(ӂ +158 h ( +2 M&& +5 h &Ӑ(  @X + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 h ' + ."downElevator"\SE.coast +2 A(5 + M&F& +5 h &ӑ(  t @W +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&)'? +99 h ' + C'3& +4 h &  &\ +2 C'B& +3 .t\CC.seek :closed +2 C'M(\\ +2 h &  \ +3 &  (\  +9 &1}  0\ *y +9 &d  *\ > +10 &wu  1\ M +10 &;W  '\ L +9 &V  &\ L +9 &Z  &\ L +9 &W  &\ L +10 &DX  '\ L +9 &\\  .\ M +10 &V  *\ L +9 & [  %\ L +9 &"K[  (\ L +10 &$ W  )\ L +9 &%W  $\ L +9 &'\\  )\ L +10 &)S[  '\ L +9 &+Z  )\ M +10 &,Y  (\ L +9 &.W  )\ M +9 &0[X  2\ L +10 &2V  #\ L +9 &3W  2\ L +9 &5V  '\ M +10 &7b[  '\ M +9 &9&X  $\ L +9 &:\\  %\ L +10 &<\\  ,\ L +9 &>kY  %\ L +10 &@-X  \ L +9 &A]  &\ M +9 &Ce  !\ N +10 &Eiy % *\ P +9 &G" & &,\ S +9 &H * )*\ V +10 &J ) ,%\ X +9 &LX * +\ X +10 &N * , \ Y +9 &O . *\ Z +9 &Q + )*\ Y +10 &SW ( +,\ [ +9 &U ) *\ [ +9 &V , *\ \\ +10 &X + ,!\ ] +9 &Z[ ( * \ ] +10 &[y , -,\ = +9 &\\2 * ,\ $m +9 ( +2 &\\j , -!\ Q + C'B& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 +2 .Hand.open + M&R1 +62 h 1 +2 M&N% +3 h % ;   +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp +2 P%U& +3 h &p\ +2 M&g% +3 h %    +2 A(V% +3 h % 5 5\ + A(_. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(b(K +14 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (K& +3 h &K D F \  + M&f& +3 h &ӓ&  ?U +2 M&\\% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&L( +156 h ( + M&O& +4 h &   + A(>& +4 h &K ` X n\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&`' +91 h ' + A(k& +4 h &K ` c\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(m's +300 h ' + A(Y- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (h& +2 h &K I @\  +2 M&a& +3 h &  l + .t\Elbow.seek 6 +2 M&c( +3 h ( + M&?& +3 h &  + A([& +4 h &K 3 2\  +2 .t\Forearm.seek 6 + 300 counts +2 M&J'h +40 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&]/ +66 h / +2 ."downElevator"\SE.seek :down +2 M&l& +5 A(8' +4 h & +2 M&D% +3 h % j  r { + .t\Forearm.seek :retract +2 M&~' +90 h ' + .t\Elbow.seek PC +2 M&A( +174 h ' + ."downElevator"\SE.coast + A(5 +66 h ( +2 M&i& +4 h &   - + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &r& +3 h &  g - + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&^' +98 h ' + P%& +4 h &\ +2 P%w& +3 .t\PC.seek :closed +53 P%p(^ +4 h &\ + &\ + &\ + &\ + &\ + &\ + &\ +3 & &\ #a +8 &U\ 8 +9 &}~\ L +11 &\\\ O +8 &W\\\ O +9 &Z\ P +10 &Z\ O +9 &X\ O +10 &_]\ O +9 &!\\\ O +9 &Z\ O +10 &!W\ O +9 &#gZ\ O +9 &%*U\ O +10 &&Z\ P +9 &([\ O +10 &*o\\\ O +9 &,0[\ P +9 &-Z\ P +10 &/]\ P +9 &1v\\\ P +9 &39Z\ O +10 &4Z\ O +9 &6Y\ O +10 &8X\ O +9 &:AW\ O +9 &<Z\ O +10 &=]\ P +9 &?\\\ P +9 &AFa\ P +10 &Cq\ R +9 &D{\ S +10 &F}\ U +9 &H>\ V +9 &I\ V +10 &K\ V +9 &M\ W +9 &OE\ V +10 &Q\ W +9 &R\ V +10 &T\ W +9 &VK\ W +9 &X\ V +10 &Y\ W +9 &[\ X +9 &]Q\ I +10 &^vA\ 's +9 &^=\ 6 +6 ( + P%w& +3 #t\Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 M&e1 +59 h 1 + M&Z% +4 h %   + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&}' +90 h ' + .t\SC.coast + A(6 +2 P%!& +4 h &^(\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&j% +3 h %    +2 A(% +3 h % > B \ +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 6 + A(d(K +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +3 h &K - 1 U\  +2 M&n& + ."raiseStack"\SE.reconfigure SEplace +5 A(#]kK-0-\ b +2 h &  - +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&u( + h ( +2 M&q& +3 ."raiseStack"\SE.seek beamBreak +2 A(y's +2 h &   - + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +10 h &  - + .t\Forearm.seek :PC +2 M&:' +94 h ' + .tHand.close + M&/ +75 h / + .t\PC.seek :open +2 P%|( +81 h ' + A(X- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A({'1 +47 h ' +319 ( + A(& +4 h &K b W\  + M&W& +4 h &  u - + M& % +4 h %  \ \\ D + .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&&( +254 h ( + M&t& +4 h &   \ + A(& +3 h &K d c\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&"' +92 h ' + .tHand.open + M&1 +58 h 1 + A(x- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A((' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(2' +65 h ' + #tLights, camera, ACTION! +2 A(Q- +3 h -' + A(s& +3 h &K e w D\  +2 M&*& +3 h &  \ +2 .t\Elbow.seek 6 + M&v( +3 h ( +2 M&& +3 h &   \ +2 A(1& +3 h &K \  +2 .t\Forearm.seek 6 + 450 counts +2 M& ' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(.' +56 h ' + M&& +4 h &  ' \ +2 A(& +3 h &K Y Z\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&+'< +16 h ' + .t\Elbow.hold +2 M&$, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +29 h ' + M&4% +4 h %g  K 9 +2 A( & +3 h &K V Y\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 343 counts +2 M&<'ϓ +18 h ' + M&& +4 h & 1 \ +2 A( & +3 h &K c ]\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M& ' +19 h ' +2 A(7% +3 h % b c \ +3 ."downElevator"\SE.seek :down +2 A(E' +99 (% +3 h %;N G @ \ Xg + M&% +4 h % + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&o' +89 h ' +69 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'-& +4 h &\\j * ,\ Q +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&G% +3 h %   ^  +2 A(% +3 h % b e \ + A('. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 6 + A(\ (K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (/& +2 h &K V S \  +2 M&S& +3 h &  \ + .t\Elbow.seek 6 +2 M&%( +4 h ( + M&& +4 h & \  \ +2 A(;& +3 h &K b `\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&6' +101 h ' + A(@& +4 h &K x A\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(,'s +300 h ' + A(T- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h &  D \ +2 A(& +3 h &K T Z ]\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&H'< +16 h ' + .t\Elbow.hold +2 M&P, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(0- +2 h -' +2 .t\SE.seek 0.16 +2 A('o +29 h ' + M&F% +4 h %Y   # + A(9& +3 h &K Z >\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 329 counts + M&#'υ +25 h ' + M&3& +4 h &  L \ +2 A(C& +3 h &K U U )\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +13 h ' + .t\SE.seek 1.16 +2 A(I' +36 h ' + M&5& +4 h & # \ +2 M&R% +3 h % ^ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&N' +90 h ' + .t\Elbow.seek CC +2 M&U(ӂ +153 h ( + M&g& +4 h &Ӏ*   Bg + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &V& +3 h &Ӏ*  Bg +2 .t\Forearm.seek :CC +2 M&_'? +91 h ' + .tHand.close + M&B/ +68 h / + .t\CC.seek :open +2 C'K( +448 h ( +2 A(f& +4 h &K \  + A(\\& +3 h &K \  +2 M&)& +3 h &Ӛ%  >M + M&O% +3 h % K  P +2 .t\Forearm.seek :retract +2 M&>' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&z( +164 h ( + M&k& +4 h &  + A(& +3 h &K _\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&'< +92 h ' + .t\Elbow.hold +2 M&Y, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&h1 +58 h 1 +47 M&a% +6 h % _ N +2 A(?& +3 h &K \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 335 counts +2 M&['ϋ +19 h ' + M&]& +4 h &  +2 A(l& +3 h &K \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&D' +19 h ' +2 A(L% +3 h % v\ +3 ."downElevator"\SE.seek :down +2 A(`' +99 (m% +2 h %A M\ V` +2 M&J% +4 h % M + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&i' +87 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp +2 C'r& +3 h &  \ +2 M&c% +4 h %   + A(% +4 h % \ + A(8. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(~([ +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (=& +3 h &[ } \  + M&e& +3 h & $  +2 .t\Elbow.seek 7 +2 M&Z(r +12 h ( + M&!& +4 h &z  !  + A(j& +3 h &[ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +96 h ' + A(& +4 h &[ _\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A('s +298 h ' + A(w- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (n& +2 h &[ x\  +2 M&q& +3 h &z  + .t\Elbow.seek 7 +2 M&(r +3 h ( + M&^& +3 h &z 9  +2 A(& +3 h &[ \  +2 .t\Forearm.seek 7 + 300 counts + M&b'ϧ +17 h ' +5 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&X/ +67 h / +2 ."downElevator"\SE.seek :down +2 M&A& +4 A(}' +5 h &z 1  +2 M&p% +3 h % ϛ E +2 .t\Forearm.seek :retract + M&y' +88 h ' + .t\Elbow.seek CC +2 M&(ӂ +155 h ( + M&W& +4 h &{+   Co + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' + ."downElevator"\SE.coast +2 A(5 + M& & +5 h &{+  Co + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&:'? +90 h ' + C't& +4 h &  -\ +2 C'& +3 .t\CC.seek :closed +2 C'u(\\ +2 h &  \ +3 &  *\  +11 &4  7\ *z +8 &f  &\ ? +9 &r  (\ N +10 &VT  )\ L +9 &Z  )\ L +9 &V  1\ L +10 &W  %\ L +9 &^X  &\ L +10 & V  %\ L +9 &U  *\ L +9 & T  '\ L +10 &"fV  (\ L +9 &$(U  &\ L +9 &%U  '\ L +11 &'Z  .\ L +8 &)nZ  /\ L +10 &+0Z  '\ L +9 &,Y  &\ L +9 &.Y  !\ L +10 &0uY  B\ M +9 &28Y  4\ L +9 &3Z  4\ L +10 &5Z  3\ L +9 &7~Z  -\ L +10 &9@V  &\ L +9 &;U  -\ M +9 &<Y  1\ M +10 &>Z  k\ M +9 &@HU  $\ L +9 &B^  $\ M +10 &Cb ! #\ N +9 &Ep " h\ O +10 &G? ' &%\ R +9 &H * (1\ V +9 &J - *!\ Y +10 &Lp + *+\ Y +9 &N1 + + \ Z +9 &O + *\ [\ +10 &Q + +!\ [ +9 &Sp * +\ \\ +10 &U3 + *\ \\ +9 &V + ,\ ] +9 &X , + \ ] +10 &Zs , -"\ ^ +9 &\\{ + ,"\ 2 +9 &\\0 , -)\ "h +10 ( +2 &\\n ) , \ T + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 +2 .Hand.open + M&1 +61 h 1 + M&x% +4 h % B   | + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Q' +90 h ' +2 .t\SC.coast + A(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + P%s& +3 h &~\ +2 M&*% +3 h %    +2 A(% +3 h % C B \ + A(1. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[ @ K \  + M&& +3 h &ӌ(  @^ +2 M&4% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M& (r +157 h ( + M&{& +4 h &  + A(& +4 h &[ _ W\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M& '= +96 h ' + A((& +4 h &[ g x \  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(7's +297 h ' + A(&- +3 h -' + .t\SE.configure SEconfig +3 A(#QK-0-\ b +2 ("& +2 h &[ A I /\  +2 M&2& +3 h &  +2 .t\Elbow.seek 7 + M&(r +7 h ( + M&& +4 h &|  a  + A( & +3 h &[ 5 9 [\  +2 .t\Forearm.seek 7 + 300 counts +2 M&v'ϧ +41 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&./ +65 h / +2 ."downElevator"\SE.seek :down +2 M&+& +6 A(<' +3 h &|  G  +2 M&-% +3 h %   +2 .t\Forearm.seek :retract +2 M&G' +88 h ' + .t\Elbow.seek PC +2 M&( +171 h ' + ."downElevator"\SE.coast + A(5 +71 h ( +2 M&'& +4 h &  y + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & l + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&/' +101 h ' + P%S& +4 h &}\ + P%& +4 .t\PC.seek :closed +2 P%;(^ +2 h &\ +4 &\ 3 +9 &5E{\ 1 +10 &\\p\ E +9 &g\ P +9 &Y\ O +10 &~W\ P +9 &@Z\ P +10 &W\ O +9 &\\\ P +9 &Z\ P +10 &IY\ O +9 &! V\ O +9 &"Z\ O +10 &$Y\ O +9 &&QW\ O +10 &(Z\ P +9 &)Z\ O +9 &+Z\ P +10 &-Y\\\ O +9 &/]\ P +9 &0[\ O +10 &2W\ O +9 &4b\\\ O +10 &6#Z\ O +9 &7W\ O +9 &9W\ O +10 &;hY\ P +9 &=*[\ P +9 &>Z\ P +10 &@`\ P +9 &Bjo\ R +10 &D(x\ S +9 &E\ V +9 &G\ V +10 &If\ V +9 &K(\ V +9 &L\ V +10 &N\ W +9 &Pj\ W +10 &R-\ W +9 &S\ X +9 &U\ W +10 &Ws\ W +10 &Y2\ X +8 &Z\ W +10 &\\\ X +9 &^0a\ / +9 &^u\ ? +10 ( +2 &^0\ 8 + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 M& 1 +57 h 1 + M&@% +4 h %    + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&E' +93 h ' + .t\SC.coast + A(6 +2 P%d& +4 h &^0\ 8 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 M&$% +3 h %    +2 A(o% +3 h % % % \ + A(T. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(([ +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&0& +4 h &[ ( ' \  +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h & \  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&F( +2 h ( + M&9& +3 ."raiseStack"\SE.seek beamBreak +2 A(3's +2 h &    + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &C& +2 h &  \  +2 .t\Forearm.seek :PC +2 M&5' +93 h ' + .tHand.close + M&R/ +77 h / +2 .t\PC.seek :open +2 P%6( +87 h ' + A(%- +3 h -'s +48 ."raiseStack"\SE.configure SEconfig +4 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(,'1 +41 h ' +270 ( + A(H& +4 h &[ H Z /\  + M&#& +3 h &   +2 M&g% +3 h %   C +2 .t\Forearm.seek :retract +2 M&' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&V(r +250 h ( + M&& +4 h &z   ' [ + A(P& +4 h &[ @ G \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&B'= +97 h ' + .tHand.open + M&N1 +55 h 1 + A(M- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(f' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(\\' +56 h ' +2 #tLights, camera, ACTION! + A()- +3 h -' +2 A(O& +3 h &[ m m \  +2 M&k& +3 h &z   , [ +2 .t\Elbow.seek 7 + M&(r +3 h ( + M&_& +4 h &z  \  [ + A(U& +3 h &[ e e \  +2 .t\Forearm.seek 7 + 450 counts +2 M&h'= +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(a' +58 h ' + M&?& +4 h &z  [ +2 A(]& +3 h &[ B C\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&l'{ +14 h ' + .t\Elbow.hold +2 M&L, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(>' +29 h ' +2 M&m% +3 h %Σ  - 3 +2 A(J& +3 h &[ K K 5\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 340 counts + M&z' +14 h ' +2 M&& +3 h &z \ 1 [ +2 A(r& +3 h &[ G I g\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&['= +15 h ' +2 A(c% +3 h % [ \\\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (8% +2 h %QL % & \ Xh +2 M&I% +3 h %9   +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&D' +90 h ' +68 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'`& +4 h &\\n / -\ T + #t\Storing generic puck in Collection Clamp to tube 7 +2 M&\ % +3 h %    +2 A(=% +3 h % X R 7\ + A(e. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(!([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (j& +3 h &[ 9 S F\  + M&& +4 h &{   Z + .t\Elbow.seek 7 +2 M&Y(r +3 h ( + M&i& +3 h &{  Z +2 A(w& +3 h &[ 4 4\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&n'= +108 h ' + A(q& +4 h &[ [ a\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(^'s +298 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&X& +3 h &{   * Z +2 A(A& +3 h &[ F 4 \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M&p'{ +20 h ' + .t\Elbow.hold +2 M&Z, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.17 + A(W'u +29 h ' + M& % +4 h %΂  q + A(& +3 h &[ G > \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 307 counts +2 M&b'Ϯ +17 h ' + M&t& +4 h &{  o Z +2 A(& +3 h &[ 5 3 \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&}'= +18 h ' + .t\SE.seek 1.17 +2 A(y' +48 h ' + M&K& +4 h &{  N Z +2 M&% +3 h %H  N +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&x' +90 h ' + .t\Elbow.seek CC +2 M&s(ӂ +155 h ( + M&*& +4 h &Ӓ&   ?Q + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &Ӓ&  ?Q + .t\Forearm.seek :CC +2 M&1'? +93 h ' + .tHand.close + M&/ +75 h / + .t\CC.seek :open +2 C'( +449 h ( + A(& +4 h &[ \  + A(4& +3 h &[ ^\  +2 M&:& +3 h &ӓ& \  ?P + M&{% +3 h % e  @ +2 .t\Forearm.seek :retract +2 M&' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&~(r +168 h ( + M&(& +4 h &u - + A(& +4 h &[ \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 7 + M&Q'{ +96 h ' + .t\Elbow.hold +2 M&&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&"1 +58 h 1 + M&2% +4 h % x    + A(& +3 h &[ I\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 297 counts +2 M& 'Ϥ +18 h ' +2 M&.& +4 h & $ m + A(+& +4 h &[ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&-'= +16 h ' + A( % +4 h % C\ +3 ."downElevator"\SE.seek :down +2 A( ' +99 (7% +2 h %C C\ Wb +2 M&v% +3 h %1 ] +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&'' +87 h ' +63 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .tdelay 10 seconds +1002 #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp + C'& +3 h &  '\ + M&% +3 h %  (  +2 A(S% +3 h % \ + A(<. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(G(  +657 E\ a_ +951 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (|& +2 h &  \ +2 M& & +3 h & 4 m +2 .t\Elbow.seek 2 + M&@( +36 h ( + M&d& +4 h &    + A($& +3 h &  \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&o'S +97 h ' + A(T& +4 h &  H\ + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A('s +299 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (0& +2 h &  \  +2 M&9& +3 h &   + .t\Elbow.seek 2 +2 M&C( +19 h ( +2 M&/& +4 h &  +47 A(R& +5 h &  \  + .t\Forearm.seek 2 + 300 counts +2 M&'Ͻ +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&%/ +75 h / +2 ."downElevator"\SE.seek :down +3 M&& +5 A(E' +3 h & C  +2 M&;% +3 h %  ] +2 .t\Forearm.seek :retract +2 M&3' +89 h ' + .t\Elbow.seek CC +2 M&H(ӂ +163 h ' + ."downElevator"\SE.coast + A(5 +11 h ( + M&#& +4 h &Ӄ n 1 + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &g& +2 h &Ӄ $ 1 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&5'? +104 h ' + C'& +4 h &  \ +2 C'P& +3 .t\CC.seek :closed +2 C'F(\\ +2 h &  \ +4 &  /\ : +9 &KK{  (\ 0 +10 &zs  '\ E +9 &#]  )\ M +9 &W  )\ L +10 &Z  &\ M +9 &kZ  )\ L +10 &-[  0\ L +9 &Y  0\ L +9 &Z  "\ L +10 &sZ  )\ L +9 &!6U  '\ L +10 &"Y  $\ L +9 &$Y  -\ M +9 &&{Y  '\ L +11 &(=Y  3\ L +9 &*U  *\ L +8 &+X  '\ L +10 &-X  (\ L +9 &/FU  #\ L +9 &1W  ,\ L +10 &2[  '\ L +9 &4Y  +\ L +10 &6MZ  '\ L +9 &8Z  '\ M +9 &9Y  '\ L +10 &;U  \ L +9 &=U\\  3\ L +10 &?Y  (\ M +9 &@Z  2\ L +9 &B]  4\ M +10 &DYf " 4\ N +9 &F~ '\ P +9 &G & $'\ S +10 &I * (*\ W +9 &KB ( ,&\ X +9 &M * +)\ Z +10 &N * ++\ Y +9 &P , -)\ Z +10 &RD + +'\ Z +9 &T + -&\ [ +9 &U - -1\ \\ +10 &W , ++\ \\ +9 &YD . -'\ ] +9 &[ . .$\ ] +10 &\\_M + -2\ 8 +9 &\\ - -(\ \\ +6 ( + C'P& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.20 +2 .Hand.open + M&N1 +61 h 1 +2 M&M% +4 h % 6   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&)' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 P%O& +3 h &\ +2 M&k% +3 h %     +2 A(_% +3 h % 4 3\ + A(U. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A((  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (?& +2 h &  7 <\ +2 M&]& +3 h &Ӄ 1 + M&m% +4 h %     + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&J( +160 h ( + M&,& +4 h &  + A(& +4 h &  b b \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&r'S +99 h ' + A(f& +4 h &  b X\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(c's +296 h ' + A(V- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (B& +2 h &  & & <\  +2 M&\\& +3 h &  f  + .t\Elbow.seek 2 +2 M&8( +4 h ( + M&I& +4 h &   M  + A(h& +3 h &  B C \  +2 .t\Forearm.seek 2 + 300 counts +2 M&'Ͻ +13 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&a/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&l& +6 A(`' +3 h & B  +2 M&z% +3 h % ϴ P +2 .t\Forearm.seek :retract +2 M&\ ' +92 h ' + .t\Elbow.seek PC +2 M&=( +164 h ' + ."downElevator"\SE.coast + A(5 +76 h ( + M&e& +4 h & \ &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &>& +3 h &    + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&j' +101 h ' + P%& +4 h &\ + P%i& +4 .t\PC.seek :closed + P%w(^ +3 h &\ +3 &\ \ +9 &.v\ *y +9 &b\ ? +10 &iw\ P +9 &+W\ O +9 &\\\ O +10 &V\ O +9 &q[\ O +10 &3\\\ O +9 &[\ O +9 &V\ O +10 & yZ\ O +9 &";Y\ O +9 &#[\ O +10 &%X\ O +9 &'Z\ O +9 &)CZ\ O +10 &+V\ O +9 &,Z\ P +10 &.Z\ O +9 &0K]\ O +9 &2 W\ O +10 &3Y\ O +9 &5W\ O +9 &7SY\ O +10 &9X\ O +9 &:]\ O +10 &<W\ O +9 &>[Z\ O +9 &@_\ P +10 &Ag\ Q +9 &Cs\ R +9 &ET\ U +10 &G\ U +9 &H\ U +10 &J\ V +9 &LV\ W +9 &N\ W +10 &O\ W +9 &Q\ W +9 &S\\\ W +10 &U\ W +9 &V\ W +10 &X\ V +9 &Zd\ W +9 &\\%\ X +10 &]\ < +9 &^5\ T +9 &^%\ 2 +3 ( + P%i& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 M&[1 +56 h 1 + M&q% +4 h %    + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +93 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^%\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 M&L% +3 h %    /  + A(D% +4 h % ' *\ +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 2 + A(X(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (A& +3 h &  & ( J\  +3 ."raiseStack"\SE.reconfigure SEplace + M&& +4 A(#]kK-0-\ b +4 h &  \   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M& ( +2 h ( + M&& +4 ."raiseStack"\SE.seek beamBreak + A(t's +3 h &    + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &   ~  +2 .t\Forearm.seek :PC +2 M&K' +94 h ' +2 .tHand.close + M&/ +66 h / + .t\PC.seek :open +2 P%n( +94 h ' + A(Y- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(^'1 +43 h ' +309 ( +2 A(p& +4 h &  C D \  + M&b& +3 h &    +2 M&W% +3 h %  \  4 +2 .t\Forearm.seek :retract + M&*' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +245 h ( + M&}& +4 h & \ - 8 + A(Z& +3 h &  B A\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +92 h ' + .tHand.open + M&x1 +56 h 1 +2 A(u- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(4' +54 h ' + #tLights, camera, ACTION! + A(:- +3 h -' +2 A({& +3 h &  f\ | +2 M&(& +3 h &  # 8 +2 .t\Elbow.seek 2 + M&( +3 h ( +2 M&1& +3 h &   8 + A(s& +4 h &  2\ { +2 .t\Forearm.seek 2 + 450 counts +2 M&"'S +13 h ' + .t\SE.reconfigure SEgently +3 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(2' +58 h ' + M&& +4 h & 8 +2 A(.& +3 h &  D D \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&+'Α +14 h ' + .t\Elbow.hold +2 M& , +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek -0.33 + A(' +28 h ' + M&7% +4 h %  _ 8 +2 A(v& +3 h &  C C \  + .t\Forearm.force -20 +49 M&5 +3 .t\Forearm.seek 2 + 348 counts +2 M&~' +15 h ' + M&Q& +4 h &   5 +2 A( & +3 h &  H 8 L\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&y'S +17 h ' +2 A(-% +3 h % G Z\ +3 ."downElevator"\SE.seek :down +2 A( ' +99 (!% +3 h %P ) ' \ Xj +2 M&% +4 h %R Y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'S& +3 h &\\{ , ,\ \\ +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&<% +4 h %  +  +2 A(|% +3 h % H Z \ + A( . +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(d(  +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ($& +3 h &  3 7 P\  + M&T& +4 h &  5 + .t\Elbow.seek 2 +2 M&&( +3 h ( + M&'& +4 h &   5 +2 A(& +3 h &  F 7 \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&0'S +92 h ' + A(9& +4 h &  ` `\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(/'s +307 h ' + A(R- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&%& +2 h &  x 4 +2 A(& +3 h &  G = \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&;'Α +15 h ' + .t\Elbow.hold +2 M&@, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(o- +2 h -' +2 .t\SE.seek 0.16 + A(#'p +30 h ' + M&g% +4 h %λ  K + A(& +4 h &  C > \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 342 counts +2 M&' +14 h ' + M&C& +4 h &   4 +2 A(& +3 h &  4 2 \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&E'S +16 h ' + .t\SE.seek 1.16 +2 A(3' +50 h ' + M&& +4 h &  4 +2 M&N% +3 h %K N +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&M' +87 h ' + .t\Elbow.seek CC +2 M&O(ӂ +154 h ( + M&k& +4 h &ӏ(   @W + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &_& +3 h &ӏ(  ( @W + .t\Forearm.seek :CC +2 M&U'? +91 h ' + .tHand.close + M&P/ +66 h / + .t\CC.seek :open +2 C'?( +448 h ( +2 A(]& +4 h &  &\  + A(m& +3 h &  z w \  +2 M&5& +3 h &Ӑ&  ?V + M&,% +3 h % V  c +2 .t\Forearm.seek :retract +3 M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&G( +165 h ( + M&f& +4 h &  W  + A(H& +4 h &  \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 2 + M&)'Α +96 h ' + .t\Elbow.hold +2 M&V, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&B1 +63 h 1 + M&\\% +4 h % Ώ    + A(I& +4 h &  \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 298 counts +2 M&h'ϻ +13 h ' +2 M&a& +4 h &  +2 A(l& +3 h &  \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&z'S +20 h ' + A(J% +4 h % @\ +3 ."downElevator"\SE.seek :down +2 A(r' +99 (c% +2 h %E o\ Vc +2 M&% +3 h %9  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&e' +87 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + C'>& +4 h &  \ + M&8% +4 h %  I  +2 A(% +3 h % \ +2 A(`. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(\ ( +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (6& +3 h & } r M\ \  + M&[& +3 h & )  +2 .t\Elbow.seek 3 + M&q( +31 h ( + M&& +4 h &} / > + A(L& +3 h & o v ,\ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&D'7 +96 h ' + A(& +4 h & M\ \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(A's +293 h ' + A(i- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h & W V\ \  +2 M&& +3 h &}  " > + .t\Elbow.seek 3 +2 M&( +3 h ( + M&j& +3 h &} > +2 A(& +3 h & w }\ \  +2 .t\Forearm.seek 3 + 300 counts +2 M&'ϡ +34 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&Y/ +77 h / +2 ."downElevator"\SE.seek :down +2 M&=& +4 A(' +5 h &}  > + M&w% +4 h % Ϫ t l +2 .t\Forearm.seek :retract + M&t' +91 h ' + .t\Elbow.seek CC +2 M&p(ӂ +152 h ( + M&b& +4 h &ӓ& \  f ?T + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &W& +3 h &ӓ&  ! ?T +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 h ' +2 .t\Forearm.seek :CC + ."downElevator"\SE.coast +2 A(5 + M&K'? +92 h ' +2 C'}& +4 h &  \ +2 C'Z& +3 .t\CC.seek :closed +2 C' (\\ +2 h &  \ +4 &  &\ 9 +10 &JJw  &\ 0 +9 &xs  #\ E +9 &!\\  *\ M +9 &W  (\ L +10 &Y  3\ L +9 &hZ  .\ L +10 &*W  )\ L +9 &Z  .\ L +9 &X  -\ M +10 &pY  1\ L +9 &!1W  $\ M +9 &"X  0\ L +10 &$Z  0\ L +9 &&xX  '\ L +10 &(9Y  /\ M +9 &)X  1\ L +9 &+W  +\ L +10 &-Y  )\ L +9 &/BX  $\ L +9 &1W  0\ L +10 &2U  $\ L +9 &4Y  0\ M +10 &6JY  4\ L +9 &8 V  4\ L +9 &9Z  3\ L +10 &;X  )\ M +9 &=RX  3\ L +9 &?V  2\ L +10 &@V  4\ L +9 &B]  3\ M +10 &DVf  ,\ N +9 &Fy " #%\ P +9 &G ) %$\ T +10 &I + ,*\ W +9 &K? , -(\ X +9 &M - -(\ Y +10 &N + -)\ Y +9 &P} + .&\ [\ +10 &RB - -)\ Z +9 &T , .$\ [\ +9 &U . ,2\ [ +10 &W / .*\ \\ +9 &Y@ . -%\ ] +9 &[ - -%\ ] +10 &\\^M . -$\ 9 +9 &\\ . /(\ _ +6 ( + C'Z& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.20 + .Hand.open +2 M&x1 +64 h 1 +2 M&u% +4 h % @   w + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&:' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 3 into Processing Clamp +2 P%{& +3 h &\ +2 M&(% +3 h %    + A(1% +4 h % ( / \ +2 A(s. +2 h . +49 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(*( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +2 h & 3 ) \  +2 M&.& +3 h &ӕ&  ?R +2 M&7% +3 h %   5  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&v( +167 h ( + M&^& +4 h &  \   +2 A(& +3 h &! & % \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&Q'7 +93 h ' + A( & +4 h &! & %\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(-'s +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &  \  +2 M&4& +3 h &   +2 .t\Elbow.seek 3 + M&!( +4 h ( + M&& +4 h &    + A("& +4 h & & & !\  +2 .t\Forearm.seek 3 + 300 counts + M&'ϡ +43 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&2/ +76 h / +2 ."downElevator"\SE.seek :down +2 M&+& +6 A(~' +3 h &  A  +2 M&S% +3 h % σ  P +2 .t\Forearm.seek :retract +2 M&<' +90 h ' + .t\Elbow.seek PC +2 M&|( +168 h ' + ."downElevator"\SE.coast + A(5 +71 h ( +2 M& & +4 h & l  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&$' +101 h ' + P%T& +4 h &\ + P%'& +4 .t\PC.seek :closed +2 P%(^ +2 h &~\ +4 &\ 2 +9 &6E{\ 1 +10 &]q\ E +9 &e\ P +10 &U\ O +9 &Y\ O +9 &@[\ P +10 &Y\ P +9 &Z\ O +9 &\\\ P +10 &HX\ P +9 &!\ Y\ P +9 &"W\ P +10 &$T\ O +9 &&PZ\ P +10 &(Y\ P +9 &)V\ O +9 &+W\ O +10 &-YW\ O +9 &/]\ P +9 &0Z\ P +10 &2V\ O +9 &4a[\ O +10 &6#\\\ O +9 &7[\ O +9 &9W\ O +10 &;iZ\ O +9 &=*W\ P +9 &>Z\ P +10 &@]\ P +9 &Bjl\ R +10 &D(r\ S +9 &E\ V +9 &G\ V +10 &Ie\ V +9 &K'\ V +9 &L\ V +10 &N\ X +9 &Pi\ X +10 &R+\ X +9 &S\ X +9 &U\ W +10 &Wr\ W +9 &Y3\ X +9 &Z\ W +10 &\\\ Y +9 &^0b\ / +10 &^u\ > +9 ( +2 &^6\ 8 + P%'& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 M&y1 +57 h 1 + M&9% +4 h %     \ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +93 h ' + .t\SC.coast + A(6 +3 P%X& +3 h &^6\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M& % +3 h %    N  +2 A(% +3 h % * / D\ +2 A(R. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(%( +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +4 M&& + A(o& +5 h &    + & & & *\  +2 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.reconfigure TightElbow +3 A(#]kK-0-\ b +2 M&$&.,(\ #b +3 .t\Elbow.seek PC +2 M&g( +3 h ( +2 M&& +3 ."raiseStack"\SE.seek beamBreak + A(C's +3 h &     + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &     +2 .t\Forearm.seek :PC +2 M&' +90 h ' + .tHand.close + M&N/ +67 h / + .t\PC.seek :open +2 P%0( +98 h ' + A(&- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(/'1 +46 h ' +303 ( + A(;& +4 h &" % %\  + M&& +3 h & 8  +2 M&#% +3 h % "  " l +2 .t\Forearm.seek :retract + M&k' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&_( +262 h ( + M&E& +4 h &     + A(@& +3 h &"  :\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&P'7 +94 h ' + .tHand.open + M&M1 +59 h 1 + A(F- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(]' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(m' +54 h ' + #tLights, camera, ACTION! + A(5- +3 h -' +2 A(,& +3 h & \ q  +2 M&f& +3 h &   +2 .t\Elbow.seek 3 + M&H( +3 h ( + M&U& +3 h &   \  +2 A(O& +3 h & \ q  +2 .t\Forearm.seek 3 + 450 counts +2 M&B'7 +4 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +3 .t\SE.seek -0.52 + A(\\' +53 h ' + M&I& +4 h &   +2 A(a& +3 h &!  <\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&l'u +14 h ' + .t\Elbow.hold +2 M&J, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +20 h ' + M&c% +4 h %Γ  1 M +2 A(& +3 h &!   4\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 330 counts +2 M&G'Ͽ +15 h ' +2 M&)& +3 h & [  +2 A(>& +3 h &!  "\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&h'7 +19 h ' +2 A(8% +3 h % & %\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (`% +2 h %#E J\ Wg +2 M&3% +3 h %-  h +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&z' +90 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'r& +3 h &\\ / /!\ _ +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&d% +3 h %    +2 A(6% +3 h % % %\ + A([. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (L& +3 h & ( 0 /\  + M&& +3 h &    +2 .t\Elbow.seek 3 +2 M&V( +2 h ( +2 M&e& +3 h &    + A(i& +4 h & * ) \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +96 h ' + A(& +4 h &! \ \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(j's +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&Y& +2 h &   + A(=& +4 h & & ( <\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&w'u +16 h ' + .t\Elbow.hold +2 M&q, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(D- +2 h -' +48 .t\SE.seek 0.17 +3 A(b'w +29 h ' + M&W% +4 h %Ώ  1 + A(A& +4 h & / * S\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 326 counts +2 M&'ϻ +17 h ' + M&}& +4 h &  .  +2 A(& +3 h &!  O\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&t'7 +17 h ' + .t\SE.seek 1.17 +2 A(' +35 h ' + M&?& +4 h &  T  +2 M&x% +3 h %B 9 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&u' +91 h ' + .t\Elbow.seek CC +2 M&{(ӂ +158 h ( +2 M&(& +4 h &ӌ+   Cs + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &1& +2 h &Ӎ+   Cr +2 .t\Forearm.seek :CC +2 M&s'? +92 h ' + .tHand.close + M&Z/ +77 h / + .t\CC.seek :open +2 C'( +448 h ( + A(.& +4 h &! _ Z\  + A(7& +3 h &! ` \\\  +2 M&K& +3 h &Ӣ'  F @] +2 M&^% +3 h % > X L + .t\Forearm.seek :retract +2 M&' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&\ ( +157 h ( + M& & +4 h & 3 + A(p& +4 h &! z \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 3 +2 M&:'u +90 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +61 h 1 + M&4% +4 h % Μ   ` + A(& +4 h &! y { M\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 339 counts + M&"' +15 h ' + M&2& +4 h & 6 +2 A(+& +3 h &! R\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&S'7 +15 h ' + A(v% +4 h % i\  +3 ."downElevator"\SE.seek :down +2 A(Q' +99 (-% +2 h %? Y U \ Va +2 M&% +3 h %A S +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +90 h ' +53 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'& +4 h &  \ +2 M&!% +3 h %     +2 A(T% +3 h % )\ + A(~. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(<(,y +360 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (n& +3 h &,x } u\  + M&y& +3 h &  +2 .t\Elbow.seek 4 +2 M&9( +22 h ( + M&X& +4 h & 1  + A( & +3 h &,w =\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +97 h ' + A(R& +4 h &,w 4\ + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(''s +294 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (o& +2 h &,w \ +2 M&& +3 h & N  + .t\Elbow.seek 4 +2 M&( +19 h ( + M&$& +4 h &  + A(N& +3 h &,w \ +2 .t\Forearm.seek 4 + 300 counts +2 M&*'c +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&&/ +74 h / +2 ."downElevator"\SE.seek :down +2 M&|& +4 A( ' +5 h &   +2 M&% +3 h % ϗ +2 .t\Forearm.seek :retract + M&C' +90 h ' + .t\Elbow.seek CC +2 M&;(ӂ +160 h ( + M&& +4 h &ӎ(  @Y +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b + h ' +2 M&#& +3 ."downElevator"\SE.coast +2 A(5 +2 h &ӎ(  @Y +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +94 h ' +3 C'E& +3 h &  +\ +2 C'@& +3 .t\CC.seek :closed +2 C'g(\\ +2 h &  \ +5 &  )\ : +8 &LLy  )\ 0 +10 &|t  2\ D +9 &#_  '\ M +10 &U  (\ K +9 &Y  (\ L +9 &lW  '\ L +9 &.Z  5\ L +10 &U  +\ L +9 &W  3\ L +10 &sZ  '\ L +9 &!6W  (\ L +9 &"Z  '\ L +10 &$X  *\ L +9 &&{Z  ,\ L +9 &(>W  (\ L +10 &)Z  &\ L +9 &+V  &\ K +10 &-W  +\ L +9 &/GX  &\ K +9 &1W  /\ L +10 &2W  )\ L +9 &4Z  %\ L +9 &6NX  (\ L +10 &8X  '\ L +9 &9[  &\ L +10 &;W  %\ L +9 &=VX  2\ L +9 &?X  4\ L +10 &@Y  *\ L +9 &B_  &\ M +9 &DXh  4\ N +11 &F~ $ #+\ Q +8 &G ( %)\ S +10 &I ) )1\ W +9 &KC ( **\ X +9 &M ) )(\ X +10 &N + *&\ Y +9 &P , +&\ Y +9 &RD * +)\ Z +10 &T + *&\ [ +9 &U + +2\ [\ +10 &W . ,3\ [ +9 &YC , ,+\ ] +9 &[ + +(\ ] +10 &\\_J , +)\ 6 +10 &\\ , +.\ N +5 ( + C'@& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.18 + .Hand.open +2 M&M1 +55 h 1 + M&F% +4 h % ;   W + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&5' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%,& +3 h &\ +2 M&f% +3 h %   @  +2 A(U% +3 h % 4 3\ + A(O. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(k(,y +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (I& +2 h &,w F = \  +2 M&a& +3 h &ӑ& ?V +2 M&c% +3 h %     +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&( +167 h ( + M&)& +4 h & \ }  + A(>& +4 h &,x G @ o\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&/' +98 h ' + A(8& +4 h &,x G \\ \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(]'s +297 h ' + A(_- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (P& +2 h &,x % % 7\  +2 M&m& +3 h & v  + .t\Elbow.seek 4 +2 M&`( +4 h ( + M&3& +4 h &  :  + A(B& +3 h &,x & * Q\  +2 .t\Forearm.seek 4 + 300 counts +2 M&H'c +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&\\/ +75 h / +2 M&l& +2 ."downElevator"\SE.seek :down +5 A(G' +2 h &  +2 M&r% +3 h % X   +2 .t\Forearm.seek :retract +2 M&d' +89 h ' + .t\Elbow.seek PC +2 M&6( +175 h ' + ."downElevator"\SE.coast + A(5 +64 h ( + M&[& +4 h & \   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &   + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&L' +98 h ' + P%& +4 h &|\ + P%e& +4 .t\PC.seek :closed + P%i(^ +3 h &\ +2 &\  +50 &-v\ +z +5 &c\ ? + &gv\ P + &*V\ O + &Y\ O +2 &Z\ O +5 &oZ\ O +9 &0Y\ P +9 &Z\ O +10 &U\ O +9 & wZ\ O +10 &"9W\ O +9 &#V\ O +9 &%W\ O +11 &'U\ O +8 &)@X\ P +9 &+Y\ O +10 &,V\ P +9 &.Y\ O +10 &0IY\ O +9 &2 Z\ O +9 &3Y\ O +10 &5Y\ O +9 &7RZ\ O +9 &9Y\ O +10 &:W\ O +9 &<W\ O +10 &>Y]\ O +9 &@Z\ P +9 &Ag\ Q +10 &Cw\ R +9 &ER\ T +9 &G\ U +10 &H\ U +9 &J\ V +10 &LU\ V +9 &N\ V +9 &O\ V +10 &Q\ W +9 &SZ\ W +10 &U\ V +9 &V\ X +9 &X\ W +10 &Zc\ W +9 &\\#\ X +9 &]\ 4 +10 &^1v\ N +9 &^-\ 6 +2 ( +2 P%e& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + M&h1 +55 h 1 + M&% +4 h %   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +94 h ' + .t\SC.coast + A(6 +2 P%%& +4 h &^,\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&J% +3 h %  2  +2 A(z% +3 h % * ) \ +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 4 +2 A(Y(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (=& +3 M&D& +2 h &,x & ) 2\  +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +3 h &   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&W( +3 ."raiseStack"\SE.seek beamBreak + h ( +2 A(A's + M&}& +6 h &    + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &    +2 .t\Forearm.seek :PC +2 M&?' +91 h ' + .tHand.close + M&x/ +78 h / + .t\PC.seek :open +2 P%( +87 h ' + A(V- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(j'1 +41 h ' +397 ( + A(w& +4 h &,x! ( ( \  + M&& +3 h &   +2 M&b% +3 h %  F +2 .t\Forearm.seek :retract +2 M&(' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&1( +250 h ( + M&t& +4 h &    + A(q& +3 h &,x! & ( \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&Z' +94 h ' + .tHand.open + M&u1 +59 h 1 + A( - +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(.' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(7' +54 h ' +2 #tLights, camera, ACTION! + A(K- +3 h -' +2 A(^& +3 h &,x [\ y  +2 M& & +4 h &   + .t\Elbow.seek 4 +2 M&p( +12 h ( + M&s& +4 h &    + A({& +4 h &,x $\ x  +2 .t\Forearm.seek 4 + 450 counts +2 M&' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(4' +58 h ' + M&& +4 h &  +2 A(2& +3 h &,x % % \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&+'7 +16 h ' + .t\Elbow.hold +2 M&v, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +29 h ' + M&-% +4 h %g  a b +2 A(& +3 h &,x & & \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 348 counts +2 M&\ 'ϓ +18 h ' + M&:& +4 h &  d  +2 A(& +3 h &,x ) 0 7\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&!' +20 h ' +2 A("% +3 h % % $ E\ +3 ."downElevator"\SE.seek :down +2 A(T' +99 (~% +2 h %PC & %\ We +2 M&% +4 h %  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&S' +88 h ' +70 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'Q& +3 h &\\n - -'\ N +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&% +3 h %    b  +2 A(n% +3 h % Z Z\ +2 A(y. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 4 + A(X(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &,x [ Z\  + M&R& +4 h &   Z  + .t\Elbow.seek 4 +2 M&( +10 h ( + M& & +4 h & Z  +2 A(& +3 h &,x U W\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&o' +97 h ' + A(& +4 h &,x i \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A($'s +295 h ' + A(N- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&&& +2 h &  + A(|& +4 h &,x Z O q\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&'7 +15 h ' + .t\Elbow.hold +2 M&9, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.17 + A('v +32 h ' + M&#% +4 h %i  W + A('& +3 h &,x 4 : O\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 350 counts + M&*'ϕ +18 h ' + M&E& +4 h & I  +2 A(& +3 h &,x Y U\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M& ' +18 h ' + .t\SE.seek 1.17 +2 A(C' +42 h ' + M&& +4 h &   +2 M&M% +3 h % o +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&F' +87 h ' + .t\Elbow.seek CC +3 M&,(ӂ +158 h ( + M&f& +4 h &Ӓ&   ?S + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &U& +3 h &Ӓ& i ?S + .t\Forearm.seek :CC +2 M&O'? +92 h ' + .tHand.close + M&I/ +73 h / + .t\CC.seek :open +2 C'@( +448 h ( +2 A(a& +4 h &,x U\  + A(c& +3 h &,x  +\  +2 M&& +3 h &ӓ'  ?R + M&)% +3 h % m  G +2 .t\Forearm.seek :retract +2 M&>' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&<( +163 h ( + M&8& +4 h &   + A(;& +3 h &,x \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 4 +2 M&5'7 +94 h ' + .t\Elbow.hold +2 M&_, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&P1 +57 h 1 + M&m% +4 h % F  # + A(3& +3 h &,x \  +2 .t\Forearm.force -20 +47 M&5 +5 .t\Forearm.seek 4 + 315 counts +2 M&B'r +27 h ' + M&\\& +4 h &  +2 A(l& +3 h &,x \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&r' +16 h ' + A(% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(/' +99 (]% +2 h %D \ Wa +2 M&H% +4 h %  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&[' +90 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp + C'& +4 h &  \ +2 M&`% +3 h %  '  +2 A(% +3 h % \ +2 A(G. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(d(<- +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (0& +3 h &<,  (\  + M&h& +3 h &  X  +2 .t\Elbow.seek 5 +2 M&( +3 h ( + M&%& +4 h &    + A(J& +3 h &<, h\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&z'O +93 h ' + A(& +4 h &<, \  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(='s +297 h ' + A(e- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (D& +2 h &<, y k\  +2 M&}& +3 h & A  +2 .t\Elbow.seek 5 + M&( +3 h ( + M&L& +3 h &  R  +2 A(x& +3 h &<, w { \  +2 .t\Forearm.seek 5 + 300 counts +2 M&k'Ϲ +42 h ' + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b + .tHand.close +2 M&V/ +67 h / +2 ."downElevator"\SE.seek :down +2 M&6& +4 A(' +5 h &  +2 M&i% +3 h %   ] +2 .t\Forearm.seek :retract +2 M&A' +87 h ' + .t\Elbow.seek CC +2 M&w(ӂ +156 h ( + M&& +4 h &ӊ+   M Cm + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' +2 M&b& + ."downElevator"\SE.coast +2 A(5 +5 h &Ӌ* \ Bl + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&?'? +101 h ' + C't& +4 h &  (\ +2 C'q& +3 .t\CC.seek :closed +2 C'W(\\ +2 h &  &\ +3 &  '\  +9 &4  /\ *z +9 &e~  4\ > +9 &q  4\ M +10 &OV  3\ L +9 &V  0\ L +10 &W  &\ L +9 &U  *\ L +9 &WZ  &\ L +10 &Y  *\ L +9 &W  '\ L +9 & V  &\ K +10 &"_W  3\ L +9 &$!V  '\ L +10 &%W  3\ L +9 &'W  )\ L +9 &)iV  (\ K +10 &+)X  2\ L +9 &,W  4\ L +9 &.W  1\ L +10 &0qV  (\ K +9 &21W  (\ L +10 &3W  2\ L +9 &5W  *\ L +9 &7wX  '\ L +10 &99X  &\ L +9 &:X  2\ L +9 &<X  3\ L +10 &>~Y  0\ L +9 &@@X  /\ L +10 &BZ  3\ M +9 &Cf  4\ N +9 &Ez| # $0\ P +10 &G2 ' &2\ T +9 &H * (,\ W +9 &J ) )2\ X +10 &Lk + )1\ X +9 &N, ( )3\ Y +10 &O + +#\ Y +9 &Q ) +2\ Z +9 &Sl , ,5\ [ +10 &U- + +)\ [\ +9 &V , *\ [ +9 &X + +/\ ] +10 &Zm , +!\ ] +9 &\\x * +(\ 8 +10 &\\* + ,#\ %p +9 ( +2 &\\ + +*\ \\ + C'q& +4 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open + M&u1 +62 h 1 + M& % +4 h % G   * + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&K' +94 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + P%^& +3 h &\ +2 M& % +3 h %   +2 A(s% +3 h % % & \ +2 A({. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(((<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<, ) ) 8\  + M&2& +3 h &ӟ'  @X +2 M&-% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&( +161 h ( + M&j& +4 h &  C  + A(:& +4 h &<, ? H j\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +95 h ' + A(.& +4 h &<, W a\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A("'s +295 h ' + A(1- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (Z& +2 h &<, & & \  +2 M&7& +3 h & \ \   + .t\Elbow.seek 5 +2 M&~( +2 h ( +2 M&& +3 h &     +2 A(& +3 h &<, A A \  +2 .t\Forearm.seek 5 + 300 counts + M&p'Ϲ +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&4/ +71 h / +2 ."downElevator"\SE.seek :down +2 M&+& +3 A(\ ' +6 h &  +2 M&Q% +3 h %   + .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.seek PC +2 M&n( +165 h ' +2 ."downElevator"\SE.coast + A(5 +72 h ( + M&y& +4 h &  8  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &  >  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M& ' +93 h ' + P%R& +4 h &\ +2 P% & +3 .t\PC.seek :closed +2 P%(^ +2 h &\ +3 &\ \ +9 &/v\ *x +9 &a\ > +10 &fv\ O +9 &'Y\ O +9 &Z\ O +10 &Y\ O +9 &lY\ O +10 &.Y\ O +9 &Y\ O +9 &X\ O +10 & sX\ P +9 &"7W\ O +9 &#Y\ O +10 &%V\ O +9 &'|X\ O +9 &)>U\ O +10 &*W\ P +9 &,X\ O +10 &.V\ O +9 &0E\\\ P +9 &2Y\ O +10 &3T\ O +9 &5Y\ O +9 &7OT\ O +10 &9Z\ P +9 &:Z\ P +10 &<Y\ P +9 &>UZ\ P +9 &@\\\ O +10 &Ab\ P +9 &Cm\ R +10 &ESz\ S +9 &G\ U +9 &H\ U +10 &J\ V +9 &LS\ V +9 &N\ V +10 &O\ V +9 &Q\ W +9 &SW\ W +10 &U\ V +9 &V\ W +10 &X\ W +9 &Z_\ W +9 &\\ \ X +10 &]\ 9 +9 &^.\ Z +9 &^8\ 7 +3 ( + P% & +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 M&!1 +57 h 1 + M&% +4 h %   J + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&T' +89 h ' + .t\SC.coast + A(6 +2 P%Y& +4 h &^6\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 M&v% +3 h %  \   + A(S% +4 h % & &\ + A(N. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(&(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (|& + M&& +4 h &<,  &\  +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h & \   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&#( +2 ."raiseStack"\SE.seek beamBreak +2 h ( +2 A(''s +2 M&E& +5 h &    + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &  4  +2 .t\Forearm.seek :PC +2 M&' +93 h ' + .tHand.close + M&M/ +70 h / + .t\PC.seek :open +2 P%o( +90 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +50 A($'1 +43 h ' +265 ( + A(& +4 h &<, H ? "\  + M&*& +4 h &   + M&% +3 h %   +2 .t\Forearm.seek :retract +2 M&f' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&U( +246 h ( + M& & +4 h &   8 + A(9& +4 h &<, J J @\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&I'O +95 h ' + .tHand.open + M&F1 +61 h 1 + A(g- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(a' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(c' +57 h ' +2 #tLights, camera, ACTION! + A(- +3 h -' +2 A()& +3 h &<, U\ } +2 M&8& +3 h &    8 + .t\Elbow.seek 5 +2 M&;( +3 h ( + M&O& +3 h &  8 +2 A(,& +3 h &<, \ | +2 .t\Forearm.seek 5 + 450 counts +2 M&P'O +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(m' +58 h ' + M&3& +4 h &   Y 8 +2 A(\\& +3 h &<, B E A\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b + .t\Forearm.seek 5 +2 M&l'΍ +19 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(>' +20 h ' +2 M&]% +3 h %Η  r  +2 A(<& +3 h &<, & %\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 310 counts +2 M&H' +16 h ' +2 M&5& +3 h &  g / +2 A(& +3 h &<, C A\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&B'O +18 h ' +2 A(`% +3 h % J I &\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (G% +2 h %HI % '\ Xg +2 M&C% +4 h %H  x + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&r' +87 h ' +71 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast A(6 +3 C'/& +4 h &\\ + -\ \\ + #t\Storing generic puck in Collection Clamp to tube 5 + M&X% +4 h %    +2 A(0% +3 h % J J &\ + A(h. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(%(<- +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (J& +3 h &<, J J \  + M&& +4 h &  / +2 .t\Elbow.seek 5 + M&_( +28 h ( + M&[& +4 h &   b  +2 A(e& +3 h &<, C 4 d\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&D'O +98 h ' + A(}& +4 h &<, ` \\\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(L's +297 h ' +2 A(x- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&V& +2 h &   +2 A(6& +3 h &<, = C 0\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 + M&i'΍ +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(z- +2 h -' +2 .t\SE.seek 0.15 +2 A('i +29 h ' + M&b% +4 h %Ρ % A + A(=& +3 h &<, 3 5 c\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 320 counts +2 M&k' +15 h ' + M&t& +4 h &  + A(& +4 h &<, : G ;\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +16 h ' + .t\SE.seek 1.15 +2 A(A' +37 h ' + M&@& +4 h & Q +2 M&u% +3 h %9 W +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +91 h ' + .t\Elbow.seek CC +3 M&^(ӂ +156 h ( + M& & +4 h &z0  ` F + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &s& +3 h &z. \ $ F + .t\Forearm.seek :CC +2 M&{'? +93 h ' +2 .tHand.close + M&q/ +75 h / + .t\CC.seek :open +2 C'( +448 h ( +2 A(2& +3 h &<, \  +2 A(-& +3 h &<,  l\  + M&?& +4 h &Ӧ'  Y @Z + M&j% +3 h % _ J L +2 .t\Forearm.seek :retract + M&:' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&d( +164 h ( + M&.& +4 h &  R  + A(w& +3 h &<, 0\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&K'΍ +95 h ' + .t\Elbow.hold +2 M&1, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&Z1 +54 h 1 + M&7% +4 h %   + A(& +3 h &<, l\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 286 counts + M&'ϫ +21 h ' + M&4& +4 h &  +2 A(+& +3 h &<, *\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&Q'O +14 h ' + A(% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(' +99 ("% +2 h %]< )\ U_ +2 M&p% +3 h %W h +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&y' +91 h ' +63 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp + C'& +4 h &  \ + M&~% +4 h %   _  +2 A(R% +3 h % \ +2 A(\ . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A((K +362 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K \  + M&!& +3 h &  +2 .t\Elbow.seek 6 + M&( +9 h ( + M&Y& +4 h & G  + A(v& +3 h &K e\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&S' +97 h ' + A(N& +4 h &K \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(|'s +292 h ' +2 A( - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &K \  + M&E& +4 h & v  +2 .t\Elbow.seek 6 + M&( +3 h ( + M& & +3 h &  +2 A(M& +3 h &K \  +2 .t\Forearm.seek 6 + 300 counts +2 M&('h +15 h ' +46 .t\Forearm.reconfigure LooseForearm +4 M&#Q@2^d^2b +2 .tHand.close + M&/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&n& +5 A(T' +4 h & S  +2 M&% +3 h % ] V +2 .t\Forearm.seek :retract + M&'' +90 h ' + .t\Elbow.seek CC +2 M&(ӂ +158 h ( + M&*& +5 h &Ӌ+   Cp ' + ."downElevator"\SE.coast +2 A(5 +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӌ+  Co + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&'? +93 h ' + C' & +4 h &  (\ +2 C'9& +3 .t\CC.seek :closed +2 C'#(\\ +2 h &  0\ +4 &  <\  +10 &4  (\ +{ +7 &e  2\ > +10 &q  3\ M +10 &UV  2\ K +9 &W  %\ L +9 &Z  +\ L +9 &U  $\ L +10 &\\T  2\ L +9 &Y  3\ L +9 &Y  &\ L +10 & T  +\ L +9 &"dW  '\ L +10 &$'W  3\ K +9 &%W  5\ K +9 &'X  '\ L +10 &)lZ  (\ L +9 &+.U  '\ L +10 &,U  3\ L +9 &.W  2\ K +9 &0tW  3\ L +9 &26Z  4\ L +10 &3X  *\ K +9 &5Y  3\ L +10 &7{U  )\ L +9 &9>Y  (\ L +9 &;W  *\ K +10 &<W  (\ L +9 &>Y  2\ K +9 &@FX  '\ L +10 &B]  (\ L +9 &Cd ! '\ M +10 &Ev $ !2\ O +9 &G: ' &+\ S +9 &H + +&\ V +10 &J - -&\ X +9 &Lo - ,%\ X +9 &N0 * -)\ Y +10 &O . .\ Y +9 &Q / -,\ Z +10 &Sr + ./\ Z +9 &U2 - .&\ [ +9 &V / .b\ [ +10 &X . .'\ \\ +9 &Zr . /#\ ] +9 &\\z / .%\ 3 +10 &\\, . 1\ [ +9 ( +2 &\\u , .$\ Q + C'9& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open +2 M&F1 +56 h 1 +2 M&g% +4 h % 8   g + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp +2 P%)& +3 h & \ +2 M&8% +3 h %   _  +2 A(O% +3 h % ? < Z\ + A(,. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(f(K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (3& +3 h &K A C \  +2 M&\\& +3 h &ӡ'   @Z +2 M&]% +3 h %  !  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&<( +171 h ( + M&$& +4 h &   " \ + A(5& +4 h &K b b\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +94 h ' + A(a& +4 h &K h x\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(`'s +300 h ' + A(U- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (I& +2 h &K 5 6 K\  +2 M&c& +3 h &  \ + .t\Elbow.seek 6 +2 M&G( +9 h ( + M&C& +4 h &    + A(P& +3 h &K U Y\  +2 .t\Forearm.seek 6 + 300 counts +2 M&;'h +26 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&m/ +66 h / +2 ."downElevator"\SE.seek :down +3 M&l& +5 A(H' +3 h & W  +2 M&/% +3 h % c ] +2 .t\Forearm.seek :retract +2 M&X' +89 h ' + .t\Elbow.seek PC +2 M&0( +168 h ' + ."downElevator"\SE.coast + A(5 +74 h ( + M&h& +4 h & \  h " +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &>& +2 h &  " +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&J' +99 h ' + P%& +4 h &\ + P%[& +4 .t\PC.seek :closed +2 P%e(^ +2 h &\ +4 &\ 2 +9 &9Fz\ 1 +10 &br\ E +10 &e\ O +8 &X\ O +10 &W\ O +9 &IY\ O +10 & X\ N +9 &Y\ O +9 &Z\ O +10 &QW\ O +9 &!Y\ O +9 &"Z\ O +10 &$V\ O +9 &&XZ\ O +10 &(Y\ O +9 &)W\ O +9 &+Y\ O +10 &-`X\ O +10 &/"Z\ O +8 &0\\\ O +10 &2Y\ O +9 &4jY\ N +10 &6+Z\ O +9 &7Y\ N +9 &9Y\ O +10 &;o[\ O +9 &=0Y\ P +10 &>Z\ P +9 &@^\ P +9 &Brh\ Q +10 &D0v\ R +9 &E\ U +9 &G\ V +10 &Im\ U +9 &K,\ V +9 &L\ V +10 &N\ V +9 &Pn\ X +10 &R2\ W +9 &S\ X +9 &U\ V +10 &Wv\ X +10 &Y;\ W +8 &Z\ W +10 &\\\ X +9 &^4`\ / +10 &^\ D +9 ( +2 &^.\ 7 + P%[& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open +2 M&B1 +57 h 1 + M&}% +4 h %   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\SC.coast + A(6 +2 P%&& +4 h &^.\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 M&% +3 h %    \ +2 A(r% +3 h % > ,\ + A(x. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(V(K + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (6& +2 M&z& +5 h &K  & \  + &  ! +3 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.reconfigure TightElbow +3 A(#]kK-0-\ b +3 M&$&.,(\ #b +3 .t\Elbow.seek PC +2 M&b( +2 h ( +2 ."raiseStack"\SE.seek beamBreak +3 M&=& + A(t's +5 h &   ! + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & # / ! +2 .t\Forearm.seek :PC +2 M&@' +93 h ' + .tHand.close + M&u/ +67 h / + .t\PC.seek :open +2 P%D( +95 h ' +2 A(_- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(L'1 +40 h ' +311 ( + A(i& +4 h &K W b\  + M&k& +3 h &  r ! +2 M&% +3 h %  T @ +2 .t\Forearm.seek :retract + M& ' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&s( +246 h ( + M&& +4 h &   e  + A(& +3 h &K T X Q\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&q' +95 h ' + .tHand.open + M& 1 +62 h 1 + A(W- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(2' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(-' +54 h ' + #tLights, camera, ACTION! + A(?- +4 h -' + A(j& +3 h &K \  +2 M&.& +3 h &    +2 .t\Elbow.seek 6 + M&w( +9 h ( + M&{& +4 h &    + A(^& +4 h &K \  +2 .t\Forearm.seek 6 + 450 counts +2 M&Z' +11 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(7' +52 h ' + M&& +4 h & k  +2 A(4& +3 h &K = 2 \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 +2 M&+'< +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(:' +20 h ' + M&"% +4 h %b  5 +2 A(p& +3 h &K A H \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 338 counts + M&d'ώ +19 h ' +48 M&K& +6 h & S  +2 A(& +3 h &K U X 8\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +18 h ' +2 A(~% +4 h % U X e\ +2 ."downElevator"\SE.seek :down +2 A(R' +99 (\ % +3 h %*I A / |\ Wf + M&A% +4 h % t + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Q' +90 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +3 h &\\u / .\ Q +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&%% +4 h %    +2 A(% +3 h % \\ a\ + A(!. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(Y(K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (v& +2 h &K Y Z\  +2 M&N& +3 h &   +2 .t\Elbow.seek 6 +2 M&1( +9 h ( + M&y& +4 h &  U  +2 A( & +3 h &K Z U\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +99 h ' + A(E& +4 h &K a `\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A( 's +300 h ' + A(M- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h &  X  +2 A(n& +3 h &K J J "\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&'< +16 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(S- +2 h -' +2 .t\SE.seek 0.16 + A(*'o +31 h ' + M&% +4 h %T \  R  + A(|& +4 h &K > < \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 324 counts +2 M&('π +19 h ' + M& & +4 h &  +2 A(& +3 h &K Z Z\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&T' +16 h ' + .t\SE.seek 1.16 +2 A('' +35 h ' +2 M&& +4 h &  +2 M&F% +3 h % F +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&g' +91 h ' + .t\Elbow.seek CC +2 M&)(ӂ +154 h ( + M&8& +4 h &Ӑ%   >N + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &O& +3 h &Ӑ%  >N +2 .t\Forearm.seek :CC + M&,'? +93 h ' + .tHand.close + M&3/ +67 h / + .t\CC.seek :open +2 C'9( +448 h ( + A(\\& +4 h &K \  + A(]& +3 h &K y | T\  +2 M&& +3 h &Ө" \ ` ;6 +2 M&$% +3 h % 3  C + .t\Forearm.seek :retract +2 M&5' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +166 h ( + M&a& +4 h &   + A(& +3 h &K \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 6 +2 M&'< +95 h ' + .t\Elbow.hold +2 M&U, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&I1 +60 h 1 + M&c% +4 h % \\ \  ! ) + A(C& +4 h &K K\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 332 counts +2 M&P'ψ +26 h ' + M&m& +4 h &  + A(l& +4 h &K \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&/' +16 h ' + A(<% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(' +99 (`% +2 h %x@ L\ V` +2 M&;% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&h' +88 h ' +58 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp +2 C'>& +3 h &  \ +2 M&G% +3 h %  `  +2 A(% +3 h % V\ +2 A(H. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(X([ +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (o& +3 h &[ { { -\ \  + M&B& +3 h &   +2 .t\Elbow.seek 7 + M&}(r +12 h ( + M&&& +4 h &i  f  + A(& +3 h &[ t\ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&r'= +93 h ' + A(x& +4 h &[ \ \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(6's +298 h ' + A(z- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ([& +2 h &[ z C\ \  +2 M&=& +3 h &i  + .t\Elbow.seek 7 +2 M&(r +2 h ( +2 M&J& +3 h &i  + A(u& +4 h &[ z \ \  +2 .t\Forearm.seek 7 + 300 counts + M&f'ϧ +39 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&_/ +72 h / +2 M&0& +2 ."downElevator"\SE.seek :down +4 A(' +3 h &i j  + M&e% +4 h % ϲ G + .t\Forearm.seek :retract +2 M&t' +95 h ' + .t\Elbow.seek CC +2 M&i(ӂ +156 h ' + ( + ."downElevator"\SE.coast +2 A(5 +5 M&k& +4 h &Ӏ+  \  Co + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &Ӏ+ \ T Co +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&@'? +98 h ' + C'& +4 h &  .\ +2 C'& +3 .t\CC.seek :closed +2 C'b(\\ +2 h &  \ +3 &  +\  +9 &3z  %\ *y +10 &e  )\ > +9 &r  #\ M +10 &MV  '\ L +9 &T  *\ L +9 &V  '\ L +10 &V  /\ L +9 &UT  '\ L +9 &X  '\ L +10 &W  -\ L +9 & T  -\ L +10 &"]W  *\ L +9 &$U  &\ L +9 &%W  0\ L +10 &'U  *\ L +9 &)eW  '\ L +9 &+(X  3\ K +10 &,W  (\ L +9 &.X  +\ L +10 &0lV  (\ L +9 &2.X  *\ L +9 &3W  3\ L +10 &5W  2\ L +9 &7uY  (\ L +9 &97Y  *\ L +10 &:X  (\ L +9 &<[  )\ L +10 &>{Y  \ L +9 &@=W  ?\ L +9 &A[  *\ M +10 &C^  &\ M +9 &E|n $ "(\ O +9 &G5 ' %.\ R +11 &H , +$\ U +8 &J , /"\ X +10 &Lj - .'\ X +9 &N+ , 0(\ X +9 &O + 0 \ Y +10 &Q + .1\ Y +9 &Sj - 0&\ Z +9 &U, . ."\ Z +10 &V . .!\ \\ +9 &X - -\ ] +10 &Zk - ."\ ] +9 &\\y 1 /!\ 7 +9 &\\) 0 0!\ $m +10 ( +2 &\\ . / \ [ + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + M& 1 +58 h 1 + M&W% +4 h % D   " # + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&?' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 P%j& +3 h &\ +2 M&.% +3 h %    + A({% +4 h % % &\ +2 A(^. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A( ([ +49 h ( +3 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[ & &\  +2 M&4& +3 h &ӈ*  Bg + M&"% +4 h %    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&p(r +166 h ( + M&L& +4 h &s   + A(K& +4 h &[ B D F\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&2'= +96 h ' + A(& +4 h &[ _ W\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(~'s +300 h ' + A(s- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (q& +2 h &[ A A \  +2 M&-& +3 h &s  Z  +2 .t\Elbow.seek 7 +2 M&\ (r +2 h ( +2 M&A& +3 h &s u  + A(Z& +3 h &[ G I \  +2 .t\Forearm.seek 7 + 300 counts +2 M&w'ϧ +19 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&7/ +74 h / +2 ."downElevator"\SE.seek :down +2 M&+& +5 A(d' +4 h &s   +2 M&% +3 h % Ϝ V +2 .t\Forearm.seek :retract + M&%' +88 h ' + .t\Elbow.seek PC +2 M&( +172 h ' + ."downElevator"\SE.coast + A(5 +67 h ( + M&!& +4 h &  G  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &:& +3 h & *  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&v' +90 h ' + P%N& +4 h &\ + P%y& +4 .t\PC.seek :closed + P% (^ +3 h &\ +3 &\  +9 &0y\ *y +9 &b\ > +9 &iv\ O +10 &+U\ O +9 &X\ O +10 &W\ O +9 &qU\ O +10 &2Y\ O +9 &Z\ O +9 &W\ O +9 & xZ\ O +10 &";V\ O +9 &#X\ O +10 &%V\ O +9 &'X\ O +9 &)BW\ O +10 &+W\ O +9 &,Z\ O +9 &.Y\ O +10 &0KY\ O +9 &2 Y\ O +10 &3W\ O +9 &5X\ O +9 &7ST\ O +10 &9Y\ P +9 &:Y\ O +9 &<U\ O +10 &>Y\\\ P +9 &@\\\ P +10 &Ah\ Q +9 &Cw\ R +9 &ER\ U +10 &G\ U +9 &H\ U +9 &J\ V +10 &LV\ V +9 &N\ V +10 &O\ W +9 &Q\ W +9 &S[\ W +10 &U \ V +9 &V\ V +9 &X\ V +10 &Zd\ W +9 &\\$\ X +10 &]}\ < +9 &^3\ Y +9 &^#\ 2 +3 ( + P%y& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 M&1 +60 h 1 + M&E% +4 h %   F + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&R' +91 h ' + .t\SC.coast + A(6 +2 P%V& +4 h &^!r\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 M&% +3 h %    <  +2 A(Q% +3 h % % %\ + A(M. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(([ + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&S& + A(n& +3 h &  d  +2 .t\Elbow.reconfigure TightElbow +4 M&$&.,(\ #b +2 h &[ ) ) \  +2 .t\Elbow.seek PC +3 ."raiseStack"\SE.reconfigure SEplace +2 M&( +2 A(#]kK-0-\ b +4 h ( +2 M&|& +3 h &     +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +2 M& & +2 A('s +5 h &    +2 .t\Forearm.seek :PC +2 M&' +89 h ' + .tHand.close + M&F/ +69 h / + .t\PC.seek :open +2 P%( +104 h ' +2 A(1- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A( '1 +43 h ' +302 ( + A(& +4 h &[ A A \  + M&(& +4 h &   + M&*% +3 h %   & f +2 .t\Forearm.seek :retract + M&8' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&O(r +249 h ( + M&T& +4 h &  ; 0 + A(& +3 h &[ % & \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&3'= +94 h ' + .tHand.open + M&g1 +58 h 1 + A(#- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(\\' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(]' +58 h ' + #tLights, camera, ACTION! + A(- +3 h -' +2 A($& +3 h &[ \ y +2 M&a& +3 h & \ \ ^ 0 +2 .t\Elbow.seek 7 + M&(r +31 h ( + M&,& +4 h &w  d \\ + A()& +3 h &[ K\ x +2 .t\Forearm.seek 7 + 450 counts +2 M&I'= +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(c' +52 h ' + M&C& +4 h &w ' \\ +2 A(m& +3 h &[ ( & \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&l'{ +17 h ' + .t\Elbow.hold +2 M&<, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(5' +27 h ' +2 M&`% +3 h %΢ o +2 A(;& +3 h &[ ' & \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 339 counts +2 M&' +15 h ' +2 M&& +4 h &y Z + A(>& +4 h &[ > C \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&P'= +17 h ' +2 A(G% +3 h % G ? w\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (H% +2 h %LK ( (\ Xg +2 M&'% +3 h %@ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&/' +90 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast A(6 +3 C'& +3 h &\\ 0 0\ [ +2 #t\Storing generic puck in Collection Clamp to tube 7 + M&Y% +4 h %  \   + A(o% +3 h % 3 ? &\ +2 A(B. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(&([ +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h &[ K J 3\  +2 M&x& +3 h &y i Z +2 .t\Elbow.seek 7 +2 M&U(r +2 h ( +2 M&h& +3 h &y   Z + A(z& +4 h &[ J J ,\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&['= +91 h ' + A(=& +4 h &[ T Y ^\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(J's +301 h ' + A(u- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&_& +2 h &y Z +2 A(0& +3 h &[ > F M\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M&e'{ +14 h ' + .t\Elbow.hold +2 M&}, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(r- +2 h -' + .t\SE.seek 0.17 +2 A(k'v +29 h ' + M&% +4 h %Υ c @ +47 A(6& +5 h &[ < < \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 342 counts +2 M&f' +14 h ' + M&& +4 h &y   E Z +2 A(& +3 h &[ 3 3\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +15 h ' + .t\SE.seek 1.17 +2 A(t' +34 h ' + M&9& +4 h &y $ Z +2 M& % +3 h %8   ! +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&W' +90 h ' + .t\Elbow.seek CC +2 M&j(ӂ +156 h ( +2 M&.& +3 h &ӊ)  Aa + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &{& +2 h &ӊ)   Aa +2 .t\Forearm.seek :CC +2 M&^'? +91 h ' + .tHand.close + M&/ +70 h / + .t\CC.seek :open +2 C'( +451 h ( + A(4& +4 h &[ o\  + A("& +3 h &[ e\  +2 M&@& +3 h &Ӌ)  % A` +2 M&L% +3 h % @ u h + .t\Forearm.seek :retract +2 M&K' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&X(r +165 h ( + M&& +4 h &v  + A(i& +4 h &[ N\  + .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.seek 7 +2 M&?'{ +90 h ' + .t\Elbow.hold +2 M&s, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&q1 +57 h 1 + M&-% +4 h % Φ V + A(A& +4 h &[ h\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 343 counts + M&Z' +15 h ' + M&7& +4 h &y ~ +2 A(+& +3 h &[ \  +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&'= +20 h ' +2 A(p% +4 h % \ +2 ."downElevator"\SE.seek :down +2 A(2' +100 (~% +2 h %@ 2\ V_ +2 M&w% +3 h %C  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&!' +87 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .tdelay 10 seconds +1002 #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp + C':& +3 h &  \ + M&\ % +3 h %  K  +2 A(N% +3 h % \ + A(d. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(%(  +1613 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (D& +3 h &  X\ + M&& +3 h &y J ~ +2 .t\Elbow.seek 2 +2 M&E( +38 h ( + M&V& +4 h & X  + A(& +3 h &  \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&Q'S +100 h ' + A(M& +4 h &  d\ + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(S's +297 h ' + A(y- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (n& +2 h &  R\  +2 M&|& +3 h & r  +2 .t\Elbow.seek 2 +2 M& ( +3 h ( + M&v& +3 h & s  +2 A(F& +3 h &  +\  +2 .t\Forearm.seek 2 + 300 counts +2 M& 'Ͻ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +68 h / +2 ."downElevator"\SE.seek :down +2 M&1& +4 A(R' +5 h & =  + M& % +4 h % Ͼ + .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.seek CC +2 M&(ӂ +153 h ( + M&(& +4 h &x.   E + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' + ."downElevator"\SE.coast +2 A(5 + M&*& +5 h &x.  E + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +93 h ' + C'T& +5 h &  &\ +2 C'& +3 .t\CC.seek :closed +2 C'(\\ +2 h &  8\ +3 &  5\  +9 &4~  :\ *z +9 &f}  9\ > +9 &p  9\ M +10 &RU  0\ L +9 &Y  3\ L +9 &U  8\ L +10 &U  7\ L +9 &ZY  :\ L +9 &X  *\ L +10 &Y  4\ L +9 & U  %\ K +10 &"bV  '\ L +9 &$$T  (\ L +9 &%W  '\ L +10 &'Z  *\ L +9 &)jV  (\ L +9 &+,Z  +\ L +10 &,V  &\ K +9 &.W  0\ L +10 &0sW  '\ K +9 &23W  -\ L +9 &3W  .\ L +10 &5W  %\ K +9 &7xX  +\ L +9 &9;X  '\ L +10 &:X  )\ L +9 &<W  '\ L +10 &>W  1\ L +9 &@CW  4\ L +9 &B[  2\ L +10 &C`  3\ M +9 &Eq ! !&\ O +9 &G; & $,\ Q +10 &H ' (*\ U +9 &J , ,*\ X +10 &Lk - +'\ Y +9 &N, - -(\ Y +9 &O , /$\ Z +10 &Q . 0$\ Z +9 &Sl , -'\ [ +9 &U. - .&\ [ +10 &V 0 .&\ \\ +9 &X . 0#\ \\ +10 &Zp 2 /'\ ] +9 &\\y 0 1%\ 4 +9 &\\- / 0&\ W +10 ( +2 &\\d / .(\ O + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open +2 M&g1 +58 h 1 +2 M&#% +3 h % C   d +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 P%$& +3 h &\ +2 M&a% +3 h %    +2 A(8% +3 h % U Y 3\ + A(,. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A()(  +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (C& +3 h &  E X .\  + M&m& +4 h &Ӛ' @] + M&`% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M& ( +157 h ( + M&;& +4 h &   + A(& +3 h &  y W\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&\\'S +98 h ' + A(>& +4 h &  \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(G's +300 h ' + A(O- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (3& +2 h &  9 P .\  +2 M&]& +3 h &  + .t\Elbow.seek 2 +2 M&H( +2 h ( +2 M&'& +3 h &  v +2 A(I& +3 h &  T S H\  +2 .t\Forearm.seek 2 + 300 counts + M&'Ͻ +19 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&c/ +67 h / +2 ."downElevator"\SE.seek :down +2 M&l& +3 A(' +6 h & +2 M&% +3 h %  % +2 .t\Forearm.seek :retract + M&Y' +87 h ' + .t\Elbow.seek PC +2 M&o( +172 h ' + ."downElevator"\SE.coast + A(5 +69 h ( + M&B& +4 h & X & + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &5& +3 h &  & + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +92 h ' + P%x& +4 h &\ + P%h& +4 .t\PC.seek :closed +2 P%z(^ +2 h &\ +4 &\ 4 +10 &:Gy\ 0 +9 &^p\ E +9 &e\ O +9 &W\ O +10 &Y\ N +9 &BY\ O +50 &W\ O +4 &Y\ O + &Z\ O +4 &KU\ O + &! Y\ O + &"Z\ N +5 &$W\ O +9 &&SV\ O +10 &(X\ O +9 &)[\ O +9 &+Y\ O +10 &-\\Y\ N +9 &/Z\ O +10 &0[\ O +9 &2U\ O +9 &4cY\ O +10 &6%Y\ O +9 &7X\ O +9 &9X\ O +10 &;jZ\ O +9 &=,Z\ O +10 &>Z\ O +9 &@]\ P +9 &Bng\ P +10 &D*t\ R +9 &E\ T +9 &G\ U +10 &Ig\ U +9 &K)\ U +9 &L\ V +10 &N\ V +9 &Pm\ V +10 &R.\ V +9 &S\ W +9 &U\ V +10 &Ws\ W +9 &Y5\ W +9 &Z\ V +10 &\\\ W +9 &^1`\ . +10 &^u\ > +9 ( +2 &^6\ 7 + P%h& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 M&P1 +57 h 1 + M&=% +4 h %    g + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^5\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 M&<% +3 h %  \  +2 A(/% +3 h % C B \ +2 A(u. +2 h . + .t\SC.reconfigure SCtight +3 A($\ .\ 1~b +2 .t\SC.seek 2 + A(_(  +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (0& +3 M&r& +5 h &  @ B \  +2 &  & +2 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.reconfigure TightElbow +3 A(#]kK-0-\ b +3 M&$&.,(\ #b +4 .t\Elbow.seek PC + M&( +2 ."raiseStack"\SE.seek beamBreak +3 h ( + A(6's +2 M&& +5 h &  & + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & \   & +2 .t\Forearm.seek :PC + M&9' +92 h ' + .tHand.close + M& / +65 h / + .t\PC.seek :open +2 P%[( +98 h ' + A(U- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(J'1 +42 h ' +307 ( + A(e& +4 h &  b b \  + M&f& +4 h &  S & + M&k% +3 h %   { 8 +2 .t\Forearm.seek :retract +2 M&.' +97 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&{( +245 h ( + M&& +4 h &    6 + A(}& +3 h &  Y W \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +92 h ' + .tHand.open + M&W1 +60 h 1 + A(b- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(4' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A("' +54 h ' + #tLights, camera, ACTION! +2 A(@- +2 h -' +2 A(L& +3 h &  a\ { +2 M&& +3 h & \  5 +2 .t\Elbow.seek 2 + M&i( +3 h ( +2 M&^& +3 h &  A 5 + A(j& +4 h &  m\ z +2 .t\Forearm.seek 2 + 450 counts +2 M&q'S +11 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(-' +53 h ' + M&A& +4 h &   5 +2 A(7& +3 h &  > E \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 +2 M&+'Α +14 h ' + .t\Elbow.hold +2 M&p, +3 h , + .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(K' +18 h ' + M&~% +4 h %θ  C +2 A(w& +4 h &  X S J\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 339 counts +2 M&X' +15 h ' +2 M&?& +3 h & D 5 +2 A(Z& +4 h &  Y Y\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&t'S +17 h ' +6 A(% +3 h % Z Z\ +3 ."downElevator"\SE.seek :down +2 A(2' +99 (&% +3 h %&K @ C \ Wg + M&:% +4 h %Q \ { + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\ ' +87 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'N& +4 h &\\d 0 .(\ O + #t\Storing generic puck in Collection Clamp to tube 2 + M&d% +4 h %  \  +2 A(D% +3 h % X Y\ + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(V(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h &  b c \  +2 M&M& +3 h & 5 +2 .t\Elbow.seek 2 + M&s( +4 h ( + M&!& +3 h &    5 +2 A(y& +3 h &  \\ `\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&n'S +95 h ' + A(|& +4 h &  z q\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(v's +301 h ' + A(F- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h &  5 +2 A(1& +3 h &  U Y\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M& 'Α +14 h ' + .t\Elbow.hold +2 M&E, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(Q- +2 h -' + .t\SE.seek 0.16 +2 A(('q +29 h ' + M&*% +4 h %β  @ + A(S& +3 h &  Y Z\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 333 counts +2 M& ' +14 h ' + M&T& +4 h & 5 + A( & +4 h &  b a\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&R'S +16 h ' + .t\SE.seek 1.16 +2 A(' +36 h ' + M&& +4 h & w 5 +2 M&g% +3 h %A S +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&#' +89 h ' + .t\Elbow.seek CC +2 M&$(ӂ +155 h ( + M&a& +4 h &ӌ-   Dv + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &8& +2 h &ӌ-  Dv +2 .t\Forearm.seek :CC +2 M&,'? +94 h ' + .tHand.close + M&C/ +68 h / + .t\CC.seek :open +2 C'( +448 h ( + A(m& +4 h &  }  x\  + A(`& +3 h &  y w d\  +2 M&& +3 h &ӡ)  Aa + M&;% +4 h % C @ N +2 .t\Forearm.seek :retract + M&' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&%( +50 E\ GD +110 h ( + M&>& +4 h & \  + A(& +4 h &  \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 2 +2 M&'Α +96 h ' + .t\Elbow.hold +2 M&O, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&31 +53 h 1 + M&]% +4 h % Κ  @ . + A('& +4 h &  \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 309 counts +50 M&I' +16 h ' + M&c& +4 h & b +2 A(l& +3 h &  \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&'S +21 h ' + A( % +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(\\' +99 (G% +2 h %o? R\ V` +2 M&% +3 h %q % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&B' +90 h ' +55 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + C'5& +4 h &  \ +2 M&H% +3 h %   +2 A(x% +3 h % \ +2 A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(Y( +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & {\ \ + M&P& +4 h &  + .t\Elbow.seek 3 +2 M&=( +31 h ( + M&& +4 h &x   3 + A(<& +3 h & a\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&/'7 +92 h ' + A(u& +4 h & \ + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(r's +308 h ' + A(0- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (h& +2 h & I\ +2 M&& +3 h &x  3 + .t\Elbow.seek 3 +2 M&( +25 h ( + M&& +4 h &  + A( & +3 h & q\ +2 .t\Forearm.seek 3 + 300 counts +2 M&)'ϡ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&U/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&o& +3 A(' +6 h & 7  +2 M&z% +3 h % ϕ | +2 .t\Forearm.seek :retract + M&6' +90 h ' + .t\Elbow.seek CC +2 M&e(ӂ +156 h ( + M&f& +4 h &ӗ#   o <@ + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' +2 ."downElevator"\SE.coast +2 M&k& + A(5 +5 h &ӗ#  H <@ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&9'? +92 h ' +2 C'& +4 h &  $\ + C'}& +4 .t\CC.seek :closed + C'(\\ +4 h &  /\ +2 &  ;\  +8 &3{  3\ *x +9 &e  7\ > +9 &r  )\ M +10 &MQ  '\ L +9 &V  '\ K +9 &W  )\ L +10 &Y  0\ L +10 &UY  *\ L +9 &[  *\ L +9 &T  $\ L +9 & U  1\ K +10 &"^W  %\ K +9 &$ V  /\ K +9 &%V  .\ L +10 &'Z  ,\ L +9 &)eT  (\ L +10 &+'U  &\ L +9 &,W  1\ K +9 &.X  2\ K +10 &0mW  (\ L +9 &2.Z  (\ L +9 &3W  (\ K +10 &5W  *\ L +9 &7vX  (\ K +10 &96Y  )\ L +9 &:W  2\ L +9 &<Z  3\ L +10 &>}X  *\ L +9 &@>U  *\ L +9 &AZ  %\ L +10 &C_  '\ M +9 &E|q ! '\ O +10 &G6 ' %'\ Q +9 &H , +(\ U +9 &J / /)\ X +10 &Li , .%\ X +9 &N) / 0#\ Y +10 &O . 0'\ Y +9 &Q / .%\ Z +9 &Sl . /&\ Z +10 &U+ 1 /%\ [ +9 &V 0 1&\ [ +9 &X / 02\ \\ +10 &Zk 0 .&\ ] +9 &\\z 0 /$\ 5 +9 &\\* / 0(\ #i +10 ( +2 &\\| / /'\ \\ + C'}& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open +2 M&W1 +55 h 1 +2 M&b% +4 h % 9  q + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&@' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 3 into Processing Clamp +2 P%L& +3 h & \ +2 M&% +3 h %  \ Z  +2 A(^% +3 h % 9 @ w\ + A(j. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(.( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (A& +3 h & ; =\  + M&7& +4 h &ӗ# \  <@ + M&~% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&w( +163 h ( + M&?& +4 h &  g  + A(J& +4 h & a _\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&Z'7 +95 h ' + A(4& +4 h & w \  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A('s +298 h ' + A({- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h & W V\  +2 M&"& +3 h & +  + .t\Elbow.seek 3 +2 M&&( +3 h ( + M&:& +3 h &  +2 A(q& +3 h & T X 1\  +2 .t\Forearm.seek 3 + 300 counts + M&i'ϡ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&-/ +65 h / +2 ."downElevator"\SE.seek :down +2 M&+& +3 A(X' +5 h &  +2 M&N% +3 h % ϛ $ +2 .t\Forearm.seek :retract + M&d' +88 h ' + .t\Elbow.seek PC +2 M&D( +170 h ' + ."downElevator"\SE.coast + A(5 +69 h ( + M&& +4 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &K& +3 h &  _ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +100 h ' + P%M& +4 h &\ + P%!& +4 .t\PC.seek :closed + P%y(^ +3 h &\ +2 &\ \ +8 &0x\ )w +10 &a\ > +9 &dw\ O +10 &&W\ N +9 &Z\ N +9 &W\ O +10 &lX\ N +9 &.Z\ N +9 &Y\ O +10 &W\ O +9 & s\\\ O +10 &"5Y\ O +9 &#W\ N +9 &%W\ N +10 &'{\\\ O +9 &)=[\ O +9 &*Z\ O +10 &,Z\ N +9 &.Y\ N +10 &0DZ\ O +9 &2Y\ O +9 &3Z\ O +10 &5\\\ O +9 &7MZ\ O +9 &9]\ O +10 &:]\ O +9 &<Y\ O +10 &>U[\ O +9 &@\\\ O +9 &Ah\ P +10 &Cr\ R +9 &EN\ T +9 &G\ \ V +10 &H\ U +9 &J\ U +10 &LQ\ U +9 &N\ V +9 &O\ V +10 &Q\ V +9 &ST\ W +9 &U\ V +10 &V\ V +9 &X\ V +10 &Z]\ W +9 &\\\ W +9 &]\ : +10 &^0\ Y +9 &^*\ 5 +2 ( + P%!& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 M&t1 +54 h 1 +2 M&|% +4 h %   \ d { + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&2' +92 h ' + .t\SC.coast + A(6 +2 P%_& +4 h &^(\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 M&p% +3 h %     + A(\ % +4 h % % \ + A(F. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +3 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&Q& + A(1& +3 h &   + +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 h & & (\  + .t\Elbow.seek PC +3 M&*( + ."raiseStack"\SE.reconfigure SEplace +4 A(#]kK-0-\ b +2 h ( +2 M&S& +4 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +3 M& & + A(T's +5 h & \   + .t\Forearm.seek :PC +2 M&' +93 h ' + .tHand.close + M&g/ +76 h / + .t\PC.seek :open +2 P%n( +96 h ' + A(s- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +48 A(v'1 +41 h ' +267 ( + A( & +4 h & 3 @\  + M& & +3 h &  U +2 M&(% +3 h %   3 +2 .t\Forearm.seek :retract + M&a' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&8( +246 h ( + M&R& +4 h &~ \ Q + A(E& +4 h & G > ^\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&C'7 +95 h ' + .tHand.open + M +57 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(m' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(`' +57 h ' + #tLights, camera, ACTION! +2 A(- +3 h -' + A(;& +3 h & \ } +2 M&>& +3 h &   P +2 .t\Elbow.seek 3 +2 M&( +3 h ( + M&,& +4 h &   ` P + A($& +4 h & M\ { +2 .t\Forearm.seek 3 + 450 counts +2 M&3'7 +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(]' +54 h ' + M&'& +4 h & P +2 A(c& +3 h &   8\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&l'u +14 h ' + .t\Elbow.hold +2 M& , +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +21 h ' +2 M&G% +3 h %Υ  > Z +2 A(& +3 h & A B \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 348 counts +2 M&%' +14 h ' +2 M&& +3 h &   P +2 A(5& +4 h & > C \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&I'7 +15 h ' +3 A(H% +3 h % 7 A Y\ +4 ."downElevator"\SE.seek :down +2 A(x' +98 (% +2 h %-N  # 0\ Xg +2 M&% +4 h %5 * + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' +69 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'\\& +4 h &\\z 0 0\ \\ + #t\Storing generic puck in Collection Clamp to tube 3 + M&V% +4 h %     +2 A(% +3 h % 3 3\ +2 A(P. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (<& +2 h & ) ; \  +2 M&u& +3 h &   0 P + .t\Elbow.seek 3 +2 M&O( +4 h ( + M&B& +4 h &   1 P +2 A(0& +3 h & 7 = &\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&h'7 +92 h ' + A(& +4 h & W Y\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A('s +305 h ' + A( - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&U& +2 h & Y P +2 A(o& +3 h & A B \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&z'u +15 h ' + .t\Elbow.hold +2 M&=, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(/- +2 h -' +2 .t\SE.seek 0.17 +2 A(f'v +29 h ' + M&k% +4 h %Ζ  G + A(r& +3 h & A A \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 333 counts + M&)' +14 h ' + M&& +4 h & P + A(& +4 h & 3 7 ;\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +18 h ' + .t\SE.seek 1.17 +2 A(6' +37 h ' + M&& +4 h & X P +2 M&W% +3 h %- +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&b' +88 h ' + .t\Elbow.seek CC +2 M&L(ӂ +152 h ( + M&& +4 h &Ӑ(  l @[ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &^& +2 h &Ӑ( \  B @[ +2 .t\Forearm.seek :CC + M&j'? +93 h ' + .tHand.close + M&A/ +68 h / + .t\CC.seek :open +2 C'}( +448 h ( +2 A(7& +4 h &  <\  + A(~& +3 h & \  +2 M&9& +3 h &ӓ(   r @X + M&?% +3 h % 9   Y b +2 .t\Forearm.seek :retract +2 M&J' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&Y( +165 h ( + M&4& +4 h &   + A(e& +3 h & #\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&@'u +97 h ' + .t\Elbow.hold +2 M&{, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +59 h 1 + M&"% +4 h % ~ \  d ) + A(:& +4 h & Q\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 309 counts +2 M&q'Ϫ +19 h ' +2 M&-& +4 h &  + A(+& +3 h & \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&N'7 +15 h ' + A(w% +4 h % z\ +3 ."downElevator"\SE.seek :down +2 A(Z' +99 (% +2 h %= \ V` +2 M&i% +3 h %2 g +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'K& +4 h &  ,\ + M&&% +4 h %   +2 A(M% +3 h % \ + A(X. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(d(,y +360 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ([& +2 h &,x y &\  +2 M&t& +3 h & \   +2 .t\Elbow.seek 4 + M&|( +29 h ( + M&_& +4 h & =  + A(p& +3 h &,u V\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&\ ' +107 h ' + A(F& +4 h &,u {\ + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(Q's +293 h ' + A(!- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (1& +2 h &,u j\ +2 M&S& +3 h &  + .t\Elbow.seek 4 +2 M& ( +18 h ( +2 M&& +4 h & Q  + A(g& +3 h &,u x\ +2 .t\Forearm.seek 4 + 300 counts +2 M&.'c +13 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close +49 M&D/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&s& +6 A(2' +2 h & =  +2 M&y% +3 h % b , +2 .t\Forearm.seek :retract +2 M&T' +90 h ' + .t\Elbow.seek CC +2 M& (ӂ +159 h ' + ."downElevator"\SE.coast +2 A(5 +2 h ( +2 M& & +3 h &Ә#  b <; + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &(& +2 h &Ә# \  j <; +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +92 h ' + C'R& +4 h &  6\ +2 C'E& +3 .t\CC.seek :closed +2 C'*(\\ +3 h &  :\ +2 &  7\  +9 &4~  8\ +{ +10 & e  5\ > +9 &q  7\ M +9 &ZV  4\ K +10 &W  '\ L +9 &Z  0\ L +9 &U  0\ K +10 &bU  (\ K +9 &#X  '\ L +10 &Y  )\ L +9 & T  )\ L +9 &"iT  '\ L +10 &$,V  4\ K +9 &%W  *\ L +9 &'T  +\ L +10 &)rU  5\ K +9 &+3W  (\ L +10 &,Y  (\ L +9 &.U  &\ L +9 &0zW  0\ K +10 &2;V  &\ L +9 &3U  '\ L +9 &5W  $\ L +10 &7Z  1\ L +9 &9BX  2\ L +9 &;W  (\ L +10 &<[  )\ L +9 &>X  3\ L +10 &@KW  3\ L +9 &B \\  *\ L +9 &Ce '\ N +10 &Es "2\ O +9 &G> $ #%\ S +10 &H * &3\ V +9 &J ) *3\ X +9 &Lv ( *\ X +10 &N5 + +'\ Y +9 &O * *%\ Y +9 &Q + ,&\ Z +10 &Sv + +(\ Z +10 &U7 + ,*\ [ +9 &V , +&\ [\ +9 &X + -)\ ] +9 &Zu * ,'\ ] +10 &\\y , -)\ 3 +9 &\\. + , \ \\ +9 ( +2 &\\p , .\ P + C'E& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open + M +56 h 1 +2 M&% +4 h % @    N + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%;& +3 h &\ +2 M&>% +3 h %    +2 A(,% +3 h % U W c\ + A($. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(a(,y +10 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ('& +3 h &,w > B \  + M&c& +4 h &ә#  <: + M&G% +4 h %  R  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&( +162 h ( + M&& +4 h &    + A(v& +4 h &,w Y Z\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&5' +90 h ' + A(H& +4 h &,w ` d\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(m's +301 h ' + A(8- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (C& +2 h &,w C E \  +2 M&`& +3 h &  "  + .t\Elbow.seek 4 +2 M&( +3 h ( + M&& +4 h &   + A(3& +4 h &,w 3 3\  +2 .t\Forearm.seek 4 + 300 counts +2 M&'c +40 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&]/ +77 h / +2 ."downElevator"\SE.seek :down +2 M&l& +6 A(%' +2 h & \   +2 M&\\% +3 h % g   +2 .t\Forearm.seek :retract +2 M&V' +91 h ' + .t\Elbow.seek PC +2 M&( +165 h ' + ."downElevator"\SE.coast + A(5 +75 h ( + M&P& +4 h &  H  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &  L  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&<' +98 h ' + P%u& +4 h &\ + P%B& +4 .t\PC.seek :closed + P%0(^ +3 h &\ +3 &\  +9 &1y\ *x +9 &b\ > +9 &hu\ O +10 &)X\ O +9 &X\ O +10 &W\ N +9 &pX\ O +9 &3X\ N +10 &Z\ O +9 &W\ N +9 & xY\ O +10 &";U\ N +9 &#X\ O +10 &%T\ N +9 &'Y\ O +10 &)BZ\ O +9 &+V\ O +9 &,Y\ N +9 &.Y\ O +10 &0KZ\ N +9 &2 Y\ O +10 &3V\ O +9 &5W\ O +9 &7SW\ N +10 &9Z\ O +9 &:X\ O +9 &<Y\ O +10 &>Z[\ O +9 &@\\\ O +10 &Ai\ Q +9 &Cu\ R +9 &ER\ T +10 &G\ U +9 &H\ U +9 &J\ U +10 &LU\ V +9 &N\ V +10 &O\ V +9 &Q\ V +9 &SY\ W +10 &U\ W +9 &V\ X +9 &X\ W +10 &Zb\ W +9 &\\#\ W +10 &]\ 6 +9 &^+m\ "b +9 &^2\ 6 +3 ( + P%B& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 M&I1 +60 h 1 + M&% +4 h %    - + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&x' +94 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^,\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 M& % +3 h %    + A(% +4 h % % &\ +2 A( . +2 h . + .t\SC.reconfigure SCtight +3 A($\ .\ 1~b +2 .t\SC.seek 4 + A(U(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (o& + M&/& +6 h &,w & ' \  +3 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&k( +2 h ( +2 M&r& +3 ."raiseStack"\SE.seek beamBreak + A('s +3 h &   a  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & !    +2 .t\Forearm.seek :PC + M&' +90 h ' + .tHand.close + M&W/ +70 h / +2 .t\PC.seek :open +2 P%h( +95 h ' + A(O- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A('1 +46 h ' +308 ( + A(z& +4 h &,x , A k\  + M&)& +3 h & V  +2 M&% +3 h % . 5 p +2 .t\Forearm.seek :retract + M&f' +93 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&^( +245 h ( + M&& +4 h &  > 0 + A(=& +3 h &,x & %\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&A' +97 h ' + .tHand.open + M&b1 +56 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(7' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(~' +56 h ' + #tLights, camera, ACTION! +2 A(9- +3 h -' + A(?& +3 h &,x m l \  +2 M&4& +3 h &   / +2 .t\Elbow.seek 4 + M&e( +3 h ( +2 M&j& +3 h &    / + A(L& +4 h &,x c e h\  +2 .t\Forearm.seek 4 + 450 counts +2 M&' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A("' +52 h ' + M&:& +4 h & \  / +2 A(-& +3 h &,x   :\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&+'7 +17 h ' + .t\Elbow.hold +2 M&w, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(J' +21 h ' + M&% +4 h %h  S +2 A(i& +3 h &,x % &\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 349 counts + M&Y'ϔ +16 h ' +2 M&@& +3 h &  / +2 A(K& +50 h &,x ' & E\  +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 4 + 450 counts +2 M&q' +19 h ' +2 A(&% +3 h % / B )\ +3 ."downElevator"\SE.seek :down +2 A(M' +99 (X% +3 h %F   >\ Wf + M&6% +4 h %  h + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&N' +87 h ' +76 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'Z& +3 h &\\o - /\ P +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&% +3 h %     +2 A([% +3 h % Z Z\ +2 A(t. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(_(,y + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (p& +2 h &,x Z [\  +2 M&F& +3 h &  / +2 .t\Elbow.seek 4 +2 M&{( +3 h ( + M&& +3 h & 3 / +2 A(!& +3 h &,x Z Y\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&1' +96 h ' + A(S& +4 h &,x x h ;\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +298 h ' + A(g- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&D& +2 h & Q / +2 A(s& +3 h &,x T X /\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&y'7 +16 h ' + .t\Elbow.hold +2 M&|, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(\ - +2 h -' +2 .t\SE.seek 0.17 + A( 'u +28 h ' + M&(% +4 h %a  m X + A(Q& +4 h &,x T X J\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 342 counts +2 M&.'ύ +15 h ' + M&R& +4 h & W / + A( & +4 h &,x c c\  + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&2' +29 h ' + .t\SE.seek 1.17 +2 A(T' +35 h ' + M&}& +4 h & / +2 M&#% +3 h % u +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +92 h ' + .t\Elbow.seek CC +2 M&;(ӂ +150 h ( + M&>& +4 h &y0   ` G + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &,& +2 h &y1  G +2 .t\Forearm.seek :CC + M&$'? +92 h ' + .tHand.close + M&E/ +70 h / + .t\CC.seek :open +2 C''( +448 h ( +2 A(c& +4 h &,x \  + A(G& +3 h &,x C\  +2 M&& +3 h &ӫ( ! @Z + M&% +3 h % ^  O g +2 .t\Forearm.seek :retract +2 M&v' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&d( +168 h ( + M&H& +4 h &  \  + A( & +4 h &,x \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 4 + M&'7 +97 h ' + .t\Elbow.hold +2 M&8, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&C1 +60 h 1 + M&`% +4 h % 8 S  + A(& +3 h &,x \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 301 counts +2 M&3'd +20 h ' +2 M&]& +4 h & + A(l& +4 h &,x \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&\\' +18 h ' + A(% +4 h % q\ +3 ."downElevator"\SE.seek :down +2 A(5' +99 (m% +2 h %= l\ U] +2 M&% +4 h % ` + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&P' +89 h ' +54 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp + C'& +4 h &  \ + M&% +4 h %    +2 A(u% +3 h % \ +2 A(%. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(V(<- +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (n& +3 h &<*" } .\  + M&I& +3 h &    +2 .t\Elbow.seek 5 + M&( +3 h ( +2 M&& +3 h & k +2 A( & +3 h &<*" z x \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +92 h ' + A( & +4 h &<*" W\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(B's +293 h ' + A(o- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (/& +2 h &<* s \  +2 M&r& +3 h & O + .t\Elbow.seek 5 +2 M&( +3 h ( + M&<& +3 h & w +2 A(W& +3 h &<* x '\  +2 .t\Forearm.seek 5 + 300 counts +2 M&a'Ϲ +17 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&O/ +76 h / +2 ."downElevator"\SE.seek :down +2 M&& +3 A(x' +5 h & l +2 M&0% +3 h % ϵ < +2 .t\Forearm.seek :retract + M&' +89 h ' + .t\Elbow.seek CC +2 M&z(ӂ +158 h ( + M&)& +4 h &ӊ-  7 Du + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 h ' +2 M&& + ."downElevator"\SE.coast +3 A(5 +3 h &ӊ-   Du + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +92 h ' + C'& +5 h &  8\ + C'=& +3 .t\CC.seek :closed +2 C'k(\\ +3 h &  9\ +2 &  3\  +9 &3{  4\ *y +9 &e  -\ > +9 &n  )\ M +10 &OS  +\ L +9 &Y  (\ L +9 &W  2\ L +10 &V  (\ L +9 &WU  '\ L +10 &X  '\ L +9 &U  %\ L +9 & U  '\ L +10 &"^Z  '\ L +9 &$ U  '\ L +9 &%U  &\ L +10 &'W  &\ L +9 &)gV  (\ L +10 &+(Z  )\ L +10 &,W  +\ L +8 &.W  3\ L +10 &0oW  (\ L +9 &21W  2\ L +10 &3W  *\ L +9 &5W  (\ L +9 &7vW  %\ L +10 &97X  *\ L +9 &:W  3\ L +9 &<W  1\ L +10 &>~U  2\ L +9 &@@W  3\ L +9 &B\\ 3\ M +10 &Ce ! 4\ N +9 &Eyz $ #'\ P +10 &G1 ' '#\ T +9 &H ( *&\ W +9 &J * -'\ Y +10 &Lf + * \ Z +9 &N' , +"\ Z +9 &O , +2\ Z +10 &Q - +!\ [ +9 &Sg , ,#\ \\ +10 &U+ + +!\ [ +9 &V , .#\ ] +9 &X / ,#\ ] +10 &Zh - /\ ^ +9 &\\{ , .\ 7 +9 &\\' . .b\ &p +10 ( +2 &\\ , -!\ _ + C'=& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 +2 .Hand.open + M&b1 +59 h 1 + M&% +4 h % A   y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +3 M&9' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%?& +3 h &\ +2 M&4% +3 h %    + A(j% +4 h % & ) 3\ +2 A(L. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(f(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +49 (:& +3 h &<* #  O\  +2 M&-& +3 h &ӏ+  Cp +2 M&% +3 h %    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&i( +157 h ( + M&@& +4 h &  R + A(K& +4 h &<* @ = \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +91 h ' + A(7& +4 h &<* X V &\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(&'s +300 h ' + A(^- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (A& +2 h &<* 5 ; \  +2 M&~& +3 h & \  - +2 .t\Elbow.seek 5 + M&X( +4 h ( + M&6& +4 h & + A(& +4 h &<* I F\  +2 .t\Forearm.seek 5 + 300 counts + M&e'Ϲ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&"/ +68 h / +2 ."downElevator"\SE.seek :down +2 M&+& +6 A(Y' +2 h & +2 M&Z% +3 h %  E +2 .t\Forearm.seek :retract +2 M&' +88 h ' + .t\Elbow.seek PC +2 M&[( +167 h ' + ."downElevator"\SE.coast + A(5 +72 h ( + M&J& +4 h & W * +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &t& +2 h &  \\ * +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek :PC +2 M&p' +100 h ' + P%F& +4 h &\ + P%& +4 .t\PC.seek :closed + P%!(^ +3 h &\ +3 &\ 2 +11 &9Fz\ 1 +8 &_p\ E +10 &b\ O +9 &W\ O +9 &X\ O +10 &CX\ O +9 &X\ O +9 &X\ O +10 &Y\ O +9 &MV\ N +9 &! X\ O +10 &"U\ N +9 &$V\ O +10 &&TU\ O +9 &(W\ O +9 &)Z\ O +10 &+X\ O +9 &-[V\ O +9 &/Z\ O +10 &0[\ O +9 &2W\ O +10 &4cW\ O +9 &6&Y\ O +9 &7V\ O +10 &9W\ O +9 &;kY\ O +9 &=-Y\ O +10 &>Z\ O +9 &@]\ O +10 &Boe\ P +9 &D,l\ R +10 &E\ T +9 &G\ U +9 &Ih\ U +9 &K*\ U +10 &L\ V +9 &N\ V +10 &Pm\ W +9 &R.\ W +9 &S\ W +10 &U\ V +9 &Wt\ W +9 &Y7\ V +10 &Z\ W +9 &\\\ W +11 &^.[x\ 5 +8 &^Z\ 8 +6 ( + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.66 + .Hand.open +2 M&q1 +54 h 1 + M&S% +4 h %   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&M' +89 h ' + .t\SC.coast + A(6 +2 P%U& +4 h &^.\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 M&w% +3 h %    +2 A(N% +3 h % ( '\ + A(g. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(D(<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&s& + A(\ & +5 h &    ) + &<* # &\  +3 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.reconfigure TightElbow +3 A(#]kK-0-\ b +3 M&$&.,(\ #b +3 .t\Elbow.seek PC +2 M&(( +2 h ( + ."raiseStack"\SE.seek beamBreak +3 A(Q's +2 M&R& +5 h &   ) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h & \ ) + .t\Forearm.seek :PC +2 M&}' +94 h ' + .tHand.close + M&#/ +75 h / + .t\PC.seek :open +2 P%1( +86 h ' + A({- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +55 h ' +306 ( + A(y& +4 h &<* - &\  + M&.& +3 h & \ \\ ) +2 M&>% +3 h %  n 6 +2 .t\Forearm.seek :retract + M& ' +98 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&,( +246 h ( + M&2& +4 h &   D + A(|& +3 h &<* 2 + `\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&E'O +95 h ' + .tHand.open + M&1 +56 h 1 + A(*- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(c' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(G' +54 h ' + #tLights, camera, ACTION! + A(- +4 h -' +2 A(& +3 h &<* \  + M&H& +4 h &  D +2 .t\Elbow.seek 5 + M& ( +3 h ( + M&$& +3 h &  P D +2 A(;& +3 h &<* x 8\  +2 .t\Forearm.seek 5 + 450 counts +2 M&C'O +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(`' +52 h ' + M&& +4 h & \  v D +2 A(]& +3 h &<* % % $\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&l'΍ +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(v' +20 h ' +2 M&m% +3 h %΢ % 6 +2 A(& +3 h &<* ( % \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 321 counts +2 M&d' +13 h ' +2 M&& +3 h &    2 +3 A(& +3 h &<* A A \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&3'O +19 h ' +2 A(% +3 h % C I $\ +3 ."downElevator"\SE.seek :down +2 A(u' +99 (%% +2 h %<M & &\ Xg +2 M&T% +3 h %>  @ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\\' +87 h ' +71 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'5& +3 h &\\ - /\ _ +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&_% +3 h %   +2 A(n% +3 h % = @ \ + A(I. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A((<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &<* F C \  +2 M& & +3 h &  2 + .t\Elbow.seek 5 +2 M&8( +9 h ( + M&P& +4 h &  z  + A(o& +4 h &<* I G k\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&/'O +99 h ' + A(r& +4 h &<* @ 5 '\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(<'s +307 h ' + A(W- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&O& +2 h &   +2 A(& +3 h &<* & &\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 + M&0'΍ +14 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' + .t\SE.seek 0.15 +2 A()'h +29 h ' + M&% +4 h %Η  J @ +2 A(B& +3 h &<* A B \  + .t\Forearm.force -20 +47 M&5 +4 .t\Forearm.seek 5 + 310 counts +2 M&a' +15 h ' + M&& +4 h &  w  +2 A(& +3 h &<* G I g\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&x'O +31 h ' + .t\SE.seek 1.15 +2 A(' +36 h ' + M&'& +4 h & %  +2 M&b% +3 h %~  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +88 h ' + .t\Elbow.seek CC +2 M&?(ӂ +155 h ( + M&4& +4 h &ә"   ;6 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &j& +3 h &ә"  J ;6 + .t\Forearm.seek :CC +2 M&L'? +92 h ' + .tHand.close + M&=/ +70 h / +2 .t\CC.seek :open +2 C':( +446 h ( + A(-& +4 h &<*  =\  + A(& +3 h &<* w j \  +2 M&& +3 h &ә"  k ;6 +2 M&@% +3 h % Z e + .t\Forearm.seek :retract +2 M&K' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&V( +160 h ( + M&7& +4 h &    + A(z& +4 h &<* 5\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&9'΍ +96 h ' + .t\Elbow.hold +2 M&^, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&A1 +58 h 1 + M&~% +4 h % ΁ & + A(6& +3 h &<* F\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 288 counts +2 M&'ϭ +17 h ' + M&"& +4 h &  +2 A(+& +3 h &<* \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&Z'O +19 h ' + A(i% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(' +99 (&% +3 h %d> \ U] +2 M&e% +3 h %S * +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&J' +86 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp + C't& +4 h &  \ +2 M&X% +3 h %  K  +2 A(F% +3 h % a\ + A(Y. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +357 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (h& +3 h &K u\  + M&q& +3 h &  +2 .t\Elbow.seek 6 +2 M&S( +8 h ( + M&U& +4 h &    + A(w& +3 h &K \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&N' +99 h ' + A(g& +4 h &K \ + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(s's +298 h ' + A(\ - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &K \ +2 M&R& +3 h &  + .t\Elbow.seek 6 +2 M& ( +3 h ( + M&p& +3 h & %  +2 A(#& +3 h &K \ +2 .t\Forearm.seek 6 + 300 counts + M&f'h +27 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&{/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&[& +3 A(M' +5 h & "  +2 M&!% +3 h % ϙ ; +2 .t\Forearm.seek :retract +2 M&Q' +90 h ' + .t\Elbow.seek CC +2 M&y(ӂ +160 h ( + ' + ."downElevator"\SE.coast +2 A(5 +5 M&.& +4 h &Ӓ$  =C + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &>& +3 h &Ӓ$  =C +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&}'? +100 h ' + C'2& +4 h &  *\ +2 C'|& +3 .t\CC.seek :closed +2 C'((\\ +2 h &  \ +3 &  4\  +9 &4~  5\ +{ +10 &e  (\ > +9 &r  /\ L +9 &ZW  2\ L +10 &T  1\ L +9 &U  (\ L +10 &U  &\ K +9 &dU  $\ K +9 &$[  *\ L +10 &V  .\ K +10 & V  1\ K +8 &"kX  -\ L +10 &$-Z  ,\ L +9 &%Y  )\ L +9 &'Y  \ L +10 &)sY  .\ L +9 &+5Z  0\ L +10 &,Y  *\ L +9 &.Y  *\ L +9 &0{U  '\ L +10 &2=U  3\ L +9 &4W  &\ K +9 &5V  '\ K +10 &7W  3\ L +9 &9FW  '\ K +10 &;X  &\ L +9 &<Z  3\ L +9 &>X  .\ K +10 &@MW  (\ L +9 &B\\ ! 1\ L +9 &Ce  !+\ N +10 &Eu % $,\ O +9 &G@ ' '(\ S +10 &H , .$\ V +9 &J . ,+\ X +9 &Lv - 0"\ X +10 &N7 . /!\ Y +9 &O / /\ Y +9 &Q . / \ Y +10 &Sw 0 0 \ [ +9 &U9 0 /\ [ +10 &V 0 1+\ \\ +10 &X - 2\ \\ +8 &Zv 0 0\ ^ +10 &\\| 1 1!\ 1 +9 &\\0 1 1\ c +9 ( +2 &\\t / 1 \ Q +2 C'|& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + M&1 +56 h 1 + M&*% +4 h % C   ( +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +93 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp +2 P%& +3 h &\ +2 M&H% +3 h %  f  +2 A($% +3 h % I J \ + A(;. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A( (K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K < ? \  +2 M&]& +3 h &Ӕ$  =A +2 M&m% +3 h %     + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +162 h ( + M&& +4 h &    + A(& +4 h &K c c\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +94 h ' + A(& +4 h &K y E\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(c's +295 h ' + A(,- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (E& +2 h &K : ? \  +2 M&G& +3 h & N  + .t\Elbow.seek 6 +2 M&%( +3 h ( + M&T& +3 h & 1  +2 A(C& +3 h &K E 7 j\  +2 .t\Forearm.seek 6 + 300 counts + M& 'h +32 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&`/ +69 h / +2 M&l& +2 ."downElevator"\SE.seek :down +4 A(d' +3 h & 0  + M&5% +4 h % ϟ  + .t\Forearm.seek :retract +2 M&_' +90 h ' + .t\Elbow.seek PC +2 M&n( +176 h ' + ."downElevator"\SE.coast + A(5 +61 h ( + M&I& +4 h &  y 1 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &v& +2 h & Y 1 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M& ' +99 h ' + P% & +4 h &\ + P%P& +4 .t\PC.seek :closed + P%o(^ +3 h &\ +3 &\ \ +9 &/w\ *x +9 &b\ > +10 &jv\ O +9 &-Y\ N +9 &\\\ O +9 &U\ O +10 &rW\ O +9 &5Y\ N +9 &Y\ N +10 &W\ N +9 & {Y\ N +10 &"=U\ N +9 &#X\ O +56 &%X\ O +4 &'V\ O +6 &)DV\ O + &+U\ O + &,W\ O &.X\ N + &0KZ\ O +6 &2 X\ O +9 &3W\ N +10 &5Y\ N +9 &7TW\ O +9 &9\\\ O +10 &:Z\ O +9 &<X\ O +10 &>\\Z\ O +9 &@Z\ O +9 &Ag\ P +10 &Cr\ R +9 &EV\ S +10 &G\ U +9 &H\ U +9 &J\ V +10 &LW\ V +9 &N\ V +9 &O\ W +10 &Q\ V +9 &S]\ W +9 &U\ V +10 &V\ X +9 &X\ V +11 &Ze\ V +8 &\\%\ W +9 &]\ 6 +10 &^+m\ "c +9 &^2\ 7 +3 ( + P%P& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + M&31 +56 h 1 + M&r% +4 h %     + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&u' +91 h ' + .t\SC.coast + A(6 +2 P%D& +4 h &^4%\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&% +3 h %    +2 A(\\% +3 h % % #\ +2 A(W. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 6 + A(O(K +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 M&& +5 h &K  % \  +2 &   0 +2 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.reconfigure TightElbow +4 M&$&.,(\ #b + A(#]kK-0-\ b +4 .t\Elbow.seek PC +2 M&( +4 h ( + M&B& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h &   f 0 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &   G 0 +2 .t\Forearm.seek :PC +2 M&'' +91 h ' + .tHand.close + M&b/ +66 h / + .t\PC.seek :open +2 P%/( +98 h ' + A(8- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(<'1 +47 h ' +301 ( + A(0& +4 h &K [ Y\  + M&a& +3 h &  0 0 +2 M&)% +3 h %   9 +2 .t\Forearm.seek :retract +2 M&4' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&j( +244 h ( + M&x& +4 h &  6 / + A(& +3 h &K N 3 a\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&=' +104 h ' + .tHand.open + M&1 +59 h 1 + A(k- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(-' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +55 h ' + #tLights, camera, ACTION! +2 A(- +3 h -' + A(@& +3 h &K Y\  +2 M&7& +3 h &  / +2 .t\Elbow.seek 6 + M&z( +3 h ( +2 M&L& +3 h &  \  / +2 A(?& +3 h &K \  +2 .t\Forearm.seek 6 + 450 counts + M&A' +12 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(~' +58 h ' + M&6& +4 h &   j / +2 A("& +3 h &K C D \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&+'< +16 h ' + .t\Elbow.hold +2 M&i, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(K' +20 h ' + M&&% +4 h %i  J C +2 A(e& +3 h &K K K ;\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 345 counts + M&V'ϕ +17 h ' + M&9& +4 h &   ] / +2 A(t& +4 h &K Z Z\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +19 h ' +2 A(X% +3 h % [ Z\ +3 ."downElevator"\SE.seek :down +2 A(F' +99 (Y% +2 h %5O  & U\ Xh +2 M&% +3 h %  R +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Z' +91 h ' +67 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &\\u 0 1\ Q +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&% +3 h %    +2 A(h% +3 h % X _ e\ +2 A(q. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(U(K +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (w& +3 h &K [ [\  + M&g& +4 h &   / +2 .t\Elbow.seek 6 + M&^( +3 h ( + M&J& +4 h &   / + A(\ & +4 h &K X Z\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +97 h ' + A(R& +4 h &K b `\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(p's +297 h ' + A(#- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&{& +2 h &   / +2 A([& +3 h &K ; 5 \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&!'< +16 h ' + .t\Elbow.hold +2 M&S, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(N- +2 h -' +2 .t\SE.seek 0.17 + A(.'r +29 h ' + M&>% +4 h %] , + A(s& +3 h &K J E P\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 333 counts + M&f'ω +17 h ' + M&2& +4 h &  ! / + A( & +4 h &K [ Z \  + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&M' +25 h ' + .t\SE.seek 1.17 +2 A(Q' +34 h ' + M&:& +4 h & . / +2 M&% +3 h % q +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&*' +93 h ' +2 .t\Elbow.seek CC +2 M&(ӂ +149 h ( + M&H& +4 h &Ӂ-   t Dx + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &$& +3 h &Ӂ-  Dx + .t\Forearm.seek :CC +2 M&;'? +93 h ' + .tHand.close + M&/ +74 h / + .t\CC.seek :open +2 C'|( +448 h ( + A(]& +4 h &K \  + A(m& +3 h &K j\  +2 M&}& +3 h &Ӟ( \  @[ + M&% +4 h % Z \  ] + .t\Forearm.seek :retract +2 M&' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +164 h ( +2 M&& +4 h & m  +2 A(y& +3 h &K \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&'< +96 h ' + .t\Elbow.hold +2 M&,, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&E1 +64 h 1 + M&G% +4 h % a  - " + A(T& +3 h &K P\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 337 counts +2 M&C'ύ +15 h ' + M&`& +49 h & P  +4 A(l& +3 h &K \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&5' +18 h ' + A(% +4 h % p\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (c% +2 h %{B \ Va +2 M& % +4 h % # + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&I' +92 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp + C'v& +4 h &  \ +2 M&%% +3 h % " b  +2 A( % +3 h % ?\ +2 A(d. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(_([ +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (1& +3 h &[ \  + M&3& +3 h &   +2 .t\Elbow.seek 7 +2 M&r(r +13 h ( + M&D& +4 h &u \ q  + A(& +3 h &[ z @\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&\\'= +95 h ' + A(W& +4 h &[ Y\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A('s +304 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (P& +2 h &[ z \  +2 M&B& +3 h &u   + .t\Elbow.seek 7 +2 M&(r +3 h ( + M& & +4 h &u  2  + A(b& +4 h &[ \  +2 .t\Forearm.seek 7 + 300 counts + M& 'ϧ +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&8/ +76 h / +2 ."downElevator"\SE.seek :down +2 M&n& +3 A(u' +5 h &u  +2 M&o% +3 h % ϧ Q +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\Elbow.seek CC +2 M&0(ӂ +158 h ( +2 M&a& +4 h ' + &ӊ-   Dx + ."downElevator"\SE.coast +2 A(5 + .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b +2 &)& +2 h &ӊ,   Dx +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&''? +92 h ' + C'x& +4 h &  \ +2 C'& +3 .t\CC.seek :closed +2 C'(\\ +2 h &  \ +4 &  +\ : +9 &NKy  3\ 0 +10 &t  4\ E +9 &*\\  -\ L +9 &V  '\ L +10 &U  3\ L +9 &rW  3\ L +10 &5U  -\ K +9 &W  +\ L +9 &W  (\ K +10 &zX  +\ L +9 &!;U  +\ L +10 &"W  $\ L +10 &$W  $\ K +8 &&W  -\ L +10 &(DW  )\ L +9 &*Z  .\ L +9 &+W  *\ L +10 &-Z  2\ L +9 &/LW  ,\ L +10 &1 Y  0\ L +9 &2V  3\ L +9 &4U  +\ L +10 &6TW  &\ L +9 &8X  (\ L +9 &9X 3\ L +10 &;X  +\ L +9 &=\\X  \ L +10 &?[  "\ L +9 &@W  2\ L +9 &B\\  3\ M +10 &D^c ! !(\ N +9 &Fv ' #\ P +9 &G , *!\ S +10 &I / ,%\ V +9 &KG / /&\ X +10 &M / /\ Y +9 &N - 0$\ Z +9 &P . 1\ Z +10 &RJ . 1&\ Z +9 &T / 0 \ \\ +9 &U 1 0\ [ +10 &W 1 /!\ \\ +9 &YI 1 /!\ ] +10 &[ 1 1#\ ^ +9 &\\cH 1 3h\ 3 +9 &\\ 2 1.\ Q +6 ( + C'& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.20 +2 .Hand.open + M&1 +58 h 1 + M&k% +4 h % C   { + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 P%@& +3 h &\ +2 M&7% +3 h %    + A(L% +4 h % < ? R\ +2 A(?. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(4([ +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (6& +3 h &[ B D \  + M&"& +4 h &ә*  Bi + M&&% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&e(r +164 h ( + M&<& +4 h &y  \ n  + A(9& +4 h &[ b b L\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&t'= +94 h ' + A(-& +4 h &[ w 0\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(X's +307 h ' + A(j- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (=& +2 h &[ ; A \  +2 M&& +3 h &y     + .t\Elbow.seek 7 +2 M&Y(r +3 h ( + M&& +3 h &y    +2 A(A& +3 h &[ Y Z r\  +2 .t\Forearm.seek 7 + 300 counts + M&z'ϧ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&~/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&+& +6 A(V' +2 h &y a  +2 M&% +3 h % ϩ > +2 .t\Forearm.seek :retract +2 M&' +86 h ' + .t\Elbow.seek PC +2 M&h( +174 h ' + ."downElevator"\SE.coast + A(5 +65 h ( + M&q& +4 h & I  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &K& +3 h &  '  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&w' +94 h ' + P%g& +4 h &\ +2 P%J& +3 .t\PC.seek :closed + P%\ (^ +3 h &\ +4 &\ 3 +9 &:F{\ 1 +10 &er\ E +9 &c\ O +9 &V\ N +10 &W\ N +9 &MW\ O +10 &Z\ N +9 &\\\ O +9 &\\\ O +10 &VU\ N +9 &!Y\ N +10 &"X\ O +9 &$U\ N +9 &&]Z\ O +10 &(Z\ O +9 &)\\\ N +9 &+W\ O +10 &-e[\ O +9 &/']\ O +10 &0Z\ O +9 &2W\ N +9 &4nX\ N +10 &6.\\\ O +9 &7V\ O +9 &9W\ N +10 &;vZ\ N +9 &=8Z\ N +9 &>\\\ O +10 &@`\ O +9 &Bvn\ Q +10 &D5v\ R +9 &E\ U +9 &G\ U +10 &It\ T +9 &K3\ U +10 &L\ V +9 &N\ V +9 &Pv\ W +10 &R:\ V +9 &S\ V +9 &U\ V +10 &W~\ V +9 &Y@\ V +9 &[\ W +10 &\\\ W +9 &^:d\ )} +10 &^f\ 6 +9 ( +2 &^$\ 3 + P%J& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open +2 M&1 +58 h 1 + M&R% +4 h %   _ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&F' +92 h ' + .t\SC.coast + A(6 +2 P%O& +4 h &^$\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 M&i% +3 h %  \ U  + A(Z% +4 h % A A \ +2 A(#. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A({([ +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ([& + M&N& +4 h &[ B A \  +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  O  +2 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&>( +2 ."raiseStack"\SE.seek beamBreak +2 h ( +2 A(s's +4 M&2& +3 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &    +2 .t\Forearm.seek :PC +2 M&:' +92 h ' + .tHand.close + M&/ +67 h / + .t\PC.seek :open +2 P%( +93 h ' + A(^- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(p'1 +46 h ' +310 ( + A(!& +4 h &[ U T J\  + M&f& +3 h &    +55 M&H% +4 h %   & +2 .t\Forearm.seek :retract +2 M&.' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&$(r +248 h ( + M&M& +4 h &y  H +2 A(S& +3 h &[ 4 : \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +98 h ' +2 .tHand.open + M&*1 +59 h 1 + A((- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(]' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(m' +55 h ' + #tLights, camera, ACTION! +2 A(}- +3 h -' + A(& +3 h &[ *\  +2 M&& +3 h &y . H +2 .t\Elbow.seek 7 +2 M&y(r +2 h ( +2 M&;& +3 h &y   H + A(& +4 h &[ \  +2 .t\Forearm.seek 7 + 450 counts +2 M&E'= +14 h ' + .t\SE.reconfigure SEgently +3 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(G' +60 h ' + M&T& +4 h &y U H +2 A(`& +3 h &[ 3 3 \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 + M&l'{ +19 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +21 h ' +2 M&c% +3 h %Π  [  +2 A(& +3 h &[ 3 4 Q\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 337 counts +2 M& ' +13 h ' +2 M&& +3 h &y \\ H +2 A(v& +3 h &[ U T \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&C'= +17 h ' +2 A(%% +3 h % b c\ +3 ."downElevator"\SE.seek :down +2 A( ' +99 (d% +3 h %G C A \ Wf +2 M&Q% +3 h %6 6 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&5' +87 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +4 h &\\h 0 0\ Q + #t\Storing generic puck in Collection Clamp to tube 7 + M&U% +4 h %  B  +2 A(1% +3 h % b b\ + A(3. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(D([ +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[ X _\  + M&W& +3 h &z \  G +2 .t\Elbow.seek 7 +2 M&,(r +3 h ( + M&I& +3 h &z   G +2 A(& +3 h &[ b b\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&P'= +97 h ' + A(B& +4 h &[ g x \  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A( 's +298 h ' + A(b- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&8& +2 h &z G +2 A(n& +3 h &[ V X\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M&o'{ +14 h ' + .t\Elbow.hold +2 M&r, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(\\- +2 h -' +2 .t\SE.seek 0.17 + A(a'u +30 h ' + M&)% +4 h %Σ  < 8 + A(& +3 h &[ 4 7 0\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 340 counts +2 M& ' +14 h ' + M&x& +4 h &z d G +2 A(& +3 h &[ S X c\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 7 + 450 counts + M&u'= +16 h ' + .t\SE.seek 1.17 +2 A(' +48 h ' + M&|& +4 h &z  G +2 M&% +4 h %0 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&k' +90 h ' + .t\Elbow.seek CC +2 M&@(ӂ +155 h ( + M&7& +4 h &ӑ&   ?Q + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &L& +3 h &ӑ& \ \  ?Q + .t\Forearm.seek :CC +2 M&?'? +94 h ' + .tHand.close + M&6/ +77 h / + .t\CC.seek :open +2 C'( +451 h ( +2 A("& +3 h &[ \  +2 A(&& +3 h &[ \  + M&'& +3 h &ӑ&  D ?Q +2 M&<% +3 h % 9 \   f +2 .t\Forearm.seek :retract + M&9' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&_(r +163 h ( + M&-& +4 h &z  + A(0& +3 h &[ :\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 7 +2 M&'{ +96 h ' + .t\Elbow.hold +2 M&j, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&=1 +61 h 1 + M&% +4 h % ΁  * + A(& +4 h &[ "\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 306 counts +2 M&A'ϭ +17 h ' +2 M&~& +4 h & ,  + A(+& +3 h &[ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +16 h ' + A(e% +4 h % G\ +3 ."downElevator"\SE.seek :down +2 A(t' +99 (X% +2 h %k? +\ V` +2 M&z% +3 h %A . +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&q' +89 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .tdelay 10 seconds +1004 #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp + C'K& +3 h &  \ + M&Y% +3 h %    +2 A(g% +3 h % \ + A(V. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A((  +1607 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (/& +3 h &  \ + M&& +3 h & [  +2 .t\Elbow.seek 2 + M&R( +31 h ( + M&O& +4 h &   Z & + A(i& +3 h &  \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&Z'S +102 h ' + A(#& +4 h &  ~\ + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(['s +298 h ' + A(J- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (N& +2 h &  \\\ + M&2& +4 h &  V & +2 .t\Elbow.seek 2 + M& ( +24 h ( +2 M&w& +4 h & 0  + A(& +3 h &  \ +2 .t\Forearm.seek 2 + 300 counts +2 M&4'Ͻ +24 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&^/ +66 h / +50 ."downElevator"\SE.seek :down +2 M&h& +3 A(F' +5 h & G  +2 M&\ % +3 h %  g v +2 .t\Forearm.seek :retract +2 M&s' +92 h ' + .t\Elbow.seek CC +2 M&!(ӂ +159 h ' + ."downElevator"\SE.coast + A(5 +3 h ( +2 M&f& +3 h &ӛ"   ;2 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &H& +2 h &ӛ"  \ O ;2 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&:'? +90 h ' +2 C'M& +3 h &  (\ +2 C'S& +3 .t\CC.seek :closed +2 C'>(\\ +2 h &  "\ +5 &  ;\ 9 +8 &FIu  8\ 1 +10 &|v~  <\ F +9 &)Y  6\ L +9 &U  ;\ L +10 &W  :\ L +9 &qV  ;\ L +10 &3X  <\ L +9 &U  7\ L +9 &V  :\ L +10 &zW  6\ K +10 &!;W  /\ L +8 &"W  4\ L +10 &$Z  )\ L +9 &&W  +\ L +10 &(BU  )\ L +9 &*V  (\ L +9 &+V  &\ K +10 &-W  )\ L +9 &/KW  (\ L +9 &1 Y  *\ L +10 &2V  0\ L +9 &4V  +\ K +10 &6RW  3\ L +9 &8W  (\ L +9 &9X  )\ L +10 &;W  (\ L +9 &=ZW  2\ L +9 &?W  2\ L +10 &@X  2\ L +9 &B\\  .\ M +10 &D^d  !4\ M +9 &Fx # #)\ P +9 &G ( '3\ S +10 &I + -4\ V +9 &KF - ,3\ X +9 &M / .3\ Y +10 &N . .)\ Z +9 &P . /)\ Z +10 &RH . 0$\ Z +9 &T 1 .(\ \\ +9 &U 0 0&\ [\ +10 &W / 03\ ] +9 &YI / /*\ ] +9 &[ / 2'\ ] +10 &\\bJ 1 1(\ 5 +9 &\\ 1 0"\ O +6 ( + C'S& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.24 + .Hand.open +2 M&*1 +61 h 1 + M&(% +4 h % @  D y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&}' +88 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 P%& +3 h &\ +2 M&% +3 h %      +2 A(;% +3 h % V Y \ + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(.(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (T& +3 h &  4 ; o\  + M&`& +4 h &ӛ" \  Y ;2 +2 M&c% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&( +165 h ( + M&p& +4 h &  + A(& +4 h &  Z ^ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&v'S +90 h ' + A(]& +4 h &  J\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(%'s +295 h ' + A($- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &  C A y\  +2 M&m& +3 h &   + .t\Elbow.seek 2 +2 M&d( +3 h ( + M&Q& +3 h & `  +2 A(E& +3 h &  Z [\  +2 .t\Forearm.seek 2 + 300 counts + M&y'Ͻ +21 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&G/ +73 h / +2 ."downElevator"\SE.seek :down +2 M&l& +3 A( ' +5 h &  +2 M&% +3 h %  9 +2 .t\Forearm.seek :retract +2 M&U' +90 h ' + .t\Elbow.seek PC +2 M&1( +169 h ' + ."downElevator"\SE.coast + A(5 +70 h ( + M&3& +4 h & U  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &  .  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&' +94 h ' + P%W& +4 h &y\ + P%I& +4 .t\PC.seek :closed + P%(^ +3 h &z\ +4 &\ 3 +9 &.G{\ 1 +9 &Up\ E +10 &c\ O +9 &W\ O +10 &yW\ O +9 &;W\ O +9 &V\ N +10 &X\ N +9 &Y\ O +9 &BY\ O +10 &!Y\ N +9 &"Z\ O +10 &$X\ O +9 &&LU\ N +9 &(Y\ N +10 &)[\ O +9 &+V\ N +9 &-SX\ O +10 &/Y\ O +9 &0\\\ O +10 &2W\ O +9 &4[V\ O +9 &6\\\ O +10 &7Y\ O +9 &9Y\ N +9 &;cZ\ O +10 &=%[\ O +9 &>Z\ O +10 &@`\ O +9 &Bfj\ P +9 &D$s\ R +11 &E\ T +8 &G\ U +9 &I`\ U +10 &K!\ U +9 &L\ V +10 &N\ V +9 &Pe\ V +9 &R'\ V +10 &S\ W +9 &U\ V +9 &Wl\ V +10 &Y.\ V +9 &Z\ W +10 &\\\ W +9 &^3cy\ . +9 &^{\ @ +10 ( +2 &^.\ 7 + P%I& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 M&C1 +54 h 1 + M&B% +4 h %    Z + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +90 h ' + .t\SC.coast + A(6 +2 P%{& +4 h &^/\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 M&% +3 h %   " + A(5% +4 h % A A \ +2 A(b. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(8(  +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (n& + M&\\& +3 h &  1 % 7\  +4 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h & \   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&)( +2 h ( +2 M&& +3 ."raiseStack"\SE.seek beamBreak + A(x's +3 h &  p  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &    + .t\Forearm.seek :PC +2 M&|' +93 h ' + .tHand.close + M&/ +70 h / + .t\PC.seek :open +2 P%P( +94 h ' + A(,- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A( '1 +42 h ' +314 ( + A(o& +4 h &  G Z -\  + M& & +4 h &  + M&a% +4 h %  k A + .t\Forearm.seek :retract +2 M&7' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&L( +244 h ( + M&u& +4 h &  T 4 + A(r& +3 h &  3 2\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&6'S +96 h ' + .tHand.open + M&k1 +60 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A("' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(&' +51 h ' + #tLights, camera, ACTION! + A('- +3 h -' +2 A(<& +3 h &  \  +2 M&-& +3 h &  3 + .t\Elbow.seek 2 +2 M&0( +3 h ( + M&?& +3 h &   3 +2 A(@& +3 h &  \  +2 .t\Forearm.seek 2 + 450 counts +2 M&='S +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +50 h ' + M&& +4 h & \ l 3 +2 A(~& +3 h &  D B \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&+'Α +15 h ' + .t\Elbow.hold +2 M&e, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(9' +20 h ' + M&X% +4 h %δ  ; +2 A(z& +3 h &  4 8 i\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 335 counts + M&_' +16 h ' +2 M&& +3 h &   ^ 3 +2 A(A& +3 h &  Z Z\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +49 M&'S +18 h ' +2 A(% +3 h % \\ a\ +3 ."downElevator"\SE.seek :down +2 A(t' +99 (D% +3 h %>L A B \ Xh + M&K% +4 h %D \  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Y' +90 h ' +73 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'g& +3 h &\\o 1 3 \ O +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&V% +3 h %   8  +2 A(/% +3 h % b c\ +2 A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(O(  +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (i& +2 h &  b c\  +2 M&#& +3 h &  3 +2 .t\Elbow.seek 2 + M&j( +3 h ( +2 M&q& +3 h &    3 +2 A(J& +3 h &  ` b\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&N'S +95 h ' + A(2& +4 h &  f \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(w's +297 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&^& +2 h &  ? 3 +2 A(h& +3 h &  3 3 L\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&\ 'Α +15 h ' + .t\Elbow.hold +2 M&R, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(Z- +2 h -' +2 .t\SE.seek 0.16 +2 A(f'q +30 h ' + M&H% +4 h %α  ) D + A([& +3 h &  G 7 9\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 332 counts +2 M&4' +15 h ' + M&M& +4 h &  | 3 +2 A( & +3 h &  Y U\  + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&F'S +15 h ' + .t\SE.seek 1.16 +2 A(s' +36 h ' + M&& +4 h & 5 3 +2 M&*% +3 h %@  P +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&(' +89 h ' + .t\Elbow.seek CC +2 M&(ӂ +164 h ( + M&& +4 h &ӆ   3 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &;& +3 h &ӆ k 3 + .t\Forearm.seek :CC +2 M&'? +92 h ' + .tHand.close + M&T/ +73 h / + .t\CC.seek :open +2 C'S( +448 h ( +2 A(`& +4 h &  \  + A(c& +4 h &  \  + M&:& +3 h &ӆ \  ' 3 +2 M&p% +3 h % X   Z + .t\Forearm.seek :retract +2 M&' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +159 h ( + M&]& +4 h &  + A(!& +3 h &  g\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 2 +2 M&}'Α +95 h ' + .t\Elbow.hold +2 M&$, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +55 h 1 + M&m% +4 h % Ξ : + A(Q& +4 h &  \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 313 counts + M&E' +15 h ' + M&G& +4 h & 5  + A(l& +4 h &  2\  +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +14 h ' +2 A(% +3 h % )\ +3 ."downElevator"\SE.seek :down +2 A(v' +99 (%% +2 h %yF \ Va +2 M&y% +3 h %W  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&3' +89 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + C'& +4 h &  \ +2 M&d% +3 h %  !  + A(W% +4 h % \ +2 A( . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(U( +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & \  + M&C& +3 h &    +2 .t\Elbow.seek 3 + M&B( +13 h ( + M&{& +4 h & g  + A(& +3 h & 8\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&5'7 +90 h ' + A(b& +4 h & )\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(n's +298 h ' + A(I- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (\\& +2 h & ;\  +2 M&& +3 h &  + .t\Elbow.seek 3 +2 M&( +2 h ( +2 M&& +3 h &   +2 A(& +3 h & 6\  +2 .t\Forearm.seek 3 + 300 counts + M&.'ϡ +20 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&,/ +65 h / +2 ."downElevator"\SE.seek :down +2 M&1& +3 A( ' +5 h &   +2 M&% +3 h % ϡ " +2 .t\Forearm.seek :retract + M&x' +90 h ' + .t\Elbow.seek CC +2 M&o(ӂ +165 h ( + M& & +4 h &ӎ  % 5 + ' + .t\Elbow.reconfigure LooseElbow +2 ."downElevator"\SE.coast +2 A(5 +3 M&$ &.,(#b +2 &a& +3 h &ӎ   0 5 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&|'? +94 h ' + C'u& +4 h &   \ +2 C'r& +3 .t\CC.seek :closed +2 C')(\\ +2 h &   \ +4 &  6\ : +9 &GIx  7\ 1 +10 &yt  1\ E +9 &$Y  ,\ L +9 &U  &\ L +10 &Z  /\ L +9 &mU  )\ K +9 &/W  "\ K +10 &V  /\ L +9 &Y  .\ L +10 &tU  &\ L +9 &!6T  ,\ L +9 &"W  '\ K +10 &$W  $\ L +9 &&|Z  (\ L +9 &(>U  &\ L +10 &*U  %\ K +9 &+V  &\ L +10 &-Y  0\ L +9 &/GW  )\ K +9 &1U  '\ L +10 &2U  %\ L +9 &4V  (\ L +9 &6NZ  &\ L +10 &8W  )\ L +9 &9W  &\ L +10 &;Z  '\ L +9 &=VX  !\ L +9 &?X  0\ L +10 &@V  \ L +9 &B]  #\ M +9 &DZd ! "\ M +10 &Fx % #"\ O +9 &G * )&\ S +10 &I / /\ V +9 &KA / -'\ X +9 &M 1 0\ Y +10 &N / 0\ Y +9 &P 1 /\ Z +9 &RC 1 0\ Z +10 &T 2 0*\ \\ +9 &U 1 1\ [ +10 &W / 1\ ] +9 &YD 0 2)\ ] +9 &[ 1 1\ ] +10 &\\aN 2 3\ 7 +9 &\\\ 1 2\ ] +6 ( + C'r& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.24 + .Hand.open +2 M&k1 +52 h 1 + M&% +4 h % <    I + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&'' +94 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 3 into Processing Clamp +2 P%<& +3 h &\ +2 M&-% +3 h %   + A(?% +4 h % 3 4\ +2 A(@. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(7( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & I J *\  + M&~& +4 h &ӎ  5 + M&X% +3 h %  s  +48 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&z( +161 h ( + M&& +4 h & p  + A(A& +4 h & b c\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M& '7 +98 h ' + A("& +4 h & b `\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A('s +300 h ' + A(L- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (6& +2 h & G K \  +2 M&&& +3 h & \ n  +2 .t\Elbow.seek 3 + M&D( +4 h ( + M&K& +4 h &  I  + A(=& +4 h & D 4 Q\  +2 .t\Forearm.seek 3 + 300 counts +2 M&0'ϡ +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +69 h / +2 ."downElevator"\SE.seek :down +3 M&+& +4 A(_' +3 h & f  + M&g% +3 h % ϧ  +2 .t\Forearm.seek :retract +2 M&V' +88 h ' + .t\Elbow.seek PC +2 M&/( +170 h ' + ."downElevator"\SE.coast + A(5 +69 h ( + M&9& +4 h & $ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &   $ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&i' +101 h ' + P%#& +4 h &\ + P%q& +4 .t\PC.seek :closed + P%J(^ +3 h &\ +3 &\  +8 &0y\ *y +10 &b\ > +9 &gt\ O +9 &(W\ O +10 &W\ O +9 &Z\ O +10 &pV\ N +9 &1W\ O +9 &[\ O +10 &W\ N +9 & wW\ O +9 &":X\ N +10 &#W\ N +9 &%T\ O +10 &'U\ O +9 &)BV\ N +9 &+W\ N +10 &,W\ N +9 &.W\ O +9 &0HW\ O +10 &2\ W\ O +9 &3V\ O +9 &5[\ O +10 &7RU\ N +9 &9W\ O +10 &:[\ O +9 &<W\ O +9 &>YY\ O +10 &@Z\ O +9 &Ag\ P +9 &Cr\ R +10 &EQ\ T +9 &G\ U +10 &H\ U +9 &J\ V +9 &LT\ V +10 &N\ V +9 &O\ V +9 &Q\ V +10 &SU\ X +9 &U\ W +10 &V\ V +9 &X\ V +9 &Z`\ W +10 &\\"\ W +9 &]~\ 9 +9 &^/\ Z +10 &^*\ 5 +3 ( + P%q& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + M&1 +65 h 1 + M&2% +4 h %   \  x + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&t' +91 h ' + .t\SC.coast + A(6 +2 P%8& +4 h &^(p\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 M&e% +3 h %    +2 A(Y% +3 h % % &\ + A(. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(^( +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (h& + M&Z& +4 h & $ &\  +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  \  $ +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&H( +2 h ( + M&[& +3 ."raiseStack"\SE.seek beamBreak +2 A(M's +2 h &   $ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +4 h &   $ + .t\Forearm.seek :PC +2 M&' +93 h ' + .tHand.close + M&*/ +77 h / +2 .t\PC.seek :open +2 P%N( +85 h ' + A(j- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(w'1 +47 h ' +314 ( + A(\ & +4 h & B @ \  + M&4& +3 h &  q $ +2 M&f% +3 h %    P +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&;( +246 h ( + M&F& +4 h &   8 + A(R& +3 h & C @ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&T'7 +94 h ' + .tHand.open + M&(1 +53 h 1 + A(>- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(`' +22 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(c' +56 h ' +2 #tLights, camera, ACTION! + A(:- +3 h -' +2 A(p& +3 h & d e =\  +2 M&]& +3 h &   7 + .t\Elbow.seek 3 +2 M&!( +3 h ( + M&& +3 h &  ` 7 +2 A(& +3 h & ` U \  +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +14 h ' + .t\SE.reconfigure SEgently +3 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(m' +55 h ' + M&Q& +4 h & h 7 +2 A(G& +3 h & B B \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&l'u +19 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +28 h ' + M&%% +4 h %·  ' +2 A(y& +3 h & A C \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 318 counts + M&'ϳ +14 h ' +2 M&}& +3 h &  7 +2 A(& +3 h & J J @\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&d'7 +18 h ' +2 A(E% +3 h % X M 3\ +3 ."downElevator"\SE.seek :down +2 A(W' +99 ( % +2 h %KF  &\ We +2 M&s% +3 h %&  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +71 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast +2 A(6 +2 C'v& +3 h &\\ 1 2\ ] +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&O% +3 h %  \ Y  +2 A(% +3 h % 3 3\ +2 A(C. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A({( +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & > A !\  + M&b& +3 h &  7 +2 .t\Elbow.seek 3 +2 M&$( +3 h ( + M&3& +4 h &  y 7 + A(I& +4 h & J J >\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&\\'7 +94 h ' + A(& +4 h & Z X '\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A('s +296 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&,& +2 h &  7 + A(1& +3 h & C >\  +2 .t\Elbow.reconfigure LimpElbow +3 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&'u +16 h ' + .t\Elbow.hold +2 M&B, +3 h , + .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 A(5- +2 h -' + .t\SE.seek 0.17 +2 A( 'v +29 h ' + M&a% +4 h %Ώ \ q V + A(n& +3 h & I C (\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 326 counts + M&.'ϻ +15 h ' + M&u& +50 h & Z 7 +3 A(& +3 h & I G i\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M& '7 +18 h ' + .t\SE.seek 1.17 +2 A(x' +36 h ' + M&S& +4 h &   x 7 +2 M&k% +3 h %% { +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +88 h ' + .t\Elbow.seek CC +2 M&<(ӂ +155 h ( + M&-& +4 h &ӑ&   ?Q + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &?& +3 h &ӑ&   o ?Q +2 .t\Forearm.seek :CC +2 M&@'? +91 h ' + .tHand.close + M&/ +77 h / + .t\CC.seek :open +2 C'r( +451 h ( + A(~& +4 h & a\  + A(X& +4 h & q l ;\  + M&|& +3 h &Ӓ&  ?P +2 M&% +3 h % c    c +2 .t\Forearm.seek :retract + M&A' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&U( +76 Ez\ EB +88 h ( + M&"& +4 h &   + A(o& +3 h & \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&''u +96 h ' + .t\Elbow.hold +2 M&L, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&61 +61 h 1 + M&&% +4 h % m  C + A(K& +5 h & \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 292 counts +2 M&='ϙ +18 h ' +2 M&& +4 h & 7  +2 A(+& +3 h & \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&g'7 +17 h ' + A(z% +4 h % ;\ +3 ."downElevator"\SE.seek :down +2 A( ' +99 (% +2 h %; +\ U^ +2 M&0% +3 h %B Q +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&9' +90 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'& +4 h &  *\ +2 M&D% +3 h %  `  +2 A(#% +3 h % \ + A(_. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(V(,y +360 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (P& +3 h &,x R\  + M&& +3 h & B  +2 .t\Elbow.seek 4 +2 M&2( +42 h ( + M&8& +4 h &  z  + A(e& +3 h &,w \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&Y' +104 h ' + A(& +4 h &,w ^\ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(q's +298 h ' + A(h- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (Z& +3 h &,w \ + M&[& +4 h & f  +2 .t\Elbow.seek 4 + M& ( +3 h ( + M&i& +3 h & c  +2 A(*& +3 h &,w \ +2 .t\Forearm.seek 4 + 300 counts + M&7'c +13 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&j/ +77 h / +2 ."downElevator"\SE.seek :down +2 M&/& +3 A(t' +5 h & $  +2 M&J% +3 h % l +2 .t\Forearm.seek :retract + M&M' +91 h ' + .t\Elbow.seek CC +2 M&\ (ӂ +159 h ( + M&4& +4 h &ӎ(   A_ + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 h ' + ."downElevator"\SE.coast +2 A(5 + M&f& +5 h &ӎ)  A_ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +101 h ' +3 C'F& +3 h &  :\ +2 C'R& +3 .t\CC.seek :closed +2 C'H(\\ +2 h &  &\ +3 &  1\ ; +10 &GJv  =\ 1 +9 &yt~  7\ E +10 &%W  ,\ L +9 &T  (\ K +9 &Z  )\ L +10 &lT  )\ L +9 &/S  &\ K +9 &U  )\ L +10 &X  )\ L +10 &sX  -\ L +9 &!7U  *\ K +9 &"U  +\ K +9 &$V  ,\ K +11 &&|U  ,\ L +9 &(?U  *\ K +8 &*U  /\ K +10 &+U  (\ K +9 &-U  '\ K +10 &/GW  +\ K +9 &1 U  '\ K +9 &2V  $\ K +10 &4V  )\ L +9 &6NY  '\ L +10 &8U  *\ L +9 &9V  $\ L +9 &;U  '\ L +10 &=WW  (\ K +9 &?X  '\ L +9 &@X  *\ L +10 &B] (\ L +9 &DXg ! '\ N +9 &F| % $%\ P +10 &G ' '%\ T +9 &I , *'\ W +10 &KC + , \ X +9 &M - -\ X +9 &N - -\ X +10 &P / /\ Y +9 &RF + ,\ Y +9 &T , ,\ [ +10 &U - -'\ [ +9 &W . /\ [ +10 &YC / . \ ] +9 &[ / /\ ] +9 &\\aO / 0j\ 4 +10 &\\ / 0$\ [ +6 ( + C'R& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.23 + .Hand.open +2 M&(1 +2 h &\\ / 1h\ [ +58 1 +2 M&>% +4 h % B   ( " + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&:' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%p& +3 h &\ +2 M&]% +3 h %   \ + A(% +3 h % A C \ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A((,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (Q& +2 h &,w & & \  +2 M&G& +3 h &Ӑ(  @] + M&%% +3 h %   \ +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&y( +167 h ( + M&w& +4 h &    + A(}& +3 h &,x & (\ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +100 h ' + A(`& +4 h &,x @ A \ \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(E's +300 h ' + A(;- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (T& +2 h &,x  & \ \  +2 M&c& +3 h &  2  + .t\Elbow.seek 4 +2 M& ( +2 h ( +2 M&s& +3 h & ,  + A(& +4 h &,x ( &\ \  +2 .t\Forearm.seek 4 + 300 counts +2 M&!'c +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&m/ +70 h / +2 ."downElevator"\SE.seek :down +2 M&l& +3 A(' +5 h & O  +2 M&v% +3 h % X +2 .t\Forearm.seek :retract + M&O' +93 h ' + .t\Elbow.seek PC +2 M&( +165 h ' + ."downElevator"\SE.coast + A(5 +74 h ( + M&C& +4 h & q & + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &  C & + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek :PC +2 M&' +101 h ' + P%b& +4 h &\ + P%3& +4 .t\PC.seek :closed +2 P%I(^ +2 h &\ +3 &\ \ +9 &/v\ *x +10 &a\ > +9 &ht\ O +10 &(W\ O +10 &W\ O +8 &V\ O +10 &nW\ O +9 &1W\ O +9 &X\ O +10 &V\ O +9 & wW\ O +10 &":U\ O +9 &#W\ O +9 &%T\ O +10 &'W\ O +9 &)AV\ O +9 &+W\ O +10 &,W\ O +9 &.W\ O +10 &0IY\ O +9 &2\ W\ O +9 &3V\ O +10 &5X\ O +9 &7QW\ O +51 &9X\ O +4 &:X\ O + &<W\ P +4 &>XY\ O + &@\\\ P + &Ag\ Q +4 &Ct\ R +9 &EP\ U +9 &G\ U +10 &H\ V +9 &J\ V +10 &LU\ V +9 &N\ V +9 &O\ W +10 &Q\ W +9 &SY\ W +9 &U\ W +10 &V\ W +9 &X\ W +10 &Zb\ W +9 &\\!\ X +9 &]\ : +10 &^/\ [ +9 &^*\ 5 +2 ( +2 P%3& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + M&d1 +71 h 1 + M&% +4 h %    + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&W' +92 h ' + .t\SC.coast + A(6 +2 P%^& +4 h &^&\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&% +3 h %    +2 A(% +3 h % % %\ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(,(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (1& +2 M&5& +4 h &,x \  +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  % +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&a( +2 h ( + M&n& +3 ."raiseStack"\SE.seek beamBreak +2 A(u's +2 h &   % + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &  % +2 .t\Forearm.seek :PC +2 M&S' +91 h ' + .tHand.close + M&k/ +71 h / + .t\PC.seek :open +2 P%\\( +94 h ' + A($- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +41 h ' +315 ( + A(& +4 h &,x ? 4 n\  +3 M&.& +6 h & s % +3 M& % +3 h %  v 1 +2 .t\Forearm.seek :retract +2 M&-' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&?( +255 h ( + M& & +4 h &   \ + A(B& +3 h &,x 3 3\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +97 h ' + .tHand.open + M&1 +56 h 1 + A()- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(~' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(X' +52 h ' + #tLights, camera, ACTION! + A(|- +3 h -' +2 A(& +3 h &,x E D B\  +2 M&"& +3 h &  \ +2 .t\Elbow.seek 4 + M&o( +13 h ( + M&@& +4 h &    +2 A(<& +3 h &,x \ b\  +2 .t\Forearm.seek 4 + 450 counts +2 M&6' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(&' +58 h ' + M&K& +4 h & 7  +2 A(& +3 h &,x F D \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&+'7 +16 h ' + .t\Elbow.hold +2 M&z, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(A' +27 h ' + M&% +4 h %d  X +2 A(0& +3 h &,x A B \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 345 counts +2 M&U'ϐ +15 h ' +2 M&'& +3 h & \   +2 A(& +3 h &,x J J =\  +2 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&=' +19 h ' +2 A(D% +3 h % : 5\ +3 ."downElevator"\SE.seek :down +2 A(#' +99 (_% +2 h %6E & &\ We +2 M&x% +4 h % C + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&g' +90 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C' & +4 h &\\ . /\ [ + #t\Storing generic puck in Collection Clamp to tube 4 + M&{% +4 h %  \  +2 A(P% +3 h % 3 8 T\ + A(. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(8(,y +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (e& +3 h &,x 4 4 \  + M&& +4 h &   + .t\Elbow.seek 4 +2 M&L( +3 h ( +2 M&9& +3 h &     +2 A(h& +3 h &,x E 8 \  + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&Z' +99 h ' + A([& +4 h &,x Y S P\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(i's +308 h ' + A(*- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&j& +2 h &  :  +2 A(/& +3 h &,x < A 6\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&J'7 +14 h ' + .t\Elbow.hold +2 M&2, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(Y- +2 h -' + .t\SE.seek 0.17 +2 A(4'v +29 h ' + M&f% +4 h %P S + + A(q& +4 h &,x A B \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 325 counts +2 M&7'| +16 h ' + M&F& +4 h & _  + A( & +4 h &,x @ 7 s\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&t' +19 h ' + .t\SE.seek 1.17 +2 A(M' +38 h ' + M&r& +4 h & @  +2 M&R% +3 h % ? +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&(' +87 h ' + .t\Elbow.seek CC +2 M&>(ӂ +153 h ( + M&p& +4 h &x1  G + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &]& +2 h &x1  G +2 .t\Forearm.seek :CC +2 M&'? +90 h ' + .tHand.close + M&/ +66 h / + .t\CC.seek :open +2 C'Q( +451 h ( +2 A(G& +4 h &,x s\  + A(%& +3 h &,x {\  +2 M&& +3 h &Ӯ(  @\\ + M&w% +4 h % R  R +2 .t\Forearm.seek :retract + M&}' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&V( +163 h ( + M&`& +4 h &  + A(\ & +3 h &,x \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 4 +2 M&:'7 +92 h ' + .t\Elbow.hold +2 M&;, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&T1 +54 h 1 + M&c% +4 h % K 7 U + A(s& +3 h &,x \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 320 counts + M&'w +16 h ' + M&m& +4 h &   + A(l& +4 h &,x \  +3 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +3 .t\Forearm.seek 4 + 450 counts +48 M&v' +20 h ' + A(y% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(' +99 (E% +2 h %> B\ V_ +2 M&!% +3 h %  A +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&C' +88 h ' +57 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp + C'& +4 h &  '\ +2 M& % +3 h %  Y  +2 A(b% +3 h % \  +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(O(<- +353 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (N& +3 h &<*" \  + M&d& +3 h & k  +3 .t\Elbow.seek 5 + M&( +8 h ( + M&^& +4 h &  ^  + A(& +4 h &<*" | 6\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +102 h ' + A(& +4 h &<*" S\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(3's +295 h ' + A(1- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (5& +2 h &<*! _ b\  +2 M&n& +3 h &   + .t\Elbow.seek 5 +2 M&( +3 h ( + M&& +3 h & P  +2 A(k& +3 h &<*! Z Z\  +2 .t\Forearm.seek 5 + 300 counts + M&'Ϲ +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&$/ +68 h / +2 ."downElevator"\SE.seek :down +2 M&& +4 A(W' +5 h &   +2 M&I% +3 h %  8 +2 .t\Forearm.seek :retract + M&u' +90 h ' + .t\Elbow.seek CC +2 M&(ӂ +156 h ( + M&.& +5 h &{.   G E ' + ."downElevator"\SE.coast +2 A(5 + .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b +2 & & +2 h &{.  2 E +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&S'? +91 h ' + C' & +4 h &  6\ +2 C'B& +3 .t\CC.seek :closed +2 C'a(\\ +2 h &  \ +3 &  ,\  +9 &2{  ,\ *z +11 &e~  #\ > +8 &q  %\ M +9 &IT  (\ L +10 & R  ,\ L +9 &U  /\ K +10 &T  +\ L +9 &RW  .\ L +9 &X  +\ L +10 &T  1\ K +9 & T  *\ K +9 &"ZU  -\ L +10 &$X  (\ L +9 &%X  &\ L +10 &'T  '\ K +9 &)bU  )\ L +9 &+$X  %\ L +10 &,T  '\ L +9 &.U  )\ K +9 &0jU  &\ L +10 &2,S  )\ L +9 &3U  )\ K +10 &5V  #\ L +9 &7rU  \ L +9 &93Y  \ L +10 &:V  !\ L +9 &<V  &\ L +9 &>yU  \ L +10 &@;U  x\ L +9 &A\\  s\ M +10 &Cd ! \ N +9 &Et} ' $\ P +9 &G- + *\ T +10 &H + )\ W +9 &J + ,+\ X +9 &Ld * , \ Y +10 &N& , -\ Y +9 &O - .\ Y +10 &Q , .*\ Z +9 &Sg . /\ Z +9 &U& , -!\ [ +10 &V / ."\ \\ +9 &X / -)\ ] +9 &Zg . .\ ] +10 &\\x / -*\ : +10 &\\( / .l\ (v +8 &\\ / 0!\ ^ +4 ( + C'B& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.31 + .Hand.open +2 M&1 +57 h 1 + M&)% +4 h % ?  D r + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&|' +96 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%& +3 h &\ +2 M&"% +3 h %   +2 A(@% +3 h % & &\ + A(<. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(-(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (K& +3 h &<* & ( \  + M&& +4 h &Ӟ( \  A_ + M&% +3 h %  w  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&0( +158 h ( +2 M&& +3 h &  1 +2 A('& +3 h &<* 4 3 \ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +93 h ' + A(~& +4 h &<* [ G B\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(D's +297 h ' + A(?- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &<* & % \  +2 M&X& +3 h &  + .t\Elbow.seek 5 +2 M&_( +2 h ( +2 M&x& +3 h &    + A(6& +3 h &<* ) / \  +2 .t\Forearm.seek 5 + 300 counts +2 M&o'Ϲ +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&&/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&+& +3 A(U' +5 h &  +2 M& % +3 h % ϶  H +2 .t\Forearm.seek :retract + M&{' +91 h ' + .t\Elbow.seek PC +2 M&P( +169 h ' + ."downElevator"\SE.coast + A(5 +72 h ( + M&& +4 h &    % + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &A& +3 h & % + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&e' +97 h ' + P%& +4 h &\ + P%9& +4 .t\PC.seek :closed +2 P%h(^ +2 h &\ +3 &\  +8 &/v\ *y +10 &d\ ? +9 &ou\ O +9 &2T\ O +10 &Z\ O +9 &T\ O +9 &xW\ O +10 &:W\ O +9 &X\ O +10 &Y\ O +9 & U\ O +9 &"BS\ O +10 &$U\ O +9 &%T\ O +9 &'W\ N +10 &)JW\ O +9 &+ U\ O +10 &,X\ O +9 &.V\ O +9 &0QY\ O +10 &2W\ O +9 &3V\ O +9 &5X\ O +10 &7ZU\ O +9 &9[\ O +10 &:Y\ O +9 &<X\ O +9 &>aZ\ O +10 &@"Z\ O +9 &Acb\ P +9 &Cnt\ Q +10 &E^{\ S +9 &G\ U +10 &H\ U +9 &J\ V +9 &L]\ V +11 &N\ V +8 &O\ W +9 &Q\ W +10 &Sa\ W +9 &U$\ W +10 &V8\ V +9 &X\ V +9 &Zi\ W +10 &\\+\ W +9 &]}y\ > +9 &^*}\ Z +10 &^1\ 7 +2 ( + P%9& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + M&=1 +65 h 1 + M&[% +4 h %   " ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&#' +90 h ' + .t\SC.coast + A(6 +2 P%,& +4 h &^.\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 M&z% +3 h %    + A(g% +4 h % & &\ + A(*. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(j(<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (/& +3 M&Y& +2 h &<* & & \  +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &   % +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&f( + h ( +2 M&q& +3 ."raiseStack"\SE.seek beamBreak + A(F's +3 h &  % + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 & & +2 h &   % +2 .t\Forearm.seek :PC +2 M&r' +91 h ' + .tHand.close + M&R/ +70 h / + .t\PC.seek :open +2 P%Z( +96 h ' + A(L- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(i'1 +54 h ' +299 ( + A(J& +4 h &<* - C \  + M&7& +3 h & \  % +2 M&p% +3 h %  T +2 .t\Forearm.seek :retract +48 M&4' +91 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 + M&]( +246 h ( + M&t& +4 h &  @ + A(2& +3 h &<* ( &\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +91 h ' + .tHand.open + M&(1 +55 h 1 + A(H- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(G' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(%' +52 h ' +2 #tLights, camera, ACTION! + A(- +3 h -' +2 A(w& +3 h &<* A\ } +2 M&`& +3 h &   @ + .t\Elbow.seek 5 +2 M&\ ( +4 h ( + M&& +4 h &  \ @ +2 A(>& +3 h &<* %\ | +2 .t\Forearm.seek 5 + 450 counts +2 M&T'O +13 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +3 .t\SE.seek -0.52 + A(c' +58 h ' + M&s& +4 h & \  @ +2 A(m& +3 h &<* ' & \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&l'΍ +15 h ' + .t\Elbow.hold +2 M&y, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(}' +28 h ' + M&E% +4 h %ά } @ +2 A(!& +3 h &<* & ! \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 331 counts +2 M&V' +15 h ' +2 M&:& +3 h &   ] @ +2 A(& +3 h &<* C C i\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +18 h ' +2 A( % +4 h % J D \ \ +2 ."downElevator"\SE.seek :down +3 A(b' +99 (% +3 h %F  \ Xg + M&M% +4 h %B / + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&v' +87 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +4 h &\\ 1 0\ ^ +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&8% +3 h %  Y  +2 A(N% +3 h % G J r\ +2 A(d. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(^(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<* C ? S\  + M&& +4 h &  ? + .t\Elbow.seek 5 +2 M&;( +3 h ( + M&C& +3 h & \  l ? +2 A(1& +3 h &<* B B \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&5'O +94 h ' + A(n& +4 h &<* H A i\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A('s +305 h ' + A(k- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&$& +3 h &  ? + A(& +3 h &<* & %\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&I'΍ +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.15 +2 A(.'h +29 h ' + M& % +4 h %α  D + A(3& +3 h &<* B D\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 336 counts +2 M&' +16 h ' + M& & +4 h &   Y ? + A(& +4 h &<* A A H\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&W'O +18 h ' + .t\SE.seek 1.15 +2 A(u' +42 h ' + M&Q& +4 h & ? +2 M&% +3 h %N  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&)' +89 h ' +2 .t\Elbow.seek CC + M&(ӂ +152 h ( + M&"& +4 h &Ӆ-   Dz + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &@& +3 h &Ӆ-  \  Dz + .t\Forearm.seek :CC +2 M&<'? +92 h ' +2 .tHand.close + M&B/ +73 h / + .t\CC.seek :open +2 C'K( +448 h ( +4 A(& +4 h &<* | x\  + A(& +3 h &<* z | 9\  +2 M&S& +3 h &Ӫ& + ?U + M&% +3 h % 9  6 +2 .t\Forearm.seek :retract +2 M&'' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&O( +161 h ( + M&~& +4 h &  D  + A(& +3 h &<* \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&|'΍ +94 h ' + .t\Elbow.hold +2 M&?, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +54 h 1 + M&X% +4 h % Ρ  P + A(x& +3 h &<* \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 320 counts +2 M&6' +15 h ' + M&&& +4 h & 2  + A(+& +4 h &<* -\  +10 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M& 'O +15 h ' + A(0% +4 h % i\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (D% +2 h %@ d\ V` +2 M&o% +3 h %W +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +63 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp + C'A& +4 h &  \ + M&_% +4 h %    G  + A(% +4 h % \ + A(U. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A({(K +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (\\& +2 h &K \  +2 M&=& +3 h &    +2 .t\Elbow.seek 6 + M&[( +4 h ( + M&,& +3 h &   +2 A(z& +3 h &K x\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&g' +92 h ' + A(*& +4 h &K M\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(9's +298 h ' + A(/- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (Y& +2 h &K Z\  + M&q& +4 h &   +2 .t\Elbow.seek 6 + M& ( +3 h ( + M&e& +3 h & <  +2 A(R& +3 h &K v\  +2 .t\Forearm.seek 6 + 300 counts + M&-'h +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&L/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&P& +3 A(#' +5 h & C  +2 M&h% +3 h % ] J +47 .t\Forearm.seek :retract +4 M&F' +90 h ' + .t\Elbow.seek CC +2 M&J(ӂ +110 h ' + ."downElevator"\SE.coast + A(5 +47 h ( + M&7& +4 h &Ӗ"   ;6 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &p& +2 h &Ӗ"  - ;6 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&r'? +90 h ' + C't& +4 h &  \ +2 C'2& +3 .t\CC.seek :closed +2 C'f(\\ +2 h &  -\ +3 &  W\  +10 &5}  "\ +{ +9 &h~  (\ ? +10 &n  &\ L +10 &dT  /\ K +8 &%S  1\ L +9 &Y  )\ L +9 &V  &\ L +10 &lS  '\ K +9 &.V  )\ K +10 &S  \ L +9 & W  >\ K +9 &"tU  )\ K +10 &$5X  &\ L +10 &%X  &\ L +8 &'W  %\ L +10 &){S  '\ L +9 &+>T  G\ K +9 &-U  <\ K +10 &.U  \ K +9 &0Y  *\ L +10 &2FT  /\ K +9 &4V  '\ L +9 &5Y  O\ K +10 &7W  ,\ L +9 &9MZ  !\ L +9 &;U  D\ L +10 &<T  L\ L +9 &>W  B\ K +10 &@VW " e\ K +10 &B[  \ L +8 &Cb ! "7\ M +10 &Er $ $D\ O +9 &GI * '[\ S +9 &I - ->\ V +10 &J . 0R\ X +9 &L~ . /[\ X +10 &N@ . 0K\ X +9 &O 1 1]\ Y +9 &Q . 0B\ Z +10 &S 2 1J\ [ +9 &UA 2 1:\ [ +9 &V 0 1]\ \\ +10 &X 2 1G\ ] +9 &Z 2 3.\ ] +10 &\\%z / 2Z\ 0 +9 &\\0 0 2T\ !e +9 ( +2 &\\h 2 4L\ Q + C'2& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 +2 .Hand.open + M&(1 +53 h 1 + M&H% +4 h % :   t + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +93 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp +2 P%w& +3 h &\ +2 M&`% +3 h %    +2 A(% +3 h % 4 3\ + A(>. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(4(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (s& +3 h &K 6 @ D\  +2 M&m& +3 h &ӗ" $ ;5 +2 M&E% +3 h %    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&!( +159 h ( + M&i& +4 h &  \\  + A(:& +4 h &K X _\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +94 h ' + A(G& +4 h &K \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A( 's +298 h ' + A(]- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &K T U Y\  +2 M&%& +3 h &  + .t\Elbow.seek 6 +2 M&( +2 h ( +2 M&M& +3 h & f  + A(T& +4 h &K Y U l\  +2 .t\Forearm.seek 6 + 300 counts +2 M&\ 'h +32 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&c/ +75 h / +2 ."downElevator"\SE.seek :down +2 M&l& +3 A(V' +5 h &   +2 M&% +3 h % ϐ d +2 .t\Forearm.seek :retract + M&8' +91 h ' + .t\Elbow.seek PC +2 M&N( +170 h ' + ."downElevator"\SE.coast + A(5 +69 h ( +2 M&d& +4 h &    + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &}& +3 h &  T  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +96 h ' + P%& +4 h &\ + P%C& +4 .t\PC.seek :closed +2 P%1(^ +2 h &u\ +3 &\  +10 &0u\ *x +9 &b\ > +9 &ct\ O +10 &$W\ O +9 &V\ O +10 &U\ O +9 &kY\ O +9 &-Z\ O +10 &V\ O +9 &U\ N +9 & sW\ O +10 &"6X\ N +9 &#W\ N +10 &%T\ O +9 &'{T\ O +9 &)=T\ O +10 &*T\ O +9 &,V\ O +9 &.W\ N +10 &0DY\ O +9 &2W\ O +10 &3V\ N +9 &5W\ N +9 &7MV\ O +10 &9Z\ O +9 &:W\ O +9 &<W\ O +10 &>UZ\ O +9 &@Z\ O +10 &Ae\ P +9 &Cs\ R +9 &EM\ T +10 &G \ U +9 &H\ U +9 &J\ U +10 &LQ\ U +9 &N\ V +10 &O\ W +9 &Q\ W +9 &SU\ W +10 &U\ V +9 &V\ W +9 &X\ V +10 &Z_\ V +9 &\\\ W +10 &]\ 8 +9 &^-u\ [ +9 &^-\ 6 +3 ( + P%C& +3 #t\Processing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.66 + .Hand.open +2 M&1 +64 h 1 + M&n% +4 h %   ) + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&b' +94 h ' + .t\SC.coast + A(6 +2 P%j& +4 h &^(\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 M&y% +3 h %     + A(v% +4 h % B @ \ +2 A(k. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 6 + A($(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&& +4 h &K , ' .\  +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M& ( +3 h ( + M&3& +3 ."raiseStack"\SE.seek beamBreak +2 A( 's +2 h &   (  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &   +2 .t\Forearm.seek :PC +2 M&Q' +92 h ' + .tHand.close + M&/ +75 h / +3 .t\PC.seek :open +2 P%5( +90 h ' + A(;- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A('1 +46 h ' +308 ( + A(I& +4 h &K > E \  + M&& +3 h &  3  +2 M&.% +3 h %   < +2 .t\Forearm.seek :retract + M&"' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&@( +244 h ( + M&W& +4 h &  ? + A(& +4 h &K E B w\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&B' +98 h ' + .tHand.open + M&)1 +60 h 1 + A(a- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +54 h ' +2 #tLights, camera, ACTION! +2 A(S- +3 h -' + A(& +3 h &K s \  +2 M&~& +3 h &  > +2 .t\Elbow.seek 6 + M&( +3 h ( + M&<& +4 h &   > +2 A(& +3 h &K g k z\  +2 .t\Forearm.seek 6 + 450 counts +2 M&' +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(X' +63 h ' + M&x& +4 h & \ > +2 A(&& +3 h &K K J V\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&+'< +14 h ' + .t\Elbow.hold +2 M&0, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b + .t\SE.seek -0.33 +2 A('' +29 h ' + M&D% +4 h %l . ^ +2 A(o& +3 h &K 9 A \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 348 counts +2 M&O'Ϙ +15 h ' + M&|& +4 h &  \\ > +2 A(A& +3 h &K Y S =\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&6' +20 h ' + A(_% +4 h % [ [\ +3 ."downElevator"\SE.seek :down +49 A(' +52 (U% +2 h %E > B \ Vb +2 M&u% +4 h %  > + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +91 h ' +114 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &\\h 0 1C\ Q +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&^% +3 h %  \   +2 A(\\% +3 h % T T P\ +2 A(=. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(,(K +9 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (z& +3 h &K U X\  + M&*& +4 h &  > + .t\Elbow.seek 6 +2 M&?( +3 h ( + M&& +4 h &   + > +2 A(/& +3 h &K V Z\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&Y' +98 h ' + A(q& +4 h &K Z X\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(e's +300 h ' + A(R- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&L& +3 h &   > + A(P& +4 h &K 5 6 V\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&h'< +15 h ' + .t\Elbow.hold +2 M&[, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(g- +2 h -' +2 .t\SE.seek 0.16 + A(9'q +30 h ' + M&7% +4 h %\\  . + A(p& +4 h &K 4 ? \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 332 counts +2 M&-'ψ +15 h ' + M&t& +4 h &  Q > +2 A( & +3 h &K Y X\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&#' +19 h ' + .t\SE.seek 1.16 +2 A(F' +49 h ' + M&K& +4 h & 2 > +2 M&(% +3 h % # +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&H' +89 h ' + .t\Elbow.seek CC +2 M&w(ӂ +152 h ( + M&`& +4 h &ӊ+  \  Cr + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӊ+  Cr + .t\Forearm.seek :CC +2 M&>'? +92 h ' + .tHand.close + M&2/ +71 h / + .t\CC.seek :open +2 C's( +448 h ( +2 A(m& +4 h &K >\  +2 A(E& +3 h &K y x W\  + M&r& +3 h &ӣ'  @Y +2 M&i% +3 h % E   \\ +2 .t\Forearm.seek :retract + M&:' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&{( +163 h ( + M&G& +4 h &   o  + A(J& +4 h &K =\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&'< +92 h ' + .t\Elbow.hold +2 M&], +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +59 h 1 + M&%% +4 h % G \  . * + A(M& +4 h &K C\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 311 counts +2 M&T's +13 h ' + M&c& +4 h & -  +2 A(l& +3 h &K u\  +10 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +18 h ' + A(!% +4 h % t\ +3 ."downElevator"\SE.seek :down +2 A(' +99 ( % +2 h %B |\ V` +2 M&\ % +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&d' +88 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp + C'}& +4 h &  F\ + M&% +4 h %  2  +2 A(% +3 h % I\ +2 A(V. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(8([ +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (Z& +3 h &[ Q\  + M&& +3 h &   +2 .t\Elbow.seek 7 +2 M&n(r +13 h ( + M&j& +4 h &| I  + A(y& +3 h &[ t\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&v'= +95 h ' + A(k& +4 h &[ \  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(C's +293 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &[ z \  +2 M&3& +3 h &|   + .t\Elbow.seek 7 +2 M&(r +3 h ( + M&& +3 h &|   +2 A(& +3 h &[ | H\  +2 .t\Forearm.seek 7 + 300 counts +2 M&4'ϧ +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close +2 M&;/ +76 h / +2 ."downElevator"\SE.seek :down +2 M&N& +3 A(b' +6 h &| T  +2 M&1% +3 h % ϛ / + .t\Forearm.seek :retract +2 M& ' +92 h ' + .t\Elbow.seek CC +2 M&I(ӂ +157 h ( + ' + ."downElevator"\SE.coast +2 A(5 +4 M&& +5 h &ӈ-  Dv + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &.& +3 h &ӈ-  Dv +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&Q'? +94 h ' + C'W& +4 h &  d\ +2 C'& +3 .t\CC.seek :closed +2 C' (\\ +2 h &  `\ +4 &  :\ : +10 &LKx  d\ 1 +9 &w}  5\ E +9 &0Y  ]\ L +10 &R  S\ K +9 &V  M\ L +10 &wW  +\ L +9 &9W  S\ L +9 &X  R\ L +10 &W  1\ L +9 &X  4\ L +9 &!AW  R\ L +10 &#W  H\ L +9 &$Y  F\ L +10 &&Y  Q\ L +9 &(IX  '\ L +9 &* T  J\ L +10 &+S  (\ L +9 &-S  -\ L +9 &/RU  J\ K +10 &1U  .\ L +9 &2Y  S\ L +10 &4T  L\ L +9 &6YW  P\ L +9 &8W  G\ K +10 &9W  >\ L +9 &;V  j\ L +10 &=bW  F\ K +9 &?"W  2\ L +9 &@W  ;\ L +10 &B[ ! g\ L +9 &Ddc " !M\ M +9 &Fv % %B\ P +11 &G - *k\ T +8 &I 2 /%\ V +9 &KM 0 2G\ X +10 &M / 1L\ X +9 &N / 0/\ X +10 &P 1 10\ Y +9 &RQ 1 /S\ Y +9 &T 0 2O\ [\ +10 &U 1 2J\ [ +9 &W 3 4Q\ [\ +9 &YO 2 3/\ ] +10 &[ 3 1V\ ] +9 &\\eF 4 2S\ 1 +10 &\\% 3 3P\ P +9 ( +2 &\\c 3 3T\ N + C'& +3 #t\Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + M&)1 +62 h 1 +9 M&a% +4 h % 6  Y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&S' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 P%& +3 h &\ +2 M&~% +3 h %  \  +2 A(<% +3 h % H J \ + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A("([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (x& +3 h &[ D F \  + M&&& +3 h &Ӌ+  Cs +2 M&D% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +48 M&o(r +167 h ( + M&& +4 h &r \ '  + A(|& +4 h &[ ] [\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&A'= +92 h ' + A(& +4 h &[ \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(_'s +299 h ' + A(@- +3 h -' + .t\SE.configure SEconfig +3 A(#QK-0-\ b +2 (B& +2 h &[ Y b\  +2 M&& +3 h &r J  +2 .t\Elbow.seek 7 + M&U(r +3 h ( +2 M&u& +3 h &r 4  + A(& +3 h &[ b d\  +2 .t\Forearm.seek 7 + 300 counts +2 M&'ϧ +37 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&X/ +74 h / +2 ."downElevator"\SE.seek :down +2 M&+& +4 A(O' +5 h &r   +2 M&% +3 h % ϲ  X +2 .t\Forearm.seek :retract +2 M&^' +90 h ' + .t\Elbow.seek PC +2 M&\\( +168 h ' + ."downElevator"\SE.coast + A(5 +71 h ( + M&=& +4 h & \   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &'& +3 h &   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&z' +94 h ' + P%*& +4 h &\ + P%& +4 .t\PC.seek :closed + P%/(^ +3 h &\ +3 &\  +8 &0v\ *x +10 &b\ > +9 &ju\ O +9 &,W\ O +10 &Z\ O +9 &Z\ O +9 &rU\ O +10 &4U\ O +9 &U\ O +9 &V\ N +10 & {W\ N +9 &"=U\ N +10 &#W\ N +9 &%T\ O +9 &'W\ N +10 &)DU\ O +9 &+V\ N +10 &,W\ O +9 &.Z\ O +9 &0LX\ O +10 &2W\ O +9 &3Y\ O +9 &5V\ O +10 &7UU\ N +9 &9W\ O +9 &:Y\ O +10 &<W\ N +9 &>ZZ\ O +10 &@\\\ P +9 &Ah\ Q +9 &Cs\ R +10 &ET\ T +9 &G\ U +9 &H\ U +10 &J\ V +9 &LV\ V +10 &N\ V +9 &O\ V +9 &Q\ W +10 &S[\ W +9 &U!\ V +9 &V\ V +10 &X\ V +9 &Zd\ W +10 &\\%\ W +9 &]}\ : +9 &^1\ [ +10 &^(\ 2 +2 ( + P%& +3 #t\Processing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.66 + .Hand.open + M&61 +56 h 1 + M&q% +4 h %    2 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 P%$& +4 h &^%\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 M&0% +3 h %    +2 A( % +3 h % B C \ +2 A(R. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(L([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&P& + A(g& +6 h &    + &[ C C ^\  +2 .t\Elbow.reconfigure TightElbow + ."raiseStack"\SE.reconfigure SEplace +4 A(#]kK-0-\ b +2 M&$&.,(\ #b +3 .t\Elbow.seek PC +2 M&7( +3 ."raiseStack"\SE.seek beamBreak +2 A(p's +2 h ( +3 M&t& +3 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &  +2 .t\Forearm.seek :PC +2 M&K' +92 h ' + .tHand.close + M&(/ +74 h / + .t\PC.seek :open +2 P%Y( +92 h ' + A(?- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(e'1 +44 h ' +313 ( + A(h& +4 h &[ 9 E O\  + M&-& +4 h &  + M&9% +3 h %  , > +2 .t\Forearm.seek :retract +2 M&`' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&(r +264 h ( + M&#& +4 h &z     + A([& +3 h &[ E : N\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&2'= +97 h ' + .tHand.open + M&H1 +56 h 1 +3 A(f- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate + A(m' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(E' +57 h ' + #tLights, camera, ACTION! + A(r- +3 h -' +2 A(i& +3 h &[ ^ r\  +2 M&G& +3 h &z   +2 .t\Elbow.seek 7 + M&J(r +3 h ( + M&>& +4 h &z    + A(w& +3 h &[ \  +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +17 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(%' +53 h ' + M&M& +4 h &z  +2 A(c& +3 h &[ 8 F \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M&l'{ +21 h ' + .t\Elbow.hold +2 M&!, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(:' +29 h ' +2 M& % +3 h %Έ  +2 A(\ & +3 h &[ K K &\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 313 counts +2 M&{'ϴ +13 h ' + M&& +4 h &} L  +2 A(}& +3 h &[ T T a\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&T'= +18 h ' +2 A(% +3 h % a b\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (V% +2 h %1J F K \ Xf +2 M&F% +3 h %5 p +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +73 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &\\c 0 3W\ N +2 #t\Storing generic puck in Collection Clamp to tube 7 + M&,% +3 h %   4  +2 A(Z% +3 h % g r '\ + A(. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(j([ +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (y& +3 h &[ b b\  + M&k& +3 h &}   +2 .t\Elbow.seek 7 +2 M&](r +7 h ( + M&d& +4 h &w  =  +2 A(& +3 h &[ a [\  + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +94 h ' + A(3& +4 h &[ j\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A('s +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&;& +2 h &w  + A(N& +4 h &[ b X ?\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M&1'{ +14 h ' + .t\Elbow.hold +2 M&n, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(v- +2 h -' + .t\SE.seek 0.17 +2 A('t +35 h ' + M&.% +4 h %Ξ N 2 + A(C& +3 h &[ T X L\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 335 counts + M&4' +13 h ' + M&W& +4 h &y  + A(& +4 h &[ d c\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +49 M&b'= +15 h ' + .t\SE.seek 1.17 +2 A( ' +34 h ' + M&s& +4 h &y  +2 M&)% +3 h %6 Z +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&a' +87 h ' + .t\Elbow.seek CC +2 M&(ӂ +158 h ( +2 M&~& +3 h &ӑ&   ?V + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &<& +2 h &ӑ&   ?V +2 .t\Forearm.seek :CC + M&'? +92 h ' + .tHand.close + M&/ +75 h / + .t\CC.seek :open +2 C'x( +450 h ( + A(&& +4 h &[ %\  + A(D& +3 h &[ l\  +2 M&Q& +3 h &Ӓ&   ?U +2 M&% +3 h % D   n +2 .t\Forearm.seek :retract + M&|' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&8(r +162 h ( + M&I& +4 h &y  3  + A(& +4 h &[ s\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 7 + M&S'{ +95 h ' + .t\Elbow.hold +2 M&@, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&B1 +54 h 1 + M&% +4 h % | \ 3  + A(u& +3 h &[ \  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 301 counts + M&'Ϩ +16 h ' + M&X& +4 h &  + A(+& +4 h &[ \  +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +16 h ' + A(o% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(A' +99 (_% +2 h %rH \ Va +2 M&% +3 h %3 A +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&=' +87 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .tdelay 10 seconds +1002 #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp + C''& +3 h &  S\ + M&U% +3 h %   +2 A(*% +3 h % \ + A(O. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(^(  +1612 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (5& +3 h &  w _\ + M&6& +3 h & 5  +2 .t\Elbow.seek 2 +2 M&q( +26 h ( + M&$& +4 h &   f  +2 A(0& +3 h &  z } <\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M& 'S +92 h ' + A(R& +4 h &  \ + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A('s +292 h ' + A(P- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (g& +2 h &  { v\ +2 M&t& +3 h &   + .t\Elbow.seek 2 +2 M& ( +15 h ( + M&z& +4 h & Q  + A((& +3 h &  \ +2 .t\Forearm.seek 2 + 300 counts +2 M&"'Ͻ +19 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&?/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&\\& +6 A(' +2 h & j  +2 M&/% +3 h %   +2 .t\Forearm.seek :retract +2 M&p' +88 h ' + .t\Elbow.seek CC +2 M&h(ӂ +161 h ( +2 M&-& +4 h ' + &Ӓ#  Z <= +2 .t\Elbow.reconfigure LooseElbow + ."downElevator"\SE.coast +2 A(5 +3 M&$ &.,(#b +2 &9& +3 h &Ӓ#  ( <= + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&K'? +92 h ' + C'#& +4 h &  i\ +2 C'[& +3 .t\CC.seek :closed +2 C'7(\\ +2 h &  n\ +4 &  a\ 6 +9 &:Iv  _\ / +10 &er  ^\ D +9 & ]  d\ L +9 &T  f\ K +10 &U  e\ K +9 &TU  f\ L +9 &W  g\ L +10 &X  c\ L +9 &T  f\ L +10 &\\T  ]\ L +9 &!T  W\ L +9 &"T  Z\ L +10 &$V  W\ K +9 &&eV  V\ K +9 &(&W  Y\ L +10 &)Y  U\ L +9 &+T  I\ L +10 &-lT  W\ L +9 &//U  R\ K +9 &0U  R\ L +10 &2X  W\ L +9 &4tT  X\ L +9 &66W  U\ L +11 &7U  S\ L +8 &9W  R\ L +10 &;}W  U\ K +9 &==X  P\ L +9 &?W  S\ L +10 &@W  R\ K +9 &B\\  T\ M +9 &DBb " !P\ M +10 &Eu & $R\ P +9 &G ( 'R\ R +10 &Ik - .T\ W +9 &K* . 0P\ X +9 &L 2 0I\ Z +10 &N / /U\ Z +9 &Pk 1 2R\ Z +9 &R+ 1 1P\ Z +10 &S 2 2H\ [ +9 &U 1 3J\ [ +9 &Wn 3 4K\ [ +10 &Y) 2 2A\ ^ +9 &Z 2 4E\ ] +10 &\\UX 2 1G\ / +9 &\\ 2 4K\ a +9 ( +2 &\\u 2 3I\ X + C'[& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.28 + .Hand.open +2 M&H1 +53 h 1 +2 M&f% +4 h % 9   d + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&r' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 P%i& +3 h &w\ +2 M&G% +3 h %    + A(>% +4 h % J J 8\ +2 A(w. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(`(  +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (M& +3 h &  K J &\ +2 M&c& +3 h &ӓ#   << + M& % +4 h %   \  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&\ ( +164 h ( + M&e& +4 h &  F  +2 A(& +3 h &  c b\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&}'S +90 h ' + A(m& +4 h &  *\ + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A('s +295 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (2& +2 h &  W c\ +2 M&E& +3 h &  + .t\Elbow.seek 2 +2 M&V( +3 h ( + M&F& +3 h & ]  +2 A(& +3 h &  [ Y\ +2 .t\Forearm.seek 2 + 300 counts + M&J'Ͻ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&%/ +67 h / +2 ."downElevator"\SE.seek :down +2 M&l& +6 A({' +2 h & F  +2 M&% +3 h % Ϲ & +2 .t\Forearm.seek :retract +2 M&,' +92 h ' + .t\Elbow.seek PC +2 M&Z( +166 h ' + ."downElevator"\SE.coast + A(5 +72 h ( + M&& +4 h &  ! + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &:& +3 h & \ u ! + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&y' +93 h ' + P%k& +4 h &\ + P%d& +4 .t\PC.seek :closed +2 P%(^ +2 h &q\ +3 &\  +10 &1{\ *x +9 &a\ > +9 &it\ N +10 &*W\ N +9 &W\ N +9 &U\ O +11 &oU\ O +8 &1[\ O +10 &\\\ O +9 &Z\ N +9 & xX\ N +11 &"9Y\ O +8 &#Y\ O +9 &%U\ N +10 &'X\ O +9 &)BZ\ N +10 &+W\ N +9 &,W\ N +9 &.Y\ N +10 &0IY\ O +9 &2 W\ N +9 &3W\ N +10 &5W\ O +9 &7RV\ N +10 &9X\ O +9 &:W\ O +9 &<X\ O +10 &>YZ\ O +9 &@Z\ O +9 &Ac\ P +10 &Cr\ R +61 &ES\ T +2 &G\ U +2 &H\ U + &J\ U + &LT\ V + &N\ V +3 &O\ V +4 &Q\ V +9 &S[\ V +10 &U\ V +9 &V\ W +9 &X\ V +10 &Zc\ V +9 &\\#\ W +9 &]\ 6 +10 &^1u\ J +10 ( + &^'\ 5 + P%d& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 M&T1 +55 h 1 + M&3% +4 h %    m + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&' +91 h ' + .t\SC.coast + A(6 +2 P%L& +4 h &^&\ \ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&!% +3 h %    +2 A(% +3 h % C C \ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(;(  +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (N& +3 M&v& +5 h &  B B \ +2 &  ! +2 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.reconfigure TightElbow +3 A(#]kK-0-\ b +2 M&$&.,(\ #b +3 .t\Elbow.seek PC +2 M&.( +4 h ( + M&C& +3 ."raiseStack"\SE.seek beamBreak +2 A(W's +2 h &   ! + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h & #  ! +2 .t\Forearm.seek :PC +2 M&s' +92 h ' + .tHand.close + M&)/ +75 h / + .t\PC.seek :open +2 P%( +91 h ' + A(]- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +45 h ' +310 ( + A(1& +4 h &  @ 3\ + M&4& +3 h &  ! +2 M&% +3 h %   > +2 .t\Forearm.seek :retract + M&~' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&<( +245 h ( + M&b& +4 h &   : + A(n& +3 h &  J @ \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +97 h ' + .tHand.open + M&a1 +64 h 1 + A( - +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(&' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(D' +55 h ' + #tLights, camera, ACTION! + A(Q- +3 h -' +2 A(& +3 h &  B\ +2 M&I& +3 h &  : +2 .t\Elbow.seek 2 + M&( +3 h ( + M&& +4 h &   : +2 A(& +3 h &  \ +2 .t\Forearm.seek 2 + 450 counts +2 M&B'S +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +54 h ' + M&u& +4 h &  : +2 A(X& +3 h &  J J $\ + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&+'Α +14 h ' + .t\Elbow.hold +2 M&o, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(|' +29 h ' + M&_% +4 h %ΰ  B +2 A(& +3 h &  J J *\ +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 331 counts +2 M&8' +13 h ' +2 M&S& +3 h &  = : +2 A(& +5 h &  T Y u\ +4 .t\Forearm.reconfigure TightForearm +5 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M& 'S +16 h ' +2 A(% +3 h % U T [\ +3 ."downElevator"\SE.seek :down +2 A(A' +99 (j% +3 h %FK A C \ Xg + M&'% +3 h %@ u +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&U' +85 h ' +73 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'*& +3 h &\\t 4 2N\ X +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&O% +4 h %  A  + A(5% +3 h % [ Z\ +2 A(6. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A($(  +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (0& +3 h &  W Z\ +2 M&R& +3 h & F : + .t\Elbow.seek 2 +2 M&@( +3 h ( + M&=& +3 h &  C : +2 A(P& +3 h &  Y U \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&g'S +97 h ' + A(t& +4 h &  ` [\ + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(z's +300 h ' + A((- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&?& +2 h &  : +2 A(\\& +3 h &  8 6 d\ + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&/'Α +15 h ' + .t\Elbow.hold +2 M&q, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A( - +2 h -' +2 .t\SE.seek 0.16 + A(-'q +30 h ' + M&9% +4 h %ζ  E + A(& +3 h &  @ 5 \ +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 337 counts +2 M&"' +13 h ' + M&#& +4 h &   m : + A( & +4 h &  Y T T\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +15 h ' + .t\SE.seek 1.16 +2 A(p' +40 h ' + M&x& +4 h & T : +2 M&H% +3 h %@ ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&f' +88 h ' + .t\Elbow.seek CC +3 M&i(ӂ +162 h ( + M&G& +4 h &ӈ   6 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &>& +3 h &ӈ   6 + .t\Forearm.seek :CC +2 M&w'? +93 h ' + .tHand.close + M&[/ +70 h / + .t\CC.seek :open +2 C'M( +448 h ( + A(c& +4 h &  y\ + A( & +3 h &  t\ +2 M&K& +3 h &ӈ  { 6 + M&e% +3 h % G  W +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&^( +161 h ( + M&m& +4 h & G  + A(h& +3 h &  D\ +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 2 + M&r'Α +94 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&21 +59 h 1 + M&E% +4 h % Τ  ? 6 + A(F& +3 h &  \ +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 319 counts +2 M&' +15 h ' + M&%& +4 h & R  + A(l& +4 h &  \ +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +18 h ' +46 A(\ % +6 h % \ +3 ."downElevator"\SE.seek :down +2 A(}' +99 (% +2 h %Z? 1\ Va +2 M&J% +3 h %h O +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +65 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + C':& +4 h &  V\ +2 M&V% +3 h %  z  +2 A(k% +3 h % !\ + A({. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(,( +367 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (Y& +3 h & :\  + M&T& +3 h &  +2 .t\Elbow.seek 3 +2 M&3( +11 h ( + M&L& +4 h & D ~ + A(!& +4 h & 2\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +94 h ' + A(& +4 h & \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(v's +292 h ' + A(N- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (d& +2 h & \  +2 M&C& +3 h & ; ~ + .t\Elbow.seek 3 +2 M&( +3 h ( + M&y& +3 h & P ~ +2 A()& +3 h & N\  +2 .t\Forearm.seek 3 + 300 counts + M&`'ϡ +45 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&]/ +75 h / +2 ."downElevator"\SE.seek :down +2 M&Z& +4 A(' +5 h & ~ ~ +2 M&% +3 h % ϒ ^ i +2 .t\Forearm.seek :retract + M&W' +91 h ' + .t\Elbow.seek CC +2 M&1(ӂ +160 h ( + ' + ."downElevator"\SE.coast +2 A(5 +4 M&4& +5 h &ӏ(  @Z + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӏ(   @Z + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&s'? +92 h ' + C'b& +4 h &  i\ +2 C'n& +3 .t\CC.seek :closed +2 C'.(\\ +2 h &  o\ +4 &  ]\ ; +9 &MJv  d\ 0 +10 &}t~  b\ E +9 &&Z  b\ M +9 &R  Z\ L +10 &T  S\ L +9 &oS  S\ L +10 &1R  Q\ L +9 &T  W\ L +9 &S  S\ L +10 &wU  W\ L +9 &!9T  W\ L +9 &"T  Y\ L +11 &$U  R\ L +8 &&T  K\ L +10 &(AT  R\ L +9 &*T  X\ L +10 &+T  W\ L +9 &-V  R\ K +9 &/JW  L\ K +9 &1 U  R\ K +10 &2W  I\ K +9 &4V  Q\ K +10 &6QW  V\ L +9 &8U N\ L +9 &9W  N\ L +10 &;U  N\ L +9 &=YW  !K\ L +9 &?W  R\ K +10 &@W  H\ L +9 &B\\ ! R\ L +10 &D\\c $ $H\ M +9 &F} & $D\ P +9 &G , +@\ R +10 &I 1 2@\ X +9 &KB 0 4E\ Y +9 &M 2 1B\ Y +10 &N 1 4D\ Y +9 &P 3 2A\ Y +10 &RG 2 2D\ Z +9 &T 3 3D\ \\ +9 &U 1 2B\ \\ +10 &W 3 3E\ \\ +9 &YE 3 6V\ ] +9 &[ 3 4J\ ^ +10 &\\_F 4 5G\ 3 +9 &\\ 3 6N\ P +6 ( + C'n& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.29 + .Hand.open +2 M&a1 +55 h 1 + M& % +4 h % @   u + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +3 M&Q' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 3 into Processing Clamp +2 P%& +3 h &\ +2 M&I% +3 h %    J  +2 A(% +3 h % 8 H h\ + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(~( +13 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (u& +3 h & ? H U\ + M&X& +3 h &ӑ'   @X +2 M&_% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&( +164 h ( + M&S& +4 h &     + A(& +4 h & Z [\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +92 h ' + A(&& +4 h & \ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A('s +295 h ' + A(<- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h & A 8 \ +2 M&D& +3 h &  S  + .t\Elbow.seek 3 +2 M&j( +3 h ( + M&'& +3 h &   +2 A(B& +3 h & Y V f\ +2 .t\Forearm.seek 3 + 300 counts + M&'ϡ +36 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close +2 M&/ +68 h / +2 ."downElevator"\SE.seek :down +2 M&+& +6 A(*' +2 h & (  +2 M&8% +3 h % Ϻ  O +2 .t\Forearm.seek :retract +2 M&O' +89 h ' + .t\Elbow.seek PC +2 M&5( +166 h ' + ."downElevator"\SE.coast + A(5 +72 h ( + M&6& +5 h &  O , +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &|& +2 h &  , +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&0' +94 h ' + P%R& +4 h &\ + P%=& +4 .t\PC.seek :closed + P%P(^ +3 h &u\ +3 &\ 3 +10 &7Fz\ 1 +9 &_q\ E +9 &c\ O +10 &U\ N +10 &Y\ N +8 &EV\ O +10 &V\ N +9 &W\ N +10 &Y\ N +9 &NW\ N +9 &![\ O +10 &"W\ O +9 &$T\ N +9 &&UU\ O +10 &(Z\ O +9 &)Y\ O +10 &+U\ O +9 &-]U\ O +9 &/W\ O +10 &0[\ O +9 &2Z\ O +9 &4eX\ O +10 &6'V\ O +9 &7U\ O +10 &9U\ O +9 &;lW\ O +9 &=/Y\ O +10 &>]\ O +9 &@]\ O +9 &Bph\ P +10 &D-s\ R +9 &E\ U +10 &G\ U +9 &Il\ T +9 &K,\ U +10 &L\ U +9 &N\ V +9 &Po\ V +10 &R2\ V +9 &S\ V +10 &U\ V +9 &Wy\ U +9 &Y9\ V +10 &Z\ V +9 &\\\ W +9 &^5d\ (z +10 &^ k\ 5 +9 ( +2 &^!\ 1 + P%=& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 M& 1 +55 h 1 + M&t% +4 h %   n + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&A' +91 h ' + .t\SC.coast + A(6 +2 P%;& +4 h &^!\ \ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 M&o% +3 h %     + A(U% +4 h % D D \ +2 A((. +2 h . + .t\SC.reconfigure SCtight +3 A($\ .\ 1~b +2 .t\SC.seek 3 + A(?( +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (\\& +3 h & C D \  +2 ."raiseStack"\SE.reconfigure SEplace +2 M& & +2 A(#]kK-0-\ b +5 h &  + +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&9( +3 h ( + ."raiseStack"\SE.seek beamBreak +3 A('s +2 M&#& +5 h &  + + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &   + +2 .t\Forearm.seek :PC + M&x' +93 h ' + .tHand.close + M&H/ +68 h / + .t\PC.seek :open +2 P%g( +92 h ' +2 A(@- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(z'1 +47 h ' +310 ( + A(/& +4 h & H Y Q\  + M&"& +3 h & O + +2 M&-% +3 h %   H +2 .t\Forearm.seek :retract + M&G' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +51 M&>( +253 h ( + M&& +4 h & 1  + A(q& +3 h & 5 5 1\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&['7 +92 h ' + .tHand.open + M&f1 +59 h 1 + A(7- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(c' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A( ' +51 h ' +2 #tLights, camera, ACTION! + A(K- +3 h -' +2 A(e& +3 h & 1\  +2 M&m& +3 h &  )  +2 .t\Elbow.seek 3 +2 M&h( +18 h ( + M&w& +4 h &    +2 A(i& +3 h & T\  +2 .t\Forearm.seek 3 + 450 counts +2 M&2'7 +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(E' +55 h ' + M&F& +4 h &   +2 A(%& +3 h & V Z\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&l'u +15 h ' + .t\Elbow.hold +2 M&\ , +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +28 h ' + M&% +4 h %Ι X N +2 A(J& +3 h & U U v\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 336 counts + M&^' +14 h ' +2 M&r& +3 h & C  +2 A(& +3 h & d c\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&:'7 +18 h ' +2 A(V% +3 h % k ] !\ +3 ."downElevator"\SE.seek :down +2 A(k' +99 ({% +3 h %eG E K 0\ Xg + M&p% +4 h %@ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +86 h ' +73 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +3 C'}& +3 h &\\p 3 4Z\ O + #t\Storing generic puck in Collection Clamp to tube 3 +2 M&$% +3 h %    +2 A(Y% +3 h % X Y\ + A(T. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(L( +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (!& +3 h & d c =\  + M&& +4 h &   + .t\Elbow.seek 3 +2 M&( +10 h ( + M&& +4 h &~  N  +2 A(N& +3 h & b b \  + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&d'7 +95 h ' + A(C& +4 h & f =\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(y's +300 h ' + A()- +4 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&]& +3 h &~  *  +2 A(Z& +3 h & [ Y \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&'u +14 h ' + .t\Elbow.hold +2 M&3, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.17 +2 A(4'v +29 h ' + M&% +4 h %Ι w 4 + A(v& +3 h & F V \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 336 counts +2 M&`' +13 h ' + M&b& +4 h &  +2 A(& +3 h & U U O\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +16 h ' + .t\SE.seek 1.17 +2 A(W' +36 h ' + M&M& +4 h &  +2 M&a% +3 h %5  ^ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +87 h ' + .t\Elbow.seek CC +2 M&(ӂ +155 h ( + M&I& +4 h &{. \  W D{ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &{-  D{ + .t\Forearm.seek :CC +2 M&'? +90 h ' + .tHand.close + M&n/ +75 h / + .t\CC.seek :open +2 C'u( +447 h ( + A(X& +4 h & I\  + A(_& +3 h & { } 5\  +2 M&s& +3 h &ӟ' @W + M&S% +4 h % X  i +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&,( +165 h ( + M&&& +4 h & p  + A(1& +4 h & +\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&Q'u +91 h ' + .t\Elbow.hold +2 M&<, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +58 h 1 + M&D% +4 h % Τ w Q + A('& +3 h & \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 347 counts + M&B' +13 h ' + M&& +4 h & F +2 A(+& +3 h & \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&8'7 +17 h ' + A(% +4 h % '\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +2 h %? .\ V_ +2 M&% +3 h %8 h +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&6' +90 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'|& +4 h &  [\ + M&j% +4 h %   +2 A(R% +3 h % x\ +2 A(*. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(O(,y +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,w } | ~\  + M& & +3 h &  { +2 .t\Elbow.seek 4 + M&t( +49 h ( + M&;& +4 h & F  + A(o& +3 h &,w 3\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&U' +94 h ' + A((& +4 h &,w \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(\\'s +296 h ' + A(=- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( & +2 h &,w ]\  +2 M&#& +3 h &  +2 .t\Elbow.seek 4 + M& ( +3 h ( + M&0& +3 h &   +2 A(H& +3 h &,w Y\  +2 .t\Forearm.seek 4 + 300 counts +2 M&~'c +33 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&@/ +74 h / +2 M&5& +2 ."downElevator"\SE.seek :down +4 A(A' +3 h &  + M&P% +4 h % ϋ V +2 .t\Forearm.seek :retract + M&' +90 h ' +3 .t\Elbow.seek CC +2 M&/(ӂ +155 h ( + M&"& +4 h &-   Du + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &-& +2 h &Ӏ+   Ct +2 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b + h ' + ."downElevator"\SE.coast +2 A(5 +2 .t\Forearm.seek :CC +3 M&x'? +93 h ' +2 C'& +4 h &  e\ +2 C'q& +3 .t\CC.seek :closed +2 C'9(\\ +2 h &  o\ +3 &  f\  +10 &6}  f\ +{ +9 &\ h~  c\ ? +9 &k  \\\ M +10 &[U  W\ L +9 &Y  R\ L +9 &Y  S\ L +9 &R  U\ L +10 &cS  S\ L +9 &&V  W\ K +10 &U  Q\ L +9 & X  S\ L +9 &"kY  T\ L +10 &$-T  X\ L +9 &%U  S\ K +9 &'U  Q\ L +10 &)sX  S\ L +9 &+5T  R\ L +9 &,V  R\ K +10 &.U  L\ L +9 &0{T ! S\ L +10 &2=U  P\ L +9 &3Y  R\ L +9 &5V  S\ L +10 &7V  S\ L +9 &9EW  Q\ L +9 &;U  I\ L +11 &<W  I\ L +8 &>W  G\ L +10 &@LV  H\ L +9 &B Z ! G\ L +9 &Ca " "E\ M +10 &Eu $ $C\ O +9 &G@ ) &D\ S +9 &H * *H\ W +10 &J . .B\ X +9 &Lu . .?\ Y +10 &N4 - -G\ Z +9 &O 0 0@\ Z +9 &Q / 0?\ Z +10 &Sv . 0>\ [\ +9 &U6 0 />\ \\ +9 &V 1 0?\ \\ +10 &X / 0=\ ] +9 &Zw / 1@\ ] +10 &\\| 1 0M\ 1 +9 &\\0 / 0Q\ !e +9 ( +2 &\\t 0 1F\ Q + C'q& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + .Hand.open +2 M&f1 +69 h 1 + M&7% +4 h % :    n + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&K' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%e& +3 h &\ +2 M&m% +3 h %  d  +2 A(w% +3 h % C B \ + A(i. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(G(,y + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (F& +3 h &,w C B \  + M&%& +4 h &Ӡ&  ' ?T + M&% +3 h %    G  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&J( +165 h ( + M&z& +4 h &    + A(r& +4 h &,x& ' (\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +96 h ' + A(c& +4 h &,x& ) %\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(V's +300 h ' + A(>- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ([& +2 h &,x%  ! |\  +2 M& & +3 h &  \   + .t\Elbow.seek 4 +2 M&{( +2 h ( +2 M&p& +3 h &   !  + A(2& +4 h &,x% & & \  +2 .t\Forearm.seek 4 + 300 counts + M&h'c +39 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&E/ +66 h / +2 ."downElevator"\SE.seek :down +2 M&l& +4 A(^' +5 h &   +2 M&}% +3 h % c \ " +2 .t\Forearm.seek :retract + M&$' +94 h ' + .t\Elbow.seek PC +2 M&Y( +164 h ' + ."downElevator"\SE.coast + A(5 +92 h ( +2 M&T& +4 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&!' +100 h ' + P%& +4 h &\ +2 P%& +3 .t\PC.seek :closed +2 P%N(^ +2 h &\ +3 &\  +9 &1z\ *x +10 &b\ > +9 &[u\ O +9 &W\ O +10 &W\ O +9 &V\ O +10 &bW\ O +9 &$W\ O +9 &[\ O +10 &V\ O +9 & iW\ O +9 &"-U\ N +10 &#W\ O +9 &%U\ O +9 &'qY\ O +10 &)3V\ O +9 &*W\ O +10 &,W\ O +9 &.zW\ O +9 &0;X\ O +10 &1X\ O +9 &3W\ O +9 &5W\ O +10 &7CV\ O +9 &9X\ O +10 &:X\ O +9 &<W\ O +9 &>JZ\ O +10 &@ \\\ O +9 &Ad\ P +9 &Cu\ R +10 &ED\ T +9 &G\ U +10 &H\ U +9 &J\ U +9 &LH\ U +10 &N\ W +9 &O\ V +9 &Q\ W +10 &SK\ W +9 &U\ W +10 &V\ V +9 &X\ V +9 &ZU\ V +10 &\\\ W +9 &]\ 7 +9 &^3v\ J +10 ( +2 &^&\ 5 + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 M&:1 +77 h 1 + M&C% +4 h %   \   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&k' +92 h ' + .t\SC.coast + A(6 +2 P%?& +4 h &^'\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 M&\ % +3 h %     + A(% +4 h % & )\ +2 A(). +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(](,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (Z& + M&& +4 h &,y & # \  +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&( +3 h ( +2 M&v& +3 ."raiseStack"\SE.seek beamBreak + A(b's +2 h &   +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +2 h &   +2 .t\Forearm.seek :PC +2 M&M' +91 h ' + .tHand.close + M&a/ +72 h / + .t\PC.seek :open +2 P%d( +93 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(y'1 +43 h ' +313 ( + A(& +4 h &,x Y T `\  + M&`& +3 h & 1 +2 M&4% +3 h %  9 +2 .t\Forearm.seek :retract + M&I' +89 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&( +240 h ( + M&& +4 h &   . + A(3& +3 h &,x S ; \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&n' +100 h ' +2 .tHand.open + M& 1 +63 h 1 + A(.- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(X' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(_' +50 h ' + #tLights, camera, ACTION! + A(s- +4 h -' + A(S& +3 h &,x <\  +2 M&&& +3 h &  . +2 .t\Elbow.seek 4 + M&1( +10 h ( + M&& +4 h &   \ + A(& +4 h &,x p\  +2 .t\Forearm.seek 4 + 450 counts +2 M&' +23 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(D' +50 h ' + M&'& +4 h &  \ +2 A(& +3 h &,x D C \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&+'7 +16 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +27 h ' + M&% +4 h %Q  = +2 A(& +3 h &,x F I .\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 326 counts + M&,'} +15 h ' + M&Q& +4 h & + \ +2 A(|& +3 h &,x Y Z ~\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&B' +19 h ' + A(j% +4 h % T V U\ +3 ."downElevator"\SE.seek :down +2 A(R' +99 (*% +39 h %WF B B \ We +13 M&W% +4 h % M +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&8' +88 h ' +22 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &\\n 1 1]\ Q +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&L% +3 h %  ~  +2 A(% +3 h % _ W\ +2 A( . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(;(,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (o& +4 h &,x T U 3\  + M&(& +3 h &  \ +2 .t\Elbow.seek 4 +2 M&<( +9 h ( + M&6& +4 h &   "  +2 A(=& +3 h &,x _ U\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M& ' +97 h ' + A(#& +4 h &,x k w u\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(0's +306 h ' +2 A(H- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&@& +3 h &  + A(5& +3 h &,x X O V\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&P'7 +15 h ' + .t\Elbow.hold +2 M&t, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(U- +2 h -' + .t\SE.seek 0.17 +2 A("'u +31 h ' + M&-% +4 h %h b + A(\\& +3 h &,x 9 E J\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 349 counts +2 M&~'ϔ +15 h ' + M&& +4 h & n  +2 A( & +3 h &,x _ Y\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&A' +18 h ' + .t\SE.seek 1.17 +2 A(' +49 h ' + M&u& +4 h & 0  +2 M&f% +3 h % > +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&7' +89 h ' + .t\Elbow.seek CC +2 M&e(ӂ +158 h ( + M&m& +4 h &Ӕ$   =F + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &w& +3 h &Ӕ$  =F + .t\Forearm.seek :CC +2 M&i'? +93 h ' + .tHand.close + M&q/ +69 h / +3 .t\CC.seek :open +3 C'F( +448 h ( +2 A(%& +4 h &,x  Z\  + A(& +3 h &,x h k\  +2 M&x& +3 h &Ӡ#  <: + M&z% +4 h % D   O + .t\Forearm.seek :retract +2 M&r' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&O( +26 E\ B? +136 h ( + M&c& +4 h & f  + A(/& +3 h &,x Q\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 4 +2 M&K'7 +95 h ' + .t\Elbow.hold +2 M&>, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&[1 +62 h 1 + M& % +4 h % 4     + A(p& +3 h &,x G\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 297 counts +2 M&2'` +14 h ' +2 M&E& +3 h &   +2 A(l& +3 h &,x \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&}' +21 h ' + A(J% +4 h % t\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (V% +2 h %< X\ U^ +2 M&h% +3 h %\  I +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&T' +88 h ' +57 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp + C'& +4 h &  S\ + M&{% +3 h %  D  +2 A(% +3 h % \ + A(^. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A($(<- +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (g& +3 h &<+ Z\  + M&:& +3 h &  O  +2 .t\Elbow.seek 5 +2 M&C( +8 h ( + M&?& +4 h &   V  + A(\ & +3 h &<+# \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +100 h ' + A(& +4 h &<-. \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A()'s +308 h ' + A(Z- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &<-- 9 ? u\  +2 M&v& +3 h &   + .t\Elbow.seek 5 +2 M&( +4 h ( + M&!& +4 h &  i  + A(a& +3 h &<-- Y Z\  +2 .t\Forearm.seek 5 + 300 counts +2 M&G'Ϲ +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +67 h / +2 ."downElevator"\SE.seek :down +2 M&Y& +5 A(k' +4 h & ~  +2 M&N% +3 h % Ϲ E + .t\Forearm.seek :retract +2 M&b' +92 h ' + .t\Elbow.seek CC +2 M&(ӂ +156 h ( + M&`& +4 h &ӆ)   Ab + ' + ."downElevator"\SE.coast +2 A(5 + .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b +2 &4& +2 h &ӆ)  Ab +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&M'? +91 h ' + C'& +4 h &  e\ +2 C'3& +3 .t\CC.seek :closed +2 C'(\\ +2 h &  `\ +4 &  ]\  +8 &4~  e\ *z +9 & f{  `\ > +9 &n  Z\ M +10 &UT  ^\ L +9 &T  [\ L +9 &Y  U\ L +10 &U  U\ L +9 &^R  W\ L +9 & U  U\ L +10 &T  X\ K +9 & U  X\ L +10 &"fU  S\ L +9 &$'T  T\ L +9 &%U  V\ L +10 &'V  W\ L +9 &)oU  X\ K +9 &+/U  S\ L +10 &,T  X\ L +9 &.U  T\ K +10 &0uV  V\ L +9 &27U P\ L +9 &3V  I\ L +10 &5W  F\ L +9 &7}V  K\ L +9 &9>W  P\ L +10 &;U  F\ L +9 &<V  @\ M +10 &>W A\ L +9 &@FV @\ L +9 &B^  !@\ M +10 &Ce ! >\ N +9 &E & %>\ Q +10 &G9 * )A\ T +9 &H , -@\ W +9 &J + ,C\ X +10 &Lq , ,E\ X +9 &N2 . .A\ Y +9 &O - -L\ Y +10 &Q . .E\ Z +9 &Sr . -U\ [ +10 &U4 / .W\ [ +9 &V 0 /L\ [ +9 &X / 0U\ ] +10 &Zr 0 0R\ ] +9 &\\y 0 0R\ 4 +9 &\\* 0 0R\ Z +10 ( +2 &\\i 0 /W\ R + C'3& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 +2 .Hand.open + M& 1 +59 h 1 + M&.% +4 h % D  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&s' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%S& +3 h &\ +2 M&&% +3 h %    + A(% +4 h % A A ~\ +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(I(<- +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ('& +3 h &<- B C \  +2 M&& +3 h &ӊ(   @^ + M&% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&( +164 h ( + M&y& +4 h &  + A(Q& +50 h &<- ^ b\  +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&|'O +93 h ' + A(X& +4 h &<- y\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(j's +295 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (n& +2 h &<- 6 ; \  +2 M&_& +3 h & \ 6  + .t\Elbow.seek 5 +2 M&*( +3 h ( + M&W& +3 h &   +2 A(& +3 h &<- [ Y\  +2 .t\Forearm.seek 5 + 300 counts +2 M&1'Ϲ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&D/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&+& +3 A(,' +5 h & ?  +2 M&% +3 h % Ϸ H +2 .t\Forearm.seek :retract +2 M&L' +87 h ' + .t\Elbow.seek PC +2 M&( +168 h ' + ."downElevator"\SE.coast + A(5 +69 h ( + M& & +4 h &  : / + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &  a / +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&o' +100 h ' + P%(& +4 h &\ +2 P%6& +3 .t\PC.seek :closed +2 P%=(^ +2 h &\ +3 &\  +9 &0v\ *x +10 &b\ > +9 &^t\ O +9 &!V\ N +10 &U\ O +9 &U\ O +9 &fZ\ O +10 &(Z\ O +9 &Z\ O +10 &Z\ N +9 & nV\ O +9 &"2T\ N +11 &#Z\ O +8 &%V\ O +9 &'wY\ N +10 &):V\ N +9 &*Z\ O +10 &,Z\ N +9 &.~U\ O +9 &0AY\ N +10 &2W\ O +9 &3Y\ N +10 &5U\ O +9 &7IT\ N +9 &9\ W\ O +10 &:Z\ O +9 &<U\ O +9 &>PY\ O +10 &@X\ O +9 &A`\ P +9 &Cn\ Q +10 &EL}\ S +9 &G\ \ T +10 &H\ U +9 &J\ U +9 &LK\ V +10 &N \ V +9 &O\ V +10 &Q\ W +9 &SQ\ W +9 &U\ V +10 &V\ V +9 &X\ V +9 &ZZ\ V +10 &\\\ W +9 &]\ 5 +9 &^5u\ E +10 ( +2 &^%\ 3 + P%6& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open +2 M +64 h 1 + M&B% +4 h %   + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&R' +91 h ' + .t\SC.coast + A(6 +2 P%]& +4 h &^%\ \ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 M&% +3 h %    + A(8% +4 h % C B g\ + A(H. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(@(<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (5& + M&U& +6 h &<- B B w\  +3 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &  / +2 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&-( +3 h ( + M&\\& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h &   / + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 & & +2 h &  / +2 .t\Forearm.seek :PC +2 M&u' +92 h ' + .tHand.close +2 M&f/ +69 h / + .t\PC.seek :open +2 P% ( +94 h ' + A(<- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(0'1 +44 h ' +308 ( + A(P& +4 h &<- 4 8 >\  + M&~& +3 h & / +2 M&"% +3 h % \  e G +2 .t\Forearm.seek :retract + M&m' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&w( +243 h ( + M&A& +4 h &  B + A(t& +3 h &<- > G T\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&q'O +95 h ' + .tHand.open + M&71 +53 h 1 +2 A(9- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate + A(%' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +54 h ' + #tLights, camera, ACTION! + A(x- +3 h -' +2 A(z& +3 h &<- \  +2 M&c& +3 h & B +2 .t\Elbow.seek 5 + M&/( +3 h ( + M&i& +3 h &   B +2 A(e& +3 h &<- U\  +2 .t\Forearm.seek 5 + 450 counts +2 M&['O +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A( ' +50 h ' + M&p& +4 h &   B +2 A(E& +3 h &<- > C \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 + M&l'΍ +14 h ' + .t\Elbow.hold +2 M&J, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(r' +20 h ' + M&V% +4 h %ν  ` 8 +2 A(h& +3 h &<- K H r\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 348 counts + M&O' +15 h ' +2 M&K& +3 h & m A +2 A(& +3 h &<- V Y\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&2'O +17 h ' +2 A({% +3 h % c X\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (^% +2 h %+J C C \ Wf +2 M&% +4 h %M $ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&}' +91 h ' +67 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &\\i 0 3f\ R +2 #t\Storing generic puck in Collection Clamp to tube 5 + M&;% +4 h %    + A(g% +3 h % U T i\ +2 A(:. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(?(<- +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (\ & +3 h &<- \\ [ \  + M&& +3 h &  A +2 .t\Elbow.seek 5 +2 M&>( +3 h ( + M&T& +4 h &  r A + A(Z& +4 h &<- Z [\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&'O +97 h ' + A(v& +4 h &<- \\ h \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(!'s +305 h ' + A(a- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h & * A +2 A(Y& +3 h &<- S C \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&N'΍ +19 h ' + .t\Elbow.hold +2 M&C, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.15 + A(`'h +32 h ' + M&4% +4 h %Ρ \ d  + A()& +3 h &<- J H \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 320 counts +2 M&G' +14 h ' + M&& +4 h & { 2 + A(& +4 h &<- U U $\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&k'O +19 h ' + .t\SE.seek 1.15 +50 A(b' +48 h ' + M&F& +4 h & ! 2 +2 M& % +3 h %B X +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&.' +88 h ' + .t\Elbow.seek CC +2 M&S(ӂ +167 h ( +2 M&&& +4 h &ӂ   , 1 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӂ  1 + .t\Forearm.seek :CC +2 M&'? +94 h ' + .tHand.close + M&3/ +68 h / + .t\CC.seek :open +2 C''( +448 h ( + A(& +4 h &<- \  + A(& +4 h &<- [\  + M&M& +4 h &ӂ  1 +2 M&y% +3 h % e   B + .t\Forearm.seek :retract +2 M&Q' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&$( +160 h ( + M&& +4 h &   + A(X& +4 h &<- C\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 5 + M&s'΍ +97 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&n1 +63 h 1 + M&_% +4 h % ~  "  + A(W& +4 h &<- \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 285 counts +2 M&'Ϫ +14 h ' +2 M&D& +4 h & j x +2 A(+& +3 h &<- O\  + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&'O +26 h ' + A(% +4 h % B\ +3 ."downElevator"\SE.seek :down +2 A(|' +99 (j% +2 h %D C\ Va +2 M&1% +3 h %\\ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +88 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp + C'& +4 h &  W\ +2 M&*% +3 h %  q  +2 A((% +3 h % i\ + A(,. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(L(K +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (d& +3 h &K 2\  + M&#& +3 h & + x +2 .t\Elbow.seek 6 +2 M&B( +9 h ( + M&]& +4 h & W x + A(& +3 h &K w\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&8' +94 h ' + A(H& +4 h &K \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(6's +299 h ' + A(5- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (U& +2 h &K \  +2 M&\\& +3 h & x + .t\Elbow.seek 6 +2 M& ( +4 h ( + M&o& +4 h & j x + A(f& +3 h &K ~ u\  +2 .t\Forearm.seek 6 + 300 counts +2 M&I'h +15 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&K + M&V% +3 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&h( +162 h ( + M&K& +4 h &     + A(& +3 h &K U V \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&0' +97 h ' + A({& +4 h &K j z )\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(%'s +298 h ' + A(w- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (q& +2 h &K 4 1\  +2 M&^& +3 h & S  + .t\Elbow.seek 6 +2 M&( +3 h ( + M&& +3 h & 1  +2 A([& +3 h &K ` \\ (\  +2 .t\Forearm.seek 6 + 300 counts + M&/'h +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +77 h / +2 ."downElevator"\SE.seek :down +2 M&l& +3 A(' +5 h & 1  +2 M&O% +3 h % ϓ +2 .t\Forearm.seek :retract + M&;' +89 h ' + .t\Elbow.seek PC +2 M&g( +172 h ' + ."downElevator"\SE.coast + A(5 +67 h ( +2 M&:& +3 h & b 1 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &r& +2 h &  1 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&\ ' +96 h ' + P%& +4 h &\ + P%T& +4 .t\PC.seek :closed +2 P%Z(^ +2 h &\ +3 &\  +8 &2y\ *x +10 &a\ > +9 &jt\ O +9 &,V\ N +10 &W\ O +9 &Y\ O +9 &rV\ N +10 &3W\ O +9 &Z\ O +10 &V\ O +9 & yY\ O +9 &";S\ O +11 &#U\ O +8 &%S\ O +9 &'U\ O +10 &)CT\ O +9 &+U\ N +9 &,W\ O +10 &.Y\ O +9 &0KY\ O +10 &2 W\ O +9 &3Y\ O +9 &5V\ O +10 &7TV\ N +9 &9X\ O +10 &:W\ O +9 &<W\ O +9 &>[Z\ O +10 &@Z\ O +9 &Ae\ P +9 &Cs\ R +10 &EU\ S +9 &G\ U +9 &H\ U +10 &J\ U +9 &LX\ U +10 &N\ V +9 &O\ V +9 &Q\ W +10 &S\\\ W +9 &U \ V +9 &V\ W +47 &X\ V +20 &Zd\ W &\\&\ V + &]\ 8 + &^-{\ X + &^+\ 6 ( + &^(\ 6 + P%T& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + M&21 +56 h 1 + M&v% +4 h %   K  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +92 h ' + .t\SC.coast + A(6 +3 P%@& +3 h &^(\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&J% +3 h %     +2 A(}% +3 h % = B \ +2 A(a. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A((K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (Y& +3 h &K % % \  +2 M&& + ."raiseStack"\SE.reconfigure SEplace +5 A(#]kK-0-\ b +3 h &  0 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&4( +2 h ( + M&)& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +3 h &  0 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &   0 +2 .t\Forearm.seek :PC + M&F' +95 h ' + .tHand.close + M& / +66 h / +2 .t\PC.seek :open +2 P%( +97 h ' + A(>- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(!'1 +45 h ' +306 ( + A(N& +4 h &K 9 3 r\  + M&G& +3 h & \  i 0 +2 M&`% +3 h %   < +2 .t\Forearm.seek :retract +2 M&&' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +244 h ( + M&k& +4 h &  A < + A(C& +3 h &K I G 7\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&3' +102 h ' + .tHand.open + M&.1 +57 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +54 h ' +2 #tLights, camera, ACTION! + A(M- +3 h -' +2 A(y& +3 h &K \  +2 M&& +3 h &  < +2 .t\Elbow.seek 6 + M&X( +3 h ( + M&& +4 h &   < + A(S& +3 h &K &\  +2 .t\Forearm.seek 6 + 450 counts +2 M&n' +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(_' +52 h ' + M&W& +4 h &  < +2 A(D& +3 h &K A B \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&+'< +19 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(Q' +21 h ' + M&j% +4 h %e  * +2 A(1& +3 h &K A C k\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 341 counts +2 M&$'ϑ +15 h ' +2 M&s& +3 h &   & < +2 A(& +4 h &K 3 3 \  + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +21 h ' +2 A(*% +3 h % [ G \ +3 ."downElevator"\SE.seek :down +2 A((' +99 (,% +2 h %NF * / V\ Xg +2 M&b% +3 h %  ( +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +92 h ' +66 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'|& +3 h &\\p 2 6U\ R +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&?% +3 h %    +2 A(d% +3 h % B S d\ +2 A(#. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(](K +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K 5 8 A\  + M&H& +4 h &  @ ; + .t\Elbow.seek 6 +2 M&( +2 h ( +2 M& & +3 h &  @ ; +2 A(5& +3 h &K O E B\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&U' +99 h ' + A(\\& +4 h &K b d\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(o's +295 h ' + A(f- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&<& +2 h &  ; +2 A(& +3 h &K A > #\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&='< +16 h ' + .t\Elbow.hold +2 M&B, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(8- +2 h -' +2 .t\SE.seek 0.16 + A(~'n +29 h ' + M&"% +4 h %[  $ + A(6& +3 h &K > B \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 331 counts + M&I'χ +14 h ' + M&A& +4 h &  H ; +2 A( & +3 h &K 8 3 ,\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&R' +20 h ' + .t\SE.seek 1.16 +2 A(' +45 h ' + M&'& +4 h & # ; +2 M&t% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&7' +90 h ' + .t\Elbow.seek CC +3 M&9(ӂ +146 h ( + M&z& +4 h &{,   Dv + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &c& +3 h &{-   Dv + .t\Forearm.seek :CC +2 M&i'? +92 h ' + .tHand.close + M&e/ +74 h / + .t\CC.seek :open +2 C'p( +451 h ( +2 A(E& +4 h &K y &\  + A(V& +3 h &K { y 6\  +2 M&u& +3 h &ӛ&  ?V + M&K% +3 h % F  K +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&L( +166 h ( + M&{& +4 h &  + A(P& +3 h &K F\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&x'< +96 h ' + .t\Elbow.hold +2 M&w, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&q1 +59 h 1 + M&^% +4 h % P   5 + A(& +3 h &K \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 6 + 320 counts +2 M&['| +14 h ' +2 M& & +4 h & A  + A(l& +3 h &K \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&O' +20 h ' + A(h% +4 h % ?\ +3 ."downElevator"\SE.seek :down +46 A(0' +55 (%% +2 h %%J .\ Wb +2 M&/% +3 h % i +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&:' +91 h ' +101 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp + C'r& +4 h &  f\ + M&% +4 h %  :  +2 A(% +3 h % \ + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(;([ +348 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &[ +\  +2 M&2& +3 h & [  +2 .t\Elbow.seek 7 + M&v(r +13 h ( + M&@& +4 h &p    + A(J& +3 h &[ o\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&}'= +95 h ' + A(a& +4 h &[ H\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(Y's +297 h ' + A(T- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &[ z \  +2 M&)& +3 h &p  b  + .t\Elbow.seek 7 +2 M&(r +2 h ( +2 M&\ & +3 h &p =  +2 A( & +3 h &[ | $\  +2 .t\Forearm.seek 7 + 300 counts + M&m'ϧ +39 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&>/ +74 h / +2 ."downElevator"\SE.seek :down +2 M&g& +3 A(' +5 h &p Q  +2 M&Z% +3 h % Ϛ k +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.seek CC +2 M&N(ӂ +156 h ( + M&G& +4 h &x0   F + ' + ."downElevator"\SE.coast +2 A(5 +2 .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 &`& +3 h &x0   F + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&F'? +101 h ' + C'k& +4 h &  b\ +2 C'C& +3 .t\CC.seek :closed +2 C'4(\\ +2 h &  n\ +4 &  d\ 9 +10 &EIv  g\ 0 +8 &vt}  g\ E +10 & V  \\\ L +9 &S  W\ L +9 &X  X\ L +10 &hW  S\ L +9 &*R !W\ L +10 &R  _\ L +9 &T W\ K +9 &pU  R\ L +10 &!2W X\ L +9 &"W  V\ L +10 &$W  T\ L +9 &&xS W\ L +9 &(:S  S\ L +10 &)S ! V\ L +9 &+T  T\ K +9 &-T V\ L +10 &/BW T\ L +9 &1T  W\ K +9 &2U  V\ L +10 &4X  P\ L +9 &6JV S\ L +10 &8 V  J\ L +9 &9U  !K\ L +9 &;X C\ L +10 &=QU @\ L +9 &?U @\ L +9 &@V ! >\ L +10 &BZ # !D\ L +9 &DTb " "I\ N +10 &Fv & $I\ O +9 &G - +P\ S +9 &I 2 2?\ W +10 &K> 1 1C\ X +9 &L 1 2V\ Z +9 &N 5 2W\ Y +10 &P~ 2 3R\ Z +9 &R? 5 3M\ Z +10 &S 4 4S\ [\ +9 &U 2 4V\ [ +9 &W~ 4 7W\ ] +10 &Y> 4 4W\ ] +9 &[ 5 2T\ ] +9 &\\^N 4 7W\ 8 +10 &\\ 4 6W\ !` +6 ( + C'C& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.27 + .Hand.open +2 M&.1 +55 h 1 + M&% +4 h % A   H + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&M' +96 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 P%y& +3 h &\ +2 M&% +3 h %    + A(% +4 h % ( (\ + A(S. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(&([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (W& +3 h &[ '  \  + M&D& +4 h &ӡ(   Aa + M&j% +3 h %   !  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&1(r +163 h ( + M&s& +4 h &|    + A(!& +4 h &[. ' &\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +98 h ' + A(& +4 h &[. ' % 3\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(*'s +295 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (3& +2 h &[- \  +2 M&& +3 h &| \  `  + .t\Elbow.seek 7 +2 M&,(r +2 h ( +2 M&b& +3 h &|   /  + A(n& +3 h &[-  \  +2 .t\Forearm.seek 7 + 300 counts +2 M&X'ϧ +23 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&_/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&+& +6 A($' +2 h &|   +2 M&|% +3 h %  +2 .t\Forearm.seek :retract + M&?' +93 h ' + .t\Elbow.seek PC +2 M&d( +164 h ' + ."downElevator"\SE.coast + A(5 +76 h ( + M&#& +4 h &  @  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &Q& +3 h &   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +102 h ' + P%H& +4 h &\ + P% & +4 .t\PC.seek :closed + P%5(^ +3 h &\ +2 &\  +9 &0u\ *x +9 &b\ > +10 &bt\ O +9 &"V\ O +9 &V\ O +10 &V\ O +9 &iX\ O +11 &+V\ O +8 &W\ O +9 &W\ O +10 & pW\ O +9 &"3V\ O +9 &#W\ O +10 &%T\ O +9 &'zU\ O +10 &)<U\ O +9 &*V\ O +9 &,V\ O +10 &.W\ O +9 &0BY\ O +9 &2U\ O +10 &3V\ O +9 &5W\ O +10 &7JU\ O +9 &9 X\ P +9 &:Y\ O +10 &<X\ P +9 &>RZ\ O +9 &@Z\ O +10 &Ae\ Q +9 &Ct\ R +10 &EJ\ U +9 &G\ \ V +9 &H\ U +10 &J\ U +9 &LO\ V +10 &N \ X +9 &O\ V +9 &Q\ W +10 &SS\ W +9 &U\ W +9 &V\ V +10 &X\ V +9 &ZX\ X +9 &\\\ W +10 &]\ 5 +9 &^6y\ C +10 ( +2 &^%\ 3 + P% & +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 M&1 +70 h 1 + M&\\% +4 h %   c + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&(' +92 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^%\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 M&% +3 h %    + A(% +4 h % ) ) \ + A(f. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(<([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&8& +3 h &[ & ' $\  +4 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&"( +2 ."raiseStack"\SE.seek beamBreak +2 h ( +2 A(6's +3 M&A& +3 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 & & +3 h &  S  + .t\Forearm.seek :PC +2 M&'' +92 h ' +2 .tHand.close + M&t/ +67 h / + .t\PC.seek :open +2 P%U( +94 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(o'1 +44 h ' +308 ( +2 A(=& +4 h &[ - C H\  + M&I& +3 h & \   +2 M&~% +3 h %  ! @ +2 .t\Forearm.seek :retract + M&z' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&c(r +250 h ( + M&R& +4 h &   E + A(B& +50 h &[ & & \  +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&e'= +95 h ' +2 .tHand.open + M&71 +59 h 1 + A(-- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(E' +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(V' +55 h ' + #tLights, camera, ACTION! +2 A(u- +3 h -' + A(K& +3 h &[ %\  +2 M&{& +3 h &  E +2 .t\Elbow.seek 7 +2 M&P(r +35 h ( + M&i& +4 h &s \  I +2 A(9& +3 h &[ p m\  +2 .t\Forearm.seek 7 + 450 counts +2 M&q'= +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(^' +50 h ' + M&& +4 h &s j I +2 A( & +3 h &[ ' & \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 + M&l'{ +19 h ' + .t\Elbow.hold +2 M&h, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +21 h ' + M&%% +4 h %Δ  +2 A(/& +3 h &[ & &\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 325 counts + M&L' +15 h ' +2 M&x& +3 h &w  E +2 A([& +3 h &[ B C \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 7 + 450 counts +2 M&'= +20 h ' +2 A(r% +3 h % B ? b\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +2 h %9D $ %\ We +2 M&% +4 h %Q 3 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&O' +90 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'0& +3 h &\\ 4 6U\ !` +2 #t\Storing generic puck in Collection Clamp to tube 7 + M&]% +3 h %    +2 A( % +3 h % @ @ \ +2 A(2. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 7 + A(@([ +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (J& +3 h &[ > C \  +2 M&a& +3 h &w  A E +2 .t\Elbow.seek 7 +2 M&w(r +2 h ( +2 M&:& +3 h &w   E + A(T& +4 h &[ = < \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 7 + 450 counts + M&'= +91 h ' + A()& +4 h &[ Y V i\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(\ 's +299 h ' + A( - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&>& +2 h &w  E +2 A(g& +3 h &[ J H 3\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M&Z'{ +17 h ' + .t\Elbow.hold +2 M&v, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(}- +2 h -' +2 .t\SE.seek 0.17 + A(G't +28 h ' + M&`% +4 h %Ξ  - + A(Y& +3 h &[ A D\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 335 counts +2 M&m' +14 h ' + M&k& +4 h &w E +2 A(& +3 h &[ ; F \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&'= +16 h ' + .t\SE.seek 1.17 +2 A(' +35 h ' + M&p& +4 h &w  b E +2 M&.% +3 h %8 A +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +92 h ' + .t\Elbow.seek CC +2 M&y(ӂ +159 h ( + M&& +4 h &ӓ&   ?U + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӓ&  ?U + .t\Forearm.seek :CC +2 M&S'? +92 h ' + .tHand.close + M&W/ +74 h / + .t\CC.seek :open +2 C'C( +451 h ( +2 A(D& +3 h &[ t\  +2 A(j& +3 h &[ k\  +2 M&F& +3 h &Ӕ&   ?T + M&s% +3 h % R  ] +2 .t\Forearm.seek :retract +2 M&!' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&;(r +163 h ( + M&& +4 h &g \  M  + A(N& +4 h &[ 9\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 7 +2 M&M'{ +97 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&31 +59 h 1 + M&% +4 h % ΍   %  + A(b& +4 h &[ X\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 318 counts +2 M&n'Ϲ +13 h ' +2 M&_& +4 h & /  + A(+& +4 h &[ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&|'= +19 h ' + A(1% +4 h % 3\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (*% +2 h %B S\ V` +2 M&X% +3 h %% 1 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&#' +88 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .tdelay 10 seconds +34620 E\ ;9 +60003 \ ;8 +60003 \ ;8 +60002 \ ;8 +60003 \ ;9 @1606853877.85EST = @EST1606853880.18 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@62106 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +34 #Powering up Dwarves =Ccollection =ECan =tMAIN =hcore =Astorage =Mmanipulator =mMAIN_scheduler =Ssampler =Pprocessing =FMFB +718 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +334 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 E\ #  +4 \ #  + S) +2 ) +2 h  + C' +2 ' +2 h  + P% +2 % +2 h  +4 C' 9\ + ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 +2 .t\SS.configure SSconfig +2 S)#.0X ESP.ready? +2 C'& +3 h &  \ +349 #t-> ESP.ready! +3 C'& + P%& +5 h & 5\ +3 ."rdySampler"Intake.select :close +2 .\Exhaust.select :close + .\CTV.dial :air + C'  +3 h &\ + ."rdyProcessing"\PSV.dial :air +4 .t\PC.reconfigure PCconfig +2 P%\  +3 %$x2 ^22b + h +2 .t\PC.home.seek :open +2 ."rdySampler"\CSV.dial :waste1 +2 P% ( +3 C' +2 h  + ."rdyProcessing"\PS.reconfigure PSconfig +3 P%#A d`xb + h +2 ."rdyProcessing"\PS.home.seek 0 +2 ."rdySampler"\SSV.dial :spit,avoiding: :exhaust +2 P% 'ؾ + S) +3 h  +2 S)  +5 h  +2 C'& +2 ."rdySampler"\SS.reconfigure SSconfig +5 ."readyCS"\CS.reconfigure CSfast +2 S)#.0X exit +4 #m\EXIT @1606854008.12EST @1606854979.71EST = @EST1606854981.86 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@11141 receive with ifg=0x10, ie=0xFD + #@11777 receive with ifg=0x10, ie=0xFD + #@12435 receive with ifg=0x10, ie=0xFD #@13069 receive with ifg=0x10, ie=0xFD + #@13701 receive with ifg=0x10, ie=0xFD #@14333 receive with ifg=0x10, ie=0xFD + #@14966 receive with ifg=0x10, ie=0xFD + #@15297 receive with ifg=0x80, ie=0xFD #@54879 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =ECan =hcore =FMFB =Mmanipulator =Pprocessing =tMAIN =mMAIN_scheduler =Astorage =Ssampler =Ccollection +376 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +308 !o:Instrument::ISUSCore: @refit6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 Ez\ A? +4 z\ A? + S) +2 ) + h  +2 C' +2 ' +2 h  +2 P% + % +3 h  +4 C' 9\ + ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +4 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X require 'shuffle.rb' +891 #-> shuffle 2..7 + #\Shuffling pucks in tube 2 of [2..7] +2 #Loading generic puck from tube 2 into Collection Clamp + C'& +3 h & ?\ + .tHand.open +2 M&1 +67 h 1 + M&% +4 h %  7 +2 A( % +3 h % 2\ + A(\ . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A( (  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &  x\  + M& & +3 h & a +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&( +4 h ( + M&& +4 h &   + A(& +4 h &  /\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&'S +90 h ' + A(& +4 h &  \  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +297 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &  \  +2 M&& +3 h & X  + .t\Elbow.seek 2 +2 M&( +2 h ( +2 M&& +3 h & _  +2 A(& +3 h &  \  +2 .t\Forearm.seek 2 + 300 counts + M&'Ͻ +20 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +75 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A(' +6 h &  + M&% +3 h %  V +2 .t\Forearm.seek :retract +2 M&' +93 h ' +2 .t\Elbow.seek CC + M& (ӂ +155 h ( +2 M&!& +4 h ' + &Ӕ%  5 =B + ."downElevator"\SE.coast + A(5 +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &"& +3 h &Ӕ% =B + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&#'? +108 h ' + C'$& +4 h & H\ + C'%& +4 .t\CC.seek :closed + C'&(\\ +3 h & \ +4 & M\ < +10 &Kz N\ 1 +9 &Kt J\ E +9 &c M\ N +10 &W >\ M +9 &x] >\ M +9 &9^ A\ M +10 &] D\ M +9 &[ @\ N +10 &] ?\ M +9 &@] G\ N +9 &!Z @\ M +10 &"\\ =\ M +9 &$[ =\ N +9 &&J[ A\ M +10 &( ] /\ M +9 &)X ?\ M +10 &+\\ A\ M +9 &-Q] ?\ M +9 &/\\ ?\ M +10 &0\\ ;\ M +9 &2\\ >\ M +9 &4Z] 2\ M +13 &6\\ 7\ M +6 &7_ 2\ N +10 &9[ 1\ M +9 &;`[ 2\ N +9 &="] 3\ N +10 &>] 2\ M +9 &@Y 1\ M +9 &Bi` 2\ M +10 &D'i 2\ O +9 &E} 3\ P +10 &G 0\ T +9 &IV 3\ W +9 &K 2\ Y +10 &L 0\ Y +9 &N 2\ Y +10 &PU /\ Z +9 &R 3\ Z +9 &S 2\ [ +10 &U 2\ [ +9 &WX 3\ [ +9 &Y 3\ \\ +10 &Z 2\ \\ +9 &\\Rl 0\ 7 +9 &\\ 2\ 3 +10 &\\ 3\ S +5 ( + C'%& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.09 + .Hand.open +2 M&'1 +73 h 1 + M&(% +4 h % ? ! +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&)' +88 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + P%*& +4 h &\ + M&+% +3 h %   /  +2 A(,% +3 h % V V |\ +2 A(-. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 2 + A(.(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (/& +2 h &  T U\  +2 M&0& +3 h &ӟ"  ;7 + M&1% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&2( +163 h ( +2 M&3& +3 h & q  +2 A(4& +3 h &  l\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&5'S +96 h ' +2 A(6& +3 h &  \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(7's +300 h ' + A(8- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (9& +2 h &  Z ]\  +2 M&:& +3 h &   +2 .t\Elbow.seek 2 + M&;( +4 h ( + M&<& +4 h & +  + A(=& +4 h &  W V \  + .t\Forearm.seek 2 + 300 counts +2 M&>'Ͻ +35 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&?/ +75 h / +3 M&@& + ."downElevator"\SE.seek :down +5 A(A' +4 h & `  + M&B% +4 h % Ͻ v c + .t\Forearm.seek :retract +2 M&C' +90 h ' +2 .t\Elbow.seek PC + M&D( +167 h ' + ."downElevator"\SE.coast + A(5 +72 h ( + M&E& +4 h & L 7 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &F& +3 h & S 7 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b + .t\Forearm.seek :PC +2 M&G' +93 h ' +2 P%H& +3 h &\ +2 P%I& +3 .t\PC.seek :closed +2 P%J(^ +2 h &\ +3 &\  +9 &4x\ *z +10 &c\ ? +9 &Qx\ O +9 &\\\ O +10 &^\ O +9 &^\ O +10 &W\\\ O +9 &[\ O +9 &_\ O +10 &_\ O +9 & _^\ O +9 &"!Z\ O +10 &#Y\ O +9 &%\\\ O +10 &'f\\\ P +9 &))\\\ O +9 &*Y\ O +10 &,]\ O +9 &.o^\ O +9 &01]\ O +10 &1[\ O +9 &3]\ O +10 &5w_\ O +9 &79Y\ O +9 &8\\\ O +10 &:_\ P +9 &<^\ O +9 &>@a\ P +10 &@b\ P +9 &Aj\ Q +10 &Cv\ R +9 &E<\ T +9 &F\ U +10 &H\ V +9 &J|\ V +9 &L>\ V +10 &M\ V +9 &O\ V +10 &Q\ W +9 &SB\ W +9 &U\ W +10 &V\ X +9 &X\ V +9 &ZK\ W +10 &\\ \ W +9 &]\ C +10 &^$r\ ^ +9 &^:\ 8 + ( + P%I& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open + M&K1 +58 h 1 + M&L% +4 h %  J + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&M' +88 h ' + .t\SC.coast + A(6 +3 P%N& +3 h &^5\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&O% +3 h %    +2 A(P% +3 h % E > \ + A(Q. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(R(  +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (S& + M&T& +4 h &  ; > L\  +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  $ 7 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&U( +2 h ( +2 M&V& + ."raiseStack"\SE.seek beamBreak +4 A(W's +2 h &   7 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &X& +2 h & & 7 +2 .t\Forearm.seek :PC +2 M&Y' +94 h ' + .tHand.close +2 M&Z/ +70 h / +2 .t\PC.seek :open +2 P%[( +91 h ' +2 A(\\- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(]'1 +45 h ' +309 ( +2 A(^& +3 h &  W Y \  + M&_& +4 h & 7 + M&`% +3 h %  B 0 +2 .t\Forearm.seek :retract + M&a' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&b( +245 h ( + M&c& +4 h &  V ' + A(d& +4 h &  U V F\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&e'S +95 h ' + .tHand.open + M&f1 +53 h 1 + A(g- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(h' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(i' +52 h ' + #tLights, camera, ACTION! +2 A(j- +3 h -' + A(k& +3 h &  :\  +2 M&l& +3 h & & +2 .t\Elbow.seek 2 + M&m( +3 h ( + M&n& +4 h &  O & + A(o& +3 h &  \  +2 .t\Forearm.seek 2 + 450 counts +2 M&p'S +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(q' +64 h ' +2 M&r& +38 h & & +9 A(s& +3 h &  J E b\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&t'Α +14 h ' + .t\Elbow.hold +2 M&u, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(v' +20 h ' +2 M&w% +4 h %κ \\ - + A(x& +3 h &  W V 1\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 341 counts +2 M&y' +15 h ' +3 M&z& +3 h & 5 & +2 A({& +3 h &  V W T\  +2 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&|'S +15 h ' +2 A(}% +4 h % \\ z D\ +2 ."downElevator"\SE.seek :down +2 A(~' +99 (% +3 h %?J W > =\ Xf + M&% +4 h %Q d + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +86 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +3 h &\\n \ S +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&% +4 h %   + A(% +3 h % w y o\ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A((  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  y w ;\  + M& & +4 h & ! & + .t\Elbow.seek 2 +2 M&\ ( +3 h ( + M& & +4 h & & + A( & +4 h &  z z \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +96 h ' +2 A(& +3 h &  }\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +298 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&& +2 h & ' & +2 A(& +3 h &  S F -\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 +2 M&'Α +14 h ' + .t\Elbow.hold +2 M&, +3 h , +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +3 A(- +2 h -' + .t\SE.seek 0.17 +2 A('r +29 h ' +2 M&% +3 h %ι V 3 +2 A(& +3 h &  _ ` /\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 340 counts + M&' +15 h ' +2 M&!& +3 h &  & +2 A("& +3 h &  V V\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +15 h ' +2 .t\SE.seek 1.17 +2 A(' +33 h ' +2 M&$& +3 h & # & +2 M&% +3 h %Q 1 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&' +86 h ' +2 .t\Elbow.seek CC +2 M&(ӂ +157 h ( +2 M&'& +3 h &Ӗ" \   ;8 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &(& +3 h &Ӗ"  ;8 + .t\Forearm.seek :CC +2 M&*'? +92 h ' + .tHand.close + M&+/ +67 h / +2 .t\CC.seek :open + C',( +451 h ( + A(-& +4 h &  $\  + A(%& +4 h &  <\  + M&/& +3 h &Ӗ"  V ;8 + M&0% +4 h % D   k + .t\Forearm.seek :retract +2 M&1' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&#( +165 h ( +2 M&3& +3 h & 2  +2 A(4& +3 h &  _\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 2 +2 M& 'Α +91 h ' + .t\Elbow.hold +2 M&6, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M& 1 +55 h 1 +2 M&)% +4 h % ΐ > ) + A(8& +4 h &  }\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 299 counts +2 M&9'ϼ +13 h ' + M&:& +4 h &  +2 A(<& +3 h &  \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&='S +19 h ' +2 A(?% +3 h % :\  +3 ."downElevator"\SE.seek :down +2 A(@' +99 (B% +3 h %@ '\ V` + M&2% +3 h %9 V +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&5' +87 h ' +57 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + C'7& +4 h & \ +2 M&>% +3 h %  d  +2 A(E% +3 h % l\ + A(F. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(;( +367 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (H& +3 h & K\ + M&A& +3 h & q  +2 .t\Elbow.seek 3 +2 M&C( +30 h ( + M&K& +4 h &{ 4 : +2 A(L& +3 h & \ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&N'7 +95 h ' +2 A(O& +3 h & ]\ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(P's +299 h ' + A(Q- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (S& +2 h & *\ +2 M&I& +3 h &{ J : + .t\Elbow.seek 3 +2 M&T( +2 h ( +2 M&V& +3 h &{ : +2 A(X& +4 h & \ +2 .t\Forearm.seek 3 + 300 counts +2 M&G'ϡ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&Z/ +69 h / +2 ."downElevator"\SE.seek :down +3 M&.& +2 A(\\' +6 h &{  : + M&D% +3 h % ϟ + +2 .t\Forearm.seek :retract +2 M&M' +87 h ' +2 .t\Elbow.seek CC + M&J(ӂ +150 h ( +2 M&W& +3 h &{)   Ad + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &^& +2 h &{(  f Ad + ' +2 ."downElevator"\SE.coast + A(5 +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&_'? +91 h ' +2 C'`& +3 h & ;\ +2 C'Y& +3 .t\CC.seek :closed +2 C'c(\\ +3 h & \ +2 & ;\  +10 &1~ A\ *y +9 &d 2\ > +10 &wv :\ N +9 &9] 3\ M +10 &Z 3\ M +9 &Z 2\ L +9 &Y 2\ M +10 &CY 1\ M +9 &` 2\ M +9 &Z ,\ M +10 & W /\ M +9 &"KX /\ M +10 &$ Y 0\ M +9 &%\\ 3\ M +9 &'W 2\ M +10 &)SY 0\ M +9 &+] 2\ M +9 &,\\ 2\ M +10 &.W /\ M +9 &0[Y :\ M +10 &2\\ 3\ M +9 &3Y 9\ M +9 &5\\ 2\ M +10 &7c[ 5\ M +9 &9%Z 6\ M +9 &:X 7\ M +10 &<Z 2\ M +9 &>k[ 8\ M +10 &@-Y 8\ M +9 &A\\ 0\ M +9 &Ce 4\ N +10 &Eiv -\ P +9 &G$ .\ R +9 &H +\ V +10 &J &\ Y +9 &LV J\ Y +10 &N \ Z +9 &O Q\ Z +9 &Q 0\ Z +10 &SY 0\ [\ +9 &U \ \\ +9 &V \ ] +10 &X \ ] +9 &ZZ \ ] +10 &[y \ = +9 &\\/ G\ &r +9 &\\z \ R +2 ( + C'Y& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open + M&d1 +56 h 1 + M&U% +4 h % M   U +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&f' +90 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + P%g& +4 h &\ + M&j% +3 h %   +2 A(k% +3 h % V X t\ +2 A(l. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(n( +9 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (o& +3 h & W W e\ +2 M&a& +3 h &|) Ac + M&r% +4 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&s( +164 h ( +2 M&]& +3 h &  +2 A(w& +3 h & { | Q\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&x'7 +96 h ' +2 A(h& +3 h & (\ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(z's +300 h ' + A({- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (}& +2 h & ^ S\ +2 M&b& +3 h & s  + .t\Elbow.seek 3 +2 M&e( +2 h ( +2 M&i& +3 h & G  + A(& +3 h & V V \ +2 .t\Forearm.seek 3 + 300 counts +2 M&'ϡ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&p/ +69 h / +3 M&m& + ."downElevator"\SE.seek :down +4 A(q' +3 h & F  +2 M&t% +3 h % ϗ h +2 .t\Forearm.seek :retract + M&' +89 h ' +2 .t\Elbow.seek PC + M&y( +169 h ' + ."downElevator"\SE.coast + A(5 +70 h ( + M&& +4 h &  | + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h & [ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b + .t\Forearm.seek :PC +2 M&' +103 h ' +2 P%v& +3 h &\ +2 P%& +3 .t\PC.seek :closed +43 P% (^ +13 h &\ + &\ &\ + &\ + &\ + &\ +2 &\ + &\ 5 +9 &;E{\ 1 +9 &`o\ E +10 &g\ P +9 &W\ O +9 &]\ O +10 &A]\ P +9 &Z\ O +9 &]\ O +10 &^\ O +9 &IY\ P +10 &! \\\ O +9 &"Y\ O +9 &$V\ O +10 &&RZ\ O +9 &(^\ O +9 &)[\ P +10 &+Z\ O +9 &-ZW\ O +10 &/_\ P +9 &0_\ P +9 &2W\ O +10 &4cX\ O +9 &6#\\\ P +9 &7\\\ P +10 &9]\ O +9 &;i`\ P +10 &=+\\\ P +9 &>[\ P +9 &@]\ P +9 &Bkn\ R +10 &D*u\ S +9 &E\ U +10 &G\ U +9 &Ih\ U +10 &K*\ U +9 &L\ V +9 &N\ W +10 &Pl\ W +9 &R/\ V +9 &S\ W +10 &U\ V +9 &Wu\ V +10 &Y7\ V +9 &Z\ W +9 &\\\ X +10 &^1a\ . +9 &^y\ @ +8 ( +2 &^4\ 7 + P%& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + M& 1 +58 h 1 +2 M& % +3 h %   2 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&|' +93 h ' + .t\SC.coast + A(6 +3 P%& +3 h &^4\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + M&~% +3 h %   +2 A(R% +3 h % ? 5 \ +2 A(u. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&& +3 h & = - \ +5 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h & : +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&( +2 h ( + M&& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h &  C + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &  +2 .t\Forearm.seek :PC +2 M&!' +91 h ' + .tHand.close +2 M&"/ +69 h / +2 .t\PC.seek :open +2 P%$( +95 h ' +2 A(- +2 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +45 h ' +305 ( +2 A(\ & +3 h & 3 : S\  +2 M&& +3 h & + M&% +3 h %   : +2 .t\Forearm.seek :retract +2 M&' +88 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&'( +248 h ( + M&& +4 h & @ @ +2 A((& +3 h & ' . 3\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +93 h ' + .tHand.open + M&1 +52 h 1 + A(+- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(&' +56 h ' +2 #tLights, camera, ACTION! + A(-- +3 h -' +2 A(%& +3 h & Z\  +2 M&/& +3 h &   4 @ + .t\Elbow.seek 3 +2 M&0( +3 h ( + M&3& +4 h &  ' @ +2 A(4& +3 h & \ \ } +2 .t\Forearm.seek 3 + 450 counts + M&*'7 +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(' +53 h ' +2 M& & +3 h & @ +2 A()& +4 h & ? 5 a\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&8'u +13 h ' + .t\Elbow.hold +2 M&:, +3 h , +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(<' +20 h ' +2 M&?% +4 h %Ζ  S 8 + A(1& +4 h & A B Y\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 333 counts +2 M&B' +13 h ' +2 M&2& +4 h & ? @ + A(#& +4 h & X V z\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M& '7 +17 h ' +2 A(7% +4 h % T V ]\ +2 ."downElevator"\SE.seek :down +2 A(9' +99 (>% +3 h %OK @ ? \ Wf + M&E% +4 h %3 = + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&F' +91 h ' +67 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +4 h &\\x \ R + #t\Storing generic puck in Collection Clamp to tube 3 +2 M&=% +3 h %   + A(@% +3 h % X X ^\ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(H( +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (A& +3 h & S V T\  +2 M&K& +3 h &  @ +2 .t\Elbow.seek 3 + M&L( +3 h ( +2 M&O& +3 h & R @ +2 A(6& +3 h & Y _ |\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&5'7 +96 h ' +2 A(Q& +3 h & z z \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(S's +300 h ' + A(I- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&V& +2 h & @ +2 A(X& +3 h & E S K\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&Z'u +18 h ' + .t\Elbow.hold +2 M&., +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(D- +2 h -' +2 .t\SE.seek 0.17 + A(C'v +32 h ' +2 M&N% +3 h %Ί   +2 A(W& +3 h & 8 ( \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 321 counts + M&^'϶ +14 h ' +2 M&P& +3 h & = @ +2 A(G& +3 h & W T T\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&`'7 +18 h ' +2 .t\SE.seek 1.17 +2 A(T' +47 h ' +2 M&\\& +3 h &  @ +2 M&M% +3 h %!  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&,' +90 h ' +2 .t\Elbow.seek CC +2 M&d(ӂ +154 h ( + M&U& +4 h &Ӑ(  ? @\\ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &g& +3 h &Ӑ( @\\ + .t\Forearm.seek :CC +2 M&j'? +95 h ' +2 .tHand.close +2 M&k/ +66 h / +2 .t\CC.seek :open + C'l( +451 h ( + A(Y& +4 h & (\  + A(o& +3 h & \  +2 M&a& +3 h &Ӑ(  > @\\ + M&r% +4 h % G k > + .t\Forearm.seek :retract +2 M&_' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&]( +164 h ( +2 M&w& +3 h & i  +2 A(;& +3 h & 9\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&h'u +92 h ' + .t\Elbow.hold +2 M&J, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&f1 +57 h 1 +2 M&{% +4 h % Γ N . + A(}& +3 h & L\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 330 counts +2 M&b'Ͽ +14 h ' + M&i& +4 h & _  +2 A(& +3 h & \  + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&p'7 +18 h ' +2 A(m% +3 h % C\ +2 ."downElevator"\SE.seek :down +3 A(t' +99 (s% +3 h %> \ U^ + M&x% +3 h %4 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&z' +86 h ' +63 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'& +4 h &  ~\ +2 M&% +48 h %  ]  + A(% +4 h % \ + A(e. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(v(,y +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (q& +3 h &,x @\  + M&& +3 h & q  +2 .t\Elbow.seek 4 +2 M&[( +27 h ( + M& & +4 h &  + A( & +4 h &,x 8\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +95 h ' +2 A(~& +3 h &,x \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(R's +291 h ' + A(u- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &,x \  +2 M&& +3 h & ^  + .t\Elbow.seek 4 +2 M&( +15 h ( + M&& +4 h &   +2 A(& +3 h &,x \  +2 .t\Forearm.seek 4 + 300 counts +2 M&'c +24 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&"/ +76 h / +2 ."downElevator"\SE.seek :down +3 M&n& +2 A(' +5 h &   +2 M&y% +3 h % i G +2 .t\Forearm.seek :retract +2 M&|' +87 h ' +40 .t\Elbow.seek CC +11 M& (ӂ +124 h ' + ."downElevator"\SE.coast + A(5 +34 h ( +2 M&& +3 h &ә"  6 ;3 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &\ & +2 h &ә" ;3 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&'? +93 h ' +2 C'& +4 h &  ?\ + C'!& +3 .t\CC.seek :closed +2 C'(\\ +2 h & =\ +3 & @\  +10 &2|  ?\ )w +9 &d  =\ > +9 &ru ~ 6\ N +10 &7X <\ L +9 &\\ 5\ L +10 &Y  7\ L +9 &|[ *\ M +9 &>X -\ M +10 &X /\ M +9 &Z 1\ L +9 & W 0\ L +10 &"FY 3\ M +9 &$ V 5\ L +10 &%X 3\ L +9 &'[ /\ L +9 &)NU +\ M +10 &+Y ,\ M +9 &,V 4\ L +9 &.W 1\ M +10 &0WZ 0\ L +9 &2W 1\ M +10 &3\\ +\ L +9 &5V 2\ M +9 &7^\\ ,\ M +10 &9 Z /\ M +9 &:W 0\ M +9 &<\\ -\ M +10 &>g\\ 0\ L +9 &@)Y 0\ L +10 &A\\ 1\ M +9 &Cd .\ N +9 &Edu <\ P +10 &G /\ S +9 &H /\ X +9 &J 0\ Y +10 &LQ 2\ Y +9 &N 0\ Z +10 &O 1\ [ +9 &Q .\ [ +9 &SS 5\ [ +10 &U 6\ \\ +9 &V r\ \\ +9 &X >\ ^ +10 &ZS ;\ ^ +9 &[{ /\ < +10 &\\, r\ 'u +9 &\\~ \ Z +2 ( + C'!& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 +2 .Hand.open + M&(1 +52 h 1 +3 M&% +3 h % <  @ g +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + P%+& +4 h &\ + M&-% +3 h %   3  +2 A(%% +3 h % 2 1 $\ + A(/. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(3(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (4& +2 h &,x % ) *\  +2 M&& +3 h &ә"  ;3 + M& % +4 h %  \  *  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&)( +163 h ( +2 M&?& +3 h & 9  +2 A(1& +3 h &,x i u /\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&2' +103 h ' +2 A(#& +3 h &,x v x \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +297 h ' + A(7- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &,x ; 7 ^\  +2 M&'& +3 h &  1  + .t\Elbow.seek 4 +2 M&( +3 h ( + M&>& +3 h & '  + A(&& +3 h &,x 1 . A\  +2 .t\Forearm.seek 4 + 300 counts +2 M&E'c +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&*/ +73 h / +2 ."downElevator"\SE.seek :down +3 M&0& +2 A(' +6 h & v  + M&8% +3 h % σ { +2 .t\Forearm.seek :retract +2 M&B' +92 h ' +2 .t\Elbow.seek PC + M&( +171 h ' + ."downElevator"\SE.coast + A(5 +66 h ( + M&=& +5 h & ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &@& +2 h & { ( +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek :PC + M&' +92 h ' +2 P%<& +3 h &\ +2 P%A& +3 .t\PC.seek :closed +2 P%K(^ +2 h &\ +3 &\ \ +9 &/v\ *x +10 &a\ > +9 &fx\ O +9 &'X\ O +10 &X\ O +9 &\\\ O +10 &lZ\ P +9 &/Z\ O +9 &\\\ O +10 &Z\ O +9 & uZ\ O +9 &"8U\ O +10 &#Z\ O +9 &%X\ O +10 &'}[\ O +9 &)?Y\ O +9 &+V\ O +10 &,\\\ O +9 &.Z\ P +9 &0GY\ O +10 &2 Y\ O +9 &3Y\ P +10 &5Z\ P +9 &7OY\ O +9 &9Y\ O +10 &:\\\ P +9 &<W\ O +9 &>VY\ P +10 &@[\ P +9 &Aj\ Q +10 &Cx\ S +9 &EO\ U +9 &G\ U +10 &H\ U +9 &J\ V +9 &LT\ V +10 &N\ W +9 &O\ X +10 &Q\ X +9 &SX\ W +9 &U\ W +10 &V\ X +9 &X\ W +9 &Z_\ X +10 &\\\ X +9 &]\ 4 +10 &^1u\ P +9 &^0\ 7 +2 ( + P%A& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 M&O1 +57 h 1 + M&6% +4 h %    X +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +90 h ' + .t\SC.coast + A(6 +3 P%Q& +3 h &^0\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&9% +3 h %   +2 A(% +3 h % ? @ l\ +2 A(:. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(F(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (I& + M&V& +4 h &,x ? ? $\  +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h & b ( +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&X( +2 h ( + M&D& +3 ."raiseStack"\SE.seek beamBreak +2 A(N's +2 h &  } ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &W& +2 h &  ( +2 .t\Forearm.seek :PC + M&P' +93 h ' + .tHand.close +2 M&G/ +72 h / +2 .t\PC.seek :open + P%\\( +94 h ' +2 A(M- +2 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(5'1 +50 h ' +303 ( +2 A(L& +3 h &,x : X ,\  +2 M&S& +3 h &  > ( + M&Z% +3 h %  U ? +2 .t\Forearm.seek :retract + M&^' +96 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&C( +245 h ( +2 M&U& +3 h &  3 +2 A(g& +3 h &,x V V \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&`' +96 h ' + .tHand.open + M&.1 +58 h 1 + A(k- +21 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(,' +22 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(c' +53 h ' + #tLights, camera, ACTION! +2 A(Y- +3 h -' + A(o& +3 h &,x 4\  +2 M&a& +3 h & 3 +2 .t\Elbow.seek 4 +2 M&r( +3 h ( + M&w& +4 h &  3 +2 A(;& +3 h &,x \  +2 .t\Forearm.seek 4 + 450 counts + M&j' +11 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(d' +56 h ' +2 M&f& +3 h & K 3 +2 A({& +3 h &,x 7 3 \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 +2 M&}'7 +13 h ' + .t\Elbow.hold +2 M&i, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b + .t\SE.seek -0.33 +2 A(' +18 h ' +2 M&m% +4 h %^ 9 + A(_& +3 h &,x A ( "\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 339 counts +2 M&s'ϊ +14 h ' +2 M&x& +4 h & O 3 + A(]& +5 h &,x T W c\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 4 + 450 counts + M&h' +20 h ' +2 A(% +4 h % S \\ _\ +2 ."downElevator"\SE.seek :down +2 A(b' +99 (T% +3 h %N ? > \ Xg + M&% +4 h % + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +79 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'e& +3 h &\\} 4\ Z +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&p% +4 h %  U  + A(t% +3 h % ^ V \ +2 A(H. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(q(,y +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,x ] T\  + M& & +3 h & 3 +2 .t\Elbow.seek 4 + M& ( +3 h ( + M&~& +3 h &  | 3 +2 A(J& +3 h &,x ] S\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&z' +98 h ' +2 A(u& +3 h &,x \\ V J\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A('s +296 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 M&& +2 h &  3 +2 A(& +3 h &,x < B I\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 +2 M&"'7 +15 h ' + .t\Elbow.hold +2 M&n, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(y- +2 h -' +2 .t\SE.seek 0.17 + A(['u +30 h ' +2 M&% +3 h %U  Z # + A(R& +4 h &,x V : ?\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 330 counts + M&'ρ +14 h ' +2 M&& +3 h & [ 3 +2 A(\ & +3 h &,x W X 4\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +19 h ' +2 .t\SE.seek 1.17 + A(' +47 h ' +3 M&& +3 h & : 3 +2 M&|% +4 h %  ] + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&l' +89 h ' +2 .t\Elbow.seek CC +2 M&((ӂ +154 h ( +42 M&& +13 h &Ә# <> + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &+& +3 h &Ә#  <> +2 .t\Forearm.seek :CC + M&-'? +92 h ' + .tHand.close + M&%/ +66 h / +2 .t\CC.seek :open + C'/( +448 h ( +2 A(4& +3 h &,x J\  +2 A(!& +3 h &,x E\  + M&& +3 h &Ә# <> +2 M& % +3 h % G X +2 .t\Forearm.seek :retract + M&' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&?( +167 h ( +2 M&1& +3 h &  +2 A(v& +3 h &,x "\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 4 + M&#'7 +92 h ' + .t\Elbow.hold +2 M& , +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +57 h 1 +2 M&7% +3 h % ? f . +2 A(& +3 h &,x \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 308 counts + M&''k +14 h ' +2 M&>& +3 h & #  +2 A(&& +3 h &,x \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&*' +19 h ' +2 A(0% +3 h % L\ +3 ."downElevator"\SE.seek :down +2 A(8' +99 ()% +3 h %z> \ V_ + M&2% +4 h %  D + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +63 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp +2 C'E& +3 h & ~0\ +2 M&=% +3 h %  *  +2 A(@% +3 h % \ +2 A(. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(<(<- +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<- \  + M&B& +3 h &  +2 .t\Elbow.seek 5 +2 M&$( +3 h ( + M&O& +4 h & =  +2 A(6& +3 h &<- S\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&Q'O +94 h ' +3 A(9& +3 h &<- )\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +297 h ' +2 A(:- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (I& +2 h &<- \  +2 M&A& +3 h & .  +2 .t\Elbow.seek 5 + M&V( +3 h ( + M&D& +3 h & R  +2 A(W& +3 h &<- \  +2 .t\Forearm.seek 5 + 300 counts +2 M&'Ϲ +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&G/ +69 h / +2 ."downElevator"\SE.seek :down +3 M&3& +2 A(M' +5 h & F  +2 M&% +3 h %   +2 .t\Forearm.seek :retract +2 M& ' +90 h ' +2 .t\Elbow.seek CC + M&K(ӂ +160 h ( +2 M&N& +4 h ' + &Ӗ$ =C + .t\Elbow.reconfigure LooseElbow +2 ."downElevator"\SE.coast +2 A(5 +3 M&$ &.,(#b +2 &L& +3 h &Ӗ$  =C + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&S'? +92 h ' +2 C'Z& +3 h & \ +2 C'P& +3 .t\CC.seek :closed +2 C'U(\\ +2 h & \ +5 & ~ @\ 8 +9 &JIy  @\ 0 +10 &xs  >\ D +9 &b ;\ L +9 &T 8\ L +10 &Z 9\ M +9 &fZ 1\ L +9 &'Y 2\ M +10 &X '\ L +9 &V '\ L +10 &nW '\ L +9 &!/Y '\ M +9 &"Y &\ L +10 &$V 1\ L +9 &&v[ 1\ L +9 &(8Z 0\ L +10 &)Z  1\ L +9 &+X 1\ L +10 &-~U (\ L +9 &/@U 4\ L +9 &1Z &\ L +10 &2X .\ M +9 &4Y .\ M +9 &6HY +\ L +10 &8 Y *\ L +9 &9Z .\ M +10 &;Y -\ M +9 &=OY '\ M +9 &?X ,\ M +10 &@Z .\ M +9 &B` )\ M +9 &DQn /\ O +10 &F\ %\ R +9 &G -\ U +10 &I} /\ X +9 &K= +\ X +9 &L 0\ Y +10 &N -\ Y +9 &P 0\ Z +9 &RA .\ Z +10 &S /\ [ +9 &U /\ [ +10 &W 5\ \\ +9 &Y= 0\ ^ +9 &[ \ ] +10 &\\_S B\ 1 +9 &\\ L\ ^ +8 ( +2 &\\~ \ [ + C'P& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.19 + .Hand.open + M&g1 +53 h 1 + M&X% +4 h % ;  j M +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&.' +94 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + P%k& +3 h &\ +2 M&Y% +3 h %   +2 A(o% +3 h % ? A \ +2 A(a. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(w(<- +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (;& +2 h &<- = 4 W\  +2 M&^& +3 h &Ә$    =A + M&f% +4 h %  \    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&{( +160 h ( +2 M&m& +3 h &  +2 A(_& +3 h &<- S S W\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&x'O +90 h ' +2 A(]& +3 h &<- { } V\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(5's +300 h ' + A(,- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &<- E 8 @\  +2 M&C& +3 h &   + .t\Elbow.seek 5 +2 M&`( +2 h ( +2 M&c& +3 h & &  +2 A(T& +3 h &<- W S Y\  +2 .t\Forearm.seek 5 + 300 counts + M&'Ϲ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&j/ +72 h / +4 M&r& + ."downElevator"\SE.seek :down +5 A(d' +4 h & l  + M&}% +4 h % Ϯ c + .t\Forearm.seek :retract +2 M&s' +92 h ' +2 .t\Elbow.seek PC + M&e( +172 h ' + ."downElevator"\SE.coast + A(5 +65 h ( + M&p& +4 h & \  s ) + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &t& +2 h & ] ) + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +99 h ' +2 P%H& +3 h &\ +2 P%& +3 .t\PC.seek :closed + P% (^ +3 h &\ +5 &\ 3 +9 &8F{\ 1 +10 &ar\ E +9 &g\ O +9 &Y\ O +10 &W\ O +9 &DZ\ P +9 &Y\ O +10 &[\ O +9 &Z\ P +10 &NW\ O +9 &!Y\ O +9 &"W\ O +10 &$U\ O +9 &&UW\ O +9 &(Y\ P +10 &)W\ O +9 &+Y\ O +10 &-]U\ O +9 &/\\\ O +9 &0_\ P +10 &2Y\ O +9 &4fU\ O +9 &6&Z\ P +10 &7Y\ O +9 &9U\ O +10 &;m]\ O +9 &=.Z\ P +9 &>\\\ O +10 &@^\ P +9 &Bre\ P +9 &D/p\ R +10 &E\ U +9 &G\ U +10 &Ij\ V +9 &K,\ V +9 &L\ V +10 &N\ W +9 &Pp\ V +9 &R2\ V +10 &S\ W +9 &U\ V +10 &Wx\ V +9 &Y7\ X +9 &Z\ W +10 &\\\ X +9 &^5b\ * +9 &^u\ < +9 ( +2 &^&\ 4 + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + M&~1 +62 h 1 +2 M&J% +4 h %  W q + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&h' +90 h ' + .t\SC.coast + A(6 +3 P%u& +3 h &^(\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + M&b% +3 h %   ?  +2 A(F% +3 h % ? ? \ + A(i. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A((<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&& +4 h &<- < ? \  +3 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &  5 ) +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&( +2 h ( +2 M&y& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h &  < ) +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &R& +3 h &  ) + .t\Forearm.seek :PC +2 M&' +91 h ' + .tHand.close +2 M&\ / +72 h / +2 .t\PC.seek :open + P%( +93 h ' + A(|- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(z'1 +39 h ' +317 ( +2 A( & +3 h &<- = V S\  +41 M&& +13 h & V ) + M&"% +3 h %   W +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&[( +254 h ( +2 M&& +3 h &  ^ 8 +2 A(& +3 h &<- < ;\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&+'O +97 h ' +2 .tHand.open + M&n1 +64 h 1 +2 A(%- +3 h -'1 + .t\SE.seek -0.26 Pucks below Top Plate +2 A(l' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +3 .t\SE.seek -1.23 Pucks below Top Plate + A(' +54 h ' + #tLights, camera, ACTION! +2 A(4- +3 h -' +2 A(!& +3 h &<- z\  + M&& +3 h &  8 +2 .t\Elbow.seek 5 +2 M& ( +24 h ( +2 M&1& +3 h &  I  +2 A(v& +3 h &<- m\  +2 .t\Forearm.seek 5 + 450 counts + M&-'O +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A((' +50 h ' +2 M&& +3 h &   +2 A(7& +3 h &<- ? @ \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&'΍ +14 h ' + .t\Elbow.hold +2 M&>, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(&' +20 h ' +2 M&0% +4 h %Ϋ \ H + A(& +4 h &<- 4 ( N\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 330 counts + M&)' +14 h ' +2 M&2& +4 h & )  + A(?& +4 h &<- X W q\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&#'O +17 h ' +2 A(E% +4 h % W X m\ +2 ."downElevator"\SE.seek :down +2 A('' +99 (=% +4 h %G @ > f\ Xg + M&@% +4 h %B 3 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +86 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'& +4 h &\\~ \ [ + #t\Storing generic puck in Collection Clamp to tube 5 + M&*% +4 h %    +2 A(8% +3 h % V V ~\ + A(q. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A((<- +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (B& +2 h &<- a Y\  +2 M&O& +3 h & 9  + .t\Elbow.seek 5 +2 M&6( +10 h ( +2 M&9& +3 h & N  +2 A( & +4 h &<- S K h\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +96 h ' +2 A(:& +3 h &<- z z {\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(I's +297 h ' + A(A- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&D& +2 h & 3  +2 A(W& +3 h &<- S F e\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 +2 M&G'΍ +13 h ' + .t\Elbow.hold +2 M&3, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.15 +2 A($'i +29 h ' +2 M&Q% +3 h %ή < +2 A(N& +3 h &<- Y W\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 333 counts + M&L' +15 h ' +2 M&& +3 h & #  +2 A(& +3 h &<- Y _ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&Z'O +15 h ' +2 .t\SE.seek 1.15 +2 A(V' +38 h ' +2 M&M& +3 h & s  +2 M& % +3 h %> } +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&/' +89 h ' +2 .t\Elbow.seek CC +2 M&g(ӂ +157 h ( + M&X& +4 h &Ӊ+   X Cq + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &k& +3 h &Ӊ,  N Cq +2 .t\Forearm.seek :CC + M&Y'? +93 h ' +2 .tHand.close + M&o/ +74 h / +2 .t\CC.seek :open + C'a( +447 h ( + A(;& +4 h &<- \  + A(P& +3 h &<- \  +2 M&^& +3 h &Ӧ& ?T + M&f% +4 h % @ H + .t\Forearm.seek :retract +2 M&S' +93 h ' + .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&m( +164 h ( +2 M&_& +3 h & C  +2 A(<& +3 h &<- \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&]'΍ +94 h ' + .t\Elbow.hold +2 M&K, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&.1 +64 h 1 +2 M&,% +3 h % Έ \\ " +2 A(& +3 h &<- \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 295 counts + M&C'ϴ +16 h ' +2 M&c& +4 h & i } + A(T& +4 h &<- \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&j'O +21 h ' +2 A(r% +3 h % \ +2 ."downElevator"\SE.seek :down +3 A(}' +99 ({% +3 h %_; \ U^ + M&x% +3 h %R  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&5' +87 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp +2 C'& +3 h & 9\ +2 M&p% +3 h %   +2 A(t% +3 h % \ + A(`. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(H(K +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (d& +3 h &K! <\  + M&s& +3 h & ; } +2 .t\Elbow.seek 6 +2 M&\\( +10 h ( +2 M&~& +3 h &  .  +2 A(J& +3 h &K! N\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&u' +95 h ' +2 A(b& +3 h &K! +\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(F's +297 h ' + A(i- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &K v J\  +2 M&& +3 h & <  + .t\Elbow.seek 6 +2 M&( +2 h ( +2 M&y& +3 h & `  +2 A(R& +3 h &K j o \  +2 .t\Forearm.seek 6 + 300 counts + M&'h +16 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&\ / +74 h / +2 ."downElevator"\SE.seek :down +3 M&w& +2 A(|' +6 h &  + M&e% +3 h % ` H +2 .t\Forearm.seek :retract +2 M&h' +90 h ' +41 .t\Elbow.seek CC +10 M& (ӂ +113 h ' + ."downElevator"\SE.coast + A(5 +42 h ( +2 M&& +3 h &ӝ"   s ;2 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 & & +2 h &ӝ"  & ;2 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +93 h ' +3 C'"& +3 h & \ +2 C'& +3 .t\CC.seek :closed +2 C'(\\ +3 h & \ +2 & ~ =\  +10 &4  \ +{ +10 & d ,\ > +9 &r ?\ M +9 &TT  A\ L +10 &W  >\ M +9 &W B\ L +10 &W D\ L +9 &]T \ L +9 &X 2\ L +10 &Y 7\ L +9 & W 7\ L +10 &"cW 3\ M +9 &$'W 5\ L +9 &%W 9\ L +10 &'T 9\ L +9 &)lW 7\ L +9 &+-W 7\ M +10 &,W 1\ L +9 &.W 9\ L +9 &0uT 8\ L +10 &26W ?\ L +9 &3Z 8\ L +10 &5X 4\ L +9 &7|U 5\ L +9 &9>Z 7\ L +10 &:W ,\ M +9 &<Y 6\ L +9 &>V 9\ L +10 &@FU 0\ L +9 &BZ 0\ M +10 &Cd :\ N +9 &Ex 1\ P +9 &G: 0\ S +10 &H 0\ V +9 &J >\ X +9 &Lq 3\ X +10 &N1 L\ Y +9 &O B\ Y +10 &Q 5\ Z +9 &Sr 8\ [ +9 &U3 O\ [\ +10 &V 8\ \\ +9 &X 6\ \\ +9 &Zq 8\ ^ +10 &\\| +\ 1 +9 &\\4 +\ !g +9 ( +2 &\\p (\ O + C'& +4 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open + M&1 +62 h 1 +2 M&% +4 h % A    { + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&n' +90 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + P%%& +4 h &\ + M&4% +3 h %   "  +2 A(!% +3 h % 9 F x\ + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (1& +2 h &K 3 1 ;\  +2 M&v& +3 h &Ӟ  ) :1 + M&% +3 h %   \  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&7( +162 h ( +2 M&0& +3 h &  +2 A(& +3 h &K x w p\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&z' +98 h ' +2 A(2& +3 h &K v q \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(?'s +295 h ' + A(l- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (E& +2 h &K W F Z\  +2 M&[& +3 h & ,  +2 .t\Elbow.seek 6 + M&+( +3 h ( + M&=& +3 h &   +2 A(& +3 h &K S S K\  +2 .t\Forearm.seek 6 + 300 counts + M&@'h +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&-/ +77 h / +2 ."downElevator"\SE.seek :down +3 M& & +2 A((' +5 h & x  +2 M&% +3 h % | g +2 .t\Forearm.seek :retract +2 M&' +88 h ' +2 .t\Elbow.seek PC + M&)( +168 h ' + ."downElevator"\SE.coast + A(5 +71 h ( +3 M&*& +3 h &   +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &8& +2 h & f  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&q' +96 h ' +2 P%&& +3 h &\ +2 P%B& +3 .t\PC.seek :closed +2 P%O(^ +2 h &\ +3 &\  +9 &/v\ *y +10 &c\ ? +9 &]v\ P +10 &Y\ O +9 &V\ O +9 &Y\ O +10 &e[\ O +9 &'Y\ O +10 &Y\ P +9 &W\ O +9 & mW\ O +10 &"/V\ O +9 &#Y\ O +9 &%U\ O +10 &'uY\ O +9 &)7W\ O +9 &*W\ O +10 &,X\ O +9 &.~U\ O +10 &0>Z\ P +9 &2U\ O +9 &3X\ O +10 &5Y\ O +9 &7GW\ O +9 &9 V\ O +10 &:Z\ O +9 &<W\ O +10 &>N\\\ P +9 &@\\\ P +9 &Ad\ P +10 &Cr\ R +9 &EJ\ T +10 &G\ U +9 &H\ V +9 &J\ V +10 &LL\ V +9 &N \ V +9 &O\ W +10 &Q\ W +9 &SQ\ W +9 &U\ W +10 &V\ W +9 &X\ W +10 &ZX\ W +9 &\\\ X +9 &]\ 5 +10 &^6z\ E +8 ( +2 &^&\ 2 + P%B& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + M&91 +55 h 1 + M& % +4 h %    F + +2 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&#' +92 h ' + .t\SC.coast + A(6 +3 P%:& +3 h &^&\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&'% +3 h %   #  +2 A(% +3 h % ; 3 <\ + A(>. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A((K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&A& + A(D& +5 h &  X  + &K B A \  +2 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 A(#]kK-0-\ b +2 .t\Elbow.seek PC +4 M&W( +3 h ( + M&& +3 ."raiseStack"\SE.seek beamBreak +2 A(Q's +2 h &  l  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &N& +2 h & ~  +2 .t\Forearm.seek :PC + M&' +92 h ' + .tHand.close +2 M&/ +75 h / +6 .t\PC.seek :open + P%M( +86 h ' +2 A( - +2 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +45 h ' +315 ( +2 A(6& +3 h &K V V ]\  +2 M&I& +3 h &  + M&G% +3 h %  9 2 +2 .t\Forearm.seek :retract +2 M&L' +89 h ' +2 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +4 .t\Elbow.seek 6 +2 M&$( +251 h ( +2 M&X& +3 h & Y  +2 A(k& +3 h &K T W L\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&Z' +99 h ' + .tHand.open + M&31 +61 h 1 + A(o- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(/' +22 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(U' +54 h ' +2 #tLights, camera, ACTION! +2 A(;- +3 h -' + A(P& +3 h &K \  +2 M&^& +3 h &   +2 .t\Elbow.seek 6 + M&f( +8 h ( +2 M&_& +3 h &  +2 A(<& +3 h &K \  +2 .t\Forearm.seek 6 + 450 counts + M&Y' +15 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(g' +62 h ' +2 M&.& +3 h & F +2 A(,& +3 h &K V V r\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 +2 M&'< +18 h ' + .t\Elbow.hold +2 M&c, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(T' +19 h ' +2 M&r% +4 h %[  F + A(S& +3 h &K V W T\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 331 counts + M&{'χ +14 h ' +2 M&x& +4 h & + A(m& +3 h &K S S B\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts + M&]' +20 h ' +2 A(% +4 h % W X 4\ +2 ."downElevator"\SE.seek :down +2 A(C' +99 (p% +3 h %/I = 8\ Xg + M&t% +4 h % @ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&`' +88 h ' +69 ' +41 ."downElevator"\SE.coast +10 A(5 +2 .t\SC.coast + A(6 +2 C'V& +4 h &\\p \ O + #t\Storing generic puck in Collection Clamp to tube 6 +2 M&j% +3 h %  p  +2 A(}% +3 h % w y c\ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(d(K +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (s& +2 h &K X O \  +2 M&~& +3 h & ` +2 .t\Elbow.seek 6 +2 M&J( +9 h ( +2 M&b& +3 h & 4 +2 A(K& +3 h &K k ] Q\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&5' +94 h ' +2 A(i& +3 h &K o u C\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +300 h ' +2 A(- +2 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&y& +3 h & 3 + A(R& +3 h &K X ^ \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 +2 M&\ '< +13 h ' + .t\Elbow.hold +2 M&w, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(e- +2 h -' +2 .t\SE.seek 0.16 +2 A(\\'p +29 h ' +2 M&u% +3 h %e  i +2 A(F& +3 h &K U X Y\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 341 counts + M&'ϑ +15 h ' +2 M&& +3 h & 1 +2 A( & +3 h &K d t N\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&"' +20 h ' +2 .t\SE.seek 1.16 +2 A(' +39 h ' +2 M&|& +3 h & | +2 M&h% +3 h % . +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&a' +86 h ' +2 .t\Elbow.seek CC +2 M&(ӂ +160 h ( +2 M&& +4 h &Ӕ#  <> + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &%& +3 h &Ӕ# % <> + .t\Forearm.seek :CC +2 M&4'? +92 h ' + .tHand.close + M&!/ +76 h / +2 .t\CC.seek :open + C'( +448 h ( +2 A(& +3 h &K 8\  +2 A(1& +3 h &K )\  +2 M&v& +3 h &ӧ! > :+ + M&% +3 h % : : +2 .t\Forearm.seek :retract +2 M&' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&0( +161 h ( +2 M&& +3 h & 0  +2 A(H& +3 h &K \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&2'< +96 h ' + .t\Elbow.hold +2 M& , +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&n1 +54 h 1 +2 M&l% +3 h % N < 4 +2 A(E& +3 h &K 1\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 318 counts + M&['z +16 h ' +2 M&=& +3 h &   +2 A(& +3 h &K V\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&-' +19 h ' +2 A( % +3 h % y\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (7% +3 h %D \ Va + M&z% +3 h % s +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&?' +87 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp +2 C'@& +3 h & | |:\ +2 M&*% +4 h %  j  + A(8% +3 h % 7\ +2 A(+. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(&([ +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ((& +3 h &[ \  + M&& +3 h & .  +2 .t\Elbow.seek 7 +2 M&(r +11 h ( + M&9& +4 h &t s  + A( & +4 h &[ \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&:'= +99 h ' +2 A('& +3 h &[ ?\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +295 h ' + A(>- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (B& +2 h &[ l p \  +2 M&A& +3 h &t  + .t\Elbow.seek 7 +2 M&D(r +2 h ( +2 M&& +3 h &t b  +2 A(N& +3 h &[ Q\  +3 .t\Forearm.seek 7 + 300 counts + M&q'ϧ +32 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +74 h / +2 ."downElevator"\SE.seek :down +3 M&& +2 A( ' +5 h &t s  +2 M&)% +3 h % Ϫ T ^ +2 .t\Forearm.seek :retract +2 M&#' +90 h ' +2 .t\Elbow.seek CC + M&O(ӂ +159 h ' +2 ."downElevator"\SE.coast + A(5 +2 h ( +2 M&Q& +3 h &ӑ%   >M + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &6& +2 h &ӑ% e >M + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&I'? +103 h ' +2 C'G& +4 h & ~ |\ + C'& +4 .t\CC.seek :closed + C'X(\\ +3 h &  \ +4 & } \ 9 +10 &OJv } ~\ 1 +9 &t } ~\ E +9 &*\\ ~ }\ M +10 &U } \ L +9 &Y \ L +10 &sW ~ }\ L +9 &5W \ L +9 &W  \ L +10 &W  \ L +9 &zW \ L +9 &!<V ~\ L +10 &"W 9\ L +9 &$V } 9\ L +10 &&V ~ ~C\ L +9 &(CW  >\ L +9 &*W ~ :\ L +10 &+W 9\ L +9 &-W  8\ L +9 &/KW <\ L +10 &1 V  C\ L +9 &2V :\ L +10 &4V 9\ L +9 &6SW 9\ L +9 &8U  @\ L +10 &9Y  <\ L +9 &;Y  9\ L +9 &=[X ;\ L +10 &?X ~ :\ L +9 &@U 9\ L +10 &B_ ;\ M +9 &D_e 8\ N +9 &Fy 8\ P +10 &G 9\ S +9 &I 9\ W +9 &KF 8\ Y +10 &M ;\ Y +9 &N 8\ Y +10 &P 2\ Z +9 &RJ 2\ Z +9 &T\ 1\ [\ +10 &U 5\ \\ +9 &W 4\ ] +9 &YJ +\ ] +10 &[\ @\ ^ +9 &\\dI 7\ 2 +10 &\\ 4\ Q +5 ( + C'& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.22 + .Hand.open + M&k1 +3 h &\\j /\ Q +58 1 +2 M&W% +4 h % B   <  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&3' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 P%o& +3 h &\ +2 M&;% +3 h %    + A(P% +3 h % U V ?\ +2 A(^. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(_([ +17 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (<& +2 h &[#   \  +2 M&L& +3 h &ӑ% { >M + M&.% +3 h %  \ Z  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M&,(r +164 h ( +2 M&r& +3 h &s  +2 A(S& +3 h &[# 1 4 >\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +97 h ' +2 A(x& +3 h &[# 8 ' h\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(m's +299 h ' + A(/- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &[" % $\  +48 M&$& +4 h &s  +2 .t\Elbow.seek 7 + M&Z(r +3 h ( +2 M&U& +3 h &s A  +2 A(p& +3 h &[" . 1\  +2 .t\Forearm.seek 7 + 300 counts +2 M&t'ϧ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&Y/ +77 h / +2 ."downElevator"\SE.seek :down +3 M&f& +4 A(g' +4 h &s   +2 M&% +3 h % Ϯ 0 +2 .t\Forearm.seek :retract +2 M&{' +87 h ' +2 .t\Elbow.seek PC +2 M&V( +169 h ' + ."downElevator"\SE.coast + A(5 +69 h ( +2 M&T& +4 h & + , + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &j& +2 h & \  9 , +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&}' +98 h ' +2 P%& +3 h &\ +2 P%s& +3 .t\PC.seek :closed +2 P%~(^ +2 h &\ +4 &\ 5 +10 &8Ev\ 0 +9 &Zo\ E +9 &d\ P +10 &X\ O +9 &xY\ P +10 &:W\ P +9 &T\ O +9 &U\ P +10 &Y\ P +9 &CS\ O +9 &!Y\ O +10 &"V\ O +9 &$T\ O +9 &&KW\ O +10 &( U\ O +9 &)Y\ O +10 &+W\ P +9 &-TS\ O +9 &/[\ O +10 &0Y\ P +9 &2U\ O +10 &4ZW\ P +9 &6Y\ O +9 &7W\ P +10 &9T\ O +9 &;b[\ P +9 &=%Y\ O +10 &>Y\ O +9 &@\\\ P +10 &Bck\ R +9 &D!v\ S +9 &E\ V +10 &G\ V +9 &I`\ V +9 &K"\ V +10 &L\ W +9 &N\ W +10 &Pd\ W +9 &R&\ W +9 &S\ Y +10 &U\ V +9 &Wl\ W +9 &Y.\ W +10 &Z\ W +9 &\\\ X +9 &^*]x\ 6 +10 &^Y\ 7 +5 ( + P%s& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.71 + .Hand.open +2 M&b1 +57 h 1 +2 M&K% +3 h %     +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&]' +91 h ' + .t\SC.coast + A(6 +3 P%i& +3 h &^0\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 M&C% +3 h %  B  + A(% +3 h % 1 1 \ +2 A(c. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(`([ +15 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&& + A(y& +4 h & , + .t\Elbow.reconfigure TightElbow +5 M&$&.,(\ #b +2 h &[\  + .t\Elbow.seek PC +3 ."raiseStack"\SE.reconfigure SEplace +2 M&R( +4 A(#]kK-0-\ b + h ( +2 M&e& +3 h &  b , +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +2 M&F& +2 A(u's +4 h &  , +2 .t\Forearm.seek :PC + M&' +92 h ' + .tHand.close +2 M& / +67 h / +3 .t\PC.seek :open + P%|( +105 h ' + A(h- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(5'1 +43 h ' +301 ( +2 A(J& +3 h &[ ' 3 y\  +2 M&& +3 h & , + M&\ % +3 h %  m > +2 .t\Forearm.seek :retract +2 M&' +87 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&\\(r +245 h ( +2 M&& +3 h &j  ] b +2 A(%& +3 h &[ $ % K\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&"'= +97 h ' + .tHand.open + M&w1 +62 h 1 +2 A(!- +2 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(a' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +55 h ' +2 #tLights, camera, ACTION! +2 A(- +3 h -' + A(1& +3 h &[ \ w  +2 M&v& +3 h &k  7 a +2 .t\Elbow.seek 7 + M&(r +3 h ( + M&& +3 h &k   m a +2 A(H& +3 h &[ \ x  +2 .t\Forearm.seek 7 + 450 counts +2 M&4'= +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +51 h ' +2 M&n& +3 h &k  a +2 A(l& +3 h &[  j\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&E'{ +17 h ' + .t\Elbow.hold +2 M&=, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +19 h ' +2 M& % +4 h %Λ { +3 A(& +6 h &[  u\  +2 .t\Forearm.force -20 +2 M&5 +3 .t\Forearm.seek 7 + 332 counts + M&7' +13 h ' +2 M&z& +4 h & J + A(0& +4 h &[   J\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 7 + 450 counts +2 M&2'= +16 h ' +2 A(@% +4 h % ; >\ +2 ."downElevator"\SE.seek :down +2 A([' +99 (*% +3 h %,D  \ Xh + M&8% +4 h %5 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&+' +90 h ' +69 ' +2 ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +4 h &\\j =\ Q + #t\Storing generic puck in Collection Clamp to tube 7 + M&-% +3 h %  G  +2 A(% +3 h % V V v\ +2 A(d. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 7 + A((([ +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h &[ W V \  +2 M&9& +3 h & < J + .t\Elbow.seek 7 +2 M& (r +35 h ( +2 M&'& +3 h &t a q +2 A( & +3 h &[ X `\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&?'= +97 h ' +2 A(>& +3 h &[ y y `\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(B's +296 h ' +2 A(A- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h &t > q +2 A(N& +3 h &[ _ ]\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&'{ +13 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A()- +2 h -' +2 .t\SE.seek 0.17 + A('t +34 h ' + M&:% +4 h %΢ i 6 +2 A(Q& +3 h &[ ^ W\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 339 counts + M&6' +13 h ' +2 M&& +3 h &w  n +2 A(q& +3 h &[ j U "\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&G'= +16 h ' +2 .t\SE.seek 1.17 +2 A(D' +39 h ' +2 M& & +3 h &w e n +2 M&#% +3 h %9 6 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +87 h ' +2 .t\Elbow.seek CC +2 M&(ӂ +155 h ( + M&k& +4 h &y. E} + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &W& +3 h &y. @ E} + .t\Forearm.seek :CC +2 M&o'? +92 h ' + .tHand.close + M&;/ +70 h / +47 .t\CC.seek :open +4 C'P( +447 h ( +2 A(^& +3 h &[ N\  +2 A(<& +3 h &[ M\  + M&L& +3 h &ӥ&  a ?Q +2 M&.% +3 h % I   ? +2 .t\Forearm.seek :retract +2 M&I' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&r(r +166 h ( +2 M&S& +3 h &v C  +2 A(&& +3 h &[ ,\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 7 + M&x'{ +96 h ' + .t\Elbow.hold +2 M&O, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open +2 M&31 +63 h 1 +2 M&/% +3 h % r  < +2 A(& +3 h &[ \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 291 counts + M&$'Ϟ +14 h ' +2 M&U& +4 h & V +2 A(p& +3 h &[ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&Y'= +19 h ' +2 A(f% +3 h % \ +3 ."downElevator"\SE.seek :down +2 A(' +99 (,% +3 h %XB l\ U_ + M&% +4 h %+ O + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&m' +90 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +5680 E[\ 0- +60002 *\ 0- +60003 \ 0. +60002 \ 0. +60003 \ 0. +60002 \ 0- +60003 \ 0. +60003 \ 0- +60002 \ 1- +60003 \ 0- +60002 \ 0- +60003 \ 1- +60002 \ 0- +60003 \ 0- +60002 \ 1. +60003 \ 0- +60003 \ 0- +60002 \ 0. +60003 y\ 1/ +60002 y\ 0. +60003 y\ 0- +60002 p\ 0. +60003 g\ 1. +60002 [\ 1. +60003 [\ 1- +60003 ^\ 0. +60002 \\\ 1. +60003 T\ 0- +60002 S\ 0. +60003 F\ 1. +60002 =\ 0- +60003 ;\ 0. +60002 8\ 1- +60003 5\ 1. +60002 :\ 1. +60003 >\ 0- +60003 G\ 0. +60002 N\ 1. +60003 S\ 1. +60002 V\ 0. +60003 J\ 1. +60002 ;\ 1. +60003 8\ 0. +60002 -\ 0. +60003 )\ 1- +60003 !\ 0. +60002 \ 0- +60003 \ 1- +60002 \ 0. +60003 \ 1.\ @EST1606885589.46 \ 0- +60003 \ 0- +60002 \ 0. +60003 \ 1. +60003 \ 0. +60002 \ 0- +60003 \ 1. +60002 \ 1. +60003 \ 1. +60002 \ 1. +60003 \ 0. +60002 \ 1. +60003 \ 1. +60002 \ 1. +60003 \ 0. +60003 \ 1. +60002 \ 0- +60003 \ 0. +60002 \ 1. +60003 \ 0- +60002 \ 0- +60003 \ 1/ +60002 \ 1. +60003 \ 0- +60002 \ 1- +60003 \ 0. +60003 \ 0- +60002 \ 0- +60003 \ 0. +60002 \ 0. +60003 \ 0- +60002 \ 1. +60003 \ 1. +60002 \ 0. +60003 \ 0- +60003 \ 0- +60002 \ 1/ +60003 \ 1. +60002 \ 0- +60003 \ 1. +60002 \ 0. +60003 \ 1. +60002 \ 0- +60003 \ 1. +60003 \ 1. +60002 \ 1. +60003 \ 0. +60002 \ 1- +60003 \ 0. +60002 \ 0. +60003 \ 0- +60002 \ 0. +60003 \ 1. +60002 \ 0. +60003 \ 0- +60003 \ 1. +60002 \ 1. +60003 \ 1- +60002 \ 1. +60003 \ 0- +60002 \ 1. +60003 \ 1- +60003 \ 1. +60002 \ 1. +60003 \ 1- +60002 \ 1. +60003 \ 1. +60002 \ 1. +60003 \ 1. +60002 \ 0. +60003 \ 1. +60003 \ 0- +60002 \ 0. +60003 \ 1. +60002 \ 0. +60003 \ 0- +60002 \ 0. +60003 \ 1. +60002 \ 0- +60003 \ 0- +60002 \ 1. +60003 \ 0- +34404 !to:SignalException:\ signoi:bt[ "1/opt/mbari/lib/ruby/1.8/irb.rb:76:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg" SIGHUP +3 !o:Errno::EIO :bt["1/home/esp/esp2/lib/threads.rb:711:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ :@timestampu: Time R,ը: mesg"Input/output error + !o:Errno::EIO:bt["7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error +5 #m\EXIT @1606934535.68EST @1606938282.71EST = @EST1606938284.99 #"core_reset"Sent BREAK + #"MAIN_scheduler"@15294 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +35 #Powering up Dwarves =ECan =tMAIN =Ssampler =hcore =Pprocessing =FMFB =mMAIN_scheduler =Astorage =Ccollection =Mmanipulator +679 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +333 !o:Instrument::ISUSCore: @refi(6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E\ $  +4 \ $  + S) +2 ) + h  +2 C' + ' +3 h  + P% +2 % +2 h  +4 C' 9\ +2 ' 0\ + ' -\ +4 P% 9\ + % 2\ +2 % *\ + % 0\ +4 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready! +2 C'& +2 P%& +6 h &76\ + &\ +2 ."rdyProcessing"\PSV.dial :air +3 ."rdySampler"Intake.select :close +2 .t\PC.reconfigure PCconfig + P%  + ."rdySampler"\Exhaust.select :close +5 P%$x2 ^22b + ."rdySampler"\CTV.dial :air +4 .t\PC.home.seek :open +2 C'  +2 P%\ ( +5 h  +2 ."rdySampler"\CSV.dial :waste1 +2 ."rdyProcessing"\PS.reconfigure PSconfig +2 C' +2 P%#A d`xb +3 h + ."rdyProcessing"\PS.home.seek 0 +3 ."rdySampler"\SSV.dial :spit,avoiding: :exhaust + P% 'ؾ + S)  +4 h  + S)  +5 h  +3 C'& + ."rdySampler"\SS.reconfigure SSconfig +4 ."readyCS"\CS.reconfigure CSfast +3 S)#.0X  +2 M&-& +3 h & 7 / + A(.& +3 h &  } \  +2 A(/% +3 h % y b\  +2 C'09 +3 h 9 + P%19 +3 h 9 +945 #t-> require 'shuffle.rb' +964 #-> shuffle 2..7 +2 #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp + C'2& +3 h &98\  +2 .tHand.open + M&31 +60 h 1 +2 M&4% +3 h %    +2 A(5% +3 h % (\  + A(6. +3 h .(  + A(7& +3 h &  \  + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (8& +2 h &  o\  +2 M&9& +3 h & 0 / + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&:( +22 h ( +2 M&;& +3 h & Y  +2 A(<& +3 h &   \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&='S +92 h ' +3 A(>& +3 h &  \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(?'s +304 h ' +2 A(@- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (A& +3 h &  Z d \  + M&B& +3 h &  +2 .t\Elbow.seek 2 + M&C( +3 h ( + M&D& +4 h &   + A(E& +3 h &  e X\  +2 .t\Forearm.seek 2 + 300 counts + M&F'Ͻ +19 h ' +2 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +2 .tHand.close + M&G/ +77 h / +2 ."downElevator"\SE.seek :down +3 M&H& +2 A(I' +7 h & j  + M&J% +3 h %  R +2 .t\Forearm.seek :retract +2 M&K' +93 h ' +2 .t\Elbow.seek CC +2 M&L(ӂ +157 h ' + ."downElevator"\SE.coast + A(5 +3 h ( +2 M&M& +3 h &Ӕ%  \ =G + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &N& +2 h &Ӕ%  R =G +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&O'? +92 h ' +2 C'P& +3 h &78\  +2 C'Q& +3 .t\CC.seek :closed +2 C'R(\\ +2 h &77\  +4 &58\ > +9 &I{66\ 2 +10 &Ft87\ F +9 &^77\ N +10 &X97\ N +9 &u\\87\ N +10 &7W88\ N +9 &W78\ N +9 &V78\ N +10 &}X96\ N +9 &?W7:\ N +9 &!U79\ M +10 &"Y77\ M +9 &$X78\ M +9 &&F[9:\ N +10 &( W89\ N +9 &)[88\ N +10 &+[78\ M +9 &-PY78\ M +9 &/X88\ M +10 &0[79\ N +9 &2\\86\ N +9 &4WZ88\ N +10 &6\\89\ M +9 &7Z:8\ N +10 &9\\7:\ N +9 &;`[89\ M +9 &=!Z:8\ N +10 &>]89\ N +9 &@]88\ N +10 &Bf];:\ N +10 &D%h<=\ O +8 &Ew?>\ Q +10 &GCB\ T +9 &IRED\ X +9 &KCD\ X +10 &LCC\ Z +9 &NCB\ Y +10 &PRBC\ Z +9 &RCC\ Z +9 &SDC\ [\ +10 &UCD\ \\ +9 &WUDA\ \\ +9 &YCD\ ^ +10 &ZCD\ ] +9 &\\IdDD\ 2 +9 &\\DD\ !b +9 ( +2 &\\DE\ \\ + C'Q& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.13 + .Hand.open + M&S1 +52 h 1 +2 M&T% +3 h % @   X n +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&U' +90 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + P%V& +4 h &\  + M&W% +3 h %   G  +2 A(X% +4 h % / 3 \ + A(Y. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(Z(  +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ([& +2 h &  ' % \  +2 M&\\& +3 h &ӕ%  E =F +2 M&]% +3 h %     +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&^( +164 h ( +2 M&_& +3 h & `  +2 A(`& +3 h &  * 0 5\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&a'S +93 h ' +2 A(b& +3 h &  A C \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(c's +296 h ' +2 A(d- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (e& +3 h &  ( &\  + M&f& +3 h & 1  +2 .t\Elbow.seek 2 + M&g( +3 h ( +2 M&h& +3 h & S  +2 A(i& +3 h &   W\  +2 .t\Forearm.seek 2 + 300 counts + M&j'Ͻ +14 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&k/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&l& +2 A(m' +6 h &   +2 M&n% +3 h % ϻ < +2 .t\Forearm.seek :retract + M&o' +92 h ' +2 .t\Elbow.seek PC +2 M&p( +165 h ' + ."downElevator"\SE.coast + A(5 +72 h ( +2 M&q& +3 h & 3  +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &r& +2 h &  \ )  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&s' +101 h ' +2 P%t& +3 h &\  +2 P%u& +3 .t\PC.seek :closed +2 P%v(^ +3 h &\  +3 &\ \  +9 &5z\ +| +9 &e\ @ +11 &]w\ P +8 & Y\ P +10 &Y\ P +9 &Z\ P +9 &f]\ P +10 &)Z\ O +9 &[\ P +9 &Z\ O +10 & nZ\ P +9 &"0Y\ P +10 &#Z\ O +9 &%W\ O +9 &'u]\ P +10 &)8Y\ P +9 &*\\\ P +9 &,[\ P +10 &.~]\ P +9 &0@]\ P +10 &2\\\ P +9 &3]\ O +9 &5[\ P +10 &7GX\ P +9 &9 \\\ P +9 &:]\ P +10 &<[\ P +9 &>P]\ P +10 &@]\ P +9 &Aj\ Q +9 &Cr\ S +10 &EI\ U +9 &G\ V +9 &H\ V +10 &J\ V +46 &LM\ V +11 &N \ W + &O\ W + &Q\ X + &SP\ X +3 &U\ W +2 &V\ X +10 &X\ W +9 &ZY\ X +10 &\\\ X +9 &]\ ; +9 &^+x\ Z +10 &^3\ 9 +2 ( + P%u& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open +2 M&w1 +60 h 1 +3 M&x% +3 h %  C +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&y' +91 h ' + .t\SC.coast + A(6 +3 P%z& +4 h &^/\ 9 + #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&{% +4 h %  \  + A(|% +3 h % & & #\ +2 A(}. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(~(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +2 M&& +3 h &   X\  +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +3 h &   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&( +2 h ( +2 M&& +3 ."raiseStack"\SE.seek beamBreak + A('s +3 h &    + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &    +2 .t\Forearm.seek :PC + M&' +91 h ' + .tHand.close +2 M&/ +71 h / +2 .t\PC.seek :open +2 P%( +94 h ' +2 A( - +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A( '1 +41 h ' +311 ( +2 A( & +3 h &  & ' \  +2 M&& +3 h &  v  + M&% +3 h % \  ! 1 +2 .t\Forearm.seek :retract +2 M&' +95 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&( +244 h ( +2 M&& +3 h & / & +2 A( & +3 h &    X\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&\ 'S +94 h ' + .tHand.open + M&1 +61 h 1 +2 A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate + A( ' +24 h ' +2 .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate + A(' +54 h ' +2 #tLights, camera, ACTION! + A("- +3 h -' + A(& +4 h &  Z\ | + M&#& +3 h &  % +2 .t\Elbow.seek 2 +2 M&$( +2 h ( +2 M&%& +3 h &    % + A(&& +3 h &  1\ { +2 .t\Forearm.seek 2 + 450 counts +2 M&''S +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A((' +57 h ' +2 M&)& +4 h & % + A(*& +3 h &  & ' C\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&+'Α +14 h ' +2 .t\Elbow.hold + M&,, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(-' +18 h ' +2 M&.% +4 h %   \ A + A(/& +4 h &  |\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 349 counts +2 M&0' +14 h ' +2 M&1& +4 h & < % +2 A(& +3 h &  #  o\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +16 h ' +3 A(2% +4 h % ' (\ +3 ."downElevator"\SE.seek :down +2 A(3' +98 (4% +3 h %7J ( '\ Xh +2 M&5% +3 h %R  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&6' +87 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'7& +3 h &\\DD\ \\ +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&8% +3 h %  \  V  +2 A(9% +3 h % & %\ +2 A(;. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(<(  +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (>& +2 h &  ( $ \  +2 M&& +3 h &  % +2 .t\Elbow.seek 2 +2 M&!( +3 h ( +2 M&& +3 h &   % +2 A(@& +3 h &  % %\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&A'S +99 h ' +2 A(B& +3 h &  A , c\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(D's +296 h ' +2 A(E- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&G& +2 h &  U % +2 A(H& +3 h &   P\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 +2 M&J'Α +13 h ' + .t\Elbow.hold +2 M&:, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(=- + h -' +2 .t\SE.seek 0.16 +2 A(M'q +29 h ' +2 M&N% +3 h %α ) 3 +2 A(?& +3 h &  & '\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 332 counts + M&F' +16 h ' +2 M&P& +3 h & C % +2 A(C& +4 h &  & ' 1\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&I'S +15 h ' +2 .t\SE.seek 1.16 +2 A(K' +36 h ' +2 M&& +4 h & % + M&S% +4 h %I - + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&T' +87 h ' +2 .t\Elbow.seek CC +2 M&V(ӂ +149 h ( +2 M&W& +3 h &x,   Cp +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &X& +3 h &x,  Cp + .t\Forearm.seek :CC +2 M&Y'? +92 h ' + .tHand.close + M&[/ +66 h / +2 .t\CC.seek :open +2 C'Q( +450 h ( +3 A(\\& +3 h &  ` W\  +2 A(]& +3 h &  ^ X\  + M&O& +3 h &ө#  Y <? +2 M&_% +3 h % + \   \ +2 .t\Forearm.seek :retract + M&`' +91 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&( +164 h ( +2 M&b& +3 h &  +2 A(L& +3 h &  \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 2 + M&U'Α +92 h ' +2 .t\Elbow.hold + M&d, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&e1 +65 h 1 +2 M&f% +3 h % Λ 4 +2 A(h& +3 h &  H\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 310 counts + M&i' +14 h ' +3 M&k& +3 h & [  +2 A(l& +3 h &  w\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&n'S +18 h ' +2 A(^% +4 h % \ +2 ."downElevator"\SE.seek :down +2 A(a' +99 (c% +3 h %8A \ V` + M&j% +4 h %8 j + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&q' +89 h ' +62 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + C'r& +4 h &01\ +2 M&g% +4 h %  $  + A(t% +4 h % Q\ + A(m. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(o( +348 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h & { m\  +2 M&w& +3 h &  + .t\Elbow.seek 3 +2 M&x( +12 h ( +2 M&z& +3 h &  +2 A({& +3 h & \  +2 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&|'7 +93 h ' +2 A(}& +3 h &  1\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(u's +297 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +3 h & ` b \  + M&& +3 h &  +2 .t\Elbow.seek 3 + M&( +3 h ( + M&s& +3 h &   +2 A(& +3 h & g \\ {\  +2 .t\Forearm.seek 3 + 300 counts + M&Z'ϡ +15 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +70 h / +2 ."downElevator"\SE.seek :down +3 M&p& +2 A(y' +6 h & 9  + M&v% +4 h % ϝ @ + .t\Forearm.seek :retract +2 M&' +86 h ' +2 .t\Elbow.seek CC +2 M& (ӂ +159 h ( +2 M&& +3 h &Ӎ( \   @Z +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +2 h ' + ."downElevator"\SE.coast +3 A(5 +3 h &Ӎ(  @Z + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +95 h ' +2 C'& +4 h &21\ + C' & +3 .t\CC.seek :closed +2 C'(\\ +4 h &02\ + &13\  +9 &1{33\ *y +9 &c02\ > +9 &st13\ N +10 &6W/4\ M +40 &W31\ M +11 &Z24\ M + &|Y35\ M +4 &>W32\ M + &Z13\ N + &X23\ M +7 & W23\ M +10 &"EV44\ M +9 &$S34\ M +9 &%X44\ M +10 &'W33\ M +9 &)MX64\ M +10 &+W23\ M +9 &,W44\ M +9 &.X36\ M +10 &0UW64\ M +9 &2W24\ M +9 &3X24\ N +10 &5W44\ M +9 &7]Y44\ M +10 &9 Z33\ M +9 &:W32\ M +9 &<Y35\ M +10 &>fU45\ M +9 &@'X42\ M +9 &A\\76\ N +10 &Cb78\ N +9 &Een99\ P +10 &G ?>\ S +9 &H?@\ V +9 &JEC\ X +10 &LSDB\ Y +9 &NCC\ Y +9 &OAA\ Z +10 &QDC\ Z +9 &SVCC\ [ +10 &UAC\ \\ +9 &VDC\ \\ +9 &XDD\ ] +10 &ZVCC\ ] +9 &[xDE\ @ +9 &\\+BE\ )y +10 &\\wDD\ T +2 ( + C' & +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + M&1 +55 h 1 +2 M&% +3 h % A   N i +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&"' +96 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + P%& +4 h &\ + M&#% +4 h % \   + A(%% +3 h % % % 2\ +2 A(&. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ()& +2 h & & % \  +2 M&*& +3 h &ӏ( \ T @X +2 M&.% +3 h %  T  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&/( +163 h ( +2 M&1& +3 h & +  +2 A(& +3 h & C D \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M& '7 +96 h ' +2 A(2& +3 h & ? ? \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A( 's +296 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +3 !o:ArgumentError:bt[ "1/opt/mbari/lib/ruby/1.8/irb.rb:76:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"(wrong number of arguments (0 for 1) + !o:Errno::EIO :bt["1/home/esp/esp2/lib/threads.rb:711:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ :@timestampu: Time S,?(: mesg"Input/output error + !o:Errno::EIO:bt["7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error +4 #m\EXIT @1606938482.73EST @1606939045.94EST = @EST1606939048.08 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@14936 receive with ifg=0x10, ie=0xFD + #@15597 receive with ifg=0x10, ie=0xFD + #@16231 receive with ifg=0x10, ie=0xFD #@16888 receive with ifg=0x10, ie=0xFD + #@17526 receive with ifg=0x10, ie=0xFD + #@18161 receive with ifg=0x10, ie=0xFD #@18796 receive with ifg=0x10, ie=0xFD + #@19129 receive with ifg=0x80, ie=0xFD #@3479 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =ECan =hcore =FMFB =Mmanipulator =Pprocessing =mMAIN_scheduler =tMAIN =Astorage =Ssampler =Ccollection +367 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +308 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +3 E\ YV +4 \ YV + S) + ) +2 h  +2 C' + ' +3 h  +2 P% + % +3 h  +3 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +4 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready? + C'& +3 h &\\?@\ +2 C'% +3 h %d@B\ +2 S)% +3 h %ڝ l\ + M& % +3 h %3 g + M&\ & +3 h & +2 A( & +3 h &\ )\ & j\ + A( % +3 h %\ )\ ( \ + P% & +3 h &\ +2 P%% +3 h %\ +618 #t-> CC + C'& +3 h &\\BB\ +610 #t-> CC.open + .\CC.seek :open +2 C'( +440 h ( +2 C'& +3 h &$'\ +1546 #t-> Puck.count + !o:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Hand must first be opened! +643 #-> Hand.open .Hand.open + M&1 +19 h 1 +575 #t-> Puck.count + A(% +3 h %\ $\ ) 5\ +2 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %G \ Wb + M&% +3 h %3 B +2 .t\Forearm.seek :retract + M&' +90 h ' +72 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A((C +682 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h &B \ +2 M&& +3 h & ^ + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 + M&( +25 h ( +2 M&& +3 h &   +2 A(& +3 h &> 1\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +93 h ' +2 A(& +3 h &> g\ +2 .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A( 's +276 h ' +2 A(!- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 ("% +3 h %k @\ +2 ."downElevator"\SE.seek :down +2 A(#' +99 ($% +3 h %J \ We +2 M&%% +3 h % ] e + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&&' +90 h ' +75 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A('(  +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ((& +2 h &  \  + M&)& +4 h &  + .t\Elbow.seek 2 +2 M&*( +15 h ( +2 M&+& +3 h &   +2 A(,& +3 h &  \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&-'S +101 h ' +2 A(.& +3 h &  \  +2 .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +4 .t\SE.seek beamBreak + A(/'s +312 h ' +2 A(0- +3 h -'T + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (1% +3 h % M *\ +2 ."downElevator"\SE.seek :down +2 A(2' +99 (3% +3 h %B \ V` + M&4% +3 h %6 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&5' +90 h ' +54 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(6( +352 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (7& +2 h & \  +2 M&8& +3 h & 4  + .t\Elbow.seek 3 +2 M&9( +13 h ( +2 M&:& +3 h & f  +2 A(;& +3 h & \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&<'7 +94 h ' +2 A(=& +3 h & \  +2 .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +4 .t\SE.seek beamBreak + A(>'s +314 h ' +2 A(?- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (@% +3 h % \ +2 ."downElevator"\SE.seek :down +2 A(A' +99 (B% +3 h %lI (\ Wd + M&C% +3 h %?  ] +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&D' +89 h ' +60 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(E(,y +351 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (F& +3 h &,w +\  + M&G& +3 h & O  +2 .t\Elbow.seek 4 + M&H( +30 h ( +2 M&I& +3 h & ( $ +2 A(J& +3 h &,w &\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&K' +94 h ' +2 A(L& +3 h &,w z\  +2 .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +4 .t\SE.seek beamBreak + A(M's +320 h ' +2 A(N- +3 h -'^ + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (O% +3 h % f :\ +2 ."downElevator"\SE.seek :down +3 A(P' +99 (Q% +3 h %B \ Va + M&R% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&S' +88 h ' +53 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(T(<- +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (U& +2 h &<+ 8\  + M&V& +4 h & , $ + .t\Elbow.seek 5 + M&W( +19 h ( +2 M&X& +3 h &  a  +2 A(Y& +3 h &<," \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&Z'O +98 h ' +2 A([& +3 h &<,# \  +2 .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +4 .t\SE.seek beamBreak + A(\\'s +320 h ' +2 A(]- +3 h -'N + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (^% +3 h % O \ +2 ."downElevator"\SE.seek :down +2 A(_' +99 (`% +3 h %> o\ Va + M&a% +3 h %H  Q +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&b' +93 h ' +48 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(c(K +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (d& +2 h &K" $\  + M&e& +3 h &   +2 .t\Elbow.seek 6 + M&f( +3 h ( + M&g& +3 h &  +2 A(h& +3 h &K" 5\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&i' +91 h ' +2 A(j& +3 h &K" s\  +2 .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(k's +314 h ' +2 A(l- +3 h -'T + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (m% +3 h % [ \ +2 ."downElevator"\SE.seek :down +2 A(n' +99 (o% +4 h %D \ Wc + M&p% +3 h % R t +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&q' +93 h ' +48 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +3 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(r([ +348 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (s& +2 h &[ \  + M&t& +4 h & g  + .t\Elbow.seek 7 + M&u(r +34 h ( +2 M&v& +3 h &   +2 A(w& +3 h &[ k\  +2 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&x'= +97 h ' +2 A(y& +3 h &[ \  +2 .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +4 .t\SE.seek beamBreak + A(z's +319 h ' +2 A({- +3 h -'Z + .t\SE.configure SEconfig +3 A(#QK-0-\ b +2 (|% +2 h % [ V\ +2 ."downElevator"\SE.seek :down +3 A(}' +99 (~% +3 h %D \ Vb + M&% +3 h %, f +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +88 h ' +52 ' + ."downElevator"\SE.coast + A(5 +3 .t\SC.coast A(6 +3252 #t-> CC.unloadPuck 3 + C'& +3 h &(+\ +2 !to:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"#Collection Clamp is NOT CLOSED +660 #-> CC.close +2 C'& +3 h &*,\ +2 C'& +3 .t\CC.seek :closed +2 C'(\\ +3 h &,+\ +2 &+,\  +10 &3},,\ *y +9 &e,,\ > +10 &~u.+\ M +9 &BY+-\ L +9 &Y,+\ L +10 &[,+\ L +9 &X+,\ L +10 &LY,-\ K +9 & \\/-\ L +9 &Y+-\ L +10 & Z-.\ L +44 &"SZ-,\ L + &$Y,,\ L +4 &%Y+.\ L + &'X..\ L + &)ZZ--\ L +5 &+Z,-\ L +9 &,Y-.\ L +10 &.X.-\ L +9 &0bY..\ L +9 &2%Y-,\ L +10 &3Y-.\ L +9 &5Y.,\ L +10 &7kZ-,\ L +9 &9,[,-\ L +9 &:Z,.\ L +10 &<[.-\ L +9 &>qZ-.\ L +9 &@3Z,.\ L +10 &A^/.\ L +10 &Cb2/\ M +9 &Ers42\ O +9 &G+75\ R +9 &H;;\ U +10 &J><\ X +9 &L`>>\ X +9 &N ?@\ X +10 &OA@\ Y +9 &Q??\ Y +10 &Sa>?\ Z +9 &U!@?\ [ +9 &V>@\ [ +10 &XBA\ \\ +9 &Zb>B\ \\ +9 &\\yAB\ : +10 &\\&?C\ )x +9 &\\BA\ \\ +2 ( + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + C'& +3 h &\\?A\ \\ +227 #t-> CC.unloadPuck 3 +2 C'& +3 h &\\A@\ \\ + !to:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"4Specify puck type in Collection Clamp to unload +886 #-> CC.unloadPuck 3,2 + C'& +3 h &\\AA\ \\ +2 #t\Storing 2 puck in Collection Clamp to tube 3 + M& % +3 h %  V  +2 A(\ % +3 h % \ + A( . +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A( ( +1297 h ( +2 .t\SC.reconfigure SCloose +3 A($.\ 1~b +2 ( & +2 h & S G \ +2 M&& +3 h & \   + .t\Elbow.seek 3 +2 M&( +3 h ( + M&& +3 h &  $  +2 A(& +3 h & & &\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +93 h ' +2 A(& +3 h & @ L \ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +298 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&& +2 h & h  +2 A(& +3 h & ' + Q\ +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&'u +13 h ' +2 .t\Elbow.hold + M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 0.17 + A('t +30 h ' +2 M&!% +3 h %Ξ  1 4 +2 A("& +3 h & ' , \ + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 341 counts + M&$' +14 h ' +2 M&%& +3 h & W  +2 A( & +4 h & B C \ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +14 h ' +2 .t\SE.seek 1.17 +2 A(#' +35 h ' +2 M&& +4 h &  + M&(% +3 h %8 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&)' +87 h ' +2 .t\Elbow.seek CC +2 M&+(ӂ +152 h ( +2 M&,& +3 h &ӎ$   J =F +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &.& +2 h &ӎ$   A =F +2 .t\Forearm.seek :CC +2 M&'? +94 h ' +3 .tHand.close + M&&/ +68 h / +2 .t\CC.seek :open + C'0( +448 h ( +2 A(1& +3 h & { K\ +2 A(3& +3 h &  t\ + M&4& +3 h &ӏ%   =E +2 M&/% +3 h % 8  m ? + .t\Forearm.seek :retract +2 M&-' +90 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&2( +165 h ( +2 M&'& +3 h & j  +2 A(7& +3 h & \ + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 3 + M&8'u +92 h ' +2 .t\Elbow.hold + M&:, +3 h , +2 .t\Elbow.reconfigure TightElbow + M&$&.,(\ #b +2 .tHand.open + M&;1 +57 h 1 +2 M&=% +3 h % Θ  +2 A(*& +3 h & c\ + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 335 counts + M&5' +14 h ' +2 M&?& +3 h & 9  +2 A(@& +3 h & \ +2 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&B'7 +15 h ' +2 A(C% +4 h % O\ +2 ."downElevator"\SE.seek :down +2 A(>' +99 (<% +3 h %i< \ U_ + M&A% +4 h %$ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&6' +89 h ' +59 @1607026380.89EST = @EST1607026383.16 #"core_reset"Sent BREAK + #"MAIN_scheduler"@62604 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +34 #Powering up Dwarves =tMAIN =ECan =Astorage =hcore =Ccollection =Mmanipulator =Ssampler =Pprocessing =mMAIN_scheduler =FMFB +675 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +333 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 E\ $! +5 \ $! + S) + ) +2 h  + C' +2 ' +2 h  +2 P% + % +3 h  +3 C' 9\ +2 ' 0\ +3 ' -\ +4 P% 9\ + % 2\ +2 % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready? +2 C'& +3 h &v\ +347 #t-> ESP.ready! +2 C'& +2 P%& +6 h &o\ + &\ +2 ."rdyProcessing"\PSV.dial :air +2 ."rdySampler"Intake.select :close +3 .t\PC.reconfigure PCconfig +2 ."rdySampler"\Exhaust.select :close +2 P%  +2 %$x2 ^22b +2 ."rdySampler"\CTV.dial :air +3 .t\PC.home.seek :open +4 P%\ ( + C'  +3 h  +2 ."rdyProcessing"\PS.reconfigure PSconfig +3 P%#A d`xb + h + ."rdyProcessing"\PS.home.seek 0 +3 P% 'ؾ +2 ."rdySampler"\CSV.dial :waste1 +2 C' +5 h + ."rdySampler"\SSV.dial :spit,avoiding: :exhaust +2 S) +2 h  +2 S)  +5 h  +2 C'& + ."rdySampler"\SS.reconfigure SSconfig +5 ."readyCS"\CS.reconfigure CSfast +3 S)#.0X require 'shuffle.rb' +523 #-> shuffle 2..7 + #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp + C'3& +3 h &_\  +2 .tHand.open + M&41 +55 h 1 + M&5% +4 h %     + A(6% +3 h % !\ +2 A(7. +2 h .(  +2 A(8& +3 h &  Y\ \ + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (9& +3 h &  .\ \ + M&:& +3 h & ^ 4 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&;( +26 h ( + M&<& +4 h &  u  + A(=& +3 h &  \ \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&>'S +90 h ' + A(?& +4 h &  {\ \ + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(@'s +299 h ' +2 A(A- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (B& +3 h &  \ \ + M&C& +3 h & N  +2 .t\Elbow.seek 2 + M&D( +3 h ( + M&E& +4 h &  + A(F& +3 h &  }\ \ +2 .t\Forearm.seek 2 + 300 counts +2 M&G'Ͻ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&H/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&I& +3 A(J' +6 h &   + M&K% +3 h %  +2 .t\Forearm.seek :retract +2 M&L' +89 h ' + .t\Elbow.seek CC +2 M&M(ӂ +160 h ( + ' + ."downElevator"\SE.coast +2 A(5 +4 M&N& +5 h &ә" a ;2 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &O& +3 h &ә" | ;2 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&P'? +91 h ' + C'Q& +4 h &]\  +2 C'R& +3 .t\CC.seek :closed +2 C'S(\\ +2 h &T\  +3 &&\ > +10 &Jy^\ 2 +9 &Fs\ F +9 &^\ N +10 &Yk\ N +9 &tZ.\ N +9 &7Zl\ M +10 &\\e\ M +9 &Z\ M +10 &|\\\ N +9 &?Zx\ M +9 &!T\ M +10 &"]~\ M +9 &$[{\ M +9 &&GZ}\ M +10 &(Z\ N +9 &)Yy\ N +10 &+Zs\ N +9 &-NZq\ N +9 &/Yx\ M +10 &0W\ M +9 &2W\ M +9 &4WZ}\ M +10 &6[x\ M +9 &7]}\ M +10 &9W\ M +9 &;`Y|\ M +9 &=\\{\ N +10 &>Xv\ M +9 &@Yt\ M +9 &Bf^ t\ N +10 &D$go\ O +9 &Ey##x\ Q +10 &G#$\ T +9 &IR((\ W +9 &K%({\ X +10 &L%%}\ Y +9 &N&(z\ Y +9 &PR%(w\ Z +10 &R((}\ [ +9 &S'(q\ [ +10 &U&(r\ \\ +9 &WU'(s\ \\ +9 &Y()s\ ^ +10 &Z)(q\ ] +9 &\\Ie%(s\ 3 +9 &\\)(r\ a +10 ( +2 &\\((h\ \\ + C'R& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.14 +2 .Hand.open + M&T1 +65 h 1 +2 M&U% +4 h % @   U + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 !o:Errno::EIO :@checkpoint: omitted:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error +2 !o:Errno::EIO:bt[ "1/opt/mbari/lib/ruby/1.8/irb.rb:76:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error + !o:Errno::EIO :bt["1/home/esp/esp2/lib/threads.rb:711:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ :@timestampu: Time t,49: mesg"Input/output error + !o:Errno::EIO:bt["7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error +4 #m\EXIT @1607026467.04EST @1607026541.40EST = @EST1607026543.57 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@15867 sendCRC with ifg=0x20, ie=0x7F + #@16083 sendCRC with ifg=0x20, ie=0x7F #@17237 sendCRC with ifg=0x20, ie=0x7F + #@17453 sendCRC with ifg=0x20, ie=0x7F + #@18607 sendCRC with ifg=0x20, ie=0x7F #@18823 sendCRC with ifg=0x20, ie=0x7F + #@19977 sendCRC with ifg=0x20, ie=0x7F #@21343 sendCRC with ifg=0x08, ie=0x5F + #@46125 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 =tMAIN =ECan =hcore =FMFB =Mmanipulator =mMAIN_scheduler =Pprocessing =Astorage =Ssampler =Ccollection +351 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +306 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E\ RQ +4 \ RQ + S) +2 ) + h  +2 C' + ' +3 h  + P% +2 % +2 h  +4 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ + % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready? +2 C'& +3 h &[()p\ + C'% +4 h %e)*b\ + S)% +3 h %ډ p\ + M& % +3 h %[ S +2 M&\ & +3 h &ӂ  ;  + A( & +3 h & P\ + A( % +3 h % *\ +2 P% & +3 h &\ + P%% +3 h %ؾ\ +1581 #t-> require 'shuffle.rb' +487 #-> shuffle 2..7 + #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp +2 C'& +3 h &[*+n\ +2 !to:Slide::Error :bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Collection Clamp not Open:@axisName"Collection Clamp: @reply0 +2533 #-> CC.open +2 .\CC.seek :open + C'( +440 h ( + C'& +4 h &z\ +1343 #t-> shuffle 2..7 + #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp +2 C'& +2 h &r\ +2 .tHand.open + M&1 +27 h 1 + M&% +4 h %[ + .t\Forearm.seek :retract +2 M&' +87 h ' + A(% +4 h % !\ + A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A((  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  \  + M&& +3 h &, w m +2 M&% +3 h %  ]  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +147 h ( + M&& +4 h & [  + A(& +3 h &  -\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +89 h ' + A( & +4 h &  @\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(!'s +297 h ' + A("- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (#& +2 h &  L\  +2 M&$& +3 h &  + .t\Elbow.seek 2 +2 M&%( +2 h ( + M&&& +4 h &   + A('& +3 h &  \  +2 .t\Forearm.seek 2 + 300 counts +2 M&('Ͻ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&)/ +66 h / +2 ."downElevator"\SE.seek :down +2 M&*& +4 A(+' +5 h & "  +2 M&,% +3 h % Ͼ q + .t\Forearm.seek :retract +2 M&-' +90 h ' + .t\Elbow.seek CC +2 M&.(ӂ +161 h ( + M&/& +4 h &Ӎ%   H >M +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b + h ' +2 M&0& +3 ."downElevator"\SE.coast + A(5 +3 h &Ӎ%  D >M +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&1'? +36 h ' / , +3 !to:Slide::Error\ :@checkpoint: omitted:bt["8/home/esp/esp2/utils/puckmoves.rb:112:in `retryArm'")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"5/home/esp/esp2/utils/puckmoves.rb:380:in `clamp'"4/home/esp/esp2/utils/puckmoves.rb:299:in `load'"8/home/esp/esp2/utils/puckmoves.rb:802:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):5:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"M + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek CC +2 M&3(ӂ +17 h ( + M&4& +4 h &Ӌ - 3 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &5& +3 h &Ӌ  3 +2 .t\Forearm.seek :CC + M&6'? +27 h '  C +3 !to:Slide::Error\ :@checkpoint: omitted:bt["8/home/esp/esp2/utils/puckmoves.rb:112:in `retryArm'")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"5/home/esp/esp2/utils/puckmoves.rb:380:in `clamp'"4/home/esp/esp2/utils/puckmoves.rb:299:in `load'"8/home/esp/esp2/utils/puckmoves.rb:802:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):5:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"& +3 h &Ӌ ] 3 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &?& +2 h &Ӌ 3 +2 .t\Forearm.seek :CC +2 M&@'? +27 h '  N +2 !to:Slide::Error\ :@checkpoint: omitted:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Forearm speedErr:@axisName" Forearm: @replyo:I2C::Servo::AbsMove3Reply : @tagiE:@destinationi%: @sourcei+: @channeli: @statusS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi:deltaPressiN : voltagef12.260219931271479( : @error: speedErr +8943 #-> Hand +5514 #-> Forearm.status +2 M&A% +2 h %d ] , +11505 #t-> carousel +2 !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::messageBundefined local variable or method `carousel' for main:Object: name: carousel +3333 #-> Hand.home + !o:NoMethodError :bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message-undefined method `home' for Hand:Gripper: name: home: args[ +327 #-> Arm.home + M&B& +3 h &Ӌ 8 3 +2 M&C% +3 h %d @ , +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&D' +27 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :home + M&E( +340 h ( + M&F& +4 h & o + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &G& +2 h & O +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b + .t\Forearm.seek :home +2 M&H' +43 h ' + M&I& +4 h & - + M&J% +3 h % * < +5215 #t-> Arm.extend + M&K& +3 h & +2 M&L& +3 h & T +2 .t\Forearm.seek :home +2 M&M' +2 h ' + M&N& +4 h & + M&O% +3 h % , < +1138 #t-> Arm.carousel + M&P& +3 h & ( +2 !to:Axis::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"%Unknown Elbow position: carousel:@axisName"\ Elbow +5166 #-> SE.home. to :up + .\SE.reconfigure SEconfig +2 A(#K-0-\ b +3 .t\SE.home.seek :up + A(Q' +279 h ' + A(R% +4 h %w v\ +3020 #t-> Arm.ready! + .\Forearm.reconfigure LooseForearm +2 M&#@2^d^2b +3 .t\Forearm.home.seek :retract + M&S' +65 h ' + ."closeHand"Hand.close +3 .t\Elbow.jog 1500 + M&T/ +3 &U* +19 h / +32 * + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 .t\Elbow.home.seek :clear + M&V(d +247 h ( + M&W& +4 h &d  X $ + M&X% +3 h %  }  +2754 #t-> Arm.Carousel + M&Y& +3 h &d  \ $ +2 !to:Axis::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"%Unknown Elbow position: Carousel:@axisName"\ Elbow +3368 E\ 53 +11648 #t-> Arm.PC + M&Z& +3 h &d   $ +2 M&[% +3 h %  B  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek :PC +2 M&\\( +220 h ( +2 M&]& +4 h & & + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &^& +2 h & F +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b + .t\Forearm.seek :PC +2 M&_' +99 h ' + M&`& +4 h &  + M&a% +3 h % +896 #t-> PC.close + P%b& +3 h &\ +2 P%c& +4 .t\PC.seek :closed + P%d(^ +2 h &\ +3 &\  +9 &2y\ *z +10 &b\ ? +9 &Jz\ O +9 & Y\ O +10 &]\ P +9 &]\ P +10 &P]\ P +9 &^\ O +9 &\\\ P +10 &^\ O +9 & YZ\ O +9 &"Y\ O +10 &#^\ P +9 &%[\ O +10 &'a^\ O +9 &)#Z\ O +9 &*Z\ O +10 &,\\\ O +9 &.iY\ O +9 &0*\\\ P +11 &1[\ O +8 &3Z\ O +10 &5p[\ P +9 &72]\ P +9 &8`\ P +10 &:a\ O +9 &;_\ O +10 &?_\ O +9 &Ai\ Q +10 &Cxu\ R +9 &E5\ T +9 &F\ U +10 &H\ U +9 &Jv\ V +9 &L8\ V +10 &M\ W +9 &O\ W +10 &Qz\ W +9 &S:\ X +9 &T\ W +10 &V\ X +9 &X\ W +9 &ZB\ X +10 &\\\ W +9 &]\ D +10 &^"c\ #f +9 &^7\ 8 +2 ( + P%c& +3 #t\Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + P%e& +3 h &^0\ 8 +481 #t-> Hand.open + .Hand.open + M&f1 +61 h 1 +461 #t-> Arm.home + M&g& +3 h &  d +2 M&h% +3 h %   ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&i' +93 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek :home + M&j( +51 h ( + M&k& +4 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &l& +2 h &  :  +2 .t\Forearm.seek :home +2 M&m' +38 h ' + M&n& +4 h &  p  + M&o% +3 h %  ^ { +6878 #t-> Carousel + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"$uninitialized constant Carousel: name: Carousel +826 #-> Arm +2 M&p& +3 h &  + M&q% +4 h % { +5574 #t-> pucks +15372 #-> PC.unloadPuck 2,2 +2 P%r& +3 h &^0\ 8 + #t\Storing 2 puck in Processing Clamp to tube 2 +2 M&s% +3 h % F { +2 .t\Forearm.seek :retract + M&t' +35 h ' + A(u% +4 h %} 2\ + .t\SE.seek :down +2 A(v' +278 h ' + A(w. +3 h .(  + A(x& +4 h &  ~ q \  +2 A(y& + M&z& +7 h &  o v /\  + &  +2 ."raiseStack"\SE.reconfigure SEplace +2 M&{% +4 A(#]kK-0-\ b +2 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&|( +2 ."raiseStack"\SE.seek beamBreak +2 A(}'s +51 h ( + M&~& +4 h &   ' + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &  _ ' + .t\Forearm.seek :PC +2 M&' +94 h ' + .tHand.close + M&/ +70 h / + .t\PC.seek :open +2 P%( +39 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A('1 +40 h ' +368 ( +2 A(& +4 h &  0\  + A(& +3 h &  \  +2 M&& +3 h & R ' + M& % +3 h %  *  +2 .t\Forearm.seek :retract + M&\ ' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M& ( +251 h ( + M& & +4 h &  S + A( & +3 h &  \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 2 + M&'Α +94 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .tHand.open +2 M&1 +55 h 1 +2 M&% +4 h % Ν $ - + A(& +3 h &  .\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 312 counts +2 M&' +14 h ' + M&& +4 h &  E + A(& +3 h &  U\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +18 h ' + A(% +4 h %: C\  +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +2 h %}F +\ Vc +2 M&% +3 h %= = +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +95 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +1241 #t-> CC.unloadPuck 2,2 +2 C'& +3 h &\ + !to:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"#Collection Clamp is NOT CLOSED +549 #-> CC.close + C'"& +3 h &\ +2 C'#& +3 .t\CC.seek :closed +2 C'$(\\ +3 h &\ +3 &\ 4 +10 &;Hz\ 0 +9 &er\ E +9 &\ `\ M +10 &Y\ M +9 &\\\ M +9 &Q\\\ M +10 &[\ M +9 &Z\ M +10 &Z\ M +9 &Y[\ M +9 &!Z \ M +10 &"[\ M +9 &$Z\ M +9 &&aZ\ M +10 &(#Z\ M +9 &)Y\ M +10 &+X\ M +9 &-jY\ M +9 &/+]\ M +10 &0Y\ M +10 &2[\ M +8 &4rY\ M +10 &64Y\ M +9 &7Z\ M +10 &9Z \ M +9 &;yY\ M +9 &=;\\\ M +10 &>Z\ M +9 &@\\\ M +9 &Ba"!\ N +10 &D@g!"\ N +9 &E}&&\ Q +10 &G('\ T +9 &Im)+\ W +9 &K+*,\ X +10 &L+,\ Y +9 &N,+\ Y +9 &Pk+*\ Z +10 &R.,,\ Z +9 &S++\ [ +10 &U,,\ [ +9 &Wm+,\ \\ +9 &Y-,-\ ] +10 &Z,-\ ] +9 &\\UX+,\ / +9 &\\.-\ Z +10 ( + &\\+,\ V +2 C'#& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.14 +2 C'&& +3 h &\\*.\ V +144 #t-> pucks +3953 #-> CC.unloadPucks 2,2 +2 !o:NoMethodError :bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message0undefined method `unloadPucks' for CC:Clamp: name:unloadPucks: args[ii +2060 #-> CC.unloadPuck 2,2 +2 C''& +2 h &\\~-,\ V +2 #t\Storing 2 puck in Collection Clamp to tube 2 + M&)% +4 h %  p  + A(*% +3 h % d V\ +2 A(,. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A((  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +2 h &  . J \  +2 M&/& +3 h & Q E + .t\Elbow.seek 2 +2 M&0( +28 h ( + M&!& +4 h & . z + A((& +3 h &  w x 2\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&1'S +93 h ' + A(2& +4 h &  x x B\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(4's +294 h ' + A(5- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&6& +3 h & > z +2 A(%& +3 h &  A B 5\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&7'Α +15 h ' + .t\Elbow.hold + M&9, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(:- +2 h -' +2 .t\SE.seek 0.16 +2 A(;'p +29 h ' + M&<% +4 h %Ψ D O + A(>& +3 h &  V U s\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 323 counts +2 M&?' +13 h ' + M&@& +4 h & : w + A(+& +4 h &  U U s\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&-'S +16 h ' + .t\SE.seek 1.16 +2 A(.' +36 h ' + M&3& +4 h & S w + M&8% +4 h %: j + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&A' +88 h ' + .t\Elbow.seek CC +2 M&B(ӂ +155 h ( + M&C& +4 h &|,  > Cq + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &=& +3 h &|+  T Cq +2 .t\Forearm.seek :CC + M&F'? +92 h ' + .tHand.close + M&G/ +66 h / + .t\CC.seek :open +2 C'I( +451 h ( +2 A(J& +3 h &  | \  +2 A(D& +3 h &  y #\  + M&K& +3 h &Ӛ& [ ?S +2 M&L% +3 h % _ p ^ + .t\Forearm.seek :retract +2 M&N' +88 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&O( +164 h ( + M&H& +4 h & &  + A(P& +3 h &  \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 2 + M&R'Α +90 h ' + .t\Elbow.hold +2 M&T, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&M1 +60 h 1 + M&E% +4 h % Ψ E Z + A(W& +3 h &  4\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 323 counts +2 M&X' +15 h ' + M&U& +4 h & ?  + A(Y& +3 h &  \  +2 .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&Z'S +15 h ' + A([% +4 h % \ +2 ."downElevator"\SE.seek :down +2 A(]' +100 (^% +2 h %J? ,\ V` +2 M&V% +3 h %: ? +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&`' +90 h ' +57 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +301 #t-> pucks +2031 #-> SC +2 A(a& +2 h & \ +1626 E\ 0- +3462 #t-> shuffle 2..7 + #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp +2 C'S& +2 h &\ +2 M&b% +4 h %    + A(e% +3 h % b\ +2 A(c. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(f(  + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (g& +2 h &  +\  +2 M&h& +3 h & ;  + .t\Elbow.seek 2 +2 M&k( +2 h ( +2 M&l& +3 h & [  + A(n& +3 h &  \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&o'S +96 h ' + A(_& +4 h &  \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(\\'s +299 h ' + A(i- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (p& +2 h &  <\  + M&q& +3 h & (  +2 .t\Elbow.seek 2 +2 M&r( +2 h ( + M&s& +4 h & @  +2 A(u& +3 h &  \  +2 .t\Forearm.seek 2 + 300 counts +2 M&m'Ͻ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&w/ +70 h / +2 M&x& +2 ."downElevator"\SE.seek :down +4 A(z' +3 h & F  + M&y% +3 h % ϵ I +2 .t\Forearm.seek :retract +2 M&{' +89 h ' + .t\Elbow.seek CC +2 M&Q(ӂ +155 h ( + M&~& +4 h &ӌ(  E @\\ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӌ( @\\ + ' + ."downElevator"\SE.coast +2 A(5 +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&'? +92 h ' + C'& +4 h &\ + C'j& +45 .t\CC.seek :closed +13 C'v(\\ +3 h &\ + &\ + &\ + &\ + &\ + &\ + &\ + &\ 4 +7 &<Iy\ 0 +9 &hs\ D +10 & c\ M +9 &U\ M +9 &X\ M +10 &TW\ L +9 &Y\ L +10 &V\ M +9 &X\ L +9 &\\Y\ L +10 &!W\ L +9 &"V\ M +9 &$V\ M +10 &&cZ\ M +9 &(%Z\ M +9 &)Z\ L +10 &+W\ L +9 &-kU\ M +10 &/-V\ M +9 &0U\ L +9 &2X\ M +10 &4sZ\ M +9 &65[\ M +10 &7W\ M +9 &9X\ L +9 &;|X\ L +10 &==Y\ M +9 &>\\\ M +9 &@W\ M +10 &B]\ M +9 &D@e"!\ N +10 &Ey$#\ P +9 &G((\ T +9 &In*)\ W +10 &K+++\ X +9 &L,-\ X +9 &N--\ Y +10 &Pm-.\ Z +9 &R.,,\ Z +10 &S+-\ [\ +9 &U,.\ [ +9 &Wo,,\ \\ +10 &Y-.-\ ] +9 &Z.,\ ] +9 &\\VY,.\ . +10 &\\.,\ T +9 ( + &\\v/,\ R +2 C'j& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.15 +2 .Hand.open + M&t1 +59 h 1 + M&d% +4 h % A  U | + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&}' +94 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 P%& +3 h &$\ +2 M&% +3 h %  A  + A(% +4 h % A ? \ +2 A( . +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A((  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ( & +2 h &  5 ? F\  +2 M& & +3 h &ӝ%  c >K + M&|% +3 h %   8  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +162 h ( + M&& +4 h & @  + A(& +3 h &  V S _\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +91 h ' + A(& +4 h &  v v _\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A('s +295 h ' + A(\ - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &  G > H\  +2 M&& +3 h & i  + .t\Elbow.seek 2 +2 M& ( +3 h ( + M&& +3 h & c  +2 A(& +3 h &  < V '\  +2 .t\Forearm.seek 2 + 300 counts + M&'Ͻ +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +74 h / +2 ."downElevator"\SE.seek :down +2 M&& +3 A(' +5 h & &  +2 M&% +3 h %  Q +2 .t\Forearm.seek :retract + M&"' +91 h ' + .t\Elbow.seek PC +2 M&( +167 h ' + ."downElevator"\SE.coast + A(5 +95 h ( + M&&& +4 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &#& +3 h &   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&'' +94 h ' + P%)& +4 h &.\ + P%*& +4 .t\PC.seek :closed +2 P%,(^ +2 h &\ +3 &.\  +9 &1y-\ *x +9 &b,\ > +10 &ix.\ O +9 &+X,\ O +9 &\\'\ O +10 &\\"\ O +9 &qZ!\ O +9 &3Z!\ O +10 &\\\ O +9 &W\ O +10 & yZ\ O +9 &":Y\ O +9 &#\\\ P +10 &%Y\ O +9 &'Z\ P +9 &)AZ\ P +10 &+Y\ P +9 &,\\\ P +10 &.Z\ O +9 &0I[\ P +9 &2 X\ O +10 &3Y\ O +9 &5[\ P +9 &7R\\\ O +10 &9\\\ O +9 &:Y\ P +10 &<X\ O +9 &>Y\\\ P +9 &@]\ P +10 &Ac\ P +9 &Cs\ R +9 &ET\ T +10 &G\ U +9 &H\ U +10 &J \ W +9 &LW\ V +9 &N \ V +10 &O\ W +9 &Q\ \ X +9 &SZ\ X +10 &U\ W +9 &V\ X +10 &X\ W +9 &Zc\ W +9 &\\$\ X +10 &]\ 5 +9 &^3w\ E +9 ( + &^&\ 4 +2 P%*& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + M&1 +59 h 1 + M&/% +4 h %  l M + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&!' +88 h ' + .t\SC.coast + A(6 +2 P%(& +4 h &^'\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 M&2% +3 h %   + A(% +3 h % & . 6\ +2 A( . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(5(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&6& +3 h & I  + A(%& +2 .t\Elbow.reconfigure TightElbow +4 M&$&.,(\ #b +2 h &    \  + .t\Elbow.seek PC +3 ."raiseStack"\SE.reconfigure SEplace +2 M&:( +2 A(#]kK-0-\ b +6 ."raiseStack"\SE.seek beamBreak +2 A(<'s +2 h ( +3 M&>& +5 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &@& +3 h &  f + .t\Forearm.seek :PC +2 M&+' +93 h ' + .tHand.close + M&3/ +68 h / + .t\PC.seek :open +2 P%8( +89 h ' + A(1- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(0'1 +41 h ' +320 ( + A(4& +4 h &  V W \  + M&7& +3 h &  +2 M&?% +3 h %  K U + .t\Forearm.seek :retract +2 M&C' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&;( +241 h ( + M&=& +4 h & E C + A(-& +3 h &  V K \\\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&9'S +101 h ' + .tHand.open + M&G1 +60 h 1 + A(A- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A($' +27 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(J' +51 h ' + #tLights, camera, ACTION! + A(D- +3 h -' +2 A(K& +3 h &  w\ } +2 M&L& +3 h & B C + .t\Elbow.seek 2 +2 M&H( +3 h ( + M&P& +3 h &  C +2 A(F& +3 h &  \ { +2 .t\Forearm.seek 2 + 450 counts + M&B'S +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(M' +52 h ' + M&E& +4 h & C + A(W& +4 h &   p\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&U'Α +15 h ' + .t\Elbow.hold +2 M&Y, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A([' +28 h ' + M&N% +4 h %Ψ 7 +2 A(^& +3 h &  A B 0\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 323 counts +2 M&V' +16 h ' + M&O& +4 h & < B +2 A(R& +3 h &  U R b\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&X'S +16 h ' + A(.% +4 h % U S Q\ +3 ."downElevator"\SE.seek :down +2 A(Z' +99 (]% +2 h %RL 0 & 9\ Yi +2 M&% +3 h %? ] +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&a' +88 h ' +71 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'S& +3 h &\\k-/\ R +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&b% +3 h %   +2 A(e% +3 h % U T @\ +2 A(c. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(g(  +2 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (h& +2 h &  S I\  +2 M&l& +3 h & 5 B +2 .t\Elbow.seek 2 + M&n( +3 h ( + M&_& +3 h & B +2 A(T& +3 h &  V W q\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&`'S +90 h ' + A(i& +4 h &  x Z Y\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(p's +296 h ' + A(q- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&s& +3 h &  B + A(u& +3 h &  / '\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 + M&w'Α +18 h ' + .t\Elbow.hold +2 M&x, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(y- +2 h -' + .t\SE.seek 0.16 +2 A(k'p +29 h ' + M&o% +4 h %ά 4 + A(~& +3 h &  ; (\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 2 + 327 counts + M&' +14 h ' + M&\\& +4 h & ' B + A(m& +3 h &  U U o\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +16 h ' + .t\SE.seek 1.16 +2 A(r' +51 h ' + M&z& +4 h & M B +2 M&{% +3 h %> X + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&I' +90 h ' + .t\Elbow.seek CC +2 M&t(ӂ +154 h ( +2 M&d& +4 h &Ӑ%  W >N + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +2 h &Ӑ% >N +2 .t\Forearm.seek :CC +2 M&'? +91 h ' + .tHand.close + M&/ +69 h / + .t\CC.seek :open +2 C' ( +447 h ( + A(j& +4 h &  ,\  + A( & +3 h &  z z ~\  +41 M& & +13 h &ӑ% >M + M&|% +3 h % ^  N U +2 .t\Forearm.seek :retract +2 M&' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +157 h ( + M&& +4 h &   + A(f& +4 h &  .\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 2 + M&'Α +94 h ' + .t\Elbow.hold +2 M&Q, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&}1 +60 h 1 +2 M&\ % +4 h % Χ Y 7 + A(& +4 h &  Z\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 322 counts +2 M&' +14 h ' + M&& +4 h & Z + A(& +4 h &  #\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +17 h ' + A(% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +2 h %> 3\ U_ +2 M&% +3 h %>  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + C'& +4 h &\ +2 M&&% +3 h %  S  +2 A(#% +3 h % \ +2 A( . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A()( +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +2 h & P\  +2 M&"& +3 h &  +2 .t\Elbow.seek 3 + M&( +18 h ( + M&& +4 h & / ~ + A(/& +3 h & @\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&('7 +94 h ' + A(2& +4 h & %\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A('s +299 h ' + A( - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (6& +2 h & v 3\  +2 M&*& +3 h & ? ~ + .t\Elbow.seek 3 +2 M&%( +2 h ( + M&>& +4 h & < ~ + A(@& +3 h & \ \  +2 .t\Forearm.seek 3 + 300 counts +2 M&''ϡ +18 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .tHand.close +2 M&3/ +72 h / +2 ."downElevator"\SE.seek :down +2 M&& +6 A(1' +2 h & . ~ +2 M&% +3 h % ϳ { +2 .t\Forearm.seek :retract + M&!' +89 h ' + .t\Elbow.seek CC +2 M&,(ӂ +158 h ( + M&<& +5 h &Ӝ"   ;2 ' + ."downElevator"\SE.coast +2 A(5 +3 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &4& +2 h &Ӝ" n ;2 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&7'? +99 h ' + C'?& +4 h &\ + C'+& +4 .t\CC.seek :closed + C'=(\\ +3 h &\ +4 &\ 8 +9 &IIx\ 0 +10 &vs\ D +9 &`\ M +9 &U\ L +10 &[\ M +9 &`X\ M +10 &#U\ M +9 &X\ M +9 &T\ M +10 &iY\ M +9 &!,U\ L +9 &"U\ M +10 &$Z\ L +9 &&qZ\ M +10 &(3X\ M +9 &)W\ M +9 &+T\ L +10 &-zU\ L +9 &/;U\ M +9 &0W\ M +10 &2U\ L +9 &4W\ L +10 &6CU\ M +9 &8U\ M +9 &9V\ M +10 &;Z\ M +9 &=JZ\ M +9 &?W\ L +10 &@X\ L +9 &B]\ M +10 &DNh \ N +9 &F\ z%"\ P +9 &G)'\ T +10 &I{,,\ W +9 &K8--\ Y +9 &L,,\ X +10 &N,,\ Y +9 &P{.,\ Z +10 &R;.+\ Z +9 &S-/\ [ +9 &U,,\ [ +10 &Wz,-\ ] +9 &Y<-.\ ] +9 &Z-0\ ] +10 &\\]U.*\ 0 +9 &\\/.\ Z +10 ( + &\\v0/\ X +2 C'+& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.18 + .Hand.open +2 M&-1 +62 h 1 +2 M&:% +4 h % I  0 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&G' +94 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 3 into Processing Clamp +2 P%A& +3 h & \ +2 M&D% +3 h %   + A(K% +4 h %  \ + A(L. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(P( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (F& +3 h &   \  + M&C& +3 h &Ӝ" ;2 +2 M&E% +3 h %   + .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&W( +164 h ( + M&N& +4 h &  + A(^& +3 h & D 6 '\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&O'7 +91 h ' + A(0& +4 h & U W\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(R's +299 h ' + A(.- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ($& +2 h & ? > \  + M&;& +4 h & >  + .t\Elbow.seek 3 +2 M&9( +2 h ( + M&J& +4 h &   + A(]& +3 h & " # \  +2 .t\Forearm.seek 3 + 300 counts +2 M&'ϡ +37 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&B/ +68 h / +2 ."downElevator"\SE.seek :down +2 M&H& +3 A(M' +6 h &  + M&U% +4 h % Ϸ $ A +2 .t\Forearm.seek :retract + M&S' +89 h ' + .t\Elbow.seek PC +2 M&V( +169 h ' + ."downElevator"\SE.coast + A(5 +69 h ( + M&b& +5 h & G  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &e& +3 h &  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&c' +99 h ' + P%[& +4 h &8\ + P%h& +4 .t\PC.seek :closed +2 P%l(^ +2 h &6\ +3 &5\  +9 &/u5\ *y +9 &c9\ ? +9 &bw=\ P +10 &$Z<\ O +9 &]5\ O +9 &Z5\ O +10 &jZ'\ O +9 &,W(\ O +10 &Z(\ P +9 &Y&\ P +9 & rZ+\ O +10 &"4Y+\ O +9 &#Z2\ O +9 &%X.\ O +10 &'{Z'\ O +9 &)<Y&\ O +10 &*Y%\ O +9 &,\\'\ O +9 &.Z'\ O +10 &0C])\ P +9 &2\\%\ O +9 &3Y(\ O +10 &5X'\ O +9 &7LZ%\ O +10 &9W \ O +9 &:]\ O +10 &<]\ O +9 &>S\\\ P +9 &@Z\ O +9 &Af\ Q +10 &Cu\ R +9 &EM\ U +10 &G \ U +9 &H\ V +9 &J\ U +10 &LQ!\ V +9 &N\ W +9 &O\ W +10 &Q\ V +9 &SU"\ W +10 &U\ W +9 &V\ W +9 &X \ W +10 &Z]\ W +9 &\\\ W +9 &]\ 5 +10 &^8{\ = +9 ( + &^\ . + P%h& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + M&_1 +65 h 1 + M&T% +4 h %   n { + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&X' +93 h ' + .t\SC.coast + A(6 +2 P%i& +4 h &^ \ . + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 M&Z% +3 h %   + A(5% +3 h %   \ +2 A(Y. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(a( +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&q& + A(s& +3 h &  1  +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h & $ $\  +2 .t\Elbow.seek PC + ."raiseStack"\SE.reconfigure SEplace +4 A(#]kK-0-\ b +2 M&u( +4 h ( + M&y& +3 ."raiseStack"\SE.seek beamBreak +2 A(o's +2 h &  e  +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &~& +2 h & A  +2 .t\Forearm.seek :PC +2 M&\\' +91 h ' + .tHand.close + M&m/ +77 h / +2 .t\PC.seek :open +2 P%z( +101 h ' + A({- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place + A(`'1 +46 h ' +299 ( + A(n& +4 h & 1 0 c\  + M&p& +3 h &  +2 M&w% +3 h %   < + .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&k( +246 h ( + M&d& +4 h &  . + A(& +3 h & 0 1 \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +91 h ' + .tHand.open + M&x1 +56 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(I' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(v' +52 h ' +2 #tLights, camera, ACTION! + A(j- +3 h -' +2 A( & +3 h & j \  +2 M& & +3 h &  N . + .t\Elbow.seek 3 +2 M&|( +4 h ( + M&& +4 h &   . + A(f& +4 h & ` ^\  +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(t' +53 h ' + M&}& +4 h &  . + A(\ & +4 h & # K\  + .t\Elbow.reconfigure LimpElbow +43 M&$ ,(#b +12 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&'u +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(' +25 h ' + M&% +4 h %Έ ) M +2 A(& +3 h & 1 0 \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 319 counts + M&'ϴ +14 h ' + M&& +4 h & Q . +2 A(& +3 h & ? @ .\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +19 h ' +2 A(% +3 h % K 7 "\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (&% +2 h %OF   \ Xf +2 M&#% +3 h %' ` +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +91 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'r& +3 h &\\u./\ X +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&% +3 h %  u  +2 A(% +3 h % ( # !\ +2 A(g. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 3 + A(( +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ("& +3 h & 4 =\  + M&& +3 h &  . +2 .t\Elbow.seek 3 +2 M&/( +2 h ( +2 M&2& +3 h & j . + A(Q& +3 h & ' 5 3\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +96 h ' + A( & +4 h & S S S\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(6's +295 h ' + A(*- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&>& +3 h & B . + A(@& +3 h & , /\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&3'u +17 h ' + .t\Elbow.hold +2 M&, +2 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' + .t\SE.seek 0.17 +2 A('w +29 h ' + M&(% +4 h %΢ n P + A(<& +3 h & 4 ? \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 345 counts +2 M&4' +17 h ' + M&& +4 h & B . + A('& +4 h & @ A ,\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&?'7 +14 h ' + .t\SE.seek 1.17 +2 A(%' +37 h ' + M&1& +4 h & 3 . +2 M&!% +3 h %H  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +88 h ' + .t\Elbow.seek CC +2 M&-(ӂ +153 h ( + M&:& +4 h &ӏ$  z =B + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &A& +3 h &ӏ$ =B + .t\Forearm.seek :CC +2 M&D'? +90 h ' +2 .tHand.close + M&K/ +76 h / + .t\CC.seek :open +2 C'L( +447 h ( +2 A(+& +4 h & p z \  + A(F& +3 h & p o \  +2 M&C& +3 h &Ӓ# g <? + M&E% +3 h % N a _ +2 .t\Forearm.seek :retract +2 M&7' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&N( +164 h ( + M&^& +4 h & d  + A()& +3 h & '\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&0'u +95 h ' + .t\Elbow.hold +2 M&,, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&G1 +65 h 1 + M&.% +4 h % u f , + A($& +3 h & `\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 300 counts + M&;'ϡ +16 h ' +2 M&J& +4 h &  + A(]& +3 h & \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&B'7 +16 h ' + A(H% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(U' +99 (W% +2 h %Q? *\ Va +2 M&O% +3 h %) 0 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&R' +91 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'& +4 h &\ + M&b% +4 h %  _  +2 A(e% +3 h % \ +2 A(9. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A([(,y +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (M& +2 h &,x 4\  +2 M&S& +3 h & 8  +2 .t\Elbow.seek 4 + M&8( +39 h ( + M&_& +4 h & -  + A(T& +3 h &,x r\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&i' +97 h ' + A(Z& +4 h &,x z\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(5's +298 h ' +2 A(Y- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (h& +2 h &,x 7\  +2 M&q& +3 h &   + .t\Elbow.seek 4 +2 M&s( +3 h ( + M&y& +3 h & +  + A(~& +3 h &,x \  +2 .t\Forearm.seek 4 + 300 counts +2 M&c'c +34 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&m/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&P& +4 A(V' +5 h &   +2 M&{% +3 h % ώ + .t\Forearm.seek :retract +2 M&X' +88 h ' + .t\Elbow.seek CC +2 M&l(ӂ +153 h ( + M&o& +4 h &x+  , Cn + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &n& +3 h &x+ Cn +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 h ' + ."downElevator"\SE.coast +2 A(5 +3 .t\Forearm.seek :CC +2 M&p'? +94 h ' + C'w& +4 h &\ + C'\\& +4 .t\CC.seek :closed +2 C'd(\\ +2 h &\ +4 &\ 9 +9 &KJv\ 1 +9 &{s\ E +10 &$\\\ M +9 &U\ L +9 &Z\ L +10 &kX\ M +9 &.W\ L +10 &U\ L +9 &W\ M +9 &uX\ L +10 &!6W\ L +9 &"T\ L +9 &$W\ M +10 &&|W\ L +9 &(=W\ M +11 &*W\ L +8 &+Y\ L +9 &-W\ L +10 &/FY\ L +9 &1W\ L +9 &2Y\ L +10 &4W\ M +9 &6NX\ L +10 &8V\ L +9 &9V\ L +9 &;U\ L +10 &=VU\ L +9 &?U\ L +9 &@W\ L +10 &B^\ M +9 &DXl\ N +10 &F \ Q +9 &G"#\ U +9 &I%$\ W +10 &KB%'\ Y +9 &M'&\ Y +9 &N&(\ X +10 &P*(\ Z +9 &RE**\ Z +10 &T((\ \\ +9 &U)*\ \\ +9 &W((\ \\ +10 &YC,)\ ^ +9 &[)*\ ] +9 &\\`N()\ 6 +10 &\\++\ !a +6 ( + C'\\& +2 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.21 + .Hand.open +2 M&1 +53 h 1 +2 M&u% +3 h % 5   ? +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&x' +89 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp + P%& +4 h &"\ +2 M&j% +3 h %   + A( % +3 h % # $ \ +2 A( . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A((,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (f& +3 h &,x # # R\  + M&& +3 h &Ӝ% >J +2 M&}% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&\ ( +163 h ( + M&`& +4 h &  + A(& +3 h &,x ; @ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +97 h ' + A(I& +4 h &,x Q < \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A('s +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +43 (& +11 h &,x 0 ;\  +2 M&k& +3 h & @  + .t\Elbow.seek 4 +2 M&( +3 h ( + M&v& +3 h &  +2 A(&& +3 h &,x 1 3\  +2 .t\Forearm.seek 4 + 300 counts + M&#'c +32 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +66 h / +2 ."downElevator"\SE.seek :down +2 M&|& +5 A(t' +4 h &   + M&% +4 h % ϔ T + .t\Forearm.seek :retract +2 M&' +92 h ' + .t\Elbow.seek PC +2 M&r( +166 h ' + ."downElevator"\SE.coast + A(5 +72 h ( + M&& +4 h &  m  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & *  + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&g' +96 h ' + P%& +4 h &$\ +2 P%"& +4 .t\PC.seek :closed + P%(^ +3 h &$\ +3 &>\  +9 &/uC\ *y +9 &c?\ ? +10 &du=\ P +9 &&Y>\ O +10 &W9\ O +9 &Y9\ O +9 &mU4\ O +10 &-Y2\ P +9 &Z3\ P +9 &Y9\ P +10 & tW3\ O +9 &"7Y1\ O +10 &#Y&\ O +9 &%W)\ O +9 &'}V'\ O +10 &)>X0\ O +9 &+U.\ O +9 &,Z/\ O +10 &.Y-\ O +9 &0FY%\ O +10 &2X.\ O +9 &3Y(\ O +9 &5Z%\ P +10 &7OY)\ O +9 &9Z$\ O +9 &:]!\ O +10 &<[$\ O +9 &>U\\\ P +10 &@Z'\ O +9 &Ag'\ Q +9 &Cx!\ R +10 &EP"\ T +9 &G%\ U +9 &H\ U +10 &J\ V +9 &LT\ U +10 &N\ W +9 &O\ W +9 &Q\ W +10 &SW\ W +9 &U\ V +9 &V\ X +10 &X\ V +9 &Z_\ W +10 &\\ \ X +9 &]"\ 7 +9 &^+r\ "b +10 &^.\ 7 +2 ( + P%"& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open +2 M&21 +64 h 1 + M&Q% +4 h %  h I + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 P% & +4 h &^.\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 M&% +3 h %  K  +2 A(a% +3 h %  \ + A(. +3 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A( (,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&*& + A(>& +5 h & P  + &,x \  +2 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.reconfigure TightElbow +3 A(#]kK-0-\ b +2 M&$&.,(\ #b +4 .t\Elbow.seek PC + M&@( +3 h ( + M&& +4 ."raiseStack"\SE.seek beamBreak + A(('s +3 h &   (  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &<& +2 h &  W  +2 .t\Forearm.seek :PC + M&' +92 h ' + .tHand.close + M&'/ +69 h / +2 .t\PC.seek :open +2 P%1( +94 h ' + A(!- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A('1 +45 h ' +309 ( + A(/& +4 h &,x 0 1 {\  + M&6& +3 h & &  +2 M&3% +3 h %   W + .t\Forearm.seek :retract +2 M&4' +89 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 + M&:( +246 h ( + M&& +4 h & c & + A(A& +3 h &,x ; 3\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&?' +92 h ' + .tHand.open + M&1 +53 h 1 + A(K- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A( ' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(=' +57 h ' + #tLights, camera, ACTION! + A(+- +3 h -' +2 A(F& +3 h &,x W S <\  +2 M&C& +3 h & [ & + .t\Elbow.seek 4 +2 M&E( +3 h ( + M&^& +3 h &  7 & +2 A()& +3 h &,x U S h\  +2 .t\Forearm.seek 4 + 450 counts +2 M&D' +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(-' +51 h ' + M&G& +4 h &  & + A(.& +4 h &,x   \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&$'7 +16 h ' + .t\Elbow.hold +2 M&J, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(]' +20 h ' + M&H% +4 h %c  W +2 A(7& +3 h &,x  \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 344 counts +2 M&W'Ϗ +15 h ' + M&O& +4 h & = & +2 A(N& +3 h &,x   Y\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&0' +114 h ' + A(% +4 h % ? > \ +3 ."downElevator"\SE.seek :down +2 A(;' +99 (b% +2 h %J  \ Xg +2 M&e% +3 h % \\ + .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&9' +90 h ' +67 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'%& +3 h &\\/+\ !` +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&B% +3 h %    +2 A(U% +3 h % / 0 i\ + A(. +3 h . + .t\SC.reconfigure SCtight +3 A($\ .\ 1~b + .t\SC.seek 4 +2 A(M(,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (S& +3 h &,x 5 2 \  + M&_& +3 h & & +2 .t\Elbow.seek 4 +2 M&T( +2 h ( + M&Z& +4 h & & + A(,& +3 h &,x 0 0 O\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&R' +92 h ' + A(Y& +4 h &,x 9 T &\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(h's +307 h ' + A(q- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&y& +2 h & & + A(~& +4 h &,x  # \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&m'7 +15 h ' + .t\Elbow.hold +2 M&P, +2 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A({- +2 h -' + .t\SE.seek 0.17 +2 A(8'v +31 h ' + M&i% +4 h %V J + A(o& +3 h &,x  O\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 331 counts + M&n'ς +15 h ' + M&5& +4 h & 2 & + A(c& +3 h &,x 1 2\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&w' +20 h ' + .t\SE.seek 1.17 +2 A(s' +36 h ' + M&V& +4 h & D & +2 M&X% +3 h % 4 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&L' +93 h ' + .t\Elbow.seek CC +2 M&(ӂ +159 h ( + M&u& +4 h &ӡ!  C ;6 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӡ" x ;6 + .t\Forearm.seek :CC +2 M&j'? +92 h ' +2 .tHand.close +47 M& / +67 h / + .t\CC.seek :open +2 C' ( +447 h ( + A(f& +4 h &,x :\  + A(& +3 h &,x \  +2 M&\\& +3 h &ӡ" p ;6 + M&}% +3 h % : = +2 .t\Forearm.seek :retract +2 M&p' +95 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&`( +166 h ( + M&& +4 h & *  + A([& +4 h &,x \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 4 +2 M&I'7 +96 h ' + .t\Elbow.hold +2 M&l, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&x1 +60 h 1 + M&% +4 h % V Y 4 +2 A(& +3 h &,x #\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 331 counts + M&k'ς +15 h ' + M&v& +4 h &   + A(&& +4 h &,x B\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +19 h ' + A(|% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(' +99 (\ % +2 h %YC 3\ Va +2 M&% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp + C'#& +4 h &\ + M&% +4 h %  .  +2 A(% +3 h % \ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A((<- +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (t& +2 h &<* b\  +2 M&& +3 h & A  +2 .t\Elbow.seek 5 + M&z( +3 h ( +2 M&2& +3 h & m  + A(Q& +3 h &<* :\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M& 'O +93 h ' + A(& +4 h &<* \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(a's +296 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ("& +2 h &<* u v &\  +2 M&*& +3 h & $  + .t\Elbow.seek 5 +2 M&>( +4 h ( + M&& +4 h &   + A(<& +3 h &<* (\  +2 .t\Forearm.seek 5 + 300 counts +2 M&g'Ϲ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&'/ +74 h / +2 ."downElevator"\SE.seek :down +2 M&& +6 A(!' +3 h &  + M&r% +4 h %  G +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\Elbow.seek CC +2 M&(ӂ +158 h ( + M&(& +4 h &Ӑ&  : ?T + ' + ."downElevator"\SE.coast +2 A(5 + .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b +2 &/& +2 h &Ӑ& { ?T +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&6'? +92 h ' + C'3& +4 h &\ + C'& +4 .t\CC.seek :closed + C'(\\ +3 h &\ +4 &\ ; +9 &KIv\ 1 +9 &v~\ E +10 &+[\ M +9 &U\ L +10 &X\ L +9 &sV\ L +9 &5V\ L +10 &W\ L +9 &V\ L +9 &{W\ L +10 &!=V\ L +9 &"W\ L +10 &$W\ L +9 &&W\ L +9 &(EW\ L +10 &*V\ L +9 &+V\ L +9 &-U\ L +10 &/LW\ L +9 &1V\ L +10 &2W\ L +9 &4Y\ L +9 &6UW\ L +10 &8W\ L +9 &9Z\ L +9 &;W\ L +10 &=]T\ L +9 &?Z\ L +10 &@Y\ L +9 &B_\ M +9 &D]n\ O +10 &F"#\ Q +9 &G$$\ V +9 &I'(\ X +10 &KH'%\ Y +9 &M\ &'\ Y +10 &N()\ Z +9 &P')\ Z +9 &RJ))\ [ +10 &T*(\ \\ +9 &U)(\ [ +9 &W(*\ ] +10 &YI,)\ ^ +9 &[ *'\ ^ +10 &\\bH**\ 5 +9 &\\ )+\ S +6 ( + C'& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.25 + .Hand.open +2 M&A1 +61 h 1 + M&@% +4 h % B  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +96 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%K& +3 h &!\ +2 M&+% +3 h %  /  +2 A(F% +3 h % 3 3 \ + A(C. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(^(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ()& +3 h &<* 0 4 3\  + M&4& +3 h &Ӓ& V ?R +2 M&G% +3 h %   + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&.( +162 h ( + M&H& +4 h &  + A(7& +3 h &<* X W f\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&O'O +93 h ' + A(N& +4 h &<* r _ [\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A('s +305 h ' + A( - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (:& +2 h &<* 0 0 L\  +2 M&?& +3 h &  + .t\Elbow.seek 5 +2 M&( +4 h ( + M&=& +4 h & 0  + A(D& +3 h &<* ? ? c\  +2 .t\Forearm.seek 5 + 300 counts +2 M&E'Ϲ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&b/ +68 h / +2 ."downElevator"\SE.seek :down +2 M&e& +3 A(-' +6 h & H  + M&$% +3 h % ϴ A +2 .t\Forearm.seek :retract +2 M&W' +90 h ' + .t\Elbow.seek PC +2 M&%( +170 h ' + ."downElevator"\SE.coast + A(5 +68 h ( + M&B& +4 h & 5 ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &U& +3 h &  ( + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +99 h ' + P%]& +4 h &?\ + P%S& +4 .t\PC.seek :closed +2 P%_(^ +2 h &A\ +3 &B\  +9 &.vD\ +z +9 &a>\ > +9 &jvA\ O +10 &+Y>\ O +9 &Y=\ O +9 &X>\ O +10 &qY=\ O +9 &2Y=\ O +10 &YA\ O +9 &U=\ O +9 & zX<\ O +10 &"=W4\ N +9 &#X2\ O +9 &%W3\ N +10 &'Y;\ O +9 &)CY;\ O +10 &+X1\ O +9 &,X0\ O +9 &.Y&\ O +10 &0IZ'\ P +9 &2 Z*\ O +9 &3Y-\ O +10 &5Y1\ O +9 &7SZ&\ O +10 &9Y,\ O +9 &:\\-\ O +9 &<Y+\ P +10 &>YZ%\ P +9 &@Z-\ P +9 &A_-\ P +10 &Cm1\ R +9 &EV}2\ T +10 &G3\ V +9 &H.\ U +9 &J)\ U +10 &LW&\ V +9 &N,\ W +9 &O(\ W +10 &Q,\ W +9 &S[&\ W +10 &U%\ W +9 &V+\ W +9 &X+\ W +10 &Zc-\ W +9 &\\#'\ X +9 &]$\ 8 +10 &^/2\ Y +9 &^/'\ 6 +3 ( + P%S& +2 #t\Processing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.62 + .Hand.open + M&Z1 +53 h 1 + M&,% +4 h %   7 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&0' +89 h ' + .t\SC.coast + A(6 +2 P%Y& +4 h &^-'\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 M&;% +3 h %  Y  + A( % +3 h % # # \ +2 A(J. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(9(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&q& + A(y& +53 h &  t ( +3 &<*   \  +2 .t\Elbow.reconfigure TightElbow +3 ."raiseStack"\SE.reconfigure SEplace +2 M&$&.,(\ #b +3 A(#]kK-0-\ b +2 .t\Elbow.seek PC +4 M&~( +3 h ( + M&{& +4 ."raiseStack"\SE.seek beamBreak + A(i's +3 h &   ( + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &o& +2 h &  ( +2 .t\Forearm.seek :PC +2 M&5' +91 h ' + .tHand.close + M&c/ +66 h / + .t\PC.seek :open +2 P%V( +109 h ' + A(X- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(R'1 +44 h ' +293 ( + A(T& +4 h &<* 1 2 h\  + M&h& +3 h & ( +2 M&m% +3 h %  + K +2 .t\Forearm.seek :retract +2 M&n' +89 h ' +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&8( +246 h ( + M&u& +4 h & 7 # + A(& +3 h &<* 0 3\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&w'O +97 h ' + .tHand.open + M&P1 +62 h 1 + A( - +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(L' +22 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(d' +53 h ' + #tLights, camera, ACTION! + A(f- +3 h -' +2 A(& +3 h &<* K\ y +2 M&\\& +3 h & " + .t\Elbow.seek 5 +2 M&}( +3 h ( + M&& +3 h &   " +2 A([& +3 h &<* @\ y +2 .t\Forearm.seek 5 + 450 counts +2 M&j'O +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +53 h ' + M&x& +4 h & " + A(& +4 h &<*  # F\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 + M&'΍ +20 h ' + .t\Elbow.hold +2 M&v, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(&' +20 h ' + M&|% +4 h %Η - +2 A(p& +3 h &<* . 2 U\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 310 counts +2 M&\ ' +14 h ' + M&& +4 h & 7  +2 A(`& +3 h &<* ? @ Q\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&I'O +19 h ' +2 A(#% +3 h % R 9 \ +3 ."downElevator"\SE.seek :down +2 A(k' +99 (% +2 h %SF   \ Xg +2 M&% +3 h %> +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +89 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C's& +4 h &\\u*.\ S + #t\Storing generic puck in Collection Clamp to tube 5 +2 M&% +3 h %  ]  +2 A(% +3 h % G G \ + A(M. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(t(<- +9 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<* 3 /\  + M&2& +3 h &  +2 .t\Elbow.seek 5 +2 M&Q( +3 h ( + M&& +4 h &  ,  + A(l& +4 h &<* R J \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&'O +94 h ' + A(& +4 h &<* T U 5\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A("'s +308 h ' + A(*- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +3 h &   + A(<& +3 h &<* 1 3 \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 + M&''΍ +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(r- +2 h -' +2 .t\SE.seek 0.16 + A(z'j +30 h ' + M& % +4 h %Υ b + A((& +3 h &<* ? ? \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 324 counts + M&/' +19 h ' + M&a& +4 h & ]  + A(g& +4 h &<* * >\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&3'O +13 h ' + .t\SE.seek 1.16 +2 A(>' +37 h ' + M&!& +4 h & ?  +2 M&% +3 h %G  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +90 h ' + .t\Elbow.seek CC +2 M&A(ӂ +156 h ( + M&@& +4 h &Ӕ!  G :/ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &K& +2 h &Ӕ! :/ +2 .t\Forearm.seek :CC +2 M&+'? +92 h ' + .tHand.close + M&F/ +70 h / + .t\CC.seek :open +2 C'C( +447 h ( +2 A(& +3 h &<* A\  +2 A()& +3 h &<* [\  + M&4& +4 h &Ӕ! :/ + M&G% +3 h % 3  a < +2 .t\Forearm.seek :retract + M&6' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&H( +162 h ( + M&7& +4 h &  + A(& +3 h &<* m\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&N'΍ +96 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +53 h 1 + M& % +4 h % ΅ i > + A(:& +3 h &<* \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 292 counts + M&?'ϱ +15 h ' + M&=& +4 h & G  + A(D& +3 h &<* +\  +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&b'O +17 h ' + A(e% +4 h % \  +2 ."downElevator"\SE.seek :down +2 A($' +100 (.% +2 h %C \ Wd +2 M&O% +3 h %/ Y +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +88 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 #t\Shuffling pucks in tube 6 of [2..7] +2 #Loading generic puck from tube 6 into Collection Clamp + C'E& +4 h &\ + M&B% +4 h %  0  +2 A(U% +3 h % \ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(](K +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (-& +2 h &K! w v J\  +2 M&W& +3 h & 6  +2 .t\Elbow.seek 6 + M&1( +10 h ( + M&Z& +4 h &  + A(,& +3 h &K" x w q\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +49 M&Y' +99 h ' + A(;& +4 h &K" :\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A( 's +297 h ' + A(J- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (q& +2 h &K" W U c\  +2 M&y& +3 h &   + .t\Elbow.seek 6 +2 M&S( +3 h ( + M&{& +4 h &   + A(o& +4 h &K" v v X\  +2 .t\Forearm.seek 6 + 300 counts +2 M&'h +30 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&c/ +77 h / +2 ."downElevator"\SE.seek :down +2 M&^& +6 A(X' +3 h & n  +2 M&%% +3 h % Ϙ / +2 .t\Forearm.seek :retract +2 M&0' +92 h ' + .t\Elbow.seek CC +2 M&_(ӂ +159 h ' + ( + ."downElevator"\SE.coast +2 A(5 + M&i& +7 h &ӌ*  Bi + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &T& +3 h &Ӎ* x Bh + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&h'? +105 h ' +2 C'm& +4 h &\ + C'5& +4 .t\CC.seek :closed +2 C'u(\\ +2 h &\ +3 &\  +9 &4}\ *z +10 &f{\ > +9 &o\ M +9 &TR\ L +10 &U\ L +9 &U\ L +10 &U\ L +9 &\\U\ L +9 &V\ L +10 &U\ L +9 & U\ L +9 &"dU\ L +10 &$&T\ L +9 &%Y\ L +10 &'V\ L +9 &)kU\ L +9 &+-V\ L +10 &,U\ L +9 &.V\ L +9 &0sU\ L +10 &25U\ L +9 &3V\ L +10 &5V\ L +9 &7zV\ L +9 &9=T\ L +10 &:W\ L +9 &<Y\ L +9 &>W\ L +10 &@DW\ L +9 &BZ\ L +10 &Cc\ N +9 &Ev#!\ P +9 &G8)'\ S +10 &H-,\ W +9 &J..\ Y +9 &Ll,.\ Y +10 &N--.\ Z +9 &O-0\ Z +10 &Q,,\ [\ +9 &Sn./\ [ +9 &U/./\ \\ +10 &V/.\ \\ +9 &X//\ ^ +9 &Zq//\ ] +10 &\\w0.\ 8 +9 &\\&11\ (v +10 &\\./\ ^ +2 ( + C'5& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.31 + .Hand.open +2 M&1 +62 h 1 +2 M&~% +4 h % <  N + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&P' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp +2 P% & +3 h &\ +2 M&f% +3 h %  v  + A(% +4 h %   \ + A(\\. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A((K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 ([& +2 h &K   \  +2 M&n& +4 h &ӣ& ; ?R + M&x% +3 h %  {  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +169 h ( + M&|& +4 h & x  + A(p& +3 h &K. %\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +94 h ' + A(`& +4 h &K/  $ v\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(R's +295 h ' + A(#- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (L& +2 h &K. \  +2 M&8& +3 h &  T  + .t\Elbow.seek 6 +2 M&w( +2 h ( +2 M&d& +3 h &  + A(& +3 h &K- # \  +2 .t\Forearm.seek 6 + 300 counts +2 M&'h +31 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&j/ +76 h / +2 ."downElevator"\SE.seek :down +2 M&}& +4 A(' +5 h & 6  + M&% +4 h % ]  +2 .t\Forearm.seek :retract + M&\ ' +88 h ' + .t\Elbow.seek PC +2 M&s( +178 h ' + ."downElevator"\SE.coast + A(5 +80 h ( +2 M&& +3 h & + .t\Elbow.reconfigure LooseElbow +3 M&$ &.,(#b +2 && +2 h & k +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&M' +98 h ' + P%&& +4 h &+\ + P%& +4 .t\PC.seek :closed +2 P%2(^ +2 h &>\ +4 &A\ 3 +9 &8Fx:\ 1 +10 &`qA\ E +9 &e8\ P +9 &W;\ P +10 &X8\ P +9 &CW8\ P +10 &W9\ P +9 &YB\ O +9 &U>\ P +10 &KU?\ P +9 &! WC\ P +9 &"VE\ O +10 &$TL\ O +9 &&UTF\ O +10 &(Z=\ O +9 &)Y:\ O +9 &+YE\ O +10 &-\\TD\ O +9 &/W=\ P +9 &0Y:\ P +10 &2WD\ O +9 &4cZG\ P +10 &6%X9\ P +9 &7YF\ O +9 &9T:\ P +10 &;kZ5\ P +9 &=-Z*\ P +9 &>[:\ P +10 &@Z4\ P +9 &Boj7\ Q +10 &D+p/\ S +9 &E7\ V +9 &G8\ V +10 &Ij(\ U +9 &K(7\ W +9 &L4\ W +10 &N&\ W +9 &Pj1\ X +10 &R-2\ X +9 &S3\ X +9 &U(\ W +10 &Wp0\ Y +9 &Y7*\ W +9 &Z7\ W +10 &\\)\ Y +9 &^2_x/\ 5 +10 &^V(\ 6 +6 ( + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open +2 M&1 +2 h &^,4\ 6 +61 1 + M&l% +4 h %    + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&I' +94 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^, \ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 M&k% +3 h %  g  + A(9% +3 h %  J\ +2 A(v. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&*& + A(& +3 h &   +4 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&<( +3 h &K   \  + ( +2 M&r& +2 ."raiseStack"\SE.reconfigure SEplace +5 A(#]kK-0-\ b +2 h & 4 +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +2 h &  h +2 .t\Forearm.seek :PC +2 M&(' +2 ."raiseStack"\SE.seek beamBreak +2 A(a's +88 h ' + .tHand.close + M&g/ +72 h / +2 .t\PC.seek :open +2 P%!( +109 h ' + A(- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A('1 +40 h ' +299 ( + A(Q& +4 h &K > ? b\  + M&"& +3 h & , +2 M&'% +3 h %  ) 2 + .t\Forearm.seek :retract +2 M&/' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&z( +250 h ( + M&@& +4 h & U  + A(K& +3 h &K 2 ' V\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&3' +99 h ' + .tHand.open + M&1 +53 h 1 + A(F- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A( ' +22 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +58 h ' +2 #tLights, camera, ACTION! + A(- +3 h -' +2 A()& +3 h &K _\ x + M&4& +3 h &  +2 .t\Elbow.seek 6 +2 M&G( +2 h ( +2 M&7& +3 h &  )  + A(& +4 h &K 8\ w +2 .t\Forearm.seek 6 + 450 counts +2 M&+' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(A' +58 h ' + M&& +4 h & <  + A( & +4 h &K $ # ;\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +3 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&:'< +17 h ' + .t\Elbow.hold +49 M&=, +6 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek -0.33 + A(D' +29 h ' + M&e% +4 h %V  " +2 A(6& +3 h &K 3 3\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 326 counts + M&.'ς +16 h ' + M&O& +4 h & H  +2 A(H& +3 h &K 0 % M\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&N' +19 h ' +2 A(E% +3 h % 9 T '\ +3 ."downElevator"\SE.seek :down +2 A(?' +99 (B% +2 h %bI   \ Xh +2 M&U% +3 h %  ( +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +71 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'>& +3 h &\\/.\ ^ +2 #t\Storing generic puck in Collection Clamp to tube 6 + M&b% +3 h %    +2 A($% +3 h % 6 3\ +2 A(t. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(-(K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (W& +2 h &K 0 3 >\  +2 M&Z& +3 h & p  +2 .t\Elbow.seek 6 + M&,( +3 h ( + M&;& +4 h &   +2 A(& +3 h &K 4 4 \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +92 h ' + A(J& +4 h &K V W n\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(q's +300 h ' + A(y- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&{& +2 h & K  +2 A(o& +3 h &K 4 3\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&c'< +17 h ' + .t\Elbow.hold +2 M&^, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(%- +2 h -' +2 .t\SE.seek 0.16 + A(1'q +27 h ' + M&Y% +4 h %d \\ + A(i& +4 h &K ? @ \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 340 counts +2 M&T'ϐ +16 h ' + M& & +4 h &  + A(& +4 h &K ' 5 \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&m' +16 h ' + .t\SE.seek 1.16 +2 A(S' +40 h ' + M&X& +4 h &  +2 M&0% +3 h % 3 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&C' +89 h ' + .t\Elbow.seek CC +2 M&(ӂ +159 h ( + M&~& +4 h &ӏ%  S >O + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 & & +3 h &ӏ% >O + .t\Forearm.seek :CC +2 M&f'? +95 h ' + .tHand.close + M&/ +70 h / + .t\CC.seek :open +2 C'\\( +448 h ( +2 A(5& +4 h &K ,\  + A([& +3 h &K v\  +2 M&n& +3 h &ӣ# <; + M&x% +4 h % L N +2 .t\Forearm.seek :retract + M&h' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&|( +167 h ( + M&p& +4 h &    + A(]& +3 h &K \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&`'< +95 h ' + .t\Elbow.hold +2 M&_, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&P1 +63 h 1 + M&#% +4 h % B 3 + A(L& +3 h &K 6\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 6 + 306 counts + M&8'n +15 h ' +2 M&d& +4 h & 3  + A(& +3 h &K \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&j' +18 h ' + A(}% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +2 h %F \ Wc +2 M&% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&R' +91 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp + C'& +4 h &\ + M&% +4 h %    +2 A(% +3 h % \ +2 A(w. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(&([ +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +2 h &[ }\  +2 M&\ & +3 h & 8  +2 .t\Elbow.seek 7 + M&V(r +12 h ( + M&& +4 h &j O  + A(& +3 h &[ y\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&l'= +91 h ' + A(& +4 h &[ \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(k's +295 h ' + A(9- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (v& +2 h &[ m u #\  + M&*& +4 h &j 3  + .t\Elbow.seek 7 +2 M&(r +3 h ( + M&r& +3 h &j >  +2 A( & +3 h &[ \  + .t\Forearm.seek 7 + 300 counts +2 M&M'ϧ +46 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&g/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&& +6 A(s' +2 h &j U  +2 M&% +3 h % ϖ ( j + .t\Forearm.seek :retract +2 M&I' +91 h ' + .t\Elbow.seek CC +2 M&2(ӂ +161 h ( + ' + ."downElevator"\SE.coast +2 A(5 +4 M&a& +5 h &Ӑ& / >O + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &Q& +3 h &Ӑ% e >O +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&"'? +108 h ' + C''& +4 h &\ + C'(& +4 .t\CC.seek :closed +2 C'@(\\ +2 h &\ +4 &\ < +10 &KKw\ 1 +9 &v}\ E +9 &/Z\ L +10 &T\ K +9 &V\ L +9 &vY\ L +10 &8T\ L +10 &U\ K +9 &U\ L +9 &}Y\ L +9 &!@T\ L +10 &#U\ K +9 &$U\ L +9 &&T\ L +10 &(HU\ L +9 &* Y\ L +10 &+U\ K +9 &-U\ L +9 &/PU\ L +10 &1U\ L +9 &2Y\ L +9 &4U\ L +10 &6WU\ L +9 &8W\ L +10 &9X\ L +9 &;W\ L +9 &=aW\ K +10 &?!W\ L +9 &@X\ L +9 &B\\\ M +10 &Dbe\ N +9 &Fz \ P +10 &G%%\ S +9 &I,+\ W +9 &KM),\ X +10 &M++\ X +9 &N,.\ X +9 &P+-\ Y +10 &RM,-\ Z +9 &T,.\ [ +10 &U+/\ [ +9 &W*.\ \\ +9 &YM--\ ] +10 &[+.\ ] +9 &\\dG..\ 3 +9 &\\./\ Q +7 ( + C'(& +4 #t\Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 M&K1 +2 h &\\p,/\ Q +61 1 +2 M&<% +4 h % P  M + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 P%F& +3 h &6\ +2 M&% +3 h %  y  +48 A()% +5 h % 3 2 \ +2 A(4. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(7([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[ 3 0 e\  + M&/& +3 h &Ӓ% >M +2 M&% +3 h %  z  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M& (r +163 h ( + M&& +4 h &w 3  + A(e& +4 h &[ H J d\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M& '= +94 h ' + A(6& +4 h &[ v v O\  + .t\SE.reconfigure SEpick +3 A(#],K-0-\ b +4 .t\SE.seek beamBreak +2 A(O's +300 h ' + A(H- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (E& +2 h &[ 3 1 \  +2 M&z& +3 h &w %  + .t\Elbow.seek 7 +2 M&3(r +3 h ( + M&& +4 h &w /  + A(B& +3 h &[ R K f\  +2 .t\Forearm.seek 7 + 300 counts +2 M&U'ϧ +41 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&+/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&G& +5 A(A' +4 h &w  + M&:% +4 h % Ϗ [ } + .t\Forearm.seek :retract +2 M&.' +93 h ' + .t\Elbow.seek PC +2 M&>( +165 h ' + ."downElevator"\SE.coast + A(5 +74 h ( + M&b& +4 h & [  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &$& +3 h &  "  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&t' +101 h ' + P%D& +4 h &P\ + P%W& +4 .t\PC.seek :closed + P%Z(^ +3 h &<\ +3 &S\ \ +9 &/uW\ *x +9 &cO\ > +10 &guO\ O +9 &(WR\ O +9 &XL\ O +10 &WG\ O +9 &qYL\ N +9 &2XJ\ O +10 &XI\ O +9 &UQ\ O +10 & xWL\ O +9 &":YM\ O +9 &#ZR\ O +10 &%TQ\ O +9 &'WS\ N +9 &)BWQ\ O +10 &+UJ\ O +9 &,WI\ O +10 &.ZO\ O +9 &0HZJ\ O +9 &2 ZI\ O +10 &3WC\ O +9 &5WD\ O +9 &7RWN\ O +10 &9XG\ O +9 &:]H\ O +10 &<XG\ O +9 &>XZ8\ O +9 &@^8\ P +10 &Ai7\ Q +9 &Cw;\ R +9 &EP:\ U +10 &G:\ U +9 &H9\ U +10 &J<\ U +9 &LU8\ V +9 &N<\ W +10 &O=\ W +9 &QB\ W +9 &SY;\ W +10 &U6\ X +9 &V7\ W +10 &X9\ W +9 &Z_9\ X +9 &\\":\ W +10 &]4\ 7 +9 &^,q7\ "d +9 &^37\ 8 +3 ( + P%W& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open +2 M&;1 +57 h 1 + M&% +4 h %   J + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&N' +91 h ' + .t\SC.coast + A(6 +2 P%J& +4 h &^.\ 8 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 M&?% +3 h %  n  + A(% +4 h %   \ + A(=. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(([ +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&y& + A({& +5 h &  + &[   V\  +2 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.reconfigure TightElbow +3 A(#]kK-0-\ b +2 M&$&.,(\ #b +4 .t\Elbow.seek PC +2 M&o( +3 h ( +2 M&%& +2 ."raiseStack"\SE.seek beamBreak +2 A(Y's +2 h &    +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &i& +3 h &   + .t\Forearm.seek :PC +2 M& ' +93 h ' + .tHand.close +2 M&/ +67 h / + .t\PC.seek :open +2 P%X( +98 h ' + A(0- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A('1 +40 h ' +312 ( +2 A(,& +4 h &[ U T\  + M&q& +3 h &  +2 M&c% +3 h %   6 +2 .t\Forearm.seek :retract + M&T' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&1(r +253 h ( + M&~& +4 h &| L + A( & +3 h &[ U U k\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&m'= +97 h ' + .tHand.open + M&^1 +62 h 1 +2 A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate + A(C' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(u' +54 h ' + #tLights, camera, ACTION! + A(5- +3 h -' +2 A([& +3 h &[ <\ t +2 M&n& +3 h &|  P L + .t\Elbow.seek 7 +2 M&x(r +3 h ( + M&p& +3 h &| \  K L +2 A(]& +3 h &[ \ r +2 .t\Forearm.seek 7 + 450 counts + M&f'= +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(' +53 h ' + M&P& +4 h &| _ L + A(#& +4 h &[   \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&L'{ +14 h ' + .t\Elbow.hold +2 M&d, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +3 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(' +22 h ' + M&}% +4 h %Ξ : 4 +2 A(h& +3 h &[ 0 4\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 335 counts +2 M&' +13 h ' + M&& +4 h &~ / J +2 A(|& +3 h &[ P > h\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 7 + 450 counts + M&`'= +16 h ' + A(% +4 h % T R #\ +3 ."downElevator"\SE.seek :down +2 A(8' +99 (% +2 h %FJ  \ Wd +2 M&% +3 h %< +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&w' +92 h ' +65 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'S& +3 h &\\p.-\ Q +2 #t\Storing generic puck in Collection Clamp to tube 7 + M&j% +3 h %  \\  +2 A(% +3 h % ? 4\ + A(-. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (\ & +2 h &[ - A\  +2 M&& +3 h &~ s J +2 .t\Elbow.seek 7 + M&(r +9 h ( + M&& +4 h & & + A(_& +4 h &[ 8 C v\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&R'= +91 h ' + A(9& +4 h &[ T J Q\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(v's +297 h ' +2 A(*- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&r& +3 h &   & + A( & +3 h &[ ? ? \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 + M&g'{ +14 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' + .t\SE.seek 0.17 +2 A(V'w +30 h ' + M&l% +4 h %Ρ R + A(a& +51 h &[ ' - $\  +3 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 338 counts +2 M&Q' +14 h ' + M&k& +4 h & + & + A(M& +4 h &[ G Q 6\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 7 + 450 counts + M&''= +15 h ' + .t\SE.seek 1.17 +2 A(' +36 h ' + M&s& +4 h & & +2 M&I% +3 h %5 @ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\\' +86 h ' + .t\Elbow.seek CC +2 M&((ӂ +150 h ( + M&K& +4 h &|+  , Cn +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &<& +3 h &}+ u Cm + .t\Forearm.seek :CC +2 M&F'? +91 h ' + .tHand.close + M&/ +66 h / + .t\CC.seek :open +2 C')( +451 h ( + A(4& +4 h &[ \  + A(& +3 h &[ x B\  +2 M&/& +3 h &Ӑ( @Z + M&% +3 h % H f +2 .t\Forearm.seek :retract +2 M&"' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&(r +163 h ( + M&e& +4 h &s I  + A(&& +4 h &[ \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 7 + M&6'{ +96 h ' + .t\Elbow.hold +2 M&2, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +64 h 1 + M&H% +4 h % u  + A(E& +4 h &[ \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 294 counts +2 M&z'ϡ +14 h ' +2 M&& +4 h & K + A(B& +4 h &[ \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&+'= +21 h ' + A(G% +4 h % \ +3 ."downElevator"\SE.seek :down +2 A(:' +99 ( % +2 h %b> \ V` +2 M& % +3 h %< & +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&O' +87 h ' +65 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +7352 E\ /, +60003 \ /, +60002 \ /- +60003 \ /, +60002 \ /- +60003 \ /- +60002 \ /, +60003 \ /, +60002 \ /, +60003 \ 0- +60002 \ /, +60003 \ /, +60002 \ /, +60003 \ 0- +60003 \ 0- +60002 \ /, +60003 \ /- +60002 \ /, +60003 \ /, +60002 \ /- +60003 \ 0- +60002 \ /- +60003 \ 0-\ +60002 \ /- +60003 \ /, +60002 \ /, +60003 \ 0, +60003 \ /, +60002 \ 0- +60003 \ /, +60002 \ /, +60003 \ /, +60002 \ /, +60003 \ /, +60002 \ /- +60003 \ 0,\ +60002 \ /, +60003 \ /, +60003 \ /- +60002 \ /- +60003 \ 0- +60002 \ /, +60003 \ /- +60002 \ /, +60003 \ 0- +60002 \ /- +60003 \ /, +60002 ~\ /, +60003 o\ /- +60003 r\ 0, @EST1607058351.48 v\ /, +60003 u\ /, +60002 y\ /- +60003 w\ /, +60002 ~\ /, +60003 \ /, +60002 \ /- +60003 \ 0, +60002 \ /- +60003 \ /, +60003 \ /, +60002 \ /- +60003 \ 0- +60002 \ 0, +60003 \ /, +60002 \ 0, +60003 \ /- +60002 \ /, +60003 \ /, +60002 \ /, +60003 \ /- +60002 \ 0- +60003 \ 0, +60003 \ /, +60002 \ /- +60003  \ 0- +60002  \ /, +60003 \ /- +60002 \ /- +60003 \ 0- +60002 \ /- +60003 \ 0, +60002 .\ /- +60004 .\ /, +60002 ,\ /, +60002 '\ /, +60003 !\ /, +60002  \ /- +60003 \ 0- +60002 \ /, +60003  \ /- +60002 #\ /- +60003 +\ 0, +60002 &\ 0- +60003 0\ /- +60003 1\ /, +60002 :\ /, +60003 :\ 0- +60002 B\ /, +60003 H\ /, +60002 J\ 0, +60003 P\ /, +60002 _\ /- +60003 `\ /, +60002 Y\ /, +60003 Y\ 0, +60002 W\ /, +60003 V\ /, +60003 ^\ 0, +60002 g\ /- +60003 f\ /, +60003 k\ 0- +60002 o\ 0,\ +60002 p\ /, +60003 r\ /- +60003 w\ 0- +60003 \ /- +60001 \ 0- +60003 \ /, +60003 \ 0, +60002 \ /, +60003 \ /- +60002 \ /- +60003 \ /, +60002 \ /, +60003 \ 0, +60002 \ /, +60003 \ /, +60003 \ /, +60002 \ /, +60003 \ /, +60002 \ 0, +60003 \ 0- +60002 \ /, +60003 \ /, +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /- +60003 \ /- +60002 \ 0, +60003 \ 0, +60002 \ /- +60003 \ /- +60002 \ 0- +60003 \ /- +60002 \ /- +60003 \ /- +60002 \ /, +60003 \ /- +60002 \ /, +60003 \ 0- +60003 \ /, +60002 \ /-\ +60003 \ /, +60002 \ /, +60003 \ /, +60002 \ /, +60003 \ /, +60002 \ /, +60003 \ /, +60002 \ 0, +60003 \ /- +60003 \ /, +60002 \ /, +60003 \ /, +60002 \ 0- +60003 \ 0, +60002 \ /, +60003 \ /- +60002 \ /-\ +60003 \ /- +60002 \ /, +60003 \ /, +60002 \ /, +60003 \ /, +60003 \ /- +60002 \ 0- +60003 \ /- +60002 \ /, +60003 \ /, +60002 \ 0, +60003 \ 0- +60002 \ /, +60003 \ /, +60002 \ /- +60003 \ 0, +60002 \ /, +60003 \ /, +60003 \ /, +60002 \ 0- +60003 \ /, +60002 \ /- +60003 \ 0,\ @EST1607144755.14 \ /- +60003 \ 0- +60002 \ /- +60003 \ 0- +60002 \ /- +60003 \ /, +60002 \ 0, +60003 \ /- +60003 \ 0- +60002 \ /, +60003 \ /, +60002 \ /- +60003 \ 0, +60002 \ /- +60003 \ /- +60002 \ /, +60003 \ /, +60002 \ /- +60003 \ /, +60002 \ /- +60003 \ /, +60003 \ /, +60002 \ /- +60003 \ 0- +60002 \ /- +60003 \ /, +60002 \ 0, +60003 \ /- +60002 \ /, +60003 \ /- +60002 \ /, +60003 \ /, +60002 \ /- +60003 \ 0, +60003 \ 0- +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /, +60002 \ /, +60003 \ /, +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /, +60002 \ /, +60003 \ 1. +60003 \ /- +60002 \ /- +60003 \ /- +60002 \ /, +60003 \ /, +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /, +60002 \ /, +60003 \ /- +60002 \ /- +60003 \ /, +60003 \ /, +60002 \ /, +60003 \ /, +60002 \ /, +60003 \ /- +60002 \ /- +60003 \ /, +60002 \ /, +60003 \ /- +60002 \ /- +60003 \ /, +60002 \ /, +60003 \ /- +60003 \ /- +60002 \ /, +60003 \ ., +60002 \ /- +60003 \ /, +60002 \ /, +60003 \ /, +60002 \ 0, +60003 \ /, +60002 \ 0- +60003 \ /- +60002 \ /, +60003 \ /- +60003 \ /, +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ ., +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /, +60002 \ /, +60003 \ /- +60002 \ /, +60003 \ /, +60002 s\ /- +60003 ^\ /, +60003 W\ /, +60002 S\ /, +60003 \\\ /- +60002 _\ /, +60003 ^\ /, +60003 c\ /, +60002 a\ /- +60003 b\ /- +60002 ^\ /- +60004 O\ /- +60002 R\ /- +60002 K\ /, +60003 O\ /, +60002 A\ 0- +60003 ?\ /, +60002 2\ /, +60003 8\ /- +60003 0\ /, +60002 /\ /- +60003 &\ /, +60002 %\ /, +60003 \ /- +60002 \ /, +60003 \ /- +60002 \ /- +60003  \ /- +60003  \ /- +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /, +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /, +60003 \ /- +60002 \ /- +60003 \ 0- +60002 \ /, +60003 \ /- +60002 \ /, +60003 \ /, +60002 \ /- @EST1607231158.81 \ 0, +60003 \ /, +60002 \ /, +60003 \ /- +60002 \ 0- +60003 \ /- +60002 \ /, +60003 \ 0, +60002 \ /- +60003 \ 0- +60002 \ /, +60003 \ ., +60003 \ /, +60002 \ /- +60003 \ /, +60002 \ 0, +60003 \ /- +60002 \ /, +60003 \ /- +60002 \ /. +60003 \ /, +60003 \ /- +60002 \ /, +60003 ~\ /. +60002 {\ 0- +60003 y\ /, +60002 y\ /, +60003 {\ /- +60002 h\ /- +60003 k\ /, +60003 a\ 41 +60002 ]\ /,\ +60003 ]\ 0, +60002 Z\ /, +60003 `\ /- +60002 S\ /, +60003 T\ /, +60002 N\ /, +60003 R\ /- +60002 J\ /- +60003 I\ 0- +60003 J\ /- +60002 D\ /, +60003 G\ /- +60002 <\ /, +60003 N\ /- +60002 L\ /, +60003 K\ /, +60036 <\ /, +59969 9\ /- +60003 9\ /, +60002 4\ /- +60003 4\ /, +60002 =\ /, +60003 <\ /- +60002 ?\ /- +60003 3\ /, +60002 0\ /- +60003 1\ /, +60003 1\ /- +60002 .\ /- +60003 1\ /, +60002 0\ /, +60003 -\ /- +60002 ,\ /- +60003 &\ /- +60002 +\ /- +60003 &\ /- +60002 *\ /- +60003 )\ 0- +60003 #\ /, +60002 "\ /, +60003 !\ /, +60002 \ /, +60003 \ /. +60002 \ /, +60003 \ /, +60002 \ /- +60003 \ /- +60003 \ /, +60002 \ 0- +60003 \ /, +60002 \ /, +60003 \ /, +60002 \ /, +60003 \ /- +60002 \ \ /- +60003 \ /, +60002 \ /- +60003 \ 0- +60003  \ /- +60002 \ /- +60003 \ /- +60002 \ /, +60003 \ /, +60002 \ /, +60003  \ /- +60002 \ /, +60003  \ /,\ +60002 \ 2/ +60003 \ 0- +60003 \ /- +60002 \ /, +60003  \ /, +60002 \ /, +60003 \ /, +60002  \ /- +60003 \ /, +60002 \ /, +60003 \ /- +60002 \ /- +60003 \ 0- +60003  \ /, +60002 \ /- +60003 \ /, +60002  \ /- +60003 \ /- +60002 \ /, +60003  \ /, +60002 \ /- +60003  \ /, +60003  \ /, +60002 \ /, +60003 \ /- +60002 \ /, +60003 \ /- +60002 \ /- +60003 \ /- +60002 \ /, +60003 \ /- +60003 \ /, +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /- +60002 \ ., +60003 \ /,\ +60003 \ /, +60002 \ /, +60003 \ /- +60002 \ 0, +60003 \ /, @EST1607317562.48 \ /- +60003 \ /- +60002 \ 0- +60003 \ /- +60003 \ /, +60002 \ 0, +60003 \ /- +60002 \ /- +60003 \ /- +60002 \ /, +60003 \ 0- +60002 \ /- +60003 \ 0- +60003 \ /, +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /, +60002 \ /, +60003 \ /- +60003 \ 0- +60002 \ /, +60003 \ /, +60002 \ /, +60003 \ /- +60002 \ 0- +60003 \ /, +60002 \ 0, +60003 \ /, +60003 \ 0, +60002 \ 0- +60003 \ /, +60002 \ /, +60003 \ /- +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ /, +60003 \ /- +60002 \ /, +60003 \ /- +60002 \ /, +60003 \ 0- +60002 \ /- +60003 \ /, +60002 \ /- +60003 \ /- +60003 \ /, +60002 \ /- +60003 \ /- +60002 \ /- +60003 \ 0, +60002 \ /, +60003 \ 0- +60002 \ 0. +60003 \ /- +60003 \ 0, +60002 \ /, +60003 \ 0, +60002 \ 0- +60003 \ 0, +60002 \ 0, +60003 \ /, +60002 \ /, +60003 \ /, +60003 \ /- +11145 !to:Errno::EIO:bt[ "1/opt/mbari/lib/ruby/1.8/irb.rb:76:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error +3 !o:Errno::EIO :bt["1/home/esp/esp2/lib/threads.rb:711:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ :@timestampu: Time ,zG: mesg"Input/output error + !o:Errno::EIO:bt["7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error +4 #m\EXIT @1607357875.74EST @1607712425.45EST = @EST1607712427.73 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@57483 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +34 #Powering up Dwarves =ECan =FMFB =hcore =Ccollection =Pprocessing =mMAIN_scheduler =Astorage =Mmanipulator =tMAIN =Ssampler +688 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +333 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +2 E\ #! +5 \ #! S) +2 ) +2 h  + C' +2 ' +2 h  + P% +2 % +2 h  +4 C' 9\ +2 ' 0\ + ' -\ +4 P% 9\ +2 % 2\ + % *\ +2 % 0\ +3 S)&\ +2 .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready? + C'& +3 h & $k\ +345 #t-> ESP.ready! +2 C'& + P%& +4 h &#"q\ +4 ."rdySampler"Intake.select :close + .\Exhaust.select :close + .\CTV.dial :air +2 C'  +2 h &J\ +2 ."rdyProcessing"\PSV.dial :air +3 .t\PC.reconfigure PCconfig +2 P%\  +3 %$x2 ^22b +2 h +  + ."rdyProcessing"\PS.reconfigure PSconfig +3 ."rdySampler"\CSV.dial :waste1 +2 .t\PC.home.seek :open +3 C' + P%#A d`xb + % ( +5 ."rdyProcessing"\PS.home.seek 0 +2 P% 'ؾ +2 h + ."rdySampler"\SSV.dial :spit,avoiding: :exhaust +2 S) +3 h  + S)  +5 h  +3 C'& + ."rdySampler"\SS.reconfigure SSconfig +4 ."readyCS"\CS.reconfigure CSfast +3 S)#.0X ESPmode=quick forgetESPstate + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::messageHundefined local variable or method `forgetESPstate' for main:Object: name:forgetESPstate +411 #-> eit + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message=undefined local variable or method `eit' for main:Object: name:eit +207 #-> exit +4 #m\EXIT @1607712516.02EST @1607712742.88EST = @EST1607712745.05 #"core_reset"Sent BREAK + #"MAIN_scheduler"@11182 receive with ifg=0x10, ie=0xFD + #@11821 receive with ifg=0x10, ie=0xFD + #@12480 receive with ifg=0x10, ie=0xFD #@13117 receive with ifg=0x10, ie=0xFD + #@13752 receive with ifg=0x10, ie=0xFD + #@14388 receive with ifg=0x10, ie=0xFD #@15023 receive with ifg=0x10, ie=0xFD + #@15354 receive with ifg=0x80, ie=0xFD #@64400 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 =FMFB =Ssampler =Ccollection =Mmanipulator =tMAIN =ECan =hcore =Pprocessing =Astorage =mMAIN_scheduler +371 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +308 !o:Instrument::ISUSCore: @refil6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +3 E\ HF +4 \ HF + S) + ) +2 h  +2 C' +2 ' +2 h  +2 P% + % +3 h  +4 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ + % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 +2 .t\SS.configure SSconfig +2 S)#.0X forgetESPstate + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::messageHundefined local variable or method `forgetESPstate' for main:Object: name:forgetESPstate +1805 #-> ESPmode=quick forgetESPstate + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::messageHundefined local variable or method `forgetESPstate' for main:Object: name:forgetESPstate +643 #-> eit + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesgu:NameError::message=undefined local variable or method `eit' for main:Object: name:eit +259 #-> exit +4 #m\EXIT @1607712790.34EST @1609425591.14EST = @EST1609425593.40 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@6946 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +39 #Powering up Dwarves =ECan =Ssampler =hcore =Pprocessing =FMFB =tMAIN =mMAIN_scheduler =Astorage =Ccollection =Mmanipulator +712 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +335 !o:Instrument::ISUSCore: @refi6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +3 E $ +4  $ + S) + ) +2 h  +2 C' + ' +2 h  +2 P% + % +3 h  +3 C' 9\ +3 ' 0\ + ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +4 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready! +3 P%& +3 C'& +3 h &\ +3 ."rdyProcessing"\PSV.dial :air +4 .t\PC.reconfigure PCconfig +2 P%  +3 %$x2 ^22b +3 h &~\ +  +2 ."rdyProcessing"\PS.reconfigure PSconfig +2 ."rdySampler"Intake.select :close +2 .t\PC.home.seek :open +3 ."rdySampler"\Exhaust.select :close +2 P%#A d`xb + ."rdySampler"\CTV.dial :air +2 P% ( +2 C'\  +2 ."rdyProcessing"\PS.home.seek 0 +3 P% 'ؾ +6 h + ."rdySampler"\CSV.dial :waste1 +2 C' +4 h +2 ."rdySampler"\SSV.dial :spit,avoiding: :exhaust + S)  +3 h  +2 S)  +3 h  +3 C'& + ."rdySampler"\SS.reconfigure SSconfig +4 ."readyCS"\CS.reconfigure CSfast +3 S)#.0X require 'PrimeReagent.rb' +6949 #-> primeCSRaqmeoh + #**Prepare to clean and prime CSR AqMeOH reagent** + .\CSV.dial :air +2 C'2 @ +70 h B +2 .t\CS.reconfigure CSconfig +2 C'#P d@b +2 .t\CS.seek :empty + C'3'7 +35 h ' + .t\CSV.dial :CSR +2 C'4  +67 h  +2 .t\CSR.select :AqMeOH + C'\ +10 #t\Awaiting answer to "**Disinfect and attach CSR AqMeOH fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +24520 .\CS.seek 10 + C'5' +2640 h ' + .t\CSV.dial :waste1 +2 C'6 +125 h +2 .t\CS.seek :empty +2 C'7'7 +2662 h ' + .t\CSV.dial :CSR +2 C'8  +125 h  +2 .t\CS.seek 10 +2 C'9' +2643 h ' +2 .t\CSV.dial :waste1 +2 C': +122 h +2 .t\CS.seek :empty +2 C';'7 +2660 h ' + .t\CSV.dial :CSR +2 C'<  +124 h  +2 .t\CS.seek 10 +2 C'=' +2635 h ' + .t\CSV.dial :waste1 +2 C'> +125 h +3 .t\CS.seek :empty +2 C'?'7 +2629 h ' + .t\CSV.dial :CSR +2 C'@  +124 h  +2 #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +830 C'A% +3 h %;\ +2 .t\CS.seek 0.494 + C'B'6 +229 h ' +2 #t\Awaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1176 .\CS.seek 10 + C'C' +2515 h ' + .t\CSV.dial :waste2 +2 C'D +41 h  +2 .t\CS.seek :empty +2 C'E'7 +1760 E\ DB +879 h ' +2 .t\CSV.dial :CSR + C'F  +41 h  +2 .t\CS.seek 10 +2 C'G' +2656 h ' + .t\CSV.dial :waste2 +2 C'H +42 h  +2 .t\CS.seek :empty +2 C'I'7 +2635 h ' + .t\CSV.dial :CSR +2 C'J  +41 h  +2 .t\CS.seek 10 +2 C'K' +2643 h ' + .t\CSV.dial :waste2 +2 C'L +42 h  +2 .t\CS.seek :empty +2 C'M'7 +2638 h ' + .t\CSV.dial :CSR +2 C'N  +41 h  +2 #t\Awaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +2147 C'O% +4 h %;S\ + .t\CS.seek 0.494 +2 C'P'6 +228 h ' +2 #t\Awaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1758 .\CS.seek 10 + C'Q' +2521 h ' + .t\CSV.dial :waste1 +2 C'R +125 h +2 .t\CS.seek :empty +2 C'S'7 +2658 h ' + .t\CSV.dial :CSR +2 C'T  +125 h  +2 .t\CS.seek 10 +2 C'U' +2643 h ' +2 .t\CSV.dial :waste1 + C'V +124 h +2 .t\CS.seek :empty +2 C'W'7 +2641 h ' + .t\CSV.dial :CSR +2 C'X  +124 h  +2 .t\CS.seek 10 +2 C'Y' +2644 h ' + .t\CSV.dial :waste1 +2 C'Z +124 h +2 .t\CS.seek :empty +2 C'['7 +2647 h ' + .t\CSV.dial :CSR +2 C'\\  +125 h  +2 #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +642 C']% +3 h %1#\  +2 .t\CS.seek 0.493 + C'^', +207 h ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #\Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +26770 E\ B? +4438 #t\Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +303 #**Priming reagent line** + C'_% +3 h %)q\ +2 .t\CS.seek 5.493 + C'`' +1367 h ' + .t\CSV.dial :waste1 +2 C'a +124 h +2 .t\CS.seek :empty +2 C'b'7 +1488 h ' + #t**Flush clean and air out CSR manifold** + .\CSR.select :flush +2 C'  +8 .t\CSV.dial :CSR +2 C'c  +136 h  +2 C'd% +3 h %8i\ +2 .t\CS.seek 4.994 +2 C'e's +1407 h ' + .t\CSV.dial :waste1 +2 C'f +125 h +2 .t\CS.seek :empty +2 C'g'7 +1364 h ' + .t\CSR.select :air +2 C' +9 .t\CSV.dial :CSR +2 C'h  +124 h  +2 .t\CS.seek 10 +2 C'i' +2643 h ' + .t\CSV.dial :waste1 +2 C'j +125 h +2 .t\CS.seek :empty +2 C'k'7 +2637 h ' + #t**SUCCESSFULLY PRIMED CSR AQMEOH REAGENT** +4533 #-> primeCSVflush +2 #**Prepare to clean and prime CSV flush reagent to CSV port 5** + .\CSV.dial :air +2 C'l @ +67 h A +2 .t\CS.seek :empty +2 C'm'7 +2 h ' +2 .t\CSV.dial :flush + C'n  +41 h +2 #t\Awaiting answer to "**Disinfect and attach CSV flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +16629 .\CS.seek 10 + C'o' +2643 h ' + .t\CSV.dial :waste1 +2 C'p +41 h +2 .t\CS.seek :empty +2 C'q'7 +2643 h ' + .t\CSV.dial :flush +2 C'r  +42 h  +2 .t\CS.seek 10 +2 C's' +2657 h ' + .t\CSV.dial :waste1 +2 C't +42 h +2 .t\CS.seek :empty +2 C'u'7 +2641 h ' + .t\CSV.dial :flush +2 C'v  +41 h  +2 .t\CS.seek 10 +2 C'w' +2643 h ' + .t\CSV.dial :waste1 +2 C'x +41 h +2 .t\CS.seek :empty +2 C'y'7 +2637 h ' +2 .t\CSV.dial :flush + C'z  +42 h  +2 #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1112 C'{% +4 h %;\ + .t\CS.seek 0.494 +37 C'|'6 +211 h ' +2 #t\Awaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +2091 .\CS.seek 10 + C'}' +2506 h ' +2 .t\CSV.dial :waste2 + C'~ +124 h  +2 .t\CS.seek :empty +2 C''7 +116 E\ DA +2519 h ' +2 .t\CSV.dial :flush + C'  +125 h  +2 .t\CS.seek 10 +2 C'' +2655 h ' +2 .t\CSV.dial :waste2 + C' +124 h  +2 .t\CS.seek :empty +2 C''7 +2635 h ' +2 .t\CSV.dial :flush + C'  +125 h  +2 .t\CS.seek 10 +2 C'' +2643 h ' +2 .t\CSV.dial :waste2 + C' +125 h  +2 .t\CS.seek :empty +2 C''7 +2643 h ' +2 .t\CSV.dial :flush + C'\  +127 h  +2 #t\Awaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +650 C' % +3 h %4\ +2 .t\CS.seek 0.494 + C' '/ +209 h ' +2 #t\Awaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +3607 .\CS.seek 10 + C'' +2512 h ' + .t\CSV.dial :waste1 +2 C' +44 h +2 .t\CS.seek :empty +2 C''7 +2639 h ' +2 .t\CSV.dial :flush + C'  +43 h  +2 .t\CS.seek 10 +2 C'' +2644 h ' + .t\CSV.dial :waste1 +2 C' +41 h +2 .t\CS.seek :empty +2 C' '7 +2643 h ' +2 .t\CSV.dial :flush +2 C'  +41 h  +2 .t\CS.seek 10 +2 C'' +2635 h ' +2 .t\CSV.dial :waste1 + C' +42 h +2 .t\CS.seek :empty +2 C''7 +2635 h ' + .t\CSV.dial :flush +2 C'"  +41 h  +2 #t\Awaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +626 C'% +3 h %<\ +2 .t\CS.seek 0.494 + C'#'7 +207 h ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #\Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +24931 E~\ CA +2799 #t\Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +191 #**Priming reagent line** + C'$% +3 h %<-\  +2 .t\CS.seek 5.495 + C'%' +1379 h ' + .t\CSV.dial :waste1 +2 C'& +41 h +2 .t\CS.seek :empty +2 C'''7 +1487 h ' + #t**SUCCESSFULLY PRIMED CSV FLUSH REAGENT** +8459 #-> exit +4 #m\EXIT @1609428150.26EST @1610047774.57EST = @EST1610047776.86 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@9395 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +33 #Powering up Dwarves =Mmanipulator =ECan =Ccollection =tMAIN =hcore =Ssampler =Pprocessing =FMFB =mMAIN_scheduler =Astorage +705 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +343 !o:Instrument::ISUSCore: @refiL6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E #! +4  #! + S) +2 ) +2 h  + C' +2 ' +2 h  + P% +2 % +2 h  +4 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ + % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +3 S)#.0X ESP.ready? +2 C'& +3 h &\ +302 #t-> ESP.ready! +2 P%& +2 C'& +4 h &\ + ."rdyProcessing"\PSV.dial :air +4 .t\PC.reconfigure PCconfig +4 P%  +3 %$x2 ^22b +4 .t\PC.home.seek :open +2 P%\ ( +2 h &\ +  +2 ."rdyProcessing"\PS.reconfigure PSconfig +2 ."rdySampler"Intake.select :close + .\Exhaust.select :close +2 P%#A d`xb + ."rdySampler"\CTV.dial :air +3 ."rdyProcessing"\PS.home.seek 0 + C'  + P% 'ؾ +5 h + ."rdySampler"\CSV.dial :waste1 +2 C' +3 h + ."rdySampler"\SSV.dial :spit,avoiding: :exhaust +2 S) +3 h  + S)  +4 h  +2 C'& +2 ."rdySampler"\SS.reconfigure SSconfig +4 ."readyCS"\CS.reconfigure CSfast +3 S)#.0X require 'shuffle.rb' +1321 #-> shuffle 2..7 + #\Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp + C'3& +3 h &\  + .tHand.open + M&41 +69 h 1 + M&5% +4 h %   g  + A(6% +4 h % \  + A(7. +2 h .(  +2 A(8& +3 h &  \  + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (9& +3 h &  \  + M&:& +3 h & ? 6 +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&;( +3 h ( + M&<& +4 h &  u 6 + A(=& +4 h &  \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&>'S +97 h ' + A(?& +4 h &  2\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(@'s +299 h ' +2 A(A- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (B& +3 h &  '\  + M&C& +3 h &  6 +2 .t\Elbow.seek 2 +2 M&D( +3 h ( + M&E& +3 h & 6 +2 A(F& +3 h &  .\  +2 .t\Forearm.seek 2 + 300 counts + M&G'Ͻ +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&H/ +75 h / +2 ."downElevator"\SE.seek :down +3 M&I& +3 A(J' +5 h &  6 +2 M&K% +3 h % ϵ N +2 .t\Forearm.seek :retract + M&L' +90 h ' + .t\Elbow.seek CC +2 M&M(ӂ +155 h ( + M&N& +4 h &Ӓ(  a @\\ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &O& +3 h &ӓ(  @[ + ' +2 .t\Forearm.reconfigure TightForearm +2 ."downElevator"\SE.coast + A(5 +3 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&P'? +91 h ' + C'Q& +4 h &\  +2 C'R& +3 .t\CC.seek :closed +2 C'S(\\ +3 h &\  +2 &\ \  +10 &5{\ +} +10 &f\ @ +9 &dw\ O +10 &*X\ N +9 &Z\ N +9 &]\ N +10 &pZ\ N +9 &3[\ M +9 &]\ N +10 &]\ M +9 & x[\ N +10 &":]\ N +9 &#]\ N +9 &%Z\ N +10 &'\\\ M +9 &)B\\\ N +9 &+^~\ N +10 &,Z\ N +9 &.]\ M +10 &0K\\\ M +9 &2 \\\ N +9 &3_\ N +10 &5Z\ N +9 &7R\\\ N +9 &9]\ M +10 &:\\\ M +9 &<`\ N +10 &>[^x\ M +9 &@]t\ M +9 &A`s\ N +10 &Cg~\ O +9 &E[rs\ P +9 &Gy\ S +10 &Hu\ V +9 &Jv\ X +10 &LJx\ Y +9 &N\ \ Y +9 &O\ Z +10 &Q{\ Z +9 &SK\ [\ +9 &U \ \\ +10 &V\ \\ +9 &X\ ] +10 &ZK\ ^ +9 &[x\ C +9 &\\#\ + +10 &\\\ \\ +2 ( + C'R& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.10 + .Hand.open +2 M&T1 +58 h 1 +2 M&U% +4 h % >  x +2 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&V' +89 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 P%W& +3 h &\  +2 M&X% +3 h %    +2 A(Y% +3 h % %\ +2 A(Z. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A([(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (\\& +3 h &  u y 9\  + M&]& +4 h &ӝ&   ?Q + M&^% +3 h %   k  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 + M&_( +164 h ( + M&`& +4 h &  B  +2 A(a& +3 h &  G\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&b'S +99 h ' + A(c& +4 h &  I\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(d's +298 h ' + A(e- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (f& +2 h &  w *\  +2 M&g& +3 h &  m  +2 .t\Elbow.seek 2 + M&h( +3 h ( + M&i& +3 h &  +2 A(j& +3 h &  t q ]\  +2 .t\Forearm.seek 2 + 300 counts + M&k'Ͻ +14 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&l/ +69 h / +2 M&m& +2 ."downElevator"\SE.seek :down +4 A(n' +3 h & 1  +2 M&o% +3 h % Ͽ . +2 .t\Forearm.seek :retract +2 M&p' +91 h ' +2 .t\Elbow.seek PC + M&q( +164 h ' + ."downElevator"\SE.coast + A(5 +75 h ( + M&r& +4 h & A  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &s& +3 h &  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&t' +99 h ' +2 P%u& +4 h &\  + P%v& +4 .t\PC.seek :closed + P%w(^ +3 h &\  +2 &\  +10 &5|\ +| +9 &dz\ @ +10 &Xz\ P +9 &[y\ P +9 &`q\ O +10 &\\}\ P +9 &a`\ O +10 &"]\ P +9 &b\ O +9 &\\\ O +10 & h\\~\ P +9 &"+]\ O +9 &#\\\ O +10 &%]\ P +9 &'p_\ P +10 &)2_\ P +9 &*]\ P +9 &,]\ O +10 &.x`|\ P +9 &0:]\ P +9 &1\\~\ O +10 &3Z\ P +9 &5`x\ P +10 &7C\\\ O +9 &9_~\ P +9 &:c\ P +10 &<az\ P +9 &>J_~\ P +46 &@ `\ P + &Aj~\ Q +4 &Cx|\ R + &EEv\ T &G\ U +4 &H|\ U +10 &J}\ V +9 &LI\ U +9 &N y\ V +10 &O}\ W +9 &Qu\ W +10 &SLu\ W +9 &U~\ W +9 &Vm\ W +10 &Xl\ W +9 &ZTs\ W +9 &\\m\ X +10 &]r\ 8 +9 &^)nk\ #e +9 &^3x\ 6 +2 ( + P%v& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 M&x1 +63 h 1 + M&y% +4 h %   +2 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&z' +93 h ' + .t\SC.coast + A(6 +3 P%{& +3 h &^-t\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&|% +3 h %    +2 A(}% +3 h % ] W \ +2 A(~. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A((  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +3 h &  Q V (\  +3 ."raiseStack"\SE.reconfigure SEplace +2 M&& +3 A(#]kK-0-\ b +3 h & \ \   + .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&( +2 h ( + M&& +3 ."raiseStack"\SE.seek beamBreak +2 A('s +2 h &    +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &    + .t\Forearm.seek :PC +2 M&' +88 h ' + .tHand.close + M& / +72 h / +2 .t\PC.seek :open + P%( +98 h ' + A( - +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A( '1 +38 h ' +308 ( + A(& +4 h &  } &\  + M&& +4 h &  d  + M&% +3 h %  A ` +2 .t\Forearm.seek :retract + M&' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +244 h ( + M&& +4 h &   + A( & +4 h &  x x B\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&\ 'S +105 h ' + .tHand.open + M&1 +56 h 1 + A(- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(!' +27 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +54 h ' + #tLights, camera, ACTION! +2 A(#- +3 h -' + A(& +3 h &  O\  +2 M&$& +3 h &  3  +2 .t\Elbow.seek 2 + M&%( +5 h ( + M&&& +4 h &  e  +2 A('& +3 h &  \  +2 .t\Forearm.seek 2 + 450 counts +2 M&('S +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +3 .t\SE.seek -0.52 + A()' +52 h ' +2 M&*& +3 h & Z  +2 A(+& +3 h &  u\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 +2 M&,'Α +19 h ' + .t\Elbow.hold +2 M&-, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b + .t\SE.seek -0.33 +2 A(.' +21 h ' +2 M&/% +4 h %Σ G  + A(0& +3 h &  w x @\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 318 counts + M&1' +15 h ' +2 M&2& +4 h & '  + A(& +4 h &  u \ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +3 M& 'S +17 h ' +2 A(3% +3 h % R\ +3 ."downElevator"\SE.seek :down +2 A(4' +99 (5% +3 h %< x [ \ Va + M&6% +4 h %F  N + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&7' +88 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'8& +4 h &\\~|\ \\ + #t\Storing generic puck in Collection Clamp to tube 2 +2 M&9% +3 h %   +2 A(:% +3 h % !\ + A(<. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(=(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (?& +3 h &  9\  + M&& +4 h &  \\  + .t\Elbow.seek 2 +2 M&"( +9 h ( + M&& +4 h & \   +2 A(A& +3 h &  ,\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&B'S +94 h ' + A(C& +4 h &  L\  +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(E's +296 h ' + A(F- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&H& +2 h & H  +2 A(I& +3 h &  t \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&K'Α +14 h ' + .t\Elbow.hold +2 M&;, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(>- +2 h -' +2 .t\SE.seek 0.17 + A(N'r +29 h ' + M&O% +4 h % & S + A(@& +4 h &  w p "\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 349 counts +2 M&G' +14 h ' + M&Q& +4 h &  +2 A(D& +3 h &  w l \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&J'S +17 h ' +2 .t\SE.seek 1.17 + A(L' +37 h ' +2 M&& +3 h &  U  +2 M&T% +3 h %V k +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&U' +86 h ' +2 .t\Elbow.seek CC + M&W(ӂ +154 h ( + M&X& +4 h &z0  F + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &Y& +2 h &z0  F +2 .t\Forearm.seek :CC + M&Z'? +90 h ' + .tHand.close + M&\\/ +71 h / + .t\CC.seek :open +2 C'R( +452 h ( +2 A(]& +4 h &  ^\  + A(^& +3 h &  %\  +2 M&P& +3 h &ӭ& ?S + M&`% +3 h % L > +2 .t\Forearm.seek :retract +2 M&a' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +165 h ( + M&c& +4 h &   + A(M& +4 h &  -\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 2 +2 M&V'Α +97 h ' + .t\Elbow.hold +2 M&e, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&f1 +58 h 1 + M&g% +4 h % Χ h ? + A(i& +4 h &  e\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 322 counts + M&j' +13 h ' + M&l& +4 h &   +2 A(m& +3 h &  ~\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&o'S +15 h ' +2 A(_% +3 h % 5\ +3 ."downElevator"\SE.seek :down +2 A(b' +99 (d% +3 h %Y7 \ U\\ + M&k% +3 h %3 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&r' +87 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + C's& +4 h &k\ + M&h% +4 h %  W  + A(u% +4 h % \ + A(n. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(p( +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & 3\  + M&x& +3 h & ,  +2 .t\Elbow.seek 3 + M&y( +20 h ( + M&{& +4 h &x  { + A(|& +4 h & \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&}'7 +95 h ' + A(~& +4 h & \  +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(v's +297 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h & 8\  +2 M&& +3 h &x + .t\Elbow.seek 3 +2 M&( +23 h ( +2 M&t& +4 h &y   [ # + A( & +3 h & 4\  +2 .t\Forearm.seek 3 + 300 counts +2 M&['ϡ +39 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +67 h / +2 M&q& +2 ."downElevator"\SE.seek :down +4 A(z' +3 h &z   # +2 M&w% +3 h % ϲ B +2 .t\Forearm.seek :retract +2 M&' +90 h ' +2 .t\Elbow.seek CC + M&(ӂ +155 h ( + M&& +4 h &Ӓ%  $ >O +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 h ' + ."downElevator"\SE.coast + A(5 +2 M&& +5 h &Ӓ% >O +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&'? +96 h ' +2 C'& +4 h &w\ +2 C' & +3 .t\CC.seek :closed +43 C'(\\ +13 h &y\ + &\ + &~\ + &|\ + &}\ &s\ +2 &r\ +2 &y\ 3 +8 &9G{o\ 1 +10 &dqt\ E +9 & de\ N +9 &[f\ M +10 &Zg\ M +9 &Q_b\ M +10 &_o\ M +9 &\\q\ M +9 &Zg\ M +10 &Y[d\ M +9 &![g\ N +10 &"]r\ M +9 &$\\l\ M +9 &&bYh\ M +10 &(#]h\ M +9 &)\\m\ M +9 &+Yl\ M +10 &-i\\o\ M +9 &/,Xo\ M +9 &0[p\ M +10 &2]l\ M +9 &4q]j\ M +10 &63Zm\ M +9 &7_o\ M +9 &9]g\ N +10 &;y[n\ M +9 &=;_l\ M +9 &>]o\ M +10 &@Zg\ M +9 &Bcl\ N +10 &DAei\ N +9 &Eyq\ P +9 &Gn\ T +10 &Inr\ W +9 &K+r\ X +9 &Lo\ Y +10 &Nh\ Y +9 &Plh\ Z +10 &R/r\ Z +9 &Sl\ [\ +9 &Uj\ [ +10 &Wn^\ \\ +9 &Y,k\ ] +9 &Zi\ ] +10 &\\UXn\ / +9 &\\ i\ \\ +9 ( +2 &\\pp\ V + C' & +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.06 + .Hand.open + M&1 +61 h 1 + M&% +4 h % C  & A +2 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&#' +91 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + P%& +4 h &\ + M&$% +3 h %   "  +2 A(&% +3 h % u \ \ +2 A('. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (*& +3 h & w\  + M&+& +4 h &ӓ%   >N + M&/% +3 h %   G  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&0( +165 h ( + M&2& +4 h & 9  +2 A( & +3 h & \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +96 h ' + A(!& +4 h & \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(3's +294 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (\ & +2 h & j B\  +2 M&& +3 h &  G  + .t\Elbow.seek 3 +2 M&5( +3 h ( + M&6& +3 h & D  +2 A((& +3 h & ?\  +2 .t\Forearm.seek 3 + 300 counts +2 M&%'ϡ +29 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&)/ +69 h / +2 ."downElevator"\SE.seek :down +3 M&,& +5 A(1' +3 h &  +2 M&8% +3 h % ϣ +2 .t\Forearm.seek :retract +2 M&9' +89 h ' +2 .t\Elbow.seek PC + M&:( +170 h ' + ."downElevator"\SE.coast + A(5 +67 h ( + M&<& +4 h & ! + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &.& +3 h & L ! + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&?' +100 h ' + P%& +4 h &\ +2 P%& +3 .t\PC.seek :closed +2 P%A(^ +2 h &\ +3 &\  +10 &0{N\ *y +10 &bq\ ? +9 &h{\ P +10 &*[\ O +9 &_\ O +9 &]\ P +10 &qZ\ O +9 &1]\ P +9 &_\ P +10 &\\\ O +9 & y_\ O +10 &";[\ O +9 &#]\ O +9 &%\\\ O +10 &'_\ O +9 &)B_\ O +9 &+\\\ P +10 &,]\ O +9 &.]\ P +10 &0I_\ P +9 &2 Z\ O +9 &3\\\ O +10 &5_\ P +9 &7Q]\ P +9 &9^\ P +10 &:`\ P +9 &<^\ P +10 &>Z]\ O +9 &@`\ O +9 &Ak\ Q +10 &Cx\ R +9 &ET\ T +9 &G\ U +10 &H\ U +9 &J\ U +10 &LX\ U +9 &N\ V +9 &O\ W +10 &Q\ W +9 &SZ\ X +9 &U\ W +10 &V\ W +9 &X\ V +10 &Zb\ X +9 &\\%\ W +9 &]x\ 4 +10 &^4w\ C +8 ( +2 &^"}\ 3 + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open +2 M& 1 +63 h 1 + M&C% +4 h %   2 q + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&4' +92 h ' +2 .t\SC.coast + A(6 +2 P%& +4 h &^"y\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 M&-% +3 h %    )  + A(7% +4 h % v v p\ + A(F. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(H( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&I& +4 A(>& + h &  \  ! +3 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 h & w w A\  +3 ."raiseStack"\SE.reconfigure SEplace +2 .t\Elbow.seek PC +3 M&O( + A(#]kK-0-\ b +5 h ( + M&@& +3 h & j ! +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +2 M&D& + A(Q's +5 h & \ / ! +2 .t\Forearm.seek :PC +2 M&' +92 h ' + .tHand.close + M&T/ +65 h / +2 .t\PC.seek :open + P%B( +108 h ' + A("- +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A(E'1 +39 h ' +300 ( + A(K& +4 h & 2\  + M&G& +3 h & ! +2 M&X% +3 h %  1 +2 .t\Forearm.seek :retract + M&N' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&Y( +246 h ( + M&J& +4 h &  I + A(;& +4 h & g\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&\\'7 +95 h ' + .tHand.open + M&U1 +53 h 1 +2 A(S- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate + A(]' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(^' +49 h ' + #tLights, camera, ACTION! +2 A(P- +3 h -' + A(`& +3 h & #\  +2 M&c& +3 h & l I + .t\Elbow.seek 3 +2 M&M( +3 h ( + M&Z& +3 h &  I +2 A(W& +3 h & M\  +2 .t\Forearm.seek 3 + 450 counts +2 M&f'7 +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(g' +50 h ' + M&i& +4 h & I +2 A(l& +3 h & x { \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 +2 M&m'u +14 h ' + .t\Elbow.hold +2 M&_, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(a' +20 h ' +2 M&d% +4 h %Τ X + A(k& +3 h & q p \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 3 + 347 counts + M&' +14 h ' +2 M&V& +4 h & I + A(s& +4 h & e\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 3 + 450 counts + M&j'7 +15 h ' +2 A(h% +4 h % "\ +2 ."downElevator"\SE.seek :down +2 A(u' +99 (n% +3 h %b@ v u h\ Wc + M&L% +4 h %=  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&o' +89 h ' +74 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'b& +3 h &\\og\ V +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&=% +3 h %   +2 A(% +3 h % D\ +2 A(x. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A({( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (|& +3 h & )\  + M&~& +4 h & T I + .t\Elbow.seek 3 +2 M&e( +3 h ( + M&r& +4 h &  I +2 A(& +3 h & T\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&'7 +96 h ' + A(& +4 h & .\  +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(t's +300 h ' +2 A( - +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 M& & +2 h &  I +2 A(q& +3 h & 6\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&w'u +14 h ' + .t\Elbow.hold +2 M&y, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(}- +2 h -' +2 .t\SE.seek 0.17 + A('x +28 h ' + M&% +4 h %Λ X + A(v& +4 h & S\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 338 counts +2 M&[' +14 h ' + M&& +4 h &  @ I +2 A(& +3 h & 7\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&z'7 +15 h ' +2 .t\SE.seek 1.17 + A(' +37 h ' +2 M&R& +3 h & I +2 M&% +3 h %3 v +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +91 h ' +2 .t\Elbow.seek CC + M&(ӂ +147 h ( + M&$& +4 h &y- \  Du + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &&& +3 h &y- \ L Du + .t\Forearm.seek :CC +2 M&''? +92 h ' + .tHand.close + M& / +75 h / + .t\CC.seek :open +2 C'*( +451 h ( +2 A(+& +4 h & H\  + A(/& +3 h & \  +36 M&& +16 h &Ӧ%  F >H +2 M&2% +3 h % 0  / +2 .t\Forearm.seek :retract + M& ' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&p( +164 h ( + M&!& +4 h &  r  +2 A(& +3 h & \\\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&#'u +94 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&\ 1 +52 h 1 +2 M&% +4 h % p  +2 A(6& +3 h & 1\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 3 + 295 counts + M&('Ϝ +15 h ' +2 M&)& +3 h & ? ~ +2 A(,& +3 h & \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&8'7 +22 h ' +2 A(0% +3 h % &\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (3% +3 h %; `\ U^ + M&%% +4 h %H ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&<' +90 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 4 of [2..7] + #Loading generic puck from tube 4 into Collection Clamp + C'.& +4 h &l\ +2 M&5% +3 h %   +  +2 A(% +3 h % A\ +2 A(1. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(9(,y +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,x b\  + M& & +3 h & \\ ~ +2 .t\Elbow.seek 4 +2 M&C( +2 h ( + M&& +4 h &  ~ + A(-& +3 h &,x \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&7' +95 h ' + A(F& +4 h &,x (\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +22 h ' V~ 9 O\ Fb +2 !to:Slide::Error\ :@checkpoint: omitted:bt["9/home/esp/esp2/utils/puckmoves.rb:72:in `retryRaise'")/home/esp/esp2/lib/msg.rb:82:in `[]'",/home/esp/esp2/lib/msg.rb:82:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:263:in `load'"4/home/esp/esp2/utils/puckmoves.rb:251:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:251:in `load'"8/home/esp/esp2/utils/puckmoves.rb:802:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):4:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"& +4 h &,x \  +2 M&@& +13 h & ~ +2 .t\Elbow.seek 4 +2 M&D( +3 h ( + M&?& +4 h &  ~ + A(T& +4 h &,x \  +2 .t\Forearm.seek 4 + 450 counts +2 M&' +2 h ' +2 A(:& +3 h &,x \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A("'s +294 h ' + A(4- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (A& +3 h &,x 7\  + M&Q& +3 h & ~ +2 .t\Elbow.seek 4 + M&K( +3 h ( + M&G& +3 h &   [ ~ +2 A(X& +3 h &,x *\  +2 .t\Forearm.seek 4 + 300 counts + M&'c +25 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&J/ +77 h / +2 ."downElevator"\SE.seek :down +3 M&;& +3 A(O' +5 h & 3 ~ +2 M&U% +3 h % W 0 " +2 .t\Forearm.seek :retract +2 M&S' +87 h ' + .t\Elbow.seek CC +2 M&P(ӂ +158 h ( + M&`& +4 h &ӏ)  M A` + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &c& +2 h ' +2 ."downElevator"\SE.coast + A(5 +3 h &ӏ) A` + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek :CC + M&Z'? +91 h ' +3 C'W& +3 h &o\ +2 C'N& +3 .t\CC.seek :closed +2 C'i(\\ +2 h &v\ +3 &x\  +9 &0{t\ *y +10 &do\ > +9 &tvl\ N +10 &8Zk\ M +9 &]n\ M +9 &[o\ M +10 &}]n\ M +9 &AZo\ L +10 &\\l\ M +9 &Zi\ L +9 & Zk\ M +10 &"HXl\ M +9 &$ Zn\ L +9 &%Zo\ M +10 &'\\j\ M +9 &)PXj\ M +10 &+Xm\ M +9 &,Xg\ M +9 &.Yb\ M +10 &0XXh\ M +9 &2Xf\ M +9 &3Y`\ M +10 &5Xb\ M +9 &7`Y]\ M +10 &9"\\\\\ M +9 &:]`\ M +9 &<]_\ M +10 &>hY_\ M +9 &@*Y`\ M +9 &A^`\ M +10 &Cf_\ N +9 &Ehv^\ O +10 &G!\\\ R +9 &H[\ V +9 &JY\ X +10 &LTT\ Y +9 &NT\ Y +9 &OZ\ Z +10 &QS\ Z +9 &SWX\ [ +10 &UV\ \\ +9 &VU\ \\ +9 &XV\ ] +10 &ZWY\ ] +9 &[xU\ A +9 &\\*X\ *| +10 &\\[\ W +2 ( + C'N& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open +2 M&l1 +58 h 1 +2 M&d% +4 h % ;  O Z + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&k' +92 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 4 into Processing Clamp +2 P%V& +3 h &\ +2 M&s% +3 h %    +2 A(E% +3 h % y y 6\ + A(h. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(](,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (Y& +3 h &,x w v M\  +2 E\ [Y + M&\\& +4 h &Ӓ( @] + M&n% +3 h %  d  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&L( +162 h ( + M&^& +4 h &  +2 A(f& +3 h &,x E\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&M' +93 h ' + A(g& +4 h &,x Z\  +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(m's +300 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (b& +2 h &,x  k A\  +2 M&=& +3 h & + .t\Elbow.seek 4 +2 M&( +3 h ( + M&a& +3 h & +2 A(x& +3 h &,x \  +2 .t\Forearm.seek 4 + 300 counts + M&|'c +31 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&~/ +75 h / +2 ."downElevator"\SE.seek :down +3 M&r& +2 A(' +6 h & + + M&j% +3 h % ω T +2 .t\Forearm.seek :retract +2 M&' +92 h ' + .t\Elbow.seek PC +2 M&u( +164 h ' + ."downElevator"\SE.coast + A(5 +103 h ( +2 M&H& +4 h & t  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &_& +3 h &  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&o' +101 h ' +2 P% & +3 h &\ +2 P% & +3 .t\PC.seek :closed +2 P%q(^ +2 h &\ +5 &\ 3 +9 &+E{\ 1 +10 &Rq\ E +9 &k\ P +9 &]\ O +10 &t[\ O +9 &6[\ O +10 &]\ P +9 &\\\ O +9 &|_\ O +10 &>[\ O +9 & ]\ P +9 &"[\ O +10 &$\\\ O +9 &&H\\\ O +10 &( ]\ O +9 &)]\ O +9 &+Y\ O +10 &-NZ\ O +9 &/[\ O +9 &0a\ O +10 &2\\\ O +9 &4W]w\ O +10 &6]z\ O +9 &7]u\ P +9 &9[v\ O +10 &;]\\u\ P +9 &= ]u\ O +9 &>av\ P +10 &@ct\ P +9 &Bbnv\ Q +10 &Dxw\ S +9 &Eu\ U +9 &Gy\ U +10 &I[}\ V +9 &K|\ V +9 &Lt\ V +10 &Nw\ V +9 &P_v\ W +10 &R"s\ W +9 &Sy\ X +9 &Uu\ V +10 &Wit\ V +9 &Y(z\ X +9 &Zt\ W +10 &\\y\ X +9 &^0e}v\ . +10 &^~|\ ? +8 ( +2 &^&w\ 5 + P% & +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 M&}1 +54 h 1 + M&% +4 h %  . } + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&v' +93 h ' + .t\SC.coast + A(6 +2 P%& +4 h &^&w\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&% +3 h %  \ "  +2 A(R% +3 h % U W\ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A((,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&e& +4 h & \   +2 .t\Elbow.reconfigure TightElbow +2 A(t& + M&$&.,(\ #b +5 h &,x R R /\  +2 .t\Elbow.seek PC +2 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 M&w( +5 h ( +3 ."raiseStack"\SE.seek beamBreak +2 M&[& +2 A($'s +3 h &   `  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +3 h &  L  + .t\Forearm.seek :PC +2 M&&' +92 h ' + .tHand.close + M&z/ +73 h / +2 .t\PC.seek :open +2 P%y( +90 h ' + A( - +3 h -'s + ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +3 ."raiseStack"\SE.seek :place +2 A('1 +46 h ' +310 ( + A(& +4 h &,x& @ @ /\  + M&+& +3 h & [  +2 M&/% +3 h %  : +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&2( +239 h ( + M&!& +4 h &   a * + A(& +4 h &,x& 0 0 /\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&'' +95 h ' + .tHand.open + M&1 +59 h 1 + A(\ - +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +41 A(' +32 h ' +2 .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(6' +58 h ' + #tLights, camera, ACTION! +2 A()- +2 h -' +2 A(,& +3 h &,x% \ z  +2 M&0& +3 h &  * +2 .t\Elbow.seek 4 + M& ( +3 h ( + M&3& +3 h &   _ * +2 A(%& +3 h &,x% \ z  +2 .t\Forearm.seek 4 + 450 counts +2 M&p' +13 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(#' +58 h ' +2 M&.& +3 h & z * +2 A((& +3 h &,x&  , R\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 +2 M&5'7 +21 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(1' +27 h ' +2 M&% +4 h %X  + A(8& +4 h &,x& $  #\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 333 counts + M&'τ +16 h ' +2 M&{& +4 h &  M * + A(& +4 h &,x& 2 ;\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 4 + 450 counts + M& ' +20 h ' +2 A(% +4 h % A ? \ +2 ."downElevator"\SE.seek :down +2 A(-' +99 (F% +3 h %bC   \ We + M&% +4 h % + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&>' +88 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'@& +3 h &\\W\ W +2 #t\Storing generic puck in Collection Clamp to tube 4 + M&?% +3 h %     +2 A(T% +3 h % v x 4\ +2 A(:. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A((,y +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (<& +2 h &,x u w *\  +2 M&C& +3 h & j * +2 .t\Elbow.seek 4 + M&7( +3 h ( + M&4& +4 h &  \ * + A(I& +3 h &,x r x I\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&A' +100 h ' +2 A(Q& +3 h &,x v v \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(G's +295 h ' + A(X- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&J& +2 h &  * +2 A(;& +3 h &,x S R\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&U'7 +15 h ' + .t\Elbow.hold +2 M&D, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(- + h -' +2 .t\SE.seek 0.17 +2 A(`'w +31 h ' + M&c% +4 h %O  + A("& +4 h &,x z w \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 324 counts +2 M&'{ +16 h ' + M&W& +4 h & / ) +2 A(K& +3 h &,x w \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&O' +18 h ' +2 .t\SE.seek 1.17 + A(S' +41 h ' +2 M&*& +3 h & ) +2 M&l% +4 h % + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&d' +88 h ' +2 .t\Elbow.seek CC + M&V(ӂ +154 h ( + M&s& +4 h &ӏ)  Ad + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &E& +3 h &ӏ( ( Ad +2 .t\Forearm.seek :CC + M&h'? +92 h ' + .tHand.close + M&Y/ +71 h / + .t\CC.seek :open +2 C'N( +451 h ( +3 A(\\& +4 h &,x 1\  + A(n& +3 h &,x r\  +2 M&Z& +3 h &ӑ) { Ab + M&^% +3 h % <  z U +2 .t\Forearm.seek :retract +2 M&f' +94 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&9( +165 h ( + M&g& +4 h &  \\  + A(P& +4 h &,x A\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 4 +2 M&k'7 +94 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&b1 +58 h 1 + M&=% +4 h % O P 7 + A(a& +4 h &,x 1\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 324 counts +2 M&x'{ +14 h ' +4 M&~& +4 h &  +2 A(r& +3 h &,x \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&j' +19 h ' +2 A(L% +3 h % \ \ +3 ."downElevator"\SE.seek :down +2 A(M' +99 (m% +3 h %> \ V_ + M&|% +3 h % # +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&H' +91 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp + C'_& +4 h &m\ +2 M&% +4 h %   + A( % +3 h % \ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A((<- +349 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (B& +3 h &<* \  + M&}& +3 h &  +2 .t\Elbow.seek 5 + M&( +8 h ( + M&& +4 h &  + A(& +4 h &<* H\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&R'O +97 h ' + A(& +4 h &<* 1\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(e's +298 h ' + A( - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (t& +2 h &<* o\  +2 M&[& +3 h &  + .t\Elbow.seek 5 +2 M&( +2 h ( +2 M&o& +3 h &   + A(z& +4 h &<* \  +2 .t\Forearm.seek 5 + 300 counts + M&]'Ϲ +18 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +66 h / +2 ."downElevator"\SE.seek :down +2 M&u& +6 A(v' +2 h &  +2 M&q% +3 h % ϻ +2 .t\Forearm.seek :retract +2 M&$' +91 h ' + .t\Elbow.seek CC +2 M&(ӂ +160 h ( + ' +2 ."downElevator"\SE.coast + A(5 +5 M&+& +4 h &Ӌ,   3 Ct + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &/& +2 h &Ӌ+ n Ct +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&&'? +91 h ' + C'!& +4 h &q\ +2 C'& +3 .t\CC.seek :closed +2 C'w(\\ +2 h &e\ +3 &c\  +9 &1zi\ *x +9 &dl\ > +10 &svi\ N +9 &7Wl\ M +9 &\\l\ L +10 &Yo\ M +9 &~Wn\ L +9 &@Yn\ L +10 &^p\ M +9 &\\j\ L +10 & Xm\ L +9 &"IYn\ L +9 &$\ \\l\ L +10 &%Wn\ L +9 &'Xn\ L +9 &)P\\i\ L +10 &+\\m\ M +9 &,Zf\ M +10 &.Zi\ M +9 &0XWk\ L +9 &2]e\ M +10 &3[c\ M +9 &5Vb\ L +9 &7`Z`\ L +10 &9!Y\\\ M +9 &:\\Y\ L +10 &<Xb\ L +9 &>hZb\ L +9 &@)]`\ M +10 &A_a\ M +9 &Ce[\ N +9 &Edz_\ P +10 &G_\ S +9 &H`\ W +10 &JY\ X +9 &LTW\ X +9 &N\\\ Y +10 &O\\\ Z +9 &Q^\ Z +9 &SUX\ [\ +10 &UW\ [ +9 &V]\ \\ +10 &X]\ ] +9 &ZUZ\ ^ +9 &[xW\ @ +10 &\\%Y\ 0 +9 &\\zY\ X +2 ( + C'& +2 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 +2 .Hand.open + M&1 +52 h 1 + M&\ % +4 h % ?  z + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%)& +3 h &\ +2 M&,% +3 h %   I  +2 A(0% +3 h % y x 0\ + A(3. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(%(<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (.& +3 h &<* w x 9\  +2 M&(& +3 h &Ӥ' J @[ +2 M&% +3 h %   %  +41 .t\Elbow.reconfigure TightElbow +11 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&( +166 h ( + M&8& +4 h &  #  +2 A({& +3 h &<* S\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&'O +102 h ' + A(& +4 h &<* 3\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +295 h ' + A(2- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 ('& +2 h &<* v u %\  +2 M&6& +3 h &  C  +2 .t\Elbow.seek 5 + M&F( +3 h ( + M&& +3 h &   M  +2 A(p& +3 h &<* C\  +2 .t\Forearm.seek 5 + 300 counts +2 M& 'Ϲ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&#/ +69 h / +2 ."downElevator"\SE.seek :down +2 M&5& +4 A(' +5 h &  "  +2 M&@% +3 h % ϶ t +2 .t\Forearm.seek :retract +2 M&?' +89 h ' +2 .t\Elbow.seek PC + M&T( +170 h ' + ."downElevator"\SE.coast + A(5 +67 h ( + M&:& +4 h &  $ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &1& +2 h & $ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&<' +96 h ' + P%C& +4 h &\ +2 P%4& +3 .t\PC.seek :closed +2 P%I(^ +2 h &>\ +4 &A\ 2 +9 &6E|\ 1 +10 &^qu\ E +9 &i|\ P +9 &Z\ O +10 &[\ O +9 &C\\\ O +10 &[\ P +9 &[\ O +9 &^\ O +10 &KZ\ O +9 &! \\\ P +9 &"Y\ O +10 &$Z\ O +9 &&U[\ O +10 &(]\ O +9 &)Z\ O +9 &+Z\ O +10 &-\\[\ O +9 &/]\ O +9 &0\\\ O +10 &2Y\ O +9 &4c[\ O +10 &6%[}\ O +9 &7\\\ P +9 &9Z\ O +10 &;k_\ O +9 &=-]\ O +9 &>[\ O +10 &@\\\ P +9 &Bpjz\ P +10 &D-r\ R +9 &E\ T +9 &G\ U +10 &Ih}\ V +9 &K*z\ V +9 &Lv\ V +10 &Nr\ V +9 &Pnu\ V +10 &R0y\ V +9 &St\ W +9 &Us\ V +10 &Wvt\ V +9 &Y6s\ W +9 &Zv\ W +10 &\\r\ X +9 &^3ck\ , +10 &^zs\ = +8 ( +2 &^&v\ 5 + P%4& +4 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 .Hand.open +2 M& 1 +54 h 1 + M&Q% +4 h %  X ) + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&-' +93 h ' + .t\SC.coast + A(6 +3 P%& +3 h &^&w\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + M&% +3 h %     +2 A(>% +3 h % K S W\ +2 A(X. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(J(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +4 M&;& + A(& +5 h & \  B $ + &<* S Y \  +2 ."raiseStack"\SE.reconfigure SEplace +3 .t\Elbow.reconfigure TightElbow +3 M&$&.,(\ #b +2 A(#]kK-0-\ b +3 .t\Elbow.seek PC +2 M&c( +3 h ( +2 M&"& +3 ."raiseStack"\SE.seek beamBreak +2 A(W's +2 h &   $ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &K& +3 h & \  $ + .t\Forearm.seek :PC +2 M&*' +93 h ' + .tHand.close + M&l/ +72 h / +2 .t\PC.seek :open + P%A( +90 h ' + A(7- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(G'1 +41 h ' +315 ( + A(U& +4 h &<* y !\  + M&& +4 h & $ + M&`% +3 h %  6 +2 .t\Forearm.seek :retract + M&s' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&E( +244 h ( + M&O& +4 h &  K + + A(D& +4 h &<* u \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&Y'O +96 h ' + .tHand.open + M&d1 +64 h 1 + A(i- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(\\' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(n' +51 h ' + #tLights, camera, ACTION! +2 A(Z- +3 h -' + A(^& +3 h &<* ,\  +2 M&g& +3 h & \ ' + +2 .t\Elbow.seek 5 + M&P( +4 h ( + M&h& +4 h &   9 + +2 A(V& +3 h &<* \  +2 .t\Forearm.seek 5 + 450 counts +2 M&b'O +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(=' +52 h ' + M&a& +4 h & + +2 A(~& +3 h &<* W i D\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 5 +2 M&r'΍ +14 h ' + .t\Elbow.hold +2 M&L, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(f' +21 h ' +2 M&m% +3 h %Σ 3 +2 A(|& +3 h &<* y 8\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 322 counts +2 M&9' +13 h ' +2 M&k& +4 h &  $ ( + A(_& +4 h &<* o o J\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&x'O +19 h ' +3 A(% +4 h % } p \ +2 ."downElevator"\SE.seek :down +2 A( ' +99 (% +3 h %SB P T \ We + M&S% +4 h %\\ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&j' +89 h ' +69 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'M& +4 h &\\u`\ X + #t\Storing generic puck in Collection Clamp to tube 5 +2 M&% +3 h %   f  + A(B% +4 h % B\ +2 A(}. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A((<- +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<* q r )\  + M&& +4 h & ( + .t\Elbow.seek 5 +2 M&( +9 h ( + M&H& +4 h & N  +2 A( & +3 h &<* { p 5\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&t'O +102 h ' + A([& +4 h &<* \  +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(o's +295 h ' + A(z- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M& & +2 h &  +2 A(u& +3 h &<* w s (\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 + M&q'΍ +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(R- +2 h -' +2 .t\SE.seek 0.15 + A(+'i +30 h ' + M&/% +4 h %Μ 5 + A(e& +4 h &<* z z L\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 315 counts +2 M&]' +13 h ' + M&!& +4 h & s  +2 A(& +3 h &<* j \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&v'O +18 h ' +2 .t\SE.seek 1.15 +40 A($' +50 h ' +2 M&N& +3 h & L  +2 M&% +3 h %: a +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&\ ' +87 h ' +2 .t\Elbow.seek CC + M&)(ӂ +153 h ( +2 M&,& +3 h &Ӎ(   Ae +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &0& +3 h &Ӎ)  8 Ae + .t\Forearm.seek :CC +2 M&3'? +93 h ' + .tHand.close + M&./ +73 h / + .t\CC.seek :open +2 C'( +451 h ( + A((& +4 h &<* v\  + A(& +4 h &<* Z\  + M&&& +3 h &ӫ$ t =G +2 M&8% +3 h % ? , +2 .t\Forearm.seek :retract + M&{' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&( +163 h ( + M&& +4 h & p  +2 A(& +3 h &<* '\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 5 +2 M&'΍ +95 h ' +2 .t\Elbow.hold +2 M&2, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&'1 +62 h 1 + M&6% +4 h % · M / +2 A(& +3 h &<* o\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 294 counts +2 M&p'ϳ +13 h ' + M&#& +4 h &   +2 A(5& +3 h &<* \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&@'O +18 h ' +2 A(% +3 h % z\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %D j\ V` + M& % +4 h %> " + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&:' +86 h ' +60 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp + C'1& +4 h &l\ +2 M&F% +3 h %   +2 A(C% +3 h % \ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(?(K +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (y& +3 h &K" \  + M& & +3 h &  i  +2 .t\Elbow.seek 6 +2 M&Q( +9 h ( + M&& +4 h &   + A(& +4 h &K" \ \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&>' +96 h ' + A(X& +4 h &K" \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(4's +298 h ' + A(;- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (& +2 h &K! \  +2 M&"& +3 h &   +2 .t\Elbow.seek 6 + M&K( +3 h ( + M&<& +4 h &   + A(l& +3 h &K! G\  +2 .t\Forearm.seek 6 + 300 counts +2 M&%'h +31 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&7/ +66 h / +2 ."downElevator"\SE.seek :down +3 M&T& +5 A(-' +2 h &  +2 M&I% +3 h % Ϛ ^ +2 .t\Forearm.seek :retract +2 M&W' +87 h ' + .t\Elbow.seek CC +2 M&U(ӂ +155 h ( + M&& +4 h &{1    G + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &`& +2 h &{1  G + ' +2 ."downElevator"\SE.coast + A(5 +2 .t\Forearm.reconfigure TightForearm +4 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&*'? +93 h ' + C'O& +4 h &l\ +2 C'D& +3 .t\CC.seek :closed +2 C'c(\\ +2 h &b\ +5 &l\ 7 +10 &9Ixl\ 0 +9 &fsl\ E +9 &]k\ M +10 &Un\ L +9 &Zl\ M +9 &V\\l\ L +10 &[m\ L +9 &Zj\ L +10 &\\k\ L +9 &^\\k\ L +9 &! Zj\ L +10 &"Zl\ M +9 &$Yg\ M +9 &&fY`\ L +10 &((Wk\ L +9 &)U`\ L +10 &+[[\ L +9 &-mY_\ M +9 &/0YW\ L +10 &0UW\ L +9 &2Z_\ L +9 &4v[_\ L +10 &67Z_\ M +9 &7Z`\ M +10 &9U_\ L +9 &;}YY\ M +9 &=?Z_\ M +10 &?Z`\ M +9 &@Y_\ M +9 &B`a\ M +10 &DDh^\ N +9 &E{_\ P +10 &Gb\ T +9 &Io_\ W +9 &K-_\ X +10 &L]\ X +9 &N`\ X +9 &Po^\ Z +10 &R0\\\ Z +9 &S^\ [\ +10 &UU\ [\ +9 &Wo^\ \\ +9 &Y/X\ ] +10 &Z_\ ^ +9 &\\TT^\ 4 +9 &\\W\ !d +9 ( +2 &\\S\ _ + C'D& +4 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.15 + .Hand.open + M&d1 +59 h 1 + M&i% +4 h % <  c + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&Z' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 6 into Processing Clamp +2 P%^& +3 h &i\ +2 M&g% +3 h %   ^  +2 A(h% +3 h % W U P\ + A(V. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(s(K +6 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (a& +2 h &K V U <\  +2 M&~& +3 h &Ӫ' \ J @^ +2 M&m% +3 h %   $  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&|( +165 h ( + M&k& +4 h &   +2 A(_& +3 h &K t @\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&G' +93 h ' + A(& +4 h &K { #\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(\\'s +296 h ' + A(E- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (Y& +2 h &K U T W\  +2 M&n& +3 h &   + .t\Elbow.seek 6 +2 M&( +4 h ( +2 M&S& +3 h &   +2 A(b& +3 h &K y y k\  +2 .t\Forearm.seek 6 + 300 counts +2 M&P'h +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&=/ +77 h / +2 ."downElevator"\SE.seek :down +3 M&r& +3 A(9' +5 h & E  +2 M&M% +3 h % j U +2 .t\Forearm.seek :retract + M&' +92 h ' + .t\Elbow.seek PC +2 M&B( +165 h ' + ."downElevator"\SE.coast + A(5 +73 h ( + M&}& +4 h &  5 - + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &f& +3 h & \  - + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +101 h ' + P%& +4 h &\ +2 P%H& +3 .t\PC.seek :closed + P% (^ +3 h &j\ +2 &e\ \ +10 &.wk\ +z +9 &cl\ ? +9 &ixm\ P +10 &-Wn\ O +9 &Zm\ O +9 &Ze\ P +10 &pZi\ P +9 &3\\l\ O +10 &]i\ P +9 &Yl\ O +9 & yWn\ O +10 &":Xm\ P +9 &#Yl\ O +9 &%Um\ O +10 &'Zm\ O +9 &)CWl\ O +10 &+Vn\ O +9 &,[o\ O +9 &.Zm\ P +10 &0KYl\ O +9 &2 Yl\ O +9 &3Zm\ O +10 &5[j\ P +9 &7SWl\ O +10 &9Wl\ P +9 &:\\f\ P +9 &<Xc\ P +10 &>Z]c\ P +9 &@]k\ P +9 &Afn\ Q +10 &Cud\ S +9 &ET^\ U +10 &Gj\ V +9 &He\ V +9 &Jc\ V +10 &LVf\ W +9 &N^\ W +9 &O]\ W +10 &Qj\ X +9 &SZ^\ X +10 &U^\ X +9 &VZ\ W +9 &XY\ W +10 &ZdX\ W +9 &\\%X\ X +9 &]\\\ ; +10 &^/Y\ Y +9 &^(Y\ 4 +2 ( + P%H& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 M&x1 +61 h 1 + M&[% +51 h %  U  +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +94 h ' + .t\SC.coast + A(6 +2 P%J& +4 h &^&e\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&L% +3 h %  \   +2 A(j% +3 h % U V g\ + A(z. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A( (K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (u& +3 h &K $ 0\  +2 M&R& + ."raiseStack"\SE.reconfigure SEplace +6 A(#]kK-0-\ b +2 h & 6 - +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&/( +2 h ( +2 M&e& +3 ."raiseStack"\SE.seek beamBreak + A(!'s +3 h &  D - + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h & 2 - +2 .t\Forearm.seek :PC +2 M&N' +92 h ' + .tHand.close + M&/ +76 h / +2 .t\PC.seek :open +2 P%t( +88 h ' + A(- +3 h -'s +2 ."raiseStack"\SE.configure SEconfig +2 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(o'1 +41 h ' +320 ( + A(q& +4 h &K w y 7\  + M&]& +4 h & - + M&+% +3 h %  : +2 .t\Forearm.seek :retract +2 M&,' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&0( +245 h ( + M&v& +4 h & G  +2 A(& +3 h &K U S )\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&.' +92 h ' + .tHand.open + M&\ 1 +64 h 1 + A(w- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A((' +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +55 h ' +2 #tLights, camera, ACTION! +2 A(&- +3 h -' + A(8& +3 h &K y J\  +2 M&& +3 h & /  +2 .t\Elbow.seek 6 + M&( +10 h ( + M&3& +4 h &     +2 A()& +3 h &K \  +2 .t\Forearm.seek 6 + 450 counts +2 M&'' +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +3 .t\SE.seek -0.52 + A(6' +54 h ' +2 M&& +3 h &  )  +2 A(#& +3 h &K T Y *\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 6 +2 M&5'< +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A({' +19 h ' +2 M&% +4 h %j  \\ + A( & +3 h &K ` V\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 346 counts +2 M&'ϖ +15 h ' +2 M&& +4 h & Q  + A(1& +4 h &K U S G\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 6 + 450 counts + M&p' +16 h ' +2 A(F% +3 h % V [ \ +3 ."downElevator"\SE.seek :down +2 A(C' +99 (% +3 h %F 3 2\ Wf + M&$% +4 h % i + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&@' +89 h ' +71 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'& +4 h &\\^\ _ + #t\Storing generic puck in Collection Clamp to tube 6 +2 M&% +3 h %   +2 A(y% +3 h % w x [\ +2 A( . +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A((K +7 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K w x ,\  +2 M&X& +3 h &  +2 .t\Elbow.seek 6 + M&2( +9 h ( + M&:& +4 h & : +2 A(;& +3 h &K w u 9\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +97 h ' + A("& +4 h &K p v +\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(<'s +300 h ' + A(l- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&7& +2 h &  + A(T& +3 h &K u x \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 6 + M&I'< +15 h ' + .t\Elbow.hold +2 M&Q, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(>- +2 h -' +2 .t\SE.seek 0.17 + A('r +29 h ' + M&`% +4 h %^ U + A(4& +4 h &K S Y\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 334 counts +2 M&%'ϊ +16 h ' + M&O& +4 h &  1 +2 A(K& +3 h &K j V V\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&-' +15 h ' +2 .t\SE.seek 1.17 +2 A(W' +40 h ' +2 M&& +3 h & o +2 M&d% +3 h % w +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&i' +88 h ' +2 .t\Elbow.seek CC + M&^(ӂ +151 h ( + M&g& +4 h &z0  s F + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &h& +3 h &z0  F + .t\Forearm.seek :CC +2 M&V'? +92 h ' +2 .tHand.close + M&D/ +74 h / + .t\CC.seek :open +2 C'a( +448 h ( +2 A(~& +3 h &K \  +2 A(m& +3 h &K \  + M&*& +4 h &Ӥ' @[ + M&k% +3 h % @  ; W +2 .t\Forearm.seek :retract + M&_' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&?( +165 h ( + M&& +4 h & q  + A(U& +4 h &K \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&Z'< +95 h ' + .t\Elbow.hold +2 M&E, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&Y1 +65 h 1 + M&n% +4 h % V   = + A(S& +4 h &K 8\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 326 counts + M&b'ς +16 h ' +2 M&=& +3 h &    +2 A(r& +3 h &K S\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&M' +16 h ' +3 A(|% +7 h % T\ +3 ."downElevator"\SE.seek :down +2 A(G' +99 (\\% +3 h %D \ Vb + M&P% +4 h % 8 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&}' +88 h ' +61 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp + C'f& +49 h &\\\ +3 M&% +4 h %   + A(% +4 h % \ + A(9. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(([ +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (A& +3 h &[& \  + M&x& +4 h &  Z  + .t\Elbow.seek 7 +2 M&[(r +13 h ( + M&H& +4 h &w \  G  +2 A(J& +3 h &[ .\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&L'= +97 h ' + A(j& +4 h &[ ?\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(z's +297 h ' + A(u- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (R& +2 h &[ \  +2 M&e& +3 h &w M  +2 .t\Elbow.seek 7 + M&(r +4 h ( + M&& +4 h &w 0  + A(& +4 h &[ K\  + .t\Forearm.seek 7 + 300 counts +2 M&s'ϧ +17 h ' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +66 h / +2 ."downElevator"\SE.seek :down +3 M&B& +3 A( ' +5 h &w  +2 M& % +3 h % Ϩ n +2 .t\Forearm.seek :retract +2 M&!' +87 h ' + .t\Elbow.seek CC +2 M&q(ӂ +162 h ( +2 M&]& +4 h ' + &Ӛ"  \\ ;8 + .t\Elbow.reconfigure LooseElbow +2 ."downElevator"\SE.coast + A(5 +4 M&$ &.,(#b +2 &+& +2 h &Ӛ"  ;8 +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&N'? +92 h ' +2 C'v& +3 h &n\ +2 C'& +3 .t\CC.seek :closed +2 C'/(\\ +3 h &f\ + &l\  +10 &4~m\ +| +9 & gn\ ? +10 &sm\ M +9 &XYm\ L +9 &Wi\ L +10 &Yj\ L +9 &Xc\ L +9 &bWa\ L +10 &#Z]\ L +9 &Xc\ L +9 & YY\ L +10 &"i[U\ L +9 &$,Xa\ L +10 &%V_\ L +9 &'XY\ L +9 &)rY_\ L +10 &+3W^\ L +9 &,Y`\ L +9 &.Y_\ L +10 &0y\\`\ L +9 &2<X]\ L +10 &3Y_\ L +9 &5WY\ L +9 &7ZV\ L +10 &9CYU\ L +9 &;YU\ L +9 &<YW\ L +10 &>ZV\ L +9 &@LYR\ L +10 &B\\T\ L +9 &CcU\ M +9 &EqS\ O +10 &GDP\ Q +9 &HS\ T +9 &JR\ X +10 &LwW\ X +9 &N8S\ X +10 &OS\ Y +9 &QP\ Y +9 &SxQ\ Z +10 &U8I\ [ +9 &VO\ [\ +10 &XR\ \\ +9 &ZwE\ ] +9 &\\yF\ 1 +10 &\\-J\ $m +8 ( +2 &\\nI\ U + C'& +4 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open + M&\ 1 +56 h 1 + M&w% +4 h % <  @ p + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&&' +94 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 P%8& +3 h &Y\ +2 M&% +3 h %   +2 A(3% +3 h % p o \ + A(). +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(,([ +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[ J\  +2 M&#& +3 h &Ӛ"  \ 5 ;8 +2 M&% +3 h %  \  ]  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 + M& (r +163 h ( + M&o& +4 h &t   +2 A(& +3 h &[ G\ \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&1'= +95 h ' + A((& +4 h &[ [\ \ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(F's +297 h ' + A(0- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (.& +2 h &[ c r b\ \ +2 M&& +3 h &t G  + .t\Elbow.seek 7 +2 M&(r +4 h ( + M&$& +4 h &t     + A('& +3 h &[ '\ \ +2 .t\Forearm.seek 7 + 300 counts +2 M&'ϧ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&6/ +77 h / +2 ."downElevator"\SE.seek :down +2 M&5& +3 A(' +5 h &t H  +2 M&% +4 h % ϡ  + .t\Forearm.seek :retract +2 M&' +88 h ' + .t\Elbow.seek PC +2 M&y( +169 h ' + ."downElevator"\SE.coast + A(5 +70 h ( + M& & +4 h & g \ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &{& +3 h & J \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +95 h ' + P%X& +4 h &\ +2 P%:& +3 .t\PC.seek :closed +2 P%;(^ +3 h &k\ +4 &l\ 1 +9 &3Gk\ 1 +10 &\\qq\ E +9 &gm\ O +9 &Yk\ O +10 &Z_\ N +9 &CZn\ O +10 &Zl\ N +9 &Zf\ O +9 &Z^\ O +10 &KYc\ O +9 &! Yh\ O +9 &"Wi\ O +10 &$X]\ N +9 &&R\\]\ O +10 &(ZZ\ O +9 &)\\Z\ O +9 &+YY\ N +10 &-[Y[\ O +9 &/[d\ O +9 &0]a\ O +10 &2Z]\ O +9 &4cY^\ O +10 &6&ZY\ N +9 &7Z^\ O +9 &9Y\\\ O +10 &;i\\b\ O +9 &=+Zb\ O +9 &>Yc\ O +10 &@^`\ P +9 &Blnb\ Q +10 &D*xi\ R +9 &Eg\ V +9 &Gk\ U +10 &Ihh\ U +9 &K(d\ V +9 &Lf\ V +10 &Nd\ W +9 &Pkb\ W +10 &R-c\ W +9 &Sc\ W +9 &Uj\ V +10 &Wsf\ W +9 &Y4e\ W +9 &Zc\ W +10 &\\e\ X +9 &^2ck\ , +10 &^ta\ < +8 ( +2 &^)d\ 6 + P%:& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open +2 M&p1 +54 h 1 + M&"% +4 h %  P 7 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&C' +93 h ' + .t\SC.coast + A(6 +3 P% & +3 h &^)e\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + M&% +3 h %  \  +2 A(@% +3 h % V U\ + A(l. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(7([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (T& + M&>& +4 h &[ S K \  +4 ."raiseStack"\SE.reconfigure SEplace +2 A(#]kK-0-\ b +2 h &  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC +2 M&`( +3 ."raiseStack"\SE.seek beamBreak + h ( +2 A(4's +2 M&O& +5 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &K& +2 h & +2 .t\Forearm.seek :PC +2 M&' +91 h ' + .tHand.close + M&d/ +68 h / + .t\PC.seek :open +2 P%( +95 h ' + A(2- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(<'1 +44 h ' +308 ( + A(I& +4 h &[ v o I\  + M&%& +3 h &  +2 M&% +3 h %  9 * +2 .t\Forearm.seek :retract + M&g' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&h(r +265 h ( + M&-& +4 h &{ @  + A(Q& +4 h &[ s l \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&D'= +97 h ' + .tHand.open + M&i1 +56 h 1 + A(c- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(~' +22 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(m' +54 h ' + #tLights, camera, ACTION! +2 A(*- +2 h -' +2 A(k& +3 h &[ z  L\  +2 M&& +3 h &{ \   +48 .t\Elbow.seek 7 +3 M&U(r +3 h ( + M&V& +4 h &{   ?  + A(^& +4 h &[ \  +2 .t\Forearm.seek 7 + 450 counts +2 M&Y'= +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(n' +57 h ' +2 M&S& +3 h &{ e  +2 A(=& +3 h &[ p j y\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 7 +2 M&r'{ +16 h ' + .t\Elbow.hold +2 M&|, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 +2 A(_' +27 h ' +2 M&\\% +4 h %Σ O +2 A(P& +3 h &[ \  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 7 + 340 counts + M&?' +15 h ' +2 M&Z& +4 h &~  L  + A(f& +4 h &[ @\  + .t\Forearm.reconfigure TightForearm +3 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&b'= +17 h ' +2 A(W% +4 h % \ +2 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %sH x w T\ Wf + M&9% +4 h %D  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&M' +90 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'G& +4 h &\\m]\ U + #t\Storing generic puck in Collection Clamp to tube 7 +2 M&% +3 h %     +2 A(A% +3 h % Q\ +2 A(x. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +3 .t\SC.seek 7 + A(H([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (J& +3 h &[ | 3\  + M&j& +4 h &~ =  + .t\Elbow.seek 7 +2 M&E(r +8 h ( + M&}& +4 h &t  J  +2 A(u& +3 h &[ [\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&R'= +99 h ' +3 A(e& +3 h &[ i\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +295 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h &t    +2 A(B& +3 h &[  +\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M& '{ +14 h ' + .t\Elbow.hold +2 M&[, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(L- +2 h -' +2 .t\SE.seek 0.17 + A(]'u +31 h ' + M&+% +4 h %Ω  2  + A(z& +4 h &[ p p G\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 346 counts +2 M&s' +14 h ' + M&v& +4 h &w  /  +2 A(& +3 h &[ G\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M& '= +16 h ' +2 .t\SE.seek 1.17 + A(!' +49 h ' +2 M&a& +4 h &w    +2 M&\ % +3 h %D +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&w' +88 h ' +2 .t\Elbow.seek CC + M&8(ӂ +157 h ( + M&& +4 h &ӎ)  a Ab + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &3& +3 h &ӎ)  \\ Ab + .t\Forearm.seek :CC +2 M&)'? +91 h ' + .tHand.close + M&/ +71 h / + .t\CC.seek :open +2 C'( +448 h ( + A(#& +4 h &[ >\  + A(& +4 h &[ K\  + M&N& +3 h &ӏ)  Q Aa +2 M&o% +3 h % R D f +2 .t\Forearm.seek :retract +2 M&' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&(r +183 h ( + M&(& +4 h &h ? +2 A(q& +3 h &[ '\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 7 +2 M&&'{ +100 h ' +2 .t\Elbow.hold +2 M&0, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&.1 +55 h 1 + M&% +4 h % t   + A($& +4 h &[ \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 293 counts +2 M&''Ϡ +13 h ' + M&6& +4 h & &  +2 A(5& +3 h &[ y\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +18 h ' +2 A( % +3 h % \ +3 ."downElevator"\SE.seek :down +2 A(1' +99 (F% +3 h %F> \ Va + M&% +3 h %' +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +92 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +29031 E\ <9 +60003 \ <9 +60002 \ ;9 +60003 \ <9 +60002 \ ;9 +60003 \ ;9 +60003 \ <9 +60002 \ <9 +60003 \ <9 +60002 \ <9 +60003 \ <9 +60002 \ <9 +60003 \ <: +60002 \ <9 +60003 \ <9 +60003 \ <9 +60002 \ <9 +60003 \ <: +60002 \ <9 +60003 \ <9 +60002 \ \ <9 +60003  \ <9 +60002 \ <: +60003 \ <9 +60002 \ <9 +60003 \ <9 +60003 \ <9 +60002 \ <9 +60003 \ <9 +60002 \ <: +60003 \ <9 +60002 \ <: +60003 \ <9 +60002 \ <9 +60003 \ =9 +60003 \ <9 +60002 \ =9 +60003 \ =9 +60002 \ <: +60003 \ <9 +60002 \ <7 +60003 \ <9 +60002 \ <9\ +60003 \ <9 +60003 \ <: +60002 \ <9 +60003 \ <9 +60002 \ <9 +36384 !to:SignalException :\ signoi:bt["1/home/esp/esp2/lib/threads.rb:711:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:@timestampu: Time A;: mesg" SIGHUP + !o:Errno::EIO:bt["7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi\ : mesg"Input/output error +4 #m\EXIT @1610077554.94EST @1610387077.49EST = @EST1610387079.76 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@28615 sendCRC with ifg=0x20, ie=0x7F + #@29061 sendCRC with ifg=0x20, ie=0x7F + #@30376 sendCRC with ifg=0x20, ie=0x7F #@31742 sendCRC with ifg=0x08, ie=0x5F + #@59287 sendCRC with ifg=0x20, ie=0x7F + #@59734 sendCRC with ifg=0x20, ie=0x7F #@61049 sendCRC with ifg=0x20, ie=0x7F + #@62415 sendCRC with ifg=0x08, ie=0x5F #@4567 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =ECan =hcore =FMFB =Mmanipulator =tMAIN =Pprocessing =mMAIN_scheduler =Astorage =Ssampler =Ccollection +383 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +321 !o:Instrument::ISUSCore: @refiԪ6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 EL\ ?< +4 L\ ?< + S) +2 ) +2 h  + C' +2 ' +3 h  + P% +2 % +2 h  +4 C' 9\ +2 ' 0\ +2 ' -\ +3 P% 9\ + % 2\ +2 % *\ +2 % 0\ +3 S)&\ + .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X ESP.ready? +2 C'& +3 h &\ +2 C'% +3 h %e\ + S)% +3 h % Y\ +2 M& % +3 h %  ) + M&\ & +4 h & + A( & +3 h &[\ \  \ +2 A( % +3 h %\ \  \ + P% & +3 h & \ + P%% +3 h %ػ\ +1113 #t-> access 2 +9 .\SE.seek :down +2 A(' +3 h ' + M&% +4 h %  ) +2 M&& +3 h &  +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A((K +354 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& +2 h &K \ +208 #t-> exit +4 #m\EXIT @1610387113.08EST @1610423410.72EST = @EST1610423412.91 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@37793 receive with ifg=0x10, ie=0xFD + #@38431 receive with ifg=0x10, ie=0xFD #@39088 receive with ifg=0x10, ie=0xFD + #@39723 receive with ifg=0x10, ie=0xFD + #@40358 receive with ifg=0x10, ie=0xFD #@40992 receive with ifg=0x10, ie=0xFD + #@41625 receive with ifg=0x10, ie=0xFD #@41951 receive with ifg=0x80, ie=0xFD + #@41327 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 =ECan =hcore =FMFB =Mmanipulator =tMAIN =Pprocessing =mMAIN_scheduler =Astorage =Ssampler =Ccollection +385 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +318 !o:Instrument::ISUSCore: @refi 6 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +2 .\Sleepy.power :raw,:ON +2 E[\ 85 +4 [\ 85 + S) +2 ) +2 h  + C' +2 ' +3 h  + P% +2 % +2 h  +4 C' 9\ + ' 0\ +2 ' -\ +4 P% 9\ +2 % 2\ + % *\ +2 % 0\ +3 S)&\ +2 .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X pucks +340 #-> Puck.count + !o:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Hand must first be opened! +612 #-> ESP.ready! +2 P%& + C'& +4 h &k\ +3 P%% +6 h &2\ + %ػl\ +2 C' % +3 h %e6\ + S)\ % +3 h %MK _\ +2 M& % +3 h %  J + M& & +3 h & U +2 A( & +3 h &K\ \  \ + A(% +3 h %\ \  \ +2 C' +2 h  +2 C' +2 h  +2 C' +2 h  +2 P% +2 h  +2 P% +2 h V +2 P% +2 h  +2 P% +2 h  +2 S) +2 h  +2 S)% +3 h %ML _\ +2 C'& +3 h &*\ +2 C'% +3 h %e2\ + P%& +3 h &\ +2 P%% +3 h %ػl\ +2 M&% +3 h %  K + M&& +3 h & F +2 A(& +3 h &K\ \  \ +2 A(% +3 h %\ \  \ + C' 9 +3 h 9 +2 P%!9 +2 h 9 +384 #t-> Puck.count + !o:Puck::Error:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg"Hand must first be opened! +285 #-> Hand.open + .Hand.open + M&"1 +16 h 1 +258 #t-> Puck.count +2 A(#% +2 h %\ \  H\ +2 .t\SE.seek :down +2 A($' +2 h ' + .t\SE.coast + A(5 +2 M&%% +3 h %  " +2 .t\SC.coast A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(&(C +1611 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ('& +3 h &F 9\ + M&(& +3 h & ? +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 + M&)( +3 h ( + M&*& +4 h & Z  + A(+& +4 h &F M\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts + M&,' +97 h ' + A(-& +4 h &F \ + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(.'s +273 h ' + A(/- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (0% +2 h %} /\ +2 ."downElevator"\SE.seek :down +2 A(1' +100 (2% +3 h %sD \ Vc +2 M&3% +3 h % B + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&4' +91 h ' +81 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(5(  +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (6& +3 h &  8\  + M&7& +3 h &   +2 .t\Elbow.seek 2 + M&8( +4 h ( + M&9& +4 h &   +2 A(:& +3 h &  \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&;'S +99 h ' + A(<& +4 h &  $\  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(='s +326 h ' + A(>- +3 h -'V + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (?% +2 h % W \ +2 ."downElevator"\SE.seek :down +2 A(@' +100 (A% +2 h %= <\ V` +2 M&B% +3 h %S A + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&C' +89 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(D( +348 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (E& +2 h & \  +2 M&F& +3 h &   + .t\Elbow.seek 3 +2 M&G( +53 h ( + M&H& +4 h &  . + A(I& +3 h & \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&J'7 +100 h ' + A(K& +4 h & W\  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(L's +320 h ' +2 A(M- +3 h -'W + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (N% +3 h % ^ *\ +2 ."downElevator"\SE.seek :down +2 A(O' +100 (P% +2 h %< \\\ V_ +2 M&Q% +3 h %$ R + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&R' +92 h ' +49 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 +2 A(S(,y +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (T& +3 h &,x \  + M&U& +3 h & ^ . +2 .t\Elbow.seek 4 + M&V( +29 h ( + M&W& +4 h & E + A(X& +3 h &,x \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&Y' +97 h ' + A(Z& +4 h &,x x\  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(['s +320 h ' + A(\\- +3 h -'^ + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (]% +3 h % e 8\ +2 ."downElevator"\SE.seek :down +2 A(^' +99 (_% +2 h %? 7\ U` +2 M&`% +3 h % x T +2 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&a' +91 h ' +52 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(b(<- +348 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (c& +3 h &<* M\  + M&d& +3 h &  +2 .t\Elbow.seek 5 + M&e( +14 h ( + M&f& +4 h &  Y + A(g& +3 h &<* \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&h'O +91 h ' + A(i& +4 h &<* \  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(j's +315 h ' + A(k- +3 h -'O + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (l% +2 h % R )\ +2 ."downElevator"\SE.seek :down +2 A(m' +100 (n% +2 h %A \ Vb +2 M&o% +3 h %M R + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&p' +89 h ' +51 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(q(K +362 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (r& +2 h &K 4\  +2 M&s& +3 h & e + .t\Elbow.seek 6 +2 M&t( +3 h ( + M&u& +4 h & I + A(v& +4 h &K (\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&w' +95 h ' + A(x& +4 h &K \  + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(y's +320 h ' + A(z- +3 h -'U + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ({% +2 h % [ &\ +2 ."downElevator"\SE.seek :down +2 A(|' +100 (}% +2 h %F b\ V` +2 M&~% +3 h % A + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' +49 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(([ +351 h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &[ &\  + M&& +3 h & ` +2 .t\Elbow.seek 7 + M&(r +38 h ( + M&& +4 h &l  P + A(& +3 h &[ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +94 h ' + A(& +4 h &[ V\  +2 .t\SE.reconfigure SEplace + A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A( 's +316 h ' + A(\ - +3 h -'Z +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( % +2 h % b \ \ +2 ."downElevator"\SE.seek :down +2 A( ' +100 ( % +2 h %= [\ V_ +35 M&% +11 h %1 h + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' +7 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2592 #t-> Clamp + C'& +3 h &-\ +2 P%& +3 h &k\ +799 #t-> 2.times {Puck.move 2,1} + #\Moving puck from tube 2 to 1 +2 M&% +3 h %  4  + A(% +4 h % S\ + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A((  +1616 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &  Z\ +2 M&& +3 h &m / O +2 .t\Elbow.seek 2 + M&( +29 h ( + M&& +4 h & z  + A(& +3 h &  \ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&'S +95 h ' + A(& +4 h &  \ + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +299 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&/ +71 h / +2 M& & +4 h &   + M&!% +3 h % P H +2 .t\Forearm.seek :retract + M&"' +89 h ' + .t\Elbow.seek :clear +2 M&#(d +98 h ( + M&%& +4 h &d \  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &$& +3 h &d K  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&'' +10 h ' + .t\SE.seek :down +2 A((' +270 h ' + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(*(C +357 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (+& +3 h &E \ + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +6 .t\SE.seek beamBreak + A(-'s +274 h ' + A(/- +3 h -'s + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 .t\SE.seek :place + A(0'1 +41 h ' + A(2& +4 h &D O\ + A(3& +4 h &D P\ + M&.& +3 h &d D  +2 M&,% +3 h %    + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&1( +99 h ( + M&&& +4 h & ! \ + A(6& +4 h &D w\ + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&7'8 +96 h ' + .t\Elbow.hold +2 M&9, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&:1 +58 h 1 + M&<% +4 h % W W ? + A()& +4 h &D :\ + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 1 + 331 counts +2 M&4'σ +15 h ' + M&>& +4 h & U \ + A(?& +4 h &D \ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&A' +19 h ' +2 A(B% +3 h %; +\ \ +3 ."downElevator"\SE.seek :down +2 A(=' +99 (;% +3 h %_? z B\ Vb +2 M&@% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&5' +90 h ' +62 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Moving puck from tube 2 to 1 + M&E% +4 h %   + A(F% +4 h % 5\ + A(H. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(I(  +350 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (K& +3 h &  \  + M&8& +3 h & \ +2 .t\Elbow.seek 2 + M&C( +3 h ( + M&M& +3 h & \ +2 A(N& +3 h &  \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&P'S +92 h ' + A(Q& +4 h &  $\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(L's +307 h ' + A(J- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .tHand.close + M&O/ +67 h / +2 M&D& +5 h & D \ + M&T% +3 h % K $ l +2 .t\Forearm.seek :retract + M&U' +91 h ' + .t\Elbow.seek :clear +2 M&W(d +105 h ( + M&X& +4 h &d ) i + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &Z& +3 h &d l i + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :clear +2 M&G' +14 h ' + .t\SE.seek :down +2 A(R' +273 h ' +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(\\(C +351 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (]& +3 h &E N\ + .t\SE.reconfigure SEplace +2 A(#]kK-0-\ b +5 .t\SE.seek beamBreak + A(_'s +326 h ' + A(`- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ([& +3 h &E \ + A(Y& +3 h &E "\ +2 M&^& +3 h &d  i + M&S% +3 h %   a +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 + M&c( +101 h ( + M&d& +4 h & f / + A(f& +3 h &E a\ +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&g'8 +94 h ' + .t\Elbow.hold +2 M&i, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&V1 +54 h 1 + M&a% +4 h % Q  H  + A(k& +3 h &E \ +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 325 counts + M&l'} +14 h ' + M&n& +4 h &  ) + A(o& +4 h &E W\ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&j' +19 h ' +2 A(h% +3 h % \ +2 ."downElevator"\SE.seek :down +2 A(m' +100 (b% +2 h %GD \ Wb +2 M&r% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&s' +90 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +577 #t-> require 'shuffle' +298 #-> shuffle2 + #\Shuffling two pucks from tube 1 to 2 of [1..7] + #Loading generic puck from tube 1 into Collection Clamp + C'u& +3 h &2\ +2 M&v% +4 h %  p  + A(x% +3 h % Y\ +2 A(e. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A(p(C +9 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (z& +3 h &F \ + M&{& +3 h & I ) +2 .t\Elbow.seek 1 +2 M&}( +3 h ( + M&~& +3 h & ) +2 A(y& +3 h &F !\ +2 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&w' +95 h ' + A(|& +4 h &F ?\ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(q's +297 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (& +2 h &F r\ +2 M&& +3 h &  ) + .t\Elbow.seek 1 +2 M&( +2 h ( +2 M&& +3 h & ) + A(t& +4 h &F x\ + .t\Forearm.seek 1 + 300 counts +2 M&'d +37 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&\ / +66 h / +2 M& & +2 ."downElevator"\SE.seek :down +5 A( ' +2 h & 2 ) +2 M&% +3 h % u 4 Z +2 .t\Forearm.seek :retract +2 M& ' +90 h ' + .t\Elbow.seek CC +2 M&(ӂ +151 h ( + M& & +4 h &Ӏ.  E + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 h ' +2 ."downElevator"\SE.coast + A(5 +3 M&& +5 h &Ӂ.  m E~ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&'? +93 h ' +2 C'& +3 h &*\ +2 C'& +3 .t\CC.seek :closed + C'(\\ +3 h &)\ +3 &*\  +10 &4~7\ +| +9 & f,\ ? +10 &x.\ N +9 &T]+\ N +9 &\\)\ N +10 &]\ N +9 &_\ M +9 &]Y!\ M +10 &^"\ M +9 &_#\ N +10 & \\\ M +9 &"eZ!\ M +9 &$([\ M +10 &%]\ N +9 &'Z\ M +9 &)m_\ M +10 &+.^\ N +9 &,]\ M +10 &.\\\ M +9 &0u_\ M +9 &27_\ M +10 &3`\ N +9 &5]\ M +9 &7}]\ M +10 &9?`\ M +9 &;\\\ M +10 &<[\ M +9 &>\\\ N +9 &@G`\ M +10 &Bb\ N +9 &Ch\ O +9 &Ez\ P +10 &G=\ T +9 &H\ W +10 &J\ Y +9 &Lr\ Y +9 &N3\ Z +10 &O\ Z +9 &Q\ Z +9 &St\ [ +10 &U5\ \\ +9 &V\ \\ +10 &X\ ] +9 &Zu\ ^ +9 &\\x\ 4 +10 &\\'\ V +8 ( +2 &\\l\ Q + C'& +4 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + M&1 +62 h 1 + M&% +4 h % =  P d + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +91 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 1 into Processing Clamp +2 P%& +3 h &g\ +2 M&% +3 h %  E  +2 A(% +3 h % n n `\ + A(. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 + A((C +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &F w y 4\ +37 M&& +12 h &Ӑ,  Co +2 M& % +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 + M&!( +159 h ( + M&%& +4 h & ( +2 A($& +3 h &F B\ +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +90 h ' + A(& +4 h &F 4\ +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A("'s +296 h ' + A(- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +3 h &F l t \ + M&+& +3 h & x +2 .t\Elbow.seek 1 + M&/( +10 h ( + M&(& +4 h & S \ +2 A(2& +4 h &F T\ +2 .t\Forearm.seek 1 + 300 counts + M&3'd +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&./ +72 h / +3 ."downElevator"\SE.seek :down +3 M&,& +3 A(&' +5 h & G \ +2 M&6% +3 h % _ > +2 .t\Forearm.seek :retract +2 M&-' +91 h ' +2 .t\Elbow.seek PC + M&:( +165 h ' + ."downElevator"\SE.coast + A(5 +75 h ( + M&<& +4 h & O  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &)& +3 h & &  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&#' +93 h ' + P%>& +4 h &~\ +2 P%?& +3 .t\PC.seek :closed +2 P%B(^ +2 h &o\ +3 &~\  +10 &3{\ +{ +9 &c\ ? +10 &r{\ P +9 &3\\\ P +9 &a\ P +10 &`\ P +9 &z_\ O +10 &<]u\ O +9 &ay\ P +9 &[x\ O +10 & _s\ P +9 &"DXz\ O +9 &$]x\ O +10 &%]~\ O +9 &']~\ O +10 &)L]}\ O +9 &+ Zy\ P +9 &,]s\ O +10 &.\\u\ P +9 &0S\\u\ P +9 &2Zf\ O +10 &3Zh\ O +9 &5\\i\ O +10 &7\\]f\ O +9 &9_d\ O +9 &:ah\ O +10 &<^f\ P +9 &>bbd\ P +9 &@$`m\ P +10 &Aii\ Q +9 &Cue\ R +10 &E^g\ T +9 &Gg\ V +9 &Hd\ V +10 &Jg\ V +9 &Lab\ V +10 &N[\ W +9 &O`\ X +9 &QY\ W +10 &ScU\ X +9 &U'V\ W +9 &VU\ X +10 &XY\ W +9 &ZnZ\ W +10 &\\/a\ W +9 &]~]\ < +9 &^3b\ S +10 &^#X\ 1 + ( +2 P%?& +2 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + M&'1 +53 h 1 + M&;% +4 h %  L D + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek :retract + M&@' +89 h ' + .t\SC.coast + A(6 +2 P%1& +4 h &^"S\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + M&7% +3 h %    +2 A(E% +3 h % s i \ + A(4. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(F(  +352 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 M&H& + A(0& +4 h &  A  + .t\Elbow.reconfigure TightElbow +5 M&$&.,(\ #b +2 h &  4 3\ \ + .t\Elbow.seek PC +3 ."raiseStack"\SE.reconfigure SEplace + M&A( +5 A(#]kK-0-\ b +3 h ( +2 M&=& +3 h &  u  +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 ."raiseStack"\SE.seek beamBreak +2 M&K& +3 A(*'s +3 h & n  +2 .t\Forearm.seek :PC +2 M&8' +91 h ' + .tHand.close + M&M/ +70 h / + .t\PC.seek :open +3 P%N( +103 h ' + A(Q- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A(9'1 +46 h ' +299 ( + A(5& +4 h &  Q T \ \ + M&J& +4 h &  + M&O% +3 h %  5 +2 .t\Forearm.seek :retract +2 M&D' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&T( +244 h ( + M&X& +4 h &  ; + A(Z& +4 h &  F 9 p\ \ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&P'S +93 h ' + .tHand.open + M&C1 +65 h 1 +2 A(U- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(L' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(I' +55 h ' + #tLights, camera, ACTION! +2 A(]- +3 h -' + A(R& +3 h &  K\ t\ +2 M&`& +3 h &  I ; +2 .t\Elbow.seek 2 + M&[( +3 h ( + M&Y& +4 h &  & ; + A(^& +3 h &  J\ s\ +2 .t\Forearm.seek 2 + 450 counts +2 M&S'S +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 +2 A(d' +52 h ' +2 M&f& +3 h & h ; +2 A(V& +3 h &  ; (\ \ + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 2 +2 M&a'Α +14 h ' + .t\Elbow.hold +2 M&k, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b + .t\SE.seek -0.33 +2 A(W' +26 h ' +2 M&n% +3 h %λ a ; +2 A(o& +3 h &  U U p\ \ +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 2 + 342 counts + M&h' +16 h ' +2 M&G& +4 h & h ; + A(b& +4 h &  \\ S [\ \ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 2 + 450 counts +2 M&r'S +15 h ' +2 A(c% +4 h % d s A\ +2 ."downElevator"\SE.seek :down +2 A(g' +99 (l% +3 h %JH ? > f\ Xe + M&_% +4 h %V  ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&j' +90 h ' +68 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'm& +3 h &\\k\ Q +2 #t\Storing generic puck in Collection Clamp to tube 2 + M&\\% +4 h %   + A(u% +3 h % v \ +2 A(v. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(x(  +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (e& +3 h &  x y n\  + M&z& +3 h &  W ; +2 .t\Elbow.seek 2 +2 M&{( +3 h ( + M&~& +3 h & ; +2 A(y& +3 h &  v \\\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts + M&|'S +97 h ' + A(i& +4 h &  p s P\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(s's +295 h ' +2 A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +3 h &  : +2 A(& +3 h &  U j \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +3 .t\Forearm.seek 2 + M&'Α +15 h ' + .t\Elbow.hold +2 M&t, +3 h , +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(\ - +2 h -' + .t\SE.seek 0.16 +2 A( 'm +29 h ' + M&% +4 h %ά - + A(}& +4 h &  w y \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 2 + 327 counts +2 M&w' +14 h ' + M& & +4 h &  e 9 +2 A(& +3 h &  t \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&q'S +15 h ' +2 .t\SE.seek 1.16 + A(' +36 h ' +2 M&& +3 h & b 9 +2 M&% +3 h %P  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M& ' +88 h ' +2 .t\Elbow.seek CC + M& (ӂ +153 h ( + M&& +4 h &Ӕ( @X + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +3 h &ӕ'  @ @W + .t\Forearm.seek :CC +2 M&'? +96 h ' + .tHand.close + M&/ +74 h / + .t\CC.seek :open +2 C'( +448 h ( +2 A(& +4 h &  N\  + A(& +3 h &  B\  +2 M&& +3 h &Ә& ?T + M&% +3 h % 4 7 +2 .t\Forearm.seek :retract +2 M& ' +93 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&( +161 h ( + M&%& +4 h &  +2 A($& +3 h &  \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 2 + M&p'Α +97 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +64 h 1 + M&% +4 h % ή A + A(& +4 h &  l\  + .t\Forearm.force -20 M&5 +39 .t\Forearm.seek 2 + 329 counts +12 M&' +13 h ' + M&+& +4 h &  +2 A((& +3 h &  \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&2'S +18 h ' +2 A(.% +3 h % g\ +3 ."downElevator"\SE.seek :down +2 A(,' +99 (6% +3 h %? \ U^ + M&!% +4 h %K ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +58 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling two pucks from tube 2 to 3 of [1..7] + #Loading generic puck from tube 2 into Collection Clamp + C'"& +4 h &\ +2 M&3% +3 h %    +2 A(<% +3 h % K\ +2 A(). +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 +2 A(/(  + h ( +2 .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (>& +3 h &  \  + M&&& +4 h & T  + .t\Elbow.seek 2 +2 M&-( +8 h ( + M&'& +4 h & <  +2 A(;& +3 h &  u\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&1'S +90 h ' +2 A(7& +3 h &  '\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(E's +377 h ' + A(4- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (?& +2 h &  V\  +2 M&#& +3 h &  +2 .t\Elbow.seek 2 + M&( +3 h ( + M&H& +3 h & (  +2 A(0& +3 h &  P\  +2 .t\Forearm.seek 2 + 300 counts + M&='Ͻ +17 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&K/ +72 h / +3 M&M& +2 ."downElevator"\SE.seek :down +4 A(:' +3 h & '  + M&Q% +4 h %  * + .t\Forearm.seek :retract +2 M&@' +88 h ' +2 .t\Elbow.seek CC + M&B(ӂ +164 h ( + M&*& +5 h &Ӟ"  ;5 ' +2 ."downElevator"\SE.coast + A(5 + .t\Elbow.reconfigure LooseElbow +4 M&$ &.,(#b +2 &5& +3 h &Ӟ"  ;5 + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&J'? +91 h ' +2 C'O& +3 h &\ +2 C'8& +3 .t\CC.seek :closed +2 C'X(\\ +2 h &\ +3 &\  +9 &4~\ *z +10 &e\ ? +9 &t\ N +9 &LZ\ M +10 &\\\ M +9 &]\ M +9 &Y\ \ M +10 &S\\ \ M +9 &^\ N +10 &\\\ M +9 & \\\ M +9 &"[Z \ M +10 &$Z\ M +9 &%]\ M +9 &'Y\ M +10 &)d[\ M +9 &+'[\ M +9 &,[\ M +10 &.\\\ M +9 &0m\\\ M +10 &2/\\\ M +9 &3]\ M +9 &5\\\ M +10 &7u]\ M +9 &96\\\ M +9 &:\\\ M +10 &<\\\ M +9 &>|\\\ M +10 &@=\\\ M +9 &A`\ N +9 &Cc\ N +10 &E|u\ P +9 &G5\ S +10 &H \ V +9 &J\ Y +9 &Li\ Y +10 &N*\ Y +9 &O\ Z +9 &Q\ Z +10 &Sk\ [\ +9 &U,\ [ +10 &V\ \\ +9 &X\ ] +9 &Zk\ ^ +10 &\\y\ 6 +9 &\\'\ #i +8 ( +2 &\\\ ^ + C'8& +4 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + M&Z1 +56 h 1 + M&A% +4 h % =  l z + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&C' +91 h ' +2 .t\SC.coast + A(6 +2 #tLoading generic puck from tube 2 into Processing Clamp +2 P%U& +3 h &c\ +2 M&]% +3 h %  x  +2 A(R% +3 h % U S F\ +2 A(`. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 2 + A(Y(  +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (^& +2 h &  W U \  +2 M&D& +3 h &Ӟ"  ;5 +2 M&f% +3 h %  N  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 2 +2 M&V( +162 h ( + M&n& +4 h & :  +2 A(o& +3 h &  u v >\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 2 + 450 counts +2 M&G'S +94 h ' + A(b& +4 h &  t n \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(9's +295 h ' + A(c- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (L& +2 h &  S H .\  +2 M&T& +3 h &  4  + .t\Elbow.seek 2 +2 M&P( +3 h ( + M&I& +3 h & 9  +2 A(l& +3 h &  W W P\  +2 .t\Forearm.seek 2 + 300 counts + M&_'Ͻ +18 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&S/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&[& +5 A(d' +3 h & c  + M&a% +3 h % ϻ +2 .t\Forearm.seek :retract +2 M&m' +87 h ' + .t\Elbow.seek PC +2 M&h( +172 h ' + ."downElevator"\SE.coast + A(5 +66 h ( + M&\\& +4 h & U + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &u& +3 h & t + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +3 M&v' +90 h ' + P%W& +4 h &q\ +2 P%e& +3 .t\PC.seek :closed + P%z(^ +3 h &^\ +4 &r\ 1 +10 &7Fs\ 1 +9 &^ps\ F +9 &g|\ P +10 &]~\ O +9 &[u\ P +10 &C^~\ P +9 &_~\ O +9 &_~\ O +10 &[}\ P +9 &K\\{\ P +9 &![u\ O +10 &"^|\ O +9 &$]u\ O +9 &&T_s\ O +10 &(`i\ P +9 &)]m\ O +10 &+Yg\ O +9 &-[Yf\ P +9 &/_c\ P +10 &0]j\ P +9 &2Zg\ O +10 &4d[g\ O +9 &6%_k\ P +9 &7]c\ P +10 &9\\h\ O +9 &;l_d\ O +9 &=.]i\ O +10 &>`c\ P +9 &@_d\ P +10 &Bojg\ Q +9 &D-qe\ R +9 &Eh\ T +10 &Gg\ U +9 &Ijd\ U +9 &K+g\ V +10 &Lf\ V +9 &Nd\ V +10 &Plc\ X +9 &R/V\ W +9 &SZ\ X +10 &UV\ W +9 &WvT\ W +9 &Y7W\ W +10 &ZV\ W +9 &\\U\ X +9 &^4cV\ * +10 &^ zZ\ > +8 ( +2 &^'Z\ 6 + P%e& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 + .Hand.open +2 M&~1 +62 h 1 + M&y% +4 h %   | K + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&r' +89 h ' + .t\SC.coast + A(6 +2 P%i& +4 h &^&W\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 M&g% +3 h %   8  +2 A(F% +3 h % 0 & N\ +2 A(k. +2 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 +2 A(j( +348 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &   \  + M&& +3 h &  V  +2 M&% +3 h %   D  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&\ ( +245 h ( + M&& +4 h &  B + A(}& +4 h &  Z\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M& '7 +91 h ' + A(& +4 h &  #\  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A('s +308 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&|& +3 h &  B + A({& +3 h &   \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 3 + M&s'u +15 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(w- +2 h -' +2 .t\SE.seek 1.19 + A(' +31 h ' + M& % +4 h %Π  P A + A(& +4 h &   \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 343 counts +2 M&q' +13 h ' + M&t& +4 h &  a B +2 A(& +3 h &   \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M& '7 +17 h ' +2 .t\SE.seek 2.19 + A('W +41 h ' +2 M&& +3 h &  ^ B +2 M&% +3 h %; +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +2 .t\Elbow.seek PC + M&( +266 h ( + M&%& +4 h &   l + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &$& +3 h &   @ + .t\Forearm.seek :PC +2 M&' +92 h ' + .tHand.close + M& / +74 h / + .t\PC.seek :open +2 P%( +458 h ( + A(& +4 h & 1 1 t\  + M&& +4 h & b + M&+% +3 h %   h B +2 .t\Forearm.seek :retract +39 M&(' +100 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&.( +241 h ( + M& & +4 h &  y E + A(6& +4 h &  " \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&!'7 +99 h ' +2 .tHand.open +2 M&1 +54 h 1 + A(p- +3 h -'W +2 .t\SE.seek 1.83 Pucks below Top Plate +2 A("'# +27 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek 0.86 Pucks below Top Plate +2 A(' +54 h ' + #tLights, camera, ACTION! +2 A(3- +3 h -' + A(<& +4 h & \  + M&)& +3 h & E +2 .t\Elbow.seek 3 +2 M&>( +2 h ( +2 M&& +3 h & { E +2 A(&& +3 h & T\  +2 .t\Forearm.seek 3 + 450 counts +2 M&''7 +19 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek 1.58 + A(;'B +61 h ' +2 M&2& +3 h & y E +2 A(7& +3 h &   .\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek 3 +2 M&,'u +19 h ' + .t\Elbow.hold +2 M&x, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek 1.76 + A(' +21 h ' +2 M&% +4 h %Ν 1 + A(4& +3 h &  " 0\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 340 counts +2 M&?' +13 h ' +2 M&#& +4 h & u E + A(H& +4 h &   \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&0'7 +15 h ' +2 A(K% +3 h % 4 >\ +3 ."downElevator"\SE.seek :down +2 A(M' +99 (Q% +3 h %Q;   \ Va +2 M&-% +3 h %2 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&1' +91 h ' +52 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'*& +3 h &\\\ ^ +2 #t\Storing generic puck in Collection Clamp to tube 3 + M&5% +3 h %   +2 A(E% +4 h % U K b\ + A(=. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(O( +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h & K R Q\  +2 M&:& +4 h & E + .t\Elbow.seek 3 +2 M&@( +2 h ( +2 M&& +3 h &  g E +2 A(Z& +3 h & U V p\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&A'7 +95 h ' + A(U& +4 h & Z t \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(]'s +285 h ' + A(R- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&`& +2 h & E +2 A(^& +3 h & 5 A \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 3 + M&8'u +14 h ' + .t\Elbow.hold +2 M&D, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(f- +2 h -' + .t\SE.seek 2.19 +2 A(J'\\ +29 h ' + M&n% +5 h %Ξ [ + A(o& +3 h & 3 4 \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 341 counts +2 M&/' +14 h ' + M&b& +4 h &  E +2 A(B& +3 h & U V [\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&C'7 +15 h ' +2 .t\SE.seek 3.19 + A(c' +45 h ' +2 M&L& +3 h & a E +2 M&T% +3 h %2  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&I' +87 h ' +2 .t\Elbow.seek CC + M&l(ӂ +152 h ( + M&S& +4 h &Ӓ(  @\\ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &[& +3 h &Ӓ(  ` @\\ + .t\Forearm.seek :CC +2 M&a'? +93 h ' + .tHand.close + M&V/ +73 h / + .t\CC.seek :open +2 C'G( +452 h ( +2 A(9& +4 h & \  + A(_& +4 h & N\  + M&\\& +3 h &ӥ%  : >I +2 M&u% +3 h % 2  6 +2 .t\Forearm.seek :retract +2 M&P' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 +2 M&W( +164 h ( + M&d& +4 h & x  +2 A(m& +3 h & <\  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 3 +2 M&N'u +95 h ' + .t\Elbow.hold +2 M&~, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&y1 +58 h 1 + M&i% +4 h % ΃ D + + A(g& +4 h & \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 3 + 314 counts +2 M&F'ϯ +14 h ' +3 M&k& +3 h & 7  +2 A(e& +3 h & \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&v'7 +19 h ' +2 A(Y% +3 h % 0\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %= \ U_ + M&% +3 h %%  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +87 h ' +53 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling two pucks from tube 3 to 4 of [1..7] + #Loading generic puck from tube 3 into Collection Clamp + C'}& +4 h &\ +2 M&h% +3 h %  <  +2 A(% +4 h % d\ + A(r. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (|& +2 h & 9\  +2 M&{& +3 h & i  +2 .t\Elbow.seek 3 + M&w( +8 h ( + M& & +4 h &   +2 A(& +3 h & r\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts + M&t'7 +92 h ' + A(& +4 h & ]\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +289 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 ( & +2 h & t\  +2 M&\ & +3 h & R  + .t\Elbow.seek 3 +2 M&( +3 h ( + M&s& +3 h &   +2 A(q& +3 h & \  +2 .t\Forearm.seek 3 + 300 counts + M&'ϡ +44 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +71 h / +2 ."downElevator"\SE.seek :down +3 M&%& +4 A($' +3 h & F  + M&% +4 h % Ϙ k a + .t\Forearm.seek :retract +2 M& ' +91 h ' + .t\Elbow.seek CC +2 M&(ӂ +146 h ' + ."downElevator"\SE.coast + A(5 +7 h ( + M&z& +4 h &Ӂ+  6 Cn + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 && +2 h &ӂ+ 9 Cm +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&'? +91 h ' +3 C'+& +3 h &\ +2 C'& +3 .t\CC.seek :closed +2 C' (\\ +2 h & \ +3 &\  +9 &2z\ *y +10 &d\ > +9 &v\ M +9 &E[\ M +47 &\\\ M +12 &Y\ M + &X \ M +5 &NX\ L + &\\\ M + &]\ L + & Z \ L +7 &"U\\\ M +10 &$Z\ M +9 &%Y\ L +10 &'Z\ L +9 &)]]\ M +9 &+ [ \ L +10 &,Z\ L +9 &.\\\ M +9 &0gX \ L +10 &2']\ M +9 &3\\\ M +10 &5Y \ L +9 &7n\\ \ L +9 &9/] \ M +10 &:\\\ M +9 &<]\ \ L +9 &>uZ \ M +10 &@8]\ L +9 &A]\ L +10 &Cc\ N +9 &Eur\ O +9 &G/\ R +10 &H\ V +9 &J\ X +9 &Lb\ Y +10 &N#\ Y +9 &O\ Y +10 &Q\ Z +9 &Sd\ [ +9 &U&\ [ +10 &V\ \\ +9 &X\ \\ +9 &Zc\ ^ +10 &\\ z\ 8 +9 &\\& \ )x +10 &\\\ ] +2 ( + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + M&61 +64 h 1 + M&% +4 h % C  ' ` +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&' +90 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + P%p& +3 h &u\ +2 M&3% +3 h %     +2 A(<% +3 h % W V a\ +2 A(). +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 3 + A(( +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (&& +3 h & V i\  +2 M&(& +3 h &Ӕ( : @[ + M&2% +4 h %  k  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 3 + M&7( +164 h ( + M&& +4 h &   +2 A(4& +3 h & u $\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 3 + 450 counts +2 M&'7 +93 h ' + A(#& +4 h & z \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(H's +297 h ' + A("- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (K& +2 h & H N 4\  +2 M&.& +3 h &    +2 .t\Elbow.seek 3 + M&!( +3 h ( +2 M&& +3 h &   +2 A(Q& +3 h & v v c\  +2 .t\Forearm.seek 3 + 300 counts +2 M&-'ϡ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&'/ +69 h / +2 ."downElevator"\SE.seek :down +3 M&>& +5 A(;' +3 h & #  + M&,% +3 h % ϟ $ +2 .t\Forearm.seek :retract +2 M&*' +92 h ' +2 .t\Elbow.seek PC + M&5( +151 h ' + ."downElevator"\SE.coast + A(5 +108 h ( +2 M&?& +4 h & E  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &E& +3 h &  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&=' +90 h ' + P%& +4 h &l\ +2 P%& +3 .t\PC.seek :closed +2 P%:(^ +3 h &S\ +2 &q\  +10 &-vt\ +{ +10 &br\ ? +9 &kys\ O +9 &,Zv\ O +10 &^x\ O +9 &^}\ O +9 &r]\ O +10 &4]|\ O +9 &_x\ O +10 &[v\ P +9 & {\\p\ O +9 &"<Zu\ O +10 &#]z\ O +9 &%[t\ O +9 &'^u\ O +10 &)D^m\ O +9 &+]n\ O +10 &,Zi\ P +9 &.\\e\ O +9 &0MZf\ O +10 &2 [f\ P +9 &3Yh\ O +9 &5\\g\ P +10 &7S[e\ P +9 &9_k\ O +10 &:_d\ P +9 &<\\c\ P +9 &>Z^d\ P +10 &@[h\ P +9 &Aeh\ P +9 &Cqh\ R +10 &EW}h\ T +9 &Ge\ U +10 &Hh\ U +9 &Jh\ V +9 &LZg\ U +10 &Nd\ W +9 &Oe\ W +9 &Qe\ W +10 &S]e\ W +9 &U!Z\ V +10 &VY\ W +9 &XY\ V +9 &ZfX\ W +10 &\\&V\ X +9 &]U\ 6 +9 &^-vV\ Z +10 &^;U\ : + ( + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + M&1 +62 h 1 + M&Z% +4 h %  7 l + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&0' +90 h ' + .t\SC.coast + A(6 +2 P%U& +4 h &^9?\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + M&M% +3 h %  -  +2 A(j% +3 h % @ > P\ + A(x. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(1(,y +359 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (R& +3 h &,z 9\  + M&`& +3 h &  ,  +2 M&^% +3 h %   ?  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek 4 +2 M&f( +253 h ( + M&n& +4 h &   + A(o& +4 h &,z \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&b' +94 h ' + A(B& +4 h &,z   \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(L's +296 h ' + A(T- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&A& +2 h &  Q +2 A(@& +3 h &,z   \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&]'7 +16 h ' + .t\Elbow.hold +2 M&8, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(/- +2 h -' +2 .t\SE.seek 1.19 +2 A(J' +29 h ' + M&S% +4 h %[ \ ] [ +2 A([& +3 h &,z   C\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 336 counts + M&C'χ +13 h ' + M&D& +4 h & = +2 A(V& +3 h &,z "  \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&I' +21 h ' +2 .t\SE.seek 2.19 + A(X'] +40 h ' +2 M&9& +3 h &  +2 M&_% +4 h %  Y +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&\\' +89 h ' +2 .t\Elbow.seek PC + M&u( +244 h ( + M&d& +4 h &  0  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &m& +3 h &   + .t\Forearm.seek :PC +2 M&a' +88 h ' + .tHand.close + M&l/ +76 h / + .t\PC.seek :open +2 P%y( +461 h ( + A(i& +4 h &,z 0 & J\  + M&g& +4 h &  + M&k% +3 h % , $ +2 .t\Forearm.seek :retract + M&e' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&Y( +243 h ( + M&P& +4 h &   + A(& +4 h &,z &  \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +100 h ' + .tHand.open + M&W1 +59 h 1 + A(N- +3 h -'] +2 .t\SE.seek 1.84 Pucks below Top Plate +2 A(}') +26 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek 0.87 Pucks below Top Plate +2 A(h' +52 h ' + #tLights, camera, ACTION! +2 A(F- +3 h -' + A(& +3 h &,z \  +2 M&r& +3 h & `  +2 .t\Elbow.seek 4 + M&|( +21 h ( + M&c& +4 h &  u  +2 A({& +3 h &,z 5\  +2 .t\Forearm.seek 4 + 450 counts +2 M& ' +18 h ' +2 .t\SE.reconfigure SEgently + A(#QK-0-\ b +2 .t\SE.seek 1.58 +2 A('H +49 h ' + M&v& +42 h &  +10 A(& +4 h &,z . 2 .\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 4 + M&'7 +20 h ' + .t\Elbow.hold +2 M&O, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek 1.77 +2 A(~' +19 h ' +2 M&% +3 h %[ + +2 A(& +3 h &,z ! " i\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 4 + 336 counts + M& 'χ +16 h ' +2 M&\ & +3 h &  +2 A(s& +4 h &,z 1 1 t\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&q' +18 h ' +2 A( % +3 h % ? 4 @\ +3 ."downElevator"\SE.seek :down +2 A(%' +99 (% +4 h %a9  #\ V` + M&w% +4 h % $ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&t' +87 h ' +55 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'z& +4 h &\\\ ] + #t\Storing generic puck in Collection Clamp to tube 4 +2 M&% +3 h %   +2 A(% +3 h % r d \ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(+(,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &,z T U l\  +2 M&$& +3 h & O  +2 .t\Elbow.seek 4 + M& ( +10 h ( +2 M&G& +3 h & ?  +2 A(6& +3 h &,z Q U 4\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +91 h ' +2 A(p& +3 h &,z v v T\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(3's +294 h ' + A(<- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&)& +2 h &  +2 A(& +3 h &,z T T B\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 4 + M&&'7 +16 h ' + .t\Elbow.hold +2 M&(, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(2- +2 h -' +2 .t\SE.seek 2.2 +2 A('_ +28 h ' + M&% +4 h %] - G +2 A(4& +3 h &,z U U #\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 4 + 338 counts + M&'ω +16 h ' + M&#& +4 h & '  +2 A(& +3 h &,z v w A\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&' +18 h ' +2 .t\SE.seek 3.2 + A("' +36 h ' +2 M&K& +3 h & d  +2 M&.% +3 h %  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +88 h ' +2 .t\Elbow.seek CC +2 M&Q(ӂ +157 h ( + M&'& +4 h &ӑ(  Bg + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &>& +3 h &Ӓ* A Bf + .t\Forearm.seek :CC +2 M&,'? +90 h ' +2 .tHand.close + M&7/ +67 h / + .t\CC.seek :open +2 C'( +448 h ( +2 A(H& +4 h &,z \  +2 A(-& +3 h &,z 2\  +2 M&?& +3 h &Ӗ) Ab +2 M&E% +3 h % q b +2 .t\Forearm.seek :retract + M&!' +89 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&( +159 h ( + M&;& +4 h & T +2 A(*& +3 h &,z \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 4 + M&'7 +96 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&Z1 +58 h 1 + M&U% +4 h % < H , + A(M& +4 h &,z \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 4 + 305 counts + M&j'h +16 h ' + M&x& +4 h & - +2 A(& +4 h &,z \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts +2 M&=' +15 h ' +2 A(% +3 h % ~\ +3 ."downElevator"\SE.seek :down +2 A(R' +99 (`% +3 h %; \ U] + M&^% +3 h % T +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&n' +89 h ' +51 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling two pucks from tube 4 to 5 of [1..7] + #Loading generic puck from tube 4 into Collection Clamp + C'o& +4 h &\ +2 M&5% +3 h %   +2 A(B% +4 h % k\ + A(0. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(T(,y +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (A& +3 h &,z a\  + M&@& +4 h &  + .t\Elbow.seek 4 +2 M&/( +12 h ( + M&S& +4 h & S  +2 A([& +3 h &,z \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&D' +91 h ' + A(V& +4 h &,z |\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(9's +291 h ' + A(_- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (b& +2 h &,z \  +2 M&f& +3 h &  + .t\Elbow.seek 4 +2 M&L( +2 h ( +2 M&]& +3 h & 0  + A(C& +3 h &,z \  +2 .t\Forearm.seek 4 + 300 counts +2 M&J'c +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&I/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&d& +2 A(m' +6 h & +  + M&8% +3 h % b * +2 .t\Forearm.seek :retract +2 M&l' +92 h ' +2 .t\Elbow.seek CC + M&\\(ӂ +149 h ' + ."downElevator"\SE.coast + A(5 +7 h ( + M&:& +4 h &ӓ(  w @] + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &i& +2 h &ӓ( @] +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&g'? +94 h ' +2 C'k& +4 h &$\ +2 C'a& +3 .t\CC.seek :closed +2 C'P(\\ +3 h &&\ +4 &\ : +9 &LJz\ 1 +10 &u \ E +9 &*_\ M +9 &Y\ L +10 &[\ M +9 &rZ\ L +9 &3[\ M +10 &Z\ L +9 &Z\ \ L +10 &yZ\ M +9 &!=Y\ L +9 &"Z\ L +10 &$[\ L +9 &&Z\ L +9 &(CZ\ M +10 &*Y\ L +9 &+Z\ L +10 &-Z\ L +9 &/LZ\ L +9 &1Z\ L +10 &2[\ L +9 &4[\ L +9 &6UW\ L +10 &8\\ \ L +9 &9\\\ L +10 &;Z \ L +9 &=\\Z\ L +9 &?X\ \ L +10 &@Z\ L +9 &B^\ L +48 &D_g \ N +11 &Fz\ P + &G\ S +4 &I\ W + &KJ\ X + &M\ \ Y +2 &N\ X +7 &P\ Z +9 &RM \ Z +10 &T\ \ [ +9 &U \ [ +10 &W\ \\ +9 &YK\ ] +9 &[ \ ^ +10 &\\dH\ 3 +9 &\\\ S +5 ( + C'a& +3 #t\Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.13 + .Hand.open +2 M&1 +61 h 1 + M&u% +4 h % 8  P _ +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b + .t\Forearm.seek :retract +2 M&W' +91 h ' + .t\SC.coast + A(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + P%N& +4 h &f\ + M&F% +3 h %  ?  +2 A(% +3 h % x w [\ +2 A(r. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 4 + A(c(,y +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ({& +3 h &,z u v )\  +2 M&e& +3 h &Ӝ& ?T + M&v% +4 h %  T  + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 4 +2 M&( +161 h ( + M&X& +4 h & I  +2 A(}& +3 h &,z B\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 4 + 450 counts + M&' +93 h ' + A(& +4 h &,z N\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(\ 's +298 h ' + A(s- +3 h -' +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (Y& +2 h &,z m p 4\  +2 M& & +3 h & m  +2 .t\Elbow.seek 4 + M&( +3 h ( + M&h& +3 h & O  +2 A(& +3 h &,z =\  +2 .t\Forearm.seek 4 + 300 counts + M&w'c +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +72 h / +2 ."downElevator"\SE.seek :down +3 M&|& +5 A(' +3 h & W  + M&% +3 h % ]  +2 .t\Forearm.seek :retract +2 M&z' +90 h ' +2 .t\Elbow.seek PC + M&( +154 h ' + ."downElevator"\SE.coast + A(5 +85 h ( + M& & +4 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &   + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek :PC +2 M&' +99 h ' +2 P%& +3 h &m\ +2 P%~& +3 .t\PC.seek :closed +2 P%$(^ +2 h &Y\ +3 &o\ \ +10 &.wt\ *y +10 &c\ ? +9 &gxv\ O +9 &)Xt\ O +10 &\\{\ O +9 &\\|\ O +9 &p[}\ O +10 &2[}\ O +9 &\\}\ O +10 &Z~\ O +9 & xZ|\ O +9 &":Yx\ O +10 &#Zw\ O +9 &%Yg\ O +9 &'[m\ O +10 &)A\\e\ O +9 &+Zf\ O +10 &,Zg\ O +9 &.Yo\ O +9 &0H\\e\ O +10 &2 \\l\ O +9 &3Ze\ N +9 &5\\i\ O +10 &7S[i\ N +9 &9]l\ O +10 &:]k\ P +9 &<Zd\ O +9 &>X]g\ O +10 &@]d\ P +9 &Agf\ P +9 &Cqm\ Q +10 &ET}d\ T +9 &Gb\ U +10 &He\ U +9 &Jc\ V +9 &LTb\ V +10 &Ne\ V +9 &Oc\ W +9 &Qd\ W +10 &SYb\ W +9 &Ua\ V +10 &Vd\ V +9 &XW\ V +9 &ZdW\ V +10 &\\$V\ W +9 &]R\ : +9 &^0V\ W +10 &^.W\ 4 + ( + P%~& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + M&G1 +62 h 1 + M&6% +4 h %  t ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&q' +90 h ' + .t\SC.coast + A(6 +2 P%p& +4 h &^(=\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + M&%% +3 h %  i  +2 A(1% +3 h % Q Q &\ + A(O. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 +2 A(t(<- +347 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (<& +3 h &<* ( . <\  + M&)& +3 h &  w  +2 M&% +3 h %   1  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek 5 +2 M&2( +246 h ( + M&& +5 h & V A +3 A(4& +41 h &<* 3 1 i\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +3 .t\Forearm.seek 5 + 450 counts + M&#'O +99 h ' + A(& +4 h &<* > > \  +2 .t\SE.reconfigure SEpick + A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(K's +297 h ' + A(.- +3 h -' + .t\SE.configure SEconfig +3 A(#QK-0-\ b +2 M&& +2 h &  z A +2 A( & +3 h &<*  \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 + M&3'΍ +15 h ' + .t\Elbow.hold +2 M&&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(- +2 h -' +2 .t\SE.seek 1.18 +2 A(' +29 h ' + M&'% +4 h %Τ \ u > +2 A(>& +3 h &<*   7\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 5 + 323 counts + M&' +14 h ' + M&(& +4 h &  C @ +2 A(7& +3 h &<*   \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&'O +16 h ' +2 .t\SE.seek 2.18 + A( 'O +36 h ' +2 M&H& +3 h & k @ +2 M&-% +3 h %C +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract + M&?' +88 h ' +2 .t\Elbow.seek PC + M&E( +267 h ( + M&;& +4 h &   + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &*& +3 h & F  + .t\Forearm.seek :PC +2 M&,' +92 h ' + .tHand.close + M&Q/ +70 h / +2 .t\PC.seek :open + P%Z( +461 h ( + A(U& +4 h &<* U U ]\  + M&M& +4 h & .  + M&x% +3 h %  d : +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&( +241 h ( + M&!& +4 h &  { 5 + A(`& +4 h &<* ? ( -\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&^'O +89 h ' + .tHand.open + M&1 +59 h 1 +2 A(- +3 h -'O +2 .t\SE.seek 1.82 Pucks below Top Plate +2 A(o' +24 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek 0.85 Pucks below Top Plate +2 A(5' +55 h ' + #tLights, camera, ACTION! +2 A(j- +3 h -' + A(B& +3 h &<* s S\  +2 M&0& +3 h & s 5 +2 .t\Elbow.seek 5 + M&A( +3 h ( + M&"& +4 h &  < 5 + A(@& +3 h &<* F\  +2 .t\Forearm.seek 5 + 450 counts +2 M&S'O +3 h ' + .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek 1.57 +2 A([': +59 h ' + M&=& +4 h & 5 +2 A(V& +3 h &<* 3 / 5\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 +2 M&R'΍ +18 h ' + .t\Elbow.hold +2 M&+, +3 h , + .t\Elbow.reconfigure TightElbow +50 M&$&.,(\ #b +2 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek 1.75 +2 A(' +23 h ' +2 M&n% +3 h %΍ n +2 A(_& +3 h &<* ? ? n\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 5 + 300 counts + M&b'Ϲ +15 h ' +2 M&f& +3 h & a / +2 A(]& +3 h &<* R ? .\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts +2 M&C'O +16 h ' +2 A(I% +4 h % V X d\ +2 ."downElevator"\SE.seek :down +2 A(d' +99 (8% +4 h % > A 6 g\ V` + M&/% +4 h %7 + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&D' +87 h ' +56 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C':& +4 h &\\h\ S + #t\Storing generic puck in Collection Clamp to tube 5 + M&i% +4 h %   + A(9% +4 h % u \ +2 A(J. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(k(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (L& +3 h &<* y x +\  +2 M&m& +3 h & / +2 .t\Elbow.seek 5 +2 M&l( +11 h ( + M&& +4 h & z  +2 A(& +3 h &<* w x \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&u'O +95 h ' +2 A(N& +3 h &<* \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(F's +287 h ' + A(- +3 h -'z + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&r& +2 h &  +2 A(a& +3 h &<* i t x\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 5 + M&{'΍ +14 h ' + .t\Elbow.hold +2 M&e, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(v- +2 h -'z + .t\SE.seek 2.18 +2 A(g'P +31 h ' + M&X% +4 h %ζ ; ^ + A(}& +4 h &<* t k r\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 341 counts +2 M&T' +19 h ' + M&& +4 h &  +2 A(\\& +3 h &<* w v ?\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&W'O +14 h ' +2 .t\SE.seek 3.18 + A(s' +37 h ' +2 M&Y& +3 h & Z  +2 M& % +3 h %N  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&h' +87 h ' +2 .t\Elbow.seek CC + M&(ӂ +155 h ( + M& & +4 h &ӕ%   >N + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &|& +3 h &ӕ% [ >N + .t\Forearm.seek :CC +2 M&'? +92 h ' + .tHand.close + M&/ +76 h / + .t\CC.seek :open +2 C'( +448 h ( +2 A(\ & +4 h &<* Y\  +2 A(w& +3 h &<* ;\  +2 M& & +3 h &Ӗ% y >M +2 M&% +3 h % = U +2 .t\Forearm.seek :retract + M&' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&( +163 h ( + M&& +4 h & 1  +2 A(z& +3 h &<* \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.seek 5 + M&y'΍ +92 h ' + .t\Elbow.hold +2 M&G, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&61 +55 h 1 + M&p% +4 h % Ι  = + A(%& +3 h &<* 8\  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 5 + 312 counts +2 M&1' +14 h ' + M&O& +4 h & A  +2 A(~& +3 h &<* \  +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&'O +20 h ' +2 A(c% +3 h % b\ +3 ."downElevator"\SE.seek :down +2 A(<' +99 ()% +3 h %ND \ Va + M&% +3 h %: +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +88 h ' +53 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling two pucks from tube 5 to 6 of [1..7] + #Loading generic puck from tube 5 into Collection Clamp +2 C'4& +3 h &\ +2 M&% +4 h %  "  + A(% +3 h % \ +2 A(q. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A(.(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &<* H\  +2 M& & +3 h &  +2 .t\Elbow.seek 5 +2 M&( +9 h ( + M&'& +4 h & o  +2 A(>& +3 h &<* {\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&('O +102 h ' +2 A(7& +3 h &<* M\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(H's +129 ET\ CA +164 h ' + A(-- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (#& +2 h &<* \  +2 M&2& +3 h & z  + .t\Elbow.seek 5 +2 M&K( +3 h ( + M&3& +3 h & L  +2 A(& +3 h &<* \  +2 .t\Forearm.seek 5 + 300 counts + M&'Ϲ +15 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&/ +65 h / +2 ."downElevator"\SE.seek :down +3 M&;& +2 A(*' +5 h & /  +2 M&&% +3 h % Ϯ 3 +2 .t\Forearm.seek :retract +2 M&Q' +92 h ' + .t\Elbow.seek CC +2 M&?(ӂ +146 h ' +4 ."downElevator"\SE.coast + A(5 +8 h ( +2 M&$& +3 h &Ӊ+ Cn +2 .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &U& +2 h &ӊ+ v Cm +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&M'? +90 h ' +2 C'x& +3 h &$\ +2 C',& +3 .t\CC.seek :closed +2 C'!(\\ +2 h & \ +3 &\  +9 &2z \ *y +9 &e!\ > +10 &u\ M +9 &HW\ L +9 &\ Y \ L +10 &Y\ L +9 &Y\ L +10 &QY \ L +9 &[\ L +9 &Y \ K +10 & Y\ L +9 &"YX\ L +9 &$Y\ L +10 &%W\ L +9 &'Y\ L +10 &)aY\ L +9 &+"\\\ L +9 &,Y\ L +10 &.Z\ L +9 &0h\\\ L +9 &2+Y\ L +10 &3Z \ L +9 &5W\ L +10 &7pZ\ L +9 &92Z\ L +9 &:Z\ L +10 &<Z\ L +9 &>yY\ L +9 &@;Y\ L +10 &A]\ L +9 &C`\ M +10 &Exr\ O +9 &G1\ R +9 &H\ V +10 &J\ X +9 &Le\ X +9 &N% \ Y +10 &O\ Y +9 &Q\ Z +10 &Sg\ Z +9 &U&\ [\ +9 &V\ \\ +10 &X\ \\ +9 &Zf\ ] +9 &\\\ y \ 8 +10 &\\'\ )y +9 &\\ \ ] +2 ( + C',& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +48 M&`1 +65 h 1 + M&E% +4 h % C   z + .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +93 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 5 into Processing Clamp +2 P%& +3 h &|\ +2 M&j% +3 h %  u  +2 A(B% +3 h % Z s \ +2 A(0. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 5 + A("(<- +8 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (@& +3 h &<* Q R \\\  +2 M&& +3 h &ӌ* b Bk +2 M&=% +3 h %  J  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 5 +2 M&V( +164 h ( +2 M& & +4 h & g  +2 A(n& +3 h &<* l 7\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 5 + 450 counts + M&_'O +93 h ' + A(o& +4 h &<* O\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(f's +286 h ' + A(]- +3 h -'z +2 .t\SE.configure SEconfig + A(#QK-0-\ b +3 (I& +2 h &<* W W w\  +2 M&& +3 h & *  +2 .t\Elbow.seek 5 + M&^( +4 h ( + M&5& +4 h &  +2 A(8& +3 h &<* h s \  +2 .t\Forearm.seek 5 + 300 counts + M&/'Ϲ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&S/ +71 h / +2 ."downElevator"\SE.seek :down +3 M&A& +5 A([' +3 h &   + M&R% +3 h % ϳ +2 .t\Forearm.seek :retract +2 M&:' +90 h ' +2 .t\Elbow.seek PC + M&i( +152 h ' + ."downElevator"\SE.coast + A(5 +85 h ( + M&b& +4 h &  ;  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &9& +3 h &  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC + M&J' +94 h ' +2 P%& +3 h &X\ +2 P%L& +3 .t\PC.seek :closed +2 P%m(^ +2 h &k\ +2 &n\ \ +10 &-xk\ +z +9 &cj\ ? +10 &iwr\ O +9 &+[t\ O +9 &Zv\ N +10 &\\w\ O +9 &rYu\ O +9 &4Zw\ O +10 &[u\ N +9 &Zv\ O +10 & y\\u\ O +9 &"<Wv\ O +9 &#Yu\ O +10 &%Ys\ O +9 &'Zq\ O +9 &)E[p\ N +10 &+[o\ O +9 &,]i\ O +10 &.^h\ O +9 &0M\\h\ N +9 &2 [i\ O +10 &3Zb\ N +9 &5\\f\ O +9 &7S^g\ O +10 &9\\g\ O +9 &:]b\ O +10 &<[g\ N +9 &>[]i\ O +9 &@^h\ O +10 &Agf\ P +9 &Crh\ Q +9 &EX}h\ S +10 &Gh\ T +9 &Hg\ U +10 &Ji\ U +9 &LXh\ U +9 &Ng\ W +10 &Oi\ V +9 &Qh\ V +9 &S[e\ W +10 &Ub\ V +9 &Vh\ W +10 &Xf\ W +9 &Zd_\ W +9 &\\%e\ W +10 &]X\ : +9 &^/V\ Y +9 &^-W\ 4 +2 ( +2 P%L& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 .Hand.open +2 M&1 +58 h 1 + M&% +5 h %   M n + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&C' +90 h ' + .t\SC.coast + A(6 +3 P%N& +3 h &^+]\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + M&d% +3 h %  l  +2 A(t% +3 h % B 6 \ + A(+. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 +2 A(D(K +355 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &K  ,\ \  + M&r& +4 h &  0  + M&a% +4 h %    +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&v( +245 h ( + M&X& +4 h &   S . + A(}& +4 h &K $ @\ \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +95 h ' + A(\\& +4 h &K   o\ \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(Y's +299 h ' + A( - +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&u& +2 h &   . +2 A(l& +3 h &K   \ \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&F'< +16 h ' + .t\Elbow.hold +2 M&{, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(T- +2 h -' +2 .t\SE.seek 1.18 +2 A(g' +29 h ' + M& % +4 h %g . ` + A(|& +4 h &K  \ \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 343 counts +2 M&W'ϓ +15 h ' + M&e& +4 h &  \ . +2 A(& +3 h &K   \ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&h' +19 h ' +2 .t\SE.seek 2.18 + A(P'U +39 h ' +2 M&\ & +3 h & D . +2 M&w% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +90 h ' +2 .t\Elbow.seek PC + M&( +246 h ( +2 M&& +4 h &    4 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &z& +3 h &  U 4 +2 .t\Forearm.seek :PC + M&' +92 h ' + .tHand.close + M&/ +73 h / + .t\PC.seek :open +2 P%6( +461 h ( + A(p& +4 h &K : 2 \ \  + M&%& +4 h & 4 + M&O% +3 h % # w > +2 .t\Forearm.seek :retract + M&~' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&c( +244 h ( + M&& +4 h &  _ ; + A()& +3 h &K   \ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +90 h ' + .tHand.open + M&1 +55 h 1 +2 A(y- +3 h -'U +2 .t\SE.seek 1.83 Pucks below Top Plate +2 A(4'! +27 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek 0.86 Pucks below Top Plate +2 A(1' +51 h ' + #tLights, camera, ACTION! +2 A(- +2 h -' +2 A(& +3 h &K ~ )\ \  +2 M&q& +3 h & ; +2 .t\Elbow.seek 6 + M&( +3 h ( + M&s& +3 h &  5 ; +2 A( & +3 h &K \ \  +2 .t\Forearm.seek 6 + 450 counts +2 M&'' +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek 1.57 +2 A(>'@ +56 h ' + M&& +4 h & ; +2 A(7& +3 h &K # " \ \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 +2 M&<'< +16 h ' + .t\Elbow.hold +2 M&k, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b + .t\SE.seek 1.76 +2 A(G' +20 h ' +2 M&% +3 h %g  a +2 A(-& +3 h &K  \ \  +2 .t\Forearm.force -20 +47 M&5 +3 .t\Forearm.seek 6 + 343 counts +2 M&#'ϓ +16 h ' +2 M&2& +3 h &  ; +2 A(3& +3 h &K # " \ \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&' +19 h ' +2 A(% +4 h % % # \ +2 ."downElevator"\SE.seek :down +2 A(;' +99 (&% +3 h %<C   \ Wd + M&% +4 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&(' +91 h ' +54 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'$& +4 h &\\ \ ] + #t\Storing generic puck in Collection Clamp to tube 6 +2 M&U% +3 h %   +2 A(H% +3 h % V S Y\ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A(x(K +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (K& +3 h &K L S 3\  + M&*& +4 h & : + .t\Elbow.seek 6 +2 M&Q( +4 h ( + M&& +4 h &  a : +2 A(`& +3 h &K H R +\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&E' +95 h ' +2 A(,& +3 h &K# 4 1\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +297 h ' + A(j- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&B& +2 h & : +2 A(0& +3 h &K"   (\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 6 + M&@'< +16 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(=- +2 h -' +2 .t\SE.seek 2.19 + A(M'X +30 h ' + M& % +4 h %i W + A(n& +4 h &K"   \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 345 counts +2 M&.'ϕ +15 h ' + M&o& +4 h & & : +2 A(?& +3 h &K" # # \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&' +17 h ' +2 .t\SE.seek 3.19 + A(]' +47 h ' +2 M&I& +3 h & w : +2 M&% +3 h % +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&5' +92 h ' +2 .t\Elbow.seek CC +2 M&8(ӂ +146 h ( + M&S& +4 h &ӏ)  s Ae + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &A& +3 h &ӏ) s Ae + .t\Forearm.seek :CC +2 M&R'? +93 h ' + .tHand.close + M&V/ +73 h / + .t\CC.seek :open +2 C'_( +448 h ( +2 A(f& +3 h &K" [ X\  +2 A(/& +3 h &K" R W 8\  +2 M&b& +3 h &Ӑ) Ad +2 M&9% +3 h % H T +2 .t\Forearm.seek :retract + M&^' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 +2 M&( +163 h ( + M&[& +4 h & I  +2 A(:& +3 h &K" 5\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 6 +2 M&Z'< +93 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +56 h 1 + M&N% +4 h % c > N +2 A(d& +3 h &K" \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 6 + 339 counts +2 M&t'Ϗ +16 h ' + M&+& +4 h & [  +2 A(L& +3 h &K" Q\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&J' +18 h ' +2 A("% +3 h % F\ +3 ."downElevator"\SE.seek :down +2 A(' +99 (r% +3 h %Y@ y p\ Vb + M&a% +3 h % G +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&X' +87 h ' +52 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling two pucks from tube 6 to 7 of [1..7] + #Loading generic puck from tube 6 into Collection Clamp + C'}& +4 h & \ +2 M&i% +3 h %   +2 A(\\% +4 h % \ + A(C. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 6 + A( (K +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (u& +3 h &K \  + M&l& +4 h &   + .t\Elbow.seek 6 +2 M&T( +8 h ( +2 M& & +3 h & f  +2 A(|& +3 h &K 8\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts +2 M&e' +91 h ' + A(& +4 h &K b\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(\ 's +292 h ' + A(w- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (& +2 h &K \  +2 M&v& +3 h & n  +2 .t\Elbow.seek 6 + M&Y( +3 h ( + M&F& +3 h & I  +2 A(W& +3 h &K \  +2 .t\Forearm.seek 6 + 300 counts +2 M&g'h +31 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&h/ +68 h / +2 ."downElevator"\SE.seek :down +3 M&& +5 A(z' +2 h & /  +2 M&{% +3 h % o  z +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.seek CC +2 M& (ӂ +147 h ' + ."downElevator"\SE.coast + A(5 +11 h ( + M&m& +4 h &Ӓ) z Ab + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &p& +3 h &Ӓ( w Ab + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC +2 M&%'? +93 h ' +2 C'O& +4 h &%\ +2 C'& +3 .t\CC.seek :closed +2 C'(\\ +3 h &!\ +3 &\  +8 &4~\ +{ +10 & e \ > +9 &s \ M +9 &YX\ L +10 &Z\ L +9 &V \ L +9 &X \ K +10 &aY\ L +9 &#\\\ L +10 &V\ L +9 & X\ K +9 &"jX\ K +10 &$+X\ L +9 &%Z\ L +9 &'V\ L +10 &)rX\ K +9 &+4Y\ K +10 &,Y\ K +9 &.Y\ L +9 &0yZ\ L +10 &2;[\ L +9 &3W\ L +9 &5Y\ K +10 &7Z\ L +9 &9DY \ K +10 &;Z\ L +9 &<Z\ K +9 &>Z\ L +10 &@LX\ K +9 &B \\\ L +9 &Cd\ M +10 &Er\ O +9 &GA\ R +10 &H\ V +9 &J\ X +9 &Lv\ W +10 &N4\ Y +9 &O\ Y +9 &Q \ Z +10 &Sv\ Z +9 &U7 \ [ +10 &V\ [\ +9 &X\ ] +9 &Zu \ ] +10 &\\|\ \ 1 +9 &\\- \ %o +8 ( +2 &\\z\ V + C'& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + M&)1 +59 h 1 + M&% +4 h % @  ? ^ + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\SC.coast + A(6 +50 #tLoading generic puck from tube 6 into Processing Clamp + P%y& +3 h &{\ +2 M&% +3 h %   +2 A(% +3 h % v w a\ +2 A(q. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +3 .t\SC.seek 6 + A(s(K +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 ( & +3 h &K w w 2\  +2 M&~& +3 h &Ә( @\\ +2 M&% +3 h %  i  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 6 + M&7( +165 h ( + M&& +4 h &   +2 A(-& +3 h &K H\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 6 + 450 counts + M&P' +100 h ' +2 A(4& +3 h &K $\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak +2 A(2's +285 h ' + A(3- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (& +2 h &K d s !\  +2 M&c& +3 h & s  +2 .t\Elbow.seek 6 + M&( +3 h ( + M&1& +3 h &  +2 A(&& +3 h &K t M\  +2 .t\Forearm.seek 6 + 300 counts + M&'h +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&'/ +66 h / +2 ."downElevator"\SE.seek :down +3 M&& +3 A(>' +5 h & E  +2 M&<% +3 h % ^ - +2 .t\Forearm.seek :retract +2 M&$' +88 h ' +2 .t\Elbow.seek PC +2 M&#( +160 h ' + ."downElevator"\SE.coast + A(5 +75 h ( + M&U& +4 h & " + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &H& +3 h &  " + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&' +100 h ' +2 P%K& +3 h &k\ +2 P%G& +3 .t\PC.seek :closed +2 P%*(^ +2 h &Y\ +4 &g\ 2 +10 &,E}p\ 1 +9 &Tqt\ E +9 &g{\ P +10 &Z|\ O +9 &w]~\ O +9 &:[|\ O +10 &\\}\ O +9 &Zu\ O +10 &~Z}\ O +9 &@Y{\ O +9 &!\\u\ O +10 &"Yu\ O +9 &$Yy\ O +9 &&I]u\ O +10 &( [n\ O +9 &)Zr\ O +10 &+Xr\ O +9 &-QYh\ O +9 &/\\f\ O +10 &0]h\ O +9 &2[d\ O +9 &4XZf\ O +10 &6\\d\ O +9 &7\\c\ O +10 &9[d\ O +9 &;a]c\ O +9 &=#\\g\ O +10 &>]f\ P +9 &@]f\ P +9 &Bege\ P +10 &D#nf\ R +9 &Eg\ T +10 &Gc\ V +9 &I_h\ U +9 &Kf\ V +10 &Lg\ V +9 &Nf\ V +9 &Paa\ W +10 &R%e\ V +9 &Sd\ W +10 &Ug\ V +9 &Wia\ W +9 &Y,e\ W +10 &Zd\ W +9 &\\d\ X +9 &^/bwd\ 0 +10 &^xe\ ? +8 ( +2 &^6\\\ 8 +2 P%G& +3 #t\Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 .Hand.open +2 M&1 +53 h 1 + M&`% +4 h %  J  + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +94 h ' + .t\SC.coast + A(6 +3 P%,& +4 h &^6@\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + M&;% +3 h %    +2 A(D% +3 h % U U X\ +2 A(k. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A((([ +356 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (j& +3 h &[' ! b\ \  + M&B& +3 h &  4 " +2 M&0% +3 h %   \ ;  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b + .t\Elbow.seek 7 +2 M&=(r +248 h ( + M& & +4 h &z  _ + A(n& +4 h &[ ? @ \  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&o'= +99 h ' + A(?& +4 h &[ T T \  + .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +6 .t\SE.seek beamBreak + A(I's +295 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&E& +2 h &z \  _ +2 A(Q& +3 h &[ #  \  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M&'{ +15 h ' + .t\Elbow.hold +2 M&@, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(.- +2 h -' +2 .t\SE.seek 1.19 +2 A(M' +31 h ' + M&S% +4 h %Ν  K . +2 A(A& +3 h &[ "  !\  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 334 counts +2 M&' +14 h ' + M&& +4 h &z   1 _ +2 A(V& +3 h &[ 7 2 \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&5'= +16 h ' +2 .t\SE.seek 2.19 + A(!'Z +37 h ' +2 M&f& +3 h &z   _ +2 M&/% +3 h %:   +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&b' +87 h ' +2 .t\Elbow.seek PC + M&9( +247 h ( + M&[& +5 h &  S  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &:& +2 h &  g  +2 .t\Forearm.seek :PC +2 M&R' +91 h ' +2 .tHand.close + M&8/ +74 h / + .t\PC.seek :open +2 P%( +460 h ( + A(N& +4 h &[ y w >\  + M&d& +3 h & 8  +2 M&+% +3 h %  . J +2 .t\Forearm.seek :retract + M&L' +91 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&"(r +251 h ( + M&^& +4 h & 2  + A(r& +4 h &[ x v H\  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&a'= +100 h ' + .tHand.open + M&1 +64 h 1 +2 A(Z- +3 h -'Z +2 .t\SE.seek 1.84 Pucks below Top Plate +2 A(}'& +25 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek 0.86 Pucks below Top Plate +2 A(i' +57 h ' + #tLights, camera, ACTION! +2 A(t- +3 h -' + A(\\& +3 h &[ V\  +2 M&C& +3 h &  +2 .t\Elbow.seek 7 +2 M&u(r +21 h ( + M&]& +4 h &w  t +2 A(l& +3 h &[ ? ; \  +2 .t\Forearm.seek 7 + 450 counts +2 M& '= +2 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek 1.58 + A(|'E +56 h ' +2 M&J& +3 h &w E t +2 A(& +3 h &[ r w $\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm + M&#Q@2^d^2b +3 .t\Forearm.seek 7 +2 M&'{ +19 h ' + .t\Elbow.hold +2 M&x, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b + .t\SE.seek 1.76 +2 A(' +20 h ' +2 M&X% +3 h %Χ } 0 +2 A(w& +3 h &[ x x \  +2 .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 7 + 344 counts +2 M&' +13 h ' +2 M&v& +3 h &z  q +2 A(F& +3 h &[ o r $\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +48 M&W'= +19 h ' +2 A(h% +4 h % { _\ +2 ."downElevator"\SE.seek :down +2 A(' +99 ({% +4 h % ? u w X\ V` + M&T% +4 h %C ) + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&e' +89 h ' +54 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 C'm& +4 h &\\m\ V + #t\Storing generic puck in Collection Clamp to tube 7 +2 M&p% +3 h %    +2 A(\ % +3 h % y o )\ +2 A(g. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +2 A(O([ +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (Y& +3 h &[ l u \  +2 M&z& +3 h &z  : q +2 .t\Elbow.seek 7 +2 M&(r +3 h ( +2 M&_& +3 h &z  q + A()& +4 h &[ w w m\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +97 h ' +2 A(y& +3 h &[' U T O\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A('s +289 h ' + A(- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 M&& +2 h &z q +2 A(q& +3 h &[& " . U\  + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 7 + M& '{ +14 h ' + .t\Elbow.hold +2 M&~, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 A(- +2 h -' +2 .t\SE.seek 2.19 + A(%'Z +41 h ' + M&% +4 h %Ρ 1 +2 A(-& +3 h &[% 4 4 %\  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 338 counts + M& ' +13 h ' + M&4& +4 h &z ; q +2 A( & +3 h &[% 5 <\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&'= +16 h ' +2 .t\SE.seek 3.19 + A(3' +46 h ' +2 M&& +3 h &z 6 q +2 M&c% +3 h %: 4 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&1' +86 h ' +2 .t\Elbow.seek CC +2 M&&(ӂ +165 h ( + M&'& +4 h &ӎ  * 3 + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 && +3 h &ӎ  3 + .t\Forearm.seek :CC +2 M&<'? +95 h ' + .tHand.close + M&7/ +76 h / + .t\CC.seek :open +2 C'P( +448 h ( + A(2& +4 h &[& x u :\  + A(& +4 h &[& j j k\  + M&U& +3 h &ӎ  / 3 +2 M&H% +3 h % B B +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&K(r +160 h ( + M&>& +4 h &p !  +2 A($& +3 h &[& q p \  +2 .t\Elbow.reconfigure LimpElbow + M&$ ,(#b +3 .t\Forearm.seek 7 + M&6'{ +96 h ' + .t\Elbow.hold +2 M&, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&`1 +57 h 1 + M&,% +4 h % Χ +2 A(;& +3 h &[& n o \  + .t\Forearm.force -20 + M&5 +3 .t\Forearm.seek 7 + 344 counts + M&D' +13 h ' + M&k& +4 h &z k  +2 A(G& +3 h &[& >\  +3 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +17 h ' +2 A(s% +3 h % *\ +3 ."downElevator"\SE.seek :down +2 A(j' +99 (B% +3 h %]> x z V\ Vb + M&0% +3 h %C  +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M& ' +87 h ' +53 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +3 #t\Shuffling two pucks from tube 7 to 1 of [1..7] + #Loading generic puck from tube 7 into Collection Clamp + C'n& +4 h & \ + M&#% +4 h %   +2 A(?% +3 h % \ +2 A(. +2 h . +2 .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 + A(([ +4 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (E& +3 h &[ o\  +2 M&Q& +3 h &z  +2 .t\Elbow.seek 7 + M&.(r +3 h ( +2 M&S& +3 h &z c  +2 A(A& +3 h &[ B\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts +2 M&'= +95 h ' +2 A(V& +3 h &[ \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(f's +292 h ' + A(/- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +3 (o& +2 h &[ \  +2 M&=& +3 h &z  + .t\Elbow.seek 7 +2 M&I(r +3 h ( + M&& +3 h &z (  +2 A(& +3 h &[ \  +2 .t\Forearm.seek 7 + 300 counts + M&M'ϧ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M&5/ +72 h / +2 ."downElevator"\SE.seek :down +3 M&[& +2 A(:' +5 h &z p  +2 M&@% +3 h % ϣ +2 .t\Forearm.seek :retract +2 M&8' +95 h ' + .t\Elbow.seek CC +2 M&b(ӂ +143 h ' + ."downElevator"\SE.coast + A(5 +14 h ( + M&*& +4 h &ӏ(  & @^ + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &N& +3 h &ӏ( p @^ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :CC + M&d'? +93 h ' +2 C'+& +4 h &\ +2 C'R& +3 .t\CC.seek :closed +2 C'^(\\ +4 h &\ &\  +10 &4~%\ +{ +9 & e"\ > +10 &s \ M +9 &ZW\ K +9 &Z$\ L +10 &V%\ L +9 &V\ L +9 &bU%\ K +10 &#Y \ L +9 &Z \ L +10 & U"\ K +9 &"iX\ L +9 &$,[\ K +10 &%X\ K +9 &'X\ K +9 &)rY!\ K +10 &+4Y \ K +9 &,Y\ K +10 &.W\ L +9 &0yV \ L +9 &2;V \ L +10 &3W\ L +9 &5W\ L +9 &7Z \ K +10 &9CY \ L +9 &;\\!\ L +10 &<X\ L +9 &>Y\ L +9 &@K[\ L +10 &B \\\ L +9 &Cb\ M +9 &Eo\ N +10 &GA\ R +9 &H\ V +10 &J\ X +9 &Lu\ X +9 &N5 \ Y +10 &O\ Y +9 &Q\ Y +9 &Sv\ Z +10 &U7"\ [ +9 &V\ [ +10 &X\ \\ +9 &Zw\ ] +9 &\\x\ 2 +10 &\\-\ #j +8 ( +2 &\\t\ X + C'R& +3 #t\Collection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + M&r1 +56 h 1 +2 M&9% +4 h % 6  B O + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +90 h ' + .t\SC.coast + A(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 P%Z& +3 h &a\ +2 M&t% +3 h %     +2 A(\\% +3 h % v v p\ + A(C. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 7 +49 A(L([ +3 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (]& +3 h &[ t h\  + M&l& +4 h &ӑ( p @\\ + M&J% +3 h %   +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 7 +2 M&(r +165 h ( + M&X& +4 h &z   +2 A(w& +3 h &[ x\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 7 + 450 counts + M&!'= +97 h ' + A(v& +4 h &[ \  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(F's +289 h ' + A(}- +3 h -' +2 .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 (h& +3 h &[ z w a\  + M&"& +3 h &z   +2 .t\Elbow.seek 7 + M&a(r +3 h ( + M&i& +3 h &z `  +2 A({& +3 h &[ q q :\  +2 .t\Forearm.seek 7 + 300 counts +2 M&T'ϧ +16 h ' + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .tHand.close + M& / +76 h / +2 ."downElevator"\SE.seek :down +3 M&u& +2 A(|' +6 h &z X  + M&% +4 h % Ϧ + .t\Forearm.seek :retract +2 M&m' +88 h ' +2 .t\Elbow.seek PC +2 M&( +155 h ' + ."downElevator"\SE.coast + A(5 +81 h ( + M&p& +4 h &  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &\ & +3 h & 8  + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek :PC +2 M&g' +99 h ' +2 P%Y& +3 h &k\ +2 P%& +3 .t\PC.seek :closed +2 P%z(^ +2 h &Z\ +4 &i\ 2 +10 &4F{o\ 1 +9 &[pr\ E +9 &er\ O +10 &Yq\ N +10 &Zt\ O +8 &A]y\ O +10 &Z}\ N +9 &Y}\ N +10 &Zz\ O +9 &J\\v\ N +9 &! Yx\ O +10 &"Zv\ O +9 &$Wp\ N +9 &&R[u\ N +10 &(_p\ O +9 &)]p\ N +10 &+Xt\ O +9 &-ZWh\ N +9 &/[m\ N +10 &0\\s\ O +9 &2Yj\ N +9 &4bZe\ N +10 &6#\\g\ O +9 &7]e\ O +10 &9Yf\ N +9 &;h]d\ O +9 &=+Zg\ O +10 &>_e\ O +9 &@\\f\ O +9 &Bmee\ P +10 &D+qd\ Q +9 &Eg\ T +10 &Gg\ U +9 &Ihg\ T +9 &K&i\ V +10 &Lh\ V +9 &Nh\ V +9 &Pig\ W +10 &R,f\ V +9 &Sf\ W +10 &Ud\ V +9 &Wrc\ W +9 &Y5g\ V +10 &Zg\ V +9 &\\d\ W +9 &^/`a\ 0 +10 &^"d\ F +8 ( +2 &^(d\ 6 + P%& +3 #t\Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.62 + .Hand.open +2 M&_1 +53 h 1 + M&)% +4 h %   y + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&W' +88 h ' + .t\SC.coast + A(6 +3 P%y& +3 h &^(J\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + M&% +4 h %   +2 A((% +3 h % W V x\ + A(x. +3 h . + .t\SC.reconfigure SCtight +2 A($\ .\ 1~b +2 .t\SC.seek 1 +2 A(e(C +1929 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +3 (& + M&& +4 h &D \ K\ +3 ."raiseStack"\SE.reconfigure SEplace +3 A(#]kK-0-\ b +2 h &  a  +2 .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek PC + M&q( +2 h ( +2 M&& +3 ."raiseStack"\SE.seek beamBreak + A('s +3 h & \ H  + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +2 &-& +3 h &  i  + .t\Forearm.seek :PC +2 M&4' +90 h ' + .tHand.close + M& / +75 h / + .t\PC.seek :open +2 P%( +93 h ' + A(c- +3 h -'s + ."raiseStack"\SE.configure SEconfig +3 A(#QK-0-\ b +2 ."raiseStack"\SE.seek :place +2 A('1 +41 h ' +314 ( + A(& +4 h &D % $ P\ + M&& +4 h &  + M& % +3 h %   +2 .t\Forearm.seek :retract +2 M& ' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&%( +260 h ( + M&'& +4 h &   + A(& +4 h &D  \ + .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&' +91 h ' + .tHand.open + M&~1 +62 h 1 +2 A(7- +3 h -'1 +2 .t\SE.seek -0.26 Pucks below Top Plate +2 A(1' +23 h ' + .t\SE.reconfigure SEseal +2 A(#QK-0-\ b +2 .t\SE.seek -1.23 Pucks below Top Plate +2 A(' +54 h ' + #tLights, camera, ACTION! +2 A(2- +3 h -' + A(& +3 h &D \ z +2 M&U& +3 h &  f  +2 .t\Elbow.seek 1 + M&H( +3 h ( +2 M&>& +3 h &  c  +2 A($& +3 h &D 5\ y +3 .t\Forearm.seek 1 + 450 counts + M&<' +3 h ' +2 .t\SE.reconfigure SEgently +2 A(#QK-0-\ b +2 .t\SE.seek -0.52 + A(&' +58 h ' + M&`& +4 h & 9  +2 A(,& +3 h &D 1 1\ + .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +3 .t\Forearm.seek 1 +2 M&;'8 +15 h ' + .t\Elbow.hold +2 M&k, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +3 .t\SE.reconfigure SEconfig +2 A(#QK-0-\ b +2 .t\SE.seek -0.33 + A(G' +28 h ' +2 M&s% +3 h %f 6 Y +2 A(& +3 h &D ? > ^\ +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 346 counts + M&B'ϒ +15 h ' +2 M&0& +4 h & <  + A(K& +4 h &D ? ; \ +2 .t\Forearm.reconfigure TightForearm + M&#Q@2^d^\ b +3 .t\Forearm.seek 1 + 450 counts + M&6' +18 h ' +2 A(n% +3 h % 9 = +\ +3 ."downElevator"\SE.seek :down +2 A(#' +99 (D% +3 h %@K   a\ Xi + M&?% +4 h % ; + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&' +89 h ' +70 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +2 C'E& +4 h &\\t&\ X + #t\Storing generic puck in Collection Clamp to tube 1 +2 M&3% +3 h %    +2 A(Q% +3 h % x ` [\ +2 A(S. +2 h . +2 .t\SC.reconfigure SCtight + A($\ .\ 1~b +3 .t\SC.seek 1 + A(A(C +2 h ( + .t\SC.reconfigure SCloose +2 A($.\ 1~b +2 (& +3 h &D e s\  + M&V& +4 h &   + .t\Elbow.seek 1 +2 M&j( +7 h ( + M&O& +4 h &  +2 A(& +3 h &D l t 9\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts + M& ' +99 h ' + A(/& +4 h &D o v d\  +2 .t\SE.reconfigure SEpick +2 A(#],K-0-\ b +5 .t\SE.seek beamBreak + A(o's +295 h ' +2 A(=- +3 h -' + .t\SE.configure SEconfig +2 A(#QK-0-\ b +2 M&& +3 h &   + A(& +3 h &D U S T\  +2 .t\Elbow.reconfigure LimpElbow + M&$ ,(#b +3 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek 1 + M&5'8 +16 h ' + .t\Elbow.hold +48 M&[, +4 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 A(@- +2 h -' +2 .t\SE.seek 0.16 +2 A(.'m +29 h ' + M&% +4 h %g S Z +2 A(*& +3 h &D y a J\  +2 .t\Forearm.force -20 M&5 +3 .t\Forearm.seek 1 + 347 counts + M&N'ϓ +15 h ' + M&f& +4 h & 7  +2 A(M& +3 h &D j s \  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M&+' +16 h ' +2 .t\SE.seek 1.16 + A(I' +50 h ' +2 M&:& +4 h &   + M&8% +4 h % + .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&P' +89 h ' +2 .t\Elbow.seek CC + M&r(ӂ +162 h ( +2 M&9& +3 h &Ӓ)  a A` + .t\Elbow.reconfigure LooseElbow +2 M&$ &.,(#b +3 &Z& +3 h &Ӓ) m A` + .t\Forearm.seek :CC +2 M&t'? +94 h ' + .tHand.close + M&\\/ +73 h / + .t\CC.seek :open +2 C'C( +451 h ( + A(R& +4 h &D D\  + A(]& +4 h &D 4\  + M&l& +3 h &Ӕ( v @^ +2 M&J% +3 h % - &  +2 .t\Forearm.seek :retract +2 M&d' +92 h ' + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .t\Elbow.seek 1 +2 M&X( +160 h ( + M&w& +4 h &  +2 A(& +3 h &D \  +2 .t\Elbow.reconfigure LimpElbow +2 M&$ ,(#b +2 .t\Forearm.seek 1 +2 M&v'8 +95 h ' + .t\Elbow.hold +2 M&b, +3 h , + .t\Elbow.reconfigure TightElbow +2 M&$&.,(\ #b +2 .tHand.open + M&1 +64 h 1 + M&}% +4 h % Y + + A(h& +4 h &D \  + .t\Forearm.force -20 + M&5 +2 .t\Forearm.seek 1 + 333 counts +2 M&"'υ +15 h ' +2 M&i& +4 h & ?  + A({& +3 h &D h\  +2 .t\Forearm.reconfigure TightForearm +2 M&#Q@2^d^\ b +2 .t\Forearm.seek 1 + 450 counts +2 M& ' +18 h ' +2 A(u% +3 h % \ +3 ."downElevator"\SE.seek :down +2 A(' +99 (% +3 h %mD ;\ Va + M&!% +3 h % 9 +2 .t\Forearm.reconfigure LooseForearm +2 M&#Q@2^d^2b +2 .t\Forearm.seek :retract +2 M&F' +90 h ' +59 ' + ."downElevator"\SE.coast + A(5 +2 .t\SC.coast + A(6 +31660 EO\ 1. +60002 O\ 1. +60003 H\ 1. +60002 H\ 1. +60003 E\ 1. +23503 #t-> SEinch + !o:NameError:bt["7/opt/mbari/lib/ruby/1.8/irb.rb:181:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:281:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:166:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:73:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:71:in `start'"-/home/esp/esp2/lib/esp.rb:210:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475: mesg""uninitialized constant SEinch: name: SEinch +21714 #-> 1.723*0.425 @1610427512.38EST = @EST1610427514.59 #"core_reset"Sent BREAK +2 #"MAIN_scheduler"@25140 sendCRC with ifg=0x20, ie=0x7F + #@25585 sendCRC with ifg=0x20, ie=0x7F #@26901 sendCRC with ifg=0x20, ie=0x7F + #@28267 sendCRC with ifg=0x08, ie=0x5F + #@56775 sendCRC with ifg=0x20, ie=0x7F #@57222 sendCRC with ifg=0x20, ie=0x7F + #@58537 sendCRC with ifg=0x20, ie=0x7F #@59903 sendCRC with ifg=0x08, ie=0x5F + #@31527 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 =ECan =tMAIN =hcore =Pprocessing =Astorage =mMAIN_scheduler =FMFB =Ssampler =Ccollection =Mmanipulator +364 #t\ Configuration for jake by engrstrom@mclanelabs.com\ /home/esp/esp2/shallow/jake/configure.rb\ +292 !o:Errno::ESRCH:bt["/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'"6/home/esp/esp2/shallow/initialize.rb:100:in `new'"-/home/esp/esp2/shallow/initialize.rb:100"1/home/esp/esp2/lib/framework.rb:39:in `load'"1/home/esp/esp2/lib/framework.rb:39:in `load'"4/home/esp/esp2/lib/framework.rb:75:in `execute'"-/home/esp/esp2/lib/esp.rb:127:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd +3 !o:Errno::ESRCH:bt["/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'"6/home/esp/esp2/shallow/initialize.rb:117:in `new'"-/home/esp/esp2/shallow/initialize.rb:117"1/home/esp/esp2/lib/framework.rb:39:in `load'"1/home/esp/esp2/lib/framework.rb:39:in `load'"4/home/esp/esp2/lib/framework.rb:75:in `execute'"-/home/esp/esp2/lib/esp.rb:127:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"1/home/esp/esp2/lib/threads.rb:708:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475:\ errnoi: mesg"8No such process -- removing stale lock on /dev/isus +15 !o:Instrument::ISUSCore: @refi06 : @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ + .\Sleepy.power :raw,:ON +3 EB\ 31 +4 B\ 31 + S) + ) +2 h  + C' +2 ' +3 h  + P% +2 % +2 h  +4 C' 9\ + ' 0\ +2 ' -\ +3 P% 9\ +2 % 2\ +2 % *\ + % 0\ +3 S)&\ +2 .t\SS.stop + S)5 + .t\SS.configure SSconfig +2 S)#.0X 0.425*1.723 +1831 #-> 0.615*1.213 +2331 #-> 0.732275+_ +480 #-> _/2 @EST1610427890.35 #-> 0.385*1.213 +2192 #-> 0.27*1.723 +16346 #-> 0.466*0.425 +4533 EA\ *' +1143 #t-> 2054*.425 +37329 #-> 0.385*2054 +3100 #-> 0.466*(.425*2054) +10508 #-> 1.723*(.425*2054) +4210 #-> 0.7391*(.425*2054) +3712 EA\ +( +30547 #t-> 2054*1.242 +5257 #-> 2054*1.213 +13920 #-> 1.723 * 0.425 +1650 #-> 1.213 * 0.615 +1387 #-> _+0.732275 +2007 #-> 1.47827/2 +5235 E=\ *' +4751 #t-> 0.7391/0.425 +2641 #-> 0.7391/0.615 +4615 #-> 0.7391/0.425 +668 #-> 0.739/0.425 +898 #-> 0.735/0.425 +1824 #-> 0.732/0.425 +837 #-> 0.732/0.426 +422 #-> 0.732/0.425 +375 #-> 0.733/0.425 +819 #-> 0.732/0.425 +1171 #-> 0.7325/0.425 +1971 #-> 0.7325/0.615 +6221 #-> 0.734/0.615 +503 #-> 0.735/0.615 +882 #-> 0.739/0.615 +938 #-> 0.74/0.615 +2753 #-> 0.733/0.615 +680 #-> 0.733/0.425 +1249 #-> 0.7335/0.425 +528 #-> 0.735/0.425 +405 #-> 0.7335/0.425 +1013 #-> 0.734/0.425 +680 #-> 0.733/0.425 +529 #-> 0.73/0.425 +1588 #-> 0.736/0.425 +1540 #-> 0.731/0.425 +630 #-> 0.732/0.425 +612 #-> 0.7325/0.425 +798 #-> 0.7324/0.425 +867 #-> 0.7323/0.425 +11211 #-> .466*0.425 +5383 E=\ *( +51266 #t-> .385*(.425*2054) +6663 #-> .385*.425 +2074 EB\ *( +337 #t-> .27*0.615 +9743 #-> 1.3*.425 +20533 #-> 89.0/2054+0.52 +29390 EF\ +( +60002 C\ *( +60003 A\ *( +34272 #t-> exit +4 #m\EXIT @1610432664.01EST @1610433013.84EST = =mMAIN_scheduler =tMAIN @EST1610433015.58 #"core_reset"Sent BREAK +2 #t@21303 sendCRC with ifg=0x20, ie=0x7F #@23137 sendCRC with ifg=0x08, ie=0x5F + #@41175 sendCRC with ifg=0x20, ie=0x7F + #@41622 sendCRC with ifg=0x20, ie=0x7F #@42937 sendCRC with ifg=0x20, ie=0x7F + #@43153 sendCRC with ifg=0x20, ie=0x7F #@44307 sendCRC with ifg=0x20, ie=0x7F + #@45673 sendCRC with ifg=0x08, ie=0x5F + #@57233 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +198 !o:Instrument::ISUSCore: @refi :\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF +97 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +393 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +9 "Can"D\ -* + D\ -* #tPolling Can every 10:00 +124 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e"\ + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ]\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %OK ^\ +2 .tSS.configure :default +2 "sampler")#.0X quit +5 #mEXIT @1610433036.72EST @1610433251.07EST = =tMAIN =mMAIN_scheduler @EST1610433252.78 #"core_reset"Sent BREAK +2 #t@24395 sendCRC with ifg=0x20, ie=0x7F #@26230 sendCRC with ifg=0x08, ie=0x5F + #@24988 sendCRC with ifg=0x20, ie=0x7F + #@25435 sendCRC with ifg=0x20, ie=0x7F #@26750 sendCRC with ifg=0x20, ie=0x7F + #@26966 sendCRC with ifg=0x20, ie=0x7F #@28120 sendCRC with ifg=0x20, ie=0x7F + #@29486 sendCRC with ifg=0x08, ie=0x5F + #@59536 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +198 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi܌ +91 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +348 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"E\ -* + E\ -* + #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e\ + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػG\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %NJ `\ +2 .tSS.configure :default +2 "sampler")#.0X ESP + "collection"' +3 "core"  +2 "collection"' +3 "core"  +2 "collection"' +3 "core"  + "processing"% +3 "core"  + "processing"% +3 "core" V +2 "processing"% +3 "core"  + "processing"% +3 "core"  +2 "sampler") +2 "core"  +2 "collection"'% +3 "core" %e\ +2 "processing"%% +4 "core" %ػ[\ +2 "sampler")% +4 "core" %ML e\ +2 "collection"'& +3 "core" &\ +2 "processing"%& +3 "core" &b\ +2 "manipulator"&% +3 "core" %  ;  +2 "manipulator"&& +3 "core" & . +2 "storage"(& +3 "core" &D\ \ $\ +2 "storage"(% +4 "core" %\ \ \ + "collection"' 9 +3 "core" 9 +2 "processing"%!9 +3 "core" 9 +698 #t-> ESP.ready! +2 "collection"'"% +4 "core" %e\ +2 "processing"%#% +4 "sampler")$% +2 "manipulator"&%% +8 "core" %ػb\ + %LK [\ + %  b  + "manipulator"&&& +4 "core" &  + "storage"('& +4 "core" &D\ '\  K\ + "storage"((% +3 "core" %\ \  \ +2 "collection"')& +3 "core" &\ + "processing"%*& +4 "core" &d\ + "collection"'+ +3 "core"  +2 "collection"', +3 "core"  + "collection"'- +3 "core"  +2 "processing"%. +2 "core"  +2 "processing"%/ +3 "core" V + "processing"%0 +3 "core"  +2 "processing"%1 +3 "core"  + "sampler")2 +3 "core"  +2 "collection"'3% +3 "core" %e\ +2 "processing"%4% +3 "core" %ػa\ +2 "sampler")5% +4 "core" %OM f\ + "collection"'6& +4 "core" &\ + "processing"%7& +4 "core" &]\ + "manipulator"&8% +4 "core" %    + "manipulator"&9& +4 "core" & g + "storage"(:& +4 "core" &D\ %\ ' /\ +2 "storage"(;% +3 "core" %\ '\ ' j\ +2 "collection"'<9 +3 "core" 9 + "processing"%=9 +3 "core" 9 +2920 #t-> ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF #Shutdown +289 #t-> ESP.wakeup +3 #Powering core bus +485 .Gate.power :raw,:ON +2 "sampler") +28 )> +3 "core"  + "collection"' +3 '? +3 "core"  + "processing"% +2 %@ +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'A% +3 "core" %%\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%B% +3 "core" %;\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")C% +2 "core" %NKy\ +2 .tSS.configure :default +2 "sampler")#.0X S +2 "processing"%e& +3 "collection"'f& +4 "core" &G\ + &&\ +2 .tCC.reconfigure :default +2 ."openPC"PC.reconfigure :default +4 "collection"'$x2 ^22b +3 .tCC.home.seek :open +2 "processing"%$x2 ^22b + "collection"'g( +3 ."openPC"PC.home.seek :open +3 "processing"%h( +272 "core" ( +27 ( +2 "collection"'i +3 "core"  +2 "processing"%j +3 "core" V + "processing"%k +3 "core"  +2 "processing"%l +3 "core"  + "collection"'m% +4 "core" %h\  +2 "processing"%n% +4 "core" %ؿM\ + "sampler")o% +4 "core" %ځMK Z\ - +2 "collection"'p& +3 "core" &\  +2 "processing"%q& +3 "core" &P\  +2 "manipulator"&r% +3 "core" %  Y S +2 "manipulator"&s& +3 "core" & O 7 +2 "storage"(t& +3 "core" &,x G\  +2 "storage"(u% +3 "core" % M\ +2 "collection"'v9 +3 "core" 9 + "processing"%w9 +4 "core" 9 +620 #t-> SE.legend +2296 #-> CC.legend +1722 #-> require 'shuffle' +1291 #-> Puck.count + "storage"(x% +3 "core" % )\ +2 .tSE.seek :down +2 "storage"(y' +3 "core" ' + .tSE.coast + "storage"(5 +2 .tHand.open + "manipulator"&z1 +58 "core" 1 + "manipulator"&{% +4 "core" %   S +2 .tSC.coast + "storage"(6 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(|(C +987 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (}& +2 "core" &D >\ +2 "manipulator"&~& +4 "core" & 7 + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&( +2 "core" ( +2 "manipulator"&& +3 "core" &  7 +2 "storage"(& +3 "core" &D U\ +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +91 "core" ' + "storage"(& +4 "core" &D 9\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +321 "core" ' + "storage"(- +4 "core" -'Q + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +2 "core" % W \ +3 ."downElevator"SE.seek :down +2 "storage"(' +100 ( % +2 "core" %D a Y\ Wc +2 "manipulator"&\ % +4 "core" % t + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' +45 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"( (  +353 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ( & +3 "core" &  | J\  +2 "manipulator"&& +3 "core" &  7 +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & l 7 +2 "storage"(& +3 "core" &  u s 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' + "storage"(& +4 "core" &  &\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +276 "core" ' + "storage"(- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +2 "core" %t q Z \ +3 ."downElevator"SE.seek :down +2 "storage"(' +100 (% +2 "core" %K X U `\ Xg +2 "manipulator"&% +3 "core" %V  Z V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +84 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +357 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & q r 3\ \ +2 "manipulator"&& +3 "core" &  J 7 +2 .tElbow.seek 3 + "manipulator"&( +27 "core" ( + "manipulator"&& +4 "core" &{ `  +2 "storage"( & +3 "core" & *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&!'7 +93 "core" ' + "storage"("& +4 "core" & \ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'r +324 "core" ' + "storage"(#- +4 "core" -'V + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ($% +2 "core" % \\ K\ +3 ."downElevator"SE.seek :down +3 "storage"(&' +100 ('% +2 "core" %> 4\ Va +2 "manipulator"&(% +3 "core" %0 , ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +93 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(*(,y +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (+& +2 "core" &,w X\  +2 "manipulator"&,& +3 "core" &{  F  +2 .tElbow.seek 4 + "manipulator"&-( +30 "core" ( + "manipulator"&.& +4 "core" & J +2 "storage"(/& +3 "core" &,x" y x a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +93 "core" ' + "storage"(1& +4 "core" &,x" | v z\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'r +313 "core" ' + "storage"(3- +4 "core" -'\\ + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4% +2 "core" % U ` ]\ +3 ."downElevator"SE.seek :down +4 "storage"(5' +98 (6% +2 "core" %2A : ? 1\ We +2 "manipulator"&7% +3 "core" % L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +94 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(9(<- +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (:& +2 "core" &<*# W ^\  +2 "manipulator"&;& +3 "core" &  J +2 .tElbow.seek 5 + "manipulator"&<( +27 "core" ( + "manipulator"&=& +4 "core" &   \\  +2 "storage"(>& +3 "core" &<*# s e W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +96 "core" ' + "storage"(@& +5 "core" &<*# v *\  + .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'r +313 "core" ' + "storage"(B- +4 "core" -'N + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C% +2 "core" % N V G e\ +3 ."downElevator"SE.seek :down +3 "storage"(D' +99 (E% +2 "core" %< ( 5 ;\ Wd +2 "manipulator"&F% +3 "core" %R s ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +92 "core" ' +50 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(H(K +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (I& +2 "core" &K v w 6\ \  +2 "manipulator"&J& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&K( +3 "core" ( + "manipulator"&L& +4 "core" & R  + "storage"(M& +4 "core" &K# h v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&N' +92 "core" ' + "storage"(O& +4 "core" &K# z R\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +313 "core" ' + "storage"(Q- +4 "core" -'T + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R% +2 "core" % V X S N\ +3 ."downElevator"SE.seek :down +3 "storage"(S' +100 (V% +2 "core" %A . 4 G\ Wd +2 "manipulator"&Y% +4 "core" % r + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +90 "core" ' +50 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(\\([ +348 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (U& +3 "core" &[ \  + "manipulator"&_& +4 "core" & 2  +2 .tElbow.seek 7 + "manipulator"&b(r +14 "core" ( + "manipulator"&d& +4 "core" &h   +2 "storage"(f& +3 "core" &[ q k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&e'= +94 "core" ' + "storage"(T& +4 "core" &[ L\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +47 .tSE.seek :beamBreak + "storage"(['r +313 "core" ' +2 "storage"(`- +3 "core" -'Y +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i% +2 "core" % ^ ` ^\ +3 ."downElevator"SE.seek :down +3 "storage"(j' +100 (k% +2 "core" %D V W r\ We +2 "manipulator"&l% +4 "core" %4 K a + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m' +90 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +5095 #t-> Stoarge.height +2 !o:NameError: mesg"#uninitialized constant Stoarge: name: Stoarge:bt["(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3142 #-> Storage.pucksRemaining + !o:Storage::Error: mesg"No startTube specified:bt[\ "6/home/esp/esp2/utils/storage.rb:162:in `srcTube!'" Storage.stackHeight +1751 #-> SEinch +10785 #-> SE.at :down +620 #-> _.pucks + !o:NoMethodError : mesgu:NameError::messagegprivate method `pucks' called for #: name:\ pucks: args[:bt["(ESP):14:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1117 #-> SE.countsPerUnit +3130 #-> 2054*.425 +11063 "Can"M\ 97 +13588 #t-> 0.164*SEinch +1430 #-> 0.385*2054 +4022 #-> 0.385*(0.425*2054) +9733 #-> 0.553*2054 +1079 #-> 1.3*(0.425*2054) +8454 #-> 0.7323*(0.425*2054) +2302 #-> 0.7323*0.425 +1496 #-> 0.7323/0.425 +7180 #-> quit +4 #mEXIT @1610434355.26EST @1610434432.89EST = =tMAIN =mMAIN_scheduler @EST1610434434.63 #"core_reset"Sent BREAK +2 #t@53347 receive with ifg=0x10, ie=0xFD #@53674 receive with ifg=0x80, ie=0xFD + #@47427 sendCRC with ifg=0x20, ie=0x7F + #@47873 sendCRC with ifg=0x20, ie=0x7F #@49465 sendCRC with ifg=0x08, ie=0x5F + #@28505 sendCRC with ifg=0x20, ie=0x7F #@28952 sendCRC with ifg=0x20, ie=0x7F + #@30543 sendCRC with ifg=0x08, ie=0x5F + #@64466 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +195 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi@z +94 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"J\ <9 + J\ <9 + #tPolling Can every 10:00 +123 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %h,\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؿj\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %ځKK U\ - +2 .tSS.configure :default +2 "sampler")#.0X Puck.count + "storage"(% +3 "core" % j\ +2 .tSE.seek :down + "storage"(' +3 "core" ' +2 .tSE.coast + "storage"(5 +2 .tHand.open + "manipulator"&1 +16 "core" 1 + "manipulator"&% +4 "core" %  #  +2 .tSC.coast + "storage"(6 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((C +1923 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &E \ +2 "manipulator"&& +3 "core" &h P  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&( +40 "core" ( +2 "manipulator"&& +4 "core" & -  +2 "storage"(& +3 "core" &A S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +101 "core" ' + "storage"( & +4 "core" &C P\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(!'r +321 "core" ' + "storage"("- +4 "core" -'Q + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 !to:Puck::Error: mesg".2 pucks loaded in tube 1 when expecting 1:bt[";/home/esp/esp2/utils/puckmoves.rb:258:in `verifyCount'";/home/esp/esp2/utils/puckmoves.rb:656:in `stackHeight'"5/home/esp/esp2/lib/rmutex.rb:89:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:62:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'";/home/esp/esp2/utils/puckmoves.rb:650:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:649:in `each'";/home/esp/esp2/utils/puckmoves.rb:649:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:648:in `each'";/home/esp/esp2/utils/puckmoves.rb:648:in `stackHeight'"5/home/esp/esp2/utils/puckmoves.rb:670:in `count'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + "storage"(#% +3 "core" % V _\ +2 ."downElevator"SE.seek :down +4 "storage"($' +100 (%% +2 "core" %G z <\ We +2 "manipulator"&&% +3 "core" % k I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +90 "core" ' +49 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(((  +358 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ()& +3 "core" &  y z F\  + "manipulator"&*& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&+( +3 "core" ( + "manipulator"&,& +4 "core" &  + "storage"(-& +4 "core" &  i m \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&.'S +89 "core" ' + "storage"(/& +4 "core" &  N\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'r +277 "core" ' + "storage"(1- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (2% +3 "core" %i _ y S\ +3 ."downElevator"SE.seek :down +3 "storage"(3' +100 (4% +2 "core" %NG X Z \ We +2 "manipulator"&5% +3 "core" %Y u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +88 "core" ' +73 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(7( +366 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (8& +2 "core" & 3\  +2 "manipulator"&9& +4 "core" & F  + .tElbow.seek 3 +2 "manipulator"&:( +13 "core" ( + "manipulator"&;& +4 "core" &  +2 "storage"(<& +3 "core" & ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&='7 +98 "core" ' + "storage"(>& +4 "core" & \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'r +324 "core" ' + "storage"(@- +4 "core" -'V + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 !to:Puck::Error: mesg".2 pucks loaded in tube 3 when expecting 1:bt[";/home/esp/esp2/utils/puckmoves.rb:258:in `verifyCount'";/home/esp/esp2/utils/puckmoves.rb:656:in `stackHeight'"5/home/esp/esp2/lib/rmutex.rb:89:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:62:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'";/home/esp/esp2/utils/puckmoves.rb:650:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:649:in `each'";/home/esp/esp2/utils/puckmoves.rb:649:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:648:in `each'";/home/esp/esp2/utils/puckmoves.rb:648:in `stackHeight'"5/home/esp/esp2/utils/puckmoves.rb:670:in `count'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 "storage"(A% +3 "core" % [ G\ +2 ."downElevator"SE.seek :down +5 "storage"(B' +100 (C% +2 "core" %C Q\ Wb +2 "manipulator"&D% +3 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +87 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(F(,y +353 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (G& +2 "core" &,y :\ \ +2 "manipulator"&H& +36 "core" & S  +8 .tElbow.seek 4 + "manipulator"&I( +43 "core" ( + "manipulator"&J& +4 "core" & +2 "storage"(K& +3 "core" &,y I\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&L' +91 "core" ' + "storage"(M& +4 "core" &,y :\ \ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +314 "core" ' + "storage"(O- +4 "core" -'\\ + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 !to:Puck::Error: mesg".2 pucks loaded in tube 4 when expecting 1:bt[";/home/esp/esp2/utils/puckmoves.rb:258:in `verifyCount'";/home/esp/esp2/utils/puckmoves.rb:656:in `stackHeight'"5/home/esp/esp2/lib/rmutex.rb:89:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:62:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'";/home/esp/esp2/utils/puckmoves.rb:650:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:649:in `each'";/home/esp/esp2/utils/puckmoves.rb:649:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:648:in `each'";/home/esp/esp2/utils/puckmoves.rb:648:in `stackHeight'"5/home/esp/esp2/utils/puckmoves.rb:670:in `count'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + "storage"(P% +3 "core" % a | P\ +2 ."downElevator"SE.seek :down +4 "storage"(Q' +100 (R% +2 "core" %C z y ~\ Vb +2 "manipulator"&S% +4 "core" % 8 f + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +92 "core" ' +44 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(U(<- +347 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (V& +2 "core" &<* { @\  +2 "manipulator"&W& +3 "core" & } +2 .tElbow.seek 5 + "manipulator"&X( +11 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(Z& +3 "core" &<* w Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +94 "core" ' + "storage"(\\& +4 "core" &<* ]\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'r +313 "core" ' + "storage"(^- +4 "core" -'N + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 !to:Puck::Error: mesg".2 pucks loaded in tube 5 when expecting 1:bt[";/home/esp/esp2/utils/puckmoves.rb:258:in `verifyCount'";/home/esp/esp2/utils/puckmoves.rb:656:in `stackHeight'"5/home/esp/esp2/lib/rmutex.rb:89:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:62:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'";/home/esp/esp2/utils/puckmoves.rb:650:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:649:in `each'";/home/esp/esp2/utils/puckmoves.rb:649:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:648:in `each'";/home/esp/esp2/utils/puckmoves.rb:648:in `stackHeight'"5/home/esp/esp2/utils/puckmoves.rb:670:in `count'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 "storage"(_% +3 "core" % P k w 6\ +2 ."downElevator"SE.seek :down +3 "storage"(`' +100 (a% +2 "core" %A V ` B\ Xe +2 "manipulator"&b% +3 "core" %^ d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +92 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(d(K +350 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (e& +3 "core" &K" w x c\  + "manipulator"&f& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&g( +4 "core" ( + "manipulator"&h& +4 "core" &  +2 "storage"(i& +3 "core" &K# y x {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&j' +90 "core" ' + "storage"(k& +4 "core" &K# w o u\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'r +319 "core" ' + "storage"(m- +4 "core" -'U + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 !to:Puck::Error: mesg".2 pucks loaded in tube 6 when expecting 1:bt[";/home/esp/esp2/utils/puckmoves.rb:258:in `verifyCount'";/home/esp/esp2/utils/puckmoves.rb:656:in `stackHeight'"5/home/esp/esp2/lib/rmutex.rb:89:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:62:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'";/home/esp/esp2/utils/puckmoves.rb:650:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:649:in `each'";/home/esp/esp2/utils/puckmoves.rb:649:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:648:in `each'";/home/esp/esp2/utils/puckmoves.rb:648:in `stackHeight'"5/home/esp/esp2/utils/puckmoves.rb:670:in `count'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 "storage"(n% +3 "core" % N S ^ j\ +2 ."downElevator"SE.seek :down +3 "storage"(o' +100 (p% +2 "core" %A ' . b\ Vc +2 "manipulator"&q% +3 "core" % a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +99 "core" ' +41 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(s([ +350 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (t& +2 "core" &[" z { \  +2 "manipulator"&u& +3 "core" &   +2 .tElbow.seek 7 + "manipulator"&v(r +39 "core" ( + "manipulator"&w& +4 "core" &y   _ +2 "storage"(x& +3 "core" &[" z w G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&y'= +91 "core" ' + "storage"(z& +4 "core" &[" z z 4\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"({'r +315 "core" ' + "storage"(|- +4 "core" -'Y + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 !to:Puck::Error: mesg".2 pucks loaded in tube 7 when expecting 1:bt[";/home/esp/esp2/utils/puckmoves.rb:258:in `verifyCount'";/home/esp/esp2/utils/puckmoves.rb:656:in `stackHeight'"5/home/esp/esp2/lib/rmutex.rb:89:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:62:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'";/home/esp/esp2/utils/puckmoves.rb:650:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:649:in `each'";/home/esp/esp2/utils/puckmoves.rb:649:in `stackHeight'"4/home/esp/esp2/utils/puckmoves.rb:648:in `each'";/home/esp/esp2/utils/puckmoves.rb:648:in `stackHeight'"5/home/esp/esp2/utils/puckmoves.rb:670:in `count'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 "storage"(}% +3 "core" % a C $ \ +2 ."downElevator"SE.seek :down +3 "storage"(~' +100 (% +2 "core" %< = @ \ Wd +2 "manipulator"&% +3 "core" %4 j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +42 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +1192 #t-> Storage.stackHeight +5832 #-> 0.425*1.01 +5842 #-> 2*times {Puck.move 3,1} +2 !o:TypeError: mesg"(:times can't be coerced into Fixnum:bt[ "(ESP):4:in `*'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +511 #-> 2.times {Puck.move 3,1} +3 #Moving puck from tube 3 to 1 + "manipulator"&% +3 "core" %  1 +2 "storage"(% +3 "core" % \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +1297 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ( & +3 "core" & >\ + "manipulator"& & +4 "core" &z  / ^ + .tElbow.seek 3 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&& +3 "core" &z   ^ +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +95 "core" ' + "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +68 "core" / +3 "manipulator"&& +4 "core" &z  I ^ + "manipulator"&% +4 "core" % /  + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek :clear +2 "manipulator"&(d +100 "core" ( + "manipulator"&& +4 "core" &d {  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &d j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"& ' +4 "core" ' +2 .tSE.seek :down + "storage"(' +265 "core" ' +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((C +667 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ("& +3 "core" &E l \ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'r +317 "core" ' + "storage"(%- +3 "core" -'Q + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (&& +3 "core" &E w v\ +2 "storage"(!& +3 "core" &E x y 7\ + "manipulator"&& +4 "core" &d  + "manipulator"&$% +4 "core" %   + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&( +102 "core" ( + "manipulator"&)& +4 "core" &  , +2 "storage"(*& +3 "core" &E y x :\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&,'8 +95 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&/1 +62 "core" 1 +2 "manipulator"&% +4 "core" % G   O  + "storage"('& +4 "core" &E z \ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 315 counts + "manipulator"&1's +17 "core" ' + "manipulator"&2& +4 "core" & , +2 "storage"(4& +3 "core" &E b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&5' +19 "core" ' + "storage"(0% +4 "core" % J g\ +3 ."downElevator"SE.seek :down +2 "storage"(.' +100 (3% +2 "core" %C \\ V `\ Vc +2 "manipulator"&(% +3 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +92 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tMoving puck from tube 3 to 1 + "manipulator"&9% +4 "core" %    +2 "storage"(;% +3 "core" % $\ +2 "storage"(<. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(>( +666 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (+& +3 "core" & x z V\ \  + "manipulator"&6& +4 "core" & , + .tElbow.seek 3 +2 "manipulator"&@( +23 "core" ( + "manipulator"&A& +4 "core" &   +2 "storage"(C& +3 "core" & q\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&D'7 +97 "core" ' + "storage"(?& +4 "core" & t {\ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='r +296 "core" ' +2 "storage"(B- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +65 "core" / +2 "manipulator"&G& +4 "core" & !  + "manipulator"&H% +4 "core" % 2 J +36 .tForearm.seek :retract +9 "manipulator"&J' +95 "core" ' + .tElbow.seek :clear +2 "manipulator"&K(d +97 "core" ( + "manipulator"&M& +4 "core" &d   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &d  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear + "manipulator"&E' +17 "core" ' +2 .tSE.seek :down + "storage"(O' +273 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(P(C +671 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (R& +2 "core" &F a\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'r +311 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (L& +3 "core" &F w v _\ +2 "storage"(Q& +3 "core" &F w y m\ + "manipulator"&F& +4 "core" &d   + "manipulator"&V% +4 "core" %  v l +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&W( +112 "core" ( + "manipulator"&Y& +4 "core" & +2 "storage"(Z& +3 "core" &F M\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&\\'8 +94 "core" ' + .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&T1 +54 "core" 1 +2 "manipulator"&^% +4 "core" % I  5  + "storage"(_& +4 "core" &F x y i\ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 317 counts +2 "manipulator"&a'u +14 "core" ' + "manipulator"&b& +4 "core" & S +2 "storage"(]& +3 "core" &F k s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&[' +18 "core" ' + "storage"(`% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(U' +99 (e% +2 "core" %3D w g m\ Wc +2 "manipulator"&f% +4 "core" % b + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h' +91 "core" ' +40 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +103 #t-> Storage.stackHeight +1673 #-> 2.times {Puck.move 4,1} +2 #Moving puck from tube 4 to 1 + "manipulator"&i% +3 "core" %  (  + "storage"(k% +4 "core" % \ +2 "storage"(X. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(c(,y +978 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (m& +3 "core" &,y a\ \ + "manipulator"&n& +4 "core" & r +2 .tElbow.seek 4 + "manipulator"&p( +3 "core" ( +2 "manipulator"&q& +3 "core" & + "storage"(l& +4 "core" &,y I\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +96 "core" ' + "storage"(o& +4 "core" &,y +\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'r +298 "core" ' + "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +74 "core" / +5 "manipulator"&w& +7 "core" & + "manipulator"&x% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&z' +95 "core" ' +2 .tElbow.seek :clear + "manipulator"&g(d +99 "core" ( + "manipulator"&r& +4 "core" &d "  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +2 "core" &d   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&}' +15 "core" ' +2 .tSE.seek :down + "storage"(' +277 "core" ' +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((C +986 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ({& +3 "core" &F #\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'r +312 "core" ' + "storage"(~- +4 "core" -'7 + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (s& +3 "core" &F n\ + "storage"(& +4 "core" &F s t m\ +2 "manipulator"&& +3 "core" &d -  + "manipulator"&% +4 "core" %  + R +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"& ( +105 "core" ( + "manipulator"& & +4 "core" & Y - +2 "storage"(& +3 "core" &F p n \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&'8 +92 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&v1 +52 "core" 1 +2 "manipulator"&% +4 "core" % I + "storage"(& +4 "core" &F z x \ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 317 counts +2 "manipulator"&'u +15 "core" ' + "manipulator"&& +4 "core" & e + +2 "storage"(& +3 "core" &F r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(% +4 "core" % = ~ \ +3 ."downElevator"SE.seek :down +2 "storage"(' +100 ( % +2 "core" %Ò< w }\ V` +3 "manipulator"&% +4 "core" % a + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +32 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tMoving puck from tube 4 to 1 + "manipulator"&% +4 "core" % \  B  +2 "storage"("% +3 "core" % R\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(%(,y +987 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (&& +3 "core" &,y d\ \  +2 "manipulator"&!& +3 "core" & + + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&$& +4 "core" & + + "storage"()& +3 "core" &,y w w S\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +96 "core" ' +2 "storage"(/& +4 "core" &,y x \ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +67 "core" / +2 "manipulator"&2& +4 "core" & + + "manipulator"&4% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&0' +89 "core" ' + .tElbow.seek :clear +2 "manipulator"& (d +99 "core" ( + "manipulator"&3& +4 "core" &d  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +2 "core" &d m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"&' +2 "core" ' +2 .tSE.seek :down + "storage"(,' +268 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(9(C +983 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (;& +2 "core" &F @\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'r +305 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (#& +3 "core" &F w x \ + "storage"(5& +4 "core" &F y l\ + "manipulator"&.& +3 "core" &d   +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&+( +102 "core" ( + "manipulator"&6& +4 "core" &  +2 "storage"(A& +3 "core" &F y v ,\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&C'8 +101 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&-1 +55 "core" 1 +2 "manipulator"&8% +4 "core" % E  + "storage"(B& +4 "core" &F v z R\ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 313 counts + "manipulator"&7'q +14 "core" ' + "manipulator"&G& +4 "core" & J  +2 "storage"(H& +3 "core" &F 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&M' +17 "core" ' + "storage"(:% +4 "core" % C\ +3 ."downElevator"SE.seek :down +3 "storage"(D' +100 (@% +2 "core" % 9 l x "\ V_ +2 "manipulator"&J% +4 "core" % + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +91 "core" ' +27 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +572 #t-> Storage.stackHeight +2158 #-> 2.times {Puck.move 5,1} + #Moving puck from tube 5 to 1 + "manipulator"&>% +4 "core" %    + "storage"(R% +4 "core" % -\ + "storage"(O. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(N(<- +1300 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (L& +3 "core" &<," x a\  +2 "manipulator"&Q& +3 "core" &   + .tElbow.seek 5 +2 "manipulator"&F( +9 "core" ( + "manipulator"&V& +4 "core" &  +2 "storage"(Y& +3 "core" &<+ 2\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&Z'O +97 "core" ' + "storage"(T& +4 "core" &<+ =\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'r +299 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +68 "core" / +2 "manipulator"&b& +4 "core" &  + "manipulator"&]% +4 "core" % T H + .tForearm.seek :retract +2 "manipulator"&`' +93 "core" ' +2 .tElbow.seek :clear + "manipulator"&E(d +104 "core" ( + "manipulator"&e& +4 "core" &d ! } +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &d  } + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +38 "manipulator"&W' +12 "core" ' +2 .tSE.seek :down + "storage"(\\' +265 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(a(C +1312 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (S& +2 "core" &A x\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(['r +293 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" &> v \  +2 "storage"(i& +3 "core" &> o r\  +2 "manipulator"&k& +3 "core" &d  } +2 "manipulator"&X% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&m( +103 "core" ( + "manipulator"&n& +4 "core" & $ # +2 "storage"(q& +3 "core" &> q \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&l'8 +100 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&I1 +59 "core" 1 +2 "manipulator"&h% +4 "core" % G   + "storage"(t& +4 "core" &> p p \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 315 counts + "manipulator"&u's +16 "core" ' + "manipulator"&w& +4 "core" & G " +2 "storage"(x& +3 "core" &> \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&r' +19 "core" ' + "storage"(|% +5 "core" %  \ +2 ."downElevator"SE.seek :down +2 "storage"(j' +100 (p% +2 "core" %~7 3\ U^ +2 "manipulator"&z% +4 "core" % ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +93 "core" ' +27 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tMoving puck from tube 5 to 1 + "manipulator"&c% +4 "core" %  (  + "storage"({% +4 "core" % )\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(~(<- +1298 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (s& +3 "core" &<,) S V 5\ \  +2 "manipulator"&& +3 "core" & " + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & " +2 "storage"( & +3 "core" &<+ J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +92 "core" ' + "storage"(v& +4 "core" &<+ %\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +77 "core" / +2 "manipulator"&& +4 "core" & i " + "manipulator"&% +3 "core" % ` n | +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek :clear +2 "manipulator"&}(d +100 "core" ( + "manipulator"& & +4 "core" &d W  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &d  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :clear +2 "manipulator"& ' +9 "core" ' +2 .tSE.seek :down + "storage"(' +273 "core" ' +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((C +1298 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ("& +3 "core" &E w { s\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (y& +3 "core" &E B ? 0\ + "storage"(& +4 "core" &E U Q O\ + "manipulator"&& +4 "core" &d  + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&&( +103 "core" ( + "manipulator"&!& +4 "core" & ]  +2 "storage"($& +3 "core" &E V U r\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&)'8 +96 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % G  j  + "storage"(& +4 "core" &E U U _\ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 315 counts +2 "manipulator"&''s +16 "core" ' + "manipulator"&2& +4 "core" &  +2 "storage"(4& +3 "core" &E W U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&3' +21 "core" ' +2 "storage"((% +4 "core" % x ] l\ +2 ."downElevator"SE.seek :down +2 "storage"(*' +100 (% +2 "core" %3 V W /\ V_ +2 "manipulator"&0% +4 "core" % , + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +14 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +640 #t-> Storage.stackHeight +4422 #-> 0.425*1.01 +1772 "Can"N\ ;9 +1558 #t-> quit +5 #mEXIT @1610435056.10EST @1610435099.59EST = =tMAIN =mMAIN_scheduler @EST1610435101.32 #"core_reset"Sent BREAK +2 #t@10851 receive with ifg=0x10, ie=0xFD #@11179 receive with ifg=0x80, ie=0xFD + #@12964 sendCRC with ifg=0x20, ie=0x7F + #@13411 sendCRC with ifg=0x20, ie=0x7F #@15002 sendCRC with ifg=0x08, ie=0x5F + #@52833 sendCRC with ifg=0x20, ie=0x7F + #@53279 sendCRC with ifg=0x20, ie=0x7F #@54871 sendCRC with ifg=0x08, ie=0x5F + #@58246 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +192 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refix{ +92 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +354 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"R\ >; + R\ >; #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %h3\  + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؿq\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ځMM X\ - +2 .tSS.configure :default +2 "sampler")#.0X Puck.count 1 + "storage"(% +3 "core" % T\ +2 .tSE.seek :down +2 "storage"(' +3 "core" ' + .tSE.coast + "storage"(5 +3 .tHand.open + "manipulator"&1 +18 "core" 1 + "manipulator"&% +4 "core" %    +2 .tSC.coast "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((C +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &E \ +2 "manipulator"&& +3 "core" & z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&( +10 "core" ( + "manipulator"&& +4 "core" &  U  +2 "storage"(& +3 "core" &D q p \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&' +91 "core" ' + "storage"( & +5 "core" &D \ + .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'r +280 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#% +2 "core" % 3 2 )\ +3 ."downElevator"SE.seek :down +7 "storage"($' +100 (%% +2 "core" %1 V U w\ T[ +2 "manipulator"&&% +3 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +90 "core" ' +9 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +1279 #t-> Storage.stackHeight +1439 #-> Puck.count 2..7 +2 "storage"((% +3 "core" % \ +2 .tSE.seek :down + "storage"()' +3 "core" ' + .tSE.coast + "storage"(5 +3 "manipulator"&*% +4 "core" %   + .tSC.coast + "storage"(6 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(+(  +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (,& +2 "core" &  \\\  +2 "manipulator"&-& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&.( +3 "core" ( +2 "manipulator"&/& +3 "core" &  +2 "storage"(0& +3 "core" &  D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&1'S +90 "core" ' +2 "storage"(2& +4 "core" &  \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'r +275 "core" ' + "storage"(4- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5% +2 "core" %o v x A\ +3 ."downElevator"SE.seek :down +3 "storage"(6' +100 (7% +2 "core" %\\I T W T\ Wf +2 "manipulator"&8% +4 "core" %O y n + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&9' +93 "core" ' +71 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(:( +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (;& +2 "core" & | \  +2 "manipulator"&<& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&=( +17 "core" ( + "manipulator"&>& +4 "core" &} N  +2 "storage"(?& +3 "core" & ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&@'7 +101 "core" ' + "storage"(A& +4 "core" & _\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'r +276 "core" ' + "storage"(C- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D% +2 "core" %k x A\ +42 ."downElevator"SE.seek :down +2 "storage"(E' +100 (F% +2 "core" %I R Q \ Xf +2 "manipulator"&G% +4 "core" %- E + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +93 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(I(,y +359 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (J& +2 "core" &,z q m t\  +2 "manipulator"&K& +4 "core" &}  + .tElbow.seek 4 +2 "manipulator"&L( +38 "core" ( + "manipulator"&M& +4 "core" &  e \ +3 "storage"(N& +3 "core" &,z o p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +92 "core" ' + "storage"(P& +4 "core" &,z \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'r +276 "core" ' + "storage"(R- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S% +2 "core" %f W W\ +3 ."downElevator"SE.seek :down +3 "storage"(T' +100 (U% +3 "core" %F X V =\ We +2 "manipulator"&V% +3 "core" % l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +93 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(X(<- +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (Y& +2 "core" &<, l u J\  +2 "manipulator"&Z& +3 "core" & \ +2 .tElbow.seek 5 + "manipulator"&[( +8 "core" ( + "manipulator"&\\& +4 "core" &  G +2 "storage"(]& +3 "core" &<, m y x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^'O +97 "core" ' + "storage"(_& +4 "core" &<, \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'r +277 "core" ' + "storage"(a- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b% +2 "core" %i u \ +2 ."downElevator"SE.seek :down +3 "storage"(c' +100 (d% +3 "core" %G S W K\ We +2 "manipulator"&e% +3 "core" %H   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +94 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(g(K +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (h& +2 "core" &K y E\  +2 "manipulator"&i& +3 "core" & +2 .tElbow.seek 6 + "manipulator"&j( +3 "core" ( + "manipulator"&k& +4 "core" &  + "storage"(l& +4 "core" &K  %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +107 "core" ' + "storage"(n& +4 "core" &K M\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'r +324 "core" ' + "storage"(p- +4 "core" -'T + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q% +2 "core" % [ y y p\ +3 ."downElevator"SE.seek :down +3 "storage"(r' +100 (s% +2 "core" %< L X \\\ Wb +2 "manipulator"&t% +3 "core" % & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +89 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(v([ +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (w& +2 "core" &[ \  +2 "manipulator"&x& +3 "core" & " +2 .tElbow.seek 7 + "manipulator"&y(r +15 "core" ( + "manipulator"&z& +4 "core" &f [  +2 "storage"({& +3 "core" &[ .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&|'= +89 "core" ' + "storage"(}& +4 "core" &[ [\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'r +313 "core" ' + "storage"(- +4 "core" -'Y + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +2 "core" % ] y z K\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +2 "core" %B X W 3\ Wd +2 "manipulator"&% +3 "core" %F   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +377 #t-> Storage.stackHeight +2641 #-> require 'shuffle' +491 #-> shuffle2 + #Shuffling two pucks from tube 1 to 2 of [1..7] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'& +3 "core" &<\  + "manipulator"& % +4 "core" %    +3 "storage"( % +3 "core" % \ +2 "storage"( . +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((C +1944 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &B Y\ +2 "manipulator"&& +3 "core" &f c  +2 .tElbow.seek 1 + "manipulator"&( +34 "core" ( + "manipulator"&& +4 "core" & D + "storage"(& +4 "core" &= :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&' +93 "core" ' + "storage"(& +5 "core" &> \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +265 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &> n \  +2 "manipulator"&& +3 "core" & +2 .tElbow.seek 1 + "manipulator"& ( +8 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &> 2\  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&'d +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +70 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& + "storage"(%' +6 "core" & (  +2 "manipulator"&&% +4 "core" % c H + .tForearm.seek :retract +2 "manipulator"&!' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +117 "core" ' + ."downElevator"SE.coast + "storage"(5 +39 "core" ( + "manipulator"&$& +5 "core" &ӏ( m Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ*  o Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&('? +91 "core" ' +3 "manipulator"&*& +4 "core" &Ӑ)  } Aa +2 "manipulator"&)% +3 "core" %D t +2 "collection"',& +4 "core" &'\  +2 "collection"'-& +5 "core" &%\  +2 .tCC.seek :closed + "collection"'/(\\ +5 "core" &-\  +8 &A0\ %h +9 &jX1\ 8 +9 &~'\ M +10 &]'\ N +9 &DW\ N +10 &]\ N +9 &_\ N +9 &[ \ N +10 &M^"\ M +9 &Z"\ M +9 &]\ N +10 &![\ N +9 &#U]\ M +10 &%\\\ M +9 &&Y\ N +9 &(]\ N +10 &*\\[\ N +9 &,\\ \ N +9 &-W\ \ M +10 &/Y\ \ M +9 &1e]\ M +10 &3&X \ N +9 &4] \ M +9 &6]\ N +10 &8m^\ M +9 &:.Z\ N +9 &;]\ M +10 &=[\ M +9 &?t^\ N +10 &A6_\ N +9 &Bc\ N +9 &Dm \ O +10 &Fq{\ Q +9 &H*\ T +9 &I\ X +10 &K\ Y +9 &Mc\ Y +10 &O#\ Z +9 &P\ Z +9 &R\ Z +10 &Td\ [ +9 &V%\ \\ +9 &W\ \\ +10 &Y\ ^ +9 &[g\ J +10 &\\Q\ d +9 &\\\ ){ +9 &]m\ S +2 ( +2 "collection"'-& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&01 +58 "core" 1 +3 "manipulator"&2% +4 "core" % D  O t + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%'& +4 "core" &z\  +2 "manipulator"&4% +3 "core" %  6  +2 "storage"(5% +3 "core" % 1 1\ +2 "storage"(7. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(8(C +11 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (3& +2 "core" &D   -\ +2 "manipulator"&1& +3 "core" &ӑ)   A` +2 "manipulator"&6% +4 "core" %     + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&+( +169 "core" ( + "manipulator"&;& +4 "core" &  $  +2 "storage"(<& +3 "core" &@ R D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&>' +96 "core" ' + "storage"(?& +4 "core" &@ ] X \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'r +265 "core" ' + "storage"(.- +4 "core" -'R + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +2 "core" &@ ,  Y\  +2 "manipulator"&C& +3 "core" &  +2 .tElbow.seek 1 + "manipulator"&D( +3 "core" ( +2 "manipulator"&F& +3 "core" &  +2 "storage"(G& +3 "core" &@ ? > &\  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&B'd +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +72 "core" / +12 ."downElevator"SE.seek :down +3 "manipulator"&E& +4 "storage"(:' +4 "core" & #  + "manipulator"&J% +4 "core" % \\ 6 +2 .tForearm.seek :retract + "manipulator"&K' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&M( +124 "core" ' + ."downElevator"SE.coast + "storage"(5 +115 "core" ( +2 "manipulator"&N& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" & q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&=' +96 "core" ' + "manipulator"&H& +5 "core" &   + "manipulator"&R% +4 "core" % < 7 +2 "processing"%S& +3 "core" &T\  +3 "processing"%U& +4 "core" &T\  +2 .tPC.seek :closed +2 "processing"%V(^ +4 "core" &P\  +8 &DO\ %h +9 &zVI\ 8 +10 &G\ M +9 &ZM\ O +10 &F]Q\ P +9 & ZU\ O +9 &ZT\ P +10 &\\T\ P +9 &O[W\ O +9 &ZU\ O +10 &ZS\ P +9 &!\\P\ P +10 &#V]O\ P +9 &%[A\ P +9 &&`?\ O +10 &(_>\ P +9 &*^]?\ P +9 &,!_@\ O +10 &-Y?\ O +9 &/^@\ O +10 &1faB\ P +9 &3)^@\ O +9 &4ZA\ P +10 &6^A\ O +9 &8oa=\ O +9 &:0\\@\ P +10 &;\\3\ P +9 &=_/\ P +10 &?w]1\ O +9 &A6h0\ P +9 &Bv7\ R +9 &D2\ U +10 &Fm/\ U +9 &H.8\ V +10 &I7\ U +9 &K8\ V +10 &Mr7\ W +9 &O48\ V +9 &P8\ X +10 &R6\ W +9 &Ty1\ W +9 &V93\ X +10 &W4\ W +9 &Y7\ W +10 &[4\ W +9 &]C.\ M +9 &^{Q3\ $p +10 &^%-\ 2 +2 ( +2 "processing"%U& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&Q1 +64 "core" 1 + "manipulator"&O% +4 "core" % \  c 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +98 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%I& +4 "core" &^"C\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&Y% +3 "core" %  +2 "storage"(Z% +3 "core" % 1 1\ +2 "storage"(\\. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(](  +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (_& +3 "core" &  ! $ \  +3 "manipulator"&L& + ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&W( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(a'r +2 "core" ( + "manipulator"&b& +4 "core" & >  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" & S  +2 .tForearm.seek PC + "manipulator"&e' +92 "core" ' + .tHand.close + "manipulator"&`/ +65 "core" / +2 .tPC.seek :open + "processing"%^( +95 "core" ' + "storage"(c- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +45 "core" ' +309 ( + "storage"(h& +4 "core" &  % ) $\  +2 "manipulator"&i& +3 "core" &  +2 "manipulator"&k% +3 "core" %  = +2 .tForearm.seek :retract + "manipulator"&l' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&n( +247 "core" ( + "manipulator"&[& +4 "core" &  = 4 +2 "storage"(f& +3 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&p'S +93 "core" ' + .tHand.open + "manipulator"&q1 +55 "core" 1 +2 "storage"(s- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(t' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(o' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +3 "core" -' +2 "storage"(r& +3 "core" &  :\  +2 "manipulator"&g& +3 "core" &  X 4 +2 .tElbow.seek 2 + "manipulator"&w( +4 "core" ( + "manipulator"&x& +4 "core" &  K 4 + "storage"(z& +4 "core" &  _\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +58 "core" ' +2 "manipulator"&j& +4 "core" & \\ 4 + "storage"(u& +4 "core" &    \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&'Α +26 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&% +4 "core" %Σ b + "storage"(~& +4 "core" &  )\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&|' +33 "core" ' +2 "manipulator"&& +4 "core" & z 2 + "storage"(v& +5 "core" &  , \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +14 "core" ' +2 "storage"( % +4 "core" % ? 4 Q\ +2 ."downElevator"SE.seek :down +3 "storage"( ' +100 ( % +2 "core" %J \ Xi +2 "manipulator"&% +4 "core" %_  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (& +4 "core" & @ ;\ +2 "collection"'& +3 "core" &]k\ S +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %   +2 "storage"(y% +3 "core" % ? 5 v\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &  A @ |\  +2 "manipulator"&& +3 "core" & 2 +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  Z 2 +2 "storage"("& +3 "core" & 4 ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&#'S +92 "core" ' + "storage"(&& +5 "core" & ; @\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +2 "core" & 2 +2 "storage"(& +3 "core" & \ $ $ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&'Α +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"()'d +31 "core" ' + "manipulator"&,% +4 "core" %΢  L t +2 "storage"( & +3 "core" & \ ! $ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts + "manipulator"&%' +14 "core" ' + "manipulator"&!& +5 "core" &  9 2 + "storage"(\ & +4 "core" & \   U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&0'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(2' +41 "core" ' + "manipulator"&'& +5 "core" & 2 + "manipulator"&4% +4 "core" %H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&5' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +153 "core" ( + "manipulator"&-& +4 "core" &ӌ)  Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &ӌ)  b Ad +2 .tForearm.seek CC + "manipulator"&1'? +94 "core" ' + .tHand.close + "manipulator"&6/ +74 "core" / +2 .tCC.seek :open + "collection"'(( +451 "core" ( +3 "storage"(;& +3 "core" & V V I\  +2 "storage"(<& +3 "core" & \ V U i\  +2 "manipulator"&& +3 "core" &Ӗ( @Z +2 "manipulator"&?% +3 "core" % ?  > +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +165 "core" ( + "manipulator"&.& +4 "core" & @  +2 "storage"(9& +3 "core" & \  #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&C'Α +99 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&G1 +54 "core" 1 +2 "manipulator"&@% +4 "core" % Ρ  + "storage"(E& +4 "core" & \ v \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&J' +27 "core" ' +2 "manipulator"&+& +4 "core" & .  +2 "storage"(>& +3 "core" & G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&A'S +15 "core" ' + "storage"(B% +5 "core" % 5\ +2 ."downElevator"SE.seek :down +3 "storage"(N' +137 (P% +11 "core" %A q Z\ Vc +2 "manipulator"&D% +4 "core" %;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +90 "core" ' +10 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling two pucks from tube 2 to 3 of [1..7] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'R& +4 "core" &\ +2 "manipulator"&S% +4 "core" %   + "storage"(:% +4 "core" % \ + "storage"(K. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( (  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (Q& +2 "core" &  K\  +2 "manipulator"&O& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&I( +9 "core" ( +2 "manipulator"&Y& +4 "core" &    + "storage"(Z& +4 "core" &  5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\\'S +95 "core" ' +2 "storage"(U& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='r +298 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +2 "core" &  R\  +2 "manipulator"&L& +3 "core" & =  +2 .tElbow.seek 2 + "manipulator"&b( +3 "core" ( +2 "manipulator"&d& +3 "core" &  +2 "storage"(`& +3 "core" &  -\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&c'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& + "storage"(V' +7 "core" &  + "manipulator"&a% +4 "core" %  w +2 .tForearm.seek :retract + "manipulator"&h' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&i(ӂ +158 "core" ' +2 ."downElevator"SE.coast + "storage"(5 +3 "core" ( + "manipulator"&k& +4 "core" &Ӎ& R ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &Ӎ&  a ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&['? +96 "core" ' + "manipulator"&f& +5 "core" &ӎ&  3 ?Q + "manipulator"&W% +4 "core" %B  9 k +2 "collection"'q& +3 "core" & \ +2 "collection"'s& +5 "core" &\ \ +2 .tCC.seek :closed + "collection"'m(\\ +5 "core" &\ +8 & -\ #b +9 &V~\ 7 +10 &| \ L +9 &[\ \ M +9 &kY \ M +10 &-Z \ M +9 &Z\ M +10 &Y\ M +9 &sY\ \ M +9 &5Y\ \ M +10 &Y\ M +9 &!Y\ \ L +9 &#zZ\ M +10 &%=Y\ M +9 &'Y\ L +10 &(Y\ M +9 &*X\ \ M +9 &,EY\ M +10 &.[\ M +9 &/Y\ M +9 &1W\ M +10 &3LY\ M +9 &5Y\ M +10 &6Y\ L +9 &8Z\ M +9 &:SZ\ M +10 &<X\ M +9 &=Z\ M +9 &?Z\ M +10 &A\\Z\ M +9 &C`\ N +10 &Dg\ O +9 &F{\ Q +9 &HO\ T +10 &J \ W +9 &K\ X +9 &M\ Y +10 &OJ\ Y +9 &Q \ Z +10 &R\ Z +9 &T\ [ +9 &VI\ \\ +10 &X \ \\ +9 &Y\ ] +9 &[\ J +10 &\\: \ , +9 &\\ \ W +5 ( +2 "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&r1 +3 "core" &\\y\ W +54 1 + "manipulator"&g% +4 "core" % B \  ? k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%z& +4 "core" &o\ +2 "manipulator"&l% +4 "core" %   + "storage"(j% +4 "core" % #  \ + "storage"(u. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (~& +2 "core" &  $ G\  +2 "manipulator"&X& +4 "core" &ӏ&  ?P + "manipulator"&% +4 "core" %  3  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&t( +161 "core" ( + "manipulator"&v& +4 "core" &  2  +2 "storage"( & +4 "core" &  B B f\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&n'S +91 "core" ' + "storage"(p& +4 "core" &  U U X\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +300 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &   -\  +2 "manipulator"&{& +3 "core" & .  +2 .tElbow.seek 2 + "manipulator"&w( +3 "core" ( +2 "manipulator"&}& +4 "core" &  + "storage"(& +4 "core" &  1 4 \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +73 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(' +7 "core" & /  + "manipulator"&y% +5 "core" % Ͼ : + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( + "manipulator"&& +4 "core" & | / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & _ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +104 "core" ' + "manipulator"&"& +5 "core" &   / + "manipulator"&% +4 "core" % 4  + "processing"%&& +4 "core" &q\ +3 "processing"% & +5 "core" &O\ +2 .tPC.seek :closed + "processing"%](^ +4 "core" &S\  +10 &-xT\ +{ +9 &cW\ ? +9 &gxU\ P +10 &*[G\ O +9 &]F\ O +9 &\\D\ O +10 &p]@\ O +9 &2\\D\ O +10 &]7\ O +9 &]>\ O +9 & x\\@\ O +10 &":Z?\ O +9 &#\\B\ O +9 &%[A\ O +10 &'\\C\ O +9 &)A\\@\ O +10 &+XA\ O +9 &,[A\ O +9 &.\\?\ O +10 &0I_A\ O +9 &2 ]@\ O +9 &3[@\ O +10 &5]@\ O +9 &7RZA\ O +10 &9_1\ O +9 &:^8\ P +9 &<Y:\ O +10 &>X^6\ P +9 &@b<\ O +9 &Aj6\ Q +10 &C}7\ R +9 &EP5\ U +10 &G7\ T +9 &H6\ U +9 &J6\ U +10 &LV8\ V +9 &N8\ V +9 &O4\ V +10 &Q.\ V +9 &SZ6\ W +10 &U8\ V +9 &V8\ V +9 &X8\ V +10 &Zc8\ W +9 &\\$8\ W +9 &]~7\ < +10 &^37\ Z +9 &^$8\ 3 +2 ( + "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" %  \ 7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%$& +4 "core" &^"+\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +3 "core" % #  / 3 +2 "storage"(*% +4 "core" %   \ + "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +366 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (!& +3 "core" & #  F\  + "manipulator"&\ & +3 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &  ] / +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&'( +2 "storage"(4'r +5 "core" ( + "manipulator"&#& +4 "core" &   } / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  / +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / +2 .tPC.seek :open + "processing"%%( +92 "core" ' + "storage"()- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(-'1 +46 "core" ' +308 ( + "storage"(3& +4 "core" & % & >\  +2 "manipulator"&0& +4 "core" & : / + "manipulator"&% +4 "core" %  @ 2 + .tForearm.seek :retract +2 "manipulator"&6' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&5( +246 "core" ( + "manipulator"&/& +4 "core" &  @ B +2 "storage"(;& +3 "core" &   /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&<'7 +91 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(?- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(.' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(9' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +3 "core" -' +2 "storage"(7& +3 "core" & %\  +2 "manipulator"&G& +3 "core" & p A +2 .tElbow.seek 3 + "manipulator"&@( +4 "core" ( + "manipulator"&E& +4 "core" &  U A + "storage"(+& +4 "core" & '\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&>'7 +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(B'" +57 "core" ' + "manipulator"&& +5 "core" & A + "storage"(P& +4 "core" & / *\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +51 .tForearm.seek 3 + "manipulator"&'u +31 "core" ' + .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(C' +22 "core" ' + "manipulator"&R% +5 "core" %΄ % P + "storage"(J& +4 "core" & \\\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&S'ϰ +28 "core" ' +2 "manipulator"&:& +4 "core" &  A + "storage"(K& +4 "core" & ? > x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&2'7 +14 "core" ' +2 "storage"(Q% +4 "core" % $ 8\ +2 ."downElevator"SE.seek :down +3 "storage"(O' +100 (Y% +3 "core" %LC  6\ Wf +2 "manipulator"&Z% +4 "core" %A   M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +90 "core" ' +73 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 (A& +4 "core" & ; 1\ +2 "collection"'N& +4 "core" &\\x\ W + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" %   V  +2 "storage"(F% +3 "core" % 1 0\ +2 "storage"(H. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(8( +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (_& +2 "core" & 1 1 ]\ +2 "manipulator"&L& +4 "core" & y A + .tElbow.seek 3 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&`& +3 "core" &  t A +2 "storage"(M& +3 "core" & 2 1 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&T'7 +96 "core" ' + "storage"(a& +5 "core" & V < \ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'r +296 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +2 "core" &  A +2 "storage"(e& +3 "core" & + \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&='u +27 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(f- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(W'h +30 "core" ' + "manipulator"&q% +5 "core" %΂ w + "storage"(b& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 313 counts + "manipulator"&V'Ϯ +26 "core" ' + "manipulator"&h& +5 "core" & @ + "storage"((& +4 "core" & 1 ' Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&r'7 +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(g' +47 "core" ' + "manipulator"&z& +5 "core" &  @ + "manipulator"&l% +4 "core" %? C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&j' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&u(ӂ +148 "core" ( + "manipulator"&s& +4 "core" &y-    Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &y- \ l Dv +2 .tForearm.seek CC + "manipulator"&X'? +94 "core" ' + .tHand.close + "manipulator"&/ +70 "core" / +2 .tCC.seek :open + "collection"'[( +451 "core" ( + "storage"(v& +4 "core" & ~ { ~\ +2 "storage"( & +3 "core" & x w 7\ +2 "manipulator"& & +3 "core" &Ӝ& ?S +2 "manipulator"&p% +3 "core" % Q / +2 .tForearm.seek :retract +2 "manipulator"&i' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x( +164 "core" ( + "manipulator"& & +4 "core" & (  +2 "storage"(& +4 "core" & Y\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&{'u +100 "core" ' + .tElbow.hold +2 "manipulator"&}, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&|% +4 "core" % · K + "storage"(& +4 "core" & 1\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&y'ϳ +29 "core" ' + "manipulator"&t& +5 "core" & 9  + "storage"(n& +4 "core" & ?\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&o'7 +25 "core" ' + "storage"(% +5 "core" % B\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +2 "core" %?  \ V` +2 "manipulator"&w% +4 "core" %@ & y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&"' +94 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling two pucks from tube 3 to 4 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &\ + "manipulator"&&% +5 "core" %  t  + "storage"(% +4 "core" % :\ + "storage"(. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(^( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" & \ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&$( +8 "core" ( + "manipulator"&& +5 "core" &  + "storage"(*& +4 "core" & 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&,'7 +98 "core" ' +2 "storage"( & +4 "core" & J\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" & \  +2 "manipulator"&\ & +3 "core" & ^  +2 .tElbow.seek 3 + "manipulator"&#( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +3 "core" & \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&)'ϡ +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(]' +7 "core" & o  + "manipulator"&4% +4 "core" % ϝ g + .tForearm.seek :retract +2 "manipulator"&3' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&0(ӂ +155 "core" ( + "manipulator"&& +5 "core" &y-  J Dz + ' + .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b +2 "storage"(5 +4 "manipulator"&& +4 "core" &y-   - Dz + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&/'? +92 "core" ' + "manipulator"&;& +4 "core" &ӗ(  N @\\ +2 "manipulator"&'% +4 "core" %: o O + "collection"'& +4 "core" &\ +3 "collection"'?& +4 "core" &\ +2 .tCC.seek :closed + "collection"'1(\\ +4 "core" &\ +9 &;\ %f +9 &W~ \ 7 +10 &{\ L +9 &Z\ M +9 &wW\ M +10 &9Z \ M +9 &[\ \ M +9 &Z\ M +10 &[\ M +9 &AZ \ M +10 & Z \ M +9 &!Z\ L +9 &#Y \ M +10 &%IY \ M +9 &' X\ \ L +9 &(Z \ M +10 &*U \ L +9 &,QX \ M +10 &.Y\ \ M +9 &/W\ L +9 &1[ \ M +10 &3YV\ \ M +9 &5W \ M +9 &6\\ \ M +10 &8[ \ M +9 &:aW\ \ M +10 &<#U \ M +9 &=[ \ M +9 &?W \ M +10 &AiX \ M +9 &C)_\ M +10 &Dg\ N +9 &Fz\ P +9 &HZ\ U +10 &J \ W +9 &K\ \ X +9 &M \ Y +10 &OU \ Y +9 &Q\ Y +9 &R\ Z +10 &T \ [ +9 &VU \ \\ +10 &X\ \\ +9 &Y\ ] +9 &[\ J +10 &\\: \ *~ +9 &\\ \ ] +5 ( +2 "collection"'?& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&71 +3 "core" &\\ \ ] +57 1 + "manipulator"&G% +4 "core" % : \  4 O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%+& +4 "core" &o\ + "manipulator"&6% +4 "core" %   b \ +2 "storage"(% +3 "core" %  " \ +2 "storage"(P. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(-( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (.& +2 "core" &   A\  +2 "manipulator"&R& +3 "core" &ә(   @Z +2 "manipulator"&J% +3 "core" %    1 \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&:( +164 "core" ( + "manipulator"&K& +4 "core" & b  +2 "storage"(5& +4 "core" & ? @ G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&<'7 +96 "core" ' + "storage"(Q& +4 "core" & < V ;\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'r +306 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +2 "core" & # & H\  +2 "manipulator"&>& +3 "core" &  +3 .tElbow.seek 3 +41 "manipulator"&@( +14 "core" ( +2 "manipulator"&B& +3 "core" &   +2 "storage"(& +3 "core" & 0 1 8\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&S'ϡ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"(' +6 "core" &  +2 "manipulator"&C% +4 "core" % Ϝ +2 .tForearm.seek :retract + "manipulator"&F' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&H( +161 "core" ' + ."downElevator"SE.coast + "storage"(5 +78 "core" ( + "manipulator"&_& +5 "core" &   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&`' +92 "core" ' + "manipulator"&M& +5 "core" &  + "manipulator"&2% +4 "core" % H l +2 "processing"%a& +4 "core" &W\ +2 "processing"%O& +5 "core" &W\ +2 .tPC.seek :closed + "processing"% (^ +4 "core" &S\ +8 & &X\ #b +9 &UT\ 8 +9 &V\ M +10 &\\T\ O +9 &W\\W\ O +10 &[U\ O +9 &^T\ O +9 &\\S\ O +9 &`\\S\ O +10 &!ZW\ O +9 &\\D\ O +10 &!Z@\ O +9 &#iZ@\ O +10 &%,Y?\ N +9 &&\\A\ O +9 &(\\@\ O +10 &*o[B\ O +9 &,2\\B\ O +9 &-[A\ O +10 &/\\A\ O +9 &1v]A\ P +10 &3:Z?\ O +9 &4Z?\ O +9 &6\\@\ O +10 &8]<\ O +9 &:BZ@\ O +9 &<\\B\ O +10 &=_@\ O +9 &?]A\ P +10 &AFjA\ P +9 &CvB\ R +9 &DB\ T +10 &FB\ U +9 &HBA\ T +9 &JA\ U +10 &KA\ U +9 &M=\ V +10 &OG@\ U +9 &Q7\ W +9 &R?\ W +10 &T8\ V +9 &VL@\ V +9 &X8\ V +10 &Y5\ W +9 &[6\ V +10 &]R1\ H +9 &^wC4\ &p +9 &^;2\ 6 +5 ( +2 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&D1 +3 "core" &^,.\ 6 +53 1 + "manipulator"&U% +4 "core" %  i l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%k& +4 "core" &^+6\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&e% +3 "core" %     +2 "storage"(f% +3 "core" % '\ +2 "storage"(q. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(b(,y +361 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (h& +4 "core" &,x  \  + "manipulator"&(& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" & x  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC + "storage"(z'r +4 "manipulator"&l( +3 "core" ( +2 "manipulator"&T& +4 "core" &   \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +2 "core" &   +2 .tForearm.seek PC +2 "manipulator"&I' +95 "core" ' + .tHand.close + "manipulator"&=/ +76 "core" / +2 .tPC.seek :open + "processing"%V( +78 "core" ' + "storage"(W- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(s'1 +37 "core" ' +334 ( + "storage"(~& +4 "core" &,v   M\ \  +2 "manipulator"&r& +3 "core" & u  +2 "manipulator"&c% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&j( +248 "core" ( + "manipulator"&m& +4 "core" &  ? +2 "storage"(v& +3 "core" &,v >\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +93 "core" ' + .tHand.open +2 "manipulator"& 1 +64 "core" 1 +3 "storage"(p- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(X- +3 "core" -' +2 "storage"(u& +3 "core" &,v ] \\ \ \  +2 "manipulator"&& +3 "core" & 2 ? +2 .tElbow.seek 4 +2 "manipulator"&|( +3 "core" ( + "manipulator"&& +4 "core" &   . ? + "storage"(t& +4 "core" &,v W b\ \  +2 .tForearm.seek 4 + 450 counts + "manipulator"&n' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +55 "core" ' + "manipulator"&i& +5 "core" & k ? + "storage"(& +4 "core" &,v k\ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&w'7 +29 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"({' +27 "core" ' + "manipulator"&% +5 "core" %@  j + "storage"(y& +4 "core" &,v  \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 309 counts + "manipulator"&&'l +15 "core" ' + "manipulator"&& +5 "core" &   > + "storage"(& +4 "core" &,v   \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +17 "core" ' +2 "storage"(% +4 "core" %   ~\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +2 "core" %H  p\ Xh +2 "manipulator"&*% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +92 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 ( & +4 "core" &,v   S\ +2 "collection"'& +3 "core" &\\\ ] +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&8% +4 "core" %   + "storage"(}% +4 "core" %  \ + "storage"(". +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (!& +2 "core" &,v   A\  +2 "manipulator"&\ & +4 "core" & q > + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  & > +2 "storage"(& +3 "core" &,v   O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +95 "core" ' + "storage"(4& +5 "core" &,v  " F\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'r +295 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & K > +2 "storage"(& +3 "core" &,v d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(''i +30 "core" ' + "manipulator"&% +5 "core" %J + "storage"(#& +3 "core" &,v   s\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&]'v +13 "core" ' + "manipulator"&3& +4 "core" & : +2 "storage"([& +4 "core" &,v  \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&7' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(G' +46 "core" ' +2 "manipulator"&+& +4 "core" & : + "manipulator"&6% +4 "core" % j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&P(ӂ +155 "core" ( + "manipulator"&?& +53 "core" &Ӕ% = >J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &Ӕ%  ) >J +2 .tForearm.seek CC +2 "manipulator"&R'? +95 "core" ' + .tHand.close +2 "manipulator"&J/ +75 "core" / +2 .tCC.seek :open + "collection"'/( +448 "core" ( + "storage"(K& +4 "core" &,v f y 3\  +2 "storage"(5& +3 "core" &,v U W \  +2 "manipulator"&^& +3 "core" &ӕ% >I +2 "manipulator"&Q% +4 "core" % < C + .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&E( +164 "core" ( + "manipulator"&Y& +5 "core" &   + "storage"(Z& +4 "core" &,v Q\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&>'7 +98 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&A% +4 "core" % H g  + "storage"(N& +4 "core" &,v \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&C't +22 "core" ' +2 "manipulator"&:& +4 "core" & #  +2 "storage"(<& +3 "core" &,v S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&9' +15 "core" ' + "storage"(S% +5 "core" % o\ +2 ."downElevator"SE.seek :down +3 "storage"(_' +99 (L% +2 "core" %B y #\ Vb +2 "manipulator"&@% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&M' +91 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling two pucks from tube 4 to 5 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'2& +4 "core" &\ + "manipulator"&a% +4 "core" %  ;  +2 "storage"(% +4 "core" % >\ + "storage"(F. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(%(,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (D& +2 "core" &,v G\  +2 "manipulator"&U& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&k( +3 "core" ( + "manipulator"&e& +5 "core" & 6  + "storage"(f& +4 "core" &,v q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&q' +97 "core" ' + "storage"(O& +5 "core" &,v "\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'r +297 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" &,v m R\  +2 "manipulator"&(& +3 "core" & H  +2 .tElbow.seek 4 + "manipulator"&T( +4 "core" ( + "manipulator"&d& +4 "core" & P  + "storage"(=& +4 "core" &,v \  + .tForearm.seek 4 + 300 counts +2 "manipulator"&W'c +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& + "storage"( ' +7 "core" &  + "manipulator"&z% +4 "core" % X  +2 .tForearm.seek :retract + "manipulator"&~' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&r(ӂ +158 "core" ( + ' +2 ."downElevator"SE.coast +3 "manipulator"&c& + "storage"(5 +6 "core" &ӗ# G <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &ӗ# <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'? +93 "core" ' + "manipulator"&v& +5 "core" &ӗ#  o <? + "manipulator"&l% +4 "core" %? U O +2 "collection"' & +3 "core" &\ +3 "collection"'p& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'X(\\ +5 "core" &\  +9 &4|\ +{ +10 &f\ ? +9 &s\ N +9 &UU\ L +10 &U\ L +9 &X\ L +9 &Y\ L +10 &]Z\ L +9 &[\ M +10 &W\ L +9 & V \ L +9 &"dX\ M +10 &$&W\ \ M +9 &%Y\ M +9 &'Z\ L +10 &)mZ\ L +9 &+/Z\ L +10 &,Z\ \ L +9 &.Z\ L +9 &0tX \ M +10 &27U\ \ L +9 &3[ \ L +9 &5Z\ \ L +10 &7}W \ L +9 &9?X \ L +10 &;Z \ L +9 &<Z\ M +9 &>Y \ M +10 &@GU \ L +9 &B]\ M +9 &C_\ M +10 &Ek\ \ O +9 &G? \ R +10 &H \ U +9 &J \ X +9 &Lr \ X +10 &N2\ \ Y +9 &O\ Z +9 &Q \ Z +10 &Ss\ [ +9 &U5\ [ +10 &V\ \\ +9 &X\ \\ +9 &Zs \ ] +10 &\\{\ 1 +9 &\\/\ "g +9 ( + &\\s\ S +2 "collection"'p& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&u1 +59 "core" 1 + "manipulator"&% +4 "core" % ?  q O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%t& +4 "core" &n\ +2 "manipulator"&% +3 "core" %  ~  +2 "storage"(i% +3 "core" % 0 0 S\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (y& +2 "core" &,v . ! %\  +2 "manipulator"&s& +3 "core" &Ә# <> +2 "manipulator"&% +4 "core" %   + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +158 "core" ( + "manipulator"& & +4 "core" & +2 "storage"(& +3 "core" &,v " # T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&j' +102 "core" ' + "storage"( & +4 "core" &,v U V u\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &,v  \  +2 "manipulator"&n& +3 "core" & t +2 .tElbow.seek 4 + "manipulator"&|( +4 "core" ( + "manipulator"&& +4 "core" &  N +2 "storage"(w& +3 "core" &,v 4 0\  +2 .tForearm.seek 4 + 300 counts + "manipulator"& 'c +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(8' +7 "core" & M + "manipulator"&}% +4 "core" %  ~ +2 .tForearm.seek :retract + "manipulator"&{' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&"( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +80 "core" ( + "manipulator"&!& +5 "core" &  T  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&& +5 "core" &  + "manipulator"&g% +4 "core" % G  + "processing"%4& +4 "core" &S\ +2 "processing"%& +4 "core" &T\ +2 .tPC.seek :closed +2 "processing"%b(^ +4 "core" &N\  +9 &-vS\ +z +9 &cU\ ? +10 &jvT\ O +9 &+ZU\ O +9 &\\S\ O +10 &YT\ O +9 &rZU\ O +10 &4ZU\ O +9 &\\S\ O +9 &XT\ O +10 & y]M\ O +9 &"<XI\ O +9 &#XO\ O +10 &%YL\ O +9 &'[O\ O +10 &)DZC\ O +9 &+YE\ O +9 &,Y@\ O +10 &.Y@\ O +9 &0K\\?\ O +9 &2 ZA\ O +10 &3Y?\ O +9 &5[B\ P +10 &7SZ?\ O +9 &9\\F\ O +51 &:]>\ P +11 &<Z?\ O + &>Z^A\ O +2 &@_@\ P + &Al>\ Q + &Cw>\ R +2 &ERA\ U +6 &GB\ U +9 &H@\ U +10 &J?\ U +9 &LW@\ V +9 &NB\ V +10 &O@\ W +9 &QA\ W +10 &S[@\ W +9 &U @\ V +9 &VB\ V +10 &X;\ V +9 &ZdA\ W +9 &\\&;\ W +10 &]@\ 5 +9 &^3wA\ D +9 ( +2 &^&A\ 3 +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&x1 +55 "core" 1 +2 "manipulator"&o% +4 "core" %   !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^%U\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +3 "core" %   [  +2 "storage"(;% +4 "core" %   \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(#(<- +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (3& +5 "core" &<, \  + "manipulator"&[& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & \ 3  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&+( + "storage"(6'r +5 "core" ( +2 "manipulator"&& +3 "core" & @  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &    +2 .tForearm.seek PC + "manipulator"&$' +95 "core" ' + .tHand.close +2 "manipulator"&/ +77 "core" / +2 .tPC.seek :open + "processing"%]( +79 "core" ' + "storage"('- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'1 +38 "core" ' +331 ( + "storage"(7& +4 "core" &<+ + >\ +2 "manipulator"&.& +3 "core" &  +2 "manipulator"&)% +3 "core" %  +  +2 .tForearm.seek :retract +2 "manipulator"&J' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +247 "core" ( + "manipulator"&1& +4 "core" & F +2 "storage"(K& +4 "core" &<+   {\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&5'O +96 "core" ' + .tHand.open + "manipulator"&^1 +64 "core" 1 +2 "storage"(Q- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Y' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(Z' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +3 "core" -' +2 "storage"(P& +3 "core" &<+ (\ +2 "manipulator"&& +3 "core" & y E +2 .tElbow.seek 5 +2 "manipulator"&A( +3 "core" ( + "manipulator"&N& +4 "core" &  ( E + "storage"(:& +4 "core" &<+ \ +2 .tForearm.seek 5 + 450 counts + "manipulator"&<'O +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(S'" +51 "core" ' + "manipulator"&0& +5 "core" & t E + "storage"(L& +4 "core" &<+ * )\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&@'΍ +29 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(>' +29 "core" ' + "manipulator"&2% +5 "core" %Ν + "storage"(C& +4 "core" &<+   \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&a' +15 "core" ' +2 "manipulator"&& +4 "core" & 3 + "storage"(F& +4 "core" &<+ > ? \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&G'O +15 "core" ' +2 "storage"(D% +4 "core" % @ A `\ +2 ."downElevator"SE.seek :down +3 "storage"(U' +100 (e% +2 "core" %F   \ Wg +2 "manipulator"&f% +4 "core" %; \  N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&9' +91 "core" ' +64 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 (O& +4 "core" &<+ ; 0\ +2 "collection"'_& +3 "core" &\\r\ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %    + "storage"(B% +4 "core" % 1 1\ +2 "storage"(M. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(-(<- +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (h& +3 "core" &<+ * ? \  + "manipulator"&(& +4 "core" & 3 +2 .tElbow.seek 5 +2 "manipulator"&d( +23 "core" ( + "manipulator"&=& +5 "core" &  k  + "storage"(H& +4 "core" &<+   )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&\\'O +103 "core" ' + "storage"(z& +5 "core" &<," "  \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'r +295 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +2 "core" &  +2 "storage"(I& +3 "core" &<,"   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&`'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(v- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(l'h +30 "core" ' + "manipulator"& % +5 "core" %Ο y + "storage"(T& +3 "core" &<,"   [\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts + "manipulator"& ' +14 "core" ' + "manipulator"&~& +5 "core" &  C  + "storage"(/& +4 "core" &<,"   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&u'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +47 "core" ' + "manipulator"&t& +5 "core" & [  + "manipulator"&% +4 "core" %= 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&i' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +155 "core" ( + "manipulator"&p& +4 "core" &Ӈ*   e Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &Ӈ* \  k Bh +2 .tForearm.seek CC + "manipulator"&s'? +94 "core" ' + .tHand.close + "manipulator"&/ +76 "core" / +2 .tCC.seek :open + "collection"'m( +448 "core" ( + "storage"( & +4 "core" &<," $ 0 \  +2 "storage"(& +3 "core" &<," 0 ' \  +2 "manipulator"&%& +3 "core" &ӎ) Aa +2 "manipulator"& % +3 "core" % P b +2 .tForearm.seek :retract + "manipulator"&r' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +165 "core" ( + "manipulator"&& +4 "core" &  =  +2 "storage"(*& +3 "core" &<," V < 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&n'΍ +99 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +41 .tElbow.reconfigure :tight +11 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&w1 +58 "core" 1 +2 "manipulator"&&% +4 "core" % Ο  > + "storage"(& +4 "core" &<," # # *\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts + "manipulator"&}' +24 "core" ' + "manipulator"&& +5 "core" & G  + "storage"(j& +4 "core" &<," U X W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' + "storage"( % +5 "core" % X T *\ +2 ."downElevator"SE.seek :down +3 "storage"(!' +100 (\ % +2 "core" %<C ? A 0\ Wc +2 "manipulator"&|% +4 "core" %D T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling two pucks from tube 5 to 6 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'g& +4 "core" &\ +2 "manipulator"&4% +4 "core" %   E  + "storage"(8% +4 "core" % 4\ + "storage"({. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(V(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (x& +2 "core" &<, d\  +2 "manipulator"&o& +4 "core" & r  + .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( + "manipulator"&& +5 "core" & 4  + "storage"(;& +4 "core" &<, N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' + "storage"(& +5 "core" &<, -\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +2 "core" &<, \  +2 "manipulator"&[& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +3 "core" &<, 9\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&''Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +4 "storage"(b' +4 "core" & #  + "manipulator"&6% +4 "core" % Ϻ  +2 .tForearm.seek :retract + "manipulator"&7' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&.(ӂ +159 "core" ( + ' +2 ."downElevator"SE.coast +3 "manipulator"&)& + "storage"(5 +7 "core" &ӌ- ! Dw + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &Ӎ- h Dv +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&1'? +92 "core" ' + "manipulator"&K& +5 "core" &ӝ*  Bf + "manipulator"&+% +4 "core" %? h W +2 "collection"'^& +3 "core" & \ +3 "collection"'Q& +4 "core" & \ +3 .tCC.seek :closed + "collection"'R(\\ +4 "core" &$\ +8 &;\ %g +9 &Yz\ 8 +10 &v\ L +9 &S\ M +10 &W\ L +9 &CT\ L +9 &U\ L +10 &T\ L +9 &X\ M +9 &JX$\ M +10 & W\ L +9 &!T\ L +10 &#Y\ M +9 &%SW\ L +9 &'U\ L +10 &(Y\ L +9 &*V\ M +9 &,[X\ L +10 &.Y\ L +9 &/W\ L +10 &1T\ L +9 &3cY\ L +9 &5$W \ M +10 &6Y\ L +9 &8U\ \ L +9 &:kU\ L +10 &<-U\ L +9 &=Z \ L +10 &?Y \ M +9 &ArX\ M +9 &C3Z\ M +9 &Di\ N +10 &Fw\ \ P +9 &Hf \ T +10 &J\ W +9 &K\ X +10 &M\ Y +9 &O]\ Y +9 &Q\ Z +10 &R\ [ +9 &T\ [ +9 &V^\ \\ +10 &X\ ] +9 &Y\ ^ +10 &[\ J +9 &\\6\ / +9 &\\v\ X +2 ( +2 "collection"'Q& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&P1 +62 "core" 1 + "manipulator"&% +4 "core" % ?  B W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%:& +4 "core" &n\ +2 "manipulator"&J% +3 "core" % \   +2 "storage"(0% +3 "core" % 1 1 U\ +2 "storage"(L. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(?(<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (2& +2 "core" &<,  :\  +2 "manipulator"&C& +4 "core" &ӝ* Bf + "manipulator"&Y% +4 "core" % \   + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +163 "core" ( + "manipulator"&F& +4 "core" & O  +2 "storage"(D& +4 "core" &<, V V [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +95 "core" ' + "storage"(5& +4 "core" &<, X W O\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +304 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" &<, 1 %\  +2 "manipulator"&<& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&A( +3 "core" ( +2 "manipulator"&S& +3 "core" &  +2 "storage"(@& +3 "core" &<, A ? q\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&O'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&a/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +4 "storage"(' +4 "core" & }  + "manipulator"&B% +4 "core" % ϶ a +2 .tForearm.seek :retract + "manipulator"&>' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&M( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +79 "core" ( + "manipulator"&h& +5 "core" & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" & ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&=' +100 "core" ' + "manipulator"&H& +5 "core" &  y + "manipulator"&G% +4 "core" % + "processing"%z& +4 "core" &O\ +2 "processing"%U& +5 "core" &N\ +2 .tPC.seek :closed +2 "processing"%#(^ +6 "core" &O\  +9 &-xS\ +{ +9 &bS\ ? +10 &_vW\ O +9 &!YT\ O +10 &ZT\ N +9 &YV\ O +9 &gYU\ O +10 &*ZS\ N +9 &[R\ O +9 &VU\ O +10 & oYV\ O +9 &"1ZO\ O +10 &#\\N\ O +9 &%VO\ O +9 &'wZS\ O +10 &)8XJ\ O +9 &*W=\ O +9 &,YH\ O +10 &.~\\B\ O +9 &0@[A\ O +10 &2YB\ O +9 &3X;\ O +9 &5X@\ O +10 &7HY=\ O +9 &9\ ZA\ O +9 &:\\=\ O +10 &<Y?\ O +9 &>O\\C\ O +10 &@]>\ P +9 &Ag?\ Q +9 &CyC\ R +10 &EF=\ U +9 &G?\ U +9 &HA\ U +10 &J?\ V +9 &LMA\ U +10 &N @\ V +9 &OA\ W +9 &Q>\ W +10 &SQA\ W +9 &UA\ W +9 &V@\ W +10 &XA\ V +9 &ZYA\ W +10 &\\A\ W +9 &]A\ 6 +9 &^9z@\ : +9 ( +2 &^@\ , +2 "processing"%U& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&E1 +65 "core" 1 + "manipulator"&9% +5 "core" %   7 + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%c& +4 "core" &^T\ , + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&I% +3 "core" %   +2 "storage"(v% +3 "core" % $ $ \ +2 "storage"( . +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(T(K +361 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (~& +3 "core" &K#\  + "manipulator"&/& +4 "core" &  +50 "manipulator"&t% +4 "core" %  N  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +245 "core" ( + "manipulator"&\\& +4 "core" &   W ; +2 "storage"(d& +3 "core" &K#\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&k' +96 "core" ' + "storage"(`& +4 "core" &K# *\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +299 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +3 "core" &   ; + "storage"(y& +4 "core" &K# \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&u'< +23 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(i' +30 "core" ' + "manipulator"&X% +65 "core" %M   " v + "storage"( & +4 "core" &K" p\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts + "manipulator"&'y +16 "core" ' + "manipulator"&%& +5 "core" &  Z : + "storage"( & +4 "core" &K" " S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.seek 2.16 Pucks below Top Plate + "storage"(*'T +36 "core" ' + "manipulator"&s& +5 "core" & g : + "manipulator"&% +4 "core" % j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&&( +244 "core" ( + "manipulator"&& +4 "core" &   & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  ] & + .tForearm.seek PC +2 "manipulator"&j' +94 "core" ' + .tHand.close + "manipulator"& / +75 "core" / +2 .tPC.seek :open + "processing"%r( +457 "core" ( + "storage"(& +4 "core" &K#\  +2 "manipulator"&\ & +3 "core" &  J & +2 "manipulator"&|% +3 "core" %  ~ & +2 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&g( +246 "core" ( + "manipulator"&}& +4 "core" &  7 M +2 "storage"(4& +3 "core" &K# \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&8' +95 "core" ' +2 .tHand.open + "manipulator"&{1 +61 "core" 1 +2 "storage"(- +3 "core" -'T +2 .tSE.seek 1.81 Pucks below Top Plate +2 "storage"(x' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.85 Pucks below Top Plate +2 "storage"(o' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(;& +3 "core" &K"  @\  +2 "manipulator"&& +3 "core" & M +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&!& +3 "core" &  B M +2 "storage"(-& +3 "core" &K" w |\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.57 Pucks below Top Plate +2 "storage"('E +50 "core" ' + "manipulator"&& +5 "core" & M + "storage"(3& +4 "core" &K" \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&['< +26 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.75 Pucks below Top Plate + "storage"(' +20 "core" ' +2 "manipulator"&"% +4 "core" %O  z + "storage"(,& +4 "core" &K#  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts + "manipulator"&6'{ +17 "core" ' +2 "manipulator"&& +4 "core" &  " > + "storage"(& +5 "core" &K#  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&)' +20 "core" ' +2 "storage"($% +4 "core" %   T\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 ('% +2 "core" %F;\ Wb +2 "manipulator"&K% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +87 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (^& +4 "core" &K O\ + "collection"'& +4 "core" &\\s\ X +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&b% +4 "core" %   + "storage"(7% +4 "core" % & ?\ + "storage"(m. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(P(K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &K   \  + "manipulator"&:& +4 "core" & > +2 .tElbow.seek 6 + "manipulator"&J( +9 "core" ( + "manipulator"&0& +5 "core" &   + "storage"(L& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q' +89 "core" ' + "storage"(2& +4 "core" &K ? A U\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'r +287 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +2 "core" & t  +2 "storage"(F& +3 "core" &K   L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&D'< +28 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(5- +2 "core" -' +2 .tSE.seek 2.16 Pucks below Top Plate +2 "storage"(.'O +29 "core" ' + "manipulator"&N% +4 "core" %H p | +2 "storage"(e& +3 "core" &K   u\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 312 counts + "manipulator"&f't +15 "core" ' + "manipulator"&<& +5 "core" &   + "storage"(S& +4 "core" &K   D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&@' +17 "core" ' +2 .tSE.seek 3.16 Pucks below Top Plate + "storage"(a' +48 "core" ' + "manipulator"&_& +5 "core" & x  + "manipulator"&B% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( + "manipulator"&Z& +4 "core" &ӎ( I @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &ӎ( @] +2 .tForearm.seek CC +2 "manipulator"&h'? +97 "core" ' + .tHand.close + "manipulator"&(/ +72 "core" / +2 .tCC.seek :open + "collection"'A( +447 "core" ( + "storage"(H& +4 "core" &K [ T <\  +2 "storage"(G& +3 "core" &K X T g\  +2 "manipulator"&z& +3 "core" &Ә& ?S +2 "manipulator"&% +3 "core" % K p ( +49 .tForearm.seek :retract +3 "manipulator"&>' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&]( +164 "core" ( + "manipulator"&E& +4 "core" &   +2 "storage"(9& +4 "core" &K n i \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&c'< +97 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +60 "core" 1 +2 "manipulator"& % +4 "core" % P    +2 "storage"(U& +3 "core" &K ?\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&='| +16 "core" ' + "manipulator"&?& +5 "core" & L  + "storage"(~& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +18 "core" ' + "storage"(t% +5 "core" % $\ +2 ."downElevator"SE.seek :down +3 "storage"(\\' +100 (d% +2 "core" %B l v \ Va +2 "manipulator"&M% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling two pucks from tube 6 to 7 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'q& +4 "core" &(\ + "manipulator"&l% +5 "core" %  @  + "storage"(p% +4 "core" % <\ + "storage"(y. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (X& +2 "core" &K ?\  +2 "manipulator"& & +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&%( +9 "core" ( + "manipulator"& & +5 "core" & L  + "storage"(s& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +3 "storage"(k& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +289 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" &K *\  +2 "manipulator"&& +3 "core" & ~  +2 .tElbow.seek 6 + "manipulator"&i( +4 "core" ( + "manipulator"&& +4 "core" & :  + "storage"(& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +15 "Can"K\ =; + "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +70 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & + "storage"(w' +7 "core" &  + "manipulator"&#% +4 "core" % \\ @ +2 .tForearm.seek :retract + "manipulator"&' +87 "core" ' +3 .tElbow.seek CC + "manipulator"&\ (ӂ +150 "core" ' + ."downElevator"SE.coast + "storage"(5 +7 "core" ( + "manipulator"&|& +5 "core" &ӎ) Ac + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &ӎ) i Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&}'? +98 "core" ' + "manipulator"&4& +5 "core" &ӎ)  A Ac + "manipulator"&&% +4 "core" %B 4 +2 "collection"'{& +3 "core" &.\ +3 "collection"'& +4 "core" &5\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &&\  +9 &2x+\ *y +10 &d"\ > +9 &r+\ M +10 &MW(\ L +9 &W-\ L +9 &Y)\ L +10 &V,\ L +9 &VU#\ L +9 &Y*\ L +10 &T(\ L +9 & W(\ L +10 &"]W-\ L +9 &$Y(\ L +9 &%W(\ L +10 &'W \ L +9 &)dV+\ M +9 &+(V'\ L +10 &,W*\ L +9 &.X$\ L +10 &0mW%\ L +9 &2/W&\ L +9 &3Z)\ L +10 &5V+\ L +9 &7uY,\ L +9 &98U)\ L +10 &:W\ L +9 &<X&\ M +10 &>}Y,\ L +9 &@?W\ L +9 &BW*\ L +10 &C^\ M +9 &E~m"\ O +10 &G9\ Q +9 &H#\ U +9 &J)\ X +10 &Lj,\ X +9 &N*$\ Y +9 &O'\ Y +10 &Q\ Y +9 &Sm\ Z +9 &U,\ [\ +10 &V$\ \\ +9 &X\ \\ +10 &Zl\ ] +9 &\\z\ 5 +9 &\\%\ %m +9 ( +2 &\\\ "c +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&;1 +53 "core" 1 + "manipulator"&% +4 "core" % B   4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +99 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%-& +4 "core" &u\ +2 "manipulator"&n% +3 "core" %   +2 "storage"(% +3 "core" %   \ +2 "storage"(3. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"("(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (,& +2 "core" &K   *\  +2 "manipulator"&*& +4 "core" &ӏ)  Ab + "manipulator"&% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +166 "core" ( + "manipulator"&x& +4 "core" &  +2 "storage"($& +3 "core" &K ; 1 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&g' +93 "core" ' + "storage"(8& +4 "core" &K B ? C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +288 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +2 "core" &K   ;\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & I  + "storage"([& +4 "core" &K  ! O\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&^'h +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +76 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(b' +7 "core" &  +2 "manipulator"&7% +3 "core" % ^ > +2 .tForearm.seek :retract +2 "manipulator"&m' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +154 "core" ' + ."downElevator"SE.coast + "storage"(5 +103 "core" ( + "manipulator"&& +4 "core" &  T  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &  Z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&0' +96 "core" ' + "manipulator"&L& +4 "core" &    +2 "manipulator"&)% +4 "core" % I . +2 "processing"%2& +4 "core" &R\ +2 "processing"%& +5 "core" &h\ +2 .tPC.seek :closed + "processing"%T(^ +6 "core" &S\ \ +9 &.wU\ +z +9 &cV\ ? +10 &luT\ P +9 &0TT\ O +9 &YV\ O +10 &YU\ O +9 &uVW\ O +10 &6YT\ O +9 &ZP\ P +9 &VS\ O +10 & |XT\ O +9 &"?WM\ O +9 &$WI\ O +10 &%WH\ O +9 &'XB\ P +10 &)FW?\ O +9 &+WD\ O +9 &,T@\ O +10 &.WA\ O +9 &0NZA\ O +9 &2W?\ P +10 &3W@\ O +9 &5Y@\ P +10 &7VX?\ O +9 &9ZG\ O +9 &:\\B\ O +10 &<Z?\ O +9 &>^\\F\ O +9 &@]A\ P +10 &Af>\ Q +9 &CxA\ S +10 &EUA\ U +9 &GA\ V +9 &H?\ U +10 &J>\ V +9 &L\\B\ U +9 &NA\ W +10 &O5\ W +9 &Q?\ W +10 &S_9\ W +9 &U"C\ W +9 &VB\ W +10 &X;\ W +9 &Zh2\ W +9 &\\(;\ X +10 &]>\ 8 +9 &^.1\ Y +10 &^*1\ 6 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&+% +4 "core" %  \  . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +52 .tForearm.seek :retract +2 "manipulator"&Y' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%1& +4 "core" &^(O\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&F% +4 "core" %  T ! +2 "storage"(5% +3 "core" %\ +2 "storage"(N. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(e([ +354 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (<& +2 "core" &[( u\  +2 "manipulator"&S& +3 "core" &  ?  +2 "manipulator"&_% +3 "core" %  \ n ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&B(r +242 "core" ( + "manipulator"&Q& +5 "core" &n\  l + "storage"(J& +4 "core" &[( (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&C'= +97 "core" ' + "storage"(D& +4 "core" &[( !\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'r +298 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" &o\  R k + "storage"(O& +4 "core" &[& :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&@'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"((- +2 "core" -' +3 .tSE.seek 1.17 Pucks below Top Plate + "storage"(' +30 "core" ' + "manipulator"&R% +5 "core" %r e i + "storage"(H& +4 "core" &[& \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 291 counts +2 "manipulator"&G'Ϟ +16 "core" ' + "manipulator"&z& +5 "core" &  q M + "storage"(& +4 "core" &[' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'= +20 "core" ' +2 .tSE.seek 2.17 Pucks below Top Plate +2 "storage"(9'Y +49 "core" ' + "manipulator"&h& +5 "core" &  M + "manipulator"&% +4 "core" %!   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +92 "core" ' +2 .tElbow.seek PC + "manipulator"& ( +245 "core" ( + "manipulator"&U& +4 "core" &   & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &  F & +2 .tForearm.seek PC + "manipulator"&~' +94 "core" ' + .tHand.close + "manipulator"&t/ +67 "core" / +2 .tPC.seek :open + "processing"%>( +458 "core" ( + "storage"(d& +4 "core" &[&  ^\  +2 "manipulator"&M& +3 "core" & & +2 "manipulator"&]% +3 "core" %  } 7 +2 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&q(r +248 "core" ( + "manipulator"&=& +4 "core" &z  ` g +2 "storage"(l& +3 "core" &[& \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&p'= +95 "core" ' + .tHand.open + "manipulator"&y1 +60 "core" 1 +2 "storage"(X- +3 "core" -'Y +2 .tSE.seek 1.82 Pucks below Top Plate +2 "storage"(a'% +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.86 Pucks below Top Plate +2 "storage"( ' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(s& +3 "core" &[& Q\ ~  +2 "manipulator"&/& +3 "core" &{  f +2 .tElbow.seek 7 + "manipulator"&k(r +4 "core" ( + "manipulator"&\\& +4 "core" &{   s f + "storage"(P& +4 "core" &[& \   +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&I'= +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.57 Pucks below Top Plate +2 "storage"(`'J +57 "core" ' + "manipulator"& & +5 "core" &{  _ f + "storage"(u& +4 "core" &[& \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&'{ +31 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.76 Pucks below Top Plate + "storage"(' +20 "core" ' + "manipulator"&W% +5 "core" %΀ a 8 + "storage"( & +4 "core" &[& c\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 305 counts + "manipulator"&#'Ϭ +28 "core" ' + "manipulator"&%& +5 "core" &   a + "storage"(& +5 "core" &[' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&|'= +15 "core" ' +2 "storage"(j% +4 "core" %  (\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +2 "core" %A U\ We +2 "manipulator"&4% +4 "core" %? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +89 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 ({& +4 "core" &[ 3 N\ + "collection"'i& +4 "core" &\\"\ "c +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&w% +4 "core" %  p  +2 "storage"(% +3 "core" %   \ +2 "storage"(A. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(;([ +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &[   0\  +2 "manipulator"&-& +4 "core" &  z ` + .tElbow.seek 7 +2 "manipulator"&n(r +37 "core" ( + "manipulator"&& +5 "core" &t  , g + "storage"(3& +4 "core" &[ # $ /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +89 "core" ' + "storage"(,& +5 "core" &[   D\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'r +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&}& +3 "core" &t g +2 "storage"(x& +3 "core" &[   &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&$'{ +29 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 "storage"(8- +3 "core" -' +3 .tSE.seek 2.16 Pucks below Top Plate + "storage"(\ 'T +30 "core" ' + "manipulator"&!% +4 "core" %Ή  Q = +2 "storage"('& +3 "core" &[  5\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 314 counts + "manipulator"&K'ϵ +14 "core" ' + "manipulator"&& +5 "core" &w  d + "storage"(& +4 "core" &[ $ & E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&['= +18 "core" ' +2 .tSE.seek 3.16 Pucks below Top Plate + "storage"(6' +47 "core" ' + "manipulator"&& +5 "core" &w 9 d + "manipulator"&7% +4 "core" %I $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +87 "core" ' +2 .tElbow.seek CC +48 "manipulator"&g(ӂ +161 "core" ( + "manipulator"&o& +4 "core" &ә#  <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &ә#  n <@ +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&:/ +75 "core" / +2 .tCC.seek :open + "collection"'( +450 "core" ( + "storage"(L& +4 "core" &[ Q T \  +2 "storage"()& +3 "core" &[ I R k\  +2 "manipulator"&2& +4 "core" &ә# <@ + "manipulator"&b% +4 "core" % E  1 +2 .tForearm.seek :retract + "manipulator"&m' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&r(r +162 "core" ( + "manipulator"&& +5 "core" &u L  + "storage"(+& +4 "core" &[ t -\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 7 + "manipulator"&'{ +103 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&F1 +62 "core" 1 +2 "manipulator"&5% +4 "core" % ΁  ' + "storage"(N& +4 "core" &[ y w r\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 306 counts +3 "manipulator"&0'ϭ +19 "core" ' + "manipulator"&"& +5 "core" &  s + "storage"(<& +4 "core" &[ 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&S'= +27 "core" ' + "storage"(_% +5 "core" % P\ +2 ."downElevator"SE.seek :down +3 "storage"(Q' +99 (J% +2 "core" %`A v w q\ Va +2 "manipulator"&% +4 "core" %7 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +40 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling two pucks from tube 7 to 1 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'Y& +4 "core" &2\ +2 "manipulator"&.% +3 "core" %   +2 "storage"(Z% +4 "core" % *\ + "storage"(O. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"((([ +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (R& +2 "core" &[ <\  +2 "manipulator"&H& +4 "core" & s +2 .tElbow.seek 7 + "manipulator"&z(r +10 "core" ( + "manipulator"&& +5 "core" &t ~ + "storage"(h& +4 "core" &[ I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +92 "core" ' +2 "storage"(C& +4 "core" &[ /\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'r +292 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &[ l r \  +2 "manipulator"&G& +3 "core" &t  ~ +2 .tElbow.seek 7 + "manipulator"&(r +4 "core" ( + "manipulator"&E& +4 "core" &t O ~ +2 "storage"(U& +3 "core" &[ P\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&?'ϧ +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +4 "storage"(v' +4 "core" &t h ~ + "manipulator"&T% +4 "core" %   | +2 .tForearm.seek :retract + "manipulator"&d' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&M(ӂ +145 "core" ' + ."downElevator"SE.coast + "storage"(5 +13 "core" ( + "manipulator"&]& +5 "core" &ӗ$  Q =F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &ӗ$ h =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&='? +92 "core" ' + "manipulator"&l& +5 "core" &Ә%  ' =E + "manipulator"& % +4 "core" %; r +2 "collection"'y& +3 "core" &8\ +2 "collection"'X& +5 "core" &*\ +2 .tCC.seek :closed + "collection"' (\\ +4 "core" &*\ +9 &<2\ %f +9 &X|(\ 7 +10 &y(\ L +9 &U+\ L +9 &}W,\ L +10 &>Z-\ L +9 &W,\ L +9 &U)\ L +10 &W-\ L +9 &HW)\ K +10 & V)\ L +9 &!T,\ L +9 &#X.\ L +10 &%OY.\ L +9 &'V+\ K +9 &(W-\ L +10 &*T.\ L +9 &,WW,\ L +10 &.Z.\ L +9 &/W-\ L +9 &1Z-\ L +10 &3_W-\ L +9 &5!U-\ L +9 &6W*\ L +10 &8W*\ L +9 &:gX*\ L +10 &<(Z-\ L +9 &=X+\ L +9 &?X'\ L +10 &AoY(\ L +9 &C.^,\ M +9 &Dg*\ M +10 &Fy,\ P +9 &H`,\ T +10 &J+\ W +9 &K,\ X +9 &M+\ X +10 &OY)\ Y +9 &Q!\ Y +9 &R&\ Z +10 &T#\ [ +9 &V[)\ [ +10 &X%\ [\ +9 &Y$\ ] +9 &[\ J +10 &\\9\ . +9 &\\&\ Y +2 ( +2 "collection"'X& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&s1 +59 "core" 1 + "manipulator"&/% +4 "core" % ;  F r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%P& +4 "core" &d\ +2 "manipulator"&c% +3 "core" %  b  +2 "storage"( % +3 "core" %  " \ +2 "storage"(u. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(W([ +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +2 "core" &[ %  \  +2 "manipulator"&9& +3 "core" &Ә$ O =E +2 "manipulator"&%% +3 "core" %  ^  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&a(r +161 "core" ( + "manipulator"&& +4 "core" &z   +2 "storage"(j& +3 "core" &[ ? @ %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&q'= +93 "core" ' + "storage"(p& +4 "core" &[ U U M\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +291 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &[  \  +2 "manipulator"&I& +3 "core" &z  +2 .tElbow.seek 7 + "manipulator"&k(r +3 "core" ( +2 "manipulator"&`& +3 "core" &z   + "storage"(& +4 "core" &[ . ' d\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&{'ϧ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +68 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& + "storage"(w' +6 "core" &z U  +2 "manipulator"&% +4 "core" % Ϩ z + .tForearm.seek :retract +2 "manipulator"&A' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&( +153 "core" ' + ."downElevator"SE.coast + "storage"(5 +88 "core" ( + "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" & v  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + "manipulator"&3& +5 "core" &   + "manipulator"&|% +4 "core" % J D + "processing"%,& +4 "core" &j\ +2 "processing"%& +5 "core" &i\ +2 .tPC.seek :closed +3 "processing"%e(^ +3 "core" &K\ +9 & .T\ #b +10 &UU\ 8 +9 &~}T\ L +9 &YT\ O +10 &XXU\ O +9 &XU\ O +9 &\\U\ O +10 &XN\ N +9 &aYS\ N +10 &!YM\ O +9 &XS\ O +9 &!YU\ N +10 &#iXP\ N +9 &%+WO\ N +9 &&ZD\ O +10 &(]B\ O +9 &*pX;\ O +10 &,3Y:\ N +58 &-X;\ N +3 &/Z?\ O +5 &1xY7\ O + &3:Z=\ O + &4[?\ O + &6X=\ N + &8[@\ O +5 &:BY<\ O +9 &<Z<\ O +9 &=[>\ O +10 &?[9\ O +9 &AFc9\ P +9 &Cv8\ R +10 &D;\ S +9 &F9\ T +10 &H@A\ U +9 &JC\ U +9 &K@\ U +10 &M=\ V +9 &OD@\ V +9 &Q7\ W +10 &R<\ X +9 &T1\ W +10 &VL7\ V +9 &X8\ V +9 &Y0\ W +10 &[1\ W +9 &]Q3\ H +9 &^vA}1\ (v +10 &^?7\ 5 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&1 +3 "core" &^-0\ 5 +53 1 +2 "manipulator"&&% +4 "core" %   M D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%}& +4 "core" &^-P\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&x% +3 "core" %  \ z  +2 "storage"(8% +4 "core" % # # )\ + "storage"(!. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"('(C +1930 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &A  C\ +2 "manipulator"&& +3 "core" &  _  +2 "manipulator"&% +3 "core" %    E  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&7( +245 "core" ( + "manipulator"&& +4 "core" &    3 +2 "storage"(n& +3 "core" &B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&*' +96 "core" ' + "storage"($& +4 "core" &B  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +267 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&o& +3 "core" &  j 2 + "storage"([& +4 "core" &B  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&^'8 +25 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(:- +2 "core" -' +2 .tSE.seek 5.17 Pucks below Top Plate +2 "storage"(' +30 "core" ' + "manipulator"&% +5 "core" %G \ V v + "storage"(L& +4 "core" &B ,\ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 315 counts +2 "manipulator"&)'s +15 "core" ' + "manipulator"&2& +5 "core" &  : 2 + "storage"(b& +4 "core" &B "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 6.17 Pucks below Top Plate + "storage"(+' +48 "core" ' + "manipulator"&& +5 "core" & g 2 + "manipulator"&g% +4 "core" % y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&5( +245 "core" ( + "manipulator"&N& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &  3  +2 .tForearm.seek PC + "manipulator"&<' +93 "core" ' + .tHand.close + "manipulator"&_/ +71 "core" / +2 .tPC.seek :open + "processing"%m( +458 "core" ( + "storage"(J& +4 "core" &B  i\ +2 "manipulator"&& +3 "core" &  +2 "manipulator"&r% +3 "core" %  {  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&Y( +246 "core" ( + "manipulator"&.& +4 "core" &  7 D +2 "storage"(0& +3 "core" &B   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&Z' +96 "core" ' + .tHand.open + "manipulator"&O1 +59 "core" 1 +2 "storage"(R- +4 "core" -' +2 .tSE.seek 5.82 Pucks below Top Plate + "storage"(H' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek 4.86 Pucks below Top Plate +2 "storage"(6' +47 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(h& +3 "core" &B \ +2 "manipulator"&S& +3 "core" & e C +2 .tElbow.seek 1 + "manipulator"&C( +3 "core" ( +2 "manipulator"&Q& +4 "core" &  3 C + "storage"(;& +4 "core" &B X\ +2 .tForearm.seek 1 + 450 counts + "manipulator"&1' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek 5.57 Pucks below Top Plate + "storage"(D' +56 "core" ' + "manipulator"&f& +5 "core" & s C + "storage"(@& +4 "core" &B  \ `\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&G'8 +28 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 5.76 Pucks below Top Plate +2 "storage"(U' +32 "core" ' +2 "manipulator"&V% +4 "core" %F 3 R + "storage"(t& +4 "core" &B 5\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 314 counts +2 "manipulator"&T'r +14 "core" ' +2 "manipulator"&z& +4 "core" &  ; C + "storage"(& +4 "core" &B   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&]' +17 "core" ' +2 "storage"(~% +4 "core" % #  \ +2 ."downElevator"SE.seek :down +3 "storage"(B' +100 (?% +2 "core" %<  0\ U^ +2 "manipulator"&l% +4 "core" % s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +25 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 (y& +4 "core" &B   8\ +2 "collection"'& +3 "core" &\\-\ Y +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&v% +4 "core" %    +2 "storage"(d% +4 "core" %   1\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(s(C +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (/& +2 "core" &B -  \  +2 "manipulator"&P& +4 "core" & C + .tElbow.seek 1 +2 "manipulator"&c( +4 "core" ( + "manipulator"& & +4 "core" & ) C +2 "storage"(u& +4 "core" &B  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&X' +92 "core" ' + "storage"( & +5 "core" &B + ; W\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'r +263 "core" ' + "storage"(%- +4 "core" -'T + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +2 "core" & C +2 "storage"(& +4 "core" &B \ `\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&j'8 +25 "core" ' + .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(p- +2 "core" -'T +2 .tSE.seek 6.17 Pucks below Top Plate +2 "storage"(M'" +34 "core" ' + "manipulator"&\\% +5 "core" %G  ? e + "storage"(& +3 "core" &B \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 315 counts + "manipulator"&4's +16 "core" ' + "manipulator"&I& +54 "core" & x C + "storage"(`& +4 "core" &B   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 7.17 Pucks below Top Plate +2 "storage"(i' +40 "core" ' +2 "manipulator"&#& +4 "core" & z C + "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&q(ӂ +145 "core" ( +2 "manipulator"& & +4 "core" &ӆ+ T Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &ӆ+  Cp +2 .tForearm.seek CC + "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&-/ +68 "core" / +2 .tCC.seek :open + "collection"'k( +447 "core" ( + "storage"(3& +4 "core" &B U R i\  +2 "storage"(|& +3 "core" &B S R _\  +2 "manipulator"&,& +3 "core" &Ӑ* Bf +2 "manipulator"&w% +4 "core" % N U + .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&>( +165 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(&& +4 "core" &B v u 2\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 + "manipulator"&}'8 +103 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&81 +54 "core" 1 +3 "manipulator"&!% +4 "core" % I  = + "storage"(& +4 "core" &B y y X\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&'u +16 "core" ' + "manipulator"&W& +5 "core" & X  + "storage"(& +4 "core" &B $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&' +17 "core" ' + "storage"(% +5 "core" % ?\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (n% +2 "core" %(0 8\ TX +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&$' +90 "core" ' +17 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +6194 #t-> Storage.stackHeight +16538 #-> can +3 "Can"O\ :7 +17208 J\ ;8 +60002 O\ :8 +60003 N\ ;: +60002 T\ :7 +60003 X\ :7 +60003 R\ ;8 +60002 Y\ ;7 +60003 W\ :8 +60002 T\ :8 +60003 _\ :7 +60002 U\ :7 +60003 T\ :8 +60002 S\ ;8 +60003 L\ :8 +60003 P\ :7 +60002 Q\ ;7 +60003 R\ :7 +60002 O\ :8 +60003 O\ :7 +60002 M\ ;7 +60003 G\ :7 +60002 I\ ;8 +60003 C\ :7 +60003 D\ :8 +60002 ?\ :7 +60003 D\ ;8 +60002 5\ :8 +60003 8\ :7 +60002 5\ ;8 +60003 .\ :7 +60002 ,\ :8 +60003 .\ ;8 +60003 .\ ;8 +60002 )\ :8 +60003 )\ :7 +60002 +\ :7 +60003 )\ ;8 +60002 -\ ;8 +60003 /\ :8 +60003 -\ :7 +60002 1\ :7 +60003 *\ :8 +60002 2\ ;8 +43636 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +6 #mEXIT @1610461945.04EST @1610474191.73EST = =mMAIN_scheduler =tMAIN @EST1610474193.48 #"core_reset"Sent BREAK +2 #t@49408 receive with ifg=0x10, ie=0xFD #@49735 receive with ifg=0x80, ie=0xFD + #@50673 sendCRC with ifg=0x20, ie=0x7F + #@51119 sendCRC with ifg=0x20, ie=0x7F #@52711 sendCRC with ifg=0x08, ie=0x5F + #@26638 sendCRC with ifg=0x20, ie=0x7F #@27084 sendCRC with ifg=0x20, ie=0x7F + #@28676 sendCRC with ifg=0x08, ie=0x5F + #@3171 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +198 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi` +96 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +375 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can" \ =: +  \ =: + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %h'\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؿ\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ځ@@ >\ - +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +3 "core" %h!\  +2 "sampler")% +4 "core" %ځB@ P\ - + "manipulator"&% +3 "core" %  1  +2 "manipulator"&& +3 "core" &   + "storage"(& +4 "core" &B V\ + "storage"(% +3 "core" % \ +2 "collection"'& +3 "core" &,\ + "processing"%& +4 "core" &\ +2 "processing"%% +3 "core" %ؿ\ +536 #t-> access 1 +3 .SE.seek :down + "storage"(' +4 "core" ' + "manipulator"&% +4 "core" %  (  +2 "manipulator"& & +3 "core" & M  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(!(<- +1298 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ("& +3 "core" &<*( S I w\  +37670 #t-> exit +4 #mEXIT @1610474611.51EST @1610475003.80EST = =tMAIN =mMAIN_scheduler @EST1610475005.51 #"core_reset"Sent BREAK +2 #t@46062 receive with ifg=0x10, ie=0xFD #@46698 receive with ifg=0x10, ie=0xFD + #@47354 receive with ifg=0x10, ie=0xFD + #@47991 receive with ifg=0x10, ie=0xFD #@48625 receive with ifg=0x10, ie=0xFD + #@49259 receive with ifg=0x10, ie=0xFD #@49893 receive with ifg=0x10, ie=0xFD + #@50220 receive with ifg=0x80, ie=0xFD + #@44804 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +190 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi@ +91 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +358 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can" \ >; +  \ >; #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %h6\  + .tCS.configure :default +3 "collection"'#P d@b + .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؿ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %ځ@@ A\ - +2 .tSS.configure :default +2 "sampler")#.0X access 7 +2 .SE.seek :down +2 "storage"(' +3 "core" ' + "manipulator"&% +4 "core" %  9  +2 "manipulator"&& +3 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &,| \ +16925 #t-> access 2 +3 .SE.seek :down + "storage"(' +2 "core" ' +2 "manipulator"&% +4 "core" %  =  + "manipulator"&& +4 "core" &  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +675 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +2 "core" &K" s e\  +20304 #t-> access 1 +3 .SE.seek :down + "storage"(!' +2 "core" ' +2 "manipulator"&"% +4 "core" %  1  + "manipulator"&#& +4 "core" & &  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"($(<- +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (%& +2 "core" & access 7 +3 .SE.seek :down + "storage"(&' +3 "core" '@ [\ +3 !to:Slide::Error\ :@axisName"Storage Elevator: mesg"BStorage Elevator invalidConfig at 33.45 Pucks below Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei-: @channeli: @statusIS:I2C::Servo::Status: enabledF: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi[ : voltagef13.664245459008345*: @type2F:@destinationi%: @error:invalidConfig: @tagi+:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:71:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'"0/home/esp/esp2/lib/slide.rb:348:in `moveTo'"//home/esp/esp2/utils/misc.rb:348:in `down'"0/home/esp/esp2/utils/storage.rb:132:in `to'"4/home/esp/esp2/utils/storage.rb:254:in `access'"4/home/esp/esp2/utils/storage.rb:585:in `access'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +7807 #-> access 6 +3 .SE.seek :down + "storage"('' +3 "core" '@ %\ +3 !to:Slide::Error\ :@axisName"Storage Elevator: mesg"BStorage Elevator invalidConfig at 33.45 Pucks below Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei-: @channeli: @statusIS:I2C::Servo::Status: enabledF: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi% : voltagef13.664245459008345*: @type2F:@destinationi%: @error:invalidConfig: @tagi,:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:71:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'"0/home/esp/esp2/lib/slide.rb:348:in `moveTo'"//home/esp/esp2/utils/misc.rb:348:in `down'"0/home/esp/esp2/utils/storage.rb:132:in `to'"4/home/esp/esp2/utils/storage.rb:254:in `access'"4/home/esp/esp2/utils/storage.rb:585:in `access'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +587 "Can"\ 85 @1610478795.48EST = =mMAIN_scheduler =tMAIN @EST1610478797.29 #"core_reset"Sent BREAK +2 #t@32257 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +200 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refih +95 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +382 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"& ! + & ! + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:423:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:612:in `restore!'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +1079 #-> ESP.ready? +393 #-> ESP.ready! +2 #Powering core bus +504 .Gate.power :raw,:ON +3 "sampler") +50 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %@>\ +2 .tSS.configure :default +2 "sampler")#.0X P\ # +3 "collection"'3& +3 "core" &/\  +2 "processing"%4& +3 "core" &\  +2 "manipulator"&5% +3 "core" %  !  +2 "manipulator"&6& +3 "core" & < / +2 "storage"(7& +4 "core" &,y \ + "storage"(8% +4 "core" % \ + "collection"'99 +3 "core" 9 +2 "processing"%:9 +3 "core" 9 +55529 "Can" \ ?< @947117875.41EST = =tMAIN =mMAIN_scheduler @EST947117877.22 #"core_reset"Sent BREAK +2 #t@42659 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +196 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi0 +95 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +372 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +4 "Can" !  ! + #tPolling Can every 10:00 +2 #Cleanly exited at 14:13:26EST12-Jan-21 +1060 #-> ESP.ready? +492 #-> ESP.ready! +3 #Powering core bus +486 .Gate.power :raw,:ON +2 "sampler") +39 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" % + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %:;\ +2 .tSS.configure :default +2 "sampler")#.0X access 2 +3 .SE.seek :down + "storage"(;' +3 "core" ' + "manipulator"&<% +4 "core" %   +2 "manipulator"&=& +3 "core" & / +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +676 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (?& +2 "core" &K" x\  +4148 #t-> exit +5 #mEXIT @947117994.75EST @1610558777.78EST = =tMAIN =mMAIN_scheduler @EST1610558779.61 #"core_reset"Sent BREAK +2 #t@39355 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +198 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi +96 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +389 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can" ! +  ! + #tPolling Can every 10:00 +2 #Cleanly exited at 19:19:54EST05-Jan-00 +675 #-> ESP.ready? +516 #-> ESP.ready! +3 #Powering core bus +492 .Gate.power :raw,:ON +2 "sampler") +46 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +3 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %_\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %1-=\ + .tSS.configure :default +2 "sampler")#.0X exit +4 #mEXIT @1610568049.20EST @1610651214.26EST = =tMAIN =mMAIN_scheduler @EST1610651216.09 #"core_reset"Sent BREAK +4 #t@3616 receive with ifg=0x10, ie=0xFD + #@4255 receive with ifg=0x10, ie=0xFD #@4914 receive with ifg=0x10, ie=0xFD + #@5551 receive with ifg=0x10, ie=0xFD #@6198 receive with ifg=0x10, ie=0xFD + #@6846 receive with ifg=0x10, ie=0xFD #@7494 receive with ifg=0x10, ie=0xFD + #@7825 receive with ifg=0x80, ie=0xFD #@41541 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +198 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi, +96 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ =9\ + \ =9\ #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %b9\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽ\ +2 .tPS.configure :default + "processing"%#A d`xb +3 "sampler")% +2 "core" %zmj 0\ +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +3 "core" %b\ +3 "sampler")% +4 "core" %zlj 9\ + "manipulator"&% +3 "core" %   +2 "manipulator"&& +3 "core" & ; 6 + "storage"(& +3 "core" &,y \  +2 "storage"(% +3 "core" % G\ + "collection"'& +4 "core" &,\  + "processing"%& +3 "core" &\  +2 "processing"%% +3 "core" %ؽ\ +417 #t-> exit +4 #mEXIT @1610651235.73EST @1610697036.50PST = =tMAIN =mMAIN_scheduler @PST1610697037.98 !to:Errno::ENOENT:\ errnoi: mesg"FNo such file or directory - /dev/I2Cgate -- Missing core Gateway!:bt[":/home/esp/esp2/lib/i2c/gateway.rb:171:in `initialize'":/home/esp/esp2/lib/i2c/gateway.rb:171:in `initialize'"3/home/esp/esp2/lib/i2c/gateway.rb:138:in `new'":/home/esp/esp2/lib/i2c/gateway.rb:138:in `initialize'"8/home/esp/esp2/lib/i2c/sleepy.rb:52:in `initialize'"9/home/esp/esp2/type/shallow/netconfig.rb:39:in `new'"0/home/esp/esp2/type/shallow/netconfig.rb:39"1/home/esp/esp2/lib/buildparser.rb:76:in `[]'">/home/esp/esp2/lib/buildparser.rb:76:in `installGateways'"3/home/esp/esp2/lib/buildparser.rb:73:in `each'">/home/esp/esp2/lib/buildparser.rb:73:in `installGateways'"4/home/esp/esp2/lib/realtime.rb:22:in `realTime'"-/home/esp/esp2/lib/esp.rb:102:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +2 !o:SystemExit :@timestampu: Time A>FR: mesg" exit: statusi:bt[ ",/home/esp/esp2/lib/esp.rb:105:in `exit'"-/home/esp/esp2/lib/esp.rb:105:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +2 #mEXIT @1610697038.03PST @1610697069.36PST = =tMAIN =mMAIN_scheduler @PST1610697071.07 #"core_reset"Sent BREAK +2 #t@50465 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +353 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can" ! +  ! + #tPolling Can every 10:00 +2 #Cleanly exited at 14:07:15EST14-Jan-21 +1340 #-> can +3 "Can"  +4742 #t-> ESP.ready! +2 #Powering core bus +465 .Gate.power :raw,:ON +8 "sampler") +20 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %//_\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %\ +2 .tSS.configure :default +2 "sampler")#.0X exit +4 #mEXIT @1610697196.47PST @1610697214.46EST = =mMAIN_scheduler =tMAIN @EST1610697216.32 #"core_reset"Sent BREAK +2 #t@57363 receive with ifg=0x10, ie=0xFD + #@58000 receive with ifg=0x10, ie=0xFD #@58656 receive with ifg=0x10, ie=0xFD + #@59293 receive with ifg=0x10, ie=0xFD + #@59927 receive with ifg=0x10, ie=0xFD #@60561 receive with ifg=0x10, ie=0xFD + #@61194 receive with ifg=0x10, ie=0xFD #@61525 receive with ifg=0x80, ie=0xFD + #@15197 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +270 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +356 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ B> + \ B> + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %d10\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ؽ#\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %ڂ W\ . +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready! + "collection"'% +4 "core" %d02\ +3 "sampler")% +4 "processing"%% +2 "manipulator"&% +7 "core" %ڂ V\ . + %ؽ\ + %   + "manipulator"&& +4 "core" &  F +2 "storage"(& +3 "core" &,x\  K $\ + "storage"(% +4 "core" % >\  s\ + "collection"'& +3 "core" &20\  +2 "processing"%& +3 "core" &\  +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core"  +2 "processing"%# +2 "core"  +2 "processing"%$ +3 "core" V + "processing"%% +3 "core"  +2 "processing"%& +3 "core"  + "sampler")' +3 "core"  +2 "collection"'(% +3 "core" %d10\ +2 "processing"%)% +4 "core" %ؽ\ + "sampler")*% +4 "core" %ڂ W\ . +2 "collection"'+& +3 "core" &21\  +2 "processing"%,& +3 "core" &\  +2 "manipulator"&-% +3 "core" %   +2 "manipulator"&.& +4 "core" & F + "storage"(/& +4 "core" &,x   e\ + "storage"(0% +4 "core" % A \ + "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +813 #t-> Puck.count + "storage"(3% +3 "core" %   1\ +2 .tSE.seek :down + "storage"(4' +4 "core" ' + .tSE.coast + "storage"(5 +2 .tHand.open + "manipulator"&51 +56 "core" 1 +2 "manipulator"&6% +4 "core" %   \\  + .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(7(C +987 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (8& +3 "core" &E h\ + "manipulator"&9& +4 "core" & t F + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&:( +2 "core" ( +2 "manipulator"&;& +4 "core" &  0 F + "storage"(<& +4 "core" &E ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&=' +98 "core" ' +2 "storage"(>& +4 "core" &E r\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 .tSE.seek :beamBreak +2 "storage"(?'r +275 "core" ' +2 "storage"(@- +3 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A% +3 "core" %p z\ +2 ."downElevator"SE.seek :down +3 "storage"(B' +99 (C% +3 "core" %I `\ Wd +2 "manipulator"&D% +4 "core" %  6 ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +96 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(F(  +350 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (G& +2 "core" &  Q\ \ +2 "manipulator"&H& +4 "core" & x F + .tElbow.seek 2 +2 "manipulator"&I( +3 "core" ( + "manipulator"&J& +4 "core" & F + "storage"(K& +4 "core" &  )\ \ + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&L'S +93 "core" ' +2 "storage"(M& +4 "core" & \ \  \ \ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'r +275 "core" ' +2 "storage"(O- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P% +3 "core" % A\ +2 ."downElevator"SE.seek :down +3 "storage"(Q' +99 (R% +4 "core" %s9 w\ U[ + "manipulator"&S% +4 "core" %T y g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +2 ' + ."downElevator"SE.coast +2 "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(U( +348 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (V& +3 "core" & V\  + "manipulator"&W& +4 "core" & F + .tElbow.seek 3 +2 "manipulator"&X( +27 "core" ( +2 "manipulator"&Y& +4 "core" &  9 j +2 "storage"(Z& +3 "core" & \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +35 "manipulator"&['7 +97 "core" ' +2 "storage"(\\& +4 "core" &\ \  \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'r +278 "core" ' +2 "storage"(^- +3 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_% +2 "core" %d &\ +3 ."downElevator"SE.seek :down +3 "storage"(`' +100 (a% +3 "core" % F +\ Va + "manipulator"&b% +4 "core" %3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&c' +93 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(d(,y +358 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (e& +2 "core" &,w \ \  +2 "manipulator"&f& +3 "core" &  j +2 .tElbow.seek 4 + "manipulator"&g( +32 "core" ( +2 "manipulator"&h& +4 "core" &  c M + "storage"(i& +4 "core" &,x \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&j' +108 "core" ' +2 "storage"(k& +4 "core" &,x \ \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'r +275 "core" ' +2 "storage"(m- +3 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n% +3 "core" %j \ +2 ."downElevator"SE.seek :down +3 "storage"(o' +99 (p% +3 "core" %I ;\ Wc + "manipulator"&q% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r' +91 "core" ' +76 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(s(<- +361 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (t& +3 "core" &<.( \  + "manipulator"&u& +4 "core" & M + .tElbow.seek 5 +2 "manipulator"&v( +27 "core" ( +2 "manipulator"&w& +4 "core" &   + "storage"(x& +4 "core" &<.( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&y'O +93 "core" ' +2 "storage"(z& +4 "core" &<.( X\  + .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 .tSE.seek :beamBreak +2 "storage"({'r +276 "core" ' +2 "storage"(|- +3 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}% +2 "core" %g }\ +2 ."downElevator"SE.seek :down +3 "storage"(~' +100 (% +3 "core" %F \ Vb +2 "manipulator"&% +3 "core" %S [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +75 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +361 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &K\ \  \ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" &   + "storage"( & +4 "core" &K\  Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"& ' +93 "core" ' +2 "storage"(& +4 "core" &K\ \  [\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +276 "core" ' +2 "storage"(- +3 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +3 "core" %u K\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %fJ \ Vb +2 "manipulator"&% +4 "core" % L q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +87 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +355 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &[ \  O\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 7 + "manipulator"&(r +36 "core" ( +2 "manipulator"&& +4 "core" & J + "storage"(& +4 "core" &[ \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"& '= +88 "core" ' +2 "storage"(!& +4 "core" &[ [\  + .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"("'r +277 "core" ' +2 "storage"(#- +3 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($% +3 "core" %m r\ +2 ."downElevator"SE.seek :down +3 "storage"(%' +100 (&% +4 "core" %tL f\ We + "manipulator"&'% +4 "core" %6  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&(' +89 "core" ' +73 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +1574 #t-> Storage.stackHeight +10512 #-> exit +5 #mEXIT @1610697445.64EST @1610697860.51EST = =tMAIN =mMAIN_scheduler @EST1610697862.31 #"core_reset"Sent BREAK +2 #t@23001 receive with ifg=0x80, ie=0xFD + #@38358 sendCRC with ifg=0x20, ie=0x7F #@38804 sendCRC with ifg=0x20, ie=0x7F + #@40396 sendCRC with ifg=0x08, ie=0x5F + #@13691 sendCRC with ifg=0x20, ie=0x7F #@14138 sendCRC with ifg=0x20, ie=0x7F + #@15729 sendCRC with ifg=0x08, ie=0x5F #@5453 idle with ifg=0x00, ie=0x75 + #@22674 receive with ifg=0x10, ie=0xFD + #@23001 receive with ifg=0x80, ie=0xFD #@38358 sendCRC with ifg=0x20, ie=0x7F + #@38804 sendCRC with ifg=0x20, ie=0x7F #@40396 sendCRC with ifg=0x08, ie=0x5F + #@13691 sendCRC with ifg=0x20, ie=0x7F #@14138 sendCRC with ifg=0x20, ie=0x7F + #@15729 sendCRC with ifg=0x08, ie=0x5F #@59827 initial with ifg=0x00, ie=0xF5 + #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 +9 #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 for core bus +273 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +358 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ ?< \ ?< + #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %d1/R\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽW\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %ڂ _\ . +2 .tSS.configure :default +2 "sampler")#.0X CTD.term +1401 #-> pucks +166 #-> exit +5 #mEXIT @1610697890.63EST @1610699556.12EST = =tMAIN =mMAIN_scheduler @EST1610699557.93 #"core_reset"Sent BREAK +2 #t@26620 sendCRC with ifg=0x20, ie=0x7F + #@27067 sendCRC with ifg=0x20, ie=0x7F #@28382 sendCRC with ifg=0x20, ie=0x7F + #@28598 sendCRC with ifg=0x20, ie=0x7F #@29752 sendCRC with ifg=0x20, ie=0x7F + #@31118 sendCRC with ifg=0x08, ie=0x5F #@10665 idle with ifg=0x00, ie=0x75 + #@28457 sendCRC with ifg=0x20, ie=0x7F + #@30292 sendCRC with ifg=0x08, ie=0x5F #@26620 sendCRC with ifg=0x20, ie=0x7F + #@27067 sendCRC with ifg=0x20, ie=0x7F #@28382 sendCRC with ifg=0x20, ie=0x7F + #@28598 sendCRC with ifg=0x20, ie=0x7F + #@29752 sendCRC with ifg=0x20, ie=0x7F #@31118 sendCRC with ifg=0x08, ie=0x5F + #@64714 initial with ifg=0x00, ie=0xF5 #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 +8 #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ ?; + \ ?; #tPolling Can every 10:00 +124 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ + % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %d1/O\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽL\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %ڂ Y\ . +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle' +893 #-> shuffle2 +2 #Shuffling two pucks from tube 1 to 2 of [1..7] + #Loading generic puck from tube 1 into Collection Clamp + "collection"'& +3 "core" &/0O\  +2 .tHand.open + "manipulator"&1 +17 "core" 1 +2 "manipulator"&% +4 "core" %   T  + "storage"(% +4 "core" %   \ + "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((C +1928 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &F H\ +2 "manipulator"&& +3 "core" & J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&( +38 "core" ( + "manipulator"&& +5 "core" &  n  + "storage"(& +4 "core" &F \  \ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"& ' +99 "core" ' +2 "storage"(!& +4 "core" &F\  f\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'r +275 "core" ' + "storage"(#- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :pick + "storage"($' +35 "core" ' +4 .tSE.seek :down + "storage"(%' +273 "core" ' + .tSE.coast + "storage"(5 +3 "manipulator"&&% +4 "core" % Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +89 "core" ' +2 !to:Puck::Error: mesg"Tube 1 is Empty:bt["4/home/esp/esp2/utils/puckmoves.rb:368:in `load'"4/home/esp/esp2/utils/puckmoves.rb:358:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:358:in `load'"8/home/esp/esp2/utils/puckmoves.rb:963:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):2:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" pucks +3880 #-> shuffle2 2..7,1 + #Shuffling two pucks from tube 2 to 3 of [2..7, 1] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'(& +3 "core" &02R\  + "manipulator"&)% +4 "core" %   h  +2 "storage"(*% +3 "core" %\ \  \ +2 "storage"(+. +3 "core" .(F + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(,(  +363 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (-& +2 "core" & \  T\ \  +2 "manipulator"&.& +3 "core" & m  +2 .tElbow.seek 2 + "manipulator"&/( +3 "core" ( +2 "manipulator"&0& +3 "core" &     +2 "storage"(1& +3 "core" &  \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&2'S +91 "core" ' +3 "storage"(3& +4 "core" &  :\ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'r +244 "core" ' + "storage"(5- +4 "core" -'@ + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" &  d\ \  +2 "manipulator"&7& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&8( +3 "core" ( + "manipulator"&9& +3 "core" &  R  +2 "storage"(:& +3 "core" &  {\ \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&;'Ͻ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&' +7 "core" &  + "manipulator"&?% +4 "core" % ϴ x +2 .tForearm.seek :retract + "manipulator"&@' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&A(ӂ +110 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +49 "core" ( +2 "manipulator"&B& +4 "core" &ӑ%  >M + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &ӑ&  h >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'? +91 "core" ' +2 "manipulator"&E& +4 "core" &ӑ&  m >M + "manipulator"&F% +5 "core" %F M k + "collection"'G& +4 "core" &12R\  +2 "collection"'H& +5 "core" &02G\  +2 .tCC.seek :closed + "collection"'I(\\ +4 "core" &20A\  +10 &5}/1N\ +} +9 &g10O\ @ +9 &hx11B\ N +10 &-[31>\ M +9 &]009\ M +9 &\\/2@\ M +10 &t\\21:\ M +9 &4^01:\ N +10 &_128\ M +9 &[23;\ M +9 & {Y113\ M +10 &"=^32/\ M +9 &#]312\ M +9 &%[01/\ M +10 &']034\ M +9 &)F_218\ M +10 &+]23:\ M +9 &,]32/\ M +9 &._24(\ N +53 &0N\\11&\ M +2 &2]22%\ M +2 &3_23"\ N + &5]24%\ M + &7U_42&\ M +3 &9[41 \ M +4 &:^23#\ M +9 &<_42(\ M +10 &>\\]43-\ N +9 &@]34&\ M +10 &A^53-\ N +9 &Cg680\ N +9 &E^s992\ P +10 &G=>0\ R +9 &H>@1\ V +9 &JAA/\ X +10 &LLBD/\ Y +9 &N CB0\ Y +9 &OBC0\ Z +10 &QAC2\ Y +9 &SNAB/\ [ +10 &UCA/\ [ +9 &V@B0\ \\ +9 &X@A'\ \\ +10 &ZPBA/\ ] +9 &[w@A+\ E +9 &\\@B*\ +} +10 &\\@B+\ _ +2 ( + "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.12 + .Hand.open + "manipulator"&J1 +53 "core" 1 +2 "manipulator"&K% +4 "core" % F   k + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%M& +4 "core" &O\  +2 "manipulator"&N% +3 "core" %    +2 "storage"(O% +4 "core" % \ + "storage"(P. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(Q(  +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (R& +2 "core" &  \  +2 "manipulator"&S& +4 "core" &ӑ% >M + "manipulator"&T% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&U( +163 "core" ( +2 "manipulator"&V& +4 "core" & /  + "storage"(W& +4 "core" &  J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&X'S +92 "core" ' +2 "storage"(Y& +4 "core" &  x\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +254 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +2 "core" &  @\  +2 "manipulator"&]& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&^( +3 "core" ( +2 "manipulator"&_& +3 "core" &   m  +2 "storage"(`& +3 "core" &  \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&a'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +68 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(d' +7 "core" & ~  + "manipulator"&e% +4 "core" % ϶ +2 .tForearm.seek :retract + "manipulator"&f' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&g( +122 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +114 "core" ( + "manipulator"&h& +5 "core" &   ' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &   ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&j' +100 "core" ' +2 "manipulator"&k& +4 "core" &   ' + "manipulator"&l% +4 "core" % U w +2 "processing"%m& +3 "core" &P\  +2 "processing"%n& +5 "core" &T\  +2 .tPC.seek :closed +2 "processing"%o(^ +5 "core" &T\ \  +9 &5vK\ *z +10 &cI\ ? +9 &X{O\ O +9 &_S\ N +10 &_U\ N +9 &]Q\ O +10 &a_R\ N +9 &"_K\ O +9 &aK\ O +10 &^K\ O +9 & g]U\ O +10 &")\\V\ O +9 &#]P\ O +9 &%_C\ O +10 &'p]S\ O +9 &)2^U\ O +9 &*\\G\ N +10 &,_O\ O +9 &.x]N\ O +10 &09]N\ O +9 &1^=\ O +9 &3\\@\ O +10 &5_A\ O +9 &7B]?\ O +9 &9`?\ O +10 &:_A\ O +9 &<];\ O +10 &>Ga5\ P +9 &@ bC\ P +9 &Aj?\ P +10 &CyA\ R +9 &ED@\ S +9 &G;\ U +10 &H@\ U +9 &J@\ U +10 &LE=\ V +9 &N>\ V +9 &OE\ W +10 &Q@\ W +9 &SJ@\ W +9 &U>\ V +10 &V;\ V +9 &X>\ V +10 &ZU<\ V +9 &\\@\ W +9 &];\ 7 +10 &^*n?\ "c +9 &^2=\ 7 +2 ( + "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&p1 +58 "core" 1 +2 "manipulator"&q% +4 "core" %    w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%s& +4 "core" &^4`\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&t% +4 "core" %  \   + "storage"(u% +4 "core" % /\ + "storage"(v. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(w( +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (x& +3 "core" & x w .\  +2 "manipulator"&y& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & g ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&z( + "storage"({'r +5 "core" ( + "manipulator"&|& +4 "core" &  ' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &   ' +2 .tForearm.seek PC + "manipulator"&~' +93 "core" ' + .tHand.close +2 "manipulator"&/ +74 "core" / +2 .tPC.seek :open + "processing"%( +84 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +317 ( + "storage"(& +4 "core" & 8\  +2 "manipulator"&& +3 "core" & ' +2 "manipulator"&% +3 "core" %  " +2 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"& ( +245 "core" ( + "manipulator"& & +4 "core" &  ] 9 +2 "storage"(& +3 "core" & f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +91 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &   \  +2 "manipulator"&& +3 "core" &  9 +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  K 9 +2 "storage"(& +3 "core" &   \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' +2 "manipulator"&!& +4 "core" & 9 + "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'u +19 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"("' +20 "core" ' +2 "manipulator"&&% +4 "core" %Ώ  + "storage"($& +4 "core" & 1\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 326 counts + "manipulator"&%'ϻ +13 "core" ' +2 "manipulator"& & +4 "core" &  n 9 +2 "storage"((& +3 "core" & 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&)'7 +17 "core" ' +2 "storage"(*% +4 "core" % B\ +2 ."downElevator"SE.seek :down +3 "storage"(+' +100 (% +3 "core" %I B\ Wf + "manipulator"&-% +4 "core" %' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.' +90 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (0& +4 "core" & 2\ + "collection"'1& +4 "core" &\\?@&\ _ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&3% +3 "core" %   +2 "storage"(% +3 "core" % \ +2 "storage"('. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(5( +8 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (6& +2 "core" & \  +2 "manipulator"&7& +4 "core" & 9 + .tElbow.seek 3 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&:& +3 "core" &  Y 9 +2 "storage"(<& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&='7 +92 "core" ' +2 "storage"(?& +4 "core" & [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'r +297 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +2 "core" &  8 +2 "storage"(C& +3 "core" & @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&4'u +27 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(E- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(F'm +28 "core" ' +2 "manipulator"&G% +4 "core" %Ά e + "storage"(8& +4 "core" & F\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&>'ϲ +14 "core" ' +2 "manipulator"&@& +4 "core" &  Y 8 + "storage"(\ & +4 "core" & (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&J'7 +39 "core" ' +11 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(K' +36 "core" ' +2 "manipulator"&M& +4 "core" &  V 8 + "manipulator"&N% +4 "core" %( g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&P(ӂ +150 "core" ( +2 "manipulator"&R& +4 "core" &z.  \  E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &z.  ) E +2 .tForearm.seek CC + "manipulator"&S'? +95 "core" ' + .tHand.close +2 "manipulator"&T/ +66 "core" / +2 .tCC.seek :open + "collection"'D( +447 "core" ( +2 "storage"(V& +4 "core" & S\  + "storage"(W& +4 "core" & ]\  + "manipulator"&,& +4 "core" &Ӣ' i @X + "manipulator"&Y% +4 "core" % Q + .tForearm.seek :retract +2 "manipulator"&A' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&L( +167 "core" ( +2 "manipulator"&[& +4 "core" &z k  + "storage"(\\& +4 "core" &\ \  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&]'u +100 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&`1 +59 "core" 1 +2 "manipulator"&b% +4 "core" % ΄ w + "storage"(c& +4 "core" &\ \  \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 315 counts + "manipulator"&e'ϰ +13 "core" ' +2 "manipulator"&U& +4 "core" &~ p  + "storage"(X& +4 "core" &\ \  K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&Z'7 +26 "core" ' +2 "storage"(a% +4 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(h' +99 (i% +2 "core" %J O\ Va +2 "manipulator"&^% +4 "core" %7 ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&k' +88 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling two pucks from tube 3 to 4 of [2..7, 1] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'l& +4 "core" &-.8\ +2 "manipulator"&m% +3 "core" %  a  +2 "storage"(d% +4 "core" %\ \  u\ + "storage"(f. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"( ( +8 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (p& +2 "core" &\ \  [\  +2 "manipulator"&q& +4 "core" &~  @  + .tElbow.seek 3 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&t& +3 "core" &~   +2 "storage"(u& +3 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&v'7 +93 "core" ' +2 "storage"(n& +5 "core" &  B\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'r +298 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" &\ \  \  +2 "manipulator"&y& +3 "core" &~  +2 .tElbow.seek 3 + "manipulator"&|( +3 "core" ( +2 "manipulator"&}& +3 "core" &~   +2 "storage"(& +3 "core" &\ \  J\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&g/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& + "storage"(o' +7 "core" &~  4  + "manipulator"&{% +4 "core" % Ϩ +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +3 .tElbow.seek CC + "manipulator"&(ӂ +160 "core" ' + ( +2 "manipulator"&& + ."downElevator"SE.coast +6 "storage"(5 +3 "core" &ӕ% \  < >H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &ӕ% o >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '? +96 "core" ' +2 "manipulator"&& +4 "core" &ӕ& >H + "manipulator"&z% +4 "core" %G   ' +2 "collection"'& +3 "core" &,.8\ +3 "collection"'& +4 "core" &,.+\ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" &,-4\ +9 &;--\ %f +10 &W+.%\ 8 +9 &{..&\ L +10 &Z./%\ M +9 &}]//%\ M +9 &?^/-"\ M +10 &_//%\ M +9 &_./+\ M +9 &Z..+\ L +10 &G\\/0$\ M +9 & Y00&\ M +10 &!^/0)\ M +9 &#_0/0\ M +9 &%O[00.\ M +10 &'Y/0,\ M +9 &(Z10'\ M +9 &*^-0/\ M +10 &,W]0.0\ M +9 &.X.0.\ L +10 &/Z00#\ L +9 &1^0..\ M +9 &3_[/10\ M +10 &5"Z10.\ L +9 &6\\00-\ L +9 &8Z30.\ M +10 &:hY00.\ L +9 &<*[11'\ L +10 &=Z11.\ M +9 &?Z-/%\ M +9 &Ao_01.\ M +10 &C0c32.\ M +9 &Dn540\ O +9 &F96/\ P +10 &Ha<:-\ T +9 &J?>0\ X +10 &K>@/\ X +9 &MA>/\ Y +9 &OZ@A0\ Y +10 &QAA1\ Z +9 &R@@.\ Z +9 &T>A/\ [ +10 &V\\>@/\ [ +9 &X>@/\ \\ +10 &Y@B/\ _ +9 &[AA.\ J +9 &\\@C?0\ %r +10 &\\;@0\ "c +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&1 +3 "core" &\\BA0\ "c +51 1 + "manipulator"&% +4 "core" % G   $ ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &o\ +2 "manipulator"& % +3 "core" %   B  +2 "storage"(!% +3 "core" % \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(&( +6 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ($& +2 "core" & \  +2 "manipulator"& & +4 "core" &Ӗ% \  =G + "manipulator"&(% +4 "core" %  "  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +164 "core" ( +2 "manipulator"&*& +4 "core" &  [  + "storage"(& +4 "core" & d\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +93 "core" ' +2 "storage"(& +4 "core" & 4\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" & 5\  +2 "manipulator"&& +3 "core" &  k  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  [  + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&%'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&0/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +4 "storage"(3' +4 "core" & l  + "manipulator"&% +4 "core" % ϙ +2 .tForearm.seek :retract + "manipulator"&"' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&'( +170 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +68 "core" ( + "manipulator"&6& +5 "core" &    + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" & R  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&:' +96 "core" ' +2 "manipulator"&<& +4 "core" &  ^  + "manipulator"&)% +4 "core" % X m +2 "processing"%?& +3 "core" &n\ +2 "processing"%+& +5 "core" &n\ +2 .tPC.seek :closed + "processing"%w(^ +4 "core" &V\ \ +10 &.wY\ *y +10 &bT\ > +9 &lyU\ O +9 &.]V\ O +10 &`U\ O +9 &_T\ O +9 &t_S\ O +10 &6_U\ O +9 &`U\ O +10 &]W\ O +9 & |^U\ O +9 &"?XS\ N +10 &#[U\ O +9 &%YS\ N +9 &'\\O\ O +10 &)FZH\ O +9 &+ \\G\ N +10 &,\\S\ N +9 &.^O\ O +9 &0NZG\ O +10 &2\\;\ N +9 &3Z@\ N +9 &5aF\ O +10 &7V[?\ O +9 &9]9\ N +10 &:bF\ O +9 &<\\?\ O +9 &>^]=\ O +10 &@ _<\ O +9 &Ai?\ P +9 &CsC\ R +10 &EW@\ T +9 &G?\ U +10 &H?\ U +9 &J@\ U +9 &L[?\ U +10 &N=\ V +9 &O>\ V +9 &Q@\ V +10 &S^D\ W +9 &U"B\ V +10 &VB\ V +9 &X?\ W +9 &ZhB\ V +10 &\\(<\ W +9 &]A\ < +9 &^1A\ Z +10 &^#B\ 2 +2 ( + "processing"%+& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator" +64 "core" 1 +2 "manipulator"&.% +4 "core" %  ? m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%B& +4 "core" &^"C\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&C% +4 "core" % \  Y  + "storage"(E% +4 "core" % \ + "storage"(G. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(8(,y +361 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (@& +3 "core" &,} \  + "manipulator"&\ & +3 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &  C  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&M( + "storage"(N'r +5 "core" ( +2 "manipulator"&=& +66 "core" & u  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" & P  +2 .tForearm.seek PC + "manipulator"&/' +93 "core" ' + .tHand.close +2 "manipulator"&4/ +72 "core" / +2 .tPC.seek :open + "processing"%>( +21 "core" ' +2 "storage"(R- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(F'1 +42 "core" ' +385 ( + "storage"(H& +4 "core" &,} \  +2 "manipulator"&J& +4 "core" &  + "manipulator"&;% +4 "core" %  o 1 + .tForearm.seek :retract +2 "manipulator"&T' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&O( +248 "core" ( +2 "manipulator"&I& +4 "core" &  \\  + "storage"(V& +4 "core" &,} f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&W' +94 "core" ' + .tHand.open +2 "manipulator"&,1 +54 "core" 1 +3 "storage"(Y- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"([' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\\' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +3 "core" -' +2 "storage"(P& +3 "core" &,}  Q\  +2 "manipulator"&`& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&b( +3 "core" ( + "manipulator"&c& +4 "core" &  [  + "storage"(U& +4 "core" &,}\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&X' +4 "core" ' + .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(a'" +53 "core" ' +2 "manipulator"&A& +4 "core" &  z  + "storage"(i& +4 "core" &,} K\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&^'7 +24 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(]' +26 "core" ' +2 "manipulator"&l% +4 "core" %J    + "storage"(e& +5 "core" &,} \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&m'v +15 "core" ' +2 "manipulator"&d& +4 "core" &   + "storage"(f& +5 "core" &,} :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +15 "core" ' +2 "storage"(p% +4 "core" % M\ +2 ."downElevator"SE.seek :down +3 "storage"(q' +100 (t% +2 "core" %ZM F\ Wf +2 "manipulator"&u% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +88 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (n& +4 "core" &,} ;\ + "collection"'h& +4 "core" &\\>@6\ "c +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&5% +3 "core" %  4  +2 "storage"(_% +4 "core" % "\ + "storage"(k. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(Q(,y +8 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (x& +2 "core" &,| \ +2 "manipulator"&y& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&}( +3 "core" ( + "manipulator"&& +4 "core" &  n  + "storage"(g& +4 "core" &,| \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +103 "core" ' +2 "storage"({& +4 "core" &,| \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'r +295 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  +2 "storage"(~& +4 "core" &,| `\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&j'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"(z'm +28 "core" ' + "manipulator"&% +5 "core" %G + "storage"(|& +3 "core" &,| 5\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 316 counts + "manipulator"&o's +15 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(D& +4 "core" &,| [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +33 "core" ' +2 "manipulator"&& +4 "core" &  + "manipulator"& % +4 "core" % 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&!' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +154 "core" ( + "manipulator"&& +5 "core" &ӌ-   Ct + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &ӌ,  Ct +2 .tForearm.seek CC + "manipulator"& '? +97 "core" ' + .tHand.close +2 "manipulator"&(/ +54 "core" / +2 .tCC.seek :open + "collection"' ( +447 "core" ( +2 "storage"(*& +4 "core" &,| T\ +2 "storage"(& +3 "core" &,| P\ +2 "manipulator"& & +3 "core" &ӣ(  @] +2 "manipulator"&% +3 "core" % H  W  +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +165 "core" ( + "manipulator"&& +5 "core" &   + "storage"(-& +4 "core" &,|\ \  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&'7 +98 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&0% +4 "core" % A  + "storage"(1& +4 "core" &,|\ \  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts + "manipulator"&'m +16 "core" ' +2 "manipulator"&& +4 "core" & 6  +2 "storage"( & +4 "core" &,|\ \  `\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"(%% +4 "core" %\ \  q\ +2 ."downElevator"SE.seek :down +3 "storage"(6' +99 (7% +2 "core" %C\ \  \ U^ +2 "manipulator"&% +4 "core" % i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<' +93 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling two pucks from tube 4 to 5 of [2..7, 1] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"')& +4 "core" &(,5\ + "manipulator"&?% +4 "core" %   +2 "storage"(3% +3 "core" %\ \  \ +2 "storage"(". +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (#& +3 "core" &,|\ \  ?\ + "manipulator"&.& +5 "core" & \\  + .tElbow.seek 4 +2 "manipulator"&B( +9 "core" ( +2 "manipulator"&C& +4 "core" &  C  + "storage"(E& +4 "core" &,|\ \  #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +94 "core" ' +2 "storage"(+& +4 "core" &,|   U\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'r +298 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &,|\ \ \ +2 "manipulator"&\ & +3 "core" & X  +2 .tElbow.seek 4 + "manipulator"&=( +3 "core" ( +2 "manipulator"&9& +3 "core" &   +2 "storage"(4& +3 "core" &,|  S ;\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&R'c +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"(w' +8 "core" & h  + "manipulator"&N% +4 "core" % t ^ +2 .tForearm.seek :retract + "manipulator"&H' +89 "core" ' +3 .tElbow.seek CC + "manipulator"&J(ӂ +159 "core" ' +2 ( + ."downElevator"SE.coast +2 "manipulator"&;& + "storage"(5 +6 "core" &Ӌ+ y Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &Ӌ,  [ Cn +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&I'? +92 "core" ' +2 "manipulator"&V& +4 "core" &Ӎ+  t Bl + "manipulator"&M% +4 "core" %@ g +2 "collection"',& +3 "core" &)*F\ +3 "collection"'Y& +4 "core" &+,;\ +2 .tCC.seek :closed +2 "collection"'S(\\ +43 "core" &,,0\  +13 &5~*,9\ *z + & f.+9\ ? +4 &r,/)\ M + &YZ,-(\ L + &\\.,/\ L + &_..&\ L +6 &Z.,)\ L +9 &`[,-3\ L +9 &!]-.)\ M +10 &[-.\ L +9 & \\--$\ L +9 &"h\\-.'\ L +10 &$+],-#\ L +9 &%Z.0$\ L +10 &'Z-.'\ L +9 &)q\\-0\ L +9 &+2\\.0&\ L +10 &,[-0(\ L +9 &.[/0"\ L +9 &0xZ0/\ L +10 &2:\\./\ L +9 &3\\-.\ L +10 &5Z0/ \ L +9 &7].0"\ L +9 &9C\\-/#\ L +10 &;[/.(\ L +9 &<[..*\ L +9 &>\\///\ L +10 &@J[00"\ L +9 &B [//%\ L +10 &Cb32,\ M +9 &Er53/\ N +9 &GC980\ Q +10 &H<;*\ T +9 &J<<-\ W +9 &Lx>=/\ W +10 &N7=<1\ X +9 &O<?'\ Y +10 &Q=>,\ Y +9 &Sx@?(\ Z +9 &U8A?(\ [ +10 &V?@0\ [\ +9 &X?@*\ \\ +9 &ZyAA0\ \\ +10 &\\ |@?0\ 0 +9 &\\,>A4\ #k +9 ( +2 &\\}A@2\ V +2 "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.12 + .Hand.open + "manipulator"&P1 +62 "core" 1 +2 "manipulator"&`% +4 "core" % @  t g + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%U& +4 "core" &o\ +2 "manipulator"&T% +3 "core" %     +2 "storage"(A% +4 "core" % \ + "storage"(i. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(l(,y +5 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (e& +3 "core" &,{ \ + "manipulator"&F& +4 "core" &ӏ* \ Bj + "manipulator"&d% +4 "core" %  \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&f( +162 "core" ( +2 "manipulator"&[& +4 "core" &  9 + "storage"(p& +4 "core" &,z m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&O' +98 "core" ' +2 "storage"(W& +4 "core" &,z \  +2 .tSE.reconfigure :pick + "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +297 "core" ' +2 "storage"(t- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (u& +3 "core" &,z \  + "manipulator"&X& +4 "core" & v + .tElbow.seek 4 +2 "manipulator"&b( +3 "core" ( + "manipulator"&a& +4 "core" & + "storage"(^& +4 "core" &,z Y\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&m'c +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&n/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(5' +7 "core" & + "manipulator"&_% +4 "core" % ] +2 .tForearm.seek :retract + "manipulator"&]' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&k( +168 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +70 "core" ( + "manipulator"&x& +5 "core" & i 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &  2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +93 "core" ' +2 "manipulator"&g& +4 "core" & g 1 + "manipulator"&K% +4 "core" %  +2 "processing"%{& +3 "core" &q\ +2 "processing"%q& +5 "core" &M\ +2 .tPC.seek :closed + "processing"%8(^ +4 "core" &P\ \ +10 &/xW\ *x +9 &bV\ > +9 &hxT\ O +10 &)ZQ\ O +9 &\\T\ O +10 &XT\ O +9 &p\\U\ N +9 &1YT\ O +10 &ZU\ O +9 &XT\ O +9 & x]U\ N +10 &":\\U\ N +9 &#\\U\ N +10 &%\\U\ N +9 &']Q\ O +9 &)A[U\ O +10 &+YP\ N +9 &,ZQ\ N +9 &.]Q\ N +10 &0IYT\ O +9 &2 XE\ N +10 &3WE\ N +9 &5[S\ O +9 &7RXB\ N +10 &9[G\ O +9 &:_@\ O +9 &<Z;\ N +10 &>Y]C\ O +9 &@]D\ O +10 &Ah?\ P +9 &CuG\ R +9 &ESB\ T +10 &G?\ T +9 &HC\ U +9 &JF\ U +10 &LWA\ U +9 &NB\ U +10 &OC\ V +9 &Q@\ V +9 &SY?\ W +10 &U?\ V +9 &V>\ V +9 &X>\ V +10 &Zc?\ V +9 &\\#C\ W +10 &]B\ 8 +9 &^.@\ Y +9 &^.;\ 6 +2 ( +2 "processing"%q& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&L1 +65 "core" 1 +2 "manipulator"&Z% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^,A\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&~% +3 "core" % \ \ n ' +2 "storage"(% +3 "core" % \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(|(<- +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &<* ]\  +2 "manipulator"&D& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & \  1 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"('r +3 "manipulator"& ( +3 "core" ( + "manipulator"&r& +4 "core" &  E 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &  n 1 +2 .tForearm.seek PC + "manipulator"&s' +94 "core" ' + .tHand.close +2 "manipulator"&j/ +69 "core" / +2 .tPC.seek :open + "processing"%o( +84 "core" ' + "storage"(z- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +324 ( + "storage"($& +4 "core" &<* ?\  +2 "manipulator"&& +3 "core" & 1 +2 "manipulator"&% +3 "core" %  w + +2 .tForearm.seek :retract + "manipulator"&(' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&!( +246 "core" ( + "manipulator"&& +4 "core" & 7 +2 "storage"(*& +3 "core" &<* ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' + .tHand.open +2 "manipulator"& 1 +62 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(-' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(& +3 "core" &<*   a\  +2 "manipulator"&& +3 "core" &  7 +2 .tElbow.seek 5 + "manipulator"&0( +3 "core" ( +2 "manipulator"&1& +3 "core" &  X 7 +2 "storage"(& +3 "core" &<*   \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(%'" +56 "core" ' +2 "manipulator"&& +4 "core" & 7 + "storage"(7& +4 "core" &<* H\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&)% +4 "core" %Ζ R + "storage"(& +4 "core" &<* 8\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 309 counts + "manipulator"&?' +27 "core" ' +2 "manipulator"&3& +4 "core" &  } + + "storage"("& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +19 "core" ' +2 "storage"(#% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(.' +100 (C% +3 "core" %EJ \ We + "manipulator"&E% +4 "core" %K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (+& +4 "core" &<* Z\ + "collection"'6& +4 "core" &\\{>>.\ V +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&Q% +3 "core" %   +2 "storage"(% +3 "core" % \ +2 "storage"(<. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(&(<- +7 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (@& +3 "core" &<* o\  + "manipulator"&\ & +4 "core" & o + +2 .tElbow.seek 5 + "manipulator"&9( +10 "core" ( +2 "manipulator"&4& +4 "core" &   G  + "storage"('& +4 "core" &<* e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +95 "core" ' +2 "storage"(N& +4 "core" &<* i\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'r +298 "core" ' +2 "storage"(G- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&;& +3 "core" &  + "storage"(/& +4 "core" &<* \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&:'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(V- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(M'l +30 "core" ' +2 "manipulator"&,% +4 "core" %Ν 1 + "storage"(=& +4 "core" &<* C\  + .tForearm.force -20 + "manipulator"&5 +43 .tForearm.seek 5 + 316 counts +11 "manipulator"&w' +15 "core" ' +2 "manipulator"&H& +4 "core" &   + "storage"( & +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&P'O +29 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(`' +34 "core" ' +2 "manipulator"&U& +4 "core" &  + "manipulator"&T% +4 "core" %Y n % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +86 "core" ' +2 .tElbow.seek CC + "manipulator"&i(ӂ +150 "core" ( +2 "manipulator"&Y& +4 "core" &}.  ] E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +2 "core" &}. \ E +2 .tForearm.seek CC +2 "manipulator"&F'? +93 "core" ' + .tHand.close +2 "manipulator"&d/ +58 "core" / +2 .tCC.seek :open + "collection"'I( +448 "core" ( +2 "storage"([& +4 "core" &<* \  + "storage"(p& +4 "core" &<* z\  + "manipulator"&& +4 "core" &ӡ' * @\\ + "manipulator"&W% +4 "core" % P s F + .tForearm.seek :retract +2 "manipulator"&J' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&c( +165 "core" ( +2 "manipulator"&t& +4 "core" & 0  + "storage"(u& +4 "core" &<*\  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&X'΍ +102 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&^1 +54 "core" 1 +2 "manipulator"&n% +4 "core" % Λ  V + "storage"(h& +4 "core" &<* \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&_' +14 "core" ' +2 "manipulator"&f& +4 "core" & q  +2 "storage"(O& +3 "core" &<*\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\\'O +15 "core" ' +2 "storage"(m% +4 "core" %\ \  Z\ +2 ."downElevator"SE.seek :down +3 "storage"(x' +99 (y% +3 "core" %D \ Va + "manipulator"&b% +4 "core" %) P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling two pucks from tube 5 to 6 of [2..7, 1] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'K& +4 "core" &++-\ +2 "manipulator"&{% +3 "core" %   ~  +2 "storage"(5% +4 "core" %\ \  \ \ + "storage"(]. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(>(<- +8 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (L& +2 "core" &<*\ \ % @\  +2 "manipulator"&Z& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&~& +4 "core" & o  + "storage"(& +4 "core" &<*\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +95 "core" ' +2 "storage"(q& +4 "core" &<*   &\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<*\ \ \  +2 "manipulator"&D& +3 "core" &   r  +2 .tElbow.seek 5 + "manipulator"&r( +4 "core" ( + "manipulator"&}& +4 "core" & &  +2 "storage"(j& +3 "core" &<*\ \  f\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&z'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&k/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& + "storage"(8' +7 "core" &   + "manipulator"&% +4 "core" % ϴ  +2 .tForearm.seek :retract + "manipulator"&$' +89 "core" ' +3 .tElbow.seek CC + "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&& +4 "core" &Ӎ+  S Cm + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&s& +5 "core" &Ӎ+ S Cm +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 "manipulator"&*& +4 "core" &ӎ*  Bl + "manipulator"& % +4 "core" %;  = Z +2 "collection"' & +3 "core" &*+G\ +2 "collection"'& +5 "core" &,,=\ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" &*.:\  +9 &3z+*:\ *y +10 &e,,0\ > +9 &u,,;\ M +10 &O[+->\ L +9 &[,,9\ L +9 &Y*/<\ L +10 &Z.,,\ L +9 &X[,,3\ L +9 &^-.,\ L +10 &Z,-.\ K +9 & [--7\ L +10 &"`Z-,5\ L +9 &$!]+/'\ L +9 &%Z/-(\ L +10 &']+-#\ L +9 &)h[,.!\ L +9 &+*^/*%\ L +10 &,Z-,2\ K +9 &.Z/--\ L +10 &0p]..#\ L +9 &22Y,/%\ L +9 &3[.- \ K +10 &5Z..(\ K +9 &7x\\0/$\ L +9 &9;Z0/(\ K +10 &:Z//#\ L +9 &<Y.0*\ L +10 &>\\-.%\ L +9 &@AY-.$\ L +9 &B]00(\ L +10 &Ce0/'\ M +9 &Eq33)\ N +9 &G;87'\ Q +10 &H;9'\ U +9 &J<=)\ W +10 &Ll@=)\ X +9 &N-=='\ X +9 &O=>*\ Y +10 &Q??(\ Z +9 &Sm=?/\ Z +9 &U/?>*\ Z +10 &V>>(\ \\ +9 &X?>*\ \\ +10 &Zn>?0\ ] +9 &\\y=>)\ 4 +9 &\\(?@.\ "e +9 ( +2 &\\{?@-\ \\ +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ;  w Z + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &o\ +2 "manipulator"&(% +3 "core" %  \ }  +2 "storage"(% +3 "core" % \ +2 "storage"(7. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"()(<- +8 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &<* \  +2 "manipulator"&& +4 "core" &ӏ* | Bk + "manipulator"&3% +4 "core" %    .  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&"( +165 "core" ( +2 "manipulator"&& +4 "core" &  G  + "storage"(#& +4 "core" &<* H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&!'O +98 "core" ' +2 "storage"(& +4 "core" &<* \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'r +296 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" &<* \  + "manipulator"& & +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&0( +3 "core" ( + "manipulator"&%& +4 "core" & ,  + "storage"(& +4 "core" &<* b\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&?'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&+/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(Q' +6 "core" &  +2 "manipulator"&% +4 "core" % ϶ + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&<( +160 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +76 "core" ( +2 "manipulator"&@& +4 "core" &  * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" & * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&4' +102 "core" ' +2 "manipulator"&'& +4 "core" &  * + "manipulator"&% +4 "core" % ^ $ +2 "processing"%N& +4 "core" &n\ +5 "processing"%.& +5 "core" &T\ +2 .tPC.seek :closed + "processing"%|(^ +4 "core" &V\ \ +9 &/wX\ *x +10 &aV\ > +9 &`wX\ O +9 &"XU\ N +10 &\\V\ N +9 &YX\ N +10 &hZU\ N +9 &*]T\ N +9 &]T\ O +10 &YU\ O +9 & o[U\ O +9 &"1YT\ O +10 &#ZU\ N +9 &%[U\ N +10 &'w[T\ O +9 &)9[U\ O +9 &*ZS\ N +10 &,YU\ N +9 &.ZU\ O +9 &0AXS\ O +10 &2WE\ O +9 &3[H\ N +10 &5]S\ N +9 &7IWG\ O +9 &9 YH\ O +10 &:_C\ O +9 &<\\@\ O +9 &>Q_B\ O +10 &@ZI\ O +9 &AgE\ P +10 &CrC\ Q +9 &EJ>\ T +9 &G ;\ U +51 &HB\ T +14 &JG\ U + &LOC\ U + &ND\ V + &O>\ V +3 &Q=\ W + &SO@\ X +3 &UA\ V +10 &V@\ W +9 &XA\ V +9 &ZX>\ W +10 &\\A\ W +9 &]?\ 5 +10 &^6y?\ B +8 ( +2 &^"D\ 2 +2 "processing"%.& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +3 "manipulator"&% +4 "core" %   $ + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +94 "core" ' + .tSC.coast +2 "storage"(6 +2 "processing"%;& +4 "core" &^"`\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&/% +4 "core" %   + "storage"(V% +4 "core" % e\ + "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(=(K +360 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (H& +3 "core" &K) j n ~\  +2 "manipulator"& & +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & \  * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&U( +3 "storage"(T'r +3 "core" ( +2 "manipulator"&2& +3 "core" &  * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" & \  2 * +2 .tForearm.seek PC + "manipulator"&B' +93 "core" ' + .tHand.close +2 "manipulator"&:/ +75 "core" / +2 .tPC.seek :open + "processing"%w( +83 "core" ' +2 "storage"(Y- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(e'1 +40 "core" ' +322 ( + "storage"(M& +4 "core" &K( B\  +2 "manipulator"&P& +4 "core" & # * + "manipulator"&R% +3 "core" %  g = +2 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&A( +246 "core" ( + "manipulator"&S& +4 "core" &  O 2 +2 "storage"([& +4 "core" &K( 4\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&p' +93 "core" ' + .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "storage"(W- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(t' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(u' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"(i& +3 "core" &K&  \  +2 "manipulator"&^& +3 "core" & P 2 +2 .tElbow.seek 6 + "manipulator"&n( +4 "core" ( + "manipulator"&h& +4 "core" &  2 + "storage"(f& +4 "core" &K&  \  +2 .tForearm.seek 6 + 450 counts + "manipulator"&O' +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(m'" +50 "core" ' +2 "manipulator"&J& +4 "core" & 2 + "storage"(y& +4 "core" &K( \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&b'< +29 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(X' +22 "core" ' +2 "manipulator"&K% +4 "core" %K   + "storage"(_& +5 "core" &K( } \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&{'w +16 "core" ' +2 "manipulator"&5& +4 "core" &  i 2 + "storage"(]& +5 "core" &K( \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +17 "core" ' +2 "storage"(L% +4 "core" % G\ +2 ."downElevator"SE.seek :down +3 "storage"(Z' +100 (~% +2 "core" %qJ y w `\ Wg +2 "manipulator"&% +4 "core" %  P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +92 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (q& +4 "core" &K \ + "collection"'x& +4 "core" &\\{=?,\ \\ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&&% +3 "core" %    +2 "storage"(a% +3 "core" % !\ +2 "storage"(g. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(l(K +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &K \  +2 "manipulator"&D& +4 "core" & 2 + .tElbow.seek 6 +2 "manipulator"&}( +3 "core" ( + "manipulator"&j& +5 "core" &  v 2 + "storage"(k& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +94 "core" ' +2 "storage"(& +4 "core" &K :\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +293 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & K 2 +2 "storage"(s& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'< +24 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(*- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"( 'j +30 "core" ' + "manipulator"& % +5 "core" %M p + "storage"(r& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts + "manipulator"&8'y +16 "core" ' +2 "manipulator"&$& +4 "core" & \ S 2 + "storage"(I& +4 "core" &K &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&& +4 "core" & 2 + "manipulator"&(% +4 "core" % D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +156 "core" ( +2 "manipulator"&& +4 "core" &Ӗ$ =D + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӗ# , =D +2 .tForearm.seek CC + "manipulator"&'? +91 "core" ' + .tHand.close +2 "manipulator"&3/ +63 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(& +4 "core" &K Z\  +2 "storage"(#& +3 "core" &K \  +2 "manipulator"&>& +3 "core" &ӗ% =C + "manipulator"&% +4 "core" % = _ +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&1( +162 "core" ( +2 "manipulator"&C& +4 "core" &    + "storage"(E& +4 "core" &K\ \  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"& '< +98 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +48 "manipulator"&1 +65 "core" 1 +3 "manipulator"&+% +4 "core" % N L + "storage"(6& +4 "core" &K\ \  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'z +15 "core" ' +2 "manipulator"&"& +4 "core" & w  + "storage"(!& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +17 "core" ' +2 "storage"(?% +4 "core" % \  7\ +2 ."downElevator"SE.seek :down +3 "storage"(@' +100 (\ % +2 "core" %F 0\ V` +2 "manipulator"&0% +4 "core" % , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +88 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling two pucks from tube 6 to 7 of [2..7, 1] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &+*)\ +2 "manipulator"&N% +4 "core" %   j  + "storage"(Q% +4 "core" %\ \ \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(o(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K\  P \  +2 "manipulator"&& +4 "core" & |  + .tElbow.seek 6 +2 "manipulator"&;( +3 "core" ( + "manipulator"&/& +4 "core" &   + "storage"(V& +4 "core" &K\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +97 "core" ' +6 "storage"(.& +4 "core" &K   /\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'r +292 "core" ' +2 "storage"()- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +2 "core" &K\  \  +2 "manipulator"& & +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&2( +3 "core" ( + "manipulator"&9& +4 "core" & (  + "storage"(:& +3 "core" &K\ \  \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Y'h +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\  +10 &3z(+2\ *y +9 &e+*:\ > +10 &s*-;\ L +9 &NY-+<\ L +9 &X-,6\ L +10 &Z.-7\ K +9 &Y,,(\ L +9 &V]-+3\ L +10 &_-.<\ L +9 &W+.<\ L +10 & W,-:\ L +9 &"^\\--4\ L +9 &$ \\-.:\ L +10 &%W0,7\ K +9 &'Y--/\ L +9 &)f],.2\ L +10 &+'Z--6\ L +9 &,Y..+\ K +9 &.]./7\ L +10 &0n[,.-\ L +9 &21W-/+\ K +10 &3[..:\ K +9 &5X--/\ L +9 &7v^..,\ L +10 &98]-/-\ L +9 &:]0-7\ K +10 &<Y..,\ L +9 &>~Y-.(\ L +9 &@AY./)\ K +10 &B]0/9\ L +9 &Cc/06\ M +9 &Em213\ N +10 &G9856\ Q +9 &H:;-\ U +10 &J;=5\ X +9 &Lj=>*\ X +9 &N'<=,\ Z +10 &O@>'\ Z +9 &Q>>"\ Y +9 &Si??2\ [\ +10 &U.=>*\ Z +9 &V<?+\ [ +10 &X??)\ ] +9 &Zk?A(\ ] +9 &\\{@@'\ 2 +10 &\\-B@(\ #i +8 ( +2 &\\uAA%\ W +2 "collection"'W& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&i1 +53 "core" 1 +2 "manipulator"&^% +4 "core" % =   p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&h' +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%f& +4 "core" &U\ +2 "manipulator"&d% +3 "core" % \  M  +2 "storage"(J% +4 "core" % \ + "storage"(y. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(K(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (_& +2 "core" &K 3\  +2 "manipulator"&e& +3 "core" &Ӡ'  @Z +2 "manipulator"&5% +4 "core" % \  %  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&]( +164 "core" ( +2 "manipulator"&t& +4 "core" &  S  + "storage"(L& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&A' +94 "core" ' +2 "storage"(p& +4 "core" &K #\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'r +295 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K S\  +2 "manipulator"&O& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&n( +3 "core" ( +2 "manipulator"&m& +3 "core" & n  +2 "storage"(b& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&{'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& + "storage"(&' +7 "core" & ;  + "manipulator"&a% +4 "core" % f v +2 .tForearm.seek :retract + "manipulator"&g' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&X( +162 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +74 "core" ( + "manipulator"&& +5 "core" &  F 4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" & 3 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&j' +98 "core" ' +2 "manipulator"&k& +4 "core" &  A 3 + "manipulator"&`% +4 "core" %   +2 "processing"%& +3 "core" &k\ +2 "processing"%Z& +6 "core" &Z\ +2 .tPC.seek :closed + "processing"%=(^ +4 "core" &U\  +9 &0{W\ +z +9 &bZ\ > +10 &mvQ\ O +9 &.ZT\ O +10 &ZR\ O +9 &YR\ O +9 &uVU\ N +10 &7WV\ N +9 &YS\ N +9 &\\T\ N +10 & }ZX\ N +9 &"?YU\ N +10 &$ZV\ O +9 &%XS\ N +9 &'[T\ O +10 &)FYV\ O +9 &+YR\ O +9 &,YV\ O +10 &.YV\ N +9 &0NWU\ O +10 &2WT\ N +9 &3ZV\ N +9 &5\\R\ O +10 &7VYU\ O +9 &9\\V\ N +9 &:^W\ O +10 &<ZP\ O +9 &>^]N\ O +10 &@ _V\ O +9 &AhO\ P +9 &CsF\ Q +10 &EWF\ T +9 &GI\ U +9 &HS\ U +10 &JU\ U +9 &L[P\ U +10 &ND\ V +9 &OE\ V +9 &QO\ V +10 &SaB\ V +9 &U#M\ V +9 &VD\ V +10 &XC\ V +9 &ZhE\ V +10 &\\)D\ W +9 &]}B\ = +9 &^0?\ Q +10 &^#A\ 3 +2 ( + "processing"%Z& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&c1 +55 "core" 1 +2 "manipulator"&\\% +4 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^"_\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&s% +4 "core" %  u  + "storage"(*% +4 "core" % \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(r([ +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +4 ($& +3 "core" &[ "\  + "manipulator"&I& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +51 "core" & \ 3 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"('r +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&v& +3 "core" &   9 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &  u 3 +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +75 "core" / +2 .tPC.seek :open + "processing"%8( +78 "core" ' +2 "storage"( - +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +327 ( + "storage"(& +5 "core" &[ \ + "manipulator"&& +4 "core" & 3 + "manipulator"&z% +4 "core" %   a # + .tForearm.seek :retract +2 "manipulator"&3' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&(r +249 "core" ( +2 "manipulator"& & +4 "core" &  I + +2 "storage"(& +4 "core" &[ F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&#'= +94 "core" ' + .tHand.open +2 "manipulator"&>1 +59 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(C' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(E' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(7& +3 "core" &[  \ +2 "manipulator"&& +3 "core" &  F + +2 .tElbow.seek 7 + "manipulator"&+(r +30 "core" ( +2 "manipulator"&6& +4 "core" &z   r + "storage"("& +4 "core" &[  " \ +2 .tForearm.seek 7 + 450 counts + "manipulator"&!'= +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(?'" +51 "core" ' +2 "manipulator"&& +4 "core" &z r + "storage"(1& +4 "core" &[ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&\ '{ +30 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +23 "core" ' +3 "manipulator"&% +4 "core" %Έ  { W + "storage"(& +4 "core" &[ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 313 counts + "manipulator"&N'ϴ +14 "core" ' +2 "manipulator"&Q& +4 "core" &| Y p + "storage"(& +5 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&'= +18 "core" ' +2 "storage"(% +4 "core" % '\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (/% +2 "core" %PN \ We +2 "manipulator"&V% +4 "core" %6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&-' +90 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (.& +4 "core" &[ d\ + "collection"'@& +4 "core" &\\u@?)\ W +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&l% +3 "core" %   +2 "storage"(%% +3 "core" % q\ +2 "storage"('. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"()([ +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (H& +2 "core" &[ D\  +2 "manipulator"& & +4 "core" &| p + .tElbow.seek 7 +2 "manipulator"&9(r +3 "core" ( + "manipulator"&:& +4 "core" &| \ u p + "storage"(<& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&G'= +99 "core" ' +2 "storage"(T& +4 "core" &[ y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'r +298 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +2 "core" &| { p +2 "storage"(B& +4 "core" &[ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&4'{ +27 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"([- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(U'k +28 "core" ' +2 "manipulator"&% +4 "core" %΍ } + "storage"(2& +4 "core" &[ ^\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 318 counts + "manipulator"&|'Ϲ +14 "core" ' +2 "manipulator"&M& +4 "core" &} p o + "storage"(& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&i'= +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(^' +39 "core" ' +2 "manipulator"&f& +4 "core" &} { o + "manipulator"&d% +4 "core" %& { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&y(ӂ +158 "core" ( + "manipulator"&W& +4 "core" &ӌ-   Du +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +2 "core" &ӌ- Du +2 .tForearm.seek CC +2 "manipulator"&e'? +92 "core" ' + .tHand.close +2 "manipulator"&5/ +56 "core" / +2 .tCC.seek :open + "collection"'S( +448 "core" ( + "storage"(t& +4 "core" &[ R\  +2 "storage"(L& +3 "core" &[ s\  +2 "manipulator"&o& +3 "core" &Ӣ( A_ +2 "manipulator"&p% +3 "core" % F ] +2 .tForearm.seek :retract + "manipulator"&P' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&h(r +164 "core" ( +2 "manipulator"&~& +4 "core" &x   + "storage"(& +4 "core" &[\ \  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 7 + "manipulator"&O'{ +102 "core" ' + .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&b1 +57 "core" 1 +2 "manipulator"&q% +4 "core" % ΀  s +2 "storage"(x& +3 "core" &[\  w\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 305 counts + "manipulator"&a'Ϭ +13 "core" ' +3 "manipulator"&]& +4 "core" &  + "storage"(A& +4 "core" &[\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&u'= +15 "core" ' +2 "storage"({% +4 "core" %\  \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (D% +2 "core" %I\ \  e\ V` +2 "manipulator"&n% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&k' +96 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling two pucks from tube 7 to 1 of [2..7, 1] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'`& +51 "core" &)*-\ +2 "manipulator"&% +4 "core" %  j +2 "storage"(&% +3 "core" %   8\ +2 "storage"(g. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(w([ +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (c& +2 "core" &[   \  +2 "manipulator"&\\& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&(r +8 "core" ( +2 "manipulator"&s& +4 "core" &{ q  + "storage"(*& +4 "core" &[   +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +95 "core" ' +2 "storage"(Z& +5 "core" &[   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'r +290 "core" ' +2 "storage"(K- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &[\ \ # \  +2 "manipulator"&I& +4 "core" &{    + .tElbow.seek 7 +2 "manipulator"&v(r +3 "core" ( + "manipulator"&}& +4 "core" &{ ,  + "storage"(& +4 "core" &[\ \  +\  +2 .tForearm.seek 7 + 300 counts + "manipulator"& 'ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(=' +7 "core" &{   + "manipulator"&% +4 "core" % Ϧ f +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +3 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ' +2 ( + ."downElevator"SE.coast +3 "manipulator"&z& + "storage"(5 +6 "core" &Ӌ-  $ Dw +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӌ-  Dw +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +96 "core" ' +2 "manipulator"&& +4 "core" &ӏ,  # Cs + "manipulator"&(% +4 "core" %? W . +2 "collection"'>& +3 "core" &**;\ +3 "collection"'& +4 "core" &++;\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &)*;\ +8 &<)*B\ $e +9 &W{,+=\ 7 +10 &z++=\ K +9 &Z+-<\ L +10 &zU+-=\ K +9 &;V*,>\ L +9 &W,,<\ K +10 &Y+-=\ K +9 &\\.,:\ L +9 &CY,,<\ L +10 & W,,=\ K +9 &!X,-<\ K +10 &#[+07\ L +9 &%KW-->\ L +9 &'Z-+;\ K +10 &([--=\ L +9 &*Z-+;\ K +9 &,T\\,-:\ K +10 &.V+,=\ K +9 &/Y./7\ K +10 &1\\.,3\ K +9 &3\\U--;\ K +9 &5W+.;\ K +10 &6\\,-?\ L +9 &8Z..7\ L +9 &:dV--=\ K +10 &<&Y/.?\ K +9 &=].,>\ L +10 &?\\.,6\ K +9 &AlY..=\ K +9 &C,_/.=\ L +10 &Dk214\ M +9 &Fz53)\ O +9 &H]8:0\ S +10 &J:;0\ V +9 &K;:4\ X +10 &M>>3\ X +9 &OV=?<\ X +9 &Q<><\ Y +10 &R<>;\ Y +9 &T>?)\ [ +9 &VW?=*\ [ +10 &XA@,\ [\ +9 &Y@@;\ ] +10 &[@@-\ I +9 &\\:AA6\ + +9 &\\AB7\ !a +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&71 +3 "core" &\\@A+\ !a +51 1 + "manipulator"&% +4 "core" % ?  < . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +91 "core" ' + .tSC.coast +2 "storage"(6 +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%6& +4 "core" &o\ +2 "manipulator"&"% +3 "core" %  g  +2 "storage"(% +3 "core" % \ +2 "storage"(1. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &[ \  +2 "manipulator"&& +4 "core" &ӑ+  / Cq + "manipulator"&C% +3 "core" %    =  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&Q(r +164 "core" ( +2 "manipulator"&& +4 "core" &u   k  + "storage"(& +4 "core" &[ 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&'= +93 "core" ' +2 "storage"(#& +4 "core" &[ \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'r +299 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" &[ \  +2 "manipulator"&!& +3 "core" &u  +2 .tElbow.seek 7 + "manipulator"&+(r +3 "core" ( +2 "manipulator"&?& +3 "core" &u  P  +2 "storage"(\ & +3 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&N'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&./ +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&@& +2 "storage"(l' +7 "core" &u U  + "manipulator"&%% +4 "core" % Ϻ  O +2 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&'( +162 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +74 "core" ( + "manipulator"&H& +5 "core" & v  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & [  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&:' +94 "core" ' +2 "manipulator"&<& +4 "core" &   + "manipulator"&% +4 "core" %  N I +2 "processing"%T& +3 "core" &m\ +2 "processing"%& +5 "core" &l\ +2 .tPC.seek :closed + "processing"%r(^ +5 "core" &Q\  +9 &/wX\ *y +10 &eV\ ? +9 &luV\ O +9 &.UT\ O +10 &YT\ N +9 &Y]\ O +10 &uYW\ N +9 &7WU\ N +9 &[R\ O +10 &WR\ N +9 & }ZS\ N +9 &"@XQ\ N +10 &$YS\ N +9 &%XQ\ N +10 &'YT\ N +9 &)HVT\ N +9 &+ XQ\ N +10 &,UU\ N +9 &.YS\ N +9 &0OWU\ N +10 &2XV\ N +9 &3YT\ N +10 &5[V\ N +9 &7XVT\ N +9 &9\\T\ N +10 &:\\X\ O +9 &<YU\ N +9 &>^XT\ O +10 &@]U\ O +9 &AfN\ P +10 &CrU\ Q +9 &EXT\ T +9 &GT\ T +10 &HV\ U +9 &JM\ T +9 &L\\S\ U +10 &NW\ V +9 &OR\ V +10 &QS\ V +9 &SaR\ V +9 &U#N\ V +10 &VO\ V +9 &XG\ V +9 &ZhR\ V +10 &\\)U\ V +9 &]O\ : +10 &^4H\ W +9 &^%H\ 2 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&01 +62 "core" 1 + "manipulator"&-% +4 "core" %   I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%R& +4 "core" &^%`\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&B% +3 "core" %    +2 "storage"([% +3 "core" % 5\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(2(C +1927 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (M& +3 "core" &F u \ +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&& +4 "storage"(#]kK-0-\ b +3 "core" &    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&f( + "storage"(d'r +5 "core" ( + "manipulator"&G& +4 "core" &   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &   +2 .tForearm.seek PC + "manipulator"&;' +99 "core" ' + .tHand.close +2 "manipulator"&4/ +66 "core" / +3 .tPC.seek :open + "processing"%|( +85 "core" ' +2 "storage"(U- +3 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(W'1 +46 "core" ' +316 ( + "storage"(_& +4 "core" &F /\ +2 "manipulator"&i& +3 "core" &  +2 "manipulator"&Y% +3 "core" %   +2 .tForearm.seek :retract + "manipulator"&5' +149 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&J( +243 "core" ( +2 "manipulator"&F& +4 "core" &  8 + "storage"(t& +4 "core" &F 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&L' +94 "Can"\ `] +5 "core" ' + .tHand.open +2 "manipulator"&o1 +61 "core" 1 +3 "storage"(p- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(e- +3 "core" -' +2 "storage"(y& +3 "core" &F   \ +2 "manipulator"&b& +4 "core" &   ^ 8 + .tElbow.seek 1 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&x& +3 "core" &  / 8 +2 "storage"(]& +4 "core" &F   w\ +2 .tForearm.seek 1 + 450 counts + "manipulator"&A' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"({'" +50 "core" ' +2 "manipulator"&P& +4 "core" & 8 + "storage"(D& +4 "core" &F 1\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&n'8 +26 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(O' +19 "core" ' +2 "manipulator"&`% +4 "core" %K \ \ O +2 "storage"(a& +4 "core" &F Q\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 319 counts + "manipulator"&^'w +14 "core" ' +2 "manipulator"&& +4 "core" & \ = 8 +2 "storage"(&& +4 "core" &F /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&g' +16 "core" ' +2 "storage"(c% +4 "core" % ?\ +2 ."downElevator"SE.seek :down +3 "storage"(\\' +100 (s% +2 "core" %sE \ Wf +2 "manipulator"&*% +4 "core" %  A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&u' +90 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (Z& +4 "core" &F :\ +2 "collection"'& +3 "core" &\\A@-\ !a +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&)% +4 "core" %   + "storage"(m% +4 "core" % \ + "storage"(k. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(K(C +7 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ($& +2 "core" &F \ +2 "manipulator"&I& +4 "core" & U 8 + .tElbow.seek 1 +2 "manipulator"&}( +3 "core" ( + "manipulator"&& +4 "core" & \\ 8 +2 "storage"(X& +3 "core" &F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&' +89 "core" ' +2 "storage"(& +4 "core" &F \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&z& +3 "core" & 8 + "storage"(& +4 "core" &F @\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&j'8 +29 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(('k +28 "core" ' + "manipulator"&>% +5 "core" %G  _ U + "storage"(v& +4 "core" &F \ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 315 counts +2 "manipulator"&='s +13 "core" ' +2 "manipulator"&& +4 "core" &  8 + "storage"(S& +4 "core" &F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&7' +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +94 "core" ' +2 "manipulator"&6& +4 "core" & 8 + "manipulator"&"% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&1(ӂ +152 "core" ( +2 "manipulator"&& +4 "core" &ӏ) 9 Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &ӏ) \ e Ac +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&C/ +56 "core" / +2 .tCC.seek :open + "collection"' ( +447 "core" ( + "storage"(& +4 "core" &F M\ +2 "storage"(& +3 "core" &F l\ +2 "manipulator"&w& +3 "core" &Ӑ) Ab +2 "manipulator"&#% +3 "core" % @  7 +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&3( +165 "core" ( +2 "manipulator"&/& +4 "core" &  N  + "storage"(V& +4 "core" &F\ \  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 + "manipulator"&!'8 +97 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&\ 1 +53 "core" 1 +2 "manipulator"&.% +4 "core" % ?  w + "storage"(@& +4 "core" &F\ \  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 307 counts + "manipulator"&%'k +16 "core" ' +2 "manipulator"&Q& +5 "core" & ?  + "storage"(& +4 "core" &F\ \  5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&E' +15 "core" ' +2 "storage"(N% +4 "core" %\  ]\ +2 ."downElevator"SE.seek :down +3 "storage"(H' +99 ( % +2 "core" %I\ \  w\ Va +2 "manipulator"&+% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<' +89 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling two pucks from tube 1 to 2 of [2..7, 1] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'& +4 "core" &(*9\ + "manipulator"&T% +4 "core" %   +2 "storage"(l% +3 "core" % H &\ +2 "storage"( . +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(8(C +7 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (0& +3 "core" &F\ \  2\ + "manipulator"&-& +4 "core" &  +2 .tElbow.seek 1 + "manipulator"&R( +8 "core" ( +2 "manipulator"&B& +4 "core" & {  + "storage"([& +4 "core" &F H e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(& +4 "core" &F   \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'r +293 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &F\ \  \ + "manipulator"&& +51 "core" & <  +2 .tElbow.seek 1 +2 "manipulator"&G( +3 "core" ( + "manipulator"&9& +4 "core" & <  + "storage"(4& +4 "core" &F\ \ \ +2 .tForearm.seek 1 + 300 counts + "manipulator"&U'd +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(r' +7 "core" &   + "manipulator"&d% +5 "core" % _ < + .tForearm.seek :retract +2 "manipulator"&_' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&i(ӂ +154 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&Y& +4 "core" &Ӗ%  8 >H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" &Ӗ% e >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&F'? +91 "core" ' +2 "manipulator"&t& +4 "core" &ӗ%   =G + "manipulator"&f% +5 "core" %G t + "collection"'o& +4 "core" &+*F\ +2 "collection"'p& +5 "core" &))F\ +2 .tCC.seek :closed + "collection"'e(\\ +4 "core" &**:\  +10 &4}));\ +{ +9 & f,+:\ > +10 &r,*;\ L +9 &WU*+;\ K +9 &Z**@\ K +10 &V+-7\ K +9 &W+,@\ K +9 &^Y,-<\ L +10 & Z,,<\ L +9 &Z--A\ K +10 & Z+-<\ K +9 &"fY,+<\ L +9 &$)Y,.7\ K +10 &%X/.9\ L +9 &'W+/8\ L +9 &)oZ+,9\ K +10 &+0Y--?\ L +9 &,X,,8\ L +10 &.Y-.=\ L +9 &0vX+/;\ L +9 &28Y./<\ L +10 &3Y,-;\ L +9 &5X-.=\ L +9 &7Z--?\ K +10 &9AV-.=\ K +9 &;X+,7\ K +10 &<Y--=\ L +9 &>W-+:\ K +9 &@JX,.3\ K +10 &B\ ^--7\ L +9 &C`/0:\ L +9 &Eo11=\ N +10 &GC768\ P +9 &H;9:\ U +10 &J=:8\ W +9 &Ls;<2\ X +9 &N5<==\ X +10 &O<;2\ X +9 &Q>>1\ Y +9 &St>?8\ Z +10 &U4=>7\ [ +9 &V?=0\ \\ +10 &XA?;\ \\ +9 &Zu=@1\ \\ +9 &\\zAA>\ 0 +10 &\\4DA9\ "h +9 ( + &\\sAA7\ Q +2 "collection"'p& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&y1 +53 "core" 1 +2 "manipulator"&b% +4 "core" % G  h t + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%]& +4 "core" &U\ +2 "manipulator"&5% +3 "core" %   )  +2 "storage"(P% +3 "core" % T\ +2 "storage"(D. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(`(C +8 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (a& +2 "core" &F 1\ +2 "manipulator"&& +4 "core" &ӗ$  q =G + "manipulator"&W% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&&( +156 "core" ( +2 "manipulator"&~& +4 "core" &  S + "storage"(c& +4 "core" &F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&J' +99 "core" ' +2 "storage"(L& +4 "core" &F m\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(s- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &F N\ +2 "manipulator"&A& +4 "core" & + .tElbow.seek 1 +2 "manipulator"&q( +4 "core" ( + "manipulator"&{& +3 "core" &  P +2 "storage"(n& +3 "core" &F L\ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&Z'd +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&^/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"()' +6 "core" & ~ +2 "manipulator"&m% +4 "core" % Y  + .tForearm.seek :retract +2 "manipulator"&k' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&O( +162 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +79 "core" ( +2 "manipulator"&$& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&X& +4 "core" &  M  + "manipulator"&g% +4 "core" % ( +2 "processing"%& +4 "core" &S\ +2 "processing"%\\& +5 "core" &m\ +2 .tPC.seek :closed +2 "processing"%2(^ +4 "core" &U\  +9 &/xV\ *y +10 &cT\ > +9 &cvN\ N +9 &$YS\ N +10 &ZU\ N +9 &ZV\ N +9 &kZQ\ N +10 &-YS\ N +9 &ZS\ N +10 &UV\ N +9 & sYV\ N +9 &"5XZ\ N +10 &#XW\ N +9 &%XW\ N +9 &'zZW\ N +10 &)<YY\ N +9 &*YX\ O +10 &,XX\ N +9 &.YV\ N +9 &0D\\S\ N +10 &2YX\ O +9 &3YT\ N +9 &5[U\ N +10 &7MZX\ N +9 &9[T\ N +10 &:\\U\ N +9 &<[V\ N +9 &>TYW\ N +10 &@_U\ O +9 &AhU\ O +9 &CsX\ Q +10 &EPV\ R +9 &G T\ T +10 &HV\ T +9 &JT\ U +9 &LQW\ U +10 &NW\ U +9 &OU\ V +9 &QT\ V +10 &SUQ\ V +9 &UV\ V +10 &VU\ W +9 &XT\ V +9 &Z]S\ V +10 &\\U\ V +9 &]X\ 8 +9 &^,xU\ Z +10 &^2V\ 9 +2 ( + "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&h1 +65 "core" 1 +2 "manipulator"&u% +4 "core" % \  ( + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%z& +4 "core" &^.a\ 9 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %    + "storage"(% +4 "core" % \ + "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(v(  +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &  H\ \  +2 "manipulator"&S& +4 "core" &   + "manipulator"&6% +4 "core" %  \ Q  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&"( +245 "core" ( +2 "manipulator"&& +4 "core" & ) / + "storage"(}& +4 "core" &  \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +95 "core" ' +2 "storage"(j& +4 "core" &  \ \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='r +263 "core" ' + "storage"((- +4 "core" -'Z + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & \ . +2 "storage"(& +4 "core" &  o n K\ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&7'Α +22 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(C- +2 "core" -'Z +2 .tSE.seek 6.18 Pucks below Top Plate +2 "storage"('( +38 "core" ' + "manipulator"&% +5 "core" %Σ + "storage"(& +4 "core" &  w w ^\ \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&w& +4 "core" &  \  . + "storage"(#& +4 "core" &  s k \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&/'S +16 "core" ' +2 .tSE.seek 7.18 Pucks below Top Plate +2 "storage"(V' +40 "core" ' +2 "manipulator"&& +4 "core" &   . + "manipulator"&1% +4 "core" %7 w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&.( +294 "core" ( + "manipulator"&@& +4 "core" &  d  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &  +2 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&N/ +69 "core" / +2 .tPC.seek :open + "processing"%( +461 "core" ( +2 "storage"( & +4 "core" &  T\ \  + "manipulator"&+& +4 "core" & Z  + "manipulator"&3% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&!' +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&%& +4 "core" &  j / + "storage"(T& +4 "core" &  0\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&l'S +95 "core" ' + .tHand.open +2 "manipulator"& 1 +58 "core" 1 +2 "storage"(- +3 "core" -' +3 .tSE.seek 6.83 Pucks below Top Plate + "storage"(0'e +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek 5.87 Pucks below Top Plate +2 "storage"(-' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(B- +3 "core" -' +2 "storage"([& +3 "core" &  0 0 )\ \  +2 "manipulator"&E& +3 "core" &  . +2 .tElbow.seek 2 + "manipulator"&( +10 "core" ( +2 "manipulator"&H& +4 "core" &  M  + "storage"(K& +4 "core" &  ; > E\ \  +2 .tForearm.seek 2 + 450 counts + "manipulator"&?'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek 6.58 Pucks below Top Plate + "storage"(<' +49 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(M& +4 "core" &  \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +28 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 6.77 Pucks below Top Plate +2 "storage"(4'- +30 "core" ' +2 "manipulator"&'% +4 "core" %Ε \  C + "storage"(,& +5 "core" &  [\ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 304 counts + "manipulator"&d' +14 "core" ' +2 "manipulator"&R& +4 "core" &  1  + "storage"(& +4 "core" &  9\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&Y'S +18 "core" ' +2 "storage"(;% +4 "core" %- '\ +2 ."downElevator"SE.seek :down +3 "storage"(:' +100 (U% +2 "core" %,0 G\ UZ +2 "manipulator"&t% +4 "core" %7  c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +87 "core" ' +19 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (o& +4 "core" & L\ +2 "collection"'G& +3 "core" &\\s@@F\ Q +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&r% +4 "core" %   ]  +2 "storage"(_% +4 "core" % U\ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(y(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (b& +3 "core" &  \  + "manipulator"&]& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&5( +4 "core" ( + "manipulator"&P& +5 "core" &   + "storage"(D& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&p'S +92 "core" ' +2 "storage"(a& +4 "core" & ' "\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +256 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +2 "core" &  +2 "storage"(~& +3 "core" & & q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&c'Α +28 "core" ' + .tElbow.hold +2 "manipulator"&8, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +2 .tSE.seek 7.18 Pucks below Top Plate +2 "storage"(i' +30 "core" ' +2 "manipulator"&x% +4 "core" %Ε \ \  + "storage"(s& +4 "core" & & v )\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 304 counts + "manipulator"&*' +14 "core" ' +2 "manipulator"&A& +4 "core" & @  + "storage"({& +4 "core" & & 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'S +19 "core" ' +2 .tSE.seek 8.18 Pucks below Top Plate +2 "storage"(^' +38 "core" ' +2 "manipulator"&& +4 "core" &  + "manipulator"&m% +4 "core" %8  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&J(ӂ +155 "core" ( + "manipulator"&& +4 "core" &Ӓ&   a ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &ӓ&  ?S +2 .tForearm.seek CC + "manipulator"&$'? +93 "core" ' +2 .tHand.close + "manipulator"&I/ +61 "core" / +2 .tCC.seek :open + "collection"'q( +447 "core" ( +2 "storage"(X& +4 "core" & & \  + "storage"(g& +4 "core" & & \  + "manipulator"&& +4 "core" &ӕ& \ O ?Q + "manipulator"&)% +4 "core" % L  8 d + .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&|( +164 "core" ( + "manipulator"&h& +5 "core" &   O  + "storage"(u& +4 "core" & & 2\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&z'Α +96 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&>% +4 "core" % Π  h - + "storage"(\\& +4 "core" & & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 315 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&`& +4 "core" & U  +2 "storage"(& +3 "core" & & P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&S'S +15 "core" ' +2 "storage"(6% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (}% +2 "core" %g. 9\ TX +2 "manipulator"&O% +4 "core" %R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&j' +97 "core" ' +2 ' + ."downElevator"SE.coast +2 "storage"(5 +2 .tSC.coast + "storage"(6 +1263 #t-> pcks +161 #-> pucks +15798 #-> ESP.shutdown +2 ."shutdown"CS.coast +3 #tAsleep / Shutdown + "collection"'5 +2 ."shutdown"SS.coast +2 "sampler")5 +2 ."shutdown"CC.coast + "collection"'6 +2 ."shutdown"PC.coast +2 "processing"%6 +2 ."shutdown"Forearm.coast +49 "manipulator"&5 +2 ."shutdown"Elbow.coast + "manipulator"&6 +37 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF + #Shutdown +229 #t-> exit +4 #mEXIT @1610700465.13EST @1612472283.66EST = =mMAIN_scheduler =tMAIN @EST1612472285.47 #"core_reset"Sent BREAK +2 #t@1972 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +275 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +364 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +4 "Can"6 ! 6 ! + #tPolling Can every 10:00 +7 #Cleanly exited at 03:47:45EST15-Jan-21 +1084 #-> ESP.ready! +2 #Powering core bus +468 .Gate.power :raw,:ON +5 "sampler") +56 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +2 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" % \ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % !\ + .tSS.configure :default +2 "sampler")#.0X require 'PrimeReagent.rb' + !o:LoadError: mesg",no such file to load -- PrimeReagent.rb:bt[ "(ESP):2:in `require'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +5012 #-> require 'PrimeReagent.rb' + !o:LoadError: mesg",no such file to load -- PrimeReagent.rb:bt[ "(ESP):3:in `require'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +369 #-> exit +4 #mEXIT @1612472425.19EST @1612472445.09EST = =tMAIN =mMAIN_scheduler @EST1612472446.81 #"core_reset"Sent BREAK +2 #t@6265 receive with ifg=0x10, ie=0xFD #@6903 receive with ifg=0x10, ie=0xFD + #@7560 receive with ifg=0x10, ie=0xFD + #@8196 receive with ifg=0x10, ie=0xFD #@8831 receive with ifg=0x10, ie=0xFD + #@9465 receive with ifg=0x10, ie=0xFD #@10099 receive with ifg=0x10, ie=0xFD + #@10430 receive with ifg=0x80, ie=0xFD #@50250 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +269 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +350 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +4 "Can"7\ A? 7\ A? + #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %g\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %غN\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %ڄ  a\ 1 +2 .tSS.configure :default +2 "sampler")#.0X require 'PrimeReagent.rb' + !o:LoadError: mesg",no such file to load -- PrimeReagent.rb:bt[ "(ESP):1:in `require'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +5177 #-> exit +5 #mEXIT @1612472525.47EST @1612472547.56EST = =tMAIN =mMAIN_scheduler @EST1612472549.29 #"core_reset"Sent BREAK +2 #t@46472 sendCRC with ifg=0x20, ie=0x7F #@48307 sendCRC with ifg=0x08, ie=0x5F + #@42305 sendCRC with ifg=0x20, ie=0x7F + #@42752 sendCRC with ifg=0x20, ie=0x7F #@44068 sendCRC with ifg=0x20, ie=0x7F + #@44284 sendCRC with ifg=0x20, ie=0x7F #@45438 sendCRC with ifg=0x20, ie=0x7F + #@46804 sendCRC with ifg=0x08, ie=0x5F #@4317 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +268 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +352 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"6\ @= 6\ @= + #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %g\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %غC\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ڄ X\ 1 +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +3 "core" %g\ +2 "sampler")% +4 "core" %ڄ  h\ 1 + "manipulator"&% +3 "core" %   ;  +2 "manipulator"&& +3 "core" &  [ ' + "storage"(& +4 "core" &,z d\  + "storage"(% +3 "core" % \ +2 "collection"'& +3 "core" &\  + "processing"%& +4 "core" &p\  + "processing"%% +4 "core" %غK\ +1500 #t-> require 'PrimeReagent.rb' + !o:LoadError: mesg",no such file to load -- PrimeReagent.rb:bt[ "(ESP):2:in `require'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3063 #-> exit +4 #mEXIT @1612472619.25EST @1612473213.15EST = =tMAIN =mMAIN_scheduler @EST1612473214.89 #"core_reset"Sent BREAK +2 #t@13169 receive with ifg=0x10, ie=0xFD #@13807 receive with ifg=0x10, ie=0xFD + #@14464 receive with ifg=0x10, ie=0xFD + #@15099 receive with ifg=0x10, ie=0xFD #@15734 receive with ifg=0x10, ie=0xFD + #@16367 receive with ifg=0x10, ie=0xFD #@17001 receive with ifg=0x10, ie=0xFD + #@17327 receive with ifg=0x80, ie=0xFD + #@18038 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +271 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +357 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can".\ @> + .\ @> + #tPolling Can every 10:00 +123 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %g'\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %غ`\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %ڄ\  X\ 1 +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +3 "core" %g"\ +2 "sampler")% +4 "core" %ڄ  W\ 1 + "manipulator"&% +3 "core" %   +2 "manipulator"&& +3 "core" & q ' + "storage"(& +3 "core" &,z \  +2 "storage"(% +3 "core" % \ + "collection"'& +4 "core" &\  + "processing"%& +3 "core" &|\  +2 "processing"%% +3 "core" %غ`\ +1125 #t-> require 'PrimeReagent.rb' +2745 #-> primePSRsub1 + #**Prepare to clean and prime PSR sub1 reagent** + .PSV.dial :air +2 "processing"%  +5 "core"  +2 .tPS.seek 0ml + "processing"%!'ؾ +5 "core" ' + .tPSV.dial PSR +2 "processing"%" +128 "core" + .tPSR.select :sub1 +2 "processing"% +10 #tAwaiting answer to "**Disinfect and attach PSR sub1 fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +22714 .PS.seek 2.5ml +2 "processing"%#' +2633 "core" ' + .tPSV.dial :waste1 +2 "processing"%$  +44 "core"  +2 .tPS.seek 0ml + "processing"%%'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%& +44 "core"  +2 .tPS.seek 2.5ml + "processing"%'' +2625 "core" ' + .tPSV.dial :waste1 +2 "processing"%(  +44 "core"  +2 .tPS.seek 0ml + "processing"%)'ؾ +2640 "core" ' + .tPSV.dial PSR +2 "processing"%* +43 "core"  +2 .tPS.seek 2.5ml + "processing"%+' +2633 "core" ' + .tPSV.dial :waste1 +2 "processing"%,  +43 "core"  +2 .tPS.seek 0ml + "processing"%-'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"%. +55 "core" +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1674 "processing"%/% +3 "core" %ؾo\ +2 .tPS.seek 0.5ml + "processing"%0' +594 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1828 .PS.seek 2.5ml +2 "processing"%1' +2129 "core" ' + .tPSV.dial :waste2 +2 "processing"%2  +70 "core"  +2 .tPS.seek 0ml + "processing"%3'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%4 +72 "core"  +2 .tPS.seek 2.5ml + "processing"%5' +2638 "core" ' + .tPSV.dial :waste2 +2 "processing"%6  +72 "core"  +2 .tPS.seek 0ml + "processing"%7'ؾ +44 "Can"0\ FC +2587 "core" ' + .tPSV.dial PSR +2 "processing"%8 +72 "core"  +2 .tPS.seek 2.5ml + "processing"%9' +2647 "core" ' + .tPSV.dial :waste2 +2 "processing"%:  +72 "core"  +2 .tPS.seek 0ml + "processing"%;'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%< +72 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1408 "processing"%=% +3 "core" %ػw\ +2 .tPS.seek 0.5ml + "processing"%>' +590 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +2412 .PS.seek 2.5ml +2 "processing"%?' +2119 "core" ' + .tPSV.dial :waste1 +2 "processing"%@  +44 "core"  +2 .tPS.seek 0ml + "processing"%A'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%B +41 "core" +2 .tPS.seek 2.5ml + "processing"%C' +2635 "core" ' + .tPSV.dial :waste1 +2 "processing"%D  +44 "core"  +2 .tPS.seek 0ml + "processing"%E'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%F +44 "core"  +2 .tPS.seek 2.5ml + "processing"%G' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%H  +44 "core"  +2 .tPS.seek 0ml +36 "processing"%I'ؾ +2640 "core" ' + .tPSV.dial PSR +2 "processing"%J +41 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1556 "processing"%K% +2 "core" %ؿ\ +3 .tPS.seek 0.5ml + "processing"%L' +596 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +18067 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +9104 #**Priming reagent line** +2 .PS.seek 2.5ml +2 "processing"%M' +2116 "core" ' + .tPSV.dial :waste1 +2 "processing"%N  +44 "core"  +2 .tPS.seek 0ml + "processing"%O'ؾ +360 "Can"$\ B@ +2265 "core" ' + .tPSV.dial PSR +2 "processing"%P +43 "core" +2 .tPS.seek 2.5ml + "processing"%Q' +2636 "core" ' + .tPSV.dial :waste1 +2 "processing"%R  +44 "core"  +2 .tPS.seek 0ml + "processing"%S'ؾ +2637 "core" ' + #t**Flush clean and air out PSR manifold** + .PSR.select :flush +2 "processing"%B +9 .tPSV.dial PSR + "processing"%T +44 "core"  +2 .tPS.seek 2.5ml + "processing"%U' +2630 "core" ' + .tPSV.dial :waste1 +2 "processing"%V  +44 "core"  +2 .tPS.seek 0ml + "processing"%W'ؾ +2631 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPSV.dial PSR + "processing"%X +42 "core"  +2 .tPS.seek 2.5ml + "processing"%Y' +2639 "core" ' + .tPSV.dial :waste1 +2 "processing"%Z  +44 "core"  +2 .tPS.seek 0ml + "processing"%['ؾ +2637 "core" ' + .tPSV.dial PSR +2 "processing"%\\ +41 "core" +2 .tPS.seek 2.5ml + "processing"%]' +2625 "core" ' + .tPSV.dial :waste1 +2 "processing"%^  +44 "core"  +2 .tPS.seek 0ml + "processing"%_'ؾ +2628 "core" ' + #t**SUCCESSFULLY PRIMED PSR SUB1 REAGENT** +468 #-> exit +4 #mEXIT @1612474662.79EST @1612534785.12EST = =tMAIN =mMAIN_scheduler @EST1612534786.83 #"core_reset"Sent BREAK +2 #t@13689 sendCRC with ifg=0x20, ie=0x7F #@15524 sendCRC with ifg=0x08, ie=0x5F + #@14756 idle with ifg=0x84, ie=0x75 + #@15433 select with ifg=0x10, ie=0xF5 #@16067 receive with ifg=0x10, ie=0xFD + #@16700 receive with ifg=0x10, ie=0xFD #@17334 receive with ifg=0x10, ie=0xFD + #@17661 receive with ifg=0x80, ie=0xFD #@16411 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +266 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +348 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +4 "Can"3\ B? 3\ B? + #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +2 "core" %g\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڄ 7\ 1 +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? +2 "collection"'% +3 "core" %g\ +2 "sampler")% +4 "core" %ڄ .\ 1 + "manipulator"&% +3 "core" %  7  +2 "manipulator"&& +3 "core" & U ' + "storage"(& +4 "core" &,z \  + "storage"(% +3 "core" % >\ +2 "collection"'& +3 "core" &\  + "processing"%& +4 "core" &\  + "processing"% % +3 "core" %\ +1125 #t-> require 'PrimeReagent.rb' +4169 #-> prime PSRsub2 +2 !o:NameError: mesg"#uninitialized constant PSRsub2: name: PSRsub2:bt["(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1367 #-> primePSRsub2 + #**Prepare to clean and prime PSR sub2 reagent** + .PSV.dial :air +2 "processing"%!  +99 "core" +2 .tPS.seek 0ml + "processing"%"'ؾ +4 "core" ' +2 .tPSV.dial PSR + "processing"%# +127 "core"  + .tPSR.select :sub2 +2 "processing"% +10 #tAwaiting answer to "**Disinfect and attach PSR sub2 fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +13656 .PS.seek 2.5ml +2 "processing"%$' +2636 "core" ' + .tPSV.dial :waste1 +2 "processing"%%  +40 "core"  +2 .tPS.seek 0ml + "processing"%&'ؾ +2629 "core" ' + .tPSV.dial PSR +2 "processing"%' +44 "core"  +2 .tPS.seek 2.5ml + "processing"%(' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%)  +44 "core"  +2 .tPS.seek 0ml + "processing"%*'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"%+ +44 "core"  +2 .tPS.seek 2.5ml + "processing"%,' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%-  +44 "core"  +2 .tPS.seek 0ml + "processing"%.'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%/ +43 "core" +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2591 "processing"%0% +3 "core" %\ +2 .tPS.seek 0.5ml + "processing"%1' +596 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1430 .PS.seek 2.5ml +2 "processing"%2' +2126 "core" ' + .tPSV.dial :waste2 +2 "processing"%3  +72 "core"  +2 .tPS.seek 0ml + "processing"%4'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%5 +72 "core"  +2 .tPS.seek 2.5ml + "processing"%6' +2637 "core" ' + .tPSV.dial :waste2 +2 "processing"%7  +72 "core"  +2 .tPS.seek 0ml + "processing"%8'ؾ +2641 "core" ' + .tPSV.dial PSR +2 "processing"%9 +72 "core"  +2 .tPS.seek 2.5ml + "processing"%:' +2628 "core" ' + .tPSV.dial :waste2 +2 "processing"%;  +72 "core"  +2 .tPS.seek 0ml + "processing"%<'ؾ +2626 "core" ' + .tPSV.dial PSR +2 "processing"%= +72 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1419 "Can">\ @=\ +479 "processing"%>% +3 "core" %\ +2 .tPS.seek 0.5ml +2 "processing"%?' +596 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1310 .PS.seek 2.5ml +2 "processing"%@' +2124 "core" ' + .tPSV.dial :waste1 +2 "processing"%A  +44 "core"  +2 .tPS.seek 0ml + "processing"%B'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%C +43 "core"  +2 .tPS.seek 2.5ml + "processing"%D' +2635 "core" ' + .tPSV.dial :waste1 +2 "processing"%E  +44 "core"  +2 .tPS.seek 0ml + "processing"%F'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%G +43 "core"  +7 .tPS.seek 2.5ml +2 "processing"%H' +2639 "core" ' + .tPSV.dial :waste1 +2 "processing"%I  +44 "core"  +2 .tPS.seek 0ml + "processing"%J'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"%K +42 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1204 "processing"%L% +3 "core" %ؼ\ +2 .tPS.seek 0.5ml +2 "processing"%M' +595 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +26754 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +141 #**Priming reagent line** +2 .PS.seek 2.5ml +2 "processing"%N' +2127 "core" ' + .tPSV.dial :waste1 +2 "processing"%O  +44 "core"  +2 .tPS.seek 0ml + "processing"%P'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%Q +42 "core" +2 .tPS.seek 2.5ml + "processing"%R' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%S  +43 "core"  +2 .tPS.seek 0ml + "processing"%T'ؾ +2626 "core" ' + #t**Flush clean and air out PSR manifold** + .PSR.select :flush +2 "processing"%H +9 .tPSV.dial PSR + "processing"%U +43 "core"  +2 .tPS.seek 2.5ml + "processing"%V' +2630 "core" ' + .tPSV.dial :waste1 +2 "processing"%W  +44 "core"  +2 .tPS.seek 0ml + "processing"%X'ؾ +384 "Can"C\ B@ +2251 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPSV.dial PSR + "processing"%Y +43 "core"  +2 .tPS.seek 2.5ml + "processing"%Z' +2650 "core" ' + .tPSV.dial :waste1 +2 "processing"%[  +44 "core"  +2 .tPS.seek 0ml + "processing"%\\'ؾ +2637 "core" ' + .tPSV.dial PSR +2 "processing"%] +41 "core"  +2 .tPS.seek 2.5ml + "processing"%^' +2657 "core" ' + .tPSV.dial :waste1 +2 "processing"%_  +43 "core"  +2 .tPS.seek 0ml + "processing"%`'ؾ +2635 "core" ' + #t**SUCCESSFULLY PRIMED PSR SUB2 REAGENT** +46966 "Can"b\ @> +6013 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%a +100 "core" +617 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%b @ +72 "core" @ +614 #t-> PRV.AB1 +2 .PRV.dial :AB1 + "processing"%c @ +44 "core" A +3660 #t-> PS.pull 2 + "processing"%d% +3 "core" %ؾ\ +2 .tPS.seek 2ml + "processing"%e' +2125 "core" ' + "processing"%f% +4 "core" %\  +1927 #t-> PSV.waste 1 +2 !o:NoMethodError : mesgu:NameError::message+undefined method `waste' for PSV:Shaft: name:\ waste: args[i:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +484 #-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%g  +101 "core"  +645 #t-> PS.empty +2 .PS.seek 0ml + "processing"%h'ؾ +2127 "core" ' + "processing"%i% +4 "core" %ؾ\ +1286 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%j +100 "core" +657 #t-> PS.pull 0.4 + "processing"%k% +3 "core" %ؾ\ +2 .tPS.seek 0.4ml +2 "processing"%l' +485 "core" ' + "processing"%m% +4 "core" % \  +1110 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%n' +2228 "core" ' + "processing"%o% +4 "core" %\  +28711 #t-> PSV.waste2 +2 .PSV.dial :waste2 + "processing"%p  +129 "core"  +6706 "Can"_\ ?< +8332 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%q'ؾ +2625 "core" ' + "processing"%r% +4 "core" %\ +908 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%s +128 "core" +861 #t-> PS.pull 0.4 + "processing"%t% +3 "core" %~\ +2 .tPS.seek 0.4ml +2 "processing"%u' +497 "core" ' +2 "processing"%v% +4 "core" % }\  +1457 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%w' +2226 "core" ' + "processing"%x% +4 "core" %j\  +1602 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%y  +101 "core"  +336 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%z'ؾ +2634 "core" ' + "processing"%{% +4 "core" %ؾ\ +824 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%| +113 "core" +729 #t-> PS.pull 0.4 + "processing"%}% +3 "core" %ؾz\ +2 .tPS.seek 0.4ml +2 "processing"%~' +486 "core" ' + "processing"%% +4 "core" % \  +1657 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%' +2222 "core" ' + "processing"%% +4 "core" %\  +1303 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%  +98 "core"  +474 #t-> PS.empty +3 .PS.seek 0ml + "processing"%'ؾ +2635 "core" ' + "processing"%% +4 "core" %\ +739 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"% +101 "core" +1568 #t-> PS.pull 0.4 + "processing"%\ % +3 "core" %\ +2 .tPS.seek 0.4ml + "processing"% ' +486 "core" ' + "processing"%% +7 "core" % \  +1490 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2227 "core" ' + "processing"%% +88 "core" %\  +1525 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%  +102 "core"  +403 #t-> PS.empty +3 .PS.seek 0ml + "processing"%'ؾ +2637 "core" ' + "processing"%% +4 "core" %\ +519 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"% +100 "core" +724 #t-> PS.pull 0.4 + "processing"%% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%' +493 "core" ' +2 "processing"%% +4 "core" % \  +1085 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%' +2243 "core" ' + "processing"%% +4 "core" %\ +1306 #t-> PSV.waste 1 + !o:NoMethodError : mesgu:NameError::message+undefined method `waste' for PSV:Shaft: name:\ waste: args[i:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):35:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +307 #-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%  +102 "core"  +312 #t-> PS.empty +2 .PS.seek 0ml + "processing"%'ؾ +2643 "core" ' + "processing"% % +4 "core" %ػ\ +441 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%! +113 "core" +543 #t-> PS.pull 0.4 +2 "processing"%#% +2 "core" %ػ\ +2 .tPS.seek 0.4ml +2 "processing"%' +487 "core" ' + "processing"%"% +4 "core" % \  +1233 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%%' +2230 "core" ' + "processing"%$% +4 "core" %G\  +1175 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%'  +101 "core"  +47 "Can"{\ @= +275 #t-> PS.empty +2 .PS.seek 0ml + "processing"%&'ؾ +2631 "core" ' + "processing"%)% +4 "core" %ؿK\ +1023 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%( +102 "core" +1054 #t-> PS.pull 0.1 + "processing"%+% +3 "core" %ؿb\ +2 .tPS.seek 0.1ml +2 "processing"%*' +199 "core" ' + "processing"%-% +4 "core" %O\ +256 #t-> PS.pull 0.1 + "processing"%,% +3 "core" %c\ +2 .tPS.seek 0.2ml + "processing"%/'H +185 "core" ' + "processing"%0% +4 "core" %H R\ +173 #t-> PS.pull 0.1 + "processing"%.% +3 "core" %H d\ +2 .tPS.seek 0.3ml +2 "processing"%1' +177 "core" ' + "processing"%3% +4 "core" %\ U\  +925 #t-> PS.pull 0.1 + "processing"%2% +3 "core" %\ c\  +2 .tPS.seek 0.4ml + "processing"%5' +178 "core" ' + "processing"%4% +4 "core" % M\  +52764 "Can"\ ?< +23509 #t-> Ps.pull 0.5 + !o:NameError: mesg"uninitialized constant Ps: name:Ps:bt["(ESP):48:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +868 #-> PS.pull 0.5 + "processing"%7% +3 "core" % \  +2 .tPS.seek 0.9ml +2 "processing"%6'K +592 "core" ' + "processing"%9% +4 "core" %K\  +759 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%8  +102 "core"  +408 #t-> PS.empty +3 .PS.seek 0ml + "processing"%;'ؾ +1007 "core" ' + "processing"%:% +4 "core" %ػ#\ +1476 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%= +44 "core"  +691 #t-> PSR.flush + .PSR.select :flush +2 "processing"%@ +595 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%>' +2638 "core" ' + "processing"%<% +4 "core" %)\ \ +576 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%? +70 "core" +791 #t-> PTV.PRV + .PTV.dial PRV +670 #-> PRV.air +2 .PRV.dial :air + "processing"%A  +71 "core"  +739 #t-> PS.empty +48 .PS.seek 0ml +2 "processing"%@'ؾ +2629 "core" ' + "processing"%C% +4 "core" %"\ +608 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%B +72 "core"  +510 #t-> PSR.flush + .PSR.select :flush +436 #-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%E' +2633 "core" ' + "processing"%D% +4 "core" %-\  +655 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%G +72 "core" +836 #t-> PTV.PRV +2 .PTV.dial PRV +712 #-> PRV.air +2 .PRV.dial :air +926 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%F'ؾ +2636 "core" ' + "processing"%I% +4 "core" % \ +822 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%H +72 "core"  +550 #t-> PSR.air + .PSR.select :air +2 "processing"% +310 #t-> Ps.fill +2 !o:NameError: mesg"uninitialized constant Ps: name:Ps:bt["(ESP):68:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +425 #-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%K' +2636 "core" ' + "processing"%L% +4 "core" %\  +719 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%J +85 "core" +371 #t-> PTV.PRV + .PTV.dial PRV +406 #-> PRV.air +2 .PRV.dial :air +1079 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%M'ؾ +2650 "core" ' + "processing"%O% +4 "core" %\  +484 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%N +70 "core"  +294 #t-> PSR.air + .PSR.select :air +278 #-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%Q' +247 "Can"\ CA +2392 "core" ' +2 "processing"%P% +4 "core" %\  +671 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%S +73 "core" +533 #t-> PTV.PRV + .PTV.dial PRV +851 #-> PRV.air +2 .PRV.dial :air +404 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%R'ؾ +2630 "core" ' + "processing"%U% +4 "core" %\ +28257 #t-> PSV.PTV + .PSV.dial PTV +1027 #-> PTV.PRV + .PTV.dial PRV +462 #-> PRV.Ab2 +2 .PRV.dial :Ab2 + "processing"%T  +42 "core"  +1842 #t-> PS.pull 2 + "processing"%W% +3 "core" %?\ +2 .tPS.seek 2ml + "processing"%V' +2119 "core" ' + "processing"%Y% +4 "core" %-\  +1387 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%X  +100 "core"  +642 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%['ؾ +2121 "core" ' + "processing"%Z% +4 "core" %غ\ +958 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%] +100 "core" +610 #t-> PS.pull 0.4 + "processing"%\\% +3 "core" %غ\ +2 .tPS.seek 0.4ml +2 "processing"%_' +494 "core" ' +2 "processing"%^% +4 "core" % \  +1172 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%a' +2224 "core" ' + "processing"%b% +4 "core" %(\  +2606 #t-> PSV.waste2 +2 .PSV.dial :waste2 + "processing"%c  +129 "core"  +6078 "Can"\ @= +21932 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%d'ؾ +2634 "core" ' + "processing"%`% +4 "core" %\ +866 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%f +142 "core" ~ +569 #t-> PS.pull 0.4 + "processing"%g% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%e' +491 "core" ' + "processing"%i% +5 "core" % \  +1271 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%j' +2223 "core" ' + "processing"%k% +4 "core" %\  +1097 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%h  +99 "core"  +503 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%m'ؾ +2635 "core" ' + "processing"%l% +4 "core" %ؾ\ +2320 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%o +102 "core" +3942 #t-> PS.pull 0.4 + "processing"%p% +3 "core" %ؾ\ +2 .tPS.seek 0.4ml + "processing"%n' +484 "core" ' + "processing"%r% +4 "core" % \  +1356 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%s' +2219 "core" ' + "processing"%t% +4 "core" %\  +1661 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%q  +102 "core"  +437 #t-> PS.empty +3 .PS.seek 0ml + "processing"%v'ؾ +2632 "core" ' + "processing"%u% +4 "core" %ؿ\ +659 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%x +102 "core" +1088 #t-> PS.pull 0.4 + "processing"%y% +3 "core" %ؿ\ +2 .tPS.seek 0.4ml +2 "processing"%w' +491 "core" ' + "processing"%{% +5 "core" % \  +942 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%|' +2224 "core" ' + "processing"%}% +4 "core" %\ \ +1130 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%z  +114 "core"  +450 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + "processing"%~% +4 "core" %\ +334 "Can"\ @> +171 #t-> PV.PTV +2 !o:NameError: mesg"uninitialized constant PV: name:PV:bt["(ESP):107:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +461 #-> PSV.PTV + .PSV.dial PTV +2 "processing"% +100 "core" +736 #t-> PS.pull 0.4 + "processing"%% +3 "core" %\ +2 .tPS.seek 0.4ml + "processing"%' +496 "core" ' +2 "processing"%% +4 "core" % \  +895 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%' +2230 "core" ' + "processing"%\ % +4 "core" %\  +923 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%  +102 "core"  +258 #t-> Ps.empty +2 !o:NameError: mesg"uninitialized constant Ps: name:Ps:bt["(ESP):112:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +466 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%'ؾ +2637 "core" ' + "processing"% % +4 "core" %ؾ\ +729 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"% +102 "core" +524 #t-> PS.pull 0.4 + "processing"%% +3 "core" %ؾ\ +2 .tPS.seek 0.4ml +2 "processing"%' +485 "core" ' + "processing"%% +4 "core" % \  +852 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%' +2227 "core" ' + "processing"%% +4 "core" %\  +775 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%  +115 "core"  +254 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%'ؾ +2647 "core" ' + "processing"%% +4 "core" %ؽ\  +403 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"% +100 "core" +665 #t-> Ps.pull 0.1 + !o:NameError: mesg"uninitialized constant Ps: name:Ps:bt["(ESP):120:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +753 #-> PS.pull 0.1 + "processing"%% +3 "core" %ؽ\  +2 .tPS.seek 0.1ml +2 "processing"%' +177 "core" ' + "processing"% % +4 "core" %|\  +230 #t-> PS.pull 0.1 + "processing"%!% +3 "core" %|\  +2 .tPS.seek 0.2ml +2 "processing"%#'? +179 "core" ' + "processing"%% +4 "core" %:\  +27321 #t-> PS.pull 0.5 + "processing"%"% +3 "core" %:\  +2 .tPS.seek 0.7ml +2 "processing"%'2 +594 "core" ' + "processing"%$% +4 "core" %2\ +474 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%'  +101 "core"  +242 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%%'ؾ +796 "core" ' + "processing"%)% +4 "core" %\ +592 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%( +44 "core"  +629 #t-> PSR.flush + .PSR.select :flush +3 "processing"%@ +483 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%+' +2630 "core" ' + "processing"%-% +4 "core" %\ +730 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%& +70 "core" +498 #t-> PTV.PRV +2 .PTV.dial PRV +478 #-> PRV.air +2 .PRV.dial :air + "processing"%,  +44 "core"  +718 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%0'ؾ +2629 "core" ' + "processing"%*% +4 "core" %ؾ\ +71 "Can"\ A> +752 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%. +73 "core"  +440 #t-> PSR.flush +2 .PSR.select :flush +534 #-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%3' +2632 "core" ' + "processing"%/% +4 "core" %\  +530 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%2 +85 "core" +360 #t-> PTV.PRV + .PTV.dial PRV +382 #-> PRV.air +2 .PRV.dial :air +688 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%4'ؾ +2633 "core" ' + "processing"%1% +4 "core" %ؼ\ +1249 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%7 +71 "core"  +272 #t-> PSR.air + .PSR.select :air +2 "processing"% +293 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%5' +2628 "core" ' + "processing"%9% +4 "core" %\  +510 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%8 +72 "core" +318 #t-> PTV.PRV + .PTV.dial PRV +288 #-> PRV.air +2 .PRV.dial :air +588 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%6'ؾ +2633 "core" ' + "processing"%:% +4 "core" %\ +702 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%= +73 "core"  +286 #t-> PSR.air + .PSR.select :air +341 #-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%;' +2629 "core" ' + "processing"%<% +4 "core" %\  +563 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%? +71 "core" +558 #t-> PTV.PRV + .PTV.dial PRV +414 #-> PRV.air +2 .PRV.dial :air +324 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%A'ؾ +2639 "core" ' + "processing"%>% +4 "core" %ع\ +6640 #t-> exit +4 #mEXIT @1612541126.12EST @1612818101.37EST = =tMAIN =mMAIN_scheduler @EST1612818103.09 #"core_reset"Sent BREAK +2 #t@43166 receive with ifg=0x10, ie=0xFD #@43802 receive with ifg=0x10, ie=0xFD + #@44459 receive with ifg=0x10, ie=0xFD + #@45094 receive with ifg=0x10, ie=0xFD #@45727 receive with ifg=0x10, ie=0xFD + #@46360 receive with ifg=0x10, ie=0xFD #@46993 receive with ifg=0x10, ie=0xFD + #@47319 receive with ifg=0x80, ie=0xFD #@9468 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +356 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ C? + \ C? #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %gaal\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ع\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڄ S\ 1 +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +3 "core" %g_an\ +2 "sampler")% +4 "core" %ڄ J\ 1 + "manipulator"&% +3 "core" %    +2 "manipulator"&& +3 "core" & ' + "storage"(& +4 "core" &,z \  + "storage"(% +3 "core" % 8\ +2 "collection"'& +3 "core" &`^t\  + "processing"%& +4 "core" &\  + "processing"% % +3 "core" %ع\ +397 #t-> access 6 +3 .SE.seek :down + "storage"(!' +3 "core" ' +2 "manipulator"&"% +3 "core" %   +2 "manipulator"&#& +3 "core" & ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"($( +364 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (%& +2 "core" & \ +2958 #t-> access 2 +3 .SE.seek :down + "storage"(&' +3 "core" ' +2 "manipulator"&'% +3 "core" %   +2 "manipulator"&(& +3 "core" & ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"()(K +988 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (*& +3 "core" &K )\ \  +2664 #t-> access 3 +3 .SE.seek :down + "storage"(+' +3 "core" ' + "manipulator"&,% +4 "core" %    +2 "manipulator"&-& +3 "core" & 4 ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(.([ +349 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (/& +2 "core" &[ F\ \  +974 #t-> access 4 +2 .SE.seek :down +2 "storage"(0' +3 "core" ' + "manipulator"&1% +4 "core" %  0  +2 "manipulator"&2& +3 "core" &  ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(3(C +1936 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (4& +2 "core" &C ]\ +1023 #t-> access 5 +2 .SE.seek :down +2 "storage"(5' +3 "core" ' + "manipulator"&6% +4 "core" %    +2 "manipulator"&7& +3 "core" &  ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(8(  +354 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (9& +2 "core" &  \  +2218 #t-> require 'shuffle,rb' +2 !o:LoadError: mesg"'no such file to load -- shuffle,rb:bt[ "(ESP):7:in `require'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +456 #-> require 'shuffle.rb' +44240 "Can"\ FC +1359 #t-> 5.times {shuffle 4..5; delay 5} +2 #Shuffling pucks in tube 4 of [4..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"':& +3 "core" &``\  +2 .tHand.open + "manipulator"&;1 +58 "core" 1 + "manipulator"&<% +4 "core" %   @  +2 "storage"(=% +3 "core" % \ +2 "storage"(>. +3 "core" .( + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(?(,y +670 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (@& +2 "core" &,x g\  +2 "manipulator"&A& +3 "core" & ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( + "manipulator"&C& +4 "core" & ' + "storage"(D& +3 "core" &,x P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&E' +95 "core" ' + "storage"(F& +4 "core" &,x 3\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'r +295 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (I& +2 "core" &,x K\  +2 "manipulator"&J& +3 "core" & \\ ' +2 .tElbow.seek 4 +2 "manipulator"&K( +3 "core" ( + "manipulator"&L& +4 "core" &   ' + "storage"(M& +4 "core" &,x \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&N'c +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +70 "core" / +43 ."downElevator"SE.seek :down +3 "manipulator"&P& + "storage"(Q' +7 "core" & ' +2 "manipulator"&R% +3 "core" % w  + .tForearm.seek :retract +2 "manipulator"&S' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&T(ӂ +160 "core" ( + "manipulator"&U& +5 "core" &Ӑ) 0 Ab + ' +2 .tElbow.reconfigure :loose + ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b +2 "storage"(5 +3 "manipulator"&V& +4 "core" &Ӑ)  Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&W'? +95 "core" ' +2 "manipulator"&X& +4 "core" &Ӑ)  W Ab +2 "manipulator"&Y% +4 "core" %H W A + "collection"'Z& +4 "core" &_`\  +2 "collection"'[& +5 "core" &_a`\  +2 .tCC.seek :closed + "collection"'\\(\\ +6 "core" &_`!\  +9 &5{_`$\ +} +10 &f``$\ @ +9 &Zucb#\ O +9 &]_a"\ N +10 &Zcb!\ N +9 &\\b`\ N +10 &f\\`b\ M +9 &(\\ab+\ M +9 &abc \ N +10 &^db\ N +9 & m_ca\ N +9 &"/\\bb\ N +10 &#[cc\ M +9 &%_a`\ N +10 &'v_cb\ M +9 &)7Zc`\ N +9 &*^cc\ M +10 &,ZcdA\ N +9 &.|]cd\ N +9 &0@Ycc\ M +10 &2\\ac\ M +9 &3_bd\ N +10 &5_cc\ M +9 &7H^ab\ M +9 &9 `dd\ N +10 &:Zcd\ M +9 &<]bb\ M +9 &>O[bb\ N +10 &@\\d`\ N +9 &Aaec\ N +10 &Ckig\ O +9 &ENzlh\ Q +9 &Gll\ T +10 &Hsp\ W +9 &J~ss\ X +9 &L@tt\ X +10 &Mux\ Y +9 &Owv\ Z +10 &Qvw\ Z +9 &SAty\ [ +9 &Utx\ [ +10 &Vxz\ \\ +9 &Xux\ ] +9 &Z?uw\ ^ +10 &[{yw\ C +9 &\\'wx\ , +10 &\\xy\ \\ +2 ( +2 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 .Hand.open + "manipulator"&]1 +61 "core" 1 +2 "manipulator"&^% +4 "core" % H  7 A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%`& +4 "core" &\  +2 "manipulator"&a% +3 "core" %    +2 "storage"(b% +3 "core" % \ +2 "storage"(c. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(d(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (e& +2 "core" &,x w\  +2 "manipulator"&f& +3 "core" &ӑ( Aa +2 "manipulator"&g% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&h( +160 "core" ( + "manipulator"&i& +4 "core" &  +2 "storage"(j& +3 "core" &,x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&k' +98 "core" ' + "storage"(l& +4 "core" &,x (\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'r +299 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" &,x ^\  +2 "manipulator"&p& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&q( +3 "core" ( + "manipulator"&r& +4 "core" & / + "storage"(s& +4 "core" &,x x\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&t'c +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&u/ +76 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&v& +3 "storage"(w' +6 "core" & +2 "manipulator"&x% +4 "core" % _  + .tForearm.seek :retract +2 "manipulator"&y' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&z( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( + "manipulator"&{& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&}' +101 "core" ' + "manipulator"&~& +4 "core" &  +2 "manipulator"&% +4 "core" %  + "processing"%& +4 "core" &\  +2 "processing"%& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +10 &4z\ +| +9 &c\ ? +10 &Hx\ P +9 & \\\ P +9 &]\ O +10 &_\ O +9 &P]\ O +10 &]\ P +9 &^\ O +9 &Z\ O +10 & Y^\ O +9 &"\\\ O +9 &#]\ O +10 &%[\ O +9 &'a]\ O +9 &)"]\ O +10 &*Z\ O +9 &,_\ O +10 &.g]\ P +9 &0)a\ P +9 &1a\ O +10 &3Z\ O +9 &5p\\\ O +9 &72\\\ O +10 &8]\ O +9 &:]\ P +10 &:b\ O +9 &?_\ O +10 &Ai\ P +9 &Cxr\ R +9 &E6\ S +10 &F\ U +9 &H+\ U +10 &Ju)\ V +9 &L8)\ U +9 &M'\ V +10 &O,\ W +9 &Qz-\ W +9 &S=2\ V +10 &T5\ W +9 &V1\ V +10 &X-\ V +9 &ZE-\ V +9 &\\.\ X +10 &]+\ @ +9 &^0!\ X +9 &^%\ 3 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&% +4 "core" %   "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%\ & +4 "core" &^#\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"& % +3 "core" %  [  +2 "storage"(% +3 "core" % \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "manipulator"&& +5 "core" &   + &,x y\  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"('r +5 "core" ( + "manipulator"&& +4 "core" & 3  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.seek PC + "manipulator"&' +101 "core" ' + .tHand.close + "manipulator"&/ +75 "core" / +2 .tPC.seek :open + "processing"%( +75 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +39 "core" ' +334 ( + "storage"( & +4 "core" &,x c\  +2 "manipulator"&"& +3 "core" &  +2 "manipulator"&#% +3 "core" %   +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +250 "core" ( + "manipulator"&%& +4 "core" &  4 Q +2 "storage"('& +3 "core" &,x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +99 "core" ' + .tHand.open + "manipulator"&!1 +64 "core" 1 +2 "storage"($- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(,' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(-- +3 "core" -' + "storage"(&& +4 "core" &,x \  +2 "manipulator"&)& +3 "core" &  Q +2 .tElbow.seek 4 + "manipulator"&/( +4 "core" ( + "manipulator"&1& +4 "core" & \  Q +2 "storage"(2& +3 "core" &,x\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +56 "core" ' + "manipulator"&4& +4 "core" & Q +2 "storage"(6& +4 "core" &,x 5\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&7'7 +16 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(3' +18 "core" ' + "manipulator"&9% +5 "core" %D + "storage"(:& +4 "core" &,x C\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&;'p +16 "core" ' + "manipulator"&<& +5 "core" &  l B + "storage"(=& +5 "core" &,x G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&>' +17 "core" ' + "storage"(8% +5 "core" % "\ +2 ."downElevator"SE.seek :down +3 "storage"(@' +99 (A% +2 "core" %? b\ Vb +2 "manipulator"&C% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D' +89 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (F& +4 "core" &,x I\ + "collection"'& +4 "core" &\\}mm\ \\ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +3 "core" %   +2 "storage"(H% +4 "core" % }\ + "storage"(5. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(I(,y +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (J& +2 "core" &,x \  +2 "manipulator"&L& +4 "core" & B + .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( + "manipulator"&O& +4 "core" &  D B +2 "storage"(P& +3 "core" &,x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&R' +91 "core" ' + "storage"(B& +4 "core" &,x \  +39 .tSE.reconfigure :pick +12 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'r +296 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&V& +3 "core" & B +2 "storage"(G& +3 "core" &,x H\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&N'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Z'f +29 "core" ' + "manipulator"&K% +4 "core" %J ; +2 "storage"(Q& +3 "core" &,x P\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&S'v +14 "core" ' + "manipulator"& & +4 "core" & B +2 "storage"(]& +4 "core" &,x ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&^' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(`' +39 "core" ' + "manipulator"&a& +5 "core" & B + "manipulator"&b% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +155 "core" ( + "manipulator"&e& +4 "core" &Ә$ P =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &Ә$  =F +2 .tForearm.seek CC + "manipulator"&g'? +97 "core" ' + .tHand.close + "manipulator"&W/ +75 "core" / +2 .tCC.seek :open + "collection"'i( +450 "core" ( +2 "storage"(j& +4 "core" &,x \  + "storage"(?& +4 "core" &,x \  + "manipulator"&l& +4 "core" &Ә$ A =F +2 "manipulator"&T% +3 "core" % N 1 +2 .tForearm.seek :retract + "manipulator"&_' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&n( +166 "core" ( + "manipulator"&o& +4 "core" &  +2 "storage"(p& +3 "core" &,x K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&r'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&u1 +62 "core" 1 +2 "manipulator"&v% +4 "core" % E   + "storage"(x& +4 "core" &,x i\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 314 counts +2 "manipulator"&h'q +14 "core" ' + "manipulator"&k& +4 "core" &  +2 "storage"(m& +3 "core" &,x m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&t' +17 "core" ' + "storage"({% +4 "core" % \\\ +3 ."downElevator"SE.seek :down +3 "storage"(|' +99 (q% +2 "core" %B '\ V_ +2 "manipulator"&~% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +66 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [4..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &\\]\ +2 "manipulator"&w% +3 "core" %   +2 "storage"(y% +4 "core" % \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<,* *\  +2 "manipulator"&\ & +4 "core" &  + .tElbow.seek 5 +2 "manipulator"& ( +8 "core" ( + "manipulator"&& +4 "core" &  O  +2 "storage"(& +3 "core" &<,+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +92 "core" ' + "storage"(& +4 "core" &<,+ )\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<,( \  +2 "manipulator"&}& +4 "core" & A  + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&d& +4 "core" &   +2 "storage"(& +3 "core" &<,( \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&z'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(' +7 "core" &  + "manipulator"& % +4 "core" % ϭ +2 .tForearm.seek :retract + "manipulator"&"' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&#(ӂ +155 "core" ' + ."downElevator"SE.coast + "storage"(5 +3 "core" ( +2 "manipulator"&& +3 "core" &Ӛ% S >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &Ӛ&  >I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&''? +101 "core" ' + "manipulator"&& +5 "core" &Ӛ&  c >I + "manipulator"&!% +4 "core" %I / , +2 "collection"'$& +3 "core" &[]U\ +3 "collection"'-& +4 "core" &^[\ +2 .tCC.seek :closed +2 "collection"'&(\\ +4 "core" &[]K\  +10 &1z]\\\ *y +9 &c\\]\ > +9 &qw^^\ N +10 &5[^]\ M +9 &]]]\ N +10 &Z]^\ M +9 &{Y_^\ M +9 &=Y_`\ M +10 &`^_\ N +9 &\\]`\ M +9 & Y`_\ M +10 &"E[^_\ M +9 &$Y`^\ M +9 &%^^`\ M +10 &'\\^_\ M +9 &)M]]_\ M +10 &+[^_\ M +9 &,[\\`\ M +9 &.Y]^\ M +10 &0VZ^`\ M +9 &2]]^\ M +10 &3]_^\ N +9 &5[_`\ M +9 &7\\]_]\ N +10 &9\\_a\ M +9 &:]__\ M +9 &<[a`\ M +10 &>e^``\ M +9 &@&]a_\ N +10 &A`a`\ N +9 &Cf`c\ N +9 &Eeseh\ P +10 &G ig\ R +9 &Hih\ W +9 &Jkj\ X +10 &LRhi\ Y +9 &Njk\ Z +10 &Olk\ Z +9 &Qkk\ Z +9 &STkm\ [ +10 &Ukk\ \\ +9 &Vlm\ \\ +9 &Xjl\ ^ +10 &ZSjk\ ^ +9 &[ykk\ @ +9 &\\(kh\ , +10 &\\jl\ [ + ( +2 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&)1 +56 "core" 1 + "manipulator"&1% +4 "core" % I   , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&4% +3 "core" %  (  +2 "storage"(6% +3 "core" % \ +2 "storage"(9. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(:(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<, \  +2 "manipulator"&<& +3 "core" &Ӛ% F >I +2 "manipulator"&=% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&*( +162 "core" ( + "manipulator"&8& +4 "core" &  Z  +2 "storage"(& +3 "core" &<, s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +98 "core" ' + "storage"(,& +4 "core" &<, \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'r +295 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +2 "core" &<, %\  +2 "manipulator"&/& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&.( +3 "core" ( + "manipulator"&7& +3 "core" & _  +2 "storage"(F& +3 "core" &<, $\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&;'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +71 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(H' +7 "core" &   +2 "manipulator"&5% +4 "core" % ϻ + .tForearm.seek :retract +2 "manipulator"&3' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&J( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( + "manipulator"&L& +4 "core" & X  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" & W  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&P' +92 "core" ' + "manipulator"&>& +5 "core" &  P  + "manipulator"&B% +4 "core" % U l + "processing"%@& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%0(^ +4 "core" &\  +9 &.v\ +z +10 &a\ > +9 &c{\ O +10 &$]\ O +9 &^\ O +9 &]\ N +10 &k]\ O +9 &.\\\ O +9 &_\ O +10 &\\\ N +9 & t]\ O +10 &"7Z\ N +9 &#\\\ O +9 &%^\ O +10 &'}]\ N +9 &)>]\ O +9 &+[\ N +10 &,\\\ O +9 &.]\ O +10 &0F_\ O +9 &2]\ O +9 &3]\ \ O +10 &5_\ O +9 &7N]'\ O +9 &9_%\ O +10 &:_\ O +9 &<]\ O +10 &>T_+\ O +9 &@]0\ P +9 &Aj.\ P +10 &Cs\ R +9 &EQ\ S +10 &G\ U +9 &H$\ T +9 &J!\ U +10 &LS\ U +9 &N \ V +9 &O\ V +10 &Q\ W +9 &SU\ W +9 &U\ V +10 &V\ W +9 &X\ W +10 &Z^\ W +9 &\\\ W +9 &]\ 5 +10 &^3\ N +8 ( +2 &^=\ = + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&D1 +63 "core" 1 + "manipulator"&U% +4 "core" %  \ l +2 .tForearm.reconfigure :loose +40 "manipulator"&#Q@2^d^b +12 .tForearm.seek :retract +2 "manipulator"&V' +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%G& +4 "core" &^>4\ = + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&Y% +3 "core" % \    +2 "storage"(K% +3 "core" % \ +2 "storage"(Q. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"( (<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (]& +2 "manipulator"&a& +4 "core" &<, '\  +2 & S  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "manipulator"&b( +4 ."raiseStack"SE.seek :beamBreak + "storage"(R'r +3 "core" ( + "manipulator"&M& +4 "core" & 7  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &  o  +2 .tForearm.seek PC + "manipulator"&N' +94 "core" ' +2 .tHand.close + "manipulator"&S/ +77 "core" / +2 .tPC.seek :open + "processing"%Z( +78 "core" ' + "storage"(e- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'1 +39 "core" ' +330 ( + "storage"(^& +4 "core" &<, T\  +2 "manipulator"&X& +3 "core" & *  +2 "manipulator"&W% +3 "core" %   - +2 .tForearm.seek :retract + "manipulator"&c' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&\\( +246 "core" ( + "manipulator"&j& +5 "core" &  1 9 +2 "storage"(?& +3 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +92 "core" ' + .tHand.open + "manipulator"&T1 +62 "core" 1 +3 "storage"(o- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(p' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(g' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"([- +3 "core" -' +2 "storage"(u& +3 "core" &<,   \  +2 "manipulator"&v& +3 "core" &  8 +2 .tElbow.seek 5 + "manipulator"&x( +4 "core" ( + "manipulator"&k& +4 "core" &  8 + "storage"(m& +4 "core" &<,   \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&{'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +52 "core" ' + "manipulator"&q& +4 "core" & 8 +2 "storage"(~& +4 "core" &<, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&n'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&h% +5 "core" %Ξ 1  + "storage"(w& +4 "core" &<, I\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&y' +14 "core" ' + "manipulator"& & +5 "core" & _ 1 + "storage"(`& +5 "core" &<, N\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +18 "core" ' + "storage"(|% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(I' +100 (% +2 "core" %F \ Wd +2 "manipulator"&\ % +4 "core" %9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &<, -\ + "collection"'& +4 "core" &\\}jl\ [ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&s% +4 "core" % \   +2 "storage"(% +3 "core" % \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (}& +2 "core" &<, }\  +2 "manipulator"&d& +3 "core" &  1 +2 .tElbow.seek 5 + "manipulator"&( +21 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &<, O\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +95 "core" ' + "storage"( & +4 "core" &<, \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&%& +3 "core" &   + "storage"(& +4 "core" &<, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&z'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"($'k +28 "core" ' + "manipulator"&% +4 "core" %Ε   +2 "storage"(& +3 "core" &<, \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 308 counts + "manipulator"&"' +14 "core" ' + "manipulator"&i& +4 "core" &  +2 "storage"()& +3 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&1'O +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +36 "core" ' + "manipulator"&4& +5 "core" &  + "manipulator"&6% +4 "core" %8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&9' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +158 "core" ( + "manipulator"&& +4 "core" &ӓ#  <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +2 "core" &ӓ#  : <@ +2 .tForearm.seek CC +2 "manipulator"&='? +94 "core" ' + .tHand.close + "manipulator"&'/ +72 "core" / +2 .tCC.seek :open + "collection"'8( +450 "core" ( +2 "storage"(& +4 "core" &<, \  + "storage"(& +4 "core" &<, \  + "manipulator"&,& +4 "core" &ә# E <: + "manipulator"&#% +4 "core" % ?  & + .tForearm.seek :retract +2 "manipulator"&2' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&C( +164 "core" ( + "manipulator"&+& +4 "core" &  "  +2 "storage"(/& +3 "core" &<, ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&7'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % Λ . + "storage"(5& +4 "core" &<, 5\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&*' +14 "core" ' +2 "manipulator"&(& +4 "core" & (  + "storage"(A& +4 "core" &<, (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +18 "core" ' + "storage"(L% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(O' +99 (.% +2 "core" %F u\ Va +2 "manipulator"&>% +4 "core" %8 ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&B' +89 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 5 seconds +502 #Shuffling pucks in tube 4 of [4..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'@& +2 "core" &Z[\ +2 "manipulator"&H% +3 "core" %   +2 "storage"(3% +3 "core" % \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(D(,y +359 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (U& +3 "core" &,v z\ + "manipulator"&& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&G( +3 "core" ( + "manipulator"&Y& +4 "core" & P  + "storage"(K& +4 "core" &,v \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&Q' +94 "core" ' +2 "storage"(]& +4 "core" &,v \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'r +297 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" &,t \  +2 "manipulator"&P& +3 "core" & #  +2 .tElbow.seek 4 +2 "manipulator"&S( +3 "core" ( + "manipulator"&:& +4 "core" & (  +2 "storage"(e& +3 "core" &,v ?\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&J'c +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +56 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&0& +3 "storage"(R' +7 "core" & e  +2 "manipulator"&^% +4 "core" % i p + .tForearm.seek :retract +2 "manipulator"&X' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +151 "core" ' +11 ( + "manipulator"&N& +4 ."downElevator"SE.coast + "storage"(5 +4 "core" &z+  Cm + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &z+ Cm +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&?'? +99 "core" ' + "manipulator"&b& +5 "core" &ӛ%  F >L + "manipulator"&T% +4 "core" %6  +2 "collection"'o& +4 "core" &X[\ +2 "collection"'[& +5 "core" &[\\\ +2 .tCC.seek :closed + "collection"'u(\\ +4 "core" &[\\\ +9 & 3Z[\ $d +9 &U|[[\ 7 +9 &}Z^\ L +10 &X[[\ M +9 &eZ][\ M +9 &'Z[\\\ M +10 &[\\Z\ M +9 &]]]\ M +10 &m^[]\ M +9 &0[^^\ L +9 &Z^^\ M +10 &!]_^\ L +9 &#u[`^\ M +9 &%7\\]^\ M +10 &&]__\ L +9 &(Z\\_\ M +10 &*~\\`^\ L +9 &,@Z\\_\ L +9 &.]]_\ M +10 &/W^]\ L +9 &1Z]\\\ L +9 &3HZ^^\ L +10 &5\ Z_`\ L +9 &6^]]\ M +10 &8Y^`\ M +9 &:OXba\ M +9 &<W__\ M +10 &=]`_\ M +9 &?]^_\ M +9 &AV`_`\ M +10 &Ccbd\ N +9 &Dmfe\ O +10 &Fgj\ Q +9 &HElm\ V +9 &Jrr\ X +10 &Kqr\ Y +9 &Mrt\ Y +9 &OBss\ Y +10 &Quu\ [ +9 &Rtv\ Z +10 &Tuv\ \\ +9 &VBww\ \\ +9 &Xvv\ ] +10 &Yww\ ^ +9 &[vx\ K +9 &\\<zx\ - +10 &\\vu\ !` +5 ( +2 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&v1 +3 "core" &\\vw\ !` +51 1 + "manipulator"&k% +4 "core" % 6 X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%c& +4 "core" &\ +2 "manipulator"&q% +3 "core" %  G  +2 "storage"(~% +4 "core" % \ + "storage"(h. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(w(,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (f& +2 "core" &,v \  +2 "manipulator"& & +3 "core" &ӛ%  >L +2 "manipulator"&`% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&p( +164 "core" ( + "manipulator"&|& +4 "core" &  #  +2 "storage"(\\& +3 "core" &,v z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&l' +107 "core" ' + "storage"(g& +4 "core" &,v X\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" &,v \  +2 "manipulator"&x& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&_( +4 "core" ( +2 "manipulator"&n& +3 "core" &   +2 "storage"(& +3 "core" &,v \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&y'c +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +68 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&s& +3 "storage"(' +6 "core" & .  +2 "manipulator"&% +4 "core" % X ( + .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&}( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +95 "core" ( + "manipulator"&d& +4 "core" & (  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&t& +4 "core" &  %  +2 "manipulator"& % +3 "core" % C  +2 "processing"%I& +4 "core" &\ +2 "processing"% & +4 "core" &\ +2 .tPC.seek :closed + "processing"%r(^ +5 "core" &\ +8 & -\ #b +9 &U\ 8 +10 &\ M +9 &\\\ O +9 &\\\\\ O +10 &Z\ O +9 &\\\ O +10 &\\\ O +9 &d\\\ O +9 &&Z\ O +10 &\\\ O +9 &!Z\ O +9 &#k\\\ O +10 &%.Y\ O +9 &&\\\ O +10 &([\ O +9 &*uZ\ O +9 &,7\\\ O +10 &-Z\ O +9 &/]\ O +10 &1z_\ P +9 &3>]\ O +9 &5[\ O +10 &6\\\ O +9 &8`\ O +9 &:E]\ O +10 &<Z\ O +9 &=_\ P +10 &?_\ P +9 &AKg\ P +9 &C\ r\ Q +10 &D|\ S +9 &F\ U +9 &HD \ U +10 &J\ U +9 &K\ V +9 &M)\ V +10 &OJ+\ V +9 &Q\ ,\ W +10 &R*\ W +9 &T\ X +9 &VQ&\ V +10 &X&\ V +9 &Y*\ W +9 &[*\ W +10 &]W-\ E +9 &^F}%\ b +10 &^L%\ ; +5 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&1 +4 "core" &^6'\ ; +54 1 +2 "manipulator"&% +4 "core" %   + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^6=\ ; + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&!% +3 "core" %   h  +2 "storage"(% +3 "core" % k l \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(i(,y +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ()& +4 "core" &,v w w =\  + "manipulator"&4& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & v  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&6( +2 "storage"( 'r +5 "core" ( + "manipulator"&& +4 "core" &  W  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & ^  +2 .tForearm.seek PC +2 "manipulator"&z' +97 "core" ' + .tHand.close + "manipulator"&"/ +75 "core" / +2 .tPC.seek :open + "processing"%$( +81 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(<'1 +44 "core" ' +320 ( + "storage"(1& +4 "core" &,v \  +2 "manipulator"&& +3 "core" & 4  +2 "manipulator"&'% +3 "core" %  "  +2 .tForearm.seek :retract + "manipulator"&9' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&&( +239 "core" ( + "manipulator"&& +4 "core" &  0 +2 "storage"(& +3 "core" &,v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&,' +98 "core" ' + .tHand.open + "manipulator" +64 "core" 1 +2 "storage"(+- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +23 "core" ' +2 .tSE.reconfigure :seal + "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(=' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(-- +3 "core" -' +2 "storage"(& +3 "core" &,v  ,\  +2 "manipulator"&& +3 "core" & K 0 +2 .tElbow.seek 4 +2 "manipulator"&5( +3 "core" ( + "manipulator"&(& +4 "core" & 1 0 + "storage"(A& +4 "core" &,v \  +2 .tForearm.seek 4 + 450 counts + "manipulator"&L' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(2'" +53 "core" ' + "manipulator"&.& +4 "core" & q 0 +2 "storage"(>& +4 "core" &,v \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&C'7 +26 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(*' +23 "core" ' + "manipulator"&% +5 "core" %D E w + "storage"(;& +4 "core" &,v l l ;\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&O'p +16 "core" ' + "manipulator"&& +5 "core" & 0 +2 "storage"(@& +4 "core" &,v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&H' +18 "core" ' + "storage"(3% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (U% +2 "core" %]F p w )\ Wf +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Y' +93 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (K& +4 "core" &,v -\ + "collection"']& +4 "core" &\\no\ !` + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&F% +3 "core" %  2  +2 "storage"(B% +3 "core" % |\ +2 "storage"(M. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(E(,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (P& +2 "core" &,v \  +2 "manipulator"&:& +3 "core" & 0 +2 .tElbow.seek 4 +2 "manipulator"&e( +3 "core" ( + "manipulator"&V& +4 "core" & a 0 +2 "storage"(0& +3 "core" &,v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&^' +94 "core" ' + "storage"(G& +5 "core" &,v \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'r +295 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&j& +3 "core" & - 0 +2 "storage"(a& +3 "core" &,v J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +43 .tForearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&J'7 +26 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(o'f +28 "core" ' + "manipulator"&S% +4 "core" %F +2 "storage"(R& +4 "core" &,v \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&X'r +15 "core" ' + "manipulator"&8& +5 "core" &  6 0 + "storage"(v& +4 "core" &,v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&k' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(c' +42 "core" ' + "manipulator"&q& +5 "core" & 0 + "manipulator"&~% +5 "core" %  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +153 "core" ( + "manipulator"&f& +4 "core" &ӕ%  _ >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӕ%  9 >M + .tForearm.seek CC +2 "manipulator"&`'? +96 "core" ' + .tHand.close + "manipulator"&?/ +60 "core" / +2 .tCC.seek :open + "collection"'|( +448 "core" ( + "storage"(\\& +4 "core" &,v \  +2 "storage"(D& +3 "core" &,v \  +2 "manipulator"&g& +3 "core" &ӕ% >M +2 "manipulator"&W% +3 "core" % 4 ; +2 .tForearm.seek :retract +2 "manipulator"&m' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&\ ( +166 "core" ( + "manipulator"&{& +4 "core" &    +2 "storage"(x& +3 "core" &,v )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&n'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&s% +4 "core" % E   + "storage"(& +4 "core" &,v X\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 314 counts + "manipulator"&p'q +16 "core" ' + "manipulator"&l& +4 "core" & h  +2 "storage"(& +3 "core" &,v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&y' +18 "core" ' + "storage"(d% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (_% +3 "core" %SA \ Va +2 "manipulator"&t% +4 "core" % x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [4..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'I& +4 "core" &Z[\ +2 "manipulator"&% +3 "core" %    +2 "storage"(% +4 "core" % \ + "storage"(Z. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +373 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<0 J\ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&!( +8 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &<0 o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +102 "core" ' + "storage"()& +4 "core" &<0 *\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<0 `\ +2 "manipulator"&& +3 "core" & 3  +2 .tElbow.seek 5 + "manipulator"&"( +4 "core" ( + "manipulator"&w& +3 "core" & &  +2 "storage"(& +3 "core" &<0 5\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&}'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&%/ +58 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&r& +3 "storage"( ' +8 "core" & X  + "manipulator"&1% +4 "core" % Ϸ +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&'(ӂ +157 "core" ' +2 ."downElevator"SE.coast + "storage"(5 +3 "core" ( + "manipulator"&z& +4 "core" &ӎ)  A_ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ) A_ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +102 "core" ' + "manipulator"&6& +4 "core" &ӏ(  @ @^ +2 "manipulator"&#% +4 "core" %@ a  + "collection"'+& +4 "core" &Z[\ +2 "collection"'-& +6 "core" &X[\ +2 .tCC.seek :closed +2 "collection"'(\\ +3 "core" &ZY\  +10 &4}[[\ +{ +9 &f[Z\ ? +10 &u[^\ N +9 &QW[[\ L +9 &Y[[\ L +10 &Z\\]\ L +9 &\\[\\\ L +9 &Y\\Z]\ L +10 &][]\ L +9 &\\\\\\\ L +10 & W\\]\ L +9 &"a[\\_\ L +9 &$#[\\]\ L +10 &%Z\\_\ M +9 &'Z\\^\ M +9 &)hZ\\[\ M +10 &++Z\\^\ L +9 &,[^]\ L +10 &.Z]]\ M +9 &0qY]]\ L +9 &23\\]^\ L +10 &3Z__\ M +9 &5Z^]\ L +9 &7xY]\\\ M +10 &9:Z^^\ M +9 &:Z_]\ M +10 &<Z]`\ L +9 &>Z`^\ L +9 &@BZ_]\ M +10 &B_`a\ M +9 &Ccba\ M +9 &Etec\ O +10 &G9gf\ S +9 &Hkh\ V +10 &Jhh\ X +9 &Lmji\ Y +9 &N.kk\ Y +10 &Ojk\ Z +9 &Qjk\ Z +9 &Slkk\ \\ +10 &U0kj\ [\ +9 &Vkj\ \\ +10 &Xkj\ ] +9 &Zpjk\ ] +9 &\\yhj\ 6 +10 &\\!ii\ (v +9 &\\jj\ #g + ( +2 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&(% +4 "core" % @  B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&A' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%9& +4 "core" &\ +2 "manipulator"&.% +3 "core" %  -  +2 "storage"(>% +3 "core" % \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(;(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (<& +2 "core" &<0 n k \ +2 "manipulator"&& +3 "core" &ӏ( L @^ +2 "manipulator"&@% +3 "core" %  B  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&/( +164 "core" ( + "manipulator"&3& +4 "core" &  s  +2 "storage"(&& +3 "core" &<0 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&,'O +94 "core" ' + "storage"(=& +4 "core" &<0 K\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'r +301 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" &<0 \ +2 "manipulator"&5& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&2( +4 "core" ( + "manipulator"&C& +4 "core" & G  +2 "storage"(O& +3 "core" &<0 \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&K'Ϲ +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +73 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&F& +3 "storage"(*' +7 "core" &   +2 "manipulator"&B% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&M' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&P( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +73 "core" ( +2 "manipulator"&:& +4 "core" & :  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &  !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&0' +99 "core" ' + "manipulator"&H& +4 "core" &  G  +2 "manipulator"&G% +4 "core" % Z + "processing"%& +53 "core" &\ +2 "processing"%i& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%7(^ +4 "core" &\ +9 & -\ #a +9 &U\ 8 +10 &~\ L +9 &[\ O +9 &[\\\ O +10 &]\ O +9 &_\ O +9 &]\ O +10 &c]\ O +9 &%X\ O +10 &Z\ O +9 &!]\ O +9 &#k\\\ O +10 &%.X\ N +9 &&\\\ N +9 &(^\ O +10 &*sY\ O +9 &,5Y\ O +10 &-Z\ N +9 &/]\ O +9 &1z]\ O +10 &3<Z\ O +9 &4Z\ O +9 &6\\\ N +10 &8]\ O +9 &:D\\\ O +10 &<\\\ P +9 &=]\ O +9 &?_\ O +10 &AHh\ P +9 &Cm\ Q +10 &Dx'\ R +9 &F-\ T +9 &HB+\ U +10 &J,\ U +9 &K*\ U +9 &M*\ W +10 &OH$\ V +9 &Q\ W +9 &R \ V +10 &T+\ W +9 &VO1\ V +10 &X-\ V +9 &Y+\ V +9 &[*\ W +10 &]U"\ F +9 &^{By*\ $l +9 &^I)\ 6 +6 ( +2 "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&Y1 +3 "core" &^&)\ 6 +57 1 + "manipulator"&N% +4 "core" %  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%a& +4 "core" &^'G\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&T% +3 "core" %  [  +2 "storage"(S% +3 "core" % v w L\ +2 "storage"(R. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(8(<- +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (v& +5 "manipulator"&q& + "core" &<0 r t\ +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & A  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&~( +2 "storage"(^'r +5 "core" ( + "manipulator"&e& +4 "core" &  .  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &   +2 .tForearm.seek PC + "manipulator"&J' +96 "core" ' +2 .tHand.close + "manipulator"&X/ +74 "core" / +2 .tPC.seek :open + "processing"%o( +79 "core" ' + "storage"(f- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +40 "core" ' +328 ( +2 "storage"(k& +4 "core" &<0 7\ + "manipulator"&b& +4 "core" &   + "manipulator"&?% +4 "core" %  = + .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&u( +247 "core" ( + "manipulator"&\\& +4 "core" &  $ 8 +2 "storage"(D& +3 "core" &<0 W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&g'O +96 "core" ' + .tHand.open + "manipulator"&W1 +55 "core" 1 +2 "storage"({- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(x' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(`' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"([- +3 "core" -' +2 "storage"(& +3 "core" &<0 \ +2 "manipulator"&s& +3 "core" & k 8 +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&l& +4 "core" &  q 8 + "storage"(& +4 "core" &<0 K\ +2 .tForearm.seek 5 + 450 counts + "manipulator"&d'O +4 "core" ' + .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate + "storage"(m'" +59 "core" ' + "manipulator"&_& +4 "core" & 8 +2 "storage"(t& +4 "core" &<0 \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&\ '΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(I' +27 "core" ' + "manipulator"&p% +5 "core" %Έ + "storage"(& +4 "core" &<0 u w *\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 295 counts + "manipulator"&'ϴ +15 "core" ' + "manipulator"&Z& +5 "core" & \ + "storage"(c& +5 "core" &<0 R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&y'O +20 "core" ' + "storage"(% +5 "core" % 7\ +2 ."downElevator"SE.seek :down +3 "storage"(E' +100 (% +2 "core" % G v u J\ Wf +2 "manipulator"&% +4 "core" %:  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &<0 \ + "collection"')& +4 "core" &\\hl\ #g +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %   + "storage"( % +4 "core" % \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<0 \ +2 "manipulator"&w& +4 "core" & \ + .tElbow.seek 5 +2 "manipulator"&( +16 "core" ( + "manipulator"&%& +4 "core" &  = +2 "storage"(r& +4 "core" &<0 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&1'O +96 "core" ' + "storage"(!& +4 "core" &<0 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & +2 "storage"(4& +3 "core" &<0 w \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&}'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"(+'k +30 "core" ' + "manipulator"&"% +4 "core" %Ξ +2 "storage"( & +3 "core" &<0 $\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 317 counts + "manipulator"&' +14 "core" ' + "manipulator"&|& +4 "core" &  +2 "storage"(& +4 "core" &<0 M\ + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&('O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(9' +35 "core" ' + "manipulator"&.& +5 "core" & 1  + "manipulator"&>% +4 "core" %> G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +158 "core" ( + "manipulator"&<& +4 "core" &Ӎ.  { E~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &Ӎ.  ! E~ +2 .tForearm.seek CC +2 "manipulator"&@'? +94 "core" ' + .tHand.close + "manipulator"&/ +76 "core" / + .tCC.seek :open +2 "collection"'3( +448 "core" ( +2 "storage"(&& +4 "core" &<0 \ + "storage"(& +4 "core" &<0 \ + "manipulator"&=& +3 "core" &ә+ Cr +2 "manipulator"&'% +3 "core" % F  [ +2 .tForearm.seek :retract +2 "manipulator"&A' +89 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +42 "manipulator"&( +174 "core" ( + "manipulator"&L& +4 "core" & >  +2 "storage"(5& +3 "core" &<0 N\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&C'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&]1 +63 "core" 1 +2 "manipulator"&F% +4 "core" % Ώ  + "storage"(B& +4 "core" &<0 a\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts + "manipulator"&/'ϻ +14 "core" ' + "manipulator"&,& +4 "core" & l +2 "storage"(U& +4 "core" &<0 N\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&K'O +18 "core" ' + "storage"(:% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(V' +99 (2% +2 "core" %[I <\ Wc +2 "manipulator"&H% +4 "core" %6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&G' +92 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +4 .tdelay 5 seconds +503 #Shuffling pucks in tube 4 of [4..5] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +3 "core" &[[\ +2 "manipulator"&*% +3 "core" %  +  +2 "storage"(M% +3 "core" % \ +2 "storage"($. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(Y(,y +361 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (N& +2 "core" &,{ \ +2 "manipulator"&a& +3 "core" & l +2 .tElbow.seek 4 + "manipulator"&T( +11 "core" ( + "manipulator"&S& +4 "core" &  !  +2 "storage"(R& +3 "core" &,z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&i' +95 "core" ' + "storage"(v& +4 "core" &,z \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +295 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +2 "core" &,y \  +2 "manipulator"&0& +3 "core" & E  +2 .tElbow.seek 4 + "manipulator"&X( +15 "core" ( + "manipulator"&;& +4 "core" & +2 "storage"(f& +3 "core" &,y 7\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&P'c +34 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +4 "storage"(^' +4 "core" & 9 + "manipulator"&k% +4 "core" % x 3 O +2 .tForearm.seek :retract + "manipulator"&b' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +157 "core" ( + "manipulator"&J& +5 "core" ' + &ӎ)  j Ac + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &ӎ) Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'? +91 "core" ' + "manipulator"&~& +4 "core" &ӎ)  Ac +2 "manipulator"&W% +4 "core" %> 7 W + "collection"'{& +4 "core" &[Y\ +2 "collection"'[& +5 "core" &\\\\\ +2 .tCC.seek :closed + "collection"'(\\ +6 "core" &][\  +9 &4~[]\ *z +9 & gZ\\\ ? +10 &s^\\\ M +9 &WX\\]\ L +9 &Y][\ L +10 &[[\\\ L +9 &Y\\^\ L +10 &_V\\\\\ L +9 & Z\\\\\ L +9 &Z^_\ L +10 & U[]\ L +9 &"gY^\\\ L +9 &$)Y\\]\ L +10 &%Y^^\ L +9 &'Y[]\ L +10 &)nY^_\ L +9 &+0X\\^\ L +9 &,X_^\ L +10 &.Y^_\ L +9 &0wY^^\ L +9 &29Z^_\ L +10 &3Z]`\ L +9 &5Y^`\ L +10 &7[_`\ L +9 &9@Y_`\ L +9 &;Y__\ L +10 &<Y_^\ L +9 &>Z\\`\ L +9 &@I\\`_\ L +10 &B ]bb\ M +9 &Ccdd\ M +10 &Ewhf\ O +9 &G<ji\ S +9 &Hqn\ W +10 &Jrp\ Y +9 &Loss\ Z +9 &N1st\ Z +10 &Osu\ [\ +9 &Qtu\ Z +10 &Smuu\ ] +9 &U3uu\ \\ +9 &Vxw\ ] +10 &Xvv\ ^ +9 &Ztuw\ ] +9 &\\{xw\ 2 +10 &\\,vz\ %q +8 ( +2 &\\vy\ Z +2 "collection"'[& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 + .Hand.open +2 "manipulator"&s1 +62 "core" 1 + "manipulator"&l% +4 "core" % >  E W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%h& +4 "core" &\ +2 "manipulator"&_% +3 "core" %  #  +2 "storage"(t% +3 "core" % \ +2 "storage"(p. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +25 "core" &,y \  + "manipulator"&Z& +4 "core" &ӏ)  Ab +2 "manipulator"&c% +3 "core" %  @  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&x( +163 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(u& +3 "core" &,y <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +90 "core" ' + "storage"(`& +4 "core" &,y \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &,y H\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&m( +3 "core" ( +2 "manipulator"&\ & +3 "core" &    +2 "storage"(& +3 "core" &,y Z\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +54 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"( ' +7 "core" & b  +2 "manipulator"&I% +4 "core" % ] + .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( + "manipulator"&w& +4 "core" & ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &  ) + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&r' +99 "core" ' + "manipulator"&y& +4 "core" &  ) +2 "manipulator"&!% +4 "core" % + "processing"%E& +4 "core" &\ +2 "processing"%8& +5 "core" &\ +2 .tPC.seek :closed + "processing"%n(^ +4 "core" &\ +8 & ,\ $c +10 &U\ 7 +9 &}\ L +9 &Z\ O +10 &U]\ O +9 &]\ O +9 &\\\ O +10 &Y\ N +9 &]]\ O +9 & \\\ N +10 &Y\ O +9 &![\ N +10 &#eX\ O +9 &%(V\ N +9 &&Z\ N +10 &(Z\ N +9 &*nY\ N +9 &,.\\\ O +10 &-X\ O +9 &/\\\ O +10 &1v\\\ N +9 &37[\ O +9 &4]\ N +10 &6[\ O +9 &8|Z\ O +9 &:?[\ O +10 &<[\ O +9 &=\\\ O +10 &?]\ O +9 &ADb\ P +9 &Cn\ Q +10 &Dw\ R +9 &F~\ T +9 &H<\ U +10 &I\ V +9 &K\ U +10 &M~\ W +9 &OA\ V +9 &P\ X +10 &R\ V +9 &T\ W +10 &VG\ W +9 &X \ W +9 &Y \ W +10 &[\ W +9 &]L)\ M +9 &^M\ "h +10 &^.'\ 5 + ( +2 "processing"%8& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&z% +4 "core" %  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%4& +4 "core" &^&1\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&#% +4 "core" %   ,  +2 "storage"("% +3 "core" % t y {\ + "storage"( . +3 "core" . +51 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(|(,y +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &,y i ` C\  +2 "manipulator"&.& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & 9 ) +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(>'r +4 "manipulator"&1( +3 "core" ( +2 "manipulator"&& +4 "core" &  ? ) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & ) +2 .tForearm.seek PC +2 "manipulator"&}' +91 "core" ' + .tHand.close +2 "manipulator"&/ +73 "core" / +2 .tPC.seek :open + "processing"%+( +83 "core" ' + "storage"(<- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +316 ( + "storage"((& +4 "core" &,y G\  +2 "manipulator"&6& +3 "core" &  ) +2 "manipulator"&% +3 "core" %  4 +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +246 "core" ( + "manipulator"&&& +4 "core" &  a +2 "storage"(& +3 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&=' +98 "core" ' + .tHand.open + "manipulator"&'1 +54 "core" 1 +2 "storage"(@- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(L' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(5' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(-- +3 "core" -' +2 "storage"(]& +3 "core" &,y d\  +2 "manipulator"&F& +3 "core" &  O ` +2 .tElbow.seek 4 + "manipulator"&B( +4 "core" ( +2 "manipulator"&,& +3 "core" &  P ` +2 "storage"(U& +4 "core" &,y *\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&:' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(A'" +57 "core" ' + "manipulator"&2& +4 "core" &  ` +2 "storage"(H& +4 "core" &,y >\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +25 "core" ' + .tElbow.hold +2 "manipulator"&C, +6 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(/' +19 "core" ' + "manipulator"&9% +5 "core" %A * + "storage"(K& +4 "core" &,y w o\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts + "manipulator"&V'm +17 "core" ' + "manipulator"&& +5 "core" & ! H + "storage"(& +5 "core" &,y b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&*' +16 "core" ' + "storage"(M% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"($' +100 (N% +2 "core" %?R v w D\ Wf +2 "manipulator"&a% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +91 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (R& +4 "core" &,y +\ + "collection"'v& +4 "core" &\\nm\ Z +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&O% +3 "core" %   +2 "storage"(G% +4 "core" % \ + "storage"(e. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(Q(,y +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (0& +2 "core" &,y Q\  +2 "manipulator"&;& +4 "core" & H + .tElbow.seek 4 +2 "manipulator"&f( +28 "core" ( + "manipulator"&j& +5 "core" &  + "storage"(7& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&k' +94 "core" ' +2 "storage"(T& +4 "core" &,y b\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(i'r +295 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +2 "core" &  +2 "storage"(q& +3 "core" &,y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&P'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&~, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(W- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"({'f +27 "core" ' + "manipulator"&X% +4 "core" %D +2 "storage"(^& +3 "core" &,y \  +3 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 313 counts + "manipulator"&b'p +16 "core" ' + "manipulator"&3& +4 "core" & 5  +2 "storage"(s& +4 "core" &,y \  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&l' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(h' +39 "core" ' +2 "manipulator"&_& +4 "core" & M  +2 "manipulator"&t% +4 "core" % + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +161 "core" ( + "manipulator"& & +4 "core" &ӓ(   @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &ӓ( 4 @\\ +2 .tForearm.seek CC + "manipulator"&c'? +94 "core" ' + .tHand.close + "manipulator"&D/ +60 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"(u& +4 "core" &,y \  +2 "storage"(Y& +3 "core" &,y \  +2 "manipulator"&`& +3 "core" &Ӕ( ? @[ +2 "manipulator"&?% +3 "core" % 6 F +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +166 "core" ( + "manipulator"&d& +4 "core" &  +2 "storage"(& +3 "core" &,y *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&\ '7 +100 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&)1 +55 "core" 1 +2 "manipulator"&% +4 "core" % >  # + "storage"(I& +4 "core" &,y 5\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 307 counts +2 "manipulator"&x'j +16 "core" ' +2 "manipulator"&g& +4 "core" & 8  +2 "storage"(& +3 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +15 "core" ' + "storage"(w% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(%' +99 (m% +2 "core" %H \ Wc +2 "manipulator"&y% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&!' +91 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [4..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'E& +4 "core" &[Z\ + "manipulator"& % +4 "core" %  D  +2 "storage"(% +4 "core" % .\ + "storage"(o. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (z& +2 "core" &<* \ \  +2 "manipulator"&4& +3 "core" &  B  +2 .tElbow.seek 5 + "manipulator"&#( +9 "core" ( + "manipulator"&"& +4 "core" &  +2 "storage"( & +66 "core" &<* P\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&8'O +93 "core" ' + "storage"(& +4 "core" &<* u\ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ( & +3 "core" &<* '\ \  +2 "manipulator"&r& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & 5  +2 "storage"(<& +3 "core" &<* \ \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +76 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&n& +3 "storage"(>' +8 "core" &  + "manipulator"&(% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&6' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +160 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&}& +4 "core" &Ӓ% ) >H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &Ӓ% Q >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +98 "core" ' + "manipulator"&1& +5 "core" &ӓ% =G + "manipulator"&'% +4 "core" %A + +2 "collection"'@& +3 "core" &Y[\ +2 "collection"'-& +5 "core" &[[J\ +2 .tCC.seek :closed + "collection"'](\\ +4 "core" &Z\\\ +9 &;[\\H\ %f +10 &W}\\[\ 8 +9 &v\\\\\ L +9 &Y[\\\ L +10 &WZ\\\ L +9 &EX[Y\ L +9 &Y\\\\\ L +10 &Y[^\ L +9 &X]]\ L +10 &MX]]\ L +9 & X_^\ L +9 &!W^[\ L +10 &#X^\\\ L +9 &%UW]`\ L +9 &'X^^\ L +10 &(Y]^\ L +9 &*W^]\ L +10 &,]X\\^\ L +9 &.W\\]\ L +9 &/U^]\ L +10 &1W]_\ L +9 &3dW_]\ L +9 &5&X]^\ L +10 &6Y^]\ L +9 &8Y_]\ L +10 &:kY]^\ L +9 &<-X^^\ L +9 &=Z]_\ L +10 &?Y\\_\ L +9 &AsZ^`\ L +9 &C3`bc\ M +10 &Dmc`\ N +9 &Feh\ Q +10 &Hbgg\ U +9 &Jij\ W +9 &Kkk\ Z +10 &Mhk\ Z +9 &O]gi\ Y +9 &Qml\ Z +10 &Rkk\ [ +9 &Tjl\ [ +10 &V]kl\ \\ +9 &Xkj\ \\ +9 &Yji\ ] +10 &[ij\ K +9 &\\7ll\ / +9 &\\}lk\ Z +2 ( +2 "collection"'-& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&F1 +55 "core" 1 +2 "manipulator"&,% +4 "core" % A ` + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&U' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&2% +3 "core" % ! i % +2 "storage"(H% +3 "core" % \ +2 "storage"(9. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(K(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<* #\  +2 "manipulator"&& +3 "core" &ӓ$  = =G +2 "manipulator"&% +3 "core" % ! % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&L( +163 "core" ( + "manipulator"&M& +4 "core" &   +2 "storage"(& +3 "core" &<* N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&='O +96 "core" ' + "storage"(5& +4 "core" &<* 3\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +298 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +2 "core" &<* x\  +2 "manipulator"&B& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&A( +3 "core" ( +2 "manipulator"&& +3 "core" &   + "storage"(R& +4 "core" &<* R\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&V'Ϲ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +71 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&O& +3 "storage"(G' +7 "core" & ,  +2 "manipulator"&e% +4 "core" % ϭ U  + .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&0( +163 "core" ' + ."downElevator"SE.coast + "storage"(5 +76 "core" ( + "manipulator"&;& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&7' +94 "core" ' + "manipulator"&*& +4 "core" &  +2 "manipulator"&T% +4 "core" %  F + "processing"%$& +4 "core" &\ +2 "processing"%|& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(^ +5 "core" &\ \ +10 &.v\ *y +9 &c\ ? +9 &lw\ O +10 &.Y\ O +9 &\\\ O +9 &Z\ O +10 &uY\ N +9 &7Z\ N +10 &Z\ O +9 &U\ N +9 & |\\\ O +10 &"?Y\ N +9 &$X\ O +9 &%Y\ N +10 &'Z\ N +9 &)G\\\ N +9 &+ \\\ N +10 &,Z\ N +9 &.\\\ N +10 &0N\\\ O +9 &2\\\ O +9 &3]\ O +10 &5]\ O +9 &7WZ\ N +9 &9\\\ N +10 &:\\\ O +9 &<]\ O +10 &>^Z\ O +9 &@]\ O +9 &Aj\ P +10 &Cs\ Q +9 &EX\ T +10 &G\ U +9 &H\ U +9 &J\ U +10 &L[\ U +9 &N\ V +9 &O\ V +10 &Q\ W +9 &S^\ W +10 &U"\ V +9 &V\ V +9 &X-\ V +10 &Zg\ W +9 &\\)\ V +9 &]+\ 9 +10 &^/\ V +9 &^(+\ 5 +2 ( + "processing"%|& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&S1 +62 "core" 1 + "manipulator"&J% +4 "core" %  % F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%q& +4 "core" &^&)\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&W% +4 "core" % # h 4 +2 "storage"(X% +3 "core" % y \ +2 "storage"(^. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(3(<- +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (s& +2 "manipulator"&_& +5 "core" & W  + &<* l s \  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&t( + "storage"(k'r +5 "core" ( + "manipulator"&f& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +2 "core" &  -  +2 .tForearm.seek PC +2 "manipulator"&P' +101 "core" ' + .tHand.close + "manipulator"&b/ +66 "core" / +2 .tPC.seek :open +2 "processing"%{( +87 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(Z'1 +47 "core" ' +310 ( + "storage"(l& +4 "core" &<* \  +2 "manipulator"&~& +3 "core" &  +2 "manipulator"&D% +3 "core" %  d +51 .tForearm.seek :retract +3 "manipulator"&p' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +255 "core" ( + "manipulator"&u& +4 "core" &  1 \ +2 "storage"(Y& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&`'O +122 "core" ' + .tHand.open + "manipulator"&?1 +64 "core" 1 +2 "storage"(d- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(c' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"([- +3 "core" -' +2 "storage"()& +3 "core" &<* A\  +2 "manipulator"&& +3 "core" &  \ +2 .tElbow.seek 5 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&g& +3 "core" & $ \ +2 "storage"(& +3 "core" &<* \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +54 "core" ' + "manipulator"&m& +5 "core" & \ + "storage"(y& +4 "core" &<* ,\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(E' +23 "core" ' + "manipulator"&x% +5 "core" %Ρ + "storage"( & +4 "core" &<* t\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&' +16 "core" ' + "manipulator"&o& +5 "core" &  , \ + "storage"(h& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' + "storage"(%% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(Q' +100 (z% +2 "core" %I m e \ Wf +2 "manipulator"&4% +4 "core" %X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +91 "core" ' +64 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 ( & +4 "core" &<* \ + "collection"'& +4 "core" &\\~kj\ Z +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" % ! b ) + "storage"(!% +4 "core" % \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"( (<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (r& +2 "core" &<* \  +2 "manipulator"&& +3 "core" & \ +2 .tElbow.seek 5 +2 "manipulator"&<( +3 "core" ( + "manipulator"&& +4 "core" &  x \ +2 "storage"(n& +4 "core" &<* \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +100 "core" ' + "storage"(#& +4 "core" &<* /\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +295 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&&& +3 "core" &  \ +2 "storage"(.& +3 "core" &<* O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"(@'k +30 "core" ' + "manipulator"&% +4 "core" %Β +2 "storage"(>& +3 "core" &<* 5\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 305 counts + "manipulator"&6'Ͼ +15 "core" ' + "manipulator"&& +4 "core" & ' +2 "storage"(F& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&,'O +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +36 "core" ' + "manipulator"&2& +5 "core" & _ + "manipulator"&H% +4 "core" %N % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +157 "core" ( + "manipulator"&& +4 "core" &ӝ# ? <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӝ# G <@ + .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'M( +447 "core" ( +2 "storage"(& +4 "core" &<* \  + "storage"(& +4 "core" &<* \  + "manipulator"&5& +4 "core" &ӝ# <@ + "manipulator"&% +4 "core" % C 1 +2 .tForearm.seek :retract + "manipulator"&U' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&a( +164 "core" ( + "manipulator"&:& +4 "core" &  1  +2 "storage"(B& +3 "core" &<* z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&v1 +59 "core" 1 +2 "manipulator"&O% +4 "core" % Ά  + "storage"(e& +4 "core" &<* U\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 293 counts +2 "manipulator"&L'ϲ +17 "core" ' +2 "manipulator"&=& +4 "core" & o  +2 "storage"(N& +3 "core" &<* "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&V'O +20 "core" ' + "storage"(;% +5 "core" % V\ +2 ."downElevator"SE.seek :down +3 "storage"(j' +100 (A% +2 "core" %cE .\ Va +2 "manipulator"&*% +4 "core" %b  & + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +91 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 5 seconds +503 #Shuffling pucks in tube 4 of [4..5] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'$& +3 "core" &Z[\ +2 "manipulator"&G% +4 "core" %  @ ! + "storage"(/% +4 "core" % \ + "storage"(+. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(S(,y +356 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (J& +3 "core" &,{ \ + "manipulator"&q& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&W( +8 "core" ( + "manipulator"&X& +4 "core" &    +2 "storage"(^& +3 "core" &,{ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +96 "core" ' +2 "storage"(s& +4 "core" &,{ <\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(_'r +296 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" &,{ 8\ \  +2 "manipulator"&7& +3 "core" &  +2 .tElbow.seek 4 +49 "manipulator"&b( +4 "core" ( + "manipulator"&K& +3 "core" &  +2 "storage"( & +3 "core" &,{ \ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&0'c +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +4 "storage"(k' +4 "core" &  + "manipulator"&l% +4 "core" % W +2 .tForearm.seek :retract +2 "manipulator"&~' +101 "core" ' +2 .tElbow.seek CC + "manipulator"&D(ӂ +150 "core" ' + ."downElevator"SE.coast + "storage"(5 +10 "core" ( + "manipulator"&P& +5 "core" &Ӎ* Bf + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &Ӎ* Bf +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'? +91 "core" ' + "manipulator"&t& +5 "core" &Ӎ*  / Bf + "manipulator"&?% +4 "core" %7 k < +2 "collection"'d& +3 "core" &]\\\ +2 "collection"'[& +5 "core" &\\\\\ +2 .tCC.seek :closed + "collection"')(\\ +5 "core" &Y\\#\  +9 &4}Z\\\ *z +9 &f\\[\ ? +10 &r]]\ M +9 &SU[]\ L +9 &V\\]5\ L +10 &Y]]7\ L +9 &X^^ \ L +9 &\\^\ L +10 &Y]\\\ L +9 &V^_\ L +10 & X^\\\ L +9 &"cW^\\\ L +9 &$&X^]\ K +10 &%X_^\ L +9 &'X^^\ L +9 &)kX_^\ L +10 &+,Z]]\ L +9 &,W^_\ L +10 &.V^`\ L +9 &0sW]^\ L +9 &26Y__\ K +10 &3Z]a\ L +9 &5X^_\ L +9 &7{Z_`\ L +10 &9=Y^^\ L +9 &:W^a\ L +10 &<Y_^\ L +9 &>Y`_\ L +9 &@EY__\ L +10 &B]a`\ L +9 &Cccc\ M +9 &Eudd\ O +10 &G9jh\ S +9 &Hpl\ V +10 &Jqp\ X +9 &Lntt\ X +9 &N0tt\ X +10 &Otr\ Y +9 &Qts\ Z +9 &Squu\ Z +10 &U1vt\ [ +9 &Vsw\ [ +10 &Xvv\ ] +9 &Zpvv\ ] +9 &\\yvx\ 4 +10 &\\'xx\ %n +8 ( +2 &\\uw\ !a +2 "collection"'[& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&p% +4 "core" % 7  9 < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +93 "core" ' +2 .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"&m% +4 "core" %  H  +2 "storage"(y% +4 "core" % t y \ + "storage"(x. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"( (,y +12 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (Z& +2 "core" &,z r\ +2 "manipulator"&o& +3 "core" &ӎ) 9 Ae +2 "manipulator"&h% +3 "core" %  .  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +157 "core" ( + "manipulator"&%& +4 "core" &   +2 "storage"(& +3 "core" &,z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&`' +121 "core" ' + "storage"(c& +4 "core" &,z \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'r +295 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &,z Q\ +2 "manipulator"&I& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +30 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"( & +3 "core" &,z |\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(!' +7 "core" & 6  + "manipulator"&E% +4 "core" % ϕ +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&r( +163 "core" ' + ."downElevator"SE.coast + "storage"(5 +78 "core" ( +2 "manipulator"&& +4 "core" & % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n' +103 "core" ' + "manipulator"&& +4 "core" & j % +2 "manipulator"&#% +4 "core" %  + "processing"%Q& +4 "core" &\ +3 "processing"%3& +4 "core" &\ +2 .tPC.seek :closed + "processing"%\ (^ +6 "core" &\  +9 &-v\ +{ +10 &c\ ? +9 &kv\ O +9 &-Y\ O +10 &Z\ O +9 &V\ O +9 &s[\ O +10 &5[\ O +9 &Y\ N +9 &W\ N +10 & |\\\ N +9 &">Y\ N +10 &#[\ O +9 &%X\ N +9 &'Y\ N +10 &)EV\ O +9 &+V\ N +9 &,Y\ N +10 &.W\ N +9 &0MZ\ O +10 &2Z\ N +9 &3Y\ N +9 &5Y\ O +10 &7VX\ N +9 &9Z\ O +10 &:_\ O +9 &<Y\ N +9 &>\\\\\ O +10 &@\\\ O +9 &Af\ P +9 &Cq\ Q +10 &EX\ S +9 &G\ T +9 &H\ U +10 &J\ U +9 &LZ\ U +10 &N\ V +9 &O\ W +9 &Q\ V +10 &S]\ W +9 &U \ V +9 &V\ W +10 &X\ V +9 &Zg\ V +10 &\\&\ W +9 &]}\ ; +9 &^3\ Z +10 &^%\ 2 + ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&"1 +59 "core" 1 + "manipulator"&}% +4 "core" %  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%.& +4 "core" &^#\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&'% +4 "core" % & C +2 "storage"(% +3 "core" % t w :\ +2 "storage"(>. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +3 (F& + "manipulator"&2& +6 "core" &,z u u \  +3 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & L % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(H'r +4 "manipulator"&(( +3 "core" ( + "manipulator"&<& +4 "core" &  K % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &  % +2 .tForearm.seek PC + "manipulator"&' +99 "core" ' + .tHand.close + "manipulator"&6/ +75 "core" / +2 .tPC.seek :open + "processing"%@( +75 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +47 "core" ' +326 ( + "storage"(,& +5 "core" &,y z \  + "manipulator"&1& +4 "core" & % + "manipulator"&% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&9' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&]( +243 "core" ( + "manipulator"&& +4 "core" &   ? +2 "storage"(& +3 "core" &,y t q \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +101 "core" ' + .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(:- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +4 "core" -' + "storage"(v& +4 "core" &,y r \  + "manipulator"&O& +4 "core" & ? +2 .tElbow.seek 4 + "manipulator"&e( +4 "core" ( + "manipulator"&=& +4 "core" &  s ? +2 "storage"(N& +3 "core" &,y s u >\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&;' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +51 "storage"(U'" +54 "core" ' + "manipulator"&A& +5 "core" &  ? + "storage"(*& +4 "core" &,y `\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&a'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(L' +25 "core" ' + "manipulator"&% +5 "core" %H D  + "storage"(V& +4 "core" &,y w t O\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&j't +18 "core" ' + "manipulator"& & +5 "core" & > + "storage"($& +4 "core" &,y *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&G' +16 "core" ' +2 "storage"(/% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(+' +100 (J% +2 "core" %sI u u *\ We +2 "manipulator"&q% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +88 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (^& +4 "core" &,y u\ + "collection"'s& +4 "core" &\\mo\ !a +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&R% +4 "core" %  N  + "storage"(T% +4 "core" % \ + "storage"(f. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(i(,y +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (7& +2 "core" &,y [\  +2 "manipulator"&K& +4 "core" &  > + .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( + "manipulator"&\\& +4 "core" &  > > + "storage"(C& +4 "core" &,y x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&l' +99 "core" ' + "storage"(W& +4 "core" &,y \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +299 "core" ' +2 "storage"(P- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&u& +3 "core" & > +2 "storage"(_& +3 "core" &,y !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&0'7 +28 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(d'f +28 "Can"\ _] + "core" ' +2 "manipulator"&b% +4 "core" %E | + "storage"(k& +4 "core" &,y u w "\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 314 counts +2 "manipulator"&~'q +25 "core" ' + "manipulator"&M& +4 "core" &  > +2 "storage"(& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +34 "core" ' + "manipulator"&m& +5 "core" &  > + "manipulator"&y% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +150 "core" ( + "manipulator"&Z& +4 "core" &ӂ-  N Dv + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &ӂ, ; Dv +2 .tForearm.seek CC +2 "manipulator"&h'? +96 "core" ' + .tHand.close + "manipulator"&Y/ +55 "core" / +2 .tCC.seek :open + "collection"'%( +448 "core" ( + "storage"(& +4 "core" &,y \  +2 "storage"(S& +3 "core" &,y \  +2 "manipulator"&c& +3 "core" &Ӝ' @\\ +2 "manipulator"&D% +3 "core" % B  ' +2 .tForearm.seek :retract + "manipulator"&g' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&4( +164 "core" ( + "manipulator"&w& +4 "core" &  +2 "storage"(I& +3 "core" &,y Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % 6  + "storage"(E& +4 "core" &,y W\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 299 counts +2 "manipulator"&'b +21 "core" ' + "manipulator"&`& +4 "core" & !  +2 "storage"(z& +3 "core" &,y B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +35 "core" ' + "storage"(% +4 "core" % X\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +2 "core" %F \ Wb +2 "manipulator"&% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&#' +89 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [4..5] +2 #Loading generic puck from tube 5 into Collection Clamp "collection"'Q& +5 "core" &\\\\\ + "manipulator"&!% +4 "core" %   + "storage"(% +4 "core" % \ + "storage"({. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"("(<- +353 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (}& +2 "core" &<+) \  +2 "manipulator"&.& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&'( +7 "core" ( + "manipulator"&& +4 "core" & *  +2 "storage"(>& +3 "core" &<+) J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +94 "core" ' + "storage"(F& +4 "core" &<+) \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'r +298 "core" ' + "storage"(<- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (8& +3 "core" &<+' i\  + "manipulator"&n& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&6( +3 "core" ( + "manipulator"& & +4 "core" &    +2 "storage"(& +3 "core" &<+& \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&r'Ϲ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & + "storage"(H' +6 "core" &   +2 "manipulator"&,% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&1' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ( + ' +2 ."downElevator"SE.coast +2 "manipulator"&& +2 "storage"(5 +6 "core" &Ӊ- I D{ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӊ- J D{ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +101 "core" ' + "manipulator"&(& +4 "core" &ӑ+ 6 Cs +2 "manipulator"&% +4 "core" %B C  + "collection"':& +4 "core" &[Z]\ +2 "collection"'-& +5 "core" &[[b\ +2 .tCC.seek :closed + "collection"'v(\\ +57 "core" &YZ \  + &4}[Z\ +{ +2 & f]\\ \ ? + &q[^\ M + &XW[\\ \ L + &W]]\ L + &X]]\ L +7 &X]\\\ K +9 &`XY^ \ L +9 &#Y]\\s\ L +10 &W[^\ L +9 & Z][\ L +10 &"jW]]\ K +9 &$*Y_]\ L +9 &%W]]\ L +10 &'Z[^\ L +9 &)qW\\_\ L +9 &+4W]^\ K +10 &,W_]\ L +9 &.Y[_\ L +10 &0yU^_\ L +9 &2;W]^\ L +9 &3\\`_\ L +10 &5W]^\ L +9 &7Y\\_\ L +9 &9BU]`\ L +10 &;W^_\ L +9 &<X_]\ L +10 &>Wa`\ L +9 &@JX`_\ L +9 &B \\_`\ L +10 &Cbba\ M +9 &Epde\ O +9 &G>ef\ S +10 &Hjg\ V +9 &Jkh\ Y +10 &Lqil\ Y +9 &N4kj\ Y +9 &Oll\ [ +10 &Qji\ Z +9 &Srkm\ \\ +9 &U3jk\ \\ +10 &Vkj\ ^ +9 &Xij\ ] +10 &Zuik\ ] +9 &\\yhh\ 4 +9 &\\(ii\ %n +9 ( +2 &\\jk\ _ +2 "collection"'-& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.31 + .Hand.open +2 "manipulator"&O1 +52 "core" 1 +2 "manipulator"&=% +4 "core" % B    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%9& +4 "core" &\ +2 "manipulator"&A% +3 "core" % # _ 7 +2 "storage"(*% +4 "core" % l s \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (B& +3 "core" &<+ w v _\  +2 "manipulator"&V& +3 "core" &ӓ+ > Cq +2 "manipulator"& % +3 "core" % # 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&$( +163 "core" ( + "manipulator"&/& +4 "core" &  %  +2 "storage"(]& +3 "core" &<,) I I \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&5'O +106 "core" ' + "storage"(& +4 "core" &<,) v v T\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'r +295 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +2 "core" &<,( A ) T\  +2 "manipulator"&e& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&U( +4 "core" ( + "manipulator"&a& +4 "core" &  +2 "storage"(j& +3 "core" &<,( R S P\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&^'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +69 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&R& +3 "storage"(T' +6 "core" &  +2 "manipulator"&L% +3 "core" % ϵ +2 .tForearm.seek :retract +2 "manipulator"&f' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&7( +163 "core" ' + ."downElevator"SE.coast + "storage"(5 +76 "core" ( + "manipulator"&K& +4 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +2 "core" & >  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&C' +100 "core" ' + "manipulator"&G& +4 "core" &  \  +2 "manipulator"&W% +4 "core" % B  + "processing"%+& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\  +10 &-v\ +z +9 &c\ ? +10 &bt\ O +9 &%T\ O +9 &Z\ O +10 &W\ O +9 &kW\ O +9 &-Z\ O +10 &[\ O +9 &T\ O +10 & sZ\ O +9 &"5W\ O +9 &#Z\ O +10 &%W\ O +9 &'{V\ O +10 &)=U\ O +9 &*U\ O +9 &,X\ N +10 &.W\ O +9 &0EZ\ O +9 &2Y\ O +10 &3W\ N +9 &5Y\ O +10 &7MW\ O +9 &9Y\ O +9 &:[\ O +10 &<X\ O +9 &>U[\ O +9 &@\\\ O +10 &Af\ P +9 &Cn\ Q +10 &EP}\ S +9 &G \ U +9 &H\ U +10 &J\ U +9 &LP\ V +9 &N\ V +10 &O\ V +9 &Q\ W +10 &SU\ W +9 &U\ V +8 &V\ W +11 &X\ W +9 &Z]\ W +9 &\\\ W +10 &]\ 6 +9 &^4u\ E +8 ( +2 &^*\ 5 + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&X1 +54 "core" 1 + "manipulator"&P% +4 "core" %  0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%_& +4 "core" &^*\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&?% +3 "core" % & r I +2 "storage"(b% +3 "core" % t u $\ +2 "storage"(k. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(M(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &<, r k\  +2 "manipulator"&m& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & e  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&y( + "storage"(l'r +6 "core" ( + "manipulator"& & +4 "core" & E  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" & <  +2 .tForearm.seek PC +2 "manipulator"&0' +92 "core" ' + .tHand.close + "manipulator"&~/ +68 "core" / +2 .tPC.seek :open +2 "processing"%d( +91 "core" ' + "storage"(Z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(o'1 +39 "core" ' +314 ( + "storage"(p& +4 "core" &<, \  +2 "manipulator"&t& +3 "core" &  +2 "manipulator"&Y% +3 "core" %  D +2 .tForearm.seek :retract + "manipulator"&x' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&)( +257 "core" ( + "manipulator"&& +4 "core" & +2 "storage"(S& +3 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +95 "core" ' + .tHand.open + "manipulator"&D1 +60 "core" 1 +2 "storage"(w- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(I' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(h' +59 "core" ' +3 #tLights, camera, ACTION! + "storage"([- +3 "core" -' +2 "storage"(& +3 "core" &<, '\  +2 "manipulator"&& +3 "core" & E +2 .tElbow.seek 5 + "manipulator"&E( +4 "core" ( + "manipulator"&`& +4 "core" &  Q +2 "storage"(z& +3 "core" &<, \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(g'" +54 "core" ' + "manipulator"&& +4 "core" & +2 "storage"(& +4 "core" &<, u n T\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&4'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&Q% +5 "core" %Π + "storage"(!& +4 "core" &<, s t\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&' +16 "core" ' + "manipulator"&{& +5 "core" & + "storage"(& +4 "core" &<, U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +18 "core" ' + "storage"(% +5 "core" % 1\ +2 ."downElevator"SE.seek :down +3 "storage"(i' +100 (}% +2 "core" %GF u 4\ Wd +2 "manipulator"&.% +4 "core" %J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +142 "core" ' +11 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (>& +4 "core" &<, c\ + "collection"'F& +4 "core" &\\jk\ _ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" % # 5 8 + "storage"(#% +4 "core" % \ + "storage"(<. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(8(<- +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (n& +3 "core" &<, \  + "manipulator"& & +4 "core" & < +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&&& +4 "core" &  H +2 "storage"(\ & +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +95 "core" ' + "storage"('& +5 "core" &<, \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'r +295 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & +2 "storage"(2& +3 "core" &<, >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&r'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&(, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(:'k +29 "core" ' + "manipulator"&6% +4 "core" %Π / +2 "storage"(H& +3 "core" &<, m\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts + "manipulator"&1' +22 "core" ' + "manipulator"&%& +4 "core" & +2 "storage"(O& +4 "core" &<, p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&='O +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(9' +34 "core" ' + "manipulator"&A& +5 "core" &  + "manipulator"&*% +4 "core" %D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +161 "core" ( + "manipulator"&B& +4 "core" &Ӛ!    :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &Ӛ!   :. + .tForearm.seek CC +2 "manipulator"& '? +94 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'/( +451 "core" ( +2 "storage"(]& +4 "core" &<, \  + "storage"("& +4 "core" &<, i\  + "manipulator"&& +4 "core" &Ӛ"  :. + "manipulator"&% +4 "core" % < : + .tForearm.seek :retract +2 "manipulator"&N' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&q( +162 "core" ( + "manipulator"&;& +4 "core" &  +2 "storage"(e& +3 "core" &<, \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&a'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&s1 +54 "core" 1 +2 "manipulator"&R% +4 "core" % Ξ , + "storage"(L& +4 "core" &<, K\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&$' +27 "core" ' +2 "manipulator"&5& +4 "core" &   +2 "storage"(J& +4 "core" &<, '\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&^'O +22 "core" ' + "storage"(K% +5 "core" % K\ +2 ."downElevator"SE.seek :down +3 "storage"(\\' +100 (U% +2 "core" %[D \ V` +2 "manipulator"&G% +4 "core" % b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +93 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 .tdelay 5 seconds +502 #Shuffling pucks in tube 4 of [4..5] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'+& +3 "core" &YY\ +2 "manipulator"&T% +3 "core" %    +2 "storage"(f% +3 "core" % \ +2 "storage"(@. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(X(,y +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (P& +2 "core" &,| c\ +2 "manipulator"&_& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&?( +3 "core" ( + "manipulator"&b& +3 "core" &  ]  +2 "storage"(k& +3 "core" &,| x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +98 "core" ' +2 "storage"(& +4 "core" &,| \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'r +309 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +2 "core" &,{ \ \  +2 "manipulator"&C& +3 "core" & \  +2 .tElbow.seek 4 + "manipulator"&~( +4 "core" ( +2 "manipulator"&& +3 "core" & *  +2 "storage"(Z& +3 "core" &,{ \ \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&7'c +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +63 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(l' +7 "core" & 3  + "manipulator"&p% +4 "core" % m j +2 .tForearm.seek :retract + "manipulator"&t' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +151 "core" ' + ."downElevator"SE.coast + "storage"(5 +7 "core" ( + "manipulator"&0& +4 "core" &Ӓ& ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӓ& ?V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'? +90 "core" ' + "manipulator"&y& +4 "core" &Ӓ&  ?V +2 "manipulator"&D% +4 "core" %8  + "collection"'w& +4 "core" &[\\q\ +2 "collection"'[& +4 "core" &][\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &Z\\#\  +9 &4}\\["\ +{ +10 &g[[\ ? +9 &r^]\ M +9 &SV][ \ K +10 &W]] \ L +9 &[[^ \ L +10 &W[]\ K +9 &]^\ K +9 &Z\\[\ L +10 &U[\\ \ L +9 & U]^\ L +9 &"bU^]\ L +10 &$%W\\]\ K +9 &%Y]]\ L +10 &'[]]\ L +9 &)jW^_y\ L +9 &+,V__\ L +10 &,U\\`\ L +9 &.W^_\ K +9 &0sW_`\ K +10 &24X^^\ L +9 &3[_`\ L +10 &5W^_\ L +9 &7zY]`\ L +9 &9;\\^_\ L +10 &:Y^^\ K +9 &<X]_\ L +9 &>W^_\ L +10 &@DX^_\ L +9 &B]bb\ L +10 &Chdb\ N +9 &Ergg\ O +9 &G8jj\ S +10 &Hpm\ V +9 &Jqq\ Y +9 &Llrt\ X +10 &N+tr\ Y +9 &Osu\ [ +10 &Quu\ Z +9 &Siuu\ \\ +9 &U.vv\ [ +10 &Vwu\ ] +9 &Xuw\ ] +9 &Zmxw\ ^ +10 &\\ywv\ 5 +9 &\\#ww\ )x +10 &\\uw\ "d +2 ( + "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 +2 .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&`% +4 "core" % 8  I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%x& +4 "core" &\ +2 "manipulator"&% +3 "core" % ! Y ) +2 "storage"(% +3 "core" % y \ +2 "storage"(Q. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(!(,y +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (o& +2 "core" &,| l 2\ +50 "manipulator"&{& +6 "core" &ӓ& ?U + "manipulator"&% +4 "core" % !  ) + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&I( +167 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"()& +4 "core" &,| \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&c' +94 "core" ' + "storage"(h& +4 "core" &,| H\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'r +294 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,| b\ +2 "manipulator"&E& +4 "core" & `  + .tElbow.seek 4 +2 "manipulator"&g( +3 "core" ( + "manipulator"&4& +4 "core" &  + "storage"(>& +4 "core" &,| \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +65 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"& & +3 "storage"(#' +7 "core" &  + "manipulator"&<% +4 "core" % g +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&n( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( + "manipulator"& & +4 "core" & 3  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\ ' +102 "core" ' + "manipulator"&& +4 "core" & g  +2 "manipulator"&'% +4 "core" %  + "processing"%i& +4 "core" &\ +2 "processing"%M& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +10 &.v\ +z +10 &c\ ? +9 &iu\ O +9 &.W\ N +10 &Z\ N +9 &V\ N +9 &sV\ N +10 &5V\ N +9 &Y\ N +10 &Y\ N +9 & zX\ O +9 &"=V\ N +10 &#Z\ O +9 &%W\ N +9 &'[\ N +10 &)EY\ N +9 &+Y\ N +10 &,Y\ N +9 &.Z\ N +9 &0MY\ N +10 &2W\ N +9 &3Z\ N +10 &5\\\ N +9 &7UV\ N +9 &9Z\ N +10 &:]\ O +9 &<W\ N +9 &>\\[\ O +10 &@Y\ O +9 &Ae\ P +9 &Cp\ Q +10 &EX\ S +9 &G\ T +10 &H\ U +9 &J\ U +9 &LY\ U +10 &N\ V +9 &O\ V +9 &Q\ V +10 &S]\ W +9 &U \ V +10 &V\ W +9 &X\ V +9 &Zf\ V +10 &\\&\ W +9 &]\ : +9 &^1\ X +10 &^,\ 4 + ( +2 "processing"%M& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%2& +4 "core" &^++\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %   +2 "storage"(6% +3 "core" % \ +2 "storage"(H. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(%(,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (O& +3 "core" &,|  .\ +2 "manipulator"&A& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & 6  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&*( + "storage"(,'r +5 "core" ( + "manipulator"&& +4 "core" &  D  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" & Q  +2 .tForearm.seek PC + "manipulator"&r' +98 "core" ' + .tHand.close +2 "manipulator"&1/ +72 "core" / +2 .tPC.seek :open +2 "processing"%:( +80 "core" ' + "storage"(B- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(V'1 +46 "core" ' +317 ( + "storage"(=& +4 "core" &,|$ R I \  +2 "manipulator"&(& +3 "core" & *  + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&v( +246 "core" ( + "manipulator"&]& +4 "core" &  q : +2 "storage"("& +3 "core" &,|$ P H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' + .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(;- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(e' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +4 "core" -' + "storage"(s& +4 "core" &,|" c\   +2 "manipulator"&R& +3 "core" & : +2 .tElbow.seek 4 + "manipulator"&L( +3 "core" ( +2 "manipulator"&5& +3 "core" & : +2 "storage"(J& +3 "core" &,|" $\   +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(N'" +52 "core" ' + "manipulator"&U& +4 "core" & : +2 "storage"(G& +3 "core" &,|% u u ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&q'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"($' +24 "core" ' + "manipulator"&9% +5 "core" %D  + "storage"(^& +4 "core" &,|$ I I V\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&\\'p +21 "core" ' + "manipulator"&8& +5 "core" &  1 4 + "storage"(+& +4 "core" &,|$ I I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&T' +16 "core" ' + "storage"(f% +5 "core" % u t .\ +2 ."downElevator"SE.seek :down +3 "storage"(@' +100 (P% +2 "core" %]J F E \ Xf +2 "manipulator"&_% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +90 "core" ' +68 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (k& +3 "core" &,} t { (\ +2 "collection"'& +3 "core" &\\lk\ "d +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&j% +4 "core" %    +2 "storage"(W% +4 "core" % \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(|(,y +10 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (C& +2 "core" &,z ;\ +2 "manipulator"&& +3 "core" & 4 +2 .tElbow.seek 4 + "manipulator"&Z( +4 "core" ( + "manipulator"&u& +4 "core" &  \ 4 + "storage"(& +4 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&p' +98 "core" ' + "storage"(?& +4 "core" &,| \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +303 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & y 4 +2 "storage"(m& +3 "core" &,| p z A\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +51 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&7'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&y, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(D- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(w'e +29 "core" ' + "manipulator"&~% +4 "core" %; P +2 "storage"(l& +3 "core" &,| p u \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 304 counts +2 "manipulator"&t'g +27 "core" ' + "manipulator"&/& +5 "core" &  < 4 + "storage"(& +4 "core" &,| \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&`' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(x' +33 "core" ' + "manipulator"&& +5 "core" & t 4 + "manipulator"&% +4 "core" % d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +151 "core" ( + "manipulator"&o& +4 "core" &ӏ*  9 Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &ӏ* \   Bj +2 .tForearm.seek CC + "manipulator"&'? +96 "core" ' + .tHand.close + "manipulator"&S/ +62 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"()& +4 "core" &,| \  +2 "storage"(X& +3 "core" &,| \  +2 "manipulator"&h& +3 "core" &ӓ* Bf +2 "manipulator"&Y% +3 "core" % > ? +2 .tForearm.seek :retract + "manipulator"&z' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&.( +166 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(E& +3 "core" &,| \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&4'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&F1 +56 "core" 1 +2 "manipulator"& % +4 "core" % H + "storage"(<& +4 "core" &,| .\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&I't +20 "core" ' +2 "manipulator"&c& +4 "core" & v  +2 "storage"(}& +3 "core" &,| \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +18 "core" ' + "storage"( % +5 "core" % =\ +2 ."downElevator"SE.seek :down +3 "storage"(&' +99 (g% +2 "core" %D \ Va +2 "manipulator"&% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'' +97 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [4..5] +2 #Loading generic puck from tube 5 into Collection Clamp "collection"'i& +5 "core" &\\Z\\\ + "manipulator"&#% +4 "core" % \  2  +2 "storage"(% +4 "core" % \ + "storage"(d. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +354 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<*( -\  +2 "manipulator"&2& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&( +10 "core" ( + "manipulator"&6& +4 "core" & !  +2 "storage"(H& +3 "core" &<*( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&M'O +94 "core" ' + "storage"(O& +4 "core" &<*( \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +2 "core" &<*& u\  +2 "manipulator"&\ & +3 "core" & b  +2 .tElbow.seek 5 + "manipulator"&1( +4 "core" ( + "manipulator"&!& +4 "core" &  +2 "storage"(B& +3 "core" &<*& &\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&n'Ϲ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(,' +8 "core" &  + "manipulator"&=% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&(' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +154 "core" ' +2 ."downElevator"SE.coast + "storage"(5 +3 "core" ( + "manipulator"&r& +4 "core" &y0 < F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &y0 F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'? +103 "core" ' + "manipulator"&*& +4 "core" &Ӗ*   Ah +2 "manipulator"&% +4 "core" %(  + "collection"';& +4 "core" &Y\\!\ +2 "collection"'-& +5 "core" &Z\\k\ +3 .tCC.seek :closed + "collection"'s(\\ +4 "core" &Z[\  +10 &3}Z\\\ *z +9 & f|\\\\\ > +10 &r\\^\ M +9 &WW[\\\ L +9 &Z\\^\ L +10 &Z^^\ L +9 &V]\\\ K +9 &_V\\]\ L +10 &![[]\ L +9 &T_^\ L +10 & W^`\ K +9 &"gW]^\ L +9 &$)Y^]L\ L +10 &%U[^\ L +9 &'U^^\ L +9 &)oW^]\ L +10 &+1Y]^\ L +9 &,Y^^\ L +10 &.U]_\ L +9 &0wU\\_\ L +9 &29U^]\ L +10 &3U]_\ L +9 &5V`^\ K +9 &7X^^\ L +10 &9AZ^]\ L +9 &;W^^\ K +10 &<Wa_\ K +9 &>W``\ L +9 &@IU__\ L +10 &B\ [`_\ L +9 &Cdc`\ M +10 &Epec\ O +9 &G?hf\ R +9 &Hii\ V +10 &Jkh\ X +9 &Lsjj\ X +9 &N3ik\ Y +10 &Okl\ Y +9 &Qjn\ Z +10 &Stjk\ Z +9 &U4ll\ [\ +9 &Vik\ [ +10 &Xkk\ ] +9 &Zujl\ ] +9 &\\wjk\ 6 +10 &\\%ii\ (u +8 ( +2 &\\jj\ !a +2 "collection"'-& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&R1 +56 "core" 1 +2 "manipulator"&5% +4 "core" % &    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&J' +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&U% +3 "core" % !  + ( +2 "storage"(G% +3 "core" % l v \ +2 "storage"(9. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(^(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (V& +2 "core" &<* l s \  +2 "manipulator"&8& +4 "core" &Ӛ) U Ad + "manipulator"&+% +4 "core" % !   ( + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&e( +164 "core" ( + "manipulator"&f& +4 "core" &  V  +2 "storage"(v& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' + "storage"( & +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +295 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +2 "core" &<* @\  +2 "manipulator"&L& +3 "core" & D  +2 .tElbow.seek 5 + "manipulator"&N( +3 "core" ( +2 "manipulator"&q& +4 "core" &   +2 "storage"(\\& +3 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&k'Ϲ +38 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +68 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&j& +3 "storage"(W' +7 "core" &   + "manipulator"&$% +4 "core" % ϼ s +51 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&C( +117 "core" ' + ."downElevator"SE.coast + "storage"(5 +120 "core" ( +2 "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&T& +5 "core" &  + "manipulator"&?% +4 "core" % _ +2 "processing"%@& +3 "core" &\ +3 "processing"%%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%a(^ +4 "core" &\ +8 & -\ #b +10 &V~\ 7 +9 &~}\ L +9 &X\ N +10 &YY\ N +9 &Y\ N +10 &Y\ O +9 &W\ N +9 &aU\ N +10 &#Y\ N +9 &W\ N +10 &!W\ N +9 &#iX\ N +9 &%,R\ N +10 &&W\ N +9 &(Z\ N +9 &*qY\ N +10 &,3Z\ N +9 &-Z\ N +9 &/]\ O +10 &1x]\ O +9 &3;Y\ N +10 &4U\ N +9 &6W\ N +9 &8]\ O +10 &:BZ\ O +9 &<W\ N +9 &=Y\ N +10 &?Y\ O +9 &AIa\ O +10 &Cn\ Q +9 &Dz\ R +9 &F\ T +10 &H@\ U +9 &J\ U +10 &K\ U +9 &M\ V +9 &OF\ U +10 &Q\ V +9 &R\ V +9 &T\ V +10 &VK\ V +9 &X \ V +10 &Y\ W +9 &[\ V +9 &]R\ G +10 &^t>v\ *z +9 &^6\ 3 +5 ( +2 "processing"%%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open "manipulator"&b1 +4 "core" &^"\ 3 +58 1 + "manipulator"&0% +4 "core" %   _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%m& +4 "core" &^"\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&D% +3 "core" % # 3 +2 "storage"(~% +3 "core" % v s \ +2 "storage"(l. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(/(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "manipulator"&& +6 "core" &<* o g @\  + & \\  +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +2 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"(p'r +5 "core" ( + "manipulator"&Z& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & X  +2 .tForearm.seek PC +2 "manipulator"&7' +93 "core" ' + .tHand.close + "manipulator"&t/ +75 "core" / +2 .tPC.seek :open + "processing"%w( +82 "core" ' + "storage"(o- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'1 +40 "core" ' +324 ( + "storage"(`& +4 "core" &<* `\  +2 "manipulator"&y& +3 "core" & i  +2 "manipulator"&S% +3 "core" %  ? +2 .tForearm.seek :retract + "manipulator"&Q' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +246 "core" ( + "manipulator"&)& +4 "core" & ' C +2 "storage"(X& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&h'O +118 "core" ' + .tHand.open + "manipulator"&Y1 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(E' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"([- +4 "core" -' + "storage"(F& +4 "core" &<* q\  + "manipulator"& & +4 "core" & c C + .tElbow.seek 5 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&c& +4 "core" &   C + "storage"(}& +4 "core" &<* \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(z'" +57 "core" ' + "manipulator"&g& +4 "core" & C +2 "storage"(& +4 "core" &<* p\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&.'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(i' +21 "core" ' + "manipulator"&I% +5 "core" %Α + "storage"(#& +4 "core" &<* n m v\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts + "manipulator"&'Ͻ +17 "core" ' + "manipulator"&d& +5 "core" & # + "storage"(x& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +26 "core" ' + "storage"(&% +5 "core" % E\ +2 ."downElevator"SE.seek :down +3 "storage"(|' +100 (% +2 "core" %BK u v -\ Xh +2 "manipulator"&2% +4 "core" %K { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +97 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (H& +4 "core" &<* >\ + "collection"'O& +4 "core" &\\jj\ !a +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&>% +4 "core" %    + "storage"('% +4 "core" % \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(3(<- +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (\ & +2 "core" &<* 9\  +2 "manipulator"&!& +3 "core" & # +2 .tElbow.seek 5 +2 "manipulator"&B( +19 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&='O +95 "core" ' + "storage"(& +4 "core" &<* 5\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +295 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +2 "core" & ;  +2 "storage"(A& +3 "core" &<* "\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&n'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&*, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(;'j +30 "core" ' + "manipulator"&1% +4 "core" %Π 1 +2 "storage"(,& +3 "core" &<* \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts + "manipulator"&(' +20 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(R& +3 "core" &<* <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&5'O +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +35 "core" ' + "manipulator"&U& +5 "core" &  + "manipulator"&G% +4 "core" %J  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&9' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +160 "core" ( + "manipulator"&V& +4 "core" &ӑ&  ) ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +52 &8& +2 "core" &ӑ& U ?V +2 .tForearm.seek CC +2 "manipulator"&+'? +94 "core" ' + .tHand.close + "manipulator"&"/ +70 "core" / +2 .tCC.seek :open + "collection"'f( +447 "core" ( + "storage"(v& +4 "core" &<* X\  +2 "storage"(& +3 "core" &<* \  +2 "manipulator"& & +3 "core" &Ӓ& M ?U +2 "manipulator"&% +3 "core" % @ < +2 .tForearm.seek :retract +2 "manipulator"&J' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&_( +163 "core" ( + "manipulator"&K& +4 "core" &  +2 "storage"(L& +4 "core" &<* L\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&q'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&j% +4 "core" % Δ  A - + "storage"($& +4 "core" &<* *\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 307 counts + "manipulator"&e' +23 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(P& +4 "core" &<* $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&k'O +18 "core" ' + "storage"(% +4 "core" % \  +3 ."downElevator"SE.seek :down +3 "storage"(u' +99 (N% +2 "core" %rF \ Va +2 "manipulator"&T% +4 "core" %Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&?' +94 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 5 seconds +32570 "Can"\ <: +54166 #t-> flush.CC +2 !o:NoMethodError : mesgu:NameError::message,undefined method `CC' for :flush:Symbol: name:CC: args[:bt["(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +718 #-> Flush +338 #-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'@& +3 "core" &\\[\ +2 "manipulator"&W& +4 "core" &  + "manipulator"& % +3 "core" % \   +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&:(- +169 "core" ( + "manipulator"&b& +4 "core" &- R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +2 "core" &- R +2 .tForearm.seek :garage +2 "manipulator"&m'w +99 "core" ' + .tHand.close + "manipulator"&D/ +68 "core" / + "manipulator"&~& +4 "core" &-  R +2 "manipulator"&l% +3 "core" % ϊ  +2 .tForearm.seek :retract + "manipulator"&%' +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +285 "core" ( + "manipulator"&& +4 "core" &ӓ(  @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +2 "core" &ӓ(  @Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + "manipulator"&& +4 "core" &ӓ(  . @Z +2 "manipulator"&t% +3 "core" %9 g ) +2 "collection"'^& +3 "core" &Z[\ +3 "collection"'o& +4 "core" &X]\ +2 .tCC.seek :closed + "collection"'C(\\ +4 "core" &[[\  +10 &3[]\ +{ +10 &c[\\\ > +9 &v]]\ M +9 &LWZ^\ M +10 &Z]]\ L +9 &[]\\\ M +9 &Y_]\ M +10 &VY\\]\ L +9 &[]^\ M +10 &Z\\^\ L +9 & Z\\\\\ M +9 &"^Y_\\\ L +10 &$Z[\\\ M +9 &%X]\\\ M +9 &'Y^^\ L +10 &)eY^`\ M +9 &+'X^_\ M +10 &,Y^_\ L +9 &.Z]^\ M +9 &0m\\_^\ M +10 &2.]`^\ M +9 &3Z]^\ L +9 &5Y\\`\ M +10 &7t]\\^\ M +9 &97[]^\ M +10 &:Y]a\ M +9 &<Z^_\ M +9 &>}Y^]\ M +10 &@?Z__\ M +9 &B^_b\ M +9 &Cedb\ N +10 &Eykh\ Q +9 &G/vs\ U +10 &Hyw\ X +9 &Jww\ X +9 &Ljvw\ X +10 &N)st\ Z +9 &Opo\ Z +9 &Qmk\ Z +10 &Smlm\ Z +9 &U,mk\ [ +10 &Vml\ \\ +9 &Xkm\ ] +9 &Zllm\ ] +10 &\\zln\ 6 +9 &\\"ll\ *z +9 &\\jl\ $h +2 ( +2 "collection"'o& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + "collection"'& +4 "core" &\\kl\ $h +2 .tHand.open + "manipulator"&a1 +63 "core" 1 + "manipulator"&p% +4 "core" % 9  W ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +100 "core" ' +3216 "Can"\ a^ +195 #t-> Arm.extend +2 "manipulator"&y& +3 "core" &ӕ( @X +2 "manipulator"&S& +3 "core" &ӕ( @X +2 .tForearm.seek CC + "manipulator"&7'? +93 "core" ' + "manipulator"&)& +4 "core" &ӕ(  @X +2 "manipulator"&X% +3 "core" %9 E A +6135 #t-> Hand.close +2 .Hand.close + "manipulator"&/ +72 "core" / @1612820676.31EST = =tMAIN =mMAIN_scheduler @EST1612820678.21 #"core_reset"Sent BREAK +2 #t@63008 idle with ifg=0x00, ie=0x75 +2 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +215 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +328 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +377 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +4 "Can" " +  " #tPolling Can every 10:00 +8 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:423:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:612:in `restore!'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +703 #-> ESP.ready? +360 #-> ESP.ready! +2 #Powering core bus +483 .Gate.power :raw,:ON +2 "sampler") +31 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +4 "core" %cbp\ + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %K\ + .tSS.configure :default +3 "sampler")#.0X Hand.open + .Hand.open + "manipulator"&1 +705 !to:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[1C:->26]: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&1 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[1C:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +704 !to:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[1D:->26]: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #2 of 3 + "manipulator"&1 +2 "core" 1 !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[1D:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +704 !to:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[1E:->26]: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 #Retry #3 of 3 + "manipulator"&1 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[1E:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +704 !to:I2C::Request::Timeout : mesg"^Hand could not finish opening because\ No Response to I2C::Servo::Release3Request[1F:->26]:@checkpoint: omitted: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +1258 #-> CC.open + .CC.seek :open + "collection"' ( +3 "core" (bc\ +3 !to:Slide::Error\ :@axisName"Collection Clamp: mesg"&Collection Clamp notReady at home:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei,: @channeli: @statusIS:I2C::Servo::Status: enabledF: pastRLSF: pastFLSF:pastThresholdF: lostT: homeF: positioni: velocityi: currenti:pwmi:erri: inPressib: outPressic:deltaPressi: voltagef13.870431026018656Y: @type2F:@destinationi%: @error: notReady: @tagi%:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:71:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:348:in `to'"4/home/esp/esp2/utils/puckmoves.rb:954:in `open'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +11464 #-> exit +5 #mEXIT @1612820889.98EST @1612821382.32EST = =tMAIN =mMAIN_scheduler @EST1612821384.04 #"core_reset"Sent BREAK + #t@64972 receive with ifg=0x10, ie=0xFD + #@95 receive with ifg=0x10, ie=0xFD #@739 receive with ifg=0x10, ie=0xFD + #@1395 receive with ifg=0x10, ie=0xFD + #@2041 receive with ifg=0x10, ie=0xFD #@2689 receive with ifg=0x10, ie=0xFD + #@3336 receive with ifg=0x10, ie=0xFD #@3663 receive with ifg=0x80, ie=0xFD + #@40575 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +358 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ >; + \ >; + #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %kcc\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؾ\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڀ F\ + .tSS.configure :default +3 "sampler")#.0X espclient 'dave' +2 !o:NoMethodError : mesg"2undefined method `espclient' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2812 #-> exit +5 #mEXIT @1612821427.99EST @1612821976.84EST = =tMAIN =mMAIN_scheduler @EST1612821978.56 #"core_reset"Sent BREAK + #t@58640 sendCRC with ifg=0x20, ie=0x7F + #@60474 sendCRC with ifg=0x08, ie=0x5F #@19691 sendCRC with ifg=0x20, ie=0x7F + #@20138 sendCRC with ifg=0x20, ie=0x7F + #@21456 sendCRC with ifg=0x20, ie=0x7F #@21672 sendCRC with ifg=0x20, ie=0x7F + #@22826 sendCRC with ifg=0x20, ie=0x7F #@24192 sendCRC with ifg=0x08, ie=0x5F + #@38003 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +269 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +353 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ >: + \ >: + #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ + % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %kbc\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +2 "core" %ؾ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڀ J\ + .tSS.configure :default +3 "sampler")#.0X Flush.garage +1180 #-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&' +29 "core" ' , , B b +3 !to:Slide::Error\ :@axisName" Forearm: mesg"0Forearm speedErr between home and retracted:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeF: positioni: velocityi: currenti:pwmig:erri: inPressi, : outPressi, :deltaPressiB : voltagef12.255310751104567d: @type2F:@destinationi%: @error: speedErr: @tagi:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:71:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:348:in `to'"1/home/esp/esp2/utils/misc.rb:133:in `ready!'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1148 #-> Arm.home +2 "manipulator"&& +3 "core" &$ , +2 !to:Slide::Error :@axisName"\ Elbow: mesg"Elbow Not yet Homed!: @replyIS:I2C::Servo::Status: enabledF: pastRLSF: pastFLSF:pastThresholdF: lostT: homeF: positioni): velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi, : voltagef12.225855670103094j: @type2F:bt[ "5/home/esp/esp2/lib/slide.rb:159:in `rawPosition'"./home/esp/esp2/lib/axis.rb:646:in `near?'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +820 #-> Hand.open + .Hand.open + "manipulator"&1 +3 "core" 1 !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[1F:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +394 !to:IRB::Abort: mesg"deferring User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +2 #until Hand finishes opening +308 !o:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[13:->26]: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&1 +2 "core" 1 !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[13:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +282 !to:IRB::Abort: mesg"deferring User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 + #until Hand finishes opening +194 !o:IRB::Abort: mesg"7Hand could not finish opening because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +54775 "Can"\ ;9 +60003 \ <9 +45326 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +5 #mEXIT @1612823638.21EST @1612890378.49EST = =tMAIN =mMAIN_scheduler @EST1612890380.23 #"core_reset"Sent BREAK + #t@60027 sendCRC with ifg=0x08, ie=0x5F + #@63011 idle with ifg=0x84, ie=0x75 #@63684 select with ifg=0x10, ie=0xF5 + #@64341 receive with ifg=0x10, ie=0xFD + #@64977 receive with ifg=0x10, ie=0xFD #@76 receive with ifg=0x10, ie=0xFD + #@711 receive with ifg=0x10, ie=0xFD #@1039 receive with ifg=0x80, ie=0xFD + #@23815 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +273 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +351 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +4 "Can"\ =: + \ =: #tPolling Can every 10:00 +124 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ + % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %kGKa\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +2 "core" %ؾ;\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڀ c\ + .tSS.configure :default +2 "sampler")#.0X ESP.configure +124 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %kKH`\ + .tCS.hold + "collection"'+ +5 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؾ,\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڀ X\ +2 .tSS.hold + "sampler")+ +3 "core" + + .tSS.configure :default +2 "sampler")#.0X Hand.open + .Hand.open + "manipulator"&!1 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[14:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +704 !to:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[21:->26]: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&"1 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[21:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +664 !to:IRB::Abort: mesg"deferring User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 + #until Hand finishes opening +38 !o:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[22:->26]: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 #Retry #2 of 3 + "manipulator" +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[22:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +271 !to:IRB::Abort: mesg"deferring User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 + #until Hand finishes opening +432 !o:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[23:->26]: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 #Retry #3 of 3 + "manipulator"&$1 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[23:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +704 !to:I2C::Request::Timeout : mesg"^Hand could not finish opening because\ No Response to I2C::Servo::Release3Request[24:->26]:@checkpoint: omitted: @requesto: I2C::Servo::Release3Request : @channeli: @dontLog0:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:447:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:198:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"4/home/esp/esp2/lib/framework.rb:125:in `ldMode'""/home/esp/esp2/lib/esp.rb:326"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +3153 #-> exit +5 #mEXIT @1612890497.62EST @1612890505.46EST = =tMAIN =mMAIN_scheduler @EST1612890507.17 #"core_reset"Sent BREAK + #t@10707 sendCRC with ifg=0x08, ie=0x5F + #@13678 idle with ifg=0x84, ie=0x75 #@14348 select with ifg=0x10, ie=0xF5 + #@15005 receive with ifg=0x10, ie=0xFD + #@15638 receive with ifg=0x10, ie=0xFD #@16272 receive with ifg=0x10, ie=0xFD + #@16905 receive with ifg=0x10, ie=0xFD #@17233 receive with ifg=0x80, ie=0xFD + #@8013 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +266 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +354 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ ;8 + \ ;8 #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %kGIU\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؾH\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ڀ a\ +2 .tSS.configure :default +2 "sampler")#.0X CC.home.open + .CC.reconfigure :default +3 "collection"'$x2 ^22b +2 .tCC.home.seek :open + "collection"'( +571 "core" ( +2 "collection"'& +4 "core" &AB\\\  +1659 #t-> ESP.ready? + "collection"'% +3 "core" %k?B_\ +2 "sampler")% +4 "core" %ڀ X\ + "manipulator"&% +3 "core" % v +418 #t-> ESP.ready! + "collection"'% +3 "processing"%% +2 "manipulator"&% +7 "core" %kA@R\ +5 "sampler")% +4 "core" %ؾ*\ +2 %  %ڀ c\ +2 "manipulator"&% +5 "core" % x + .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&' +135 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 +2 "manipulator"&/ + &* +6 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[24:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +18 / +36 * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear + "manipulator"&(d +568 "core" ( +2 "storage"(& +3 "core" & v\ +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"( ' +62 "core" ' +2 .tSC.reconfigure :sloppy +2 "storage"($-.\ 1~b +2 .tSC.home.seek :initial + "storage"(!(,y +2210 "core" ( +2 "manipulator"&"& +4 "core" &d   & +2 .tForearm.seek :retract + "manipulator"&#' +3 "core" ' + .tElbow.seek :hammer +2 "manipulator"&$( +91 "core" ( +2 "manipulator"&%& +4 "core" &  _ 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&&' +18 "core" ' +2 "manipulator"&'% +4 "core" %  t y +2 "processing"%(& +3 "collection"')& +4 "core" &M\ + &@Bj\  +2 ."openPC"PC.reconfigure :default +3 "processing"%$x2 ^22b +2 ."openPC"PC.home.seek :open + "processing"%*( +299 "core" ( +2 "collection"'+ +3 "core"  +2 "collection"', +3 "core"  + "collection"'- +3 "core"  +2 "processing"%. +3 "core"  + "processing"%/ +3 "core" V +2 "processing"%0 +2 "core" ? +2 "processing"%1 +3 "core"  + "sampler")2 +3 "core"  +2 "collection"'3% +3 "core" %kCDm\ +2 "processing"%4% +4 "core" %ؾ*\ +2 "sampler")5% +4 "core" %ڀ a\ + "collection"'6& +4 "core" &@Ai\  + "processing"%7& +4 "core" &+\  + "manipulator"&8% +4 "core" %  8 y + "manipulator"&9& +4 "core" &   5 + "storage"(:& +4 "core" &,z \  + "storage"(;% +4 "core" % \  + "collection"'<9 +3 "core" 9 +2 "processing"%=9 +3 "core" 9 +702 #t-> Arm.CC + "manipulator"&>& +3 "core" & p 5 +2 "manipulator"&?% +3 "core" %  i y +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&@(ӂ +166 "core" ( +2 "manipulator"&A& +4 "core" &ӆ  @ 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +2 "core" &ӆ   . 2 +2 .tForearm.seek CC +2 "manipulator"&C'? +89 "core" ' +2 "manipulator"&D& +4 "core" &Ӈ   2 + "manipulator"&E% +4 "core" %J  W s +489 #t-> CC.close + "manipulator"&F& +3 "core" &Ӈ ; 2 +2 @1612890850.06EST = =tMAIN =mMAIN_scheduler @EST1612890851.87 #"core_reset"Sent BREAK +2 #t@14444 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +381 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"( ! + ( ! + #tPolling Can every 10:00 +8 #Cleanly exited at 12:08:36EST09-Feb-21 +1097 #-> ESP.configure +3 #Powering core bus +484 .Gate.power :raw,:ON +2 "sampler") +18 ) +3 "core"  + "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ + % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %HKH\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ + .tSS.configure :default +2 "sampler")#.0X Hand.open + .Hand.open + "manipulator"&1 +57 "core" 1 +1045 #t-> Hand.close + .Hand.close + "manipulator"&/ +53 "core" / +1137 #t-> Hand.open + .Hand.open + "manipulator"&1 +61 "core" 1 +392 #t-> ESP.ready! + "collection"'% +3 "processing"%% +5 "core" %IJb\ + "manipulator"&% +4 ."rdySampler"Intake.select :close +5 .Exhaust.select :close + .CTV.dial :air +2 "collection"'  +3 "core" %\ + %\   +2 ."rdyProcessing"PSV.dial :air +3 "manipulator"&% + "processing"%  +5 "core" + %\   +3 ."rdySampler"CSV.dial :waste1 +2 .tForearm.reconfigure :loose +3 "collection"' +2 "manipulator"&#@2^d^b +5 .tForearm.home.seek :retract +2 "manipulator"&' +2 "core"  + +2 ."rdyProcessing"PS.reconfigure :default +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +3 "processing"%#A d`xb + "sampler") +4 ."rdyProcessing"PS.home.seek 0ml + "processing"%'ؾ +3 "core"  + "sampler")  +4 "core"  +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +3 "collection"'#d @b + "sampler")#.0X?`\  +2 "processing"%7& +3 "core" &H\  +2 "manipulator"&8% +3 "core" %  q +2 "manipulator"&9& +3 "core" & ' +2 "storage"(:& +4 "core" &,y \  + "storage"(;% +4 "core" % \  + "collection"'<9 +3 "core" 9 +2 "processing"%=9 +3 "core" 9 +264 #t-> CC + "collection"'>& +3 "core" &?B\\\  +1078 #t-> Hand.open + .Hand.open + "manipulator"&?1 +60 "core" 1 +360 #t-> Arm.CC +2 "manipulator"&@& +3 "core" & v ' +2 "manipulator"&A% +3 "core" %    q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :CC + "manipulator"&B(ӂ +153 "core" ( +2 "manipulator"&C& +4 "core" &Ӎ&    >L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &Ӎ&  N >L + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek CC + "manipulator"&E'? +93 "core" ' +2 "manipulator"&F& +4 "core" &Ӎ&  & >L + "manipulator"&G% +4 "core" %* \  _ +408 #t-> Hand.close +2 .Hand.close + "manipulator"&H/ +70 "core" / +556 #t-> Arm.garage + "manipulator"&I& +3 "core" &ӎ%  >K +2 "manipulator"&J% +4 "core" % *  > _ + .tForearm.seek :retract +2 "manipulator"&K' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&L(- +290 "core" ( +2 "manipulator"&M& +4 "core" &- O + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &- R + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&O'w +104 "core" ' +2 "manipulator"&P& +4 "core" &-   * + "manipulator"&Q% +4 "core" %π  w  +619 #t-> Hand.open + .Hand.open + "manipulator"&R1 +60 "core" 1 +518 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&S' +149 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 +2 "manipulator"&T/ + &U* +60 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&V(d +3 "core" / +308 ( +2 "manipulator"&W& +4 "core" &d  ' + "manipulator"&X% +4 "core" % %  p < +45563 "Can"\ FC +60003 \ FC +60002 \ FC +60003  \ FC +60003 \ EC +29085 #t-> arm.ready! + !o:NoMethodError : mesgu:NameError::message.undefined method `ready!' for :arm:Symbol: name: ready!: args[:bt["(ESP):13:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +969 #-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&Y' +77 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&Z* +43 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&[(d +160 "core" (   * +3 !to:Slide::Error\ :@axisName"\ Elbow: mesg")Elbow speedErr at home + 4856 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi* : voltagef12.245492390770742: @type2F:@destinationi%: @error: speedErr: @tagi`:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:71:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:348:in `to'"1/home/esp/esp2/utils/misc.rb:144:in `ready!'"(ESP):14:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +1651 #-> Arm.garage + "manipulator"&\\& +3 "core" & H +2 "manipulator"&]% +4 "core" %  \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&^(- +88 "core" ( +2 "manipulator"&_& +4 "core" &-  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&a'w +97 "core" ' +2 "manipulator"&b& +4 "core" &-   + "manipulator"&c% +4 "core" %q F +625 #t-> Arm.home + "manipulator"&d& +3 "core" &- ?  +2 "manipulator"&e% +4 "core" %q G + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home + "manipulator"&g( +73 "core" (   o +2 !to:Slide::Error\ :@axisName"\ Elbow: mesg")Elbow speedErr at home + 4846 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressio : voltagef12.240583210603830: @type2F:@destinationi%: @error: speedErr: @tagil:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:71:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:349:in `to'"8/home/esp/esp2/lib/slide.rb:69:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:349:in `to'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +2745 #-> Arm.garage + "manipulator"&h& +3 "core" & @ +2 "manipulator"&i% +4 "core" %    +2 .tElbow.seek :garage + "manipulator"&j(- +85 "core" ( +2 "manipulator"&k& +3 "core" &- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&m'w +94 "core" ' +2 "manipulator"&n& +4 "core" &- + "manipulator"&o% +4 "core" %l 3 +537 #t-> Arm.CC + "manipulator"&p& +3 "core" &- +2 "manipulator"&q% +4 "core" %l  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&s(ӂ +274 "core" ( +2 "manipulator"&t& +3 "core" &.  f E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &. U E + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&v'? +96 "core" ' +2 "manipulator"&w& +4 "core" &Ӟ( " Ac +2 "manipulator"&x% +3 "core" %9  +890 #t-> Arm.garage + "manipulator"&y& +3 "core" &Ӟ( Ac +2 "manipulator"&z% +4 "core" %9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&{' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&|(- +289 "core" ( +2 "manipulator"&}& +4 "core" &- 3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &- 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&'w +112 "core" ' +2 "manipulator"&& +4 "core" &- 3 3 +2 "manipulator"&% +3 "core" %ϕ +2260 #t-> Arm.CC + "manipulator"&& +3 "core" &- a 1 +2 "manipulator"&% +3 "core" %ϖ a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC + "manipulator"&(ӂ +285 "core" ( +2 "manipulator"&& +4 "core" &ӓ%  =H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӓ% >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"& '? +92 "core" ' +2 "manipulator"&\ & +4 "core" &ӓ% >H +2 "manipulator"& % +3 "core" %F z +599 #t-> Arm.garage + "manipulator"& & +3 "core" &ӓ% >H +2 "manipulator"& % +4 "core" %F z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +288 "core" ( +2 "manipulator"&& +3 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&'w +96 "core" ' +2 "manipulator"&& +4 "core" &- F  +2 "manipulator"&% +4 "core" %Z c +1414 #t-> Arm.ready! + .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&' +140 "core" ' +2 .tElbow.jog 1500 + "manipulator"&* +57 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear + "manipulator"&(d +313 "core" ( +2 "manipulator"&& +4 "core" &d  # & +2 "manipulator"&% +3 "core" %    +2339 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +5 #mEXIT @1612894330.78EST @1615236545.80EST = =tMAIN =mMAIN_scheduler @EST1615236547.52 #"core_reset"Sent BREAK +2 #t@41484 receive with ifg=0x10, ie=0xFD + #@42120 receive with ifg=0x10, ie=0xFD #@42777 receive with ifg=0x10, ie=0xFD + #@43412 receive with ifg=0x10, ie=0xFD + #@44045 receive with ifg=0x10, ie=0xFD #@44679 receive with ifg=0x10, ie=0xFD + #@45312 receive with ifg=0x10, ie=0xFD + #@45638 receive with ifg=0x80, ie=0xFD #@23149 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +361 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ FC + \ FC + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +2 "core" %i \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %چ== #\ + .tSS.configure :default +3 "sampler")#.0X ESP.ready? + "collection"'% +4 "core" %i \ + "sampler")% +4 "core" %چ>< .\ + "manipulator"&% +4 "core" %  g  + "manipulator"&& +3 "core" &d t & +2 "storage"(& +3 "core" &,y B @ \  + "storage"(% +4 "core" % B B ,\  + "collection"'& +3 "core" & \  +2 "processing"%& +3 "core" &\  +2 "processing"%% +3 "core" %\ +6681 #t-> require 'shuffle.rb' +2027 #-> shuffle 2..7 +2 #Shuffling pucks in tube 2 of [2..7] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"' & +3 "core" &\  + .tHand.open +2 "manipulator"&!1 +58 "core" 1 +2 "manipulator"&"% +3 "core" %   + "storage"(#% +3 "core" % B B e\  +2 "storage"($. +3 "core" .,,y + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(%(  +675 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (&& +2 "core" &  ( 5 8\ +2 "manipulator"&'& +4 "core" &d , & + "manipulator"&(% +3 "core" %  <  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&)( +102 "core" ( +2 "manipulator"&*& +4 "core" & ` + "storage"(+& +4 "core" &  8 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&,'S +98 "core" ' +2 "storage"(-& +4 "core" &  \\ Y P\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'r +296 "core" ' +2 "storage"(/- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &  ! @\  + "manipulator"&1& +4 "core" & O +2 .tElbow.seek 2 + "manipulator"&2( +8 "core" ( +2 "manipulator"&3& +4 "core" &  + "storage"(4& +4 "core" &  9 8\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&5'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&6/ +68 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& + "storage"(8' +7 "core" & + "manipulator"&9% +4 "core" % ϱ  +2 .tForearm.seek :retract + "manipulator"&:' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&;(ӂ +157 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +8 "core" ( +2 "manipulator"&<& +4 "core" &Ӊ 8! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &Ӊ g 8! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&>'? +89 "core" ' +2 "manipulator"&?& +4 "core" &Ӊ  8! + "manipulator"&@% +4 "core" %= ? n +2 "collection"'A& +4 "core" &"\  +2 "collection"'B& +4 "core" & \  +2 .tCC.seek :closed +2 "collection"'C(\\ +4 "core" &\  +9 &6}\ , +9 &f~\ @ +10 &^t\ P +9 &#V \ N +9 &Z "\ O +10 &\\ \ N +9 &i]\ N +10 &+["\ N +9 &Y  \ N +9 &Y "\ N +10 & r\\"!\ N +9 &"4Y  \ N +9 &#Z !\ N +10 &%Z \ N +9 &'yZ! \ N +10 &);Z!\ N +9 &*Z#"\ O +9 &,Y"\ N +10 &.Z  \ N +9 &0DZ"\ N +9 &2[!!\ N +10 &3\\ !\ N +9 &5["!\ N +10 &7K\\# \ N +9 &9Y  \ N +9 &:Z!!\ N +10 &<\\"!\ N +9 &>S]%"\ N +9 &@\\!!\ N +10 &A`!$~\ N +9 &Cc$#z\ O +10 &EUp&'m\ P +9 &G-,v\ R +9 &H0/y\ W +10 &J33w\ Y +9 &LB42|\ Z +9 &N23w\ Z +10 &O33y\ Z +9 &Q34\ [ +10 &SE43\ [ +9 &U34\ \\ +9 &V45\ ] +10 &X45\ ] +9 &ZD56\ ^ +9 &[{55 \ D +10 &\\&67"\ +~ +9 &\\75\ ^ +2 ( +2 "collection"'B& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.11 + .Hand.open + "manipulator"&D1 +58 "core" 1 +2 "manipulator"&E% +4 "core" % = R n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +92 "core" ' +2 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%G& +4 "core" &\  +2 "manipulator"&H% +4 "core" %   + "storage"(I% +4 "core" % {\ + "storage"(J. +3 "core" . +36 .tSC.reconfigure :tight +9 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(K(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (L& +2 "core" &  \ +2 "manipulator"&M& +3 "core" &Ӊ 8! +2 "manipulator"&N% +4 "core" %    + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&O( +163 "core" ( +2 "manipulator"&P& +4 "core" & t  + "storage"(Q& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'S +88 "core" ' +2 "storage"(S& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'r +299 "core" ' +2 "storage"(U- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" & "\ +2 "manipulator"&W& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&X( +3 "core" ( + "manipulator"&Y& +4 "core" & .  + "storage"(Z& +4 "core" &  J\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&['Ͻ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\\/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& +3 "storage"(^' +4 "core" &   + "manipulator"&_% +4 "core" %  c +2 .tForearm.seek :retract + "manipulator"&`' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&a( +166 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +72 "core" ( +2 "manipulator"&b& +4 "core" & : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&d' +94 "core" ' +2 "manipulator"&e& +4 "core" & + "manipulator"&f% +4 "core" %  D +2 "processing"%g& +4 "core" &\  +2 "processing"%h& +4 "core" &\  +2 .tPC.seek :closed + "processing"%i(^ +4 "core" &\  +9 &D\ %h +9 &vU~\ 9 +10 &~|\ M +9 &X\ P +9 &C[\ P +10 &[\ P +9 &[\ P +10 &Z\ P +9 &M[\ O +9 & \\\ P +10 &Y\ O +9 &![\ P +9 &#TY\ P +10 &%X\ O +9 &&\\\ P +10 &(]\ P +9 &*]\\\ O +9 &,]\ P +10 &-Z\ P +9 &/]\ P +9 &1b_\ P +10 &3$\\\ P +9 &4[\ P +10 &6\\\ P +9 &8j^\ P +9 &:,\\\ P +10 &;[\ P +9 &=]\ P +9 &?r`\ P +10 &A3c\ Q +9 &Bs\ R +10 &Ds\ T +9 &Fk\ V +9 &H,\ V +10 &I\ V +9 &K\ V +9 &Mp\ W +10 &O0\ W +9 &P\ X +10 &R\ X +9 &Ttw\ X +9 &V6t\ X +10 &Wu\ W +9 &Yu\ W +9 &[}t\ X +10 &]>v\ P +9 &^wGu\ "h +10 &^ Qx\ 7 +5 ( +2 "processing"%h& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&j1 +3 "core" &^0s\ 7 +54 1 + "manipulator"&k% +4 "core" %  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +96 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%m& +4 "core" &^0\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&n% +3 "core" % # W 3 +2 "storage"(o% +4 "core" % ;\ + "storage"(p. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(q(  +7 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (r& +4 "core" &  3\  + "manipulator"&s& +3 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 "core" & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(t'r +3 "manipulator"&u( +4 "core" ( + "manipulator"&v& +4 "core" & _ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" & % +2 .tForearm.seek PC + "manipulator"&x' +90 "core" ' +2 .tHand.close + "manipulator"&y/ +77 "core" / +2 .tPC.seek :open + "processing"%z( +81 "core" ' +2 "storage"({- +3 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'1 +40 "core" ' +326 ( +2 "storage"(}& +3 "core" &  8\  +2 "manipulator"&~& +3 "core" & H +2 "manipulator"&% +3 "core" %  i S +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +245 "core" ( +2 "manipulator"&& +4 "core" & Q 6 + "storage"(& +4 "core" &  \  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +89 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"( - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +50 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &  \ \\ +2 "manipulator"&& +3 "core" & 6 +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +3 "core" & 6 +2 "storage"(& +4 "core" &  E D \ i + .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +50 "core" ' +2 "manipulator"&& +4 "core" & ) 6 + "storage"(& +4 "core" &  N S ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 "manipulator"&% +4 "core" %Ε p + "storage"( & +5 "core" &  s j s\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 304 counts + "manipulator"&!' +15 "core" ' +2 "manipulator"&"& +4 "core" &  % + "storage"(#& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&$'S +16 "core" ' +2 "storage"(% +4 "core" % F\ +2 ."downElevator"SE.seek :down +3 "storage"(&' +100 ('% +3 "core" %>L g n :\ Yn + "manipulator"&(% +4 "core" %T t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +95 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (+& +4 "core" & \ +2 "collection"'-& +3 "core" &\\*+\ ^ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +3 "core" % ! f ) +2 "storage"(% +4 "core" % \ + "storage"(/. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +7 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (0& +2 "core" &  \  +2 "manipulator"&1& +4 "core" & ! % + .tElbow.seek 2 +2 "manipulator"&3( +10 "core" ( +2 "manipulator"&4& +4 "core" &  + "storage"(6& +4 "core" &  t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&7'S +95 "core" ' +2 "storage"(9& +4 "core" &  N\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'r +295 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&<& +3 "core" & g  +2 "storage"(=& +3 "core" &  | { &\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&.'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(?- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(@'i +27 "core" ' +2 "manipulator"&A% +4 "core" %΢   + "storage"(2& +3 "core" &  g\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&8' +22 "core" ' +2 "manipulator"&:& +4 "core" & @  + "storage"(\ & +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&D'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(E' +32 "core" ' +2 "manipulator"&G& +4 "core" & X  + "manipulator"&H% +4 "core" %^ e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&J(ӂ +150 "core" ( +2 "manipulator"&B& +4 "core" &y. " E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" &y. E +2 .tForearm.seek CC + "manipulator"&M'? +96 "core" ' +2 .tHand.close + "manipulator"&N/ +70 "core" / +2 .tCC.seek :open + "collection"'>( +452 "core" ( +2 "storage"(P& +4 "core" &    c\  +2 "storage"(Q& +3 "core" &   \  +2 "manipulator"&%& +3 "core" &ә) > A_ +2 "manipulator"&S% +3 "core" % 6 @ % +2 .tForearm.seek :retract + "manipulator"&;' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&F( +165 "core" ( +2 "manipulator"&U& +4 "core" & 2  + "storage"(V& +4 "core" &   j\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 +38 "manipulator"&W'Α +109 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Z1 +61 "core" 1 +3 "manipulator"&\\% +4 "core" % Ρ  + "storage"(]& +4 "core" &  \  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&_' +22 "core" ' +2 "manipulator"&O& +4 "core" & +  + "storage"(R& +4 "core" &  + #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&T'S +16 "core" ' +2 "storage"([% +4 "core" % % + \  +2 ."downElevator"SE.seek :down +3 "storage"(b' +100 (c% +3 "core" %J  \ Xi + "manipulator"&X% +4 "core" %_ W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +90 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..7] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'f& +4 "core" &\ +2 "manipulator"&g% +4 "core" %    + "storage"(^% +4 "core" % + *\ + "storage"(`. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +348 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (j& +2 "core" & G\  +2 "manipulator"&k& +3 "core" & 7  +2 .tElbow.seek 3 + "manipulator"&m( +13 "core" ( +2 "manipulator"&n& +4 "core" &   + "storage"(o& +4 "core" &  M\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&p'7 +98 "core" ' +2 "storage"(h& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'r +298 "core" ' +2 "storage"(s- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (v& +3 "core" &  *\  + "manipulator"&w& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&d( +3 "core" ( + "manipulator"&y& +4 "core" & "  + "storage"(K& +4 "core" & {\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&{'ϡ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +75 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& + "storage"(i' +7 "core" & E  + "manipulator"&t% +4 "core" % Ϛ  +2 .tForearm.seek :retract + "manipulator"&}' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&~(ӂ +161 "core" ( +2 "manipulator"&& +4 "core" &Ә$ A =D + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' + "manipulator"&x& +4 ."downElevator"SE.coast + "storage"(5 +3 "core" &Ә$ =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 "manipulator"&& +4 "core" &ә$ =C + "manipulator"&u% +4 "core" %3 M +2 "collection"'& +4 "core" &\ +2 "collection"' & +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &\ +8 &3\ $c +9 &U}\ 7 +10 &}\ L +9 &Z\ N +9 &ZX\ N +10 &Z\ N +9 &Z\ N +10 &Y\ N +9 &aXu\ N +9 &"Z{\ N +10 &Zv\ N +9 &!Z{\ N +9 &#iZs\ N +10 &%,Y\ N +9 &&Z\ N +10 &(\\\ N +9 &*rX\ N +9 &,4X\ N +10 &-Z;\ N +9 &/Yz\ N +9 &1{Y~\ M +10 &3;Y|\ N +9 &4Y~\ N +10 &6Yv\ N +9 &8Yw\ N +9 &:CWr\ N +10 &<Ws\ N +9 &=Zi\ N +9 &?Zi\ N +10 &AJ] k\ N +9 &C b!"g\ O +10 &Dp#"i\ P +9 &F)(l\ T +9 &H6-,i\ X +10 &I,,g\ Y +9 &K--c\ [\ +9 &Ms-/]\ [\ +10 &O5./`\ [\ +9 &P-.[\ \\ +10 &R--g\ \\ +9 &Tr./c\ ^ +9 &V5/.V\ ^ +10 &W./T\ _ +9 &Y/0]\ ` +9 &[u01[\ L +10 &\\A11R\ + +9 &\\ .2Z\ !c +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&1 +3 "core" &\\/1B\ "c +50 1 +2 "manipulator"&% +4 "core" % 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %   +2 "storage"(% +4 "core" % !\ + "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 ( & +3 "core" & \  + "manipulator"&|& +4 "core" &ә$ =C +2 "manipulator"&"% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&#( +163 "core" ( +2 "manipulator"& & +4 "core" & Z  + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +96 "core" ' +2 "storage"(& +4 "core" &  n\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +299 "core" ' +2 "storage"('- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" & $\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & ;  +2 "storage"(& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&!'ϡ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&+/ +68 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"(' +7 "core" & W  +2 "manipulator"&% +3 "core" % Ϯ y +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&/( +174 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +64 "core" ( +2 "manipulator"&0& +4 "core" & ^  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +4 "core" & n  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&4' +98 "core" ' +2 "manipulator"&6& +4 "core" & 2  + "manipulator"&$% +4 "core" % ?  +2 "processing"%9& +3 "core" &\ +2 "processing"%&& +5 "core" &\ +2 .tPC.seek :closed + "processing"%q(^ +6 "core" &\ \ +9 &.u\ +z +9 &b\ ? +10 &cx\ P +9 &%Z\ O +10 &\\\ O +9 &Z\ P +9 &kZ\ O +10 &,Z\ P +9 &Z\ O +9 &Z\ P +10 & r\\\ P +9 &"5W\ O +10 &#Z\ P +9 &%W\ P +9 &'{Z\ O +10 &);[\ P +9 &*Y\ P +9 &,[\ P +10 &.Z\ P +9 &0C\\\ P +10 &2[\ P +9 &3Z\ P +9 &5\\\ P +10 &7L[\ P +9 &9\\\ P +9 &:\\\ P +10 &<[\ P +9 &>S]t\ P +10 &@^u\ P +9 &Ajy\ R +9 &Cr|\ R +10 &EK|\ V +9 &G ~\ V +9 &Hs\ V +10 &J~\ W +9 &LO\ W +10 &Ny\ X +9 &Oo\ W +9 &Qn\ W +10 &SSg\ X +9 &Ul\ X +9 &Vl\ W +10 &Xm\ X +9 &Z^l\ W +10 &\\h\ X +9 &]n\ 7 +9 &^4xf\ G +9 ( +2 &^%\ 3 +2 "processing"%&& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&*% +4 "core" %   + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +98 "core" ' +2 .tSC.coast "storage"(6 +3 "processing"%<& +4 "core" &^%\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&=% +3 "core" % &  G +2 "storage"(?% +3 "core" % j\ +2 "storage"(A. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(2( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (:& +4 "manipulator"&\ & +2 "core" & \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&G( +2 "storage"(H'r +3 "core" ( +2 "manipulator"&7& +4 "core" & .  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" & T  +2 .tForearm.seek PC + "manipulator"&)' +94 "core" ' +2 .tHand.close + "manipulator"&./ +77 "core" / +2 .tPC.seek :open +2 "processing"%8( +79 "core" ' +2 "storage"(@- +3 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +40 "core" ' +327 ( + "storage"(L& +4 "core" & &\  +2 "manipulator"&D& +3 "core" & Z  +2 "manipulator"&5% +3 "core" %  | 6 +2 .tForearm.seek :retract + "manipulator"&N' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&I( +245 "core" ( +2 "manipulator"&C& +4 "core" &   L + "storage"(P& +4 "core" & \  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Q'7 +101 "core" ' +2 .tHand.open + "manipulator"&%1 +62 "core" 1 +2 "storage"(S- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(U' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(V' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(M- +3 "core" -' +2 "storage"(J& +3 "core" &\  G\ b +2 "manipulator"&Z& +3 "core" & K +2 .tElbow.seek 3 + "manipulator"&\\( +4 "core" ( + "manipulator"&]& +4 "core" & H K + "storage"(O& +4 "core" & - 7 E\ g +50 .tForearm.seek 3 + 450 counts + "manipulator"&R'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(['" +58 "core" ' +2 "manipulator"&;& +4 "core" &  K + "storage"(c& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&X'u +16 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(W' +26 "core" ' +2 "manipulator"&f% +5 "core" %΅ H  + "storage"(_& +4 "core" & r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&g'ϱ +21 "core" ' +2 "manipulator"&^& +4 "core" & * K +2 "storage"(`& +4 "core" &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&E'7 +24 "core" ' +2 "storage"(T% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(b' +99 (% +3 "core" %2I \ Xh + "manipulator"&j% +4 "core" %6 F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +96 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (n& +4 "core" &   \ +2 "collection"'o& +3 "core" &\\)*\ "c +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&h% +4 "core" %    + "storage"(Y% +4 "core" %  \ + "storage"(e. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(s( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (v& +3 "core" &  \  +2 "manipulator"&w& +4 "core" &  K + .tElbow.seek 3 +2 "manipulator"&y( +3 "core" ( + "manipulator"&K& +4 "core" & - K +2 "storage"(a& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&l'7 +90 "core" ' +2 "storage"(t& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'r +295 "core" ' +2 "storage"(p- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  K + "storage"(x& +4 "core" &  R\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&r'u +24 "core" ' +2 .tElbow.hold + "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(u'j +27 "core" ' +2 "manipulator"&% +4 "core" %΃ + "storage"(d& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&i'ϯ +22 "core" ' +2 "manipulator"&}& +4 "core" &  x K + "storage"(>& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&& +4 "core" & P K + "manipulator"&% +4 "core" %0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +145 "core" ( +2 "manipulator"& & +4 "core" &. E| + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &.  E| +2 .tForearm.seek CC + "manipulator"&|'? +93 "core" ' +2 .tHand.close + "manipulator"&"/ +65 "core" / +2 .tCC.seek :open + "collection"'( +452 "core" ( +2 "storage"( & +4 "core" & / 9 \  +2 "storage"(& +3 "core" &  ' \  + "manipulator"& & +4 "core" &Ӥ' @W + "manipulator"&% +4 "core" % A f Q + .tForearm.seek :retract +2 "manipulator"&~' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&'& +4 "core" &  + "storage"((& +4 "core" & @ : T\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&'u +98 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&+% +4 "core" % ·  +2 "storage"(-& +3 "core" & ; < \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&'ϳ +23 "core" ' +2 "manipulator"&#& +4 "core" &  + "storage"(& +4 "core" & c S )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +17 "core" ' +2 "storage"(!% +4 "core" % g \\\ +2 ."downElevator"SE.seek :down +3 "storage"(0' +99 (1% +3 "core" %? : 5\ Va + "manipulator"&% +4 "core" %< ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&6' +87 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 4 of [2..7] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'$& +4 "core" &\ +2 "manipulator"&9% +3 "core" %    +2 "storage"(% +3 "core" % i h\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(z(,y +369 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &,{ g g\ + "manipulator"&*& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&<( +40 "core" ( +2 "manipulator"&=& +4 "core" & M  + "storage"(?& +4 "core" &,} ? S \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&A' +96 "core" ' +2 "storage"(&& +4 "core" &,} j h \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'r +297 "core" ' +2 "storage"(\ - +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" &,} # )\  +2 "manipulator"&3& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&4( +3 "core" ( + "manipulator"&.& +4 "core" & !  + "storage"(& +4 "core" &,} ; <\  + .tForearm.seek 4 + 300 counts +2 "manipulator"&@'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(q' +7 "core" &  +2 "manipulator"&H% +3 "core" % { + +2 .tForearm.seek :retract +2 "manipulator"&L' +98 "core" ' +2 .tElbow.seek CC + "manipulator"&D(ӂ +153 "core" ' +2 ( + ."downElevator"SE.coast +3 "manipulator"&5& + "storage"(5 +6 "core" &Ӎ- Dz +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &Ӎ- , Dz +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&C'? +101 "core" ' +2 "manipulator"&P& +5 "core" &ӏ- Dx + "manipulator"&G% +4 "core" %E m  +2 "collection"'%& +4 "core" &\ +2 "collection"'S& +6 "core" &\ +2 .tCC.seek :closed + "collection"'M(\\ +5 "core" &\ +7 &2\ $c +10 &V~\ 7 +9 &{~\ L +10 &Z\ N +9 &dW\ M +9 &$Z\ N +10 &Z\ N +9 &Y\ M +9 &kW|\ M +10 &-\\O\ M +9 &\\\ M +10 &!Y\ M +9 &#sZ\ M +9 &%5X\ M +10 &&Ws\ M +9 &(Yr\ M +9 &*|Ur\ M +10 &,=Yu\ M +9 &-Xt\ N +10 &/Yo\ M +9 &1Yf\ M +9 &3EZa\ M +10 &5Yg\ M +9 &6[\ M +9 &8Zj\ M +10 &:MWh\ M +9 &<Yc\ N +10 &=Z`\ M +9 &?VT\ M +9 &AT]Y\ N +10 &Cd T\ N +9 &Dk!"T\ O +9 &F""S\ S +10 &HB($T\ W +9 &I+*U\ Y +10 &K,.T\ Y +9 &M,/L\ Z +9 &O?02R\ Z +10 &P0/Q\ [ +9 &R12A\ [\ +9 &T~02C\ ] +10 &V@32=\ ] +9 &W30\ ^ +10 &Y43\ ^ +9 &[23\ L +9 &\\945\ 2 +10 &\\45\ Z +5 ( +2 "collection"'S& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&J1 +3 "core" &\\{64\ Z +53 1 + "manipulator"&Z% +4 "core" % E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +96 "core" ' +2 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%O& +4 "core" &\ +2 "manipulator"&N% +3 "core" %  C  +2 "storage"(;% +4 "core" % \ + "storage"(c. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(B(,y +9 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (f& +3 "core" &,{ \ + "manipulator"&_& +4 "core" &ӓ+  Ct + "manipulator"&U% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&^( +166 "core" ( +2 "manipulator"&`& +4 "core" & ;  + "storage"(I& +4 "core" &,{ )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&T' +96 "core" ' +2 "storage"(Q& +4 "core" &,{   \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (j& +3 "core" &,{  \ + "manipulator"&R& +4 "core" & D  +2 .tElbow.seek 4 + "manipulator"&\\( +3 "core" ( +2 "manipulator"&[& +43 "core" & =  +11 "storage"(X& +3 "core" &,{  \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&g'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&n/ +70 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& + "storage"(h' +7 "core" &  +2 "manipulator"&Y% +4 "core" % X p +2 .tForearm.seek :retract + "manipulator"&W' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&e( +171 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +67 "core" ( +2 "manipulator"&v& +5 "core" & F ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" & 5 ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +96 "core" ' +2 "manipulator"&a& +4 "core" & $ ( + "manipulator"&E% +4 "core" % ! 7 +2 "processing"%t& +3 "core" &\ +3 "processing"%b& +4 "core" &\ +2 .tPC.seek :closed + "processing"%2(^ +5 "core" &\ +8 & .\ #a +9 &T\ 8 +10 &~\ M +9 &]\ P +9 &T[\ O +10 &Z\ O +9 &Y\ O +10 &[\ P +9 &\\[\ O +9 &Y\ O +10 &\\\ P +9 &!Z\ O +9 &#dY\ O +10 &%&Y\ O +9 &&Y\ O +10 &(]\ O +9 &*k[\ P +9 &,-[\ P +10 &-\\\ P +9 &/^\ O +9 &1s]\ P +10 &35\\\ P +9 &4[\ P +10 &6Z\ P +9 &8{_\ P +9 &:=\\z\ P +10 &<\\y\ O +9 &=_\ P +9 &?[\ P +10 &AEb\ P +9 &Cr\ Q +10 &Dvz\ S +9 &F{z\ U +9 &H;z\ V +10 &Ii\ V +9 &Kj\ V +9 &Ml\ V +10 &OA\ V +9 &Qo\ W +10 &Ri\ W +9 &Tg\ X +9 &VEg\ X +10 &X i\ W +9 &Yj\ X +9 &[c\ X +10 &]M\ K +9 &^yH\ c +10 &^Z \ 7 +5 ( +2 "processing"%b& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&F1 +3 "core" &^.\ 7 +54 1 + "manipulator"&k% +4 "core" %  b 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +96 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%& +4 "core" &^.\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&x% +3 "core" % \   +2 "storage"(% +4 "core" % J\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(d(,y +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (}& +3 "core" &,{ \ + "manipulator"&>& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & ( +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( + "storage"('r +5 "core" ( +2 "manipulator"&l& +4 "core" &  ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" & ( +2 .tForearm.seek PC +2 "manipulator"&m' +91 "core" ' +2 .tHand.close + "manipulator"&r/ +67 "core" / +2 .tPC.seek :open +2 "processing"%i( +90 "core" ' +2 "storage"( - +3 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( '1 +40 "core" ' +316 ( + "storage"(u& +4 "core" &,y T\  +2 "manipulator"&& +3 "core" & S ( +2 "manipulator"&{% +3 "core" %   +2 .tForearm.seek :retract + "manipulator"&"' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +245 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"( & +4 "core" &,y Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +99 "core" ' +2 .tHand.open + "manipulator"& 1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"('' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"((' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(|- +3 "core" -' +2 "storage"(& +4 "core" &,y b a\ m + "manipulator"&& +4 "core" & {  + .tElbow.seek 4 +2 "manipulator"&+( +15 "core" ( +2 "manipulator"&-& +4 "core" &  + "storage"(#& +4 "core" &,y a ^\ n +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(!'" +60 "core" ' +2 "manipulator"&~& +4 "core" &   + "storage"(1& +4 "core" &,y   )\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +26 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&$% +4 "core" %G D + "storage"(& +4 "core" &,y -\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&9's +20 "core" ' +2 "manipulator"&& +4 "core" & V  + "storage"(& +4 "core" &,y   T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"( % +4 "core" %   Y\ +2 ."downElevator"SE.seek :down +3 "storage"(0' +100 (s% +3 "core" %`G \ Xi + "manipulator"&% +4 "core" % c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +91 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (=& +3 "core" &,y   ,\ +2 "collection"'?& +4 "core" &\\z,-y\ Z + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&&% +4 "core" %  9  + "storage"(% +4 "core" %  \ + "storage"(6. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(\ (,y +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (7& +2 "core" &,y   3\  +2 "manipulator"&3& +3 "core" & t  +2 .tElbow.seek 4 + "manipulator"&.( +9 "core" ( +2 "manipulator"&& +4 "core" & l  + "storage"(/& +4 "core" &,y   3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&,' +95 "core" ' +2 "storage"(H& +4 "core" &,y  D\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'r +300 "core" ' +2 "storage"(A- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +3 "core" & M  + "storage"()& +4 "core" &,y \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&:'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(P- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(G'i +27 "core" ' +2 "manipulator"&%% +4 "core" %@ \ + "storage"(4& +4 "core" &,y   \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 309 counts +2 "manipulator"&q'l +20 "core" ' +2 "manipulator"&L& +4 "core" &   + "storage"(& +4 "core" &,y -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&J' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(Z' +35 "core" ' +2 "manipulator"&O& +4 "core" & m  + "manipulator"&N% +4 "core" % 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&;' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&c(ӂ +157 "core" ( +2 "manipulator"&S& +4 "core" &ӎ* Bi + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &ӎ*  Bi +2 .tForearm.seek CC + "manipulator"&_'? +95 "core" ' +2 .tHand.close + "manipulator"&U/ +72 "core" / +2 .tCC.seek :open + "collection"'C( +449 "core" ( +2 "storage"(`& +4 "core" &,y . . *\  + "storage"(I& +4 "core" &,y . , \  + "manipulator"&z& +4 "core" &Ӓ( Ae + "manipulator"&Q% +4 "core" % I  + .tForearm.seek :retract +2 "manipulator"&D' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&]( +164 "core" ( +2 "manipulator"&& +4 "core" & ;  + "storage"(j& +4 "core" &,y ; ; L\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&R'7 +93 "core" ' +2 .tElbow.hold + "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&X1 +55 "core" 1 +2 "manipulator"&n% +4 "core" % C K * + "storage"(o& +4 "core" &,y C D l\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&Y'o +18 "core" ' +5 "manipulator"&^& +5 "core" & I  + "storage"(T& +4 "core" &,y g K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&V' +18 "core" ' +2 "storage"(g% +4 "core" % h ]\ +2 ."downElevator"SE.seek :down +3 "storage"(v' +99 (w% +3 "core" %B 8 A \ Vb + "manipulator"&\\% +4 "core" % Z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +92 "core" ' +56 ' +51 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'E& +4 "core" &\ +2 "manipulator"&t% +3 "core" %    +2 "storage"(h% +4 "core" % g h\ + "storage"(W. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(8(<- +350 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (F& +2 "core" &<* , *\ \  +2 "manipulator"&k& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&x& +4 "core" &  + "storage"(& +4 "core" &<* / / \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' +2 "storage"(b& +4 "core" &<*   8\ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(}'r +297 "core" ' +2 "storage"(>- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (l& +3 "core" &<* \ \  + "manipulator"&y& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&K( +3 "core" ( + "manipulator"&r& +4 "core" &   + "storage"(B& +4 "core" &<*  \ 0\ \  +2 .tForearm.seek 5 + 300 counts + "manipulator"& 'Ϲ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&e/ +69 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(2' +8 "core" & `  + "manipulator"&% +4 "core" % ϴ   +2 .tForearm.seek :retract + "manipulator"&u' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +159 "core" ' + ( + ."downElevator"SE.coast +3 "manipulator"&{& + "storage"(5 +7 "core" &Ӓ* Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +2 "core" &Ӓ* Bg +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +102 "core" ' +2 "manipulator"& & +4 "core" &ӓ* J Bf +2 "manipulator"&% +4 "core" %; 4 + "collection"' & +4 "core" &+\ +2 "collection"'& +5 "core" &q\ +2 .tCC.seek :closed + "collection"'|(\\ +6 "core" &H\  +9 &3}\ *z +9 &e\ ? +10 &tG\ N +9 &MU\ M +10 &X9\ M +9 &\\ \ M +9 &W9\ M +10 &UXB\ M +9 &Y\ M +9 &Y\ M +10 & X\ M +9 &"^W!\ M +10 &$ W4\ M +9 &%W1\ L +9 &'X\ M +9 &)eW\ M +10 &+'W\ M +9 &,X<\ M +10 &.W\ M +9 &0mX\ M +10 &20X\ M +9 &3Y>\ M +9 &5U\ M +10 &7uY\ M +9 &97Y\ M +9 &:Y\ M +10 &<Y\ M +9 &>~Y\ M +10 &@@Y+\ M +9 &B\\\ M +9 &CbG\ N +10 &E|s!'\ P +9 &G5 # \ S +9 &H"#,\ W +10 &J#&F\ Y +9 &Lg%%B\ Z +10 &N$$&B\ \\ +9 &O%&=\ [\ +9 &Q')\ \\ +10 &Sh'(\ \\ +9 &U'&(&\ ] +9 &V&'\ ] +10 &X&&\ _ +9 &Zk&$(\ ^ +10 &\\ x&'\ ; +9 &\\!(&\ - +9 &\\('\ !b +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % ; . 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +100 "core" ' +2 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%"& +5 "core" &\ + "manipulator"&#% +4 "core" % # / + "storage"(~% +4 "core" % \ + "storage"(1. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"( (<- +7 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ($& +2 "core" &<* p\  +2 "manipulator"&& +4 "core" &Ӕ( e Ae + "manipulator"&'% +4 "core" % # B / +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +157 "core" ( +2 "manipulator"&& +4 "core" & d \ + "storage"( & +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +95 "core" ' +2 "storage"(& +4 "core" &<*  \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('r +295 "core" ' +2 "storage"(s- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<*  $\  +2 "manipulator"&& +3 "core" & I \ +2 .tElbow.seek 5 + "manipulator"&+( +7 "core" ( +2 "manipulator"&!& +4 "core" & r  + "storage"(& +3 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&9'Ϲ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&=/ +68 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(&' +8 "core" & z  + "manipulator"&% +4 "core" %  \  +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&6( +166 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +72 "core" ( +2 "manipulator"&7& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" & 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&/& +4 "core" & + "manipulator"&% +4 "core" % \ +2 "processing"%H& +3 "core" &\ +2 "processing"%0& +5 "core" &\ +2 .tPC.seek :closed + "processing"%d(^ +4 "core" &\ +9 & -\ #b +9 &T~\ 8 +9 &~\ M +10 &\\\ O +9 &V[\ P +10 &Z\ P +9 &\\\ O +9 &[\ O +10 &_X\ O +9 &"Y\ O +9 &Z\ O +10 &!\\\ O +9 &#g[\ O +10 &%*U\ O +9 &&]\ O +9 &(\\\ O +10 &*o]\ O +9 &,0Z\ P +9 &-Z\ P +10 &/\\\ P +9 &1w\\z\ O +10 &38X\ P +9 &4Zr\ P +9 &6Yr\ O +10 &8~\\v\ P +9 &:@\\}\ P +9 &<\\~\ O +10 &=^w\ P +9 &?Zt\ P +10 &AGbp\ P +9 &Cpt\ R +9 &Du\ S +10 &Fl\ U +9 &H>n\ V +9 &I\ V +10 &K\ V +9 &M\ V +10 &OE\ V +9 &Qu\ X +9 &R\ X +10 &T\ X +9 &VJl\ W +9 &X  \ W +10 &Y \ X +9 &[\ X +10 &]Q \ I +9 &^wC\ &p +9 &^9\ 6 +5 ( +2 "processing"%0& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&1 +3 "core" &^'\ 6 +61 1 + "manipulator"&*% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +93 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%5& +4 "core" &^'\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&)% +3 "core" % " 7 +2 "storage"(P% +3 "core" % \ +2 "storage"(%. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(4(<- +7 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (L& +4 "core" &<* \  + "manipulator"&& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 ."raiseStack"SE.seek :beamBreak + "storage"(O'r +3 "core" & M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&N( +3 "core" ( +2 "manipulator"&,& +4 "core" & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" & 8 +2 .tForearm.seek PC +2 "manipulator"&<' +93 "core" ' +2 .tHand.close + "manipulator"&:/ +67 "core" / +2 .tPC.seek :open +2 "processing"%q( +78 "core" ' +2 "storage"(G- +3 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'1 +44 "core" ' +324 ( + "storage"(f& +4 "core" &<* \  +2 "manipulator"&J& +3 "core" & C +2 "manipulator"&@% +3 "core" %  o # +2 .tForearm.seek :retract +2 "manipulator"&U' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&;( +246 "core" ( +2 "manipulator"&M& +4 "core" & > + "storage"(`& +4 "core" &<* D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&I'O +96 "core" ' +2 .tHand.open + "manipulator"&z1 +63 "core" 1 +2 "storage"(Q- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +42 "storage"(j' +66 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"(c& +3 "core" &<* K I L\ l +2 "manipulator"&X& +3 "core" & v = +2 .tElbow.seek 5 + "manipulator"&n( +9 "core" ( +2 "manipulator"&o& +4 "core" & y  + "storage"(^& +4 "core" &<* J L <\ l +2 .tForearm.seek 5 + 450 counts + "manipulator"&T'O +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(g'" +50 "core" ' +2 "manipulator"&D& +4 "core" & :  + "storage"(w& +4 "core" &<*\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&\\'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&], +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(R' +21 "core" ' +2 "manipulator"&Y% +4 "core" %Ο . + "storage"(Z& +4 "core" &<* \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&E' +19 "core" ' +2 "manipulator"&t& +4 "core" &   +2 "storage"(h& +4 "core" &<*\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +18 "core" ' +2 "storage"(V% +4 "core" % G\ +2 ."downElevator"SE.seek :down +3 "storage"(v' +100 (\ % +3 "core" %0H \ Xh + "manipulator"&F% +4 "core" %V  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +87 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (x& +4 "core" &<* 2\ + "collection"'& +4 "core" &\\&(\\\ !b + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&b% +4 "core" %   + "storage"([% +4 "core" % \ + "storage"(a. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(>(<- +8 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (l& +3 "core" &<* <\  + "manipulator"&y& +4 "core" & q  + .tElbow.seek 5 +2 "manipulator"&r( +8 "core" ( +2 "manipulator"&B& +4 "core" &  + "storage"(e& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +92 "core" ' +2 "storage"(& +4 "core" &<*  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&{& +3 "core" & <  +2 "storage"(m& +3 "core" &<* 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&}'΍ +16 "core" ' +2 .tElbow.hold + "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"('m +27 "core" ' +2 "manipulator"&K% +4 "core" %Ο  + "storage"( & +4 "core" &<* \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&2' +24 "core" ' +2 "manipulator"&u& +4 "core" &   + "storage"(C& +4 "core" &<* ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +26 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +42 "core" ' +2 "manipulator"&"& +4 "core" &   + "manipulator"&#% +4 "core" %K  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&1(ӂ +155 "core" ( +2 "manipulator"&& +4 "core" &Ӟ" ] ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +2 "core" &Ӟ"  ;3 +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&'/ +75 "core" / +2 .tCC.seek :open + "collection"'( +452 "core" ( +2 "storage"(& +4 "core" &<* - - \  + "storage"( & +3 "core" &<* - . \  +2 "manipulator"&8& +3 "core" &Ӟ" ;3 +2 "manipulator"&% +3 "core" % A & +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&-( +162 "core" ( +2 "manipulator"&s& +4 "core" & (  + "storage"(& +4 "core" &<* 8 B 6\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&=% +4 "core" % Έ U  +2 "storage"(?& +3 "core" &<* 6 4\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 295 counts + "manipulator"&'ϴ +19 "core" ' +2 "manipulator"&& +4 "core" & N  +2 "storage"(& +3 "core" &<* 7 @ <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&('O +18 "core" ' +2 "storage"(9% +4 "core" % 9 J u\ +2 ."downElevator"SE.seek :down +3 "storage"(7' +99 (3% +3 "core" %yD  * \ Wc + "manipulator"&+% +4 "core" %C " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &<\ +2 "manipulator"&H% +4 "core" %  G  + "storage"(&% +4 "core" % K ] \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(i(K +380 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &K B M\ +2 "manipulator"&*& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&5( +7 "core" ( +2 "manipulator"&)& +4 "core" &  + "storage"(P& +4 "core" &K E C j\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&%' +93 "core" ' +2 "storage"(0& +4 "core" &K g g\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'r +297 "core" ' +2 "storage"(- +3 "core" -'" + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &K ) \  + "manipulator"&.& +4 "core" & &  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&:& +4 "core" &  + "storage"( & +4 "core" &K B >\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&G'h +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&6/ +68 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(d' +7 "core" &  + "manipulator"&O% +4 "core" % j  +2 .tForearm.seek :retract + "manipulator"&f' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&J(ӂ +160 "core" ( +2 "manipulator"&@& +4 "core" &ӓ& 5 ?V + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.coast +2 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&<& +5 "core" &ӓ& p ?V + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +47 "manipulator"&M'? +95 "core" ' +3 "manipulator"&`& +4 "core" &ӓ& _ ?V + "manipulator"&N% +4 "core" %@ 0 m +2 "collection"'z& +4 "core" &S\ +2 "collection"'Q& +4 "core" &W\ +2 .tCC.seek :closed +2 "collection"'U(\\ +4 "core" &X\ +8 & 3W\ $d +10 &UzZ\ 7 +9 &zF\ L +9 &TG\ M +10 &eTI\ L +9 &&WD\ M +10 &YC\ M +9 &W<\ L +9 &l[<\ M +10 &.Z<\ M +9 &Y;\ M +9 &!T<\ M +10 &#tZ4\ M +9 &%6X0\ M +10 &&U'\ L +9 &(X-\ L +9 &*|U-\ M +10 &,?Z/\ L +9 &.U0\ L +9 &/V0\ L +10 &1Z/\ M +9 &3FW,\ M +10 &5 U\ L +9 &6U\ M +9 &8V\ L +10 &:OY\ L +9 &<U\ M +9 &=\\\ L +10 &?X\ L +9 &AU]\ M +10 &Ca\ N +9 &Dk\ O +9 &F#" \ R +10 &HA%%[\ W +9 &I')F\ Y +9 &K(+\ Y +10 &Mz++\ [\ +9 &O=++\ [ +10 &P*+=\ [\ +9 &R,-1\ \\ +9 &T}/-U\ ] +10 &V?,/%\ ] +9 &W-,\ ^ +9 &Y+./\ _ +10 &[~-.Q\ K +9 &\\;0/3\ 2 +10 &\\./%\ ] +5 ( +2 "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 + .Hand.open + "manipulator"&_1 +3 "core" &\\.0\ ] +56 1 + "manipulator"&c% +4 "core" % @ G m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +93 "core" ' +2 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%o& +4 "core" &\ +2 "manipulator"&^% +4 "core" %   + "storage"(D% +4 "core" % '\ + "storage"(w. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(S(K +15 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &K R\ + "manipulator"&Y& +4 "core" &ӓ& - ?V + "manipulator"&Z% +4 "core" %  k  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&t( +166 "core" ( +2 "manipulator"&h& +4 "core" & '  + "storage"(V& +4 "core" &K   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +92 "core" ' +2 "storage"(I& +4 "core" &K \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'r +300 "core" ' +2 "storage"(\ - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +2 "core" &K A\ +2 "manipulator"&T& +4 "core" &  + .tElbow.seek 6 + "manipulator"&n( +4 "core" ( + "manipulator"&g& +4 "core" &  + "storage"(\\& +4 "core" &K   \ +2 .tForearm.seek 6 + 300 counts + "manipulator"&E'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +69 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(b' +7 "core" &  + "manipulator"&[% +4 "core" % ϋ D +2 .tForearm.seek :retract + "manipulator"&a' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&R( +166 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +74 "core" ( +2 "manipulator"&l& +4 "core" &  + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" & 3 + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B' +99 "core" ' +2 "manipulator"&e& +4 "core" & , + + "manipulator"&W% +4 "core" % ;  +2 "processing"%& +3 "core" &\ +2 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed + "processing"%4(^ +3 "core" &\ +10 & -\ #b +9 &U~\ 8 +9 &~\ M +10 &]\ P +9 &M[\ P +9 &Y\ O +10 &Y\ O +9 &Y\ O +10 &V]\ O +9 &Y\ O +9 &[\ O +10 &!Z\ O +9 &#]\\\ P +9 &% X{\ O +10 &&X~\ P +9 &(\\|\ O +10 &*fW\ O +9 &,(Y}\ O +9 &-Wz\ O +10 &/Yu\ O +9 &1m[p\ P +9 &30\\h\ O +10 &4Wp\ P +9 &6Yu\ P +10 &8uZv\ P +9 &:7Ys\ P +9 &;[o\ O +10 &=[n\ O +9 &?}\\n\ P +9 &A=c\ P +10 &Bv\ R +9 &D|\ T +10 &Fs\ V +9 &H5\ V +9 &I\ V +10 &K\ W +9 &Mx\ W +9 &O9\ W +10 &P\ X +9 &R\ W +10 &T\ \ W +9 &V?\ X +9 &X\ W +10 &Y\ X +9 &[\ X +9 &]F\ M +10 &^yN\ #m +9 &^0\ 6 +2 ( +2 "processing"%v& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&]1 +59 "core" 1 +2 "manipulator"&k% +4 "core" %  7  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%{& +4 "core" &^&V\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&m% +4 "core" % #  2 + "storage"( % +4 "core" % \ + "storage"(K. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"( (K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (u& +4 "manipulator"&C& + "core" &K \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & S + +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&"( + "storage"(#'r +5 "core" ( + "manipulator"&p& +4 "core" & | + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" & + +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&}/ +69 "core" / +3 .tPC.seek :open + "processing"%2( +88 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +312 ( + "storage"($& +4 "core" &K\  +2 "manipulator"&& +3 "core" & 7 + +2 "manipulator"& % +3 "core" %  * % +2 .tForearm.seek :retract +2 "manipulator"&'' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&~( +254 "core" ( +2 "manipulator"&|& +4 "core" & 9  + "storage"(& +4 "core" &K a\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +96 "core" ' +2 .tHand.open + "manipulator"&81 +56 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(s' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' + "storage"(1& +4 "core" &K \ u +2 "manipulator"&& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&=( +3 "core" ( + "manipulator"&?& +4 "core" &   + "storage"(& +4 "core" &K \ u +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(9'" +52 "core" ' +2 "manipulator"&& +4 "core" & %  + "storage"(3& +4 "core" &K  m\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&+'< +21 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 "manipulator"&% +4 "core" %K n + "storage"(& +4 "core" &K U\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 315 counts + "manipulator"&H'w +19 "core" ' +2 "manipulator"&&& +4 "core" &   + "storage"(& +5 "core" &K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +23 "core" ' +2 "storage"((% +4 "core" % #\ +2 ."downElevator"SE.seek :down +52 "storage"(7' +51 (>% +3 "core" %FA \ We + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +117 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 ()& +4 "core" &K  \ +2 "collection"'P& +3 "core" &\\*+I\ ] +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&0% +4 "core" %  Z  + "storage"(!% +4 "core" %  \ +2 "storage"(/. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (,& +2 "core" &K \  +2 "manipulator"&.& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&:( +8 "core" ( +2 "manipulator"& & +4 "core" &   + "storage"(6& +4 "core" &K   +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +93 "core" ' +2 "storage"(O& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'r +295 "core" ' +2 "storage"(%- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&@& +4 "core" &   + "storage"(<& +4 "core" &K D\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&L'< +23 "core" ' +2 .tElbow.hold + "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(`'l +46 "core" ' +2 "manipulator"&N% +4 "core" %J 4 + "storage"(z& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&d'v +20 "core" ' +2 "manipulator"&f& +4 "core" & >  + "storage"(& +4 "core" &K Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +25 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(c' +41 "core" ' +2 "manipulator"&o& +4 "core" & 6  + "manipulator"&^% +4 "core" %  z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +101 "core" ' +2 .tElbow.seek CC + "manipulator"&w(ӂ +158 "core" ( +3 "manipulator"&Q& +4 "core" &ӡ" ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &ӡ"  ;8 +2 .tForearm.seek CC +2 "manipulator"&Y'? +94 "core" ' +2 .tHand.close + "manipulator"&Z/ +73 "core" / +2 .tCC.seek :open + "collection"'M( +449 "core" ( +2 "storage"(h& +4 "core" &K + " B\  + "storage"(V& +3 "core" &K " , M\  +2 "manipulator"&i& +3 "core" &ӡ"  ;8 +2 "manipulator"&I% +95 "core" % L Q + +2 .tForearm.seek :retract + "manipulator"&J' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&X( +164 "core" ( +2 "manipulator"&\ & +4 "core" & 7  + "storage"(F& +4 "core" &K ? 8\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&T'< +103 "core" ' +2 .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&\\1 +57 "core" 1 +2 "manipulator"&x% +4 "core" % A +2 "storage"(& +3 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 305 counts + "manipulator"&['m +21 "core" ' +2 "manipulator"&t& +4 "core" &   + "storage"(;& +4 "core" &K I Z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +15 "core" ' +2 "storage"(E% +4 "core" % h h\ +2 ."downElevator"SE.seek :down +3 "storage"(l' +99 (y% +3 "core" %B 1 ;\ Vb + "manipulator"&n% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +95 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 7 of [2..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'W& +4 "core" &,\ +2 "manipulator"&% +4 "core" %  I . + "storage"(b% +4 "core" % ; <\ + "storage"(a. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(q([ +355 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (]& +3 "core" &[ . ! \ \  + "manipulator"&k& +4 "core" & ?  + .tElbow.seek 7 +2 "manipulator"&{(r +13 "core" ( +2 "manipulator"&m& +4 "core" &q J  + "storage"( & +4 "core" &[   3\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&K'= +97 "core" ' +2 "storage"(v& +4 "core" &[ ; / 3\ \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'r +296 "core" ' +2 "storage"(C- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek :down + "storage"(p' +268 "core" ' + .tSE.coast +2 "storage"(5 +2 "manipulator"&r% +4 "core" %7  x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +91 "core" ' +2 !to:Puck::Error: mesg".2 pucks loaded in tube 7 when expecting 0:@checkpoint: omitted:bt[";/home/esp/esp2/utils/puckmoves.rb:258:in `verifyCount'":/home/esp/esp2/utils/puckmoves.rb:585:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:365:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:363:in `load'"4/home/esp/esp2/utils/puckmoves.rb:358:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:358:in `load'"8/home/esp/esp2/utils/puckmoves.rb:963:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):3:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" acess 2 + !o:NoMethodError : mesg".undefined method `acess' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +581 #-> access 2 +3 .SE.seek :down + "storage"(}' +3 "core" ' + "manipulator"&S% +4 "core" %  E  +2 "manipulator"&& +3 "core" &q   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(R(K +350 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &K p p 8\ +1417 #t-> access 7 +2 .SE.seek :down + "storage"(4' +4 "core" ' +2 "manipulator"&#% +3 "core" %  8  +2 "manipulator"&$& +3 "core" &q 5  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +668 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 ( & +2 "core" &,| < B\ +1195 #t-> access 6 +2 .SE.seek :down + "storage"(' +4 "core" ' + "manipulator"&|% +4 "core" %  L  + "manipulator"&& +4 "core" &q   + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"("( +359 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (8& +3 "core" & F 7 %\ +1602 #t-> access 5 +2 .SE.seek :down + "storage"(' +3 "core" ' + "manipulator"&% +4 "core" %    +2 "manipulator"&1& +3 "core" &q L  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +355 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (?& +2 "core" &  4 8\ +1109 #t-> access 4 +2 .SE.seek :down + "storage"(' +3 "core" ' +2 "manipulator"&'% +4 "core" %  4  + "manipulator"&& +4 "core" &q   + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(3(C +376 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &@ k p ]\ +1667 #t-> access 2 +2 .SE.seek :down +2 "storage"(' +2 "core" ' +2 "manipulator"&% +3 "core" %  ,  +2 "manipulator"&&& +4 "core" &q  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +1620 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (s& +3 "core" &K"  \  +43993 "Can"\ IF +60003 \ IF +39806 #t-> startTube 2 +2247 #-> $da[:extractVol]=.21 +2049 #-> shortDA +2 "collection"'(% +2 "processing"%~% +4 "core" %i~\ +5 %\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1161 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"% +44 "core" +2 .tPTV.dial :PRVmixing + "processing"%  +72 "core" +2 .tPRV.dial :sipper + "processing"%>  +100 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%'e +2287 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%  + "collection"'=  +5 "core" +121  +2 .tPS.seek 0.5ml +2 "processing"%9' +1271 "core" ' +2 .tPRV.dial :waste2 + "processing"%+ @ +98 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%H'ؾ +597 "core" ' + .tPSV.dial PSR +2 "processing"%) +112 "core" +2 "processing"%P% +3 "core" %غ{\  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%0'X\\ +1111 "core" ' +2 .tPSR.select :air + "processing"% +11 .tPS.seek 2.5ml + "processing"%' +1616 "core" ' + .tPSV.dial :mixloop +2 "processing"%! +100 "core" +2 .tPS.seek 0ml +2 "processing"%/'ؾ +2649 "core" ' + .tPSV.dial PSR +2 "processing"%, +102 "core"  +2 "processing"%.% +4 "core" %ؾi\  + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"% 'X\\ +1099 "core" ' +2 .tPSR.select :air + "processing"% +11 .tPS.seek 2.5ml + "processing"%6' +1613 "core" ' +2 .tPSV.dial :mixloop + "processing"% +102 "core" +2 .tPRV.dial :sipper + "processing"%O  +41 "core" +2 .tPS.seek 0ml +2 "processing"%7'ؾ +445 "Can"\ LI +2190 "core" ' + .tPSV.dial PSR +2 "processing"% +101 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml + "processing"%-' +2628 "core" ' + .tPSV.dial :mixloop +2 "processing"%* +102 "core" +2 .tPS.seek 0ml +2 "processing"%%'ؾ +2638 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%@& +4 "core" &\ + "manipulator"&<% +4 "core" %   + "storage"(% +4 "core" % \\ [ b\ + "storage"(N. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(z(  +1304 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (f& +2 "core" &  y <\ +2 "manipulator"&& +3 "core" &q  +2 .tElbow.seek 2 + "manipulator"&o( +38 "core" ( +2 "manipulator"&^& +4 "core" &  + "storage"(A& +3 "core" &  y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&:'S +97 "core" ' +2 "storage"(5& +4 "core" &  y z \ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'r +298 "core" ' +2 "storage"(d- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" &  i a\  + "manipulator"&Q& +4 "core" &  + .tElbow.seek 2 +3 "manipulator"&( +3 "core" ( + "manipulator"&_& +4 "core" &  + "storage"(G& +4 "core" &  ~ x P\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&Z'Ͻ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&D/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(h' +7 "core" &  +2 "manipulator"&V% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&I( +167 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +91 "core" ( +2 "manipulator"&\ & +4 "core" & $  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" & !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&Y' +92 "core" ' +2 "manipulator"&w& +4 "core" & T  + "manipulator"&\\% +4 "core" % ) ] + "processing"%x& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%t(^ +4 "core" &s\  +10 &-ux\ +{ +9 &cw\ ? +9 &ny|\ P +10 &1\\x\ O +9 &]w\ O +10 &]w\ O +9 &w\\w\ O +9 &8\\y\ O +10 &]y\ O +9 &\\f\ O +9 & ~\\t\ O +10 &"AYi\ O +9 &$\\g\ O +10 &%[c\ O +9 &'^h\ O +9 &)J]\ O +10 &+ ]g\ O +9 &,]\ O +9 &.^q\ O +10 &0R_\ O +9 &2]\ O +10 &3]\ O +9 &5_\ O +9 &7X^\ O +10 &9_\ P +9 &:`\ P +9 &<]\ O +10 &>_`\ \ P +9 &@!`\ P +10 &Al \ P +9 &Cy\ R +9 &EW\ U +10 &G\ U +9 &H\ U +9 &J\ U +10 &L]\ V +9 &N\ V +10 &O\ V +9 &Q\ W +9 &Sa\ W +10 &U&\ V +9 &V\ W +9 &X\ V +10 &Zl\ V +9 &\\,\ W +10 &]|}\ > +9 &^(v\ Y +9 &^7\ 8 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&;1 +57 "core" 1 +2 "manipulator"&E% +4 "core" %  - ] + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' + .tSC.coast + "storage"(6 +4 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 + .PH.seek 28C,5:00 +2 "processing"%y h +2 %n9 +7 "core" 9 +102 "processing"%X9 +2 "core" 9% +103 "processing"%T9 +2 "core" 9$ \ +103 "processing"%W9 +2 "core" 9& \ +103 "processing"%[9 +2 "core" 9%\ +103 "processing"%9 +2 "core" 9$\ +103 "processing"%b9 +2 "core" 9$ +103 "processing"%a9 +2 "core" 9% +103 "processing"%c9 +8 "core" 9%" +103 "processing"%j9 +2 "core" 9%' +103 "processing"%l9 +2 "core" 9%+ +103 "processing"%9 +2 "core" 9%/ +103 "processing"%]9 +2 "core" 9$3 +103 "processing"%k9 +3 "core" 9$7 +103 "processing"%m9 +2 "core" 9&< +103 "processing"% 9 +2 "core" 9%@ +103 "processing"%v9 +2 "core" 9%D +103 "processing"%g9 +2 "core" 9%H +103 "processing"%e9 +3 "core" 9%L +103 "processing"%C9 +2 "core" 9%Q +103 "processing"%r9 +2 "core" 9&U +103 "processing"%u9 +2 "core" 9&Y +103 "processing"%p9 +2 "core" 9&] +103 "processing"%K9 +2 "core" 9\ &a +103 "processing"%S9 +2 "core" 9 %f +103 "processing"%9 +2 "core" 9&j\ +103 "processing"%q9 +2 "core" 9&n +103 "processing"%9 +2 "core" 9&r +103 "processing"%#9 +3 "core" 9&v\ +103 "processing"%$9 +2 "core" 9&{\ +103 "processing"%}9 +2 "core" 9'\ +103 "processing"%R9 +2 "core" 9 & +3 .tPH.hold 2:00:00,28C +2 "processing"% php +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air + .PSV.dial PSR +2 "processing"%| +101 "core"  +2 "processing"%% +4 "core" %ظ\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml + "processing"%4' +598 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%' +1620 "core" ' +2 .tPTV.dial :puck + "processing"%8  +127 "core"  +2 .tPSV.dial PTV + "processing"% +72 "core" +2 .tPBV.dial :waste1 + "processing"%1  +53 "core"  +2 "processing"%% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%"'. +599 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%? * +32 "core" * +2 .tPS.seek 0ml +2 "processing"%''ؾ +1603 "core" ' +2 .tdelay 5:00 +16514 !o:SignalException : mesg" SIGHUP:@checkpoint: omitted:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +54 !o:Storage::Warning: mesg"9Exiting with da puck from tube 2 in Processing Clamp:bt["6/home/esp/esp2/utils/storage.rb:545:in `writeAll'"2/home/esp/esp2/utils/storage.rb:540:in `each'"6/home/esp/esp2/utils/storage.rb:540:in `writeAll'"2/home/esp/esp2/utils/storage.rb:536:in `open'"6/home/esp/esp2/utils/storage.rb:536:in `writeAll'"(/home/esp/esp2/utils/storage.rb:552"4/home/esp/esp2/lib/framework.rb:160:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"-/home/esp/esp2/lib/thread.rb:751:in `[]'"0/home/esp/esp2/lib/thread.rb:751:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +2 #mEXIT @1615239406.87EST @1615249294.51EST = =tMAIN =mMAIN_scheduler @EST1615249296.25 #"core_reset"Sent BREAK +2 #t@35571 select with ifg=0x10, ie=0xF5 + #@36229 receive with ifg=0x10, ie=0xFD #@36865 receive with ifg=0x10, ie=0xFD + #@37521 receive with ifg=0x10, ie=0xFD + #@38158 receive with ifg=0x10, ie=0xFD #@38805 receive with ifg=0x10, ie=0xFD + #@39451 receive with ifg=0x10, ie=0xFD #@39781 receive with ifg=0x80, ie=0xFD + #@8417 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +289 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +359 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ OM + \ OM + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %i#%\ + .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %چHE 5\ +2 .tSS.configure :default +2 "sampler")#.0X showlog +1249 #-> exit +4 !o:Storage::Warning: mesg"9Exiting with da puck from tube 2 in Processing Clamp:bt["6/home/esp/esp2/utils/storage.rb:545:in `writeAll'"2/home/esp/esp2/utils/storage.rb:540:in `each'"6/home/esp/esp2/utils/storage.rb:540:in `writeAll'"2/home/esp/esp2/utils/storage.rb:536:in `open'"6/home/esp/esp2/utils/storage.rb:536:in `writeAll'"(/home/esp/esp2/utils/storage.rb:552"4/home/esp/esp2/lib/framework.rb:160:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"-/home/esp/esp2/lib/thread.rb:751:in `[]'"0/home/esp/esp2/lib/thread.rb:751:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +2 #mEXIT @1615254184.51EST @1615254217.09EST = =tMAIN =mMAIN_scheduler @EST1615254218.80 #"core_reset"Sent BREAK +2 #t@43 receive with ifg=0x10, ie=0xFD + #@680 receive with ifg=0x10, ie=0xFD #@1336 receive with ifg=0x10, ie=0xFD + #@1974 receive with ifg=0x10, ie=0xFD + #@2621 receive with ifg=0x10, ie=0xFD #@3268 receive with ifg=0x10, ie=0xFD + #@3915 receive with ifg=0x10, ie=0xFD #@4241 receive with ifg=0x80, ie=0xFD + #@42435 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +266 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +342 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ OM + \ OM #tPolling Can every 10:00 +124 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ + % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %i%&\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %چGF .\ +2 .tSS.configure :default +2 "sampler")#.0X exit +4 !o:Storage::Warning: mesg"9Exiting with da puck from tube 2 in Processing Clamp:bt["6/home/esp/esp2/utils/storage.rb:545:in `writeAll'"2/home/esp/esp2/utils/storage.rb:540:in `each'"6/home/esp/esp2/utils/storage.rb:540:in `writeAll'"2/home/esp/esp2/utils/storage.rb:536:in `open'"6/home/esp/esp2/utils/storage.rb:536:in `writeAll'"(/home/esp/esp2/utils/storage.rb:552"4/home/esp/esp2/lib/framework.rb:160:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"2/home/esp/esp2/lib/framework.rb:164:in `call'"4/home/esp/esp2/lib/framework.rb:164:in `atExit'"-/home/esp/esp2/lib/thread.rb:751:in `[]'"0/home/esp/esp2/lib/thread.rb:751:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 #mEXIT @1615254285.61EST @1615254358.62EST = =tMAIN =mMAIN_scheduler @EST1615254360.36 #"core_reset"Sent BREAK +2 #t@19909 receive with ifg=0x10, ie=0xFD + #@20547 receive with ifg=0x10, ie=0xFD #@21203 receive with ifg=0x10, ie=0xFD + #@21841 receive with ifg=0x10, ie=0xFD + #@22488 receive with ifg=0x10, ie=0xFD #@23135 receive with ifg=0x10, ie=0xFD + #@23781 receive with ifg=0x10, ie=0xFD #@24107 receive with ifg=0x80, ie=0xFD + #@2976 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +269 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +354 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ OM + \ OM + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ + % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %i&&\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %چII .\ +2 .tSS.configure :default +2 "sampler")#.0X Flush +515 #-> CC + "collection"' & +3 "core" &&&\ +284 #t-> PC + "processing"%!& +3 "core" &^2\ 8 +44537 #t-> mainThread.resume + !o:NoMethodError : mesgu:NameError::message:private method `resume' called for :mainThread:Symbol: name: resume: args[:bt["(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +12545 "Can"\ MJ +27338 #t-> PC.unloadPuck + "processing"%"& +3 "core" &^2\ 8 +2 #tStoring da puck in Processing Clamp to tube 1 + .Hand.open + "manipulator" +27 "core" 1 +2 "manipulator"&$% +3 "core" %  @  +2 "storage"(%% +3 "core" % h h\ + "storage"(&. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"('(C +360 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ((& +3 "core" &D / $\ +2 "manipulator"&)& +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&*( + "storage"(+'r +6 "core" ( + "manipulator"&,& +4 "core" &   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" &  +2 .tForearm.seek PC + "manipulator"&.' +94 "core" ' +2 .tHand.close + "manipulator"&// +69 "core" / +2 .tPC.seek :open + "processing"%0( +87 "core" ' +2 "storage"(1- +3 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'1 +39 "core" ' +321 ( + "storage"(3& +4 "core" &D j j\ +2 "storage"(4& +3 "core" &D h h\ +2 "manipulator"&5& +4 "core" & C  + "manipulator"&6% +3 "core" %  U  +2 .tForearm.seek :retract + "manipulator"&7' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&8( +240 "core" ( +2 "manipulator"&9& +3 "core" & 7 +2 "storage"(:& +3 "core" &D h h\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 1 +2 "manipulator"&;'8 +94 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&=1 +59 "core" 1 +3 "manipulator"&>% +4 "core" % K @  + "storage"(?& +4 "core" &D h i \ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 319 counts + "manipulator"&@'w +26 "core" ' +2 "manipulator"&A& +4 "core" & 7 + "storage"(B& +4 "core" &D _ f '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&C' +15 "core" ' +2 "storage"(D% +4 "core" %; [ g\ +2 ."downElevator"SE.seek :down +3 "storage"(E' +99 (F% +3 "core" %E B ?\ Wf + "manipulator"&G% +4 "core" % b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&H' +91 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +535 #t-> PC + "processing"%I& +3 "core" &\ +18824 #t-> access 1 +2 .SE.seek :down + "storage"(J' +3 "core" ' +2 "manipulator"&K% +3 "core" %  a  +2 "manipulator"&L& +3 "core" & ^ 7 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(M(<- +1299 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (N& +2 "core" &<. 7 N "\  +9961 "Can"\ FC\ +6610 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +5 #mEXIT @1615255632.78EST @1615312218.95EST = =tMAIN =mMAIN_scheduler @EST1615312220.66 #"core_reset"Sent BREAK +2 #t@21240 receive with ifg=0x10, ie=0xFD + #@21875 receive with ifg=0x10, ie=0xFD #@22533 receive with ifg=0x10, ie=0xFD + #@23170 receive with ifg=0x10, ie=0xFD + #@23809 receive with ifg=0x10, ie=0xFD #@24442 receive with ifg=0x10, ie=0xFD + #@25075 receive with ifg=0x10, ie=0xFD #@25401 receive with ifg=0x80, ie=0xFD + #@53591 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +349 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ HE + \ HE + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %i\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %چ '\ +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +4 "core" %i \ + "sampler")% +4 "core" %چ 5\ + "manipulator"&% +4 "core" %   + "manipulator"&& +3 "core" & $ 7 +2 "storage"(& +3 "core" &<+ w v ~\ + "storage"(% +4 "core" % ~ !\ + "collection"'& +3 "core" &\ +2 "processing"%& +3 "core" &\ + "processing"% % +4 "core" %\ +920 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +3 "core" & \ + .tHand.open + "manipulator"&"1 +23 "core" 1 +2 "manipulator"&#& +3 "core" & 7 +2 "manipulator"&$% +3 "core" %  e  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(- +172 "core" ( +2 "manipulator"&&& +3 "core" &- * H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &- H + .tForearm.seek :garage +2 "manipulator"&('w +97 "core" ' +2 .tHand.close + "manipulator"&)/ +68 "core" / +2 "manipulator"&*& +4 "core" &- B H + "manipulator"&+% +4 "core" % ω + .tForearm.seek :retract +2 "manipulator"&,' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&-(ӂ +284 "core" ( +2 "manipulator"&.& +4 "core" &ӛ#  <? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &ӛ# : <? + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&0'? +99 "core" ' +2 "manipulator"&1& +4 "core" &ӛ# : <? + "manipulator"&2% +4 "core" %A ! + "collection"'3& +4 "core" &\ +2 "collection"'4& +4 "core" &\ \ +2 .tCC.seek :closed +2 "collection"'5(\\ +4 "core" & \ +7 &; \ %f +10 &U} \ 8 +9 &{ \ L +10 &Z\ \ N +9 &uW\ N +9 &7Y \ N +10 &[\ N +9 &] \ N +9 &}^ \ N +10 &?Y\ \ N +9 & Z \ M +10 &!Z\ M +9 &#] \ N +9 &%HW\ M +10 &'\ Z\ M +9 &(Z\ M +9 &*\\\ M +10 &,OY \ N +9 &.\\ \ M +10 &/W \ N +9 &1[\ N +9 &3XX\ M +10 &5Z\ M +9 &6]\ N +9 &8\\\ N +10 &:_Y\ N +9 &<"\\\ M +10 &=Z\ M +9 &?]\ N +9 &Ag\\\ N +10 &C&e\ O +9 &Dv\ P +9 &F\ U +10 &HP \ X +9 &J\ Y +10 &K\ Y +9 &M\ Z +9 &OR\ Z +10 &Q\ [\ +9 &R\ [ +9 &T\ \\ +10 &VS\ ] +9 &X\ ^ +10 &Y\ _ +9 &[\ L +9 &\\:\ - +10 &\\\ !a +5 ( +2 "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + "collection"'6& +4 "core" &\\\ !a + &\\\ !a + .tHand.open + "manipulator"&71 +54 "core" 1 +2 "manipulator"&8% +4 "core" % @ " + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +3 #tPurging external Intake + "collection"':& +4 "core" &\\\ !a + "collection"';% +4 "core" %i\ + .tCSV.dial :flush + "collection"'<  +43 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'=' +2464 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'> +2 '?  +71 "core" ~ +4  + .tCTV.dial :intake +2 "collection"'@  +78 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'A'i +2405 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'B  +79 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&C& +4 "core" &ӛ#  <? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&D(ӂ +39 "core" ( +2 "manipulator"&E& +4 "core" &v$ :+ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &v$ G :+ +2 .tForearm.seek CC + "manipulator"&G'? +104 "core" ' +2 .tHand.close + "manipulator"&H/ +68 "core" / +2 .tCC.seek :open + "collection"'I( +450 "core" ( +2 "manipulator"&J& +3 "core" &Ӓ s 6 +2 "manipulator"&K% +3 "core" %   +2 .tForearm.seek :retract + "manipulator"&L' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&M(- +283 "core" ( +2 "manipulator"&N& +3 "core" &- P V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &- V + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +36 "manipulator"&P'w +110 "core" ' + .tHand.open +2 "manipulator"&Q1 +62 "core" 1 +2 "manipulator"&R% +4 "core" % π ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +94 "core" ' +3978 #t-> accewss 2 + !o:NoMethodError : mesg"0undefined method `accewss' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +247 #-> access 2 +2 .SE.seek :down + "storage"(T' +3 "core" ' +2 "manipulator"&U% +3 "core" %  n  +2 "manipulator"&V& +3 "core" &- N V +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(W(K +362 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (X& +2 "core" &K( , 9 %\  +44898 "Can"\ PM +17696 #t-> start esp DA_03092021.rb +2 !o:NameError: mesg"'uninitialized constant DA_03092021: name:DA_03092021:bt["(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3729 #-> exit +5 #mEXIT @1615313040.41EST @1615313093.37EST = =mMAIN_scheduler =tMAIN @EST1615313095.24 #"core_reset"Sent BREAK +2 #t@49801 receive with ifg=0x10, ie=0xFD + #@50440 receive with ifg=0x10, ie=0xFD #@51096 receive with ifg=0x10, ie=0xFD + #@51731 receive with ifg=0x10, ie=0xFD + #@52364 receive with ifg=0x10, ie=0xFD #@52997 receive with ifg=0x10, ie=0xFD + #@53630 receive with ifg=0x10, ie=0xFD #@53957 receive with ifg=0x80, ie=0xFD + #@51833 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +251 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +350 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +2 "Can" \ RO +  \ RO + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %i3\  + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %چ 1\ + .tSS.configure :default +2 "sampler")#.0X/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +113 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +357 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ QO + \ QO + #tPolling Can every 10:00 +124 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %i\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %چ 0\ +2 .tSS.configure :default +2 "sampler")#.0X exit +5 #mEXIT @1615313317.44EST @1615313330.02EST = =mMAIN_scheduler =tMAIN @EST1615313331.89 #"core_reset"Sent BREAK +2 #t@23313 sendCRC with ifg=0x20, ie=0x7F + #@25148 sendCRC with ifg=0x08, ie=0x5F #@37200 sendCRC with ifg=0x20, ie=0x7F + #@37646 sendCRC with ifg=0x20, ie=0x7F + #@38962 sendCRC with ifg=0x20, ie=0x7F #@39178 sendCRC with ifg=0x20, ie=0x7F + #@40332 sendCRC with ifg=0x20, ie=0x7F #@41698 sendCRC with ifg=0x08, ie=0x5F + #@22198 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +254 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +348 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +2 "Can"\ SP + \ SP + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +3 "sampler")&\ +2 "collection"'% +2 "core" %ir\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %چ 0\ +2 .tSS.configure :default +2 "sampler")#.0X 0,\\n 2 => 3,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:09:01, 0% flow, 24.8C, 14% humidity, 15.0psia, 13.539V, 0.405A, 0.393A avg, 5.49W",Subject: "Asleep until 13:09" +90 "Can"\  +3 #tPowering core bus +506 .Gate.power :raw,:ON +2 "sampler") +38 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %L\ + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default + "processing"%#A d`xb +3 "sampler")% +2 "core" %\ +2 .tSS.configure :default +2 "sampler")#.0X& + "collection"'?& +6 "core" &\ + &\ +2 ."openPC"PC.reconfigure :default +3 .tCC.reconfigure :default +3 "processing"%$x2 ^22b + "collection"'$x2 ^22b +3 ."openPC"PC.home.seek :open +3 "processing"%@( + .tCC.home.seek :open +3 "collection"'A( +283 "core" ( +11 ( +29 "Can"\ ][ +6 #tPhase [initialPurge; da #da and wsr are run simultanelously] +2 ."Qmail"Notice.email "At 13:09:49 began in tube 2: initialPurge; da #da and wsr are run simultanelously\\n/home/esp/esp2/mission/DA_03092021.rb:14\\n{1 => 0,\\n 2 => 3,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:09:50, 0% flow, 24.7C, 14% humidity, 15.0psia, 13.515V, 0.484A, 0.472A avg, 6.54W",Subject: "Started DA_03092021 phase initialPurge; da #da and wsr are run simultanelously" +3 #tStarting initialPurge +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage "collection"'B& +4 "core" &_\  +2 .tHand.open + "manipulator"&C1 +57 "core" 1 +2 "manipulator"&D& +4 "core" & - +2 "manipulator"&E% +3 "core" %  9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&F(- +173 "core" ( +2 "manipulator"&G& +4 "core" &- ' [ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +5 "core" &-  [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage + "manipulator"&I'w +93 "core" ' +2 .tHand.close + "manipulator"&J/ +66 "core" / +2 "manipulator"&K& +4 "core" &- [ + "manipulator"&L% +3 "core" %  E +2 .tForearm.seek :retract +2 "manipulator"&M' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&N(ӂ +278 "core" ( +2 "manipulator"&O& +3 "core" &{. E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +2 "core" &{.  E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Q'? +101 "core" ' +2 "manipulator"&R& +4 "core" &Ӧ' \ @X + "manipulator"&S% +4 "core" %?  +2 "collection"'T& +3 "core" &\  +2 "collection"'U& +5 "core" &_\  +2 .tCC.seek :closed + "collection"'V(\\ +5 "core" &E\  +9 &6\ ,~ +10 &f\ @ +9 &ns\ N +9 &3Z\ M +10 &\\\ N +9 &_\ N +9 &w\\D\ N +10 &:W?\ M +9 &ZT\ N +10 &]a\ M +9 & W!\ M +9 &"BX\ M +10 &$Z\ M +9 &%\\J\ N +9 &'\\J\ N +10 &)KXJ\ M +9 &+ \\ \ M +10 &,\\F\ M +9 &.]_\ M +9 &0R]U\ M +10 &2]\\\ M +9 &3^`\ M +9 &5Yg\ M +10 &7YZd\ N +9 &9_h\ M +10 &:Yf\ N +9 &<]>\ M +9 &>b\\I\ M +10 &@#_F\ N +9 &A\\d\ N +9 &Cf\ O +10 &E^{\ Q +9 &G\ U +10 &H\ Y +9 &JE\ Y +9 &LN\ Z +10 &N J\ [\ +9 &Oe\ [ +9 &Qe\ [\ +10 &SQg\ [ +9 &UL\ ] +10 &VJ\ ] +9 &XJ\ ^ +9 &ZN\ _ +10 &[{E\ @ +9 &\\.H\ + +9 &\\~\ Z +2 ( +2 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + "collection"'W& +4 "core" &\\}Y\ Z + .tHand.open + "manipulator"&X1 +63 "core" 1 +2 "manipulator"&Y% +3 "core" % ?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +93 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'[& +4 "core" &\\}\ Z + "collection"'\\% +4 "core" %n\ + .tCSV.dial CSR +2 "collection"']  +123 "core"  +2 "collection"'^% +4 "core" %n\ + #tPulling 4.999ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 5ml + "collection"'_'s5 +1356 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '`% +2 "core" %s6s\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'a' +672 "core" ' + .tCSV.dial :waste +2 "collection"'b +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'c'i +2002 "core" ' +2 #tPurging external Intake + "collection"'d& +3 "core" &\\|@\ Z +2 "collection"'e% +3 "core" %c`\ +2 .tCSV.dial :flush + "collection"'f  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 10ml + "collection"'g' +2474 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'h 'i  +17 "core"  +56 ~ +2 .tCTV.dial :intake + "collection"'j  +77 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'k'i +2386 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'l  +77 "core" ~ +2 #tFlushing upper manifold + "collection"'m& +4 "core" &\\zK\ Z + "collection"'n% +3 "core" %gJ\ +2 .tCSV.dial :flush + "collection"'o  +71 "core"  +2 .tCS.seek 5ml + "collection"'p's5 +1312 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'q @ +41 "core" B +2 "collection"'r% +3 "core" %s4:\  +2 .tCS.seek 7ml +2 "collection"'s' +572 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +2 "collection"'t +99 "core" ~ +2 .tCTV.dial :air + .CS.seek 0ml +2 "collection"'u'i +1672 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'v'3J +815 "core" ' + .tCSV.dial :waste +2 "collection"'w +41 "core" +2 .tCS.seek 0ml + "collection"'x'i +782 "core" ' +2 "collection"'y& +3 "core" &\\y8\ Z +2 "collection"'z% +3 "core" %b\ + .tCSV.dial :flush +2 "collection"'{  +52 "core" +2 .tCS.seek 3ml + "collection"'|'3J +803 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'} @ +43 "core" B +2 "collection"'~% +3 "core" %3N\  +2 .tCS.seek 5.001ml + "collection"''s9 +550 "core" ' + .tCSV.dial :air +2 .CS.seek 0ml + "collection"''i +1227 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"''3J +813 "core" ' +2 .tCSV.dial :waste + "collection"' +70 "core" +2 .tCS.seek 0ml + "collection"''i +774 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӧ& @X + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +35 "core" ( +2 "manipulator"&\ & +3 "core" &v > 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +2 "core" &v 6 7 +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( +2 "manipulator"&& +3 "core" &ӈ  5 +2 "manipulator"&% +3 "core" % I  +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(- +282 "core" ( +2 "manipulator"&& +3 "core" &- ~ D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +2 "core" &- M D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"& 'w +92 "core" ' +2 .tHand.open + "manipulator"& 1 +65 "core" 1 +2 "manipulator"&% +3 "core" % t < 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 #tda sampling at most 100ml +3 ."Qmail"DAfans.email "Started da in tube 2 at 13:14:07EST09-Mar-21\\n{1 => 0,\\n 2 => 3,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:09:50, 0% flow, 24.7C, 14% humidity, 15.0psia, 13.515V, 0.484A, 0.472A avg, 6.54W",Subject: "da sampling at most 100ml" +2 #tLoading sh1 puck from tube 2 into Collection Clamp +3 "collection"'& +4 "core" &\ +2 "manipulator"&% +45 "core" %  f  + "storage"(% +4 "core" % x\  +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +674 "core" ( +2 .tSC.reconfigure :loose + "storage"($.\ 1~b +3 (& +2 "core" & m l\ +2 "manipulator"&& +3 "core" &- : D +2 "manipulator"&% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +175 "core" ( +2 "manipulator"&& +4 "core" & ?  + "storage"( & +4 "core" & n z y\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&!'S +96 "core" ' +2 "storage"("& +4 "core" &  G\ +2 .tSE.reconfigure :pick + "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +287 "core" ' +2 "storage"($- +3 "core" -'| + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" &  f o D\  +2 "manipulator"&&& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&(( +18 "core" ( +2 "manipulator"&'& +4 "core" & i z + "storage"()& +3 "core" &  x u B\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&*'Ͻ +22 "core" ' +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +68 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& + "storage"(/' +7 "core" & z + "manipulator"&+% +4 "core" %  4 +2 .tForearm.seek :retract + "manipulator"&3' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&4(ӂ +162 "core" ' + ( + ."downElevator"SE.coast +2 "manipulator"&6& + "storage"(5 +6 "core" &ӎ+ Cs +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &2& +2 "core" &ӎ+ Cs +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&;'? +94 "core" ' +2 "manipulator"&=& +4 "core" &ӎ+ Cs + "manipulator"&?% +4 "core" %I  +2 "collection"'>& +3 "core" &9\ +2 "collection"'-& +5 "core" &:\ +2 .tCC.seek :closed + "collection"'5(\\ +4 "core" &8\ +8 &::\ %g +10 &Vx;\ 7 +9 &z4\ L +10 &Z&\ M +9 &vU(\ M +9 &8[ \ M +10 &\\,\ M +9 &Z)\ M +9 &~W)\ M +10 &AV,\ L +9 & X"\ L +10 &!V%\ M +9 &#\\(\ M +9 &%HY'\ M +10 &' [ \ L +9 &(V\ M +9 &*U\ L +10 &,PZ\ M +9 &.Y\ M +10 &/U\ L +9 &1[ \ M +9 &3XY\ M +10 &5V\ L +9 &6W\ M +9 &8U\ L +10 &:bX\ L +9 &<#Z\ L +10 &=X\ \ M +9 &?W\ L +9 &Ah[\ M +10 &C(a \ M +9 &Dl\ O +9 &F\ Q +10 &HV\ V +9 &J\ Y +10 &K\ Z +9 &M\ [\ +9 &OP\ Z +10 &Q\ [ +9 &R \ [\ +9 &T\ \ ] +10 &VP \ ] +9 &X\ ] +10 &Y \ _ +9 &[\ K +9 &\\< \ + +10 &\\\ #f +5 ( +2 "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open "manipulator"&91 +4 "core" &\\\ #f +53 1 + "manipulator"&B% +4 "core" % I   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&C' +99 "core" ' +2 .tSC.coast "storage"(6 +3 #tcollectSample 100ml w/bubble point of 24psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")D+ +3 "core" + +2 "sampler")E% +4 "core" %} /\  + "collection"'G& +4 "core" &\\\ #f +2 "Can"\ a_ +2 #tCalibrating pressure and temperature sensors +2 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X< 9\ ; +89 "collection"''% +3 "core" %c\ +2 "sampler"))% +4 "core" % 7\ ; + "sampler"),% +4 "core" % ;\ ; + .tIntake.select :close + "sampler")0 +9 ).% +3 "core" % 2\ ; + .tSSV.dial :exhaust + "sampler")+  +74 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")'ڀ +877 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")!  +73 "core" +2 #tAllowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open + "sampler") +210 "collection"'6% +3 "core" %c\ + #tIntake @15.3psia, vacuum from 9.8 to 12.8psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X% +4 "core" % 2\  +22 "collection"'(% +3 "core" %cgi\ + "sampler")/% +4 "core" %  :\ F +25 "collection"'3% +3 "core" %cgk\ + "sampler")% +4 "core" %  /\ F +29 "collection"'9% +3 "core" %cji\ + "sampler")B% +4 "core" %  1\ F +32 "collection"'E% +3 "core" %chi\ + "sampler")G% +4 "core" %  9\ F +37 "collection"'-% +3 "core" %ckj\ + "sampler");% +4 "core" %  0\ F +42 "collection"'% +3 "core" %ckl\ + "sampler")1% +4 "core" %  1\ F +48 "collection"'D% +3 "core" %cmp\ + "sampler")J% +4 "core" %  0\ F +54 "collection"':% +3 "core" %cnq\ + "sampler")K% +4 "core" %  /\ F +62 "collection"'L% +3 "core" %cvv\ + "sampler")<% +4 "core" %  +\ F +70 "collection"'H% +4 "core" %c|~\ + "sampler")O% +4 "core" %  9\ F +79 "collection"'P% +3 "core" %c\ + "sampler")F% +4 "core" % 1. :\ F +89 "collection"'I% +3 "core" %c\ + "sampler")T% +4 "core" %  9\ F + "sampler")M% +4 "core" %  /\ F + .tIntake.select :close + "sampler")0 +9 )A% +2 "core" %  <\ F +2 .tSSV.dial :exhaust + "sampler")W  +72 "core"  + .tExhaust.select :open +2 "sampler")@ +10 .tSS.seek 0ml + "sampler")X'ڀ +896 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")Y  +73 "core" +2 #tAllowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'[% +3 "core" %c\ + #tIntake @15.3psia, vacuum from 9.8 to 12.8psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X 8\  +70 "collection"'r% +3 "core" %c{}\ + "sampler")p% +4 "core" %> :\  +79 "collection"'t% +3 "core" %c\ + "sampler")s% +4 "core" %% 8\  +89 "collection"'u% +3 "core" %c\ + "sampler")w% +4 "core" %so :\  + "sampler")v% +4 "core" %tt /\  + .tIntake.select :close + "sampler")0 +9 )y% +2 "core" %~ 1\  +2 .tSSV.dial :exhaust + "sampler")i  +75 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")z'ڀ +889 "core" ' + .tExhaust.select :close + "sampler") +10 #tSampled 100.0ml +2 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) .Intake.select :close + "collection"'{& +3 "core" &\\\ #f +2 ."airStroke"CSV.dial :waste +3 "sampler")x% + ."airStroke"CS.seek 0ml +4 "collection"'}'i +3 "core" %ځ 2\ +2 ."connect"SSV.dial CBV,avoiding: :exhaust +2 .tCBV.dial SSV +2 "sampler")~  +7 "core" ' + ."airStroke"CSV.dial :air +2 "collection"'| @ +70 "core" B +2 ."airStroke"CS.seek 10ml +2 "collection"'' +101 "core"  +2 .tCTV.dial :air + "collection"'  +76 "core"  +2 .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler") +129 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +3 .tSS.seek 0ml +2 "collection"'  +2 "sampler")'ڀ +6 "core" ' + .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")\  +124 "core"  +6  +522 ' +2 "sampler") % +4 "core" %ڃ 0\ + .tCBV.dial between SSV and waste2 +2 "collection"'h  +29 "core"  +2 "collection"'N% +4 "core" %\ +2 ."connect"CTV.dial CSV,avoiding: :air +2 .tCSV.dial CTV +2 "collection"'Z  +53 "core"  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< b +2 .tCS.seek 0ml +2 "collection"''i +1840 "core" '1` \ +2 "collection"'% +4 "core" %16 \  +2 "sampler")% +3 "core" %ڃ 0\ +2 #tBubblePoint: Intake @39.6psia, Outlet @15.2psia + .CBV.dial SSV + "collection"' @ +31 "core" B +2 .tSS.reconfigure :default +2 "sampler")#.0X' +574 "core" ' +2 .tdelay 15 seconds +1502 "collection"'(% +3 "core" % \ + "sampler")/% +4 "core" %\ YW 8\  + #tEvacuated: Intake @18.1psia, Outlet @11.9psia + .SSV.dial :spit,avoiding: :exhaust +2 "sampler")3 +128 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"';'i +91 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust + "sampler") +130 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X+d +103 "collection"'j9 +2 "core" 9R/d +103 "collection"'g9 +2 "core" 9h3d +103 "collection"'\\9 +2 "core" 97d +103 "collection"'l9 +2 "core" 9;d +103 "collection"'m9 +2 "core" 9@d +103 "collection"'n9 +2 "core" 9Dd +103 "collection"'o9 +2 "core" 9Hd +103 "collection"'k9 +2 "core" 9Ld +103 "collection"'q9 +2 "core" 95Pd +103 "collection"'r9 +3 "core" 9VUd +102 "collection"'p9 +2 "core" 9zYc +103 "collection"'t9 +2 "core" 9]_ +103 "collection"'s9 +2 "core" 9a[ +103 "collection"'u9 +2 "core" 9eW +103 "collection"'w9 +3 "core" 9 jT +102 "collection"'v9 +2 "core" 90 nP +103 "collection"'y9 +2 "core" 9T rM +103 "collection"'i9 +2 "core" 9{ vJ +103 "collection"'U9 +2 "core" 9 zF +103 "collection"'{9 +3 "core" 9B +103 "collection"'x9 +2 "core" 9@ +103 "collection"'|9 +2 "core" 9 = +103 "collection"'~9 +2 "core" 9/< +103 "collection"'9 +2 "core" 9Q8 +103 "collection"'9 +2 "core" 9s5 +103 "collection"'}9 +2 "core" 92 +103 "collection"'9 +2 "core" 90 +103 "collection"'9 +2 "core" 9/ +103 "collection"'\ 9 +2 "core" 9- +103 "collection"'z9 +3 "core" 9* +102 "collection"' 9 +2 "core" 9() +103 "collection"'h9 +2 "core" 9D!' +103 "collection"'N9 +2 "core" 9\\"& +103 "collection"'Z9 +2 "core" 9t$% +103 "collection"'9 +3 "core" 9&$ +102 "collection"'9 +2 "core" 9'" +103 "collection"'9 +2 "core" 9)! +103 "collection"'9 +2 "core" 9* +103 "collection"'9 +2 "core" 9, +103 "collection"'9 +3 "core" 9- +103 "collection"' 9 +2 "core" 9 . +103 "collection"'9 +2 "core" 9 / +103 "collection"' 9 +2 "core" 9 !1 +103 "collection"'9 +2 "core" 9 03 +103 "collection"'9 +2 "core" 9 >4 +103 "collection"'9 +2 "core" 9 J5 +103 "collection"' 9 +2 "core" 9 U6 +103 "collection"'9 +2 "core" 9 b7 +103 "collection"'9 +2 "core" 9 n8 +103 "collection"'9 +3 "core" 9 x9 +103 "collection"'9 +2 "core" 9 : +103 "collection"'89 +42 "core" 9 ; +110 "collection"'9 +2 "core" 9 =  +103 "collection"'9 +2 "core" 9 > +103 "collection"'9 +2 "core" 9 ? +103 "collection"'V9 +2 "core" 9 ? +103 "collection"'"9 +2 "core" 9 A +103 "collection"'9 +2 "core" 9 A  +103 "collection"'9 +2 "core" 9 B$ +103 "collection"'$9 +3 "core" 9 C) +103 "collection"'79 +2 "core" 9 C- +103 "collection"' 9 +2 "core" 9 C1 +103 "collection"'%9 +2 "core" 9 D5 +103 "collection"''9 +2 "core" 9 D9 +103 "collection"')9 +3 "core" 9 D> +102 "collection"'.9 +2 "core" 9 DB +103 "collection"'+9 +2 "core" 9 EF +103 "collection"'9 +2 "core" 9 EJ +103 "collection"'!9 +2 "core" 9 DN +103 "collection"'69 +3 "core" 9 FS +103 "collection"'&9 +2 "core" 9 FW +103 "collection"'*9 +2 "core" 9 F[ +103 "collection"'=9 +2 "core" 9 F_ +103 "collection"'?9 +2 "core" 9\ Fc +103 "collection"',9 +2 "core" 9\ Gh +103 "collection"'(9 +2 "core" 9\ Gl +103 "collection"'/9 +2 "core" 9\ Hp +103 "collection"'39 +2 "core" 9\ Gt +103 "collection"'>9 +2 "core" 9\ Hx +103 "collection"'9 +3 "core" 9\ !I} +102 "collection"'B9 +2 "core" 9\ (I +103 "collection"'E9 +2 "core" 9\ -J +103 "collection"'-9 +2 "core" 9\ 3J +103 "collection"'99 +2 "core" 9\ 7J +103 "collection"'9 +3 "core" 9\ =I +103 "collection"'9 +2 "core" 9\ BK +103 "collection"'G9 +2 "core" 9\ GL +103 "collection"';9 +2 "core" 9\ ML +103 "collection"'19 +2 "core" 9\ RM +103 "collection"'D9 +3 "core" 9\ WN +103 "collection"'J9 +2 "core" 9\ \\N +103 "collection"'29 +2 "core" 9\ aO +103 "collection"'K9 +4 "core" 9\ fP +104 "collection"'L9 +2 "core" 9\ lQ +103 "collection"':9 +2 "core" 9\ pQ +103 "collection"'<9 +2 "core" 9\ uR +103 "collection"'H9 +2 "core" 9\ yS +103 "collection"'P9 +2 "core" 9\ ~S +103 "collection"'O9 +2 "core" 9\ T +103 "collection"'I9 +3 "core" 9\ T +3 .tCH.hold 10:00,70C +2 "collection"'F `\ `\  +3 'M9 +3 "core"  + 9\ \  + "collection"'A% +4 "core" %Z w\ 2 + #tBegun lysing Collection Puck Heater at 68.1C/43.8psia +30072 "Can"\ +29921 "core" ` +2 "collection"'T9 +3 "core" 9\  +2 "collection"'#% +3 "core" %Z \ +2 #tEnded lysing Collection Puck Heater at 70C/41.7psia + .CS.seek 0ml + "collection"'W'i +339 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'[ @ +103 "core" A +2 .tCSV.dial :air + "collection"'Y @ +41 "core" > +3 .tCS.seek 5ml + "collection"']'s5 +1354 "core" ' + .tCSV.dial CTV +2 "collection"'^  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'0 @ +42 "core" ? +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'`  +42 "core"  +3 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'_ @ +43 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'R'i +1378 "core" ' +2 "collection"'S% +3 "core" %h  \  +2 #tPuck @69.4psia after final lysis pressurization + #Recovering Lysate into Collection syringe .CSV.dial CBV +2 "collection"'d +98 "core"  +2 .tCBV.dial CSV + "collection"'e  +30 "core"  +2 "collection"'f% +4 "core" %h  \  + .tCS.seek 5ml +2 "collection"'b's4 +1353 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'c  +44 "core" +2 "collection"'a% +4 "core" %s3UT \ \ + .tCS.seek 7ml +2 "collection"'j' +610 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'g @ +41 "core" @ +2 .tCS.seek 10ml +2 "collection"'\\' +864 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV + "collection"'l ` +126 "core" a +2 #tLysing Complete + "collection"'m& +4 "core" &\\BB\ #f + #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&n% +4 "core" %    +2 "storage"(o% +3 "core" %  \ +2 "storage"(k. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(q(C +360 "core" ( +5 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (r& +4 "manipulator"&p& + "core" &E   /\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &Ӑ* + Cq +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&t(ӂ + "storage"(s'r +43 "core" ( +2 "manipulator"&u& +4 "core" &ӂ 6 K + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &ӂ K + .tForearm.seek CC +2 "manipulator"&v'? +93 "core" ' +2 .tHand.close + "manipulator"&y/ +74 "core" / +2 .tCC.seek :open + "collection"'i( +43 "core" ' +2 "storage"(U- +3 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"({'1 +40 "core" ' +356 ( +2 "storage"(x& +3 "core" &E R\ +2 "storage"(|& +3 "core" &E \ +2 "manipulator"&~& +3 "core" &ӂ s K +2 "manipulator"&% +3 "core" % H  . +2 .tForearm.seek :retract + "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&}( +155 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &E \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 + "manipulator"&\ '8 +101 "core" ' +2 .tElbow.hold + "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "manipulator"&h% +4 "core" % J = y + "storage"(N& +4 "core" &E Z\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 318 counts + "manipulator"&Z'v +16 "core" ' +2 "manipulator"&& +4 "core" & X  +2 "storage"(& +3 "core" &E [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&' +17 "core" ' +2 "storage"(% +4 "core" %; q\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %7B O\ Vc + "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tTranferring DA + #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +4 "core" &DE\ +2 "manipulator"&& +4 "core" &  + "manipulator"&% +4 "core" %  7  +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +170 "core" ( +2 "manipulator"& & +4 "core" &- Q F +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 && +2 "core" &- y F +2 .tForearm.seek :garage +2 "manipulator"&'w +93 "core" ' +2 .tHand.close + "manipulator"&/ +67 "core" / +2 "manipulator"&& +4 "core" &- ( F + "manipulator"&8% +4 "core" % ρ #  + .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +282 "core" ( +2 "manipulator"&& +4 "core" &ӏ* ^ Ct +47 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +2 "core" &ӏ* Z Ct +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&"'? +93 "core" ' +2 "manipulator"&& +4 "core" &Ӑ* . Cs + "manipulator"&% +4 "core" %:  b +2 "collection"'$& +3 "core" &EF\ +3 "collection"'7& +4 "core" &FE\ +2 .tCC.seek :closed + "collection"' (\\ +6 "core" &DD\  +9 &4{DE\ +| +9 &g~EE\ ? +10 &mFD\ L +9 &ZWFE\ K +9 &YDD\ K +10 &ZDD\ K +9 &XFF\ L +10 &aWFE\ K +9 &"YDDn\ L +9 &XBEN\ K +10 & UDD\ K +9 &"hXEE\ L +9 &$+XDC\ K +10 &%ZEC\ K +9 &'WED\ K +10 &)qZFD\ K +9 &+3XFF\ K +9 &,ZGD\ K +9 &.YDD\ K +10 &0zZED\ K +9 &2;YGE\ K +10 &3ZEF\ K +9 &5YCD\ K +10 &7VEC\ K +9 &9CWFF\ K +9 &;[EDo\ K +10 &<ZEFV\ L +9 &>ZFD@\ L +9 &@KYBF3\ K +10 &B \\FE\ K +9 &ChEE\ M +10 &EDG\ P +9 &G4JG\ V +9 &HEG\ X +10 &JGG \ Y +9 &LqGF\ Y +9 &N-GI\ [\ +10 &OIH\ [ +9 &QGH\ [ +10 &SqGG\ \\ +9 &U2II\ \\ +9 &VGH\ ] +10 &XFI\ _ +9 &ZmHH\ ` +9 &\\yHI\ 8 +10 &\\%HI\ (v +8 ( +2 &\\GJ\ $j +2 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.36 + "collection"'%& +4 "core" &\\GH\ $j + .tHand.open + "manipulator"&'1 +54 "core" 1 +2 "manipulator"&)% +4 "core" % : b + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +2 .tPSV.dial PSR + "processing"%+ +129 "core"  +2 "processing"%% +4 "core" %ع\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%!'+ +1615 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%6  +44 "core"  +2 .tPS.seek 0ml + "processing"%&'ؾ +1628 "core" ' + .tPSV.dial PSR +2 "processing"%* +44 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%=' +2639 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 "processing"%? +2 .tCBV.dial PRV +4 "collection"',  +3 "core"  + "processing"%(  +69 "core" +59  +2 .tPSV.dial :mixloop + "processing"%/ +99 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing + "processing"%3  +129 "core" +2 .tPS.seek 0ml + "processing"%>'ؾ +2651 "core" ' + .tPSV.dial :air +2 "processing"%  +41 "core"  +2 .tPS.seek 2.5ml + "processing"%B' +2635 "core" ' + .tPSV.dial :mixloop +2 "processing"%E +44 "core" +2 .tPS.seek 0ml + "processing"%-'ؾ +2650 "core" ' + .tPSV.dial :air +2 "processing"%9  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2628 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml + "processing"%G'ؾ +330 "Can"\ WT +2307 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&;& +4 "core" &Ӕ* * Co + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&1(ӂ +30 "core" ( +2 "manipulator"&D& +4 "core" & S ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" & < ( +2 .tForearm.seek CC + "manipulator"&2'? +94 "core" ' +2 .tHand.close + "manipulator"&K/ +72 "core" / +2 .tCC.seek :open + "collection"'L( +450 "core" ( +2 "manipulator"&:& +3 "core" & O ( +2 "manipulator"&<% +3 "core" % J   +2 .tForearm.seek :retract + "manipulator"&H' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&P(- +279 "core" ( +2 "manipulator"&O& +4 "core" &- | M + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +2 "core" &- M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&M'w +99 "core" ' +2 .tHand.open +2 "manipulator"&A1 +60 "core" 1 +2 "manipulator"&Q% +4 "core" % π C + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +95 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +2 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake + #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'T& +4 "core" &ll\ + "manipulator"&#% +4 "core" %  %  + "storage"(X% +4 "core" % 7\ + "storage"([. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(Y(  +352 "core" ( +2 .tSC.reconfigure :loose + "storage"($.\ 1~b +3 (W& +2 "core" &  \  +2 "manipulator"&^& +3 "core" &- D M +2 "manipulator"&0% +3 "core" %  V  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&`( +174 "core" ( +2 "manipulator"&_& +4 "core" & M # + "storage"(]& +4 "core" &  \  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&S'S +90 "core" ' +2 "storage"(d& +4 "core" &  \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'r +300 "core" ' +2 "storage"(f- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" &  w x \  +2 "manipulator"&c& +3 "core" & ( # +2 .tElbow.seek 2 + "manipulator"&a( +3 "core" ( + "manipulator"&b& +4 "core" & r # + "storage"(g& +4 "core" &  w y \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&j'Ͻ +25 "core" ' +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& + "storage"(n' +7 "core" & ) # + "manipulator"&o% +4 "core" %  A +2 .tForearm.seek :retract + "manipulator"&k' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&r(ӂ +157 "core" ( +48 "manipulator"&p& +4 "core" ' + &Ӑ& @W + .tElbow.reconfigure :loose +3 ."downElevator"SE.coast +2 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&u& +5 "core" &Ӑ&  @W +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&w'? +93 "core" ' +2 "manipulator"&y& +4 "core" &ӑ% + ?V + "manipulator"&U% +5 "core" %H 2 + "collection"'4& +4 "core" &ml\ +2 "collection"'C& +5 "core" &mn\ +2 .tCC.seek :closed + "collection"'5(\\ +5 "core" &kmy\  +9 &2{mlf\ +| +10 &e}mmR\ > +9 &nlo3\ L +9 &MTmo-\ L +10 &Wmo\ L +9 &Wll\ L +9 &Wln\ L +10 &UWmo\ L +9 &Ymm\ L +10 &Xon\ L +9 & Xmn\ L +9 &"]Wlo}\ L +10 &$ Ynlu\ K +9 &%Ymlm\ L +9 &'Xnmb\ K +10 &)fUln\ K +9 &+(Unn\ K +10 &,Zkn\ K +9 &.Zon\ K +9 &0mWko\ L +10 &2/Wnmg\ L +9 &3Yjl[\ L +9 &5WlnX\ K +10 &7vWmmM\ K +9 &98YknC\ K +10 &:Ylo*\ L +9 &<Vkm"\ K +9 &>}\\mm\ L +10 &@@Xmn\ K +9 &BZnl\ K +9 &C_nl\ L +10 &E~kmo\ N +9 &G9no\ P +10 &Hno\ T +9 &Joo\ X +9 &Lfpn\ Y +10 &N$pp\ Z +9 &Opq\ Z +9 &Qpp\ Z +10 &Sepq\ \\ +9 &U(no\ \\ +10 &Vnp\ ] +9 &Xpq\ ] +9 &Zhqp\ ^ +10 &\\|qp\ 4 +9 &\\'pp\ )x +9 ( + &\\ppy\ "c +2 "collection"'C& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&s1 +56 "core" 1 +3 "manipulator"&x% +4 "core" % H  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +95 "core" ' +2 .tSC.coast "storage"(6 +3 .tCTV.dial CSV,avoiding: :intake + "collection"'~  +135 "core" ~ +2 .tCSV.dial CTV + "collection"'  +27 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 "collection"'% +3 "core" %SSW\ +2 .tCS.seek 4.5ml +2 "collection"'v'c7 +1489 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air + "processing"%t  +43 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%  +70 "core"  +2 .tPS.seek 0ml + "processing"%h'ؾ +2638 "core" ' +2 .tCBV.dial between PRV and waste1 + "collection"'N ` +30 "core" _ +2 .tCSV.dial :air + "collection"' @ +43 "core" ? +2 .tCS.seek 10ml + "collection"'' +1508 "core" ' + .tCSV.dial CTV +2 "collection"'  +42 "core"  +2 .tCS.seek 0ml + "collection"''i +2639 "core" ' + .tCBV.dial :waste1 +2 "collection"' @ +28 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'  +133 "core" +2 "collection"'}& +4 "core" &\\xs2\ "c + #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&\ % +4 "core" %   + "storage"( % +4 "core" % ^\ + "storage"(Z. +3 "core" . +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((C +352 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &E #\ +2 "manipulator"&{& +3 "core" &Ӓ% ?U +2 "manipulator"&% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"& ( +169 "core" ( +2 "manipulator"&& +4 "core" & h o + "storage"(& +4 "core" &E H\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&q' +94 "core" ' +2 "storage"(z& +4 "core" &E  D\ +2 .tSE.reconfigure :pick + "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +301 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +2 "core" & X o +2 "storage"(& +3 "core" &E k\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&'8 +18 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(V- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('h +30 "core" ' +2 "manipulator"&% +4 "core" %J + "storage"(& +4 "core" &E ,\ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 318 counts + "manipulator"&$'v +22 "core" ' +2 "manipulator"&& +4 "core" &  l + "storage"(i& +4 "core" &E Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&%' +12 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"('' +36 "core" ' +2 "manipulator"&)& +4 "core" & $ l + "manipulator"&7% +4 "core" % J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&+' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +163 "core" ( +2 "manipulator"&"& +4 "core" &Ӗ& ?U + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +2 "core" &Ӗ&  ?U +2 .tForearm.seek CC +2 "manipulator"&!'? +98 "core" ' +2 .tHand.close + "manipulator"&*/ +71 "core" / +2 .tCC.seek :open + "collection"'&( +447 "core" ( +2 "storage"(?& +4 "core" &E   N\ +2 "storage"(,& +3 "core" &E   b\ +2 "manipulator"&(& +3 "core" &Ӗ& G ?U +2 "manipulator"&/% +3 "core" % H ^ +2 .tForearm.seek :retract + "manipulator"&3' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&=( +169 "core" ( +2 "manipulator"&& +4 "core" & D f + "storage"(>& +4 "core" &E C C \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 + "manipulator"&E'8 +98 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&91 +63 "core" 1 +2 "manipulator"&-% +4 "core" % H 5 + "storage"(& +4 "core" &E - - %\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 316 counts + "manipulator"&'t +21 "core" ' +2 "manipulator"&;& +4 "core" & \\ [ + "storage"(D& +4 "core" &E i j 7\ +48 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&J' +20 "core" ' +2 "storage"(K% +4 "core" % h h\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (.% +2 "core" %R; D C \ Va +2 "manipulator"& % +4 "core" % M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&:' +89 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 .tPSV.dial :air + "processing"%<  +73 "core" +2 .tPS.seek 2.5ml +2 "processing"%2' +2638 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%O +40 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%I  +44 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%1 +43 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%A  +44 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%Q'ؾ +2647 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%T& +4 "core" &\  + "manipulator"&#& +4 "core" &  [ + "manipulator"&X% +4 "core" %    +2 .tElbow.seek FlushPuck::Garage + "manipulator"&[(- +175 "core" ( +2 "manipulator"&H& +4 "core" &- 8  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &- 3  + .tForearm.seek :garage +2 "manipulator"&W'w +91 "core" ' +2 .tHand.close + "manipulator"&^/ +76 "core" / +2 "manipulator"&0& +4 "core" &- e  + "manipulator"&_% +4 "core" % ϋ   +2 .tForearm.seek :retract + "manipulator"&]' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&d( +117 "core" ( +2 "manipulator"&P& +4 "core" & Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&f' +97 "core" ' +2 "manipulator"&R& +4 "core" & s + "manipulator"&c% +4 "core" % D  +2 "processing"%b& +3 "core" &,\  +2 "processing"%g& +5 "core" &G\  +2 .tPC.seek :closed + "processing"%l(^ +5 "core" &(\  +10 &3v0\ *z +9 &c,\ ? +10 &Uy,\ O +9 &\\5\ O +9 &Z@\ O +10 &ZA\ O +9 &^[C\ N +9 & ]E\ N +10 &\\?\ O +9 &ZD\ N +10 & e\\T\ O +9 &"(\\V\ N +9 &#]X\ O +10 &%XY\ O +9 &'n\\W\ N +9 &)/\\T\ O +10 &*^d\ O +9 &,^X\ N +10 &.u[c\ O +9 &07]f\ O +9 &1\\_\ O +10 &3\\c\ O +9 &5|\\e\ O +9 &7>]Y\ O +10 &8][\ O +9 &:`j\ O +10 &<\\o\ O +9 &>E\\f\ O +9 &@]p\ P +10 &Alt\ Q +9 &C}k\ R +9 &E=r\ U +10 &Fo\ U +9 &H}\ U +10 &Jz\ U +9 &LBx\ V +9 &N\ W +10 &O\ W +9 &Q\ V +9 &SF\ W +10 &U \ W +9 &V\ V +10 &X{\ V +9 &ZNp\ W +9 &\\\ W +10 &]\ 9 +9 &^+v\ #f +9 &^3\ 9 +2 ( +2 "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + "processing"%m& +3 "core" &^-\ 9 +2 .tHand.open + "manipulator"&o1 +55 "core" 1 +2 "manipulator"&`% +4 "core" %   + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +94 "core" ' +2 .tPRV.dial :air + "processing"%p  +42 "core"  +4 .tPSV.dial :mixloop +2 "processing"%e +44 "core" +2 "processing"%j% +4 "core" %ؾ@\  + .tPS.seek 0.3ml +2 "processing"%u' +385 "core" ' + .tPSV.dial PSR +2 "processing"%a +101 "core"  +2 "processing"%y% +4 "core" %\  + #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml + "processing"%U'2 +491 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml + "processing"%4' +1918 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"%n +114 "core" +2 .tPTV.dial :mixing + "processing"%k @ +72 "core" B +2 .tPBV.dial :waste2 + "processing"%L  +111 "core"  +2 .tPS.seek 0ml + "processing"%s'ؾ +2639 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&x& +4 "core" & r + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&~& +4 "core" & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  + .tForearm.seek PC +2 "manipulator"&w' +93 "core" ' +2 .tHand.close + "manipulator"&Y/ +68 "core" / +2 .tPC.seek :open + "processing"%G( +462 "core" ( +2 "manipulator"&& +4 "core" & [ + "manipulator"&\\% +3 "core" %  ^  +2 .tForearm.seek :retract +2 "manipulator"&t' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"& (- +129 "core" ( +2 "manipulator"&& +4 "core" &- | \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +2 "core" &- % \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +92 "core" ' +2 .tHand.open + "manipulator"&v1 +64 "core" 1 +2 "manipulator"&% +3 "core" % w  - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +3 #tLoading da puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"& % +4 "core" %  O  + "storage"(}% +4 "core" % x\ + "storage"(\ . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"( (  +352 "core" ( +2 .tSC.reconfigure :loose + "storage"($.\ 1~b +3 (Z& +2 "core" &  f j \  +2 "manipulator"&& +3 "core" &- F \ +2 "manipulator"&{% +3 "core" %  L  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +171 "core" ( +2 "manipulator"&& +4 "core" & /  + "storage"(& +4 "core" &  k i \  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&z'S +93 "core" ' +2 "storage"(r& +4 "core" &  D\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +46 "storage"(|'r +299 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +35 "core" &  w x $\  +2 "manipulator"&& +4 "core" & N  +2 .tElbow.seek 2 + "manipulator"&V( +10 "core" ( +2 "manipulator"&& +4 "core" & +  + "storage"(& +4 "core" &  d d )\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&i/ +72 "core" / +3 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:388:in `load'"8/home/esp/esp2/utils/puckmoves.rb:963:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:64:in `da'"-/home/esp/esp2/mission/DA_03092021.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'"-/home/esp/esp2/mission/DA_03092021.rb:14"//home/esp/esp2/utils/mission.rb:19:in `[]'"4/home/esp/esp2/utils/mission.rb:19:in `mission'"-/home/esp/esp2/mission/DA_03092021.rb:10"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"2/home/esp/esp2/lib/framework.rb:112:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:190:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +2 ."downElevator"SE.seek :down +2 "manipulator"&)& +2 "storage"(7' +7 "core" &  +2 "manipulator"&q% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"& ' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&( +167 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +102 "core" ( +2 "manipulator"&& +4 "core" & 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" & / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 "manipulator"&"& +4 "core" & ` + "manipulator"&6% +4 "core" % D @ +2 "processing"%%& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%*(^ +5 "core" &\  +9 &.v\ +z +10 &c\ ? +9 &mw\ O +9 &/Y\ O +10 &[\ N +9 &Y\ N +9 &wY\ N +10 &8]\ O +9 &^\ O +10 &]z\ O +9 & ~[w\ O +9 &"@Wx\ O +10 &$\\p\ O +9 &%Yo\ O +9 &'Xm\ O +10 &)H\\b\ O +9 &+ [d\ O +10 &,Zc\ O +9 &.\\f\ O +9 &0P\\c\ O +10 &2Yd\ O +9 &3Y^\ O +9 &5ZX\ O +10 &7YYX\ N +9 &9\\V\ O +10 &:]Y\ O +9 &<ZX\ N +9 &>_\\W\ O +10 &@!^L\ O +9 &AhU\ P +9 &CwG\ R +10 &EVH\ U +9 &GD\ U +10 &HB\ U +9 &JD\ V +9 &L\\F\ U +10 &NF\ V +9 &O5\ W +9 &Q2\ W +10 &S_2\ W +9 &U"0\ W +10 &V4\ Y +9 &X2\ V +9 &Zh2\ W +10 &\\)2\ W +9 &]/\ 5 +9 &^1t1\ F +9 ( +2 &^*2\ 5 +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&+1 +52 "core" 1 +2 "manipulator"&5% +4 "core" %  u @ + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +97 "core" ' +2 .tSC.coast "storage"(6 +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%,  +2 %(9 +5 "core" 9"B +103 "processing"%/9 +2 "core" 9 B +103 "processing"%9 +2 "core" 9B +104 "processing"%>9 +2 "core" 9B \ +103 "processing"%!9 +2 "core" 9B\ +103 "processing"%9 +2 "core" 9B\ +103 "processing"%99 +2 "core" 9B +103 "processing"%-9 +2 "core" 9B +103 "processing"%9 +4 "core" 9B" +103 "processing"%;9 +2 "core" 9A& +103 "processing"%D9 +2 "core" 9B+ +103 "processing"%K9 +2 "core" 9B/ +103 "processing"%39 +2 "core" 9A3 +103 "processing"%=9 +3 "core" 9A7 +102 "processing"%.9 +2 "core" 9C; +103 "processing"% 9 +2 "core" 9B@ +103 "processing"%E9 +2 "core" 9BD +103 "processing"%9 +2 "core" 9BH +103 "processing"%'9 +3 "core" 9BL +102 "processing"%<9 +2 "core" 9BP +103 "processing"%J9 +2 "core" 9CU +103 "processing"%9 +2 "core" 9 CY +103 "processing"%9 +2 "core" 9!C] +103 "processing"%h9 +2 "core" 9$Ba +103 "processing"%O9 +2 "core" 9&Ce +103 "processing"%I9 +2 "core" 9)Bj +103 "processing"%19 +2 "core" 9+Cn +103 "processing"%A9 +2 "core" 9.Br +103 "processing"%29 +3 "core" 91Cv +102 "processing"%T9 +2 "core" 94Cz +103 "processing"%#9 +2 "core" 97C +103 "processing"%X9 +2 "core" 9:C\ +103 "processing"%H9 +2 "core" 9=C\ +103 "processing"%M9 +3 "core" 9@C\ +3 .tPH.hold 2:00:00,28C +2 "processing"%B pp= +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air + .PSV.dial PSR +2 "processing"%^ +100 "core"  +2 "processing"%0% +4 "core" %ؽ\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 .tPS.seek 0.5ml + "processing"%_' +588 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%:' +1608 "core" ' + .tPTV.dial :puck +2 "processing"%P  +70 "core"  +2 .tPSV.dial PTV + "processing"%F +85 "core" +2 .tPBV.dial :waste1 + "processing"%W  +129 "core"  +2 "processing"%R% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%c'& +595 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%b * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%['ؾ +1605 "core" ' +2 .tdelay 5:00 +2291 "Can"\ FC +27711 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%]  +32 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 + "processing"%@ * +33 "core" + +2 .tPSR.select :air + .PSV.dial PSR +2 "processing"%m +70 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%o' +2384 "core" ' +2 .tPSV.dial PTV + "processing"%` +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%g +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"%p +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%e  +86 "core" +2 .tPS.seek 0ml + "processing"%j'ؾ +2325 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%f  +128 "core" +2 .tPSV.dial :mixloop + "processing"%Q +52 "core" +2 .tPRV.dial :ab1 + "processing"%a @ +72 "core" B +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%y' +350 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'u  + "processing"%U  +42 "core" +3 + "processing"%n% +4 "core" %\ \  +2 .tPS.seek 0.36ml + "processing"%k' +471 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'L  +29 "core" +2 .tPRV.dial :air + "processing"%4  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%x'K +1146 "core" ' + .tPRV.dial :waste2 +2 "processing"%~ @ +71 "core" ? +2 .tPS.seek 0.5ml + "processing"%' +870 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%Y  +41 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%d' +1617 "core" ' + .tPSV.dial :PML +48 "processing"%S +43 "core" +2 .tPTV.dial :mixing + "processing"%l @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%  +35 "core" +2 "processing"%\\% +4 "core" %\ \ +2 .tPS.seek 1.85ml + "processing"%' +233 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%N * +34 "core" + +2 .tPS.seek 0ml +2 "processing"%w'ؾ +1987 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'C& +3 "core" &}~a\ +2 "manipulator"&v& +3 "core" &  +2 "manipulator"&% +3 "core" %   , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +123 "core" ( +2 "manipulator"& & +4 "core" &- ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &- # +2 .tForearm.seek :garage + "manipulator"&\ 'w +93 "core" ' +2 .tHand.close + "manipulator"&t/ +76 "core" / +3 "manipulator"&& +4 "core" &-  + "manipulator"&Z% +4 "core" % φ X  +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&{(ӂ +272 "core" ( +2 "manipulator"&& +4 "core" &{. E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &{. E +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&r'? +92 "core" ' +2 "manipulator"& & +5 "core" &Ӗ) p Ad + "manipulator"&% +4 "core" %J 9 F +2 "collection"'& +3 "core" &\ +3 "collection"'8& +4 "core" &X\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &}W\  +9 &2|]\ *z +10 &d~~V\ ? +9 &yq[\ O +10 &>R~~^\ N +9 &ZZ\ N +9 &Y~[\ N +10 &T~~W\ N +9 &FW~X\ N +9 &Y~W\ N +10 &U~Z\ M +9 & U~J\ N +9 &"OT}M\ M +10 &$T|~M\ M +9 &%X~~I\ N +10 &'X~O\ M +9 &)WUM\ M +9 &+Y~N\ N +10 &,X|N\ N +9 &.W}}H\ N +10 &0^S}J\ N +9 &2 Y}M\ N +9 &3X~P\ N +10 &5U}~N\ N +9 &7fU~N\ N +9 &9(Y~B\ N +10 &:YM\ N +9 &<W}}K\ N +9 &>oU~}H\ M +10 &@1VG\ M +9 &AY~C\ N +10 &C`C\ O +9 &Ekv}~L\ R +9 &G @\ V +10 &H~~\ Z +9 &JB\ Z +9 &LXC\ [ +10 &N7\ [\ +9 &O?\ ] +10 &QF\ \\ +9 &SX>\ ] +9 &UH\ _ +10 &V@\ ^ +9 &XJ\ ` +10 &ZZ:\ _ +9 &[w6\ C +9 &\\&S\ , +10 &\\G\ !` +2 ( +2 "collection"'8& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + "collection"'& +4 "core" &\\\ !` + .tHand.open + "manipulator"&1 +54 "core" 1 +3 "manipulator"&i% +4 "core" % J F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&)' +91 "core" ' +2 .tPSV.dial PSR + "processing"%q +115 "core"  +2 "processing"%% +4 "core" %ؿA\  + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%z'+ +1613 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%|  +45 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1610 "core" ' +2 .tPSV.dial PSR + "processing"% +44 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%$' +2639 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%V  "collection"'"  +34 "core" ~ +123  +2 .tPSV.dial :mixloop + "processing"%6 +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing + "processing"%%  +74 "core" +2 .tPS.seek 0ml + "processing"%7'ؾ +2633 "core" ' + .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%G' +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"%+ +55 "core" +2 .tPS.seek 0ml + "processing"%5'ؾ +709 "Can"\ db +1921 "core" ' + .tPSV.dial :air +2 "processing"%(  +56 "core" +2 .tPS.seek 2.5ml + "processing"%' +2632 "core" ' + .tPSV.dial :mixloop +2 "processing"%/ +42 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӟ& ? @\\ +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"& (ӂ +27 "core" ( +2 "manipulator"&>& +4 "core" &Ӆ   e + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &Ӆ  e + .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 .tHand.close + "manipulator"&9/ +74 "core" / +2 .tCC.seek :open + "collection"'-( +447 "core" ( +2 "manipulator"&& +4 "core" &Ӆ  W e + "manipulator"&;% +4 "core" % S J + .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&K(- +271 "core" ( +2 "manipulator"&3& +4 "core" &- ~ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &- 0 ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&.'w +102 "core" ' +2 .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "manipulator"&E% +4 "core" %  U + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."da"delayUntil "14:04:34.89" +24833 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%' @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%<  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%J * +34 "core" , +2 ."da"PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2389 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%h +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%O  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +46 "processing"%I +46 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%1  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +2319 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"%2 +127 "core" +2 "processing"%T% +3 "core" %ؾ"\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%#' +599 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%X' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%H  +72 "core"  +2 ."da"PSV.dial PTV + "processing"%M +83 "core" +2 ."da"PBV.dial :waste1 + "processing"%^  +34 "core" +2 "processing"%0% +3 "core" %#\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%s'( +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%_ * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +1629 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%F  +34 "core" +2 ."da"delay 30 seconds +66 "Can"\ @> +2937 ."da"PBV.dial between PSV and waste1 +2 "processing"%W * +34 "core" , +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%R +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%:' +2405 "core" ' + ."da"PSV.dial PTV +2 "processing"%b +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%c +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%, +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%]  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%@'ؾ +2349 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air + .PSV.dial PSR + "processing"%m +128 "core"  +2 "processing"%[% +3 "core" %ؿ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%`' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%g' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%p +82 "core" +2 ."da"PBV.dial :waste1 + "processing"%e  +35 "core" +2 "processing"%o% +3 "core" %"\  +2 ."da"PS.seek 1.5ml +2 "processing"%f'* +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%Q * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%a'ؾ +1612 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%j  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%u * +33 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%U +70 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%n' +2384 "core" ' + ."da"PSV.dial PTV +2 "processing"%y +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%L +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%4 +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%k  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%~'ؾ +2332 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%x  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%Y  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%  +42 "core"  +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop + "processing"%S +43 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%l' +387 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%  +44 "core"  +2 "processing"%\\% +3 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%N' +339 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%d  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1555 "core" ' + ."da"PSV.dial :PML +2 "processing"%C +43 "core" +2 ."da"PTV.dial :mixing + "processing"%v @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core"  +2 "processing"% % +3 "core" %H\  +2 ."da"PS.seek 1.85ml +2 "processing"%}' +228 "core" ' +2 ."da"PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%t'ؾ +1976 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +16637 "Can"\ CA +31365 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%Z * +34 "core" , +2 ."da"PSV.dial :air + "processing"%?  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%\ ' +2395 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2323 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"% +127 "core"  +2 "processing"%% +3 "core" %ؿ"\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%&' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +72 "core"  +2 ."da"PSV.dial PTV +45 "processing"%i +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%8  +34 "core" +2 "processing"%q% +3 "core" % \ \ +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%r * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%w'ؾ +1618 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%|  +34 "core" +2 ."da"delay 30 seconds +2268 "Can"\ EB +735 ."da"PBV.dial between PSV and waste1 +2 "processing"%z * +34 "core" , +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2381 "core" ' +2 ."da"PSV.dial PTV + "processing"%" +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%V +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%6 +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%$'ؾ +2327 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"% +127 "core"  +2 "processing"%7% +3 "core" %ؿ9\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%+' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%G' +1633 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%( +69 "core" +2 ."da"PBV.dial :waste1 + "processing"%5  +33 "core" +2 "processing"%/% +3 "core" %6\ +2 ."da"PS.seek 1.5ml +2 "processing"%'* +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +1618 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%!  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%9 * +33 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%{ +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%)' +2367 "core" ' +2 ."da"PSV.dial PTV + "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%; +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +2324 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%= +127 "core"  +2 "processing"% % +3 "core" %ػ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%E' +1612 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%D +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%.  +32 "core" +2 "processing"%'% +3 "core" %C\  +2 ."da"PS.seek 1.5ml +2 "processing"%<'( +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%J * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%h * +33 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%O +72 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%I' +2388 "core" ' +2 ."da"PSV.dial PTV + "processing"%1 +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +82 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%2 +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%T  +86 "core" +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +436 "Can"\ C@ +1894 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates + .PSR.select :air + .PSV.dial PSR + "processing"%# +137 "core"  +7 "processing"%H% +10 "core" %Q\  +3 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +4 ."da"PS.seek 0.25ml +5 "processing"%M' +336 "core" ' +3 ."da"delay 5 seconds +502 "processing"%^% +3 "core" %\ P\   +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml + "processing"%0' +333 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml + "processing"%X' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%_ +76 "core" +2 ."da"PBV.dial :waste1 + "processing"%s  +36 "core" +2 "processing"%F% +3 "core" %T\ \  +2 ."da"PS.seek 1.5ml +2 "processing"%W', +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%R * +34 "core" * +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +1610 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%b  +36 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%c * +36 "core" , +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%, +76 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%]' +2497 "core" ' + ."da"PSV.dial PTV +42 "processing"%: +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%m +76 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%[ +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%@  +78 "core"  +2 ."da"PS.seek 0ml +2 "processing"%`'ؾ +2474 "core" ' +2 #"da"Additional air clear + .PSR.select :air + .PSV.dial PSR +2 "processing"%p +132 "core"  +2 "processing"%e% +4 "core" %ؾc\ + #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml + "processing"%o' +2122 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%g +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%Q  +36 "core" +2 "processing"%f% +3 "core" %a  +2 ."da"PS.seek 1.5ml +2 "processing"%j'- +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%u * +36 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%U  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%a'ؾ +1606 "core" ' +2 "processing"%y9 +3 "core" 9R5g + #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%L  +3 "core" 5g + 5g + "processing"%4& +4 "core" &^+S\ 5 + #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&k% +4 "core" %  p + "storage"(n% +4 "core" % > C\ + "storage"(x. +3 "core" . + ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(Y(C +352 "core" ( +2 ."da"SC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &E\  \ ` +2 "manipulator"&S& +4 "core" &- } + "manipulator"&~% +3 "core" %  4  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&( +171 "core" ( +2 "manipulator"&\\& +4 "core" &  H + "storage"(l& +4 "core" &B \ P + ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts + "manipulator"&d' +92 "core" ' +2 "storage"(N& +4 "core" &B\ \ l +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(C'r +294 "core" ' +2 "storage"(v- +3 "core" -' + ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & 6 3  dH +2 "storage"( & +4 "core" &B ( S  + ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&'8 +26 "core" ' +2 ."da"Elbow.hold + "manipulator"&, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(}- +2 "core" -' +2 ."da"SE.seek 1.16 Pucks below Top Plate +2 "storage"(' +33 "core" ' +3 "manipulator"&Z% +4 "core" %A < C + "storage"(?& +4 "core" &B 5\ U + ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 309 counts + "manipulator"&t'm +28 "core" ' +2 "manipulator"&& +4 "core" & V E - qG + "storage"(& +4 "core" &B U V ; +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +16 "core" ' +2 ."da"SE.seek 2.16 Pucks below Top Plate +2 "storage"( 'N +40 "core" ' +2 "manipulator"&\ & +4 "core" &  pG + "manipulator"&% +4 "core" %  o +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +244 "core" ( +2 "manipulator"&&& +3 "core" & 4  +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &   + ."da"Forearm.seek PC +2 "manipulator"&i' +97 "core" ' +2 ."da"Hand.close + "manipulator"&8/ +74 "core" / +2 ."da"PC.seek :open + "processing"%q( +459 "core" ( +2 "storage"(& +4 "core" &B u 5\ +2 "manipulator"&r& +3 "core" & w u  p +2 "manipulator"&% +3 "core" %  q t p +2 ."da"Forearm.seek :retract +2 "manipulator"&|' +97 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&z( +257 "core" ( +2 "manipulator"&& +3 "core" & 3  +2 "storage"(w& +3 "core" &B $ 5 +\ i +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&"' +92 "core" ' + ."da"Hand.open +2 "manipulator"&V1 +68 "core" 1 +2 "storage"(6- +3 "core" -'N +2 ."da"SE.seek 1.81 Pucks below Top Plate +2 "storage"(%' +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 0.84 Pucks below Top Plate + "storage"(' +50 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21mar0914h100ml.tif +1949 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +516 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 21.228 seconds\ /var/log/esp/da21mar0914h100ml.tif: TIFF Upload Complete\ +2 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21mar0914h100ml15s.tif +1557 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21mar0914h100ml15s.tif: TIFF Upload Complete\ +2 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21mar0914h100ml30s.tif +3057 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21mar0914h100ml30s.tif: TIFF Upload Complete\ +2 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21mar0914h100ml70s.tif +7157 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21mar0914h100ml70s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "21.228 sec auto-exposure",Subject: "da21mar0914h100ml images!" +6 "storage"( - +3 "core" -' +2 "storage"(7& +4 "core" &B\ +2 "manipulator"&$& +3 "core" &  +6 ."da"Elbow.seek 1 +3 "manipulator"&+( +11 "core" ( +2 "manipulator"&(& +5 "core" &  + "storage"(5& +4 "core" &B \ +2 ."da"Forearm.seek 1 + 450 counts + "manipulator"&/' +4 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.56 Pucks below Top Plate +2 "storage"(G'? +46 "core" ' +2 "manipulator"&& +4 "core" & e + "storage"(& +4 "core" &B g f\ + ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&!'8 +20 "core" ' +2 ."da"Elbow.hold + "manipulator"&9, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.74 Pucks below Top Plate +2 "storage"({' +25 "core" ' +2 "manipulator"&>% +4 "core" %@ ' + "storage"(& +4 "core" &B 8 8\ + ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 308 counts + "manipulator"&'l +22 "core" ' +2 "manipulator"&;& +4 "core" & 5 } +2 "storage"(& +4 "core" &B g g $\ +56 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&)' +18 "core" ' +3 "storage"(=% +6 "core" % R T g\ +2 ."downElevator"SE.seek :down +3 "storage"( ' +101 (3% +3 "core" %TA : :\ V` + "manipulator"& % +4 "core" %  +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&D' +87 "core" ' +50 ' + ."downElevator"SE.coast + "storage"(5 +3 ."da"SC.coast + "storage"(6 +2 (.& +4 "core" &B f g\ +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge + "processing"%'& +5 "core" &\ + "manipulator"&E& +4 "core" & S } +2 "manipulator"&J% +4 "core" %   +2 ."psFlush"Elbow.seek FlushPuck::Garage + "manipulator"&<(- +167 "core" ( +2 "manipulator"&& +4 "core" &-  N + ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &- N +2 ."psFlush"Forearm.seek :garage + "manipulator"&O'w +97 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +72 "core" / +2 "manipulator"&1& +4 "core" &- N + "manipulator"&% +4 "core" % ω  + ."psFlush"Forearm.seek :retract +2 "manipulator"&2' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&T( +117 "core" ( +2 "manipulator"&I& +4 "core" & !  + ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" & \\  +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&H' +100 "core" ' +2 "manipulator"&A& +4 "core" &   + "manipulator"&^% +4 "core" %  +2 "processing"%M& +3 "core" &\ +2 "processing"%0& +5 "core" &\ +2 ."psFlush"PC.seek :closed + "processing"%_(^ +5 "core" &\  +9 &/x\ +{ +10 &c\ ? +9 &mu\ O +10 &1Z\ N +9 &^\ N +9 &[\ O +10 &w]\ N +9 &9]\ N +9 &^\ O +10 &Z\ O +9 & ~[\ O +10 &"AZ\ N +9 &$]\ N +9 &%Z\ O +10 &'[\ O +9 &)I[\ N +9 &+ X\ N +10 &,]\ N +9 &.\\\ O +10 &0P[\ O +9 &2Y\ N +9 &3]\ N +10 &5_\ O +9 &7X[\ O +9 &9Z\ O +10 &:`\ N +9 &<Y\ O +10 &>`_\ O +9 &@"`\ O +9 &Ag\ P +10 &Cu\ Q +9 &EW\ U +9 &G\ U +10 &H\ U +9 &J\ U +10 &L]\ U +9 &N\ V +9 &O\ V +10 &Q\ V +9 &Sa\ V +9 &U"\ W +10 &V\ W +9 &X\ W +10 &Zi\ W +9 &\\+\ V +9 &]\ < +10 &^0\ \\ +9 &^,\ 6 +2 ( +2 "processing"%0& +2 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + "processing"%s& +4 "core" &^*\ 6 + ."psFlush"Hand.open + "manipulator"&F1 +115 "core" 1 +2 "manipulator"&X% +4 "core" %  +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&R' +95 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%W +43 "core"  +2 "processing"%b% +4 "core" %\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%c' +467 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +119 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%,' +2115 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%P @ +181 "core" A +2 ."psFlush"PTV.dial :PRVmixing + "processing"%:  +129 "core" +2 ."psFlush"PSV.dial :mixloop + "processing"%m +100 "core" +3 ."psFlush"PS.seek :empty + "processing"%['ؠ +2630 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%@ +102 "core"  +2 "processing"%]% +4 "core" %أ!\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush + "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%p' +596 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%e' +2120 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%`  +35 "core" +2 ."psFlush"PTV.dial :mixing + "processing"%g @ +72 "core" A +2 ."psFlush"PSV.dial :mixloop + "processing"%Q +101 "core" +2 ."psFlush"PS.seek :empty + "processing"%f'ؠ +2638 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%o +102 "core"  +2 ."psFlush"PSR.select :flush + "processing"%@ +11 ."psFlush"PS.seek 1ml + "processing"%u'X\\ +1105 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%U' +1611 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%j +73 "core" +2 ."psFlush"PTV.dial :puck + "processing"%y  +71 "core"  +2 ."psFlush"PBV.dial :waste1 + .PS.seek 0ml +2 "processing"%L'ؾ +240 "Can"\ FD +2392 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%4 +74 "core"  +2 ."psFlush"PSR.select :flush + "processing"%@ +11 ."psFlush"PS.seek 0.5ml + "processing"%k' +602 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%n' +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%x +73 "core" +2 ."psFlush"PBV.dial PSV + "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%S'ؾ +2633 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%~ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%l  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%N'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%K +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml + "processing"%' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%v +70 "core" +2 ."psFlush"PBV.dial PSV +47 .PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%}' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%Z  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%?'ؾ +2647 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +44 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%'X\\ +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%\ ' +1614 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +71 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 + "processing"%d  +54 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%C +74 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%' +595 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%t' +2130 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +74 "core" +2 ."psFlush"PBV.dial PSV + "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%&'ؾ +2638 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2637 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%8  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%* +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml + "processing"%' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%r +70 "core" +2 ."psFlush"PBV.dial PSV + .PS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%i @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2632 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%w  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'V& +4 "core" &b\ + "manipulator"&6& +4 "core" & a  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&|( +3 "core" ( +2 "manipulator"& & +4 "core" & N  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" & H  +2 .tForearm.seek PC + "manipulator"& ' +94 "core" ' +2 .tHand.close + "manipulator"&7/ +71 "core" / +2 .tPC.seek :open + "processing"%$( +461 "core" ( +2 "manipulator"&(& +4 "core" & 4  + "manipulator"&5% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +354 "core" ( +2 "manipulator"&>& +4 "core" &ӑ% >H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &ӑ% 9 >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&;'? +94 "core" ' +2 "manipulator"&& +4 "core" &ӑ% >H + "manipulator"&z% +4 "core" %5 Z +2 "collection"'=& +4 "core" &k\ +2 "collection"'"& +4 "core" &j\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &c\  +10 &4{e\ +| +9 &e~d\ ? +9 &uc\ O +10 &NYc\ N +9 &\\k\ N +9 &\\d\ N +10 &Zk\ N +9 &VVl\ N +10 &\\l\ N +9 &Vg\ N +9 & Ul\ M +10 &"_Wi\ M +9 &$!Wa\ M +9 &%We\ N +10 &'[g\ M +9 &)hXc\ M +10 &+)Za\ M +9 &,Wi\ M +9 &.[b\ N +10 &0nXj\ N +9 &20Ud\ N +9 &3[c\ M +10 &5Xb\ M +9 &7v\\a\ N +10 &98[X\ N +9 &:Za\ N +9 &<[b\ M +10 &>~Y^\ N +9 &@@Za\ N +9 &B]a\ N +10 &Cch\ O +9 &E{zg\ Q +10 &G0\\\ V +9 &Hd\ Y +9 &Jc\ Z +10 &Lfd\ [ +9 &N%`\ \\ +9 &Oc\ \\ +10 &Qd\ \\ +9 &Sfa\ ^ +10 &U+a\ ] +9 &Vc\ _ +9 &XZ\ ` +10 &ZiW\ ` +9 &\\zX\ 8 +9 &\\!V\ . +10 &\\]\ #e +2 ( + "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + "collection"'/& +3 "core" &\\\\\ #e +2 .tHand.open + "manipulator"&31 +55 "core" 1 +2 "manipulator"& % +4 "core" % 5 Z + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +98 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'G& +4 "core" &\\a\ #e + "collection"'!% +4 "core" %h[\ + .tCSV.dial CSR +2 "collection"'.  +41 "core"  +2 "collection"''% +4 "core" %gT\ + #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml + "collection"''s5 +1394 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air + "collection"' +9 'E% +3 "core" %s+X\ +2 .tCS.reconfigure :fast + "collection"'#d @b +3 .tCS.seek 7.499ml + "collection"'J' +673 "core" ' + .tCSV.dial :waste +2 "collection"'{ +126 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml + "collection"')'i +2007 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'& +4 "core" &\\X\ #e + "collection"'h% +4 "core" %gW\ + .tCSV.dial :flush + "collection"'  +43 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'Y's5 +1304 "core" ' +2 .tdelay 5 seconds +302 "Can"\ VS +200 .tCSV.dial :air +2 "collection"'9 @ +42 "core" B +2 "collection"'% +4 "core" %s0Y\ +2 .tCS.seek 6.999ml + "collection"'1' +559 "core" ' +2 ."connect"CSV.dial CTV +2 "collection"'  +2 .tCTV.dial CSV +3 "collection"'D  +38 "core"  +110  +2 .tCBV.dial :waste1 + "collection"'I @ +40 "core" @ +2 .tCS.seek 0ml + "collection"'#'i +1675 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'O& +4 "core" &\\X\ #e + "collection"'A% +4 "core" %i[\ +44 .tCSV.dial :flush +3 "collection"'^  +72 "core" +2 .tCS.seek 5ml +2 "collection"'M's5 +1309 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'< @ +44 "core" B +2 "collection"'2% +4 "core" %s0X\  +2 .tCS.seek 6.999ml + "collection"'q' +562 "core" ' +2 ."connect"CSV.dial CTV +2 "collection"'s  +2 .tCTV.dial CSV +40 "core"  +2 .tCBV.dial :waste2 + "collection"'F  +101 "core"  +2 .tCS.seek 0ml +2 "collection"'X'i +1671 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'0& +4 "core" &\\K\ #e + "collection"'W% +4 "core" %kL\ + .tCSV.dial CSR + "collection"'b  +54 "core"  +2 "collection"'H% +4 "core" %kM\ + #tPulling 8ml of CSR.kill + .CSR.select :kill + "collection"' +10 .tCS.seek 8ml + "collection"'a' +1991 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'c' +570 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +2 "collection"'P + ':  +101 "core" +34  +2 .tCTV.dial :intake + "collection"'m  +72 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"','T +1907 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'@  +76 "core" ~ +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml + "collection"']'i +594 "core" ' + .tCSV.dial CSR +2 "collection"'[  +100 "core"  +2 "collection"'p% +4 "core" %fK\ + #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml + "collection"'`'s5 +1377 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'g' +1368 "core" ' + .tCSV.dial CBV +2 "collection"'Q +98 "core" +2 .tCS.seek 0ml + "collection"'e'i +2639 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&o& +4 "core" &Ӓ# J =G + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&f(ӂ +20 "core" ( +2 "manipulator"&u& +4 "core" &ӊ ? , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &ӊ ? , +2 .tForearm.seek CC + "manipulator"&y'? +94 "core" ' +2 .tHand.close + "manipulator"&U/ +69 "core" / +2 .tCC.seek :open + "collection"'4( +452 "core" ( +2 "manipulator"&L& +3 "core" &ӊ E , +2 "manipulator"&k% +3 "core" % 2 U  +2 .tForearm.seek :retract + "manipulator"&x' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(- +284 "core" ( +2 "manipulator"&n& +4 "core" &- 5 ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &- ( +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&S'w +101 "core" ' +2 .tHand.open +2 "manipulator"&l1 +57 "core" 1 +2 "manipulator"&\\% +4 "core" % π ; + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' +2 #tCompleted [initialPurge; da #da and wsr are run simultanelously] begun 13:09:49 +4 #Asleep after completing DA_03092021 assays +2 ."Qmail"GoodNews.email "{1 => 3,\\n 2 => 0,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@14:59:00, 0% flow, 25.3C, 13% humidity, 15.1psia, 13.471V, 0.441A, 0.423A avg, 5.95W\\nSampled 100.0ml",Subject: "Asleep after completing DA_03092021 assays" +479 #mEXIT @1615320150.87EST @1615320161.46EST = =tMAIN =mMAIN_scheduler @EST1615320163.17 #"core_reset"Sent BREAK +2 #t@20151 sendCRC with ifg=0x20, ie=0x7F + #@21986 sendCRC with ifg=0x08, ie=0x5F #@49276 idle with ifg=0x84, ie=0x75 + #@49949 select with ifg=0x10, ie=0xF5 + #@50581 receive with ifg=0x10, ie=0xFD #@51213 receive with ifg=0x10, ie=0xFD + #@51845 receive with ifg=0x10, ie=0xFD #@52172 receive with ifg=0x80, ie=0xFD + #@27700 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +266 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +355 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ ;8 + \ ;8 + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ + ' 0\ +3 ' -\ +3 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %mH\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %i\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %ڏ *\ +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +4 "core" %mA\ + "sampler")% +4 "core" %ڏ 0\ + "manipulator"&% +4 "core" %  <  + "manipulator"&& +3 "core" &-  ( +2 "storage"(& +3 "core" &B } | Y\ + "storage"(% +4 "core" % l o ;\ + "collection"'& +4 "core" &<\ + "processing"%& +3 "core" &W\ +2 "processing"%% +3 "core" %B\ +319 #t-> access 1 +2 .SE.seek :down + "storage"(' +3 "core" ' + "manipulator"&% +4 "core" %  U  +2 "manipulator"& & +3 "core" &- p ( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(!(<- +1298 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ("& +2 "core" &<,0  \  +3035 #t-> access 2 +2 .SE.seek :down + "storage"(#' +4 "core" ' +2 "manipulator"&$% +3 "core" %  T  +2 "manipulator"&%& +3 "core" &- Z ( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(&(K +362 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ('& +3 "core" &K) * ) \  +16021 #t-> exit +5 #mEXIT @1615320423.77EST @1615401075.70EST = =tMAIN =mMAIN_scheduler @EST1615401077.44 #"core_reset"Sent BREAK +2 #t@13621 receive with ifg=0x10, ie=0xFD + #@14254 receive with ifg=0x10, ie=0xFD #@14908 receive with ifg=0x10, ie=0xFD + #@15543 receive with ifg=0x10, ie=0xFD + #@16177 receive with ifg=0x10, ie=0xFD #@16810 receive with ifg=0x10, ie=0xFD + #@17443 receive with ifg=0x10, ie=0xFD #@17769 receive with ifg=0x80, ie=0xFD + #@28357 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +268 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +353 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"3\ GF + 3\ GF + #tPolling Can every 10:00 +124 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %mN\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %=\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +5 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %ڐ ?\ +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +3 "core" %mW\ +2 "sampler")% +4 "core" %ڐ F\ + "manipulator"&% +4 "core" %    + "manipulator"&& +3 "core" &- ( +2 "storage"(& +3 "core" &K*  \  +2 "storage"(% +3 "core" %  L\ + "collection"'& +4 "core" &2\ + "processing"%& +4 "core" &W\ + "processing"%% +3 "core" %F\ +13482 #t-> start esp DA_03092021.rb +2 !o:NameError: mesg"'uninitialized constant DA_03092021: name:DA_03092021:bt["(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +505 #-> exit +5 #mEXIT @1615401231.63EST @1615401245.77EST = =mMAIN_scheduler =tMAIN @EST1615401247.63 #"core_reset"Sent BREAK +2 #t@34950 receive with ifg=0x10, ie=0xFD + #@35586 receive with ifg=0x10, ie=0xFD #@36243 receive with ifg=0x10, ie=0xFD + #@36881 receive with ifg=0x10, ie=0xFD + #@37528 receive with ifg=0x10, ie=0xFD #@38175 receive with ifg=0x10, ie=0xFD + #@38823 receive with ifg=0x10, ie=0xFD #@39150 receive with ifg=0x80, ie=0xFD + #@63366 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +250 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +346 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"?\ IF + ?\ IF + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +2 "core" %m5\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %+\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڐ =\ + .tSS.configure :default +2 "sampler")#.0X 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:34:13, 0% flow, 23.8C, 17% humidity, 15.2psia, 13.505V, 0.363A, 0.345A avg, 4.90W",Subject: "DA_03092021 begun" +3 ."shutdown"CS.coast +4 #tAsleep til + 00:00:05 +2 "collection"'5 + #tContinuing at 13:34 +4 ."shutdown"PS.coast +3 "Can":\ HF +2 "processing"%5 +3 ."shutdown"CC.coast +2 "collection"'6 +2 ."shutdown"PC.coast + "processing"%6 +2 ."shutdown"Forearm.coast + "manipulator"&5 +2 ."shutdown"Elbow.coast + "manipulator"&6 +2 ."shutdown"SC.coast + "storage"(6 +2 ."shutdown"SE.coast + "storage"(5 +36 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF #Shutdown +415 "Can";\  +3 #tPowering core bus +30 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da #da and wsr are run simultanelously\\n/home/esp/esp2/mission/DA_03092021.rb:14\\n{1 => 0,\\n 2 => 3,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:34:17, 0% flow, 23.8C, 16% humidity, 15.2psia, 13.500V, 0.357A, 0.345A avg, 4.82W",Subject: "Asleep until 13:34" +442 .tGate.power :raw,:ON +2 "sampler") +45 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default + "processing"%#A d`xb +3 "sampler")% +2 "core" %J\ +2 .tSS.configure :default +2 "sampler")#.0X& +4 "core" &\ +2 &0\ + ."openPC"PC.reconfigure :default +3 .tCC.reconfigure :default +3 "processing"%$x2 ^22b +2 "collection"'$x2 ^22b +3 .tCC.home.seek :open +2 ."openPC"PC.home.seek :open +2 "collection"'?( + "processing"%@( +275 "core" ( +24 ( +29 "Can";\ A> +7 #tPhase [initialPurge; da #da and wsr are run simultanelously] + ."Qmail"Notice.email "At 13:35:05 began in tube 2: initialPurge; da #da and wsr are run simultanelously\\n/home/esp/esp2/mission/DA_03092021.rb:14\\n{1 => 0,\\n 2 => 3,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:35:05, 0% flow, 23.7C, 16% humidity, 15.2psia, 13.569V, 0.315A, 0.296A avg, 4.27W",Subject: "Started DA_03092021 phase initialPurge; da #da and wsr are run simultanelously" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'A& +4 "core" &7\  + .tHand.open + "manipulator"&B1 +57 "core" 1 +2 "manipulator"&C& +4 "core" & $ + "manipulator"&D% +4 "core" %  c  +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&E(- +179 "core" ( +3 "manipulator"&F& +5 "core" &- 7  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &- D  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +2 "manipulator"&H'w +100 "core" ' +2 .tHand.close + "manipulator"&I/ +74 "core" / +2 "manipulator"&J& +4 "core" &-  + "manipulator"&K% +4 "core" % r  +2 .tForearm.seek :retract + "manipulator"&L' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&M(ӂ +285 "core" ( +2 "manipulator"&N& +4 "core" &ӎ+  Ct + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +2 "core" &ӎ+ Ct +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&P'? +96 "core" ' +2 "manipulator"&Q& +4 "core" &ӎ+ Ct + "manipulator"&R% +4 "core" %6 # +2 "collection"'S& +3 "core" &\  +3 "collection"'T& +4 "core" & \  +2 .tCC.seek :closed + "collection"'U(\\ +4 "core" &\  +9 &E\ %h +9 &pX\ 8 +10 &}\ M +9 &Z\ N +9 &JW\ M +10 & ]\ N +9 &]\ M +9 &Y\ M +10 &Q\\\ N +9 &\\\ M +10 &\\ \ N +9 &!Z\ M +9 &#YZ\ N +10 &%Y\ M +9 &&W\ N +9 &(Z \ M +10 &*b[\ M +9 &,$W\ M +10 &-V\ M +9 &/V\ M +9 &1jW\ M +10 &3-Y\ M +9 &4Z\ N +9 &6W\ M +10 &8rZ\ M +9 &:3]\ N +10 &;Z\ N +9 &=Y\ M +9 &?zZ\ M +10 &A;_\ N +9 &Be\ \ N +9 &Dr\ P +10 &Fp\ T +9 &H$\ X +10 &I\ Y +9 &K\ Z +9 &Mfs\ Z +10 &O&\ Z +9 &P\ [ +9 &R\ \\ +10 &Tf-\ \\ +9 &V'=\ ] +10 &W\ ^ +9 &Y\ ^ +9 &[e?\ O +10 &\\>\ 2 +9 &\\\ [ +5 ( +2 "collection"'T& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + "collection"'V& +3 "core" &\\}\ [ +2 &\\}\ [ + .tHand.open + "manipulator"&W1 +54 "core" 1 +2 "manipulator"&X% +4 "core" % 6  6 # + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +93 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'Z& +4 "core" &\\}\ [ + "collection"'[% +4 "core" %i\ + .tCSV.dial CSR +2 "collection"'\\  +138 "core"  +2 "collection"']% +4 "core" %i=\ + #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 5ml + "collection"'^'s5 +1387 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '_% +3 "core" %s:|\ +2 .tCS.reconfigure :fast + "collection"'#d @b +3 .tCS.seek 7.501ml + "collection"'`' +700 "core" ' +2 .tCSV.dial :waste + "collection"'a +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml + "collection"'b'i +2002 "core" ' +2 #tPurging external Intake + "collection"'c& +4 "core" &\\|\ [ + "collection"'d% +3 "core" %d\ +2 .tCSV.dial :flush + "collection"'e  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 10ml + "collection"'f' +2471 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'g 'h  +16 "core" +57 ~ +2 .tCTV.dial :intake + "collection"'i  +77 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'j'i +2383 "core" ' + .tIntake.select :close + "sampler")0 +10 .tCTV.dial :air + "collection"'k  +76 "core" ~ +2 #tFlushing upper manifold + "collection"'l& +4 "core" &\\~\ [ + "collection"'m% +3 "core" %j\ +2 .tCSV.dial :flush + "collection"'n  +83 "core" +2 .tCS.seek 5ml +2 "collection"'o's5 +1307 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'p @ +44 "core" B +2 "collection"'q% +3 "core" %s5\ +2 .tCS.seek 7ml +2 "collection"'r' +563 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +2 "collection"'s +100 "core"  +2 .tCTV.dial :air + .CS.seek 0ml +2 "collection"'t'i +1679 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'u'3J +816 "core" ' + .tCSV.dial :waste +2 "collection"'v +42 "core" +2 .tCS.seek 0ml +2 "collection"'w'i +767 "core" ' +2 "collection"'x& +3 "core" &\\\ [ +2 "collection"'y% +3 "core" %i\ +2 .tCSV.dial :flush + "collection"'z  +52 "core" +2 .tCS.seek 3ml + "collection"'{'3J +819 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'| @ +44 "core" B +2 "collection"'}% +3 "core" %3P\ +2 .tCS.seek 5.001ml +2 "collection"'~'s; +582 "core" ' +2 .tCSV.dial :air + .CS.seek 0ml + "collection"''i +1221 "core" ' +2 .tdelay 7 seconds +703 .CS.seek 3ml + "collection"''3J +803 "core" ' + .tCSV.dial :waste +2 "collection"' +71 "core" +2 .tCS.seek 0ml + "collection"''i +773 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӕ* Cn + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +23 "core" ( +2 "manipulator"&& +4 "core" &ӆ % , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +2 "core" &ӆ , +2 .tForearm.seek CC +2 "manipulator"& '? +98 "core" ' +2 .tHand.close + "manipulator"& / +72 "core" / +2 .tCC.seek :open + "collection"'( +452 "core" ( +2 "manipulator"&& +3 "core" &ӆ , +2 "manipulator"&% +3 "core" % <  +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(- +278 "core" ( +2 "manipulator"&& +4 "core" &- & p + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- p +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&\ 'w +96 "core" ' + .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "manipulator"&% +3 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 #tda sampling at most 100ml +3 ."Qmail"DAfans.email "Started da in tube 2 at 13:39:24EST10-Mar-21\\n{1 => 0,\\n 2 => 3,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@13:35:05, 0% flow, 23.7C, 16% humidity, 15.2psia, 13.569V, 0.315A, 0.296A avg, 4.27W",Subject: "da sampling at most 100ml" +2 #tLoading sh1 puck from tube 2 into Collection Clamp +2 "collection"'& +6 "core" &}\ +36 "manipulator"&% +10 "core" %  4  +2 "storage"(% +4 "core" % \  +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +672 "core" ( +2 .tSC.reconfigure :loose + "storage"($.\ 1~b +3 (& +2 "core" &  m t *\ +2 "manipulator"&& +3 "core" &- g p +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +176 "core" ( +2 "manipulator"&& +4 "core" & U + "storage"(& +4 "core" &  h l V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"& 'S +102 "core" ' +2 "storage"(!& +4 "core" &  \ +2 .tSE.reconfigure :pick + "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +291 "core" ' +2 "storage"(#- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &  s e ~\  +2 "manipulator"&%& +4 "core" & & U +2 .tElbow.seek 2 + "manipulator"&'( +3 "core" ( + "manipulator"&&& +4 "core" &  U + "storage"((& +4 "core" &  a ^\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&)'Ͻ +12 "core" ' +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +70 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& + "storage"(.' +7 "core" & U +2 "manipulator"&*% +4 "core" % ϻ  + .tForearm.seek :retract +2 "manipulator"&2' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&3(ӂ +153 "core" ' +2 ( + ."downElevator"SE.coast +2 "storage"(5 + "manipulator"&5& +6 "core" &Ӑ( Ac + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &Ӑ( G Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'? +95 "core" ' +3 "manipulator"&<& +4 "core" &ӑ( Ab + "manipulator"&=% +4 "core" %C =  +2 "collection"'>& +4 "core" &}\ +2 "collection"',& +4 "core" &w\ +2 .tCC.seek :closed + "collection"'4(\\ +4 "core" &{\  +9 &3||\ +{ +10 &c~{\ > +9 &rn\ N +9 &JWq\ L +10 & Zt\ M +9 &Yw\ M +10 &Up\ M +9 &QZj\ M +9 &Zb\ M +10 &Ud\ L +9 & V`\ L +9 &"YZ\\\ M +10 &$W_\ M +9 &%U^\ L +10 &'W\\\ L +9 &)aZ,\ M +9 &+#W"\ M +10 &,Y3\ L +9 &.ZI\ M +9 &0iWz\ M +10 &2,Z\ L +9 &3V\ M +10 &5X\ M +9 &7rV\ L +9 &93X\ M +10 &:X\ M +9 &<U\ L +9 &>zX\ L +10 &@<W\ L +9 &A^\ M +10 &Cc\ N +9 &Eys\ O +9 &G1\ S +10 &H\ W +9 &J\ Y +9 &Lex\ Y +10 &N$w\ Z +9 &Ou\ Z +10 &Qw\ [ +9 &Sh\ [ +9 &U%\ \\ +10 &V~\ ] +9 &X\ ^ +9 &Zh\ ] +10 &\\ z~\ 7 +9 &\\(y\ (w +10 &\\}\ !` +3 ( + "collection"',& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&81 +63 "core" 1 +2 "manipulator"&A% +4 "core" % C  j  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&B' +93 "core" ' +2 .tSC.coast "storage"(6 +3 #tcollectSample 100ml w/bubble point of 24psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")C+ +4 "core" + + "sampler")D% +4 "core" %z K\ + "collection"'F& +4 "core" &\\f\ !` +2 "Can"G\ XU +2 #tCalibrating pressure and temperature sensors +2 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust + .SS.reconfigure :fast +2 "sampler")#.0X\ % +48 "collection"'u% +3 "core" %i}[\ + "sampler")x% +4 "core" % <\ % +54 "collection"'y% +3 "core" %iX\ + "sampler")z% +4 "core" % G\ % +61 "collection"'w% +3 "core" %i[\ + "sampler")|% +4 "core" %hl @\ % +70 "collection"'}% +3 "core" %iV\ + "sampler"){% +4 "core" % O\ % + "sampler")~% +4 "core" % K\ % + .tIntake.select :close + "sampler")0 +9 )% +2 "core" % ?\ % +2 .tSSV.dial :exhaust + "sampler")  +74 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")'ڀ +870 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +38 "sampler")  +82 "core" +2 #tAllowing 130s for 25.0ml of remaining 75.0ml + .Intake.select :open + "sampler") +210 "collection"'% +3 "core" %i9\ + #tIntake @15.5psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X\  +54 "collection"'% +3 "core" %ivu0\ + "sampler")% +4 "core" %1 I\  +61 "collection"'% +3 "core" %i9\ + "sampler")% +4 "core" %1 M\  +70 "collection"'% +4 "core" %i;\ + "sampler")!% +4 "core" %"=< B\  +79 "collection"'% +3 "core" %i0\ + "sampler")% +4 "core" % ?\ + + "sampler")#% +4 "core" % L\  + .tIntake.select :close + "sampler")0 +9 )$% +3 "core" % E\ + .tSSV.dial :exhaust + "sampler")6  +76 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")%'ڀ +854 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")&  +74 "core"  +2 #tAllowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open + "sampler") +210 "collection"'(% +3 "core" %i<\ + #tIntake @15.5psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X\  +19 "collection"' % +3 "core" %igg7\ + "sampler")5% +4 "core" %+ >\  +22 "collection"'1% +3 "core" %ief4\ + "sampler")"% +4 "core" %+ I\  +25 "collection"')% +3 "core" %ijh9\ + "sampler")<% +4 "core" %+ :\  +29 "collection"'=% +3 "core" %ilj0\ + "sampler")>% +4 "core" %+ :\  +33 "collection"''% +3 "core" %ilj;\ + "sampler").% +4 "core" %+ >\  +37 "collection"'2% +3 "core" %inm4\ + "sampler")% +4 "core" %+ E\  +42 "collection"'8% +3 "core" %ioo;\ + "sampler")A% +4 "core" %+ C\  +48 "collection"'D% +3 "core" %iqr<\ + "sampler")F% +4 "core" %+ H\  +54 "collection"',% +3 "core" %iww2\ + "sampler"):% +4 "core" %+ >\  +61 "collection"'% +3 "core" %i@\ + "sampler")0% +4 "core" %+ 9\  +70 "collection"'C% +4 "core" %i9\ + "sampler")I% +4 "core" %+ O\  +79 "collection"'9% +3 "core" %i;\ + "sampler")J% +4 "core" % kh L\  +89 "collection"'K% +3 "core" %i:\ + "sampler");% +4 "core" % B\ + "sampler")G% +4 "core" % <\ + .tIntake.select :close + "sampler")0 +9 )N% +2 "core" % H\ +2 .tSSV.dial :exhaust + "sampler")O  +74 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")E'ڀ +880 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")H  +73 "core"  +2 #tAllowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'S% +3 "core" %i(\ + #tIntake @15.5psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X\ ; +25 "collection"'\\% +3 "core" %iln!\ + "sampler")]% +4 "core" % H\ ; +29 "collection"'P% +3 "core" %ino1\ + "sampler")/% +4 "core" % =\ ; +32 "collection"'Q% +3 "core" %ioo*\ + "sampler")R% +4 "core" % ?\ ; +37 "collection"'a% +3 "core" %iqq\ + "sampler")`% +4 "core" % K\ ; +42 "collection"'c% +3 "core" %itv"\ + "sampler")_% +4 "core" % B\ ; +48 "collection"'d% +3 "core" %iyz!\ + "sampler")^% +4 "core" % G\ ; +54 "collection"'h% +3 "core" %i*\ + "sampler")g% +4 "core" % <\ ; +61 "collection"'i% +3 "core" %i!\ + "sampler")f% +4 "core" %'( E\ ; +70 "collection"'k% +3 "core" %i)\ + "sampler")l% +4 "core" %pp A\ ; +79 "collection"'m% +3 "core" %i \ + "sampler")n% +4 "core" % >\ ; + "sampler")j% +4 "core" % H\ ; + .tIntake.select :close + "sampler")0 +9 )p% +2 "core" % J\ ; +2 .tSSV.dial :exhaust + "sampler")q  +73 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")o'ڀ +898 "core" ' + .tExhaust.select :close + "sampler") +10 #tSampled 100.0ml +2 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) .Intake.select :close + "collection"'s& +3 "core" &\\\ \ !` +2 ."airStroke"CSV.dial :waste +3 .CS.seek 0ml +2 "sampler")r% + "collection"'t'i +6 "core" %} H\ + ' +2 ."connect"SSV.dial CBV,avoiding: :exhaust +3 ."airStroke"CSV.dial :air +2 .tCBV.dial SSV + "sampler")v  + "collection"'e @ +73 "core" A +2 ."airStroke"CS.seek 10ml +2 "collection"'u' +108 "core"  +2 .tCTV.dial :air + "collection"'x  +77 "core" ~ +2 .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")y +131 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.seek 0ml + "collection"'z  + "sampler")w'ڀ +6 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")|  +125 "core"  +7  +504 ' +2 "sampler")}% +4 "core" %} <\ + .tCBV.dial between SSV and waste2 +2 "collection"'{  +30 "core"  +2 "collection"'~% +4 "core" %&\  +2 ."connect"CTV.dial CSV,avoiding: :air +2 .tCSV.dial CTV +2 "collection"'  +41 "core"  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< b +2 .tCS.seek 0ml + "collection"''i +1805 "core" '5 *\ +2 "collection"'b% +4 "core" %5 %\  +2 "sampler")% +3 "core" %} H\ +2 #tBubblePoint: Intake @39.8psia, Outlet @15.6psia .CBV.dial SSV + "collection"' @ +30 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"' 'i +96 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust + "sampler") +130 "core" +2 .tSS.reconfigure :exhale +2 "sampler")#.0X\  + #tEvacuated: Intake @18.1psia, Outlet @12.1psia + .SSV.dial :spit,avoiding: :exhaust +2 "sampler")1 +129 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X' +98 ."CSpush"CSV.dial :air + "collection"'' @ +44 "core" > +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'.'i +90 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust + "sampler")2 +131 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X+ +103 "collection"'9 +2 "core" 9S) +103 "collection"'w9 +2 "core" 9j' +103 "collection"'M9 +3 "core" 9~& +103 "collection"'Y9 +2 "core" 9$ +103 "collection"'U9 +2 "core" 9$ +103 "collection"'9 +2 "core" 9# +103 "collection"'9 +2 "core" 9" +103 "collection"' 9 +3 "core" 9 +103 "collection"'9 +2 "core" 9 +103 "collection"'9 +2 "core" 9 +103 "collection"'9 +2 "core" 9  +103 "collection"'9 +2 "core" 9  +103 "collection"'9 +2 "core" 9 * +103 "collection"'9 +2 "core" 9 9 +103 "collection"'9 +2 "core" 9 F +103 "collection"' 9 +2 "core" 9 S  +103 "collection"'9 +2 "core" 9 _ +103 "collection"'9 +2 "core" 9 k +103 "collection"'9 +2 "core" 9 w +103 "collection"' 9 +2 "core" 9  +103 "collection"'\ 9 +2 "core" 9  +103 "collection"'79 +2 "core" 9 # +103 "collection"'9 +3 "core" 9 ' +102 "collection"'9 +11 "core" 9 + +102 "collection"'9 +2 "core" 9 / +103 "collection"'9 +2 "core" 9 4 +103 "collection"'9 +2 "core" 9 8 +103 "collection"'!9 +3 "core" 9  < +103 "collection"'9 +2 "core" 9  @ +103 "collection"'#9 +2 "core" 9  D +103 "collection"'$9 +2 "core" 9  I +103 "collection"'69 +2 "core" 9  M +103 "collection"' 9 +2 "core" 9 Q +103 "collection"'9 +2 "core" 9 U +103 "collection"'(9 +2 "core" 9 Y +103 "collection"'%9 +2 "core" 9\ ^ +103 "collection"'*9 +2 "core" 9\ b +103 "collection"'9 +3 "core" 9\ f +103 "collection"' 9 +2 "core" 9\ j +103 "collection"'59 +2 "core" 9\ o +103 "collection"'19 +2 "core" 9\ s +103 "collection"'9 +2 "core" 9\ &w +103 "collection"'"9 +3 "core" 9\ +{ +103 "collection"'<9 +2 "core" 9\ / +103 "collection"'=9 +2 "core" 9\ 3 +103 "collection"''9 +2 "core" 9\ 8 +103 "collection"')9 +2 "core" 9\ < +103 "collection"'29 +3 "core" 9\ @ +103 "collection"'&9 +2 "core" 9\ E +103 "collection"'>9 +2 "core" 9\ I +103 "collection"'.9 +2 "core" 9\ M +103 "collection"'9 +2 "core" 9\ R +103 "collection"'A9 +2 "core" 9\ V +103 "collection"'+9 +2 "core" 9\ Y +103 "collection"'89 +2 "core" 9\ ]  +103 "collection"'F9 +2 "core" 9\ a  +103 "collection"',9 +2 "core" 9\ d! +103 "collection"'D9 +3 "core" 9\ h  +103 "collection"':9 +2 "core" 9\ k" +103 "collection"'9 +2 "core" 9\ o# +103 "collection"'C9 +2 "core" 9\ s$ +103 "collection"'09 +2 "core" 9\ w$ +103 "collection"'99 +3 "core" 9\ y% +103 "collection"'I9 +2 "core" 9\ }& +103 "collection"'K9 +2 "core" 9\ & +3 .tCH.hold 10:00,70C +2 "collection"'; `\ `\   +2 'J9 +5 "core"  + 9\ & +2 "collection"'N% +3 "core" %^ \ F +2 #tBegun lysing Collection Puck Heater at 68C/43.4psia +30102 "Can"F\ \ +29889 "core" ` +2 "collection"'G9 +3 "core" 9\  +2 "collection"'-% +4 "core" %^ \ + #tEnded lysing Collection Puck Heater at 70C/42.2psia +2 .CS.seek 0ml + "collection"'O'i +342 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'S @ +103 "core" B +2 .tCSV.dial :air + "collection"'E @ +41 "core" ? +3 .tCS.seek 5ml + "collection"'W's5 +1373 "core" ' + .tCSV.dial CTV +2 "collection"'X  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'Z @ +42 "core" ? +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'[  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'T @ +42 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'\\'i +1361 "core" ' +2 "collection"']% +3 "core" %h  \ +2 #tPuck @69.6psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"'P +99 "core" ~ +2 .tCBV.dial CSV + "collection"'/  +28 "core" +2 "collection"'Q% +4 "core" %h\ \ 3\ + .tCS.seek 5ml +2 "collection"'R's4 +1376 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'a  +42 "core" +2 "collection"'`% +4 "core" %s9YXa\ +2 .tCS.seek 7.001ml + "collection"'c'$ +587 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'_ @ +41 "core" ? +2 .tCS.seek 10ml + "collection"'L' +846 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV + "collection"'d ` +115 "core" ^ +2 #tLysing Complete + "collection"'^& +4 "core" &\\Z[\ !` +2 #tStoring sh1 puck in Collection Clamp to tube 1 "manipulator"&h% +4 "core" %    + "storage"(g% +4 "core" % m\ +2 "storage"(i. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(f(C +359 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (k& + "manipulator"&l& +4 "core" &F +\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" &ӓ(   / A` +3 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + ."raiseStack"SE.seek :beamBreak +2 "manipulator"&m(ӂ + "storage"(n'r +37 "core" ( +2 "manipulator"&j& +4 "core" &} X L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &} " L +2 .tForearm.seek CC + "manipulator"&q'? +95 "core" ' +2 .tHand.close + "manipulator"&?/ +69 "core" / +2 .tCC.seek :open + "collection"'s( +53 "core" ' +2 "storage"(r- +3 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'1 +38 "core" ' +347 ( +2 "storage"(v& +3 "core" &F A\ +2 "storage"(x& +3 "core" &F z A\ +2 "manipulator"&& +3 "core" &} L L +2 "manipulator"&t% +3 "core" % @ T  +2 .tForearm.seek :retract + "manipulator"&y' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&z( +157 "core" ( +2 "manipulator"&|& +4 "core" & =  + "storage"(o& +4 "core" &F =\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 + "manipulator"&}'8 +95 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&~1 +63 "core" 1 +2 "manipulator"&% +4 "core" % <  +2 "storage"(u& +3 "core" &F B\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 304 counts + "manipulator"&b'h +16 "core" ' +2 "manipulator"&& +4 "core" & 6  + "storage"(& +4 "core" &F \\\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&w' +15 "core" ' +2 "storage"(M% +4 "core" %; P\ +2 ."downElevator"SE.seek :down +3 "storage"(Y' +100 (U% +3 "core" %D U j \ We + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tTranferring DA + #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +4 "core" &SR)\ +2 "manipulator"&& +4 "core" &  + "manipulator"&% +4 "core" %   +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +175 "core" ( +2 "manipulator"&& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &- ,  +2 .tForearm.seek :garage +2 "manipulator"&'w +92 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 "manipulator"& & +4 "core" &-    + "manipulator"&% +4 "core" % ϊ [ & + .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +282 "core" ( +2 "manipulator"& & +4 "core" &}. % F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &}. / F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&7'? +93 "core" ' +2 "manipulator"&& +51 "core" &Ӣ( Aa +2 "manipulator"&% +4 "core" %4 / K + "collection"'& +4 "core" &VT#\ +2 "collection"'& +5 "core" &UT\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &VT{\  +10 &2}WV[\ +{ +9 &e~TV\ > +10 &sST\ M +9 &QUTS\ L +9 &YTU\ L +10 &YVT\ L +9 &YUU\ K +10 &ZZTW\ K +9 &\\TU\ L +9 &WUUp\ K +10 & VRU_\ L +9 &"aYSUJ\ L +9 &$#WUTx\ L +10 &%YTV\ L +9 &'YTTt\ L +10 &)iXRUe\ L +9 &++XTTW\ L +9 &,YST\ L +10 &.YTT\ L +9 &0qXTU\ L +9 &23YWS\ L +10 &3YSS\ L +9 &5YQT\ L +10 &7z[UT\ K +9 &9<\\TTr\ K +9 &:VUTY\ K +10 &<VTT\ K +9 &>WUU\ L +9 &@CYTTP\ L +10 &BYVUb\ L +9 &CgRU\\\ M +10 &E{NVH\ Q +9 &G.VV6\ V +9 &HWX\ Y +10 &JTW\ Y +9 &LeWX\ [ +9 &N&UW\ [\ +10 &OTXi\ \\ +9 &QXZ_\ [\ +10 &SfZXF\ ] +9 &U(XW\ ] +9 &VWY\ ^ +10 &XWV\ ` +9 &ZgVZ\ _ +9 &\\ zVX\ 9 +10 &\\)XY\ + +9 &\\XY\ #e +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 + "collection"'!& +4 "core" &\\ZZb\ #e + .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&#% +4 "core" % 4   K + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +92 "core" ' +2 .tPSV.dial PSR + "processing"%6 +132 "core"  +2 "processing"% % +4 "core" %\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%'+ +1607 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%(  +42 "core"  +2 .tPS.seek 0ml + "processing"%%'ؾ +1608 "core" ' + .tPSV.dial PSR +2 "processing"%* +44 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2639 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +2 "processing"%  + "collection"'5  +6 "core" A + "processing"%1  +69 "core" +89  +2 .tPSV.dial :mixloop + "processing"% +113 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing + "processing"%"  +130 "core" +2 .tPS.seek 0ml + "processing"%<'ؾ +2638 "core" ' + .tPSV.dial :air +2 "processing"%=  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%'' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%) +44 "core" +2 .tPS.seek 0ml + "processing"%2'ؾ +2650 "core" ' + .tPSV.dial :air +2 "processing"%&  +58 "core" +2 .tPS.seek 2.5ml + "processing"%>' +2642 "core" ' + .tPSV.dial :mixloop +2 "processing"%. +41 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +375 "Can"\\\ WU +2263 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&A& +4 "core" &Ӣ' i Aa + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&+(ӂ +26 "core" ( +2 "manipulator"&8& +4 "core" &z  ' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &z  C ' + .tForearm.seek CC +2 "manipulator"&,'? +92 "core" ' +2 .tHand.close + "manipulator"&D/ +71 "core" / +2 .tCC.seek :open + "collection"':( +451 "core" ( +2 "manipulator"&& +3 "core" &z < ' +2 "manipulator"&C% +3 "core" % S \\ +2 .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&9(- +279 "core" ( +2 "manipulator"&I& +4 "core" &-   < + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &- \  @ < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&J'w +106 "core" ' +2 .tHand.open + "manipulator"&N1 +62 "core" 1 +2 "manipulator"&V% +4 "core" % |  } + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +94 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +2 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake + #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'G& +4 "core" &{{0\ +2 "manipulator"&-% +4 "core" %  0  + "storage"(H% +4 "core" % !\ + "storage"(S. +3 "core" . +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(E(  +357 "core" ( +2 .tSC.reconfigure :loose + "storage"($.\ 1~b +3 (O& +2 "core" &  D\  +2 "manipulator"&X& +3 "core" &- 4 < +2 "manipulator"&Z% +3 "core" %  A  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&[( +185 "core" ( +2 "manipulator"&T& +4 "core" & @ + "storage"(W& +3 "core" &  k p \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&]'S +96 "core" ' +2 "storage"(P& +3 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'r +310 "core" ' +2 "storage"(Q- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +2 "core" &  v y U\  +2 "manipulator"&a& +4 "core" & T @ + .tElbow.seek 2 + "manipulator"&`( +32 "core" ( +2 "manipulator"&R& +4 "core" &   q + "storage"(_& +3 "core" &  P\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&c'Ͻ +13 "core" ' +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& + "storage"(h' +7 "core" &  q + "manipulator"&g% +4 "core" % ϴ 9 +2 .tForearm.seek :retract + "manipulator"&i' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&k(ӂ +158 "core" ' + ."downElevator"SE.coast + "storage"(5 +4 "core" ( + "manipulator"&l& +4 "core" &ӡ! ;3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &ӡ! ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +47 .tForearm.seek CC +2 "manipulator"&p'? +95 "core" ' +2 "manipulator"&?& +4 "core" &Ӣ! J ;2 + "manipulator"&r% +4 "core" %F #  +2 "collection"'3& +4 "core" &zz\ +2 "collection"'B& +4 "core" &{z\ +2 .tCC.seek :closed +2 "collection"'4(\\ +4 "core" &z{}\  +9 &4{|i\ +} +9 &g}z{O\ ? +10 &kz{C\ M +9 &VTzz+\ L +9 &U|y\ L +10 &Zzz\ L +9 &W{z\ L +9 &`T|{\ K +10 &"Wz{\ K +9 &V||\ K +10 & Y{|\ L +9 &"gW{{\ L +9 &$*Tz{\ K +10 &%W{|\ K +9 &'Uy|\ L +9 &)pU{|\ K +10 &+2W{|y\ K +9 &,Z|}b\ L +10 &.W~|X\ L +9 &0xTy{R\ K +9 &2:W{zC\ K +10 &3Zz{5\ L +9 &5Z{z6\ L +9 &7Zy| \ K +10 &9BX|| \ K +9 &;Wz{D\ K +10 &<\\z{R\ L +9 &>V|{M\ L +9 &@JU{|5\ K +10 &B Y}}8\ L +9 &C^||.\ L +9 &Ej|z\ N +10 &GC{|\ P +9 &H|~\ \ U +10 &J}\ W +9 &Lp\ Y +9 &N1}|,\ Y +10 &O~\ Z +9 &Q}\ Z +9 &Sq~\ [ +10 &U3|}\ [ +9 &V~~\ \\ +10 &X}\ ] +9 &Zq\ ^ +9 &\\{~\ 3 +10 &\\,~\ %p +8 ( +2 &\\w}~\ \\ +2 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&n1 +56 "core" 1 +3 "manipulator"&v% +4 "core" % D    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&x' +92 "core" ' +2 .tSC.coast "storage"(6 +3 .tCTV.dial CSV,avoiding: :intake +2 "collection"'  +134 "core" ~ +2 .tCSV.dial CTV + "collection"'t  +30 "core"  +2 .tPS.seek 2.5ml +2 "processing"%|' +2630 "core" ' +2 "collection"'o% +3 "core" %xw;\ +2 .tCS.seek 4.5ml +2 "collection"'q'c6 +1484 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air + "processing"%m  +58 "core" +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%~  +74 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2634 "core" ' +2 .tCBV.dial between PRV and waste1 + "collection"'u ` +32 "core" ^ +2 .tCSV.dial :air + "collection"' @ +44 "core" > +2 .tCS.seek 10ml + "collection"'' +1498 "core" ' + .tCSV.dial CTV +2 "collection"'M  +55 "core"  +2 .tCS.seek 0ml + "collection"'y'i +2671 "core" ' + .tCBV.dial :waste1 +2 "collection"'U @ +26 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'  +133 "core" +2 "collection"'z& +4 "core" &\\x\ \\ + #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&}% +4 "core" %   E  + "storage"( % +4 "core" %   7\ + "storage"(b. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((C +356 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &F  # Z\ +2 "manipulator"&e& +3 "core" &Ӣ!  ;2 +2 "manipulator"&w% +3 "core" %    + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&& +4 "core" &  &  + "storage"(Y& +4 "core" &F # $ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&f' +94 "core" ' +2 "storage"({& +4 "core" &F 7 > \ +2 .tSE.reconfigure :pick + "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & f  + "storage"(& +4 "core" &F   J\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&'8 +19 "core" ' +2 .tElbow.hold + "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(\ - +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('f +27 "core" ' +2 "manipulator"&% +4 "core" %G N + "storage"(& +4 "core" &F  "\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 315 counts + "manipulator"&'s +15 "core" ' +2 "manipulator"&& +4 "core" &    + "storage"(s& +4 "core" &F ? . s\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&!' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&#& +4 "core" & `  + "manipulator"&% +4 "core" % 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&6' +95 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +163 "core" ( +2 "manipulator"&7& +4 "core" &ӛ#  6 << + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &ӛ" n << +2 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&*/ +67 "core" / +2 .tCC.seek :open + "collection"'%( +451 "core" ( +2 "storage"( & +4 "core" &F { y X\ +2 "storage"(5& +3 "core" &F y y ]\ +2 "manipulator"&1& +3 "core" &Ӝ" v <; +2 "manipulator"&% +3 "core" % B  / +2 .tForearm.seek :retract + "manipulator"&"' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&( +165 "core" ( +2 "manipulator"&=& +4 "core" &   + "storage"(<& +4 "core" &F S\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 + "manipulator"&)'8 +99 "core" ' +2 .tElbow.hold + "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&&1 +62 "core" 1 +2 "manipulator"&2% +4 "core" % K   +2 "storage"(.& +3 "core" &F p ~ i\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 319 counts +2 "manipulator"&>'w +17 "core" ' +2 "manipulator"&A& +4 "core" & K x + "storage"(8& +4 "core" &F >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&F' +18 "core" ' +2 "storage"(D% +4 "core" % '\ +49 ."downElevator"SE.seek :down +3 "storage"(' +99 ($% +3 "core" %GF y \ Wd + "manipulator"&% +4 "core" % ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 .tPSV.dial :air + "processing"%C  +73 "core" +2 .tPS.seek 2.5ml +2 "processing"%,' +2638 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%I +42 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%K  +43 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%+ +44 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%N  +43 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%V'ؾ +2636 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%G& +4 "core" &\  + "manipulator"&-& +4 "core" & / x + "manipulator"&H% +4 "core" %  S  +2 .tElbow.seek FlushPuck::Garage + "manipulator"&0(- +178 "core" ( +2 "manipulator"&S& +4 "core" &-  U  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &- E  +2 .tForearm.seek :garage + "manipulator"&O'w +94 "core" ' +2 .tHand.close + "manipulator"&X/ +61 "core" / +2 "manipulator"&Z& +4 "core" &-  L  + "manipulator"&T% +4 "core" % ϊ n +2 .tForearm.seek :retract + "manipulator"&W' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&9( +117 "core" ( +2 "manipulator"&P& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" & ?  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q' +92 "core" ' +2 "manipulator"&\\& +4 "core" &   +2 "manipulator"&a% +3 "core" %  y +2 "processing"%R& +4 "core" &\  +2 "processing"%_& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%d(^ +5 "core" &\ \  +10 &5w\ +{ +9 &c\ ? +10 &\\x\ O +9 &Z\ O +9 &Z\ O +10 &Y\ N +9 &eZ\ O +9 &'^\ O +10 &`\ O +9 &[\ N +10 & n\\\ N +9 &"0Y\ N +9 &#^\ O +10 &%X\ O +9 &'uZ\ O +9 &)8[\ N +10 &*Z\ O +9 &,]\ O +10 &.}Z \ O +9 &0?]\ O +9 &2\\\ O +10 &3] \ O +9 &5\\\ \ O +9 &7G\\ \ O +10 &9 ^ \ O +9 &:_\ O +10 &<\\\ O +9 &>N_ \ O +9 &@_!\ P +10 &Al\ Q +9 &Cw"\ R +9 &EC%\ V +10 &G#\ U +9 &H\ U +10 &J!\ U +9 &LL\ U +9 &N\ 2\ W +10 &O*\ W +9 &Q5\ W +9 &SO7\ W +10 &U6\ W +9 &V7\ V +10 &X6\ V +9 &ZY1\ V +9 &\\7\ W +10 &]=\ 5 +9 &^3x>\ L +8 ( +2 &^&?\ 4 +2 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + "processing"%^& +3 "core" &^'C\ 4 +2 .tHand.open + "manipulator"&g1 +59 "core" 1 +2 "manipulator"&[% +4 "core" %  A y + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +92 "core" ' +2 .tPRV.dial :air + "processing"%l  +41 "core"  +2 .tPSV.dial :mixloop +2 "processing"%j +43 "core" +2 "processing"%/% +4 "core" %ؼ\ +2 .tPS.seek 0.3ml + "processing"%c' +385 "core" ' + .tPSV.dial PSR +2 "processing"%` +101 "core"  +2 "processing"%?% +4 "core" %8\  + #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml + "processing"%r'2 +491 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml + "processing"%3' +1924 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"%h +114 "core" +2 .tPTV.dial :mixing + "processing"%i @ +72 "core" A +2 .tPBV.dial :waste2 + "processing"%:  +91 "core"  +2 .tPS.seek 0ml + "processing"%n'ؾ +2656 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&v& +4 "core" &  d  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&B( +31 "core" ( +2 "manipulator"&& +4 "core" &  & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &  @ +2 .tForearm.seek PC + "manipulator"&p' +94 "core" ' +2 .tHand.close + "manipulator"&E/ +55 "core" / +2 .tPC.seek :open + "processing"%( +458 "core" ( +2 "manipulator"&o& +3 "core" & x +2 "manipulator"&L% +3 "core" %  ~ & +2 .tForearm.seek :retract + "manipulator"&m' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&~(- +123 "core" ( +2 "manipulator"&|& +4 "core" &- \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &-  / \ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +99 "core" ' +2 .tHand.open + "manipulator"&q1 +55 "core" 1 +2 "manipulator"&M% +4 "core" % π   A +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +3 #tLoading da puck from tube 2 into Processing Clamp + "processing"%U& +4 "core" &W\ + "manipulator"&% +4 "core" %  W  + "storage"(z% +4 "core" % \ + "storage"(}. +3 "core" . +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"( (  +352 "core" ( +2 .tSC.reconfigure :loose + "storage"($.\ 1~b +3 (b& +2 "core" &  p\  +2 "manipulator"&& +3 "core" &- a \ +2 "manipulator"&e% +3 "core" %  `  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&w( +172 "core" ( +2 "manipulator"&& +4 "core" &   ! + "storage"(Y& +4 "core" &  f\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'S +118 "core" ' +2 "storage"(k& +4 "core" &  m\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'r +299 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  E\  +2 "manipulator"&& +3 "core" &  ! +2 .tElbow.seek 2 +46 "manipulator"&\ ( +31 "core" ( +2 "manipulator"&& +4 "core" & h + "storage"(& +4 "core" &  a\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +21 "core" ' +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +65 "core" / +3 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:388:in `load'"8/home/esp/esp2/utils/puckmoves.rb:963:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:64:in `da'"-/home/esp/esp2/mission/DA_03092021.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'"-/home/esp/esp2/mission/DA_03092021.rb:14"//home/esp/esp2/utils/mission.rb:19:in `[]'"4/home/esp/esp2/utils/mission.rb:19:in `mission'"-/home/esp/esp2/mission/DA_03092021.rb:10"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"2/home/esp/esp2/lib/framework.rb:112:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:190:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(' +6 "core" & h +2 "manipulator"&f% +4 "core" % ϸ ~ B + .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&( +165 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +73 "core" ( +2 "manipulator"&& +4 "core" & s $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 4 $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +104 "core" ' +2 "manipulator"&7& +4 "core" & $ + "manipulator"&(% +4 "core" % f +2 "processing"%!& +3 "core" &=\ +2 "processing"% & +5 "core" &I\ +2 .tPC.seek :closed + "processing"%*(^ +4 "core" &F\  +9 &-xF\ +z +10 &dD\ ? +9 &lvA\ O +9 &-Z<\ O +10 &Y4\ N +9 &W7\ N +10 &tU8\ N +9 &5Z4\ O +9 &[4\ O +10 &T5\ N +9 & {\\$\ O +9 &">X*\ N +10 &$W%\ N +9 &%Z%\ N +10 &'Z(\ O +9 &)FZ&\ N +9 &+Y\ N +9 &,\\\ O +10 &.Y\ N +9 &0N[\ N +10 &2Y\ O +9 &3[\ O +10 &5Y\ O +9 &7VW \ N +9 &9Z\ O +10 &:_\ O +9 &<\\\ N +9 &>][\ O +10 &@_ \ O +9 &Af \ P +10 &Cs \ Q +9 &ES \ U +9 &G\ T +10 &H \ T +9 &J\ U +9 &LY\ U +10 &N\ W +9 &O\ V +10 &Q\ W +9 &S]\ W +9 &U!\ V +10 &V\ W +9 &X\ W +9 &Zf\ V +10 &\\&\ W +9 &]~{\ = +10 &^1\ Z +9 &^/\ 8 +2 ( +2 "processing"% & +2 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&61 +64 "core" 1 +2 "manipulator"&4% +4 "core" %    + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tSC.coast "storage"(6 +4 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 + .PH.seek 28C,5:00 +2 "processing"%5  +2 %19 +6 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%=9 +2 "core" 9  +103 "processing"%<9 +2 "core" 9  +103 "processing"%9 +2 "core" 9 +103 "processing"% 9 +2 "core" 9 +103 "processing"%&9 +2 "core" 9 +103 "processing"%29 +2 "core" 9 +103 "processing"%.9 +3 "core" 9" +103 "processing"%A9 +2 "core" 9& +103 "processing"%89 +2 "core" 9+ +103 "processing"%D9 +2 "core" 9/ +103 "processing"%"9 +2 "core" 93 +103 "processing"%$9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +103 "processing"%9 +2 "core" 9@ +103 "processing"%)9 +2 "core" 9D +103 "processing"%>9 +2 "core" 9H +103 "processing"%9 +2 "core" 9L +103 "processing"%C9 +2 "core" 9P +103 "processing"%F9 +2 "core" 9U +103 "processing"%9 +2 "core" 9Y +103 "processing"%9 +2 "core" 9] +103 "processing"%9 +3 "core" 9a +103 "processing"%I9 +2 "core" 9e +103 "processing"%K9 +2 "core" 9j +103 "processing"%+9 +2 "core" 9n +103 "processing"%N9 +2 "core" 9r +103 "processing"%,9 +3 "core" 9v +102 "processing"%G9 +2 "core" 9z +103 "processing"%-9 +2 "core" 9 +103 "processing"%H9 +2 "core" 9 +103 "processing"%S9 +2 "core" 9  +103 "processing"%J9 +3 "core" 9 +102 "processing"%'9 +2 "core" 9 +103 "processing"%X9 +2 "core" 9 +103 "processing"%Z9 +2 "core" 9 +103 "processing"%T9 +2 "core" 9  +103 "processing"%9 +2 "core" 9$ +103 "processing"%P9 +2 "core" 9) +103 "processing"%;9 +2 "core" 9. +103 "processing"%O9 +2 "core" 92 +103 "processing"%\\9 +2 "core" 97 +3 .tPH.hold 2:00:00,28C +2 "processing"%a pp7 +3 .tdelay 1:30 +2 "core"  +9002 .tPSR.select :air + .PSV.dial PSR +2 "processing"%R +112 "core" +2 "processing"%0% +4 "core" %\  + #tPulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 .tPS.seek 0.5ml + "processing"%W' +590 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +10 .tPS.seek 2ml + "processing"%@' +1617 "core" ' +2 .tPTV.dial :puck + "processing"%^  +70 "core"  +2 .tPSV.dial PTV + "processing"%g +83 "core" +2 .tPBV.dial :waste1 + "processing"%[  +130 "core"  +2 "processing"%_% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%l'- +593 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%j * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%/'ؾ +1627 "core" ' +2 .tdelay 5:00 +1322 "Can"e\ <9 +28680 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%Q  +32 "core"  +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%V * +34 "core" + +2 .tPSR.select :air + .PSV.dial PSR +2 "processing"%` +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%?' +2400 "core" ' +2 .tPSV.dial PTV + "processing"%c +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%r +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%h +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%i  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%:'ؾ +2349 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%3  +130 "core" +2 .tPSV.dial :mixloop + "processing"%v +46 "core" +2 .tPRV.dial :ab1 + "processing"% @ +72 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%t' +357 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'E  + "processing"%9  +44 "core" +3  + "processing"%]% +4 "core" %\  + .tPS.seek 0.36ml +2 "processing"%d' +473 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'o  +28 "core" +2 .tPRV.dial :air + "processing"%L  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%|'K +1146 "core" ' +2 .tPRV.dial :waste2 + "processing"%u @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%p' +864 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%q  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%B' +1620 "core" ' + .tPSV.dial :PML +47 "processing"%M +44 "core" +2 .tPTV.dial :mixing + "processing"%U @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%  +33 "core"  +2 "processing"%z% +4 "core" %+\  +2 .tPS.seek 1.85ml + "processing"%}' +234 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%m * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%'ؾ +1973 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'b& +3 "core" &=\ +2 "manipulator"&& +3 "core" &  s $ +2 "manipulator"&e% +3 "core" %   & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +126 "core" ( +2 "manipulator"&Y& +4 "core" &-  @  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &-  `  +2 .tForearm.seek :garage + "manipulator"&k'w +99 "core" ' +2 .tHand.close + "manipulator"&/ +74 "core" / +2 "manipulator"& & +4 "core" &-    + "manipulator"&% +4 "core" % χ ] +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +277 "core" ( +2 "manipulator"&& +4 "core" &ӏ( @^ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &ӏ' q @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&#'? +98 "core" ' +2 "manipulator"&f& +4 "core" &Ӑ(    @] +2 "manipulator"&w% +4 "core" %E  7  + "collection"'{& +4 "core" &J\ +3 "collection"'x& +4 "core" &M\ +2 .tCC.seek :closed + "collection"'(\\ +6 "core" &A\  +9 &3|1\ +{ +10 &d2\ ? +9 &~s4\ O +9 &CU4\ M +10 &S1\ N +9 &T;\ N +9 &T,\ M +10 &KU:\ M +9 & V<\ M +10 &W7\ M +9 & X+\ N +9 &"SV/\ M +10 &$U3\ M +9 &%W6\ M +9 &'U2\ M +10 &)ZX-\ N +9 &+Z/\ M +10 &,X4\ N +9 &.Y6\ M +9 &0cY'\ M +10 &2$],\ N +9 &3X1\ M +9 &5Z0\ M +10 &7k[2\ M +9 &9-Z-\ M +10 &:Z1\ M +9 &<[2\ M +9 &>s[2\ M +10 &@5Z2\ M +9 &A\\/\ N +9 &Cc,\ N +10 &Epz)\ Q +9 &G&%\ U +10 &H'\ Y +9 &J0\ Y +9 &L_+\ Z +10 &N-\ Z +9 &O-\ Z +9 &Q,\ [\ +10 &S`,\ \\ +9 &U 1\ ] +10 &V)\ ] +9 &X \ _ +9 &Z_#\ _ +10 &\\y/\ > +9 &\\!+\ 0 +9 &\\+\ ^ +2 ( +2 "collection"'x& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + "collection"'& +4 "core" &\\.\ ^ + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&\ % +4 "core" % E    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +92 "core" ' +2 .tPSV.dial PSR + "processing"%( +114 "core" +2 "processing"%!% +4 "core" %ع\ { + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%'+ +1610 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%  +44 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1611 "core" ' +2 .tPSV.dial PSR + "processing"%6 +44 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%4' +2633 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%1  + "collection"'  +30 "core" +127 +2 .tPSV.dial :mixloop + "processing"% +102 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing + "processing"%  +74 "core" +2 .tPS.seek 0ml + "processing"%='ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%  +57 "core" +2 .tPS.seek 2.5ml + "processing"%<' +2370 "Can"g\ \\Y +267 "core" ' +2 .tPSV.dial :mixloop + "processing"% +42 "core" +2 .tPS.seek 0ml + "processing"% 'ؾ +2637 "core" ' +2 .tPSV.dial :air + "processing"%&  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%2' +2640 "core" ' + .tPSV.dial :mixloop +2 "processing"%. +44 "core" +2 .tPS.seek 0ml +2 "processing"%A'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&8& +4 "core" &ӓ' @Z + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&D(ӂ +21 "core" ( +2 "manipulator"&"& +4 "core" &ӄ   - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &ӄ  / - + .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +75 "core" / +2 .tCC.seek :open + "collection"')( +451 "core" ( +2 "manipulator"&>& +4 "core" &ӄ Y - + "manipulator"&% +4 "core" % > \  ( + .tForearm.seek :retract +2 "manipulator"&C' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&F(- +285 "core" ( +2 "manipulator"&& +4 "core" &-    + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- \ ,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +94 "core" ' +2 .tHand.open +2 "manipulator"&I1 +52 "core" 1 +2 "manipulator"&K% +4 "core" % π  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +98 "core" ' +2 ."da"delayUntil "14:30:00.41" +24783 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%N @ +74 "core" B +2 ."da"PBV.dial :waste1 + "processing"%,  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%G * +35 "core" + +2 ."da"PSV.dial :air + "processing"%-  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%H' +2393 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%S +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%J  +44 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +47 "processing"%' +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%X  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Z'ؾ +2345 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"%T +130 "core"  +2 "processing"%% +4 "core" %ؾ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%P' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%;' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%O  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%\\ +83 "core" +2 ."da"PBV.dial :waste1 + "processing"%R  +35 "core" +2 "processing"%0% +3 "core" %~\  +2 ."da"PS.seek 1.5ml +2 "processing"%n'* +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%W * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%^'ؾ +1604 "core" ' +2 ."da"delay 2:00 +11117 "Can"`\ A= +886 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%g  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%[ * +35 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%_ +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%@' +2414 "core" ' + ."da"PSV.dial PTV +2 "processing"%j +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%l +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%5 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%Q  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%V'ؾ +2343 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"%` +128 "core"  +2 "processing"%/% +3 "core" %\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%c' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +4 "processing"% +10 ."da"PS.seek 2ml + "processing"%r' +1612 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%h +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%i  +34 "core" +2 "processing"%?% +3 "core" %m\  +2 ."da"PS.seek 1.5ml +2 "processing"%3'. +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%v * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%:  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%E * +35 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%9 +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%]' +2390 "core" ' + ."da"PSV.dial PTV +2 "processing"%t +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%o +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%L +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%d  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +2343 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%|  +43 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%q  +130 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%p  +42 "core"  +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop + "processing"%M +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%U' +395 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%  +44 "core"  +2 "processing"%z% +3 "core" %\ \ +2 ."da"PS.seek 0.55ml +2 "processing"%m' +333 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%B  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%}' +1558 "core" ' + ."da"PSV.dial :PML +2 "processing"%b +43 "core" +2 ."da"PTV.dial :mixing + "processing"% @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%e  +34 "core" +2 "processing"%Y% +3 "core" %\\\  +2 ."da"PS.seek 1.85ml +2 "processing"%~' +227 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1971 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +15599 "Can"Y\ ?< +32403 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%k' +2411 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%s  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%f  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%w'ؾ +2352 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%{ +130 "core"  +2 "processing"%% +3 "core" %ؽ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%%' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1618 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +44 "processing"%\ +85 "core" +2 ."da"PBV.dial :waste1 + "processing"%x  +35 "core" +2 "processing"%(% +4 "core" %R\  + ."da"PS.seek 1.5ml +2 "processing"%!'. +599 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%# * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1612 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +34 "core" +2 ."da"delay 30 seconds +1162 "Can"]\ FC +1841 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%6 +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2393 "core" ' +2 ."da"PSV.dial PTV + "processing"% +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%1 +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%4'ؾ +2348 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"% +128 "core"  +2 "processing"%=% +3 "core" %ؾ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%<' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV + "processing"%& +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%.% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%2') +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%8 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%"'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%$  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"% +72 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%7' +2382 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%> +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2343 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"% +130 "core"  +2 "processing"%D% +3 "core" %\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%I' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +5 "processing"% +10 ."da"PS.seek 2ml + "processing"%K' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%C +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core"  +2 "processing"%N% +3 "core" %v\  +2 ."da"PS.seek 1.5ml +2 "processing"%,') +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%G * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%-'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%A  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%S * +33 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%J +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'' +2382 "core" ' +2 ."da"PSV.dial PTV + "processing"%X +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%H +72 "core"  +2 ."da"delay 5 seconds +428 "Can"X\ WU +74 ."da"PSV.dial PTV + "processing"%T +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Z'ؾ +2350 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates + .PSR.select :air + .PSV.dial PSR +2 "processing"%P +136 "core" +6 "processing"%O% +7 "core" %ؾe\  +7 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +3 "processing"% +13 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +4 ."da"PS.seek 0.25ml +5 "processing"%\\' +340 "core" ' +2 ."da"delay 5 seconds +502 "processing"%R% +4 "core" %\  + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%0' +339 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml + "processing"%;' +1612 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%W +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%n  +35 "core" +2 "processing"%g% +3 "core" % \  +2 ."da"PS.seek 1.5ml +2 "processing"%['& +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%_ * +34 "core" * +2 ."da"PS.seek 0ml +2 "processing"%^'ؾ +1613 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%j  +34 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%l * +36 "core" , +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%5 +75 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%Q' +2509 "core" ' + ."da"PSV.dial PTV +42 "processing"%@ +82 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%` +77 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%/ +76 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%V  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%c'ؾ +2455 "core" ' +2 #"da"Additional air clear + .PSR.select :air + .PSV.dial PSR +2 "processing"%h +132 "core"  +2 "processing"%i% +4 "core" %\ p + #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%?' +2128 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%r +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%v  +35 "core" +2 "processing"%3% +3 "core" %\ p +2 ."da"PS.seek 1.5ml +2 "processing"%:'- +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%E * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%9  +105 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 "processing"%t9 +3 "core" 95q + #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%o  +3 "core" 5q 5q +2 "processing"%L& +3 "core" &^-G\ 8 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&d% +3 "core" % \  } +2 "storage"(]% +3 "core" % : 9 8\ +2 "storage"(|. +2 "core" . +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(q(C +349 "core" ( +2 ."da"SC.reconfigure :loose +2 "storage"($.\ 1~b +2 (p& +2 "core" &F \ { +2 "manipulator"&M& +3 "core" &-  /  +2 "manipulator"&u% +3 "core" %  \ \  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&( +175 "core" ( +2 "manipulator"&z& +4 "core" &  3 J + "storage"(U& +4 "core" &F & ! U\ b + ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts + "manipulator"&B' +99 "core" ' +2 "storage"(m& +4 "core" &F 8  e\ +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(b'r +298 "core" ' +2 "storage"(- +3 "core" -' + ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +2 "core" & 4 sJ +2 "storage"(Y& +4 "core" &F i\  + ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&'8 +19 "core" ' +2 ."da"Elbow.hold + "manipulator"&}, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(~- +2 "core" -' +2 ."da"SE.seek 1.15 Pucks below Top Plate +2 "storage"( ' +29 "core" ' +9 "manipulator"&% +4 "core" %K  +2 "storage"( & +3 "core" &F\ "\ & (\ Y +2 ."da"Forearm.force -20 + "manipulator"&5 +2 ."da"Forearm.seek 1 + 319 counts + "manipulator"&'w +15 "core" ' +2 "manipulator"&& +4 "core" &  & I + "storage"(s& +4 "core" &F r\ y +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +17 "core" ' +2 ."da"SE.seek 2.15 Pucks below Top Plate +2 "storage"(f'G +50 "core" ' +2 "manipulator"&k& +4 "core" & < zI + "manipulator"&{% +4 "core" % z +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&w( +246 "core" ( +2 "manipulator"&%& +3 "core" & ) t +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &  x  +3 ."da"Forearm.seek PC +2 "manipulator"&\ ' +91 "core" ' + ."da"Hand.close +2 "manipulator"&x/ +72 "core" / +2 ."da"PC.seek :open + "processing"%(( +456 "core" ( +2 "storage"(& +3 "core" &F G >\  +2 "manipulator"&#& +3 "core" &\ \  u ~ +2 "manipulator"&!% +3 "core" % \ \ \ \ x ~ +2 ."da"Forearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&6& +3 "core" & K xZ +2 "storage"(& +3 "core" &F   z\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"& ' +96 "core" ' + ."da"Hand.open +2 "manipulator"&11 +68 "core" 1 +3 "storage"(- +3 "core" -'G +2 ."da"SE.seek 1.8 Pucks below Top Plate + "storage"(' +26 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 ."da"SE.seek 0.84 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21mar1015h100ml.tif +1948 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +259 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 18.86 seconds\ /var/log/esp/da21mar1015h100ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21mar1015h100ml15s.tif +1556 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21mar1015h100ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21mar1015h100ml30s.tif +3056 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21mar1015h100ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21mar1015h100ml70s.tif +7156 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21mar1015h100ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "18.86 sec auto-exposure",Subject: "da21mar1015h100ml images!" + "storage"( - +4 "core" -' +2 "storage"(=& +7 "core" &F $ 0 \ +2 "manipulator"&4& +3 "core" & ] Z +2 ."da"Elbow.seek 1 +2 "manipulator"&( +6 "core" ( +4 "manipulator"&&& +7 "core" & v Z +4 "storage"( & +4 "core" &F ? ? \ +2 ."da"Forearm.seek 1 + 450 counts + "manipulator"&.' +3 "core" ' +4 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.55 Pucks below Top Plate + "storage"(<'8 +47 "core" ' +2 "manipulator"&8& +4 "core" &  Z + "storage"(2& +4 "core" &F \\\ + ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&$'8 +20 "core" ' +2 ."da"Elbow.hold + "manipulator"&, +5 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.74 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&"% +60 "core" %H +46 "storage"(& +5 "core" &F 0\ +2 ."da"Forearm.force -20 + "manipulator"&5 +2 ."da"Forearm.seek 1 + 316 counts +2 "manipulator"&>'t +15 "core" ' +2 "manipulator"&& +4 "core" &  O S +2 "storage"(& +4 "core" &F X\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&7' +24 "core" ' +2 "storage"(% +4 "core" % E\ +2 ."downElevator"SE.seek :down +3 "storage"(D' +99 (% +3 "core" %? z | B\ U^ + "manipulator"&I% +4 "core" % +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract + "manipulator"&C' +96 "core" ' +45 ' + ."downElevator"SE.coast + "storage"(5 +3 ."da"SC.coast + "storage"(6 +2 (& +4 "core" &F !\ +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +2 "processing"%N& +4 "core" &=\ + "manipulator"&K& +4 "core" & R + "manipulator"&G% +4 "core" %   +2 ."psFlush"Elbow.seek FlushPuck::Garage + "manipulator"&,(- +173 "core" ( +14 "manipulator"&A& +5 "core" &- u E + ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &- E +2 ."psFlush"Forearm.seek :garage + "manipulator"&J'w +94 "core" ' +2 ."psFlush"Hand.close + "manipulator"&-/ +65 "core" / +2 "manipulator"&X& +4 "core" &- X E + "manipulator"&H% +4 "core" % s  + ."psFlush"Forearm.seek :retract +2 "manipulator"&T' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +119 "core" ( +2 "manipulator"&'& +4 "core" &  d  + ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &  +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&O' +103 "core" ' +2 "manipulator"&Z& +4 "core" &  n  +2 "manipulator"&R% +4 "core" %  + "processing"%\\& +4 "core" &`\ +2 "processing"%0& +5 "core" &b\ +2 ."psFlush"PC.seek :closed + "processing"%W(^ +4 "core" &^\  +10 &0za\ *y +9 &c`\ > +10 &pvR\ O +9 &3ZU\ N +9 &[O\ N +10 &[R\ N +9 &xYQ\ N +9 &;\\R\ N +10 &\\S\ N +9 &YK\ N +10 & ZM\ N +9 &"DYU\ N +9 &$ZJ\ M +10 &%YF\ N +9 &'ZE\ N +9 &)JYF\ N +10 &+ YE\ N +9 &,ZE\ N +10 &.[A\ N +9 &0R[<\ N +9 &2[9\ N +10 &3\\6\ N +9 &5]8\ N +9 &7Z\\6\ N +10 &9\\9\ O +9 &:]8\ N +10 &<X<\ N +9 &>a]8\ O +9 &@$[7\ N +10 &Ac5\ O +9 &Cv(\ Q +9 &EY&\ T +10 &G'\ T +9 &H'\ T +10 &J,\ U +9 &L`'\ T +9 &N&\ V +10 &O)\ W +9 &Q(\ V +9 &Sb/\ W +10 &U&(\ V +9 &V%\ W +10 &X#\ V +9 &Zl'\ V +9 &\\+\ W +10 &]~\ : +9 &^.\ !b +9 &^)\ 4 +2 ( +2 "processing"%0& +3 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + "processing"%n& +4 "core" &^+\ 4 + ."psFlush"Hand.open + "manipulator"&g1 +58 "core" 1 +2 "manipulator"&;% +4 "core" %    + ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&_' +92 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%[ +44 "core"  +2 "processing"%j% +4 "core" %ؽ \ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%l' +513 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +73 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%5' +2124 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%^ @ +182 "core" A +2 ."psFlush"PTV.dial :PRVmixing + "processing"%@  +128 "core" +2 ."psFlush"PSV.dial :mixloop + "processing"%` +100 "core" +5 ."psFlush"PS.seek :empty + "processing"%/'ؠ +2632 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%V +102 "core"  +2 "processing"%Q% +3 "core" %؛\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush + "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%h' +598 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%i' +2115 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%c  +32 "core" +2 ."psFlush"PTV.dial :mixing + "processing"%r @ +74 "core" B +2 ."psFlush"PSV.dial :mixloop + "processing"%v +102 "core" +2 ."psFlush"PS.seek :empty + "processing"%3'ؠ +2628 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%? +102 "core"  +2 ."psFlush"PSR.select :flush + "processing"%@ +11 ."psFlush"PS.seek 1ml + "processing"%E'X\\ +1114 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%9' +1088 "Can"S\ @= +526 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%: +71 "core" +2 ."psFlush"PTV.dial :puck + "processing"%t  +71 "core"  +2 ."psFlush"PBV.dial :waste1 + .PS.seek 0ml +2 "processing"%o'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%L +72 "core"  +2 ."psFlush"PSR.select :flush + "processing"%@ +11 ."psFlush"PS.seek 0.5ml + "processing"%d' +597 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%]' +2121 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%| +72 "core" +2 ."psFlush"PBV.dial PSV + "processing"%p U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%M'ؾ +2624 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%u @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%z' +2627 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%U  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%m'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%F +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml + "processing"%+' +2654 "core" ' +4 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PBV.dial PSV +47 .PS.seek 0ml +2 "processing"%e'ؾ +2650 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%Y @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%~' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +44 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%s'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%k' +1615 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%{ +70 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 + "processing"%B  +54 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%b +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%' +588 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%' +2118 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +72 "core" +2 ."psFlush"PBV.dial PSV + "processing"% U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%%'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%}' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%x  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%* +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml + "processing"%' +2635 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%# +71 "core" +2 ."psFlush"PBV.dial PSV + .PS.seek 0ml +2 "processing"%!'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%\ @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%6' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%w'ؾ +2632 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'1& +4 "core" &&\ +2 "manipulator"&& +3 "core" &  -  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +3 "core" ( + "manipulator"&f& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &  K  +2 .tForearm.seek PC +2 "manipulator"& ' +90 "core" ' +2 .tHand.close + "manipulator"&=/ +69 "core" / +2 .tPC.seek :open + "processing"%4( +461 "core" ( +2 "manipulator"&&& +4 "core" &  + "manipulator"& % +3 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&8' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&2(ӂ +355 "core" ( +2 "manipulator"&"& +4 "core" &ӕ& o ?S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &ӕ& o ?S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +103 "core" ' +2 "manipulator"&& +4 "core" &ӕ'  [ ?S + "manipulator"&% +4 "core" %K h +2 "collection"' & +3 "core" &$\ +2 "collection"'& +5 "core" &(\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &%\  +9 &1{)\ *y +9 &c%\ > +10 &rx(\ N +9 &5Y%\ M +9 &Z&\ M +10 &].\ N +9 &|Z,\ M +10 &=\\+\ M +9 &]'\ N +9 &Z%\ M +10 & [(\ M +9 &"FY(\ M +9 &$Z!\ M +10 &%[&\ M +9 &'Z%\ M +10 &)O[)\ M +9 &+Z%\ M +9 &,^"\ M +10 &.Z'\ M +9 &0WY&\ M +9 &2]%\ M +10 &3[-\ M +9 &5Z+\ M +10 &7_\\-\ M +9 &9![-\ M +9 &:[&\ M +10 &<[6\ M +9 &>g[.\ M +9 &@)Z-\ M +10 &A]2\ M +9 &Ce4\ N +10 &Ec{9\ Q +9 &G:\ U +9 &H/\ X +10 &J;\ Y +9 &LQ6\ Z +9 &N4\ [ +10 &O<\ Z +9 &Q=\ [\ +10 &SQ>\ \\ +9 &UA\ \\ +9 &V@\ ^ +10 &X4\ ^ +9 &ZSA\ ^ +9 &[x9\ C +10 &\\'<\ , +9 &\\;\ ] +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.31 + "collection"'.& +4 "core" &\\D\ ] + .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&<% +5 "core" % K   + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'I& +4 "core" &\\B\ ] + "collection"'$% +4 "core" %jL\ + .tCSV.dial CSR +2 "collection"'  +42 "core"  +2 "collection"'>% +4 "core" %j@\ + #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml + "collection"'N's5 +1379 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'K% +3 "core" %s:K\ +2 .tCS.reconfigure :fast + "collection"'#d @b +3 .tCS.seek 7.501ml + "collection"'G' +684 "core" ' + .tCSV.dial :waste +2 "collection"' +127 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml + "collection"'7'i +2004 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'A& +4 "core" &\\@\ ] + "collection"'S% +4 "core" %iL\ + .tCSV.dial :flush + "collection"'D  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 5ml + "collection"'q's5 +743 "Can"P\ [X +559 "core" ' +2 .tdelay 5 seconds +503 .CSV.dial :air +2 "collection"' @ +53 "core" > +2 "collection"'-% +4 "core" %s:H\ +2 .tCS.seek 7.001ml + "collection"'X'% +575 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV + "collection"'H  + 'C  +43 "core"  +94  +2 .tCBV.dial :waste1 + "collection"'' @ +42 "core" @ +2 .tCS.seek 0ml + "collection"'P'i +1686 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'J& +4 "core" &\\6\ ] + "collection"'Z% +4 "core" %e1\ +44 .tCSV.dial :flush +3 "collection"'R  +83 "core"  +2 .tCS.seek 5ml +2 "collection"'\\'s5 +1304 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"', @ +41 "core" B +2 "collection"'T% +4 "core" %s2.\ +2 .tCS.seek 7ml + "collection"'(' +582 "core" ' +2 ."connect"CSV.dial CTV +2 "collection"'n  +2 .tCTV.dial CSV +39 "core"  +2 .tCBV.dial :waste2 + "collection"'g  +102 "core"  +2 .tCS.seek 0ml +2 "collection"';'i +1686 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'0& +4 "core" &\\2\ ] + "collection"'[% +4 "core" %k5\ + .tCSV.dial CSR + "collection"'j  +53 "core"  +2 "collection"'O% +4 "core" %k.\ + #tPulling 8ml of CSR.kill + .CSR.select :kill + "collection"' +10 .tCS.seek 8ml + "collection"'' +2007 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'l' +561 "core" ' +3 ."connect"CSV.dial CBV +3 .tCBV.dial CSV + "collection"'^ + '@  +101 "core" +33 +2 .tCTV.dial :intake + "collection"'`  +75 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"'5'T +1916 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'V  +75 "core" ~ +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'Q'i +592 "core" ' + .tCSV.dial CSR +2 "collection"'/  +111 "core"  +2 "collection"'h% +4 "core" %i\ + #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml + "collection"'c's5 +1394 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'r' +1361 "core" ' +2 .tCSV.dial CBV + "collection"'v +97 "core" +2 .tCS.seek 0ml + "collection"'i'i +2641 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&?& +4 "core" &Ӗ%  ` ?R + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&3(ӂ +27 "core" ( +2 "manipulator"&E& +4 "core" &ӊ\   !w + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &ӊ\  \ C !w +2 .tForearm.seek CC + "manipulator"&t'? +94 "core" ' +2 .tHand.close + "manipulator"&9/ +71 "core" / +2 .tCC.seek :open + "collection"'L( +449 "core" ( +2 "manipulator"&o& +3 "core" &ӊ\  !w + "manipulator"&d% +3 "core" % 8 Y +2 .tForearm.seek :retract +2 "manipulator"&|' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&p(- +280 "core" ( +2 "manipulator"&]& +4 "core" &-   * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &-  * +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&M'w +99 "core" ' +2 .tHand.open +2 "manipulator"&U1 +53 "core" 1 +2 "manipulator"&z% +4 "core" %   K + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +96 "core" ' +2 #tCompleted [initialPurge; da #da and wsr are run simultanelously] begun 13:35:05 +4 #Asleep after completing DA_03092021 assays +2 ."Qmail"GoodNews.email "{1 => 3,\\n 2 => 0,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@15:24:15, 0% flow, 22.7C, 17% humidity, 15.2psia, 13.510V, 0.472A, 0.453A avg, 6.37W\\nSampled 100.0ml",Subject: "Asleep after completing DA_03092021 assays" +402 #mEXIT @1615408075.33EST @1615411695.33EST = =tMAIN =mMAIN_scheduler @EST1615411697.08 #"core_reset"Sent BREAK +2 #t@15556 sendCRC with ifg=0x20, ie=0x7F + #@17391 sendCRC with ifg=0x08, ie=0x5F #@36761 idle with ifg=0x84, ie=0x75 + #@37433 select with ifg=0x10, ie=0xF5 + #@38067 receive with ifg=0x10, ie=0xFD #@38701 receive with ifg=0x10, ie=0xFD + #@39335 receive with ifg=0x10, ie=0xFD #@39663 receive with ifg=0x80, ie=0xFD + #@1086 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +270 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +352 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"N\ ;8 + N\ ;8 + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ + % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %h\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" %ؿ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %ڜ `\ +2 .tSS.configure :default +2 "sampler")#.0X access 1 +3 .SE.seek :down + "storage"(' +3 "core" ' +2 "manipulator"&% +3 "core" %  ]  +2 "manipulator"&& +3 "core" &- W * +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +1300 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &<-# w G\  +33765 #t-> exit +5 #mEXIT @1615412062.96EST @1615494233.84EST = =tMAIN =mMAIN_scheduler @EST1615494235.58 #"core_reset"Sent BREAK +2 #t@11479 receive with ifg=0x10, ie=0xFD + #@12115 receive with ifg=0x10, ie=0xFD #@12769 receive with ifg=0x10, ie=0xFD + #@13403 receive with ifg=0x10, ie=0xFD + #@14037 receive with ifg=0x10, ie=0xFD #@14669 receive with ifg=0x10, ie=0xFD + #@15301 receive with ifg=0x10, ie=0xFD #@15627 receive with ifg=0x80, ie=0xFD + #@13010 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +274 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +360 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ EC + \ EC #tPolling Can every 10:00 +124 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %h34?\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" %ؿ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %ڝ30 3\ +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +3 "core" %h34B\ +2 "sampler")% +4 "core" %ڝ32 6\ + "manipulator"&% +4 "core" %  5  + "manipulator"&& +3 "core" &-  * +2 "storage"(& +3 "core" &<. c X H\ \  + "storage"(% +4 "core" % \\ Z b\ + "collection"'& +3 "core" &547\ +2 "processing"%& +3 "core" &>\ + "processing"%% +4 "core" %ؿ,\ +330 #t-> access 2 +2 .SE.seek :down + "storage"( ' +3 "core" ' +2 "manipulator"&!% +3 "core" %   +2 "manipulator"&"& +3 "core" &- L * +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(#(K +381 "core" ( +2 .tSC.reconfigure :loose + "storage"($.\ 1~b +3 ($& +2 "core" &K b\ +12793 #t-> startTube 2 +1916 #-> $da[:extractVol]=.21 +656 #-> shortDA +2 "collection"'%% +3 "core" %h358\ +2 "processing"%&% +4 "core" %ؿ@\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +3619 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%' +130 "core" +2 .tPTV.dial :PRVmixing + "processing"%(  +128 "core" +2 .tPRV.dial :sipper + "processing"%)  +43 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%*'e +2296 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%+  + "collection"',  +74 "core" +54  +2 .tPS.seek 0.5ml +2 "processing"%-' +1274 "core" ' + .tPRV.dial :waste2 +2 "processing"%. @ +97 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%/'ؾ +589 "core" ' + .tPSV.dial PSR +2 "processing"%0 +100 "core"  +2 "processing"%1% +3 "core" %ػ:\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%2'X\\ +1101 "core" ' +2 .tPSR.select :air + "processing"% +11 .tPS.seek 2.5ml + "processing"%3' +1628 "core" ' + .tPSV.dial :mixloop +2 "processing"%4 +100 "core" +2 .tPS.seek 0ml + "processing"%5'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"%6 +102 "core"  +2 "processing"%7% +3 "core" %E\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml + "processing"%8'X\\ +1097 "core" ' +2 .tPSR.select :air + "processing"% +11 .tPS.seek 2.5ml + "processing"%9' +1610 "core" ' +2 .tPSV.dial :mixloop + "processing"%: +101 "core" +2 .tPRV.dial :sipper + "processing"%;  +43 "core" +2 .tPS.seek 0ml + "processing"%<'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%= +102 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml + "processing"%>' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%? +114 "core" +2 .tPS.seek 0ml +2 "processing"%@'ؾ +2629 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%A& +4 "core" &H\ + .tHand.open + "manipulator"&B1 +19 "core" 1 +2 "manipulator"&C% +3 "core" %  Q  +2 "storage"(D% +3 "core" % C\ +2 "storage"(E. +3 "core" .(K + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(F(  +1302 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (G& +3 "core" &  {\ + "manipulator"&H& +4 "core" &- G * + "manipulator"&I% +4 "core" %  ^  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&J( +173 "core" ( +2 "manipulator"&K& +4 "core" & K N + "storage"(L& +3 "core" &    ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&M'S +90 "core" ' +2 "storage"(N& +4 "core" &  =\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'r +296 "core" ' +2 "storage"(P- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &   6\  + "manipulator"&R& +4 "core" & N + .tElbow.seek 2 +2 "manipulator"&S( +3 "core" ( + "manipulator"&T& +4 "core" & N + "storage"(U& +4 "core" &  t \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&V'Ͻ +36 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +65 "core" / +2 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt[ "4/home/esp/esp2/utils/puckmoves.rb:388:in `load'"8/home/esp/esp2/utils/puckmoves.rb:963:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3 ."downElevator"SE.seek :down +2 "manipulator"&X& +43 "storage"(Y' +6 "core" & ( N +2 "manipulator"&Z% +3 "core" % ϭ 4 +2 .tForearm.seek :retract +2 "manipulator"&[' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&\\( +171 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +71 "core" ( +2 "manipulator"&]& +4 "core" & # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&_' +103 "core" ' +2 "manipulator"&`& +4 "core" & C # + "manipulator"&a% +4 "core" % G +2 "processing"%b& +3 "core" &L\ +2 "processing"%c& +5 "core" &I\ +2 .tPC.seek :closed + "processing"%d(^ +4 "core" &N\ \ +9 &/sG\ *y +9 &cB\ ? +10 &bw>\ O +9 &%YD\ N +10 &]>\ O +9 &]B\ N +9 &jX5\ O +10 &-]G\ N +9 &^F\ O +9 &YC\ O +10 & sW7\ N +9 &"5U8\ N +10 &#Y>\ N +9 &%ZC\ N +9 &'zWB\ O +10 &)<X;\ O +9 &*\\7\ N +9 &,ZC\ N +10 &.\\6\ O +9 &0DY;\ O +10 &2Z;\ N +9 &3Z8\ N +9 &5^@\ O +10 &7M]?\ N +9 &9[>\ N +9 &:]7\ O +10 &<]5\ O +9 &>T`;\ O +10 &@^+\ N +9 &Ak7\ P +9 &C{0\ R +10 &EJ5\ U +9 &G0\ T +9 &H.\ U +10 &J/\ U +9 &LR.\ U +10 &N.\ V +9 &O(\ U +9 &Q+\ V +10 &SS/\ W +9 &U,\ W +9 &V.\ V +10 &X.\ U +9 &Z^/\ V +10 &\\.\ W +9 &],\ 5 +9 &^6x.\ > +10 ( + &^ 0\ / +2 "processing"%c& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&e1 +59 "core" 1 +2 "manipulator"&f% +4 "core" %  % + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +92 "core" ' +2 .tSC.coast + "storage"(6 +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 + .PH.seek 28C,5:00 +3 "processing"%h h +2 %i9 +5 "core" 9 A +3 .tPH.hold 2:00:00,28C +2 "processing"%j php +4 .tdelay 1:30 +2 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%k +99 "core"  +2 "processing"%l% +4 "core" %ؾd\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml + "processing"%m' +591 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%n' +1627 "core" ' + .tPTV.dial :puck +2 "processing"%o  +128 "core"  +2 .tPSV.dial PTV + "processing"%p +72 "core" +2 .tPBV.dial :waste1 + "processing"%q  +52 "core" +2 "processing"%r% +4 "core" %\ +2 .tPS.seek 1.5ml + "processing"%s', +589 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%t * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%u'ؾ +566 "Can"\ A= +1052 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%v  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%w * +33 "core" + +2 .tPSR.select :air + .PSV.dial PSR +2 "processing"%x +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%y' +2394 "core" ' +2 .tPSV.dial PTV + "processing"%z +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%{ +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"%| +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%}  +84 "core"  +2 .tPS.seek 0ml +2 "processing"%~'ؾ +2324 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%  +130 "core" +2 .tPSV.dial :mixloop + "processing"% +42 "core" +2 .tPRV.dial :ab1 + "processing"% @ +99 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +349 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "processing"%  +42 "core"  +2 "processing"%% +4 "core" % ?\  +2 .tPS.seek 0.36ml + "processing"%' +494 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +27 "core" +2 .tPRV.dial :air + "processing"%  +43 "core"  +2 .tPS.seek 0.9ml +2 "processing"% 'K +1142 "core" ' +2 .tPRV.dial :waste2 + "processing"% @ +69 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%' +868 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%' +1620 "core" ' + .tPSV.dial :PML +2 "processing"% +44 "core" +2 .tPTV.dial :mixing + "processing"% @ +72 "core" B +2 .tPBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%% +3 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%' +236 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%'ؾ +1963 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" &54f\ + "manipulator"&& +4 "core" &  # + "manipulator"&% +4 "core" %  )  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&!(- +129 "core" ( +2 "manipulator"&"& +4 "core" &-  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-   +2 .tForearm.seek :garage + "manipulator"&'w +100 "core" ' +2 .tHand.close + "manipulator"&$/ +69 "core" / +2 "manipulator"&%& +4 "core" &-  + "manipulator"&&% +4 "core" % τ 3 + .tForearm.seek :retract +2 "manipulator"&'' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&((ӂ +274 "core" ( +2 "manipulator"&)& +4 "core" &y3 I + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &y3  I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&,'? +104 "core" ' +2 "manipulator"&+& +4 "core" &Ӛ.  E +2 "manipulator"&*% +3 "core" %'   +2 "collection"'.& +4 "core" &54`\ +2 "collection"'-& +4 "core" &67`\ +2 .tCC.seek :closed + "collection"'0(\\ +4 "core" &87[\  +10 &3{77S\ +{ +9 &b45[\ > +10 &~v76S\ O +9 &BX46X\ N +9 &Z57R\ N +10 &]56V\ N +9 &W67K\ M +9 &KY77P\ M +10 & Z66Q\ N +9 &Z56V\ N +10 & Z75P\ M +9 &"RW67X\ N +9 &$U78T\ M +10 &%Z56W\ M +9 &'W77L\ M +9 &)\\X56M\ M +10 &+[86O\ N +9 &,Z66R\ N +10 &.W85U\ N +9 &0bY76X\ N +9 &2$V66F\ N +10 &3X47I\ N +9 &5Z46H\ M +9 &7kZ58@\ M +10 &9-Y57N\ M +9 &:]86?\ N +10 &<W67?\ N +9 &>rY67E\ N +9 &@4W74?\ N +10 &A]87T\ N +9 &Cg45O\ O +9 &Eo85P\ Q +10 &G$88B\ V +9 &H9;G\ Y +10 &J87O\ Z +9 &LZ:8E\ [ +9 &N99E\ [ +10 &O89C\ [ +9 &Q8:@\ \\ +9 &S_:9G\ \\ +10 &U99?\ ^ +9 &V::L\ ^ +10 &X8:H\ _ +9 &Z_::G\ _ +9 &[x<;F\ A +10 &\\$:<G\ / +9 &\\<;;\ \\ +2 ( +2 "collection"'-& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + "collection"'1& +4 "core" &\\8:Q\ \\ + .tHand.open + "manipulator"&/1 +60 "core" 1 +2 "manipulator"&2% +4 "core" % '   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&4' +93 "core" ' +2 .tPSV.dial PSR + "processing"%3 +102 "core"  +2 "processing"%6% +4 "core" %\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%7'+ +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%5  +42 "core"  +2 .tPS.seek 0ml + "processing"%8'ؾ +1613 "core" ' + .tPSV.dial PSR +2 "processing"%: +44 "core"  +2 .tPSR.select :air + "processing"% +11 .tPS.seek 2.5ml + "processing"%;' +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%9  + "collection"'=  +31 "core"  +125  +2 .tPSV.dial :mixloop + "processing"%< +113 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'? +3 "core" ~ +2 "collection"'>  +4 "core"  +2 .tPTV.dial :PRVmixing + "processing"%A  +74 "core" +2 .tPS.seek 0ml + "processing"%B'ؾ +2630 "core" ' + .tPSV.dial :air +2 "processing"%C  +56 "core"  +2 .tPS.seek 2.5ml + "processing"%D' +32 "Can"\ c` +2606 "core" ' + .tPSV.dial :mixloop +2 "processing"%E +42 "core" +2 .tPS.seek 0ml + "processing"%#'ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%G  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%H' +2638 "core" ' + .tPSV.dial :mixloop +2 "processing"%I +44 "core" +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&L& +4 "core" &ӝ- E| +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&N(ӂ +54 "core" ( +2 "manipulator"&& +4 "core" &w" M <? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &w" 0 <? +2 .tForearm.seek CC + "manipulator"&P'? +92 "core" ' +2 .tHand.close + "manipulator"& / +74 "core" / +2 .tCC.seek :open + "collection"'Q( +451 "core" ( +2 "manipulator"&R& +3 "core" &w" <? +2 "manipulator"&T% +3 "core" % R Y - +2 .tForearm.seek :retract +2 "manipulator"&U' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&W(- +276 "core" ( +2 "manipulator"&X& +4 "core" &-  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &- 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&J'w +99 "core" ' +2 .tHand.open + "manipulator"&M1 +57 "core" 1 +2 "manipulator"&O% +4 "core" % π 0  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +96 "core" ' +2 ."da"delayUntil "15:50:09.70" +24748 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%] @ +74 "core" B +49 ."da"PBV.dial :waste1 + "processing"%^  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%S * +33 "core" + +2 ."da"PSV.dial :air + "processing"%`  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%a' +2381 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%b +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%Y  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%[ +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%e'ؾ +2338 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"%f +127 "core"  +2 "processing"%i% +4 "core" % \ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%c' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%_' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%F  +71 "core"  +2 ."da"PSV.dial PTV + "processing"%k +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%l  +33 "core" +2 "processing"%@% +3 "core" %!\  +2 ."da"PS.seek 1.5ml +2 "processing"%m'( +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%o * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%p'ؾ +1609 "core" ' +2 ."da"delay 2:00 +8820 "Can"\ @= +3182 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%q  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%r * +32 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%n +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%t' +2395 "core" ' +2 ."da"PSV.dial PTV + "processing"%s +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%h +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%v +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%w  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%x'ؾ +2337 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"%u +128 "core"  +2 "processing"%z% +3 "core" %غ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%{' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%|' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%} +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%y  +32 "core" +2 "processing"%% +3 "core" %5\  +2 ."da"PS.seek 1.5ml +2 "processing"%'* +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%~'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"% ' +2385 "core" ' +2 ."da"PSV.dial PTV + "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +86 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2333 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%  +41 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing + "processing"%  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%  +42 "core"  +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop + "processing"% +43 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%' +383 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%  +43 "core"  +2 "processing"%% +3 "core" % -\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +333 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1555 "core" ' + ."da"PSV.dial :PML +2 "processing"% +43 "core" +2 ."da"PTV.dial :mixing + "processing"%" @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%\\% +3 "core" %>\  +2 ."da"PS.seek 1.85ml +2 "processing"%$' +231 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%&'ؾ +1976 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +13367 "Can"\ A> +34635 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%g  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PSV.dial :air + "processing"%)  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2401 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%! +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%+  +44 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%* +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%.  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%''ؾ +2327 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%\ +127 "core"  +2 "processing"%1% +3 "core" %ؽ+\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%/' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%2' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%-  +72 "core"  +2 ."da"PSV.dial PTV + "processing"%3 +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%6  +33 "core" +2 "processing"%,% +3 "core" %C\  +2 ."da"PS.seek 1.5ml +2 "processing"%'* +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%5 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%7'ؾ +1608 "core" ' +2 ."da"delay 2:00 +11094 "Can"\ @= +909 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%:  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%8 * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%= +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%9' +2392 "core" ' + ."da"PSV.dial PTV +2 "processing"%< +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%? +72 "core"  +3 ."da"delay 5 seconds +504 .PSV.dial PTV + "processing"%> +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%A  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +2339 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%C +127 "core"  +2 "processing"%B% +3 "core" %ؾ:\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%E' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%D' +1618 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%G +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%#  +33 "core" +2 "processing"%I% +3 "core" %,\  +2 ."da"PS.seek 1.5ml +2 "processing"%H'+ +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%L * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1617 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%( +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%4' +2404 "core" ' + ."da"PSV.dial PTV +2 "processing"%0 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%R +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%T +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%P  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%X'ؾ +2352 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%Z +129 "core"  +2 "processing"%N% +3 "core" %غI\  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%M' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +59 ."da"PS.seek 2ml + "processing"%O' +1616 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%U +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%J  +33 "core" +2 "processing"%]% +3 "core" %>\  +2 ."da"PS.seek 1.5ml +2 "processing"%^'/ +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%S * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%`'ؾ +1612 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%K  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%b * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%Y +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%[' +1321 "Can"\ @< +1073 "core" ' + ."da"PSV.dial PTV +2 "processing"% +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%a +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%f +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%i  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%e'ؾ +2328 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%c +137 "core"  +2 "processing"%F% +10 "core" %2\ - +6 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +5 "processing"% +14 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%k' +343 "core" ' +3 ."da"delay 5 seconds +502 "processing"%l% +3 "core" %:\ \ +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%@' +341 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml + "processing"%_' +1609 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%o +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%m  +35 "core" +2 "processing"%q% +3 "core" %%\  +2 ."da"PS.seek 1.5ml +2 "processing"%r', +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%n * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%p'ؾ +1609 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%s  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%h * +34 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%v +76 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%w' +2489 "core" ' + ."da"PSV.dial PTV +2 "processing"%t +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%u +75 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%z +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%x  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%{'ؾ +2472 "core" ' +2 #"da"Additional air clear + .PSR.select :air + .PSV.dial PSR +2 "processing"%} +135 "core"  +2 "processing"%y% +3 "core" %ػK\ l +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%' +2125 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck + .PSV.dial PTV +2 "processing"%| +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" +2 "processing"%% +3 "core" %,\ i +2 ."da"PS.seek 1.5ml +2 "processing"%'* +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%  +106 "core"  +3 ."da"PS.seek 0ml +2 "processing"%~'ؾ +1631 "core" ' +2 "processing"% 9 +3 "core" 9gY5f + #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%  +3 "core" 5g + 5g +2 "processing"%& +3 "core" &^>\ n/ +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"& % +3 "core" %  T  +2 "storage"( % +3 "core" % a ^\ o +2 "storage"(. +3 "core" . + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 + "storage"((C +356 "core" ( + ."da"SC.reconfigure :loose +3 "storage"($.\ 1~b +2 (& +2 "core" &E  \ +2 "manipulator"&& +3 "core" &- 5 } +2 "manipulator"&% +3 "core" %  , ~ +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&( +172 "core" ( +2 "manipulator"&& +3 "core" & W |B +2 "storage"(& +3 "core" &E\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(& +3 "core" &E  \  +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"('r +274 "core" ' + "storage"("- +4 "core" -'r + ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"('1 +45 "core" ' +2 "manipulator"&\\& +4 "core" & [ B + "manipulator"&%% +4 "core" % s n ` +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract + "manipulator"&' +92 "core" ' +3 ."da"Elbow.seek PC + "manipulator"&$( +246 "core" ( +2 "manipulator"&g& +3 "core" & > | +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  { +2 ."da"Forearm.seek PC + "manipulator"&)' +93 "core" ' + ."da"Hand.close +2 "manipulator"&&/ +67 "core" / +2 ."da"PC.seek :open + "processing"%!( +460 "core" ( +2 "storage"(+& +3 "core" &E G G \ i +2 "manipulator"&*& +3 "core" & M  +2 "manipulator"&.% +3 "core" %  l  +2 ."da"Forearm.seek :retract + "manipulator"&' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&\ ( +261 "core" ( +2 "manipulator"&1& +3 "core" & ] X 0  +2 "storage"('& +3 "core" &E \ 4\  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&/' +122 "core" ' +2 ."da"Hand.open +2 "manipulator"&-1 +75 "core" 1 +2 "storage"(3- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(6' +29 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +49 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21mar1116h.tif +4 "processing"%2& +10 "core" &( +3 "manipulator"&5& +8 "core" & ? 1  +2 "manipulator"&% +5 "core" %  H +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&:' +88 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&8(- +170 "core" ( +2 "manipulator"&=& +4 "core" &- w = + ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &- G = +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&<'w +96 "core" ' +2 ."psFlush"Hand.close + "manipulator"&?/ +76 "core" / +2 "manipulator"&>& +4 "core" &- $ + / ]= + "manipulator"&A% +4 "core" % ρ    \\ +2 ."psFlush"Forearm.seek :retract + "manipulator"&9' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC + "manipulator"&C( +115 "core" ( +2 "manipulator"&B& +4 "core" & ^G + ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" & &  G ^G +2 ."psFlush"Forearm.reconfigure :tight +56 "manipulator"&#Q@2^d^\ b +4 ."psFlush"Forearm.seek PC +2 "manipulator"&E' +100 "core" ' +2 "manipulator"&G& +4 "core" & & " P ^G +2 "manipulator"&#% +4 "core" %   Y ^ + "processing"%I& +4 "core" & +2 "processing"%D& +5 "core" &1 +2 ."psFlush"PC.seek :closed + "processing"%L(^ +5 "core" & +9 & *& $c +10 &|Tu 9 +9 &ys N +10 &pM$ T +9 &2N T +9 &L! T +10 &K T +9 &yG' S +9 &;I S +10 &J S +9 &J S +10 &!L\ =P +9 &#JT\ ;Q +9 &% P\ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +667 "Can"\ EB +1983 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"% ' +2638 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%'ؾ +2656 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2626 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%'X\\ +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%W' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%V +70 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%"  +52 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%\\'ؾ +2653 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%% +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%' +594 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%g +72 "core" +2 ."psFlush"PBV.dial PSV + "processing"% U +52 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%& @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%d  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%+'ؾ +2625 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%* +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%.' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%) +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%1'ؾ +2656 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%' @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%$' +2624 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%-  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%3'ؾ +2653 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&2& +4 "core" & # D +2 "manipulator"&% +3 "core" %    +2 ."psFlush"Elbow.seek PC +2 "manipulator"&5( +244 "core" ( +2 "manipulator"&& +3 "core" &  - +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  - +2 ."psFlush"Forearm.seek PC + "manipulator"&6' +98 "core" ' + ."psFlush"Hand.close +2 "manipulator"&=/ +66 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%7( +459 "core" ( +2 "manipulator"&/& +3 "core" & - +2 "manipulator"&\ % +3 "core" %  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&?' +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&>(- +130 "core" ( +2 "manipulator"&A& +4 "core" &- P + ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &- +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage + "manipulator"&B'w +94 "core" ' + ."psFlush"Hand.open +2 "manipulator"&;1 +57 "core" 1 +2 "manipulator"&<% +4 "core" % t & . + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&G' +93 "core" ' +2 #tFinished short da assay +11025 !o:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:326 +6 #mEXIT @1615498968.43EST @1615499396.49EST = =tMAIN =mMAIN_scheduler @EST1615499398.22 #"core_reset"Sent BREAK +2 #t@38149 sendCRC with ifg=0x20, ie=0x7F + #@39984 sendCRC with ifg=0x08, ie=0x5F #@46697 idle with ifg=0x84, ie=0x75 + #@47370 select with ifg=0x10, ie=0xF5 + #@48004 receive with ifg=0x10, ie=0xFD #@48638 receive with ifg=0x10, ie=0xFD + #@49272 receive with ifg=0x10, ie=0xFD #@49599 receive with ifg=0x80, ie=0xFD + #@10855 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +270 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +359 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ 63 + \ 63 + #tPolling Can every 10:00 +124 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ + % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %h;9 \ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ\  + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %ڝ32 \ +2 .tSS.configure :default +2 "sampler")#.0X access 1 +2 .SE.seek :down +2 "storage"(' +3 "core" ' + "manipulator"&% +4 "core" %   +2 "manipulator"&& +3 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +1302 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +275 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +380 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ !z + \ !z #tPolling Can every 10:00 +3 #Cleanly exited at 17:00:40EST11-Mar-21 +527 #-> ESP.ready! +3 #Powering core bus +467 .Gate.power :raw,:ON +6 "sampler") +36 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %E\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %  ?\ +2 .tSS.configure :default +2 "sampler")#.0X exit +4 #mEXIT @1620400845.83EDT @1620675839.30EDT = =tMAIN =mMAIN_scheduler @EDT1620675841.12 #"core_reset"Sent BREAK +2 #t@45948 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +378 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"#\ "s + #\ "s #tPolling Can every 10:00 +3 #Cleanly exited at 11:20:45EDT07-May-21 +481 #-> ESP.ready? +462 #-> ESP.ready! +2 #Powering core bus +478 .Gate.power :raw,:ON +2 "sampler") +43 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %q\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %Q\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % 5 2:\ + .tSS.configure :default +2 "sampler")#.0X + "processing"%:9 +3 "core" 9\\v +383 #t-> exit +5 #mEXIT @1620675901.33EDT @1622747014.96EDT = =tMAIN =mMAIN_scheduler @EDT1622747016.78 #"core_reset"Sent BREAK +2 #t@12276 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +382 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can";\ !x + ;\ !x + #tPolling Can every 10:00 +3 #Cleanly exited at 15:45:01EDT10-May-21 +656 #-> ESP.ready? +332 #-> ESP.ready! +3 #Powering core bus +503 .Gate.power :raw,:ON +2 "sampler") +37 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % 8\ + .tSS.configure :default +2 "sampler")#.0X access 2 +3 .SE.seek :down + "storage"(;' +2 "core" ' +2 "manipulator"&<% +4 "core" %   8 e + "manipulator"&=& +4 "core" &  m F + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +673 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (?& +3 "core" &K @\ +53811 "Can",\ =; +2737 #t-> access 3 +3 .SE.seek :down + "storage"(@' +3 "core" ' + "manipulator"&A% +4 "core" %   $ e +2 "manipulator"&B& +3 "core" &  b F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(C([ +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (D& +3 "core" &[ i\  +926 #t-> access 4 +3 .SE.seek :down + "storage"(E' +3 "core" ' + "manipulator"&F% +4 "core" %   l e +2 "manipulator"&G& +3 "core" &  F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(H(C +1929 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (I& +2 "core" &? | J\ +1700 #t-> require 'shuffle.rb' +420 #-> shuffle 2..4 + #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'J& +4 "core" & \  + .tHand.open + "manipulator"&K1 +70 "core" 1 +2 "manipulator"&L% +4 "core" %  e +2 "storage"(M% +3 "core" % \ + "storage"(N. +3 "core" .(? +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(O(  +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (P& +2 "core" & | )\ \ +2 "manipulator"&Q& +3 "core" & S F +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&R( +3 "core" ( + "manipulator"&S& +4 "core" & F + "storage"(T& +3 "core" &   }\ \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&U'S +96 "core" ' +8 "storage"(V& +4 "core" &  P\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'r +294 "core" ' + "storage"(X- +4 "core" -', + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" &  b c [\ \ + "manipulator"&Z& +4 "core" &  F +2 .tElbow.seek 2 +2 "manipulator"&[( +3 "core" ( + "manipulator"&\\& +4 "core" & \ w F + "storage"(]& +4 "core" &  c d "\ \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&^'Ͻ +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(a' +7 "core" &  F + "manipulator"&b% +4 "core" %    + .tForearm.seek :retract +2 "manipulator"&c' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +154 "core" ( + ' +2 ."downElevator"SE.coast +2 "manipulator"&e& +2 "storage"(5 +6 "core" &Ӎ* ] Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &ӎ*  f Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'? +102 "core" ' + "manipulator"&h& +5 "core" &ӏ) G Ae + "manipulator"&i% +4 "core" %6  H +2 "collection"'j& +3 "core" & \  +3 "collection"'k& +4 "core" & \  +2 .tCC.seek :closed +2 "collection"'l(\\ +3 "core" & \  +10 &4  \ +{ +9 &d \ ? +10 &Q| \ O +9 &^ \ N +9 &_ \ N +10 &_ \ N +9 &Z] \ N +10 &] \ N +9 &b \ O +9 &_ \ O +10 & cZ \ N +9 &"$] \ N +9 &#Z \ N +10 &%^ \ O +9 &'j] \ N +10 &)-Z \ N +9 &*] \ N +9 &,^ \ N +10 &.r\\ \ N +9 &04_ \ N +9 &1] \ O +10 &3_ \ N +9 &5zZ \ N +10 &7<\\ \ N +9 &8Z \ N +9 &:Z \ N +10 &<[ \ N +9 &>D\\ \ N +9 &@_ \ N +10 &Ae \ O +9 &Ch \ P +10 &EDu \ Q +9 &F \ T +9 &H \ W +10 &Jt \ Y +9 &L5 \ Y +9 &M \ Z +10 &O \ Z +9 &Qw \ Z +10 &S6 \ [ +9 &T \ [ +9 &V \ \\ +10 &Xw \ ] +9 &Z7 \ ^ +9 &[ \ A +10 &\\+ \ *} +9 &\\ \ W +2 ( +2 "collection"'k& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&m1 +64 "core" 1 + "manipulator"&n% +4 "core" % 7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%p& +4 "core" &\  +2 "manipulator"&q% +3 "core" %    +2 "storage"(r% +3 "core" % ( + \ +2 "storage"(s. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(t(  +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (u& +3 "core" &  + ) Q\  + "manipulator"&v& +4 "core" &Ӛ+  i @Z + "manipulator"&w% +4 "core" %  X  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&x( +165 "core" ( + "manipulator"&y& +4 "core" & V  +2 "storage"(z& +4 "core" & ( ( ) (\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&{'S +93 "core" ' + "storage"(|& +4 "core" & ( ! \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'r +297 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & & l\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  + "storage"(& +3 "core" & &   x\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +76 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & R  + "manipulator"& % +4 "core" % ϸ ; +2 .tForearm.seek :retract + "manipulator"&\ ' +90 "core" ' +2 .tElbow.seek PC + "manipulator"& ( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +70 "core" ( + "manipulator"& & +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +93 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"&% +4 "core" %  B + "processing"%& +4 "core" &\  +3 "processing"%& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\  +9 &E\ %g +10 &tU\ 8 +9 &}\ M +10 &x]\ P +9 &;Z\ P +9 &]\ P +10 &^\ P +9 &^\ P +9 &C[\ P +10 &a\ P +9 &^\ P +10 &!]\ P +9 &#J\\\ P +9 &% Z\ P +10 &&^\ P +9 &(_\ P +9 &*R\\\ P +10 &,^\ Q +9 &-]\ P +10 &/b\ P +9 &1Yb\ Q +9 &3\\\ P +10 &4\\\ P +9 &6]\ P +9 &8bb\ P +10 &:#_\ Q +9 &;a\ Q +10 &=_\ P +9 &?i`\ Q +9 &A*i\ Q +10 &Bp\ R +9 &Dx\ S +9 &Fc\ U +10 &H$\ V +9 &I\ V +10 &K\ W +9 &Mi\ V +9 &O+\ V +10 &P\ W +9 &R\ W +9 &Tm\ X +10 &V1\ W +9 &W\ W +10 &Y\ W +9 &[v\ W +9 &]7\ S +10 &^t?p\ (u +9 &^ B\ 2 +5 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&1 +4 "core" &^%\ 2 +59 1 + "manipulator"&% +4 "core" %  y B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^%\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" % "  - + "storage"(% +4 "core" %   \ + "storage"(. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +3 ("& + "manipulator"&%& +4 "core" &    ,\  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & #  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +2 "manipulator"&'( +2 "storage"()'r +4 "core" ( +2 "manipulator"&(& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.seek PC + "manipulator"&' +92 "core" ' + .tHand.close + "manipulator"&#/ +73 "core" / +2 .tPC.seek :open + "processing"%,( +87 "core" ' + "storage"(-- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(.'1 +41 "core" ' +319 ( + "storage"(/& +4 "core" &  , + @\  +2 "manipulator"&0& +3 "core" &  H  + "manipulator"&1% +4 "core" %  u F +2 .tForearm.seek :retract + "manipulator"&2' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&3( +256 "core" ( + "manipulator"&4& +4 "core" &  ^ U +2 "storage"(5& +3 "core" &  ) ( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&6'S +94 "core" ' + .tHand.open + "manipulator"&71 +61 "core" 1 +2 "storage"(8- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(:' +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +3 "core" -' +2 "storage"(=& +3 "core" &  $\  +2 "manipulator"& & +3 "core" & # U +2 .tElbow.seek 2 + "manipulator"&!( +30 "core" ( + "manipulator"&?& +4 "core" &     +2 "storage"(A& +3 "core" &  \  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&B'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +56 "core" ' + "manipulator"&>& +5 "core" & ,  + "storage"(D& +4 "core" &  6 8 '\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&F'Α +22 "core" ' + .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(@' +19 "core" ' + "manipulator"&C% +5 "core" %Π E + "storage"(I& +5 "core" &  2 +\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&J' +15 "core" ' +2 "manipulator"&K& +4 "core" & ~  +2 "storage"(L& +4 "core" &  * ( 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&M'S +16 "core" ' +2 "storage"(N% +4 "core" % + + d\ +2 ."downElevator"SE.seek :down +3 "storage"(H' +100 (P% +2 "core" %8A ( ) \ We +2 "manipulator"&Q% +4 "core" %Y M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +95 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (T& +4 "core" &  8 5\ +2 "collection"'V& +3 "core" &\\ \ W +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %  ` + "storage"(&% +4 "core" % 3 + \ +2 "storage"(X. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(Y(  +40 "core" ( +10 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (E& +2 "core" &  5 5 \  +2 "manipulator"&Z& +4 "core" & I  + .tElbow.seek 2 +2 "manipulator"&\\( +9 "core" ( + "manipulator"&]& +5 "core" &  + "storage"(_& +4 "core" &  6 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&`'S +93 "core" ' +2 "storage"(b& +5 "core" &  6 2 2\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +295 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +2 "core" &   +2 "storage"(f& +3 "core" &  &  5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&W'Α +21 "core" ' + .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(h- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(i't +30 "core" ' + "manipulator"&j% +5 "core" %Τ M + "storage"([& +3 "core" &    \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&a' +13 "core" ' + "manipulator"&c& +4 "core" & @  +2 "storage"(+& +4 "core" &  ( w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'S +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(n' +48 "core" ' +2 "manipulator"&p& +4 "core" &   +2 "manipulator"&q% +4 "core" %O + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&s(ӂ +157 "core" ( + "manipulator"&k& +4 "core" &x0 # F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &x0  F + .tForearm.seek CC +2 "manipulator"&v'? +97 "core" ' + .tHand.close + "manipulator"&w/ +71 "core" / +2 .tCC.seek :open + "collection"'g( +448 "core" ( + "storage"(y& +4 "core" &  8 H ~\  +2 "storage"(z& +3 "core" &  L O V\  +2 "manipulator"&O& +3 "core" &ӝ( x Aa +2 "manipulator"&|% +3 "core" % 9  [ +2 .tForearm.seek :retract +2 "manipulator"&d' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&o( +168 "core" ( + "manipulator"&~& +4 "core" & \  V  +2 "storage"(& +3 "core" &  g e E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&'Α +98 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % Σ J  + "storage"(& +4 "core" &  d d X\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"& ' +16 "core" ' + "manipulator"&x& +4 "core" &  U +2 "storage"({& +3 "core" &  P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&}'S +17 "core" ' + "storage"(% +5 "core" % v\ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 ( % +2 "core" %> d h N\ V` +2 "manipulator"&% +4 "core" %Q  g + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ + "manipulator"&% +4 "core" %    +2 "storage"(% +3 "core" % %\ +2 "storage"(\ . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(*( +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" & d e O\  + "manipulator"&& +4 "core" &  ; +2 .tElbow.seek 3 + "manipulator"&( +13 "core" ( + "manipulator"&& +4 "core" &  * | +2 "storage"(& +3 "core" & c d V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +157 "core" ' + "storage"(& +4 "core" & g f F\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'r +297 "core" ' + "storage"(%- +4 "core" -'( + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" & S ? ,\  +2 "manipulator"&& +4 "core" &   | + .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&#& +3 "core" & \ H | +2 "storage"(t& +3 "core" & e d R\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&-'ϡ +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +68 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(' +8 "core" &  o | + "manipulator"&)% +4 "core" %  d + .tForearm.seek :retract +2 "manipulator"&/' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&0(ӂ +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +3 "core" ( +2 "manipulator"&1& +3 "core" &Ӈ  < 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӈ 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&4'? +101 "core" ' +2 "manipulator"&5& +5 "core" &ӈ  5 + "manipulator"&'% +4 "core" %4  6 + "collection"'7& +4 "core" & \ +2 "collection"'8& +5 "core" & \ +2 .tCC.seek :closed + "collection"'<(\\ +6 "core" & \  +9 &0} \ +{ +10 &d \ ? +9 &z \ O +9 &I] \ N +10 & \\ \ N +9 &[ \ N +9 &Y \ N +10 &Q] \ N +9 &_ \ O +10 &] \ O +9 & ] \ N +9 &"Y\\ \ N +10 &$Y \ N +9 &%] \ O +9 &'\\ \ N +10 &)a\\ \ N +9 &+#\\ \ N +9 &,\\ \ N +10 &.\\ \ N +9 &0i\\ \ N +10 &2+\\ \ N +9 &3\\ \ N +9 &5[ \ N +10 &7p] \ O +9 &94\\ \ N +10 &:\\ \ N +9 &<\\ \ N +9 &>z] \ N +10 &@<\\ \ N +9 &A` \ O +10 &Ch \ P +9 &Ev~ \ R +9 &G0 \ U +10 &H \ X +9 &J \ Z +9 &Lf \ Z +10 &N' \ [ +9 &O \ [\ +9 &Q \ [ +10 &Sh \ \\ +9 &U* \ \\ +10 &V \ ^ +9 &X \ ^ +9 &Zi \ _ +10 &\\{ \ 7 +9 &\\' \ $l +8 ( +3 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&=1 +4 "core" &\\ \ ^ +56 1 + "manipulator"& % +4 "core" % 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&2' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%?& +4 "core" &\ + "manipulator"&A% +4 "core" %  5  +2 "storage"(>% +3 "core" % , * A\ +2 "storage"(D. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(C( +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (.& +2 "core" &   g\  +2 "manipulator"&I& +3 "core" &ӈ 5 +2 "manipulator"&K% +3 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&9( +162 "core" ( + "manipulator"&L& +4 "core" & B  +2 "storage"(N& +3 "core" & 9 9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&3'7 +96 "core" ' + "storage"(6& +4 "core" & * + C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'r +298 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +2 "core" &   C\  +2 "manipulator"&B& +3 "core" & )  +2 .tElbow.seek 3 + "manipulator"&!( +4 "core" ( + "manipulator"&;& +4 "core" &  z  +2 "storage"(F& +3 "core" & ) , \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&T'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +67 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&V& +3 "storage"($' +8 "core" & D  + "manipulator"&&% +4 "core" % ϝ U + .tForearm.seek :retract +2 "manipulator"&@' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&X( +161 "core" ' + ."downElevator"SE.coast + "storage"(5 +78 "core" ( + "manipulator"&E& +4 "core" & _  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&]' +97 "core" ' + "manipulator"&_& +4 "core" & =  +2 "manipulator"&M% +4 "core" % E # + "processing"%b& +5 "core" &\ +2 "processing"%H& +4 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\ +9 & .\ #a +9 &T\ 8 +10 &}\ M +9 &]\ P +9 &Jb\ P +10 & ]\ P +9 &^\ P +10 &`\ P +9 &S]\ P +9 &b\ P +10 &\\\ P +9 &!_\ P +9 &#[]\ P +10 &%Z\ P +9 &&[\ P +10 &(\\\ P +9 &*c]\ P +9 &,%`\ P +10 &-Y\ P +9 &/[\ P +9 &1l^\ O +10 &3.]\ O +9 &4`\ P +10 &6`\ P +9 &8s]\ P +9 &:5]\ P +10 &;b\ P +9 &=^\ P +9 &?z_\ P +10 &A:d\ Q +9 &Bm\ R +10 &Du\ S +9 &Ft\ U +9 &H4\ U +10 &I\ V +9 &K\ U +9 &Mw\ W +10 &O:\ V +9 &P\ W +10 &R\ W +9 &T~\ W +9 &V?\ W +10 &X\ V +9 &Y\ V +9 &[\ W +43 &]F\ M +12 &^R\ $o +2 &^"\ / ( + &^ \ / + &^\ / + &^\ / + "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&G1 +62 "core" 1 + "manipulator"&S% +4 "core" %    # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%e& +4 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&f% +3 "core" %   +2 "storage"(h% +3 "core" %   <\ +2 "storage"(j. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"([( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (c& +2 "manipulator"&+& +4 "core" &   T\  +2 &   +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "manipulator"&p( +4 ."raiseStack"SE.seek :beamBreak + "storage"(q'r +3 "core" ( + "manipulator"&`& +4 "core" & F  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +2 "core" &   +2 .tForearm.seek PC +2 "manipulator"&R' +92 "core" ' + .tHand.close +2 "manipulator"&W/ +66 "core" / +2 .tPC.seek :open + "processing"%a( +92 "core" ' + "storage"(i- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'1 +44 "core" ' +310 ( + "storage"(u& +4 "core" & + + \  +2 "manipulator"&m& +3 "core" & 9  +2 "manipulator"&^% +3 "core" %  P % +2 .tForearm.seek :retract + "manipulator"&w' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&r( +240 "core" ( + "manipulator"&l& +4 "core" & 6 2 +2 "storage"(y& +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&z'7 +112 "core" ' + .tHand.open + "manipulator"&O1 +60 "core" 1 +2 "storage"(|- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(v- +4 "core" -' + "storage"(s& +4 "core" & \  +2 "manipulator"&& +3 "core" & " 1 +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & 2 1 + "storage"(x& +4 "core" & 8\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&{'7 +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +60 "core" ' + "manipulator"&d& +5 "core" & o 1 + "storage"( & +4 "core" &   \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'u +24 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&% +5 "core" % h + "storage"( & +4 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&'ϫ +22 "core" ' + "manipulator"&& +5 "core" & 1 + "storage"(\ & +4 "core" & ) + L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&n'7 +17 "core" ' +2 "storage"(}% +4 "core" % 6 6 \ +2 ."downElevator"SE.seek :down +3 "storage"( ' +100 (Y% +2 "core" %F   \\\ Xf +2 "manipulator"&% +4 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &   $\ + "collection"'& +4 "core" &\\ \ ^ + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" % # 1 +2 "storage"(% +3 "core" % ' ) \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(%( +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ((& +2 "core" & \  +2 "manipulator"&& +3 "core" &  1 +2 .tElbow.seek 3 +2 "manipulator"&#( +3 "core" ( + "manipulator"&t& +4 "core" & f 1 + "storage"( & +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +95 "core" ' + "storage"()& +5 "core" & ! 3 \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&1& +3 "core" & \\ 1 +2 "storage"(& +3 "core" &  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&"'u +20 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(5- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(''q +30 "core" ' + "manipulator"&% +4 "core" %} * +2 "storage"(7& +3 "core" & ( , 7\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 308 counts + "manipulator"&'ϩ +14 "core" ' + "manipulator"&/& +5 "core" & 1 + "storage"(g& +4 "core" & \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&='7 +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"( ' +50 "core" ' + "manipulator"&?& +5 "core" &  r 1 + "manipulator"&A% +4 "core" %$ v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&>' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&D(ӂ +151 "core" ( + "manipulator"&8& +4 "core" &Ӊ+  Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +2 "core" &ӊ+  Cq +2 .tForearm.seek CC +2 "manipulator"&I'? +96 "core" ' + .tHand.close + "manipulator"&K/ +67 "core" / +2 .tCC.seek :open + "collection"'4( +448 "core" ( + "storage"(L& +4 "core" & B M ,\  +2 "storage"(N& +3 "core" & H < \\\  +2 "manipulator"&*& +3 "core" &Ӌ+ q Cp +2 "manipulator"&6% +3 "core" % 2 ; D +2 .tForearm.seek :retract + "manipulator"&0' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&2( +166 "core" ( + "manipulator"&P& +4 "core" &  u  +2 "storage"(Q& +3 "core" & X G t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&B'u +93 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&F1 +61 "core" 1 +2 "manipulator"&J% +4 "core" % ΅ ) < + "storage"(V& +4 "core" & d e 4\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&&'ϱ +16 "core" ' +2 "manipulator"&9& +4 "core" &   +2 "storage"(3& +3 "core" & g o \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&:'7 +17 "core" ' + "storage"(T% +5 "core" % j ;\ +2 ."downElevator"SE.seek :down +3 "storage"(E' +99 (Z% +2 "core" %@ ` T \ Wb +2 "manipulator"&!% +4 "core" %5  c + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +89 "core" ' +66 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp "collection"'M& +5 "core" & \ + "manipulator"&b% +4 "core" %   Q  +2 "storage"($% +3 "core" % d d S\ +2 "storage"(@. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(,(,y +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (G& +2 "core" &,x K K \  +2 "manipulator"&S& +3 "core" &  q  +2 .tElbow.seek 4 + "manipulator"&e( +50 "core" ( + "manipulator"&f& +4 "core" &  +2 "storage"(h& +3 "core" &,x H E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +118 "core" ' + "storage"(H& +4 "core" &,x d f V\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'r +299 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" &,x N L u\  +2 "manipulator"&\\& +3 "core" &  i  +2 .tElbow.seek 4 + "manipulator"&]( +4 "core" ( +2 "manipulator"&W& +3 "core" &  R  +2 "storage"(C& +3 "core" &,x 6 4 ?\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&i'c +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& + "storage"(' +7 "core" & S  +2 "manipulator"&q% +3 "core" % Ϗ  +2 .tForearm.seek :retract + "manipulator"&u' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&m(ӂ +156 "core" ( +12 "manipulator"&^& +4 "core" ' + &~0 F + .tElbow.reconfigure :loose +3 ."downElevator"SE.coast +2 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&R& +5 "core" &~0 F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&l'? +96 "core" ' +2 "manipulator"&y& +5 "core" &ӥ'  @] + "manipulator"&p% +4 "core" %<  H u +2 "collection"'O& +4 "core" & \ +2 "collection"'|& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'v(\\ +4 "core" & \  +10 &3 \ *z +9 & d \ ? +10 &x \ O +9 &OY \ M +9 &] \ N +10 &_ \ N +9 &^ \ M +9 &W[ \ M +10 &` \ N +9 &Y \ N +10 & ] \ M +9 &"^Y \ N +9 &$ ] \ N +10 &%\\ \ N +9 &'X \ N +9 &)gX \ M +10 &+)Z \ M +9 &,] \ N +10 &.Z \ N +9 &0oW \ M +9 &21Z \ M +10 &3[ \ M +9 &5] \ N +9 &7u[ \ N +10 &98Y \ N +9 &:X \ M +10 &<Y \ N +9 &>] \ M +9 &@A\\ \ M +10 &B` \ N +9 &Ch \ O +9 &E~v \ P +10 &G7 \ T +9 &H \ W +10 &J \ Y +9 &Lm \ Y +9 &N, \ Z +10 &O \ Z +9 &Q \ Z +9 &Sm \ \\ +10 &U/ \ \\ +9 &V \ ] +10 &X \ ] +9 &Zm \ ^ +9 &\\| \ 3 +10 &\\/ \ "g +8 ( +2 &\\| \ T +2 "collection"'|& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&s1 +59 "core" 1 + "manipulator"&% +4 "core" % < u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%x& +4 "core" &\ +2 "manipulator"&w% +3 "core" %  2  +2 "storage"(d% +4 "core" %   o\ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +2 "core" &,x  M\  +2 "manipulator"&k& +4 "core" &ӥ' S @] + "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&~( +162 "core" ( + "manipulator"&\ & +5 "core" &   + "storage"(}& +4 "core" &,x   +\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&r' +90 "core" ' + "storage"(z& +4 "core" &,x 3 . \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,x "\  +2 "manipulator"&{& +3 "core" & G  +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &    + "storage"(& +4 "core" &,x 7 8 \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +46 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +74 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(' +7 "core" & -  + "manipulator"&% +4 "core" % [ t b +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.seek PC + "manipulator"&( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +77 "core" ( + "manipulator"&(& +4 "core" &  ^ ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & H ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&t' +93 "core" ' + "manipulator"& & +5 "core" &  ) + "manipulator"&n% +4 "core" %   D + "processing"%)& +4 "core" &\ +3 "processing"% & +4 "core" &\ +2 .tPC.seek :closed + "processing"%[(^ +4 "core" &\  +9 &0|\ *y +10 &b\ ? +9 &i}\ P +9 &*\\\ P +10 &\\\ P +9 &Y\ P +9 &qZ\ P +10 &3_\ P +9 &_\ P +10 &[\ P +9 & y_\ P +9 &";[\ P +10 &#]\ P +9 &%X\ O +9 &'\\\ O +10 &)C]\ P +9 &+^\ O +10 &,_\ P +9 &.[\ P +9 &0K_\ P +10 &2]\ O +9 &3]\ P +9 &5\\\ P +10 &7TY\ O +9 &9]\ P +10 &:]\ P +9 &<[\ P +9 &>Z\\\ P +10 &@]\ P +9 &Ae\ P +9 &Cr\ R +10 &EY{\ S +9 &G\ V +10 &H\ U +9 &J\ V +9 &LY\ V +10 &N\ V +9 &O\ V +9 &Q\ V +10 &S^\ W +9 &U \ W +10 &V\ W +9 &X\ W +9 &Zf\ W +10 &\\&\ X +9 &]\ < +9 &^0\ Z +10 &^#\ 2 + ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 .Hand.open + "manipulator"&o1 +61 "core" 1 + "manipulator"&% +4 "core" %  E D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%1& +4 "core" &^"\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" % %  ; +2 "storage"(5% +3 "core" % \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(7(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (/& +3 "core" &,x   ?\  +2 "manipulator"&g& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  ) +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&?( + "storage"(A'r +5 "core" ( + "manipulator"&& +4 "core" & : ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" & * ) +2 .tForearm.seek PC + "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&"/ +75 "core" / +3 .tPC.seek :open + "processing"%( +76 "core" ' + "storage"('- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(8'1 +47 "core" ' +326 ( + "storage"(.& +4 "core" &,x 1 * g\  +2 "manipulator"&=& +3 "core" & % ) + "manipulator"&-% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&K' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&>( +246 "core" ( + "manipulator"&<& +4 "core" & 5 +2 "storage"(L& +3 "core" &,x ' 2 .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&N' +94 "core" ' + .tHand.open + "manipulator"&*1 +56 "core" 1 +2 "storage"(6- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(P' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Q' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(I- +3 "core" -' +2 "storage"(D& +4 "core" &,x <\  + "manipulator"&F& +5 "core" &  5 + .tElbow.seek 4 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&V& +4 "core" & 1 5 + "storage"(9& +4 "core" &,x l\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&3' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(T'" +59 "core" ' + "manipulator"&0& +5 "core" & 4 5 + "storage"(Z& +4 "core" &,x - ) \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&!'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(B' +20 "core" ' + "manipulator"&M% +5 "core" %I  2 + "storage"(&& +4 "core" &,x   \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&b'u +13 "core" ' + "manipulator"&$& +5 "core" & 5 + "storage"(@& +4 "core" &,x 5 6 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +19 "core" ' + "storage"(:% +5 "core" %   4\ +2 ."downElevator"SE.seek :down +3 "storage"(E' +100 (%% +2 "core" %I   h\ Wf +2 "manipulator"&G% +4 "core" % g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&S' +91 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (f& +4 "core" &,x ( ( )\ +2 "collection"'h& +3 "core" &\\| \ T +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&H% +4 "core" %   + "storage"(;% +4 "core" % + , +\ +2 "storage"(_. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(+(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (`& +3 "core" &,x 3 , \  + "manipulator"&\\& +4 "core" & ( 5 +2 .tElbow.seek 4 + "manipulator"&W( +3 "core" ( +2 "manipulator"&C& +3 "core" & \ U 5 +2 "storage"(X& +3 "core" &,x ( * \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&U' +97 "core" ' + "storage"(q& +5 "core" &,x  * \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'r +300 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&^& +3 "core" & q 5 + "storage"(R& +4 "core" &,x ' & V\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&c'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(y- +2 "core" -' +53 .tSE.seek 0.16 Pucks below Top Plate + "storage"(p'o +30 "core" ' + "manipulator"&]% +4 "core" %C K +2 "storage"(O& +3 "core" &,x  ,\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 312 counts + "manipulator"&'o +15 "core" ' + "manipulator"&u& +5 "core" & & 5 + "storage"(4& +4 "core" &,x 3 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&s' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +37 "core" ' + "manipulator"&x& +5 "core" & $ 5 + "manipulator"&w% +4 "core" % 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +92 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +157 "core" ( + "manipulator"&|& +4 "core" &ӏ%  [ >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӏ% R >L +2 .tForearm.seek CC + "manipulator"&k'? +92 "core" ' + .tHand.close + "manipulator"&/ +76 "core" / +2 .tCC.seek :open + "collection"'l( +448 "core" ( + "storage"(\ & +4 "core" &,x O M z\  +2 "storage"(}& +3 "core" &,x A I #\  +2 "manipulator"&,& +3 "core" &ө"  D ;2 +2 "manipulator"&z% +3 "core" % C  6 @ +2 .tForearm.seek :retract +2 "manipulator"&m' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +165 "core" ( + "manipulator"&Y& +4 "core" & Z  +2 "storage"(& +4 "core" &,x d M\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&{'7 +100 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % D  + "storage"(& +4 "core" &,x d d \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&'p +15 "core" ' +2 "manipulator"&~& +4 "core" &  9  +2 "storage"(r& +3 "core" &,x d c [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +21 "core" ' + "storage"(% +5 "core" % l r j\ +2 ."downElevator"SE.seek :down +3 "storage"((' +99 (% +2 "core" %? 9 8 "\ Va +2 "manipulator"&% +4 "core" %  K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +1879 #t-> access 2 +3 .SE.seek :down + "storage"(n' +3 "core" ' + "manipulator"&)% +4 "core" %   + "manipulator"&& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +675 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (a& +2 "core" &K d d ,\ +948 #t-> access 3 +3 .SE.seek :down + "storage"(o' +2 "core" ' +2 "manipulator"&% +4 "core" %   + "manipulator"&1& +4 "core" &     + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (5& +2 "core" &[ \\ d\  +890 #t-> access 4 +3 .SE.seek :down + "storage"(' +2 "core" ' +2 "manipulator"& % +4 "core" %  @  + "manipulator"&/& +4 "core" &  }  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(g(C +1931 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &@ d c U\ +4027 #t-> samplePassF + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'#& +3 "core" &  \ +2 "manipulator"&t& +4 "core" & S  + "manipulator"&"% +3 "core" %  I  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +171 "core" ( + "manipulator"&'& +4 "core" &- \  < / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &-   / +2 .tForearm.seek :garage +2 "manipulator"&'w +103 "core" ' + .tHand.close + "manipulator"&[/ +72 "core" / + "manipulator"&A& +4 "core" &- \  V / +2 "manipulator"&.% +3 "core" % ~  t +2 .tForearm.seek :retract + "manipulator"&=' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&-(ӂ +283 "core" ( + "manipulator"&& +4 "core" &ӏ) ] Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +2 "core" &ӏ)  Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'? +96 "core" ' + "manipulator"&?& +4 "core" &Ӑ)  N Ab +2 "manipulator"&*% +3 "core" %G M + +2 "collection"'6& +4 "core" & \ +2 "collection"'I& +4 "core" &  \ +2 .tCC.seek :closed + "collection"'D(\\ +4 "core" & \ +9 &< \ %g +9 &W~ \ 8 +10 &} \ L +9 &Z \ N +10 &r[ \ N +9 &4^ \ N +9 &_ \ M +10 &Y \ N +9 &{Y \ M +9 &=Z \ M +10 &Y \ M +9 &!] \ M +10 &#Z \ \ N +9 &%E\\ \ M +9 &'] \ M +10 &(Y \ M +9 &*W \ M +9 &,MX \ M +10 &.W \ M +9 &/W \ M +10 &1\\ \ N +9 &3TZ \ N +9 &5W \ M +10 &6] \ M +9 &8X \ M +9 &:^Z \ M +10 &<\\ \ M +9 &=\\ \ N +10 &?\\ \ M +9 &Ae[ \ M +9 &C#b \ \ O +10 &Dr \ P +9 &F \ T +10 &HM  \ X +9 &J\  \ Z +9 &K  \ Z +10 &M  \ [ +9 &OL  \ [ +9 &Q  \ \\ +10 &R  \ \\ +9 &T \ ] +10 &VL \ ^ +9 &X \ _ +9 &Y  \ _ +10 &[  \ M +9 &\\7 \ / +9 &\\  \ _ +6 ( +3 "collection"'I& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + "collection"'F& +4 "core" &\\  \ _ + &\\  \ _ +2 .tHand.open + "manipulator"&V1 +53 "core" 1 + "manipulator"&9% +4 "core" % G + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%0  +133 "core"  + "processing"%Z% +4 "core" %ؼ\ +2 #tPulling 1.5ml of PSR.flush .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%M'+ +1612 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%&  +45 "core"  +2 .tPS.seek 0ml + "processing"%8'ؾ +1612 "core" ' + .tPSV.dial PSR +2 "processing"%$ +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%@' +2632 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%P  +2 "collection"':  +7 "core"  +92  + .tPSV.dial :PTV,via: :air +2 "processing"%> +204 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck + "processing"%N +3 "core"  +2 "processing"%Q @ +72 "core" A +2 .tPS.seek 0ml + "processing"%%'ؾ +2653 "core" ' + .tPSV.dial :air +2 "processing"%G  +72 "core"  +2 .tPS.seek 2.5ml + "processing"%3' +2638 "core" ' + .tPSV.dial :PTV +2 "processing"%J +86 "core" +2 .tPS.seek 0ml + "processing"%T'ؾ +1770 "Can""\ ca +872 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&!& +4 "core" &Ӓ( A` + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&b(ӂ +37 "core" ( + "manipulator"&f& +4 "core" &Ӂ Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +2 "core" &Ӂ Q +2 .tForearm.seek CC +2 "manipulator"&H'? +94 "core" ' + .tHand.close + "manipulator"&;/ +78 "core" / +2 .tCC.seek :open + "collection"'B( +451 "core" ( + "manipulator"&_& +4 "core" &Ӂ  Q + "manipulator"&`% +4 "core" % G C  +2 .tForearm.seek :retract + "manipulator"&\\' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&C(- +276 "core" ( + "manipulator"&X& +4 "core" &- t 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +2 "core" &-  d 9 +2 .tForearm.reconfigure :tight +49 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :garage +2 "manipulator"&q'w +91 "core" ' +2 .tHand.open + "manipulator"&E1 +55 "core" 1 + "manipulator"&7% +4 "core" % z ` K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +95 "core" ' +1408 #t-> PS.flush +2 #Flushing Processing stage + "processing"%S% +3 "core" %ؼ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%j& +4 "core" &\ +2 "manipulator"&^& +3 "core" &- 9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&R(- +4 "core" ( + "manipulator"&y& +4 "core" &- i 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &- 9 + .tForearm.seek :garage +2 "manipulator"&O'w +94 "core" ' + .tHand.close +2 "manipulator"&u/ +66 "core" / + "manipulator"&4& +4 "core" &-  9 +2 "manipulator"&x% +3 "core" % ρ  / +2 .tForearm.seek :retract +2 "manipulator"&w' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&U( +117 "core" ( + "manipulator"&W& +4 "core" &   # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" & b # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&c' +90 "core" ' + "manipulator"&& +4 "core" & S # +2 "manipulator"&p% +4 "core" % s b + "processing"%|& +4 "core" &\ +2 "processing"% & +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%s(^ +4 "core" &\  +10 &/w\ *y +9 &c\ ? +9 &_}\ P +10 &!Z\ O +9 &\\\ O +9 &Z\ O +10 &f_\ P +9 &)]\ O +10 &_\ P +9 &_\ P +9 & p]\ O +10 &"1[\ O +9 &#^\ O +9 &%Y\ O +10 &'x\\\ O +9 &)9]\ O +10 &*Z\ O +9 &,^\ O +9 &.]\ O +10 &0A]\ O +9 &2Z\ O +9 &3\\\ O +10 &5\\\ O +9 &7J_\ O +10 &9\ `\ P +9 &:_\ O +9 &<\\\ O +10 &>P`\ P +9 &@[\ O +9 &Af\ P +10 &Cs\ R +9 &EJ\ U +10 &G \ T +9 &H\ U +9 &J\ U +10 &LO\ U +9 &N\ V +9 &O\ V +10 &Q\ V +9 &SR\ W +10 &U\ W +9 &V\ W +9 &X\ V +10 &Z[\ W +9 &\\\ W +9 &]\ 5 +10 &^6x\ D +8 ( +2 &^!\ 2 +2 "processing"% & +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + "processing"%i& +4 "core" &^"\ 2 +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&d% +4 "core" %  b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&v' +96 "core" ' + .tPSV.dial PSR +2 "processing"%\ +73 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%}'X\\ +1105 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%,' +1621 "core" ' + .tPSV.dial PTV +2 "processing"%z +73 "core" + .tPTV.dial :puck +2 "processing"%Y  +72 "core"  + .tPBV.dial :waste1 +2 "processing"%  +55 "core" +2 .tPS.seek 0ml + "processing"%k'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"% +73 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%' +590 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +2141 "core" ' + .tPSV.dial PTV +2 "processing"% +74 "core" + .tPBV.dial PSV +2 "processing"%~ U +55 "core" W +2 .tPS.seek 0ml + "processing"%r'ؾ +2653 "core" ' + .tPSV.dial PBV +2 "processing"% @ +44 "core" ? +2 .tPS.seek 2.5ml + "processing"%m' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +72 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%{' +2642 "core" ' + .tPSV.dial PTV +2 "processing"% +70 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%'ؾ +2653 "core" ' + .tPSV.dial PBV +2 "processing"% @ +44 "core" ? +2 .tPS.seek 2.5ml + "processing"%(' +2625 "core" ' + .tPSV.dial :waste1 +2 "processing"%+  +83 "core"  +2 .tPS.seek 0ml + "processing"%)'ؾ +2636 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" & K # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&a( +4 "core" ( + "manipulator"&& +4 "core" & k # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +2 "core" & X # +2 .tForearm.seek PC +2 "manipulator"&n' +92 "core" ' + .tHand.close + "manipulator"&/ +69 "core" / +2 .tPC.seek :open + "processing"%5( +458 "core" ( + "manipulator"& & +4 "core" & # + "manipulator"&/% +4 "core" %  \ +2 .tForearm.seek :retract + "manipulator"&o' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(- +127 "core" ( + "manipulator"&& +4 "core" &- ]  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&t'w +101 "core" ' + .tHand.open + "manipulator"&"1 +54 "core" 1 + "manipulator"&'% +4 "core" % {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +101 "core" ' +2504 #t-> exit +4 #mEXIT @1622748589.53EDT @1624035243.31EDT = =tMAIN =mMAIN_scheduler @EDT1624035245.12 #"core_reset"Sent BREAK +2 #t@59945 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +274 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +388 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +4 "Can"<\ !o <\ !o + #tPolling Can every 10:00 +2 #Cleanly exited at 15:29:49EDT03-Jun-21 +1158 #-> ESP.ready? +503 #-> ESP.ready! +3 #Powering core bus +503 .Gate.power :raw,:ON +3 "sampler") +23 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %T\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" % 7\ +2 .tSS.configure :default +2 "sampler")#.0X access 2 +2 .SE.seek :down +2 "storage"(;' +3 "core" ' + "manipulator"&<% +4 "core" %    +2 "manipulator"&=& +3 "core" &  v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(>(K +680 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (?& +3 "core" &K  \  +2755 #t-> access 3 +2 .SE.seek :down + "storage"(@' +4 "core" ' + "manipulator"&A% +4 "core" %  H  +2 "manipulator"&B& +3 "core" & v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(C([ +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (D& +3 "core" &[ H\  +1000 #t-> access 4 +2 .SE.seek :down + "storage"(E' +4 "core" ' + "manipulator"&F% +4 "core" %  n  + "manipulator"&G& +4 "core" & b v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(H(C +1926 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (I& +3 "core" &E  B\ +1786 #t-> access 5 +2 .SE.seek :down +2 "storage"(J' +2 "core" ' +2 "manipulator"&K% +4 "core" %   ]  + "manipulator"&L& +4 "core" &    v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(M(  +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (N& +3 "core" &  \  +943 #t-> access 6 +2 .SE.seek :down +2 "storage"(O' +2 "core" ' +2 "manipulator"&P% +4 "core" %  ~  + "manipulator"&Q& +4 "core" & b v + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(R( +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (S& +3 "core" &  \  +8273 #t-> require 'shuffle.rb' +2580 #-> 5.times {shuffle 2..6; delay 10} +2 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'T& +4 "core" & 7\  + .tHand.open + "manipulator"&U1 +58 "core" 1 + "manipulator"&V% +4 "core" %   +2 "storage"(W% +3 "core" % \ +2 "storage"(X. +3 "core" .( + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(Y(  +359 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (Z& +3 "core" &   M\ + "manipulator"&[& +4 "core" &  v +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&\\( +2 "core" ( +2 "manipulator"&]& +3 "core" &  v +2 "storage"(^& +3 "core" & \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'S +96 "core" ' +2 "storage"(`& +4 "core" &  \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'r +298 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" &  j\  + "manipulator"&d& +4 "core" & ( v +2 .tElbow.seek 2 + "manipulator"&e( +3 "core" ( + "manipulator"&f& +4 "core" &   v + "storage"(g& +4 "core" &   \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&h'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&i/ +74 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&j& +2 "storage"(k' +6 "core" &  q v +2 "manipulator"&l% +3 "core" % ϻ +2 .tForearm.seek :retract +2 "manipulator"&m' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&n(ӂ +156 "core" ( + "manipulator"&o& +5 "core" &y6  9 K + ' + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &p& +2 "core" &z6  R K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&q'? +104 "core" ' + "manipulator"&r& +4 "core" &Ӭ- Dz +2 "manipulator"&s% +4 "core" %@ g  +2 "collection"'t& +4 "core" & \\\  +2 "collection"'u& +5 "core" & X\  +2 .tCC.seek :closed + "collection"'v(\\ +4 "core" & \\\  +8 &I [\ &j +9 &yY g\ 9 +9 &~ `\ N +10 &] `\ O +9 &OZ ]\ O +9 &] _\ O +10 &] Z\ O +9 &\\ d\ P +10 &X[ d\ O +9 &\\ f\ P +9 &Z b\ O +10 &!Z _\ O +9 &#aZ _\ O +9 &%#Y \\\ O +10 &&Z ]\ O +9 &(Y ]\ N +10 &*iY V\ O +9 &,,Z X\ N +9 &-Z X\ O +10 &/Y [\ N +9 &1pZ [\ O +9 &34Z c\ N +10 &4[ f\ O +9 &6] _\ O +10 &8yY ^\ O +9 &:<Z ]\ N +9 &;Z e\ O +10 &=\\ Z\ O +9 &?[ ^\ O +9 &ABZ ^\ O +10 &Cb g\ P +9 &Di ^\ Q +10 &Fs [\ R +9 &H9 g\ U +9 &I h\ X +10 &K g\ Z +9 &Mm g\ [\ +9 &O/ _\ [\ +10 &P e\ \\ +9 &R `\ \\ +10 &To Z\ ] +9 &V/ _\ ^ +9 &W ^\ ^ +10 &Y ^\ _ +9 &[q a\ L +9 &\\@ g\ + +10 &\\ d\ V +6 ( + "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&w1 +3 "core" &\\n e\ V +57 1 + "manipulator"&x% +4 "core" % = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&y' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%z& +4 "core" &\  + "manipulator"&{% +4 "core" %  <  +2 "storage"(|% +3 "core" % \ +2 "storage"(}. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(~(  +11 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &  E\ +2 "manipulator"&& +3 "core" &Ӭ- Dz +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +165 "core" ( + "manipulator"&& +4 "core" &   T +2 "storage"(& +3 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +92 "core" ' + "storage"(& +4 "core" &  N\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (\ & +3 "core" &  \ + "manipulator"& & +4 "core" & K T +2 .tElbow.seek 2 + "manipulator"& ( +3 "core" ( + "manipulator"& & +4 "core" & T + "storage"(& +4 "core" &  ]\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +66 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +4 "storage"(' +3 "core" & B T +2 "manipulator"&% +3 "core" % Ϸ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +71 "core" ( + "manipulator"&& +4 "core" & 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &  2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&& +4 "core" & 2 +2 "manipulator"&% +3 "core" %    +2 "processing"%& +4 "core" &\  +2 "processing"%"& +5 "core" &\  +2 .tPC.seek :closed + "processing"%%(^ +4 "core" &\  +8 &3{ \ +| +10 &b\ |@ +9 &>z\ \ }Q +10 &X\ Q +9 &\\\ Q +9 &Y \ P +10 &EY\ Q +9 &_\ P +9 &[\ P +10 &Y \ Q +9 & N] \ P +10 &"\\ \ P +9 &#[\ Q +9 &%W\ P +10 &'V] \ P +9 &)Z\ Q +9 &*\\\ Q +10 &,]\ Q +9 &.^[\ P +10 &0 Z\ P +9 &1Y\ P +9 &3Y \ P +10 &5e[\ Q +9 &7(Z\ P +9 &8]\ Q +10 &:`\ Q +9 &/`\ Q +9 &?[\ Q +9 &A_ \ Q +10 &Cqj\ R +9 &E0n\ ~S +9 &F}\ }T +10 &H \ zV +9 &Jl\ zW +10 &L/\ zV +9 &M \ yW +9 &O\ yW +10 &Qr \ wW +9 &S4\ xW +9 &T\ wW +10 &V\ yW +9 &X{\ xW +10 &Z<"\ xW +9 &[#\ vX +9 &]\ xD +10 &^&j\ !a +9 &^4\ 6 +2 ( +2 "processing"%"& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&'1 +60 "core" 1 + "manipulator"&)% +4 "core" %  @  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&(' +94 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%& +4 "core" &^-\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" % ! % + "storage"(#% +4 "core" % a _ \ + "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(-(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (.& + "manipulator"&/& +6 "core" &  2 + &  b m L\ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b + .tElbow.seek PC +5 "manipulator"&0( +3 ."raiseStack"SE.seek :beamBreak + "storage"(1'r +3 "core" ( + "manipulator"&2& +4 "core" & V 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" & 2 +2 .tForearm.seek PC + "manipulator"&4' +92 "core" ' + .tHand.close + "manipulator"&5/ +72 "core" / +2 .tPC.seek :open + "processing"%6( +88 "core" ' + "storage"(7- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(8'1 +48 "core" ' +311 ( + "storage"(9& +4 "core" &  .\ + "manipulator"&:& +4 "core" & G 2 + "manipulator"&<% +4 "core" %  & 7 +2 .tForearm.seek :retract + "manipulator"&=' +104 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +262 "core" ( + "manipulator"&!& +4 "core" &  +2 "storage"(?& +3 "core" &  3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&A'S +93 "core" ' + .tHand.open + "manipulator"&B1 +59 "core" 1 + "storage"(;- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(>' +27 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(D' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"(G& +4 "core" &  j n \ l +2 "manipulator"&@& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&C( +4 "core" ( + "manipulator"&I& +4 "core" &  + "storage"(K& +4 "core" &  l i \ l +2 .tForearm.seek 2 + 450 counts + "manipulator"&L'S +20 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(E'" +51 "core" ' + "manipulator"&H& +4 "core" & ,  +2 "storage"(N& +4 "core" &  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&P'Α +28 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(J' +24 "core" ' + "manipulator"&M% +5 "core" %Ξ  p + "storage"(S& +5 "core" &  \ + .tForearm.force -20 + "manipulator"&5 +39 .tForearm.seek 2 + 313 counts +10 "manipulator"&T' +17 "core" ' + "manipulator"&U& +4 "core" & m  +2 "storage"(V& +4 "core" &  p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&W'S +16 "core" ' + "storage"(X% +4 "core" % i\ +3 ."downElevator"SE.seek :down +3 "storage"(R' +99 (Z% +3 "core" %I g h \ Yl +2 "manipulator"&[% +4 "core" %O x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +93 "core" ' +64 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (^& +4 "core" &  \ +2 "collection"'`& +3 "core" &\\m K\ V +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %  k  + "storage"(&% +4 "core" % V\ +2 "storage"(b. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(O(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (c& +3 "core" &  B\  +2 "manipulator"&d& +3 "core" & T  +2 .tElbow.seek 2 + "manipulator"&f( +4 "core" ( + "manipulator"&g& +4 "core" &    +2 "storage"(i& +3 "core" &  B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&j'S +94 "core" ' +2 "storage"(l& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'r +295 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&o& +2 "core" &  +2 "storage"(p& +4 "core" &  z J\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&a'Α +15 "core" ' + .tElbow.hold + "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(r- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(s'\\ +30 "core" ' + "manipulator"&e% +4 "core" %Σ  L +2 "storage"(t& +3 "core" &  U\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&k' +16 "core" ' + "manipulator"&m& +4 "core" &   +2 "storage"(+& +3 "core" &  n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&w'S +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(x' +36 "core" ' + "manipulator"&z& +4 "core" & <  +2 "manipulator"&{% +4 "core" %G U + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&}(ӂ +172 "core" ( + "manipulator"&u& +4 "core" &ӌ  3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ ~ 3 +2 .tForearm.seek CC +3 "manipulator"&'? +101 "core" ' + .tHand.close + "manipulator"&/ +71 "core" / + .tCC.seek :open +2 "collection"'q( +451 "core" ( + "storage"(& +4 "core" &  X\  + "storage"(& +4 "core" &  #\  + "manipulator"&Y& +4 "core" &ӌ [ 3 + "manipulator"&% +4 "core" % ? L +2 .tForearm.seek :retract + "manipulator"&n' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&y( +164 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(\ & +3 "core" &   F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"& 'Α +94 "core" ' + .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&% +5 "core" % Τ   + "storage"(& +4 "core" &  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +16 "core" ' +2 "manipulator"&& +4 "core" &  < { + "storage"(& +4 "core" &   1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' + "storage"(% +4 "core" %   ,\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +3 "core" %?G  \ Xh +2 "manipulator"& % +3 "core" %O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" & "\ + "manipulator"&% +4 "core" %   + "storage"(% +4 "core" % .\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(*( +349 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ('& +3 "core" & `\ \ + "manipulator"&)& +4 "core" & y { + .tElbow.seek 3 +2 "manipulator"&( +11 "core" ( + "manipulator"&& +4 "core" & x +2 "storage"(#& +3 "core" & [\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&,'7 +93 "core" ' + "storage"("& +4 "core" &  '\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'r +299 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" & \ \ +2 "manipulator"&3& +3 "core" &  } x +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&5& +4 "core" &  t x + "storage"(~& +4 "core" &\ \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&7'ϡ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +73 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"(%' +8 "core" & x +2 "manipulator"&1% +3 "core" %   U y +2 .tForearm.seek :retract +2 "manipulator"&9' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&:(ӂ +153 "core" ( + "manipulator"&<& +5 "core" &x3 x H ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&4& +5 "core" &y2 w H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&!'? +93 "core" ' + "manipulator"&?& +4 "core" &ӛ-  z Dv +2 "manipulator"&0% +4 "core" %@  k h + "collection"'B& +4 "core" & 5\ +2 "collection"';& +5 "core" & Q\ +2 .tCC.seek :closed + "collection"'F(\\ +6 "core" & X\ +7 & , Z\ $c +9 &U} Y\ 8 +9 &~{ Z\ L +10 &] Y\ O +9 &YW ]\ O +9 &Y Z\ N +10 &Y X\ O +9 &Z Z\ O +10 &a] Y\ O +9 &$Z Y\ N +9 &Y Z\ N +10 &!W Y\ O +9 &#i] ]\ O +9 &%,Z \\\ N +10 &&X Z\ N +9 &(Y Y\ N +10 &*rW R\ N +9 &,3\\ Y\ O +9 &-Z X\ O +10 &/W Z\ O +9 &1zX U\ N +9 &3<W Y\ N +10 &4X Y\ O +9 &6Z Z\ O +10 &8Z Z\ O +9 &:CW X\ O +9 &<U S\ O +10 &=X W\ N +9 &?X Y\ N +9 &ALY [\ N +10 &C ^ \\\ O +9 &Dd c\ P +10 &Fo Z\ R +9 &HA f\ U +9 &I W\ Y +10 &K Y\ [\ +9 &Mq ]\ \\ +9 &O3 Y\ \\ +10 &P Y\ ] +9 &R X\ \\ +10 &Tt X\ ^ +9 &V6 Z\ ^ +9 &W T\ ` +10 &Y R\ ` +9 &[w V\ L +9 &\\< Y\ 1 +10 &\\t [\ T +3 ( + "collection"';& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&G1 +65 "core" 1 +2 "manipulator"&@% +4 "core" % @ F h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%K& +4 "core" &\ + "manipulator"&=% +4 "core" % \  0  +2 "storage"(H% +3 "core" % \ +2 "storage"(N. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(M( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (8& +3 "core" & ;\  + "manipulator"&S& +4 "core" &ӛ-  ~ Dv +2 "manipulator"&>% +3 "core" % \     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&U( +167 "core" ( + "manipulator"&V& +4 "core" &  o +2 "storage"( & +3 "core" & Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&X'7 +90 "core" ' + "storage"(A& +4 "core" & v\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(D'r +301 "core" ' + "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (L& +3 "core" & F\  + "manipulator"&[& +4 "core" &  o +2 .tElbow.seek 3 + "manipulator"&C( +3 "core" ( +2 "manipulator"&E& +4 "core" & / o + "storage"(P& +4 "core" & :\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&T'ϡ +47 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&^/ +72 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&`& +2 "storage"($' +6 "core" & o +2 "manipulator"&&% +3 "core" % φ 3 x +2 .tForearm.seek :retract +2 "manipulator"&J' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&b( +166 "core" ' + ."downElevator"SE.coast +48 "storage"(5 +43 "core" ( +2 "manipulator"&c& +4 "core" & c \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" & [ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&g' +100 "core" ' + "manipulator"&i& +4 "core" & s \ +2 "manipulator"&W% +4 "core" % | +2 "processing"%l& +3 "core" &\ +2 "processing"%R& +5 "core" &\ +2 .tPC.seek :closed + "processing"%-(^ +4 "core" &\ \ +9 &.v\ +z +9 &a\ }? +10 &ey \ ~P +9 &%\\\ P +9 &[\ \ P +10 &\\\ P +9 &k]\ \ P +9 &-]\ P +10 &]\ Q +9 &Y\ P +10 & s[\ P +9 &"7V\ P +9 &#\\\ P +10 &%Z\ P +9 &'{Z\ P +9 &)=Y\ P +10 &*X\ P +9 &,\\\ Q +10 &.Y\ \ P +9 &0E] \ P +9 &2[\ P +10 &3Y\ P +9 &5Z\ Q +9 &7M[\ P +10 &9[\ Q +9 &:] \ Q +10 &<Y\ P +9 &>T`\ Q +9 &@\\\ Q +10 &Ab \ Q +9 &Cm\ S +9 &ETs\ ~T +10 &G \ |T +9 &H\ {V +10 &J\ zV +9 &LS\ zV +9 &N \ yX +10 &O\ zW +9 &Q\ xX +9 &SW\ zX +10 &U\ yX +9 &V\ yX +10 &X\ yX +9 &Z` \ xW +9 &\\!\ xX +10 &] \ |8 +9 &^.x \ ~W +9 &^0 \ 7 +4 ( + "processing"%R& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&Q1 +63 "core" 1 + "manipulator"&]% +4 "core" %  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%o& +4 "core" &^.\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&p% +4 "core" %  N  +2 "storage"(r% +3 "core" % f f A\ +2 "storage"(e. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(t( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (m& +4 "manipulator"&+& +2 "core" & ` d \  +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &  \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&z( + "storage"({'r +5 "core" ( + "manipulator"&j& +4 "core" & \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +2 "core" & k \ +2 .tForearm.seek PC +2 "manipulator"&\\' +95 "core" ' + .tHand.close + "manipulator"&a/ +71 "core" / + .tPC.seek :open +2 "processing"%k( +83 "core" ' + "storage"(s- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(u'1 +47 "core" ' +317 ( + "storage"(& +4 "core" & \  + "manipulator"&w& +4 "core" & M \ + "manipulator"&h% +4 "core" %  ` + +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&|( +268 "core" ( + "manipulator"&v& +4 "core" & ` [ +2 "storage"(& +3 "core" & +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' + .tHand.open + "manipulator"&Y1 +57 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"( ' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(\ ' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(}& +4 "core" & g ] z\ j + "manipulator"&& +4 "core" & ! [ +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & [ +2 "storage"(& +3 "core" & g ] 1\ i +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' + "manipulator"&n& +4 "core" & # [ +2 "storage"(& +3 "core" & v f \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"& 'u +22 "core" ' + .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"( ' +24 "core" ' + "manipulator"&% +4 "core" %Έ  +2 "storage"(& +4 "core" & F\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ϴ +16 "core" ' + "manipulator"&& +5 "core" &  k Y + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&x'7 +17 "core" ' + "storage"(% +4 "core" % &\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (O% +4 "core" %: ~ f ;\ We +2 "manipulator"&'% +4 "core" %: +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +92 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +3 "core" & K\ +2 "collection"'#& +4 "core" &\\n (\ T +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&"% +4 "core" %    + "storage"( % +4 "core" % \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(.( +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (2& +2 "core" & z C\  +2 "manipulator"&3& +4 "core" &  z Y +2 .tElbow.seek 3 + "manipulator"&5( +4 "core" ( + "manipulator"&~& +4 "core" & r Y +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&('7 +94 "core" ' + "storage"(1& +4 "core" & m\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&<& +3 "core" &  G Y +2 "storage"(4& +4 "core" & G\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&/'u +19 "core" ' + .tElbow.hold + "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(?- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(0'f +28 "core" ' + "manipulator"&B% +4 "core" %} L 0 + "storage"(& +4 "core" & &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&%'ϩ +25 "core" ' + "manipulator"&9& +4 "core" &  Y +2 "storage"(q& +3 "core" & *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&G'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(@' +36 "core" ' + "manipulator"&K& +4 "core" & Y +2 "manipulator"&=% +4 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&;(ӂ +171 "core" ( + "manipulator"&N& +4 "core" &Ӎ ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &Ӎ ( + .tForearm.seek CC +2 "manipulator"&S'? +94 "core" ' + .tHand.close + "manipulator"&>/ +71 "core" / + .tCC.seek :open + "collection"'!( +449 "core" ( +2 "storage"(V& +4 "core" &  }\  + "storage"( & +4 "core" & Z\  + "manipulator"&*& +4 "core" &Ӎ  + ( + "manipulator"&A% +4 "core" % J  O + .tForearm.seek :retract +2 "manipulator"&:' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&I( +162 "core" ( + "manipulator"&Z& +4 "core" & + ] +2 "storage"(L& +3 "core" &  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 + "manipulator"&['u +101 "core" ' + .tElbow.hold + "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&P1 +60 "core" 1 + "manipulator"&^% +5 "core" % ΃ + "storage"(`& +3 "core" & U\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts + "manipulator"&&'ϯ +25 "core" ' +2 "manipulator"&U& +4 "core" & y Z + "storage"(X& +4 "core" &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&D'7 +14 "core" ' + "storage"(T% +4 "core" %  i\ +2 ."downElevator"SE.seek :down +4 "storage"(c' +99 (d% +3 "core" %gJ 7\ Xf +2 "manipulator"&C% +3 "core" %B * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +96 "core" ' +49 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'W& +4 "core" & '\ +2 "manipulator"&l% +3 "core" % ! m + +2 "storage"($% +4 "core" % j\ + "storage"(J. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(6(,y +358 "core" ( + .tSC.reconfigure :loose +41 "storage"($.\ 1~b +12 (Q& +2 "core" &,| f\  +2 "manipulator"&]& +4 "core" & Z + .tElbow.seek 4 +2 "manipulator"&o( +50 "core" ( + "manipulator"&p& +4 "core" & I  +2 "storage"(r& +3 "core" &,z %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&e' +98 "core" ' + "storage"(R& +4 "core" &,z   >\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'r +300 "core" ' + "storage"(+- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +2 "core" &,z  \  +2 "manipulator"&f& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&g( +3 "core" ( + "manipulator"&a& +4 "core" & Y  +2 "storage"(M& +3 "core" &,z 0\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&s'c +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +68 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&_& +4 "storage"(-' +3 "core" & z  +2 "manipulator"&{% +4 "core" % [  D + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&w(ӂ +158 "core" ( + ' + ."downElevator"SE.coast +3 "manipulator"&h& + "storage"(5 +7 "core" &Ӆ2 t H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +2 "core" &ӆ2 ; H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v'? +94 "core" ' +2 "manipulator"&& +4 "core" &Ӈ1  [ G +2 "manipulator"&z% +3 "core" %8  b +2 "collection"'Y& +4 "core" & >\ +2 "collection"'& +6 "core" & <\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & ^\ +7 &; d\ %f +10 &V} b\ 8 +9 &~y `\ L +9 &Y d\ O +10 &jY ^\ O +9 &,Y c\ O +10 &U g\ N +9 &\\ i\ O +9 &sX i\ N +10 &6W d\ N +9 &W j\ N +9 &!T n\ N +10 &#{U m\ N +9 &%=T o\ N +10 &'T o\ N +9 &(X m\ O +9 &*W k\ N +10 &,EY p\ N +9 &.W n\ N +9 &/S j\ N +10 &1Y d\ N +9 &3MX h\ N +10 &5X l\ O +9 &6W e\ N +9 &8X h\ O +10 &:UY o\ N +9 &<X k\ N +9 &=U o\ N +10 &?Y n\ N +9 &A^V p\ N +10 &C` u\ O +9 &De m\ O +9 &Fs k\ Q +10 &HT t\ T +9 &J\ r\ X +9 &K p\ Z +10 &M o\ Z +9 &OI t\ [ +10 &Q\ u\ [\ +9 &R s\ \\ +9 &T r\ ] +10 &VJ r\ ] +9 &X\ q\ ^ +9 &Y r\ _ +10 &[ r\ L +9 &\\7 q\ . +10 &\\ v\ X +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&}1 +3 "core" &\\u p\ X +50 1 +2 "manipulator"&% +4 "core" % 8 9 b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +100 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &!\ + "manipulator"&% +4 "core" %  7 +2 "storage"(n% +3 "core" % _ e ~\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &,z h j S\  +2 "manipulator"&u& +3 "core" &Ӊ1 7 G +2 "manipulator"&% +4 "core" %  R + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +168 "core" ( + "manipulator"& & +4 "core" &  o +2 "storage"(& +3 "core" &,z 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&|' +98 "core" ' + "storage"(& +4 "core" &,z \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'r +297 "core" ' + "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" &,z k g \\\  +2 "manipulator"&& +3 "core" & H o +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +3 "core" &  o +2 "storage"( & +3 "core" &,z \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +71 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&#& + "storage"("' +6 "core" & t o +2 "manipulator"& % +4 "core" % n g + .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +96 "core" ( +2 "manipulator"&2& +4 "core" &  u  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +2 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&~' +100 "core" ' + "manipulator"&& +4 "core" & )  +2 "manipulator"&x% +4 "core" % B  + "processing"%1& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%t(^ +4 "core" &\  +9 &.u"\ z+z +9 &b#\ u? +10 &cx(\ vP +9 &!Z"\ {Q +9 &Z)\ {Q +10 &Y*\ {Q +9 &hZ*\ {P +10 &*W)\ |P +9 &\\*\ {P +9 &])\ zP +10 & pZ#\ {P +9 &"3U'\ |P +9 &#Y#\ {P +10 &%Y&\ |P +9 &'xW)\ |P +10 &):\\%\ {P +9 &*Z#\ {P +9 &,X&\ {P +10 &.Y-\ {P +9 &0C\\*\ zP +9 &2Y#\ {P +10 &3Y)\ {P +9 &5Y-\ |P +10 &7KW&\ |P +9 &9 \\+\ {Q +9 &:\\1\ {Q +10 &<Z/\ {P +9 &>R_1\ zP +9 &@^2\ zP +10 &A`3\ zQ +9 &Cf4\ yR +10 &ETr3\ xR +9 &G}3\ wT +9 &H0\ sU +10 &J3\ qW +9 &LP3\ sV +9 &N2\ rV +10 &O4\ sW +9 &Q5\ qW +10 &SV2\ rW +9 &U4\ qW +9 &V3\ oX +10 &X4\ rW +9 &Z^3\ qW +9 &\\3\ qX +10 &]3\ s7 +9 &^-n4\ wU +10 &^02\ 5 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&y1 +60 "core" 1 + "manipulator"&)% +4 "core" %  y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +96 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%<& +4 "core" &^,#\ }5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&4% +4 "core" % % ; + "storage"(?% +4 "core" % 0\ } +2 "storage"(B. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (9& + "manipulator"&q& +6 "core" & }  + &,z J\ | +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&K( +3 ."raiseStack"SE.seek :beamBreak + "storage"(='r +2 "core" ( +2 "manipulator"&(& +4 "core" & K  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" & i  +2 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close + "manipulator"&// +78 "core" / + .tPC.seek :open +2 "processing"%%( +81 "core" ' + "storage"(0- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(N'1 +45 "core" ' +324 ( + "storage"(8& +4 "core" &,z k l \  + "manipulator"&G& +4 "core" & R  + "manipulator"&7% +4 "core" %  V . +2 .tForearm.seek :retract + "manipulator"&>' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&H( +238 "core" ( + "manipulator"&F& +4 "core" &\  h m +2 "storage"(V& +3 "core" &,z D H \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +96 "core" ' + .tHand.open + "manipulator"&*1 +64 "core" 1 + "storage"(A- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(Z' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(L' +51 "core" ' + #tLights, camera, ACTION! + "storage"(S- +4 "core" -' + "storage"(;& +4 "core" &,z , + X\ b + "manipulator"&P& +4 "core" &\  E m +2 .tElbow.seek 4 + "manipulator"&^( +3 "core" ( +2 "manipulator"&`& +3 "core" &\  F m +2 "storage"(U& +3 "core" &,z - - ]\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(T'" +53 "core" ' + "manipulator"&:& +4 "core" &\  c m +2 "storage"(d& +3 "core" &,z G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&C'7 +25 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"([' +23 "core" ' + "manipulator"&W% +4 "core" %@  o s +2 "storage"(&& +4 "core" &,z Q\ { +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 309 counts + "manipulator"&l'l +15 "core" ' + "manipulator"&$& +4 "core" &\  7 m +2 "storage"(J& +4 "core" &,z n n \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +16 "core" ' + "storage"(D% +4 "core" % f k \ +3 ."downElevator"SE.seek :down +3 "storage"(c' +99 (.% +3 "core" %JI \ |Yk +2 "manipulator"&Q% +54 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +90 "core" ' +17 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (p& +4 "core" &,z m c \ +2 "collection"'r& +3 "core" &\\s O\ X +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&R% +4 "core" %  m  +2 "storage"(E% +3 "core" % d ` 4\ +2 "storage"(i. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(+(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (j& +2 "core" &,z l 5\  +2 "manipulator"&f& +3 "core" &\  m +2 .tElbow.seek 4 + "manipulator"&a( +4 "core" ( + "manipulator"&M& +4 "core" &\   m + "storage"(b& +4 "core" &,z o n \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&_' +94 "core" ' + "storage"({& +4 "core" &,z \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +295 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&h& +3 "core" &\   m +2 "storage"(\\& +3 "core" &,z k {\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&m'7 +24 "core" ' + .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(z'b +31 "core" ' + "manipulator"&Y% +4 "core" %E +2 "storage"(g& +3 "core" &,z #\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&-'q +27 "core" ' + "manipulator"&& +4 "core" &\  ( m +2 "storage"(!& +3 "core" &,z k e a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&}' +25 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +41 "core" ' + "manipulator"&& +4 "core" &  ] m +2 "manipulator"&% +4 "core" % t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +170 "core" ( +2 "manipulator"&& +4 "core" &Ӎ ( ' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӎ * ' +2 .tForearm.seek CC +2 "manipulator"&u'? +94 "core" ' + .tHand.close + "manipulator"&/ +67 "core" / + .tCC.seek :open +2 "collection"'v( +448 "core" ( + "storage"( & +4 "core" &,z \  + "storage"(& +4 "core" &,z \  + "manipulator"&6& +4 "core" &Ӎ  ' + "manipulator"&% +4 "core" % ?   6 +2 .tForearm.seek :retract + "manipulator"&w' +100 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +163 "core" ( + "manipulator"&O& +4 "core" &  W +2 "storage"('& +3 "core" &,z T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&'7 +94 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +56 "core" 1 + "manipulator"&% +5 "core" % 5   + "storage"(#& +4 "core" &,z \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 298 counts + "manipulator"& 'a +16 "core" ' +2 "manipulator"&& +4 "core" & M T + "storage"(|& +4 "core" &,z  %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +15 "core" ' + "storage"(% +4 "core" % 1\ +2 ."downElevator"SE.seek :down +4 "storage"(2' +99 (3% +3 "core" %n> Q\ Wd +2 "manipulator"&% +3 "core" % N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'x& +5 "core" & h\ + "manipulator"&1% +4 "core" %   =  +2 "storage"("% +4 "core" % \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(k(<- +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (y& +3 "core" &<* \  + "manipulator"&)& +4 "core" &  F T + .tElbow.seek 5 +2 "manipulator"&<( +3 "core" ( + "manipulator"&4& +4 "core" &  T + "storage"(?& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&B'O +95 "core" ' + "storage"(& +4 "core" &<* w\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'r +299 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" &<* ,\  +2 "manipulator"&5& +3 "core" &  a T +2 .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( + "manipulator"&/& +3 "core" &  c T +2 "storage"(& +3 "core" &<* A\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&0'Ϲ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +66 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(t' +8 "core" & - T +2 "manipulator"&=% +4 "core" % ϯ  * + .tForearm.seek :retract +2 "manipulator"&8' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&G(ӂ +155 "core" ( + "manipulator"&7& +5 "core" &ӄ-  L Dy ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&& +5 "core" &ӄ- Dy +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&F'? +103 "core" ' + "manipulator"&V& +4 "core" &Ӆ- Dx +2 "manipulator"&K% +4 "core" %3  * + "collection"'*& +4 "core" & n\ +2 "collection"'A& +5 "core" & k\ +2 .tCC.seek :closed +2 "collection"'S(\\ +4 "core" & i\  +9 &1z h\ *z +10 &d i\ ? +9 &t k\ O +9 &EY h\ O +10 &V f\ N +9 &Z h\ N +9 &W e\ O +10 &NV g\ N +9 &Z h\ N +10 &V Z\ O +9 & U e\ N +9 &"VW f\ N +10 &$S j\ N +9 &%W g\ N +9 &'T f\ N +10 &)^W `\ N +9 &+!T i\ N +9 &,W d\ N +10 &.V ^\ O +9 &0gU ^\ N +10 &2(W d\ N +9 &3W _\ O +9 &5U ]\ N +10 &7nX d\ N +9 &90Y a\ N +9 &:W V\ N +10 &<Y [\ N +9 &>vW b\ N +10 &@8W h\ N +9 &AZ i\ N +9 &C] i\ O +10 &Ewn l\ Q +9 &G2 f\ S +10 &H l\ W +9 &J i\ [ +9 &Lb u\ [ +10 &N" j\ [ +9 &O h\ \\ +9 &Q k\ ] +10 &Sa j\ ^ +9 &U# f\ ^ +10 &V i\ ^ +9 &X d\ _ +9 &Zc e\ ` +10 &\\ { j\ : +9 &\\+ m\ &q +9 &\\ ^\ Y +3 ( + "collection"'A& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&;1 +53 "core" 1 +2 "manipulator"&P% +4 "core" % 3  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&`' +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%U& +4 "core" &\ | + "manipulator"&>% +4 "core" %   + "storage"(:% +4 "core" % %\ ~ +2 "storage"(d. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(W(<- +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (&& +3 "core" &<* \ | +2 "manipulator"&N& +4 "core" &Ӈ-  , Dv + "manipulator"&$% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&J( +167 "core" ( + "manipulator"&Z& +4 "core" & , i +2 "storage"(D& +3 "core" &<* f f J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&H'O +94 "core" ' + "storage"( & +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +41 "storage"(L'r +305 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (Q& +3 "core" &<* \ 0\  +2 "manipulator"&X& +3 "core" & i +2 .tElbow.seek 5 + "manipulator"&^( +3 "core" ( +2 "manipulator"&T& +3 "core" & i +2 "storage"(C& +3 "core" &<* f e 3\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&l'Ϲ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&p/ +72 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&r& +2 "storage"(R' +6 "core" &  L i +2 "manipulator"&E% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&[' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&i( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +73 "core" ( + "manipulator"&j& +4 "core" &  ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" & ! ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&M' +104 "core" ' + "manipulator"&b& +4 "core" & D ' +2 "manipulator"&{% +4 "core" %  +2 "processing"%@& +4 "core" & \ +2 "processing"%c& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &)\  +9 &0x*\ s*y +10 &b$\ o? +9 &ay*\ pP +9 &"W)\ uP +10 &Y+\ vQ +9 &W&\ uQ +10 &gZ(\ uQ +9 &*X(\ uP +9 &V)\ uP +10 &W(\ vP +9 & pZ\ uP +9 &"2W*\ uP +10 &#X*\ vP +9 &%T*\ vP +10 &'yY)\ uP +9 &):Z$\ tP +9 &*Y(\ uQ +10 &,Y(\ uP +9 &.S#\ vP +9 &0BY*\ uP +10 &2T+\ vP +9 &3W+\ uP +10 &5W+\ uQ +9 &7JY&\ uP +9 &9 X(\ uP +10 &:W$\ vP +9 &<W(\ tP +9 &>Q\\)\ tQ +10 &@X'\ uP +9 &A_*\ tQ +10 &Cj)\ sR +9 &EPt)\ pT +9 &G %\ nV +10 &H(\ nV +9 &J#\ mW +9 &LP)\ mV +10 &N  \ iY +9 &O)\ mW +10 &Q(\ kX +9 &SS(\ kX +9 &U+\ jY +10 &V)\ lX +9 &X)\ lX +9 &Z[)\ jX +10 &\\+\ kX +9 &]*\ o7 +10 &^/p+\ qQ +9 &^-)\ y6 +2 ( +2 "processing"%c& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&I1 +63 "core" 1 + "manipulator"&]% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +89 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%h& +4 "core" &^+\ y6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&\\% +4 "core" %   + "storage"(% +4 "core" % %\ z +2 "storage"(Y. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(g(<- +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &<* ;\ x + "manipulator"&!& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & $ ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +4 "manipulator"&( +3 "core" ( + "manipulator"&_& +4 "core" & ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +2 "core" & B ' +3 .tForearm.seek PC + "manipulator"&o' +93 "core" ' + .tHand.close + "manipulator"&m/ +67 "core" / + .tPC.seek :open +2 "processing"%-( +89 "core" ' + "storage"(z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +45 "core" ' +313 ( + "storage"(& +4 "core" &<* S\ } + "manipulator"&}& +4 "core" &  ' + "manipulator"&s% +4 "core" %  = +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&n( +268 "core" ( + "manipulator"&& +4 "core" &  l +2 "storage"( & +3 "core" &<* =\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' + .tHand.open + "manipulator"&61 +58 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(O' +26 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"('' +50 "core" ' + #tLights, camera, ACTION! + "storage"(u- +4 "core" -' + "storage"(& +4 "core" &<* H 1\ [ + "manipulator"& & +4 "core" & a l +2 .tElbow.seek 5 + "manipulator"&( +12 "core" ( + "manipulator"&#& +4 "core" & M +2 "storage"(& +3 "core" &<* [ ^\ ] +2 .tForearm.seek 5 + 450 counts + "manipulator"&|'O +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +49 "core" ' + "manipulator"&w& +4 "core" &  M +2 "storage"(3& +3 "core" &<* <\ ~ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'΍ +15 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +31 "core" ' + "manipulator"&x% +4 "core" %Ξ T +2 "storage"( & +4 "core" &<* \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&1' +16 "core" ' + "manipulator"&"& +5 "core" & & K + "storage"( & +4 "core" &<* e d N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +19 "core" ' + "storage"(\ % +4 "core" % e e w\ +3 ."downElevator"SE.seek :down +3 "storage"(2' +99 (+% +4 "core" %? c\ }Wg + "manipulator"&y% +4 "core" %V  ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +88 "core" ' +73 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (4& +3 "core" &<* D C \ +2 "collection"'?& +3 "core" &\\ B\ Y +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %   d  +2 "storage"(% +3 "core" % f e c\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(9(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ((& +3 "core" &<* E D \  +2 "manipulator"&5& +3 "core" & y K +2 .tElbow.seek 5 + "manipulator"&/( +4 "core" ( + "manipulator"&& +4 "core" &  K + "storage"(& +4 "core" &<* D Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&,'O +92 "core" ' + "storage"(=& +4 "core" &<* n o K\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'r +301 "core" ' + "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&7& +3 "core" & K +2 "storage"(& +3 "core" &<* ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&q'΍ +18 "core" ' + .tElbow.hold + "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(V- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(K'f +30 "core" ' + "manipulator"&~% +4 "core" % f  + "storage"(*& +4 "core" &<* \ } +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 5 + 286 counts + "manipulator"&t'ϫ +25 "core" ' + "manipulator"&8& +53 "core" & t K + "storage"(v& +4 "core" &<* \  E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&;'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(P' +35 "core" ' + "manipulator"&U& +4 "core" & K +2 "manipulator"&>% +4 "core" %= G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&d(ӂ +166 "core" ( +2 "manipulator"&A& +4 "core" &ӎ  6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +2 "core" &ӎ R 6 +2 .tForearm.seek CC +2 "manipulator"&N'? +98 "core" ' + .tHand.close + "manipulator"&$/ +66 "core" / + .tCC.seek :open +2 "collection"'F( +452 "core" ( + "storage"(Z& +4 "core" &<* \  + "storage"(D& +4 "core" &<* 2\  +2 "manipulator"&k& +3 "core" &ӎ ` 6 +2 "manipulator"& % +3 "core" % 8  f B +2 .tForearm.seek :retract + "manipulator"&G' +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&`( +163 "core" ( + "manipulator"&.& +4 "core" & u  +2 "storage"(Q& +3 "core" &<* V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&X'΍ +96 "core" ' + .tElbow.hold + "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +54 "core" 1 + "manipulator"&p% +5 "core" % Ν  6 + "storage"(r& +4 "core" &<* \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&E' +16 "core" ' +2 "manipulator"&J& +4 "core" & I ~ + "storage"(H& +4 "core" &<* ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +19 "core" ' + "storage"(l% +4 "core" % j\ +2 ."downElevator"SE.seek :down +3 "storage"(j' +100 (f% +3 "core" %C e\ We +2 "manipulator"&^% +4 "core" %` S + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +88 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'{& +5 "core" & <\ + "manipulator"&@% +4 "core" %  +  +2 "storage"(R% +3 "core" % \ +2 "storage"([. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(%(K +383 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (I& +3 "core" &K s\ + "manipulator"&]& +4 "core" & ~ +2 .tElbow.seek 6 + "manipulator"&h( +3 "core" ( + "manipulator"&\\& +4 "core" & ~ + "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +94 "core" ' + "storage"(c& +4 "core" &K  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +49 "Can"(\ NL +243 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +2 "core" &K Y\  +2 "manipulator"&a& +4 "core" & % ~ +2 .tElbow.seek 6 + "manipulator"&M( +3 "core" ( +2 "manipulator"&m& +3 "core" & ~ +2 "storage"(W& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&z'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&i/ +77 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"(' +8 "core" & X ~ +2 "manipulator"&% +3 "core" % τ > +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&}(ӂ +157 "core" ( +2 "manipulator"&s& +4 "core" ' + &ӌ. > E + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &o& +3 "core" &ӌ. E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +101 "core" ' + "manipulator"& & +4 "core" &ӗ+ Ct +2 "manipulator"&% +4 "core" %C % + "collection"'6& +5 "core" & t\ +2 "collection"'& +5 "core" & n\ +2 .tCC.seek :closed + "collection"'u(\\ +5 "core" & s\ +7 & , k\ $d +9 &V{ j\ 8 +10 &y k\ L +9 &X o\ N +10 &cW g\ N +9 &%V p\ N +9 &W l\ N +10 &W s\ N +9 &lW i\ N +9 &.W m\ N +10 &Y w\ N +9 &!V t\ M +10 &#tY z\ N +9 &%6T m\ N +9 &&U l\ M +10 &(W m\ N +9 &*|T j\ N +9 &,?X p\ M +10 &.V n\ N +9 &/T t\ N +10 &1T i\ N +9 &3FU r\ N +9 &5Z x\ N +10 &6W s\ M +9 &8V z\ N +9 &:OW q\ M +10 &<V l\ N +9 &=Z u\ N +10 &?V v\ N +9 &AUU v\ N +9 &C[ u\ N +10 &Db v\ O +9 &Fq w\ Q +9 &HM v\ S +10 &J x\ W +9 &K w\ Z +10 &M w\ Z +9 &O@ z\ [ +9 &Q v\ [\ +10 &R y\ \\ +9 &T t\ ] +9 &VA z\ ] +10 &X v\ ^ +9 &Y y\ _ +10 &[ v\ L +9 &\\9 z\ 1 +9 &\\w w\ V +7 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&1 +4 "core" &\\m w\ V +59 1 +2 "manipulator"& % +4 "core" % C a % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&#' +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &(\ y + "manipulator"&% +4 "core" %  / # +2 "storage"(w% +3 "core" % &\ { +2 "storage"(3. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(x(K +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ( & +3 "core" &K 2\ x +2 "manipulator"&& +3 "core" &ә+ ] Cr +2 "manipulator"&"% +3 "core" %  @ # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +168 "core" ( + "manipulator"&O& +4 "core" &  s +2 "storage"(\ & +3 "core" &K g e o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&n' +95 "core" ' + "storage"(& +4 "core" &K s\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''r +295 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (y& +3 "core" &K d a H\ + "manipulator"&|& +4 "core" &  x s +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & s + "storage"(& +4 "core" &K f f m\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&1'h +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&4/ +77 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(' +8 "core" & C s +2 "manipulator"&% +4 "core" % ω + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +70 "core" ( +2 "manipulator"&(& +4 "core" & _ P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" & R P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +103 "core" ' + "manipulator"&& +4 "core" & Q P +2 "manipulator"&% +4 "core" %  a +49 "processing"%=& +5 "core" & \ +2 "processing"%2& +5 "core" &"\ +2 .tPC.seek :closed + "processing"%g(^ +4 "core" &!\ \ +9 &.t$\ x*y +9 &b)\ u? +10 &cw&\ tP +9 &$T$\ wP +10 &W(\ |P +9 &W*\ wP +9 &kU)\ wP +10 &,Y*\ }P +9 &Y%\ }P +9 &Y(\ ~P +10 & sX(\ }P +9 &"7U\ |O +10 &#W(\ xP +9 &%U)\ wP +9 &'{W)\ }P +10 &)=W(\ zP +9 &*X&\ xP +9 &,Y/\ vP +10 &.V,\ yP +9 &0EY)\ vP +10 &2W0\ uP +9 &3W/\ uP +9 &5W(\ wP +10 &7LX)\ wP +9 &9\\'\ wP +9 &:Z0\ wQ +10 &<X,\ xP +9 &>T\\)\ zP +10 &@Z/\ yQ +9 &Aa-\ vQ +9 &Ci(\ tR +10 &ETs,\ tS +9 &G'\ xV +9 &H0\ uV +10 &J0\ tV +9 &LR,\ pW +10 &N/\ mW +9 &O1\ rW +9 &Q1\ rX +10 &SV2\ oX +9 &U,\ sX +9 &V/\ nW +10 &X1\ mX +9 &Z`4\ lW +10 &\\"4\ nW +9 &]2\ y9 +9 &^/.\ y[ +10 &^8.\ : +2 ( +2 "processing"%2& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&1 +57 "core" 1 + "manipulator"&)% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +99 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%7& +4 "core" &^6"\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" % % 2 = +2 "storage"(V% +4 "core" % 6\ + "storage"(~. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(*(K +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (8& + "manipulator"&v& +4 "core" &K \  f\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" &   P +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(U'r + "manipulator"&>( +6 "core" ( + "manipulator"&,& +4 "core" &  P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" & P +2 .tForearm.seek PC + "manipulator"&<' +92 "core" ' +2 .tHand.close + "manipulator"&q/ +71 "core" / + .tPC.seek :open +2 "processing"%t( +87 "core" ' + "storage"(K- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(A'1 +44 "core" ' +316 ( +2 "storage"(&& +4 "core" &K k g \ + "manipulator"&;& +4 "core" & ^ P + "manipulator"&0% +4 "core" %   E +2 .tForearm.seek :retract + "manipulator"&$' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&:( +264 "core" ( + "manipulator"&S& +4 "core" &   +2 "storage"(Z& +3 "core" &K l l \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&D' +93 "core" ' + .tHand.open + "manipulator"&k1 +65 "core" 1 +2 "storage"( - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(.' +23 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(Q' +51 "core" ' + #tLights, camera, ACTION! + "storage"(N- +4 "core" -' + "storage"(d& +4 "core" &K W R *\ f + "manipulator"&C& +4 "core" & `  +2 .tElbow.seek 6 + "manipulator"&p( +3 "core" ( +2 "manipulator"&r& +3 "core" &  +2 "storage"(J& +4 "core" &K 4 ,\ d +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(l'" +51 "core" ' + "manipulator"&G& +4 "core" &  +2 "storage"(f& +3 "core" &K q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&^'< +24 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(X' +29 "core" ' + "manipulator"&{% +4 "core" %P P +2 "storage"(E& +4 "core" &K g\ ~ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&@'| +23 "core" ' + "manipulator"&R& +4 "core" & 2  +2 "storage"([& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +17 "core" ' + "storage"(L% +5 "core" % j\ +2 ."downElevator"SE.seek :down +3 "storage"(j' +99 (9% +3 "core" %"K e d P\ Yk +2 "manipulator"&I% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&]' +89 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (\\& +4 "core" &K u \ + "collection"'& +4 "core" &\\m V\ V + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&c% +4 "core" %   =  +2 "storage"(T% +3 "core" % !\ +2 "storage"(b. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(!(K +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (_& +3 "core" &K } !\ +2 "manipulator"&a& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&m( +4 "core" ( + "manipulator"&W& +4 "core" &  + "storage"(i& +4 "core" &K y u \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +93 "core" ' + "storage"(& +4 "core" &K F\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'r +301 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +2 "core" &  +2 "storage"(o& +4 "core" &K y\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +26 "core" ' + .tElbow.hold + "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"('a +28 "core" ' + "manipulator"&6% +4 "core" %P d Z + "storage"(M& +4 "core" &K m o \ + .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&'| +24 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(F& +3 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +19 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"( ' +42 "core" ' + "manipulator"&& +4 "core" &  +2 "manipulator"&% +4 "core" % A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&3(ӂ +169 "core" ( + "manipulator"&& +5 "core" &ӎ W 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӎ [ 2 +2 .tForearm.seek CC + "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&"/ +70 "core" / + .tCC.seek :open + "collection"'( +449 "core" ( + "storage"(O& +4 "core" &K T\ + "storage"(\ & +4 "core" &K J\ + "manipulator"&%& +4 "core" &ӎ  X 2 + "manipulator"&% +4 "core" % =  A +2 .tForearm.seek :retract + "manipulator"&}' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&#( +210 "core" ( + "manipulator"&+& +4 "core" & R  + "storage"(y& +4 "core" &K d\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&|'< +98 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&4% +4 "core" % 0  + "storage"(?& +4 "core" &K %\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 288 counts + "manipulator"&'\\ +14 "core" ' + "manipulator"& & +4 "core" &   +2 "storage"(n& +3 "core" &K  I\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&'' +16 "core" ' + "storage"(1% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"((' +100 (5% +3 "core" %0E &\ Wf +2 "manipulator"&% +4 "core" % $ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & x\ + "manipulator"&=% +4 "core" %  l  +2 "storage"(% +3 "core" % \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(-(  +1301 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &  \ + "manipulator"&)& +4 "core" & J  +2 .tElbow.seek 2 + "manipulator"&7( +3 "core" ( +2 "manipulator"&& +3 "core" &  >  +2 "storage"(V& +3 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&~'S +96 "core" ' + "storage"(2& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'r +301 "core" ' + "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +2 "core" &  \  +2 "manipulator"&/& +3 "core" &  V  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&q& +4 "core" & u  + "storage"(x& +4 "core" &  [\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&K'Ͻ +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +71 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&B& +4 "storage"(g' +3 "core" & `  +2 "manipulator"&U% +4 "core" % ϵ L v + .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&;(ӂ +158 "core" ' + ."downElevator"SE.coast + "storage"(5 +12 "core" ( + "manipulator"&0& +4 "core" &Ӎ  M ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &Ӎ  ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&S'? +97 "core" ' +2 "manipulator"&Z& +4 "core" &Ӎ O ' +2 "manipulator"&>% +4 "core" %B x g + "collection"'k& +4 "core" & U\ +2 "collection"' & +5 "core" & T\ +2 .tCC.seek :closed + "collection"'N(\\ +4 "core" & q\  +9 &2} v\ +| +9 &d u\ ? +9 &u w\ O +10 &BR v\ N +9 &V z\ N +10 &W t\ M +9 &V s\ N +9 &KY w\ N +10 & [ x\ N +9 &T t\ N +9 & S s\ M +10 &"TV t\ M +9 &$Y w\ N +10 &%T k\ M +9 &'U u\ M +9 &)[X u\ N +10 &+Y o\ M +9 &,U s\ M +9 &.Y h\ N +10 &0dY e\ M +9 &2&U g\ M +10 &3U h\ N +9 &5R a\ N +9 &7kY g\ N +10 &9.T e\ M +9 &:W d\ N +9 &<Y f\ N +10 &>sZ b\ N +9 &@5S a\ N +10 &AW d\ N +9 &C] f\ O +9 &Eve f\ O +10 &G2x a\ Q +9 &H \\\ U +9 &J g\ Y +10 &L` d\ Z +9 &N! g\ Z +10 &O f\ [ +9 &Q g\ [ +9 &Sb b\ \\ +10 &U! b\ ] +9 &V [\ ] +9 &X c\ ^ +10 &Z` h\ _ +9 &\\| d\ 9 +10 &\\* f\ 's +9 &\\ e\ Y +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&d1 +65 "core" 1 + "manipulator"&C% +4 "core" % B  g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r' +99 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%J& +4 "core" &'\ x + "manipulator"&$% +4 "core" % ! $ ) + "storage"(G% +4 "core" % \ x +2 "storage"(f. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"({(  +10 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (E& +3 "core" &  |\ +2 "manipulator"&A& +4 "core" &Ӎ \ ' +2 "manipulator"&R% +3 "core" % ! ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&[( +157 "core" ( + "manipulator"&.& +4 "core" & ] { +2 "storage"(L& +3 "core" &  H\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&:'S +109 "core" ' + "storage"(D& +4 "core" &  X m \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'r +304 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (I& +3 "core" &  S "\ +2 "manipulator"&H& +3 "core" & ~ { +2 .tElbow.seek 2 + "manipulator"&p( +4 "core" ( + "manipulator"&l& +4 "core" &  { + "storage"(^& +4 "core" &  m l \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&@'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\\/ +69 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(c' +8 "core" &  { +2 "manipulator"&T% +3 "core" %   J +2 .tForearm.seek :retract +2 "manipulator"&X' +94 "core" ' + .tElbow.seek PC +2 "manipulator"&b( +163 "core" ' + ."downElevator"SE.coast + "storage"(5 +74 "core" ( + "manipulator"&_& +4 "core" & : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &  : + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&W' +95 "core" ' + "manipulator"&i& +4 "core" &  X : +2 "manipulator"&P% +3 "core" %  E +2 "processing"%& +4 "core" &%\ +2 "processing"%j& +4 "core" &8\ +2 .tPC.seek :closed +2 "processing"%*(^ +3 "core" &3\ \ +9 &/u1\ v*y +10 &b6\ p? +9 &av4\ mP +10 &#T5\ wP +9 &W1\ wP +9 &V0\ vP +10 &iX0\ vP +9 &,W5\ xP +9 &V&\ xP +10 &W5\ wP +9 & qW1\ uP +10 &"3U-\ uP +9 &#W5\ xP +9 &%X2\ wP +10 &'yW)\ xP +9 &);V4\ vP +9 &*W1\ uP +10 &,W*\ xP +9 &.U%\ yP +10 &0CT&\ wP +9 &2U)\ uP +9 &3W*\ tP +10 &5V-\ sP +9 &7JW'\ rP +9 &9 Z+\ qP +10 &:Z+\ qP +9 &<Y5\ qP +10 &>Q\\1\ vQ +9 &@Z+\ yP +9 &A^)\ xP +10 &Cc*\ wQ +9 &EUj)\ tR +9 &G}&\ pT +10 &H,\ kV +9 &J-\ kV +10 &LO,\ lW +9 &N-\ jW +9 &O#\ kW +10 &Q*\ oX +9 &SV'\ jW +9 &U'\ jW +10 &V)\ mX +9 &X$\ kW +10 &Z]$\ jX +9 &\\&\ jX +9 &](\ s7 +10 &^0p*\ uN +9 &^))\ |4 +2 ( +2 "processing"%j& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 .Hand.open + "manipulator"&`1 +61 "core" 1 + "manipulator"&]% +4 "core" %   E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +97 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%s& +4 "core" &^(\ u4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&o% +4 "core" % % @ + "storage"( % +4 "core" % \ s + "storage"(6. +3 "core" . +2 .tSC.reconfigure :tight +51 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(M(  +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &  \ r + "manipulator"&F& +3 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 "core" &  : +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"('r +4 "core" ( + "manipulator"&e& +4 "core" & : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" & ' : +2 .tForearm.seek PC + "manipulator"&h' +93 "core" ' + .tHand.close + "manipulator"&/ +67 "core" / +2 .tPC.seek :open + "processing"%( +92 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +46 "core" ' +312 ( + "storage"( & +4 "core" &  h d g\  + "manipulator"&& +4 "core" & x : +2 "manipulator"&z% +3 "core" %  ( I +2 .tForearm.seek :retract + "manipulator"&"' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&w( +268 "core" ( + "manipulator"&u& +4 "core" & w s +2 "storage"(O& +3 "core" &  )\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\ 'S +95 "core" ' + .tHand.open + "manipulator"&%1 +59 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +27 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(+' +51 "core" ' + #tLights, camera, ACTION! + "storage"(y- +4 "core" -' + "storage"(3& +4 "core" &  7 / +\ c +2 "manipulator"&& +3 "core" & W s +2 .tElbow.seek 2 + "manipulator"&4( +4 "core" ( + "manipulator"&?& +4 "core" & C s + "storage"( & +4 "core" &  - , Q\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&n'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(1'" +61 "core" ' + "manipulator"&}& +4 "core" & t s +2 "storage"(5& +3 "core" &  f d \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(|' +31 "core" ' + "manipulator"&% +4 "core" %Ζ @ ) +2 "storage"( & +4 "core" &  @\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 305 counts + "manipulator"&'' +17 "core" ' + "manipulator"&(& +4 "core" &  l p +2 "storage"(!& +4 "core" &  e c C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +19 "core" ' + "storage"(=% +4 "core" % ` e |\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %U \ z[s +2 "manipulator"&% +4 "core" %S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +89 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 (& +4 "core" &  g f L\ + "collection"'V& +4 "core" &\\ >\ Y +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&2% +3 "core" %   +2 "storage"(% +4 "core" % m l \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(v(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (,& +2 "core" &  e c C\  +2 "manipulator"&/& +4 "core" & _ p +2 .tElbow.seek 2 + "manipulator"&q( +4 "core" ( + "manipulator"&x& +4 "core" & 7 p +2 "storage"(& +3 "core" &  m m \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&B'S +96 "core" ' + "storage"(U& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'r +299 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&0& +4 "core" &  p +2 "storage"(<& +3 "core" &  k h \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&8'Α +17 "core" ' + .tElbow.hold + "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Z- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(>'\\ +28 "core" ' + "manipulator"&% +4 "core" %Ο   J + "storage"(k& +4 "core" &  k l \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&g' +16 "core" ' + "manipulator"&&& +4 "core" & R p +2 "storage"(& +3 "core" &  Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&d'S +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(C' +34 "core" ' + "manipulator"&J& +4 "core" & \ p +2 "manipulator"&$% +4 "core" %> \\ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&G' +92 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +160 "core" ( + "manipulator"&f& +4 "core" &ӌ2  H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &ӌ2 8 H +2 .tForearm.seek CC +2 "manipulator"&A'? +94 "core" ' + .tHand.close + "manipulator"&R/ +66 "core" / + .tCC.seek :open + "collection"'S( +449 "core" ( +2 "storage"(.& +4 "core" &  \  + "storage"(L& +4 "core" &  6\  + "manipulator"&-& +4 "core" &Ӛ/ F + "manipulator"&D% +4 "core" % E ( H + .tForearm.seek :retract +2 "manipulator"&;' +100 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&r( +167 "core" ( + "manipulator"&9& +4 "core" &  t +2 "storage"(I& +3 "core" &  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 + "manipulator"&H'Α +100 "core" ' + .tElbow.hold + "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&^1 +59 "core" 1 + "manipulator"&\\% +5 "core" % Μ + "storage"(& +4 "core" &  _\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 311 counts + "manipulator"&T' +16 "core" ' + "manipulator"&[& +4 "core" & ( p +2 "storage"(:& +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +17 "core" ' + "storage"(@% +4 "core" % E\ +3 ."downElevator"SE.seek :down +3 "storage"(_' +98 (a% +3 "core" %[T .\ Ym +2 "manipulator"&p% +4 "core" %F + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +89 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +51 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'P& +4 "core" & h\ +2 "manipulator"&% +4 "core" %   + "storage"(c% +4 "core" % \ + "storage"(X. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(t( +356 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (`& +3 "core" & \  + "manipulator"&]& +4 "core" &  p +2 .tElbow.seek 3 + "manipulator"&s( +12 "core" ( + "manipulator"&o& +4 "core" & E a +2 "storage"( & +3 "core" & |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&6'7 +90 "core" ' + "storage"(j& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +2 "core" & N\ +2 "manipulator"&m& +3 "core" & Y a +2 .tElbow.seek 3 + "manipulator"&W( +3 "core" ( +2 "manipulator"&& +3 "core" & a +2 "storage"({& +3 "core" & ;\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +76 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Y& +4 "storage"(*' +3 "core" &  a +2 "manipulator"&% +4 "core" % ϗ  + .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( + "manipulator"&z& +4 "core" &z1  G +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b + "core" ' +2 "manipulator"&h& + ."downElevator"SE.coast +5 "storage"(5 +3 "core" &z1 z G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&u'? +95 "core" ' + "manipulator"&O& +4 "core" &ӊ.  V E +2 "manipulator"&% +4 "core" %K , f +2 "collection"'%& +3 "core" & r\ +2 "collection"'& +5 "core" & N\ +3 .tCC.seek :closed + "collection"'y(\\ +5 "core" & s\  +8 &2| p\ +{ +10 &b k\ > +9 &s k\ N +9 &CW l\ N +10 &Y u\ N +9 &Y j\ N +10 &W o\ N +9 &KW i\ N +9 & Z h\ N +10 &X Z\ N +9 & S `\ M +9 &"SU l\ N +10 &$W f\ N +9 &%U a\ N +10 &'U ^\ M +9 &)\\U [\ M +9 &+X h\ N +10 &,W g\ N +9 &.V `\ N +9 &0dT ^\ M +10 &2%W c\ N +9 &3X i\ N +10 &5V d\ N +9 &7kX g\ N +9 &9-X a\ N +10 &:X d\ N +9 &<W d\ N +10 &>sR a\ N +9 &@6S c\ M +9 &AW c\ N +10 &C[ f\ N +9 &Euf m\ P +9 &G1w m\ R +10 &H t\ U +9 &J t\ Y +9 &L_ m\ Z +10 &N o\ [ +9 &O n\ [ +10 &Q j\ [\ +9 &S` g\ \\ +9 &U! p\ ] +10 &V o\ ] +9 &X r\ _ +9 &Z` n\ _ +10 &\\z j\ ; +9 &\\' g\ )x +10 &\\ q\ ] +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&31 +61 "core" 1 +2 "manipulator"&% +4 "core" % K f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&?' +100 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" &9\ z + "manipulator"&"% +4 "core" % \   + "storage"(}% +4 "core" % S\ | +2 "storage"(5. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ( & +3 "core" & \ { +2 "manipulator"&& +3 "core" &Ӌ. E +2 "manipulator"&(% +3 "core" % \    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&!( +172 "core" ( + "manipulator"&& +4 "core" &x  +2 "storage"(=& +3 "core" & G U Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&w'7 +90 "core" ' + "storage"(\ & +4 "core" & k b -\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" & \ | + "manipulator"&n& +4 "core" &x  ~ +2 .tElbow.seek 3 + "manipulator"&4( +24 "core" ( + "manipulator"&1& +4 "core" &y\  : o +2 "storage"(& +3 "core" & k\ } +2 .tForearm.seek 3 + 300 counts + "manipulator"&''ϡ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +67 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&V& +2 "storage"(2' +8 "core" &y\  | o +2 "manipulator"&% +3 "core" % ϗ " +2 .tForearm.seek :retract +2 "manipulator"&|' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +82 "core" ( +2 "manipulator"&,& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&x' +92 "core" ' + "manipulator"&& +4 "core" & C  +2 "manipulator"&% +4 "core" %  F [ +2 "processing"%U& +3 "core" &C\ { +2 "processing"%& +5 "core" &B\ y +2 .tPC.seek :closed +2 "processing"%M(^ +5 "core" &7\ w\ +9 &.t7\ o*y +10 &b;\ r? +9 &Vv9\ jP +9 &UA\ rP +10 &WA\ wP +9 &V9\ vP +9 &\\W=\ qQ +10 &V7\ oP +9 &U6\ wP +10 &X/\ vP +9 & eW3\ uP +9 &"(U8\ sP +10 &#V6\ oP +9 &%R3\ uP +9 &'nV4\ rP +10 &).U-\ mQ +9 &*U/\ vP +10 &,W;\ sP +9 &.vQ6\ rP +9 &07W5\ mP +10 &1U0\ xP +9 &3U+\ wP +9 &5U/\ vP +10 &7?V/\ qP +9 &9Z*\ nQ +10 &:X1\ xP +9 &<W/\ uP +9 &>FW-\ qQ +10 &@ W+\ nP +9 &A]7\ vQ +9 &Cg.\ tR +10 &EGo5\ rS +9 &G6\ hV +10 &H5\ pV +9 &J3\ lV +9 &LE.\ hW +10 &N/\ kW +9 &O/\ mW +9 &Q4\ gW +10 &SJ6\ qX +9 &U 5\ qW +10 &V+\ qX +9 &X*\ pV +9 &ZP4\ kX +10 &\\5\ hX +9 &].\ o: +9 &^.|3\ p[ +10 &^)1\ x5 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator" +54 "core" 1 + "manipulator"&)% +4 "core" %   [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&~' +96 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%0& +4 "core" &^'.\ }5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&<% +4 "core" % % Y = + "storage"(Z% +4 "core" %\ h\  +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(k( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (&& + "manipulator"&& +4 "core" & o\ ~ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(J'r +3 "core" & #  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&$( +2 "core" ( +2 "manipulator"&B& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &  +2 .tForearm.seek PC + "manipulator"&7' +95 "core" ' + .tHand.close + "manipulator"&8/ +71 "core" / +2 .tPC.seek :open + "processing"%g( +75 "core" ' + "storage"(>- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(f'1 +46 "core" ' +323 ( + "storage"(E& +4 "core" & K 9\  + "manipulator"&d& +4 "core" &  + "manipulator"&K% +4 "core" %  I +2 .tForearm.seek :retract + "manipulator"&R' +142 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&G( +265 "core" ( + "manipulator"&N& +4 "core" &u  +2 "storage"(.& +3 "core" & R\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&L'7 +97 "core" ' + .tHand.open + "manipulator"&-1 +53 "core" 1 + "storage"(D- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +23 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(I' +50 "core" ' + #tLights, camera, ACTION! + "storage"(A- +4 "core" -' + "storage"( & +4 "core" &  #\ ^ +2 "manipulator"&^& +3 "core" &u  +2 .tElbow.seek 3 + "manipulator"&\\( +41 "core" ( + "manipulator"&& +4 "core" &y  . +2 "storage"([& +3 "core" & I g\ Z +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&:'7 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(@'" +51 "core" ' + "manipulator"&;& +4 "core" &y  . +2 "storage"(a& +4 "core" & L\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&p'u +22 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(H' +31 "core" ' + "manipulator"&P% +4 "core" %Ή b +2 "storage"(T& +4 "core" & |\ } + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&C'ϵ +40 "core" ' + "manipulator"&& +4 "core" &z  . +2 "storage"(c& +4 "core" & d d I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&X'7 +24 "core" ' + "storage"(Q% +4 "core" % o t \ +2 ."downElevator"SE.seek :down +4 "storage"(_' +99 (v% +3 "core" %I 4\ }Ym +2 "manipulator"&`% +4 "core" %7 K ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +89 "core" ' +73 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (o& +4 "core" & k m h\ + "collection"' & +4 "core" &\\ t\ ] + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&j% +4 "core" %    +2 "storage"(l% +4 "core" % n n \ + "storage"(i. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(F( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (e& +2 "core" & _ c \  +2 "manipulator"&m& +3 "core" &|  . +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&{& +4 "core" &| . + "storage"(b& +4 "core" & f f (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y'7 +94 "core" ' + "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +300 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&z& +3 "core" &} Q . +2 "storage"(h& +3 "core" & z\ } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +19 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(O- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('f +30 "core" ' + "manipulator"&%% +4 "core" %΅ / + "storage"(W& +4 "core" & \ z + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&*'ϱ +41 "core" ' + "manipulator"& & +4 "core" &} . +2 "storage"(S& +3 "core" & Y\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&3'7 +30 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +40 "core" ' + "manipulator"& & +4 "core" &} Y . +2 "manipulator"&"% +4 "core" %5 ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&}' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&5(ӂ +148 "core" ( + "manipulator"&& +4 "core" &Ӑ* & Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӑ* Bi +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close + "manipulator"&(/ +65 "core" / + .tCC.seek :open + "collection"'u( +449 "core" ( + "storage"(& +4 "core" & #\  + "storage"(=& +4 "core" & F\  + "manipulator"&t& +4 "core" &Ӗ)  Ac + "manipulator"&\ % +4 "core" % F  | P +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&?( +165 "core" ( + "manipulator"&& +4 "core" & _ _ +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&n'u +95 "core" ' + .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&% +5 "core" %  7 + "storage"(V& +4 "core" &  S\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&'ϫ +37 "core" ' +2 "manipulator"&!& +4 "core" & _ ] + "storage"(w& +4 "core" &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&+'7 +24 "core" ' + "storage"('% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(,' +99 (/% +3 "core" %^A 2\ We +2 "manipulator"&4% +3 "core" %A 9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" & D\ + "manipulator"&U% +4 "core" %  h  +2 "storage"(2% +3 "core" %  B\ +2 "storage"(|. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +359 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (#& +3 "core" &,z m\  +2 "manipulator"&)& +3 "core" & ] +2 .tElbow.seek 4 + "manipulator"&0( +40 "core" ( + "manipulator"&<& +4 "core" & S + "storage"(Z& +4 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(& +4 "core" &,z )\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (B& +3 "core" &,z e  Q\  + "manipulator"&q& +4 "core" & 5 R +2 .tElbow.seek 4 + "manipulator"&x( +37 "core" ( + "manipulator"&8& +4 "core" &  S + "storage"(& +4 "core" &,z \  +2 .tForearm.seek 4 + 300 counts +50 "manipulator"&>'c +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +74 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"(M' +7 "core" &  S +2 "manipulator"&J% +4 "core" % z  V + .tForearm.seek :retract +2 "manipulator"&E' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&d(ӂ +159 "core" ( +2 ' + ."downElevator"SE.coast +3 "manipulator"&K& + "storage"(5 +7 "core" &Ӑ(  , @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &Ӑ( @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'? +93 "core" ' + "manipulator"&.& +4 "core" &ӑ( K @Z +2 "manipulator"&$% +4 "core" %@  D z +2 "collection"'-& +4 "core" & \ +2 "collection"'D& +5 "core" & \ +2 .tCC.seek :closed + "collection"'A(\\ +5 "core" & \  +9 &2} z\ +{ +10 &c x\ > +9 &s \ N +9 &GV ~\ M +10 & Y \ M +9 &U \ M +9 &U \ M +10 &NW \ N +9 &Y \ N +10 &R \ M +9 & T \ M +9 &"WS \ M +10 &$T \ M +9 &%V \ M +9 &'S \ N +10 &)^V \ N +9 &+ W \ N +10 &,V x\ M +9 &.S ~\ M +9 &0gS \ M +10 &2(W \ N +9 &3V \ M +9 &5S \ M +10 &7nT \ N +9 &90W \ N +10 &:Y w\ M +9 &<Y \ M +9 &>wY \ M +10 &@9X \ M +9 &AU }\ N +9 &C\\ \ N +10 &Eyg \ O +9 &G5u \ Q +10 &H \ T +9 &J \ Y +9 &Lb \ Z +10 &N" \ [ +9 &O \ [ +9 &Q \ [\ +10 &Se \ \\ +9 &U% \ \\ +10 &V \ ] +9 &X \ ^ +9 &Zc \ _ +10 &\\ } \ 5 +9 &\\* \ $k +9 ( +2 "collection"'D& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"& 1 +3 "core" &\\ \ [ +54 1 + "manipulator"&^% +4 "core" % @ z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&R' +99 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &/\ x + "manipulator"&[% +4 "core" % " h ( +2 "storage"(;% +3 "core" % .\ u +2 "storage"(a. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(f(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (P& +2 "core" &,z M\ v +2 "manipulator"&T& +3 "core" &ӓ' @X +2 "manipulator"&9% +4 "core" % ! ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +168 "core" ( + "manipulator"&c& +5 "core" & } + "storage"(G& +4 "core" &,z \ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +99 "core" ' + "storage"(L& +4 "core" &,z g \ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'r +296 "core" ' + "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (`& +3 "core" &,z \ u + "manipulator"&:& +4 "core" & } +2 .tElbow.seek 4 + "manipulator"&\\( +3 "core" ( +2 "manipulator"&@& +3 "core" & } +2 "storage"(p& +3 "core" &,z {\ w +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&C'c +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&o/ +73 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(j' +8 "core" & } +2 "manipulator"&H% +4 "core" % ω  + .tForearm.seek :retract +2 "manipulator"&l' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&i( +172 "core" ' + ."downElevator"SE.coast + "storage"(5 +67 "core" ( + "manipulator"&e& +4 "core" & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +2 "core" &  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&{' +93 "core" ' + "manipulator"&b& +4 "core" & 0 / +2 "manipulator"&X% +4 "core" % ? b + "processing"%& +4 "core" &/\ +2 "processing"%_& +5 "core" &;\ + .tPC.seek :closed +2 "processing"%k(^ +4 "core" &=\  +14 &1w=\ t*y +4 &bD\ p? +9 &dt=\ oP +9 &%R@\ rP +10 &W?\ yP +9 &UA\ zO +10 &kW>\ zP +9 &.UA\ sP +9 &WC\ sP +10 &U>\ rP +9 & qUC\ pQ +9 &"6TD\ xP +10 &#U>\ uP +9 &%T<\ rO +10 &'zU;\ wP +9 &)=UC\ {P +9 &+U9\ {P +10 &,Y=\ {P +9 &.S;\ |O +9 &0EU9\ {P +10 &2 TB\ {O +9 &3T9\ vP +10 &5TC\ uP +9 &7NU:\ vP +9 &9W8\ xP +10 &:WC\ wP +9 &<W;\ vP +9 &>TV7\ wP +10 &@Z;\ wP +9 &A]C\ sQ +10 &Ce@\ tR +9 &EUnD\ sS +9 &Gx>\ sT +10 &H=\ lU +9 &J<\ jW +9 &LR:\ hV +10 &N:\ jX +9 &O9\ iW +10 &Q<\ lX +9 &SW=\ mX +9 &U?\ jW +10 &V;\ gX +9 &XC\ gW +9 &Z_?\ lX +10 &\\!C\ nX +9 &];\ q8 +10 &^,j>\ u _ +9 &^8<\ |8 +2 ( +2 "processing"%_& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&r1 +64 "core" 1 +2 "manipulator"&]% +4 "core" %  Z b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&6' +97 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%z& +4 "core" &^4:\ s8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&h% +4 "core" % #  7 + "storage"(O% +4 "core" % \ m + "storage"(%. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(W(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & + "manipulator"&S& +6 "core" & 5 / + &,z ] g E\ j +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +3 "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak + "storage"("'r +2 "core" ( +2 "manipulator"&Y& +4 "core" & / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & ] / +2 .tForearm.seek PC +2 "manipulator"&s' +93 "core" ' + .tHand.close + "manipulator"&/ +77 "core" / + .tPC.seek :open +2 "processing"%*( +80 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +324 ( + "storage"( & +4 "core" &,z 2\ | + "manipulator"&3& +4 "core" & ] / + "manipulator"&% +25 "core" %  9 : +2 .tForearm.seek :retract + "manipulator"&(' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&}( +266 "core" ( + "manipulator"&y& +4 "core" &  + "storage"(& +4 "core" &,z \ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&=' +96 "core" ' + .tHand.open + "manipulator"&t1 +53 "core" 1 + "storage"(\ - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +50 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(5& +4 "core" &,z + - G\ ] + "manipulator"&& +4 "core" & R  +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( + "manipulator"&V& +4 "core" & J  +2 "storage"(!& +3 "core" &,z H ,\ \\ +2 .tForearm.seek 4 + 450 counts + "manipulator"&w' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(''" +49 "core" ' + "manipulator"&& +4 "core" & I  +2 "storage"(/& +3 "core" &,z \ z +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +52 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&4'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(n' +22 "core" ' + "manipulator"&% +4 "core" %B 8 +2 "storage"(& +4 "core" &,z .\ x +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts + "manipulator"&U'n +17 "core" ' + "manipulator"&2& +4 "core" &  +2 "storage"(|& +4 "core" &,z S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +18 "core" ' + "storage"(+% +5 "core" % ] U \  +2 ."downElevator"SE.seek :down +3 "storage"(,' +99 (F% +3 "core" %J \ zZn +2 "manipulator"&#% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +90 "core" ' +66 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (<& +4 "core" &,z b a +\ + "collection"'Z& +4 "core" &\\ \\\ [ +2 #tStoring generic puck in Collection Clamp to tube 4 "manipulator"&% +4 "core" %  J  +2 "storage"(1% +3 "core" % m m B\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (B& +3 "core" &,z d k 1\  +2 "manipulator"&q& +3 "core" &  o  +2 .tElbow.seek 4 +2 "manipulator"&8( +3 "core" ( + "manipulator"&& +4 "core" & &  +2 "storage"(& +3 "core" &,z i l x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +94 "core" ' +2 "storage"(J& +4 "core" &,z =\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'r +304 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&K& +3 "core" &  +2 "storage"(7& +3 "core" &,z \ { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&&'7 +25 "core" ' + .tElbow.hold + "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(.- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"($'c +30 "core" ' + "manipulator"&-% +4 "core" %F v + "storage"(x& +4 "core" &,z A\ | +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&M'r +16 "core" ' + "manipulator"&E& +4 "core" & 1  +2 "storage"(u& +3 "core" &,z e f @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(^' +37 "core" ' +2 "manipulator"&& +4 "core" & &  +2 "manipulator"&[% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&;' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&a(ӂ +171 "core" ( + "manipulator"&D& +4 "core" &ӌ 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +2 "core" &ӌ  3 +2 .tForearm.seek CC + "manipulator"&T'? +93 "core" ' + .tHand.close + "manipulator"&9/ +76 "core" / + .tCC.seek :open +2 "collection"'N( +448 "core" ( + "storage"(c& +4 "core" &,z \  + "storage"(G& +4 "core" &,z \  + "manipulator"&& +4 "core" &ӌ  3 + "manipulator"&L% +4 "core" % A  R +2 .tForearm.seek :retract + "manipulator"&d' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&R( +161 "core" ( + "manipulator"&v& +4 "core" & >  +2 "storage"(`& +3 "core" &,z #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&:'7 +94 "core" ' + .tElbow.hold + "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&p1 +60 "core" 1 + "manipulator"&o% +5 "core" % 3 +  + "storage"( & +4 "core" &,z )\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 296 counts + "manipulator"&H'_ +17 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(Q& +3 "core" &,z v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +15 "core" ' + "storage"(C% +4 "core" %  _\ +2 ."downElevator"SE.seek :down +3 "storage"(e' +100 (m% +3 "core" %?D c\ Wf +2 "manipulator"&\\% +3 "core" % B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +90 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'X& +5 "core" & d\ + "manipulator"&% +4 "core" %   O  +2 "storage"(j% +3 "core" %  \ +2 "storage"(l. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(g(<- +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (r& +3 "core" &<+) m w \  + "manipulator"&]& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&z( +8 "core" ( + "manipulator"&h& +4 "core" & F + "storage"(O& +4 "core" &<+* m n \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +93 "core" ' + "storage"(_& +4 "core" &<+* M\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'r +297 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (Y& +3 "core" &<+( c d \  + "manipulator"&& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&& +3 "core" & +2 "storage"(f& +3 "core" &<+( \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +73 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(k' +8 "core" & m +2 "manipulator"&"% +3 "core" % Ϻ 4 w +2 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&3(ӂ +156 "core" ' + ."downElevator"SE.coast + "storage"(5 +20 "core" ( + "manipulator"&& +4 "core" &w\  !q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &w\  A !q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&y'? +94 "core" ' + "manipulator"&& +4 "core" &w\  N !q +2 "manipulator"& % +4 "core" %A  l +2 "collection"'t& +4 "core" & `\ +3 "collection"'\ & +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & ~\ +8 &? \ %g +9 &Wy \ 8 +9 &w \ L +10 &R \ M +9 &|W \ N +9 &>W \ N +10 &X \ N +9 &W \ M +10 &X \ M +9 &GX \ M +9 & X \ M +10 &!U \ N +9 &#W \ N +9 &%NU |\ N +10 &'U \ N +57 &(V \ N +3 &*U \ N +6 &,VU \ N + &.U \ M + &/Q \ M + &1T \ M + &3_S \ M +5 &5!S \ M +9 &6T \ M +10 &8S \ M +9 &:gT \ M +9 &<)R \ M +10 &=S \ M +9 &?Y \ M +9 &AnY \ N +10 &C0\\ \ N +9 &Db \ O +10 &Fu \ Q +9 &Hc \ T +9 &J \ X +10 &K |\ Z +10 &M \ [\ +8 &OY \ Z +10 &Q ~\ \\ +9 &R \ \\ +10 &T \ ] +9 &VZ \ ] +9 &X \ ^ +10 &Y |\ _ +9 &[ \ L +9 &\\; {\ + +10 &\\ \ [ +2 ( +2 "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&51 +59 "core" 1 +2 "manipulator"&% +4 "core" % A W l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&V' +99 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%!& +4 "core" &D\ + "manipulator"&(% +4 "core" % !  R ' +2 "storage"(% +3 "core" % l g u\ +2 "storage"(/. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (& +2 "core" &<+ e b v\  +2 "manipulator"&& +4 "core" &w\  ` !q + "manipulator"&% +4 "core" % " [ ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&2( +153 "core" ( + "manipulator"&|& +4 "core" & /  +2 "storage"(+& +3 "core" &<,* 9\ w  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&}'O +95 "core" ' + "storage"(=& +4 "core" &<,* \ v  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" &<,) h ] G\ l  +2 "manipulator"&w& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +7 "core" ( + "manipulator"&'& +4 "core" &  +2 "storage"(4& +3 "core" &<,( h h n\ l  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&U'Ϲ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\ k5 +7 ( + "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&?1 +4 "core" &^(@\ q4 +55 1 + "manipulator"&)% +4 "core" %  f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%K& +97 "core" &^(>\ z4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&7% +4 "core" %    +2 "storage"(.% +3 "core" % \ y +2 "storage"(-. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(x(<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (E& + "manipulator"&u& +6 "core" & 5 + &<, Y\ y +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"(['r +4 "core" ( + "manipulator"&~& +4 "core" & 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" & h 5 +2 .tForearm.seek PC + "manipulator"&0' +92 "core" ' + .tHand.close + "manipulator"&&/ +78 "core" / + .tPC.seek :open +2 "processing"%M( +85 "core" ' + "storage"($- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(D'1 +44 "core" ' +320 ( +2 "storage"(P& +4 "core" &<, K ; \  + "manipulator"& & +4 "core" & ? 5 + "manipulator"&>% +4 "core" %   Z < +2 .tForearm.seek :retract + "manipulator"&9' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&;( +302 "core" ( + "manipulator"&A& +4 "core" &  ) + "storage"(c& +4 "core" &<, \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&G'O +94 "core" ' + .tHand.open + "manipulator"&1 +59 "core" 1 + "storage"(L- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(v' +26 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(`' +51 "core" ' + #tLights, camera, ACTION! + "storage"(T- +4 "core" -' + "storage"(a& +4 "core" &<, 2 v\ \\ +2 "manipulator"&p& +3 "core" & ) +2 .tElbow.seek 5 + "manipulator"&o( +23 "core" ( + "manipulator"& & +4 "core" & c +2 "storage"(& +3 "core" &<, . L\ ] +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(C'" +50 "core" ' + "manipulator"&d& +4 "core" & +2 "storage"(m& +3 "core" &<, |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&\\'΍ +19 "core" ' + .tElbow.hold + "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(:' +21 "core" ' + "manipulator"&X% +4 "core" %· } W +2 "storage"(H& +4 "core" &<, \ ~ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 294 counts + "manipulator"&'ϳ +30 "core" ' + "manipulator"&j& +4 "core" & +2 "storage"(l& +4 "core" &<, k\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^'O +23 "core" ' + "storage"(I% +4 "core" % d J O\ +3 ."downElevator"SE.seek :down +3 "storage"(e' +99 (% +4 "core" %J \ zZn + "manipulator"&r% +4 "core" %\\ ! \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +89 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (h& +4 "core" &<, j c ^\ +2 "collection"'O& +51 "core" &\\y L\ [ +3 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&_% +4 "core" %  d  +2 "storage"(@% +4 "core" % d e\ + "storage"(b. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"( (<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (Y& +3 "core" &<, m m B\  +2 "manipulator"&& +3 "core" &  q +2 .tElbow.seek 5 + "manipulator"&( +16 "core" ( + "manipulator"&f& +4 "core" &  =  +2 "storage"(i& +3 "core" &<, g k ~\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&6'O +91 "core" ' + "storage"("& +4 "core" &<, F\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +295 "core" ' + "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  +2 "storage"(s& +3 "core" &<, B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&S'΍ +21 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"( 'g +30 "core" ' + "manipulator"&{% +4 "core" %Ξ ) + "storage"(t& +75 "core" &<, G\ | +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&k' +15 "core" ' + "manipulator"& & +4 "core" & O  +2 "storage"(N& +3 "core" &<, \ { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&5'O +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +39 "core" ' + "manipulator"&!& +4 "core" &   +2 "manipulator"&(% +4 "core" %: +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&/(ӂ +153 "core" ( + "manipulator"&\ & +4 "core" &Ӈ. - E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &Ӈ.  E +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close + "manipulator"&/ +67 "core" / + .tCC.seek :open +2 "collection"'y( +448 "core" ( + "storage"(|& +4 "core" &<, ,\  + "storage"(+& +4 "core" &<, )\  + "manipulator"&g& +4 "core" &ӈ. D E + "manipulator"&=% +4 "core" % >   7 +2 .tForearm.seek :retract + "manipulator"&3' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&V( +170 "core" ( + "manipulator"&F& +4 "core" & S O +2 "storage"(#& +3 "core" &<, 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&w'΍ +96 "core" ' + .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&41 +54 "core" 1 + "manipulator"&<% +5 "core" % Ι 2 + "storage"(Z& +4 "core" &<, H\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 312 counts +2 "manipulator"&1' +14 "core" ' +2 "manipulator"&2& +4 "core" &  P L + "storage"(}& +4 "core" &<, 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +28 "core" ' + "storage"(U% +4 "core" % @\ +2 ."downElevator"SE.seek :down +3 "storage"(B' +100 (q% +3 "core" %T< \ We +2 "manipulator"&% +3 "core" %_  e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" & \ + "manipulator"&J% +4 "core" %   F  + "storage"(% +4 "core" % 2\ +2 "storage"(n. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(*(K +378 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (?& +3 "core" &K  [\ + "manipulator"&)& +4 "core" &  L + .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( + "manipulator"&K& +4 "core" &  L + "storage"(7& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&.' +94 "core" ' + "storage"(-& +4 "core" &K  E\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'r +299 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" &K \ +2 "manipulator"&8& +3 "core" & V L +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & M L +2 "storage"(&& +3 "core" &K +\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&$'h +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +66 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(W' +6 "core" &  b L +2 "manipulator"&[% +3 "core" % τ   +2 .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +11 "core" ( + "manipulator"&>& +4 "core" &ӌ * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &ӌ I * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +97 "core" ' + "manipulator"&A& +4 "core" &ӌ l * +2 "manipulator"&c% +4 "core" %B b O + "collection"'& +4 "core" & \ +2 "collection"'L& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'T(\\ +3 "core" & z\  +9 &2| \ *z +9 &c} |\ > +10 &q \ N +9 &KR \ M +9 & U \ M +10 &T \ M +9 &U z\ M +10 &SW \ M +9 &W v\ M +9 &U \ M +10 & R \ M +9 &"ZU \ M +9 &$U \ N +10 &%U \ M +9 &'U \ M +10 &)cW \ M +9 &+%U \ M +9 &,U \ M +10 &.T \ M +9 &0jU \ M +9 &2,U \ M +10 &3S \ M +9 &5U \ M +10 &7rV \ M +9 &95S \ M +9 &:U \ N +10 &<T \ M +9 &>yU \ N +9 &@<T \ M +10 &AY \ M +9 &C[ }\ N +10 &E}c \ O +9 &G:r \ Q +9 &H \ T +10 &J \ Y +9 &Lg \ Y +9 &N# \ [ +10 &O \ \\ +9 &Q \ [\ +10 &Sf \ \\ +9 &U( \ \\ +9 &V \ ^ +10 &X \ _ +9 &Zg \ _ +9 &\\ | \ 7 +10 &\\+ \ $k +9 ( + &\\t \ Y +2 "collection"'L& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&a1 +63 "core" 1 + "manipulator"&p% +4 "core" % B O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &+\ w + "manipulator"&9% +4 "core" % ! H - + "storage"(d% +4 "core" % \ z +2 "storage"(m. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(X(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (H& +3 "core" &K \ z + "manipulator"&D& +4 "core" &ӌ * + "manipulator"&j% +4 "core" % "   - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&v( +149 "core" ( + "manipulator"&l& +4 "core" &  +51 "storage"(I& +3 "core" &K g\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&;' +92 "core" ' + "storage"(G& +4 "core" &K e d \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +2 "core" &K \ { +2 "manipulator"&Q& +3 "core" & +2 .tElbow.seek 6 + "manipulator"&o( +4 "core" ( + "manipulator"&C& +5 "core" & j + "storage"(\\& +4 "core" &K 4\ | +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&h/ +76 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(:' +7 "core" & ^ +2 "manipulator"&_% +4 "core" % ^  / # + .tForearm.seek :retract +2 "manipulator"&@' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&b( +174 "core" ' + ."downElevator"SE.coast + "storage"(5 +66 "core" ( +2 "manipulator"&Y& +4 "core" & J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & O J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&f' +98 "core" ' + "manipulator"&i& +4 "core" & \ J +2 "manipulator"&^% +4 "core" %   + "processing"%"& +4 "core" &(\ +2 "processing"%e& +5 "core" &-\ +2 .tPC.seek :closed + "processing"%x(^ +4 "core" &C\  +9 &2wC\ t)w +9 &_?\ p> +9 &^uA\ qO +10 &TC\ vP +9 &T<\ vP +9 &TC\ uP +10 &cXF\ tP +9 &&TD\ wP +10 &XC\ vP +9 &V?\ vP +9 & kSG\ uP +10 &"/RH\ wO +9 &#TC\ vP +10 &%RB\ wP +9 &'tSB\ yP +9 &)6TG\ xP +10 &*XB\ wP +9 &,U<\ vO +9 &.|SD\ vP +10 &0?TE\ uO +9 &1T?\ tP +9 &3TD\ tO +10 &5TE\ uP +9 &7ET?\ sP +10 &9WC\ tP +9 &:W<\ uP +9 &<UD\ vP +10 &>MYD\ xP +9 &@WD\ vP +10 &A]E\ uQ +9 &CdE\ tR +9 &ENpD\ sR +10 &G E\ pU +9 &HA\ pU +9 &J>\ oV +10 &LKE\ rV +9 &N D\ pW +9 &OD\ nW +10 &Q;\ mW +9 &SO=\ mX +10 &UB\ nW +9 &VE\ lX +9 &XD\ oW +10 &ZW?\ mX +9 &\\C\ lX +9 &]B\ p7 +10 &^3qB\ sG +9 ( + &^'D\ |3 +2 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&R1 +59 "core" 1 + "manipulator"&]% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&%' +97 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%& +4 "core" &^&2\ q3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&s% +4 "core" % # W 8 + "storage"(% +4 "core" % \ t + "storage"({. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(t(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & + "manipulator"&N& +4 "core" &K %\ u +5 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &  J +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&!( +2 "storage"(('r +22 "core" ( + "manipulator"&6& +4 "core" & I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & P +2 .tForearm.seek PC + "manipulator"&z' +93 "core" ' + .tHand.close + "manipulator"&S/ +74 "core" / +2 .tPC.seek :open +2 "processing"%k( +69 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(\ '1 +44 "core" ' +336 ( + "storage"(& +4 "core" &K r X\  + "manipulator"&5& +4 "core" & Q + "manipulator"&% +4 "core" %   D +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +255 "core" ( + "manipulator"&& +4 "core" & + "storage"(|& +4 "core" &K .\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +93 "core" ' + .tHand.open + "manipulator"&g1 +64 "core" 1 + "storage"(=- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(F' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(#' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(/& +4 "core" &K  ( @\ ] + "manipulator"&4& +4 "core" & $ +2 .tElbow.seek 6 + "manipulator"&<( +37 "core" ( + "manipulator"&Z& +4 "core" & / +2 "storage"(2& +3 "core" &K\ & J ?\ [ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(U'" +49 "core" ' + "manipulator"&3& +4 "core" &   # +2 "storage"(q& +3 "core" &K i\ x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'< +22 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +20 "core" ' + "manipulator"&1% +4 "core" %J S +2 "storage"(& +4 "core" &K 3\ x +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&J'v +23 "core" ' + "manipulator"&& +4 "core" &  # # +2 "storage"(n& +4 "core" &K \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +18 "core" ' + "storage"(% +4 "core" % \ y +3 ."downElevator"SE.seek :down +3 "storage"(B' +99 ( % +3 "core" %F \ rYm +2 "manipulator"&?% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&)' +90 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (K& +3 "core" &K \ { +2 "collection"'7& +4 "core" &\\s \ Y + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&-% +4 "core" %    +2 "storage"('% +3 "core" % \ { +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(u(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (~& +3 "core" &K \ { +2 "manipulator"&8& +3 "core" &   # +2 .tElbow.seek 6 + "manipulator"&( +22 "core" ( + "manipulator"&&& +4 "core" & !  +2 "storage"(& +3 "core" &K C\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +101 "core" ' + "storage"([& +4 "core" &K \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'r +297 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&>& +3 "core" & ,  +2 "storage"(0& +3 "core" &K n\ { + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&E'< +18 "core" ' + .tElbow.hold + "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(A- +51 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"(c'a +28 "core" ' + "manipulator"&% +4 "core" %P   +2 "storage"(& +3 "core" &K R\ ~ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts + "manipulator"&W'| +24 "core" ' + "manipulator"&P& +4 "core" & o  +2 "storage"(y& +4 "core" &K m m b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&a' +19 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(p' +37 "core" ' + "manipulator"&& +4 "core" &    +2 "manipulator"&9% +4 "core" %  / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&m(ӂ +171 "core" ( + "manipulator"&L& +4 "core" &Ӌ \\ + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &Ӌ   + + .tForearm.seek CC +2 "manipulator"&D'? +95 "core" ' + .tHand.close + "manipulator"&j/ +73 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"(l& +4 "core" &K <\  +2 "storage"(I& +3 "core" &K ?\  +2 "manipulator"&*& +3 "core" &Ӌ Q + +2 "manipulator"& % +3 "core" % 8  < +2 .tForearm.seek :retract + "manipulator"&G' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +159 "core" ( + "manipulator"&& +4 "core" & e  +2 "storage"(r& +3 "core" &K '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&Q'< +96 "core" ' + .tElbow.hold + "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\\1 +63 "core" 1 + "manipulator"&h% +5 "core" % J   + "storage"(O& +4 "core" &K K\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&_'v +25 "core" ' +2 "manipulator"&v& +4 "core" &  +2 "storage"(;& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +27 "core" ' + "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(Y' +99 (% +3 "core" %? x G\ Wg +2 "manipulator"&o% +3 "core" % A h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +95 "core" ' +49 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'^& +3 "core" & \ + "manipulator"&"% +4 "core" %  , + "storage"(:% +4 "core" % \ + "storage"(@. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(M(  +1304 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (R& +3 "core" &  &\ +2 "manipulator"&]& +3 "core" &    +2 .tElbow.seek 2 + "manipulator"&( +9 "core" ( + "manipulator"&s& +4 "core" &   +2 "storage"(& +3 "core" &  &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'S +93 "core" ' + "storage"(e& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' + "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" &  2\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&f( +3 "core" ( +2 "manipulator"&S& +3 "core" &   +2 "storage"(X& +3 "core" &  c\  +2 .tForearm.seek 2 + 300 counts + "manipulator"& 'Ͻ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +76 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(x' +8 "core" &  %  +2 "manipulator"&(% +4 "core" %   k + .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&5(ӂ +158 "core" ( + ' + ."downElevator"SE.coast +3 "manipulator"&& + "storage"(5 +7 "core" &Ӈ.  } E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &Ӈ. E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' + "manipulator"&|& +4 "core" &Ӊ.  E +2 "manipulator"&!% +4 "core" %=  y + "collection"'g& +4 "core" & \ +2 "collection"'=& +5 "core" & ~\ +3 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & \  +9 &3y \ +{ +9 &c} \ > +10 &q \ N +9 &DS \ N +10 &T \ N +9 &Q \ M +9 &S \ M +10 &MV \ M +9 &X \ N +9 &T \ M +10 & R \ M +9 &"TU \ N +10 &$V \ M +9 &%V \ M +9 &'V \ M +10 &)]Q \ M +9 &+W \ M +9 &,W \ M +10 &.W \ M +9 &0dU \ N +10 &2&T \ N +9 &3U \ N +9 &5U \ N +10 &7lU \ N +9 &9.U \ N +9 &:U \ N +10 &<U \ N +9 &>tU \ N +10 &@7V \ M +9 &AY \ N +9 &C[ \ N +10 &Exe \ O +9 &G2v \ R +9 &H \ U +10 &J \ Y +9 &La \ Z +10 &N \ [\ +9 &O \ \\ +9 &Q \ [\ +10 &Sa \ \\ +9 &U# \ \\ +9 &V \ ^ +10 &X \ _ +9 &Zb \ _ +10 &\\z \ : +9 &\\% \ (w +9 &\\ \ !` +3 ( + "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open + "manipulator"&/1 +62 "core" 1 + "manipulator"&4% +5 "core" % =  y + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%Z& +4 "core" &E\ s +2 "manipulator"&2% +3 "core" %   +2 "storage"(3% +3 "core" % \ s +2 "storage"(q. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(1(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (\ & +2 "core" &  \ r +2 "manipulator"&& +4 "core" &Ӌ. e E} + "manipulator"&F% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +166 "core" ( + "manipulator"&n& +4 "core" & s +2 "storage"(& +3 "core" &  \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +92 "core" ' + "storage"(+& +4 "core" &  \ y +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'r +296 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (?& +3 "core" &  #\ t + "manipulator"&}& +4 "core" & # s +2 .tElbow.seek 2 + "manipulator"&<( +3 "core" ( +2 "manipulator"&U& +4 "core" & = s + "storage"(& +4 "core" &  \ { +2 .tForearm.seek 2 + 300 counts + "manipulator"&J'Ͻ +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&K/ +69 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"(-' +7 "core" & E s +2 "manipulator"&'% +4 "core" % Ϲ  u + .tForearm.seek :retract +2 "manipulator"&w' +98 "core" ' + .tElbow.seek PC +2 "manipulator"&( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( + "manipulator"&~& +53 "core" & ! = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" & a = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&&' +99 "core" ' + "manipulator"&& +4 "core" &  = +2 "manipulator"&% +4 "core" % % + "processing"%[& +4 "core" &>\ z +2 "processing"%B& +5 "core" &?\ z +2 .tPC.seek :closed + "processing"%t(^ +4 "core" &:\ y +8 & .B\ u#b +10 &T{;\ i8 +9 &}y;\ nL +9 &W@\ uP +10 &NU@\ uP +9 &U:\ tP +10 &R7\ sP +9 &T9\ vP +9 &VR>\ uP +10 &U=\ sP +9 &S;\ sO +9 &!T<\ sP +10 &#_T?\ tO +9 &% R<\ uP +10 &&SH\ uP +9 &(T=\ tP +9 &*eX>\ sP +10 &,(U;\ sP +9 &-T>\ sO +9 &/U;\ rP +10 &1mT>\ oP +9 &3.T=\ mP +10 &4T>\ tP +9 &6T9\ sP +9 &8uV<\ vP +10 &:7T<\ qP +9 &;X@\ kP +9 &=W?\ pQ +10 &?|W;\ lP +9 &A>Y<\ kP +10 &B]8\ nQ +9 &Df;\ mR +9 &F{q?\ iS +10 &H6<\ dV +9 &I8\ fV +9 &K:\ eW +10 &MyA\ cW +9 &O:?\ dW +10 &P=\ dX +9 &R:\ dW +9 &T}8\ `X +10 &VA8\ aW +9 &X;\ cW +9 &Y9\ dW +10 &[9\ dX +9 &]G9\ eO +10 &^zF3\ i!e +9 &^G:\ q5 +6 ( + "processing"%B& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&V1 +4 "core" &^'<\ u5 +59 1 + "manipulator"&)% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.' +94 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%>& +4 "core" &^'\ s5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&0% +4 "core" % !  + +2 "storage"(A% +3 "core" % \ t +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (P& +4 "core" &  \ s +2 "manipulator"&y& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & n = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(9'r +6 "core" ( + "manipulator"&& +4 "core" & = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & U = +2 .tForearm.seek PC +2 "manipulator"&,' +99 "core" ' + .tHand.close + "manipulator"&E/ +75 "core" / +2 .tPC.seek :open +2 "processing"%W( +75 "core" ' + "storage"(c- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(L'1 +41 "core" ' +333 ( + "storage"(H& +4 "core" &  \ w + "manipulator"&a& +4 "core" & 9 = + "manipulator"&$% +4 "core" %  ( +2 .tForearm.seek :retract + "manipulator"&j' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&d( +262 "core" ( + "manipulator"&T& +4 "core" & s  +2 "storage"(l& +3 "core" &  2\ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&I'S +95 "core" ' + .tHand.open + "manipulator"&*1 +65 "core" 1 + "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +30 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(r' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(D- +3 "core" -' +2 "storage"(m& +3 "core" &  \ \ X +2 "manipulator"&\\& +4 "core" & d  +2 .tElbow.seek 2 + "manipulator"&h( +3 "core" ( +2 "manipulator"&O& +3 "core" &  +2 "storage"(v& +4 "core" &  \  G\ \\ +2 .tForearm.seek 2 + 450 counts + "manipulator"&;'S +25 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' + "manipulator"&G& +4 "core" & 0  +2 "storage"(& +3 "core" &  o\ ~ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&o'Α +23 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.32 Pucks below Top Plate + "storage"(Q' +24 "core" ' + "manipulator"&_% +9 "core" %Ο  +2 "storage"(p& +8 "core" &  Z\ x +4 .tForearm.force -20 +2 "manipulator"&5 +5 .tForearm.seek 2 + 314 counts + "manipulator"&`' +20 "core" ' + "manipulator"&Y& +4 "core" & C +2 "storage"(u& +4 "core" &  \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&^'S +15 "core" ' + "storage"("% +4 "core" % \ | +3 ."downElevator"SE.seek :down +3 "storage"(:' +99 (@% +3 "core" %Q T\ vZq +2 "manipulator"&R% +4 "core" %B " + "Can"\ _] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +94 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (s& +4 "core" & \ \  + "collection"'& +4 "core" &\\ \ !` +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&e% +4 "core" %  l ! + "storage"(C% +4 "core" %\  &\  + "storage"(i. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(N(  +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (6& +2 "core" &  ]\ ~ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&S( +8 "core" ( + "manipulator"&X& +4 "core" &   { +2 "storage"(b& +3 "core" &  b\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&%'S +96 "core" ' + "storage"((& +4 "core" &  e d M\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  { +2 "storage"(z& +4 "core" &  U\ } + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& 'Α +19 "core" ' + .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(|- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"(!'[ +28 "core" ' + "manipulator"&g% +4 "core" %΢ < ; + "storage"(f& +4 "core" &  \ | + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&x' +14 "core" ' + "manipulator"&& +4 "core" & t y +2 "storage"(& +3 "core" &  %\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&/'S +18 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(4' +34 "core" ' + "manipulator"&Z& +4 "core" &  y +2 "manipulator"&2% +4 "core" %E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&3' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&q(ӂ +158 "core" ( + "manipulator"&=& +4 "core" &Ӈ0 & G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +2 "core" &Ӈ1  G +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + .tHand.close + "manipulator"&F/ +72 "core" / + .tCC.seek :open +2 "collection"'( +451 "core" ( +2 "storage"(n& +53 "core" &  6 6 J\  + "storage"(& +4 "core" &  K R i\  + "manipulator"&M& +4 "core" &Ӊ0 { F + "manipulator"&+% +4 "core" % 9 > H +2 .tForearm.seek :retract + "manipulator"&5' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +171 "core" ( + "manipulator"& & +4 "core" &  U +2 "storage"(?& +3 "core" &  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&}'Α +98 "core" ' + .tElbow.hold + "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&K% +4 "core" % ΅  + "storage"(7& +4 "core" &  1\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 288 counts + "manipulator"&''ϱ +32 "core" ' + "manipulator"&& +4 "core" & S +2 "storage"(& +3 "core" &  ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&#'S +21 "core" ' + "storage"(J% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(~' +99 (8% +3 "core" %G \ Yl +2 "manipulator"&<% +4 "core" %f + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" & j\ + "manipulator"&[% +4 "core" % !  ( ) +2 "storage"(-% +3 "core" % \ +2 "storage"(w. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(k( +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (V& +3 "core" & b X \  +2 "manipulator"&)& +3 "core" &   S +2 .tElbow.seek 3 + "manipulator"&>( +36 "core" ( + "manipulator"&0& +4 "core" &w  W a +2 "storage"(A& +3 "core" & S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +94 "core" ' + "storage"(B& +4 "core" & y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +299 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" & z K\  +2 "manipulator"&& +3 "core" &w  # a +2 .tElbow.seek 3 + "manipulator"&&( +27 "core" ( + "manipulator"&E& +5 "core" & +  + "storage"(1& +4 "core" & O\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&c'ϡ +42 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +77 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&.& +2 "storage"(t' +7 "core" & y  +2 "manipulator"&9% +3 "core" % {  ) +2 .tForearm.seek :retract +2 "manipulator"&H' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&a(ӂ +156 "core" ' + ."downElevator"SE.coast + "storage"(5 +8 "core" ( + "manipulator"&$& +4 "core" &Ӎ  & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" &Ӎ  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&T'? +103 "core" ' + "manipulator"&l& +4 "core" &Ӎ  / +2 "manipulator"&% +4 "core" %3  a +2 "collection"'*& +4 "core" & {\ +2 "collection"' & +5 "core" & \ +2 .tCC.seek :closed + "collection"'D(\\ +4 "core" & \  +9 &/z \ +| +9 &e \ ? +9 &xq \ N +10 &>S \ L +9 &U \ M +9 &S \ M +10 &R \ M +9 &DT \ M +10 &V \ M +9 &Q \ M +9 & T \ M +10 &"LU \ M +9 &$T \ M +9 &%T \ M +10 &'R \ M +9 &)UT \ M +10 &+T \ M +9 &,T \ M +9 &.T \ M +10 &0^U \ M +9 &2 U \ M +9 &3U \ M +10 &5T \ M +9 &7eU \ M +10 &9&U \ M +9 &:U \ M +9 &<S \ M +10 &>lU \ M +9 &@.U \ M +9 &AU \ M +10 &C\\ \ N +10 &Epe \ O +9 &G+w \ Q +9 &H \ T +9 &J \ Y +10 &LY \ Y +9 &N \ Z +9 &O \ Z +10 &Q \ [ +9 &SZ \ \\ +10 &U \ \\ +9 &V \ ] +9 &X \ ^ +10 &ZZ \ ^ +9 &\\| \ ; +9 &\\) \ )z +10 &\\t \ Y +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open + "manipulator"&m1 +62 "core" 1 +2 "manipulator"&\\% +4 "core" % 3 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&O' +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%v& +4 "core" &>\ v + "manipulator"&j% +4 "core" % !   . + "storage"(G% +4 "core" % \ v + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(_( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (L& +3 "core" & \ w +2 "manipulator"&p& +3 "core" &Ӎ E / +2 "manipulator"&% +3 "core" % ! \\ . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Y( +161 "core" ( + "manipulator"&u& +4 "core" &  m +2 "storage"("& +3 "core" & \ s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&d'7 +104 "core" ' + "storage"(I& +4 "core" & &\ x\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'r +21 "core" ' U\\ c t b +3 !to:Slide::Error\ :@axisName"Storage Elevator: mesg"6Storage Elevator overCurrent at down + 182 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei-: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeT: positioniU: velocityi: currenti\\:pwmig:erri: inPressic : outPressi :deltaPressit : voltagef12.672591065292096: @type2F:@destinationi%: @error:overCurrent: @tagiw:bt[ "2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:71:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:349:in `to'"8/home/esp/esp2/lib/slide.rb:69:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:349:in `to'"8/home/esp/esp2/utils/puckmoves.rb:599:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:576:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:365:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:363:in `load'"4/home/esp/esp2/utils/puckmoves.rb:358:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:358:in `load'"8/home/esp/esp2/utils/puckmoves.rb:963:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:25:in `shuffle'"7/home/esp/esp2/lib/log.rb:412:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"\ ~O +3 &U9\ ~O +10 &NT>\ P +9 &YJ\ P +10 &T>\ P +9 &!R9\ O +9 &#VW=\ P +10 &%U9\ P +9 &&V:\ P +9 &(S8\ O +10 &*^S<\ P +9 &,!XF\ O +10 &-RE\ O +9 &/T<\ P +9 &1gW<\ O +10 &3)R<\ O +9 &4QN\ O +9 &6UO\ O +10 &8nU@\ P +9 &:1UJ\ O +10 &;WK\ P +9 &=TI\ P +9 &?vUF\ P +10 &A8YE\ P +9 &BcH\ ~Q +9 &DeG\ ~R +10 &Fr}F\ {T +9 &H.F\ yV +10 &IH\ yU +9 &K>\ xV +9 &MrE\ xW +10 &O5K\ xV +9 &PF\ wW +9 &RF\ xW +10 &TxC\ wW +9 &V;B\ wW +10 &W;\ wW +9 &Y=\ wX +9 &[E\ wW +10 &]A?\ vN +9 &^xKF\ y_ +9 &^ R:\ 5 +7 ( +2 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&1 +4 "core" &^'D\ 5 +58 1 + "manipulator"&Z% +5 "core" %  y  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +92 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%%& +5 "core" &^''\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&S% +4 "core" %   +2 "storage"(% +3 "core" % \ +2 "storage"( . +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(x( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (!& +4 "core" & \  +2 "manipulator"&=& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&\ ( + "storage"(/'r +5 "core" ( + "manipulator"& & +4 "core" &  ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +3 "core" & ( +2 .tForearm.seek PC + "manipulator"&3' +93 "core" ' + .tHand.close + "manipulator"&/ +73 "core" / + .tPC.seek :open +2 "processing"%n( +85 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(M'1 +45 "core" ' +320 ( + "storage"(+& +4 "core" & \  + "manipulator"& & +4 "core" & ( +2 "manipulator"&?% +3 "core" %   o 8 +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&q( +299 "core" ( + "manipulator"&& +4 "core" &w 1 , +2 "storage"(K& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&7'7 +95 "core" ' + .tHand.open + "manipulator"&1 +63 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(J' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(5' +50 "core" ' + #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"(<& +4 "core" & \ t +2 "manipulator"&& +3 "core" &x  , +2 .tElbow.seek 3 + "manipulator"&}( +16 "core" ( + "manipulator"&& +4 "core" & 5 +2 "storage"('& +3 "core" & \ t +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&['7 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(-'" +50 "core" ' + "manipulator"&w& +4 "core" &  F $ +2 "storage"(4& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&#'u +23 "core" ' + .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(N' +25 "core" ' + "manipulator"&V% +5 "core" %Έ H + "storage"()& +4 "core" & ;\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts + "manipulator"&0'ϴ +29 "core" ' +2 "manipulator"&A& +4 "core" &   $ +2 "storage"(B& +5 "core" & 7\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&U'7 +16 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(y' +99 (% +3 "core" %)F 2\ Xh +2 "manipulator"&% +4 "core" %0 J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +89 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (1& +4 "core" & O\ + "collection"'& +4 "core" &\\r \ Y +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&.% +4 "core" %  #  + "storage"(9% +4 "core" % S\ +2 "storage"(>. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ($& +2 "core" & N\  +2 "manipulator"&,& +4 "core" & I $ +2 .tElbow.seek 3 + "manipulator"&P( +53 "core" ( + "manipulator"&c& +4 "core" &   & +2 "storage"(l& +4 "core" & P\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +96 "core" ' +2 "storage"(&& +4 "core" & E\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'r +296 "core" ' + "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&H& +3 "core" &  ] % +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&m'u +16 "core" ' + .tElbow.hold + "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(v- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(j'g +30 "core" ' + "manipulator"&G% +4 "core" %΁ I T + "storage"(& +4 "core" & \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"& 'ϭ +39 "core" ' + "manipulator"&L& +4 "core" &  w % +2 "storage"(p& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +23 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(T' +42 "core" ' + "manipulator"&u& +4 "core" &  \\ % +2 "manipulator"&"% +4 "core" %: ?  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&I(ӂ +147 "core" ( + "manipulator"&a& +4 "core" &Ӌ, / Du + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +2 "core" &Ӌ-  q Du +2 .tForearm.seek CC +2 "manipulator"&R'? +93 "core" ' + .tHand.close + "manipulator"&;/ +77 "core" / + .tCC.seek :open + "collection"'( +449 "core" ( + "storage"(o& +4 "core" & F\  + "storage"(`& +4 "core" & }\  + "manipulator"&O& +4 "core" &ӌ+  0 Ct + "manipulator"&Y% +4 "core" % S  [ +2 .tForearm.seek :retract + "manipulator"&d' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&@( +170 "core" ( + "manipulator"&e& +4 "core" &~  g +2 "storage"(C& +3 "core" &  5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +50 "manipulator"&Q'u +96 "core" ' + .tElbow.hold + "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&b% +4 "core" % Ή +2 "storage"(^& +3 "core" & C\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&:'ϵ +35 "core" ' + "manipulator"&h& +4 "core" & d +2 "storage"(s& +4 "core" & % $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +23 "core" ' + "storage"(X% +4 "core" % &  \ +2 ."downElevator"SE.seek :down +4 "storage"(]' +99 ({% +3 "core" %u>  X\ Vc +2 "manipulator"&i% +4 "core" %N  + + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&z' +90 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'|& +5 "core" & l\ + "manipulator"&g% +4 "core" %     +2 "storage"((% +3 "core" % \ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(W(,y +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &,w#\  + "manipulator"&Z& +4 "core" &  d +2 .tElbow.seek 4 + "manipulator"&%( +47 "core" ( + "manipulator"&S& +4 "core" & v +2 "storage"(& +3 "core" &,w & & F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +96 "core" ' + "storage"(f& +4 "core" &,w & ]\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(!'r +299 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &,w L\  + "manipulator"&F& +4 "core" & 7 v +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & + v +2 "storage"(_& +3 "core" &,w ]\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +37 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +73 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&2& +4 "storage"(' +3 "core" &  8 v +2 "manipulator"&/% +4 "core" % [ + .tForearm.seek :retract +2 "manipulator"&+' +91 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +159 "core" ( + "manipulator"&?& +5 "core" ' + &ӑ) \ Ac + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &3& +2 "core" &ӑ) : Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' + "manipulator"&\ & +4 "core" &ӗ' W @] +2 "manipulator"&K% +4 "core" %8 " z + "collection"'& +4 "core" & x\ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed + "collection"'8(\\ +4 "core" & \  +9 &4| \ +| +9 &f \ ? +9 &r \ M +10 &SW \ M +9 &T \ M +9 &W \ L +10 &V \ L +9 &]U \ L +10 &X \ M +9 &Y \ M +9 & Y \ L +10 &"eW \ L +9 &$'V \ L +9 &%Y \ M +10 &'U \ M +9 &)lT \ M +10 &+.Y \ M +9 &,Y \ M +9 &.Y \ L +10 &0uV \ L +9 &27W \ L +9 &3V \ L +10 &5Z \ M +9 &7|U \ M +10 &9>U \ M +9 &;U \ M +9 &<U \ M +10 &>U \ M +9 &@GV \ L +9 &BY \ M +10 &C] \ M +9 &Ee \ O +10 &GCx \ P +9 &H \ T +9 &J \ X +10 &Lr \ X +9 &N1 \ Y +9 &O \ Y +10 &Q \ Z +9 &Ss \ [ +10 &U4 \ [\ +9 &V \ \\ +9 &X \ ] +10 &Zr \ ^ +9 &\\y \ 4 +9 &\\* \ Y +10 ( + &\\g \ Q +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&<1 +63 "core" 1 +2 "manipulator"&% +4 "core" % 8 o z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%'& +4 "core" &=\ + "manipulator"&% +4 "core" % #  n / + "storage"(w% +4 "core" % >\ +2 "storage"(4. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(V(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ()& +3 "core" &,w K\  +2 "manipulator"&M& +3 "core" &Ә( @\\ +2 "manipulator"&A% +3 "core" % #  / +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&J( +165 "core" ( + "manipulator"&B& +4 "core" &  w +2 "storage"(& +3 "core" &,x( z $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&q' +100 "core" ' + "storage"(7& +4 "core" &,x( \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &,x( _ ` _\  + "manipulator"&[& +4 "core" & E w +2 .tElbow.seek 4 + "manipulator"&}( +4 "core" ( + "manipulator"&-& +4 "core" & w + "storage"(#& +4 "core" &,x( \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&1'c +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&0/ +72 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(.' +8 "core" & ( w +2 "manipulator"&9% +3 "core" % ψ / +2 .tForearm.seek :retract +2 "manipulator"&N' +94 "core" ' + .tElbow.seek PC +2 "manipulator"&>( +163 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( +2 "manipulator"&$& +4 "core" & # - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" & - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&c' +97 "core" ' + "manipulator"&l& +4 "core" & " - +2 "manipulator"&U% +4 "core" %  9 + "processing"%&& +4 "core" &Q\ +2 "processing"%y& +4 "core" &W\ +2 .tPC.seek :closed +2 "processing"%x(^ +4 "core" &X\  +8 &1w\\\ |*x +10 &`]\ z> +9 &atX\ {O +9 &!UY\ P +10 &W\\\ P +9 &TV\ P +9 &gSX\ P +10 &*VU\ O +9 &TW\ P +10 &SM\ O +9 & qTV\ O +9 &"2UJ\ ~O +10 &#WS\ O +9 &%QN\ O +9 &'yTP\ O +10 &)9VK\ P +9 &*UJ\ P +10 &,RC\ P +9 &.SG\ P +9 &0BRA\ O +10 &2TL\ O +9 &3VP\ ~O +9 &5VO\ ~O +10 &7KUH\ O +9 &9 ZH\ ~P +10 &:ZP\ ~O +9 &<UN\ O +9 &>QXR\ P +10 &@UC\ P +9 &AYN\ P +9 &CcE\ ~Q +10 &ERjP\ }R +9 &GvQ\ {S +10 &HR\ xU +9 &JM\ wV +9 &LOD\ yV +10 &NJ\ xW +9 &OF\ xW +9 &QK\ vW +10 &SSO\ xW +9 &UN\ wW +10 &VL\ vX +9 &XO\ xW +9 &Z[P\ wW +10 &\\K\ vX +9 &]S\ z5 +9 &^5rI\ {D +11 ( &^ K\ 0 +2 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&~1 +58 "core" 1 + "manipulator"&E% +4 "core" %  T 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +98 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%H& +4 "core" &^ E\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" % %  9 + "storage"(v% +4 "core" % \ +2 "storage"(G. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +5 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (L& + "manipulator"&p& +6 "core" & $ - + &,x '\  +52 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&u( +3 ."raiseStack"SE.seek :beamBreak + "storage"("'r +3 "core" ( + "manipulator"&& +4 "core" &  6 - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +2 "core" & 5 - +2 .tForearm.seek PC +2 "manipulator"&*' +96 "core" ' +2 .tHand.close + "manipulator"&m/ +72 "core" / + .tPC.seek :open +2 "processing"% ( +81 "core" ' + "storage"(j- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(a'1 +48 "core" ' +318 ( + "storage"(r& +4 "core" &,x S\  +2 "manipulator"&& +3 "core" &  - +2 "manipulator"&\\% +3 "core" %   . +2 .tForearm.seek :retract + "manipulator"&;' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&k( +262 "core" ( + "manipulator"&D& +4 "core" & g \ +2 "storage"(o& +3 "core" &,x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&`' +101 "core" ' + .tHand.open + "manipulator"&O1 +63 "core" 1 + "storage"(Y- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(e' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(C' +50 "core" ' + #tLights, camera, ACTION! + "storage"(R- +4 "core" -' + "storage"(I& +4 "core" &,x a\ v + "manipulator"&& +4 "core" & / \ +2 .tElbow.seek 4 + "manipulator"&b( +3 "core" ( +2 "manipulator"&^& +3 "core" & { \ +2 "storage"(h& +4 "core" &,x C\ v +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(d'" +51 "core" ' + "manipulator"&X& +4 "core" &   \ +2 "storage"({& +4 "core" &,x ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&i'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(Q' +22 "core" ' + "manipulator"&|% +5 "core" %I  + "storage"(:& +4 "core" &,x \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&g'u +26 "core" ' + "manipulator"&(& +4 "core" & \ +2 "storage"(& +4 "core" &,x =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&T' +17 "core" ' + "storage"(% +5 "core" % E\ +2 ."downElevator"SE.seek :down +3 "storage"(]' +99 (% +4 "core" %K \ Xj +2 "manipulator"&% +4 "core" % , + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +92 "core" ' +66 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (S& +4 "core" &,x 6\ + "collection"'& +4 "core" &\\g {\ Q + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&f% +4 "core" %  |  +2 "storage"(6% +4 "core" % 4\ + "storage"(z. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(=(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ( & +3 "core" &,x (\  +2 "manipulator"&F& +3 "core" & \ +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&_& +3 "core" &  \ +2 "storage"( & +4 "core" &,x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&2' +97 "core" ' + "storage"(/& +4 "core" &,x &\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'r +301 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&?& +3 "core" &   \ +2 "storage"(3& +3 "core" &,x J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&!'7 +17 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\ - +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(K'd +30 "core" ' + "manipulator"&% +4 "core" %F D +2 "storage"(& +3 "core" &,x \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&'r +16 "core" ' + "manipulator"&+& +4 "core" & N \ +2 "storage"(& +3 "core" &,x )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&<' +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +37 "core" ' + "manipulator"&'& +4 "core" &  \ +2 "manipulator"&% +4 "core" %  ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&w' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&4(ӂ +172 "core" ( + "manipulator"&& +4 "core" &ӊ J - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &ӊ - +2 .tForearm.seek CC + "manipulator"&M'? +94 "core" ' + .tHand.close + "manipulator"&A/ +78 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"(B& +4 "core" &,x  @\  + "storage"(& +4 "core" &,x I\  + "manipulator"&W& +4 "core" &ӊ l - + "manipulator"&7% +4 "core" % C W : +2 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" & 3 k +2 "storage"(& +3 "core" &,x  8\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&['7 +96 "core" ' + .tElbow.hold + "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator" +59 "core" 1 + "manipulator"&0% +5 "core" % C A G + "storage"(& +4 "core" &,x  |\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&9'o +16 "core" ' + "manipulator"&J& +4 "core" & i +2 "storage"(q& +3 "core" &,x % & b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +16 "core" ' + "storage"(1% +4 "core" %  4\ +3 ."downElevator"SE.seek :down +3 "storage"($' +98 (,% +3 "core" %x?   J\ Wc +2 "manipulator"&}% +3 "core" % ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +91 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'U& +5 "core" & \ + "manipulator"&&% +4 "core" %   )  +2 "storage"(.% +3 "core" % & &\ +50 "storage"(N. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(n(<- +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (~& +3 "core" &<,) #\ \  + "manipulator"&E& +4 "core" & i +2 .tElbow.seek 5 + "manipulator"&H( +8 "core" ( + "manipulator"&& +4 "core" & f +2 "storage"(v& +3 "core" &<'  # M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&G'O +100 "core" ' + "storage"(y& +4 "core" &<*  9\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'r +300 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<*  N\  +2 "manipulator"&P& +3 "core" & + f +2 .tElbow.seek 5 + "manipulator"&c( +3 "core" ( +2 "manipulator"&V& +3 "core" & f +2 "storage"(m& +3 "core" &<* Y\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&j'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +77 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(x' +7 "core" & f +2 "manipulator"&"% +4 "core" %   P + .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&\\& +5 "core" ' + &ӎ" i <= + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &*& +2 "core" &ӎ#  <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&D'? +92 "core" ' + "manipulator"&o& +4 "core" &ӏ# ( << +2 "manipulator"&u% +4 "core" %D   x +2 "collection"'O& +4 "core" & \ +2 "collection"'Y& +7 "core" & \ +2 .tCC.seek :closed +2 "collection"'R(\\ +4 "core" & \ +7 &9 \ %g +10 &Vw \ 7 +9 &z \ L +9 &W \ M +10 &vS \ L +9 &7U \ M +9 &Y \ M +10 &W \ M +9 &}U \ M +10 &?T \ M +9 & Y \ M +9 &!Y \ L +10 &#W \ L +9 &%GS \ M +9 &'\ R \ L +10 &(V \ M +9 &*W \ M +10 &,PT \ L +9 &.U \ L +9 &/T \ M +10 &1X \ M +9 &3WT \ M +10 &5T \ L +9 &6W \ L +9 &8T \ M +10 &:_U \ M +9 & \ *~ +9 &\\h \ L +3 ( + "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&I1 +59 "core" 1 + "manipulator"&% +4 "core" % D x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%h& +4 "core" &A\ + "manipulator"&;% +4 "core" %  W  +2 "storage"(X% +3 "core" % V\ +2 "storage"({. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(|(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (:& +2 "core" &<* 5\  +2 "manipulator"&a& +4 "core" &ӏ# b << + "manipulator"&(% +4 "core" %  Q  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +156 "core" ( + "manipulator"&e& +4 "core" &  \ +2 "storage"(& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&k'O +99 "core" ' + "storage"(`& +4 "core" &<* W\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<* N\  +2 "manipulator"&s& +3 "core" &  \ +2 .tElbow.seek 5 + "manipulator"&b( +3 "core" ( + "manipulator"&d& +4 "core" &  \\ \ + "storage"(i& +4 "core" &<* /\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&g'Ϲ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&S/ +69 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(f' +8 "core" &  \ + "manipulator"&6% +4 "core" % ϶ 6 2 +2 .tForearm.seek :retract + "manipulator"&Q' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&z( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +78 "core" ( + "manipulator"& & +4 "core" & X & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +2 "core" &  & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&_' +98 "core" ' + "manipulator"& & +4 "core" & u & +2 "manipulator"&T% +3 "core" % m +2 "processing"%/& +4 "core" &X\ +2 "processing"%]& +4 "core" &D\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &X\  +10 &2wZ\ )w +9 &aX\ > +10 &asY\ O +9 &!WY\ O +9 &UX\ O +10 &TX\ O +9 &hWV\ O +9 &)UX\ O +10 &WY\ O +9 &WY\ O +10 & oWX\ O +9 &"2UY\ O +9 &#UW\ O +10 &%PY\ O +9 &'vUW\ P +9 &)9TM\ O +10 &*RT\ O +9 &,UU\ P +10 &.TU\ O +9 &0ARW\ O +9 &2TX\ O +10 &3TW\ O +9 &5TP\ P +9 &7ITQ\ O +10 &9 VU\ O +9 &:WR\ P +10 &<RJ\ O +9 &>QWU\ O +9 &@ZU\ P +10 &A\\W\ P +9 &ChT\ Q +9 &EQrH\ R +10 &G M\ T +9 &HL\ U +10 &JO\ U +9 &LOG\ U +9 &N L\ W +10 &OQ\ V +9 &QM\ W +9 &SRK\ W +10 &UR\ W +9 &VL\ W +10 &XK\ W +9 &ZYK\ X +9 &\\O\ W +10 &]~P\ 5 +9 &^8tN\ < +9 ( +2 &^O\ , + "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&@1 +56 "core" 1 + "manipulator"&Z% +4 "core" %  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%?& +4 "core" &^@\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&3% +4 "core" % # 3 + "storage"(\ % +4 "core" % y\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (+& + "manipulator"&& +6 "core" &<* 4\  + & i & +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&'( + "storage"('r +5 "core" ( + "manipulator"&2& +4 "core" &  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & t & +2 .tForearm.seek PC + "manipulator"&%' +94 "core" ' + .tHand.close + "manipulator"&!/ +72 "core" / + .tPC.seek :open +2 "processing"%( +85 "core" ' + "storage"(K- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +319 ( + "storage"()& +4 "core" &<* 1\  + "manipulator"&<& +4 "core" & l & + "manipulator"&% +4 "core" %   & +2 .tForearm.seek :retract + "manipulator"&A' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&w( +268 "core" ( + "manipulator"&8& +4 "core" & ) r + "storage"(B& +4 "core" &<* S\  +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&'O +95 "core" ' + .tHand.open + "manipulator"&W1 +64 "core" 1 +2 "storage"(7- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +51 "core" ' + #tLights, camera, ACTION! + "storage"(M- +4 "core" -' + "storage"(4& +4 "core" &<* 1\ w +2 "manipulator"&#& +3 "core" & C r +2 .tElbow.seek 5 +2 "manipulator"&0( +3 "core" ( + "manipulator"&& +4 "core" & r + "storage"(J& +4 "core" &<* \ w +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +50 "core" ' + "manipulator"& & +4 "core" & r +2 "storage"(,& +4 "core" &<* Q\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&}'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"([' +24 "core" ' + "manipulator"&U% +5 "core" %Ε  + "storage"(9& +4 "core" &<* E\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 308 counts + "manipulator"&&' +17 "core" ' + "manipulator"&.& +5 "core" & o + "storage"(& +4 "core" &<* 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&N'O +17 "core" ' + "storage"(5% +5 "core" % a\ +2 ."downElevator"SE.seek :down +3 "storage"($' +99 (=% +3 "core" %O )\ Yl +2 "manipulator"&~% +4 "core" %/  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +88 "core" ' +69 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (& +4 "core" &<* &\ +2 "collection"'v& +3 "core" &\\g y\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&y% +4 "core" %   =  + "storage"(-% +4 "core" % H\ +2 "storage"(l. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(L(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<* l\  +2 "manipulator"&P& +3 "core" & W o +2 .tElbow.seek 5 +2 "manipulator"&V( +3 "core" ( + "manipulator"&m& +4 "core" & T o +2 "storage"(>& +3 "core" &<* O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&t'O +95 "core" ' + "storage"("& +4 "core" &<* 5\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'r +301 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&\\& +3 "core" & v o +2 "storage"(*& +3 "core" &<* \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&p'΍ +23 "core" ' + .tElbow.hold + "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(o- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(u'j +30 "core" ' + "manipulator"&O% +4 "core" %Κ +2 "storage"(c& +3 "core" &<* \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&x' +16 "core" ' + "manipulator"&r& +4 "core" &  o +2 "storage"(& +3 "core" &<* &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&I'O +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +35 "core" ' + "manipulator"&h& +4 "core" & _ o +2 "manipulator"&;% +4 "core" %.  . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&{(ӂ +158 "core" ( + "manipulator"&Y& +4 "core" &ӂ-  Dz +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +2 "core" &Ӄ- Dy +2 .tForearm.seek CC +2 "manipulator"&a'? +92 "core" ' + .tHand.close + "manipulator"&(/ +78 "core" / + .tCC.seek :open +2 "collection"'D( +451 "core" ( + "storage"(e& +4 "core" &<*  \  + "storage"(& +4 "core" &<* \  + "manipulator"&n& +4 "core" &Ӊ+ X Cs + "manipulator"&`% +4 "core" % I  ? U +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&^( +166 "core" ( + "manipulator"&& +4 "core" &  | +2 "storage"(& +3 "core" &<* & & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&s'΍ +93 "core" ' + .tElbow.hold + "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&i1 +53 "core" 1 + "manipulator"&S% +5 "core" % Α F + "storage"(& +4 "core" &<* & % \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts + "manipulator"&6'Ͻ +25 "core" ' +2 "manipulator"&& +4 "core" & y + "storage"(k& +4 "core" &<*\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +25 "core" ' + "storage"(g% +4 "core" % & '\ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (F% +3 "core" %F   J\ We +2 "manipulator"&b% +3 "core" %x ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'T& +5 "core" & \ + "manipulator"&/% +4 "core" % "  + +2 "storage"(f% +3 "core" % / & G\ +2 "storage"(Q. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"( (K +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (@& +3 "core" &K  Y\ \  + "manipulator"&Z& +4 "core" &  y + .tElbow.seek 6 +2 "manipulator"&?( +3 "core" ( + "manipulator"&3& +4 "core" & y + "storage"(\ & +4 "core" &K G\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +98 "core" ' + "storage"(]& +4 "core" &K v\ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'r +301 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (2& +3 "core" &K X\ \  +2 "manipulator"&& +3 "core" & 8 y +2 .tElbow.seek 6 + "manipulator"&_( +3 "core" ( +2 "manipulator"&!& +3 "core" & 2 y +2 "storage"(|& +3 "core" &K *\ \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&K'h +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +70 "core" / +2 ."downElevator"SE.seek :down +52 "manipulator"& & + "storage"(' +8 "core" &  ! y + "manipulator"&% +4 "core" % ]  7 +2 .tForearm.seek :retract + "manipulator"&)' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&<(ӂ +155 "core" ( + ' + ."downElevator"SE.coast +3 "manipulator"&& + "storage"(5 +7 "core" &Ӏ-  C Dz +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &Ӏ-  > Dz +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&8'? +97 "core" ' + "manipulator"&B& +4 "core" &Ӆ- * Du +2 "manipulator"&'% +4 "core" %I  D g +2 "collection"'W& +4 "core" & &\ +2 "collection"'7& +5 "core" & \ +2 .tCC.seek :closed + "collection"'M(\\ +5 "core" & 0\ +7 &: 3\ %f +10 &V{ \ 7 +9 &y \ L +10 &S \ M +9 &pV \ M +9 &3V D\ M +10 &V \ M +9 &S \ M +9 &xU \ M +10 &;T \ M +9 &T \ L +12 &!U \ M +8 &#V \ M +9 &%CS \ M +9 &'T \ M +9 &(R \ M +9 &*S \ L +10 &,KU \ M +9 &. W \ M +10 &/R \ M +9 &1U \ M +9 &3SX \ M +10 &5S \ M +9 &6U \ M +9 &8U \ L +10 &:ZU \ M +9 &<U \ M +10 &=T \ M +9 &?V \ M +9 &AcV \ M +10 &C$Z \ M +9 &Dd \ N +9 &Fl \ P +10 &HZ \ R +9 &J \ W +10 &K \ Y +9 &M \ Z +9 &OM \ Z +10 &Q \ Z +9 &R \ [\ +9 &T \ \\ +10 &VN ,\ \\ +9 &X \ ] +10 &Y \ ^ +9 &[ \ K +9 &\\6 \ / +10 &\\} \ Y +6 ( +2 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&41 +3 "core" &\\s \ Y +60 1 +2 "manipulator"&#% +4 "core" % I g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%J& +4 "core" &X\ + "manipulator"&A% +4 "core" % #  3 +2 "storage"( % +3 "core" % \ +2 "storage"(,. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(U(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (9& +2 "core" &K \  +2 "manipulator"&& +4 "core" &Ӈ+ Cs + "manipulator"&.% +4 "core" % # 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +164 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(5& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&w' +103 "core" ' + "storage"(& +4 "core" &K 7\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" &K \  +2 "manipulator"&q& +3 "core" &  R  +2 .tElbow.seek 6 + "manipulator"&0( +3 "core" ( +2 "manipulator"&1& +3 "core" & 0  +2 "storage"(}& +3 "core" &K F\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&&'h +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +72 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&v& +3 "storage"(y' +6 "core" &  +2 "manipulator"&-% +3 "core" % w y +2 .tForearm.seek :retract +2 "manipulator"&[' +88 "core" ' + .tElbow.seek PC +2 "manipulator"&l( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +71 "core" ( + "manipulator"&& +4 "core" &  2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &   2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +99 "core" ' + "manipulator"&>& +4 "core" & [ 1 +2 "manipulator"&N% +4 "core" %   + "processing"%"& +4 "core" &\\\ +2 "processing"%$& +5 "core" &C\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &[\  +9 &1vX\ *x +9 &a[\ > +10 &gsZ\ O +9 &&T[\ P +10 &UZ\ O +9 &RX\ O +9 &mW]\ O +10 &/U[\ O +9 &VX\ O +9 &VX\ O +10 & tTY\ P +9 &"6SW\ P +10 &#UW\ O +9 &%PY\ O +9 &'}WW\ O +10 &)?UY\ O +9 &+VW\ O +9 &,WX\ O +10 &.RX\ P +9 &0FTT\ P +10 &2 VU\ O +9 &3UW\ O +9 &5UV\ O +10 &7OVV\ O +9 &9UW\ O +9 &:YW\ P +10 &<WW\ O +9 &>WWU\ O +10 &@WW\ O +9 &A[S\ P +9 &CfS\ Q +10 &EUoR\ S +9 &GW\ T +9 &HV\ U +10 &JQ\ V +9 &LUM\ U +10 &NR\ V +9 &OV\ W +9 &QP\ |X +10 &SYU\ W +9 &UN\ W +9 &VN\ W +10 &XN\ W +9 &ZaR\ W +10 &\\"R\ ~W +9 &]S\ 6 +9 &^5rM\ ? +10 ( + &^M\ . +2 "processing"%$& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&E% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +97 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%\\& +5 "core" &^O\ . + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&*% +4 "core" % %  < +2 "storage"(o% +3 "core" % A\ +2 "storage"(O. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(c(K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (r& +4 "core" &K \  + "manipulator"&& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & 8 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&h( + "storage"(;'r +5 "core" ( + "manipulator"&t& +4 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +2 "core" &  1 +2 .tForearm.seek PC +2 "manipulator"&H' +98 "core" ' + .tHand.close + "manipulator"&p/ +74 "core" / +2 .tPC.seek :open +2 "processing"%x( +77 "core" ' + "storage"(u- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(Y'1 +41 "core" ' +331 ( + "storage"(:& +4 "core" &K S\  + "manipulator"&I& +4 "core" &  > 1 + "manipulator"&j% +4 "core" %  "  +2 .tForearm.seek :retract + "manipulator"&(' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&X( +262 "core" ( + "manipulator"&R& +4 "core" & 1  +2 "storage"(e& +3 "core" &K j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' + .tHand.open + "manipulator"&n1 +63 "core" 1 + "storage"(`- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +23 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(a- +4 "core" -' + "storage"({& +4 "core" &K 9\ v + "manipulator"&i& +4 "core" & n  +2 .tElbow.seek 6 + "manipulator"&S( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(& +4 "core" &K ;\ u +2 .tForearm.seek 6 + 450 counts + "manipulator"&k' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(g'" +49 "core" ' + "manipulator"&& +4 "core" &    +2 "storage"(F& +3 "core" &K L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&b'< +18 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +52 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +20 "core" ' + "manipulator"&T% +4 "core" %F + +2 "storage"(6& +4 "core" &K :\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 310 counts + "manipulator"&/'r +15 "core" ' + "manipulator"&f& +4 "core" &  +2 "storage"(Q& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +20 "core" ' + "storage"(C% +5 "core" % n\ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (L% +3 "core" %I \ Xj +2 "manipulator"&@% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +89 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (3& +4 "core" &K \ + "collection"'\ & +4 "core" &\\s \ Y + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&]% +4 "core" %    +2 "storage"(d% +3 "core" % \ +2 "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (2& +3 "core" &K X\  + "manipulator"&& +4 "core" & K  +2 .tElbow.seek 6 + "manipulator"&!( +4 "core" ( + "manipulator"&|& +4 "core" & o  +2 "storage"(z& +3 "core" &K n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"& ' +95 "core" ' + "storage"(& +4 "core" &K Q\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & ]  +2 "storage"(%& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&+'< +27 "core" ' + .tElbow.hold + "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(''b +29 "core" ' + "manipulator"&W% +4 "core" %N H o +2 "storage"(_& +3 "core" &K &\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'z +15 "core" ' + "manipulator"&)& +4 "core" &   +2 "storage"(D& +3 "core" &K A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&4' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(#' +34 "core" ' + "manipulator"&J& +4 "core" &    +2 "manipulator"&A% +4 "core" %  B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&,(ӂ +159 "core" ( + "manipulator"&7& +4 "core" &ӊ1 G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +2 "core" &Ӌ1  G +2 .tForearm.seek CC +3 "manipulator"&'? +93 "core" ' + .tHand.close + "manipulator"&./ +69 "core" / + .tCC.seek :open +2 "collection"'8( +447 "core" ( + "storage"(& +4 "core" &K  1\  + "storage"(5& +4 "core" &K H\  +2 "manipulator"& & +3 "core" &ӏ/  F +2 "manipulator"&% +3 "core" % F U +2 .tForearm.seek :retract + "manipulator"&<' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +165 "core" ( + "manipulator"&=& +4 "core" &   | +2 "storage"(~& +3 "core" &K  U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&q'< +96 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +57 "core" 1 + "manipulator"&% +5 "core" % A  / + "storage"(v& +4 "core" &K  # 3\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 305 counts +2 "manipulator"&-'m +14 "core" ' +2 "manipulator"&& +4 "core" & y +2 "storage"(w& +3 "core" &K 0 2 N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +18 "core" ' + "storage"(&% +4 "core" %   \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (P% +3 "core" %lC  \ Wd +2 "manipulator"&0% +3 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +99 "core" ' +46 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'N& +3 "core" & /\ + "manipulator"&"% +4 "core" % "  V * +2 "storage"(y% +3 "core" %   ;\ +2 "storage"([. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +1301 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &   ;\ + "manipulator"&E& +4 "core" & ` y +2 .tElbow.seek 2 + "manipulator"&\\( +8 "core" ( + "manipulator"&*& +4 "core" & # r +2 "storage"(o& +3 "core" &  8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&O'S +96 "core" ' + "storage"($& +4 "core" &   E\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (t& +3 "core" &   I\  + "manipulator"&V& +4 "core" &  r +2 .tElbow.seek 2 + "manipulator"&m( +3 "core" ( +2 "manipulator"&p& +3 "core" & P r +2 "storage"(U& +3 "core" &  & \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u'Ͻ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +68 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"(' +7 "core" &  9 r +2 "manipulator"&;% +4 "core" %  c s + .tForearm.seek :retract +2 "manipulator"&:' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&I(ӂ +155 "core" ' + ."downElevator"SE.coast + "storage"(5 +29 "core" ( + "manipulator"&j& +4 "core" &ӆ  k K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &ӆ  . K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&R'? +92 "core" ' + "manipulator"&e& +4 "core" &ӆ K + "manipulator"&h% +4 "core" %9  k +3 "collection"'n& +3 "core" & k\ +2 "collection"'`& +6 "core" & '\ +2 .tCC.seek :closed + "collection"'a(\\ +4 "core" & \  +9 &4{ z\ +{ +9 & f  \ ? +9 &r \ N +10 &TU  \ M +9 &X \ \ L +9 &W \ M +10 &X  \ M +9 &\\W \ M +10 &U  \ M +9 &T  \ M +9 & T 2\ M +10 &"eT  \ L +9 &$&V \ M +9 &%W \ M +10 &'U \ L +9 &)lT q\ M +10 &+/T 2\ L +9 &,V \ L +9 &.V w\ L +10 &0tY \ M +9 &26X \ M +9 &3W \ M +10 &5T C\ M +9 &7|U \ M +10 &9>U v\ M +9 &;T ,\ L +9 &<V \ M +10 &>Z \ M +9 &@FY 0\ M +9 &B\\ \ M +10 &C] .\ N +9 &Ed D\ N +10 &GCt P\ P +9 &H =\ T +48 &J 7\ X +18 &Lq D\ Y + &N3 C\ Y + &O 5\ Y + &Q Z\ Z &Ss \ [ + &U4 j\ [\ +5 &V 8\ \\ +9 &X B\ ] +10 &Zs f\ ] +9 &\\z "\ 3 +9 &\\, ?\ Z +11 ( &\\p S\ P +2 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&{1 +54 "core" 1 + "manipulator"&i% +5 "core" % 9 k + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &G\ +2 "manipulator"&(% +3 "core" %   +2 "storage"(% +3 "core" % \ +2 "storage"(F. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(Y(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (T& +3 "core" &  #\  + "manipulator"&6& +4 "core" &ӆ 6 K +2 "manipulator"&% +3 "core" %  s  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&f( +155 "core" ( + "manipulator"&Q& +4 "core" & p G +2 "storage"(C& +80 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +3 "manipulator"&X'S +92 "core" ' +2 "storage"(& +4 "core" &  -\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (@& +3 "core" &  '\  +2 "manipulator"&k& +3 "core" & _ G +2 .tElbow.seek 2 + "manipulator"&S( +4 "core" ( + "manipulator"&g& +3 "core" &  G +2 "storage"(b& +3 "core" &  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&/'Ͻ +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&3/ +76 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"(]' +8 "core" & G + "manipulator"&d% +4 "core" % ϴ 7 +2 .tForearm.seek :retract + "manipulator"&s' +91 "core" ' + .tElbow.seek PC +2 "manipulator"& ( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +71 "core" ( + "manipulator"&2& +4 "core" & F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&|' +98 "core" ' + "manipulator"&z& +4 "core" & E +2 "manipulator"&% +4 "core" % ^ + "processing"%& +4 "core" &C\ +2 "processing"% & +5 "core" &G\ +2 .tPC.seek :closed + "processing"%c(^ +4 "core" &X\  +9 &0s\\\ *x +9 &b}^\ > +10 &bs^\ O +9 &#T\\\ O +10 &U^\ O +9 &Qa\ O +9 &hU_\ P +10 &+T\\\ O +9 &R\\\ O +9 &Va\ O +10 & qT]\ O +9 &"4Od\ O +10 &#UZ\ O +9 &%P[\ O +9 &'xT_\ P +10 &):S^\ P +9 &*TZ\ O +9 &,RY\ O +10 &.PZ\ O +9 &0BRY\ P +10 &2VR\ O +9 &3UV\ O +9 &5TX\ P +10 &7KUY\ O +9 &9 YY\ O +9 &:XX\ P +10 &<WY\ O +9 &>QZW\ P +10 &@TT\ O +9 &AYY\ P +9 &C`X\ Q +10 &EUhX\ Q +9 &GwV\ S +9 &HX\ V +10 &JT\ V +9 &LPW\ V +10 &NX\ V +9 &ON\ V +9 &QL\ W +10 &SUM\ W +9 &US\ ~X +9 &VQ\ W +10 &XS\ W +9 &Z\\R\ W +10 &\\L\ X +9 &]Q\ 6 +9 &^.lP\ S +10 &^-M\ 5 +2 ( +2 "processing"% & +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&^1 +62 "core" 1 + "manipulator"&Z% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^+:\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&%% +3 "core" % & # I +2 "storage"(B% +4 "core" % .\ + "storage"(W. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(_(  +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ()& + "manipulator"&D& +6 "core" &  { \  + & < E +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b + .tElbow.seek PC +5 "manipulator"&J( +2 ."raiseStack"SE.seek :beamBreak +3 "storage"(A'r +2 "core" ( +2 "manipulator"& & +3 "core" & O E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" & E +2 .tForearm.seek PC +2 "manipulator"&?' +95 "core" ' + .tHand.close + "manipulator"&+/ +73 "core" / + .tPC.seek :open +2 "processing"%( +82 "core" ' + "storage"('- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(7'1 +47 "core" ' +320 ( + "storage"(9& +4 "core" &  K\  + "manipulator"&4& +4 "core" & E + "manipulator"&K% +4 "core" %   8 +2 .tForearm.seek :retract + "manipulator"&.' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +244 "core" ( + "manipulator"&M& +4 "core" &  j +2 "storage"(& +3 "core" &  D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'S +96 "core" ' + .tHand.open + "manipulator"& 1 +58 "core" 1 +57 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(=' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(~' +51 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(,& +4 "core" &  \ x + "manipulator"&}& +4 "core" &\  U j + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&v& +4 "core" &\   j + "storage"(& +4 "core" &  W\ x +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&w'S +3 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(&'" +51 "core" ' + "manipulator"&<& +4 "core" &\    j +2 "storage"(P& +3 "core" &  ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&0'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(q' +21 "core" ' + "manipulator"&-% +5 "core" %Ν 2 , + "storage"(#& +4 "core" &  D\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&' +16 "core" ' + "manipulator"&& +4 "core" &\  l j +2 "storage"(& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&N'S +17 "core" ' + "storage"("% +5 "core" % 3\ +2 ."downElevator"SE.seek :down +3 "storage"(y' +99 ([% +4 "core" %O \ Zo + "manipulator"&% +4 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +89 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (*& +4 "core" & \ +2 "collection"'o& +3 "core" &\\o 7\ P +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %   + "storage"(1% +4 "core" % (\ + "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +50 "storage"((  +6 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (t& +3 "core" &  \  +2 "manipulator"&V& +3 "core" &  j +2 .tElbow.seek 2 +2 "manipulator"&p( +3 "core" ( + "manipulator"&U& +4 "core" &\  j +2 "storage"(l& +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&G'S +95 "core" ' + "storage"(;& +4 "core" &  =\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'r +300 "core" ' + "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +2 "core" &\   j +2 "storage"(r& +4 "core" &  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&H'Α +19 "core" ' + .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(e'] +29 "core" ' + "manipulator"&h% +4 "core" %Ύ   +2 "storage"(n& +3 "core" &  P\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 297 counts + "manipulator"&'Ϻ +17 "core" ' + "manipulator"&:& +4 "core" &\  j +2 "storage"(8& +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&{'S +18 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(i' +51 "core" ' + "manipulator"&& +4 "core" &\  j +2 "manipulator"&(% +4 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&F(ӂ +145 "core" ( + "manipulator"&T& +4 "core" &Ӌ, ( Dy +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +2 "core" &Ӌ-  Dy +2 .tForearm.seek CC +2 "manipulator"&6'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +75 "core" / + .tCC.seek :open +2 "collection"'R( +448 "core" ( +2 "storage"(Q& +4 "core" &  \  + "storage"(C& +4 "core" &  U\  + "manipulator"&& +4 "core" &ӌ- V Dx + "manipulator"&I% +4 "core" % A   L +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +165 "core" ( + "manipulator"&L& +4 "core" & .  +2 "storage"(@& +3 "core" &   0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&k'Α +96 "core" ' + .tElbow.hold + "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&b1 +57 "core" 1 + "manipulator"&3% +5 "core" % Ό K + "storage"(\ & +4 "core" &   W\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 295 counts +2 "manipulator"&d'ϸ +17 "core" ' +2 "manipulator"&f& +4 "core" &  z  +2 "storage"(X& +3 "core" &  P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +19 "core" ' + "storage"(/% +4 "core" % % \ +2 ."downElevator"SE.seek :down +3 "storage"(2' +100 (% +3 "core" %LH  k\ Xh +2 "manipulator"&S% +3 "core" %f  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +96 "core" ' +49 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" & t\ + "manipulator"&% +4 "core" %  }  +2 "storage"(]% +3 "core" % & &\ +2 "storage"(s. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(x( +349 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (^& +3 "core" &\ ' * I\  + "manipulator"&Z& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +19 "core" ( + "manipulator"&%& +4 "core" &  W . + "storage"(B& +4 "core" &\ & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&W'7 +109 "core" ' + "storage"( & +4 "core" &\ & 1\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(D'r +297 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ( & +3 "core" &\  + "manipulator"&!& +4 "core" & > . +2 .tElbow.seek 3 + "manipulator"&|( +3 "core" ( + "manipulator"&+& +4 "core" & ] . +2 "storage"(Y& +4 "core" &   ^\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&''ϡ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +73 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(c' +6 "core" &  t . +2 "manipulator"&A% +3 "core" % ύ   j +2 .tForearm.seek :retract +2 "manipulator"&9' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&4(ӂ +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +14 "core" ( + "manipulator"&K& +4 "core" &ӎ v ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &ӎ   ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&M'? +102 "core" ' +2 "manipulator"&& +4 "core" &ӎ ( + "manipulator"&J% +4 "core" %E ]  +2 "collection"' & +4 "core" & \ +2 "collection"'& +4 "core" & a\ +2 .tCC.seek :closed +2 "collection"'.(\\ +4 "core" & \  +9 &4} \ *z +9 &e  \ ? +9 &r \ N +10 &QU \ M +9 &Y \ M +9 &U K\ M +10 &U \ L +9 &ZU +\ L +10 &V }\ L +9 &U w\ L +9 & U 8\ L +10 &"aY X\ M +9 &$#T >\ M +9 &%S I\ L +10 &'U 9\ M +9 &)iW g\ M +10 &+*W W\ M +9 &,U \ L +9 &.Y \ M +10 &0rS \ L +9 &23U #\ M +9 &3Y +\ M +10 &5U \ M +9 &7yU \ M +10 &9;X \ M +9 &:T G\ M +9 &<U \ L +10 &>W \ M +9 &@CY \ M +9 &BV 1\ M +10 &C_ <\ M +9 &Ee 5\ O +10 &G@v @\ P +9 &H >\ S +9 &J ;\ X +10 &Ln ;\ Y +9 &N/ 5\ Y +9 &O =\ Z +10 &Q :\ Z +9 &So 7\ [\ +10 &U/ =\ \\ +9 &V 3\ [ +9 &X 0\ ] +10 &Zo 9\ ^ +9 &\\y 4\ 6 +9 &\\& -\ $k +10 ( + &\\ 5\ _ +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&,% +4 "core" % E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&}' +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%v& +4 "core" &G\ + "manipulator"&% +4 "core" % ! 6 % +2 "storage"(<% +3 "core" % \  +2 "storage"(P. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(-( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (#& +3 "core" & \  +2 "manipulator"&& +3 "core" &ӎ  ( +2 "manipulator"&% +3 "core" % "  % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&7( +159 "core" ( + "manipulator"&"& +4 "core" & { | +2 "storage"(=& +3 "core" & [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +98 "core" ' + "storage"(5& +4 "core" & %\  +52 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'r +296 "core" ' + "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \  +2 "manipulator"&w& +3 "core" & | +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&&& +3 "core" & N | +2 "storage"(0& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +33 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +68 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"($' +6 "core" &  , | + "manipulator"&1% +4 "core" % {  # +2 .tForearm.seek :retract +2 "manipulator"&q' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&>( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +95 "core" ( + "manipulator"&t& +4 "core" & p  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&U' +95 "core" ' + "manipulator"&l& +4 "core" &  g  +2 "manipulator"&N% +4 "core" %  [ _ +2 "processing"%;& +3 "core" &]\ +2 "processing"%y& +5 "core" &X\ +2 .tPC.seek :closed + "processing"%_(^ +5 "core" &X\ +7 & .]\ #b +9 &U}Y\ 7 +10 &}zV\ L +9 &V]\ O +9 &SUX\ O +10 &Rd\ O +9 &Uc\ O +9 &Qc\ O +10 &[T_\ O +9 &Wd\ O +10 &Tb\ O +9 &!P`\ O +9 &#cTZ\ O +10 &%&PW\ O +9 &&Sd\ O +9 &(V_\ O +10 &*jUX\ P +9 &,-Ua\ O +10 &-T]\ O +9 &/X\\\ O +9 &1rWY\ P +10 &35UW\ O +9 &4TW\ O +9 &6WX\ O +10 &8zWY\ P +9 &:=UW\ O +10 &;UY\ P +9 &=X^\ P +9 &?SZ\ O +10 &AEY[\ O +9 &CbY\ Q +9 &DjW\ Q +10 &F{W\ S +9 &H=Q\ U +10 &IW\ U +9 &KW\ U +9 &M~X\ W +10 &OAV\ V +9 &QX\ W +9 &RT\ V +10 &TW\ ~X +9 &VGR\ W +10 &XP\ }X +9 &YO\ W +9 &[P\ W +10 &]MR\ ~J +9 &^zJL\ a +9 &^@X\ 5 +7 ( +2 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&1 +4 "core" &^,K\ 5 +59 1 + "manipulator"&E% +4 "core" %  | _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&O' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%j& +4 "core" &^,<\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&r% +4 "core" %  " + "storage"(m% +4 "core" % -\ + "storage"(h. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(n( +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (:& +3 "core" & /\  +2 "manipulator"&8& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"(('r +4 "core" ( + "manipulator"&G& +84 "core" & $  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" & Z  +2 .tForearm.seek PC +2 "manipulator"&\\' +90 "core" ' + .tHand.close + "manipulator"&H/ +70 "core" / + .tPC.seek :open +2 "processing"%( +11 "core" ' + "storage"(e- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(T'1 +47 "core" ' +392 ( + "storage"(`& +4 "core" & \  + "manipulator"&{& +4 "core" & a  + "manipulator"&u% +4 "core" %   F +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +260 "core" ( + "manipulator"&a& +4 "core" & 3 m +2 "storage"(Q& +3 "core" & E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&C'7 +90 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 + "storage"(I- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(L' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(@' +50 "core" ' + #tLights, camera, ACTION! + "storage"(6- +4 "core" -' + "storage"(F& +4 "core" & /\ t + "manipulator"&b& +4 "core" & m +2 .tElbow.seek 3 + "manipulator"&3( +3 "core" ( +2 "manipulator"&\ & +4 "core" & . m + "storage"(f& +4 "core" & \ t +2 .tForearm.seek 3 + 450 counts + "manipulator"&X'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(/'" +51 "core" ' + "manipulator"&& +4 "core" & 5 m +2 "storage"(& +3 "core" & z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&S'u +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(k' +21 "core" ' + "manipulator"&% +4 "core" %΂  +2 "storage"(d& +4 "core" & &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'Ϯ +34 "core" ' + "manipulator"&]& +4 "core" & W k +2 "storage"(s& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&i'7 +15 "core" ' + "storage"(% +5 "core" % E\ +2 ."downElevator"SE.seek :down +3 "storage"(2' +99 (% +3 "core" %F 7\ Yk +2 "manipulator"&^% +4 "core" %1  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +90 "core" ' +73 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (%& +3 "core" & \ +2 "collection"'B& +4 "core" &\\ =\ _ + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %   +2 "storage"(g% +3 "core" % \ +2 "storage"(z. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"()( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ( & +3 "core" & \  + "manipulator"&!& +4 "core" &   k +2 .tElbow.seek 3 + "manipulator"&+( +3 "core" ( +2 "manipulator"&Y& +3 "core" &   k +2 "storage"( & +4 "core" & T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +96 "core" ' + "storage"(A& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(W- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&K& +3 "core" &  k + "storage"(?& +4 "core" & C\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&D'u +23 "core" ' + .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('g +28 "core" ' + "manipulator"&J% +4 "core" %~  J + "storage"( & +4 "core" & (\  + .tForearm.force -20 +50 "manipulator"&5 +4 .tForearm.seek 3 + 309 counts + "manipulator"&c'Ϫ +42 "core" ' + "manipulator"&9& +4 "core" &  k +2 "storage"(R& +3 "core" & .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(,' +40 "core" ' + "manipulator"&v& +4 "core" & k +2 "manipulator"&% +4 "core" %3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&P(ӂ +183 "core" ( + "manipulator"&& +4 "core" &z  ? a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +2 "core" &z   a +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&/ +73 "core" / + .tCC.seek :open +2 "collection"'M( +447 "core" ( + "storage"("& +4 "core" &  \  + "storage"(=& +4 "core" &   K\  +2 "manipulator"&x& +3 "core" &z  ! a +2 "manipulator"&5% +3 "core" % Q  G A +2 .tForearm.seek :retract +2 "manipulator"&4' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&}( +153 "core" ( + "manipulator"&[& +4 "core" & U u +2 "storage"(& +3 "core" &  ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&w'u +96 "core" ' + .tElbow.hold + "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&01 +57 "core" 1 + "manipulator"&*% +5 "core" % y \ + "storage"(o& +4 "core" & j\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 304 counts +2 "manipulator"&1'ϥ +36 "core" ' + "manipulator"&7& +4 "core" & r +2 "storage"( & +3 "core" & ' &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&~'7 +23 "core" ' + "storage"(% +4 "core" % % \ +2 ."downElevator"SE.seek :down +3 "storage"(t' +100 (V% +3 "core" %:@  8\ Wd +2 "manipulator"&% +3 "core" %9    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'N& +5 "core" & <\ + "manipulator"&;% +4 "core" %    +2 "storage"($% +3 "core" %  `\ +2 "storage"(q. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +361 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &,~   \  + "manipulator"&E& +4 "core" &  - r + .tElbow.seek 4 +2 "manipulator"&j( +36 "core" ( + "manipulator"&r& +4 "core" & 8 +2 "storage"(m& +3 "core" &,~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +93 "core" ' + "storage"(y& +4 "core" &,~  w\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'r +295 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (G& +3 "core" &,~ % D\  +2 "manipulator"&p& +3 "core" &   8 +2 .tElbow.seek 4 + "manipulator"&U( +67 "core" ( +2 "manipulator"&-& +4 "core" &  + "storage"(H& +4 "core" &,~  \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&e'c +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +74 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(_' +8 "core" & e  +2 "manipulator"&(% +4 "core" % ϐ ' + .tForearm.seek :retract +2 "manipulator"&`' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&{(ӂ +151 "core" ( + "manipulator"&u& +5 "core" ' + &Ӆ0 S F + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &ӆ0 $ F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&a'? +94 "core" ' +4 "manipulator"&Q& +5 "core" &ӊ.  E + "manipulator"&% +4 "core" %= ? w +2 "collection"'& +3 "core" & F\ +2 "collection"'I& +5 "core" & @\ +2 .tCC.seek :closed + "collection"'6(\\ +5 "core" & 7\  +9 &4{ G\ +| +10 &f O\ ? +9 &m E\ N +9 &TU C\ M +10 &W \ M +9 &Y G\ M +10 &S #\ M +9 &\\S +\ M +9 &V K\ L +10 &U #\ L +9 & U B\ L +9 &"dX F\ M +10 &$&S 6\ M +9 &%W 2\ M +9 &'W 8\ M +10 &)kU _\ M +9 &+/U I\ L +10 &,S @\ M +9 &.R Q\ M +9 &0tW ;\ M +10 &25U 5\ M +9 &3T R\ L +10 &5S b\ M +9 &7|S A\ M +9 &9>T 1\ M +10 &;S 4\ M +9 &<T 9\ M +9 &>U F\ L +10 &@GT C\ L +9 &BW ;\ M +10 &C\\ Q\ N +9 &Eb @\ N +9 &GCv D\ P +10 &H C\ T +9 &J D\ X +10 &Lp B\ Y +9 &N1 G\ Y +9 &O @\ Z +10 &Q D\ Y +9 &Ss =\ [ +9 &U3 A\ [ +10 &V I\ \\ +9 &X =\ ] +9 &Zr A\ ^ +10 &\\y ;\ 4 +9 &\\- @\ X +9 ( +3 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open + "manipulator"&F1 +3 "core" &\\c @\ O +61 1 + "manipulator"&b% +4 "core" % = w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\ ' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%f& +4 "core" &N\ + "manipulator"&% +4 "core" %  C  +2 "storage"(% +3 "core" % +\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +14 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (d& +3 "core" &,y 0\ + "manipulator"&T& +4 "core" &ӌ. o E +2 "manipulator"&]% +3 "core" %   T  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&s( +168 "core" ( + "manipulator"&L& +4 "core" & c +2 "storage"(& +3 "core" &,y p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +97 "core" ' + "storage"(C& +4 "core" &,y $\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (^& +3 "core" &,y \ + "manipulator"&X& +4 "core" &  D c +2 .tElbow.seek 4 + "manipulator"&3( +3 "core" ( + "manipulator"&/& +4 "core" & c + "storage"(S& +4 "core" &,y %\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +34 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&%/ +69 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"( ' +6 "core" & n c +2 "manipulator"&k% +4 "core" % x +2 .tForearm.seek :retract + "manipulator"&g' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&z( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +95 "core" ( +2 "manipulator"& & +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +2 "core" &   8  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Y' +92 "core" ' +49 "manipulator"& & +6 "core" &  + "manipulator"&i% +4 "core" %   h +2 "processing"%A& +3 "core" &L\ +2 "processing"%2& +5 "core" &M\ +2 .tPC.seek :closed +2 "processing"%n(^ +4 "core" &]\  +8 &1s^\ )w +10 &a^\ > +9 &bs[\ O +9 &#R^\ O +10 &T]\ O +9 &Uc\ O +9 &iTZ\ O +10 &+T`\ O +9 &U\\\ O +10 &Tc\ O +9 & pTd\ O +9 &"4PY\ O +10 &#U\\\ O +9 &%RZ\ O +9 &'yTa\ O +10 &);S^\ O +9 &*T[\ O +10 &,U`\ O +9 &.TY\ O +9 &0BUX\ O +10 &2QZ\ O +9 &3TX\ O +9 &5Q\\\ O +10 &7JTX\ O +9 &9 SV\ O +10 &:SW\ O +9 &<RV\ O +9 &>QUZ\ P +10 &@YW\ O +9 &A[V\ P +9 &C`Z\ Q +10 &ETiX\ Q +9 &GyX\ S +10 &HW\ V +9 &JW\ V +9 &LOX\ V +10 &NY\ V +9 &OV\ V +9 &QN\ W +10 &SUV\ W +9 &UW\ V +10 &VX\ W +9 &XU\ W +9 &Z\\W\ W +10 &\\V\ W +9 &]X\ 7 +9 &^+rW\ \\ +10 &^+S\ 6 +2 ( +2 "processing"%2& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&Z% +4 "core" %  L h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&W' +94 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%K& +5 "core" &^'R\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&?% +4 "core" % " u % +2 "storage"(|% +3 "core" % 4\ +2 "storage"(J. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (9& +3 "core" &,y \  +2 "manipulator"&R& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &  r  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&v( +2 "storage"('r +8 "core" ( + "manipulator"&& +4 "core" &  @ \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" & ; \ +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + .tHand.close + "manipulator"&D/ +67 "core" / + .tPC.seek :open +2 "processing"%c( +9 "Can"\ a^ +78 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +41 "core" ' +322 ( + "storage"(#& +4 "core" &,y c\  + "manipulator"&& +4 "core" & \ +2 "manipulator"&'% +3 "core" %   1 +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&<( +257 "core" ( + "manipulator"&.& +4 "core" &  +2 "storage"("& +3 "core" &,y 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&=' +96 "core" ' + .tHand.open + "manipulator"&x1 +65 "core" 1 + "storage"(5- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"([' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +51 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(P& +4 "core" &,y O\ x + "manipulator"&0& +4 "core" & ;  +2 .tElbow.seek 4 + "manipulator"&*( +3 "core" ( +2 "manipulator"&o& +3 "core" &  +2 "storage"(7& +3 "core" &,y i\ x +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +50 "core" ' + "manipulator"&4& +4 "core" & H  +2 "storage"(V& +4 "core" &,y 5\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.32 Pucks below Top Plate + "storage"(w' +24 "core" ' + "manipulator"&N% +5 "core" %K , + "storage"(1& +4 "core" &,y ?\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&;'w +15 "core" ' + "manipulator"&$& +5 "core" & f  + "storage"(q& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&,' +20 "core" ' + "storage"(~% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(t' +99 ()% +3 "core" %K \ Yk +2 "manipulator"&% +4 "core" %  5 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +97 "core" ' +72 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (r& +3 "core" &,y C\ +2 "collection"'m& +4 "core" &\\c @\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&y% +4 "core" % " * + "storage"(&% +4 "core" % \ + "storage"(l. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(8(,y +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (G& +3 "core" &,y \  +2 "manipulator"&p& +3 "core" &  t  +2 .tElbow.seek 4 + "manipulator"&-( +4 "core" ( + "manipulator"&H& +4 "core" & [  + "storage"(>& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +93 "core" ' + "storage"((& +4 "core" &,y -\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'r +300 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&u& +3 "core" &   +2 "storage"(\\& +3 "core" &,y A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&:'7 +28 "core" ' + .tElbow.hold + "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Q- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('d +30 "core" ' + "manipulator"&% +4 "core" %D  W + "storage"(U& +4 "core" &,y U\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&_'p +16 "core" ' + "manipulator"&`& +4 "core" & {  +2 "storage"(M& +3 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&F' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(b' +42 "core" ' + "manipulator"&f& +4 "core" & a  +2 "manipulator"&% +4 "core" %   ? + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&I& +4 "core" &x2  H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +2 "core" &y1 ! G +2 .tForearm.seek CC +2 "manipulator"&T'? +94 "core" ' + .tHand.close + "manipulator"&]/ +69 "core" / + .tCC.seek :open + "collection"'a( +448 "core" ( + "storage"(L& +4 "core" &,y \  +2 "storage"(& +3 "core" &,y  >\  + "manipulator"&& +4 "core" &ӝ+  Cn + "manipulator"&C% +4 "core" % E  U +2 .tForearm.seek :retract + "manipulator"&{' +99 "core" ' +49 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&\ ( +164 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(^& +3 "core" &,y 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&X'7 +99 "core" ' + .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&S1 +65 "core" 1 +2 "manipulator"&%% +4 "core" % D   + "storage"(B& +4 "core" &,y  ,\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&k'p +14 "core" ' + "manipulator"&s& +4 "core" &  +2 "storage"(& +3 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&@' +20 "core" ' + "storage"(% +4 "core" % % \ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (!% +3 "core" %yA   "\ Wc +2 "manipulator"&3% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'i& +5 "core" & :\ + "manipulator"&A% +4 "core" %    +2 "storage"( % +3 "core" %  >\ +2 "storage"(g. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<,( s\  + "manipulator"&Z& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&K( +8 "core" ( + "manipulator"&?& +4 "core" &   +2 "storage"(|& +3 "core" &<' & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&J'O +91 "core" ' + "storage"(2& +4 "core" &<+ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'r +299 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<+  J\  +2 "manipulator"&+& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&Y( +3 "core" ( +2 "manipulator"&D& +3 "core" &  +2 "storage"(& +3 "core" &<+ 5\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +70 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(n' +8 "core" &  E  + "manipulator"&% +4 "core" % ϻ  g +2 .tForearm.seek :retract + "manipulator"&#' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +13 "core" ( + "manipulator"&'& +4 "core" &Ӌ = / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӌ  f / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&.'? +92 "core" ' + "manipulator"&"& +4 "core" &Ӌ = / +2 "manipulator"&v% +4 "core" %9  Q v + "collection"'x& +4 "core" & ;\ +2 "collection"'5& +5 "core" & <\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & K\ +7 &9 I\ %g +9 &Xz O\ 8 +10 &v J\ L +9 &R I\ L +10 &S F\ L +9 &BV L\ L +9 &T U\ M +10 &X O\ L +9 &X H\ M +9 &IU H\ M +10 & U N\ M +9 &!U K\ M +10 &#R I\ L +9 &%QW T\ M +9 &'U L\ L +10 &(U J\ L +9 &*W @\ L +9 &,ZW @\ L +10 &.R B\ L +9 &/W G\ L +10 &1T :\ L +9 &3aR 8\ M +9 &5#U g\ M +10 &6W G\ L +9 &8W ;\ M +9 &:iV K\ M +10 &<,S B\ L +9 &=U >\ L +10 &?X B\ M +9 &ArY H\ L +9 &C2Y A\ M +10 &De B\ N +9 &Fo C\ P +9 &Hf F\ S +10 &J E\ W +9 &K J\ X +10 &M H\ Y +9 &O\\ K\ Y +9 &Q G\ Z +10 &R @\ Z +9 &T C\ Z +9 &V] I\ \\ +10 &X K\ \\ +9 &Y F\ ^ +10 &[ L\ J +9 &\\2 I\ 4 +9 &\\j B\ P +3 ( + "collection"'5& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&P1 +56 "core" 1 +2 "manipulator"&0% +4 "core" % 9 v + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%7& +4 "core" &]\ + "manipulator"&% +4 "core" %  &  +2 "storage"(4% +3 "core" % \ +2 "storage"(V. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(N(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (1& +2 "core" &<+ k\  +2 "manipulator"&$& +4 "core" &Ӌ  " / +2 "manipulator"&% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&q( +151 "core" ( + "manipulator"&[& +4 "core" & c +2 "storage"(~& +3 "core" &<,$ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&<'O +91 "core" ' + "storage"(=& +4 "core" &<,# c\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +301 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<,# y Z\  +2 "manipulator"& & +3 "core" & z +2 .tElbow.seek 5 + "manipulator"&*( +4 "core" ( + "manipulator"&& +4 "core" & + "storage"(& +4 "core" &<,# \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&;'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&r/ +73 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(w' +7 "core" & ) + "manipulator"&y% +4 "core" % ϸ ' +2 .tForearm.seek :retract + "manipulator"&&' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&l( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( + "manipulator"&G& +4 "core" & # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +2 "core" & ? # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&H' +92 "core" ' + "manipulator"&>& +4 "core" & # +2 "manipulator"&,% +3 "core" % H +2 "processing"%(& +4 "core" &X\ +2 "processing"%t& +4 "core" &X\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &f\  +9 &0rl\ *x +10 &a|c\ }> +9 &ds`\ }O +10 &%R\\\ O +9 &Uf\ O +9 &UX\ O +10 &jU`\ P +9 &,S^\ P +9 &T\\\ P +10 &Ue\ P +9 & sQ`\ O +10 &"5TX\ O +9 &#VZ\ O +9 &%Tc\ O +10 &'{U^\ O +9 &)=Q]\ O +9 &*Q\\\ O +10 &,Va\ O +9 &.T_\ O +10 &0EWa\ O +9 &2V^\ P +9 &3TX\ O +10 &5Qb\ O +9 &7MQ^\ O +9 &9U^\ O +10 &:XY\ P +9 &<Vd\ P +10 &>SW\\\ P +9 &@U^\ P +9 &A]X\ P +10 &Cca\ Q +9 &ERqZ\ ~S +9 &G [\ {V +10 &H[\ {V +9 &JZ\ zV +10 &LR[\ zV +9 &NX\ wW +9 &O[\ {V +10 &QY\ zW +9 &SVW\ yW +9 &UY\ xW +10 &V[\ yW +9 &XW\ yW +10 &Z]X\ xX +9 &\\!Y\ yW +9 &]~Z\ |6 +10 &^1n[\ ~J +9 ( + &^([\ 5 +2 "processing"%t& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&}1 +65 "core" 1 + "manipulator"&E% +4 "core" %  ( H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&h' +98 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%u& +4 "core" &^(S\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&\\% +4 "core" % % : < +2 "storage"(Q% +53 "core" % 4\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(U(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (`& +4 "manipulator"&M& +2 "core" &<, \  +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & ? # +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(f'r +2 "manipulator"&( +4 "core" ( +2 "manipulator"&O& +4 "core" & n # + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" &  # +2 .tForearm.seek PC +2 "manipulator"&j' +95 "core" ' + .tHand.close + "manipulator"&:/ +74 "core" / + .tPC.seek :open +2 "processing"%_( +81 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(I'1 +40 "core" ' +324 ( + "storage"(d& +4 "core" &<, \  +2 "manipulator"&F& +4 "core" & # +2 "manipulator"&e% +3 "core" %  q & +2 .tForearm.seek :retract + "manipulator"&]' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +248 "core" ( + "manipulator"&6& +4 "core" & M +2 "storage"(L& +3 "core" &<, M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +121 "core" ' + .tHand.open + "manipulator"&1 +57 "core" 1 + "storage"(C- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(T' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +50 "core" ' + #tLights, camera, ACTION! + "storage"(^- +4 "core" -' +2 "storage"(& +3 "core" &<, U\ w +2 "manipulator"&S& +3 "core" & \ L +2 .tElbow.seek 5 + "manipulator"&%( +4 "core" ( + "manipulator"&B& +4 "core" & 1 L +2 "storage"(s& +3 "core" &<, M\ v +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +49 "core" ' + "manipulator"&{& +4 "core" & - L +2 "storage"(!& +4 "core" &<, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&3'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(X' +21 "core" ' + "manipulator"&i% +5 "core" %Ξ  + "storage"(k& +4 "core" &<, 2\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 317 counts + "manipulator"&A' +16 "core" ' + "manipulator"& & +5 "core" & M L + "storage"(g& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&b'O +17 "core" ' + "storage"(@% +5 "core" % +\ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (8% +4 "core" %H {\ Xj +2 "manipulator"&% +4 "core" %; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +95 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (?& +4 "core" &<, 0\ + "collection"'|& +4 "core" &\\c E\ P + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&2% +4 "core" %   [ +2 "storage"(/% +3 "core" % )\ +2 "storage"( . +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(R(<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<, k\  +2 "manipulator"&+& +3 "core" &   L +2 .tElbow.seek 5 +2 "manipulator"&D( +3 "core" ( + "manipulator"&& +4 "core" &  r L + "storage"(z& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +93 "core" ' + "storage"(& +4 "core" &<,  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'r +297 "core" ' + "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&'& +3 "core" & I L +2 "storage"(& +3 "core" &<, @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&9'΍ +19 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"("- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(v'i +30 "core" ' + "manipulator"&Y% +4 "core" %Α 4 + "storage"(x& +4 "core" &<, \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 5 + 304 counts + "manipulator"&n'Ͻ +33 "core" ' + "manipulator"&#& +4 "core" &  n L +2 "storage"(a& +3 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&P'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(0' +39 "core" ' + "manipulator"&7& +4 "core" & " L +2 "manipulator"&% +4 "core" %M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&V(ӂ +150 "core" ( + "manipulator"&1& +4 "core" &Ӌ.  E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &Ӌ. x E +2 .tForearm.seek CC +2 "manipulator"&$'? +94 "core" ' + .tHand.close + "manipulator"&/ +71 "core" / + .tCC.seek :open +2 "collection"'.( +448 "core" ( + "storage"([& +4 "core" &<,  =\  + "storage"(~& +4 "core" &<, F\  + "manipulator"&& +4 "core" &Ӛ+  Ct + "manipulator"&=% +4 "core" % H h +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&o( +165 "core" ( + "manipulator"&)& +4 "core" &  s +2 "storage"(& +3 "core" &<,  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +95 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&r% +5 "core" % ΃ E 0 + "storage"(m& +4 "core" &<, & %\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 290 counts + "manipulator"&y'ϯ +36 "core" ' +2 "manipulator"&q& +4 "core" &  o + "storage"(<& +4 "core" &<, ' ( (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +24 "core" ' + "storage"(;% +4 "core" % % &\ +2 ."downElevator"SE.seek :down +4 "storage"(G' +99 (p% +3 "core" %>  A\ Wd +2 "manipulator"&*% +3 "core" %p  p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +49 "manipulator"&>' +90 "core" ' +10 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"',& +5 "core" & T\ + "manipulator"&(% +4 "core" %    +2 "storage"(w% +4 "core" % 2 9 \ +2 "storage"(&. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(c(K +381 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (}& +3 "core" &K $ # 8\ +2 "manipulator"&E& +3 "core" & = o +2 .tElbow.seek 6 + "manipulator"&u( +3 "core" ( +2 "manipulator"&\\& +3 "core" & N o +2 "storage"(Q& +3 "core" &K & %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&t' +98 "core" ' + "storage"(& +4 "core" &K & &\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'r +297 "core" ' + "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +2 "core" &K H\  +2 "manipulator"&-& +3 "core" & 5 o +2 .tElbow.seek 6 + "manipulator"&H( +4 "core" ( + "manipulator"&N& +4 "core" &  o +2 "storage"(:& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +67 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"( ' +7 "core" &  o +2 "manipulator"&f% +3 "core" % φ +2 .tForearm.seek :retract +2 "manipulator"&d' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&F(ӂ +158 "core" ( + "manipulator"&e& +5 "core" &ӏ+ Cr ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&j& +4 "core" &ӏ+  h Cr +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&6'? +92 "core" ' + "manipulator"&L& +4 "core" &Ӑ+  F Cq +2 "manipulator"&% +4 "core" %E ) } + "collection"'& +4 "core" & O\ +2 "collection"'C& +6 "core" & S\ +2 .tCC.seek :closed +2 "collection"'^(\\ +4 "core" & M\ +7 &< L\ $e +10 &Vy E\ 7 +9 &x <\ L +9 &U <\ M +10 &wW I\ L +9 &9U P\ L +10 &U Z\ L +9 &U N\ L +9 &~Y Q\ M +10 &AW P\ L +9 & U Y\ L +9 &!X X\ L +10 &#U [\ L +9 &%IW T\ L +10 &'\ R W\ M +9 &(T O\ L +9 &*U X\ L +10 &,PY P\ M +9 &.V S\ M +9 &/S O\ M +10 &1Y L\ L +9 &3XS P\ M +10 &5R N\ L +9 &6U J\ L +9 &8S N\ M +10 &:`U C\ M +9 &<"Y L\ M +9 &=Y M\ M +10 &?Y M\ M +9 &AhY O\ M +10 &C(\\ N\ M +9 &Dc K\ N +9 &Fm S\ O +10 &H_ L\ R +9 &J A\ V +9 &K P\ X +10 &M F\ Y +9 &OS N\ Y +10 &Q H\ Z +9 &R G\ Z +9 &T C\ [ +10 &VS C\ \\ +9 &X D\ \\ +9 &Y I\ ] +10 &[ M\ K +9 &\\@ O\ (z +10 &\\ K\ Y +2 ( +2 "collection"'C& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&1 +62 "core" 1 + "manipulator"&S% +5 "core" % E  } + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%s& +4 "core" &U\ + "manipulator"&]% +4 "core" %    + "storage"({% +4 "core" % (\ +2 "storage"(!. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(i(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (k& +3 "core" &K \  +2 "manipulator"& & +3 "core" &Ӓ+  Co +2 "manipulator"&I% +3 "core" %  6  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&g( +167 "core" ( + "manipulator"&@& +4 "core" &  X  +2 "storage"(T& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +91 "core" ' + "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &K \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&%( +4 "core" ( + "manipulator"&& +3 "core" &  +2 "storage"(3& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&A'h +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&?/ +75 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(2' +8 "core" & T  + "manipulator"&/% +4 "core" % \\ I +2 .tForearm.seek :retract + "manipulator"& ' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&X( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +87 "core" ( +2 "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + "manipulator"&z& +4 "core" & +2 "manipulator"&b% +4 "core" %  : h + "processing"%& +4 "core" &]\ +2 "processing"% & +5 "core" &U\ +2 .tPC.seek :closed + "processing"%U(^ +4 "core" &p\  +9 &0sj\ *y +9 &cg\ ? +10 &mse\ P +9 &/Td\ O +10 &Td\ O +9 &Te\ O +9 &tUZ\ P +10 &8Td\ O +9 &Ug\ O +9 &T`\ O +10 & |UW\ P +9 &"AR[\ O +10 &$UZ\ O +9 &%R^\ O +9 &'T\\\ O +10 &)HTd\ O +9 &+\ T\\\ O +9 &,U\\\ O +10 &.Tb\ O +9 &0OXZ\ O +10 &2UZ\ O +9 &3Ua\ O +9 &5U\\\ O +10 &7WT[\ O +9 &9VY\ P +9 &:Va\ P +10 &<U_\ P +9 &>]Y[\ P +10 &@!Td\ O +9 &A[b\ P +9 &Cee\ Q +10 &E^u^\ R +9 &Gc\ T +9 &Hc\ U +10 &J^\ V +9 &L]\\\ U +10 &NY\ W +9 &O\\\ V +9 &QW\ ~W +10 &Sa]\ W +9 &U$`\ V +9 &V]\ W +10 &X\\\ ~W +9 &Zi[\ W +10 &\\*V\ W +9 &]}w[\ > +9 &^-Y\ V +10 &^%W\ 3 +2 ( +2 "processing"% & +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&\ 1 +62 "core" 1 + "manipulator"&Z% +4 "core" %  f h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +98 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%'& +5 "core" &^"<\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" % ( + !P +2 "storage"("% +3 "core" % K\ +2 "storage"(Y. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(x(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (#& +4 "manipulator"&a& +2 "core" &K \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & M +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&7( + "storage"('r +9 "core" ( + "manipulator"&W& +4 "core" & [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" & j +2 .tForearm.seek PC +2 "manipulator"&K' +94 "core" ' + .tHand.close + "manipulator"&9/ +72 "core" / + .tPC.seek :open +2 "processing"%n( +79 "core" ' + "storage"(v- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(1'1 +47 "core" ' +323 ( + "storage"(5& +4 "core" &K E\  + "manipulator"&P& +4 "core" & r + "manipulator"&% +52 "core" %  / + +4 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&4( +249 "core" ( + "manipulator"&& +4 "core" &   % +2 "storage"([& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&~' +95 "core" ' + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(=- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"()' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +50 "core" ' + #tLights, camera, ACTION! + "storage"($- +4 "core" -' +2 "storage"(V& +3 "core" &K ,\ p +2 "manipulator"&& +3 "core" &  , % +2 .tElbow.seek 6 + "manipulator"&r( +4 "core" ( + "manipulator"&m& +4 "core" &  % + "storage"(q& +4 "core" &K \ \ q +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&<' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +49 "core" ' + "manipulator"&& +4 "core" &  G % +2 "storage"(p& +4 "core" &K { \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&*'< +18 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"( ' +31 "core" ' + "manipulator"&,% +5 "core" %\\ + "storage"(y& +4 "core" &K -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 332 counts + "manipulator"&('ψ +38 "core" ' + "manipulator"&w& +4 "core" &  % +2 "storage"(&& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&0' +15 "core" ' + "storage"(% +5 "core" % 3\ +2 ."downElevator"SE.seek :down +3 "storage"(G' +99 (R% +3 "core" %%L 6\ Yl +2 "manipulator"&}% +4 "core" % , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +92 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (\\& +4 "core" &K Y\ + "collection"'Q& +4 "core" &\\} L\ Y +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  J  +2 "storage"(% +3 "core" % [\ +2 "storage"(>. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(M(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (O& +3 "core" &K \  +2 "manipulator"&-& +3 "core" &  % +2 .tElbow.seek 6 + "manipulator"&N( +4 "core" ( + "manipulator"&:& +4 "core" &  % +2 "storage"(l& +3 "core" &K 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&h' +97 "core" ' + "storage"(f& +4 "core" &K D\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'r +296 "core" ' + "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&e& +3 "core" &  9 % +2 "storage"(j& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&`'< +19 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(L- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"('b +31 "core" ' + "manipulator"&% +4 "core" %V  + "storage"(H& +4 "core" &K \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 6 + 326 counts + "manipulator"& 'ς +24 "core" ' + "manipulator"&d& +4 "core" &  % +2 "storage"(.& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(S' +39 "core" ' + "manipulator"&s& +4 "core" &  { % +2 "manipulator"&]% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&!(ӂ +150 "core" ( + "manipulator"&C& +4 "core" &Ӌ1 s H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +2 "core" &Ӌ2  H +2 .tForearm.seek CC +2 "manipulator"& '? +92 "core" ' + .tHand.close + "manipulator"&I/ +70 "core" / + .tCC.seek :open +2 "collection"'6( +448 "core" ( + "storage"(@& +4 "core" &K ! '\  +2 "storage"(T& +4 "core" &K \  + "manipulator"&c& +4 "core" &ӛ.  G E + "manipulator"&% +4 "core" % I h G +2 .tForearm.seek :retract + "manipulator"&F' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&B( +165 "core" ( + "manipulator"&8& +4 "core" & w +2 "storage"(& +3 "core" &K   P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&'< +99 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&31 +62 "core" 1 + "manipulator"&?% +5 "core" % E F + "storage"(|& +4 "core" &K  u\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&/'q +14 "core" ' + "manipulator"&g& +4 "core" &  t +2 "storage"(& +3 "core" &K   8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +20 "core" ' + "storage"(A% +4 "core" % &  \ +2 ."downElevator"SE.seek :down +4 "storage"(' +100 (+% +3 "core" %_>   T\ Wd +2 "manipulator"&%% +3 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'b& +3 "core" & A\ + "manipulator"&% +4 "core" %   \  + "storage"(2% +4 "core" % & %\ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(_(  +1302 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (\ & +3 "core" &  ' ) 3\ + "manipulator"&Z& +4 "core" & q t +2 .tElbow.seek 2 + "manipulator"&'( +8 "core" ( + "manipulator"&& +4 "core" & S n + "storage"("& +4 "core" &    \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Y'S +88 "core" ' + "storage"( & +4 "core" &  " $ p\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'r +298 "core" ' + "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (W& +3 "core" &  3 p\  + "manipulator"&D& +4 "core" &  O n +2 .tElbow.seek 2 +49 "manipulator"&( +4 "core" ( +2 "manipulator"&9& +3 "core" & F n +2 "storage"(i& +3 "core" &   \\\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&v'Ͻ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +68 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&J& +2 "storage"(U' +8 "core" & n + "manipulator"&% +4 "core" % ϼ  Z +2 .tForearm.seek :retract + "manipulator"&5' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&P(ӂ +159 "core" ' + ( + ."downElevator"SE.coast +3 "manipulator"&& + "storage"(5 +7 "core" &Ӊ0  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &Ӊ0 @ F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 "manipulator"&[& +4 "core" &ӌ0 / F +2 "manipulator"&7% +4 "core" %D v h +2 "collection"'& +4 "core" & W\ +2 "collection"'=& +5 "core" & _\ +2 .tCC.seek :closed + "collection"'$(\\ +5 "core" & T\ +7 &: P\ %f +10 &W| V\ 7 +9 &y Y\ L +9 &W [\ M +10 &vW Y\ M +9 &8Y T\ M +9 &U T\ L +10 &T S\ L +9 &~U W\ M +9 &@X V\ M +10 & X O\ M +9 &!W R\ M +10 &#X M\ M +9 &%HW L\ M +9 &'\ W K\ M +10 &(Y O\ M +9 &*Y V\ M +9 &,PY W\ M +10 &.X Z\ M +9 &/W Y\ L +10 &1U U\ L +9 &3YU X\ L +9 &5U W\ M +10 &6Y Y\ M +9 &8X Y\ M +9 &:`Y X\ M +10 &<"Y Y\ M +9 &=Y Z\ M +10 &?V Y\ L +9 &AhW W\ M +9 &C)Z U\ M +10 &Dd V\ N +9 &Fl W\ O +10 &H_ W\ R +9 &J P\ V +9 &K R\ X +10 &M I\ Y +9 &OS J\ Y +9 &Q O\ Z +10 &R N\ Z +9 &T E\ [ +10 &VU E\ [ +9 &X I\ \\ +9 &Y B\ ] +10 &[ F\ J +9 &\\@ C\ 'x +9 &\\ E\ \\ +3 ( + "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open + "manipulator"&V1 +55 "core" 1 +2 "manipulator"&% +4 "core" % D X h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%q& +4 "core" &h\ + "manipulator"&% +4 "core" %  F  +2 "storage"(% +3 "core" % 9\ +2 "storage"(p. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(,(  +10 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (y& +3 "core" &  \ +2 "manipulator"&1& +3 "core" &ӛ, [ Dv +2 "manipulator"&w% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&&( +166 "core" ( + "manipulator"&)& +4 "core" & z +2 "storage"(& +3 "core" &  G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&4'S +96 "core" ' + "storage"(~& +4 "core" &  (\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +2 "core" &  \ \ +2 "manipulator"&<& +3 "core" & z +2 .tElbow.seek 2 + "manipulator"&r( +3 "core" ( +2 "manipulator"&;& +3 "core" & D z +2 "storage"(*& +3 "core" &  T\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&\\'Ͻ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&(/ +75 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(' +6 "core" &  z +2 "manipulator"&% +3 "core" %  c w +2 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&>( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( + "manipulator"&O& +4 "core" & ? 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" &  0 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&:' +94 "core" ' + "manipulator"&l& +4 "core" &  9 +2 "manipulator"&0% +3 "core" %  A A +2 "processing"%f& +4 "core" &f\ +2 "processing"%G& +4 "core" &i\ +2 .tPC.seek :closed +2 "processing"%x(^ +4 "core" &k\ +7 &6j\ #b +10 &S{i\ 7 +9 &}{g\ L +10 &Uh\ O +9 &PRh\ O +9 &Vh\ O +10 &Ue\ P +9 &Ue\ O +9 &XR_\ O +10 &Rc\ O +9 &UZ\ O +10 &!U[\ O +9 &#aT_\ O +9 &%"TZ\ O +10 &&R_\ O +9 &(UZ\ P +9 &*hUX\ O +10 &,)U[\ P +9 &-TY\ O +10 &/S[\ O +9 &1oT\\\ P +9 &32T[\ O +10 &4V]\ O +9 &6Va\ P +9 &8wW\\\ P +10 &::W\\\ O +9 &;TZ\ P +10 &=WX\ P +9 &?U]\ O +9 &AAZZ\ P +10 &C\\Y\ P +9 &DcW\ Q +9 &FrX\ R +10 &H:Y\ U +9 &IY\ U +10 &KW\ V +9 &M|W\ V +9 &O>Y\ V +10 &P\\\ V +9 &RW\ W +9 &TW\ ~W +10 &VE\\\ V +9 &XX\ ~V +10 &YW\ ~W +9 &[W\ ~W +9 &]JV\ ~K +10 &^zKV\ _ +9 &^RW\ 3 +6 ( + "processing"%G& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&o1 +3 "core" &^&T\ 3 +56 1 + "manipulator"&E% +4 "core" %  A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&t' +93 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%e& +4 "core" &^&0\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&j% +4 "core" %  @  + "storage"(L% +4 "core" % v \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(H(  +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (d& +4 "manipulator"&.& +2 "core" &  )\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & 9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&s( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(]'r +2 "core" ( +2 "manipulator"&h& +3 "core" & 1 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" & / 9 +2 .tForearm.seek PC + "manipulator"&u' +92 "core" ' + .tHand.close + "manipulator"&`/ +75 "core" / +2 .tPC.seek :open + "processing"% ( +85 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(C'1 +42 "core" ' +322 ( + "storage"(k& +4 "core" &  \ + "manipulator"&& +4 "core" &  9 + "manipulator"&% +4 "core" %  " - +2 .tForearm.seek :retract + "manipulator"&I' +101 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&{( +269 "core" ( + "manipulator"&^& +4 "core" & & e +2 "storage"(@& +3 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&T'S +87 "core" ' + .tHand.open + "manipulator"&c1 +59 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(8' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(!& +4 "core" &  ?\ s + "manipulator"&3& +4 "core" & & e +2 .tElbow.seek 2 + "manipulator"&?( +4 "core" ( + "manipulator"&|& +4 "core" & 2 e + "storage"(g& +4 "core" &  \ s +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +50 "storage"(A'" +55 "core" ' + "manipulator"&F& +4 "core" & e +2 "storage"(+& +3 "core" &  /\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&%'Α +20 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +23 "core" ' + "manipulator"&/% +5 "core" %Ό    + "storage"(S& +4 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 295 counts + "manipulator"&'ϸ +27 "core" ' + "manipulator"&& +4 "core" &  c +2 "storage"(M& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&b'S +26 "core" ' + "storage"(% +5 "core" % J\ +2 ."downElevator"SE.seek :down +3 "storage"(2' +99 ( % +3 "core" %T i\ Zp +2 "manipulator"&\ % +4 "core" %`   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +87 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &  Y\ + "collection"'"& +4 "core" &\\ A\ \\ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"& % +3 "core" %    +2 "storage"(% +4 "core" % {\ + "storage"(z. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(a(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (W& +2 "core" &  F\  +2 "manipulator"&D& +4 "core" &  c +2 .tElbow.seek 2 + "manipulator"&9( +4 "core" ( + "manipulator"&i& +4 "core" & . c +2 "storage"(X& +3 "core" &  ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&J'S +92 "core" ' + "storage"(& +4 "core" &  H\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''r +300 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  c +2 "storage"(K& +3 "core" &  %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&#'Α +18 "core" ' + .tElbow.hold + "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"([- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"(7'] +28 "core" ' + "manipulator"&% +4 "core" %Κ > +2 "storage"(& +3 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 309 counts + "manipulator"&U' +32 "core" ' + "manipulator"&5& +4 "core" & ` c +2 "storage"(6& +3 "core" &  C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&V'S +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(' +46 "core" ' + "manipulator"&q& +4 "core" &   c +2 "manipulator"&% +4 "core" %O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&p(ӂ +157 "core" ( + "manipulator"&=& +4 "core" &ӏ+ N Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &ӏ+  Ct +2 .tForearm.seek CC + "manipulator"&1'? +94 "core" ' + .tHand.close + "manipulator"&w/ +76 "core" / + .tCC.seek :open +2 "collection"'( +451 "core" ( + "storage"()& +4 "core" &  ;\  + "storage"(& +4 "core" &  J\  + "manipulator"&_& +4 "core" &Ӑ+ ; Cs + "manipulator"&~% +4 "core" % A C L +2 .tForearm.seek :retract + "manipulator"&P' +90 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&m( +167 "core" ( + "manipulator"&R& +4 "core" & L  +2 "storage"(}& +3 "core" &   9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&<'Α +94 "core" ' + .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&*1 +59 "core" 1 + "manipulator"&(% +5 "core" % Θ X % + "storage"(Q& +4 "core" &   F\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 307 counts + "manipulator"&' +24 "core" ' + "manipulator"&&& +4 "core" & y +2 "storage"(4& +3 "core" &  & & +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +22 "core" ' + "storage"(\\% +4 "core" %  O\ +3 ."downElevator"SE.seek :down +3 "storage"(O' +98 (-% +3 "core" %xJ C\ Xk +2 "manipulator"&r% +3 "core" %}  _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +91 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'0& +5 "core" & \\\ + "manipulator"&f% +4 "core" %   \ +2 "storage"(% +3 "core" % 0 3 7\ +2 "storage"( . +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(n( +354 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (o& +3 "core" & C\  + "manipulator"&E& +4 "core" & I + .tElbow.seek 3 +2 "manipulator"&e( +14 "core" ( + "manipulator"&j& +4 "core" & S +2 "storage"(L& +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +98 "core" ' + "storage"(G& +4 "core" &  N\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'r +298 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" & O\  +2 "manipulator"&N& +3 "core" & 9 S +2 .tElbow.seek 3 + "manipulator"&:( +4 "core" ( + "manipulator"&`& +4 "core" &  S + "storage"(,& +4 "core" &\  + .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +43 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +72 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&t& + "storage"(x' +7 "core" & ! S +2 "manipulator"&]% +3 "core" % t I +2 .tForearm.seek :retract +2 "manipulator"&k' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ' + ( + ."downElevator"SE.coast +3 "manipulator"&& + "storage"(5 +8 "core" &ӆ.  E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &ӆ. o E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'? +104 "core" ' + "manipulator"&@& +4 "core" &ӈ. X E +2 "manipulator"&s% +4 "core" %?   +2 "collection"'c& +4 "core" & R\ +2 "collection"'& +5 "core" & W\ +2 .tCC.seek :closed + "collection"' (\\ +5 "core" & W\  +9 &3{ T\ +{ +57 &c} V\ > +5 &p Q\ M + &IQ M\ M +2 & W M\ M + &Y M\ M +4 &U T\ M + &QX X\ M +4 &T L\ M +9 &T ]\ L +10 & T R\ L +9 &"ZT X\ L +10 &$U X\ M +9 &%X [\ M +9 &'X W\ M +10 &)aS Z\ M +9 &+#S [\ M +9 &,R X\ M +10 &.R V\ M +9 &0iR W\ M +10 &2+R V\ M +9 &3T V\ M +9 &5S W\ M +10 &7qR S\ M +9 &93S R\ M +9 &:T L\ L +10 &<U M\ M +9 &>yX S\ M +10 &@<T O\ L +9 &AW K\ M +9 &C\\ A\ N +10 &E}c P\ N +9 &G9u I\ P +9 &H D\ T +10 &J N\ X +9 &Lg N\ X +10 &N& G\ Y +9 &O O\ Z +9 &Q B\ Z +10 &Sh A\ [ +9 &U* J\ [ +9 &V J\ \\ +10 &X G\ \\ +9 &Zi L\ ] +10 &\\ y @\ 7 +9 &\\* D\ &q +10 ( &\\s R\ X +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&!1 +60 "core" 1 +2 "manipulator"&3% +4 "core" % >  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%g& +4 "core" &V\ +2 "manipulator"&I% +3 "core" %    +2 "storage"(F% +3 "core" % %\ +2 "storage"(+. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(C( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (/& +2 "core" & \  +2 "manipulator"&S& +3 "core" &Ӊ.  I E~ +2 "manipulator"&8% +4 "core" %   L  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +190 "core" ( + "manipulator"&M& +4 "core" & ) +2 "storage"({& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +103 "core" ' + "storage"(T& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (\ & +3 "core" & e \ \ \  +2 "manipulator"&& +3 "core" & F ) +2 .tElbow.seek 3 + "manipulator"&?( +34 "core" ( + "manipulator"&A& +4 "core" & T 4 +2 "storage"(%& +3 "core" & z \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +78 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"( ' +6 "core" & = 4 +2 "manipulator"&% +3 "core" % Ϝ 1 +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.seek PC +2 "manipulator"&z( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +74 "core" ( + "manipulator"&W& +4 "core" & % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +2 "core" & ; % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&i' +92 "core" ' + "manipulator"&X& +4 "core" & % +2 "manipulator"&b% +4 "core" %  8 o +2 "processing"%& +3 "core" &j\ +2 "processing"%2& +5 "core" &g\ +2 .tPC.seek :closed +2 "processing"%H(^ +4 "core" &h\ +7 & .i\ #b +9 &T}i\ |7 +10 &}{o\ |L +9 &Vg\ P +9 &RTf\ O +10 &Qi\ O +9 &Re\ P +10 &Uc\ O +9 &ZWe\ O +9 &S`\ P +10 &T^\ P +9 &!U[\ O +9 &#aU^\ P +10 &%#S]\ P +9 &&UY\ O +10 &(SZ\ O +9 &*iUZ\ P +9 &,,WX\ O +10 &-U\\\ O +9 &/W\\\ P +9 &1qXd\ P +10 &33U]\ P +9 &4Ta\ P +10 &6S]\ O +9 &8yT]\ P +9 &:<Ra\ O +10 &;WZ\ P +9 &=Y[\ P +9 &?T]\ P +10 &ACX[\ P +9 &CaW\ Q +10 &DjY\ ~R +9 &F}{Y\ |T +9 &H:a\ yU +10 &IY\ {V +9 &KW\ zV +9 &M~X\ yV +10 &O?W\ zV +9 &QX\ yW +10 &RZ\ yW +9 &TY\ wW +9 &VGY\ yV +10 &XW\ yW +9 &YU\ xW +9 &[U\ xW +10 &]LX\ wK +9 &^~OY\ x!g +10 &^-Y\ 3 +6 ( +2 "processing"%2& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&B1 +4 "core" &^%U\ 3 +56 1 + "manipulator"&Z% +4 "core" %  o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Y' +93 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%& +5 "core" &^%B\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&K% +4 "core" % ! P * +2 "storage"([% +3 "core" % w \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (5& +4 "manipulator"&6& +2 "core" & Y\  +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &  % +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&q( +3 "storage"('r +4 "core" ( + "manipulator"&J& +4 "core" & % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" & t % +2 .tForearm.seek PC + "manipulator"&'' +97 "core" ' + .tHand.close + "manipulator"&#/ +66 "core" / +2 .tPC.seek :open +2 "processing"%U( +88 "core" ' + "storage"(7- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(='1 +44 "core" ' +317 ( + "storage"(y& +4 "core" & O\  + "manipulator"&V& +4 "core" &  q % +2 "manipulator"&v% +3 "core" %  + # +2 .tForearm.seek :retract + "manipulator"&w' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +272 "core" ( + "manipulator"&$& +4 "core" & 5 d +2 "storage"()& +3 "core" & |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +96 "core" ' + .tHand.open + "manipulator"&_1 +55 "core" 1 + "storage"(~- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(R' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(}' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +3 "core" -' +2 "storage"(p& +4 "core" & C\ s + "manipulator"&*& +4 "core" & d + .tElbow.seek 3 +2 "manipulator"&(( +3 "core" ( + "manipulator"&Q& +4 "core" &  d +2 "storage"(&& +3 "core" & \ r +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&4'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\\'" +50 "core" ' + "manipulator"&P& +4 "core" &  i d +2 "storage"(-& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&r'u +22 "core" ' + .tElbow.hold + "manipulator"&m, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(<' +32 "core" ' + "manipulator"&0% +4 "core" %΃  +2 "storage"(& +4 "core" & ]\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&f'ϯ +25 "core" ' + "manipulator"&& +5 "core" & p b + "storage"( & +4 "core" & 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +16 "core" ' + "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(O' +99 (a% +3 "core" %%H \ Xj +2 "manipulator"&o% +4 "core" %P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +88 "core" ' +71 ' +3 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (j& +4 "core" & I\ +2 "collection"'L& +3 "core" &\\s G\ X +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&G% +4 "core" %  .  +2 "storage"(;% +3 "core" % C\ +2 "storage"(l. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(.( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (h& +2 "core" & \  +2 "manipulator"&N& +4 "core" &  b + .tElbow.seek 3 +2 "manipulator"&`( +8 "core" ( + "manipulator"&,& +4 "core" &  b +2 "storage"(>& +4 "core" & _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t'7 +95 "core" ' + "storage"(]& +4 "core" & i\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  b +2 "storage"(u& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&d'u +23 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(@- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(s'h +30 "core" ' + "manipulator"&:% +4 "core" %΁ q +2 "storage"(c& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 312 counts + "manipulator"&x'ϭ +31 "core" ' + "manipulator"&k& +4 "core" & p _ +2 "storage"(& +4 "core" & I\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&!'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(3' +36 "core" ' + "manipulator"&g& +4 "core" & _ +2 "manipulator"&I% +4 "core" %6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&+(ӂ +160 "core" ( + "manipulator"&& +4 "core" &ӌ0  _ F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +2 "core" &Ӎ0  F +3 .tForearm.seek CC +2 "manipulator"&S'? +96 "core" ' + .tHand.close + "manipulator"&8/ +74 "core" / + .tCC.seek :open +2 "collection"'^( +448 "core" ( + "storage"(M& +4 "core" & H\  +2 "storage"({& +3 "core" & O\  +2 "manipulator"&n& +3 "core" &ӛ, Dx +2 "manipulator"&% +3 "core" % Q  +2 .tForearm.seek :retract + "manipulator"&T' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&|( +165 "core" ( + "manipulator"& & +4 "core" & /  +2 "storage"(\ & +3 "core" &  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&'u +99 "core" ' + .tElbow.hold + "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&%1 +54 "core" 1 + "manipulator"&% +5 "core" % d / & + "storage"("& +4 "core" & r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 283 counts + "manipulator"&'ϐ +27 "core" ' +2 "manipulator"&& +4 "core" & P + "storage"(& +4 "core" & & & E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +17 "core" ' + "storage"(% +4 "core" %  N\ +2 ."downElevator"SE.seek :down +4 "storage"(W' +99 (D% +3 "core" %F   R\ We +2 "manipulator"&?% +4 "core" %0  I + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +95 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'b& +5 "core" & U\ + "manipulator"&% +4 "core" % "  - - +2 "storage"( % +3 "core" % & &\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,y +356 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (B& +3 "core" &,v# 7\  + "manipulator"&Z& +4 "core" & : +2 .tElbow.seek 4 + "manipulator"&( +31 "core" ( + "manipulator"&K& +4 "core" & F L + "storage"([& +4 "core" &,v# 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +99 "core" ' + "storage"(2& +4 "core" &,v# N\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'r +298 "core" ' + "storage"(6- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" &,v" H\  +2 "manipulator"&9& +3 "core" & Y L +2 .tElbow.seek 4 + "manipulator"&i( +26 "core" ( + "manipulator"&#& +4 "core" &   +2 "storage"(C& +3 "core" &,v" A\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&7'c +36 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +66 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(H' +7 "core" & P  + "manipulator"&% +4 "core" % j v s +2 .tForearm.seek :retract + "manipulator"&y' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&V(ӂ +161 "core" ' + ."downElevator"SE.coast + "storage"(5 +6 "core" ( + "manipulator"&v& +4 "core" &Ӌ 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &Ӌ A 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&$'? +91 "core" ' +5 "manipulator"&)& +4 "core" &Ӌ K 1 +2 "manipulator"&q% +3 "core" %A U } +2 "collection"'_& +4 "core" & U\ +2 "collection"'~& +5 "core" & V\ +2 .tCC.seek :closed +2 "collection"'1(\\ +3 "core" & Y\  +9 &4z S\ +{ +10 &c S\ > +9 &p V\ M +9 &JR S\ M +10 & V N\ M +9 &U K\ M +9 &W G\ M +10 &SW Q\ L +9 &V N\ M +10 &V M\ M +9 & U E\ M +9 &"[T [\ L +10 &$T F\ M +9 &%S T\ L +9 &'U ]\ M +10 &)bU [\ M +9 &+$S T\ M +10 &,W X\ M +9 &.U Y\ M +9 &0jR X\ M +10 &2-R U\ L +9 &3U [\ M +9 &5W V\ M +10 &7sW X\ L +9 &95U W\ L +10 &:T W\ L +9 &<W W\ M +9 &>zT O\ M +10 &@<S U\ M +9 &AU U\ M +9 &C\\ W\ N +10 &E~d W\ N +9 &G:u ^\ P +10 &H \\\ S +9 &J ^\ Y +9 &Lf ]\ Y +10 &N' [\ Y +9 &O X\ Z +9 &Q ]\ Z +10 &Si b\ [ +9 &U( `\ \\ +10 &V N\ \\ +9 &X E\ ] +9 &Zi O\ ] +10 &\\ z P\ 7 +9 &\\, D\ %p +9 ( +2 "collection"'~& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&p1 +3 "core" &\\ S\ Y +54 1 + "manipulator"&*% +4 "core" % A 7 } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Q' +99 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%&& +4 "core" &]\ + "manipulator"&w% +4 "core" % \   +2 "storage"(P% +3 "core" % <\ +2 "storage"(-. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(0(,y +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &,v >\  +2 "manipulator"&=& +3 "core" &Ӌ 1 +2 "manipulator"&% +3 "core" % \  k  +50 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"& ( +159 "core" ( + "manipulator"&R& +4 "core" &  +2 "storage"(& +3 "core" &,v V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(& +4 "core" &,v \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(}'r +297 "core" ' + "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" &,v a\  +2 "manipulator"&4& +3 "core" & \\  +2 .tElbow.seek 4 +2 "manipulator"&(( +3 "core" ( + "manipulator"&\\& +4 "core" & +  + "storage"(r& +4 "core" &,v ;\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&f'c +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&j/ +70 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"(G' +7 "core" &   +2 "manipulator"&<% +4 "core" % φ +2 .tForearm.seek :retract +2 "manipulator"&;' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l( +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +80 "core" ( + "manipulator"&h& +4 "core" &  ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +2 "core" & ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&,' +99 "core" ' + "manipulator"&>& +4 "core" & @ ; +2 "manipulator"&% +4 "core" %  q  + "processing"%]& +4 "core" &s\ +2 "processing"%O& +5 "core" &m\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &k\ +8 &7j\ #b +9 &S}h\ 7 +10 &}{d\ L +9 &Ym\ O +9 &CUd\ P +10 &Uc\ O +9 &Re\ O +10 &Ue\ P +9 &MTf\ O +9 &Xg\ O +10 &Tf\ P +9 &!Td\ P +9 &#UTZ\ O +10 &%U\\\ O +9 &&U^\ O +9 &(R_\ O +10 &*\\Rc\ O +9 &,W_\ O +10 &-TX\ P +9 &/U_\ O +9 &1dSX\ O +10 &3&Ra\ O +9 &4Rb\ O +9 &6W_\ O +10 &8kYe\ P +9 &:-V\\\ P +10 &;YY\ O +9 &=YX\ P +9 &?tY[\ O +10 &A6W^\ O +9 &B]]\ P +9 &Dc[\ Q +10 &Fss[\ R +9 &H/_\ ~T +10 &I\\\ }V +9 &K[\ }U +9 &Mp\\\ |V +10 &O3Y\ }V +9 &PW\ zX +10 &R[\ }W +9 &Tu\\\ {W +9 &V9Y\ }V +10 &W^\ |W +9 &YZ\ |W +9 &[\\\ }V +10 &]=\\\ zR +9 &^v=dX\ &p +9 &^ DZ\ 1 +7 ( +2 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&m1 +4 "core" &^&\\\ 1 +59 1 + "manipulator"&E% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%& +4 "core" &^&W\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&u% +4 "core" %  :  + "storage"(@% +4 "core" % !\  + "storage"(:. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(c(,y +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (k& + "manipulator"&& +4 "core" &,v P\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & ; +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&g( +2 "storage"(I'r +4 "core" ( + "manipulator"&t& +4 "core" & ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +2 "core" & b ; +3 .tForearm.seek PC + "manipulator"&e' +94 "core" ' + .tHand.close + "manipulator"&d/ +67 "core" / + .tPC.seek :open +2 "processing"%x( +90 "core" ' + "storage"(s- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +47 "core" ' +312 ( + "storage"(/& +4 "core" &,v W\  + "manipulator"&!& +4 "core" & N ; + "manipulator"&% +4 "core" % \  ] ; +2 .tForearm.seek :retract + "manipulator"&8' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&F( +252 "core" ( + "manipulator"& & +4 "core" &  ] $ + "storage"(M& +4 "core" &,v z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +100 "core" ' + .tHand.open + "manipulator"&n1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +23 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(\ ' +51 "core" ' + #tLights, camera, ACTION! + "storage"(S- +4 "core" -' + "storage"(+& +4 "core" &,v } \ n + "manipulator"&%& +4 "core" &  b $ +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&"& +4 "core" &   $ + "storage"(& +4 "core" &,v } ;\ m +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +50 "core" ' + "manipulator"&T& +4 "core" &   $ +2 "storage"(D& +3 "core" &,v \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&?'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +22 "core" ' + "manipulator"&b% +4 "core" %K $ +2 "storage"(& +4 "core" &,v K\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&'w +22 "core" ' + "manipulator"& & +5 "core" &  d # + "storage"(& +4 "core" &,v 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&3' +17 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(W' +99 (.% +3 "core" %E f\ Xj +2 "manipulator"&B% +4 "core" % ^ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +90 "core" ' +66 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (K& +3 "core" &,v &\ +2 "collection"'[& +4 "core" &\\ G\ Y + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&2% +4 "core" %   #  +2 "storage"(A% +3 "core" % \ +2 "storage"(X. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(6(,y +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (J& +3 "core" &,v @\  +2 "manipulator"&9& +3 "core" &  # +2 .tElbow.seek 4 + "manipulator"&#( +3 "core" ( +2 "manipulator"&C& +3 "core" &  C # +2 "storage"(z& +3 "core" &,v '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&Y' +96 "core" ' + "storage"(& +4 "core" &,v \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&v& +3 "core" &  # +2 "storage"('& +3 "core" &,v \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +50 "manipulator"&5'7 +27 "core" ' + .tElbow.hold + "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"()- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(q'c +30 "core" ' + "manipulator"&_% +4 "core" %I - +2 "storage"(i& +3 "core" &,v w y 7\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 318 counts + "manipulator"&H'u +15 "core" ' + "manipulator"&y& +4 "core" &  # +2 "storage"(^& +4 "core" &,v \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(*' +37 "core" ' + "manipulator"&&& +4 "core" &   2 # +2 "manipulator"&w% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +98 "core" ' + .tElbow.seek CC +2 "manipulator"&-(ӂ +146 "core" ( +2 "manipulator"&~& +4 "core" &x0  G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &x0 - G +2 .tForearm.seek CC +2 "manipulator"&='? +94 "core" ' + .tHand.close + "manipulator"&/ +67 "core" / + .tCC.seek :open +2 "collection"'$( +448 "core" ( + "storage"(R& +4 "core" &,v  \  +2 "storage"(& +3 "core" &,v  \  +2 "manipulator"& & +3 "core" &ӝ* A Bh +2 "manipulator"&% +3 "core" % I " < +2 .tForearm.seek :retract + "manipulator"&V' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&Q( +163 "core" ( + "manipulator"&a& +4 "core" &  z +2 "storage"(o& +3 "core" &,v & &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&4'7 +96 "core" ' + .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&r1 +62 "core" 1 +2 "manipulator"&j% +4 "core" % C  " + "storage"(L& +4 "core" &,v & %\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&<'o +14 "core" ' +2 "manipulator"& & +4 "core" & 9 x + "storage"(& +4 "core" &,v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&}' +20 "core" ' + "storage"(f% +4 "core" % ' ( \ \ +2 ."downElevator"SE.seek :down +4 "storage"(h' +99 (N% +3 "core" %$A i\ Wc +2 "manipulator"&(% +4 "core" %   + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +92 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" & R\ + "manipulator"&]% +4 "core" %   n  +2 "storage"(G% +3 "core" % ) )\ +2 "storage"(;. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(U(<- +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (m& +3 "core" &<, \  + "manipulator"&E& +4 "core" &  1 x +2 .tElbow.seek 5 + "manipulator"&( +8 "core" ( + "manipulator"&u& +4 "core" & s +2 "storage"(@& +3 "core" &<,  (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&:'O +112 "core" ' + "storage"(O& +4 "core" &<, \ ' \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (t& +3 "core" &<, 9\  + "manipulator"&`& +4 "core" & X s +2 .tElbow.seek 5 + "manipulator"&,( +3 "core" ( + "manipulator"&d& +4 "core" & s +2 "storage"(0& +3 "core" &<, |\  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&s'Ϲ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +67 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +6 "core" & s +2 "manipulator"&I% +3 "core" % ϭ t +2 .tForearm.seek :retract +2 "manipulator"&/' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&!(ӂ +157 "core" ' + ."downElevator"SE.coast + "storage"(5 +14 "core" ( + "manipulator"&& +4 "core" &ӆ  + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &ӆ + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +94 "core" ' +2 "manipulator"&M& +4 "core" &ӆ " + +2 "manipulator"&g% +4 "core" %: s y + "collection"'n& +4 "core" & Z\ +2 "collection"'& +5 "core" & Z\ +2 .tCC.seek :closed + "collection"'S(\\ +4 "core" & X\ +8 &A Z\ %h +10 &Xx N\ 8 +9 &u O\ L +10 &R Q\ L +9 &}R W\ L +9 &?U T\ L +10 &X J\ L +9 &Y U\ M +9 &U \\\ M +10 &GW F\ L +9 & W K\ L +10 &!W O\ L +9 &#S C\ L +9 &%OQ C\ L +10 &'R F\ L +9 &(T S\ L +9 &*U Y\ L +10 &,XT \\\ L +9 &.T X\ M +10 &/T Y\ M +9 &1U ]\ M +9 &3^U ^\ M +10 &5!R X\ L +9 &6T W\ L +9 &8T W\ L +10 &:gX ^\ L +9 &<(W _\ M +10 &=U N\ M +9 &?X P\ L +9 &AnT V\ M +10 &C/W _\ M +9 &De `\ N +9 &Fr \\\ P +10 &Hd Z\ S +9 &J [\ W +10 &K _\ X +9 &M `\ Y +9 &OZ c\ Y +10 &Q _\ Y +9 &R e\ Z +9 &T _\ [ +10 &V[ _\ [ +9 &X b\ \\ +10 &Y _\ ] +9 &[ d\ J +9 &\\4 a\ 3 +10 &\\e X\ O +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&+1 +62 "core" 1 + "manipulator"&%% +4 "core" % : y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &h\ + "manipulator"&8% +4 "core" % ! , +2 "storage"(T% +3 "core" % \ +2 "storage"(D. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(b(<- +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<, \  + "manipulator"& & +4 "core" &ӆ # + +2 "manipulator"&% +3 "core" % ! , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +157 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(& +3 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&F'O +95 "core" ' + "storage"({& +4 "core" &<, L\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'r +297 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (B& +3 "core" &<, 4\  +2 "manipulator"&& +3 "core" & 3  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & 0  +2 "storage"(?& +3 "core" &<, \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&K'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +66 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(2' +7 "core" &   + "manipulator"&A% +4 "core" % Ͽ e +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +49 .tElbow.seek PC +3 "manipulator"&X( +113 "core" ' + ."downElevator"SE.coast + "storage"(5 +125 "core" ( +2 "manipulator"&J& +4 "core" & F = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" & ) = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&C' +100 "core" ' + "manipulator"&z& +4 "core" & # = +2 "manipulator"&3% +4 "core" % Y  +2 "processing"%& +4 "core" &`\ +2 "processing"%W& +6 "core" &W\ +2 .tPC.seek :closed +2 "processing"%c(^ +4 "core" &i\ +7 & .r\ $c +10 &Szj\ 7 +9 &~{j\ L +9 &Us\ O +10 &SUs\ O +9 &To\ O +10 &Ue\ O +9 &Ue\ P +9 &\\Tk\ O +10 &Ug\ P +9 &T`\ O +9 &!Th\ O +10 &#cUf\ O +9 &%&Qe\ O +10 &&Uj\ O +9 &(Uf\ O +9 &*kU`\ O +10 &,,Ve\ P +9 &-T\\\ O +9 &/U_\ O +10 &1sX\\\ O +9 &35U\\\ O +10 &4Ta\ P +9 &6U]\ O +9 &8zV]\ P +10 &:=Ud\ O +9 &<Ua\ O +10 &=Y`\ P +9 &?Yd\ O +9 &AD\\a\ P +10 &Cbd\ P +9 &Dke\ R +9 &F|e\ S +10 &H;c\ U +9 &I_\ U +9 &Kc\ U +10 &M~e\ W +9 &OB]\ V +10 &Q\\\ V +9 &Rd\ W +9 &Tc\ W +10 &VH^\ V +9 &X\ b\ V +9 &Y^\ V +10 &[e\ W +9 &]Me\ L +10 &^O\\\ "j +9 &^,W\ 2 +2 ( +2 "processing"%W& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&|1 +55 "core" 1 + "manipulator"&Z% +4 "core" %  [  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%v& +5 "core" &^%G\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&'% +4 "core" % % 6 = +2 "storage"()% +3 "core" % \ +2 "storage"(_. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(i(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (y& +4 "core" &<, \  + "manipulator"&^& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&&( +2 "storage"(w'r +4 "core" ( + "manipulator"&Y& +4 "core" &  = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +2 "core" & 4 = +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' + .tHand.close + "manipulator"&5/ +70 "core" / +2 .tPC.seek :open +2 "processing"%H( +80 "core" ' + "storage"(q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(~'1 +44 "core" ' +324 ( + "storage"(& +4 "core" &<, \  + "manipulator"&p& +4 "core" & = +2 "manipulator"&7% +3 "core" %  +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&P( +271 "core" ( + "manipulator"&1& +4 "core" &  h +2 "storage"(R& +3 "core" &<, ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' + .tHand.open + "manipulator"& 1 +56 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(a' +23 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(o' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(=- +4 "core" -' + "storage"(-& +4 "core" &<, b\ w + "manipulator"&r& +4 "core" & O h +2 .tElbow.seek 5 + "manipulator"&j( +3 "core" ( +2 "manipulator"&L& +4 "core" & h + "storage"( & +4 "core" &<, B\ w +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(f'" +50 "core" ' + "manipulator"&V& +4 "core" &  h +2 "storage"(N& +3 "core" &<, \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&('΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(4' +21 "core" ' + "manipulator"&% +4 "core" %Λ  Y +2 "storage"(<& +4 "core" &<, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&]' +30 "core" ' + "manipulator"&G& +4 "core" & / e +2 "storage"(;& +4 "core" &<, b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&*'O +17 "core" ' + "storage"(}% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(h' +99 (6% +3 "core" %J \ Yk +2 "manipulator"&m% +4 "core" %H  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +89 "core" ' +75 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (u& +4 "core" &<, K\ + "collection"'@& +4 "core" &\\c Y\ O +2 #tStoring generic puck in Collection Clamp to tube 5 "manipulator"&O% +4 "core" %   %  +2 "storage"(\\% +4 "core" % \ + "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (t& +3 "core" &<, \  +2 "manipulator"&`& +3 "core" &  0 e +2 .tElbow.seek 5 + "manipulator"&d( +10 "core" ( + "manipulator"&0& +4 "core" & g +2 "storage"(l& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' + "storage"(I& +4 "core" &<, \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +4 "core" & g + "storage"(e& +4 "core" &<, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&k'΍ +20 "core" ' + .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(M- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(g'h +30 "core" ' + "manipulator"&,% +4 "core" %Ά  +2 "storage"(n& +3 "core" &<, H\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 5 + 293 counts + "manipulator"&'ϲ +26 "core" ' + "manipulator"&/& +4 "core" & = d +2 "storage"($& +3 "core" &<, C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&+'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(%' +34 "core" ' + "manipulator"&& +4 "core" &  Q d +2 "manipulator"&8% +4 "core" %G ` + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&T' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&D(ӂ +163 "core" ( + "manipulator"&& +4 "core" &Ӌ2 H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &ӌ2 H +2 .tForearm.seek CC +2 "manipulator"& '? +100 "core" ' +2 .tHand.close +49 "manipulator"&/ +79 "core" / + .tCC.seek :open +2 "collection"' ( +450 "core" ( +2 "storage"( & +4 "core" &<,  t\  + "storage"(& +4 "core" &<,  ,\  + "manipulator"&U& +4 "core" &ӡ.   E + "manipulator"&{% +4 "core" % J  +2 .tForearm.seek :retract + "manipulator"&!' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&"( +163 "core" ( + "manipulator"&.& +4 "core" & J  +2 "storage"(B& +3 "core" &<,   W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&?1 +58 "core" 1 +2 "manipulator"&% +4 "core" % ΂ 5 + "storage"([& +4 "core" &<, # \ =\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 289 counts + "manipulator"&A'Ϯ +34 "core" ' + "manipulator"&& +4 "core" & E  +2 "storage"(F& +3 "core" &<, \ & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&\ 'O +23 "core" ' + "storage"(K% +4 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(J' +100 (9% +3 "core" %M>   D\ Wc +2 "manipulator"&% +4 "core" %T  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'3& +5 "core" & G\ + "manipulator"&% +4 "core" %   &  +2 "storage"(2% +3 "core" % & &\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(x(K +364 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (|& +3 "core" &K  8\  + "manipulator"&Z& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&v( +3 "core" ( +2 "manipulator"&'& +3 "core" &  +2 "storage"()& +3 "core" &K   ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +95 "core" ' + "storage"(W& +4 "core" &K #  }\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'r +291 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &K  Z\ +2 "manipulator"&#& +3 "core" & g  +2 .tElbow.seek 6 + "manipulator"&C( +3 "core" ( +2 "manipulator"&5& +3 "core" & V  +2 "storage"(b& +3 "core" &K & &\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&q'h +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +69 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(c' +7 "core" &  \  +2 "manipulator"&w% +4 "core" % \\  +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&p(ӂ +157 "core" ( + "manipulator"&7& +4 "core" &x2  ) H +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b + "core" ' +2 "manipulator"&& + ."downElevator"SE.coast +5 "storage"(5 +3 "core" &y2 e H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&1'? +100 "core" ' + "manipulator"&R& +4 "core" &Ӡ+ Q Cp +2 "manipulator"&&% +4 "core" %G  % + "collection"' & +4 "core" & S\ +2 "collection"'& +5 "core" & Z\ +2 .tCC.seek :closed + "collection"'=(\\ +6 "core" & c\ +6 &; \\\ %g +10 &Xy [\ 8 +9 &u d\ L +9 &Q _\ L +10 &R ]\ L +9 &BT `\ L +10 &W d\ L +9 &W \\\ L +9 &V \\\ L +10 &IQ V\ L +9 & Q L\ L +9 &!R S\ L +10 &#S _\ L +9 &%QQ Y\ L +10 &'W U\ L +9 &(R T\ L +9 &*R T\ L +10 &,YW T\ L +9 &.V T\ L +9 &/V W\ L +10 &1Y N\ L +9 &3aW [\ L +10 &5#W Z\ L +9 &6X d\ M +9 &8U b\ L +10 &:iU ^\ L +9 &<*U [\ M +9 &=R b\ L +10 &?U ^\ L +9 &AoV \\\ M +10 &C2X a\ M +9 &Db c\ N +9 &Fm d\ O +10 &Hh g\ R +9 &J! c\ U +9 &K c\ X +10 &M a\ Y +9 &O\\ \\\ Y +10 &Q d\ Z +9 &R d\ Z +9 &T b\ Z +10 &V[ ]\ \\ +9 &X ]\ \\ +9 &Y `\ ] +10 &[ _\ J +9 &\\5 a\ 1 +9 &\\r Z\ P +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&-1 +56 "core" 1 +2 "manipulator"&r% +4 "core" % G % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +4 "core" &m\ + "manipulator"&% +4 "core" %    +2 "storage"(V% +3 "core" % (\ +2 "storage"(N. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +10 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (<& +3 "core" &K %\ +2 "manipulator"&~& +3 "core" &ӡ+ # Co +2 "manipulator"&G% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&;( +154 "core" ( + "manipulator"&a& +4 "core" & 5 +2 "storage"(}& +3 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&P' +93 "core" ' + "storage"(& +4 "core" &K e\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'r +301 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (m& +3 "core" &K \ + "manipulator"&& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&j( +3 "core" ( + "manipulator"&f& +4 "core" &  + "storage"((& +4 "core" &K w\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&]'h +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&u/ +74 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&@& +2 "storage"(O' +6 "core" &  0 +2 "manipulator"&4% +3 "core" % f  +2 .tForearm.seek :retract +2 "manipulator"&\\' +94 "core" ' + .tElbow.seek PC +2 "manipulator"&>( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +79 "core" ( + "manipulator"&t& +4 "core" &  v - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" & - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&0' +92 "core" ' + "manipulator"&l& +4 "core" & ] - +2 "manipulator"&*% +4 "core" % " \\ + "processing"%I& +4 "core" &s\ +2 "processing"%h& +5 "core" &r\ +2 .tPC.seek :closed + "processing"%i(^ +5 "core" &s\  +9 &2vl\ *x +10 &a~r\ > +9 &eso\ O +9 &$Uk\ O +10 &Ts\ P +9 &To\ O +9 &lTl\ O +10 &.Tk\ O +9 &Se\ N +10 &Ug\ O +9 & sUg\ O +10 &"5Re\ O +10 &#Ub\ O +8 &%S_\ O +9 &'|T`\ O +10 &)=Tf\ O +9 &*U\\\ O +10 &,U^\ O +9 &.S_\ O +9 &0DUd\ O +6 "Can"\ \\Y +4 "core" &2W_\ O +9 &3TZ\ O +9 &5T_\ O +10 &7MUY\ O +9 &9W`\ O +10 &:Td\ O +9 &<Wd\ O +9 &>SYb\ P +10 &@W\\\ P +9 &A\\]\ P +10 &Cfe\ Q +9 &EUo_\ R +9 &G[\ T +10 &H[\ U +9 &Jd\ U +9 &LS_\ U +10 &N]\ V +9 &Ob\ V +9 &Qc\ V +10 &SY`\ V +9 &U^\ V +10 &V[\ V +9 &X^\ V +9 &Z__\ W +10 &\\ [\ W +9 &]b\ 7 +9 &^-pd\ X +10 &^(_\ 4 +2 ( +2 "processing"%h& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open +51 "manipulator"&Q1 +59 "core" 1 + "manipulator"&E% +4 "core" %  c \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&:' +99 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%& +5 "core" &^,A\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&e% +4 "core" % ( M > +2 "storage"(M% +3 "core" % E\ +2 "storage"(,. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(n(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (/& +2 "manipulator"&$& +4 "core" &K \ +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & \ - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"(8'r +4 "core" ( + "manipulator"&& +4 "core" & - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" & Z - +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&k/ +76 "core" / + .tPC.seek :open +2 "processing"%( +78 "core" ' + "storage"(g- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +44 "core" ' +327 ( + "storage"(& +4 "core" &K +\ +2 "manipulator"&+& +3 "core" & [ - +2 "manipulator"&s% +3 "core" %   3 +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&T( +262 "core" ( + "manipulator"&S& +4 "core" & \ w +2 "storage"( & +3 "core" &K A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +97 "core" ' +2 .tHand.open + "manipulator"&U1 +58 "core" 1 + "storage"({- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(.' +26 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(B' +52 "core" ' + #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(D& +4 "core" &K } 7\ n +2 "manipulator"&?& +3 "core" & b w +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&[& +4 "core" & s m +2 "storage"(& +3 "core" &K | z ;\ m +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&F' +4 "core" ' + .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(K'" +59 "core" ' + "manipulator"&!& +4 "core" &  m +2 "storage"(9& +3 "core" &K T\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&3% +4 "core" %S +2 "storage"(A& +4 "core" &K \ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 6 + 323 counts + "manipulator"&' +26 "core" ' + "manipulator"&2& +4 "core" & 3 j +2 "storage"(& +4 "core" &K @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&%' +17 "core" ' + "storage"(\ % +5 "core" % o\ +2 ."downElevator"SE.seek :down +3 "storage"(J' +99 (% +4 "core" %E "\ Yk +2 "manipulator"&|% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +98 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 ('& +3 "core" &K u\ +2 "collection"')& +3 "core" &\\m \\\ P +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&W% +4 "core" %  R - + "storage"(% +4 "core" % i\ +2 "storage"(z. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(^(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (Y& +2 "core" &K \  +2 "manipulator"&#& +4 "core" &  j +2 .tElbow.seek 6 + "manipulator"&5( +9 "core" ( + "manipulator"&b& +4 "core" &  l +2 "storage"(X& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +101 "core" ' + "storage"(w& +4 "core" &K l\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(v'r +300 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&7& +3 "core" &  4 l +2 "storage"(& +3 "core" &K +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&y'< +18 "core" ' + .tElbow.hold + "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(&'b +30 "core" ' + "manipulator"& % +4 "core" %D + "storage"(C& +4 "core" &K E\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"&c'p +16 "core" ' + "manipulator"&& +4 "core" &  i +2 "storage"( & +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&-' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(r' +37 "core" ' + "manipulator"& & +4 "core" & i +2 "manipulator"&% +4 "core" %   v + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&N(ӂ +172 "core" ( + "manipulator"&& +4 "core" &ӌ  1 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" &ӌ e 6 +3 .tForearm.seek CC + "manipulator"&~'? +92 "core" ' + .tHand.close + "manipulator"&G/ +69 "core" / + .tCC.seek :open + "collection"'1( +448 "core" ( + "storage"(a& +4 "core" &K  \  + "storage"(}& +4 "core" &K |\  + "manipulator"&x& +4 "core" &ӎ  \\ 6 +2 "manipulator"&% +3 "core" % 3  e  +2 .tForearm.seek :retract + "manipulator"&p' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&L( +163 "core" ( + "manipulator"&6& +4 "core" &  +2 "storage"(m& +3 "core" &K   6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 + "manipulator"&'< +96 "core" ' + .tElbow.hold + "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&(1 +149 "core" 1 + "manipulator"&u% +5 "core" % L "  + "storage"(@& +4 "core" &K q\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&4'x +24 "core" ' + "manipulator"&;& +4 "core" & # } +2 "storage"(P& +3 "core" &K & & L\  +2 .tForearm.reconfigure :tight +51 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&o' +20 "core" ' + "storage"(]% +4 "core" %   A\ +2 ."downElevator"SE.seek :down +4 "storage"(t' +99 (`% +3 "core" %C?   X\ We +2 "manipulator"&j% +4 "core" % f + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&l' +96 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +15980 #-> 5.times {shuffle 2..6; delay 10} +2 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'*& +4 "core" & :\ + "manipulator"&I% +5 "core" % " ; $ + "storage"(O% +4 "core" % ' '\ + "storage"(\\. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(H(  +1296 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (Q& +3 "core" &  !  z\ +2 "manipulator"&E& +3 "core" &  } +2 .tElbow.seek 2 + "manipulator"&h( +3 "core" ( +2 "manipulator"&& +3 "core" & b } +2 "storage"(e& +3 "core" &    %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&M'S +95 "core" ' + "storage"(,& +4 "core" &  ( ' \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'r +298 "core" ' + "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &   /\  +2 "manipulator"&d& +3 "core" &   } +2 .tElbow.seek 2 + "manipulator"&0( +3 "core" ( +2 "manipulator"&k& +3 "core" & E } +2 "storage"(& +3 "core" &  ' '\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&g'Ͻ +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +74 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"(i' +7 "core" & } +2 "manipulator"&8% +4 "core" % ϻ  L { +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' + .tElbow.seek CC +2 "manipulator"&+(ӂ +151 "core" ' + ."downElevator"SE.coast + "storage"(5 +4 "core" ( + "manipulator"&s& +4 "core" &z- Dx + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &z-   Dx +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&S'? +104 "core" ' + "manipulator"& & +4 "core" &ӝ& P ?U +2 "manipulator"&% +4 "core" %3 6 +2 "collection"'U& +4 "core" & \\\ +2 "collection"'{& +5 "core" & e\ +2 .tCC.seek :closed + "collection"' (\\ +5 "core" & c\ +7 &< \ $e +10 &U| \ 7 +9 &| \ L +9 &U \ M +10 &rX w\ M +9 &4U v\ M +9 &X u\ N +10 &W s\ M +9 &zW s\ M +9 &=T x\ M +10 &W x\ M +9 &!W t\ M +10 &#Y w\ M +9 &%ET x\ M +9 &'V n\ M +10 &(W s\ M +9 &*V {\ N +9 &,MW u\ M +10 &.W u\ M +9 &/U t\ M +10 &1X h\ M +9 &3UT h\ M +9 &5V f\ M +10 &6W f\ M +9 &8V i\ M +9 &:]U j\ M +10 &<W k\ M +9 &=Y g\ M +10 &?W e\ M +9 &AdU `\ M +9 &C%\\ a\ N +10 &Df g\ O +9 &Fm d\ P +10 &H\\ c\ S +9 &J d\ W +9 &K f\ X +10 &M e\ Y +9 &OQ d\ Y +9 &Q e\ Z +10 &R e\ Z +9 &T `\ [ +9 &VR g\ \\ +10 &X `\ \\ +9 &Y d\ ^ +10 &[ U\ J +9 &\\7 P\ . +9 &\\ U\ W +7 ( +2 "collection"'{& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&D1 +4 "core" &\\ Z\ W +54 1 + "manipulator"&?% +4 "core" % 3 N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&[' +89 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &j\ +2 "manipulator"&% +3 "core" %   +2 "storage"(!% +4 "core" % -\ + "storage"(9. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(3(  +10 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (A& +3 "core" &  -\ +2 "manipulator"&& +3 "core" &Ӟ& ' ?T +2 "manipulator"&2% +3 "core" %  [  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +164 "core" ( + "manipulator"&.& +4 "core" &  +2 "storage"(\ & +3 "core" &  -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&T'S +93 "core" ' + "storage"(& +4 "core" &  S\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (|& +3 "core" &  r\  +2 "manipulator"&F& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&K& +3 "core" &   +2 "storage"(& +3 "core" &  Q\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +70 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&)& +4 "storage"(W' +3 "core" &  0  +2 "manipulator"&% +3 "core" % Ϲ Z  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&z( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +99 "core" ( +2 "manipulator"&Y& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +2 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&b' +99 "core" ' + "manipulator"&X& +4 "core" & +2 "manipulator"&%% +3 "core" %    +2 "processing"%w& +4 "core" &U\ +2 "processing"%J& +5 "core" &Y\ +2 .tPC.seek :closed + "processing"%n(^ +4 "core" &n\  +9 &0st\ *x +10 &at\ > +9 &buu\ O +9 &$Tt\ O +10 &Vu\ P +9 &Tu\ P +10 &hWs\ P +9 &*Ut\ P +9 &Wu\ P +10 &Xt\ O +9 & qWt\ O +9 &"2Tm\ P +10 &#Vs\ O +9 &%Qt\ O +10 &'yWl\ O +9 &);Vl\ O +9 &*We\ O +10 &,Yo\ O +9 &.Ql\ O +9 &0BTg\ P +10 &2Wp\ O +9 &3Wo\ O +10 &5Wc\ O +9 &7KWg\ O +9 &9 Y_\ P +10 &:Yd\ O +9 &<Uh\ O +9 &>Q[e\ P +10 &@U_\ P +9 &AXd\ P +10 &Cc]\ Q +9 &EVh\\\ Q +9 &Gv[\ S +10 &H^\ }U +9 &J^\ |V +9 &LRd\ }U +10 &Nd\ {W +9 &Oe\ |V +10 &Qf\ zW +9 &SU`\ |W +9 &Ue\ |V +10 &V_\ {X +9 &Xe\ |V +9 &Z^_\ |W +10 &\\[\ {W +9 &]d\ }9 +10 &^)re\ [ +9 &^&a\ 4 +2 ( +2 "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 .Hand.open + "manipulator"&"1 +59 "core" 1 + "manipulator"&Z% +4 "core" %  >  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +97 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%7& +4 "core" &^(Y\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" % # Y 4 + "storage"(R% +4 "core" % \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(C(  +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +4 "core" &  \ + "manipulator"& & +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"& ( +2 "storage"('r +23 "core" ( + "manipulator"&& +4 "core" & . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &  . +2 .tForearm.seek PC +50 "manipulator"&v' +93 "core" ' + .tHand.close +2 "manipulator"&y/ +74 "core" / + .tPC.seek :open +2 "processing"%c( +17 "core" ' + "storage"(&- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +45 "core" ' +387 ( + "storage"(<& +5 "core" &  S\  + "manipulator"&-& +4 "core" &  . + "manipulator"&q% +4 "core" %   R +2 .tForearm.seek :retract + "manipulator"&G' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&V( +246 "core" ( + "manipulator"&=& +4 "core" &  % _ +2 "storage"(a& +3 "core" &  z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&}'S +98 "core" ' + .tHand.open + "manipulator"&x1 +54 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(6' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(m' +57 "core" ' + #tLights, camera, ACTION! + "storage"(~- +4 "core" -' + "storage"(N& +4 "core" &  T T ;\ e + "manipulator"&(& +4 "core" &  J _ +2 .tElbow.seek 2 + "manipulator"&u( +3 "core" ( +2 "manipulator"&@& +3 "core" &  H _ +2 "storage"(;& +3 "core" &  S S \ e +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&p'S +4 "core" ' + .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(P'" +53 "core" ' + "manipulator"&]& +4 "core" &  _ +2 "storage"(L& +3 "core" &  '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&`'Α +20 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +24 "core" ' + "manipulator"&4% +5 "core" %Τ ; + "storage"(r& +4 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&o' +17 "core" ' + "manipulator"&t& +4 "core" &\  ) _ +2 "storage"(^& +4 "core" &  g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&*'S +15 "core" ' + "storage"(I% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(O' +99 (\\% +3 "core" %U k g t\ [r +2 "manipulator"&Q% +4 "core" %N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +90 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &  o y #\ + "collection"'e& +4 "core" &\\ d\ W +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&,% +4 "core" %   @  + "storage"(f% +4 "core" % \ + "storage"(l. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"($(  +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" &  v \  +2 "manipulator"&d& +4 "core" &  ^ +2 .tElbow.seek 2 + "manipulator"&k( +4 "core" ( + "manipulator"&& +4 "core" &  . ^ + "storage"(>& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&:'S +94 "core" ' + "storage"(8& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'r +296 "core" ' + "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&s& +3 "core" &  z ^ +2 "storage"(& +3 "core" &  |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&/'Α +23 "core" ' + .tElbow.hold + "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"('\\ +30 "core" ' + "manipulator"&U% +4 "core" %Υ / + "storage"(0& +4 "core" &  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&i' +15 "core" ' + "manipulator"&& +4 "core" & ^ +2 "storage"(1& +3 "core" &  G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&D'S +20 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(?' +35 "core" ' + "manipulator"&& +4 "core" &  ? ^ +2 "manipulator"&% +4 "core" %n \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&!' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&9(ӂ +164 "core" ( + "manipulator"&{& +4 "core" &Ӌ 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +2 "core" &Ӌ 2 +2 .tForearm.seek CC + "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&2/ +74 "core" / + .tCC.seek :open + "collection"'S( +452 "core" ( + "storage"(.& +4 "core" &  " w\  +2 "storage"(\ & +4 "core" &  \\\  + "manipulator"&H& +4 "core" &Ӌ H 2 + "manipulator"&% +4 "core" % @ a +2 .tForearm.seek :retract + "manipulator"&+' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&[( +160 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(|& +3 "core" &   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 + "manipulator"&F'Α +96 "core" ' + .tElbow.hold + "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&'% +5 "core" % ΃  + "storage"()& +4 "core" &    \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 286 counts + "manipulator"&'ϯ +36 "core" ' +2 "manipulator"&& +4 "core" & V  + "storage"(T& +4 "core" &    O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&B'S +26 "core" ' + "storage"(% +4 "core" % % \ +3 ."downElevator"SE.seek :down +3 "storage"(Y' +98 (#% +3 "core" %L H\ Ym +2 "manipulator"&% +3 "core" %R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +86 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'%& +5 "core" & j\ + "manipulator"&w% +4 "core" %   O  +2 "storage"(W% +3 "core" %  \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +349 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ("& +3 "core" & _\  + "manipulator"&Z& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&7( +13 "core" ( + "manipulator"&& +4 "core" & [ ~ + "storage"(R& +4 "core" & j\  +50 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +99 "core" ' + "storage"(J& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \  + "manipulator"&5& +4 "core" &  S ~ +2 .tElbow.seek 3 + "manipulator"&b( +3 "core" ( +2 "manipulator"&3& +3 "core" & ( ~ +2 "storage"(y& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&&'ϡ +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +69 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&_& +2 "storage"(n' +7 "core" &  ~ +2 "manipulator"&% +3 "core" % Ϥ  +2 .tForearm.seek :retract +2 "manipulator"&<' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&-(ӂ +159 "core" ' +2 ."downElevator"SE.coast + "storage"(5 +3 "core" ( + "manipulator"&q& +4 "core" &ӎ)   Ac + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &ӎ(   Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&='? +100 "core" ' +2 "manipulator"&a& +4 "core" &Ӝ& ? ?U +2 "manipulator"& % +4 "core" %:  + "collection"'x& +4 "core" & |\ +2 "collection"'& +5 "core" & w\ +2 .tCC.seek :closed + "collection"'~(\\ +4 "core" & v\ +9 & + t\ $d +9 &Vx s\ 7 +9 &z j\ L +10 &T i\ M +9 &cU j\ M +9 &%W d\ M +10 &U h\ M +9 &U j\ N +10 &lT h\ M +9 &.U j\ M +9 &T h\ M +10 &!T \\\ M +9 &#tV ]\ M +9 &%6T h\ M +10 &&T _\ M +9 &(U d\ M +10 &*{U b\ M +9 &,=U f\ M +9 &-T `\ M +10 &/T b\ M +9 &1U b\ M +9 &3ET Y\ M +10 &5U \\\ M +9 &6T _\ M +10 &8T `\ M +9 &:NW \\\ M +9 &<U S\ M +10 &=V f\ M +9 &?U h\ M +9 &AUW j\ M +10 &CW d\ N +9 &Db h\ N +10 &Fm f\ P +9 &HM d\ S +9 &J Z\ W +10 &K c\ Y +9 &M `\ Y +9 &OB g\ Y +10 &Q _\ Z +9 &R d\ Z +10 &T e\ \\ +9 &VB g\ \\ +9 &X ^\ ] +10 &Y d\ ^ +9 &[ \\\ K +9 &\\: b\ - +10 &\\ a\ Y +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&N1 +4 "core" &\\u a\ Y +57 1 +2 "manipulator"&(% +4 "core" % : > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&@' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%;& +4 "core" &s\ + "manipulator"&G% +4 "core" %   +2 "storage"(]% +3 "core" % p \ +2 "storage"(L. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(4( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (r& +2 "core" & c j k\  +2 "manipulator"&& +4 "core" &Ӝ&  ?U + "manipulator"&t% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&^( +177 "core" ( + "manipulator"&6& +4 "core" &w  1 +2 "storage"(I& +3 "core" & /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&V'7 +93 "core" ' + "storage"(}& +4 "core" & l\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'r +296 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +2 "core" & e 1\  +2 "manipulator"&p& +3 "core" &w H 1 +2 .tElbow.seek 3 + "manipulator"&u( +28 "core" ( + "manipulator"&P& +4 "core" &  + "storage"(`& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +35 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&o/ +71 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(,' +6 "core" &  +2 "manipulator"&f% +3 "core" % Ͼ R B +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&l( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +98 "core" ( + "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +100 "core" ' + "manipulator"&>& +4 "core" &  +2 "manipulator"&*% +3 "core" % L  +2 "processing"%8& +4 "core" &u\ +2 "processing"%O& +4 "core" &^\ +2 .tPC.seek :closed +2 "processing"%C(^ +5 "core" &s\  +9 &0tk\ |*x +9 &a}u\ y> +10 &ast\ yO +9 &!St\ P +9 &Ut\ ~P +10 &Tt\ ~P +9 &gRr\ P +10 &*Op\ O +9 &Ti\ O +9 &Rk\ O +10 & oVs\ ~P +9 &"1Rn\ P +9 &#Vm\ ~O +10 &%Ol\ O +9 &'wQo\ P +10 &):Un\ O +9 &*Re\ ~O +9 &,Ve\ ~P +10 &.R^\ ~P +9 &0AQk\ P +9 &2Qc\ P +10 &3U[\ ~O +9 &5Q`\ ~P +10 &7JVg\ ~O +9 &9 Uf\ ~O +9 &:T`\ ~O +10 &<U_\ ~P +9 &>PZ]\ ~P +9 &@VY\ ~P +10 &A\\\\\ }P +9 &Cee\ {R +10 &ERm_\ zR +9 &G f\ xT +9 &H]\ wU +10 &J`\ vV +9 &LOc\ wV +9 &N f\ tW +10 &O`\ vW +9 &Q`\ tW +10 &SSc\ uW +9 &Ue\ uW +9 &V]\ uW +10 &X\\\ uW +9 &ZZc\ uX +9 &\\_\ uX +10 &]`\ x6 +9 &^7s^\ z; +10 ( + &^^\ , +2 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&j1 +56 "core" 1 + "manipulator"&E% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&M' +93 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%s& +5 "core" &^D\ , + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %   +2 "storage"( % +3 "core" % b n r\ +2 "storage"(U. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(0( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +4 "core" & b m [\  + "manipulator"&1& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & 7  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"('r +5 "core" ( + "manipulator"&:& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" & .  +2 .tForearm.seek PC +2 "manipulator"&h' +94 "core" ' + .tHand.close + "manipulator"&// +71 "core" / +2 .tPC.seek :open +2 "processing"%i( +82 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"({'1 +41 "core" ' +322 ( + "storage"(A& +4 "core" & t \  + "manipulator"&D& +4 "core" & C  + "manipulator"&g% +4 "core" %  * +2 .tForearm.seek :retract + "manipulator"&2' +100 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&!( +239 "core" ( + "manipulator"& & +4 "core" &\  n +2 "storage"(.& +3 "core" & c H \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\ '7 +96 "core" ' + .tHand.open + "manipulator"&H1 +59 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(|' +55 "core" ' +52 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(9& +4 "core" &\ \  V\ V +2 "manipulator"&& +3 "core" &\  Z n +2 .tElbow.seek 3 + "manipulator"&'( +4 "core" ( + "manipulator"&)& +4 "core" &\  = n + "storage"(& +4 "core" &\ \  ^\ V +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&T'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +54 "core" ' + "manipulator"&+& +4 "core" &\  9 n +2 "storage"(#& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +14 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(F' +24 "core" ' + "manipulator"&%% +4 "core" %Έ j K +2 "storage"(& +4 "core" & m m\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&w'ϴ +27 "core" ' + "manipulator"&W& +4 "core" &\   9 n +2 "storage"(& +4 "core" & >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&?'7 +19 "core" ' + "storage"(B% +5 "core" % R\ +2 ."downElevator"SE.seek :down +3 "storage"(Y' +99 ($% +3 "core" %oL g \ Ym +2 "manipulator"&"% +4 "core" %& C + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +94 "core" ' +64 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" & n n !\ + "collection"'R& +4 "core" &\\t b\ Y +2 #tStoring generic puck in Collection Clamp to tube 3 "manipulator"&J% +4 "core" % " $ +2 "storage"(K% +3 "core" % _ c ?\ +2 "storage"(X. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"( ( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & o e y\  +2 "manipulator"&5& +4 "core" &\  e n +2 .tElbow.seek 3 + "manipulator"&3( +3 "core" ( +2 "manipulator"&y& +4 "core" &\   n + "storage"(z& +4 "core" & n m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&_'7 +96 "core" ' + "storage"(& +4 "core" & Q\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'r +296 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&q& +3 "core" &\  + n +2 "storage"(v& +4 "core" & j m q\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +15 "core" ' + .tElbow.hold + "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(a- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"( 'g +31 "core" ' + "manipulator"&x% +4 "core" %·  D +2 "storage"(b& +3 "core" & l f p\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&n'ϳ +39 "core" ' + "manipulator"&<& +4 "core" &\  n +2 "storage"(S& +4 "core" & h t\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&N'7 +24 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"((' +36 "core" ' + "manipulator"&;& +4 "core" &\   n +2 "manipulator"&G% +4 "core" %:   + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&L(ӂ +156 "core" ( + "manipulator"&& +4 "core" &ӎ  :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +2 "core" &ӎ! i :/ +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close + "manipulator"&t/ +72 "core" / + .tCC.seek :open +2 "collection"'=( +447 "core" ( + "storage"(6& +4 "core" & ^\  + "storage"(I& +4 "core" & X\  +2 "manipulator"&& +4 "core" &ӎ! M :/ + "manipulator"&}% +4 "core" % G ( d + .tForearm.seek :retract +2 "manipulator"&-' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&@( +167 "core" ( + "manipulator"&\\& +4 "core" & c +2 "storage"(Q& +3 "core" & j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&p'u +97 "core" ' + .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&`1 +62 "core" 1 + "manipulator"&o% +5 "core" % i # + "storage"(e& +4 "core" & Z\  + .tForearm.force -20 + "manipulator"&5 +7 .tForearm.seek 3 + 288 counts + "manipulator"&f'ϕ +25 "core" ' + "manipulator"&^& +4 "core" &  z ` +2 "storage"(V& +3 "core" &  *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&m'7 +29 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (d% +3 "core" %w; b\ Wd +2 "manipulator"&u% +3 "core" %7  , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +89 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'*& +4 "core" & b\ +2 "manipulator"&8% +3 "core" %    +2 "storage"(,% +3 "core" %  I\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(c(,y +354 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (j& +3 "core" &,w |\  + "manipulator"&E& +4 "core" &  ` + .tElbow.seek 4 +2 "manipulator"&s( +51 "core" ( + "manipulator"&& +4 "core" &   + "storage"( & +4 "core" &,w r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +93 "core" ' + "storage"(& +4 "core" &,w 2\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'r +297 "core" ' + "storage"(1- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (:& +3 "core" &,w \  +2 "manipulator"&k& +4 "core" & .  + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&/& +4 "core" & K  + "storage"(4& +4 "core" &,w [\  + .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +74 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&M& +4 "storage"(C' +3 "core" &   +2 "manipulator"&% +4 "core" % {  + .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&D(ӂ +151 "core" ( + "manipulator"&g& +4 "core" &Ӂ( @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&h& + ."downElevator"SE.coast +5 "storage"(5 +50 "core" &Ӂ( K @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +92 "core" ' + "manipulator"&.& +4 "core" &ӄ( @Y +2 "manipulator"&% +4 "core" %; e +2 "collection"'H& +4 "core" & x\ +2 "collection"'& +5 "core" & {\ +2 .tCC.seek :closed + "collection"'2(\\ +5 "core" & y\  +9 &4{ j\ +{ +10 & e~ g\ ? +9 &p e\ O +10 &UQ h\ M +9 &T e\ M +9 &U e\ M +10 &Q h\ M +9 & d\ M +9 &U i\ N +10 &S h\ M +9 & U c\ M +10 &"cT j\ M +9 &$%U c\ M +9 &%S d\ M +10 &'U d\ M +9 &)kS W\ M +9 &+-U [\ M +10 &,T _\ M +9 &.U g\ M +10 &0tT \\\ M +9 &25T b\ M +9 &3Q _\ M +10 &5S f\ M +9 &7{V c\ M +9 &9=U d\ M +10 &;Q Z\ M +9 &<T g\ M +10 &>R h\ M +9 &@EU i\ M +9 &BU i\ N +10 &CY a\ M +9 &Ed g\ O +9 &GBs \\\ Q +10 &H [\ T +9 &J _\ X +10 &Lp f\ Y +9 &N2 f\ Y +9 &O e\ Z +10 &Q c\ Z +9 &Sq f\ \\ +9 &U3 e\ \\ +10 &V e\ ] +9 &X d\ ] +10 &Zr c\ ^ +9 &\\z f\ 4 +9 &\\' d\ #h +10 ( +2 &\\ c\ \\ + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&9% +4 "core" % ; ] e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%)& +4 "core" &]\ + "manipulator"&% +4 "core" %  K +2 "storage"(+% +3 "core" % g g s\ +2 "storage"(#. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"({(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (%& +2 "core" &,w I U s\  +2 "manipulator"&& +4 "core" &Ӈ& 9 ?V + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&W( +163 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(B& +3 "core" &,x/ U\ z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&!' +96 "core" ' + "storage"(\ & +4 "core" &,x0 \ z  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'r +296 "core" ' + "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +2 "core" &,x. g ^ :\ j  +2 "manipulator"&T& +3 "core" & J  +2 .tElbow.seek 4 + "manipulator"&'( +4 "core" ( + "manipulator"&& +4 "core" & B  + "storage"(& +4 "core" &,x. Z ^ M\ l  +2 .tForearm.seek 4 + 300 counts + "manipulator"&w'c +36 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +76 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&R& +4 "storage"(J' +3 "core" &   +2 "manipulator"&K% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&F' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&X( +173 "core" ' + ."downElevator"SE.coast + "storage"(5 +66 "core" ( + "manipulator"&& +4 "core" &  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +2 "core" & 4 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&y' +95 "core" ' + "manipulator"&z& +4 "core" & 4 +2 "manipulator"&?% +4 "core" % h + "processing"%& +4 "core" &n\ v +2 "processing"%Y& +5 "core" &r\ v +2 .tPC.seek :closed + "processing"%0(^ +5 "core" &s\ u +9 &0vo\ h*y +9 &b}n\ e? +10 &gqs\ fP +9 &(Ns\ mP +10 &Rk\ lP +9 &Qn\ lP +9 &nRr\ lP +10 &/Qf\ lP +9 &Qp\ kP +9 &Rt\ kP +10 & uQn\ kP +9 &"7Ps\ lP +10 &#Sj\ kP +9 &%Pg\ lP +9 &'}Qe\ lP +10 &)?Qg\ lP +9 &+Re\ lP +9 &,Re\ kP +10 &.Pe\ kP +9 &0GRe\ kP +10 &2 Rf\ kP +9 &3Q[\ kP +9 &5QW\ lP +10 &7PNZ\ lP +9 &9T`\ kP +9 &:T]\ kQ +10 &<S]\ kP +9 &>WS^\ kP +10 &@R\\\ kP +9 &AW^\ kP +9 &C_\\\ iR +10 &EZgZ\ gR +9 &GuY\ eT +9 &Hd\ cV +10 &J`\ bW +9 &LT[\ cW +10 &Na\ bX +9 &O]\ cW +9 &Qb\ aX +10 &SZa\ aX +9 &U_\ bW +9 &V\\\ bX +10 &Xb\ bX +9 &Zbc\ aW +10 &\\#_\ `X +9 &]{]\ f: +9 &^0\\\ eV +10 &^)Z\ o5 +2 ( +2 "processing"%Y& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&[1 +77 "core" 1 + "manipulator"&Z% +4 "core" %  h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%q& +4 "core" &^'Z\ t5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&v% +4 "core" %   + "storage"(a% +4 "core" % \ y + "storage"(x. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(b(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (<& + "manipulator"&S& +6 "core" & & 4 + &,y \ x +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&;( +2 "storage"(G'r +5 "core" ( + "manipulator"&_& +4 "core" & 4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &  4 +2 .tForearm.seek PC +2 "manipulator"&7' +96 "core" ' +2 .tHand.close + "manipulator"&/ +67 "core" / + .tPC.seek :open +2 "processing"%n( +91 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +41 "core" ' +314 ( + "storage"(r& +4 "core" &,y h n S\  +2 "manipulator"&N& +3 "core" & 4 +2 "manipulator"&&% +3 "core" %   B +2 .tForearm.seek :retract +2 "manipulator"&t' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&]( +264 "core" ( + "manipulator"&~& +4 "core" & Q p +2 "storage"(6& +3 "core" &,y %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +93 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 + "storage"(}- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(\\' +29 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(Q' +55 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(L& +4 "core" &,y :\ L + "manipulator"&`& +4 "core" & V p +2 .tElbow.seek 4 + "manipulator"&o( +9 "core" ( + "manipulator"&e& +4 "core" & h +2 "storage"(^& +3 "core" &,y 8\ N +2 .tForearm.seek 4 + 450 counts + "manipulator"&V' +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&-& +4 "core" & h +2 "storage"(d& +3 "core" &,y :\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&u'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.32 Pucks below Top Plate + "storage"(p' +27 "core" ' + "manipulator"&f% +4 "core" %O +2 "storage"(*& +4 "core" &,y 7\ v +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 324 counts + "manipulator"&8'{ +16 "core" ' +2 "manipulator"&,& +4 "core" &  ' e + "storage"(& +4 "core" &,y \ y +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +18 "core" ' + "storage"(m% +4 "core" % \ z +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ( % +4 "core" %H \ sYm +2 "manipulator"&j% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +95 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &,y f f y\ + "collection"' & +4 "core" &\\ d\ \\ +2 #tStoring generic puck in Collection Clamp to tube 4 "manipulator"&% +4 "core" % % 9 +2 "storage"(P% +4 "core" % l l \ + "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(1(,y +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (:& +3 "core" &,y g f ^\  + "manipulator"&k& +4 "core" & c e +2 .tElbow.seek 4 + "manipulator"&/( +9 "core" ( + "manipulator"&4& +4 "core" & l +2 "storage"(l& +3 "core" &,y d d :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&M' +100 "core" ' + "storage"(& +4 "core" &,y \\\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'r +302 "core" ' + "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&g& +3 "core" &  ' l +2 "storage"(h& +3 "core" &,y \ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&O'7 +18 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(.'c +30 "core" ' + "manipulator"&% +4 "core" %3  Z +2 "storage"(H& +3 "core" &,y T\ u +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 296 counts + "manipulator"&C'_ +18 "core" ' + "manipulator"&A& +4 "core" & j +2 "storage"(=& +3 "core" &,y \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(9' +36 "core" ' + "manipulator"&)& +4 "core" &  e j +2 "manipulator"&% +4 "core" % 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&#(ӂ +172 "core" ( + "manipulator"&& +4 "core" &Ӊ L 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &Ӊ 2 +2 .tForearm.seek CC + "manipulator"&'? +93 "core" ' + .tHand.close + "manipulator"&/ +69 "core" / + .tCC.seek :open +2 "collection"' ( +448 "core" ( + "storage"(& +4 "core" &,y A\  + "storage"(B& +4 "core" &,y \  +2 "manipulator"&c& +3 "core" &Ӊ & 2 +2 "manipulator"&\ % +3 "core" % B + b +2 .tForearm.seek :retract + "manipulator"&D' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +162 "core" ( + "manipulator"&$& +4 "core" &  +2 "storage"("& +3 "core" &,y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&T'7 +96 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&% +5 "core" % 7 `  + "storage"(R& +4 "core" &,y \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts + "manipulator"&K'c +16 "core" ' +2 "manipulator"&W& +4 "core" & [  + "storage"(!& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +19 "core" ' + "storage"(w% +4 "core" % U\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (5% +3 "core" %[C \ Xh +2 "manipulator"&'% +3 "core" % K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +95 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'?& +5 "core" & i\ + "manipulator"&% +4 "core" %   c ! +2 "storage"(J% +3 "core" % ;\ +2 "storage"(F. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(i(<- +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ([& +3 "core" &<-( \  + "manipulator"&Z& +4 "core" &  M  +2 .tElbow.seek 5 + "manipulator"&q( +8 "core" ( + "manipulator"&v& +4 "core" & U  +2 "storage"(a& +3 "core" &<& R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Y'O +95 "core" ' + "storage"(x& +4 "core" &<)  c\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'r +299 "core" ' + "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (_& +3 "core" &<) 5\ + "manipulator"&3& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&y( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"({& +4 "core" &<) \ +2 .tForearm.seek 5 + 300 counts + "manipulator"& 'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +75 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(0' +8 "core" &  0  +2 "manipulator"&G% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&r' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&N(ӂ +154 "core" ' + ."downElevator"SE.coast + "storage"(5 +3 "core" ( +2 "manipulator"&&& +3 "core" &Ӊ-  H Dy +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &ӊ-  Dx +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&~'? +93 "core" ' + "manipulator"&6& +4 "core" &ӝ(  Ae +2 "manipulator"&;% +4 "core" %;  u + "collection"'& +4 "core" & u\ +2 "collection"'}& +6 "core" & {\ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & m\ +6 &? p\ %g +10 &Vu i\ 7 +9 &x h\ L +9 &V i\ M +10 &T d\ L +9 &?T j\ M +9 &T j\ M +10 &R j\ M +9 &T j\ M +10 &GV e\ M +9 & T d\ L +9 &!S i\ L +10 &#T i\ M +9 &%PR h\ M +9 &'S h\ L +10 &(T i\ M +9 &*Q e\ M +10 &,YS `\ L +9 &.S `\ M +9 &/U _\ M +10 &1W \\\ M +9 &3aT `\ L +9 &5"T _\ M +10 &6V \\\ M +9 &8S `\ L +10 &:gT b\ M +9 &<+S h\ L +9 &=T `\ M +10 &?T c\ M +9 &AoW ^\ M +9 &C0Y ]\ M +10 &D` \\\ N +9 &Fn ^\ P +10 &Hc l\ T +9 &J d\ W +9 &K \\\ Y +10 &M b\ Y +9 &OZ a\ Z +9 &Q d\ Z +10 &R e\ [\ +9 &T c\ \\ +10 &V[ f\ \\ +9 &X `\ ] +9 &Y d\ ] +10 &[ g\ K +9 &\\5 `\ 1 +9 &\\b g\ M +3 ( + "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open + "manipulator"&L1 +63 "core" 1 + "manipulator"&`% +4 "core" % ;  u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' + .tSC.coast + "storage"(6 +52 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%^& +4 "core" &t\ + "manipulator"&t% +4 "core" %  .  +2 "storage"(-% +3 "core" % t D\ +2 "storage"(d. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(f(<- +14 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<, L f ?\  +2 "manipulator"&*& +3 "core" &Ӟ( Ad +2 "manipulator"&,% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\\( +164 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(]& +3 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&m'O +89 "core" ' + "storage"(I& +4 "core" &<, Q\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'r +295 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (V& +3 "core" &<,\ l t z\  +2 "manipulator"&j& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&o( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(u& +3 "core" &<,\ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&8'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +70 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(' +8 "core" & &  +2 "manipulator"&p% +3 "core" % Ϻ a +2 .tForearm.seek :retract +2 "manipulator"&P' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +74 "core" ( + "manipulator"&:& +4 "core" & Y 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +2 "core" & 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&4' +96 "core" ' + "manipulator"&l& +4 "core" & 7 6 +2 "manipulator"&(% +4 "core" %  + "processing"%& +4 "core" &q\ +2 "processing"%& +6 "core" &s\ +2 .tPC.seek :closed +2 "processing"%b(^ +3 "core" &s\  +9 &/sl\ |*y +10 &bs\ v? +9 &grq\ wP +9 &)Rs\ |P +10 &Ro\ |P +9 &Ns\ |O +10 &qRs\ |O +9 &1Ut\ {P +9 &Ts\ |P +10 &Rp\ |O +9 & wUt\ |P +9 &":Ot\ |O +10 &#Qk\ |P +9 &%Os\ |O +10 &'Ps\ |P +9 &)APg\ |P +9 &+Uf\ {P +10 &,Uf\ zO +9 &.Qg\ |O +9 &0IUg\ {P +10 &2 Qe\ }P +9 &3Pf\ }O +10 &5Qc\ |P +9 &7QQ`\ |P +9 &9Rg\ |P +10 &:Te\ |O +9 &<S^\ |P +9 &>YWY\ {P +10 &@Ub\ {P +9 &A[_\ {P +10 &Cc`\ zR +9 &EYm_\ xR +9 &G~_\ vT +10 &He\ tV +9 &Je\ qW +9 &LWa\ rV +10 &N^\ pV +9 &Oc\ qW +10 &Q_\ oW +15 &S[_\ pW +3 &Ud\ oW +11 &V_\ oX +8 &X^\ sW +9 &Zde\ rW +10 &\\%_\ qW +9 &]_\ t5 +10 &^4s\\\ wA +10 ( &^]\ / +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&@1 +60 "core" 1 + "manipulator"&E% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' +51 .tSC.coast + "storage"(6 +2 "processing"%g& +4 "core" &^ K\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&h% +3 "core" %   +2 "storage"(% +4 "core" % e e G\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(H(<- +5 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (A& +3 "core" &<, T ?\  + "manipulator"&=& +5 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & 6 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&)( +2 "storage"('r +4 "core" ( + "manipulator"&M& +4 "core" &  6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +2 "core" & E 6 +2 .tForearm.seek PC +2 "manipulator"&s' +92 "core" ' + .tHand.close + "manipulator"&O/ +73 "core" / + .tPC.seek :open +2 "processing"%C( +85 "core" ' + "storage"(.- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +319 ( + "storage"(%& +4 "core" &<, z U\  + "manipulator"&& +4 "core" &  6 + "manipulator"&% +4 "core" %  d K +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&+( +246 "core" ( + "manipulator"&2& +4 "core" & I +2 "storage"(& +3 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +95 "core" ' + .tHand.open + "manipulator"&c1 +62 "core" 1 +2 "storage"(\ - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"($' +23 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"("' +57 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(#& +4 "core" &<, - 7 _\ _ + "manipulator"&& +4 "core" & U I +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&R& +4 "core" & & I + "storage"(W& +4 "core" &<, . 8\ _ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(w'" +51 "core" ' + "manipulator"&D& +4 "core" & I +2 "storage"(5& +3 "core" &<, q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&''΍ +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(T' +25 "core" ' + "manipulator"&?% +4 "core" %Λ +2 "storage"(K& +4 "core" &<, \ | +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 314 counts + "manipulator"&' +17 "core" ' + "manipulator"&J& +4 "core" &  H +2 "storage"(F& +4 "core" &<, T ` \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9'O +17 "core" ' + "storage"(|% +4 "core" % g k 9\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (1% +3 "core" %1G O\ xZo +2 "manipulator"&[% +4 "core" %>  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +94 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (v& +3 "core" &<, j f\ +2 "collection"'a& +4 "core" &\\_ d\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&x% +4 "core" % "   ' +2 "storage"(% +3 "core" %  l\ +2 "storage"(z. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(S(<- +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (_& +2 "core" &<,  \  +2 "manipulator"&3& +4 "core" & h H + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&{& +4 "core" & ] H +2 "storage"(X& +3 "core" &<, =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +96 "core" ' + "storage"(G& +4 "core" &<,   \  +50 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'r +297 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&&& +3 "core" & H +2 "storage"(7& +3 "core" &<, S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&<'΍ +26 "core" ' + .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(6- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(;'h +31 "core" ' + "manipulator"&% +4 "core" %Ι  +2 "storage"(y& +3 "core" &<, \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 312 counts + "manipulator"&0' +16 "core" ' + "manipulator"&r& +4 "core" & H +2 "storage"( & +4 "core" &<, 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&L'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(`' +41 "core" ' + "manipulator"&^& +4 "core" &  x H +2 "manipulator"&}% +4 "core" %D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&-(ӂ +149 "core" ( + "manipulator"&d& +4 "core" &Ӓ'  @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &ӓ( I @[ +2 .tForearm.seek CC +2 "manipulator"&*'? +94 "core" ' + .tHand.close + "manipulator"&,/ +67 "core" / + .tCC.seek :open +2 "collection"'~( +447 "core" ( + "storage"(& +4 "core" &<,  & \  +2 "storage"(]& +3 "core" &<, # % \  +2 "manipulator"&i& +4 "core" &Ӛ&  i ?T + "manipulator"&I% +4 "core" % C + E +2 .tForearm.seek :retract + "manipulator"&N' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&e( +163 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(V& +3 "core" &<,   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&j'΍ +96 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&u1 +61 "core" 1 + "manipulator"&% +5 "core" % ΍ ( 1 + "storage"( & +4 "core" &<, $ %\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&p'Ϲ +29 "core" ' +2 "manipulator"&\\& +4 "core" & Z  + "storage"(m& +4 "core" &<, ) &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +27 "core" ' + "storage"(8% +4 "core" % A B \ +3 ."downElevator"SE.seek :down +2 "storage"(:' +99 (k% +3 "core" %A  $ 5\ We +2 "manipulator"&o% +4 "core" %A + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +93 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'(& +4 "core" & j\ +2 "manipulator"&% +3 "core" % "   +2 "storage"(% +3 "core" % ) ) \ +2 "storage"(P. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(n(K +380 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (@& +3 "core" &K +\ +2 "manipulator"&E& +3 "core" &    +2 .tElbow.seek 6 + "manipulator"&( +9 "core" ( + "manipulator"&g& +4 "core" &  + "storage"(h& +4 "core" &K   "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' + "storage"(& +4 "core" &K M T @\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'r +299 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (M& +3 "core" &K ' $ @\ +2 "manipulator"&/& +3 "core" & a  +2 .tElbow.seek 6 + "manipulator"&4( +3 "core" ( +2 "manipulator"&O& +4 "core" & \\  + "storage"(f& +4 "core" &K % &\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&.'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +73 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(b' +8 "core" &  u  +2 "manipulator"&% +3 "core" %  & +2 .tForearm.seek :retract + "manipulator"&%' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +160 "core" ( + ' + ."downElevator"SE.coast +3 "manipulator"&& + "storage"(5 +7 "core" &ӆ+  Cs + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &ӆ+ . Cs +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&2'? +93 "core" ' + "manipulator"&& +4 "core" &Ӗ)  Ac +2 "manipulator"&)% +4 "core" %F z + "collection"'c& +4 "core" & {\ +2 "collection"'\ & +5 "core" & p\ +3 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & t\ +7 &9 n\ %f +9 &Vx q\ 7 +9 &x i\ L +10 &U o\ M +9 &vU d\ M +9 &9S c\ L +10 &T d\ L +9 &X f\ L +9 &S h\ L +10 &AT k\ L +9 & W d\ L +10 &!V \\\ L +9 &#X c\ M +9 &%HT g\ M +10 &'\ T ^\ M +9 &(R d\ L +9 &*R c\ L +10 &,QR b\ L +9 &.R d\ L +10 &/Q e\ L +9 &1W d\ L +9 &3YW `\ L +10 &5V d\ L +9 &6W \\\ L +9 &8S _\ L +10 &:bU ^\ L +9 &<"V a\ M +10 &=V a\ M +9 &?R d\ L +9 &AiT `\ L +10 &C)X V\ M +9 &D` e\ N +10 &Fm a\ O +9 &Hb `\ Q +9 &J l\ V +10 &K k\ X +9 &M h\ Y +9 &OU f\ Y +10 &Q _\ Y +9 &R e\ [ +10 &T f\ [\ +9 &VT f\ \\ +9 &X b\ \\ +10 &Y b\ ] +9 &[ l\ J +9 &\\: e\ *~ +10 &\\ ^\ [ +2 ( +2 "collection"'\ & +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator" +56 "core" 1 +2 "manipulator"&% +4 "core" % F  z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&R' +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%W& +4 "core" &r\ + "manipulator"&% +4 "core" %   + "storage"(D% +4 "core" % \ + "storage"(5. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(?(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (K& +3 "core" &K \  + "manipulator"&& +4 "core" &Ә)  Aa + "manipulator"&J% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&F( +164 "core" ( + "manipulator"&$& +4 "core" & :  +2 "storage"(|& +3 "core" &K p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&+' +94 "core" ' + "storage"(B& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'r +296 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ([& +3 "core" &K   \  + "manipulator"&!& +4 "core" &  f  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&w& +4 "core" &  + "storage"('& +4 "core" &K % %\  +2 .tForearm.seek 6 + 300 counts +49 "manipulator"&v'h +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +75 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&a& + "storage"(x' +8 "core" &  /  + "manipulator"&% +4 "core" % υ . +2 .tForearm.seek :retract + "manipulator"&T' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&z( +169 "core" ' + ."downElevator"SE.coast + "storage"(5 +68 "core" ( +2 "manipulator"&_& +4 "core" & , ? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +2 "core" & ? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&{' +92 "core" ' + "manipulator"&X& +4 "core" & U > +2 "manipulator"&9% +4 "core" % b K +2 "processing"%G& +4 "core" &o\ +2 "processing"%& +4 "core" &`\ +2 .tPC.seek :closed +2 "processing"%H(^ +4 "core" &t\  +10 &1ss\ )w +9 &at\ > +9 &jst\ O +10 &+Ts\ O +9 &Ws\ O +9 &Rt\ O +10 &rTt\ N +9 &4Tt\ N +10 &Tl\ N +9 &Ts\ O +9 & yRs\ O +10 &"<Sq\ N +9 &#Ym\ O +9 &%Ql\ O +10 &'Rm\ O +9 &)DSg\ N +10 &+Tp\ N +9 &,Ug\ O +9 &.Uf\ N +10 &0KUe\ O +9 &2 Wd\ O +9 &3Rj\ O +10 &5Wk\ O +9 &7SR_\ O +10 &9Wg\ O +9 &:U`\ O +9 &<U_\ O +10 &>YYd\ O +9 &@Wc\ P +9 &A\\c\ P +10 &Cde\ Q +9 &EZo^\ R +10 &Gf\ T +9 &He\ U +9 &J\\\ U +10 &LWb\ U +9 &Nb\ V +9 &Oe\ V +10 &Qe\ W +9 &S\\f\ W +10 &Uf\ W +9 &Ve\ V +9 &Xf\ V +10 &Zdd\ V +9 &\\$`\ W +9 &]}]\ 8 +10 &^-yc\ X +9 &^%d\ 3 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&1 +65 "core" 1 + "manipulator"&Z% +4 "core" %  K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Y' +97 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%&& +4 "core" &^"Y\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&7% +4 "core" % %  @ + "storage"(6% +4 "core" % % \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(y(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (r& +3 "core" &K \  + "manipulator"& & +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &  > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&^( +3 "storage"(}'r +2 "core" ( +2 "manipulator"& & +3 "core" & > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  > +2 .tForearm.seek PC + "manipulator"&q' +95 "core" ' + .tHand.close + "manipulator"& + "manipulator"& % +4 "core" % \  x 0 +2 .tForearm.seek :retract + "manipulator"&,' +97 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&t( +244 "core" ( + "manipulator"&& +4 "core" &  ^ +2 "storage"(& +3 "core" &K   $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +96 "core" ' + .tHand.open + "manipulator"&i1 +64 "core" 1 + "storage"(I- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"( ' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(V' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(*- +3 "core" -' +2 "storage"(-& +3 "core" &K 8\ v +2 "manipulator"&u& +4 "core" & F ^ +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & K ^ + "storage"(\\& +4 "core" &K \ z +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(8'" +51 "core" ' + "manipulator"&N& +4 "core" & ^ +2 "storage"(k& +3 "core" &K   (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&o'< +28 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(j' +30 "core" ' + "manipulator"&p% +4 "core" %E F 7 +2 "storage"((& +4 "core" &K 0\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 309 counts + "manipulator"&'q +17 "core" ' + "manipulator"&& +4 "core" & H +2 "storage"(P& +4 "core" &K & & $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +21 "core" ' + "storage"(Q% +5 "core" % "  4\ +2 ."downElevator"SE.seek :down +3 "storage"(:' +99 (S% +3 "core" %F  \ Xh +2 "manipulator"&@% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +96 "core" ' +62 ' + ."downElevator"SE.coast +2 "storage"(5 +2 .tSC.coast + "storage"(6 +2 (g& +4 "core" &K  D\ +2 "collection"'h& +3 "core" &\\{ l\ [ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" % # \ 1 +2 "storage"(% +3 "core" % & &\ +2 "storage"(l. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(=(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (M& +3 "core" &K ! ' \  +2 "manipulator"&/& +3 "core" & / H +2 .tElbow.seek 6 + "manipulator"&O( +9 "core" ( + "manipulator"&f& +4 "core" & z $ +2 "storage"(>& +3 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&U' +95 "core" ' + "storage"(& +4 "core" &K & &\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +4 "core" &  $ + "storage"(s& +4 "core" &K e\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&A'< +26 "core" ' + .tElbow.hold + "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"()'b +30 "core" ' + "manipulator"&c% +4 "core" %N ' + "storage"(4& +4 "core" &K   )\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&b'z +24 "core" ' + "manipulator"&%& +4 "core" &  $ +2 "storage"(~& +3 "core" &K ' ' C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&#' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +36 "core" ' + "manipulator"&W& +4 "core" & ] $ +2 "manipulator"&% +4 "core" % C +50 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&5(ӂ +148 "core" ( + "manipulator"&\ & +5 "core" &y0  F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &y0 + F +2 .tForearm.seek CC + "manipulator"&'? +93 "core" ' + .tHand.close + "manipulator"&J/ +59 "core" / + .tCC.seek :open +2 "collection"'2( +447 "core" ( + "storage"($& +4 "core" &K E J #\  +2 "storage"(|& +3 "core" &K > = [\  +2 "manipulator"&n& +3 "core" &ӡ' T @\\ +2 "manipulator"&B% +3 "core" % ? ? A +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&R( +162 "core" ( + "manipulator"&1& +4 "core" &  +2 "storage"([& +3 "core" &K Y V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&!'< +96 "core" ' + .tElbow.hold + "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&'1 +59 "core" 1 + "manipulator"&% +5 "core" % / { + "storage"(a& +4 "core" &K _ \\ '\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 287 counts +2 "manipulator"&'[ +15 "core" ' +2 "manipulator"&F& +4 "core" & ?  + "storage"(+& +4 "core" &K x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&"' +19 "core" ' + "storage"(v% +4 "core" % _\ +2 ."downElevator"SE.seek :down +4 "storage"(_' +99 (3% +3 "core" %hD X _ U\ Wc +2 "manipulator"&% +3 "core" %  d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'9& +3 "core" & e\ + "manipulator"&G% +4 "core" %    +2 "storage"(x% +3 "core" % \ + "storage"(T. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(C(  +1294 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &  w x\ + "manipulator"&Z& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&&( +8 "core" ( + "manipulator"&7& +4 "core" &  +2 "storage"(6& +3 "core" &  { w \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +95 "core" ' + "storage"(& +4 "core" & } W\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'r +297 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ( & +3 "core" &  ( M L\  + "manipulator"&& +4 "core" &  Y  +2 .tElbow.seek 2 + "manipulator"&{( +3 "core" ( + "manipulator"&<& +4 "core" & v  + "storage"(?& +4 "core" &  e d \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&;'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Y& +4 "storage"(H' +3 "core" &  0  +2 "manipulator"&}% +3 "core" % ϻ  # +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&L(ӂ +150 "core" ( + "manipulator"& & +4 "core" &x* $ Bf +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b + "core" ' +2 "manipulator"&q& + ."downElevator"SE.coast +5 "storage"(5 +3 "core" &x* s Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + "manipulator"&& +4 "core" &x* Bf +2 "manipulator"&^% +4 "core" %H  x + "collection"'i& +4 "core" & s\ +2 "collection"'I& +5 "core" & t\ +2 .tCC.seek :closed +2 "collection"'*(\\ +4 "core" & o\ +7 &@ d\ %g +9 &Yy j\ 8 +9 &v n\ L +10 &U p\ L +9 &R r\ L +9 &GV s\ M +10 &\ V o\ L +9 &T m\ L +10 &U s\ M +9 &PU f\ L +9 & S k\ L +10 &!U i\ L +9 &#S b\ L +9 &%XU g\ L +10 &'R d\ L +9 &(Y d\ L +10 &*U d\ L +9 &,`U b\ L +9 &.#R h\ L +10 &/T `\ L +9 &1X c\ L +9 &3hV a\ L +10 &5*W c\ L +9 &6W h\ L +10 &8S d\ L +9 &:pY e\ L +9 &<1W e\ M +10 &=V e\ L +9 &?S `\ L +9 &AxT c\ L +10 &C9Z j\ M +9 &Da j\ M +10 &Fp m\ O +9 &Hp g\ R +9 &J& b\ V +10 &K b\ X +9 &M i\ Y +9 &Oe f\ X +10 &Q$ a\ Y +9 &R W\ Z +10 &T a\ Z +9 &Vd g\ [ +9 &X& f\ [ +10 &Y ^\ ] +9 &[ h\ J +9 &\\2 e\ 0 +10 &\\c t\ M +2 ( +2 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&-1 +56 "core" 1 + "manipulator"&u% +4 "core" % H  x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%\\& +4 "core" &U\ + "manipulator"&,% +4 "core" %  g  +2 "storage"(N% +3 "core" % ' '\ +2 "storage"(k. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(p(  +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ((& +2 "core" &  ' ' 3\  +2 "manipulator"&d& +3 "core" &x*  Bf +2 "manipulator"&% +4 "core" %  ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&P( +165 "core" ( + "manipulator"& & +4 "core" & #  +2 "storage"(Q& +3 "core" &  #  q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&t'S +93 "core" ' + "storage"(]& +4 "core" &  4 = "\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'r +296 "core" ' + "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (@& +3 "core" &   \  +2 "manipulator"&m& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&8& +3 "core" &  +2 "storage"(o& +3 "core" &  ' &\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&g/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&h& +3 "storage"(' +7 "core" &   +2 "manipulator"&% +3 "core" %  e +2 .tForearm.seek :retract +2 "manipulator"&j' +95 "core" ' + .tElbow.seek PC +2 "manipulator"&l( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +70 "core" ( + "manipulator"&M& +4 "core" & > 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +2 "core" &  9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f' +97 "core" ' + "manipulator"&>& +4 "core" & > 9 +2 "manipulator"&`% +3 "core" % N " +2 "processing"%& +4 "core" &p\ +2 "processing"%:& +4 "core" &`\ +2 .tPC.seek :closed +2 "processing"%y(^ +5 "core" &v\  +9 &0sr\ *x +9 &b~p\ > +10 &kts\ O +9 &-Tv\ O +9 &Wu\ O +10 &Wt\ N +9 &sVl\ O +10 &6Wu\ N +9 &W \ O +9 &Ws\ O +10 & {Wz\ O +9 &">V;\ N +9 &$Uw\ N +10 &%Rd\ N +9 &'Tl\ N +10 &)FTf\ N +56 &+Ur\ N +2 &,Ux\ N + &.Tq\ N + &0MWk\ O + &2Ui\ N + &3Uf\ O +3 &5W{\ O +10 &7UWq\ O +9 &9Tq\ O +9 &:Wg\ O +10 &<Ui\ N +9 &>\\Y_\ O +9 &@We\ O +10 &AYa\ O +9 &Cdf\ P +10 &E^kd\ Q +9 &Gy^\ S +9 &Hf\ U +10 &JV\ U +9 &L[Z\ U +9 &N]\ V +10 &Oi\ V +9 &Qp\ V +10 &S_j\ V +9 &U!a\ V +9 &Ve\ V +10 &Xd\ V +9 &Zgc\ V +9 &\\(g\ W +10 &]~j\ 5 +9 &^)ck\ ] +10 &^1h\ 5 +2 ( +2 "processing"%:& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&e1 +55 "core" 1 + "manipulator"&E% +4 "core" %  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^+N\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&s% +4 "core" % % % : +2 "storage"(% +3 "core" %   f\ +2 "storage"(c. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(4(  +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (%& + "manipulator"&~& +4 "core" &    H\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" & 9 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(W'r +2 "manipulator"&( +6 "core" ( + "manipulator"&U& +4 "core" & 9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" & T 9 +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + .tHand.close + "manipulator"&A/ +67 "core" / +2 .tPC.seek :open + "processing"%b( +90 "core" ' + "storage"()- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(\ '1 +41 "core" ' +317 ( + "storage"(K& +4 "core" &  \  +2 "manipulator"&#& +3 "core" &  9 +2 "manipulator"&.% +3 "core" %  # +2 .tForearm.seek :retract + "manipulator"&J' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&D( +246 "core" ( + "manipulator"&& +4 "core" & C +2 "storage"($& +3 "core" &  & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&|'S +95 "core" ' + .tHand.open + "manipulator"&n1 +65 "core" 1 + "storage"(B- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(1' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"([' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(5& +4 "core" &  m m `\  + "manipulator"&'& +4 "core" & 3 C +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&a& +4 "core" & 2 C +2 "storage"(F& +3 "core" &  m m \  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&+'S +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(v'" +56 "core" ' + "manipulator"&& +4 "core" & C +2 "storage"(3& +3 "core" &  % & &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(!' +22 "core" ' + "manipulator"&% +4 "core" %Τ  &  +2 "storage"(& +4 "core" &  %  M\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 319 counts + "manipulator"&"' +16 "core" ' + "manipulator"&_& +4 "core" & X B +2 "storage"(=& +4 "core" &  1 ) \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&9'S +17 "core" ' + "storage"(G% +4 "core" % ' - o\ +3 ."downElevator"SE.seek :down +3 "storage"(x' +99 (T% +3 "core" %O \ Yj +2 "manipulator"&% +4 "core" %?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +89 "core" ' +74 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (7& +3 "core" &  & &\ +2 "collection"'6& +4 "core" &\\` j\ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +3 "core" %    +2 "storage"(w% +4 "core" % * & A\ +2 "storage"(X. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"( (  +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 ( & +2 "core" &  ' ( *\  +2 "manipulator"&& +4 "core" & P B + .tElbow.seek 2 +2 "manipulator"&<( +3 "core" ( + "manipulator"&?& +4 "core" & # B + "storage"(z& +4 "core" &  & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Y'S +93 "core" ' + "storage"(}& +4 "core" &  C : "\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" & B +2 "storage"(q& +4 "core" &  & ' K\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&r'Α +23 "core" ' + .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(^'\\ +29 "core" ' + "manipulator"&i% +4 "core" %Υ [ + "storage"({& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&H' +15 "core" ' + "manipulator"&& +4 "core" &  B +2 "storage"(2& +3 "core" &  0 ) 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&-'S +18 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(u' +37 "core" ' + "manipulator"&\\& +4 "core" &   B +2 "manipulator"&,% +4 "core" %;  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&N' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&k(ӂ +170 "core" ( + "manipulator"&(& +4 "core" &~  g % + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &~  : % +2 .tForearm.seek CC +2 "manipulator"&d'? +96 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"( & +4 "core" &  d Y\  +2 "storage"(Q& +4 "core" &  [ [\  +2 "manipulator"&C& +3 "core" &~  % +2 "manipulator"&]% +3 "core" % B q G +2 .tForearm.seek :retract + "manipulator"&L' +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +151 "core" ( + "manipulator"&S& +4 "core" & !  +2 "storage"(@& +3 "core" &  U Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 + "manipulator"&m'Α +94 "core" ' + .tElbow.hold + "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +52 .tHand.open + "manipulator"&o1 +62 "core" 1 +2 "manipulator"&g% +4 "core" % Ώ  D ? +2 "storage"(h& +3 "core" &  Z Z\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 298 counts + "manipulator"&'ϻ +39 "core" ' + "manipulator"&P& +4 "core" &  +2 "storage"(t& +3 "core" &  Y Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&V'S +23 "core" ' + "storage"(% +4 "core" % } Q\ +2 ."downElevator"SE.seek :down +4 "storage"(M' +99 (/% +3 "core" %~C Z T 1\ Wd +2 "manipulator"&% +3 "core" %b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +86 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'`& +5 "core" & ^\ + "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % \ + "storage"(j. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(0( +357 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (e& +3 "core" & 3 9 \  + "manipulator"&E& +4 "core" &  K  +2 .tElbow.seek 3 + "manipulator"&( +16 "core" ( + "manipulator"&s& +4 "core" &w  + "storage"(& +4 "core" & [ h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&c'7 +99 "core" ' + "storage"(:& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'r +294 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" & ' %\  +2 "manipulator"&O& +3 "core" &w   +2 .tElbow.seek 3 + "manipulator"&f( +17 "core" ( + "manipulator"&A& +4 "core" &y a +2 "storage"(p& +4 "core" & & & /\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&)'ϡ +36 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +77 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(y' +8 "core" &y  +2 "manipulator"&W% +4 "core" % ϧ _ + .tForearm.seek :retract +2 "manipulator"&K' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&#(ӂ +156 "core" ' + ."downElevator"SE.coast + "storage"(5 +8 "core" ( + "manipulator"&.& +4 "core" &ӌ y 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӌ  % 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +98 "core" ' +2 "manipulator"&$& +4 "core" &ӌ ( 2 +2 "manipulator"&% +3 "core" %7 j l +2 "collection"'n& +4 "core" & r\ +2 "collection"'B& +5 "core" & v\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & r\ +7 &; m\ %g +10 &Xw h\ 7 +9 &v j\ L +9 &T d\ N +10 &vT f\ M +9 &:U e\ M +9 &V f\ L +10 &T i\ L +9 &S d\ L +10 &CW e\ L +9 & R Z\ L +9 &!W [\ L +10 &#V d\ L +9 &%JU b\ M +9 &' U _\ M +10 &(T f\ L +9 &*S e\ M +10 &,PS e\ M +9 &.P c\ M +9 &/P ]\ yN +10 &1R ]\ M +9 &3WQ e\ N +9 &5N c\ N +10 &6T \\\ N +9 &8O V\ N +10 &:_R S\ N +9 &< O U\ N +9 &=P M\ dO +10 &?O Z\ qN +9 &AdR Y\ qO +9 &C&S Y\ sO +10 &D\\ X\ zO +9 &Fk b\ O +10 &Ha l\ R +9 &J j\ V +9 &K ^\ X +10 &M i\ Y +9 &OW h\ Y +9 &Q k\ Y +10 &R v\ Z +9 &T p\ [ +10 &VX j\ [\ +9 &X p\ \\ +9 &Y s\ ] +10 &[ q\ J +9 &\\: k\ - +9 &\\b f\ N +3 ( + "collection"'B& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open + "manipulator"&51 +53 "core" 1 + "manipulator"&'% +5 "core" % 7  l + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%F& +4 "core" &^\ + "manipulator"&J% +4 "core" %   + "storage"(% +4 "core" % /\ + "storage"(3. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" & t\  +2 "manipulator"&\ & +3 "core" &ӌ 2 +2 "manipulator"&_% +3 "core" %  &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&=( +170 "core" ( + "manipulator"&1& +4 "core" &x  +2 "storage"(G& +3 "core" & E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&D'7 +94 "core" ' + "storage"(|& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['r +301 "core" ' + "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" & \  + "manipulator"&+& +4 "core" &x  +2 .tElbow.seek 3 + "manipulator"&( +23 "core" ( + "manipulator"&v& +4 "core" &y  $ +2 "storage"(& +3 "core" & 0\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&"'ϡ +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&7/ +73 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(' +8 "core" &z  $ +2 "manipulator"&!% +3 "core" % Ϥ +2 .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&X( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +103 "core" ( + "manipulator"& & +4 "core" & * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" & o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&?' +101 "core" ' + "manipulator"&z& +4 "core" &  +2 "manipulator"&9% +3 "core" %  4 +2 "processing"%}& +4 "core" &q\ s +2 "processing"%x& +4 "core" &i\ t +2 .tPC.seek :closed +2 "processing"%4(^ +5 "core" &i\ s +9 &2u:\ a)w +10 &_~\ ]> +9 &]q\ `P +9 &R\ gP +10 &N\ gP +9 &Q\ hP +9 &aQ\ hQ +10 &%Q\ gP +9 &R\ gP +10 &Q\ gQ +9 & jQ\ bP +9 &",L\ ^P +10 &#R\ hQ +9 &%O2\ nO +9 &'tQL\ tP +10 &)6O\ vP +9 &*T\ vP +10 &,U5\ tP +9 &.|T\ tP +9 &0>TI\ uP +10 &2Pf\ vP +9 &3P\ xP +9 &5T\ O +10 &7GU\ O +9 &9WB\ ~P +10 &:V \ zP +9 &<Re\ P +9 &>NY{\ P +10 &@SP\ P +9 &AZw\ P +9 &Ceq\ Q +10 &EOlp\ ~R +9 &G o\ {T +10 &Hx\ zU +9 &Jl\ zW +9 &LLo\ zV +10 &N p\ qV +9 &Op\ hW +9 &Qd\ 4Y +10 &SMp\ RX +9 &Un\ KX +10 &Vq\ ^Y +9 &Xp\ V +9 &ZYn\ }W +10 &\\m\ W +9 &]o\ 8 +9 &^,uo\ Z +10 &^*p\ 5 +2 ( +2 "processing"%x& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&R1 +62 "core" 1 + "manipulator"&Z% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tSC.coast + "storage"(6 +2 "processing"% & +4 "core" &^'k\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&q% +4 "core" %  G  + "storage"(% +4 "core" % k  E\ + "storage"(i. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"({( +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" & ?\  + "manipulator"&2& +5 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +52 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(\\'r +4 "manipulator"&,( +26 "core" ( + "manipulator"&Y& +4 "core" &  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" & x 4 +2 .tForearm.seek PC + "manipulator"&&' +94 "core" ' + .tHand.close +2 "manipulator"&r/ +75 "core" / + .tPC.seek :open +2 "processing"%H( +57 "core" ' + "storage"(^- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(('1 +55 "core" ' +336 ( + "storage"(I& +4 "core" & u e l\ n +2 "manipulator"&-& +3 "core" & 0 4 +2 "manipulator"&;% +3 "core" %  h % +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&N( +270 "core" ( + "manipulator"&*& +4 "core" & k c +2 "storage"( & +3 "core" & P\ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Q'7 +97 "core" ' +2 .tHand.open + "manipulator"&C1 +54 "core" 1 + "storage"(]- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(S' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(@' +58 "core" ' + #tLights, camera, ACTION! + "storage"(d- +4 "core" -' + "storage"(k& +4 "core" & G X\ [ + "manipulator"&o& +4 "core" & c +2 .tElbow.seek 3 + "manipulator"&g( +4 "core" ( + "manipulator"&h& +4 "core" & c + "storage"(P& +4 "core" & M +\ [ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t'7 +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(L'" +52 "core" ' + "manipulator"&& +4 "core" & ? c +2 "storage"( & +3 "core" & \ { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&/'u +15 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(m' +25 "core" ' + "manipulator"&`% +5 "core" %Ά q Y + "storage"(& +4 "core" & D\ } +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 317 counts + "manipulator"&'ϲ +37 "core" ' + "manipulator"&& +4 "core" & T a +2 "storage"(j& +4 "core" & x\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&u'7 +29 "core" ' + "storage"(V% +4 "core" % S _ `\  +3 ."downElevator"SE.seek :down +3 "storage"(M' +99 ( % +4 "core" %D \ zXk +2 "manipulator"&e% +4 "core" %F 4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +88 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (s& +4 "core" &\  8\ + "collection"'& +4 "core" &\\c p\ N + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&:% +4 "core" %   I  +2 "storage"(8% +3 "core" % D D \ +2 "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(~( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (U& +3 "core" & J\  +2 "manipulator"&O& +3 "core" &   a +2 .tElbow.seek 3 + "manipulator"&A( +4 "core" ( + "manipulator"&p& +4 "core" &  G a +2 "storage"(l& +3 "core" &\  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +91 "core" ' + "storage"(W& +4 "core" & e d t\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&.& +3 "core" &  a +2 "storage"(& +3 "core" & T\ | +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&%'u +25 "core" ' + .tElbow.hold + "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"($- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"('g +31 "core" ' + "manipulator"&n% +4 "core" %y   +2 "storage"(f& +3 "core" & ~\ | +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&y'ϥ +31 "core" ' + "manipulator"&K& +4 "core" & a +2 "storage"(& +3 "core" & F\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&5'7 +26 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"('' +42 "core" ' + "manipulator"&F& +4 "core" &  \\ a +2 "manipulator"&J% +4 "core" %A  ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&3(ӂ +160 "core" ( + "manipulator"&B& +4 "core" &Ӌ- Dy +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӌ- ( Dy +2 .tForearm.seek CC + "manipulator"&\ '? +94 "core" ' + .tHand.close + "manipulator"&_/ +73 "core" / + .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(1& +4 "core" & m a F\  +2 "storage"(G& +3 "core" & b e {\  +2 "manipulator"&0& +3 "core" &ӝ* Bg + "manipulator"&|% +4 "core" % B d +2 .tForearm.seek :retract + "manipulator"&#' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&a( +166 "core" ( + "manipulator"&T& +4 "core" & +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 + "manipulator"&+'u +96 "core" ' + .tElbow.hold + "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&7% +5 "core" % }  0 + "storage"(6& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 308 counts +2 "manipulator"&!'ϩ +33 "core" ' +5 "manipulator"&=& +4 "core" &  +2 "storage"(D& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&['7 +28 "core" ' + "storage"("% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (% +3 "core" %A n m \ Xi +2 "manipulator"&% +3 "core" %S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +89 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'9& +5 "core" & a\ + "manipulator"&}% +4 "core" %   h  +2 "storage"(% +3 "core" % u *\ +2 "storage"(w. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(b(,y +401 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (R& +3 "core" &,w o e y\  + "manipulator"&Z& +4 "core" &  V  +2 .tElbow.seek 4 + "manipulator"& ( +50 "core" ( + "manipulator"&q& +4 "core" & D  +2 "storage"(& +3 "core" &,w g l u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&i' +96 "core" ' + "storage"(x& +4 "core" &,w r f\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(2- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" &,w <\ } + "manipulator"&<& +4 "core" &    +2 .tElbow.seek 4 + "manipulator"&?( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(r& +3 "core" &,w\  Z\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&^'c +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +78 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(4' +6 "core" &  +2 "manipulator"&\\% +3 "core" % ό  < +2 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&-(ӂ +158 "core" ( + "manipulator"&;& +4 "core" &Ӊ, & Cp +2 ' + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &&& +3 "core" &ӊ,  / Co +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&*'? +92 "core" ' +2 "manipulator"& & +4 "core" &Ӛ) W A_ +2 "manipulator"&,% +3 "core" %9  9 n +2 "collection"'C& +4 "core" & s\ +2 "collection"']& +6 "core" & o\ +2 .tCC.seek :closed +3 "collection"'d(\\ +3 "core" & t\ +6 & x\ 9 +9 &HIv u\ 1 +10 &xt} p\ F +9 &!W p\ N +9 &Q s\ M +10 &T n\ N +9 &gR i\ N +10 &)S j\ N +9 &R c\ M +9 &T b\ M +10 &pT i\ M +9 &!3N k\ M +9 &"S h\ M +10 &$O e\ M +9 &&wR i\ N +10 &(:R h\ M +9 &)T e\ M +9 &+R c\ M +10 &-O g\ M +9 &/BS f\ M +9 &1S f\ M +10 &2R d\ M +9 &4T b\ M +9 &6JR e\ M +10 &8 Q c\ M +9 &9S _\ N +10 &;R T\ M +9 &=RP [\ M +9 &?U b\ M +10 &@U a\ M +9 &BY \\\ N +10 &DW_ W\ N +9 &Ff X\ P +9 &G| W\ R +10 &I Z\ V +9 &KA Y\ Y +9 &M _\ Y +10 &N `\ Z +9 &P b\ [ +10 &RC b\ [ +9 &T b\ \\ +9 &U `\ \\ +10 &W f\ ^ +9 &YB j\ ^ +9 &[ c\ ^ +10 &\\_N d\ 8 +9 &\\ o\ ` +6 ( + "collection"']& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.22 + .Hand.open + "manipulator"&k1 +4 "core" &\\ ^\ _ +55 1 +2 "manipulator"&o% +4 "core" % 9  n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&h' +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%P& +4 "core" &\ n + "manipulator"&% +4 "core" % ! j ) +2 "storage"(% +3 "core" % \ o +2 "storage"( . +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(`(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &,w T\ n +2 "manipulator"&(& +3 "core" &Ӛ( h A_ +2 "manipulator"&% +3 "core" % ! I ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&S( +162 "core" ( + "manipulator"&j& +4 "core" & !  +2 "storage"(V& +3 "core" &,x) Z g H\ j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&N' +98 "core" ' + "storage"(Q& +4 "core" &,x) O\ n  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'r +300 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (e& +3 "core" &,x( ^ ] C\ h  + "manipulator"&t& +4 "core" & @  +2 .tElbow.seek 4 + "manipulator"&g( +3 "core" ( +2 "manipulator"&L& +3 "core" &   +2 "storage"(/& +3 "core" &,x( d g \ j  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&s/ +73 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(:' +8 "core" & H  +2 "manipulator"&8% +4 "core" % σ + .tForearm.seek :retract +2 "manipulator"&m' +95 "core" ' + .tElbow.seek PC +2 "manipulator"&>( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +77 "core" ( +2 "manipulator"&U& +4 "core" & > 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" & 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&p' +101 "core" ' + "manipulator"&l& +4 "core" & 0 +2 "manipulator"&u% +3 "core" % ) +2 "processing"%W& +4 "core" &\ j +2 "processing"%M& +4 "core" &\ j +2 .tPC.seek :closed +2 "processing"%{(^ +5 "core" &\ j +9 &/r\ `*y +10 &a~\ ]? +9 &`r\ ^P +9 &"O\ bP +10 &Q\ bP +9 &N\ bP +9 &gO\ cP +10 &*L\ cP +9 &R\ bQ +10 &R\ bP +9 & oQ\ bP +9 &"2L\ cP +10 &#R\ bP +9 &%Q\ bP +9 &'wQ\ cP +10 &):N\ cP +9 &*Q\ bP +10 &,O\ cP +9 &.~Q\ bQ +9 &0@S\ cQ +10 &2Qq\ cQ +9 &3Qx\ bP +9 &5RO\ bP +10 &7IRI\ bP +9 &9 T\ bP +10 &:Qn\ bQ +9 &<Tv\ aP +9 &>QT;\ bP +10 &@St\ bP +9 &AVr\ aQ +9 &C]n\ aR +10 &ERfn\ _S +9 &Gvq\ ^T +10 &Hp\ [V +9 &Jo\ [W +9 &LN\ [W +10 &Np\ [X +9 &Oq\ [W +9 &Qr\ ZX +10 &SRo\ [X +9 &Uo\ YX +10 &Vn\ \\X +9 &Xo\ ZW +9 &ZZv\ ZX +10 &\\n\ YY +9 &]s\ \\6 +9 &^6rw\ ^@ +10 ( + &^o\ e. +2 "processing"%M& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&E% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +91 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%.& +5 "core" &^Y\ k. + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %  ;  +2 "storage"($% +3 "core" % ~ 4\ n +2 "storage"(n. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(f(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (K& +2 "manipulator"&& +3 "core" &,x ~\ m +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" & \ 0 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(F'r +2 "manipulator"&J( +5 "core" ( + "manipulator"&& +4 "core" & 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" & R 0 +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close + "manipulator"&%/ +73 "core" / +2 .tPC.seek :open + "processing"%y( +79 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(B'1 +42 "core" ' +325 ( + "storage"(& +4 "core" &,x } j\ n + "manipulator"&5& +4 "core" &  0 + "manipulator"&)% +4 "core" %  5 +2 .tForearm.seek :retract + "manipulator"&_' +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +246 "core" ( + "manipulator"&& +4 "core" &  \\ +2 "storage"(1& +3 "core" &,x h i }\ l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +96 "core" ' + .tHand.open +48 "manipulator"&01 +59 "core" 1 + "storage"(|- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(T' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' + #tLights, camera, ACTION! + "storage"(\ - +4 "core" -' +2 "storage"(3& +3 "core" &,x D\ P +2 "manipulator"&& +4 "core" & K [ + .tElbow.seek 4 +2 "manipulator"&7( +3 "core" ( + "manipulator"&6& +4 "core" & [ +2 "storage"(=& +3 "core" &,x t\ P +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"("'" +57 "core" ' + "manipulator"&#& +4 "core" & [ +2 "storage"(& +4 "core" &,x \ o +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +29 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(+' +22 "core" ' + "manipulator"&!% +5 "core" %B M F + "storage"(9& +4 "core" &,x F H V\ h + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts + "manipulator"&}'n +16 "core" ' + "manipulator"&& +4 "core" & t W +2 "storage"(w& +4 "core" &,x \ o +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +20 "core" ' + "storage"([% +5 "core" %  z\ o +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (~% +3 "core" %F h h _\ kZo +2 "manipulator"&R% +4 "core" % 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +91 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (q& +4 "core" &,x \ o + "collection"'& +4 "core" &\\ f\ _ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&x% +3 "core" %     +2 "storage"(v% +4 "core" % o\ o +2 "storage"(z. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(2(,y +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (Y& +2 "core" &,x x\ n +2 "manipulator"&<& +4 "core" & E U +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&r& +4 "core" & U U + "storage"(X& +4 "core" &,x ~ 8\ n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(\\& +4 "core" &,x O\ o +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +300 "core" ' + "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&;& +3 "core" & U +2 "storage"(&& +3 "core" &,x ] e a\ m +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +25 "core" ' + .tElbow.hold + "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(,'b +31 "core" ' + "manipulator"&C% +4 "core" %G +2 "storage"(?& +3 "core" &,x ] e |\ j +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&4's +14 "core" ' + "manipulator"&I& +4 "core" & U +2 "storage"(& +3 "core" &,x :\ m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&k' +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(o' +42 "core" ' + "manipulator"&P& +4 "core" & U +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +163 "core" ( + "manipulator"&]& +4 "core" &ӆ 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӆ 4 +2 .tForearm.seek CC + "manipulator"&('? +95 "core" ' + .tHand.close + "manipulator"&/ +72 "core" / + .tCC.seek :open +2 "collection"'*( +450 "core" ( + "storage"(j& +4 "core" &,x \ z + "storage"(V& +4 "core" &,x \ z + "manipulator"&b& +4 "core" &Ӈ 4 + "manipulator"&Q% +4 "core" % K  i O +2 .tForearm.seek :retract + "manipulator"&-' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&h( +161 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(e& +3 "core" &,x I\ } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&t'7 +98 "core" ' + .tElbow.hold + "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&/1 +59 "core" 1 + "manipulator"&s% +5 "core" % C   + "storage"(& +4 "core" &,x \ | + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&8'o +16 "core" ' +2 "manipulator"&S& +4 "core" & u  + "storage"(N& +4 "core" &,x P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&@' +21 "core" ' + "storage"(% +4 "core" % D Y ;\  +3 ."downElevator"SE.seek :down +3 "storage"(U' +98 (O% +3 "core" %@ H\ yXj +2 "manipulator"&g% +3 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +90 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'u& +5 "core" & i\ + "manipulator"&W% +4 "core" %  H  +2 "storage"(:% +3 "core" % \ ~ +2 "storage"(m. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(H(<- +363 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &/ +68 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"({' +7 "core" & '  + "manipulator"&F% +4 "core" %  +50 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&5(ӂ +107 "core" ' + ."downElevator"SE.coast + "storage"(5 +49 "core" ( + "manipulator"&)& +4 "core" &ӆ+ Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӈ+ ! Cq +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' + "manipulator"&1& +4 "core" &Ӓ* Bf +2 "manipulator"&J% +4 "core" %B . v +2 "collection"'0& +3 "core" & \ +2 "collection"'|& +6 "core" & x\ +2 .tCC.seek :closed + "collection"'\ (\\ +4 "core" & w\  +8 &1w z\ *z +10 &dy w\ > +9 &tn z\ N +9 &8O u\ M +10 &Q y\ M +9 &O y\ M +10 &}S x\ M +9 &?Q k\ M +9 &U ]\ M +10 &Q j\ M +9 & N h\ M +9 &"GQ g\ M +10 &$ R d\ M +9 &%R i\ M +10 &'R i\ N +9 &)OQ j\ M +9 &+R k\ N +10 &,Q i\ M +9 &.R i\ N +9 &0WQ j\ M +10 &2T i\ M +9 &3R c\ M +10 &5O e\ M +9 &7^S d\ N +9 &9!R h\ M +10 &:O d\ M +9 &<R b\ N +9 &>gS f\ M +10 &@)O c\ M +9 &AV a\ N +10 &C[ c\ N +9 &Ejc ]\ O +9 &G&t c\ Q +10 &H b\ T +9 &J T\ Y +9 &LV Z\ Y +10 &N Y\ Z +9 &O \\\ Z +10 &Q X\ [ +9 &SV a\ [ +9 &U [\ \\ +10 &V T\ \\ +9 &X [\ ] +9 &ZV T\ ~^ +10 &[{ R\ = +9 &\\) V\ (x +10 &\\{ [\ \\ +3 ( + "collection"'|& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open + "manipulator"&_1 +53 "core" 1 +2 "manipulator"&3% +4 "core" % B v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%6& +4 "core" &\ j + "manipulator"&=% +4 "core" %  i  +2 "storage"(#% +3 "core" % Z Z\ j +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(!(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (9& +3 "core" &<+ f ] Y\ j +2 "manipulator"&B& +3 "core" &Ә) A` +2 "manipulator"&% +4 "core" %   + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&w( +163 "core" ( + "manipulator"&T& +4 "core" &  +2 "storage"([& +3 "core" &<, e ^ i\ k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +96 "core" ' + "storage"(G& +4 "core" &<, j ^ \ j +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" &<, O P $\ e +2 "manipulator"&D& +3 "core" & Q  +2 .tElbow.seek 5 + "manipulator"&7( +3 "core" ( + "manipulator"&"& +4 "core" &  +2 "storage"(& +3 "core" &<, [ Z\ g +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&}'Ϲ +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +69 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +4 "storage"(x' +3 "core" &  +2 "manipulator"&v% +3 "core" %  ~ +2 .tForearm.seek :retract +2 "manipulator"&+' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&z( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +76 "core" ( +2 "manipulator"&Y& +4 "core" & % , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" & V , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&r' +94 "core" ' + "manipulator"&X& +4 "core" & K , +2 "manipulator"&'% +4 "core" % I G + "processing"%\\& +4 "core" &\ h +2 "processing"% & +5 "core" &\ i +2 .tPC.seek :closed + "processing"%f(^ +4 "core" &\ i +8 &1s\ ^*x +10 &`z\ \\> +9 &^r\ ]P +9 &Q\ bP +10 &L\ bP +9 &N\ bP +10 &cN\ bQ +9 &%P\ aQ +9 &R\ aQ +10 &Q\ aQ +9 & kQ\ aQ +9 &".O\ aP +10 &#N\ aP +9 &%Q\ aP +10 &'sP\ aQ +9 &)5O\ aQ +9 &*Q\ aQ +10 &,Q\ aQ +9 &.|O\ aP +9 &0>N\ bP +10 &2M\ bP +9 &3M\ aP +10 &5P\ aQ +9 &7EP\ aQ +9 &9R\ `Q +10 &:O\ aP +9 &<Q\ `P +9 &>LW\ `Q +10 &@Q\ aQ +9 &AX\ `Q +10 &Cc\ ^R +9 &ENk\ ^S +9 &G \ [V +10 &H\ [W +9 &J\ ZW +9 &LL\ ZV +10 &N \ YX +9 &O\ YX +10 &Q\ YX +9 &SO\ XX +9 &U\ YX +10 &V\ YX +9 &X\ YX +9 &ZW\ YX +10 &\\\ YX +9 &]\ [8 +10 &^+h\ ^#e +9 &^)\ c3 +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open + "manipulator"&a1 +59 "core" 1 + "manipulator"&Z% +4 "core" %  I G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%;& +5 "core" &^"\ e3 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&&% +4 "core" %  M  +2 "storage"( % +3 "core" % L W \ g +2 "storage"(C. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(?(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (I& + "manipulator"&& +6 "core" & , + &<, M N \ g +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b + .tElbow.seek PC +5 "manipulator"&P( +4 ."raiseStack"SE.seek :beamBreak + "storage"('r +2 "core" ( +2 "manipulator"&& +4 "core" & , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & + , +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' + .tHand.close + "manipulator"&/ +71 "core" / +2 .tPC.seek :open +2 "processing"%4( +86 "core" ' + "storage"(,- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(]'1 +45 "core" ' +317 ( + "storage"(& +4 "core" &<, j h J\ i +2 "manipulator"&k& +3 "core" & > + +2 "manipulator"&^% +3 "core" %  = ) +2 .tForearm.seek :retract + "manipulator"&' +100 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +244 "core" ( + "manipulator"&d& +4 "core" & # F + "storage"(j& +83 "core" &<, Z Z \ g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&V'O +94 "core" ' + .tHand.open + "manipulator"&b1 +62 "core" 1 +2 "storage"(Q- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"( ' +26 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(e' +51 "core" ' + #tLights, camera, ACTION! + "storage"((- +4 "core" -' + "storage"( & +4 "core" &<, &\ N + "manipulator"&/& +4 "core" & C F +2 .tElbow.seek 5 + "manipulator"&s( +4 "core" ( + "manipulator"&& +4 "core" & d F +2 "storage"(S& +3 "core" &<, '\ N +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&-& +4 "core" & F +2 "storage"(O& +3 "core" &<, T T ]\ f +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&g'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&h, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +50 "storage"(t' +21 "core" ' + "manipulator"&u% +4 "core" %Ξ { +2 "storage"(8& +4 "core" &<, / > k\ e + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&W' +17 "core" ' + "manipulator"&:& +4 "core" & E +2 "storage"(m& +4 "core" &<, D U :\ i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&o'O +18 "core" ' + "storage"(@% +5 "core" % h ] \ i +2 ."downElevator"SE.seek :down +3 "storage"(U' +99 (2% +4 "core" %C > P 3\ cZp +2 "manipulator"&% +4 "core" %> _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +89 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &<, h ^ o\ i + "collection"'$& +4 "core" &\\x b\ \\ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&M% +3 "core" %  L  +2 "storage"(L% +4 "core" % ] Z\ i +2 "storage"(l. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<, h Z \ i + "manipulator"&A& +4 "core" & E +2 .tElbow.seek 5 + "manipulator"&%( +4 "core" ( + "manipulator"&`& +4 "core" &  \\ E + "storage"(>& +4 "core" &<, k g U\ i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +92 "core" ' + "storage"(F& +4 "core" &<, h g \ k +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'r +301 "core" ' + "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +2 "core" &  ~ E +2 "storage"()& +3 "core" &<, J R "\ g +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +20 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(1- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(J'h +30 "core" ' + "manipulator"&0% +4 "core" %Ο  9 +2 "storage"(p& +3 "core" &<, Z X\ g +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&{' +18 "core" ' + "manipulator"&& +4 "core" & E +2 "storage"(*& +3 "core" &<, C D \ h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&_'O +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(3' +51 "core" ' + "manipulator"&6& +4 "core" & E +2 "manipulator"&=% +4 "core" %f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +158 "core" ( + "manipulator"&9& +4 "core" &Ӣ% >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &Ӣ% O >J +2 .tForearm.seek CC + "manipulator"&B'? +97 "core" ' + .tHand.close + "manipulator"&/ +76 "core" / + .tCC.seek :open +2 "collection"'( +451 "core" ( + "storage"(T& +4 "core" &<, p { \ o + "storage"([& +4 "core" &<, ~ {\ n + "manipulator"&H& +4 "core" &Ӣ%  >J + "manipulator"&G% +4 "core" % R ~  +2 .tForearm.seek :retract + "manipulator"&5' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +162 "core" ( + "manipulator"&~& +4 "core" &  + "storage"(R& +4 "core" &<, \ r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&D'΍ +96 "core" ' + .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&q% +5 "core" % Έ ; + "storage"(& +4 "core" &<, \ t + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 295 counts + "manipulator"&v'ϴ +27 "core" ' +2 "manipulator"&w& +4 "core" &  *  +2 "storage"(& +3 "core" &<, \ u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +18 "core" ' + "storage"(}% +4 "core" % v\ v +3 ."downElevator"SE.seek :down +3 "storage"(Y' +98 (<% +3 "core" %g9 \ sXh +2 "manipulator"&7% +3 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +89 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"''& +5 "core" & f\ + "manipulator"&\\% +4 "core" %   W  +2 "storage"(x% +3 "core" % \ w +2 "storage"(+. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(y(K +360 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (a& +3 "core" &K$ \ n  + "manipulator"&Z& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&;( +3 "core" ( + "manipulator"&&& +4 "core" & !  + "storage"( & +4 "core" &K# ~\ n  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +98 "core" ' + "storage"( & +4 "core" &K$ \ o  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +302 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &K# F ` K\ i  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&r( +3 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(!& +4 "core" &K# Z [ \ j  +2 .tForearm.seek 6 + 300 counts + "manipulator"&,'h +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +70 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(f' +8 "core" &  +2 "manipulator"&% +3 "core" % |  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&k(ӂ +165 "core" ' +2 ."downElevator"SE.coast + "storage"(5 +2 "core" ( +2 "manipulator"&^& +3 "core" &Ӄ 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӄ f 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&d'? +93 "core" ' + "manipulator"&P& +4 "core" &Ӄ 3 +2 "manipulator"&j% +3 "core" %< n +2 "collection"'b& +4 "core" & \ +2 "collection"'Q& +5 "core" & z\ +2 .tCC.seek :closed +2 "collection"'((\\ +4 "core" & z\  +9 &0v w\ +z +9 &b{ z\ > +9 &sm r\ N +10 &6Q t\ M +9 &P r\ M +10 &N u\ N +9 &|N o\ M +9 &>O n\ M +10 &O h\ N +9 &M f\ M +9 & N d\ M +10 &"ER f\ N +9 &$Q j\ N +10 &%N j\ M +9 &'O i\ M +9 &)MS i\ N +10 &+R i\ M +9 &,S f\ N +9 &.S e\ M +10 &0UN g\ N +9 &2R b\ N +10 &3R f\ N +9 &5O ^\ N +9 &7]S h\ N +10 &9R b\ N +9 &:Q d\ M +9 &<T `\ N +10 &>fN g\ M +9 &@'P f\ N +10 &AU _\ N +9 &CV a\ N +9 &Eh` [\ O +10 &G%l ]\ Q +9 &H V\ }T +9 &J b\ yX +10 &LR Z\ wZ +9 &N ^\ vZ +10 &O `\ u[ +9 &Q e\ w[\ +9 &SS b\ t\\ +10 &U h\ s] +9 &V e\ s] +9 &X i\ q^ +10 &ZS f\ q_ +9 &[z h\ w@ +10 &\\+ c\ t*| +9 &\\m g\ U +2 ( +2 "collection"'Q& +51 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open +2 "manipulator"& 1 +56 "core" 1 + "manipulator"&/% +4 "core" % < C n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%S& +4 "core" &\ d + "manipulator"&% +4 "core" %  U  +2 "storage"(-% +3 "core" % T S\ e +2 "storage"(O. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(](K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (u& +3 "core" &K / 7 \ c + "manipulator"&8& +4 "core" &Ӄ  F 3 +2 "manipulator"& % +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&:( +164 "core" ( + "manipulator"&m& +4 "core" &  +2 "storage"(@& +3 "core" &K D D\ h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +97 "core" ' +2 "storage"(V& +4 "core" &K ^ I \ g +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'r +301 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &K * . Z\ d +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&s( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(g& +3 "core" &K T S O\ e +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&W'h +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +67 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&$& +2 "storage"(M' +6 "core" &   + "manipulator"&L% +4 "core" % }  +2 .tForearm.seek :retract +2 "manipulator"&t' +88 "core" ' + .tElbow.seek PC +2 "manipulator"&l( +176 "core" ' + ."downElevator"SE.coast + "storage"(5 +63 "core" ( + "manipulator"&& +4 "core" & # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" & J # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&`' +93 "core" ' + "manipulator"&>& +4 "core" & V # +2 "manipulator"&o% +3 "core" %  m +2 "processing"%F& +4 "core" &\ h +2 "processing"%U& +4 "core" &\ g +2 .tPC.seek :closed +2 "processing"%?(^ +4 "core" &\ h +8 &1u\ ]*x +10 &`{\ [> +9 &^p\ \\P +10 &N\ `P +9 &Q\ `P +9 &O\ `P +10 &dN\ `P +9 &&L\ aP +9 &O\ `P +10 &O\ `P +9 & kQ\ `Q +10 &".O\ `P +9 &#N\ `P +9 &%L\ `P +10 &'sO\ `Q +9 &)5O\ `Q +10 &*P\ `Q +9 &,Q\ `P +9 &.|L\ aP +10 &0>N\ `P +9 &2M\ `P +9 &3M\ `P +10 &5Q\ _P +9 &7FR\ `P +10 &9R\ `Q +9 &:T\ _P +9 &<Q\ `P +10 &>MW\ _Q +9 &@P\ _Q +9 &AY\ ^Q +10 &Ca\ ]R +9 &EMj\ ]S +9 &G\ ZV +10 &H\ YV +9 &J\ YW +10 &LK\ ZW +9 &N \ XW +9 &O\ YW +10 &Q\ XX +9 &SO\ XX +9 &U\ YX +10 &V\ WX +9 &X\ XX +10 &ZX\ XX +9 &\\\ XX +9 &]\ Z7 +10 &^4p\ \\E +9 ( + &^!\ c2 +2 "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open + "manipulator"&h1 +57 "core" 1 + "manipulator"&E% +4 "core" %  m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +95 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%K& +4 "core" &^"\ _2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&)% +4 "core" % %  : + "storage"(1% +4 "core" % + 6 Y\ _ + "storage"(0. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(p(K +5 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& + "manipulator"&*& +5 "core" &K . - _\ ^ +2 & 8 # +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&6( + "storage"(='r +5 "core" ( +2 "manipulator"&c& +4 "core" & C # + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +14 "core" &  # +2 .tForearm.seek PC +2 "manipulator"&.' +96 "core" ' + .tHand.close + "manipulator"&/ +73 "core" / + .tPC.seek :open +2 "processing"%{( +72 "core" ' + "storage"(J- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(9'1 +44 "core" ' +333 ( + "storage"(|& +4 "core" &K + + >\ b + "manipulator"&_& +4 "core" & # + "manipulator"&% +4 "core" %  +  +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&#( +259 "core" ( + "manipulator"&\ & +4 "core" &  "x +2 "storage"(T& +3 "core" &K 5 + 8\ _ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +96 "core" ' + .tHand.open + "manipulator"&H1 +76 "core" 1 + "storage"(G- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(~' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(R' +51 "core" ' + #tLights, camera, ACTION! + "storage"(B- +4 "core" -' + "storage"(& +4 "core" &K p\ H +2 "manipulator"&& +3 "core" &   "x +2 .tElbow.seek 6 + "manipulator"&q( +38 "core" ( + "manipulator"&& +4 "core" & E [ +2 "storage"(w& +3 "core" &K \ J +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +49 "core" ' + "manipulator"&5& +4 "core" & I [ +2 "storage"(<& +3 "core" &K , + f\ b +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&7'< +28 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(D' +29 "core" ' + "manipulator"&'% +4 "core" %O  +2 "storage"(v& +4 "core" &K + 5 m\ _ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&\\'{ +29 "core" ' + "manipulator"&x& +4 "core" & 0 X +2 "storage"(+& +4 "core" &K + + +\ c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&3' +20 "core" ' + "storage"(% +4 "core" % T 5 \ d +2 ."downElevator"SE.seek :down +4 "storage"(Y' +99 (% +4 "core" %G Y r\ ^[r +2 "manipulator"&a% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +89 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (&& +3 "core" &K S T D\ f +2 "collection"' & +4 "core" &\\k a\ U + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +4 "core" %  L  +2 "storage"("% +3 "core" % T T ?\ e +2 "storage"(X. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(I(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K @ V \ \ d +2 "manipulator"&& +4 "core" &  X +50 .tElbow.seek 6 +2 "manipulator"&( +10 "core" ( + "manipulator"&!& +4 "core" & 9 ` +2 "storage"(z& +3 "core" &K S T ?\ e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&i' +96 "core" ' + "storage"(& +4 "core" &K P W u\ g +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'r +301 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&^& +2 "core" &  | ` +2 "storage"( & +3 "core" &K + + S\ d +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +27 "core" ' + .tElbow.hold + "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(j'b +30 "core" ' + "manipulator"&b% +4 "core" %M b +2 "storage"(r& +3 "core" &K  \ ` +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts + "manipulator"&f'y +25 "core" ' + "manipulator"&& +4 "core" & ^ +2 "storage"(& +3 "core" &K W K S\ g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(/' +41 "core" ' + "manipulator"&Q& +4 "core" & 3 ^ +2 "manipulator"&S% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&-(ӂ +172 "core" ( + "manipulator"&O& +5 "core" &Ӆ / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &Ӆ / +2 .tForearm.seek CC + "manipulator"&8'? +95 "core" ' + .tHand.close + "manipulator"& / +75 "core" / + .tCC.seek :open +2 "collection"'d( +450 "core" ( + "storage"(m& +4 "core" &K m \ l + "storage"(@& +4 "core" &K j i |\ l + "manipulator"&y& +4 "core" &Ӆ  D / +2 "manipulator"&V% +3 "core" % J  g +2 .tForearm.seek :retract + "manipulator"&k' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +161 "core" ( + "manipulator"&2& +4 "core" & f  +2 "storage"(N& +3 "core" &K ~ \ n +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&g1 +62 "core" 1 + "manipulator"&% +5 "core" % 1   " + "storage"($& +4 "core" &K \ o + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 289 counts + "manipulator"&L'] +16 "core" ' +2 "manipulator"&:& +4 "core" & R  + "storage"(& +4 "core" &K D\ p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&e' +21 "core" ' + "storage"(W% +4 "core" % -\ o +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (A% +3 "core" %Y; {  v\ mYj +2 "manipulator"&s% +3 "core" %  - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +91 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'o& +3 "core" & z\ + "manipulator"&F% +4 "core" %   K  + "storage"(M% +4 "core" % \ q + "storage"(t. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(4(  +1301 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (h& +3 "core" &  ] e\ l + "manipulator"&E& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&K( +3 "core" ( + "manipulator"&)& +4 "core" & D  + "storage"(1& +4 "core" &  h h \ k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&0'S +92 "core" ' + "storage"(U& +4 "core" &  g\ n +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (c& +3 "core" &  r ] c\ j + "manipulator"&%& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&`( +3 "core" ( + "manipulator"&& +4 "core" &  + "storage"(]& +4 "core" &  i k \ l +2 .tForearm.seek 2 + 300 counts + "manipulator"&J'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +75 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(?' +8 "core" & @  +2 "manipulator"&=% +3 "core" %   ( +2 .tForearm.seek :retract + "manipulator"&|' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&_(ӂ +157 "core" ( + ' + ."downElevator"SE.coast +3 "manipulator"&& + "storage"(5 +8 "core" &Ӓ( @Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &Ӓ(  @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\ '? +94 "core" ' + "manipulator"&T& +4 "core" &Ӕ( s @W +2 "manipulator"&6% +4 "core" %C  > + "collection"'H& +4 "core" & u\ +2 "collection"'G& +6 "core" & ]\ +3 .tCC.seek :closed + "collection"'B(\\ +5 "core" & 7\ +6 & + \ $d +10 &Ut \ 7 +9 &v \ L +9 &O x\ N +10 &`T y\ N +9 &"T \ N +9 &P z\ N +10 &Q y\ M +9 &gT |\ N +9 &+Q t\ M +10 &P z\ M +9 &!S {\ N +10 &#pP v\ N +9 &%2N x\ N +9 &&N }\ N +10 &(O o\ N +9 &*xR p\ N +9 &,;S h\ M +10 &-Q m\ M +9 &/O h\ N +10 &1P i\ N +9 &3BT j\ N +9 &5T f\ N +10 &6T j\ M +9 &8Q i\ N +9 &:JT l\ N +10 &< T g\ N +9 &=U i\ N +10 &?U o\ N +9 &AQU h\ N +9 &CV j\ N +10 &D] b\ O +9 &Fm `\ Q +10 &HI c\ ~T +9 &J d\ yW +9 &K Z\ vZ +10 &M} b\ vZ +9 &O= a\ vZ +9 &P e\ u[\ +10 &R [\ t[ +9 &T{ b\ s] +10 &V= \\\ r] +9 &W a\ q^ +9 &Y b\ p_ +10 &[} _\ oL +9 &\\9 b\ x4 +9 &\\p ]\ ~R +7 ( +2 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&1 +4 "core" &\\f X\ R +51 1 + "manipulator"&% +4 "core" % C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp "processing"%& +5 "core" &\ ] + "manipulator"&w% +4 "core" %  H  + "storage"(5% +4 "core" % . - W\ ^ + "storage"(<. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(9(  +10 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ('& +3 "core" &  . +\ ] + "manipulator"&~& +4 "core" &ӗ&  ?T +2 "manipulator"&v% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&x( +162 "core" ( + "manipulator"&+& +4 "core" & o  +2 "storage"(#& +3 "core" &  , 1 '\ c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +94 "core" ' + "storage"([& +4 "core" &  T T B\ f +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'r +349 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (a& +3 "core" &   . I\ ` + "manipulator"&& +4 "core" &  A  +2 .tElbow.seek 2 + "manipulator"&q( +3 "core" ( +2 "manipulator"&}& +3 "core" & g  +2 "storage"(7& +3 "core" &  . + P\ a +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&\\'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&&/ +69 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"( ' +6 "core" &  + "manipulator"&"% +4 "core" % ϴ  = +2 .tForearm.seek :retract + "manipulator"&D' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&X( +173 "core" ' + ."downElevator"SE.coast + "storage"(5 +66 "core" ( + "manipulator"&& +4 "core" & 7 $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&!' +101 "core" ' + "manipulator"&z& +4 "core" &  $ +2 "manipulator"&3% +4 "core" % N + "processing"%& +4 "core" &\ e +2 "processing"%Y& +5 "core" &\ d +2 .tPC.seek :closed +2 "processing"%p(^ +4 "core" &\ e +7 & -\ a$c +9 &Sy\ Y8 +10 &{v\ XL +9 &T\ \\Q +10 &FO\ ]Q +9 & S\ ]P +9 &T\ ]Q +10 &R\ ]Q +9 &ON\ ]P +9 &Q\ ]P +10 &N\ ^Q +9 &!R\ ]P +9 &#WM\ ]P +10 &%O\ ]P +9 &&Q\ ]Q +10 &(N\ ]P +9 &*_P\ ]P +9 &,!T\ ]P +10 &-N\ ]Q +9 &/T\ \\P +9 &1gP\ ]P +10 &3)T\ \\P +9 &4N\ ]P +10 &6P\ ]P +9 &8nU\ \\Q +9 &:0T\ ]Q +10 &;V\ \\Q +9 &=R\ ]Q +9 &?vR\ ]Q +10 &A8W\ \\Q +9 &BY\ \\Q +10 &D_\ [R +9 &Ftk\ YT +9 &H0\ VV +10 &I\ WW +9 &K\ VW +10 &Ms\ UW +9 &O5\ VW +9 &P\ UX +10 &R\ VW +9 &Tx\ TX +9 &V<\ VW +10 &W\ TX +9 &Y\ TX +10 &[\ UX +9 &]B\ SO +9 &^xJ\ Va +10 &^V\ \\5 +6 ( + "processing"%Y& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&1 +3 "core" &^-\ ^5 +60 1 + "manipulator"&Z% +4 "core" %  0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&C' +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%^& +4 "core" &^- \ [5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +3 "core" %   +2 "storage"(P% +4 "core" % = \ Z + "storage"(b. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(r(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &  G ?\ Z +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & & $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&Q( + "storage"(S'r +4 "core" ( +2 "manipulator"&i& +3 "core" &  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  $ +2 .tForearm.seek PC + "manipulator"&;' +99 "core" ' + .tHand.close + "manipulator"&/ +69 "core" / + .tPC.seek :open +2 "processing"%f( +83 "core" ' + "storage"(j- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(O'1 +41 "core" ' +325 ( + "storage"(u& +4 "core" &  e 7\ _ + "manipulator"& & +4 "core" & R $ + "manipulator"&,% +4 "core" %  2 +2 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +244 "core" ( + "manipulator"&(& +4 "core" & C +2 "storage"(m& +3 "core" &   C\ \\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&@'S +95 "core" ' + .tHand.open + "manipulator"&y1 +68 "core" 1 + "storage"(V- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(2' +26 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(N' +54 "core" ' + #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"(-& +4 "core" &  X Y\ @ + "manipulator"&g& +4 "core" & ! C +2 .tElbow.seek 2 + "manipulator"&( +5 "core" ( + "manipulator"&$& +4 "core" & 7 +2 "storage"(:& +3 "core" &  g k $\ ? +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(W'" +57 "core" ' + "manipulator"&k& +4 "core" & 1 7 +2 "storage"(A& +3 "core" &  \  \ \\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&s'Α +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +22 "core" ' + "manipulator"&L% +4 "core" %Υ % +2 "storage"(/& +4 "core" &  F n\ [ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&e' +16 "core" ' + "manipulator"&& +4 "core" &  K 7 +2 "storage"(I& +4 "core" &  - . g\ ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&o'S +18 "core" ' + "storage"(F% +5 "core" % . . M\ ^ +2 ."downElevator"SE.seek :down +3 "storage"(M' +99 (t% +4 "core" %S \  \ W\\w +2 "manipulator"&h% +4 "core" %@ G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +90 "core" ' +66 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 ()& +4 "core" &  . , 6\ _ + "collection"'1& +4 "core" &\\f ^\ R + #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&U% +4 "core" %  =  +2 "storage"(% +3 "core" %\  P\ ` +2 "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(*(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (c& +3 "core" &  8 / \ _ + "manipulator"&%& +4 "core" & . 7 + .tElbow.seek 2 +2 "manipulator"&( +10 "core" ( + "manipulator"&]& +4 "core" &   +2 "storage"(l& +3 "core" &  ` 7 I\ _ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&n'S +89 "core" ' + "storage"(=& +4 "core" &  + * c\ _ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'r +299 "core" ' + "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  &  +2 "storage"(.& +3 "core" &  ' > \ ] +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +19 "core" ' + .tElbow.hold + "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(T- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"(6'[ +30 "core" ' + "manipulator"&H% +4 "core" %΍ $ +2 "storage"(`& +3 "core" &  . - V\ ^ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 296 counts + "manipulator"&?'Ϲ +25 "core" ' + "manipulator"&|& +54 "core" &  + "storage"(d& +4 "core" &  I P\ \\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +18 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(' +37 "core" ' + "manipulator"&& +4 "core" &  u  +2 "manipulator"&w% +4 "core" %T , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&<(ӂ +161 "core" ( +2 "manipulator"&G& +4 "core" &ӎ j 4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &ӎ Y 4 +2 .tForearm.seek CC + "manipulator"&~'? +93 "core" ' + .tHand.close + "manipulator"&v/ +68 "core" / + .tCC.seek :open +2 "collection"'\ ( +447 "core" ( + "storage"(+& +4 "core" &  ? / Y\ c +2 "storage"(#& +3 "core" &  + + d\ c +2 "manipulator"&4& +3 "core" &ӎ 4 +2 "manipulator"&[% +3 "core" % / W  +2 .tForearm.seek :retract + "manipulator"&_' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +163 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(a& +3 "core" &  ] g 7\ i +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&'Α +95 "core" ' + .tElbow.hold + "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +57 "core" 1 + "manipulator"&&% +5 "core" % Ύ 6 6 + "storage"( & +4 "core" &  C C \ h + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 297 counts + "manipulator"&"'Ϻ +21 "core" ' + "manipulator"&x& +4 "core" & M  +2 "storage"(& +3 "core" &  g h \ k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'S +16 "core" ' + "storage"(\\% +4 "core" % i k \ j +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %G T U *\ eZr +2 "manipulator"&q% +3 "core" %U = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +93 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'3& +5 "core" & k\ + "manipulator"&% +4 "core" %  \\  +2 "storage"( % +3 "core" % g ] 7\ j +2 "storage"(D. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"({( +353 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" & + .\ b + "manipulator"&Z& +4 "core" &  ,  +2 .tElbow.seek 3 + "manipulator"&^( +13 "core" ( + "manipulator"& & +4 "core" &z f  + "storage"(P& +4 "core" & N P O\ g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b'7 +95 "core" ' + "storage"(Y& +4 "core" & h h T\ k +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +308 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" & Z O v\ g +2 "manipulator"&& +3 "core" &z  =  +2 .tElbow.seek 3 + "manipulator"&!( +4 "core" ( + "manipulator"&& +3 "core" &z 1  +2 "storage"(9& +4 "core" & Z Y \ i +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&j'ϡ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +77 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&C& +2 "storage"(p' +8 "core" &z   + "manipulator"&S% +4 "core" % ϕ   +2 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +157 "core" ' +2 ."downElevator"SE.coast + "storage"(5 +3 "core" ( + "manipulator"&,& +4 "core" &Ӎ(  E @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +2 "core" &Ӎ'  @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&('? +16 "Can"\ GE +76 "core" ' + "manipulator"&m& +4 "core" &ӏ( B @Y +3 "manipulator"&Q% +3 "core" %= , x +2 "collection"'y& +4 "core" & ~\ +2 "collection"'V& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'8(\\ +5 "core" & |\  +9 &3z |\ {+{ +9 &d| {\ y? +10 &m |\ zO +9 &FP v\ ~N +10 & O y\ ~N +9 &Q w\ ~N +9 &T o\ }N +10 &OO m\ ~N +9 &U j\ }N +9 &O k\ }N +10 & S j\ }N +9 &"WN k\ ~N +10 &$O i\ ~N +9 &%O j\ ~N +9 &'P h\ ~N +10 &)_N i\ ~N +9 &+"P j\ ~M +9 &,P f\ ~N +10 &.P j\ ~M +9 &0gO h\ }N +10 &2*O e\ }M +9 &3P d\ }N +9 &5O h\ ~N +10 &7pQ b\ }M +9 &90P h\ }N +9 &:P f\ }N +10 &<N h\ ~N +9 &>vP g\ }N +10 &@9O d\ }N +9 &AR g\ }N +9 &CW i\ |O +10 &Ey_ `\ |P +9 &G5q e\ yR +9 &H h\ vU +10 &J Z\ qY +9 &Ld V\ qZ +10 &N" S\ p[\ +9 &O ^\ o[ +9 &Q Z\ o[ +10 &Sc V\ m] +9 &U% `\ l] +9 &V b\ k^ +10 &X b\ k^ +9 &Zd \\\ k_ +10 &\\ { b\ q9 +9 &\\, g\ o%n +10 ( &\\} Y\ wX +2 "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open + "manipulator"&-1 +77 "core" 1 + "manipulator"&g% +5 "core" % = _ x + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%:& +4 "core" &\ U + "manipulator"& % +4 "core" %    +2 "storage"(k% +3 "core" %\ \  R\ U +2 "storage"(A. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(L( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (/& +3 "core" &\ \ Q\ U + "manipulator"&O& +4 "core" &ӑ(  V @W +2 "manipulator"&% +3 "core" %  <  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&I( +164 "core" ( + "manipulator"&2& +4 "core" & d w +2 "storage"(F& +3 "core" &# \ R  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +104 "core" ' + "storage"(@& +4 "core" &# \  \ T  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'r +304 "core" ' + "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (h& +3 "core" &"\ \ a\ X  + "manipulator"&& +4 "core" & w +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( + "manipulator"&W& +4 "core" & w + "storage"(s& +4 "core" &"\ $\  *\ \\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&e'ϡ +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&)/ +76 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"(U' +8 "core" & w +2 "manipulator"&% +3 "core" % Ϟ  +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&>( +157 "core" ' + ."downElevator"SE.coast + "storage"(5 +105 "core" ( +2 "manipulator"&c& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" & 9  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&]' +92 "core" ' + "manipulator"&l& +4 "core" &   +2 "manipulator"&o% +4 "core" % +2 "processing"%=& +53 "core" &\ g +2 "processing"%M& +5 "core" &\ r +2 .tPC.seek :closed + "processing"%r(^ +4 "core" &\ y +10 &/r\ e*y +9 &b~\ c? +10 &gp\ hP +9 &)N\ kP +9 &P\ nP +10 &R\ nP +9 &pQ\ lO +9 &0Q\ iP +10 &R\ mP +9 &Q\ gP +10 & uO\ `P +9 &"8N\ ^P +9 &#R\ aP +10 &%L\ gP +9 &'Q\ jP +9 &)@Q\ lP +10 &+Q\ iP +9 &,R\ jP +10 &.P\ lP +9 &0HR\ jP +9 &2 Q\ kP +10 &3Q\ lP +9 &5Q\ lP +9 &7OQ\ mP +10 &9T\ mP +9 &:Q\ mP +10 &<T\ mP +9 &>VV\ mQ +9 &@U\ nQ +10 &A\\\ mQ +9 &Cb\ mR +10 &EWk\ kS +9 &G\ hV +9 &H\ iV +10 &J\ jV +9 &LV\ lV +9 &N\ lW +10 &O\ mW +9 &Q\ lX +10 &SY\ lX +9 &U\ kX +9 &V\ mW +10 &X\ mW +9 &Z`\ lX +9 &\\#\ mX +10 &]y\ q; +9 &^,|\ p[ +9 &^%\ y3 +3 ( + "processing"%M& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&E% +4 "core" %  0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%& +5 "core" &^#\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&.% +4 "core" %  u v @  +2 "storage"(T% +3 "core" % W S\  +2 "storage"(H. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(`( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (|& +3 "core" & { t \ p +2 "manipulator"&d& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(w'r +18 "core" ( + "manipulator"&n& +4 "core" & * u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & U u +2 .tForearm.seek PC +2 "manipulator"&K' +95 "core" ' +2 .tHand.close + "manipulator"&/ +69 "core" / + .tPC.seek :open +2 "processing"%?( +71 "core" ' + "storage"(6- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(G'1 +41 "core" ' +336 ( + "storage"('& +4 "core" & O\  +2 "manipulator"&& +4 "core" & b u + "manipulator"&J% +4 "core" %   8 +2 .tForearm.seek :retract + "manipulator"&v' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&5( +260 "core" ( + "manipulator"&B& +4 "core" & i  +2 "storage"(+& +3 "core" & V H o\ i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&#'7 +98 "core" ' + .tHand.open + "manipulator"&41 +64 "core" 1 +2 "storage"([- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(a' +57 "core" ' + #tLights, camera, ACTION! + "storage"(~- +4 "core" -' + "storage"(<& +4 "core" & S S %\ f +2 "manipulator"&7& +3 "core" & (  +2 .tElbow.seek 3 + "manipulator"&&( +4 "core" ( + "manipulator"& & +4 "core" &  + "storage"(x& +4 "core" & T T 5\ g +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\\'" +51 "core" ' + "manipulator"&_& +4 "core" &  +2 "storage"(& +3 "core" & f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&q'u +14 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&3% +4 "core" %΀ = +2 "storage"("& +4 "core" & L\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&'Ϭ +36 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"(D& +4 "core" & 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +27 "core" ' + "storage"(R% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (*% +3 "core" %+I R\ Yk +2 "manipulator"&% +4 "core" %A x ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z' +87 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 ( & +4 "core" & \ + "collection"'P& +4 "core" &\\ Q\ X + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&Y% +4 "core" %   +2 "storage"(}% +3 "core" % \ +2 "storage"(z. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (i& +2 "core" & \  +2 "manipulator"&& +4 "core" & F  + .tElbow.seek 3 +2 "manipulator"&( +8 "core" ( + "manipulator"&9& +4 "core" &   +2 "storage"(X& +3 "core" & 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&C'7 +96 "core" ' + "storage"(S& +4 "core" & V\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'r +296 "core" ' + "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&,& +3 "core" &  *  +2 "storage"(;& +3 "core" & 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +22 "core" ' + .tElbow.hold + "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(m- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Q'f +30 "core" ' + "manipulator"&y% +4 "core" %΁ + "storage"(!& +4 "core" & @\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&p'ϭ +28 "core" ' + "manipulator"&u& +4 "core" & 4  +2 "storage"(\ & +3 "core" & `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&-'7 +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(g' +41 "core" ' + "manipulator"&:& +4 "core" &  )  +2 "manipulator"& % +4 "core" %O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +87 "core" ' + .tElbow.seek CC +2 "manipulator"&V(ӂ +158 "core" ( + "manipulator"&A& +4 "core" &Ӕ% b >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &Ӕ% >N +2 .tForearm.seek CC + "manipulator"&O'? +93 "core" ' + .tHand.close + "manipulator"&/ +67 "core" / + .tCC.seek :open + "collection"'(( +448 "core" ( + "storage"(2& +4 "core" & ) ' P\  + "storage"(F& +4 "core" & % & T\  + "manipulator"&{& +4 "core" &Ӗ%   >L + "manipulator"&@% +4 "core" % A  c +2 .tForearm.seek :retract + "manipulator"& ' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&$( +204 "core" ( + "manipulator"&t& +4 "core" & +2 "storage"(h& +3 "core" &  =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&'u +96 "core" ' + .tElbow.hold + "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&s1 +53 "core" 1 +4 "manipulator"&)% +4 "core" % e  ) +2 "storage"(1& +3 "core" & & &\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 284 counts + "manipulator"&'ϑ +17 "core" ' + "manipulator"&I& +4 "core" & ' +2 "storage"(& +3 "core" & #  Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&N'7 +20 "core" ' + "storage"(e% +4 "core" % 0 D a\ +2 ."downElevator"SE.seek :down +4 "storage"(c' +99 (%% +3 "core" %zB 4\ Wd +2 "manipulator"&% +4 "core" %*  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&l' +95 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'o& +5 "core" & i\ + "manipulator"&=% +4 "core" % ! , +2 "storage"(U% +3 "core" % & &\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(f(,y +360 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &,z  '\  + "manipulator"&E& +4 "core" & +2 .tElbow.seek 4 + "manipulator"&( +22 "core" ( + "manipulator"&.& +4 "core" &  o  +2 "storage"(T& +3 "core" &,z  6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +98 "core" ' + "storage"(M& +4 "core" &,z  & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'r +300 "core" ' + "storage"(d- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +2 "core" &,z  :\  +2 "manipulator"&& +3 "core" & k  +2 .tElbow.seek 4 + "manipulator"&]( +25 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(L& +4 "core" &,z & &\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&6'c +33 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +77 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"(r' +8 "core" & d  +2 "manipulator"&w% +4 "core" % ύ u + .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +158 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +2 "core" ( +2 "manipulator"&J& +3 "core" &Ӓ& C ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &Ӓ&  ?S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'? +106 "core" ' +2 "manipulator"&+& +4 "core" &Ӗ& >O +2 "manipulator"&% +3 "core" %L  j +2 "collection"'4& +4 "core" & y\ +2 "collection"'[& +5 "core" & {\ +2 .tCC.seek :closed +2 "collection"'~(\\ +3 "core" & \  +10 &5{ z\ +{ +9 &\ f~ \ ? +10 &n s\ M +9 &XR z\ L +9 &S x\ M +10 &U x\ M +9 &T w\ M +9 &`S r\ L +10 &"R j\ L +9 &U e\ L +10 & S l\ L +9 &"hR j\ L +9 &$*U j\ L +10 &%T i\ M +9 &'T l\ L +9 &)qQ l\ L +10 &+1U i\ M +9 &,T k\ L +10 &.U j\ L +9 &0wT `\ M +9 &2:T i\ L +10 &3R j\ L +9 &5W c\ L +9 &7V e\ L +10 &9BW i\ L +9 &;W e\ L +10 &<W d\ L +9 &>R b\ L +9 &@JR d\ L +10 &B U `\ L +9 &CZ g\ M +9 &Ef f\ N +10 &GEv c\ Q +9 &H `\ T +10 &J e\ W +9 &Lu h\ X +9 &N6 V\ Y +10 &O _\ Y +9 &Q ]\ Z +9 &Sv V\ [ +10 &U9 ]\ Z +9 &V U\ \\ +10 &X e\ \\ +9 &Zy a\ \\ +9 &\\z a\ 1 +10 &\\1 ^\ a +10 ( &\\c e\ P +2 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&<1 +58 "core" 1 + "manipulator"&7% +5 "core" % L Z + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%x& +4 "core" &\ + "manipulator"&v% +4 "core" %    +2 "storage"(_% +3 "core" % D\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(3(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ("& +2 "core" &,z ! u\  +2 "manipulator"&G& +3 "core" &Ә% N >M +2 "manipulator"& % +3 "core" %  F  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&D( +164 "core" ( + "manipulator"&& +4 "core" & `  +2 "storage"(R& +3 "core" &,z  M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +93 "core" ' + "storage"(#& +4 "core" &,z  t\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'r +296 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &,z 6\  +2 "manipulator"&& +3 "core" & k  +2 .tElbow.seek 4 + "manipulator"&&( +3 "core" ( +2 "manipulator"&\\& +3 "core" & e  +2 "storage"(q& +3 "core" &,z b\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +73 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(Y' +8 "core" & W  +2 "manipulator"&}% +3 "core" % o ` +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&z( +174 "core" ' + ."downElevator"SE.coast + "storage"(5 +66 "core" ( +2 "manipulator"&i& +4 "core" &  L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ] L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&9' +98 "core" ' + "manipulator"&X& +4 "core" &  i L +2 "manipulator"&% +3 "core" % i  +2 "processing"%S& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%`(^ +5 "core" &\  +9 &/s\ *y +9 &b|\ > +10 &jr\ O +9 &+U\ O +10 &U\ O +9 &S\ O +9 &pT\ O +10 &2S\ O +9 &T\ O +9 &T\ O +10 & xS\ O +9 &";R\ O +10 &#U\ O +9 &%R\ O +9 &'U\ O +10 &)DS\ O +9 &+T\ O +9 &,T\ N +10 &.S\ O +9 &0KU\ O +10 &2 T\ O +9 &3T\ O +9 &5T\ O +10 &7TT\ O +9 &9U\ O +9 &:V\ O +10 &<U\ O +9 &>YY\ P +10 &@W\ O +9 &AW\ P +9 &Ca\ P +10 &E\\l\ Q +9 &Gw\ T +9 &H\ U +10 &J\ U +9 &LW\ V +10 &N\ V +9 &O\ V +9 &Q\ W +10 &S]\ V +9 &U\ V +9 &V\ V +10 &X\ X +9 &Zd\ W +10 &\\&\ W +9 &]\ 6 +9 &^+s\ "c +10 &^.\ 5 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&1 +56 "core" 1 + "manipulator"&Z% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&b' +95 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%,& +4 "core" &^(\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&;% +4 "core" %  k  + "storage"(m% +4 "core" % k\ +2 "storage"(y. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +52 .tSC.seek 4 + "storage"(!(,y +5 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (u& + "manipulator"&\ & +5 "core" &,z \  +2 & ] L +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&:( +3 ."raiseStack"SE.seek :beamBreak + "storage"( 'r +3 "core" ( + "manipulator"&C& +4 "core" & d L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & L +2 .tForearm.seek PC + "manipulator"&^' +95 "core" ' +2 .tHand.close + "manipulator"&/ +77 "core" / + .tPC.seek :open +2 "processing"%p( +79 "core" ' + "storage"(Q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'1 +41 "core" ' +324 ( + "storage"(/& +4 "core" &,z /\  +2 "manipulator"&-& +4 "core" & - L + "manipulator"&j% +4 "core" %  J 0 + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&k( +254 "core" ( + "manipulator"&8& +4 "core" &  # +2 "storage"(2& +3 "core" &,z 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&F' +96 "core" ' + .tHand.open + "manipulator"&{1 +64 "core" 1 + "storage"(@- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(O' +26 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(t' +57 "core" ' + #tLights, camera, ACTION! + "storage"(h- +4 "core" -' + "storage"(V& +4 "core" &,z 8 4\ _ + "manipulator"&s& +4 "core" &  _ # +2 .tElbow.seek 4 + "manipulator"&)( +4 "core" ( + "manipulator"&1& +4 "core" &  K # + "storage"(I& +4 "core" &,z . 5 p\ _ +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(e'" +53 "core" ' + "manipulator"& & +4 "core" &  # +2 "storage"(%& +3 "core" &,z u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +22 "core" ' + "manipulator"&o% +5 "core" %N  + "storage"(& +4 "core" &,z ;\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 323 counts + "manipulator"&='z +16 "core" ' + "manipulator"&U& +4 "core" &  E # +2 "storage"(& +4 "core" &,z  1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +20 "core" ' + "storage"(N% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(c' +99 (% +3 "core" %L S\ Yk +2 "manipulator"&% +4 "core" % G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +89 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (.& +4 "core" &,z ! D\ + "collection"'T& +4 "core" &\\c _\ P + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&M% +4 "core" %    +2 "storage"(W% +3 "core" %  \ +2 "storage"(l. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(d(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (n& +3 "core" &,z  \  +2 "manipulator"&& +3 "core" &  # +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&L& +4 "core" &  # + "storage"(>& +4 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +93 "core" ' + "storage"(w& +4 "core" &,z \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&J& +3 "core" &   # + "storage"(K& +4 "core" &,z *\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&|'7 +24 "core" ' + .tElbow.hold + "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(+- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"('a +29 "core" ' + "manipulator"&]% +4 "core" %G  +2 "storage"(4& +3 "core" &,z F\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&r's +16 "core" ' + "manipulator"&'& +4 "core" &   # +2 "storage"((& +3 "core" &,z   I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&<' +21 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(7' +40 "core" ' + "manipulator"&x& +4 "core" &  # +2 "manipulator"&v% +4 "core" %  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&[& +4 "core" &ӕ&  ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +2 "core" &ӕ& 2 ?T +2 .tForearm.seek CC +2 "manipulator"&G'? +94 "core" ' + .tHand.close + "manipulator"& / +65 "core" / + .tCC.seek :open +2 "collection"'B( +447 "core" ( +2 "storage"(& +4 "core" &,z % %\  + "storage"(R& +4 "core" &,z  M\  + "manipulator"&f& +4 "core" &Ӗ& ?S + "manipulator"&#% +4 "core" % D L I + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +165 "core" ( + "manipulator"&*& +4 "core" & + "storage"(& +4 "core" &,z % # \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&'7 +96 "core" ' + .tElbow.hold + "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&q1 +59 "core" 1 + "manipulator"& % +5 "core" % &  + "storage"(P& +3 "core" &,z C B \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 283 counts + "manipulator"&}'R +18 "core" ' +2 "manipulator"&D& +4 "core" &  8 ~ + "storage"(5& +4 "core" &,z ; 9 {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +15 "core" ' + "storage"(% +4 "core" % U F f\ +3 ."downElevator"SE.seek :down +2 "storage"(i' +99 (% +3 "core" %sD & &\ Wd +2 "manipulator"&&% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X' +97 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +50 "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & o\ +2 "manipulator"&S% +4 "core" % " . + "storage"(Y% +4 "core" % E C \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(?(<- +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<*  ( \ \  +2 "manipulator"&Z& +3 "core" & ~ +2 .tElbow.seek 5 + "manipulator"&,( +8 "core" ( + "manipulator"&;& +4 "core" &  { +2 "storage"(m& +3 "core" &<* ' & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&y'O +96 "core" ' + "storage"(& +4 "core" &<* ' * \ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'r +293 "core" ' + "storage"(u- +3 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +2 "core" &<* ' &\ \  +2 "manipulator"&& +3 "core" & 6 { +2 .tElbow.seek 5 + "manipulator"&9( +3 "core" ( +2 "manipulator"&3& +3 "core" &  K { +2 "storage"(& +3 "core" &<* ' ) )\ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Q'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +66 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&b& +2 "storage"(`' +6 "core" & 1 { + "manipulator"& % +4 "core" % Ϲ  : +2 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&-(ӂ +161 "core" ( + ' + ."downElevator"SE.coast +3 "manipulator"&j& + "storage"(5 +7 "core" &Ӎ- Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &Ӎ- } Dv +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&8'? +95 "core" ' +2 "manipulator"&2& +4 "core" &Ӝ* ^ Bg +2 "manipulator"&:% +4 "core" %B s q + "collection"'{& +4 "core" & z\ +2 "collection"'@& +6 "core" & |\ +2 .tCC.seek :closed +3 "collection"'h(\\ +3 "core" & y\ +6 &; ~\ %g +9 &Ww \ 7 +10 &w z\ L +9 &T w\ M +9 &{T y\ L +10 &<V v\ L +9 &W o\ L +9 &U u\ M +10 &T s\ L +9 &DQ s\ L +10 & U h\ L +9 &!T j\ L +9 &#R h\ L +10 &%LU h\ L +9 &' T i\ M +9 &(T i\ L +10 &*Q h\ L +9 &,ST j\ M +10 &.S j\ L +9 &/Q j\ L +9 &1V i\ L +10 &3[U j\ M +9 &5T i\ L +9 &6R j\ L +10 &8S g\ L +9 &:dU i\ L +10 &<&R j\ L +9 &=U j\ L +9 &?W k\ M +10 &AlU i\ L +9 &C-Y e\ M +9 &Da ^\ N +10 &Fp c\ P +9 &H` d\ S +10 &J a\ V +9 &K `\ X +9 &M b\ Y +10 &OS e\ Z +9 &Q b\ Z +9 &R Z\ [ +10 &T U\ \\ +9 &VV _\ \\ +10 &X ]\ ] +9 &Y Z\ ] +9 &[ T\ K +10 &\\; T\ + +9 &\\~ [\ W +2 ( +2 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open + "manipulator"&V1 +57 "core" 1 + "manipulator"&s% +4 "core" % B Q q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&1' +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%I& +4 "core" &\ + "manipulator"&% +4 "core" %   +2 "storage"( % +3 "core" % \ +2 "storage"(%. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(o(<- +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<* p\  +2 "manipulator"&A& +3 "core" &ӝ*  Bf +2 "manipulator"&U% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +166 "core" ( + "manipulator"&O& +4 "core" &  +2 "storage"(N& +3 "core" &<* r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&k'O +99 "core" ' + "storage"(F& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &<* P\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&)( +3 "core" ( + "manipulator"&e& +4 "core" &   + "storage"(& +4 "core" &<* T\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&='Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&./ +72 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(M' +8 "core" & 4  +2 "manipulator"&W% +3 "core" % ϻ +2 .tForearm.seek :retract +2 "manipulator"&l' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +73 "core" ( + "manipulator"&n& +4 "core" &  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &   3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L' +96 "core" ' + "manipulator"&>& +4 "core" & 3 +2 "manipulator"&g% +3 "core" %  B ) +2 "processing"%w& +4 "core" &\ +2 "processing"%c& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(^ +4 "core" &\ +8 & .\ $c +9 &Sy\ 7 +10 &}y\ L +9 &S\ O +9 &VT\ O +10 &T\ O +9 &T\ O +9 &S\ O +10 &^T\ O +9 & T\ O +10 &R\ O +9 &!R\ O +9 &#gT\ O +10 &%*R\ O +9 &&T\ O +9 &(W\ O +10 &*oS\ O +9 &,1S\ O +10 &-R\ O +9 &/T\ O +9 &1wU\ O +10 &39T\ O +9 &4S\ O +9 &6U\ O +10 &8U\ O +9 &:@U\ O +10 &<T\ O +9 &=W\ P +9 &?W\ O +10 &AH[\ O +9 &C_\ Q +9 &Dh\ Q +10 &F{\ T +9 &H?\ U +10 &J\ U +9 &K\ U +9 &M\ V +10 &OD\ V +10 &Q\ V +8 &R\ W +10 &T\ W +9 &VJ\ W +10 &X \ V +9 &Y\ W +9 &[\ W +10 &]P\ I +9 &^yE\ #h +9 &^6\ 4 +7 ( +2 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&$1 +4 "core" &^+\ 4 +54 1 + "manipulator"&E% +4 "core" %   ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&H' +95 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%J& +5 "core" &^+\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&K% +4 "core" % # M 2 +2 "storage"(+% +3 "core" % \ +2 "storage"(]. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(4(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ('& +3 "core" &<* 3\  + "manipulator"&(& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & 3 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&x( +2 "storage"(v'r +5 "core" ( +2 "manipulator"&0& +3 "core" & 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 8 3 +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&|/ +78 "core" / +2 .tPC.seek :open +2 "processing"%r( +79 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(['1 +38 "core" ' +330 ( + "storage"("& +4 "core" &<* % ;\  + "manipulator"&<& +4 "core" & 3 3 + "manipulator"&6% +4 "core" %  1 +2 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +50 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&_( +246 "core" ( + "manipulator"&~& +4 "core" & R +2 "storage"(& +3 "core" &<* +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&R'O +94 "core" ' + .tHand.open + "manipulator"&f1 +61 "core" 1 + "storage"(#- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' + #tLights, camera, ACTION! + "storage"(G- +4 "core" -' + "storage"(& +4 "core" &<* + ) f\ ^ +2 "manipulator"&q& +3 "core" &  F R +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"&P& +4 "core" &  & R + "storage"(D& +4 "core" &<* , . U\ ] +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +54 "core" ' + "manipulator"&& +4 "core" &  R +2 "storage"(& +3 "core" &<* \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&&'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +26 "core" ' + "manipulator"&% +5 "core" %Ρ ' + "storage"(}& +4 "core" &<* +\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts + "manipulator"&7' +17 "core" ' + "manipulator"&S& +4 "core" &  R +2 "storage"(Y& +4 "core" &<* .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +20 "core" ' + "storage"(a% +5 "core" % #\ +2 ."downElevator"SE.seek :down +3 "storage"(i' +99 (d% +3 "core" %FI \ Yj +2 "manipulator"&% +4 "core" %\\ U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +90 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (;& +4 "core" &<* @\ + "collection"'m& +4 "core" &\\ X\ W + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  d  +2 "storage"(\\% +3 "core" %  c\ +2 "storage"(X. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(u(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (C& +3 "core" &<* q\  +2 "manipulator"&& +3 "core" & R +2 .tElbow.seek 5 +2 "manipulator"&3( +3 "core" ( + "manipulator"&& +4 "core" & 4 R + "storage"(z& +4 "core" &<* ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +94 "core" ' + "storage"( & +4 "core" &<* <\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +295 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&j& +3 "core" & R +2 "storage"(^& +3 "core" &<* B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&\ '΍ +19 "core" ' + .tElbow.hold + "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(2- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(:'h +30 "core" ' + "manipulator"&{% +4 "core" %Λ P & + "storage"(9& +4 "core" &<* "\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&`' +15 "core" ' + "manipulator"&/& +4 "core" & Q +2 "storage"(B& +3 "core" &<* .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&V'O +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(s' +42 "core" ' + "manipulator"&I& +4 "core" &  e Q +2 "manipulator"&% +4 "core" %: @ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&%(ӂ +164 "core" ( + "manipulator"&@& +4 "core" &Ӈ  1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &Ӈ G 1 +2 .tForearm.seek CC +2 "manipulator"&A'? +91 "core" ' + .tHand.close + "manipulator"&U/ +65 "core" / + .tCC.seek :open +2 "collection"'8( +447 "core" ( + "storage"(O& +4 "core" &<* & & \  + "storage"(N& +4 "core" &<* & '\  + "manipulator"&?& +4 "core" &Ӊ  9 1 + "manipulator"&F% +4 "core" % B ; + +2 .tForearm.seek :retract + "manipulator"&-' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&1( +162 "core" ( + "manipulator"&& +4 "core" & R  +2 "storage"(& +3 "core" &<* A A \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 + "manipulator"&'΍ +94 "core" ' + .tElbow.hold + "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&.% +5 "core" % ΄  H + "storage"(T& +4 "core" &<* A A \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 291 counts +2 "manipulator"&W'ϰ +36 "core" ' +2 "manipulator"&& +4 "core" & u  +2 "storage"(k& +3 "core" &<* B C I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&t'O +23 "core" ' + "storage"(=% +4 "core" % E T U\ +2 ."downElevator"SE.seek :down +4 "storage"(n' +99 (% +3 "core" %@ & % &\ Vc +2 "manipulator"&)% +3 "core" %^   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +96 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'g& +5 "core" & k\ + "manipulator"&w% +4 "core" %    +2 "storage"(M% +3 "core" % d d\ +2 "storage"(l. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(p(K +376 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ($& +3 "core" &K [ d .\ +2 "manipulator"&E& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&J( +3 "core" ( + "manipulator"&K& +4 "core" &  + "storage"(+& +4 "core" &K b c \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +95 "core" ' + "storage"(c& +4 "core" &K X c \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''r +297 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (0& +3 "core" &K  & \ + "manipulator"&& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&L( +3 "core" ( + "manipulator"&|& +4 "core" & 4  + "storage"(o& +4 "core" &K C C \ +2 .tForearm.seek 6 + 300 counts +49 "manipulator"&'h +39 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(!' +7 "core" &  \  +2 "manipulator"&v% +3 "core" % Y  +2 .tForearm.seek :retract +2 "manipulator"&"' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&<(ӂ +158 "core" ' + ( + ."downElevator"SE.coast +3 "manipulator"&6& + "storage"(5 +7 "core" &ӕ$   =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &ӕ$ x =F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&~'? +102 "core" ' + "manipulator"&& +4 "core" &Ӛ$ a =A +2 "manipulator"&x% +4 "core" %>  +2 "collection"'f& +4 "core" & ~\ +2 "collection"'#& +5 "core" & {\ +2 .tCC.seek :closed + "collection"'G(\\ +4 "core" & u\  +9 &4x y\ *z +10 & g \ ? +9 &n }\ M +9 &ZQ y\ L +10 &U z\ L +9 &V y\ L +9 &U s\ L +10 &dT t\ K +9 &$W t\ L +10 &T l\ L +9 & T x\ L +9 &"jX l\ L +10 &$-U i\ L +9 &%U j\ L +10 &'X j\ L +9 &)sT j\ L +9 &+4S j\ L +10 &,T j\ L +9 &.T i\ L +9 &0zW f\ L +10 &2=T i\ L +9 &3U j\ L +10 &5X j\ L +9 &7U i\ L +9 &9EU g\ L +10 &;U h\ L +9 &<U j\ L +9 &>V g\ L +10 &@MU f\ L +9 &BW i\ L +10 &C\\ h\ M +9 &Ed `\ N +9 &GGy f\ P +10 &I f\ R +9 &J [\ W +9 &Lw _\ X +10 &N6 X\ Y +9 &O b\ Y +10 &Q [\ Y +9 &Su U\ [ +9 &U: X\ Z +10 &V V\ \\ +9 &X W\ \\ +9 &Zw U\ ] +10 &\\z \\\ 1 +9 &\\. ^\ _ +9 ( +3 "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&1 +3 "core" &\\c a\ N +58 1 +2 "manipulator"&q% +4 "core" % >  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&P' +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%D& +4 "core" &\ + "manipulator"& % +4 "core" % ! K * +2 "storage"(% +3 "core" % \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (}& +3 "core" &K 1\ +2 "manipulator"&[& +3 "core" &ӛ# <@ +2 "manipulator"&S% +3 "core" % ! * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&Y( +162 "core" ( + "manipulator"&*& +4 "core" & o  +2 "storage"(a& +3 "core" &K  O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&_' +99 "core" ' + "storage"(R& +4 "core" &K  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &K T\ + "manipulator"&5& +4 "core" &  :  +2 .tElbow.seek 6 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & M  + "storage"(&& +4 "core" &K  y\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&7'h +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&;/ +74 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(' +8 "core" &   +2 "manipulator"&\\% +3 "core" % d  +2 .tForearm.seek :retract +2 "manipulator"&X' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&( +168 "core" ' + ."downElevator"SE.coast + "storage"(5 +71 "core" ( +2 "manipulator"&C& +4 "core" & h 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & i 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&z& +4 "core" & & 5 +2 "manipulator"&% +3 "core" %  K +2 "processing"% & +4 "core" &\ +2 "processing"%i& +4 "core" &\ +2 .tPC.seek :closed + "processing"%4(^ +4 "core" &\ +9 & .\ $c +9 &T{\ 7 +9 &}z\ L +10 &T\ O +9 &RT\ N +10 &T\ O +9 &T\ N +9 &T\ O +10 &YS\ O +9 &T\ O +9 &Q\ O +10 &!T\ N +9 &#aT\ O +10 &%#U\ O +9 &&V\ O +9 &(R\ O +10 &*jT\ N +9 &,+U\ O +9 &-R\ O +10 &/R\ O +9 &1qU\ O +10 &33R\ O +9 &4R\ O +9 &6T\ O +10 &8xX\ O +9 &:;U\ O +9 &;W\ O +10 &=W\ O +9 &?W\ O +10 &A@X\ P +9 &Cb\ P +10 &Dh\ Q +9 &F{y\ T +9 &H9\ U +9 &I\ U +10 &K\ U +9 &M|\ V +10 &O>\ V +9 &P\ W +9 &R\ V +10 &T\ W +9 &VD\ V +9 &X\ V +10 &Y\ W +9 &[\ V +10 &]K\ I +9 &^wG\ "g +9 &^>\ 5 +7 ( +2 "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"& 1 +4 "core" &^+\ 5 +57 1 + "manipulator"&Z% +4 "core" %  ' K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&y' +91 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%j& +4 "core" &^+\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&^% +4 "core" %    + "storage"(2% +4 "core" % 7\ + "storage"({. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(9(K +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (/& +3 "core" &K X\ + "manipulator"&B& +3 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 "core" & y 5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&I( +2 "storage"('r +4 "core" ( + "manipulator"&b& +4 "core" & @ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +2 "core" &  5 +2 .tForearm.seek PC +2 "manipulator"&,' +90 "core" ' + .tHand.close + "manipulator"&\ / +70 "core" / +2 .tPC.seek :open +2 "processing"%`( +91 "core" ' + "storage"(:- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(@'1 +46 "core" ' +310 ( + "storage"(& +4 "core" &K & & 3\ + "manipulator"&V& +4 "core" &  l 5 + "manipulator"&Q% +4 "core" %  { f +2 .tForearm.seek :retract + "manipulator"&U' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +259 "core" ( + "manipulator"&h& +4 "core" & z  + "storage"(O& +4 "core" &K  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&N' +97 "core" ' + .tHand.open + "manipulator"&?1 +59 "core" 1 + "storage"(F- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +4 "core" -' + "storage"(%& +4 "core" &K Q S ?\ e + "manipulator"&& +4 "core" & T  +2 .tElbow.seek 6 + "manipulator"&.( +13 "core" ( + "manipulator"&T& +4 "core" &  a +2 "storage"(& +3 "core" &K S R K\ e +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +21 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(='" +55 "core" ' + "manipulator"&-& +4 "core" & - a +2 "storage"(& +3 "core" &K  6\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +52 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&)'< +28 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +24 "core" ' + "manipulator"&g% +4 "core" %N  V +2 "storage"(W& +4 "core" &K )\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&w'z +15 "core" ' + "manipulator"&M& +4 "core" & ^ +2 "storage"(l& +4 "core" &K & &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +21 "core" ' + "storage"(t% +4 "core" % & ' \ +2 ."downElevator"SE.seek :down +4 "storage"(n' +99 (u% +3 "core" %UJ  -\ Xh +2 "manipulator"&$% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +90 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (K& +4 "core" &K & # \ \ + "collection"'+& +4 "core" &\\c [\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&c% +3 "core" %  2  +2 "storage"(e% +4 "core" % & &\ + "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(((K +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (0& +3 "core" &K ' 2 G\ +2 "manipulator"&& +3 "core" & a ^ +2 .tElbow.seek 6 +2 "manipulator"&|( +9 "core" ( + "manipulator"&o& +4 "core" & e +2 "storage"(& +3 "core" &K ' &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +3 "manipulator"&H' +97 "core" ' + "storage"(v& +4 "core" &K & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'r +296 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +3 "core" & e +2 "storage"(& +3 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&''< +28 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(x'a +29 "core" ' + "manipulator"&L% +4 "core" %M 1 +2 "storage"(f& +3 "core" &K  \ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&!'y +16 "core" ' + "manipulator"&"& +4 "core" & b +2 "storage"(8& +3 "core" &K & %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +21 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(q' +47 "core" ' + "manipulator"&D& +4 "core" &  k b +2 "manipulator"& % +4 "core" % C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +169 "core" ( +2 "manipulator"&#& +4 "core" &Ӌ T 4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &Ӌ ` 4 +2 .tForearm.seek CC +2 "manipulator"&['? +95 "core" ' + .tHand.close + "manipulator"&S/ +63 "core" / + .tCC.seek :open +2 "collection"'~( +447 "core" ( + "storage"(*& +4 "core" &K B , d\ + "storage"(a& +4 "core" &K % % 5\ + "manipulator"&p& +4 "core" &ӌ 4 + "manipulator"&R% +4 "core" % J  O +2 .tForearm.seek :retract + "manipulator"&<' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&P( +162 "core" ( + "manipulator"&d& +4 "core" & a  +2 "storage"(& +3 "core" &K J K ;\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&5'< +94 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&&1 +54 "core" 1 + "manipulator"&;% +5 "core" % K = + "storage"(m& +4 "core" &K 8 4 q\ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 315 counts + "manipulator"&\\'w +26 "core" ' +2 "manipulator"&Y& +4 "core" &   + "storage"(_& +4 "core" &K W `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(7% +4 "core" % b c \ +3 ."downElevator"SE.seek :down +3 "storage"(C' +98 (% +3 "core" %@ C D \ Va +2 "manipulator"& % +3 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +89 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & y\ + "manipulator"& % +4 "core" %    + "storage"(% +4 "core" % c _\ + "storage"(X. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(r(  +1302 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ( & +3 "core" &  J J ?\ + "manipulator"&Z& +4 "core" &  G  +2 .tElbow.seek 2 + "manipulator"&j( +8 "core" ( + "manipulator"&^& +4 "core" &  +2 "storage"(2& +3 "core" &  A 8 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'S +92 "core" ' + "storage"(i& +4 "core" &  ` W\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'r +311 "core" ' + "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (b& +3 "core" &  % 1 \  + "manipulator"&3& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&\ & +4 "core" &   + "storage"(& +4 "core" &  B C \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&:'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +67 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(4' +8 "core" &  n  + "manipulator"&% +4 "core" % ϲ @ +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&V(ӂ +159 "core" ( + ' + ."downElevator"SE.coast +3 "manipulator"&Q& +2 "storage"(5 +6 "core" &ӓ&  N ?Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" &ӓ&  % ?Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&h'? +96 "core" ' + "manipulator"&O& +4 "core" &Ӗ% R >N +2 "manipulator"&I% +4 "core" %F u +2 "collection"'?& +3 "core" & \ +2 "collection"'F& +6 "core" & r\ +2 .tCC.seek :closed + "collection"'A(\\ +5 "core" & \ +7 &< \ %f +10 &X{ {\ 8 +9 &w \ L +10 &U \ L +9 &U y\ L +9 &DU w\ L +10 &U y\ L +9 &U x\ L +9 &T \ L +10 &LU \ L +9 & U }\ L +10 &!U z\ L +9 &#V {\ L +57 &%TT |\ L +3 &'S |\ L +7 &(U y\ L + &*T t\ L + &,[T y\ L + &.U v\ L &/T p\ L +5 &1U k\ L +9 &3cU k\ L +10 &5%U k\ L +9 &6U j\ L +9 &8U k\ L +10 &:jU e\ L +9 &<,V j\ L +10 &=X l\ L +9 &?W i\ L +9 &ArW j\ L +10 &C4Z l\ L +9 &Dc k\ N +9 &Fm a\ O +10 &Hk c\ Q +9 &J e\ V +10 &K `\ W +9 &M e\ X +9 &O_ d\ X +10 &Q e\ Y +9 &R g\ Y +9 &T ^\ Z +10 &V^ `\ [ +9 &X g\ \\ +10 &Y e\ ] +9 &[ i\ I +9 &\\9 `\ , +10 &\\c c\ M +2 ( +2 "collection"'F& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&%1 +56 "core" 1 + "manipulator"&% +5 "core" % F x u + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&T' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"&U% +4 "core" %    +2 "storage"(-% +3 "core" %   W\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(@(  +11 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &   m\ +2 "manipulator"&g& +3 "core" &ә) >K +2 "manipulator"&W% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&M( +163 "core" ( + "manipulator"&l& +4 "core" & 4  +2 "storage"( & +3 "core" &  & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&N'S +93 "core" ' + "storage"(t& +4 "core" &   i\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +301 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &    m\  +2 "manipulator"&k& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&.( +4 "core" ( + "manipulator"&=& +3 "core" &   +2 "storage"()& +3 "core" &  & &\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&w'Ͻ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&K/ +69 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&+& +4 "storage"(c' +3 "core" &  +2 "manipulator"&e% +3 "core" %   [ +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.seek PC +2 "manipulator"&>( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +77 "core" ( + "manipulator"&0& +5 "core" & E 4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&o' +97 "core" ' + "manipulator"&& +4 "core" & 4 +2 "manipulator"&s% +4 "core" % P j + "processing"%v& +4 "core" &\ +2 "processing"%n& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(^ +4 "core" &\ +7 &.\ #b +9 &U}\ 7 +9 &}y\ L +10 &S\ O +9 &UT\ O +9 &T\ N +10 &T\ O +9 &T\ O +10 &]U\ O +9 &T\ O +9 &R\ N +10 &!S\ O +9 &#eV\ O +9 &%(R\ N +10 &&T\ O +9 &(W\ O +10 &*nT\ N +9 &,/T\ O +9 &-R\ O +10 &/U\ O +9 &1uW\ O +9 &37S\ O +10 &4T\ N +9 &6U\ O +10 &8}W\ O +9 &:?U\ O +9 &<W\ O +10 &=W\ O +9 &?U\ O +9 &AEW\ O +10 &C\\\ P +9 &Dc\ P +10 &Fq\ R +9 &H=\ U +9 &I\ U +10 &K\ U +9 &M\ V +9 &OC\ U +10 &P\ X +9 &R\ V +10 &T\ V +9 &VG\ W +9 &X \ W +10 &Y\ V +9 &[\ V +9 &]M\ M +10 &^}I\ [ +9 &^ S\ 5 +6 ( + "processing"%n& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&11 +4 "core" &^'\ 5 +61 1 + "manipulator"&E% +4 "core" %  ^ j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&]' +91 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%6& +4 "core" &^'\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %   + "storage"(% +4 "core" % \ + "storage"(L. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(f(  +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ("& +3 "core" &   2\ + "manipulator"&8& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & 6 4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(D'r +4 "manipulator"& ( +27 "core" ( + "manipulator"&H& +4 "core" & Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" & ! +2 .tForearm.seek PC + "manipulator"&J' +93 "core" ' + .tHand.close + "manipulator"&'/ +74 "core" / + .tPC.seek :open +2 "processing"%!( +56 "core" ' + "storage"(x- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(#'1 +47 "core" ' +345 ( + "storage"(}& +4 "core" &  0 * +\  + "manipulator"&& +4 "core" & w +2 "manipulator"&% +3 "core" %  ; Q +2 .tForearm.seek :retract + "manipulator"&S' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +241 "core" ( + "manipulator"&G& +4 "core" & a 9 +2 "storage"(*& +3 "core" &  ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&a'S +92 "core" ' + .tHand.open + "manipulator"&p1 +60 "core" 1 + "storage"(R- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(d' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' + #tLights, camera, ACTION! + "storage"([- +4 "core" -' + "storage"(& +4 "core" &  { \ o + "manipulator"&&& +4 "core" & ; 9 +2 .tElbow.seek 2 + "manipulator"&;( +4 "core" ( + "manipulator"&m& +4 "core" &  9 + "storage"(Y& +4 "core" &   E\ p +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(7'" +56 "core" ' + "manipulator"&<& +4 "core" &  9 +2 "storage"(& +3 "core" &    ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& 'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(5' +29 "core" ' + "manipulator"&\\% +4 "core" %Ρ O < +2 "storage"(q& +4 "core" &    r\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 316 counts + "manipulator"&' +25 "core" ' + "manipulator"&C& +4 "core" & > 9 +2 "storage"((& +4 "core" &  & '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +14 "core" ' + "storage"( % +5 "core" % !  I\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (X% +3 "core" %Y :\ Zo +2 "manipulator"& % +4 "core" %R + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +93 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (^& +4 "core" &   \ +2 "collection"'2& +53 "core" &\\` U\ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&i% +4 "core" % " c ' + "storage"(% +4 "core" % & &\ +2 "storage"(z. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(B(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (b& +2 "core" &    \  +2 "manipulator"&3& +4 "core" & 8 +2 .tElbow.seek 2 + "manipulator"&\ ( +3 "core" ( +2 "manipulator"&& +3 "core" & ( 8 +2 "storage"(& +4 "core" &   +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&y'S +95 "core" ' + "storage"(& +4 "core" &  &  4\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'r +296 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &  8 + "storage"(,& +4 "core" &  j\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&/'Α +19 "core" ' + .tElbow.hold + "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"(I'Y +29 "core" ' + "manipulator"&?% +4 "core" %Γ  ' +2 "storage"(& +3 "core" &  ' ' .\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 302 counts + "manipulator"&4'Ͽ +36 "core" ' + "manipulator"&& +4 "core" & 8 +2 "storage"(~& +3 "core" &   o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&%'S +27 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(' +40 "core" ' + "manipulator"&& +4 "core" &  8 +2 "manipulator"&U% +4 "core" %P F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&-' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( +2 "manipulator"&F& +4 "core" &ӆ*  Bj + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &ӆ* 6 Bj +2 .tForearm.seek CC +2 "manipulator"&g'? +91 "core" ' + .tHand.close + "manipulator"&W/ +64 "core" / + .tCC.seek :open +2 "collection"'h( +447 "core" ( + "storage"(l& +4 "core" &  H E \  + "storage"( & +4 "core" &  ? < \  + "manipulator"&r& +4 "core" &ӝ&  k ?S + "manipulator"&t% +4 "core" % K B \\ +2 .tForearm.seek :retract + "manipulator"&V' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&T( +162 "core" ( + "manipulator"&u& +4 "core" & +2 "storage"($& +3 "core" &  V Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&k'Α +97 "core" ' + .tElbow.hold + "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&)1 +64 "core" 1 + "manipulator"&K% +5 "core" % ΋  + "storage"(+& +4 "core" &  U Y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 294 counts + "manipulator"&e'Ϸ +25 "core" ' +2 "manipulator"&M& +4 "core" &   + "storage"(N& +4 "core" &  b Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +19 "core" ' + "storage"(w% +4 "core" % { \ +3 ."downElevator"SE.seek :down +3 "storage"(0' +98 (% +3 "core" %J D B X\ Xi +2 "manipulator"&.% +3 "core" %]  @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'s& +5 "core" & k\ + "manipulator"&v% +4 "core" % !  W ) +2 "storage"(c% +3 "core" % T T \\\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(`( +349 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (1& +101 "core" & H A\  +2 "manipulator"&E& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&6( +14 "core" ( + "manipulator"&& +4 "core" & R  + "storage"(& +4 "core" & A B j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&L'7 +97 "core" ' + "storage"(n& +4 "core" & V F\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'r +297 "core" ' +2 "storage"(8- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +2 "core" & $  ^\  +2 "manipulator"&|& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&o( +3 "core" ( + "manipulator"&'& +4 "core" & 0  + "storage"(@& +4 "core" & & & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&x'ϡ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +68 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"(9' +8 "core" &  +2 "manipulator"&D% +3 "core" % ϙ ; +2 .tForearm.seek :retract +2 "manipulator"&}' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.coast + "storage"(5 +5 "core" ( + "manipulator"&& +4 "core" &ӟ  ) 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &ӟ  / 9' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&G'? +102 "core" ' +2 "manipulator"&*& +4 "core" &ӟ  # 9' +2 "manipulator"& % +4 "core" %4  0 + "collection"'p& +4 "core" & w\ +2 "collection"'R& +5 "core" & w\ +2 .tCC.seek :closed + "collection"'[(\\ +4 "core" & v\  +10 &4} v\ *z +9 &e} z\ > +9 &o ~\ M +10 &RR w\ L +9 &T \ L +10 &U ~\ L +9 &T y\ L +9 &ZU x\ L +10 &W w\ L +9 &U v\ L +9 & T m\ L +10 &"aU j\ L +9 &$#T j\ L +10 &%U i\ L +9 &'U i\ L +9 &)iT d\ L +10 &++T h\ L +9 &,U j\ L +9 &.U j\ L +10 &0qU p\ L +9 &23U h\ L +10 &3R i\ L +9 &5U i\ L +9 &7yU i\ L +10 &9;U i\ L +9 &:R i\ L +9 &<V c\ L +10 &>W i\ M +9 &@DU d\ L +10 &BY `\ M +9 &CZ e\ M +9 &Eg f\ N +10 &G@v f\ P +9 &H Z\ S +9 &J b\ V +10 &Ln f\ X +9 &N/ \\\ Y +10 &O b\ Y +9 &Q f\ Y +9 &Sr `\ Z +10 &U1 f\ [ +9 &V `\ [ +9 &X `\ \\ +10 &Zq U\ ] +9 &\\x f\ 5 +10 &\\& [\ "e +9 ( + &\\ _\ \\ +2 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&&% +5 "core" % 4 0 + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%Y& +4 "core" &x\ + "manipulator"&S% +4 "core" %  }  + "storage"(<% +4 "core" % N\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(\\( +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (q& +3 "core" & Z\  +2 "manipulator"&#& +3 "core" &Ӡ S 9& +2 "manipulator"&C% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(( +164 "core" ( +50 "manipulator"&d& +4 "core" &  +2 "storage"( & +3 "core" &   ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +96 "core" ' +2 "storage"(a& +4 "core" &   _\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & U\  +2 "manipulator"&_& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&;( +3 "core" ( +2 "manipulator"&7& +3 "core" &  +2 "storage"( & +3 "core" &  \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&^'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +66 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"(5' +8 "core" & o  + "manipulator"&i% +4 "core" % Ϛ  +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&z( +176 "core" ' + ."downElevator"SE.coast + "storage"(5 +63 "core" ( + "manipulator"&b& +4 "core" & 8 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" & 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + "manipulator"&& +4 "core" & E 0 +2 "manipulator"&% +4 "core" % ' + "processing"%& +4 "core" &z\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%f(^ +4 "core" &\  +8 &1r\ *x +10 &a}\ > +9 &ir\ O +9 &(T\ O +10 &S\ O +9 &R\ O +10 &oS\ O +9 &2S\ O +9 &T\ O +10 &S\ O +9 & xS\ O +9 &":R\ O +10 &#W\ O +9 &%R\ O +10 &'S\ N +9 &)AR\ O +9 &+R\ O +10 &,R\ O +9 &.Q\ O +9 &0JT\ O +10 &2 S\ O +9 &3S\ O +10 &5U\ O +9 &7RS\ O +9 &9T\ O +10 &:U\ O +9 &<T\ O +9 &>XY\ O +10 &@W\ P +9 &A]\ P +10 &Cc\ Q +9 &EXn\ R +9 &G~\ T +10 &H\ U +9 &J\ U +9 &LV\ U +10 &N\ V +9 &O\ V +10 &Q\ V +9 &SZ\ W +9 &U\ W +10 &V\ W +9 &X\ W +9 &Za\ W +10 &\\#\ W +9 &]\ 4 +10 &^3q\ E +10 ( &^&\ 2 +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&P1 +63 "core" 1 + "manipulator"&Z% +4 "core" %  P ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%Q& +4 "core" &^&\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&,% +3 "core" %  `  +2 "storage"(O% +3 "core" %  t\ +2 "storage"(?. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" & U\  + "manipulator"&~& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &  0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&( +2 "storage"(U'r +6 "core" ( + "manipulator"&y& +4 "core" & ? 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +2 "core" & j 0 +3 .tForearm.seek PC + "manipulator"&j' +95 "core" ' + .tHand.close + "manipulator"&// +77 "core" / + .tPC.seek :open +2 "processing"%4( +80 "core" ' + "storage"(I- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(F'1 +44 "core" ' +321 ( + "storage"(& +4 "core" &  a\  + "manipulator"&%& +4 "core" & # 0 + "manipulator"&:% +4 "core" %  p 5 +2 .tForearm.seek :retract + "manipulator"&W' +97 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&-( +248 "core" ( + "manipulator"&A& +4 "core" &   Z + "storage"(l& +4 "core" & '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +99 "core" ' + .tHand.open + "manipulator"&r1 +64 "core" 1 + "storage"(t- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(u' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"($' +57 "core" ' + #tLights, camera, ACTION! + "storage"(g- +4 "core" -' + "storage"(& +4 "core" & + . h\ ] + "manipulator"&)& +4 "core" &\ Z +2 .tElbow.seek 3 + "manipulator"&K( +3 "core" ( +2 "manipulator"&+& +3 "core" &\    Z +2 "storage"(M& +3 "core" & - - U\ ^ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&N'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(w'" +53 "core" ' + "manipulator"&V& +4 "core" &\  Z +2 "storage"(& +3 "core" &  h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&.'u +15 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(k' +25 "core" ' + "manipulator"&s% +4 "core" %΃  @ +2 "storage"(e& +4 "core" & l\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&v'ϯ +37 "core" ' + "manipulator"&c& +4 "core" &\  Z +2 "storage"(& +4 "core" & I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +3 "manipulator"&'7 +23 "core" ' + "storage"(% +4 "core" %  =\ +2 ."downElevator"SE.seek :down +4 "storage"(0' +99 (B% +3 "core" %I O\ Xi +2 "manipulator"&1% +4 "core" %O X + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +94 "core" ' +64 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &  %\ + "collection"'& +4 "core" &\\ T\ \\ + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&n% +4 "core" % " V * +2 "storage"(=% +3 "core" %  9\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(8( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (H& +3 "core" &  &\  +2 "manipulator"&|& +3 "core" &\   Z +2 .tElbow.seek 3 + "manipulator"&'( +3 "core" ( +2 "manipulator"&@& +4 "core" &\  Z + "storage"(>& +4 "core" & =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&]'7 +100 "core" ' + "storage"(D& +4 "core" &  #\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'r +296 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &\   Z +2 "storage"(J& +3 "core" & 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&"'u +16 "core" ' + .tElbow.hold + "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +50 "manipulator"&$&.,(\ #b +4 "storage"(*- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"( 'f +31 "core" ' + "manipulator"&p% +4 "core" %΂ I C +2 "storage"(o& +3 "core" &  h\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 313 counts + "manipulator"&9'Ϯ +34 "core" ' + "manipulator"&}& +4 "core" &\  Z +2 "storage"(h& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(&' +37 "core" ' + "manipulator"&Y& +4 "core" &\  Z +2 "manipulator"&S% +4 "core" %< P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&R& +4 "core" &ӑ) # Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +2 "core" &ӑ) Ac +2 .tForearm.seek CC +2 "manipulator"&#'? +94 "core" ' + .tHand.close + "manipulator"&C/ +73 "core" / + .tCC.seek :open +2 "collection"'G( +450 "core" ( + "storage"(d& +4 "core" & 7 + B\  + "storage"( & +4 "core" & ( '\  +2 "manipulator"&`& +3 "core" &Ө% >L + "manipulator"&% +4 "core" % 5 4 +2 .tForearm.seek :retract + "manipulator"&a' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&m( +161 "core" ( + "manipulator"&X& +4 "core" & M  +2 "storage"( & +3 "core" & 3 4 A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&_'u +90 "core" ' + .tElbow.hold + "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "manipulator"&% +4 "core" % ~ u R + "storage"(2& +4 "core" & U T R\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&i'Ϫ +32 "core" ' +3 "manipulator"&(& +6 "core" & e  +2 "storage"(& +3 "core" & U Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +26 "core" ' + "storage"(^% +4 "core" % h c \ +3 ."downElevator"SE.seek :down +3 "storage"(b' +98 (3% +3 "core" %zA K J '\ Va +2 "manipulator"&;% +3 "core" %9  w ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" & i\ + "manipulator"&% +4 "core" %  { " +2 "storage"(5% +3 "core" % c d\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(!(,y +360 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (P& +3 "core" &,z , ' W\  + "manipulator"&Z& +4 "core" & L  +2 .tElbow.seek 4 + "manipulator"&Q( +30 "core" ( + "manipulator"&,& +4 "core" & o L +2 "storage"(O& +3 "core" &,z ' ) +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&?' +95 "core" ' + "storage"(& +4 "core" &,z F H {\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (y& +3 "core" &,z %  \  + "manipulator"&\ & +4 "core" & 1 L + .tElbow.seek 4 +2 "manipulator"&( +32 "core" ( + "manipulator"&/& +4 "core" &  t + "storage"(\\& +4 "core" &,z C B \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&I'c +33 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +72 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&{& +4 "storage"(f' +3 "core" & b t +2 "manipulator"&U% +3 "core" % p R +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + .tElbow.seek CC +2 "manipulator"&%(ӂ +154 "core" ' + ."downElevator"SE.coast + "storage"(5 +11 "core" ( + "manipulator"&:& +4 "core" &Ӌ 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &Ӌ  \ 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&A'? +96 "core" ' +2 "manipulator"&l& +4 "core" &Ӌ  4 +2 "manipulator"&% +3 "core" %: , R +2 "collection"'r& +4 "core" & o\ +2 "collection"'t& +4 "core" & |\ +2 .tCC.seek :closed +2 "collection"'g(\\ +4 "core" & t\  +10 &5{ l\ +{ +9 &e~ {\ > +10 &o {\ M +9 &SQ {\ L +9 &T {\ L +10 &U |\ L +9 &T |\ L +9 & w\ L +10 &U r\ L +9 &T r\ L +9 & S v\ L +10 &"dT k\ K +9 &$$T f\ L +10 &%T i\ L +9 &'T c\ L +9 &)jT e\ L +10 &+,T f\ L +9 &,T i\ L +9 &.T i\ L +10 &0sT i\ L +9 &25T k\ L +10 &3T i\ L +9 &5T i\ L +9 &7zU i\ L +10 &9<U j\ L +9 &:U k\ L +9 &<U f\ L +10 &>V _\ M +9 &@DU b\ L +10 &BV b\ L +9 &CZ i\ L +9 &Ef e\ N +10 &G@v d\ P +9 &H a\ S +10 &J ]\ W +9 &Lo c\ X +9 &N/ c\ Y +10 &O d\ Y +9 &Q a\ Z +9 &Sq ]\ Z +10 &U1 a\ [ +9 &V [\ \\ +10 &X a\ \\ +9 &Zs a\ \\ +9 &\\w b\ 6 +10 &\\( j\ &q +9 &\\t f\ Y +2 ( +2 "collection"'t& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&)% +4 "core" % :  R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&+' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%M& +4 "core" &v\ + "manipulator"&W% +4 "core" %    + "storage"(V% +4 "core" %   5\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(s(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (e& +3 "core" &,z  z\  +2 "manipulator"&F& +3 "core" &Ӌ  4 +2 "manipulator"&c% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +153 "core" ( + "manipulator"&u& +4 "core" & +  +2 "storage"(& +3 "core" &,z & & [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&-' +98 "core" ' + "storage"( & +4 "core" &,z h\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'r +296 "core" ' + "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +2 "core" &,z W\  +2 "manipulator"&N& +3 "core" & i  +2 .tElbow.seek 4 + "manipulator"&K( +31 "core" ( + "manipulator"&w& +4 "core" &  / + "storage"(.& +4 "core" &,z  J\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&v'c +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +67 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(n' +8 "core" & / / +2 "manipulator"&=% +3 "core" % υ 4 +2 .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&( +178 "core" ' + ."downElevator"SE.coast + "storage"(5 +66 "core" ( +3 "manipulator"&H& +4 "core" & M + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" &  G + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@' +96 "core" ' + "manipulator"&>& +4 "core" & n + +2 "manipulator"&% +4 "core" %  ` h + "processing"%D& +4 "core" &\ +2 "processing"%0& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +10 &2v\ *x +9 &a\ > +9 &kr\ O +10 &,R\ O +9 &U\ O +10 &R\ N +9 &sT\ N +9 &5R\ N +10 &S\ N +9 &T\ O +9 & {S\ N +10 &"=R\ N +9 &#T\ N +10 &%R\ N +9 &'V\ O +9 &)ER\ N +10 &+R\ N +9 &,S\ N +9 &.R\ N +10 &0KT\ O +9 &2S\ O +10 &3U\ O +9 &5V\ O +9 &7US\ N +10 &9U\ O +9 &:U\ O +9 &<T\ N +10 &>[W\ O +9 &@U\ O +10 &AZ\ P +9 &Ca\ P +9 &E\\k\ Q +10 &Gv\ S +9 &H\ U +9 &J\ U +10 &LX\ U +9 &N\ V +10 &O\ V +9 &Q\ W +9 &S^\ V +10 &U\ V +9 &V\ W +9 &X\ V +10 &Ze\ W +9 &\\'\ W +10 &]y\ ; +9 &^3\ T +9 &^"\ 0 +3 ( + "processing"%0& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&T1 +52 "core" 1 + "manipulator"&E% +4 "core" %   h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%& +4 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&J% +4 "core" %   + "storage"(*% +4 "core" % \ +2 "storage"(p. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(o(,y +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (}& +4 "core" &,z >\  + "manipulator"&h& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & s + +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&Y( +2 "storage"(S'r +4 "core" ( + "manipulator"&]& +4 "core" & + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &  + +2 .tForearm.seek PC + "manipulator"&6' +93 "core" ' + .tHand.close + "manipulator"&"/ +75 "core" / +2 .tPC.seek :open + "processing"%9( +82 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(R'1 +43 "core" ' +323 ( + "storage"(q& +4 "core" &,z  \  + "manipulator"&& +4 "core" & F + + "manipulator"&x% +4 "core" %  > +2 .tForearm.seek :retract + "manipulator"&C' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&<( +245 "core" ( + "manipulator"&[& +4 "core" & = +2 "storage"(d& +3 "core" &,z 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +101 "core" ' + .tHand.open + "manipulator"&`1 +63 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(X' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +4 "core" -' + "storage"(& +4 "core" &,z ?\ n + "manipulator"& & +4 "core" & > = +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&2& +4 "core" & + = + "storage"((& +4 "core" &,z s\ o +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(^'" +50 "core" ' + "manipulator"&a& +4 "core" & = +2 "storage"(3& +3 "core" &,z )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b + .tForearm.seek 4 +2 "manipulator"&;'7 +17 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(_' +24 "core" ' + "manipulator"&% +4 "core" %E  0 +2 "storage"(i& +4 "core" &,z - \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&'q +17 "core" ' + "manipulator"&5& +4 "core" &  = +2 "storage"(& +4 "core" &,z  X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&&' +21 "core" ' + "storage"(% +4 "core" %  6\ +3 ."downElevator"SE.seek :down +3 "storage"(b' +99 (8% +3 "core" %I _\ Xi +2 "manipulator"&P% +4 "core" % + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +93 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (,& +3 "core" &,z   \ +2 "collection"'O& +4 "core" &\\s b\ Y +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  "  +2 "storage"(7% +3 "core" %   -\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(~(,y +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (y& +2 "core" &,z  2\  +2 "manipulator"&\ & +4 "core" &  G = + .tElbow.seek 4 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&\\& +3 "core" &  = +2 "storage"(z& +4 "core" &,z 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +91 "core" ' + "storage"(U& +4 "core" &,z  %\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'r +302 "core" ' + "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&:& +3 "core" &  m = +2 "storage"(j& +4 "core" &,z  =\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +27 "core" ' + .tElbow.hold + "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(l- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"('a +31 "core" ' + "manipulator"&r% +4 "core" %E  i + "storage"(& +4 "core" &,z  J\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&f'q +14 "core" ' + "manipulator"&& +4 "core" & = +2 "storage"(G& +3 "core" &,z & & E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +21 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"()' +36 "core" ' + "manipulator"&M& +4 "core" & 2 = +2 "manipulator"&W% +4 "core" % + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ( + "manipulator"&t& +4 "core" &z.  E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &z. E + .tForearm.seek CC +2 "manipulator"&F'? +94 "core" ' + .tHand.close + "manipulator"&c/ +62 "core" / + .tCC.seek :open +2 "collection"'A( +447 "core" ( + "storage"(u& +54 "core" &,z B C \  + "storage"(& +4 "core" &,z C B \  + "manipulator"&!& +4 "core" &ӣ'  @Y + "manipulator"& % +4 "core" % G 9 N +2 .tForearm.seek :retract + "manipulator"&%' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&+( +166 "core" ( + "manipulator"&B& +4 "core" & g  +2 "storage"(1& +3 "core" &,z Y V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&N'7 +101 "core" ' + .tElbow.hold + "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&.1 +55 "core" 1 +2 "manipulator"&% +4 "core" % G "  +2 "storage"(& +3 "core" &,z U U \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 316 counts + "manipulator"&='s +16 "core" ' + "manipulator"&& +4 "core" & L  +2 "storage"(-& +3 "core" &,z Z Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&$' +21 "core" ' + "storage"(v% +4 "core" % k i \ +2 ."downElevator"SE.seek :down +3 "storage"(H' +100 (|% +3 "core" %A: K K 3\ V` +2 "manipulator"&K% +3 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +96 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" & k\ + "manipulator"&D% +4 "core" %     +2 "storage"(n% +3 "core" % \\ [\ +2 "storage"(k. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(4(<- +301 "Can"\ ^[ +53 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (T& +3 "core" &<*)  $ )\  + "manipulator"&E& +4 "core" & S  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( + "manipulator"&J& +5 "core" & <  +4 "storage"(*& +6 "core" &<*) $  \  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 5 + 450 counts + "manipulator"&p'O +101 "core" ' + "storage"(}& +4 "core" &<*) B C \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'r +299 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (]& +3 "core" &<*(  \  +2 "manipulator"&'& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&@( +3 "core" ( + "manipulator"&"& +4 "core" & ?  +2 "storage"(s& +3 "core" &<*( ' &\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +74 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"(' +8 "core" & G  +2 "manipulator"&S% +4 "core" %  G + .tForearm.seek :retract +2 "manipulator"&q' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ' + ."downElevator"SE.coast + "storage"(5 +8 "core" ( + "manipulator"&x& +4 "core" &Ӈ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &Ӈ 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&['? +96 "core" ' +2 "manipulator"&d& +4 "core" &Ӈ 7 +2 "manipulator"&Y% +3 "core" %@  +2 "collection"'`& +4 "core" & z\ +2 "collection"'& +5 "core" & }\ +2 .tCC.seek :closed + "collection"'#(\\ +4 "core" & x\  +10 &2x z\ *z +9 &d} |\ > +9 &o v\ M +10 &QU m\ L +9 &V u\ L +10 &U x\ L +9 &U y\ L +9 &YT s\ L +10 &U j\ M +9 &T l\ L +9 & T i\ L +10 &"aU j\ L +9 &$$Q h\ L +10 &%T i\ L +9 &'T j\ L +9 &)iU j\ L +10 &+,T d\ L +9 &,T i\ L +9 &.U f\ L +10 &0rR h\ L +9 &23U ]\ L +10 &3U h\ M +9 &5T h\ L +9 &7xT h\ M +10 &9;U e\ L +9 &:W d\ L +9 &<U ^\ L +10 &>R f\ L +9 &@BU d\ M +10 &BV d\ L +9 &CZ d\ M +9 &Eg ^\ N +10 &G?v h\ P +9 &H d\ T +9 &J ^\ W +10 &Lo _\ X +9 &N/ `\ X +10 &O g\ Y +9 &Q a\ Z +9 &Sp _\ Z +10 &U2 a\ Z +9 &V e\ [ +9 &X `\ \\ +10 &Zp h\ ] +9 &\\{ n\ 1 +10 &\\1 i\ c +10 ( &\\g i\ Q +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"& % +4 "core" % @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%(& +4 "core" &\ + "manipulator"&C% +4 "core" %  #  + "storage"(a% +4 "core" % 3\ +2 "storage"(3. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (i& +3 "core" &<*   \  +2 "manipulator"&R& +3 "core" &Ӈ 7 +2 "manipulator"&5% +3 "core" %  0  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( + "manipulator"&X& +4 "core" & L  +2 "storage"(& +3 "core" &<* ' * E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&<'O +93 "core" ' + "storage"( & +4 "core" &<* ( '\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +296 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" &<* )\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( + "manipulator"&^& +4 "core" & $  + "storage"(;& +4 "core" &<* % & $\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +74 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&O& + "storage"(' +6 "core" & 2  +2 "manipulator"&7% +3 "core" %  D +2 .tForearm.seek :retract +2 "manipulator"&_' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&( +170 "core" ' + ."downElevator"SE.coast + "storage"(5 +89 "core" ( +2 "manipulator"&y& +4 "core" & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" & y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\\' +100 "core" ' + "manipulator"&z& +4 "core" & \ +2 "manipulator"&&% +3 "core" % F +2 "processing"%U& +4 "core" &\ +2 "processing"%b& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%o(^ +4 "core" &\ +8 &.\ #a +9 &Tz\ 7 +9 &~{\ L +10 &T\ N +9 &ST\ N +10 &T\ N +9 &W\ O +9 &V\ O +10 &[W\ N +9 &U\ O +9 &T\ O +10 &!T\ N +9 &#bV\ O +10 &%$S\ O +9 &&R\ N +9 &(T\ O +10 &*iU\ O +9 &,,S\ O +9 &-R\ O +10 &/W\ O +9 &1rT\ O +10 &34R\ O +9 &4R\ O +9 &6T\ N +10 &8{U\ N +9 &:<T\ O +9 &;Y\ O +10 &=V\ O +9 &?U\ O +10 &ADX\ O +9 &Cc\ P +9 &Dh\ Q +10 &F||\ T +9 &H:\ U +9 &I\ U +10 &K\ U +9 &M~\ U +10 &O@\ U +9 &Q\ V +9 &R\ U +10 &T\ W +9 &VF\ V +9 &X\ V +10 &Y\ V +9 &[\ W +10 &]M\ I +9 &^yI\ _ +9 &^X\ 3 +7 ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&m1 +4 "core" &^!\ 2 +57 1 + "manipulator"&Z% +4 "core" %  X + .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&?' +91 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%:& +4 "core" &^!\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&j% +4 "core" %    + "storage"(l% +4 "core" %  !\ +2 "storage"(r. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& + "manipulator"&G& +4 "core" &<* a\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" & Z +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(M'r +2 "manipulator"&W( +4 "core" ( +2 "manipulator"&{& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &  +2 .tForearm.seek PC + "manipulator"&Q' +97 "core" ' + .tHand.close + "manipulator"&/ +76 "core" / + .tPC.seek :open +2 "processing"%f( +74 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(t'1 +48 "core" ' +326 ( + "storage"(e& +4 "core" &<* ' ( \  +2 "manipulator"&& +4 "core" & + "manipulator"&I% +4 "core" %  "  + .tForearm.seek :retract +2 "manipulator"&c' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&V( +242 "core" ( + "manipulator"&g& +4 "core" & s ? + "storage"(u& +4 "core" &<* ' ' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' + .tHand.open + "manipulator"&!1 +59 "core" 1 +2 "storage"( - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +26 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(1' +57 "core" ' + #tLights, camera, ACTION! + "storage"(F- +4 "core" -' + "storage"(& +4 "core" &<* | \ m +2 "manipulator"&.& +3 "core" &  H ? +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   ? +2 "storage"(& +3 "core" &<* \ n +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(v'" +59 "core" ' + "manipulator"&%& +4 "core" & B ? +2 "storage"(|& +3 "core" &<* ' ' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&K'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(N' +19 "core" ' + "manipulator"&% +4 "core" %Έ  +2 "storage"(=& +4 "core" &<*   1\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 295 counts + "manipulator"&D'ϴ +40 "core" ' + "manipulator"&n& +4 "core" & ? +2 "storage"(k& +4 "core" &<* c\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&)'O +24 "core" ' + "storage"($% +4 "core" % & ( 0\ +3 ."downElevator"SE.seek :down +3 "storage"(H' +99 (~% +3 "core" %I  \ Yj +2 "manipulator"&T% +4 "core" %d .  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +94 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (J& +3 "core" &<*  6\ +2 "collection"'*& +4 "core" &\\g ]\ Q +2 #tStoring generic puck in Collection Clamp to tube 5 "manipulator"&}% +4 "core" % #  / +2 "storage"(w% +3 "core" % & &\ +2 "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(h(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (]& +3 "core" &<*  Q\  +2 "manipulator"&'& +3 "core" &  { ? +2 .tElbow.seek 5 + "manipulator"&"( +4 "core" ( + "manipulator"&s& +4 "core" &  ? + "storage"(& +4 "core" &<* H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +94 "core" ' + "storage"(S& +4 "core" &<* &  *\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&x& +3 "core" & S ? +2 "storage"(6& +3 "core" &<* % ! `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&0'΍ +21 "core" ' + .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(d- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(Y'h +31 "core" ' + "manipulator"&`% +4 "core" %Κ  +2 "storage"(@& +3 "core" &<*   \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&' +27 "core" ' + "manipulator"&q& +4 "core" & F ? +2 "storage"(A& +3 "core" &<* & & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"( ' +42 "core" ' + "manipulator"&(& +4 "core" &  { ? +2 "manipulator"&C% +4 "core" %> ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&3(ӂ +153 "core" ( + "manipulator"&& +4 "core" &ӑ% I >O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +2 "core" &ӑ%  >O +2 .tForearm.seek CC +2 "manipulator"&R'? +93 "core" ' + .tHand.close + "manipulator"&5/ +68 "core" / + .tCC.seek :open + "collection"'[( +451 "core" ( + "storage"(X& +4 "core" &<* E D\  + "storage"(& +4 "core" &<* D D :\  + "manipulator"&4& +4 "core" &ӓ% >M + "manipulator"& % +4 "core" % <  j S +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&2( +155 "core" ( + "manipulator"&8& +4 "core" & < +2 "storage"(P& +3 "core" &<* 8 G <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +96 "core" ' + .tElbow.hold + "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +55 "core" 1 + "manipulator"&,% +5 "core" % j 0 + "storage"(O& +3 "core" &<* Z U\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 265 counts + "manipulator"&7'ϖ +24 "core" ' +2 "manipulator"&& +4 "core" & ^ + "storage"(<& +4 "core" &<* ` b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +14 "core" ' + "storage"(% +4 "core" % k p\ +51 ."downElevator"SE.seek :down +3 "storage"(y' +99 (\ % +3 "core" %KD : < o\ Wc +2 "manipulator"&% +4 "core" %\\  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&z' +96 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'&& +5 "core" & l\ + "manipulator"&U% +4 "core" %   ! +2 "storage"(% +3 "core" % Z a\ +2 "storage"(_. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(9(K +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (m& +3 "core" &K + & \ \  + "manipulator"&Z& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&b( +13 "core" ( + "manipulator"&:& +4 "core" & @  +2 "storage"(j& +3 "core" &K ' ' \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&l' +96 "core" ' + "storage"(r& +4 "core" &K F : h\ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" &K %  \ \  +2 "manipulator"&/& +4 "core" & N  +2 .tElbow.seek 6 + "manipulator"&\\( +3 "core" ( + "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &K & $\ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +76 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&?& +4 "storage"(o' +3 "core" &  ~  +2 "manipulator"&M% +4 "core" % b   + .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( + "manipulator"&I& +5 "core" &}+ & Cq ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&Q& +4 "core" &}+  Cq + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&g'? +91 "core" ' + "manipulator"&u& +4 "core" &ӌ) Ab +2 "manipulator"&W% +4 "core" %?  z + "collection"'!& +4 "core" & x\ +2 "collection"' & +6 "core" & x\ +4 .tCC.seek :closed +2 "collection"'F(\\ +3 "core" & z\ +5 & t\ : +9 &EIu z\ 1 +9 &us} }\ E +10 &Y v\ M +9 &T {\ L +10 &V z\ L +9 &gR w\ L +9 &(U r\ L +10 &V q\ L +9 &T w\ L +9 &mU m\ M +10 &!1S f\ L +9 &"U i\ L +10 &$U h\ L +9 &&vT j\ L +9 &(8W l\ L +10 &)T i\ L +9 &+T j\ L +9 &-~T j\ L +10 &/@T i\ L +9 &1T j\ L +10 &2V g\ L +9 &4T g\ L +9 &6IT i\ L +10 &8\ U f\ L +9 &9U e\ L +9 &;W f\ L +10 &=QU `\ L +9 &?U d\ L +10 &@U d\ M +9 &BW _\ L +9 &DV\\ ]\ M +10 &Fi e\ N +9 &Gz c\ P +9 &I a\ T +10 &KA f\ W +9 &M d\ X +10 &N a\ X +9 &P a\ Y +9 &RB b\ Y +10 &T d\ Z +9 &U ]\ [\ +9 &W e\ [ +10 &Y@ o\ ] +9 &[ f\ \\ +10 &\\_O l\ 4 +9 &\\ a\ \\ +6 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.12 + .Hand.open + "manipulator"&1 +4 "core" &\\{ j\ [ +58 1 + "manipulator"&.% +4 "core" % ? % z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"&c% +4 "core" %   7  + "storage"(%% +4 "core" %  \ +2 "storage"(|. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (=& +3 "core" &K 3\  +2 "manipulator"&t& +3 "core" &Ӑ( @^ +2 "manipulator"&B% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&n( +166 "core" ( + "manipulator"&k& +4 "core" & k  +2 "storage"($& +3 "core" &K ( & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&V' +97 "core" ' + "storage"(& +4 "core" &K  & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'r +298 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (T& +3 "core" &K \  + "manipulator"&-& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&v& +4 "core" &   + "storage"(K& +4 "core" &K   Y\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&D'h +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&J/ +69 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&*& +2 "storage"(}' +8 "core" &   +2 "manipulator"&w% +3 "core" % y  +2 .tForearm.seek :retract +2 "manipulator"&N' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&>( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +72 "core" ( + "manipulator"&]& +5 "core" & D 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" & 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +93 "core" ' + "manipulator"&& +4 "core" &  6 +2 "manipulator"&)% +3 "core" %  k +2 "processing"%S& +4 "core" &\ +2 "processing"%H& +4 "core" &}\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +10 &2x\ )w +9 &b~\ > +9 &ir\ O +10 &+T\ N +9 &R\ N +10 &S\ O +9 &pW\ O +9 &2R\ O +10 &R\ O +9 &R\ O +9 & yR\ N +10 &";R\ N +9 &#S\ O +10 &%Q\ O +9 &'Q\ O +9 &)BQ\ O +10 &+R\ O +9 &,R\ O +9 &.P\ N +10 &0JT\ O +9 &2 R\ O +10 &3Q\ O +9 &5R\ O +9 &7RR\ O +10 &9T\ O +9 &:X\ O +9 &<T\ O +10 &>YZ\ O +9 &@V\ O +10 &AZ\ O +9 &Cc\ Q +9 &EYr\ R +10 &G\ T +9 &H\ U +9 &J\ U +10 &LW\ U +9 &N\ V +10 &O\ U +9 &Q\ V +9 &S\\\ V +10 &U\ V +9 &V\ V +9 &X\ V +10 &Zb\ W +9 &\\$\ W +10 &]{\ : +9 &^.\ W +9 &^#\ 3 +3 ( + "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&+1 +54 "core" 1 + "manipulator"&E% +4 "core" %  q k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p' +97 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%x& +4 "core" &^"\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&6% +4 "core" % # j 5 + "storage"(d% +4 "core" %\ + "storage"(`. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(@(K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (q& + "manipulator"&A& +6 "core" & 6 + &K ?\  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(('r +2 "manipulator"&C( +4 "core" ( +2 "manipulator"&L& +4 "core" & 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" & y 6 +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close + "manipulator"&0/ +73 "core" / +2 .tPC.seek :open +2 "processing"%( +79 "core" ' + "storage"(Y- +3 "core" -'r +50 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +279 ( + "storage"(i& +4 "core" &K  S\  + "manipulator"&& +4 "core" & 6 + "manipulator"& % +4 "core" %  o  +2 .tForearm.seek :retract + "manipulator"&5' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&a( +246 "core" ( + "manipulator"&#& +4 "core" & K +2 "storage"(X& +3 "core" &K  x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +97 "core" ' + .tHand.open + "manipulator"&41 +55 "core" 1 + "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(8' +26 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(P' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +3 "core" -' +2 "storage"(3& +4 "core" &K S S :\ f +2 "manipulator"&;& +3 "core" & K K +2 .tElbow.seek 6 + "manipulator"&,( +4 "core" ( + "manipulator"&O& +4 "core" &  K + "storage"(& +4 "core" &K N T +\ f +2 .tForearm.seek 6 + 450 counts + "manipulator"&<' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' + "manipulator"&& +4 "core" & # K +2 "storage"(\ & +3 "core" &K   V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&2'< +17 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +29 "core" ' + "manipulator"&7% +4 "core" %R +2 "storage"(&& +4 "core" &K  L\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 322 counts + "manipulator"&U'~ +24 "core" ' + "manipulator"&& +4 "core" & % I +2 "storage"(_& +4 "core" &K ' %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +16 "core" ' + "storage"( % +5 "core" % + 4 Q\ +2 ."downElevator"SE.seek :down +3 "storage"(y' +99 (h% +3 "core" %aP \ Yk +2 "manipulator"&m% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +90 "core" ' +64 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (:& +4 "core" &K & & R\ +2 "collection"'j& +4 "core" &\\{ W\ [ + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&r% +4 "core" %  F  +2 "storage"(^% +3 "core" % ' &\ +2 "storage"(z. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(G(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ({& +3 "core" &K  \  +2 "manipulator"&/& +3 "core" &  I +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  I +2 "storage"(& +3 "core" &K ' # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&?' +96 "core" ' + "storage"(M& +4 "core" &K '  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'r +291 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&I& +3 "core" &  I +2 "storage"(Q& +3 "core" &K   P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +29 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(u- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"(W'a +29 "core" ' + "manipulator"&!% +4 "core" %I j + "storage"(\\& +4 "core" &K  \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&o'u +16 "core" ' + "manipulator"&e& +4 "core" & I +2 "storage"([& +3 "core" &K   {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(.' +36 "core" ' + "manipulator"&& +4 "core" & ; I +2 "manipulator"&c% +4 "core" % c + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&%' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&|(ӂ +161 "core" ( + "manipulator"& & +4 "core" &Ӄ 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &Ӄ 3 +2 .tForearm.seek CC + "manipulator"&t'? +92 "core" ' + .tHand.close + "manipulator"&B/ +69 "core" / + .tCC.seek :open +2 "collection"'g( +446 "core" ( +2 "storage"(k& +4 "core" &K ` b\  + "storage"($& +4 "core" &K Z U\  + "manipulator"&9& +4 "core" &Ӄ M 3 + "manipulator"&% +4 "core" % K B e + .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +153 "core" ( + "manipulator"&~& +4 "core" &  +2 "storage"(T& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&-'< +99 "core" ' + .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&K1 +64 "core" 1 +2 "manipulator"&J% +4 "core" % D Y  + "storage"(*& +4 "core" &K Z U\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"&w'p +23 "core" ' + "manipulator"&n& +4 "core" & +2 "storage"(V& +3 "core" &K  M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&1' +26 "core" ' + "storage"(D% +4 "core" % \  +3 ."downElevator"SE.seek :down +3 "storage"(]' +98 ('% +3 "core" %4D @ H \ Wc +2 "manipulator"&% +3 "core" % V x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"')& +3 "core" & w\ + "manipulator"&S% +4 "core" %   z  + "storage"(}% +4 "core" % }\ + "storage"(N. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(f(  +1300 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (+& +3 "core" &  X b =\ + "manipulator"&E& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&x( +10 "core" ( + "manipulator"&6& +4 "core" & O  +2 "storage"(d& +3 "core" &  W _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&`'S +96 "core" ' + "storage"(H& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +52 .tSE.seek :beamBreak + "storage"(q'r +297 "core" ' + "storage"(A- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (L& +3 "core" &  8 F \  + "manipulator"&"& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&s( +8 "core" ( + "manipulator"&0& +4 "core" &  +2 "storage"(& +3 "core" &  T U \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Y'Ͻ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +74 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&p& +2 "storage"(' +6 "core" &  o  + "manipulator"&(% +4 "core" % Ϸ  + +2 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"& & +5 "core" ' + &Ӕ% j >I + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 && +2 "core" &ӕ%  E >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&#'? +96 "core" ' + "manipulator"&X& +4 "core" &ӕ% ( >H +2 "manipulator"&C% +4 "core" %I 2 V +2 "collection"'4& +3 "core" & 0\ +2 "collection"' & +6 "core" & W\ +2 .tCC.seek :closed + "collection"'R(\\ +4 "core" & \  +10 &4x \ *z +9 & g~ \ ? +9 &n \ M +10 &[Q y\ L +9 &T }\ L +9 &W y\ L +10 &U t\ M +9 &cU y\ L +10 &%W {\ L +9 &U x\ L +9 & T }\ L +10 &"jU {\ L +9 &$,U w\ L +9 &%U z\ L +10 &'S {\ L +9 &)sU y\ L +10 &+5U x\ L +9 &,T w\ L +9 &.T o\ L +10 &0zU n\ L +9 &2<U n\ L +9 &3V g\ L +10 &5S j\ L +9 &7U k\ L +10 &9CU k\ M +9 &;U g\ L +9 &<U k\ L +10 &>U k\ M +9 &@MU i\ L +10 &B X h\ M +9 &CY i\ M +9 &Ec i\ N +10 &GKr t\ O +9 &I q\ S +9 &J k\ V +10 &Lx i\ X +9 &N8 n\ Y +9 &O j\ Y +10 &Q j\ Y +9 &Sy i\ Z +10 &U: i\ [ +9 &V g\ [ +9 &X i\ \\ +10 &Z{ d\ \\ +9 &\\ { j\ 0 +9 &\\/ j\ c +11 ( &\\n j\ P +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&31 +58 "core" 1 +2 "manipulator"&;% +4 "core" % I  V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&O' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"&5% +4 "core" %    + "storage"(% +4 "core" %   H\ +2 "storage"(\ . +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(7(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (&& +2 "core" &   ]\  +2 "manipulator"&& +4 "core" &Ӗ$ 3 =G + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&_( +163 "core" ( + "manipulator"&8& +4 "core" & +  +2 "storage"( & +3 "core" &  i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&a'S +94 "core" ' + "storage"(& +4 "core" &   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +299 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (m& +3 "core" &   &\  +2 "manipulator"&<& +3 "core" & `  +2 .tElbow.seek 2 + "manipulator"&,( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(2& +3 "core" &  & &\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&:'Ͻ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&U/ +69 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(r' +8 "core" &    +2 "manipulator"&^% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&z' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&( +171 "core" ' + ."downElevator"SE.coast + "storage"(5 +66 "core" ( + "manipulator"&{& +4 "core" & : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +2 "core" & v : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +91 "core" ' + "manipulator"&& +4 "core" & L : +2 "manipulator"& % +4 "core" %  2 d + "processing"%M& +4 "core" &\ +2 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed + "processing"%@(^ +4 "core" &\  +10 &0u\ )w +9 &a\ > +9 &[r\ O +10 &U\ N +9 &R\ N +9 &Q\ O +10 &bR\ O +9 &%Q\ N +10 &T\ O +9 &R\ O +9 & jR\ O +10 &"-R\ N +9 &#U\ N +9 &%Q\ O +10 &'rV\ O +9 &)4Q\ O +10 &*R\ O +9 &,X\ O +9 &.zU\ O +10 &0<W\ O +9 &1W\ O +9 &3W\ N +10 &5T\ N +9 &7ET\ N +10 &9V\ O +9 &:T\ O +9 &<U\ O +10 &>LX\ O +9 &@ Z\ O +9 &AY\ O +10 &C`\ P +9 &EMi\ Q +10 &G v\ R +9 &H\ T +9 &J\ U +10 &LK\ T +9 &N\ V +9 &O\ V +10 &Q\ W +9 &SN\ V +10 &U\ V +9 &V\ W +9 &X\ V +10 &ZV\ V +9 &\\\ W +9 &]\ : +10 &^,\ [ +9 &^$\ 1 +3 ( + "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&Z% +4 "core" %  + d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&l' +91 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%I& +4 "core" &^%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Q% +4 "core" %   +2 "storage"(u% +3 "core" %   W\ +2 "storage"(!. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(\\(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (e& +4 "core" &   N\  + "manipulator"&[& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  : +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(c'r +5 "core" ( + "manipulator"&?& +4 "core" & : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  : +2 .tForearm.seek PC + "manipulator"&b' +92 "core" ' +2 .tHand.close + "manipulator"&/ +75 "core" / + .tPC.seek :open +2 "processing"%o( +82 "core" ' + "storage"(W- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( '1 +42 "core" ' +321 ( + "storage"(=& +4 "core" &  ! \  +2 "manipulator"&& +4 "core" &  & : + "manipulator"&% +4 "core" %   4 +2 .tForearm.seek :retract + "manipulator"&B' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&%( +262 "core" ( + "manipulator"&F& +4 "core" &  + "storage"(k& +4 "core" &  ' & F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&$'S +91 "core" ' + .tHand.open + "manipulator"&91 +62 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(~' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(T' +57 "core" ' + #tLights, camera, ACTION! + "storage"(t- +4 "core" -' + "storage"(|& +4 "core" &  [\ y + "manipulator"&K& +4 "core" & m  +2 .tElbow.seek 2 + "manipulator"&J( +3 "core" ( + "manipulator"&*& +54 "core" & )  +2 "storage"(n& +3 "core" &  \ z +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&V'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(D'" +63 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"('& +4 "core" &  ' ) /\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(-' +30 "core" ' + "manipulator"&w% +5 "core" %Ό  p  + "storage"(.& +4 "core" &  & & \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 295 counts + "manipulator"&1'ϸ +39 "core" ' + "manipulator"&]& +4 "core" & [  +2 "storage"(G& +4 "core" &  & 0 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&)'S +26 "core" ' + "storage"(S% +5 "core" % & (\ +2 ."downElevator"SE.seek :down +3 "storage"(}' +99 (N% +4 "core" %T   4\ Yl +2 "manipulator"&+% +4 "core" %q 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +97 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (6& +4 "core" &  * \ + "collection"'d& +4 "core" &\\m Y\ P + #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&H% +4 "core" % # p 0 +2 "storage"(v% +3 "core" %  W\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(A(  +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (L& +3 "core" &  4 4\  + "manipulator"&"& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&0( +3 "core" ( +2 "manipulator"&& +3 "core" & d  +2 "storage"(>& +3 "core" &  ' &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&p'S +100 "core" ' + "storage"((& +4 "core" &  * 7\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'r +295 "core" ' + "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" & )  +2 "storage"(& +3 "core" &  & & o\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&q'Α +18 "core" ' + .tElbow.hold + "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +2 .tSE.seek 0.13 Pucks below Top Plate + "storage"(C'X +29 "core" ' + "manipulator"&4% +4 "core" %Ν h F +2 "storage"(s& +3 "core" &  & & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 312 counts + "manipulator"&' +25 "core" ' + "manipulator"&i& +4 "core" &   +2 "storage"(g& +3 "core" &  % & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&3'S +18 "core" ' +2 .tSE.seek 1.13 Pucks below Top Plate + "storage"(;' +37 "core" ' + "manipulator"&& +4 "core" & =  +2 "manipulator"&5% +4 "core" %9 Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&\ (ӂ +170 "core" ( + "manipulator"& & +4 "core" &ӎ ` . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &&& +2 "core" &ӎ # . +2 .tForearm.seek CC + "manipulator"&'? +93 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'#( +450 "core" ( + "storage"(8& +4 "core" &  a b\  + "storage"( & +4 "core" &  U T F\  +2 "manipulator"&f& +3 "core" &ӎ  $ . + "manipulator"&% +4 "core" % N _ \\ +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&O( +161 "core" ( + "manipulator"&h& +4 "core" &  +2 "storage"(m& +3 "core" &  [ [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&<'Α +96 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +63 "core" 1 + "manipulator"&U% +5 "core" % Ί + "storage"(j& +4 "core" &  W Y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 293 counts + "manipulator"&^'϶ +30 "core" ' +2 "manipulator"&_& +4 "core" & /  + "storage"(a& +4 "core" &  q w ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&P'S +15 "core" ' + "storage"(:% +4 "core" % z \ +3 ."downElevator"SE.seek :down +2 "storage"({' +99 (/% +3 "core" %K J H G\ Wg +2 "manipulator"&,% +3 "core" %]  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +5 "core" & g\ + "manipulator"&M% +4 "core" %    +2 "storage"(r% +3 "core" % \ +2 "storage"(z. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +357 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" & ; G \  + "manipulator"&Z& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&I( +13 "core" ( + "manipulator"&Q& +4 "core" & v  + "storage"(u& +4 "core" & F J 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&!'7 +96 "core" ' + "storage"(e& +4 "core" & U Y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'r +298 "core" ' + "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (?& +3 "core" & & ' 7\  +2 "manipulator"&& +3 "core" & W  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  + "storage"(7& +4 "core" & ' & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&W'ϡ +35 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +74 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(@' +8 "core" & p  + "manipulator"&c% +4 "core" % ϵ p E +2 .tForearm.seek :retract +2 "manipulator"&=' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +160 "core" ( + ' + ."downElevator"SE.coast +3 "manipulator"&& + "storage"(5 +7 "core" &ӛ  ? :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &ӛ  \\ :1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&F'? +93 "core" ' + "manipulator"&k& +4 "core" &ӛ! :1 +2 "manipulator"&% +4 "core" %; x +49 "collection"'9& +5 "core" & x\ +2 "collection"'& +6 "core" & {\ +2 .tCC.seek :closed + "collection"'t(\\ +4 "core" & u\  +9 &4| {\ +{ +9 &e} |\ > +9 &o {\ M +10 &LQ l\ L +9 &U i\ L +9 &S o\ L +10 &T j\ L +9 &TS j\ L +10 &W j\ L +9 &S j\ L +9 & S j\ L +10 &"\\U k\ L +9 &$T j\ L +9 &%T k\ L +10 &'U i\ L +9 &)eQ l\ L +10 &+(T j\ L +9 &,T e\ L +9 &.T g\ L +10 &0mT g\ L +9 &2/U e\ L +9 &3U k\ L +10 &5T `\ L +9 &7tT c\ L +10 &96T i\ L +9 &:V c\ L +9 &<U g\ L +10 &>|U h\ L +9 &@?R j\ L +9 &BW d\ L +10 &C[ `\ M +9 &Ef d\ N +10 &G;v e\ P +9 &H b\ S +9 &J Z\ W +10 &Lj `\ X +9 &N* d\ Y +9 &O g\ Y +10 &Q `\ Y +9 &Sl c\ Z +10 &U- a\ Z +9 &V d\ \\ +9 &X i\ \\ +10 &Zl `\ ] +9 &\\x l\ 7 +9 &\\( l\ &p +10 &\\ l\ Y +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&|1 +60 "core" 1 +2 "manipulator"&K% +4 "core" % ; g x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&*' +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%B& +4 "core" &w\ + "manipulator"&n% +4 "core" % !  ' +2 "storage"(% +3 "core" %  n\ +2 "storage"('. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (~& +2 "core" & " \  +2 "manipulator"&w& +4 "core" &ӛ  2 :1 +2 "manipulator"&.% +3 "core" % !  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&]( +163 "core" ( + "manipulator"&G& +4 "core" &  +2 "storage"(%& +3 "core" & ' &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&S'7 +97 "core" ' + "storage"($& +4 "core" & ) &\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'r +299 "core" ' + "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (+& +3 "core" &  :\  + "manipulator"&V& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&J( +4 "core" ( + "manipulator"&D& +4 "core" & i  + "storage"(& +4 "core" & v\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'ϡ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&6/ +74 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(H' +8 "core" & m  + "manipulator"&v% +4 "core" % Ϫ +2 .tForearm.seek :retract + "manipulator"&-' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&( +170 "core" ' + ."downElevator"SE.coast + "storage"(5 +88 "core" ( +2 "manipulator"&L& +4 "core" & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +93 "core" ' + "manipulator"&>& +4 "core" & +2 "manipulator"&)% +3 "core" % v D +2 "processing"%(& +4 "core" &\ +2 "processing"%}& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%\\(^ +4 "core" &\  +8 &1v\ *x +9 &a~\ > +10 &ht\ O +9 &)T\ O +9 &T\ N +10 &T\ N +9 &qT\ N +10 &3T\ N +9 &T\ O +9 &W\ O +10 & xU\ O +9 &";U\ N +9 &#S\ O +10 &%Q\ O +9 &'V\ O +10 &)CU\ N +9 &+Q\ O +9 &,V\ O +10 &.T\ O +9 &0JT\ O +9 &2 W\ O +10 &3V\ O +9 &5W\ N +10 &7ST\ N +9 &9U\ O +9 &:Y\ O +10 &<T\ N +9 &>YX\ O +9 &@W\ O +10 &A\\\ O +9 &Cd\ Q +10 &EZm\ Q +9 &G\ U +9 &H\ U +10 &J\ U +9 &LW\ U +9 &N\ V +10 &O\ V +9 &Q\ W +10 &S\\\ V +9 &U\ V +9 &V\ V +10 &X\ U +9 &Zc\ W +9 &\\%\ W +10 &]\ 6 +9 &^*h\ !a +10 &^/\ 5 +3 ( + "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&E% +4 "core" %  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +93 "core" ' + .tSC.coast + "storage"(6 +2 "processing"% & +4 "core" &^(\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %   + "storage"(X% +4 "core" %\ +2 "storage"(4. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(s( +5 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (i& +3 "core" & [\  + "manipulator"&g& +3 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +3 "core" & P +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(5'r +5 "core" ( +2 "manipulator"&p& +4 "core" & * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" & +2 .tForearm.seek PC +2 "manipulator"&x' +93 "core" ' + .tHand.close + "manipulator"&q/ +67 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(C- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( '1 +45 "core" ' +311 ( + "storage"(&& +4 "core" & 1 + @\  + "manipulator"&3& +4 "core" & ? + "manipulator"&Y% +4 "core" %  ' , +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +239 "core" ( + "manipulator"&R& +4 "core" & H +2 "storage"(8& +3 "core" & ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +95 "core" ' + .tHand.open + "manipulator"&f1 +54 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(h' +27 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(m' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(\ & +3 "core" & M ? ]\ e +2 "manipulator"&2& +4 "core" &  H + .tElbow.seek 3 +2 "manipulator"&U( +32 "core" ( + "manipulator"&j& +4 "core" &  4 ] +2 "storage"(_& +3 "core" & O X 1\ g +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(:'" +53 "core" ' + "manipulator"&& +4 "core" &  ] +2 "storage"(/& +3 "core" &   6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&,'u +16 "core" ' + .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(<' +23 "core" ' + "manipulator"& % +4 "core" %΂ } L +2 "storage"(M& +4 "core" & ( (\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 313 counts + "manipulator"&^'Ϯ +39 "core" ' + "manipulator"&r& +4 "core" & } Z +2 "storage"(z& +4 "core" & & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&;'7 +28 "core" ' + "storage"(P% +4 "core" %  & \ +2 ."downElevator"SE.seek :down +52 "storage"({' +51 (A% +3 "core" %?  T\ Wc +2 "manipulator"&% +4 "core" %J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +88 "core" ' +126 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (Q& +4 "core" & 0 ) A\ + "collection"'u& +4 "core" &\\ ]\ Y +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&e% +3 "core" %    +2 "storage"(% +4 "core" % 4 4\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"([( +5 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (?& +3 "core" & & & 1\  +2 "manipulator"&& +3 "core" &  Z +2 .tElbow.seek 3 +2 "manipulator"&( +10 "core" ( + "manipulator"&7& +4 "core" &y  K f +2 "storage"(& +4 "core" & & % Q\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&l'7 +95 "core" ' + "storage"(c& +4 "core" & &  7\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +297 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &y ) f +2 "storage"(b& +3 "core" &   W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&y'u +23 "core" ' + .tElbow.hold + "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(k- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('f +29 "core" ' + "manipulator"&9% +4 "core" %· ; +2 "storage"(& +3 "core" &   B\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&@'ϳ +29 "core" ' + "manipulator"&=& +4 "core" &{ d +2 "storage"(#& +3 "core" & & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&|'7 +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(K' +41 "core" ' + "manipulator"&B& +4 "core" &{  d +2 "manipulator"&n% +4 "core" %* +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&'(ӂ +159 "core" ( + "manipulator"&& +4 "core" &ӓ% >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &ӓ% J >H +2 .tForearm.seek CC + "manipulator"&w'? +93 "core" ' + .tHand.close + "manipulator"&./ +71 "core" / + .tCC.seek :open +2 "collection"'F( +447 "core" ( + "storage"(G& +4 "core" & 6 ; \  + "storage"(%& +4 "core" & J J O\  + "manipulator"&& +4 "core" &Ӝ# <? + "manipulator"&$% +4 "core" % 1 V @ +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&*( +164 "core" ( + "manipulator"&N& +4 "core" &   +2 "storage"(+& +3 "core" & d X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&V'u +96 "core" ' + .tElbow.hold + "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&6% +5 "core" % | X C + "storage"(d& +4 "core" & [ [\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&v'Ϩ +30 "core" ' +2 "manipulator"&]& +4 "core" & '  + "storage"(S& +4 "core" & [ Z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&T'7 +21 "core" ' + "storage"(1% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(L' +98 ("% +3 "core" %B W Y\ Wb +2 "manipulator"&J% +3 "core" %,  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +89 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"')& +5 "core" & i\ + "manipulator"&(% +4 "core" %  /  +2 "storage"(H% +3 "core" % \ +2 "storage"(-. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(o(,y +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &,v B A \ \  +2 "manipulator"&E& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"& ( +30 "core" ( + "manipulator"&& +4 "core" &   + "storage"(X& +4 "core" &,v C D\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +90 "core" ' + "storage"(}& +4 "core" &,v F S \ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(i'r +299 "core" ' + "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (p& +3 "core" &,v 1 % \ \  + "manipulator"&0& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&( +23 "core" ( +2 "manipulator"&q& +4 "core" & v  + "storage"( & +4 "core" &,v C D\ \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&C'c +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(\\' +8 "core" & S  +2 "manipulator"&5% +3 "core" % Y +2 .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&3(ӂ +159 "core" ' + ( + ."downElevator"SE.coast +3 "manipulator"&Y& + "storage"(5 +6 "core" &Ӌ* 1 Bl + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &Ӌ*  Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&R'? +95 "core" ' + "manipulator"&8& +4 "core" &ӛ'  @\\ +2 "manipulator"&% +4 "core" %I  + "collection"'f& +5 "core" & u\ +2 "collection"'& +5 "core" & u\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & z\ +7 &; x\ %g +9 &Wv y\ 7 +9 &w x\ L +10 &R z\ L +9 &T {\ L +9 &CU r\ L +10 &T t\ L +9 &T u\ L +10 &S w\ L +9 &KT j\ L +9 & T r\ L +10 &!T k\ L +9 &#U i\ L +9 &%SS j\ L +10 &'T i\ L +9 &(T j\ L +10 &*R j\ L +9 &,\\T l\ L +9 &.T k\ L +10 &/S k\ L +9 &1U k\ L +9 &3dT j\ L +10 &5'T k\ L +9 &6U i\ L +10 &8T j\ L +9 &:lU k\ L +9 &<-T f\ L +10 &=U \\\ L +9 &?R b\ L +9 &AtU f\ L +10 &C4[ g\ M +9 &D` e\ M +10 &Fm d\ O +9 &Hi g\ R +9 &J d\ V +10 &K g\ W +9 &M c\ Y +9 &O] a\ Y +10 &Q b\ Y +9 &R b\ Y +10 &T `\ [ +9 &V_ a\ [ +9 &X! a\ [ +10 &Y `\ \\ +9 &[ c\ J +9 &\\3 `\ 1 +10 &\\x j\ S +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&\ 1 +60 "core" 1 +2 "manipulator"&2% +4 "core" % I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%j& +4 "core" &\ + "manipulator"&_% +4 "core" %   +2 "storage"(% +3 "core" %  4\  +2 "storage"(/. +2 "core" . +2 .tSC.reconfigure :tight +51 "storage"($\ .\ 1~b +4 .tSC.seek 4 + "storage"( (,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ( & +3 "core" &,v   )\  +2 "manipulator"&M& +3 "core" &ӛ' @\\ +2 "manipulator"&h% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&r( +163 "core" ( + "manipulator"&z& +4 "core" & 2  +2 "storage"(P& +3 "core" &,v f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +91 "core" ' + "storage"( & +4 "core" &,v & ( \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +307 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,v  I\  +2 "manipulator"&a& +3 "core" &  %  +2 .tElbow.seek 4 + "manipulator"&U( +3 "core" ( +2 "manipulator"&:& +3 "core" & i  +2 "storage"(,& +3 "core" &,v & '\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&^'c +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Q/ +77 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(e' +6 "core" & \  +2 "manipulator"&<% +3 "core" % W  6 +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&( +168 "core" ' + ."downElevator"SE.coast + "storage"(5 +69 "core" ( + "manipulator"&?& +4 "core" & > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&7' +98 "core" ' + "manipulator"&& +4 "core" & R = +2 "manipulator"&;% +3 "core" % +2 "processing"%c& +4 "core" &\ +2 "processing"%{& +4 "core" &s\ +2 .tPC.seek :closed +2 "processing"%s(^ +4 "core" &\  +9 &0t\ *x +10 &b}\ > +9 &kr\ O +10 &.S\ N +9 &R\ N +9 &V\ O +10 &sR\ O +9 &5Q\ O +9 &W\ O +10 &S\ O +9 & |Q\ N +10 &">R\ N +9 &#X\ O +9 &%P\ N +10 &'S\ N +9 &)FS\ N +9 &+V\ O +10 &,R\ N +9 &.R\ N +10 &0NT\ N +9 &2S\ N +9 &3R\ N +10 &5V\ O +9 &7UR\ O +9 &9T\ O +10 &:U\ O +9 &<W\ O +10 &>]W\ O +9 &@ U\ N +9 &AZ\ O +10 &C`\ P +9 &E^m\ Q +9 &Gv\ R +10 &H\ U +9 &J\ U +10 &L\\\ T +9 &N\ V +9 &O\ U +10 &Q\ V +9 &S`\ V +9 &U!\ V +10 &V\ U +9 &X\ V +10 &Zg\ V +9 &\\(\ W +9 &]{\ ; +10 &^1\ V +9 &^!\ 0 +2 ( +2 "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 .Hand.open + "manipulator"&O1 +61 "core" 1 + "manipulator"&Z% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&b% +3 "core" %    +2 "storage"(k% +4 "core" %   F\ + "storage"(9. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (=& + "manipulator"&#& +6 "core" &,v  !\  + & G = +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&B( +2 "storage"(n'r +6 "core" ( + "manipulator"&l& +4 "core" &  = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  = +2 .tForearm.seek PC + "manipulator"&I' +94 "core" ' + .tHand.close + "manipulator"&y/ +76 "core" / + .tPC.seek :open +2 "processing"%@( +82 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +50 "core" ' +315 ( + "storage"(~& +4 "core" &,v & & ,\  + "manipulator"&|& +4 "core" &  Z = + "manipulator"&W% +4 "core" %  < +2 .tForearm.seek :retract + "manipulator"&.' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +248 "core" ( + "manipulator"&t& +4 "core" & 3 + "storage"(G& +4 "core" &,v   `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +96 "core" ' + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"($- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(N' +23 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(+' +56 "core" ' + #tLights, camera, ACTION! + "storage"(w- +4 "core" -' + "storage"('& +4 "core" &,v \ n + "manipulator"&& +4 "core" &  2 +2 .tElbow.seek 4 + "manipulator"&6( +10 "core" ( + "manipulator"&d& +4 "core" &  +2 "storage"(]& +3 "core" &,v \ o +2 .tForearm.seek 4 + 450 counts + "manipulator"&S' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +58 "core" ' + "manipulator"&& +4 "core" & ]  +2 "storage"("& +3 "core" &,v ' & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&J'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(V' +25 "core" ' + "manipulator"&)% +4 "core" %K  +2 "storage"(v& +4 "core" &,v  Z\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&('w +16 "core" ' + "manipulator"&H& +4 "core" &  +2 "storage"(-& +4 "core" &,v & & $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +21 "core" ' + "storage"(T% +4 "core" %   a\ +3 ."downElevator"SE.seek :down +3 "storage"(L' +99 ([% +3 "core" %FI  \ Xh +2 "manipulator"&% +4 "core" % U + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +91 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +3 "core" &,v 0 &\ +2 "collection"'X& +4 "core" &\\r b\ S +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&}% +4 "core" %   +2 "storage"(D% +3 "core" %\ +2 "storage"(>. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(g(,y +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (p& +3 "core" &,v ( ( ,\  +2 "manipulator"&0& +3 "core" & Y  +2 .tElbow.seek 4 + "manipulator"&q( +11 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(& +3 "core" &,v % $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&`' +96 "core" ' + "storage"(5& +4 "core" &,v ) '\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +296 "core" ' + "storage"(4- +3 "core" -' +49 .tSE.configure :default +4 "storage"(#QK-0-\ b +2 "manipulator"&Y& +3 "core" &  +2 "storage"(x& +3 "core" &,v  $ 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&i'7 +21 "core" ' + .tElbow.hold + "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(8- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"('_ +30 "core" ' + "manipulator"&f% +4 "core" %J +2 "storage"(& +3 "core" &,v & ( (\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts + "manipulator"&\\'v +24 "core" ' + "manipulator"&&& +4 "core" & 0  +2 "storage"(F& +4 "core" &,v & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +17 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(2' +40 "core" ' + "manipulator"&j& +4 "core" &   +2 "manipulator"&_% +4 "core" %  = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&/(ӂ +154 "core" ( +2 "manipulator"&& +4 "core" &ӆ- Dy + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӆ-  Dy +2 .tForearm.seek CC + "manipulator"&M'? +98 "core" ' + .tHand.close + "manipulator"&h/ +61 "core" / + .tCC.seek :open +2 "collection"'R( +450 "core" ( + "storage"(z& +4 "core" &,v K @ "\  +2 "storage"(P& +3 "core" &,v ? @ P\  + "manipulator"&o& +4 "core" &Ӟ( $ Aa +2 "manipulator"& % +3 "core" % @ ,  +2 .tForearm.seek :retract + "manipulator"&3' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +167 "core" ( + "manipulator"&A& +4 "core" & 3  +2 "storage"(& +3 "core" &,v b X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&a'7 +96 "core" ' + .tElbow.hold + "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +54 "core" 1 + "manipulator"&Q% +5 "core" % B A 4 + "storage"(u& +4 "core" &,v a d W\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts + "manipulator"&<'n +16 "core" ' +2 "manipulator"&r& +4 "core" & d  + "storage"(& +4 "core" &,v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +20 "core" ' + "storage"(^% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(?' +98 (% +3 "core" %> T E N\ Wb +2 "manipulator"&U% +3 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"';& +5 "core" & e\ + "manipulator"&c% +4 "core" %    +2 "storage"(e% +3 "core" %  E\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (O& +3 "core" &<- X Z\  +2 "manipulator"&Z& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&b& +3 "core" &   +2 "storage"(k& +3 "core" &<- V Y k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9'O +92 "core" ' + "storage"({& +4 "core" &<- f [ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='r +298 "core" ' + "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (l& +3 "core" &<- 0 % +\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&7( +3 "core" ( +2 "manipulator"&y& +3 "core" &  +2 "storage"( & +3 "core" &<- = < \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +74 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&!& +3 "storage"(s' +6 "core" &   + "manipulator"&n% +4 "core" %  6 u +2 .tForearm.seek :retract +2 "manipulator"&~' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&|(ӂ +158 "core" ( + "manipulator"&W& +4 "core" &Ӛ#  <> +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.coast +2 "manipulator"&I& + "storage"(5 +6 "core" &Ӛ# I <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&t'? +94 "core" ' + "manipulator"&G& +4 "core" &Ӛ# ; <> +2 "manipulator"&B% +4 "core" %E l x + "collection"'& +4 "core" & }\ +2 "collection"'$& +6 "core" & y\ +2 .tCC.seek :closed +4 "collection"'w(\\ +3 "core" & w\ +5 & x\ 9 +10 &IJt \ 1 +9 &{t} x\ E +10 &&Y u\ L +9 &T {\ L +9 &U y\ L +10 &mX y\ L +9 &0T v\ L +9 &R z\ L +10 &T l\ L +9 &vT k\ L +10 &!7W b\ L +9 &"T i\ L +9 &$R k\ L +10 &&~U j\ L +9 &(?X g\ L +9 &*T k\ L +10 &+W k\ L +9 &-T k\ K +10 &/GT j\ L +9 &1 S j\ K +9 &2T j\ L +10 &4T j\ L +9 &6OW g\ L +9 &8U j\ L +10 &9S g\ L +9 &;T j\ L +10 &=WU j\ L +9 &?U d\ L +9 &@U c\ L +10 &BX c\ L +9 &D\\` e\ M +9 &Fm d\ O +10 &G i\ Q +9 &I i\ U +10 &KF _\ W +9 &M e\ X +9 &N c\ X +10 &P c\ Y +9 &RI d\ Y +9 &T _\ Z +10 &U b\ [ +9 &W `\ [\ +10 &YG `\ \\ +9 &[ `\ \\ +9 &\\bM d\ 7 +10 &\\s o\ N +6 ( + "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.15 + .Hand.open + "manipulator"&'1 +4 "core" &\\c f\ N +55 1 +2 "manipulator"&% +4 "core" % E [ x + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&d' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%]& +4 "core" &\ + "manipulator"&.% +4 "core" %  Q  +2 "storage"(% +3 "core" % ' ' )\ +2 "storage"(". +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"()(<- +5 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (v& +3 "core" &<-  \  +2 "manipulator"&& +3 "core" &Ӛ" <> +2 "manipulator"&H% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&-( +162 "core" ( + "manipulator"&N& +4 "core" & K  +2 "storage"(T& +3 "core" &<- ' (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' + "storage"(%& +4 "core" &<- C C \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'r +299 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<- \  +2 "manipulator"&S& +3 "core" &  3  +2 .tElbow.seek 5 + "manipulator"&6( +3 "core" ( +2 "manipulator"&1& +3 "core" & Q  +2 "storage"(J& +3 "core" &<- & &\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&('Ϲ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +75 "core" / +51 ."downElevator"SE.seek :down +4 "manipulator"&X& +2 "storage"(}' +7 "core" &  e  + "manipulator"&D% +4 "core" % ϼ  . +2 .tForearm.seek :retract + "manipulator"&V' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&>( +170 "core" ' + ."downElevator"SE.coast + "storage"(5 +88 "core" ( + "manipulator"&p& +4 "core" & v \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &  2 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +98 "core" ' + "manipulator"&& +4 "core" & / \ +2 "manipulator"&K% +4 "core" % &  +2 "processing"%5& +4 "core" &\ +2 "processing"%L& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\  +10 &0s\ *x +9 &b|\ > +10 &fs\ O +9 &(U\ O +9 &R\ O +10 &R\ O +9 &nS\ O +9 &0R\ O +10 &X\ O +9 &T\ O +10 & vQ\ O +9 &"9T\ N +9 &#T\ O +10 &%Q\ N +9 &'T\ N +9 &)AT\ N +10 &+T\ N +9 &,S\ O +10 &.R\ O +9 &0IU\ N +9 &2\ U\ O +10 &3W\ O +9 &5U\ O +9 &7QT\ N +10 &9V\ O +9 &:Y\ O +9 &<T\ O +10 &>WZ\ O +9 &@W\ O +10 &A\\\ P +9 &Ce\ P +9 &EWn\ R +10 &G\ T +9 &H\ U +9 &J\ U +10 &LW\ T +9 &N\ V +10 &O\ V +9 &Q\ V +9 &S[\ V +10 &U\ V +9 &V\ W +10 &X\ V +9 &Zb\ V +9 &\\$\ V +10 &]{\ 9 +9 &^/\ V +9 &^ \ 1 +3 ( + "processing"%L& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&*1 +54 "core" 1 + "manipulator"&E% +4 "core" %  *  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +99 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%Y& +4 "core" &^"\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&x% +4 "core" % & e H + "storage"(8% +4 "core" %   \ +2 "storage"(f. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (&& +4 "manipulator"&F& +2 "core" &<-   L\  +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" & \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&j( +2 "storage"(_'r +5 "core" ( + "manipulator"&`& +4 "core" & \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +2 "core" & \ +3 .tForearm.seek PC + "manipulator"& ' +98 "core" ' + .tHand.close + "manipulator"&i/ +70 "core" / +2 .tPC.seek :open + "processing"%\\( +88 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +41 "core" ' +321 ( + "storage"( & +4 "core" &<-  \  + "manipulator"&\ & +4 "core" & \ + "manipulator"&C% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&h' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +242 "core" ( + "manipulator"&& +4 "core" & T ] +2 "storage"(z& +3 "core" &<- J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +94 "core" ' + .tHand.open + "manipulator"&o1 +56 "core" 1 + "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(A' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(M- +4 "core" -' + "storage"(/& +4 "core" &<- , - g\ ^ + "manipulator"&,& +4 "core" &  ] +2 .tElbow.seek 5 + "manipulator"&Q( +3 "core" ( +2 "manipulator"&u& +3 "core" &  ] +2 "storage"(r& +3 "core" &<- . + ]\ ^ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(^'" +57 "core" ' + "manipulator"&3& +4 "core" &  ] +2 "storage"(& +3 "core" &<- ' ' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&U'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(a' +30 "core" ' + "manipulator"&;% +4 "core" %Α +2 "storage"(<& +4 "core" &<- & & \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 5 + 304 counts + "manipulator"&c'Ͻ +29 "core" ' + "manipulator"&e& +4 "core" & e G +2 "storage"(& +4 "core" &<-  \ W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +15 "core" ' + "storage"(m% +4 "core" % & &\ +3 ."downElevator"SE.seek :down +3 "storage"(?' +99 (g% +3 "core" %GJ  \ Xh +2 "manipulator"&O% +4 "core" %8  T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +91 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (b& +4 "core" &<-  \ + "collection"'k& +4 "core" &\\c d\ N + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&{% +4 "core" %  0  +2 "storage"(:% +3 "core" %   M\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(#(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (l& +3 "core" &<- \  +2 "manipulator"&& +3 "core" & h G +2 .tElbow.seek 5 + "manipulator"&y( +27 "core" ( + "manipulator"& & +63 "core" &   +2 "storage"(& +4 "core" &<- * ' b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +89 "core" ' + "storage"(n& +4 "core" &<- @ @ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&W& +3 "core" & C  +2 "storage"(I& +3 "core" &<-  !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&='΍ +21 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(G- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(B'g +31 "core" ' + "manipulator"&% +4 "core" %Ν  , + "storage"(7& +4 "core" &<-  H\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&s' +30 "core" ' + "manipulator"&~& +4 "core" &   +2 "storage"(R& +3 "core" &<-  ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&''O +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +37 "core" ' + "manipulator"&]& +4 "core" &  Z  +2 "manipulator"&.% +4 "core" %] % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.seek CC +50 "manipulator"&"(ӂ +161 "core" ( + "manipulator"&$& +4 "core" &ӗ#  << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +2 "core" &ӗ# 6 << +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&H/ +59 "core" / + .tCC.seek :open +2 "collection"'t( +447 "core" ( + "storage"(N& +4 "core" &<- X G \  +2 "storage"(T& +3 "core" &<- I ; \  +2 "manipulator"&& +3 "core" &ә# <: +2 "manipulator"&%% +3 "core" % J  V +2 .tForearm.seek :retract +2 "manipulator"&|' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&d( +162 "core" ( + "manipulator"&[& +4 "core" & d  +2 "storage"(& +3 "core" &<- w \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&S'΍ +94 "core" ' + .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&J1 +59 "core" 1 + "manipulator"&% +4 "core" % Β F + "storage"(X& +4 "core" &<- s x t\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&D'Ͼ +33 "core" ' +2 "manipulator"&-& +4 "core" &   +2 "storage"(& +3 "core" &<- n y d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +16 "core" ' + "storage"((% +4 "core" % z \ +2 ."downElevator"SE.seek :down +4 "storage"(p' +99 (0% +3 "core" %D b b\ Vb +2 "manipulator"&6% +3 "core" %O  d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'K& +5 "core" & n\ + "manipulator"&5% +4 "core" %  -  +2 "storage"(}% +3 "core" % \ +2 "storage"(V. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(@(K +361 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (*& +3 "core" &K f G\ +2 "manipulator"&E& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&Y( +3 "core" ( +2 "manipulator"&x& +3 "core" &   +2 "storage"(8& +3 "core" &K f c d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&f' +100 "core" ' + "storage"(L& +4 "core" &K } D\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'r +297 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (`& +3 "core" &K 7 b H\  + "manipulator"&q& +4 "core" & I  +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&i& +4 "core" & (  + "storage"()& +4 "core" &K d X\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&4& +4 "storage"(' +3 "core" &    +2 "manipulator"&_% +4 "core" % ϑ  n + .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&\ (ӂ +154 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +2 "core" ( +2 "manipulator"&C& +3 "core" &Ӎ( d @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӎ(   @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +105 "core" ' + "manipulator"&z& +4 "core" &ӎ( 6 @X +2 "manipulator"&j% +4 "core" %@  = + "collection"'o& +4 "core" & ~\ +2 "collection"' & +6 "core" & w\ +3 .tCC.seek :closed +2 "collection"'M(\\ +3 "core" & x\ +7 & \ : +9 &EIu {\ 1 +9 &wt} x\ E +10 &"W z\ L +9 &T x\ L +9 &T w\ L +10 &jT {\ L +9 &,X l\ L +10 &R f\ L +9 &U j\ K +9 &sU l\ K +10 &!4T k\ L +9 &"W i\ L +9 &$Q j\ L +10 &&zR i\ L +9 &(=T j\ K +10 &)T j\ L +9 &+W k\ L +9 &-W k\ L +10 &/DS f\ L +9 &1R j\ L +9 &2T j\ L +10 &4X d\ L +9 &6KT c\ L +10 &8U g\ L +9 &9W g\ L +9 &;T h\ K +10 &=TU b\ L +9 &?U ]\ K +9 &@U a\ L +10 &BW d\ L +9 &DY_ g\ M +10 &Fg a\ N +9 &Gx `\ P +9 &I a\ T +10 &KC c\ W +9 &M ^\ W +9 &N a\ Y +10 &P c\ X +9 &RE c\ Y +10 &T j\ Z +9 &U j\ Z +9 &W h\ [ +10 &YE j\ \\ +9 &[ p\ \\ +9 &\\_K q\ 8 +10 &\\ k\ X +6 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.13 + .Hand.open + "manipulator"&/1 +4 "core" &\\s n\ X +55 1 + "manipulator"&,% +4 "core" % @  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%r& +4 "core" &\ + "manipulator"&h% +4 "core" %   + "storage"(3% +4 "core" %   `\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(;(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (<& +3 "core" &K  .\  +2 "manipulator"&& +3 "core" &Ӑ& ?V +2 "manipulator"&A% +3 "core" %  5  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&e( +166 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(m& +3 "core" &K c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(P& +4 "core" &K & '\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +2 "core" &K   "\  +2 "manipulator"&& +3 "core" & M  +2 .tElbow.seek 6 + "manipulator"&Q( +3 "core" ( +2 "manipulator"&^& +3 "core" &  +2 "storage"(U& +3 "core" &K & '\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&c'h +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +71 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&k& +2 "storage"({' +6 "core" &   +2 "manipulator"&:% +3 "core" %   S +2 .tForearm.seek :retract +2 "manipulator"&a' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&( +170 "core" ' + ."downElevator"SE.coast + "storage"(5 +69 "core" ( + "manipulator"&l& +5 "core" & * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" & g * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&2' +97 "core" ' + "manipulator"& & +4 "core" & * +2 "manipulator"&% +3 "core" %  (  +2 "processing"%n& +4 "core" &\ +2 "processing"%?& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\ +7 &.\ #b +10 &U}\ 7 +9 &~z\ L +9 &S\ O +10 &WS\ N +9 &U\ O +10 &W\ O +9 &U\ O +9 &_U\ N +10 & T\ O +9 &Q\ O +10 &!Q\ O +9 &#fV\ O +9 &%(U\ O +10 &&U\ O +9 &(T\ N +9 &*nR\ O +10 &,0R\ O +9 &-R\ O +10 &/T\ O +9 &1vV\ O +9 &38X\ O +10 &4R\ N +9 &6U\ O +9 &8~T\ O +10 &:AT\ N +9 &<V\ O +9 &=U\ O +10 &?U\ O +9 &AHW\ O +10 &Cb\ P +9 &Dk\ Q +58 &Fy\ S +10 &H;\ V + &J\ U + &K\ U + &M\ W &OC\ V + &Q\ V +3 &R\ V +9 &T\ Y +10 &VK\ V +9 &X \ V +9 &Y\ V +10 &[\ W +9 &]P\ H +10 &^xE\ #j +9 &^?\ 4 +6 ( + "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"&1 +3 "core" &^+\ 4 +55 1 + "manipulator"&Z% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +96 "core" ' + .tSC.coast + "storage"(6 +2 "processing"%W& +5 "core" &^+\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&I% +4 "core" % # T 6 +2 "storage"(G% +3 "core" %  7\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(7(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (~& +3 "core" &K \  +2 "manipulator"&R& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & % * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&]( + "storage"(.'r +5 "core" ( + "manipulator"&!& +4 "core" & * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +2 "core" & _ * +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close + "manipulator"&=/ +66 "core" / +2 .tPC.seek :open +2 "processing"%s( +89 "core" ' + "storage"(B- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(''1 +42 "core" ' +316 ( + "storage"($& +4 "core" &K & & :\  + "manipulator"&v& +4 "core" & ( * + "manipulator"&% +4 "core" %  - +2 .tForearm.seek :retract + "manipulator"&H' +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +260 "core" ( + "manipulator"&w& +4 "core" &\   !s +2 "storage"(N& +3 "core" &K  w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +96 "core" ' + .tHand.open + "manipulator"&1 +53 "core" 1 + "storage"(%- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"([' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"("& +4 "core" &K , + a\ a + "manipulator"&J& +4 "core" &\  T !s +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&X& +4 "core" &\  Q !s + "storage"(-& +4 "core" &K . , J\ a +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(('" +52 "core" ' + "manipulator"&|& +4 "core" &\  !s +2 "storage"(0& +3 "core" &K   <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&6'< +18 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(S' +31 "core" ' + "manipulator"&K% +4 "core" %U  +2 "storage"(D& +4 "core" &K   m\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 325 counts + "manipulator"&5'ρ +16 "core" ' + "manipulator"&}& +4 "core" &\   o +2 "storage"(V& +4 "core" &K & ' A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +20 "core" ' + "storage"(+% +4 "core" %   e\ +2 ."downElevator"SE.seek :down +4 "storage"(p' +99 (#% +3 "core" %H  \\\ Xi +2 "manipulator"&*% +4 "core" % [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +91 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (x& +3 "core" &K & &\ +2 "collection"'8& +4 "core" &\\s j\ X + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&L% +4 "core" %  C  +2 "storage"(1% +3 "core" % ' & E\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(F(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (`& +3 "core" &K 2 ( +\  +2 "manipulator"&q& +3 "core" &\   o +2 .tElbow.seek 6 + "manipulator"&i( +14 "core" ( + "manipulator"&)& +4 "core" &   +2 "storage"(>& +3 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&4' +98 "core" ' + "storage"(_& +4 "core" &K & &\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'r +296 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +2 "core" &  +2 "storage"( & +3 "core" &K & " A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&&'< +26 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(z- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(j'` +29 "core" ' + "manipulator"&o% +4 "core" %N + "storage"( & +4 "core" &K l\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'z +19 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"(t& +3 "core" &K & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&/' +20 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(,' +35 "core" ' + "manipulator"&r& +4 "core" &   +2 "manipulator"&h% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + "manipulator"& & +4 "core" &Ӌ- Du + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +2 "core" &Ӌ- H Du +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close + "manipulator"&A/ +60 "core" / + .tCC.seek :open +2 "collection"'( +450 "core" ( + "storage"(& +4 "core" &K T M 2\  +2 "storage"(m& +3 "core" &K J J <\  +2 "manipulator"&@& +3 "core" &ӡ(   A_ +2 "manipulator"&P% +3 "core" % G ; a +2 .tForearm.seek :retract + "manipulator"&\ ' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&u( +157 "core" ( + "manipulator"&g& +4 "core" & e +2 "storage"(O& +3 "core" &K d c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&'< +95 "Can"\ DA +6 "core" ' + .tElbow.hold + "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&U1 +59 "core" 1 + "manipulator"&b% +5 "core" % J X + "storage"(k& +4 "core" &K c c\  +53 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 314 counts +2 "manipulator"&:'v +17 "core" ' + "manipulator"&e& +4 "core" &  +2 "storage"(& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +21 "core" ' + "storage"(c% +4 "core" %  a\ +2 ."downElevator"SE.seek :down +3 "storage"(l' +100 (% +3 "core" %D W U\ Vb +2 "manipulator"&Q% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +89 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +45024 #-> access 3 +2 .SE.seek :down + "storage"(' +4 "core" ' + "manipulator"&n% +4 "core" %   + "manipulator"&{& +4 "core" &  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(a([ +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (\\& +3 "core" &[ ; H \  +1629 #t-> access 4 +2 .SE.seek :down +2 "storage"(' +3 "core" ' + "manipulator"&Z% +4 "core" %    +2 "manipulator"&W& +3 "core" & 3 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(I(C +1931 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (G& +3 "core" &E e e F\ +2131 #t-> access 5 +2 .SE.seek :down +2 "storage"(' +2 "core" ' + "manipulator"&?% +4 "core" %  0  +2 "manipulator"&~& +4 "core" &  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(R(  +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (!& +3 "core" &  h v \\\ \ +1804 #t-> access 6 +2 .SE.seek :down + "storage"(y' +4 "core" ' + "manipulator"&2% +4 "core" %   <  + "manipulator"&=& +4 "core" &  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(;( +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (B& +3 "core" & \\ \\\  +5054 #t-> access 2 +2 .SE.seek :down + "storage"(' +4 "core" ' + "manipulator"&9% +4 "core" %   8  + "manipulator"&& +4 "core" & + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(.(K +730 "Can"\ ][ +259 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ($& +3 "core" &K# L F 5\  +23359 #t-> exit +5 #mEXIT @1624040892.60EDT @1624040913.13EDT = =tMAIN =mMAIN_scheduler @EDT1624040914.85 #"core_reset"Sent BREAK + #t@14945 receive with ifg=0x10, ie=0xFD + #@15579 receive with ifg=0x10, ie=0xFD + #@16238 receive with ifg=0x10, ie=0xFD #@16874 receive with ifg=0x10, ie=0xFD + #@17509 receive with ifg=0x10, ie=0xFD + #@18144 receive with ifg=0x10, ie=0xFD #@18779 receive with ifg=0x10, ie=0xFD + #@19106 receive with ifg=0x80, ie=0xFD #@59477 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +349 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ JH + \ JH + #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +2 "core" %h (\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +2 "core" %ؾ \ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ځ o\ 2 + .tSS.configure :default +2 "sampler")#.0X startTube 2 +2325 #-> $da[:extractVol]=.21 +1235 #-> shortDA +2 "collection"'% +2 "processing"%% +5 "core" %h \ +3 %ؾ\ +3 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1945 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"% +43 "core" + .tPTV.dial :PRVmixing + "processing"%  +129 "core" + .tPRV.dial :sipper + "processing"%  +129 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml + "processing"%'e +2290 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%  + "collection"'  +7 "core"  +119 +2 .tPS.seek 0.5ml + "processing"%' +1292 "core" ' + .tPRV.dial :waste2 + "processing"% @ +101 "core" ? + .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%!'ؾ +596 "core" ' + .tPSV.dial PSR + "processing"%" +102 "core"  + "processing"%#% +4 "core" %\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +11 .tPS.seek 1ml + "processing"%$'X\\ +1097 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%%' +1605 "core" ' + .tPSV.dial :mixloop + "processing"%& +104 "core" +2 .tPS.seek 0ml + "processing"%''ؾ +2635 "core" ' + .tPSV.dial PSR + "processing"%( +102 "core" + "processing"%)% +4 "core" %ؿ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%*'X\\ +1106 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%+' +1620 "core" ' + .tPSV.dial :mixloop + "processing"%, +103 "core" + .tPRV.dial :sipper + "processing"%-  +45 "core" +2 .tPS.seek 0ml + "processing"%.'ؾ +2633 "core" ' + .tPSV.dial PSR + "processing"%/ +103 "core"  + .tPSR.select :air +2 .PS.seek 2.5ml + "processing"%0' +2641 "core" ' + .tPSV.dial :mixloop + "processing"%1 +104 "core" + .tPS.seek 0ml +2 "processing"%2'ؾ +2650 "core" ' + #tLoading da puck from tube 2 into Processing Clamp + "processing"%3& +4 "core" &\ +2 .tHand.open + "manipulator"&41 +23 "core" 1 + "manipulator"&5% +4 "core" %  G  + "storage"(6% +4 "core" % 3 6 !\ + "storage"(7. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(8(  +1304 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (9& +3 "core" &  y \ + "manipulator"&:& +4 "core" &  W + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&;( +23 "core" ( + "manipulator"&<& +4 "core" & J + "storage"(=& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&>'S +95 "core" ' + "storage"(?& +4 "core" &  y |\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'r +299 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &  c _ \  +2 "manipulator"&C& +3 "core" & / J +2 .tElbow.seek 2 + "manipulator"&D( +5 "core" ( + "manipulator"&E& +4 "core" & N J + "storage"(F& +5 "core" &  ]\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&G'Ͻ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&H/ +77 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(J' +8 "core" &  4 J + "manipulator"&K% +4 "core" %  > +2 .tForearm.seek :retract + "manipulator"&L' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&M( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +71 "core" ( + "manipulator"&N& +4 "core" & 2 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +2 "core" &  S 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&P' +97 "core" ' + "manipulator"&Q& +4 "core" & V 3 +2 "manipulator"&R% +3 "core" %  * +2 "processing"%S& +4 "core" &\ +2 "processing"%T& +5 "core" &\ +2 .tPC.seek :closed + "processing"%U(^ +4 "core" &\  +52 &1s\ )w + &a\ > +2 &fu \ O +4 &'W\ O + &Y\ O &W\ O +5 &nX\ O +9 &0X\ O +10 &Z\ O +9 &W\ O +9 & u[\ O +10 &"9U\ N +9 &#X\ O +10 &%Y\ O +9 &'~Y\ O +9 &)AW\ N +10 &+X\ O +9 &,Z\ O +9 &.U\ O +10 &0GY\ O +9 &2 W\ O +10 &3W\ \ O +9 &5W \ O +9 &7OV\ O +10 &9Z\ O +9 &:Y\ O +9 &<X\ O +10 &>U\\\ P +9 &@Z\ O +10 &A`\ P +9 &Cn\ Q +9 &EP\ T +10 &G\ T +9 &H\ U +9 &J\ U +10 &LV\ U +9 &N\ V +10 &O\ V +9 &Q \ V +9 &SY\ W +10 &U \ V +9 &V \ V +9 &X \ V +10 &Zb \ V +9 &\\$\ V +10 &]|\ ; +9 &^5\ R +9 &^ \ . +3 ( + "processing"%T& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&V1 +64 "core" 1 + "manipulator"&W% +4 "core" %  r * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%Y h + %Z9 +6 "core" 9 +102 "processing"%[9 +3 "core" 9 +102 "processing"%\\9 +3 "core" 9  +102 "processing"%]9 +2 "core" 9  +103 "processing"%^9 +3 "core" 9 +102 "processing"%_9 +2 "core" 9 +103 "processing"%`9 +2 "core" 9 +103 "processing"%a9 +2 "core" 9 +103 "processing"%b9 +3 "core" 9" +102 "processing"%c9 +3 "core" 9& +102 "processing"%d9 +2 "core" 9+ +103 "processing"%e9 +3 "core" 9/ +102 "processing"%f9 +2 "core" 93 +103 "processing"%g9 +3 "core" 97 +102 "processing"%h9 +3 "core" 9; +102 "processing"%i9 +3 "core" 9@ +103 "processing"%j9 +3 "core" 9D +102 "processing"%k9 +2 "core" 9H +103 "processing"%l9 +3 "core" 9L +102 "processing"%m9 +3 "core" 9P +103 "processing"%n9 +3 "core" 9U +102 "processing"%o9 +3 "core" 9Y +102 "processing"%p9 +3 "core" 9] +102 "processing"%q9 +2 "core" 9a +103 "processing"%r9 +3 "core" 9e +102 "processing"%s9 +2 "core" 9j +103 "processing"%t9 +3 "core" 9n +102 "processing"%u9 +3 "core" 9r +102 "processing"%v9 +2 "core" 9v +103 "processing"%w9 +3 "core" 9z +102 "processing"%x9 +3 "core" 9 +102 "processing"%y9 +2 "core" 9 +103 "processing"%z9 +3 "core" 9 +102 "processing"%{9 +2 "core" 9 +103 "processing"%|9 +3 "core" 9 +102 "processing"%}9 +2 "core" 9 +103 "processing"%~9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +103 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +103 "processing"%9 +3 "core" 9  +2 .tPH.hold 2:00:00,28C +3 "processing"% php +2 .tdelay 1:30 +5 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR + "processing"% +103 "core"  + "processing"% % +4 "core" %ع.\  + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%' +590 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml + "processing"%' +1612 "core" ' + .tPTV.dial :puck + "processing"%  +129 "core"  + .tPSV.dial PTV +2 "processing"% +74 "core" + .tPBV.dial :waste1 + "processing"%  +54 "core" + "processing"%% +4 "core" %-\  +2 .tPS.seek 1.5ml + "processing"%', +587 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPS.seek 0ml + "processing"%'ؾ +1621 "core" ' + .tdelay 5:00 +3497 "Can"\ IF +26505 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +35 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR + "processing"% +74 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml + "processing"%' +2413 "core" ' + .tPSV.dial PTV + "processing"% +75 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +3 "processing"% +72 "core" + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%" +84 "core" + .tdelay 5 seconds +502 .PSV.dial :air + "processing"%#  +74 "core"  +2 .tPS.seek 0ml + "processing"%!'ؾ +2350 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%$  +130 "core" + .tPSV.dial :mixloop + "processing"%& +45 "core" + .tPRV.dial :ab1 + "processing"%% @ +101 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml + "processing"%(' +360 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%)  +42 "core"  + "processing"%'% +4 "core" %T\  +2 .tPS.seek 0.36ml + "processing"%*' +483 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"',  +29 "core" + .tPRV.dial :air +2 "processing"%-  +42 "core"  +2 .tPS.seek 0.9ml + "processing"%+'K +1155 "core" ' + .tPRV.dial :waste2 + "processing"%/ @ +73 "core" ? +2 .tPS.seek 0.5ml + "processing"%.' +872 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%1  +43 "core"  + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%0' +1618 "core" ' + .tPSV.dial :PML + "processing"%3 +45 "core" + .tPTV.dial :mixing + "processing"%4 @ +73 "core" A + .tPBV.dial :waste1 + "processing"%5  +35 "core" + "processing"%6% +4 "core" %K\ \ +2 .tPS.seek 1.85ml + "processing"%7' +233 "core" ' + .tPBV.dial between PSV and waste1 + "processing"% * +36 "core" , +2 .tPS.seek 0ml + "processing"%9'ؾ +1990 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"':& +3 "core" & \ +2 "manipulator"&<& +3 "core" &  $ 3 +2 "manipulator"&=% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(- +128 "core" ( + "manipulator"&& +4 "core" &-  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- H +2 .tForearm.seek :garage + "manipulator"&A'w +101 "core" ' + .tHand.close + "manipulator"&/ +71 "core" / + "manipulator"&B& +4 "core" &- R +2 "manipulator"&C% +3 "core" % ϊ x +2 .tForearm.seek :retract + "manipulator"&E' +105 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +291 "core" ( + "manipulator"&H& +4 "core" &ӂ 3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &ӂ 7 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&K'? +93 "core" ' +2 "manipulator"&;& +4 "core" &ӂ 3 + "manipulator"&>% +4 "core" %H # g +2 "collection"'@& +3 "core" & C\ +2 "collection"'G& +5 "core" & ;\ +2 .tCC.seek :closed + "collection"'N(\\ +4 "core" & ;\ +8 &< 9\ %g +10 &W =\ 8 +9 &| ;\ L +10 &Y ;\ N +9 &u[ ?\ N +9 &7X =\ N +10 &X B\ M +9 &Z 8\ M +9 &}^ 6\ N +10 &@Y 8\ M +9 & Y 5\ M +10 &!\\ 0\ M +9 &#Z 1\ M +9 &%G[ ;\ N +10 &' Z 2\ N +9 &(W /\ M +9 &*Z 1\ M +10 &,P\\ 0\ M +9 &.[ +\ M +10 &/Y -\ M +9 &1\\ 3\ N +9 &3W] .\ N +10 &5] 8\ M +9 &6Z /\ N +9 &8[ /\ M +10 &:_W 6\ N +9 &<"] 7\ M +10 &=[ :\ N +9 &?Y 6\ N +9 &Ag\\ :\ N +10 &C&c 6\ O +9 &Du <\ Q +9 &F <\ T +10 &HR =\ X +9 &J ;\ Y +10 &K :\ Y +9 &M ;\ Z +9 &OT 7\ Z +10 &Q 9\ Z +9 &R <\ [\ +9 &T 9\ \\ +10 &VS <\ ] +9 &X <\ ] +10 &Y ;\ ^ +9 &[ :\ L +9 &\\A 7\ (z +10 &\\ ;\ !b +2 ( +2 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + "collection"'O& +3 "core" &\\ \ !b +2 .tHand.open + "manipulator"&D1 +61 "core" 1 +2 "manipulator"&Q% +4 "core" % H  g + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&R' +90 "core" ' + .tPSV.dial PSR + "processing"%S +103 "core"  + "processing"%J% +4 "core" %ؽ)\ ~ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%L'+ +1617 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +43 "core"  +2 .tPS.seek 0ml + "processing"%V'ؾ +1608 "core" ' + .tPSV.dial PSR + "processing"%W +45 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%Z' +2630 "core" ' + ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%T  +2 "collection"'[  +32 "core"  +126  + .tPSV.dial :mixloop + "processing"%P +103 "core" + .tCTV.dial :air,avoiding: :intake + "collection"'\\ +4 "core"  + "collection"'8  +18 "core" + .tPTV.dial :PRVmixing + "processing"%]  +74 "core" +2 .tPS.seek 0ml + "processing"%^'ؾ +2636 "core" ' + .tPSV.dial :air + "processing"%_  +55 "core"  +2 .tPS.seek 2.5ml + "processing"%`' +2640 "core" ' + .tPSV.dial :mixloop + "processing"%a +42 "core" +2 .tPS.seek 0ml + "processing"%b'ؾ +1789 "Can"\ fc +849 "core" ' + .tPSV.dial :air + "processing"%c  +45 "core"  +2 .tPS.seek 2.5ml + "processing"%d' +2631 "core" ' + .tPSV.dial :mixloop + "processing"%e +57 "core" +2 .tPS.seek 0ml + "processing"%f'ؾ +2635 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&g& +4 "core" &ӂ  3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +2 "core" ( +2 "manipulator"&i& +3 "core" &ӂ S 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &ӂ S 3 + .tForearm.seek CC +2 "manipulator"&k'? +93 "core" ' + .tHand.close + "manipulator"&l/ +77 "core" / + .tCC.seek :open +2 "collection"'m( +449 "core" ( + "manipulator"&n& +4 "core" &ӂ R 3 + "manipulator"&o% +4 "core" % = ; +2 .tForearm.seek :retract + "manipulator"&p' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +50 .tElbow.seek :garage +2 "manipulator"&q(- +281 "core" ( + "manipulator"&r& +4 "core" &- > > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +2 "core" &- t > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&t'w +100 "core" ' +2 .tHand.open + "manipulator"&u1 +58 "core" 1 + "manipulator"&v% +4 "core" % w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' + ."da"delayUntil "14:54:03.74" +24725 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%x @ +73 "core" A + ."da"PBV.dial :waste1 +2 "processing"%y  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%z * +35 "core" , + ."da"PSV.dial :air +2 "processing"%{  +42 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%|' +2406 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%} +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%~  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2352 "core" ' + #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +131 "core"  + "processing"%% +4 "core" %ؽS\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +585 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1624 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +71 "core"  + ."da"PSV.dial PTV +2 "processing"% +83 "core" + ."da"PBV.dial :waste1 + "processing"%2  +35 "core" + "processing"%% +4 "core" %@\  +2 ."da"PS.seek 1.5ml + "processing"%'1 +589 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%'ؾ +1608 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +34 "core" + ."da"delay 30 seconds +1230 "Can"\ HF +1772 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml + "processing"%' +2407 "core" ' + ."da"PSV.dial PTV +2 "processing"%Y +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +86 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2348 "core" ' + #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +131 "core"  + "processing"%% +4 "core" %ؼK\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%"' +586 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%#' +1622 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%$  +34 "core" + "processing"%&% +4 "core" %W\  +2 ."da"PS.seek 1.5ml + "processing"%%'. +598 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%! * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%)'ؾ +1630 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%'  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%( * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%, +84 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%-' +2408 "core" ' + ."da"PSV.dial PTV +2 "processing"%* +83 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%/ +72 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%+ +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%1  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%.'ؾ +2352 "core" ' + #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%3  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing + "processing"%4  +128 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%5  +43 "core"  + ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%6 +43 "core" + ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml + "processing"%' +392 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%0  +46 "core"  + "processing"%7% +4 "core" %a\ \ +2 ."da"PS.seek 0.55ml + "processing"%:' +332 "core" ' + #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%<  +43 "core"  +2 ."da"PS.seek 2ml + "processing"%=' +1560 "core" ' + ."da"PSV.dial :PML + "processing"% +44 "core" + ."da"PTV.dial :mixing +2 "processing"% @ +72 "core" A + ."da"PBV.dial :waste1 + "processing"%M  +36 "core" + "processing"%% +4 "core" %\\\  +2 ."da"PS.seek 1.85ml + "processing"%B' +229 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%C * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%X'ؾ +1969 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +17706 "Can"\ RR +30296 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%A  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%H * +34 "core" , + ."da"PSV.dial :air + "processing"%I  +45 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml + "processing"%?' +2449 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%; +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%>  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%@ +46 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%E  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%\ 'ؾ +2366 "core" ' + #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%O +131 "core"  + "processing"%D% +4 "core" %ؾm\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%Q' +594 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%G' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%S  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%J +70 "core" + ."da"PBV.dial :waste1 + "processing"%K  +36 "core" + "processing"%9% +4 "core" %\ \ +2 ."da"PS.seek 1.5ml + "processing"% '( +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%L * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%W'ؾ +1611 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%V  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%[ * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%T +86 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%P' +163 "Can"\ HG +2241 "core" ' + ."da"PSV.dial PTV +2 "processing"%\\ +70 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%8 +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%] +84 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%Z  +88 "core" +2 ."da"PS.seek 0ml + "processing"%_'ؾ +2332 "core" ' + #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%^ +131 "core"  + "processing"%a% +4 "core" %Q\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%`' +586 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%c' +1611 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%b +74 "core" + ."da"PBV.dial :waste1 + "processing"%e  +35 "core" + "processing"%d% +4 "core" %S\  +2 ."da"PS.seek 1.5ml + "processing"%g'& +592 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%i * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%j'ؾ +1605 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%l  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%F * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%R +73 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%N' +2401 "core" ' + ."da"PSV.dial PTV +2 "processing"%n +72 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%o +71 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +11 "processing"%k +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%r  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%s'ؾ +2362 "core" ' + #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%h +131 "core"  + "processing"%u% +4 "core" %ؽ]\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%v' +598 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%p' +1621 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%t +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%x  +35 "core" + "processing"%y% +4 "core" %x\  +2 ."da"PS.seek 1.5ml + "processing"%z', +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%{ * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%f'ؾ +1615 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%}  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%~ * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +73 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2389 "core" ' + ."da"PSV.dial PTV +2 "processing"%| +84 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +74 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +1366 "Can"\ GE +983 "core" ' + ."da"Gate.power :camera,:ON + #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +135 "core"  +6 "processing"% % +11 "core" %ؾs\ D +3 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +11 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%2' +351 "core" ' +2 ."da"delay 5 seconds +502 "processing"%% +4 "core" %z\ F + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%' +338 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1610 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +36 "core" + "processing"%% +4 "core" %z\ : +2 ."da"PS.seek 1.5ml + "processing"%'& +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%Y'ؾ +1613 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +89 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml + "processing"%' +2475 "core" ' + ."da"PSV.dial PTV +2 "processing"% +86 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%"  +86 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2447 "core" ' + #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%$ +134 "core"  + "processing"%&% +4 "core" %غ\ 9 + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml + "processing"%#' +2124 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%! +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%%  +36 "core" + "processing"%'% +4 "core" %{\ y\ +2 ."da"PS.seek 1.5ml + "processing"%('& +595 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%, * +34 "core" + + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%)  +106 "core"  +2 ."da"PS.seek 0ml + "processing"%*'ؾ +1616 "core" ' + "processing"%/9 +3 "core" 9f5p +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%+  +2 "core" 5p +3 5p + "processing"%1& +3 "core" &^n\ w. +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&-% +3 "core" %    +2 "storage"(3% +3 "core" % \ +2 "storage"(4. +2 "core" . +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(5(C +358 "core" ( + ."da"SC.reconfigure :loose +2 "storage"($.\ 1~b +2 (6& +3 "core" &E 2 \ 4 +2 "manipulator"&.& +3 "core" &- > + "manipulator"&0% +4 "core" %   + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 + "manipulator"&7( +176 "core" ( + "manipulator"&& +4 "core" & : + "storage"(<& +4 "core" &D   3\ 2 +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&:' +96 "core" ' + "storage"(& +4 "core" &D  \ / +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"('r +278 "core" ' + "storage"(M- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek :place +2 "storage"('1 +47 "core" ' + "manipulator"&C& +4 "core" & : +2 "manipulator"&=% +3 "core" % K +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&B' +93 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&A( +266 "core" ( + "manipulator"&H& +4 "core" &  + ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &  +2 ."da"Forearm.seek PC +2 "manipulator"&X' +92 "core" ' + ."da"Hand.close + "manipulator"&;/ +73 "core" / + ."da"PC.seek :open +2 "processing"%>( +459 "core" ( + "storage"(@& +4 "core" &D \  + "manipulator"&E& +4 "core" & 8 + "manipulator"&?% +4 "core" %  | 1 + ."da"Forearm.seek :retract +2 "manipulator"&O' +95 "core" ' + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&D( +243 "core" ( + "manipulator"&\ & +4 "core" &  W + "storage"(Q& +4 "core" &D   L\ 1 +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts + "manipulator"&S' +95 "core" ' + ."da"Hand.open + "manipulator"&J1 +73 "core" 1 +2 "storage"(K- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +26 "core" ' + ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate + "storage"(G' +61 "core" ' + #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21jun1815h.tif +3 "processing"%L& +11 "core" &, +2 "manipulator"& & +8 "core" &  " - YW +4 "manipulator"&V% +8 "core" %   Y +4 ."psFlush"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 ."psFlush"Forearm.seek :retract +3 "manipulator"&[' +91 "core" ' + ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&T(- +172 "core" ( +3 "manipulator"&W& +5 "core" &- g a h +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +2 "core" &- h uh +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&8'w +99 "core" ' + ."psFlush"Hand.close + "manipulator"&]/ +74 "core" / + "manipulator"&Z& +4 "core" &- / h + "manipulator"&P% +4 "core" % ϊ 9 F  d +2 ."psFlush"Forearm.seek :retract + "manipulator"&^' +97 "core" ' +48 ."psFlush"Elbow.reconfigure :tight +11 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC + "manipulator"&a( +135 "core" ( + "manipulator"&_& +4 "core" & G C b\ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +2 "core" & 7 < a\ +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&b' +95 "core" ' +2 "manipulator"&e& +4 "core" & D \ +2 "manipulator"&d% +3 "core" % d +2 "processing"%c& +4 "core" &\ 5 +2 "processing"%i& +4 "core" &\ 6 +2 ."psFlush"PC.seek :closed +2 "processing"%g(^ +4 "core" &\ 6 +8 &.n +{ +10 &^u ? +9 &Lk R +9 & G S +10 &G S +9 &I S +9 &NI T +10 &I T +9 &I T +9 &F S +10 & WJ S +9 &"J9 S +10 &#JA S +9 &%DK S +9 &'^JL T +10 &)'I@\ ,Q +9 &*N=\ .R +10 &,O=\ -R +9 &.mO?\ -Q +9 &0/J;\ .Q +10 &1K.\ >Q +9 &3M,\ 7Q +9 &5uN-\ .Q +10 &77L'\ .Q +9 &8R)\ .Q +9 &:Q$\ .R +10 &8M T +10 &?N T +9 &AR" T +9 &Cx]\ V +10 &E3tT X +9 &F{} Z +9 &H} Z +10 &Jsd Z +9 &L5| Z +10 &Mu [ +9 &Or [ +9 &Qvs \\ +10 &S8z \\ +9 &Tb \\ +9 &V\ Z +10 &Xx\ Z +9 &ZGt\ Z +10 &\\ u\ Z +9 &]h\ ,D +9 &^$jh\ 4"d +10 &^4q\ 89 +2 ( +2 "processing"%i& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.77 + "processing"%l& +3 "core" &^-\ '9 +2 ."psFlush"Hand.open + "manipulator"&F1 +70 "core" 1 + "manipulator"&R% +4 "core" % G Kd +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&j' +101 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%n +46 "core"  + "processing"%o% +4 "core" %ؾ=\ 2 + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml + "processing"%k' +596 "core" ' + ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%r' +2125 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%N @ +198 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%h  +136 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%u +106 "core" +2 ."psFlush"PS.seek :empty + "processing"%s'ؠ +2636 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%v +107 "core"  + "processing"%t% +4 "core" %؟#\  + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%x' +590 "core" ' + ."psFlush"delay 5 seconds +95 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 85.651 seconds\ /var/log/esp/da21jun1815h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21jun1815h15s.tif +404 ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%y' +1139 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21jun1815h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21jun1815h30s.tif +985 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%p  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%{ @ +77 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%z +108 "core" + ."psFlush"PS.seek :empty +2 "processing"%}'ؠ +1739 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21jun1815h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21jun1815h70s.tif +888 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%~ +111 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1110 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%f' +1613 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%| +80 "core" + ."psFlush"PTV.dial :puck +2 "processing"%  +75 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +80 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +503 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21jun1815h70s.tif: TIFF Upload Complete\ +3 ."Qmail"DAfans.email "85.651 sec auto-exposure",Subject: "da21jun1815h images!" +4 ."da"Gate.power :camera,:OFF +3 "storage"( - +2 "core" -' +2 "storage"( & +4 "core" &D e M\ ? +2 "manipulator"&& +7 "core" & ] \ + "manipulator"&% +4 "core" % # 3 +2 ."da"Elbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +5 ."da"Elbow.seek 1 +9 "manipulator"&2( +36 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +198 "core" ( + "manipulator"&& +4 "core" & i & + "storage"(& +4 "core" &D .\ F +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&' +97 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' + "manipulator"&& +4 "core" & Y & + "storage"(& +4 "core" &D O\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&'8 +15 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.32 Pucks below Top Plate + "storage"(' +28 "core" ' + "manipulator"&Y% +4 "core" %J A U +2 "storage"( & +3 "core" &D  ?\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 318 counts + "manipulator"&'v +16 "core" ' + "manipulator"&& +4 "core" & & +2 "storage"("& +3 "core" &D  \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +21 "core" ' + "storage"($% +4 "core" % \  +2 ."downElevator"SE.seek :down +3 "storage"(&' +99 (% +3 "core" %> t\ SV +2 "manipulator"&!% +4 "core" % $ + ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&%' +90 "core" ' +79 ' + ."downElevator"SE.coast + "storage"(5 +3 ."da"SC.coast + "storage"(6 +3 ('& +3 "core" &D   7\ +1277 ' + ."psFlush"PSV.dial PTV +47 "processing"%# +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%, U +54 "core" W +2 ."psFlush"PS.seek 0ml + "processing"%)'ؾ +2637 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%( @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%/' +2628 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%+  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%1'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%- +43 "core"  + ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%3' +2250 "Can"\ KH +386 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%4 +83 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%6'ؾ +2637 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%. @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%0' +2643 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +83 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%<'ؾ +2658 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +42 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%q'X\\ +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%w' +1608 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%M +70 "core" + ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%C  +54 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%='ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +73 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%:' +591 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%H' +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%I +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%7 U +53 "core" W +2 ."psFlush"PS.seek 0ml + "processing"%;'ؾ +2639 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%B @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%U' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%@  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%E'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%? +44 "core"  + ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%X' +2636 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%\ +82 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%Q'ؾ +2639 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%A @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%J' +2639 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%K  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%L'ؾ +2641 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"& & +4 "core" & & +2 "manipulator"&O% +3 "core" %  ^  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&V( +242 "core" ( + "manipulator"&& +4 "core" &  2 + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +2 "core" & I 2 +2 ."psFlush"Forearm.seek PC +2 "manipulator"&W' +98 "core" ' + ."psFlush"Hand.close + "manipulator"&\\/ +76 "core" / + ."psFlush"PC.seek :open +2 "processing"%S( +459 "core" ( + "manipulator"&D& +4 "core" & O 2 + "manipulator"&]% +4 "core" %  + ."psFlush"Forearm.seek :retract +2 "manipulator"&Z' +94 "core" ' + ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage + "manipulator"&P(- +128 "core" ( + "manipulator"&[& +4 "core" &- 0 + ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" &- +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage + "manipulator"&`'w +93 "core" ' + ."psFlush"Hand.open + "manipulator"&81 +55 "core" 1 + "manipulator"&e% +4 "core" % q W B +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&d' +92 "core" ' +2 #tFinished short da assay +22662 "Can"\ @= +60003 \ @= +39918 #t-> samplePassF +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'c& +3 "core" & \ +2 "manipulator"&T& +4 "core" &-  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&^(- +22 "core" ( + "manipulator"&>& +4 "core" &- K A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &- t A +2 .tForearm.seek :garage +2 "manipulator"&F'w +98 "core" ' + .tHand.close + "manipulator"&R/ +76 "core" / + "manipulator"&i& +4 "core" &- ) A +2 "manipulator"&n% +3 "core" % ` +2 .tForearm.seek :retract + "manipulator"&o' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&b(ӂ +280 "core" ( + "manipulator"&*& +4 "core" &z) _ A_ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &z) A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'? +98 "core" ' + "manipulator"&h& +4 "core" &{( [ @^ +2 "manipulator"&u% +3 "core" %@ \ 2 +2 "collection"'r& +3 "core" & \ +2 "collection"'v& +5 "core" & \ +2 .tCC.seek :closed + "collection"'t(\\ +4 "core" & \  +9 &4~ \ +{ +10 &d \ ? +9 &v \ O +9 &JW \ N +10 & U \ N +9 &Z \ N +9 &\\ \ N +10 &SU \ M +9 &Z \ N +10 &V \ N +9 & W y\ M +9 &"Y\\ |\ N +10 &$U y\ N +9 &%\\ {\ N +9 &'\\ {\ N +10 &)cZ |\ M +9 &+%W z\ M +10 &,Z y\ N +9 &.Z }\ N +9 &0jY z\ N +10 &2-W }\ M +9 &3\\ {\ N +9 &5[ ~\ N +10 &7r\\ y\ N +9 &93Y }\ N +10 &:W {\ M +9 &<\\ {\ N +9 &>zW ~\ N +10 &@=X ~\ M +9 &A] {\ N +9 &Ch ~\ O +10 &Ewz x\ Q +9 &G, |\ V +10 &H \ X +9 &J {\ Y +9 &Li y\ Y +10 &N) y\ Z +9 &O |\ Z +9 &Q y\ Z +10 &Si y\ \\ +9 &U+ {\ \\ +10 &V x\ ] +9 &X x\ ^ +9 &Zk {\ ^ +10 &\\ y v\ 9 +9 &\\' }\ (w +9 &\\ |\ ] +2 ( +2 "collection"'v& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + "collection"'s& +4 "core" &\\ \ ] +2 .tHand.open + "manipulator"&x1 +53 "core" 1 + "manipulator"&p% +4 "core" % @ c 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&{' +96 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%z  +44 "core"  + "processing"%y% +4 "core" %ؿ\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%~'+ +1614 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +39 "processing"%}  +51 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1613 "core" ' + .tPSV.dial PSR + "processing"%| +45 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2630 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%f  +100 "core"  + .tPSV.dial :PTV,via: :air +2 "processing"% +192 "core" ~ + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +72 "core" A +2 .tPS.seek 0ml + "processing"% 'ؾ +2625 "core" ' + .tPSV.dial :air + "processing"%  +74 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2637 "core" ' + .tPSV.dial :PTV + "processing"% +87 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2639 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &|' \ @] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +2 "core" ( + "manipulator"&& +4 "core" &|' @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &|& 2 @] +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close + "manipulator"&Y/ +68 "core" / + .tCC.seek :open +2 "collection"' ( +451 "core" ( + "manipulator"&& +4 "core" &|' T @] + "manipulator"&"% +4 "core" % J _ Z +2 .tForearm.seek :retract + "manipulator"&j' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&$(- +295 "core" ( + "manipulator"&G& +4 "core" &- G  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- F  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&!'w +93 "core" ' +2 .tHand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&2% +4 "core" % m u K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2318 "Can"\ @= +60003 \ ?= +60002 \ @= +60003 \ ?= +18835 #t-> PS.flush + #Flushing Processing stage + "processing"%% +3 "core" %ؽ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +4 "core" &\ +2 "manipulator"&'& +3 "core" &-   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +3 "core" ( +2 "manipulator"&& +3 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +2 "core" &- s  +2 .tForearm.seek :garage + "manipulator"&5'w +98 "core" ' + .tHand.close + "manipulator"&#/ +68 "core" / + "manipulator"&,& +4 "core" &-   + "manipulator"&% +4 "core" % ω [ +2 .tForearm.seek :retract + "manipulator"&(' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&)( +116 "core" ( + "manipulator"&+& +4 "core" & - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +2 "core" & - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&-' +104 "core" ' +2 "manipulator"&1& +4 "core" & - + "manipulator"&4% +4 "core" % &  +2 "processing"%3& +3 "core" &\ +2 "processing"%.& +5 "core" &\ + .tPC.seek :closed +2 "processing"%6(^ +4 "core" &\ +8 & +\ $d +10 &U~\ 7 +9 &~|\ L +9 &Y\ O +10 &VY\ O +9 &X\ O +9 &Y\ O +10 &Y\ O +9 &_Y\ O +10 & Z\ O +9 &W\ O +9 &!X\ O +10 &#iY\ N +9 &%*Y\ O +9 &&W\ O +10 &(Y\ O +9 &*pY\ O +9 &,1X\ O +10 &-X\ O +9 &/Z\ O +10 &1w\\\ O +9 &39Z\ O +9 &4Y\ O +10 &6Z\ O +9 &8Z\ O +10 &:BY\ O +9 &<\\\ O +9 &=[\ O +10 &?\\\ O +9 &AG\\\ P +9 &Cj\ Q +10 &D~\ S +9 &F~\ U +10 &H@\ U +9 &J\ U +9 &K\ U +10 &M\ V +9 &OE\ V +9 &Q\ W +10 &R\ W +9 &T\ W +10 &VL\ V +9 &X \ V +9 &Y\ W +10 &[\ W +9 &]Q\ H +9 &^xC\ $l +10 &^>\ 6 +6 ( + "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + "processing"%& +4 "core" &^*\ 6 + &^*\ 6 + .tHand.open + "manipulator"&01 +58 "core" 1 + "manipulator"&% +4 "core" %  !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<' +95 "core" ' + .tPSV.dial PSR + "processing"%q +75 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%M'X\\ +1102 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml + "processing"%C' +1615 "core" ' + .tPSV.dial PTV + "processing"%w +74 "core" + .tPTV.dial :puck + "processing"%  +73 "core"  + .tPBV.dial :waste1 + "processing"%=  +55 "core" +2 .tPS.seek 0ml + "processing"%:'ؾ +2626 "core" ' + .tPSV.dial PSR + "processing"%I +72 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%7' +609 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml + "processing"%H' +2122 "core" ' + .tPSV.dial PTV + "processing"%B +74 "core" + .tPBV.dial PSV +2 "processing"%; U +53 "core" V +2 .tPS.seek 0ml + "processing"%@'ؾ +2652 "core" ' + .tPSV.dial PBV + "processing"%U @ +45 "core" ? +2 .tPS.seek 2.5ml + "processing"%?' +2625 "core" ' + .tPSV.dial :waste1 + "processing"%E  +84 "core"  +2 .tPS.seek 0ml + "processing"%\ 'ؾ +2636 "core" ' + .tPSV.dial PSR + "processing"%X +43 "core"  + .tPSR.select :air +2 .PS.seek 2.5ml + "processing"%A' +2629 "core" ' + .tPSV.dial PTV + "processing"%Q +84 "core" + .tPBV.dial PSV +2 .PS.seek 0ml + "processing"%K'ؾ +2642 "core" ' + .tPSV.dial PBV + "processing"%J @ +43 "core" ? +2 .tPS.seek 2.5ml + "processing"% ' +2636 "core" ' + .tPSV.dial :waste1 + "processing"%O  +73 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2638 "core" ' + #tGaraging FlushPuck in Processing Clamp + "manipulator"&9& +4 "core" & - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +4 "core" ( + "manipulator"&\\& +4 "core" & , - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" & : - +2 .tForearm.seek PC +2 "manipulator"&g' +94 "core" ' + .tHand.close + "manipulator"&D/ +75 "core" / + .tPC.seek :open +2 "processing"%]( +459 "core" ( + "manipulator"&[& +4 "core" & - + "manipulator"&_% +4 "core" %  h ) + .tForearm.seek :retract +2 "manipulator"&W' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&8(- +126 "core" ( + "manipulator"&e& +4 "core" &-  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &- K  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&Z'w +99 "core" ' + .tHand.open + "manipulator"&`1 +64 "core" 1 + "manipulator"&c% +4 "core" % | ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&T' +93 "core" ' +2584 #t-> access 2 +2 .SE.seek :down +38 "storage"(>' +11 "core" ' +2 "manipulator"&l% +3 "core" %  q  +2 "manipulator"&R& +3 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(i(K +1618 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (n& +3 "core" &K $ A\ \  +317 #t-> access 1 +2 .SE.seek :down + "storage"(P' +3 "core" ' +2 "manipulator"&d% +4 "core" %  G  + "manipulator"&F& +4 "core" &- 1  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(*(<- +356 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (k& +3 "core" &<+ T V e\ +6268 "Can"\ A? +60003 \ B? +60002 \ B? +60003 \ B@ +60003 \ A? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ C? +60002 \ B? +60003 \ B@ +60002 \ B? +60003 \ A? +60002 \ A? +60003 \ C? +60002 \ B? +60003 \ B@ +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ B? +60003 \ B? +60002 \ A? +60003 \ A? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ A? @EDT1624075721.79 \ B? +60002 \ B? +60003 \ B@ +60002 \ B> +60003 \ A? +60002 \ B? +60003 \ B@ +60002 \ B? +60003 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ C? +60003 \ B@ +60002 \ B@ +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B@ +60003 \ B? +60002 \ B? +60003 \ B? +60003 \ B? +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ A> +60002 \ B? +60003 \ A? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ A? +60003 \ B? +60002 \ A? +60003 \ B? +60002 \ B@ +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ B@ +60003 \ A? +60002 \ A? +60003 \ B? +60002 \ B@ +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B@ +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ A@ +60003 \ B? +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ B? +60002 \ B? +60003 {\ B? +60002 \ A? +60003 \ B? +60002 \ B? +60003 \ A? +60002 \ A? +60003 \ B? +60002 \ B? +60003 \ A? +60003 \ A? +60002 \ B? +60003 \ B@ +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B@ +60002 \ B? +60003 \ B@ +60002 \ A? +60003 \ B? +60002 \ A? +60003 \ B? +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ B? +60003 \ B@ +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ B@ +60002 \ B> +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ A? +60003 \ B@ +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ B? +60002 \ B@ +60003 \ B? +60003 \ B? +60002 \ B? +60003 \ B@ +60002 \ B? +60003 \ B? +60002 \ A? +60003 \ B? +60002 \ A? +60003 \ B? +60002 \ B@ +60003 \ A? +60002 \ A? +60003 \ B@ +60002 \ B@ +60003 \ C? +60003 \ B? +60002 \ B@ +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? @EDT1624162125.43 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B@ +60002 \ B@ +60003 \ B? +60002 \ B? +60003 \ A? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ A? +60003 \ B? +60002 \ B> +60003 \ B? +60002 \ B? +60003 \ A? +60003 \ B? +60002 \ B? +60003 \ A? +60002 \ A? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B@ +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ A? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ A? +60003 \ B@ +60002 \ B? +60003 \ B@ +60002 \ A? +60003 \ B> +60003 \ B? +60002 \ B? +60003 |\ B? +60002 l\ B? +60003 \ B@ +60002 \ B? +60003 \ B? +60002 \ B@ +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ B@ +60003 \ B? +60002 \ B? +60003 \ A? +60002 \ B? +60003 s\ B? +60003 \ A? +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B? +60002 \ A? +60003 }\ B? +60002 m\ A? +60003 u\ B? +60002 \ B? +60003 \ B> +60002 \ B@ +60003 \ A? +60002 \ B@ +60003 \ B? +60002 \ B? +60003 \ A? +60002 \ B? +60003 \ B? +60003 \ B? +60002 \ A? +60003 \ A? +60002 \ B? +60003 \ B? +60002 \ A? +60003 \ B? +60002 \ B? +60003 \ A> +60002 \ B? +60003 \ B? +60002 \ B? +60003 \ B@ +60002 \ A? +60003 \ B? +60002 \ B? +60003 \ B? +60003 \ B@ +60002 \ A? +60003 \ B@ +60002 \ B? @1624228958.39EDT = =tMAIN =mMAIN_scheduler @EDT1624228960.13 #"core_reset"Sent BREAK + #t@9320 receive with ifg=0x10, ie=0xFD + #@9958 receive with ifg=0x10, ie=0xFD + #@10666 receive with ifg=0x10, ie=0xFD #@11300 receive with ifg=0x10, ie=0xFD + #@11934 receive with ifg=0x10, ie=0xFD + #@12569 receive with ifg=0x10, ie=0xFD #@13203 receive with ifg=0x10, ie=0xFD + #@13529 receive with ifg=0x80, ie=0xFD #@52663 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +155 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +114 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +344 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ EB + \ EB + #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +3 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %h |  \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽ\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ځ ]\ 2 + .tSS.configure :default +2 "sampler")#.0X ESP.ready? +2 "collection"'% +3 "core" %h  ~"\ +2 "sampler")% +3 "core" %ځ [\ 2 +2 "manipulator"&% +3 "core" %  !  + "manipulator"&& +4 "core" &-   + "storage"(& +3 "core" &<, w u b\  +2 "storage"(% +3 "core" % v x c\ + "collection"'& +4 "core" &  \ + "processing"%& +4 "core" &>\ + "processing"% % +3 "core" %ؽ\ +639 #t-> Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'!& +4 "core" &  ~_\ + .tHand.open + "manipulator"&"1 +26 "core" 1 + "manipulator"&#& +4 "core" &-  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&$(- +30 "core" ( + "manipulator"&%& +4 "core" &- : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &- ? +2 .tForearm.seek :garage + "manipulator"&''w +93 "core" ' + .tHand.close + "manipulator"&(/ +72 "core" / + "manipulator"&)& +4 "core" &- # + "manipulator"&*% +4 "core" % w +2 .tForearm.seek :retract + "manipulator"&+' +107 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&,(ӂ +282 "core" ( + "manipulator"&-& +4 "core" &y. # E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &y.  E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&/'? +94 "core" ' + "manipulator"&0& +4 "core" &ә) B A` +2 "manipulator"&1% +3 "core" %= _ +2 "collection"'2& +3 "core" &  _\ +2 "collection"'3& +5 "core" & } ~_\ +2 .tCC.seek :closed + "collection"'4(\\ +4 "core" &  ~`\ +8 & - | ~^\ $d +9 &Uy } ~_\ 7 +10 &~{ } ~Y\ K +9 &Y  _\ N +9 &ZX | _\ N +10 &Z } }]\ N +9 &Z }S\ N +9 &Z ~V\ M +10 &c[ } {^\ N +9 &&Y ~ ~_\ M +10 &X U\ N +9 &!W  }Q\ N +9 &#lZ  |\\\ M +10 &%-Y  X\ N +9 &&\\  ~W\ N +9 &(W  ~S\ N +10 &*sV  R\ N +9 &,5W } W\ N +10 &-V } ~T\ N +9 &/U  Y\ M +9 &1{Z ~ R\ N +10 &3=[ ~_\ N +9 &4W `\ N +9 &6W  b\ N +10 &8X ~ `\ M +9 &:EY ~ `\ N +10 &<\\ ~ c\ N +9 &=\\  a\ N +9 &?Y  O\ N +10 &AL]  ^\ N +9 &C e _\ O +9 &Dy } _\ Q +10 &F  _\ U +9 &H6 a\ X +10 &I `\ Y +9 &K `\ Y +9 &Mw a\ Z +10 &O9 _\ Z +9 &P b\ [ +9 &R a\ [ +10 &Ty `\ \\ +9 &V7 _\ ] +10 &W _\ ^ +9 &Y `\ ^ +9 &[x a\ L +10 &\\8 a\ 1 +9 &\\ `\ X +6 ( + "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 + "collection"'5& +4 "core" &\\v ]\ X + &\\v U\ X + .tHand.open + "manipulator"&61 +77 "core" 1 + "manipulator"&7% +4 "core" % =  _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&8' +99 "core" ' +17353 #t-> CBV.PRV + .CBV.dial PRV +2 "collection"'9  +4 "core" +691 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%: @ +72 "core" A +1141 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%; +114 "core" +933 #t-> CTV.air + .CTV.dial :air + "collection"'<  +5 "core" +33846 "Can"\ YW +20332 #t-> PRV.CBV + .PRV.dial CBV + "processing"%=  +16 "core"  +1695 #t-> PSR.flush + .PSR.select :flush +2 "processing"%j +535 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%> +72 "core"  +326 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%?' +2633 "core" ' + "processing"%@% +4 "core" %\  +587 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%A +74 "core" +522 #t-> PS.empty +2 .PS.seek 0ml + "processing"%B'ؾ +2625 "core" ' + "processing"%C% +4 "core" %\ +499 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%D +85 "core" +430 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%E' +2633 "core" ' + "processing"%F% +4 "core" %\  +1014 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%G +72 "core" +738 #t-> PS.empty +2 .PS.seek 0ml + "processing"%H'ؾ +2637 "core" ' + "processing"%I% +4 "core" %ػ\ +661 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%J +73 "core"  +369 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%K' +2636 "core" ' + "processing"%L% +4 "core" %\  +475 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%M +73 "core" +568 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%N'ؾ +2625 "core" ' + "processing"%O% +4 "core" %\ +513 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%P +84 "core" +651 #t-> PSR.air + .PSR.select :air +2 "processing"% +639 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%Q' +2634 "core" ' + "processing"%R% +4 "core" %\  +527 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%S +72 "core" +579 #t-> PS.empty +2 .PS.seek 0ml + "processing"%T'ؾ +2654 "core" ' + "processing"%U% +4 "core" %ؿ\  +733 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%V +73 "core"  +375 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%W' +2640 "core" ' + "processing"%X% +4 "core" %\  +555 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%Y +74 "core" +689 #t-> PS.empty +2 .PS.seek 0ml + "processing"%Z'ؾ +1390 "Can"\ ZX +1246 "core" ' + "processing"%[% +4 "core" %ؼ\ +479 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%\\ +73 "core"  +406 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%]' +2628 "core" ' + "processing"%^% +4 "core" %\  +1164 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%_ +73 "core" +1493 #t-> PS.empty +2 .PS.seek 0ml + "processing"%`'ؾ +2653 "core" ' + "processing"%a% +4 "core" %ؼ\  +898 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&b& +3 "core" &ӛ& \ @^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&c(ӂ +54 "core" ( + "manipulator"&d& +4 "core" &x   :1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &x   :1 +2 .tForearm.seek CC + "manipulator"&f'? +96 "core" ' + .tHand.close + "manipulator"&g/ +72 "core" / + .tCC.seek :open + "collection"'h( +448 "core" ( + "manipulator"&i& +4 "core" &x  G :1 + "manipulator"&j% +4 "core" % S <  + .tForearm.seek :retract +2 "manipulator"&k' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&l(- +288 "core" ( + "manipulator"&m& +4 "core" &-  $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &- > $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&o'w +99 "core" ' +2 .tHand.open + "manipulator"&p1 +64 "core" 1 + "manipulator"&q% +4 "core" % p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r' +93 "core" ' +372 #t-> exit +5 #mEXIT @1624230295.45EDT @1624235156.17EDT = =tMAIN =mMAIN_scheduler @EDT1624235157.89 #"core_reset"Sent BREAK + #t@60980 sendCRC with ifg=0x20, ie=0x7F + #@62815 sendCRC with ifg=0x08, ie=0x5F + #@60115 idle with ifg=0x84, ie=0x75 #@60787 select with ifg=0x10, ie=0xF5 + #@61420 receive with ifg=0x10, ie=0xFD + #@62053 receive with ifg=0x10, ie=0xFD #@62686 receive with ifg=0x10, ie=0xFD + #@63013 receive with ifg=0x80, ie=0xFD #@47754 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +7 #ESP2 v3.41 I2C Gateway v3.20 for core bus +268 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +351 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ >< + \ >< + #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %h \ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +6 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +2 "core" %ؼ\  +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ځ T\ 2 +2 .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \ +2 .tHand.open + "manipulator"&1 +26 "core" 1 + "manipulator"&& +4 "core" &- $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +4 "core" ( + "manipulator"&& +4 "core" &- $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- ` $ +2 .tForearm.seek :garage + "manipulator"&'w +95 "core" ' + .tHand.close + "manipulator"&/ +71 "core" / + "manipulator"& & +4 "core" &- b $ + "manipulator"&!% +4 "core" % y \\ ' +2 .tForearm.seek :retract + "manipulator"&"' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +284 "core" ( + "manipulator"&$& +4 "core" &ӕ# p <? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &ӕ# F <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&&'? +92 "core" ' + "manipulator"&'& +4 "core" &ӕ# [ <? +2 "manipulator"&(% +3 "core" %E W w +2 "collection"')& +3 "core" & \ +2 "collection"'*& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'+(\\ +4 "core" & \  +9 &5} \ +| +10 &e \ ? +9 &t \ O +9 &OW \ N +10 &U \ N +9 &Z \ M +9 &Y \ M +10 &YX \ M +9 &Z \ M +10 &W \ N +9 & U \ M +9 &"aY \ M +10 &$"V \ N +9 &%[ \ M +9 &'V \ N +10 &)iU \ M +9 &++W \ M +10 &,Z \ N +9 &.Z \ M +9 &0pW \ N +10 &23Z \ M +9 &3W \ N +9 &5X \ N +10 &7xV \ N +9 &9;[ \ M +10 &:W \ M +9 &<\\ \ N +9 &>Z \ N +10 &@BW \ N +9 &B] \ N +9 &Cf \ O +10 &E}~ \ Q +9 &G2 \ V +10 &H \ Y +9 &J \ Y +9 &Lm \ Z +10 &N0 \ Y +9 &O \ Z +9 &Q \ [ +10 &Sn \ \\ +9 &U0 \ \\ +10 &V \ ] +9 &X \ ^ +9 &Zo \ ^ +10 &\\y \ 7 +9 &\\$ \ &p +9 ( + &\\ \ #f +2 "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + "collection"',& +4 "core" &\\ \ #f +2 .tHand.open "manipulator"&-1 +57 "core" 1 + "manipulator"&.% +4 "core" % E # w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/' +93 "core" ' +1538 #t-> CBV.PRV + .CBV.dial PRV +2 "collection"'0  +5 "core" +630 #t-> PTV.PRV + .PTV.dial PRV + "processing"%1 @ +5 "core" @ +635 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%2 +4 "core" +1237 #t-> CTV.air + .CTV.dial :air +2 "collection"'3  +4 "core" +757 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%4  +4 "core"  +808 #t-> PSR.flush + .PSR.select :flush +2 "processing"%j +558 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%5 +73 "core"  +728 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%6' +2630 "core" ' + "processing"%7% +4 "core" %\  +2893 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%8 +87 "core" +712 #t-> PS.empty +2 .PS.seek 0ml + "processing"%9'ؾ +2628 "core" ' + "processing"%:% +4 "core" %\ +1064 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%; +72 "core"  +380 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%<' +2642 "core" ' + "processing"%=% +4 "core" %\ \ +1590 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%> +74 "core" +470 #t-> PS.empty +2 .PS.seek 0ml + "processing"%?'ؾ +2636 "core" ' + "processing"%@% +4 "core" %ؽ\ +504 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%A +74 "core"  +1417 #t-> PSV.PSR +7 .PSV.dial PSR +954 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%B' +2627 "core" ' + "processing"%C% +4 "core" %\  +918 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%D +74 "core" +556 #t-> PS.empty +2 .PS.seek 0ml + "processing"%E'ؾ +2629 "core" ' + "processing"%F% +4 "core" %\ +554 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%G +74 "core"  +381 #t-> PSR.air + .PSR.select :air +2 "processing"% +842 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%H' +2638 "core" ' + "processing"%I% +4 "core" %\  +543 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%J +74 "core" +433 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%K'ؾ +2653 "core" ' + "processing"%L% +4 "core" %\  +565 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%M +73 "core"  +457 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%N' +2628 "core" ' + "processing"%O% +4 "core" %\  +1381 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%P +73 "core" +471 #t-> PS.empty +2 .PS.seek 0ml + "processing"%Q'ؾ +2633 "core" ' + "processing"%R% +4 "core" %ؾ\ +2234 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%S +73 "core"  +381 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%T' +2626 "core" ' + "processing"%U% +4 "core" % :\ +472 "Can"\ a_ +321 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%V +74 "core" +1103 #t-> PS.empty +2 .PS.seek 0ml + "processing"%W'ؾ +2653 "core" ' + "processing"%X% +4 "core" %ؿ\  +742 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&Y& +3 "core" &Ӗ" <> +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&Z(ӂ +31 "core" ( + "manipulator"&[& +4 "core" &{\  9 n + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &{\   n +2 .tForearm.seek CC + "manipulator"&]'? +93 "core" ' + .tHand.close + "manipulator"&^/ +73 "core" / + .tCC.seek :open +2 "collection"'_( +449 "core" ( + "manipulator"&`& +4 "core" &{\  n + "manipulator"&a% +4 "core" % = F  + .tForearm.seek :retract +2 "manipulator"&b' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&c(- +279 "core" ( + "manipulator"&d& +4 "core" &- * Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &- o Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&f'w +94 "core" ' +2 .tHand.open + "manipulator"&g1 +64 "core" 1 + "manipulator"&h% +4 "core" % ρ K & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&i' +91 "core" ' +6796 #t-> exit +5 #mEXIT @1624235894.21EDT @1624387756.50EDT = =tMAIN =mMAIN_scheduler @EDT1624387758.23 #"core_reset"Sent BREAK + #t@3055 sendCRC with ifg=0x20, ie=0x7F + #@4890 sendCRC with ifg=0x08, ie=0x5F + #@23774 idle with ifg=0x84, ie=0x75 #@24445 select with ifg=0x10, ie=0xF5 + #@25078 receive with ifg=0x10, ie=0xFD + #@25711 receive with ifg=0x10, ie=0xFD #@26344 receive with ifg=0x10, ie=0xFD + #@26671 receive with ifg=0x80, ie=0xFD #@62611 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +265 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +342 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ A? + \ A? + #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %h z\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؿH\  + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +6 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ځ l\ 2 + .tSS.configure :default +2 "sampler")#.0X ESP.ready? +2 "collection"'% +3 "core" %h t\ + "sampler")% +4 "core" %ځ m\ 2 +2 "manipulator"&% +3 "core" %     + "manipulator"&& +4 "core" &- P + "storage"(& +3 "core" &<, y z \  +2 "storage"(% +3 "core" % y y \ + "collection"'& +4 "core" & p\ + "processing"%& +4 "core" &=\ + "processing"% % +4 "core" %ؿ_\  +432 #t-> exit +5 #mEXIT @1624387777.85EDT @1624387793.91EDT = =tMAIN =mMAIN_scheduler @EDT1624387795.63 #"core_reset"Sent BREAK + #t@15932 receive with ifg=0x10, ie=0xFD + #@16568 receive with ifg=0x10, ie=0xFD + #@17224 receive with ifg=0x10, ie=0xFD #@17861 receive with ifg=0x10, ie=0xFD + #@18495 receive with ifg=0x10, ie=0xFD + #@19129 receive with ifg=0x10, ie=0xFD #@19762 receive with ifg=0x10, ie=0xFD + #@20088 receive with ifg=0x80, ie=0xFD #@218 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +268 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +354 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ @> + \ @> + #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %h n\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +6 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؿ=\  + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %ځ n\ 2 +2 .tSS.configure :default +2 "sampler")#.0X startTube 2 +1891 #-> $da[:extractVol]=.21 +8978 #-> access 2 +2 .SE.seek :down + "storage"(' +4 "core" ' + "manipulator"&% +4 "core" %   )  + "manipulator"&& +4 "core" &-  B P +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +360 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &K" S K 8\  +27412 #t-> shortDA +2 "collection"'% +2 "processing"%% +4 "core" %h t\ +6 %ؿ\  + #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +993 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"% +45 "core" + .tPTV.dial :PRVmixing + "processing"%  +72 "core" + .tPRV.dial :sipper + "processing"%!  +129 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml + "processing"%"'e +2298 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%#  + "collection"'$  +7 "core" +120  +2 .tPS.seek 0.5ml + "processing"%%' +1272 "core" ' + .tPRV.dial :waste2 + "processing"%& @ +101 "core" > + .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%''ؾ +596 "core" ' + .tPSV.dial PSR + "processing"%( +103 "core"  + "processing"%)% +4 "core" %ؼ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%*'X\\ +1109 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%+' +1633 "core" ' + .tPSV.dial :mixloop + "processing"%, +104 "core" +2 .tPS.seek 0ml + "processing"%-'ؾ +2638 "core" ' + .tPSV.dial PSR + "processing"%. +104 "core"  + "processing"%/% +4 "core" %ؾ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%0'X\\ +1098 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%1' +1614 "core" ' + .tPSV.dial :mixloop + "processing"%2 +104 "core" + .tPRV.dial :sipper + "processing"%3  +43 "core" + .tPS.seek 0ml +2 "processing"%4'ؾ +2636 "core" ' + .tPSV.dial PSR + "processing"%5 +103 "core"  + .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%6' +1977 "Can"\ B? +660 "core" ' + .tPSV.dial :mixloop + "processing"%7 +104 "core" +2 .tPS.seek 0ml + "processing"%8'ؾ +2629 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%9& +4 "core" & \ + .tHand.open + "manipulator"&:1 +21 "core" 1 + "manipulator"&;% +4 "core" %  *  + "storage"(<% +31 "core" % c c \ +2 "storage"(=. +3 "core" .(K + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(>(  +1297 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (?& +3 "core" &  G ] \ + "manipulator"&@& +4 "core" &- r P + "manipulator"&A% +4 "core" %  .  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&B( +176 "core" ( + "manipulator"&C& +4 "core" & n 7 + "storage"(D& +4 "core" &  C D \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&E'S +95 "core" ' + "storage"(F& +4 "core" &  F > L\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'r +298 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +2 "core" &  2 $ \  +2 "manipulator"&J& +3 "core" &  7 +2 .tElbow.seek 2 + "manipulator"&K( +3 "core" ( +2 "manipulator"&L& +3 "core" & L 7 +2 "storage"(M& +3 "core" &  % &\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&N'Ͻ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +76 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(Q' +7 "core" & 7 +2 "manipulator"&R% +4 "core" %  h +2 .tForearm.seek :retract + "manipulator"&S' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&T( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +80 "core" ( +36 "manipulator"&U& +10 "core" & @  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&W' +92 "core" ' + "manipulator"&X& +4 "core" & 9  +2 "manipulator"&Y% +3 "core" % $ & +2 "processing"%Z& +4 "core" &9\ +2 "processing"%[& +4 "core" &t\ +2 .tPC.seek :closed +2 "processing"%\\(^ +4 "core" &C\  +9 &/s\ *y +9 &b?\ ? +10 &fvB\ P +9 &(U\ O +9 &Y@\ O +10 &X_\ O +9 &m]\ P +10 &/WZ\ P +9 &]\ P +9 &WA\ P +10 & u[H\ P +9 &"7XG\ P +9 &#W^\ P +10 &%U\ O +9 &'~Y\ O +9 &)@X\ O +10 &+XV\ O +9 &,]^\ P +10 &.UZ\ O +9 &0HZ`\ O +9 &2 Za\ P +10 &3\\F\ P +9 &5XJ\ O +9 &7PZ\ O +10 &9\\\ P +9 &:]C\ P +10 &<ZF\ P +9 &>V\\]\ P +9 &@]H\ P +10 &Ag\ Q +9 &Ct\ S +10 &EP\ U +9 &G\ U +9 &H\ V +10 &J\ V +9 &LVB\ U +9 &NZ\ W +10 &O\ W +9 &Q\ W +9 &SY\ W +10 &UG\ W +9 &V\ W +10 &XA\ V +9 &Zb\ W +9 &\\"\\\ X +10 &]\\\ 5 +9 &^4ua\ A +9 ( + &^\ 0 +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&]1 +57 "core" 1 + "manipulator"&^% +4 "core" %  D & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&_' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%` h +2 %a9 +6 "core" 9 +102 "processing"%b9 +3 "core" 9 +102 "processing"%c9 +3 "core" 9  +102 "processing"%d9 +2 "core" 9  +103 "processing"%e9 +3 "core" 9 +102 "processing"%f9 +2 "core" 9 +103 "processing"%g9 +2 "core" 9 +103 "processing"%h9 +2 "core" 9 +103 "processing"%i9 +4 "core" 9" +102 "processing"%j9 +2 "core" 9& +103 "processing"%k9 +3 "core" 9+ +102 "processing"%l9 +2 "core" 9/ +103 "processing"%m9 +3 "core" 93 +102 "processing"%n9 +2 "core" 97 +103 "processing"%o9 +3 "core" 9; +102 "processing"%p9 +3 "core" 9@ +102 "processing"%q9 +2 "core" 9D +103 "processing"%r9 +3 "core" 9H +102 "processing"%s9 +3 "core" 9L +102 "processing"%t9 +3 "core" 9P +102 "processing"%u9 +2 "core" 9U +103 "processing"%v9 +2 "core" 9Y +103 "processing"%w9 +2 "core" 9] +103 "processing"%x9 +3 "core" 9a +103 "processing"%y9 +3 "core" 9e +102 "processing"%z9 +2 "core" 9j +103 "processing"%{9 +2 "core" 9n +103 "processing"%|9 +3 "core" 9r +102 "processing"%}9 +4 "core" 9v +102 "processing"%~9 +2 "core" 9z +103 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +103 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +103 "processing"%\ 9 +3 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9\  +103 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +3 "core" 9 +103 "processing"%9 +2 "core" 9  +3 .tPH.hold 2:00:00,28C +3 "processing"% php + .tdelay 1:30 +5 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"% +105 "core"  + "processing"%% +4 "core" %ع|\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%' +588 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml + "processing"%' +1625 "core" ' + .tPTV.dial :puck + "processing"%  +129 "core"  + .tPSV.dial PTV + "processing"% +87 "core" + .tPBV.dial :waste1 + "processing"%  +54 "core" + "processing"% % +4 "core" %s\  +2 .tPS.seek 1.5ml + "processing"%!'/ +591 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 .tPS.seek 0ml + "processing"%$'ؾ +1613 "core" ' + .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%#  +37 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%" * +36 "core" , + .tPSR.select :air +2 .PSV.dial PSR + "processing"%& +74 "core"  + .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml + "processing"%%' +780 "Can"\ RO +1677 "core" ' + .tPSV.dial PTV + "processing"%( +76 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%) +73 "core" + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%' +73 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%*  +75 "core"  +2 .tPS.seek 0ml + "processing"%,'ؾ +2392 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%+  +132 "core" + .tPSV.dial :mixloop + "processing"%. +46 "core" + .tPRV.dial :ab1 + "processing"%/ @ +101 "core" @ + .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml + "processing"%-' +360 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%0  +44 "core"  + "processing"%2% +4 "core" %;\ u +2 .tPS.seek 0.36ml + "processing"%3' +472 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'1  +30 "core" + .tPRV.dial :air +2 "processing"%5  +41 "core"  +2 .tPS.seek 0.9ml + "processing"%4'K +1146 "core" ' + .tPRV.dial :waste2 + "processing"%7 @ +74 "core" > +2 .tPS.seek 0.5ml + "processing"%6' +865 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%9  +58 "core" + .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%:' +1612 "core" ' + .tPSV.dial :PML + "processing"%; +43 "core" + .tPTV.dial :mixing + "processing"%< @ +75 "core" A + .tPBV.dial :waste1 + "processing"%=  +37 "core" + "processing"%% +4 "core" %J\ t +2 .tPS.seek 1.85ml + "processing"%?' +234 "core" ' + .tPBV.dial between PSV and waste1 + "processing"%@ * +36 "core" * +2 .tPS.seek 0ml + "processing"%A'ؾ +1971 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'C& +3 "core" & \ + "manipulator"&D& +4 "core" & D  + "manipulator"&F% +4 "core" %   + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +130 "core" ( + "manipulator"&& +4 "core" &- A  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +2 "core" &- K  +2 .tForearm.seek :garage + "manipulator"&'w +100 "core" ' + .tHand.close + "manipulator"&I/ +76 "core" / + "manipulator"&J& +4 "core" &- +  + "manipulator"&L% +4 "core" % ϊ 6 +2 .tForearm.seek :retract + "manipulator"&M' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +282 "core" ( + "manipulator"&P& +4 "core" &Ӛ$ ? =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +2 "core" &Ӛ# d =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'? +101 "core" ' +2 "manipulator"&E& +4 "core" &Ӛ$ 5 =E + "manipulator"&G% +4 "core" %C  + "collection"'N& +4 "core" & .\ +2 "collection"'U& +5 "core" & 3\ + .tCC.seek :closed +2 "collection"'V(\\ +4 "core" & \  +9 &4{ \ +| +9 &e \ @ +10 &t \ P +9 &HU \ O +10 &\ V \ O +9 &V \ O +9 &T \ O +10 &QV \ O +9 &Y \ O +9 &X \ O +10 & T \ O +9 &"YV \ O +10 &$U \ O +9 &%T \ O +9 &'T \ O +10 &)`U \ O +9 &+#U \ O +9 &,U \ O +10 &.U \ O +9 &0iW \ O +10 &2+U \ O +9 &3W \ O +9 &5U \ O +10 &7rV \ O +9 &93V \ O +9 &:W \ P +10 &<X \ O +9 &>xW \ O +10 &@;R \ O +9 &AZ \ P +9 &Cb \ P +10 &Es} \ T +9 &G' \ Y +9 &H \ [ +10 &J \ ] +9 &La \ ] +10 &N \ {^ +9 &O \ \\ +9 &Q \ \\ +10 &Sf \ ^ +9 &U# \ }_ +9 &V \ z` +10 &X \ {` +9 &Zf \ z` +10 &\\\ y \ < +9 &\\( \ (v +9 &\\ Q\ ^ +2 ( +2 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.43 + "collection"'K& +4 "core" &\\ /\ ^ +2 .tHand.open + "manipulator"&X1 +68 "core" 1 +2 "manipulator"&Y% +4 "core" % C o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +93 "core" ' + .tPSV.dial PSR + "processing"%Q +105 "core"  + "processing"%S% +4 "core" %R\ d + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"% '+ +1616 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%]  +44 "core"  +2 .tPS.seek 0ml + "processing"%^'ؾ +1614 "core" ' + .tPSV.dial PSR + "processing"%a +47 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%[' +2634 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +3 "processing"%b  +2 "collection"'W  +32 "core" ~ +128  + .tPSV.dial :mixloop + "processing"%c +104 "core" + .tCTV.dial :air,avoiding: :intake + "collection"'> +4 "core"  + "collection"'d  +6 "core" + .tPTV.dial :PRVmixing + "processing"%e  +74 "core" + .tPS.seek 0ml +2 "processing"%f'ؾ +2627 "core" ' + .tPSV.dial :air + "processing"%g  +45 "core"  +2 .tPS.seek 2.5ml + "processing"%h' +2637 "core" ' + .tPSV.dial :mixloop + "processing"%i +47 "core" +2 .tPS.seek 0ml + "processing"%j'ؾ +2630 "core" ' + .tPSV.dial :air + "processing"%k  +58 "core" +2 .tPS.seek 2.5ml + "processing"%l' +2633 "core" ' + .tPSV.dial :mixloop + "processing"%m +44 "core" +2 .tPS.seek 0ml + "processing"%n'ؾ +2636 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&o& +4 "core" &Ӛ# w =E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +80 "core" ( +11 "manipulator"&q& +4 "core" &v N 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &v b 6 + .tForearm.seek CC +2 "manipulator"&s'? +94 "core" ' + .tHand.close + "manipulator"&t/ +76 "core" / + .tCC.seek :open +2 "collection"'u( +450 "core" ( + "manipulator"&v& +4 "core" &ӎ z 3 + "manipulator"&w% +4 "core" % E  % +2 .tForearm.seek :retract + "manipulator"&x' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&y(- +277 "core" ( + "manipulator"&z& +4 "core" &- `  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +2 "core" &- S  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&|'w +101 "core" ' +2 .tHand.open + "manipulator"&}1 +55 "core" 1 + "manipulator"&~% +4 "core" % m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + ."da"delayUntil "15:20:20.56" +22760 "Can"\ GF +1939 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +74 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + + ."da"PSV.dial :air +2 "processing"%  +58 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2427 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +42 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%\  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2385 "core" ' + #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +132 "core"  + "processing"%% +4 "core" %ؽC\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%' +591 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1615 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +72 "core"  + ."da"PSV.dial PTV +2 "processing"% +85 "core" + ."da"PBV.dial :waste1 +2 "processing"%8  +34 "core" + "processing"%% +4 "core" %D\  +2 ."da"PS.seek 1.5ml + "processing"%') +586 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" * +2 ."da"PS.seek 0ml + "processing"%'ؾ +1614 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml + "processing"%!' +2452 "core" ' + ."da"PSV.dial PTV +2 "processing"%` +86 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%# +72 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%" +85 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%&  +87 "core"  +2 ."da"PS.seek 0ml + "processing"%$'ؾ +2387 "core" ' + #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%( +132 "core"  + "processing"%)% +4 "core" %ؿa\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%'' +602 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%*' +1618 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%% +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%+  +34 "core" + "processing"%.% +4 "core" %Z\  +2 ."da"PS.seek 1.5ml + "processing"%/'- +595 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%, * +34 "core" + +2 ."da"PS.seek 0ml + "processing"%0'ؾ +1630 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%2  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%- * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%1 +74 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%5' +981 "Can"\ FD +1460 "core" ' + ."da"PSV.dial PTV +2 "processing"%3 +73 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%7 +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%4 +87 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%9  +75 "core"  +2 ."da"PS.seek 0ml + "processing"%6'ؾ +2384 "core" ' + #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%;  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%<  +131 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%=  +42 "core"  + ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"% +44 "core" + ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml + "processing"%@' +387 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%:  +43 "core"  + "processing"%?% +4 "core" %f\  +2 ."da"PS.seek 0.55ml + "processing"%C' +331 "core" ' + #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%D  +43 "core"  +2 ."da"PS.seek 2ml + "processing"%F' +1554 "core" ' + ."da"PSV.dial :PML + "processing"% +46 "core" + ."da"PTV.dial :mixing +2 "processing"%H @ +72 "core" A + ."da"PBV.dial :waste1 + "processing"%T  +36 "core" + "processing"%I% +4 "core" %]\  + ."da"PS.seek 1.85ml +2 "processing"%J' +240 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" + +2 ."da"PS.seek 0ml + "processing"%_'ؾ +1972 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +47844 "Can"\ FC +159 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%P * +35 "core" + + ."da"PSV.dial :air +2 "processing"%R  +58 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2447 "core" ' + ."da"PSV.dial :mixloop + "processing"%E +43 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%G  +57 "core" + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%N +42 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%M  +44 "core"  +2 ."da"PS.seek 0ml + "processing"% 'ؾ +2397 "core" ' + #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%K +132 "core"  + "processing"%X% +4 "core" %غu\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%Y' +593 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%U' +1617 "core" ' + ."da"PTV.dial :puck + "processing"%Q  +73 "core"  + ."da"PSV.dial PTV +2 "processing"%S +85 "core" + ."da"PBV.dial :waste1 + "processing"%B  +35 "core" + "processing"%A% +4 "core" % q\ +2 ."da"PS.seek 1.5ml + "processing"%]'' +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + +2 ."da"PS.seek 0ml + "processing"%a'ؾ +1632 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%^  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%W * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%b +72 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%c' +2450 "core" ' + ."da"PSV.dial PTV +2 "processing"%> +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%d +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%e +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%[  +74 "core"  +2 ."da"PS.seek 0ml + "processing"%g'ؾ +2389 "core" ' + #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%f +131 "core"  + "processing"%i% +4 "core" %ؿl\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%h' +593 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%k' +1608 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%j +72 "core" + ."da"PBV.dial :waste1 + "processing"%m  +36 "core" + "processing"%l% +4 "core" %k\  + ."da"PS.seek 1.5ml +2 "processing"%o'* +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%q * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%r'ؾ +1611 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +50 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%t  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%O * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Z +74 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml + "processing"%V' +2436 "core" ' + ."da"PSV.dial PTV +2 "processing"%v +74 "core" + ."da"delay 5 seconds +277 "Can"\ GD +225 ."da"PSV.dial PSR +2 "processing"%w +75 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%s +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%z  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%{'ؾ +2405 "core" ' + #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%p +133 "core"  + "processing"%}% +4 "core" %ؽ\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%~' +589 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%x' +1621 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%| +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" + "processing"%% +4 "core" %y\ \ +2 ."da"PS.seek 1.5ml + "processing"%'* +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%n'ؾ +1628 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%\ * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +74 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2425 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +88 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2386 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates .PSR.select :air +2 .PSV.dial PSR + "processing"% +141 "core"  +5 "processing"%% +12 "core" %ؽi +2 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +6 "processing"% +15 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +4 "processing"%8' +334 "core" ' + ."da"delay 5 seconds +502 "processing"%% +3 "core" %j  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%' +332 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1615 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +91 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +36 "core" + "processing"%% +4 "core" %} \ +2 ."da"PS.seek 1.5ml + "processing"%'& +598 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +36 "core" , +2 ."da"PS.seek 0ml + "processing"%`'ؾ +1631 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%#  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%" * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%& +78 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml + "processing"%!' +2560 "core" ' + ."da"PSV.dial PTV +2 "processing"%( +78 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%) +75 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%$ +78 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%'  +91 "core"  +2 ."da"PS.seek 0ml + "processing"%%'ؾ +2541 "core" ' + #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%+ +137 "core"  + "processing"%.% +4 "core" %ؽ|\ 0 + #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%*' +2124 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%, +78 "core" + ."da"PBV.dial :waste1 +2 "processing"%/  +36 "core" + "processing"%2% +4 "core" %\ ? +2 ."da"PS.seek 1.5ml + "processing"%-'( +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%1 * +37 "core" , + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%0  +106 "core"  +2 ."da"PS.seek 0ml + "processing"%3'ؾ +1609 "core" ' + "processing"%79 +3 "core" 9m5 +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%4  +2 "core" 5 + 5 + "processing"%9& +4 "core" &^ 0 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&5% +3 "core" %  W S ; +2 "storage"(;% +3 "core" % 0 ( + "storage"(<. +3 "core" . +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 + "storage"(=(C +358 "core" ( + ."da"SC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &F \ 1 + "manipulator"&6& +4 "core" &- D  + "manipulator"&:% +4 "core" %  H f + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&?( +185 "core" ( + "manipulator"&@& +4 "core" & | + "storage"(D& +4 "core" &F T\ L +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&C' +96 "core" ' + "storage"(& +4 "core" &F   w +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(H'r +280 "core" ' + "storage"(T- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek :place +2 "storage"(I'1 +46 "core" ' + "manipulator"&L& +4 "core" &  / +2 "manipulator"&F% +3 "core" % ^ /A +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&J' +98 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&( +241 "core" ( + "manipulator"&P& +4 "core" & > + ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &   ) 1> +2 ."da"Forearm.seek PC +2 "manipulator"&_' +94 "core" ' + ."da"Hand.close + "manipulator"&E/ +68 "core" / + ."da"PC.seek :open +2 "processing"%G( +461 "core" ( + "storage"(N& +4 "core" &F  1 s + "manipulator"&M& +4 "core" & : 6 Y 6> + "manipulator"&% +3 "core" %  8 ? M 5 +2 ."da"Forearm.seek :retract + "manipulator"&K' +105 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 + "manipulator"&X( +244 "core" ( + "manipulator"& & +4 "core" &  L + "storage"(Y& +4 "core" &F \ 2 +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&Q' +93 "core" ' + ."da"Hand.open + "manipulator"&S1 +75 "core" 1 + "storage"(B- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate + "storage"(A' +27 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(U' +55 "core" ' + #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21jun2215h.tif +3 "processing"% & +11 "core" &N +2 "manipulator"&]& +5 "core" & yL +2 "manipulator"&^% +5 "core" % cS + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&W' +92 "core" ' +48 ."psFlush"Elbow.seek FlushPuck::Garage +10 "manipulator"&b(- +182 "core" ( + "manipulator"&a& +4 "core" &- +  \\ . + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +2 "core" &- q . +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&d'w +94 "core" ' + ."psFlush"Hand.close + "manipulator"&e/ +76 "core" / + "manipulator"&[& +4 "core" &-  ` 9 j. + "manipulator"&c% +4 "core" % u x y  k- +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&f' +101 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&i( +117 "core" ( + "manipulator"&g& +4 "core" &  _ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" & X _ +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&j' +95 "core" ' + "manipulator"&m& +4 "core" & E _ +2 "manipulator"&l% +3 "core" % F +2 "processing"%k& +4 "core" & +2 "processing"%q& +4 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%o(^ +4 "core" & \ +9 &*g ,~ +10 &\\s @ +9 &7h U +9 &B W +10 &@ W +9 &t@ W +10 &6B W +9 &@ S +9 &K T +10 &I S +9 & HK T +9 &" J\ S +10 &#N\ S +9 &%L\ S +10 &'PJ T +9 &)G T +9 &*I T +10 &,G V +9 &.OB W +9 &0C W +10 &1D W +9 &3@ W +10 &5V@! W +9 &7B) W +9 &8D' W +10 &:C W +9 &<_? W +9 &> C W +10 &?A W +9 &AH X +10 &C`V Y +9 &Eq ] +9 &Fw ^ +10 &H{ ^ +9 &JZ ^ +9 &L'} Z +10 &M \\ +9 &O [\ +10 &Qg \\ +9 &S+\ \\ +9 &T\ [\ +10 &V \\ +9 &Xo \\ +9 &Z1 \\ +10 &[ ] +9 &] }N +10 &^-m !b +9 &^G ? +2 ( +2 "processing"%q& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.92 + "processing"%t& +4 "core" &^M ? + ."psFlush"Hand.open + "manipulator"&O1 +74 "core" 1 +2 "manipulator"&Z% +4 "core" % e WF + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&r' +93 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%v +48 "core"  + "processing"%w% +4 "core" %ؾ\\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%s' +588 "core" ' + ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%z' +200 "Can" CA +1927 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%V @ +201 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%p  +138 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%} +107 "core" + ."psFlush"PS.seek :empty +2 "processing"%{'ؠ +2633 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%~ +109 "core"  + "processing"%|% +4 "core" %آW\  + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +5 "processing"%' +22 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 79.249 seconds\ /var/log/esp/da21jun2215h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21jun2215h15s.tif +578 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +460 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21jun2215h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21jun2215h30s.tif +1663 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%x  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"% @ +79 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"% +110 "core" + ."psFlush"PS.seek :empty +2 "processing"%'ؠ +1055 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21jun2215h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21jun2215h70s.tif +1584 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%\ +111 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"% 'X\\ +1102 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%n' +1614 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +79 "core" + ."psFlush"PTV.dial :puck +2 "processing"%  +74 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%'ؾ +2549 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21jun2215h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "79.249 sec auto-exposure",Subject: "da21jun2215h images!" +6 "storage"(- +4 "core" -' +2 "storage"(& +4 "core" &F /\ G + "manipulator"&& +7 "core" & l _ +5 "manipulator"&% +9 "core" %   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&( +34 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +75 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%8' +117 "core" ( +2 "manipulator"&& +4 "core" & d 3 + "storage"(& +4 "core" &F o o +\ D +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"& ' +94 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' + "manipulator"&& +4 "core" &  3 + "storage"(& +4 "core" &F l\ } +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&'8 +28 "core" ' + ."da"Elbow.hold + "manipulator"&#, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.32 Pucks below Top Plate + "storage"("' +28 "core" ' + "manipulator"&&% +4 "core" %F , +2 "storage"(`& +3 "core" &F '\ w +2 ."da"Forearm.force -20 + "manipulator"&5 +2 ."da"Forearm.seek 1 + 314 counts +2 "manipulator"&('r +14 "core" ' + "manipulator"&)& +4 "core" &  3 +2 "storage"($& +3 "core" &F b\ } +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'' +21 "core" ' + "storage"(!% +4 "core" % E \ } +2 ."downElevator"SE.seek :down +55 "storage"(+' +47 (.% +3 "core" %5 R\ vT[ +2 "manipulator"&%% +4 "core" %  d + ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 "core" ' + ."da"Forearm.seek :retract +2 ."psFlush"PSR.select :air +3 "manipulator"&,' + "processing"% +12 ."psFlush"PS.seek 2.5ml +2 "processing"%/' +76 "core" ' +113 ' + ."downElevator"SE.coast + "storage"(5 +2 ."da"SC.coast + "storage"(6 +3 (2& +4 "core" &F  /\ +1914 ' + ."psFlush"PSV.dial PTV +2 "processing"%* +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%1 U +53 "core" V +2 ."psFlush"PS.seek 0ml + "processing"%0'ؾ +2633 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%- @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%7' +2641 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%4  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%9'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%5 +44 "core"  + ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%;' +2630 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%< +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%'ؾ +2652 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%6 @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%:' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%@  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%D'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%y +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%'X\\ +1098 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%' +1621 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%T +72 "core" + ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%L  +55 "core" +2 ."psFlush"PS.seek 0ml + "processing"%F'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%H +73 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%C' +597 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%P' +2124 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%R +73 "core" + ."psFlush"PBV.dial PSV +2 "processing"%? U +55 "core" W + ."psFlush"PS.seek 0ml +2 "processing"%E'ؾ +2653 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%J @ +44 "core" ? + ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +2635 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%N  +72 "core"  + ."psFlush"PS.seek 0ml +2 "processing"%M'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%_' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%Y'ؾ +1690 "Can"\ PN +953 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%S' +2644 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%B  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"% 'ؾ +2637 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&]& +4 "core" &  3 +2 "manipulator"&^% +3 "core" %   +2 ."psFlush"Elbow.seek PC +2 "manipulator"&K( +264 "core" ( + "manipulator"&I& +4 "core" & E  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +2 "core" & !  +2 ."psFlush"Forearm.seek PC +2 "manipulator"&Q' +98 "core" ' + ."psFlush"Hand.close + "manipulator"&a/ +68 "core" / + ."psFlush"PC.seek :open +2 "processing"%>( +461 "core" ( + "manipulator"&X& +4 "core" & G  + "manipulator"&e% +4 "core" %  C + ."psFlush"Forearm.seek :retract +2 "manipulator"&[' +92 "core" ' + ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage + "manipulator"&c(- +121 "core" ( + "manipulator"&W& +4 "core" &-  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +2 "core" &- 9 +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage + "manipulator"&h'w +97 "core" ' + ."psFlush"Hand.open + "manipulator"&d1 +58 "core" 1 + "manipulator"&m% +4 "core" % π N  +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&l' +94 "core" ' +2 #tFinished short da assay +52193 "Can"\ B? +60003 \ B@ +60002 \ A? +60003 |\ A? +60002 m\ @> +60003 y\ A> +60002 \ A> +60003 \ A> +60002 \ A? +60003 \ A> +60002 z\ A> +60003 \ A> +60002 \ A? +60003 \ A> +60002 \ A> +60003 \ A> +60003 \ A> +60002 \ A> +60003 \ A> +60002 \ A> @1624404661.23EDT = =tMAIN =mMAIN_scheduler @EDT1624404662.96 #"core_reset"Sent BREAK + #t@43251 sendCRC with ifg=0x20, ie=0x7F + #@45086 sendCRC with ifg=0x08, ie=0x5F + #@38982 idle with ifg=0x84, ie=0x75 #@39652 select with ifg=0x10, ie=0xF5 + #@40285 receive with ifg=0x10, ie=0xFD + #@40918 receive with ifg=0x10, ie=0xFD #@41552 receive with ifg=0x10, ie=0xFD + #@41879 receive with ifg=0x80, ie=0xFD #@31512 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +156 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +115 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +347 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ C@ + \ C@ + #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +2 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %h \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؾ\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ځ \\\ 2 + .tSS.configure :default +2 "sampler")#.0X +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +4 "storage"(& +2 "core" &F  \ +2 .tSC.configure :loose +2 "storage"($.\ 1~b +2 (% +3 "core" %  >\ + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +3 "core" + .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast + "processing"%  +3 "core" 5 + .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 + "sampler") +10 !to:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:423:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:612:in `restore!'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3927 #-> access 1 +3 .SE.seek :down + "storage"(' +3 "core" ' + "manipulator"&% +4 "core" %   + "manipulator"&& +4 "core" &- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +1297 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<* p\  +1660 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage "collection"'& +4 "core" & \ + .tHand.open + "manipulator"&1 +23 "core" 1 + "manipulator"&& +4 "core" &- _ + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +24 "core" ( + "manipulator"&& +4 "core" &- > + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &- = + +2 .tForearm.seek :garage + "manipulator"&!'w +95 "core" ' + .tHand.close + "manipulator"&"/ +76 "core" / + "manipulator"&#& +4 "core" &- ) + + "manipulator"&$% +4 "core" % φ E # +2 .tForearm.seek :retract + "manipulator"&%' +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&&(ӂ +290 "core" ( + "manipulator"&'& +4 "core" &Ӥ  :/ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &Ӥ  _ :/ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&)'? +93 "core" ' + "manipulator"&*& +4 "core" &Ӥ! U :/ +2 "manipulator"&+% +3 "core" %B ? +2 "collection"',& +3 "core" & \ +2 "collection"'-& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'.(\\ +4 "core" & \  +9 &1x \ *y +9 &a~ \ > +10 &fu \ O +9 &(T \ O +10 &W \ O +9 &W \ O +9 &nV \ O +10 &2U \ N +9 &Y \ O +9 &U \ O +10 & wR \ O +9 &"9R \ O +10 &#T \ N +9 &%V \ O +9 &'W \ O +10 &)AR \ O +9 &+T \ N +9 &,T \ O +10 &.X \ O +9 &0JT \ N +10 &2 U \ O +9 &3T \ O +9 &5U \ N +10 &7QW \ O +9 &9Y \ O +10 &:S \ O +9 &<T \ O +9 &>YV \ O +10 &@Y \ O +9 &AZ \ O +9 &Cb \ P +10 &ETz \ S +9 &G\ \ W +10 &H \ Z +9 &J \ [\ +9 &LD \ [ +10 &N \ \\ +9 &O \ \\ +9 &Q \ \\ +10 &SG \ ] +9 &U \ ] +9 &V \ _ +10 &X \ ~_ +9 &ZF \ }` +10 &[{ \ F +9 &\\" \ / +9 &\\ \ !` +2 ( +2 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + "collection"'/& +4 "core" &\\ \ !` + .tHand.open + "manipulator"&01 +73 "core" 1 + "manipulator"&1% +4 "core" % B E +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +91 "core" ' +584 #t-> CBV.PRV + .CBV.dial PRV +2 "collection"'3  +15 "core" +765 #t-> PTV.PRV + .PTV.dial PRV + "processing"%4 @ +75 "core" A +471 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%5 +105 "core" +544 #t-> CTV.air + .CTV.dial :air +2 "collection"'6  +4 "core" +481 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%7  +101 "core"  +1037 #t-> PSR.flush + .PSR.select :flush +2 "processing"%j +776 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%8 +75 "core"  +371 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%9' +2629 "core" ' + "processing"%:% +4 "core" %3\ _ +546 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%; +74 "core" +283 #t-> PS.empty +2 .PS.seek 0ml + "processing"%<'ؾ +2630 "core" ' + "processing"%=% +4 "core" %*\ [ +475 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%> +75 "core"  +242 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%?' +2641 "core" ' + "processing"%@% +4 "core" %/\ ^ \ +2073 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%A +75 "core" +426 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%B'ؾ +2670 "core" ' + "processing"%C% +4 "core" %+\ \\ +1517 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%D +86 "core" +215 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%E' +2627 "core" ' + "processing"%F% +4 "core" %.\ _ +457 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%G +74 "core" +347 #t-> PS.empty +2 .PS.seek 0ml + "processing"%H'ؾ +2652 "core" ' + "processing"%I% +4 "core" %ػ)\ L +580 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%J +76 "core"  +475 #t-> PSR.air +2 .PSR.select :air +2 "processing"% +544 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%K' +2635 "core" ' + "processing"%L% +4 "core" %;\ S +635 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%M +76 "core" +488 #t-> PS.empty +2 .PS.seek 0ml + "processing"%N'ؾ +2652 "core" ' + "processing"%O% +4 "core" %ؾ.\ g +494 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%P +75 "core" +260 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%Q' +2635 "core" ' + "processing"%R% +4 "core" %.\ e +521 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%S +74 "core" +318 #t-> PS.empty +2 .PS.seek 0ml + "processing"%T'ؾ +2636 "core" ' + "processing"%U% +4 "core" %غA\ a +387 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%V +75 "core"  +281 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%W' +2639 "core" ' + "processing"%X% +4 "core" %c\ g +434 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%Y +76 "core" +402 #t-> PS.empty +2 .PS.seek 0ml + "processing"%Z'ؾ +2637 "core" ' + "processing"%[% +4 "core" %ػ\ g +505 #t-> Flush.garage + #Garaging FlushPuck in Collection Clamp + "manipulator"&\\& +3 "core" &Ӥ  F :/ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&](ӂ +43 "core" ( + "manipulator"&^& +4 "core" &|  9 :+ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &}  J :* +2 .tForearm.seek CC + "manipulator"&`'? +93 "core" ' + .tHand.close + "manipulator"&a/ +73 "core" / + .tCC.seek :open +2 "collection"'b( +44 "Can"\ UR +407 "core" ( + "manipulator"&c& +4 "core" &ӥ 4 + "manipulator"&d% +4 "core" % F  + .tForearm.seek :retract +2 "manipulator"&e' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&f(- +288 "core" ( + "manipulator"&g& +4 "core" &- X 9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &- D 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&i'w +91 "core" ' + .tHand.open + "manipulator"&j1 +57 "core" 1 + "manipulator"&k% +4 "core" % x F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&l' +93 "core" ' +1532 #t-> PS.flush + #Flushing Processing stage + "processing"%m% +3 "core" %ػc\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%n& +4 "core" &\ +2 "manipulator"&o& +3 "core" &- i 9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&p(- +3 "core" ( + "manipulator"&q& +4 "core" &-  9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &- ` 9 +2 .tForearm.seek :garage + "manipulator"&s'w +89 "core" ' + .tHand.close + "manipulator"&t/ +67 "core" / + "manipulator"&u& +4 "core" &- h 9 + "manipulator"&v% +4 "core" % σ \\ A +2 .tForearm.seek :retract + "manipulator"&w' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&x( +120 "core" ( + "manipulator"&y& +4 "core" & \\ 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" & L 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{' +93 "core" ' +2 "manipulator"&|& +4 "core" & . 0 + "manipulator"&}% +4 "core" % / D +2 "processing"%~& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &-\  +10 &1u0\ v*y +9 &bx\ r? +10 &etw\ tQ +9 &'T4\ zP +9 &Ym\ zP +10 &Wv\ yP +9 &mY}\ yP +10 &/Yw\ yP +9 &X2\ xQ +9 &V.\ zP +10 & uYp\ yP +9 &"7Ux\ zP +9 &#U2\ zP +10 &%V-\ zP +9 &'}Wv\ yP +10 &)@Y\ yP +9 &+W\ yP +9 &,Y\ yP +9 &.U}\ zP +10 &0GT*\ zP +9 &2\ W0\ yP +10 &3Xx\ yP +9 &5To\ {P +10 &7NY\ zQ +9 &9X#\ zP +9 &:U\ {P +10 &<U\ {P +9 &>W\\.\ yP +9 &@\\,\ yQ +10 &Ad,\ wQ +9 &Crn\ uT +10 &EN\ qV +9 &G1\ pV +9 &H)\ pV +10 &J\ nW +9 &LT.\ pW +9 &N\ oX +10 &Op\ pX +9 &Q/\ mX +10 &SWi\ mY +9 &U\ nX +9 &V0\ nX +10 &Xp\ oX +9 &Za%\ nX +9 &\\"\ mX +10 &]~\ s8 +9 &^,ny\ v!` +10 &^-~\ 7 +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + "processing"%& +4 "core" &^-\ }7 + .tHand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&% +4 "core" %  5 D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tPSV.dial PSR + "processing"% +74 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%\ 'X\\ +1109 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml + "processing"% ' +1634 "core" ' + .tPSV.dial PTV + "processing"% +87 "core" + .tPTV.dial :puck + "processing"%  +75 "core"  + .tPBV.dial :waste1 + "processing"%  +54 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2635 "core" ' + .tPSV.dial PSR + "processing"% +74 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%' +607 "core" ' + .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2130 "core" ' + .tPSV.dial PTV + "processing"% +76 "core" + .tPBV.dial PSV + "processing"% U +55 "core" V + .tPS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' + .tPSV.dial PBV + "processing"% @ +47 "core" > +2 .tPS.seek 2.5ml + "processing"%' +2629 "core" ' + .tPSV.dial :waste1 + "processing"%  +72 "core"  + .tPS.seek 0ml +2 "processing"% 'ؾ +2655 "core" ' + .tPSV.dial PSR + "processing"%" +45 "core"  + .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%#' +2632 "core" ' + .tPSV.dial PTV + "processing"%$ +73 "core" + .tPBV.dial PSV +2 .PS.seek 0ml + "processing"%'ؾ +2627 "core" ' + .tPSV.dial PBV + "processing"% @ +45 "core" ? + .tPS.seek 2.5ml +2 "processing"%!' +2628 "core" ' + .tPSV.dial :waste1 + "processing"%'  +72 "core"  + .tPS.seek 0ml +2 "processing"%('ؾ +2630 "core" ' + #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" & # 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&*( +5 "core" ( + "manipulator"&+& +4 "core" & $ 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" & I 0 +2 .tForearm.seek PC +2 "manipulator"&%' +94 "core" ' + .tHand.close + "manipulator"& / +73 "core" / + .tPC.seek :open + "processing"%/( +459 "core" ( + "manipulator"&0& +4 "core" & : 0 + "manipulator"&1% +4 "core" %   + + .tForearm.seek :retract +2 "manipulator"&-' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&)(- +126 "core" ( + "manipulator"&3& +4 "core" &-  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&5'w +101 "core" ' + .tHand.open + "manipulator"&61 +65 "core" 1 + "manipulator"&7% +4 "core" % ~ J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&8' +93 "core" ' +5056 #t-> samplePassF +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & L\ +2 "manipulator"&:& +4 "core" &- ` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&;(- +21 "core" ( + "manipulator"&9& +4 "core" &- T X + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &-  X +2 .tForearm.seek :garage + "manipulator"&>'w +99 "core" ' + .tHand.close + "manipulator"& exit +5 #mEXIT @1624406058.54EDT @1624411776.69EDT = =tMAIN =mMAIN_scheduler @EDT1624411778.40 #"core_reset"Sent BREAK + #t@13784 sendCRC with ifg=0x20, ie=0x7F + #@15619 sendCRC with ifg=0x08, ie=0x5F + #@40284 idle with ifg=0x84, ie=0x75 #@40953 select with ifg=0x10, ie=0xF5 + #@41587 receive with ifg=0x10, ie=0xFD + #@42220 receive with ifg=0x10, ie=0xFD #@42853 receive with ifg=0x10, ie=0xFD + #@43180 receive with ifg=0x80, ie=0xFD #@6677 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +348 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +4 "Can"\ LI + \ LI #tPolling Can every 10:00 +123 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +2 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %h \ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %:\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ځ Z\ 2 + .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \ +2 .tHand.open + "manipulator"&1 +21 "core" 1 + "manipulator"&& +4 "core" &- T M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +3 "core" ( + "manipulator"&& +4 "core" &- ! M + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- M M +2 .tForearm.seek :garage + "manipulator"&'w +91 "core" ' + .tHand.close + "manipulator"&/ +76 "core" / + "manipulator"& & +4 "core" &- ] M + "manipulator"&!% +4 "core" % ω 4 ) +2 .tForearm.seek :retract + "manipulator"&"' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +283 "core" ( + "manipulator"&$& +4 "core" &Ӓ% t =F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &Ӓ#  =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&&'? +94 "core" ' + "manipulator"&'& +4 "core" &Ӓ% =F +2 "manipulator"&(% +3 "core" %F  y +2 "collection"')& +3 "core" & ~ \ +2 "collection"'*& +5 "core" & \ +2 .tCC.seek :closed + "collection"'+(\\ +4 "core" & !\ +8 & 3  F\ %f +9 &U} \ 7 +9 &~{ ~\ L +10 &Y ~ \ O +9 &ZT }\ N +9 &Y  \ O +10 &U  \ O +9 &Z   \ O +10 &aX ~ \ \ O +9 &%U  \ N +9 &X \ N +10 &!W \ O +9 &#jX  \ N +9 &%,R } \ N +10 &&T \ N +9 &(Y ~ \ O +10 &*qU ~ \ \ O +9 &,4X \ N +9 &-Q  \ N +10 &/R  \ \ N +9 &1yW \ O +9 &3<W ~\ N +10 &4U \ N +9 &6X \ O +10 &8W ~6\ N +9 &:CS | \ O +9 &<R  \ N +10 &=V  B\ N +9 &?U  9\ N +9 &AJZ D\ O +10 &C _ ~\ P +9 &Dr \ R +10 &F} \ V +9 &H3 \ Z +9 &I \ Z +10 &K \ \\ +9 &Ms \ \\ +9 &O4 \ \\ +10 &P \ ] +9 &R \ ^ +10 &Tq \ _ +9 &V3 \ _ +9 &W \ ` +10 &Y \ ` +9 &[t \ N +9 &\\9 \ 2 +10 &\\ \ Z +6 ( + "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.39 + "collection"',& +4 "core" &\\} \ Z + &\\} \ Z + .tHand.open + "manipulator"&-1 +63 "core" 1 + "manipulator"&.% +4 "core" % F G y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/' +92 "core" ' +615 #t-> CBV.PRV + .CBV.dial PRV +2 "collection"'0  +5 "core" +633 #t-> PTV.PRV + .PTV.dial PRV +2 "processing"%1 @ +4 "core" @ +625 #t-> PSV.PTV + .PSV.dial PTV + "processing"%2 +6 "core" +466 #t-> CTV.air + .CTV.dial :air +2 "collection"'3  +5 "core" +953 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%4  +5 "core"  +517 #t-> PSR.flush +2 .PSR.select :flush +2 "processing"%j +717 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%5 +73 "core"  +647 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%6' +2634 "core" ' + "processing"%7% +4 "core" %:\ } +649 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%8 +73 "core" +425 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%9'ؾ +2635 "core" ' + "processing"%:% +4 "core" %ؾ9\ { +612 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%; +74 "core"  +526 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%<' +2636 "core" ' +2 "processing"%=% +4 "core" %4\ ~ +848 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%> +73 "core" +525 #t-> PS.empty +2 .PS.seek 0ml + "processing"%?'ؾ +2633 "core" ' + "processing"%@% +4 "core" %ؾ8\ } +1060 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%A +74 "core"  +1020 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%B' +2628 "core" ' + "processing"%C% +4 "core" %B\  +547 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%D +73 "core" +394 #t-> PS.empty +2 .PS.seek 0ml + "processing"%E'ؾ +2637 "core" ' + "processing"%F% +4 "core" %غ?\ } +540 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%G +74 "core"  +864 #t-> PSR.air + .PSR.select :air +2 "processing"% +719 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%H' +2639 "core" ' + "processing"%I% +4 "core" %\ >\   +503 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%J +73 "core" +398 #t-> PS.empty +2 .PS.seek 0ml + "processing"%K'ؾ +2637 "core" ' + "processing"%L% +4 "core" %ؼC\ } +597 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%M +73 "core"  +598 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%N' +2637 "core" ' + "processing"%O% +4 "core" %>\  +576 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%P +86 "core" +385 #t-> PS.empty +2 .PS.seek 0ml + "processing"%Q'ؾ +2632 "core" ' + "processing"%R% +4 "core" %ػ=\ ~ +722 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%S +72 "core"  +3135 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%T' +2635 "core" ' + "processing"%U% +4 "core" %M\  +1863 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%V +85 "core" +585 #t-> PS.empty +2 .PS.seek 0ml + "processing"%W'ؾ +2634 "core" ' + "processing"%X% +4 "core" %غ \ ~ +817 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&Y& +3 "core" &ӓ# u =E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&Z(ӂ +33 "core" ( + "manipulator"&[& +4 "core" &}  = a + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &}   a +2 .tForearm.seek CC + "manipulator"&]'? +93 "core" ' + .tHand.close + "manipulator"&^/ +70 "core" / + .tCC.seek :open +2 "collection"'_( +452 "core" ( + "manipulator"&`& +4 "core" &}   a + "manipulator"&a% +4 "core" % A 0 / + .tForearm.seek :retract +2 "manipulator"&b' +32 "Can"\ MJ +65 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&c(- +277 "core" ( + "manipulator"&d& +4 "core" &- M X + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &- X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&f'w +104 "core" ' +2 .tHand.open + "manipulator"&g1 +61 "core" 1 + "manipulator"&h% +4 "core" % r > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&i' +91 "core" ' +3359 #t-> exit +5 #mEXIT @1624412424.26EDT @1625170450.27EDT = =tMAIN =mMAIN_scheduler @EDT1625170452.11 #"core_reset"Sent BREAK +2 #t@41557 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +378 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ !w + \ !w #tPolling Can every 10:00 +610 #-> ESP.ready! +2 #Powering core bus +500 .Gate.power :raw,:ON +2 "sampler") +56 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %2\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % \ + .tSS.configure :default +3 "sampler")#.0X +2 .tForearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 "core" + .tForearm.home.seek :retract +3 ."rdySampler"SSV.dial :spit,avoiding: :exhaust + "manipulator"&' +2 "sampler") +5 "core"  + "sampler")  +4 "core"  +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +2 "collection"'#d @b +3 "sampler")#.0X access 2 +2 .SE.seek :down +2 "storage"(;' +2 "core" ' + "manipulator"&<% +4 "core" %   : b +2 "manipulator"&=& +3 "core" &  R < +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(>(K +666 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (?& +3 "core" &K 8\  +648 #t-> startTube 2 +1925 #-> $da[:extractVol]=.21 +29825 "Can"\ =: +1635 #t-> shortDA +2 "collection"'@% +2 "processing"%A% +4 "core" %k\ +5 %ؽ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1086 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1004 .PSV.dial :mixloop + "processing"%B +44 "core" + .tPTV.dial :PRVmixing +2 "processing"%C  +71 "core" + .tPRV.dial :sipper +2 "processing"%D  +128 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml + "processing"%E'e +2295 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%F  +2 "collection"'G  +5 "core" +121 +2 .tPS.seek 0.5ml + "processing"%H' +1278 "core" ' + .tPRV.dial :waste2 +2 "processing"%I @ +100 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml + "processing"%J'ؾ +593 "core" ' + .tPSV.dial PSR +2 "processing"%K +102 "core"  + "processing"%L% +4 "core" %ع\ +2 #tPulling 1ml of PSR.flush .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%M'X\\ +1107 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%N' +1619 "core" ' + .tPSV.dial :mixloop +2 "processing"%O +103 "core" +2 .tPS.seek 0ml + "processing"%P'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%Q +101 "core"  + "processing"%R% +4 "core" %ؼ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%S'X\\ +1098 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%T' +1619 "core" ' + .tPSV.dial :mixloop +2 "processing"%U +102 "core" + .tPRV.dial :sipper +2 "processing"%V  +42 "core" +42 .tPS.seek 0ml +2 "processing"%W'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%X +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%Y' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%Z +114 "core" +2 .tPS.seek 0ml + "processing"%['ؾ +2642 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%\\& +4 "core" &\  + .tHand.open + "manipulator"&]1 +61 "core" 1 + "manipulator"&^% +4 "core" %  b +2 "storage"(_% +3 "core" % \  +2 "storage"(`. +2 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(a(  +1298 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (b& +2 "core" &  :\ +2 "manipulator"&c& +3 "core" & < +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&d( +3 "core" ( + "manipulator"&e& +4 "core" &  < + "storage"(f& +4 "core" &  7\ +2 .tForearm.seek 2 + 450 counts + "manipulator"&g'S +91 "core" ' + "storage"(h& +4 "core" &  8\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'r +295 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +2 "core" &  .\ +2 "manipulator"&l& +3 "core" & ` < +2 .tElbow.seek 2 + "manipulator"&m( +3 "core" ( +2 "manipulator"&n& +3 "core" &  r < +2 "storage"(o& +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&p'Ͻ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +70 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& + "storage"(s' +7 "core" &  i < + "manipulator"&t% +4 "core" %  j +2 .tForearm.seek :retract + "manipulator"&u' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&v( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +76 "core" ( + "manipulator"&w& +4 "core" &  U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &  o +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&y' +99 "core" ' +2 "manipulator"&z& +4 "core" &  v +2 "manipulator"&{% +3 "core" % 4  +2 "processing"%|& +4 "core" &\  + "processing"%}& +5 "core" &"\  +2 .tPC.seek :closed + "processing"%~(^ +4 "core" & \  +10 &5y\ +} +9 &e\ @ +10 &ay\ O +9 &"[\ O +9 &\\\ O +10 &W\ O +9 &j]\ O +9 &,[\ O +10 &Y*\ O +9 &\\,\ O +10 & q[\ O +9 &"3Z\ O +9 &#[\ O +10 &%Y\ O +9 &'z[\ O +9 &)<Z\ O +10 &*[\ O +9 &,]\ O +10 &.Z\ O +9 &0C]\ O +9 &2[\ O +10 &3\\\ O +9 &5\\\ O +9 &7L[\ O +10 &9^\ O +9 &:]$\ O +10 &<\\(\ O +9 &>Q`#\ P +9 &@^\ O +10 &Ah&\ P +9 &Cy!\ R +9 &EK!\ U +10 &G \ T +9 &H$\ U +10 &J\ U +9 &LQ%\ U +9 &N\ W +10 &O%\ V +9 &Q$\ V +9 &SU1\ W +10 &U4\ W +9 &V(\ V +10 &X"\ U +9 &Z^+\ V +9 &\\,\ W +10 &]+\ 6 +9 &^,l,\ !` +9 &^+/\ 6 +3 ( +2 "processing"%}& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tSC.coast + "storage"(6 +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"% h +2 %9 +5 "core" 9~} +103 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9~  +103 "processing"%9 +2 "core" 9  +103 "processing"%9 +3 "core" 9~ +103 "processing"% 9 +2 "core" 9 +103 "processing"%\ 9 +2 "core" 9 +103 "processing"% 9 +2 "core" 9 +103 "processing"% 9 +2 "core" 9" +103 "processing"% 9 +2 "core" 9& +103 "processing"%9 +2 "core" 9+ +103 "processing"%9 +2 "core" 9/ +103 "processing"%9 +2 "core" 93 +103 "processing"%9 +2 "core" 97 +103 "processing"%9 +2 "core" 9; +103 "processing"%9 +2 "core" 9@ +103 "processing"%9 +2 "core" 9D +103 "processing"%9 +2 "core" 9H +103 "processing"%9 +2 "core" 9L +103 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9U +103 "processing"%9 +2 "core" 9Y +103 "processing"%9 +2 "core" 9] +103 "processing"%9 +2 "core" 9a +103 "processing"%"9 +3 "core" 9e +103 "processing"%%9 +2 "core" 9j +103 "processing"%'9 +2 "core" 9n +103 "processing"%)9 +2 "core" 9r +103 "processing"%(9 +2 "core" 9v +103 "processing"%9 +2 "core" 9z +103 "processing"%9 +2 "core" 9 +103 "processing"%#9 +2 "core" 9 +103 "processing"%,9 +2 "core" 9 +103 "processing"%-9 +2 "core" 9 +103 "processing"%.9 +2 "core" 9 +103 "processing"%/9 +2 "core" 9 +103 "processing"%09 +2 "core" 9 +103 "processing"%19 +2 "core" 9 +103 "processing"%29 +2 "core" 9 +103 "processing"%39 +3 "core" 9 +102 "processing"%49 +2 "core" 9 +103 "processing"%59 +2 "core" 9 +103 "processing"%69 +2 "core" 9 +103 "processing"%79 +2 "core" 9 +103 "processing"%89 +3 "core" 9 +103 "processing"%99 +2 "core" 9 +103 "processing"%:9 +2 "core" 9  +103 "processing"%<9 +2 "core" 9 +103 "processing"%=9 +2 "core" 9 +103 "processing"% 9 +3 "core" 9 +102 "processing"%!9 +2 "core" 9  +2 .tPH.hold 2:00:00,28C +3 "processing"%? php +2 .tdelay 1:30 +4 "core"  +9002 .tPSR.select :air + .PSV.dial PSR +2 "processing"%@ +102 "core"  + "processing"%A% +4 "core" %ظ>\  +2 #tPulling 0.5ml of PSR.wash .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%B' +586 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%C' +1621 "core" ' + .tPTV.dial :puck +2 "processing"%D  +130 "core"  + .tPSV.dial PTV +2 "processing"%G +73 "core" + .tPBV.dial :waste1 +2 "processing"%F  +53 "core" + "processing"%E% +4 "core" %|\ +2 .tPS.seek 1.5ml +2 "processing"%I') +594 "core" ' + .tdelay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%H * +35 "core" , +2 .tPS.seek 0ml + "processing"%K'ؾ +1607 "core" ' + .tdelay 5:00 +11740 "Can"\ FC +18263 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%L  +34 "core" + .tdelay 30 seconds +3004 .PBV.dial between PSV and waste1 + "processing"%J * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%M +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml + "processing"%O' +2434 "core" ' + .tPSV.dial PTV +2 "processing"%N +73 "core" + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%Q +73 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%R +86 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%P  +75 "core"  +2 .tPS.seek 0ml + "processing"%S'ؾ +2368 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%U  +130 "core" + .tPSV.dial :mixloop +2 "processing"%V +46 "core" + .tPRV.dial :ab1 +2 "processing"%T @ +100 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml + "processing"%X' +377 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%W  +42 "core" + "processing"%Z% +4 "core" %\ z +2 .tPS.seek 0.36ml +2 "processing"%Y' +485 "core" ' + .tdelay 2 seconds +203 .CBV.dial between PRV and PSV + "collection"'\\  +28 "core" + .tPRV.dial :air +2 "processing"%]  +42 "core"  +2 .tPS.seek 0.9ml + "processing"%^'K +1150 "core" ' + .tPRV.dial :waste2 +2 "processing"%_ @ +72 "core" ? +2 .tPS.seek 0.5ml + "processing"%`' +869 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%>  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%b' +1621 "core" ' + .tPSV.dial :PML +2 "processing"%c +44 "core" + .tPTV.dial :mixing +2 "processing"%e @ +72 "core" @ + .tPBV.dial :waste1 +2 "processing"%f  +34 "core" + "processing"%h% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%$' +229 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%& * +34 "core" , +2 .tPS.seek 0ml + "processing"%j'ؾ +1988 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"';& +3 "core" &.\  +2 "manipulator"&k& +3 "core" &  +2 "manipulator"&l% +3 "core" %  Q " +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&n(- +126 "core" ( + "manipulator"&o& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&r'w +94 "core" ' + .tHand.close + "manipulator"&t/ +77 "core" / + "manipulator"&d& +4 "core" &- + "manipulator"&g% +4 "core" % φ  . +2 .tForearm.seek :retract + "manipulator"&i' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&p(ӂ +282 "core" ( + "manipulator"&w& +4 "core" &Ӗ!  $ :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &Ӗ!  :/ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&m'? +98 "core" ' +2 "manipulator"&z& +4 "core" &ӗ"  :. +2 "manipulator"&{% +3 "core" %6   +2 "collection"'|& +4 "core" &,\  +2 "collection"'s& +5 "core" &*\  +2 .tCC.seek :closed + "collection"'u(\\ +4 "core" &\  +10 &5}\ +} +9 &e\ @ +9 &Su\ O +10 &Y\ O +9 &[\ N +10 &Z\ O +9 &]Z\ N +9 &Y\ N +10 &_\ O +9 &W\ N +10 & dW\ O +9 &"'Z\ N +9 &#W\ N +10 &%[\ O +9 &'l[\ O +9 &)/[\ N +10 &*W\ O +9 &,[\ O +10 &.tZ\ O +9 &07V\ N +9 &1Y\ N +10 &3\\\ O +9 &5|Y\ O +9 &7>Y\ O +10 &9V\ O +9 &:W\ O +9 &<\\\ O +10 &>F\\\ O +9 &@Z\ O +10 &A\\!\ N +47 &Cf#"\ P +12 &EC{('\ S + &F0.\ V +5 &H22\ Y + &Jr54\ Z + &L434\ Z + &M47\ [\ +7 &O36\ [ +9 &Qu55\ \\ +9 &S548\ ] +10 &T76\ ^ +9 &V89\ ^ +10 &Xs78\ _ +9 &Z3;<\ ` +9 &[;>\ @ +10 &\\)=?\ 0 +9 &\\@?\ ^ +2 ( +2 "collection"'s& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + "collection"'*& +4 "core" &\\<@*\ ^ + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % 6  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' + .tPSV.dial PSR +2 "processing"%} +104 "core"  + "processing"%% +4 "core" %غ\ n +2 #tPulling 1.5ml of PSR.flush .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1.5ml + "processing"%y'+ +1615 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%  +43 "core"  +2 .tPS.seek 0ml + "processing"%a'ؾ +1612 "core" ' + .tPSV.dial PSR +2 "processing"% +45 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +2627 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +3 "processing"%  +2 "collection"'\  +32 "core"  +128  + .tPSV.dial :mixloop +2 "processing"% +114 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%  +74 "core" +2 .tPS.seek 0ml + "processing"% 'ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%  +46 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2645 "core" ' + .tPSV.dial :mixloop +2 "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2629 "core" ' + .tPSV.dial :air +2 "processing"%  +55 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2643 "core" ' + .tPSV.dial :mixloop +2 "processing"% +42 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ә  ? :- +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +18 "core" ( + "manipulator"&& +4 "core" &ӆ  + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &ӆ + +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&/ +65 "core" / +2 .tCC.seek :open + "collection"'"( +451 "core" ( + "manipulator"&%& +4 "core" &ӆ , + +2 "manipulator"&'% +3 "core" % J G T +2 .tForearm.seek :retract + "manipulator"&)' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&((- +280 "core" ( + "manipulator"&& +4 "core" &- I ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- ) ] + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&#'w +97 "core" ' + .tHand.open + "manipulator"&,1 +64 "core" 1 + "manipulator"&-% +4 "core" % π   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +2 ."da"delayUntil "16:48:24.97" +631 "Can"\ EB +24148 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%/ @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%0  +35 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 + "processing"%1 * +34 "core" , + ."da"PSV.dial :air +2 "processing"%2  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%3' +2449 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%4 +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%5  +57 "core" + ."da"delay 2 seconds +203 .PSV.dial :mixloop +2 "processing"%6 +41 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%7  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%8'ؾ +2380 "core" ' + #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%9 +132 "core"  + "processing"%:% +4 "core" %\ { + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +11 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%<' +599 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%=' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%! +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%@  +35 "core" + "processing"%A% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%['+ +596 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%B * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1612 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%G  +34 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 + "processing"%F * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%E +73 "core"  +4 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%C' +2445 "core" ' + ."da"PSV.dial PTV +2 "processing"%H +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%I +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%L  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%J'ؾ +1936 "Can"\ EB +455 "core" ' + #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%M +131 "core"  + "processing"%K% +4 "core" %ظ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +11 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%N' +593 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Q' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%R +84 "core" + ."da"PBV.dial :waste1 +2 "processing"%P  +34 "core" + "processing"%O% +4 "core" %\ +2 ."da"PS.seek 1.5ml + "processing"%U'1 +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%V * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%T'ؾ +1614 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%S  +35 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 + "processing"%W * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Z +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%X' +2428 "core" ' + ."da"PSV.dial PTV +2 "processing"%\\ +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%] +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%Y +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%_  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%^'ؾ +2384 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%>  +43 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%`  +129 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%c  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%e +46 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%f' +388 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%h  +44 "core"  + "processing"%&% +4 "core" %\  +2 ."da"PS.seek 0.55ml + "processing"%b' +359 "core" ' + #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%$  +43 "core"  +2 ."da"PS.seek 2ml + "processing"%;' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"%k +43 "core" + ."da"PTV.dial :mixing +2 "processing"%l @ +74 "core" A + ."da"PBV.dial :waste1 +2 "processing"%o  +34 "core" + "processing"%q% +4 "core" %5\  +2 ."da"PS.seek 1.85ml + "processing"%v' +238 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%t * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%d'ؾ +1968 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +25657 "Can"\ TR +22345 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%g  +35 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" , + ."da"PSV.dial :air +2 "processing"%r  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%w' +2423 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%x +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%n  +45 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop +2 "processing"%z +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%{  +45 "core"  +2 ."da"PS.seek 0ml + "processing"%|'ؾ +2372 "core" ' + #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +130 "core" + "processing"%+% +4 "core" %ؼF\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%*' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1633 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  + ."da"PSV.dial PTV +41 "processing"%s +82 "core" + ."da"PBV.dial :waste1 +2 "processing"%}  +34 "core" + "processing"%% +4 "core" %7\ +2 ."da"PS.seek 1.5ml +2 "processing"%m', +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%j * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1617 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%y  +34 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%a +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%\ ' +2428 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2363 "core" ' + #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +130 "core" + "processing"%% +4 "core" %ؽ"\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +11 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +596 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +174 "Can"\ ^] +1440 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" + "processing"%% +4 "core" %0\  +2 ."da"PS.seek 1.5ml + "processing"%'+ +598 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1607 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +34 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 + "processing"%p * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%u' +2431 "core" ' + ."da"PSV.dial PTV +2 "processing"%% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%' +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2373 "core" ' + #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  + "processing"%,% +4 "core" %.\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%-' +593 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%)' +1621 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%# +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%/  +35 "core" + "processing"%0% +4 "core" %D\  +2 ."da"PS.seek 1.5ml +2 "processing"%1'/ +594 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%2 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1612 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%4  +34 "core" + ."da"delay 30 seconds +3004 .PBV.dial between PSV and waste1 + "processing"%5 * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%6 +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%7' +2430 "core" ' + ."da"PSV.dial PTV +2 "processing"%3 +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%9 +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%: +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%8  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%<'ؾ +2356 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air + .PSV.dial PSR +2 "processing"% +138 "core"  +4 "processing"%!% +8 "core" %P\  +5 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +9 "processing"% +14 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +4 "processing"%@' +337 "core" ' + ."da"delay 5 seconds +503 "processing"%A% +3 "core" %D\ + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +11 ."da"PS.seek 0.5ml + "processing"%=' +334 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%B' +1621 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%[ +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%G  +36 "core" + "processing"%F% +4 "core" %A\  +2 ."da"PS.seek 1.5ml + "processing"%E'/ +604 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%D * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%H'ؾ +1608 "core" ' + ."da"delay 10 seconds +537 "Can"\ 6 +466 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%I  +36 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%L +89 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%C' +2525 "core" ' + ."da"PSV.dial PTV +2 "processing"%M +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%K +75 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%J +89 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%N  +77 "core"  +2 ."da"PS.seek 0ml +2 "processing"%R'ؾ +2493 "core" ' + #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%P +135 "core"  + "processing"%O% +4 "core" %ؾ\ J + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%Q' +2128 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%V +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%U  +37 "core" + "processing"%S% +4 "core" %{\ d +2 ."da"PS.seek 1.5ml + "processing"%W'. +588 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%Z * +36 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%T  +106 "core"  +3 ."da"PS.seek 0ml + "processing"%\\'ؾ +1619 "core" ' + "processing"%]9 +3 "core" 9m5 +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%Y  +2 "core" 5 + 5 +2 "processing"%_& +3 "core" &^&_ 6 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&X% +3 "core" %  = / ` +2 "storage"(>% +3 "core" %   k +2 "storage"(`. +2 "core" . +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(c(C +359 "core" ( + ."da"SC.reconfigure :loose +2 "storage"($.\ 1~b +3 (e& +2 "core" &E \ L +2 "manipulator"&^& +3 "core" &- ] ] `\\ +2 "manipulator"&h% +3 "core" %    1 V +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 + "manipulator"&&( +172 "core" ( + "manipulator"&f& +4 "core" & 7 +2 "storage"($& +3 "core" &C U\ X +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&b' +96 "core" ' + "storage"(k& +4 "core" &C  +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(l'r +273 "core" ' + "storage"(o- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"(q'1 +49 "core" ' +2 "manipulator"&t& +4 "core" &  ) R7 + "manipulator"&;% +3 "core" % G TD +42 ."da"Forearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&v' +95 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&g( +263 "core" ( + "manipulator"&& +4 "core" & @ H +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" & / H + ."da"Forearm.seek PC +2 "manipulator"&d' +92 "core" ' + ."da"Hand.close +2 "manipulator"&x/ +69 "core" / +2 ."da"PC.seek :open +2 "processing"%n( +459 "core" ( + "storage"(z& +4 "core" &C \ M +2 "manipulator"&{& +4 "core" & [ + "manipulator"&w% +4 "core" %    + ."da"Forearm.seek :retract +2 "manipulator"&i' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&+( +241 "core" ( + "manipulator"&|& +4 "core" & ? DH +2 "storage"(*& +3 "core" &C m T { +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +89 "core" ' + ."da"Hand.open +2 "manipulator"&s1 +76 "core" 1 +2 "storage"(}- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21jul0117h.tif +3 "processing"%j& +10 "core" & +4 "manipulator"&m& +9 "core" & (H +3 "manipulator"&y% +8 "core" %  P ' +5 ."psFlush"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 ."psFlush"Forearm.seek :retract +4 "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&a(- +175 "core" ( +2 "manipulator"&& +5 "core" &- { t "Z +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &- { ,Z +2 ."psFlush"Forearm.seek :garage +2 "manipulator"& 'w +94 "core" ' + ."psFlush"Hand.close +2 "manipulator"& / +67 "core" / + "manipulator"&& +5 "core" &- - Z + "manipulator"&\ % +4 "core" % z z a 5 + ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +130 "core" ( + "manipulator"&& +4 "core" & \ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  \ +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&& +5 "core" & z (\ + "manipulator"&% +4 "core" % +# +2 "processing"%& +3 "core" & +3 "processing"%& +4 "core" & +2 ."psFlush"PC.seek :closed + "processing"%(^ +4 "core" &  +10 &*m , +10 &^u A +9 &Dh U +9 &F V +10 &A V +9 &A V +9 &PD \ S +10 &N \ S +9 &P \ S +10 &L\ R +9 & YN\ #R +9 &"LG\ #R +10 &#O\ #R +9 &%K\ R +9 &'`K\ S +10 &)"N\ S +9 &*C T +10 &,D V +9 &._F V +9 &0"C U +10 &1D U +9 &3A U +9 &5gD~ V +10 &7*A U +9 &8G V +10 &:C V +9 &1F| V +10 &?Fw V +9 &AMz W +9 &Cp[w X +10 &E({q \\ +9 &Fyn \\ +10 &Hs Z +9 &Juu\ Y +9 &L5u\ Z +10 &Mu\ Z +9 &Ov\ Z +9 &Qzc\ Z +10 &S<f\ Z +9 &Tf\ [ +10 &Va [ +9 &X_ [\ +9 &Z@^ \\ +10 &[[ _ +9 &]S L +9 &^$YW ^ +10 &^IY B +2 ( +2 "processing"%& +2 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.90 + "processing"%& +4 "core" &^KA B + ."psFlush"Hand.open +2 "manipulator"&p1 +69 "core" 1 + "manipulator"&% +4 "core" %  *# +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%% +47 "core"  + "processing"%'% +4 "core" %ؼ) + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +589 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2124 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 + "processing"%u @ +201 "core" @ + ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +139 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%, +108 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2633 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +111 "core"  + "processing"%#% +4 "core" %آ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush + "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"%/' +598 "core" ' +6 ."psFlush"delay 5 seconds +2 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 84.144 seconds\ /var/log/esp/da21jul0117h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21jul0117h15s.tif +498 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%0' +1046 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21jul0117h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21jul0117h30s.tif +1072 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%)  +37 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%2 @ +75 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%1 +122 "core" +2 ."psFlush"PS.seek :empty + "processing"%4'ؠ +1637 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21jul0117h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21jul0117h70s.tif +1018 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%5 +110 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%6'X\\ +1105 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1607 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%3 +80 "core" + ."psFlush"PTV.dial :puck +2 "processing"%9  +77 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%:'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%8 +77 "core" + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%7' +408 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21jul0117h70s.tif: TIFF Upload Complete\ +67 .Gate.power :camera,:OFF + ."Qmail"DAfans.email "84.144 sec auto-exposure",Subject: "da21jul0117h images!" +2 "storage"( - +7 "core" -' + "storage"(!& +8 "core" &C\  O\ T +2 "manipulator"&<& +3 "core" &  s \ +2 "manipulator"&A% +10 "core" %   D  +4 ."da"Elbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&@( +89 "core" ' +3 ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%=' +142 "core" ( + "manipulator"&[& +6 "core" &  } 5 + "storage"(G& +4 "core" &C \ S +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&F' +92 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(B'" +51 "core" ' + "manipulator"&D& +4 "core" & 4 +2 "storage"(E& +3 "core" &C \ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 + "manipulator"&I'8 +21 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(L' +25 "core" ' + "manipulator"&H% +4 "core" %L P +2 "storage"(M& +3 "core" &C \ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 320 counts + "manipulator"&K'x +15 "core" ' + "manipulator"&J& +4 "core" & 4 +2 "storage"(N& +4 "core" &C a\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&C' +20 "core" ' + "storage"(P% +4 "core" % \ +3 ."downElevator"SE.seek :down +2 "storage"(O' +100 (R% +2 "core" %C \ V` +2 "manipulator"&V% +4 "core" % B +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&U' +90 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +3 ."da"SC.coast + "storage"(6 +2 (S& +4 "core" &C A\ +1356 ' + ."psFlush"PSV.dial PTV +2 "processing"%Q +73 "core" + ."psFlush"PBV.dial PSV +2 "processing"%Z U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%T'ؾ +2654 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%W @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%]' +2653 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%Y  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%X +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%>' +2633 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%` +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%e'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%^ @ +56 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%h' +2631 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%f  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%$'ؾ +1729 "Can"\ JG +910 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%k +43 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%('X\\ +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%.' +1617 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%o +70 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%t  +54 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%;'ؾ +2630 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%l +85 "core" + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%b' +597 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2116 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%r +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%& U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%x'ؾ +2661 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%v @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%~' +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%z  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%{'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%w +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%d' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%| +82 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%*'ؾ +2628 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%g @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%s' +2625 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%}  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%j'ؾ +2631 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&m& +4 "core" & P 4 + "manipulator"&y% +4 "core" %  :  + ."psFlush"Elbow.seek PC +2 "manipulator"&i( +266 "core" ( + "manipulator"&q& +4 "core" & &  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & M  + ."psFlush"Forearm.seek PC +2 "manipulator"&' +93 "core" ' + ."psFlush"Hand.close +2 "manipulator"& / +68 "core" / +2 ."psFlush"PC.seek :open + "processing"%( +457 "core" ( + "manipulator"&+& +4 "core" &   + "manipulator"& % +4 "core" %  P + +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage + "manipulator"&\ (- +118 "core" ( + "manipulator"&& +4 "core" &- +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &- +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +91 "core" ' + ."psFlush"Hand.open +2 "manipulator"& 1 +56 "core" 1 + "manipulator"&% +4 "core" % u W +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +140 "core" ' +2 #tFinished short da assay +30234 "Can"\ <: +60003 \ =: +60002 \ =: +60003 \ =: +60002 \ =: +60003 \ =: +60002 |\ =: +60003 u\ =: +60002 \ =; +60003 \ =: +60003 \ =: +60002 \ =: +60003 \ =; +60002 \ =: +60003 \ =: +60002 \ <: +60003 \ =: +60002 \ =: +60003 \ =: +60002 \ =: +60003 \ =: +60002 \ =: +60003 z\ =: +60003 \ =; +60002 \ <: +60003 \ <: +60002 \ =: @1625191909.32EDT = =tMAIN =mMAIN_scheduler @EDT1625191911.10 #"core_reset"Sent BREAK +2 #t@33505 sendCRC with ifg=0x20, ie=0x7F #@35340 sendCRC with ifg=0x08, ie=0x5F + #@16811 idle with ifg=0x84, ie=0x75 + #@17483 select with ifg=0x10, ie=0xF5 #@18117 receive with ifg=0x10, ie=0xFD + #@18751 receive with ifg=0x10, ie=0xFD #@19384 receive with ifg=0x10, ie=0xFD + #@19711 receive with ifg=0x80, ie=0xFD #@12631 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +160 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +119 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +356 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"~\ @< + ~\ @< #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +2 "core" %k_`\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؿ\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +2 "core" %z _\ +2 .tSS.configure :default +2 "sampler")#.0X access 1 +3 .SE.seek :down + "storage"(' +3 "core" ' + "manipulator"&% +4 "core" %  8  +2 "manipulator"&& +3 "core" &- e +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +1302 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<,.   ^\  +1488 #t-> samplePassF + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" &^a\ + .tHand.open +2 "manipulator"&1 +16 "core" 1 + "manipulator"&& +4 "core" &- +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +25 "core" ( + "manipulator"&& +4 "core" &- % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +2 "core" &- D % +2 .tForearm.seek :garage +2 "manipulator"&!'w +94 "core" ' + .tHand.close + "manipulator"&"/ +75 "core" / + "manipulator"&#& +4 "core" &- % +2 "manipulator"&$% +3 "core" % {  # +2 .tForearm.seek :retract + "manipulator"&%' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&&(ӂ +286 "core" ( + "manipulator"&'& +4 "core" &Ӎ. I E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +2 "core" &Ӎ. z E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&)'? +94 "core" ' + "manipulator"&*& +4 "core" &ӫ) ) Ac +2 "manipulator"&+% +3 "core" %D S | +2 "collection"',& +4 "core" &]a\ +2 "collection"'-& +4 "core" &ab\ +2 .tCC.seek :closed + "collection"'.(\\ +4 "core" &_b\  +10 &1{`a\ *z +9 &c``\ ? +10 &qxbc\ O +9 &5Wbb\ N +9 &Zbb\ N +10 &[`d\ N +9 &{Yef\ N +9 &=Ydd\ N +10 &]ef\ O +9 &Yhf\ N +10 & Yee\ N +9 &"FZff\ N +9 &$ Xfg\ M +10 &%Zfg\ N +9 &'Ygf\ N +9 &)MYeh\ N +10 &+Yff\ N +9 &,Yhi\ N +10 &.\\hh\ N +9 &0VYjh\ N +9 &2Yih\ N +10 &3Yii\ N +9 &5Xjj\ N +9 &7^Zij\ N +10 &9Zjl\ N +9 &:Zli\ N +10 &<Yjk\ N +9 &>fZjj\ N +9 &@'Zln\ N +10 &A]pn\ O +9 &Cers\ O +10 &E`vv\ R +9 &G}|\ W +9 &H\ Z +10 &J\ Z +9 &LQ\ Z +9 &N\ [ +10 &O\ \\ +9 &Q\ ] +10 &SQ\ ] +9 &U\ \\ +9 &V\ ] +10 &X\ ` +9 &ZR\ _ +9 &[z\ @ +10 &\\,\ *~ +9 &\\x\ X +2 ( +2 "collection"'-& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + "collection"'/& +4 "core" &\\v\ X + .tHand.open + "manipulator"&01 +57 "core" 1 + "manipulator"&1% +4 "core" % D G | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +90 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%3 +3 "core"  +2 "processing"%4  +44 "core"  + "processing"%5% +4 "core" %ؿ\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush + "processing"%j +11 .tPS.seek 1.5ml + "processing"%6'+ +1607 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%7  +44 "core"  +3 .tPS.seek 0ml + "processing"%8'ؾ +1608 "core" ' + .tPSV.dial PSR +2 "processing"%9 +43 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%:' +2625 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%;  + "collection"'<  +8 "core" +91 + .tPSV.dial :PTV,via: :air +2 "processing"%= +203 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'> +3 "core"  + "collection"'?  +5 "core" + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%@ +3 "core"  +2 "processing"%A @ +71 "core" @ +2 .tPS.seek 0ml + "processing"%B'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%C  +71 "core"  +2 .tPS.seek 2.5ml + "processing"%D' +2636 "core" ' + .tPSV.dial :PTV +2 "processing"%E +86 "core" +2 .tPS.seek 0ml + "processing"%F'ؾ +2636 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&G& +4 "core" &ӫ(  Ac + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +24 "core" ( + "manipulator"&I& +4 "core" &ӂ J ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +2 "core" &ӂ  ' +2 .tForearm.seek CC +2 "manipulator"&K'? +100 "core" ' + .tHand.close + "manipulator"&L/ +70 "core" / +2 .tCC.seek :open + "collection"'M( +450 "core" ( + "manipulator"&N& +4 "core" &ӂ * ' +42 "manipulator"&O% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&P' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&Q(- +279 "core" ( + "manipulator"&R& +4 "core" &-  f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +2 "core" &- V f +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&T'w +89 "core" ' +2 .tHand.open + "manipulator"&U1 +55 "core" 1 + "manipulator"&V% +4 "core" % π 0 V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +92 "core" ' +2814 #t-> PS.flush +2 #Flushing Processing stage + "processing"%X% +3 "core" %ؼ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%Y& +4 "core" &\ + "manipulator"&Z& +4 "core" &- } f + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&[(- +3 "core" ( + "manipulator"&\\& +4 "core" &- P f + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &- f +2 .tForearm.seek :garage + "manipulator"&^'w +92 "core" ' + .tHand.close + "manipulator"&_/ +68 "core" / + "manipulator"&`& +4 "core" &-  f +2 "manipulator"&a% +3 "core" % | n 1 +2 .tForearm.seek :retract +2 "manipulator"&b' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&c( +140 "core" ( + "manipulator"&d& +4 "core" & S  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +2 "core" & ,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&f' +101 "core" ' + "manipulator"&g& +4 "core" & "  +2 "manipulator"&h% +4 "core" % 5 i + "processing"%i& +4 "core" &q\ +2 "processing"%j& +5 "core" &v\ +2 .tPC.seek :closed + "processing"%k(^ +5 "core" &z\ +8 & 3{\ %f +9 &U~x\ 8 +9 &~}x\ L +10 &Xz\ O +9 &d[\ O +9 &&Z\ O +10 &\\u\ O +9 &Yy\ O +10 &kZ\ O +9 &,\\\ O +9 &Zz\ O +10 &!Z\ O +9 &#rZ\ O +9 &%5W|\ O +10 &&Z}\ O +9 &(Zz\ O +10 &*y[|\ P +9 &,<[\ O +9 &-Y\ O +10 &/]|\ O +9 &1Zq\ O +9 &3EZ{\ O +10 &5Z\ O +9 &6[\ O +10 &8\\y\ O +9 &:MZ|\ O +9 &<]|\ O +10 &=\\v\ P +9 &?^\ O +9 &AS_u\ P +10 &Csu\ Q +9 &D\ T +10 &F{\ U +9 &HLs\ U +9 &Jr\ T +10 &K|\ U +9 &Ms\ U +9 &OQr\ V +10 &Q{\ V +9 &R\ W +10 &T\ W +9 &VVt\ W +9 &X\ V +10 &Yw\ V +9 &[z\ W +9 &]^u\ D +10 &^J{\ S +9 &^ Z\ = +5 ( +2 "processing"%j& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + "processing"%l& +4 "core" &^Ft\ = + &^F{\ = +2 .tHand.open + "manipulator"&m1 +60 "core" 1 + "manipulator"&n% +4 "core" %  ~ i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +96 "core" ' + .tPSV.dial PSR +2 "processing"%p +74 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%q'X\\ +1107 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%r' +1604 "core" ' + .tPSV.dial PTV +2 "processing"%s +74 "core" + .tPTV.dial :puck +2 "processing"%t  +72 "core"  + .tPBV.dial :waste1 +2 "processing"%u  +55 "core" +2 .tPS.seek 0ml + "processing"%v'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%w +74 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%x' +586 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%y' +2127 "core" ' + .tPSV.dial PTV +2 "processing"%z +73 "core" + .tPBV.dial PSV +2 "processing"%{ U +54 "core" V +2 .tPS.seek 0ml + "processing"%|'ؾ +2633 "core" ' + .tPSV.dial PBV +2 "processing"%} @ +43 "core" ? +2 .tPS.seek 2.5ml + "processing"%~' +2635 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +72 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%' +2630 "core" ' + .tPSV.dial PTV +2 "processing"% +70 "core" + .tPBV.dial PSV +2 .PS.seek 0ml + "processing"%'ؾ +2638 "core" ' + .tPSV.dial PBV +2 "processing"% @ +44 "core" ? +2 .tPS.seek 2.5ml + "processing"%\ ' +2628 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +71 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2633 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&& +3 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" & f  +2 .tForearm.seek PC + "manipulator"&' +92 "core" ' + .tHand.close + "manipulator"&/ +75 "core" / +2 .tPC.seek :open + "processing"%( +460 "core" ( + "manipulator"&& +4 "core" & C  + "manipulator"&% +4 "core" %  U 0 +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +120 "core" ( + "manipulator"&& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +2 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&"'w +102 "core" ' + .tHand.open + "manipulator" +58 "core" 1 + "manipulator"&$% +4 "core" % r U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +4682 "Can"r\ =: +22600 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" &dh\ +2 "manipulator"&!& +3 "core" &- +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&'(- +18 "core" ( + "manipulator"&(& +4 "core" &- = O + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- B O +2 .tForearm.seek :garage +2 "manipulator"&*'w +93 "core" ' + .tHand.close + "manipulator"&+/ +65 "core" / + "manipulator"&,& +4 "core" &- O +2 "manipulator"&%% +3 "core" % t I +2 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&/(ӂ +296 "core" ( + "manipulator"&0& +4 "core" &ӈ V 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &ӈ " 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&3'? +92 "core" ' + "manipulator"&-& +4 "core" &ӈ V 6 +2 "manipulator"&4% +3 "core" %> H d +2 "collection"'5& +3 "core" &gi\ +3 "collection"')& +4 "core" &hg\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &hj\ +9 & -ih\ $d +9 &Uzgg\ 7 +9 &}gh\ L +10 &[gi\ N +9 &aUij\ M +10 &#Xlj\ M +9 &Yik\ M +9 &\\jl\ N +10 &hZkl\ N +9 &+Wli\ M +9 &Xln\ M +10 &!Vmn\ N +9 &#p\\nm\ N +10 &%2Yoq\ N +9 &&Uoo\ M +9 &(Wnp\ M +10 &*yUon\ M +9 &,;Wor\ M +9 &-Zop\ M +10 &/Unq~\ M +9 &1[oq\ N +10 &3CUsp\ M +9 &5Xrr\ M +9 &6Wos\ M +10 &8Wps~\ M +9 &:J[tp\ N +9 &< [rr{\ N +10 &=[tt\ M +9 &?Ysr\ M +10 &AR[wu\ N +9 &Caxx\ N +9 &Du|{\ P +10 &F\ T +9 &H:\ Y +9 &I\ Y +10 &K\ Y +9 &M\ Y +10 &O?\ Z +9 &Q\ Z +9 &R\ [\ +10 &T~\ \\ +9 &V?\ \\ +9 &W\ ] +10 &Y\ ^ +9 &[}\ K +10 &\\=\ - +9 &\\\ _ +5 ( +2 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + "collection"'7& +4 "core" &\\\ _ + &\\{\ _ +2 .tHand.open + "manipulator"&61 +64 "core" 1 + "manipulator"&9% +4 "core" % > 1 d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&8' +91 "core" ' +965 #t-> CBV.PRV + .CBV.dial PRV +674 #-> PTV.PRV + .PTV.dial PRV +2 "processing"%< @ +72 "core" @ +631 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%; +102 "core" +498 #t-> CTV.air + .CTV.dial :air +586 #-> PRV.CBV + .PRV.dial CBV +758 #-> PSR.flush + .PSR.select :flush +2 "processing"%@ +591 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%= +73 "core"  +623 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%>' +2638 "core" ' + "processing"%?% +4 "core" %\ +1997 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%@ +73 "core" +523 #t-> PS.empty +2 .PS.seek 0ml + "processing"%A'ؾ +2630 "core" ' + "processing"%:% +4 "core" %w\ +746 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%C +73 "core"  +416 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%B' +2651 "core" ' + "processing"%E% +4 "core" %\ +697 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%D +73 "core" +423 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%G'ؾ +2636 "core" ' + "processing"%I% +50 "core" %ع\ +996 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%J +73 "core"  +455 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%L' +2646 "core" ' + "processing"%&% +4 "core" %\  +563 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%2 +74 "core" +489 #t-> PS.empty +2 .PS.seek 0ml + "processing"%.'ؾ +2632 "core" ' + "processing"%N% +4 "core" %ؿ\ +498 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%O +73 "core"  +384 #t-> PSR.air + .PSR.select :air +2 "processing"% +362 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%K' +2634 "core" ' + "processing"%R% +4 "core" %\  +582 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%S +73 "core" +428 #t-> PS.empty +3 .PS.seek 0ml + "processing"%H'ؾ +1753 "Can"q\ ZX +884 "core" ' + "processing"%U% +4 "core" %ػ\ +628 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%V +73 "core"  +317 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%P' +2633 "core" ' + "processing"%T% +4 "core" %\  +500 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%X +73 "core" +445 #t-> PS.empty +3 .PS.seek 0ml + "processing"%Y'ؾ +2636 "core" ' + "processing"%Z% +4 "core" %ؼ\ +503 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%\\ +74 "core"  +311 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%]' +2634 "core" ' + "processing"%_% +4 "core" %\  +833 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%` +73 "core" +464 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%a'ؾ +2631 "core" ' + "processing"%Q% +4 "core" %ػ\ +889 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&W& +3 "core" &ӈ 6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +2 "core" ( + "manipulator"&e& +3 "core" &ӈ  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &ӈ = 6 + .tForearm.seek CC +2 "manipulator"&g'? +93 "core" ' + .tHand.close + "manipulator"&h/ +69 "core" / +2 .tCC.seek :open + "collection"'i( +450 "core" ( + "manipulator"&[& +4 "core" &ӈ  6 + "manipulator"&b% +4 "core" % B N E +2 .tForearm.seek :retract + "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&l(- +288 "core" ( + "manipulator"&m& +4 "core" &-  7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +2 "core" &- < 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&j'w +101 "core" ' +2 .tHand.open + "manipulator"&p1 +58 "core" 1 + "manipulator"&f% +4 "core" % | H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&F' +94 "core" ' +615 #t-> exit +4 #mEXIT @1625193303.54EDT @1625228964.34EDT = =tMAIN =mMAIN_scheduler @EDT1625228966.06 #"core_reset"Sent BREAK +2 #t@27755 sendCRC with ifg=0x20, ie=0x7F #@29590 sendCRC with ifg=0x08, ie=0x5F + #@60506 idle with ifg=0x84, ie=0x75 #@61176 select with ifg=0x10, ie=0xF5 + #@61809 receive with ifg=0x10, ie=0xFD + #@62442 receive with ifg=0x10, ie=0xFD #@63075 receive with ifg=0x10, ie=0xFD + #@63402 receive with ifg=0x80, ie=0xFD #@4981 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +269 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +358 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ >; + \ >; #tPolling Can every 10:00 +124 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ + % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %k\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػq\ + .tPS.configure :default +3 "processing"%#A d`xb + .tPS.hold +2 "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %z W\ + .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" &\ +2 .tHand.open + "manipulator"&1 +17 "core" 1 + "manipulator"&& +4 "core" &-  7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +3 "core" ( + "manipulator"&& +4 "core" &- i 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- 7 +2 .tForearm.seek :garage + "manipulator"&'w +93 "core" ' + .tHand.close + "manipulator"&/ +73 "core" / + "manipulator"& & +4 "core" &-  7 +2 "manipulator"&!% +3 "core" % χ @  +2 .tForearm.seek :retract + "manipulator"&"' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&#(ӂ +281 "core" ( + "manipulator"&$& +4 "core" &ӑ% * >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +2 "core" &ӑ% ) >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'? +93 "core" ' + "manipulator"&'& +4 "core" &Ӓ& >M +2 "manipulator"&(% +3 "core" %? A j +2 "collection"')& +4 "core" &\ + "collection"'*& +5 "core" &\ +2 .tCC.seek :closed + "collection"'+(\\ +5 "core" &\  +10 &4~\ +{ +9 &d\ ? +10 &v\ O +9 &DY\ N +9 &X\ N +10 &Z\ N +9 &Y\ N +9 &OW\ M +10 &]\ N +9 &Y\ N +10 & W\ M +9 &"VY\ N +9 &$U{\ N +10 &%Y|\ M +9 &'Y~\ N +9 &)_X|\ M +10 &+ Y{\ N +9 &,[v\ N +10 &.Y {\ M +9 &0gW {\ M +9 &2(Y{\ N +10 &3[ {\ N +9 &5V|\ N +9 &7nY \ |\ N +10 &90X \ z\ N +9 &:Y  }\ N +10 &<\\ \ z\ N +9 &>wZ \ ~\ M +9 &@8Y\  |\ N +10 &A] |\ N +9 &Cex\ P +9 &Eq|\ R +10 &G'{\ V +9 &H"v\ Y +10 &J! y\ Z +9 &La  }\ Z +9 &N !#x\ [ +10 &O#"y\ [ +9 &Q##y\ [\ +9 &Sc"!q\ \\ +10 &U%&&w\ \\ +9 &V%$v\ ^ +10 &X%&q\ ^ +9 &Ze((q\ ^ +9 &\\ z+'w\ : +10 &\\'+*{\ *{ +9 &\\)+w\ ^ +2 ( + "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + "collection"',& +3 "core" &\\,,~\ ^ +2 .tHand.open + "manipulator"&-1 +53 "core" 1 + "manipulator"&.% +4 "core" % ?  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/' +95 "core" ' +481 #t-> CBV.PRV + .CBV.dial PRV +2 "collection"'0  +4 "core" +445 #t-> PTV.PRV +2 .PTV.dial PRV + "processing"%1 @ +5 "core" @ +401 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%2 +4 "core" +353 #t-> CTV.air +2 .CTV.dial :air + "collection"'3  +5 "core" +395 #t-> PRV.CBV + .PRV.dial CBV +2 "processing"%4  +5 "core" +321 #t-> PSR.flush + .PSR.select :flush +2 "processing"%j +491 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%5 +74 "core"  +296 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%6' +2635 "core" ' + "processing"%7% +4 "core" %\ \ +647 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%8 +73 "core" +415 #t-> PS.empty +2 .PS.seek 0ml + "processing"%9'ؾ +2632 "core" ' + "processing"%:% +4 "core" %ؼ\ +398 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%; +73 "core"  +282 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%<' +2639 "core" ' + "processing"%=% +4 "core" %\  +395 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%> +73 "core" +302 #t-> PS.empty +2 .PS.seek 0ml + "processing"%?'ؾ +2628 "core" ' + "processing"%@% +4 "core" %\ +505 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%A +74 "core"  +255 #t-> PS.fill +42 .PS.seek 2.5ml +2 "processing"%B' +2632 "core" ' + "processing"%C% +4 "core" %\  +802 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%D +74 "core" +303 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%E'ؾ +2653 "core" ' + "processing"%F% +4 "core" %ؽ\  +394 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%G +73 "core"  +346 #t-> PSR.air + .PSR.select :air +2 "processing"% +579 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%H' +2630 "core" ' + "processing"%I% +4 "core" %\  +716 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%J +73 "core" +326 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%K'ؾ +2630 "core" ' + "processing"%L% +4 "core" %\ +1042 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%M +73 "core"  +287 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%N' +2640 "core" ' + "processing"%O% +4 "core" %\  +1208 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%P +74 "core" +430 #t-> PS.empty +3 .PS.seek 0ml + "processing"%Q'ؾ +2651 "core" ' + "processing"%R% +4 "core" %ع\  +519 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%S +73 "core"  +758 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%T' +2638 "core" ' + "processing"%U% +4 "core" %\  +834 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%V +73 "core" +392 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%W'ؾ +2639 "core" ' + "processing"%X% +4 "core" %\ +737 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&Y& +3 "core" &Ӕ% >K +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&Z(ӂ +32 "core" ( + "manipulator"&[& +4 "core" &ӈ  C O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +2 "core" &ӈ  O +2 .tForearm.seek CC +2 "manipulator"&]'? +93 "core" ' + .tHand.close + "manipulator"&^/ +66 "core" / +2 .tCC.seek :open + "collection"'_( +451 "core" ( + "manipulator"&`& +4 "core" &ӈ  / O + "manipulator"&a% +4 "core" % F & g +2 .tForearm.seek :retract + "manipulator"&b' +90 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&c(- +274 "core" ( + "manipulator"&d& +4 "core" &-  \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +2 "core" &- V \\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&f'w +102 "core" ' +2 .tHand.open + "manipulator"&g1 +61 "core" 1 + "manipulator"&h% +4 "core" % u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&i' +93 "core" ' +372 #t-> exit +4 #mEXIT @1625229499.73EDT @1625242162.77EDT = =tMAIN =mMAIN_scheduler @EDT1625242164.50 #"core_reset"Sent BREAK +2 #t@15885 sendCRC with ifg=0x20, ie=0x7F #@17720 sendCRC with ifg=0x08, ie=0x5F + #@3453 idle with ifg=0x84, ie=0x75 + #@4125 select with ifg=0x10, ie=0xF5 #@4758 receive with ifg=0x10, ie=0xFD + #@5391 receive with ifg=0x10, ie=0xFD #@6024 receive with ifg=0x10, ie=0xFD + #@6351 receive with ifg=0x80, ie=0xFD #@27467 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +267 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +351 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ A> + \ A> + #tPolling Can every 10:00 +123 "sampler") + ) +2 "core"  +2 "collection"' + ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %k#"\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %z T\ +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +3 "core" %k! \ +2 "sampler")% +4 "core" %z W\ + "manipulator"&% +3 "core" %  k  +2 "manipulator"&& +3 "core" &- = \\ + "storage"(& +4 "core" &<+ o p \ + "storage"(% +3 "core" % p u\ +2 "collection"'& +3 "core" & "\ +2 "processing"%& +3 "core" &\ + "processing"% % +4 "core" %k\ +272 #t-> access 2 +2 .SE.seek :down +2 "storage"(!' +3 "core" ' + "manipulator"&"% +4 "core" %    +2 "manipulator"&#& +3 "core" &- \\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"($(K +359 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (%& +2 "core" &K\ l G )\  +23355 #t-> access 3 +2 .SE.seek :down + "storage"(&' +4 "core" ' + "manipulator"&'% +4 "core" %  Y  +2 "manipulator"&(& +3 "core" &- " \\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"()([ +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (*& +2 "core" &[ 8 V \  +1942 #t-> access 4 +2 .SE.seek :down + "storage"(+' +3 "core" ' + "manipulator"&,% +4 "core" %  N  +2 "manipulator"&-& +3 "core" &- \\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(.(C +1924 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (/& +2 "core" &F v w 6\ +779 #t-> access 5 +2 .SE.seek :down + "storage"(0' +4 "core" ' + "manipulator"&1% +4 "core" %    +2 "manipulator"&2& +3 "core" &- \\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(3(  +353 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (4& +2 "core" &  S Y\  +1295 #t-> access 6 +2 .SE.seek :down +2 "storage"(5' +2 "core" ' + "manipulator"&6% +4 "core" %   +2 "manipulator"&7& +3 "core" &- G \\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(8( +361 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (9& +2 "core" & 3 @\  +3247 #t-> require 'shuffle.rb' +11549 #-> 10.times {shuffle 2..6; delay 10} +2 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"':& +3 "core" & "n\ +2 .tHand.open + "manipulator"&;1 +16 "core" 1 + "manipulator"&<% +4 "core" %   +2 "storage"(=% +3 "core" % u \ +2 "storage"(>. +3 "core" .( + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(?(  +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (@& +3 "core" &  ` K \ +2 "manipulator"&A& +3 "core" &- m \\ +2 "manipulator"&B% +3 "core" %  M  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&C( +182 "core" ( + "manipulator"&D& +4 "core" & E E +2 "storage"(E& +3 "core" &  V V z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&F'S +96 "core" ' + "storage"(G& +4 "core" &  x [ W\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +298 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &  5 ? \ + "manipulator"&K& +4 "core" & E +2 .tElbow.seek 2 + "manipulator"&L( +28 "core" ( + "manipulator"&M& +4 "core" & 8  +2 "storage"(N& +4 "core" &  R R 8\ + .tForearm.seek 2 + 300 counts +2 "manipulator"&O'Ͻ +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R' +6 "core" &  +2 "manipulator"&S% +4 "core" %  E + .tForearm.seek :retract +2 "manipulator"&T' +135 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +112 "core" ' + ."downElevator"SE.coast + "storage"(5 +55 "core" ( + "manipulator"&V& +4 "core" &Ӆ ] 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &Ӆ ( 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&X'? +93 "core" ' +2 "manipulator"&Y& +4 "core" &Ӆ 7 +2 "manipulator"&Z% +4 "core" %9 > q +2 "collection"'[& +3 "core" &"#n\ +2 "collection"'\\& +5 "core" &! l\ +2 .tCC.seek :closed +2 "collection"'](\\ +4 "core" &"!i\  +10 &3""d\ +| +9 &d"!b\ ? +9 &v#"`\ O +10 &HY"$`\ N +9 & V"$S\ N +9 &Y$%M\ N +10 &W"$E\ N +9 &RY'%J\ M +10 &\\&$<\ N +9 &V%$A\ N +9 & W'&B\ M +10 &"ZW&&;\ M +9 &$W&'-\ N +10 &%W((-\ N +9 &'Y('.\ N +9 &)aZ&(/\ N +10 &+#[(&*\ N +9 &,W'("\ N +9 &.V'( \ N +10 &0jW))(\ M +9 &2+X''$\ N +9 &3\\(*%\ N +10 &5X))"\ M +9 &7pZ*+\ N +10 &93Y++\ N +9 &:\\,+\ N +9 &<W++\ N +10 &>x\\-+\ N +9 &@;Y,.\ N +10 &A]/.\ N +9 &Cc1/\ O +9 &Ews21\ Q +10 &G344\ S +9 &H55 \ V +9 &J99\ Y +10 &Lf99\ Z +9 &N(;8 \ Z +10 &O<;\ \ Z +9 &Q:; \ [ +9 &Si<<\ [ +10 &U+=<\ [ +9 &V<<\ \\ +9 &X<<\ ] +10 &Zk>?\ ] +9 &\\{@@\ 5 +9 &\\%@@\ &o +10 &\\?A\ _ +2 ( + "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&^1 +63 "core" 1 +2 "manipulator"&_% +4 "core" % 9 m q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%a& +4 "core" &W\ +2 "manipulator"&b% +3 "core" %  v  +2 "storage"(c% +4 "core" %\ + "storage"(d. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(e(  +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (f& +3 "core" &  $ V\  + "manipulator"&g& +4 "core" &ӆ . 7 +2 "manipulator"&h% +3 "core" %  ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&i( +164 "core" ( + "manipulator"&j& +4 "core" & 0  +2 "storage"(k& +4 "core" &    \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&l'S +89 "core" ' + "storage"(m& +4 "core" &   e\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'r +295 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &   \  +2 "manipulator"&q& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&r( +4 "core" ( + "manipulator"&s& +4 "core" &   + "storage"(t& +4 "core" &  C\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&u'Ͻ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +67 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&w& +3 "storage"(x' +8 "core" & e  + "manipulator"&y% +4 "core" % Ϸ 7 +2 .tForearm.seek :retract + "manipulator"&z' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&{( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +72 "core" ( + "manipulator"&|& +4 "core" & & ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" & f ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&~' +98 "core" ' + "manipulator"&& +4 "core" & - ( +2 "manipulator"&% +4 "core" % F  + "processing"%& +4 "core" &[\ +2 "processing"%& +5 "core" &u\ +2 .tPC.seek :closed + "processing"%(^ +6 "core" &U\  +9 &0xP\ +z +10 &a~V\ > +9 &dvW\ P +9 &&WW\ O +10 &XY\ O +9 &VY\ P +10 &lZK\ O +9 &-WG\ P +9 &ZB\ P +10 &XB\ O +9 & s\\>\ P +10 &"5XA\ P +9 &#ZC\ O +9 &%Y>\ O +10 &'}W?\ O +9 &)>[1\ O +9 &*[7\ P +10 &,Z8\ P +9 &.U5\ O +9 &0FY5\ O +10 &2Y4\ O +9 &3Z1\ P +10 &5Y3\ P +9 &7NX$\ O +9 &9\\'\ P +10 &:\\ \ P +9 &<[!\ O +9 &>U[$\ P +10 &@_!\ P +9 &Ak\ Q +10 &Cx$\ T +9 &EM'\ U +9 &G!\ U +10 &H#\ V +9 &J\ V +9 &LS\ V +10 &N\ W +9 &O\ V +10 &Q\ W +9 &SW\ W +9 &U\ W +10 &V\ X +9 &X\ W +9 &Z_\ W +10 &\\!\ W +9 &]\ 6 +10 &^,j\ _ +9 &^0\ 9 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&% +4 "core" %  3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"% & +4 "core" &^-+\ 9 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %  f \ +2 "storage"(% +3 "core" %  %\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +5 "manipulator"&& + "core" &   \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & U ( +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"('r +9 "core" ( + "manipulator"&& +5 "core" &  ' % + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 3 % +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&/ +78 "core" / +2 .tPC.seek :open +2 "processing"%( +72 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( '1 +46 "core" ' +328 ( + "storage"("& +4 "core" &   \  +2 "manipulator"&#& +3 "core" & Y $ +2 "manipulator"&% +3 "core" %  W & +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&%( +247 "core" ( + "manipulator"&'& +4 "core" & C " +2 "storage"((& +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&!'S +99 "core" ' + .tHand.open + "manipulator"&$1 +60 "core" 1 +2 "storage"(*- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(,' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(-' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +4 "core" -' + "storage"()& +4 "core" &    \ a + "manipulator"&/& +4 "core" & " + .tElbow.seek 2 +2 "manipulator"&1( +10 "core" ( + "manipulator"&2& +4 "core" & 4  +2 "storage"(+& +4 "core" &  # \ a + .tForearm.seek 2 + 450 counts +2 "manipulator"&.'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(4'" +58 "core" ' + "manipulator"&6& +4 "core" & B  +2 "storage"(7& +4 "core" &  W\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&0'Α +17 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +21 "core" ' + "manipulator"&:% +5 "core" %Ι 4 L + "storage"(;& +4 "core" &  e\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts + "manipulator"&<' +40 "core" ' + "manipulator"&=& +5 "core" &   + "storage"(>& +4 "core" &  4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&8'S +24 "core" ' +2 "storage"(@% +4 "core" %   o\ +2 ."downElevator"SE.seek :down +3 "storage"(A' +100 (B% +2 "core" %;  9\ Vc +2 "manipulator"&D% +4 "core" %Ѕ s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +88 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (G& +4 "core" &  \  0\ + "collection"'& +4 "core" &\\>?\ _ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %  Z  + "storage"(I% +4 "core" %   \ + "storage"(5. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(J(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (K& +3 "core" &    0\  + "manipulator"&M& +4 "core" & E  +2 .tElbow.seek 2 + "manipulator"&N( +10 "core" ( + "manipulator"&P& +4 "core" & t  +2 "storage"(Q& +4 "core" &   # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&S'S +95 "core" ' + "storage"(C& +4 "core" &    8\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'r +298 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +2 "core" & I  +2 "storage"(V& +40 "core" &  b\  +11 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&W'Α +21 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Z- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(['g +30 "core" ' + "manipulator"&L% +5 "core" %Ζ Q < + "storage"(R& +4 "core" &  \\\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 305 counts +2 "manipulator"&T' +15 "core" ' + "manipulator"& & +5 "core" & l  + "storage"(^& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(a' +38 "core" ' + "manipulator"&b& +5 "core" &  + "manipulator"&c% +4 "core" %1  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&\\(ӂ +152 "core" ( +2 "manipulator"&f& +4 "core" &x. E| +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +2 "core" &x. & E| +2 .tForearm.seek CC +2 "manipulator"&h'? +91 "core" ' + .tHand.close + "manipulator"&X/ +72 "core" / +2 .tCC.seek :open + "collection"'j( +450 "core" ( + "storage"(k& +4 "core" &  ? = \  +2 "storage"(?& +3 "core" &  < 4 \  +2 "manipulator"&m& +3 "core" &z- . Dz +2 "manipulator"&U% +3 "core" % E b +2 .tForearm.seek :retract +2 "manipulator"&`' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&o( +165 "core" ( + "manipulator"&p& +4 "core" & )  +2 "storage"(q& +3 "core" &  w z 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&s'Α +92 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&v1 +63 "core" 1 +2 "manipulator"&w% +4 "core" % Ό T F + "storage"(y& +4 "core" &  e W Q\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 295 counts + "manipulator"&i'ϸ +32 "core" ' + "manipulator"&l& +4 "core" & W  +2 "storage"(n& +3 "core" &  Y V -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&u'S +27 "core" ' + "storage"(|% +5 "core" % u >\ +2 ."downElevator"SE.seek :down +3 "storage"(}' +99 (r% +2 "core" %8 T S !\ V_ +2 "manipulator"&% +4 "core" %D r + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &\ + "manipulator"&x% +4 "core" %   +2 "storage"(z% +4 "core" % i s \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +347 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & V `\  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +12 "core" ( + "manipulator"&& +4 "core" & g { +2 "storage"(& +3 "core" & V X g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +92 "core" ' + "storage"(& +4 "core" & z y m\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +292 "core" ' + "storage"(- +4 "core" -'& + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & 9 1 \  +2 "manipulator"&~& +3 "core" & { +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&e& +4 "core" & C { + "storage"(& +4 "core" & 1 ;\  + .tForearm.seek 3 + 300 counts +2 "manipulator"&{'ϡ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +67 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(' +8 "core" & { + "manipulator"&"% +4 "core" % ϥ H + .tForearm.seek :retract +2 "manipulator"&#' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +152 "core" ( + "manipulator"&& +5 "core" ' + &x* : Bi + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &'& +3 "core" &x* / Bi +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&('? +93 "core" ' + "manipulator"&& +4 "core" &y* ' Bh +2 "manipulator"&$% +4 "core" %B  Z + "collection"'*& +4 "core" &A\ +2 "collection"'&& +5 "core" &8\ +2 .tCC.seek :closed + "collection"')(\\ +4 "core" & 8\ +9 & ,!2\ #b +9 &V0\ 7 +10 &} ,\ L +9 &Y !\ M +10 &`X"!$\ M +9 &"Z" "\ M +9 &Y!!$\ M +10 &U "\ M +9 &iY"#\ M +9 &*X#"\ M +10 &Z##\ M +9 &!W&$\ M +10 &#pY#%\ M +9 &%2W$%\ M +9 &&W%%\ \ M +11 &(Y$&\ M +9 &*xW%& \ M +8 &,:X#& \ M +10 &-X''\ N +9 &/W&&\ M +10 &1X')\ N +9 &3CX((\ M +9 &5X)(\ M +10 &6Y'(\ M +9 &8T&(\ M +9 &:JY((\ M +10 &< Y++\ N +9 &=Y(*\ M +10 &?[++\ M +9 &AQZ.,\ N +9 &Cc0/\ O +10 &Dq01\ P +9 &F65\ R +9 &H?@<\ W +10 &I@B\ Y +9 &KCD\ Y +10 &MyCD\ [ +9 &O7CD\ \\ +9 &PFF\ [ +10 &RGF\ \\ +9 &TzGI\ ] +9 &V:HI\ ^ +10 &WIJ\ ^ +9 &YKK\ ^ +10 &[|KK\ L +9 &\\8ML\ 5 +9 &\\~MM\ S +5 ( +2 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.30 +2 .Hand.open + "manipulator"&/1 +3 "core" &\\vKM\ S +58 1 +2 "manipulator"&2% +4 "core" % B [ Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&+' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &j\ +2 "manipulator"&6% +3 "core" %  c  +2 "storage"(7% +3 "core" %\ +2 "storage"(:. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(;( +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +2 "core" &  +\  +2 "manipulator"&,& +4 "core" &z* : Bg + "manipulator"&=% +4 "core" %  g  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&>( +169 "core" ( + "manipulator"&@& +4 "core" & N q +2 "storage"(%& +3 "core" &   ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&!'7 +93 "core" ' + "storage"(-& +4 "core" &  ^\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'r +232 "Can"\ b` +66 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +2 "core" & g\  +2 "manipulator"&1& +3 "core" & < q +2 .tElbow.seek 3 + "manipulator"&4( +3 "core" ( + "manipulator"&0& +4 "core" & ! q +2 "storage"(<& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&G'ϡ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +76 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(I' +8 "core" & [ q + "manipulator"&9% +4 "core" % Ϧ / + .tForearm.seek :retract +2 "manipulator"&5' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&K( +170 "core" ' + ."downElevator"SE.coast + "storage"(5 +69 "core" ( +2 "manipulator"&M& +4 "core" & 7 ? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" & T ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q' +101 "core" ' + "manipulator"&8& +4 "core" & \\ ? +2 "manipulator"&C% +4 "core" % _ + "processing"%A& +4 "core" &^\ +2 "processing"%& +4 "core" &h\ +2 .tPC.seek :closed +2 "processing"%3(^ +4 "core" &M\  +10 &/vM\ *y +9 &cI\ ? +10 &ntL\ P +9 &0WM\ O +9 &WF\ O +10 &UF\ O +9 &yU=\ N +9 &9W6\ O +10 &W9\ O +9 &W8\ P +10 & W;\ O +9 &"AV9\ O +9 &$W7\ O +10 &%U;\ O +9 &'W5\ O +9 &)HU*\ O +10 &+\ X'\ O +9 &,W'\ O +10 &.U-\ P +9 &0PW'\ O +9 &2U)\ O +10 &3W&\ O +9 &5V'\ O +9 &7XU'\ O +10 &9U'\ O +9 &:Y\ O +10 &<T\ O +9 &>_Z\ P +9 &@!Z\ P +10 &Ae\ Q +9 &Cn\ R +10 &E\\\ S +9 &G\ U +9 &H\ U +10 &J\ V +9 &L^\ U +9 &N\ V +10 &O\ V +9 &Q\ W +10 &Sa\ W +9 &U$\ \ W +9 &V\ W +10 &X\ V +9 &Zi\ \ W +9 &\\+ \ W +10 &]}w \ > +9 &^(u \ Z +9 &^0 \ 9 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&E1 +56 "core" 1 + "manipulator"&H% +4 "core" %  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%V& +4 "core" &^,\ 9 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Z% +3 "core" % !  & +2 "storage"(L% +51 "core" %  Q\ +2 "storage"(R. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (^& +2 "manipulator"&b& +4 "core" & ;\  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & L ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC + "storage"(c'r +4 "manipulator"&S( +3 "core" ( +2 "manipulator"&N& +3 "core" & Q ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" & 9 ? +2 .tForearm.seek PC + "manipulator"&W' +91 "core" ' +2 .tHand.close + "manipulator"&T/ +69 "core" / +2 .tPC.seek :open + "processing"%[( +89 "core" ' + "storage"(f- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'1 +40 "core" ' +314 ( + "storage"(_& +4 "core" &  i\  +2 "manipulator"&Y& +3 "core" & | ? +2 "manipulator"&X% +3 "core" %  > i +2 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&]( +246 "core" ( + "manipulator"&k& +4 "core" &z  ^ _ +2 "storage"(?& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&m'7 +93 "core" ' + .tHand.open + "manipulator"&U1 +65 "core" 1 +3 "storage"(p- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(q' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(h' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(\\- +3 "core" -' +2 "storage"(v& +3 "core" &\ "\ % D\ Y +2 "manipulator"&w& +3 "core" &z  _ +2 .tElbow.seek 3 + "manipulator"&y( +4 "core" ( + "manipulator"&l& +4 "core" &z  _ +2 "storage"(n& +4 "core" &\ \  \ Z +2 .tForearm.seek 3 + 450 counts + "manipulator"&|'7 +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(`'" +57 "core" ' + "manipulator"&r& +5 "core" &z  S _ + "storage"(& +4 "core" &  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&o'u +14 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(i' +28 "core" ' + "manipulator"&% +5 "core" %΅ 9 [ + "storage"(x& +4 "core" &  "\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&z'ϱ +37 "core" ' + "manipulator"& & +5 "core" &z  G _ + "storage"(a& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&u'7 +31 "core" ' + "storage"(}% +5 "core" %   M\ +2 ."downElevator"SE.seek :down +3 "storage"(J' +100 (% +4 "core" %*; +\ Wd + "manipulator"& % +4 "core" %[  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &  N\ + "collection"'& +4 "core" &\\uLM\ S +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&t% +3 "core" %  W  +2 "storage"(% +4 "core" %   \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (~& +2 "core" & 2\  +2 "manipulator"&e& +4 "core" &z  U _ + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&\ & +4 "core" &z  I _ +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&"'7 +96 "core" ' + "storage"(& +4 "core" &   ^\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +2 "core" &z   _ +2 "storage"(& +3 "core" & & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&{'u +14 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"($- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"(*'p +30 "core" ' + "manipulator"&% +4 "core" %w " W +2 "storage"(& +3 "core" & D\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 302 counts + "manipulator"&#'ϣ +37 "core" ' + "manipulator"&j& +4 "core" &z  / _ +2 "storage"(/& +4 "core" & 2\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&2'7 +26 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +48 "core" ' + "manipulator"&6& +5 "core" &z  = _ + "manipulator"&7% +4 "core" %E 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&:' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&&(ӂ +148 "core" ( + "manipulator"& & +4 "core" &ӂ( c @\\ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +2 "core" &ӂ( ! @\\ +2 .tForearm.seek CC +2 "manipulator"&='? +90 "core" ' + .tHand.close + "manipulator"&(/ +70 "core" / +2 .tCC.seek :open + "collection"'@( +450 "core" ( + "storage"(%& +4 "core" & ? @ Z\  +2 "storage"(& +3 "core" & @ ? k\  +2 "manipulator"&-& +3 "core" &ӄ(  @Z +2 "manipulator"&% +3 "core" % C  [ +2 .tForearm.seek :retract + "manipulator"&+' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&D( +166 "core" ( + "manipulator"&.& +4 "core" &| F  +2 "storage"(1& +3 "core" & X V \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&0'u +93 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % Ά ] - + "storage"(9& +4 "core" & V V h\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&>'ϲ +25 "core" ' +2 "manipulator"&!& +4 "core" & Y  +2 "storage"(B& +3 "core" & V T ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&G'7 +14 "core" ' + "storage"(M% +4 "core" % z z e\ +3 ."downElevator"SE.seek :down +3 "storage"(P' +100 (4% +2 "core" %j6 S I *\ V_ +2 "manipulator"&8% +4 "core" %@ U + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +89 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'A& +4 "core" &  \ + "manipulator"&I% +4 "core" %  |  +2 "storage"(5% +3 "core" % b\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(E(,y +379 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (H& +3 "core" &,y x +\ +2 "manipulator"&V& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&Z( +37 "core" ( + "manipulator"&L& +4 "core" &  +2 "storage"(& +3 "core" &,y {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +91 "core" ' + "storage"(^& +4 "core" &,y o x B\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'r +297 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" &,y > 8 \ +2 "manipulator"&Q& +4 "core" & H  + .tElbow.seek 4 +2 "manipulator"&T( +4 "core" ( + "manipulator"&;& +4 "core" & q  +3 "storage"(f& +3 "core" &,y V U 7\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&K'c +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& + "storage"(c' +7 "core" & 3  +2 "manipulator"&_% +3 "core" % w 5 +2 .tForearm.seek :retract +2 "manipulator"&Y' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&X(ӂ +157 "core" ( + "manipulator"&W& +5 "core" &y0 W F + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.coast +2 "manipulator"&$ &.,(#b +2 "storage"(5 +3 "manipulator"&k& +4 "core" &z/ F F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +40 "manipulator"&?'? +102 "core" ' +2 "manipulator"&S& +4 "core" &Ӧ' E @] +2 "manipulator"&U% +4 "core" %7  i + "collection"'p& +4 "core" &"\ +2 "collection"'\\& +5 "core" &)\ +2 .tCC.seek :closed + "collection"'v(\\ +4 "core" & !\  +11 &0{\ *y +9 &c  \ > +9 &vr \ N +10 &:W !!\ M +9 &Y!!\ M +9 &U"\ M +10 &U"!\ L +9 &BW !\ M +10 &\\#" \ M +9 &U"$\ L +9 & U#$\ M +10 &"IY$$\ M +9 &$ U$&\ \ L +9 &%W&%\ \ M +10 &'U&%\ M +9 &)SV'%\ L +10 &+W&&\ L +9 &,W''\ M +9 &.Y&'\ M +10 &0[U'&\ L +9 &2W((\ M +9 &3Z&(\ M +10 &5W()\ L +9 &7bW()\ M +10 &9$U**\ M +9 &:W)*\ M +9 &<X+(\ M +10 &>jX,,\ M +9 &@,W++\ M +9 &A\\--\ M +10 &Cb-.\ N +9 &Ejm20\ O +10 &G$52\ R +9 &H=<\ V +9 &JBA\ X +10 &LWBA\ Y +9 &N@A\ Y +9 &OBB\ Z +10 &QEC\ Z +9 &SXFF\ [\ +10 &UHG\ \\ +9 &VKG\ \\ +9 &XJJ\ ] +10 &ZXMM\ ^ +9 &[xON\ ? +9 &\\+MR\ *} +10 &\\vQP\ W +2 ( + "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&w1 +54 "core" 1 + "manipulator"&l% +4 "core" % 7 K i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&n' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%d& +4 "core" &D\ +2 "manipulator"&r% +4 "core" %  [  + "storage"(% +4 "core" % \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(x(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (g& +3 "core" &,y  [\  + "manipulator"&q& +5 "core" &ӧ' E @\\ + "manipulator"& % +4 "core" %  1  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&a( +163 "core" ( + "manipulator"&}& +4 "core" & - +2 "storage"(]& +4 "core" &,y  ! w\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +91 "core" ' + "storage"(h& +4 "core" &,y   K\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +2 "core" &,y \  +2 "manipulator"&y& +3 "core" & ^ - +2 .tElbow.seek 4 + "manipulator"&`( +12 "core" ( + "manipulator"&o& +4 "core" &  f i +2 "storage"(z& +3 "core" &,y ?\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(' +6 "core" &  h +2 "manipulator"&i% +4 "core" % ^ ' + .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.seek PC + "manipulator"&~( +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +86 "core" ( +2 "manipulator"&e& +4 "core" & 6 < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +2 "core" & I < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +98 "core" ' + "manipulator"&u& +5 "core" & O < + "manipulator"&% +4 "core" % x  + "processing"%J& +4 "core" &H\ +2 "processing"% & +5 "core" &C\ +2 .tPC.seek :closed + "processing"%s(^ +6 "core" &H\  +9 &.uA\ *y +10 &c@\ ? +9 &isD\ O +10 &+RD\ O +9 &U@\ O +9 &R>\ N +10 &rT<\ O +9 &4T5\ O +9 &Z6\ O +10 &V8\ O +9 & zU8\ O +10 &"<R7\ O +9 &#U:\ O +9 &%U6\ N +10 &'U*\ O +9 &)CU+\ O +9 &+U'\ O +10 &,U)\ O +9 &.U&\ O +10 &0MT'\ N +9 &2 T'\ O +9 &3U'\ O +10 &5U"\ O +9 &7ST#\ O +9 &9V%\ O +10 &:U \ P +9 &<T\ O +10 &>ZZ\ O +9 &@Z\ P +9 &Ac\ P +10 &Cq\ S +9 &ET\ T +9 &G\ U +10 &H\ V +9 &J\ U +10 &LX\ U +9 &N\ W +9 &O\ W +10 &Q\ W +9 &S\\\ W +9 &U\ W +10 &V\ W +9 &X\ \ V +10 &Zc\ W +9 &\\%\ W +9 &]}\ \ 9 +10 &^-~ \ X +9 &^(\ 6 +2 ( +2 "processing"% & +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&% +4 "core" %  "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^&!\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&$% +3 "core" %  % \ +2 "storage"(% +3 "core" % 8\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(j(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (/& +5 "manipulator"&6& + "core" &,y \  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & A < +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +2 "manipulator"&7( +3 "storage"("'r +3 "core" ( + "manipulator"&& +4 "core" & ~ < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  < +2 .tForearm.seek PC + "manipulator"&{' +98 "core" ' + .tHand.close + "manipulator"&#/ +66 "core" / +2 .tPC.seek :open +2 "processing"%*( +85 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'1 +47 "core" ' +313 ( + "storage"(2& +4 "core" &,y  \ r\  +2 "manipulator"&& +3 "core" & 5 < + "manipulator"&(% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&:' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&)( +245 "core" ( + "manipulator"&%& +4 "core" & O  +2 "storage"(& +3 "core" &,y N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&-' +92 "core" ' + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(.- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(=' +57 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(& +3 "core" &,y\ \  ;\ W +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&9( +23 "core" ( + "manipulator"&!& +4 "core" & g  +2 "storage"(B& +4 "core" &,y\ \  \ Y +2 .tForearm.seek 4 + 450 counts + "manipulator"&M' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(+'" +53 "core" ' + "manipulator"&4& +5 "core" & <  + "storage"(8& +4 "core" &,y A\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&D'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(A' +27 "core" ' + "manipulator"&>% +5 "core" %@ [ V + "storage"(I& +4 "core" &,y @\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 309 counts +2 "manipulator"&5'l +15 "core" ' + "manipulator"&& +5 "core" & C  + "storage"(& +5 "core" &,y   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&G' +20 "core" ' + "storage"(P% +5 "core" % % $ <\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (H% +2 "core" %A I\ We +2 "manipulator"&V% +4 "core" % * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +88 "core" ' +69 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &,y /  Q\ + "collection"'^& +4 "core" &\\tQT\ W + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&<% +3 "core" %  "  +2 "storage"(C% +3 "core" % "  3\ +2 "storage"(N. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(F(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (Q& +2 "core" &,y ' ( A\  +2 "manipulator"&;& +3 "core" & #  +2 .tElbow.seek 4 +2 "manipulator"&f( +3 "core" ( + "manipulator"&O& +4 "core" & +  +2 "storage"(3& +3 "core" &,y !  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&_' +91 "core" ' + "storage"(Z& +4 "core" &,y  # L\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'r +298 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +2 "core" & :  +2 "storage"(b& +3 "core" &,y   *\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&K'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(S- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(U'l +80 "core" ' + "manipulator"&p% +4 "core" %< H Z +2 "storage"(c& +3 "core" &,y  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 305 counts +2 "manipulator"&Y'h +14 "core" ' + "manipulator"&@& +5 "core" & >  + "storage"(w& +4 "core" &,y   /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(d' +36 "core" ' + "manipulator"&r& +5 "core" & >  + "manipulator"&% +4 "core" % > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&g(ӂ +156 "core" ( +2 "manipulator"&\\& +4 "core" &ӕ$  =D + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &ӕ% =D +2 .tForearm.seek CC +2 "manipulator"& '? +93 "core" ' + .tHand.close + "manipulator"&?/ +76 "core" / +2 .tCC.seek :open + "collection"'}( +450 "core" ( + "storage"(]& +4 "core" &,y 8 (\  +2 "storage"(E& +3 "core" &,y : ;\  +2 "manipulator"&h& +3 "core" &ӥ" a ;4 +2 "manipulator"&X% +3 "core" % = 7 R +2 .tForearm.seek :retract +2 "manipulator"&n' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"& ( +163 "core" ( + "manipulator"&|& +4 "core" &  +2 "storage"(y& +4 "core" &,y Y X \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&o'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&t% +4 "core" % , I X + "storage"(i& +4 "core" &,y f g ~\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 289 counts + "manipulator"&a'X +16 "core" ' +2 "manipulator"&m& +4 "core" &  +2 "storage"(& +3 "core" &,y y y 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +20 "core" ' + "storage"(e% +4 "core" % y x >\ +3 ."downElevator"SE.seek :down +3 "storage"(\ ' +100 (`% +2 "core" %W: W V m\ V` +2 "manipulator"&u% +4 "core" % D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'J& +4 "core" &! \ +2 "manipulator"&% +3 "core" %    +2 "storage"(% +4 "core" % y y \ + "storage"([. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +364 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & +9 &tr\ N +10 &7S"!\ M +9 &R#$\ M +9 &S""\ L +10 &U"!\ L +9 &BT$#\ L +9 &Z" \ M +10 &W$%\ L +9 & S#$\ M +10 &"IS#&\ L +9 &$ T%#\ L +9 &%T&#\ M +10 &'X%'\ M +9 &)PV&'\ M +9 &+S$'\ L +10 &,U'&\ L +9 &.Y'(\ M +10 &0XV&(\ M +9 &2T((\ L +9 &3U))\ L +10 &5Y),\ M +9 &7`W)(\ M +9 &9#T++\ L +10 &:W++\ M +9 &<Y+,\ M +10 &>iW++\ L +9 &@*W+*\ M +9 &A_+.\ M +10 &Ca./\ N +9 &Efu00\ P +9 &G 85\ S +10 &H>;\ W +9 &J@>\ X +10 &LT>@\ Y +9 &N<>\ Z +9 &O>?\ Z +10 &Q?@\ Z +9 &ST@?\ \\ +9 &U??\ \\ +10 &V>B\ ] +9 &XBB\ ] +10 &ZSED\ _ +9 &[yEE\ ? +9 &\\.EE\ )z +10 &\\pFF\ V +2 ( + "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 + .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&!% +4 "core" % I F d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&:' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%B& +4 "core" &_\ +2 "manipulator"&4% +3 "core" %  p  +2 "storage"(8% +4 "core" %\ + "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(I(<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (,& +2 "core" &<. $ 8\  +2 "manipulator"&& +3 "core" &ӌ' h @\\ +2 "manipulator"&1% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +166 "core" ( + "manipulator"&P& +4 "core" & %  +2 "storage"()& +3 "core" &<. & & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&-'O +96 "core" ' + "storage"(=& +4 "core" &<.   C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +299 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &<. G\  +2 "manipulator"&9& +3 "core" & U  +2 .tElbow.seek 5 + "manipulator"&+( +3 "core" ( +2 "manipulator"&D& +3 "core" & C  +2 "storage"(5& +3 "core" &<.   \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +67 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& + "storage"(C' +7 "core" & "  + "manipulator"&A% +4 "core" % ϵ +2 .tForearm.seek :retract + "manipulator"&N' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&Q( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +70 "core" ( + "manipulator"&;& +4 "core" &  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &  8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&3' +92 "core" ' + "manipulator"&G& +4 "core" &  8 +2 "manipulator"&Z% +4 "core" % - = + "processing"%& +4 "core" &b\ +2 "processing"%j& +5 "core" &@\ +2 .tPC.seek :closed +2 "processing"%0(^ +4 "core" &G\  +9 &.t?\ +z +9 &c<\ ? +10 &asC\ P +9 &%RD\ O +9 &V5\ O +10 &P,\ O +9 &lS-\ N +10 &-U5\ O +9 &Y6\ O +9 &S8\ O +10 & rW:\ O +9 &"6Q5\ N +9 &#U4\ O +45 &%Q3\ O +11 &'{S'\ O + &)=U'\ O + &+T%\ N + &,U$\ O + &.S%\ O +6 &0ET\ O +9 &2U$\ O +10 &3T\ O +9 &5T\ O +10 &7MU\ O +9 &9Y\ O +9 &:V\ O +10 &<T\ N +9 &>TX\ O +9 &@Y\ \ P +10 &Ab\ P +9 &Co\ R +10 &EN\ T +9 &G  \ U +9 &H\ U +10 &J\ U +9 &LP\ V +9 &N \ W +10 &O\ W +9 &Q\ W +10 &SU\ W +9 &U\ W +9 &V\ W +10 &X\ V +9 &Z\\\ W +9 &\\\ W +10 &]\ 7 +9 &^*m\ #e +9 &^0\ 7 +2 ( +2 "processing"%j& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&L1 +56 "core" 1 + "manipulator"&W% +4 "core" %  = = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%b& +4 "core" &^3\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&S% +3 "core" %  7  +2 "storage"(p% +4 "core" % 9\ + "storage"(c. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(@(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +4 (w& +3 "manipulator"&r& +3 "core" & c 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&( +4 "core" ( + "manipulator"&_& +4 "core" & _ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" & k 8 +2 .tForearm.seek PC + "manipulator"&R' +61 "core" &<. \  + ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 ."raiseStack"SE.seek :beamBreak + "storage"(K'r +23 "core" ' + .tHand.close +2 "manipulator"&Y/ +72 "core" / +2 .tPC.seek :open + "processing"%U( +175 "core" ' + "storage"(\\- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(q'1 +49 "core" ' +220 ( + "storage"(l& +4 "core" &<.   t\  +2 "manipulator"&T& +3 "core" & _ 8 +2 "manipulator"&?% +3 "core" %  &  +2 .tForearm.seek :retract +2 "manipulator"&' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&v( +246 "core" ( + "manipulator"&]& +4 "core" & M +2 "storage"(E& +3 "core" &<. @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&h'O +96 "core" ' + .tHand.open + "manipulator"&X1 +65 "core" 1 +2 "storage"(|- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(y' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(& +3 "core" &<. 2 = \ h +2 "manipulator"&t& +3 "core" &  M +2 .tElbow.seek 5 + "manipulator"&i( +4 "core" ( + "manipulator"&m& +4 "core" &  M + "storage"(& +4 "core" &<. 4 3\ h +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(n'" +61 "core" ' + "manipulator"&`& +4 "core" & Y M +2 "storage"(u& +4 "core" &<. \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"& '΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(J' +23 "core" ' +3 "manipulator"&a% +4 "core" %ΐ Y e + "storage"(& +5 "core" &<.  -\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&'ϼ +16 "core" ' + "manipulator"&[& +5 "core" & 7 M + "storage"(d& +4 "core" &<.   f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +20 "core" ' + "storage"(\ % +5 "core" %   G\ +2 ."downElevator"SE.seek :down +3 "storage"(F' +100 (% +2 "core" %> B\ We +2 "manipulator"&% +4 "core" %E 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &<.   \ + "collection"'/& +4 "core" &\\nEH\ V +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&z% +4 "core" %  N  + "storage"(% +4 "core" %  \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<. h\  + "manipulator"&x& +4 "core" &  M +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"&'& +4 "core" & M + "storage"(s& +4 "core" &<.  8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +98 "core" ' + "storage"($& +4 "core" &<.  ?\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +308 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +2 "core" & W M +2 "storage"(6& +3 "core" &<.   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&~'΍ +15 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(.'n +40 "core" ' + "manipulator"&#% +4 "core" %΄ \\ +2 "storage"("& +3 "core" &<. ' % I\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 291 counts + "manipulator"&'ϰ +42 "core" ' + "manipulator"&}& +4 "core" & M +2 "storage"(& +4 "core" &<.   f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +14 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(B' +40 "core" ' + "manipulator"&4& +5 "core" & & M + "manipulator"&8% +4 "core" %W _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&&(ӂ +150 "core" ( + "manipulator"&,& +4 "core" &ӎ* ^ Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӎ* ' Bj + .tForearm.seek CC +2 "manipulator"&1'? +94 "core" ' + .tHand.close + "manipulator"&/ +70 "core" / +2 .tCC.seek :open + "collection"'P( +453 "core" ( + "storage"()& +4 "core" &<. > < 4\  +2 "storage"(& +3 "core" &<. = : b\  +2 "manipulator"&=& +3 "core" &Ӑ* c Bh +2 "manipulator"&(% +3 "core" % P V ^ +2 .tForearm.seek :retract + "manipulator"&:' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&V( +158 "core" ( + "manipulator"&M& +4 "core" & \ +2 "storage"(9& +3 "core" &<. V V \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&D'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +49 "manipulator"&$&.,(\ #b +4 .tHand.open + "manipulator"&^1 +63 "core" 1 +2 "manipulator"&<% +4 "core" % { 6 S + "storage"(A& +4 "core" &<. x v C\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 282 counts + "manipulator"&'ϧ +16 "core" ' + "manipulator"&-& +5 "core" & B \ + "storage"(H& +4 "core" &<. %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +20 "core" ' + "storage"(;% +5 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(O' +100 (+% +3 "core" %?< V X w\ Wa +2 "manipulator"&G% +4 "core" %: +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&C% +4 "core" %    + "storage"(N% +4 "core" % y y \ +2 "storage"(*. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(L(K +364 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (W& +2 "core" &K [ j \ +2 "manipulator"&b& +4 "core" & \ + .tElbow.seek 6 +2 "manipulator"&S( +3 "core" ( + "manipulator"&p& +4 "core" & 5 \ + "storage"(c& +4 "core" &K < V F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +95 "core" ' + "storage"(r& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'r +296 "core" ' + "storage"(f- +4 "core" -'' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" &K V E P\ + "manipulator"&3& +4 "core" &  \ + .tElbow.seek 6 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&I& +4 "core" &  \ + "storage"(Q& +4 "core" &K V V \ +2 .tForearm.seek 6 + 300 counts + "manipulator"&k'h +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"(l' +7 "core" & \ + "manipulator"&T% +4 "core" % ϝ +2 .tForearm.seek :retract + "manipulator"&?' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&K(ӂ +162 "core" ( + "manipulator"&R& +5 "core" ' + &ӎ 3 + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &]& +3 "core" &ӎ 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&E'? +92 "core" ' + "manipulator"&& +5 "core" &ӎ ! 3 + "manipulator"&X% +4 "core" %@ B { +2 "collection"'|& +4 "core" &!! \ +2 "collection"'g& +5 "core" &!\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &!# \ \ +10 &.v " \ +z +10 &d "\ > +9 &|r"#\ M +9 &AT#"\ L +10 &V$$\ L +9 &T"!\ L +10 &S#!\ L +9 &HW!#\ L +9 & X$"\ M +10 &U##\ L +9 & R$%\ L +10 &"OV"%\ M +9 &$V%#\ L +9 &%T&%\ L +10 &'S'&\ L +9 &)XR&&\ L +9 &+W&'\ L +10 &,V')\ L +9 &.T''\ L +9 &0aS*)\ L +10 &2!W&(\ M +9 &3W(*\ L +10 &5T,)\ L +9 &7hX++\ L +9 &9*T*+\ L +10 &:Y++\ L +9 &<Y,*\ L +9 &>pU+*\ L +10 &@3U*+\ L +9 &A]--\ M +10 &Cb-.\ N +9 &Eom00\ O +9 &G(43\ R +10 &H78\ V +9 &J;;\ Y +10 &LZ<<\ Y +9 &N<<\ Z +9 &O==\ [ +10 &Q?=\ Z +9 &S\\??\ [ +9 &U>?\ [ +10 &V=A\ ] +9 &X@B\ ] +9 &Z\\BA\ ^ +10 &\\zDE\ ; +9 &\\(EE\ *| +10 &\\~DF\ [ +2 ( +2 "collection"'g& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + .Hand.open + "manipulator"&t1 +59 "core" 1 +2 "manipulator"&m% +4 "core" % @ q { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &?\ +2 "manipulator"&`% +3 "core" %  =  +2 "storage"(u% +4 "core" % ;\ + "storage"(a. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (q& +2 "core" &K \\\  +2 "manipulator"&[& +3 "core" &ӎ  3 +2 "manipulator"&d% +3 "core" %  ,  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&y( +160 "core" ( + "manipulator"&\ & +4 "core" & P  +2 "storage"(v& +4 "core" &K   \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&h' +96 "core" ' + "storage"( & +4 "core" &K   r\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +2 "core" &K C\  +2 "manipulator"&i& +3 "core" & O  +2 .tElbow.seek 6 + "manipulator"&n( +3 "core" ( +2 "manipulator"& & +3 "core" &  + "storage"(& +4 "core" &K\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +77 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +2 "storage"(' +7 "core" & ,  + "manipulator"&J% +4 "core" % \\ t + .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +169 "core" ' + ."downElevator"SE.coast + "storage"(5 +70 "core" ( + "manipulator"&x& +4 "core" & U / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s' +92 "core" ' + "manipulator"&& +5 "core" & M / + "manipulator"&$% +4 "core" %  I +2 "processing"%F& +3 "core" &T\ +2 "processing"%@& +5 "core" &]\ +2 .tPC.seek :closed + "processing"%o(^ +4 "core" &5\ \ +10 &0s;\ *x +9 &b|6\ > +10 &nq/\ O +9 &/T*\ O +10 &T&\ O +9 &O/\ O +9 &wS+\ N +10 &8U.\ O +9 &X2\ O +9 &S2\ O +10 & }V3\ O +9 &"@Q\ O +10 &$T"\ O +9 &%U\ O +9 &'S\ O +10 &)IS\ N +9 &+\ T\ O +9 &,R!\ O +10 &.R\ N +9 &0OS\ O +10 &2R\ N +9 &3T\ O +9 &5R \ O +10 &7XS\ O +9 &9W\ O +9 &:U\ O +10 &<T\ \ O +9 &>`W\ O +10 &@Y\ P +9 &Ae\ Q +9 &Ck\ \ R +10 &EZy\ T +9 &G\ U +9 &H\ U +10 &J\ V +9 &L\\\ U +10 &N\ W +9 &O\ V +9 &Q\ W +10 &S_\ W +9 &U!\ W +9 &V\ W +10 &X\ W +9 &Zg\ W +10 &\\*\ W +9 &]{\ < +9 &^1\ U +10 &^&\ 2 +2 ( +2 "processing"%@& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&{% +4 "core" %  ; I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%6& +4 "core" &^$\ \ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %  ] % +2 "storage"(#% +3 "core" %\ +2 "storage"(". +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(}(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +5 "manipulator"&4& + "core" &K \  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & = / +2 .tElbow.reconfigure :tight +52 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&8( +4 ."raiseStack"SE.seek :beamBreak + "storage"(2'r +2 "core" ( +2 "manipulator"& & +4 "core" & ? / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & / +2 .tForearm.seek PC +2 "manipulator"&~' +95 "core" ' +2 .tHand.close + "manipulator"&/ +66 "core" / +2 .tPC.seek :open + "processing"%.( +89 "core" ' + "storage"(,- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +51 "core" ' +306 ( +2 "storage"(!& +4 "core" &K   F\  + "manipulator"&7& +4 "core" & j / + "manipulator"&% +4 "core" %  / ; +2 .tForearm.seek :retract + "manipulator"&>' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +247 "core" ( + "manipulator"&)& +4 "core" & : +2 "storage"(& +3 "core" &K  N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&=' +91 "core" ' + .tHand.open + "manipulator"&(1 +62 "core" 1 +2 "storage"(M- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(9' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(1' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(^& +3 "core" &K 8 : U\ h +2 "manipulator"&<& +3 "core" & f : +2 .tElbow.seek 6 + "manipulator"&A( +4 "core" ( + "manipulator"&-& +4 "core" & : + "storage"(H& +4 "core" &K M @ \ g +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(:'" +58 "core" ' + "manipulator"&V& +4 "core" & W : +2 "storage"(+& +4 "core" &K I\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&G'< +15 "core" ' + .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' + "manipulator"&% +5 "core" %K  R + "storage"(C& +4 "core" &K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&N'w +13 "core" ' + "manipulator"&*& +5 "core" & H : + "storage"(B& +4 "core" &K   S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +20 "core" ' + "storage"(O% +5 "core" % %  (\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (W% +2 "core" %s> "\ We +2 "manipulator"&b% +4 "core" % < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +95 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 (c& +4 "core" &K  ?\ + "collection"'r& +4 "core" &\\yFE\ [ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&5% +4 "core" %    + "storage"(Z% +4 "core" % \ +2 "storage"(f. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(w(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (3& +3 "core" &K  \  +2 "manipulator"&I& +3 "core" & v : +2 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( + "manipulator"&\\& +4 "core" & # : + "storage"(0& +4 "core" &K 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +99 "core" ' + "storage"(S& +5 "core" &K  $\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +300 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +2 "core" & M : +2 "storage"(_& +3 "core" &K  g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&k'< +13 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(|'p +32 "core" ' + "manipulator"&Y% +4 "core" %< @ 6 +2 "storage"(l& +3 "core" &K -\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 300 counts + "manipulator"&?'h +17 "core" ' + "manipulator"&P& +5 "core" & : + "storage"(t& +4 "core" &K   J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&m' +21 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +37 "core" ' + "manipulator"&`& +5 "core" & : + "manipulator"&u% +4 "core" % 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&a' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&g(ӂ +156 "core" ( + "manipulator"&q& +4 "core" &ӌ* 0 Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &ӌ* j Bg +2 .tForearm.seek CC + "manipulator"&d'? +99 "core" ' + .tHand.close + "manipulator"&E/ +69 "core" / +2 .tCC.seek :open + "collection"'\ ( +450 "core" ( +2 "storage"(v& +4 "core" &K % +\  + "storage"(L& +4 "core" &K   i\  +2 "manipulator"& & +3 "core" &ӣ&  ?P +2 "manipulator"&K% +3 "core" % Q  +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +164 "core" ( + "manipulator"&e& +4 "core" &  +2 "storage"(i& +3 "core" &K S X J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"& '< +92 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&/1 +62 "core" 1 +2 "manipulator"&z% +4 "core" % >  R + "storage"(J& +4 "core" &K V V \ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts + "manipulator"&y'j +15 "core" ' +2 "manipulator"&h& +4 "core" & g  +2 "storage"(& +3 "core" &K z { 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +20 "core" ' + "storage"(x% +5 "core" % z t\ +2 ."downElevator"SE.seek :down +3 "storage"('' +99 (n% +2 "core" %> W V \ Va +2 "manipulator"&% +4 "core" % / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&$' +90 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'F& +3 "core" &# \ +2 "manipulator"&% +3 "core" %  I  +2 "storage"(% +3 "core" % y y [\ +2 "storage"(U. +2 "core" . +2 .tSC.reconfigure :tight +50 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1295 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ({& +2 "core" &  z y G\ +2 "manipulator"&6& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +8 "core" ( + "manipulator"&#& +4 "core" &   +2 "storage"("& +4 "core" &  z y h\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&@'S +96 "core" ' + "storage"(& +5 "core" &   \ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +297 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &  > 9 f\ +2 "manipulator"&s& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & ,  +2 "storage"(,& +3 "core" &  V V |\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +2 "storage"(2' +8 "core" & J  + "manipulator"&!% +4 "core" %  9 + .tForearm.seek :retract +2 "manipulator"&7' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ' +2 ."downElevator"SE.coast + "storage"(5 +3 "core" ( + "manipulator"&~& +4 "core" &Ӗ! T :. + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &Ӗ! V :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +102 "core" ' + "manipulator"&8& +5 "core" &ӗ! B :- + "manipulator"&(% +4 "core" %; Y +2 "collection"'M& +3 "core" &"!\ +3 "collection"'&& +6 "core" &" \ +2 .tCC.seek :closed + "collection"'^(\\ +6 "core" &#"\ +7 & +""\ $d +10 &Ww!$\ 7 +9 &x" \ K +9 &R#!\ M +10 &iU#$\ L +9 &*U$$\ \ M +10 &V##\ L +9 &Y#" \ L +9 &qW#$ \ L +10 &4T"% \ L +9 &U&%\ L +9 &!R#&\ L +10 &#xW'(\ M +9 &%<U%'\ L +10 &&V'&\ M +9 &(V')\ L +9 &*X,'\ L +9 &,CW+)\ L +10 &.Y)$\ L +9 &/U()\ L +10 &1Y)'\ L +9 &3KV**\ L +10 &5Y(*\ L +9 &6W*+\ L +9 &8T+,\ L +10 &:SY),\ L +9 &<W,,\ M +9 &=Y,+\ L +10 &?Y+,\ L +9 &AZ[.-\ M +10 &C`/.\ M +9 &Dk21\ O +9 &F{32\ P +10 &HL75\ T +9 &J89\ W +9 &K::\ Y +10 &M;<\ Y +9 &OE;;\ Y +10 &Q;<\ Z +9 &R;;\ Z +9 &T?=\ \\ +10 &VF<;\ \\ +9 &X;>\ \\ +9 &Y==\ ] +10 &[A=\ J +9 &\\7BA\ 1 +10 &\\AB\ V +5 ( +2 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&<1 +3 "core" &\\nDB\ V +54 1 +2 "manipulator"&-% +4 "core" % ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&H' +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%>& +4 "core" &[\ +2 "manipulator"&V% +3 "core" %  m  +2 "storage"(+% +3 "core" % \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(C(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &  8\ + "manipulator"&*& +4 "core" &Ә  A :, + "manipulator"&B% +4 "core" %  a  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&9( +161 "core" ( + "manipulator"&O& +4 "core" &   +2 "storage"(& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&='S +99 "core" ' + "storage"(1& +5 "core" &  \ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'r +300 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +2 "core" & \ +2 "manipulator"&A& +3 "core" & !  +2 .tElbow.seek 2 + "manipulator"&:( +3 "core" ( +2 "manipulator"&G& +3 "core" & I  + "storage"(N& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&c'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& + "storage"(Z' +7 "core" & ,  + "manipulator"&% +4 "core" % Ϸ  +2 .tForearm.seek :retract + "manipulator"&f' +98 "core" ' +2 .tElbow.seek PC + "manipulator"&3( +161 "core" ' + ."downElevator"SE.coast + "storage"(5 +78 "core" ( + "manipulator"&I& +4 "core" & F + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" & e + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&0' +100 "core" ' + "manipulator"&& +4 "core" & @ + +2 "manipulator"&S% +4 "core" %  U + "processing"%& +4 "core" &Z\ +2 "processing"%}& +4 "core" &:\ +2 .tPC.seek :closed +2 "processing"%D(^ +4 "core" &:\ \ +10 &/r8\ *x +9 &b{6\ > +9 &`r7\ O +10 &!O=\ O +9 &T6\ O +10 &Q4\ O +9 &gR,\ O +9 &)R$\ O +10 &S.\ O +9 &P'\ O +9 & oS)\ O +10 &"1Q/\ O +9 &#S"\ O +10 &%O/\ O +9 &'xR'\ O +9 &)9S.\ O +10 &*P*\ O +9 &,T%\ O +9 &.O\ O +10 &0@T\ P +9 &2U\ O +10 &3T\ O +9 &5O\ O +9 &7HS\ P +10 &9\ T\ P +9 &:U\ O +9 &<P\ O +10 &>PT\ P +9 &@T\ P +10 &Ab\ Q +9 &Cr\ S +9 &EI\ U +10 &G\ V +9 &H\ V +9 &J\ V +10 &LM \ V +9 &N \ W +10 &O \ W +9 &Q\ W +9 &SQ \ X +10 &U\ W +9 &V \ X +9 &X \ W +10 &ZY\ X +9 &\\ \ X +10 &] \ 5 +9 &^6v \ @ +8 ( +2 &^ \ 0 +2 "processing"%}& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&p1 +65 "core" 1 + "manipulator"&R% +4 "core" %  # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%_& +4 "core" &^\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&X% +3 "core" % !  ( +2 "storage"(Y% +3 "core" %  #\ +2 "storage"(l. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(P(  +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (t& +2 "manipulator"&`& +4 "core" &  " W\  +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & \\ + +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&u( + "storage"(T'r +6 "core" ( + "manipulator"&Q& +4 "core" & L + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" & \\ + +2 .tForearm.seek PC +2 "manipulator"&k' +98 "core" ' + .tHand.close +2 "manipulator"&?/ +72 "core" / +2 .tPC.seek :open +2 "processing"%|( +78 "core" ' + "storage"(q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(['1 +48 "core" ' +319 ( + "storage"(m& +4 "core" &    F\  +2 "manipulator"&& +3 "core" & + +2 "manipulator"&E% +3 "core" %  F +2 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +247 "core" ( + "manipulator"&v& +4 "core" &  J +2 "storage"(L& +3 "core" &  i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +51 .tForearm.seek 2 + 450 counts +3 "manipulator"& 'S +92 "core" ' + .tHand.open + "manipulator"&K1 +63 "core" 1 +2 "storage"(e- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(i' +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(d' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +3 "core" -' +2 "storage"(/& +3 "core" &  ) ) E\ c +2 "manipulator"&z& +4 "core" & J + .tElbow.seek 2 +2 "manipulator"&J( +3 "core" ( + "manipulator"&h& +4 "core" & i J +2 "storage"(& +4 "core" &  , , \ c +2 .tForearm.seek 2 + 450 counts + "manipulator"&x'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&n& +5 "core" & E J + "storage"(& +4 "core" &  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'Α +20 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +20 "core" ' + "manipulator"&% +5 "core" %Λ 9 + "storage"(& +4 "core" &   :\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&'' +38 "core" ' + "manipulator"&w& +5 "core" &  J + "storage"(F& +5 "core" &    \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +22 "core" ' +2 "storage"(% +4 "core" % % M\ +2 ."downElevator"SE.seek :down +3 "storage"(U' +100 ({% +2 "core" % C \ Vd +2 "manipulator"&6% +4 "core" %d J  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +94 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 ("& +4 "core" &   %\ + "collection"'& +4 "core" &\\mBC\ V +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +3 "core" %  ;  +2 "storage"($% +4 "core" %  " \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"( (  +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (s& +2 "core" &    (\  +2 "manipulator"&& +4 "core" & W J + .tElbow.seek 2 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&%& +3 "core" & 3 J +2 "storage"(o& +3 "core" &    \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&!'S +95 "core" ' + "storage"(& +5 "core" &    \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +300 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&)& +3 "core" & J +2 "storage"(4& +3 "core" &   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"((- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(M'g +28 "core" ' + "manipulator"&% +4 "core" %Η D @ +2 "storage"(2& +3 "core" &  $ $ !\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 306 counts +2 "manipulator"&7' +15 "core" ' + "manipulator"&\ & +4 "core" & J +2 "storage"(<& +4 "core" &   s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&-'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(>' +42 "core" ' + "manipulator"&V& +5 "core" & N J + "manipulator"&+% +4 "core" %U S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&&(ӂ +153 "core" ( + "manipulator"&& +4 "core" &Ӓ& $ ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &Ӓ& J ?P +2 .tForearm.seek CC + "manipulator"&B'? +93 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / +2 .tCC.seek :open + "collection"'O( +446 "core" ( +2 "storage"(& +4 "core" &  = : )\  + "storage"(& +4 "core" &  < D m\  + "manipulator"&1& +4 "core" &ӓ% 3 >O + "manipulator"&% +4 "core" % L # e +2 .tForearm.seek :retract + "manipulator"&H' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&b( +165 "core" ( + "manipulator"&;& +4 "core" & O  +2 "storage"(A& +3 "core" &  ^ Y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&G'Α +97 "core" ' + .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&r1 +58 "core" 1 +2 "manipulator"&5% +4 "core" % Ά & % + "storage"(& +4 "core" &  S V (\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 289 counts + "manipulator"&9'ϲ +25 "core" ' +2 "manipulator"&=& +4 "core" & ;  +2 "storage"(W& +3 "core" &  u C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&c'S +17 "core" ' + "storage"(I% +5 "core" % y\ +2 ."downElevator"SE.seek :down +3 "storage"(\\' +100 (:% +2 "core" %]< V V\ Vb +2 "manipulator"&% +4 "core" %> + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&S' +91 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &%"\ + "manipulator"&Z% +5 "core" %    + "storage"(f% +4 "core" % \ + "storage"(.. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(p( +379 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (R& +2 "core" & w y q\ +2 "manipulator"&_& +3 "core" & H  +2 .tElbow.seek 3 + "manipulator"&X( +12 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(l& +3 "core" & m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&}'7 +96 "core" ' + "storage"(t& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'r +299 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +2 "core" & X ^ \ +2 "manipulator"&0& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&?( +3 "core" ( +2 "manipulator"&C& +3 "core" & L  +2 "storage"(q& +3 "core" & x v ,\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&3'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&]/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +51 "storage"(T' +7 "core" & i  + "manipulator"&m% +4 "core" % Ϛ +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&E(ӂ +156 "core" ( + ' +2 ."downElevator"SE.coast +2 "manipulator"&k& +2 "storage"(5 +6 "core" &Ә" E ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &Ә% # ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&L'? +92 "core" ' +2 "manipulator"&u& +4 "core" &Ә& R ;6 +2 "manipulator"&K% +4 "core" %9 0 x +2 "collection"'e& +3 "core" &"#\ +3 "collection"'g& +4 "core" &!#\ +3 .tCC.seek :closed + "collection"'/(\\ +5 "core" &#!\ +7 &;#"\ %h +9 &X{#$ \ 8 +10 &x$#\ L +9 &U$" \ L +9 &U%$\ L +10 &IU&$\ L +9 & U%$\ L +9 &R$$\ L +10 &U$%\ L +9 &QU&%\ L +10 & W&&\ L +9 &!U'$\ L +9 &#V%'\ L +10 &%YU''\ L +9 &'W((\ L +9 &(U)'\ L +10 &*U)(\ L +9 &,aV)(\ L +10 &."V)+\ M +9 &/U**\ L +9 &1V**\ L +10 &3jU)+\ L +9 &5+U,+\ L +9 &6V,+\ L +10 &8S+-\ L +9 &:qW+-\ L +10 &<4U,,\ L +9 &=W,+\ M +9 &?W-.\ M +10 &Aw[./\ M +9 &C7`10\ N +9 &Do33\ O +10 &F88\ R +9 &HeDA\ V +10 &J"IH\ X +9 &KJF\ X +9 &MKI\ X +10 &ObJJ\ Z +9 &Q$LK\ Z +9 &RML\ Z +10 &TNL\ [\ +9 &VdNN\ \\ +10 &X$OO\ \\ +9 &YPO\ ^ +9 &[OP\ J +10 &\\3QS\ 3 +9 &\\nSS\ T +2 ( +2 "collection"'g& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 + .Hand.open + "manipulator"&z1 +63 "core" 1 +2 "manipulator"&h% +4 "core" % 9 4 x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%a& +4 "core" &Y\ +2 "manipulator"&n% +3 "core" %  0  +2 "storage"(% +3 "core" %  \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ([& +2 "core" & d\  +2 "manipulator"&w& +3 "core" &Ә# , ;6 +2 "manipulator"&i% +4 "core" %  P  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&F( +166 "core" ( + "manipulator"&& +4 "core" & (  +2 "storage"(& +4 "core" & % & .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +94 "core" ' + "storage"(d& +4 "core" & #  %\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'r +298 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" &   \  +2 "manipulator"&J& +3 "core" & h  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & d  +2 "storage"('& +3 "core" & & Q\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&"'ϡ +42 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"($' +7 "core" &  + "manipulator"&y% +4 "core" % ύ g s +2 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&s( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +72 "core" ( +2 "manipulator"&& +4 "core" & I & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" & & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&o' +90 "core" ' + "manipulator"&& +4 "core" & = & +2 "manipulator"&% +4 "core" % 3 D + "processing"%U& +4 "core" &<\ +2 "processing"%P& +5 "core" &;\ +2 .tPC.seek :closed + "processing"% (^ +5 "core" &6\ +8 & -8\ #a +9 &U|8\ 8 +9 &~v7\ L +10 &R7\ O +9 &YR7\ N +9 &Q.\ O +10 &R(\ O +9 &R(\ O +10 &`R.\ O +9 &#T*\ N +9 &V/\ O +10 &!P1\ O +9 &#hU/\ O +9 &%*U,\ O +10 &&T/\ O +9 &(S/\ N +10 &*qT#\ N +9 &,3T&\ N +9 &-Q#\ N +10 &/X\ O +9 &1xV\ O +9 &3:R\ O +10 &4R\ N +9 &6T\ N +10 &8T\ O +9 &:BV\ O +9 &<T \ O +10 &=X\ O +9 &?W \ O +9 &AF[\ P +10 &Ci\ Q +9 &Dr\ R +10 &F\ T +9 &H? \ U +9 &I \ V +10 &K\ V +9 &M \ V +9 &OE\ V +10 &Q \ W +9 &R\ W +10 &T \ W +9 &VJ\ W +9 &X  \ W +10 &Y\ \ V +9 &[ \ V +9 &]P\ I +10 &^wC| \ %o +9 &^>\ 4 +5 ( +2 "processing"%P& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator" +3 "core" &^%\ 4 +59 1 + "manipulator"&~% +4 "core" %  A D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%4& +4 "core" &^%$\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&(% +3 "core" %  F  +2 "storage"(% +3 "core" %  \ + "storage"(2. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\ ( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (<& +2 "manipulator"&V& +5 "core" & M\  + & V & +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +3 "manipulator"&+( +4 ."raiseStack"SE.seek :beamBreak + "storage"(!'r +3 "core" ( + "manipulator"&,& +4 "core" & Z & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" & : & +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&7/ +74 "core" / +2 .tPC.seek :open +2 "processing"%M( +80 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'1 +40 "core" ' +328 ( + "storage"(-& +4 "core" & E\  +2 "manipulator"&8& +3 "core" & C & +2 "manipulator"&% +3 "core" %  T +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&^( +262 "core" ( + "manipulator"&& +4 "core" & 3  +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&1'7 +94 "core" ' + .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(;- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(B' +58 "core" ' +3 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +2 "storage"(r& +3 "core" &   "\ b +2 "manipulator"&5& +3 "core" & J  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&=& +4 "core" & j  + "storage"(W& +4 "core" & "  B\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&I'7 +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(H'" +53 "core" ' + "manipulator"&:& +4 "core" &  +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&b'u +14 "core" ' + .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +50 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +21 "core" ' + "manipulator"&9% +5 "core" %Ή  c + "storage"(Z& +4 "core" &  \  +2 .tForearm.force -20 "manipulator"&5 +4 .tForearm.seek 3 + 320 counts + "manipulator"&f'ϵ +40 "core" ' + "manipulator"&.& +5 "core" & >  + "storage"(>& +5 "core" &  -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&c'7 +23 "core" ' + "storage"(\\% +5 "core" %   H\ +2 ."downElevator"SE.seek :down +3 "storage"( ' +100 (R% +2 "core" %D +\ Xg +2 "manipulator"&_% +4 "core" %A o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +87 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 (l& +4 "core" & ' V\ + "collection"'t& +4 "core" &\\mRS\ T +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&N% +4 "core" %    + "storage"(S% +4 "core" % 5\ + "storage"(Q. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(j( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (0& +2 "core" & (  \  +2 "manipulator"&C& +4 "core" & C  + .tElbow.seek 3 +2 "manipulator"&q( +3 "core" ( + "manipulator"&]& +4 "core" & >  +2 "storage"(D& +4 "core" & % $ K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&m'7 +96 "core" ' + "storage"(X& +4 "core" &   f\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +296 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&k& +3 "core" & )  +2 "storage"(v& +3 "core" &  f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&3'u +19 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(K- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(e'o +30 "core" ' + "manipulator"&?% +4 "core" %΃  E +2 "storage"(T& +3 "core" &   H\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&'ϯ +27 "core" ' + "manipulator"&O& +5 "core" & U  + "storage"(z& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&h'7 +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(a' +39 "core" ' + "manipulator"&n& +5 "core" & -  + "manipulator"&% +4 "core" %= +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&g(ӂ +162 "core" ( + "manipulator"&[& +4 "core" &ӛ  K :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &ӛ  s :0 +2 .tForearm.seek CC + "manipulator"&i'? +92 "core" ' + .tHand.close + "manipulator"&L/ +65 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( + "storage"(& +4 "core" & > < 6\  +2 "storage"(p& +3 "core" & A B \  +2 "manipulator"&d& +3 "core" &ӛ  ; :0 +2 "manipulator"&E% +3 "core" % 8 * c +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&6( +165 "core" ( + "manipulator"&x& +4 "core" & l  +2 "storage"(J& +3 "core" & V U k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&'u +96 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % ΁  ( + "storage"(y& +4 "core" & X S G\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&F'ϭ +38 "core" ' +2 "manipulator"& & +4 "core" & f  +2 "storage"({& +4 "core" & y x :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&"'7 +22 "core" ' + "storage"(% +5 "core" % t \ +2 ."downElevator"SE.seek :down +3 "storage"(%' +100 (% +2 "core" %C 7 K B\ Vb +2 "manipulator"&% +4 "core" %. S % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'U& +4 "core" &#$\ + "manipulator"&$% +4 "core" %   +2 "storage"( % +3 "core" % y y n\ +2 "storage"(|. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(#(,y +362 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (~& +2 "core" &,z ^ y a\ +2 "manipulator"&4& +3 "core" & x  +2 .tElbow.seek 4 +2 "manipulator"&(( +44 "core" ( + "manipulator"&& +4 "core" & m  +2 "storage"(2& +3 "core" &,w U T _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&P' +96 "core" ' + "storage"(<& +4 "core" &,w y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'r +300 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &,w 1 4 x\  +2 "manipulator"&o& +4 "core" & \  + .tElbow.seek 4 +2 "manipulator"&7( +3 "core" ( + "manipulator"&& +4 "core" &  + "storage"(& +3 "core" &,w X X d\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&s'c +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(!' +7 "core" &  + "manipulator"&-% +4 "core" % } R +2 .tForearm.seek :retract + "manipulator"&8' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ' + ."downElevator"SE.coast + "storage"(5 +8 "core" ( + "manipulator"&& +4 "core" &ӌ 5 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӌ e 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +2 "manipulator"&+& +4 "core" &ӌ _ 3 +2 "manipulator"&% +3 "core" %3 6 +2 "collection"';& +4 "core" &##\ +2 "collection"'&& +5 "core" &%#\ +2 .tCC.seek :closed + "collection"'r(\\ +4 "core" &"$\  +9 &5}!"\ +{ +10 &g#$\ ? +9 &n$# \ M +9 &\\V#$ \ L +10 &U&$\ L +9 &U%'\ L +10 &U#%\ L +9 &fU%%\ L +9 &(W%$\ L +10 &U%%\ L +9 & U(&\ K +9 &"mV%&\ L +10 &$0U''\ L +9 &%U'*\ L +10 &'Y))\ L +9 &)uU))\ L +9 &+8U((\ L +10 &,U+(\ L +9 &.T))\ L +9 &0}V)*\ L +10 &2?V*+\ L +9 &4W(+\ L +10 &5W,)\ L +9 &7W*,\ L +9 &9GW,-\ L +10 &;W,-\ L +9 &<W,.\ L +9 &>Z..\ L +10 &@NW,.\ L +9 &B\\00\ L +10 &C`12\ M +9 &En63\ O +9 &GH:9\ Q +10 &H@?\ U +9 &JHE\ X +9 &LyEE\ X +57 &N:HI\ Y +9 &OJH\ Y + &QIH\ Z + &SyJI\ [\ + &U;ML\ [\ + &VNL\ \\ &XOO\ ] +5 &Z{PP\ ] +10 &\\yRR\ 1 +9 &\\1SU\ d +9 ( +2 &\\iUT\ Q +2 "collection"'&& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&51 +63 "core" 1 + "manipulator"&=% +4 "core" % 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &=\ +2 "manipulator"&:% +3 "core" %  q  +2 "storage"(% +4 "core" % \ + "storage"(*. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(9(,y +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (Z& +3 "core" &,w  \  +2 "manipulator"&A& +3 "core" &ӌ H 3 +2 "manipulator"&.% +3 "core" %  f  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&>( +163 "core" ( + "manipulator"&^& +5 "core" & ;  + "storage"(\\& +4 "core" &,x ?\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +98 "core" ' + "storage"(B& +4 "core" &,x <\ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'r +300 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,x  \ \  +2 "manipulator"&_& +3 "core" & P  +2 .tElbow.seek 4 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&b& +3 "core" & 0  +2 "storage"(f& +3 "core" &,x O\ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&l'c +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +73 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"(S' +7 "core" & 4  + "manipulator"&Q% +4 "core" % ϙ & +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&0( +171 "core" ' + ."downElevator"SE.coast + "storage"(5 +85 "core" ( + "manipulator"&C& +4 "core" & < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" & < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&D' +93 "core" ' + "manipulator"&c& +5 "core" & C + "manipulator"&X% +4 "core" % = D + "processing"% & +4 "core" &Z\ +2 "processing"%\ & +5 "core" &\\\ +2 .tPC.seek :closed + "processing"%G(^ +4 "core" &6\  +10 &/s9\ *x +9 &c{7\ > +10 &hp2\ O +9 &)R+\ O +9 &R#\ N +10 &Q.\ N +9 &pR-\ O +9 &2V*\ O +10 &R3\ O +9 &R/\ O +10 & xU,\ O +9 &":O/\ O +9 &#R/\ O +10 &%N\ O +9 &'R\ O +9 &)AQ\ O +10 &+R\ O +9 &,R\ N +9 &.Q\ O +10 &0JT\ O +9 &2 S\ O +10 &3S \ O +9 &5S\ N +9 &7QS\ O +10 &9T\ O +9 &:T\ O +10 &<R\ N +9 &>YV\ O +9 &@W\ P +10 &A` \ P +9 &Cn\ \ R +9 &ES~ \ T +10 &G\ U +9 &H \ V +10 &J\ U +9 &LU\ V +9 &N\ W +10 &O\ W +9 &Q\ X +9 &SZ \ W +10 &U\ W +9 &V \ W +10 &X\ V +9 &Za\ W +9 &\\"\ X +10 &]| \ : +9 &^/\ W +9 &^* \ 5 +2 ( +2 "processing"%\ & +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 +2 .Hand.open + "manipulator"&Y1 +60 "core" 1 + "manipulator"&`% +4 "core" %  0 D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%v& +4 "core" &^&\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&K% +3 "core" %  l . +2 "storage"(?% +3 "core" % C\ +2 "storage"(T. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(O(,y +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (z& +4 "manipulator"&n& +3 "core" &,x \  + & U +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(m'r +2 "core" ( + "manipulator"&q& +4 "core" & Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" & ( +2 .tForearm.seek PC + "manipulator"&3' +93 "core" ' + .tHand.close +2 "manipulator"&/ +66 "core" / +2 .tPC.seek :open +2 "processing"%e( +91 "core" ' + "storage"([- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'1 +45 "core" ' +312 ( + "storage"(h& +4 "core" &,x % $ D\  +2 "manipulator"&u& +3 "core" & ^ +2 "manipulator"&L% +3 "core" %  = 8 +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&/( +251 "core" ( + "manipulator"&& +4 "core" & )  +2 "storage"(p& +3 "core" &,x   u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&d' +98 "core" ' + .tHand.open + "manipulator"&E1 +62 "core" 1 +2 "storage"(x- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(i' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +4 "core" -' + "storage"(& +4 "core" &,x E )\ [ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&y( +3 "core" ( + "manipulator"& & +4 "core" &   + "storage"({& +4 "core" &,x\ (\ ' }\ [ +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +53 "core" ' + "manipulator"&& +5 "core" & n  + "storage"(& +4 "core" &,x  {\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&6'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(U' +26 "core" ' + "manipulator"&F% +5 "core" %8 C  + "storage"($& +4 "core" &,x  A\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 301 counts +2 "manipulator"& 'd +13 "core" ' + "manipulator"&|& +5 "core" &   + "storage"(a& +5 "core" &,x & $ L\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +19 "core" ' + "storage"(%% +5 "core" %   \ \ +2 ."downElevator"SE.seek :down +3 "storage"(j' +100 (~% +2 "core" %J  3\ Wf +2 "manipulator"&4% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +66 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (2& +4 "core" &,x ' \\\ + "collection"'<& +4 "core" &\\hSU\ Q + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&'% +3 "core" %  @  +2 "storage"(% +3 "core" % $ ' 2\ +2 "storage"(,. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +50 "storage"(@(,y +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (o& +3 "core" &,x % ' J\  +2 "manipulator"&& +3 "core" & X  +2 .tElbow.seek 4 + "manipulator"&( +8 "core" ( + "manipulator"&)& +5 "core" & O  + "storage"( & +4 "core" &,x  ! \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +104 "core" ' + "storage"((& +5 "core" &,x % (\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  + "storage"(V& +4 "core" &,x   '\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&s'7 +24 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(;'k +34 "core" ' + "manipulator"&7% +4 "core" %9 \\  +2 "storage"(!& +4 "core" &,x ( & W\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 302 counts +2 "manipulator"&8'e +14 "core" ' + "manipulator"&& +4 "core" & Q  +2 "storage"(5& +4 "core" &,x ! \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&=' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +48 "core" ' + "manipulator"&:& +5 "core" & L  + "manipulator"&% +4 "core" % 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&&(ӂ +157 "core" ( + "manipulator"&Z& +4 "core" &Ӕ# . <= +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +2 "core" &Ӕ" 4 <= +2 .tForearm.seek CC +2 "manipulator"&.'? +93 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'^( +450 "core" ( + "storage"(\\& +4 "core" &,x 2 : \  +2 "storage"(#& +3 "core" &,x ; : \  +2 "manipulator"&B& +4 "core" &ӕ# K << + "manipulator"&% +4 "core" % 5 d + .tForearm.seek :retract +2 "manipulator"&W' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&R( +165 "core" ( + "manipulator"&& +4 "core" & N  +2 "storage"(_& +3 "core" &,x V ` -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&b'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +56 "core" 1 +2 "manipulator"&N% +4 "core" % 2 = , + "storage"(Q& +4 "core" &,x W W 0\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 295 counts + "manipulator"&>'^ +16 "core" ' +2 "manipulator"&1& +4 "core" & v  +2 "storage"(I& +3 "core" &,x v y Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&l' +20 "core" ' + "storage"(C% +5 "core" % v w B\ +2 ."downElevator"SE.seek :down +3 "storage"(]' +99 (H% +2 "core" %= W W\ Wb +2 "manipulator"&c% +4 "core" % F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X' +89 "core" ' +64 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +4 "core" & #\ + "manipulator"&S% +4 "core" %   +2 "storage"(% +3 "core" % y w \ +2 "storage"(M. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(Y(<- +357 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (`& +2 "core" &<.(   \  +2 "manipulator"&v& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&K( +7 "core" ( + "manipulator"&?& +4 "core" &   +2 "storage"(T& +3 "core" &<.(  :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\ 'O +92 "core" ' + "storage"(z& +4 "core" &<.( @ - M\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'r +292 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +2 "core" &<.'   \  +2 "manipulator"&D& +3 "core" & A  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&9& +3 "core" &   +2 "storage"([& +3 "core" &<.(   p\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&0'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +3 "manipulator"&k/ +77 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& + "storage"(m' +7 "core" & C  +2 "manipulator"&h% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&u' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&L(ӂ +152 "core" ' + ."downElevator"SE.coast + "storage"(5 +6 "core" ( + "manipulator"&3& +4 "core" &ӓ# <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӓ# 7 <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&p'? +103 "core" ' + "manipulator"&& +5 "core" &Ӕ" # ;8 + "manipulator"&E% +4 "core" %> } +3 "collection"'x& +3 "core" &#$\ +3 "collection"'g& +4 "core" &$%\ +2 .tCC.seek :closed +2 "collection"'(\\ +6 "core" &#$\  +9 &2x$%\ *y +9 &d}"#\ > +10 &p%$\ N +9 &HV#&\ L +10 &\ T$$ \ L +9 &R#&\ L +9 &Q$#\ L +10 &OT%%\ M +9 &U'%\ L +9 &Q')\ L +10 & V((\ L +9 &"XT'(\ L +10 &$Q('\ L +9 &%W()\ L +9 &'U)(\ M +10 &)`U**\ L +9 &+"W+)\ L +9 &,U))\ L +10 &.R**\ L +9 &0gV+*\ M +10 &2*T.,\ L +9 &3T*,\ L +9 &5X+,\ L +10 &7pW,+\ L +9 &92X-.\ L +9 &:Y,.\ L +10 &<Y,.\ L +9 &>xY/.\ L +10 &@:T./\ L +9 &AY00\ M +9 &C`30\ N +10 &Evr43\ P +9 &G.:7\ S +9 &H@?\ W +10 &JCC\ Y +9 &LaBB\ Z +10 &N CC\ [ +9 &OBD\ [ +9 &QEC\ [\ +10 &S`FD\ ] +9 &U$EF\ \\ +9 &VDF\ ] +10 &XFH\ ] +9 &ZcIG\ ^ +10 &\\\ |IJ\ 7 +9 &\\*JL\ &q +8 ( +2 &\\MK\ \\ +2 "collection"'g& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.37 + .Hand.open + "manipulator"&1 +61 "core" 1 + "manipulator"& % +4 "core" % > +2 .tForearm.reconfigure :loose +2 "Can"\ hf +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&{' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &)\ +2 "manipulator"&% +3 "core" %  D  +2 "storage"(% +3 "core" % \ \ +2 "storage"(F. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"($(<- +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (w& +2 "core" &<. .\  +2 "manipulator"&|& +4 "core" &ӕ" Q ;7 + "manipulator"&a% +4 "core" %  2  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&J( +162 "core" ( + "manipulator"&%& +4 "core" & a  +2 "storage"(/& +3 "core" &<.   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&d'O +139 "core" ' +3 "storage"(i& +4 "core" &<.   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'r +300 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<.  \  +2 "manipulator"&y& +4 "core" & B  + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&6& +4 "core" & (  + "storage"( & +4 "core" &<.  \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&2'Ϲ +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& +10 &io+\ O +9 &*Q-\ O +9 &Q1\ O +10 &M1\ O +9 &qP'\ O +9 &4Q0\ N +10 &R/\ O +9 &Q0\ O +10 & yQ0\ O +9 &"<O/\ N +9 &#Q,\ O +10 &%O.\ N +9 &'Q\ O +9 &)BR\ O +10 &+Q\ O +9 &,Q\ O +10 &.S\ O +9 &0JR \ O +9 &2 R\ O +10 &3R\ O +9 &5R \ O +9 &7QR \ O +10 &9S\ O +9 &:S\ P +10 &<Q\ O +9 &>YU \ O +9 &@T \ P +10 &A_ \ P +9 &Cn \ R +9 &ES} \ T +10 &G \ V +9 &H\ V +10 &J\ U +9 &LV \ V +9 &N \ W +10 &O \ W +9 &Q\ X +9 &S[ \ W +10 &U \ W +9 &V\ W +10 &X\ W +9 &Zb \ W +9 &\\#\ X +10 &]{\ 9 +9 &^-}\ [ +9 &^%\ 4 +2 ( +2 "processing"%O& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open +2 "manipulator"&1 +60 "core" 1 + "manipulator"&% +4 "core" %  3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%V& +4 "core" &^%\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 "manipulator"&% +5 "core" %  -  + "storage"(7% +4 "core" % \ + "storage"(!. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (5& +3 "core" &<. !\  + "manipulator"&:& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & e  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +3 "storage"(-'r +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" & S  +2 .tForearm.seek PC + "manipulator"&s' +93 "core" ' + .tHand.close +2 "manipulator"&8/ +67 "core" / +2 .tPC.seek :open + "processing"%;( +91 "core" ' + "storage"(Z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'1 +43 "core" ' +309 ( + "storage"(=& +4 "core" &<.\  +2 "manipulator"&+& +3 "core" & 1  +2 "manipulator"&% +3 "core" %  0 +2 .tForearm.seek :retract + "manipulator"&*' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&r( +238 "core" ( + "manipulator"&\\& +4 "core" & 4 3 +2 "storage"(#& +3 "core" &<. @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&B'O +93 "core" ' + .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(_' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(.' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(t& +3 "core" &<. + , \ c +2 "manipulator"&N& +3 "core" &  : 3 +2 .tElbow.seek 5 + "manipulator"&Q( +3 "core" ( +2 "manipulator"&1& +3 "core" & - 3 +2 "storage"(I& +3 "core" &<. :  ~\ e +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(W'" +57 "core" ' + "manipulator"&H& +4 "core" & \ 3 +2 "storage"(c& +4 "core" &<. \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&R'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"( ' +29 "core" ' + "manipulator"&>% +5 "core" %Δ ) ^ + "storage"(S& +4 "core" &<. C\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 307 counts + "manipulator"&' +16 "core" ' + "manipulator"&M& +5 "core" & } 3 + "storage"(& +5 "core" &<. $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +29 "core" ' + "storage"(]% +5 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(@' +100 (`% +2 "core" %I \ Xi +3 "manipulator"&v% +4 "core" %{  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +90 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (T& +4 "core" &<.  \ + "collection"'z& +4 "core" &\\KJ\ \\ + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&f% +3 "core" %  i  +2 "storage"(X% +3 "core" % .\ +2 "storage"(q. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(}(<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (D& +2 "core" &<. G\  +2 "manipulator"&9& +3 "core" &  3 +2 .tElbow.seek 5 +2 "manipulator"&[( +3 "core" ( + "manipulator"&k& +4 "core" & 3 +2 "storage"(G& +3 "core" &<.  P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&h'O +93 "core" ' + "storage"(K& +4 "core" &<.  b\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'r +296 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & t 3 +2 "storage"(n& +3 "core" &<.  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&0'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(E- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(x'm +30 "core" ' + "manipulator"&% +4 "core" %{ Y +2 "storage"(m& +52 "core" &<. \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 282 counts + "manipulator"&u'ϧ +32 "core" ' + "manipulator"&^& +5 "core" &  3 + "storage"(& +4 "core" &<. \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +23 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&& +5 "core" & < 3 + "manipulator"&% +5 "core" %` 8  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&F' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&g(ӂ +153 "core" ( +2 "manipulator"&w& +4 "core" &Ӑ% W >O + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" &Ӑ% 7 >O +2 .tForearm.seek CC +2 "manipulator"&a'? +92 "core" ' + .tHand.close + "manipulator"&p/ +57 "core" / +2 .tCC.seek :open + "collection"'%( +447 "core" ( + "storage"(/& +4 "core" &<. @ A e\  +2 "storage"(Y& +3 "core" &<. ? ? \  +2 "manipulator"&L& +3 "core" &Ӕ%  >K +2 "manipulator"&i% +3 "core" % 6 F +2 .tForearm.seek :retract +2 "manipulator"&{' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&4( +164 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(y& +3 "core" &<. V V r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&6'΍ +99 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&<1 +56 "core" 1 +2 "manipulator"&'% +4 "core" % Β l + "storage"(U& +4 "core" &<. V V 0\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 305 counts +2 "manipulator"&J'Ͼ +15 "core" ' +2 "manipulator"&d& +4 "core" & <  +2 "storage"(~& +3 "core" &<. z z B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +19 "core" ' + "storage"(% +5 "core" % T\ +2 ."downElevator"SE.seek :down +3 "storage"()' +100 (% +2 "core" %hC E U @\ Vb +2 "manipulator"&"% +4 "core" %7 ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +95 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'j& +4 "core" &$$\ +2 "manipulator"&% +3 "core" %  t  +2 "storage"(,% +4 "core" % z z O\ + "storage"(e. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +356 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K   \  +2 "manipulator"&V& +3 "core" & C  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&7& +3 "core" &  +2 "storage"(!& +3 "core" &K z y D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&O' +100 "core" ' + "storage"(5& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'r +292 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" &K 5 = \ +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&8( +3 "core" ( + "manipulator"&$& +4 "core" & 0  +2 "storage"(Z& +3 "core" &K T U w\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&o'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(-' +7 "core" & <  +2 "manipulator"&=% +3 "core" % ϖ ) +2 .tForearm.seek :retract +2 "manipulator"&+' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ' + ."downElevator"SE.coast + "storage"(5 +3 "core" ( +2 "manipulator"&s& +3 "core" &ӎ&  ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &ӎ&  ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&#'? +94 "core" ' + "manipulator"&& +5 "core" &ӏ& v ?T + "manipulator"&% +4 "core" %5 X +2 "collection"'& +3 "core" &$"\ +2 "collection"'&& +5 "core" &"$\ +2 .tCC.seek :closed + "collection"'t(\\ +6 "core" &"%\  +9 & 4}# \ +{ +9 &e~"#\ > +10 &n#$\ \ M +9 &[U&%\ L +10 &U##\ L +9 &Z&$\ L +9 &V'%\ L +10 &eT&&\ K +9 &%W&#\ L +9 &U#&\ L +10 & T(%\ K +9 &"lU((\ L +10 &$.U((\ L +9 &%Y')\ L +9 &'V*'\ L +10 &)sX),\ L +9 &+6U)*\ L +9 &,X**\ L +10 &.T)(\ L +9 &0{Y++\ L +10 &2>U**\ L +9 &3Y,+\ L +9 &5V+-\ L +10 &7V+-\ L +9 &9EZ,+\ L +9 &;V.0\ L +10 &<V.,\ L +9 &>W..\ L +10 &@OV..\ K +9 &B [0-\ M +9 &C`21\ M +10 &Ep43\ O +9 &GC67\ R +9 &H<<\ V +10 &JA?\ X +9 &LuA=\ Y +10 &N4@@\ Z +9 &OAC\ Z +9 &QAB\ [ +10 &Su@A\ \\ +9 &U6CD\ \\ +9 &VCD\ ] +10 &XDD\ ] +9 &ZuEF\ ^ +10 &\\zFG\ 2 +9 &\\5IJ\ $o +8 ( +2 &\\{HH\ T +2 "collection"'&& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 + .Hand.open +2 "manipulator"&N1 +60 "core" 1 +2 "manipulator"&1% +4 "core" % 5 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&I' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%*& +4 "core" &J\ +2 "manipulator"&H% +3 "core" %    +2 "storage"(c% +3 "core" % \ +2 "storage"(>. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(A(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (S& +2 "core" &K '\  +2 "manipulator"&M& +3 "core" &ӏ& _ ?T +2 "manipulator"&_% +3 "core" %  H  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +166 "core" ( + "manipulator"&]& +4 "core" & 5  +2 "storage"(r& +3 "core" &K" {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&B' +99 "core" ' + "storage"(.& +4 "core" &K" F\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'r +295 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +2 "core" &K! [\  +2 "manipulator"&Q& +3 "core" & G  +2 .tElbow.seek 6 + "manipulator"&W( +3 "core" ( + "manipulator"&R& +4 "core" & &  +2 "storage"(& +3 "core" &K! D\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&T'h +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +65 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&f& +3 "storage"(X' +8 "core" & i  + "manipulator"&q% +4 "core" % ϗ t +2 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&D( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +77 "core" ( +2 "manipulator"&9& +4 "core" & ? 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +2 "core" & " 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +50 "manipulator"&G' +102 "core" ' + "manipulator"&l& +5 "core" &  0 + "manipulator"&K% +4 "core" % s +2 "processing"%@& +3 "core" &Y\ +3 "processing"%& +4 "core" &;\ +2 .tPC.seek :closed +2 "processing"%b(^ +3 "core" &5\ \ +10 &/s0\ *y +9 &c}(\ ? +9 &jn)\ P +10 &,Q/\ O +9 &P/\ O +10 &M,\ O +9 &tO/\ O +9 &5T2\ O +10 &R/\ O +9 &Q*\ O +9 & {Q/\ O +10 &">O-\ O +9 &$Q'\ O +10 &%R\ O +9 &'Q\ O +9 &)EQ!\ O +10 &+Q \ O +9 &,Q\ O +9 &.R\ O +10 &0LR\ O +9 &2P\ O +10 &3R \ O +9 &5R!\ O +9 &7TQ\ O +10 &9R\ O +9 &:R\ O +9 &<Q\ O +10 &>\\U\ O +9 &@W \ O +10 &A]\ P +9 &Ci\ R +9 &EXv\ T +10 &G\ U +9 &H \ U +9 &J\ V +10 &LZ\ U +9 &N\ V +10 &O \ W +9 &Q\ W +9 &S]\ W +10 &U\ W +9 &V \ W +9 &X\ V +10 &Ze\ W +9 &\\&\ X +10 &]y\ 9 +9 &^/\ W +9 &^&\ 3 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open + "manipulator"&?1 +64 "core" 1 + "manipulator"&3% +4 "core" %   s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%n& +4 "core" &^#\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&E% +3 "core" %    +2 "storage"(% +3 "core" %  l\ +2 "storage"(m. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(^(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &K t 1\  +2 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & ? 0 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +3 "storage"(h'r +3 "core" ( + "manipulator"&[& +4 "core" & V 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" & F 0 +2 .tForearm.seek PC +2 "manipulator"&0' +93 "core" ' +2 .tHand.close + "manipulator"&u/ +73 "core" / +2 .tPC.seek :open + "processing"%x( +81 "core" ' + "storage"(w- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'1 +47 "core" ' +318 ( + "storage"( & +4 "core" &K   G\  +2 "manipulator"&& +3 "core" & " 0 +2 "manipulator"&p% +3 "core" %  9 @ +2 .tForearm.seek :retract +2 "manipulator"&F' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +243 "core" ( + "manipulator"&/& +4 "core" & % J +2 "storage"(Y& +3 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&L' +94 "core" ' + .tHand.open + "manipulator"&i1 +56 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(y' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(a' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(<& +3 "core" &K O L K\ g +2 "manipulator"&'& +3 "core" &  J +2 .tElbow.seek 6 + "manipulator"&U( +3 "core" ( +2 "manipulator"&d& +3 "core" & ! J +2 "storage"(~& +4 "core" &K R R \ g +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"({'" +58 "core" ' + "manipulator"&& +5 "core" & J J + "storage"("& +4 "core" &K 1\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&4'< +14 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +18 "core" ' + "manipulator"&J% +5 "core" %E U Y + "storage"(& +5 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&,'q +23 "core" ' + "manipulator"&e& +5 "core" & z J + "storage"(& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&2' +26 "core" ' + "storage"()% +5 "core" % t\ +2 ."downElevator"SE.seek :down +3 "storage"(}' +100 (% +2 "core" %C  Y\ Wf +2 "manipulator"&V% +4 "core" % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&7' +92 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (!& +4 "core" &K B\ + "collection"'5& +4 "core" &\\{HG\ T + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"& % +3 "core" %    +2 "storage"((% +3 "core" %  \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(P(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ( & +3 "core" &K  q\  + "manipulator"&$& +4 "core" & > J +2 .tElbow.seek 6 + "manipulator"&Z( +3 "core" ( + "manipulator"&& +4 "core" & I J +2 "storage"(& +3 "core" &K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&=' +88 "core" ' + "storage"(& +4 "core" &K  " \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'r +300 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&\\& +3 "core" & ? J + "storage"(:& +4 "core" &K  T\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&o'< +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('t +29 "core" ' + "manipulator"&8% +4 "core" %> :  +2 "storage"(-& +3 "core" &K  H\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 302 counts + "manipulator"&+'j +24 "core" ' + "manipulator"&%& +5 "core" & G J + "storage"(N& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&1' +26 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(*' +41 "core" ' + "manipulator"&H& +5 "core" & a J + "manipulator"&c% +4 "core" % l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&&(ӂ +163 "core" ( +2 "manipulator"&S& +4 "core" &Ӌ \\ 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +2 "core" &Ӌ > 3 +2 .tForearm.seek CC +2 "manipulator"&_'? +93 "core" ' + .tHand.close + "manipulator"&#/ +57 "core" / +2 .tCC.seek :open + "collection"']( +447 "core" ( + "storage"(r& +4 "core" &K W W j\  +2 "storage"(& +3 "core" &K 8 3 6\  +2 "manipulator"&.& +3 "core" &Ӌ ! 3 +2 "manipulator"&% +3 "core" % ? ! S +2 .tForearm.seek :retract +50 "manipulator"&I' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&v( +165 "core" ( + "manipulator"&C& +4 "core" & f  +2 "storage"(Q& +4 "core" &K V V \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&R'< +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +59 "core" 1 +3 "manipulator"&f% +4 "core" % @ r S + "storage"(q& +4 "core" &K y y Y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&'l +15 "core" ' + "manipulator"&B& +5 "core" & L  + "storage"(`& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +19 "core" ' + "storage"(9% +5 "core" % x\ +2 ."downElevator"SE.seek :down +3 "storage"(k' +100 (W% +2 "core" %= X W\ Va +2 "manipulator"&l% +4 "core" % d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +88 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'@& +3 "core" &%%\ +2 "manipulator"&X% +3 "core" %  1  +2 "storage"( % +3 "core" % x \ +2 "storage"(;. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(?(  +1298 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (3& +2 "core" &  t i \ +2 "manipulator"&n& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&E( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(m& +3 "core" &  y y \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +88 "core" ' + "storage"(& +4 "core" &   \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &  R > O\ +2 "manipulator"&G& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&u( +3 "core" ( +2 "manipulator"&A& +3 "core" & x  +2 "storage"(w& +3 "core" &  Y U \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&D'Ͻ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& +2 "storage"(h' +7 "core" &  + "manipulator"& % +4 "core" % ϸ +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&p(ӂ +158 "core" ' + ( +2 ."downElevator"SE.coast +2 "manipulator"&0& + "storage"(5 +7 "core" &Ӑ% R >K + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &Ӑ%  >K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'? +96 "core" ' + "manipulator"&& +5 "core" &Ӑ& >K + "manipulator"&i% +4 "core" %4 [ r +2 "collection"'& +3 "core" &%&\ +3 "collection"'g& +6 "core" &"$\ +2 .tCC.seek :closed + "collection"'<(\\ +5 "core" &&%\ +7 &;%$ \ %g +9 &Wu&%\ 7 +10 &x$%\ L +9 &R$%\ L +9 &T&'\ L +10 &JU&&\ L +9 & T%&\ L +9 &U&&\ L +10 &U%'\ L +9 &RU))\ L +10 & U'(\ L +9 &!T*(\ L +9 &#U+*\ L +10 &%[T*,\ L +9 &'U,(\ \ L +9 &(V), \ L +10 &*Y)*\ L +9 &,bU++\ L +10 &.$U)+\ L +9 &/T++\ L +9 &1V,,\ L +10 &3kU,,\ L +9 &5.U+-\ K +9 &6W-,\ L +10 &8U*-\ L +9 &:qW..\ L +10 &<3W-/\ L +9 &=S..\ L +9 &?V0/\ L +10 &AxX01\ M +9 &C9_23\ M +9 &Dj54\ N +10 &F~56\ Q +9 &Hk99\ T +10 &J!<>\ X +9 &K>>\ X +9 &M>>\ Z +10 &Oc>=\ Y +9 &Q!?@\ [ +9 &R=?\ \\ +10 &T?@\ ] +9 &Vc?A\ \\ +10 &X$BA\ \\ +9 &YA@\ ^ +9 &[DA\ J +10 &\\3DB\ 2 +9 &\\dDD\ O +2 ( +2 "collection"'g& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.34 + .Hand.open + "manipulator"&'1 +54 "core" 1 + "manipulator"&d% +4 "core" % 4 I r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%F& +4 "core" &<\ +2 "manipulator"&% +3 "core" %  -  +2 "storage"("% +3 "core" % J\ +2 "storage"(J. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (|& +2 "core" &  /\  +2 "manipulator"&e& +4 "core" &Ӓ% _ >I + "manipulator"&% +4 "core" %  2  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&y( +165 "core" ( + "manipulator"&)& +4 "core" & "  +2 "storage"(& +3 "core" &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&L'S +93 "core" ' + "storage"(a& +4 "core" &  #  Q\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &    l\  +2 "manipulator"&U& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&{( +3 "core" ( +2 "manipulator"&4& +3 "core" &  +2 "storage"(,& +3 "core" &  & %\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&!'Ͻ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +53 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"& & +3 "storage"((' +8 "core" &  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&j' +91 "core" ' +2 .tElbow.seek PC + "manipulator"& ( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +72 "core" ( + "manipulator"&$& +4 "core" & T @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" & 6 @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +93 "core" ' + "manipulator"&2& +5 "core" & N @ + "manipulator"&% +4 "core" % T L + "processing"%}& +4 "core" &[\ +2 "processing"%^& +5 "core" &]\ +2 .tPC.seek :closed + "processing"%6(^ +5 "core" &:\  +10 &/u8\ *y +9 &c{;\ > +9 &kp:\ O +10 &-O9\ N +9 &P1\ N +10 &N+\ N +9 &tP'\ N +9 &5T3\ N +10 &U/\ O +9 &T.\ N +9 & zQ0\ O +10 &"=T.\ N +9 &#U1\ O +10 &%Q1\ O +9 &'P$\ O +9 &)DT/\ O +10 &+S1\ O +9 &,P&\ O +9 &.Q)\ O +10 &0MS\ N +9 &2S"\ O +10 &3U\ O +9 &5T\ O +9 &7UQ \ N +10 &9R!\ N +9 &:S \ N +9 &<R!\ N +10 &>\\U\ O +9 &@V \ O +10 &Ac \ P +9 &Cq\ R +9 &ER\ U +10 &G\ U +9 &H \ U +9 &J\ U +10 &LX\ U +9 &N\ V +10 &O \ V +9 &Q \ W +9 &S\\\ W +10 &U\ W +9 &V \ W +9 &X \ V +10 &Zd \ W +9 &\\& \ W +10 &]}\ ; +9 &^, \ ] +9 &^)\ 6 +2 ( + "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&71 +64 "core" 1 + "manipulator"&s% +4 "core" %  u L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +98 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%:& +51 "core" &^% \ 6 +4 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +3 "core" %  @ ' +2 "storage"(8% +4 "core" %  \ + "storage"(-. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(%(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (N& +2 "manipulator"&H& +5 "core" & A @ + &  9\  +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&c( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(='r +2 "core" ( +2 "manipulator"&Z& +3 "core" & U @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" & - @ +2 .tForearm.seek PC +2 "manipulator"&o' +93 "core" ' + .tHand.close +2 "manipulator"&+/ +74 "core" / +2 .tPC.seek :open + "processing"%( +81 "core" ' +2 "storage"(S- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'1 +44 "core" ' +323 ( + "storage"(1& +4 "core" &  % $ \  +2 "manipulator"&& +3 "core" & x @ +2 "manipulator"&#% +3 "core" %  B / +2 .tForearm.seek :retract +2 "manipulator"&>' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&t( +247 "core" ( + "manipulator"&r& +4 "core" &  H +2 "storage"(& +3 "core" &  /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&.'S +94 "core" ' + .tHand.open + "manipulator"&1 +56 "core" 1 +2 "storage"(C- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Q' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(_' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(z& +3 "core" &  ) * >\ c +2 "manipulator"&f& +3 "core" &  H +2 .tElbow.seek 2 +2 "manipulator"&q( +3 "core" ( + "manipulator"&B& +4 "core" & C H + "storage"(`& +4 "core" &  , + \ c +2 .tForearm.seek 2 + 450 counts + "manipulator"&9'S +5 "core" ' + .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(I'" +54 "core" ' + "manipulator"&W& +5 "core" & V H + "storage"(l& +4 "core" &  _\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&v'Α +17 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +21 "core" ' + "manipulator"&*% +5 "core" %Κ 3 8 + "storage"(T& +4 "core" &   N\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&k' +25 "core" ' + "manipulator"&P& +5 "core" & M H + "storage"(@& +5 "core" &  }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&X'S +12 "core" ' + "storage"( % +5 "core" %  % \ +2 ."downElevator"SE.seek :down +3 "storage"(;' +100 (3% +2 "core" %F \ Xg +2 "manipulator"&n% +4 "core" %\\  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +69 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 (m& +4 "core" &  \ + "collection"'& +4 "core" &\\cAD\ O +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %  6  + "storage"(K% +4 "core" %  \ + "storage"([. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(\ (  +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (G& +3 "core" &   6\ + "manipulator"&A& +4 "core" & H +2 .tElbow.seek 2 + "manipulator"&w( +3 "core" ( + "manipulator"&& +4 "core" & $ H +2 "storage"(b& +3 "core" &  e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'S +94 "core" ' + "storage"(E& +5 "core" &  >\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +2 "core" & N H +2 "storage"(& +3 "core" &  7\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&D'Α +20 "core" ' + .tElbow.hold +2 "manipulator"&, +6 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"('g +30 "core" ' + "manipulator"&u% +4 "core" %Θ K > +2 "storage"(h& +3 "core" &  f\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 307 counts + "manipulator"&' +28 "core" ' + "manipulator"&]& +4 "core" & 6 H +2 "storage"('& +4 "core" &  \ + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&d'S +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(F' +39 "core" ' + "manipulator"&& +38 "core" & J H + "manipulator"&"% +4 "core" %< V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&|(ӂ +154 "core" ( +5 "manipulator"&g& +4 "core" &Ӕ"  ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &Ӕ" f ;5 +2 .tForearm.seek CC + "manipulator"&'? +92 "core" ' + .tHand.close + "manipulator"&Y/ +60 "core" / +2 .tCC.seek :open + "collection"')( +450 "core" ( + "storage"(& +4 "core" &    Z\ +2 "storage"(?& +3 "core" &   ~\ +2 "manipulator"&a& +3 "core" &ӕ" , ;4 +2 "manipulator"&p% +3 "core" % - O G +2 .tForearm.seek :retract + "manipulator"&~' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&V( +163 "core" ( + "manipulator"&& +4 "core" & 5  +2 "storage"(U& +4 "core" &  " & \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&4'Α +94 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&51 +59 "core" 1 +2 "manipulator"& % +4 "core" % Ί  ? + "storage"(& +4 "core" &  @ ? Y\ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 293 counts + "manipulator"&y'϶ +32 "core" ' + "manipulator"&L& +4 "core" &  +2 "storage"(& +3 "core" &  & - \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&!'S +27 "core" ' + "storage"($% +4 "core" % = : A\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ({% +2 "core" %B  \ Wd +2 "manipulator"&2% +51 "core" %e & \ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +5 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'}& +4 "core" &%%\ +2 "manipulator"&(% +3 "core" %    +2 "storage"(j% +4 "core" % z y \ + "storage"(x. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(7( +346 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (s& +2 "core" & A = <\  +2 "manipulator"&:& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&^( +12 "core" ( + "manipulator"&& +4 "core" & t  +2 "storage"(8& +3 "core" & W ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&-'7 +97 "core" ' + "storage"(H& +4 "core" & y \\ w\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'r +293 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +2 "core" & = 5 c\  +2 "manipulator"&& +3 "core" & ,  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&+& +4 "core" & *  +2 "storage"(S& +3 "core" & 2 ( h\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϡ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\\/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(=' +7 "core" &   + "manipulator"&1% +4 "core" % ϕ 6  +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&#(ӂ +157 "core" ( + "manipulator"&o& +5 "core" &ӑ# . =E + ' + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &r& +3 "core" &ӑ# =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +90 "core" ' + "manipulator"&c& +5 "core" &Ӓ$ =D + "manipulator"&% +4 "core" %D 3 } +2 "collection"'C& +3 "core" &$%\ +3 "collection"'&& +4 "core" &#&\ +2 .tCC.seek :closed +2 "collection"'z(\\ +4 "core" &$%\ +8 &;$$\ $e +10 &Wy#&\ 7 +9 &v%$\ K +9 &O&%\ L +10 &wS&&\ L +9 &9T%'\ L +10 &Q%' \ L +9 &U&'\ L +9 &U&%\ L +10 &CT'&\ L +9 & U''\ L +9 &!T((\ L +10 &#U))\ L +9 &%KT(*\ L +10 &' T)*\ L +9 &(U,*\ L +9 &*X*+\ L +10 &,RU,*\ L +9 &.U+*\ L +9 &/T**\ L +10 &1U-,\ L +9 &3ZU,.\ L +10 &5T+,\ L +9 &6V/,\ L +9 &8U..\ L +10 &:bR.-\ L +9 &<$W/.\ L +10 &=V/0\ M +9 &?U/0\ L +9 &Ah\\20\ M +10 &C(b33\ M +9 &Dm67\ O +9 &F<:\ R +10 &HVEB\ V +9 &JJJ\ Y +10 &KKL\ Z +9 &MMM\ [\ +9 &ORMM\ Z +10 &QMO\ [\ +9 &ROP\ \\ +9 &TNP\ \\ +10 &VPRR\ ] +9 &XQP\ ^ +10 &YQR\ ^ +9 &[TR\ K +9 &\\8ST\ - +10 &\\TT\ !` +5 ( +2 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.41 +2 .Hand.open + "manipulator"&f1 +3 "core" &\\TU\ !` +58 1 + "manipulator"&B% +4 "core" % D } +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&`' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%>& +4 "core" &"\ +2 "manipulator"&W% +3 "core" %  ^  +2 "storage"(l% +3 "core" %  Z\ +2 "storage"(*. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(T( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (M& +2 "core" & \  +2 "manipulator"&P& +3 "core" &Ӕ# g =B +2 "manipulator"&@% +3 "core" %  r  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Q( +168 "core" ( + "manipulator"& & +4 "core" & O  +2 "storage"(t& +3 "core" &   B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&.'7 +94 "core" ' + "storage"(_& +4 "core" &  r\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'r +297 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +2 "core" &  (\  +2 "manipulator"&q& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&I( +4 "core" ( + "manipulator"&v& +4 "core" & C  +2 "storage"(m& +3 "core" & Z\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&k'ϡ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(K' +4 "core" &   + "manipulator"&% +4 "core" % Ϝ V +2 .tForearm.seek :retract + "manipulator"&[' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&G( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +71 "core" ( + "manipulator"&A& +4 "core" & L 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & # 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&b' +100 "core" ' + "manipulator"&X& +4 "core" & 2 2 +2 "manipulator"&E% +4 "core" % W  + "processing"%;& +4 "core" &:\ +2 "processing"%%& +5 "core" &;\ +2 .tPC.seek :closed + "processing"%R(^ +6 "core" &8\  +9 &/s6\ *y +10 &cz,\ > +9 &\\p(\ O +9 &R*\ O +10 &O'\ O +9 &N0\ N +10 &eQ0\ N +9 &'Q2\ N +9 &R,\ O +10 &Q/\ O +9 & mR1\ N +9 &"/P/\ N +10 &#S-\ O +9 &%O*\ O +10 &'tO/\ O +9 &)6Q\ O +9 &*U\ O +10 &,Q\ O +9 &.}P\ N +9 &0>S \ O +10 &2S \ O +9 &3S\ O +10 &5U \ O +9 &7FR\ O +9 &9W\ O +10 &:S\ O +9 &<R \ O +9 &>MV\ O +10 &@V&\ O +9 &A^\ P +10 &Ch\ Q +9 &EH}\ S +9 &G\ T +10 &H\ U +9 &J \ U +9 &LI\ V +10 &N \ W +9 &O \ W +10 &Q\ W +9 &SO\ V +9 &U\ W +10 &V \ W +9 &X\ W +9 &ZV \ W +10 &\\\ W +9 &]\ 8 +10 &^-s\ [ +9 &^*\ 6 + ( +2 "processing"%%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&0% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +94 "core" ' +3 .tSC.coast +2 "storage"(6 +2 "processing"%& +4 "core" &^&$\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&i% +4 "core" %  3  + "storage"(u% +4 "core" % 1\ +2 "storage"(h. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(]( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ('& +3 "core" & h\  +2 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & x 2 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&"( + "storage"( 'r +6 "core" ( + "manipulator"&w& +5 "core" & b 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & \\ 2 +2 .tForearm.seek PC + "manipulator"&D' +94 "core" ' + .tHand.close + "manipulator"&/ +73 "core" / +2 .tPC.seek :open + "processing"%( +85 "core" ' + "storage"(g- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +49 "storage"(e'1 +46 "core" ' +265 ( + "storage"(d& +4 "core" & 7\  +2 "manipulator"&& +3 "core" & V 2 +2 "manipulator"&Y% +3 "core" %  8 +2 .tForearm.seek :retract +2 "manipulator"&J' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&<( +246 "core" ( + "manipulator"&& +4 "core" & F ? +2 "storage"(?& +4 "core" & Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&a'7 +92 "core" ' + .tHand.open + "manipulator"&p1 +63 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(U' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +3 "core" -' +2 "storage"(5& +3 "core" & x w \ C +2 "manipulator"& & +4 "core" & ? + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&L& +4 "core" &  ( ? +2 "storage"(& +4 "core" & \ E +2 .tForearm.seek 3 + 450 counts + "manipulator"&$'7 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(~'" +59 "core" ' + "manipulator"&{& +5 "core" & K ? + "storage"(2& +4 "core" &  ?\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&V'u +14 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(}' +23 "core" ' + "manipulator"&y% +5 "core" %~ U ] + "storage"((& +4 "core" &  4\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&j'Ϫ +25 "core" ' + "manipulator"&x& +5 "core" & # ? + "storage"(F& +5 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&!'7 +22 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(\ ' +100 (s% +2 "core" %J {\ Xi +2 "manipulator"&:% +4 "core" %C - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +66 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (8& +3 "core" & % 0\ +2 "collection"'H& +4 "core" &\\SU\ !` + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&,% +4 "core" %   +2 "storage"(% +3 "core" % \ +2 "storage"(Z. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(O( +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & '\  +2 "manipulator"&+& +4 "core" & c ? + .tElbow.seek 3 +2 "manipulator"&S( +3 "core" ( + "manipulator"&\\& +4 "core" & " ? +2 "storage"(6& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&1'7 +98 "core" ' + "storage"(^& +4 "core" & R\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'r +300 "core" ' +2 "storage"(o- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&r& +3 "core" & R ? +2 "storage"(N& +3 "core" &  /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"& 'u +16 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(C'o +33 "core" ' + "manipulator"&% +4 "core" %n [ Z +2 "storage"(=& +3 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 293 counts + "manipulator"&'Ϛ +28 "core" ' + "manipulator"&)& +4 "core" & p ? +2 "storage"(f& +4 "core" & \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&B'7 +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(>' +39 "core" ' + "manipulator"&W& +5 "core" & : ? + "manipulator"&l% +4 "core" %; R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&&(ӂ +157 "core" ( + "manipulator"&M& +4 "core" &Ӕ  L 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &Ӕ   9( +2 .tForearm.seek CC +2 "manipulator"&@'? +91 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tCC.seek :open + "collection"' ( +447 "core" ( + "storage"(t& +4 "core" & ? = h\  +2 "storage"(7& +3 "core" & < @ t\  +2 "manipulator"&_& +3 "core" &Ӕ  z 9( +2 "manipulator"&#% +3 "core" % B  j +2 .tForearm.seek :retract +2 "manipulator"&`' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&n( +154 "core" ( + "manipulator"&9& +4 "core" & - +2 "storage"(q& +3 "core" & W W U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&v'u +98 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % Έ s + "storage"(& +4 "core" & V W u\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&Q'ϴ +33 "core" ' + "manipulator"&.& +4 "core" & U +2 "storage"(3& +4 "core" & V U\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&k'7 +28 "core" ' + "storage"(A% +4 "core" % x \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (I% +2 "core" %A ' 8 y\ Wb +2 "manipulator"&X% +4 "core" %Z M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +89 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"';& +4 "core" &#%\ + "manipulator"&K% +4 "core" %   +2 "storage"([% +3 "core" % v v u\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +359 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (0& +2 "core" &,x - ? J\ \  +2 "manipulator"&& +4 "core" & | + .tElbow.seek 4 +2 "manipulator"&i( +35 "core" ( + "manipulator"&u& +4 "core" & 2  +2 "storage"(h& +3 "core" &,x 2 3 \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&%' +101 "core" ' + "storage"('& +4 "core" &,x @ ? \ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +49 "storage"(#QK-0-\ b +5 (& +2 "core" &,x   \ \  +2 "manipulator"&b& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&( +5 "core" ( + "manipulator"&T& +4 "core" & 7  +2 "storage"(g& +3 "core" &,x \ \ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&G'c +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"( ' +6 "core" & 0  +2 "manipulator"&d% +4 "core" % ] 3 +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&Y(ӂ +156 "core" ( + "manipulator"&D& +5 "core" ' + &ӏ&  ?R +2 ."downElevator"SE.coast +2 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ& ? ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&?'? +98 "core" ' +2 "manipulator"&"& +5 "core" &ӏ& N ?R + "manipulator"&p% +4 "core" %D - 5 +2 "collection"'& +3 "core" &%% \ +2 "collection"'|& +5 "core" &%$\ +2 .tCC.seek :closed +2 "collection"'5(\\ +4 "core" &(&\ +8 &?#$\ %h +9 &Yx&%\ 8 +10 &u'%\ L +9 &T%&\ L +9 &U&&\ L +10 &AT''\ L +9 &U'&\ L +9 &T'&\ L +10 &W'(\ L +9 &IT%' \ L +10 & \ T') \ L +9 &!T**\ L +9 &#U))\ M +10 &%QT()\ L +9 &'T)+\ L +9 &(T*)\ L +10 &*T++\ M +9 &,YT-,\ L +10 &.T,-\ L +9 &/T--\ L +9 &1U..\ M +10 &3aU+,\ L +9 &5"U+-\ L +9 &6S.,\ L +10 &8W/-\ L +9 &:hU//\ L +10 &<+R..\ L +9 &=X//\ L +9 &?V/0\ M +10 &AoW11\ M +9 &C0Z34\ M +9 &Dh66\ N +10 &Fu;7\ P +9 &HbA>\ T +10 &JGH\ W +9 &KHI\ X +9 &MKJ\ Y +10 &O[HJ\ Y +9 &QKL\ Z +9 &RKK\ [ +10 &TNN\ [\ +9 &VZNN\ \\ +10 &XQO\ ] +9 &YQR\ ] +9 &[SU\ K +10 &\\9UW\ / +9 &\\gXV\ Q +2 ( +2 "collection"'|& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"& 1 +57 "core" 1 + "manipulator"&L% +4 "core" % D  5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%J& +4 "core" &/\ +2 "manipulator"&{% +3 "core" %  v  +2 "storage"(2% +4 "core" % ^\ + "storage"(y. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(((,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (e& +2 "core" &,x  k\  +2 "manipulator"&x& +4 "core" &Ӑ& a ?Q + "manipulator"&U% +4 "core" %    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&F( +166 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(<& +4 "core" &,x   \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&a' +101 "core" ' + "storage"(& +4 "core" &,x  2\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'r +298 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &,x \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&~( +3 "core" ( + "manipulator"&V& +4 "core" &   + "storage"(j& +4 "core" &,x \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&8'c +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +4 "storage"(' +4 "core" &   + "manipulator"&}% +4 "core" % ϔ s + .tForearm.seek :retract +2 "manipulator"&Z' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +72 "core" ( + "manipulator"&+& +4 "core" & O A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" & Q A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&6' +92 "core" ' + "manipulator"&!& +4 "core" & A +2 "manipulator"&^% +4 "core" % J + "processing"%\ & +4 "core" &4\ +2 "processing"%]& +5 "core" &N\ +2 .tPC.seek :closed + "processing"%4(^ +5 "core" &2\ \ +10 &/u4\ *x +9 &c}+\ > +10 &ip&\ O +9 &+P+\ O +10 &T0\ N +9 &R1\ N +9 &rT0\ N +10 &3P1\ O +9 &T1\ O +9 &O0\ O +10 & zT-\ N +9 &"<N.\ N +10 &#R/\ N +9 &%S)\ N +9 &'U$\ O +10 &)DT\ N +9 &+Q\ O +9 &,U\ N +10 &.O\ N +9 &0KS\ O +10 &2 S\ O +9 &3U!\ O +9 &5Q\ O +10 &7SP\ O +9 &9Q\ O +9 &:R\ O +10 &<R\ O +9 &>ZY\ O +10 &@W!\ O +9 &A`\ P +9 &Cm\ R +10 &ET\ T +9 &G \ U +9 &H\ U +10 &J\ U +9 &LW \ U +10 &N\ V +9 &O \ V +9 &Q \ W +10 &S[\ W +9 &U\ W +9 &V\ V +10 &X\ V +9 &Zc \ W +10 &\\$\ W +9 &]{\ 9 +9 &^-~ \ [ +10 &^%\ 4 + ( +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&o% +4 "core" %  K J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%N& +4 "core" &^%\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %  F  +2 "storage"(% +3 "core" % r\ +2 "storage"(=. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"()(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (f& +4 "core" &,x \  + "manipulator"&W& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & @ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&l( +2 "storage"(1'r +5 "core" ( + "manipulator"&S& +4 "core" & # @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +2 "core" & D @ +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' + .tHand.close +2 "manipulator"&/ +70 "core" / +2 .tPC.seek :open +2 "processing"%C( +87 "core" ' + "storage"(M- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(P'1 +46 "core" ' +312 ( + "storage"(B& +4 "core" &,x  \  +2 "manipulator"&c& +3 "core" &  @ +2 "manipulator"&% +3 "core" %  7 +2 .tForearm.seek :retract + "manipulator"&*' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&z( +244 "core" ( + "manipulator"&t& +4 "core" &  8 +2 "storage"(7& +3 "core" &,x |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&_' +109 "core" ' + .tHand.open + "manipulator" +54 "core" 1 +2 "storage"(9- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(@' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(& +3 "core" &,x\ "\  \ ` +2 "manipulator"&& +3 "core" & 8 +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&.& +3 "core" & S 8 +2 "storage"(3& +3 "core" &,x \  /\ ` +2 .tForearm.seek 4 + 450 counts +50 "manipulator"&A' +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(`'" +57 "core" ' + "manipulator"&I& +5 "core" & 9 8 + "storage"(X& +4 "core" &,x R\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&n'7 +13 "core" ' + .tElbow.hold +2 "manipulator"&v, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Q' +22 "core" ' + "manipulator"&;% +5 "core" %5 P Q + "storage"(K& +5 "core" &,x  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 298 counts + "manipulator"&['a +15 "core" ' + "manipulator"&& +5 "core" & m 8 + "storage"(>& +5 "core" &,x  }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +21 "core" ' +2 "storage"(% +4 "core" %\ +2 ."downElevator"SE.seek :down +3 "storage"(O' +100 (0% +2 "core" %/L L\ Xi +2 "manipulator"&% +5 "core" % $ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&u' +92 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (h& +4 "core" &,x  \ + "collection"''& +4 "core" &\\hUW\ Q +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&m% +3 "core" %  a  +2 "storage"(E% +4 "core" %\ + "storage"(w. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (b& +2 "core" &,x \  +2 "manipulator"&T& +4 "core" &  8 + .tElbow.seek 4 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&/& +3 "core" & 3 8 +2 "storage"(R& +3 "core" &,x   (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&d' +97 "core" ' + "storage"(i& +5 "core" &,x  $ \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'r +295 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & , 8 +2 "storage"(& +3 "core" &,x \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&G'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&", +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(p- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('l +29 "core" ' + "manipulator"&% +4 "core" %1 5 T +2 "storage"( & +3 "core" &,x B\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 294 counts +2 "manipulator"&'] +15 "core" ' + "manipulator"& & +5 "core" & U 8 + "storage"( & +4 "core" &,x *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&L' +21 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(J' +40 "core" ' + "manipulator"&{& +5 "core" & X 8 + "manipulator"&2% +4 "core" % 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&e(ӂ +164 "core" ( + "manipulator"&|& +4 "core" &ӆ 4 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &ӆ 1 6 +2 .tForearm.seek CC + "manipulator"&U'? +97 "core" ' + .tHand.close + "manipulator"&?/ +62 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(<& +4 "core" &,x ; - W\  + "storage"(& +4 "core" &,x ? ? 7\  + "manipulator"&& +4 "core" &ӆ 6 + "manipulator"&Y% +4 "core" % H a 6 + .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&:( +166 "core" ( + "manipulator"&$& +4 "core" & :  +2 "storage"(& +3 "core" &,x L T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&V'7 +103 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&H1 +60 "core" 1 +2 "manipulator"&,% +4 "core" %  8 s + "storage"(}& +4 "core" &,x z z 7\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 272 counts +2 "manipulator"&F'G +16 "core" ' + "manipulator"&a& +4 "core" & +2 "storage"(s& +4 "core" &,x | y =\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&8' +17 "core" ' + "storage"(+% +5 "core" % } y p\ +2 ."downElevator"SE.seek :down +3 "storage"(\\' +99 (~% +2 "core" %> 6 < _\ V` +2 "manipulator"&!% +4 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&^' +90 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'\ & +4 "core" &$%\ + "manipulator"&% +4 "core" %  W  +2 "storage"(Z% +4 "core" % z z \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (o& +2 "core" &<+/ ' ' \  +2 "manipulator"&N& +4 "core" & / + .tElbow.seek 5 +2 "manipulator"&( +101 "core" ( + "manipulator"&& +4 "core" & Z +2 "storage"(=& +3 "core" &<+/  " \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&f'O +97 "core" ' + "storage"(]& +4 "core" &<+/ " & d\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'r +298 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" &<+. {\  +2 "manipulator"&6& +3 "core" & " +2 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&(& +3 "core" & d +2 "storage"(M& +3 "core" &<+. \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +71 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&4& +3 "storage"(1' +7 "core" & R + "manipulator"&B% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&c' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( + "manipulator"& & +5 "core" &Ӝ  X :0 + ' + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &t& +3 "core" &Ӝ :0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&7'? +91 "core" ' +2 "manipulator"&l& +5 "core" &Ӝ   :0 + "manipulator"&#% +4 "core" %8 ^ f + "collection"'9& +4 "core" &$% \ +3 "collection"'&& +52 "core" &%%\ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" &'$\ +8 &:$$\ %f +9 &Wz%$\ 7 +9 &v&'\ L +10 &R''\ L +9 &{R'&\ L +9 &=Q'& \ L +10 &V&(\ L +9 &T'(\ L +10 &Q(%\ L +9 &EU'+\ L +9 & S))\ L +10 &!U()\ L +9 &#T,+\ M +9 &%MS(+\ L +10 &'U**\ L +9 &(T*+\ M +10 &*S-,\ L +9 &,UV,+\ L +9 &.T*,\ M +10 &/S--\ M +9 &1T--\ M +9 &3]T,-\ L +10 &5R.-\ L +9 &6T-.\ L +10 &8U/.\ M +9 &:eV-/\ L +9 &<'W/.\ L +10 &=W//\ M +9 &?U1.\ L +9 &AmW01\ L +10 &C,]23\ M +9 &Dk64\ O +10 &F77\ Q +9 &HYA?\ V +9 &JED\ Z +10 &KEG\ X +9 &MEE\ [ +9 &OQED\ [ +10 &QGG\ \\ +9 &REH\ \\ +10 &TJH\ \\ +9 &VSIG\ ] +9 &XKI\ _ +10 &YLK\ _ +9 &[LL\ K +9 &\\>NO\ + +10 &\\LO\ !a + ( +2 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.41 + .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&.% +4 "core" % 8 7 f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%*& +4 "core" &,\ +2 "manipulator"&I% +3 "core" %    +2 "storage"(X% +4 "core" % \ + "storage"(P. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(;(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (q& +2 "core" &<+ \  +2 "manipulator"&K& +4 "core" &Ӝ  o :0 + "manipulator"&% +4 "core" %  n  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&>( +163 "core" ( + "manipulator"&& +4 "core" & H  +2 "storage"(z& +4 "core" &<,A (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&_'O +93 "core" ' +2 "storage"(@& +4 "core" &<,A \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" &<,? c b\  +2 "manipulator"&& +3 "core" & C  +2 .tElbow.seek 5 + "manipulator"&`( +3 "core" ( +2 "manipulator"&n& +3 "core" & 0  +2 "storage"([& +3 "core" &<,? \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&h'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +69 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(E' +6 "core" & n  +2 "manipulator"&Q% +4 "core" % ϻ + .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&b( +169 "core" ' + ."downElevator"SE.coast + "storage"(5 +70 "core" ( + "manipulator"&T& +4 "core" & % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" & W % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&R' +94 "core" ' + "manipulator"&k& +5 "core" & V % + "manipulator"&i% +4 "core" % Q c + "processing"%O& +4 "core" &#\ +2 "processing"%)& +5 "core" &M\ +2 .tPC.seek :closed + "processing"%v(^ +6 "core" &5\  +9 &.t+\ }+z +10 &c~0\ z? +9 &jo-\ {O +9 &,N2\ O +10 &P0\ O +9 &O.\ O +9 &rQ/\ O +10 &4Q*\ O +9 &Q.\ O +10 &N#\ O +9 & yQ\ O +9 &";O \ O +10 &#T\ O +9 &%O \ O +9 &'Q\ O +10 &)CQ\ O +9 &+N!\ O +10 &,Q"\ O +9 &.O \ O +9 &0KO\ O +10 &2 O\ O +9 &3O\ O +9 &5S!\ O +10 &7SR\ O +9 &9T\ P +10 &:R\ O +9 &<O\ O +9 &>ZU\ ~P +10 &@X \ ~P +9 &A`\ |Q +9 &Cm\ {S +10 &ET{\ yU +9 &G \ xU +10 &H \ wV +9 &J \ xV +9 &LX\ wV +10 &N\ uW +9 &O \ vW +9 &Q \ uW +10 &S\\ \ uW +9 &U \ uW +10 &V\ uW +9 &X\ vW +9 &Zc \ uX +10 &\\&\ uW +9 &]}\ y9 +9 &^-| \ zZ +10 &^( \ 6 + ( +2 "processing"%)& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&u1 +63 "core" 1 + "manipulator"&D% +4 "core" %   c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%& +4 "core" &^%\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&p% +4 "core" %  a  + "storage"(% +4 "core" % \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"( (<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +5 "manipulator"&{& + "core" &<, |\  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & e % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(2'r +3 "manipulator"&d( +3 "core" ( +2 "manipulator"&g& +3 "core" & p % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &  % +2 .tForearm.seek PC + "manipulator"&G' +94 "core" ' + .tHand.close +2 "manipulator"&/ +72 "core" / +2 .tPC.seek :open + "processing"%( +81 "core" ' + "storage"(|- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'1 +40 "core" ' +328 ( + "storage"(L& +4 "core" &<, !\  +2 "manipulator"&"& +3 "core" & s % +2 "manipulator"&?% +3 "core" %  5 = +2 .tForearm.seek :retract +2 "manipulator"&y' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&5( +246 "core" ( + "manipulator"&<& +4 "core" & p - +2 "storage"(& +3 "core" &<, y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +95 "core" ' + .tHand.open + "manipulator"&Y1 +57 "core" 1 +2 "storage"($- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(U' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(e- +3 "core" -' +2 "storage"(H& +3 "core" &<,\ "\  "\ Y +2 "manipulator"&,& +3 "core" & 7 - +2 .tElbow.seek 5 + "manipulator"&}( +4 "core" ( + "manipulator"&a& +4 "core" &  D - + "storage"(s& +4 "core" &<,\ \ %\ Y +2 .tForearm.seek 5 + 450 counts + "manipulator"&+'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +54 "core" ' + "manipulator"&~& +5 "core" & x - + "storage"(!& +4 "core" &<,  d\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&:'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(\ ' +26 "core" ' + "manipulator"&F% +5 "core" %Γ  a + "storage"(& +4 "core" &<, &\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&Z'Ͽ +21 "core" ' + "manipulator"&& +5 "core" & K - + "storage"(J& +4 "core" &<, C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&8'O +17 "core" ' + "storage"(\\% +5 "core" % h\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (o% +2 "core" %qH \ Xi +2 "manipulator"&N% +52 "core" %Q  +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +11 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (=& +3 "core" &<, b\ +2 "collection"']& +4 "core" &\\ON\ !a + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&j% +4 "core" % \  d  +2 "storage"(^% +3 "core" % \ +2 "storage"(S. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(-(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (6& +2 "core" &<, \  +2 "manipulator"&(& +4 "core" & * - + .tElbow.seek 5 +2 "manipulator"&M( +3 "core" ( + "manipulator"&r& +4 "core" &  - +2 "storage"(4& +3 "core" &<, :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&B'O +94 "core" ' + "storage"(& +5 "core" &<,  k\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'r +300 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&t& +2 "core" & w - +2 "storage"(W& +4 "core" &<,  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(9'm +31 "core" ' + "manipulator"&% +4 "core" %x t ] +2 "storage"(1& +3 "core" &<, .\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 279 counts +2 "manipulator"&c'Ϥ +27 "core" ' + "manipulator"&& +4 "core" & O - +2 "storage"(& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(*' +40 "core" ' + "manipulator"&I& +5 "core" & ] - + "manipulator"&X% +4 "core" %< A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&&(ӂ +155 "core" ( + "manipulator"&q& +4 "core" &Ӛ!  ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &Ӛ! * ;3 + .tForearm.seek CC +3 "manipulator"&'? +93 "core" ' + .tHand.close + "manipulator"&7/ +64 "core" / +2 .tCC.seek :open + "collection"'( +449 "core" ( + "storage"(z& +4 "core" &<, B @ b\  +2 "storage"(& +3 "core" &<,   h\  +2 "manipulator"&@& +3 "core" &Ӛ"  ;3 +2 "manipulator"&% +3 "core" % < ] Y +2 .tForearm.seek :retract +2 "manipulator"&3' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +161 "core" ( + "manipulator"&A& +4 "core" & 1  +2 "storage"(& +3 "core" &<, # $ -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&n'΍ +92 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&'1 +54 "core" 1 +2 "manipulator"&m% +4 "core" %  ) [ + "storage"(Q& +4 "core" &<, W X T\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 286 counts + "manipulator"&>'ϫ +36 "core" ' +2 "manipulator"&_& +4 "core" & 6  +2 "storage"(0& +3 "core" &<, V W X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&h'O +25 "core" ' + "storage"(T% +5 "core" % \\ y ?\ +2 ."downElevator"SE.seek :down +3 "storage"(/' +99 (`% +2 "core" %@ 1 ( c\ Vb +2 "manipulator"&k% +4 "core" %c \\ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&i' +87 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'O& +4 "core" &%& \ + "manipulator"&E% +4 "core" %   +2 "storage"(w% +3 "core" % z y \ +2 "storage"(C. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(u(K +353 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (D& +2 "core" &K ? A \  + "manipulator"&& +4 "core" & E  +2 .tElbow.seek 6 + "manipulator"&p( +3 "core" ( + "manipulator"&& +4 "core" &  + "storage"( & +4 "core" &K 3 < %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +92 "core" ' + "storage"( & +4 "core" &K L R !\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'r +296 "core" ' + "storage"(g- +4 "core" -'! + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" &K   g\  +2 "manipulator"&R& +3 "core" & <  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&;& +3 "core" & [  +2 "storage"(|& +3 "core" &K   \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&b'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&v& +3 "storage"(2' +8 "core" & ^  + "manipulator"&L% +4 "core" % ϑ +2 .tForearm.seek :retract + "manipulator"&"' +101 "core" ' +2 .tElbow.seek CC + "manipulator"&?(ӂ +145 "core" ' + ."downElevator"SE.coast + "storage"(5 +11 "core" ( + "manipulator"&G& +4 "core" &Ӓ#  <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &Ӓ# C <@ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +89 "core" ' + "manipulator"&d& +5 "core" &ӓ# 2 <? + "manipulator"&Y% +4 "core" %I M + "collection"'$& +4 "core" &$$\ +2 "collection"'e& +5 "core" &$%\ +2 .tCC.seek :closed + "collection"'H(\\ +6 "core" &&%\  +9 &4{%%\ *z +10 &e{$&\ > +9 &m&'\ M +9 &UP'&\ L +10 &Q'&\ L +9 &S)(\ L +9 &S%'\ L +10 &]S(' \ L +9 &T'(\ L +10 &T)(\ L +9 & S**\ L +9 &"dX)) \ L +10 &$'T()\ L +9 &%T*+\ K +9 &'T+)\ L +10 &)mT))\ L +9 &+0T+-\ K +10 &,T-+\ L +9 &.T+.\ L +9 &0vT.-\ K +10 &26U-,\ L +9 &3U+-\ L +9 &5U..\ L +10 &7}U,,\ L +9 &9?U,.\ L +10 &;U..\ L +9 &<W.-\ L +9 &>U..\ L +10 &@FU2/\ L +9 &BY23\ L +9 &C_32\ M +10 &Ek44\ O +9 &G=:9\ R +10 &H?=\ V +9 &JBA\ X +9 &LnBA\ Y +10 &N0AD\ Y +9 &ODC\ Y +9 &QED\ Z +10 &SpBD\ [\ +9 &U0CD\ \\ +10 &VFE\ \\ +9 &XHH\ ] +9 &ZrIH\ ] +10 &\\yKI\ 4 +9 &\\,MK\ \\ +8 ( +2 &\\gIJ\ S +2 "collection"'e& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 + .Hand.open +2 "manipulator"&,1 +61 "core" 1 + "manipulator"&a% +4 "core" % I I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%y& +4 "core" &Q\ +2 "manipulator"&~% +3 "core" % " % . +2 "storage"(!% +3 "core" % \ +2 "storage"(F. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +56 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (x& +2 "core" &K  \  +2 "manipulator"&& +3 "core" &Ӕ" L <> +2 "manipulator"&J% +4 "core" % ! W . + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +163 "core" ( + "manipulator"&\\& +5 "core" & u  + "storage"(5& +4 "core" &K @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(U& +4 "core" &K   `\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +253 "core" ' Q +3 !to:Slide::Error\ :@axisName" Forearm: mesg"HForearm positionErr at PC + 512 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressiQ : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagi:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #1 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(N' +3 "core" ' 7@ \ !y +262 ' +2 "storage"(+& +4 "core" &K )  \  + "manipulator"&}& +4 "core" &u c +2 .tElbow.seek 6 + "manipulator"&( +22 "core" ( + "manipulator"&:& +5 "core" & *  + "storage"(Z& +4 "core" &K ) & =\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +21 "core" ' + "storage"(]& +4 "core" &K  " #\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'r +253 "core" '& + +3 !to:Slide::Error\ :@axisName" Forearm: mesg"HForearm positionErr at PC + 553 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni&: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi+ : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagiB:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #2 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(^' +2 "core" ' 8C S\ "| +259 ' + "storage"(\ & +4 "core" &K  \  +2 "manipulator"&S& +3 "core" & M " +2 .tElbow.seek 6 +2 "manipulator"&6( +3 "core" ( + "manipulator"&(& +4 "core" & / " +2 "storage"(r& +3 "core" &K % \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&4' +34 "core" ' + "storage"(& +4 "core" &K   h\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'r +254 "core" '+% I +3 !to:Slide::Error\ :@axisName" Forearm: mesg";Forearm positionErr at PC during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni+: velocityi%: currenti:pwmi:erri: inPressi: outPressi:deltaPressiI : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagi9:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #3 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down + "storage"(' +4 "core" ' : 2\ +276 ' + "storage"( & +4 "core" &K  a\  +2 "manipulator"&V& +3 "core" & Q % +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & % +2 "storage"(t& +3 "core" &K & $ D\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&W' +24 "core" ' + "storage"(#& +4 "core" &K "  \ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +254 "core" 'UN ] +3 !to:Slide::Error\ :@axisName" Forearm: mesg";Forearm positionErr at PC during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniU: velocityiN: currenti:pwmi:erri: inPressi: outPressi:deltaPressi] : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagi\\:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #4 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(1' +2 "core" ' \  3\ +283 ' + "storage"(& +4 "core" &K Q\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&X& +3 "core" &  +2 "storage"(B& +3 "core" &K ' '\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&M' +24 "core" ' + "storage"(f& +4 "core" &K $ $ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +253 "core" '{; +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down + "storage"(c' +4 "core" ' Y \ +278 ' + .tSE.coast + "storage"(5 +2 "manipulator"&9% +4 "core" %љ Y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&q' +87 "core" ' + !to:Slide::Error\ :@axisName" Forearm: mesg";Forearm positionErr at PC during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni{: velocityi;: currenti:pwmi:erri: inPressi: outPressi:deltaPressi : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagiR:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +4315 "Can"\ QO +37453 #t-> Thread.resume +2 #Resuming after Forearm positionErr at PC during Storage Elevator move at 12:38:43 + .SE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(K'r +300 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" &K 2\  +2 "manipulator"&7& +3 "core" & ;  +2 .tElbow.seek 6 + "manipulator"&P( +4 "core" ( + "manipulator"&& +4 "core" & B  + "storage"(z& +3 "core" &K G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +94 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&@/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(A' +4 "core" &  + "manipulator"&% +4 "core" % ] t +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&&( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +79 "core" ( + "manipulator"&'& +4 "core" & V 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" & . 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&Q' +93 "core" ' + "manipulator"&_& +4 "core" & D 2 +2 "manipulator"&0% +4 "core" %  @ + "processing"%T& +4 "core" &+\ +2 "processing"%3& +5 "core" &?\ +2 .tPC.seek :closed +2 "processing"%`(^ +4 "core" &\ \ +10 &/t\ *x +9 &a~\ > +10 &iq\ O +9 &)Q$\ O +9 &R&\ N +10 &P'\ N +9 &pQ%\ O +10 &1T$\ O +9 &S!\ O +9 &R%\ N +10 & wR$\ O +9 &";Q%\ N +9 &#R\ O +10 &%O\ O +9 &'R\ N +10 &)BR\ O +9 &+R\ N +9 &,R\ O +10 &.O\ O +9 &0IR\ O +9 &2\ T\ \ O +10 &3T\ O +9 &5S\ O +10 &7QT\ O +9 &9T \ O +9 &:T \ O +10 &<P\ O +9 &>XV\ O +10 &@T\ P +9 &A_\ P +9 &Ch\ R +10 &EUv\ S +9 &G\ U +9 &H \ V +10 &J\ U +9 &LV\ U +10 &N\ W +9 &O\ W +9 &Q\ W +10 &SX\ X +9 &U\ W +9 &V\ W +10 &X\ V +9 &Za\ W +9 &\\#\ W +10 &]|\ 8 +9 &^+o\ Z +10 &^8\ 9 +2 ( + "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open + "manipulator"&k1 +57 "core" 1 +2 "manipulator"&% +4 "core" %  6 @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&n' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%O& +4 "core" &^4\ 9 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&>% +3 "core" %   +2 "storage"(E% +3 "core" % [\ +2 "storage"(w. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(C(K +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (*& +3 "core" &K O\  +2 "manipulator"&h& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &  2 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&/( + "storage"(-'r +5 "core" ( + "manipulator"&D& +4 "core" &  2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 2 +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"& / +75 "core" / +2 .tPC.seek :open + "processing"% ( +80 "core" ' + "storage"([- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(i'1 +41 "core" ' +329 ( + "storage"(g& +4 "core" &K \  +2 "manipulator"&%& +3 "core" & M 2 +2 "manipulator"&R% +51 "core" %  A , +3 .tForearm.seek :retract + "manipulator"&;' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&|( +246 "core" ( + "manipulator"&& +4 "core" & 1 0 +2 "storage"(v& +4 "core" &K \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&L' +98 "core" ' + .tHand.open + "manipulator"&p1 +57 "core" 1 +2 "storage"()- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(G' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(<' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +3 "core" -' +2 "storage"(b& +3 "core" &K ) * 2\ ] +2 "manipulator"&d& +4 "core" &  x 0 + .tElbow.seek 6 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&$& +4 "core" & I 0 + "storage"(& +3 "core" &K 2 P\ ] +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"("'" +51 "core" ' + "manipulator"&& +5 "core" & \\ 0 + "storage"(,& +4 "core" &K _\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&a'< +25 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(~' +25 "core" ' + "manipulator"&!% +5 "core" %5 9 + "storage"(F& +4 "core" &K -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 293 counts + "manipulator"&e'a +13 "core" ' + "manipulator"&x& +5 "core" & r 0 +2 "storage"(& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&J' +21 "core" ' + "storage"(% +5 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(\\' +100 (5% +2 "core" %2K 0\ Yk +2 "manipulator"&u% +4 "core" % \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +90 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 (?& +4 "core" &K q\ +2 "collection"'s& +3 "core" &\\fHJ\ S +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %   + "storage"(+% +4 "core" %   \ + "storage"(}. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(o(K +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (:& +2 "core" &K _\  +2 "manipulator"&Z& +4 "core" & O 0 + .tElbow.seek 6 +2 "manipulator"&]( +3 "core" ( + "manipulator"&& +4 "core" & @ 0 +2 "storage"(=& +3 "core" &K $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +97 "core" ' +2 "storage"(\ & +4 "core" &K   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'r +253 "core" 'WV F +3 !to:Slide::Error\ :@axisName" Forearm: mesg";Forearm positionErr at PC during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniW: velocityiV: currenti:pwmi:erri: inPressi: outPressi:deltaPressiF : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagiS:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #1 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down + "storage"((' +3 "core" '  \ +274 ' + "storage"(r& +4 "core" &K ' ' <\  +2 "manipulator"&j& +3 "core" & ( +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & F ( + "storage"(4& +4 "core" &K   ]\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +19 "core" ' + "storage"( & +4 "core" &K % \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'r +253 "core" 'OH Z +3 !to:Slide::Error\ :@axisName" Forearm: mesg";Forearm positionErr at PC during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniO: velocityiH: currenti:pwmi:erri: inPressi: outPressi:deltaPressiZ : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagic:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #2 of 4 + .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :down + "storage"( ' +3 "core" ' \  x\ +277 ' + "storage"(8& +4 "core" &K   \  +2 "manipulator"&t& +3 "core" & . +2 .tElbow.seek 6 +2 "manipulator"&#( +3 "core" ( + "manipulator"&6& +4 "core" & 8 . +2 "storage"(W& +4 "core" &K ' & \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +24 "core" ' + "storage"(& +4 "core" &K  $ \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +253 "core" 'vj T +3 !to:Slide::Error\ :@axisName" Forearm: mesg";Forearm positionErr at PC during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniv: velocityij: currenti:pwmi:erri: inPressi: outPressi:deltaPressiT : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagi$:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #3 of 4 + .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :down + "storage"(' +4 "core" ' {  U\ +277 ' + "storage"(X& +4 "core" &K  R\  +2 "manipulator"&B& +3 "core" & U , +2 .tElbow.seek 6 +2 "manipulator"&f( +3 "core" ( + "manipulator"&& +4 "core" &  , +2 "storage"(M& +4 "core" &K & &\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&1' +23 "core" ' + "storage"(9& +4 "core" &K % (\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +253 "core" ' | +3 !to:Slide::Error\ :@axisName" Forearm: mesg"HForearm positionErr at PC + 502 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi| : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagi6:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #4 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down + "storage"(c' +3 "core" ' y E\ +278 ' + "storage"(.& +4 "core" &K / ( @\  +2 "manipulator"&l& +4 "core" & L 0 +2 .tElbow.seek 6 + "manipulator"&7( +3 "core" ( +2 "manipulator"&& +3 "core" & 0 +2 "storage"(z& +3 "core" &K $ ! /\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&@' +29 "core" ' + "storage"(& +4 "core" &K % ' L\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +254 "core" ' [ +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(I' +2 "core" ' x  Z\ +276 ' + .tSE.coast + "storage"(5 +2 "manipulator"&q% +4 "core" %x h +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&K' +88 "core" ' +2 !to:Slide::Error\ :@axisName" Forearm: mesg"HForearm positionErr at PC + 483 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi[ : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagiE:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +1446 #-> Thread.resume +2 #Resuming after Forearm positionErr at PC + 483 counts during Storage Elevator move at 12:46:50 + .SE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"('r +294 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +2 "core" & $ +2 "storage"(P& +3 "core" &K `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&_'< +95 "core" ' + .tElbow.hold +2 "manipulator"&0, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(A'n +30 "core" ' + "manipulator"&% +4 "core" %E H +2 "storage"(& +3 "core" &K  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&k'q +24 "core" ' +2 "manipulator"&& +4 "core" & @ $ +2 "storage"(O& +3 "core" &K H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&>' +22 "core" ' +51 .tSE.seek 1.16 Pucks below Top Plate + "storage"(E' +41 "core" ' + "manipulator"&w& +5 "core" & E $ + "manipulator"&3% +4 "core" % \ t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +156 "core" ( + "manipulator"&D& +4 "core" &ә  C 9$ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ә  G 9$ +2 .tForearm.seek CC + "manipulator"&Q'? +93 "core" ' +2 .tHand.close + "manipulator"& / +67 "core" / +2 .tCC.seek :open + "collection"'( +452 "core" ( +2 "storage"([& +4 "core" &K A @ \  + "storage"(&& +4 "core" &K   \  + "manipulator"&n& +4 "core" &ә  R 9$ + "manipulator"&`% +4 "core" % C S E +2 .tForearm.seek :retract + "manipulator"&-' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&g( +167 "core" ( + "manipulator"&%& +4 "core" &  +2 "storage"(R& +4 "core" &K E 1 \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&'< +93 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&v1 +54 "core" 1 +2 "manipulator"&/% +4 "core" % O Y d + "storage"(p& +4 "core" &K V a\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&)'{ +16 "core" ' +2 "manipulator"&{& +4 "core" & |  +2 "storage"(b& +3 "core" &K V T S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&d' +21 "core" ' + "storage"($% +5 "core" % h X /\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (;% +2 "core" %< ? <\ Vb +2 "manipulator"&% +4 "core" % q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&,' +89 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'!& +2 "core" &&&9\ +2 "manipulator"&F% +3 "core" %   +2 "storage"(i% +3 "core" % u w l\ +2 "storage"(x. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1295 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (G& +2 "core" &  W W\ +2 "manipulator"&& +3 "core" & 8  +2 .tElbow.seek 2 + "manipulator"&|( +3 "core" ( +2 "manipulator"&L& +3 "core" &   +2 "storage"(<& +3 "core" &    F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'S +93 "core" ' + "storage"(u& +5 "core" &  > A \\\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'r +295 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +2 "core" &   & \ +2 "manipulator"&a& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&e( +4 "core" ( + "manipulator"&?& +4 "core" & =  + "storage"(s& +4 "core" &    \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&+/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +4 "storage"(}' +3 "core" &   +2 "manipulator"&:% +4 "core" % ϵ +2 .tForearm.seek :retract + "manipulator"&Z' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +160 "core" ' + ( +2 ."downElevator"SE.coast +2 "manipulator"&=& +2 "storage"(5 +6 "core" &ә I 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &ә @ 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\ '? +92 "core" ' + "manipulator"&\\& +5 "core" &ә " 7 + "manipulator"&C% +4 "core" %D R | +2 "collection"'y& +3 "core" &&)H\ +2 "collection"'U& +5 "core" &((J\ +2 .tCC.seek :closed + "collection"'N(\\ +4 "core" &')@\ +9 &;(&H\ %f +10 &Xz')C\ 8 +9 &u'(E\ L +9 &Q)(>\ L +10 &T*)5\ K +9 &DU*)+\ L +10 &T*)0\ L +9 &T*(0\ L +9 &T()3\ K +10 &LT,+.\ L +9 & T*,$\ L +9 &!T+.#\ L +10 &#T++#\ L +9 &%TS+-&\ L +10 &'T/*\ L +9 &(T..#\ L +9 &*T,.\ K +10 &,\\U/.!\ L +9 &.U/.\ L +9 &/T.1\ L +10 &1U.1\ L +9 &3dY/0 \ L +10 &5&U1/\ L +9 &6V10\ L +9 &8T10\ L +10 &:lU22\ L +9 &<.V02\ L +9 &=U23\ L +10 &?W33\ L +9 &AsW33\ L +10 &C4\\64\ M +9 &Dg86\ N +9 &Fx86 \ P +10 &He<< \ T +9 &J?@\ W +9 &KCB\ X +10 &M@B\ Y +9 &O^BC\ Y +10 &QBC\ Y +9 &RBC\ Z +9 &TCD\ [ +10 &V^DC\ \\ +9 &XGF\ \\ +9 &YFF\ ] +10 &[EG\ K +9 &\\1IH\ 6 +10 &\\lJH \ Q +2 ( +2 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&r1 +63 "core" 1 + "manipulator"&j% +4 "core" % D | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%4& +4 "core" &$\ +2 "manipulator"&S% +3 "core" %  '  +2 "storage"( % +3 "core" % \ +2 "storage"(]. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(^(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ((& +2 "core" &   \  +2 "manipulator"&8& +4 "core" &ә % 7 + "manipulator"&t% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&6( +156 "core" ( + "manipulator"&V& +4 "core" &  +2 "storage"(W& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +91 "core" ' + "storage"(& +4 "core" &   % \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +2 "core" &   \  +2 "manipulator"&B& +3 "core" & Z  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & \  +2 "storage"(M& +3 "core" &  \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&9'Ͻ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& + "storage"(' +8 "core" &  +2 "manipulator"&.% +3 "core" % ϴ  +2 .tForearm.seek :retract + "manipulator"&l' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +92 "core" ( + "manipulator"&& +4 "core" & ,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" & S  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +101 "core" ' + "manipulator"&f& +4 "core" & 9  +2 "manipulator"&@% +4 "core" % Z + "processing"%c& +4 "core" & \ +3 "processing"%q& +4 "core" &>\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &#\  +10 &.t"\ +z +58 &b{&\ > +8 &hp#\ O &)R#\ O + &Q!\ O + &S \ O + &pO\ O + &2Q\ O +5 &T\ O +9 &Q\ O +10 & yR \ N +9 &":Q\ O +9 &#U\ O +10 &%Q \ N +9 &'R\ O +9 &)BQ\ O +10 &+U\ O +9 &,Q\ N +10 &.Q\ O +9 &0IU\ O +9 &2\ S \ O +10 &3S \ O +9 &5R\ O +9 &7SS\ N +10 &9T\ O +9 &:T\ O +10 &<S\ O +9 &>YU\ O +9 &@W\ O +10 &Aa\ Q +9 &Cr\ R +10 &EQ\ T +9 &G\ U +9 &H\ U +10 &J\ V +9 &LV\ U +9 &N\ W +10 &O\ V +9 &Q\ W +9 &SY\ W +10 &U\ W +9 &V\ W +10 &X\ W +9 &Za\ W +9 &\\"\ X +10 &]{\ 9 +9 &^,x\ Z +9 &^0\ 7 +2 ( +2 "processing"%q& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 +2 .Hand.open + "manipulator"&I1 +60 "core" 1 + "manipulator"&'% +4 "core" %  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%P& +4 "core" &^.\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&T% +4 "core" % # l 2 + "storage"(% +4 "core" % Z\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (O& +2 "manipulator"&K& +3 "core" &  U\  +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & 6  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&w( +3 "storage"(3'r +3 "core" ( +2 "manipulator"&7& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.seek PC + "manipulator"&_' +93 "core" ' + .tHand.close +2 "manipulator"&k/ +67 "core" / +2 .tPC.seek :open + "processing"%A( +90 "core" ' + "storage"(D- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +55 "core" ' +303 ( + "storage"(>& +4 "core" &   A\  +2 "manipulator"&0& +3 "core" & E  +2 "manipulator"& % +3 "core" %  ' < +2 .tForearm.seek :retract +2 "manipulator"&*' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&H( +238 "core" ( + "manipulator"&[& +4 "core" & , 6 +2 "storage"(&& +3 "core" &  J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&n'S +92 "core" ' + .tHand.open + "manipulator"&`1 +65 "core" 1 +2 "storage"(%- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(R' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Q' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"(v& +3 "core" & \ \  0\ V +2 "manipulator"&/& +4 "core" &   5 + .tElbow.seek 2 +2 "manipulator"&p( +3 "core" ( + "manipulator"&{& +4 "core" & F 5 +2 "storage"(b& +3 "core" &  |\ X +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&$'S +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(-'" +52 "core" ' + "manipulator"&;& +5 "core" & = 5 + "storage"(& +4 "core" &  *\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&g'Α +15 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"()' +23 "core" ' + "manipulator"&E% +5 "core" %Μ Z O + "storage"(d& +4 "core" &  A\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&' +32 "core" ' + "manipulator"&o& +5 "core" & } 5 + "storage"(!& +5 "core" &   x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'S +18 "core" ' + "storage"(i% +5 "core" % =\ +2 ."downElevator"SE.seek :down +4 "storage"(x' +99 (G% +2 "core" %4H  i\ Xi +2 "manipulator"&% +4 "core" %F Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +89 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (<& +4 "core" &   \ +2 "collection"'u& +3 "core" &\\hFH\ Q +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %   +2 "storage"(,% +3 "core" %   \ +2 "storage"(Y. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"("(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (a& +3 "core" &    m\  +2 "manipulator"&?& +3 "core" & } 5 +2 .tElbow.seek 2 + "manipulator"&s( +3 "core" ( +2 "manipulator"&+& +3 "core" & 5 +2 "storage"(~& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&:'S +93 "core" ' + "storage"(|& +4 "core" &    i\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'r +295 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +2 "core" & $ 5 +2 "storage"(2& +3 "core" &  E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&'Α +21 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(C- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(y'g +30 "core" ' + "manipulator"&e% +4 "core" %Η  B +2 "storage"(}& +3 "core" &   m\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 306 counts + "manipulator"&Z' +15 "core" ' + "manipulator"&& +4 "core" & + 5 +2 "storage"(r& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&j'S +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(4' +48 "core" ' + "manipulator"&S& +5 "core" & 5 + "manipulator"& % +4 "core" %2 s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +154 "core" ( + "manipulator"&(& +4 "core" &Ӓ$  =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &Ӓ$ d =C + .tForearm.seek CC +2 "manipulator"&t'? +94 "core" ' + .tHand.close + "manipulator"&\ / +57 "core" / +2 .tCC.seek :open + "collection"'V( +446 "core" ( +2 "storage"(W& +4 "core" &  . ? "\  + "storage"(& +4 "core" &    \  +2 "manipulator"&& +3 "core" &ӛ#  <: +2 "manipulator"&% +3 "core" % 6 : > +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"& ( +163 "core" ( + "manipulator"&X& +4 "core" &   +2 "storage"(B& +3 "core" &  X V f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 +49 "manipulator"&'Α +96 "core" ' + .tElbow.hold +2 "manipulator"&M, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator" +64 "core" 1 +2 "manipulator"&1% +5 "core" % Ώ p G + "storage"(.& +3 "core" &  W W q\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 298 counts +2 "manipulator"&6'ϻ +26 "core" ' + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" &  X Z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&9'S +15 "core" ' + "storage"(% +5 "core" % g z U\ +2 ."downElevator"SE.seek :down +3 "storage"(z' +100 (% +2 "core" %T? = 2\ Wc +2 "manipulator"&f% +4 "core" %J X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@' +89 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'c& +4 "core" &&&\ + "manipulator"&% +4 "core" %  C  +2 "storage"(l% +4 "core" % y w p\ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(I( +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ('& +2 "core" &#   \  +2 "manipulator"&P& +4 "core" & {  + .tElbow.seek 3 +2 "manipulator"&T( +11 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" & W V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&q'7 +92 "core" ' + "storage"(O& +4 "core" & v =\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +297 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & : 3 E\ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&k( +4 "core" ( + "manipulator"&^& +4 "core" &  + "storage"(D& +4 "core" & X X 7\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(3' +4 "core" & C  + "manipulator"&>% +4 "core" % Ϡ ( +2 .tForearm.seek :retract + "manipulator"&0' +92 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +156 "core" ( + "manipulator"&_& +5 "core" &ӂ)  Aa + ' +2 ."downElevator"SE.coast +2 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &[& +3 "core" &Ӆ' # @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'? +93 "core" ' + "manipulator"&w& +5 "core" &ӝ$ ^ =F + "manipulator"&`% +4 "core" %I Q y +2 "collection"'%& +3 "core" &&',\ +3 "collection"'h& +5 "core" &$%-\ +2 .tCC.seek :closed +2 "collection"'v(\\ +4 "core" &'%-\ +7 &?%)#\ %g +10 &Wv&%"\ 7 +9 &w(%"\ L +9 &R&(\ L +10 &R**\ L +9 &DU))!\ K +10 &U)(\ L +9 &T)(\ K +9 &T') \ L +10 &JV(*\ L +9 & T)(\ K +9 &!T+)\ L +10 &#X,)\ L +9 &%TT,+\ K +10 &'T+-\ L +9 &(R**\ L +9 &*T** \ K +10 &,[T,,\ L +9 &.R*,\ L +9 &/T-.\ L +10 &1X.-\ L +3 "Can"\ RO +5 "core" &3cT0-\ L +11 &5$X-/\ L +9 &6U//\ L +9 &8T.-\ L +10 &:jX//\ L +9 &<,V.0\ L +9 &=U10\ L +10 &?V20\ L +9 &AqY54\ L +10 &C1^63\ M +9 &Dm67\ O +9 &F<<\ R +10 &H_GC\ U +9 &JLK\ X +9 &KML\ X +10 &MOM\ X +9 &O\\QO\ Y +10 &QQQ\ Z +9 &RQQ\ Z +9 &TPP\ [ +10 &V\\QP\ \\ +9 &XQQ\ ] +9 &YST\ ] +10 &[SU\ K +9 &\\<WW\ * +10 &\\WU\ !` +2 ( + "collection"'h& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open + "manipulator"&/1 +62 "core" 1 + "manipulator"&{% +4 "core" % I - y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%*& +4 "core" &\ +2 "manipulator"&;% +3 "core" %  L  +2 "storage"(% +3 "core" % L\ +2 "storage"(E. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(d( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & \  +2 "manipulator"&o& +3 "core" &Ӟ# O =E +2 "manipulator"&R% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&!( +164 "core" ( + "manipulator"&i& +4 "core" & 3  +2 "storage"(H& +4 "core" &- 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&n'7 +93 "core" ' + "storage"(Q& +4 "core" &- ^\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &- \  +2 "manipulator"&p& +3 "core" & J  +2 .tElbow.seek 3 +2 "manipulator"&-( +3 "core" ( + "manipulator"&g& +4 "core" & L  + "storage"(& +4 "core" &. x\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&<'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&u/ +70 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(,' +3 "core" & H  +2 "manipulator"&)% +4 "core" % Ϙ - + .tForearm.seek :retract +2 "manipulator"&Y' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&a( +169 "core" ' + ."downElevator"SE.coast + "storage"(5 +88 "core" ( + "manipulator"&?& +4 "core" & g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" & B  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&~' +100 "core" ' + "manipulator"&F& +4 "core" & <  +2 "manipulator"&|% +4 "core" % .  + "processing"%x& +4 "core" & \ +2 "processing"%& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +9 & -\ #b +9 &Ux\ {8 +9 &~s\ {L +10 &N\ O +9 &WO\ O +9 &N\ O +10 &O\ O +9 &Q\ O +10 &]Q \ P +9 & Q\ O +9 &N\ O +10 &!Q\ O +9 &#fQ\ O +9 &%)K\ O +10 &&Q\ P +9 &(Q\ O +10 &*nO\ O +9 &,0R\ O +9 &-O \ O +10 &/N\ O +9 &1vT\ O +9 &38O\ O +10 &4O\ O +9 &6Q\ P +10 &8}R\ P +9 &:@N\ O +9 &<O\ P +10 &=R\ P +9 &?R\ O +9 &AFV\ P +10 &Cc\ }R +9 &Dn\ {S +10 &F{\ xV +9 &H=\ wV +9 &I\ xV +10 &K\ xV +9 &M\ vV +9 &OB\ vW +10 &Q\ vX +9 &R\ vX +10 &T\ vW +9 &VI\ vW +9 &X\ \ vW +10 &Y\ wW +9 &[\ vW +9 &]O\ uJ +10 &^yF\ y"h +9 &^ G\ 6 +5 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 + .Hand.open +2 "manipulator"&L1 +3 "core" &^%\ 6 +60 1 + "manipulator"&=% +4 "core" %   J  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%2& +4 "core" &^%\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&C% +3 "core" %  .  +2 "storage"(e% +3 "core" % \ +2 "storage"(}. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +3 (r& + "manipulator"&S& +56 "core" & W\  +3 & I  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +2 "manipulator"& ( +2 "storage"(:'r +5 "core" ( + "manipulator"&s& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +2 "core" &  @  +3 .tForearm.seek PC + "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&Z/ +67 "core" / +2 .tPC.seek :open + "processing"%y( +94 "core" ' + "storage"((- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +40 "core" ' +314 ( +2 "storage"(j& +4 "core" & \  +2 "manipulator"&\\& +3 "core" & 3  +2 "manipulator"&\ % +3 "core" %  8 R +2 .tForearm.seek :retract +2 "manipulator"&]' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&N( +242 "core" ( + "manipulator"&W& +4 "core" & I 5 +2 "storage"(& +3 "core" &  O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +96 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +3 "storage"(X- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(t' +58 "core" ' + #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' +2 "storage"(#& +3 "core" & \ K +2 "manipulator"&1& +3 "core" & * 5 +2 .tElbow.seek 3 +2 "manipulator"&.( +3 "core" ( + "manipulator"&& +4 "core" & * 5 +2 "storage"(& +3 "core" & ! + x\ d +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +53 "core" ' + "manipulator"&& +4 "core" &  5 +2 "storage"(f& +4 "core" & N\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"& 'u +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(c' +20 "core" ' + "manipulator"&6% +5 "core" %h 2 & + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 287 counts + "manipulator"&l'ϔ +40 "core" ' + "manipulator"& & +5 "core" & ; 5 + "storage"(4& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&9'7 +13 "core" ' + "storage"(z% +5 "core" %\ +2 ."downElevator"SE.seek :down +3 "storage"("' +100 ('% +2 "core" %G \ Xg +2 "manipulator"&P% +4 "core" %- A +6 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" &  -\ + "collection"'O& +4 "core" &\\WV\ !` +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&M% +4 "core" %  W  + "storage"(@% +4 "core" %  \ + "storage"(7. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & b\  +2 "manipulator"&^& +4 "core" & a 5 + .tElbow.seek 3 +2 "manipulator"&D( +3 "core" ( + "manipulator"&m& +4 "core" &  5 + "storage"(& +4 "core" & ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&>'7 +94 "core" ' + "storage"(T& +4 "core" &  f\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +296 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +2 "core" &  5 +2 "storage"(K& +3 "core" & #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'u +24 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(`- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(%'o +30 "core" ' + "manipulator"&k% +4 "core" %r ~  +2 "storage"(3& +3 "core" &\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 297 counts + "manipulator"&0'Ϟ +25 "core" ' + "manipulator"&V& +4 "core" & 5 +2 "storage"(/& +4 "core" & ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&{'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(*' +49 "core" ' + "manipulator"&;& +5 "core" & 9 5 + "manipulator"&% +4 "core" %? ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +153 "core" ( + "manipulator"&& +4 "core" &Ӓ$ # =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &Ӓ$ 0 =F + .tForearm.seek CC +2 "manipulator"&R'? +93 "core" ' + .tHand.close + "manipulator"&&/ +65 "core" / +2 .tCC.seek :open + "collection"'i( +449 "core" ( + "storage"(H& +4 "core" & @ @ ?\  +2 "storage"(I& +3 "core" & @ @ Z\  +2 "manipulator"&Q& +3 "core" &ӣ" j ;5 +2 "manipulator"& % +3 "core" % I a K +2 .tForearm.seek :retract + "manipulator"&b' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +167 "core" ( + "manipulator"&$& +4 "core" & +  +2 "storage"(p& +3 "core" & X V \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&g'u +99 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&u1 +54 "core" 1 +2 "manipulator"&% +4 "core" % x G  + "storage"()& +4 "core" & V V \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 303 counts + "manipulator"&!'Ϥ +25 "core" ' +2 "manipulator"&n& +4 "core" &   +2 "storage"(G& +3 "core" & w w @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&<'7 +16 "core" ' + "storage"(?% +5 "core" % y z Q\ +2 ."downElevator"SE.seek :down +3 "storage"(+' +99 (-% +2 "core" %; 1 / e\ V` +2 "manipulator"&F% +4 "core" %1 _ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|' +90 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'x& +4 "core" &&&\ + "manipulator"&,% +54 "core" %    +2 "storage"(Y% +4 "core" % z z \ + "storage"(A. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(L(,y +361 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (=& +2 "core" &,y   :\ \  +2 "manipulator"&2& +3 "core" & O  +2 .tElbow.seek 4 + "manipulator"&C( +40 "core" ( + "manipulator"&e& +4 "core" & )  +2 "storage"(}& +4 "core" &,y   \ \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(S& +4 "core" &,y @ B v\ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'r +298 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +2 "core" &,y  [\ \  +2 "manipulator"&~& +3 "core" & +  +2 .tElbow.seek 4 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&d& +4 "core" & \  +2 "storage"((& +3 "core" &,y $ $ 4\ \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&a'c +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(:' +4 "core" & W  + "manipulator"&j% +4 "core" % ω +2 .tForearm.seek :retract + "manipulator"&\\' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&\ (ӂ +151 "core" ( + "manipulator"&& +5 "core" &y+ W Cq + ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +2 "manipulator"&$ &.,(#b +2 "storage"(5 +3 "manipulator"&W& +4 "core" &y+ Q Cq +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"& & +4 "core" &ӟ% 3 >K +2 "manipulator"&% +4 "core" %A  Q + "collection"'X& +4 "core" &$&\ +2 "collection"'U& +5 "core" &&&\ +2 .tCC.seek :closed +2 "collection"'#(\\ +4 "core" &$&\  +9 &5z%&\ +{ +10 &g}&'\ ? +9 &n&'\ M +9 &UO&(\ L +10 &S''\ L +9 &T''\ L +10 &T'(\ L +9 &_T'&\ K +9 &U'(\ L +10 &T*)\ L +9 & T(+\ L +9 &"fR()\ L +10 &$'T+)\ L +9 &%T+*\ L +10 &'T+,\ L +9 &)nT)+\ L +9 &+/X,,\ L +10 &,U+,\ L +9 &.T.-\ L +9 &0uU,.\ L +10 &28T--\ L +9 &3U-.\ L +10 &5U+,\ L +9 &7|U,.\ L +9 &9>U//\ L +10 &;R.0\ L +9 &<U//\ L +9 &>V00\ L +10 &@GR00\ L +9 &BX12\ M +10 &C\\52\ M +9 &Ek63\ N +9 &G?;:\ Q +10 &HEB\ U +9 &JGH\ X +9 &LpLJ\ Y +10 &N1JK\ Y +9 &OKL\ Z +10 &QLK\ Z +9 &SrMO\ [ +9 &U3QO\ [\ +10 &VPP\ \\ +9 &XQS\ ] +9 &ZsSS\ ] +10 &\\xUV\ 6 +9 &\\&VV\ %o +9 ( +2 &\\XV\ !a +2 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open +2 "manipulator"&11 +54 "core" 1 +2 "manipulator"&% +4 "core" % A  Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%]& +4 "core" &\ +2 "manipulator"&% +3 "core" %  +  +2 "storage"(f% +3 "core" % \ +2 "storage"(6. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (8& +3 "core" &,y 0\  + "manipulator"&B& +4 "core" &Ӡ$ O >J +2 "manipulator"& % +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&4( +160 "core" ( + "manipulator"&z& +4 "core" & U +2 "storage"(N& +4 "core" &,y V\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +96 "core" ' + "storage"(t& +4 "core" &,y  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +300 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,y #\  +2 "manipulator"&.& +3 "core" & = \ +2 .tElbow.seek 4 + "manipulator"&( +9 "core" ( + "manipulator"& & +4 "core" & A +2 "storage"(& +3 "core" &,y  \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&l'c +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +4 "storage"(@' +4 "core" & 4 + "manipulator"&c% +4 "core" % }  + .tForearm.seek :retract +2 "manipulator"&7' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +170 "core" ' + ."downElevator"SE.coast + "storage"(5 +71 "core" ( +2 "manipulator"&^& +4 "core" & 4 ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" & d ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + "manipulator"&9& +4 "core" & G ? +2 "manipulator"&T% +4 "core" % X + "processing"%"& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 & -\ #b +9 &Tv\ 7 +10 &v\ L +9 &R \ O +9 &XR\ O +10 &N \ O +9 &T\ O +9 &T\ O +10 &aT\ N +9 &"R\ O +10 &O\ O +9 &!P\ N +9 &#gT\ O +10 &%+O\ N +9 &&T\ O +9 &(Q\ N +10 &*pR\ O +9 &,2T\ O +10 &-R\ O +9 &/U\ O +9 &1wU\ O +10 &3:R\ O +9 &4O\ O +9 &6R\ O +10 &8U\ O +9 &:BQ\ O +10 &<R\ N +9 &=T\ O +9 &?U\ O +10 &AF\\\ P +9 &Ck\ R +10 &Du\ T +9 &F~\ U +9 &H@\ U +10 &J\ U +9 &K\ V +9 &M\ V +10 &OC\ V +9 &Q\ W +9 &R\ W +10 &T\ X +9 &VJ\ W +10 &X \ W +9 &Y\ W +9 &[\ W +10 &]O\ J +9 &^yF\ "g +9 &^G\ 6 +6 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 +2 .Hand.open + "manipulator"&1 +3 "core" &^'\ 6 +53 1 + "manipulator"&_% +4 "core" %  ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&[' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%K& +4 "core" &^&\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&`% +4 "core" %  C  +2 "storage"(k% +3 "core" % O\ +2 "storage"(3. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(V(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (/& +2 "manipulator"&;& +4 "core" &,y #\  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" & ? +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(>'r +5 "core" ( + "manipulator"&D& +4 "core" & 7 ? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" & ] ? +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&0/ +71 "core" / +2 .tPC.seek :open +2 "processing"%%( +86 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(o'1 +48 "core" ' +314 ( + "storage"({& +4 "core" &,y  =\  +2 "manipulator"&w& +3 "core" & ` ? + "manipulator"&&% +4 "core" %  - / +2 .tForearm.seek :retract + "manipulator"&E' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&v( +244 "core" ( + "manipulator"&H& +56 "core" & % , + "storage"(I& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&Q' +94 "core" ' + .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "storage"($- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(R' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"(u& +3 "core" &,y 2 6 >\ 9 +2 "manipulator"&& +4 "core" & [ , + .tElbow.seek 4 +2 "manipulator"&)( +3 "core" ( + "manipulator"&n& +4 "core" &  , , +2 "storage"(G& +3 "core" &,y k\ R +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(b'" +58 "core" ' + "manipulator"&-& +5 "core" & , + "storage"(F& +4 "core" &,y '\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +13 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(x' +20 "core" ' + "manipulator"&!% +5 "core" %> d \\ + "storage"(,& +5 "core" &,y 9\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts + "manipulator"&*'j +14 "core" ' + "manipulator"&Y& +5 "core" &  , + "storage"(A& +5 "core" &,y  S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +20 "core" ' + "storage"(+% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (=% +2 "core" %E Z\ Xi +2 "manipulator"&2% +4 "core" %  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&e' +96 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (}& +4 "core" &,y  >\ + "collection"'S& +4 "core" &\\VW\ !a +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +3 "core" % ! _ ) +2 "storage"(|% +4 "core" % u\ + "storage"(s. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(5(,y +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (~& +2 "core" &,y .\  +2 "manipulator"&d& +4 "core" & k , + .tElbow.seek 4 +2 "manipulator"&(( +3 "core" ( + "manipulator"&J& +4 "core" & { , +2 "storage"(& +4 "core" &,y \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&j' +94 "core" ' + "storage"(C& +5 "core" &,y 9\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&W& +2 "core" &  , +2 "storage"(r& +3 "core" &,y v\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&a'7 +14 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(X'k +29 "core" ' + "manipulator"&Z% +4 "core" %= L \\ +2 "storage"(:& +3 "core" &,y \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 306 counts +2 "manipulator"&\\'i +16 "core" ' + "manipulator"&i& +4 "core" & ( , +2 "storage"(1& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(]' +36 "core" ' + "manipulator"&& +5 "core" & 4 , + "manipulator"&f% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&6' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +148 "core" ( + "manipulator"&U& +4 "core" &y+ j Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +4 "core" &y+ < Co + .tForearm.seek CC +2 "manipulator"& '? +91 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'z( +449 "core" ( + "storage"(N& +4 "core" &,y @ . \  +2 "storage"(L& +3 "core" &,y " $ \  +2 "manipulator"&t& +3 "core" &ӡ$ C =G +2 "manipulator"&\ % +3 "core" % / : 9 +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&P( +164 "core" ( + "manipulator"&& +4 "core" & d  +2 "storage"(.& +3 "core" &,y X X Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"& '7 +94 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&O1 +62 "core" 1 +2 "manipulator"&M% +4 "core" % 8 Z < + "storage"(c& +4 "core" &,y X W m\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts + "manipulator"&4'd +16 "core" ' +2 "manipulator"&& +5 "core" &   + "storage"('& +4 "core" &,y a Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&l' +15 "core" ' + "storage"(^% +5 "core" % f b _\ +2 ."downElevator"SE.seek :down +3 "storage"(m' +100 (% +2 "core" %<? = 5 D\ Wc +2 "manipulator"&9% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +91 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'"& +4 "core" &$& \ + "manipulator"&@% +4 "core" %  Z  +2 "storage"(7% +4 "core" % v v \ + "storage"(y. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (_& +2 "core" &<*-  h\  +2 "manipulator"&K& +3 "core" & p  +2 .tElbow.seek 5 +2 "manipulator"&`( +8 "core" ( + "manipulator"&k& +4 "core" & /  +2 "storage"(3& +3 "core" &<*.  Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' + "storage"(/& +4 "core" &<*. $ Z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'r +297 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +2 "core" &<*, h\  +2 "manipulator"&& +3 "core" & :  +2 .tElbow.seek 5 + "manipulator"&0( +3 "core" ( + "manipulator"&& +4 "core" & ]  + "storage"(& +4 "core" &<*- \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +50 .tHand.close +4 "manipulator"&[/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(>' +6 "core" & x  +2 "manipulator"&{% +4 "core" % ϶  + .tForearm.seek :retract +2 "manipulator"&w' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&&(ӂ +151 "core" ' + ."downElevator"SE.coast + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &ӏ# <> + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &ӏ# A <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' +2 "manipulator"&I& +4 "core" &Ӑ# <= +2 "manipulator"& % +4 "core" %< C x +2 "collection"'$& +3 "core" &''\ +3 "collection"'h& +4 "core" &$&\ +2 .tCC.seek :closed + "collection"'u(\\ +7 "core" &&&\  +9 &1x'%\ *y +9 &d|&%\ > +10 &}p'&\ M +9 &CQ'( \ L +9 &T('\ L +10 &S')\ L +9 &R(&\ L +10 &JU'(\ L +9 & U('\ L +9 &S')\ L +10 & S(*\ L +9 &"ST()\ L +9 &$T+)\ L +10 &%T)+\ L +9 &'R)+\ L +10 &)YT++\ L +9 &+T*,\ L +9 &,T,-\ L +10 &.T.+\ L +9 &0bT.+\ L +9 &2$T,,\ L +10 &3U.-\ L +9 &5U..\ L +10 &7jT0.\ L +9 &9,T/0\ L +9 &:U./\ L +10 &<U1/\ L +9 &>pU,/\ M +9 &@3U20\ L +10 &A[12\ M +9 &Cb42\ N +10 &Eqn56\ O +9 &G)<:\ R +9 &HC@\ V +10 &JED\ X +9 &L]BE\ X +9 &NCE\ Y +10 &OEG\ Z +9 &QEF\ Z +10 &S^HG\ [\ +9 &UIH\ [ +9 &VFJ\ \\ +10 &XIK\ ^ +9 &Z_LN\ ] +9 &\\yNN\ = +10 &\\(ON\ ){ +9 &\\PP\ ^ +2 ( +2 "collection"'h& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.31 + .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&n% +4 "core" % < L x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%E& +4 "core" &\ +2 "manipulator"&-% +3 "core" %  $  +2 "storage"(F% +3 "core" % \ +2 "storage"(!. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(,(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (o& +2 "core" &<* $\  +2 "manipulator"&Y& +3 "core" &Ӑ" <= +2 "manipulator"&A% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&p( +165 "core" ( + "manipulator"&+& +4 "core" &  +2 "storage"(v& +4 "core" &<*  w\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&Q'O +94 "core" ' + "storage"(R& +4 "core" &<*  z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='r +295 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +2 "core" &<*  k\  +2 "manipulator"&)& +3 "core" & b  +2 .tElbow.seek 5 + "manipulator"&b( +4 "core" ( +2 "manipulator"&& +3 "core" & =  +2 "storage"(*& +3 "core" &<* -\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&}'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +75 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(|' +3 "core" & \\  +2 "manipulator"&s% +4 "core" % ϵ  + .tForearm.seek :retract +2 "manipulator"&x' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&~( +172 "core" ' + ."downElevator"SE.coast + "storage"(5 +67 "core" ( + "manipulator"&d& +4 "core" & D 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" & 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +92 "core" ' + "manipulator"&<& +4 "core" &  4 +2 "manipulator"&C% +4 "core" %  < + "processing"%& +4 "core" &\ +2 "processing"%V& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%g(^ +3 "core" &\ +10 & -\ #a +9 &Tw\ 7 +9 &~x\ L +10 &Q\ O +9 &VS\ O +10 &U\ O +9 &T\ O +9 &T\ O +10 &_R\ N +9 & Q\ O +9 &T\ O +10 &!N\ O +9 &#fO\ O +10 &%)O\ N +9 &&T\ O +9 &(Q\ N +10 &*nQ\ O +9 &,0T\ O +9 &-N\ O +10 &/U\ O +9 &1uT\ O +10 &38R\ O +9 &4S\ O +9 &6Q\ N +10 &8~S\ O +9 &:AQ\ N +9 &<R\ O +10 &=R\ O +9 &?U\ O +10 &AEY\ P +9 &Cj\ Q +9 &Dx\ S +10 &F{\ U +9 &H=\ U +9 &I\ V +10 &K\ U +9 &M\ V +10 &OB\ V +9 &P\ X +9 &R\ W +10 &T\ W +9 &VI\ V +9 &X\ \ W +10 &Y\ W +9 &[\ W +10 &]N\ K +9 &^P\ #l +9 &^%\ 0 +2 ( + "processing"%V& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&e1 +55 "core" 1 + "manipulator"&% +4 "core" %  / < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%r& +4 "core" &^ \ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    +2 "storage"(Z% +3 "core" % Q\ +2 "storage"(:. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(i(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (1& +3 "core" &<* B\  +2 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &  4 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&f( + "storage"(j'r +6 "core" ( + "manipulator"&(& +4 "core" & 3 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & / 4 +2 .tForearm.seek PC + "manipulator"&a' +96 "core" ' + .tHand.close +2 "manipulator"&\\/ +75 "core" / +2 .tPC.seek :open +2 "processing"%U( +76 "core" ' + "storage"(X- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(B'1 +41 "core" ' +331 ( + "storage"(& +4 "core" &<* 1\  +2 "manipulator"& & +3 "core" & , 4 +2 "manipulator"&% +3 "core" %  r  +2 .tForearm.seek :retract +2 "manipulator"&6' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&#( +249 "core" ( + "manipulator"&N& +4 "core" & 5 > +2 "storage"(L& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&t'O +94 "core" ' + .tHand.open + "manipulator"&\ 1 +53 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(.' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"(O& +4 "core" &<*\ \ " \ [ + "manipulator"&M& +4 "core" &  B = + .tElbow.seek 5 +2 "manipulator"&c( +3 "core" ( + "manipulator"&& +4 "core" & < = + "storage"('& +4 "core" &<*\ (\ ( M\ [ +2 .tForearm.seek 5 + 450 counts + "manipulator"&^'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' + "manipulator"&& +4 "core" & H = +2 "storage"(9& +4 "core" &<* (\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +45 "manipulator"&P'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"("' +29 "core" ' + "manipulator"&4% +5 "core" %Η ^ d + "storage"(@& +4 "core" &<*  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&7' +15 "core" ' + "manipulator"&y& +5 "core" & u = + "storage"(]& +5 "core" &<* &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&l'O +21 "core" ' +2 "storage"(m% +4 "core" %  a\ +2 ."downElevator"SE.seek :down +3 "storage"(5' +100 (_% +2 "core" %B \ Wg +2 "manipulator"&K% +4 "core" %= +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +89 "core" ' +64 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (3& +3 "core" &<* I\ +2 "collection"'/& +3 "core" &\\KO\ ^ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  u  +2 "storage"(T% +4 "core" % \ + "storage"(D. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(q(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &<*  {\  + "manipulator"&& +4 "core" & C = +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&[& +4 "core" & O = + "storage"(& +4 "core" &<* - L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +91 "core" ' + "storage"(`& +5 "core" &<* .\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +2 "core" &  = +2 "storage"(;& +3 "core" &<*  `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&I, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"($'l +30 "core" ' + "manipulator"&0% +4 "core" %{ M R +2 "storage"(>& +3 "core" &<* (\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 282 counts +2 "manipulator"&w'ϧ +30 "core" ' + "manipulator"&z& +4 "core" & = +2 "storage"(& +3 "core" &<* m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&n'O +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(E' +46 "core" ' + "manipulator"&-& +5 "core" & = + "manipulator"&F% +4 "core" %Q V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +155 "core" ( + "manipulator"&o& +4 "core" &Ӗ" C ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &Ӗ" b ;2 +2 .tForearm.seek CC +2 "manipulator"&A'? +95 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'+( +450 "core" ( + "storage"(v& +4 "core" &<* ? > \  +2 "storage"(& +3 "core" &<* ? ? \  +2 "manipulator"&R& +3 "core" &ӗ! R :1 +2 "manipulator"&&% +3 "core" % = L ? +2 .tForearm.seek :retract +2 "manipulator"&G' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&2( +162 "core" ( + "manipulator"&?& +4 "core" & +2 "storage"()& +3 "core" &<* ; < `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&'΍ +113 "core" ' + .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&S1 +62 "core" 1 +2 "manipulator"&% +4 "core" % · u +2 "storage"(s& +4 "core" &<* W V\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 294 counts + "manipulator"&p'ϳ +15 "core" ' + "manipulator"&Q& +4 "core" & +2 "storage"(=& +3 "core" &<* V W +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&}'O +20 "core" ' + "storage"(d% +5 "core" % x z d\ +2 ."downElevator"SE.seek :down +3 "storage"(J' +99 (b% +2 "core" %= ( 3 n\ Va +2 "manipulator"&<% +4 "core" %X + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&C' +98 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &&&\ + "manipulator"&|% +4 "core" %   +2 "storage"(x% +3 "core" % O\ +2 "storage"(%. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(e(K +359 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K . E \  +2 "manipulator"&r& +3 "core" & +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( + "manipulator"&Z& +4 "core" &  + "storage"(:& +4 "core" &K ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&V' +93 "core" ' + "storage"(1& +4 "core" &K u \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K V `\ +2 "manipulator"&& +3 "core" & % +2 .tElbow.seek 6 +2 "manipulator"&\\( +3 "core" ( + "manipulator"&,& +4 "core" & m + "storage"(X& +4 "core" &K z y \ +2 .tForearm.seek 6 + 300 counts + "manipulator"&~'h +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +61 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&g& +3 "storage"(j' +8 "core" & * + "manipulator"&% +4 "core" % b + .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +155 "core" ( + ' +2 ."downElevator"SE.coast +2 "manipulator"&a& +2 "storage"(5 +6 "core" &Ӈ* 2 Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +2 "core" &ӈ* 8 Bf +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&L'? +100 "core" ' + "manipulator"&f& +5 "core" &Ӊ) Ae + "manipulator"&\ % +4 "core" %F a + "collection"'& +4 "core" &&'\ +2 "collection"'8& +5 "core" &'' \ +2 .tCC.seek :closed + "collection"'O(\\ +6 "core" &'' \  +9 &5{''\ +{ +10 & e|('\ > +9 &n('\ M +9 &UQ('\ L +10 &S')\ L +9 &V((\ L +10 &V(&\ L +9 &^V(( \ L +9 & X'(\ L +10 &R((\ L +9 & Q'(\ L +9 &"fR(+ \ L +10 &$)S** \ K +9 &%T*+ \ K +10 &'U+*\ L +9 &)nV-*\ L +9 &+0W.+\ L +10 &,R,,\ L +9 &.T-/\ K +9 &0vT-/\ L +10 &28V--\ L +9 &3T/.\ K +10 &5T..\ L +9 &7T/.\ K +60 &9@U..\ L +4 &;U/.\ L +3 &<Y-0\ L + &>U/1\ L + &@GT./\ L +3 &BX40\ L + &C]31\ M +2 &El64\ O +9 &G=98\ R +10 &H@?\ V +9 &J@@\ X +9 &LpCB\ Y +10 &N2AB\ Y +9 &ODB\ Y +10 &QBD\ Z +9 &SqDF\ [\ +9 &U2ED\ [ +10 &VFE\ \\ +9 &XFF\ ] +9 &ZtGG\ ] +10 &\\yIJ\ 5 +9 &\\'KI\ #j +9 ( +2 &\\HI\ _ +2 "collection"'8& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&M1 +54 "core" 1 +2 "manipulator"&% +4 "core" % E V ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%6& +4 "core" &\ +2 "manipulator"&% +3 "core" %   +2 "storage"(9% +4 "core" % .\ + "storage"(B. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(.(K +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (4& +2 "core" &K \  +2 "manipulator"&@& +4 "core" &Ӌ(  Ac + "manipulator"&y% +4 "core" %  >  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&]( +166 "core" ( + "manipulator"&#& +4 "core" &  +2 "storage"(m& +4 "core" &K " \ + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&t' +94 "core" ' + "storage"( & +4 "core" &K   h\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +302 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +2 "core" &K .\ +2 "manipulator"&c& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&P& +4 "core" &   + "storage"(7& +4 "core" &K *\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&3'h +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(T' +6 "core" &  +2 "manipulator"&D% +4 "core" % n # + .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( + "manipulator"&& +4 "core" & 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &  9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' + "manipulator"&l& +5 "core" & V 9 + "manipulator"&`% +4 "core" % C G +2 "processing"%5& +3 "core" &\ +2 "processing"%i& +5 "core" &\ +2 .tPC.seek :closed + "processing"% (^ +5 "core" &\ +8 &5\ $c +9 &Sz\ 7 +9 &~x\ L +10 &O\ N +9 &QT\ O +10 &L\ N +9 &Q\ O +9 &R\ O +10 &[Q\ N +9 &R\ O +9 &S\ O +10 &!R\ N +9 &#cQ\ N +10 &%%O\ N +9 &&T\ O +9 &(O\ O +10 &*jP\ O +9 &,,P\ O +9 &-N\ O +10 &/T\ O +9 &1rT\ O +10 &33U\ O +9 &4Q\ N +9 &6R\ N +10 &8zR\ O +9 &:<T\ O +9 &;U\ O +10 &=V\ O +9 &?U\ O +10 &ABX\ O +9 &Be\ Q +9 &Dn\ R +10 &Fz\ T +9 &H9\ U +9 &I\ U +10 &K\ U +9 &M}\ V +10 &O>\ V +9 &Q\ V +9 &R\ V +10 &T\ W +9 &VE\ V +9 &X\ W +10 &Y\ V +9 &[\ V +10 &]J\ K +9 &^}Q\ #l +9 &^(\ 2 +2 ( +2 "processing"%i& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 + .Hand.open + "manipulator"&k1 +55 "core" 1 + "manipulator"&% +4 "core" %  D G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%;& +4 "core" &^$\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"& % +3 "core" %   +2 "storage"(0% +3 "core" % T\ +2 "storage"(>. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(z(K +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &K \  +2 "manipulator"&-& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & $ 9 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +2 "manipulator"&F( + "storage"({'r +5 "core" ( +2 "manipulator"&& +3 "core" &  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 9 +2 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close + "manipulator"&w/ +67 "core" / +2 .tPC.seek :open +2 "processing"%$( +89 "core" ' + "storage"(o- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Y'1 +40 "core" ' +315 ( + "storage"(n& +4 "core" &K :\  +2 "manipulator"&I& +3 "core" & # 9 +2 "manipulator"&% +4 "core" %  L * + .tForearm.seek :retract +2 "manipulator"&!' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&u( +244 "core" ( + "manipulator"&v& +4 "core" & R < +2 "storage"(& +3 "core" &K M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&R' +93 "core" ' + .tHand.open + "manipulator"&&1 +62 "core" 1 +2 "storage"(?- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"()' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(A' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' + "storage"(S& +4 "core" &K t @\ n +2 "manipulator"&& +17 "core" &  A < + .tElbow.seek 6 +2 "manipulator"&s( +4 "core" ( + "manipulator"&Q& +4 "core" &   v < +2 "storage"(=& +4 "core" &K {  8\ m +2 .tForearm.seek 6 + 450 counts + "manipulator"&d' +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(G'" +51 "core" ' + "manipulator"&b& +5 "core" & Z < + "storage"(<& +4 "core" &K ^\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&2'< +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&p% +5 "core" %F u  + "storage"(|& +4 "core" &K V\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 310 counts + "manipulator"&x'r +24 "core" ' + "manipulator"&%& +5 "core" & . < + "storage"(E& +4 "core" &K O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&}' +17 "core" ' + "storage"(J% +5 "core" % #\ +2 ."downElevator"SE.seek :down +3 "storage"(q' +100 (% +2 "core" %G W\ Yj +2 "manipulator"&r% +4 "core" % D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +89 "core" ' +69 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (:& +4 "core" &K M\ + "collection"'1& +4 "core" &\\IJ\ _ + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&*% +3 "core" %  g  +2 "storage"(C% +55 "core" %  )\ +2 "storage"((. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K R\  +2 "manipulator"&,& +4 "core" & F < + .tElbow.seek 6 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&W& +3 "core" & ' < +2 "storage"(g& +4 "core" &K 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +99 "core" ' + "storage"(& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'r +300 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +2 "core" & < +2 "storage"(& +4 "core" &K ! *\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&~'< +14 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(\ - +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('p +31 "core" ' + "manipulator"&\\% +4 "core" %7 + D +2 "storage"(j& +3 "core" &K t\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 295 counts +2 "manipulator"& 'c +14 "core" ' + "manipulator"&+& +4 "core" & ! < +2 "storage"(M& +4 "core" &K 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(6' +36 "core" ' + "manipulator"&& +5 "core" & \\ < + "manipulator"&9% +4 "core" % E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +151 "core" ( + "manipulator"&4& +4 "core" &Ӊ) _ Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &Ӊ( Ae +2 .tForearm.seek CC + "manipulator"&y'? +94 "core" ' +2 .tHand.close + "manipulator"&L/ +61 "core" / +2 .tCC.seek :open + "collection"'#( +450 "core" ( +2 "storage"(m& +4 "core" &K & , O\  + "storage"(e& +4 "core" &K  # \  + "manipulator"& & +4 "core" &ӊ) + Ad +2 "manipulator"&% +3 "core" % 5  + +2 .tForearm.seek :retract + "manipulator"&'' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&^( +168 "core" ( + "manipulator"&K& +4 "core" & 2  +2 "storage"(c& +3 "core" &K W X p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&P'< +96 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +61 "core" 1 +2 "manipulator"&% +4 "core" % J M . + "storage"(D& +4 "core" &K [ `\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&]'v +29 "core" ' + "manipulator"&t& +4 "core" & O  +2 "storage"(_& +3 "core" &K z y A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&3' +22 "core" ' + "storage"(% +5 "core" % ] y 8\ +2 ."downElevator"SE.seek :down +3 "storage"([' +99 (% +2 "core" %? @ ? '\ Wc +2 "manipulator"&l% +4 "core" %  , ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&`' +94 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'5& +3 "core" &&& \ +2 "manipulator"&T% +3 "core" %  _  +2 "storage"("% +3 "core" % Y ]\ +2 "storage"(U. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(k(  +1298 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &  Z V *\ +2 "manipulator"&;& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"& ( +8 "core" ( + "manipulator"&0& +4 "core" & E  +2 "storage"(>& +3 "core" &    \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&i'S +94 "core" ' + "storage"(& +4 "core" &  ? ; +\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &   /\ +2 "manipulator"&& +3 "core" & 5  +2 .tElbow.seek 2 + "manipulator"&w( +3 "core" ( +2 "manipulator"&.& +3 "core" &  +2 "storage"(o& +3 "core" &    \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & + "storage"({' +7 "core" & S  +2 "manipulator"&n% +3 "core" %  B +2 .tForearm.seek :retract +2 "manipulator"&I' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ' + ( +2 ."downElevator"SE.coast +2 "manipulator"&& +2 "storage"(5 +6 "core" &ӂ( \\ @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &ӂ'  @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +104 "core" ' + "manipulator"&F& +5 "core" &Ӄ( ! @\\ +2 "manipulator"&&% +4 "core" %: ( ) +2 "collection"'?& +3 "core" &&(1\ +3 "collection"'h& +6 "core" &)' \ + .tCC.seek :closed +2 "collection"'S(\\ +4 "core" &'('\ +8 &4'''\ $d +9 &Wv&%#\ 7 +9 &t'(\ K +10 &S('\ L +9 &iR)*\ L +9 &+R*)\ L +10 &S((\ L +9 &S()\ L +10 &qS'(\ L +9 &3S+)\ L +9 &S(*\ L +10 &!R*)\ L +9 &#yS++\ L +9 &%;S*,\ L +10 &&S*)\ L +9 &(T,,\ L +10 &*Q,- \ L +9 &,CT*. \ L +9 &.T,+\ L +10 &/T/. \ L +9 &1Q-- \ L +9 &3KT-,\ L +10 &5 T1.\ L +9 &6R0.\ L +10 &8U//\ L +9 &:SR0.\ L +9 &<U/.\ M +10 &=U/0\ L +9 &?W01\ L +10 &AYV11\ M +9 &CY33\ M +9 &Dh34\ N +10 &Fu68\ P +9 &HL;:\ T +9 &J=>\ X +10 &K@@\ Y +9 &MA@\ Y +10 &ODB@\ Y +9 &Q?B\ Z +9 &R@C\ Z +10 &TDC\ [ +9 &VDBA\ \\ +9 &XDD\ ] +10 &YCE\ ] +9 &[DG\ K +10 &\\5HG\ 6 +9 &\\rFI\ T + ( +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.29 + .Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&Q% +4 "core" % : ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%!& +4 "core" &\ +2 "manipulator"&b% +3 "core" %  E  +2 "storage"(<% +3 "core" % W\ +2 "storage"(p. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(Y(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (|& +2 "core" &  /\  +2 "manipulator"&)& +3 "core" &Ӆ( T @Z +2 "manipulator"&%% +3 "core" %  @  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&E( +165 "core" ( + "manipulator"&J& +5 "core" & E  + "storage"(u& +4 "core" &  ! I\  +52 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&R'S +96 "core" ' + "storage"(A& +5 "core" &    [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &   \  +2 "manipulator"&s& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&G( +3 "core" ( + "manipulator"&2& +4 "core" & q  +2 "storage"(x& +3 "core" &  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&:'Ͻ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +2 "storage"(C' +7 "core" & .  + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&(' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +72 "core" ( + "manipulator"&,& +4 "core" & A  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" & e  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&g' +101 "core" ' + "manipulator"&}& +5 "core" & 8  + "manipulator"&% +4 "core" % ! + "processing"%q& +4 "core" &\ +2 "processing"%z& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\ +9 & -\ $c +9 &Uw\ 7 +10 &~y\ L +9 &Q\ N +10 &XU\ O +9 &S\ O +9 &P\ N +10 &Q\ N +9 &aT\ N +9 &"U\ O +10 &T\ N +9 &!N\ O +10 &#hR\ O +9 &%+N\ N +9 &&Q\ N +10 &(T\ O +9 &*oS\ O +9 &,2O\ O +10 &-O\ N +9 &/R\ N +10 &1xU\ O +9 &3:V\ O +9 &4O\ N +10 &6R\ O +9 &8V\ O +9 &:BO\ O +10 &<R\ N +9 &=S\ N +10 &?U\ O +9 &AG\\\ P +9 &Cl\ Q +10 &D}\ S +9 &F~\ U +9 &H@\ U +10 &J\ U +9 &K\ V +10 &M\ V +9 &OE\ V +9 &Q\ W +10 &R\ W +9 &T\ W +9 &VK\ V +10 &X \ W +9 &Y\ W +10 &[\ V +9 &]Q\ H +9 &^wBy\ %n +10 &^?\ 3 +5 ( +2 "processing"%z& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 +2 .Hand.open + "manipulator"&Z1 +3 "core" &^ \ 3 +50 1 + "manipulator"&a% +4 "core" %  7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +88 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%& +4 "core" &^ \ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&\ % +4 "core" %  7  +2 "storage"(\\% +3 "core" % 9\ +2 "storage"(j. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(+(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (M& +3 "core" &  9\  +2 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & :  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&9( + "storage"('r +5 "core" ( +2 "manipulator"&X& +3 "core" & )  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" & \  +2 .tForearm.seek PC + "manipulator"&~' +95 "core" ' + .tHand.close +2 "manipulator"& / +73 "core" / +2 .tPC.seek :open + "processing"%( +81 "core" ' + "storage"(4- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'1 +47 "core" ' +320 ( + "storage"(& +4 "core" &  #\  +2 "manipulator"&f& +3 "core" & %  +2 "manipulator"&L% +3 "core" %  * 8 +2 .tForearm.seek :retract +2 "manipulator"&B' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&O( +246 "core" ( + "manipulator"&m& +4 "core" &  C +2 "storage"(e& +3 "core" &  M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'S +96 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(K- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(c' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(y' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' +2 "storage"(/& +3 "core" &  B D \ e +2 "manipulator"&& +3 "core" &  b C +2 .tElbow.seek 2 + "manipulator"&D( +4 "core" ( + "manipulator"&t& +4 "core" &   C + "storage"(_& +4 "core" &  / ; \ d +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(''" +60 "core" ' + "manipulator"&& +4 "core" &  C +2 "storage"(l& +4 "core" &  X\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&^'Α +21 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(]' +20 "core" ' + "manipulator"&6% +5 "core" %Ο Y + "storage"(3& +5 "core" &  \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&[' +27 "core" ' + "manipulator"&& +5 "core" &  C + "storage"(5& +4 "core" &  T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&T'S +16 "core" ' + "storage"("% +5 "core" % B\ +2 ."downElevator"SE.seek :down +3 "storage"(U' +100 (% +2 "core" %G \ Wh +2 "manipulator"&;% +4 "core" %C N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0' +96 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (>& +4 "core" &  A\ + "collection"'& +4 "core" &\\lFF\ T +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&7% +4 "core" %  E  + "storage"(`% +4 "core" %\ + "storage"(. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (& +2 "core" &  ?\  +2 "manipulator"&.& +4 "core" & A C + .tElbow.seek 2 +2 "manipulator"&o( +3 "core" ( + "manipulator"&H& +4 "core" & + C +2 "storage"( & +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'S +94 "core" ' + "storage"( & +5 "core" &   ~\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'r +297 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +2 "core" & l C +2 "storage"(-& +3 "core" &  w\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&'Α +20 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +54 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(w'h +30 "core" ' + "manipulator"&?% +4 "core" %Η J = +2 "storage"({& +3 "core" &  )\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 306 counts +2 "manipulator"&I' +16 "core" ' + "manipulator"&#& +5 "core" & 4 C + "storage"(& +4 "core" &  `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(!' +39 "core" ' + "manipulator"&b& +5 "core" & V C + "manipulator"&<% +5 "core" %Y  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +153 "core" ( + "manipulator"&|& +4 "core" &Ӕ% H >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &Ӕ% M >M +2 .tForearm.seek CC + "manipulator"&%'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open + "collection"'J( +450 "core" ( + "storage"(u& +4 "core" &  @ ? \  +2 "storage"(k& +3 "core" &  ? ? _\  +2 "manipulator"&& +3 "core" &ӕ% >L +2 "manipulator"&A% +3 "core" % M F N +2 .tForearm.seek :retract +2 "manipulator"&=' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&r( +165 "core" ( + "manipulator"&d& +4 "core" & "  +2 "storage"(s& +3 "core" &  T W p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&2'Α +96 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&11 +55 "core" 1 +2 "manipulator"&*% +4 "core" % Έ ) < + "storage"(& +4 "core" &  c Y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 291 counts +2 "manipulator"&E'ϴ +39 "core" ' +2 "manipulator"&R& +4 "core" & e  +2 "storage"(& +3 "core" &  X \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&:'S +23 "core" ' + "storage"(,% +5 "core" % y !\ +2 ."downElevator"SE.seek :down +3 "storage"(W' +100 (G% +2 "core" %C 9 ? \ Wc +2 "manipulator"&}% +4 "core" %] G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'q& +4 "core" &&& \ + "manipulator"&C% +4 "core" %    +2 "storage"((% +3 "core" % V W \ +2 "storage"($. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(Z( +348 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (a& +2 "core" & B U\  + "manipulator"&& +4 "core" & $  +2 .tElbow.seek 3 + "manipulator"&\ ( +14 "core" ( + "manipulator"&\\& +4 "core" & ^  +2 "storage"(j& +3 "core" & B = \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&M'7 +96 "core" ' + "storage"(z& +4 "core" & ] Y w\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" &  \  +2 "manipulator"&g& +3 "core" & j  +2 .tElbow.seek 3 + "manipulator"& ( +3 "core" ( +2 "manipulator"&Y& +3 "core" &   +2 "storage"(4& +3 "core" & ! \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +34 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(' +4 "core" &   + "manipulator"&% +4 "core" % ϗ  s +2 .tForearm.seek :retract +2 "manipulator"&f' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&L(ӂ +154 "core" ( + "manipulator"&~& +5 "core" &y+  Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" ' + &y+ T Cq +2 ."downElevator"SE.coast +2 .tForearm.reconfigure :tight + "storage"(5 +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&e'? +93 "core" ' + "manipulator"&9& +4 "core" &ә& ?Q +2 "manipulator"&% +4 "core" %D ' u +2 "collection"'K& +3 "core" &$)\ +3 "collection"'8& +4 "core" &%&\ +2 .tCC.seek :closed +2 "collection"'/(\\ +4 "core" &%(\ +8 &;%%\ %g +9 &Wv%'\ 7 +10 &v((\ L +9 &Q%)\ L +9 &~T&)\ L +10 &AT'(\ L +9 &T)'\ L +10 &W*'\ L +9 &T%(\ L +9 &IS(*\ L +10 & S*(\ L +9 &!W*)\ \ L +9 &#T'*\ \ L +10 &%QT++ \ L +9 &'T)+\ L +10 &(T,-\ L +9 &*W,. \ L +9 &,XS.,\ L +10 &.T,.\ L +9 &/S.+\ L +9 &1U//\ L +10 &3aT/0\ L +9 &5$T0-\ K +10 &6U//\ L +9 &8T00\ L +9 &:gU0.\ L +10 &<*R.0\ L +9 &=U00\ L +9 &?U00\ L +10 &AnZ33\ M +9 &C/a45\ M +10 &Dl79\ O +9 &F=<\ R +9 &H[HF\ V +10 &JJL\ X +9 &KHN\ X +9 &MNM\ Y +10 &O[MN\ Y +9 &QPO\ Z +10 &RPQ\ Z +9 &TPO\ [ +9 &V[SS\ [ +10 &XRS\ \\ +9 &YSR\ ^ +9 &[WT\ J +10 &\\7VV\ 0 +9 &\\UU\ [ +2 ( +2 "collection"'8& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&t% +4 "core" % D $ u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +94 "core" ' +2 .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%B& +4 "core" &\ + "manipulator"&% +4 "core" %  P  + "storage"(l% +4 "core" %  3\ +2 "storage"(6. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (3& +2 "core" & 0\  +2 "manipulator"&c& +3 "core" &Ӛ& ?P +2 "manipulator"&% +3 "core" %  T  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&5( +170 "core" ( + "manipulator"&"& +4 "core" &  +2 "storage"(O& +3 "core" & b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +92 "core" ' + "storage"(y& +4 "core" & # h\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & o\  +2 "manipulator"&D& +3 "core" & Q  +2 .tElbow.seek 3 + "manipulator"&'( +3 "core" ( +2 "manipulator"&^& +3 "core" & /  +2 "storage"([& +3 "core" & .\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&>'ϡ +46 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +68 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&7& +3 "storage"(`' +7 "core" & X  + "manipulator"&]% +4 "core" % Ϩ H I +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.seek PC + "manipulator"&( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( +2 "manipulator"&.& +4 "core" & q 0 +52 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &H& +3 "core" & @ 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& ' +92 "core" ' + "manipulator"&T& +5 "core" & 0 + "manipulator"& % +4 "core" % i +2 "processing"%U& +4 "core" &\ +2 "processing"%+& +5 "core" &\ +2 .tPC.seek :closed + "processing"%P(^ +4 "core" &\ +9 & %\ #b +9 &U{\ 8 +9 &~u\ L +10 &Q\ O +9 &XP\ N +10 &Q\ N +9 &T\ O +9 &Q\ O +10 &_T\ O +9 &!R\ O +9 &O\ O +10 &!R\ N +9 &#gU\ O +10 &%)Q\ O +9 &&O\ N +9 &(R\ N +10 &*oU\ O +9 &,2T\ N +9 &-N\ O +10 &/U\ O +9 &1wW\ O +10 &39U\ O +9 &4T\ N +9 &6R\ N +10 &8R\ N +9 &:BQ\ N +9 &<R\ N +10 &=S\ N +9 &?U\ O +10 &AGY\ O +9 &Cg\ Q +9 &Dr\ R +10 &F~\ T +9 &H?\ U +9 &J\ U +10 &K\ U +9 &M\ V +10 &OE\ U +9 &Q\ V +9 &R\ V +10 &T\ W +9 &VK\ V +9 &X \ V +10 &Y\ V +9 &[\ V +10 &]P\ I +9 &^wD\ $m +9 &^>\ 3 +5 ( +2 "processing"%+& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&01 +3 "core" &^ \ 3 +60 1 + "manipulator"&% +4 "core" %  F i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +98 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%-& +4 "core" &^ \ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&&% +3 "core" %  '  +2 "storage"(?% +4 "core" % d\ + "storage"({. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(#( +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "manipulator"&b& +4 "core" & \ C\  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" & = 0 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&<( + "storage"(n'r +5 "core" ( + "manipulator"&o& +4 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" & G 0 +2 .tForearm.seek PC + "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&I/ +71 "core" / +2 .tPC.seek :open + "processing"%w( +83 "core" ' + "storage"(|- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'1 +40 "core" ' +325 ( +2 "storage"(Q& +4 "core" & ?\  +2 "manipulator"&F& +3 "core" & 0 +2 "manipulator"&% +3 "core" %   +2 .tForearm.seek :retract + "manipulator"&p' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&S( +246 "core" ( + "manipulator"&u& +4 "core" & Z D +2 "storage"(k& +3 "core" & j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +93 "core" ' + .tHand.open + "manipulator"&A1 +56 "core" 1 +3 "storage"(d- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(s' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(%' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"(1& +3 "core" & P O \ f +2 "manipulator"&*& +3 "core" & \ O D +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&R& +4 "core" & D + "storage"(& +4 "core" & F O d\ f +2 .tForearm.seek 3 + 450 counts + "manipulator"&,'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(='" +50 "core" ' + "manipulator"&G& +5 "core" & D + "storage"(}& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&r'u +14 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(E' +32 "core" ' + "manipulator"&q% +5 "core" %{ F a + "storage"(C& +4 "core" & <\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&('ϧ +27 "core" ' + "manipulator"&$& +5 "core" & 2 D + "storage"(!& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&:'7 +16 "core" ' + "storage"(W% +5 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (a% +2 "core" %D \ Xg +2 "manipulator"&% +4 "core" %! P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +97 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (j& +4 "core" &  +\ + "collection"'z& +4 "core" &\\zWW\ [ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&x% +4 "core" %  Q  + "storage"(% +4 "core" % 3\ +2 "storage"(X. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(V( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (g& +2 "core" & C\  +2 "manipulator"&Y& +4 "core" & + D +2 .tElbow.seek 3 + "manipulator"&4( +3 "core" ( +2 "manipulator"&N& +3 "core" & D +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +96 "core" ' + "storage"(\ & +5 "core" & Q\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'r +300 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +2 "core" & 0 D +2 "storage"(& +3 "core" &  n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'u +14 "core" ' + .tElbow.hold +2 "manipulator"&9, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(K'n +30 "core" ' + "manipulator"& % +4 "core" %y F _ +2 "storage"(& +3 "core" & 4\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 304 counts + "manipulator"&f'ϥ +27 "core" ' + "manipulator"&J& +4 "core" & a D +2 "storage"(& +4 "core" & 2\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&t'7 +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(B' +38 "core" ' + "manipulator"&& +5 "core" & : D + "manipulator"&l% +4 "core" %D a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&6' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +154 "core" ( + "manipulator"&3& +4 "core" &ӓ& ?P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +2 "core" &ӓ&  ?P +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close + "manipulator"&e/ +65 "core" / +2 .tCC.seek :open + "collection"'"( +446 "core" ( + "storage"(O& +55 "core" & @ A b\  +3 "storage"(Z& +3 "core" & +  \  +2 "manipulator"&y& +3 "core" &Ӗ% : >M +2 "manipulator"&L% +3 "core" % 9 ; 4 +2 .tForearm.seek :retract +2 "manipulator"&_' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&;( +165 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(D& +4 "core" & X W f\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&^'u +99 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +64 "core" 1 +3 "manipulator"&7% +4 "core" % p  + "storage"(]& +4 "core" & . % '\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 295 counts + "manipulator"&5'Ϝ +27 "core" ' + "manipulator"& & +4 "core" & 7  +2 "storage"(& +4 "core" & y v ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&>'7 +16 "core" ' + "storage"(.% +5 "core" % x k\ +2 ."downElevator"SE.seek :down +3 "storage"(H' +100 ('% +2 "core" %B ? A \ Wd +2 "manipulator"&T% +4 "core" %5 - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'U& +4 "core" &%&\ + "manipulator"&`% +4 "core" %   +2 "storage"(% +4 "core" % Y W\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(0(,y +375 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &,} V X\ +2 "manipulator"&-& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&&( +41 "core" ( + "manipulator"&?& +4 "core" & I  +2 "storage"({& +3 "core" &,} V W \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&+' +97 "core" ' + "storage"(& +4 "core" &,} '\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +299 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" &,} Z U \ +2 "manipulator"& & +4 "core" & T  +2 .tElbow.seek 4 + "manipulator"&I( +3 "core" ( + "manipulator"&@& +4 "core" &  +2 "storage"(|& +3 "core" &,} _ a\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(n' +7 "core" &  + "manipulator"&Q% +4 "core" % τ ^ +2 .tForearm.seek :retract +2 "manipulator"&F' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( + ' +2 ."downElevator"SE.coast +2 "manipulator"&& +2 "storage"(5 +6 "core" &ӏ  1 :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &ӏ  :1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&k'? +93 "core" ' +2 "manipulator"&<& +4 "core" &ӏ!  :1 +2 "manipulator"&A% +4 "core" %; r +2 "collection"'d& +3 "core" &'&\ +3 "collection"'h& +4 "core" &'' \ +2 .tCC.seek :closed +2 "collection"'1(\\ +3 "core" &&'\  +10 &5{('\ +{ +9 &\ e|%&\ > +10 &m&'\ L +9 &VT))\ L +10 &R((\ K +9 &T'(\ L +9 &V*+\ L +10 &_Q**\ L +9 &"U)(\ K +9 &T*+\ L +10 & U+, \ L +9 &"gW,)\ L +10 &$)W*, \ L +9 &%R,+\ L +9 &'T,- \ L +10 &)oW-.\ L +9 &+0W.- \ L +9 &,R./\ L +10 &.T//\ L +9 &0wW/-\ L +10 &29R/.\ L +9 &3T/0\ K +9 &5U//\ L +10 &7U/-\ L +9 &9@T01\ L +9 &;U00\ L +10 &<V00\ L +9 &>V12\ L +10 &@HY01\ L +9 &B X32\ L +9 &C]65\ M +10 &Ei97\ N +9 &GB}<;\ Q +9 &HFD\ U +10 &JKH\ W +9 &LtMK\ X +10 &N3NL\ Y +9 &OLL\ Y +9 &QON\ Z +10 &SrRN\ [\ +9 &U6OQ\ Z +9 &VQS\ \\ +10 &XQR\ \\ +9 &ZuVU\ ] +10 &\\zVY\ 3 +9 &\\/YW\ _ +8 ( +2 &\\hXY\ R +2 "collection"'h& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&*1 +64 "core" 1 +3 "manipulator"&R% +4 "core" % ;  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%p& +4 "core" &\ +2 "manipulator"&G% +3 "core" %  S  +2 "storage"(}% +3 "core" % y\ +2 "storage"(q. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(C(,y +10 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ()& +2 "core" &,{ V\ +2 "manipulator"&$& +3 "core" &ӏ! & :1 +2 "manipulator"&!% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&s( +163 "core" ( + "manipulator"&W& +4 "core" &   +2 "storage"(S& +3 "core" &,z   4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +99 "core" ' + "storage"(%& +4 "core" &,z  ! N\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +2 "core" &,z Q\ +2 "manipulator"&& +3 "core" & \\  +2 .tElbow.seek 4 + "manipulator"&=( +3 "core" ( +2 "manipulator"&r& +3 "core" &   +2 "storage"(j& +3 "core" &,z \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&('c +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +4 "storage"(' +3 "core" & V  +2 "manipulator"&E% +4 "core" % ϒ 7 + .tForearm.seek :retract +2 "manipulator"&X' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&g( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +92 "core" ( +2 "manipulator"&Y& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +2 "core" & =  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&:& +4 "core" &  +2 "manipulator"&\ % +4 "core" % A + "processing"%& +4 "core" &\ +2 "processing"%#& +5 "core" &\ +2 .tPC.seek :closed + "processing"%2(^ +4 "core" &\ +9 & -\ #b +9 &Tw\ 7 +10 &~v\ L +9 &P\ N +9 &QO\ O +10 &O\ O +9 &T\ N +10 &O\ O +9 &ZO\ N +9 &R\ O +10 &Q\ O +9 &!N\ O +9 &#bT\ N +10 &%#N\ O +9 &&R\ O +10 &(O\ O +9 &*iT\ O +9 &,+R\ O +10 &-M\ N +9 &/Q\ N +9 &1qT\ O +10 &34U\ N +9 &4P\ N +10 &6Q\ N +9 &8zR\ N +9 &:;Q\ O +10 &;Q\ O +9 &=R\ N +9 &?S\ O +10 &A?Y\ P +9 &Bh\ Q +10 &Ds\ S +9 &Fv\ U +9 &H8\ U +10 &I\ U +9 &K\ U +9 &M{\ V +10 &O>\ V +9 &P\ W +10 &R\ W +9 &T\ W +9 &VB\ W +10 &X\ W +9 &Y\ V +9 &[\ W +10 &]J\ K +9 &^|N\ !f +10 &^.\ 7 +2 ( +2 "processing"%#& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 + .Hand.open + "manipulator"&\\1 +60 "core" 1 + "manipulator"&~% +4 "core" %  ! A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +54 "manipulator"&m' +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^-\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %    +2 "storage"( % +3 "core" % !\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(J(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "manipulator"&& +4 "core" &,z g\  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(l'r + "manipulator"&( +5 "core" ( + "manipulator"&4& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&f/ +68 "core" / +2 .tPC.seek :open + "processing"%K( +86 "core" ' + "storage"(3- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'1 +40 "core" ' +322 ( + "storage"(t& +4 "core" &,z  \  +2 "manipulator"&9& +3 "core" &   +2 "manipulator"&e% +3 "core" %  G > +2 .tForearm.seek :retract +2 "manipulator"&6' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&/( +238 "core" ( + "manipulator"&O& +4 "core" & Q - +2 "storage"(Z& +3 "core" &,z G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&y' +101 "core" ' + .tHand.open + "manipulator"&L1 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(D' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +57 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' +2 "storage"(& +3 "core" &,z\ \ X\ W +2 "manipulator"&7& +3 "core" & \  ` , +2 .tElbow.seek 4 + "manipulator"&]( +4 "core" ( + "manipulator"& & +4 "core" &   * , + "storage"(& +4 "core" &,z\ \  =\ W +2 .tForearm.seek 4 + 450 counts + "manipulator"&.' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +51 "core" ' + "manipulator"&'& +5 "core" & , + "storage"(T& +4 "core" &,z N\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&;'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(U' +28 "core" ' + "manipulator"&5% +5 "core" %2 $ @ + "storage"(`& +4 "core" &,z % H\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 295 counts + "manipulator"&'^ +15 "core" ' + "manipulator"&& +5 "core" & 5 , + "storage"(B& +4 "core" &,z   /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&>' +21 "core" ' + "storage"(H% +5 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(V' +100 (% +2 "core" %$F \ Xh +2 "manipulator"&-% +4 "core" % _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +96 "core" ' +62 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 ({& +3 "core" &,z  ! T\ +2 "collection"'& +4 "core" &\\hXY\ R + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&[% +4 "core" %  v  +2 "storage"( % +3 "core" % ( &\ +2 "storage"(o. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(i(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ( & +3 "core" &,z   \  +2 "manipulator"&@& +3 "core" & U , +2 .tElbow.seek 4 + "manipulator"&|( +4 "core" ( + "manipulator"&v& +4 "core" & , + "storage"(P& +4 "core" &,z !  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +95 "core" ' + "storage"(&& +4 "core" &,z  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +2 "core" & L , +2 "storage"(b& +4 "core" &,z  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(A- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(d'k +31 "core" ' + "manipulator"&I% +4 "core" %> 2 " +2 "storage"(n& +3 "core" &,z S\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 307 counts + "manipulator"&F'j +24 "core" ' + "manipulator"&"& +4 "core" & , +2 "storage"(*& +4 "core" &,z   B\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&R' +22 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(p' +36 "core" ' + "manipulator"&G& +5 "core" & G , + "manipulator"&}% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&q' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +155 "core" ( + "manipulator"&)& +4 "core" &Ӎ) , A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &Ӎ( * A` + .tForearm.seek CC +2 "manipulator"&!'? +97 "core" ' + .tHand.close + "manipulator"&k/ +57 "core" / +2 .tCC.seek :open + "collection"'W( +452 "core" ( + "storage"(S& +4 "core" &,z 3 <\  +2 "storage"(0& +3 "core" &,z @ @ 9\  +2 "manipulator"&%& +3 "core" &ӗ&  ?V +2 "manipulator"&% +3 "core" % * 5 Q +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +166 "core" ( + "manipulator"&,& +4 "core" & R  +2 "storage"(& +3 "core" &,z ` ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&r'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&z1 +54 "core" 1 +2 "manipulator"&x% +4 "core" % ; % [ + "storage"(E& +4 "core" &,z w v )\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 304 counts + "manipulator"&s'g +16 "core" ' +2 "manipulator"&& +4 "core" & &  +2 "storage"(a& +3 "core" &,z z &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&(' +18 "core" ' + "storage"(Y% +5 "core" % } ~ Z\  +53 ."downElevator"SE.seek :down +3 "storage"(N' +100 (=% +2 "core" %FA 9 ;\ Wc +2 "manipulator"&:% +4 "core" % I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +91 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &%)\ +2 "manipulator"&% +3 "core" %  /  +2 "storage"(X% +4 "core" % W V \ + "storage"(w. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(\\(<- +356 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (~& +3 "core" &<- % %\ \  + "manipulator"&#& +4 "core" & L  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & %  +2 "storage"( & +3 "core" &<- ' & 0\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + "storage"(& +4 "core" &<- @ C \ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &<-   0\ \  +2 "manipulator"&& +3 "core" & C  +2 .tElbow.seek 5 + "manipulator"&f( +3 "core" ( +2 "manipulator"&C& +3 "core" & w  +2 "storage"(3& +3 "core" &<- & ' \ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&g'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&m/ +69 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"(l' +7 "core" & H  + "Can"\ MJ +2 "manipulator"&t% +4 "core" % Ͽ +2 .tForearm.seek :retract + "manipulator"&9' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&e(ӂ +157 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &Ӕ$  =A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &Ӕ$ V =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Z'? +92 "core" ' + "manipulator"&& +5 "core" &ӕ# [ <@ + "manipulator"&L% +4 "core" %= C  +2 "collection"'& +3 "core" &'&\ +3 "collection"'8& +6 "core" &$)\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &)&\ +9 &;)' \ $e +9 &Vw%(\ 7 +10 &w('\ L +9 &Q()\ L +10 &wT)*\ L +9 &8T((\ L +9 &T((\ L +10 &T*)\ \ L +9 &T,*\ L +9 &AT**\ L +10 & T)+\ L +9 &!S,,\ L +10 &#T*,\ \ L +9 &%HS++ \ L +9 &'\ S,,\ \ L +10 &(T--\ L +9 &*T,.\ L +9 &,PT--\ L +10 &.T,.\ L +9 &/S./\ L +10 &1U-.\ M +9 &3XT//\ L +9 &5T00\ L +10 &6U00\ L +9 &8Q20\ L +9 &:_U10\ L +10 && +4 "core" & 7 ? +2 "manipulator"&&% +4 "core" % \ + "processing"%V& +4 "core" & \ +2 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed + "processing"%^(^ +4 "core" &\ \ +10 &0s\ )w +10 &a}\ > +9 &en\ O +9 &&O\ O +10 &N\ O +9 &L\ N +9 &mO\ N +10 &.N\ O +9 &O\ O +10 &O\ O +9 & tO\ O +9 &"7N\ N +10 &#Q\ N +9 &%M\ O +9 &'|O\ O +10 &)?N\ N +9 &+P\ O +10 &,T\ O +9 &.R\ N +9 &0FQ\ O +10 &2P\ O +9 &3Q\ O +9 &5T\ O +10 &7NP\ O +9 &9R\ O +10 &:T\ O +9 &<Q\ N +9 &>UT\ O +10 &@V\ O +9 &Aa\ P +9 &Cm\ R +10 &EN}\ T +9 &G \ U +10 &H\ U +9 &J\ U +9 &LS\ U +10 &N\ W +9 &O\ V +9 &Q\ W +10 &SV\ W +9 &U\ W +10 &V\ W +9 &X\ V +9 &Z_\ V +10 &\\ \ W +9 &]\ 6 +9 &^.k\ Q +10 &^-\ 8 + ( +2 "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.74 + .Hand.open + "manipulator"&?1 +55 "core" 1 + "manipulator"&% +4 "core" %  \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%b& +4 "core" &^-\ 8 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&A% +3 "core" %  P  +2 "storage"(I% +3 "core" % N\ +2 "storage"(n. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"("(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (*& +3 "core" &<- t\  +2 "manipulator"&G& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & ? +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&}( + "storage"(Q'r +6 "core" ( + "manipulator"&|& +4 "core" & * ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" & 8 ? +2 .tForearm.seek PC + "manipulator"&' +99 "core" ' + .tHand.close + "manipulator"&F/ +65 "core" / +2 .tPC.seek :open +2 "processing"%d( +84 "core" ' + "storage"()- +4 "core" -'r +52 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'1 +45 "core" ' +265 ( + "storage"(R& +4 "core" &<-  \  +2 "manipulator"&<& +3 "core" & 4 ? +2 "manipulator"&k% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&q' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&1( +243 "core" ( + "manipulator"&S& +4 "core" & J 5 +2 "storage"(0& +4 "core" &<- *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&%'O +93 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(,- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(!' +57 "core" ' +3 #tLights, camera, ACTION! + "storage"(h- +3 "core" -' +2 "storage"(z& +4 "core" &<- B\ E + "manipulator"&x& +4 "core" &  S 5 + .tElbow.seek 5 +2 "manipulator"&E( +3 "core" ( + "manipulator"&& +4 "core" &   5 + "storage"(a& +4 "core" &<- N\ F +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +64 "core" ' + "manipulator"&=& +5 "core" & C 5 + "storage"(:& +4 "core" &<- <\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +28 "core" ' + "manipulator"&% +4 "core" %Θ G : +2 "storage"(& +4 "core" &<- \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts + "manipulator"&X' +27 "core" ' + "manipulator"&w& +5 "core" & 5 + "storage"(p& +4 "core" &<-  [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +12 "core" ' +2 "storage"(N% +4 "core" % O\ +2 ."downElevator"SE.seek :down +3 "storage"(i' +100 (~% +2 "core" %G %\ Xi +2 "manipulator"&#% +4 "core" %R Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 ( & +4 "core" &<- 3\ + "collection"'& +4 "core" &\\yPP\ \\ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&j% +4 "core" %    + "storage"(\ % +4 "core" % \ + "storage"(4. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(M(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<- \  +2 "manipulator"&C& +3 "core" & A 5 +2 .tElbow.seek 5 + "manipulator"&3( +3 "core" ( +2 "manipulator"&m& +3 "core" & ] 5 +2 "storage"(2& +4 "core" &<- .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +92 "core" ' + "storage"(& +4 "core" &<- $ f\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&O& +3 "core" & I 5 +2 "storage"(& +3 "core" &<-  G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&g'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('k +29 "core" ' + "manipulator"&f% +4 "core" % d X +2 "storage"(l& +3 "core" &<-  B\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 286 counts + "manipulator"&9'ϫ +26 "core" ' + "manipulator"&W& +5 "core" & R 5 + "storage"(7& +4 "core" &<- %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +25 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(6' +40 "core" ' + "manipulator"&'& +5 "core" & 3 5 + "manipulator"&T% +4 "core" %b Z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&5' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +155 "core" ( + "manipulator"&c& +4 "core" &ӕ# \ << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӕ# : << +2 .tForearm.seek CC + "manipulator"&B'? +94 "core" ' + .tHand.close + "manipulator"&Z/ +75 "core" / +2 .tCC.seek :open + "collection"'H( +452 "core" ( + "storage"(/& +4 "core" &<- 6 )\  +2 "storage"(\\& +3 "core" &<-   8\  +2 "manipulator"&& +3 "core" &Ӗ# ; <; + "manipulator"&e% +4 "core" % (  $ +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&-( +164 "core" ( + "manipulator"&.& +4 "core" & D  +2 "storage"(]& +3 "core" &<- = A \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&;'΍ +99 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +65 "core" 1 +2 "manipulator"&[% +4 "core" % ΁ h b + "storage"(U& +4 "core" &<- W X }\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 288 counts + "manipulator"&D'ϭ +31 "core" ' +2 "manipulator"&y& +4 "core" &  +2 "storage"(& +3 "core" &<- W W i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +16 "core" ' + "storage"(@% +5 "core" % z g T\ +2 ."downElevator"SE.seek :down +3 "storage"(v' +100 (_% +2 "core" %HB 2 <\ Wd +2 "manipulator"&>% +4 "core" %Q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&&' +89 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'V& +4 "core" &&(\ + "manipulator"& % +4 "core" %  "  +2 "storage"(o% +3 "core" % y w }\ +2 "storage"(K. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(?(K +360 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K 3 7 ^\  +2 "manipulator"&b& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&A( +3 "core" ( + "manipulator"&I& +4 "core" &  +2 "storage"(n& +3 "core" &K M W M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&*' +96 "core" ' + "storage"(J& +4 "core" &K }  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +54 .tSE.seek :beamBreak +2 "storage"(G'r +300 "core" ' + "storage"(|- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (+& +3 "core" &K 3 3\  + "manipulator"&P& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&F( +3 "core" ( +2 "manipulator"&`& +3 "core" &  +2 "storage"()& +3 "core" &K X X h\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +2 "storage"(Q' +7 "core" & (  + "manipulator"&R% +4 "core" % π ! +2 .tForearm.seek :retract + "manipulator"&<' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&k(ӂ +158 "core" ( + "manipulator"&& +5 "core" &Ӓ# Y <> + ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +2 "manipulator"&$ &.,(#b +2 "storage"(5 +3 "manipulator"&S& +4 "core" &Ӓ# [ <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'? +100 "core" ' + "manipulator"&}& +5 "core" &Ӓ# <> + "manipulator"&% +4 "core" %F e ( +2 "collection"',& +3 "core" &*&\ +3 "collection"'h& +6 "core" &&*\ +2 .tCC.seek :closed +2 "collection"'z(\\ +3 "core" &&*\ +7 &&(\ : +9 &LKv)'\ 1 +10 &v{((\ E +9 &-X)'\ M +9 &U(*\ L +10 &T(*\ K +9 &vT'+\ L +10 &8Q*)\ L +9 &S+)\ L +9 &V))\ L +10 &~T+*\ L +9 &!@V)(\ L +9 &#T,,\ K +10 &$T*( \ L +9 &&T*,\ K +10 &(HT-,\ \ L +9 &* S./\ K +9 &+T/- \ L +10 &-T/.\ L +9 &/OX./\ L +9 &1T0/\ L +10 &2T00\ K +9 &4T.0\ L +10 &6XT.0\ L +9 &8U01\ L +9 &9T30\ L +10 &;S/1\ L +9 &=_U21\ L +10 &? U43\ L +9 &@V32\ L +9 &B\\55\ M +10 &Dcb66\ M +9 &Fu:9\ P +9 &G?<\ S +10 &IDB\ V +9 &KICF\ Y +10 &M ED\ Z +9 &NEF\ Z +9 &PGG\ Z +10 &RKGG\ [\ +9 &T\ GF\ \\ +9 &UGG\ \\ +10 &WIH\ ^ +9 &YLIJ\ ] +10 &[ KK\ ^ +9 &\\dGNL\ 4 +9 &\\MM\ Q +5 ( +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 +2 .Hand.open + "manipulator"&x1 +3 "core" &\\sMM\ Q +59 1 +2 "manipulator"&% +4 "core" % F 9 ( + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%q& +4 "core" &\ +2 "manipulator"&=% +3 "core" %  # +2 "storage"(:% +3 "core" % 1\ +2 "storage"($. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K \  +2 "manipulator"&& +3 "core" &ӓ# <= +2 "manipulator"&w% +3 "core" %  # # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&p( +162 "core" ( + "manipulator"&N& +4 "core" & F  +2 "storage"(1& +3 "core" &K  4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&%' +98 "core" ' + "storage"(!& +4 "core" &K   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'r +297 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &K D\  +2 "manipulator"&E& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & F  +2 "storage"( & +3 "core" &K\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&X'h +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&j& + "storage"(\ ' +7 "core" & _  +2 "manipulator"&s% +3 "core" % ω F +2 .tForearm.seek :retract +2 "manipulator"&4' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +96 "core" ( +2 "manipulator"&C& +4 "core" & = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" & a +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&2' +101 "core" ' + "manipulator"&(& +4 "core" & $ +2 "manipulator"&% +4 "core" % V  + "processing"%i& +4 "core" &\ +2 "processing"%"& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%r(^ +4 "core" &\ \ +10 &/t\ *y +9 &b{\ > +10 &jn\ O +9 &-O\ N +9 &R\ N +10 &Q\ N +9 &rN\ O +10 &4R\ O +9 &R\ O +9 &O\ N +10 & {P\ N +9 &"<M\ O +9 &#S\ N +10 &%N\ O +9 &'R\ O +10 &)ER\ N +9 &+N\ O +9 &,R\ O +10 &.P\ O +9 &0MP\ N +9 &2Q\ O +10 &3T\ O +9 &5O\ O +10 &7UQ\ N +9 &9Q\ O +9 &:T\ O +10 &<N\ O +9 &>]R\ N +9 &@T\ O +10 &A^\ P +9 &Cj\ R +10 &EWx\ S +9 &G\ U +9 &H\ U +10 &J\ U +9 &LY\ U +9 &N\ W +10 &O\ V +9 &Q\ W +10 &S\\\ W +9 &U\ W +9 &V\ W +10 &X\ W +9 &Zd\ W +9 &\\&\ W +10 &]\ 4 +9 &^5r\ = +9 ( +2 &^ \ / + "processing"%"& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&1 +61 "core" 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^ \ / + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&L% +3 "core" %  > \ +2 "storage"(f% +3 "core" % \ +2 "storage"(l. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(W(K +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +3 (7& +3 "core" &K \  +2 "manipulator"&'& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & a +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&T( +3 "storage"(t'r +3 "core" ( + "manipulator"&3& +4 "core" & J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &  +2 .tForearm.seek PC +2 "manipulator"&g' +99 "core" ' + .tHand.close + "manipulator"&9/ +67 "core" / +2 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(c- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +46 "core" ' +312 ( + "storage"( & +4 "core" &K  J\  +2 "manipulator"&& +3 "core" & g +2 "manipulator"&Z% +3 "core" %   \ +2 .tForearm.seek :retract + "manipulator"&5' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +240 "core" ( + "manipulator"&/& +4 "core" & L 0 +2 "storage"(\\& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' + .tHand.open + "manipulator"&e1 +61 "core" 1 +2 "storage"(.- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(B' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"(& +4 "core" &K Q W E\ i + "manipulator"&[& +4 "core" &   F 0 +2 .tElbow.seek 6 +2 "manipulator"&U( +56 "core" ( +2 "manipulator"&y& +4 "core" & 0 + "storage"(& +4 "core" &K h i K\ j +2 .tForearm.seek 6 + 450 counts + "manipulator"&@' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +55 "core" ' + "manipulator"&_& +5 "core" & A 0 + "storage"(>& +4 "core" &K :\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&-'< +14 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(V' +22 "core" ' + "manipulator"&D% +5 "core" %I U + "storage"( & +4 "core" &K 1\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&o'u +22 "core" ' + "manipulator"&K& +5 "core" & > 0 + "storage"(6& +4 "core" &K -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&{' +25 "core" ' + "storage"(v% +5 "core" % R\ +2 ."downElevator"SE.seek :down +3 "storage"(M' +100 (% +2 "core" %E \ Xh +2 "manipulator"&b% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (n& +4 "core" &K  \ + "collection"'J& +4 "core" &\\rKM\ Q +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %    +2 "storage"(&% +4 "core" % r\ + "storage"(|. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(+(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (P& +3 "core" &K   1\  +2 "manipulator"&`& +3 "core" & : 0 +2 .tElbow.seek 6 + "manipulator"&)( +3 "core" ( +2 "manipulator"&u& +4 "core" & C 0 + "storage"(^& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&R' +96 "core" ' + "storage"(A& +5 "core" &K & $ \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +42 "core" & ) / + "storage"(G& +4 "core" &K I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"& '< +24 "core" ' + .tElbow.hold +2 "manipulator"&}, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(,'e +27 "core" ' + "manipulator"&F% +4 "core" %M  +2 "storage"(Q& +3 "core" &K &\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&<'y +24 "core" ' + "manipulator"&H& +4 "core" & / +2 "storage"(x& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(q' +40 "core" ' + "manipulator"&=& +5 "core" & O / + "manipulator"&:% +4 "core" % I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +155 "core" ( +2 "manipulator"&& +4 "core" &Ә" < ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &Ә" $ ;3 +2 .tForearm.seek CC +2 "manipulator"&w'? +93 "core" ' + .tHand.close + "manipulator"&0/ +72 "core" / +2 .tCC.seek :open + "collection"'N( +449 "core" ( + "storage"(1& +4 "core" &K 2 1 -\  +2 "storage"(?& +3 "core" &K $  3\  +2 "manipulator"&!& +3 "core" &ә" R ;2 +2 "manipulator"&k% +3 "core" % - X \ +2 .tForearm.seek :retract + "manipulator"&a' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&#( +163 "core" ( + "manipulator"&Y& +4 "core" & '  +2 "storage"(E& +3 "core" &K W V s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&'< +92 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&j% +4 "core" % 8 + V + "storage"(s& +4 "core" &K X Y ~\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 296 counts + "manipulator"&p'd +15 "core" ' +2 "manipulator"&%& +4 "core" & G  + "storage"(~& +4 "core" &K V U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +20 "core" ' + "storage"(C% +5 "core" % \\ y \ +2 ."downElevator"SE.seek :down +3 "storage"(m' +100 (% +2 "core" %RC A A \ Wd +2 "manipulator"&(% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'i& +3 "core" &)(\ +2 "manipulator"&\ % +3 "core" %  {  +2 "storage"(4% +3 "core" % w v M\ +2 "storage"(d. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1296 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &  { _ G\ +2 "manipulator"&& +3 "core" & #  +2 .tElbow.seek 2 +2 "manipulator"&L( +2 "core" ( +2 "manipulator"&f& +3 "core" &  +2 "storage"(l& +3 "core" &  ] y \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&"'S +95 "core" ' + "storage"(7& +4 "core" &  p t M\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +291 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  = B \ +2 "manipulator"&2& +3 "core" & A  +2 .tElbow.seek 2 + "manipulator"&9( +3 "core" ( + "manipulator"&& +4 "core" &  + "storage"(c& +4 "core" &  Y X u\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& + "storage"(t' +7 "core" &  +2 "manipulator"& % +4 "core" %  ; + .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&Z(ӂ +159 "core" ' + ( +2 "manipulator"&g& + ."downElevator"SE.coast +6 "storage"(5 +3 "core" &ӏ% ( >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &ӏ% B >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'? +92 "core" ' +51 "manipulator"&T& +6 "core" &Ӑ% i >L +2 "manipulator"&e% +4 "core" %6 U ] + "collection"'.& +4 "core" &'(\ +2 "collection"'8& +5 "core" &)&\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &&'\  +10 &4}$)\ *z +10 & f|&)\ > +9 &n*'\ M +10 &TT*(\ L +9 &T))\ L +9 &T*)\ K +10 &T((\ L +9 &]S()\ L +9 &U*)\ L +10 &U**\ L +9 & W)+\ L +10 &"dT,,\ L +9 &$'T+,\ L +9 &%T+-\ L +10 &'U,, \ L +9 &)lW+,\ L +9 &+.U-,\ L +10 &,U0-\ L +9 &.U..\ L +10 &0uU,.\ L +9 &27T-/\ L +9 &3U0/\ L +10 &5U1-\ L +9 &7|U//\ L +9 &9>V23\ L +10 &;U//\ L +9 &<W00\ L +10 &>Y22\ L +9 &@FV31\ L +9 &BY35\ M +10 &C]55\ M +9 &Em47\ O +9 &G=:9\ R +10 &H?<\ U +9 &J??\ X +10 &LqBA\ X +9 &N0DB\ Y +9 &OBA\ Z +10 &QDB\ Z +9 &SsDE\ Z +9 &U1DD\ [ +10 &VDF\ \\ +9 &XEG\ ] +10 &ZsHF\ ] +9 &\\yIH\ 5 +9 &\\%KK\ $j +9 ( +2 &\\JI\ !` +2 "collection"'8& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&[1 +57 "core" 1 + "manipulator"&5% +4 "core" % 6  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&_% +3 "core" %    +2 "storage"(>% +4 "core" % \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(D(  +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 ( & +2 "core" &  0\  +2 "manipulator"&]& +4 "core" &ӑ% H >K + "manipulator"&K% +4 "core" %  -  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&6( +164 "core" ( + "manipulator"&& +4 "core" & B  +2 "storage"(v& +4 "core" &  3\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +93 "core" ' + "storage"(B& +4 "core" &    +\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &   \  +2 "manipulator"&U& +3 "core" & K  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&-& +3 "core" & *  +2 "storage"(o& +3 "core" &  O\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&n'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +75 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(&' +7 "core" &   + "manipulator"&V% +4 "core" % ϵ e +2 .tForearm.seek :retract + "manipulator"&|' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&P( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +73 "core" ( + "manipulator"&`& +5 "core" & M M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" & : M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&^' +97 "core" ' + "manipulator"&{& +4 "core" & [ M +2 "manipulator"&A% +4 "core" % a  + "processing"%M& +4 "core" &\ +2 "processing"%W& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%;(^ +4 "core" &\ +8 & -\ #a +10 &Tw\ 7 +9 &~v\ L +10 &T\ O +9 &XP\ N +9 &Q\ O +10 &Q\ O +9 &N\ O +9 &_N\ O +10 &"Q\ N +9 &P\ N +10 &!O\ N +9 &#hP\ N +9 &%)N\ O +10 &&N\ O +9 &(N\ O +9 &*oO\ O +10 &,1N\ O +9 &-L\ O +10 &/O\ O +9 &1wR\ O +9 &38T\ O +10 &4P\ N +9 &6Q\ O +9 &8~P\ O +10 &:AQ\ O +9 &<Q\ O +10 &=T\ O +9 &?T\ O +9 &AEW\ P +10 &Ch\ Q +9 &D}\ T +9 &F}\ U +10 &H?\ U +9 &I\ U +10 &K\ V +9 &M\ V +9 &OD\ V +10 &Q\ W +9 &R\ W +9 &T\ X +10 &VI\ W +9 &X \ V +10 &Y\ V +9 &[\ W +9 &]O\ I +10 &^xE\ #j +9 &^H\ 5 +5 ( +2 "processing"%W& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 +2 .Hand.open + "manipulator"&I1 +3 "core" &^%\ 5 +54 1 + "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&S' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%G& +4 "core" &^%\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %    +2 "storage"(F% +3 "core" % ;\ +2 "storage"(Q. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(H(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (x& +2 "manipulator"&=& +4 "core" &  $\  +2 & L M +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +4 "manipulator"&:( +4 ."raiseStack"SE.seek :beamBreak + "storage"(R'r +2 "core" ( +2 "manipulator"&)& +4 "core" & M + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" & M +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' + .tHand.close +2 "manipulator"&% +4 "core" %Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +152 "core" ( + "manipulator"& & +4 "core" &Ӑ& C @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &Ӑ'  @Z +2 .tForearm.seek CC + "manipulator"&K'? +94 "core" ' +2 .tHand.close + "manipulator"&\\/ +69 "core" / +2 .tCC.seek :open + "collection"'( +449 "core" ( + "storage"(v& +4 "core" &  ; ? G\  +2 "storage"(& +3 "core" &  1 * )\  +2 "manipulator"&B& +3 "core" &Ӓ' W @X +2 "manipulator"&Z% +3 "core" % >  r +2 .tForearm.seek :retract +2 "manipulator"&y' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&b( +164 "core" ( + "manipulator"&@& +4 "core" & <  +2 "storage"(U& +3 "core" &  W Y ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&-'Α +94 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&J1 +61 "core" 1 +2 "manipulator"&% +4 "core" % Ύ M + "storage"(V& +4 "core" &  U [\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 297 counts + "manipulator"&6'Ϻ +30 "core" ' +2 "manipulator"&& +4 "core" & 3  +2 "storage"(& +3 "core" &  ` ` 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&n'S +27 "core" ' + "storage"(`% +5 "core" % { z \ +2 ."downElevator"SE.seek :down +3 "storage"(u' +100 (% +2 "core" %xF I ? \ Vc +2 "manipulator"&{% +4 "core" %` !  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&A' +88 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'M& +4 "core" &'(\ + "manipulator"&&% +4 "core" %  5  +2 "storage"(|% +3 "core" % w y i\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(I( +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &" ' & \  + "manipulator"&G& +4 "core" & /  +2 .tElbow.seek 3 + "manipulator"&( +13 "core" ( + "manipulator"&F& +4 "core" &  +2 "storage"(Q& +3 "core" & ] W N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&W'7 +90 "core" ' + "storage"(x& +4 "core" & x m $\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='r +296 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" & U B O\ +2 "manipulator"&^& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&<( +3 "core" ( + "manipulator"&D& +4 "core" &  +2 "storage"(& +3 "core" & + A \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&P'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&S/ +56 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&;& +3 "storage"(R' +7 "core" &  +2 "manipulator"&% +4 "core" % Ϛ + .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&0(ӂ +158 "core" ' + ."downElevator"SE.coast + "storage"(5 +3 "core" ( +2 "manipulator"& & +3 "core" &Ӛ! ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" &Ӛ"  ;8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&?'? +92 "core" ' + "manipulator"&:& +5 "core" &Ӛ" > ;8 + "manipulator"&k% +4 "core" %G w + "collection"'Y& +4 "core" &(' \ +2 "collection"'h& +5 "core" &''\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &&'\  +9 &5{)(\ *z +10 & g}''\ ? +9 &l)'\ M +9 &\\S+*\ L +10 &W)*\ L +9 &T**\ K +9 &T))\ L +10 &eS**\ K +9 &&T+) \ L +10 &V++\ L +9 & R**\ K +9 &"lT-+\ L +10 &$-W*,\ L +9 &%T,-\ L +9 &'X,.\ L +10 &)uS.,\ K +9 &+6T/-\ L +10 &,R-.\ L +9 &.T..\ L +9 &0|R./\ L +10 &2>T.0\ L +9 &4S./\ L +9 &5U/1\ L +10 &7U20\ L +9 &9ES10\ L +10 &;T.1\ L +9 &<U12\ L +9 &>U11\ L +10 &@MV21\ L +9 &B [43\ M +9 &Ca56\ M +10 &Er::\ O +9 &GAAB\ S +10 &HLI\ V +9 &JNM\ X +9 &LwMN\ X +10 &N8MO\ Y +9 &OQP\ Z +9 &QOQ\ Z +10 &SxRR\ [ +9 &U:RT\ [ +10 &VRT\ \\ +9 &XST\ ] +9 &ZyTT\ ] +10 &\\yUV\ 2 +9 &\\0WV\ d +8 ( +2 &\\uWY\ S +2 "collection"'h& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + .Hand.open + "manipulator"&j1 +65 "core" 1 + "manipulator"&%% +4 "core" % G E w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&~' +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%$& +4 "core" &\ +2 "manipulator"&% +4 "core" % ! * ( +52 "storage"((% +5 "core" % \ + "storage"(q. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(X( +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & 6\  +2 "manipulator"&+& +3 "core" &Ӛ" R ;8 +2 "manipulator"&i% +4 "core" % ! ( ( + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&E( +165 "core" ( + "manipulator"&4& +4 "core" & R  +2 "storage"(z& +4 "core" & L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&!'7 +92 "core" ' + "storage"(w& +5 "core" &  %\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'r +294 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  !\  +2 "manipulator"&s& +3 "core" & %  +2 .tElbow.seek 3 +2 "manipulator"&a( +3 "core" ( + "manipulator"&#& +3 "core" &  +2 "storage"(m& +4 "core" &  \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&l'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +73 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +4 "storage"(' +4 "core" & v  + "manipulator"&p% +4 "core" % ϝ + .tForearm.seek :retract +2 "manipulator"&3' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&2( +171 "core" ' + ."downElevator"SE.coast + "storage"(5 +66 "core" ( + "manipulator"&& +4 "core" &  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" & U 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r' +98 "core" ' + "manipulator"&\ & +5 "core" & A 9 + "manipulator"&L% +4 "core" % @ + "processing"%d& +4 "core" &\ +2 "processing"%H& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\ \ +10 &/t\ *x +9 &b{\ > +10 &ko\ O +9 &-Q\ N +9 &S\ N +10 &M\ N +9 &rR\ O +9 &4Q\ O +10 &R\ O +9 &O\ O +10 & {N\ N +9 &"=O\ N +9 &#T\ O +10 &%P\ O +9 &'S\ O +9 &)DQ\ O +10 &+O\ N +9 &,O\ N +10 &.R\ O +9 &0MT\ N +9 &2Q\ O +10 &3T\ O +9 &5S\ O +9 &7TT\ O +10 &9T\ O +9 &:U\ O +10 &<O\ O +9 &>[R\ O +9 &@T\ O +10 &A]\ P +9 &Ch\ Q +9 &EWx\ S +10 &G\ U +9 &H\ U +10 &J\ U +9 &LX\ U +9 &N\ V +10 &O\ U +9 &Q\ W +9 &S\\\ W +10 &U\ W +9 &V\ W +10 &X\ V +9 &Zd\ W +9 &\\&\ W +10 &]y\ ; +9 &^2\ U +9 &^ \ 1 +2 ( +2 "processing"%H& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&f1 +64 "core" 1 + "manipulator"&g% +4 "core" %  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +93 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%'& +4 "core" &^ \ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&9% +4 "core" %  =  + "storage"(.% +4 "core" % \ + "storage"(t. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(N( +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ([& +2 "manipulator"&_& +5 "core" & ! 9 + & !\  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(>'r +2 "manipulator"& ( +5 "core" ( + "manipulator"&c& +4 "core" & K 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" & ' 9 +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&/ +72 "core" / +2 .tPC.seek :open + "processing"%e( +81 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'1 +40 "core" ' +327 ( + "storage"(5& +4 "core" & /\  +2 "manipulator"&T& +3 "core" & > 9 + "manipulator"&\\% +4 "core" %   = +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +261 "core" ( + "manipulator"&v& +4 "core" &   +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&B'7 +97 "core" ' + .tHand.open + "manipulator"&Z1 +63 "core" 1 +2 "storage"(@- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(U' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(K' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' + "storage"(J& +4 "core" & Q P f\ e +2 "manipulator"&& +3 "core" &  G  +2 .tElbow.seek 3 + "manipulator"&V( +3 "core" ( +2 "manipulator"&& +3 "core" &  z  +2 "storage"(& +3 "core" & O P \ f +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +53 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"({& +4 "core" &  9\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&b'u +24 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +21 "core" ' + "manipulator"&6% +5 "core" %q  + "storage"(&& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 296 counts + "manipulator"&|'ϝ +29 "core" ' + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&n'7 +17 "core" ' + "storage"(u% +5 "core" %  s\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +2 "core" %E  G\ Xh +2 "manipulator"&G% +4 "core" %< +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +87 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (Q& +4 "core" &  \\\ + "collection"'x& +4 "core" &\\tXX\ S +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&o% +4 "core" %  X  + "storage"(A% +4 "core" %   \ + "storage"(). +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(*( +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (^& +2 "core" &  \  +2 "manipulator"&D& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +9 "core" ( + "manipulator"&S& +5 "core" & 9  + "storage"(;& +4 "core" &   *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +92 "core" ' + "storage"(& +4 "core" & %  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +53 .tSE.seek :beamBreak +4 "storage"(W'r +299 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +2 "core" & 9  +2 "storage"(=& +4 "core" & $ \ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&P'u +21 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(k- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(Y'p +30 "core" ' + "manipulator"&<% +5 "core" %΄ . 1 + "storage"(R& +4 "core" & v\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&}'ϰ +25 "core" ' + "manipulator"&& +4 "core" & C  +2 "storage"(j& +4 "core" & %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%'7 +23 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"($' +38 "core" ' + "manipulator"&& +5 "core" & E  + "manipulator"&(% +4 "core" %+ L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&q(ӂ +160 "core" ( + "manipulator"&& +4 "core" &Ӑ& ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &Ӑ& g ?V +2 .tForearm.seek CC + "manipulator"&i'? +93 "core" ' + .tHand.close + "manipulator"&?/ +62 "core" / +2 .tCC.seek :open + "collection"'4( +452 "core" ( + "storage"(z& +4 "core" & ; > O\  +2 "storage"(I& +3 "core" & 3 < *\  +2 "manipulator"&w& +3 "core" &Ӣ$ q =D +2 "manipulator"&0% +3 "core" % C i X +2 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +165 "core" ( + "manipulator"&& +4 "core" & '  +2 "storage"(s& +3 "core" & W X j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&#'u +96 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&71 +55 "core" 1 +2 "manipulator"& % +4 "core" % ΁ V # + "storage"(p& +4 "core" & V Y \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 312 counts + "manipulator"&E'ϭ +23 "core" ' +2 "manipulator"&!& +4 "core" & 5  +2 "storage"(C& +4 "core" & z u \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&l'7 +27 "core" ' + "storage"(% +5 "core" % z g E\ +2 ."downElevator"SE.seek :down +3 "storage"(O' +100 (a% +2 "core" %= @ ? \ V` +2 "manipulator"&\ % +4 "core" %&  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +88 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'d& +4 "core" &&( \ +2 "manipulator"&% +3 "core" %  <  +2 "storage"(3% +4 "core" % w w f\ + "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(f(,y +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (g& +2 "core" &,| W S S\ \ +2 "manipulator"&'& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&9( +27 "core" ( + "manipulator"&.& +4 "core" & A  +2 "storage"(t& +3 "core" &,| ( $ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&H' +91 "core" ' + "storage"([& +4 "core" &,| W X W\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +294 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +2 "core" &,| %  *\ \ +2 "manipulator"&r& +3 "core" & !  +2 .tElbow.seek 4 + "manipulator"&( +24 "core" ( +2 "manipulator"&X& +4 "core" &  + "storage"( & +4 "core" &,| @ 6 H\ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&2'c +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&// +58 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(>' +7 "core" &   +2 "manipulator"&5% +3 "core" % ϗ O +2 .tForearm.seek :retract +2 "manipulator"&T' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&\\(ӂ +154 "core" ' + ."downElevator"SE.coast + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &ӌ& : ?T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &ӌ& ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 "manipulator"& & +4 "core" &Ӟ$ k =B +2 "manipulator"&Z% +4 "core" %C @ + "collection"'@& +4 "core" &(& \ +3 "collection"'8& +5 "core" &''\ +2 .tCC.seek :closed +2 "collection"'J(\\ +4 "core" &'(\ +9 &;''\ %g +9 &Xu')\ 7 +10 &v()\ L +9 &Q))\ L +9 &zQ*(\ L +10 &=S+)\ L +9 &T))\ K +9 &T+)\ L +10 &R**\ L +9 &ES(*\ L +10 & R**\ K +9 &!R.+ \ L +9 &#V**\ L +10 &%MT,,\ L +9 &'V,-\ L +9 &(T,+\ L +10 &*W//\ L +9 &,VT,.\ K +10 &.T.-\ L +9 &/S1.\ L +9 &1W0.\ L +10 &3]T..\ L +9 &5 T.1\ K +9 &6U10\ L +10 &8U..\ L +9 &:dU2/\ L +10 &<&U/1\ L +9 &=U/2\ L +9 &?U11\ L +10 &AlW42\ L +9 &C,]35\ M +10 &De67\ M +9 &Fv:9\ P +9 &H_EA\ S +10 &JMK\ W +9 &KML\ X +9 &MMM\ Y +10 &OYOM\ X +9 &QOO\ Y +10 &RPP\ Z +9 &TSR\ [\ +9 &VVSR\ \\ +10 &XSS\ \\ +9 &YVU\ ] +9 &[ZX\ J +10 &\\=Y[\ * +9 &\\[Z\ ] +2 ( +2 "collection"'8& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&% +4 "core" % C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %  {  +2 "storage"({% +3 "core" % *\ +2 "storage"(6. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(&(,y +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (]& +2 "core" &,| \ +2 "manipulator"&& +3 "core" &Ӟ# =B +2 "manipulator"&% +3 "core" %  F  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&U( +160 "core" ( + "manipulator"&u& +4 "core" & T  +2 "storage"(& +4 "core" &,| \ + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&B' +96 "core" ' + "storage"(K& +4 "core" &,|  Q\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" &,|  1\ +2 "manipulator"&V& +3 "core" & M  +2 .tElbow.seek 4 + "manipulator"&y( +3 "core" ( + "manipulator"&b& +4 "core" & 4  + "storage"(Q& +4 "core" &,| \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&|'c +23 "core" ' + .tForearm.reconfigure :loose +54 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&x/ +75 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +2 "storage"(A' +7 "core" & K  + "manipulator"&M% +4 "core" % [ \  +2 .tForearm.seek :retract + "manipulator"&)' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&^( +172 "core" ' + ."downElevator"SE.coast + "storage"(5 +67 "core" ( + "manipulator"&D& +4 "core" & G 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &  4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&;' +98 "core" ' + "manipulator"&n& +5 "core" & ^ 4 + "manipulator"&% +4 "core" % R  +2 "processing"%& +3 "core" &\ +3 "processing"%N& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%-(^ +4 "core" &\  +10 &0s\ *x +9 &b{\ > +9 &an\ O +10 &#O\ N +9 &O\ N +9 &L\ O +10 &hR\ O +9 &*Q\ O +10 &N\ O +9 &N\ O +9 & pT\ O +10 &"3R\ N +9 &#S\ O +9 &%L\ N +10 &'yO\ N +9 &);O\ N +10 &*R\ O +9 &,N\ O +9 &.Q\ N +10 &0CO\ N +9 &2R\ O +9 &3R\ N +10 &5N\ O +9 &7KO\ N +10 &9 T\ O +9 &:R\ O +9 &<N\ O +10 &>RS\ O +9 &@U\ O +9 &A`\ P +10 &Ck\ R +9 &EJ\ T +10 &G \ U +9 &H\ U +9 &J\ U +10 &LN\ U +9 &N \ V +9 &O\ W +10 &Q\ W +9 &SQ\ W +10 &U\ W +9 &V\ X +9 &X\ V +10 &ZZ\ W +9 &\\\ W +9 &]\ 6 +10 &^.k\ X +9 &^4\ 7 +2 ( + "processing"%N& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.74 + .Hand.open + "manipulator"&F1 +59 "core" 1 + "manipulator"& % +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%=& +4 "core" &^2\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&k% +3 "core" % ! - +2 "storage"(<% +3 "core" % \ +2 "storage"(R. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (j& +2 "manipulator"&& +5 "core" & ) 4 + &,| \ +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(('r + "manipulator"&( +5 "core" ( +2 "manipulator"&& +3 "core" & ? 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" & 4 +2 .tForearm.seek PC + "manipulator"&P' +94 "core" ' +2 .tHand.close + "manipulator"&}/ +71 "core" / +2 .tPC.seek :open + "processing"%Y( +82 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'1 +40 "core" ' +325 ( + "storage"(%& +4 "core" &,|  M\ +2 "manipulator"&:& +3 "core" & 6 4 +2 "manipulator"&?% +3 "core" %  b 9 +2 .tForearm.seek :retract +2 "manipulator"&h' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +246 "core" ( + "manipulator"&z& +4 "core" & / 0 +2 "storage"(I& +3 "core" &,| \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&w' +103 "core" ' + .tHand.open + "manipulator"&01 +60 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(s' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(i' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(7& +3 "core" &,| \ P +2 "manipulator"& & +3 "core" & 0 +2 .tElbow.seek 4 + "manipulator"&p( +4 "core" ( + "manipulator"&!& +4 "core" &   h 0 + "storage"(C& +4 "core" &,| \ Q +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(~'" +53 "core" ' + "manipulator"&a& +5 "core" &  0 + "storage"(\ & +4 "core" &,| \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(E' +20 "core" ' + "manipulator"&d% +5 "core" %J ] + "storage"(& +4 "core" &,| >\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&3'v +25 "core" ' + "manipulator"&,& +5 "core" & Y 0 + "storage"($& +4 "core" &,| & =\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +18 "core" ' + "storage"(O% +5 "core" % k\ +2 ."downElevator"SE.seek :down +3 "storage"(*' +100 (g% +2 "core" %K \ Xi +2 "manipulator"&'% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +89 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (t& +4 "core" &,| \ + "collection"'[& +4 "core" &\\[Y\ ] + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&m% +3 "core" %  ?  +2 "storage"(L% +3 "core" %  K\ +2 "storage"(c. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"("(,y +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (r& +2 "core" &,{ X\ +2 "manipulator"&X& +3 "core" & F 0 +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( + "manipulator"&/& +4 "core" & 0 + "storage"(& +4 "core" &,u 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +100 "core" ' + "storage"(9& +4 "core" &,z   +\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +2 "core" &  0 +2 "storage"(_& +3 "core" &,z \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&2'7 +23 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(@'k +27 "core" ' + "manipulator"&% +4 "core" %D d +2 "storage"(>& +3 "core" &,z  c\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 313 counts + "manipulator"&T'p +25 "core" ' + "manipulator"&4& +4 "core" & [ 0 +2 "storage"(& +3 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +23 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +37 "core" ' + "manipulator"&& +5 "core" &  0 + "manipulator"&{% +4 "core" % y +2 .tForearm.reconfigure :loose +53 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +161 "core" ( +2 "manipulator"&]& +4 "core" &Ӑ W 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &ӑ * 7 +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'u( +449 "core" ( + "storage"(& +4 "core" &,z ? . \  +2 "storage"(f& +3 "core" &,z # ' \\\  +2 "manipulator"&K& +3 "core" &Ӓ ^ 7 +2 "manipulator"&\\% +4 "core" % < J 7 + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&G( +163 "core" ( + "manipulator"&`& +4 "core" &   +2 "storage"(V& +4 "core" &,z B = \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&b'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&x1 +58 "core" 1 +2 "manipulator"&o% +4 "core" % > B T + "storage"(M& +4 "core" &,z W W ~\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts + "manipulator"&U'j +16 "core" ' +2 "manipulator"&B& +4 "core" & f  +2 "storage"(& +3 "core" &,z T ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +17 "core" ' + "storage"(D% +5 "core" % h z M\ +2 ."downElevator"SE.seek :down +3 "storage"(S' +100 (y% +2 "core" %C @ ? \ Vb +2 "manipulator"&n% +4 "core" % 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &&' \ + "manipulator"&A% +4 "core" %    +2 "storage"()% +4 "core" % x w \ + "storage"(e. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(F(<- +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +2 "core" &<+# %  E\  +2 "manipulator"&=& +3 "core" & s  +2 .tElbow.seek 5 + "manipulator"&k( +8 "core" ( + "manipulator"&<& +4 "core" & ,  +2 "storage"(R& +3 "core" &<+#   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&N'O +88 "core" ' + "storage"(j& +4 "core" &<+" - @\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" &<+"  \  +2 "manipulator"&;& +3 "core" & J  +2 .tElbow.seek 5 + "manipulator"&}( +4 "core" ( +2 "manipulator"&&& +3 "core" & 3  +2 "storage"(& +3 "core" &<+" \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&^'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +65 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"((' +7 "core" &  + "manipulator"&%% +4 "core" % ϵ | +2 .tForearm.seek :retract + "manipulator"&:' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&?(ӂ +160 "core" ' + ( +2 ."downElevator"SE.coast +2 "manipulator"&P& + "storage"(5 +6 "core" &Ӌ* X Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &Ӌ)  Bi +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&I'? +94 "core" ' + "manipulator"&& +5 "core" &Ӎ* 3 Bg + "manipulator"&0% +4 "core" %=  h +2 "collection"'& +3 "core" &'' \ +3 "collection"'q& +4 "core" &() \ +2 .tCC.seek :closed + "collection"'7(\\ +4 "core" &(' \  +10 &5|)$\ +{ +9 & g}''\ ? +9 &m)'\ M +10 &XR))\ L +9 &S&)\ L +9 &S')\ L +10 &S((\ L +9 &`R((\ L +10 &"T)*\ L +9 &S++ \ L +9 & R++\ L +10 &"iS+*\ L +9 &$+S++\ L +9 &%T*+\ L +10 &'T--\ L +9 &)qS-.\ L +10 &+3T-/\ L +9 &,S0.\ L +9 &.T//\ L +10 &0xT/1\ L +9 &2:T./\ L +9 &3T//\ M +10 &5T0/\ L +9 &7U00\ L +10 &9BW/0\ L +9 &;T/2\ L +9 &<U/0\ L +10 &>R13\ L +9 &@IT22\ M +9 &B Z35\ M +10 &Cb65\ N +9 &En75\ O +10 &G@9;\ R +9 &HGD\ V +9 &JFF\ Y +10 &LvEF\ X +9 &N5GG\ Y +9 &OIG\ Z +10 &QHI\ Z +9 &SvIJ\ [ +10 &U6JK\ [ +9 &VJJ\ \\ +9 &XLL\ ] +10 &ZtOO\ ^ +9 &\\{NO\ 1 +9 &\\0KS\ #k +9 ( +2 &\\rRQ\ W +2 "collection"'q& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + .Hand.open +2 "manipulator"& 1 +57 "core" 1 + "manipulator"&!% +4 "core" % = h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%h& +4 "core" &\ +2 "manipulator"&a% +3 "core" %  O +2 "storage"(\ % +3 "core" % `\ +2 "storage"(d. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (+& +2 "core" &<+ %\  +2 "manipulator"&,& +3 "core" &ӏ( $ Ae +2 "manipulator"&$% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&s( +168 "core" ( + "manipulator"&O& +4 "core" &  +2 "storage"(& +3 "core" &<,A q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&w'O +94 "core" ' + "storage"(i& +4 "core" &<,A F\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'r +295 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<,? \  +2 "manipulator"&p& +3 "core" & `  +2 .tElbow.seek 5 + "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" & n  +2 "storage"(3& +3 "core" &<,? <\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&t'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +65 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&m& +3 "storage"(L' +7 "core" & \\  +2 "manipulator"&E% +3 "core" % ϭ I +2 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&r( +172 "core" ' + ."downElevator"SE.coast + "storage"(5 +87 "core" ( +2 "manipulator"&X& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" & _  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +92 "core" ' + "manipulator"&l& +4 "core" & :  +2 "manipulator"&9% +4 "core" % d K + "processing"%*& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%#(^ +6 "core" &\  +9 &/s\ *y +10 &dz\ {? +9 &jm\ }O +9 &,L\ O +10 &O\ O +9 &L\ O +9 &sN\ O +10 &4M\ O +9 &O\ O +10 &N\ O +9 & zN\ O +9 &"=N\ O +10 &#O\ O +9 &%M\ O +9 &'O\ O +10 &)DQ\ O +9 &+N\ O +10 &,N\ O +9 &.L\ O +9 &0LO\ O +62 &2N\ O +4 &3O\ O + &5O\ O +2 &7TO\ O + &9Q\ O +2 &:P\ O +4 &<Q\ O + &>[R\ O +8 &@R\ O +9 &A]\ Q +9 &Cl\ }R +10 &EU\ zT +9 &G\ zU +10 &H\ xV +9 &J\ yV +9 &LW\ yV +10 &N\ xV +9 &O\ xW +9 &Q\ wX +10 &S[\ xX +9 &U\ wW +10 &V\ xW +9 &X\ xW +9 &Zd\ xW +10 &\\&\ xW +9 &]~\ {4 +9 &^0m\ }L +9 ( +2 &^,\ 7 +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.76 + .Hand.open +2 "manipulator"&.1 +55 "core" 1 + "manipulator"&% +5 "core" %   K + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v' +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%_& +4 "core" &^-\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&Z% +3 "core" %   +2 "storage"(% +4 "core" % \ + "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(4(<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "manipulator"&& +4 "core" &<, h\  +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & O  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&{( +3 "storage"(5'r +3 "core" ( + "manipulator"& & +4 "core" & }  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" & >  +2 .tForearm.seek PC + "manipulator"&2' +95 "core" ' + .tHand.close +2 "manipulator"&T/ +69 "core" / +2 .tPC.seek :open +2 "processing"%@( +85 "core" ' + "storage"(]- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +321 ( + "storage"(& +4 "core" &<,   \  +2 "manipulator"& & +3 "core" &  +2 "manipulator"&% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&6' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&J( +242 "core" ( + "manipulator"&& +4 "core" & F 0 +2 "storage"(f& +3 "core" &<, ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&K'O +93 "core" ' + .tHand.open + "manipulator"&\\1 +65 "core" 1 +2 "storage"(`- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(V' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"(x& +4 "core" &<, B G V\ ; +2 "manipulator"&o& +3 "core" &  j 0 +2 .tElbow.seek 5 +2 "manipulator"&M( +3 "core" ( + "manipulator"&B& +4 "core" &  I 0 + "storage"(& +4 "core" &<, G H \ ; +2 .tForearm.seek 5 + 450 counts + "manipulator"&D'O +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' + "manipulator"&y& +5 "core" & Q 0 + "storage"(n& +4 "core" &<, \\\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&G'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&U% +5 "core" %Γ Z e + "storage"(A& +4 "core" &<,  \\\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 306 counts +2 "manipulator"&)'Ͽ +31 "core" ' + "manipulator"&e& +5 "core" & H 0 + "storage"(& +4 "core" &<, t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&|'O +18 "core" ' + "storage"(S% +5 "core" %  3\ +2 ."downElevator"SE.seek :down +3 "storage"("' +100 ( % +2 "core" %L  Q\ Yj +2 "manipulator"&=% +4 "core" %A T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<' +90 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (R& +4 "core" &<,  B\ + "collection"'j& +4 "core" &\\rPR\ W +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&Q% +4 "core" %  $  + "storage"(% +4 "core" % \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(W(<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (;& +2 "core" &<,  \  +2 "manipulator"&&& +3 "core" & T 0 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&1& +4 "core" & > 0 + "storage"(-& +4 "core" &<,  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&%'O +101 "core" ' + "storage"(k& +4 "core" &<,   q\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +295 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" & ` 0 +2 "storage"(& +3 "core" &<,  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&^'΍ +15 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('k +30 "core" ' + "manipulator"&}% +4 "core" %~  T +2 "storage"((& +3 "core" &<, 6\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 285 counts + "manipulator"&:'Ϫ +34 "core" ' + "manipulator"&u& +4 "core" & | 0 +2 "storage"( & +4 "core" &<, # 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&!'O +24 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(h' +52 "core" ' + "manipulator"&a& +5 "core" & 5 0 + "manipulator"&\ % +4 "core" %b d  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&q(ӂ +155 "core" ( + "manipulator"&+& +4 "core" &ӑ$ v =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" &ӑ$ , =D +2 .tForearm.seek CC +2 "manipulator"&$'? +96 "core" ' + .tHand.close + "manipulator"&I/ +54 "core" / +2 .tCC.seek :open + "collection"'O( +452 "core" ( + "storage"(& +4 "core" &<, @ . \  +2 "storage"(F& +3 "core" &<, # & 1\  +2 "manipulator"&i& +3 "core" &ӑ$ =D +2 "manipulator"&?% +3 "core" % : D 4 +2 .tForearm.seek :retract + "manipulator"&C' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&'( +163 "core" ( + "manipulator"&& +4 "core" & b  +2 "storage"(p& +3 "core" &<, 7 I \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +53 "manipulator"&[1 +54 "core" 1 +3 "manipulator"&m% +4 "core" % ΁  L + "storage"(E& +4 "core" &<, X Y n\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 288 counts + "manipulator"&s'ϭ +27 "core" ' + "manipulator"&w& +4 "core" &  +2 "storage"(g& +4 "core" &<, a ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +16 "core" ' + "storage"(X% +5 "core" % z g 0\ +2 ."downElevator"SE.seek :down +3 "storage"(/' +100 (~% +2 "core" %@ = ; \ Wb +2 "manipulator"&l% +4 "core" %B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'*& +4 "core" &(&\ +2 "manipulator"&L% +3 "core" %  1  +2 "storage"(c% +4 "core" % y w ~\ + "storage"(Y. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(.(K +360 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K A 4 V\  +2 "manipulator"&_& +3 "core" & @  +2 .tElbow.seek 6 + "manipulator"&Z( +4 "core" ( + "manipulator"&& +3 "core" & D  +2 "storage"(>& +3 "core" &K a [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +90 "core" ' + "storage"(& +4 "core" &K z u r\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +2 "core" &K 3 >\  +2 "manipulator"&& +3 "core" & Z  +2 .tElbow.seek 6 + "manipulator"&T( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(]& +3 "core" &K 2 2 \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&r'h +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(5' +6 "core" & O  +2 "manipulator"&% +4 "core" % ρ  + .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ( + "manipulator"&2& +5 "core" ' + &Ӑ" & ;7 + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӑ! b ;7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&f'? +93 "core" ' + "manipulator"&{& +5 "core" &Ӑ" ' ;7 + "manipulator"&\\% +4 "core" %F V +2 "collection"'`& +4 "core" &()\ +2 "collection"'8& +4 "core" &)'\ +3 .tCC.seek :closed + "collection"'x(\\ +6 "core" &'(\  +9 &1u'& \ *x +10 &e|'( \ > +9 &zn*'\ M +10 &?S+)\ L +9 &V)*\ \ L +9 &W)* \ L +10 &Q++\ L +9 &GQ)*\ L +9 & R**\ L +10 &P,+\ L +9 & Q)-\ L +10 &"OQ+-\ L +9 &$S-+\ K +9 &%T+.\ K +10 &'T--\ L +9 &)WV..\ L +9 &+R-0\ L +10 &,S/.\ K +9 &.T/.\ K +10 &0_T./\ L +9 &2 W1/\ L +9 &3U//\ K +10 &5U..\ L +9 &7fS11\ L +9 &9)U12\ L +10 &:R00\ L +9 &<U32\ L +10 &>pV03\ K +9 &@0U33\ L +9 &AX44\ L +10 &C`46\ M +9 &Enm:7\ O +9 &G);;\ Q +10 &HE@\ U +9 &JEC\ Z +10 &LZDG\ X +9 &NCE\ Z +9 &OFF\ Z +10 &QDD\ [\ +9 &SYFF\ [ +9 &UHI\ [ +10 &VHI\ \\ +9 &XJJ\ ^ +10 &ZXKJ\ ^ +9 &[{KL\ < +9 &\\)NN\ *} +10 &\\NO\ ] + ( +2 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 + .Hand.open + "manipulator"&o1 +60 "core" 1 +2 "manipulator"&B% +4 "core" % F P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%6& +4 "core" &\ +2 "manipulator"&y% +3 "core" %  D  +2 "storage"(n% +4 "core" %  J\ + "storage"(U. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(A(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K 7\  +2 "manipulator"&e& +4 "core" &ӑ" ;6 + "manipulator"&V% +4 "core" %  %  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +162 "core" ( + "manipulator"&S& +4 "core" & 5  +2 "storage"(J& +4 "core" &K   /\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&K' +95 "core" ' + "storage"(& +4 "core" &K   p\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +2 "core" &K \  +2 "manipulator"&M& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&G& +4 "core" & C  +2 "storage"(R& +3 "core" &K ^\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&)'h +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& + "storage"(' +6 "core" &   +2 "manipulator"&% +4 "core" % ϒ E + .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&;( +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +80 "core" ( +2 "manipulator"&&& +4 "core" & X > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" & P > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&-' +97 "core" ' + "manipulator"&|& +4 "core" &  = +2 "manipulator"&k% +4 "core" % @  + "processing"%"& +4 "core" &\ +2 "processing"%4& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%b(^ +4 "core" &\  +9 &/t\ *y +10 &b{\ > +9 &hm\ O +9 &)L\ O +10 &Q\ N +9 &L\ N +9 &pN\ N +10 &1R\ O +9 &R\ N +10 &O\ N +9 & xO\ N +9 &"9Q\ O +10 &#R\ O +9 &%O\ O +9 &'M\ N +10 &)AO\ O +9 &+P\ O +10 &,N\ O +9 &.L\ N +9 &0JO\ N +10 &2 R\ O +9 &3R\ N +9 &5P\ N +10 &7QS\ O +9 &9T\ O +10 &:S\ O +9 &<S\ N +9 &>YS\ O +10 &@W\ O +9 &A\\\ P +9 &Ce\ Q +10 &ETx\ S +9 &G\ T +10 &H\ U +9 &J\ U +9 &LU\ U +10 &N\ V +9 &O\ U +9 &Q\ V +10 &SZ\ V +9 &U\ W +10 &V\ W +9 &X\ V +9 &Za\ W +10 &\\#\ W +9 &]\ 4 +9 &^3o\ C +9 ( +2 &^$\ 2 +2 "processing"%4& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&<1 +56 "core" 1 + "manipulator"&P% +4 "core" %  s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^$\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&0% +3 "core" %   # +2 "storage"(}% +3 "core" % P\ +2 "storage"((. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(u(K +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +5 "manipulator"&a& + "core" &K \\\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &  = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +53 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&\ ( +2 "storage"(%'r +5 "core" ( + "manipulator"&& +4 "core" & J = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" & < = +2 .tForearm.seek PC +2 "manipulator"&^' +94 "core" ' +2 .tHand.close + "manipulator"&:/ +76 "core" / +2 .tPC.seek :open + "processing"%( +94 "core" ' + "storage"(+- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'1 +45 "core" ' +306 ( +2 "storage"(!& +4 "core" &K " 2\  +2 "manipulator"&& +3 "core" & = +2 "manipulator"&I% +3 "core" %  K 2 +2 .tForearm.seek :retract +2 "manipulator"&d' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&7( +243 "core" ( + "manipulator"&& +4 "core" & ! +2 "storage"(F& +3 "core" &K L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&i' +96 "core" ' + .tHand.open + "manipulator"&?1 +59 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"($' +60 "core" ' + #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"([& +3 "core" &K z\ J +2 "manipulator"&m& +3 "core" &  I  +2 .tElbow.seek 6 + "manipulator"&E( +11 "core" ( + "manipulator"&w& +5 "core" &   @  + "storage"(g& +4 "core" &K \ J +2 .tForearm.seek 6 + 450 counts + "manipulator"&X' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(C'" +63 "core" ' + "manipulator"&'& +5 "core" &   + "storage"(~& +4 "core" &K 3\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&l'< +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(*' +20 "core" ' + "manipulator"&s% +5 "core" %; `  + "storage"(L& +5 "core" &K 7\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 299 counts + "manipulator"&c'g +15 "core" ' + "manipulator"&Y& +62 "core" & ]  + "storage"(h& +4 "core" &K <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&t' +20 "core" ' + "storage"(/% +5 "core" % G\ +2 ."downElevator"SE.seek :down +3 "storage"(W' +100 (% +4 "core" %H \ Xi + "manipulator"&_% +5 "core" % K + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +64 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (>& +4 "core" &K  \ + "collection"'& +4 "core" &\\KN\ ] +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&3% +4 "core" %  &  +2 "storage"(9% +3 "core" % \ +2 "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(H(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K  +\  +2 "manipulator"&& +4 "core" & o  + .tElbow.seek 6 +2 "manipulator"&]( +8 "core" ( + "manipulator"&v& +5 "core" & e + "storage"(#& +4 "core" &K ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +100 "core" ' + "storage"(Z& +5 "core" &K b\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & 6 +2 "storage"(& +3 "core" &K #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&r'< +14 "core" ' + .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(\\- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(`'g +30 "core" ' + "manipulator"&T% +4 "core" %: I +2 "storage"(5& +3 "core" &K  *\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 298 counts + "manipulator"& 'f +15 "core" ' + "manipulator"&O& +4 "core" & +2 "storage"(o& +4 "core" &K U\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(6' +36 "core" ' + "manipulator"&y& +5 "core" &  + "manipulator"&n% +4 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +156 "core" ( + "manipulator"&& +4 "core" &ӏ& G ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +2 "core" &ӏ& 2 ?Q +2 .tForearm.seek CC +2 "manipulator"&V'? +94 "core" ' +2 .tHand.close + "manipulator"&f/ +56 "core" / + .tCC.seek :open +2 "collection"'S( +449 "core" ( + "storage"(J& +4 "core" &K @ . \  +2 "storage"(.& +3 "core" &K   o\  +2 "manipulator"&& +3 "core" &Ӑ& L ?P +2 "manipulator"&% +3 "core" % K  c +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&=( +163 "core" ( + "manipulator"&D& +4 "core" &   +2 "storage"(M& +3 "core" &K Y W )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&G'< +95 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&j1 +62 "core" 1 +2 "manipulator"&Q% +4 "core" % A R 5 + "storage"(& +4 "core" &K X W l\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 305 counts + "manipulator"&'m +27 "core" ' +2 "manipulator"&K& +4 "core" &  +2 "storage"( & +4 "core" &K U [ -\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&)' +20 "core" ' + "storage"(&% +5 "core" % g b s\ +2 ."downElevator"SE.seek :down +3 "storage"(1' +100 (% +2 "core" %O? : ? s\ Wc +2 "manipulator"&|% +4 "core" %  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +98 "core" ' +46 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 .tdelay 10 seconds +294 "Can"\ ?= +709 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'"& +3 "core" &&(\ +2 "manipulator"&% +3 "core" %  q $ +2 "storage"(% +3 "core" % W ^\ +2 "storage"(@. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +53 "storage"(<(  +1297 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (P& +2 "core" &  a W \ +2 "manipulator"&& +3 "core" & c  +2 .tElbow.seek 2 + "manipulator"&0( +4 "core" ( + "manipulator"&}& +4 "core" &  + "storage"((& +4 "core" &  Y U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&4'S +94 "core" ' + "storage"( & +5 "core" &  } \ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +293 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &  H = c\ +2 "manipulator"&-& +4 "core" & A  + .tElbow.seek 2 +2 "manipulator"&A( +3 "core" ( + "manipulator"&:& +4 "core" & b  + "storage"(+& +4 "core" &  a b\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&;'Ͻ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"(%' +7 "core" & I  + "manipulator"&!% +4 "core" % ϳ +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +151 "core" ' + ."downElevator"SE.coast + "storage"(5 +5 "core" ( + "manipulator"&^& +5 "core" &ӏ$ ^ =F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ$  =F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&F'? +96 "core" ' + "manipulator"&\ & +5 "core" &ӏ$ v =F + "manipulator"&?% +4 "core" %<  +2 "collection"'& +3 "core" &()\ +3 "collection"'q& +5 "core" &&(\ +2 .tCC.seek :closed +2 "collection"'[(\\ +4 "core" &'(\  +9 &6z'+\ +{ +9 &g})'\ \ ? +10 &h()\ M +9 &bN+*\ L +10 &%S+*\ L +9 &V+*\ L +9 &R**\ K +10 &kR)+\ L +9 &,X),\ L +9 &T,*\ K +10 & S*,\ L +9 &"rW++\ L +10 &$6T,,\ K +9 &%T--\ L +9 &'U0,\ K +10 &){T,-\ L +9 &+=R-0\ L +9 &,U-.\ L +10 &.R/-\ L +9 &0U-/\ L +10 &2ER1.\ L +9 &4U-/\ L +9 &5T/1\ L +10 &7W11\ L +9 &9LU00\ L +9 &;U22\ L +10 &<V01\ L +9 &>V01\ L +10 &@UV21\ L +9 &BY35\ L +9 &Ca54\ M +10 &Em76\ O +9 &GL9;\ Q +9 &I=<\ U +10 &J@B\ X +9 &L@A\ X +10 &N>?@\ Y +9 &PCB\ Y +9 &QBA\ Y +10 &SCE\ [ +9 &UACC\ [ +9 &WDF\ \\ +10 &XGG\ \\ +9 &ZGH\ ] +10 &\\%zIK\ 0 +9 &\\/KK\ d +8 ( +2 &\\hLJ\ S +2 "collection"'q& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open +2 "manipulator"&m1 +58 "core" 1 + "manipulator"&w% +4 "core" % < D +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%d& +4 "core" &\ +2 "manipulator"&'% +3 "core" %  |  +2 "storage"(~% +3 "core" % -\ +2 "storage"(s. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(,(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (L& +2 "core" &  * ?\ +2 "manipulator"&p& +3 "core" &Ӑ$ b =E +2 "manipulator"&Y% +3 "core" %  C  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&h( +164 "core" ( + "manipulator"&7& +4 "core" & E  +2 "storage"(/& +4 "core" &  A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&i'S +97 "core" ' + "storage"($& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +2 "core" &  -\ +2 "manipulator"&E& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&C( +3 "core" ( +2 "manipulator"&l& +3 "core" & 5  +2 "storage"(c& +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&>'Ͻ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& + "storage"(9' +7 "core" & )  + "manipulator"&*% +4 "core" % ϴ  +2 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&( +163 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( + "manipulator"&& +4 "core" & E J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +2 "core" & ; J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&#' +102 "core" ' + "manipulator"&t& +4 "core" & i J +2 "manipulator"&Z% +4 "core" % * + "processing"%W& +4 "core" &\ +2 "processing"%u& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &1v\ *x +10 &b}\ > +9 &jo\ O +9 &,P\ O +10 &Q\ O +9 &Q\ N +10 &rR\ O +9 &5R\ N +9 &O\ O +10 &N\ O +9 & zS\ O +9 &"<Q\ O +10 &#N\ N +9 &%N\ N +10 &'R\ O +9 &)EQ\ N +9 &+O\ N +10 &,R\ O +9 &.Q\ N +9 &0MO\ N +10 &2P\ O +9 &3S\ O +10 &5O\ O +9 &7UO\ N +9 &9Q\ O +10 &:O\ O +9 &<O\ O +9 &>[U\ O +10 &@T\ O +9 &A`\ P +10 &Cp\ R +9 &ES\ T +9 &G~\ U +10 &H\ U +9 &J\ U +9 &LY\ U +10 &N\ W +9 &O\ W +10 &Q\ W +9 &S[\ W +9 &U\ W +10 &V\ W +9 &X\ V +9 &Zd\ W +10 &\\&\ W +9 &]\ 4 +10 &^4s\ B +8 ( +2 &^$\ 1 +2 "processing"%u& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open +2 "manipulator"&1 +52 "core" 1 + "manipulator"&2% +4 "core" %  F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^$\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&\\% +3 "core" %  =  +2 "storage"(T% +3 "core" % \ +2 "storage"(5. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(O(  +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (o& +2 "manipulator"&y& +3 "core" &  F\  +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" & C J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(n'r +4 "manipulator"&( +3 "core" ( +2 "manipulator"&]& +3 "core" & J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & { J +2 .tForearm.seek PC + "manipulator"&r' +91 "core" ' + .tHand.close +2 "manipulator"& / +71 "core" / +2 .tPC.seek :open +2 "processing"%`( +82 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(e'1 +41 "core" ' +321 ( + "storage"(B& +4 "core" &  \\\  +2 "manipulator"&{& +3 "core" & _ J +2 "manipulator"&f% +3 "core" %  ?  +2 .tForearm.seek :retract +2 "manipulator"&U' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&x( +244 "core" ( + "manipulator"&J& +4 "core" & G ? +2 "storage"(.& +3 "core" &  5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +100 "core" ' +54 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(D- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +22 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(V' +58 "core" ' + #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' +2 "storage"(j& +3 "core" &  G I M\ ; +2 "manipulator"&Q& +3 "core" &  ? +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&K& +4 "core" &   ? + "storage"( & +4 "core" &  K I \ ; +2 .tForearm.seek 2 + 450 counts + "manipulator"&&'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +59 "core" ' + "manipulator"&& +5 "core" &  ? + "storage"(|& +4 "core" &  m\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&='Α +14 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 "manipulator"&6% +4 "core" %Θ Q A + "storage"()& +4 "core" &  >\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 307 counts +2 "manipulator"&1' +26 "core" ' + "manipulator"&H& +5 "core" & & ? + "storage"("& +5 "core" &  X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +16 "core" ' +2 "storage"(% +4 "core" % % ' H\ +2 ."downElevator"SE.seek :down +4 "storage"(@' +100 (P% +2 "core" % G H\ Yj +2 "manipulator"&% +4 "core" %B I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 ((& +3 "core" &  \ \ +2 "collection"' & +3 "core" &\\hJJ\ S +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&R% +4 "core" %  8  +2 "storage"(k% +4 "core" % ! $\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(N(  +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (-& +3 "core" &  P\  + "manipulator"&:& +4 "core" & C ? +2 .tElbow.seek 2 + "manipulator"&+( +4 "core" ( + "manipulator"&z& +4 "core" & Q ? +2 "storage"(b& +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&!'S +96 "core" ' + "storage"(0& +5 "core" &    G\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +295 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & 9 ? +2 "storage"(a& +3 "core" &  >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&;'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('h +31 "core" ' + "manipulator"&A% +4 "core" %Γ W 4 +2 "storage"(%& +3 "core" &   H\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 302 counts +2 "manipulator"&'Ͽ +26 "core" ' + "manipulator"&S& +5 "core" & ? + "storage"(m& +4 "core" &   l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&w'S +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(d' +50 "core" ' + "manipulator"&'& +5 "core" & _ ? + "manipulator"&~% +4 "core" %D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&q(ӂ +164 "core" ( +2 "manipulator"&L& +4 "core" &ӎ  2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +2 "core" &ӎ 2 +2 .tForearm.seek CC +2 "manipulator"&Y'? +93 "core" ' + .tHand.close + "manipulator"&F/ +54 "core" / +2 .tCC.seek :open + "collection"'7( +449 "core" ( + "storage"(/& +4 "core" &  8 = (\  +2 "storage"(<& +3 "core" &  A ? r\  +2 "manipulator"&$& +3 "core" &ӎ : 2 +2 "manipulator"&I% +3 "core" % 0 Z - +2 .tForearm.seek :retract +2 "manipulator"&g' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +162 "core" ( + "manipulator"&_& +4 "core" & <  +2 "storage"(E& +3 "core" &  2 2 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&l'Α +99 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&3% +4 "core" % · A ' + "storage"(*& +4 "core" &  Y Y \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 290 counts + "manipulator"&h'ϳ +27 "core" ' +2 "manipulator"&i& +4 "core" &  +2 "storage"(X& +3 "core" &  a a C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&>'S +17 "core" ' + "storage"(% +5 "core" % z g V\ +2 ."downElevator"SE.seek :down +3 "storage"(v' +100 (C% +2 "core" %LB = A X\ Vc +2 "manipulator"&t% +4 "core" %O O + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp "collection"'W& +5 "core" &((\ + "manipulator"&9% +4 "core" %  J  +2 "storage"( % +3 "core" % x w R\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +346 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (2& +2 "core" & [ Z\ \ +2 "manipulator"&& +3 "core" & S  +2 .tElbow.seek 3 + "manipulator"&\\( +13 "core" ( + "manipulator"&T& +4 "core" & F  +2 "storage"(5& +3 "core" & W W \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&o'7 +96 "core" ' + "storage"(u& +4 "core" & f w \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'r +297 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  " n\ \ +2 "manipulator"&#& +3 "core" & G  +2 .tElbow.seek 3 + "manipulator"& ( +3 "core" ( + "manipulator"&,& +4 "core" &   + "storage"(& +4 "core" & @ ? t\ \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(n' +7 "core" &  + "manipulator"&B% +55 "core" % Ϟ [ +3 .tForearm.seek :retract + "manipulator"&{' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&f(ӂ +105 "core" ' + ."downElevator"SE.coast + "storage"(5 +47 "core" ( + "manipulator"&r& +4 "core" &Ӆ& > ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &Ӆ& U ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&.'? +96 "core" ' +2 "manipulator"&& +5 "core" &ӆ& - ?S + "manipulator"&% +4 "core" %1 @ H +2 "collection"'D& +4 "core" &((\ +2 "collection"'U& +5 "core" &%)\ +2 .tCC.seek :closed + "collection"'8(\\ +4 "core" &('\  +11 &5|)(\ +{ +9 & g}&'\ ? +9 &m(&\ M +10 &\\P)+\ L +9 &W))\ L +9 &T(+\ L +10 &T(+\ L +9 &dR+*\ L +9 &%T*+\ L +10 &T*+\ L +9 & W+-\ L +10 &"lT++\ L +9 &$.T-,\ L +9 &%U--\ L +10 &'X,,\ L +9 &)sT.-\ L +9 &+5U-.\ L +10 &,T/-\ L +9 &.T0/\ L +10 &0}T-/\ K +9 &2=T01\ L +9 &4U0/\ L +10 &5U00\ L +9 &7T./\ L +9 &9FU/1\ L +10 &;T11\ L +9 &<U21\ L +10 &>U31\ L +9 &@KV10\ M +9 &B Z46\ M +10 &Cc53\ M +9 &Es<8\ P +10 &G@C?\ S +9 &HJI\ W +9 &JLN\ X +10 &LuLN\ Y +9 &N4NN\ Z +9 &OON\ [ +10 &QPQ\ Z +9 &SsQS\ \\ +10 &U7SR\ \\ +9 &VST\ ] +9 &XRS\ ^ +10 &ZvSS\ ^ +9 &\\zWV\ 2 +9 &\\2TX\ !f +9 ( +2 &\\tXX\ S +2 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.41 + .Hand.open +2 "manipulator"&j1 +60 "core" 1 +2 "manipulator"&Q% +4 "core" % 1 % H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&% +3 "core" %  &  +2 "storage"(|% +4 "core" % 6\ + "storage"(6. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"()( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (e& +2 "core" & ;\  +2 "manipulator"&H& +4 "core" &ӈ& ?Q + "manipulator"&M% +4 "core" %  Q  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&"( +168 "core" ( + "manipulator"&& +4 "core" & 0 +2 "storage"(x& +3 "core" && 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +100 "core" ' + "storage"(V& +4 "core" && 9\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" && \  +2 "manipulator"&& +3 "core" & [ +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&=& +3 "core" & % +2 "storage"(1& +3 "core" &' S\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&('ϡ +34 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +70 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +4 "storage"(k' +4 "core" & W + "manipulator"&% +4 "core" % Ϸ _ G +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&-( +163 "core" ' + ."downElevator"SE.coast + "storage"(5 +93 "core" ( +8 "manipulator"&:& +4 "core" & L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" & _ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +98 "core" ' + "manipulator"&& +5 "core" & : + "manipulator"&0% +4 "core" % a  +2 "processing"%@& +3 "core" &\ +2 "processing"%O& +5 "core" &\ +2 .tPC.seek :closed + "processing"%G(^ +4 "core" &\  +10 &2v\ )w +9 &a{\ > +9 &el\ O +10 &%O\ O +9 &N\ O +9 &M\ O +10 &mN\ O +9 &/Q\ O +10 &O\ O +9 &N\ O +9 & uN\ O +10 &"8N\ N +9 &#O\ O +9 &%L\ O +10 &'}N\ O +9 &)?N\ O +10 &+O\ O +9 &,O\ O +9 &.M\ O +10 &0GN\ O +9 &2O\ O +9 &3P\ O +10 &5N\ O +9 &7MO\ O +10 &9M\ O +9 &:P\ O +9 &<K\ O +10 &>UQ\ O +9 &@P\ P +9 &A]\ P +10 &Ch\ R +9 &EPy\ T +10 &G \ }U +9 &H\ }V +9 &J\ ~V +10 &LQ\ }V +9 &N\ |W +9 &O\ |W +10 &Q\ {X +9 &SU\ {X +10 &U\ zW +9 &V\ |W +9 &X\ |W +10 &Z]\ {X +9 &\\\ zX +9 &]}\ 8 +10 &^+h\ "c +9 &^3\ 8 +2 ( + "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.76 + .Hand.open + "manipulator"&}1 +59 "core" 1 + "manipulator"&^% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%a& +4 "core" &^-\ 8 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&?% +3 "core" %  "  +2 "storage"(A% +3 "core" % D\ +2 "storage"(%. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(S( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (m& +2 "manipulator"&'& +4 "core" & \  +2 & ? +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&~( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'r +2 "core" ( + "manipulator"&+& +4 "core" & = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" & 8 +2 .tForearm.seek PC + "manipulator"&;' +95 "core" ' + .tHand.close +2 "manipulator"&/ +69 "core" / +2 .tPC.seek :open + "processing"%( +88 "core" ' + "storage"(L- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'1 +44 "core" ' +315 ( + "storage"(w& +4 "core" & c\  +2 "manipulator"&\ & +3 "core" & U +2 "manipulator"&F% +3 "core" %  D +2 .tForearm.seek :retract + "manipulator"&s' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&[( +241 "core" ( + "manipulator"&/& +4 "core" & $ = +2 "storage"(<& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&$'7 +93 "core" ' + .tHand.open + "manipulator"&I1 +64 "core" 1 +2 "storage"(_- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(E' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(Y' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(& +3 "core" & \ O +2 "manipulator"&3& +3 "core" &  R = +2 .tElbow.seek 3 + "manipulator"&*( +3 "core" ( +2 "manipulator"&i& +3 "core" &  5 = +2 "storage"(X& +4 "core" & h\ O + .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(g'" +52 "core" ' + "manipulator"&C& +4 "core" & = +2 "storage"(t& +4 "core" & :\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'u +14 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +55 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(W' +20 "core" ' + "manipulator"&h% +5 "core" %| O [ + "storage"(9& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"& 'Ϩ +36 "core" ' +2 "manipulator"&& +4 "core" & # = +2 "storage"(d& +4 "core" & ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&>'7 +23 "core" ' +2 "storage"(v% +4 "core" %  @\ +2 ."downElevator"SE.seek :down +3 "storage"(N' +100 (2% +2 "core" %)L ;\ Yj +2 "manipulator"&% +4 "core" %H 7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +87 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (5& +4 "core" &  J\ + "collection"'u& +4 "core" &\\sTX\ S +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&c% +4 "core" %  5  + "storage"(Z% +4 "core" %  \ + "storage"(]. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (#& +3 "core" & C\  +2 "manipulator"&,& +3 "core" & G = +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & = + "storage"(& +4 "core" &  ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&B'7 +94 "core" ' + "storage"(\\& +4 "core" &   `\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +299 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&r& +3 "core" & 1 = +2 "storage"(J& +3 "core" & + C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'u +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(D'o +30 "core" ' + "manipulator"& % +4 "core" %·  - +2 "storage"(n& +3 "core" & :\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&{'ϳ +24 "core" ' + "manipulator"&7& +4 "core" & < = +2 "storage"(j& +4 "core" &  p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q'7 +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"( ' +42 "core" ' + "manipulator"&& +5 "core" & 9 = + "manipulator"&|% +4 "core" %"  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +164 "core" ( + "manipulator"&e& +5 "core" &ӊ z 4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &ӊ \\ 4 +2 .tForearm.seek CC +2 "manipulator"&M'? +93 "core" ' + .tHand.close + "manipulator"&./ +62 "core" / +2 .tCC.seek :open + "collection"'( +449 "core" ( + "storage"(x& +4 "core" & 9 ? \  +2 "storage"(& +3 "core" & > @ ^\  +2 "manipulator"&V& +3 "core" &ӊ n 4 +2 "manipulator"&f% +3 "core" % < M Z +2 .tForearm.seek :retract +2 "manipulator"&K' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +161 "core" ( + "manipulator"&&& +4 "core" &  +2 "storage"(& +3 "core" & 6 ? o\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&='u +97 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&R% +4 "core" % ΂ & + "storage"(& +4 "core" & Y Y\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 313 counts + "manipulator"&"'Ϯ +24 "core" ' +2 "manipulator"&& +4 "core" & $  +2 "storage"(P& +3 "core" & x { 7\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&('7 +28 "core" ' + "storage"(:% +4 "core" % f w S\ +3 ."downElevator"SE.seek :down +3 "storage"(z' +99 (% +2 "core" %C @ ? #\ Wd +2 "manipulator"&% +4 "core" %/  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&0' +98 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp "collection"'@& +5 "core" &()\ + "manipulator"&k% +4 "core" %  /  + "storage"(% +4 "core" % v \ +2 "storage"(`. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(}(,y +366 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (^& +2 "core" &,t Z _\ +2 "manipulator"&a& +3 "core" & w  +2 .tElbow.seek 4 + "manipulator"&?( +29 "core" ( + "manipulator"&A& +4 "core" & & +2 "storage"(%& +3 "core" &,t W W \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&O' +94 "core" ' + "storage"(m& +4 "core" &,v U X\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +298 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &,v 0  ,\  +2 "manipulator"&b& +3 "core" & o & +2 .tElbow.seek 4 +2 "manipulator"&( +22 "core" ( +2 "manipulator"&)& +4 "core" & X  + "storage"(L& +4 "core" &,v 2 1 "\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&-'c +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +4 "storage"(!' +4 "core" &  + "manipulator"&w% +4 "core" % [ S +2 .tForearm.seek :retract + "manipulator"&\ ' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&F(ӂ +159 "core" ' + ( + ."downElevator"SE.coast +3 "manipulator"&;& + "storage"(5 +7 "core" &Ӌ( F @\\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &Ӌ' ^ @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&<'? +93 "core" ' +2 "manipulator"&~& +4 "core" &Ӡ$ F =G +2 "manipulator"&I% +4 "core" %: 8 ~ + "collection"'_& +4 "core" &(( \ +3 "collection"'q& +4 "core" &(' \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &''\  +9 &5|((\ +{ +9 & g}))\ ? +10 &m'(\ M +9 &\\R*+\ L +10 &Q**\ L +9 &S(+\ K +9 &T+*\ L +10 &dU+*\ L +9 &%W**\ L +9 &R++\ L +10 & R*-\ K +9 &"lT+.\ L +10 &$.W+,\ L +9 &%R+,\ L +9 &'T+-\ K +10 &)tS-,\ L +9 &+6W./\ L +9 &,V/.\ L +10 &.Q/0\ L +9 &0}T0.\ K +10 &2>T./\ L +9 &3X-0\ L +9 &5T10\ L +10 &7W11\ L +9 &9FU/3\ L +9 &;R31\ L +10 &<T22\ L +9 &>U22\ L +10 &@MS13\ L +9 &BX33\ L +9 &C]56\ M +10 &Ei98\ N +9 &GE><\ Q +9 &HGE\ U +10 &JLK\ X +9 &LwNM\ X +10 &N7NK\ Y +9 &OPN\ Y +9 &QRO\ Z +10 &SzRP\ Z +9 &U:PS\ [ +9 &VUT\ \\ +10 &XVT\ \\ +9 &ZzXW\ ] +10 &\\y[Z\ 2 +9 &\\0[Z\ ` +58 ( +3 &\\rY[\ Q + &\\s]\\\ Q +2 &\\s\\[\ Q + &\\sYZ\ Q + &\\s[\\\ Q + &\\s[[\ Q + &\\sZ[\ Q +2 "collection"'q& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open + "manipulator"&31 +54 "core" 1 + "manipulator"&i% +4 "core" % : 5 ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%s& +4 "core" &\ +2 "manipulator"&C% +4 "core" %  /  + "storage"(t% +4 "core" % O\ +2 "storage"(p. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(h(,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (9& +2 "core" &,v z\  +2 "manipulator"&E& +3 "core" &ӡ# =F +2 "manipulator"&% +4 "core" %  Q  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&d( +162 "core" ( + "manipulator"&[& +4 "core" & M  +2 "storage"(v& +4 "core" &,v Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&$' +91 "core" ' + "storage"(Y& +4 "core" &,v % \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,v g\  +2 "manipulator"&*& +3 "core" & H  +2 .tElbow.seek 4 +2 "manipulator"&g( +3 "core" ( + "manipulator"&& +4 "core" & =  +2 "storage"( & +3 "core" &,v \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&5'c +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(Z' +7 "core" & <  + "manipulator"&W% +4 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&]' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#( +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +80 "core" ( + "manipulator"&,& +4 "core" & : 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +102 "core" ' + "manipulator"&>& +5 "core" & . 8 + "manipulator"&\\% +4 "core" %   +2 "processing"%N& +4 "core" &\ +2 "processing"%S& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%l(^ +4 "core" &\  +9 &/s\ *y +9 &by\ > +10 &lk\ O +9 &/N\ N +9 &L\ O +10 &N\ O +9 &tL\ O +9 &6Q\ O +10 &R\ O +9 &Q\ O +10 & |R\ O +9 &"?Q\ N +9 &$O\ N +10 &%L\ N +9 &'N\ O +9 &)GQ\ N +10 &+ N\ N +9 &,M\ O +10 &.L\ N +9 &0NO\ O +9 &2N\ O +10 &3P\ N +9 &5P\ N +9 &7VO\ O +10 &9S\ O +9 &:N\ O +10 &<N\ O +9 &>]T\ O +9 &@T\ O +10 &A_\ P +9 &Cl\ R +9 &EV\ T +10 &G\ U +9 &H\ V +10 &J\ U +9 &LZ\ U +9 &N\ V +10 &O\ W +9 &Q\ W +9 &S\\\ X +10 &U\ W +9 &V\ X +10 &X\ W +9 &Zf\ W +9 &\\&\ X +10 &]x\ : +9 &^.\ W +9 &^(\ 5 +2 ( +2 "processing"%S& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 + .Hand.open +2 "manipulator"&T1 +65 "core" 1 + "manipulator"&y% +4 "core" %  @  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +94 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%J& +4 "core" &^&\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %    + "storage"( % +4 "core" % \ + "storage"(n. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(7(,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (j& +2 "manipulator"&& +5 "core" & p 8 + &,v [\  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(|'r +2 "manipulator"&B( +5 "core" ( + "manipulator"&& +4 "core" & 8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" & 8 +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&{/ +71 "core" / +2 .tPC.seek :open + "processing"%D( +84 "core" ' + "storage"(e- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'1 +40 "core" ' +323 ( + "storage"(Q& +4 "core" &,v\  +2 "manipulator"&& +3 "core" & 6 8 +2 "manipulator"&.% +3 "core" %   . +2 .tForearm.seek :retract +2 "manipulator"&6' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&8( +253 "core" ( + "manipulator"&x& +4 "core" &   a +2 "storage"(& +3 "core" &,v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&V' +99 "core" ' + .tHand.open + "manipulator"&f1 +54 "core" 1 +2 "storage"(&- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(M' +60 "core" ' + #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' +2 "storage"( & +3 "core" &,v g\ N +2 "manipulator"&R& +3 "core" &  a +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   G a +2 "storage"(P& +4 "core" &,v - ) 6\ c + .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(K'" +57 "core" ' + "manipulator"&& +5 "core" &  ? ` + "storage"(& +4 "core" &,v /\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"("' +18 "core" ' + "manipulator"&@% +5 "core" %0  A + "storage"(k& +4 "core" &,v O\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 293 counts + "manipulator"&'\\ +16 "core" ' + "manipulator"&`& +5 "core" &   ` + "storage"( & +5 "core" &,v   4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&(' +20 "core" ' + "storage"(z% +5 "core" %  a\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (^% +3 "core" %|D +\ Wh +2 "manipulator"&a% +5 "core" %  E + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A' +91 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (%& +4 "core" &,v u\ + "collection"'m& +4 "core" &\\r[[\ Q + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&1% +3 "core" %  _  +2 "storage"(0% +4 "core" % \ + "storage"(+. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +52 "storage"(4(,y +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (b& +2 "core" &,v  d\  +2 "manipulator"&)& +4 "core" & ` + .tElbow.seek 4 +2 "manipulator"&L( +3 "core" ( + "manipulator"&& +4 "core" & \\ ` +2 "storage"(G& +3 "core" &,v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +96 "core" ' + "storage"(?& +5 "core" &,v \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'r +298 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +2 "core" & ` +2 "storage"('& +4 "core" &,v i\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&-'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(I- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(_'k +30 "core" ' + "manipulator"&% +4 "core" %, B I +2 "storage"(!& +3 "core" &,v R\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 289 counts +2 "manipulator"&\ 'X +15 "core" ' + "manipulator"&& +4 "core" &   ` +2 "storage"(3& +4 "core" &,v  k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&i' +21 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(s' +37 "core" ' + "manipulator"&C& +5 "core" & U ` + "manipulator"&t% +4 "core" %  T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&q(ӂ +153 "core" ( + "manipulator"&9& +4 "core" &Ә  a :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &Ә  , :0 +2 .tForearm.seek CC + "manipulator"&'? +96 "core" ' + .tHand.close + "manipulator"&% +4 "core" % G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\\' +89 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'N& +4 "core" &&&\ + "manipulator"&Z% +4 "core" %   +2 "storage"(]% +3 "core" % w v q\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(T(<- +376 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (y& +2 "core" &<. z _ \ +2 "manipulator"&J& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" &  + "storage"(n& +4 "core" &<. W Y 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +96 "core" ' + "storage"(j& +4 "core" &<1 z <\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" &<1 .  9\  +2 "manipulator"&& +3 "core" & l  +2 .tElbow.seek 5 + "manipulator"&{( +3 "core" ( + "manipulator"&h& +4 "core" &  + "storage"(e& +4 "core" &<1 > 7 -\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&#'Ϲ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&r/ +59 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&l& +3 "storage"(|' +7 "core" & G  + "manipulator"&Q% +4 "core" %  F +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&.(ӂ +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +9 "core" ( + "manipulator"&& +4 "core" &ӈ 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &ӈ 6 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + "manipulator"&B& +4 "core" &ӈ 0 +2 "manipulator"&f% +4 "core" %: Z ^ + "collection"'&& +4 "core" &(' \ +2 "collection"'U& +5 "core" &')\ +2 .tCC.seek :closed + "collection"' (\\ +4 "core" &)' \  +9 &5|('\ *z +10 &g~((\ \ ? +9 &m'&\ M +9 &XR'(\ K +10 &R()\ K +9 &S((\ K +9 &S))\ L +10 &_U++\ L +9 & W*$\ L +10 &R*+\ L +9 & R++\ K +9 &"hS*,\ K +10 &$)S++\ L +9 &%W-,\ L +9 &'R--\ L +10 &)pS..\ K +9 &+2T,.\ K +10 &,T,/\ L +9 &.W--\ L +9 &0vR0-\ L +10 &29T/.\ L +9 &3W1/\ L +9 &5U/1\ L +10 &7~W00\ L +9 &9AT10\ L +10 &;S11\ L +9 &<U10\ L +9 &>U02\ L +10 &@JU41\ K +9 &BY53\ M +9 &C_54\ M +10 &Eq78\ O +9 &G><;\ R +10 &HCE\ V +9 &JHF\ X +9 &LsGE\ X +10 &N2HF\ Y +9 &OFH\ Y +9 &QFH\ Y +10 &SsJK\ [ +9 &U5II\ [ +10 &VLK\ \\ +9 &XKJ\ \\ +9 &ZrNN\ ^ +10 &\\yPQ\ 4 +9 &\\,OP\ [ +8 ( +2 &\\gQP\ Q +2 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + .Hand.open +2 "manipulator"&R1 +58 "core" 1 + "manipulator"&% +4 "core" % : ^ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&P' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%6& +4 "core" &\ +2 "manipulator"&% +3 "core" %  =  +2 "storage"(% +3 "core" % \ +2 "storage"(@. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(k(<- +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (H& +53 "core" & +10 &gl\ N +9 &(O\ N +9 &L\ N +10 &L\ N +9 &nQ\ N +9 &/Q\ O +10 &Q\ O +9 &N\ N +9 & vR\ N +10 &"8M\ N +9 &#O\ N +10 &%O\ O +9 &'~L\ N +9 &)AN\ N +10 &+Q\ N +9 &,M\ O +10 &.O\ O +9 &0HL\ N +9 &2 M\ O +10 &3O\ O +9 &5N\ N +9 &7PN\ N +10 &9S\ O +9 &:N\ N +9 &<O\ O +10 &>WT\ O +9 &@R\ O +10 &A_\ P +9 &Cj\ R +9 &EO~\ T +10 &G\ U +9 &H\ U +10 &J\ V +9 &LS\ U +9 &N\ W +10 &O\ W +9 &Q\ W +9 &SW\ W +10 &U\ W +9 &V\ W +9 &X\ V +10 &Z`\ V +9 &\\ \ W +10 &]{\ 8 +9 &^-x\ [ +9 &^(\ 4 +2 ( +2 "processing"%7& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 + .Hand.open +2 "manipulator"&A1 +55 "core" 1 + "manipulator"&;% +4 "core" %  | $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%'& +4 "core" &^*\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&I% +3 "core" %  K  +2 "storage"(% +3 "core" % )\ +2 "storage"(!. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (3& +5 "manipulator"&C& + "core" && +4 "core" &<- \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&2'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +23 "core" ' + "manipulator"&d% +57 "core" %  K + "storage"(Z& +4 "core" &<- 9\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 286 counts +2 "manipulator"&]'ϫ +33 "core" ' + "manipulator"&& +5 "core" & % M + "storage"(s& +4 "core" &<- B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +24 "core" ' + "storage"(% +5 "core" % !\ +2 ."downElevator"SE.seek :down +3 "storage"(4' +100 (y% +2 "core" %I B\ Xh +2 "manipulator"&J% +4 "core" %j Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +89 "core" ' +66 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (n& +4 "core" &<-  \ + "collection"'j& +4 "core" &\\gOP\ Q + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %    +2 "storage"(\\% +3 "core" % % ! \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(o(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<- `\  +2 "manipulator"&h& +3 "core" & t M +2 .tElbow.seek 5 +2 "manipulator"&e( +3 "core" ( + "manipulator"&r& +4 "core" & I M +2 "storage"(l& +3 "core" &<- \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Q'O +95 "core" ' + "storage"(& +4 "core" &<- % =\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&x& +2 "core" &  M +2 "storage"(& +3 "core" &<-  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&#'΍ +15 "core" ' + .tElbow.hold +2 "manipulator"&B, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"(&'l +31 "core" ' + "manipulator"&{% +4 "core" %΅ ? ^ +2 "storage"(|& +3 "core" &<- R\  +2 .tForearm.force -20 +50 "manipulator"&5 +5 .tForearm.seek 5 + 292 counts + "manipulator"&'ϱ +26 "core" ' + "manipulator"&[& +4 "core" & g M +2 "storage"(R& +4 "core" &<- *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(6' +38 "core" ' + "manipulator"&& +5 "core" & ] M + "manipulator"&% +4 "core" %Q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +153 "core" ( +2 "manipulator"&H& +4 "core" &Ӎ( I @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &Ӎ( t @^ + .tForearm.seek CC +2 "manipulator"& '? +93 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'z( +449 "core" ( + "storage"(8& +4 "core" &<- ? B \  +2 "storage"(T& +3 "core" &<- 3 < 9\  +2 "manipulator"&M& +3 "core" &Ӡ%  >K +2 "manipulator"&.% +3 "core" % R Q +2 .tForearm.seek :retract +2 "manipulator"&P' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&a( +163 "core" ( + "manipulator"&:& +4 "core" &   +2 "storage"(& +3 "core" &<- Y T \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&m1 +58 "core" 1 +2 "manipulator"&1% +4 "core" % Ά U l + "storage"(0& +4 "core" &<- X [\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 293 counts + "manipulator"&'ϲ +26 "core" ' +2 "manipulator"&V& +4 "core" & 2  +2 "storage"(^& +3 "core" &<- [ d *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&%'O +14 "core" ' + "storage"()% +5 "core" % z &\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (K% +2 "core" %< 3 = \ V` +2 "manipulator"&(% +4 "core" %W + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&?' +98 "core" ' +45 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &*&\ +2 "manipulator"&"% +3 "core" %   +2 "storage"(+% +4 "core" % \ + "storage"(D. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(A(K +355 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (;& +2 "core" &K 2 6 L\  +2 "manipulator"&'& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&I( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(!& +3 "core" &K 3 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&3' +97 "core" ' + "storage"(7& +4 "core" &K N Y d\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'r +307 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (O& +3 "core" &K \  \  + "manipulator"&G& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&\ ( +3 "core" ( +2 "manipulator"&k& +3 "core" &   +2 "storage"(9& +3 "core" &K ' ( \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&b'h +42 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +4 "storage"(w' +4 "core" &  + "manipulator"&i% +4 "core" % ύ - +2 .tForearm.seek :retract + "manipulator"&~' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&<(ӂ +156 "core" ( + "manipulator"&-& +5 "core" &ӑ% K >L + ' +2 .tElbow.reconfigure :loose + ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b +2 "storage"(5 +3 "manipulator"&v& +4 "core" &ӑ% \\ >L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&}'? +92 "core" ' + "manipulator"&t& +4 "core" &ӓ% >J +2 "manipulator"&F% +4 "core" %B + { + "collection"'& +4 "core" &'&\ +2 "collection"'q& +5 "core" &''\ +2 .tCC.seek :closed + "collection"'u(\\ +4 "core" &'(\  +9 &5{'&\ *z +10 & g~&)\ ? +9 &j''\ M +9 &ZR()\ L +10 &U)*\ L +9 &S*(\ L +10 &V))\ L +9 &cR)(\ K +9 &$U)(\ L +10 &R)*\ K +9 & R**\ L +9 &"jS*+\ L +10 &$+U++\ L +9 &%S,.\ L +10 &'W,.\ L +9 &)rS--\ L +9 &+5S--\ K +10 &,T/,\ L +9 &.S.0\ L +9 &0{S./\ K +10 &2;T..\ L +9 &3T1.\ L +10 &5T//\ L +9 &7T1/\ L +9 &9DU0/\ L +10 &;T0/\ L +9 &<T11\ L +9 &>T.2\ L +10 &@KT24\ L +9 &B W42\ M +10 &C\\65\ M +9 &Ei87\ O +9 &GB:;\ R +10 &HCA\ V +9 &JFE\ Z +9 &LtFD\ Y +10 &N1EF\ Z +9 &OHF\ [ +10 &QGG\ Z +9 &SrGG\ \\ +9 &U6HG\ [ +10 &VHG\ ] +9 &XHK\ ] +9 &ZtJJ\ ^ +10 &\\zIL\ 2 +9 &\\0LJ\ ` +9 ( +2 &\\nML\ P +2 "collection"'q& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.36 + .Hand.open +2 "manipulator"&c1 +54 "core" 1 + "manipulator"&$% +4 "core" % B & { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%p& +4 "core" &\ +2 "manipulator"&g% +3 "core" %    +2 "storage"(>% +3 "core" % I\ +2 "storage"(E. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(d(K +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (Z& +2 "core" &K q\  +2 "manipulator"&*& +4 "core" &ӕ% q >H + "manipulator"&% +4 "core" %  u  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&s( +156 "core" ( + "manipulator"&& +5 "core" & v + "storage"(& +4 "core" &K   \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&Y' +94 "core" ' + "storage"(& +4 "core" &K   1\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +295 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" &K F\  +2 "manipulator"&W& +3 "core" & q +2 .tElbow.seek 6 + "manipulator"&X( +3 "core" ( +2 "manipulator"&2& +3 "core" & X + "storage"(]& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&n'h +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +65 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"& & +3 "storage"(\\' +8 "core" & ] + "manipulator"&% +4 "core" % ϓ % + .tForearm.seek :retract +2 "manipulator"&N' +98 "core" ' +2 .tElbow.seek PC + "manipulator"&( +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +81 "core" ( +2 "manipulator"&h& +4 "core" & * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" & - * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +52 "manipulator"&l' +91 "core" ' + "manipulator"&5& +4 "core" & * +2 "manipulator"&% +4 "core" % j + "processing"%4& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\ \ +9 &/s\ *x +9 &b{\ > +10 &em\ O +9 &'O\ N +9 &O\ O +10 &K\ N +9 &mP\ N +9 &.O\ O +10 &R\ N +9 &Q\ O +10 & tQ\ O +9 &"7Q\ N +9 &#R\ O +10 &%N\ N +9 &'|Q\ O +9 &)>P\ O +10 &+Q\ N +9 &,Q\ O +9 &.O\ N +10 &0HN\ N +9 &2O\ O +10 &3O\ O +9 &5M\ N +9 &7OL\ N +10 &9P\ N +9 &:S\ O +9 &<Q\ N +10 &>WQ\ N +9 &@R\ O +10 &AZ\ O +9 &Ch\ Q +9 &ERs\ S +10 &G\ T +9 &H\ U +9 &J\ U +10 &LR\ U +9 &N\ V +10 &O\ V +9 &Q\ V +9 &SW\ V +10 &U\ W +9 &V\ W +9 &X\ V +10 &Z^\ W +9 &\\\ W +10 &]\ 6 +9 &^,n\ ^ +9 &^+\ 6 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 +2 .Hand.open + "manipulator"& 1 +55 "core" 1 + "manipulator"&% +4 "core" %  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^%\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&f% +5 "core" % ! > ' + "storage"({% +4 "core" % 4\ + "storage"(|. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"([(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (R& +3 "core" &K *\  +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 "core" & * +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak + "storage"(Q'r +2 "core" ( +2 "manipulator"&e& +4 "core" & A * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" & * +2 .tForearm.seek PC + "manipulator"&#' +98 "core" ' +2 .tHand.close + "manipulator"&/ +75 "core" / +2 .tPC.seek :open + "processing"%&( +80 "core" ' + "storage"(H- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +40 "core" ' +324 ( + "storage"(& +4 "core" &K\  +2 "manipulator"&B& +3 "core" &  * +2 "manipulator"&% +3 "core" %    +2 .tForearm.seek :retract + "manipulator"&@' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"& ( +245 "core" ( + "manipulator"&8& +4 "core" &  9 +2 "storage"(T& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&M' +96 "core" ' + .tHand.open + "manipulator"&.1 +62 "core" 1 +2 "storage"(:- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' +2 "storage"(m& +3 "core" &K \ s +2 "manipulator"&1& +3 "core" & 9 +2 .tElbow.seek 6 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&V& +4 "core" & 1 9 + "storage"(^& +4 "core" &K Q\ t +2 .tForearm.seek 6 + 450 counts + "manipulator"&)' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(P'" +52 "core" ' + "manipulator"&K& +5 "core" & G 9 + "storage"((& +4 "core" &K !\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&a'< +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +24 "core" ' + "manipulator"&"% +5 "core" %E  + "storage"(& +4 "core" &K "\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&+'q +24 "core" ' + "manipulator"&D& +5 "core" &  9 + "storage"(6& +4 "core" &K   9\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&%' +25 "core" ' + "storage"(% +5 "core" % ]\ +2 ."downElevator"SE.seek :down +3 "storage"(o' +100 (;% +2 "core" %G b\ Xh +2 "manipulator"&'% +4 "core" % 4 m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (!& +4 "core" &K   O\ + "collection"'7& +4 "core" &\\nKM\ P +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %    + "storage"(?% +4 "core" %   7\ + "storage"(L. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(O(K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (G& +3 "core" &K   =\  +2 "manipulator"&k& +3 "core" & h 9 +2 .tElbow.seek 6 + "manipulator"&9( +4 "core" ( + "manipulator"&/& +5 "core" & - 9 + "storage"(=& +4 "core" &K 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +97 "core" ' + "storage"(I& +4 "core" &K  \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'r +298 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +2 "core" & 1 8 +2 "storage"(C& +3 "core" &K  R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&b'< +14 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate + "storage"(' +30 "core" ' + "manipulator"&\ % +4 "core" %7 ` K +2 "storage"(w& +3 "core" &K  u\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 295 counts + "manipulator"&~'c +17 "core" ' + "manipulator"&z& +5 "core" & H 8 + "storage"(c& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&$' +18 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate + "storage"(p' +40 "core" ' + "manipulator"&g& +5 "core" & 5 8 + "manipulator"&>% +4 "core" % A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&Z(ӂ +155 "core" ( + "manipulator"&q& +4 "core" &Ӎ'  @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +2 "core" &Ӎ' @\\ +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close +2 "manipulator"&}/ +57 "core" / +2 .tCC.seek :open + "collection"'( +449 "core" ( + "storage"(& +4 "core" &K @ . $\  +2 "storage"(A& +3 "core" &K   0\  +2 "manipulator"&& +3 "core" &ӏ( 0 @Z +2 "manipulator"&<% +3 "core" % . I  +2 .tForearm.seek :retract +52 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&y( +165 "core" ( + "manipulator"&J& +4 "core" & 2  +2 "storage"(W& +3 "core" &K S S #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&2'< +93 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +58 "core" 1 +2 "manipulator"& % +4 "core" % H ' N +2 "storage"(& +4 "core" &K a _\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&s't +16 "core" ' + "manipulator"&Y& +5 "core" &  + "storage"(,& +4 "core" &K x { R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&n' +16 "core" ' + "storage"(h% +5 "core" % | { f\ +2 ."downElevator"SE.seek :down +3 "storage"(r' +100 (X% +2 "core" %> A = <\ Va +2 "manipulator"&5% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'4& +3 "core" &'&\ + "manipulator"&\\% +4 "core" %  T  + "storage"(N% +4 "core" % W W W\ + "storage"(_. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"( (  +1297 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &  b b 9\ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&f( +8 "core" ( + "manipulator"&{& +4 "core" &  +2 "storage"(|& +3 "core" &  b a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +95 "core" ' + "storage"(R& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" &  0 5\ +2 "manipulator"&l& +3 "core" & =  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&d& +4 "core" & 7  +2 "storage"(H& +3 "core" &  V Y w\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(Q' +7 "core" &  + "manipulator"&% +4 "core" % ϼ  +2 .tForearm.seek :retract + "manipulator"&B' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +4 "core" ( + "manipulator"&#& +4 "core" &ӌ  T 9$ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &ӌ 9$ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&T'? +101 "core" ' + "manipulator"&& +5 "core" &Ӎ  9# + "manipulator"&.% +4 "core" %5 +2 "collection"':& +3 "core" &('\ +2 "collection"'U& +5 "core" &'&\ +2 .tCC.seek :closed + "collection"'m(\\ +4 "core" &(*\  +11 &5{&(\ *z +9 & g~('\ ? +9 &m*)\ \ M +10 &XR)*\ L +9 &S+)\ K +9 &T**\ L +10 &S(*\ L +9 &aU+*\ L +10 &#T)*\ L +9 &V*+\ L +9 & P,,\ L +10 &"iS,,\ L +9 &$,S,.\ K +9 &%T.-\ L +10 &'T/.\ L +9 &)pV..\ L +10 &+3S//\ L +9 &,R,/\ L +9 &.S./\ L +10 &0yT1/\ L +9 &2<S/1\ K +9 &3T02\ L +10 &5T03\ L +9 &7T02\ L +10 &9CT01\ L +9 &;T01\ L +9 &<T31\ L +10 &>U23\ L +9 &@KT30\ L +9 &B X33\ L +10 &C]66\ M +9 &Ek67\ O +10 &GB;:\ Q +9 &H?@\ V +9 &J@A\ X +10 &LqBC\ Y +9 &N3BC\ Y +9 &OCC\ Z +10 &QEC\ Z +9 &SsDB\ [ +10 &U4EE\ \\ +9 &VGD\ \\ +9 &XGG\ ] +10 &ZuIH\ ] +9 &\\zJI\ 2 +9 &\\/JK\ _ +9 ( +2 &\\hKJ\ Q +2 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + .Hand.open + "manipulator"&11 +65 "core" 1 +2 "manipulator"&V% +4 "core" % 5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&^' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%@& +4 "core" &\ +2 "manipulator"&K% +3 "core" %  L  +2 "storage"((% +3 "core" % ( @\ +2 "storage"(". +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (`& +2 "core" &   \  +2 "manipulator"&D& +4 "core" &Ӎ  E 9# + "manipulator"&6% +4 "core" %  u  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"( & +3 "core" &  % #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&M'S +96 "core" ' + "storage"( & +4 "core" &    (\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'r +300 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +2 "core" &   \  +2 "manipulator"&0& +3 "core" & C  +2 .tElbow.seek 2 + "manipulator"&P( +3 "core" ( +2 "manipulator"&a& +3 "core" &  + "storage"(+& +4 "core" &  % $ ?\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&!'Ͻ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&7/ +56 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(?' +7 "core" & d  +2 "manipulator"&% +4 "core" %  D + .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&G( +164 "core" ' +2 ."downElevator"SE.coast + "storage"(5 +93 "core" ( + "manipulator"&k& +4 "core" & c  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" & @  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&=' +101 "core" ' + "manipulator"&%& +4 "core" &   +2 "manipulator"&I% +4 "core" % F + "processing"%o& +4 "core" &\ +3 "processing"%[& +4 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\ +8 & ,\ #a +9 &Tx\ 7 +10 &~u\ L +9 &O\ O +9 &YR\ N +10 &J\ N +9 &N\ O +10 &R\ O +9 &`P\ O +9 &#P\ N +10 &R\ O +9 &!Q\ N +10 &#hN\ O +9 &%+L\ N +9 &&N\ O +10 &(N\ N +9 &*qP\ N +9 &,3P\ N +10 &-L\ N +9 &/O\ N +9 &1yQ\ N +10 &3:O\ O +9 &4M\ O +10 &6O\ O +9 &8T\ O +9 &:BN\ O +10 &<Q\ N +9 &=Q\ O +9 &?U\ O +10 &AGX\ P +9 &Ck\ R +10 &Dy\ S +9 &F}\ U +9 &H@\ U +10 &J\ U +9 &K\ V +10 &M\ V +9 &OD\ V +9 &Q\ W +10 &R\ W +9 &T\ X +9 &VJ\ W +10 &X \ V +9 &Y\ V +9 &[\ W +10 &]Q\ H +9 &^wC{\ %n +10 &^6\ 3 +5 ( +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open + "manipulator"&1 +4 "core" &^ \ 3 +54 1 + "manipulator"&-% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&v' +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%C& +4 "core" &^ \ 3 +54 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&F% +4 "core" % ! O . +2 "storage"(\ % +3 "core" % E\ +2 "storage"(w. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(z(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (c& +3 "core" &  0\  + "manipulator"&g& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & 4  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&>( + "storage"(i'r +7 "core" ( + "manipulator"&9& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" & 6  +2 .tForearm.seek PC +2 "manipulator"&b' +93 "core" ' + .tHand.close +2 "manipulator"&~/ +75 "core" / +2 .tPC.seek :open + "processing"%( +82 "core" ' + "storage"(q- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'1 +37 "core" ' +325 ( + "storage"($& +4 "core" &    3\  +2 "manipulator"&t& +3 "core" &   +2 "manipulator"&}% +3 "core" %  < N +2 .tForearm.seek :retract +2 "manipulator"&E' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&u( +252 "core" ( + "manipulator"&& +4 "core" & p +2 "storage"(A& +3 "core" &  " '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +98 "core" ' + .tHand.open +2 "manipulator"&<1 +59 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(J' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(W' +62 "core" ' + #tLights, camera, ACTION! +2 "storage"(Z- +3 "core" -' +2 "storage"(j& +3 "core" &  x x <\ D +2 "manipulator"& & +3 "core" &  c +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&Y& +4 "core" &   + "storage"(,& +4 "core" &  H\ E +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&h'S +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' + "manipulator"&X& +4 "core" &  +2 "storage"(5& +4 "core" &  & " "\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&y'Α +20 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +28 "core" ' + "manipulator"&p% +5 "core" %Ι 5 & + "storage"(n& +4 "core" &  V\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts + "manipulator"&r' +27 "core" ' + "manipulator"&O& +5 "core" & s  + "storage"(4& +4 "core" &   1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\\'S +14 "core" ' +2 "storage"(N% +4 "core" %  v\ +2 ."downElevator"SE.seek :down +3 "storage"(_' +100 (% +2 "core" %$I "\ Xi +3 "manipulator"&% +4 "core" %] ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +87 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (|& +4 "core" &   =\ + "collection"'R& +4 "core" &\\hKK\ Q +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&]% +4 "core" %   + "storage"(% +4 "core" % % $ \ +2 "storage"(e. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(S(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (l& +3 "core" &  [\  +2 "manipulator"&d& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&H( +4 "core" ( + "manipulator"&x& +4 "core" & r  + "storage"(& +4 "core" &  I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +96 "core" ' + "storage"(f& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +2 "core" & %  +2 "storage"(& +3 "core" &   $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(.- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('j +30 "core" ' + "manipulator"&:% +4 "core" %Έ , ) +2 "storage"(Q& +3 "core" &  ,\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 291 counts +2 "manipulator"&B'ϴ +14 "core" ' + "manipulator"&& +4 "core" & b  +2 "storage"(1& +4 "core" &    (\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&V'S +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(@' +36 "core" ' + "manipulator"&K& +5 "core" &  + "manipulator"&(% +4 "core" %B H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +159 "core" ( + "manipulator"&`& +4 "core" &ӑ$ ? =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &ӑ$ C =C +2 .tForearm.seek CC + "manipulator"&6'? +94 "core" ' + .tHand.close + "manipulator"&T/ +61 "core" / +2 .tCC.seek :open + "collection"'( +449 "core" ( +2 "storage"( & +4 "core" &  = F ~\  + "storage"( & +4 "core" &  ; ; \  + "manipulator"& & +4 "core" &Ӓ$ M =B + "manipulator"&% +4 "core" % > = h + .tForearm.seek :retract +2 "manipulator"&^' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&'( +163 "core" ( + "manipulator"&)& +4 "core" &   +2 "storage"(0& +3 "core" &  S X C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&a'Α +97 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&71 +58 "core" 1 +2 "manipulator"&% +4 "core" % Ύ ? E + "storage"(& +4 "core" &  W W\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 297 counts + "manipulator"&'Ϻ +33 "core" ' +2 "manipulator"&M& +4 "core" &   + "storage"(;& +4 "core" &  Y X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&!'S +15 "core" ' + "storage"(k% +4 "core" % b g \ +3 ."downElevator"SE.seek :down +3 "storage"(/' +99 (P% +2 "core" %C B B \ Wc +2 "manipulator"&%% +4 "core" %I / +52 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +10 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'o& +4 "core" &'(\ +2 "manipulator"&?% +3 "core" %  J  +2 "storage"(L% +4 "core" % p Y\ + "storage"(&. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (-& +2 "core" & T W X\ +2 "manipulator"&C& +3 "core" & %  +2 .tElbow.seek 3 +2 "manipulator"&F( +13 "core" ( + "manipulator"&[& +4 "core" & *  +2 "storage"(\ & +3 "core" & H S |\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&w'7 +96 "core" ' + "storage"(c& +5 "core" & j x G\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +296 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +2 "core" & @ = Q\ +2 "manipulator"&=& +3 "core" & E  +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&~& +3 "core" &  +2 "storage"(q& +3 "core" & 1 5\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&G'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(i' +4 "core" & >  + "manipulator"&$% +4 "core" % Ϙ  +2 .tForearm.seek :retract + "manipulator"&t' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&}(ӂ +158 "core" ( + "manipulator"&b& +5 "core" ' + &ӛ" g ;2 + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 && +3 "core" &ӛ" [ ;2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'? +93 "core" ' + "manipulator"&>& +5 "core" &Ӝ! ! :1 + "manipulator"&<% +4 "core" %; 3 } +2 "collection"'& +3 "core" &'(\ +3 "collection"'Z& +4 "core" &('\ +2 .tCC.seek :closed +2 "collection"'j(\\ +4 "core" &)'\  +10 &4|((\ +{ +9 &e|(&\ > +9 &m)(\ L +10 &MS()\ L +9 &S)+\ L +10 &T*+\ L +9 &Q*)\ L +9 &WR(*\ L +10 &T+)\ L +9 &V,+\ L +9 & S*,\ K +10 &"^T/+\ L +9 &$!S.+\ L +10 &%W+-\ L +9 &'T..\ L +9 &)hS/-\ K +10 &+(T//\ L +9 &,S/0\ L +9 &.R/0\ L +10 &0nT/.\ L +9 &21T/2\ L +10 &3T2.\ L +9 &5R01\ L +9 &7uU01\ L +10 &97T21\ L +9 &:T20\ L +9 &<T43\ L +10 &>}U35\ L +9 &@@R44\ L +10 &AZ66\ M +9 &C`99\ N +9 &E|p;:\ O +10 &G2AA\ T +9 &HJH\ V +9 &JNN\ Y +10 &LfPO\ Z +9 &N%QP\ [ +10 &OPQ\ Z +9 &QRR\ Z +9 &SgSR\ \\ +10 &U*TT\ \\ +9 &VTR\ ^ +9 &XUU\ ] +10 &ZhVV\ ^ +9 &\\ yUW\ : +10 &\\(ZY\ (w +9 &\\YY\ ^ +2 ( +2 "collection"'Z& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.41 + .Hand.open + "manipulator"& 1 +61 "core" 1 +2 "manipulator"&Y% +4 "core" % ; } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%E& +4 "core" &\ +2 "manipulator"&X% +3 "core" %  |  +2 "storage"(5% +3 "core" % 6\ +2 "storage"(*. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(p( +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (n& +2 "core" & :\  +2 "manipulator"&J& +3 "core" &Ӝ   :1 +2 "manipulator"&O% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&4( +160 "core" ( + "manipulator"&N& +4 "core" &   +2 "storage"(u& +4 "core" &  N\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +93 "core" ' + "storage"(W& +4 "core" &\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" &  \  +2 "manipulator"&& +3 "core" & [  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&y& +4 "core" & X  +2 "storage"(|& +3 "core" & U\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&r'ϡ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&R/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +4 "storage"(' +4 "core" & ;  + "manipulator"&s% +4 "core" % ϙ M +2 .tForearm.seek :retract + "manipulator"&e' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&l( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( + "manipulator"&d& +4 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" & j 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + "manipulator"&\\& +5 "core" & 1 1 + "manipulator"&f% +4 "core" % C 1 + "processing"%_& +4 "core" &\ +2 "processing"%z& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%2(^ +6 "core" &\  +9 &/s\ *x +10 &by\ > +9 &lm\ O +9 &.O\ O +10 &R\ O +9 &O\ O +9 &tN\ O +10 &7L\ N +9 &P\ O +9 &M\ N +10 & |O\ O +9 &">O\ O +10 &$N\ O +9 &%P\ N +9 &'O\ N +10 &)GO\ N +9 &+R\ O +9 &,R\ O +10 &.O\ O +9 &0OO\ N +10 &2P\ N +9 &3P\ N +9 &5O\ N +10 &7WO\ N +9 &9Q\ O +9 &:T\ O +10 &<N\ O +9 &>^R\ O +10 &@U\ O +9 &A^\ P +9 &Cj\ R +10 &EXw\ T +9 &G\ U +10 &H\ U +9 &J\ U +9 &LY\ V +10 &N\ W +9 &O\ V +9 &Q\ W +10 &S]\ W +9 &U \ W +10 &V\ W +9 &X\ V +9 &Zf\ W +10 &\\&\ X +9 &]v\ < +9 &^2\ W +10 &^ \ 0 + ( +2 "processing"%z& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.74 + .Hand.open + "manipulator"&{1 +59 "core" 1 + "manipulator"&#% +4 "core" %   1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&.% +3 "core" %  T  +2 "storage"(:% +3 "core" % `\ +2 "storage"(Q. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (1& +3 "core" & -\  +2 "manipulator"&K& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & w 1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(( + "storage"('r +5 "core" ( + "manipulator"&H& +4 "core" & X 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 1 +2 .tForearm.seek PC + "manipulator"&' +93 "core" ' + .tHand.close + "manipulator"&B/ +71 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' + "storage"(`- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(D'1 +55 "core" ' +301 ( +52 "storage"(V& +7 "core" & 0\  + "manipulator"&& +4 "core" & X 1 + "manipulator"&T% +4 "core" %  R = + .tForearm.seek :retract +2 "manipulator"&"' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&m( +246 "core" ( + "manipulator"& & +4 "core" &| $ P +2 "storage"( & +3 "core" & U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +93 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"()- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(0' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(6' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +3 "core" -' +2 "storage"(7& +3 "core" & g h Q\ l +2 "manipulator"&& +4 "core" &|   O P + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&M& +4 "core" &|  P +2 "storage"(;& +3 "core" & g h '\ l +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&k'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(^'" +52 "core" ' + "manipulator"&P& +5 "core" &|  P + "storage"(%& +4 "core" & ,\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&''u +19 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(o' +21 "core" ' + "manipulator"&% +5 "core" %p < E + "storage"(?& +4 "core" & \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"&L'Ϝ +24 "core" ' + "manipulator"&&& +5 "core" &| P + "storage"(@& +5 "core" & /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&!'7 +21 "core" ' + "storage"(/% +5 "core" % $\ +2 ."downElevator"SE.seek :down +3 "storage"(S' +100 (-% +2 "core" % H :\ Xh +2 "manipulator"&C% +4 "core" %, 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 (\ & +4 "core" & *\ +2 "collection"'c& +3 "core" &\\UY\ ^ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&+% +4 "core" %  [  + "storage"(I% +4 "core" % V\ +2 "storage"(9. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(3( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (=& +2 "core" &  -\  +2 "manipulator"&~& +3 "core" &| P +2 .tElbow.seek 3 +2 "manipulator"&q( +3 "core" ( + "manipulator"&v& +4 "core" &| 2 P +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&$'7 +91 "Can"\ US +2 "core" ' + "storage"(F& +4 "core" &  :\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'r +297 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &| I P +2 "storage"(g& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&G'u +14 "core" ' + .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(<- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('n +30 "core" ' + "manipulator"&% +4 "core" %s p ] +2 "storage"(i& +3 "core" & s\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 298 counts + "manipulator"&t'ϟ +36 "core" ' + "manipulator"&& +4 "core" &| 6 P +2 "storage"( & +4 "core" & *\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y'7 +28 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(E' +37 "core" ' + "manipulator"&X& +5 "core" &| _ P + "manipulator"&5% +4 "core" %F "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&*' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&Z(ӂ +151 "core" ( + "manipulator"&n& +4 "core" &Ӊ* E Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &Ӊ*  Bj +2 .tForearm.seek CC + "manipulator"&O'? +92 "core" ' + .tHand.close + "manipulator"&A/ +63 "core" / +2 .tCC.seek :open + "collection"'N( +449 "core" ( + "storage"(u& +4 "core" & . ) f\  +2 "storage"(& +3 "core" & ' & \  +2 "manipulator"&W& +3 "core" &ӝ& 5 ?V +2 "manipulator"&}% +3 "core" % 9 5 o +2 .tForearm.seek :retract + "manipulator"&,' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +164 "core" ( + "manipulator"&h& +4 "core" &  +2 "storage"(& +3 "core" & ? 2 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&y'u +96 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +59 "core" 1 +2 "manipulator"&]% +4 "core" % Ή  + "storage"(s& +4 "core" & A @ \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&4'ϵ +25 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" & X X U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r'7 +13 "core" ' + "storage"(d% +4 "core" % Y X l\ +3 ."downElevator"SE.seek :down +3 "storage"(x' +100 (% +2 "core" %O? @ A W\ Wc +2 "manipulator"&\\% +4 "core" %B ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +95 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'_& +4 "core" &('\ + "manipulator"&% +4 "core" %  g  +2 "storage"(e% +4 "core" % z w Q\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"({(,y +378 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (#& +2 "core" &,{ { /\ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&.( +28 "core" ( + "manipulator"&:& +4 "core" &  +2 "storage"(Q& +3 "core" &,{ { z s\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +88 "core" ' + "storage"(1& +4 "core" &,{ y =\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'r +298 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +54 (& +3 "core" &,{ Y Y \ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&B( +15 "core" ( + "manipulator"&p& +4 "core" & U  +2 "storage"(`& +3 "core" &,{ X Z\ +3 .tForearm.seek 4 + 300 counts + "manipulator"&l'c +33 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"(' +7 "core" & ?  + "manipulator"&V% +4 "core" % ϐ B +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&T(ӂ +161 "core" ' + ( +2 ."downElevator"SE.coast +2 "manipulator"&& +2 "storage"(5 +7 "core" &Ӎ( 6 A` + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &ӎ) A A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '? +99 "core" ' +2 "manipulator"&(& +4 "core" &ӟ% >N +2 "manipulator"&% +4 "core" %> +2 "collection"')& +3 "core" &((\ +2 "collection"'U& +5 "core" &''\ +2 .tCC.seek :closed + "collection"'7(\\ +4 "core" &&(\ +9 &B)(\ $f +9 &Yy()\ 8 +10 &s('\ L +9 &P*(\ L +10 &Q)(\ L +9 &MS)*\ L +9 &V+*\ L +10 &Q*)\ L +9 &S)(\ K +9 &US**\ L +10 & U+.\ L +9 &!U.,\ L +10 &#T,+\ K +9 &%]T,.\ L +9 &'V/-\ L +10 &(T,.\ K +9 &*T/.\ L +9 &,eV/.\ L +10 &.'Q//\ L +9 &/R//\ K +10 &1T/0\ L +9 &3mW//\ L +9 &50T00\ K +10 &6U/1\ L +9 &8T20\ L +9 &:tW21\ L +10 &<7U03\ L +9 &=T23\ K +10 &?T21\ L +9 &A|W23\ L +9 &C<]54\ M +10 &De85\ M +9 &Fs<;\ P +9 &HnDB\ T +10 &J%OK\ W +9 &KON\ X +10 &MOM\ Y +9 &OfOR\ Y +9 &Q'PP\ Y +10 &RPQ\ Z +9 &TQS\ [ +9 &VgUU\ [ +10 &X%WU\ ] +9 &YXU\ ] +10 &[ZZ\ K +9 &\\0]Z\ 3 +9 &\\j\\]\ P +2 ( +2 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 + .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&M% +4 "core" % > k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%"& +4 "core" &\ +2 "manipulator"&P% +3 "core" %  @  +2 "storage"(%% +4 "core" % P\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(?(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (D& +2 "core" &,{ \ +2 "manipulator"&&& +4 "core" &Ӡ% G >M + "manipulator"&@% +4 "core" %  C  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&0( +167 "core" ( + "manipulator"&/& +4 "core" & 0  +2 "storage"(m& +3 "core" &,z a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +96 "core" ' + "storage"(6& +4 "core" &,z t\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'r +300 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +2 "core" &,z 3\ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&^( +3 "core" ( + "manipulator"&'& +4 "core" & A  + "storage"(L& +4 "core" &,z \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&\ 'c +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +68 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& + "storage"(I' +6 "core" & 1  +2 "manipulator"&o% +4 "core" % ϕ  + .tForearm.seek :retract +2 "manipulator"&9' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&=( +170 "core" ' + ."downElevator"SE.coast + "storage"(5 +68 "core" ( + "manipulator"&~& +4 "core" & i A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" & < A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +95 "core" ' + "manipulator"&!& +4 "core" &  A +2 "manipulator"&F% +4 "core" % B + + "processing"%S& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%a(^ +4 "core" &\  +10 &0s\ *x +10 &cz\ > +9 &km\ O +10 &-O\ N +9 &O\ N +9 &M\ N +10 &qQ\ O +9 &4L\ O +9 &R\ O +10 &M\ O +9 & {N\ N +10 &"=M\ N +9 &#R\ O +9 &%L\ N +10 &'Q\ O +9 &)DL\ O +9 &+L\ O +10 &,N\ N +9 &.Q\ O +10 &0LL\ O +9 &2O\ N +9 &3O\ O +10 &5Q\ O +9 &7TM\ O +9 &9P\ O +10 &:S\ O +9 &<O\ O +10 &>[T\ O +9 &@S\ O +9 &A\\\ P +10 &Cl\ R +9 &ET\ T +9 &G\ U +10 &H\ V +9 &J\ U +10 &LV\ V +9 &N\ W +9 &O\ W +10 &Q\ X +9 &S[\ W +9 &U\ W +10 &V\ X +9 &X\ W +10 &Zc\ W +9 &\\$\ X +9 &]z\ : +10 &^.\ [ +9 &^'\ 5 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.76 + .Hand.open + "manipulator"&[1 +53 "core" 1 + "manipulator"&b% +4 "core" %  - + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%g& +4 "core" &^%\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&<% +4 "core" %  *  +2 "storage"(% +3 "core" % h\ +2 "storage"(i. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +3 "core" &,z 1\  +2 "manipulator"&X& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & h A +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&5( +2 "storage"($'r +5 "core" ( + "manipulator"&q& +4 "core" & Z A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" & ^ A +2 .tForearm.seek PC +2 "manipulator"&G' +99 "core" ' + .tHand.close +2 "manipulator"&t/ +65 "core" / +2 .tPC.seek :open +2 "processing"%n( +85 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'1 +46 "core" ' +312 ( + "storage"(Y& +4 "core" &,z  ,\  +2 "manipulator"&>& +3 "core" & = A +2 "manipulator"&A% +3 "core" %    +2 .tForearm.seek :retract + "manipulator"&*' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&j( +247 "core" ( + "manipulator"&u& +4 "core" &\  G j +2 "storage"(& +3 "core" &,z  H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +93 "core" ' + .tHand.open + "manipulator"&}1 +62 "core" 1 +2 "storage"(h- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(O' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +4 "core" -' + "storage"(R& +4 "core" &,z g g M\ l + "manipulator"&]& +4 "core" &  " f +2 .tElbow.seek 4 + "manipulator"&s( +3 "core" ( +2 "manipulator"&& +3 "core" &  # f +2 "storage"(& +3 "core" &,z d ] )\ l +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +3 "core" ' +54 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(,'" +60 "core" ' + "manipulator"&& +5 "core" &  ; f + "storage"(\\& +4 "core" &,z Q\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(_' +30 "core" ' + "manipulator"&% +5 "core" %; M  + "storage"(4& +4 "core" &,z \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 304 counts + "manipulator"&e'g +15 "core" ' + "manipulator"&& +5 "core" &  f + "storage"(E& +5 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&r' +21 "core" ' + "storage"(x% +5 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(3' +100 (#% +2 "core" %G  7\ Xh +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +94 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (Q& +4 "core" &,z q\ + "collection"'1& +4 "core" &\\b[Z\ P +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&|% +4 "core" %  5  + "storage"(f% +4 "core" %  T\ +2 "storage"(H. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &,z  \  +2 "manipulator"&p& +4 "core" &  , f + .tElbow.seek 4 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&8& +4 "core" &  a f + "storage"(2& +4 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +94 "core" ' + "storage"(.& +4 "core" &,z   &\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(z'r +295 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" &  P f +2 "storage"(K& +3 "core" &,z  X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&l'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(B'j +30 "core" ' + "manipulator"&)% +4 "core" %C  \\ +2 "storage"(& +3 "core" &,z '\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 312 counts + "manipulator"&'o +25 "core" ' + "manipulator"&N& +5 "core" &  A f + "storage"(& +4 "core" &,z 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&M' +27 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"("' +42 "core" ' + "manipulator"&P& +5 "core" &  % f + "manipulator"&%% +4 "core" % 6 l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +153 "core" ( + "manipulator"&D& +4 "core" &Ӛ  :, +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +2 "core" &Ӛ  : :, +2 .tForearm.seek CC +2 "manipulator"&@'? +94 "core" ' + .tHand.close + "manipulator"& / +61 "core" / +2 .tCC.seek :open + "collection"'/( +452 "core" ( + "storage"(m& +4 "core" &,z < ? e\  +2 "storage"({& +3 "core" &,z  , I\  +2 "manipulator"&6& +3 "core" &Ӛ  & :, +2 "manipulator"&T% +3 "core" % B q +2 .tForearm.seek :retract +2 "manipulator"&;' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&C( +165 "core" ( + "manipulator"&k& +4 "core" &   +2 "storage"(& +3 "core" &,z A < \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&''7 +97 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&c1 +53 "core" 1 +2 "manipulator"&+% +4 "core" % $ $ ? + "storage"(o& +4 "core" &,z Y W\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 281 counts + "manipulator"&0'P +16 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(-& +3 "core" &,z a a 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&\ ' +21 "core" ' + "storage"(~% +5 "core" % ] V 7\ +2 ."downElevator"SE.seek :down +3 "storage"(v' +99 (^% +2 "core" %< = = q\ V` +2 "manipulator"&!% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&F' +91 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'S& +4 "core" &'(\ +2 "manipulator"&I% +3 "core" %   +2 "storage"(9% +4 "core" % W W \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"([(<- +357 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (b& +2 "core" &<+( $ " >\  +2 "manipulator"&g& +3 "core" & E  +2 .tElbow.seek 5 + "manipulator"&<( +3 "core" ( +2 "manipulator"&& +3 "core" & 2  +2 "storage"(i& +3 "core" &<+( ( (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +93 "core" ' + "storage"(& +4 "core" &<+( " ' (\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'r +295 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &<+' K\  +2 "manipulator"&& +3 "core" & i  +2 .tElbow.seek 5 + "manipulator"&t( +3 "core" ( +2 "manipulator"&?& +3 "core" & )  +2 "storage"(& +3 "core" &<+& # $ F\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&='Ϲ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"($' +6 "core" &   +2 "manipulator"&Y% +4 "core" % ϱ p + .tForearm.seek :retract +2 "manipulator"&>' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&A(ӂ +158 "core" ( + "manipulator"&G& +5 "core" &ӛ & 9% + ' + .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b +2 "storage"(5 +4 "manipulator"&u& +3 "core" &ӛ b 9% +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +101 "core" ' + "manipulator"&5& +5 "core" &ӛ   9% + "manipulator"&}% +4 "core" %B +2 "collection"'h& +3 "core" &&'\ \ +3 "collection"'Z& +4 "core" &'( \ +57 .tCC.seek :closed +4 "collection"'R(\\ +4 "core" &)'\ + &((\ + &&(\ + &'(\ &''\ + &)'\ + &''\ +3 &A)(\ $f +10 &Xy&'\ 8 +10 &s((\ L +9 &Q+*\ L +9 &S*(\ L +10 &BS,+\ L +9 &R()\ L +9 &S+*\ L +10 &R*+\ L +9 &IR++\ L +9 & R-+\ L +10 &!R,,\ L +9 &#S--\ L +10 &%PR.-\ L +9 &'R-.\ L +10 &(R.-\ M +9 &*R//\ L +9 &,YR0/\ L +10 &.R/.\ L +9 &/R/0\ L +9 &1T10\ L +10 &3aP10\ L +9 &5"S01\ L +10 &6U01\ M +9 &8S22\ L +9 &:iU/1\ L +10 &<*T23\ L +9 &=U41\ L +9 &?U22\ M +10 &AoW54\ M +9 &C0\\66\ M +10 &Dk78\ O +9 &F~<:\ Q +9 &H^FA\ U +10 &JGH\ X +9 &KHH\ X +9 &MHI\ Y +10 &O[IJ\ Y +9 &QIJ\ Z +10 &RLM\ [ +9 &TLL\ \\ +9 &VZON\ \\ +10 &XMO\ ] +9 &YOQ\ ^ +9 &[PR\ K +10 &\\=TR\ + +9 &\\~SS\ ] +2 ( +2 "collection"'Z& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.36 + .Hand.open + "manipulator"&]1 +58 "core" 1 +2 "manipulator"&% +4 "core" % B & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%*& +4 "core" &\ +2 "manipulator"&% +4 "core" %    + "storage"(\\% +4 "core" % \ + "storage"(J. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &<+ \  +2 "manipulator"&4& +3 "core" &ӛ E 9% +2 "manipulator"&% +3 "core" %  D  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&E( +163 "core" ( + "manipulator"&j& +4 "core" &  +2 "storage"(x& +4 "core" &<,8 { } D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&W'O +95 "core" ' + "storage"(O& +4 "core" &<,8 \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &<,6 b q 9\  +2 "manipulator"&s& +3 "core" & [  +2 .tElbow.seek 5 +2 "manipulator"&,( +2 "core" ( +2 "manipulator"&& +3 "core" & 3  +2 "storage"(e& +3 "core" &<,6 G\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Q'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +4 "storage"(f' +4 "core" & V  + "manipulator"&_% +4 "core" % ϯ \ +2 .tForearm.seek :retract + "manipulator"&H' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&( +168 "core" ' + ."downElevator"SE.coast + "storage"(5 +91 "core" ( +2 "manipulator"&p& +4 "core" & r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +2 "core" & X  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&2' +98 "core" ' + "manipulator"&r& +5 "core" & F  + "manipulator"&.% +4 "core" % "  + "processing"%3& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%y(^ +4 "core" &\ \ +9 &/r\ {*y +10 &c{\ y? +9 &ll\ zP +10 &.K\ O +9 &L\ O +9 &L\ O +10 &uN\ O +9 &7M\ O +9 &N\ O +10 &J\ O +9 & {N\ P +10 &"?L\ O +9 &$N\ O +9 &%L\ O +10 &'O\ ~O +9 &)FM\ O +9 &+O\ ~O +10 &,N\ O +9 &.L\ O +10 &0NK\ O +9 &2P\ ~O +9 &3N\ O +10 &5L\ O +9 &7UN\ P +9 &9O\ P +10 &:O\ ~P +9 &<N\ P +10 &>]Q\ P +9 &@O\ P +9 &A\\\ }Q +10 &Ck\ {S +9 &EWz\ yU +9 &G}\ xV +10 &H\ wV +9 &J\ wV +10 &LZ\ wV +9 &N\ uW +9 &O\ vW +10 &Q\ tX +9 &S\\\ uX +9 &U\ uX +10 &V\ tX +9 &X\ tW +10 &Zf\ uX +9 &\\'\ tX +9 &]}\ y6 +10 &^+i\ z"b +9 &^-\ 7 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.78 + .Hand.open + "manipulator"&:1 +53 "core" 1 + "manipulator"&% +4 "core" %   J  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%K& +4 "core" &^.\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %   +2 "storage"()% +3 "core" % \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(N(<- +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +4 "core" &<, \  + "manipulator"&P& +2 ."raiseStack"SE.reconfigure :place +8 "storage"(#]kK-0-\ b +2 "core" &   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(%'r +4 "manipulator"&V( +3 "core" ( +2 "manipulator"&`& +3 "core" &  &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" & @  +2 .tForearm.seek PC + "manipulator"&l' +95 "core" ' + .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%B( +88 "core" ' + "storage"(D- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(&'1 +49 "core" ' +307 ( + "storage"(M& +4 "core" &<,  y\  +2 "manipulator"&(& +3 "core" & !  +2 "manipulator"& % +3 "core" %  4  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&7( +241 "core" ( + "manipulator"&m& +4 "core" & X 8 +2 "storage"({& +3 "core" &<, "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&6'O +95 "core" ' + .tHand.open + "manipulator"&T1 +54 "core" 1 +2 "storage"(k- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(@' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' + "storage"(c& +4 "core" &<, W \ a + "manipulator"&+& +4 "core" & c 7 +2 .tElbow.seek 5 + "manipulator"&o( +4 "core" ( + "manipulator"& & +4 "core" & 7 + "storage"(-& +4 "core" &<,\ \ \ ` +2 .tForearm.seek 5 + 450 counts + "manipulator"&~'O +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +56 "core" ' + "manipulator"&^& +5 "core" & o 7 + "storage"(!& +4 "core" &<,  H\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&C'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(S' +28 "core" ' +2 "manipulator"&0% +4 "core" %΃ O H + "storage"(I& +4 "core" &<, 7\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 290 counts + "manipulator"&9'ϯ +26 "core" ' + "manipulator"&& +5 "core" &  7 + "storage"("& +4 "core" &<, <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +17 "core" ' + "storage"(v% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (b% +2 "core" %(G /\ Yj +2 "manipulator"&g% +56 "core" %I ! +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +17 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (i& +4 "core" &<, g\ + "collection"'& +4 "core" &\\RS\ ] +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&L% +4 "core" %  y  + "storage"(F% +4 "core" %  \\\ + "storage"(q. +4 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(w(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &<, \  + "manipulator"&?& +4 "core" &  7 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  7 +2 "storage"(a& +3 "core" &<, N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Y'O +99 "core" ' + "storage"(<& +5 "core" &<, <\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&u& +3 "core" & 9 7 + "storage"(X& +4 "core" &<, \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&='΍ +15 "core" ' + .tElbow.hold +2 "manipulator"&5, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(t'j +31 "core" ' + "manipulator"&h% +5 "core" %Ά Z ` + "storage"($& +3 "core" &<, Y\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 293 counts +2 "manipulator"&>'ϲ +24 "core" ' + "manipulator"&/& +4 "core" & [ 7 +2 "storage"(]& +4 "core" &<, 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(*' +35 "core" ' + "manipulator"&& +5 "core" &  7 + "manipulator"&\\% +4 "core" %I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&Z(ӂ +156 "core" ( + "manipulator"&& +4 "core" &ә" Y ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &ә" ? ;2 +2 .tForearm.seek CC + "manipulator"&'? +92 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tCC.seek :open + "collection"'j( +452 "core" ( + "storage"(x& +4 "core" &<, ? @ !\  +2 "storage"([& +3 "core" &<, @ A x\  +2 "manipulator"&O& +3 "core" &ә"  ;2 +2 "manipulator"&A% +3 "core" % > a ^ +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +163 "core" ( + "manipulator"&d& +4 "core" & Z  +2 "storage"(s& +3 "core" &<, Y `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&'΍ +99 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&11 +54 "core" 1 +2 "manipulator"&|% +4 "core" % Ή p z + "storage"(_& +4 "core" &<, w h 5\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 296 counts + "manipulator"&E'ϵ +26 "core" ' +2 "manipulator"&W& +4 "core" &  +2 "storage"(#& +3 "core" &<, { y H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Q'O +17 "core" ' + "storage"(p% +5 "core" % u p \  +2 ."downElevator"SE.seek :down +3 "storage"(8' +99 (,% +2 "core" %BD > A \ Wc +2 "manipulator"&r% +4 "core" %I a + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +92 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'3& +4 "core" &'+\ + "manipulator"&f% +4 "core" % ! . $ +2 "storage"(H% +3 "core" % W V `\ +2 "storage"(n. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(:(K +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K A A {\  +2 "manipulator"&K& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( + "manipulator"&)& +4 "core" &   + "storage"(& +4 "core" &K @ @ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +101 "core" ' + "storage"(& +4 "core" &K Y < +\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'r +298 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" &K 0 (\  +2 "manipulator"&2& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  + "storage"(D& +4 "core" &K @ A |\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& + "storage"(%' +7 "core" & $  + "manipulator"&M% +4 "core" % ] ' + .tForearm.seek :retract +2 "manipulator"&(' +89 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +158 "core" ( + "manipulator"&l& +4 "core" &Ӌ( Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' + "manipulator"&m& + ."downElevator"SE.coast +5 "storage"(5 +3 "core" &Ӌ( k Ad +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'? +93 "core" ' + "manipulator"&V& +5 "core" &Ӎ) * Ab + "manipulator"&T% +4 "core" %F d + "collection"'k& +4 "core" &((\ +3 "collection"'U& +4 "core" &((\ +2 .tCC.seek :closed +2 "collection"'c(\\ +4 "core" &)(\ +8 &:%(\ $f +10 &X{('\ 7 +9 &v((\ L +9 &P((\ L +10 &S++\ L +9 &BV()\ L +9 &R**\ L +10 &Q+*\ L +9 &R*+\ L +10 &KQ*)\ L +9 & R**\ L +9 &!V+,\ L +10 &#T*,\ L +9 &%SQ,,\ L +9 &'S,/\ L +10 &(R-0\ K +9 &*S+.\ L +10 &,\\R/0\ K +9 &.S0.\ L +9 &/S0.\ K +10 &1T1-\ L +9 &3cT10\ L +9 &5&S0/\ K +10 &6T02\ L +9 &8T20\ L +10 &:kT12\ L +9 &<-T01\ L +9 &=U/3\ L +10 &?T13\ L +9 &AsV43\ L +9 &C1\\64\ M +10 &Di75\ N +9 &Fv<:\ P +10 &HcB=\ T +9 &JDE\ W +9 &KGF\ X +10 &MED\ X +9 &O]FE\ Y +9 &QGE\ Y +10 &RGG\ [ +9 &THH\ [ +10 &V\\HH\ \\ +9 &XII\ \\ +9 &YKH\ ^ +10 &[LK\ J +9 &\\:OJ\ , +9 &\\MN\ ] +2 ( +2 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 + .Hand.open +2 "manipulator"&+1 +63 "core" 1 +2 "manipulator"& % +4 "core" % F y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&-' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&^% +3 "core" %    +2 "storage"(!% +3 "core" % \ +2 "storage"(0. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +51 "storage"(I(K +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (&& +3 "core" &K \  + "manipulator"&& +4 "core" &ӏ( . A` + "manipulator"&% +4 "core" %  e  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&"( +166 "core" ( + "manipulator"&v& +5 "core" &   + "storage"(7& +4 "core" &K( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&6' +93 "core" ' + "storage"(@& +4 "core" &K( &\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +254 "core" 'V1 C +3 !to:Slide::Error\ :@axisName" Forearm: mesg"HForearm positionErr at PC + 601 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniV: velocityi1: currenti:pwmi:erri: inPressi: outPressi:deltaPressiC : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagi;:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #1 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(g' +2 "core" ' 7> h r b\ !z +257 ' +2 "storage"(~& +4 "core" &K# ,\  +2 "manipulator"&o& +3 "core" &d  +2 .tElbow.seek 6 +2 "manipulator"&;( +31 "core" ( + "manipulator"&C& +4 "core" & 6  +2 "storage"(9& +3 "core" &K# \  +3 .tForearm.seek 6 + 450 counts + "manipulator"&i' +31 "core" ' + "storage"(& +4 "core" &K# s\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'r +253 "core" 'Ѱ 8 +3 !to:Slide::Error\ :@axisName" Forearm: mesg"HForearm positionErr at PC + 435 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi8 : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagin:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #2 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(F' +3 "core" ' 2@ W\ l +260 ' + "storage"(S& +4 "core" &K# \  +2 "manipulator"&q& +3 "core" &d   +2 .tElbow.seek 6 +2 "manipulator"&( +30 "core" ( + "manipulator"&?& +4 "core" & *  +2 "storage"(& +3 "core" &K# &\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&a' +22 "core" ' + "storage"(<& +4 "core" &K# \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &K" \  +2 "manipulator"&'& +4 "core" & F  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&G& +3 "core" &  +2 "storage"(u& +4 "core" &K! \  + .tForearm.seek 6 + 300 counts +2 "manipulator"&X'h +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"($' +7 "core" &  + "manipulator"&/% +4 "core" % t ` +2 .tForearm.seek :retract +2 "manipulator"&]' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +79 "core" ( + "manipulator"&\\& +4 "core" & " 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +93 "core" ' + "manipulator"& & +4 "core" & 7 0 +2 "manipulator"&=% +4 "core" % L r + "processing"%>& +4 "core" &\ +2 "processing"%t& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 & ,\ $c +9 &Uu\ 7 +9 &}u\ L +10 &O\ O +9 &ZN\ N +10 &L\ N +9 &O\ O +9 &N\ O +10 &bN\ N +9 &!P\ O +9 &N\ O +10 &!N\ O +9 &#iO\ O +10 &%,N\ N +9 &&O\ O +9 &(M\ O +10 &*rO\ N +9 &,3O\ O +9 &-Q\ O +10 &/R\ O +9 &1yM\ O +10 &3;L\ O +9 &4L\ O +9 &6O\ O +10 &8S\ O +9 &:BO\ O +9 &<Q\ O +10 &=Q\ O +9 &?N\ O +10 &AHW\ P +9 &Cd\ Q +9 &Dk\ R +10 &F~\ T +9 &H?\ ~U +9 &J\ ~V +10 &K\ ~V +9 &M\ |W +10 &OD\ |V +9 &Q\ |W +9 &R\ |W +10 &T\ yY +9 &VK\ |W +9 &X \ |X +10 &Y\ }W +9 &[\ |W +10 &]Q\ {I +9 &^wB{\ &p +9 &^4\ 4 +5 ( +2 "processing"%t& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open +2 "manipulator"&41 +3 "core" &^&\ 4 +51 1 +2 "manipulator"&% +4 "core" %  > r + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^&\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&J% +3 "core" %  F  +2 "storage"(R% +3 "core" % 5\ +2 "storage"(x. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"([(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (O& +3 "core" &K \  +2 "manipulator"&A& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +3 "core" & f 0 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&d( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(s'r +2 "core" ( +2 "manipulator"&& +3 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &  0 +2 .tForearm.seek PC + "manipulator"&1' +95 "core" ' + .tHand.close +2 "manipulator"&|/ +72 "core" / +2 .tPC.seek :open + "processing"%_( +84 "core" ' + "storage"(W- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'1 +46 "core" ' +317 ( + "storage"(p& +4 "core" &K (\  +2 "manipulator"&& +3 "core" & A 0 +2 "manipulator"&,% +3 "core" %   < +2 .tForearm.seek :retract + "manipulator"&r' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +247 "core" ( + "manipulator"&& +4 "core" &  ) +2 "storage"(3& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&E' +102 "core" ' + .tHand.open + "manipulator"&f1 +64 "core" 1 +2 "storage"(H- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(n' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(*' +48 "core" ' + #tLights, camera, ACTION! +2 "storage"(Q- +3 "core" -' +2 "storage"(8& +3 "core" &K \ r +2 "manipulator"&w& +3 "core" & " ) +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&K& +4 "core" &  ) + "storage"()& +4 "core" &K E\ q +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +62 "core" ' + "manipulator"&e& +4 "core" & + ) +2 "storage"(.& +4 "core" &K 8\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&`'< +14 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(2' +20 "core" ' + "manipulator"&% +5 "core" %5  < + "storage"(D& +4 "core" &K p\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 293 counts + "manipulator"& 'a +14 "core" ' + "manipulator"&y& +5 "core" &  ) + "storage"(M& +5 "core" &K  v\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +53 "manipulator"&' +18 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(l' +100 (m% +2 "core" %D \ Xj +2 "manipulator"&P% +4 "core" % ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 (V& +4 "core" &K 1\ +2 "collection"'T& +3 "core" &\\KK\ ] +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&k% +4 "core" %  [  + "storage"(% +4 "core" %  \ +2 "storage"(%. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(((K +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (j& +2 "core" &K\  +2 "manipulator"&+& +4 "core" & = ) + .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" & # ) + "storage"(^& +4 "core" &K }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&!' +95 "core" ' +2 "storage"(0& +4 "core" &K d\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'r +253 "core" '  A +3 !to:Slide::Error\ :@axisName" Forearm: mesg";Forearm positionErr at PC during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni : velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressiA : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagi&:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #1 of 4 + .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :down + "storage"(&' +3 "core" '  \ +275 ' + "storage"(& +4 "core" &K  (\  +2 "manipulator"&& +3 "core" & = . +2 .tElbow.seek 6 +2 "manipulator"&{( +3 "core" ( + "manipulator"&v& +4 "core" &  . +2 "storage"(7& +3 "core" &K 4\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&:' +16 "core" ' + "storage"(@& +4 "core" &K \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +2 "core" & ? - +2 "storage"(~& +4 "core" &K !\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&o'< +23 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(C- +2 "core" -' +3 .tSE.seek 0.22 Pucks below Top Plate + "storage"(9' +30 "core" ' + "manipulator"&% +4 "core" %I  +2 "storage"("& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&i'u +24 "core" ' + "manipulator"&g& +5 "core" & ; - +2 "storage"(S& +3 "core" &K M\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&q' +18 "core" ' +2 .tSE.seek 1.22 Pucks below Top Plate +2 "storage"(L' +36 "core" ' + "manipulator"&?& +5 "core" & & - + "manipulator"&% +4 "core" % : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&;(ӂ +162 "core" ( + "manipulator"&& +4 "core" &Ӌ r 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &Ӌ ? 4 + .tForearm.seek CC +2 "manipulator"&N'? +97 "core" ' + .tHand.close + "manipulator"&'/ +56 "core" / +2 .tCC.seek :open +2 "collection"'G( +448 "core" ( + "storage"(u& +4 "core" &K - ' :\  +2 "storage"(}& +3 "core" &K # ' ;\  +2 "manipulator"&h& +3 "core" &Ӌ  4 +2 "manipulator"&/% +3 "core" % > < +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&a( +163 "core" ( + "manipulator"&\ & +4 "core" &  +2 "storage"(X& +3 "core" &K @ @ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&\\'< +92 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"& % +4 "core" % 4 = ^ +2 "storage"(=& +4 "core" &K H F f\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 292 counts + "manipulator"&>'` +16 "core" ' + "manipulator"&$& +4 "core" &  +2 "storage"(]& +3 "core" &K Z T 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&B' +23 "core" ' + "storage"(4% +5 "core" % T X `\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +4 "core" %B  . P\ Vc + "manipulator"&J% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +92 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'x& +3 "core" &))\ +2 "manipulator"&O% +3 "core" % !  $ +2 "storage"(t% +3 "core" % Y Y\ +2 "storage"(A. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1296 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (Z& +2 "core" &  @ D q\ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 + "manipulator"&|( +3 "core" ( +2 "manipulator"&I& +3 "core" & ^  +2 "storage"(W& +3 "core" &  " % .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +99 "core" ' + "storage"(5& +5 "core" &  B /\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &    -\ +2 "manipulator"&& +3 "core" & B  +2 .tElbow.seek 2 + "manipulator"&,( +3 "core" ( +2 "manipulator"&1& +3 "core" & C  +2 "storage"(& +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&3'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& + "storage"(H' +7 "core" &   + "manipulator"&Q% +4 "core" % ϱ  +2 .tForearm.seek :retract + "manipulator"&8' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&w(ӂ +161 "core" ( + "manipulator"&K& +5 "core" ' + &Ӓ% C >J + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &)& +3 "core" &ӓ% M >I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&r'? +100 "core" ' + "manipulator"&e& +5 "core" &ӕ% U =G + "manipulator"&.% +4 "core" %9 j +2 "collection"'& +3 "core" &'(\ +3 "collection"'D& +4 "core" &()\ +2 .tCC.seek :closed + "collection"'y(\\ +5 "core" &)(\  +10 &3x'*\ *z +9 & e{()\ > +9 &m))\ M +10 &VP()\ L +9 &R()\ L +9 &S+)\ L +10 &S+)\ L +9 &^S,(\ L +10 & U+,\ L +9 &T)*\ L +9 & S++\ L +10 &"eT--\ L +9 &$'T,,\ L +9 &%T..\ L +62 &'T..\ L +3 &)lT..\ L + &+/Q0/\ L +4 &,T.0\ L + &.T./\ L + &0uQ/1\ L + &26T/0\ L +2 &3U12\ L +10 &5U01\ L +9 &7|R11\ L +10 &9=U22\ M +9 &;T22\ L +9 &<U33\ M +10 &>U22\ L +9 &@FR33\ L +9 &BZ53\ M +10 &C_46\ M +9 &Eh87\ O +10 &G@}>;\ Q +9 &HA>\ U +9 &JCD\ X +10 &LqCC\ X +9 &N0FF\ Y +9 &OCD\ Y +10 &QFF\ Z +9 &SsFF\ Z +10 &U2HG\ [ +9 &VHF\ \\ +9 &XHI\ ] +10 &ZqJH\ ^ +9 &\\yLM\ 5 +9 &\\*MO\ [ +9 ( +2 &\\sML\ R +2 "collection"'D& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 +2 .Hand.open +2 "manipulator" +3 "core" &\\sKJ\ R +51 1 + "manipulator"&M% +4 "core" % 9 - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&n' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %   +2 "storage"(E% +4 "core" % J\ + "storage"(*. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(m(  +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (P& +2 "core" &  ! }\  +2 "manipulator"&& +4 "core" &Ӗ$ S =F +2 "manipulator"&% +3 "core" %  '  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +163 "core" ( + "manipulator"&`& +4 "core" & i  +2 "storage"( & +4 "core" &   \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&V'S +98 "core" ' + "storage"(T& +4 "core" &  " \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +293 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" &   *\  +2 "manipulator"&%& +3 "core" & (  +2 .tElbow.seek 2 + "manipulator"&j( +4 "core" ( + "manipulator"&+& +4 "core" &  + "storage"(& +4 "core" &  *\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&^'Ͻ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"(l' +6 "core" & <  +2 "manipulator"&[% +4 "core" %  M +2 .tForearm.seek :retract + "manipulator"&z' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +169 "core" ' + ."downElevator"SE.coast + "storage"(5 +87 "core" ( + "manipulator"&!& +4 "core" & O \ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +101 "core" ' + "manipulator"&v& +4 "core" & +2 "manipulator"&U% +4 "core" % 1  + "processing"%7& +4 "core" &\ +2 "processing"%@& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\  +9 &/r\ *y +10 &by\ > +9 &el\ O +10 &'N\ O +9 &L\ N +9 &L\ N +9 &mQ\ O +10 &0M\ O +9 &N\ O +10 &N\ N +9 & wO\ N +10 &"9M\ N +9 &#Q\ O +9 &%K\ O +10 &'~L\ O +9 &)@L\ O +9 &+L\ O +10 &,M\ O +9 &.L\ O +10 &0IN\ N +9 &2 O\ N +9 &3O\ O +10 &5R\ O +9 &7PN\ O +9 &9P\ O +10 &:S\ O +9 &<N\ O +10 &>WT\ O +9 &@S\ O +9 &A]\ P +10 &Co\ R +9 &EN\ U +9 &G~\ U +10 &H\ V +9 &J\ U +10 &LT\ U +9 &N\ W +9 &O\ W +10 &Q\ W +9 &SV\ X +9 &U\ W +10 &V\ W +9 &X\ W +10 &Z_\ W +9 &\\!\ W +9 &]~\ 6 +10 &^0l\ L +9 &^+\ 6 +2 ( + "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.77 + .Hand.open + "manipulator"&-1 +53 "core" 1 + "manipulator"&&% +4 "core" %  '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +98 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%~& +4 "core" &^+\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&C% +3 "core" % ! s - +2 "storage"(% +3 "core" % X\ +2 "storage"(". +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(g(  +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (S& +3 "core" &  Y\  +2 "manipulator"&?& +2 ."raiseStack"SE.reconfigure :place +8 "storage"(#]kK-0-\ b +2 "core" & e +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(:'r +5 "core" ( +2 "manipulator"&{& +3 "core" & = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & +2 .tForearm.seek PC + "manipulator"&o' +96 "core" ' + .tHand.close + "manipulator"&i/ +73 "core" / +2 .tPC.seek :open +2 "processing"%9( +85 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'1 +40 "core" ' +321 ( + "storage"(q& +4 "core" &  #\  +2 "manipulator"&b& +3 "core" & S +2 "manipulator"&'% +3 "core" %  _ % +2 .tForearm.seek :retract + "manipulator"&<' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&c( +241 "core" ( + "manipulator"&u& +4 "core" & 3 +2 "storage"(}& +3 "core" &  i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&h'S +94 "core" ' + .tHand.open + "manipulator"&/1 +64 "core" 1 +2 "storage"(\ - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(X' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(N' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(;- +4 "core" -' + "storage"(& +4 "core" &  ' " >\ b +2 "manipulator"& & +3 "core" & G 3 +2 .tElbow.seek 2 +2 "manipulator"&=( +3 "core" ( + "manipulator"&$& +4 "core" & 3 + "storage"(]& +4 "core" &  4 - _\ c +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&4'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +54 "core" ' + "manipulator"&& +4 "core" &  3 +2 "storage"(J& +4 "core" &   \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&a'Α +24 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(>' +21 "core" ' + "manipulator"&L% +5 "core" %Η  + "storage"(B& +4 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 306 counts + "manipulator"&' +26 "core" ' + "manipulator"&(& +5 "core" & \\ 3 + "storage"(x& +4 "core" &  #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&O'S +16 "core" ' + "storage"(t% +5 "core" % g\ +2 ."downElevator"SE.seek :down +3 "storage"(A' +100 (Z% +2 "core" %H =\ Xi +2 "manipulator"&% +4 "core" %E Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +88 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (W& +4 "core" &   r\ + "collection"'5& +58 "core" &\\rLM\ R + #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Y% +4 "core" %   +2 "storage"(R% +3 "core" % \ +2 "storage"(s. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(p(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &  8\  +2 "manipulator"&1& +4 "core" & ; 3 + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&d& +3 "core" & [ 3 +2 "storage"(f& +4 "core" &  # /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +100 "core" ' + "storage"(|& +5 "core" &  \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +2 "core" &  3 +2 "storage"(& +4 "core" &  m\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&3'Α +14 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(.- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(,'m +30 "core" ' + "manipulator"&% +4 "core" %Β * S +2 "storage"(H& +3 "core" &  !\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 301 counts +2 "manipulator"&8'Ͼ +21 "core" ' + "manipulator"&G& +4 "core" &  3 +2 "storage"(#& +4 "core" &   {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&M'S +28 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +49 "core" ' + "manipulator"&& +5 "core" & = 3 + "manipulator"&E% +4 "core" %O - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&D(ӂ +153 "core" ( + "manipulator"&P& +5 "core" &ӑ% >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &ӑ%  X >I +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&r/ +64 "core" / +2 .tCC.seek :open + "collection"'`( +449 "core" ( + "storage"( & +4 "core" &   # Z\  +2 "storage"(& +3 "core" &  % ' \  +2 "manipulator"&T& +3 "core" &Ӓ% V >H +2 "manipulator"&w% +3 "core" % F D ] +2 .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +163 "core" ( + "manipulator"&2& +4 "core" &   +2 "storage"(%& +3 "core" &  @ @ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&+'Α +93 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&0% +4 "core" % Ύ  M + "storage"([& +4 "core" &  3 1 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 297 counts + "manipulator"&'Ϻ +39 "core" ' +5 "manipulator"&V& +4 "core" &   +2 "storage"(k& +3 "core" &  3 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&^'S +25 "core" ' + "storage"(!% +5 "core" % X V \ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (j% +2 "core" %b< = 6 I\ Va +2 "manipulator"&v% +4 "core" %Ѓ 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +87 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'7& +4 "core" &&(\ +2 "manipulator"&l% +4 "core" %  X  + "storage"(z% +4 "core" % a a\ + "storage"(_. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(-( +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (&& +2 "core" &! P\  +2 "manipulator"&~& +3 "core" & v  +2 .tElbow.seek 3 + "manipulator"&C( +13 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"("& +3 "core" &! k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&@'7 +93 "core" ' + "storage"(S& +4 "core" &"   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'r +292 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &   m\  +2 "manipulator"&& +3 "core" & |  +2 .tElbow.seek 3 + "manipulator"&i( +4 "core" ( + "manipulator"&m& +3 "core" &  +2 "storage"(& +3 "core" & % " D\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & + "storage"(:' +6 "core" &  +2 "manipulator"&q% +4 "core" % ϛ s + .tForearm.seek :retract +2 "manipulator"&b' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&'(ӂ +152 "core" ' + ."downElevator"SE.coast + "storage"(5 +11 "core" ( + "manipulator"&o& +4 "core" &ӏ 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &ӏ M 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&}'? +101 "core" ' + "manipulator"&& +5 "core" &ӏ 7 6 + "manipulator"&/% +4 "core" %4 I +2 "collection"'\ & +3 "core" &(&\ +3 "collection"';& +5 "core" &('\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &&&\  +9 &4|''\ +{ +10 &d{((\ > +9 &m((\ M +9 &OO()\ L +10 &Q**\ L +9 &S(*\ L +10 &R*)\ L +9 &UR+*\ L +9 &T,+\ L +10 &R**\ L +9 & R-+\ L +9 &"^S,-\ L +10 &$S.,\ L +9 &%T,+\ L +9 &'T/-\ L +10 &)eS,.\ L +9 &+'T--\ L +10 &,S0/\ L +9 &.T/.\ L +9 &0nS1/\ L +10 &20T0/\ L +9 &3T00\ L +10 &5T11\ M +9 &7uT01\ L +9 &96T11\ M +10 &:T21\ L +9 &<U41\ M +9 &>}U33\ L +10 &@?R32\ L +9 &BY34\ L +10 &C`78\ N +9 &E{r99\ P +9 &G3C?\ S +10 &HKK\ V +9 &JNN\ X +9 &LiNO\ Y +10 &N*PN\ Y +9 &OQQ\ Z +10 &QRR\ [ +9 &SkPS\ [ +9 &U)TS\ \\ +10 &VST\ ] +9 &XUU\ ^ +9 &ZhTV\ ^ +10 &\\{VV\ 7 +9 &\\*YW\ %o +9 ( +2 &\\ZY\ !` +2 "collection"';& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.38 + .Hand.open +2 "manipulator"& 1 +61 "core" 1 +2 "manipulator"&$% +4 "core" % 4 Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&]' +99 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%<& +4 "core" &\ +2 "manipulator"&% +3 "core" % ! ( $ +2 "storage"(J% +3 "core" % \ +2 "storage"(L. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(B( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (F& +2 "core" & x\  +2 "manipulator"&(& +4 "core" &ӏ ; 6 + "manipulator"&x% +4 "core" % ! $ + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&X( +214 "core" ( + "manipulator"&t& +4 "core" & O  +2 "storage"(c& +4 "core" &/ &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&h'7 +94 "core" ' +2 "storage"(N& +4 "core" &/ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &- a r 2\  +2 "manipulator"&=& +4 "core" & A  + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&a& +4 "core" & $  + "storage"(W& +4 "core" &, \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&>& +4 "storage"(Y' +4 "core" &   + "manipulator"&R% +4 "core" % Ϙ p +2 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +72 "core" ( + "manipulator"&1& +4 "core" & = C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" & _ C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&f' +93 "core" ' + "manipulator"&O& +4 "core" & $ C +2 "manipulator"&|% +4 "core" % Z ? + "processing"%A& +4 "core" &\ +2 "processing"%g& +5 "core" &\ +2 .tPC.seek :closed + "processing"%\\(^ +5 "core" &\ +8 & ,\ #b +9 &Vw\ z7 +10 &}t\ zL +9 &P\ O +9 &VN\ O +10 &I\ O +9 &N\ O +9 &N\ O +10 &`L\ O +9 &!O\ O +10 &M\ O +9 &!L\ O +9 &#hN\ O +10 &%*M\ O +9 &&M\ O +9 &(N\ O +10 &*oN\ O +9 &,1N\ O +10 &-L\ O +9 &/O\ O +9 &1wN\ O +10 &39M\ O +9 &4L\ O +9 &6N\ O +10 &8~O\ O +9 &:AJ\ O +10 &<O\ O +9 &=Q\ O +9 &?R\ P +10 &AFR\ P +9 &Cc\ }R +9 &Dm\ |S +10 &F|\ yV +9 &H=\ xV +10 &I\ xV +9 &K\ vV +9 &M\ vW +10 &OC\ vV +9 &Q\ uX +9 &R\ vW +10 &T\ uW +9 &VJ\ vW +10 &X\ \ uX +9 &Y\ vW +9 &[\ vX +10 &]P\ uI +9 &^yF\ y#i +9 &^?\ 5 +5 ( +2 "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 + .Hand.open +2 "manipulator"&I1 +3 "core" &^%\ 5 +61 1 + "manipulator"&K% +4 "core" %   ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +90 "core" ' +2 .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^%\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&.% +4 "core" %  Q  +2 "storage"(% +3 "core" % \ +2 "storage"(H. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(G( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (#& +3 "core" & \  +2 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & \ C +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(E'r + "manipulator"&Q( +6 "core" ( + "manipulator"&& +4 "core" & R C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & C +2 .tForearm.seek PC +2 "manipulator"&3' +96 "core" ' + .tHand.close +2 "manipulator"&8/ +69 "core" / +2 .tPC.seek :open + "processing"%,( +82 "core" ' + "storage"(P- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +324 ( + "storage"(M& +4 "core" & \  +2 "manipulator"&e& +3 "core" &  C +2 "manipulator"&r% +3 "core" %  * +2 .tForearm.seek :retract + "manipulator"&*' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&y( +246 "core" ( + "manipulator"& & +4 "core" & d 1 +2 "storage"(& +3 "core" & 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&T'7 +98 "core" ' + .tHand.open + "manipulator"&w1 +65 "core" 1 +2 "storage"(2- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(%' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(D- +3 "core" -' +2 "storage"(& +3 "core" & } \ o +2 "manipulator"&0& +3 "core" & 0 +2 .tElbow.seek 3 + "manipulator"&[( +9 "core" ( + "manipulator"&V& +4 "core" & B  +2 "storage"(k& +4 "core" & x y +\ p +2 .tForearm.seek 3 + 450 counts + "manipulator"&!'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(n'" +56 "core" ' + "manipulator"&j& +4 "core" & X  +2 "storage"(v& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'u +19 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(7' +29 "core" ' + "manipulator"&% +5 "core" %y 0 C + "storage"(l& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&z'ϥ +25 "core" ' + "manipulator"&_& +5 "core" &   + "storage"(& +4 "core" & X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&^'7 +14 "core" ' +2 "storage"(% +4 "core" % A\ +2 ."downElevator"SE.seek :down +3 "storage"(p' +100 (&% +2 "core" %I \ Xi +2 "manipulator"&~% +4 "core" %? ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 ("& +4 "core" & 6\ + "collection"'S& +4 "core" &\\XZ\ !` +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %  E  + "storage"(U% +4 "core" % X\ +2 "storage"({. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"( ( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & m\  +2 "manipulator"&m& +4 "core" & I  + .tElbow.seek 3 +2 "manipulator"&( +10 "core" ( + "manipulator"&6& +4 "core" & L  +2 "storage"( & +4 "core" & c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&q'7 +98 "core" ' + "storage"(C& +4 "core" & 4\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'r +298 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +2 "core" & O  +2 "storage"(?& +3 "core" &  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'u +14 "core" ' + .tElbow.hold +2 "manipulator"&, +55 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(/- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(i'n +28 "core" ' + "manipulator"&\ % +4 "core" %v G T +2 "storage"(:& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 301 counts +2 "manipulator"&b'Ϣ +33 "core" ' + "manipulator"&`& +5 "core" &   + "storage"( & +4 "core" & >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&$'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(<' +41 "core" ' + "manipulator"&& +5 "core" & d  + "manipulator"&J% +5 "core" %: f + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&;(ӂ +156 "core" ( + "manipulator"&F& +4 "core" &ӕ% W >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &ӕ% ' >J +2 .tForearm.seek CC + "manipulator"&x'? +96 "core" ' + .tHand.close + "manipulator"&}/ +62 "core" / +2 .tCC.seek :open + "collection"'t( +449 "core" ( + "storage"(c& +4 "core" & " $ f\  +2 "storage"(-& +3 "core" &  ! \  +2 "manipulator"&'& +3 "core" &Ӗ% D >I +2 "manipulator"&N% +3 "core" % ) G P +2 .tForearm.seek :retract +2 "manipulator"&]' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +166 "core" ( + "manipulator"&4& +4 "core" &  +2 "storage"(=& +4 "core" & @ @ {\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&a'u +98 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&51 +62 "core" 1 +2 "manipulator"&>% +4 "core" % ΀ C , + "storage"(R& +4 "core" & ? 6 ;\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&X'Ϭ +27 "core" ' + "manipulator"&h& +4 "core" & P  +2 "storage"(Z& +4 "core" & W T i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' + "storage"(1% +5 "core" % U W\ +2 ."downElevator"SE.seek :down +3 "storage"(d' +100 (% +2 "core" %X? 4 * =\ Wd +2 "manipulator"&O% +4 "core" %+ < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|' +96 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'A& +4 "core" &((\ + "manipulator"&Y% +4 "core" %  $ $ +2 "storage"(s% +4 "core" % Y T *\ + "storage"(9. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(I(,y +363 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (K& +2 "core" &,| Z Y\ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&.( +43 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(H& +3 "core" &,| ; * _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +98 "core" ' + "storage"(#& +4 "core" &,| | z ~\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +292 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,| @ 4\ +2 "manipulator"&f& +3 "core" &  +3 .tElbow.seek 4 + "manipulator"&8( +3 "core" ( + "manipulator"&B& +4 "core" & +  + "storage"(P& +4 "core" &,| C A 4\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +52 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&\\& +3 "storage"(E' +8 "core" &  g  + "manipulator"&M% +4 "core" % x , +2 .tForearm.seek :retract + "manipulator"&e' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&r(ӂ +161 "core" ( + ' +2 ."downElevator"SE.coast +2 "manipulator"&3& +2 "storage"(5 +6 "core" &ӎ! :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӎ  M :* +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +105 "core" ' +3 "manipulator"&Q& +4 "core" &ӎ! } :* + "manipulator"&w% +5 "core" %C , + "collection"'2& +4 "core" &)(\ +2 "collection"'D& +4 "core" &%'\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &)&\  +10 &6y&'\ +{ +9 &h}&(\ ? +10 &j)*\ L +9 &cS))\ L +10 &%U**\ L +9 &V()\ L +9 &U')\ L +10 &kT(*\ L +9 &-W**\ L +9 &V)+\ L +10 & U,,\ L +9 &"rT+,\ L +10 &$5R+,\ L +9 &%V,-\ L +9 &'V,.\ L +10 &){U./\ L +9 &+=U-.\ L +9 &,V0/\ L +10 &.V.,\ L +9 &0W/.\ L +10 &2EQ-/\ L +9 &4Q//\ L +9 &5T/0\ L +10 &7W01\ L +9 &9NT/1\ K +9 &;T12\ L +10 &<W21\ L +9 &>T11\ L +10 &@US23\ L +9 &BW43\ L +9 &C_56\ M +10 &Ej98\ N +9 &GN?<\ Q +9 &IHD\ U +10 &JMM\ W +9 &L~LM\ X +10 &N?ON\ Y +9 &PPO\ Y +9 &QPP\ Y +10 &SPQ\ Z +9 &U@QQ\ [\ +9 &WTU\ [ +10 &XTV\ ] +9 &ZXV\ ] +10 &\\$y[Y\ 1 +9 &\\+[[\ c +8 ( +2 &\\n\\[\ U +2 "collection"'D& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open + "manipulator"&01 +59 "core" 1 + "manipulator"&V% +4 "core" % C h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%*& +4 "core" &\ +2 "manipulator"&j% +3 "core" %  N  +2 "storage"(v% +3 "core" % T\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(l(,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &,| :\ +2 "manipulator"&_& +3 "core" &ӎ  :* +2 "manipulator"&% +3 "core" %  V  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&%( +164 "core" ( + "manipulator"&& +4 "core" & 7  +2 "storage"(y& +3 "core" &,| 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&T' +96 "core" ' + "storage"(& +4 "core" &,| % \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'r +299 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" &,| )\ +2 "manipulator"&[& +3 "core" & ,  +2 .tElbow.seek 4 + "manipulator"&n( +3 "core" ( +2 "manipulator"&& +3 "core" & 4  +2 "storage"(z& +3 "core" &,|  \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&"'c +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(U' +3 "core" & P  +2 "manipulator"&7% +4 "core" % ϑ  + .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +176 "core" ' + ."downElevator"SE.coast +54 "storage"(5 +30 "core" ( + "manipulator"&m& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" & (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' + "manipulator"&^& +5 "core" &   + "manipulator"&C% +4 "core" % r f +2 "processing"%p& +3 "core" &\ +3 "processing"%G& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%+(^ +4 "core" &\ \ +10 &0s\ *x +9 &b{\ > +10 &hm\ O +9 &)M\ O +9 &N\ N +10 &L\ O +9 &pP\ N +9 &1R\ O +10 &O\ O +9 &M\ N +10 & wO\ O +9 &"9N\ O +9 &#R\ N +10 &%L\ N +9 &'N\ N +9 &)CN\ N +10 &+R\ O +9 &,P\ O +10 &.L\ N +9 &0JO\ N +9 &2 O\ N +10 &3N\ O +9 &5N\ N +9 &7RO\ N +10 &9Q\ N +9 &:P\ O +10 &<R\ O +9 &>YT\ O +9 &@R\ O +10 &A]\ P +9 &Ck\ R +9 &ER\ T +10 &G\ U +9 &H\ U +10 &J\ V +9 &LU\ U +9 &N\ V +10 &O\ V +9 &Q\ V +9 &SY\ W +10 &U\ W +9 &V\ W +10 &X\ V +9 &Z`\ W +9 &\\"\ W +10 &]}\ 7 +9 &^)g\ !a +9 &^-\ 7 +2 ( +2 "processing"%G& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 +2 .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&o% +4 "core" %  R f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%?& +4 "core" &^-\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&/% +3 "core" % # \\ 3 +2 "storage"(\ % +3 "core" % \ +2 "storage"(:. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(`(,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +2 "manipulator"&& +5 "core" & _  + &,| \ +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&J( + "storage"(q'r +5 "core" ( + "manipulator"&& +4 "core" & r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" & I  +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&b/ +72 "core" / +2 .tPC.seek :open +2 "processing"%i( +88 "core" ' + "storage"(F- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('1 +40 "core" ' +321 ( + "storage"($& +4 "core" &,| \ +2 "manipulator"&& +3 "core" & )  +2 "manipulator"&}% +3 "core" %  ; C +2 .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +248 "core" ( + "manipulator"&c& +4 "core" & + V +2 "storage"(-& +3 "core" &,| M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&'' +94 "core" ' + .tHand.open + "manipulator"&N1 +55 "core" 1 +2 "storage"(4- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(=' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(x' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(;- +3 "core" -' +2 "storage"(5& +3 "core" &,| d ] \ l +2 "manipulator"&>& +3 "core" & V +2 .tElbow.seek 4 + "manipulator"&R( +3 "core" ( +2 "manipulator"&h& +3 "core" &  V +2 "storage"(Z& +4 "core" &,| h f \ l + .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(]'" +50 "core" ' + "manipulator"&& +4 "core" & Q V +2 "storage"(O& +4 "core" &,| 7\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(A' +20 "core" ' + "manipulator"&X% +5 "core" %H 6 U + "storage"(Y& +4 "core" &,|  4\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&s't +16 "core" ' +2 "manipulator"&9& +4 "core" & Z V + "storage"(<& +4 "core" &,| G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +17 "core" ' +2 "storage"(d% +4 "core" % `\ +2 ."downElevator"SE.seek :down +3 "storage"( ' +100 (K% +2 "core" %I ]\ Yj +2 "manipulator"&% +4 "core" % 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +68 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (H& +4 "core" &,|  $\ + "collection"'#& +4 "core" &\\m^[\ U + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&W% +4 "core" %  9  +2 "storage"(|% +3 "core" % ) {\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (f& +2 "core" &,| /\ +2 "manipulator"&B& +3 "core" & V +2 .tElbow.seek 4 +2 "manipulator"&P( +3 "core" ( + "manipulator"&)& +4 "core" & 7 V + "storage"(\\& +4 "core" &,|  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +95 "core" ' + "storage"(.& +4 "core" &,|   \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'r +299 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" &  V + "storage"(& +4 "core" &,| a\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(8- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(w'j +30 "core" ' + "manipulator"&2% +4 "core" %C  +2 "storage"(E& +3 "core" &,| \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 312 counts + "manipulator"&e'o +16 "core" ' + "manipulator"&t& +4 "core" &  V +2 "storage"(0& +4 "core" &,| B\ + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&V' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(*' +39 "core" ' + "manipulator"&j& +5 "core" & H V + "manipulator"&v% +4 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&D(ӂ +154 "core" ( + "manipulator"&& +4 "core" &Ӛ 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &Ӛ 9% + .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open +53 "collection"'( +453 "core" ( + "storage"(y& +4 "core" &,| @ + ,\ +2 "storage"(I& +3 "core" &,|   K\ +2 "manipulator"&& +3 "core" &Ӛ 2 9% +2 "manipulator"&r% +3 "core" % A  > +2 .tForearm.seek :retract +2 "manipulator"&k' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&~( +163 "core" ( + "manipulator"&!& +5 "core" &   + "storage"([& +4 "core" &,| G > I\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&S1 +55 "core" 1 +2 "manipulator"&% +4 "core" % , Q Q + "storage"(7& +4 "core" &,| X W\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 289 counts + "manipulator"&%'X +14 "core" ' + "manipulator"&T& +4 "core" &  +3 "storage"(&& +3 "core" &,| a a \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&"' +21 "core" ' + "storage"(m% +5 "core" % w g +\ +2 ."downElevator"SE.seek :down +3 "storage"(6' +100 (n% +2 "core" %D A @ f\ Wc +2 "manipulator"&^% +4 "core" % & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&C' +89 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'p& +4 "core" &'*\ +2 "manipulator"&U% +3 "core" %   +2 "storage"({% +4 "core" % V b\ + "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (o& +2 "core" &<* % & \  +2 "manipulator"&?& +3 "core" & N  +2 .tElbow.seek 5 + "manipulator"&/( +8 "core" ( + "manipulator"&\ & +4 "core" & 3  +2 "storage"(:& +3 "core" &<* % &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&G'O +95 "core" ' + "storage"( & +4 "core" &<* @ 6 <\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &<*   <\  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&b( +3 "core" ( + "manipulator"&l& +4 "core" & `  + "storage"(F& +4 "core" &<* % % \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +45 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&u/ +67 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +4 "storage"(q' +4 "core" &  + "manipulator"&$% +4 "core" % ϸ v V +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.seek CC + "manipulator"&}(ӂ +153 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &Ӏ+ ; Cp + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &Ӏ+ b Cp +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&-'? +94 "core" ' + "manipulator"&J& +4 "core" &ӛ& U ?U +2 "manipulator"&N% +4 "core" %D +2 "collection"'4& +3 "core" &)(\ +2 "collection"';& +5 "core" &'*\ +2 .tCC.seek :closed + "collection"'5(\\ +4 "core" &('\  +10 &5{((\ +{ +9 &g|&&\ ? +10 &m)*\ M +9 &XO)*\ L +9 &S**\ L +10 &S*+\ K +9 &R+)\ L +10 &_R++\ L +9 &!T+*\ L +9 &S)+\ L +10 & R,,\ L +9 &"hS,+\ L +9 &$*R,-\ L +10 &%T,/\ L +9 &'W/-\ L +10 &)oS/.\ L +9 &+1S/.\ L +9 &,S01\ L +9 &.S01\ L +10 &0wT00\ L +9 &29S30\ L +10 &3T02\ L +9 &5T10\ L +10 &7U11\ L +9 &9AT03\ L +9 &;T/0\ L +10 &<U22\ M +9 &>U33\ L +9 &@IV45\ L +10 &BY45\ M +9 &C^66\ N +10 &Em78\ O +9 &G=?<\ S +9 &HHD\ V +10 &JHI\ Y +9 &LrKJ\ Y +9 &N2JH\ Y +10 &OKH\ Z +9 &QKL\ [\ +10 &StKK\ [ +9 &U2LM\ \\ +9 &VOL\ ] +10 &XOL\ ] +9 &ZsRO\ ^ +9 &\\zSR\ 4 +10 &\\+ST\ $l +8 ( +2 &\\TT\ [ +2 "collection"';& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + .Hand.open +2 "manipulator"&>1 +61 "core" 1 +2 "manipulator"&h% +4 "core" % D [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%L& +4 "core" &\ +2 "manipulator"&% +3 "core" %  k  +2 "storage"(O% +3 "core" % f\ +2 "storage"(X. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(Y(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (9& +2 "core" &<* ?\  +2 "manipulator"&<& +3 "core" &ӛ& ] ?U +2 "manipulator"&(% +4 "core" %  M  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&d( +157 "core" ( + "manipulator"&=& +4 "core" & . +2 "storage"(& +4 "core" &<* \\\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&''O +91 "core" ' + "storage"(x& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +2 "core" &<* \  +2 "manipulator"&R& +3 "core" & 0 +2 .tElbow.seek 5 + "manipulator"&]( +3 "core" ( +2 "manipulator"&& +3 "core" & | +2 "storage"(s& +3 "core" &<* $\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&H'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +75 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&W& +3 "storage"(|' +7 "core" & +2 "manipulator"&A% +4 "core" % Ϲ > + .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&f( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +92 "core" ( +2 "manipulator"&B& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" & & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&\\' +100 "core" ' + "manipulator"&& +5 "core" & + "manipulator"&.% +4 "core" % %  +2 "processing"% & +3 "core" &\ +2 "processing"%`& +5 "core" &\ +2 .tPC.seek :closed + "processing"%a(^ +4 "core" &\ +9 & -\ #b +9 &Vx\ 7 +9 &~u\ L +10 &O\ O +9 &XO\ N +9 &L\ N +10 &Q\ O +9 &K\ N +10 &_N\ O +9 &!Q\ O +9 &Q\ O +10 &!Q\ O +9 &#gQ\ O +9 &%)P\ O +10 &&Q\ O +9 &(N\ O +10 &*oR\ O +9 &,1R\ O +9 &-P\ O +10 &/R\ O +9 &1vS\ O +9 &3:O\ N +10 &4N\ O +9 &6S\ O +10 &8P\ O +9 &:@R\ O +9 &<P\ O +10 &=R\ O +9 &?Q\ O +9 &AFY\ P +10 &Cg\ Q +9 &Dq\ S +10 &F|\ U +9 &H>\ U +9 &I\ V +10 &K\ V +9 &M\ V +9 &OC\ V +10 &Q\ W + "Can"\ rp +8 "core" &R\ W +10 &T\ ~X +9 &VI\ W +9 &X\ \ W +10 &Y\ W +9 &[\ W +9 &]O\ ~I +10 &^wD\ $m +9 &^>\ 4 +5 ( +2 "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 + .Hand.open + "manipulator"&1 +4 "core" &^%\ 4 +55 1 + "manipulator"&3% +58 "core" %  #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^%\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&8% +3 "core" %  D  +2 "storage"(2% +3 "core" % E\ +2 "storage"(E. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(t(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (0& +2 "manipulator"&j& +4 "core" &<* \  +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(v'r +3 "manipulator"&M( +4 "core" ( + "manipulator"&P& +4 "core" & Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" & +2 .tForearm.seek PC + "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&e/ +71 "core" / +2 .tPC.seek :open + "processing"%w( +84 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'1 +43 "core" ' +316 ( +2 "storage"(V& +4 "core" &<* (\  + "manipulator"&Q& +4 "core" & + "manipulator"&% +4 "core" % \  5 7 +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +243 "core" ( + "manipulator"&y& +4 "core" & L U +2 "storage"(I& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +102 "core" ' + .tHand.open + "manipulator"&r1 +56 "core" 1 +2 "storage"(!- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"([' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(D- +3 "core" -' +2 "storage"(S& +3 "core" &<* + * /\ ] +2 "manipulator"&& +3 "core" &  6 U +2 .tElbow.seek 5 + "manipulator"&7( +3 "core" ( +2 "manipulator"&T& +3 "core" &  B U +2 "storage"(&& +4 "core" &<* * * \ ^ +2 .tForearm.seek 5 + 450 counts + "manipulator"&m'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(k'" +56 "core" ' + "manipulator"&n& +5 "core" & 2 U + "storage"(^& +4 "core" &<* \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&~'΍ +13 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(p' +20 "core" ' + "manipulator"&%% +5 "core" %Ή ] P + "storage"(U& +4 "core" &<* q\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 296 counts +2 "manipulator"&{'ϵ +23 "core" ' + "manipulator"&,& +5 "core" & U + "storage"(*& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&"'O +15 "core" ' + "storage"(6% +5 "core" % /\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (o% +2 "core" % G \ Xi +2 "manipulator"&?% +4 "core" %< N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +88 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (:& +4 "core" &<* H\ + "collection"' & +4 "core" &\\SS\ [ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&z% +4 "core" %    + "storage"(C% +4 "core" % ! =\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(@(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +2 "core" &<* m\  +2 "manipulator"&l& +3 "core" & U +2 .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( + "manipulator"&u& +4 "core" & U + "storage"(+& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&$'O +91 "core" ' + "storage"(/& +4 "core" &<*  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +2 "core" &  U +2 "storage"(& +3 "core" &<* c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(4'i +30 "core" ' + "manipulator"&b% +4 "core" %w 9 F +2 "storage"(q& +3 "core" &<* V\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 278 counts + "manipulator"&'ϣ +25 "core" ' + "manipulator"&& +4 "core" & % U +2 "storage"(>& +4 "core" &<* C\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&h'O +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(L' +40 "core" ' + "manipulator"&& +5 "core" &  k U + "manipulator"&O% +4 "core" %T F  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&;(ӂ +154 "core" ( + "manipulator"&9& +4 "core" &ӗ# u <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &ӗ" <= +2 .tForearm.seek CC + "manipulator"&('? +98 "core" ' + .tHand.close + "manipulator"&-/ +66 "core" / +2 .tCC.seek :open + "collection"'=( +452 "core" ( + "storage"(& +4 "core" &<*  \ R\  +2 "storage"(& +3 "core" &<* \  +2 "manipulator"&x& +3 "core" &ӗ# ' <= +2 "manipulator"&}% +3 "core" % < F 7 +2 .tForearm.seek :retract + "manipulator"&Z' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +165 "core" ( + "manipulator"&1& +4 "core" &  +2 "storage"(R& +3 "core" &<*   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator" +54 "core" 1 +2 "manipulator"&W% +4 "core" % } G + "storage"(A& +4 "core" &<* @ @ v\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 284 counts + "manipulator"&d'ϩ +25 "core" ' +2 "manipulator"&'& +4 "core" & -  + "storage"(K& +4 "core" &<* ; 4 {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +55 .tForearm.seek 5 + 450 counts + "manipulator"&H'O +15 "core" ' + "storage"(B% +5 "core" % X X I\ +2 ."downElevator"SE.seek :down +3 "storage"()' +99 (]% +2 "core" %D ( ( \ We +2 "manipulator"&% +4 "core" %A W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"' & +4 "core" &((\ +2 "manipulator"&|% +4 "core" %   + "storage"(% +4 "core" % Y Z\ +2 "storage"(i. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (3& +2 "core" &K   e\  +2 "manipulator"&`& +3 "core" & S  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&8& +4 "core" & <  + "storage"(2& +4 "core" &K T G \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&E' +94 "core" ' + "storage"(0& +4 "core" &K \\ _\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'r +299 "core" ' + "storage"(P- +4 "core" -'% + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" &K ' # %\  +2 "manipulator"&\\& +3 "core" & .  +2 .tElbow.seek 6 +2 "manipulator"&e( +3 "core" ( + "manipulator"&Y& +4 "core" & l  + "storage"(& +4 "core" &K A @ \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&f'h +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +67 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& + "storage"(v' +7 "core" &   + "manipulator"&V% +4 "core" % ϋ J +2 .tForearm.seek :retract + "manipulator"&Q' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +166 "core" ( + ' +2 ."downElevator"SE.coast +2 "manipulator"&& +2 "storage"(5 +6 "core" &ӎ - 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &ӎ N 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&I'? +92 "core" ' + "manipulator"&M& +5 "core" &ӎ ? 4 + "manipulator"&r% +4 "core" %9  s +2 "collection"'!& +3 "core" &&%\ +3 "collection"'D& +6 "core" &((\ +2 .tCC.seek :closed +2 "collection"'S(\\ +4 "core" &%'\ +7 &;&&\ %g +10 &Zx''\ 8 +9 &s((\ L +9 &O)*\ K +10 &S))\ L +9 &IQ&*\ L +9 & S*)\ K +10 &S*)\ K +9 &S)+\ K +10 &QR),\ L +9 & U,+\ L +9 &!U,-\ L +10 &#V*,\ L +9 &%YQ+-\ L +9 &'P,.\ L +10 &(Q,0\ L +9 &*S-/\ K +10 &,bT.-\ K +9 &.$T//\ K +9 &/S/1\ L +10 &1W/0\ L +9 &3iQ/0\ L +9 &5+T/0\ L +10 &6X01\ L +9 &8T32\ L +10 &:pW11\ L +9 &<3T21\ L +9 &=X22\ L +10 &?U34\ L +9 &AyV43\ L +9 &C8\\55\ M +10 &Df97\ N +9 &Fv;:\ P +10 &HhA@\ T +9 &J CD\ X +9 &KCE\ X +10 &MFE\ Y +9 &OaGH\ Y +9 &Q"GF\ Z +10 &RGH\ [ +9 &THF\ [ +10 &VaIJ\ \\ +9 &X"IK\ \\ +9 &YJL\ ^ +10 &[LN\ K +9 &\\.ON\ 9 +9 &\\vPM\ Q +6 ( +3 "collection"'D& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 + .Hand.open +2 "manipulator"&1 +3 "core" &\\rLL\ Q +59 1 +2 "manipulator"&T% +4 "core" % 9 s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&n% +3 "core" %  k  +2 "storage"(^% +3 "core" % /\ +2 "storage"(%. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(U(K +9 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (_& +2 "core" &K n\  +2 "manipulator"&,& +3 "core" &ӎ p 4 +2 "manipulator"&*% +3 "core" %  [  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&[( +182 "core" ( + "manipulator"&6& +5 "core" & ? * + "storage"(& +4 "core" &K $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(& +4 "core" &K *\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +294 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +2 "core" &K 0\  +2 "manipulator"&7& +3 "core" & E ) +2 .tElbow.seek 6 + "manipulator"&k( +4 "core" ( + "manipulator"&~& +4 "core" & \\ ) +2 "storage"(:& +3 "core" &K H\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&{'h +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& + "storage"(C' +7 "core" & Y ) + "manipulator"&p% +4 "core" % ^ W +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC + "manipulator"& ( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +76 "core" ( + "manipulator"&l& +4 "core" & & : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" & 1 : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&+' +102 "core" ' + "manipulator"&"& +4 "core" & F : +2 "manipulator"&/% +4 "core" % K + "processing"%& +4 "core" &\ +2 "processing"%t& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +10 &/r\ *y +9 &d|\ ? +10 &nm\ O +9 &0O\ O +10 &L\ N +9 &K\ O +9 &xP\ N +9 &9L\ O +10 &Q\ N +9 &O\ N +10 & R\ O +9 &"BQ\ N +10 &$R\ O +9 &%K\ N +9 &'O\ N +10 &)IQ\ O +9 &+ R\ N +9 &,O\ N +10 &.L\ N +9 &0QP\ O +10 &2R\ O +9 &3S\ O +9 &5S\ O +10 &7ZR\ N +9 &9Q\ O +9 &:O\ O +10 &<O\ N +9 &>aR\ O +10 &@#R\ O +9 &A\\\ P +9 &Ch\ Q +10 &E\\s\ S +9 &G\ U +9 &H\ V +10 &J\ U +9 &L]\ U +10 &N\ W +9 &O\ V +9 &Q\ W +10 &Sa\ W +9 &U#\ W +9 &V\ W +10 &X\ V +9 &Zi\ W +10 &\\+\ W +9 &]y\ 9 +9 &^-~\ V +10 &^*\ 4 + ( +2 "processing"%t& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&\ 1 +62 "core" 1 + "manipulator"&% +4 "core" %  U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^%\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&N% +3 "core" % # w 4 +2 "storage"(b% +3 "core" % \ +2 "storage"(q. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (>& +3 "core" &K -\  +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +3 "core" & * : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(O'r +4 "manipulator"&$( +3 "core" ( +2 "manipulator"&F& +4 "core" &  : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" & : +2 .tForearm.seek PC + "manipulator"&' +93 "core" ' + .tHand.close + "manipulator"&/ +76 "core" / +2 .tPC.seek :open +55 "processing"%4( +26 "core" ' + "storage"(9- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'1 +43 "core" ' +380 ( +2 "storage"(h& +4 "core" &K  I\  +2 "manipulator"&J& +3 "core" &  : +2 "manipulator"&-% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&X' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&5( +247 "core" ( + "manipulator"&& +4 "core" & c 2 +2 "storage"(& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&x' +96 "core" ' + .tHand.open + "manipulator"&}1 +54 "core" 1 +2 "storage"(1- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(R' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"((' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(;- +3 "core" -' +2 "storage"(#& +3 "core" &K \ s +2 "manipulator"&W& +4 "core" &  D 2 + .tElbow.seek 6 +2 "manipulator"&A( +3 "core" ( + "manipulator"&'& +4 "core" & 2 +2 "storage"(K& +3 "core" &K \ s +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(Z'" +60 "core" ' + "manipulator"&& +5 "core" & K 2 + "storage"(]& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'< +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +20 "core" ' + "manipulator"&d% +5 "core" %E $ + "storage"(|& +5 "core" &K ^\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&'q +15 "core" ' + "manipulator"&i& +5 "core" & = 2 + "storage"(L& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&H' +21 "core" ' + "storage"()% +5 "core" % ?\ +2 ."downElevator"SE.seek :down +3 "storage"(@' +100 (3% +2 "core" % L \ Yk +2 "manipulator"&`% +4 "core" % - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (2& +4 "core" &K 7\ + "collection"'0& +4 "core" &\\qMK\ Q +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&s% +3 "core" %  " +2 "storage"(.% +4 "core" % ^\ + "storage"(P. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(g(K +7 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (\\& +2 "core" &K \  +2 "manipulator"&Y& +4 "core" & 2 + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & = 2 +2 "storage"(a& +3 "core" &K ! \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&V' +97 "core" ' + "storage"(& +5 "core" &K +\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&y& +3 "core" & d , +2 "storage"(j& +3 "core" &K  l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&f'< +15 "core" ' + .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(r- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(!'i +30 "core" ' + "manipulator"&e% +4 "core" %C M P +2 "storage"(v& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 307 counts +2 "manipulator"&Q'o +15 "core" ' + "manipulator"&=& +4 "core" & , +2 "storage"(& +4 "core" &K $\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&T' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +36 "core" ' + "manipulator"&n& +5 "core" &  , + "manipulator"&^% +4 "core" %  > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&%' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&D(ӂ +156 "core" ( + "manipulator"&_& +4 "core" &Ӑ# = =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" &Ӑ$ =E + .tForearm.seek CC +2 "manipulator"&*'? +91 "core" ' + .tHand.close + "manipulator"&I/ +76 "core" / +2 .tCC.seek :open + "collection"'6( +452 "core" ( +2 "storage"(& +4 "core" &K % %\  + "storage"(& +4 "core" &K   (\  +2 "manipulator"&& +3 "core" &ӑ$ T =D +2 "manipulator"&% +3 "core" % P  i +2 .tForearm.seek :retract + "manipulator"&&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&?( +155 "core" ( + "manipulator"&m& +4 "core" & Q  +2 "storage"(7& +3 "core" &K 0 , \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&~'< +92 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"& 1 +57 "core" 1 +2 "manipulator"&z% +4 "core" % O M \\ + "storage"(p& +4 "core" &K @ @ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts + "manipulator"&['{ +16 "core" ' + "manipulator"&& +4 "core" & W  +2 "storage"(o& +3 "core" &K 0 1 U\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&{' +15 "core" ' + "storage"(l% +5 "core" % Y F \ +2 ."downElevator"SE.seek :down +3 "storage"(u' +99 (k% +2 "core" %? & ' \ Wc +2 "manipulator"&"% +4 "core" % [ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +93 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +1003 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" &)(\ +2 "manipulator"&C% +3 "core" %  ;  +2 "storage"(% +3 "core" % E 7 p\ +2 "storage"(w. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(\ (  +1299 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &  A I \ +2 "manipulator"&& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&N( +16 "core" ( + "manipulator"&b& +4 "core" & _  +2 "storage"(q& +3 "core" &  @ @ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +53 "manipulator"&t'S +91 "core" ' + "storage"(>& +4 "core" &  V X\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +292 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &  %  \ +2 "manipulator"&+& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&U& +4 "core" &  + "storage"(9& +4 "core" &  ( (\ +2 .tForearm.seek 2 + 300 counts + "manipulator"& 'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(O' +8 "core" &  + "manipulator"&h% +4 "core" % Ͼ \ +2 .tForearm.seek :retract + "manipulator"&J' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +156 "core" ' + ( +2 ."downElevator"SE.coast +2 "manipulator"&& +2 "storage"(5 +6 "core" &Ӎ* a Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӎ( @ Ae +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&$& +4 "core" &Ө% z >K +2 "manipulator"&}% +4 "core" %@ j z + "collection"'1& +4 "core" &'(\ \ +2 "collection"';& +5 "core" &((\ +2 .tCC.seek :closed + "collection"'#(\\ +4 "core" &&* \  +11 &3x('\ \ *y +9 &e}&& \ > +9 &m+*\ M +10 &IR+'\ L +9 & S)*\ L +9 &S(,\ L +10 &R+,\ L +9 &SR+*\ K +10 &U**\ L +9 &S++\ L +9 & R,,\ L +10 &"ZS+,\ L +9 &$S-,\ L +9 &%W/-\ L +10 &'T-/\ L +9 &)aS..\ L +10 &+$T..\ L +9 &,S.0\ L +9 &.T/1\ L +10 &0jT01\ L +9 &2*W00\ L +9 &3T01\ L +10 &5T0/\ L +9 &7pT0/\ L +10 &92T23\ L +9 &:T20\ M +9 &<T02\ L +10 &>xU22\ L +9 &@:T52\ L +9 &AT33\ L +10 &C\\85\ M +9 &Exk79\ O +10 &G2<;\ R +9 &HBA\ U +9 &JDB\ Z +10 &LbDE\ Y +9 &N$CF\ Y +9 &ODD\ Z +10 &QGG\ Z +9 &ScFE\ \\ +10 &U"HF\ ] +9 &VHI\ ] +9 &XJH\ ^ +10 &ZdKI\ ^ +9 &\\zLK\ : +9 &\\)PN\ (w +10 &\\NN\ _ + ( +2 "collection"';& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.37 + .Hand.open + "manipulator"&W1 +58 "core" 1 +2 "manipulator"&'% +4 "core" % @ w z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&K' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%X& +4 "core" &\ +2 "manipulator"&% +3 "core" %  ?  +2 "storage"(]% +3 "core" % u\  +2 "storage"(d. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(|(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (<& +3 "core" &  \ +2 "manipulator"&i& +3 "core" &Ө% ` >K +2 "manipulator"&L% +3 "core" %  R  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&R( +164 "core" ( + "manipulator"&)& +4 "core" &  +2 "storage"(5& +4 "core" &  d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&x'S +92 "core" ' + "storage"((& +4 "core" &  N\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'r +297 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &  a\ +2 "manipulator"&A& +3 "core" & d  +2 .tElbow.seek 2 + "manipulator"&Z( +3 "core" ( +2 "manipulator"&& +3 "core" & E  +2 "storage"(& +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&2'Ͻ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& + "storage"(.' +7 "core" & ]  + "manipulator"& % +4 "core" %  9 + .tForearm.seek :retract +2 "manipulator"&P' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&\\( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +72 "core" ( + "manipulator"&Y& +4 "core" & F P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & S P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&a' +100 "core" ' + "manipulator"&H& +4 "core" & 0 P +2 "manipulator"&% +4 "core" % @ \ + "processing"%@& +4 "core" &\ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\  +10 &1v\ }*x +10 &az\ {> +9 &cl\ |O +9 &#O\ O +10 &N\ O +9 &L\ O +9 &jL\ O +10 &-L\ O +9 &M\ O +10 &P\ O +9 & rN\ O +9 &"5L\ O +10 &#N\ O +9 &%L\ O +9 &'zQ\ O +10 &)<M\ O +9 &*N\ O +10 &,O\ O +9 &.M\ O +9 &0DN\ O +10 &2N\ O +9 &3O\ O +9 &5O\ O +10 &7KN\ O +9 &9 P\ P +10 &:O\ O +9 &<Q\ O +9 &>SQ\ O +10 &@T\ P +9 &A^\ Q +9 &Cn\ }S +10 &EJ\ yU +9 &G\ \ yV +10 &H\ yV +9 &J\ yV +9 &LP\ xV +10 &N\ wW +9 &O\ xW +9 &Q\ wW +10 &ST\ xW +9 &U\ wW +10 &V\ xW +9 &X\ xW +9 &Z\\\ wW +10 &\\\ xX +9 &]~\ {5 +9 &^6s\ |A +9 ( +2 &^\ / +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.76 + .Hand.open + "manipulator"&81 +60 "core" 1 + "manipulator"&% +4 "core" %   ` \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%j& +4 "core" &^ \ / + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&r% +3 "core" %    +2 "storage"(e% +3 "core" % \ +2 "storage"(v. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(=(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &  ]\  +2 "manipulator"&n& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & 8 P +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&^( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(V'r +2 "core" ( +2 "manipulator"&& +3 "core" & P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" & P +2 .tForearm.seek PC + "manipulator"&f' +92 "core" ' + .tHand.close + "manipulator"&Q/ +75 "core" / +2 .tPC.seek :open +2 "processing"%!( +85 "core" ' + "storage"(_- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'1 +43 "core" ' +321 ( + "storage"(T& +4 "core" &  k\  +2 "manipulator"&M& +3 "core" & R P +2 "manipulator"&I% +3 "core" %  2 5 +2 .tForearm.seek :retract + "manipulator"&%' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&S( +245 "core" ( + "manipulator"&& +4 "core" &  0 +2 "storage"(& +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +93 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(m- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(*' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(D- +3 "core" -' +2 "storage"( & +56 "core" &  \ r +3 "manipulator"&z& +3 "core" & 0 +2 .tElbow.seek 2 + "manipulator"&p( +3 "core" ( +2 "manipulator"&& +3 "core" & S 0 +2 "storage"(o& +4 "core" &  \ r +2 .tForearm.seek 2 + 450 counts + "manipulator"&l'S +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(&'" +51 "core" ' + "manipulator"&k& +5 "core" & 7 0 + "storage"("& +4 "core" &  $\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&?'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&~, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"([' +23 "core" ' + "manipulator"&% +5 "core" %Ύ 0 * + "storage"({& +4 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 297 counts + "manipulator"&u'Ϻ +26 "core" ' + "manipulator"&g& +5 "core" & . 0 + "storage"(& +4 "core" &  A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&C'S +18 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(w' +100 (% +2 "core" %ME \ Yk +2 "manipulator"&% +4 "core" %J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +89 "core" ' +74 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (q& +4 "core" &  $\ + "collection"'>& +4 "core" &\\KO\ _ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&:% +3 "core" %  O  +2 "storage"(/% +4 "core" % O\ + "storage"(F. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(G(  +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (+& +2 "core" &  3\  +2 "manipulator"&U& +3 "core" &  0 +2 .tElbow.seek 2 +2 "manipulator"&9( +3 "core" ( + "manipulator"&c& +4 "core" & G 0 + "storage"(& +4 "core" &  ! C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&h'S +92 "core" ' + "storage"(N& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & < 0 + "storage"(& +4 "core" &  H\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"& 'Α +34 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(}- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(1'k +30 "core" ' + "manipulator"&% +4 "core" %Ά w  +2 "storage"(O& +3 "core" &  t\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 289 counts + "manipulator"&J'ϲ +15 "core" ' + "manipulator"&6& +4 "core" & ; 0 +2 "storage"(W& +4 "core" &  +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&''S +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(X' +37 "core" ' + "manipulator"&& +5 "core" & f 0 + "manipulator"&]% +4 "core" %A ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&;(ӂ +156 "core" ( + "manipulator"&<& +4 "core" &Ӓ$ h =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &Ӓ$ J =F +2 .tForearm.seek CC + "manipulator"&L'? +92 "core" ' + .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"')( +448 "core" ( + "storage"(5& +4 "core" &  & &\  +2 "storage"(\ & +3 "core" &   %\  +2 "manipulator"&(& +3 "core" &ӧ  = :1 +2 "manipulator"&-% +3 "core" % = \ J +2 .tForearm.seek :retract +2 "manipulator"&K' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&`( +163 "core" ( + "manipulator"&B& +4 "core" &   +2 "storage"(A& +3 "core" &  = < \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&'Α +94 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&01 +64 "core" 1 +2 "manipulator"&s% +4 "core" % Ό u , + "storage"( & +4 "core" &  I F /\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 295 counts + "manipulator"&R'ϸ +25 "core" ' +2 "manipulator"&x& +4 "core" &   +2 "storage"(3& +3 "core" &  Y Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&2'S +14 "core" ' + "storage"(Y% +4 "core" % W b\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (Z% +2 "core" %C  ! .\ Wc +2 "manipulator"&H% +4 "core" %_ \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'@& +4 "core" &((\ +2 "manipulator"&.% +4 "core" %    + "storage"(P% +4 "core" % Y Y\ + "storage"(4. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(8( +360 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & \ \  +2 "manipulator"&j& +3 "core" & j  +2 .tElbow.seek 3 + "manipulator"&r( +12 "core" ( + "manipulator"&e& +4 "core" & 0  +2 "storage"(v& +3 "core" & 9\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +95 "core" ' + "storage"(& +4 "core" & @ 6 )\ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" &  +\ \  +2 "manipulator"&a& +3 "core" & ?  +2 .tElbow.seek 3 + "manipulator"&Q( +3 "core" ( +2 "manipulator"&|& +3 "core" &  + "storage"(_& +4 "core" &  M\ \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&\\'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&y/ +77 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(V' +7 "core" & G  +2 "manipulator"&T% +4 "core" % ϕ + .tForearm.seek :retract +2 "manipulator"&M' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +158 "core" ' + ( +2 ."downElevator"SE.coast +2 "manipulator"&f& + "storage"(5 +8 "core" &Ӗ$  =A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӗ$ i =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +55 .tForearm.seek CC + "manipulator"&'? +93 "core" ' + "manipulator"&^& +4 "core" &Ӗ$ =A +2 "manipulator"&% +4 "core" %: 8 n +2 "collection"'m& +3 "core" &('\ +3 "collection"'D& +4 "core" &'(\ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" &''\ +8 &@)(\ $f +9 &Xz&)\ 8 +9 &s*)\ L +10 &R+)\ L +9 &R)+\ L +10 &IR*+\ L +9 & R*)\ L +9 &R(+\ L +10 &S-+\ L +9 &PR.+\ L +9 & R+-\ L +10 &!R,-\ L +9 &#S,.\ L +10 &%XR+,\ L +9 &'R.-\ L +9 &(R1.\ L +10 &*R/0\ L +9 &,`S01\ L +9 &."S.2\ L +10 &/R.0\ L +9 &1T01\ L +10 &3gS31\ L +9 &5*P22\ L +9 &6T31\ L +10 &8O13\ L +9 &:oT20\ L +9 &<2R32\ L +10 &=V34\ L +9 &?T25\ M +10 &AwY36\ L +9 &C6]79\ M +9 &Dj<8\ O +10 &F=?\ Q +9 &HdIH\ V +9 &JML\ Y +10 &KPO\ Y +9 &MOP\ Z +10 &O]QQ\ [ +9 &QTQ\ \\ +9 &RUR\ [ +10 &TTR\ \\ +9 &V^TS\ ] +9 &XTT\ ^ +10 &YUW\ ^ +9 &[XW\ L +10 &\\4[W\ 2 +9 &\\rZY\ R +2 ( + "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.44 + .Hand.open + "manipulator"&%1 +58 "core" 1 +2 "manipulator"&z% +4 "core" % : 9 n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +101 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%o& +4 "core" &\ +2 "manipulator"&k% +3 "core" %  _ +2 "storage"("% +4 "core" % " C\ + "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (7& +3 "core" &  \  +2 "manipulator"&{& +3 "core" &ӗ#  <@ +2 "manipulator"&g% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +165 "core" ( + "manipulator"&& +4 "core" & 3  +2 "storage"(S& +3 "core" &   2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +91 "core" ' + "storage"(*& +4 "core" &  0\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" & \  +2 "manipulator"&p& +3 "core" & &  +2 .tElbow.seek 3 +2 "manipulator"&&( +3 "core" ( + "manipulator"&?& +4 "core" &  + "storage"(u& +4 "core" & C\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&q'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& + "storage"([' +7 "core" &  + "manipulator"&/% +4 "core" % ϛ j +2 .tForearm.seek :retract + "manipulator"&F' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&+( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +72 "core" ( + "manipulator"&U& +4 "core" &  ? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" & : ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + "manipulator"&C& +4 "core" & ? +2 "manipulator"&N% +4 "core" % 7 7 + "processing"%w& +4 "core" &\ +2 "processing"%=& +5 "core" &\ +2 .tPC.seek :closed + "processing"%~(^ +4 "core" &\ +9 & -\ #a +9 &Tv\ 7 +9 &~u\ L +10 &O\ O +9 &TO\ O +10 &J\ N +9 &Q\ O +9 &Q\ N +9 &\\L\ O +10 &M\ O +9 &Q\ O +10 &!O\ O +9 &#eL\ N +10 &%'L\ N +9 &&Q\ O +9 &(K\ N +10 &*mO\ N +9 &,/O\ N +9 &-L\ O +10 &/R\ O +9 &1tN\ O +10 &36M\ O +9 &4Q\ O +9 &6N\ O +10 &8|O\ O +9 &:?O\ N +9 &<P\ O +10 &=S\ O +9 &?Q\ O +10 &AEV\ O +9 &Cb\ Q +9 &Dm\ R +10 &Fz\ U +9 &H=\ T +9 &I\ U +10 &K\ U +9 &M\ V +10 &OA\ V +9 &Q\ V +9 &R\ X +10 &T\ X +9 &VG\ W +9 &X\ W +10 &Y\ W +9 &[\ W +10 &]M\ I +9 &^uD\ %p +9 &^U\ = +5 ( +2 "processing"%=& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 + .Hand.open +2 "manipulator"&b1 +3 "core" &^I\ = +52 1 + "manipulator"&% +4 "core" %  7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^I\ = +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 "manipulator"&}% +5 "core" %  9  + "storage"(% +4 "core" % 6\ + "storage"(O. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(6( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (W& +2 "manipulator"&& +4 "core" & \  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & [ > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(]'r +4 "manipulator"&h( +3 "core" ( +2 "manipulator"&9& +3 "core" &  } > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" & > +2 .tForearm.seek PC + "manipulator"& ' +95 "core" ' + .tHand.close +2 "manipulator"&J/ +67 "core" / +2 .tPC.seek :open +2 "processing"%1( +85 "core" ' + "storage"(<- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'1 +39 "core" ' +322 ( + "storage"('& +4 "core" &  E\  +2 "manipulator"&$& +3 "core" & > +2 "manipulator"&% +3 "core" %    +2 .tForearm.seek :retract + "manipulator"&d' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&#( +245 "core" ( + "manipulator"&5& +4 "core" &  L +2 "storage"(\ & +3 "core" & W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&('7 +98 "core" ' + .tHand.open + "manipulator"&-1 +57 "core" 1 +2 "storage"(B- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(L' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(;- +4 "core" -' + "storage"(0& +4 "core" & \ r +2 "manipulator"&s& +3 "core" & \ L +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&x& +4 "core" &  L +2 "storage"(3& +3 "core" & \ r +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(K'" +55 "core" ' + "manipulator"&Z& +5 "core" & > L + "storage"(H& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&`'u +15 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(@' +19 "core" ' + "manipulator"&R% +5 "core" %y f J + "storage"(.& +4 "core" & 5\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 304 counts +2 "manipulator"&P'ϥ +24 "core" ' + "manipulator"&4& +5 "core" & # L + "storage"(X& +4 "core" & J\  +2 .tForearm.reconfigure :tight +55 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 450 counts + "manipulator"&2'7 +16 "core" ' + "storage"( % +5 "core" %  M\ +2 ."downElevator"SE.seek :down +3 "storage"(G' +100 (% +2 "core" %G @\ Xj +2 "manipulator"&j% +4 "core" %/  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +91 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast +2 "storage"(6 +5 (v& +8 "core" & Q\ +3 "collection"'& +8 "core" &\\rYY\ R +3 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %  2 \ +2 "storage"(% +3 "core" % O\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(E( +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (a& +3 "core" & :\  + "manipulator"&|& +4 "core" & s L +2 .tElbow.seek 3 + "manipulator"&_( +3 "core" ( +2 "manipulator"&y& +3 "core" & " L +2 "storage"(& +4 "core" & S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&T'7 +93 "core" ' + "storage"(r& +5 "core" & L\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +308 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & L +2 "storage"(n& +3 "core" &  Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&\\'u +19 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(^- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('n +31 "core" ' + "manipulator"&m% +4 "core" %v ? F +2 "storage"(V& +3 "core" & R\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 301 counts +2 "manipulator"&M'Ϣ +38 "core" ' + "manipulator"&)& +4 "core" & . L +2 "storage"(%& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&z'7 +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(o' +39 "core" ' + "manipulator"&k& +5 "core" & 9 L + "manipulator"&"% +4 "core" %3 % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&D(ӂ +167 "core" ( +2 "manipulator"&7& +4 "core" & R 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" & + 2 +2 .tForearm.seek CC + "manipulator"&g'? +92 "core" ' + .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"(S& +4 "core" & ? B O\  +2 "storage"(8& +3 "core" & @ @ \  +2 "manipulator"&*& +3 "core" &Ӏ X 1 +2 "manipulator"&I% +3 "core" % > ( H +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +161 "core" ( + "manipulator"&l& +4 "core" & -  +2 "storage"(p& +3 "core" & ? 8 $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&?'u +100 "core" ' + .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&>1 +57 "core" 1 +2 "manipulator"&:% +4 "core" % ΄ N + "storage"(/& +4 "core" & A ; \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&'ϰ +31 "core" ' +2 "manipulator"&& +4 "core" & -  +2 "storage"(& +3 "core" & Y Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&q'7 +14 "core" ' + "storage"(U% +5 "core" % b g 9\ +2 ."downElevator"SE.seek :down +3 "storage"(c' +99 (&% +2 "core" %: , 0 d\ Vb +2 "manipulator"&C% +4 "core" %-  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'w& +4 "core" &))\ + "manipulator"&[% +5 "core" % ! W . + "storage"(F% +4 "core" % Y Y\ + "storage"(!. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(b(,y +363 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &,|  c\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&}( +38 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(O& +3 "core" &,w 2 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&=' +100 "core" ' + "storage"(W& +4 "core" &,y a W\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +3 "storage"(9- +5 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +2 "core" &,y $ ' \  +2 "manipulator"&& +3 "core" & %  +2 .tElbow.seek 4 + "manipulator"&J( +4 "core" ( + "manipulator"&& +3 "core" & .  +2 "storage"(<& +3 "core" &,y @ A \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&+'c +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& + "storage"(]' +7 "core" & [  + "manipulator"&'% +4 "core" % Z a + .tForearm.seek :retract +2 "manipulator"&$' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ' + ( +2 ."downElevator"SE.coast +2 "manipulator"& & +2 "storage"(5 +6 "core" &ӝ W 8" +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &ӝ ) 8" +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\ '? +92 "core" ' +119 "manipulator"&h& +4 "core" &ӝ % 8" +2 "manipulator"&-% +3 "core" %>  z +2 "collection"'B& +4 "core" &()\ +3 "collection"';& +5 "core" &()\ +2 .tCC.seek :closed +2 "collection"'0(\\ +4 "core" &*)\ +7 &9**\ %f +10 &Yy))\ 7 +9 &v(*\ L +9 &Q+,\ L +10 &S)*\ L +9 &CV+*\ L +9 &T,+\ L +10 &R*,\ K +9 &S,,\ L +10 &LS,+\ L +9 & S+-\ K +9 &!S./\ L +10 &#T.-\ K +9 &%ST.-\ L +9 &'R.0\ K +10 &(S-0\ L +9 &*S./\ L +10 &,[V//\ L +9 &.T/1\ L +9 &/R12\ L +10 &1T/2\ L +9 &3dT22\ L +9 &5%R11\ L +10 &6T22\ L +9 &8T42\ L +10 &:lT13\ L +9 &<.U14\ L +9 &=U33\ L +10 &?U44\ L +9 &AsW54\ L +9 &C3]76\ M +10 &De89\ N +9 &Fw><\ P +10 &HgHC\ S +9 &JNM\ W +9 &KON\ X +10 &MQQ\ Y +9 &O]PR\ Y +9 &QRQ\ Z +10 &RUT\ Z +9 &TSU\ [\ +10 &V]VS\ \\ +9 &XXW\ \\ +9 &Y[Y\ ] +10 &[[[\ J +9 &\\:\\_\ , +9 &\\i^]\ R +2 ( +2 "collection"';& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&s1 +58 "core" 1 + "manipulator"&x% +4 "core" % > < z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp +54 "processing"%d& +5 "core" &\ +2 "manipulator"&Z% +4 "core" %    + "storage"(H% +4 "core" % @\ + "storage"(R. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(.(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (i& +2 "core" &,y 9\  +2 "manipulator"&4& +4 "core" &ӝ _ 8" + "manipulator"&X% +4 "core" %  &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&A( +165 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(#& +3 "core" &,y *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&(' +98 "core" ' + "storage"(L& +4 "core" &,y   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &,y \  +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&K( +3 "core" ( + "manipulator"&`& +4 "core" &   + "storage"(v& +4 "core" &,y \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&P'c +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& + "storage"(' +7 "core" & '  + "manipulator"&% +4 "core" % τ X +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&a( +170 "core" ' + ."downElevator"SE.coast + "storage"(5 +67 "core" ( + "manipulator"&|& +4 "core" & ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" & 0 ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&2& +5 "core" & D ; + "manipulator"&r% +4 "core" %  H +2 "processing"%G& +3 "core" &\ +3 "processing"%6& +4 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\  +9 &1r\ )w +10 &bz\ > +9 &lm\ O +9 &-L\ O +10 &Q\ N +9 &M\ N +10 &tQ\ N +9 &7N\ N +9 &R\ N +9 &N\ N +10 & {R\ O +9 &"=O\ O +10 &$L\ N +9 &%L\ N +10 &'Q\ O +9 &)EO\ O +9 &+L\ N +10 &,O\ N +9 &.O\ O +9 &0MM\ O +10 &2R\ O +9 &3Q\ O +10 &5N\ O +9 &7UR\ O +9 &9S\ N +10 &:P\ N +9 &<O\ N +9 &>^R\ N +10 &@S\ O +9 &A]\ P +10 &Cm\ R +9 &EV\ T +9 &G\ U +10 &H\ U +9 &J\ V +9 &LY\ U +10 &N\ V +9 &O\ V +10 &Q\ W +9 &S]\ W +9 &U\ W +10 &V\ W +9 &X\ V +9 &Ze\ W +10 &\\&\ W +9 &]x\ : +10 &^,~\ Z +9 &^(\ 5 +2 ( +2 "processing"%6& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 + .Hand.open + "manipulator"&e1 +57 "core" 1 + "manipulator"&f% +4 "core" %  & H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%n& +4 "core" &^%\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&^% +4 "core" %   +2 "storage"(m% +3 "core" % G\ +2 "storage"(V. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"()(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (%& +2 "manipulator"&k& +5 "core" & ) ; + &,y ?\  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"("'r + "manipulator"&T( +5 "core" ( +2 "manipulator"&_& +3 "core" & ; ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 9 ; +2 .tForearm.seek PC + "manipulator"&\\' +94 "core" ' + .tHand.close +2 "manipulator"&M/ +66 "core" / +2 .tPC.seek :open + "processing"%( +89 "core" ' + "storage"(7- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"({'1 +41 "core" ' +314 ( + "storage"(z& +4 "core" &,y   t\  +2 "manipulator"&Q& +3 "core" & T ; +2 "manipulator"&% +3 "core" %  b : +2 .tForearm.seek :retract + "manipulator"&,' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +246 "core" ( + "manipulator"&S& +4 "core" & s ; +2 "storage"(8& +3 "core" &,y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&*' +95 "core" ' + .tHand.open + "manipulator"&I1 +62 "core" 1 +2 "storage"(l- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(g' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(D- +3 "core" -' +2 "storage"(>& +3 "core" &,y z  7\ m +2 "manipulator"&:& +3 "core" &  ; +2 .tElbow.seek 4 + "manipulator"&/( +4 "core" ( +2 "manipulator"&& +3 "core" & g ; +2 "storage"(& +3 "core" &,y {  W\ m +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&&& +5 "core" & h ; + "storage"(C& +4 "core" &,y -\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +29 "core" ' + "manipulator"&% +5 "core" %C K + + "storage"([& +4 "core" &,y 9\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 312 counts +2 "manipulator"&F'o +15 "core" ' + "manipulator"&!& +5 "core" & P ; +2 "storage"(o& +4 "core" &,y _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&q' +20 "core" ' + "storage"(c% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(E' +100 (% +2 "core" %I J\ Yk +2 "manipulator"&% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +73 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 (O& +4 "core" &,y :\ +2 "collection"'W& +3 "core" &\\g^]\ R +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&u% +4 "core" %   + "storage"(N% +4 "core" % #\ + "storage"(9. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(t(,y +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &,y \  +2 "manipulator"&& +3 "core" & R ; +2 .tElbow.seek 4 + "manipulator"&<( +3 "core" ( +2 "manipulator"&& +3 "core" & ; +2 "storage"(~& +4 "core" &,y +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&'' +93 "core" ' + "storage"(}& +56 "core" &,y  \  +4 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='r +300 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +2 "core" & 8 ; +2 "storage"(& +4 "core" &,y 7\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&+'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(h- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(-'k +33 "core" ' + "manipulator"&B% +5 "core" %A ] X + "storage"(]& +4 "core" &,y  \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 310 counts +2 "manipulator"&$'m +16 "core" ' + "manipulator"&& +5 "core" & ; + "storage"(s& +4 "core" &,y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(d' +36 "core" ' +3 "manipulator"&;& +4 "core" & M ; +2 "manipulator"&Z% +3 "core" % H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&R(ӂ +169 "core" ( + "manipulator"&i& +4 "core" &Ӄ  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &Ӄ @ 1 + .tForearm.seek CC +2 "manipulator"&X'? +100 "core" ' + .tHand.close + "manipulator"&\ / +53 "core" / +2 .tCC.seek :open + "collection"' ( +449 "core" ( + "storage"(#& +4 "core" &,y & %\  +2 "storage"(b& +3 "core" &,y  " T\  +2 "manipulator"&L& +3 "core" &Ӄ u 1 +2 "manipulator"&% +3 "core" % > _  +2 .tForearm.seek :retract + "manipulator"&3' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&j( +152 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"( & +3 "core" &,y @ . E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&`'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&@% +4 "core" % 4 * 6 + "storage"(& +4 "core" &,y D G \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 297 counts + "manipulator"&A'` +16 "core" ' +2 "manipulator"&(& +4 "core" & L +2 "storage"(& +3 "core" &,y Y F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&P' +15 "core" ' + "storage"(|% +5 "core" % \\ =\ +2 ."downElevator"SE.seek :down +3 "storage"(y' +99 (K% +2 "core" %zC & $ \ Wd +2 "manipulator"&2% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +95 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'G& +4 "core" &*(\ + "manipulator"&% +4 "core" %    +2 "storage"(% +4 "core" % ; I \ + "storage"(1. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(e(<- +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (f& +2 "core" &<*   &\  +2 "manipulator"&n& +4 "core" & i + .tElbow.seek 5 +2 "manipulator"&^( +3 "core" ( + "manipulator"&m& +3 "core" & +2 "storage"(V& +3 "core" &<*  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&6'O +95 "core" ' + "storage"(%& +4 "core" &<* 7 @ =\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +296 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<* !  k\  +2 "manipulator"&& +3 "core" & I +2 .tElbow.seek 5 + "manipulator"&M( +3 "core" ( +2 "manipulator"&.& +3 "core" & +2 "storage"(7& +3 "core" &<* & (\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a'Ϲ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +71 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"("' +7 "core" &  +2 "manipulator"&z% +4 "core" %  } + .tForearm.seek :retract +2 "manipulator"&Q' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( + "manipulator"&\\& +5 "core" &ӏ( Ab + ' + .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&S& +4 "core" &ӏ(  Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&8'? +92 "core" ' + "manipulator"&T& +5 "core" &Ӑ) Aa + "manipulator"&I% +4 "core" %E Y | +2 "collection"'l& +3 "core" &)+\ +2 "collection"'D& +5 "core" &()\ +2 .tCC.seek :closed + "collection"'>(\\ +5 "core" &)+\  +9 &5{(+\ *z +10 & g}))\ ? +9 &m**\ M +10 &XO*)\ L +9 &R-*\ L +9 &S,+\ L +10 &R.*\ L +9 &`S+,\ L +9 &!T+,\ L +10 &S+-\ L +9 & R..\ L +10 &"gS+-\ L +9 &$)R--\ L +9 &%S--\ L +10 &'T0.\ L +9 &)nS/1\ L +9 &+0S/0\ L +10 &,S11\ L +9 &.U01\ L +10 &0wS/0\ L +9 &29S12\ L +9 &3T22\ L +10 &5T22\ L +9 &7}T33\ M +9 &9AT24\ L +10 &;T32\ L +9 &<W33\ L +10 &>U44\ L +9 &@HQ44\ L +9 &BZ86\ M +10 &C]98\ M +9 &Eo;9\ O +9 &G>?>\ R +10 &HFE\ W +9 &JJI\ X +10 &LrII\ Y +9 &N3HK\ Y +9 &OKI\ Y +10 &QIL\ Z +9 &SsLL\ [\ +9 &U3NO\ \\ +10 &VON\ \\ +9 &XOQ\ ] +10 &ZrOP\ ^ +9 &\\zSS\ 4 +9 &\\-UR\ $m +9 ( +2 &\\QT\ [ +2 "collection"'D& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + .Hand.open +2 "manipulator"&:1 +64 "core" 1 +2 "manipulator"&% +4 "core" % E | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%,& +4 "core" &\ +2 "manipulator"&&% +3 "core" % ! & $ +2 "storage"(C% +3 "core" % \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"([(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ({& +2 "core" &<* ~\  +2 "manipulator"&!& +3 "core" &Ӓ( ; A_ +2 "manipulator"&o% +3 "core" % ! X $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&p( +159 "core" ( + "manipulator"&c& +4 "core" & \ +2 "storage"( & +3 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&*'O +97 "core" ' + "storage"(g& +4 "core" &<* .\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" &<* 2\  +2 "manipulator"&/& +3 "core" & +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & + "storage"(F& +4 "core" &<* \  +54 .tForearm.seek 5 + 300 counts +3 "manipulator"&O'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +73 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(w' +7 "core" &  + "manipulator"&N% +4 "core" % ϰ  +2 .tForearm.seek :retract + "manipulator"&9' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&( +170 "core" ' + ."downElevator"SE.coast + "storage"(5 +70 "core" ( + "manipulator"&& +5 "core" & 6 " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ; " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +98 "core" ' + "manipulator"&q& +5 "core" & " + "manipulator"&}% +4 "core" % 4 +2 "processing"%E& +3 "core" &\ +3 "processing"%)& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%?(^ +4 "core" &\ +8 & -\ #b +9 &Vy\ 7 +9 &~t\ L +10 &O\ O +9 &[L\ O +10 &L\ N +9 &N\ N +9 &L\ O +10 &cQ\ O +9 &%R\ O +9 &Q\ O +10 &!Q\ N +9 &#kM\ O +10 &%.L\ N +9 &&N\ N +9 &(R\ O +10 &*sR\ O +9 &,5P\ O +9 &-L\ O +10 &/N\ O +9 &1|Q\ N +10 &3>O\ N +9 &5N\ N +9 &6Q\ N +10 &8Q\ O +9 &:EN\ O +9 &<Q\ O +10 &=S\ O +9 &?Q\ O +10 &AJW\ P +9 &Ch\ Q +9 &Dq\ S +10 &F\ U +9 &HA\ U +9 &J\ U +10 &K\ V +9 &M\ W +10 &OG\ V +9 &Q\ W +9 &R\ V +10 &T\ W +9 &VN\ V +9 &X\ W +10 &Y\ W +9 &[\ W +10 &]S\ J +9 &^|G\ a +9 &^E\ 9 +5 ( +2 "processing"%)& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open +2 "manipulator"&1 +3 "core" &^/\ 9 +52 1 + "manipulator"& % +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^.\ 9 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&h% +3 "core" % ! C . +2 "storage"(B% +4 "core" % \ + "storage"(]. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (s& +2 "manipulator"&;& +5 "core" &   " + &<* \  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(Z'r +2 "manipulator"&'( +5 "core" ( + "manipulator"&<& +4 "core" & t " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" & o " +2 .tForearm.seek PC +2 "manipulator"&+' +92 "core" ' + .tHand.close +2 "manipulator"&$/ +72 "core" / +2 .tPC.seek :open +2 "processing"%-( +83 "core" ' + "storage"(i- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'1 +40 "core" ' +322 ( + "storage"(x& +4 "core" &<* #\  +2 "manipulator"&J& +3 "core" & " +2 "manipulator"&\ % +3 "core" %  ' 9 +2 .tForearm.seek :retract +2 "manipulator"&H' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&0( +246 "core" ( + "manipulator"&#& +4 "core" & W 5 +2 "storage"(b& +3 "core" &<* )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&L'O +94 "core" ' + .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(Y- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(X' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(R- +3 "core" -' + "storage"(& +4 "core" &<* \ L +2 "manipulator"&@& +3 "core" & \  5 +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&(& +4 "core" &   5 + "storage"(& +4 "core" &<* \ L +2 .tForearm.seek 5 + 450 counts + "manipulator"&|'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(3'" +54 "core" ' + "manipulator"&K& +4 "core" & O 5 +2 "storage"(2& +4 "core" &<* \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&j'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(G' +25 "core" ' + "manipulator"&A% +5 "core" %ΐ Y C + "storage"(& +4 "core" &<* 8\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 303 counts +2 "manipulator"&'ϼ +25 "core" ' + "manipulator"&1& +5 "core" & 2 5 + "storage"(d& +4 "core" &<* ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&P'O +15 "core" ' + "storage"(y% +5 "core" % 6\ +2 ."downElevator"SE.seek :down +3 "storage"(t' +100 (f% +2 "core" %E C\ Xi +2 "manipulator"&n% +4 "core" %V g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +89 "core" ' +73 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (V& +4 "core" &<* \ + "collection"'%& +4 "core" &\\~RS\ [ + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&v% +3 "core" %  Q  +2 "storage"(r% +4 "core" %  9\ + "storage"(_. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<* \  +2 "manipulator"&.& +3 "core" &  5 +2 .tElbow.seek 5 +2 "manipulator"&7( +3 "core" ( + "manipulator"&& +4 "core" & 5 + "storage"(& +4 "core" &<* ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +92 "core" ' + "storage"(^& +4 "core" &<*  s\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +298 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &  5 + "storage"(k& +4 "core" &<* ! \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&a'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(l'i +29 "core" ' + "manipulator"&M% +4 "core" %΀ I J +2 "storage"("& +3 "core" &<* E\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 287 counts + "manipulator"&Q'Ϭ +24 "core" ' + "manipulator"& & +4 "core" & 4 5 +2 "storage"(:& +4 "core" &<* 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(,' +41 "core" ' + "manipulator"&&& +58 "core" & 5 + "manipulator"&C% +4 "core" %T M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +164 "core" ( +2 "manipulator"&{& +4 "core" &Ӊ 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &Ӊ " 1 +2 .tForearm.seek CC + "manipulator"&o'? +92 "core" ' + .tHand.close + "manipulator"&8/ +57 "core" / +2 .tCC.seek :open + "collection"'c( +452 "core" ( + "storage"( & +4 "core" &<* : > H\  +2 "storage"(e& +3 "core" &<* @ @ \\\  +2 "manipulator"&g& +3 "core" &Ӊ @ 1 +2 "manipulator"&% +3 "core" % B 0 c +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +161 "core" ( + "manipulator"&U& +4 "core" &   +2 "storage"(/& +4 "core" &<* 2 3 \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +61 "core" 1 +2 "manipulator"&u% +4 "core" % Ε $ N + "storage"(N& +4 "core" &<* Z Z\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 308 counts + "manipulator"&p' +24 "core" ' +2 "manipulator"&*& +4 "core" & (  +2 "storage"(& +3 "core" &<* a _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&O'O +17 "core" ' + "storage"(% +5 "core" % f %\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +2 "core" %> A 5 \ Wc +2 "manipulator"&q% +4 "core" %7 = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&}' +96 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'E& +4 "core" &()\ + "manipulator"&w% +4 "core" % ! o + +2 "storage"(9% +3 "core" % Z Y '\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +354 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +2 "core" &K *  \  +2 "manipulator"&& +3 "core" & ?  +2 .tElbow.seek 6 + "manipulator"&h( +3 "core" ( +2 "manipulator"&B& +3 "core" & E  +2 "storage"(]& +3 "core" &K   P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&)' +99 "core" ' + "storage"(s& +4 "core" &K Z [ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'r +300 "core" ' + "storage"(<- +4 "core" -'' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +2 "core" &K  $ \  +2 "manipulator"&~& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&$( +3 "core" ( + "manipulator"&[& +4 "core" & ]  + "storage"(i& +4 "core" &K   o\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&5/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& + "storage"(Z' +7 "core" & X  + "manipulator"&x% +4 "core" % a + .tForearm.seek :retract +2 "manipulator"&J' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&\ (ӂ +157 "core" ( + "manipulator"&+& +5 "core" &ӑ$ M =C + ' + .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&#& +5 "core" &ӑ$ = =C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'? +99 "core" ' + "manipulator"&'& +5 "core" &ӑ$ L =C + "manipulator"&% +4 "core" %C 0 5 +2 "collection"'Y& +3 "core" &)'\ +2 "collection"'R& +5 "core" &))\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &)(\  +10 &2x(+\ )w +9 &b}**\ = +10 &wn,'\ L +9 &;O**\ L +9 &Q+,\ L +10 &S*,\ L +9 &R*+\ L +9 &BU+,\ L +10 &T-,\ L +9 &P,+\ L +10 & R,,\ L +9 &"LR/,\ K +9 &$ R0-\ L +10 &%S-.\ L +9 &'V//\ L +9 &)SR/0\ L +10 &+S00\ L +9 &,U10\ L +10 &.R21\ L +9 &0\\R20\ K +9 &2S22\ L +10 &3T32\ L +9 &5S22\ L +9 &7dS22\ K +10 &9$T23\ L +9 &:T33\ L +10 &<T32\ L +9 &>iT44\ L +9 &@+T45\ L +10 &AX73\ L +9 &C\\76\ M +9 &Ekk:6\ N +10 &G$<;\ Q +9 &HFA\ U +10 &JFF\ Y +9 &LUFG\ Y +9 &NGI\ Z +10 &OGH\ Z +9 &QFJ\ [\ +9 &SUII\ [ +10 &UHJ\ \\ +9 &VKK\ ] +10 &XKJ\ ^ +9 &ZULL\ ^ +9 &[yON\ @ +10 &\\-OO\ *} +9 &\\OO\ X +2 ( +2 "collection"'R& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.38 + .Hand.open + "manipulator"&@1 +58 "core" 1 + "manipulator"&(% +4 "core" % C 5 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%H& +4 "core" &\ +2 "manipulator"&K% +3 "core" %  9  +2 "storage"(2% +3 "core" % ?\ +2 "storage"(A. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (4& +2 "core" &K a\  +2 "manipulator"&1& +4 "core" &ӓ# W =A + "manipulator"&d% +4 "core" %  !  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +164 "core" ( + "manipulator"&y& +4 "core" & /  +2 "storage"(0& +3 "core" &K ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&L' +95 "core" ' + "storage"(X& +4 "core" &K 9\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'r +253 "core" ';,  +3 !to:Slide::Error\ :@axisName" Forearm: mesg";Forearm positionErr at PC during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni;: velocityi,: currenti:pwmi:erri: inPressi: outPressi:deltaPressi : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagiQ:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #1 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down + "storage"(n' +3 "core" ' >\ +276 ' + "storage"(|& +4 "core" &K   \  +2 "manipulator"&& +3 "core" & 8 +2 .tElbow.seek 6 +2 "manipulator"&3( +26 "core" ( + "manipulator"&j& +4 "core" &   +2 "storage"(& +3 "core" &K G\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&V' +23 "core" ' + "storage"(%& +4 "core" &K ;\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(v'r +253 "core" ' 5 +3 !to:Slide::Error\ :@axisName" Forearm: mesg"HForearm positionErr at PC + 500 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi5 : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagi[:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #2 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down + "storage"(G' +3 "core" ' 1@ k\ j +258 ' + "storage"(r& +4 "core" &K   \  +2 "manipulator"&_& +3 "core" & " ! +2 .tElbow.seek 6 + "manipulator"&( +20 "core" ( + "manipulator"&.& +4 "core" & n  +2 "storage"(& +4 "core" &K  >\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +29 "core" ' + "storage"(P& +4 "core" &K \  (\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'r +253 "core" 'eB 3 +3 !to:Slide::Error\ :@axisName" Forearm: mesg"HForearm positionErr at PC + 616 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positionie: velocityiB: currenti:pwmi:erri: inPressi: outPressi:deltaPressi3 : voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagi$:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #3 of 4 +57 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 "core" ' +2 .tSE.seek :down + "storage"(t' +263 "core" ' + "storage"(& +4 "core" &K  \  +2 "manipulator"&`& +4 "core" &b  +2 .tElbow.seek 6 + "manipulator"&m( +21 "core" ( + "manipulator"&\\& +5 "core" & 2  + "storage"(S& +4 "core" &K   +\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +30 "core" ' + "storage"(I& +4 "core" &K\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'r +253 "core" 'ѽ +3 !to:Slide::Error\ :@axisName" Forearm: mesg"HForearm positionErr at PC + 448 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi: voltagef12.22094648993618?: @type2F:@destinationi%: @error:positionErr: @tagip:bt["2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1629:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1629:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 + #Retry #4 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"("' +3 "core" '   \ +275 ' + "storage"( & +4 "core" &K \  l\  +2 "manipulator"&:& +3 "core" &  +3 .tElbow.seek 6 + "manipulator"&&( +3 "core" ( +2 "manipulator"&C& +3 "core" & O  +2 "storage"(z& +4 "core" &K 1\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&7' +28 "core" ' + "storage"(6& +5 "core" &K % T\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'r +301 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" &K e\  +2 "manipulator"&{& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&!( +3 "core" ( + "manipulator"&& +4 "core" & 2  + "storage"(T& +4 "core" &K ]\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&8'h +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +73 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&>& +4 "storage"( ' +4 "core" & !  + "manipulator"&e% +4 "core" % π  +2 .tForearm.seek :retract + "manipulator"&g' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +170 "core" ' + ."downElevator"SE.coast + "storage"(5 +92 "core" ( + "manipulator"&U& +4 "core" & E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" & u  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&o' +101 "core" ' + "manipulator"&& +4 "core" & =  +2 "manipulator"&W% +4 "core" % ]  + "processing"%u& +4 "core" &\ +2 "processing"%N& +5 "core" &\ + .tPC.seek :closed +2 "processing"%*(^ +4 "core" &\ +9 & -\ #a +9 &Tw\ 7 +9 &~t\ L +10 &O\ O +9 &UL\ O +9 &L\ N +10 &Q\ O +9 &L\ O +10 &]L\ O +9 &M\ O +9 &O\ N +10 &!N\ N +9 &#fN\ N +9 &%(N\ N +10 &&N\ N +9 &(N\ O +10 &*mR\ O +9 &,/R\ O +9 &-K\ O +10 &/O\ N +9 &1uO\ O +9 &37M\ O +10 &4L\ O +9 &6P\ O +10 &8|S\ O +9 &:?O\ O +9 &<P\ N +10 &=Q\ O +9 &?Q\ O +9 &ADT\ P +10 &Cc\ Q +9 &Dm\ R +10 &F{\ U +9 &H=\ U +9 &I\ U +10 &K\ V +9 &M\ V +9 &O@\ V +10 &Q\ W +9 &R\ W +10 &T\ X +9 &VE\ X +9 &X\ \ V +10 &Y\ W +9 &[\ X +9 &]M\ J +10 &^xG\ "g +9 &^F\ 6 +5 ( +2 "processing"%N& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 + .Hand.open + "manipulator"&1 +4 "core" &^&\ 6 +55 1 + "manipulator"&% +4 "core" %  -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^&\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&q% +3 "core" %   +2 "storage"(% +3 "core" % \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(E(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (p& +3 "core" &K Q\  + "manipulator"&w& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & *  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&9( +3 "storage"('r +3 "core" ( + "manipulator"&,& +4 "core" & J  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +2 "core" &  +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&/ +72 "core" / +2 .tPC.seek :open +2 "processing"% ( +84 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +51 "core" ' +313 ( + "storage"(]& +4 "core" &K \  +2 "manipulator"&s& +3 "core" & \\  +2 "manipulator"&F% +3 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&}' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&<( +240 "core" ( + "manipulator"&=& +4 "core" & 4 +2 "storage"(~& +3 "core" &K ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&[' +94 "core" ' + .tHand.open + "manipulator"&i1 +61 "core" 1 +2 "storage"(5- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(?' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(x' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(h- +3 "core" -' +2 "storage"()& +3 "core" &K 8 7 +\ _ +2 "manipulator"&+& +3 "core" &  3 +2 .tElbow.seek 6 + "manipulator"&#( +4 "core" ( + "manipulator"&;& +4 "core" &  y 3 + "storage"(& +4 "core" &K\ \  @\ ` +2 .tForearm.seek 6 + 450 counts + "manipulator"&'' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +53 "core" ' + "manipulator"&Y& +4 "core" & E 3 +2 "storage"($& +4 "core" &K !\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&Z'< +20 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(c' +28 "core" ' + "manipulator"&@% +5 "core" %O Y  + "storage"((& +4 "core" &K $\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&H'{ +16 "core" ' + "manipulator"&K& +5 "core" & 7 3 + "storage"(2& +4 "core" &K &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&A' +18 "core" ' + "storage"(R% +5 "core" % " Z\ +2 ."downElevator"SE.seek :down +3 "storage"(4' +100 (1% +2 "core" %L \ Xj +2 "manipulator"&d% +4 "core" %\  Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +89 "core" ' +68 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (y& +3 "core" &K 0\ +2 "collection"'0& +4 "core" &\\}LL\ X + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  T  +2 "storage"(X% +3 "core" %  .\ +2 "storage"(\ . +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +53 "storage"((K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (L& +3 "core" &K \  + "manipulator"&|& +4 "core" & 6 3 +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&f& +4 "core" & 3 +2 "storage"(j& +3 "core" &K E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +96 "core" ' + "storage"(%& +5 "core" &K  "\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +301 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +2 "core" & J 2 +2 "storage"(r& +4 "core" &K %\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&_'< +19 "core" ' + .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(v- +2 "core" -' +2 .tSE.seek 0.24 Pucks below Top Plate +2 "storage"(' +30 "core" ' + "manipulator"&P% +4 "core" %H  + +2 "storage"(3& +3 "core" &K M\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 312 counts +2 "manipulator"&'t +15 "core" ' + "manipulator"&G& +5 "core" & V 2 + "storage"(& +4 "core" &K &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&`' +19 "core" ' +2 .tSE.seek 1.24 Pucks below Top Plate + "storage"(\\'' +36 "core" ' + "manipulator"&^& +5 "core" & 7 2 + "manipulator"&S% +4 "core" %  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( + "manipulator"&k& +4 "core" &Ӄ* # Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" &Ӄ* Y Bl +2 .tForearm.seek CC + "manipulator"& '? +93 "core" ' + .tHand.close + "manipulator"&:/ +56 "core" / +2 .tCC.seek :open + "collection"'C( +451 "core" ( +2 "storage"(M& +4 "core" &K , ( ]\  + "storage"(z& +4 "core" &K ' ( ?\  + "manipulator"&6& +4 "core" &Ӝ& ?S + "manipulator"&m% +4 "core" % A  M + .tForearm.seek :retract +2 "manipulator"&"' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&Q( +167 "core" ( + "manipulator"&l& +4 "core" &  +2 "storage"({& +4 "core" &K 8 3 \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&'< +94 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&D1 +64 "core" 1 +2 "manipulator"&>% +4 "core" % G G X + "storage"(e& +4 "core" &K c b\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&&'s +16 "core" ' + "manipulator"&7& +4 "core" & 7  +2 "storage"(a& +3 "core" &K Y T +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&8' +19 "core" ' + "storage"(U% +5 "core" %/ w i \ +2 ."downElevator"SE.seek :down +3 "storage"(/' +100 (!% +2 "core" %; .  \ Vb +2 "manipulator"&% +4 "core" %  Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +89 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tdelay 10 seconds +474 "Can"\ =; +60003 \ =; +60002 \ =; +60003 \ >; +60002 \ =; +60003 \ =; +60002 \ >; +60003 \ =; +60003 \ >; @1627228320.49EDT = =tMAIN =mMAIN_scheduler @EDT1627228322.31 #"core_reset"Sent BREAK +2 #t@27148 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +374 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"T\ | + T\ | + #tPolling Can every 10:00 +29 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:423:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:612:in `restore!'"-/home/esp/esp2/lib/esp.rb:114:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +669 #-> ESP.ready? +354 #-> ESP.ready! +3 #Powering core bus +499 .Gate.power :raw,:ON +2 "sampler") +15 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % } |\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % 9\ + .tSS.configure :default +2 "sampler")#.0X exit +5 #mEXIT @1627228406.19EDT @1627239346.96EDT = =tMAIN =mMAIN_scheduler @EDT1627239348.67 #"core_reset"Sent BREAK +2 #t@11671 receive with ifg=0x10, ie=0xFD + #@12303 receive with ifg=0x10, ie=0xFD #@12957 receive with ifg=0x10, ie=0xFD + #@13591 receive with ifg=0x10, ie=0xFD #@14226 receive with ifg=0x10, ie=0xFD + #@14858 receive with ifg=0x10, ie=0xFD + #@15490 receive with ifg=0x10, ie=0xFD #@15821 receive with ifg=0x80, ie=0xFD + #@30831 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +266 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +348 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ \ C@ + \ \ C@ #tPolling Can every 10:00 +124 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +2 "core" %h m n\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽR\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %z d\ ; + .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +3 "core" %h n m&\ +2 "sampler")% +4 "core" %z g\ ; + "manipulator"&% +4 "core" %  p  + "manipulator"&& +3 "core" & I - +2 "storage"(& +3 "core" &,x \  +2 "storage"(% +3 "core" % |\ + "collection"'& +4 "core" & m o6\  + "processing"%& +4 "core" &4\  + "processing"%% +3 "core" %ؽS\ +2077 #t-> 5.times {shuffle 2..6} + !o:NoMethodError : mesg"0undefined method `shuffle' for Object:Class: name0: args0:bt[ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):2:in `irb_binding'"(ESP):2:in `times'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1566 #-> require shuffle.rb +2 !o:NoMethodError : mesgu:NameError::message.undefined method `rb' for :shuffle:Symbol: name:rb: args[:bt["(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1941 #-> exit +4 #mEXIT @1627239423.32EDT @1627239438.28EDT = =tMAIN =mMAIN_scheduler @EDT1627239440.01 #"core_reset"Sent BREAK +2 #t@21797 receive with ifg=0x10, ie=0xFD + #@22433 receive with ifg=0x10, ie=0xFD #@23088 receive with ifg=0x10, ie=0xFD + #@23722 receive with ifg=0x10, ie=0xFD #@24357 receive with ifg=0x10, ie=0xFD + #@24990 receive with ifg=0x10, ie=0xFD + #@25624 receive with ifg=0x10, ie=0xFD #@25950 receive with ifg=0x80, ie=0xFD + #@58466 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +7 #ESP2 v3.41 I2C Gateway v3.20 for core bus +265 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +342 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ C@ + \ C@ + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %h k n-\ + .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽ9\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %z g\ ; +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +2176 #-> 5.times {shuffle 2..6} + #Shuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & m m)\  + .tHand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&% +4 "core" %    +2 "storage"(% +3 "core" % \ +2 "storage"(. +3 "core" .,,x +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +676 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & )\ +2 "manipulator"&& +3 "core" & ^ - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +22 "core" ( + "manipulator"& & +5 "core" & k  + "storage"(!& +4 "core" &  E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&"'S +94 "core" ' +2 "storage"(#& +4 "core" &  \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +2 .tSE.seek :beamBreak +2 "storage"($'r +304 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" &  I\  +2 "manipulator"&'& +4 "core" & P  + .tElbow.seek 2 +2 "manipulator"&(( +3 "core" ( + "manipulator"&)& +4 "core" &  [  +2 "storage"(*& +4 "core" &  \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&+'Ͻ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +76 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"(.' +8 "core" &  + "manipulator"&/% +4 "core" % ϼ = +2 .tForearm.seek :retract + "manipulator"&0' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&1(ӂ +156 "core" ' +2 ."downElevator"SE.coast + "storage"(5 +3 "core" ( + "manipulator"&2& +4 "core" &ӆ(  Ad + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &ӆ) Ad +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&4'? +91 "core" ' +5 "manipulator"&5& +4 "core" &ӈ) n Ab +2 "manipulator"&6% +4 "core" %< q z +2 "collection"'7& +3 "core" & j l$\  +3 "collection"'8& +4 "core" & l l2\  +2 .tCC.seek :closed +2 "collection"'9(\\ +4 "core" & i m)\  +8 &I l k'\ %g +10 &Y l k/\ 8 +9 &} m k)\ M +9 &\\ o m1\ N +10 &YZ p o3\ N +9 &_ n k'\ N +9 &Y o o\ N +10 &Z o q\ M +9 &b\\ q r.\ M +10 &#\\ o p3\ N +9 &] o p&\ N +9 &![ q q)\ N +10 &#jZ q q2\ M +9 &%+] r q\ N +9 &&\\ r p\ N +10 &(\\ r r \ M +9 &*q^ q r\ N +10 &,4^ p r \ M +9 &-[ t t\ M +9 &/] u s\ N +10 &1z^ t s\ M +9 &3;Y u t\ N +9 &4Z t s\ N +10 &6Z t t+\ N +9 &8X t t+\ N +10 &:C_ v v|\ N +9 &<^ w uv\ N +9 &=_ w w{\ N +10 &?_ y xp\ N +9 &AJ_ z zy\ N +9 &C\ c z zw\ O +10 &Dk  ~z\ O +9 &F {\ R +10 &H> \ U +9 &I {\ Y +9 &K a\ Z +10 &Mv [\ Z +9 &O: u\ Y +9 &P t\ Z +10 &R {\ Z +9 &Tx \ \\ +10 &V9 M\ \\ +9 &W j\ \\ +9 &Y i\ ] +10 &[| c\ I +9 &\\: M\ 2 +9 &\\ D\ U +6 ( +3 "collection"'8& +37 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 +8 .Hand.open + "manipulator"&:1 +3 "core" &\\ d\ U +59 1 + "manipulator"&;% +4 "core" % < 3 z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%=& +4 "core" &;\  +2 "manipulator"&>% +4 "core" % !  ) + "storage"(?% +4 "core" % _ X\ + "storage"(@. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(A(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (B& +3 "core" &  U X\  + "manipulator"&C& +4 "core" &Ӌ( 2 A_ + "manipulator"&D% +4 "core" % ! \\ ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&E( +163 "core" ( + "manipulator"&F& +5 "core" &  b  + "storage"(G& +4 "core" &  c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&H'S +194 "core" ' +2 "storage"(I& +4 "core" &  \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'r +299 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" &  d Z '\  +2 "manipulator"&M& +4 "core" & A  + .tElbow.seek 2 +2 "manipulator"&N( +3 "core" ( + "manipulator"&O& +4 "core" &  I  + "storage"(P& +4 "core" &  U X\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&Q'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&R/ +77 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(T' +7 "core" & b  + "manipulator"&U% +4 "core" % ϵ F + .tForearm.seek :retract +2 "manipulator"&V' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&W( +159 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +78 "core" ( +2 "manipulator"&X& +4 "core" & " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & y " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z' +98 "core" ' +2 "manipulator"&[& +4 "core" &  " + "manipulator"&\\% +4 "core" % 4  +2 "processing"%]& +3 "core" &?\  +3 "processing"%^& +4 "core" &=\  +2 .tPC.seek :closed + "processing"%_(^ +4 "core" &A\  +9 &D3\ $f +10 &uT~7\ 8 +9 &~};\ M +9 &{Y<\ P +10 &=W<\ P +9 &W9\ P +9 &X9\ P +10 &Y9\ P +9 &EW9\ P +10 &Z9\ P +9 &W7\ P +9 &!W3\ P +10 &#PW.\ O +9 &%Y(\ P +9 &&Y5\ P +10 &(X3\ P +9 &*WY)\ P +10 &,\\'\ P +9 &-W(\ P +9 &/Z)\ P +10 &1_W&\ P +9 &3!W%\ P +9 &4Z"\ P +10 &6Y'\ O +9 &8f[(\ P +10 &:(W'\ P +9 &;Z)\ P +9 &=Y+\ P +10 &?mZ'\ P +9 &A-a#\ Q +9 &Bn\ R +10 &Dx&\ T +9 &Fd(\ V +10 &H'(\ V +9 &I"\ W +9 &K'\ W +10 &Mj\ W +9 &O+\ W +9 &P"\ X +10 &R\ W +9 &Tm\ Y +10 &V/\ Y +9 &W\ X +9 &Y\ X +10 &[x\ X +9 &]6\ T +9 &^x@g\ %n +10 &^\ I\ 3 +5 ( +2 "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&`1 +3 "core" &^"\ 3 +59 1 + "manipulator"&a% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +94 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%c& +4 "core" &^"5\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&d% +4 "core" %    + "storage"(e% +4 "core" % 6 6 "\ +2 "storage"(f. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(g(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (h& + "manipulator"&i& +4 "core" &  > < \  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&j( + "storage"(k'r +5 "core" ( + "manipulator"&l& +4 "core" & [ ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" & % ! +2 .tForearm.seek PC + "manipulator"&n' +94 "core" ' + .tHand.close +2 "manipulator"&o/ +69 "core" / +2 .tPC.seek :open + "processing"%p( +87 "core" ' + "storage"(q- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'1 +40 "core" ' +319 ( + "storage"(s& +5 "core" &  c b\  + "manipulator"&t& +4 "core" & ! + "manipulator"&u% +4 "core" %  s ! + .tForearm.seek :retract +2 "manipulator"&v' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&w( +251 "core" ( + "manipulator"&x& +4 "core" &  ? Z +2 "storage"(y& +3 "core" &  5 3 *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&z'S +99 "core" ' + .tHand.open +2 "manipulator"&{1 +57 "core" 1 +2 "storage"(|- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(}' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(~' +59 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &  g f \  +2 "manipulator"&& +3 "core" &   Z +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   3 Z + "storage"(& +4 "core" &  a e E\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"( '" +52 "core" ' +2 "manipulator"& & +4 "core" &  Z + "storage"( & +4 "core" &  ` H 6\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&'Α +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' +2 "manipulator"&% +4 "core" %Ν + "storage"(& +4 "core" &  7 6 y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 312 counts + "manipulator"&' +25 "core" ' +2 "manipulator"&& +4 "core" &  X Z + "storage"(& +5 "core" &  f f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +19 "core" ' +2 "storage"(% +4 "core" % U `\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +2 "core" %OQ K @ 8\ Yj +2 "manipulator"&% +4 "core" %] k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (!& +4 "core" &  X c\ + "collection"'#& +4 "core" &\\~ j\ U +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +3 "core" %  &  +2 "storage"(% +4 "core" % b c \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(%(  +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (&& +3 "core" &  n c \  +2 "manipulator"&'& +3 "core" & q Z +2 .tElbow.seek 2 + "manipulator"&)( +3 "core" ( +2 "manipulator"&*& +3 "core" &  Z +2 "storage"(,& +4 "core" &  U U v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&-'S +111 "core" ' +2 "storage"(/& +4 "core" &  l !\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +2 "core" & Z +2 "storage"(3& +4 "core" &  U X\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&$'Α +28 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(5- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(6'k +30 "core" ' + "manipulator"&7% +5 "core" %Σ ~ + "storage"((& +4 "core" &  K K \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&.' +15 "core" ' + "manipulator"&0& +5 "core" &   Z + "storage"(\ & +4 "core" &  e b u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&:'S +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(;' +42 "core" ' +2 "manipulator"&=& +4 "core" & M Z + "manipulator"&>% +4 "core" %N $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&?' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +150 "core" ( + "manipulator"&@& +5 "core" &ӊ* 9 Bh + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &ӊ* S Bh +2 .tForearm.seek CC + "manipulator"&C'? +93 "core" ' +47 .tHand.close + "manipulator"&D/ +75 "core" / +2 .tCC.seek :open + "collection"'4( +451 "core" ( +2 "storage"(F& +4 "core" &  H\  + "storage"(G& +4 "core" &  o\  +2 "manipulator"&& +3 "core" &Ӌ*  u Bg +2 "manipulator"&1% +4 "core" % =  x E + .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&<( +165 "core" ( +2 "manipulator"&K& +4 "core" & -  + "storage"(L& +4 "core" &  *\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&M'Α +95 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +56 "core" 1 +2 "manipulator"&R% +4 "core" % Π v % +2 "storage"(S& +3 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 315 counts + "manipulator"&U' +22 "core" ' +2 "manipulator"&E& +4 "core" &  +2 "storage"(H& +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&J'S +16 "core" ' +2 "storage"(Q% +4 "core" % p\ +2 ."downElevator"SE.seek :down +3 "storage"(X' +100 (Y% +2 "core" %xI ^\ Wf +2 "manipulator"&N% +4 "core" %U  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&[' +89 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'\\& +4 "core" & h f\ +2 "manipulator"&]% +4 "core" %   M  + "storage"(T% +4 "core" % \ + "storage"(V. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"( ( +349 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (`& +2 "core" & \  +2 "manipulator"&a& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&c( +21 "core" ( + "manipulator"&d& +4 "core" &y ? +2 "storage"(e& +4 "core" & \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&f'7 +90 "core" ' + "storage"(^& +5 "core" & <\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'r +298 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" & { !\  +2 "manipulator"&m& +4 "core" &y + .tElbow.seek 3 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&o& +3 "core" &y ~ +2 "storage"(A& +3 "core" & i\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&q'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +75 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"(_' +8 "core" &y S + "manipulator"&k% +4 "core" % ϟ  + +2 .tForearm.seek :retract + "manipulator"&s' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&t(ӂ +158 "core" ( +2 "manipulator"&u& +4 "core" ' + &Ӑ'  E @W +2 ."downElevator"SE.coast +2 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +3 &n& +2 "core" &Ӑ( ) @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&x'? +92 "core" ' +2 "manipulator"&y& +4 "core" &Ӑ( G @W + "manipulator"&j% +4 "core" %8 ; o +2 "collection"'{& +3 "core" & g g\ +3 "collection"'|& +4 "core" & g d\ +4 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & i he\ +6 & j hf\ 5 +10 &;Fx e f!\ 0 +9 &dq g f\ E +10 & b j h\ M +9 &\\ i ie\ M +9 &_ g gb\ M +10 &O] h i|\ M +9 &_ j jp\ M +9 &\\ k jq\ M +10 &X m jr\ M +9 &WZ n m{\ M +10 &!W m m{\ M +9 &"] k nu\ M +9 &$\\ l ms\ N +10 &&_Z n ou\ M +9 &(!X n ou\ M +9 &)\\ p no\ M +10 &+Z q pt\ M +9 &-h\\ q ri\ M +10 &/)Y o se\ M +9 &0Y s re\ N +9 &2Y s rd\ M +10 &4p\\ q sa\ M +9 &61Y s s[\ M +9 &7] s u\\\ M +10 &9Z t tb\ M +9 &;xW v ud\ M +10 &=8Z t uc\ N +9 &>Z t t`\ N +9 &@\\ y wc\ N +10 &B}_ { zc\ N +9 &D;j ~ d\ O +10 &E| e\ Q +9 &G d\ U +9 &Ij g\ W +10 &K( d\ Y +9 &L Z\ Y +9 &N Y\ Y +10 &Pj W\ Z +9 &R, R\ Z +9 &S N\ [\ +10 &U S\ [ +9 &Wj T\ ] +10 &Y, S\ ] +9 &Z ]\ ] +9 &\\V] _\ , +10 &\\% _\ b +8 ( +2 &\\u \\\ W +2 "collection"'|& +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % 8 - o + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &Z\ +2 "manipulator"&v% +3 "core" %   +2 "storage"( % +4 "core" % U U ,\ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" & ; F j\  +2 "manipulator"&r& +4 "core" &Ӑ' @W + "manipulator"&% +4 "core" %   + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +167 "core" ( + "manipulator"&}& +5 "core" &z M  + "storage"(& +4 "core" & \\ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&w'7 +92 "core" ' + "storage"(z& +5 "core" & | o\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & b W c\  +2 "manipulator"&& +3 "core" &z  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"& & +3 "core" &z  T  +2 "storage"(& +3 "core" & e e \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +75 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(' +7 "core" &z U  + "manipulator"&% +4 "core" % ϕ   +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&( +162 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +76 "core" ( +2 "manipulator"&&& +4 "core" &  ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" & : ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&*' +99 "core" ' +2 "manipulator"&,& +4 "core" & b ) + "manipulator"&% +4 "core" % +2 "processing"%/& +3 "core" &Z\ +3 "processing"%& +4 "core" &]\ +2 .tPC.seek :closed + "processing"%g(^ +4 "core" &9\  +10 &/v?\ *y +9 &c:\ ? +9 &iw:\ P +10 &+V9\ O +9 &[:\ O +10 &X;\ P +9 &qY4\ O +9 &2V1\ P +10 &Y-\ P +9 &V2\ O +9 & xU!\ P +10 &";W&\ O +10 &#X'\ O +10 &%W \ O +8 &'U)\ P +9 &)BY$\ P +10 &+Z'\ O +9 &,Z(\ P +9 &.X'\ P +10 &0JY'\ P +9 &2 W)\ P +10 &3Y'\ O +9 &5U'\ O +9 &7SW'\ O +10 &9Z'\ O +9 &:Y\ P +9 &<X&\ O +10 &>ZZ%\ P +9 &@]!\ P +10 &Ac(\ Q +9 &Cm\ R +9 &EV\ T +10 &G\ V +9 &H\ U +9 &J\ V +10 &LX\ V +9 &N\ X +10 &O\ V +9 &Q\ W +9 &S[\ X +10 &U\ X +9 &V\ W +9 &X \ W +10 &Zd\ W +9 &\\%\ W +10 &]\ 9 +9 &^,z\ Y +9 &^-\ 5 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%2& +4 "core" &^,\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&3% +3 "core" %  I + +2 "storage"(5% +3 "core" % D D \ +2 "storage"(7. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"((( +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (0& +4 "core" & D B \  + "manipulator"&\ & +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & ) +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&=( + "storage"(>'r +5 "core" ( +2 "manipulator"&-& +3 "core" & ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" & 7 ) +2 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&$/ +75 "core" / +2 .tPC.seek :open + "processing"%.( +82 "core" ' + "storage"(6- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'1 +40 "core" ' +326 ( + "storage"(B& +4 "core" & b _ \  +2 "manipulator"&:& +3 "core" &  E ) +2 "manipulator"&+% +3 "core" %  [ - +2 .tForearm.seek :retract +2 "manipulator"&D' +92 "core" ' +41 .tElbow.reconfigure :tight +11 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&?( +245 "core" ( + "manipulator"&9& +5 "core" & ' C + "storage"(F& +4 "core" & ; F 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&G'7 +90 "core" ' + .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "storage"(1- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(K' +24 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(L' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(C- +3 "core" -' +2 "storage"(8& +3 "core" & n n \  +2 "manipulator"&P& +4 "core" & K C + .tElbow.seek 3 +2 "manipulator"&R( +3 "core" ( + "manipulator"&S& +4 "core" &   C +2 "storage"(E& +3 "core" & o n ]\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&H'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(Q'" +57 "core" ' +2 "manipulator"&I& +4 "core" & C + "storage"(Y& +4 "core" & T _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&N'u +18 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +25 "core" ' +2 "manipulator"&\\% +4 "core" %΃ ' + "storage"(U& +5 "core" & V T i\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&]'ϯ +25 "core" ' +2 "manipulator"&T& +4 "core" &  C + "storage"(V& +5 "core" & Y V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&;'7 +14 "core" ' +2 "storage"(J% +4 "core" % d c\ +2 ."downElevator"SE.seek :down +3 "storage"(X' +100 (%% +2 "core" %jD K K C\ Wd +2 "manipulator"&`% +4 "core" %:  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +93 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (d& +4 "core" & V U \ +2 "collection"'e& +4 "core" &\\u f\ W + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&^% +5 "core" %  w  + "storage"(O% +4 "core" % U T |\ + "storage"([. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(i( +8 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (l& +2 "core" & e ^\  +2 "manipulator"&m& +4 "core" &  C + .tElbow.seek 3 +2 "manipulator"&o( +3 "core" ( + "manipulator"&A& +4 "core" & C +2 "storage"(W& +3 "core" & e d :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b'7 +95 "core" ' +2 "storage"(k& +4 "core" & [ h\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'r +298 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +2 "core" & h C +2 "storage"(n& +4 "core" & T V A\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&h'u +24 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(y- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(j'h +28 "core" ' + "manipulator"&{% +5 "core" %~  d + "storage"(Z& +4 "core" & T F \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 309 counts +2 "manipulator"&_'Ϫ +23 "core" ' + "manipulator"&s& +5 "core" & B C + "storage"(4& +4 "core" & T T T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +39 "core" ' +2 "manipulator"&& +4 "core" & C + "manipulator"&v% +4 "core" %? h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +150 "core" ( + "manipulator"&|& +4 "core" &})  Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &}) Ae +2 .tForearm.seek CC + "manipulator"&r'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'x( +451 "core" ( +2 "storage"(}& +4 "core" & e\  + "storage"(& +4 "core" & { x L\  + "manipulator"& & +4 "core" &ӂ) P A` + "manipulator"&z% +4 "core" % M n c +2 .tForearm.seek :retract + "manipulator"&t' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +166 "core" ( + "manipulator"&& +4 "core" & {  +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&'u +101 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&!% +4 "core" % Ή  + "storage"(#& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&'ϵ +29 "core" ' + "manipulator"&& +5 "core" &    + "storage"(w& +4 "core" & -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&~'7 +20 "core" ' +2 "storage"(% +4 "core" % =\ +2 ."downElevator"SE.seek :down +3 "storage"(&' +99 ('% +2 "core" %> \ Va +2 "manipulator"&% +4 "core" %9 \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & d dx\ + "manipulator"&/% +5 "core" %  /  + "storage"(% +4 "core" % '\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(p(,y +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &,v W\  +2 "manipulator"& & +3 "core" & !  +2 .tElbow.seek 4 + "manipulator"&2( +41 "core" ( + "manipulator"&3& +4 "core" &  S +2 "storage"(5& +4 "core" &,w h\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&7' +93 "core" ' + "storage"(& +5 "core" &,w \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'r +296 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" &,w z Y\  +2 "manipulator"&)& +3 "core" & * +2 .tElbow.seek 4 + "manipulator"&*( +3 "core" ( +2 "manipulator"&$& +4 "core" & ' +2 "storage"(& +3 "core" &,w z ?\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&6'c +34 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& + "storage"(g' +7 "core" & n + "manipulator"&>% +4 "core" % t j +2 .tForearm.seek :retract + "manipulator"&B' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&:(ӂ +157 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&+& +4 "core" &ӑ% >L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӑ%  >L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'? +92 "core" ' +2 "manipulator"&F& +4 "core" &ӑ%  >L +2 "manipulator"&=% +4 "core" %G a v + "collection"'& +4 "core" & c c\ +2 "collection"'1& +4 "core" & c d\ +2 .tCC.seek :closed +2 "collection"'C(\\ +4 "core" & c e.\  +10 &2} d d\ )w +10 &d c c\ > +9 &tv e f\ M +9 &5Z e f\ M +10 &Y g fR\ M +9 &[ e fo\ M +9 &}Y g fn\ M +10 &?W d es\ M +9 &\\ h fx\ M +10 &Y g h{\ M +9 & Z h ht\ M +9 &"GY h hu\ M +10 &$Y j k{\ M +9 &%Z k lv\ M +9 &'\\ i ju\ M +10 &)PY m ll\ L +9 &+Z o mo\ M +10 &,W k li\ M +9 &.Y m mi\ M +9 &0W\\ n nd\ M +10 &2V n ob\ M +9 &3Z l n`\ M +9 &5\\ m o[\ M +10 &7`Y p qb\ L +9 &9!Y o qf\ M +10 &:Y r qd\ L +9 &<Z o pc\ M +9 &>g[ o pd\ M +10 &@*Y s td\ L +9 &A] t sc\ M +9 &C` v va\ M +10 &Ehp z zb\ O +9 &G# d\ Q +10 &H `\ U +9 &J d\ X +9 &LU b\ X +10 &N c\ Y +9 &O \\\ Y +9 &Q X\ Z +10 &SV T\ [ +9 &U S\ [ +10 &V N\ \\ +9 &X S\ \\ +9 &ZW Q\ ] +10 &[y R\ > +9 &\\- W\ (y +9 &\\p _\ U +2 ( +2 "collection"'1& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&81 +61 "core" 1 + "manipulator"&P% +5 "core" % G v + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%E& +4 "core" &[\ +2 "manipulator"&D% +43 "core" %  # +11 "storage"(I% +4 "core" % 6 4\ + "storage"(Y. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(\\(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (U& +2 "core" &,w J K G\  +2 "manipulator"&@& +3 "core" &Ӓ% >K +2 "manipulator"&T% +4 "core" %  # + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&V( +167 "core" ( +2 "manipulator"&K& +4 "core" & [  + "storage"(J& +4 "core" &,x6 & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +89 "core" ' +2 "storage"(G& +4 "core" &,x7 C - \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +300 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" &,y5 & '\  + "manipulator"&H& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&R( +3 "core" ( + "manipulator"&Q& +4 "core" &  +2 "storage"(N& +3 "core" &,y5 ( &\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&d'c +41 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&]/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"(^' +7 "core" & +  + "manipulator"&O% +4 "core" % u E f +2 .tForearm.seek :retract + "manipulator"&M' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[( +157 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +81 "core" ( + "manipulator"&l& +5 "core" & 8 < + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" & z < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&A' +99 "core" ' +2 "manipulator"&W& +4 "core" & < + "manipulator"&;% +4 "core" % " 9 +2 "processing"%k& +3 "core" &S\ +2 "processing"%X& +5 "core" &;\ +2 .tPC.seek :closed + "processing"%((^ +4 "core" &<\  +9 &/t:\ *y +10 &a}1\ > +9 &ev:\ P +9 &&T4\ P +10 &V2\ P +9 &U(\ P +10 &mY/\ O +9 &.Y\ P +9 &W&\ P +10 &W'\ O +9 & uV(\ O +9 &"6W'\ P +10 &#W%\ P +9 &%T%\ P +10 &'|Y \ P +9 &)>Y)\ P +9 &+W'\ P +10 &,U)\ P +9 &.Y)\ O +9 &0GW'\ O +10 &2\ U&\ O +9 &3Z%\ P +10 &5W&\ P +9 &7NT'\ P +9 &9W'\ P +10 &:X#\ O +9 &<V\ P +9 &>VX%\ P +10 &@Y\ P +9 &Ad\ Q +10 &Cm\ S +9 &EQ \ T +9 &G\ V +10 &H\ V +9 &J\ W +9 &LT\ V +10 &N\ W +9 &O\ W +10 &Q\ W +9 &SW\ X +9 &U\ W +10 &V\ X +9 &X\ X +9 &Z_\ X +10 &\\!\ X +9 &]\ 7 +10 &^,{\ "d +9 &^D\ = +2 ( + "processing"%X& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&<1 +64 "core" 1 + "manipulator"&a% +5 "core" %  9 + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +95 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%u& +4 "core" &^A/\ = +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&n% +4 "core" % %  9 + "storage"(y% +4 "core" % % &\ +2 "storage"({. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(Z(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (s& +4 "core" &,y ( ) B\  + "manipulator"&4& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(v'r +25 "core" ( +2 "manipulator"&b& +4 "core" & \\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" & +2 .tForearm.seek PC +2 "manipulator"&c' +91 "core" ' + .tHand.close +2 "manipulator"&h/ +72 "core" / +2 .tPC.seek :open + "processing"%_( +63 "core" ' + "storage"(j- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(|'1 +41 "core" ' +345 ( + "storage"(& +4 "core" &,y U U +\  +2 "manipulator"&& +3 "core" & 9 +2 "manipulator"&q% +3 "core" %  S . +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"& ( +240 "core" ( + "manipulator"&& +4 "core" & ! +2 "storage"(}& +4 "core" &,y K M $\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +93 "core" ' + .tHand.open +2 "manipulator"& 1 +58 "core" 1 +3 "storage"(z- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(r- +3 "core" -' +2 "storage"( & +3 "core" &,y n o C\  +2 "manipulator"&& +3 "core" & 6 ! +2 .tElbow.seek 4 + "manipulator"&!( +3 "core" ( +2 "manipulator"&#& +3 "core" &  ! +2 "storage"(& +4 "core" &,y 7\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&w' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +53 "core" ' +2 "manipulator"&t& +4 "core" &  ! + "storage"('& +4 "core" &,y V E #\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 "manipulator"&% +4 "core" %A + "storage"(& +5 "core" &,y K C \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts + "manipulator"&/'m +25 "core" ' +2 "manipulator"&& +4 "core" &  ! + "storage"(& +5 "core" &,y c c 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(~% +4 "core" % X c\ +2 ."downElevator"SE.seek :down +3 "storage"(&' +100 (i% +2 "core" %\\G K J 4\ Xg +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +87 "core" ' +69 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 (3& +4 "core" &,y e e \ + "collection"'5& +4 "core" &\\o \ U +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %    + "storage"( % +4 "core" % ` \\\ + "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(\ (,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (-& +3 "core" &,y d c\  +2 "manipulator"&)& +3 "core" & ! +2 .tElbow.seek 4 + "manipulator"&$( +4 "core" ( + "manipulator"&& +4 "core" & ! + "storage"(& +4 "core" &,y d X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&"' +92 "core" ' +2 "storage"(>& +4 "core" &,y Z a\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'r +299 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&+& +2 "core" & ! +2 "storage"(& +4 "core" &,y b _ K\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&0'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(F- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(='i +29 "core" ' + "manipulator"&% +5 "core" %D e + "storage"(*& +3 "core" &,y 8 @ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 313 counts +2 "manipulator"&g'p +15 "core" ' + "manipulator"&B& +5 "core" & ? ! + "storage"(x& +4 "core" &,y _ W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&8' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(P' +39 "core" ' +2 "manipulator"&E& +4 "core" & Q ! + "manipulator"&D% +4 "core" % D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +153 "core" ( + "manipulator"&Y& +4 "core" &ӓ$ : =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &ӓ$ # =D +2 .tForearm.seek CC + "manipulator"&@'? +92 "core" ' +2 .tHand.close + "manipulator"&T/ +55 "core" / +2 .tCC.seek :open + "collection"'9( +451 "core" ( + "storage"(K& +4 "core" &,y z |\  +2 "storage"(J& +3 "core" &,y  } k\  +2 "manipulator"&p& +3 "core" &ӓ$  =D +2 "manipulator"&G% +3 "core" % Q ` +2 .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' +11 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&S( +164 "core" ( +2 "manipulator"&%& +4 "core" &  ;  + "storage"(`& +4 "core" &,y \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 +2 "manipulator"&H'7 +93 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +60 "core" 1 +2 "manipulator"&]% +4 "core" % F  - +2 "storage"(e& +3 "core" &,y #\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&O'r +16 "core" ' +2 "manipulator"&V& +4 "core" &  + "storage"(?& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&L' +16 "core" ' +2 "storage"(d% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(l' +100 (m% +2 "core" %W? T\ Vb +2 "manipulator"&R% +4 "core" % K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +91 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"';& +4 "core" & ^ `\ +2 "manipulator"&k% +4 "core" %  g  + "storage"(^% +4 "core" % G\ + "storage"(M. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(.(<- +357 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (<& +2 "core" &<. ~ A\ \  +2 "manipulator"&a& +3 "core" & &  +2 .tElbow.seek 5 +2 "manipulator"&u( +3 "core" ( + "manipulator"&n& +4 "core" & L  + "storage"(y& +4 "core" &<. \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +91 "core" ' + "storage"(X& +5 "core" &<.  \ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'r +298 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +2 "core" &<. j t \ \  +2 "manipulator"&o& +4 "core" & *  + .tElbow.seek 5 +2 "manipulator"&A( +3 "core" ( + "manipulator"&h& +4 "core" &   + "storage"(\\& +4 "core" &<. \ \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&j'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& + "storage"((' +7 "core" &  + "manipulator"&v% +4 "core" % ϲ +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&q& +4 "core" ' + &Ӓ% B >K +2 ."downElevator"SE.coast +2 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &c& +2 "core" &Ӓ% >K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +98 "core" ' +2 "manipulator"&}& +4 "core" &ӓ% > >J + "manipulator"&% +4 "core" %3  +2 "collection"' & +3 "core" & c a(\ +3 "collection"'z& +4 "core" & ` aY\ +2 .tCC.seek :closed +2 "collection"'r(\\ +3 "core" & _ b\ +9 &4 ` c\ #b +10 &V| a cl\ 7 +9 &} c bq\ L +9 &Z c cj\ M +10 &iW b ci\ L +9 &+Y b ek\ L +10 &Y a dx\ M +9 &\\ c cv\ M +9 &p[ c du\ M +10 &2V h er\ M +9 &V d ev\ M +9 &!V e el\ L +10 &#xY e gt\ M +9 &%:Z f ie\ M +10 &&X d gb\ M +9 &(W j j^\ L +9 &*Z h i_\ M +10 &,CZ i hZ\ L +9 &.W i ka\ L +9 &/Z k jc\ M +10 &1Y k lc\ M +9 &3JV l ma\ M +10 &5 V l l`\ M +9 &6Z j md\ M +9 &8Z m l_\ L +10 &:RV l m\\\ M +9 &<V l o`\ M +9 &=W n ma\ M +10 &?X o p]\ L +9 &AZZ q qL\ M +10 &Ca s uL\ N +9 &Dm w wS\ O +9 &F { {P\ Q +10 &HH N\ V +9 &J R\ X +9 &K T\ Y +10 &M P\ Y +9 &OF Q\ Y +10 &Q Y\ Z +9 &R X\ Z +9 &T Q\ [ +10 &VF S\ \\ +9 &X Q\ \\ +9 &Y R\ ] +10 &[ Q\ K +9 &\\9 R\ . +10 &\\ Q\ [ +5 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"& 1 +3 "core" &\\} N\ [ +50 1 + "manipulator"&% +5 "core" % 3 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&#' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &U\ +2 "manipulator"&% +4 "core" %  l  + "storage"(t% +4 "core" % K K 1\ + "storage"('. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<. > B \  +2 "manipulator"&|& +3 "core" &ӓ% ( >J +2 "manipulator"&% +4 "core" %  )  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +162 "core" ( + "manipulator"&& +5 "core" &   + "storage"(~& +4 "core" &<. ` W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +96 "core" ' + "storage"(& +5 "core" &<. c \\\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<. 7 7 {\  +2 "manipulator"&w& +4 "core" & 2  + .tElbow.seek 5 +2 "manipulator"&!( +2 "core" ( +2 "manipulator"&& +3 "core" & ;  +2 "storage"(& +3 "core" &<. Y U '\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&/'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&3/ +68 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& + "storage"(' +7 "core" &  + "manipulator"& % +4 "core" % Ϯ  +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&,( +165 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +73 "core" ( +2 "manipulator"&-& +4 "core" & n . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &)& +2 "core" & + . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&& +4 "core" &  - + "manipulator"&% +4 "core" % g +2 "processing"%>& +3 "core" &Q\ +2 "processing"%&& +5 "core" &2\ +2 .tPC.seek :closed + "processing"%Z(^ +5 "core" &:\  +8 &1x9\ *x +10 &b9\ > +9 &hw;\ O +9 &*V.\ O +10 &Y-\ O +9 &V-\ O +10 &oY)\ O +9 &1W(\ O +9 &X&\ P +10 &W&\ O +9 & wX(\ O +9 &":T&\ O +10 &#W$\ O +9 &%W&\ O +10 &'W&\ O +9 &)BW \ O +9 &+W'\ O +10 &,X&\ O +9 &.W&\ O +9 &0IX&\ O +10 &2 W\ O +9 &3W"\ O +10 &5V(\ O +9 &7RX&\ O +9 &9Y\ O +10 &:Z\ P +9 &<X\ O +9 &>XZ\ P +10 &@[\ P +9 &Ag\ Q +10 &Cp\ R +9 &EU\ S +9 &G\ U +10 &H \ V +9 &J\ V +9 &LW\ U +10 &N\ W +9 &O\ W +10 &Q\ W +9 &SZ\ W +9 &U\ W +10 &V\ W +9 &X\ V +9 &Zc\ W +10 &\\#\ X +9 &]\ 5 +10 &^5u\ > +9 ( + &^\ / +2 "processing"%&& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&1 +64 "core" 1 + "manipulator"& % +5 "core" %  g + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7' +98 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%+& +4 "core" &^'\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % # [ 4 + "storage"(F% +4 "core" % ? B \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(*(<- +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (B& + "manipulator"&x& +4 "core" &<. B = \  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & B - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +2 "manipulator"&E( + "storage"(D'r +5 "core" ( + "manipulator"&"& +4 "core" & Z - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" & R - +2 .tForearm.seek PC +2 "manipulator"&2' +93 "core" ' + .tHand.close +50 "manipulator"&0/ +69 "core" / +2 .tPC.seek :open + "processing"%g( +40 "core" ' +2 "storage"(=- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(Y'1 +46 "core" ' +360 ( + "storage"(U& +4 "core" &<. X U 5\  +2 "manipulator"&8& +4 "core" & - + "manipulator"&6% +4 "core" %  E 9 + .tForearm.seek :retract +2 "manipulator"&T' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&1( +243 "core" ( + "manipulator"&C& +5 "core" & - < + "storage"(K& +4 "core" &<. 4 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +94 "core" ' + .tHand.open +2 "manipulator"&p1 +59 "core" 1 +2 "storage"(G- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(%' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(`' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +3 "core" -' +2 "storage"(I& +3 "core" &<. \  +2 "manipulator"&N& +4 "core" & T < + .tElbow.seek 5 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&e& +3 "core" &   } < +2 "storage"(V& +3 "core" &<. w 5\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(d'" +57 "core" ' +2 "manipulator"&:& +4 "core" & w < + "storage"(m& +4 "core" &<. 3 3 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&R'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&S, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(H' +28 "core" ' +2 "manipulator"&;% +4 "core" %| < + "storage"(O& +5 "core" &<. @ H _\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 283 counts + "manipulator"&k'Ϩ +25 "core" ' +2 "manipulator"&^& +4 "core" &  + "storage"(M& +5 "core" &<. [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +16 "core" ' +2 "storage"(L% +4 "core" % _ X\ +2 ."downElevator"SE.seek :down +3 "storage"(l' +100 (\ % +2 "core" %gM B A +\ Xh +2 "manipulator"&<% +4 "core" %D # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +89 "core" ' +66 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (n& +3 "core" &<. Z W Q\ +2 "collection"'y& +4 "core" &\\} Q\ [ + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&X% +5 "core" %   + "storage"(Q% +4 "core" % _ X\ + "storage"(W. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(4(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (b& +3 "core" &<. U U _\  +2 "manipulator"&o& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&h( +20 "core" ( + "manipulator"&\\& +5 "core" & /  + "storage"([& +4 "core" &<. [ a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +93 "core" ' +2 "storage"(v& +4 "core" &<. [ a\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'r +300 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" & %  + "storage"(c& +4 "core" &<. R U P\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&s'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(}- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('i +30 "core" ' + "manipulator"& % +5 "core" %Δ  + "storage"(A& +4 "core" &<. C C \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts + "manipulator"&(' +26 "core" ' + "manipulator"&& +5 "core" & V  + "storage"(9& +4 "core" &<. U T \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +41 "core" ' +2 "manipulator"&& +4 "core" &   + "manipulator"&% +4 "core" %I X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&'(ӂ +159 "core" ( +2 "manipulator"&& +4 "core" &Ӓ# M <@ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &Ӓ# ? <@ +2 .tForearm.seek CC +2 "manipulator"&|'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"(& +4 "core" &<. | C\  +2 "storage"(~& +3 "core" &<. y \  +2 "manipulator"&.& +3 "core" &ӓ# j <? +2 "manipulator"&% +3 "core" % S  A +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&#( +163 "core" ( + "manipulator"&i& +5 "core" & H  + "storage"(& +4 "core" &<. \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&w'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&3% +4 "core" % s L % + "storage"(5& +4 "core" &<. \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 274 counts +2 "manipulator"& 'ϟ +26 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"( & +3 "core" &<. 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 "storage"(/% +4 "core" % F\ +2 ."downElevator"SE.seek :down +3 "storage"(-' +100 ()% +2 "core" %Z? \ Vb +2 "manipulator"&!% +4 "core" %> \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" & ^ `i\ +2 "manipulator"&>% +4 "core" %  }  + "storage"(% +4 "core" % \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(_(K +360 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &K \ +2 "manipulator"& & +3 "core" & O  +2 .tElbow.seek 6 +2 "manipulator"&+( +3 "core" ( + "manipulator"&& +4 "core" &    + "storage"(F& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 6 + 450 counts + "manipulator"&&' +99 "core" ' + "storage"(& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'r +298 "core" ' + "storage"(x- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +2 "core" &K \  +2 "manipulator"&$& +4 "core" & 5  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&0& +4 "core" & W  + "storage"(& +4 "core" &K *\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&='h +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +4 "storage"(Z' +4 "core" &  + "manipulator"&D% +4 "core" % h j C +2 .tForearm.seek :retract + "manipulator"&U' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +157 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +10 "core" ( +2 "manipulator"&6& +4 "core" &ӄ 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &ӄ ( 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&C'? +102 "core" ' +2 "manipulator"&K& +4 "core" &ӄ ` 1 + "manipulator"&E% +4 "core" %E  +2 "collection"'p& +4 "core" & ` aW\ +2 "collection"'G& +5 "core" & b a^\ +2 .tCC.seek :closed +2 "collection"'@(\\ +4 "core" & ` _T\ +7 &; a _l\ %g +10 &Wy ^ _r\ 7 +9 &| _ `o\ L +9 &X c bt\ L +10 &Z c c{\ L +9 &B[ b cw\ L +10 &[ b bv\ L +9 &Z b ct\ L +9 &Y c bt\ M +10 &IX d eu\ M +9 & X e ei\ L +9 &!U e gr\ L +10 &#[ f fe\ L +9 &%RZ g e`\ L +9 &'X h ha\ M +10 &(Y g gd\ L +9 &*U h h`\ L +10 &,ZY g ic\ L +9 &.W i hd\ L +9 &/T j kb\ L +10 &1Z l i^\ L +9 &3aY g jb\ M +10 &5#Y k la\ M +9 &6Y n l\\\ L +9 &8U l nb\ L +10 &:jV k m`\ L +9 &<,V m lc\ L +9 &=V n mT\ M +10 &?Z m nU\ L +9 &Aq] p qO\ M +10 &C1b t rO\ M +9 &Dj u rP\ O +9 &F{ z xQ\ Q +10 &Hc R\ T +9 &J K\ W +9 &K P\ X +10 &M N\ Y +9 &O\\ S\ Y +10 &Q T\ Y +9 &R S\ Z +9 &T S\ Z +10 &V_ R\ [\ +9 &X ^\ \\ +9 &Y R\ ] +10 &[ T\ J +9 &\\: W\ , +10 &\\g \\\ Q +2 ( +2 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&I1 +57 "core" 1 +2 "manipulator"&N% +4 "core" % E P  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%V& +4 "core" &Q\ +2 "manipulator"&T% +3 "core" %  +  +2 "storage"(:% +4 "core" % Y V 8\ + "storage"(m. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(;(K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (O& +3 "core" &K P : w\  + "manipulator"&Y& +5 "core" &ӄ  1 + "manipulator"&^% +4 "core" %  ;  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&%( +165 "core" ( + "manipulator"&M& +5 "core" &  + "storage"(L& +4 "core" &K [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&1' +96 "core" ' + "storage"(J& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'r +299 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" &K X a\  +2 "manipulator"&?& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&]( +3 "core" ( + "manipulator"&d& +4 "core" &  b  + "storage"(R& +4 "core" &K c d \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&k'h +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&n/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& + "storage"(X' +7 "core" &  + "manipulator"&Q% +4 "core" % t c +2 .tForearm.seek :retract + "manipulator"&H' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&W( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +96 "core" ( +2 "manipulator"&b& +4 "core" & e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\' +93 "core" ' +2 "manipulator"&[& +4 "core" & . + "manipulator"&P% +4 "core" % V K +2 "processing"%v& +3 "core" &T\ +2 "processing"%l& +5 "core" &T\ + .tPC.seek :closed +2 "processing"%*(^ +5 "core" &;\  +9 &0u<\ *x +10 &b8\ > +9 &kv.\ O +9 &,T-\ O +10 &W-\ O +9 &S \ O +10 &sU(\ O +9 &5W-\ O +9 &W)\ O +10 &X$\ O +9 & zW(\ O +9 &"<V'\ O +10 &#W&\ O +9 &%V(\ O +10 &'V&\ O +9 &)FU)\ N +9 &+W'\ O +10 &,W&\ O +9 &.U&\ O +9 &0MW&\ O +10 &2V#\ O +9 &3Z'\ O +10 &5V%\ O +9 &7VW&\ N +9 &9Z%\ O +10 &:X'\ O +9 &<W\ O +9 &>\\W\ O +10 &@Z\ P +9 &Ac#\ P +10 &Cm\ R +9 &EX{\ S +9 &G\ U +10 &H\ V +9 &J\ V +10 &LX\ V +9 &N\ V +9 &O\ V +10 &Q\ W +9 &S]\ W +9 &U\ W +10 &V\ W +9 &X\ V +9 &Ze\ W +10 &\\%\ X +9 &]~\ : +10 &^0 \ T +9 &^&\ 1 + ( +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&S1 +64 "core" 1 + "manipulator"&a% +5 "core" %  K + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%q& +4 "core" &^"6\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&c% +3 "core" %    +2 "storage"(}% +4 "core" % 8 6 g\ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(A(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +3 "core" &K G ? (\  +2 "manipulator"&9& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & f +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"('r +9 "core" ( +2 "manipulator"&f& +4 "core" & *  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &   +2 .tForearm.seek PC + "manipulator"&u' +95 "core" ' + .tHand.close +2 "manipulator"&s/ +65 "core" / +2 .tPC.seek :open +2 "processing"%(( +84 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +50 "core" ' +314 ( + "storage"(z& +4 "core" &K Y [\  +2 "manipulator"& & +3 "core" & (  +2 "manipulator"&j% +3 "core" %  ? . +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&t( +243 "core" ( + "manipulator"&r& +5 "core" &  ( + "storage"(& +4 "core" &K L L S\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&~' +98 "core" ' + .tHand.open +2 "manipulator"&.1 +64 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(i' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(|- +51 "core" -' +3 "storage"('& +4 "core" &K A\  + "manipulator"&& +4 "core" &  ( + .tElbow.seek 6 +2 "manipulator"&3( +3 "core" ( +2 "manipulator"&5& +3 "core" &  K ( +2 "storage"(& +3 "core" &K :\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(/'" +57 "core" ' +2 "manipulator"&& +4 "core" & ( + "storage"()& +4 "core" &K ` a\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&!'< +28 "core" ' +2 .tElbow.hold + "manipulator"&#, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +26 "core" ' +2 "manipulator"&% +4 "core" %C  9 + "storage"( & +4 "core" &K ; 6 Z\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 307 counts + "manipulator"&>'o +17 "core" ' +2 "manipulator"&& +4 "core" & I ( + "storage"(& +5 "core" &K e d \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(% +4 "core" % _ d\ +2 ."downElevator"SE.seek :down +3 "storage"(-' +100 (4% +2 "core" %@L A K 0\ Xh +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (& +4 "core" &K [ X\ +2 "collection"'F& +4 "core" &\\h \ Q + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  k  +2 "storage"(% +3 "core" % W U\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(x(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ("& +3 "core" &K ] b\  +2 "manipulator"&$& +3 "core" & J ( +2 .tElbow.seek 6 + "manipulator"&0( +3 "core" ( +2 "manipulator"&& +4 "core" & % ( + "storage"(,& +4 "core" &K _ T \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +97 "core" ' +2 "storage"(D& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'r +296 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +2 "core" & 9 ( +2 "storage"(2& +4 "core" &K S U Q\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&B'< +24 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(K- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('j +30 "core" ' + "manipulator"&E% +5 "core" %G 5 + "storage"(p& +4 "core" &K F X %\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 311 counts +2 "manipulator"&Z's +15 "core" ' +2 "manipulator"&U& +4 "core" & ' ( + "storage"(& +4 "core" &K _ d '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&I' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(N' +34 "core" ' +2 "manipulator"&V& +4 "core" & 0 ( + "manipulator"&T% +4 "core" % C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&m(ӂ +154 "core" ( + "manipulator"&G& +4 "core" &Ӣ ) 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +2 "core" &Ӣ T 9( +2 .tForearm.seek CC +2 "manipulator"&Y'? +98 "core" ' + .tHand.close +2 "manipulator"&^/ +60 "core" / +2 .tCC.seek :open + "collection"'C( +448 "core" ( +2 "storage"(M& +4 "core" &K \  + "storage"(L& +4 "core" &K } v\  + "manipulator"&_& +4 "core" &Ӣ  L 9( +2 "manipulator"&J% +3 "core" % Q  +2 .tForearm.seek :retract +2 "manipulator"&8' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&e( +166 "core" ( + "manipulator"&\ & +5 "core" & ;  + "storage"(<& +4 "core" &K ~\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&?'< +94 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&R1 +55 "core" 1 +2 "manipulator"&n% +4 "core" % M  4 + "storage"(y& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&Q'y +16 "core" ' +2 "manipulator"&%& +4 "core" &   +2 "storage"(1& +3 "core" &K .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&`' +20 "core" ' +2 "storage"(k% +4 "core" % %\ +2 ."downElevator"SE.seek :down +3 "storage"(b' +99 (o% +2 "core" %B \ Wc +2 "manipulator"&]% +4 "core" % T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&[' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'P& +4 "core" & ] `\ +2 "manipulator"&v% +4 "core" %   f  + "storage"(X% +4 "core" % ?\ + "storage"(H. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(g(  +1301 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (S& +2 "core" &  e\ +2 "manipulator"&a& +3 "core" & *  +2 .tElbow.seek 2 + "manipulator"&q( +5 "core" ( + "manipulator"&c& +4 "core" &  + "storage"(}& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"& 'S +94 "core" ' + "storage"(l& +5 "core" &  d\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" &  } \  +2 "manipulator"&h& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&s& +3 "core" & D  +2 "storage"(;& +3 "core" &  g\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& + "storage"(*' +7 "core" & 1  + "manipulator"&% +4 "core" % ϭ +2 .tForearm.seek :retract + "manipulator"&z' +88 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +159 "core" ( +2 "manipulator"&j& +5 "core" &ӑ$  =C ' +2 ."downElevator"SE.coast +2 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &Ӓ$ E =B +2 .tForearm.reconfigure :tight +50 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&r'? +104 "core" ' +2 "manipulator"&& +4 "core" &Ӓ% =B + "manipulator"&% +4 "core" %K ] +2 "collection"'.& +3 "core" & _ a\ +3 "collection"'& +4 "core" & a aX\ +2 .tCC.seek :closed +2 "collection"'|(\\ +4 "core" & _ b_\ +8 &; a `:\ %f +9 &X} a `5\ 8 +10 &y b c6\ L +9 &W b c1\ L +10 &W c c|\ L +9 &DZ a dx\ L +9 &Y d dq\ M +10 &W c ct\ L +9 &X e ci\ M +9 &LV e dj\ L +10 & Y e du\ L +9 &!W e dy\ L +10 &#Z g gu\ L +9 &%TW h gu\ L +9 &'T i fv\ L +10 &(W h kw\ L +9 &*Y j kv\ L +9 &,\\W j jp\ L +10 &.W j jt\ L +9 &/T j jr\ L +10 &1X l kv\ L +9 &3dZ l kl\ L +9 &5&W k ls\ L +10 &6X l mq\ M +9 &8V m me\ L +9 &:lY l la\ L +10 &<-Y m m`\ M +9 &=X q ma\ M +10 &?X n oc\ M +9 &AsY r pc\ M +9 &C4] t sd\ M +10 &Dk u u^\ N +9 &Fz z w`\ P +9 &Hf f\ T +10 &J g\ X +9 &K b\ X +10 &M a\ Y +9 &O` f\ Y +9 &Q! d\ Y +10 &R c\ Z +9 &T h\ [ +9 &Va g\ [\ +10 &X! c\ \\ +9 &Y d\ ] +10 &[ b\ J +9 &\\7 f\ . +9 &\\h e\ P +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&1 +56 "core" 1 + "manipulator"&'% +5 "core" % K f + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%5& +4 "core" &<\ +2 "manipulator"&% +4 "core" %  P  + "storage"(% +4 "core" % T Y\ + "storage"(). +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (i& +2 "core" &  \\ ? \ +2 "manipulator"&& +4 "core" &Ӓ$  =B + "manipulator"& % +4 "core" %  E  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +164 "core" ( + "manipulator"&& +5 "core" &  + "storage"(& +4 "core" &  Z [ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&t'S +96 "core" ' + "storage"(~& +5 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  _ U \ +2 "manipulator"& & +3 "core" & `  +2 .tElbow.seek 2 +2 "manipulator"&3( +3 "core" ( + "manipulator"&/& +4 "core" & M  + "storage"(!& +4 "core" &  Y Z\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& + "storage"(' +7 "core" & F  + "manipulator"&% +4 "core" % ϸ  +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&w( +165 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +72 "core" ( + "manipulator"&"& +5 "core" & U 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" & K 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&,& +4 "core" & S 1 + "manipulator"&% +4 "core" % T  +2 "processing"%D& +3 "core" &:\ +3 "processing"%-& +4 "core" &>\ +2 .tPC.seek :closed + "processing"%A(^ +4 "core" &;\  +9 &2x8\ )w +9 &b~=\ > +10 &gu>\ O +9 &(W:\ O +9 &W9\ O +10 &T1\ O +9 &nZ;\ O +10 &0W+\ O +9 &W+\ O +9 &W+\ O +10 & wW&\ O +9 &":U%\ N +9 &#W)\ O +10 &%U'\ O +9 &'W'\ O +10 &)@V%\ O +9 &+V)\ O +9 &,X%\ O +10 &.U&\ O +9 &0IW'\ O +9 &2 V&\ N +10 &3W(\ O +9 &5U&\ O +10 &7PZ)\ O +9 &9Y'\ O +9 &:Y'\ O +10 &<W(\ O +9 &>WZ'\ O +10 &@Z\ P +9 &Af$\ P +9 &Cs\ R +10 &EQ$\ T +9 &G'\ U +9 &H!\ U +10 &J'\ U +9 &LU&\ U +9 &N(\ V +10 &O&\ V +9 &Q&\ W +10 &SX%\ W +9 &U'\ W +9 &V\ W +10 &X\ V +9 &Za\ W +10 &\\"\ W +9 &]\ 7 +9 &^,q\ _ +10 &^2\ 8 +2 ( +2 "processing"%-& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator" +60 "core" 1 + "manipulator"& % +4 "core" %  |  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +98 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%6& +4 "core" &^.\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&2% +3 "core" % # 6 +2 "storage"(K% +3 "core" % I D\ +2 "storage"(E. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(p(  +8 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (U& +5 "manipulator"&& + "core" &  B >\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & ; 1 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&V( + "storage"(T'r +5 "core" ( +2 "manipulator"&7& +3 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" & = 1 +2 .tForearm.seek PC +2 "manipulator"&+' +97 "core" ' + .tHand.close +2 "manipulator"&B/ +67 "core" / +2 .tPC.seek :open + "processing"%Z( +87 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(G'1 +43 "core" ' +319 ( + "storage"(O& +4 "core" &  d c \ +2 "manipulator"&I& +3 "core" & 1 +2 "manipulator"&=% +3 "core" % \    +2 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&:( +247 "core" ( + "manipulator"&@& +5 "core" & - < + "storage"(M& +4 "core" &  Z V 2\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&L'S +96 "core" ' + .tHand.open +2 "manipulator"&_1 +53 "core" 1 +2 "storage"(J- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(\ ' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(<' +63 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +3 "core" -' +2 "storage"(m& +3 "core" &  \ +2 "manipulator"&R& +3 "core" & R < +2 .tElbow.seek 2 +2 "manipulator"&n( +3 "core" ( + "manipulator"&y& +4 "core" & Z < + "storage"(%& +4 "core" &  <\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&1'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(k'" +50 "core" ' +2 "manipulator"&8& +4 "core" &  M < + "storage"(o& +4 "core" &  Z V\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&]'Α +27 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +27 "core" ' +2 "manipulator"&P% +4 "core" %Ξ  B ^ + "storage"(Q& +4 "core" &  H D \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 313 counts + "manipulator"&v' +16 "core" ' +2 "manipulator"&X& +4 "core" & \\ ; + "storage"(H& +5 "core" &  X _\ +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&N'S +17 "core" ' +2 "storage"(`% +4 "core" % j \ +2 ."downElevator"SE.seek :down +3 "storage"(b' +100 (x% +2 "core" %WS : G\ Xj +2 "manipulator"&S% +4 "core" %K ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +87 "core" ' +69 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (c& +3 "core" &  V Z\ +2 "collection"'}& +3 "core" &\\e a\ P +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&l% +4 "core" %  I  +2 "storage"(d% +4 "core" % Y T K\ + "storage"([. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(9(  +8 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (f& +2 "core" &  W V\ +2 "manipulator"&h& +4 "core" & h ; +2 .tElbow.seek 2 + "manipulator"&s( +3 "core" ( +2 "manipulator"&;& +3 "core" &  T ; +2 "storage"(W& +4 "core" &  [ [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'S +92 "core" ' +2 "storage"(& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'r +296 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +2 "core" & ; +2 "storage"(u& +4 "core" &  T _ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'Α +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(\\- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('l +30 "core" ' + "manipulator"&% +5 "core" %΢  + "storage"(.& +4 "core" &  5 3 \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&*' +15 "core" ' + "manipulator"&z& +5 "core" & + ; + "storage"(C& +4 "core" &  ` X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"('' +41 "core" ' +2 "manipulator"&5& +4 "core" &  3 ; + "manipulator"&% +4 "core" %G  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&)(ӂ +154 "core" ( + "manipulator"&& +5 "core" &ӈ+ j Ct + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &ӈ+ Ct +2 .tForearm.seek CC + "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"& / +55 "core" / +2 .tCC.seek :open + "collection"'r( +451 "core" ( +2 "storage"(& +4 "core" &  y \ +2 "storage"(& +3 "core" &  \ +2 "manipulator"&g& +3 "core" &ӌ+ l Cp +2 "manipulator"&~% +3 "core" % L  E +2 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +159 "core" ( + "manipulator"&4& +5 "core" & u \ + "storage"(& +4 "core" &  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"& 'Α +97 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&!1 +61 "core" 1 +2 "manipulator"&>% +4 "core" % Ζ  + "storage"(F& +4 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 305 counts +2 "manipulator"&' +26 "core" ' + "manipulator"&& +5 "core" & \ + "storage"(t& +4 "core" &  E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +19 "core" ' +2 "storage"(% +4 "core" % ;\ +2 ."downElevator"SE.seek :down +3 "storage"("' +100 ($% +2 "core" %L \ Wg +2 "manipulator"&3% +4 "core" %^  / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +87 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & _ aw\ +2 "manipulator"&D% +3 "core" %  m  +2 "storage"(% +4 "core" % -\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"((( +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (#& +2 "core" & \ \ +2 "manipulator"& & +3 "core" &  c \ +2 .tElbow.seek 3 + "manipulator"&6( +35 "core" ( + "manipulator"&2& +4 "core" &  ^ 6 +2 "storage"(K& +4 "core" & k\ \ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&E'7 +92 "core" ' + "storage"(-& +5 "core" & F\ \ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" & \ \ +2 "manipulator"&0& +4 "core" & 6 + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&B& +4 "core" & L 6 +2 "storage"(& +4 "core" & y y v\ \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&w/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(A' +8 "core" &  6 + "manipulator"&T% +4 "core" % ϛ S +2 .tForearm.seek :retract + "manipulator"&O' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +155 "core" ( + "manipulator"&=& +5 "core" &ӑ' : @Z + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&+& +4 "core" &ӑ( " @Z + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&@'? +97 "core" ' +2 "manipulator"&M& +4 "core" &ӑ( G @Z +2 "manipulator"&V% +4 "core" %G 3 +2 "collection"'_& +3 "core" & ` a\ +2 "collection"'J& +5 "core" & b b\ +2 .tCC.seek :closed + "collection"'Y(\\ +4 "core" & _ a\  +10 &4~ a `6\ +{ +9 &e~ c `f\ > +10 &p b b\ M +9 &LS d c\ M +9 &V c cW\ M +10 &W c cm\ L +9 &T e cn\ L +10 &UW c cs\ L +9 &X d cx\ M +9 &U e dy\ L +10 & S f fz\ L +9 &"]V f gv\ L +9 &$ T d fz\ L +10 &%W i ht\ L +9 &'T i gy\ L +10 &)dW k hz\ M +9 &+(V h jl\ L +9 &,W i lt\ L +10 &.X j ky\ L +9 &0mU j if\ L +9 &2/V l lb\ L +10 &3T k lc\ L +9 &5V l k\\\ L +10 &7uT m l]\ L +9 &96W l mb\ M +9 &:V n o`\ L +10 &<Y m md\ L +9 &>|W n ng\ M +9 &@>X q q`\ M +10 &B\\ r sa\ M +9 &Cc v tb\ N +10 &E{t z xc\ P +9 &G3 `\ S +9 &H d\ V +10 &J f\ Y +9 &Lj b\ X +9 &N( d\ Z +10 &O c\ Y +9 &Q c\ Z +10 &Sk d\ [ +9 &U* g\ \\ +9 &V a\ [ +10 &X b\ ] +9 &Zk _\ ] +9 &\\ x c\ 9 +10 &\\& `\ *{ +9 &\\ \\\ ^ +2 ( + "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open + "manipulator"&m1 +59 "core" 1 +2 "manipulator"&R% +4 "core" % G 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +94 "core" ' + .tSC.coast +49 "storage"(6 +4 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%%& +4 "core" &U\ +2 "manipulator"&^% +4 "core" % ! _ ' + "storage"(8% +4 "core" % D C \ + "storage"(o. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(P( +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (Q& +3 "core" & C C \  + "manipulator"&G& +4 "core" &Ӓ( 8 @Y +2 "manipulator"&X% +3 "core" % !  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&H( +165 "core" ( +2 "manipulator"&\ & +4 "core" & &  + "storage"(`& +4 "core" & V Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&:'7 +95 "core" ' +2 "storage"(L& +4 "core" & b Y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'r +296 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" & K K A\  +2 "manipulator"&S& +4 "core" & ;  + .tElbow.seek 3 +2 "manipulator"&n( +3 "core" ( + "manipulator"&k& +4 "core" & \  + "storage"(]& +4 "core" & ; G \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&v'ϡ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&c/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +4 "storage"(l' +4 "core" & 2  + "manipulator"&d% +4 "core" % ϙ W +2 .tForearm.seek :retract + "manipulator"&?' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[( +157 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +81 "core" ( + "manipulator"&f& +5 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" & $  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&;' +54 "Can"\ VT +40 "core" ' + "manipulator"&W& +5 "core" & w  + "manipulator"&N% +4 "core" % R K +2 "processing"%& +3 "core" &>\ +3 "processing"%b& +4 "core" &@\ +2 .tPC.seek :closed + "processing"%p(^ +4 "core" &;\ +9 & .?\ #b +9 &T{9\ 7 +9 &~{<\ L +10 &U8\ O +9 &UV;\ N +9 &T;\ N +10 &V1\ O +9 &X4\ O +10 &\\V5\ O +9 &X+\ O +9 &T+\ O +10 &!U2\ O +9 &#cT+\ O +9 &%%U5\ O +10 &&V(\ O +9 &(V.\ O +10 &*kZ)\ O +9 &,.W&\ O +9 &-U#\ N +10 &/W&\ O +9 &1sY(\ O +9 &36U)\ O +10 &4T$\ O +9 &6W&\ O +10 &8{X&\ O +9 &:=V(\ O +9 &;W&\ O +10 &=X$\ O +9 &?W(\ O +10 &AB\\(\ P +9 &Ch)\ Q +9 &Dr(\ R +10 &Fz$\ U +9 &H<'\ U +9 &I%\ U +10 &K'\ V +9 &M~!\ V +9 &OA%\ V +10 &Q(\ V +9 &R'\ W +10 &T$\ X +9 &VG$\ W +9 &X(\ W +10 &Y%\ V +9 &[&\ V +9 &]L%\ J +10 &^{K#\ [ +9 &^ U\ 8 +5 ( +2 "processing"%b& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&e1 +3 "core" &^.\ 8 +50 1 + "manipulator"&a% +4 "core" %  H K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tSC.coast + "storage"(6 +3 "processing"%j& +4 "core" &^.6\ 8 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&u% +3 "core" % #  4 +2 "storage"(\\% +4 "core" % & &\  + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(.( +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +3 (z& +4 "manipulator"&C& + "core" & & ) ^\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & X  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&5( +3 "storage"('r +3 "core" ( +2 "manipulator"&{& +3 "core" & +  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" & T  +2 .tForearm.seek PC +2 "manipulator"&q' +91 "core" ' + .tHand.close +2 "manipulator"&/ +67 "core" / +2 .tPC.seek :open + "processing"%*( +92 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +311 ( + "storage"(i& +4 "core" & U F ?\  +2 "manipulator"&& +3 "core" & >  +2 "manipulator"&% +3 "core" %  @ J +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +245 "core" ( + "manipulator"&|& +4 "core" & M E +2 "storage"(& +3 "core" & I C 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +93 "core" ' + .tHand.open +2 "manipulator"&g1 +59 "core" 1 +2 "storage"(~- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(4' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"()& +3 "core" & y\ } +2 "manipulator"&!& +4 "core" &    E + .tElbow.seek 3 +2 "manipulator"&>( +3 "core" ( + "manipulator"&F& +4 "core" &  l E + "storage"(& +4 "core" &\  \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' +2 "manipulator"& & +4 "core" & < E + "storage"($& +4 "core" & B @\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&3'u +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"( ' +21 "core" ' +2 "manipulator"&% +4 "core" %} ( + "storage"(& +5 "core" & C D\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&D'ϩ +25 "core" ' +2 "manipulator"&& +4 "core" & 1 E + "storage"(& +4 "core" & 4 7 E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&''7 +17 "core" ' +2 "storage"(% +4 "core" % : E Q\ +2 ."downElevator"SE.seek :down +3 "storage"("' +100 (9% +2 "core" %QH ' & \ Xh +2 "manipulator"&#% +4 "core" %<  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (2& +4 "core" & C E \ +2 "collection"'K& +3 "core" &\\ \ ^ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&-% +4 "core" %   + "storage"(/% +4 "core" % Y V \ + "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (7& +2 "core" & < T 2\  +2 "manipulator"&0& +4 "core" & ^ E + .tElbow.seek 3 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&& +3 "core" & E +2 "storage"(w& +3 "core" & P : K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +50 "manipulator"&&'7 +97 "core" ' +2 "storage"(T& +4 "core" & X U \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'r +301 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" &  E + "storage"(+& +4 "core" & K K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&U'u +15 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(M- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(V'f +29 "core" ' +2 "manipulator"&_% +4 "core" %΄ B J + "storage"(& +4 "core" & G ? \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&A'ϰ +32 "core" ' +2 "manipulator"&O& +4 "core" &  E + "storage"(r& +4 "core" & D C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&m'7 +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(R' +36 "core" ' +2 "manipulator"&%& +4 "core" &  h E + "manipulator"&J% +4 "core" %< +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +155 "core" ( + "manipulator"&o& +4 "core" &Ӌ- T Du +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &Ӌ-  Du +3 .tForearm.seek CC + "manipulator"&G'? +93 "core" ' + .tHand.close +2 "manipulator"&X/ +55 "core" / +2 .tCC.seek :open + "collection"'@( +451 "core" ( + "storage"(\ & +4 "core" & =\  +2 "storage"(`& +3 "core" & { ]\  +2 "manipulator"&(& +4 "core" &Ӟ( O Ab + "manipulator"&L% +4 "core" % J 4 ? + .tForearm.seek :retract +2 "manipulator"&I' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&y( +166 "core" ( + "manipulator"&1& +5 "core" & 5  + "storage"(x& +4 "core" & |\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&S'u +98 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&]1 +58 "core" 1 +2 "manipulator"&c% +4 "core" % }  q + "storage"(}& +4 "core" & _\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 308 counts + "manipulator"&d'ϩ +32 "core" ' + "manipulator"&H& +5 "core" & i  + "storage"(:& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&<'7 +15 "core" ' +2 "storage"(v% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(f' +100 (h% +3 "core" %F }\ Wd + "manipulator"&n% +5 "core" %=  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&W' +89 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'N& +4 "core" & ] ]x\ +2 "manipulator"&% +4 "core" %  &  + "storage"(l% +4 "core" % \ + "storage"(?. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(Z(,y +361 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (e& +2 "core" &,| ~ 5\ \ +2 "manipulator"&a& +3 "core" & P  +2 .tElbow.seek 4 +2 "manipulator"&j( +39 "core" ( + "manipulator"&u& +4 "core" & S  +2 "storage"(\\& +4 "core" &,z \  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(b& +5 "core" &,z J\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +296 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" &,z z y G\  +2 "manipulator"&s& +3 "core" & p  +2 .tElbow.seek 4 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&& +4 "core" & m  + "storage"(P& +4 "core" &,z \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +4 "storage"(p' +4 "core" &  w  + "manipulator"&% +4 "core" % X +2 .tForearm.seek :retract + "manipulator"&i' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ( + ' +2 ."downElevator"SE.coast +3 "manipulator"&& + "storage"(5 +6 "core" &Ӑ$  =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &Ӑ$ b =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&|'? +95 "core" ' +2 "manipulator"&& +4 "core" &Ӑ%  =D + "manipulator"&5% +4 "core" %D 1 J +3 "collection"'g& +3 "core" & ^ \\\ +3 "collection"'~& +6 "core" & ` `\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" & a _\  +9 &1z _ `\ *x +9 &c~ b _\ = +10 &tr b b\ M +9 &9S ` c\ L +10 &V ` b5\ L +9 &W ` cn\ L +9 &V b dv\ L +10 &BU b dn\ K +9 &Y b dr\ L +9 &U d cu\ L +10 & V e et\ L +9 &"HV e d{\ L +10 &$\ U d gz\ L +9 &%U g d|\ L +9 &'V e gx\ L +10 &)QU i iu\ L +9 &+W f h{\ L +9 &,T g h{\ L +10 &.V j hv\ L +9 &0XU j hy\ L +10 &2U j j{\ L +9 &3V j jl\ L +9 &5V k kj\ L +10 &7aW k la\ L +9 &9#W n kh\ L +9 &:T l li\ L +10 &<W l k_\ L +9 &>gX l md\ L +10 &@*W m nd\ L +9 &AY p pd\ L +9 &C] q uc\ M +10 &Eij u td\ N +9 &G$  {f\ Q +9 &H g\ U +10 &J f\ W +9 &LT f\ X +10 &N f\ X +9 &O $\ Y +9 &Q Y\ Z +10 &SW c\ Z +9 &U E\ [\ +9 &V \ [ +10 &X V\ \\ +9 &ZW M\ ] +10 &[y \ > +9 &\\, Q\ *~ +9 &\\n d\ V +2 ( +2 "collection"'~& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&)1 +55 "core" 1 + "manipulator"&!% +5 "core" % D u J + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &<\ +2 "manipulator"& % +3 "core" % ! , +2 "storage"( % +4 "core" % K K S\ + "storage"($. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &,z L D 5\  +2 "manipulator"&& +4 "core" &ӑ$ t =C + "manipulator"&% +4 "core" % " , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +164 "core" ( + "manipulator"&4& +4 "core" &   +2 "storage"(& +4 "core" &,z ] a\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +104 "core" ' +2 "storage"(& +4 "core" &,z \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" &,z V a\  +2 "manipulator"&t& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&>( +4 "core" ( + "manipulator"&& +53 "core" & a  + "storage"(3& +4 "core" &,z a d \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&D'c +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&2/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +2 "storage"(-' +7 "core" & )  + "manipulator"&/% +4 "core" % ^  +2 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&,( +167 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +69 "core" ( + "manipulator"&7& +5 "core" & s > + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &  > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&w& +4 "core" & > + "manipulator"&'% +4 "core" %  ! +2 "processing"%T& +3 "core" &:\ +3 "processing"%"& +5 "core" &:\ +2 .tPC.seek :closed + "processing"%.(^ +5 "core" &:\ +7 & -?\ #a +9 &S}9\ 7 +10 &~{:\ L +9 &W8\ N +9 &TU:\ O +10 &U:\ N +9 &T7\ O +10 &T8\ O +9 &\\R3\ O +9 &U9\ O +10 &T6\ N +9 &!T.\ N +9 &#dT5\ O +10 &%&T+\ O +9 &&T'\ O +10 &(T(\ O +9 &*mU(\ N +9 &,/V)\ N +10 &-U&\ O +9 &/Y%\ O +9 &1uW(\ N +10 &36U'\ O +9 &4X&\ O +10 &6Y'\ O +9 &8{U%\ O +9 &:>U(\ O +10 &<W(\ O +9 &=Z(\ O +9 &?W&\ O +10 &AD]'\ O +9 &Ck'\ Q +9 &Du'\ R +10 &Fz(\ U +9 &H:'\ V +10 &I(\ U +9 &K'\ U +9 &M$\ V +10 &OA)\ V +9 &Q&\ W +10 &R#\ V +9 &T#\ W +9 &VG%\ V +10 &X (\ V +9 &Y%\ V +9 &[(\ W +10 &]L\ L +9 &^N\ !g +9 &^+\ 4 +2 ( +2 "processing"%"& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"& % +5 "core" %  L ! + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%=& +4 "core" &^(7\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&+% +3 "core" %  a  +2 "storage"(M% +4 "core" % F K 3\ + "storage"(_. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +3 (O& +4 "core" &,z C ? \  "manipulator"&r& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & c > +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&%( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(J'r +2 "core" ( +2 "manipulator"&&& +3 "core" &  > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &  > +2 .tForearm.seek PC + "manipulator"&6' +97 "core" ' + .tHand.close +2 "manipulator"&U/ +69 "core" / +2 .tPC.seek :open +2 "processing"%A( +84 "core" ' + "storage"(V- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(o'1 +42 "core" ' +318 ( + "storage"(Q& +4 "core" &,z T U q\  +2 "manipulator"&m& +3 "core" & > +2 "manipulator"&% +3 "core" %  $  +2 .tForearm.seek :retract +2 "manipulator"&X' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&^( +245 "core" ( + "manipulator"&Y& +5 "core" &   + "storage"(\ & +4 "core" &,z 4 5 2\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&`' +94 "core" ' + .tHand.open +2 "manipulator"&(1 +55 "core" 1 +2 "storage"(L- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(x' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(G- +3 "core" -' +2 "storage"(8& +3 "core" &,z i\ ~ +2 "manipulator"&]& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&c( +8 "core" ( + "manipulator"&}& +5 "core" &  \ ^  + "storage"(H& +4 "core" &,z [\ ~ +2 .tForearm.seek 4 + 450 counts + "manipulator"&:' +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(v'" +52 "core" ' +2 "manipulator"&I& +4 "core" & 1  + "storage"(h& +4 "core" &,z ? 4 k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&n'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&y, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(S' +20 "core" ' +2 "manipulator"&N% +4 "core" %B 6 + "storage"(d& +4 "core" &,z J J -\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 311 counts +2 "manipulator"&'n +14 "core" ' +2 "manipulator"&l& +4 "core" &  \\  + "storage"(?& +5 "core" &,z T T 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +17 "core" ' +2 "storage"(<% +4 "core" % d b \ +2 ."downElevator"SE.seek :down +3 "storage"(f' +100 (% +2 "core" %KJ B E \ Xg +2 "manipulator"&e% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +89 "core" ' +67 ' + ."downElevator"SE.coast +2 "storage"(5 +2 .tSC.coast + "storage"(6 +2 (u& +4 "core" &,z d e\ +2 "collection"'\\& +3 "core" &\\l \ V +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&b% +4 "core" %   +2 "storage"(k% +3 "core" % c c \ +2 "storage"(W. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(C(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ({& +2 "core" &,z f c "\  +2 "manipulator"&s& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&( +9 "core" ( + "manipulator"&P& +5 "core" & + "storage"([& +4 "core" &,z c X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +97 "core" ' +2 "storage"(& +4 "core" &,z Y ` \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'r +296 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & 5 + "storage"(q& +4 "core" &,z 9 4 u\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&z'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(5'i +31 "core" ' + "manipulator"&g% +5 "core" %G < + "storage"(;& +4 "core" &,z F 7 >\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&p's +15 "core" ' + "manipulator"&i& +5 "core" & ` + "storage"(@& +4 "core" &,z T U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +50 "storage"(!' +41 "core" ' +2 "manipulator"&& +4 "core" &   + "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&$(ӂ +149 "core" ( +2 "manipulator"&~& +4 "core" &y* Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &y* Bk +2 .tForearm.seek CC + "manipulator"&'? +99 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'|( +448 "core" ( + "storage"(4& +5 "core" &,z t\  + "storage"(& +4 "core" &,z z V\  + "manipulator"&Z& +4 "core" &Ӕ& Q ?P + "manipulator"&% +4 "core" % A >  + .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&F( +164 "core" ( +2 "manipulator"&9& +4 "core" &  J  + "storage"(#& +4 "core" &,z l\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 +2 "manipulator"&t'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&31 +52 "core" 1 +2 "manipulator"&2% +4 "core" % J + "storage"(K& +4 "core" &,z \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&/'v +15 "core" ' +2 "manipulator"&& +4 "core" &  .  +2 "storage"(& +4 "core" &,z &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +20 "core" ' +2 "storage"(D% +4 "core" % l\ +2 ."downElevator"SE.seek :down +3 "storage"(7' +99 (0% +2 "core" %D A\ Wc +2 "manipulator"&>% +4 "core" % S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +96 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"''& +4 "core" & ] ^x\ +2 "manipulator"&T% +4 "core" % !  $ + "storage"(-% +4 "core" % \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(*(<- +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<* "\  +2 "manipulator"& & +3 "core" & f  +2 .tElbow.seek 5 +2 "manipulator"&=( +3 "core" ( + "manipulator"&+& +4 "core" &    + "storage"(M& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +92 "core" ' +2 "storage"("& +4 "core" &<* \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'r +299 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" &<* } n\  +2 "manipulator"&B& +3 "core" & g  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&U& +3 "core" &  R  +2 "storage"(& +3 "core" &<* { y F\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&V'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +4 "storage"(.' +4 "core" & |  + "manipulator"&J% +74 "core" % Ϯ j +2 .tForearm.seek :retract + "manipulator"&Q' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&m(ӂ +90 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +65 "core" ( + "manipulator"&& +5 "core" &ӏ& 3 ?T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &ӏ& = ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'? +92 "core" ' +2 "manipulator"&\ & +5 "core" &ӏ& ?T + "manipulator"&%% +4 "core" %6  i +2 "collection"'(& +3 "core" & ] _\ +2 "collection"'L& +5 "core" & _ `\ +2 .tCC.seek :closed + "collection"'G(\\ +4 "core" & ` `\  +10 &4} _ a\ +{ +9 &d ` _f\ > +10 &q ` a\ M +9 &YT a `\ L +9 &V ` a \ M +10 &W c b\ L +9 &W _ `v\ L +9 &bT b a1\ L +10 &#Y a ci\ L +9 &W f bv\ L +10 & T c eq\ L +9 &"jW d f2\ L +9 &$+V d eY\ L +10 &%V e g]\ L +9 &'W f f{\ L +9 &)rY f gx\ L +10 &+4W h k|\ L +9 &,W f g{\ L +9 &.V g i{\ L +10 &0zW h h|\ L +9 &2<V h jy\ L +10 &3W j js\ L +9 &5V i jq\ L +9 &7W k lt\ L +10 &9CW i kg\ L +9 &;W k jm\ L +10 &<Y l jj\ L +9 &>W m mh\ L +9 &@LY m kd\ L +10 &B ] q pf\ M +9 &C` q sd\ M +10 &Ep u ua\ O +9 &G@  zg\ S +9 &H h\ V +10 &J L\ X +9 &Lv $\ X +9 &N7 &\ Y +10 &O !\ Z +9 &Q <\ Y +9 &Sw G\ [ +10 &U9 `\ [ +9 &V g\ \\ +10 &X $\ ] +9 &Zw X\ ] +9 &\\z C\ 2 +10 &\\0 J\ c +9 ( + &\\i \ R +2 "collection"'L& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&81 +62 "core" 1 + "manipulator"&]% +5 "core" % 6 3 i + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%H& +4 "core" &:\ +2 "manipulator"&X% +3 "core" %  ]  +2 "storage"(I% +4 "core" % P : @\ + "storage"(h. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(o(<- +7 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (N& +2 "core" &<* 5 4 \  +2 "manipulator"&d& +4 "core" &Ӑ& < ?S + "manipulator"&l% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&1( +158 "core" ( + "manipulator"&?& +5 "core" & + "storage"(<& +4 "core" &<* b b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +92 "core" ' + "storage"(`& +5 "core" &<* \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +2 "core" &<* b b\  +2 "manipulator"&:& +3 "core" & G +2 .tElbow.seek 5 + "manipulator"&c( +8 "core" ( + "manipulator"&v& +4 "core" &   +2 "storage"(n& +3 "core" &<* ` c \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(b' +6 "core" & B  +2 "manipulator"&k% +4 "core" % Ϻ T +2 .tForearm.seek :retract + "manipulator"&S' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&W( +164 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +75 "core" ( + "manipulator"&{& +5 "core" &  " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" & F " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&P' +100 "core" ' +2 "manipulator"&[& +4 "core" &  " + "manipulator"&R% +4 "core" %  +2 "processing"%& +3 "core" &>\ +2 "processing"%f& +5 "core" &T\ +2 .tPC.seek :closed + "processing"%(^ +6 "core" &<\  +9 &1x?\ *x +9 &a>\ > +10 &gv@\ O +9 &(U;\ O +9 &Y<\ O +10 &U:\ O +57 &nT;\ O +3 &1S1\ N +6 &W0\ O + &U)\ O + & vT(\ O + &"9R3\ N + &#V*\ O +5 &%W(\ N +9 &'U(\ N +10 &)AU)\ N +9 &+U(\ N +9 &,W'\ N +10 &.W$\ O +9 &0HS(\ O +9 &2 R$\ N +10 &3U&\ N +9 &5T#\ O +10 &7PT'\ O +9 &9U%\ O +9 &:U+\ O +10 &<U)\ O +9 &>W[&\ O +9 &@Y(\ O +10 &Ad(\ P +9 &Cn&\ Q +10 &ER~'\ T +9 &G'\ U +9 &H'\ U +10 &J(\ U +9 &LU(\ U +9 &N)\ V +10 &O#\ U +9 &Q\ V +10 &SY$\ V +9 &U#\ V +9 &V\ V +10 &X\ V +9 &Z`#\ W +9 &\\"!\ W +10 &]\ 8 +9 &^-y\ Y +9 &^-\ 5 +2 ( +2 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&y1 +64 "core" 1 + "manipulator"&a% +5 "core" %   + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^+\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&q% +4 "core" % # < 5 + "storage"(% +4 "core" % C D \ + "storage"(g. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(;(<- +8 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +3 (i& +4 "manipulator"&@& + "core" &<* ) 3 \  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" &  " +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"( 'r +5 "core" ( + "manipulator"& & +4 "core" & 8 " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & Q " +2 .tForearm.seek PC + "manipulator"&j' +93 "core" ' + .tHand.close +2 "manipulator"&z/ +74 "core" / +2 .tPC.seek :open + "processing"%p( +85 "core" ' + "storage"(5- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(~'1 +43 "core" ' +317 ( + "storage"(& +4 "core" &<* X U \  +2 "manipulator"&)& +3 "core" & } " +2 "manipulator"&% +3 "core" %    5 +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +245 "core" ( +2 "manipulator"&& +4 "core" &  ? + "storage"(4& +4 "core" &<* J J )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +99 "core" ' + .tHand.open +2 "manipulator"&Z1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(#' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"($& +3 "core" &<* \  +2 "manipulator"&3& +3 "core" & \  > ? +2 .tElbow.seek 5 +2 "manipulator"&2( +3 "core" ( + "manipulator"&K& +4 "core" &   ? + "storage"(& +5 "core" &<* \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(D'" +57 "core" ' +2 "manipulator"&& +4 "core" & ? + "storage"(0& +4 "core" &<* T U :\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&>'΍ +23 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(t' +26 "core" ' +2 "manipulator"&'% +4 "core" %Ξ + "storage"(/& +5 "core" &<* K K ;\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&T' +25 "core" ' +2 "manipulator"&-& +4 "core" & O > +2 "storage"( & +4 "core" &<* _ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +12 "core" ' +2 "storage"(% +4 "core" % c e \ +2 ."downElevator"SE.seek :down +3 "storage"(7' +100 (C% +2 "core" %\\M E B \ Xi +2 "manipulator"&% +4 "core" %X O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +85 "core" ' +71 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 (+& +4 "core" &<* V U\ +2 "collection"'M& +3 "core" &\\i \ R +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&"% +4 "core" %  *  + "storage"(% +5 "core" % c c \ + "storage"(w. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(r(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (&& +2 "core" &<* X Y\  +2 "manipulator"&B& +4 "core" & M > + .tElbow.seek 5 +2 "manipulator"&U( +3 "core" ( + "manipulator"&& +5 "core" & X > + "storage"(,& +4 "core" &<* b W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&E'O +97 "core" ' +2 "storage"(J& +4 "core" &<* f d Y\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='r +295 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&O& +3 "core" & > +2 "storage"(& +3 "core" &<* E 4 @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&6'΍ +17 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(\ - +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(%'i +30 "core" ' + "manipulator"&(% +5 "core" %Ε ( + "storage"(& +4 "core" &<* [ [\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 308 counts +2 "manipulator"&.' +13 "core" ' + "manipulator"&Q& +5 "core" & = + "storage"(|& +4 "core" &<* _ U \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&8'O +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(]' +42 "core" ' +2 "manipulator"&H& +4 "core" &  6 = + "manipulator"&X% +4 "core" %3 L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&I' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +154 "core" ( + "manipulator"&L& +5 "core" &ӏ' K @[ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &ӏ(  @[ +2 .tForearm.seek CC + "manipulator"&d'? +95 "core" ' + .tHand.close +2 "manipulator"&l/ +57 "core" / +2 .tCC.seek :open + "collection"'Y( +450 "core" ( +2 "storage"(?& +4 "core" &<* z\  + "storage"(<& +4 "core" &<* W\  + "manipulator"&*& +4 "core" &ӑ'  i @Y + "manipulator"&`% +4 "core" % 0 $ C + .tForearm.seek :retract +2 "manipulator"&m' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +162 "core" ( + "manipulator"&& +5 "core" &   + "storage"(e& +4 "core" &<* q\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&:'΍ +101 "core" ' +49 .tElbow.hold +2 "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&n1 +57 "core" 1 +3 "manipulator"&u% +4 "core" % Ώ  + "storage"(\\& +4 "core" &<* E\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts + "manipulator"&k'ϻ +25 "core" ' +2 "manipulator"&1& +4 "core" & g  + "storage"(^& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +14 "core" ' +2 "storage"(% +4 "core" % p\ +2 ."downElevator"SE.seek :down +3 "storage"({' +100 (s% +2 "core" %E g\ Wc +2 "manipulator"&c% +4 "core" %U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +90 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'R& +4 "core" & ` _j\ +2 "manipulator"&% +4 "core" %  f  + "storage"(b% +4 "core" % \ +2 "storage"(S. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(A(K +365 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (y& +2 "core" &K ~ 8\  +2 "manipulator"&a& +3 "core" & )  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&q& +4 "core" & 2  + "storage"(& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +99 "core" ' + "storage"(f& +5 "core" &K W\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(i'r +299 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &K \ +2 "manipulator"&& +4 "core" & V  + .tElbow.seek 6 +2 "manipulator"&P( +3 "core" ( + "manipulator"&z& +4 "core" & )  + "storage"(o& +4 "core" &K \ +2 .tForearm.seek 6 + 300 counts + "manipulator"&5'h +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" & H  + "manipulator"& % +4 "core" % τ p +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&)(ӂ +157 "core" ( + "manipulator"&& +5 "core" &ӑ& o ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.coast +2 "manipulator"&j& + "storage"(5 +6 "core" &ӑ& ) ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +95 "core" ' +2 "manipulator"&4& +4 "core" &Ӓ& ?S + "manipulator"&% +4 "core" %8 M +2 "collection"'Z& +3 "core" & _ `\ +3 "collection"'& +4 "core" & ^ `\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & ^ a\ +8 &: _ _ \ %g +9 &Wx _ `\ 7 +10 &z ` `\ L +9 &V a b`\ L +10 &}V b d\ K +9 &=W a ^\\\ L +9 &W ` c\ L +10 &V c bg\ L +9 &Z a a\ L +9 &EW b cN\ L +10 & V d d\ L +9 &!V g e\ K +10 &#W c d\ L +9 &%NU f d\ L +9 &'U d gj\ K +10 &(W g g{\ L +9 &*U f g\ K +9 &,VV g gY\ L +10 &.U h g\ K +9 &/U h i\ L +10 &1U j jc\ L +9 &3^V g i\ L +9 &5 U j hd\ L +10 &6W k iz\ L +9 &8V k mi\ L +9 &:eZ l k \ L +10 &<(W k l;\ L +9 &=W l k\ L +10 &?W i n^\ L +9 &AmX o me\ L +9 &C-_ r q!\ M +10 &Dh u s:\ N +9 &Fx z xH\ P +9 &H] L\ T +10 &J N\ W +9 &K G\ X +10 &M D\ X +9 &OV D\ Y +9 &Q \ Z +10 &R ?\ Z +9 &T #\ [ +9 &VY L\ [\ +10 &X ?\ \\ +9 &Y ?\ ] +10 &[ #\ J +9 &\\= N\ *~ +9 &\\ >\ _ +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open + "manipulator"&$1 +59 "core" 1 + "manipulator"&3% +5 "core" % 8 M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &W\ +2 "manipulator"&% +3 "core" %  M  +2 "storage"(% +4 "core" % C C I\ + "storage"(0. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"('(K +9 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (/& +2 "core" &K D C \ +2 "manipulator"&~& +4 "core" &Ӕ& z ?Q + "manipulator"&-% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&9( +158 "core" ( + "manipulator"& & +5 "core" &  + "storage"(& +4 "core" &K [ Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +94 "core" ' + "storage"(& +5 "core" &K b c\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'r +297 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K ? A\ +2 "manipulator"&& +4 "core" & R + .tElbow.seek 6 +2 "manipulator"&2( +3 "core" ( + "manipulator"&D& +4 "core" & + "storage"(>& +4 "core" &K 4 4\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&+'h +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"("' +8 "core" &  m + "manipulator"&% +4 "core" % _ +2 .tForearm.seek :retract + "manipulator"&t' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&w( +161 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +79 "core" ( + "manipulator"&&& +5 "core" & ) " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" & " " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&,& +4 "core" & ! " + "manipulator"&!% +4 "core" % R +2 "processing"%J& +3 "core" &<\ +2 "processing"%7& +5 "core" &V\ +2 .tPC.seek :closed + "processing"%;(^ +5 "core" &<\  +10 &0s<\ *x +9 &c}<\ > +10 &iu7\ O +9 &)U;\ O +9 &T=\ O +10 &U9\ O +9 &qW=\ O +9 &3W;\ O +10 &T;\ O +9 &U:\ O +10 & zW:\ N +9 &"<S:\ N +9 &#U9\ N +10 &%R;\ O +9 &'S+\ O +9 &)DS-\ N +10 &+T)\ N +9 &,U/\ N +9 &.T(\ N +10 &0KU)\ O +9 &2 T,\ O +10 &3X*\ O +9 &5W*\ N +9 &7SU(\ O +10 &9V$\ O +9 &:Y+\ O +10 &<T'\ O +9 &>ZV#\ O +9 &@W)\ O +10 &A`(\ P +9 &Cj&\ Q +9 &EWx'\ S +10 &G)\ U +9 &H'\ U +10 &J(\ U +9 &LW(\ U +9 &N*\ V +10 &O(\ V +9 &Q(\ V +9 &SY(\ X +10 &U&\ V +9 &V(\ W +10 &X(\ V +9 &Za(\ X +9 &\\%(\ W +10 &]~&\ 8 +9 &^,{(\ [ +9 &^.\ 5 +2 ( +2 "processing"%7& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&F1 +54 "core" 1 + "manipulator"& % +5 "core" %  + R + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%O& +4 "core" &^,\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +3 "core" %   +2 "storage"(\ % +4 "core" % ) & ,\ + "storage"((. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (Q& +3 "core" &K ' ' 8\ +2 "manipulator"&|& +4 ."raiseStack"SE.reconfigure :place +53 "storage"(#]kK-0-\ b +2 "core" & v " +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&H( +3 "storage"(X'r +4 "core" ( +2 "manipulator"&E& +3 "core" & " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" & & " +2 .tForearm.seek PC +2 "manipulator"&=' +94 "core" ' + .tHand.close +2 "manipulator"&6/ +72 "core" / +3 .tPC.seek :open + "processing"%.( +84 "core" ' + "storage"(%- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(L'1 +40 "core" ' +323 ( + "storage"(N& +4 "core" &K = ; \  +2 "manipulator"&8& +4 "core" &  " + "manipulator"&V% +4 "core" %  8 < + .tForearm.seek :retract +2 "manipulator"&l' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&I( +246 "core" ( + "manipulator"&G& +5 "core" & L  + "storage"(?& +4 "core" &K A A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&<' +96 "core" ' + .tHand.open +2 "manipulator"&*1 +57 "core" 1 +2 "storage"(`- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(e' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(d- +3 "core" -' + "storage"(h& +4 "core" &K \  +2 "manipulator"&n& +3 "core" & G  +2 .tElbow.seek 6 + "manipulator"&u( +4 "core" ( + "manipulator"&\\& +4 "core" &  h  + "storage"(1& +4 "core" &K 5\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&^' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&m& +4 "core" & C  + "storage"(s& +4 "core" &K * 3 ,\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&c'< +23 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +20 "core" ' +2 "manipulator"&R% +4 "core" %N 8 + "storage"(k& +5 "core" &K ) ' >\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'z +15 "core" ' +2 "manipulator"&b& +4 "core" & *  + "storage"(S& +5 "core" &K D D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&]' +20 "core" ' +2 "storage"(x% +4 "core" % ? F \ +2 ."downElevator"SE.seek :down +3 "storage"({' +100 (r% +2 "core" %BI * 4 Z\ Yi +2 "manipulator"&y% +4 "core" % U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +95 "core" ' +62 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (q& +3 "core" &K D C %\ +2 "collection"'& +4 "core" &\\ #\ _ + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&f% +5 "core" %  *  + "storage"(v% +4 "core" % J J W\ + "storage"([. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(@(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +2 "core" &K K G \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&z( +3 "core" ( + "manipulator"&o& +4 "core" &  + "storage"(W& +4 "core" &K ? > ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"( & +4 "core" &K [ Z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   + "storage"(j& +4 "core" &K J I !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&i'< +23 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(4- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('h +30 "core" ' + "manipulator"&Z% +5 "core" %K a + "storage"(P& +4 "core" &K & & r\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 315 counts +2 "manipulator"&'w +28 "core" ' +2 "manipulator"&& +4 "core" & E  + "storage"(Y& +4 "core" &K A H N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(3' +35 "core" ' +2 "manipulator"&& +4 "core" & ,  + "manipulator"&% +4 "core" % N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&0(ӂ +152 "core" ( + "manipulator"&& +4 "core" &ӎ(  Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &ӎ(  Ae +2 .tForearm.seek CC + "manipulator"&~'? +94 "core" ' + .tHand.close +2 "manipulator"&-/ +56 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( +2 "storage"( & +4 "core" &K ~ \  +2 "storage"(& +3 "core" &K | ]\  +2 "manipulator"&A& +3 "core" &ӏ) G Ad + "manipulator"&% +4 "core" % . [ I +2 .tForearm.seek :retract + "manipulator"&)' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&K( +166 "core" ( + "manipulator"&C& +5 "core" &  }  + "storage"(& +4 "core" &K K\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&>1 +56 "core" 1 +2 "manipulator"&T% +4 "core" % P  + "storage"(M& +4 "core" &K i\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&'| +16 "core" ' +2 "manipulator"&9& +5 "core" &   + "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +21 "core" ' + "storage"(+% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(&' +99 (B% +2 "core" %B J\ Wb +2 "manipulator"&2% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +91 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'!& +4 "core" & ] ]i\ +2 "manipulator"&J% +4 "core" %   + "storage"("% +52 "core" % m\ + "storage"(t. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(p(  +1298 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (F& +2 "core" &  ~ \ +2 "manipulator"& & +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(\ & +3 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&('S +93 "core" ' +2 "storage"(Q& +4 "core" &  ~\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'r +296 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" &  o\  +2 "manipulator"&U& +4 "core" & ,  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&'& +4 "core" &   + "storage"(6& +4 "core" &  D\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&%'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&w/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +4 "storage"(;' +4 "core" &  + "manipulator"&X% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&N' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&8(ӂ +155 "core" ( + ' +2 ."downElevator"SE.coast +3 "manipulator"&V& + "storage"(5 +7 "core" &Ӆ( ' @\\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &ӆ( + @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'? +97 "core" ' +3 "manipulator"&?& +4 "core" &Ӈ(  : @Z + "manipulator"&H% +4 "core" %? 9 +2 "collection"'*& +3 "core" & _ `C\ +3 "collection"'`& +6 "core" & ^ a0\ +2 .tCC.seek :closed + "collection"'d(\\ +4 "core" & _ ^\  +9 &5{ ^ _\ +{ +10 & g _ a*\ ? +9 &r _ `\ M +9 &[W a b\ L +10 &V b b\ L +9 &W c aC\ L +9 &W b d^\ L +10 &eV c c\ K +9 &%X b b\ L +10 &V c b[\ L +9 & U d d[\ K +9 &"kW f dZ\ L +10 &$.V e f\ L +9 &%U f e5\ K +9 &'W f gU\ L +10 &)tV h hR\ L +9 &+6U f i/\ L +10 &,W g jN\ L +9 &.T g i/\ L +9 &0|U h h1\ L +10 &2>T i jC\ L +9 &4W i iJ\ L +9 &5V k kK\ K +10 &7W j jL\ L +9 &9FW j kO\ L +10 &;W j k#\ L +9 &<[ k k\ L +9 &>W l m;\ L +10 &@MW m kO\ L +9 &BZ m nK\ L +9 &C_ q oR\ M +10 &En v sT\ O +9 &GF z {K\ Q +10 &H T\ U +9 &J 8\ X +9 &Lx 3\ X +10 &N8 ,\ Y +9 &O %\ Y +9 &Q 0\ Z +10 &Sz D\ Z +9 &U9 H\ [\ +10 &V !\ \\ +9 &X ?\ ] +9 &Zx F\ ] +10 &\\z &\ 1 +9 &\\2 "\ "i +8 ( +2 &\\t 7\ S +2 "collection"'`& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&h1 +56 "core" 1 +2 "manipulator"&n% +4 "core" % ? 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%1& +4 "core" &;\ +2 "manipulator"&l% +4 "core" %  *  + "storage"(m% +4 "core" % > @ [\ + "storage"(s. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(R(  +9 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (k& +2 "core" &  L J 5\ +2 "manipulator"&L& +4 "core" &ӈ( @Y + "manipulator"&b% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&S( +160 "core" ( + "manipulator"&& +5 "core" & 9  + "storage"(x& +4 "core" &  [ V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&I'S +95 "core" ' + "storage"(<& +5 "core" &  [ a \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'r +299 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +2 "core" &  ; S S\  +2 "manipulator"&^& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&u( +8 "core" ( + "manipulator"&& +4 "core" & X  +2 "storage"(c& +3 "core" &  X _\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(f' +7 "core" &   + "manipulator"&v% +4 "core" % Ϲ Z +2 .tForearm.seek :retract + "manipulator"&:' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&[( +171 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +84 "core" ( + "manipulator"& & +5 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&o' +99 "core" ' +2 "manipulator"&W& +4 "core" & P + "manipulator"&]% +4 "core" %   +2 "processing"% & +3 "core" &<\ +2 "processing"%{& +5 "core" &>\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &>\ +9 & -=\ #a +9 &S{8\ 7 +10 &~{8\ L +9 &U4\ O +9 &OU=\ N +10 &V8\ O +9 &W;\ O +9 &Y:\ O +10 &WS?\ N +9 &U:\ O +10 &T@\ N +9 &!S<\ O +9 &#^W9\ O +10 &% W:\ O +9 &&X6\ O +9 &(U7\ N +10 &*fU8\ O +9 &,(X>\ O +10 &-W5\ O +9 &/T/\ O +9 &1nV,\ O +10 &30S)\ O +9 &4R(\ O +9 &6T$\ O +10 &8vW*\ O +9 &:8S)\ O +10 &;V)\ O +9 &=U&\ O +9 &?}V&\ O +10 &A=\\%\ P +9 &Bk%\ Q +9 &Dy*\ T +10 &Ft%\ U +9 &H6*\ U +10 &I+\ U +9 &K&\ U +9 &Mw)\ W +10 &O;%\ V +9 &P'\ W +9 &R&\ W +10 &T|$\ X +9 &VA(\ V +10 &X(\ W +9 &Y&\ W +9 &[(\ V +10 &]F(\ L +9 &^}Q)\ #m +9 &^#'\ 0 +2 ( +2 "processing"%{& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&}1 +54 "core" 1 + "manipulator"&a% +5 "core" %  T  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&j% +3 "core" % ! / , +2 "storage"(4% +4 "core" % J G \ + "storage"(Z. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(P(  +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (& +2 "manipulator"&Y& +5 "core" &  C I \ + & 8 +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &  +2 .tForearm.seek PC + "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&i/ +68 "core" / +3 .tPC.seek :open + "processing"%( +88 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +312 ( + "storage"(/& +4 "core" &  d d \  +2 "manipulator"&$& +3 "core" &  +2 "manipulator"&5% +3 "core" %  ; +2 .tForearm.seek :retract +2 "manipulator"&-' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +241 "core" ( + "manipulator"&& +5 "core" & 4 + "storage"( & +4 "core" &  S E \  +50 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +93 "core" ' + .tHand.open +2 "manipulator"&A1 +56 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(C' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +3 "core" -' +2 "storage"(0& +4 "core" &  g g |\  + "manipulator"&>& +4 "core" & \  4 + .tElbow.seek 2 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&M& +3 "core" &  r 4 +2 "storage"(9& +4 "core" &  d ` \  +2 .tForearm.seek 2 + 450 counts + "manipulator"& 'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(+'" +54 "core" ' +2 "manipulator"&)& +4 "core" &  4 + "storage"(B& +4 "core" &  P 8 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&2'Α +24 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 "manipulator"&!% +4 "core" %Τ Z ~ + "storage"(& +5 "core" &  1 ? &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&J' +16 "core" ' +2 "manipulator"&"& +4 "core" &  3 + "storage"(3& +5 "core" &  U T ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&t'S +19 "core" ' +2 "storage"(#% +4 "core" % X c\ +2 ."downElevator"SE.seek :down +3 "storage"(&' +100 (@% +2 "core" %U A D \ Yl +2 "manipulator"&F% +4 "core" %c 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +66 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (& +4 "core" &  a d\ + "collection"'\ & +4 "core" &\\h 2\ S +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Q% +4 "core" %  n  + "storage"(D% +4 "core" % c c\ + "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(|(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (E& +3 "core" &  b m \  +2 "manipulator"&U& +3 "core" &  I 3 +2 .tElbow.seek 2 +2 "manipulator"&'( +3 "core" ( + "manipulator"&6& +4 "core" &  y 3 +2 "storage"(w& +3 "core" &  W _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&_'S +94 "core" ' +2 "storage"(X& +4 "core" &  (\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'r +296 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & 3 +2 "storage"(=& +3 "core" &  V T f\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&7'Α +23 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(?- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(H'k +30 "core" ' + "manipulator"&*% +5 "core" %Σ   + "storage"(& +4 "core" &  U U\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&;' +15 "core" ' + "manipulator"&N& +5 "core" &  3 + "storage"(& +4 "core" &  [ Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&h'S +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(n' +40 "core" ' +2 "manipulator"&1& +4 "core" & 3 + "manipulator"&l% +4 "core" %I o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&s(ӂ +153 "core" ( + "manipulator"&`& +4 "core" &ӌ* 2 Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &Ӎ* W Bj +2 .tForearm.seek CC + "manipulator"&L'? +92 "core" ' + .tHand.close +2 "manipulator"&b/ +58 "core" / +2 .tCC.seek :open + "collection"'G( +451 "core" ( +2 "storage"(& +4 "core" &  \  + "storage"(x& +4 "core" &  } } 2\  + "manipulator"&p& +4 "core" &ӎ* Bi + "manipulator"&<% +4 "core" % A  ] +2 .tForearm.seek :retract + "manipulator"&8' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&\\( +165 "core" ( + "manipulator"&r& +5 "core" & Q  + "storage"(y& +4 "core" &  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&^'Α +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&c1 +56 "core" 1 +2 "manipulator"&q% +4 "core" % Γ  * ! + "storage"(& +4 "core" &  `\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 302 counts +2 "manipulator"&v'Ͽ +26 "core" ' +2 "manipulator"&S& +4 "core" & 8  +2 "storage"(I& +3 "core" &  z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&e'S +15 "core" ' +2 "storage"(% +4 "core" % M\ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (% +2 "core" %O | {\ Xg +2 "manipulator"&u% +4 "core" %K  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +95 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"']& +4 "core" & \\ aU\ +2 "manipulator"& % +4 "core" %  _ # + "storage"(f% +4 "core" % \ + "storage"(:. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(.( +351 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (}& +2 "core" & } \  +2 "manipulator"&a& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +13 "core" ( + "manipulator"&j& +4 "core" &  U  +2 "storage"(4& +3 "core" & } { b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Z'7 +98 "core" ' + "storage"(& +5 "core" & H\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'r +297 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & | E\  +2 "manipulator"&z& +4 "core" & ^  + .tElbow.seek 3 +2 "manipulator"&o( +3 "core" ( + "manipulator"&i& +4 "core" & '  + "storage"(R& +3 "core" & ~ { b\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +35 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +62 "core" / +50 ."downElevator"SE.seek :down +3 "manipulator"&g& +2 "storage"(' +7 "core" & g  +2 "manipulator"&% +3 "core" % Ϸ D +2 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&$(ӂ +161 "core" ( + ' +2 ."downElevator"SE.coast +3 "manipulator"&5& + "storage"(5 +7 "core" &Ӕ$  =E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӕ$ =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 "manipulator"& & +4 "core" &Ӕ$  ` =E + "manipulator"&% +5 "core" %> 2 + "collection"'A& +5 "core" & a aH\ +2 "collection"'& +4 "core" & _ _J\ +2 .tCC.seek :closed +2 "collection"'~(\\ +4 "core" & a b?\  +9 &3~ _ _$\ *z +9 &d a _M\ > +10 &q b cA\ L +9 &LV a bZ\ L +10 &V b `8\ L +9 &W b `6\ L +9 &U c a[\ K +10 &VU c e]\ L +9 &W c c\\\ K +9 &U d bY\ L +10 & U d cB\ K +9 &"^W g g6\ L +10 &$!W d dY\ K +9 &%V f dA\ L +9 &'T g g:\ L +10 &)fU i gJ\ L +9 &+(T g hL\ L +9 &,U j g/\ L +10 &.X j i!\ L +9 &0nU j j*\ L +10 &2/X h j#\ L +9 &3V k l/\ L +9 &5Y l k2\ L +10 &7vV k l2\ L +9 &97Y l l3\ L +9 &:U j l\ L +10 &<W n n\ K +9 &>}W l nV\ L +10 &@?W m l3\ L +9 &A\\ q qG\ M +9 &Cb u rK\ M +10 &E{s y x1\ O +9 &G4 2\ S +10 &H 0\ V +9 &J 2\ X +9 &Li +\ X +10 &N+ &\ X +9 &O )\ Y +9 &Q -\ Z +10 &Si %\ [\ +9 &U+ (\ [\ +9 &V !\ \\ +10 &X  \ \\ +9 &Zj $\ ] +10 &\\ x \ : +9 &\\$ \ +~ +9 &\\ \ !a +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open + "manipulator"&01 +59 "core" 1 +2 "manipulator"&>% +4 "core" % > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%9& +4 "core" &Y\ +2 "manipulator"&-% +4 "core" %   + "storage"()% +4 "core" % , : W\ + "storage"(B. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(!( +9 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +2 "core" & % 1 ,\  +2 "manipulator"&& +4 "core" &ӕ$ =D + "manipulator"&"% +4 "core" %  8  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&3( +167 "core" ( + "manipulator"&C& +5 "core" &  + "storage"(#& +4 "core" & K L '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +103 "core" ' + "storage"(& +5 "core" & X b\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" & > A \  +2 "manipulator"& & +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&T( +3 "core" ( + "manipulator"&+& +4 "core" &  + "storage"(2& +4 "core" & 9 @\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&J'ϡ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(Q' +6 "core" &  +2 "manipulator"&D% +3 "core" % ϣ D B +2 .tForearm.seek :retract +2 "manipulator"&,' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&( +171 "core" ' + ."downElevator"SE.coast + "storage"(5 +66 "core" ( + "manipulator"&E& +5 "core" & 3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" & _ 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&6' +91 "core" ' +2 "manipulator"&w& +4 "core" &  ? 3 + "manipulator"&t% +4 "core" % n +2 "processing"%X& +3 "core" &T\ +3 "processing"%&& +4 "core" &[\ +2 .tPC.seek :closed + "processing"%P(^ +5 "core" &6\  +9 &2wA\ *x +10 &b~?\ > +9 &er?\ O +9 &&T?\ O +10 &R=\ O +9 &R9\ O +9 &nR>\ N +10 &/T;\ O +9 &X?\ O +10 &U?\ O +9 & uV:\ O +9 &"8P=\ N +10 &#T>\ O +9 &%Q>\ O +9 &'}R>\ O +10 &)@S>\ N +9 &+T7\ O +10 &,W5\ O +9 &.Q5\ O +9 &0GT7\ O +10 &2 R0\ O +9 &3T-\ N +9 &5R+\ O +10 &7PT+\ N +9 &9V*\ O +10 &:U)\ O +9 &<T,\ O +9 &>VU(\ O +10 &@V(\ O +9 &A_)\ P +9 &Ck)\ Q +10 &ERx*\ S +9 &G$\ U +10 &H'\ U +9 &J$\ U +9 &LS-\ U +10 &N(\ W +9 &O)\ V +9 &Q+\ W +10 &SW)\ W +9 &U)\ W +10 &V*\ W +9 &X(\ V +9 &Z`+\ V +10 &\\"&\ V +9 &]'\ 5 +9 &^0l&\ H +9 ( +2 &^*)\ 5 +2 "processing"%&& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&K1 +58 "core" 1 +2 "manipulator"& % +4 "core" %  n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%V& +4 "core" &^*E\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&=% +3 "core" %  G  +2 "storage"(?% +4 "core" % + 0 \ + "storage"(*. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +8 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (N& +4 "manipulator"&& + "core" & & $ !\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & - 3 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&1( +4 "storage"(l'r +2 "core" ( + "manipulator"&_& +5 "core" & t 3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" & 3 +2 .tForearm.seek PC +2 "manipulator"&O' +94 "core" ' + .tHand.close +2 "manipulator"&7/ +77 "core" / +2 .tPC.seek :open + "processing"%;( +75 "core" ' + "storage"(H- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(`'1 +47 "core" ' +323 ( + "storage"(k& +4 "core" & ? K /\  +2 "manipulator"&h& +3 "core" &  3 +2 "manipulator"&%% +3 "core" %  ^ G +2 .tForearm.seek :retract + "manipulator"&b' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&m( +261 "core" ( + "manipulator"&d& +5 "core" &  + "storage"(& +4 "core" & / + W\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&x'7 +100 "core" ' + .tHand.open +2 "manipulator"&p1 +64 "core" 1 +2 "storage"(<- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(r' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(y' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(L- +3 "core" -' +2 "storage"(s& +3 "core" & e c -\  +2 "manipulator"&c& +3 "core" &    +2 .tElbow.seek 3 + "manipulator"&q( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(S& +5 "core" & l k y\  +2 .tForearm.seek 3 + 450 counts + "manipulator"&I'7 +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&8& +4 "core" & <  + "storage"(& +4 "core" & @ K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&u'u +21 "core" ' + .tElbow.hold +50 "manipulator"&\\, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(^' +20 "core" ' +2 "manipulator"&]% +4 "core" %΁ c / + "storage"(v& +4 "core" & ( ( =\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 312 counts + "manipulator"& 'ϭ +29 "core" ' +2 "manipulator"&f& +4 "core" &  q  + "storage"(:& +5 "core" & C B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&n'7 +16 "core" ' +2 "storage"(e% +4 "core" % D E \ +2 ."downElevator"SE.seek :down +3 "storage"( ' +100 (|% +2 "core" %9I ( 1\ Xh +2 "manipulator"&}% +4 "core" %' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +88 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (j& +4 "core" & A 0 c\ +2 "collection"'4& +3 "core" &\\ B\ !a +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %  U  +2 "storage"(% +3 "core" % B 9 q\ +2 "storage"(W. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"({( +7 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (& +2 "core" & L K @\  +2 "manipulator"&z& +4 "core" & '  + .tElbow.seek 3 +2 "manipulator"&i( +3 "core" ( + "manipulator"&R& +5 "core" & %  + "storage"([& +4 "core" & K J \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&g'7 +93 "core" ' +2 "storage"(& +4 "core" & 5 4 Z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +2 "core" & b  +2 "storage"(& +4 "core" & @ C b\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&Y'u +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('e +30 "core" ' + "manipulator"&A% +5 "core" %Ή n  + "storage"(o& +4 "core" & - A \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&'ϵ +24 "core" ' +2 "manipulator"&/& +4 "core" &   + "storage"(G& +4 "core" & C B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&0'7 +23 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(>' +39 "core" ' +2 "manipulator"&9& +4 "core" & )  +2 "manipulator"&-% +4 "core" %B + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&)' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&B(ӂ +161 "core" ( + "manipulator"&& +5 "core" &ӛ" 2 ;7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӛ" ) ;7 +2 .tForearm.seek CC + "manipulator"&'? +99 "core" ' + .tHand.close +2 "manipulator"&"/ +61 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( + "storage"(C& +4 "core" & z 8\  +2 "storage"(#& +3 "core" & \  +2 "manipulator"&.& +3 "core" &ӛ" z ;7 +2 "manipulator"&% +4 "core" % H & + .tForearm.seek :retract +2 "manipulator"&$' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&M( +166 "core" ( + "manipulator"&@& +5 "core" &   + "storage"(F& +4 "core" & N\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"& 'u +100 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&21 +54 "core" 1 +3 "manipulator"&% +4 "core" % Ή " + "storage"(\ & +4 "core" & s\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&D'ϵ +24 "core" ' +2 "manipulator"&3& +4 "core" & :  +2 "storage"(& +4 "core" & P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +15 "core" ' +2 "storage"(J% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(E' +99 (U% +3 "core" %< \ V` + "manipulator"&T% +4 "core" %9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +88 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'t& +4 "core" & Z \\8\ +2 "manipulator"&X% +4 "core" %   + "storage"(Q% +4 "core" % \ + "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +360 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (K& +2 "core" &,|   \  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&V( +39 "core" ( + "manipulator"&=& +4 "core" & p  +2 "storage"(?& +4 "core" &,| \  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&*' +98 "core" ' + "storage"(&& +5 "core" &,| ~\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +291 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +2 "core" &,| z \\\  +2 "manipulator"&'& +3 "core" & >  +2 .tElbow.seek 4 + "manipulator"&6( +3 "core" ( +2 "manipulator"&7& +4 "core" & :  + "storage"(!& +4 "core" &,| \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&H'c +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"(P' +8 "core" &  + "manipulator"&l% +4 "core" % ϔ Y +2 .tForearm.seek :retract + "manipulator"&k' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +156 "core" ( +2 "manipulator"&%& +4 "core" &Ӑ% S >N + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&O& +5 "core" &Ӑ% d >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&d'? +107 "core" ' +3 "manipulator"&& +4 "core" &ӑ%  >M + "manipulator"&1% +4 "core" %A +2 "collection"'p& +4 "core" & ] _V\ +2 "collection"'<& +4 "core" & ^ ^J\ +2 .tCC.seek :closed + "collection"'L(\\ +4 "core" & ] ^5\  +10 &5} ^ _B\ +| +10 &h ^ ]<\ ? +9 &k ` ]A\ M +9 &aR ` a?\ L +10 &$W _ b;\ K +9 &X a `?\ L +10 &Z a `?\ L +9 &iT ^ d?\ L +9 &+W c b@\ L +10 &Y b b>\ L +9 & T c c6\ L +9 &"qU d c>\ L +10 &$4W d d=\ K +9 &%W c d9\ L +10 &'Z c d5\ L +9 &)yT h f5\ L +9 &+<W e g+\ K +10 &,V h e2\ K +9 &.V g g/\ L +9 &0Z g f0\ L +10 &2CZ h h+\ L +9 &4V i k/\ L +10 &5W i h/\ K +9 &7W h iY\ L +9 &9KZ k j:\ L +10 &;W h i1\ K +9 &<W k j/\ L +9 &>[ j k*\ L +10 &@TX k j2\ K +9 &B[ o o:\ L +10 &Cc q p.\ M +53 &Ej w t2\ N +3 &GL y/\ Q + &I 1\ T + &J 3\ W + &L 3\ W + &N? 0\ X +5 &O 1\ Y +10 &Q 3\ Y +9 &S~ 1\ Z +9 &U@ 3\ Z +10 &V 3\ \\ +9 &X 2\ \\ +9 &Z 0\ \\ +10 &\\"y 2\ 1 +9 &\\- ,\ !d +10 ( + &\\t 0\ R +2 "collection"'<& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&s1 +55 "core" 1 +2 "manipulator"&c% +4 "core" % A ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%S& +5 "core" &6\ + "manipulator"&b% +4 "core" %  R  + "storage"(8% +4 "core" % K J >\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(`(,y +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (r& +2 "core" &,| L J I\ +2 "manipulator"&]& +4 "core" &ӑ% >M + "manipulator"&v% +4 "core" %  I  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&f( +163 "core" ( + "manipulator"&:& +5 "core" &  + "storage"(m& +4 "core" &,| ` X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +94 "core" ' +2 "storage"(x& +4 "core" &,| k y \ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'r +297 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +2 "core" &,| G S \ +2 "manipulator"&}& +4 "core" & Y  + .tElbow.seek 4 +2 "manipulator"&q( +3 "core" ( + "manipulator"&& +4 "core" & 9  + "storage"(u& +4 "core" &,| _ V\ +2 .tForearm.seek 4 + 300 counts + "manipulator"& 'c +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&j/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&4& +4 "storage"(' +4 "core" & b  + "manipulator"&% +5 "core" % ϛ 4 + .tForearm.seek :retract +2 "manipulator"&^' +87 "core" ' +2 .tElbow.seek PC + "manipulator"&W( +168 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +69 "core" ( + "manipulator"&& +5 "core" & P 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +4 "core" &  0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +93 "core" ' +2 "manipulator"&[& +4 "core" &  3 0 + "manipulator"&n% +4 "core" % m +2 "processing"%& +3 "core" &\\\ +2 "processing"% & +5 "core" &Z\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &4\  +9 &3x>\ )w +10 &a6\ > +9 &mt7\ N +9 &-T9\ O +10 &W>\ O +9 &T9\ N +10 &uV=\ N +9 &5Y8\ O +9 &X=\ O +10 &X=\ O +9 & |W;\ N +9 &"=R>\ O +10 &$Y=\ N +9 &%T?\ N +10 &'X?\ O +9 &)FR;\ N +9 &+U9\ N +10 &,U7\ N +9 &.W;\ O +9 &0MX>\ O +10 &2R4\ O +9 &3R2\ N +10 &5T1\ N +9 &7UW*\ O +9 &9U2\ O +10 &:U)\ O +9 &<U,\ N +9 &>]W(\ O +10 &@V(\ O +9 &Ac+\ P +10 &Cp,\ R +9 &EV,\ T +9 &G+\ U +10 &H)\ U +9 &J+\ U +9 &LX&\ V +10 &N)\ V +9 &O)\ U +10 &Q*\ V +9 &S]%\ W +9 &U!&\ V +10 &V'\ W +9 &X1\ V +9 &Zg'\ V +10 &\\('\ W +9 &]{-\ ; +10 &^2,\ U +9 &^")\ 1 +2 ( +2 "processing"% & +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&\\1 +55 "core" 1 + "manipulator"&a% +5 "core" %  0 m + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%5& +4 "core" &^"%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" % ! Q * + "storage"( % +4 "core" % 1 = F\ + "storage"(A. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(o(,y +8 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (/& +2 "manipulator"&G& +5 "core" &,| C A \ + & T / +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&9( +6 ."raiseStack"SE.seek :beamBreak + "storage"(-'r +3 "core" ( + "manipulator"&g& +4 "core" & / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" & l / +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&Y/ +71 "core" / +2 .tPC.seek :open +2 "processing"%( +85 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +56 "core" ' +303 ( + "storage"(& +4 "core" &,{ W _\ +2 "manipulator"&0& +3 "core" &  / +2 "manipulator"&% +3 "core" %  % 8 +2 .tForearm.seek :retract + "manipulator"&"' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&)( +246 "core" ( + "manipulator"&~& +5 "core" & | 3 + "storage"(C& +4 "core" &,{ K J (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&#' +91 "core" ' + .tHand.open +2 "manipulator"&.1 +63 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(F' +62 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(B& +3 "core" &,{ \  G\ ~ +2 "manipulator"&2& +3 "core" &   3 +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&\ & +4 "core" & q 3 + "storage"(3& +4 "core" &,{\ \ ~ +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(J'" +53 "core" ' +2 "manipulator"&$& +4 "core" & # 3 + "storage"(U& +4 "core" &,{ 5 3 6\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&T'7 +24 "core" ' +2 .tElbow.hold + "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +23 "core" ' +2 "manipulator"&t% +4 "core" %H  + "storage"(D& +5 "core" &,{ B C \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&X't +14 "core" ' +2 "manipulator"&Q& +4 "core" & & 3 + "storage"(,& +5 "core" &,{ ` Y \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&>' +20 "core" ' +2 "storage"(% +4 "core" % X U\ +2 ."downElevator"SE.seek :down +3 "storage"(E' +100 ({% +2 "core" %F B C \ We +2 "manipulator"&K% +4 "core" % = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +66 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (=& +4 "core" &,{ V U \ +2 "collection"'?& +3 "core" &\\t 3\ R +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&&% +4 "core" %    + "storage"(+% +5 "core" % Z U\ + "storage"(w. +3 "core" . +49 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (_& +3 "core" &,{ X Y\ + "manipulator"&'& +5 "core" &  > 3 + .tElbow.seek 4 +2 "manipulator"&7( +3 "core" ( + "manipulator"&!& +4 "core" & 3 +2 "storage"(& +3 "core" &,u U U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&(' +99 "core" ' +2 "storage"(l& +4 "core" &,z ` W\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'r +300 "core" ' +2 "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" & 3 + "storage"(O& +4 "core" &,z 7 6 j\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&N'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(6'i +28 "core" ' + "manipulator"&1% +5 "core" %I  = + "storage"(p& +4 "core" &,z J K *\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&P'u +14 "core" ' + "manipulator"&k& +5 "core" & - 3 + "storage"(& +4 "core" &,z V U \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&s' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(c' +40 "core" ' +2 "manipulator"&S& +4 "core" & l 3 + "manipulator"&b% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( + "manipulator"&<& +4 "core" &ӛ"  ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &ӛ" ;7 +2 .tForearm.seek CC + "manipulator"&]'? +94 "core" ' + .tHand.close +2 "manipulator"&v/ +53 "core" / +2 .tCC.seek :open + "collection"'d( +451 "core" ( +2 "storage"(:& +4 "core" &,z \  + "storage"(m& +4 "core" &,z \  +2 "manipulator"&& +3 "core" &ӛ" s ;7 +2 "manipulator"&x% +3 "core" % O  d i +2 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +167 "core" ( +2 "manipulator"&I& +4 "core" & ?  + "storage"(|& +4 "core" &,z | \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&}'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&u1 +53 "core" 1 +2 "manipulator"&j% +4 "core" % > : # +2 "storage"(4& +3 "core" &,z s\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 307 counts + "manipulator"&'j +15 "core" ' +2 "manipulator"&f& +4 "core" &  +2 "storage"(e& +3 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&y' +18 "core" ' +2 "storage"( % +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (z% +2 "core" %> y y \ Va +2 "manipulator"&q% +4 "core" % ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'n& +4 "core" & [ ]?\ +2 "manipulator"&% +4 "core" %  =  + "storage"(% +4 "core" % G\ + "storage"(^. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(;(<- +353 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (\\& +2 "core" &<*' | m\  +2 "manipulator"&a& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&5( +3 "core" ( + "manipulator"&& +4 "core" &  + "storage"( & +4 "core" &<*( P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A'O +88 "core" ' +2 "storage"( & +4 "core" &<*( w \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'r +294 "core" ' +2 "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" &<*& V T )\  +2 "manipulator"&i& +3 "core" & d  +2 .tElbow.seek 5 +2 "manipulator"&R( +3 "core" ( + "manipulator"&Y& +4 "core" &   + "storage"(`& +4 "core" &<*& b a \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +4 "storage"(' +4 "core" &   + "manipulator"&-% +4 "core" %  H +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&0(ӂ +155 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &ӎ( @] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ'  @] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&~'? +94 "core" ' + "manipulator"&C& +4 "core" &ӎ( S @] +2 "manipulator"&9% +4 "core" %? n +2 "collection"'.& +3 "core" & \\ ^S\ +2 "collection"'& +5 "core" & [ ^_\ +2 .tCC.seek :closed + "collection"'(\\ +6 "core" & ^ `Q\  +9 &5| _ ]R\ +{ +10 &f~ ^ ]R\ ? +9 &p ^ _P\ M +9 &WV _ _N\ L +10 &U c `D\ L +9 &U _ `;\ L +9 &U _ a7\ L +10 &`U ] a:\ L +9 &!Z _ _f\ L +10 &V c bC\ L +9 & S c aA\ L +9 &"hV c d7\ L +10 &$)Y c d=\ L +9 &%U e e9\ K +9 &'V d f=\ L +10 &)qU g f?\ K +9 &+2W g f;\ L +10 &,T f f?\ L +9 &.U i e@\ K +9 &0xW g g9\ L +10 &2:T h j2\ L +9 &3V i i/\ L +9 &5U k h*\ L +10 &7V i k/\ L +9 &9CV i k,\ K +10 &;W k j+\ L +9 &<W i l1\ L +9 &>W g j2\ L +10 &@IU l j7\ L +9 &B [ p m4\ M +9 &C` s p2\ M +10 &Eu u s6\ O +9 &G@ | z;\ R +10 &H 4\ V +9 &J 0\ X +9 &Lq >\ Y +10 &N2 9\ Y +9 &O 4\ Z +9 &Q 4\ Z +10 &Sr 3\ [ +9 &U4 5\ [ +10 &V 2\ ] +9 &X 2\ ] +9 &Zs 5\ ^ +10 &\\y 2\ 4 +9 &\\+ 0\ \\ +8 ( +2 &\\s 0\ R +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.31 +2 .Hand.open + "manipulator"&B1 +59 "core" 1 +2 "manipulator"&2% +4 "core" % ? n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%3& +4 "core" &Z\ +2 "manipulator"&"% +3 "core" %  u  +2 "storage"($% +4 "core" % 8 K p\ + "storage"(U. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(t(<- +7 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (D& +2 "core" &<* K F "\  +2 "manipulator"&& +4 "core" &ӎ' @] + "manipulator"&Q% +4 "core" %  +  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&,( +170 "core" ( + "manipulator"&@& +5 "core" & } + "storage"(& +4 "core" &<* e e &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +48 "manipulator"&)'O +98 "core" ' +2 "storage"(#& +4 "core" &<* ` c\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'r +307 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +2 "core" &<* I = 4\  +2 "manipulator"&& +4 "core" & 2 } + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&J& +4 "core" & } + "storage"(T& +4 "core" &<* W F j\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&X'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&=/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(&' +7 "core" & _ } + "manipulator"&+% +4 "core" % ϯ U +2 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +164 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +73 "core" ( + "manipulator"&_& +5 "core" & ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" & ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&!' +100 "core" ' +2 "manipulator"&& +4 "core" & L ! + "manipulator"&>% +4 "core" % T  +2 "processing"%l& +3 "core" &8\ +3 "processing"%E& +4 "core" &:\ +2 .tPC.seek :closed +2 "processing"%o(^ +5 "core" &7\ \ +9 &1s>\ )w +10 &b~9\ > +9 &gs?\ O +9 &(R=\ O +10 &V6\ O +9 &T>\ O +10 &nR<\ O +9 &0W>\ O +9 &W7\ O +10 &T?\ N +9 & wT<\ N +9 &"8P=\ O +10 &#W>\ O +9 &%T>\ O +10 &'T=\ N +9 &)@R:\ O +9 &+Q>\ O +10 &,W@\ O +9 &.S6\ O +9 &0IS?\ N +10 &2\ Q;\ O +9 &3Q?\ N +10 &5S9\ N +9 &7QT=\ N +9 &9U9\ O +10 &:X9\ O +9 &<S7\ N +9 &>WW+\ O +10 &@V-\ O +9 &Aa*\ P +10 &Cj(\ Q +9 &ER(\ S +9 &G'\ T +10 &H+\ U +9 &J+\ U +9 &LS%\ V +10 &N*\ W +9 &O)\ V +10 &Q0\ W +9 &SX+\ W +9 &U.\ W +10 &V+\ W +9 &X0\ V +9 &Za-\ V +10 &\\!*\ W +9 &](\ 8 +10 &^,q)\ X +9 &^.)\ 6 +2 ( +2 "processing"%E& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&M1 +55 "core" 1 + "manipulator"& % +4 "Can"\ ][ +2 "core" %  [  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&*' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%%& +4 "core" &^+B\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&O% +4 "core" %  n  + "storage"(% +4 "core" % C D \ + "storage"(1. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(p(<- +8 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (k& +4 "manipulator"&& + "core" &<* ! & :\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & % ! +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&S( + "storage"(b'r +5 "core" ( + "manipulator"&(& +4 "core" & ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &   ! +2 .tForearm.seek PC +2 "manipulator"&V' +99 "core" ' + .tHand.close +2 "manipulator"&N/ +56 "core" / +2 .tPC.seek :open + "processing"%P( +96 "core" ' + "storage"(6- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(<'1 +47 "core" ' +302 ( + "storage"(r& +4 "core" &<* E S 9\  +2 "manipulator"&s& +3 "core" & B ! +2 "manipulator"&H% +3 "core" %    \ +2 .tForearm.seek :retract +2 "manipulator"&v' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&8( +244 "core" ( + "manipulator"&L& +4 "core" & U D +2 "storage"(:& +4 "core" &<* J K -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&m'O +92 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(x- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(I' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +3 "core" -' +2 "storage"(& +3 "core" &<* "\  +2 "manipulator"&u& +4 "core" &   D + .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( + "manipulator"&4& +4 "core" &  C D + "storage"(f& +4 "core" &<* \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&e'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +58 "core" ' +2 "manipulator"&h& +4 "core" & [ D + "storage"(z& +4 "core" &<* 5 4 E\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&q'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(}' +19 "core" ' +2 "manipulator"&n% +4 "core" %΀ / + "storage"(& +5 "core" &<* K K 3\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 287 counts + "manipulator"&'Ϭ +41 "core" ' +2 "manipulator"&& +4 "core" & [ % + "storage"(^& +5 "core" &<* U U \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +23 "core" ' +2 "storage"(y% +4 "core" % Y `\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +3 "core" %F - C \ Wf +2 "manipulator"&\\% +4 "core" %s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +88 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 (& +4 "core" &<* _ W\ + "collection"' & +5 "core" &\\s B\ R + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %    +2 "storage"(% +3 "core" % d a\ +2 "storage"([. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(G(<- +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (g& +2 "core" &<* ; X\  +2 "manipulator"&i& +4 "core" & % + .tElbow.seek 5 +2 "manipulator"&Y( +18 "core" ( + "manipulator"&`& +5 "core" &  + "storage"(W& +4 "core" &<* Y U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +97 "core" ' +2 "storage"(-& +4 "core" &<* ` X\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'r +297 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & J  +2 "storage"(& +4 "core" &<* A ; p\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&/'΍ +15 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(C- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(9'g +79 "core" ' + "manipulator"&.% +5 "core" %Δ Q + "storage"(R& +4 "core" &<* _ W\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts + "manipulator"&' +26 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(d& +4 "core" &<* b c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(2' +34 "core" ' +2 "manipulator"&3& +4 "core" &  + "manipulator"&"% +4 "core" %E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +152 "core" ( + "manipulator"&& +5 "core" &{* > Bh + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &{* Y Bh +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&Q/ +56 "core" / +2 .tCC.seek :open + "collection"'~( +448 "core" ( + "storage"(@& +5 "core" &<* \  + "storage"(& +4 "core" &<* | `\  + "manipulator"&;& +4 "core" &Ӗ% >M + "manipulator"&0% +4 "core" % >  @ + .tForearm.seek :retract +2 "manipulator"&#' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\ ( +161 "core" ( + "manipulator"&{& +5 "core" & M  + "storage"(K& +4 "core" &<* } \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&'΍ +98 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&T1 +57 "core" 1 +2 "manipulator"&=% +4 "core" % u M G + "storage"(?& +4 "core" &<* \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 276 counts +2 "manipulator"&+'ϡ +25 "core" ' +2 "manipulator"&,& +4 "core" & N  + "storage"()& +4 "core" &<* {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +17 "core" ' +2 "storage"(X% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(_' +100 ('% +2 "core" %YE d\ Vb +2 "manipulator"&% +4 "core" %R o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'>& +4 "core" & Z ^@\ +2 "manipulator"&l% +3 "core" %   +2 "storage"(&% +4 "core" % \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +361 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (M& +2 "core" &K  \ \  +2 "manipulator"& & +3 "core" & X  +2 .tElbow.seek 6 +2 "manipulator"&%( +3 "core" ( + "manipulator"&O& +4 "core" &  + "storage"(& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&1' +100 "core" ' + "storage"(E& +5 "core" &K !\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'r +293 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" &K | H\  +2 "manipulator"&7& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&!( +3 "core" ( + "manipulator"&N& +4 "core" & -  + "storage"(t& +4 "core" &K #\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&6'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&w/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +4 "storage"(o' +4 "core" &  + "manipulator"&b% +4 "core" % Ϙ  = +2 .tForearm.seek :retract + "manipulator"&r' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&s(ӂ +155 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&H& +4 "core" &Ӑ& ?P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &Ӑ& d ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'? +107 "core" ' +2 "manipulator"&:& +4 "core" &ӑ% >O + "manipulator"&S% +4 "core" %M X +2 "collection"'& +4 "core" & _ `T\ +2 "collection"'x& +5 "core" & \\ \\Q\ +2 .tCC.seek :closed +4 "collection"'](\\ +3 "core" & ] \\V\ +6 & ^ _R\ 9 +9 &HJt ] ]P\ 1 +10 &{u~ ^ ^L\ E +9 &'[ _ ]@\ L +10 &T ^ ]C\ K +9 &Y ^ _@\ L +9 &nU ^ `?\ L +10 &1V a _>\ K +9 &V ` _A\ K +9 &V ` bC\ L +10 &vY ` a=\ L +9 &!8X a c@\ L +10 &"Y b `C\ L +9 &$X c b@\ L +9 &&~X c d?\ L +10 &(@Y e e@\ L +9 &*Y e f@\ K +9 &+V d f@\ K +10 &-U g g9\ K +9 &/HT g h5\ L +10 &1\ S i h4\ L +9 &2T g i1\ L +9 &4Y h i.\ L +10 &6PY h h2\ L +9 &8Y h k0\ L +9 &9T j j2\ L +10 &;T h i.\ L +9 &=YV k k3\ K +10 &?V i j9\ L +9 &@Y m k5\ L +9 &B\\ n n;\ L +10 &D\\c o p4\ M +9 &Fs u u:\ O +9 &G  z@\ S +10 &I 7\ V +9 &KF >\ W +10 &M :\ X +9 &N ?\ X +9 &P 9\ Y +10 &RH <\ Y +9 &T >\ [ +9 &U 6\ [ +10 &W 2\ [ +9 &YE 4\ ] +10 &[ 7\ ^ +9 &\\_I 5\ 5 +9 &\\ 9\ P +5 ( +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.17 + .Hand.open + "manipulator"&1 +3 "core" &\\n 8\ P +54 1 +2 "manipulator"&u% +4 "core" % M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%f& +4 "core" &<\ +2 "manipulator"&v% +3 "core" % ! " + +2 "storage"(h% +4 "core" % I E \ + "storage"(z. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(n(K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (& +3 "core" &K L U K\  + "manipulator"&<& +4 "core" &Ӓ%  >N + "manipulator"&I% +4 "core" % ! 5 + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +160 "core" ( + "manipulator"&^& +5 "core" &  w  + "storage"(y& +4 "core" &K c b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&8' +98 "core" ' + "storage"(m& +5 "core" &K \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'r +297 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +2 "core" &K 3 b\  +2 "manipulator"&e& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&j( +3 "core" ( + "manipulator"& & +4 "core" &   + "storage"(q& +4 "core" &K X U \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"( ' +7 "core" & ,  +2 "manipulator"&% +4 "core" % ϝ j + .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&[( +166 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +71 "core" ( + "manipulator"&g& +5 "core" & 0 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +4 "core" &  5 +49 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&`' +98 "core" ' +2 "manipulator"&W& +4 "core" &  2 4 + "manipulator"&c% +4 "core" % [  +2 "processing"%-& +3 "core" &\\\ +3 "processing"%& +6 "core" &Q\ +2 .tPC.seek :closed + "processing"%p(^ +4 "core" &8\ +8 &5?\ $c +10 &T{8\ 7 +9 &~z;\ L +9 &QB\ O +10 &WU:\ O +9 &P<\ N +9 &W8\ N +10 &Q?\ N +9 &`T6\ N +10 &!W7\ O +9 &T7\ O +9 &!O9\ N +10 &#hQ>\ N +9 &%*R7\ N +9 &&V>\ O +10 &(T<\ O +9 &*pR>\ N +10 &,2T>\ N +9 &-P;\ N +9 &/T;\ N +10 &1wU;\ O +9 &39S<\ O +9 &4U9\ N +10 &6R=\ O +9 &8W4\ O +10 &:AU/\ O +9 &<S0\ O +9 &=S(\ O +10 &?U2\ N +9 &AHX.\ O +9 &Cc'\ P +10 &Dl'\ Q +9 &F~(\ T +10 &H>,\ U +9 &J)\ U +9 &K*\ U +10 &M,\ V +9 &OD(\ V +9 &Q'\ V +10 &R+\ V +9 &T)\ W +10 &VJ*\ W +9 &X &\ V +9 &Y%\ V +10 &[)\ V +9 &]P,\ I +9 &^zG*\ !c +10 &^E*\ 5 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&1 +3 "core" &^&)\ 5 +50 1 + "manipulator"&a% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^&#\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %  c  + "storage"(C% +4 "core" % G ?\ + "storage"(.. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(R(K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& + "manipulator"&d& +4 "core" &K > C\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & [ 4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&3( + "storage"("'r +5 "core" ( +2 "manipulator"&Z& +4 "core" & # 4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &  4 +2 .tForearm.seek PC +2 "manipulator"&5' +95 "core" ' + .tHand.close +2 "manipulator"&// +58 "core" / +3 .tPC.seek :open + "processing"%( +97 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(9'1 +43 "core" ' +307 ( + "storage"(D& +4 "core" &K T T V\  +2 "manipulator"&B& +3 "core" & 4 +2 "manipulator"&% +4 "core" %  \\ , + .tForearm.seek :retract +2 "manipulator"&Q' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&$( +246 "core" ( +2 "manipulator"&& +4 "core" & ^ 1 + "storage"(@& +4 "core" &K K @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +93 "core" ' + .tHand.open +2 "manipulator"&;1 +52 "core" 1 +2 "storage"(0- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"({' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(K' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(U& +3 "core" &K q\  +2 "manipulator"&T& +3 "core" &  1 +2 .tElbow.seek 6 +2 "manipulator"&=( +3 "core" ( + "manipulator"&?& +4 "core" &  Q 1 + "storage"(,& +4 "core" &K =\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&)' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(X'" +50 "core" ' +2 "manipulator"&#& +4 "core" & 1 + "storage"('& +4 "core" &K 5 @ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +25 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 "manipulator"&>% +4 "core" %I + "storage"(+& +5 "core" &K B K /\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&l'u +15 "core" ' +2 "manipulator"&&& +4 "core" & 2 1 + "storage"( & +5 "core" &K Z V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +19 "core" ' +2 "storage"(F% +4 "core" % Y Z\ +2 ."downElevator"SE.seek :down +3 "storage"(_' +100 (G% +2 "core" %fL D C \ Xh +2 "manipulator"&M% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +68 ' +2 ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (O& +4 "core" &K V Y \ + "collection"'& +5 "core" &\\m B\ P + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&E% +4 "core" %  T  +2 "storage"(J% +4 "core" % b b \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 ((& +2 "core" &K X Y\  +2 "manipulator"&7& +4 "core" &   1 +2 .tElbow.seek 6 + "manipulator"&N( +5 "core" ( + "manipulator"&t& +4 "core" & I 1 + "storage"(w& +4 "core" &K T U q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +97 "core" ' +2 "storage"(b& +4 "core" &K b a\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'r +296 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" & Y 1 +2 "storage"(V& +3 "core" &K I J ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&k'< +17 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(:- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(S'i +30 "core" ' + "manipulator"&!% +5 "core" %P   + "storage"(& +4 "core" &K F 9 a\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&o'| +26 "core" ' + "manipulator"&r& +5 "core" & 1 + "storage"(~& +4 "core" &K Z [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(u' +36 "core" ' +2 "manipulator"&f& +4 "core" & 8 1 + "manipulator"&v% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&h' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&z(ӂ +153 "core" ( + "manipulator"&x& +5 "core" &Ӟ! & ;3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӟ" . ;3 +2 .tForearm.seek CC + "manipulator"&<'? +94 "core" ' + .tHand.close +2 "manipulator"&I/ +61 "core" / +2 .tCC.seek :open + "collection"'L( +451 "core" ( +2 "storage"(^& +4 "core" &K \  +2 "storage"(y& +3 "core" &K \  +2 "manipulator"&& +3 "core" &Ӟ" k ;3 +49 "manipulator"&m% +5 "core" % 7 , +2 .tForearm.seek :retract + "manipulator"&s' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&4( +165 "core" ( +2 "manipulator"&& +4 "core" &  -  + "storage"(\\& +4 "core" &K z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&e'< +96 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&q1 +54 "core" 1 +2 "manipulator"&% +4 "core" % N   +2 "storage"( & +3 "core" &K y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'z +16 "core" ' +2 "manipulator"&& +4 "core" & E  + "storage"(8& +4 "core" &K 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +20 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(g' +100 (i% +2 "core" %> \ Va +2 "manipulator"&j% +4 "core" %  a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +89 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'c& +5 "core" & ` ]O\ + "manipulator"&-% +4 "core" %   F  +2 "storage"( % +3 "core" % `\ +2 "storage"(}. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(P(  +1301 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &  \ +2 "manipulator"&a& +4 "core" & E  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  + "storage"(C& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&.'S +94 "core" ' + "storage"(& +5 "core" &  h\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +2 "core" &  } \  +2 "manipulator"&Y& +4 "core" & M  + .tElbow.seek 2 +2 "manipulator"&`( +3 "core" ( + "manipulator"&/& +4 "core" &   + "storage"(n& +4 "core" &  \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +4 "storage"(p' +4 "core" &  W  + "manipulator"&"% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&D' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&B(ӂ +159 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +5 "core" ( + "manipulator"&& +5 "core" &Ӈ p 4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &Ӈ E 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 "manipulator"&@& +4 "core" &Ӈ 4 + "manipulator"&3% +4 "core" %G  i +2 "collection"';& +3 "core" & ] ]_\ +3 "collection"'0& +6 "core" & ^ ^c\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" & ^ _S\ +9 &; ^ _D\ %f +9 &X{ _ ^D\ 7 +10 &y _ `A\ L +9 &W ` `;\ L +9 &U b ^I\ K +10 &AW b bU\ K +9 &W b _V\ K +10 &W ` bW\ K +9 &Z ` cW\ L +9 &HS b cW\ L +10 & S b eS\ K +9 &!U c dV\ K +9 &#W b dO\ L +10 &%PV e d>\ L +9 &'T f f@\ L +10 &(T g gC\ L +9 &*T f f?\ K +9 &,XV h kA\ L +10 &.U f iA\ L +9 &/T h h@\ K +9 &1V k h@\ K +10 &3aV j iC\ K +9 &5#U j iC\ K +10 &6W i k>\ L +9 &8Y k l@\ L +9 &:hY i lC\ L +10 &<*Y l i@\ L +9 &=T k k?\ L +9 &?W k l>\ L +10 &Ao[ n nA\ L +9 &C/] q o>\ M +10 &Dh r s@\ N +9 &Fy y wA\ P +9 &Ha  |>\ T +10 &J 6\ W +9 &K 6\ W +9 &M 9\ Z +10 &OV 5\ Z +9 &Q 2\ Y +10 &R 3\ Z +9 &T 2\ [\ +9 &VZ 1\ [ +10 &X 6\ \\ +9 &Y 9\ ] +9 &[ 6\ J +10 &\\8 8\ / +9 &\\t <\ W +2 ( +2 "collection"'0& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open + "manipulator"&U1 +56 "core" 1 + "manipulator"&T% +5 "core" % G T i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%,& +4 "core" &6\ +2 "manipulator"&Q% +3 "core" %  5  +2 "storage"(#% +4 "core" % S X\ + "storage"('. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(>(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (+& +3 "core" &  4 F <\  +2 "manipulator"&9& +3 "core" &Ӈ + 4 +2 "manipulator"&&% +3 "core" %  {  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +162 "core" ( + "manipulator"&{& +5 "core" &  + "storage"(F& +4 "core" &  c c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&$'S +95 "core" ' + "storage"(& +5 "core" &  [ f\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'r +299 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &  S > {\  +2 "manipulator"&)& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&=( +3 "core" ( + "manipulator"&X& +3 "core" &  +2 "storage"(& +3 "core" &  X U w\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&l'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(E' +4 "core" & m  + "manipulator"&J% +11 "core" %   +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&( +161 "core" ' + ."downElevator"SE.coast + "storage"(5 +76 "core" ( + "manipulator"&(& +5 "core" & , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" & , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t' +92 "core" ' +2 "manipulator"&w& +4 "core" & j + + "manipulator"&2% +4 "core" % g S +2 "processing"%b& +3 "core" &X\ +2 "processing"%_& +5 "core" &R\ +2 .tPC.seek :closed + "processing"%R(^ +4 "core" &7\  +10 &1s<\ )w +9 &b}9\ > +10 &fr9\ O +9 &'R<\ O +10 &T5\ O +9 &Q<\ O +9 &mW5\ O +10 &/V?\ O +9 &T5\ O +9 &R;\ O +10 & uR=\ O +9 &"8U?\ N +10 &#S;\ N +9 &%U>\ O +9 &'~V9\ N +10 &)@R<\ N +9 &+W6\ O +9 &,X?\ O +10 &.T;\ O +9 &0HT:\ N +10 &2\ T?\ N +9 &3V<\ O +9 &5T<\ O +10 &7QR0\ N +9 &9Y9\ O +9 &:U=\ N +10 &<T<\ O +9 &>WY9\ O +10 &@U9\ O +9 &Ac;\ P +9 &Cr0\ R +10 &EO0\ T +9 &G1\ U +9 &H2\ U +10 &J4\ V +9 &LR6\ V +10 &N-\ W +9 &O)\ V +9 &Q(\ V +11 &SX'\ V +9 &U)\ X +8 &V(\ V +10 &X&\ V +9 &Z^(\ W +10 &\\!(\ W +9 &])\ 6 +9 &^,l)\ !a +10 &^.(\ 5 +2 ( + "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open + "manipulator"&\ 1 +61 "core" 1 + "manipulator"& % +5 "core" %   S + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +90 "core" ' +49 .tSC.coast +2 "storage"(6 +3 "processing"%H& +4 "core" &^'J\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&V% +4 "core" %  {  + "storage"(:% +4 "core" % E D \ +2 "storage"(!. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (r& +3 "core" &  C D \  +2 "manipulator"&~& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & * + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(f'r +3 "manipulator"&v( +4 "core" ( + "manipulator"&*& +4 "core" & + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" & + +2 .tForearm.seek PC + "manipulator"&%' +94 "core" ' + .tHand.close +2 "manipulator"&k/ +59 "core" / +2 .tPC.seek :open + "processing"%o( +93 "core" ' + "storage"(S- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(x'1 +45 "core" ' +310 ( + "storage"(& +4 "core" &  Z Y \  +2 "manipulator"&& +3 "core" & + +2 "manipulator"&6% +3 "core" %  , M +2 .tForearm.seek :retract +2 "manipulator"&I' +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&h( +257 "core" ( + "manipulator"&]& +5 "core" & 6  + "storage"(^& +4 "core" &  X U X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&y'S +95 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "storage"(m- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\\' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +3 "core" -' +2 "storage"(z& +3 "core" &  \ | +2 "manipulator"&q& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" &   + "storage"(& +4 "core" &  D\ | +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&8'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +53 "core" ' +2 "manipulator"&s& +4 "core" & O  + "storage"(i& +4 "core" &  9 A \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&j'Α +24 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(e' +20 "core" ' +2 "manipulator"&c% +4 "core" %Σ A + "storage"(& +5 "core" &  C B \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&-' +16 "core" ' +2 "manipulator"& & +4 "core" &  + "storage"(}& +5 "core" &  V Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&u'S +16 "core" ' +2 "storage"(|% +4 "core" % b X\ +2 ."downElevator"SE.seek :down +3 "storage"(g' +100 (% +2 "core" %@M > @ \ Xi +2 "manipulator"&% +4 "core" %C E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +89 "core" ' +68 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (& +4 "core" & W `\ + "collection"'C& +5 "core" &\\t 3\ W + #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %  .  +2 "storage"( % +3 "core" % c b \ +2 "storage"(W. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(d(  +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (Z& +3 "core" &  d c \  + "manipulator"&Y& +4 "core" & A  +2 .tElbow.seek 2 + "manipulator"&/( +3 "core" ( +2 "manipulator"&n& +3 "core" & )  +2 "storage"([& +3 "core" &  c c \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&A'S +95 "core" ' +2 "storage"("& +4 "core" &  ` Y \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 1  + "storage"(5& +4 "core" &  O E (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'Α +25 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(@- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(3'k +30 "core" ' + "manipulator"&;% +5 "core" %Μ l + "storage"(`& +4 "core" &  : 7 \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 311 counts +2 "manipulator"&p' +13 "core" ' + "manipulator"&D& +5 "core" &  + "storage"(L& +4 "core" &  e b 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&U'S +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(T' +34 "core" ' +2 "manipulator"&,& +4 "core" &  + "manipulator"&Q% +4 "core" %;  k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&'(ӂ +159 "core" ( + "manipulator"&+& +5 "core" &ӏ% V >M + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &ӏ% 5 >M +2 .tForearm.seek CC + "manipulator"&9'? +94 "core" ' + .tHand.close +2 "manipulator"&&/ +61 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( +2 "storage"({& +4 "core" &  y \  +2 "storage"(F& +3 "core" &  y \  +2 "manipulator"&P& +3 "core" &Ӑ% >L + "manipulator"&% +4 "core" % O = _ +2 .tForearm.seek :retract + "manipulator"&B' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&?( +161 "core" ( + "manipulator"&G& +5 "core" &  + "storage"(M& +4 "core" &  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&)'Α +96 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&O% +4 "core" % Ε  C + "storage"(& +4 "core" &  r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 304 counts + "manipulator"&J' +16 "core" ' +2 "manipulator"& & +4 "core" & i  +2 "storage"($& +4 "core" &  @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&K'S +19 "core" ' +2 "storage"(l% +4 "core" % /\ +2 ."downElevator"SE.seek :down +50 "storage"((' +53 (7% +2 "core" %A \ Va +2 "manipulator"&=% +4 "core" %;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +89 "core" ' +105 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'2& +4 "core" & ] \\?\ +2 "manipulator"&b% +3 "core" %   +2 "storage"(E% +4 "core" % R\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +350 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (\ & +2 "core" & \  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&H( +12 "core" ( + "manipulator"&_& +5 "core" & h  + "storage"(V& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&:'7 +95 "core" ' +2 "storage"(!& +4 "core" & k\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'r +297 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &  ~ %\  +2 "manipulator"&N& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&t( +3 "core" ( + "manipulator"&k& +4 "core" & O  + "storage"(>& +4 "core" & R\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&S'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +142 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +4 "storage"(R' +4 "core" & 9  + "manipulator"&f% +4 "core" % ϕ 5 +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +161 "core" ( + "manipulator"&6& +5 "core" &Ӛ   :, + ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&%& +4 "core" &Ӛ  D :, +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'? +95 "core" ' +2 "manipulator"&^& +4 "core" &ӛ! ~ :+ +2 "manipulator"&v% +4 "core" %H b t + "collection"'& +5 "core" & \\ _F\ +2 "collection"'m& +4 "core" & ^ `O\ +2 .tCC.seek :closed +2 "collection"'<(\\ +4 "core" & ^ `7\  +10 &4} _ ]K\ +{ +9 &e~ _ ^X\ > +10 &n ` `S\ M +9 &QU ` bW\ L +10 &U c bW\ K +9 &W a _U\ L +9 &T a aT\ L +10 & a bR\ K +9 &W c bQ\ L +9 &S d cH\ L +10 & U b cF\ K +9 &"cV e c@\ K +10 &$$V d c@\ L +9 &%Y f eB\ L +9 &'T h gD\ L +10 &)kU g e@\ K +9 &+,U f h?\ L +9 &,X g gD\ L +10 &.S h h@\ L +9 &0sU h h?\ K +10 &24U i lB\ L +9 &3Y h j?\ L +9 &5T i jD\ L +10 &7zU k k?\ L +9 &9;Y l l@\ L +9 &:U i k@\ K +10 &<V k m@\ L +9 &>W m l?\ L +10 &@CZ o l@\ L +9 &B\\ p o@\ M +9 &Cb s s?\ M +10 &Er x v@\ O +9 &G7 <\ S +9 &H 7\ V +10 &J <\ X +9 &Lk :\ Y +10 &N, :\ Y +9 &O .\ Z +9 &Q 3\ Z +10 &Sk 2\ \\ +9 &U- 1\ \\ +9 &V 2\ \\ +10 &X 7\ ] +9 &Zn 4\ ] +10 &\\z 6\ 4 +9 &\\, 9\ %o +8 ( +2 &\\{ ;\ \\ +2 "collection"'m& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 +2 .Hand.open + "manipulator"&z1 +53 "core" 1 + "manipulator"&q% +5 "core" % H O t + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &=\ +2 "manipulator"&I% +4 "core" %    + "storage"(s% +4 "core" % 4 3\ + "storage"(i. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(c( +7 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (& +3 "core" & L M (\  + "manipulator"&x& +4 "core" &ӛ  B :+ + "manipulator"& % +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&}( +166 "core" ( + "manipulator"&& +5 "core" & m  + "storage"(|& +4 "core" & U X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&h'7 +96 "core" ' +2 "storage"(y& +4 "core" & b b \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & > H \  +2 "manipulator"&8& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +3 "core" &  +2 "storage"(j& +3 "core" & F V j\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&-'ϡ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& + "storage"(' +7 "core" &  Z  + "manipulator"& % +4 "core" %   | +2 .tForearm.seek :retract + "manipulator"&e' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&W( +165 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +71 "core" ( + "manipulator"&Z& +5 "core" & 4 " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & 8 " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&n' +93 "core" ' +2 "manipulator"&[& +4 "core" &  " + "manipulator"&u% +4 "core" % / g +2 "processing"%"& +3 "core" &Q\ +3 "processing"%g& +4 "core" &8\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &<\  +10 &2w;\ )w +9 &b:\ > +9 &nq:\ N +10 &/S:\ N +9 &U6\ O +9 &R=\ N +10 &uR7\ N +9 &7U:\ N +10 &W6\ O +9 &U6\ N +9 & }T9\ N +10 &"?U6\ N +9 &$W1\ O +10 &%T2\ O +9 &'V2\ N +9 &)FP5\ O +10 &+ V9\ N +9 &,R;\ O +9 &.S>\ O +10 &0NR<\ O +9 &2R9\ N +9 &3W<\ O +10 &5T<\ O +9 &7WQ:\ N +10 &9T=\ O +9 &:W<\ O +9 &<WA\ O +10 &>^Y:\ O +9 &@!U>\ N +9 &A`;\ P +10 &Ck;\ Q +9 &EY};\ S +10 &G:\ T +9 &H<\ U +9 &J6\ U +10 &LZ0\ U +9 &N8\ W +9 &O-\ V +10 &Q.\ V +9 &S[(\ X +10 &U +\ W +9 &V9\ W +9 &X*\ V +10 &Zc)\ X +9 &\\)'\ V +9 &]x*\ ; +10 &^1+\ V +9 &^,)\ 5 +2 ( + "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&41 +62 "core" 1 + "manipulator"&a% +5 "core" %   g + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^+D\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&5% +4 "core" %   + "storage"(@% +4 "core" % C B \ + "storage"(;. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(`( +8 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (D& + "manipulator"&L& +6 "core" & u " + & % % C\  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&,( + "storage"(Q'r +5 "core" ( +2 "manipulator"&A& +3 "core" & U " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" & I " +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%p( +92 "core" ' + "storage"(3- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +51 ."raiseStack"SE.seek :place +3 "storage"(+'1 +46 "core" ' +257 ( + "storage"(0& +4 "core" & ; 5 6\  +2 "manipulator"&U& +3 "core" & L " +2 "manipulator"&% +4 "core" %  a B + .tForearm.seek :retract +2 "manipulator"&&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&#( +256 "core" ( + "manipulator"&& +5 "core" & + "storage"({& +4 "core" & C C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&F'7 +94 "core" ' + .tHand.open +2 "manipulator"&P1 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(G' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(M' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(9- +3 "core" -' +2 "storage"('& +4 "core" & =\ m + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&O( +16 "core" ( +2 "manipulator"&& +4 "core" &  ~ + "storage"( & +4 "core" &  Z\ m +2 .tForearm.seek 3 + 450 counts + "manipulator"&$'7 +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(l'" +59 "core" ' +2 "manipulator"&B& +4 "core" & ~ + "storage"(7& +4 "core" & 4 4\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&='u +14 "core" ' + .tElbow.hold +2 "manipulator"&?, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"()' +26 "core" ' +2 "manipulator"&J% +4 "core" %΅ ? ^ + "storage"(T& +4 "core" & 6 6 P\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 316 counts + "manipulator"&2'ϱ +25 "core" ' +2 "manipulator"&b& +4 "core" & % | + "storage"(E& +5 "core" & T Y k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +17 "core" ' +2 "storage"(K% +4 "core" % X Y\ +2 ."downElevator"SE.seek :down +3 "storage"((' +100 (d% +2 "core" % F C C \ Wf +2 "manipulator"&\ % +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (_& +4 "core" & 9 5 \ +2 "collection"'V& +3 "core" &\\{ 8\ \\ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&!% +4 "core" %  U  + "storage"(X% +4 "core" % T U A\ + "storage"(w. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(~( +7 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (*& +2 "core" & : 8 |\  +2 "manipulator"&N& +4 "core" & m | + .tElbow.seek 3 +2 "manipulator"&k( +3 "core" ( + "manipulator"&>& +5 "core" & K | + "storage"(& +4 "core" & 3 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&1'7 +95 "core" ' +2 "storage"(f& +4 "core" & X b\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'r +296 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&6& +3 "core" & Y | +2 "storage"(%& +3 "core" & 9 6 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&r'u +21 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(^- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(v'f +30 "core" ' + "manipulator"&% +5 "core" %z  8 = + "storage"(t& +4 "core" & : 5 v\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&R'Ϧ +32 "core" ' + "manipulator"&& +5 "core" &  | + "storage"(& +4 "core" & F 8 L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&z'7 +24 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(q' +36 "core" ' +2 "manipulator"&& +4 "core" & ` | + "manipulator"&I% +4 "core" %- 3 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&s' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&i(ӂ +161 "core" ( +2 "manipulator"&m& +4 "core" &Ӗ% >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &Ӗ%  >J +2 .tForearm.seek CC +2 "manipulator"&x'? +93 "core" ' + .tHand.close +2 "manipulator"& / +59 "core" / +2 .tCC.seek :open + "collection"']( +448 "core" ( + "storage"(& +4 "core" & \  +2 "storage"(|& +3 "core" & } R\  +2 "manipulator"&& +3 "core" &Ә% r >H +2 "manipulator"&y% +3 "core" % 2 5 +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"& ( +165 "core" ( + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&8'u +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +56 "core" 1 +2 "manipulator"&% +4 "core" % ΅ W  + "storage"(C& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"& 'ϱ +26 "core" ' +3 "manipulator"&}& +4 "core" & 6  + "storage"(h& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\\'7 +19 "core" ' +2 "storage"(-% +4 "core" % y\ +2 ."downElevator"SE.seek :down +3 "storage"(Z' +99 (Y% +2 "core" %= \ U_ +2 "manipulator"&% +4 "core" %1  R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&[' +91 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'u& +4 "core" & Y [L\ +2 "manipulator"&"% +3 "core" %   # +2 "storage"(% +4 "core" % \ + "storage"(e. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(o(,y +352 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (4& +2 "core" &,y { { Y\  +2 "manipulator"&a& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&( +43 "core" ( +2 "manipulator"&5& +4 "core" & a  +2 "storage"(@& +3 "core" &,y z { 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&;' +96 "core" ' + "storage"(g& +4 "core" &,y %\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +298 "core" ' + "storage"(L- +51 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (A& +3 "core" &,y { ?\  + "manipulator"&/& +4 "core" & L  +2 .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( + "manipulator"&& +4 "core" & D  + "storage"(c& +4 "core" &,y y z J\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&3'c +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +2 "storage"(' +7 "core" &  +2 "manipulator"&Q% +4 "core" % τ I + .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +154 "core" ( +2 "manipulator"&& +4 "core" &Ӆ* 6 Bj + ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&& +5 "core" &Ӆ* M Bj + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +95 "core" ' +2 "manipulator"&{& +4 "core" &ӆ* Bi +2 "manipulator"&,% +4 "core" %; r +2 "collection"'P& +3 "core" & \\ [I\ +3 "collection"'& +4 "core" & \\ _X\ +2 .tCC.seek :closed +2 "collection"'9(\\ +4 "core" & [ ^A\  +10 &5| \\ \\G\ +{ +9 &g \\ ^G\ ? +10 &p ] ^T\ M +9 &bV _ ^V\ L +9 &&U _ _S\ K +10 &W _ _R\ L +9 &V ^ ^R\ L +9 &lU ` `R\ K +10 &,X _ aT\ L +9 &V a aS\ L +10 & Y ` cP\ L +9 &"rU a b=\ L +9 &$5V b a@\ L +10 &%T c dE\ L +9 &'V d dD\ L +9 &){T f g@\ L +10 &+>V e e>\ K +9 &,V h e=\ L +10 &.T g g@\ L +9 &0V g e?\ K +9 &2EV g eB\ L +10 &4U f g?\ L +9 &5U g h@\ L +9 &7Y g i9\ L +10 &9MV i h<\ L +9 &;U i h?\ L +10 &<W j k>\ L +9 &>W k i@\ L +9 &@TZ j l?\ L +10 &BZ m k?\ L +9 &C^ n p?\ M +9 &Eh u s>\ N +10 &GN } y>\ Q +9 &I 6\ U +10 &J 2\ W +9 &L :\ X +9 &N@ 6\ X +10 &P ;\ Y +9 &Q 5\ Y +9 &S @\ Z +10 &UB 6\ Z +9 &W 2\ \\ +10 &X 9\ \\ +9 &Z @\ ] +9 &\\#y 6\ 0 +10 &\\2 >\ !g +8 ( +2 &\\g B\ Q +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&'1 +59 "core" 1 + "manipulator"&% +5 "core" % ; E r + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +4 "core" &@\ +2 "manipulator"&&% +4 "core" %  L  + "storage"(B% +4 "core" % F J \ + "storage"(7. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(+(,y +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (J& +2 "core" &,y K K G\  +2 "manipulator"&T& +4 "core" &ӈ*  Bg + "manipulator"&G% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&b( +166 "core" ( + "manipulator"&E& +5 "core" &  + "storage"(K& +4 "core" &,y c c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&#' +98 "core" ' +2 "storage"(F& +4 "core" &,y l [ 7\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'r +296 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &,y 3 3 \  +2 "manipulator"&$& +4 "core" & O  + .tElbow.seek 4 +2 "manipulator"&O( +3 "core" ( + "manipulator"&l& +3 "core" &   +2 "storage"(=& +3 "core" &,y V Y \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&2'c +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +4 "storage"(!' +4 "core" & I  + "manipulator"&X% +4 "core" % Z +2 .tForearm.seek :retract + "manipulator"&)' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&w( +163 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +75 "core" ( + "manipulator"&*& +5 "core" & + 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" & 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&>' +99 "core" ' +2 "manipulator"&& +4 "core" & 7 + "manipulator"&% +4 "core" %   +2 "processing"%f& +3 "core" &b\ +3 "processing"%(& +4 "core" &]\ +2 .tPC.seek :closed + "processing"%`(^ +5 "core" &?\  +9 &/uE\ *x +9 &b~K\ > +10 &kqB\ O +9 &-W>\ N +9 &R;\ O +10 &S?\ N +9 &rRB\ O +10 &4U8\ O +9 &V9\ O +9 &T4\ O +10 & zU=\ O +9 &"=R:\ N +9 &#R3\ N +10 &%Q;\ N +9 &'Q<\ N +9 &)ER=\ N +10 &+U?\ O +9 &,UB\ O +10 &.T=\ O +9 &0LR?\ O +9 &2Q:\ O +10 &3V9\ N +9 &5U@\ O +10 &7TU:\ O +9 &9X;\ O +9 &:V:\ O +10 &<T@\ N +9 &>\\Z:\ O +9 &@T=\ O +10 &A`:\ P +9 &CjA\ Q +10 &EU=\ T +9 &G<\ U +9 &H:\ U +10 &J<\ V +9 &LX1\ U +9 &N:\ W +10 &O5\ V +9 &Q9\ W +10 &S\\;\ W +9 &U2\ W +9 &V1\ X +10 &X)\ V +9 &Ze:\ V +9 &\\&4\ W +10 &],\ 8 +9 &^,z.\ Z +9 &^*(\ 5 +2 ( +2 "processing"%(& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open + "manipulator"&?1 +55 "core" 1 + "manipulator"& % +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%6& +4 "core" &^'H\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&%% +3 "core" % ! M % +2 "storage"(^% +4 "core" % B C \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(t(,y +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +4 "manipulator"&& + "core" &,y D B \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & t 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&( +3 "storage"(I'r +3 "core" ( +2 "manipulator"&1& +3 "core" & 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" & \ 7 +2 .tForearm.seek PC +2 "manipulator"&H' +93 "core" ' + .tHand.close +2 "manipulator"&r/ +55 "core" / +2 .tPC.seek :open +2 "processing"%R( +101 "core" ' + "storage"(v- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'1 +40 "core" ' +305 ( + "storage"(& +4 "core" &,y T S Z\  +2 "manipulator"&z& +3 "core" & ) 7 +2 "manipulator"&S% +3 "core" %  R . +2 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&s( +245 "core" ( + "manipulator"&<& +5 "core" &  * + "storage"(& +4 "core" &,y U T \  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&|' +91 "core" ' + .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "storage"(y- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(x- +3 "core" -' + "storage"(i& +4 "core" &,y {  >\ o +2 "manipulator"&j& +4 "core" &   ) + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&C& +4 "core" &   ) + "storage"(}& +4 "core" &,y \ n +50 .tForearm.seek 4 + 450 counts +3 "manipulator"&h' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(-'" +55 "core" ' +2 "manipulator"&& +4 "core" & G ) + "storage"(Y& +4 "core" &,y 4 M \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +23 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(8' +31 "core" ' +2 "manipulator"&u% +4 "core" %F + "storage"( & +4 "core" &,y B C\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&"'r +14 "core" ' +2 "manipulator"&& +4 "core" & ) + "storage"(e& +4 "core" &,y S S Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&q' +20 "core" ' +2 "storage"(\\% +4 "core" % T W _\ +2 ."downElevator"SE.seek :down +3 "storage"(Z' +100 (~% +2 "core" %RG B C \ Wf +2 "manipulator"&4% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +88 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 (5& +4 "core" &,y T U G\ + "collection"'@& +5 "core" &\\h 3\ Q + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&g% +4 "core" %     +2 "storage"(% +3 "core" % b c\ +2 "storage"([. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(L(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (A& +3 "core" &,y U X\  + "manipulator"&/& +4 "core" & ( ) +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&c& +3 "core" & - ) +2 "storage"(W& +4 "core" &,y V Y 2\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&.' +97 "core" ' +2 "storage"(Q& +4 "core" &,y ` [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  ) +2 "storage"(& +4 "core" &,y 4 5 \\\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&D'7 +16 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"({- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(,'i +30 "core" ' + "manipulator"&P% +5 "core" %I  + "storage"(n& +4 "core" &,y 8 G 6\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&'u +13 "core" ' + "manipulator"&0& +5 "core" & 5 ) + "storage"(]& +4 "core" &,y T ` ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"& & +4 "core" & 2 ) + "manipulator"&&% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +154 "core" ( + "manipulator"&& +5 "core" &ӓ% L >H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &ӓ% Z >H +2 .tForearm.seek CC + "manipulator"&T'? +95 "core" ' + .tHand.close +2 "manipulator"&G/ +61 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( +2 "storage"(E& +4 "core" &,y \  + "storage"(K& +4 "core" &,y o\  + "manipulator"&o& +4 "core" &Ӕ$ =G + "manipulator"&F% +4 "core" % H " e +2 .tForearm.seek :retract + "manipulator"&U' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +163 "core" ( + "manipulator"&d& +5 "core" & A  + "storage"(\ & +4 "core" &,y \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&$'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&=1 +53 "core" 1 +2 "manipulator"&_% +4 "core" % 4 x ( + "storage"(V& +4 "core" &,y \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 297 counts +2 "manipulator"&X'` +15 "core" ' +2 "manipulator"&b& +4 "core" & P  +2 "storage"(#& +3 "core" &,y J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&M' +20 "core" ' +2 "storage"(2% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(*' +99 (N% +2 "core" %@ I\ Wb +2 "manipulator"&O% +4 "core" %  n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & Z \\J\ +2 "manipulator"&f% +4 "core" %  \  + "storage"(!% +4 "core" % \ + "storage"(). +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(p(<- +350 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (?& +3 "core" &<+ { \  + "manipulator"& & +4 "core" & B  + .tElbow.seek 5 +2 "manipulator"&6( +8 "core" ( + "manipulator"&%& +5 "core" & r  + "storage"(^& +4 "core" &<+) g o K\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' + "storage"((& +5 "core" &<,0 q\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +2 "core" &<,. W V '\  +2 "manipulator"&k& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&>( +3 "core" ( + "manipulator"&r& +3 "core" & C  +2 "storage"(+& +3 "core" &<,. T ` w\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&v'Ϲ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& + "storage"(`' +7 "core" & g  + "manipulator"&I% +4 "core" %  M +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&z(ӂ +154 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&S& +4 "core" &ӎ&  ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +2 "core" &ӎ&  ?V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'? +102 "core" ' +2 "manipulator"&& +4 "core" &ӏ& @ ?U + "manipulator"&% +4 "core" %7 _ + +2 "collection"'& +3 "core" & [ \\d\ +52 "collection"'y& +4 "core" & \\ ]U\ +2 .tCC.seek :closed +2 "collection"'x(\\ +4 "core" & \\ \\L\ +8 &9 Z ][\ %f +9 &W| \\ \\Z\ 7 +9 &y \\ ]O\ L +10 &S \\ ^T\ L +9 &V ^ ^S\ L +9 &AV ^ _R\ L +10 &W _ ^H\ L +9 &V ^ ^K\ L +9 &U _ ^G\ L +10 &IU ^ `C\ L +9 & U a c?\ L +10 &!U ` `@\ L +9 &#W _ a@\ L +9 &%QU b c@\ L +10 &'U b bI\ L +9 &(V b e?\ L +9 &*U f c?\ L +10 &,YU c d>\ L +9 &.U f f?\ L +10 &/U e f>\ L +9 &1W g f?\ L +9 &3aV f gD\ L +10 &5#V f g@\ L +9 &6W g fK\ L +9 &8S h iC\ L +10 &:jW i gG\ L +9 &<,V h h?\ L +10 &=V g j8\ L +9 &?W k j8\ L +9 &Aq[ k o>\ L +10 &C1_ o o5\ M +9 &Dk q q3\ N +10 &F v w1\ R +9 &H_ 2\ U +9 &J A\ X +10 &K 9\ X +9 &M ?\ Z +9 &OX D\ Z +10 &Q 4\ Y +9 &R =\ [ +9 &T B\ [\ +10 &V[ <\ \\ +9 &X =\ ^ +10 &Y ?\ ^ +9 &[ A\ K +9 &\\6 :\ 0 +10 &\\h @\ P +2 ( + "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + .Hand.open + "manipulator"&i1 +56 "core" 1 + "manipulator"&j% +5 "core" % 7 . + + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%}& +4 "core" &=\ +2 "manipulator"& % +4 "core" %  R  + "storage"(% +4 "core" % 4 : C\ + "storage"(Y. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(m(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &<, J K \  +2 "manipulator"&u& +3 "core" &ӏ& ?U +2 "manipulator"& % +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +163 "core" ( +2 "manipulator"&e& +4 "core" & l  + "storage"(s& +4 "core" &<, c d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +91 "core" ' + "storage"(|& +5 "core" &<, | \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &<, : R g\  +2 "manipulator"&h& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&-& +4 "core" &   + "storage"(& +4 "core" &<, V Z\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&"'Ϲ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&5/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +4 "storage"(g' +4 "core" & .  + "manipulator"&% +5 "core" %  U + .tForearm.seek :retract +2 "manipulator"&8' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&[( +164 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +74 "core" ( + "manipulator"&A& +5 "core" & / 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +2 "core" & 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&c' +91 "core" ' +2 "manipulator"&W& +4 "core" & ) 5 + "manipulator"&q% +4 "core" % - o +2 "processing"%Q& +3 "core" &J\ +2 "processing"%Z& +5 "core" &a\ +2 .tPC.seek :closed + "processing"%t(^ +6 "core" &A\  +9 &1wD\ *x +10 &`|9\ = +9 &^r?\ O +9 &R;\ O +10 &Q5\ N +9 &Q4\ N +9 &fUA\ N +10 &(R>\ N +9 &U9\ O +9 &U6\ N +10 & nS@\ N +9 &"0TB\ N +10 &#QA\ O +9 &%RB\ O +9 &'vU?\ N +10 &)7P;\ O +9 &*TD\ O +9 &,RE\ N +10 &.}PB\ O +9 &0?VA\ O +10 &2UA\ N +9 &3PA\ N +9 &5R>\ N +10 &7GP=\ O +9 &9 X>\ O +10 &:SA\ O +9 &<S;\ N +9 &>NY;\ O +10 &@U;\ O +9 &A`=\ P +9 &Cm?\ Q +10 &EJz@\ S +9 &G5\ U +10 &H4\ U +9 &J3\ U +9 &LK9\ U +10 &N 2\ V +9 &O+\ V +9 &Q-\ W +10 &SO.\ W +9 &U+\ W +9 &V>\ V +10 &X/\ V +9 &ZY*\ V +10 &\\.\ V +9 &]/\ 8 +9 &^/}+\ R +10 &^)4\ 4 +2 ( + "processing"%Z& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"& 1 +61 "core" 1 + "manipulator"&a% +5 "core" %  , o + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^()\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +3 "core" %  Y  +2 "storage"({% +3 "core" % I J \ +2 "storage"(P. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(n(<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (0& +4 "core" &<, D A \  + "manipulator"&]& +3 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 "core" & 5 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak + "storage"(&'r +3 "core" ( + "manipulator"&.& +4 "core" & 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & L 5 +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&D/ +56 "core" / +3 .tPC.seek :open + "processing"%( +103 "core" ' + "storage"(,- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +298 ( + "storage"(J& +4 "core" &<, Y d\  +2 "manipulator"&'& +3 "core" & H 5 +2 "manipulator"&3% +3 "core" %  ) C +2 .tForearm.seek :retract +2 "manipulator"&G' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&B( +245 "core" ( + "manipulator"&9& +5 "core" &  6 + "storage"(E& +4 "core" &<, 6 6 F\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&K'O +93 "core" ' + .tHand.open +2 "manipulator"&o1 +55 "core" 1 +2 "storage"(F- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(d' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\ ' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(T- +3 "core" -' +2 "storage"(7& +3 "core" &<, Z\ y +2 "manipulator"&=& +3 "core" &    6 +2 .tElbow.seek 5 + "manipulator"&_( +4 "core" ( + "manipulator"&V& +4 "core" &  F 6 +2 "storage"(b& +3 "core" &<, Z\ x +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(2'" +57 "core" ' +2 "manipulator"&U& +4 "core" & 6 + "storage"(N& +4 "core" &<, V F 9\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&O'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"($' +20 "core" ' +2 "manipulator"&% +4 "core" %Δ  + "storage"(X& +5 "core" &<, K K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts + "manipulator"&f' +25 "core" ' +2 "manipulator"&!& +4 "core" & K ) + "storage"()& +5 "core" &<, e d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +2 "storage"(M% +4 "core" % c d\ +2 ."downElevator"SE.seek :down +3 "storage"(*' +100 (L% +50 "core" %L ? C \ Wg +4 "manipulator"&?% +4 "core" %O  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +18 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (%& +3 "core" &<, c d\ +2 "collection"'^& +4 "core" &\\d ;\ P + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&(% +5 "core" %    + "storage"(l% +4 "core" % c b\ + "storage"(. +4 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (1& +2 "core" &<, Y d\  +2 "manipulator"&k& +4 "core" & ) + .tElbow.seek 5 +2 "manipulator"&r( +9 "core" ( +2 "manipulator"&+& +4 "core" &  Y  + "storage"(w& +4 "core" &<, c c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +92 "core" ' +2 "storage"(I& +4 "core" &<, ] h \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +2 "core" &  +2 "storage"(H& +3 "core" &<, V [ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'΍ +15 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"('h +29 "core" ' + "manipulator"&% +5 "core" %Ρ ^ a + "storage"(>& +4 "core" &<, W Z\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&`' +28 "core" ' + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" &<, X ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&i'O +12 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(j' +41 "core" ' +2 "manipulator"&}& +4 "core" &   + "manipulator"& % +4 "core" %V  : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&Y(ӂ +157 "core" ( + "manipulator"&y& +5 "core" &ӑ&  ?T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӑ& ^ ?T +2 .tForearm.seek CC +2 "manipulator"&u'? +93 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +2 .tCC.seek :open + "collection"'<( +447 "core" ( + "storage"(e& +4 "core" &<, r 5\  +2 "storage"(s& +3 "core" &<, { _\  +2 "manipulator"&p& +3 "core" &ӑ& z ?T +2 "manipulator"&|% +4 "core" % L X i + .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&C( +170 "core" ( + "manipulator"&~& +5 "core" &  + "storage"(4& +4 "core" &<, s\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&h'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&5% +4 "core" % Ά  s 1 + "storage"(@& +5 "core" &<, u\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 293 counts +2 "manipulator"&'ϲ +24 "core" ' +2 "manipulator"&& +4 "core" & +2 "storage"(\\& +3 "core" &<, %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +14 "core" ' +2 "storage"("% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(A' +99 (/% +2 "core" %C Q\ Wb +2 "manipulator"&% +4 "core" %U h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +89 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'q& +4 "core" & Z XU\ +2 "manipulator"&Q% +4 "core" %  g  + "storage"(g% +4 "core" % \ + "storage"(8. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(R(K +358 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 ( & +2 "core" &K I\  +2 "manipulator"&a& +3 "core" &  Q +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  J + "storage"({& +4 "core" &K y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +96 "core" ' + "storage"(Z& +5 "core" &K u\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'r +297 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +2 "core" &K 9\  +2 "manipulator"&& +84 "core" & ` + .tElbow.seek 6 +2 "manipulator"&c( +3 "core" ( + "manipulator"&D& +4 "core" & } + "storage"(m& +4 "core" &K S\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&,'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(t' +6 "core" & T +2 "manipulator"&&% +4 "core" % c   + .tForearm.seek :retract +2 "manipulator"&J' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&'(ӂ +158 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&3& +4 "core" &Ӎ( A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &Ӎ( P A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&9'? +92 "core" ' +3 "manipulator"&E& +4 "core" &ӎ( 4 @^ + "manipulator"& % +4 "core" %? ;  +2 "collection"'o& +3 "core" & ] \\a\ +3 "collection"'F& +4 "core" & \\ ]]\ +2 .tCC.seek :closed +2 "collection"'T(\\ +4 "core" & \\ \\Z\  +10 &4} [ ^\\\ *z +9 &f} _ \\V\ > +10 &p ] ^D\ M +9 &SV ^ ^F\ L +9 &V ^ ^Y\ L +10 &U _ _\\\ L +9 &V _ ^[\ L +9 &]U ` `W\ K +10 &W ^ _X\ L +9 &U ` `W\ L +10 & V a aW\ L +9 &"cZ d a[\ L +9 &$&V b aQ\ L +10 &%U c dO\ K +9 &'W c cG\ L +9 &)lU d dC\ L +10 &+.U f g;\ L +9 &,U d f?\ L +9 &.T e gO\ L +10 &0tU f gA\ L +9 &25T f gL\ L +10 &3W e fA\ L +9 &5U e eM\ L +9 &7|V h hP\ L +10 &9?V h jM\ K +9 &:W i iC\ L +10 &<W h j@\ L +9 &>X j kM\ L +9 &@EW k i@\ L +10 &BZ l mK\ L +9 &C_ p nB\ M +9 &Eo q qC\ O +10 &G> y xB\ Q +9 &H C\ U +10 &J F\ X +9 &Lq B\ X +9 &N0 <\ Y +10 &O @\ X +9 &Q A\ Y +9 &Sq B\ Z +10 &U2 B\ [ +9 &V ;\ \\ +10 &X B\ \\ +9 &Zp 8\ ] +9 &\\z 6\ 4 +10 &\\* 5\ #h +8 ( +2 &\\z D\ [ +2 "collection"'F& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&71 +62 "core" 1 +2 "manipulator"&=% +4 "core" % ?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%b& +4 "core" &_\ +2 "manipulator"&G% +3 "core" %  D  +2 "storage"(U% +4 "core" % K J 1\ + "storage"(N. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +50 "storage"((K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (X& +2 "core" &K I D +\  +2 "manipulator"&& +4 "core" &ӎ' 7 @^ + "manipulator"&!% +4 "core" %  Z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&d( +166 "core" ( + "manipulator"&)& +5 "core" & Z  + "storage"(M& +4 "core" &K ` Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +94 "core" ' +2 "storage"(K& +4 "core" &K Y W\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'r +300 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" &K 5 9 \  +2 "manipulator"&?& +4 "core" & R  + .tElbow.seek 6 +2 "manipulator"&_( +3 "core" ( + "manipulator"&2& +4 "core" &  ~  + "storage"(O& +4 "core" &K S S L\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&f'h +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&%/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +2 "storage"((' +7 "core" & G  + "manipulator"&l% +4 "core" % f ? +2 .tForearm.seek :retract + "manipulator"&$' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +167 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +71 "core" ( + "manipulator"&1& +5 "core" &  , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" & g , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&+' +99 "core" ' +2 "manipulator"&w& +4 "core" & , + "manipulator"&I% +4 "core" %  +2 "processing"%& +3 "core" &p\ +3 "processing"%*& +4 "core" &T\ +2 .tPC.seek :closed + "processing"%n(^ +4 "core" &H\  +10 &3wM\ *x +9 &c|B\ > +10 &wpH\ O +9 &9Q@\ N +9 &UB\ O +10 &RA\ N +9 &VD\ N +9 &@Q@\ O +10 &TA\ O +9 &QB\ O +9 & U=\ N +10 &"IO?\ N +9 &$\ V:\ O +10 &%R=\ N +9 &'PA\ O +9 &)QUC\ N +10 &+UC\ N +9 &,VC\ O +9 &.R7\ N +10 &0YR9\ N +9 &2R9\ N +10 &3V@\ O +9 &5TC\ O +9 &7aVC\ N +10 &9#T@\ N +9 &:WB\ O +9 &<UA\ O +10 &>gWB\ O +9 &@*UB\ O +10 &A`E\ P +9 &CgA\ Q +9 &EdvB\ S +10 &GB\ U +9 &HC\ U +10 &JC\ U +9 &LdE\ U +9 &N#@\ V +10 &OB\ V +9 &Q=\ V +9 &Sh2\ W +10 &U*9\ W +9 &VC\ V +9 &XB\ V +10 &Zo=\ W +9 &\\3C\ V +10 &]}u;\ < +9 &^(u8\ W +9 &^6:\ 8 +2 ( +2 "processing"%*& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&1 +58 "core" 1 + "manipulator"& % +5 "core" %  ?  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%S& +4 "core" &^34\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&H% +4 "core" % # > 6 +2 "storage"(% +3 "core" % ' &\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +4 "core" &K 0 * D\  + "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & 2 , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(}'r +2 "manipulator"& ( +5 "core" ( + "manipulator"&:& +4 "core" &  , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" & W , +2 .tForearm.seek PC +2 "manipulator"&6' +92 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open + "processing"%`( +104 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'1 +40 "core" ' +304 ( + "storage"(& +4 "core" &K F U \  +2 "manipulator"&i& +3 "core" & * , +2 "manipulator"&v% +3 "core" %  W 5 +2 .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +245 "core" ( + "manipulator"&x& +4 "core" & . +2 "storage"(e& +4 "core" &K K K H\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&s' +97 "core" ' + .tHand.open +2 "manipulator"&p1 +63 "core" 1 +2 "storage"(|- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(~' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(4' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +3 "core" -' +2 "storage"(Y& +3 "core" &K \ } +2 "manipulator"&& +3 "core" &   . +2 .tElbow.seek 6 +2 "manipulator"&5( +3 "core" ( + "manipulator"&@& +4 "core" &  . . + "storage"(& +4 "core" &K m\ } +2 .tForearm.seek 6 + 450 counts + "manipulator"&\\' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"("'" +52 "core" ' +2 "manipulator"&z& +4 "core" & W . + "storage"(/& +4 "core" &K A D \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +21 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +23 "core" ' +2 "manipulator"&q% +4 "core" %M ^ + "storage"(& +4 "core" &K B C \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts + "manipulator"&Q'y +16 "core" ' +2 "manipulator"&g& +4 "core" & x . + "storage"(8& +4 "core" &K 5 5 L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&j' +20 "core" ' +2 "storage"(% +4 "core" % Z G \ +2 ."downElevator"SE.seek :down +3 "storage"(A' +100 (% +2 "core" %J 3 , X\ Xh +2 "manipulator"& % +4 "core" %  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +90 "core" ' +71 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (& +4 "core" &K 5 4 /\ +2 "collection"'{& +3 "core" &\\y B\ [ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&Z% +4 "core" %   + "storage"(-% +4 "core" % E U ]\ + "storage"(W. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(](K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (.& +2 "core" &K 5 5 3\  +2 "manipulator"&& +4 "core" &  . + .tElbow.seek 6 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&m& +3 "core" &  . +2 "storage"([& +3 "core" &K 5 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&;' +94 "core" ' +2 "storage"(&& +4 "core" &K W c\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +52 "manipulator"&3& +2 "core" & . +2 "storage"(& +3 "core" &K X P T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&0'< +22 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(E- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"( 'h +31 "core" ' +2 "manipulator"&o% +4 "core" %@ > + "storage"(c& +4 "core" &K J J \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&t'l +14 "core" ' +2 "manipulator"&J& +4 "core" &  . + "storage"(<& +4 "core" &K U T J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(=' +40 "core" ' +2 "manipulator"&b& +4 "core" &  q . + "manipulator"&G% +5 "core" % & + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&U' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +151 "core" ( +2 "manipulator"&F& +4 "core" &ӎ& ?R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +2 "core" &ӎ& 9 ?R +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&!/ +59 "core" / +2 .tCC.seek :open + "collection"'9( +448 "core" ( + "storage"()& +4 "core" &K }\  +2 "storage"(M& +4 "core" &K \  + "manipulator"&R& +4 "core" &ӎ& p ?R + "manipulator"&K% +4 "core" % * / + .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&V( +162 "core" ( + "manipulator"&L& +5 "core" &  U  + "storage"(#& +4 "core" &K N\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&?'< +96 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +59 "core" 1 +2 "manipulator"&%% +4 "core" % 5 * +2 "storage"(^& +3 "core" &K X\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 293 counts + "manipulator"&l'a +16 "core" ' +2 "manipulator"&d& +4 "core" &   +2 "storage"(B& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\ ' +19 "core" ' +2 "storage"(f% +4 "core" % j\ +2 ."downElevator"SE.seek :down +3 "storage"(1' +99 (k% +2 "core" %C i\ Va +2 "manipulator"&_% +4 "core" %  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +96 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'I& +4 "core" & ] [a\ +2 "manipulator"&% +4 "core" %  (  + "storage"((% +4 "core" % \ + "storage"($. +4 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +1294 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (& +2 "core" &  \ +2 "manipulator"& & +4 "core" & O  + .tElbow.seek 2 +2 "manipulator"&S( +7 "core" ( + "manipulator"&H& +5 "core" &  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +90 "core" ' + "storage"(*& +5 "core" &  ,\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +2 "core" &  { \  +2 "manipulator"&r& +3 "core" &  t  +2 .tElbow.seek 2 +2 "manipulator"&+( +3 "core" ( + "manipulator"&& +4 "core" & h  + "storage"(& +4 "core" &  \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(n' +4 "core" &  F  + "manipulator"&}% +4 "core" % Ϲ < +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&i(ӂ +157 "core" ( + "manipulator"&v& +5 "core" &|+ 3 Co + ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&6& +4 "core" &|+  Co + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&x'? +93 "core" ' +2 "manipulator"&e& +4 "core" &Ӝ%  s >O + "manipulator"& % +4 "core" %A # +2 "collection"'p& +3 "core" & \\ ^]\ +3 "collection"'|& +4 "core" & ^ \\W\ +2 .tCC.seek :closed +2 "collection"'u(\\ +4 "core" & [ ^`\ +8 &; \\ ]_\ %g +10 &Yy ^ ^X\ 8 +9 & v ] __\ L +9 &S _ _^\ L +10 &T ` _]\ L +9 &OW ` a_\ L +9 &Y _ ^R\ L +10 &U ^ `O\ L +9 &V ` _Q\ L +10 &WY b _S\ L +9 & T a aE\ L +9 &!T a cX\ L +10 &#W c ca\ K +9 &%`U d dd\ K +9 &'!V g db\ L +10 &(Y a g_\ L +9 &*Y g g[\ L +9 &,gT d dV\ L +10 &.)T g hX\ L +9 &/S g d^\ L +10 &1T e hW\ L +9 &3pW g fR\ K +9 &51V h gP\ L +10 &6Z g hQ\ L +9 &8U i jQ\ K +10 &:wW j jS\ L +9 &<8Z h hO\ L +9 &=U i jS\ L +10 &?Y j jN\ L +9 &AY o kM\ L +9 &C>] o oL\ M +10 &Dg r oK\ M +9 &F| t tO\ P +10 &Hn { |P\ T +9 &J' Q\ W +9 &K N\ X +10 &M R\ Z +9 &Od R\ Z +9 &Q) Q\ Y +10 &R S\ Z +9 &T S\ [ +10 &Vh N\ \\ +9 &X& R\ ] +9 &Y P\ ] +10 &[ F\ J +9 &\\1 Q\ 1 +9 &\\l S\ Q +2 ( +2 "collection"'|& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.29 + .Hand.open + "manipulator"&Y1 +52 "core" 1 +2 "manipulator"&% +4 "core" % A + .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&@' +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &U\ +2 "manipulator"& % +3 "core" %   +2 "storage"(z% +4 "core" % I A \ + "storage"(/. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(q(  +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &  L J )\  +2 "manipulator"&y& +4 "core" &ӝ% >N + "manipulator"&g% +4 "core" %  "  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&8( +166 "core" ( + "manipulator"&~& +5 "core" &   + "storage"(& +4 "core" &  c c \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +94 "core" ' + "storage"(s& +5 "core" &  \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &  ' M I\  +2 "manipulator"&\\& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&5( +3 "core" ( + "manipulator"&"& +3 "core" &   +2 "storage"(& +3 "core" &  b b\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Q'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +52 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(Z' +7 "core" & u  +2 "manipulator"&h% +3 "core" % Ϻ  +2 .tForearm.seek :retract +2 "manipulator"&-' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&W( +162 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +76 "core" ( + "manipulator"&.& +5 "core" & & : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +97 "core" ' +2 "manipulator"&[& +4 "core" & : + "manipulator"&j% +5 "core" %  @  + "processing"%&& +4 "core" &p\ +2 "processing"%A& +5 "core" &V\ +2 .tPC.seek :closed + "processing"%>(^ +5 "core" &U\  +8 &1xV\ *x +10 &b}S\ > +9 &erT\ O +9 &'SS\ O +10 &TS\ O +9 &PS\ N +10 &mUN\ O +9 &/TP\ O +9 &RD\ O +10 &WJ\ N +9 & vQC\ N +9 &"8O:\ N +10 &#V:\ N +9 &%UB\ N +10 &'~UD\ N +7 "Can"\ \\Z +2 "core" &)@UD\ N +9 &+WF\ N +10 &,W@\ O +9 &.R?\ N +9 &0HRB\ N +10 &2 TA\ O +9 &3TH\ O +10 &5TD\ O +9 &7PRI\ N +9 &9XF\ O +10 &:RE\ O +9 &<RB\ N +9 &>VYB\ O +10 &@UL\ N +9 &AbF\ P +10 &CmC\ R +9 &EOB\ T +9 &GC\ U +10 &HD\ U +9 &JA\ U +9 &LRA\ V +10 &NC\ V +9 &OC\ V +10 &QD\ V +9 &SW?\ W +9 &U:\ W +10 &V<\ W +9 &XB\ V +9 &Z`>\ W +10 &\\"C\ V +9 &]B\ 5 +10 &^0lC\ H +8 ( +2 &^-C\ 5 +2 "processing"%A& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&C1 +58 "core" 1 + "manipulator"&a% +5 "core" %  b  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%3& +4 "core" &^,9\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %  c  + "storage"(E% +4 "core" % H I \ + "storage"(o. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(c(  +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +3 (J& +3 "core" &  @ B \  +2 "manipulator"&<& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" & < : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&b( +4 "storage"(G'r +2 "core" ( + "manipulator"&;& +4 "core" & i : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" & [ : +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&0/ +59 "core" / +2 .tPC.seek :open +2 "processing"%t( +97 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'1 +43 "core" ' +304 ( + "storage"(X& +4 "core" &  U Y\  +2 "manipulator"&7& +3 "core" & : +2 "manipulator"&,% +3 "core" %  S 5 +2 .tForearm.seek :retract +2 "manipulator"&!' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&U( +244 "core" ( + "manipulator"&T& +5 "core" &  0 + "storage"()& +4 "core" &  = @ \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&M'S +91 "core" ' + .tHand.open +2 "manipulator"&R1 +58 "core" 1 +2 "storage"(K- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(L' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(#' +62 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' + "storage"(N& +4 "core" &  ]\  +2 "manipulator"&O& +3 "core" &  ; 0 +2 .tElbow.seek 2 + "manipulator"&%( +4 "core" ( + "manipulator"&^& +4 "core" & ~ 0 + "storage"(d& +4 "core" &  0\  +2 .tForearm.seek 2 + 450 counts + "manipulator"&B'S +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(f'" +54 "core" ' +2 "manipulator"&'& +4 "core" &  9 0 + "storage"(k& +4 "core" &  U Y\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&_'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +27 "core" ' +2 "manipulator"&I% +4 "core" %Θ   + "storage"(l& +5 "core" &  3 3 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 307 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&(& +4 "core" & 0 + "storage"($& +5 "core" &  U Z {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&='S +18 "core" ' +2 "storage"(\ % +4 "core" % b b \ +2 ."downElevator"SE.seek :down +3 "storage"(1' +100 (]% +2 "core" %FN C C E\ Yj +2 "manipulator"&% +4 "core" %d O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +68 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 (H& +4 "core" &  W U\ +2 "collection"'& +3 "core" &\\j Q\ Q +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&*% +4 "core" %  r  + "storage"(2% +4 "core" % c b \ + "storage"(w. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (:& +2 "core" &  W a\  +2 "manipulator"&r& +4 "core" &  H 0 +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  0 +2 "storage"(& +3 "core" &  b b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +96 "core" ' +2 "storage"(}& +4 "core" &  X `\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +2 "core" & V 0 +3 "storage"(6& +3 "core" &  V E F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&'Α +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(e- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"( 'k +29 "core" ' + "manipulator"&p% +5 "core" %Π + "storage"(+& +3 "core" &  C B \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&n' +16 "core" ' + "manipulator"&& +5 "core" & ' 0 + "storage"(9& +4 "core" &  Y T C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&Y'S +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 "manipulator"&& +4 "core" &  0 + "manipulator"& % +5 "core" %B w + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +87 "core" ' +2 .tElbow.seek CC +50 "manipulator"&/(ӂ +154 "core" ( +2 "manipulator"&|& +4 "core" &Ӌ* Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ* A Bk +2 .tForearm.seek CC + "manipulator"&y'? +93 "core" ' + .tHand.close +2 "manipulator"&g/ +55 "core" / +2 .tCC.seek :open + "collection"'x( +450 "core" ( + "storage"(~& +5 "core" &  y \  + "storage"(& +4 "core" &  \  + "manipulator"&& +4 "core" &Ӕ) p Ac + "manipulator"&s% +4 "core" % J K A + .tForearm.seek :retract +2 "manipulator"&i' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&@( +170 "core" ( +2 "manipulator"&& +4 "core" & V x + "storage"( & +4 "core" &  b\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&\\'Α +92 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % Λ Z 8 +2 "storage"({& +3 "core" &  -\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 310 counts + "manipulator"&h' +16 "core" ' +2 "manipulator"&8& +4 "core" &  t +2 "storage"(& +3 "core" &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&4'S +18 "core" ' +2 "storage"(Q% +4 "core" % x\ +2 ."downElevator"SE.seek :down +3 "storage"(.' +100 (% +2 "core" %H \ We +2 "manipulator"&5% +4 "core" %= X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +90 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'j& +4 "core" & ] \\k\ +2 "manipulator"&&% +4 "core" %  4  + "storage"(Z% +4 "core" % -\ + "storage"(-. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(`( +353 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (C& +2 "core" & d\  +2 "manipulator"&a& +3 "core" & t +2 .tElbow.seek 3 +2 "manipulator"&3( +28 "core" ( + "manipulator"&& +5 "core" &w @ ; + "storage"(E& +4 "core" & >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&o'7 +96 "core" ' + "storage"(A& +5 "core" & h\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'r +296 "core" ' + "storage"(<- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +2 "core" & y Z\ +2 "manipulator"&D& +4 "core" &x   : +2 .tElbow.seek 3 + "manipulator"&m( +13 "core" ( +2 "manipulator"&0& +4 "core" &y  a # +2 "storage"(q& +3 "core" & m\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'ϡ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +4 "storage"(>' +4 "core" &  Y !q + "manipulator"&G% +4 "core" % ϗ [  +2 .tForearm.seek :retract + "manipulator"&X' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&7(ӂ +152 "core" ( + "manipulator"&,& +5 "core" &Ӎ+ $ Cp + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' +2 ."downElevator"SE.coast +2 "manipulator"&& + "storage"(5 +5 "core" &Ӎ+  Cp +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'? +92 "core" ' +2 "manipulator"&)& +4 "core" &ӎ+ _ Co + "manipulator"&b% +4 "core" %> /  +2 "collection"'R& +3 "core" & ] ^`\ +3 "collection"'K& +5 "core" & [ _l\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & \\ ^_\  +10 &3x \\ ]_\ *z +9 &f} ] ]Q\ > +10 &p ^ ]T\ M +9 &TV ^ _P\ K +10 &U _ _O\ K +9 &V _ `Y\ L +9 &T _ _[\ L +10 & ` _^\ L +9 &U ^ _]\ L +9 &S ` `^\ L +10 & U a b^\ K +9 &"bY b ca\ L +10 &$&U b c^\ K +9 &%U c dQ\ K +9 &'U d e]\ K +10 &)lU c gV\ K +9 &+-T e gV\ L +9 &,T f hR\ L +10 &.T g gP\ L +9 &0sY g gP\ L +10 &25X e eJ\ L +9 &3Y h gP\ L +9 &5X h iP\ L +10 &7zY h iR\ L +9 &9=T g hK\ L +9 &:T i hH\ L +10 &<W j iP\ K +9 &>W j kQ\ L +10 &@EU i kR\ L +9 &B\\ o nR\ L +9 &Cb p qP\ M +10 &Es v tO\ O +9 &G: }N\ R +9 &H O\ V +10 &J P\ X +9 &Lm Q\ X +10 &N0 Q\ X +9 &O O\ Z +9 &Q Q\ Z +10 &So P\ [ +9 &U0 D\ [\ +9 &V K\ \\ +10 &X M\ ] +9 &Zp K\ ] +10 &\\x ?\ 6 +9 &\\) D\ V +8 ( +2 &\\i B\ Q +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + .Hand.open + "manipulator"&N1 +56 "core" 1 +2 "manipulator"&O% +4 "core" % >   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%d& +4 "core" &N\ +2 "manipulator"&!% +3 "core" %   +2 "storage"('% +4 "core" % X O 0\ + "storage"(k. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(I( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (l& +3 "core" & 8 9 \  + "manipulator"&F& +4 "core" &Ӑ+ W Cm + "manipulator"&(% +4 "core" %  I  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&$( +166 "core" ( + "manipulator"&L& +5 "core" &  + "storage"(\ & +4 "core" &" C B F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&U'7 +94 "core" ' + "storage"(M& +5 "core" &" 5 @ [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'r +294 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &! ) &\  +2 "manipulator"&B& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( + "manipulator"&f& +4 "core" & .  + "storage"(_& +4 "core" &" &  *\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(*' +7 "core" & /  + "manipulator"&2% +4 "core" % ϑ \\ +2 .tForearm.seek :retract + "manipulator"&?' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&w( +161 "core" ' + ."downElevator"SE.coast + "storage"(5 +77 "core" ( + "manipulator"&:& +5 "core" &  1 +76 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" & P 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&& +4 "core" & 1 + "manipulator"&=% +4 "core" % Q +2 "processing"%}& +3 "core" &U\ +2 "processing"%1& +5 "core" &T\ +2 .tPC.seek :closed + "processing"%c(^ +4 "core" &W\ +9 &6S\ #c +9 &UyM\ 7 +9 &~xQ\ L +10 &QN\ N +9 &[RR\ N +10 &PL\ O +9 &UJ\ N +9 &QC\ O +10 &cTK\ N +9 &%SG\ N +9 &UI\ O +10 &!SC\ N +9 &#jP<\ O +10 &%-P@\ N +9 &&R?\ N +9 &(S>\ N +10 &*rUA\ O +9 &,3TC\ O +9 &-QN\ N +10 &/WJ\ O +9 &1zVJ\ O +10 &3<TB\ O +9 &4PA\ N +9 &6SC\ O +10 &8WG\ O +9 &:DUB\ O +9 &<WC\ O +10 &=WD\ O +9 &?TB\ N +10 &AKXB\ O +9 &CcE\ Q +106 &DnD\ R +2 &FE\ T + &HAD\ U + &JD\ U + &KE\ U + &MD\ V + &OGC\ V + &QD\ V + &RD\ V + &TC\ X + &VLE\ W + &XB\ V +4 &YC\ W +9 &[D\ W +10 &]RB\ J +9 &^|HC\ ^ +9 &^ UB\ 6 +5 ( +2 "processing"%1& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&V1 +3 "core" &^'C\ 6 +54 1 + "manipulator"& % +4 "core" %  C Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%v& +4 "core" &^'?\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&6% +4 "core" %    + "storage"(e% +4 "core" % A C \ + "storage"(p. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(+( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "manipulator"&9& +6 "core" & 8 1 + & > @ \  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'r +2 "core" ( + "manipulator"&& +5 "core" & 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  1 +2 .tForearm.seek PC +2 "manipulator"&S' +93 "core" ' +5 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open + "processing"%n( +90 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'1 +43 "core" ' +315 ( +2 "storage"(Y& +4 "core" & Y W\  + "manipulator"&& +4 "core" & 1 + "manipulator"&% +4 "core" %  2 +2 .tForearm.seek :retract + "manipulator"&g' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&z( +245 "core" ( + "manipulator"&u& +5 "core" &} [ I + "storage"(~& +4 "core" & 4 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +96 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(s- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +61 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +3 "core" -' +2 "storage"(/& +4 "core" & \ q + "manipulator"&& +4 "core" &}  I + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&{& +4 "core" &} \  Z I + "storage"(8& +4 "core" & ?\ q +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(Q'" +60 "core" ' +2 "manipulator"&i& +4 "core" &~ H + "storage"(& +4 "core" & 4 5 V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&5'u +23 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(\\' +19 "core" ' +2 "manipulator"&j% +4 "core" %΂ + "storage"(h& +5 "core" & K J \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&&'Ϯ +39 "core" ' + "manipulator"&Z& +4 "core" &~  H +2 "storage"(-& +4 "core" & T T ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' +2 "storage"(4% +4 "core" % b b\ +2 ."downElevator"SE.seek :down +3 "storage"(.' +100 (% +2 "core" %sM A C m\ Xg +3 "manipulator"&C% +4 "core" %0 K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +88 "core" ' +69 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (& +4 "core" & _ \\\ +2 "collection"'E& +3 "core" &\\h ]\ Q +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&A% +4 "core" %  Q  + "storage"("% +4 "core" % b b\ + "storage"([. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(<( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (;& +3 "core" & [ ]\  + "manipulator"&D& +4 "core" &~ H +2 .tElbow.seek 3 + "manipulator"&0( +3 "core" ( +2 "manipulator"&q& +3 "core" &~  A H +2 "storage"(W& +4 "core" & W Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&P'7 +92 "core" ' +2 "storage"(G& +4 "core" & _ b ;\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'r +297 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +2 "core" &~ E H +2 "storage"(& +4 "core" & V E D\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&J'u +20 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"()- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(b'e +31 "core" ' + "manipulator"&R% +5 "core" %΃ I > + "storage"(m& +3 "core" & [ Y\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&>'ϯ +37 "core" ' +2 "manipulator"&X& +4 "core" &~  H + "storage"(x& +4 "core" & [ W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&N'7 +26 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(O' +35 "core" ' +2 "manipulator"&d& +4 "core" &~ & H + "manipulator"&!% +5 "core" %L <  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&k(ӂ +153 "core" ( +2 "manipulator"&K& +4 "core" &ӗ# <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &ӗ# <: +2 .tForearm.seek CC + "manipulator"&F'? +93 "core" ' + .tHand.close +2 "manipulator"&(/ +64 "core" / +2 .tCC.seek :open + "collection"'T( +447 "core" ( + "storage"(L& +4 "core" & \  +2 "storage"(\ & +3 "core" & '\  +2 "manipulator"&`& +4 "core" &ӗ# U <: + "manipulator"&M% +4 "core" % Q g + .tForearm.seek :retract +2 "manipulator"&7' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&^( +167 "core" ( +2 "manipulator"&]& +4 "core" & ~ + "storage"(& +4 "core" & X\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 + "manipulator"&B'u +96 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&_1 +59 "core" 1 +2 "manipulator"&H% +4 "core" % v H + "storage"(& +4 "core" & \  +51 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 301 counts +2 "manipulator"&2'Ϣ +14 "core" ' +2 "manipulator"&$& +4 "core" & I | + "storage"(U& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&#'7 +19 "core" ' +2 "storage"(% +4 "core" % l\ +2 ."downElevator"SE.seek :down +3 "storage"(:' +100 (%% +2 "core" %s< \ V` +2 "manipulator"&r% +4 "core" %2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'=& +4 "core" & Z \\_\ +2 "manipulator"&}% +4 "core" %  q  + "storage"(*% +4 "core" % \ + "storage"(?. +4 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(t(,y +354 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (V& +2 "core" &,w { \  +2 "manipulator"& & +3 "core" & | +2 .tElbow.seek 4 + "manipulator"&v( +33 "core" ( + "manipulator"&6& +5 "core" & `  + "storage"(e& +4 "core" &,w \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&p' +95 "core" ' + "storage"(1& +5 "core" &,w  \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,w c ^ %\  +2 "manipulator"&& +3 "core" & =  +2 .tElbow.seek 4 +2 "manipulator"&( +21 "core" ( +2 "manipulator"&& +4 "core" & Z  +2 "storage"(I& +3 "core" &,w { b\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'c +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&w/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(c' +4 "core" &  f  + "manipulator"& % +4 "core" % ϋ   +2 .tForearm.seek :retract + "manipulator"&Y' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +163 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &ӎ 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &ӎ 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&u'? +94 "core" ' +3 "manipulator"&~& +4 "core" &ӎ   6 + "manipulator"&% +4 "core" %8 2 l +2 "collection"'& +3 "core" & [ \\b\ +3 "collection"'s& +5 "core" & Z ]`\ +2 .tCC.seek :closed + "collection"'y(\\ +4 "core" & Y [c\  +11 &4} [ [^\ *z +9 &e| \\ [X\ > +9 &p ^ [_\ L +10 &PU _ ^a\ L +9 &T _ _Y\ L +9 &X ^ \\`\ L +10 &U ] _S\ K +9 &ZT _ _P\ K +10 &W ^ _Q\ L +9 &R ^ `T\ L +9 & T c `W\ K +10 &"bU a bb\ K +9 &$#U a ba\ L +9 &%W d bb\ L +10 &'X d aa\ L +9 &)iR d ea\ L +10 &++R e f]\ L +9 &,T g f\\\ K +9 &.U e d_\ K +10 &0qU e f`\ L +9 &23X g g]\ L +9 &3X g f]\ L +10 &5S h g]\ L +9 &7yU g iS\ L +10 &9;S g jV\ L +9 &:U i hO\ K +9 &<V j iR\ L +10 &>W h jP\ K +9 &@BV h hP\ L +9 &BY l mP\ L +10 &C` q pS\ M +9 &Ei s rS\ N +10 &G=| | xP\ P +9 &H O\ U +9 &J P\ X +10 &Lk T\ Y +9 &N. M\ X +9 &O O\ Z +10 &Q S\ Z +9 &Sn N\ Z +10 &U0 P\ Z +9 &V T\ \\ +9 &X Q\ \\ +10 &Zn N\ ] +9 &\\z H\ 5 +9 &\\( Q\ Q +9 ( +2 &\\e S\ M +2 "collection"'s& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&/1 +59 "core" 1 +2 "manipulator"&% +4 "core" % 8 e l + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%8& +4 "core" &u\ +2 "manipulator"&g% +3 "core" %  &  +2 "storage"(i% +3 "core" % U Y\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(j(,y +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (h& +2 "core" &,w F X \  +2 "manipulator"&|& +3 "core" &ӎ  6 +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&Z( +163 "core" ( + "manipulator"&-& +5 "core" & -  + "storage"(4& +4 "core" &,x( A ? \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&z' +97 "core" ' + "storage"(& +5 "core" &,x( E J\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +2 "core" &,x' $  O\  +2 "manipulator"&& +3 "core" & #  +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&Q& +3 "core" & e  +2 "storage"(5& +3 "core" &,x& / )\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&&'c +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"(A' +8 "core" & #  + "manipulator"&"% +4 "core" % χ  +2 .tForearm.seek :retract + "manipulator"&\\' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&[( +168 "core" ' + ."downElevator"SE.coast + "storage"(5 +90 "core" ( +2 "manipulator"&;& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +2 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&q' +92 "core" ' +2 "manipulator"&W& +4 "core" & o  + "manipulator"&% +4 "core" % Q +2 "processing"%G& +3 "core" &r\ +3 "processing"%.& +4 "core" &w\ +2 .tPC.seek :closed + "processing"%+(^ +5 "core" &Y\  +10 &1s\ )w +9 &b}W\ > +10 &lp\\\ O +9 &-PV\ O +9 &TU\ O +10 &QX\ N +9 &tRZ\ N +9 &5PZ\ O +10 &RU\ O +9 &UU\ O +10 & {TU\ O +9 &">NX\ N +9 &#RZ\ O +10 &%SX\ N +9 &'PV\ O +9 &)FOV\ N +10 &+RU\ N +9 &,VX\ O +10 &.RW\ O +9 &0NTV\ N +9 &2RT\ O +10 &3TK\ O +9 &5QS\ O +9 &7VPK\ N +10 &9TS\ O +9 &:WH\ O +10 &<QJ\ O +9 &>]TB\ O +9 &@UC\ O +10 &A`A\ P +9 &CnD\ Q +9 &EV}D\ T +10 &GC\ U +9 &HB\ U +10 &JC\ U +9 &LZC\ U +9 &ND\ V +10 &OC\ V +9 &QB\ V +9 &S^C\ V +10 &UF\ W +9 &VE\ W +10 &XN\ V +9 &ZfL\ W +9 &\\'L\ W +10 &]{K\ 9 +9 &^.~H\ V +9 &^&C\ 3 +2 ( +2 "processing"%.& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 +2 .Hand.open + "manipulator"&@1 +58 "core" 1 + "manipulator"&a% +5 "core" %   Q + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%,& +4 "core" &^%e\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +3 "core" %  "  +2 "storage"()% +3 "core" % > D b\ +2 "storage"(R. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(m(,y +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (X& +3 "core" &,x C C \  + "manipulator"&x& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&d( + "storage"(!'r +5 "core" ( +2 "manipulator"&P& +53 "core" & 5  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" & @  +2 .tForearm.seek PC +2 "manipulator"&3' +102 "core" ' +2 .tHand.close + "manipulator"&J/ +62 "core" / +2 .tPC.seek :open + "processing"%>( +37 "core" ' + "storage"(b- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(K'1 +43 "core" ' +368 ( + "storage"(l& +4 "core" &,x S S O\  +2 "manipulator"&N& +4 "core" &   + "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&(' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&'( +238 "core" ( + "manipulator"&& +5 "core" & M B + "storage"(L& +4 "core" &,x U X f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&\ ' +96 "core" ' + .tHand.open +2 "manipulator"&`1 +62 "core" 1 +3 "storage"(M- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +61 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +3 "core" -' +2 "storage"(k& +3 "core" &,x o\  +2 "manipulator"&_& +4 "core" &   B + .tElbow.seek 4 +2 "manipulator"&H( +3 "core" ( + "manipulator"&& +4 "core" & L B + "storage"($& +4 "core" &,x \  +2 .tForearm.seek 4 + 450 counts + "manipulator"&U' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&7& +4 "core" &  B + "storage"(%& +4 "core" &,x Z Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&^'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +22 "core" ' +2 "manipulator"&=% +4 "core" %J F + "storage"(2& +5 "core" &,x T U 3\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&}'v +15 "core" ' +2 "manipulator"&*& +4 "core" & # A + "storage"(?& +4 "core" &,x ] a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&O' +19 "core" ' +2 "storage"(#% +4 "core" % e h\ +2 ."downElevator"SE.seek :down +3 "storage"(:' +100 (<% +2 "core" %I G J \ Xg +2 "manipulator"&V% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +74 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (6& +4 "core" &,x c c\ +2 "collection"'e& +3 "core" &\\` L\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&1% +4 "core" %  1  + "storage"(f% +4 "core" % Y [\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(9(,y +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (& +2 "core" &,x U [\  +2 "manipulator"&& +4 "core" & / A + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&I& +4 "core" & 0 A +2 "storage"(w& +3 "core" &,x b b \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +99 "core" ' +2 "storage"( & +4 "core" &,x Z ` \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(v'r +299 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & A + "storage"(S& +4 "core" &,x ` X\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +16 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(~- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('i +33 "core" ' + "manipulator"&% +5 "core" %K |  + "storage"(& +4 "core" &,x b X\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&c'w +21 "core" ' + "manipulator"&Y& +5 "core" & ~ A + "storage"(T& +4 "core" &,x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +38 "core" ' +2 "manipulator"&8& +4 "core" & A + "manipulator"&g% +4 "core" %  n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +147 "core" ( + "manipulator"&s& +5 "core" &z+ Cs + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &z+  Cs +2 .tForearm.seek CC + "manipulator"&|'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / +2 .tCC.seek :open + "collection"'u( +447 "core" ( +2 "storage"(-& +4 "core" &,x x v\  + "storage"(4& +4 "core" &,x e\  + "manipulator"&t& +3 "core" &Ӡ%   >M +2 "manipulator"&% +4 "core" % H ] ( + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&{( +157 "core" ( + "manipulator"&& +5 "core" &  + "storage"(C& +4 "core" &,x \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&51 +52 "core" 1 +2 "manipulator"&% +4 "core" % E % + "storage"(E& +4 "core" &,x \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 314 counts +2 "manipulator"&"'q +21 "core" ' +2 "manipulator"&Z& +5 "core" & + "storage"(z& +4 "core" &,x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"& ' +23 "core" ' +2 "storage"(&% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(;' +99 (D% +2 "core" %? | \ Va +2 "manipulator"&% +4 "core" % ~ w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&W' +91 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & Z [e\ +2 "manipulator"&G% +3 "core" %   +2 "storage"(A% +4 "core" % k\ + "storage"(\\. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(n(<- +357 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (@& +2 "core" &<+# t\  +2 "manipulator"&a& +3 "core" & B +49 .tElbow.seek 5 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&& +3 "core" & +2 "storage"()& +3 "core" &<+# y y P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&R'O +93 "core" ' +2 "storage"(.& +4 "core" &<+# z y f\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'r +299 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" &<+" V [\  +2 "manipulator"&0& +3 "core" & @ +2 .tElbow.seek 5 + "manipulator"&q( +3 "core" ( +2 "manipulator"&j& +3 "core" & +2 "storage"(J& +3 "core" &<+" w \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&b'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +2 "storage"(+' +7 "core" & + "manipulator"&!% +4 "core" % ϲ 3 +2 .tForearm.seek :retract + "manipulator"&l' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&N(ӂ +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +4 "core" ( + "manipulator"& & +4 "core" &Ӎ " 5\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &Ӎ 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +90 "core" ' +2 "manipulator"&L& +5 "core" &Ӎ 3 5\ + "manipulator"&d% +4 "core" %A S +2 "collection"'`& +3 "core" & Y [a\ +3 "collection"'M& +4 "core" & [ [_\ +2 .tCC.seek :closed +2 "collection"'F(\\ +3 "core" & [ [c\ +9 &: Y \\`\ $e +10 &Wx \\ \\d\ 7 +9 &x [ Zd\ L +10 &U [ \\d\ L +9 &xT \\ ]`\ L +9 &:V _ ]b\ L +10 &T ] ^_\ K +9 &U \\ _S\ L +9 &W ^ \\R\ L +10 &CT \\ `R\ K +9 & T ` `Q\ L +10 &!W ` `^\ L +9 &#T ` a_\ L +9 &%KS d ad\ K +10 &' S b cc\ L +9 &(W c ca\ L +9 &*R c d`\ L +10 &,SU c cc\ K +9 &.T b cc\ L +10 &/R d ec\ L +9 &1T f ec\ K +9 &3ZU e ed\ L +10 &5R f e`\ L +9 &6U e gc\ L +9 &8W f g[\ L +10 &:cU g hT\ K +9 &<$V h gT\ L +10 &=U h gN\ L +9 &?T i hQ\ L +9 &AiX l iR\ L +10 &C(` n lL\ M +9 &Dk p pS\ N +9 &F u sR\ Q +10 &HW L\ U +9 &J N\ X +10 &K O\ Y +9 &M S\ Y +9 &OQ P\ Z +10 &Q O\ Z +9 &R Q\ [ +9 &T R\ \\ +10 &VS J\ \\ +9 &X L\ ] +10 &Y L\ ] +9 &[ N\ J +9 &\\9 P\ , +10 &\\ O\ !` +5 ( +2 "collection"'M& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 + .Hand.open + "manipulator"&k1 +3 "core" &\\ P\ !` +54 1 +2 "manipulator"&_% +4 "core" % A : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%$& +4 "core" &{\ +2 "manipulator"&(% +3 "core" %  x  +2 "storage"(7% +4 "core" % J J \ + "storage"(%. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(=(<- +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (2& +3 "core" &<+ C D \  + "manipulator"&K& +4 "core" &Ӎ . 5\ +2 "manipulator"&*% +4 "core" %  O  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&?( +162 "core" ( + "manipulator"&]& +5 "core" &  + "storage"(#& +4 "core" &<,0 & ' T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&''O +96 "core" ' + "storage"(\ & +5 "core" &<,0  & ;\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' + "storage"(<- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" &<,. ( \  +2 "manipulator"&U& +4 "core" & a  + .tElbow.seek 5 +2 "manipulator"&H( +3 "core" ( + "manipulator"&& +4 "core" & {  + "storage"(^& +4 "core" &<,. 3 ) \  + .tForearm.seek 5 + 300 counts +2 "manipulator"&}'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&6/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& + "storage"(1' +7 "core" &   + "manipulator"&B% +4 "core" % ϻ W +2 .tForearm.seek :retract + "manipulator"&f' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +166 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +70 "core" ( + "manipulator"&& +5 "core" & T < + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & * < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I' +92 "core" ' +2 "manipulator"&w& +4 "core" & e ; + "manipulator"&O% +4 "core" % H +2 "processing"% & +3 "core" &U\ +2 "processing"%:& +5 "core" &\ +2 .tPC.seek :closed + "processing"%m(^ +6 "core" &W\  +9 &0s`\ *x +10 &b|[\ > +9 &epV\ O +10 &'RV\ N +9 &RZ\ O +9 &QZ\ O +10 &mQW\ N +9 &.RY\ O +9 &Q[\ O +10 &R[\ N +9 & tRZ\ O +10 &"7OV\ N +9 &#RZ\ O +9 &%TU\ O +10 &'|OZ\ O +9 &)?QY\ N +9 &+QV\ N +10 &,SV\ O +9 &.SU\ O +10 &0FQX\ O +9 &2QU\ O +9 &3UU\ O +10 &5QN\ O +9 &7ORS\ N +9 &9TW\ O +10 &:TL\ O +9 &<RP\ N +10 &>UUI\ O +9 &@UG\ O +9 &A_E\ P +10 &CkE\ R +9 &EOzJ\ T +9 &G I\ U +10 &HD\ U +9 &JE\ U +10 &LQC\ V +9 &NC\ V +9 &OB\ V +10 &QF\ W +9 &SVE\ W +9 &UL\ X +10 &VJ\ W +9 &XE\ V +10 &Z^C\ W +9 &\\ J\ W +9 &]J\ 6 +10 &^,jD\ \\ +9 &^4A\ 8 +2 ( +2 "processing"%:& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open + "manipulator"&r1 +56 "core" 1 +2 "manipulator"& % +4 "core" %   H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &^0d\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&S% +3 "core" %  \\  +2 "storage"(~% +4 "core" %  & !\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (Y& +2 "manipulator"&T& +4 "core" &<, * ' (\  +2 &  ; +4 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&8( +5 ."raiseStack"SE.seek :beamBreak + "storage"(g'r +3 "core" ( + "manipulator"&& +4 "core" &  ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ; +2 .tForearm.seek PC + "manipulator"&v' +91 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open + "processing"%c( +96 "core" ' + "storage"(s- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +302 ( + "storage"(h& +4 "core" &<, G 9 o\  +2 "manipulator"&/& +3 "core" & ; +2 "manipulator"& % +3 "core" %  G +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&i( +245 "core" ( + "manipulator"&y& +5 "core" &  2 + "storage"(-& +4 "core" &<, / % k\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&4'O +95 "core" ' + .tHand.open +2 "manipulator"&t1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +51 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(C' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(|- +3 "core" -' +2 "storage"(& +3 "core" &<, -\ y +2 "manipulator"&5& +4 "core" &   2 + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&E& +4 "core" &   2 +2 "storage"(Z& +3 "core" &<, A\ y +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(&'" +62 "core" ' +2 "manipulator"&& +4 "core" & F 2 + "storage"(D& +4 "core" &<, B = W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +14 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +23 "core" ' +3 "manipulator"&% +4 "core" %Η ~ G + "storage"("& +5 "core" &<, C A \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&G' +15 "core" ' +2 "manipulator"&A& +4 "core" &  5 1 + "storage"(\\& +4 "core" &<, C B \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' +2 "storage"( % +4 "core" % I J *\ +2 ."downElevator"SE.seek :down +3 "storage"(;' +100 (9% +2 "core" %*N & (\ Xh +2 "manipulator"&@% +4 "core" %A ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +88 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (& +4 "core" &<, J K \ +2 "collection"')& +3 "core" &\\ P\ !` +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&.% +4 "core" %  i  + "storage"(Q% +4 "core" % 5 ; e\ + "storage"(W. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(x(<- +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.\ 1~b +2 (P& +2 "core" &<, L J 3\  +2 "manipulator"&0& +4 "core" &  1 +2 .tElbow.seek 5 + "manipulator"&j( +3 "core" ( +2 "manipulator"&J& +3 "core" & N 1 +2 "storage"([& +4 "core" &<, J J 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&o'O +94 "core" ' +2 "storage"(!& +4 "core" &<, ? F m\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'r +300 "core" ' +2 "storage"(R- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & G 1 + "storage"(3& +4 "core" &<, E J L\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&X'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(L- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(d'g +34 "core" ' + "manipulator"&`% +5 "core" %Ξ  E U + "storage"(q& +4 "core" &<, K J :\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&+' +13 "core" ' + "manipulator"&l& +5 "core" & D 1 + "storage"(u& +4 "core" &<, R E !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&k'O +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(_' +34 "core" ' +2 "manipulator"&$& +4 "core" & ; 1 +2 "manipulator"&(% +4 "core" %> d + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&7' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&%(ӂ +155 "core" ( + "manipulator"&M& +5 "core" &Ӑ% ] >N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &Ӑ% A >N +2 .tForearm.seek CC + "manipulator"&K'? +94 "core" ' + .tHand.close +2 "manipulator"&*/ +55 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( + "storage"(]& +4 "core" &<, x }\  +2 "storage"(#& +3 "core" &<, \  +2 "manipulator"&n& +3 "core" &ӑ% 2 >M +2 "manipulator"&\ % +3 "core" % R % m +2 .tForearm.seek :retract +2 "manipulator"&N' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +166 "core" ( + "manipulator"&<& +5 "core" & c  + "storage"(V& +4 "core" &<, ]\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&U'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&^1 +58 "core" 1 +2 "manipulator"&6% +4 "core" % Ό  5 +2 "storage"(e& +3 "core" &<, \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 299 counts + "manipulator"&B'ϸ +32 "core" ' + "manipulator"&?& +5 "core" & o  + "storage"('& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 "storage"(}% +4 "core" % K\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +2 "core" %E E\ Vb +2 "manipulator"&H% +4 "core" %I   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&w' +88 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'O& +4 "core" & [ [a\ + "manipulator"& % +5 "core" %  V  + "storage"(1% +4 "core" % h\ + "storage"(f. +4 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +361 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (r& +2 "core" &K d\ +2 "manipulator"& & +4 "core" & Z  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&S& +4 "core" & F  +2 "storage"(~& +3 "core" &K U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(:& +4 "core" &K )\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'r +294 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K | :\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&I( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(=& +4 "core" &K \  + .tForearm.seek 6 + 300 counts +2 "manipulator"&s'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& + "storage"(m' +7 "core" & D  + "manipulator"&g% +4 "core" % ϖ   +2 .tForearm.seek :retract + "manipulator"&h' +95 "core" ' +2 .tElbow.seek CC +49 "manipulator"&/(ӂ +109 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +48 "core" ( + "manipulator"& & +5 "core" &ӑ(  @Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &Ӓ(  @X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&y'? +97 "core" ' +2 "manipulator"&-& +5 "core" &Ӓ( \ @X + "manipulator"&8% +4 "core" %G n > +2 "collection"'t& +4 "core" & Z Zg\ +2 "collection"'& +4 "core" & ^ [r\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & ^ [c\  +10 &2x Z \\`\ *x +9 &c| \\ \\`\ = +10 &wp ] \\e\ L +9 &:S _ ]d\ L +10 &V _ __\ L +9 &V ^ `c\ L +9 &R _ _b\ L +10 &DV _ ^\\\ K +9 &U \\ _\\\ K +9 &V a `T\ L +10 & T ` aM\ L +9 &"LR ` aT\ K +10 &$S a c]\ K +9 &%R b cQ\ L +9 &'R c c]\ K +10 &)TT e b\\\ K +9 &+W d de\ L +9 &,W e ea\ K +10 &.R g eb\ L +9 &0\\R f ec\ K +10 &2T f gb\ K +9 &3T d fd\ L +9 &5S h fd\ L +10 &7cT g gd\ L +9 &9&T h ga\ K +9 &:U i i_\ L +10 &<Y h gW\ L +9 &>kY h hN\ L +10 &@-W i iN\ L +9 &A[ l kX\ L +9 &C` o lS\ M +10 &Ell r sP\ N +9 &G$ y xP\ Q +9 &H S\ U +10 &J P\ Y +9 &LU K\ Y +10 &N L\ Y +9 &O O\ Z +9 &Q M\ Z +10 &SU R\ [ +9 &U O\ [ +9 &V P\ [ +10 &X Q\ ] +9 &ZX O\ ] +10 &[z P\ = +9 &\\, P\ ){ +9 &\\ J\ Y +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + .Hand.open + "manipulator"&|1 +59 "core" 1 +2 "manipulator"&% +4 "core" % G > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%E& +4 "core" &\ +2 "manipulator"&Z% +3 "core" %  X  +2 "storage"(% +4 "core" % = B L\ + "storage"(D. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +8 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 ("& +2 "core" &K A C \  +2 "manipulator"&& +4 "core" &Ӓ( c @X + "manipulator"&A% +4 "core" %  ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\\( +166 "core" ( + "manipulator"&& +5 "core" &   + "storage"( & +4 "core" &K V Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +97 "core" ' +2 "storage"(4& +4 "core" &K Z W\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'r +300 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &K @ J \  +2 "manipulator"&z& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&&& +4 "core" & \\  + "storage"(& +4 "core" &K 4 4\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&G'h +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +4 "storage"(.' +4 "core" &   + "manipulator"&Q% +4 "core" % v I +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&W( +163 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +78 "core" ( + "manipulator"&P& +5 "core" & 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &  8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&J' +98 "core" ' +2 "manipulator"&[& +4 "core" &  7 + "manipulator"&% +4 "core" % m \ +2 "processing"%!& +3 "core" &\ +3 "processing"%;& +4 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +10 &0s\ *x +9 &b~\ > +9 &np \ O +10 &/T\ O +9 &SZ\ O +10 &Q\\\ N +9 &uT\ O +9 &8SW\ N +10 &V[\ N +9 &U\\\ N +9 & }TZ\ O +10 &"@RZ\ N +9 &$VY\ N +10 &%S[\ O +9 &'SZ\ N +9 &)HOV\ N +10 &+\ U_\ N +9 &,WY\ N +9 &.TW\ N +10 &0PVW\ N +9 &2UZ\ O +10 &3SX\ N +9 &5SZ\ O +9 &7WSZ\ O +10 &9WW\ O +9 &:U[\ O +9 &<QW\ N +10 &>`UU\ N +9 &@"VM\ N +10 &A]X\ O +9 &CgW\ Q +9 &E[uW\ S +10 &GO\ T +9 &HL\ T +9 &JT\ U +10 &L]L\ U +9 &NJ\ V +10 &OI\ V +9 &QB\ W +9 &S`K\ W +10 &U"E\ V +9 &VC\ V +9 &XC\ V +10 &ZgD\ W +9 &\\*D\ V +10 &]zB\ : +9 &^1E\ R +9 &^B\ 0 +2 ( +2 "processing"%;& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&{1 +61 "core" 1 + "manipulator"&a% +5 "core" %  x \ + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +98 "core" ' + .tSC.coast + "storage"(6 +3 "processing"% & +4 "core" &^h\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&3% +4 "core" % ! J - + "storage"(L% +4 "core" % 0 - ?\ + "storage"(`. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(q(K +8 "core" ( + .tSC.reconfigure :loose +2 "storage"($.\ 1~b +3 (l& +2 "manipulator"&u& +5 "core" & r 7 + &K $  \  +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&$( + "storage"(('r +5 "core" ( + "manipulator"&o& +4 "core" & 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" & 8 7 +2 .tForearm.seek PC +2 "manipulator"&,' +94 "core" ' + .tHand.close +2 "manipulator"&X/ +57 "core" / +2 .tPC.seek :open +2 "processing"%+( +98 "core" ' + "storage"(d- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'1 +48 "core" ' +297 ( + "storage"(2& +4 "core" &K F < S\  +2 "manipulator"&k& +3 "core" &  7 +2 "manipulator"&b% +3 "core" %  # : +2 .tForearm.seek :retract +2 "manipulator"&*' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&7( +248 "core" ( + "manipulator"&F& +4 "core" &  ? +2 "storage"(]& +4 "core" &K J K ;\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&#' +98 "core" ' + .tHand.open +2 "manipulator"&n1 +59 "core" 1 +2 "storage"(\ - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(<' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(V' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(K- +3 "core" -' +2 "storage"(%& +3 "core" &K e e |\  +2 "manipulator"&^& +3 "core" &   > +2 .tElbow.seek 6 +2 "manipulator"&6( +3 "core" ( + "manipulator"&e& +4 "core" &  d > + "storage"(?& +4 "core" &K c d \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +53 "core" ' +2 "manipulator"&N& +4 "core" & 4 > + "storage"(& +4 "core" &K % & >\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&H'< +16 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(U' +28 "core" ' +2 "manipulator"&O% +4 "core" %P L + "storage"(B& +53 "core" &K A A \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts + "manipulator"& '| +15 "core" ' +2 "manipulator"&1& +4 "core" & > + "storage"(f& +5 "core" &K I F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +16 "core" ' +2 "storage"(% +4 "core" % ; < \ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (x% +2 "core" %F & (\ Wg +2 "manipulator"&r% +4 "core" % = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +89 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (S& +4 "core" &K 5 4 ,\ + "collection"'~& +4 "core" &\\ O\ Y +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&:% +3 "core" %   +2 "storage"(% +4 "core" % U D 0\ + "storage"(w. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(Y(K +7 "core" ( + .tSC.reconfigure :loose +3 "storage"($.\ 1~b +2 (& +2 "core" &K ? 4\  +2 "manipulator"&& +4 "core" & > + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&=& +3 "core" & R > +2 "storage"(& +3 "core" &K ? 3 (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&p' +99 "core" ' +2 "storage"(g& +4 "core" &K G 9 0\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&T& +3 "core" & 7 > +2 "storage"(s& +3 "core" &K - = \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"& '< +15 "core" ' + .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(-- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(8'i +30 "core" ' + "manipulator"&t% +5 "core" %N / 2 + "storage"(I& +4 "core" &K B A\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&m'z +23 "core" ' + "manipulator"&h& +5 "core" & > + "storage"(& +4 "core" &K J J \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +24 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&E& +4 "core" & u > + "manipulator"&Z% +4 "core" % s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&D(ӂ +147 "core" ( + "manipulator"&& +5 "core" &x+ V Cs + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &x+ ] Cs +2 .tForearm.seek CC + "manipulator"&'? +91 "core" ' + .tHand.close +2 "manipulator"&A/ +56 "core" / +2 .tCC.seek :open + "collection"'y( +451 "core" ( +2 "storage"(& +4 "core" &K \  + "storage"( & +4 "core" &K \  + "manipulator"&>& +4 "core" &Ӣ% / >I + "manipulator"&4% +4 "core" % J G +2 .tForearm.seek :retract + "manipulator"&/' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&5( +166 "core" ( + "manipulator"&9& +5 "core" & \  + "storage"(@& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&z'< +96 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % 3 s  + "storage"()& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 291 counts + "manipulator"&Q'_ +15 "core" ' +3 "manipulator"&\\& +4 "core" & e  + "storage"(i& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +19 "core" ' +2 "storage"(G% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(P' +100 (0% +2 "core" %F u x W\ Wc +2 "manipulator"&% +4 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +5567 #t-> exit +4 #mEXIT @1627241684.17EDT @1627246819.75EDT = =tMAIN =mMAIN_scheduler @EDT1627246821.56 #"core_reset"Sent BREAK +2 #t@45957 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +375 !o:Instrument::Error: mesg"EFlowMeter unavailable because serial port /dev/flowMeter missing:bt["2/home/esp/esp2/type/shallow/initialize.rb:184"2/home/esp/esp2/lib/framework.rb:117:in `load'"2/home/esp/esp2/lib/framework.rb:117:in `load'"5/home/esp/esp2/lib/framework.rb:172:in `execute'"-/home/esp/esp2/lib/esp.rb:108:in `shell'"7/home/esp/esp2/lib/schedule.rb:482:in `initialize'"0/home/esp/esp2/lib/thread.rb:730:in `start'"7/home/esp/esp2/lib/schedule.rb:475:in `initialize'"'/home/esp/esp2/lib/schedule.rb:473 +3 "Can"\ !v + \ !v + #tPolling Can every 10:00 +41 #Cleanly exited at 15:34:44EDT25-Jul-21 +603 #-> ESP.ready! +3 #Powering core bus +485 .Gate.power :raw,:ON +3 "sampler") +28 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % O Q \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % \ +2 .tSS.configure :default + "sampler")#.0X exit +5 #mEXIT @1627246885.55EDT @1627259997.85PDT = =tMAIN =mMAIN_scheduler @PDT1627259999.67 #"core_reset"Sent BREAK + #t@36144 receive with ifg=0x10, ie=0xFD + #@36475 receive with ifg=0x80, ie=0xFD + #@16075 idle with ifg=0x00, ie=0x75 + #@32315 receive with ifg=0x10, ie=0xFD + #@32949 receive with ifg=0x10, ie=0xFD #@33603 receive with ifg=0x10, ie=0xFD + #@34241 receive with ifg=0x10, ie=0xFD + #@34879 receive with ifg=0x10, ie=0xFD #@35512 receive with ifg=0x10, ie=0xFD + #@36144 receive with ifg=0x10, ie=0xFD #@36475 receive with ifg=0x80, ie=0xFD + #@6267 initial with ifg=0x00, ie=0xF5 + #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 +8 #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 for core bus +279 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can"\ DC + \ DC + #tPolling Can every 10:00 +42 #Cleanly exited at 17:01:25EDT25-Jul-21 +490 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +4 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %f b e,\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ض\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %z o\ +2 .tSS.configure :default +2 "sampler")#.0X Puck.count + "storage"(3% +4 "core" % z | j\  +2 .tSE.seek :down + "storage"(4' +4 "core" ' + .tSE.stop +2 "storage"(5 +2 .tHand.open + "manipulator"&51 +60 "core" 1 + "manipulator"&6% +4 "core" %    +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(7(C +989 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" &A J\ +2 "manipulator"&9& +4 "core" & L * + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&:( +9 "core" ( +2 "manipulator"&;& +5 "core" & z  + "storage"(<& +4 "core" &A 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&=' +100 "core" ' +2 "storage"(>& +4 "core" &A V\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'r +276 "core" ' +2 "storage"(@- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A% +2 "core" %i d\ +3 ."downElevator"SE.seek :down +3 "storage"(B' +100 (C% +3 "core" %K { z m\ Wf + "manipulator"&D% +4 "core" %  w * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +95 "core" ' +69 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +43 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(F(  +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &  g\ +2 "manipulator"&H& +4 "core" &  U  +2 .tElbow.seek 2 + "manipulator"&I( +4 "core" ( + "manipulator"&J& +4 "core" & ]  + "storage"(K& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&L'S +95 "core" ' + "storage"(M& +4 "core" &  B\ +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'r +325 "core" ' +2 "storage"(O- +3 "core" -'T + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (P% +3 "core" % Y f\ +2 ."downElevator"SE.seek :down +3 "storage"(Q' +100 (R% +3 "core" %F j t %\ We +2 "manipulator"&S% +3 "core" %R  \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&T' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(U( +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" & z Z\  + "manipulator"&W& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&X( +42 "core" ( + "manipulator"&Y& +4 "core" &  2 +2 "storage"(Z& +4 "core" & q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&['7 +92 "core" ' + "storage"(\\& +4 "core" & \  +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'r +317 "core" ' +3 "storage"(^- +3 "core" -'Q + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (_% +3 "core" % H &\ +3 ."downElevator"SE.seek :down +3 "storage"(`' +99 (a% +3 "core" %J v O\ We +2 "manipulator"&b% +3 "core" %<  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +89 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(d(,y +372 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +2 "core" &,z M\ +2 "manipulator"&f& +3 "core" &  V 2 +2 .tElbow.seek 4 +2 "manipulator"&g( +18 "core" ( +2 "manipulator"&h& +4 "core" &  ] + "storage"(i& +4 "core" &,z $\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&j' +92 "core" ' +2 "storage"(k& +4 "core" &,z ^\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'r +319 "core" ' +2 "storage"(m- +3 "core" -'T +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n% +2 "core" % X ~\ +3 ."downElevator"SE.seek :down +3 "storage"(o' +99 (p% +2 "core" %F b\ Wd +2 "manipulator"&q% +4 "core" % 3 ^ +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(s(<- +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (t& +3 "core" &<+ T Q G\  +2 "manipulator"&u& +4 "core" & k \\ +2 .tElbow.seek 5 + "manipulator"&v( +26 "core" ( +2 "manipulator"&w& +3 "core" &  +2 "storage"(x& +4 "core" &<+ m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&y'O +92 "core" ' +2 "storage"(z& +4 "core" &<+ ?\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'r +322 "core" ' + "storage"(|- +3 "core" -'Q +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}% +3 "core" % V 6\ +2 ."downElevator"SE.seek :down +4 "storage"(~' +99 (% +3 "core" %B w K\ Vc +2 "manipulator"&% +4 "core" %g  ] | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K z w n\  +2 "manipulator"&& +4 "core" &  $  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" & W  + "storage"( & +4 "core" &K L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +95 "core" ' + "storage"(& +4 "core" &K Q\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +319 "core" ' + "storage"(- +4 "core" -'Z + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +2 "core" % a \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %I \ Xf +2 "manipulator"&% +3 "core" %  > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ z X\  +2 "manipulator"&& +4 "core" &  B  + .tElbow.seek 7 +2 "manipulator"&(r +33 "core" ( +2 "manipulator"&& +4 "core" & { # + "storage"(& +4 "core" &[ e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +92 "core" ' +2 "storage"(!& +4 "core" &[ @\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"("'r +276 "core" ' + "storage"(#- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($% +3 "core" %i \ +2 ."downElevator"SE.seek :down +4 "storage"(%' +98 (&% +3 "core" %Q { w )\ Xh + "manipulator"&'% +4 "core" %E  r a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +95 "core" ' +74 ' + ."downElevator"SE.stop + "storage"(5 +2835 #t-> require 'shuffle' +2285 #-> shuffle2 2..6 +2 #Shuffling two pucks from tube 2 to 3 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"')& +4 "core" & c e1\  +2 "manipulator"&*% +4 "core" %    + "storage"(+% +4 "core" % k\ + "storage"(,. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(-(  +1619 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (.& +3 "core" & V\ + "manipulator"&/& +4 "core" &  % # +2 .tElbow.seek 2 + "manipulator"&0( +36 "core" ( + "manipulator"&1& +4 "core" &  +2 "storage"(2& +4 "core" & i\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&3'S +93 "core" ' +2 "storage"(5& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'r +290 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" & -\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&8( +8 "core" ( +2 "manipulator"&9& +5 "core" &  q + "storage"(;& +4 "core" & e\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&<'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +68 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" &  m +2 "manipulator"&@% +4 "core" % ϴ @ +2 .tForearm.seek :retract + "manipulator"&A' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&C(ӂ +156 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&D& + "storage"(5 +7 "core" &ӑ!  :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &ӑ  9 :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&='? +97 "core" ' +2 "manipulator"&B& +4 "core" &Ӓ! @ :0 +2 "manipulator"&7% +4 "core" %3  +2 "collection"'G& +3 "core" & c e1\  +2 "collection"'H& +5 "core" & e e\  +2 .tCC.seek :closed +2 "collection"'J(\\ +4 "core" & a e\  +8 &6| e e\ +| +10 &e f g?\ ? +9 &iv f f\ N +9 &,Z f g\ N +10 &V f g\ M +9 &\\ d e~\ M +10 &s] f gp\ N +9 &6Y f hr\ M +9 &\\ f iw\ M +10 &[ h ft\ N +9 & |Y j gx\ M +9 &">Y h iv\ M +10 &$Y h hv\ M +9 &%Z h ie\ N +10 &'Y j jd\ N +9 &)EZ i ji\ N +9 &+[ i je\ N +10 &,\\ j j`\ M +9 &.] j j`\ M +9 &0N\\ m lb\ M +10 &2W l k_\ N +9 &3\\ l l_\ M +10 &5W l m^\ M +9 &7VZ l nS\ M +9 &9W m m[\ N +10 &:\\ n o^\ M +9 &<X o oc\ N +9 &>]Y o mf\ N +10 &@\\ o ne\ N +9 &AZ p rc\ N +10 &Ce t sa\ O +9 &E_n x w_\ P +9 &G ~ |e\ S +10 &H U\ V +9 &J S\ X +9 &LL N\ Y +10 &N O\ Y +9 &O N\ Z +10 &Q Q\ Z +9 &SM M\ [ +9 &U Q\ [ +10 &V M\ \\ +9 &X O\ ] +9 &ZP R\ ] +10 &[x P\ E +9 &\\ J\ , +10 &\\ N\ ] +2 ( + "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&K1 +104 "core" 1 + "manipulator"&M% +5 "core" % 3 m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%E& +4 "core" &\  +2 "manipulator"&O% +4 "core" %  B  + "storage"(P% +4 "core" % $ % j\ + "storage"(R. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(S(  +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +9 (N& +2 "core" & * &\ +2 "manipulator"&L& +4 "core" &Ӓ  :0 + "manipulator"&Q% +9 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&F( +163 "core" ( + "manipulator"&V& +5 "core" & &  + "storage"(W& +5 "core" & 1 = \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&Y'S +94 "core" ' +2 "storage"(Z& +4 "core" & V ` S\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'r +295 "core" ' +2 "storage"(I- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (T& +2 "core" & 0 B \ +2 "manipulator"&^& +4 "core" & s  + .tElbow.seek 2 +2 "manipulator"&_( +4 "core" ( + "manipulator"&a& +4 "core" & 1  + "storage"(b& +4 "core" & = A \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&]'Ͻ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(U' +7 "core" &  +2 "manipulator"&e% +4 "core" % ϻ  > +2 .tForearm.seek :retract +2 "manipulator"&f' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +72 "core" ( + "manipulator"&i& +5 "core" &  * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +2 "core" &  q * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X' +91 "core" ' +2 "manipulator"&c& +4 "core" & , * + "manipulator"&m% +5 "core" % 6 J +2 "processing"%n& +3 "core" &\  +2 "processing"%p& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%q(^ +4 "core" &\  +8 &B\ $f +8 &wU}\ 8 +10 &~{\ M +9 &~W\ P +10 &AW\ P +9 &Y\ P +9 &W\ P +10 &W\ O +9 &IV\ P +9 & Z\ P +10 &T\ O +9 &!W\ P +10 &#QX\ P +9 &%V\ P +9 &&W\ P +10 &(W\ P +9 &*ZX\ O +9 &,Y\ O +10 &-U\ O +9 &/Y\ P +10 &1a[\ P +9 &3#U\ P +9 &4Y\ O +10 &6X\ P +9 &8i\\\ P +9 &:,W\ O +10 &;Z\ P +9 &=Y\ O +10 &?pY\ P +9 &A0_\ Q +9 &Bk\ R +10 &Dv\ T +9 &Ff\ V +9 &H*\ U +10 &I\ V +9 &K\ W +10 &Mm\ W +9 &O-\ W +9 &P\ X +10 &R\ X +9 &Tq\ X +10 &V4\ X +9 &W\ X +9 &Y\ X +10 &[z\ X +9 &];\ Q +9 &^wEx\ #j +10 &^F\ 5 +5 ( +2 "processing"%p& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&l1 +3 "core" &^(\ 5 +56 1 + "manipulator"&j% +4 "core" %  J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&o' +93 "core" ' +2 "processing"%d& +4 "core" &^(\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&t% +3 "core" %  L  +2 "storage"(u% +4 "core" %   \ + "storage"(w. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(x( +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (z& +3 "core" & \ + "manipulator"&g& +4 "core" & W * +2 "manipulator"&r% +3 "core" %  b  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&|( +247 "core" ( +2 "manipulator"&}& +4 "core" & 0 6 +2 "storage"(& +3 "core" & _\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +99 "core" ' + "storage"({& +4 "core" & !  \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'r +292 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +2 "core" & [ 6 +2 "storage"(& +4 "core" & $  {\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'u +16 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +29 "core" ' +2 "manipulator"&v% +4 "core" %΃ : + "storage"(& +4 "core" &  F\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&'ϯ +25 "core" ' + "manipulator"&& +5 "core" & 6 + "storage"(& +4 "core" &  # t\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +14 "core" ' +2 .tSE.seek 2.16 Pucks below Top Plate +2 "storage"('P +35 "core" ' +2 "manipulator"& & +4 "core" & 6 +2 "manipulator"&% +4 "core" %C a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +245 "core" ( + "manipulator"&& +4 "core" & 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & H 3 +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 .tHand.close + "manipulator"&!/ +77 "core" / +2 .tPC.seek :open + "processing"%( +460 "core" ( +2 "storage"(& +4 "core" & + 1 -\ + "manipulator"&#& +4 "core" & 2 + "manipulator"&$% +4 "core" %  E  +2 .tForearm.seek :retract + "manipulator"&&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'( +245 "core" ( +2 "manipulator"&"& +4 "core" & R +2 "storage"( & +3 "core" &   V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&%'7 +99 "core" ' + .tHand.open + "manipulator"&)1 +58 "core" 1 +3 "storage"(*- +4 "core" -'P +2 .tSE.seek 1.81 Pucks below Top Plate + "storage"(+' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.85 Pucks below Top Plate + "storage"(,' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(.& +3 "core" & \ z +2 "manipulator"&/& +4 "core" & ? R + .tElbow.seek 3 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&2& +3 "core" & R +2 "storage"(5& +4 "core" & q *\ +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.56 Pucks below Top Plate +2 "storage"(('A +52 "core" ' + "manipulator"&& +5 "core" &  " R + "storage"(4& +4 "core" & % % 5\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'u +19 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.75 Pucks below Top Plate +2 "storage"(;' +29 "core" ' + "manipulator"&>% +5 "core" %~   +2 "storage"(& +4 "core" & # ! !\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&@'Ϫ +26 "core" ' + "manipulator"&0& +4 "core" & = R +2 "storage"(3& +4 "core" & ( & 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&D'7 +15 "core" ' +2 "storage"(?% +4 "core" % @ * 4\ +3 ."downElevator"SE.seek :down +3 "storage"(6' +99 (<% +2 "core" %^>   \ Wd +2 "manipulator"&B% +4 "core" % V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&7' +86 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (G& +4 "core" & 0 1 E\ +2 "collection"'8& +4 "core" &\\ b\ ] + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %  U  +2 "storage"(A% +3 "core" % @ @ s\ +2 "storage"(\ . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(K( +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +4 "core" & -  7\  + "manipulator"&H& +4 "core" & ? R +2 .tElbow.seek 3 +2 "manipulator"&E( +3 "core" ( + "manipulator"&O& +4 "core" & d R +2 "storage"(P& +3 "core" & @ @ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R'7 +89 "core" ' +2 "storage"(N& +4 "core" & < ? X\  +2 .tSE.reconfigure :pick +40 "storage"(#],K-0-\ b +12 .tSE.seek :beamBreak +2 "storage"(L'r +287 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +2 "core" &  7 R +2 "storage"(V& +4 "core" & ' % G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&W'u +19 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Z- +2 "core" -' +3 .tSE.seek 2.16 Pucks below Top Plate + "storage"(C'N +30 "core" ' +2 "manipulator"&:% +4 "core" % B 1 + "storage"(I& +4 "core" &   R\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&T'ϫ +24 "core" ' + "manipulator"&^& +5 "core" &  R + "storage"(a& +4 "core" &  # 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&b'7 +25 "core" ' +2 .tSE.seek 3.16 Pucks below Top Plate + "storage"([' +49 "core" ' + "manipulator"&`& +5 "core" &  * R + "manipulator"&e% +4 "core" %0 L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +151 "core" ( +2 "manipulator"&\\& +4 "core" &ӊ)  Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &ӊ) Ab +2 .tForearm.seek CC + "manipulator"&i'? +94 "core" ' +2 .tHand.close + "manipulator"&k/ +61 "core" / +2 .tCC.seek :open +2 "collection"'_( +447 "core" ( + "storage"(c& +4 "core" & w f\  +2 "storage"(m& +3 "core" & T U H\  +2 "manipulator"&n& +3 "core" &Ӌ)  Aa +2 "manipulator"&U% +3 "core" % 9 q ? +2 .tForearm.seek :retract +2 "manipulator"&f' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& ( +156 "core" ( + "manipulator"&l& +4 "core" &  +2 "storage"(j& +4 "core" & y\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&d'u +99 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&u1 +58 "core" 1 +2 "manipulator"&w% +5 "core" % s % + "storage"(p& +4 "core" & j j \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 298 counts + "manipulator"&X'ϟ +28 "core" ' +2 "manipulator"&S& +4 "core" &  ? + "storage"(z& +4 "core" & ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&g'7 +15 "core" ' +2 "storage"(r% +4 "core" % @\ +2 ."downElevator"SE.seek :down +3 "storage"(}' +99 (% +3 "core" %GA \ Vb +2 "manipulator"&h% +3 "core" %9  ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +87 "core" ' +79 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling two pucks from tube 3 to 4 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'o& +5 "core" & \\ _n\ + "manipulator"&~% +4 "core" %   ^  +2 "storage"(s% +4 "core" % \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (v& +3 "core" & V V\  +2 "manipulator"&& +3 "core" &  ! +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  z +2 "storage"( & +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +91 "core" ' +2 "storage"(& +4 "core" & 3\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'r +290 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & x u \  + "manipulator"&& +4 "core" &  i +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  + "storage"(& +4 "core" & g\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(' +8 "core" &  +2 "manipulator"&q% +4 "core" % ϙ  W +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&$& +5 "core" &ӏ' @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ'   @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&"'? +93 "core" ' +2 "manipulator"& & +4 "core" &Ӑ( ) @] +2 "manipulator"&% +3 "core" %5  +2 "collection"')& +4 "core" & ^ _x\ +2 "collection"'*& +6 "core" & _ ]w\ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & ] ]x\ +6 & ^ ^r\ 8 +9 &OHx _ _q\ 1 +9 &|r a `i\ E +10 &#` ` `f\ M +9 &W _ ab\ M +10 &Y b c`\ L +9 &jY a ah\ M +9 &-Y ` bc\ M +10 &V ` ed\ M +9 &W c cc\ M +9 &sY c dd\ M +10 &!5V d f`\ M +9 &"Y d d^\ M +10 &$V e db\ M +9 &&{X d e_\ M +9 &(<\\ f f_\ M +10 &*W g gd\ L +9 &+W f ga\ M +9 &-Y g f]\ M +10 &/EV i gc\ M +9 &1V g i_\ L +10 &2X g g^\ M +9 &4Z h id\ M +9 &6NW i j_\ L +10 &8Y j hb\ M +9 &9W k j]\ L +10 &;W j k`\ M +9 &=UY i kZ\ M +9 &?W k lb\ M +10 &@Y j l_\ M +9 &B] p n_\ M +9 &DXc o q`\ N +10 &Fr s v_\ P +9 &G } xd\ T +9 &I `\ W +10 &KB b\ Y +9 &M a\ Y +10 &N \\\ Y +9 &P V\ Z +9 &RF U\ Z +10 &T Z\ [\ +9 &U _\ [ +9 &W b\ \\ +10 &YD ^\ ] +9 &[ Q\ ^ +10 &\\`L ^\ 7 +9 &\\ } S\ O +5 ( +2 "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&.1 +3 "core" &\\r Q\ O +60 1 + "manipulator"&/% +4 "core" % 5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%5& +4 "core" &\ +2 "manipulator"&&% +4 "core" %  V  + "storage"(% +4 "core" % ) %\ + "storage"(4. +3 "core" .( +2 "storage"(>& +3 "core" & ' '\  +2 "storage"(& +4 "core" & ' (\  + "manipulator"&& +4 "core" &ӑ(  @\\ + "manipulator"&0% +4 "core" %  T  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&+( +166 "core" ( + "manipulator"&3& +5 "core" & #  + "storage"(?& +4 "core" & > 6 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&''7 +97 "core" ' + "storage"(%& +4 "core" & a [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +287 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" & + 1\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&1( +4 "core" ( + "manipulator"&(& +4 "core" & j  + "storage"(& +4 "core" & A > \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&G'ϡ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +3 "storage"(' +7 "core" & ]  +2 "manipulator"&A% +3 "core" % ϥ  _ +2 .tForearm.seek :retract +2 "manipulator"&\ ' +96 "core" ' + .tElbow.seek PC +2 "manipulator"&;( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +113 "core" ( + "manipulator"&M& +4 "core" & n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &  #  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&O' +101 "core" ' +2 "manipulator"&P& +4 "core" &   +2 "manipulator"&D% +4 "core" % ]  +2 "processing"%N& +4 "core" &\ +2 "processing"%6& +5 "core" &\ +2 .tPC.seek :closed + "processing"%x(^ +4 "core" &\ +9 & -\ #b +9 &V{\ 7 +10 &}z\ L +10 &V\ O +8 &PT\ P +10 &W\ O +9 &Y\ P +9 &V\ O +10 &YU\ O +9 &U\ P +10 &T\ O +9 &!U\ O +9 &#aX\ O +10 &%#T\ O +9 &&V\ O +9 &(Y\ P +10 &*iW\ O +9 &,+W\ O +9 &-Y\ O +10 &/Z\ P +9 &1p[\ P +10 &33W\ O +9 &4T\ O +9 &6V\ O +10 &8x[\ P +9 &::W\ P +9 &;X\ O +10 &=W\ O +9 &?W\ P +10 &AA]\ P +9 &Bh\ R +9 &Dx\ T +10 &Fv\ V +9 &H8\ V +9 &I\ V +10 &K\ V +9 &M|\ W +10 &O>\ V +9 &P\ W +9 &R\ W +10 &T\ X +9 &VE\ W +10 &X\ W +9 &Y\ X +9 &[\ W +10 &]K\ K +10 &^}N\ !g +8 &^.\ 6 +3 ( + "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&91 +53 "core" 1 +3 "manipulator"&7% +4 "core" %  u  +40 .tForearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +92 "core" ' +2 "processing"%=& +4 "core" &^&\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&V% +4 "core" %   + "storage"(Z% +4 "core" % ' # b\ +2 "storage"(:. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(I(,y +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (^& +3 "core" &,} (\  + "manipulator"&a& +4 "core" & ]  +2 "manipulator"&`% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&e( +241 "core" ( + "manipulator"&R& +5 "core" &  + "storage"(E& +4 "core" &,}   3\  +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&L' +90 "core" ' + "storage"(W& +5 "core" &,} ( ' F\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'r +296 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &  + "storage"(]& +4 "core" &,}\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&b'7 +26 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(F' +30 "core" ' + "manipulator"&J% +4 "core" %? e +2 "storage"(c& +3 "core" &,}  V\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts + "manipulator"&m'k +14 "core" ' + "manipulator"&n& +4 "core" &   +2 "storage"(U& +3 "core" &,}  ! \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +19 "core" ' +2 .tSE.seek 2.16 Pucks below Top Plate +2 "storage"(j'T +38 "core" ' + "manipulator"&i& +4 "core" &  +2 "manipulator"&Y% +4 "core" % _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +268 "core" ( + "manipulator"&p& +5 "core" & ! \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &  \ +2 .tForearm.seek PC +2 "manipulator"&z' +101 "core" ' + .tHand.close + "manipulator"&r/ +66 "core" / +2 .tPC.seek :open +2 "processing"%f( +456 "core" ( +2 "storage"(& +4 "core" &,} % " \  + "manipulator"&h& +4 "core" &  # \ +2 "manipulator"& % +3 "core" %  [ +2 .tForearm.seek :retract + "manipulator"&d' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&X( +241 "core" ( + "manipulator"&o& +4 "core" & < +2 "storage"(~& +3 "core" &,} ( &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&[' +91 "core" ' + .tHand.open +2 "manipulator"&s1 +55 "core" 1 +3 "storage"(- +3 "core" -'T +2 .tSE.seek 1.81 Pucks below Top Plate +2 "storage"(v' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.85 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"( & +4 "core" &,} \ { + "manipulator"&g& +4 "core" & < +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&}& +4 "core" &  < + "storage"(K& +5 "core" &,} \ { +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek 1.57 Pucks below Top Plate +2 "storage"({'E +57 "core" ' +2 "manipulator"&y& +4 "core" &  1 < + "storage"(& +4 "core" &,}  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 1.75 Pucks below Top Plate + "storage"(' +20 "core" ' +2 "manipulator"& % +4 "core" %F  F + "storage"(!& +4 "core" &,}  ! 6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&q'r +22 "core" ' +2 "manipulator"&& +4 "core" & # ; +2 "storage"(& +4 "core" &,} A @ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&$' +22 "core" ' + "storage"(% +4 "core" % . @ J\ +3 ."downElevator"SE.seek :down +3 "storage"(|' +99 (% +3 "core" %i?   \ Wc +2 "manipulator"& % +4 "core" % E | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ()& +4 "core" &,} @ ? ^\  +2 "collection"'& +4 "core" &\\q l\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %   V  +2 "storage"(% +3 "core" % @ @ \ +2 "storage"(_. +3 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(.(,y +16 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (/& +3 "core" &,| A A Y\ +2 "manipulator"&5& +4 "core" &  ; + .tElbow.seek 4 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&& +4 "core" &   ; + "storage"(4& +5 "core" &,| @ @ e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +97 "core" ' +2 "storage"(*& +4 "core" &,| ; W 8\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&0& +2 "core" &  - ; +2 "storage"("& +4 "core" &,| @ A &\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&3'7 +23 "core" ' + .tElbow.hold + "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +2 .tSE.seek 2.16 Pucks below Top Plate + "storage"(#'R +29 "core" ' + "manipulator"&2% +4 "core" %K ; +2 "storage"(<& +4 "core" &,| ' (\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&B'w +32 "core" ' + "manipulator"&& +4 "core" & n ; +2 "storage"((& +3 "core" &,| @ @ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +15 "core" ' +2 .tSE.seek 3.16 Pucks below Top Plate + "storage"(8' +38 "core" ' +2 "manipulator"&@& +4 "core" & C ; + "manipulator"&A% +4 "core" %  J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&'(ӂ +153 "core" ( + "manipulator"&,& +4 "core" &Ӊ+  Cp +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &Ӊ+  Cp + .tForearm.seek CC +2 "manipulator"&M'? +94 "core" ' +2 .tHand.close + "manipulator"&H/ +60 "core" / +2 .tCC.seek :open + "collection"'1( +447 "core" ( + "storage"(P& +4 "core" &,| w f \ +2 "storage"(D& +4 "core" &,| J Q [\ + "manipulator"&N& +4 "core" &Ӎ*  Bl + "manipulator"&% +4 "core" % 6 Y +2 .tForearm.seek :retract + "manipulator"&\ ' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +168 "core" ( +2 "manipulator"&9& +4 "core" & P  +2 "storage"(7& +4 "core" &,| n j \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&6'7 +101 "core" ' + .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&V1 +62 "core" 1 +2 "manipulator"&Z% +4 "core" % B 3 +2 "storage"(:& +3 "core" &,| w\ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 311 counts +2 "manipulator"&O'n +22 "core" ' + "manipulator"& & +5 "core" &  + "storage"(^& +4 "core" &,| N\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&a' +23 "core" ' +2 "storage"(`% +4 "core" % O\ +2 ."downElevator"SE.seek :down +3 "storage"(R' +99 (E% +3 "core" %dA w z l\ Wd +2 "manipulator"&;% +3 "core" %  K r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&W' +94 "core" ' +40 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling two pucks from tube 4 to 5 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp +42 "collection"'Q& +14 "core" & [ ]p\ + "manipulator"&C% +4 "core" %  X  +2 "storage"(\\% +4 "core" % U\ + "storage"(]. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(k(,y +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (J& +3 "core" &,{ \ +2 "manipulator"&c& +4 "core" &  5  +2 .tElbow.seek 4 + "manipulator"&n( +5 "core" ( + "manipulator"&U& +4 "core" &  +2 "storage"(i& +4 "core" &,{ Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&Y' +94 "core" ' +2 "storage"(L& +4 "core" &,{ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'r +285 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (b& +3 "core" &,{ { d\ +2 "manipulator"&m& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&F( +4 "core" ( + "manipulator"&l& +4 "core" &  + "storage"(p& +4 "core" &,{ _\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&S'c +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&-/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +2 "storage"(u' +7 "core" &  U  +2 "manipulator"&x% +4 "core" % ό  z +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"& & +4 "core" &ӓ%  >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &ӓ% 3 >I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&o'? +99 "core" ' +2 "manipulator"&~& +4 "core" &ӓ%  >I +2 "manipulator"&w% +3 "core" %A   5 +2 "collection"'s& +4 "core" & \\ ]x\ +2 "collection"'& +5 "core" & _ `w\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & ` ^u\ +7 &; _ _u\ $d +9 &Tw ^ ^s\ 6 +10 &{ _ _t\ K +9 &X ^ ^s\ M +9 &kT c _t\ M +10 &.Z a av\ L +9 &W _ ^v\ L +9 &Y ^ _w\ M +10 &sW a bw\ M +9 &6S b bu\ L +10 &V e bv\ L +9 &!Y d bz\ L +9 &#{U c dx\ M +10 &%>S d dw\ L +9 &'U f ev\ L +9 &(Y e ew\ M +10 &*U e hv\ M +9 &,FX f dg\ L +9 &.Y f fl\ M +10 &/U f hf\ M +9 &1T h im\ L +10 &3NU h h_\ L +9 &5S h jk\ M +9 &6Y k ee\ M +10 &8U i ke\ M +9 &:UT h kc\ M +9 &<Z i ia\ L +10 &=W i ka\ M +9 &?Z m kc\ M +10 &A]Z n kd\ M +9 &C] m m]\ M +9 &Dg q oc\ N +10 &Fx v t_\ Q +9 &HN ~ zc\ U +10 &J d\ X +9 &K _\ Y +9 &M _\ Y +10 &OH `\ Y +9 &Q X\ Z +9 &R `\ Z +10 &T d\ \\ +9 &VG `\ \\ +9 &X d\ \\ +10 &Y b\ ^ +9 &[ a\ J +10 &\\9 h\ . +9 &\\ c\ Z +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"& 1 +3 "core" &\\| a\ Z +54 1 + "manipulator"&g% +4 "core" % A d 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%K& +5 "core" &|\ + "manipulator"&d% +4 "core" %   +2 "storage"(y% +3 "core" % ( %\ +2 "storage"(. +3 "core" .(,y + "storage"( & +4 "core" &,{ & (\ + "storage"(!& +4 "core" &,{ # '\ + "manipulator"&j& +4 "core" &ӓ% + >I +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +165 "core" ( + "manipulator"&v& +4 "core" &  +2 "storage"(& +3 "core" &,{ ; ; #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&X' +94 "core" ' +2 "storage"([& +4 "core" &,{ Z F q\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &,{ (  \ +2 "manipulator"&t& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&{& +4 "core" &  +2 "storage"(& +3 "core" &,{ !  \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&)'c +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  +2 "manipulator"&% +4 "core" % ω +2 .tForearm.seek :retract +2 "manipulator"&_' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&/& +4 "core" & 2 ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" & u ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&4& +4 "core" &  ' +2 "manipulator"&$% +4 "core" %  F + "processing"%*& +4 "core" &\ +2 "processing"%|& +6 "core" &\ +2 .tPC.seek :closed + "processing"%I(^ +4 "core" &\  +9 &/s\ *w +10 &a\ > +9 &gu\ O +9 &&V\ P +10 &W\ O +9 &T\ O +9 &mT\ O +10 &/W\ O +9 &W\ O +10 &T\ O +9 & uW\ O +9 &"8T\ O +10 &#W\ O +9 &%U\ O +9 &'}U\ O +10 &)@S\ O +9 &+W\ O +10 &,W\ O +9 &.U\ O +9 &0GY\ O +10 &2 W\ O +9 &3V\ O +9 &5U\ O +10 &7OU\ O +9 &9W\ O +10 &:Y\ O +9 &<W\ O +9 &>WV\ O +10 &@[\ P +9 &Ae\ P +9 &Cr\ R +10 &EP\ U +9 &G\ U +10 &H\ V +9 &J\ V +9 &LU\ U +10 &N\ W +9 &O\ W +9 &Q\ W +10 &SY\ W +9 &U\ W +10 &V\ X +9 &X\ W +9 &Z`\ W +10 &\\!\ X +9 &]\ 8 +9 &^-u\ V +10 &^1\ 7 +2 ( +2 "processing"%|& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +4 "core" %  " F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 "processing"%0& +4 "core" &^.\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&"% +4 "core" %  L  + "storage"(%% +4 "core" % .\ + "storage"(2. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(<(<- +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<* G\  +2 "manipulator"&(& +3 "core" & % ' +2 "manipulator"&@% +4 "core" %  ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&A( +245 "core" ( +2 "manipulator"&>& +4 "core" &  8 + "storage"(&& +4 "core" &<* ' % 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +97 "core" ' + "storage"(3& +4 "core" &<*  O\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'r +295 "core" ' +2 "storage"(#- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&,& +3 "core" & D 8 +2 "storage"(G& +4 "core" &<* 4\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +13 "core" ' +2 .tElbow.hold + "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(H- +2 "core" -' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(+' +30 "core" ' +2 "manipulator"&% +4 "core" %Ρ  < + "storage"(P& +4 "core" &<*  V\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&D' +15 "core" ' + "manipulator"&N& +4 "core" & 8 +2 "storage"(& +4 "core" &<* $ % \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9'O +18 "core" ' +2 .tSE.seek 2.16 Pucks below Top Plate +2 "storage"(7'P +36 "core" ' + "manipulator"&M& +4 "core" & M 8 +2 "manipulator"&'% +4 "core" %O M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&Z( +244 "core" ( + "manipulator"&:& +5 "core" & T / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & ` . +2 .tForearm.seek PC +2 "manipulator"&^' +99 "core" ' + .tHand.close + "manipulator"&`/ +60 "core" / +2 .tPC.seek :open +41 "processing"%\ ( +467 "core" ( +2 "storage"(E& +4 "core" &<* ( 1 e\  + "manipulator"&;& +4 "core" & 6 . + "manipulator"&% +4 "core" %  I  +2 .tForearm.seek :retract + "manipulator"&6' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Q( +248 "core" ( + "manipulator"&O& +5 "core" & j U + "storage"(8& +4 "core" &<* $ ! s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&C'O +97 "core" ' + .tHand.open + "manipulator"&\\1 +65 "core" 1 +2 "storage"(]- +3 "core" -'P +2 .tSE.seek 1.81 Pucks below Top Plate +2 "storage"(J' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.85 Pucks below Top Plate + "storage"(c' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' + "storage"(i& +4 "core" &<* \ v +2 "manipulator"&a& +4 "core" &  V U + .tElbow.seek 5 +2 "manipulator"&L( +4 "core" ( + "manipulator"&R& +4 "core" & E U +2 "storage"(.& +4 "core" &<* P\ t +2 .tForearm.seek 5 + 450 counts + "manipulator"&='O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek 1.56 Pucks below Top Plate + "storage"(W'A +52 "core" ' +2 "manipulator"&T& +4 "core" & F U +2 "storage"(b& +3 "core" &<* s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&m'΍ +13 "core" ' +2 .tElbow.hold + "manipulator"&l, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 1.75 Pucks below Top Plate + "storage"(p' +26 "core" ' +2 "manipulator"&-% +4 "core" %Ρ 6 D + "storage"(r& +4 "core" &<* % %\  +2 .tForearm.force -20 + "manipulator"&5 +8 .tForearm.seek 5 + 320 counts + "manipulator"&x' +16 "core" ' +2 "manipulator"&n& +5 "core" & F Q + "storage"(Y& +4 "core" &<* ( (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +15 "core" ' + "storage"(z% +5 "core" % . @ \ +2 ."downElevator"SE.seek :down +4 "storage"(e' +99 (S% +3 "core" %A  ! \ Wc +2 "manipulator"&~% +4 "core" %@ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (s& +4 "core" &<* % ( l\  +2 "collection"'F& +4 "core" &\\{ r\ Z +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&u% +4 "core" % ! & +2 "storage"(% +3 "core" % ( (\ +2 "storage"(1. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"( (<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (g& +3 "core" &<*   d\  +2 "manipulator"&K& +3 "core" & = Q +2 .tElbow.seek 5 +2 "manipulator"&d( +3 "core" ( + "manipulator"&y& +4 "core" & " Q +2 "storage"(& +4 "core" &<* ( (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +100 "core" ' +2 "storage"(!& +4 "core" &<* @ @ g\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +289 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & Q +2 "storage"(o& +4 "core" &<*   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&v'΍ +14 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"([- +3 "core" -' +2 .tSE.seek 2.16 Pucks below Top Plate + "storage"(h'N +30 "core" ' + "manipulator"&}% +5 "core" %Ζ . : + "storage"(& +4 "core" &<*   \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts + "manipulator"& ' +15 "core" ' +2 "manipulator"&t& +4 "core" & . P +2 "storage"({& +3 "core" &<*   Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' +2 .tSE.seek 3.16 Pucks below Top Plate +2 "storage"(q' +40 "core" ' +2 "manipulator"&& +4 "core" & N P + "manipulator"&% +4 "core" %V y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +4 .tElbow.seek CC +2 "manipulator"&X(ӂ +152 "core" ( +2 "manipulator"&& +4 "core" &Ӊ* ( Bf + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &ӊ) Ae +2 .tForearm.seek CC +3 "manipulator"&/'? +93 "core" ' + .tHand.close +2 "manipulator"&5/ +56 "core" / +2 .tCC.seek :open + "collection"'( +450 "core" ( +2 "storage"(4& +4 "core" &<* [ f L\  +2 "storage"($& +3 "core" &<* W Y\  +2 "manipulator"&*& +4 "core" &ӌ)  Ac + "manipulator"&% +4 "core" % A Q +2 .tForearm.seek :retract + "manipulator"&_' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&f( +164 "core" ( + "manipulator"&& +5 "core" &  + "storage"(& +4 "core" &<* x \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&0'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +52 "core" 1 +2 "manipulator"&2% +4 "core" % Ύ 3 +2 "storage"(|& +3 "core" &<* } @\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&'Ϻ +26 "core" ' +2 "manipulator"&k& +4 "core" &   +2 "storage"(& +4 "core" &<* b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&('O +16 "core" ' + "storage"(@% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(>' +98 (&% +3 "core" %wA y { j\ Va +2 "manipulator"&% +3 "core" %F 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +95 "core" ' +38 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling two pucks from tube 5 to 6 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" & ] ^w\ + "manipulator"&#% +4 "core" %   " + "storage"(,% +4 "core" % `\ +2 "storage"(G. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(H(<- +6 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<+ 2 2\  + "manipulator"&P& +4 "core" & m  +2 .tElbow.seek 5 +2 "manipulator"&N( +4 "core" ( + "manipulator"&& +4 "core" & +  +2 "storage"(M& +4 "core" &<+ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +96 "core" ' + "storage"(& +5 "core" &<+ y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'r +284 "core" ' +40 "storage"(B- +12 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<+ q 7\  +2 "manipulator"&D& +4 "core" & +  + .tElbow.seek 5 +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&9& +3 "core" &  +2 "storage"(:& +4 "core" &<+ H\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&?/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(V' +8 "core" &   + "manipulator"&I% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&E' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +140 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +23 "core" ( + "manipulator"&& +4 "core" &ӌ a 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &ӌ  2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'? +100 "core" ' +2 "manipulator"&8& +4 "core" &ӌ 2 +2 "manipulator"&Z% +3 "core" %; / +2 "collection"'\\& +4 "core" & _ `j\ +2 "collection"']& +5 "core" & _ _j\ +2 .tCC.seek :closed +3 "collection"'U(\\ +4 "core" & _ _o\ +6 &3 _ an\ $e +9 &Vy _ ]q\ 7 +9 &z ^ ^s\ L +10 &V _ _}\ L +9 &lV _ _u\ L +10 &/T _ `v\ L +9 &W ` _x\ M +9 &U ` _x\ L +10 &tV b `y\ L +9 &7S a `w\ L +9 &W d av\ M +10 &!V c bx\ L +9 &#{W f dw\ M +10 &%>U d cy\ L +9 &'U g cx\ L +9 &(R f fu\ L +10 &*U g fv\ L +9 &,GS h fv\ L +9 &.V g gw\ L +10 &/W h gw\ L +9 &1W i iu\ L +9 &3NV k gx\ L +10 &5R i is\ L +9 &6W i hu\ L +10 &8R h ir\ L +9 &:UW i hu\ M +9 &<W j ix\ L +10 &=Z l lw\ L +9 &?X l kk\ M +9 &A]X m me\ M +10 &C` o po\ M +9 &Dj s pl\ N +10 &F u vf\ Q +9 &HQ  |p\ T +9 &J n\ X +10 &K Z\ X +9 &M i\ Z +9 &OG i\ Z +10 &Q p\ Z +9 &R ]\ [ +10 &T d\ [ +9 &VJ d\ [ +9 &X `\ ] +10 &Y W\ ^ +9 &[ b\ K +9 &\\8 b\ . +10 &\\ _\ Y +5 ( +2 "collection"']& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.30 + .Hand.open +2 "manipulator"&i1 +3 "core" &\\u d\ Y +54 1 +2 "manipulator"&a% +4 "core" % ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%.& +4 "core" &\ + "manipulator"&6% +5 "core" %   e  + "storage"(T% +4 "core" %   \ + "storage"(b. +4 "core" .(<- + "storage"(-& +4 "core" &<+  ! \  + "storage"(r& +4 "core" &<+ & * K\  + "manipulator"&7& +4 "core" &ӌ  V 2 +2 "manipulator"&n% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&Y( +161 "core" ( +2 "manipulator"&J& +4 "core" & .  + "storage"(z& +4 "core" &<+ ; < v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Q'O +92 "core" ' + "storage"(C& +4 "core" &<+ Z < \ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'r +289 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" &<+ ' ' 3\  +2 "manipulator"&=& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&W& +3 "core" & S  +2 "storage"(m& +3 "core" &<+ @ @ g\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&s'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&u& +3 "storage"(x' +8 "core" &  ~  + "manipulator"&% +4 "core" % ϻ \\ +2 .tForearm.seek :retract + "manipulator"&1' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( + "manipulator"&g& +4 "core" & * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" & * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&y' +93 "core" ' +2 "manipulator"&& +4 "core" &  * +2 "manipulator"& % +3 "core" % V D +2 "processing"%!& +4 "core" &\ +2 "processing"%e& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%<(^ +4 "core" &\ \ +9 &0s\ )w +9 &a\ > +10 &ft\ O +9 &'V\ O +9 &W\ O +10 &W\ O +9 &nT\ O +9 &0W\ O +10 &Z\ O +9 &W\ O +10 & tV\ O +9 &"7U\ O +9 &#W\ O +10 &%U\ O +9 &'~U\ O +9 &)@U\ O +10 &+W\ O +9 &,W\ N +10 &.U\ O +9 &0GV\ O +9 &2 U\ O +10 &3U\ O +9 &5X\ O +9 &7PT\ O +10 &9X\ O +9 &:W\ O +10 &<V\ O +9 &>WY\ O +9 &@Y\ O +10 &Ab\ P +9 &Cp\ R +10 &EO\ U +9 &G\ U +9 &H\ U +10 &J\ U +9 &LT\ U +9 &N\ W +10 &O\ V +9 &Q\ V +9 &SY\ V +10 &U\ W +9 &V\ W +10 &X\ V +9 &Za\ V +9 &\\!\ W +10 &]}\ 8 +9 &^.y\ V +9 &^.\ 4 +3 ( + "processing"%e& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&l1 +54 "core" 1 +2 "manipulator"&w% +4 "core" %  e D + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 "processing"%& +4 "core" &^'\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&o% +4 "core" %    + "storage"([% +4 "core" %   \\\ +2 "storage"(}. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (t& +3 "core" &K k\  +2 "manipulator"&{& +4 "core" & + * +2 "manipulator"&% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +245 "core" ( +2 "manipulator"& & +4 "core" & e ? + "storage"(d& +4 "core" &K ' ( W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&j' +95 "core" ' +2 "storage"(v& +4 "core" &K  % 8\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +297 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & Q ? + "storage"()& +4 "core" &K  )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'< +14 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(5- +3 "core" -' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(' +30 "core" ' +2 "manipulator"&% +4 "core" %O G A + "storage"(4& +4 "core" &K\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&$'{ +15 "core" ' + "manipulator"&*& +4 "core" & t ? +2 "storage"(& +4 "core" &K % $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +17 "core" ' +2 .tSE.seek 2.17 Pucks below Top Plate +2 "storage"('Z +40 "core" ' + "manipulator"&/& +5 "core" & a ? + "manipulator"&X% +4 "core" % c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&%' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&2( +243 "core" ( +2 "manipulator"&|& +4 "core" & e & +2 .tElbow.reconfigure :loose +43 "manipulator"&$ &.,(#b +11 &k& +3 "core" & p % +2 .tForearm.seek PC + "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&@/ +57 "core" / + .tPC.seek :open +2 "processing"%_( +460 "core" ( + "storage"(&& +4 "core" &K . @ ]\  +2 "manipulator"&& +3 "core" &  I % +2 "manipulator"&f% +4 "core" %  C 3 +2 .tForearm.seek :retract + "manipulator"&0' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +252 "core" ( + "manipulator"&#& +4 "core" & W U +2 "storage"(,& +3 "core" &K  %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' + .tHand.open +2 "manipulator"&G1 +61 "core" 1 +2 "storage"(- +4 "core" -'Z +2 .tSE.seek 1.82 Pucks below Top Plate +2 "storage"(q'& +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.86 Pucks below Top Plate + "storage"(P' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(M& +4 "core" &K \  +2 "manipulator"&(& +3 "core" & ' U +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&>& +3 "core" & \\ U +2 "storage"( & +4 "core" &K g\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&"' +5 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek 1.57 Pucks below Top Plate +2 "storage"(3'K +55 "core" ' +2 "manipulator"&B& +4 "core" & P U + "storage"(& +4 "core" &K % '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&D'< +23 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.76 Pucks below Top Plate +2 "storage"(:' +23 "core" ' +2 "manipulator"&?% +4 "core" %I  8 +2 "storage"(`& +4 "core" &K  2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&I'u +27 "core" ' + "manipulator"&N& +5 "core" & l U + "storage"('& +4 "core" &K %  I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +17 "core" ' +2 "storage"(^% +4 "core" % . ) g\ +2 ."downElevator"SE.seek :down +4 "storage"(A' +99 ( % +3 "core" %D> % $ 7\ Wc +2 "manipulator"&8% +4 "core" % / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (+& +4 "core" &K @ @ ]\  +2 "collection"'\\& +4 "core" &\\t a\ Y + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&V% +4 "core" %   -  +2 "storage"(E% +4 "core" % @ @ d\ + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(i(K +2 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &K  '\  +2 "manipulator"&.& +4 "core" & T + .tElbow.seek 6 +2 "manipulator"&6( +4 "core" ( + "manipulator"&T& +4 "core" & T + "storage"(b& +4 "core" &K @ @ p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&-' +93 "core" ' +2 "storage"(r& +4 "core" &K 4 = L\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'r +289 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" &  k T +2 "storage"(O& +3 "core" &K   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&J'< +20 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(C- +2 "core" -' +3 .tSE.seek 2.17 Pucks below Top Plate + "storage"(;'W +30 "core" ' +2 "manipulator"&R% +4 "core" %N   + "storage"(S& +4 "core" &K \\\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&~'z +15 "core" ' + "manipulator"&=& +4 "core" & T +2 "storage"(W& +3 "core" &K ' % \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +20 "core" ' +2 .tSE.seek 3.17 Pucks below Top Plate + "storage"(F' +36 "core" ' +2 "manipulator"&u& +4 "core" & C T +2 "manipulator"&% +3 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Y' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&Q(ӂ +158 "core" ( + "manipulator"&c& +5 "core" &ӥ  :/ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +4 "core" &ӥ  s :/ + .tForearm.seek CC +2 "manipulator"&g'? +94 "core" ' +2 .tHand.close + "manipulator"&K/ +62 "core" / + .tCC.seek :open +2 "collection"'L( +447 "core" ( + "storage"(& +4 "core" &K g a =\  +2 "storage"( & +3 "core" &K U T [\  +2 "manipulator"&!& +4 "core" &ӥ  :/ + "manipulator"&x% +4 "core" % 6  0 +2 .tForearm.seek :retract + "manipulator"&1' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&\ ( +164 "core" ( +2 "manipulator"&l& +4 "core" &   + "storage"(w& +4 "core" &K x\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'< +95 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&[1 +56 "core" 1 + "manipulator"&}% +5 "core" % I  0 + "storage"(e& +4 "core" &K x n -\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&y'u +15 "core" ' +3 "manipulator"&H& +4 "core" & \  + "storage"(t& +4 "core" &K D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&{' +21 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (d% +3 "core" %jA z D\ Vb +2 "manipulator"&p% +4 "core" %  * +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +38 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling two pucks from tube 6 to 2 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" & ` ]r\ + "manipulator"&h% +4 "core" %    +2 "storage"(% +3 "core" % C\ +2 "storage"(). +3 "core" .(K +2 "storage"(5& +3 "core" &K E\  +2 "storage"(& +3 "core" &K <\  +2 "manipulator"&4& +3 "core" &  #  +2 .tElbow.seek 6 +2 "manipulator"&*( +4 "core" ( + "manipulator"&& +4 "core" & ^  +2 "storage"(/& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +92 "core" ' + "storage"(j& +5 "core" &K \  +41 .tSE.reconfigure :pick +14 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +287 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K z v V\  + "manipulator"&$& +5 "core" & 8  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & I  + "storage"(|& +4 "core" &K 7\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&k'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& +2 "storage"(%' +8 "core" &  +2 "manipulator"&<% +4 "core" % ϛ  # +2 .tForearm.seek :retract + "manipulator"&&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&f& +4 "core" &ӏ' @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ'  @X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&#'? +90 "core" ' + "manipulator"&,& +5 "core" &Ӑ( @W + "manipulator"&2% +4 "core" %8  v +2 "collection"'G& +4 "core" & ] ]y\ +2 "collection"'& +5 "core" & ] ]{\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & _ ]{\ +6 &A ` `w\ %g +10 &Yy ] `v\ 8 +9 &v ` am\ L +9 &T _ ak\ L +10 &V ` `n\ L +9 &JW b ]m\ L +10 & W b `w\ L +9 &W ` aq\ L +9 &U a au\ L +10 &QU c cx\ L +9 & U a cx\ L +10 &!U a bt\ L +9 &#W f bv\ L +9 &%YU d et\ L +10 &'U d gu\ L +9 &(U h es\ L +9 &*U f fx\ L +10 &,cU c gt\ L +9 &.%U d iv\ L +9 &/X h jt\ L +10 &1W i ix\ L +9 &3jW g iw\ L +10 &5-U j ix\ L +9 &6W i iw\ L +9 &8U j kp\ L +10 &:sU i jr\ L +9 &<5W k hv\ L +9 &=X k lt\ L +10 &?W k mw\ L +9 &AyX i lx\ L +10 &C:\\ o nu\ M +9 &Dh q rs\ N +9 &Fv w vu\ P +10 &Hk  |s\ T +9 &J" j\ X +9 &K j\ X +10 &M l\ Y +9 &Od p\ Y +10 &Q% h\ Y +9 &R g\ Z +9 &T l\ [ +10 &Vc g\ \\ +9 &X% m\ \\ +9 &Y d\ ^ +10 &[ b\ K +9 &\\1 e\ 3 +10 &\\y s\ S +2 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&M1 +63 "core" 1 +2 "manipulator"&(% +4 "core" % 8 v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&0% +4 "core" %   + "storage"(B% +4 "core" %  $ \ + "storage"(. +3 "core" .(K +2 "storage"(?& +3 "core" &K $ ! \  +2 "storage"(`& +4 "core" &K $ % O\  + "manipulator"&& +4 "core" &ӑ& i ?V + "manipulator"&N% +4 "core" %  Y  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&q( +165 "core" ( + "manipulator"&'& +4 "core" &  +2 "storage"(^& +4 "core" &K < ; =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(& +5 "core" &K Y Y\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +289 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &K 0  \  +2 "manipulator"&"& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&3& +4 "core" & 5  +2 "storage"(D& +3 "core" &K A A x\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&+'h +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(V' +8 "core" &  + "manipulator"&E% +4 "core" % i  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&:( +124 "Can"\ [X +26 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&a& +5 "core" & K = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &  = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&T' +94 "core" ' +2 "manipulator"&b& +4 "core" & n = + "manipulator"&% +4 "core" % ] j +2 "processing"%r& +5 "core" &\ +2 "processing"%A& +5 "core" &\ +3 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +8 &2w\ )w +9 &b~\ > +10 &_t\ O +9 & T\ O +10 &W\ O +9 &W\ N +9 &gV\ O +10 &)Y\ O +9 &U\ O +9 &W\ N +10 & oV\ O +9 &"1S\ O +10 &#U\ O +9 &%W\ O +9 &'wU\ O +10 &)9X\ O +9 &*U\ N +9 &,W\ O +10 &.W\ O +9 &0AU\ O +10 &2U\ N +9 &3U\ O +9 &5R\ O +10 &7JT\ N +9 &9 W\ O +9 &:W\ O +10 &<U\ O +9 &>PW\ O +10 &@X\ O +9 &Ab\ P +9 &Cn\ R +10 &EH\ U +9 &G \ U +9 &H\ U +10 &J\ V +9 &LM\ U +10 &N \ W +9 &O\ V +9 &Q\ W +10 &SQ\ W +9 &U\ W +9 &V\ W +10 &X\ V +9 &ZX\ W +10 &\\\ X +9 &]\ 5 +9 &^6r\ B +9 ( +3 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&91 +3 "core" &^\ 0 +56 1 +2 "manipulator"&Z% +4 "core" %  S j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +91 "core" ' + "processing"%n& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&O% +4 "core" %  2  + "storage"(C% +4 "core" %   d\ +2 "storage"(R. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(S(  +1293 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +3 "core" &  \ + "manipulator"&W& +5 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(u'r +3 "core" & ` = + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +3 "core" ( +2 "manipulator"&-& +4 "core" & q = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" & = +2 .tForearm.seek PC + "manipulator"&7' +90 "core" ' + .tHand.close +2 "manipulator"&J/ +72 "core" / +2 .tPC.seek :open +2 "processing"%~( +75 "core" ' + "storage"(;- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'1 +40 "core" ' +328 ( + "storage"(s& +4 "core" &  ( , =\ +2 "manipulator"&m& +4 "core" & U = + "manipulator"&z% +4 "core" %  [ + .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&Y( +239 "core" ( +2 "manipulator"&U& +4 "core" & 7 & + "storage"(& +5 "core" &  % %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'S +94 "core" ' +2 .tHand.open + "manipulator"&!1 +63 "core" 1 +2 "storage"(x- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(l' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(w' +61 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +4 "core" -' + "storage"(Q& +4 "core" &  Q\ } + "manipulator"&[& +4 "core" &  & +2 .tElbow.seek 2 + "manipulator"&}( +4 "core" ( + "manipulator"&e& +54 "core" &  & +3 "storage"(H& +3 "core" &  $\ +3 .tForearm.seek 2 + 450 counts + "manipulator"&t'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +55 "core" ' +2 "manipulator"&1& +4 "core" & @ & +2 "storage"(d& +4 "core" &  & & A\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&p'Α +25 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +21 "core" ' +2 "manipulator"&% +4 "core" %Ρ  g +2 "storage"(h& +4 "core" &  % / \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&y' +15 "core" ' +2 "manipulator"&& +4 "core" & % +2 "storage"()& +4 "core" &  % % d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'S +15 "core" ' +2 "storage"(% +4 "core" % - B ^\ +3 ."downElevator"SE.seek :down +3 "storage"(4' +99 (F% +3 "core" %BN   0\ Yk +2 "manipulator"&% +4 "core" %L  L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/' +90 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (j& +4 "core" &  / ( h\ + "collection"'{& +4 "core" &\\u x\ S +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"& % +4 "core" %    +2 "storage"(o% +3 "core" % @ @ \ +2 "storage"(v. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"( (  +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &    o\ +2 "manipulator"&$& +4 "core" & . % + .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&|& +4 "core" & { % + "storage"(& +4 "core" &  A = &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&@'S +92 "core" ' +2 "storage"(<& +4 "core" &  ? @ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(*'r +300 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +2 "core" & G % +2 "storage"(& +4 "core" &  ( %\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'Α +27 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(2'k +29 "core" ' + "manipulator"&G% +5 "core" %Σ ' + "storage"(& +4 "core" &  =\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts + "manipulator"&%' +15 "core" ' +2 "manipulator"&&& +4 "core" & : % +2 "storage"(L& +3 "core" &    +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&M'S +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"((' +35 "core" ' +2 "manipulator"& & +4 "core" &  W % +2 "manipulator"&0% +4 "core" %Y  Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ( + "manipulator"&?& +5 "core" &ӊ' \ @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӊ' @W +2 .tForearm.seek CC +2 "manipulator"&`'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'N( +450 "core" ( +2 "storage"(#& +4 "core" &  X _\ + "storage"('& +4 "core" &  ` c\ + "manipulator"&^& +4 "core" &Ӌ&  ?V + "manipulator"&% +4 "core" % H  b +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&>( +165 "core" ( +2 "manipulator"& & +4 "core" & $  + "storage"(8& +4 "core" &  z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&"'Α +98 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&D1 +63 "core" 1 +2 "manipulator"&\\% +5 "core" % Ο > + "storage"(I& +4 "core" &  ]\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&E' +16 "core" ' + "manipulator"&q& +5 "core" &   + "storage"(& +4 "core" &  e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&P'S +18 "core" ' +2 "storage"(+% +4 "core" % x\ +2 ."downElevator"SE.seek :down +3 "storage"(a' +100 (.% +2 "core" %G z x P\ Vd +2 "manipulator"&% +4 "core" %@ # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +94 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +11415 #t-> ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF +2 #Shutdown +148 #t-> exit +5 #mEXIT @1627260787.42PDT @1627333093.28PDT = =mMAIN_scheduler =tMAIN @PDT1627333095.08 #"core_reset"Sent BREAK +2 #t@27871 select with ifg=0x10, ie=0xF5 #@28506 receive with ifg=0x10, ie=0xFD + #@29140 receive with ifg=0x10, ie=0xFD + #@29775 receive with ifg=0x10, ie=0xFD #@30102 receive with ifg=0x80, ie=0xFD + #@56086 sendCRC with ifg=0x20, ie=0x7F + #@56534 sendCRC with ifg=0x20, ie=0x7F #@58124 sendCRC with ifg=0x08, ie=0x5F + #@40027 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +281 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +367 "Can"\ !~ + \ !~ + #tPolling Can every 10:00 +46 #Cleanly exited at 17:53:07PDT25-Jul-21 +853 #-> ESP.ready! +4 #Powering core bus +548 .Gate.power :raw,:ON +2 "sampler") +24 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % W W(\ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" % \ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % \ + .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(;% +4 "core" % \ + "manipulator"&<% +4 "core" %  $  +2 "manipulator"&=& +3 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +667 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +43 (?& +2 "core" &K 7 7 F\  +839 #t-> access 3 +3 "storage"(@% +3 "core" % Z\ +2 "manipulator"&A% +4 "core" %  f  +2 "manipulator"&B& +3 "core" & z  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(C([ +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (D& +3 "core" &[ Z b \  +1187 #t-> access 4 +3 "storage"(E% +3 "core" % } \ +2 "manipulator"&F% +4 "core" %  R  + "manipulator"&G& +4 "core" &   + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(H(C +1933 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +2 "core" &D c c \ +1666 #t-> access 6 +2 "storage"(J% +3 "core" % | \ +2 "manipulator"&K% +4 "core" %  9  +2 "manipulator"&L& +3 "core" & -  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(M( +667 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +3 "core" & b Y\ \ +3286 #t-> access 2 +2 "storage"(O% +3 "core" % P\ +2 "manipulator"&P% +4 "core" %   +2 "manipulator"&Q& +3 "core" & g  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(R(K +987 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (S& +3 "core" &K @ H \  +455 #t-> exit +6 #mEXIT @1627333271.22PDT @1627333287.87PDT = =tMAIN =mMAIN_scheduler @PDT1627333289.67 #"core_reset"Sent BREAK + #t@23277 receive with ifg=0x10, ie=0xFD + #@23915 receive with ifg=0x10, ie=0xFD + #@24574 receive with ifg=0x10, ie=0xFD + #@25209 receive with ifg=0x10, ie=0xFD #@25844 receive with ifg=0x10, ie=0xFD + #@26479 receive with ifg=0x10, ie=0xFD + #@27114 receive with ifg=0x10, ie=0xFD #@27442 receive with ifg=0x80, ie=0xFD + #@51628 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +279 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +376 "Can"\ @= + \ @= + #tPolling Can every 10:00 +13467 #-> ESP.ready? +377 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %f [ [P\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽB\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڄ g\ 1 + .tSS.configure :default +3 "sampler")#.0X startTube 2 +1628 #-> $da[:extractVol]=.21 +7149 #-> shortDA +2 "collection"'3% +3 "core" %f Z [\ +2 "processing"%4% +6 "core" %ؽ5\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +306 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%5 +44 "core" +2 .tPTV.dial :PRVmixing + "processing"%6  +74 "core" + .tPRV.dial :sipper +2 "processing"%7  +130 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%8'e +2288 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +7 "processing"%9  + "collection"':  +8 "core" +118 +3 .tPS.seek 0.5ml + "processing"%;' +1273 "core" ' + .tPRV.dial :waste2 +2 "processing"%< @ +100 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%='ؾ +589 "core" ' + .tPSV.dial PSR +2 "processing"%> +102 "core"  + "processing"%?% +4 "core" %O\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +9 .tPS.seek 1ml +2 "processing"%@'X\\ +1118 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%A' +1611 "core" ' + .tPSV.dial :mixloop + "processing"%B +104 "core" +2 .tPS.seek 0ml + "processing"%C'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%D +103 "core"  +2 "processing"%E% +4 "core" %;\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%F'X\\ +1097 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml + "processing"%G' +1617 "core" ' +2 .tPSV.dial :mixloop + "processing"%H +104 "core" + .tPRV.dial :sipper + "processing"%I  +44 "core" +2 .tPS.seek 0ml +2 "processing"%J'ؾ +2631 "core" ' + .tPSV.dial PSR + "processing"%K +115 "core" + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%L' +2633 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +102 "core" +2 .tPS.seek 0ml + "processing"%N'ؾ +2639 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%O& +4 "core" &=\  + .tHand.open +2 "manipulator"&P1 +59 "core" 1 + "manipulator"&Q% +4 "core" %    +2 "storage"(R% +4 "core" % \  \ + "storage"(S. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(T(  +1303 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +3 "core" &  B A l\ + "manipulator"&V& +4 "core" &  K  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +19 "core" ( +2 "manipulator"&X& +4 "core" &  H  + "storage"(Y& +4 "core" &  Z Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'S +98 "core" ' +2 "storage"([& +4 "core" &  ` X\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'r +341 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &   0 A\ +2 "manipulator"&_& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&`( +3 "core" ( +2 "manipulator"&a& +4 "core" & m  + "storage"(b& +4 "core" &  G E Y\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&c'Ͻ +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +704 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[64:->26]: @requesto:I2C::Servo::Grip3Request : @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0: @channeli:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @dontLog0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:199:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:327"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&e/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[64:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +703 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[65:->26]: @requesto:I2C::Servo::Grip3Request : @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0: @channeli:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @dontLog0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:199:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:327"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #2 of 3 +2 "manipulator"&f/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[65:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +704 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[66:->26]: @requesto:I2C::Servo::Grip3Request : @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0: @channeli:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @dontLog0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:199:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:327"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #3 of 3 + "manipulator"&g/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[66:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +705 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:400:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:I2C::Request::Timeout : mesg"[Hand could not finish closing because\ No Response to I2C::Servo::Grip3Request[67:->26]: @requesto:I2C::Servo::Grip3Request : @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0: @channeli:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @dontLog0:@checkpoint: omitted:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:199:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:327"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +8816 "Can"\ EC +7123 #t-> Thread.resume +2 #Resuming after Hand could not finish closing because\ No Response to I2C::Servo::Grip3Request[67:->26] at 14:10:08 +2 .Hand.close + "manipulator"&h/ +3 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[67:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +703 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[68:->26]: @requesto:I2C::Servo::Grip3Request : @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0: @channeli:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @dontLog0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:199:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:327"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&i/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[68:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +202 !to:IRB::Abort: mesg"deferring User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 + #until Hand finishes closing +154 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:400:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +6231 #-> espclien 'dave' +2 !o:NoMethodError : mesg"1undefined method `espclien' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +873 #-> espclient 'dave' +2 !o:NoMethodError : mesg"2undefined method `espclient' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):8:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4715 #"dave"Session Begun +2038 #-> Arm.home +2 "manipulator"&j& +5 "core" & J  +2 "manipulator"&k% +4 "core" %  B h +2 ."dave"Forearm.seek :retract +2 "manipulator"&l' +130 "core" ' + ."dave"Elbow.seek :home +3 "manipulator"&m( +5 "core" / + !o:I2C::UnexpectedReply: mesg"'I2C::Servo::Grip3Reply[69:26->20] :bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +229 ( + "manipulator"&n& +4 "core" &\  R 3 + ."dave"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &o& +2 "core" &\  3 +2 ."dave"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 ."dave"Forearm.seek :home +2 "manipulator"&p' +37 "core" ' + "manipulator"&q& +4 "core" &\  3 +2 "manipulator"&r% +4 "core" % >  +1544 'b   +2 !"dave"o:Slide::Error : mesg" Forearm positionErr at home: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiu: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positionib: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi : voltagef12.216037309769268Y: @type2F: @sourcei+: @error:positionErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +5145 #-> SE.home.to :down +3 .SE.reconfigure :default +4 "storage"(#K-0-\ b +4 ."dave"SE.home.seek :down +2 "storage"(s' +314 "core" ' + "storage"(t% +4 "core" % l '\  +318 #"dave"-> access 2 +2 "storage"(u% +5 "core" % \  +2 "manipulator"&v% +4 "core" %  } +2 "manipulator"&w% +3 "core" %  9 } +2 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."dave"Forearm.seek :retract +2 "manipulator"&x' +37 "core" ' +2 ."dave"Elbow.seek :clear +3 "manipulator"&y(d +185 "core" ( + "manipulator"&z% +4 "core" %    + "manipulator"&{& +4 "core" &d   "x +2 ."dave"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 ."dave"SC.seek 6 +2 "storage"(|(K +195 "core" ' W 7 +4 ."dave"SC.stop + "storage"(6 +6 !"dave"o:Slide::Error\ : mesg"OForearm positionErr at retracted + 403 counts during Storage Carousel move: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi}: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioniW : velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi7 : voltagef12.22094648993618?: @type2F: @sourcei+: @error:positionErr:@axisName" Forearm:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 "core" (G 7\ o+ +2167 #"dave"-> Arm.home +3 "manipulator"&}& +4 "core" &d\  n o +2 "manipulator"&~% +4 "core" %  Q D +2 ."dave"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."dave"Elbow.seek :home +2 "manipulator"&( +182 "core" ( +2 "manipulator"&& +4 "core" &  +2 ."dave"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" &  +2 ."dave"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."dave"Forearm.seek :home +2 "manipulator"&' +44 "core" ' +2 "manipulator"&& +4 "core" & N  + "manipulator"&% +4 "core" % _ ' +2188 #"dave"-> access 2 +4 "storage"(% +4 "core" % b c Q\  +2 "manipulator"& % +4 "core" % G , + "manipulator"& % +4 "core" %  _ , +2 ."dave"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."dave"Forearm.seek :retract +3 "manipulator"& ' +38 "core" ' +2 ."dave"Elbow.seek :clear +2 "manipulator"&(d +190 "core" ( + "manipulator"&% +4 "core" %   +2 "manipulator"&& +4 "core" &d  $ + ."dave"SC.seek 6 +2 "storage"((K +1140 "core" ( +2 ."dave"SC.configure :limp +3 "storage"($\ 1b +4 (& +2 "core" &K  %\  +12983 #"dave"-> Thread.resusume +2 !o:NoMethodError : mesg"1undefined method `resusume' for Thread:Class: name0: args0:bt[";/home/esp/esp2/lib/framework.rb:51:in `method_missing'" dave:6:in `topLevelBinding'" Thread.resume +2 #Resuming after Forearm positionErr at retracted + 403 counts during Storage Carousel move at 14:16:39 +3 .SC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 ."dave"SC.seek 6 +2 "storage"((K +23 "core" ( +2 ."dave"SC.configure :limp +3 "storage"($\ 1b +4 (& +2 "core" &K L , L\ +2837 #"dave"-> access 6 +3 "storage"(% +5 "core" % Z [\  +2 "manipulator"&% +4 "core" %    + "manipulator"&& +4 "core" &d  C $ +2 ."dave"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."dave"SC.seek 3 +2 "storage"(( +989 "core" ( + ."dave"SC.configure :limp +4 "storage"($\ 1b +4 (& +2 "core" & % & \ \ +1194 #"dave"-> access 7 +2 "storage"(% +5 "core" % 7 F &\  +2 "manipulator"&% +4 "core" %   @  + "manipulator"& & +4 "core" &d  $ + ."dave"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 ."dave"SC.seek 4 +2 "storage"(!(,y +367 "core" ( + ."dave"SC.configure :limp +4 "storage"($\ 1b +4 ("& +2 "core" &, & ' \  +203 #"dave"-> access 5 +3 "storage"(#% +5 "core" % 8 G A\  + "manipulator"&$% +4 "core" %   +2 "manipulator"&%& +3 "core" &d   * $ +2 ."dave"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 ."dave"SC.seek 2 +2 "storage"(&(  +679 "core" ( + ."dave"SC.configure :limp +4 "storage"($\ 1b +3 ('& +3 "core" &  % $ \ +549 #"dave"-> Thread.resume +2 #Resuming after Forearm positionErr at retracted + 403 counts during Storage Carousel move at 14:16:39 +4 .SC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 ."dave"SC.seek 6 +2 "storage"(((K +1308 "core" ( +2 ."dave"SC.configure :limp +3 "storage"($\ 1b +4 ()& +2 "core" &K % " \  +720 #"dave"-> exit +3 #Session Ended +664 "Can"\ DA +488 #t-> Thread.resume +2 #Resuming after Hand could not finish closing because\ User Abort!! at 14:12:56 +2 .Hand.close + "manipulator"&*/ +17 "core" / +2 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:400:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:NoMethodError : mesgu:NameError::message*undefined method `+' for nil:NilClass: name:+: args[i:bt[ "8/home/esp/esp2/utils/storage.rb:299:in `addHeight!'"4/home/esp/esp2/utils/puckmoves.rb:381:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3197 #-> MainThread.resume + #Resuming after Hand could not finish closing because\ User Abort!! at 14:12:56 +2 .Hand.close +2 "manipulator"&+/ +20 "core" / +2 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:400:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:NoMethodError : mesgu:NameError::message*undefined method `+' for nil:NilClass: name:+: args[i:bt[ "8/home/esp/esp2/utils/storage.rb:299:in `addHeight!'"4/home/esp/esp2/utils/puckmoves.rb:381:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2347 #-> MainThread.checkpoint +8821 #-> access 5 +2 "storage"(,% +3 "core" % Z Z \  +2 "manipulator"&-% +3 "core" %    +2 "manipulator"&.& +3 "core" &d  : $ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(/(  +1303 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" &  ' & H\ +363 #t-> Hand.open +2 !o:Puck::Error: mesg"*Hand is closed on da puck from tube 2:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):13:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +12411 #-> MainThread.resume +2 #Resuming after Hand could not finish closing because\ User Abort!! at 14:12:56 + .Hand.close +2 "manipulator"&1/ +26 "core" / +2 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"4/home/esp/esp2/utils/puckmoves.rb:400:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:NoMethodError : mesgu:NameError::message*undefined method `+' for nil:NilClass: name:+: args[i:bt[ "8/home/esp/esp2/utils/storage.rb:299:in `addHeight!'"4/home/esp/esp2/utils/puckmoves.rb:381:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):5:in `irb_@1627334896.77PDT = =tMAIN =mMAIN_scheduler @PDT1627334898.63 #"core_reset"Sent BREAK + #t@7458 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +283 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +389 "Can"\ !x \ !x + #tPolling Can every 10:00 +2298 #-> ESP.ready! +3 #Powering core bus +560 .Gate.power :raw,:ON + "sampler") +19 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % X \\\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % \ +2 .tSS.configure :default +2 "sampler")#.0X samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"';& +4 "core" &y Y [[\ + .tHand.open +2 "manipulator"&<1 +66 "core" 1 + "manipulator"&=& +4 "core" & 6  +2 "manipulator"&>% +3 "core" %  o  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(- +176 "core" ( +2 "manipulator"&@& +4 "core" &- k - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +2 "core" &- 5 - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage + "manipulator"&B'w +108 "core" ' + .tHand.close +2 "manipulator"&C/ +59 "core" / +2 "manipulator"&D& +4 "core" &- - + "manipulator"&E% +4 "core" % d  +2 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&G(ӂ +288 "core" ( + "manipulator"&H& +4 "core" &ӑ%  >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +2 "core" &ӑ%  >K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&J'? +100 "core" ' +2 "manipulator"&K& +4 "core" &ӑ& H >K +2 "manipulator"&L% +4 "core" %D r  + "collection"'M& +4 "core" &y [ []\ +2 "collection"'N& +5 "core" &y Z Y_\ +2 .tCC.seek :closed +2 "collection"'O(\\ +4 "core" &y X ZW\ +8 &B Z [4\ $f +9 &[V X Z\ 8 +10 &{ Y Z]\ L +9 &oZ W ZY\ N +9 &2\\ [ YU\ M +10 &Y X ZT\ N +9 &Y W [V\ N +10 &w\\ Y \\N\ N +9 &9\\ Y \\G\ N +9 &X \\ [E\ M +10 &Y ] ](\ M +9 &!Z ^ [H\ N +9 &#BW \\ ^F\ M +10 &%W ^ _(\ M +9 &&Y ` aL\ M +10 &(Z _ ]E\ N +9 &*IY a bF\ N +9 &, Z ` bO\ N +10 &-Y _ aO\ N +9 &/\\ b bN\ M +9 &1QZ ` cG\ N +10 &3V c bG\ M +9 &4\\ d bK\ M +10 &6] a aG\ M +9 &8ZW d dL\ M +9 &:W d dG\ M +10 &;W d eJ\ M +9 &=[ e dJ\ M +10 &?b\\ a eH\ M +9 &A#Y g gH\ N +9 &Bb k h*\ N +10 &Dp r pV\ P +9 &FX { yJ\ T +9 &H J\ X +10 &I W\ Y +9 &K Z\ Y +9 &MM Q\ Z +42 &O Q\ Z +7 &P P\ \\ +2 &R P\ [ + &TO Y\ \\ + &V X\ \\ +4 &W P\ ^ +9 &Y [\ _ +9 &[O W\ U +10 &\\F ^\ - +9 &\\ [\ \\ +6 ( + "collection"'N& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 +2 "collection"'P& +4 "core" &\\ ]\ \\ + &\\ Z\ \\ + .tHand.open +2 "manipulator"&Q1 +58 "core" 1 +2 "manipulator"&R% +5 "core" % D L  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&S' +94 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%T  +129 "core"  + "processing"%U% +4 "core" %\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%V'+ +1607 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%W  +44 "core"  +2 .tPS.seek 0ml + "processing"%X'ؾ +1619 "core" ' + .tPSV.dial PSR +2 "processing"%Y +44 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%Z' +2635 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%[  "collection"'\\  +8 "core" +119 + .tPSV.dial :PTV,via: :air +2 "processing"%] +191 "core" ~ + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck + "processing"%^ +4 "core"  + "processing"%_ @ +73 "core" ? +2 .tPS.seek 0ml +2 "processing"%`'ؾ +2651 "core" ' + .tPSV.dial :air +2 "processing"%a  +86 "core"  +2 .tPS.seek 2.5ml +2 "processing"%b' +2638 "core" ' + .tPSV.dial :PTV +2 "processing"%c +72 "core"  +2 .tPS.seek 0ml + "processing"%d'ؾ +2650 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&e& +4 "core" &ӑ% u >K +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&f(ӂ +37 "core" ( +2 "manipulator"&g& +4 "core" &Ӏ  A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &Ӏ A +2 .tForearm.seek CC + "manipulator"&i'? +92 "core" ' +2 .tHand.close + "manipulator"&j/ +61 "core" / +2 .tCC.seek :open +2 "collection"'k( +448 "core" ( + "manipulator"&l& +4 "core" &Ӏ  A +2 "manipulator"&m% +3 "core" % I 8 , +2 .tForearm.seek :retract + "manipulator"&n' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&o(- +269 "core" ( + "manipulator"&p& +4 "core" &- w +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &-  w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'w +100 "core" ' +2 .tHand.open + "manipulator"&s1 +59 "core" 1 +2 "manipulator"&t% +4 "core" % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&u' +95 "core" ' +613 #t-> PS.flush +2 #Flushing Processing stage +2 "processing"%v% +3 "core" %\  +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%w& +4 "core" &{\  +2 "manipulator"&x& +3 "core" &-  w +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&y(- +3 "core" ( + "manipulator"&z& +4 "core" &-  w + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &- w +2 .tForearm.seek :garage +2 "manipulator"&|'w +99 "core" ' +2 .tHand.close +4 "manipulator"&}/ +52 "core" / +2 "manipulator"&~& +4 "core" &- N w + "manipulator"&% +4 "core" % τ  +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +118 "core" ( +2 "manipulator"&& +4 "core" & B  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 "manipulator"&& +4 "core" & 4  + "manipulator"&% +4 "core" % R B +2 "processing"%& +4 "core" &{\  +2 "processing"% & +5 "core" &{$\  +2 .tPC.seek :closed + "processing"%\ (^ +4 "core" &{\  +9 &C\ $f +9 &^U\ 8 +9 &}\ M +10 &mY\ O +9 &1X\ N +10 &Y\ O +9 &Z\ O +9 &vZ\ O +10 &9W\ N +9 &[\ O +9 &X\ O +10 &!~X\ O +9 &#@W\ O +10 &%Y\ O +9 &&Y\ O +9 &(Y\ O +10 &*GY\ O +9 &, Y\ O +9 &-X\ O +10 &/[\ O +9 &1N[\ O +10 &3Y\ O +9 &4X\ O +9 &6Y\ O +10 &8V[\ O +9 &:Z\ O +9 &;\\\ P +10 &=[\ O +9 &?^]\ O +10 &A_\ P +9 &Bj\ Q +9 &D|\ S +10 &FT\ U +9 &H\ U +9 &I\ U +10 &K\ V +9 &MZ\ V +10 &O\ V +9 &P\ X +9 &R\ W +10 &T\\\ X +9 &V"\ W +9 &W\ V +10 &Y\ W +9 &[h\ W +10 &])\ W +9 &^Jk\ X +9 &^ W\ 8 +6 ( + "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 +2 "processing"% & +4 "core" &^0\ 8 + &^0\ 8 + .tHand.open +2 "manipulator"& 1 +57 "core" 1 + "manipulator"& % +4 "core" %   B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tPSV.dial PSR +2 "processing"% +71 "core"  +2 .tPSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%'X\\ +1102 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1607 "core" ' +2 .tPSV.dial PTV + "processing"% +74 "core" + .tPTV.dial :puck +2 "processing"%  +72 "core"  + .tPBV.dial :waste1 +2 "processing"%  +53 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"% +74 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%' +584 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2120 "core" ' +2 .tPSV.dial PTV + "processing"% +74 "core" + .tPBV.dial PSV +2 "processing"% U +53 "core" W +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' +2 .tPSV.dial PBV + "processing"%" @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%%' +2640 "core" ' + .tPSV.dial :waste1 + "processing"%'  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%('ؾ +2651 "core" ' + .tPSV.dial PSR +2 "processing"%) +44 "core"  + .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%' +2635 "core" ' +2 .tPSV.dial PTV + "processing"% +71 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%#'ؾ +2653 "core" ' + .tPSV.dial PBV + "processing"%, @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%-' +2631 "core" ' + .tPSV.dial :waste1 +2 "processing"%.  +83 "core"  +2 .tPS.seek 0ml + "processing"%/'ؾ +2633 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&0& +4 "core" & F  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&1( +6 "core" ( +2 "manipulator"&2& +4 "core" & s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +2 "core" & +2 .tForearm.seek PC +2 "manipulator"&4' +93 "core" ' +2 .tHand.close + "manipulator"&5/ +54 "core" / + .tPC.seek :open +2 "processing"%6( +455 "core" ( +2 "manipulator"&7& +4 "core" &   + "manipulator"&8% +4 "core" %  ( +2 .tForearm.seek :retract + "manipulator"&9' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&:(- +129 "core" ( + "manipulator"&;& +4 "core" &- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &- w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&='w +98 "core" ' + .tHand.open +2 "manipulator"&>1 +58 "core" 1 + "manipulator"&@% +4 "core" %  ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&A' +104 "core" ' +5554 "Can"\ =9 +399 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'$& +3 "core" & ` ]\ +2 "manipulator"&C& +4 "core" &-  # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&D(- +18 "core" ( + "manipulator"&E& +4 "core" &- U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &- B U + .tForearm.seek :garage +2 "manipulator"&B'w +98 "core" ' +4 .tHand.close + "manipulator"&H/ +59 "core" / +2 "manipulator"&I& +4 "core" &- U + "manipulator"&?% +4 "core" % ρ  B +2 .tForearm.seek :retract +2 "manipulator"&K' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&L(ӂ +283 "core" ( + "manipulator"&M& +5 "core" &ӡ  n :, + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &ӡ  0 :, +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&+'? +98 "core" ' +2 "manipulator"&P& +4 "core" &ӡ! :, + "manipulator"&Q% +4 "core" %B 4 +2 "collection"'R& +4 "core" & ^ ]\ +2 "collection"'N& +5 "core" & _ \\d\ +2 .tCC.seek :closed + "collection"'T(\\ +4 "core" & ^ ]^\  +8 &4 ] ^`\ +{ +10 &\ e ^ \\~\ ? +9 &t ] \\\ N +10 &SU _ _\ M +9 &X ^ _~\ M +9 &Y ^ ^\ M +10 &Y _ _\ M +9 &\\W ^ ^\ M +9 &Z ^ _\ M +10 &X ` ^|\ M +9 & W _ _\ M +10 &"dY ` `\ M +9 &$'W ` a\ M +9 &%W c av\ M +10 &'Y b a\ M +9 &)lX ` a\ M +9 &+/Y c c\ M +10 &,X c cx\ M +9 &.Z c b\ M +10 &0tY d c\ M +9 &26X c e\ M +9 &3Z c c\ M +10 &5Y c ds\ M +9 &7}Y b dr\ M +9 &9?Y c dx\ M +10 &;Y c eq\ M +9 &<Y d dt\ M +10 &>Y c ct\ M +9 &@EY f bo\ M +9 &B_ d cs\ N +10 &Cg i in\ O +9 &E} k kw\ Q +9 &G6 t py\ U +10 &H u vt\ Y +10 &J u vx\ X +9 &Lo w uw\ Z +9 &N/ u wx\ Z +9 &O x up\ [ +10 &Q w xv\ Z +9 &Sr y yx\ [ +9 &U2 w yu\ \\ +10 &V { yw\ ^ +9 &X z {w\ ] +10 &Zr } {v\ ^ +9 &\\z ~ }w\ 3 +9 &\\/ ~x\ ^ +9 ( +3 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 +39 "collection"'U& +14 "core" &\\w r\ Q + &\\x  }\ Q + .tHand.open + "manipulator"&J1 +52 "core" 1 +2 "manipulator"&W% +4 "core" % B ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +94 "core" ' +410 #t-> CBV.PRV +2 .CBV.dial PRV +542 #-> PTV.PRV +2 .PTV.dial PRV +2 "processing"%Y @ +71 "core" A +436 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%X +99 "core" +337 #t-> CTV.air +2 .CTV.dial :air +467 #-> PRV.CBV + .PRV.dial CBV +690 #-> PSR.flush + .PSR.select :flush +2 "processing"%@ +415 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%\\ +73 "core"  +1098 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%[' +2637 "core" ' + "processing"%]% +4 "core" %\  +614 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%^ +72 "core" +278 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%_'ؾ +2639 "core" ' + "processing"%Z% +4 "core" %ؿ\ +655 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%a +73 "core"  +190 #t-> Ps.fill +2 !o:NameError: mesg"uninitialized constant Ps: name:Ps:bt["(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +392 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%`' +2636 "core" ' + "processing"%c% +4 "core" %\  +453 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%b +72 "core" +274 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%e'ؾ +2635 "core" ' + "processing"%g% +4 "core" %غ\ +394 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%h +73 "core"  +197 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%j' +2627 "core" ' + "processing"%G% +4 "core" %\  +508 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%S +73 "core" +346 #t-> PS.empty +2 .PS.seek 0ml + "processing"%O'ؾ +2633 "core" ' +2 "processing"%l% +4 "core" %ؼ\ +15959 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%m +73 "core"  +320 #t-> PSR.air + .PSR.select :air +2 "processing"% +327 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%i' +2651 "core" ' +2 "processing"%p% +4 "core" %\ +489 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%q +72 "core" +269 #t-> PS.empty +3 .PS.seek 0ml + "processing"%f'ؾ +2635 "core" ' + "processing"%s% +5 "core" %غ\ +10152 "Can"\ XV +46435 #t-> PSR.air + .PSR.select :air +283 #-> PS.fill +3 .PS.seek 2.5ml + "processing"%t' +2627 "core" ' +2 "processing"%n% +4 "core" %\ \ +493 #t-> PSV.PTV +2 .PSV.dial PTV +365 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%r'ؾ +2627 "core" ' +2 "processing"%v% +4 "core" %\ +539 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%w +74 "core"  +218 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%x' +2635 "core" ' + "processing"%z% +4 "core" %\  +1722 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%{ +73 "core" +954 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%}'ؾ +915 "Can"\ YW +1708 "core" ' +2 "processing"%~% +4 "core" %\ +485 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"% +73 "core"  +244 #t-> PS.fill +4 .PS.seek 2.5ml +4 "processing"%o' +2657 "core" ' +5 "processing"%u% +8 "core" %\ +392 #t-> PSV.PTV +2 .PSV.dial PTV +6 "processing"% +75 "core" +257 #t-> Ps.empty +3 !o:NameError: mesg"uninitialized constant Ps: name:Ps:bt["(ESP):40:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +290 #-> PS.empty +3 .PS.seek 0ml + "processing"%'ؾ +2638 "core" ' +4 "processing"%|% +7 "core" %ؽ\ +385 #t-> Flush.garage +4 #Garaging FlushPuck in Collection Clamp +5 "manipulator"&& +8 "core" &ӡ  6 :, +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek CC +3 "manipulator"&(ӂ +50 "core" ( +2 "manipulator"&& +8 "core" &y  k :, +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &y& +8 "core" &y  A :, +2 .tForearm.seek CC +5 "manipulator"&'? +96 "core" ' +3 .tHand.close +5 "manipulator"&*/ +53 "core" / +3 .tCC.seek :open +5 "collection"' ( +452 "core" ( +3 "manipulator"& & +8 "core" &ә  5 +2 "manipulator"& % +7 "core" % R F  +3 .tForearm.seek :retract +4 "manipulator"& ' +95 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +4 "manipulator"&(- +287 "core" ( +4 "manipulator"&& +8 "core" &- ) < +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &d& +6 "core" &- ` < +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :garage +4 "manipulator"&'w +107 "core" ' +4 .tHand.open +4 "manipulator"&1 +56 "core" 1 +3 "manipulator"&% +7 "core" % y +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&' +94 "core" ' +748 #t-> exit +9 #mEXIT @1627336825.16PDT @1627336850.75PDT = =tMAIN =mMAIN_scheduler @PDT1627336853.11 #"core_reset"Sent BREAK +2 #t@55113 sendCRC with ifg=0x20, ie=0x7F + #@56948 sendCRC with ifg=0x08, ie=0x5F #@61259 idle with ifg=0x84, ie=0x75 + #@61929 select with ifg=0x10, ie=0xF5 + #@62562 receive with ifg=0x10, ie=0xFD + #@63196 receive with ifg=0x10, ie=0xFD #@63829 receive with ifg=0x10, ie=0xFD + #@64156 receive with ifg=0x80, ie=0xFD #@37453 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +291 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +386 "Can"z\ A? + z\ A? #tPolling Can every 10:00 +614 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %f Y Y%\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ؽ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %چ d\ % +2 .tSS.configure :default +3 "sampler")#.0X startTube 2 +1169 #-> $da[extractVol]=.21 +351 #-> shortDA +2 "collection"'4% + "processing"%5% +6 "core" %f W Y\  +5 %ؽ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +530 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%6 +42 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%7  +71 "core" +2 .tPRV.dial :sipper + "processing"%8  +129 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%9'e +2302 "core" ' +2 ."connect"PRV.dial CBV +8 .tCBV.dial PRV +4 "processing"%:  + "collection"';  +13 "core" +114 +4 .tPS.seek 0.5ml +4 "processing"%<' +1268 "core" ' + .tPRV.dial :waste2 +2 "processing"%= @ +98 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%>'ؾ +597 "core" ' + .tPSV.dial PSR +2 "processing"%? +102 "core"  + "processing"%@% +4 "core" %ػ\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%A'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%B' +1617 "core" ' + .tPSV.dial :mixloop +2 "processing"%C +102 "core" +2 .tPS.seek 0ml + "processing"%D'ؾ +2633 "core" ' + .tPSV.dial PSR + "processing"%E +102 "core"  +2 "processing"%F% +4 "core" %ؼ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%G'X\\ +1106 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%H' +1610 "core" ' + .tPSV.dial :mixloop +2 "processing"%I +101 "core" +2 .tPRV.dial :sipper +2 "processing"%J  +43 "core" +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2642 "core" ' + .tPSV.dial PSR + "processing"%L +102 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%M' +2649 "core" ' + .tPSV.dial :mixloop +2 "processing"%N +102 "core" +2 .tPS.seek 0ml + "processing"%O'ؾ +2651 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%P& +4 "core" &\ +2 .tHand.open + "manipulator"&Q1 +26 "core" 1 +2 "manipulator"&R% +4 "core" %  .  + "storage"(S% +4 "core" % \  + "storage"(T. +3 "core" .,,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(U(  +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &  '\ +2 "manipulator"&W& +3 "core" &-  < +2 "manipulator"&X% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Y( +173 "core" ( + "manipulator"&Z& +4 "core" & $ +2 "storage"([& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&\\'S +92 "core" ' + "storage"(]& +40 "core" &  <\ +8 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'r +298 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" &  ~\ +2 "manipulator"&a& +73 "core" & p $ +2 .tElbow.seek 2 + "manipulator"&b( +4 "core" ( + "manipulator"&c& +4 "core" & T $ + "storage"(d& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&e'Ͻ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&f/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& +2 "storage"(h' +7 "core" &  $ +2 "manipulator"&i% +4 "core" % Ͼ +2 .tForearm.seek :retract + "manipulator"&j' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k( +171 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&l& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n' +90 "core" ' +2 "manipulator"&o& +4 "core" & I +2 "manipulator"&p% +3 "core" % e +2 "processing"%q& +4 "core" &\ +2 "processing"%r& +4 "core" &\ +3 .tPC.seek :closed + "processing"%s(^ +4 "core" &\ +8 & +\ #b +9 &Uy\ 7 +9 &~{\ L +10 &W\ O +9 &^W\ N +10 &W\ O +9 &[\ O +9 &W\ N +10 &fU\ N +9 &'Y\ O +9 &V\ O +10 &!Z\ O +9 &#mV\ O +10 &%/W\ O +9 &&Z\ O +9 &(W\ O +10 &*vX\ N +9 &,7W\ O +9 &-T\ O +10 &/Y\ O +9 &1|\\\ O +10 &3?Y\ O +9 &5W\ N +9 &6X\ O +10 &8Y\ O +9 &:GX\ O +9 &<Z\ O +10 &=Y\ O +9 &?Y\ O +10 &AL`\ P +9 &C l\ Q +9 &D\ T +10 &F\ U +9 &HE\ U +9 &J\ U +10 &K\ V +9 &M\ V +10 &OI\ V +9 &Q \ W +9 &R\ W +10 &T\ W +9 &VP\ V +9 &X\ W +10 &Y\ V +9 &[\ V +10 &]U\ G +9 &^x?p\ (u +9 &^7\ 3 +6 ( + "processing"%r& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&t1 +4 "core" &^$\ 3 +49 1 + "manipulator"&u% +4 "core" %  K e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +91 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%w h +2 %x9 +6 "core" 9 +102 "processing"%y9 +3 "core" 9 +102 "processing"%z9 +2 "core" 9  +102 "processing"%{9 +3 "core" 9  +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +3 "core" 9* +102 "processing"%9 +2 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +4 "core" 97 +102 "processing"%\ 9 +2 "core" 9; +102 "processing"% 9 +2 "core" 9? +102 "processing"%9 +3 "core" 9C +102 "processing"%9 +2 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%9 +3 "core" 9\\ +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +3 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +2 "core" 9q +103 "processing"%9 +2 "core" 9v +102 "processing"%9 +3 "core" 9z +102 "processing"% 9 +2 "core" 9~ +102 "processing"%!9 +2 "core" 9 +102 "processing"%"9 +3 "core" 9 +102 "processing"%#9 +2 "core" 9 +103 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +3 "core" 9 +102 "processing"%.9 +2 "core" 9\  +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +2 "core" 9 +102 "processing"%19 +2 "core" 9 +102 "processing"%29 +3 "core" 9! +3 .tPH.hold 2:00:00,28C +3 "processing"%3 php +3 .tdelay 1:30 +3 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +101 "core"  +2 "processing"%5% +4 "core" %ؼ\  + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%6' +584 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +5 "processing"% +9 .tPS.seek 2ml + "processing"%7' +1628 "core" ' + .tPTV.dial :puck +2 "processing"%8  +128 "core"  +2 .tPSV.dial PTV + "processing"% +74 "core" + .tPBV.dial :waste1 +2 "processing"%;  +53 "core" +2 "processing"%:% +4 "core" %D\ +2 .tPS.seek 1.5ml + "processing"%9'* +593 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%= * +32 "core" * +2 .tPS.seek 0ml +2 "processing"%<'ؾ +1612 "core" ' + .tdelay 5:00 +11204 "Can"y\ HE +18799 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%?  +32 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%@ * +33 "core" * + .tPSR.select :air +2 .PSV.dial PSR + "processing"%> +74 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%A' +2403 "core" ' + .tPSV.dial PTV +2 "processing"%C +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%B +74 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"%E +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%F  +72 "core"  +2 .tPS.seek 0ml + "processing"%D'ؾ +2351 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%G  +128 "core" + .tPSV.dial :mixloop + "processing"%I +44 "core" +2 .tPRV.dial :ab1 + "processing"%J @ +99 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%H' +372 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%L  +42 "core" + "processing"%K% +4 "core" %}\ +2 .tPS.seek 0.36ml +2 "processing"%N' +481 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'M  +29 "core" +2 .tPRV.dial :air + "processing"%P  +44 "core"  +2 .tPS.seek 0.9ml + "processing"%Q'K +1156 "core" ' + .tPRV.dial :waste2 + "processing"%R @ +70 "core" ? +2 .tPS.seek 0.5ml + "processing"%S' +862 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%T  +42 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%' +1614 "core" ' + .tPSV.dial :PML +2 "processing"%V +44 "core" + .tPTV.dial :mixing +2 "processing"%W @ +72 "core" B + .tPBV.dial :waste1 +2 "processing"%X  +33 "core" + "processing"%Z% +4 "core" %B\ \ +2 .tPS.seek 1.85ml +2 "processing"%[' +242 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%] * +32 "core" * +2 .tPS.seek 0ml +2 "processing"%'ؾ +1973 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & U W\ + "manipulator"&_& +4 "core" & e + "manipulator"&% +4 "core" %  \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&`(- +124 "core" ( + "manipulator"&a& +4 "core" &- -  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &- ]  +2 .tForearm.seek :garage + "manipulator"&d'w +92 "core" ' +2 .tHand.close + "manipulator"&f/ +60 "core" / +2 "manipulator"&g& +4 "core" &-   + "manipulator"&i% +4 "core" % ς % +2 .tForearm.seek :retract +2 "manipulator"&Y' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +276 "core" ( +2 "manipulator"&^& +4 "core" &ӊ) ] A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +2 "core" &ӊ) A A_ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&l'? +92 "core" ' +3 "manipulator"&m& +4 "core" &ӊ* T A_ + "manipulator"&b% +4 "core" %6 m o +2 "collection"'o& +4 "core" & S U\ +2 "collection"'p& +5 "core" & W U\ +2 .tCC.seek :closed +2 "collection"'q(\\ +4 "core" & U U\ +8 &C V W\ $f +9 &V U T\ 8 +9 &y U T\ L +10 &Y W V\ N +9 &qV W V\ M +9 &2[ T U\ N +10 &Y W V\ N +9 &Z V Y\ N +10 &xZ U X\ N +9 &:Z X X\ N +9 &T Y X\ N +10 &!Y W W\ N +9 &#Z T Y\ N +9 &%CY Y X\ M +10 &'U Z Y\ M +9 &(Y [ Y\ N +10 &*Y \\ Z\ M +9 &,JZ Z \\\ N +9 &. Y \\ [\ M +10 &/T Y [\ N +9 &1Z Z ]\ N +10 &3RV \\ Z\ N +9 &5T [ \\\ N +9 &6\\ Z [\ N +10 &8U ] \\\ M +9 &:[W Y \\\ M +9 &<W \\ \\\ M +10 &=W [ Y\ N +9 &?Z ^ \\\ N +9 &AaW ] ]\ N +10 &C!b _ `\ O +10 &Dr b a\ Q +9 &F k g\ T +9 &HJ n n\ Y +9 &J o o\ Y +10 &K n l\ Z +9 &M m n\ Z +9 &ON n p\ Z +10 &Q q p\ Z +9 &R q q\ [\ +10 &T q r\ \\ +9 &VN r r\ ] +9 &X t r\ ] +10 &Y u s\ ^ +9 &[ u t\ L +9 &\\7 u v\ / +10 &\\ s v\ Z +5 ( +2 "collection"'p& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.29 +2 "collection"'h& +4 "core" &\\ u x\ Z + &\\ u w\ Z + .tHand.open + "manipulator"&j1 +54 "core" 1 + "manipulator"& % +4 "core" % 6 Q o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +98 "core" ' + .tPSV.dial PSR +2 "processing"%u +101 "core"  + "processing"%x% +5 "core" %عC\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%r'+ +1620 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%y  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%n'ؾ +1614 "core" ' + .tPSV.dial PSR +2 "processing"%z +44 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%{' +2639 "core" ' +50 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%|  +2 "collection"'}  +30 "core"  +124  +2 .tPSV.dial :mixloop + "processing"%~ +100 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'  +5 "core" +2 .tPTV.dial :PRVmixing + "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2629 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%\ 'ؾ +2651 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2628 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӌ' R @^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +3 "core" ( + "manipulator"&& +4 "core" &Ӌ' ; @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӌ' x @^ +2 .tForearm.seek CC +2 "manipulator"&'? +89 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( + "manipulator"&& +4 "core" &Ӌ' o @^ +2 "manipulator"&% +3 "core" % F ? X +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(- +285 "core" ( + "manipulator"& & +4 "core" &- R \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &- 4 \\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&"'w +92 "core" ' +2 .tHand.open + "manipulator" +56 "core" 1 +2 "manipulator"&$% +4 "core" % t E B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +89 "core" ' +2 ."da"delayUntil "15:25:06.02" +202 "Can"d\ FC +24599 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%& @ +73 "core" A + ."da"PBV.dial :waste1 + "processing"%'  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%( * +32 "core" * +2 ."da"PSV.dial :air +2 "processing"%)  +58 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2410 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%+ +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%,  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%- +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%.  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%/'ؾ +2346 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%0 +130 "core"  + "processing"%1% +4 "core" %ؼY\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%2' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%4' +1629 "core" ' + ."da"PTV.dial :puck +2 "processing"%5  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%O +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%6  +33 "core" + "processing"%8% +4 "core" %Y\ +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%; * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%7  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%= * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%9 +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%w' +2409 "core" ' + ."da"PSV.dial PTV +2 "processing"%? +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%@ +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%> +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%<  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%C'ؾ +1600 "Can"i\ c` +764 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%B +129 "core"  + "processing"%E% +4 "core" %ؿK\  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%F' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%A' +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%G +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%I  +34 "core" +2 "processing"%J% +4 "core" %D\  +2 ."da"PS.seek 1.5ml + "processing"%D', +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%K'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%H  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%M * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%P +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%N' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"%R +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%Q +71 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%T +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%S  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%V'ؾ +2344 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%W  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%X  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%Z  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%] +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%' +391 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%[  +44 "core"  + "processing"%% +4 "core" %o\ +2 ."da"PS.seek 0.55ml +2 "processing"%_' +330 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%a' +1567 "core" ' + ."da"PSV.dial :PML +2 "processing"%c +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%f @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%g  +34 "core" + "processing"%k% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%i' +235 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%v * +33 "core" * +2 ."da"PS.seek 0ml + "processing"%d'ؾ +1973 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +25440 "Can"\ rq +22562 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%^  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%e * +33 "core" * + ."da"PSV.dial :air +2 "processing"%`  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%m' +2399 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%b +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%o  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%Y +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%h'ؾ +2345 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%j +128 "core"  +2 "processing"% % +4 "core" %ؽl\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%p' +598 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%u' +1629 "core" ' + ."da"PTV.dial :puck +2 "processing"%x  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%l +72 "core" + ."da"PBV.dial :waste1 + "processing"%  +34 "core" + "processing"%y% +4 "core" %\\\ +2 ."da"PS.seek 1.5ml + "processing"%r'( +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%z * +34 "core" * +2 ."da"PS.seek 0ml + "processing"%n'ؾ +1614 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%}  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%| * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%~ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2404 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  + ."da"delay 5 seconds +543 .PSV.dial PTV +11 "processing"%{ +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2343 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  + "processing"%% +4 "core" %ؾa\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%\ ' +67 "Can"\ ]Y +1550 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%% +4 "core" %r\  +2 ."da"PS.seek 1.5ml + "processing"%'/ +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1612 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%\\  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%t * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%q +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2403 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%!  +85 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2357 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%# +129 "core"  +2 "processing"%$% +4 "core" %ؽp\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +591 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"' +1607 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%& +85 "core" + ."da"PBV.dial :waste1 + "processing"%'  +35 "core" + "processing"%(% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%)') +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +1612 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%,  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%- * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%. +69 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2393 "core" ' + ."da"PSV.dial PTV +2 "processing"%0 +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%1 +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%/ +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%2  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +2343 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%O +133 "core"  +4 "processing"%6% +10 "core" %ؽk\ a +3 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +3 "processing"% +14 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +3 ."da"PS.seek 0.25ml +4 "processing"%8' +334 "core" ' +2 ."da"delay 5 seconds +503 "processing"%4% +3 "core" %d\ J +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%;' +334 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1621 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%7 +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%=  +36 "core" +2 "processing"%9% +3 "core" %q\ T +2 ."da"PS.seek 1.5ml +2 "processing"%:'1 +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%? * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%@'ؾ +1637 "core" ' + ."da"delay 10 seconds +536 "Can"\  +467 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%>  +34 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%< * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%w +75 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%B' +2466 "core" ' + ."da"PSV.dial PTV +2 "processing"%E +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%C +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%F +75 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%G  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +2424 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%J +133 "core"  + "processing"%A% +4 "core" %\ + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml + "processing"%L' +2123 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%D +86 "core" +2 ."da"PBV.dial :waste1 + "processing"%H  +36 "core" +2 "processing"%M% +4 "core" %\ v +2 ."da"PS.seek 1.5ml + "processing"%P'' +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%K * +36 "core" , + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%R  +102 "core"  +3 ."da"PS.seek 0ml + "processing"%Q'ؾ +1617 "core" ' + "processing"%T9 +3 "core" 9e5n +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%S  +4 "core" 5o + 5o + "processing"%N& +3 "core" &^%\ M3 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&W% +4 "core" %  3  +2 "storage"(X% +3 "core" % <\ M + "storage"(Z. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(](C +353 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &F [\ u +2 "manipulator"&[& +4 "core" &-  \\ + "manipulator"&% +4 "core" %  7  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&( +175 "core" ( + "manipulator"&& +4 "core" &  . + "storage"(_& +4 "core" &G \\\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&c' +92 "core" ' + "storage"(f& +4 "core" &G \ M +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(g'r +277 "core" ' + "storage"(k- +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"(v'1 +45 "core" ' +2 "manipulator"&a& +4 "core" & . + "manipulator"&i% +4 "core" % T +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&^' +93 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&e( +261 "core" ( +2 "manipulator"&`& +4 "core" & K  + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +2 "core" & I  +2 ."da"Forearm.seek PC +2 "manipulator"&b' +92 "core" ' + ."da"Hand.close + "manipulator"&o/ +77 "core" / +2 ."da"PC.seek :open +2 "processing"%Y( +455 "core" ( + "storage"( & +4 "core" &G L\ M +2 "manipulator"&m& +3 "core" & :  +2 "manipulator"&j% +3 "core" %  b 3 +2 ."da"Forearm.seek :retract +2 "manipulator"& ' +100 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&h( +248 "core" ( + "manipulator"&p& +4 "core" & 1 C + "storage"(x& +4 "core" &G \ M +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&l' +93 "core" ' +10 ."da"Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "storage"(y- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +23 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +52 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +5 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21jul2616h.tif +5 "processing"%r& +14 "core" &+\ ( +4 "manipulator"&}& +10 "core" & C +4 "manipulator"&|% +13 "core" %  f g +5 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +3 "manipulator"&~' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&n(- +171 "core" ( + "manipulator"&& +5 "core" &- 4 h + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- I h +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&{'w +90 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +65 "core" / +2 "manipulator"&& +4 "core" &- 6 h + "manipulator"&% +4 "core" % z 8 * +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +130 "core" ( +2 "manipulator"& & +4 "core" & % \ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & \ +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&& +4 "core" & O \ +2 "manipulator"&\ % +3 "core" % @ > +2 "processing"%& +4 "core" &\ ( +2 "processing"%& +5 "core" &\ ' +2 ."psFlush"PC.seek :closed +2 "processing"%\\(^ +4 "core" &\ ' +8 & (\ $$c +9 &Tt\ 8 +9 &{r\ M +10 &L\ !R +9 &NK\ OP +9 &Q\ NQ +10 &O\ OP +9 &O\ NP +10 &WQ\ ZP +9 &Q\ [P +9 &P;\ ZQ +10 &!O\ OQ +9 &#^Q\ OP +9 &% M=\ PP +10 &&L<\ %R +9 &(J9\ $R +10 &*cK0\ #Q +9 &,%L<\ #Q +9 &-J-\ "Q +10 &/LR\ "R +9 &1jNz\ "R +9 &3,N\ !R +10 &4J\ "Q +9 &6L\ !R +10 &8rMR\ !R +9 &:4K\ !R +9 &;L\ !R +10 &=Lx\ !R +9 &?zLw\ !R +9 &A:N|\ R +10 &BYp\ T +9 &Drs\ KV +10 &Fst\ IW +9 &H4v\ JW +10 &It\ JW +9 &Km\ TW +9 &Myq\ TX +9 &O:f\ NX +10 &Pa\ IY +9 &Rd\ IY +10 &T|^\ HY +9 &V=_\ Z +9 &W_\ Z +10 &YT\ Z +9 &[U\ [ +9 &]A[\ T +10 &^{Bmh\ &q +9 &^J_\ "8 +6 ( + "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 +2 "processing"%t& +4 "core" &^3[\ "8 + &^3Z\ "8 + ."psFlush"Hand.open +2 "manipulator"&q1 +73 "core" 1 + "manipulator"&% +4 "core" %  { > +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +45 "core"  +2 "processing"% % +4 "core" %ؾ'\  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%!' +586 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2123 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%# @ +193 "core" B +2 ."psFlush"PTV.dial :PRVmixing + "processing"%$  +133 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +117 "core" +2 ."psFlush"PS.seek :empty + "processing"%'ؠ +573 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 56.126 seconds\ /var/log/esp/da21jul2616h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21jul2616h15s.tif +1564 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21jul2616h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21jul2616h30s.tif +491 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +105 "core"  + "processing"%'% +4 "core" %ؚ4\  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%(' +598 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +1327 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21jul2616h30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21jul2616h70s.tif +810 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%  +35 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%) @ +73 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%, +108 "core" + ."psFlush"PS.seek :empty +3 "processing"%-'ؠ +2627 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%. +105 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%+'X\\ +1106 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%0' +1619 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%1 +75 "core" + ."psFlush"PTV.dial :puck +2 "processing"%/  +73 "core"  + ."psFlush"PBV.dial :waste1 +3 .PS.seek 0ml +2 "processing"%2'ؾ +373 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21jul2616h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "56.126 sec auto-exposure",Subject: "da21jul2616h images!" +3 "storage"(*- +3 "core" -' +2 "storage"(O& +9 "core" &G E L $\ f +2 "manipulator"&6& +3 "core" & \ +2 "manipulator"&5% +5 "core" %   +2 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&4( +242 "core" ( + "manipulator"&8& +4 "core" &  ^ 4 +2 "storage"(;& +3 "core" &G S Q D\ g +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&7' +95 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +57 "core" ' +2 "manipulator"&9& +8 "core" & 1 3 +3 "storage"(& +7 "core" &G A\ +4 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +67 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&?'8 +19 "core" ' +2 ."da"Elbow.hold + "manipulator"&:, +4 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(>' +25 "core" ' +2 "manipulator"&<% +4 "core" %K  + "storage"(w& +5 "core" &G \ +2 ."da"Forearm.force -20 + "manipulator"&5 +5 ."da"Forearm.seek 1 + 319 counts +4 "manipulator"&@'w +28 "core" ' +3 "manipulator"&E& +9 "core" & X 3 +2 "storage"(C& +8 "core" &G Q\ +4 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&F' +18 "core" ' +4 "storage"(G% +8 "core" % U\ +4 ."downElevator"SE.seek :down +6 "storage"(B' +101 (J% +7 "core" %V? d\ U] +3 "manipulator"&A% +12 "core" % f +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +4 "manipulator"&I' +96 "core" ' +45 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 (D& +8 "core" &G {\ +1193 ' +2 ."psFlush"PSV.dial PSR +5 "processing"%H +74 "core"  +4 ."psFlush"PSR.select :flush +3 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%M' +321 #"uploadLog"upsync +269 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%L' +2141 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%K +73 "core" + ."psFlush"PBV.dial PSV +2 "processing"%R U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%P'ؾ +2654 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%T @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%S' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%N  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%W'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%X +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%Z' +2632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%U +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%V'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%[ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%_'ؾ +1958 "Can"y\ LI +673 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%f +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +1607 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%k +70 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%a  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%i'ؾ +2640 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%g +74 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%c' +593 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%`' +2123 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%d +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml + "processing"%o'ؾ +2639 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%^ @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%s' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +71 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%m'ؾ +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%j +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%b' +2638 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%p +70 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%x'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%e @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%y  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%r'ؾ +2632 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&}& +4 "core" &  3 +2 "manipulator"&|% +3 "core" %  .  +2 ."psFlush"Elbow.seek PC +2 "manipulator"& ( +243 "core" ( +2 "manipulator"&v& +4 "core" & ^ ! + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +2 "core" &  ! +3 ."psFlush"Forearm.seek PC + "manipulator"&' +95 "core" ' + ."psFlush"Hand.close + "manipulator"&/ +65 "core" / + ."psFlush"PC.seek :open +2 "processing"%l( +461 "core" ( +2 "manipulator"&h& +4 "core" & ! + "manipulator"&% +4 "core" %   + ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +126 "core" ( + "manipulator"&~& +4 "core" &- I +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &- +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage + "manipulator"&'w +100 "core" ' + ."psFlush"Hand.open +2 "manipulator"&{1 +56 "core" 1 +2 "manipulator"&% +4 "core" % y - + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&\ ' +94 "core" ' +2 #tFinished short da assay +30546 "Can"l\ ?< +60001 z\ ?= +60002 \ ?< +60001 \ >< +60001 \ >< +60001 \ ?< +60002 \ ?< +60001 \ ?< +60001 \ >< +60002 \ >< +60001 \ ?< +60001 \ ?< +60001 \ ?< +60002 \ >< +60001 \ ?< +60001 \ >< +60002 \ ?< +60001 \ ?< @1627352191.27PDT = =mMAIN_scheduler =tMAIN @PDT1627352193.09 #"core_reset"Sent BREAK +2 #t@17657 sendCRC with ifg=0x20, ie=0x7F + #@19492 sendCRC with ifg=0x08, ie=0x5F #@8958 idle with ifg=0x84, ie=0x75 + #@9629 select with ifg=0x10, ie=0xF5 + #@10263 receive with ifg=0x10, ie=0xFD #@10896 receive with ifg=0x10, ie=0xFD + #@11529 receive with ifg=0x10, ie=0xFD #@11856 receive with ifg=0x80, ie=0xFD + #@6054 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +162 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +120 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +367 "Can"\ A> + \ A> + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +616 #-> ESP.ready1 + !o:NoMethodError : mesgu:NameError::message-undefined method `ready1' for ESP:Module: name: ready1: args[:bt["(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +478 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %f 7 8\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؼk\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %چ U\ % + .tSS.configure :default +2 "sampler")#.0X samplePassF + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'3& +3 "core" & 6 5\ +2 .tHand.open + "manipulator"&41 +26 "core" 1 +2 "manipulator"&5& +4 "core" &- ? + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(- +25 "core" ( +2 "manipulator"&7& +4 "core" &- H ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &- q ! +2 .tForearm.seek :garage +2 "manipulator"&9'w +93 "core" ' +2 .tHand.close + "manipulator"&:/ +60 "core" / + "manipulator"&;& +4 "core" &- C +2 "manipulator"&<% +4 "core" % ψ  +2 .tForearm.seek :retract + "manipulator"&=' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&>(ӂ +292 "core" ( +2 "manipulator"&?& +4 "core" &Ӎ * 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &Ӎ m 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&A'? +106 "core" ' + "manipulator"&B& +4 "core" &Ӎ ) 1 +2 "manipulator"&C% +5 "core" %H 6 +2 "collection"'D& +4 "core" & 6 5\ +2 "collection"'E& +5 "core" & 6 7\ +2 .tCC.seek :closed + "collection"'F(\\ +5 "core" & 7 6\  +9 &1{ 6 6\ *x +9 &` 6 8\ = +9 &mx 7 7\ N +10 &0Y 7 8\ M +9 &\\ 8 8\ M +9 &X 8 8\ M +10 &wW 8 8\ M +9 &8Z 8 8\ M +9 &_ 9 8\ N +10 &Y 8 8\ N +9 & U 8 9\ M +10 &"@\\ 9 :\ M +9 &$U : :\ M +9 &%W 8 :\ N +10 &'Y ; ;\ N +9 &)HZ = ;\ M +9 &+ Y : ;\ N +10 &,Y = ;\ N +10 &.Y = 9\ N +9 &0OY ; ;\ N +9 &2Y = >\ N +9 &3Z < >\ N +10 &5U < <\ M +9 &7W\\ = =\ N +9 &9Z ; >\ N +10 &:\\ < =\ M +9 &<\\ > =\ M +10 &>`Z = >\ M +9 &@![ > =\ N +9 &A_ B @\ N +10 &Cg B A\ O +9 &E\\z H E\ Q +9 &G M N\ U +10 &H Q P\ Y +9 &J Q P\ Z +10 &LM P Q\ Y +9 &N U Q\ [ +9 &O Q R\ [\ +10 &Q Q S\ Z +9 &SN S S\ \\ +9 &U T U\ \\ +10 &V T T\ ^ +9 &X T W\ ^ +10 &ZN X V\ ^ +9 &[{ W X\ A +9 &\\+ Y Y\ + +10 &\\ X Y\ W +2 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 + "collection"'G& +4 "core" &\\ [ Z\ W +2 .tHand.open + "manipulator"&H1 +63 "core" 1 +2 "manipulator"&I% +4 "core" % H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&J' +97 "core" ' + .tPSV.dial PSR,avoiding: PBV + "processing"%K +4 "core"  +2 "processing"%L  +43 "core"  + "processing"%M% +4 "core" %ؼ\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%N'+ +1610 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%O  +44 "core"  +2 .tPS.seek 0ml + "processing"%P'ؾ +1616 "core" ' + .tPSV.dial PSR + "processing"%Q +45 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%R' +2629 "core" ' +2 ."connect"PRV.dial CBV +39 .tCBV.dial PRV +8 "processing"%S  +2 "collection"'T  +6 "core" +93  +2 .tPSV.dial :PTV,via: :air +2 "processing"%U +190 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + "collection"'V +4 "core"  + "collection"'W  +4 "core" + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%X +3 "core"  +2 "processing"%Y @ +72 "core" @ +2 .tPS.seek 0ml + "processing"%Z'ؾ +2639 "core" ' +2 .tPSV.dial :air + "processing"%[  +88 "core" +2 .tPS.seek 2.5ml + "processing"%\\' +2628 "core" ' + .tPSV.dial :PTV +2 "processing"%] +71 "core"  +2 .tPS.seek 0ml + "processing"%^'ؾ +2636 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&_& +4 "core" &Ӎ 5 1 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +23 "core" ( + "manipulator"&a& +4 "core" &ӌ ! N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &ӌ  N +2 .tForearm.seek CC +2 "manipulator"&c'? +91 "core" ' + .tHand.close +2 "manipulator"&d/ +61 "core" / +2 .tCC.seek :open + "collection"'e( +449 "core" ( + "manipulator"&f& +4 "core" &ӌ  N +2 "manipulator"&g% +3 "core" % L - b +2 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&i(- +269 "core" ( + "manipulator"&j& +4 "core" &- 7  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &- Y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&l'w +100 "core" ' +2 .tHand.open + "manipulator"&m1 +64 "core" 1 + "manipulator"&n% +4 "core" %  ]  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&o' +93 "core" ' +2132 #t-> PS.flush +2 #Flushing Processing stage + "processing"%p% +3 "core" %ػ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%q& +4 "core" &+\ + "manipulator"&r& +4 "core" &-  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&s(- +2 "core" ( +2 "manipulator"&t& +3 "core" &-   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +2 "core" &-   +2 .tForearm.seek :garage +2 "manipulator"&v'w +92 "core" ' +2 .tHand.close + "manipulator"&w/ +56 "core" / +2 "manipulator"&x& +3 "core" &-  +2 "manipulator"&y% +5 "core" % ~ 6 + .tForearm.seek :retract +2 "manipulator"&z' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&{( +119 "core" ( + "manipulator"&|& +4 "core" & 7 " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" & n " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +93 "core" ' +2 "manipulator"&& +5 "core" & ; ! + "manipulator"&% +4 "core" % 8 +2 "processing"%& +4 "core" &i\ +2 "processing"%& +5 "core" &*\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &#\ +7 & *+\ $c +9 &Uy.\ 7 +10 &}{'\ K +9 &Yv\ O +9 &UW1\ O +10 &W/\ O +9 &Ws\ O +9 &Vy\ O +10 &]U~\ O +9 &W/\ O +10 &Z+\ O +9 &!Wq\ O +9 &#eUi\ O +10 &%'XL\ O +9 &&W!\ N +9 &(W%\ O +10 &*lW+\ O +9 &,.Xn\ O +10 &-V\ O +9 &/Z\ O +9 &1sW\ O +10 &35Xp\ O +9 &4Wc\ O +9 &6Z}\ O +10 &8{Z\ O +9 &:=Wp\ O +10 &;V\ O +9 &=Y{\ P +9 &?Y\ P +10 &AC]\ P +9 &Cg\ Q +9 &D\ T +10 &Fz}\ U +9 &H<\ U +10 &I\ U +9 &K\ U +9 &M\ V +10 &OA\ V +9 &Q\ W +9 &R\ W +10 &T\ W +9 &VH\ V +10 &X\ X +9 &Y\ W +9 &[\ W +10 &]N\ I +9 &^wD\ $k +9 &^5\ 3 +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + "processing"%& +4 "core" &^ \ 3 + &^!\ 3 +2 .tHand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&\ % +4 "core" %  ; 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +93 "core" ' +2 .tPSV.dial PSR + "processing"% +72 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%'X\\ +1103 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1611 "core" ' + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPTV.dial :puck + "processing"%  +72 "core"  +2 .tPBV.dial :waste1 + "processing"%  +54 "core" + .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 .tPSV.dial PSR + "processing"% +74 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml + "processing"%' +597 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2130 "core" ' + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPBV.dial PSV + "processing"% U +52 "core" V +2 .tPS.seek 0ml + "processing"%'ؾ +2634 "core" ' +2 .tPSV.dial PBV + "processing"% @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%' +2627 "core" ' +2 .tPSV.dial :waste1 + "processing"%  +71 "core"  +2 .tPS.seek 0ml + "processing"%!'ؾ +2642 "core" ' + .tPSV.dial PSR +2 "processing"%" +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%#' +2636 "core" ' + .tPSV.dial PTV + "processing"%$ +71 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%%'ؾ +2634 "core" ' + .tPSV.dial PBV +2 "processing"%& @ +44 "core" > +2 .tPS.seek 2.5ml + "processing"%'' +2634 "core" ' +2 .tPSV.dial :waste1 + "processing"%(  +83 "core"  +2 .tPS.seek 0ml +2 "processing"%)'ؾ +2635 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&*& +4 "core" & ' ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&+( +3 "core" ( +2 "manipulator"&,& +3 "core" & X ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" &  ! +2 .tForearm.seek PC +2 "manipulator"&.' +92 "core" ' + .tHand.close + "manipulator"&// +60 "core" / +2 .tPC.seek :open + "processing"%0( +457 "core" ( +2 "manipulator"&1& +4 "core" & ! + "manipulator"&2% +4 "core" % \   6 +2 .tForearm.seek :retract + "manipulator"&3' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&4(- +123 "core" ( +2 "manipulator"&5& +4 "core" &- E  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &- 4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&8'w +96 "core" ' +2 .tHand.open + "manipulator"&:1 +55 "core" 1 + "manipulator"&;% +4 "core" % | "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<' +96 "core" ' +1222 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & 7 :\ +2 "manipulator"&& +4 "core" &- @  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&9(- +2 "core" ( +2 "manipulator"&?& +3 "core" &- .  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &- ]  +2 .tForearm.seek :garage + "manipulator"&6'w +94 "core" ' + .tHand.close +2 "manipulator"&B/ +58 "core" / + "manipulator"&C& +4 "core" &- Y  +2 "manipulator"&D% +4 "core" % c  " +2 .tForearm.seek :retract + "manipulator"&=' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& (ӂ +284 "core" ( +2 "manipulator"&G& +4 "core" &z!  :. + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &z! U :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&I'? +91 "core" ' +2 "manipulator"&K& +4 "core" &z! & :. + "manipulator"&E% +4 "core" %7  R +2 "collection"'L& +3 "core" & : 8\ +3 "collection"'M& +4 "core" & 8 9\ +2 .tCC.seek :closed +2 "collection"'A(\\ +3 "core" & : :\ +9 &< 8 ;\ %g +9 &X| 9 :\ 8 +10 &x : 9\ L +9 &X ; ;\ M +9 &~W : :\ M +10 &@X ; 5\ M +9 &W : ;\ M +9 &X < <\ M +10 &W ; ;\ M +9 &HW = <\ M +10 & \ V < <\ M +9 &!W < =\ M +9 &#W < >\ M +10 &%QW = >\ M +9 &'W < =\ M +9 &(X = ?\ M +10 &*Z @ ?\ M +9 &,XW > =\ M +10 &.W ? ?\ M +9 &/U ? @\ M +9 &1X @ >\ M +10 &3`W @ @\ M +9 &5"V A A\ M +9 &6X A ?\ M +10 &8W ? @\ M +9 &:hY A @\ M +10 &<*Y @ @\ M +9 &=Y B A\ M +9 &?U ? @\ M +10 &An[ D B\ N +9 &C0a D F\ N +10 &Dx G F\ P +9 &F N J\ T +9 &HX P O\ X +10 &J P R\ Y +9 &K P P\ Y +9 &M Q S\ Z +10 &OX R Q\ [ +9 &Q P R\ [ +9 &R S S\ [ +10 &T R Q\ \\ +9 &VZ T T\ ] +10 &X S S\ ] +9 &Y W U\ ^ +9 &[ X V\ L +10 &\\7 W X\ 2 +9 &\\n Y W\ R +3 ( + "collection"'M& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 + "collection"'& +4 "core" &\\k Y Y\ R +2 .tHand.open + "manipulator"&O1 +57 "core" 1 +2 "manipulator"&N% +4 "core" % 7 ' R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +99 "core" ' +1116 #t-> CBV.PRV + .CBV.dial PRV +587 #-> PTV.PRV +2 .PTV.dial PRV +2 "processing"%P @ +71 "core" @ +529 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%T +99 "core" +491 #t-> CTV.air + .CTV.dial :air +867 #-> PRV.CBV + .PRV.dial CBV +490 #-> PSR.flush + .PSR.select :flush +2 "processing"%@ +373 "Can"\ ZX +970 #t-> PSV.PSR + .PSV.dial PSR + "processing"%S +85 "core" +456 #t-> PS.fill +5 .PS.seek 2.5ml +2 "processing"%U' +2632 "core" ' +2 "processing"%V% +4 "core" %\  +722 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%W +82 "core" +424 #t-> PS.empty +3 .PS.seek 0ml + "processing"%X'ؾ +2652 "core" ' + "processing"%Y% +4 "core" %ؾ\  +635 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%R +71 "core"  +284 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%[' +2641 "core" ' +2 "processing"%Z% +4 "core" %\  +1526 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%] +73 "core" +370 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%\\'ؾ +2634 "core" ' +2 "processing"%_% +4 "core" %ؽ\ +716 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%a +72 "core"  +328 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%b' +2631 "core" ' +2 "processing"%d% +4 "core" %\ \ +446 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%> +73 "core" +433 #t-> PS.empty +2 .PS.seek 0ml + "processing"%J'ؾ +2652 "core" ' + "processing"%F% +4 "core" %ؼ\  +757 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%f +74 "core"  +458 #t-> PSR.air +2 .PSR.select :air +2 "processing"% +393 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%g' +2637 "core" ' +2 "processing"%c% +4 "core" %\  +553 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%j +73 "core" +479 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%k'ؾ +2631 "core" ' +2 "processing"%`% +4 "core" %\ +904 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%m +72 "core"  +513 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%n' +2635 "core" ' +2 "processing"%h% +4 "core" %}\  +760 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%l +74 "core" +437 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%p'ؾ +2635 "core" ' +2 "processing"%q% +4 "core" %ؽ\ +3723 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%r +73 "core"  +372 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%t' +2651 "core" ' +2 "processing"%u% +4 "core" %\ +717 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%w +73 "core" +469 #t-> PS.empty +3 .PS.seek 0ml + "processing"%x'ؾ +2631 "core" ' +2 "processing"%y% +4 "core" %\ +787 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&i& +3 "core" &{  :- +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&o(ӂ +3 "core" ( + "manipulator"&|& +4 "core" &{  a :- + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &{   :- +2 .tForearm.seek CC +2 "manipulator"&v'? +91 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( + "manipulator"&& +4 "core" &{  P :- + "manipulator"&s% +4 "core" % 5 7 +2 .tForearm.seek :retract + "manipulator"&z' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"& (- +272 "core" ( +2 "manipulator"&& +4 "core" &- 8  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&\ 'w +97 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" % ρ '  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&~' +97 "core" ' +1190 #t-> exit +6 #mEXIT @1627353338.09PDT @1627386961.38PDT = =tMAIN =mMAIN_scheduler @PDT1627386963.26 #"core_reset"Sent BREAK +2 #t@55734 sendCRC with ifg=0x20, ie=0x7F #@57569 sendCRC with ifg=0x08, ie=0x5F + #@18615 idle with ifg=0x84, ie=0x75 + #@19287 select with ifg=0x10, ie=0xF5 + #@19920 receive with ifg=0x10, ie=0xFD #@20553 receive with ifg=0x10, ie=0xFD + #@21186 receive with ifg=0x10, ie=0xFD #@21513 receive with ifg=0x80, ie=0xFD + #@21402 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +294 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +387 "Can"\ IF + \ IF + #tPolling Can every 10:00 +2 #Cleanly exited at 19:35:38PDT26-Jul-21 +626 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %f 5 3\  +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +2 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %چ \\\ % +2 .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'3& +3 "core" & 4 4\ +2 .tHand.open + "manipulator"&41 +18 "core" 1 +2 "manipulator"&5& +4 "core" &- c +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(- +2 "core" ( +2 "manipulator"&7& +3 "core" &- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &- +2 .tForearm.seek :garage +2 "manipulator"&9'w +92 "core" ' + .tHand.close +2 "manipulator"&:/ +58 "core" / + "manipulator"&;& +4 "core" &- + +2 "manipulator"&<% +4 "core" % π K  +2 .tForearm.seek :retract + "manipulator"&=' +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +292 "core" ( +2 "manipulator"&?& +4 "core" &Ӌ B 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &Ӌ 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'? +104 "core" ' + "manipulator"&B& +4 "core" &Ӌ * 5 +2 "manipulator"&C% +4 "core" %H  +2 "collection"'D& +3 "core" & 6 3\ +2 "collection"'E& +5 "core" & 4 6\ +2 .tCC.seek :closed + "collection"'F(\\ +5 "core" & 5 3p\ +7 &< 5 4Y\ %h +10 &W{ 2 3R\ 8 +9 &{ 5 6T\ M +9 &Y 5 6X\ M +10 &W 4 3Q\ M +9 &BY 5 7O\ M +9 &[ 8 4W\ M +10 &[ 6 5U\ M +9 &[ 7 5X\ M +10 &IW 5 7U\ M +9 & X 5 6W\ M +9 &!X 8 8V\ M +10 &#W 6 8V\ N +9 &%PW 8 7U\ N +9 &'X 7 7T\ N +10 &(U 7 8O\ M +9 &*U 9 9V\ M +10 &,YV : 9T\ M +9 &.U 9 9U\ M +9 &/T 9 9S\ M +10 &1W 9 :Q\ N +9 &3`Y : :T\ N +9 &5"X 7 9R\ N +10 &6\\ : :U\ M +9 &8X 9 :V\ M +10 &:iZ 9 :X\ M +9 &<*\\ : :V\ N +9 &=Y 8 <L\ N +10 &?W < ;W\ N +9 &Ao^ < <P\ N +9 &C.c @ =_\ O +10 &Dw @ @X\ Q +9 &F G GV\ U +10 &HY L LT\ X +9 &J M NM\ Y +9 &K N Nj\ Z +10 &M N ON\ Z +9 &O\\ N NP\ Z +9 &Q O OZ\ Z +10 &R M OU\ [ +9 &T O O\ \\ +10 &V^ N RZ\ \\ +9 &X R RJ\ ] +9 &Y S Qn\ ^ +10 &[ S U\ L +9 &\\< U U\ * +9 &\\ U U\ !` +3 ( + "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 + "collection"'G& +4 "core" &\\ T V\ !` + .tHand.open +2 "manipulator"&H1 +59 "core" 1 +2 "manipulator"&I% +4 "core" % H 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +96 "core" ' +467 #t-> CBV.PRV + .CBV.dial PRV +2 "collection"'K  +3 "core" +364 #t-> PTV.PRV +2 .PTV.dial PRV + "processing"%L @ +4 "core" @ +352 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%M +4 "core" +267 #t-> CTV.air +2 .CTV.dial :air +2 "collection"'N  +4 "core" +519 #t-> PRV.CBV +2 .PRV.dial CBV +2 "processing"%O  +15 "core"  +389 #t-> PSR.flush + .PSR.select :flush +2 "processing"%j +538 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%P +85 "core" +173 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%Q' +2635 "core" ' +2 "processing"%R% +4 "core" %\  +470 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%S +84 "core" +271 #t-> PS.empty +3 .PS.seek 0ml + "processing"%T'ؾ +2634 "core" ' + "processing"%U% +4 "core" %ؽ9\ +412 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%V +72 "core"  +236 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%W' +2627 "core" ' +2 "processing"%X% +3 "core" %B\  +407 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%Y +73 "core" +428 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%Z'ؾ +2633 "core" ' +2 "processing"%[% +4 "core" %9\ +453 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%\\ +72 "core"  +535 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%]' +2632 "core" ' +2 "processing"%^% +4 "core" %\ C\  +465 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%_ +74 "core" +332 #t-> PS.empty +3 .PS.seek 0ml + "processing"%`'ؾ +2640 "core" ' +2 "processing"%a% +4 "core" %ػC\ +477 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%b +73 "core"  +313 #t-> PSR.air + .PSR.select :air +2 "processing"% +553 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%c' +2634 "core" ' + "processing"%d% +4 "core" %@\  +402 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%e +73 "core" +292 #t-> PS.empty +3 .PS.seek 0ml + "processing"%f'ؾ +2655 "core" ' +2 "processing"%g% +4 "core" %ؼB\  +465 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%h +72 "core"  +268 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%i' +2637 "core" ' +2 "processing"%j% +4 "core" %6\  +412 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%k +73 "core" +465 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%l'ؾ +2637 "core" ' +2 "processing"%m% +4 "core" %@\ +502 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%n +74 "core"  +499 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%o' +2634 "core" ' + "processing"%p% +4 "core" %@\  +456 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%q +74 "core" +635 #t-> PS.empty +2 .PS.seek 0ml + "processing"%r'ؾ +2652 "core" ' +2 "processing"%s% +4 "core" %#\  +431 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&t& +3 "core" &Ӌ S 5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&u(ӂ +4 "core" ( + "manipulator"&v& +4 "core" &Ӌ - 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &Ӌ 5 +2 .tForearm.seek CC +2 "manipulator"&x'? +91 "core" ' +2 .tHand.close + "manipulator"&y/ +55 "core" / + .tCC.seek :open +2 "collection"'z( +450 "core" ( + "manipulator"&{& +4 "core" &Ӌ 9 5 +2 "manipulator"&|% +3 "core" % N  D +2 .tForearm.seek :retract + "manipulator"&}' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&~(- +282 "core" ( +2 "manipulator"&& +4 "core" &- , 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +102 "core" ' +2 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % p b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +298 #t-> access 1 +3 "storage"(% +2 "core" % t o \ +2 "manipulator"&\ % +4 "core" %  P  +2 "manipulator"& & +3 "core" &- 6 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +1302 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<, x v D\  +2113 #t-> exit +6 #mEXIT @1627387511.01PDT @1627396014.10PDT = =mMAIN_scheduler =tMAIN @PDT1627396015.91 #"core_reset"Sent BREAK +2 #t@32143 receive with ifg=0x10, ie=0xFD #@32779 receive with ifg=0x10, ie=0xFD + #@33439 receive with ifg=0x10, ie=0xFD + #@34073 receive with ifg=0x10, ie=0xFD + #@34707 receive with ifg=0x10, ie=0xFD #@35341 receive with ifg=0x10, ie=0xFD + #@35975 receive with ifg=0x10, ie=0xFD #@36301 receive with ifg=0x80, ie=0xFD + #@9417 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +281 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +378 "Can"\ ?; + \ ?; + #tPolling Can every 10:00 +2 #Cleanly exited at 05:05:10PDT27-Jul-21 +686 #-> ESP.ready! +159 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %f D E\  +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\  + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %چ j\ % + .tSS.configure :default +3 "sampler")#.0X access 2 + "storage"(3% +4 "core" % \ + "manipulator"&4% +4 "core" %  2  +2 "manipulator"&5& +3 "core" &- 6 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(6(K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &K D\  +55918 #t-> exit +5 #mEXIT @1627396601.18PDT @1627396790.72PDT = =tMAIN =mMAIN_scheduler @PDT1627396792.52 #"core_reset"Sent BREAK +2 #t@56454 receive with ifg=0x10, ie=0xFD #@57092 receive with ifg=0x10, ie=0xFD + #@57750 receive with ifg=0x10, ie=0xFD + #@58385 receive with ifg=0x10, ie=0xFD + #@59019 receive with ifg=0x10, ie=0xFD #@59654 receive with ifg=0x10, ie=0xFD + #@60288 receive with ifg=0x10, ie=0xFD #@60614 receive with ifg=0x80, ie=0xFD + #@4549 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +258 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can"\ ?= + \ ?= #tPolling Can every 10:00 +5 #Loading /home/esp/esp2/mission/seawater_negative_test_72721.rb mission +5 #Preparing to sleep until + 00:00:05 +35 ."Qmail"GoodNews.email "Starting seawater_negative_test_72721 w/pucks in tube 2\\n{}\\nCTD data unavailable\\nCan@07:39:58, 16% flow, 22.3C, 44% humidity, 14.9psia, 13.632V, 0.302A, 0.290A avg, 4.12W",Subject: "seawater_negative_test_72721 begun" +5 #tAsleep til + 00:00:05 +3 #Continuing at 07:40 +2 "Can"\ ?= +24 ."shutdown"Gate.power :raw,:OFF + .Gate.power :core,:OFF + #Shutdown +257 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da #da and wsr are run simultanelously\\n/home/esp/esp2/mission/seawater_negative_test_72721.rb:14\\n{1 => 0,\\n 2 => 3,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@07:39:59, 16% flow, 22.2C, 44% humidity, 14.9psia, 13.627V, 0.302A, 0.290A avg, 4.12W",Subject: "Asleep until 07:40" +168 "Can"\ k +7 #tPowering core bus +566 .Gate.power :raw,:ON +2 "sampler") +28 ) +4 "core"  +4 "collection"' +4 ' +7 "core"  +4 "processing"% +4 % +6 "core"  +9 "collection"' 9\ +5 ' 0\ +2 ' -\ +8 "processing"% 9\ +5 % 2\ +3 % *\ +4 % 0\ +8 "sampler")&\ +4 "collection"'% +6 "core" % G G\ +4 .tCS.configure :default +3 "collection"'#P d@b +4 "processing"%% +8 "core" %\ +3 .tPS.configure :default +4 "processing"%#A d`xb +3 "sampler")% +10 "core" % \ +2 .tSS.configure :default +4 "sampler")#.0X 0,\\n 2 => 3,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@07:40:50, 16% flow, 22.3C, 43% humidity, 14.9psia, 13.588V, 0.393A, 0.375A avg, 5.34W",Subject: "Started seawater_negative_test_72721 phase initialPurge; da #da and wsr are run simultanelously" +2 #tStarting initialPurge +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'+& +4 "core" & I H\  +2 .tHand.open + "manipulator"&,1 +58 "core" 1 +2 "manipulator"&-& +4 "core" & 5 +2 "manipulator"&.% +5 "core" %  s  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&/(- +177 "core" ( + "manipulator"&0& +4 "core" &- k F +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &1& +2 "core" &- F +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage +9 "manipulator"&2'w +94 "core" ' +2 .tHand.close + "manipulator"&3/ +63 "core" / +4 "manipulator"&4& +8 "core" &- F +2 "manipulator"&5% +4 "core" % { o 6 +2 .tForearm.seek :retract + "manipulator"&6' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&7(ӂ +286 "core" ( +2 "manipulator"&8& +8 "core" &Ӎ* \ Bh +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &9& +5 "core" &Ӎ* 2 Bh +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&:'? +95 "core" ' +2 "manipulator"&;& +9 "core" &ӎ+ 4 Bg +3 "manipulator"&<% +8 "core" %; / m +4 "collection"'=& +8 "core" & H I\  +4 "collection"'>& +9 "core" & F G\  +7 .tCC.seek :closed +2 "collection"'?(\\ +8 "core" & I J\  +2 & G H\  +6 &7 H H\ ,~ +11 &g H I\ @ +9 &rp H I\ N +8 &5U F H\ M +11 &Y G H\ N +9 &Z H G\ N +9 &zY H G\ N +10 &=V H J\ M +8 &X H I\ M +11 &T J I\ M +9 & V K H\ M +8 &"E[ J J\ M +11 &$Z I J\ M +8 &%Z L L\ N +10 &'Y L H\ N +10 &)MW K L\ M +8 &+U K J\ M +11 &,Z K L\ M +8 &.Y M K\ N +9 &0UX L K\ M +11 &2Z M L\ M +8 &3Y L L\ N +10 &5X K M\ M +10 &7]Z N L\ M +8 &9Z L K\ M +11 &:Y M N\ N +9 &<Y L M\ N +8 &>dZ M N\ N +11 &@'U N O\ M +9 &A\\ N O\ N +9 &Ce R P\ O +10 &E`} S U\ R +8 &G ] [\ V +11 &H ^ `\ X +9 &J ] _\ Y +9 &LQ _ `\ Z +10 &N c _\ Z +9 &O a _\ Z +9 &Q a d\ Z +10 &SU ` a\ [\ +8 &U c c\ \\ +11 &V d d\ \\ +9 &X b d\ ^ +8 &ZS d d\ ^ +11 &[x e e\ C +9 &\\- h i\ 'v +9 &\\ e e\ Z +3 ( +6 "collection"'>& +5 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 +2 "collection"'@& +8 "core" &\\ e h\ Z +2 &\\ g g\ Z +4 .tHand.open +2 "manipulator"&A1 +53 "core" 1 +4 "manipulator"&B% +8 "core" % ;  m +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&C' +96 "core" ' +2 #tFlushing the Collection Valve::Manifold +2 "collection"'D& +9 "core" &\\ e e\ Z +3 "collection"'E% +8 "core" %f h h\  +2 .tCSV.dial CSR +4 "collection"'F  +126 "core"  +2 "collection"'G% +8 "core" %f e d\  +3 #tPulling 5ml of CSR.flush + .CSR.select :flush +4 "collection"' +14 .tCS.reconfigure :default +4 "collection"'#P d@b +5 .tCS.seek 5ml +3 "collection"'H's5 +130 #"uploadLog"upsync +1245 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air + "collection"' +8 'I% +3 "core" %s4 c e\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'J' +676 "core" ' + .tCSV.dial :waste +2 "collection"'K +124 "core" + .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'L'i +1991 "core" ' +2 #tPurging external Intake + "collection"'M& +4 "core" &\\ d e\ Z + "collection"'N% +4 "core" %m d e\ + .tCSV.dial :flush + "collection"'O  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 10ml + "collection"'P' +2435 "core" ' + .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV + "collection"'Q + 'R  +71 "core" +3 ~ + .tCTV.dial :intake + "collection"'S  +73 "core"  + .tIntake.select :open + "sampler") +9 .tCS.seek 0ml +2 "collection"'T'i +2366 "core" ' +2 .tIntake.select :close + "sampler")0 +8 .tCTV.dial :air +2 "collection"'U  +76 "core"  +2 #tFlushing upper manifold + "collection"'V& +4 "core" &\\ o l\ Z +2 "collection"'W% +3 "core" %h n m\  + .tCSV.dial :flush +2 "collection"'X  +70 "core"  +2 .tCS.seek 5ml + "collection"'Y's5 +1283 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'Z @ +52 "core" ? +2 "collection"'[% +4 "core" %s6 f f\ +2 .tCS.seek 7ml + "collection"'\\'! +546 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +2 "collection"'] +97 "core" ~ +2 .tCTV.dial :air +2 .CS.seek 0ml + "collection"'^'i +1658 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'_'3J +813 "core" ' +2 .tCSV.dial :waste + "collection"'` +41 "core" +2 .tCS.seek 0ml +2 "collection"'a'i +771 "core" ' +2 "collection"'b& +3 "core" &\\ c `\ Z +2 "collection"'c% +4 "core" %h c a\ + .tCSV.dial :flush + "collection"'d  +40 "core"  +2 .tCS.seek 3ml +2 "collection"'e'3J +793 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +2 "collection"'f @ +53 "core" ? + "collection"'g% +4 "core" %3I a b\ \ +2 .tCS.seek 5ml +2 "collection"'h's4 +549 "core" ' + .tCSV.dial :air +2 .CS.seek 0ml + "collection"'i'i +1224 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'j'3J +798 "core" ' + .tCSV.dial :waste +2 "collection"'k +67 "core" +2 .tCS.seek 0ml +2 "collection"'l'i +776 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&m& +4 "core" &ӑ( N Ad + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +32 "core" ( + "manipulator"&o& +4 "core" &ӆ   $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +2 "core" &ӆ  " $ +2 .tForearm.seek CC +2 "manipulator"&q'? +95 "core" ' + .tHand.close + "manipulator"&r/ +61 "core" / + .tCC.seek :open +2 "collection"'s( +448 "core" ( + "manipulator"&t& +4 "core" &ӆ  ? $ + "manipulator"&u% +4 "core" % 4 X , +2 .tForearm.seek :retract + "manipulator"&v' +100 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&w(- +282 "core" ( + "manipulator"&x& +4 "core" &-   +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &y& +2 "core" &- ]  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&z'w +101 "core" ' + .tHand.open + "manipulator"&{1 +60 "core" 1 + "manipulator"&|% +4 "core" % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +46 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +2 #tda sampling at most 100ml +3 ."Qmail"DAfans.email "Started da in tube 2 at 07:45:08PDT27-Jul-21\\n{1 => 0,\\n 2 => 3,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@07:40:50, 16% flow, 22.3C, 43% humidity, 14.9psia, 13.588V, 0.393A, 0.375A avg, 5.34W",Subject: "da sampling at most 100ml" +3 #tLoading sh1 puck from tube 2 into Collection Clamp +2 "collection"'~& +4 "core" & G G\ + "manipulator"&% +5 "core" %   + "storage"(% +4 "core" % \  +2 "storage"(. +3 "core" .(,y + .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +673 "core" ( +4 .tSC.configure :limp +5 "storage"($\ 1b +5 (& +8 "core" &  p 8\ +3 "manipulator"&& +7 "core" &- i  +4 "manipulator"&% +8 "core" %  {  +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +4 "manipulator"&( +176 "core" ( +4 "manipulator"&& +8 "core" &   +3 "storage"( & +8 "core" &  \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 450 counts +4 "manipulator"&\ 'S +97 "core" ' +4 "storage"( & +8 "core" &  v\ +4 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"( 'r +290 "core" ' +3 "storage"( - +7 "core" -'~ +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (& +6 "core" &  +\ +4 "manipulator"&& +8 "core" &  +3 .tElbow.seek 2 +2 "manipulator"&( +21 "core" ( +2 "manipulator"&& +9 "core" &   +3 "storage"(& +8 "core" &  ;\ +4 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +19 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +65 "core" / +5 ."downElevator"SE.seek :down +6 "manipulator"&& +4 "storage"(' +15 "core" & p  +3 "manipulator"&% +8 "core" % ϸ \\ +4 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +4 .tElbow.seek CC +2 "manipulator"&(ӂ +129 "core" ' + ."downElevator"SE.stop + "storage"(5 +30 "core" ( +3 "manipulator"&& +2 #"uploadLog"upsync +4 "core" &ӏ( 9 Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ(  Aa +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&$'? +92 "core" ' +2 "manipulator"&&& +4 "core" &ӏ( Aa +2 "manipulator"&(% +3 "core" %B " { +2 "collection"''& +4 "core" & D F\ +2 "collection"'& +5 "core" & E F\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & F G\ +6 &@ H F\ $f +10 &X{ F E\ 7 +9 &y F F\ L +9 &U F F\ L +10 &T G G\ L +9 &EV G H\ L +10 &W I H\ L +9 &W G I\ L +9 &U H H\ L +10 &NU H J\ L +9 & U H H\ L +9 &!Y H H\ L +10 &#W H J\ L +9 &%VV H H\ L +10 &'V H J\ K +9 &(W I I\ L +9 &*V I L\ L +10 &,^U H J\ L +9 &.Y L J\ L +9 &/U J J\ L +10 &1W J K\ L +9 &3eZ M J\ L +9 &5(U J N\ L +10 &6W L K\ L +9 &8V M L\ L +10 &:nV M L\ L +9 &<0W M K\ L +9 &=X O L\ L +10 &?W M L\ L +9 &AtY O O\ L +9 &C5] N O\ M +10 &Dh S R\ N +9 &Fw S R\ P +10 &Hf [ Y\ T +9 &J ^ ^\ W +9 &K _ a\ W +10 &M c a\ X +9 &O_ ` c\ Y +9 &Q c d\ Y +10 &R e c\ Z +9 &T e e\ Z +10 &Va f e\ [\ +9 &X g g\ \\ +9 &Y g f\ ] +10 &[ g h\ J +9 &\\< j k\ )} +9 &\\p k k\ P +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open + "manipulator"&"1 +54 "core" 1 +2 "manipulator"&+% +4 "core" % B  { +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,' +89 "core" ' + #tcollectSample 100ml w/bubble point of 24psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")-+ +3 "core" + + "sampler").% +4 "core" %ڃ h\ ! +2 "collection"'0& +3 "core" &\\n k k\ P +3 "Can"\ \\Z +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast + "sampler")#.0X% +4 "core" %~ d ` j\  +2 "collection"'E& +3 "core" &\\n  \ P +3 "Can"\ lj + .tCTV.dial :intake + ."connect"SSV.dial CBV +3 "sampler")F  + .tCBV.dial SSV +73 "core"  +2 #tAllowing 130s for 25.0ml of remaining 100.0ml + .Intake.select :open + "sampler") +209 "collection"'G% +3 "core" %i m m\ +2 #tIntake @15.0psia, vacuum from 9.5 to 12.5psi + .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X\ +2 "sampler")y% +3 "core" % M M `\ 1 +2 "sampler")n% +3 "core" % V T i\ 1 + .tIntake.select :close + "sampler")0 +9 ){% +2 "core" % b c _\ 1 +2 .tSSV.dial :exhaust +2 "sampler")|  +73 "core"  +2 .tExhaust.select :open + "sampler")@ +9 .tSS.seek 0ml +2 "sampler")v'ڀ +868 "core" ' + .tExhaust.select :close + "sampler") +9 ."connect"SSV.dial CBV +3 .tCBV.dial SSV + "sampler")~  +74 "core"  + #tAllowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open + "sampler") +210 "collection"'% +3 "core" %i o q\ + #tIntake @15.2psia, vacuum from 9.7 to 12.7psi +2 .SS.reconfigure :inhaling 2.20ml/s +2 "sampler")#.0X% +4 "core" % d\ ? + "sampler")E% +3 "core" % `\ . +2 .tIntake.select :close + "sampler")0 +8 )F% +3 "core" % W\ + .tSSV.dial :exhaust +2 "sampler")B  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +9 .tSS.seek 0ml + "sampler")G'ڀ +858 "core" ' + .tExhaust.select :close + "sampler") +9 #tSampled 100.0ml + #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) + .Intake.select :close + "collection"'D& +3 "core" &\\m T V\ P +2 ."airStroke"CSV.dial :waste +3 "sampler")I% +3 ."airStroke"CS.seek 0ml +2 "collection"'H'i +2 "core" %ڄ c\ +2 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +3 "sampler")K  +2 "core" ' + ."airStroke"CSV.dial :air +2 "collection"'J @ +69 "core" A +2 ."airStroke"CS.seek 10ml + "collection"'M' +106 "core"  + .tCTV.dial :air +2 "collection"'N  +75 "core" ~ +2 .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust + "sampler")O +129 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.seek 0ml +2 "collection"'L  "sampler")R'ڀ +7 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust + "sampler")Q  +123 "core"  +6  +487 ' + "sampler")S% +4 "core" %ڄ X\ + .tCBV.dial between SSV and waste2 +2 "collection"'P  +29 "core"  +2 "collection"'U% +4 "core" % n m\  +2 ."connect"CTV.dial CSV,avoiding: :air +2 .tCSV.dial CTV +2 "collection"'V  +52 "core"  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< db +3 .tCS.seek 0ml + "collection"'W'i +1829 "core" '2 d d\ ũ +2 "collection"'X% +4 "core" %2 f g\  +2 "sampler")T% +3 "core" %ڄ V\ +2 #tBubblePoint: Intake @39.2psia, Outlet @15.0psia + .CBV.dial SSV + "collection"'Z @ +29 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0Xad +102 "collection"'>9 +3 "core" 9_ed +102 "collection"'E9 +3 "core" 9ib +102 "collection"'F9 +2 "core" 9m_ +102 "collection"'B9 +3 "core" 9q[ +102 "collection"'s9 +3 "core" 9vW +102 "collection"'D9 +2 "core" 9 zT +102 "collection"'I9 +3 "core" 9/~R +102 "collection"'J9 +2 "core" 9QN +102 "collection"'K9 +3 "core" 9tL +102 "collection"'N9 +2 "core" 9H +102 "collection"'l9 +2 "core" 9D +102 "collection"'H9 +4 "core" 9C +102 "collection"'O9 +2 "core" 9? +102 "collection"'L9 +2 "core" 9> +102 "collection"'Q9 +3 "core" 9;; +102 "collection"'G9 +2 "core" 9X9 +102 "collection"'S9 +2 "core" 9w6 +102 "collection"'P9 +3 "core" 94 +102 "collection"'U9 +2 "core" 92 +102 "collection"'V9 +2 "core" 90 +102 "collection"'M9 +3 "core" 9/ +102 "collection"'X9 +3 "core" 9, +102 "collection"'T9 +2 "core" 9+ +102 "collection"'Z9 +2 "core" 95* +102 "collection"'R9 +3 "core" 9L( +102 "collection"'[9 +2 "core" 9a' +102 "collection"'9 +3 "core" 9v& +102 "collection"']9 +2 "core" 9$ +102 "collection"':9 +3 "core" 9# +102 "collection"'\\9 +2 "core" 9! +102 "collection"'_9 +3 "core" 9! +102 "collection"'b9 +2 "core" 9 +103 "collection"'d9 +2 "core" 9 +102 "collection"'Y9 +3 "core" 9 +102 "collection"'f9 +2 "core" 9  +102 "collection"'W9 +2 "core" 9  +102 "collection"'c9 +4 "core" 9 ) +103 "collection"'g9 +3 "core" 9 8 +102 "collection"'a9 +2 "core" 9 E +102 "collection"'h9 +3 "core" 9 R +103 "collection"'i9 +3 "core" 9 `  +102 "collection"'e9 +3 "core" 9 l +102 "collection"'j9 +2 "core" 9 w +102 "collection"'m9 +2 "core" 9  +102 "collection"'o9 +3 "core" 9  +102 "collection"'p9 +2 "core" 9 ! +103 "collection"'^9 +2 "core" 9 % +102 "collection"'k9 +3 "core" 9 ) +102 "collection"'r9 +3 "core" 9 . +102 "collection"'C9 +2 "core" 9 2 +102 "collection"'?9 +2 "core" 9 6 +103 "collection"'u9 +2 "core" 9 : +103 "collection"'q9 +2 "core" 9 > +102 "collection"'x9 +2 "core" 9 C +102 "collection"'y9 +52 "core" 9 I +102 "collection"'n9 +2 "core" 9 M +102 "collection"'79 +2 "core" 9 Q +102 "collection"'|9 +3 "core" 9 U +102 "collection"'`9 +2 "core" 9 Y +102 "collection"'~9 +3 "core" 9\ ^ +102 "collection"'t9 +2 "core" 9\ b +102 "collection"'v9 +3 "core" 9\ f +102 "collection"'z9 +3 "core" 9\ j +102 "collection"'!9 +2 "core" 9\ n +103 "collection"'9 +2 "core" 9\ s +102 "collection"'9 +2 "core" 9\ w +103 "collection"'9 +3 "core" 9\ "{ +102 "collection"'9 +3 "core" 9\ & +102 "collection"'w9 +2 "core" 9\ * +102 "collection"'9 +2 "core" 9\ / +103 "collection"'}9 +2 "core" 9\ 3 +102 "collection"'{9 +2 "core" 9\ 7 +102 "collection"' 9 +3 "core" 9\ : +102 "collection"' 9 +3 "core" 9\ > +102 "collection"' 9 +2 "core" 9\ B +102 "collection"'9 +2 "core" 9\ D +103 "collection"'9 +2 "core" 9\ H +103 "collection"' 9 +2 "core" 9\ K +102 "collection"'9 +2 "core" 9\ O +103 "collection"'9 +2 "core" 9\ R +102 "collection"'9 +2 "core" 9\ V +102 "collection"'9 +3 "core" 9\ Y +102 "collection"'9 +3 "core" 9\ \\ +102 "collection"'9 +3 "core" 9\ ` +102 "collection"'9 +2 "core" 9\ b +102 "collection"' 9 +2 "core" 9\ e +102 "collection"'\ 9 +3 "core" 9\ i +102 "collection"'9 +3 "core" 9\ l +102 "collection"'9 +2 "core" 9\ p +102 "collection"'9 +3 "core" 9\ r +102 "collection"'(9 +2 "core" 9\ v +102 "collection"'&9 +2 "core" 9\ w +103 "collection"'9 +2 "core" 9\ { +102 "collection"'9 +22 "core" 9\ ~ +3 .tCH.hold 10:00,70C +2 "collection"'' `\ `\ {  +3 '"9 +5 "core"  + 9\  +2 "collection"'.% +3 "core" %Q \ # +2 #tBegun lysing Collection Puck Heater at 68.1C/44.9psia +30349 "Can"\ c} +29640 "core" ` + "collection"'09 +4 "core" 9\  + "collection"'% +4 "core" %Q \ + #tEnded lysing Collection Puck Heater at 70C/42.7psia +2 .CS.seek 0ml + "collection"'$'i +364 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"' @ +101 "core" A + .tCSV.dial :air +2 "collection"'- @ +41 "core" ? +2 .tCS.seek 5ml + "collection"'3's5 +1376 "core" ' + .tCSV.dial CTV +2 "collection"'#  +41 "core"  + .tdelay 2 seconds +202 .CSV.dial :air + "collection"'4 @ +54 "core" B + .tdelay 2 seconds +201 .CSV.dial CTV +2 "collection"'5  +41 "core"  + .tdelay 2 seconds +202 .CSV.dial :air + "collection"'% @ +41 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml + "collection"'1'i +1362 "core" ' +2 "collection"'8% +4 "core" %h )\ + #tPuck @67.9psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"'9 +98 "core"  +2 .tCBV.dial CSV + "collection"'  +27 "core" + "collection"'/% +4 "core" %h \ +2 .tCS.seek 5ml + "collection"'2's4 +1373 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'=  +44 "core" + "collection"'6% +4 "core" %s7 Z Z\ +2 .tCS.seek 7ml + "collection"')'" +593 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'@ @ +42 "core" > +2 .tCS.seek 10ml + "collection"'A' +850 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV + "collection"'; ` +113 "core" ^ +2 #tLysing Complete + "collection"'<& +3 "core" &\\m C D\ P +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&>% +4 "core" %  "  + "storage"(E% +4 "core" %   \ + "storage"(F. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(B(C +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (s& +2 "manipulator"&D& +3 "core" &E E h\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(I'r +2 "core" &ӑ' N A_ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +62 "core" ( +2 "manipulator"&K& +4 "core" &v S 9% + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &v 1 9% +2 .tForearm.seek CC + "manipulator"&l'? +96 "core" ' + .tHand.close + "manipulator"&H/ +66 "core" / +2 .tCC.seek :open + "collection"'O( +18 "core" ' + "storage"(L- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(Q'1 +39 "core" ' +379 ( + "storage"(G& +4 "core" &F )\ +2 "storage"(S& +3 "core" &F y \ +2 "manipulator"&P& +3 "core" &ӄ 7 +2 "manipulator"&U% +4 "core" % N  +2 .tForearm.seek :retract + "manipulator"&V' +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&M( +155 "core" ( + "manipulator"&X& +4 "core" & &  +2 "storage"(T& +4 "core" &F _\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&Z'8 +99 "core" ' +2 .tElbow.hold + "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&[1 +62 "core" 1 +2 "manipulator"&% +4 "core" % L +2 "storage"(]& +3 "core" &F P\ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 1 + 320 counts + "manipulator"&:'x +38 "core" ' +2 "manipulator"&\\& +4 "core" &   + "storage"(_& +4 "core" &F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&b' +16 "core" ' +2 "storage"(d% +4 "core" %: \  +2 ."downElevator"SE.seek :down +3 "storage"(Y' +99 (f% +3 "core" %> s v \ Vc +2 "manipulator"&W% +4 "core" % ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&c' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'g& +4 "core" & ; ;3\ + "manipulator"&a& +4 "core" & )  + "manipulator"&h% +4 "core" %    +2 .tElbow.seek FlushPuck::Garage + "manipulator"&i(- +172 "core" ( +2 "manipulator"&e& +4 "core" &- Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &- Y +2 .tForearm.seek :garage + "manipulator"&m'w +91 "core" ' + .tHand.close + "manipulator"&o/ +52 "core" / +2 "manipulator"&p& +4 "core" &- A Y + "manipulator"&^% +4 "core" % π 2 U +2 .tForearm.seek :retract + "manipulator"&k' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&r(ӂ +286 "core" ( +2 "manipulator"&C& +4 "core" &ӑ& + @W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &ӑ&  @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&u'? +93 "core" ' + "manipulator"&q& +4 "core" &ӑ' J @W +2 "manipulator"&x% +3 "core" %; n +2 "collection"'y& +4 "core" & : :\ +2 "collection"'n& +4 "core" & 8 8o\ +2 .tCC.seek :closed +2 "collection"'7(\\ +4 "core" & : 9\  +9 &4{ 9 8\ *z +9 &f{ 9 7\ > +10 &o : 8m\ L +9 &ST 8 ;K\ K +9 &X : :\ K +10 &X 8 ;\ L +9 &V 8 9\ L +9 & 9 8\ K +10 &T 8 :\ L +9 &U : :\ L +10 & S = 8y\ K +9 &"cY : 9h\ K +9 &$%T 8 :\ K +10 &%U 9 :u\ K +9 &'Y 8 :z\ K +9 &)jX 9 :e\ L +10 &+-W : 9E\ K +9 &,U : 8!\ K +10 &.W : :\ L +59 &0sT : :\ K +4 &24Y 8 9\ L +3 &3W 8 ;\ L + &5T 8 <z\ K &7{V < ;\ K + &9<Y : <\ L + &:W : ;\ L +6 &<U : :\ L +9 &>U ; :w\ L +9 &@DZ ; ;l\ L +10 &B^ ; ;Z\ L +9 &Cg < ;B\ N +9 &Ey > >,\ R +10 &G. @ ?\ V +9 &H A A\ X +10 &J @ B\ Y +9 &Lk @ AI\ Y +9 &N+ D B4\ Z +10 &O @ B#\ Z +9 &Q B A\ Z +9 &Sm @ B\ [\ +10 &U. A A\ [ +10 &V @ B\ ] +9 &X B A\ ^ +9 &Zk C D\ ^ +9 &\\z B Cr\ 8 +10 &\\, C C\ &q +9 ( + &\\ B C\ !` +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + "collection"'|& +4 "core" &\\ C E\ !` +2 .tHand.open + "manipulator"&`1 +56 "core" 1 +2 "manipulator"&~% +4 "core" % ; m n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&t' +97 "core" ' + .tPSV.dial PSR + "processing"%v +131 "core"  + "processing"%z% +4 "core" %ؽ[\ +2 #tPulling 1.5ml of PSR.flush .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%!'+ +1608 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%  +45 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1606 "core" ' +2 .tPSV.dial PSR + "processing"% +43 "core"  + .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +2 "processing"%w + "collection"'  +6 "core"  +2 "processing"%}  +4 "core"  +63 + .tPSV.dial :mixloop + "processing"%{ +102 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2631 "core" ' + .tPSV.dial :air + "processing"%  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2629 "core" ' + .tPSV.dial :mixloop + "processing"% +45 "core" +2 .tPS.seek 0ml + "processing"% 'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%  +57 "core" +2 .tPS.seek 2.5ml + "processing"%' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"% +41 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +824 "Can"\ UR +1826 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӓ% * ?V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +51 "core" ( + "manipulator"&& +4 "core" &v L 1 +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 & & +2 "core" &v ( 1 +2 .tForearm.seek CC + "manipulator"&\ '? +99 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "manipulator"&& +3 "core" &Ӄ / +2 "manipulator"&(% +4 "core" % / +2 .tForearm.seek :retract + "manipulator"&&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(- +282 "core" ( +2 "manipulator"&& +4 "core" &- 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &- 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&.'w +100 "core" ' +2 .tHand.open + "manipulator"&+1 +53 "core" 1 +2 "manipulator"&'% +4 "core" % z % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&0' +95 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +2 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & \ + "manipulator"&% +4 "core" %  n  + "storage"(% +4 "core" % B\ + "storage"(-. +3 "core" .(C +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"($(  +365 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +2 "core" &  W U \  +2 "manipulator"&4& +3 "core" &- k 0 +2 "manipulator"&5% +4 "core" %   +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&%( +175 "core" ( +2 "manipulator"&3& +4 "core" &  # + "storage"(8& +4 "core" &  :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&9'S +109 "core" ' +2 "storage"(& +4 "core" &  \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'r +301 "core" ' + "storage"(1- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +2 "core" &  @\  +2 "manipulator"&6& +4 "core" & # # + .tElbow.seek 2 +2 "manipulator"&2( +3 "core" ( + "manipulator"&@& +4 "core" & 0 # + "storage"()& +3 "core" &  8\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&;'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&& +3 "storage"(E' +6 "core" & 9 # + "manipulator"&F% +4 "core" % ϱ s +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&s(ӂ +154 "core" ( +2 "manipulator"&D& +4 "core" &ӝ - :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +2 "manipulator"&K& + "storage"(5 +6 "core" &Ӟ  :, +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&N'? +101 "core" ' +2 "manipulator"&H& +4 "core" &Ӟ   :, +2 "manipulator"&L% +3 "core" %D  +2 "collection"'& +4 "core" & n\ +2 "collection"',& +6 "core" & \ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &  \  +9 &4{ y\ +| +9 & g} `\ ? +9 &n  G\ L +10 &_T  &\ K +9 &!U \ K +10 &X  !\ K +9 &U ^\ L +9 &fU \ K +10 &(T  \ K +9 &W  \ K +9 & U  \ L +10 &"nU  \ K +9 &$0R  \ K +10 &%W  \ K +9 &'V  w\ L +9 &)vU  g\ K +10 &+8X  c\ K +9 &,U  N\ L +9 &.T  2\ K +10 &0~W   \ K +9 &2?U  \ L +10 &4V   \ K +9 &5T  \ K +9 &7Y  \ L +10 &9HW  a\ K +9 &;\ T  ?\ K +9 &<T  <\ K +10 &>V  .\ K +9 &@PY   \ K +10 &BZ  \ L +9 &CZ \ L +9 &Ec  \ M +10 &GLu %\ O +9 &I  T\ S +9 &J  \\\ W +10 &Lz  _\ X +9 &N:  F\ X +10 &O  \ X +9 &Q  \ Y +9 &S{  \ Z +10 &U<  \ Z +9 &V  \ [\ +9 &X  \ \\ +10 &Z}  \ \\ +9 &\\y  \ 0 +10 &\\1  \ !g +9 ( + &\\g  \ Q +2 "collection"',& +56 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&I1 +4 "core" &\\g  \ Q + &\\h  \ Q + &\\g  \ Q &\\h  \ Q + &\\h  \ Q + &\\h  r\ Q +45 1 + "manipulator"&G% +4 "core" % D -  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S' +93 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'P  +133 "core" ~ + .tCSV.dial CTV +2 "collection"'U  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%X' +2624 "core" ' +2 "collection"'T% +4 "core" %  \  +2 .tCS.seek 4.501ml + "collection"'l'c? +1490 "core" ' + .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%J  +43 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%[  +72 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'] ` +29 "core" _ + .tCSV.dial :air +2 "collection"'\\ @ +44 "core" > +2 .tCS.seek 10ml + "collection"'_' +1495 "core" ' +2 .tCSV.dial CTV + "collection"'d  +42 "core"  +2 .tCS.seek 0ml +2 "collection"'V'i +2636 "core" ' + .tCBV.dial :waste1 + "collection"'f @ +27 "core" ? +2 .tdelay 5 seconds +501 .CTV.dial :air,avoiding: :intake +2 "collection"'W  +133 "core" + "collection"'M& +4 "core" &\\g  \ Q +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&Z% +3 "core" %    +2 "storage"(g% +3 "core" %\ +2 "storage"(:. +3 "core" .(  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(a(C +360 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +2 "core" &E =\ +2 "manipulator"&Q& +4 "core" &Ӟ  < :, + "manipulator"&b% +4 "core" %  O  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&e( +160 "core" ( + "manipulator"&j& +4 "core" &  +2 "storage"(Y& +4 "core" &E % \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&R' +92 "core" ' + "storage"(o& +4 "core" &E #  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'r +300 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default + "storage"(#QK-0-\ b +3 "manipulator"&c& +3 "core" & ?  +2 "storage"(m& +3 "core" &E   4\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&C'8 +27 "core" ' +2 .tElbow.hold + "manipulator"&?, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(q'f +31 "core" ' +2 "manipulator"&x% +4 "core" %E t + "storage"(y& +4 "core" &E  W\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 313 counts + "manipulator"&k'q +27 "core" ' +2 "manipulator"&O& +4 "core" & ^  +2 "storage"(|& +3 "core" &E  j\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&`' +25 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(~' +38 "core" ' + "manipulator"&n& +4 "core" & 5  +2 "manipulator"&v% +4 "core" % + s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&z' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&u(ӂ +158 "core" ( +7 "manipulator"&& +4 "core" &ә  8 :- + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +8 "core" &ә  K :- +2 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'w( +451 "core" ( + "storage"(}& +4 "core" &E D = \ + "storage"(& +4 "core" &E < > \ + "manipulator"&{& +4 "core" &Ӛ  . :, + "manipulator"& % +4 "core" % >  +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"& & +4 "core" & (  + "storage"(& +4 "core" &E Y `\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&'8 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"&% +4 "core" % I z  + "storage"(& +4 "core" &E U V \ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 317 counts +2 "manipulator"&'u +20 "core" ' +2 "manipulator"&& +4 "core" & m  +2 "storage"( & +4 "core" &E | X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&' +24 "core" ' +2 "storage"(r% +4 "core" % n v D\ +2 ."downElevator"SE.seek :down +2 "storage"(t' +100 (7% +2 "core" %< V V W\ Wb +2 "manipulator"&% +4 "core" %  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +88 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air + "processing"%\  +85 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2640 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%" +44 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%  +44 "core"  + .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%+ +43 "core" + .tdelay 1 second +101 .PSV.dial :air +3 "processing"%'  +43 "core"  +2 .tdelay 1 second +148 .PS.seek 0ml + "processing"%'ؾ +2635 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +4 "core" &\  + "manipulator"&& +4 "core" & c  + "manipulator"&-% +4 "core" %  x  + .tElbow.seek FlushPuck::Garage +2 "manipulator"&&(- +174 "core" ( + "manipulator"&.& +4 "core" &-  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&#'w +97 "core" ' + .tHand.close + "manipulator"&4/ +60 "core" / +2 "manipulator"&5& +4 "core" &- g  + "manipulator"&3% +4 "core" % χ - +2 .tForearm.seek :retract + "manipulator"&8' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&( +118 "core" ( + "manipulator"&& +4 "core" & N  +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &0& +2 "core" & 4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&1' +90 "core" ' + "manipulator"&=& +4 "core" &   +2 "manipulator"&6% +4 "core" % 3 e +2 "processing"%@& +4 "core" &m\  +2 "processing"%)& +5 "core" &m\  +2 .tPC.seek :closed + "processing"%<(^ +4 "core" &o\  +7 &Bw\ %g +9 &{W~~\ 8 +10 &{\ M +10 &V|\ O +9 &HW}\ P +9 & W\ O +9 &U\ O +10 &X\ O +9 &QW\ O +9 &V\ O +10 &S\ O +9 &!UR\ O +10 &#YX\ O +9 &%TZ\ O +9 &&X~\ O +10 &(T\ P +9 &*aX\ O +9 &,"UE\ P +10 &-VG\ O +9 &/X=\ O +10 &1i[;\ O +9 &3+T>\ O +9 &4U<\ O +10 &6Y\ P +9 &8pY\ P +9 &:3R\ O +10 &;W\ P +9 &=Z\ O +10 &?xY\ P +9 &A9]\ P +9 &Bh\ R +10 &D\ T +9 &Fm\ V +9 &H/\ V +10 &I\ V +9 &K\ V +10 &Ms\ W +9 &O4\ W +9 &P\ X +10 &R\ W +9 &Tv\ Y +9 &V;\ X +10 &W\ W +9 &Y\ X +10 &[\ X +9 &]A\ Q +9 &^yBw\ $l +10 &^>\ 6 +5 ( + "processing"%)& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + "processing"%>& +4 "core" &^*\ 6 + &^+\ 6 + .tHand.open + "manipulator"&F1 +53 "core" 1 +2 "manipulator"&%% +4 "core" %  R e + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +90 "core" ' +2 .tPRV.dial :air +2 "processing"%D  +42 "core"  + .tPSV.dial :mixloop + "processing"%K +43 "core" +2 "processing"%/% +4 "core" %ؾ\ +2 .tPS.seek 0.3ml + "processing"%;' +383 "core" ' + .tPSV.dial PSR +2 "processing"%H +102 "core"  + "processing"%L% +4 "core" %\ \ +2 #tPulling 0.4ml of PSR.air .PSR.select :air +3 .PS.seek 0.7ml + "processing"%'2 +487 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml + "processing"%2' +1915 "core" ' +2 .tdelay 3 seconds +301 .PSV.dial :mixloop + "processing"%E +102 "core" +2 .tPTV.dial :mixing + "processing"% @ +72 "core" B +2 .tPBV.dial :waste2 + "processing"%  +91 "core"  +2 .tPS.seek 0ml + "processing"%I'ؾ +2638 "core" ' + #tGaraging FlushPuck in Processing Clamp + "manipulator"&G& +4 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&,( +2 "core" ( +2 "manipulator"&P& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" & 5  +2 .tForearm.seek PC + "manipulator"&N' +96 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / + .tPC.seek :open +2 "processing"%T( +461 "core" ( + "manipulator"&A& +4 "core" &  + "manipulator"&J% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&[' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&X(- +126 "core" ( + "manipulator"&]& +4 "core" &- 0  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +2 "core" &- W  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&l'w +102 "core" ' +2 .tHand.open + "manipulator"&d1 +55 "core" 1 + "manipulator"&_% +4 "core" % ~ ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%W& +4 "core" &\ + "manipulator"&M% +4 "core" %  E  +2 "storage"(Z% +3 "core" % 4\ + "storage"(g. +3 "core" .(C +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(:(  +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +2 "core" & , 9\ +2 "manipulator"&h& +3 "core" &-  +2 "manipulator"&Q% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&b( +172 "core" ( +2 "manipulator"&j& +4 "core" & :  + "storage"(Y& +4 "core" & w z -\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'S +96 "core" ' + "storage"(s& +4 "core" & y \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'r +297 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +2 "core" & 5 A t\ +2 "manipulator"&m& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&i( +3 "core" ( + "manipulator"&x& +4 "core" & X  + "storage"(y& +4 "core" & V V |\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&O'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&|/ +63 "core" / +2 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt["4/home/esp/esp2/utils/puckmoves.rb:387:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:64:in `da'">/home/esp/esp2/mission/seawater_negative_test_72721.rb:15"7/home/esp/esp2/utils/commskel.rb:82:in `runAction'"//home/esp/esp2/utils/mission.rb:71:in `at'">/home/esp/esp2/mission/seawater_negative_test_72721.rb:14"//home/esp/esp2/utils/mission.rb:18:in `[]'"4/home/esp/esp2/utils/mission.rb:18:in `mission'">/home/esp/esp2/mission/seawater_negative_test_72721.rb:10"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:191:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 ."downElevator"SE.seek :down +2 "manipulator"&n& +2 "storage"(v' +7 "core" &  + "manipulator"&R% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&e' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&p( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&C& +4 "core" & # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +2 "core" &  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&q' +88 "core" ' +2 "manipulator"&& +4 "core" & s # + "manipulator"&!% +52 "core" % f +2 "processing"%`& +4 "core" &\ +2 "processing"%?& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\ +8 & ,\ #b +10 &V{\ 7 +9 &}y\ L +9 &T\ O +10 &RT\ O +9 &T\ O +9 &W\ O +10 &T\ N +9 &ZT\ O +9 &T\ O +10 &T\ N +9 &!S\ O +10 &#bU\ O +9 &%%U\ N +9 &&T\ O +10 &(S\ O +9 &*iT\ O +9 &,+U\ O +10 &-S\ O +9 &/U\ N +10 &1pW\ O +9 &34T\ O +9 &4S\ O +10 &6U\ O +9 &8zV\ O +10 &:;W\ O +9 &;V\ O +9 &=U\ O +10 &?V\ P +9 &AAY\ P +9 &Bi\ Q +10 &D~\ T +9 &Fu\ V +9 &H7\ V +10 &I\ V +10 &K\ V +9 &M|\ V +9 &O=\ V +9 &P\ W +10 &R\ W +9 &T\ X +9 &VD\ \ W +10 &XI\ X +9 &Y\ W +10 &[H\ W +9 &]J\ K +9 &^zK\ _ +10 &^ U1\ 7 +5 ( +2 "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&z1 +3 "core" &^4L\ 7 +50 1 +2 "manipulator"&% +4 "core" %  V f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&}' +92 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"% z +2 %{9 +5 "core" 9 +102 "processing"% 9 +2 "core" 9 +102 "processing"% 9 +2 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%u9 +3 "core" 9 +102 "processing"% 9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"% 9 +2 "core" 9* +102 "processing"%r9 +2 "core" 9/ +102 "processing"%9 +3 "core" 93 +102 "processing"%79 +2 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"% 9 +2 "core" 9? +103 "processing"%9 +2 "core" 9C +102 "processing"%9 +2 "core" 9H +102 "processing"%~9 +2 "core" 9L +103 "processing"%\ 9 +2 "core" 9P +102 "processing"%9 +3 "core" 9T +102 "processing"%t9 +2 "core" 9X +102 "processing"%9 +2 "core" 9\\ +102 "processing"%"9 +3 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%+9 +2 "core" 9i +102 "processing"%'9 +3 "core" 9m +102 "processing"%9 +2 "core" 9q +102 "processing"%9 +2 "core" 9v +102 "processing"%9 +3 "core" 9z +103 "processing"%-9 +2 "core" 9~ +102 "processing"%.9 +3 "core" 9 +102 "processing"%B9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%49 +3 "core" 9 +103 "processing"%59 +2 "core" 9 +102 "processing"%39 +2 "core" 9  +103 "processing"%(9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%09 +3 "core" 9 +102 "processing"%#9 +2 "core" 9! +102 "processing"%=9 +3 "core" 9& +102 "processing"%69 +2 "core" 9, +102 "processing"%@9 +2 "core" 90 +103 "processing"%&9 +2 "core" 96 +2 .tPH.hold 2:00:00,28C +3 "processing"%8 pzp0 +2 .tdelay 1:30 +3 "core"  +9001 .tPSR.select :air + .PSV.dial PSR +2 "processing"%* +102 "core"  +2 "processing"%>% +4 "core" %غ\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 .tPS.seek 0.5ml + "processing"%F' +597 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml + "processing"%%' +1612 "core" ' +2 .tPTV.dial :puck + "processing"%)  +69 "core"  +2 .tPSV.dial PTV + "processing"%D +74 "core" + .tPBV.dial :waste1 + "processing"%K  +129 "core"  +2 "processing"%/% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%1'- +602 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" , +3 .tPS.seek 0ml + "processing"%H'ؾ +1603 "core" ' + .tdelay 5:00 +1803 "Can"\ FD +28199 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%L  +34 "core" + .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%; * +32 "core" * +2 .tPSR.select :air + .PSV.dial PSR +2 "processing"% +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%E' +2430 "core" ' + .tPSV.dial PTV + "processing"% +73 "core" + .tdelay 5 seconds +502 .PSV.dial PSR + "processing"% +74 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%2 +73 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%G  +73 "core"  +2 .tPS.seek 0ml + "processing"%P'ؾ +2369 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%U  +130 "core" + .tPSV.dial :mixloop + "processing"% +45 "core" + .tPRV.dial :ab1 + "processing"% @ +71 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml + "processing"%9' +352 "core" ' +2 .tdelay 2 seconds +201 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'<  + "processing"%A  +44 "core" +3  + "processing"%J% +4 "core" %F\  +2 .tPS.seek 0.36ml + "processing"%]' +480 "core" ' +2 .tdelay 2 seconds +201 .CBV.dial between PRV and PSV +2 "collection"'\\  +27 "core" +2 .tPRV.dial :air + "processing"%N  +42 "core"  +2 .tPS.seek 0.9ml + "processing"%,'K +1154 "core" ' +2 .tPRV.dial :waste2 + "processing"%d @ +71 "core" ? +2 .tPS.seek 0.5ml + "processing"%_' +867 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%W  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%M' +1627 "core" ' +2 .tPSV.dial :PML + "processing"%Z +43 "core" + .tPTV.dial :mixing + "processing"%g @ +71 "core" A +2 .tPBV.dial :waste1 + "processing"%[  +32 "core" + "processing"%l% +4 "core" %8\ +2 .tPS.seek 1.85ml + "processing"%a' +232 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%$ * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%h'ؾ +1991 "core" ' +2 .tdelay 2 seconds +201 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'Q& +2 "core" & C\ +2 "manipulator"&j& +4 "core" &  # + "manipulator"&Y% +4 "core" %  , \ + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&s(- +126 "core" ( +2 "manipulator"&X& +4 "core" &- ) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &- X +2 .tForearm.seek :garage + "manipulator"&^'w +91 "core" ' +48 .tHand.close +3 "manipulator"&c/ +63 "core" / +2 "manipulator"&m& +4 "core" &- ; + "manipulator"&x% +4 "core" % τ Y G +2 .tForearm.seek :retract + "manipulator"&y' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +272 "core" ( + "manipulator"&n& +5 "core" &ӆ( a @X + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &ӆ& i @X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&b'? +100 "core" ' + "manipulator"&o& +5 "core" &ӈ' E ?V + "manipulator"&S% +4 "core" %G ? * +2 "collection"'O& +3 "core" &<\ +3 "collection"'C& +4 "core" &<\ +2 .tCC.seek :closed +2 "collection"'k(\\ +4 "core" &8\  +9 &4~*\ +| +10 &e~(\ ? +9 &o%\ O +9 &HS *\ N +10 & R0\ N +9 &R0\ N +10 &Q 2\ N +9 &ST4\ M +9 &W  .\ N +10 &R 0\ N +9 & R 2\ M +9 &"ZQ 4\ N +10 &$R 3\ N +9 &%T  1\ N +9 &'S   \ N +10 &)bW  $\ N +9 &+$W %\ N +10 &,U  #\ N +9 &.R   \ N +9 &0jV  $\ N +10 &2,Q  !\ N +9 &3S  \ N +10 &5V  #\ N +9 &7sV  \ M +9 &94W  \ N +10 &:X  \ N +9 &<Y  \ N +9 &>zU  \ N +10 &@;W  \ N +9 &AW  \ N +10 &C_  \ O +9 &Eww \ \ Q +9 &G+  \ V +10 &H  \ Y +9 &J  !\ Z +9 &Lg  \ Z +10 &N'  \ Z +9 &O  \ Z +9 &Q  \ [\ +10 &Sh  \ \\ +9 &U(  \ ] +10 &V  \ ^ +9 &X  \ _ +9 &Zg  \ _ +10 &\\ {  \ 9 +9 &\\+  \ &r +9 ( +3 "collection"'C& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 + "collection"'i& +4 "core" &\\  \ ^ + &\\  \ ^ +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&!% +4 "core" % G K * +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +96 "core" ' +2 .tPSV.dial PSR + "processing"%v +103 "core"  +2 "processing"%e% +4 "core" %ؾ\  + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%T'+ +1618 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%z  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1631 "core" ' + .tPSV.dial PSR + "processing"%{ +43 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%?' +2634 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +3 "collection"'q  + "processing"%  +31 "core" ~ +130  + .tPSV.dial :mixloop +2 "processing"% +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing + "processing"%  +73 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2626 "core" ' +2 .tPSV.dial :air + "processing"%u  +43 "core"  +2 .tPS.seek 2.5ml + "processing"% ' +2633 "core" ' + .tPSV.dial :mixloop + "processing"% +43 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +130 "Can"\ c` +2503 "core" ' + .tPSV.dial :air + "processing"%  +43 "core"  +2 .tPS.seek 2.5ml + "processing"% ' +2630 "core" ' + .tPSV.dial :mixloop + "processing"%r +45 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2625 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&7& +4 "core" &Ӊ% $ ?U +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +3 "core" ( + "manipulator"& & +4 "core" &Ӊ% 0 ?U + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӊ%  ?U +2 .tForearm.seek CC + "manipulator"&'? +92 "core" ' +2 .tHand.close + "manipulator"&~/ +74 "core" / +2 .tCC.seek :open + "collection"'\ ( +450 "core" ( +2 "manipulator"&& +4 "core" &Ӊ&  ?U + "manipulator"&t% +4 "core" % F ] +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&"(- +291 "core" ( +2 "manipulator"&& +4 "core" &- <  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" &- D  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&''w +90 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" % π  O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 ."da"delayUntil "08:35:41.70" +24811 #recoverPRVreagent08 .PTV.dial :mixing + "processing"%- @ +74 "core" A +2 ."da"PBV.dial :waste1 + "processing"%.  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%B * +33 "core" + +2 ."da"PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%4' +2431 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%5 +42 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%3  +42 "core"  +2 ."da"delay 2 seconds +201 .PSV.dial :mixloop + "processing"%( +43 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air + "processing"%  +44 "core"  +3 ."da"PS.seek 0ml + "processing"%0'ؾ +2356 "core" ' + #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%# +129 "core" +2 "processing"%=% +3 "core" %ؽ7\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%6' +589 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%@' +1605 "core" ' +2 ."da"PTV.dial :puck + "processing"%&  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%* +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%>  +33 "core" + "processing"%I% +4 "core" %V\  +2 ."da"PS.seek 1.5ml +2 "processing"%F'& +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%) * +35 "core" + +48 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1623 "core" ' +2 ."da"delay 2:00 +11542 "Can"\ B? +460 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%K  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%/ * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%% +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2428 "core" ' + ."da"PSV.dial PTV + "processing"%1 +87 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%L +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%;  +85 "core" +2 ."da"PS.seek 0ml + "processing"%'ؾ +2366 "core" ' + #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%H +129 "core"  + "processing"%% +4 "core" %B\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%2' +1608 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV + "processing"%G +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%E  +34 "core" +2 "processing"%U% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%', +596 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +1604 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%<  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%A * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%J +74 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml + "processing"%9' +2419 "core" ' + ."da"PSV.dial PTV +2 "processing"%\\ +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%N +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%] +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%d  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%,'ؾ +2374 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%W  +42 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%_  +129 "core" +2 ."da"delay 5 seconds +501 .PRV.dial :ab2 +2 "processing"%Z  +44 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%g +42 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%[' +396 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%l  +42 "core"  +2 "processing"%$% +4 "core" %;\ +2 ."da"PS.seek 0.55ml + "processing"%M' +354 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%a  +43 "core"  +2 ."da"PS.seek 2ml + "processing"%Q' +1556 "core" ' + ."da"PSV.dial :PML +2 "processing"%j +42 "core" +2 ."da"PTV.dial :mixing + "processing"%Y @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%X  +33 "core" +2 "processing"%f% +4 "core" %:\  +2 ."da"PS.seek 1.85ml + "processing"%p' +232 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%c * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%m'ؾ +1965 "core" ' +2 ."da"delay 2 seconds +201 .delay 8:00 +15940 "Can"\ GE +32062 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%x  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%} * +34 "core" , + ."da"PSV.dial :air +2 "processing"%^  +43 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%n' +2433 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%R +42 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%s  +42 "core"  +2 ."da"delay 2 seconds +201 .PSV.dial :mixloop + "processing"%o +43 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%S  +43 "core"  +2 ."da"PS.seek 0ml + "processing"%O'ؾ +2364 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%y +128 "core"  +2 "processing"%w% +4 "core" %1\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%i' +594 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1606 "core" ' + ."da"PTV.dial :puck +2 "processing"%!  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%C +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%v  +33 "core" +2 "processing"%e% +4 "core" % \  + ."da"PS.seek 1.5ml +2 "processing"%b'+ +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%h * +34 "core" , +3 ."da"PS.seek 0ml + "processing"%z'ؾ +1607 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%T  +34 "core" +2 ."da"delay 30 seconds +1567 "Can"\ GD +1435 ."da"PBV.dial between PSV and waste1 + "processing"%{ * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%q' +2428 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +126 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +47 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%?  +74 "core"  +2 ."da"PS.seek 0ml + "processing"%u'ؾ +2364 "core" ' + #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +129 "core"  +2 "processing"%% +4 "core" % \ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"% ' +594 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1606 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +82 "core" + ."da"PBV.dial :waste1 + "processing"%r  +32 "core" +2 "processing"% % +3 "core" % \  +2 ."da"PS.seek 1.5ml +2 "processing"%7'+ +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1615 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%~  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%| * +32 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%` +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%k' +2403 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%t +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +2385 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"% +129 "core"  + "processing"%% +4 "core" %ؾ\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1615 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%' +71 "core" + ."da"PBV.dial :waste1 + "processing"%-  +32 "core"  +2 "processing"%.% +3 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%B'1 +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml + "processing"%'ؾ +1609 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%5  +32 "core"  +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%3 * +32 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%( +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2433 "core" ' + ."da"PSV.dial PTV + "processing"%4 +73 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%# +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%= +73 "core" + ."da"delay 5 seconds +44 "Can"\ {x +458 ."da"PSV.dial :air +2 "processing"%0  +84 "core"  +2 ."da"PS.seek 0ml + "processing"%6'ؾ +2364 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air + .PSV.dial PSR + "processing"%& +140 "core"  +5 "processing"%*% +8 "core" %ؽ\  +4 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +5 "processing"% +16 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +4 "processing"%>' +333 "core" ' +3 ."da"delay 5 seconds +502 "processing"%I% +3 "core" %8  +2 #"da"Pulling 0.25ml of PSR.sub2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%@' +343 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air + "processing"% +9 ."da"PS.seek 2ml +2 "processing"%)' +1615 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV + "processing"%F +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%K  +34 "core" +2 "processing"%/% +4 "core" %> +2 ."da"PS.seek 1.5ml + "processing"%%'1 +599 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"%D * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +1611 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%L * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%; +77 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2511 "core" ' + ."da"PSV.dial PTV + "processing"%H +88 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +2488 "core" ' +2 #"da"Additional air clear + .PSR.select :air + .PSV.dial PSR +2 "processing"%E +137 "core"  + "processing"%U% +4 "core" %< + #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%2' +2139 "core" ' +2 ."da"delay 5 seconds +501 .PTV.dial :puck +2 .PSV.dial PTV + "processing"% +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%<% +4 "core" %]\  +2 ."da"PS.seek 1.5ml + "processing"%A'( +592 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%J * +36 "core" , + ."da"delay 1 second +144 .PSV.dial :waste1 +8 "processing"%P  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\\'ؾ +1610 "core" ' +2 "processing"%N9 +3 "core" 95 +2 #"da"Processing Puck Heater at 28.2C before imaging + .PH.coast + "processing"%]  +4 "core" 5 5 + "processing"%d& +4 "core" &^3\ b7 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&9% +4 "core" %  9  + "storage"(W% +4 "core" % ( (\ c + "storage"(_. +3 "core" .( +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(Z(C +365 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +2 (g& +3 "core" &D\  + "manipulator"&,& +4 "core" &- < { + "manipulator"&l% +4 "core" %   | +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&$( +182 "core" ( +2 "manipulator"&[& +4 "core" & ) D J  + "storage"(a& +4 "core" &E 9 9 X\  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&M' +98 "core" ' +2 "storage"(j& +4 "core" &E + 4 \  + ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(Y'r +296 "core" ' +2 "storage"(X- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&f& +3 "core" &   +2 "storage"(c& +3 "core" &E \ t +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b + ."da"Forearm.seek 1 +2 "manipulator"&Q'8 +26 "core" ' +2 ."da"Elbow.hold + "manipulator"&p, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(x- +2 "core" -' +3 ."da"SE.seek 1.15 Pucks below Top Plate +2 "storage"(}' +43 "core" ' +2 "manipulator"&^% +4 "core" %? b v + "storage"(m& +4 "core" &E\  + ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 307 counts + "manipulator"&R'k +15 "core" ' +2 "manipulator"&s& +4 "core" & 2 ;   + "storage"(o& +4 "core" &E  (\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&S' +20 "core" ' +2 ."da"SE.seek 2.15 Pucks below Top Plate +2 "storage"(n'K +41 "core" ' + "manipulator"&y& +4 "core" & 7  +2 "manipulator"&w% +4 "core" % * +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&O' +88 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&i( +261 "core" ( + "manipulator"&!& +4 "core" &  { +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +2 "core" & R { +2 ."da"Forearm.seek PC +2 "manipulator"&v' +94 "core" ' + ."da"Hand.close + "manipulator"&e/ +68 "core" / +2 ."da"PC.seek :open + "processing"%( +456 "core" ( + "storage"(h& +4 "core" &E j | \ k +2 "manipulator"&b& +3 "core" & x + "manipulator"&T% +4 "core" %  K + +2 ."da"Forearm.seek :retract + "manipulator"&{' +98 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&( +250 "core" ( + "manipulator"&z& +4 "core" & S j   +2 "storage"( & +3 "core" &E P O N\  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"& ' +98 "core" ' + ."da"Hand.open + "manipulator"&1 +62 "core" 1 + "storage"(?- +4 "core" -'K +2 ."da"SE.seek 1.8 Pucks below Top Plate + "storage"(q' +27 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 0.84 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21jul2709h100ml.tif +1947 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +3231 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 48.474 seconds\ /var/log/esp/da21jul2709h100ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21jul2709h100ml15s.tif +1568 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21jul2709h100ml15s.tif: TIFF Upload Complete\ +2 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21jul2709h100ml30s.tif +3074 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21jul2709h100ml30s.tif: TIFF Upload Complete\ +2 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21jul2709h100ml70s.tif +7164 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21jul2709h100ml70s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "48.474 sec auto-exposure",Subject: "da21jul2709h100ml images!" +5 "storage"(- +6 "core" -' +2 "storage"(u& +5 "core" &E \ +2 "manipulator"& & +4 "core" &  +2 ."da"Elbow.seek 1 + "manipulator"&( +22 "core" ( +3 "manipulator"&r& +4 "core" & C  +2 "storage"( & +3 "core" &E /\ +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&' +5 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.56 Pucks below Top Plate + "storage"( '< +48 "core" ' +2 "manipulator"&7& +6 "core" &   +2 "storage"(~& +4 "core" &E > P \ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 + "manipulator"&|'8 +19 "core" ' +2 ."da"Elbow.hold +3 "manipulator"&`, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +4 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.74 Pucks below Top Plate +2 "storage"(' +22 "core" ' + "manipulator"&% +4 "core" %C L +3 "storage"(t& +6 "core" &E 6 B 3\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 311 counts + "manipulator"&'o +15 "core" ' +2 "manipulator"&& +4 "core" & X  +2 "storage"(k& +4 "core" &E v v -\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&' +19 "core" ' +2 "storage"(% +6 "core" % y y w\ +2 ."downElevator"SE.seek :down +3 "storage"(+' +107 (% +3 "core" %? 0 2 b\ U] +2 "manipulator"&'% +3 "core" % m +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&-' +95 "core" ' +38 ' + ."downElevator"SE.stop + "storage"(5 +3 (.& +4 "core" &E U W \ +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge + "processing"%& +5 "core" &\ +2 "manipulator"&& +4 "core" & J  + "manipulator"&B% +4 "core" % !  $ +2 ."psFlush"Elbow.seek FlushPuck::Garage + "manipulator"&5(- +170 "core" ( +4 "manipulator"&3& +8 "core" &- [ +2 ."psFlush"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &(& +8 "core" &- h [ +3 ."psFlush"Forearm.seek :garage +3 "manipulator"&'w +98 "core" ' +5 ."psFlush"Hand.close +3 "manipulator"&4/ +63 "core" / +2 "manipulator"&#& +8 "core" &- [ +4 "manipulator"&=% +7 "core" % ψ  +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&0' +97 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 ."psFlush"Elbow.seek PC +5 "manipulator"&( +119 "core" ( +3 "manipulator"&&& +11 "core" & o > +2 ."psFlush"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &*& +7 "core" & x > +4 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 ."psFlush"Forearm.seek PC +3 "manipulator"&6' +98 "core" ' +3 "manipulator"&I& +8 "core" & > +4 "manipulator"&>% +6 "core" %  ) +4 "processing"%@& +8 "core" &\ +4 "processing"%F& +9 "core" &\ +4 &\ +4 ."psFlush"PC.seek :closed +5 "processing"%K(^ +6 "core" &\ +6 &\ 4 +6 &AHs\ 0 +10 &ip{\ E +10 &\\\ O +8 &Q\ N +11 &Ry\ N +9 &OTw\ N +9 &Pv\ N +10 &Qs\ N +8 &Qu\ N +10 &WSx\ N +10 &!U{\ N +8 &"Uw\ N +11 &$Rq\ N +9 &&`Ru\ N +9 &( St\ O +11 &)Pj\ N +8 &+U^\ O +10 &-fT\ O +9 &/)R\ N +10 &0U9\ O +9 &2Q\ N +9 &4nU6\ O +9 &60U\ O +10 &7U\ N +8 &9S\ N +10 &;vX\ O +10 &=8U\ O +8 &>T\ O +11 &@T\ O +9 &By`\ P +9 &D6r\ R +10 &E\ U +8 &G\ U +10 &It\ U +10 &K5\ U +8 &L\ U +11 &N\ V +9 &Pv\ W +8 &R9\ V +11 &S\ W +10 &U\ W +11 &W~\ W +7 &Y@\ W +10 &[\ W +9 &\\\ X +9 &^<f\ + +9 &^q\ @ +8 ( +6 "processing"%F& +8 #"psFlush"Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.71 +3 "processing"%/& +8 "core" &^5\ : +2 &^4\ : +2 &^5{\ : +3 ."psFlush"Hand.open +2 "manipulator"&)1 +56 "core" 1 +2 "manipulator"&D% +10 "core" %  8 ) +5 ."psFlush"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 ."psFlush"Forearm.seek :retract +4 "manipulator"&%' +94 "core" ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +3 "processing"% +45 "core"  +4 "processing"%L% +8 "core" %ؽ\ +2 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +4 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +2 "processing"%;' +366 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +238 "core" ' +4 ."psFlush"delay 5 seconds +334 #"uploadLog"upsync +169 ."psFlush"PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%1' +2125 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%H @ +184 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +128 "core" +2 ."psFlush"PSV.dial :mixloop + "processing"% +101 "core" +2 ."psFlush"PS.seek :empty + "processing"%'ؠ +2632 "core" ' +2 ."psFlush"PSR.select :air + .PSV.dial PSR +2 "processing"% +100 "core"  +2 "processing"%E% +3 "core" %؟d\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush + "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%U' +596 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml + "processing"%G' +2115 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%  +34 "core" +2 ."psFlush"PTV.dial :mixing + "processing"% @ +72 "core" A +2 ."psFlush"PSV.dial :mixloop + "processing"%< +104 "core" + ."psFlush"PS.seek :empty +2 "processing"%2'ؠ +1927 "Can"\ FC +724 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%J +104 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%P'X\\ +1107 "core" ' +2 ."psFlush"PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%A' +1621 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%N +73 "core" +2 ."psFlush"PTV.dial :puck + "processing"%]  +71 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml + "processing"%d'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%9 +74 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%W' +587 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml + "processing"%_' +2118 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%: +86 "core" + ."psFlush"PBV.dial PSV +2 "processing"%g U +53 "core" V +3 ."psFlush"PS.seek 0ml + "processing"%,'ؾ +2626 "core" ' + ."psFlush"PSV.dial PBV + "processing"%l @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%[' +2638 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%a  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%"'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR + "processing"%j +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml + "processing"%' +2633 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%X +69 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%f'ؾ +2627 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%c @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%x' +2637 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%^  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%m'ؾ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%s +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%o'X\\ +1104 "core" ' +2 ."psFlush"PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%y' +1608 "core" ' + ."psFlush"PSV.dial PTV +48 "processing"%w +72 "core" + ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%M  +52 "core" +2 ."psFlush"PS.seek 0ml + "processing"%$'ؾ +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%Y +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%Q' +596 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%R' +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%} +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%S U +52 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%!'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%C @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%p' +2634 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%e  +71 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%O'ؾ +2651 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml + "processing"%h' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%b +83 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%T'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%v @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%z' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%i'ؾ +2638 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'& +4 "core" &  \ +2 "manipulator"&?& +3 "core" &  > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&{( +2 "core" ( +2 "manipulator"&n& +3 "core" & / > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" & Q > +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&u/ +73 "core" / +2 .tPC.seek :open + "processing"% ( +458 "core" ( +2 "manipulator"&r& +4 "core" & i > + "manipulator"& % +4 "core" %  ( +2 .tForearm.seek :retract + "manipulator"&7' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&~(ӂ +346 "core" ( +2 "manipulator"&& +4 "core" &Ӏ+ ' Cr + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" &Ӏ+ I Cr +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +89 "core" ' +2 "manipulator"&k& +4 "core" &Ӂ, m Cq + "manipulator"&% +4 "core" %A * v +2 "collection"'& +3 "core" &  P\ +2 "collection"' & +5 "core" &  ~\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &  \ +8 & 4  \ $d +9 &Uz  \ 7 +10 &~y  \ K +9 &Y  T\ N +9 &aT  \ M +10 &!Y  N\ N +9 &Y  \ M +9 &Z  \ N +10 &gW  \ N +9 &*T  \ M +9 &U  \ M +10 &!W  \ N +9 &#pX  \ M +10 &%1S  \ N +9 &&Y  \ M +9 &(V  \ M +10 &*xX  \ M +9 &,:T  \ M +9 &-U  \ M +10 &/W  \ M +9 &1X  \ N +10 &3AW  \ N +9 &5W  \ N +9 &6T  \ M +10 &8U  \ M +9 &:JY  \ M +9 &< T  \ M +10 &=W  \ M +9 &?V  \ M +10 &AQZ  \ N +9 &C_  \ N +9 &Dp \ P +10 &F % $\ T +9 &H9 ) *\ Y +9 &I , ,\ Y +10 &K ) +\ [\ +9 &My - *\ [ +10 &O< + ,\ Z +9 &P + *\ [ +9 &R + +\ [ +10 &T| / +\ \\ +9 &V< . -\ ] +9 &W 0 .\ ^ +10 &Y 0 0\ _ +9 &[| 1 1\ L +10 &\\5 1 3\ 2 +9 &\\ 2 3\ Z +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + "collection"'& +4 "core" &\\} 0 2\ Z + &\\~ 1 4\ Z + .tHand.open + "manipulator"&'1 +56 "core" 1 +2 "manipulator"&% +4 "core" % A O v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"' & +4 "core" &\\~ 3 2\ Z + "collection"'|% +4 "core" %h 1 3g\ +2 .tCSV.dial CSR + "collection"'.  +41 "core"  + "collection"'% +4 "core" %h 1 3\ +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"''s5 +1370 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air + "collection"' +9 '% +2 "core" %s: / 2\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.501ml +2 "collection"'B' +563 "Can"\ WT +113 "core" ' +2 .tCSV.dial :waste + "collection"' +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"''i +1996 "core" ' + #tFlushing lower manifold's waste1 port + "collection"'3& +4 "core" &\\| 2 1g\ Z +2 "collection"'(% +3 "core" %l / 2a\ + .tCSV.dial :flush +2 "collection"'+  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 5ml + "collection"'`'s5 +1271 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'4 @ +42 "core" B + "collection"'#% +4 "core" %s9 2 2\ \ +2 .tCS.seek 7.001ml +2 "collection"'='$ +547 "core" ' +2 ."connect"CSV.dial CTV +2 .tCTV.dial CSV +3 "collection"'-  + '&  +51 "core"  +85  + .tCBV.dial :waste1 + "collection"'* @ +42 "core" ? +2 .tCS.seek 0ml + "collection"''i +1684 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'I& +4 "core" &\\} A ?_\ Z + "collection"'>% +4 "core" %h @ @c\  + .tCSV.dial :flush +2 "collection"'@  +68 "core" +2 .tCS.seek 5ml + "collection"'5's5 +1292 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +2 "collection"'0 @ +42 "core" A +2 "collection"'% +4 "core" %s6 6 :d\ +2 .tCS.seek 7ml + "collection"'/'! +560 "core" ' + ."connect"CSV.dial CTV +3 "collection"')  +2 .tCTV.dial CSV +51 "core"  +2 .tCBV.dial :waste2 + "collection"'D  +102 "core"  +2 .tCS.seek 0ml +2 "collection"'F'i +1665 "core" ' + #tDisinfecting external Intake with kill + "collection"'& +4 "core" &\\z @ A`\ Z +2 "collection"'L% +3 "core" %l ? Db\ +2 .tCSV.dial CSR +46 "collection"'6  +55 "core"  + "collection"'\\% +4 "core" %l ? ?\ +2 #tPulling 8ml of CSR.kill + .CSR.select :kill + "collection"' +10 .tCS.seek 8ml + "collection"';' +1988 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml + "collection"'H' +572 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"' + '  +100 "core" +33  + .tCTV.dial :intake +2 "collection"'1  +73 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"''T +1894 "core" ' + .tIntake.select :close +2 "sampler")0 +8 .tCTV.dial :air +2 "collection"'E  +75 "core" ~ +2 .tCS.reconfigure :default + "collection"'#P d@b +3 .tCS.seek 0ml + "collection"''i +586 "core" ' +2 .tCSV.dial CSR + "collection"'U  +99 "core"  +2 "collection"'% +4 "core" %l : ;@\ + #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml + "collection"''s5 +1366 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'<' +1350 "core" ' + .tCSV.dial CBV + "collection"'G +112 "core" ~ +2 .tCS.seek 0ml + "collection"'J'i +2636 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&2& +4 "core" &ӄ*  Cn +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&P(ӂ +3 "core" ( + "manipulator"&N& +4 "core" &ӄ* Cn +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &]& +2 "core" &ӄ* Cn +2 .tForearm.seek CC +2 "manipulator"&A'? +92 "core" ' +2 .tHand.close + "manipulator"&9/ +63 "core" / +2 .tCC.seek :open + "collection"'d( +449 "core" ( +2 "manipulator"&W& +4 "core" &ӄ+ ; Cn + "manipulator"&:% +4 "core" % : 1 0 +2 .tForearm.seek :retract + "manipulator"&g' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&_(- +282 "core" ( + "manipulator"&l& +4 "core" &- k Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" &-  Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&a'w +99 "core" ' +2 .tHand.open + "manipulator"&[1 +53 "core" 1 +2 "manipulator"&j% +4 "core" % q + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +92 "core" ' + #tCompleted [initialPurge; da #da and wsr are run simultanelously] begun 07:40:50 +5 #Asleep after completing seawater_negative_test_72721 assays +2 ."Qmail"GoodNews.email "{1 => 3,\\n 2 => 0,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nCan@09:30:01, 16% flow, 23.0C, 41% humidity, 14.9psia, 13.447V, 0.447A, 0.429A avg, 6.02W\\nSampled 100.0ml",Subject: "Asleep after completing seawater_negative_test_72721 assays" +1845 #"uploadLog"upsync +5 #mEXIT @1627403663.52PDT @1627412795.66PDT = =mMAIN_scheduler =tMAIN @PDT1627412797.47 #"core_reset"Sent BREAK +2 #t@55279 sendCRC with ifg=0x20, ie=0x7F #@57113 sendCRC with ifg=0x08, ie=0x5F + #@36461 idle with ifg=0x84, ie=0x75 + #@37132 select with ifg=0x10, ie=0xF5 + #@37766 receive with ifg=0x10, ie=0xFD #@38399 receive with ifg=0x10, ie=0xFD + #@39032 receive with ifg=0x10, ie=0xFD #@39359 receive with ifg=0x80, ie=0xFD + #@49277 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +287 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +380 "Can"\ 85 + \ 85 #tPolling Can every 10:00 +4 #Cleanly exited at 09:34:23PDT27-Jul-21 +902 #-> exit +4 #mEXIT @1627412813.41PDT @1627412827.42PDT = =tMAIN =mMAIN_scheduler @PDT1627412829.19 #"core_reset"Sent BREAK +2 #t@55279 sendCRC with ifg=0x20, ie=0x7F #@57113 sendCRC with ifg=0x08, ie=0x5F + #@36461 idle with ifg=0x84, ie=0x75 + #@37132 select with ifg=0x10, ie=0xF5 + #@37766 receive with ifg=0x10, ie=0xFD #@38399 receive with ifg=0x10, ie=0xFD + #@39032 receive with ifg=0x10, ie=0xFD + #@39359 receive with ifg=0x80, ie=0xFD #@11563 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +276 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +382 "Can"\ 85 + \ 85 + #tPolling Can every 10:00 +3 #Cleanly exited at 12:06:53PDT27-Jul-21 +1187 #-> esp +531 #-> access 1 +156 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %l , .W\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػX\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ڳ Y\ +2 .tSS.configure :default +2 "sampler")#.0X exit +6 #mEXIT @1627412895.70PDT @1627908247.52PDT = =mMAIN_scheduler =tMAIN @PDT1627908249.39 #"core_reset"Sent BREAK +2 #t@50458 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +284 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +391 "Can"\ !t + \ !t #tPolling Can every 10:00 +3 #Cleanly exited at 12:08:15PDT27-Jul-21 +1393 #-> ESP.ready! +3 #Powering core bus +577 .Gate.power :raw,:ON +2 "sampler") +18 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % z we\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % \ +2 .tSS.configure :default +2 "sampler")#.0X require 'PrimeReagent.rb' +27703 #-> primeCSRaqmeoh + #**Prepare to clean and prime CSR AqMeOH reagent** +2 .CSV.dial :air +2 "collection"'; @ +67 "core" B +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'<'i +4 "core" ' + .tCSV.dial CSR +2 "collection"'=  +69 "core"  + .tCSR.select :AqMeOH +2 "collection"'\ +10 #tAwaiting answer to "**Disinfect and attach CSR AqMeOH fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +19410 .CS.seek 10ml +2 "collection"'>' +2643 "core" ' +2 .tCSV.dial :waste1 + "collection"'? +125 "core" +2 .tCS.seek 0ml +2 "collection"'@'i +2585 "Can"\ FD +49 "core" ' + .tCSV.dial CSR +2 "collection"'A  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'B' +2633 "core" ' +2 .tCSV.dial :waste1 + "collection"'C +126 "core" +2 .tCS.seek 0ml + "collection"'D'i +2640 "core" ' + .tCSV.dial CSR +2 "collection"'E  +164 "core"  +2 .tCS.seek 10ml +2 "collection"'F' +2645 "core" ' + .tCSV.dial :waste1 +2 "collection"'G +125 "core" +2 .tCS.seek 0ml +2 "collection"'H'i +2630 "core" ' +2 .tCSV.dial CSR + "collection"'I  +125 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2057 "collection"'J% +3 "core" %l } |\ +2 .tCS.seek 0.5ml +2 "collection"'K'g +212 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +781 .CS.seek 10ml + "collection"'L' +2513 "core" ' +2 .tCSV.dial :waste2 + "collection"'M +41 "core"  +2 .tCS.seek 0ml +2 "collection"'N'i +2643 "core" ' + .tCSV.dial CSR +2 "collection"'O  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'P' +2638 "core" ' +2 .tCSV.dial :waste2 + "collection"'Q +43 "core"  +2 .tCS.seek 0ml + "collection"'R'i +2636 "core" ' + .tCSV.dial CSR +2 "collection"'S  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'T' +2635 "core" ' + .tCSV.dial :waste2 +2 "collection"'U +42 "core"  +2 .tCS.seek 0ml +2 "collection"'V'i +2638 "core" ' +2 .tCSV.dial CSR + "collection"'W  +43 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1426 "collection"'X% +3 "core" %e \ +3 .tCS.seek 0.5ml + "collection"'Y'` +213 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1314 .CS.seek 10ml +2 "collection"'Z' +2507 "core" ' + .tCSV.dial :waste1 +2 "collection"'[ +125 "core" +2 .tCS.seek 0ml +2 "collection"'\\'i +2630 "core" ' +2 .tCSV.dial CSR + "collection"']  +127 "core"  +2 .tCS.seek 10ml +2 "collection"'^' +2641 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'_ +125 "core" +2 .tCS.seek 0ml + "collection"'`'i +2634 "core" ' + .tCSV.dial CSR +2 "collection"'a  +138 "core"  +2 .tCS.seek 10ml + "collection"'b' +2640 "core" ' +2 .tCSV.dial :waste1 + "collection"'c +125 "core" +2 .tCS.seek 0ml +2 "collection"'d'i +2643 "core" ' +2 .tCSV.dial CSR + "collection"'e  +124 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +5485 "collection"'f% +3 "core" %g {\ +2 .tCS.seek 0.5ml +2 "collection"'g'b +204 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +4492 "Can" \ B? +20449 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +185 #**Priming reagent line** + "collection"'h% +3 "core" %] \  +3 .tCS.seek 5.499ml + "collection"'i') +1360 "core" ' + .tCSV.dial :waste1 +2 "collection"'j +125 "core" +2 .tCS.seek 0ml + "collection"'k'i +1481 "core" ' + #t**Flush clean and air out CSR manifold** + .CSR.select :flush +2 "collection"'  +9 .tCSV.dial CSR +2 "collection"'l  +124 "core"  +2 "collection"'m% +4 "core" %l \ + .tCS.seek 5ml +2 "collection"'n's8 +1374 "core" ' + .tCSV.dial :waste1 +2 "collection"'o +125 "core" +2 .tCS.seek 0ml +2 "collection"'p'i +1355 "core" ' +2 .tCSR.select :air + "collection"' +9 .tCSV.dial CSR +2 "collection"'q  +136 "core"  +2 .tCS.seek 10ml +2 "collection"'r' +2640 "core" ' +2 .tCSV.dial :waste1 + "collection"'s +125 "core" +2 .tCS.seek 0ml +2 "collection"'t'i +2637 "core" ' + #t**SUCCESSFULLY PRIMED CSR AQMEOH REAGENT** +27814 "Can"'\ @= +20260 #t-> primeCSRrnal +2 #**Prepare to clean and prime CSR rnal reagent** + .CSV.dial :air + "collection"'u @ +70 "core" A +2 .tCS.seek 0ml +2 "collection"'v'i +3 "core" ' + .tCSV.dial CSR +2 "collection"'w  +68 "core"  +2 .tCSR.select :rnal + "collection"' +10 #tAwaiting answer to "**Disinfect and attach CSR rnal fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +408 .CS.seek 10ml +2 "collection"'x' +2630 "core" ' +2 .tCSV.dial :waste1 + "collection"'y +125 "core" +2 .tCS.seek 0ml +2 "collection"'z'i +2634 "core" ' + .tCSV.dial CSR +2 "collection"'{  +126 "core"  +2 .tCS.seek 10ml +2 "collection"'|' +2632 "core" ' +2 .tCSV.dial :waste1 + "collection"'} +126 "core" + .tCS.seek 0ml +2 "collection"'~'i +2653 "core" ' + .tCSV.dial CSR +2 "collection"'  +125 "core"  +2 .tCS.seek 10ml + "collection"'' +2631 "core" ' +2 .tCSV.dial :waste1 + "collection"' +125 "core" +2 .tCS.seek 0ml +2 "collection"''i +2631 "core" ' + .tCSV.dial CSR +2 "collection"'  +125 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1476 "collection"'% +3 "core" %k \ +2 .tCS.seek 0.5ml +2 "collection"''f +212 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1268 .CS.seek 10ml +2 "collection"'' +2507 "core" ' + .tCSV.dial :waste2 + "collection"' +53 "core"  +2 .tCS.seek 0ml +2 "collection"' 'i +2633 "core" ' +2 .tCSV.dial CSR + "collection"'\  +41 "core"  +2 .tCS.seek 10ml +2 "collection"' ' +2643 "core" ' + .tCSV.dial :waste2 +2 "collection"' +42 "core"  +2 .tCS.seek 0ml +2 "collection"' 'i +2632 "core" ' +2 .tCSV.dial CSR +2 "collection"'  +41 "core"  +3 .tCS.seek 10ml + "collection"'' +2645 "core" ' + .tCSV.dial :waste2 +2 "collection"' +42 "core"  +2 .tCS.seek 0ml +2 "collection"''i +2635 "core" ' + .tCSV.dial CSR +2 "collection"'  +42 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1644 "collection"'% +3 "core" %i d\ +3 .tCS.seek 0.5ml + "collection"''d +211 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +954 .CS.seek 10ml +2 "collection"'' +782 "Can" \ EB +1742 "core" ' + .tCSV.dial :waste1 +2 "collection"' +125 "core" +2 .tCS.seek 0ml +2 "collection"''i +2636 "core" ' +2 .tCSV.dial CSR + "collection"'  +127 "core"  +2 .tCS.seek 10ml +2 "collection"'' +2651 "core" ' + .tCSV.dial :waste1 +2 "collection"' +125 "core" +2 .tCS.seek 0ml +2 "collection"''i +2633 "core" ' +2 .tCSV.dial CSR + "collection"'"  +127 "core"  +2 .tCS.seek 10ml +2 "collection"'%' +2644 "core" ' +2 .tCSV.dial :waste1 + "collection"'' +126 "core" + .tCS.seek 0ml +2 "collection"')'i +2631 "core" ' + .tCSV.dial CSR +2 "collection"'(  +126 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1267 "collection"'% +3 "core" %k e\ +2 .tCS.seek 0.5ml +2 "collection"''f +214 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +18011 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +124 #**Priming reagent line** +2 "collection"'#% +3 "core" %f s\  +2 .tCS.seek 5.5ml +2 "collection"','2 +1353 "core" ' +2 .tCSV.dial :waste1 + "collection"'- +125 "core" +2 .tCS.seek 0ml +2 "collection"'.'i +1484 "core" ' + #t**Flush clean and air out CSR manifold** + .CSR.select :flush +2 "collection"' +9 .tCSV.dial CSR +2 "collection"'/  +125 "core"  +2 "collection"'0% +4 "core" %k a\ +2 .tCS.seek 5ml + "collection"'1's7 +1354 "core" ' + .tCSV.dial :waste1 +2 "collection"'2 +127 "core" +2 .tCS.seek 0ml + "collection"'3'i +1367 "core" ' + .tCSR.select :air +2 "collection"' +9 .tCSV.dial CSR + "collection"'4  +124 "core"  +2 .tCS.seek 10ml +2 "collection"'5' +2643 "core" ' +2 .tCSV.dial :waste1 + "collection"'6 +127 "core" +2 .tCS.seek 0ml + "collection"'7'i +2633 "core" ' + #t**SUCCESSFULLY PRIMED CSR RNAL REAGENT** +13112 "Can" \ @= +60002 \ \ A> +60001 \ @> +41808 #t-> primePSRwash + #**Prepare to clean and prime PSR wash reagent** +2 .PSV.dial :air +2 .PS.seek 0ml + "processing"%8'ؾ +5 "core" ' + .tPSV.dial PSR +2 "processing"%9 +129 "core"  +2 .tPSR.select :wash +2 "processing"% +9 #tAwaiting answer to "**Disinfect and attach PSR wash fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +254 .PS.seek 2.5ml + "processing"%:' +2631 "core" ' + .tPSV.dial :waste1 +2 "processing"%;  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%='ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%<' +2655 "core" ' +2 .tPSV.dial :waste1 + "processing"%?  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%>'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%A +44 "core"  +2 .tPS.seek 2.5ml + "processing"%@' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%C  +44 "core"  +2 .tPS.seek 0ml + "processing"%B'ؾ +2653 "core" ' + .tPSV.dial PSR +2 "processing"%E +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1358 "processing"%D% +3 "core" %\  +2 .tPS.seek 0.5ml +2 "processing"%G' +278 "Can" \ FC +330 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +2455 .PS.seek 2.5ml +2 "processing"%F' +2125 "core" ' +2 .tPSV.dial :waste2 + "processing"%I  +74 "core"  +2 .tPS.seek 0ml + "processing"%J'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%H +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%K' +2635 "core" ' +2 .tPSV.dial :waste2 + "processing"%M  +74 "core"  +2 .tPS.seek 0ml + "processing"%L'ؾ +2633 "core" ' + .tPSV.dial PSR +2 "processing"%O +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%N' +2635 "core" ' +2 .tPSV.dial :waste2 + "processing"%Q  +74 "core"  +2 .tPS.seek 0ml + "processing"%P'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%S +73 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1897 "processing"%R% +3 "core" %ؼ\ +2 .tPS.seek 0.5ml +2 "processing"%U' +583 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +830 .PS.seek 2.5ml +2 "processing"%T' +2129 "core" ' + .tPSV.dial :waste1 +2 "processing"%W  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%X'ؾ +2651 "core" ' + .tPSV.dial PSR +2 "processing"%V +44 "core"  +2 .tPS.seek 2.5ml + "processing"%Y' +2637 "core" ' +2 .tPSV.dial :waste1 + "processing"%[  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%Z'ؾ +2631 "core" ' + .tPSV.dial PSR + "processing"%] +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%\\' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%_  +44 "core"  +2 .tPS.seek 0ml + "processing"%^'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%a +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2735 "processing"%`% +4 "core" %\ +2 .tPS.seek 0.5ml + "processing"%c' +584 "core" ' +10 #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +644 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +18519 "Can" \ B? +8621 #t**Priming reagent line** +2 .PS.seek 2.5ml + "processing"%b' +2122 "core" ' +2 .tPSV.dial :waste1 + "processing"%e  +46 "core"  +2 .tPS.seek 0ml + "processing"%f'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%d +44 "core"  + .tPS.seek 2.5ml +2 "processing"%h' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%g  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%j'ؾ +2632 "core" ' + #t**Flush clean and air out PSR manifold** + .PSR.select :flush +3 "processing"%` +9 .tPSV.dial PSR + "processing"%i +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%l' +2635 "core" ' +2 .tPSV.dial :waste1 + "processing"%m  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%k'ؾ +2627 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPSV.dial PSR +2 "processing"%o +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%n' +2632 "core" ' + .tPSV.dial :waste1 +2 "processing"%q  +56 "core"  +2 .tPS.seek 0ml +2 "processing"%p'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%s +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%r' +2635 "core" ' + .tPSV.dial :waste1 +2 "processing"%u  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%w'ؾ +2649 "core" ' + #t**SUCCESSFULLY PRIMED PSR WASH REAGENT** +25046 "Can" \ @= +1569 #t-> primeCSRkill + #**Prepare to clean and prime CSR kill reagent** +2 .CSV.dial :air +2 "collection"'t @ +68 "core" A +2 .tCS.seek 0ml + "collection"'v'i +4 "core" ' +2 .tCSV.dial CSR +2 "collection"'y  +81 "core"  + .tCSR.select :kill +2 "collection"' +9 #tAwaiting answer to "**Disinfect and attach CSR kill fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +1782 .CS.seek 10ml +2 "collection"'x' +2635 "core" ' + .tCSV.dial :waste1 +2 "collection"'{ +125 "core" +2 .tCS.seek 0ml +2 "collection"'z'i +2634 "core" ' + .tCSV.dial CSR +2 "collection"'}  +126 "core"  +2 .tCS.seek 10ml +2 "collection"'|' +2648 "core" ' + .tCSV.dial :waste1 +2 "collection"' +126 "core" +2 .tCS.seek 0ml +2 "collection"'~'i +2632 "core" ' +2 .tCSV.dial CSR + "collection"'  +127 "core"  +2 .tCS.seek 10ml +2 "collection"'' +2648 "core" ' + .tCSV.dial :waste1 +2 "collection"' +126 "core" +2 .tCS.seek 0ml +2 "collection"''i +2632 "core" ' + .tCSV.dial CSR +2 "collection"'  +127 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1668 "collection"'% +2 "core" %l F\ +3 .tCS.seek 0.5ml + "collection"''g +232 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +3153 .CS.seek 10ml +2 "collection"'' +2518 "core" ' +2 .tCSV.dial :waste2 +2 "collection"'\ +42 "core"  +2 .tCS.seek 0ml + "collection"' 'i +2639 "core" ' + .tCSV.dial CSR +2 "collection"'  +44 "core"  +2 .tCS.seek 10ml + "collection"' ' +2637 "core" ' +2 .tCSV.dial :waste2 +2 "collection"' +42 "core" +2 .tCS.seek 0ml + "collection"' 'i +2642 "core" ' + .tCSV.dial CSR +2 "collection"'  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'' +2635 "core" ' +2 .tCSV.dial :waste2 + "collection"' +43 "core"  +2 .tCS.seek 0ml + "collection"''i +2633 "core" ' + .tCSV.dial CSR +2 "collection"'  +42 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1471 "collection"'% +3 "core" %l G\ +3 .tCS.seek 0.5ml + "collection"''g +209 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +2127 .CS.seek 10ml + "collection"'' +2507 "core" ' +2 .tCSV.dial :waste1 + "collection"' +127 "core" +2 .tCS.seek 0ml +2 "collection"''i +2641 "core" ' +2 .tCSV.dial CSR + "collection"'  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'' +2634 "core" ' + .tCSV.dial :waste1 +2 "collection"'" +126 "core" +2 .tCS.seek 0ml +2 "collection"''i +2639 "core" ' + .tCSV.dial CSR +2 "collection"''  +126 "core"  +2 .tCS.seek 10ml +2 "collection"'%' +2635 "core" ' +2 .tCSV.dial :waste1 + "collection"'( +127 "core" +2 .tCS.seek 0ml +2 "collection"''i +1247 "Can"\ B@ +1388 "core" ' + .tCSV.dial CSR +2 "collection"')  +127 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +931 "collection"'#% +3 "core" %j \ +3 .tCS.seek 0.5ml + "collection"''e +230 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +26460 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +180 #**Priming reagent line** +2 "collection"'-% +3 "core" %d \ +2 .tCS.seek 5.5ml +2 "collection"','0 +1357 "core" ' + .tCSV.dial :waste1 +2 "collection"'/ +127 "core" +2 .tCS.seek 0ml + "collection"'0'i +1482 "core" ' +2 #t**Flush clean and air out CSR manifold** + .CSR.select :flush +2 "collection"' +9 .tCSV.dial CSR + "collection"'.  +126 "core"  +2 "collection"'2% +4 "core" %n \ +2 .tCS.seek 5.001ml + "collection"'1's: +1357 "core" ' + .tCSV.dial :waste1 +2 "collection"'4 +126 "core" +2 .tCS.seek 0ml +2 "collection"'3'i +1370 "core" ' + .tCSR.select :air +2 "collection"' +9 .tCSV.dial CSR + "collection"'6  +138 "core"  +2 .tCS.seek 10ml +2 "collection"'5' +2635 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'9 +125 "core" +2 .tCS.seek 0ml + "collection"'8'i +2659 "core" ' + #t**SUCCESSFULLY PRIMED CSR KILL REAGENT** +19097 "Can"\ ?< +21425 #t-> primePSRflush +2 #**Prepare to clean and prime PSR flush reagent** + .PSV.dial :air +2 "processing"%;  +100 "core" +2 .tPS.seek 0ml +2 "processing"%:'ؾ +4 "core" ' +2 .tPSV.dial PSR + "processing"% +130 "core"  + .tPSR.select :flush +3 "processing"%@ +9 #tAwaiting answer to "**Disinfect and attach PSR flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +222 .PS.seek 2.5ml + "processing"%=' +2625 "core" ' + .tPSV.dial :waste1 +2 "processing"%?  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%<'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"%A +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%>' +2633 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%C  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%@'ؾ +2627 "core" ' +2 .tPSV.dial PSR +2 "processing"%E +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%D' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%B  +44 "core"  +2 .tPS.seek 0ml + "processing"%G'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%I +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +2144 "processing"%F% +3 "core" %ػ\ +2 .tPS.seek 0.5ml +2 "processing"%H' +597 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +716 .PS.seek 2.5ml +2 "processing"%J' +2117 "core" ' +2 .tPSV.dial :waste2 +2 "processing"%M  +73 "core"  +3 .tPS.seek 0ml + "processing"%K'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%O +74 "core"  + .tPS.seek 2.5ml +2 "processing"%L' +2632 "core" ' +2 .tPSV.dial :waste2 +2 "processing"%Q  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2651 "core" ' + .tPSV.dial PSR +2 "processing"%S +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%R' +2635 "core" ' +2 .tPSV.dial :waste2 + "processing"%P  +74 "core"  +2 .tPS.seek 0ml + "processing"%U'ؾ +2651 "core" ' +2 .tPSV.dial PSR + "processing"%W +72 "core" +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1032 "processing"%T% +3 "core" %ؽ\  +2 .tPS.seek 0.5ml +2 "processing"%V' +584 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1115 "Can"\ @< +426 .tPS.seek 2.5ml +2 "processing"%X' +2124 "core" ' + .tPSV.dial :waste1 +2 "processing"%[  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%Y'ؾ +2630 "core" ' + .tPSV.dial PSR +2 "processing"%] +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%Z' +2640 "core" ' + .tPSV.dial :waste1 +2 "processing"%_  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%\\'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%a +43 "core"  + .tPS.seek 2.5ml +2 "processing"%`' +2639 "core" ' + .tPSV.dial :waste1 +2 "processing"%^  +44 "core"  +2 .tPS.seek 0ml + "processing"%c'ؾ +2640 "core" ' +2 .tPSV.dial PSR + "processing"%e +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1127 "processing"%b% +4 "core" %ؼ\ +2 .tPS.seek 0.5ml + "processing"%d' +589 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +1669 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +38145 #**Priming reagent line** +2 .PS.seek 2.5ml + "processing"%f' +2129 "core" ' +2 .tPSV.dial :waste1 + "processing"%g  +46 "core"  +2 .tPS.seek 0ml + "processing"%h'ؾ +240 "Can"\ CA +2393 "core" ' + .tPSV.dial PSR +2 "processing"%i +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%j' +2628 "core" ' + .tPSV.dial :waste1 +2 "processing"%m  +44 "core"  + .tPS.seek 0ml +2 "processing"%l'ؾ +2637 "core" ' + #t**Air out PSR manifold** + .PSR.select :air +2 "processing"% +9 .tPSV.dial PSR +2 "processing"%o +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%k' +2650 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%q  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%n'ؾ +2640 "core" ' + .tPSV.dial PSR +2 "processing"%s +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%p' +2633 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%u  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%r'ؾ +2638 "core" ' + #t**SUCCESSFULLY PRIMED PSR FLUSH REAGENT** +4484 #-> primeCSVflush + #**Prepare to clean and prime CSV flush reagent to CSV port 5** +2 .CSV.dial :air + "collection"'t @ +70 "core" B +2 .tCS.seek 0ml + "collection"'y'i +4 "core" ' +2 .tCSV.dial :flush +2 "collection"'7  +43 "core" +2 #tAwaiting answer to "**Disinfect and attach CSV flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +163 .CS.seek 10ml +2 "collection"'v' +2643 "core" ' + .tCSV.dial :waste1 +2 "collection"'{ +40 "core" +2 .tCS.seek 0ml +2 "collection"'x'i +2634 "core" ' + .tCSV.dial :flush +2 "collection"'}  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'z' +2632 "core" ' +2 .tCSV.dial :waste1 + "collection"' +42 "core" +3 .tCS.seek 0ml + "collection"'|'i +2642 "core" ' +52 .tCSV.dial :flush +3 "collection"'  +42 "core"  +2 .tCS.seek 10ml + "collection"'~' +2634 "core" ' + .tCSV.dial :waste1 +2 "collection"' +42 "core" +2 .tCS.seek 0ml +2 "collection"''i +2645 "core" ' + .tCSV.dial :flush +2 "collection"'  +42 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1218 "collection"'% +3 "core" %d \ +2 .tCS.seek 0.499ml +2 "collection"''_ +206 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +2408 .CS.seek 10ml + "collection"'' +2518 "core" ' + .tCSV.dial :waste2 +2 "collection"'\ +127 "core"  +2 .tCS.seek 0ml + "collection"''i +2648 "core" ' + .tCSV.dial :flush +2 "collection"'  +127 "core"  +2 .tCS.seek 10ml + "collection"' ' +2648 "core" ' +2 .tCSV.dial :waste2 + "collection"' +127 "core"  +2 .tCS.seek 0ml +2 "collection"' 'i +2638 "core" ' + .tCSV.dial :flush +2 "collection"'  +127 "core"  +2 .tCS.seek 10ml +2 "collection"' ' +2635 "core" ' + .tCSV.dial :waste2 +2 "collection"' +126 "core"  +2 .tCS.seek 0ml +2 "collection"''i +2639 "core" ' + .tCSV.dial :flush +2 "collection"'  +126 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +149 "Can"\ B? +906 "collection"'% +3 "core" %l \ +2 .tCS.seek 0.5ml +2 "collection"''g +207 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1018 .CS.seek 10ml +2 "collection"'' +2507 "core" ' + .tCSV.dial :waste1 +2 "collection"' +44 "core" +2 .tCS.seek 0ml + "collection"''i +2631 "core" ' + .tCSV.dial :flush +2 "collection"'  +44 "core"  +2 .tCS.seek 10ml + "collection"'' +2631 "core" ' + .tCSV.dial :waste1 +2 "collection"'" +44 "core" +2 .tCS.seek 0ml +2 "collection"''i +2652 "core" ' +2 .tCSV.dial :flush + "collection"''  +55 "core" +2 .tCS.seek 10ml +2 "collection"'' +2657 "core" ' + .tCSV.dial :waste1 +2 "collection"'( +42 "core" +2 .tCS.seek 0ml +2 "collection"'%'i +2629 "core" ' + .tCSV.dial :flush +2 "collection"')  +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +34015 "collection"'#% +3 "core" %m \ +2 .tCS.seek 0.501ml +2 "collection"''h +231 "core" ' +2 #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +3260 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +145 #**Priming reagent line** +2 "collection"'-% +3 "core" %j \ +2 .tCS.seek 5.501ml +2 "collection"''6 +1365 "core" ' + .tCSV.dial :waste1 +2 "collection"'/ +44 "core" +2 .tCS.seek 0ml + "collection"','i +1490 "core" ' + #t**SUCCESSFULLY PRIMED CSV FLUSH REAGENT** +1266 "Can"\ CA +60002 )\ B@ +60001 <\ CA +60001 \ C@ +60001 \ C@ +32170 #t-> primerCSRflush +848 #-> primeCSRflush + #**Prepare to clean and prime CSR flush reagent** +2 .CSV.dial :air +2 "collection"'. @ +71 "core" B +2 .tCS.seek 0ml +2 "collection"'2'i +4 "core" ' + .tCSV.dial CSR +2 "collection"'0  +69 "core"  + .tCSR.select :flush +2 "collection"' +9 #tAwaiting answer to "**Disinfect and attach CSR flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +23535 .CS.seek 10ml +2 "collection"'4' +2644 "core" ' + .tCSV.dial :waste1 +2 "collection"'1 +127 "core" + .tCS.seek 0ml +2 "collection"'6'i +502 "Can"/\ EB +2134 "core" ' + .tCSV.dial CSR + "collection"'3  +127 "core"  +2 .tCS.seek 10ml +2 "collection"'9' +2648 "core" ' + .tCSV.dial :waste1 +2 "collection"'5 +126 "core" +2 .tCS.seek 0ml +2 "collection"';'i +2632 "core" ' +2 .tCSV.dial CSR + "collection"'  +127 "core"  +2 .tCS.seek 10ml +2 "collection"'w' +2641 "core" ' +2 .tCSV.dial :waste1 + "collection"': +127 "core" +2 .tCS.seek 0ml +2 "collection"'?'i +2635 "core" ' + .tCSV.dial CSR +2 "collection"'=  +127 "core"  + #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +3320 "collection"'A% +3 "core" %g %\ +2 .tCS.seek 0.5ml +2 "collection"'<'b +214 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +2191 .CS.seek 10ml +2 "collection"'C' +2518 "core" ' +2 .tCSV.dial :waste2 + "collection"'> +54 "core"  +2 .tCS.seek 0ml + "collection"'E'i +2634 "core" ' + .tCSV.dial CSR +2 "collection"'@  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'B' +2645 "core" ' + .tCSV.dial :waste2 +2 "collection"'D +54 "core"  +3 .tCS.seek 0ml + "collection"'I'i +2635 "core" ' +2 .tCSV.dial CSR +2 "collection"'F  +42 "core"  +2 .tCS.seek 10ml + "collection"'G' +2645 "core" ' +2 .tCSV.dial :waste2 + "collection"'H +55 "core"  +2 .tCS.seek 0ml +2 "collection"'M'i +2638 "core" ' + .tCSV.dial CSR +2 "collection"'J  +53 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1404 "collection"'O% +3 "core" %h a\ +2 .tCS.seek 0.5ml +2 "collection"'K'c +209 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +1393 .CS.seek 10ml +2 "collection"'Q' +2506 "core" ' +2 .tCSV.dial :waste1 + "collection"'L +127 "core" +2 .tCS.seek 0ml +2 "collection"'S'i +2635 "core" ' + .tCSV.dial CSR +2 "collection"'N  +127 "core"  +2 .tCS.seek 10ml + "collection"'P' +2648 "core" ' +2 .tCSV.dial :waste1 + "collection"'R +125 "core" +2 .tCS.seek 0ml +2 "collection"'W'i +2656 "core" ' + .tCSV.dial CSR +2 "collection"'T  +126 "core"  +2 .tCS.seek 10ml +2 "collection"'U' +2645 "core" ' + .tCSV.dial :waste1 +2 "collection"'V +126 "core" +2 .tCS.seek 0ml +2 "collection"'['i +2642 "core" ' + .tCSV.dial CSR +2 "collection"'X  +126 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1539 "collection"']% +3 "core" %c h\ +3 .tCS.seek 0.499ml + "collection"'Y'^ +213 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +3550 "Can"-\ CA +19826 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +3742 #**Priming reagent line** + "collection"'_% +3 "core" %_ 9\  +2 .tCS.seek 5.499ml +2 "collection"'Z'+ +1355 "core" ' +2 .tCSV.dial :waste1 + "collection"'a +127 "core" +2 .tCS.seek 0ml + "collection"'\\'i +1486 "core" ' + #t**Air out CSR manifold** + .CSR.select :air +2 "collection"' +9 .tCSV.dial CSR +2 "collection"'^  +126 "core"  + .tCS.seek 10ml +2 "collection"'`' +2631 "core" ' + .tCSV.dial :waste1 +2 "collection"'e +126 "core" +2 .tCS.seek 0ml +2 "collection"'b'i +2632 "core" ' +2 #t**SUCCESSFULLY PRIMED CSR FLUSH REAGENT** +27909 "Can"\ CA +46374 #t-> primePSRsub1 +2 #**Prepare to clean and prime PSR sub1 reagent** + .PSV.dial :air +2 "processing"%c  +102 "core" +2 .tPS.seek 0ml + "processing"%d'ؾ +4 "core" ' +2 .tPSV.dial PSR +2 "processing"%g +131 "core"  + .tPSR.select :sub1 +2 "processing"% +9 #tAwaiting answer to "**Disinfect and attach PSR sub1 fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +212 .PS.seek 2.5ml +2 "processing"%f' +2633 "core" ' + .tPSV.dial :waste1 +2 "processing"%i  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%h'ؾ +2651 "core" ' + .tPSV.dial PSR +2 "processing"%m +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%j' +2627 "core" ' + .tPSV.dial :waste1 +2 "processing"%o  +46 "core"  + .tPS.seek 0ml +2 "processing"%l'ؾ +2632 "core" ' +2 .tPSV.dial PSR + "processing"%q +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%k' +2406 "Can"\ EB +243 "core" ' +2 .tPSV.dial :waste1 + "processing"%s  +57 "core"  +2 .tPS.seek 0ml + "processing"%n'ؾ +2625 "core" ' + .tPSV.dial PSR +2 "processing"%u +42 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1913 "processing"%p% +3 "core" %)\ +2 .tPS.seek 0.5ml +2 "processing"%t' +592 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +3140 .PS.seek 2.5ml + "processing"%7' +2126 "core" ' + .tPSV.dial :waste2 +2 "processing"%8  +75 "core" ~ +2 .tPS.seek 0ml +2 "processing"%y'ؾ +2627 "core" ' + .tPSV.dial PSR +2 "processing"%{ +74 "core"  +2 .tPS.seek 2.5ml + "processing"%v' +2654 "core" ' +2 .tPSV.dial :waste2 +2 "processing"%}  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%x'ؾ +2626 "core" ' + .tPSV.dial PSR +2 "processing"% +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%z' +2632 "core" ' + .tPSV.dial :waste2 +51 "processing"%  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%|'ؾ +2630 "core" ' +2 .tPSV.dial PSR +2 "processing"% +73 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1535 "processing"%~% +3 "core" %ؾ"\ +3 .tPS.seek 0.5ml +2 "processing"%' +588 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +3115 .PS.seek 2.5ml +2 "processing"%' +2122 "core" ' +2 .tPSV.dial :waste1 + "processing"%  +46 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%\ +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2631 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"% ' +2627 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%  +43 "core"  +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2624 "core" ' + .tPSV.dial PSR + "processing"% +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1481 "processing"% % +3 "core" %(\ +2 .tPS.seek 0.5ml +2 "processing"%' +592 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +12635 "Can"\ @> +13623 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +92 #**Priming reagent line** +2 .PS.seek 2.5ml +2 "processing"%' +2121 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 .tPSV.dial PSR + "processing"% +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + #t**Flush clean and air out PSR manifold** + .PSR.select :flush +2 "processing"%B +9 .tPSV.dial PSR +2 "processing"%" +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2635 "core" ' + .tPSV.dial :waste1 +2 "processing"%'  +44 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2653 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPSV.dial PSR +2 "processing"%( +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2633 "core" ' + .tPSV.dial :waste1 +2 "processing"%)  +44 "core"  + .tPS.seek 0ml +2 "processing"%#'ؾ +2637 "core" ' + .tPSV.dial PSR +2 "processing"%% +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%-' +2627 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +57 "core"  +2 .tPS.seek 0ml + "processing"%/'ؾ +2634 "core" ' + #t**SUCCESSFULLY PRIMED PSR SUB1 REAGENT** +19945 "Can"\ DA +26453 #t-> primePSRsub2 +2 #**Prepare to clean and prime PSR sub2 reagent** + .PSV.dial :air +2 "processing"%  +104 "core" +2 .tPS.seek 0ml +2 "processing"%.'ؾ +3 "core" ' +2 .tPSV.dial PSR + "processing"%0 +131 "core"  + .tPSR.select :sub2 +2 "processing"% +10 #tAwaiting answer to "**Disinfect and attach PSR sub2 fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +233 .PS.seek 2.5ml +2 "processing"%,' +2636 "core" ' +2 .tPSV.dial :waste1 + "processing"%2  +55 "core"  +2 .tPS.seek 0ml +2 "processing"%1'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%4 +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%3' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%6  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%5'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%9 +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2627 "core" ' + .tPSV.dial :waste1 +2 "processing"%;  +46 "core"  + .tPS.seek 0ml +2 "processing"%:'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%w +43 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +4504 "processing"%=% +4 "core" %ػ?\ +2 .tPS.seek 0.5ml + "processing"%A' +600 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +3605 .PS.seek 2.5ml + "processing"%?' +2127 "core" ' + .tPSV.dial :waste2 +2 "processing"%<  +75 "core" ~ +2 .tPS.seek 0ml +2 "processing"%>'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%C +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%@' +2635 "core" ' +2 .tPSV.dial :waste2 + "processing"%E  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%D'ؾ +573 "Can"\ CA +2054 "core" ' +2 .tPSV.dial PSR + "processing"%B +74 "core"  +2 .tPS.seek 2.5ml + "processing"%F' +2652 "core" ' + .tPSV.dial :waste2 +2 "processing"%I  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2638 "core" ' +2 .tPSV.dial PSR + "processing"%G +74 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +4998 "processing"%J% +3 "core" %ؽN\ +2 .tPS.seek 0.5ml +2 "processing"%O' +594 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +533 .PS.seek 2.5ml +2 "processing"%M' +2126 "core" ' + .tPSV.dial :waste1 +2 "processing"%K  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%L'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"%Q +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%N' +2633 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%S  +45 "core"  +2 .tPS.seek 0ml + "processing"%R'ؾ +2633 "core" ' + .tPSV.dial PSR +2 "processing"%P +44 "core"  +2 .tPS.seek 2.5ml + "processing"%T' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%W  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%V'ؾ +2635 "core" ' +2 .tPSV.dial PSR + "processing"%U +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1390 "processing"%X% +3 "core" %غd\ +2 .tPS.seek 0.5ml +2 "processing"%]' +595 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +17999 #Awaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +214 #**Priming reagent line** +2 .PS.seek 2.5ml +2 "processing"%[' +2120 "core" ' +2 .tPSV.dial :waste1 + "processing"%_  +46 "core"  +2 .tPS.seek 0ml + "processing"%Y'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%a +44 "core"  +2 .tPS.seek 2.5ml + "processing"%Z' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%^  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%\\'ؾ +2651 "core" ' + #t**Flush clean and air out PSR manifold** + .PSR.select :flush +2 "processing"%H +9 .tPSV.dial PSR +2 "processing"%e +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%`' +214 "Can"\ DA +2418 "core" ' + .tPSV.dial :waste1 +2 "processing"%c  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%g'ؾ +2635 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPSV.dial PSR +2 "processing"%r +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%d' +2632 "core" ' + .tPSV.dial :waste1 +2 "processing"%i  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%f'ؾ +2626 "core" ' +2 .tPSV.dial PSR + "processing"%m +44 "core"  +2 .tPS.seek 2.5ml + "processing"%h' +2637 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%o  +45 "core"  +2 .tPS.seek 0ml + "processing"%j'ؾ +2636 "core" ' + #t**SUCCESSFULLY PRIMED PSR SUB2 REAGENT** +29695 #-> exit +5 #mEXIT @1627925516.62PDT @1627929124.54PDT = =tMAIN =mMAIN_scheduler @PDT1627929126.30 #"core_reset"Sent BREAK +2 #t@11138 sendCRC with ifg=0x20, ie=0x7F + #@12973 sendCRC with ifg=0x08, ie=0x5F + #@58730 idle with ifg=0x84, ie=0x75 #@59406 select with ifg=0x10, ie=0xF5 + #@60040 receive with ifg=0x10, ie=0xFD + #@60674 receive with ifg=0x10, ie=0xFD #@61308 receive with ifg=0x10, ie=0xFD + #@61635 receive with ifg=0x80, ie=0xFD #@20984 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +273 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can"\ DA + \ DA + #tPolling Can every 10:00 +2 #Cleanly exited at 10:31:56PDT02-Aug-21 +916 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %m v ws\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %چ g\ 6 +2 .tSS.configure :default +2 "sampler")#.0X access 2 +3 "storage"(4% +3 "core" % \ \ +2 "manipulator"&5% +4 "core" %  ]  + "manipulator"&6& +4 "core" & G I + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(7(K +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" &K c X 9\  +711 #t-> access 3 +2 "storage"(9% +4 "core" % \ \ + "manipulator"&:% +4 "core" %   +2 "manipulator"&;& +3 "core" &  I +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(<([ +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +2 "core" &[ s\ +1552 #t-> access 4 +2 "storage"(>% +3 "core" % \ \ +2 "manipulator"&?% +4 "core" %    +2 "manipulator"&@& +3 "core" &  I +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(A(C +1928 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +2 "core" &F \ +715 #t-> access 5 +2 "storage"(C% +3 "core" % \ \ +2 "manipulator"&D% +4 "core" %    + "manipulator"&E& +4 "core" &  I + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(F(  +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +2 "core" & { .\ +756 #t-> access 6 +3 "storage"(H% +3 "core" % \ \ + "manipulator"&I% +4 "core" %   g  +2 "manipulator"&J& +3 "core" & I +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(K( +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +2 "core" & X f o\  +1825 #t-> require 'shuffle.rb' +1960 #-> 5.times [shuffle 2..6]:delay 10 +2 !o:SyntaxError: mesg"|compile error\ (ESP):8: syntax error, unexpected ':', expecting $end\ 5.times [shuffle 2..6]:delay 10\ ^:bt["(ESP):8:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1681 #-> 5.times [shuffle 2..6] +2 #Shuffling pucks in tube 2 of [2..6] +3 #Loading generic puck from tube 2 into Collection Clamp + "collection"'M& +3 "core" & w vy\  +2 .tHand.open +2 "manipulator"&N1 +60 "core" 1 +2 "manipulator"&O% +4 "core" %   + "storage"(P% +4 "core" % \ \ + "storage"(Q. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(R(  +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" &  \ +2 "manipulator"&T& +3 "core" & O I +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&U( +35 "core" ( +2 "manipulator"&V& +4 "core" & 9 G + "storage"(W& +4 "core" &  .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +37 "manipulator"&X'S +97 "core" ' +2 "storage"(Y& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +293 "core" ' + "storage"([- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +2 "core" &  \ +2 "manipulator"&]& +4 "core" &  k G + .tElbow.seek 2 +2 "manipulator"&^( +3 "core" ( +2 "manipulator"&_& +3 "core" & W G +2 "storage"(`& +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&a'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +3 "storage"(d' +7 "core" &  G + "manipulator"&e% +4 "core" % ϸ   +2 .tForearm.seek :retract +2 "manipulator"&f' +86 "core" ' +2 .tElbow.seek CC + "manipulator"&g(ӂ +161 "core" ( + "manipulator"&h& +5 "core" ' + &ӓ% >N +2 .tElbow.reconfigure :loose + ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&i& +6 "core" &ӓ%  >N + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'? +99 "core" ' +2 "manipulator"&k& +4 "core" &ӓ% > >N + "manipulator"&l% +5 "core" %8 ( + "collection"'m& +5 "core" & x yt\  +3 "collection"'n& +4 "core" & w wq\  +2 .tCC.seek :closed +2 "collection"'o(\\ +4 "core" & x y]\  +10 &5} z wa\ +} +9 &f { zg\ @ +9 &Vv x zg\ O +10 &X { xh\ N +9 &Y | {a\ N +9 &\\ z |e\ N +10 &a[ z |Z\ N +9 &$Z { }\\\ N +10 &] | {S\ N +9 &\\ { ~W\ N +9 & jY { ~V\ N +10 &"-Z ~ ~T\ M +9 &#Z y {T\ N +9 &%_ | |T\ N +10 &'r] y zT\ N +9 &)5Z z zW\ M +10 &*Y { |N\ N +9 &,Y | zI\ N +9 &.zZ | {@\ N +10 &0<] } {B\ N +9 &1] } |@\ N +9 &3_ | |Q\ N +10 &5\\ { ~M\ M +9 &7E\\ | |W\ M +9 &9[ } ~W\ M +10 &:Z ~ }V\ M +9 &<_ | {S\ N +10 &>LZ ~ }S\ N +9 &@Z  ~W\ M +9 &A\\ S\ N +10 &C` ~ M\ O +9 &EPg p oK\ O +10 &G w u uU\ Q +9 &H y wP\ S +9 &J~ |Q\ W +10 &L: G\ Y +9 &M A\ Z +9 &O B\ Z +10 &Q~ K\ Z +9 &S= N\ [\ +9 &T L\ [ +10 &V R\ ] +9 &X~ Q\ ] +10 &Z= P\ ^ +9 &[| P\ C +9 &\\+ M\ 's +10 &\\z F\ S +2 ( +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&p1 +60 "core" 1 + "manipulator"&q% +4 "core" % 8  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r' +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%s& +4 "core" & \  +2 "manipulator"&t% +3 "core" %  b  +2 "storage"(u% +4 "core" % & &\ + "storage"(v. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(w(  +11 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" & ' ( )\ +2 "manipulator"&y& +4 "core" &ӓ% C >N + "manipulator"&z% +4 "core" %  (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&{( +157 "core" ( + "manipulator"&|& +5 "core" &  + "storage"(}& +4 "core" & H J Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'S +92 "core" ' + "storage"(& +5 "core" & Y U\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  / D\ +2 "manipulator"&& +3 "core" & '  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & .  + "storage"(\ & +4 "core" & ' ) \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +73 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" & u  + "manipulator"&% +5 "core" %   + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&& +5 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' + "manipulator"&& +4 "core" & F +2 "manipulator"&% +4 "core" %  I +2 "processing"%& +3 "core" &f\  +3 "processing"%& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &j\  +8 &Cr\ %h +9 &yV}y\ 9 +9 &~yS\ M +10 &Vz\ P +9 &IW\ P +10 & Y|\ P +9 &Y\ P +9 &Y~\ P +10 &QW~\ P +9 &Zk\ P +9 &VP\ P +10 &!Zv\ P +9 &#YUs\ P +10 &%Ux\ P +9 &&\\x\ P +9 &(Wz\ P +10 &*aXv\ P +9 &,"\\n\ P +9 &-Vh\ O +10 &/Zj\ P +9 &1i[j\ P +9 &3,Wh\ O +10 &4Wl\ P +9 &6Ym\ P +10 &8pXn\ P +9 &:2Xm\ P +9 &;Ze\ P +10 &=Zh\ P +9 &?xYm\ P +9 &A9[c\ P +10 &Bbc\ Q +9 &Djd\ R +10 &Fsyf\ U +9 &H2g\ U +9 &Im\ V +10 &Ko\ V +9 &Mtf\ W +9 &O5g\ W +10 &Pd\ W +9 &Rb\ W +10 &Tzb\ X +9 &V<^\ X +9 &WV\ W +10 &YW\ X +9 &[a\ X +9 &]D_\ N +10 &^yJX\ ] +9 &^ VU\ 6 +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"& 1 +3 "core" &^&T\ 6 +56 1 +3 "manipulator"&!% +9 "core" %  I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&"' +98 "core" ' + "processing"%#& +4 "core" &^&T\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&$% +4 "core" % # S / + "storage"(%% +4 "core" % ' '\ +2 "storage"(&. +3 "core" .(  + "storage"('& +4 "core" & ' '\ +2 "storage"((& +2 "manipulator"&)& +7 "core" & ' '\ + & +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&*( +2 "storage"(+'r +5 "core" ( + "manipulator"&,& +4 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +2 "core" & d +2 .tForearm.seek PC +2 "manipulator"&.' +92 "core" ' + .tHand.close + "manipulator"&// +68 "core" / +2 .tPC.seek :open +2 "processing"%0( +90 "core" ' + "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'1 +40 "core" ' +314 ( +2 "storage"(3& +4 "core" & @ B \ + "manipulator"&4& +4 "core" & h + "manipulator"&5% +4 "core" %  ' 0 +2 .tForearm.seek :retract + "manipulator"&6' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +253 "core" ( +2 "manipulator"&8& +4 "core" &  _ X + "storage"(9& +4 "core" & & &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&:'S +94 "core" ' + .tHand.open +2 "manipulator"&;1 +59 "core" 1 +2 "storage"(7- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(=' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(>' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(@& +3 "core" & X\ { +2 "manipulator"&<& +3 "core" & ] W +2 .tElbow.seek 2 +2 "manipulator"&B( +3 "core" ( + "manipulator"&C& +4 "core" & & W +2 "storage"(D& +3 "core" & f\ { +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&E'S +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(A'" +50 "core" ' +2 "manipulator"&G& +4 "core" & W + "storage"(H& +4 "core" & ' & .\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&I'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(F' +24 "core" ' + "manipulator"&L% +5 "core" %Σ   + "storage"(M& +4 "core" & 4 3 (\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&N' +16 "core" ' +2 "manipulator"&O& +4 "core" & @ W + "storage"(P& +4 "core" & D > \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +14 "core" ' +2 "storage"(K% +4 "core" % C A \ +3 ."downElevator"SE.seek :down +4 "storage"(S' +98 (T% +4 "core" %JH # % \ Xh +2 "manipulator"&V% +3 "core" %F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +90 "core" ' +72 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (Y& +3 "core" & & % )\ +2 "collection"'& +4 "core" &\\l K\ S + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %    + "storage"([% +4 "core" % ' & X\ + "storage"(\\. +4 "core" .(  + "storage"(& +4 "core" & 4 8\ + "storage"(]& +4 "core" & 0 ( &\ + "manipulator"&_& +4 "core" &  W +2 .tElbow.seek 2 +2 "manipulator"&`( +3 "core" ( + "manipulator"&b& +5 "core" & @ W +48 "storage"(c& +4 "core" & 3 ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&e'S +92 "core" ' +2 "storage"(U& +4 "core" & C @ j\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'r +295 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" & A W + "storage"(Z& +4 "core" & 0 ) Y\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&a'Α +19 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(l- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"(^'_ +32 "core" ' + "manipulator"&m% +4 "core" %Σ +2 "storage"(d& +8 "core" & 1 & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&f' +15 "core" ' +2 "manipulator"& & +4 "core" & i W +2 "storage"(p& +3 "core" & D 7 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&q'S +15 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(s' +48 "core" ' + "manipulator"&t& +4 "core" &  W +2 "manipulator"&u% +4 "core" %E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&n(ӂ +151 "core" ( +2 "manipulator"&x& +4 "core" &ӏ& H ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &ӏ% 4 ?V +2 .tForearm.seek CC +2 "manipulator"&z'? +95 "core" ' +2 .tHand.close + "manipulator"&j/ +55 "core" / +2 .tCC.seek :open +2 "collection"'|( +447 "core" ( +2 "storage"(}& +4 "core" & l D\ + "storage"(R& +4 "core" & Z Z \ + "manipulator"&& +4 "core" &Ӑ&  ] ?U + "manipulator"&g% +4 "core" % 2 I 7 +2 .tForearm.seek :retract + "manipulator"&r' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&& +4 "core" & D  + "storage"(& +4 "core" & { >\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&'Α +101 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % Κ N + "storage"(& +4 "core" & z y b\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 309 counts + "manipulator"&{' +15 "core" ' + "manipulator"&~& +4 "core" &  +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +18 "core" ' +2 "storage"(% +4 "core" % k\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %> \ Vc + "manipulator"&% +4 "core" %Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & i kA\ +2 "manipulator"&% +4 "core" %    + "storage"(% +4 "core" % \ + "storage"( . +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (!& +3 "core" & k i ?\  +2 "manipulator"&#& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&$( +14 "core" ( +2 "manipulator"&%& +4 "core" & 7  + "storage"(&& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' +2 "storage"('& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'r +298 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (,& +2 "core" & #\  +2 "manipulator"&-& +3 "core" &    +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&/& +4 "core" &  + "storage"(1& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&"/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(+' +7 "core" &  [  +2 "manipulator"&3% +3 "core" % Ϙ ^ +2 .tForearm.seek :retract +2 "manipulator"&4' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&5(ӂ +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&.& +4 "core" &ӓ% >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &ӓ% >I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'? +91 "core" ' + "manipulator"&*& +5 "core" &ӓ& >I + "manipulator"&;% +4 "core" %C 1 t +2 "collection"'7& +4 "core" & j lV\ +2 "collection"'?& +4 "core" & m kR\ +2 .tCC.seek :closed +2 "collection"'@(\\ +4 "core" & j lS\  +10 &2{ j kV\ *y +9 &c k lW\ > +9 &v l kS\ N +10 &BY k kW\ N +9 &Y l mH\ M +9 &X n lG\ M +10 &V n nF\ M +9 &LZ m jQ\ M +10 & [ n nO\ N +9 &Z o oV\ N +9 & Y l lX\ M +10 &"SV n oV\ M +9 &$U k oV\ M +9 &%[ m oX\ M +10 &'[ o mL\ M +9 &)[Z n oB\ M +10 &+X m nB\ N +9 &,Y n o@\ N +9 &.Y l n>\ M +10 &0cU m pC\ M +9 &2%Z n mD\ M +9 &3[ n o?\ M +10 &5X p n@\ N +9 &7jY l nB\ N +10 &9-Y m q>\ M +9 &:U o oD\ M +9 &<Z n mB\ M +10 &>sW n oB\ M +9 &@5V n oA\ M +9 &AX r pB\ N +10 &C_ s r>\ N +9 &Ewi t tA\ O +10 &G2z z y9\ Q +9 &H 9\ S +9 &J 3\ X +10 &Lb :\ Y +9 &N$ 4\ Y +9 &O 5\ Z +10 &Q 6\ Y +9 &Sc ?\ [\ +10 &U% ?\ [\ +9 &V @\ [ +9 &X >\ ] +10 &Zg ;\ \\ +9 &\\y 5\ : +9 &\\& ;\ (v +10 &\\ 6\ X +2 ( +2 "collection"'?& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&<1 +54 "core" 1 + "manipulator"&C% +4 "core" % C  t +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +97 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%6& +4 "core" &\ + "manipulator"&G% +4 "core" %    +2 "storage"(H% +3 "core" % ' '\ +2 "storage"(L. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(M( +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (2& +3 "core" & Y\  +2 "manipulator"&O& +3 "core" &Ӕ%  >H +2 "manipulator"&P% +4 "core" %  >  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&=( +163 "core" ( + "manipulator"&K& +4 "core" &  +2 "storage"(& +4 "core" & ( ) \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&:'7 +98 "core" ' + "storage"(>& +4 "core" & J F &\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'r +300 "core" ' +2 "storage"(V- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (E& +3 "core" &  ,\  +2 "manipulator"&B& +3 "core" & 4  +2 .tElbow.seek 3 + "manipulator"&A( +4 "core" ( + "manipulator"&I& +3 "core" &  +2 "storage"(N& +4 "core" & 0 %\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&Y'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(F' +7 "core" & U  + "manipulator"&[% +5 "core" % Ϙ  + .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&]& +4 "core" & ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" & ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&b' +100 "core" ' +2 "manipulator"&c& +4 "core" &  ) +2 "manipulator"&Q% +3 "core" % Y  +2 "processing"%U& +4 "core" &\ +2 "processing"%S& +5 "core" &@\ +2 .tPC.seek :closed +2 "processing"%J(^ +4 "core" &\  +9 &1y\ *x +9 &a\ > +10 &fv\ O +9 &&U\ O +9 &Y\ O +10 &Sl\ O +9 &kUN\ P +9 &.Z\ O +10 &U\ P +9 &Tp\ O +10 & tWp\ O +9 &"6Yn\ O +9 &#Wo\ P +10 &%Rn\ O +9 &'|Vn\ O +9 &)<Xm\ P +10 &+Tm\ O +9 &,Wo\ P +10 &.Vo\ P +9 &0FWn\ O +9 &2 Vn\ O +10 &3Ym\ O +9 &5Tk\ P +9 &7MYk\ P +10 &9Ym\ P +9 &:Wm\ P +10 &<Tk\ P +9 &>U]l\ P +9 &@[l\ P +10 &Abh\ P +9 &Cm`\ R +9 &EQ{`\ T +10 &G c\ V +9 &H_\ U +10 &Jb\ V +9 &LR_\ V +9 &Ng\ V +10 &Oc\ W +9 &Q_\ X +9 &SWc\ W +10 &U`\ W +9 &V`\ W +10 &X^\ V +9 &Z^b\ X +9 &\\!b\ W +10 &]~]\ 8 +9 &^,p_\ Z +9 &^1_\ 8 +3 ( +2 "processing"%S& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&W1 +53 "core" 1 +2 "manipulator"&h% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +40 "manipulator"&i' +101 "core" ' +2 "processing"%Z& +4 "core" &^.9\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&l% +4 "core" %   + "storage"(m% +4 "core" %  b\ +2 "storage"(d. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (p& +4 "manipulator"&t& + "core" & # :\  +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" & ( ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(u'r + "manipulator"&e( +6 "core" ( + "manipulator"&`& +5 "core" &  ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" & j ) +2 .tForearm.seek PC + "manipulator"&a' +92 "core" ' +2 .tHand.close +2 "manipulator"&f/ +70 "core" / +2 .tPC.seek :open + "processing"%^( +81 "core" ' +2 "storage"(x- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'1 +42 "core" ' +324 ( +2 "storage"(q& +4 "core" & & &\  + "manipulator"&k& +4 "core" & [ ) + "manipulator"&j% +4 "core" %  7 +2 .tForearm.seek :retract + "manipulator"&v' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&o( +246 "core" ( +2 "manipulator"&}& +4 "core" &} Q + "storage"(R& +4 "core" & 0 % -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +92 "core" ' +2 .tHand.open + "manipulator"&g1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(n- +3 "core" -' +2 "storage"(& +3 "core" & \ z +2 "manipulator"&& +3 "core" &} Q +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&~& +3 "core" &} Q +2 "storage"(& +4 "core" & \ z +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(r'" +55 "core" ' +2 "manipulator"&& +4 "core" &}  Q +2 "storage"(& +3 "core" & ' * M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' + "manipulator"&{% +4 "core" %΀ +2 "storage"(& +4 "core" & $ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&'Ϭ +28 "core" ' +2 "manipulator"& & +4 "core" &~ P +2 "storage"(s& +4 "core" & ' & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +15 "core" ' + "storage"(% +5 "core" % C - #\ +2 ."downElevator"SE.seek :down +3 "storage"(w' +98 (!% +2 "core" %~? & &\ We +2 "manipulator"&#% +4 "core" %/ , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +89 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (&& +4 "core" & ' & \  + "collection"''& +4 "core" &\\ 4\ X +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&\ % +4 "core" %  B  +2 "storage"(% +3 "core" % & &\ +2 "storage"((. +3 "core" .( + "storage"(,& +4 "core" &   !\  + "storage"(-& +4 "core" & & & \  +2 "manipulator"&/& +3 "core" &~ P +2 .tElbow.seek 3 +2 "manipulator"&1( +3 "core" ( + "manipulator"&"& +4 "core" &~ X P +2 "storage"(& +4 "core" & ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3'7 +92 "core" ' + "storage"($& +5 "core" & . C \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&8& +4 "core" &~ P + "storage"()& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +22 "core" ' + .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(;- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(7'h +29 "core" ' +2 "manipulator"&% +4 "core" %Ή ; + "storage"(+& +4 "core" & \ %\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&4'ϵ +39 "core" ' + "manipulator"&|& +4 "core" &~ P +2 "storage"(<& +3 "core" & & &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&C'7 +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(6' +41 "core" ' +2 "manipulator"&G& +4 "core" &~ @ P +2 "manipulator"&H% +4 "core" %5  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +154 "core" ( +2 "manipulator"&2& +4 "core" &ӏ& E ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &ӏ& ^ ?V +2 .tForearm.seek CC + "manipulator"&P'? +91 "core" ' +2 .tHand.close + "manipulator"&9/ +57 "core" / + .tCC.seek :open +2 "collection"'K( +447 "core" ( +2 "storage"(& +4 "core" & w\  + "storage"( & +4 "core" & \  + "manipulator"&>& +4 "core" &ӑ& ! ?T + "manipulator"&5% +4 "core" % F & T +2 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&V( +166 "core" ( + "manipulator"&E& +4 "core" &  +2 "storage"(B& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&I'u +95 "core" ' + .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 + "manipulator"&% +5 "core" % } T , + "storage"([& +4 "core" & W\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&='ϩ +25 "core" ' +2 "manipulator"&:& +4 "core" & #  +2 "storage"(T& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y'7 +15 "core" ' + "storage"(]% +4 "core" % 8\ +3 ."downElevator"SE.seek :down +3 "storage"(_' +99 (A% +2 "core" %; N\ U^ +2 "manipulator"&c% +4 "core" %+ R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'U& +4 "core" & e gd\ + "manipulator"&F% +4 "core" %    +2 "storage"(\\% +4 "core" % \ + "storage"(0. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(W(,y +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +2 "core" &,z [ ] o\  +2 "manipulator"&S& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&Z( +41 "core" ( +2 "manipulator"&l& +4 "core" & P  + "storage"(m& +4 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +91 "core" ' + "storage"(p& +4 "core" &,z Z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'r +308 "core" ' + "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" &,z \  + "manipulator"&b& +4 "core" & *  + .tElbow.seek 4 +2 "manipulator"&f( +3 "core" ( + "manipulator"&M& +4 "core" &  + "storage"(x& +4 "core" &,z F\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&J& + "storage"(u' +7 "core" & U  + "manipulator"&q% +4 "core" % Ϙ  j +2 .tForearm.seek :retract +2 "manipulator"&k' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +157 "core" ( + "manipulator"&a& +5 "core" &ӌ* Bf + ' +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &}& +3 "core" &ӌ* 3 Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&R'? +98 "core" ' +6 "manipulator"&e& +4 "core" &Ӎ) q Ae +2 "manipulator"&g% +4 "core" %A H . + "collection"'& +5 "core" & i iV\ +52 "collection"'n& +5 "core" & h iL\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & h iT\ +7 &; g jU\ %f +10 &W} f hV\ 7 +9 &| j kG\ L +9 &U l kC\ M +10 &uW k lB\ M +9 &7W k i@\ M +9 &Y k kC\ M +10 &W k kC\ M +9 &~X l j@\ M +9 &@Y j kB\ M +10 & W k k?\ M +9 &!X k k>\ L +10 &#[ l o@\ M +9 &%IW l j?\ M +9 &' V m kC\ L +10 &(W n l4\ M +9 &*W l m6\ M +10 &,RX m l7\ L +9 &.X l n2\ M +9 &/U m m1\ M +10 &1X m l3\ M +9 &3YU l m9\ M +9 &5W k m:\ M +10 &6Z l n<\ M +9 &8W m m=\ M +9 &:bX k o@\ L +10 &<"X m n@\ M +9 &=X o n:\ M +10 &?X o m>\ M +9 &AhX p n8\ M +9 &C)[ q o6\ M +10 &Dd r s5\ N +9 &Fn r w1\ P +9 &H` u t4\ R +10 &J z x<\ W +9 &K { z+\ Y +10 &M z {(\ Y +9 &OS | {'\ Z +9 &Q | {%\ Y +10 &R { |*\ [ +9 &T { %\ [ +9 &VU } |&\ \\ +10 &X } |&\ ] +9 &Y ~ |"\ ^ +10 &[  } \ K +9 &\\B &\ 'v +9 &\\g ~ }"\ I +3 ( +2 "collection"'n& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&~% +4 "core" % A # . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%v& +4 "core" &\ + "manipulator"&% +4 "core" %  V  + "storage"(% +4 "core" % ' '\ +2 "storage"({. +3 "core" .(,y + "storage"(& +4 "core" &,z & &\  + "storage"(y& +4 "core" &,z  & 2\  +2 "manipulator"& & +3 "core" &Ӎ( Ae +2 "manipulator"&% +3 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&s( +167 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(o& +4 "core" &,z A 8 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +100 "core" ' +2 "storage"(z& +4 "core" &,z V U\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'r +294 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,z  8\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&r( +3 "core" ( + "manipulator"&& +4 "core" & k  + "storage"(&& +4 "core" &,z K K K\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(' +7 "core" & m  + "manipulator"&(% +4 "core" % W  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&-& +4 "core" &  < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" & < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&"' +98 "core" ' + "manipulator"&& +4 "core" &  ; +2 "manipulator"& % +4 "core" % > + "processing"%$& +4 "core" &\ +2 "processing"%w& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +9 &1x\ *x +9 &a\ > +10 &ftF\ O +9 &&Vn\ O +10 &Wr\ O +9 &Rm\ O +9 &kUm\ O +10 &.So\ O +9 &Vo\ O +9 &Tn\ O +10 & sXj\ O +9 &"5Um\ O +10 &#Vo\ O +9 &%Qo\ O +9 &'{Un\ O +10 &)=So\ O +9 &*Wi\ O +9 &,Wi\ P +10 &.Uo\ O +9 &0DX]\ P +10 &2Sf\ O +9 &3Vd\ O +9 &5V`\ O +10 &7NY`\ O +9 &9X_\ P +9 &:X`\ O +10 &<Y_\ O +9 &>UY_\ O +10 &@[a\ O +9 &Add\ P +9 &Ck_\ R +10 &EQ~a\ T +9 &Gc\ U +9 &Hc\ V +10 &J`\ V +9 &LR`\ V +10 &N_\ V +9 &O`\ W +9 &Q]\ W +10 &SV_\ W +9 &U_\ W +9 &V_\ W +10 &X^\ W +9 &Z^_\ W +9 &\\`\ W +10 &]_\ 5 +9 &^4u^\ F +9 ( +3 "processing"%w& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&%1 +3 "core" &^%_\ 2 +55 1 + "manipulator"&.% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +90 "core" ' +2 "processing"%)& +4 "core" &^$S\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&;% +3 "core" %    +2 "storage"(% +4 "core" %  9\ + "storage"(+. +3 "core" .(,y + "storage"(|& +4 "core" &,z W\  +3 "storage"(<& +3 "manipulator"&G& +4 "core" &,z  K\  + & = ; +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&H( +2 "storage"(3'r +5 "core" ( +2 "manipulator"&1& +3 "core" & I ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  ; +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&4/ +55 "core" / +2 .tPC.seek :open +2 "processing"%7( +102 "core" ' +2 "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(O'1 +46 "core" ' +295 ( +2 "storage"(C& +4 "core" &,z 4 : \  + "manipulator"&*& +4 "core" & ; +2 "manipulator"&9% +3 "core" %  9 . +2 .tForearm.seek :retract +2 "manipulator"&L' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&@( +258 "core" ( + "manipulator"&& +4 "core" & B +2 "storage"( & +4 "core" &,z D D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +98 "core" ' +2 .tHand.open + "manipulator"&51 +57 "core" 1 +2 "storage"(E- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(B' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(?- +4 "core" -' + "storage"(& +4 "core" &,z k k z\ l + "manipulator"&& +4 "core" & m B + .tElbow.seek 4 +2 "manipulator"&[( +30 "core" ( + "manipulator"&:& +4 "core" &  j +2 "storage"(T& +4 "core" &,z \ m +2 .tForearm.seek 4 + 450 counts + "manipulator"&]' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(D'" +52 "core" ' +2 "manipulator"&A& +4 "core" &  + "storage"(c& +4 "core" &,z D D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&V'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(U' +22 "core" ' + "manipulator"&=% +5 "core" %D : 9 + "storage"(F& +5 "core" &,z 5 4 ,\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&\\'p +23 "core" ' + "manipulator"&0& +5 "core" &  + "storage"(6& +5 "core" &,z U U %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +25 "core" ' +2 "storage"(_% +4 "core" % F U \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (h% +3 "core" %A ) '\ We + "manipulator"&S% +4 "core" % + k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +89 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (m& +3 "core" &,z T U \  +2 "collection"'p& +4 "core" &\\f 7\ I + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&N% +4 "core" %   + "storage"(Q% +4 "core" % F Q n\ + "storage"(`. +4 "core" .(,y + "storage"(X& +4 "core" &,z H : W\  + "storage"(b& +4 "core" &,z R Y o\  + "manipulator"&M& +4 "core" & +2 .tElbow.seek 4 +2 "manipulator"&x( +4 "core" ( + "manipulator"&i& +4 "core" & # + "storage"(J& +4 "core" &,z T T Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&q' +172 "core" ' + "storage"(Z& +4 "core" &,z a Z\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'r +300 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&}& +3 "core" &  M + "storage"(t& +4 "core" &,z 4 9 n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(g- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(f'p +29 "core" ' +2 "manipulator"&% +4 "core" %= ` + "storage"(u& +4 "core" &,z I F \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 306 counts +2 "manipulator"&k'i +14 "core" ' + "manipulator"&K& +4 "core" & +2 "storage"(& +3 "core" &,z U T T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(v' +33 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +53 "manipulator"&n& +4 "core" &y+ m Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &y+ Cn +2 .tForearm.seek CC +2 "manipulator"& '? +91 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'R( +447 "core" ( +2 "storage"(& +4 "core" &,z \  + "storage"(o& +4 "core" &,z \  +2 "manipulator"&z& +3 "core" &Ә% C >O +2 "manipulator"&j% +4 "core" % > @ +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&#( +167 "core" ( + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" &,z \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&'1 +60 "core" 1 +2 "manipulator"&\ % +4 "core" % 7  +2 "storage"((& +3 "core" &,z \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&s'c +14 "core" ' + "manipulator"&& +4 "core" & _  +2 "storage"(!& +4 "core" &,z B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +20 "core" ' + "storage"(-% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(/' +99 (r% +3 "core" %; y y u\ U^ + "manipulator"&% +4 "core" %  I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'$& +4 "core" & j iA\ +2 "manipulator"&% +4 "core" %  <  + "storage"(% +4 "core" % :\ + "storage"(^. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(%(<- +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (.& +2 "core" &<* m\  +2 "manipulator"&)& +4 "core" &  5  + .tElbow.seek 5 +2 "manipulator"&;( +14 "core" ( + "manipulator"&& +4 "core" & % g +2 "storage"(+& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +92 "core" ' + "storage"(<& +4 "core" &<* '\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(G'r +298 "core" ' +2 "storage"(w- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (1& +2 "core" &<* z \  +2 "manipulator"&& +4 "core" & _ g +2 .tElbow.seek 5 +2 "manipulator"&"( +3 "core" ( + "manipulator"&4& +4 "core" & g + "storage"(2& +4 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&,'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&8/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(3' +7 "core" & ' g +2 "manipulator"&C% +4 "core" % ϶ S +2 .tForearm.seek :retract + "manipulator"&*' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9(ӂ +159 "core" ( + "manipulator"&& +5 "core" &ӝ! ( ;2 ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 && +2 "core" &ӝ!  - ;2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +91 "core" ' +2 "manipulator"&H& +4 "core" &ӝ" ;2 +2 "manipulator"&5% +4 "core" %F { + "collection"'E& +4 "core" & j id\ +3 "collection"'?& +4 "core" & h gR\ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & h iU\ +7 &4 i jT\ $e +9 &U{ i hT\ 7 +9 &z i iB\ L +10 &U k jJ\ L +9 &rU l mD\ L +9 &2Y k lC\ M +10 &W l lB\ L +9 &V l m>\ L +10 &zV k l@\ L +9 &<U k k8\ L +9 &U k m@\ L +10 &!T k n?\ M +9 &#W k l?\ L +9 &%DU k l7\ L +10 &'U l n@\ L +9 &(V p l5\ M +10 &*W m n/\ M +9 &,JW m n=\ M +9 &.U l l?\ L +10 &/T n n9\ L +9 &1W m n8\ L +9 &3TU l l5\ L +10 &5U m m5\ L +9 &6V m n2\ M +10 &8X l m4\ M +9 &:[S l l3\ M +9 &<T o p2\ M +10 &=V p o)\ M +9 &?Z q p%\ M +9 &AdW q q%\ L +10 &C#\\ s r"\ M +9 &Dc u v\ N +10 &Fo w y&\ P +9 &HZ { { \ R +9 &J  +\ W +10 &K (\ X +9 &M  '\ Y +9 &OM (\ Z +10 &Q \ Z +9 &R $\ [ +10 &T  \ [ +9 &VN  \ \\ +9 &X $\ ] +10 &Y !\ ] +9 &[ \ K +9 &\\6 \ / +10 &\\y \ U +5 ( +2 "collection"'?& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&1 +3 "core" &\\p %\ U +53 1 + "manipulator"&L% +4 "core" % F # { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%T& +4 "core" &Z\ + "manipulator"&A% +4 "core" %   +2 "storage"(c% +3 "core" %   :\ +2 "storage"(=. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(O(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" &<+ ^\ \  +2 "manipulator"&B& +4 "core" &ӝ" . ;2 + "manipulator"&0% +4 "core" %  &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&6( +161 "core" ( +2 "manipulator"&_& +4 "core" &   + "storage"(@& +4 "core" &<+ D E d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +92 "core" ' +2 "storage"(P& +4 "core" &<+ ? G \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'r +305 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (]& +3 "core" &<+ ( %\  + "manipulator"&[& +4 "core" & ;  +2 .tElbow.seek 5 +2 "manipulator"&D( +3 "core" ( + "manipulator"&V& +4 "core" &   + "storage"(\\& +4 "core" &<+ & &\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&m'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&p/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& + "storage"(Q' +7 "core" & }  +2 "manipulator"&`% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&U' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&X( +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +70 "core" ( +2 "manipulator"&b& +4 "core" & ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" & } ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&i' +96 "core" ' + "manipulator"&J& +5 "core" & ) + "manipulator"&Y% +4 "core" %  ! +2 "processing"%Z& +4 "core" &~\ +2 "processing"% & +4 "core" &O\ +2 .tPC.seek :closed +2 "processing"%I(^ +4 "core" &B\ +8 & +\ $d +9 &Txh\ 7 +10 &}|v\ L +9 &Up\ O +9 &RSo\ O +10 &Vn\ P +9 &Vm\ O +9 &Wo\ O +10 &YUo\ O +9 &Xj\ O +10 &Tk\ O +9 &!Tk\ O +9 &#bVn\ O +10 &%$Tg\ O +9 &&Uk\ O +9 &(Vk\ O +10 &*jWa\ O +9 &,,V_\ O +9 &-T`\ O +10 &/V_\ P +9 &1pY`\ P +10 &33Uc\ O +9 &4Vc\ O +9 &6V`\ O +10 &8xUa\ P +9 &:;U_\ O +9 &;T^\ O +10 &=X_\ O +9 &?X`\ O +10 &ACYZ\ O +9 &C`[\ Q +9 &Df\\\ Q +10 &F}x`\ S +9 &H8[\ V +9 &IZ\ V +10 &K[\ U +9 &M|W\ W +10 &O@M\ V +9 &PU\ W +9 &RR\ W +10 &TT\ X +9 &VES\ W +9 &XO\ W +10 &YQ\ W +9 &[S\ W +10 &]KR\ M +9 &^SQ\ $n +9 &^R\ * +3 ( +2 "processing"% & +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&l1 +59 "core" 1 +2 "manipulator"&a% +4 "core" %  S ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +96 "core" ' + "processing"%t& +5 "core" &^)\ * + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&g% +4 "core" % ! $ * + "storage"(% +4 "core" % ,\ + "storage"(u. +4 "core" .(<- + "storage"(K& +4 "core" &<+  =\  +2 "storage"(& +3 "manipulator"&& +5 "core" &<+  g\  + & 9 ) +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak + "storage"(q'r +3 "core" ( + "manipulator"&x& +4 "core" & ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" & 1 ) +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' + .tHand.close +2 "manipulator"&k/ +53 "core" / +44 .tPC.seek :open +11 "processing"%f( +53 "core" ' + "storage"(n- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(~'1 +45 "core" ' +345 ( +2 "storage"(y& +4 "core" &<+ ' ) \ \  + "manipulator"&e& +4 "core" & - ) + "manipulator"&% +4 "core" %  e A +2 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +244 "core" ( + "manipulator"&& +5 "core" & u ' + "storage"(o& +4 "core" &<+ ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +89 "core" ' + .tHand.open +2 "manipulator"&j1 +64 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"('& +4 "core" &<+ '\  + "manipulator"&\ & +4 "core" & W ' +2 .tElbow.seek 5 + "manipulator"&(( +4 "core" ( + "manipulator"&& +5 "core" & U ' + "storage"(!& +4 "core" &<+ \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +49 "core" ' + "manipulator"&r& +4 "core" & X ' +2 "storage"(& +4 "core" &<+ ' & ]\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&#'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"($' +25 "core" ' +2 "manipulator"&s% +4 "core" %Ι U ; +2 "storage"(& +4 "core" &<+ ' & %\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&' +39 "core" ' + "manipulator"&^& +5 "core" & / ' + "storage"(v& +5 "core" &<+ & ' B\  + "Can"\ WV +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +26 "core" ' +2 "storage"(/% +4 "core" % B C\ +3 ."downElevator"SE.seek :down +3 "storage"(W' +99 (.% +2 "core" %FF  E\ Xh +2 "manipulator"&)% +5 "core" %s 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (+& +4 "core" &<+ % ( 9\  + "collection"'<& +4 "core" &\\n '\ U +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&&% +4 "core" %    +2 "storage"( % +3 "core" % ' &\ +2 "storage"(w. +3 "core" .(<- +2 "storage"(1& +4 "core" &<+ %  :\  + "storage"(& +4 "core" &<+ & & /\  + "manipulator"&4& +4 "core" &  d ' +2 .tElbow.seek 5 +2 "manipulator"&2( +3 "core" ( + "manipulator"&8& +4 "core" & | ' +2 "storage"(& +4 "core" &<+ # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +94 "core" ' + "storage"(;& +5 "core" &<+ G Y w\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'r +295 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & q ' +2 "storage"(G& +3 "core" &<+ 1 ( \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&,'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(5- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(E'^ +29 "core" ' +2 "manipulator"&"% +4 "core" %΍ ` 6 + "storage"(3& +9 "core" &<+ > C X\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&*'Ϲ +26 "core" ' + "manipulator"&R& +4 "core" &  & +2 "storage"(& +4 "core" &<+ & ' @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +14 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(T' +40 "core" ' +2 "manipulator"&A& +4 "core" & & +2 "manipulator"&c% +4 "core" %`  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +155 "core" ( +2 "manipulator"&F& +4 "core" &ӓ# <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &B& +2 "core" &ӓ# <> +2 .tForearm.seek CC +2 "manipulator"&0'? +92 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tCC.seek :open +2 "collection"'_( +447 "core" ( +2 "storage"(@& +4 "core" &<+ x H\  + "storage"(%& +4 "core" &<+ Y\  + "manipulator"&P& +4 "core" &ӛ"  ;6 + "manipulator"&9% +4 "core" % I 4 6 +2 .tForearm.seek :retract + "manipulator"&:' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&S( +162 "core" ( + "manipulator"&]& +5 "core" & .  + "storage"([& +4 "core" &<+ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&V'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +57 "core" 1 +2 "manipulator"&N% +5 "core" % o %  + "storage"(`& +4 "core" &<+ F\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 270 counts +2 "manipulator"&6'ϛ +19 "core" ' +2 "manipulator"&>& +4 "core" & G  +2 "storage"(h& +3 "core" &<+ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +16 "core" ' + "storage"(b% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(M' +99 (D% +2 "core" %? ~ S\ Va +2 "manipulator"&J% +4 "core" %M  N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +93 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'Z& +4 "core" & j i=\ +2 "manipulator"&Q% +4 "core" %   ,  + "storage"(U% +4 "core" % \ + "storage"(7. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(l(K +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &K V W \  + "manipulator"&t& +4 "core" & N  +2 .tElbow.seek 6 + "manipulator"&g( +3 "core" ( +2 "manipulator"&& +3 "core" & `  +2 "storage"(u& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&K' +97 "core" ' + "storage"( & +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" &K } P\  +2 "manipulator"&d& +3 "core" &  b  +2 .tElbow.seek 6 +52 "manipulator"&i( +3 "core" ( + "manipulator"&k& +4 "core" & S  + "storage"(n& +4 "core" &K y y \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&X'h +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(q' +8 "core" &  L  + "manipulator"&y% +4 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&e' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &Ӑ' G @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӑ( @Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&o'? +92 "core" ' +2 "manipulator"&& +4 "core" &ӑ( @X +2 "manipulator"&j% +4 "core" %7 : t +2 "collection"'& +4 "core" & i iF\ +2 "collection"'& +4 "core" & k j@\ +2 .tCC.seek :closed +2 "collection"''(\\ +4 "core" & h jA\ +7 &< j h=\ %g +10 &Vw g h?\ 7 +9 &y j i?\ L +10 &W j k?\ M +9 &vR j l@\ L +9 &8V m l@\ L +10 &U j j?\ L +9 &X k l@\ M +9 &}V n m,\ M +10 &@T l l0\ L +9 & U k l3\ L +10 &!X m l.\ L +9 &#U l k1\ M +9 &%HW m h7\ L +10 &' W l k3\ M +9 &(W l n8\ M +9 &*R m l6\ L +10 &,PT k l9\ L +9 &.T n l2\ M +10 &/W m m2\ L +9 &1Y l n1\ M +9 &3WV l n4\ M +10 &5W m m3\ L +9 &6T l m3\ M +9 &8S m l1\ L +10 &:_T n o.\ M +9 &So\ O +9 &$Un\ O +9 &%Sj\ O +10 &'Uf\ O +9 &)EUl\ O +10 &+Uj\ O +9 &,Uc\ P +9 &.S[\ O +10 &0LVX\ O +9 &2RV\ O +9 &3UU\ O +10 &5Ub\ O +9 &7TTb\ O +10 &9X]\ O +9 &:W`\ P +9 &<U`\ O +10 &>\\U_\ O +9 &@W^\ O +9 &Abe\ P +10 &Co`\ R +9 &EV`\ T +10 &Ga\ U +9 &H`\ U +9 &J_\ U +10 &LZ`\ U +9 &N]\ V +9 &O^\ W +10 &QX\ W +9 &S\\_\ X +10 &UW\ W +9 &V\\\ W +9 &X[\ V +10 &Ze[\ W +9 &\\&Y\ X +9 &]{\\\ ; +10 &^/R\ X +9 &^'[\ 4 +3 ( + "processing"%W& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" %  : [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 "processing"%G& +4 "core" &^%8\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&5% +4 "core" %  \\  + "storage"("% +4 "core" % # & \ +2 "storage"(3. +3 "core" .(K + "storage"(R& +4 "core" &K & & 2\  +2 "storage"(& +4 "manipulator"&A& +4 "core" &K  " B\  + & ) +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&c( +2 "storage"(C'r +5 "core" ( + "manipulator"&2& +4 "core" & 1 ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" & j ) +2 .tForearm.seek PC + "manipulator"&,' +94 "core" ' + .tHand.close +2 "manipulator"&*/ +55 "core" / +2 .tPC.seek :open +2 "processing"%E( +101 "core" ' + "storage"(F- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +38 "core" ' +308 ( +2 "storage"(L& +4 "core" &K 8 5 `\  + "manipulator"&H& +4 "core" & ) + "manipulator"& % +4 "core" %  E +2 .tForearm.seek :retract + "manipulator"&=' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&@& +4 "core" & ( +2 "storage"(%& +3 "core" &K ' &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&P' +97 "core" ' + .tHand.open +2 "manipulator"&91 +55 "core" 1 +2 "storage"(]- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"([' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(0' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(p& +3 "core" &K A N w\ e +2 "manipulator"&N& +3 "core" & g ( +2 .tElbow.seek 6 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&>& +3 "core" &   = ( +2 "storage"(h& +3 "core" &K S T H\ e +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&b' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(:'" +54 "core" ' + "manipulator"&D& +4 "core" & ( +2 "storage"(J& +3 "core" &K   @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&S'< +23 "core" ' +2 .tElbow.hold + "manipulator"&V, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +52 "storage"(Z' +23 "core" ' +2 "manipulator"&6% +4 "core" %A  + "storage"(Q& +4 "core" &K %  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 305 counts +2 "manipulator"&U'm +24 "core" ' +2 "manipulator"&7& +4 "core" & ` ' +2 "storage"(T& +4 "core" &K C C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +15 "core" ' + "storage"(M% +5 "core" % @ @ \ +2 ."downElevator"SE.seek :down +3 "storage"(O' +99 (a% +3 "core" %J ' &\ Yj +2 "manipulator"&t% +4 "core" % 1 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (u& +4 "core" &K % & \  + "collection"' & +5 "core" &\\ 6\ _ + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&\\% +3 "core" %  ^  +2 "storage"(Y% +4 "core" % % / A\ + "storage"(. +3 "core" .(K +2 "storage"(x& +4 "core" &K 2 3 N\  + "storage"(d& +4 "core" &K & ) a\  + "manipulator"&k& +4 "core" &  ' +2 .tElbow.seek 6 + "manipulator"&n( +4 "core" ( + "manipulator"&}& +4 "core" &  ' + "storage"(I& +5 "core" &K & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +94 "core" ' + "storage"(g& +4 "core" &K C 7 t\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +295 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & e ' + "storage"(& +4 "core" &K  c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&X'< +14 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('m +29 "core" ' +2 "manipulator"&i% +4 "core" %M  S +2 "storage"(q& +3 "core" &K ( ) 1\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&e'y +15 "core" ' +2 "manipulator"&_& +4 "core" & ' + "storage"(\ & +4 "core" &K (  ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"({' +40 "core" ' +2 "manipulator"&r& +4 "core" & ? ' + "manipulator"&% +4 "core" %  ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +2 "manipulator"&~& +4 "core" &Ӛ! p ;6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &Ӛ" , ;6 +2 .tForearm.seek CC +2 "manipulator"&^'? +92 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'o( +448 "core" ( +2 "storage"(/& +4 "core" &K x t\  + "storage"(& +4 "core" &K | ~ \  + "manipulator"& & +4 "core" &Ӛ"  Z ;6 + "manipulator"&% +4 "core" % C   i +2 .tForearm.seek :retract + "manipulator"&!' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&)( +160 "core" ( + "manipulator"&-& +4 "core" &  +2 "storage"((& +3 "core" &K ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&#'< +97 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +62 "core" 1 +2 "manipulator"&&% +4 "core" % C  - + "storage"($& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 307 counts +2 "manipulator"&v'o +15 "core" ' + "manipulator"&z& +5 "core" & + "storage"(.& +4 "core" &K &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&+' +20 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(4' +99 (% +3 "core" %I 9\ Wd + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 !to:ArgumentError: mesg"(wrong number of arguments (1 for 0):bt[ "(ESP):9:in `times'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2432 #-> Resume.thread + !o:NameError: mesg""uninitialized constant Resume: name: Resume:bt["(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3882 #-> 5.times [shuffle 2..6] +2 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"';& +3 "core" & h lO\ + "manipulator"& % +4 "core" %    +2 "storage"(w% +3 "core" % \ +2 "storage"(f. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1304 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &  \ +2 "manipulator"&G& +4 "core" & 6 + .tElbow.seek 2 +2 "manipulator"&5( +17 "core" ( +2 "manipulator"&"& +4 "core" & T + "storage"(3& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'S +92 "core" ' + "storage"(A& +5 "core" &  8\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" &  \ +2 "manipulator"&|& +3 "core" &  T +2 .tElbow.seek 2 +2 "manipulator"&8( +3 "core" ( + "manipulator"&*& +4 "core" & T + "storage"(F& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&1'Ͻ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(C' +8 "core" & V T + "manipulator"&L% +4 "core" % ϻ  +2 .tForearm.seek :retract +2 "manipulator"&H' +88 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +153 "core" ( + "manipulator"&,& +5 "core" &y) l Ad + ' +2 .tElbow.reconfigure :loose + ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&@& +6 "core" &y)  Ad + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'? +93 "core" ' + "manipulator"&c& +5 "core" &y)  Ad + "manipulator"&9% +4 "core" %J # e +2 "collection"']& +4 "core" & m lg\ +2 "collection"'?& +5 "core" & j lZ\ +2 .tCC.seek :closed +2 "collection"'p(\\ +4 "core" & j nM\  +9 &4} l mS\ +| +9 &\ f l kR\ ? +9 &p l lU\ N +10 &TU n mR\ M +9 &S m mK\ M +10 &T o oM\ M +9 &U m p=\ L +9 &^T n oD\ L +10 &W o nO\ M +9 &Y o oT\ M +9 & Y n nR\ L +10 &"fV m qN\ L +9 &$(V o mO\ L +10 &%U o nU\ L +9 &'T o oQ\ M +9 &)mS o oK\ M +10 &+0T n oQ\ L +9 &,U o oE\ L +9 &.Y p o@\ M +10 &0vT n oB\ L +9 &27U n nE\ M +10 &3X o pB\ L +9 &5U p qB\ L +9 &7~U r p>\ L +10 &9?T r s?\ M +9 &;T q q@\ M +10 &<Y q sA\ M +9 &>V q r?\ M +9 &@HW s s>\ L +10 &BY u u<\ M +9 &C] v w?\ N +9 &Ed y z8\ N +10 &GEu } |4\ P +9 &H ~ z3\ S +9 &J 9\ X +10 &Lr 2\ Y +9 &N2 8\ Y +9 &O 8\ Z +10 &Q 4\ Z +9 &Sq =\ \\ +10 &U5 ?\ [\ +9 &V ?\ \\ +9 &X 9\ ] +10 &Zv >\ ] +9 &\\y 7\ 3 +10 &\\* >\ V +8 ( +4 "collection"'?& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&N1 +4 "core" &\\k >\ M +58 1 + "manipulator"&>% +5 "core" % J i e + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +99 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%=& +4 "core" &\ +2 "manipulator"&D% +3 "core" %  # +2 "storage"(J% +3 "core" % O\ +2 "storage"(B. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"([(  +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" & ' ' \ +2 "manipulator"&Q& +5 "core" &z( q Ac + "manipulator"&7% +5 "core" %  K # + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&T( +166 "core" ( +2 "manipulator"&& +4 "core" & =  + "storage"(M& +4 "core" & E G (\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&P'S +93 "core" ' + "storage"(0& +5 "core" & X a\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(b'r +295 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (t& +3 "core" & 2 % -\ +2 "manipulator"&`& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&:( +3 "core" ( + "manipulator"&S& +4 "core" &   + "storage"(u& +4 "core" & D > \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&U'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&\\& +2 "storage"(Y' +7 "core" &  + "manipulator"&% +4 "core" % Ͻ \ +2 .tForearm.seek :retract +2 "manipulator"&Z' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +67 "core" ( +2 "manipulator"&d& +4 "core" & $ ? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" & : ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&}' +101 "core" ' + "manipulator"&I& +5 "core" & ] ? + "manipulator"&m% +4 "core" % x  +2 "processing"%g& +3 "core" &\ +3 "processing"%O& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%V(^ +4 "core" &\  +9 &0u\ *x +9 &a~\ > +10 &fr\ O +9 &&W\ O +9 &UI\ O +10 &U\ O +9 &lU\ O +10 &.U^\ O +9 &Vm\ O +9 &Rq\ O +10 & uRm\ O +9 &"6Tl\ O +9 &#Un\ P +10 &%Rh\ O +9 &'|Un\ O +9 &)>Qo\ O +10 &+Qn\ O +9 &,Vp\ O +10 &.Rm\ O +9 &0FTn\ O +9 &2Wn\ O +10 &3Uk\ O +9 &5Ti\ P +10 &7MTm\ P +9 &9Xn\ O +9 &:Wn\ P +10 &<Uj\ O +9 &>VUf\ O +9 &@We\ P +10 &A\\h\ P +9 &Ceh\ Q +10 &EUpa\ R +9 &GY\ T +9 &Hb\ V +10 &J_\ V +9 &LS\\\ V +9 &N_\ W +10 &O_\ W +9 &Q^\ W +9 &SV]\ X +10 &U[\ W +9 &V_\ X +10 &X`\ W +9 &Z_^\ W +9 &\\ `\ X +10 &]}_\ 6 +9 &^-i]\ Y +9 &^5_\ 8 +3 ( +2 "processing"%O& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + "processing"%& +4 "core" &^1_\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&j% +4 "core" % # / + "storage"(i% +4 "core" % ' &\ +2 "storage"(q. +3 "core" .(  + "storage"(_& +4 "core" & & &\ +2 "storage"(\ & +2 "manipulator"&r& +6 "core" & & &\ + & ? +4 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +6 "storage"(#]kK-0-\ b + "manipulator"&$&.,(\ #b +6 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(y'r +5 "core" ( +2 "manipulator"&n& +3 "core" & g ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" & O ? +2 .tForearm.seek PC +2 "manipulator"&X' +96 "core" ' + .tHand.close +2 "manipulator"&e/ +55 "core" / + .tPC.seek :open +2 "processing"%( +97 "core" ' + "storage"(~- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +302 ( + "storage"(& +4 "core" & @ K \ \ +2 "manipulator"&& +3 "core" & f ? +2 "manipulator"&% +3 "core" %     +2 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'( +251 "core" ( +2 "manipulator"&/& +4 "core" &   + "storage"(& +4 "core" & & ' D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +94 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 + "storage"(-- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"((' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(^' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(<& +4 "core" & X Z\ g + "manipulator"&&& +4 "core" &  o  + .tElbow.seek 2 +2 "manipulator"&$( +22 "core" ( +2 "manipulator"&z& +4 "core" & .  + "storage"(.& +4 "core" & c i\ i +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(!'" +51 "core" ' +2 "manipulator"&& +4 "core" & c  +2 "storage"(& +3 "core" & . ' *\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&)'Α +23 "core" ' +2 .tElbow.hold + "manipulator"&#, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(v' +27 "core" ' +2 "manipulator"&{% +4 "core" %Σ j + "storage"(+& +4 "core" & ' & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&4' +16 "core" ' +3 "manipulator"&;& +4 "core" &  + "storage"( & +4 "core" & K K 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&w'S +19 "core" ' + "storage"(f% +4 "core" % C I \ +3 ."downElevator"SE.seek :down +3 "storage"(l' +99 (% +3 "core" %UN  \ Xj + "manipulator"&G% +4 "core" %w  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +88 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (3& +4 "core" & J G \ +2 "collection"'A& +3 "core" &\\j <\ M +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %   9  +2 "storage"(% +3 "core" % ; 5 o\ +2 "storage"(W. +3 "core" .(  + "storage"(2& +4 "core" & 9 E \ +2 "storage"(|& +4 "core" & : 4 H\ + "manipulator"&*& +4 "core" & c  + .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&& +4 "core" & c  + "storage"(& +4 "core" & J J U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&L'S +94 "core" ' + "storage"(5& +5 "core" & c b \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'r +294 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&@& +3 "core" &    +2 "storage"(& +4 "core" & ? D\ + .tElbow.reconfigure :limp +53 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&1'Α +72 "core" ' + .tElbow.hold +2 "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(9- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"(]'` +29 "core" ' +2 "manipulator"&8% +5 "core" %Δ  + "storage"(C& +4 "core" & > A \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 303 counts +2 "manipulator"&H' +14 "core" ' +2 "manipulator"&o& +4 "core" & \  + "storage"(N& +4 "core" & ; 8 w\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'S +18 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(=' +40 "core" ' + "manipulator"&D& +4 "core" &   +2 "manipulator"&J% +4 "core" %j ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&?(ӂ +170 "core" ( +2 "manipulator"&6& +4 "core" &ӌ 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &ӌ S 1 +2 .tForearm.seek CC +2 "manipulator"&7'? +102 "core" ' + .tHand.close +2 "manipulator"&%/ +61 "core" / + .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(M& +4 "core" & \ + "storage"(& +4 "core" & \ + "manipulator"&0& +4 "core" &ӌ  C 1 + "manipulator"& % +4 "core" % 9  U +2 .tForearm.seek :retract + "manipulator"&h' +93 "core" ' + .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&a( +163 "core" ( + "manipulator"&t& +4 "core" & 6  +2 "storage"(`& +3 "core" & _\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&S'Α +92 "core" ' + .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +58 "core" 1 + "manipulator"&\\% +5 "core" % Μ   + "storage"(& +4 "core" & ?\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&T' +17 "core" ' +2 "manipulator"&P& +4 "core" & f  +2 "storage"(b& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&U'S +17 "core" ' +2 "storage"(d% +4 "core" % 5\ +3 ."downElevator"SE.seek :down +4 "storage"(k' +99 (:% +3 "core" %{A  \ We + "manipulator"&I% +4 "core" %l  d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +91 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'g& +4 "core" & h h>\ + "manipulator"&Y% +4 "core" %    +2 "storage"(Z% +4 "core" % \ + "storage"(E. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & Y e \  + "manipulator"&& +4 "core" &  e  +2 .tElbow.seek 3 +2 "manipulator"&j( +33 "core" ( +2 "manipulator"&i& +4 "core" & 5  + "storage"(q& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&_'7 +96 "core" ' + "storage"(r& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'r +298 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +2 "core" & | *\  +2 "manipulator"&K& +3 "core" &  *  +2 .tElbow.seek 3 + "manipulator"&}( +31 "core" ( +2 "manipulator"&e& +4 "core" & X + "storage"(~& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&x'ϡ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(y' +7 "core" &  X + "manipulator"&% +4 "core" % ϛ  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&X& +4 "core" &ӎ   9% + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &ӎ  9% +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&& +4 "core" &ӎ   9% +2 "manipulator"&% +4 "core" %O j +2 "collection"'-& +3 "core" & j lN\ +3 "collection"'& +4 "core" & k jX\ +2 .tCC.seek :closed +2 "collection"'<(\\ +4 "core" & l lR\  +9 &2y m jQ\ *y +9 &d h kU\ > +10 &r j lU\ M +9 &GT l kL\ L +10 & W m mF\ L +9 &W m o@\ L +9 &W n n:\ L +10 &OW l n?\ L +9 &Y m oA\ M +9 &U l n>\ L +10 & W o o?\ L +9 &"WX o n@\ L +10 &$U p m?\ M +9 &%U o n<\ M +9 &'U k l>\ M +10 &)^U k n?\ M +9 &+ V n m?\ M +9 &,U m o@\ M +10 &.U m o4\ L +9 &0gR o o4\ L +10 &2)R o n2\ L +9 &3S o n1\ L +9 &5R p p3\ L +10 &7oS r m5\ L +9 &91T n q4\ L +9 &:T p p0\ L +10 &<V q p3\ L +9 &>vZ p p<\ M +10 &@8W u r8\ M +9 &AU t t1\ L +9 &C\\ w u4\ M +10 &Eye y w3\ N +9 &G6t | |S\ P +9 &H A\ S +10 &J 5\ W +9 &Le 2\ X +9 &N$ 6\ Y +10 &O /\ Y +9 &Q 1\ Z +10 &Sg /\ Z +9 &U( ,\ Z +9 &V ,\ \\ +10 &X %\ \\ +9 &Zg &\ ] +9 &\\ w -\ : +10 &\\&  \ )z +9 &\\v  \ Y +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&&1 +61 "core" 1 + "manipulator"&z% +5 "core" % O \\ j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%s& +5 "core" &`\ + "manipulator"&% +4 "core" %  4  + "storage"(% +4 "core" %  O\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"({( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +3 "core" & ]\  + "manipulator"&(& +4 "core" &ӎ  9% + "manipulator"&;% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& ( +167 "core" ( +2 "manipulator"&f& +4 "core" & | + "storage"('& +4 "core" & D C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +92 "core" ' +2 "storage"(^& +4 "core" & V F \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +64 "core" & K J C\  +2 "manipulator"&$& +4 "core" & + | +2 .tElbow.seek 3 + "manipulator"&!( +3 "core" ( +2 "manipulator"&)& +3 "core" & - | +2 "storage"(4& +3 "core" & 8 C \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϡ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" & 4 | +2 "manipulator"&W% +3 "core" % Ϩ +2 .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&2( +162 "core" ' +50 ."downElevator"SE.stop +3 "storage"(5 +44 "core" ( + "manipulator"&|& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +93 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&w% +3 "core" % 4 +2 "processing"%5& +4 "core" &I\ +2 "processing"%l& +5 "core" &I\ +2 .tPC.seek :closed +2 "processing"%#(^ +4 "core" &H\ +7 & %\ #a +9 &U}s\ 8 +10 &~yz\ L +9 &Qr\ O +9 &ZVm\ O +10 &Ws\ O +9 &Un\ O +9 &Tm\ O +10 &bTn\ O +9 &%Wl\ O +9 &Tp\ O +10 &!Rh\ O +9 &#lTi\ O +10 &%-Tn\ O +9 &&Uk\ O +9 &(Uk\ O +10 &*rUe\ O +9 &,5Qm\ O +9 &-Sc\ O +10 &/Wf\ O +9 &1zYg\ O +10 &3<Wj\ O +9 &4Sb\ O +9 &6Ua\ P +10 &8Vj\ O +9 &:DRj\ O +9 &<Tb\ P +10 &=U_\ O +9 &?UX\ O +10 &AJ\\_\ P +9 &Ci_\ R +9 &Dr_\ S +10 &F`\ U +9 &HA_\ V +9 &J`\ V +10 &Ka\ V +9 &M`\ V +10 &OI_\ V +9 &Q`\ X +9 &R_\ W +10 &T`\ X +9 &VM`\ W +9 &Xa\ W +10 &Y`\ W +9 &[]\ X +10 &]R`\ L +9 &^M`\ !g +9 &^0^\ 6 +3 ( +2 "processing"%l& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&"1 +56 "core" 1 +2 "manipulator"&,% +4 "core" %  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@' +93 "core" ' + "processing"%& +5 "core" &^'9\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&9% +3 "core" %  $  +2 "storage"(8% +3 "core" % & &\ +2 "storage"(C. +3 "core" .( + "storage"(o& +4 "core" & ' & 2\  +3 "storage"(N& +2 "manipulator"&D& +6 "core" & ' '\  + &  +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&J( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(L'r +3 "core" ( + "manipulator"&F& +4 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &  +2 .tForearm.seek PC + "manipulator"&1' +96 "core" ' +2 .tHand.close + "manipulator"&H/ +61 "core" / +2 .tPC.seek :open +2 "processing"%]( +94 "core" ' + "storage"(6- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Q'1 +38 "core" ' +316 ( + "storage"(>& +4 "core" & ) &\  +2 "manipulator"&c& +3 "core" & N +2 "manipulator"&%% +3 "core" %  G  +2 .tForearm.seek :retract +2 "manipulator"&B' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&p( +242 "core" ( + "manipulator"&M& +4 "core" & c = +2 "storage"(& +3 "core" & G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&0'7 +93 "core" ' + .tHand.open +2 "manipulator"& 1 +56 "core" 1 +2 "storage"(t- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(`' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(7' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(?- +3 "core" -' +2 "storage"( & +3 "core" & 8 9 \ _ +2 "manipulator"&\\& +4 "core" &  = + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&P& +4 "core" &   ] = + "storage"(b& +4 "core" & 8 8 \ _ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d'7 +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(h'" +54 "core" ' +2 "manipulator"&:& +4 "core" & = + "storage"(I& +4 "core" & #  ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&a'u +22 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(g' +23 "core" ' +2 "manipulator"&T% +4 "core" %· [ +2 "storage"(Y& +4 "core" & ' ' %\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&Z'ϳ +38 "core" ' + "manipulator"&E& +4 "core" & & = +2 "storage"(=& +4 "core" & ' & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&U'7 +15 "core" ' + "storage"(k% +5 "core" % I ? \ +2 ."downElevator"SE.seek :down +3 "storage"([' +99 (% +3 "core" %I ) '\ Xg +2 "manipulator"&% +4 "core" %.  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +87 "core" ' +73 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (q& +4 "core" & & & E\  + "collection"'r& +4 "core" &\\t 2\ Y + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&u% +3 "core" %  $  +2 "storage"(m% +4 "core" % ? C \ + "storage"(O. +3 "core" .( +2 "storage"(n& +3 "core" & ( & \  +2 "storage"(K& +3 "core" & 1 ) @\  +2 "manipulator"&e& +4 "core" & : = + .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( + "manipulator"&& +4 "core" & l = +2 "storage"(V& +4 "core" & ) 1 j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +92 "core" ' +2 "storage"(j& +4 "core" & J G 6\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +298 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +2 "core" &  ] = +2 "storage"(\ & +4 "core" & ' ' \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&x'u +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(-'h +30 "core" ' + "manipulator"&}% +4 "core" %{  g - + "storage"(y& +4 "core" & ' & *\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 306 counts +2 "manipulator"&'ϧ +31 "core" ' + "manipulator"&& +4 "core" & 6 = +2 "storage"(&& +4 "core" & & ' .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&z'7 +23 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(s' +34 "core" ' + "manipulator"&& +4 "core" &  = +2 "manipulator"&% +4 "core" %O 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +85 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&+& +4 "core" &ӗ# <@ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &ӗ# k <@ +3 .tForearm.seek CC +2 "manipulator"&;'? +91 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'f( +451 "core" ( + "storage"('& +4 "core" & \  +2 "storage"(& +3 "core" & \  +2 "manipulator"&^& +3 "core" &Ә# o <? + "manipulator"&% +4 "core" % M R +2 .tForearm.seek :retract +2 "manipulator"&.' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&G( +154 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"($& +4 "core" & |\  + .tElbow.reconfigure :limp +53 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&)'u +96 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&A1 +64 "core" 1 +2 "manipulator"&% +5 "core" % Ή 1 + "storage"(W& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"& 'ϵ +37 "core" ' + "manipulator"& & +4 "core" &  +2 "storage"(& +4 "core" & u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3'7 +15 "core" ' +2 "storage"(|% +4 "core" % w\ +2 ."downElevator"SE.seek :down +3 "storage"(*' +99 (!% +3 "core" %C y y \\\ Vb +2 "manipulator"&% +4 "core" %0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'5& +4 "core" & g hK\ +2 "manipulator"&% +4 "core" %    + "storage"(v% +4 "core" % \ + "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"("(,y +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (,& +3 "core" &,} \ +2 "manipulator"&& +3 "core" & G +2 .tElbow.seek 4 +2 "manipulator"&9( +37 "core" ( + "manipulator"&8& +4 "core" & g  +2 "storage"(C& +3 "core" &,} "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +92 "core" ' + "storage"(N& +5 "core" &,} \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(D'r +298 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" &,{ { w \  +2 "manipulator"&R& +3 "core" & >  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&H& +4 "core" & *  + "storage"(6& +4 "core" &,{ V\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&2'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&@/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(L' +8 "core" &  )  + "manipulator"&>% +5 "core" % e + .tForearm.seek :retract +2 "manipulator"&c' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&%(ӂ +161 "core" ( + "manipulator"&1& +5 "core" &ӏ  N :+ + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&M& +6 "core" &ӏ! { :+ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 "manipulator"&J& +4 "core" &ӏ! :+ +2 "manipulator"& % +4 "core" %K  y l + "collection"'t& +4 "core" & h iS\ +3 "collection"'?& +4 "core" & j iU\ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" & i jO\ +7 & . j jR\ #b +10 &Vz h kT\ 7 +9 &y j iV\ L +9 &U j m@\ L +10 &hU j k>\ L +9 &)U l k@\ L +9 &W k l@\ L +10 &V m kB\ L +9 &pU l m>\ L +10 &1U j l@\ L +9 &U l k:\ L +9 &!U j k?\ L +10 &#vV l m;\ M +9 &%:U m m?\ L +9 &&U j o=\ L +10 &(W l j0\ L +9 &*U l l1\ L +10 &,AU m k3\ L +9 &.U k p3\ L +9 &/U m n1\ L +10 &1V m m;\ M +9 &3JU o m?\ L +9 &5 U m m3\ L +10 &6U n l5\ L +9 &8U m o:\ L +9 &:QV o p>\ L +10 &<T p p1\ L +9 &=W q q5\ L +10 &?T t r5\ L +9 &AYY p p4\ L +9 &C] t s.\ M +10 &Dc u t+\ M +9 &Fo u w1\ O +10 &HR y x#\ Q +9 &J { |\ V +9 &K } |(\ W +10 &M } }!\ Y +9 &OD ~ \ Y +9 &Q ~  \ Z +10 &R { ~"\ Z +9 &T ~ '\ Z +9 &VE  "\ [ +10 &X   \ \\ +9 &Y \ ] +10 &[  $\ J +9 &\\8 \ . +9 &\\ \ Z +6 ( +2 "collection"'?& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&\\1 +4 "core" &\\| \ Z +59 1 + "manipulator"&P% +4 "core" % K l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%B& +4 "core" &v\ +2 "manipulator"&:% +3 "core" %   +2 "storage"(I% +4 "core" % 4 3\ + "storage"(T. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(Y(,y +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Q& +3 "core" &,{  m\  +2 "manipulator"&`& +3 "core" &ӏ! ] :+ +2 "manipulator"&E% +4 "core" %  &  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&=( +161 "core" ( + "manipulator"&k& +5 "core" &  + "storage"(p& +4 "core" &,{ ) ' -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +97 "core" ' + "storage"(7& +4 "core" &,{ H E j\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &,{  \  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&h( +3 "core" ( + "manipulator"&a& +4 "core" &  +2 "storage"(Z& +4 "core" &,{ ' '\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&q'c +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&r/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& + "storage"(m' +6 "core" & 1  +2 "manipulator"&g% +4 "core" % ϐ  + .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +71 "core" ( + "manipulator"&K& +4 "core" &  H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" & C H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&V& +4 "core" & ) H +2 "manipulator"&U% +4 "core" %   + "processing"%j& +4 "core" &a\ +3 "processing"%[& +4 "core" &j\ +2 .tPC.seek :closed +2 "processing"%S(^ +4 "core" &\ \ +8 &0sv\ *x +10 &b{v\ > +9 &`ru\ O +10 &"Rq\ O +9 &Uo\ P +9 &Rn\ O +10 &gUo\ O +12 &)Tq\ O +6 &Qo\ O +10 &Vo\ O +9 & oTk\ O +10 &"2Pn\ O +9 &#Tn\ O +9 &%Rl\ O +10 &'wQm\ O +9 &)9Pn\ O +9 &*Uk\ O +10 &,Tn\ P +9 &.Re\ O +10 &0ARa\ O +9 &2R`\ O +9 &3Ub\ O +10 &5TY\ O +9 &7JP_\ O +9 &9\ Ua\ P +10 &:V_\ O +9 &<R_\ O +10 &>QY`\ O +9 &@Ta\ O +9 &A]`\ P +10 &Cla\ R +9 &ELx\\\ T +9 &G `\ U +10 &H_\ V +9 &J_\ V +10 &LN`\ V +9 &NX\ V +9 &O^\ W +10 &Q\\\ X +9 &SQR\ X +9 &UW\ W +10 &V`\ W +9 &XT\ V +10 &ZXZ\ X +9 &\\\\\ X +9 &]\\\ 5 +10 &^5sY\ A +9 ( +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&i1 +3 "core" &^ Q\ 0 +58 1 +2 "manipulator"&X% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' + "processing"%\ & +4 "core" &^ 5\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %   +2 "storage"(}% +3 "core" % ' &\ +2 "storage"(y. +3 "core" .(,y + "storage"(& +4 "core" &,{ & &\  +2 "storage"(&& +3 "manipulator"&& +4 "core" &,{ ' &\  +2 & d H +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +52 "core" ( +3 "manipulator"&~& +3 "core" & Q H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" & ^ H +2 .tForearm.seek PC +2 "manipulator"&x' +93 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%+( +52 "core" ' + "storage"(-- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(('1 +54 "core" ' +339 ( + "storage"(z& +4 "core" &,z % & \  +2 "manipulator"&& +4 "core" & H + "manipulator"&% +4 "core" %  U + .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&<( +243 "core" ( +2 "manipulator"&'& +4 "core" & W / + "storage"(& +4 "core" &,z ' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&^' +98 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"($' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(;' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(A& +4 "core" &,z "\ K + "manipulator"&& +4 "core" &  t . + .tElbow.seek 4 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"& & +3 "core" &  . +2 "storage"(& +4 "core" &,z p\ K +2 .tForearm.seek 4 + 450 counts + "manipulator"&|' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +60 "core" ' +2 "manipulator"&!& +4 "core" & . + "storage"(& +4 "core" &,z 4 4 w\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&G'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&), +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(5' +20 "core" ' +2 "manipulator"& % +4 "core" %K  +2 "storage"(& +4 "core" &,z /  Q\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 320 counts + "manipulator"&v'w +16 "core" ' + "manipulator"&& +4 "core" & * . +2 "storage"(s& +4 "core" &,z & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +19 "core" ' + "storage"(*% +5 "core" % ) &\ +2 ."downElevator"SE.seek :down +3 "storage"({' +99 (,% +3 "core" %JG ) % \ Xh +2 "manipulator"&% +3 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +90 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (C& +4 "core" &,z & ' \  +2 "collection"'N& +3 "core" &\\| \ Z +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&4% +4 "core" %   +2 "storage"(w% +3 "core" % 3 * 2\ +2 "storage"(l. +3 "core" .(,y + "storage"(F& +5 "core" &,z ' & \  + "storage"(R& +4 "core" &,z ' '\  + "manipulator"&H& +4 "core" &   . +2 .tElbow.seek 4 + "manipulator"&6( +3 "core" ( +2 "manipulator"&@& +3 "core" & . +2 "storage"(#& +3 "core" &,z % '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +96 "core" ' +2 "storage"(9& +4 "core" &,z H @ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +295 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &  . + "storage"(D& +4 "core" &,z #  L\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&2'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(t'o +29 "core" ' +2 "manipulator"&% +4 "core" %I + "storage"(L& +4 "core" &,z  &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&c'u +16 "core" ' + "manipulator"&f& +5 "core" & . + "storage"(\\& +4 "core" &,z ' & H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&P' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(B' +49 "core" ' +2 "manipulator"&:& +4 "core" & . +2 "manipulator"&I% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?(ӂ +151 "core" ( + "manipulator"&Q& +4 "core" &Ӎ%  >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &Ӎ% ; >N +2 .tForearm.seek CC +2 "manipulator"&E'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'k( +447 "core" ( +2 "storage"(p& +4 "core" &,z f i E\  + "storage"("& +4 "core" &,z e e W\  + "manipulator"&7& +4 "core" &ӎ% >M +2 "manipulator"&%% +3 "core" % .  +2 .tForearm.seek :retract +2 "manipulator"&b' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&d& +4 "core" & E  +2 "storage"(& +3 "core" &,z \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&a'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +56 "core" 1 +2 "manipulator"&u% +4 "core" % J g  +2 "storage"(g& +3 "core" &,z \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&='v +15 "core" ' +2 "manipulator"&0& +4 "core" & \\  +2 "storage"(& +3 "core" &,z /\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&q' +19 "core" ' +2 "storage"(K% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(e' +99 (h% +3 "core" %D x 6\ Wc +2 "manipulator"&V% +4 "core" %\  \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +89 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'j& +4 "core" & i h?\ +2 "manipulator"&m% +4 "core" %  L  + "storage"(O% +4 "core" % J\ + "storage"(]. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(i(<- +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" &<* { D\  + "manipulator"&\ & +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&}& +4 "core" &   + "storage"(y& +4 "core" &<* `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' + "storage"(& +4 "core" &<* N\ +2 .tSE.reconfigure :pick +51 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(&'r +295 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (~& +3 "core" &<*  \ +2 "manipulator"&_& +4 "core" & b  + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & x  +2 "storage"(-& +3 "core" &<* \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&n'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&// +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& + "storage"(' +9 "core" &  F  + "manipulator"&z% +4 "core" % Ϲ  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&x& +3 "core" &ӎ ' 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &ӎ L 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&& +4 "core" &ӎ 4 + "manipulator"&% +5 "core" %5  5 + "collection"'& +4 "core" & h i]\ +3 "collection"'& +4 "core" & i iY\ +2 .tCC.seek :closed +2 "collection"'A(\\ +4 "core" & h jF\  +8 &4~ i iB\ +{ +10 & d k jB\ > +9 &p k j<\ M +9 &ZR j k=\ L +10 &U j l@\ L +9 &W k l@\ K +9 &W j m=\ L +10 &bV l l7\ L +9 &$X n l:\ L +10 &Z m l8\ L +9 & V l m3\ L +9 &"jU h k4\ L +10 &$,U k k=\ L +9 &%V l l5\ L +9 &'U k l7\ L +10 &)qV k j1\ L +9 &+4V m m3\ L +9 &,S l l1\ L +10 &.U k m2\ L +9 &0yU j l2\ L +10 &2<U l n2\ L +9 &3U k m-\ K +9 &5V m n.\ L +10 &7V p o.\ L +9 &9CW o o \ L +9 &;V r o\ L +10 &<W s n#\ L +9 &>W q o!\ L +10 &@KW r r \ L +9 &B Y s q#\ L +9 &C_ r s%\ M +10 &Eg t v%\ N +9 &GHx w x&\ P +9 &I ~ {$\ S +10 &J  ~ \ W +9 &Lv !\ X +10 &N6  \ Y +9 &O  \ Y +9 &Q  \ Y +10 &Sv  \ [ +9 &U9 \ Z +10 &V  \ \\ +9 &X !\ \\ +9 &Zy \ \\ +10 &\\y \ 3 +9 &\\, \ \\ +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&1 +3 "core" &\\d \ P +49 1 +2 "manipulator"& % +4 "core" % 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &a\ + "manipulator"&!% +4 "core" %   +2 "storage"(% +4 "core" % & &\ + "storage"( . +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ((& +3 "core" &<*   <\  +2 "manipulator"&& +3 "core" &ӎ Y 4 +2 "manipulator"&s% +4 "core" %  R  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&$( +160 "core" ( + "manipulator"&*& +4 "core" &  +2 "storage"(<& +3 "core" &<* K K =\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +96 "core" ' +2 "storage"(;& +4 "core" &<* a Y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +2 "core" &<*  /\  +2 "manipulator"&W& +3 "core" &  )  +2 .tElbow.seek 5 +2 "manipulator"&.( +3 "core" ( + "manipulator"&G& +4 "core" &   +2 "storage"(v& +3 "core" &<* C D )\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&C'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&4& +2 "storage"(w' +7 "core" & G  + "manipulator"&l% +4 "core" % Ϻ +2 .tForearm.seek :retract +2 "manipulator"&5' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( + "manipulator"&R& +5 "core" & 9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" & N 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@' +97 "core" ' +2 "manipulator"&#& +4 "core" & 9 +2 "manipulator"&3% +3 "core" % e  +2 "processing"%9& +4 "core" &s\ +2 "processing"%{& +5 "core" &v\ +2 .tPC.seek :closed + "processing"%)(^ +5 "core" &r\ +7 & ,p\ #b +9 &Txn\ 7 +10 &~xj\ L +9 &Sh\ O +9 &RSl\ O +10 &Po\ O +9 &Sn\ O +9 &Rn\ O +10 &ZRn\ O +9 &Ul\ O +9 &Rk\ O +10 &!Rn\ O +9 &#cRl\ O +10 &%%Rh\ O +9 &&Tg\ O +9 &(T\\\ O +10 &*kTX\ O +9 &,-T_\ O +9 &-R_\ O +10 &/UZ\ O +9 &1rX_\ O +10 &34U`\ O +9 &4Sa\ O +9 &6U^\ O +10 &8{U_\ O +9 &:<T`\ O +9 &;V_\ O +10 &=U_\ O +9 &?W`\ O +10 &ACUZ\ P +9 &C_^\ P +9 &Dea\ Q +10 &Fs_\ S +9 &H;^\ U +10 &IW\ V +9 &KZ\ V +9 &M~\\\ V +10 &O@a\ V +9 &Q]\ W +9 &RX\ W +10 &TM\ X +9 &VGU\ V +9 &XM\ W +10 &YO\ W +9 &[P\ X +10 &]LL\ K +9 &^|LO\ a +9 &^DQ\ 7 +6 ( +2 "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&81 +3 "core" &^.S\ 7 +53 1 + "manipulator"&1% +4 "core" %  A  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M' +96 "core" ' +2 "processing"%D& +4 "core" &^.8\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"& % +3 "core" % ! 8 . +2 "storage"(% +3 "core" % ) '\ +2 "storage"(L. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(f(<- +5 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "manipulator"&:& +4 "core" &<+ 2\  +2 & d 8 +4 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +2 "manipulator"&I( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(>'r +2 "core" ( +2 "manipulator"&6& +3 "core" & 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" & 8 +2 .tForearm.seek PC +2 "manipulator"&2' +93 "core" ' + .tHand.close +2 "manipulator"&c/ +62 "core" / +3 .tPC.seek :open + "processing"%t( +93 "core" ' +2 "storage"(Q- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +39 "core" ' +314 ( +2 "storage"(P& +4 "core" &<+ ? 4 @\  + "manipulator"&J& +4 "core" &  ^ 8 + "manipulator"&% +4 "core" %  > 7 +2 .tForearm.seek :retract + "manipulator"&T' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +258 "core" ( + "manipulator"&p& +4 "core" &  +2 "storage"("& +3 "core" &<+ $  /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&7'O +97 "core" ' +2 .tHand.open + "manipulator"&%1 +61 "core" 1 +2 "storage"(d- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(E' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(r& +3 "core" &<+ [ \\\ i +2 "manipulator"&u& +3 "core" & )  +2 .tElbow.seek 5 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&0& +3 "core" & l  +2 "storage"(& +3 "core" &<+ \ n +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +4 "core" ' +51 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(b'" +51 "core" ' + "manipulator"&h& +5 "core" &  + "storage"(V& +4 "core" &<+ 1 * \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(j' +28 "core" ' +2 "manipulator"&=% +4 "core" %Ζ  + "storage"(m& +4 "core" &<+ ( &\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 309 counts +2 "manipulator"&O' +29 "core" ' + "manipulator"&]& +5 "core" &  + "storage"(B& +5 "core" &<+ > B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&q'O +21 "core" ' + "storage"(e% +5 "core" % U F \ +2 ."downElevator"SE.seek :down +4 "storage"(Y' +98 (X% +2 "core" %AK ' &\ Xh +2 "manipulator"&\ % +5 "core" %E + ) + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (y& +4 "core" &<+ J F H\  + "collection"'& +4 "core" &\\c \ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&Z% +4 "core" %   d  +2 "storage"(U% +4 "core" % K K V\ + "storage"([. +3 "core" .(<- +2 "storage"(~& +3 "core" &<+ > G F\  +2 "storage"(_& +3 "core" &<+ ? H\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&-( +3 "core" ( + "manipulator"&/& +4 "core" & K  +2 "storage"(S& +3 "core" &<+ K J Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +87 "core" ' +2 "storage"(& +4 "core" &<+ Y Z 1\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +2 "core" & v  +2 "storage"(&& +4 "core" &<+ < B +\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&n'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"('_ +29 "core" ' +2 "manipulator"&% +4 "core" %ΐ B . + "storage"(& +4 "core" &<+ L K '\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 303 counts +2 "manipulator"&'ϼ +16 "core" ' +2 "manipulator"&k& +4 "core" &  +2 "storage"(& +3 "core" &<+ b a \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +16 "core" ' +3 .tSE.seek 1.14 Pucks below Top Plate + "storage"(' +48 "core" ' +2 "manipulator"&!& +4 "core" &  -  + "manipulator"&% +5 "core" %U 1 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&(& +4 "core" &Ӎ' @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӎ( ' @X +2 .tForearm.seek CC +2 "manipulator"&s'? +100 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'*( +450 "core" ( + "storage"(<& +4 "core" &<+ l y\  +2 "storage"(i& +3 "core" &<+ \\ V\  +2 "manipulator"&;& +4 "core" &Ӎ( 2 @X + "manipulator"&% +4 "core" % ; 5 + .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&|& +4 "core" & e  + "storage"(W& +4 "core" &<+  | )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&G'΍ +97 "core" ' + .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +58 "core" 1 +2 "manipulator"&4% +4 "core" % t  \\  + "storage"(l& +4 "core" &<+ R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 275 counts + "manipulator"&$'Ϡ +32 "core" ' + "manipulator"&^& +4 "core" &  +2 "storage"(,& +4 "core" &<+ >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +23 "core" ' + "storage"(R% +5 "core" % !\ +2 ."downElevator"SE.seek :down +3 "storage"(H' +99 (.% +2 "core" %@ z ^\ Wc +2 "manipulator"&#% +4 "core" %r N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +88 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'9& +4 "core" & f h6\ + "manipulator"&w% +4 "core" %  9  +2 "storage"(5% +4 "core" % \ + "storage"(+. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(8(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (1& +3 "core" &K U X ,\  + "manipulator"&D& +4 "core" & @  + .tElbow.seek 6 +2 "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & ]  +2 "storage"(L& +3 "core" &K 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&{' +94 "core" ' + "storage"(\\& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'r +295 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" &K \  +2 "manipulator"&@& +4 "core" & \\  + .tElbow.seek 6 +2 "manipulator"&c( +3 "core" ( + "manipulator"&& +4 "core" & i  +2 "storage"(Q& +3 "core" &K z \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&F'h +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&M/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"(>' +7 "core" &  +2 "manipulator"&P% +3 "core" % ϋ R +2 .tForearm.seek :retract +2 "manipulator"&J' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&2& +4 "core" ' + &Ӓ% 2 >K +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &p& +3 "core" &Ӓ%  >K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'? +92 "core" ' +2 "manipulator"&I& +4 "core" &Ӓ%  >K + "manipulator"&%% +4 "core" %8 / ` +2 "collection"'d& +4 "core" & j iI\ +3 "collection"'?& +5 "core" & j hF\ +2 .tCC.seek :closed +3 "collection"'r(\\ +4 "core" & i hG\ +5 & j h@\ 9 +10 &IJt h iC\ 1 +9 &xs~ i j@\ E +9 &"Z j j?\ M +10 &T i jA\ L +9 &V m k>\ L +9 &jR l k>\ L +10 &+U j l?\ L +9 &V l k?\ L +10 &U m k5\ L +9 &qU j l7\ L +9 &!3U k m1\ L +10 &"U m l2\ L +9 &$U k m4\ L +9 &&yU l l8\ L +10 &(;U l m5\ L +9 &)S l o=\ L +9 &+U l l5\ L +10 &-U l l3\ L +9 &/CU k n1\ L +10 &1U l m3\ L +9 &2U l k1\ L +9 &4V m m1\ L +10 &6LU l n0\ L +9 &8U m n3\ L +9 &9U m o-\ L +10 &;U o o(\ L +9 &=SW p p'\ L +58 &?V q p$\ M +4 &@W r p\ L +5 &B[ t s\ M + &DVg w v\ N + &F~ y x\ Q + &G y y%\ T + &I } y!\ X +4 &K> z {&\ Y +10 &M z z&\ Y +9 &N z z$\ Y +9 &P { {&\ Y +10 &RB { {!\ Z +9 &T { | \ [\ +9 &U z ~"\ \\ +9 &W } ~ \ \\ +9 &Y@ ~  \ ^ +10 &[ ~ |!\ ^ +9 &\\\\J \ 9 +9 &\\   \ Y +6 ( +2 "collection"'?& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&u1 +4 "core" &\\s  \ Y +53 1 + "manipulator"&0% +5 "core" % 8 y ` + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%T& +4 "core" &n\ + "manipulator"&h% +5 "core" %  5  + "storage"(V% +4 "core" %  \ + "storage"(`. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +3 "core" &K % C\  + "manipulator"&m& +5 "core" &ӓ% 7 >J + "manipulator"&]% +4 "core" %  #  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&B( +163 "core" ( +2 "manipulator"& & +4 "core" &  +2 "storage"(e& +3 "core" &K D C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +98 "core" ' + "storage"(E& +4 "core" &K J @ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'r +297 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +2 "core" &K &  \  +2 "manipulator"&g& +4 "core" & j  + .tElbow.seek 6 +2 "manipulator"&b( +3 "core" ( + "manipulator"&& +4 "core" & q  +2 "storage"(O& +3 "core" &K & '\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&y'h +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& + "storage"(U' +7 "core" &  +2 "manipulator"&j% +3 "core" % t +2 .tForearm.seek :retract +2 "manipulator"&[' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&~( +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&_& +4 "core" &  - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&/' +90 "core" ' + "manipulator"&S& +4 "core" &  - +2 "manipulator"&q% +4 "core" % m + "processing"%& +4 "core" &q\ +3 "processing"%Y& +4 "core" &k\ +2 .tPC.seek :closed +2 "processing"%a(^ +4 "core" &m\ +7 & ,m\ #b +9 &U|n\ 7 +10 &}yj\ L +9 &To\ O +9 &OSm\ O +10 &Qo\ O +9 &To\ O +10 &Vo\ O +9 &YQn\ N +9 &So\ O +10 &Rn\ N +9 &!Ri\ O +9 &#`Qc\ O +10 &%"Rg\ O +9 &&Re\ O +10 &(Tc\ O +9 &*hT`\ O +9 &,*RY\ O +10 &-Ra\ O +9 &/U^\ O +9 &1pWb\ O +10 &32T_\ O +9 &4QZ\ O +10 &6TY\ O +9 &8xUc\ O +9 &::R]\ O +10 &;U_\ O +9 &=UX\ O +9 &?}U_\ P +10 &A>Za\ P +9 &BeR\ Q +10 &Ds`\ S +9 &Fua\ U +9 &H6`\ U +10 &I_\ V +9 &K_\ U +9 &M{`\ V +10 &O<Z\ V +9 &PT\ W +10 &RV\ W +9 &TX\ W +9 &V@U\ X +10 &XV\ V +9 &YQ\ W +9 &[S\ W +10 &]FX\ N +9 &^}MG\ d +10 &^9Y\ 8 +5 ( +2 "processing"%Y& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&}1 +3 "core" &^3X\ 8 +56 1 + "manipulator"&x% +5 "core" %  m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +89 "core" ' +2 "processing"%&& +4 "core" &^3R\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %   + "storage"(% +4 "core" % ' '\ + "storage"(. +3 "core" .(K +2 "storage"(k& +3 "core" &K  -\  +2 "storage"(& +4 "manipulator"&!& +4 "core" &K  \  +2 & Z - +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'r +3 "core" ( + "manipulator"&-& +4 "core" & ) - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & - +3 .tForearm.seek PC + "manipulator"&n' +94 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / + .tPC.seek :open +2 "processing"%( +101 "core" ' +2 "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +303 ( + "storage"( & +4 "core" &K ( ' >\  +2 "manipulator"&& +3 "core" & / - +2 "manipulator"&% +3 "core" %  F ( +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&A( +245 "core" ( +2 "manipulator"&<& +4 "core" & V 9 + "storage"(i& +4 "core" &K  E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +96 "core" ' + .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "storage"(|- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(s' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(N& +4 "core" &K\ \  g\ U + "manipulator"&4& +4 "core" &  9 +2 .tElbow.seek 6 + "manipulator"&l( +3 "core" ( +2 "manipulator"&^& +4 "core" & s 9 + "storage"(,& +4 "core" &K\ \  j\ V +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&.& +5 "core" &  9 + "storage"(#& +4 "core" &K ' ( \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +21 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +29 "core" ' + "manipulator"&$% +5 "core" %O x + "storage"(w& +4 "core" &K " d\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&5'{ +14 "core" ' +3 "manipulator"&+& +4 "core" & K 9 + "storage"(& +5 "core" &K & ( .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +17 "core" ' + "storage"(H% +5 "core" % , > u\ +2 ."downElevator"SE.seek :down +3 "storage"(f' +99 (1% +3 "core" %CH ' '\ Xh +2 "manipulator"&D% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (L& +4 "core" &K 0 (\  +2 "collection"'\\& +3 "core" &\\s 5\ Y +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&v% +4 "core" %    +2 "storage"(3% +4 "core" % & '\ + "storage"(6. +3 "core" .(K +2 "storage"(o& +3 "core" &K -  +\  +2 "storage"(@& +3 "core" &K & & !\  +2 "manipulator"&& +4 "core" & : 8 + .tElbow.seek 6 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&M& +4 "core" &  8 +2 "storage"()& +3 "core" &K ' &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&P' +96 "core" ' +2 "storage"( & +4 "core" &K > @ )\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'r +300 "core" ' +2 "storage"(2- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&p& +3 "core" &  8 +2 "storage"(:& +3 "core" &K & 0 S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&F'< +20 "core" ' + .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(d'l +29 "core" ' +2 "manipulator"&c% +4 "core" %E  + "storage"(>& +4 "core" &K \  y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&J'q +24 "core" ' +2 "manipulator"&*& +4 "core" & " 8 + "storage"(u& +5 "core" &K 3 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +21 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(T' +37 "core" ' +2 "manipulator"&h& +4 "core" &  F 8 + "manipulator"&V% +4 "core" % 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&=(ӂ +153 "core" ( + "manipulator"&?& +5 "core" &ӑ#  << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +2 "core" &ӑ# << +2 .tForearm.seek CC +2 "manipulator"&]'? +96 "core" ' + .tHand.close +2 "manipulator"&"/ +60 "core" / + .tCC.seek :open +2 "collection"' ( +447 "core" ( +2 "storage"(e& +4 "core" &K z\  + "storage"(8& +4 "core" &K \  + "manipulator"&E& +4 "core" &Ӓ# X <; + "manipulator"&% +4 "core" % O 7 +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&\ ( +161 "core" ( + "manipulator"&K& +5 "core" &   + "storage"(g& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'< +97 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&Z% +4 "core" % O   + "storage"(j& +4 "core" &K ^\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&B'{ +24 "core" ' +2 "manipulator"&7& +4 "core" & >  +2 "storage"(X& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +17 "core" ' +2 "storage"(_% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (b% +3 "core" %D \ Wc +2 "manipulator"&S% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +91 "core" ' +15 "Can"\ JH +39 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 !to:ArgumentError: mesg"(wrong number of arguments (1 for 0):bt[ "(ESP):11:in `times'"(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1340 #-> 5.times {shuffle 2..6} +2 #Shuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +3 "core" & h jW\ +2 "manipulator"&U% +4 "core" %    +2 "storage"([% +3 "core" % \ +2 "storage"(t. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(}(  +1301 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" &  } u\ +2 "manipulator"&&& +3 "core" & X  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & ]  + "storage"(& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&k'S +93 "core" ' + "storage"(!& +5 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (-& +3 "core" &  D\ +2 "manipulator"&& +3 "core" & &  +2 .tElbow.seek 2 + "manipulator"&/( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"((& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&~'Ͻ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&a& + "storage"(z' +7 "core" & '  + "manipulator"& % +4 "core" % ϸ I +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +2 "manipulator"&n& +5 "core" &ӕ# <; ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&<& +4 "core" &ӕ# g <; + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'? +93 "core" ' +2 "manipulator"&& +4 "core" &Ӗ# ] <: +2 "manipulator"&% +4 "core" %> x + "collection"'|& +4 "core" & k kZ\ +3 "collection"'& +4 "core" & i jP\ +2 .tCC.seek :closed +2 "collection"'N(\\ +5 "core" & k kT\ +6 &9 k kP\ %g +10 &Ww j kI\ 7 +9 &x n k@\ L +10 &U k l>\ L +9 &U n oE\ L +9 &AV l mL\ L +10 &S l mP\ L +9 &V o lS\ L +9 &U m mT\ L +10 &IU m mQ\ L +9 & R m oN\ L +10 &!U n mI\ L +9 &#V k mE\ L +9 &%QU l p:\ L +10 &'U n l?\ L +9 &(U n oC\ L +9 &*U m m@\ L +10 &,YU m n@\ L +9 &.U o n@\ L +10 &/U o o>\ L +9 &1V m p>\ L +9 &3bV m o?\ L +10 &5$U m o=\ L +9 &6W q o=\ L +9 &8U q p9\ L +10 &:jW r o?\ L +9 &<+W p p:\ L +10 &=W q r;\ M +9 &?W p r8\ L +9 &AqX u r5\ L +10 &C2Y u v8\ M +9 &Db v u7\ M +9 &Fk z y3\ O +10 &Hj { {(\ Q +9 &J" ~=\ U +10 &K 6\ X +9 &M 3\ X +9 &O^ <\ X +10 &Q =\ Y +9 &R 7\ Z +9 &T ?\ Z +10 &V^ B\ [\ +9 &X B\ \\ +10 &Y >\ \\ +9 &[ 8\ J +9 &\\8 5\ - +10 &\\u @\ V +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&41 +61 "core" 1 +2 "manipulator"&^% +4 "core" % > ` x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&.% +3 "core" %    +2 "storage"(#% +4 "core" %  \ + "storage"($. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(w(  +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & 4 & Q\ + "manipulator"&+& +4 "core" &Ә" w ;8 +2 "manipulator"&% +4 "core" %  8  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +161 "core" ( + "manipulator"&H& +4 "core" &  +2 "storage"(A& +3 "core" & C D \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&;'S +92 "core" ' + "storage"(s& +4 "core" & V G \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'r +295 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (R& +3 "core" &   \ + "manipulator"&l& +4 "core" & F  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +52 "core" & W  +3 "storage"(5& +4 "core" & & &\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&L'Ͻ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&v& + "storage"(3' +7 "core" & +  +2 "manipulator"&9% +4 "core" % ϼ  +2 .tForearm.seek :retract +2 "manipulator"&6' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&@& +4 "core" & 8 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&M' +97 "core" ' + "manipulator"&)& +5 "core" & 7 + "manipulator"&C% +4 "core" %  % +2 "processing"% & +4 "core" &x\ +2 "processing"%f& +5 "core" &I\ +2 .tPC.seek :closed +2 "processing"%G(^ +4 "core" &1\  +9 &1wH\ *x +10 &b}t\ > +9 &Xrp\ O +9 &Tn\ O +10 &Ti\ O +9 &Rm\ O +10 &^Ti\ O +9 & Sk\ O +9 &Tl\ O +10 &Tn\ O +9 & fSn\ O +9 &")Rk\ O +10 &#Sj\ O +9 &%Rn\ O +9 &'pTm\ O +10 &)2Tl\ O +9 &*Tm\ O +10 &,Tm\ O +9 &.wTj\ O +9 &08Tj\ O +10 &1Wb\ O +9 &3Te\ O +9 &5Sc\ O +10 &7BTi\ O +9 &9Va\ O +10 &:Ua\ O +9 &<T_\ O +9 &>GWY\ P +10 &@\ UZ\ O +9 &A]]\ P +9 &CcX\ Q +10 &EHn`\ R +9 &G~_\ T +10 &H`\ U +9 &J`\ V +9 &LF_\ U +10 &NY\ V +9 &O_\ V +9 &Q\\\ W +10 &SJd\ W +9 &U S\ W +10 &V_\ W +9 &X\\\ V +9 &ZR`\ W +10 &\\a\ W +9 &]_\ : +9 &^-}_\ Z +10 &^-`\ 5 +2 ( +2 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&2% +4 "core" %  % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +90 "core" ' + "processing"%:& +4 "core" &^*S\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&%% +3 "core" %  P  +2 "storage"(c% +4 "core" % & &\ + "storage"(>. +3 "core" .(  +2 "storage"(*& +3 "core" & ' '\ +2 "storage"(u& +2 "manipulator"&h& +7 "core" & * '\ + & Z 7 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&V( +2 "storage"(P'r +5 "core" ( + "manipulator"&Q& +4 "core" & 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &  7 +2 .tForearm.seek PC +2 "manipulator"&F' +91 "core" ' +2 .tHand.close + "manipulator"&J/ +55 "core" / +2 .tPC.seek :open +2 "processing"%d( +103 "core" ' + "storage"(?- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'1 +44 "core" ' +300 ( + "storage"(0& +4 "core" & < ; K\ +2 "manipulator"&I& +4 "core" & 7 + "manipulator"&"% +4 "core" %  _ . + .tForearm.seek :retract +2 "manipulator"&`' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&r( +246 "core" ( +2 "manipulator"&e& +4 "core" & Z  +2 "storage"(8& +3 "core" & ' & 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&E'S +100 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(K- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(g' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(]' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(=- +3 "core" -' +2 "storage"(& +3 "core" & \ t +2 "manipulator"&Z& +4 "core" & J  + .tElbow.seek 2 +2 "manipulator"&j( +21 "core" ( +2 "manipulator"&7& +3 "core" &   +2 "storage"(X& +4 "core" & e\ u +2 .tForearm.seek 2 + 450 counts + "manipulator"&_'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.51 Pucks below Top Plate +3 "storage"('" +51 "core" ' + "manipulator"&b& +5 "core" &  + "storage"(S& +4 "core" & & ' )\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&\ 'Α +14 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +23 "core" ' +2 "manipulator"&T% +4 "core" %Ο 7 > +2 "storage"(y& +4 "core" & > B \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(U& +4 "core" & K K 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&['S +15 "core" ' +2 "storage"(t% +4 "core" % _ I \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (x% +3 "core" %O   \ Yk + "manipulator"&&% +4 "core" %B 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +85 "core" ' +73 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & D D \ +2 "collection"'!& +4 "core" &\\n N\ V +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&O% +4 "core" %  `  + "storage"(q% +4 "core" % L J )\ + "storage"(Y. +3 "core" .(  +2 "storage"(-& +4 "core" & K J Z\ +2 "storage"(& +3 "core" & ? I B\ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&'& +3 "core" & Q  +2 "storage"(a& +3 "core" & J K T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +95 "core" ' + "storage"(& +4 "core" & X U "\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +300 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" & M  + "storage"(& +4 "core" & 0 = \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&~'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(|'a +28 "core" ' +2 "manipulator"&/% +4 "core" %Ώ   + "storage"(z& +4 "core" & C B \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 298 counts +2 "manipulator"&'ϻ +15 "core" ' +2 "manipulator"& & +4 "core" &  + "storage"(4& +5 "core" & ? B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&^'S +19 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"( ' +35 "core" ' +2 "manipulator"&.& +4 "core" &    +2 "manipulator"&#% +4 "core" %i  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&& +4 "core" &ӊ+ 3 Cn +2 .tElbow.reconfigure :loose +51 "manipulator"&$ &.,(#b +4 &+& +3 "core" &Ӌ+ z Cm +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&i/ +53 "core" / +2 .tCC.seek :open + "collection"'H( +448 "core" ( + "storage"(A& +4 "core" & 9\ +2 "storage"(}& +3 "core" & k\ +2 "manipulator"&s& +3 "core" &ӎ* G Bj +2 "manipulator"&% +4 "core" % J * [ +2 .tForearm.seek :retract + "manipulator"&,' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&D( +166 "core" ( + "manipulator"&R& +4 "core" &   +2 "storage"(l& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'Α +95 "core" ' + .tElbow.hold +2 "manipulator"&5, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\\1 +55 "core" 1 +2 "manipulator"&v% +4 "core" % ΍ * + "storage"(9& +4 "core" & @\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 296 counts +2 "manipulator"&W'Ϲ +23 "core" ' +2 "manipulator"&;& +4 "core" &  + "storage"(1& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&L'S +19 "core" ' + "storage"(@% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +2 "core" %J \ Xh +2 "manipulator"&)% +5 "core" %]  Z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +91 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" & i hB\ +2 "manipulator"&3% +4 "core" %    + "storage"(6% +4 "core" % \ +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (2& +3 "core" & | { C\ + "manipulator"&:& +4 "core" & 3  +2 .tElbow.seek 3 + "manipulator"&%( +14 "core" ( +2 "manipulator"&c& +4 "core" &z  + "storage"(>& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&*'7 +95 "core" ' +2 "storage"(u& +4 "core" & \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'r +296 "core" ' +2 "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" & \ \ + "manipulator"&{& +4 "core" &z 8  + .tElbow.seek 3 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&J& +3 "core" &z 7  +2 "storage"(?& +3 "core" & G\ \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&o'ϡ +40 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&p/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"(P' +7 "core" &z G  +2 "manipulator"&0% +3 "core" % φ  D +2 .tForearm.seek :retract +2 "manipulator"&I' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&F& +3 "core" &ӎ%  >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &ӎ% ? >M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&8'? +93 "core" ' +2 "manipulator"&V& +4 "core" &ӏ% L >L +2 "manipulator"&% +3 "core" %?  V w +2 "collection"'K& +4 "core" & g ka\ +2 "collection"'=& +6 "core" & h jN\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & j lJ\ +6 &: j jQ\ $e +10 &Wy j kT\ 7 +9 &w j kT\ K +9 &U k kL\ L +10 &zW l kF\ L +9 &=U i l?\ L +10 &W l lD\ L +9 &W m lA\ L +9 &V n k9\ L +10 &EW l n9\ L +9 & V l lA\ L +9 &!Y k m@\ L +10 &#V n n:\ L +9 &%LU l o<\ L +10 &'U m l5\ L +9 &(W k m>\ L +9 &*Y n l@\ L +10 &,TV l l?\ L +9 &.U m o9\ L +9 &/U o o7\ K +10 &1V m n8\ L +9 &3\\U l n+\ L +10 &5V m n5\ L +9 &6X n o)\ L +9 &8W q q3\ L +10 &:eW p p3\ L +9 &<&U r p2\ L +9 &=W p q6\ L +10 &?Y p r4\ L +9 &AlW r s4\ L +10 &C+[ u v:\ M +9 &Db w v2\ M +9 &Fm x z2\ O +10 &Hd ~ |3\ Q +9 &J 9\ V +9 &K <\ X +10 &M :\ X +9 &OV :\ Y +9 &Q 9\ Y +10 &R B\ Z +9 &T C\ Z +10 &VZ <\ Z +9 &X 4\ \\ +9 &Y 2\ \\ +10 &[ 5\ J +9 &\\; 4\ , +9 &\\ ,\ V +3 ( +2 "collection"'=& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&Z1 +61 "core" 1 + "manipulator"&`% +4 "core" % ? : w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7' +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%X& +4 "core" &Z\ + "manipulator"&b% +4 "core" %  >  +2 "storage"(S% +4 "core" % ' ' X\ + "storage"(T. +3 "core" .( +2 "storage"(y& +3 "core" & 4 4 v\ \ +2 "storage"(m& +4 "core" & ' ( @\ \ + "manipulator"&& +4 "core" &ӏ% >L + "manipulator"&g% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&U( +164 "core" ( +2 "manipulator"&t& +4 "core" &| :  + "storage"(r& +4 "core" & D D \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&E'7 +95 "core" ' +2 "storage"(]& +4 "core" & V Z \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'r +295 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (_& +3 "core" & 4 %\ \ + "manipulator"&j& +4 "core" &|  W  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&\ & +4 "core" &| b  + "storage"(& +4 "core" & 3 * \ \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(q' +7 "core" &| L  + "manipulator"&B% +4 "core" %  c s +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&-( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&& +4 "core" & 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'' +102 "core" ' + "manipulator"&a& +4 "core" & 9 +2 "manipulator"&[% +4 "core" %   + "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &v\ +7 & -z\ $c +9 &Tyo\ 7 +10 &}xo\ L +9 &Rp\ O +9 &TRn\ O +10 &Ti\ O +9 &To\ O +10 &Rn\ O +9 &]Qo\ O +9 &Ro\ O +10 &Rp\ O +9 &!On\ O +9 &#eRo\ O +10 &%'Rk\ O +9 &&Uk\ O +10 &(Sk\ O +9 &*lSn\ O +9 &,/Rn\ O +10 &-Qc\ N +9 &/Uk\ O +9 &1sUk\ O +10 &35Tb\ O +9 &4Qd\ O +10 &6S`\ O +9 &8|T]\ O +9 &:=S`\ O +10 &;T_\ O +9 &=Va\ O +9 &?Ta\ P +10 &ACY`\ P +9 &Ccd\ Q +10 &Dsa\ S +9 &F{`\ U +9 &H;c\ U +10 &I`\ U +9 &K`\ U +9 &M~a\ W +10 &O@`\ V +9 &Q_\ W +10 &R[\ W +9 &T[\ X +9 &VG[\ W +10 &X a\ W +9 &Ya\ W +9 &[\\\ W +10 &]M\\\ J +9 &^yH_\ !d +10 &^F\\\ 6 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&1 +3 "core" &^*]\ 6 +59 1 +2 "manipulator"&n% +54 "core" %  8  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +96 "core" ' +2 "processing"%& +4 "core" &^*5\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" % # m / + "storage"(/% +4 "core" %   P\ +2 "storage"(z. +3 "core" .( + "storage"( & +4 "core" & ! % !\ \ +3 "storage"(4& +3 "manipulator"&.& +4 "core" &   *\ \ +2 &  9 +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(#'r +2 "manipulator"& ( +5 "core" ( +2 "manipulator"&(& +4 "core" & W 9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" & < 9 +2 .tForearm.seek PC + "manipulator"&~' +94 "core" ' +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%|( +95 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(+'1 +40 "core" ' +312 ( +2 "storage"(^& +4 "core" & 8 D \ \ + "manipulator"&& +4 "core" & ; 9 + "manipulator"&i% +4 "core" %  @ +2 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&N( +259 "core" ( + "manipulator"&A& +4 "core" &   +2 "storage"(}& +3 "core" & ' &\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s'7 +96 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(R- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(l' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(\\& +4 "core" & V X \ f\ + "manipulator"&v& +4 "core" & W  +2 .tElbow.seek 3 + "manipulator"&9( +3 "core" ( +2 "manipulator"&;& +4 "core" &  A  + "storage"(1& +4 "core" & Z X \ g\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&@'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(,'" +53 "core" ' + "manipulator"&& +5 "core" &  + "storage"()& +4 "core" & ( & ;\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&D'u +13 "core" ' +7 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +8 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"( ' +24 "core" ' + "manipulator"&W% +5 "core" %Ά I + "storage"(3& +5 "core" & ) ' 3\ \ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 317 counts + "manipulator"&6'ϲ +32 "core" ' +2 "manipulator"&& +4 "core" & G  + "storage"( & +4 "core" & E D _\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&L'7 +29 "core" ' + "storage"(% +5 "core" % P O \\\ +2 ."downElevator"SE.seek :down +4 "storage"(w' +98 (2% +3 "core" %I / 4 \ Wh +2 "manipulator"&:% +4 "core" %= : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +88 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (>& +4 "core" & D D 5\ \ + "collection"'u& +4 "core" &\\p 2\ V +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&5% +4 "core" %    + "storage"(C% +4 "core" % > B \ +2 "storage"(f. +3 "core" .( + "storage"(Q& +4 "core" & D E /\ \ +2 "storage"({& +3 "core" & ? C \ \ +2 "manipulator"&J& +4 "core" & G  + .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&p& +3 "core" & K  +2 "storage"(G& +4 "core" & D D\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&0'7 +93 "core" ' +2 "storage"(%& +4 "core" & U O 9\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'r +296 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +2 "core" &  +2 "storage"(h& +3 "core" & 0 4 _\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&o'u +23 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(K'h +30 "core" ' + "manipulator"&M% +4 "core" %΅ - + "storage"(P& +4 "core" & ) ' *\ \ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&I'ϱ +29 "core" ' +2 "manipulator"&H& +4 "core" &  + "storage"(Z& +4 "core" & > 4 y\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`'7 +26 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(X' +34 "core" ' +2 "manipulator"&b& +4 "core" & G  + "manipulator"&S% +4 "core" %@ = " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +85 "core" ' +2 .tElbow.seek CC + "manipulator"&y(ӂ +153 "core" ( +3 "manipulator"&=& +4 "core" &y. : E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &z. ` E +2 .tForearm.seek CC + "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&g/ +55 "core" / +2 .tCC.seek :open +2 "collection"'8( +447 "core" ( + "storage"(t& +5 "core" & r\ \ + "storage"(r& +4 "core" & | [\ \ + "manipulator"&]& +4 "core" &ӣ' s @X + "manipulator"&"% +4 "core" % @ X / +2 .tForearm.seek :retract + "manipulator"&7' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&&( +156 "core" ( + "manipulator"&_& +4 "core" & 3 +2 "storage"(j& +4 "core" & | ]\ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&\ 'u +96 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&!1 +57 "core" 1 +2 "manipulator"&O% +4 "core" % u   +2 "storage"(B& +3 "core" & X\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&U'ϡ +35 "core" ' +2 "manipulator"&E& +5 "core" & + "storage"(x& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +24 "core" ' +2 "storage"(% +4 "core" % 3\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %? } I\ Vb +2 "manipulator"&a% +4 "core" %K  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +136 "core" ' +11 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" & f f>\ + "manipulator"&q% +5 "core" %   T  + "storage"(Y% +4 "core" % X\ + "storage"(d. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (n& +3 "core" &,y \\ ^ F\  + "manipulator"&& +5 "core" & O + .tElbow.seek 4 +2 "manipulator"&( +23 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(/& +3 "core" &,y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +95 "core" ' + "storage"( & +4 "core" &,y C\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'r +293 "core" ' + "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" &,y u `\  +2 "manipulator"&k& +4 "core" & B  + .tElbow.seek 4 +2 "manipulator"&'( +21 "core" ( +2 "manipulator"&& +4 "core" & w  +2 "storage"(& +3 "core" &,y \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&-'c +43 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\ L +10 &U m kC\ L +9 &U k l?\ K +9 &JU l k?\ L +10 & T k kC\ K +9 &!U k m9\ K +10 &#W k mA\ L +9 &%RR m m>\ L +9 &'T k l@\ K +10 &(U k k@\ L +9 &*W k k;\ L +10 &,ZT m l3\ L +9 &.U l m8\ L +9 &/W l m1\ L +10 &1V l m2\ K +9 &3bV m m8\ L +9 &5%U m m7\ K +10 &6W n o=\ L +9 &8U n o?\ L +9 &:kU n o?\ K +10 &<,U o o@\ L +9 &=V o o5\ L +10 &?W p p2\ L +9 &AqZ r q7\ L +9 &C1[ u s5\ M +10 &Da v t5\ M +9 &Fl u u6\ O +9 &Hh x x:\ R +10 &J | {2\ V +9 &K | }2\ X +10 &M  ~0\ X +9 &O\\ } ~0\ Y +9 &Q  0\ Y +10 &R  }!\ Z +9 &T ~ $\ [ +9 &V^ #\ [ +10 &X  \ \\ +9 &Y  \ \\ +10 &[ \ J +9 &\\< (\ (z +9 &\\ '\ !` +3 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&v1 +61 "core" 1 + "manipulator"&;% +4 "core" % 3 \\ t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&1' +95 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%$& +4 "core" &m\ +2 "manipulator"&% +3 "core" %  8  +2 "storage"()% +3 "core" %   2\ +2 "storage"(W. +3 "core" .(,y + "storage"(3& +5 "core" &,y ' & \  + "storage"(+& +4 "core" &,y ' &\  + "manipulator"&l& +4 "core" &Ӗ# Q <> +2 "manipulator"&% +3 "core" %  W  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +155 "core" ( +2 "manipulator"&& +4 "core" & =  + "storage"(N& +4 "core" &,y ' &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&s' +94 "core" ' + "storage"(& +5 "core" &,y = 9 Q\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'r +297 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &,y 3 "\  +2 "manipulator"&9& +3 "core" & T  +2 .tElbow.seek 4 +2 "manipulator"&,( +26 "core" ( + "manipulator"&D& +4 "core" & ?  +2 "storage"(6& +3 "core" &,y  U\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&>'c +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&u/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +2 "storage"(C' +7 "core" & T  + "manipulator"&f% +4 "core" % n +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&{& +4 "core" & % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +2 "core" & % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p' +89 "core" ' +2 "manipulator"&G& +4 "core" & % +2 "manipulator"&L% +3 "core" % \\ h +2 "processing"%%& +4 "core" &m\ +2 "processing"%w& +5 "core" &m\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &n\ +7 & +o\ #a +9 &V{o\ 7 +9 &}xo\ L +10 &Rp\ O +9 &MRn\ O +9 &Qo\ O +10 &Ro\ O +9 &Ul\ O +10 &VQn\ O +9 &Rn\ O +9 &Qi\ O +10 &!Po\ N +9 &#_Qk\ O +9 &%"Ql\ N +11 &&Sc\ O +8 &(Rb\ O +10 &*gR`\ O +9 &,(Q`\ O +9 &-Pc\ O +10 &/T`\ O +9 &1nVb\ O +9 &30Tc\ O +10 &4R_\ O +9 &6Sa\ O +9 &8vTe\ O +10 &:9Rd\ O +9 &;S`\ O +10 &=T`\ O +9 &?}Vc\ O +9 &A=W_\ P +10 &Be_\ Q +9 &Dm_\ R +10 &Fv[\ T +9 &H4[\ V +9 &I`\ U +10 &K^\ V +9 &MyX\ V +9 &O:Y\ V +10 &PZ\ W +9 &R^\ W +10 &T}^\ X +9 &VA`\ W +9 &X\\\ W +10 &YU\ W +9 &[T\ X +9 &]GS\ M +10 &^~QU\ #m +9 &^&W\ 1 +2 ( +2 "processing"%w& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&c1 +60 "core" 1 + "manipulator"&F% +4 "core" %  ] h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +96 "core" ' +2 "processing"%h& +4 "core" &^%O\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" % ! k + +2 "storage"(M% +4 "core" %   H\ + "storage"(P. +3 "core" .(,y +2 "storage"(H& +3 "core" &,y   R\  +2 "storage"(Z& +2 "manipulator"&b& +8 "core" &,y   -\  + & M % +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(S'r + "manipulator"&0( +5 "core" ( +2 "manipulator"&?& +4 "core" &  % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" & W % +2 .tForearm.seek PC +2 "manipulator"&o' +92 "core" ' +2 .tHand.close + "manipulator"&I/ +60 "core" / +2 .tPC.seek :open +2 "processing"%=( +91 "core" ' +2 "storage"(K- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'1 +46 "core" ' +306 ( + "storage"(`& +4 "core" &,y ' & \  + "manipulator"&V& +4 "core" &  % +2 "manipulator"&g% +3 "core" %  C +2 .tForearm.seek :retract +2 "manipulator"&T' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +245 "core" ( + "manipulator"&t& +4 "core" &   +2 "storage"(r& +3 "core" &,y  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&]' +151 "core" ' + .tHand.open +2 "manipulator"&"1 +52 "core" 1 +2 "storage"(_- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(j' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +4 "core" -' + "storage"(!& +4 "core" &,y G s\ Y +2 "manipulator"&O& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&B( +9 "core" ( + "manipulator"&E& +5 "core" &    + "storage"(x& +4 "core" &,y G s\ Z +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(7'" +51 "core" ' + "manipulator"&& +5 "core" & [  + "storage"(a& +4 "core" &,y   5\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&&'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +24 "core" ' + "manipulator"&U% +5 "core" %;   + "storage"(q& +4 "core" &,y " x\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 304 counts + "manipulator"&Y'g +14 "core" ' +2 "manipulator"&d& +4 "core" &  +2 "storage"(X& +4 "core" &,y ' &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +4 "core" % & ' \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (n% +3 "core" %BI ' (\ Xg + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +2 (/& +4 "core" &,y 4 4 O\  +2 "collection"' & +4 "core" &\\ ;\ !` + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %  W  + "storage"([% +4 "core" % ' ) U\ + "storage"(4. +4 "core" .(,y + "storage"((& +4 "core" &,y ' & \  +2 "storage"(k& +4 "core" &,y ) '\  + "manipulator"&& +4 "core" & ,  + .tElbow.seek 4 +2 "manipulator"&( +9 "core" ( + "manipulator"&<& +5 "core" & ~ + "storage"(& +4 "core" &,y & & 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&^' +95 "core" ' +2 "storage"(& +4 "core" &,y E G 6\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'r +296 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" & + "storage"(.& +4 "core" &,y ( & "\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&-'7 +22 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(R'p +29 "core" ' +2 "manipulator"&'% +4 "core" %B   + "storage"(#& +4 "core" &,y % # Y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts + "manipulator"&'n +14 "core" ' +2 "manipulator"&8& +4 "core" &  + "storage"(v& +4 "core" &,y ) ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&;' +21 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"($' +40 "core" ' + "manipulator"&& +4 "core" & d +2 "manipulator"&)% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&3(ӂ +156 "core" ( +2 "manipulator"&& +4 "core" &ӌ( Aa + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &ӌ) ; Aa +2 .tForearm.seek CC + "manipulator"&l'? +92 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'}( +447 "core" ( +2 "storage"(& +4 "core" &,y K\  + "storage"(N& +4 "core" &,y \  + "manipulator"&& +4 "core" &Ӝ& Y ?Q + "manipulator"&i% +4 "core" % 4 X h +2 .tForearm.seek :retract + "manipulator"&1' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&:( +156 "core" ( + "manipulator"&@& +4 "core" & i +2 "storage"(9& +3 "core" &,y O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&D'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&u1 +61 "core" 1 +2 "manipulator"&5% +4 "core" % < B  +2 "storage"(f& +3 "core" &,y \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 305 counts + "manipulator"& 'h +13 "core" ' +2 "manipulator"&s& +4 "core" & L +2 "storage"(2& +3 "core" &,y y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +14 "core" ' +2 "storage"({% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(J' +98 (,% +3 "core" %B l\ Va +2 "manipulator"&G% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +89 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'%& +4 "core" & g g>\ +2 "manipulator"&C% +4 "core" %   u  + "storage"( % +4 "core" % \ +2 "storage"(|. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(c(<- +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" &<* 0\  +2 "manipulator"&h& +3 "core" &  5 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&M& +4 "core" & +2 "storage"(P& +3 "core" &<* i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&H'O +96 "core" ' + "storage"(w& +5 "core" &<* &\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'r +310 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +2 "core" &<* \  +2 "manipulator"&*& +4 "core" & h + .tElbow.seek 5 +2 "manipulator"&p( +3 "core" ( + "manipulator"&I& +4 "core" & +2 "storage"(K& +3 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Q'Ϲ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(S' +7 "core" & D +2 "manipulator"&`% +4 "core" %  y +2 .tForearm.seek :retract + "manipulator"&V' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +151 "core" ( + "manipulator"&o& +54 "core" &x.  E| +2 ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&t& +5 "core" &x. E| +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&r'? +105 "core" ' +2 "manipulator"&0& +4 "core" &ӣ& % ?Q +2 "manipulator"&"% +3 "core" %E b +2 "collection"'_& +4 "core" & i gV\ +2 "collection"'T& +5 "core" & h jS\ +2 .tCC.seek :closed +2 "collection"'y(\\ +4 "core" & g iF\  +10 &5~ h hH\ +{ +9 &g j i?\ ? +9 &n k i?\ M +10 &_U k j@\ L +9 &!X k kA\ L +10 &T k n@\ L +9 &T j n=\ K +9 &hT k m?\ K +10 &*V l m;\ K +9 &R n n:\ L +9 & R m m<\ L +10 &"oT l l/\ L +9 &$2U o k2\ K +10 &%U k k0\ K +9 &'W k n7\ L +9 &)wX k n3\ L +10 &+9W n k;\ L +9 &,W k m6\ L +9 &.W m j4\ L +10 &0X l l4\ K +9 &2BU n m9\ K +9 &4V o n3\ K +10 &5V m m0\ L +9 &7Y o o4\ L +10 &9IT m o1\ L +9 &; T p q0\ K +9 &<V p p/\ L +10 &>U p o$\ L +9 &@PW q o,\ L +9 &BX s s\ L +10 &C] u s!\ M +9 &Ed x v(\ N +10 &GMw y z"\ P +9 &I } } \ S +9 &J &\ W +10 &L| \ X +9 &N: ~ $\ Y +9 &O $\ Y +10 &Q !\ Y +9 &S} "\ Z +10 &U> '\ Z +9 &V !\ [ +9 &X (\ \\ +10 &Z} \ ] +9 &\\!z \ 0 +9 &\\1  \ a +9 ( +3 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&!1 +3 "core" &\\c &\ O +56 1 +2 "manipulator"&O% +4 "core" % E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +96 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%x& +4 "core" &O\ + "manipulator"&% +5 "core" %   + "storage"(a% +4 "core" % & \ + "storage"(U. +4 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(m(<- +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +2 "core" &<*  K\  +2 "manipulator"&d& +4 "core" &ӣ& 6 ?Q + "manipulator"&j% +4 "core" %  N  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&X( +155 "core" ( +2 "manipulator"&& +4 "core" & \ +2 "storage"(& +3 "core" &<* E ? \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +93 "core" ' + "storage"(& +5 "core" &<* d c\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<* $  ;\  +2 "manipulator"&B& +4 "core" & Q + .tElbow.seek 5 +2 "manipulator"&7( +3 "core" ( + "manipulator"&&& +4 "core" & +2 "storage"(Y& +4 "core" &<* C > \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&/'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"([' +8 "core" & # + "manipulator"&% +4 "core" % ϳ q +2 .tForearm.seek :retract + "manipulator"&4' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&(( +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( + "manipulator"&k& +5 "core" & 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & X 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&<' +91 "core" ' +2 "manipulator"&& +4 "core" &  1 + "manipulator"&% +4 "core" % K +2 "processing"%& +4 "core" &W\ +2 "processing"%& +4 "core" &o\ +3 .tPC.seek :closed + "processing"%\ (^ +4 "core" &n\  +9 &1we\ *x +9 &b{o\ > +10 &jqi\ O +9 &*Rn\ O +9 &Rd\ O +10 &PZ\ O +9 &rRl\ O +9 &3Ud\ O +10 &Sg\ O +9 &R^\ O +9 & zQa\ O +10 &"<S`\ O +9 &#UY\ O +10 &%Pa\ N +9 &'RU\ O +9 &)DPT\ O +10 &+RU\ N +9 &,RT\ O +9 &.OX\ O +10 &0LRQ\ O +9 &2 T\\\ O +10 &3R_\ O +9 &5Sb\ O +9 &7TO\\\ O +10 &9S\\\ O +9 &:SY\ O +9 &<R[\ O +10 &>[UY\ O +9 &@UU\ O +10 &AY_\ P +9 &Ca\\\ Q +9 &E[j_\ R +10 &G{`\ T +9 &HT\ U +10 &JU\ U +9 &LWR\ V +9 &NS\ W +10 &OZ\ V +9 &QW\ V +9 &S\\O\ W +10 &UW\ W +9 &VT\ W +9 &XT\ V +10 &ZdE\ W +9 &\\&E\ W +10 &]G\ 4 +9 &^3oH\ C +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&1 +3 "core" &^!F\ 2 +49 1 + "manipulator"&~% +4 "core" %  _ K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A' +90 "core" ' + "processing"%.& +4 "core" &^"G\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %  >  +2 "storage"('% +3 "core" % ' '\ +2 "storage"(#. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(8(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (v& +4 "manipulator"&& + "core" &<+  ;\  +5 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 ."raiseStack"SE.seek :beamBreak +2 "storage"()'r +3 "core" & Y 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&^( +3 "core" ( + "manipulator"&& +5 "core" & 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +2 "core" & E 1 +3 .tForearm.seek PC + "manipulator"&-' +94 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%R( +86 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'1 +39 "core" ' +317 ( +2 "storage"(;& +4 "core" &<+ - D b\  + "manipulator"& & +4 "core" & = 1 + "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&W' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\\( +246 "core" ( +2 "manipulator"&& +4 "core" &  > + "storage"(N& +4 "core" &<+ ' ' !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +92 "core" ' + .tHand.open +2 "manipulator"&i1 +60 "core" 1 +2 "storage"(@- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' + "storage"(u& +4 "core" &<+ D D \ h + "manipulator"&5& +4 "core" &  h > +2 .tElbow.seek 5 +2 "manipulator"&f( +3 "core" ( + "manipulator"&s& +4 "core" &   > +2 "storage"(2& +4 "core" &<+ D D\ h +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +52 "core" ' + "manipulator"&,& +4 "core" & B > +2 "storage"(G& +4 "core" &<+ & ' "\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&:'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(%' +25 "core" ' +2 "manipulator"& % +4 "core" %Ι 0 +2 "storage"(C& +4 "core" &<+ ' ' \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"& ' +16 "core" ' + "manipulator"&|& +55 "core" & R = +2 "storage"($& +4 "core" &<+ D D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +18 "core" ' + "storage"(J% +5 "core" % ; G l\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (F% +3 "core" %9J   "\ Xh +2 "manipulator"&h% +4 "core" %d U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +95 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (P& +4 "core" &<+ B C\  + "collection"'w& +4 "core" &\\c $\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&6% +3 "core" %  ! +2 "storage"(L% +4 "core" % > A \ + "storage"(Z. +3 "core" .(<- +2 "storage"(?& +4 "core" &<+ E D `\  + "storage"(*& +4 "core" &<+ D D \  + "manipulator"&I& +4 "core" &  = +2 .tElbow.seek 5 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&e& +3 "core" & = +2 "storage"(& +4 "core" &<+ C > \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +95 "core" ' +2 "storage"(& +4 "core" &<+ d Y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +295 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" & = + "storage"(Q& +4 "core" &<+ C D 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&t'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(0- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"("'` +30 "core" ' + "manipulator"&_% +5 "core" %Γ  0 + "storage"(S& +4 "core" &<+ * 7 7\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts + "manipulator"&V'Ͽ +16 "core" ' + "manipulator"&}& +4 "core" & < +2 "storage"(!& +4 "core" &<+ D J \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +17 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(x' +49 "core" ' +2 "manipulator"&& +4 "core" & J < +2 "manipulator"&a% +4 "core" %@  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&T(ӂ +148 "core" ( + "manipulator"&q& +4 "core" &ӎ(  Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &ӏ) A` +3 .tForearm.seek CC + "manipulator"&j'? +93 "core" ' + .tHand.close +2 "manipulator"&r/ +64 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(& +4 "core" &<+ \  +2 "storage"(c& +3 "core" &<+ \  +2 "manipulator"&& +3 "core" &Ӝ& ?S +2 "manipulator"&g% +3 "core" % +  w A +2 .tForearm.seek :retract +2 "manipulator"&E' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +166 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(B& +4 "core" &<+ i\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&&'΍ +98 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&% +4 "core" % Λ .  +2 "storage"(& +3 "core" &<+ O\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&X' +24 "core" ' +2 "manipulator"&]& +4 "core" &  +2 "storage"(n& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +13 "core" ' +2 "storage"(k% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (7% +3 "core" %vC } \ Wb +2 "manipulator"&% +4 "core" %Q + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" & g i?\ +2 "manipulator"&[% +3 "core" %  Y  +2 "storage"(4% +4 "core" % \ + "storage"(=. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +377 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (~& +3 "core" &K \ + "manipulator"&.& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&'& +4 "core" & <  + "storage"(#& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +102 "core" ' + "storage"(& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (z& +3 "core" &K z X\ + "manipulator"&<& +4 "core" &  `  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&m& +4 "core" & :  + "storage"(& +5 "core" &K Z\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&('h +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&\ & +3 "storage"()' +7 "core" &  o  + "manipulator"&;% +4 "core" % ϙ I +2 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&-& +3 "core" &Ө 9 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ө : 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'? +92 "core" ' +2 "manipulator"&^& +4 "core" &Ө x 7 +2 "manipulator"&i% +4 "core" %B  + "collection"'@& +5 "core" & j i`\ +2 "collection"'3& +5 "core" & i hL\ +2 .tCC.seek :closed +2 "collection"'u(\\ +4 "core" & k iQ\ +6 &; j iH\ %g +10 &Xv g iF\ 7 +9 &w k jA\ L +9 &R k k>\ L +10 &T m mA\ K +9 &AU l m@\ L +10 &T l n@\ K +9 &U m nA\ L +9 &W m l;\ L +10 &JT m l9\ K +9 & T n n?\ L +9 &!W l m>\ L +10 &#X k j?\ L +9 &%QR n l>\ L +10 &'T l m6\ K +9 &(U n m5\ K +9 &*T l m9\ K +10 &,YU n n2\ L +9 &.W n n3\ L +9 &/R m n4\ L +10 &1S n n4\ L +9 &3bU n n6\ K +10 &5#U p n9\ L +9 &6Y m n7\ L +9 &8U o p:\ K +10 &:iU r n;\ L +9 &<+T o p4\ L +9 &=U q p3\ L +10 &?V p q1\ L +9 &Ao[ s s3\ L +10 &C.a s v3\ M +9 &Dp x w5\ O +9 &F z y6\ R +10 &H\\ z |7\ V +9 &J ~5\ X +10 &K ~ {3\ Z +9 &M z |,\ X +9 &OU } |-\ [ +10 &Q | ,\ [ +9 &R | }$\ Z +9 &T } ~+\ \\ +10 &VY  }"\ \\ +9 &X  ~!\ ] +10 &Y )\ ] +9 &[ ~\ K +9 &\\8 \ - +10 &\\  \ ^ +5 ( +2 "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + .Hand.open +2 "manipulator"&51 +3 "core" &\\ $\ ^ +53 1 +2 "manipulator"&s% +4 "core" % B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%W& +4 "core" &\\\ +2 "manipulator"&,% +3 "core" %  :  +2 "storage"(G% +5 "core" %  %\ +3 "storage"( . +67 "core" .(K +2 "storage"(C& +4 "core" &K   $\ + "storage"(+& +4 "core" &K   D\ +2 "manipulator"&|& +3 "core" &Ө Z 7 +2 "manipulator"&9% +4 "core" %  @  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&$( +162 "core" ( + "manipulator"&J& +5 "core" & =  + "storage"(\\& +4 "core" &K ' & -\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +97 "core" ' +2 "storage"(l& +4 "core" &K F - M\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'r +294 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (h& +2 "core" &K  / /\ +2 "manipulator"&f& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&1( +3 "core" ( + "manipulator"&:& +4 "core" & j  +2 "storage"( & +4 "core" &K  % h\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&P'h +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& + "storage"(L' +7 "core" &   +2 "manipulator"&Z% +4 "core" % p  +2 .tForearm.seek :retract + "manipulator"&%' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&?( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +71 "core" ( + "manipulator"&*& +4 "core" & @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &  @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e' +97 "core" ' +2 "manipulator"&& +4 "core" & ? + "manipulator"&>% +5 "core" % _ + "processing"%& +5 "core" &A\ +2 "processing"%& +5 "core" &U\ +2 .tPC.seek :closed +2 "processing"%D(^ +4 "core" &Z\ +7 &4\\\ $c +9 &SzY\ 7 +9 &~wR\ L +10 &QV\ O +9 &WTS\ O +10 &UQ\ O +9 &UR\ O +9 &RZ\ N +10 &`QR\ N +9 &"RT\ N +9 &QO\ N +10 &!QW\ N +9 &#gOR\ O +10 &%)OV\ O +9 &&U[\ O +9 &(PS\ O +10 &*oRR\ O +9 &,1QU\ O +9 &-OV\ O +10 &/QR\ O +9 &1vUQ\ O +10 &39SU\ O +9 &4TW\ O +9 &6SO\ N +10 &8TD\ O +9 &:BRE\ N +9 &<TP\ O +10 &=TC\ O +9 &?U?\ O +10 &AF\\9\ P +9 &ChC\ Q +9 &DsE\ S +10 &F|E\ U +9 &H>@\ U +9 &I?\ V +10 &KD\ U +9 &MF\ W +10 &OCE\ V +9 &Q@\ V +9 &RE\ W +10 &T@\ W +9 &VI@\ W +9 &X E\ W +10 &YD\ W +9 &[@\ W +10 &]O?\ K +9 &^~M?\ d +9 &^5@\ 7 +6 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&M1 +4 "core" &^-;\ 7 +52 1 + "manipulator"&o% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&b' +93 "core" ' +2 "processing"%Q& +5 "core" &^-6\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&0% +3 "core" %  [  +2 "storage"(_% +4 "core" %   ^\  + "storage"(S. +3 "core" .(K +2 "storage"(}& +3 "core" &K   2\ +2 "storage"(!& +4 "manipulator"&& +5 "core" &K   8\ + & ` ? +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(a'r + "manipulator"&`( +5 "core" ( +2 "manipulator"&K& +3 "core" &  ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" & D ? +2 .tForearm.seek PC + "manipulator"&t' +93 "core" ' +2 .tHand.close + "manipulator"&V/ +63 "core" / +2 .tPC.seek :open +2 "processing"%"( +88 "core" ' +2 "storage"(q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'1 +41 "core" ' +317 ( + "storage"(O& +4 "core" &K ) '\ +2 "manipulator"&p& +3 "core" &  E ? +2 "manipulator"&r% +3 "core" %  H A +2 .tForearm.seek :retract +2 "manipulator"&U' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&y( +245 "core" ( +2 "manipulator"&& +4 "core" & I + "storage"(c& +4 "core" &K  +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +97 "core" ' + .tHand.open +2 "manipulator"&g1 +53 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(j' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(T- +3 "core" -' +2 "storage"( & +3 "core" &K \ E +2 "manipulator"&& +4 "core" &  I + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&]& +3 "core" &    I +2 "storage"(n& +4 "core" &K \ E +2 .tForearm.seek 6 + 450 counts + "manipulator"&k' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(E'" +60 "core" ' + "manipulator"&7& +5 "core" & 1 I + "storage"(& +4 "core" &K ' & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +26 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 "manipulator"&[% +9 "core" %C  + "storage"(X& +5 "core" &K ' '\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 307 counts +2 "manipulator"&4'o +14 "core" ' + "manipulator"&=& +5 "core" & ; + "storage"(x& +5 "core" &K & (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +20 "core" ' +2 "storage"(% +4 "core" % ' &\ +3 ."downElevator"SE.seek :down +3 "storage"(8' +99 (~% +3 "core" %G  \ Wg +2 "manipulator"&.% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (#& +3 "core" &K ' ' *\ +2 "collection"'& +4 "core" &\\ 3\ ^ + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&Y% +3 "core" %  u  +2 "storage"(% +4 "core" % 0 4 !\ + "storage"(. +3 "core" .(K +2 "storage"(z& +4 "core" &K & & \ + "storage"(<& +4 "core" &K 3 * 0\ + "manipulator"&m& +4 "core" & ; +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&A& +4 "core" &  ; + "storage"(\ & +4 "core" &K ( ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +96 "core" ' + "storage"(& +4 "core" &K C @ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'r +295 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & ; +2 "storage"(& +3 "core" &K  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&('< +22 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(i- +3 "core" -' +52 .tSE.seek 0.16 Pucks below Top Plate + "storage"(@'k +30 "core" ' + "manipulator"&% +4 "core" %D +2 "storage"()& +3 "core" &K \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"& 'p +23 "core" ' +2 "manipulator"&& +4 "core" &  ; + "storage"(5& +4 "core" &K ' '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&s' +22 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(W' +36 "core" ' + "manipulator"&,& +4 "core" & S ; +2 "manipulator"&G% +5 "core" % ' w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3(ӂ +154 "core" ( +2 "manipulator"&C& +4 "core" &ә 9# + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &ә S 9# +2 .tForearm.seek CC +2 "manipulator"&|'? +92 "core" ' + .tHand.close +2 "manipulator"&9/ +56 "core" / +2 .tCC.seek :open +2 "collection"'N( +450 "core" ( + "storage"(J& +4 "core" &K } \ +2 "storage"(\\& +3 "core" &K } | E\ +2 "manipulator"&l& +4 "core" &Ӛ  W 8" + "manipulator"&% +4 "core" % K g a + .tForearm.seek :retract +2 "manipulator"&2' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&{( +161 "core" ( + "manipulator"&h& +5 "core" &  + "storage"(f& +4 "core" &K -\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&:'< +94 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&w1 +59 "core" 1 +2 "manipulator"&6% +4 "core" % ?   +2 "storage"(Z& +3 "core" &K \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 303 counts +2 "manipulator"&$'k +15 "core" ' + "manipulator"&& +5 "core" &  + "storage"(F& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&P' +20 "core" ' + "storage"(*% +5 "core" % /\ +2 ."downElevator"SE.seek :down +3 "storage"(I' +99 (1% +3 "core" %J \ Wd + "manipulator"&% +4 "core" % J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" & j h?\ + "manipulator"&L% +4 "core" %   V  +2 "storage"(%% +3 "core" % \ +2 "storage"(R. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(M(  +1295 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +2 "core" &  \ +2 "manipulator"&Q& +3 "core" & ;  +2 .tElbow.seek 2 +2 "manipulator"&0( +3 "core" ( + "manipulator"&_& +4 "core" &  m  +2 "storage"(S& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&}'S +93 "core" ' +2 "storage"(& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +2 "core" &  x \ +2 "manipulator"&H& +4 "core" & "  + .tElbow.seek 2 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&V& +3 "core" & L  +2 "storage"(q& +3 "core" &  g\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&?'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&D& + "storage"(a' +7 "core" & ^  +2 "manipulator"&O% +4 "core" % ϻ  +2 .tForearm.seek :retract + "manipulator"&p' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&r(ӂ +156 "core" ( +2 "manipulator"&t& +4 "core" &ӎ# <= + ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ# <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&c'? +91 "core" ' +2 "manipulator"&`& +4 "core" &ӏ# << +2 "manipulator"&g% +3 "core" %F  V t +2 "collection"'& +98 "core" & h k=\ +2 "collection"'T& +5 "core" & h j;\ +3 .tCC.seek :closed + "collection"' (\\ +4 "core" & k j@\ +7 &; i j@\ %g +9 &Xv h j>\ 7 +10 &w j jB\ L +9 &Q k kD\ L +9 &T l l>\ L +10 &BT k k?\ L +9 &X n l>\ L +9 &T m l=\ L +10 &W l m?\ L +9 &JT l l=\ L +10 & R l n8\ L +9 &!T l m7\ L +9 &#X o o<\ L +10 &%ST n n3\ K +9 &'U m n1\ L +9 &(U n n4\ L +10 &*W m l(\ L +9 &,ZR n n,\ L +10 &.T m n5\ K +9 &/T n n;\ L +9 &1S n o=\ L +10 &3bU o n?\ L +9 &5#X p o<\ L +9 &6U p o?\ L +10 &8S q q?\ L +9 &:jU q o8\ L +10 &<,U p q8\ L +9 &=V p q7\ L +9 &?U t r2\ L +10 &AqZ s t0\ L +9 &C1Z t s1\ M +9 &D` v w1\ M +10 &Fm x z2\ O +9 &Hh } }1\ R +10 &J ~3\ U +9 &K 2\ X +9 &M 3\ X +10 &O\\ 6\ Y +9 &Q 5\ Y +9 &R 0\ Z +10 &T /\ Z +9 &V\\ '\ [ +10 &X (\ \\ +9 &Y +\ ] +9 &[ *\ J +10 &\\4 '\ 2 +9 &\\f !\ N +2 ( +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&]% +4 "core" % F h t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&n' +93 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%U& +4 "core" &E\ + "manipulator"&7% +4 "core" %  c  +2 "storage"(% +4 "core" % & (\ + "storage"([. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(d(  +6 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +2 "core" &  " \ +2 "manipulator"&=& +4 "core" &ӏ# 6 << + "manipulator"&B% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&x( +160 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(y& +4 "core" & K I 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +94 "core" ' + "storage"(j& +4 "core" & Y e\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +300 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" & 2 + \ + "manipulator"&& +4 "core" & U  + .tElbow.seek 2 +2 "manipulator"&E( +3 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(4& +4 "core" & I ? 8\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&#'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& + "storage"(' +7 "core" & 8  +2 "manipulator"&% +3 "core" % Ͻ  +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( + "manipulator"&<& +4 "core" & * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &  * +2 .tForearm.reconfigure :tight +53 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&A' +96 "core" ' + "manipulator"&\ & +5 "core" & 1 * + "manipulator"&/% +5 "core" %   + "processing"%& +5 "core" &]\ +2 "processing"%8& +5 "core" &L\ +2 .tPC.seek :closed +2 "processing"%&(^ +4 "core" &Z\  +8 &0t_\ *x +10 &b}\\\ > +9 &]qb\ O +9 &R]\ O +10 &U[\ O +9 &TZ\ O +9 &dUV\ O +10 &&U[\ O +9 &US\ O +10 &UU\ O +9 & lQS\ O +9 &"/TN\ N +10 &#SQ\ N +9 &%OO\ O +9 &'tQN\ O +10 &)6PQ\ O +9 &*QR\ O +10 &,RM\ O +9 &.|OQ\ O +9 &0>QJ\ O +10 &2TU\ O +9 &3QL\ O +9 &5QR\ O +10 &7FQR\ O +9 &9TO\ O +10 &:WR\ O +9 &<RP\ N +9 &>NVR\ O +10 &@UQ\ O +9 &AZQ\ O +9 &CeN\ Q +10 &ENnP\ Q +9 &G |R\ T +9 &HO\ U +10 &JO\ U +9 &LJN\ U +10 &N R\ W +9 &OC\ V +9 &QH\ V +10 &SOO\ V +9 &UR\ W +9 &VG\ X +10 &XN\ V +9 &ZWF\ W +10 &\\F\ W +9 &]B\ < +9 &^-C\ ] +10 &^#J\ 2 +2 ( +2 "processing"%8& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&'1 +57 "core" 1 +2 "manipulator"&-% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + "processing"%& +5 "core" &^ C\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&i% +3 "core" % "  2 +2 "storage"(% +4 "core" % 4 4 \ + "storage"(). +3 "core" .(  +2 "storage"(& +3 "core" &  F\ +2 "storage"(5& +4 "manipulator"&,& +4 "core" & 4 1 s\ + & % * +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&G( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(;'r +2 "core" ( + "manipulator"&& +4 "core" & W * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" & * +2 .tForearm.seek PC +2 "manipulator"&(' +93 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tPC.seek :open +2 "processing"%@( +93 "core" ' +2 "storage"(C- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'1 +39 "core" ' +314 ( + "storage"(s& +4 "core" & 8 C \ +2 "manipulator"&^& +4 "core" &  2 * + "manipulator"&9% +4 "core" %  : > +2 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&u( +245 "core" ( + "manipulator"&J& +4 "core" & 1 +2 "storage"(\\& +3 "core" & ) ' \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&l'S +93 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(h- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(f' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(|' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' + "storage"(w& +4 "core" & G\ + "manipulator"&6& +5 "core" & 4 0 + .tElbow.seek 2 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&& +3 "core" &  0 +2 "storage"(F& +4 "core" & \ +2 .tForearm.seek 2 + 450 counts + "manipulator"&*'S +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(2'" +59 "core" ' +2 "manipulator"&1& +4 "core" & 0 + "storage"(& +5 "core" & 4 4\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&{'Α +25 "core" ' + .tElbow.hold +2 "manipulator"&:, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +23 "core" ' +2 "manipulator"&$% +5 "core" %Ν  + "storage"(L& +4 "core" &  $\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts + "manipulator"&%' +16 "core" ' +2 "manipulator"&R& +5 "core" & 0 + "storage"(W& +4 "core" & D D A\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&P'S +18 "core" ' +2 "storage"(I% +4 "core" % G @ \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (o% +3 "core" %*S \  *\ Yl + "manipulator"&Q% +4 "core" %j : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +91 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +2 (S& +4 "core" & C B "\ +2 "collection"'& +3 "core" &\\d 3\ N +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +3 "core" %   +2 "storage"(>% +3 "core" % D D \ +2 "storage"(. +3 "core" .(  + "storage"(K& +5 "core" & D D \ + "storage"(H& +4 "core" & D D \ + "manipulator"&V& +4 "core" &  o 0 +2 .tElbow.seek 2 +2 "manipulator"&q( +3 "core" ( + "manipulator"&b& +4 "core" &  3 0 +2 "storage"(D& +3 "core" & D D /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&O'S +99 "core" ' +2 "storage"(0& +4 "core" & 5 A O\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +295 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & X 0 + "storage"(!& +4 "core" & 3 / \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&?'Α +13 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(g- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(e'` +30 "core" ' + "manipulator"&% +4 "core" %Υ ; +2 "storage"(a& +3 "core" & + )\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&p' +15 "core" ' +2 "manipulator"&N& +4 "core" &  0 +2 "storage"(& +3 "core" & D D N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&]'S +18 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(U' +46 "core" ' +2 "manipulator"&7& +4 "core" & W 0 +2 "manipulator"&% +4 "core" %b _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +154 "core" ( + "manipulator"&X& +4 "core" &ӑ' P @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &ӑ( N @Y +2 .tForearm.seek CC + "manipulator"&B'? +93 "core" ' + .tHand.close +2 "manipulator"&c/ +58 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(y& +4 "core" & \ + "storage"(M& +4 "core" & l ] H\ + "manipulator"&j& +4 "core" &Ӓ( 0 @X + "manipulator"&r% +4 "core" % L e +2 .tForearm.seek :retract + "manipulator"&n' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&.( +164 "core" ( + "manipulator"&k& +5 "core" &   + "storage"(& +4 "core" & z { .\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +52 .tForearm.seek 2 +2 "manipulator"&'Α +93 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&Y% +5 "core" % Τ @ 9 + "storage"(& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&x' +16 "core" ' +2 "manipulator"&& +4 "core" & U  +2 "storage"(~& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&#'S +18 "core" ' + "storage"(<% +5 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(m' +99 (E% +3 "core" %I | '\ Wg +2 "manipulator"&\ % +4 "core" %m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +95 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" & g gM\ + "manipulator"&% +4 "core" %   . # +2 "storage"(% +3 "core" % \ +2 "storage"(". +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"('( +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +2 "core" & \ +2 "manipulator"&& +9 "core" & .  + .tElbow.seek 3 +2 "manipulator"&i( +36 "core" ( + "manipulator"&& +4 "core" & % +2 "storage"()& +3 "core" & K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +96 "core" ' +2 "storage"(5& +4 "core" & A\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +298 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & | I\ + "manipulator"&v& +4 "core" & 0 % +2 .tElbow.seek 3 +2 "manipulator"&A( +8 "core" ( +2 "manipulator"& & +4 "core" &  + "storage"(C& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&z'ϡ +38 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& + "storage"(;' +7 "core" &  X  +2 "manipulator"&s% +3 "core" % Ϻ   +2 .tForearm.seek :retract +2 "manipulator"&^' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&9(ӂ +150 "core" ( + "manipulator"&(& +4 "core" &Ӊ&  ?U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +2 "manipulator"&J& +3 "storage"(5 +4 "core" &Ӊ& ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'? +97 "core" ' +2 "manipulator"&G& +4 "core" &ӊ& ?T +2 "manipulator"&% +4 "core" %I , +2 "collection"'h& +4 "core" & j i`\ +2 "collection"'3& +5 "core" & h i_\ +2 .tCC.seek :closed +2 "collection"'w(\\ +4 "core" & j hR\ +8 &; h hT\ %f +9 &Xz k jU\ 7 +9 &v l kA\ L +10 &R l lI\ L +9 &~R k l@\ L +10 &@T k m7\ L +9 &T k k7\ L +9 &T l k?\ K +10 &T n kA\ L +9 &IS l lA\ L +9 & R m n?\ K +10 &!T k l@\ L +9 &#U l mA\ L +10 &%QT k l=\ L +9 &'T m m6\ K +9 &(U l l9\ L +10 &*S o n8\ L +9 &,YS k l6\ L +10 &.R l m5\ L +9 &/S m l0\ L +9 &1U l m2\ L +10 &3aT m o3\ L +9 &5"S m o+\ L +9 &6U l o1\ L +10 &8T n o-\ L +9 &:gT p o)\ L +9 &<)T p p6\ L +10 &=T r p3\ L +9 &?U q t.\ L +10 &AoW s r8\ L +9 &C1\\ v t4\ L +9 &D` y u8\ N +10 &Fk z w4\ O +9 &Hg ~ }2\ R +9 &J 3\ V +10 &K 3\ X +9 &M 5\ Y +10 &OZ 4\ Y +9 &Q 1\ Y +9 &R 3\ Z +10 &T 1\ [ +9 &V\\ 0\ [\ +9 &X 0\ \\ +10 &Y 2\ ] +9 &[ '\ J +10 &\\@ ,\ 'v +9 &\\] 0\ K +2 ( +2 "collection"'3& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&61 +57 "core" 1 +2 "manipulator"&% +4 "core" % I , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"% & +4 "core" &J\ + "manipulator"&1% +4 "core" %   +2 "storage"(% +3 "core" % ' &\ +2 "storage"($. +3 "core" .( + "storage"(L& +4 "core" & & '\ + "storage"(+& +4 "core" & & &\ +2 "manipulator"&R& +3 "core" &ӊ& < ?T +2 "manipulator"&W% +4 "core" %  X  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&f( +164 "core" ( +2 "manipulator"&I& +4 "core" &   + "storage"(u& +4 "core" & J < ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&l'7 +91 "core" ' +2 "storage"(|& +4 "core" & a Z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +299 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" & E @ \ +2 "manipulator"&Z& +3 "core" & P  +2 .tElbow.seek 3 +2 "manipulator"&2( +3 "core" ( + "manipulator"&{& +4 "core" &  + "storage"(%& +4 "core" & 5 4 \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&S'ϡ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(>' +7 "core" & Y  + "manipulator"&% +4 "core" % ϙ - +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&K( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&H& +4 "core" & 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" & 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +101 "core" ' +2 "manipulator"&D& +4 "core" & 7 4 + "manipulator"&P% +4 "core" %   +2 "processing"%0& +4 "core" &L\ +2 "processing"%& +4 "core" &L\ +2 .tPC.seek :closed +2 "processing"%:(^ +4 "core" &\\\  +9 &.u[\ +z +9 &c}\\\ > +9 &dp_\ O +10 &'R]\ N +9 &TY\ O +9 &R\\\ N +10 &mR[\ N +9 &.UU\ O +10 &TS\ O +9 &QQ\ O +9 & uTR\ N +10 &"7SP\ N +9 &#UW\ O +9 &%QQ\ N +10 &'}QP\ N +9 &)?TU\ N +10 &+RJ\ N +9 &,UU\ O +9 &.QS\ N +10 &0FSR\ O +9 &2UV\ O +9 &3TO\ O +10 &5TQ\ O +9 &7OQK\ N +10 &9TO\ O +9 &:UQ\ O +9 &<QN\ O +10 &>VTR\ O +9 &@UO\ O +9 &A_R\ P +10 &ClS\ Q +9 &EP{O\ T +10 &GO\ U +9 &HQ\ U +9 &JR\ U +10 &LRO\ U +9 &NA\ W +9 &OO\ V +10 &QI\ W +9 &SUC\ W +10 &UA\ W +9 &V?\ W +9 &XB\ W +10 &Z]?\ W +9 &\\ B\ W +9 &]A\ 5 +10 &^5r?\ ? +9 ( +3 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&_1 +3 "core" &^ @\ 0 +53 1 +2 "manipulator"&t% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + "processing"%!& +4 "core" &^ +\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&g% +4 "core" %  T  +2 "storage"(% +4 "core" % & '\ + "storage"(a. +3 "core" .( +2 "storage"(N& +3 "core" & ' & 6\ +2 "storage"(& +5 "manipulator"&7& +4 "core" &   ,\ + & - 4 +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&( +2 "storage"(O'r +5 "core" ( + "manipulator"&q& +53 "core" & 4 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &  4 +2 .tForearm.seek PC +2 "manipulator"&?' +94 "core" ' + .tHand.close +2 "manipulator"&p/ +61 "core" / +2 .tPC.seek :open + "processing"%e( +44 "core" ' + "storage"(X- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(='1 +45 "core" ' +355 ( +2 "storage"(]& +4 "core" & D C \ + "manipulator"&`& +4 "core" &   4 + "manipulator"&c% +5 "core" %  < 6 + .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& ( +245 "core" ( + "manipulator"&y& +4 "core" &}  X +2 "storage"(M& +4 "core" & ) & :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&j'7 +95 "core" ' + .tHand.open +2 "manipulator"&r1 +61 "core" 1 +2 "storage"(k- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(B' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(T- +3 "core" -' +2 "storage"(& +3 "core" & o ]\ +2 "manipulator"&Y& +4 "core" &} w X + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &} 9 X +2 "storage"(~& +4 "core" & | ` \ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&<'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(n'" +51 "core" ' +2 "manipulator"&E& +4 "core" &} 1 X + "storage"(\ & +4 "core" & 4 5 d\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&.'u +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +21 "core" ' + "manipulator"&x% +5 "core" %΃ x + "storage"(& +5 "core" & \ t\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&'ϯ +35 "core" ' +2 "manipulator"&"& +5 "core" &~ 3 W + "storage"(U& +5 "core" & D D \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&#'7 +28 "core" ' + "storage"(m% +5 "core" % O L 2\ +2 ."downElevator"SE.seek :down +3 "storage"(d' +99 (-% +3 "core" %5L & '\ Xh +2 "manipulator"&% +4 "core" %S # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ()& +4 "core" & I J @\ +2 "collection"'5& +3 "core" &\\_ :\ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&4% +5 "core" %   + "storage"(/% +4 "core" % K K 2\ + "storage"(8. +25 "core" .( +2 "storage"(& +4 "core" & G 9 @\ + "storage"(v& +4 "core" & K G D\ +2 "manipulator"& & +4 "core" &~ g W + .tElbow.seek 3 +2 "manipulator"&C( +3 "core" ( + "manipulator"&& +4 "core" &~  W +2 "storage"(&& +3 "core" & K K ;\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s'7 +91 "core" ' +2 "storage"(i& +4 "core" & X b\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +2 "core" &~  W +2 "storage"(,& +3 "core" & / &\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&z'u +23 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(h'h +29 "core" ' +2 "manipulator"&A% +4 "core" %Έ  W + "storage"(;& +4 "core" & , ' \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&^'ϴ +31 "core" ' + "manipulator"&& +5 "core" &~  W + "storage"(6& +4 "core" & D B r\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +23 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"( ' +4 "Can"\ QN +31 "core" ' +2 "manipulator"&1& +4 "core" &~ W + "manipulator"&% +4 "core" %- * - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&L(ӂ +150 "core" ( + "manipulator"&+& +4 "core" &ӎ'  @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &ӎ( = @Z +2 .tForearm.seek CC +2 "manipulator"&R'? +91 "core" ' + .tHand.close +2 "manipulator"&W/ +55 "core" / + .tCC.seek :open +2 "collection"'\\( +447 "core" ( +2 "storage"(I& +4 "core" & m z\ + "storage"(u& +4 "core" & Z [ \ + "manipulator"&|& +4 "core" &ӑ(  S @W + "manipulator"&9% +4 "core" % N k a +2 .tForearm.seek :retract + "manipulator"&F' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Q( +165 "core" ( +2 "manipulator"&*& +4 "core" &   +2 "storage"(Z& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&{'u +94 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"& % +4 "core" % ~  8 + "storage"(& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&f'Ϫ +24 "core" ' +2 "manipulator"&l& +5 "core" & i  + "storage"(o& +4 "core" & &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&S'7 +16 "core" ' +2 "storage"(H% +4 "core" % a\ +3 ."downElevator"SE.seek :down +3 "storage"(V' +99 (2% +3 "core" %G 7\ We +2 "manipulator"&D% +4 "core" %(  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +88 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'0& +4 "core" & h gK\ +2 "manipulator"&>% +4 "core" %   %  + "storage"(% +4 "core" % _\ +2 "storage"(@. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(_(,y +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (t& +3 "core" &,w ] b z\ \  + "manipulator"&!& +4 "core" &    +2 .tElbow.seek 4 + "manipulator"&g( +45 "core" ( +2 "manipulator"&& +4 "core" & e  + "storage"(a& +4 "core" &,w ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +51 .tForearm.seek 4 + 450 counts +2 "manipulator"&N' +95 "core" ' +2 "storage"(7& +4 "core" &,w \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (q& +3 "core" &,w | x &\  +2 "manipulator"&}& +3 "core" & A  +2 .tElbow.seek 4 +2 "manipulator"&b( +3 "core" ( + "manipulator"&p& +4 "core" & &  +2 "storage"(X& +3 "core" &,w a\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&K'c +44 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(O' +7 "core" & >  +2 "manipulator"&]% +3 "core" % [  f f +2 .tForearm.seek :retract +2 "manipulator"&`' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&c(ӂ +154 "core" ( +2 "manipulator"&?& +5 "core" &|+ Cp + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&y& +5 "core" &|+  Cp +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&M'? +97 "core" ' +2 "manipulator"&& +4 "core" &ә& ] ?S +2 "manipulator"&r% +4 "core" %D . . +2 "collection"'k& +3 "core" & h he\ +3 "collection"'T& +4 "core" & i iT\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & i gL\  +8 &4} h iM\ *z +10 &ez h iV\ > +9 &m i iW\ M +10 &PQ i kJ\ L +9 &T l l;\ L +9 &T k kA\ K +10 &T k k>\ L +9 &YR l mB\ L +9 &T j mA\ L +10 &Q k kC\ L +9 & S j mC\ L +10 &"aT k kA\ L +9 &$$T o lB\ K +9 &%U k lB\ L +10 &'T k lA\ L +9 &)iS k n>\ L +10 &+*R k m?\ L +9 &,S k l@\ L +9 &.T n l=\ L +10 &0pR m m>\ L +9 &22T l j:\ L +9 &3T m n:\ L +10 &5T m m4\ L +9 &7yT n m+\ L +9 &9;T o n2\ L +10 &:T o o5\ L +9 &<X s n>\ L +9 &>V q o4\ L +10 &@BR q q:\ L +9 &BW r q>\ L +10 &C] t s3\ M +9 &Ec u v;\ N +9 &G@p v t;\ O +10 &H x v6\ S +9 &J } {4\ W +10 &Lm ~ ~5\ X +9 &N, ~ ~1\ Y +11 &O } 1\ Z +8 &Q ~ 2\ Z +9 &Sn 4\ Z +9 &U/ 4\ [ +10 &V  3\ \\ +9 &X  7\ \\ +9 &Zn 5\ ] +10 &\\z 3\ 4 +9 &\\+ .\ V +10 ( + &\\p  \ O +2 "collection"'T& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&Y1 +62 "core" 1 +2 "manipulator"&% +4 "core" % D % . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%[& +4 "core" &D\ + "manipulator"&E% +4 "core" %  \ +2 "storage"(\ % +4 "core" %   \ + "storage"(x. +3 "core" .(,y +2 "storage"(& +3 "core" &,w  '\  +2 "storage"(=& +4 "core" &,w  \  + "manipulator"&"& +4 "core" &Ӛ& ?R + "manipulator"&% +4 "core" %  \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&U( +164 "core" ( + "manipulator"&m& +5 "core" &  + "storage"( & +4 "core" &,w E E /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&j' +95 "core" ' +2 "storage"(B& +4 "core" &,w X c !\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" &,w 1 ' 5\  +2 "manipulator"&& +3 "core" &  W  +2 .tElbow.seek 4 + "manipulator"&n( +4 "core" ( + "manipulator"&.& +4 "core" & )  + "storage"(& +4 "core" &,w C D \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&)'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&5/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&4& + "storage"(/' +7 "core" &   +2 "manipulator"&% +4 "core" % ] +2 .tForearm.seek :retract + "manipulator"&8' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +71 "core" ( + "manipulator"&v& +5 "core" &  C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" & C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"&&& +4 "core" & Q C +2 "manipulator"&#% +4 "core" % A +2 "processing"%i& +3 "core" &V\ +3 "processing"%d& +4 "core" &B\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &T\  +10 &2wR\ *x +9 &b|P\ > +9 &kqR\ O +10 &-RO\ O +9 &SN\ O +10 &RR\ O +9 &tOQ\ N +9 &6RQ\ N +10 &UT\ O +9 &TU\ O +10 & |TN\ N +9 &"=PN\ O +9 &#UO\ O +10 &%QL\ O +9 &'OL\ N +9 &)FQP\ N +10 &+QO\ O +9 &,QP\ N +9 &.PR\ N +10 &0LVS\ O +9 &2RR\ N +10 &3UR\ O +9 &5UR\ N +9 &7UQR\ O +10 &9VG\ O +9 &:TH\ O +9 &<RK\ O +10 &>]XH\ O +9 &@WI\ O +10 &A]A\ P +9 &CkA\ Q +9 &EXz@\ S +10 &G@\ U +9 &HA\ U +9 &J>\ U +10 &LY@\ U +9 &N?\ V +10 &O?\ V +9 &Q@\ W +9 &S\\A\ W +10 &U A\ V +9 &V@\ W +9 &XB\ V +10 &ZdA\ W +9 &\\'@\ W +10 &]{A\ : +9 &^3@\ R +9 &^B\ 0 +3 ( + "processing"%d& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&(% +4 "core" %  < A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +92 "core" ' +2 "processing"%,& +4 "core" &^>\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %  u  + "storage"(A% +4 "core" % u\ +2 "storage"(;. +3 "core" .(,y + "storage"(& +4 "core" &,w  1\  +2 "storage"(6& +2 "manipulator"&1& +6 "core" &,w  s\  +2 & C +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(s'r +20 "core" ( +2 "manipulator"&C& +4 "core" & d + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & | +2 .tForearm.seek PC + "manipulator"&z' +95 "core" ' + .tHand.close +2 "manipulator"&^/ +58 "core" / +2 .tPC.seek :open +2 "processing"%+( +79 "core" ' + "storage"(h- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'1 +44 "core" ' +323 ( +2 "storage"(& +4 "core" &,w 7 E \  + "manipulator"&G& +4 "core" & ? + "manipulator"&W% +4 "core" %   & +2 .tForearm.seek :retract + "manipulator"&$' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&w( +239 "core" ( + "manipulator"&I& +4 "core" &  . +2 "storage"(u& +3 "core" &,w # '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +98 "core" ' + .tHand.open +2 "manipulator"&91 +52 "core" 1 +2 "storage"(*- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Z' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(R' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(L- +4 "core" -' + "storage"(& +4 "core" &,w o m $\  + "manipulator"& & +4 "core" & ' . +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&l& +4 "core" &  . + "storage"(o& +4 "core" &,w o n\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +3 "core" ' +51 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(F'" +56 "core" ' + "manipulator"&2& +4 "core" & $ . +2 "storage"(D& +4 "core" &,w ) ' K\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Q'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +28 "core" ' + "manipulator"&f% +5 "core" %I u  + "storage"(>& +5 "core" &,w & & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&'u +25 "core" ' + "manipulator"&@& +5 "core" & & - + "storage"( & +4 "core" &,w @ J }\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +19 "core" ' + "storage"(V% +5 "core" % B ; P\ +2 ."downElevator"SE.seek :down +3 "storage"('' +99 (t% +3 "core" %eI  -\ Xh +2 "manipulator"&!% +4 "core" % A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" &,w & ' 6\  +2 "collection"'7& +3 "core" &\\o 2\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&%% +4 "core" %    +2 "storage"(P% +3 "core" % ' '\ +2 "storage"(. +3 "core" .(,y +2 "storage"(q& +7 "core" &,w & &\  +2 "storage"(}& +8 "core" &,w 3 ' \  +3 "manipulator"&p& +8 "core" & - +4 .tElbow.seek 4 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&& +4 "core" & - + "storage"(:& +4 "core" &,w ' & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&]' +94 "core" ' + "storage"(g& +4 "core" &,w H C \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +294 "core" ' +2 "storage"(?- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" & n - + "storage"(& +4 "core" &,w ' * \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&K'7 +16 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(r- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(k'p +29 "core" ' + "manipulator"&b% +5 "core" %K N + "storage"(O& +4 "core" &,w 4 4 *\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&`'w +27 "core" ' + "manipulator"&\\& +4 "core" &  ; - +2 "storage"(Y& +4 "core" &,w ? 0 -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +23 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"([' +34 "core" ' + "manipulator"&E& +4 "core" & - +2 "manipulator"&\ % +4 "core" %  5 r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&T& +5 "core" &ӌ" ;4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &ӌ" ? ;4 +2 .tForearm.seek CC +2 "manipulator"&"'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'M( +447 "core" ( + "storage"(m& +4 "core" &,w ~ G\  +2 "storage"( & +3 "core" &,w { J\  +2 "manipulator"&B& +3 "core" &Ӎ" ;3 +2 "manipulator"&c% +3 "core" % G U +2 .tForearm.seek :retract +2 "manipulator"&~' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +163 "core" ( + "manipulator"&<& +4 "core" & x  +2 "storage"(& +3 "core" &,w \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&.'7 +93 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&51 +57 "core" 1 +2 "manipulator"&4% +4 "core" % : , 9 +2 "storage"(& +3 "core" &,w \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 303 counts +2 "manipulator"&U'f +15 "core" ' +2 "manipulator"&j& +4 "core" &  z  +2 "storage"(-& +3 "core" &,w \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +19 "core" ' + "storage"(v% +5 "core" % 9\  +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (n% +3 "core" %r? z q\ V` + "manipulator"&&% +4 "core" %  ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'i& +4 "core" & g gS\ +2 "manipulator"&/% +4 "core" %   1  + "storage"(8% +4 "core" % \ +2 "storage"(e. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ((& +2 "core" &<+ \  +2 "manipulator"&,& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&A& +5 "core" & w  + "storage"(;& +4 "core" &<+ ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' +2 "storage"(1& +4 "core" &<+ 0\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'r +300 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (C& +3 "core" &<+ r\  + "manipulator"&& +4 "core" & 9  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&^& +4 "core" &   + "storage"(h& +4 "core" &<+ \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(s' +7 "core" & #  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&G' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +160 "core" ( +3 "manipulator"&z& +4 "core" ' + &ӑ%  f >O + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&I& +4 "core" &ӑ%  >O + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&u'? +92 "core" ' + "manipulator"&& +4 "core" &ӑ% >O +2 "manipulator"&9% +4 "core" %4 v +2 "collection"'*& +3 "core" & g g`\ +2 "collection"'L& +6 "core" & i hf\ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & j jS\ +7 &A h iK\ $f +9 &Ww j iP\ 7 +10 &x k jD\ L +9 &Q l jC\ L +10 &|S k kB\ K +9 &<T k kB\ L +9 &T l j?\ L +10 &W l j?\ L +9 &T j l?\ K +9 &ET l l=\ L +10 & T l m>\ K +9 &!T k l@\ L +10 &#R n l=\ L +57 &%MR l m7\ L +5 &'W l n3\ L +2 &(T l o5\ L +3 &*R o n8\ L + &,UT m n=\ L + &.R m k4\ L + &/S l l4\ L +5 &1T o l>\ K +9 &3]T m m?\ L +9 &5 S l n7\ K +10 &6U o o3\ L +9 &8T o o3\ L +9 &:fT q p1\ K +10 &<&U p p;\ L +9 &=T o q5\ L +10 &?U q s1\ L +9 &AmU p q3\ L +9 &C-Y t t;\ L +10 &Db v u;\ N +9 &Fm w y1\ O +9 &Hc { {3\ R +10 &J ~ ~,\ V +9 &K #\ X +10 &M +\ Y +9 &OU "\ Y +9 &Q $\ Z +10 &R #\ Z +9 &T !\ [ +9 &VW $\ [ +10 &X )\ \\ +9 &Y (\ ^ +10 &[ .\ J +9 &\\: )\ - +9 &\\{ '\ Z +3 ( + "collection"'L& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&l% +4 "core" % 4 \\ v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%$& +4 "core" &?\ +2 "manipulator"&2% +3 "core" %   +2 "storage"(D% +4 "core" % ' * C\ + "storage"(3. +4 "core" .(<- + "storage"(f& +4 "core" &<+ 4 4 n\  + "storage"(Z& +5 "core" &<+ ) ' V\  + "manipulator"&>& +4 "core" &Ӓ%  >N + "manipulator"&@% +5 "core" %  >  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +164 "core" ( + "manipulator"&w& +5 "core" &  + "storage"(V& +4 "core" &<+ ) 4 A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +97 "core" ' + "storage"(R& +4 "core" &<+ @ G \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'r +300 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +2 "core" &<+ ' %\  +2 "manipulator"&& +4 "core" &  )  + .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&Q& +3 "core" & `  +2 "storage"(& +3 "core" &<+ ' &\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(P' +7 "core" & R  + "manipulator"&0% +4 "core" %  1 +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q( +168 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&}& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" & p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&:& +5 "core" & + "manipulator"&S% +4 "core" % 5  +2 "processing"%g& +4 "core" &V\ +2 "processing"%'& +5 "core" &B\ +2 .tPC.seek :closed + "processing"%{(^ +5 "core" &Z\  +9 &0sW\ *x +9 &czX\ > +10 &foX\ O +9 &(QU\ O +9 &UR\ O +10 &OP\ O +9 &oQQ\ N +10 &1QN\ N +9 &QQ\ N +9 &QM\ N +10 & vQO\ O +9 &"9RR\ N +9 &#QN\ N +10 &%NL\ O +9 &'~OP\ O +9 &)APS\ N +10 &+QS\ N +9 &,QR\ N +10 &.OS\ N +9 &0HRR\ O +9 &2 UO\ O +10 &3QQ\ N +9 &5PP\ O +9 &7QQN\ N +10 &9TO\ O +9 &:VM\ O +10 &<QI\ O +9 &>WWG\ O +9 &@TA\ O +10 &AX=\ P +9 &CaC\ Q +9 &EVmA\ R +10 &Gz@\ T +9 &H@\ U +10 &J@\ U +9 &LT@\ U +9 &N@\ W +10 &O?\ W +9 &QA\ W +9 &SXA\ W +10 &U@\ W +9 &V@\ W +10 &X?\ W +9 &Z`B\ W +9 &\\ B\ X +10 &]@\ 6 +9 &^5qA\ = +9 ( +2 &^A\ - + "processing"%'& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&1 +52 "core" 1 + "manipulator"&?% +5 "core" %  =  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +89 "core" ' +2 "processing"%& +4 "core" &^?\ - + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&r% +4 "core" %   + "storage"(b% +4 "core" % ' 0 _\ + "storage"(O. +3 "core" .(<- +2 "storage"(\\& +3 "core" &<+ ' )\  +3 "storage"(Y& +3 "manipulator"&E& +4 "core" &<+ 4 4 S\  + & +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&\ ( +2 "storage"(]'r +5 "core" ( + "manipulator"&X& +5 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" & 7 +2 .tForearm.seek PC + "manipulator"&K' +93 "core" ' +2 .tHand.close + "manipulator"&`/ +54 "core" / + .tPC.seek :open +2 "processing"%k( +103 "core" ' + "storage"(T- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(='1 +45 "core" ' +296 ( + "storage"(& +4 "core" &<+ ) ) L\  +2 "manipulator"&& +3 "core" & % +2 "manipulator"&% +4 "core" %   5 + .tForearm.seek :retract +2 "manipulator"&x' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +240 "core" ( +2 "manipulator"&m& +4 "core" &  : +2 "storage"( & +3 "core" &<+  ! ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +93 "core" ' + .tHand.open +2 "manipulator"&c1 +63 "core" 1 + "storage"(<- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"("' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(5& +3 "core" &<+ \ t +2 "manipulator"&4& +4 "core" & : + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&j& +3 "core" & M : +2 "storage"(-& +4 "core" &<+ \ v +2 .tForearm.seek 5 + 450 counts + "manipulator"&v'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(~'" +58 "core" ' + "manipulator"&n& +4 "core" & : +2 "storage"(&& +3 "core" &<+ ' ' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(i' +22 "core" ' + "manipulator"&U% +5 "core" %Ζ + "storage"(/& +4 "core" &<+ ' & +\  +2 .tForearm.force -20 "manipulator"&5 +4 .tForearm.seek 5 + 309 counts + "manipulator"&8' +29 "core" ' + "manipulator"&e& +4 "core" & $ 9 +2 "storage"([& +4 "core" &<+ 0 4 n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +18 "core" ' +2 "storage"( % +4 "core" % 8 C \ +2 ."downElevator"SE.seek :down +4 "storage"(_' +98 ((% +3 "core" %rL & (\ Xi +2 "manipulator"&,% +4 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +4 "core" &<+ C D \  + "collection"'1& +4 "core" &\\{ C\ Z +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  ]  +2 "storage"(#% +4 "core" % & ( b\ + "storage"(d. +3 "core" .(<- + "storage"(C& +4 "core" &<+ D B ~\  +2 "storage"(& +3 "core" &<+ ) 3 0\  +2 "manipulator"&^& +4 "core" & 9 + .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&J& +3 "core" & ? 9 +2 "storage"(& +53 "core" &<+ 6 : \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' +2 "storage"(& +4 "core" &<+ D . y\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" & : 9 + "storage"(6& +4 "core" &<+ & ( '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +13 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(9- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"(*'` +29 "core" ' +2 "manipulator"&% +4 "core" %Ι J +2 "storage"(s& +3 "core" &<+ 3 1 r\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&G' +26 "core" ' +2 "manipulator"&M& +4 "core" & 9 + "storage"( & +4 "core" &<+ ' '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +15 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"($' +39 "core" ' +2 "manipulator"&2& +4 "core" & 9 +2 "manipulator"&D% +4 "core" %M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +155 "core" ( +2 "manipulator"&Z& +4 "core" &ӏ% >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &ӏ% A >N +2 .tForearm.seek CC + "manipulator"&L'? +92 "core" ' + .tHand.close +2 "manipulator"&@/ +53 "core" / +2 .tCC.seek :open + "collection"'u( +451 "core" ( + "storage"(w& +4 "core" &<+ w\  +2 "storage"(V& +3 "core" &<+ \  +2 "manipulator"&R& +3 "core" &ӏ% ; >N +2 "manipulator"&W% +3 "core" % : V L +2 .tForearm.seek :retract +2 "manipulator"&o' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&!( +164 "core" ( + "manipulator"&H& +4 "core" & ,  +2 "storage"(& +4 "core" &<+ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&Q'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&71 +52 "core" 1 +2 "manipulator"&%% +4 "core" % Β ^ G +2 "storage"(0& +3 "core" &<+ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 305 counts +2 "manipulator"& 'Ͼ +24 "core" ' +2 "manipulator"&|& +4 "core" &  +2 "storage"(t& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +15 "core" ' + "storage"(}% +4 "core" % \ \ +3 ."downElevator"SE.seek :down +3 "storage"(p' +99 (F% +3 "core" %D z g\ Vc + "manipulator"&:% +4 "core" %@  \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +88 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'g& +5 "core" & g gL\ + "manipulator"&P% +4 "core" %  \\  +2 "storage"(% +4 "core" % Y\ + "storage"(+. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +2 "core" &K m s\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&b& +3 "core" &  +2 "storage"(O& +8 "core" &K <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +97 "core" ' + "storage"(Y& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'r +296 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +2 "core" &K z s \  +2 "manipulator"&N& +3 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&`& +4 "core" & d  + "storage"(T& +4 "core" &K y \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&q'h +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&y/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& + "storage"(]' +7 "core" &  +2 "manipulator"&% +4 "core" % i  J x +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&K& +3 "core" &ӏ# =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &ӏ$  { =C +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +99 "core" ' +2 "manipulator"&\ & +4 "core" &Ӑ$ n =B +2 "manipulator"&c% +3 "core" %9 / 3 +2 "collection"'<& +4 "core" & h fe\ +3 "collection"'& +4 .tCC.seek :closed +2 "collection"'5(\\ +3 "core" & h h]\ +8 &@ h iT\ %g +10 &Wv i hR\ 7 +9 &w k iT\ L +9 &Q k iE\ L +10 &}S k kE\ L +9 &>V l k@\ L +10 &T j l?\ K +9 &T j m@\ L +9 &R l k?\ L +10 &HS k kB\ K +9 & T k n=\ L +9 &!V j m@\ L +10 &#T i j?\ K +9 &%OU k l>\ L +10 &'R m m8\ L +9 &(U l m;\ L +9 &*W k k4\ L +10 &,WR m l8\ L +9 &.R l l2\ L +9 &/V k l,\ L +10 &1R l m*\ L +9 &3_T n k3\ L +10 &5 W m l7\ L +9 &6U o l2\ L +9 &8T m n6\ K +10 &:gU n p;\ L +9 &<*U o p8\ K +9 &=U p p?\ L +10 &?U q q7\ L +9 &AnW q o<\ L +10 &C-_ s s4\ M +9 &Dm w v2\ O +9 &F y y4\ R +10 &HY z y4\ V +9 &J z y0\ X +9 &K z }3\ Y +10 &M z y3\ Y +9 &OV z z4\ Z +10 &Q z {6\ Z +9 &R y {0\ Z +9 &T | |2\ [ +10 &VY | ~!\ [ +9 &X { }\ ] +9 &Y } |"\ ^ +10 &[ ~ ~"\ K +9 &\\: } +\ . +10 &\\ ~ .\ \\ +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 + .Hand.open + "manipulator"&41 +55 "core" 1 + "manipulator"&j% +5 "core" % 9 7 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%x& +4 "core" &S\ +2 "manipulator"&n% +3 "core" %    +2 "storage"(&% +4 "core" % ' '\ + "storage"(U. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(/(K +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +3 "core" &K + ( ,\ + "manipulator"&& +4 "core" &Ӑ$ . =B +2 "manipulator"&e% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&[( +161 "core" ( + "manipulator"& & +5 "core" &  + "storage"(& +4 "core" &K & &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +97 "core" ' + "storage"("& +4 "core" &K ; B \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('r +295 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (v& +3 "core" &K \ +2 "manipulator"&& +3 "core" &  p  +2 .tElbow.seek 6 + "manipulator"&~( +4 "core" ( +2 "manipulator"&& +53 "core" &  +2 "storage"(;& +3 "core" &K ' '\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&8'h +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&1/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(#' +8 "core" & Q  + "manipulator"&d% +4 "core" % ώ = +2 .tForearm.seek :retract +2 "manipulator"&i' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&C( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( +2 "manipulator"&& +4 "core" & ] & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" & & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&J' +98 "core" ' + "manipulator"&& +4 "core" & x & +2 "manipulator"&)% +4 "core" %  F + +2 "processing"%& +3 "core" &J\ +3 "processing"%_& +4 "core" &I\ +2 .tPC.seek :closed +2 "processing"%.(^ +4 "core" &]\ +8 & ,X\ $c +9 &TwI\ 7 +10 &~xP\ L +9 &PU\ O +10 &YNO\ O +9 &PF\ N +9 &QP\ N +10 &PQ\ N +9 &aQQ\ O +9 &"TR\ O +10 &NK\ O +9 &!ON\ N +10 &#hSQ\ O +9 &%+NT\ O +9 &&SL\ O +10 &(SR\ O +9 &*qPS\ O +9 &,3TL\ O +10 &-NR\ N +9 &/RR\ O +10 &1yUR\ O +9 &3:UQ\ O +9 &4QP\ N +10 &6RO\ N +9 &8RO\ N +9 &:CRN\ O +10 &<RP\ N +9 &=SG\ O +10 &?TO\ O +9 &AHYA\ P +9 &ChF\ Q +10 &Dr@\ S +9 &F~A\ U +9 &H??\ U +10 &J?\ U +9 &K?\ U +10 &MA\ V +9 &ODC\ V +9 &QC\ W +10 &RA\ W +9 &TA\ W +9 &VM>\ V +10 &X A\ W +9 &Y>\ W +10 &[?\ X +9 &]R>\ H +9 &^xC|A\ %m +10 &^4A\ 3 +5 ( +2 "processing"%_& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&A1 +3 "core" &^ >\ 3 +59 1 + "manipulator"&z% +4 "core" %  & + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +92 "core" ' + "processing"%6& +4 "core" &^ -\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&9% +4 "core" %    +2 "storage"(% +3 "core" % ' &\ +2 "storage"(s. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(M(K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +4 "manipulator"&2& +4 "core" &K & $ \ + & p & +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +2 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&D( +3 "storage"('r +3 "core" ( +2 "manipulator"&h& +4 "core" & W & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & 9 & +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&G/ +55 "core" / +2 .tPC.seek :open +2 "processing"%*( +102 "core" ' +2 "storage"(Z- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'1 +36 "core" ' +307 ( +2 "storage"(l& +4 "core" &K ' ) -\ + "manipulator"&& +4 "core" & * & +2 "manipulator"&@% +4 "core" %  ^ 6 + .tForearm.seek :retract +2 "manipulator"&3' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&w& +4 "core" & 7 + "storage"(V& +4 "core" &K  @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +97 "core" ' + .tHand.open +2 "manipulator"&W1 +62 "core" 1 +2 "storage"(H- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(L' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +4 "core" -' +2 "storage"(7& +3 "core" &K I D \ h +2 "manipulator"&%& +3 "core" &  7 +2 .tElbow.seek 6 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&|& +3 "core" &   7 +2 "storage"(t& +4 "core" &K D P\ g +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(o'" +52 "core" ' + "manipulator"&F& +4 "core" & 2 7 +2 "storage"(:& +3 "core" &K \  0\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&!'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(g' +20 "core" ' +2 "manipulator"& % +4 "core" %G = + "storage"(P& +5 "core" &K   L\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&'s +15 "core" ' +2 "manipulator"&+& +4 "core" &  6 +2 "storage"($& +4 "core" &K ' & )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&a' +20 "core" ' +2 "storage"(p% +4 "core" % + 8 @\ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (?% +3 "core" %}I '\ Xi + "manipulator"&% +4 "core" % - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +94 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &K ' & F\ +2 "collection"'Y& +3 "core" &\\{ @\ \\ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  l  +2 "storage"(S% +4 "core" % 3 ' G\ + "storage"('. +3 "core" .(K + "storage"(X& +4 "core" &K  # >\ +2 "storage"(N& +3 "core" &K 0 ( ^\ +2 "manipulator"&`& +3 "core" & j 6 +2 .tElbow.seek 6 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&y& +3 "core" & a 6 +2 "storage"({& +4 "core" &K 3 ' =\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(r& +4 "core" &K D C \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'r +295 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" & 6 + "storage"(E& +4 "core" &K  o\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&q'< +15 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(c- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(<'j +29 "core" ' + "manipulator"&% +5 "core" %I [  + "storage"(]& +4 "core" &K  ' T\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&'u +24 "core" ' +2 "manipulator"&u& +4 "core" &  6 + "storage"(4& +4 "core" &K , ' \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(x' +42 "core" ' + "manipulator"&n& +5 "core" & H 6 + "manipulator"&&% +5 "core" % A + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +43 "manipulator"&U' +100 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( +2 "manipulator"&=& +4 "core" &Ӟ 7 9$ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӟ 9$ +2 .tForearm.seek CC +2 "manipulator"&e'? +92 "core" ' + .tHand.close +2 "manipulator"& / +55 "core" / +2 .tCC.seek :open + "collection"' ( +450 "core" ( +2 "storage"(& +4 "core" &K t\ + "storage"(& +4 "core" &K \ +2 "manipulator"&"& +3 "core" &Ӟ  < 9$ +2 "manipulator"&% +3 "core" % 6 ( O +2 .tForearm.seek :retract +2 "manipulator"&-' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&,( +164 "core" ( +2 "manipulator"&v& +4 "core" &  + "storage"(& +5 "core" &K y \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +99 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&11 +58 "core" 1 +2 "manipulator"&% +5 "core" % G \ + "storage"(d& +4 "core" &K  | C\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&['s +16 "core" ' + "manipulator"&B& +4 "core" &  +2 "storage"((& +4 "core" &K '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&8' +20 "core" ' +2 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(^' +99 (~% +3 "core" %F I\ Wc +2 "manipulator"&% +4 "core" % T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +90 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & i hQ\ +2 "manipulator"&#% +4 "core" %  N  + "storage"(i% +5 "core" % o\ + "storage"(k. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(A(  +1304 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +3 "core" &  |  ;\ + "manipulator"&6& +4 "core" & 8  +2 .tElbow.seek 2 +2 "manipulator"&9( +3 "core" ( + "manipulator"&& +4 "core" & b  +2 "storage"(s& +3 "core" &  I\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'S +97 "core" ' +2 "storage"(2& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +298 "core" ' + "storage"(h- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  X\ +2 "manipulator"&J& +3 "core" & 2  +2 .tElbow.seek 2 +2 "manipulator"&G( +3 "core" ( + "manipulator"&/& +4 "core" & @  +2 "storage"(Z& +4 "core" &  o\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&C'Ͻ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& + "storage"(' +7 "core" &    +2 "manipulator"&l% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +157 "core" ( +2 "manipulator"&& +5 "core" &ӆ' 2 @Y ' +3 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&w& +5 "core" &ӆ'  < @Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&V'? +92 "core" ' +2 "manipulator"&D& +4 "core" &Ӈ(  W @X +2 "manipulator"&W% +5 "core" %C 2 p + "collection"'H& +5 "core" & h iY\ +2 "collection"'f& +5 "core" & h h:\ +2 .tCC.seek :closed +2 "collection"'7(\\ +4 "core" & g g?\ +7 &; j jS\ %g +9 &Wv h hP\ 7 +9 &x j iW\ K +10 &T l lW\ K +9 &~T k lV\ L +9 &AU m nS\ K +10 &U n jV\ L +9 &U k lB\ K +10 &T m n@\ L +9 &IT l mD\ K +9 & \ T n lA\ L +10 &!R n l>\ L +9 &#U p n@\ L +10 &%PR m n>\ L +9 &'T m n=\ L +9 &(X n n?\ L +10 &*T k m>\ L +9 &,XW l nA\ L +9 &.T m m?\ K +10 &/T o l>\ L +9 &1U o m@\ K +9 &3`U l mB\ L +10 &5#T o oA\ K +9 &6V p o?\ L +10 &8U m p6\ L +9 &:hU p p5\ L +9 &<)X r p<\ L +10 &=U p q3\ L +9 &?U p p2\ L +9 &ApV s s2\ L +10 &C0Z t r2\ L +9 &D` v v4\ M +10 &Fh x y4\ N +9 &Hg | |3\ Q +9 &J  :\ U +10 &K 4\ W +9 &M <\ Y +9 &OZ 3\ Y +10 &Q >\ Y +9 &R :\ Z +10 &T 3\ Z +9 &VZ 4\ [ +9 &X ;\ \\ +10 &Y 4\ ] +9 &[ @\ I +9 &\\8 <\ , +10 &\\} 8\ Z +2 ( +2 "collection"'f& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&%1 +58 "core" 1 +2 "manipulator"&|% +4 "core" % C p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&t' +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%3& +4 "core" &A\ +2 "manipulator"&F% +3 "core" %  c  +2 "storage"(:% +4 "core" % ( '\ + "storage"( . +3 "core" .(  +2 "storage"(P& +3 "core" &  ) )\ +2 "storage"(>& +3 "core" &  & &\ +2 "manipulator"&+& +4 "core" &ӈ' ' @W + "manipulator"&$% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +165 "core" ( + "manipulator"&p& +4 "core" &  +2 "storage"(& +3 "core" &  4 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'S +96 "core" ' +2 "storage"(L& +4 "core" &  K K R\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +2 "core" &  2 & 9\ +2 "manipulator"&0& +3 "core" & K  +2 .tElbow.seek 2 + "manipulator"&o( +4 "core" ( + "manipulator"&!& +3 "core" &  +2 "storage"(& +4 "core" &  ' )\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&O'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(g' +7 "core" & S  + "manipulator"&S% +4 "core" % ϼ = +2 .tForearm.seek :retract +2 "manipulator"&'' +87 "core" ' +2 .tElbow.seek PC + "manipulator"&X( +169 "core" ' + ."downElevator"SE.stop + "storage"(5 +68 "core" ( + "manipulator"&N& +5 "core" & D C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" & C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&y' +96 "core" ' + "manipulator"&{& +4 "core" & G B +2 "manipulator"&a% +4 "core" % m " + "processing"%r& +4 "core" &F\ +3 "processing"%& +4 "core" &Y\ +2 .tPC.seek :closed + "processing"%Q(^ +5 "core" &]\  +8 &/sV\ *x +9 &b{D\ > +10 &cpQ\ O +9 &$OH\ O +10 &PN\ O +9 &NK\ N +9 &kQA\ N +10 &,TL\ O +9 &RG\ O +9 &NJ\ O +10 & sTN\ N +9 &"5NE\ N +10 &#QJ\ N +9 &%RS\ N +9 &'{QR\ N +10 &)<OI\ O +9 &*SI\ O +9 &,RK\ O +10 &.MF\ O +9 &0DPK\ O +9 &2RF\ N +10 &3QO\ O +9 &5RH\ O +10 &7MQB\ N +9 &9SN\ O +9 &:WL\ O +10 &<QK\ N +9 &>STJ\ O +10 &@TG\ O +9 &AYN\ P +9 &CcD\ Q +10 &ETmM\ Q +9 &G{K\ T +9 &HO\ U +10 &J@\ U +9 &LP@\ U +13 &NA\ W +6 &O7\ V +9 &Q.\ W +10 &ST3\ W +9 &U=\ W +9 &V6\ W +10 &X?\ V +59 &Z[F\ W +9 &\\?\ W + &]@\ 6 + &^*eA\ !` + &^-6\ 5 ( + &^&/\ 5 + &^&>\ 5 +2 &^&4\ 5 +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&b1 +63 "core" 1 + "manipulator"&K% +5 "core" %  | " + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +91 "core" ' + "processing"%E& +4 "core" &^&\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&c% +3 "core" %  I  +2 "storage"(% +3 "core" % ( '\ +2 "storage"(]. +3 "core" .(  +2 "storage"(u& +3 "core" &  ' '\ +2 "storage"(4& +4 "manipulator"&n& +4 "core" &  ' '\ + & B +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( + "manipulator"&T& +4 "core" & % B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &   B +2 .tForearm.seek PC + "manipulator"&q' +95 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%<( +90 "core" ' + "storage"(=- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +307 ( + "storage"(j& +5 "core" &  ) ) \ + "manipulator"&\ & +4 "core" & ' B + "manipulator"& % +4 "core" %  d  +2 .tForearm.seek :retract + "manipulator"&U' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&5( +244 "core" ( +2 "manipulator"&& +4 "core" &  . L +2 "storage"(& +3 "core" &  4 0 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&"'S +91 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(v- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(e' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(1& +4 "core" &  \ x +2 "manipulator"&& +4 "core" &  L + .tElbow.seek 2 +2 "manipulator"&d( +3 "core" ( +2 "manipulator"&B& +4 "core" &   L + "storage"((& +4 "core" &  \ x +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(-'" +50 "core" ' +2 "manipulator"&~& +4 "core" & L + "storage"(& +4 "core" &  ( , \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&,'Α +23 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 "manipulator"&[% +4 "core" %Π +2 "storage"(#& +3 "core" &  $  @\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&i' +15 "core" ' +2 "manipulator"&k& +4 "core" & U K +3 "storage"(x& +4 "core" &  ' & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&8'S +19 "core" ' + "storage"(^% +5 "core" % 1 *\ +2 ."downElevator"SE.seek :down +4 "storage"(M' +98 (z% +2 "core" %7O & '\ Xj +2 "manipulator"&6% +5 "core" %^ ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +73 ' + ."downElevator"SE.stop + "storage"(5 +3 (s& +3 "core" &  ' ' \ +2 "collection"'2& +4 "core" &\\z 9\ Z +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&;% +4 "core" %  y  + "storage"()% +4 "core" % 4 4 \ +2 "storage"(h. +3 "core" .(  +2 "storage"(& +3 "core" &  4 * w\ +2 "storage"(J& +3 "core" &  & & \ +2 "manipulator"&/& +4 "core" &  K + .tElbow.seek 2 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&I& +3 "core" & K +2 "storage"(.& +4 "core" &  * 1 E\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&l'S +91 "core" ' + "storage"(9& +5 "core" &  F K L\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +2 "core" & K +2 "storage"( & +4 "core" &  $  y\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&C'Α +25 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(W- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(H'a +30 "core" ' + "manipulator"&G% +4 "core" %Τ  +2 "storage"(& +3 "core" &  \ $ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"& & +4 "core" & K +2 "storage"(%& +3 "core" &  ' & .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&|'S +16 "core" ' +3 .tSE.seek 1.14 Pucks below Top Plate + "storage"(3' +40 "core" ' +2 "manipulator"&F& +4 "core" &  ( K + "manipulator"&:% +4 "core" %I 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P(ӂ +149 "core" ( + "manipulator"&>& +5 "core" &ӏ* Bh + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &ӏ* c Bh +2 .tForearm.seek CC +2 "manipulator"&f'? +93 "core" ' + .tHand.close +2 "manipulator"&$/ +55 "core" / + .tCC.seek :open +2 "collection"'V( +450 "core" ( +2 "storage"(p& +4 "core" &  l \ +2 "storage"(& +4 "core" &  W \\ \ + "manipulator"&L& +4 "core" &Ӑ* Bg + "manipulator"&@% +4 "core" % I 9 / +2 .tForearm.seek :retract + "manipulator"&t' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +167 "core" ( + "manipulator"&}& +4 "core" & D  +2 "storage"(0& +3 "core" &  ~\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&!'Α +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&Y1 +62 "core" 1 +2 "manipulator"&% +4 "core" % Η & +2 "storage"(S& +3 "core" &  U\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 306 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&R& +4 "core" & 0  + "storage"(?& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&O'S +17 "core" ' + "storage"(N% +5 "core" % \ +2 ."downElevator"SE.seek :down +45 "storage"(`' +57 (o% +2 "core" %; \ Wb +2 "manipulator"&{% +4 "core" %? \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +88 "core" ' +108 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'r& +5 "core" & h iS\ + "manipulator"&g% +4 "core" %  <  +2 "storage"('% +3 "core" % 8\ +2 "storage"(*. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(b( +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +3 "core" & e\  + "manipulator"&E& +4 "core" & a  +2 .tElbow.seek 3 + "manipulator"&c( +20 "core" ( +2 "manipulator"&& +4 "core" &w +2 "storage"(]& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&u'7 +91 "core" ' +2 "storage"(4& +4 "core" & 0\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +2 "core" & r\  +2 "manipulator"&\\& +4 "core" &w P + .tElbow.seek 3 +2 "manipulator"&y( +22 "core" ( + "manipulator"&& +4 "core" &y  b +2 "storage"(=& +3 "core" & B\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&X'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&m/ +65 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +4 "storage"(' +4 "core" &y  n b + "manipulator"&j% +4 "core" % ϛ z +2 .tForearm.seek :retract +2 "manipulator"&\ ' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +160 "core" ( +3 "manipulator"&q& +4 "core" ' + &ӎ b 3 +2 .tElbow.reconfigure :loose + ."downElevator"SE.stop +5 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&& +4 "core" &ӎ  3 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&&& +5 "core" &ӎ 3 3 + "manipulator"&% +4 "core" %= Q x +2 "collection"'v& +4 "core" & h iR\ +3 "collection"'& +4 "core" & i hC\ +2 .tCC.seek :closed +2 "collection"'1(\\ +4 "core" & h iH\ +8 &; i gT\ %g +9 &Wv h jS\ 7 +9 &x i kR\ L +10 &U i kO\ L +9 &T n kT\ K +9 &BU m lK\ K +10 &U k kI\ L +9 &X l lB\ L +10 &W k kB\ L +9 &IR m n8\ L +9 & R j l>\ L +10 &!W j lA\ L +9 &#Y l n@\ L +9 &%QW i k?\ L +10 &'W m mA\ L +9 &(W k iD\ L +10 &*W m mA\ L +9 &,YW m m>\ L +9 &.W l m@\ L +10 &/W m lA\ K +9 &1U m n?\ K +9 &3aT n lA\ L +10 &5$U m m@\ K +9 &6V p p4\ K +10 &8U p o5\ L +9 &:iX o o3\ L +9 &<+W o n5\ L +10 &=Y q r-\ L +9 &?U o r-\ K +9 &AqV r s4\ L +10 &C2Z v s2\ L +9 &Dc v w4\ M +10 &Fk x v3\ O +9 &Hh } |2\ Q +9 &J ;\ V +10 &K =\ X +10 &M 7\ Y +11 &O[ 3\ Y +7 &Q @\ Y +9 &R 5\ Z +10 &T :\ Z +9 &V\\ ;\ [\ +9 &X <\ [ +10 &Y ;\ ] +9 &[ 9\ J +9 &\\: :\ , +10 &\\` @\ M +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&B% +4 "core" % =  x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +96 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%U& +4 "core" &4\ + "manipulator"&~% +4 "core" % !  ( +2 "storage"(% +4 "core" % ' ' N\ + "storage"([. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(#( +9 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & %\  +2 "manipulator"&k& +4 "core" &ӎ 3 + "manipulator"&x% +4 "core" % !  / ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +179 "core" ( + "manipulator"&^& +5 "core" & l / + "storage"(5& +4 "core" & D B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&"'7 +97 "core" ' + "storage"(e& +4 "core" & b b\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +295 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & + ; <\  + "manipulator"&d& +4 "core" & J / + .tElbow.seek 3 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&,& +3 "core" & 0 / +2 "storage"(i& +3 "core" & D D C\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&s'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"()' +7 "core" & / + "manipulator"&% +4 "core" % ϛ \\ +2 .tForearm.seek :retract +2 "manipulator"&h' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&J& +4 "core" & ^ @ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +2 "core" & | @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I' +91 "core" ' +2 "manipulator"&.& +4 "core" &  ? +2 "manipulator"&8% +3 "core" % + < +2 "processing"%9& +4 "core" &<\ +2 "processing"%M& +5 "core" &5\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &J\ +7 & +O\ $c +10 &UxI\ 7 +9 &vI\ L +10 &QI\ N +9 &]PJ\ N +9 &OG\ O +10 &TI\ O +9 &QE\ O +9 &dND\ N +10 &%Q;\ O +9 &Q<\ O +10 &!M;\ O +9 &#kQ;\ O +9 &%.ND\ N +10 &&O?\ O +9 &(OK\ N +9 &*tQM\ N +10 &,5TA\ O +9 &-P?\ O +10 &/Q?\ O +9 &1{T?\ O +9 &3=T=\ O +10 &4R:\ O +9 &6T?\ O +9 &8U<\ O +10 &:ETC\ O +9 &<U:\ O +10 &=Q>\ O +9 &?RK\ O +9 &AKXC\ O +10 &Cg>\ Q +9 &Dr<\ R +9 &F<\ T +10 &HB=\ U +9 &J<\ U +10 &K:\ U +9 &M9\ V +9 &OH7\ V +10 &Q/\ W +9 &R6\ W +9 &T.\ W +10 &VM-\ W +9 &X3\ W +10 &Y/\ V +9 &[/\ V +9 &]T,\ G +10 &^w?y-\ *{ +9 &^6-\ 2 +5 ( +2 "processing"%M& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 +2 .Hand.open + "manipulator"&1 +3 "core" &^$*\ 2 +53 1 + "manipulator"&% +5 "core" %  6 < + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +96 "core" ' + "processing"% & +4 "core" &^$-\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&W% +4 "core" %  :  +2 "storage"(G% +4 "core" % & '\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +4 (%& + "manipulator"&F& +6 "core" &  \  +2 & ? +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&:( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(l'r +3 "core" ( + "manipulator"&Z& +4 "core" & ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" & ? +2 .tForearm.seek PC +2 "manipulator"&C' +92 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +3 .tPC.seek :open + "processing"%H( +104 "core" ' + "storage"(>- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'1 +45 "core" ' +336 ( +13 "storage"(|& +4 "core" & D D \  + "manipulator"&D& +4 "core" & ? +2 "manipulator"&$% +4 "core" %  + % + .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&7( +247 "core" ( + "manipulator"&p& +5 "core" &  s L + "storage"(& +4 "core" & ' & R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&L'7 +95 "core" ' + .tHand.open +2 "manipulator"&@1 +53 "core" 1 +3 "storage"(}- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(0' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(f' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(P- +4 "core" -' + "storage"(Y& +4 "core" & d\ w +2 "manipulator"&& +3 "core" & ) L +2 .tElbow.seek 3 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&R& +3 "core" &  L +2 "storage"(?& +4 "core" & \ w +2 .tForearm.seek 3 + 450 counts + "manipulator"&N'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(t'" +53 "core" ' +2 "manipulator"&o& +4 "core" &  L +2 "storage"({& +3 "core" & ( ' 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +14 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 "manipulator"&r% +4 "core" %΄ R +2 "storage"(g& +4 "core" & C 7 O\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&''ϰ +27 "core" ' + "manipulator"&*& +5 "core" & 5 L + "storage"(3& +5 "core" & K K 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&O'7 +17 "core" ' +2 "storage"(`% +5 "core" % G ? \ +2 ."downElevator"SE.seek :down +4 "storage"(A' +100 (K% +3 "core" %\\G ' '\ Wg +2 "manipulator"&E% +3 "core" %2  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (]& +4 "core" & > B \  + "collection"'4& +4 "core" &\\^ J\ M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %  I  +2 "storage"(a% +4 "core" % > H D\ + "storage"(. +3 "core" .( +2 "storage"(T& +3 "core" & < B }\  +2 "storage"(\\& +4 "core" & I D \\\  + "manipulator"&& +4 "core" &  L +2 .tElbow.seek 3 + "manipulator"&=( +4 "core" ( + "manipulator"&m& +4 "core" & U L + "storage"(Q& +4 "core" & ? D T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&j'7 +95 "core" ' +2 "storage"(c& +4 "core" & Y U\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'r +295 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & % L +2 "storage"(n& +3 "core" & > 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&X'u +13 "core" ' + .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(y'h +29 "core" ' +2 "manipulator"&v% +4 "core" %Ά  P + "storage"(& +4 "core" & D B\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&\ 'ϲ +26 "core" ' + "manipulator"&V& +5 "core" & @ L + "storage"(& +4 "core" & 4 5 K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&B'7 +15 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(U' +36 "core" ' + "manipulator"&~& +4 "core" &  L +2 "manipulator"&% +4 "core" %2 ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +155 "core" ( + "manipulator"&& +4 "core" &ә   :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &ә  O :, +2 .tForearm.seek CC + "manipulator"&x'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'^( +446 "core" ( +2 "storage"(5& +4 "core" & y\  +2 "storage"(b& +3 "core" & \  +2 "manipulator"&e& +3 "core" &ә  y :, +2 "manipulator"& % +3 "core" % 3 p 7 +2 .tForearm.seek :retract +2 "manipulator"&(' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&6( +164 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(d& +4 "core" & } !\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&,'u +95 "core" ' + .tElbow.hold +2 "manipulator"&i, +8 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&21 +64 "core" 1 +2 "manipulator"&;% +4 "core" % p $ + "storage"(& +4 "core" & a\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts + "manipulator"&'Ϝ +13 "core" ' + "manipulator"&"& +5 "core" &  + "storage"(z& +4 "core" & /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s'7 +18 "core" ' +2 "storage"(J% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(/' +99 (-% +3 "core" %G 0\ Wd +2 "manipulator"&.% +3 "core" %) M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +86 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'9& +4 "core" & f iB\ +2 "manipulator"&)% +4 "core" %     + "storage"(h% +4 "core" % >\ +2 "storage"(<. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,| 4\ +2 "manipulator"& & +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&W( +39 "core" ( + "manipulator"&G& +4 "core" &  +2 "storage"(& +3 "core" &,z j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +95 "core" ' + "storage"(%& +4 "core" &,z 2\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'r +294 "core" ' + "storage"(Z- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (_& +3 "core" &,z {  (\ +2 "manipulator"&I& +3 "core" & ,  +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&#& +3 "core" & :  +2 "storage"(>& +4 "core" &,z r\ +50 .tForearm.seek 4 + 300 counts +3 "manipulator"&'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(l' +7 "core" &  O  + "manipulator"&|% +4 "core" % T T +2 .tForearm.seek :retract +2 "manipulator"&D' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +152 "core" ( +2 "manipulator"&C& +4 "core" &z+ [ Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +4 "core" &z+  Cq +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 "core" ' +2 .tForearm.seek CC +2 ."downElevator"SE.stop +2 "manipulator"&'? + "storage"(5 +91 "core" ' + "manipulator"&:& +5 "core" &ӟ% 3 >L + "manipulator"&@% +4 "core" %E D +2 "collection"'}& +4 "core" & h i[\ +2 "collection"'P& +5 "core" & h jI\ +2 .tCC.seek :closed +2 "collection"'Y(\\ +4 "core" & h hP\ +8 &; g hY\ %g +9 &Wv i jU\ 7 +10 &x k hQ\ K +9 &Q n jN\ L +9 &T i lQ\ K +10 &@T n lX\ L +9 &S k kI\ L +10 &T l l?\ K +9 &T l k?\ K +9 &HT m l?\ L +10 & \ V j n?\ L +9 &!W l l>\ L +10 &#T k m=\ L +9 &%PR i lA\ L +9 &'S l k>\ K +10 &(U m mA\ L +9 &*V m mB\ L +9 &,XW l m>\ L +10 &.R k l@\ L +9 &/S m o8\ K +9 &1U l m?\ L +10 &3`R l o@\ L +9 &5"T m m;\ L +10 &6X n n7\ L +9 &8U o m5\ L +9 &:iT n n2\ K +10 &<*T o q1\ L +9 &=U o p8\ L +9 &?U p r4\ L +10 &AoX p s2\ L +9 &C/Y t s5\ M +10 &D` t u7\ M +9 &Fm s x1\ O +9 &Hg w w1\ Q +10 &J | {>\ V +9 &K ~ }A\ X +9 &M ~ ~B\ Y +10 &OY  ~B\ Y +9 &Q  =\ Z +10 &R ~ ~A\ Z +9 &T ~ =\ Z +9 &V[ =\ [\ +10 &X 9\ \\ +9 &Y 9\ ] +9 &[ ;\ J +10 &\\< >\ *~ +9 &\\ ;\ [ +2 ( +2 "collection"'P& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&R% +4 "core" % E ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +4 "core" &3\ +2 "manipulator"&o% +3 "core" %    +2 "storage"({% +4 "core" % ) )\ + "storage"(r. +3 "core" .(,y + "storage"(g& +4 "core" &,z ' )\ +2 "storage"(+& +3 "core" &,z * ' \ +2 "manipulator"&*& +4 "core" &ӟ$ G >L + "manipulator"&3% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&0( +163 "core" ( + "manipulator"&`& +4 "core" & Q  +2 "storage"(7& +4 "core" &,z & ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +92 "core" ' + "storage"(f& +4 "core" &,z I F 1\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'r +300 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (N& +3 "core" &,z ( \ + "manipulator"&S& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&t( +4 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(]& +4 "core" &,z ' )\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&''c +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(a' +7 "core" &  + "manipulator"&% +4 "core" % ϕ Z +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&T( +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&\\& +4 "core" &  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +95 "core" ' +2 "manipulator"&Q& +4 "core" & M 9 + "manipulator"&O% +4 "core" % 7 +2 "processing"%c& +4 "core" &O\ +2 "processing"%A& +4 "core" &J\ +2 .tPC.seek :closed +2 "processing"%!(^ +4 "core" &D\ +7 & ->\ #b +9 &TxD\ 7 +10 &~vA\ L +9 &Q>\ N +9 &SOB\ O +10 &PB\ N +9 &O?\ N +9 &RA\ O +10 &ZRD\ O +9 &RA\ O +10 &R>\ O +9 &!QD\ O +9 &#cR?\ O +10 &%&O>\ N +9 &&S?\ O +9 &(OB\ O +10 &*kOA\ O +9 &,-O?\ O +10 &-MD\ N +9 &/R=\ O +9 &1rR=\ O +10 &35R:\ O +9 &4S=\ O +9 &6QB\ O +10 &8{S?\ O +9 &:<T9\ O +10 &;R7\ O +9 &=U>\ O +9 &?R.\ O +10 &ABV7\ P +9 &Cc3\ Q +9 &Dk1\ R +10 &Fz.\ T +9 &H9/\ U +10 &I(\ V +9 &K-\ V +9 &M}.\ V +10 &O@,\ V +9 &P3\ W +9 &R.\ W +10 &T,\ W +9 &VF0\ V +10 &X0\ W +9 &Y0\ W +9 &[3\ W +10 &]L4\ J +9 &^yI-\ ` +9 &^W-\ 6 +6 ( +2 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&1 +4 "core" &^+-\ 6 +53 1 + "manipulator"&q% +4 "core" %  7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"%n& +4 "core" &^+-\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" % !  ' +2 "storage"(v% +4 "core" %   .\ + "storage"(. +3 "core" .(,y +2 "storage"(V& +3 "core" &,z   O\ +2 "storage"(& +2 "manipulator"&~& +6 "core" &,z   \ + & 9 +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(j'r +5 "core" ( + "manipulator"&=& +4 "core" & U 9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" & 9 +2 .tForearm.seek PC + "manipulator"&X' +94 "core" ' + .tHand.close + "manipulator"&\ / +62 "core" / +2 .tPC.seek :open +2 "processing"%y( +96 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'1 +46 "core" ' +301 ( + "storage"(B& +4 "core" &,y ' '\ +2 "manipulator"&&& +3 "core" &  9 +2 "manipulator"&% +3 "core" %  + +2 .tForearm.seek :retract +2 "manipulator"&[' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&1( +251 "core" ( + "manipulator"&5& +4 "core" & G \ +2 "storage"(b& +4 "core" &,y ' '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +92 "core" ' + .tHand.open +2 "manipulator"& 1 +55 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(d' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(x' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(2& +3 "core" &,y / + \ d +2 "manipulator"&;& +4 "core" &  \ + .tElbow.seek 4 +2 "manipulator"&( +7 "core" ( + "manipulator"&"& +5 "core" &  8 + "storage"(z& +4 "core" &,y + ,\ d +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&J' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(('" +52 "core" ' +2 "manipulator"&-& +4 "core" & ' + "storage"(.& +4 "core" &,y 4 / +\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&6'7 +15 "core" ' +2 .tElbow.hold + "manipulator"&,, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +54 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +19 "core" ' + "manipulator"&% +5 "core" %G Q L + "storage"()& +5 "core" &,y 0 3 \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&h's +15 "core" ' +2 "manipulator"&<& +4 "core" &  +2 "storage"(U& +4 "core" &,y ' '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +21 "core" ' +2 "storage"(/% +4 "core" % & ' /\ +3 ."downElevator"SE.seek :down +4 "storage"( ' +99 (% +3 "core" %L % \ Xi +2 "manipulator"& % +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +88 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,y ' 0 >\ + "collection"'%& +4 "core" &\\ D\ [ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&i% +4 "core" %  F  +2 "storage"(8% +4 "core" % ' &\ + "storage"(Z. +4 "core" .(,y + "storage"(_& +4 "core" &,y 4 + ]\ +2 "storage"(I& +3 "core" &,y ' & #\ +2 "manipulator"&#& +4 "core" &  } + .tElbow.seek 4 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&w& +4 "core" & U + "storage"(& +4 "core" &,y ' '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&|' +95 "core" ' +2 "storage"(W& +4 "core" &,y @ K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +295 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&p& +3 "core" & ! +2 "storage"(F& +3 "core" &,y ( # \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(@- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(}'q +29 "core" ' +2 "manipulator"&% +4 "core" %9 *  +2 "storage"(D& +3 "core" &,y ' \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 302 counts +2 "manipulator"&l'e +14 "core" ' + "manipulator"&^& +4 "core" &  +2 "storage"(& +4 "core" &,y & ' :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"( ' +36 "core" ' + "manipulator"&o& +5 "core" & K + "manipulator"&{% +4 "core" %  5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&g(ӂ +157 "core" ( +2 "manipulator"&+& +4 "core" &Ӌ*  Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &Ӌ* U Bf +2 .tForearm.seek CC + "manipulator"&P'? +95 "core" ' + .tHand.close +2 "manipulator"&3/ +63 "core" / + .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(`& +4 "core" &,y m \ +2 "storage"(7& +3 "core" &,y U V\ +2 "manipulator"&f& +3 "core" &Ӫ$ ] =G +2 "manipulator"&$% +4 "core" % E = 7 + .tForearm.seek :retract +2 "manipulator"&?' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&E( +183 "core" ( + "manipulator"&N& +5 "core" & ' * + "storage"(S& +4 "core" &,y ~ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +63 "core" 1 + "manipulator"&% +5 "core" % F W  + "storage"(& +4 "core" &,y |  -\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&0'r +25 "core" ' +2 "manipulator"&L& +4 "core" & * ) + "storage"(K& +5 "core" &,y \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +16 "core" ' +2 "storage"(\\% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (t% +3 "core" %E >\ Wc +2 "manipulator"&Q% +4 "core" % U + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'c& +4 "core" & h iS\ +2 "manipulator"&a% +4 "core" %  Z  + "storage"(% +4 "core" % "\ +2 "storage"(H. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (q& +2 "core" &<- j Z W\  +2 "manipulator"&n& +4 "core" & d ) +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&v& +3 "core" & & ) +2 "storage"(& +3 "core" &<- U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&V'O +94 "core" ' + "storage"(~& +4 "core" &<- \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (=& +3 "core" &<- ~ =\  + "manipulator"&u& +4 "core" & _ ) +2 .tElbow.seek 5 +2 "manipulator"&m( +3 "core" ( + "manipulator"&\ & +4 "core" & U ) + "storage"(& +4 "core" &<- .\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&T'Ϲ +46 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& + "storage"(j' +7 "core" &  I ) +2 "manipulator"&B% +4 "core" % ϰ V + .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' +3 .tElbow.seek CC +3 "manipulator"&(ӂ +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&X& +5 "core" &ӎ - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &ӎ W - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'? +91 "core" ' +2 "manipulator"&& +4 "core" &ӎ , - + "manipulator"& % +4 "core" %7 a f +2 "collection"'& +4 "core" & i iR\ +3 "collection"'& +4 "core" & h h_\ +2 .tCC.seek :closed +2 "collection"'2(\\ +4 "core" & i iO\  +10 &4} h jU\ +{ +9 &e} h iE\ > +10 &n i jC\ M +9 &UT k i>\ K +9 &R i k@\ L +10 &S l k>\ K +9 &R j l@\ L +9 &\\Q m k@\ L +10 &R j k=\ L +9 &R m k@\ L +10 & Q k k?\ K +9 &"dT l l@\ L +9 &$&W k p=\ L +10 &%W n nB\ K +9 &'T l m:\ K +9 &)mS m l9\ K +10 &+/T j m1\ K +9 &,W l m2\ L +10 &.R l m1\ L +9 &0uR n o1\ K +9 &26T m l7\ L +10 &3W k m<\ L +9 &5W m n4\ L +9 &7|R m m3\ L +10 &9>S m o8\ L +9 &;T n n2\ K +10 &<U q o3\ K +9 &>V n q9\ L +9 &@GU r p7\ K +10 &BW p t3\ L +9 &C\\ v t4\ M +9 &Eb u u7\ N +10 &GBs x z=\ P +9 &H } {1\ R +10 &J ~9\ W +9 &Lq  5\ X +9 &N2 4\ X +10 &O )\ Y +9 &Q 5\ Y +9 &Ss 2\ Z +10 &U4 -\ Z +9 &V *\ [ +9 &X (\ \\ +10 &Zs /\ \\ +9 &\\z (\ 3 +10 &\\- 8\ Z +8 ( +4 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&;1 +3 "core" &\\c 7\ O +53 1 + "manipulator"&"% +4 "core" % 7 f +52 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%[& +4 "core" &<\ + "manipulator"&-% +4 "core" %  J  + "storage"(.% +4 "core" % ' '\ +2 "storage"(k. +3 "core" .(<- + "storage"(& +4 "core" &<- & &\  + "storage"()& +4 "core" &<- & '\  + "manipulator"&d& +4 "core" &ӎ 0 - +2 "manipulator"&<% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +158 "core" ( + "manipulator"&/& +4 "core" &  +2 "storage"(1& +4 "core" &<- K K (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +97 "core" ' + "storage"(x& +4 "core" &<- c c\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &<- ' * \  + "manipulator"&& +4 "core" & <  + .tElbow.seek 5 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&6& +3 "core" & h  +2 "storage"(h& +3 "core" &<- > D K\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +42 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& + "storage"(8' +8 "core" &  +2 "manipulator"&Z% +3 "core" % ϵ j c +2 .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&_( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&I& +4 "core" & B + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" & + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&w' +99 "core" ' +2 "manipulator"&& +5 "core" &  * + "manipulator"&s% +4 "core" %  +2 "processing"%W& +4 "core" &D\ +2 "processing"% & +4 "core" &G\ +2 .tPC.seek :closed +2 "processing"%,(^ +4 "core" &B\ +8 & ,H\ #b +9 &TxE\ 7 +9 &wE\ L +10 &OE\ N +9 &YPB\ O +9 &Q@\ O +10 &RF\ N +9 &OJ\ O +10 &bQ?\ N +9 &$O>\ N +9 &QB\ N +10 &!QH\ O +9 &#jRF\ N +9 &%,NE\ N +10 &&TF\ N +9 &(TF\ O +10 &*rRD\ N +9 &,4OD\ N +9 &-NF\ N +10 &/UD\ O +9 &1yW;\ O +9 &3;T>\ O +10 &4OC\ N +9 &6S?\ N +9 &8V:\ O +10 &:DT6\ N +9 &<R@\ O +10 &=T9\ O +9 &?S0\ O +9 &AKT7\ O +10 &C_6\ P +9 &Db4\ Q +10 &Fr1\ S +9 &H@5\ U +9 &J;\ U +10 &K/\ U +9 &M0\ U +9 &OF3\ V +10 &Q.\ W +14 &R8\ W +4 &T5\ W +13 &VL<\ V +6 &X5\ V +10 &Y/\ V +9 &[3\ W +9 &]R8\ H +10 &^zE~6\ "g +9 &^>3\ 4 +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&G1 +3 "core" &^&5\ 4 +56 1 +2 "manipulator"&C% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +96 "core" ' + "processing"%F& +5 "core" &^%.\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&@% +3 "core" % # ; 3 +2 "storage"(% +4 "core" % % 0 B\ + "storage"(D. +3 "core" .(<- + "storage"(^& +4 "core" &<- ( , &\  +2 "storage"(& +4 "manipulator"&o& +5 "core" &<- 4 4 y\  + & ] * +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +2 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&{( +2 "storage"(|'r +5 "core" ( + "manipulator"&>& +4 "core" & > * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +2 "core" &  * +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&l/ +52 "core" / +2 .tPC.seek :open +2 "processing"%}( +107 "core" ' + "storage"(+- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(*'1 +40 "core" ' +296 ( + "storage"(R& +5 "core" &<- C @ \  + "manipulator"&:& +4 "core" & * + "manipulator"&3% +4 "core" %   = +2 .tForearm.seek :retract +2 "manipulator"&r' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Y( +244 "core" ( + "manipulator"&`& +5 "core" &  < + "storage"(7& +4 "core" &<- & 3 e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +95 "core" ' + .tHand.open +2 "manipulator"&$1 +58 "core" 1 +2 "storage"(N- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(S' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(4& +4 "core" &<- \ p + "manipulator"&& +4 "core" & \   ; + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&L& +4 "core" &  E ; + "storage"(K& +4 "core" &<- { 2\ p +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(?'" +51 "core" ' + "manipulator"&t& +4 "core" & ; +2 "storage"(Q& +4 "core" &<- = 6 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&E'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(c' +23 "core" ' + "manipulator"&0% +5 "core" %Ύ - 3 + "storage"(a& +5 "core" &<- . C \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&'Ϻ +26 "core" ' +2 "manipulator"&H& +4 "core" & ; +2 "storage"( & +3 "core" &<- @ C \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +16 "core" ' +2 "storage"(% +4 "core" % ; G w\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (q% +3 "core" %BJ & ' -\ Xh +2 "manipulator"&n% +4 "core" %I \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +89 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<- F V |\  + "collection"'~& +4 "core" &\\c ?\ O + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&]% +4 "core" %  .  + "storage"(O% +4 "core" % K K _\ + "storage"(A. +4 "core" .(<- + "storage"(=& +4 "core" &<- K G R\  + "storage"(u& +4 "core" &<- K K P\  + "manipulator"&\ & +4 "core" & = ; +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  ; +2 "storage"(!& +4 "core" &<- K K W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +90 "core" ' +2 "storage"(& +4 "core" &<- c X \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'r +297 "core" ' +2 "storage"(X- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&5& +3 "core" & ; +2 "storage"(& +3 "core" &<- I 9 h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +52 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&T'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"('` +28 "core" ' + "manipulator"&m% +5 "core" %Ί 3 + "storage"(j& +4 "core" &<- D C \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 297 counts + "manipulator"&&'϶ +26 "core" ' + "manipulator"&& +5 "core" & j ; + "storage"(;& +4 "core" &<- K J 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&"'O +15 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&[& +4 "core" & o ; +2 "manipulator"&-% +4 "core" %5 B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&k(ӂ +159 "core" ( +2 "manipulator"&& +4 "core" &Ӎ : 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &Ӎ  6 +2 .tForearm.seek CC + "manipulator"&d'? +93 "core" ' +2 .tHand.close + "manipulator"&& +22 "core" &K \ +2 "manipulator"&M& +4 "core" & 7  + .tElbow.seek 6 +2 "manipulator"&w( +3 "core" ( + "manipulator"&l& +4 "core" &  +2 "storage"(+& +3 "core" &K b\ +3 .tForearm.seek 6 + 300 counts + "manipulator"&_'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& + "storage"(|' +7 "core" &  +2 "manipulator"&R% +3 "core" % ϖ +2 .tForearm.seek :retract +2 "manipulator"&:' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3(ӂ +155 "core" ( +3 "manipulator"&& +4 "core" ' + &Ӈ* Bf +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &`& +3 "core" &ӈ) e Ae +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&7'? +93 "core" ' + "manipulator"&{& +5 "core" &ӊ) Ac + "manipulator"&$% +5 "core" %E  s +2 "collection"'N& +3 "core" & g iV\ +3 "collection"'g& +6 "core" & g iC\ +2 .tCC.seek :closed +3 "collection"'4(\\ +3 "core" & f iH\ +6 &; i fO\ %f +9 &Xz g hV\ 8 +10 &t j iT\ L +9 &R k lJ\ L +10 &R j lS\ L +9 &FR l lU\ L +9 &R k mO\ L +10 &T k lA\ K +9 &W m k@\ L +9 &OT k m@\ K +10 & T k o@\ L +9 &!U j n@\ L +10 &#U m o>\ L +9 &%VW j l@\ L +9 &'R k o>\ L +10 &(U l oA\ K +9 &*T n o>\ K +9 &,_T l n?\ K +10 &.!T l n:\ K +9 &/T k o?\ K +9 &1U k o@\ L +10 &3fX n o9\ L +9 &5(R k p/\ L +10 &6R n n7\ L +9 &8T o o5\ L +9 &:mW o o2\ L +10 &<1U q r1\ K +9 &=V n p-\ L +9 &?V p s6\ L +10 &AvW r q;\ L +9 &C5^ u r<\ M +10 &Dn x w7\ N +9 &F z y2\ Q +9 &Ha y z4\ V +10 &J w z9\ X +9 &K { ~3\ X +9 &M z {3\ Y +10 &O_ z ~3\ Y +9 &Q { ~5\ Z +10 &R | |8\ Z +9 &T { ~:\ [ +9 &V` } ?\ [ +10 &X | }2\ ] +9 &Y ~ ~8\ ^ +9 &[ } }4\ K +10 &\\5 ~ }1\ 2 +9 &\\l ~ 3\ S +3 ( +2 "collection"'g& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&L% +4 "core" % E s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +91 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%r& +4 "core" &4\ + "manipulator"&t% +4 "core" %  .  +2 "storage"(Q% +4 "core" % & &\ +2 "storage"(0. +3 "core" .(K + "storage"(a& +4 "core" &K & %\ + "storage"(*& +4 "core" &K  " @\ +2 "manipulator"&H& +4 "core" &Ӌ( h Ab + "manipulator"& % +4 "core" %  "  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&S( +163 "core" ( +2 "manipulator"&& +4 "core" & B  + "storage"(Y& +4 "core" &K K J P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&f' +95 "core" ' +2 "storage"(P& +4 "core" &K T E 4\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +299 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +2 "core" &K ' ' \ +2 "manipulator"&& +3 "core" & ;  +2 .tElbow.seek 6 + "manipulator"&?( +4 "core" ( + "manipulator"&E& +4 "core" &   + "storage"(& +4 "core" &K D D \ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +34 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"(O' +7 "core" &  + "manipulator"&A% +4 "core" % σ * +2 .tForearm.seek :retract + "manipulator"&c' +95 "core" ' + .tElbow.seek PC +2 "manipulator"&=( +164 "core" ' + ."downElevator"SE.stop +50 "storage"(5 +25 "core" ( +2 "manipulator"&u& +4 "core" & . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" & o . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +88 "core" ' +2 "manipulator"&!& +4 "core" & y . +2 "manipulator"&'% +3 "core" % 4 n +2 "processing"%& +4 "core" &7\ +3 "processing"%& +6 "core" &B\ +2 .tPC.seek :closed +3 "processing"%(^ +3 "core" &A\ +5 &?\ 3 +10 &9Fq>\ 0 +9 &`q{@\ E +10 &\\?\ N +9 &NC\ N +9 &MB\ N +10 &FR=\ N +9 &N@\ N +9 &PC\ N +10 &TE\ O +9 &MRB\ O +10 &!OE\ N +9 &"NE\ N +9 &$OE\ O +10 &&UQA\ O +9 &(SB\ O +9 &)QF\ O +10 &+RF\ N +9 &-]S>\ O +9 &/R?\ O +10 &0U>\ O +9 &2P=\ O +10 &4fT1\ N +9 &6'U/\ O +9 &7O4\ N +10 &9Q-\ N +9 &;lV<\ O +9 &=0Q2\ N +10 &>T-\ O +9 &@U1\ O +10 &Bod5\ Q +9 &D.k0\ R +9 &E3\ U +10 &G;\ U +9 &Ik/\ U +9 &K-4\ U +10 &L8\ U +9 &N@\ V +10 &Pn4\ W +9 &R-2\ X +9 &S.\ W +10 &U2\ V +9 &Wv.\ V +9 &Y61\ W +10 &Z,\ V +9 &\\/\ W +10 &^2`2\ . +9 &^4\ C +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.74 + .Hand.open +2 "manipulator"&v1 +3 "core" &^I3\ = +52 1 +2 "manipulator"&X% +4 "core" %  z n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +90 "core" ' + "processing"%& +4 "core" &^I)\ = +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +4 "core" %  3  +2 "storage"(m% +4 "core" % ( \ + "storage"(j. +3 "core" .(K +2 "storage"(& +3 "core" &K '\ +2 "storage"(;& +2 "manipulator"&[& +6 "core" &K  " D\ + &  . +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +3 "manipulator"&-( +2 "storage"(B'r +5 "core" ( +2 "manipulator"&& +3 "core" &  . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &  . +2 .tForearm.seek PC + "manipulator"&T' +98 "core" ' +2 .tHand.close + "manipulator"&&/ +61 "core" / +3 .tPC.seek :open +2 "processing"%( +88 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'1 +54 "core" ' +300 ( +2 "storage"("& +4 "core" &K ( )\ + "manipulator"&& +4 "core" & Q . + "manipulator"&<% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&.' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&2( +246 "core" ( +2 "manipulator"&/& +4 "core" & 5 +2 "storage"(1& +3 "core" &K ' '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +99 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(J- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(d' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +4 "core" -' + "storage"(%& +4 "core" &K\ \  y\ V +2 "manipulator"&i& +3 "core" &  4 +2 .tElbow.seek 6 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&e& +4 "core" &   4 +2 "storage"(& +3 "core" &K\ \  \ V +3 .tForearm.seek 6 + 450 counts + "manipulator"&I' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(z'" +51 "core" ' +2 "manipulator"&(& +4 "core" & 4 +2 "storage"(& +3 "core" &K ' ( 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +15 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(W' +22 "core" ' +2 "manipulator"&U% +4 "core" %C ~  +2 "storage"(8& +3 "core" &K 5 4\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&9'o +16 "core" ' + "manipulator"&y& +4 "core" &  # 4 +2 "storage"(& +4 "core" &K A H \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(#% +5 "core" % ; = c\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (C% +3 "core" %eJ  _\ Xi +2 "manipulator"&F% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (D& +3 "core" &K ' ' D\ +2 "collection"' & +4 "core" &\\h 2\ S + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&h% +3 "core" %  % ! +2 "storage"(s% +4 "core" % B > \ + "storage"(. +3 "core" .(K +2 "storage"(>& +3 "core" &K 1 > \ +2 "storage"(M& +4 "core" &K D D j\ + "manipulator"&l& +4 "core" & V 4 +2 .tElbow.seek 6 + "manipulator"&+( +3 "core" ( +2 "manipulator"&p& +3 "core" & C 4 +2 "storage"(,& +4 "core" &K B ? ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&R' +94 "core" ' + "storage"(@& +4 "core" &K 9 F h\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'r +300 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" & 4 4 + "storage"(o& +4 "core" &K ' '\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&_'< +22 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"($- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(N'i +30 "core" ' + "manipulator"&w% +4 "core" %K [ +2 "storage"(|& +3 "core" &K ) X\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&:'w +25 "core" ' + "manipulator"&b& +5 "core" & M 4 + "storage"(& +4 "core" &K E B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(r' +35 "core" ' +2 "manipulator"&t& +4 "core" & 4 +2 "manipulator"&Q% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +154 "core" ( + "manipulator"&*& +5 "core" &ӓ" k <; + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &ӓ# $ <; +2 .tForearm.seek CC +2 "manipulator"&H'? +91 "core" ' +2 .tHand.close + "manipulator"& / +57 "core" / +2 .tCC.seek :open + "collection"'7( +450 "core" ( +2 "storage"(& +4 "core" &K \ +2 "storage"(Y& +3 "core" &K ~\ +2 "manipulator"&P& +3 "core" &Ӕ# <: +2 "manipulator"&3% +3 "core" % G M g +2 .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +52 .tElbow.seek 6 +2 "manipulator"&n( +164 "core" ( + "manipulator"&\\& +4 "core" &  +2 "storage"(& +3 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&E'< +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&~1 +54 "core" 1 +4 "manipulator"&]% +4 "core" % 4 2 + "storage"(A& +4 "core" &K a\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 292 counts + "manipulator"&S'` +15 "core" ' + "manipulator"&f& +5 "core" &   + "storage"(q& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +20 "core" ' + "storage"(u% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(\ ' +99 (?% +3 "core" %F k\ Wc +2 "manipulator"&!% +4 "core" %  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +93 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" & i j>\ +2 "manipulator"&O% +4 "core" %  H  +2 "storage"(c% +3 "core" % \ +2 "storage"(}. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(v(  +1301 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +2 "core" &  ~ K\ +2 "manipulator"&& +3 "core" &    +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&m& +4 "core" &  L  +2 "storage"(j& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +90 "core" ' +2 "storage"(;& +4 "core" &  P\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  z '\ + "manipulator"&V& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&&& +3 "core" & =  +2 "storage"(& +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&='Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&5/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(B' +7 "core" & j  + "manipulator"&"% +4 "core" % ϲ , +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<(ӂ +157 "core" ( +2 "manipulator"&T& +4 "core" ' + &Ӝ 8 +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 &/& +2 "core" &Ӝ 8 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&1'? +91 "core" ' +2 "manipulator"&-& +4 "core" &Ӝ 8 + "manipulator"&% +4 "core" %? X u +2 "collection"'J& +4 "core" & i h\\\ +2 "collection"'k& +5 "core" & k i]\ +2 .tCC.seek :closed + "collection"'%(\\ +4 "core" & h gH\  +9 &5| f iB\ *z +10 &\ g~ j iA\ ? +9 &n j l:\ M +9 &YS k lS\ L +10 &S l mR\ K +9 &T m lT\ L +10 &R m nV\ L +9 &cS l kR\ K +9 &$U l oR\ L +10 &T m oM\ K +9 & T m lR\ L +9 &"jW m mB\ L +10 &$-T l mP\ K +9 &%U k mD\ L +10 &'W n oD\ L +9 &)sT m n@\ K +9 &+4U m mB\ L +10 &,W m nC\ L +9 &.S j m@\ K +9 &0zT o l?\ L +10 &2;W o n@\ L +9 &3T o pA\ K +9 &5U q mB\ L +10 &7T o p?\ K +9 &9CU p p=\ L +10 &;T o q@\ L +9 &<W p q@\ L +9 &>U q r>\ L +10 &@LU r r;\ L +9 &BW s t?\ L +9 &C[ u t8\ M +10 &Eb w w9\ M +9 &GHq z z9\ P +10 &I ~ }4\ R +9 &J 7\ W +9 &Lx 3\ W +10 &N6 <\ Y +9 &O @\ Y +9 &Q :\ Y +10 &Su 7\ [\ +9 &U: 5\ Z +10 &V >\ [ +9 &X @\ \\ +9 &Zx A\ ] +10 &\\{ @\ 0 +9 &\\0 ?\ !f +9 ( +2 &\\d A\ P +2 "collection"'k& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&i1 +62 "core" 1 +2 "manipulator"&e% +4 "core" % ? < u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%.& +4 "core" &B\ +2 "manipulator"&(% +3 "core" %    +2 "storage"(% +4 "core" % ) '\ + "storage"(U. +3 "core" .(  +2 "storage"(8& +3 "core" &  ' ' \ +2 "storage"()& +4 "core" &  ) (\ + "manipulator"&y& +4 "core" &Ӝ O 8 + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +160 "core" ( + "manipulator"&#& +5 "core" & 7  + "storage"(2& +4 "core" &  L L G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&x'S +97 "core" ' + "storage"(d& +4 "core" &  c c \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +295 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (I& +3 "core" &  0 , i\ + "manipulator"&Z& +4 "core" &    +2 .tElbow.seek 2 +2 "manipulator"&z( +3 "core" ( + "manipulator"& & +4 "core" & 4  +2 "storage"(9& +4 "core" &  > B \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&D'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(s' +7 "core" &  J  +2 "manipulator"&W% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&>( +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +71 "core" ( + "manipulator"&M& +5 "core" & = O + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &  O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p' +91 "core" ' +2 "manipulator"&,& +4 "core" &  O + "manipulator"&% +5 "core" % @ + "processing"%@& +4 "core" &3\ +2 "processing"%& +6 "core" &5\ +2 .tPC.seek :closed +2 "processing"%6(^ +4 "core" &L\ +8 & +F\ $c +9 &UwF\ 7 +9 &}vE\ K +10 &QF\ N +9 &[T?\ O +10 &RD\ O +9 &TG\ O +9 &QH\ O +10 &dOI\ N +9 &&QE\ N +9 &NH\ O +10 &!PH\ O +9 &#kRD\ O +10 &%.NE\ N +9 &&SF\ N +9 &(OE\ O +10 &*tTH\ N +9 &,5OF\ O +9 &-QG\ N +10 &/UE\ O +9 &1{RH\ O +10 &3=U@\ O +9 &5SD\ N +9 &6RD\ N +10 &8V@\ O +9 &:EO?\ O +9 &<SB\ N +10 &=R8\ O +9 &?U9\ O +10 &AMUB\ O +9 &C\ c7\ P +9 &De9\ Q +10 &Fv9\ S +9 &HC1\ U +9 &J:\ U +10 &K/\ U +9 &M:\ V +10 &OH=\ V +9 &Q6\ W +9 &R;\ V +10 &T:\ W +9 &VN;\ V +9 &X=\ W +10 &Y;\ W +9 &[7\ W +9 &]S3\ J +10 &^{E5\ !c +9 &^;6\ 5 +6 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&1 +3 "core" &^&8\ 5 +57 1 +2 "manipulator"&% +4 "core" %  i @ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +92 "core" ' +2 "processing"%o& +4 "core" &^&5\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&$% +3 "core" %   +2 "storage"(w% +3 "core" %  5\ +2 "storage"(|. +3 "core" .(  + "storage"(b& +4 "core" &    \ +3 "storage"(& +3 "manipulator"&t& +4 "core" &   q\ + & l N +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +54 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&Q( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(R'r +2 "core" ( +2 "manipulator"&+& +4 "core" & X N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" & w N +2 .tForearm.seek PC +2 "manipulator"&_' +90 "core" ' +2 .tHand.close + "manipulator"&:/ +55 "core" / +2 .tPC.seek :open +2 "processing"%N( +115 "core" ' +2 "storage"(*- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'1 +44 "core" ' +286 ( +2 "storage"(L& +4 "core" &  W c \ +2 "manipulator"&{& +3 "core" & 4 N +2 "manipulator"& % +3 "core" %  R +2 .tForearm.seek :retract +2 "manipulator"&0' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&4( +242 "core" ( + "manipulator"&& +4 "core" & & 0 +2 "storage"(Y& +3 "core" &  4 > T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&P'S +104 "core" ' + .tHand.open +2 "manipulator"&31 +55 "core" 1 +2 "storage"(H- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(\\' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(a- +3 "core" -' +2 "storage"(~& +3 "core" & \ \  \ V +2 "manipulator"&]& +4 "core" &   0 + .tElbow.seek 2 +2 "manipulator"&A( +4 "core" ( + "manipulator"&f& +4 "core" &   0 + "storage"(q& +4 "core" & \ \  j\ V +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&u'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(K'" +51 "core" ' +2 "manipulator"&?& +4 "core" & @ 0 + "storage"(!& +5 "core" &  ' , 4\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&n'Α +28 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' + "manipulator"&S% +5 "core" %Τ + "storage"(O& +5 "core" &  ' &\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&c' +15 "core" ' +2 "manipulator"&}& +5 "core" & B / + "storage"(r& +5 "core" &  D D \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +18 "core" ' +2 "storage"(\ % +4 "core" % : F )\ +3 ."downElevator"SE.seek :down +3 "storage"(G' +99 (X% +3 "core" %R   (\ Yl +2 "manipulator"&% +4 "core" %[ K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +92 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (j& +3 "core" &  C > |\ +2 "collection"';& +4 "core" &\\c F\ P + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %  E  +2 "storage"('% +4 "core" % 1 * \ + "storage"(. +4 "core" .(  + "storage"(& +4 "core" &  * ; .\ + "storage"(V& +4 "core" &  = > !\ +2 "manipulator"&&& +3 "core" & \ / +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&5& +4 "core" &  q / +2 "storage"(& +3 "core" &  = < \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&"'S +90 "core" ' + "storage"( & +5 "core" &  W _ \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +306 "core" ' +2 "storage"(T- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&/& +3 "core" &  s / +2 "storage"([& +4 "core" &  L J F\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&='Α +18 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(J'a +30 "core" ' +2 "manipulator"&% +4 "core" %Κ  g + + "storage"(B& +5 "core" &  C C Z\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&' +15 "core" ' + "manipulator"&7& +5 "core" & / + "storage"(i& +4 "core" &  K J -\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&e'S +17 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(.' +35 "core" ' +2 "manipulator"&(& +4 "core" &  l / + "manipulator"&% +5 "core" %? I + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&8(ӂ +165 "core" ( + "manipulator"&k& +4 "core" &Ӊ 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &Ӊ  1 +2 .tForearm.seek CC +2 "manipulator"&y'? +94 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tCC.seek :open +2 "collection"'1( +450 "core" ( + "storage"(#& +4 "core" &  y \ +2 "storage"(2& +3 "core" &  \ +2 "manipulator"&d& +3 "core" &Ӊ ; 1 +2 "manipulator"&<% +4 "core" % J  : + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&F( +154 "core" ( +2 "manipulator"&I& +4 "core" & 3  +2 "storage"(Z& +3 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"& 'Α +100 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +59 "core" 1 +2 "manipulator"&h% +4 "core" % Τ % + "storage"(W& +4 "core" &  } e\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +16 "core" ' + "manipulator"&x& +5 "core" &  + "storage"(C& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&D'S +18 "core" ' + "storage"(M% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(l' +99 (z% +2 "core" %tL Z\ Wg +2 "manipulator"&,% +4 "core" %_  M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'@& +4 "core" & h iT\ + "manipulator"&s% +5 "core" %   f  + "storage"(% +4 "core" % s\ + "storage"(. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & | } (\ \ + "manipulator"&o& +4 "core" & U  +2 .tElbow.seek 3 +49 "manipulator"&$( +37 "core" ( + "manipulator"&w& +4 "core" &x ` 9 +2 "storage"(|& +4 "core" & &\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b'7 +100 "core" ' + "storage"(& +4 "core" & +\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'r +297 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" & ~ !\ \ + "manipulator"&^& +4 "core" &x   9 +2 .tElbow.seek 3 +2 "manipulator"&p( +14 "core" ( + "manipulator"&:& +4 "core" &y  6 % +2 "storage"(*& +3 "core" & { \ \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&>'ϡ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(R' +7 "core" &z  $ + "manipulator"&L% +4 "core" % Ϙ  +2 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +153 "core" ( + "manipulator"&_& +5 "core" &ӎ' L @Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +4 "core" &ӎ( ( @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'? +92 "core" ' +2 "manipulator"&Q& +4 "core" &ӏ( @X +2 "manipulator"&3% +4 "core" %@  v + "collection"'H& +4 "core" & h iT\ +3 "collection"'a& +4 "core" & g iA\ +2 .tCC.seek :closed +2 "collection"'~(\\ +5 "core" & j jF\ +7 &; i h@\ %f +9 &Xz j iO\ 7 +10 &v j jW\ L +9 &Q l jT\ L +9 &T j kV\ L +10 &CT m jW\ L +9 &W l kX\ L +10 &T k kQ\ L +9 &Q n mT\ L +9 &KS j lG\ L +10 & R l k?\ K +9 &!T l m@\ L +10 &#T m nC\ K +9 &%RT l mB\ L +9 &'S o mC\ L +10 &(T k l@\ L +9 &*Q n nC\ L +9 &,[S m lB\ L +10 &.S l o?\ K +9 &/T o mA\ L +9 &1U m l@\ K +11 &3cT l nB\ L +8 &5&T n mB\ K +10 &6U l m`\ L +9 &8S p nH\ L +9 &:kT p o<\ L +10 &<,W q p9\ L +9 &=U p r4\ L +9 &?U r q4\ L +10 &AqV s q,\ L +9 &C2[ t t0\ M +10 &D` v w1\ M +9 &Fn x z:\ O +9 &Hi ~ |:\ R +10 &J 5\ V +9 &K :\ X +10 &M ;\ X +9 &O[ 4\ Y +9 &Q 8\ Z +10 &R 1\ Z +9 &T :\ Z +9 &V^ 9\ [\ +10 &X ?\ \\ +9 &Y ;\ ] +9 &[ >\ J +10 &\\6 2\ - +9 &\\ 3\ \\ +6 ( + "collection"'a& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&]1 +4 "core" &\\| >\ \\ +56 1 + "manipulator"&f% +5 "core" % @ D v + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +89 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%0& +5 "core" &0\ + "manipulator"&?% +4 "core" %   + "storage"(!% +4 "core" % ' &\ +2 "storage"(S. +3 "core" .( + "storage"(O& +4 "core" & ' '\ \ +2 "storage"(g& +4 "core" & & &\ \ + "manipulator"&}& +4 "core" &Ӑ' c @W +2 "manipulator"&r% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\\( +166 "core" ( + "manipulator"&\ & +5 "core" & ~ + "storage"(4& +4 "core" & ' & a\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&P'7 +95 "core" ' +2 "storage"(& +4 "core" & ? E "\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'r +299 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (u& +3 "core" & & (\ \ +2 "manipulator"&A& +3 "core" & ~ +2 .tElbow.seek 3 +2 "manipulator"&K( +3 "core" ( + "manipulator"&n& +4 "core" & / ~ + "storage"(c& +4 "core" & ' '\ \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&j'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('' +7 "core" & o ~ + "manipulator"&% +4 "core" % ϙ > +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&V& +4 "core" & Q $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" & $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&5' +93 "core" ' + "manipulator"&& +4 "core" & $ +2 "manipulator"&% +4 "core" % K + "processing"% & +4 "core" &F\ +3 "processing"%G& +4 "core" &:\ +2 .tPC.seek :closed + "processing"%E(^ +5 "core" &D\  +9 &0xC\ *y +10 &b}A\ > +9 &gnE\ O +9 &)OE\ N +10 &OF\ O +9 &OE\ N +10 &oPD\ N +9 &1TB\ N +9 &O?\ N +10 &O@\ N +9 & wT<\ N +9 &"9N<\ N +10 &#QB\ N +9 &%R?\ N +9 &'~R0\ O +10 &)@Q3\ O +9 &+O1\ N +10 &,T6\ O +9 &.O.\ N +9 &0HQ8\ O +10 &2\ O3\ O +9 &3T6\ O +9 &5T7\ N +10 &7QQ:\ N +9 &9R4\ O +10 &:U8\ O +9 &<T6\ O +9 &>XR9\ O +10 &@S0\ O +9 &A\\5\ P +9 &Ck4\ Q +10 &ERx+\ T +9 &G8\ U +10 &H9\ U +9 &J:\ U +9 &LT3\ U +10 &N6\ V +9 &O9\ V +9 &Q0\ W +10 &SY;\ V +9 &U1\ V +10 &V8\ W +9 &X7\ V +9 &Z`8\ W +10 &\\"-\ W +9 &]/\ 4 +9 &^3p.\ F +9 ( +2 &^"0\ 3 +2 "processing"%G& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open + "manipulator"&m1 +59 "core" 1 +2 "manipulator"&T% +4 "core" %  K + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +96 "core" ' + "processing"%[& +4 "core" &^"1\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" % % A 9 +2 "storage"(% +4 "core" %  9\ + "storage"(B. +3 "core" .( +2 "storage"(7& +3 "core" &   6\ \ +2 "storage"(i& +4 "manipulator"&(& +5 "core" &  \ \ + & L $ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&( +2 "storage"("'r +5 "core" ( + "manipulator"&& +4 "core" &  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 2 $ +2 .tForearm.seek PC +2 "manipulator"&=' +98 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%J( +93 "core" ' + "storage"(k- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"()'1 +43 "core" ' +307 ( + "storage"(e& +4 "core" &  ' )\ \ +2 "manipulator"&-& +4 "core" & $ + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&U' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&%( +246 "core" ( + "manipulator"&#& +4 "core" &| R +2 "storage"(2& +3 "core" & 5 6\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&d'7 +92 "core" ' +2 .tHand.open + "manipulator"&<1 +63 "core" 1 +2 "storage"(I- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(Z' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(y' +59 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"( & +4 "core" & > ' /\ e\ + "manipulator"&h& +4 "core" &|  R +2 .tElbow.seek 3 +2 "manipulator"&W( +3 "core" ( +50 "manipulator"&x& +6 "core" &| R + "storage"(C& +5 "core" & p o \ \ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&M'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +51 "core" ' + "manipulator"&z& +5 "core" &| @ R + "storage"(,& +4 "core" & 2 * P\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&F'u +24 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(@' +29 "core" ' +2 "manipulator"&% +5 "core" %΀ 3 + "storage"(s& +4 "core" & ' (\ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 311 counts +2 "manipulator"&'Ϭ +27 "core" ' + "manipulator"&& +4 "core" &} v Q +2 "storage"(.& +4 "core" & ' '\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&D'7 +14 "core" ' + "storage"(l% +5 "core" % ' *\ +2 ."downElevator"SE.seek :down +4 "storage"(v' +98 (% +3 "core" %EH ' )\ Xh +2 "manipulator"&o% +4 "core" %; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +87 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +4 "core" & 0 ' 7\ \ + "collection"'& +4 "core" &\\{ 3\ \\ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&9% +4 "core" %  9  +2 "storage"(% +4 "core" % ' &\ + "storage"(. +3 "core" .( +2 "storage"(+& +3 "core" & ( &\ \ +2 "storage"(^& +4 "core" & ' &\ \ + "manipulator"&:& +4 "core" &}  Q + .tElbow.seek 3 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&`& +3 "core" &} C Q +2 "storage"(6& +4 "core" & 3 3 F\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&L'7 +92 "core" ' +2 "storage"($& +4 "core" & C 7 \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +299 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &} w Q + "storage"(t& +4 "core" & ( & "\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&>'u +18 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(H'g +29 "core" ' +2 "manipulator"&p% +4 "core" %Ά   + "storage"(R& +4 "core" & ( ( %\ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&{'ϲ +26 "core" ' + "manipulator"&1& +5 "core" &} Q + "storage"(]& +4 "core" & ' (\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&f'7 +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(0' +39 "core" ' +2 "manipulator"&?& +4 "core" &} & Q + "manipulator"&!% +4 "core" %O 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +162 "core" ( + "manipulator"&g& +4 "core" &ӎ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &ӎ a 5 +2 .tForearm.seek CC +2 "manipulator"&}'? +93 "core" ' + .tHand.close + "manipulator"&r/ +62 "core" / + .tCC.seek :open +2 "collection"'Y( +450 "core" ( + "storage"(\ & +4 "core" & :\ \ +2 "storage"(4& +3 "core" & ;\ \ +2 "manipulator"&& +3 "core" &ӎ  S 5 +2 "manipulator"& % +4 "core" % A  ) I + .tForearm.seek :retract +2 "manipulator"&q' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +163 "core" ( + "manipulator"&u& +4 "core" & .  +2 "storage"(A& +3 "core" & \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&n'u +93 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&;1 +60 "core" 1 + "manipulator"&% +5 "core" % · B 0 + "storage"(& +4 "core" & \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&\\'ϳ +22 "core" ' +2 "manipulator"&P& +4 "core" & y  + "storage"(X& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&j'7 +21 "core" ' + "storage"(V% +4 "core" % C\ +3 ."downElevator"SE.seek :down +3 "storage"(&' +99 (K% +3 "core" %A \ Wc +2 "manipulator"&% +3 "core" %@ 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"' & +5 "core" & g i>\ + "manipulator"&'% +4 "core" %   (  +2 "storage"(% +3 "core" % i\ +2 "storage"(N. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(m(,y +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +2 "core" &,w Z s P\  +2 "manipulator"&[& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +40 "core" ( +2 "manipulator"&& +4 "core" & m +2 "storage"(B& +3 "core" &,w .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +91 "core" ' +2 "storage"(G& +4 "core" &,w \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('r +298 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,w z \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&5( +3 "core" ( + "manipulator"&& +4 "core" &  + "storage"(k& +4 "core" &,w K\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +44 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& + "storage"("' +7 "core" & H +2 "manipulator"&e% +3 "core" % \\ o +2 .tForearm.seek :retract +2 "manipulator"&-' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( + ' +2 "manipulator"&=& +4 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &Ӎ% 1 >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &Ӎ%  x >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'? +91 "core" ' +2 "manipulator"&& +4 "core" &Ӎ%  >M +2 "manipulator"&<% +4 "core" %3  V + "collection"'I& +4 "core" & g i`\ +2 "collection"'8& +5 "core" & i jP\ +2 .tCC.seek :closed +2 "collection"' (\\ +58 "core" & g iC\ + & i jT\ + & h hQ\ +2 & g jW\ + & i jW\ + & h jT\ & h iO\  +5 &1x i hK\ *x +9 &c| f h?\ = +10 &vo l jA\ M +9 &;R l i?\ L +9 &V m lA\ L +10 &R l lD\ L +9 &Q k kC\ L +9 &DS m lB\ K +10 &X k kA\ L +9 &S k nB\ L +10 & U l lA\ L +9 &"KV k k@\ L +9 &$ U k l?\ L +10 &%R k mB\ L +9 &'R m n@\ L +9 &)TS l m8\ K +10 &+T k n2\ K +9 &,T l m2\ L +9 &.U k m3\ L +10 &0[V k m3\ L +9 &2V o o9\ L +10 &3T n n1\ K +9 &5U k p7\ L +9 &7bW o n8\ L +10 &9%U o o8\ L +9 &:R p p>\ L +9 &<T m p3\ L +10 &>jW q r;\ L +9 &@-T q q8\ L +10 &AV u s3\ L +9 &CZ s r5\ M +9 &Ena w w;\ M +10 &G*s v w8\ O +9 &H x x4\ R +9 &J  |0\ W +10 &LV }3\ X +9 &N ~ }4\ Y +10 &O ~ ;\ Y +9 &Q  ~4\ Z +9 &SX  3\ Z +10 &U  5\ [ +9 &V ,\ \\ +9 &X *\ ] +10 &ZX (\ ] +9 &[y ,\ ? +10 &\\+ "\ )y +9 &\\i  \ S +2 ( +2 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&h1 +55 "core" 1 + "manipulator"&x% +4 "core" % 3  V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%C& +4 "core" &-\ +2 "manipulator"&z% +3 "core" %  8  +2 "storage"(,% +4 "core" % ' '\ + "storage"(). +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(Z(,y +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,w 6\  +2 "manipulator"&s& +4 "core" &Ӎ% $ >M + "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&.( +165 "core" ( +2 "manipulator"&%& +4 "core" & 9  +2 "storage"(l& +3 "core" &,w E D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +93 "core" ' +2 "storage"(y& +4 "core" &,w U G /\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' + "storage"(o- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &,w ' ! >\  +2 "manipulator"&W& +3 "core" & G  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&F& +4 "core" & :  +2 "storage"(|& +4 "core" &,w E E\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&9& +2 "storage"(' +8 "core" &  + "manipulator"&% +4 "core" % ό +2 .tForearm.seek :retract +2 "manipulator"&@' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +71 "core" ( + "manipulator"&^& +5 "core" & j 8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" & ( 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&`' +96 "core" ' + "manipulator"&6& +4 "core" &  8 +2 "manipulator"&D% +4 "core" % " + "processing"%$& +4 "core" &A\ +3 "processing"%v& +4 "core" &0\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &@\  +9 &2x=\ )w +9 &c|?\ > +10 &jp;\ O +9 &,N>\ N +10 &TI\ N +9 &Q=\ N +9 &rO<\ N +10 &4O=\ N +9 &OA\ N +9 &RG\ N +10 & yRA\ O +9 &"<QD\ N +10 &#TB\ N +9 &%Q?\ N +9 &'OD\ N +10 &)DO?\ N +9 &+O=\ N +9 &,O<\ N +10 &.N:\ N +9 &0LQ5\ N +10 &2 T:\ O +9 &3R6\ O +9 &5S>\ O +10 &7TP8\ N +9 &9R.\ N +9 &:U.\ O +10 &<R-\ O +9 &>[R.\ O +10 &@R.\ O +9 &A\\2\ O +9 &Ck.\ Q +10 &EWw3\ S +9 &G/\ T +9 &H-\ U +10 &J4\ U +9 &LX0\ U +10 &N.\ V +9 &O.\ V +9 &Q-\ V +10 &S[6\ W +9 &U/\ W +9 &V/\ W +10 &X2\ V +9 &Zc,\ W +10 &\\%.\ W +9 &]z-\ 8 +9 &^-}-\ [ +10 &^#&\ 4 +2 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&w1 +58 "core" 1 + "manipulator"&_% +5 "core" %   " + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%t& +4 "core" &^%)\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&3% +4 "core" %   + "storage"(p% +4 "core" % +\ + "storage"(R. +4 "core" .(,y + "storage"(1& +4 "core" &,w ! & ,\  + "storage"(]& +4 "manipulator"&?& +4 "core" &,w d\  +2 & ' 8 +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&!( + "storage"(L'r +5 "core" ( + "manipulator"&*& +4 "core" & 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" & R 8 +2 .tForearm.seek PC +2 "manipulator"&>' +93 "core" ' +2 .tHand.close + "manipulator"&{/ +54 "core" / + .tPC.seek :open +2 "processing"%H( +101 "core" ' +2 "storage"(g- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'1 +39 "core" ' +306 ( + "storage"(f& +4 "core" &,w 8 D \  +2 "manipulator"&Q& +3 "core" &  8 +2 "manipulator"&r% +3 "core" %   1 C +2 .tForearm.seek :retract +2 "manipulator"&S' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&~( +244 "core" ( +2 "manipulator"&\ & +4 "core" & 2 +2 "storage"(4& +3 "core" &,w 4 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +98 "core" ' + .tHand.open +2 "manipulator"& 1 +54 "core" 1 +3 "storage"(u- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(}' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(O- +3 "core" -' +2 "storage"(;& +3 "core" &,w V\ R +2 "manipulator"&& +4 "core" & \  v 2 + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&P& +3 "core" &  & 2 +2 "storage"(X& +4 "core" &,w v\ R +2 .tForearm.seek 4 + 450 counts + "manipulator"&V' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(q'" +60 "core" ' + "manipulator"&K& +5 "core" & u 2 + "storage"(& +4 "core" &,w ( ( \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +16 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +21 "core" ' + "manipulator"&\\% +5 "core" %I  * + "storage"('& +4 "core" &,w 3 1 j\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&'u +14 "core" ' +2 "manipulator"&N& +4 "core" & 2 +2 "storage"(0& +4 "core" &,w < < q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +18 "core" ' + "storage"(&% +5 "core" % = @\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (T% +3 "core" %AN \  g\ Yk +2 "manipulator"&[% +4 "core" % 2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (B& +4 "core" &,w C C \  +2 "collection"'G& +3 "core" &\\g <\ S +53 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&c% +4 "core" %    + "storage"(% +4 "core" % 3 ? F\ +2 "storage"(i. +3 "core" .(,y + "storage"(& +4 "core" &,w C C \  + "storage"(& +4 "core" &,w D C \  +2 "manipulator"&& +4 "core" & 1 + .tElbow.seek 4 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&/& +3 "core" & 1 +2 "storage"(E& +4 "core" &,w D / [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +93 "core" ' + "storage"(& +5 "core" &,w V H F\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'r +300 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&#& +3 "core" & 1 +2 "storage"((& +3 "core" &,w ( , N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(I'q +29 "core" ' + "manipulator"&5% +5 "core" %H r + "storage"("& +4 "core" &,w ' ) e\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&-'t +25 "core" ' + "manipulator"&Y& +5 "core" &  1 1 + "storage"(h& +4 "core" &,w ? = \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&x' +20 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(C' +40 "core" ' + "manipulator"&z& +5 "core" & b 1 + "manipulator"&,% +5 "core" % 9 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&8& +4 "core" &ӏ# <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &ӏ# ` <= +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&2/ +61 "core" / +2 .tCC.seek :open + "collection"'%( +447 "core" ( + "storage"(l& +5 "core" &,w |\  + "storage"(m& +4 "core" &,w \  + "manipulator"&y& +4 "core" &ӏ# <= + "manipulator"&% +4 "core" % ; 5 X +2 .tForearm.seek :retract + "manipulator"&U' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&o( +162 "core" ( +2 "manipulator"&M& +4 "core" & 1  +2 "storage"(W& +3 "core" &,w \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&F'7 +92 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&9% +4 "core" % E \ U +2 "storage"(& +3 "core" &,w \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 314 counts +2 "manipulator"&.'q +15 "core" ' +2 "manipulator"&d& +4 "core" &    + "storage"(& +4 "core" &,w E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(^% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(:' +99 (% +3 "core" %? | z 2\ V` +2 "manipulator"&6% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +92 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'$& +4 "core" & h h@\ + "manipulator"&% +5 "core" %   _  + "storage"(@% +4 "core" % \ + "storage"(J. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(w(<- +368 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (_& +2 "core" &<1 \ +2 "manipulator"&t& +4 "core" & ?  + .tElbow.seek 5 +2 "manipulator"&3( +3 "core" ( +2 "manipulator"&p& +3 "core" & -  +2 "storage"(R& +3 "core" &<1 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +95 "core" ' +2 "storage"(?& +4 "core" &<1 5\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +296 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &<1 l\ +2 "manipulator"&b& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&`( +4 "core" ( + "manipulator"&{& +4 "core" &  + "storage"(g& +4 "core" &<1 \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&+'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & + "storage"(L' +8 "core" & v  +2 "manipulator"&f% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&Q' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&r(ӂ +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&>& +3 "core" &ӎ' & @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &ӎ& , @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&4'? +97 "core" ' +2 "manipulator"&!& +4 "core" &ӏ&  g ?V + "manipulator"& % +5 "core" %I _ B + "collection"'u& +5 "core" & i h9\ +2 "collection"'O& +5 "core" & h hM\ +2 .tCC.seek :closed +2 "collection"';(\\ +4 "core" & i hV\ +9 &; h hN\ %f +9 &Yz i iQ\ 7 +9 &w k iR\ L +10 &Q i hR\ L +9 &S j lJ\ L +9 &DW m lC\ L +10 &T k jB\ K +9 &U m l?\ L +10 &R j l?\ L +9 &LS l m?\ L +9 & V k kA\ L +10 &!R l n>\ L +9 &#T m n@\ L +9 &%TW l n@\ L +10 &'S k n@\ K +9 &(U o mA\ L +10 &*S n nA\ K +9 &,\\T m l@\ L +9 &.R k n>\ L +10 &/T o oB\ K +9 &1U n mA\ L +9 &3dR n l.\ L +10 &5&T o n;\ L +9 &6X o n5\ L +10 &8T o n1\ L +9 &:lT p o-\ L +9 &<-W n p1\ L +10 &=U q r0\ L +9 &?U p r4\ L +9 &AtU q q;\ L +10 &C4Y u t?\ L +9 &D` w v=\ N +10 &Fk z x?\ O +9 &Hi { |<\ R +9 &J 8\ W +10 &K 6\ X +9 &M 5\ Z +9 &OY 3\ Z +10 &Q 2\ Z +9 &R 6\ Z +10 &T 4\ [ +9 &V_ =\ [\ +9 &X 6\ ] +10 &Y 3\ ] +9 &[ 2\ K +9 &\\4 0\ 2 +10 &\\o 2\ N +2 ( +2 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&P% +5 "core" % I  B + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +89 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%S& +4 "core" &$\ + "manipulator"&K% +4 "core" %   +2 "storage"(% +4 "core" % P\ + "storage"(\\. +3 "core" .(<1 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"('(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +4 "core" &<. ' ( ]\ + "manipulator"&N& +4 "core" &ӏ& ?V + "manipulator"&0% +4 "core" %  Y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&A( +162 "core" ( + "manipulator"&&& +4 "core" &   +2 "storage"(~& +3 "core" &<. K K 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(}& +54 "core" &<. 7 7 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +296 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" &<.  $ 2\ +2 "manipulator"&& +4 "core" & _  +2 .tElbow.seek 5 +2 "manipulator"&q( +3 "core" ( + "manipulator"&& +4 "core" &  y  +2 "storage"(& +4 "core" &<. ( '\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&B'Ϲ +43 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"( ' +7 "core" &  +2 "manipulator"&% +4 "core" % ϣ @ r +2 .tForearm.seek :retract +2 "manipulator"&i' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&& +4 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&/' +96 "core" ' + "manipulator"&E& +5 "core" & / + "manipulator"&j% +4 "core" % Q  +2 "processing"%& +4 "core" &/\ +2 "processing"%& +5 "core" &/\ +2 .tPC.seek :closed +2 "processing"%n(^ +4 "core" &?\  +8 &1w=\ *x +10 &a~A\ > +9 &`pA\ N +9 &!Q<\ N +10 &Q/\ O +9 &P7\ O +10 &fQ.\ O +9 &)O3\ N +9 &T0\ O +10 &Q/\ O +9 & oO4\ N +9 &"1R8\ N +10 &#T/\ N +9 &%N3\ N +10 &'wO8\ N +9 &)9P4\ N +9 &*T5\ N +10 &,T0\ N +9 &.N1\ N +9 &0@O2\ O +10 &2S8\ N +9 &3T2\ O +10 &5S6\ O +9 &7IO-\ N +9 &9 R-\ N +10 &:R4\ N +9 &<Q0\ N +9 &>PT5\ O +10 &@R.\ O +9 &AW3\ O +10 &C`*\ P +9 &EOm/\ R +9 &G y,\ T +10 &H3\ U +9 &J1\ U +9 &LN,\ U +10 &N '\ V +9 &O-\ U +10 &Q+\ V +9 &SQ&\ V +9 &U$\ W +10 &V*\ W +9 &X,\ V +9 &ZX$\ W +10 &\\#\ V +9 &]L\ 9 +10 &^,u*\ V +9 &^($\ 4 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&=% +4 "core" %  +  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +96 "core" ' +2 "processing"%(& +4 "core" &^&\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&<% +4 "core" % % ' ? +2 "storage"(5% +3 "core" % ' ) \ +2 "storage"(". +3 "core" .(<- + "storage"(Y& +4 "core" &<. ) '\ +2 "storage"(h& +4 "manipulator"&z& +4 "core" &<. ) ) \ + &  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(,'r + "manipulator"&e( +5 "core" ( +2 "manipulator"&k& +3 "core" & x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&-/ +59 "core" / +2 .tPC.seek :open +2 "processing"%I( +92 "core" ' + "storage"(8- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(s'1 +48 "core" ' +306 ( +2 "storage"(x& +4 "core" &<. 5 7 \ + "manipulator"&& +4 "core" & +2 "manipulator"&2% +3 "core" % \  . ' +2 .tForearm.seek :retract +2 "manipulator"&)' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +239 "core" ( +2 "manipulator"&l& +4 "core" & D + "storage"(m& +4 "core" &<. ( & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +97 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "storage"(M- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +5 "core" &<. ` D O\ i + "manipulator"&9& +4 "core" & \ 7 C + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&d& +3 "core" & ~ C +2 "storage"(& +4 "core" &<. c T \ i +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(U'" +51 "core" ' + "manipulator"&& +4 "core" & u C +2 "storage"(6& +4 "core" &<. ' ' f\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&o'΍ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"($' +20 "core" ' +2 "manipulator"&.% +4 "core" %Ό . + "storage"(& +5 "core" &<. Z\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 299 counts +2 "manipulator"&@'ϸ +14 "core" ' + "manipulator"&J& +5 "core" & 3 % + "storage"(C& +5 "core" &<. 2 - J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +19 "core" ' +2 "storage"(:% +4 "core" % B @ \ +2 ."downElevator"SE.seek :down +4 "storage"(Z' +98 (_% +3 "core" %LJ ^\ Xg +2 "manipulator"&t% +4 "core" %; ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +95 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (R& +4 "core" &<. * ( \ \ +2 "collection"'?& +3 "core" &\\n <\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&|% +4 "core" % !  & +2 "storage"(D% +4 "core" % & '\ + "storage"(v. +3 "core" .(<- +2 "storage"(*& +3 "core" &<. $ \ +2 "storage"(b& +3 "core" &<.  # [\ +2 "manipulator"&{& +4 "core" & 8 % + .tElbow.seek 5 +2 "manipulator"&g( +22 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"( & +4 "core" &<. = < \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +93 "core" ' + "storage"(3& +4 "core" &<. c b /\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'r +295 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\ & +2 "core" & A  +2 "storage"(]& +4 "core" &<. 2 > \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&+'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(u'` +29 "core" ' +2 "manipulator"&`% +4 "core" %Ζ  ' + "storage"(L& +4 "core" &<. ) & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 309 counts + "manipulator"&Q' +16 "core" ' + "manipulator"&%& +5 "core" &  + "storage"(& +4 "core" &<. E D S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&P'O +15 "core" ' +52 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(S' +36 "core" ' + "manipulator"&K& +4 "core" & n  +2 "manipulator"&% +4 "core" %; S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +170 "core" ( + "manipulator"&a& +4 "core" &Ӏ 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &Ӏ I 3 +2 .tForearm.seek CC + "manipulator"&0'? +93 "core" ' + .tHand.close +2 "manipulator"&4/ +64 "core" / +2 .tCC.seek :open + "collection"'&( +447 "core" ( + "storage"(~& +5 "core" &<. \ + "storage"(w& +4 "core" &<. } *\ + "manipulator"&}& +4 "core" &Ӏ & 3 + "manipulator"&r% +4 "core" % P @ +2 .tForearm.seek :retract + "manipulator"&X' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&[( +159 "core" ( +2 "manipulator"&V& +4 "core" & S  + "storage"(& +4 "core" &<. E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +99 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&G1 +61 "core" 1 +2 "manipulator"&c% +4 "core" % Μ  O + "storage"(& +4 "core" &<. \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&A' +15 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(T& +4 "core" &<. \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +18 "core" ' + "storage"(% +5 "core" % j\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (q% +3 "core" %lE  7\ Wb +2 "manipulator"&E% +4 "core" %? [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +88 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" & g h?\ + "manipulator"& % +4 "core" %    $  +2 "storage"(i% +3 "core" % w\ +2 "storage"(H. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" &K c c\  +2 "manipulator"&(& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&5& +3 "core" &   +2 "storage"("& +3 "core" &K Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +93 "core" ' +2 "storage"(& +4 "core" &K e\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'r +295 "core" ' + "storage"(h- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +2 "core" &K  \  +2 "manipulator"&7& +4 "core" &  D  + .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( + "manipulator"&-& +4 "core" &  +2 "storage"(8& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +33 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&#/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +4 "storage"(,' +4 "core" &  + "manipulator"&x% +5 "core" % f  + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&2(ӂ +156 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +7 "core" &Ӓ&  ?U + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &Ӓ& ` ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'? +94 "core" ' + "manipulator"&e& +5 "core" &Ӓ& _ ?U + "manipulator"&% +5 "core" %- ] + "collection"'M& +4 "core" & f k@\ +3 "collection"'& +4 "core" & i hB\ +2 .tCC.seek :closed +5 "collection"'(\\ +4 "core" & h iT\ +7 &; j iR\ %f +9 &Xz j hR\ 8 +9 &s h jU\ L +10 &Q k jW\ L +9 &T j kT\ L +9 &GW k lR\ L +10 & Q k kG\ L +9 &S j l>\ K +10 &S j m@\ K +9 &OT m lA\ L +9 & V l mA\ L +10 &!R l k?\ L +9 &#T l m>\ K +9 &%WT k lA\ L +10 &'R k k>\ L +9 &(T k mA\ L +10 &*R m l@\ L +9 &,`T l l>\ K +9 &.!T m l7\ L +10 &/R o m>\ L +9 &1T l m8\ K +9 &3gT l n4\ L +10 &5*S l l3\ K +9 &6U o n2\ L +10 &8T m o2\ L +9 &:oT n o4\ L +9 &<0W p o;\ L +10 &=U o n:\ L +9 &?U s p;\ L +9 &AvW r r3\ L +10 &C5_ t u:\ M +9 &Dm w w<\ O +10 &F { {4\ R +9 &Hb } y6\ V +9 &J | |2\ X +10 &K { }9\ X +9 &M } {9\ Y +9 &O_ | |8\ Y +10 &Q! { z0\ Y +9 &R ~ |8\ [ +10 &T y ~/\ Z +9 &V_ { |-\ \\ +9 &X } |.\ \\ +10 &Y } ~/\ ^ +9 &[ 0\ K +9 &\\5 ~ )\ 3 +10 &\\u  +\ Q +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + .Hand.open +2 "manipulator"&91 +64 "core" 1 + "manipulator"&d% +4 "core" % - y ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%)& +4 "core" &;\ + "manipulator"&% +4 "core" % ! S ' +2 "storage"(6% +3 "core" % * ) \ +2 "storage"(.. +3 "core" .(K + "storage"(& +4 "core" &K ( '\  + "storage"(s& +4 "core" &K ' *\  +2 "manipulator"&J& +3 "core" &Ӓ&  ?U +2 "manipulator"&C% +3 "core" % ! K ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&W( +164 "core" ( + "manipulator"&:& +4 "core" & #  +2 "storage"( & +4 "core" &K ' ' /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +95 "core" ' + "storage"(& +4 "core" &K F 5 w\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(_'r +300 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (^& +3 "core" &K %  7\  + "manipulator"&& +4 "core" & =  +2 .tElbow.seek 6 + "manipulator"&U( +3 "core" ( +2 "manipulator"&o& +3 "core" &  +2 "storage"(@& +3 "core" &K ' &\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&R'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(D' +7 "core" & 7  +2 "manipulator"&$% +3 "core" % Ϣ  2 +2 .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*( +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +70 "core" ( +2 "manipulator"&b& +4 "core" & 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +2 "core" & % 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"& & +4 "core" & + 3 +2 "manipulator"&% +3 "core" % +2 "processing"%3& +4 "core" &0\ +2 "processing"%Z& +6 "core" &;\ +2 .tPC.seek :closed +2 "processing"%F(^ +4 "core" &@\ +6 &>\ 3 +10 &3Fr<\ 0 +9 &Zq{;\ E +9 &\\D\ O +10 &QG\ O +9 &}SD\ O +10 &?P>\ O +9 &QB\ N +9 &OB\ O +10 &T@\ O +9 &GQ=\ O +9 &!\ MG\ N +10 &"M>\ N +9 &$P?\ N +10 &&OQ8\ O +9 &(Q;\ O +9 &)N;\ N +10 &+N?\ O +9 &-XN:\ N +9 &/R0\ O +10 &0S:\ O +9 &2P-\ N +9 &4_R.\ O +59 &6!U*\ O +5 &7R4\ O +2 &9Q0\ O + &;gU0\ O +4 &=)T,\ O + &>Q.\ O + &@U1\ O +3 &Bic2\ Q +9 &D(k0\ R +9 &E.\ T +10 &G.\ T +9 &Id3\ U +9 &K&,\ U +10 &L-\ V +9 &N.\ V +10 &Ph-\ W +9 &R)-\ W +9 &S-\ W +10 &U,\ W +9 &Wn*\ W +9 &Y2*\ V +10 &Z+\ V +9 &\\,\ W +9 &^.`v-\ 3 +10 &^c/\ : +9 ( +3 "processing"%Z& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&p1 +3 "core" &^.-\ 7 +60 1 + "manipulator"&>% +4 "core" %  k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +98 "core" ' + "processing"%]& +5 "core" &^.\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"& % +3 "core" % ! ) +2 "storage"(`% +4 "core" %  ?\ + "storage"(L. +3 "core" .(K +2 "storage"(%& +3 "core" &K  /\  +3 "storage"(& +2 "manipulator"&K& +6 "core" &K \  s\  + & x 3 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"(f'r +5 "core" ( + "manipulator"&g& +4 "core" & { 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" & O 3 +2 .tForearm.seek PC +2 "manipulator"&+' +92 "core" ' +2 .tHand.close + "manipulator"&Q/ +60 "core" / +2 .tPC.seek :open + "processing"%u( +98 "core" ' +2 "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(N'1 +44 "core" ' +304 ( +2 "storage"(P& +4 "core" &K 4 7 .\  + "manipulator"&!& +4 "core" & & 3 + "manipulator"&4% +4 "core" %  ; ' +2 .tForearm.seek :retract + "manipulator"&\\' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&;( +244 "core" ( + "manipulator"&~& +4 "core" &  : +2 "storage"(w& +3 "core" &K   k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +95 "core" ' + .tHand.open +2 "manipulator"&r1 +62 "core" 1 +3 "storage"(V- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(0' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(O- +3 "core" -' +2 "storage"(G& +4 "core" &K\ \  \ U + "manipulator"&c& +4 "core" &   9 +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" &   9 +2 "storage"(T& +4 "core" &K\ \  \ U +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(X'" +63 "core" ' +2 "manipulator"&q& +4 "core" & 6 9 +2 "storage"(E& +3 "core" &K 1 ) u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&['< +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 "manipulator"&A% +4 "core" %>  +2 "storage"( & +3 "core" &K  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts +2 "manipulator"&i'j +16 "core" ' + "manipulator"&H& +4 "core" & 4 9 +2 "storage"(S& +4 "core" &K ' ' D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +17 "core" ' +2 "storage"(% +4 "core" % 9 5 h\ +3 ."downElevator"SE.seek :down +4 "storage"('' +99 (=% +3 "core" %7L ' '\ Xj + "manipulator"&(% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +97 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 ("& +4 "core" &K ' ' .\  + "collection"'& +4 "core" &\\t 1\ Q +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %   +2 "storage"(j% +3 "core" % ( 1 \ +2 "storage"(h. +3 "core" .(K +2 "storage"(k& +3 "core" &K & ( /\  +2 "storage"(7& +3 "core" &K ( ) \  +2 "manipulator"&-& +3 "core" & \ 9 +2 .tElbow.seek 6 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&#& +3 "core" & 9 +2 "storage"(n& +4 "core" &K ( &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +94 "core" ' + "storage"(<& +4 "core" &K L @ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'r +298 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&l& +4 "core" & f 9 + "storage"(z& +4 "core" &K ) 2 L\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(M'g +29 "core" ' +2 "manipulator"&/% +4 "core" %B _  + "storage"(,& +4 "core" &K   \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts + "manipulator"&'n +25 "core" ' +2 "manipulator"&&& +4 "core" & / 9 + "storage"(9& +4 "core" &K 4 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +23 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"()' +36 "core" ' + "manipulator"&& +4 "core" &  v 9 +2 "manipulator"&6% +4 "core" % { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&& +4 "core" &ӑ% >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &ӑ% >J +2 .tForearm.seek CC +2 "manipulator"&J'? +93 "core" ' + .tHand.close + "manipulator"&C/ +52 "core" / +2 .tCC.seek :open +2 "collection"'m( +449 "core" ( +2 "storage"(:& +4 "core" &K \  + "storage"( & +4 "core" &K \  +2 "manipulator"&& +3 "core" &Ӓ% C >I +2 "manipulator"&2% +4 "core" % 5 0 A + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&t( +164 "core" ( + "manipulator"&^& +4 "core" & P  +2 "storage"(& +4 "core" &K ;\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&o'< +95 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&?1 +64 "core" 1 +2 "manipulator"&|% +4 "core" % 8  " + "storage"($& +4 "core" &K D\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 296 counts +2 "manipulator"&W'd +16 "core" ' +2 "manipulator"&y& +4 "core" & I  + "storage"(_& +4 "core" &K \  +2 .tForearm.reconfigure :tight +51 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +19 "core" ' + "storage"(b% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"({' +99 (U% +2 "core" %G \ We +2 "manipulator"& % +4 "core" % ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'3& +4 "core" & i i@\ +2 "manipulator"&D% +4 "core" %   + "storage"(v% +4 "core" % \ + "storage"(I. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(p(  +1305 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +3 "core" &   } K\ + "manipulator"&]& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&`& +4 "core" & O  +2 "storage"(L& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'S +95 "core" ' +2 "storage"(%& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" &  _\ +2 "manipulator"&1& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&Q& +4 "core" &   + "storage"(a& +4 "core" &  q\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&*'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& + "storage"(f' +7 "core" & y  +2 "manipulator"&P% +3 "core" % Ϸ ~ +2 .tForearm.seek :retract +2 "manipulator"&!' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&4(ӂ +159 "core" ( +3 "manipulator"&+& +3 "core" ' + &Ӓ% , >N +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +3 "storage"(5 +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &Ӓ% e >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&w'? +92 "core" ' +2 "manipulator"&& +4 "core" &ӓ% C >M +2 "manipulator"&r% +4 "core" %D ? y +2 "collection"'V& +3 "core" & i k\\\ +3 "collection"'O& +4 "core" & h lP\ +2 .tCC.seek :closed +2 "collection"'G(\\ +4 "core" & j j?\ +8 &A j k@\ $f +10 &Yz j iM\ 8 +9 &s j lS\ L +9 &Q l lV\ L +10 &T l lT\ K +9 &GT n mT\ L +9 & R o nK\ L +10 &S m kK\ L +9 &V l lO\ L +10 &PT o lN\ K +9 & T k oB\ L +9 &!V n o@\ L +10 &#T o l?\ K +9 &%WS m m?\ L +9 &'Q n mA\ L +10 &(T n m=\ L +9 &*V l mA\ L +10 &,`T m m=\ K +9 &.!T o o=\ L +9 &/V o n@\ L +10 &1S l p;\ L +9 &3gT n n@\ L +9 &5(V o n@\ L +10 &6T m n>\ L +9 &8W n p4\ L +10 &:oU o r7\ L +9 &<1S r q5\ L +9 &=T r s7\ L +10 &?U q s2\ L +9 &AwU t s4\ L +9 &C7Y u t/\ L +10 &D_ v w2\ M +9 &Fh x y5\ N +10 &Hn { {3\ Q +9 &J% 2\ U +9 &K >\ X +10 &M @\ Y +9 &Oa @\ Y +9 &Q" >\ Y +10 &R @\ Z +9 &T @\ Z +10 &Va =\ [ +9 &X" ;\ \\ +9 &Y 4\ ] +10 &[ 6\ J +9 &\\2 9\ 3 +9 &\\d =\ M +3 ( +2 "collection"'O& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&c1 +58 "core" 1 +2 "manipulator"&% +4 "core" % D  y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%\\& +4 "core" &*\ + "manipulator"&q% +4 "core" %  a  + "storage"(E% +4 "core" % * (\ +2 "storage"(N. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(A(  +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & ' ' \ + "manipulator"&& +4 "core" &Ӕ% 6 >L +2 "manipulator"&H% +4 "core" %  +  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&S( +155 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(;& +4 "core" & 6 4 C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&}'S +92 "core" ' + "storage"(0& +4 "core" & f d\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +295 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ + "manipulator"&& +4 "core" & ^ +2 .tElbow.seek 2 + "manipulator"&X( +4 "core" ( + "manipulator"&[& +4 "core" &   +2 "storage"(i& +4 "core" & D E #\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&"'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(j' +7 "core" & @ + "manipulator"&% +5 "core" % ϼ % + .tForearm.seek :retract +2 "manipulator"&h' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&k( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +100 "core" ( +2 "manipulator"&7& +4 "core" & ,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +2 "core" & G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&#' +91 "core" ' + "manipulator"&n& +4 "core" & Q  +2 "manipulator"&B% +4 "core" %  i + "processing"%<& +5 "core" &E\ +2 "processing"%'& +4 "core" &8\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &E\  +9 &0s;\ *x +9 &b}>\ > +10 &do?\ N +9 &&QA\ N +9 &R>\ N +10 &LA\ N +9 &kSB\ N +10 &-R>\ N +9 &T?\ O +9 &RA\ O +10 & tOE\ N +9 &"6QA\ N +9 &#R<\ O +10 &%P;\ N +9 &'{OA\ N +10 &)=S@\ N +9 &+RD\ N +9 &,R@\ O +10 &.OC\ N +9 &0EOB\ N +9 &2Q>\ N +10 &3S?\ N +9 &5T<\ N +10 &7LS=\ O +9 &9S>\ O +9 &:QD\ N +10 &<Q8\ N +9 &>TR8\ O +9 &@R7\ N +10 &AX=\ O +9 &Ce7\ Q +10 &EUk3\ Q +9 &G~,\ T +9 &H-\ U +10 &J)\ U +9 &LS3\ T +9 &N.\ V +10 &O-\ U +9 &Q5\ V +10 &SU.\ V +9 &U-\ V +9 &V0\ W +10 &X-\ V +9 &Z^/\ V +9 &\\.\ V +10 &].\ 6 +9 &^)b/\ ] +10 &^,0\ 6 +2 ( +2 "processing"%'& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&51 +61 "core" 1 +2 "manipulator"&% +4 "core" %  6 i + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +89 "core" ' +2 "processing"%z& +4 "core" &^&&\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %    + "storage"(/% +4 "core" %  $ :\ + "storage"(,. +3 "core" .(  +2 "storage"(&& +3 "core" &  " 2\ +3 "storage"(9& +3 "manipulator"&& +4 "core" & ' ' \ + & O  +4 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&6( +3 "storage"(x'r +3 "core" ( +2 "manipulator"&8& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" & ]  +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%M( +100 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(s'1 +96 "core" ' +249 ( + "storage"(d& +4 "core" & I C a\ +2 "manipulator"&e& +3 "core" & Q  +2 "manipulator"&C% +3 "core" %  D  +2 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +253 "core" ( + "manipulator"&:& +4 "core" & j  +2 "storage"( & +3 "core" & ? C \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +96 "core" ' +2 .tHand.open + "manipulator"&21 +58 "core" 1 +2 "storage"(^- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +28 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(J' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(?& +4 "core" & a \ ] + "manipulator"&|& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&$( +4 "core" ( + "manipulator"&y& +5 "core" &  + "storage"(_& +4 "core" & \ \  X\ ` +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&b'S +16 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&t& +5 "core" &  + "storage"(U& +4 "core" & E E '\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& 'Α +20 "core" ' + .tElbow.hold +2 "manipulator"&o, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(3' +24 "core" ' + "manipulator"&W% +5 "core" %Γ '  + "storage"(D& +5 "core" & C D\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 302 counts +2 "manipulator"&v'Ͽ +14 "core" ' + "manipulator"&I& +5 "core" & =  + "storage"()& +5 "core" & 8 6 )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'S +17 "core" ' +2 "storage"({% +4 "core" % X c\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (>% +3 "core" %PN ( '\ Yk + "manipulator"&]% +4 "core" %; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +86 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (L& +4 "core" & 7 6 p\ + "collection"'%& +4 "core" &\\_ =\ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&@% +4 "core" %  v  + "storage"(% +4 "core" % 6 7 \ +2 "storage"(K. +3 "core" .(  + "storage"(g& +4 "core" & H < [\ + "storage"(1& +4 "core" & U G /\ +2 "manipulator"&Q& +3 "core" & |  +2 .tElbow.seek 2 +2 "manipulator"&a( +3 "core" ( + "manipulator"&\ & +4 "core" &   +2 "storage"(F& +3 "core" & @ ; ;\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&P'S +96 "core" ' + "storage"( & +4 "core" & c ^ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'r +295 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&~& +3 "core" &   +2 "storage"(& +3 "core" & 2 @ c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&*'Α +13 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(r- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"(V'` +30 "core" ' + "manipulator"&% +4 "core" %Π  m L +2 "storage"(f& +4 "core" & U U\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&!' +13 "core" ' + "manipulator"&m& +5 "core" &   + "storage"(c& +4 "core" & ? G }\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +19 "core" ' + .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(\\' +34 "core" ' + "manipulator"&q& +5 "core" & :  + "manipulator"&E% +5 "core" %@ I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +160 "core" ( +2 "manipulator"& & +4 "core" &ӑ"  ;8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &ӑ" 9 ;8 +2 .tForearm.seek CC +2 "manipulator"&H'? +93 "core" ' +2 .tHand.close + "manipulator"&w/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +40 "Can"\ MJ +406 "core" ( +2 "storage"(;& +4 "core" & B\ +2 "storage"(p& +3 "core" & z\ +2 "manipulator"&0& +3 "core" &Ӓ" % ;7 +2 "manipulator"&4% +3 "core" % @ K Q +2 .tForearm.seek :retract +2 "manipulator"&T' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(( +162 "core" ( + "manipulator"&& +5 "core" & 7  + "storage"(& +4 "core" & |\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&['Α +98 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % Ι  + "storage"(& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 308 counts +2 "manipulator"&S' +14 "core" ' +2 "manipulator"&}& +4 "core" & Z  +2 "storage"(=& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&"'S +18 "core" ' +2 "storage"(7% +4 "core" % :\  +2 ."downElevator"SE.seek :down +3 "storage"(-' +99 (X% +3 "core" %]I !\ Xg +2 "manipulator"&n% +4 "core" %@ : + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'<& +4 "core" & g h>\ +2 "manipulator"&j% +4 "core" %   O \ + "storage"(h% +4 "core" % \ +2 "storage"(u. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(5( +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & k I\  + "manipulator"&z& +4 "core" & C  +2 .tElbow.seek 3 + "manipulator"&( +14 "core" ( +2 "manipulator"&/& +4 "core" &  D  + "storage"(,& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&&'7 +95 "core" ' +2 "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'r +296 "core" ' + "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" & \  +2 "manipulator"&Y& +3 "core" & c  +2 .tElbow.seek 3 +2 "manipulator"&#( +3 "core" ( +2 "manipulator"&& +4 "core" & #  + "storage"(& +53 "core" & \  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&k'ϡ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(x' +7 "core" & 7  +2 "manipulator"&d% +4 "core" %  v +2 .tForearm.seek :retract +2 "manipulator"&e' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +153 "core" ( + "manipulator"&& +4 "core" &x* Bk +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +2 "manipulator"&:& +3 "storage"(5 +4 "core" &x* Bk +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +91 "core" ' +2 "manipulator"&6& +4 "core" &y*  Bj +2 "manipulator"&2% +4 "core" %D ^ +2 "collection"'^& +4 "core" & j i^\ +2 "collection"'& +5 "core" & h hP\ +2 .tCC.seek :closed +2 "collection"'?(\\ +4 "core" & h hG\ +7 &: j iB\ %f +9 &Xy i h7\ 7 +10 &v j j?\ L +9 &Q j i?\ L +9 &~R k l?\ K +10 &?T k k>\ L +9 &W k kB\ L +10 &R m k?\ L +9 &T l m?\ K +9 &GT m l@\ L +10 & Q k n6\ L +9 &!R k m9\ K +9 &#T m m0\ L +10 &%NV j l5\ L +9 &'R m m/\ K +10 &(T n n3\ L +9 &*U m m.\ L +9 &,WR l n.\ L +10 &.R l n/\ K +9 &/S j m4\ L +9 &1W m o7\ L +10 &3_R n p8\ L +9 &5"S m p1\ K +10 &6T n m=\ L +9 &8T l n5\ K +9 &:fU q q3\ L +10 &<*T o q4\ K +9 &=U o q4\ L +9 &?U p q2\ L +10 &AoU r p1\ L +9 &C/Y s t3\ L +10 &D` u u:\ M +9 &Fj x y5\ O +9 &He | z2\ R +10 &J 0\ U +9 &K 8\ X +9 &M 3\ Y +10 &OY 8\ Y +9 &Q 0\ Y +10 &R ,\ Z +9 &T $\ Z +9 &VZ -\ [\ +10 &X !\ \\ +9 &Y \ \\ +9 &[  \ J +10 &\\8 $\ - +9 &\\ "\ Y +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&|1 +61 "core" 1 +2 "manipulator"&y% +4 "core" % D  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_' +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%.& +4 "core" &A\ +2 "manipulator"&t% +3 "core" %   +2 "storage"(U% +4 "core" % ( )\ + "storage"(W. +3 "core" .( + "storage"(s& +4 "core" & ' )\  +2 "storage"(D& +3 "core" & ( )\  +2 "manipulator"&I& +4 "core" &{*  Bh + "manipulator"&)% +4 "core" %  6  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&{& +29 "core" &   +2 "storage"(& +4 "core" & 8 E c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +91 "core" ' +2 "storage"(J& +4 "core" & A @\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +295 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +2 "core" & * # +\  +2 "manipulator"&$& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" &  +2 "storage"(L& +3 "core" & ' &\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&v'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&%/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& + "storage"(' +7 "core" & 1  +2 "manipulator"&K% +3 "core" % ϧ ? +2 .tForearm.seek :retract +2 "manipulator"&3' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&1& +4 "core" &  < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &  < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\ ' +90 "core" ' + "manipulator"&F& +4 "core" & ' ; +2 "manipulator"&R% +4 "core" %  o l + "processing"% & +4 "core" &#\ +3 "processing"%& +4 "core" &0\ +2 .tPC.seek :closed +2 "processing"%o(^ +4 "core" &-\ +7 & -:\ #b +10 &Vv8\ 7 +9 &v6\ L +10 &N5\ N +9 &YN<\ N +9 &N:\ N +10 &N;\ N +9 &N:\ N +9 &aM;\ N +10 &$O9\ N +9 &Q:\ O +10 &!L:\ N +9 &#iR7\ N +9 &%+M0\ N +10 &&R5\ O +9 &(Q:\ O +9 &*pQ;\ O +10 &,3M:\ N +9 &-L6\ N +10 &/P4\ N +9 &1yS6\ N +9 &3:O9\ O +10 &4R5\ N +9 &6O6\ O +9 &8T.\ O +10 &:BN5\ O +9 &<Q3\ N +10 &=Q4\ N +9 &?Q7\ O +9 &AHW0\ O +10 &Ce1\ Q +9 &Dp.\ R +10 &F/\ T +9 &H?-\ U +9 &J4\ U +10 &K3\ V +9 &M6\ V +9 &OE-\ V +10 &Q%\ V +9 &R&\ W +9 &T\ W +10 &VJ+\ W +9 &X\ *\ X +9 &Y'\ V +10 &[&\ W +9 &]P&\ K +10 &^~N%\ "j +9 &^0'\ 5 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open +2 "manipulator"&`1 +3 "core" &^&%\ 5 +51 1 + "manipulator"&+% +4 "core" %   l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~' +93 "core" ' + "processing"%& +5 "core" &^&#\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&r% +3 "core" % $ 9 +2 "storage"(% +3 "core" %   \\\ +2 "storage"(f. +3 "core" .( + "storage"(m& +4 "core" &   c\  +2 "storage"(c& +2 "manipulator"&q& +6 "core" &   c\  +2 & X ; +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&E( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(P'r +3 "core" ( + "manipulator"&a& +4 "core" & ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +2 "core" &  ; +2 .tForearm.seek PC +2 "manipulator"&*' +91 "core" ' +2 .tHand.close + "manipulator"&!/ +55 "core" / +2 .tPC.seek :open +2 "processing"%V( +102 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +39 "core" ' +304 ( + "storage"(& +4 "core" & ' ( \  +2 "manipulator"&& +3 "core" & q ; +2 "manipulator"&w% +4 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&N' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&G( +245 "core" ( + "manipulator"&;& +4 "core" &  - W +2 "storage"(p& +4 "core" &  V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&0'7 +98 "core" ' + .tHand.open +2 "manipulator"&41 +60 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(H' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +4 "core" -' + "storage"(& +4 "core" & n\ O + "manipulator"&& +4 "core" &  W +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&}& +4 "core" &  \ @ W + "storage"(=& +5 "core" & k\ O +2 .tForearm.seek 3 + 450 counts + "manipulator"&7'7 +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(T'" +51 "core" ' +2 "manipulator"&X& +4 "core" & L W +2 "storage"(n& +3 "core" &  0 ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&('u +26 "core" ' +2 .tElbow.hold + "manipulator"&[, +32 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +52 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(<' +51 "core" ' +2 "manipulator"&S% +4 "core" %· L +2 "storage"(j& +3 "core" & ) ' D\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&h'ϳ +25 "core" ' +2 "manipulator"&u& +4 "core" &  W + "storage"(\\& +5 "core" & 5 4 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&"'7 +14 "core" ' +2 "storage"(-% +4 "core" % 7 4 ^\ +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (% +3 "core" %J ' ( \ Yj + "manipulator"&z% +4 "core" %9 l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (,& +4 "core" & ( '\  +2 "collection"'& +4 "core" &\\ 5\ Y + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&i% +4 "core" %   *  + "storage"(B% +4 "core" % ' '\ + "storage"('. +4 "core" .( + "storage"(8& +5 "core" & & &\  + "storage"(Y& +4 "core" & ' '\  + "manipulator"&& +4 "core" & W +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&l& +3 "core" &  W +2 "storage"(& +4 "core" & ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d'7 +98 "core" ' +2 "storage"(& +4 "core" & E . \\\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&:& +3 "core" & $ W + "storage"(9& +4 "core" &  # ^\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&k'u +20 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(2- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(^'h +30 "core" ' + "manipulator"&#% +4 "core" %Έ +2 "storage"(x& +3 "core" & , ) ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&e'ϴ +26 "core" ' +2 "manipulator"&& +4 "core" & < V + "storage"(|& +4 "core" & ( )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&y'7 +16 "core" ' +4 .tSE.seek 1.15 Pucks below Top Plate +4 "storage"(.' +36 "core" ' +2 "manipulator"&t& +4 "core" & [ V + "manipulator"&U% +5 "core" %-  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +148 "core" ( + "manipulator"&D& +5 "core" &{- i Dw + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &{- B Dw +2 .tForearm.seek CC +2 "manipulator"&I'? +96 "core" ' + .tHand.close +2 "manipulator"&)/ +61 "core" / +2 .tCC.seek :open + "collection"' ( +447 "core" ( + "storage"({& +4 "core" &  Z\  +2 "storage"(& +4 "core" & m\  + "manipulator"&C& +4 "core" &ӡ&  ?Q + "manipulator"&J% +4 "core" % / . +2 .tForearm.seek :retract + "manipulator"&_' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&]( +156 "core" ( +2 "manipulator"&b& +4 "core" &z . + "storage"($& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"& 'u +98 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +62 "core" 1 +2 "manipulator"&@% +4 "core" % Έ X + "storage"(K& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&'ϴ +26 "core" ' + "manipulator"&& +4 "core" &z  o +2 "storage"(>& +4 "core" & +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&v'7 +15 "core" ' +2 "storage"(1% +4 "core" % b\ +2 ."downElevator"SE.seek :down +3 "storage"(Q' +99 (% +3 "core" %D | T\ Wc +2 "manipulator"&F% +4 "core" %*  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +89 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"' & +4 "core" & g g?\ +2 "manipulator"&% +4 "core" %    + "storage"(3% +4 "core" % |\ + "storage"(M. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(`(,y +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (+& +3 "core" &,z \  +2 "manipulator"&& +3 "core" &z  _ +2 .tElbow.seek 4 +2 "manipulator"&r( +31 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(f& +4 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +93 "core" ' +2 "storage"(c& +4 "core" &,z \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" &,z \  +2 "manipulator"&Z& +3 "core" & c  +2 .tElbow.seek 4 +2 "manipulator"&\ ( +4 "core" ( +2 "manipulator"&!& +4 "core" &  +2 "storage"( & +3 "core" &,z \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&g'c +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& + "storage"(P' +7 "core" & k  +2 "manipulator"&% +4 "core" % χ [ + .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&w(ӂ +161 "core" ' + ( + "manipulator"&*& +2 ."downElevator"SE.stop +5 "storage"(5 +3 "core" &ӝ   :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &ӝ  :1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&p'? +94 "core" ' +2 "manipulator"&E& +4 "core" &ӝ  < :1 +2 "manipulator"&4% +4 "core" %> E x + "collection"'& +4 "core" & h iR\ +3 "collection"'O& +4 "core" & g gR\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & j jP\  +10 &4{ i gO\ +{ +9 &e} k hJ\ > +9 &n h hI\ M +10 &VS j kG\ K +9 &S k kP\ L +9 &U k k;\ L +10 &U l k:\ L +9 &]Q k mB\ L +10 &R j k;\ L +9 &Q k k?\ L +9 & Q j l@\ L +10 &"eR k j>\ L +9 &$(T k j@\ K +9 &%T h l>\ L +10 &'W j k@\ L +9 &)mV i k<\ L +10 &+/W j m?\ L +9 &,R n n8\ L +9 &.R j l3\ L +10 &0uR m k2\ L +9 &28S m k0\ K +9 &3T m m.\ K +10 &5S k mJ\ L +9 &7}W l m1\ L +10 &9?S o n0\ L +9 &;T m n/\ K +9 &<U n qP\ L +10 &>T o q=\ L +9 &@GT r q5\ L +9 &B U r r1\ L +10 &CZ s t3\ L +9 &Eb v v6\ N +10 &GDp w t4\ O +9 &H x y4\ R +9 &J } z2\ W +10 &Lr { ~8\ X +9 &N1  |2\ Y +9 &O | }7\ Y +10 &Q | 2\ Z +9 &Ss  ~2\ Z +10 &U2  2\ [\ +9 &V 4\ [\ +9 &X ~7\ ] +10 &Zt  0\ \\ +9 &\\y 2\ 4 +9 &\\) :\ W +10 ( + &\\t 9\ Q +2 "collection"'O& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&}% +5 "core" % > e x +52 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%N& +4 "core" &F\ + "manipulator"&X% +4 "core" % ! 5 , + "storage"(n% +4 "core" % 1 ' G\ +2 "storage"(. +3 "core" .(,y + "storage"(& +4 "core" &,z 4 4 S\  + "storage"(S& +4 "core" &,z + 4 k\  +2 "manipulator"&j& +4 "core" &ӝ  :1 + "manipulator"&G% +4 "core" % ! [ , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&0( +164 "core" ( +2 "manipulator"&u& +4 "core" &   + "storage"(H& +4 "core" &,z 3 & Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&\\' +92 "core" ' + "storage"(-& +5 "core" &,z Q O F\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,z 2 ) \  +2 "manipulator"&z& +48 "core" &  "  +2 .tElbow.seek 4 + "manipulator"&T( +4 "core" ( + "manipulator"&(& +4 "core" &   + "storage"(,& +4 "core" &,z ' ' 5\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&h'c +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(B' +7 "core" & E  + "manipulator"&'% +4 "core" % φ  +2 .tForearm.seek :retract +2 "manipulator"&<' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&8( +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +70 "core" ( +2 "manipulator"&Y& +4 "core" & - 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & \ 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&l' +98 "core" ' +2 "manipulator"&& +4 "core" & 7 +2 "manipulator"&"% +3 "core" % # +2 "processing"%& +4 "core" &\ +2 "processing"%A& +5 "core" &\ +2 .tPC.seek :closed + "processing"%[(^ +5 "core" &1\  +8 &1w1\ *x +10 &b{8\ > +9 &_m:\ O +10 &"N7\ N +9 &R6\ N +9 &R8\ N +10 &fN:\ O +9 &(P:\ O +9 &O6\ O +10 &R7\ O +9 & nQ2\ O +10 &"0O8\ O +9 &#R8\ N +9 &%L5\ N +10 &'vR1\ O +9 &)8O.\ O +9 &*R6\ N +10 &,R7\ O +9 &.~O-\ O +9 &0AN4\ N +10 &2Q-\ O +9 &3Q-\ O +10 &5N-\ O +9 &7HR-\ O +9 &9\ T(\ O +10 &:U.\ O +9 &<S.\ O +9 &>PU1\ O +10 &@R-\ N +9 &AZ.\ P +10 &Ch-\ R +9 &EKw-\ S +9 &G.\ U +10 &H*\ V +9 &J*\ U +9 &LK\ V +10 &N %\ W +9 &O#\ W +10 &Q"\ W +9 &SO"\ W +9 &U\ W +10 &V%\ W +9 &X\ V +9 &ZY \ V +10 &\\#\ W +9 &]\ 9 +10 &^+u)\ [ +9 &^*(\ 5 +2 ( +2 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&/1 +54 "core" 1 +2 "manipulator"&% +4 "core" %   # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +94 "core" ' +2 "processing"%9& +5 "core" &^%)\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&2% +3 "core" % #  5 +2 "storage"(#% +4 "core" % ' )\ + "storage"(x. +3 "core" .(,y + "storage"(& +4 "core" &,z  \  +2 "storage"(|& +5 "manipulator"&t& +4 "core" &,z ' ) \  + & ( 7 +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(U'r + "manipulator"&d( +5 "core" ( +2 "manipulator"&& +3 "core" & Z 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &  7 +2 .tForearm.seek PC +2 "manipulator"&k' +92 "core" ' + .tHand.close +2 "manipulator"&e/ +62 "core" / +2 .tPC.seek :open +2 "processing"%D( +92 "core" ' + "storage"(^- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +309 ( + "storage"(y& +5 "core" &,z 0 ' 0\  + "manipulator"&6& +4 "core" &  7 + "manipulator"&)% +4 "core" %  6 +2 .tForearm.seek :retract + "manipulator"&W' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&?( +246 "core" ( + "manipulator"&{& +4 "core" & 2 % +2 "storage"(& +4 "core" &,z   )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +92 "core" ' + .tHand.open + "manipulator"&J1 +58 "core" 1 +2 "storage"(b- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"($' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(I' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +4 "core" -' + "storage"(%& +4 "core" &,z 4\ K +2 "manipulator"&@& +4 "core" &  % +2 .tElbow.seek 4 +2 "manipulator"&K( +8 "core" ( + "manipulator"&& +5 "core" &    + "storage"(>& +4 "core" &,z \ S +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +59 "core" ' + "manipulator"&& +5 "core" & \\  + "storage"(F& +5 "core" &,z 6 5\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&]'7 +20 "core" ' + .tElbow.hold +2 "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +27 "core" ' +2 "manipulator"&% +4 "core" %J  + "storage"(& +5 "core" &,z ( ) \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&3'v +15 "core" ' +2 "manipulator"&M& +4 "core" &   +2 "storage"(.& +4 "core" &,z ' ' 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +19 "core" ' + "storage"(Q% +4 "core" % , 7 b\ +3 ."downElevator"SE.seek :down +4 "storage"(5' +98 (+% +3 "core" %L 4 , D\ Xh + "manipulator"&% +5 "core" % \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&' +92 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (f& +4 "core" &,z ' & K\  +2 "collection"'c& +3 "core" &\\t 3\ Q +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&L% +4 "core" %  %  +2 "storage"(R% +4 "core" % ' '\ + "storage"(. +3 "core" .(,y +2 "storage"(a& +3 "core" &,z ( '\  +2 "storage"(Z& +3 "core" &,z  %\  +2 "manipulator"&!& +3 "core" & d  +2 .tElbow.seek 4 +2 "manipulator"& ( +9 "core" ( +2 "manipulator"&~& +4 "core" & @  +2 "storage"(o& +3 "core" &,z 7 + b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(r& +5 "core" &,z F ? \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'r +295 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&;& +2 "core" &  +2 "storage"(q& +3 "core" &,z , 1 ]\  +2 .tElbow.reconfigure :limp +51 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&g'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('o +29 "core" ' +2 "manipulator"&\ % +4 "core" %K  + "storage"(P& +4 "core" &,z \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&'w +15 "core" ' +2 "manipulator"& & +4 "core" &  + "storage"(& +4 "core" &,z D D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&}' +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(O' +39 "core" ' +2 "manipulator"&N& +4 "core" & !  +2 "manipulator"&X% +4 "core" % 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &x0 G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &y0 _ G +2 .tForearm.seek CC +2 "manipulator"&j'? +92 "core" ' + .tHand.close +2 "manipulator"&G/ +56 "core" / +2 .tCC.seek :open +2 "collection"'p( +446 "core" ( +2 "storage"(u& +4 "core" &,z \  +2 "storage"(H& +3 "core" &,z h Z I\  +2 "manipulator"&-& +3 "core" &Ӯ&  ?V +2 "manipulator"&w% +3 "core" % 7  ? +2 .tForearm.seek :retract +2 "manipulator"&=' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(z& +4 "core" &,z ~ { V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&('7 +95 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&i% +5 "core" % = H 6 + "storage"('& +4 "core" &,z 0\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"&0'i +15 "core" ' +2 "manipulator"&\\& +4 "core" & U  +2 "storage"(7& +4 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +15 "core" ' + "storage"(Y% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (T% +2 "core" %F { u\ Wd +2 "manipulator"&% +5 "core" % 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +88 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & g gM\ +2 "manipulator"&B% +4 "core" %     + "storage"(<% +4 "core" % \ +2 "storage"(V. +3 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(/(<- +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<, e d (\  +2 "manipulator"&9& +3 "core" & 2  +2 .tElbow.seek 5 +2 "manipulator"&2( +3 "core" ( +2 "manipulator"&#& +4 "core" &   +2 "storage"(x& +3 "core" &<, 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +96 "core" ' + "storage"(t& +4 "core" &<, Q\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'r +300 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<, \  +2 "manipulator"&&& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&l( +3 "core" ( + "manipulator"&e& +4 "core" & Y  + "storage"(^& +4 "core" &<, \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&8'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&:/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(U' +8 "core" &   + "manipulator"&y% +4 "core" % ϼ +2 .tForearm.seek :retract + "manipulator"&6' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +154 "core" ( + "manipulator"&k& +5 "core" ' + &y+ Cn + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&{& +4 "core" &y+ Cn + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' +2 "manipulator"&d& +4 "core" &Ӟ% E >I + "manipulator"&J% +5 "core" %A  + "collection"'b& +5 "core" & f gN\ +2 "collection"'s& +5 "core" & h h>\ +2 .tCC.seek :closed +2 "collection"'%(\\ +4 "core" & g h@\ +8 &; i h9\ %g +8 &Xu j ge\ 7 +10 &w h hB\ L +9 &Q j k?\ L +9 &~T l ke\ L +10 &BT m ka\ K +9 &T j lA\ K +10 &T l lc\ K +9 &R l lB\ L +9 &IQ l mh\ L +10 & Q l l?\ K +9 &!T n l,\ L +9 &#W k lN\ K +10 &%RT m lM\ K +9 &'S o lS\ K +10 &(T l m]\ L +9 &*U l nY\ L +9 &,ZS k m4\ K +10 &.V m n.\ L +9 &/Q m lR\ K +9 &1U l o/\ L +10 &3aW m m+\ L +9 &5#W m n(\ L +9 &6X p m$\ L +10 &8R m oH\ L +9 &:jT p oR\ K +10 &<+U o r.\ L +9 &=X p q*\ L +9 &?U r qJ\ L +10 &ApY p rT\ L +9 &C1Y t r+\ L +10 &D` v u+\ M +9 &Fn x xJ\ O +9 &Hh | {%\ Q +10 &J ~ \ V +9 &K \ X +9 &M  \ X +10 &OZ \ Y +9 &Q %\ Y +9 &R "\ Z +10 &T \ [ +9 &V[ '\ [ +10 &X \ [ +9 &Y %\ ] +9 &[ )\ J +10 &\\= )\ )| +9 &\\ $\ ^ +2 ( +2 "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&@1 +55 "core" 1 + "manipulator"&% +4 "core" % A $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%W& +4 "core" &\ + "manipulator"&% +4 "core" % ! & + "storage"(F% +4 "core" % ' $ I\ +2 "storage"(. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<,# \  +2 "manipulator"&M& +4 "core" &ӟ% p >H + "manipulator"&$% +4 "core" % ! o & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&.( +164 "core" ( +2 "manipulator"&Q& +4 "core" & K  +2 "storage"(?& +3 "core" &<, ( '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +96 "core" ' + "storage"(I& +5 "core" &<, F @ \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +2 "core" &<, ' $\  +2 "manipulator"&K& +3 "core" & g  +2 .tElbow.seek 5 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&]& +3 "core" & {  +2 "storage"(3& +4 "core" &<, * 1 X\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&f'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&c/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"( ' +7 "core" &   +2 "manipulator"&R% +4 "core" % ϶ ) +2 .tForearm.seek :retract +51 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a( +115 "core" ' + ."downElevator"SE.stop + "storage"(5 +123 "core" ( + "manipulator"&Z& +4 "core" & + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &  + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +94 "core" ' + "manipulator"&o& +5 "core" & e + + "manipulator"&v% +5 "core" % < C + "processing"%r& +4 "core" &\ +3 "processing"%5& +4 "core" &'\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &1\  +8 &0s7\ *x +10 &b|1\ > +9 &km8\ N +9 &+O7\ O +10 &Q6\ O +9 &N:\ O +9 &rN0\ N +10 &4O/\ N +9 &R5\ N +10 &N/\ O +9 & zR5\ N +9 &"<L/\ N +10 &#N3\ O +9 &%O/\ O +9 &'Q/\ N +10 &)DN-\ N +9 &+O*\ N +10 &,R-\ O +9 &.O,\ N +9 &0LO-\ N +10 &2 S+\ O +9 &3R.\ N +9 &5O-\ O +10 &7TN%\ N +9 &9Q%\ O +9 &:T%\ O +10 &<N#\ O +9 &>[Q,\ O +10 &@R%\ O +9 &AV$\ O +9 &Cc#\ Q +10 &EZl#\ R +9 &Gy&\ S +9 &H&\ U +10 &J%\ U +9 &LX$\ U +10 &N(\ W +9 &O(\ V +9 &Q'\ W +10 &S[)\ W +9 &U$\ V +9 &V \ W +10 &X!\ V +9 &Zd'\ V +10 &\\%(\ W +9 &]}*\ 4 +9 &^3m)\ A +10 ( + &^ *\ / +2 "processing"%5& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&*% +4 "core" %  C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +99 "core" ' + "processing"%q& +5 "core" &^  \ / + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&4% +3 "core" % % ; > +2 "storage"(\ % +4 "core" %   )\ + "storage"(P. +3 "core" .(<- +2 "storage"( & +3 "core" &<,   \  +3 "storage"(& +3 "manipulator"&N& +5 "core" &<,  T\  + & w * +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&X( + "storage"('r +5 "core" ( +2 "manipulator"& & +3 "core" & ; * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &  * +2 .tForearm.seek PC +2 "manipulator"&g' +92 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +3 .tPC.seek :open +2 "processing"%( +99 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'1 +43 "core" ' +300 ( + "storage"(}& +4 "core" &<, 1 , 1\  +2 "manipulator"&E& +3 "core" &  { * +2 "manipulator"&G% +4 "core" %  1 + .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&u& +4 "core" & ? + "storage"(H& +4 "core" &<, ( ' "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +94 "core" ' +2 .tHand.open + "manipulator"&w1 +58 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(z' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(j' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &<, ]\ s +2 "manipulator"&i& +4 "core" & > + .tElbow.seek 5 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&\\& +3 "core" & Q > +2 "storage"(7& +4 "core" &<, /\ r +2 .tForearm.seek 5 + 450 counts + "manipulator"&Y'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +57 "core" ' +2 "manipulator"&T& +4 "core" & + > + "storage"(& +4 "core" &<,  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&(, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&0% +5 "core" %΍ + + "storage"(B& +5 "core" &<, / 3 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&<'Ϲ +26 "core" ' +2 "manipulator"&V& +4 "core" & = = +2 "storage"(O& +4 "core" &<, ( , 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +16 "core" ' +2 "storage"(% +4 "core" % * )\ +3 ."downElevator"SE.seek :down +4 "storage"(`' +99 (% +3 "core" %)L   O\ Xi + "manipulator"&9% +5 "core" %L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +85 "core" ' +72 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (x& +3 "core" &<, 2 ) \  +2 "collection"'t& +4 "core" &\\ )\ ^ + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&,% +4 "core" %    + "storage"("% +4 "core" % ( * \ + "storage"(A. +3 "core" .(<- +2 "storage"(& +3 "core" &<, 4 2 3\  +2 "storage"(&& +4 "core" &<, 4 4 \  + "manipulator"&e& +4 "core" &  = + .tElbow.seek 5 +2 "manipulator"&^( +3 "core" ( +2 "manipulator"&:& +3 "core" & = +2 "storage"([& +4 "core" &<, 5 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +95 "core" ' +2 "storage"(2& +4 "core" &<, < 6 z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +307 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&{& +3 "core" & F = +2 "storage"(|& +4 "core" &<, ' ) \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&8'΍ +13 "core" ' +2 .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(b'` +30 "core" ' +2 "manipulator"&l% +4 "core" %Μ Q +2 "storage"(U& +3 "core" &<, ) * ^\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&6' +14 "core" ' + "manipulator"&p& +4 "core" & 2 = +2 "storage"(@& +4 "core" &<, , 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(W' +40 "core" ' +2 "manipulator"&& +4 "core" & = +2 "manipulator"&F% +4 "core" %=  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +159 "core" ( + "manipulator"&& +4 "core" &ә! L ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &ә! ! ;4 +2 .tForearm.seek CC +2 "manipulator"&$'? +93 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'Q( +447 "core" ( +2 "storage"(?& +4 "core" &<, ,\  + "storage"(/& +4 "core" &<, \  + "manipulator"&I& +4 "core" &ә"  F ;4 + "manipulator"&)% +4 "core" % 8 9 +43 .tForearm.seek :retract +10 "manipulator"&>' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&1& +4 "core" &   + "storage"(K& +4 "core" &<, t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&]'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&c1 +60 "core" 1 +3 "manipulator"&L% +4 "core" % ΋ 1 - + "storage"(R& +4 "core" &<, V\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 298 counts +2 "manipulator"&.'Ϸ +25 "core" ' + "manipulator"&C& +4 "core" & )  +2 "storage"(+& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +18 "core" ' +2 "storage"(Z% +38 "core" % \ +3 ."downElevator"SE.seek :down +5 "storage"(!' +98 (_% +2 "core" %D } }\ Vb +2 "manipulator"&o% +5 "core" %O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +89 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'r& +4 "core" & g jE\ + "manipulator"& % +4 "core" %   1  +2 "storage"(% +4 "core" % t\ + "storage"(D. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +378 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +2 "core" &K \ +2 "manipulator"&q& +3 "core" & =  +2 .tElbow.seek 6 +2 "manipulator"&4( +3 "core" ( + "manipulator"&\ & +4 "core" &  $  +2 "storage"(P& +3 "core" &K 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +96 "core" ' +2 "storage"(5& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &K y 9\ +2 "manipulator"&m& +4 "core" & t  + .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" & i  +2 "storage"(& +3 "core" &K { z \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'h +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(' +7 "core" &  ?  + "manipulator"&}% +4 "core" % ϝ K +2 .tForearm.seek :retract +2 "manipulator"&E' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&G(ӂ +158 "core" ( +2 "manipulator"&g& +4 "core" ' + &ӎ(  A` +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &u& +3 "core" &ӏ( R A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'? +106 "core" ' +2 "manipulator"&X& +4 "core" &ӓ( e @[ +2 "manipulator"&w% +4 "core" %I p +2 "collection"'& +3 "core" & f hN\ +3 "collection"'& +4 "core" & i g\\\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & h hF\  +9 &4{ i h\\\ +{ +10 &\ e~ g iN\ > +9 &m j jN\ M +9 &YS j jA\ K +10 &V h i?\ K +9 &R i lh\ L +10 &V k kf\ K +9 &_W j jC\ L +9 &!W k l>\ L +10 &W l l2\ K +9 & W m k7\ L +9 &"gV j k;\ L +10 &$*V j j9\ K +9 &%W i m2\ K +10 &'T j k7\ L +9 &)oU k kP\ L +9 &+2W j jP\ K +10 &,W l k-\ L +9 &.U k lH\ L +9 &0wU l lK\ L +10 &2:R l k2\ K +9 &3S k lR\ K +9 &5T l mS\ K +10 &7Y n m8\ L +9 &9AW n lV\ L +10 &;S n mY\ K +9 &<T p p5\ L +9 &>S o oL\ L +10 &@IS o pW\ L +9 &B Y r q7\ L +10 &C` r s,\ M +9 &Eq w yS\ O +9 &G= x z4\ R +10 &H x z+\ V +9 &J { |/\ W +9 &Lq | {)\ Y +10 &N3 { |O\ Y +9 &O { z6\ Y +10 &Q | {-\ Z +9 &Ss | | \ [ +9 &U5 z {\ [ +10 &V | {\ \\ +9 &X ~ |\ ] +9 &Zq ~ }&\ ^ +10 &\\{ ~ ~ \ 3 +9 &\\/  \ #j +9 ( +2 &\\s  \ W +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 +2 .Hand.open + "manipulator"&i1 +56 "core" 1 +2 "manipulator"&\\% +4 "core" % I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +93 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%n& +4 "core" &\ + "manipulator"&T% +4 "core" % # 2 +2 "storage"(% +4 "core" % ' (\ + "storage"(0. +3 "core" .(K + "storage"(B& +4 "core" &K ( $\ +2 "storage"(S& +3 "core" &K ( ( \ +2 "manipulator"&V& +4 "core" &ӕ'  @Y + "manipulator"&O% +4 "core" % #  2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&z( +163 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &K ) ' C\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +99 "core" ' +2 "storage"(j& +4 "core" &K Y _\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" &K ' ' %\ + "manipulator"&'& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&=( +4 "core" ( + "manipulator"&& +4 "core" & i  + "storage"(<& +4 "core" &K 8 D k\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&x'h +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&t/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +3 "storage"("' +7 "core" &  +2 "manipulator"&% +4 "core" % p l +2 .tForearm.seek :retract + "manipulator"&A' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&( +172 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +67 "core" ( +2 "manipulator"&&& +4 "core" & ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" & ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&:' +96 "core" ' + "manipulator"&[& +5 "core" & / ) + "manipulator"&h% +4 "core" % x  +2 "processing"%2& +4 "core" &4\ +2 "processing"%`& +5 "core" &.\ +2 .tPC.seek :closed +2 "processing"%((^ +5 "core" &-\ +6 &38\ $e +9 &Vx5\ 7 +9 &~t1\ L +10 &O2\ O +9 &eQ7\ N +9 &'O7\ N +10 &R6\ O +9 &Q;\ N +10 &mL/\ N +9 &.O5\ O +9 &P/\ O +10 &!L1\ N +9 &#tM0\ O +9 &%7P8\ N +10 &&Q0\ O +9 &(P/\ O +10 &*}N1\ N +9 &,?N/\ N +9 &.Q/\ N +10 &/P,\ N +9 &1T0\ O +9 &3FN/\ O +10 &5 Q,\ N +9 &6P-\ N +10 &8Q+\ O +9 &:NS-\ O +9 &<P.\ O +10 &=Q-\ N +9 &?R'\ O +9 &ASW"\ P +10 &Cj'\ Q +9 &Dr%\ S +10 &F\ U +9 &HJ\ U +9 &J $\ U +10 &K&\ V +9 &M$\ V +9 &OP$\ V +10 &Q*\ W +9 &R*\ V +10 &T(\ W +9 &VV#\ W +9 &X"\ V +10 &Y)\ W +9 &[)\ W +9 &]]'\ D +10 &^L})\ N +9 &^"*\ [ +10 &_"*\ 1 +2 ( +2 "processing"%`& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 +2 .Hand.open + "manipulator" +58 "core" 1 +2 "manipulator"&k% +4 "core" %  >  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +96 "core" ' + "processing"%|& +4 "core" &_%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&J% +4 "core" % # ) 2 +2 "storage"(l% +4 "core" % \ $ X\ + "storage"(U. +3 "core" .(K +2 "storage"(p& +3 "core" &K   )\ +2 "storage"(@& +2 "manipulator"&& +6 "core" &K   !\ +51 & F ) +5 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&F( + "storage"(y'r +5 "core" ( + "manipulator"&^& +61 "core" & V ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & P ) +2 .tForearm.seek PC +2 "manipulator"&8' +98 "core" ' +2 .tHand.close + "manipulator"&6/ +60 "core" / +2 .tPC.seek :open + "processing"%b( +33 "core" ' + "storage"(- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'1 +40 "core" ' +372 ( +2 "storage"(& +4 "core" &K ' \ +2 "manipulator"&d& +3 "core" & _ ) +2 "manipulator"&% +3 "core" %  X +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&%( +246 "core" ( + "manipulator"&?& +5 "core" & K + "storage"(/& +4 "core" &K ) `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&I' +100 "core" ' + .tHand.open +2 "manipulator"&)1 +62 "core" 1 +2 "storage"(1- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(K' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"($' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +4 "core" -' + "storage"(c& +4 "core" &K   \ [ + "manipulator"&L& +4 "core" &   K +2 .tElbow.seek 6 +2 "manipulator"&R( +3 "core" ( + "manipulator"&C& +4 "core" & \ z K +2 "storage"(+& +4 "core" &K + , J\ ^ +2 .tForearm.seek 6 + 450 counts + "manipulator"&Z' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(>'" +53 "core" ' + "manipulator"&_& +4 "core" & \ K +2 "storage"(& +4 "core" &K ) 0 `\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&o'< +15 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(.' +20 "core" ' +2 "manipulator"&r% +4 "core" %K 7  +2 "storage"( & +4 "core" &K  &\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 315 counts +2 "manipulator"&'w +14 "core" ' +2 "manipulator"&D& +4 "core" &  J +2 "storage"(W& +4 "core" &K 0 % c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +18 "core" ' + "storage"(!% +5 "core" % 8 4 k\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (*% +3 "core" %H * (\ Xi +2 "manipulator"&q% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +91 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (P& +4 "core" &K # 4 "\ +2 "collection"'5& +3 "core" &\\s  @\ W +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&3% +4 "core" %   5  +2 "storage"(v% +3 "core" % * ( B\ +2 "storage"(. +3 "core" .(K +2 "storage"( & +3 "core" &K + 5 z\ +2 "storage"(m& +4 "core" &K ' ' :\ + "manipulator"&& +4 "core" & K J + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&;& +3 "core" &  + J +2 "storage"( & +4 "core" &K 3 4 J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +96 "core" ' +2 "storage"(4& +4 "core" &K ; < u\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +298 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +3 "core" & # J + "storage"(N& +4 "core" &K B : P\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&a'< +22 "core" ' +2 .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(~- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(w'g +26 "core" ' + "manipulator"&% +4 "core" %P +2 "storage"(& +3 "core" &K  x\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&E'| +24 "core" ' + "manipulator"&Q& +5 "core" & ! J + "storage"(i& +4 "core" &K < ; y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\\' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(n' +36 "core" ' + "manipulator"&T& +4 "core" &  J +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B(ӂ +151 "core" ( + "manipulator"&S& +5 "core" &Ӌ+ i Cm + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &Ӌ+ Z Cm + .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&O/ +55 "core" / + .tCC.seek :open +2 "collection"'H( +450 "core" ( +2 "storage"(& +4 "core" &K l \ + "storage"(& +4 "core" &K s h ^\ + "manipulator"&j& +4 "core" &ә(  j A_ + "manipulator"&G% +4 "core" % : ' +2 .tForearm.seek :retract + "manipulator"&7' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&9( +164 "core" ( + "manipulator"&Y& +5 "core" & f  + "storage"('& +4 "core" &K b\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +54 "core" 1 +2 "manipulator"&,% +4 "core" % I  J  + "storage"(& +4 "core" &K W\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&z'u +26 "core" ' +2 "manipulator"&-& +5 "core" & q  + "storage"(& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&x' +18 "core" ' + "storage"(&% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(e' +99 (=% +2 "core" %G z 3\ Wd +2 "manipulator"&[% +4 "core" % T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +1182 #t-> exit +6 #mEXIT @1627932492.04PDT @1628530954.36PDT = =tMAIN =mMAIN_scheduler @PDT1628530956.14 #"core_reset"Sent BREAK +2 #t@43391 select with ifg=0x10, ie=0xF5 + #@44026 receive with ifg=0x10, ie=0xFD #@44661 receive with ifg=0x10, ie=0xFD + #@45296 receive with ifg=0x10, ie=0xFD + #@45624 receive with ifg=0x80, ie=0xFD #@18503 sendCRC with ifg=0x20, ie=0x7F + #@18951 sendCRC with ifg=0x20, ie=0x7F + #@20541 sendCRC with ifg=0x08, ie=0x5F #@40897 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +371 "Can"\ >; + \ >; #tPolling Can every 10:00 +21 #Cleanly exited at 12:28:12PDT02-Aug-21 +567 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +3 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %m k n\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %%\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %چ w\ 6 + .tSS.configure :default +3 "sampler")#.0X  + %چ n\ 6 + "storage"(& +4 "core" &K \ + "storage"(% +4 "core" % h\ + "collection"'& +3 "core" & n n}\ +2 "processing"%& +3 "core" &\ +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core"  +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" W +2 "processing"%% +3 "core"  + "processing"%& +3 "core" A +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" %m o o~\ +2 "processing"%)% +4 "core" % \ +2 "sampler")*% +3 "core" %چ p\ 6 +2 "collection"'+& +4 "core" & n m{\ + "processing"%,& +5 "core" &\ \ + "manipulator"&-% +4 "core" %  -  +2 "manipulator"&.& +4 "core" &  a  + "storage"(/& +4 "core" &K \ +2 "storage"(0% +4 "core" % a\ + "collection"'19 +4 "core" 9x + "processing"%29 +3 "core" 9 +1126 #t-> require 'shuffle.rb' +1707 #-> 5.times {shuffle 2..6} +2 #Shuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'3& +3 "core" & n o\ +2 .tHand.open + "manipulator"&41 +25 "core" 1 + "manipulator"&5% +5 "core" %  6  + "storage"(6% +4 "core" % \ + "storage"(7. +3 "core" .,K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(8(  +1299 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (9& +3 "core" &  F N '\ + "manipulator"&:& +4 "core" &  -  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&;( +3 "core" ( + "manipulator"&<& +4 "core" &  k  +2 "storage"(=& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'S +93 "core" ' + "storage"(?& +5 "core" &  0\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'r +296 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &  E N F\ +2 "manipulator"&C& +4 "core" & s  + .tElbow.seek 2 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&E& +3 "core" & P  +2 "storage"(F& +4 "core" &  d d \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&G'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +74 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& +2 "storage"(J' +7 "core" &  + "manipulator"&K% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&L' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&M(ӂ +159 "core" ( +2 "manipulator"&N& +4 "core" ' + &Ӑ$  c =D +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &O& +3 "core" &Ӑ$ U =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +37 "manipulator"&P'? +96 "core" ' +2 "manipulator"&Q& +4 "core" &Ӑ%  =D +2 "manipulator"&R% +4 "core" %C , m +2 "collection"'S& +3 "core" & n p{\ +3 "collection"'T& +4 "core" & n p\ +2 .tCC.seek :closed +2 "collection"'U(\\ +5 "core" & p o|\  +9 &5{ p on\ +{ +9 &e n nh\ ? +10 &u p pf\ O +9 &LY q ql\ N +10 & [ p pg\ O +9 &[ q pi\ N +9 &W t rf\ N +10 &TY n pi\ N +9 &Y o pg\ N +9 &\\ p rV\ N +10 & X q rW\ N +9 &"[Z p p]\ O +10 &$X q q[\ N +9 &%Y q q]\ O +9 &'Z o q]\ N +10 &)eX n q]\ N +9 &+'Y p n]\ N +9 &,X p q`\ N +10 &.X q q]\ N +9 &0lX q p[\ N +10 &2.W q qO\ N +9 &3Y q oS\ N +9 &5X s pQ\ N +10 &7tY q rK\ N +9 &97Y q rN\ N +9 &:W q qL\ N +10 &<Y q rJ\ N +9 &>|Y r sJ\ N +10 &@>Y t rP\ N +9 &A[ t tJ\ O +9 &Cb v tK\ O +10 &Eg w vX\ P +9 &G=u w xO\ Q +9 &H { y[\ T +10 &J ~ }Y\ X +9 &Lk  X\ Z +10 &N. Z\ Y +9 &O Z\ Z +9 &Q V\ [ +10 &Sn ?\ [ +9 &U/ <\ \\ +9 &V A\ \\ +10 &X G\ ] +9 &Zq E\ ] +10 &\\x C\ 5 +9 &\\( B\ O +9 ( +3 "collection"'T& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&V1 +4 "core" &\\b A\ K +53 1 + "manipulator"&W% +5 "core" % C f m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%Y& +5 "core" &\ + "manipulator"&Z% +4 "core" %   + "storage"([% +4 "core" %   `\ +2 "storage"(\\. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(](  +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (^& +3 "core" &  }\ +2 "manipulator"&_& +4 "core" &Ӑ$ =D + "manipulator"&`% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&a( +157 "core" ( + "manipulator"&b& +5 "core" &  + "storage"(c& +4 "core" & 4 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&d'S +95 "core" ' + "storage"(e& +5 "core" & ( ) .\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'r +295 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (h& +3 "core" &   \ +2 "manipulator"&i& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&j( +3 "core" ( + "manipulator"&k& +4 "core" & 8 + "storage"(l& +4 "core" & \  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&m'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& + "storage"(p' +7 "core" &  t +2 "manipulator"&q% +4 "core" % ϸ m +2 .tForearm.seek :retract + "manipulator"&r' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +169 "core" ' + ."downElevator"SE.stop + "storage"(5 +70 "core" ( +2 "manipulator"&t& +4 "core" & ~ / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" & @ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&v' +93 "core" ' + "manipulator"&w& +5 "core" & k / + "manipulator"&x% +4 "core" % L f +2 "processing"%y& +4 "core" &*\ +2 "processing"%z& +5 "core" &\ +2 .tPC.seek :closed + "processing"%{(^ +5 "core" &)\ +7 &8+\ $d +9 &Sv)\ 7 +9 &|x#\ L +10 &T)\ P +9 &ST)\ P +10 &T*\ P +9 &V)\ Q +9 &U \ P +10 &\\T$\ P +9 &W*\ P +9 &T+\ P +10 &!U$\ P +9 &#eU$\ P +10 &%'S\ P +9 &&V\ P +9 &(U\ P +10 &*lY\ P +9 &,.V\ P +9 &-T\ P +10 &/V\ P +9 &1tZ\ P +10 &36U\ P +9 &4T\ P +9 &6V\ P +10 &8|X\ P +9 &:=W\ P +9 &;Z\ P +10 &=X\ P +9 &?Y\ P +10 &AD\\\ Q +9 &Cc\ Q +9 &Dj\ S +10 &F{\ T +9 &H;\ W +9 &I\ V +10 &K\ V +9 &M\ W +10 &OA\ W +9 &Q\ X +9 &R\ X +10 &T\ X +9 &VG\ X +9 &X\ \ W +10 &Y\ X +9 &[ \ X +10 &]M\ K +9 &^{H\ ` +9 &^ Q\ 6 +6 ( +2 "processing"%z& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&|1 +4 "core" &^&\ 6 +54 1 +2 "manipulator"&}% +4 "core" %  S f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +90 "core" ' + "processing"%& +4 "core" &^&\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % ]\ + "storage"(. +3 "core" .(  +2 "storage"(& +3 "core" &  \ +2 "storage"(& +2 "manipulator"&& +7 "core" &  a\ + & L / +4 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&\ ( + "storage"( 'r +6 "core" ( +2 "manipulator"&& +3 "core" & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & / +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close +2 "manipulator"&/ +66 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +313 ( + "storage"(& +4 "core" & ) + B\ +2 "manipulator"&& +3 "core" & r / +2 "manipulator"&% +3 "core" %  I ; +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&& +4 "core" &  N ` + "storage"(& +4 "core" &   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +88 "core" ' + .tHand.open +2 "manipulator"& 1 +55 "core" 1 +2 "storage"(!- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(#' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"($- +3 "core" -' +2 "storage"(%& +3 "core" & K 2\ Z +2 "manipulator"&&& +4 "core" &  0 ` + .tElbow.seek 2 +2 "manipulator"&'( +4 "core" ( + "manipulator"&(& +4 "core" &  S ` +2 "storage"()& +3 "core" & K /\ Z +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&*'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(+'" +53 "core" ' + "manipulator"&,& +4 "core" &  = ` +2 "storage"(-& +4 "core" &  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&.'Α +27 "core" ' +2 .tElbow.hold + "manipulator"&/, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(0' +25 "core" ' +2 "manipulator"&1% +4 "core" %΢  R + "storage"(2& +5 "core" & I\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&3' +18 "core" ' + "manipulator"&4& +5 "core" &  _ + "storage"(5& +5 "core" & * * F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&6'S +15 "core" ' +2 "storage"(7% +4 "core" % * + q\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (9% +3 "core" %SO  U\ Zo +2 "manipulator"&:% +4 "core" %L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +85 "core" ' +73 ' + ."downElevator"SE.stop + "storage"(5 +3 (=& +4 "core" & ' ' \ + "collection"'?& +4 "core" &\\b 5\ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +5 "core" %  a  + "storage"(% +4 "core" % + + 0\ + "storage"(A. +3 "core" .(  +2 "storage"(B& +3 "core" & * + =\ +2 "storage"(C& +4 "core" & ) ( 3\ + "manipulator"&E& +4 "core" & _ + .tElbow.seek 2 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&H& +4 "core" & ` _ + "storage"(I& +4 "core" & * + ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&K'S +94 "core" ' + "storage"(;& +5 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +295 "core" ' +2 "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&O& +3 "core" & _ _ +2 "storage"(@& +4 "core" & \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&G'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Q- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(R'` +29 "core" ' + "manipulator"&S% +5 "core" %Σ  + "storage"(J& +4 "core" &  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&L' +16 "core" ' +2 "manipulator"& & +41 "core" & _ +11 "storage"(V& +4 "core" &   `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&W'S +15 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(Y' +47 "core" ' +2 "manipulator"&Z& +4 "core" & / _ +2 "manipulator"&[% +4 "core" %N ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^(ӂ +149 "core" ( +2 "manipulator"&T& +4 "core" &y0 4 G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &y1  G +2 .tForearm.seek CC +2 "manipulator"&`'? +100 "core" ' + .tHand.close +2 "manipulator"&P/ +59 "core" / +2 .tCC.seek :open +2 "collection"'b( +447 "core" ( + "storage"(c& +5 "core" & ' ) 5\ + "storage"(8& +4 "core" & * + :\ + "manipulator"&e& +4 "core" &Ӳ&  ?V +2 "manipulator"&M% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&X' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&g( +165 "core" ( +2 "manipulator"&h& +4 "core" & 7  + "storage"(i& +4 "core" & d d 7\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&k'Α +97 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&n1 +54 "core" 1 +2 "manipulator"&o% +5 "core" % Υ 0 + "storage"(q& +4 "core" & N O \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&a' +15 "core" ' +2 "manipulator"&d& +4 "core" & -  +2 "storage"(f& +4 "core" & f e \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'S +18 "core" ' + "storage"(t% +5 "core" % j *\ +2 ."downElevator"SE.seek :down +3 "storage"(u' +100 (j% +3 "core" %GL C > \ Yj + "manipulator"&w% +5 "core" %_ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +86 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'y& +5 "core" & h jK\ + "manipulator"&p% +4 "core" %  ,  +2 "storage"(r% +3 "core" % t \ +2 "storage"( . +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(|( +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +2 "core" & = ; R\ \ +2 "manipulator"&& +4 "core" &  T  + .tElbow.seek 3 +2 "manipulator"&( +35 "core" ( + "manipulator"&& +4 "core" & 6 B +2 "storage"(& +3 "core" & g g p\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' + "storage"(& +4 "core" & \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +293 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & V G C\ \ +2 "manipulator"&& +3 "core" &  F B +2 .tElbow.seek 3 +2 "manipulator"&v( +3 "core" ( + "manipulator"&& +4 "core" & g B +2 "storage"(& +4 "core" & K d r\ \ + .tForearm.seek 3 + 300 counts +2 "manipulator"&s'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& +2 "storage"( ' +7 "core" & ~ B +2 "manipulator"&% +3 "core" % Ϲ  : +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ( +2 "manipulator"&& +4 "core" &z- Dw + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &z-  Dw + ' +2 ."downElevator"SE.stop +3 .tForearm.reconfigure :tight +3 "storage"(5 + "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 "manipulator"&\ & +4 "core" &Ӄ+ 8 Bn +2 "manipulator"& % +3 "core" %> ' n +2 "collection"'!& +4 "core" & k l[\ +3 "collection"'$& +4 "core" & k lU\ +2 .tCC.seek :closed +2 "collection"'%(\\ +5 "core" & m lY\ +6 &; l l^\ $e +9 &W~ m l\\\ 7 +10 &} o mZ\ L +9 &Z l oP\ N +10 &nU o nM\ N +9 &0Z n oM\ N +9 &W o nM\ N +10 &W o nJ\ N +9 &v[ n mK\ N +9 &8[ l nM\ N +10 &Z n oH\ N +9 &!Z m nH\ M +9 &#~Y n nK\ N +10 &%@Z o oB\ N +9 &'U o o3\ M +9 &(Y o n8\ M +10 &*[ n q9\ M +9 &,IW p q7\ M +10 &.\ U n p0\ N +9 &/Y o k7\ M +9 &1Z p o<\ N +10 &3QZ p o>\ M +9 &5W o p=\ M +9 &6Z p q6\ N +10 &8Y p qB\ M +9 &:YX q o:\ M +10 &<Z q r:\ N +9 &=[ r o8\ N +9 &?V q r>\ N +10 &A`V p q5\ N +9 &C!] v t3\ N +10 &Dg u u6\ O +9 &Fq x w4\ P +9 &HV y y?\ T +10 &J } ~2\ W +9 &K 5\ Y +9 &M =\ Z +10 &OL &\ Z +9 &Q  \ Z +9 &R $\ [\ +10 &T (\ \\ +9 &VN $\ \\ +10 &X '\ \\ +9 &Y /\ ^ +9 &[ /\ K +10 &\\7 -\ - +9 &\\ /\ W +5 ( +2 "collection"'$& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&&1 +4 "core" &\\ %\ W +59 1 +2 "manipulator"&(% +4 "core" % > n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &#\ + "manipulator"&,% +4 "core" %   + "storage"(-% +4 "core" % \ +2 "storage"(1. +3 "core" .( + "storage"(2& +4 "core" & Z\ \ +2 "storage"(& +4 "core" & )\ \ + "manipulator"&4& +4 "core" &ӑ( A` +2 "manipulator"&5% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&"( +167 "core" ( +2 "manipulator"&7& +4 "core" &  +2 "storage"(& +3 "core" &   \\\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +93 "core" ' + "storage"(#& +5 "core" &   <\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'r +300 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &  \ \ +2 "manipulator"&'& +4 "core" & '  + .tElbow.seek 3 +2 "manipulator"&+( +3 "core" ( + "manipulator"&.& +5 "core" &  + "storage"(3& +4 "core" & a\ \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&='ϡ +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&?/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +8 "core" &  + "manipulator"&0% +5 "core" % Ϭ * z + .tForearm.seek :retract +2 "manipulator"&A' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&B( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&C& +4 "core" &  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" & 5 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&H' +94 "core" ' +2 "manipulator"&I& +4 "core" & 5 +2 "manipulator"&6% +4 "core" % ) + "processing"%;& +4 "core" &#\ +2 "processing"%& +5 "core" &$\ +2 .tPC.seek :closed +2 "processing"%/(^ +4 "core" &(\ +7 & +\ $c +10 &U{(\ 7 +9 &|y(\ L +9 &U"\ Q +10 &SU!\ P +9 &Q!\ P +9 &U \ Q +10 &T\ P +9 &\\U\ P +10 &U\ Q +9 &U\ P +9 &!W\ P +10 &#dU\ P +9 &%%T\ P +9 &&W\ P +10 &(V\ P +9 &*kT\ P +10 &,-U\ P +9 &-Q\ P +9 &/V\ P +10 &1tV\ P +9 &35W\ P +9 &4R\ P +10 &6W\ P +9 &8zW\ Q +10 &:>S\ P +9 &;Y\ Q +9 &=W\ P +10 &?V\ P +9 &AB^\ Q +9 &Cg\ S +10 &Ds\ T +14 &Fz\ V +5 &H:\ W +9 &I\ V +9 &K\ W +10 &M~\ X +9 &O>\ X +9 &Q\ X +10 &R\ X +9 &T \ X +9 &VF\ X +10 &X \ X +9 &Y\ X +10 &[\ Y +9 &]L \ L +9 &^zI\ a +10 &^V\ 6 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"&<1 +3 "core" &^'\ 6 +52 1 + "manipulator"&N% +4 "core" %  G ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&O' +88 "core" ' +2 "processing"%@& +4 "core" &^'\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Q% +4 "core" %  4  +2 "storage"(S% +4 "core" % \ + "storage"(J. +3 "core" .( +2 "storage"( & +3 "core" & y\ \ +2 "storage"(V& +4 "manipulator"&Z& +4 "core" & \ \ +2 & 5 +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&[( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(K'r +3 "core" ( + "manipulator"&F& +4 "core" & E 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" & . 5 +2 .tForearm.seek PC + "manipulator"&G' +94 "core" ' + .tHand.close +2 "manipulator"&L/ +69 "core" / +2 .tPC.seek :open +2 "processing"%R( +85 "core" ' + "storage"(T- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'1 +40 "core" ' +369 ( +2 "storage"(W& +4 "core" &  \ \ +2 "manipulator"&D& +3 "core" &  M 5 +2 "manipulator"&P% +4 "core" %  d - +2 .tForearm.seek :retract + "manipulator"&\\' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&U( +248 "core" ( +2 "manipulator"&c& +4 "core" & h 8 + "storage"(8& +4 "core" & '\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&e'7 +91 "core" ' +2 .tHand.open + "manipulator"&M1 +52 "core" 1 +2 "storage"(h- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(i' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(`' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' + "storage"(n& +4 "core" & \ H\ +2 "manipulator"&o& +4 "core" & 8 + .tElbow.seek 3 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&d& +3 "core" &   a 8 +2 "storage"(f& +4 "core" & \ G\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(X'" +52 "core" ' +2 "manipulator"&j& +4 "core" & 3 8 + "storage"(w& +5 "core" & 5\ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&g'u +23 "core" ' +2 .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(y' +25 "core" ' +2 "manipulator"&a% +4 "core" %΃  +2 "storage"(p& +4 "core" & 5\ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&r'ϯ +36 "core" ' +2 "manipulator"& & +4 "core" & V 8 +2 "storage"(Y& +4 "core" & G\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&m'7 +23 "core" ' + "storage"(u% +5 "core" %   _\ +2 ."downElevator"SE.seek :down +4 "storage"(]' +98 (}% +3 "core" %#~j i\ A +102 "storage"(% +4 "core" %oA \ Xg + "manipulator"&% +5 "core" %L + + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +39 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & $\ \ + "collection"'l& +4 "core" &\\ o\ W +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&x% +4 "core" %  <  +2 "storage"(z% +3 "core" % >\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" &  ^\ \ + "storage"(& +5 "core" & ) \ \ + "manipulator"&& +4 "core" & C 8 +2 .tElbow.seek 3 + "manipulator"&~( +3 "core" ( +2 "manipulator"&{& +3 "core" & 8 +2 "storage"(& +4 "core" & ,\ \ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' +2 "storage"(& +4 "core" &   .\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & 8 + "storage"(s& +4 "core" &  Y\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&\ 'u +19 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(v'h +28 "core" ' +2 "manipulator"& % +4 "core" % " * + "storage"(& +4 "core" &\ \ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&b'ϫ +14 "core" ' +2 "manipulator"&&& +4 "core" & 8 + "storage"((& +4 "core" &   \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(,' +34 "core" ' + "manipulator"&-& +5 "core" &  8 + "manipulator"&1% +4 "core" %, * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +154 "core" ( + "manipulator"&& +5 "core" &ӛ  K :+ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &ӛ  1 :+ +2 .tForearm.seek CC + "manipulator"&5'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'7( +447 "core" ( +2 "storage"(& +4 "core" & > > \ \ + "storage"(#& +4 "core" & . 7 x\ \ + "manipulator"&& +4 "core" &ӛ  A :+ + "manipulator"&)% +4 "core" % L v \\ +2 .tForearm.seek :retract + "manipulator"&:' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&*( +165 "core" ( + "manipulator"&'& +4 "core" & D  +2 "storage"(.& +4 "core" & W V !\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&3'u +95 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&0% +4 "core" % p 1 * + "storage"("& +4 "core" & Q G D\ \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 295 counts +2 "manipulator"&'Ϝ +22 "core" ' +2 "manipulator"&9& +5 "core" &  + "storage"(=& +4 "core" & g d a\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&C'7 +26 "core" ' + "storage"(E% +5 "core" % g g \ +2 ."downElevator"SE.seek :down +3 "storage"(+' +99 (I% +2 "core" %j> H @ \ Wc +2 "manipulator"&6% +4 "core" %. f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +97 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" & j ir\ + "manipulator"&A% +5 "core" %  \  + "storage"(% +4 "core" % c c C\ + "storage"(<. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(N(,y +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (@& +3 "core" &,{ 6 6\  +2 "manipulator"&Q& +3 "core" & T  +2 .tElbow.seek 4 +2 "manipulator"&S( +39 "core" ( +2 "manipulator"&J& +4 "core" & \ + "storage"( & +4 "core" &,{ d e \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +97 "core" ' + "storage"(V& +4 "core" &,{ )\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +2 "core" &,{ C D \  +2 "manipulator"&H& +4 "core" & h \ +2 .tElbow.seek 4 + "manipulator"&L( +4 "core" ( + "manipulator"&T& +4 "core" & H \ + "storage"(B& +4 "core" &,{ e d L\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&O'c +33 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +3 "storage"(W' +8 "core" & \ +2 "manipulator"&D% +3 "core" % Ϙ S +2 .tForearm.seek :retract +2 "manipulator"&P' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +153 "core" ( + "manipulator"&c& +5 "core" &|.  E} +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' + "manipulator"&8& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &|. a E} +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['? +98 "core" ' +2 "manipulator"&M& +5 "core" &ӥ& ?T + "manipulator"&h% +4 "core" %A +2 "collection"'^& +4 "core" & i k\ +2 "collection"'n& +5 "core" & j j\ +2 .tCC.seek :closed +2 "collection"'o(\\ +4 "core" & i kM\ +8 &< j iK\ %f +9 &W~ j kP\ 8 +9 &z j jK\ M +10 &W k kT\ M +9 &Z l lO\ M +10 &AZ m nK\ M +9 &V k lJ\ M +9 &X k lK\ M +10 &Y l lL\ N +9 &HX m kK\ N +10 & T p lL\ M +9 &!Y l mA\ M +9 &#Z m n;\ N +10 &%PW l nA\ N +9 &'W o o:\ M +9 &(U m l8\ M +10 &*Y m n4\ M +9 &,XX m o7\ N +9 &.V n k7\ M +10 &/S m lA\ M +9 &1X m lD\ N +10 &3aW p nD\ M +9 &5#T m nD\ M +9 &6Z n p>\ M +10 &8Y o p8\ M +9 &:hX m p9\ N +9 &<+W o q8\ M +10 &=T p p8\ M +9 &?W o p8\ M +10 &AqX q q.\ M +9 &C2[ s r?\ N +9 &Dc t u7\ O +10 &Fn t s3\ P +9 &Hi s s-\ S +10 &J u w2\ W +9 &K { x1\ Y +9 &M y y)\ Z +10 &O^ x {$\ Y +9 &Q z { \ Z +9 &R z z$\ [ +10 &T | {$\ [\ +9 &V^ z |'\ \\ +9 &X | {$\ \\ +10 &Y z ~"\ ^ +9 &[  | \ J +10 &\\: { |0\ + +9 &\\g ~ ~'\ O +2 ( +2 "collection"'n& +59 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&d1 +3 "core" &\\e  -\ O + &\\e z ~$\ O + &\\e ~ } \ O + &\\e ~ ~\ O + &\\e ~ *\ O + &\\e ~ ~\ O +53 1 + "manipulator"&f% +4 "core" % A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%j& +4 "core" &)\ +2 "manipulator"&w% +3 "core" %  g  +2 "storage"(a% +4 "core" % \ + "storage"(p. +3 "core" .(,y +2 "storage"(_& +3 "core" &,{ p\  +2 "storage"(i& +4 "core" &,{ \  + "manipulator"& & +5 "core" &ӥ& < ?T + "manipulator"&Y% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&u( +166 "core" ( +2 "manipulator"&U& +4 "core" &   +2 "storage"(e& +3 "core" &,{  % _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&`' +94 "core" ' +2 "storage"(}& +5 "core" &,{  ]\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'r +299 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (X& +3 "core" &,{  g\  +2 "manipulator"&& +3 "core" & I  +2 .tElbow.seek 4 +2 "manipulator"&g( +3 "core" ( + "manipulator"&& +4 "core" & =  + "storage"(r& +4 "core" &,{   *\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&y'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& + "storage"(x' +7 "core" & ?  +2 "manipulator"&z% +4 "core" % ψ +2 .tForearm.seek :retract + "manipulator"&' +86 "core" ' + .tElbow.seek PC +2 "manipulator"&( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&& +5 "core" & &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & I  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{' +91 "core" ' +2 "manipulator"&& +4 "core" &    +2 "manipulator"&% +3 "core" % B +2 "processing"%m& +4 "core" &)\ +2 "processing"%]& +5 "core" &*\ +2 .tPC.seek :closed + "processing"%k(^ +5 "core" &*\ +7 &3 \ $c +9 &Sy)\ 7 +10 &}{+\ L +9 &U*\ P +9 &ST \ P +10 &R&\ P +9 &U\ O +9 &U \ O +10 &[U\ P +9 &W\ P +9 &W \ P +10 &!T\ P +9 &#cT\ P +10 &%%S\ P +9 &&W\ P +9 &(U\ P +10 &*kS\ P +9 &,-U\ P +10 &-R\ P +9 &/U\ P +9 &1rY\ P +10 &35U\ P +9 &4T\ O +9 &6U\ P +10 &8zU\ P +9 &:<U\ P +9 &;W\ P +10 &=X\ P +9 &?X\ Q +10 &AAZ\ Q +9 &Bj\ R +9 &Dp\ S +10 &Fy\ V +9 &H9\ W +9 &I\ W +10 &K\ V +9 &M|\ X +10 &O>\ W +9 &P\ X +9 &R\ X +10 &T|\ \ Z +9 &VE\ X +10 &X\ X +9 &Y\ Y +9 &[\ X +10 &]L\ K +9 &^xF\ "h +9 &^ N\ 7 +6 ( +2 "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&1 +3 "core" &^- \ 7 +59 1 + "manipulator"&% +4 "core" %  - B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 "processing"%s& +4 "core" &^- \ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&!% +3 "core" % " ; - +2 "storage"( % +4 "core" % \ + "storage"(. +3 "core" .(,y +2 "storage"(&& +3 "core" &,{ =\  +2 "storage"((& +4 "manipulator"&-& +4 "core" &,{ \  +2 & U  +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&1( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +6 "core" ( + "manipulator"&~& +5 "core" & " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &   +2 .tForearm.seek PC +2 "manipulator"&\ ' +99 "core" ' + .tHand.close +2 "manipulator"&b/ +64 "core" / +2 .tPC.seek :open +2 "processing"%v( +82 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(4'1 +48 "core" ' +314 ( +2 "storage"(& +4 "core" &,{   \  + "manipulator"& & +4 "core" &  +2 "manipulator"&% +3 "core" % Ͼ % +2 .tForearm.seek :retract +2 "manipulator"&2' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&%( +250 "core" ( + "manipulator"&& +5 "core" & , 4 + "storage"(#& +4 "core" &,{   ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +100 "core" ' + .tHand.open + "manipulator"&)1 +62 "core" 1 +2 "storage"('- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(.' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(5' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"($- +3 "core" -' +2 "storage"(& +4 "core" &,{   {\ 1 + "manipulator"&0& +4 "core" & J 4 + .tElbow.seek 4 +2 "manipulator"&"( +25 "core" ( +2 "manipulator"&9& +4 "core" & !  +2 "storage"(=& +3 "core" &,{   t\ 3 +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(:'" +58 "core" ' + "manipulator"&I& +5 "core" & u  + "storage"(6& +5 "core" &,{   ?\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&*'7 +25 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +22 "core" ' + "manipulator"&% +5 "core" %J C + "storage"(A& +4 "core" &,{ k\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&'v +13 "core" ' +2 "manipulator"&<& +4 "core" & \  +2 "storage"(,& +4 "core" &,{  e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +19 "core" ' +2 "storage"(+% +5 "core" % + .\ +2 ."downElevator"SE.seek :down +4 "storage"(|' +98 (@% +3 "core" %IJ\ Xj +2 "manipulator"&Q% +4 "core" % H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +88 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &,{ ) * `\  + "collection"'V& +4 "core" &\\d } }/\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&?% +4 "core" %  #  + "storage"(;% +5 "core" % * * 8\ + "storage"(F. +3 "core" .(,y + "storage"(>& +4 "core" &,{  $ 1\  +2 "storage"(H& +4 "core" &,{ % ( 4\  + "manipulator"&T& +4 "core" & B  + .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&/& +3 "core" &  +2 "storage"(K& +4 "core" &,{ ) * \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +99 "core" ' + "storage"(S& +5 "core" &,{ 5 *\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'r +309 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&8& +3 "core" &  + "storage"(& +4 "core" &,{  ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(h- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(^'p +29 "core" ' + "manipulator"&L% +4 "core" %L Y  +2 "storage"(W& +4 "core" &,{   b\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 321 counts + "manipulator"&P'x +14 "core" ' +2 "manipulator"&7& +4 "core" &  +2 "storage"(d& +3 "core" &,{  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +19 "core" ' +3 .tSE.seek 1.16 Pucks below Top Plate + "storage"(j' +35 "core" ' +2 "manipulator"&w& +4 "core" & 5  + "manipulator"&a% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_(ӂ +165 "core" ( + "manipulator"&i& +5 "core" &ӎ 2 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &ӎ 5 +2 .tForearm.seek CC +2 "manipulator"& '? +91 "core" ' +2 .tHand.close + "manipulator"&Y/ +57 "core" / + .tCC.seek :open +2 "collection"'[( +447 "core" ( +2 "storage"(U& +4 "core" &,{ @ 8 r\  +2 "storage"(e& +3 "core" &,{ % ' A\  +2 "manipulator"&}& +3 "core" &Ӡ 0 3 +2 "manipulator"&G% +4 "core" % 3  +43 .tForearm.seek :retract +11 "manipulator"&\\' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&q( +162 "core" ( +2 "manipulator"&X& +4 "core" & o  +2 "storage"(& +4 "core" &,{ H U _\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&l% +5 "core" % :   3 + "storage"(z& +4 "core" &,{ a Y \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts +2 "manipulator"&u'f +15 "core" ' +2 "manipulator"&`& +4 "core" & |  + "storage"(t& +5 "core" &,{ g i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&y' +18 "core" ' + "storage"(% +5 "core" % l h 4\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (g% +3 "core" %A @ > \ Wc +2 "manipulator"&% +4 "core" %  i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'m& +4 "core" & j kr\ +2 "manipulator"&x% +4 "core" %  7  + "storage"(% +4 "core" % W Z \ + "storage"(R. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<* + ) e\  + "manipulator"&s& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&!( +11 "core" ( + "manipulator"& & +4 "core" & Y  +2 "storage"(& +3 "core" &<* e f &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +98 "core" ' + "storage"(]& +5 "core" &<* \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'r +296 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" &<* I 3 Z\  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&{( +3 "core" ( + "manipulator"&b& +5 "core" & 6  + "storage"(& +4 "core" &<* d d ?\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +17 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(' +7 "core" & I  +2 "manipulator"&% +4 "core" % ϯ C +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +158 "core" ( + "manipulator"&\ & +5 "core" &ӟ $ 9) + ' + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&& +5 "core" &ӟ a 9) + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&#'? +112 "core" ' +2 "manipulator"&1& +4 "core" &ӟ  N 9) +2 "manipulator"&)% +4 "core" %G R y + "collection"''& +4 "core" & j k\ +3 "collection"'$& +5 "core" & j jJ\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" & j lJ\  +9 &2y k jM\ *y +9 &d l jN\ > +9 &s l kM\ N +10 &BW j lM\ N +9 &V l jO\ M +10 &Y k nP\ M +9 &W m lO\ N +9 &KU j nL\ M +10 & U l nL\ M +9 &T o n@\ M +9 & Y n l8\ M +10 &"RW l o8\ N +9 &$V n n9\ M +10 &%T n m<\ M +9 &'V l oA\ N +9 &)\\U n nD\ M +10 &+U o o?\ M +9 &,W n mC\ M +9 &.Y n m@\ M +10 &0dV m o8\ M +9 &2&V m o:\ M +10 &3W m o8\ M +9 &5W m n6\ M +9 &7kW n o6\ M +10 &9,W o o3\ N +9 &:V n o7\ M +9 &<W p p5\ M +10 &>sZ p p6\ M +9 &@5W p r1\ M +10 &AZ s s(\ M +9 &C\\ r r3\ M +9 &Evh u s%\ O +10 &G2w w u \ Q +9 &H y y"\ S +9 &J { {%\ X +10 &Lb { }(\ Y +9 &N! | }#\ Z +10 &O ~ }%\ Z +9 &Q } $\ Z +9 &Sb +\ [ +10 &U$ ~+\ [ +9 &V \ ] +9 &X "\ ] +10 &Zb #\ ^ +9 &\\z +\ : +10 &\\% #\ (v +9 &\\  \ ] +2 ( +2 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&01 +64 "core" 1 +2 "manipulator"&2% +4 "core" % G # y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%=& +4 "core" &$\ +2 "manipulator"&I% +3 "core" %  C  +2 "storage"(6% +4 "core" % \ + "storage"(4. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +2 "core" &<* e g M\  +2 "manipulator"&.& +4 "core" &ӟ  9) + "manipulator"&<% +5 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +154 "core" ( + "manipulator"&+& +4 "core" & +2 "storage"(%& +4 "core" &<*\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' + "storage"(5& +4 "core" &<*  /\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'r +306 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" &<* ! $\  + "manipulator"&"& +4 "core" & N +2 .tElbow.seek 5 + "manipulator"&:( +3 "core" ( +2 "manipulator"&*& +3 "core" &  +2 "storage"(& +3 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +3 "storage"(;' +7 "core" & % +2 "manipulator"&F% +4 "core" % Ͼ > +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&H& +5 "core" &  = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" & + = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&/' +97 "core" ' +2 "manipulator"&K& +4 "core" &  = +2 "manipulator"&C% +3 "core" %   +2 "processing"%S& +4 "core" &&\ +2 "processing"%|& +4 "core" &"\ +3 .tPC.seek :closed + "processing"%3(^ +5 "core" &"\ +7 & ,\ $c +9 &Uy\ 7 +10 &|y \ L +9 &U"\ P +9 &QT"\ P +10 &Q\ P +9 &T\ P +10 &W\ P +9 &ZR\ P +9 &U\ P +10 &S\ P +9 &!T\ P +9 &#cT\ P +10 &%%R\ P +9 &&W\ P +10 &(T\ P +9 &*kU\ P +9 &,,W\ P +10 &-R\ P +9 &/W\ P +9 &1sU\ P +10 &35T\ P +9 &4W\ P +10 &6U\ P +9 &8{U\ P +9 &:=U\ P +10 &;W\ P +9 &=V\ Q +9 &?V\ P +10 &ACS\ P +9 &C`\ R +10 &Dh\ R +9 &F~w\ T +9 &H8\ W +10 &I\ W +9 &K\ W +9 &M}\ W +10 &O?\ W +9 &P\ X +10 &R\ X +9 &T\ Y +9 &VF\ X +10 &X \ W +9 &Y\ W +9 &[\ \ X +10 &]L\ K +9 &^yH\ \ c +10 &^\ O\ 7 +5 ( +2 "processing"%|& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&J1 +4 "core" &^-\ \ 7 +49 1 + "manipulator"&c% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' + "processing"%& +5 "core" &^-\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&h% +3 "core" %  .  +2 "storage"(L% +4 "core" % \ + "storage"(W. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(7(<- +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (d& +3 "core" &<+ P \  +2 "manipulator"&w& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +3 "core" & = + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b + ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(a'r +2 "manipulator"&D( +5 "core" ( + "manipulator"&B& +4 "core" & = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" & I = +2 .tForearm.seek PC +2 "manipulator"&O' +93 "core" ' +2 .tHand.close + "manipulator"&P/ +69 "core" / +2 .tPC.seek :open +2 "processing"%^( +83 "core" ' +2 "storage"(i- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'1 +44 "core" ' +316 ( +2 "storage"(f& +4 "core" &<+ r\  + "manipulator"&M& +4 "core" & = +2 "manipulator"&Y% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&p' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&o( +252 "core" ( +2 "manipulator"&U& +4 "core" & D ` + "storage"(e& +56 "core" &<+ n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +91 "core" ' + .tHand.open +2 "manipulator"&G1 +53 "core" 1 +2 "storage"(X- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(_- +3 "core" -' +2 "storage"(& +4 "core" &<+ 1\ I + "manipulator"&l& +4 "core" & ` +2 .tElbow.seek 5 +2 "manipulator"&z( +3 "core" ( +2 "manipulator"&`& +4 "core" &   ` + "storage"(t& +4 "core" &<+ 6\ H +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\\'" +52 "core" ' + "manipulator"&g& +4 "core" & ` +2 "storage"(& +4 "core" &<+ 5\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&q'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(m' +25 "core" ' +2 "manipulator"&u% +4 "core" %Λ .  +2 "storage"(x& +4 "core" &<+ V\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&' +26 "core" ' +2 "manipulator"&R& +4 "core" &  x _ +2 "storage"(j& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&y'O +15 "core" ' + "storage"(% +5 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(N' +99 (% +3 "core" %(H \ Yk +2 "manipulator"&s% +4 "core" %<  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +87 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<+\  + "collection"']& +4 "core" &\\ U\ ] +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&r% +3 "core" %    +2 "storage"(% +4 "core" % (\ + "storage"((. +3 "core" .(<- +2 "storage"(~& +3 "core" &<+ $\  +2 "storage"(& +4 "core" &<+\  + "manipulator"&b& +4 "core" & e _ + .tElbow.seek 5 +2 "manipulator"&( +5 "core" ( + "manipulator"&& +4 "core" &  6 T +2 "storage"(k& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(!& +4 "core" &<+ '\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'r +296 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ; T + "storage"(-& +4 "core" &<+ ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"()'_ +29 "core" ' +2 "manipulator"&'% +4 "core" %΀ % # + "storage"(& +4 "core" &<+ -\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 287 counts +2 "manipulator"& 'Ϭ +14 "core" ' + "manipulator"&[& +4 "core" &  T +2 "storage"(0& +4 "core" &<+ K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&2'O +20 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(=' +41 "core" ' +2 "manipulator"&I& +4 "core" & & T +2 "manipulator"&6% +4 "core" %E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&$(ӂ +153 "core" ( + "manipulator"&A& +5 "core" &ӏ( b A` + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &ӏ( p A` + .tForearm.seek CC +2 "manipulator"&<'? +102 "core" ' +2 .tHand.close + "manipulator"&#/ +55 "core" / +2 .tCC.seek :open +2 "collection"'+( +446 "core" ( +2 "storage"(%& +4 "core" &<+ ( ) 0\  + "storage"(& +4 "core" &<+ * * (\  +2 "manipulator"&5& +3 "core" &Ӥ% >K +2 "manipulator"&% +3 "core" % D $  +2 .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Q( +165 "core" ( + "manipulator"&E& +5 "core" & A  + "storage"("& +4 "core" &<+ M O X\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&*'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&V1 +52 "core" 1 +2 "manipulator"&?% +4 "core" % ΂  , +2 "storage"(F& +3 "core" &<+ 8 7 O\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 289 counts +2 "manipulator"&,'Ϯ +24 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(@& +5 "core" &<+ h g s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +16 "core" ' +2 "storage"(H% +4 "core" % n \ +2 ."downElevator"SE.seek :down +3 "storage"(T' +99 (:% +3 "core" %pE K L \ We +2 "manipulator"&K% +5 "core" %T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +88 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'S& +4 "core" & h ho\ + "manipulator"&;% +5 "core" %  /  + "storage"(% +4 "core" % U U\ +2 "storage"(v. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(J(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +2 "core" &K - ) &\  +2 "manipulator"&& +3 "core" & l  +2 .tElbow.seek 6 +2 "manipulator"&h( +3 "core" ( + "manipulator"&L& +4 "core" & \\  + "storage"(W& +4 "core" &K V V J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +92 "core" ' + "storage"(|& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'r +296 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Z& +2 "core" &K > L \  +2 "manipulator"&/& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&& +3 "core" & |  +2 "storage"(i& +3 "core" &K Y c \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&>'h +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&8/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& + "storage"(a' +7 "core" &  + "manipulator"&f% +4 "core" % \\ +2 .tForearm.seek :retract +43 "manipulator"&M' +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +105 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +49 "core" ( +2 "manipulator"&O& +4 "core" &Ӌ* O Bk + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &Ӌ* Bk +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&e'? +93 "core" ' + "manipulator"&D& +5 "core" &Ӛ'  @\\ + "manipulator"&G% +4 "core" %; \ X +2 "collection"'X& +4 "core" & i lF\ +3 "collection"'_& +4 "core" & k jJ\ +3 .tCC.seek :closed + "collection"'(\\ +4 "core" & h jM\  +10 &3} k jK\ *z +9 &d~ j jJ\ > +10 &r i lK\ M +9 &MS m lN\ M +9 &U j lC\ L +10 &W l n=\ M +9 &V m m9\ M +9 &VU j m8\ M +10 &Y n l6\ M +9 &Y j nA\ M +9 & T m n7\ M +10 &"^U n l>\ M +9 &$!V l l=\ L +10 &%W m mA\ M +9 &'Z l n;\ M +9 &)gV k n7\ L +10 &+(W o l8\ M +9 &,Y m n8\ M +9 &.X n m3\ M +10 &0nT m n4\ M +9 &20U n l1\ M +10 &3U m o*\ M +9 &5T m m*\ M +9 &7wV m n$\ L +10 &98W p n*\ M +9 &:Y n p,\ M +9 &<Y n p&\ M +10 &>~Z o p'\ M +9 &@@U n o+\ M +10 &B\\ s q%\ M +9 &Ce s t,\ N +9 &E{r x x&\ P +10 &G4 x w \ S +9 &H w w#\ W +9 &J x w#\ Y +10 &Lj x v"\ Y +9 &N* w y$\ Z +10 &O y y"\ Z +9 &Q w w\ Z +9 &Sk z x!\ [ +10 &U, { x$\ \\ +9 &V y z$\ ] +9 &X z {#\ ] +10 &Zk z z#\ ^ +9 &\\z | |#\ 7 +10 &\\) | |#\ $m +8 ( +3 "collection"'_& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&l1 +3 "core" &\\ z }\ ^ +60 1 + "manipulator"&`% +4 "core" % ; v X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%p& +4 "core" &$\ +2 "manipulator"&g% +3 "core" %  Y  +2 "storage"(% +4 "core" % \ + "storage"(u. +3 "core" .(K +2 "storage"(x& +3 "core" &K \  +2 "storage"(n& +4 "core" &K \  + "manipulator"&& +4 "core" &Ӛ' P @\\ + "manipulator"&R% +5 "core" %  c  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&j( +165 "core" ( + "manipulator"&& +5 "core" &   + "storage"(o& +4 "core" &K X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +98 "core" ' +2 "storage"( & +4 "core" &K   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K P\  + "manipulator"&z& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&\\( +3 "core" ( + "manipulator"&q& +4 "core" &  + "storage"(& +4 "core" &K r\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +3 "storage"(' +7 "core" & E  + "manipulator"&m% +5 "core" % ϐ B + .tForearm.seek :retract +2 "manipulator"&(' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&~( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&& +4 "core" & 6 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" & 4 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&k& +4 "core" & \ 6 +2 "manipulator"&y% +3 "core" % G j +2 "processing"%!& +4 "core" &\ +2 "processing"%N& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &"\  +8 &/s!\ *y +10 &a| \ > +9 &es$\ P +9 &%S\ P +10 &S(\ O +9 &R\ P +10 &lV\ P +9 &/T\ O +9 &U\ P +10 &T\ P +9 & tQ\ P +9 &"7S\ O +10 &#U\ P +9 &%U\ O +9 &'|T\ P +10 &)>V\ P +9 &+W\ P +13 &,W\ P +6 &.P\ P +12 &0FS\ P +7 &2T\ P +9 &3T\ O +10 &5T\ P +9 &7NR\ P +9 &9U\ P +10 &:T\ P +9 &<T\ P +9 &>UW\ P +10 &@W\ Q +9 &Ac\ Q +9 &Cn\ S +10 &EO}\ U +9 &G \ V +10 &H\ V +9 &J\ W +9 &LQ\ W +10 &N\ X +9 &O\ W +10 &Q\ X +9 &SV\ X +9 &U \ X +10 &V\ X +9 &X \ W +9 &Z] \ X +10 &\\ \ X +9 &]~\ 7 +9 &^4r \ B +9 ( +3 "processing"%N& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"& 1 +3 "core" &^%\ 2 +55 1 + "manipulator"&\ % +5 "core" %  J j + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 "processing"%-& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&1% +4 "core" %  \ 0  + "storage"('% +4 "core" % \ + "storage"(. +4 "core" .(K + "storage"([& +4 "core" &K x\  +2 "storage"(0& +2 "manipulator"&I& +6 "core" &K \  + & r 6 +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&6( +4 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( +2 "manipulator"&& +3 "core" & 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" & 6 +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"& / +67 "core" / +2 .tPC.seek :open +2 "processing"%)( +86 "core" ' +2 "storage"(A- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(.'1 +46 "core" ' +314 ( +2 "storage"(2& +4 "core" &K \  + "manipulator"&{& +4 "core" &  6 + "manipulator"&#% +4 "core" %  = +2 .tForearm.seek :retract + "manipulator"&4' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +245 "core" ( + "manipulator"&%& +4 "core" & - E +2 "storage"(& +4 "core" &K S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&5' +94 "core" ' + .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"(E- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"("' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(<' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"($- +4 "core" -' + "storage"(V& +4 "core" &K > ?\  + "manipulator"&?& +5 "core" & g k E + .tElbow.seek 6 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&& +3 "core" & m u f E +2 "storage"(@& +4 "core" &K F E \  +2 .tForearm.seek 6 + 450 counts + "manipulator"&H' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +56 "core" ' + "manipulator"&:& +5 "core" & E + "storage"(K& +4 "core" &K ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&Q'< +21 "core" ' + .tElbow.hold +2 "manipulator"&*, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(S' +22 "core" ' +2 "manipulator"&,% +4 "core" %N / +2 "storage"(;& +4 "core" &K z\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&'z +15 "core" ' + "manipulator"&v& +5 "core" & E + "storage"(=& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +52 "manipulator"& ' +20 "core" ' +2 "storage"(T% +4 "core" % j\ +3 ."downElevator"SE.seek :down +3 "storage"(7' +99 (c% +3 "core" %nI \ Yk +2 "manipulator"&% +4 "core" % % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +89 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &K\  + "collection"'|& +4 "core" &\\ { {]\ ^ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  z  +2 "storage"(C% +4 "core" %\ + "storage"(B. +3 "core" .(K +2 "storage"(Z& +4 "core" &K \  + "storage"(/& +4 "core" &K \  + "manipulator"&& +4 "core" &  E +2 .tElbow.seek 6 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&8& +3 "core" & E +2 "storage"(3& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&f' +97 "core" ' +2 "storage"(h& +4 "core" &K  2\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'r +294 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +2 "core" & E +2 "storage"(U& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&>'< +15 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(G- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(X'f +30 "core" ' + "manipulator"&P% +4 "core" %R D  +2 "storage"(a& +3 "core" &K /\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 322 counts +2 "manipulator"&M'~ +15 "core" ' + "manipulator"&+& +5 "core" & P E + "storage"(l& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(p' +33 "core" ' +2 "manipulator"&g& +4 "core" & E +2 "manipulator"&% +4 "core" % A + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&x(ӂ +151 "core" ( +2 "manipulator"&_& +4 "core" &Ӎ(  Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +2 "core" &Ӎ(  Ad +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&R/ +52 "core" / +2 .tCC.seek :open + "collection"'e( +447 "core" ( +2 "storage"(& +4 "core" &K * 2 l\  +2 "storage"(o& +3 "core" &K % ' \  +2 "manipulator"& & +3 "core" &ө%  >H +2 "manipulator"&Y% +4 "core" % B f 1 + .tForearm.seek :retract +2 "manipulator"&t' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&s( +156 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(z& +4 "core" &K M L 0\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&q'< +92 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&]1 +54 "core" 1 +2 "manipulator"&r% +5 "core" % G  R + "storage"(m& +4 "core" &K M V\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&j's +15 "core" ' +2 "manipulator"&}& +4 "core" & R +2 "storage"(& +4 "core" &K d e ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +19 "core" ' +2 "storage"(% +4 "core" % c c \ +3 ."downElevator"SE.seek :down +3 "storage"(b' +100 (\\% +3 "core" %A F @ j\ Wd + "manipulator"&k% +4 "core" %\  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +89 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'!& +5 "core" & g km\ + "manipulator"&% +4 "core" %  -  +2 "storage"((% +4 "core" % f d .\ + "storage"(^. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( (  +1301 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\ & +3 "core" &  N O f\ + "manipulator"&-& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&1( +3 "core" ( + "manipulator"&'& +4 "core" & +2 "storage"(& +3 "core" &  a c \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&['S +92 "core" ' + "storage"(0& +5 "core" &  \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(I'r +295 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  J ? A\ +2 "manipulator"&&& +4 "core" & 6 + .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &  B +2 "storage"(A& +3 "core" &  ; E 5\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&~'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & b + "manipulator"&2% +4 "core" % ϱ P +2 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&#(ӂ +153 "core" ( + "manipulator"&& +5 "core" &* " Bi + ' + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&%& +6 "core" &Ӏ*  Bh + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 "manipulator"&6& +5 "core" &Ӡ% < >H + "manipulator"&% +5 "core" %E O K + "collection"'E& +4 "core" & l lM\ +3 "collection"'$& +4 "core" & k m\ +2 .tCC.seek :closed +2 "collection"'V(\\ +4 "core" & k mD\  +9 &5} i lI\ +| +10 &g| l kJ\ ? +9 &o l mL\ M +9 &SU l nK\ M +10 &R l mV\ M +9 &T m nA\ M +9 &T o nI\ L +10 &]T l mL\ L +9 &W n mJ\ M +10 &X o lB\ M +9 & W n oB\ M +9 &"eT n nI\ L +10 &$&U o nK\ M +9 &%X m m=\ M +9 &'Y k n9\ M +10 &)lW l o0\ M +9 &+.X o o5\ M +10 &,W o n2\ M +9 &.U n o5\ M +9 &0uU n q5\ L +10 &25X m o9\ M +9 &3T o p;\ M +9 &5R n n:\ M +10 &7|S m o@\ M +9 &9>S o o6\ M +10 &;T n o>\ L +9 &<U p oA\ M +9 &>U q r=\ M +10 &@GU p s<\ L +9 &BX s q?\ M +9 &C\\ s t8\ M +10 &Eb u u9\ O +9 &GDp v w;\ P +10 &H y z5\ S +9 &J { {:\ W +9 &Lp ~ 3\ Y +10 &N2 7\ Y +9 &O :\ Z +9 &Q 3\ Z +10 &Sr -\ [\ +9 &U4 6\ [\ +10 &V )\ \\ +9 &X 3\ ] +9 &Zu :\ ] +10 &\\y )\ 6 +9 &\\( 1\ #i +9 ( +3 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&?1 +3 "core" &\\ 0\ Y +56 1 +2 "manipulator"&% +4 "core" % E f K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@' +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%4& +5 "core" &\ + "manipulator"&:% +4 "core" %  o  + "storage"(K% +4 "core" % \ + "storage"(,. +4 "core" .(  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(;(  +51 "core" ( +3 .tSC.configure :limp +3 "storage"($\ 1b +2 (.& +3 "core" & \ + "manipulator"&v& +5 "core" &Ӡ% 4 >H + "manipulator"&=% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&"( +168 "core" ( + "manipulator"&T& +5 "core" &  + "storage"(& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'S +91 "core" ' + "storage"(<& +5 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'r +295 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ +2 "manipulator"&F& +4 "core" &  A  + .tElbow.seek 2 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&Q& +3 "core" &   +2 "storage"(& +4 "core" &  0\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&W'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(C' +7 "core" & <  +2 "manipulator"&B% +4 "core" %  & + .tForearm.seek :retract +2 "manipulator"&S' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&/& +5 "core" &  *  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  {  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&8' +89 "core" ' +2 "manipulator"&3& +4 "core" &   +2 "manipulator"& % +4 "core" % o ] +2 "processing"%h& +3 "core" &\ +3 "processing"%7& +6 "core" &\ +2 .tPC.seek :closed + "processing"%*(^ +5 "core" &'\ +7 &\ #*\ #b +9 &Uz(\ 8 +9 &}x(\ L +10 &S)\ P +9 &PT+\ P +9 &Q\ P +10 &W&\ P +9 &S\ P +9 &XT\ P +10 &U\ O +9 &S\ P +10 &!V\ P +9 &#aW\ O +9 &%#R\ O +10 &&V\ P +9 &(W\ P +9 &*hW\ P +10 &,)U\ P +9 &-R\ O +10 &/W\ P +9 &1pW\ P +9 &32W\ P +10 &4W\ P +9 &6W\ P +9 &8xT\ P +10 &::T\ P +9 &;T\ P +10 &=U\ P +9 &?W\ P +9 &AAW\ P +10 &Bb\ Q +9 &Dh\ R +9 &F{x\ T +10 &H7\ V +9 &I\ V +10 &K\ V +9 &Mz\ W +9 &O<\ W +10 &P\ X +9 &R\ X +9 &T\ X +10 &VB\ X +9 &X\ X +10 &Y\ X +9 &[\ X +9 &]I\ L +10 &^{L\ c +9 &^E\ 7 +5 ( +2 "processing"%7& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&L1 +3 "core" &^4\ 7 +52 1 +2 "manipulator"&w% +4 "core" %  a ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +88 "core" ' +2 "processing"%U& +4 "core" &^4\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&G% +4 "core" %  x  +2 "storage"(P% +3 "core" % \ +2 "storage"(a. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(+(  +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" & S\  +2 "manipulator"&g& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & a  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(f'r +5 "core" ( +2 "manipulator"&i& +3 "core" & 6  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +4 "core" & K  +2 .tForearm.seek PC + "manipulator"&>' +93 "core" ' +2 .tHand.close + "manipulator"&M/ +66 "core" / +2 .tPC.seek :open + "processing"%X( +89 "core" ' + "storage"(_- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'1 +44 "core" ' +315 ( + "storage"(`& +5 "core" &  \  + "manipulator"&D& +4 "core" & B  + "manipulator"&R% +4 "core" %  ] + +2 .tForearm.seek :retract + "manipulator"&u' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +241 "core" ( + "manipulator"&& +4 "core" & X +2 "storage"(o& +3 "core" &  w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +106 "core" ' + .tHand.open +2 "manipulator"&Y1 +62 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(z' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +4 "core" -' + "storage"(]& +4 "core" & [ a\ < +2 "manipulator"&r& +4 "core" &  X +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( + "manipulator"&}& +4 "core" &   X + "storage"(& +4 "core" & K K ^\ < +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(t'" +51 "core" ' + "manipulator"&\\& +5 "core" &  X + "storage"(k& +5 "core" & )\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&s'Α +26 "core" ' +2 .tElbow.hold + "manipulator"&q, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(!' +23 "core" ' + "manipulator"&j% +5 "core" %Υ ] + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&(' +15 "core" ' + "manipulator"&^& +5 "core" & B W +2 "storage"(p& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +16 "core" ' + "storage"(b% +5 "core" %\ +2 ."downElevator"SE.seek :down +4 "storage"(J' +98 (\ % +3 "core" %Q \ Zn +2 "manipulator"&-% +4 "core" %N - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +88 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &  '\  +2 "collection"'0& +3 "core" &\\| d\ Y +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +5 "core" %  !  + "storage"(y% +4 "core" % \ + "storage"(N. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &  ^\  +2 "manipulator"& & +4 "core" & % W + .tElbow.seek 2 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&& +4 "core" & W + "storage"(& +4 "core" &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&2'S +93 "core" ' + "storage"(1& +4 "core" &   N\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['r +296 "core" ' +2 "storage"(- +23 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +2 "core" &  W +2 "storage"(I& +4 "core" & \  + .tElbow.reconfigure :limp +52 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&~'Α +24 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(E'` +27 "core" ' +2 "manipulator"&% +4 "core" %Τ t + "storage"(& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&{' +15 "core" ' +2 "manipulator"&e& +4 "core" & S W +2 "storage"(?& +3 "core" &   [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +18 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(4' +38 "core" ' + "manipulator"&:& +5 "core" & e W + "manipulator"&K% +5 "core" %` X + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +149 "core" ( +2 "manipulator"&.& +4 "core" &ӆ)  Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &ӆ( + Ac +2 .tForearm.seek CC +2 "manipulator"&='? +90 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'T( +447 "core" ( + "storage"(& +4 "core" & A > \  +2 "storage"( & +3 "core" & 6 = \  +2 "manipulator"&<& +3 "core" &Ӫ# B <? +2 "manipulator"&#% +4 "core" % O  H + .tForearm.seek :retract +2 "manipulator"&@' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&H( +165 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(F& +3 "core" & d c %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Q'Α +93 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&|1 +59 "core" 1 +2 "manipulator"&% +5 "core" % Μ  1 + "storage"(B& +4 "core" & d c \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&"' +16 "core" ' +2 "manipulator"&5& +4 "core" &  + "storage"(c& +4 "core" & w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&W'S +19 "core" ' + "storage"(/% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (9% +2 "core" %K C I U\ Xh +2 "manipulator"&3% +5 "core" %A  v + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'h& +4 "core" & h k8\ +2 "manipulator"&C% +4 "core" %  l  +2 "storage"(S% +3 "core" % Y c\ +2 "storage"(). +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(L( +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (w& +3 "core" & " ) G\  + "manipulator"&U& +4 "core" & <  +2 .tElbow.seek 3 + "manipulator"&G( +34 "core" ( + "manipulator"&P& +4 "core" & - +2 "storage"(a& +3 "core" & c c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&7'7 +92 "core" ' + "storage"(l& +4 "core" & n 9\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +296 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (d& +3 "core" & 4 ) t\  +2 "manipulator"&8& +3 "core" &  - +2 .tElbow.seek 3 +2 "manipulator"&M( +3 "core" ( + "manipulator"&;& +4 "core" &   - +2 "storage"(_& +5 "core" & @ > \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&Z'ϡ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +2 "storage"(f' +7 "core" &  - + "manipulator"&`% +4 "core" % ϱ +2 .tForearm.seek :retract +2 "manipulator"&D' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&R(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&>& +4 "core" &ӎ 8" +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ  8" +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&o'? +103 "core" ' +2 "manipulator"&& +4 "core" &ӎ  ' 8" +2 "manipulator"&Y% +4 "core" %? E + "collection"'& +5 "core" & k js\ +2 "collection"'x& +4 "core" & k k@\ +3 .tCC.seek :closed + "collection"'](\\ +5 "core" & l jH\ +7 &; k jK\ %g +9 &Yz l hT\ 8 +10 &u k mJ\ L +9 &R k kG\ M +9 &U l mI\ M +10 &ES l lI\ L +9 &T n kH\ L +10 &T k lJ\ M +9 &W l m>\ L +9 &MT n n9\ L +10 & W l k:\ M +9 &!U n n9\ L +9 &#U n m2\ L +10 &%TR o o-\ M +9 &'W l k4\ L +10 &(R n m6\ M +9 &*T m l/\ M +9 &,]V l l;\ L +10 &.W k o>\ M +9 &/U p o7\ M +9 &1W o o>\ L +10 &3dW m nA\ M +9 &5&U l n7\ M +9 &6W n n6\ L +10 &8T p n7\ L +9 &:mW l n:\ L +10 &<.X m q7\ M +9 &=V n o9\ M +9 &?U o o9\ L +10 &AtY r q5\ M +9 &C6Z q t8\ M +10 &Db t t4\ N +9 &Fp v v2\ P +9 &Hk y w>\ R +10 &J! ~ |7\ W +9 &K 3\ Y +9 &M >\ Z +10 &O^ 7\ Z +9 &Q B\ Z +10 &R D\ Z +9 &T (\ [\ +9 &V_ 0\ \\ +10 &X 3\ ] +9 &Y 2\ ] +9 &[ 4\ K +10 &\\9 6\ - +9 &\\g &\ O +2 ( +2 "collection"'x& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&r1 +61 "core" 1 +2 "manipulator"&}% +4 "core" % ? - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%u& +5 "core" &\ + "manipulator"&\\% +4 "core" %  j  +2 "storage"(k% +4 "core" %  f\ + "storage"(j. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +2 "core" & \  +2 "manipulator"&^& +4 "core" &ӎ 8" + "manipulator"&p% +4 "core" %  <  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&z( +163 "core" ( +2 "manipulator"&b& +4 "core" & O  +2 "storage"(& +3 "core" & + + F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +95 "core" ' + "storage"(& +4 "core" &  & ;\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'r +294 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & *\  +2 "manipulator"&m& +4 "core" & Z  + .tElbow.seek 3 +2 "manipulator"&t( +3 "core" ( + "manipulator"&s& +4 "core" &  +2 "storage"((& +3 "core" &   H\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(y' +7 "core" &   + "manipulator"&!% +5 "core" % ϖ  2 + .tForearm.seek :retract +51 "manipulator"&N' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&&( +110 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +127 "core" ( +2 "manipulator"& & +5 "core" &  ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & p ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 "manipulator"&& +4 "core" & ) ! + "manipulator"&1% +4 "core" % E l +2 "processing"%J& +4 "core" &\ +2 "processing"%+& +5 "core" &!\ +2 .tPC.seek :closed + "processing"%q(^ +5 "core" &$\  +8 &1w%\ *x +9 &b}*\ > +10 &\\s+\ O +9 &T*\ O +9 &R#\ P +10 &S+\ P +9 &bU#\ O +10 &#V'\ P +9 &U\ P +9 &R \ P +10 & iU\ P +9 &",Q\ O +9 &#X#\ P +10 &%T\ P +9 &'qT\ P +10 &)4Q\ O +9 &*R\ O +9 &,S\ P +10 &.yT\ P +9 &0<W\ O +9 &1T\ O +10 &3W\ O +9 &5V\ P +10 &7CU\ P +9 &9V\ O +9 &:T\ P +10 &<T\ O +9 &>JZ\ P +9 &@ W\ P +10 &A`\ Q +9 &Cm\ R +10 &EG~\ T +9 &G\ V +9 &H\ V +10 &J\ V +9 &LH\ V +9 &N\ W +10 &O\ W +9 &Q\ X +10 &SJ\ X +9 &U \ X +9 &V\ X +10 &X\ W +9 &ZR\ X +9 &\\\ X +10 &]\ : +9 &^-}\ \\ +9 &^)\ 5 +3 ( +2 "processing"%+& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&'1 +57 "core" 1 + "manipulator"&% +4 "core" %  l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&%' +4 "Can"\ VS +86 "core" ' + "processing"%I& +5 "core" &^&\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %    +2 "storage"(% +4 "core" %  ^\ + "storage"(. +3 "core" .( +2 "storage"(e& +3 "core" &  \  +3 "storage"(?& +3 "manipulator"&:& +4 "core" & S\  + & P ! +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&K( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'r +2 "core" ( +2 "manipulator"&A& +4 "core" & \ ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" & M ! +2 .tForearm.seek PC + "manipulator"&~' +93 "core" ' +2 .tHand.close + "manipulator"&{/ +68 "core" / +2 .tPC.seek :open +2 "processing"%E( +86 "core" ' + "storage"(.- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'1 +45 "core" ' +315 ( + "storage"(& +4 "core" &   `\  +2 "manipulator"&6& +4 "core" & b ! + "manipulator"&% +4 "core" %  6 4 + .tForearm.seek :retract +2 "manipulator"&,' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&V( +247 "core" ( + "manipulator"&& +4 "core" & > B +2 "storage"( & +4 "core" &   <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&<'7 +92 "core" ' + .tHand.open +2 "manipulator" +58 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(F' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"($- +3 "core" -' +2 "storage"(|& +3 "core" &   W\ 1 +2 "manipulator"&& +4 "core" & i B + .tElbow.seek 3 +2 "manipulator"&B( +4 "core" ( + "manipulator"&5& +4 "core" & B +2 "storage"(c& +4 "core" &   W\ 2 +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&/'7 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(@'" +60 "core" ' + "manipulator"&9& +4 "core" & ; B +2 "storage"(3& +4 "core" &   /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&H'u +22 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +26 "core" ' + "manipulator"&"% +5 "core" %· + "storage"(C& +5 "core" & \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts + "manipulator"&S'ϳ +27 "core" ' + "manipulator"&)& +4 "core" & B +2 "storage"(4& +4 "core" &  s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&W'7 +13 "core" ' +2 "storage"(% +4 "core" % *\ +3 ."downElevator"SE.seek :down +4 "storage"(' +98 (w% +2 "core" %G Q\ Yj +2 "manipulator"&U% +5 "core" %B v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (a& +4 "core" &   \  +2 "collection"'l& +4 "core" &\\d m\ O + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %   + "storage"( % +4 "core" %   Z\ + "storage"(i. +4 "core" .( + "storage"(d& +5 "core" &  `\  + "storage"(8& +4 "core" &   b\  + "manipulator"&;& +4 "core" & B +2 .tElbow.seek 3 + "manipulator"&_( +3 "core" ( +2 "manipulator"&O& +4 "core" & B +2 "storage"(*& +3 "core" &   _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`'7 +183 "core" ' + "storage"(G& +5 "core" & + ( C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'r +295 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & : B +2 "storage"(g& +3 "core" &  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Z'u +25 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('h +30 "core" ' + "manipulator"&M% +4 "core" %΂  +2 "storage"(f& +3 "core" & ^\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&D'Ϯ +27 "core" ' + "manipulator"&T& +4 "core" & B +2 "storage"(r& +4 "core" & #  m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&}'7 +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(u' +33 "core" ' +2 "manipulator"&\\& +4 "core" & L B +2 "manipulator"&k% +4 "core" %+ m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&x(ӂ +153 "core" ( + "manipulator"&n& +5 "core" &ӑ% w >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &ӑ$ q >H +2 .tForearm.seek CC +2 "manipulator"&p'? +95 "core" ' + .tHand.close +2 "manipulator"&o/ +53 "core" / +2 .tCC.seek :open +2 "collection"'b( +447 "core" ( + "storage"(& +4 "core" & M B 7\  + "storage"(L& +4 "core" & > ? c\  +2 "manipulator"&& +4 "core" &ӑ% E >H + "manipulator"&R% +4 "core" % V [ +51 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&-( +164 "core" ( + "manipulator"&& +4 "core" & Y  +2 "storage"(m& +4 "core" & c c &\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&s'u +93 "core" ' +2 .tElbow.hold + "manipulator"&(, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&01 +60 "core" 1 +3 "manipulator"&% +4 "core" % x  D < +2 "storage"(!& +3 "core" & e g <\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 303 counts +2 "manipulator"&z'Ϥ +27 "core" ' + "manipulator"& & +4 "core" &  r  +2 "storage"(\ & +4 "core" & c a 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +13 "core" ' +2 "storage"( % +4 "core" % S\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (t% +3 "core" %E D ?\ We + "manipulator"&% +4 "core" %F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +88 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'J& +5 "core" & j jG\ + "manipulator"&y% +4 "core" %  h  +2 "storage"(N% +4 "core" % f f p\ + "storage"(X. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"('(,y +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &,w 6 5 \  +2 "manipulator"&I& +4 "core" &  m  + .tElbow.seek 4 +2 "manipulator"&( +30 "core" ( +3 "manipulator"&& +9 "core" & `  +3 "storage"(& +4 "core" &,w c d \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +94 "core" ' +2 "storage"(?& +4 "core" &,w \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'r +296 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &,w + > \  + "manipulator"&[& +4 "core" & i  +2 .tElbow.seek 4 +2 "manipulator"&( +22 "core" ( +2 "manipulator"&{& +4 "core" &  @  +2 "storage"(.& +3 "core" &,w 7 7 \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&&'c +39 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +3 "storage"(2' +7 "core" & ^  +2 "manipulator"&% +4 "core" % u \\ +2 .tForearm.seek :retract +2 "manipulator"&6' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&~& +4 "core" &Ӌ  < 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӌ 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +94 "core" ' + "manipulator"&K& +4 "core" &Ӌ 8 +2 "manipulator"&#% +4 "core" %= X | +2 "collection"'& +4 "core" & i hv\ +2 "collection"'$& +5 "core" & i iu\ +2 .tCC.seek :closed + "collection"'|(\\ +5 "core" & i j?\  +8 &4} i j;\ +{ +9 &c~ k iI\ > +10 &p l lI\ M +9 &PU k jD\ L +9 &W l mE\ L +10 &S m kK\ L +9 &T j kJ\ L +10 &WU m kB\ M +9 &W j o@\ M +9 &R m l?\ L +10 & W m nB\ L +9 &"`W m l<\ L +9 &$!R o l9\ M +10 &%X k l.\ L +9 &'T m l-\ M +9 &)hW n m6\ L +10 &+)W o l/\ M +9 &,T l n1\ M +10 &.T n m-\ M +9 &0pR n l0\ L +9 &22R m n4\ L +10 &3T n m4\ L +9 &5W o k5\ M +10 &7wU m o:\ M +9 &9:R n o6\ L +9 &:T n o4\ L +10 &<W l p.\ L +9 &>V o n6\ L +9 &@BU n p3\ L +10 &BY r r3\ M +9 &CZ q r4\ M +10 &Ec t u3\ N +9 &G?q u r;\ P +9 &H u u3\ S +10 &J w w=\ X +9 &Ll w x>\ Y +9 &N* x z7\ Z +10 &O z z9\ Z +9 &Q x zB\ Z +9 &So | yC\ Z +10 &U, y z<\ \\ +9 &V y z?\ ] +10 &X { {@\ ] +9 &Zm | {2\ ^ +9 &\\z } |6\ 5 +10 &\\+ { }1\ V +8 ( +2 &\\c { )\ N +3 "collection"'$& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&5% +4 "core" % = | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%,& +5 "core" &\ + "manipulator"&9% +4 "core" %  4  +2 "storage"(3% +3 "core" % 2\ +2 "storage"(". +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(C(,y +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +2 "core" &,w >\  +2 "manipulator"&F& +4 "core" &Ӌ 8 + "manipulator"&)% +4 "core" %  =  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&4( +165 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(V& +3 "core" &,w \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +95 "core" ' + "storage"(=& +4 "core" &,w + ( \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'r +294 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +2 "core" &,w }\  +2 "manipulator"&B& +4 "core" & &  + .tElbow.seek 4 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&H& +3 "core" & /  +2 "storage"(a& +3 "core" &,w #\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&S'c +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"( ' +7 "core" & u  +2 "manipulator"&i% +4 "core" % χ C +2 .tForearm.seek :retract +2 "manipulator"&h' +88 "core" ' + .tElbow.seek PC +2 "manipulator"&d( +173 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&8& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +3 "core" & O  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&O' +90 "core" ' +2 "manipulator"&*& +4 "core" & )  +2 "manipulator"&W% +3 "core" % ( W +2 "processing"%G& +4 "core" &)\ +2 "processing"%& +5 "core" &(\ +2 .tPC.seek :closed +2 "processing"%Q(^ +4 "core" &,\ \ +10 &/s+\ *x +9 &b}*\ > +10 &dq*\ O +9 &$R&\ P +9 &U!\ P +10 &P!\ P +9 &jR*\ P +9 &,R\ P +10 &W*\ P +9 &V!\ P +9 & rU\ P +10 &"5Q\ O +9 &#R\ P +10 &%S&\ P +9 &'{V \ O +9 &)=Q\ O +10 &+S\ O +9 &,U\ P +9 &.O\ O +10 &0EW\ O +9 &2R\ P +10 &3W\ O +9 &5W\ P +9 &7LU\ P +10 &9V\ P +9 &:Y\ P +9 &<R\ P +10 &>UV\ O +9 &@V\ P +10 &A_\ Q +9 &Ck\ R +9 &EOz\ T +10 &G \ V +9 &H\ V +9 &J\ V +10 &LP\ V +9 &N\ X +10 &O\ W +9 &Q\ X +9 &ST\ X +10 &U\ X +9 &V\ X +9 &X\ W +10 &Z\\\ X +9 &\\\ X +10 &]\ : +9 &^,~\ Y +9 &^(\ 5 +3 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&P1 +57 "core" 1 + "manipulator"&>% +4 "core" %   W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%g& +4 "core" &^%\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&Y% +4 "core" %  >  +2 "storage"(M% +4 "core" % D\ +52 "storage"(f. +3 "core" .(,y + "storage"(T& +4 "core" &,w \  +2 "storage"(r& +2 "manipulator"&\\& +7 "core" &,w w\  + &   +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&k( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(`'r +3 "core" ( + "manipulator"&_& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" & @  +2 .tForearm.seek PC +2 "manipulator"&Z' +92 "core" ' +2 .tHand.close + "manipulator"&D/ +65 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' + "storage"(n- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(^'1 +41 "core" ' +315 ( + "storage"(}& +4 "core" &,w   c\  +2 "manipulator"&& +3 "core" & S  +2 "manipulator"&o% +4 "core" %  W : + .tForearm.seek :retract +2 "manipulator"&j' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&]( +240 "core" ( + "manipulator"&& +5 "core" & # < + "storage"(L& +4 "core" &,w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +100 "core" ' + .tHand.open +2 "manipulator"&R1 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(m' +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(p' +54 "core" '  {\ +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at -1.21 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiu: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi{ :deltaPressi: voltagef12.731501227295043n: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"5/home/esp/esp2/utils/puckmoves.rb:527:in `image'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/puckmoves.rb:504:in `image'"6/home/esp/esp2/utils/puckmoves.rb:452:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:502:in `image'"9/home/esp/esp2/utils/puckmoves.rb:970:in `imagePuck'"4/home/esp/esp2/utils/shuffle.rb:26:in `shuffle'"7/home/esp/esp2/lib/log.rb:412:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"\ +2 "storage"(. +3 "core" .(,y + "storage"(V& +4 "core" &,w  a\  +2 "storage"('& +3 "core" &,w   O\  +2 "manipulator"&=& +4 "core" &  9 + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&c& +3 "core" & ; 9 +2 "storage"(U& +4 "core" &,w   K\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +94 "core" ' +2 "storage"(B& +4 "core" &,w + , Y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +307 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" & 9 + "storage"(& +4 "core" &,w  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&i'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(w'm +31 "core" ' + "manipulator"&S% +4 "core" %H " 1 +2 "storage"(8& +3 "core" &,w   Z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&;'t +13 "core" ' + "manipulator"&@& +5 "core" & F 9 + "storage"(*& +4 "core" &,w   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +68 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(G' +35 "core" ' + "manipulator"& & +5 "core" & D 9 + "manipulator"&h% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +90 "core" ' + .tElbow.seek CC +3 "manipulator"&P(ӂ +149 "core" ( + "manipulator"&>& +5 "core" &Ӊ* 8 Bl + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &Ӊ* " Bl +2 .tForearm.seek CC +2 "manipulator"&Y'? +98 "core" ' + .tHand.close +2 "manipulator"&M/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( + "storage"(f& +4 "core" &,w 7 5 D\  +2 "storage"(T& +4 "core" &,w 4 5 \  + "manipulator"&r& +4 "core" &Ӌ* Bj + "manipulator"&\\% +4 "core" % 9 c * +2 .tForearm.seek :retract + "manipulator"&_' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&7( +170 "core" ( +2 "manipulator"&O& +4 "core" &  ;  +2 "storage"(D& +3 "core" &,w Y c &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&n'7 +93 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&Q% +4 "core" % K 8 +2 "storage"(`& +3 "core" &,w e d B\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&}'w +15 "core" ' + "manipulator"&& +5 "core" & [  + "storage"(o& +4 "core" &,w y k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +17 "core" ' +2 "storage"(% +4 "core" % k e\ +3 ."downElevator"SE.seek :down +3 "storage"(L' +99 (k% +4 "core" %B A K \ Wc + "manipulator"&R% +5 "core" % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'p& +4 "core" & h jC\ +2 "manipulator"&j% +4 "core" %  o  + "storage"(^% +4 "core" % c f Z\ + "storage"(m. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(0(<- +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<* * ( 8\  + "manipulator"& & +4 "core" & W  +2 .tElbow.seek 5 + "manipulator"&\ ( +3 "core" ( +2 "manipulator"&& +4 "core" & /  + "storage"(]& +4 "core" &<* f e Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +90 "core" ' + "storage"(& +5 "core" &<* \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'r +296 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +2 "core" &<* I G [\  +2 "manipulator"&z& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&X( +3 "core" ( +2 "manipulator"&u& +3 "core" & _  +2 "storage"(& +3 "core" &<* c d\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"((' +7 "core" & <  + "manipulator"&1% +5 "core" % ϴ } + .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&!& +5 "core" &Ӌ 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &Ӌ A 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&t'? +91 "core" ' +2 "manipulator"&%& +4 "core" &Ӌ 6 + "manipulator"&q% +5 "core" %=   s + "collection"'& +5 "core" & j k\ +2 "collection"'e& +5 "core" & i j\ +2 .tCC.seek :closed +2 "collection"'J(\\ +4 "core" & l kO\ +7 &: l jL\ %f +10 &Vx k kN\ 7 +9 &x n jH\ L +9 &U i l?\ M +10 &wU n nL\ L +9 &8W m mP\ M +9 &U l kC\ L +10 &S o o@\ M +9 &U n l@\ L +10 &BT m mC\ L +9 & T m mB\ M +9 &!U o nG\ M +10 &#X l kB\ L +9 &%HT o n0\ M +9 &'\ U o o/\ M +10 &(T m n.\ M +9 &*T n o0\ L +10 &,QR o m2\ L +9 &.R o p4\ L +9 &/V m oB\ L +10 &1W o o=\ L +9 &3YW p o3\ L +9 &5V o o4\ L +10 &6R p n@\ L +9 &8T m n:\ L +10 &:`U n p5\ M +9 &<"U p p>\ M +9 &=S r p6\ L +10 &?T p p8\ L +9 &AiU r q2\ L +9 &C*Y s t:\ M +10 &Da t t@\ N +9 &Fp w vB\ P +10 &H` z yC\ R +9 &J } |@\ V +9 &K | }3\ Y +10 &M } :\ [ +9 &OR  ~@\ Z +9 &Q ~ ~7\ Z +10 &R ~ 4\ [\ +9 &T  4\ \\ +10 &VR ~ .\ \\ +9 &X  3\ \\ +9 &Y =\ ^ +10 &[ 7\ K +9 &\\A 2\ 'x +9 &\\ .\ !b +3 ( +2 "collection"'e& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&:% +5 "core" % = s + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%N& +4 "core" &+\ +2 "manipulator"&y% +3 "core" %  3  +2 "storage"(% +4 "core" % \ + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(2(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" &<** ~ r N\  + "manipulator"&b& +4 "core" &Ӌ N 6 +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&[( +154 "core" ( +2 "manipulator"&,& +4 "core" & +2 "storage"(?& +3 "core" &<* d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +91 "core" ' +2 "storage"({& +4 "core" &<* V\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'r +301 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (~& +3 "core" &<* 0\  + "manipulator"&& +4 "core" & B +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&K& +4 "core" & 7 + "storage"(6& +4 "core" &<*\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&v'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"( ' +7 "core" & 5 +2 "manipulator"&% +4 "core" % Ͽ + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&V( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&'& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&c' +93 "core" ' + "manipulator"&U& +4 "core" &  +2 "manipulator"&5% +4 "core" % M + "processing"%B& +5 "core" &-\ + "processing"%9& +6 "core" &)\ +2 .tPC.seek :closed +2 "processing"%#(^ +4 "core" &)\  +9 &0s*\ *x +10 &a{+\ > +9 &eq)\ O +9 &%R*\ P +10 &R*\ P +48 &P+\ O +14 &lR\ O +2 &-R)\ P +3 &R$\ P + &R(\ O +3 & sU\ P + &"6T!\ O +3 &#S\ O +9 &%T%\ P +9 &'{T\ P +10 &)=P!\ P +9 &+Q\ O +9 &,S\ O +10 &.O\ O +9 &0ES\ P +10 &2U\ P +9 &3T\ P +9 &5Q\ P +10 &7MQ\ P +9 &9T\ P +9 &:S\ P +10 &<T\ O +9 &>UW\ P +10 &@U\ P +9 &AZ\ P +9 &Cc#\ Q +10 &ETo\ S +9 &G\ T +9 &H\ W +10 &J\ W +9 &LQ\ V +10 &N\ X +9 &O\ X +9 &Q\ X +10 &SV\ X +9 &U\ X +9 &V\ X +10 &X\ W +9 &Z]\ X +10 &\\\ Y +9 &]~\ 6 +9 &^5p\ A +10 ( + &^ \ / +2 "processing"%9& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&$1 +58 "core" 1 + "manipulator"&a% +5 "core" %   M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +95 "core" ' +2 "processing"%& +4 "core" &^  \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&<% +4 "core" %    +2 "storage"(S% +3 "core" % \ +2 "storage"(8. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(@(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (*& +3 "core" &<*\  N /\  + "manipulator"& & +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&h( +2 "storage"(/'r +21 "core" ( + "manipulator"&& +5 "core" & \ O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &  O +2 .tForearm.seek PC +2 "manipulator"&i' +92 "core" ' + .tHand.close +2 "manipulator"&;/ +69 "core" / + .tPC.seek :open +2 "processing"%>( +84 "core" ' + "storage"(w- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'1 +39 "core" ' +320 ( +2 "storage"(W& +4 "core" &<*\  +2 "manipulator"&4& +3 "core" & ' O +2 "manipulator"&M% +3 "core" %  . +2 .tForearm.seek :retract +2 "manipulator"&E' +88 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&|( +244 "core" ( + "manipulator"&f& +4 "core" &  % +2 "storage"(T& +4 "core" &<* G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +87 "core" ' + .tHand.open +2 "manipulator"&\\1 +58 "core" 1 +2 "storage"(O- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(D' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(Y' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(P- +4 "core" -' + "storage"(& +4 "core" &<* \ E +2 "manipulator"&Q& +4 "core" &   % + .tElbow.seek 5 +2 "manipulator"&`( +9 "core" ( + "manipulator"&& +5 "core" &  a  + "storage"(o& +4 "core" &<* \ E +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +54 "core" ' + "manipulator"&k& +4 "core" & Y  +2 "storage"(R& +4 "core" &<* .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&7'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&n, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(p' +21 "core" ' +2 "manipulator"&}% +4 "core" %΃ ) + "storage"(j& +4 "core" &<* \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 290 counts + "manipulator"&^'ϯ +26 "core" ' +2 "manipulator"&m& +4 "core" & -  +2 "storage"(G& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +16 "core" ' +2 "storage"(L% +4 "core" % X\ +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 (% +3 "core" %MI \ Yk +2 "manipulator"& % +4 "core" %G : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +2 (]& +4 "core" &<* 5\  +2 "collection"'& +3 "core" &\\ B\ !b +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&d% +4 "core" %   +2 "storage"(% +4 "core" %  ;\ + "storage"(-. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(s(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &<+. (\  + "manipulator"&u& +5 "core" & )  + .tElbow.seek 5 +3 "manipulator"&( +9 "core" ( + "manipulator"&& +4 "core" & I +2 "storage"(& +4 "core" &<+ U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +92 "core" ' + "storage"(\ & +4 "core" &<+ Z\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" & A +2 "storage"(x& +4 "core" &<+ k\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(q- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"('^ +30 "core" ' +2 "manipulator"&X% +4 "core" %Η T ) + "storage"((& +4 "core" &<+ N\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&A' +33 "core" ' + "manipulator"&& +4 "core" & Y +2 "storage"(& +4 "core" &<+ K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +26 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(N' +38 "core" ' + "manipulator"&y& +5 "core" &  + "manipulator"&% +4 "core" %x 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&e(ӂ +155 "core" ( + "manipulator"&I& +4 "core" &ӄ+ $ Cn +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +2 "core" &Ӆ* ] Cm +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' + .tHand.close +2 "manipulator"&t/ +58 "core" / +2 .tCC.seek :open + "collection"',( +450 "core" ( +2 "storage"(?& +4 "core" &<+ - + =\  + "storage"(0& +4 "core" &<+ * ' 6\  + "manipulator"&{& +4 "core" &ӥ% 6 >M + "manipulator"& % +4 "core" % . +2 .tForearm.seek :retract +2 "manipulator"&&' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&"( +162 "core" ( + "manipulator"&~& +5 "core" &   + "storage"(& +4 "core" &<+ < 7 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&K'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&6, +52 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&F1 +58 "core" 1 +3 "manipulator"&)% +4 "core" % Ί   < + "storage"(& +4 "core" &<+ G T P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 297 counts + "manipulator"&['϶ +39 "core" ' + "manipulator"&+& +5 "core" &   + "storage"(3& +4 "core" &<+ ` b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +22 "core" ' +2 "storage"('% +4 "core" % k k ;\ +2 ."downElevator"SE.seek :down +3 "storage"(=' +99 (% +3 "core" %=F D A \ Vc +2 "manipulator"&U% +4 "core" %e C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'B& +5 "core" & k iN\ + "manipulator"& % +4 "core" %  h  +2 "storage"(% +4 "core" % \ + "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"($(K +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &K { j F\ + "manipulator"&& +4 "core" & @  +2 .tElbow.seek 6 +2 "manipulator"&<( +3 "core" ( + "manipulator"&S& +4 "core" & j  +2 "storage"(8& +3 "core" &K v\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&9' +93 "core" ' +2 "storage"(*& +4 "core" &K n {\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +294 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (H& +3 "core" &K ( * V\ +2 "manipulator"&c& +3 "core" & ]  +2 .tElbow.seek 6 +2 "manipulator"&;( +3 "core" ( + "manipulator"&2& +4 "core" & w  + "storage"(w& +4 "core" &K > = \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&V'h +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& + "storage"(/' +7 "core" & V  +2 "manipulator"&W% +4 "core" % m  +2 .tForearm.seek :retract + "manipulator"&4' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&M(ӂ +163 "core" ( + "manipulator"&i& +5 "core" ' + &ӓ%  >K +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &f& +3 "core" &ӓ% >K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&T'? +104 "core" ' +2 "manipulator"&h& +97 "core" &Ӕ% 2 >J +3 "manipulator"&\\% +4 "core" %<  I $ +2 "collection"'O& +4 "core" & k j\ +2 "collection"'P& +5 "core" & k iF\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & j iJ\ +7 &4 i iG\ $c +9 &Vz k jL\ 7 +10 &v j kK\ K +9 &S j l@\ L +10 &fR l i2\ L +9 &(R l l7\ L +9 &R l l@\ M +10 &U k lB\ M +9 &nU m m@\ L +9 &0T k mC\ L +10 &W k nA\ L +9 &!T k nA\ M +9 &#vW k m;\ L +10 &%8W m m5\ L +9 &&Q l l@\ L +10 &(R l nA\ M +9 &*~T m n<\ L +9 &,@R l mB\ L +10 &.Q l mA\ L +9 &/U m l;\ L +10 &1W n lA\ L +9 &3HV m m;\ L +9 &5\ U n lB\ L +10 &6W o n9\ L +9 &8V n n7\ M +9 &:PU m q6\ L +10 &<R n n5\ L +9 &=U m o>\ L +9 &?W o o@\ L +10 &AWU s r=\ M +9 &C] r s9\ M +10 &Dj w u2\ O +9 &F x w-\ Q +9 &HC w w1\ V +10 &I w x4\ Y +9 &K w v0\ Y +9 &M v w1\ Y +10 &OA x x/\ Z +9 &Q y y.\ Z +10 &R { y,\ [ +9 &T y z1\ \\ +9 &V@ y z-\ ] +10 &X z z.\ ] +9 &Y y z0\ ^ +9 &[~ y |0\ K +10 &\\8 | }+\ 3 +9 &\\ { {,\ [ +6 ( + "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&Q1 +4 "core" &\\ { y/\ [ +53 1 + "manipulator"&% +4 "core" % 9 ^ ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%E& +5 "core" &\ + "manipulator"&k% +4 "core" %  !  + "storage"(R% +4 "core" % \ +2 "storage"(}. +3 "core" .(K + "storage"(j& +4 "core" &K \ + "storage"(g& +4 "core" &K \ +2 "manipulator"&m& +4 "core" &Ӕ% 4 >J + "manipulator"&D% +4 "core" %  W  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&G( +164 "core" ( + "manipulator"&L& +4 "core" & x  +2 "storage"(|& +4 "core" &K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +96 "core" ' +2 "storage"(Y& +4 "core" &K   3\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \ + "manipulator"&`& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&_( +4 "core" ( + "manipulator"&7& +4 "core" & +  + "storage"(^& +4 "core" &K X\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&]'h +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& + "storage"(' +8 "core" &   + "manipulator"&-% +4 "core" % f J  +2 .tForearm.seek :retract +2 "manipulator"&p' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z( +169 "core" ' + ."downElevator"SE.stop + "storage"(5 +69 "core" ( + "manipulator"&u& +4 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & ? 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' + "manipulator"&Z& +4 "core" &  1 +2 "manipulator"&\ % +4 "core" % +2 "processing"%C& +3 "core" &)\ +3 "processing"%@& +6 "core" &*\ +2 .tPC.seek :closed +3 "processing"%n(^ +3 "core" &/\ +5 &+\ 6 +9 &:Ft'\ 1 +10 &_o},\ E +9 &a*\ P +9 &P(\ O +10 &P+\ O +9 &AU,\ P +10 &S&\ P +9 &P!\ P +9 &Q"\ P +10 &JP\ O +9 &! S\ O +9 &"P\ O +10 &$R\ O +9 &&QR\ P +10 &(P\ O +9 &)R\ O +9 &+T\ P +10 &-YR\ P +9 &/Q\ O +9 &0T\ P +10 &2S\ P +9 &4aO\ P +9 &6#U\ P +10 &7T\ P +9 &9S\ P +10 &;hW\ P +9 &=+R\ P +9 &>U\ P +10 &@W\ P +9 &Bjc\ R +9 &D*m\ S +10 &E\ V +9 &G\ V +10 &Ig\ V +9 &K'\ W +9 &L\ W +10 &N\ W +9 &Pi\ X +10 &R,\ W +9 &S\ X +9 &U\ X +10 &Wq\ X +9 &Y4\ X +9 &Z\ X +10 &\\\ Y +9 &^.]s\ 7 +10 &^L\ . +5 ( +2 "processing"%@& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open + "manipulator"&1 +4 "core" &^\ . +49 1 + "manipulator"&!% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +95 "core" ' + "processing"%x& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&q% +4 "core" % # 2 +2 "storage"(X% +3 "core" % \ +2 "storage"((. +3 "core" .(K + "storage"(& +5 "core" &K \ +2 "storage"(& +3 "manipulator"&y& +5 "core" &K \ + & 1 +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&( +7 ."raiseStack"SE.seek :beamBreak + "storage"(1'r +3 "core" ( + "manipulator"&& +4 "core" & 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 1 +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +51 .tHand.close +2 "manipulator"&A/ +73 "core" / +2 .tPC.seek :open +2 "processing"%( +29 "core" ' + "storage"(I- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(b'1 +40 "core" ' +375 ( +2 "storage"(:& +4 "core" &K @\ + "manipulator"&%& +4 "core" &  1 +2 "manipulator"&t% +4 "core" %  ^ + + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&J( +243 "core" ( +2 "manipulator"&?& +4 "core" &  4 + "storage"(0& +4 "core" &K T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&{' +101 "core" ' + .tHand.open + "manipulator"& 1 +55 "core" 1 +2 "storage"(~- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +13 #tLights, camera, ACTION! +2 "storage"(e- +3 "core" -' +2 "storage"(F& +4 "core" &K q r A\  + "manipulator"&)& +4 "core" &  4 +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&+& +4 "core" &  4 +2 "storage"(3& +4 "core" &K m m \  +2 .tForearm.seek 6 + 450 counts + "manipulator"&&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(''" +53 "core" ' + "manipulator"&"& +4 "core" &  4 +2 "storage"(& +5 "core" &K i\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&U'< +14 "core" ' + .tElbow.hold +2 "manipulator"&K, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +22 "core" ' + "manipulator"&[% +5 "core" %Q  + "storage"( & +5 "core" &K <\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 321 counts +2 "manipulator"&'} +16 "core" ' + "manipulator"&& +5 "core" &  3 + "storage"(N& +5 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +19 "core" ' + "storage"(=% +5 "core" %\ +2 ."downElevator"SE.seek :down +4 "storage"(s' +98 (a% +3 "core" %kI P\ Xj +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +88 "core" ' +69 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (8& +3 "core" &K l\ +2 "collection"'*& +4 "core" &\\ | {x\ [ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&6% +4 "core" %   + "storage"(5% +4 "core" % \ +2 "storage"(. +3 "core" .(K +2 "storage"(H& +3 "core" &K b\ +2 "storage"(c& +3 "core" &K 7\ +2 "manipulator"&2& +4 "core" &  3 + .tElbow.seek 6 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&l& +3 "core" & 3 +2 "storage"(#& +4 "core" &K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +94 "core" ' +2 "storage"(<& +4 "core" &K\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'r +294 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +2 "core" & 3 +2 "storage"( & +4 "core" &K u\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&V'< +15 "core" ' +2 .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(h- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(\\'d +30 "core" ' + "manipulator"&O% +4 "core" %M 2  +2 "storage"(/& +3 "core" &K\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&4'y +25 "core" ' +2 "manipulator"&,& +4 "core" & 3 + "storage"(Q& +5 "core" &K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(E' +35 "core" ' +2 "manipulator"&k& +4 "core" & 3 + "manipulator"&R% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +164 "core" ( + "manipulator"&g& +4 "core" &Ӊ T 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &Ӊ Q 5 +2 .tForearm.seek CC + "manipulator"&m'? +95 "core" ' + .tHand.close +2 "manipulator"&D/ +55 "core" / +2 .tCC.seek :open + "collection"'T( +450 "core" ( +2 "storage"(L& +4 "core" &K 8 + ;\ +2 "storage"(|& +3 "core" &K 2 * O\ +2 "manipulator"&Y& +3 "core" &Ӊ E 5 +2 "manipulator"&M% +3 "core" % F ] 3 +2 .tForearm.seek :retract +2 "manipulator"&o' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&& +4 "core" & h  +2 "storage"(`& +3 "core" &K > >\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&7'< +96 "core" ' + .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&d% +4 "core" % M  / + "storage"(-& +4 "core" &K 7 F \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&G'y +24 "core" ' +2 "manipulator"&r& +4 "core" & "  +2 "storage"(& +4 "core" &K c f \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&]' +16 "core" ' + "storage"(u% +5 "core" % c d \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (_% +3 "core" %k? > D \ Wc + "manipulator"&Z% +4 "core" % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +88 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'C& +5 "core" & i kM\ + "manipulator"&% +4 "core" %  i  + "storage"(p% +4 "core" % c e 8\ +2 "storage"(>. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1293 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (!& +3 "core" &  d c \ +2 "manipulator"&x& +3 "core" & 4  +2 .tElbow.seek 2 +2 "manipulator"&q( +3 "core" ( + "manipulator"&X& +4 "core" & _  + "storage"((& +4 "core" &  f c >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' +2 "storage"(y& +4 "core" &  k \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +51 "storage"('r +292 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  - = _\ +3 "manipulator"&& +4 "core" & V  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&A& +3 "core" & P  +2 "storage"(I& +4 "core" &  I U g\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&z'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& + "storage"(1' +8 "core" & 3  + "manipulator"&:% +4 "core" %   8 +2 .tForearm.seek :retract +2 "manipulator"&%' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&t(ӂ +157 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&& +5 "core" &ӏ' ] @Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &ӏ( @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'? +102 "core" ' +2 "manipulator"&& +5 "core" &ӏ(   @Y + "manipulator"& % +4 "core" %F [ +2 "collection"'~& +4 "core" & j j\ +2 "collection"'e& +5 "core" & j kc\ +2 .tCC.seek :closed +2 "collection"'F(\\ +4 "core" & h ki\ +7 & - j kl\ #b +10 &X{ i ii\ 7 +9 &x l kk\ L +9 &U m k_\ M +10 &jU k l\\\ L +9 &,V m l[\ L +9 &S m kN\ L +10 &W j nW\ L +9 &rW m nZ\ L +10 &4W m mX\ L +9 &W l lW\ L +9 &!U m oT\ M +10 &#zW l oT\ L +9 &%<W m mZ\ L +9 &&R o nQ\ L +10 &(S m mS\ L +9 &*R n mR\ L +10 &,DR n lV\ L +9 &.R m nJ\ L +9 &/W n nT\ L +10 &1W n nR\ L +9 &3KT m mQ\ M +9 &5 T m mV\ M +10 &6U m oP\ M +9 &8U m oJ\ M +10 &:SU l oD\ M +9 &<U p p;\ M +9 &=S o p@\ L +10 &?T n o?\ L +9 &AZV o r;\ M +9 &CX t q?\ M +10 &D_ u s8\ M +9 &Fj t wC\ O +10 &HT~ x xB\ R +9 &J y zA\ V +9 &K  ~E\ X +10 &M ~ }K\ Y +9 &OF ~ F\ Y +9 &Q  ~@\ Z +10 &R I\ Z +9 &T J\ [ +10 &VH I\ [ +9 &X  C\ \\ +9 &Y E\ ^ +10 &[ F\ J +9 &\\8 H\ . +9 &\\ C\ Y +6 ( +2 "collection"'e& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&)1 +4 "core" &\\ A\ Y +56 1 +2 "manipulator"&+% +5 "core" % F p + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%3& +4 "core" &,\ +2 "manipulator"&"% +4 "core" %  /  + "storage"(% +4 "core" % Y\ + "storage"([. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( (  +11 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" & \ +2 "manipulator"&& +4 "core" &Ӑ' C @X + "manipulator"&N% +4 "core" %  g  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&=& +4 "core" & 9  + "storage"(J& +4 "core" &   ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'S +94 "core" ' +2 "storage"(& +4 "core" &   .\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" & F\ +2 "manipulator"&& +3 "core" & S  +2 .tElbow.seek 2 +2 "manipulator"&'( +3 "core" ( + "manipulator"&U& +4 "core" &  + "storage"(& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&8'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(5' +7 "core" & %  + "manipulator"&B% +4 "core" % Ϻ  +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&H( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&c& +4 "core" &  4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +4 "core" & S 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&l' +126 "core" ' +2 "manipulator"&#& +4 "core" & K 4 +2 "manipulator"&v% +3 "core" %   +2 "processing"%<& +4 "core" &\ +2 "processing"%s& +5 "core" &\ + .tPC.seek :closed +2 "processing"%K(^ +4 "core" &'\  +9 &1w)\ *y +9 &az)\ > +10 &hp,\ O +9 &(R*\ P +10 &P+\ O +9 &O%\ O +10 &nU,\ P +9 &0R#\ P +9 &O*\ O +10 &Q*\ O +9 & vQ$\ P +9 &"9O\ O +10 &#R \ O +9 &%O\ O +9 &'Q\ O +10 &)BQ\ O +9 &+U\ O +9 &,Q \ P +10 &.R\ P +9 &0IQ\ O +10 &2\ S\ P +9 &3U\ O +9 &5Q\ P +10 &7QQ\ O +9 &9U\ P +9 &:V\ P +10 &<R\ O +9 &>XU\ P +10 &@T\ P +9 &AZ\ P +9 &Cd\ R +10 &EVl\ S +9 &G"\ U +9 &H\ V +10 &J\ W +9 &LU\ V +10 &N\ W +9 &O\ W +9 &Q\ X +10 &SZ\ W +9 &U\ X +9 &V\ X +10 &X\ W +9 &Za\ X +10 &\\#\ X +9 &]z\ : +9 &^-x\ X +10 &^0\ 7 +2 ( +2 "processing"%s& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&S1 +60 "core" 1 +2 "manipulator"&i% +4 "core" %  Q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +93 "core" ' + "processing"% & +4 "core" &^. \ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&h% +4 "core" %  % " +2 "storage"(O% +4 "core" % \ + "storage"(/. +3 "core" .(  + "storage"(,& +4 "core" & \ +2 "storage"(Q& +2 "manipulator"&k& +7 "core" & \ + & " 4 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +2 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +3 "manipulator"&R( +2 "storage"(W'r +5 "core" ( + "manipulator"&w& +5 "core" & @ 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +2 "core" &  4 +2 .tForearm.seek PC +2 "manipulator"&V' +94 "core" ' + .tHand.close +2 "manipulator"&4/ +75 "core" / + .tPC.seek :open +2 "processing"%\\( +81 "core" ' + "storage"(g- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(P'1 +45 "core" ' +322 ( + "storage"(& +4 "core" &  b\ +2 "manipulator"&;& +3 "core" & ( 4 +2 "manipulator"&D% +4 "core" %  b / +2 .tForearm.seek :retract + "manipulator"&}' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&L& +4 "core" &  9 + "storage"(|& +4 "core" & p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Y'S +95 "core" ' +2 .tHand.open + "manipulator"&M1 +61 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(`' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(m' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(j- +3 "core" -' +2 "storage"(& +4 "core" &   Q\ 2 + "manipulator"&d& +4 "core" &  9 + .tElbow.seek 2 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&r& +3 "core" & 9 +2 "storage"(& +4 "core" &   \ 2 +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&u'S +6 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +53 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(o'" +55 "core" ' + "manipulator"&_& +4 "core" & ^ 9 +2 "storage"(Z& +4 "core" & I\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& 'Α +23 "core" ' + .tElbow.hold +2 "manipulator"&7, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(C' +25 "core" ' +2 "manipulator"&% +4 "core" %Υ +2 "storage"(G& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&p' +15 "core" ' + "manipulator"&>& +5 "core" & \ 9 + "storage"(E& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&]'S +19 "core" ' + "storage"(% +5 "core" % ^\ +2 ."downElevator"SE.seek :down +4 "storage"($' +99 (!% +3 "core" %1U u\ Zo + "manipulator"&x% +5 "core" %k X + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +92 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 ((& +4 "core" &  o\ +2 "collection"'y& +3 "core" &\\ D\ Y +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&^% +3 "core" % \   +2 "storage"(\ % +4 "core" % \ + "storage"(@. +3 "core" .(  +2 "storage"(& +3 "core" &  q\ +2 "storage"(& +4 "core" &   K\ + "manipulator"&A& +4 "core" & z 9 +2 .tElbow.seek 2 + "manipulator"&I( +4 "core" ( + "manipulator"&.& +4 "core" &  9 +2 "storage"(n& +4 "core" &  &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&:'S +93 "core" ' +2 "storage"(q& +4 "core" & \  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" &  g 9 + "storage"(& +4 "core" & S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&z'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&, +39 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"('_ +30 "core" ' + "manipulator"&~% +4 "core" %Ν  +2 "storage"(1& +3 "core" &  8\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&%' +16 "core" ' + "manipulator"&T& +5 "core" & 9 + "storage"()& +4 "core" &  %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&+'S +18 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(3' +40 "core" ' + "manipulator"&"& +5 "core" &  9 + "manipulator"&% +4 "core" %i L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +154 "core" ( +2 "manipulator"&b& +4 "core" &ӎ& ^ ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ& ?Q +2 .tForearm.seek CC + "manipulator"&N'? +96 "core" ' + .tHand.close +2 "manipulator"&0/ +56 "core" / +2 .tCC.seek :open +2 "collection"'=( +446 "core" ( +2 "storage"(J& +4 "core" & = 7 o\ + "storage"(& +4 "core" & ( + T\ +2 "manipulator"&& +3 "core" &ӏ& k ?Q +2 "manipulator"&t% +3 "core" % : ^ 9 +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +164 "core" ( + "manipulator"&&& +4 "core" &  +2 "storage"(& +3 "core" & 8 7 s\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&U'Α +92 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&*1 +62 "core" 1 +2 "manipulator"&6% +4 "core" % Ρ ( 0 +2 "storage"(B& +3 "core" & c c &\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&{& +5 "core" & m  + "storage"(a& +4 "core" & V V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&8'S +19 "core" ' +2 "storage"(c% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(2' +99 ('% +3 "core" %oI < * l\ Xh +2 "manipulator"&#% +5 "core" %b  [ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'<& +5 "core" & i iX\ + "manipulator"&5% +4 "core" %  j  +2 "storage"(% +3 "core" % f c Y\ +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(S( +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" & K G \ + "manipulator"& & +4 "core" & [  + .tElbow.seek 3 +2 "manipulator"&h( +35 "core" ( + "manipulator"&O& +5 "core" &   + "storage"(/& +4 "core" & c e \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&,'7 +95 "core" ' +2 "storage"(k& +4 "core" & i g \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'r +297 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" & 0 \ +2 "manipulator"&9& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&l( +30 "core" ( + "manipulator"&4& +4 "core" & l ] +2 "storage"(g& +3 "core" & L L &\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&H'ϡ +40 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& + "storage"(W' +7 "core" &  ] +2 "manipulator"&% +4 "core" % Ϸ H +2 .tForearm.seek :retract + "manipulator"&;' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&D(ӂ +155 "core" ( + ' + "manipulator"&V& +2 ."downElevator"SE.stop +4 "storage"(5 +4 "core" &z-  D{ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &z- D{ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&|'? +91 "core" ' +2 "manipulator"&R& +4 "core" &ӝ& @X +2 "manipulator"&M% +4 "core" %: ` N +2 "collection"'& +3 "core" & i kl\ +3 "collection"'j& +4 "core" & k k\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & i kd\  +10 &5z h jf\ +{ +9 &f~ i ij\ ? +10 &n i kg\ N +9 &\\S j l^\ L +9 &T l lX\ M +10 &U k lM\ M +9 &W l mU\ L +9 &bT j k\\\ M +10 &$V m m[\ M +9 &T n mZ\ L +9 & Q l mZ\ L +10 &"jT l lZ\ M +9 &$,T m mW\ M +10 &%U m mW\ M +9 &'S m nW\ L +9 &)sV n kX\ L +10 &+5W n mV\ L +9 &,T n lQ\ M +59 &.T m lY\ M +5 &0zT k mS\ M +2 &2<T m mP\ M + &3T n mF\ M + &5T k oL\ M + &7W l nD\ L +3 &9ER n oD\ L +3 &;R n nC\ L +9 &<R p oF\ L +10 &>T p m>\ L +9 &@MW o qD\ L +10 &BY r qB\ M +9 &CZ s r=\ M +9 &Ee s tF\ N +10 &GIu x vB\ P +9 &I z wE\ T +9 &J ~@\ W +10 &Lv K\ Y +9 &N7 L\ Y +10 &O L\ Z +9 &Q N\ Z +9 &Sx G\ [\ +10 &U9 G\ [ +9 &V M\ \\ +9 &X A\ ] +10 &Zy E\ ] +9 &\\{ E\ 1 +10 &\\1 @\ !e +8 ( +4 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&d1 +4 "core" &\\s D\ R +59 1 + "manipulator"&r% +4 "core" % :  ' N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%}& +4 "core" &\ +2 "manipulator"&_% +4 "core" %  V  + "storage"(Z% +4 "core" % s\ + "storage"(P. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(`( +9 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &" _\  +2 "manipulator"&G& +3 "core" &Ӟ' @W +2 "manipulator"&>% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&E( +155 "core" ( +2 "manipulator"&& +4 "core" &| +2 "storage"(& +3 "core" &   C\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y'7 +91 "core" ' +2 "storage"(m& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'r +293 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (u& +3 "core" & @\  + "manipulator"&-& +4 "core" &} Q +2 .tElbow.seek 3 +2 "manipulator"&o( +3 "core" ( + "manipulator"& & +4 "core" &} 1 +2 "storage"(p& +4 "core" & k\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&('ϡ +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& + "storage"(\ ' +8 "core" &} ( + "manipulator"&C% +4 "core" %   w +2 .tForearm.seek :retract + "manipulator"&@' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&& +5 "core" & / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +2 "core" & V / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&.' +96 "core" ' +2 "manipulator"&n& +4 "core" & / +2 "manipulator"&]% +4 "core" % L  + "processing"%q& +4 "core" &\ +3 "processing"%$& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%7(^ +4 "core" &/\  +8 &0x.\ *y +10 &a{(\ > +9 &fp)\ P +9 &'O,\ P +10 &O'\ O +9 &R,\ O +9 &mP*\ P +10 &0S/\ O +9 &U,\ P +10 &T)\ O +9 & vO*\ O +9 &"9P*\ O +10 &#T"\ P +9 &%N!\ O +9 &'}P(\ P +10 &)@S!\ O +9 &+P\ O +10 &,Q!\ O +9 &.Q\ P +9 &0HP\ O +10 &2 R\ P +9 &3R"\ P +9 &5Q\ P +10 &7PO\ O +9 &9T\ P +10 &:U\ P +9 &<Q\ O +9 &>WU\ P +10 &@W\ P +9 &A_\ Q +9 &Ck\ R +10 &ERy\ T +9 &G!\ V +10 &H\ V +9 &J\ V +9 &LT\ V +10 &N\ X +9 &O\ W +9 &Q\ X +10 &SX\ X +9 &U\ X +10 &V\ X +9 &X\ W +9 &Za\ W +10 &\\#\ W +9 &]\ 7 +9 &^+o\ U +10 &^*\ 6 +2 ( +2 "processing"%$& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open +2 "manipulator"&X1 +53 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +92 "core" ' +2 "processing"%& +4 "core" &^&\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %   +2 "storage"(~% +3 "core" % }\ +2 "storage"(1. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(T( +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 ()& + "manipulator"&"& +4 "core" & |\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & / +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"('r + "manipulator"&:( +5 "core" ( +2 "manipulator"&I& +4 "core" & > / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  ) / +2 .tForearm.seek PC +2 "manipulator"&z' +93 "core" ' + .tHand.close + "manipulator"&%/ +77 "core" / +2 .tPC.seek :open +2 "processing"%( +79 "core" ' + "storage"(b- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +328 ( + "storage"(+& +4 "core" &   '\  +2 "manipulator"&& +4 "core" & & / + "manipulator"&0% +4 "core" %   N +2 .tForearm.seek :retract + "manipulator"&[' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&F( +245 "core" ( + "manipulator"&J& +4 "core" & G A +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +92 "core" ' + .tHand.open + "manipulator"&t1 +60 "core" 1 +2 "storage"(&- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(N' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(e- +3 "core" -' +2 "storage"(*& +3 "core" & +\  +2 "manipulator"&6& +4 "core" & A + .tElbow.seek 3 +2 "manipulator"&B( +4 "core" ( + "manipulator"&{& +4 "core" & < A +2 "storage"(a& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts + "manipulator"&c'7 +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' +2 "manipulator"&'& +4 "core" & J A +2 "storage"(#& +3 "core" & R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +20 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(<' +23 "core" ' + "manipulator"&% +5 "core" %s  + "storage"(5& +4 "core" & " \  +2 .tForearm.force -20 "manipulator"&5 +4 .tForearm.seek 3 + 298 counts + "manipulator"&'ϟ +28 "core" ' + "manipulator"&& +4 "core" & J A +2 "storage"(3& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&8'7 +15 "core" ' + "storage"(2% +5 "core" %  /\ +2 ."downElevator"SE.seek :down +4 "storage"( ' +98 (i% +3 "core" %;B \ Xh +2 "manipulator"& % +4 "core" %<  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (/& +4 "core" &\  + "collection"'k& +4 "core" &\\s C\ R +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %   +2 "storage"(v% +4 "core" % {\ + "storage"(s. +3 "core" .( +51 "storage"(w& +5 "core" & _\  + "storage"(9& +5 "core" & E\  + "manipulator"&4& +4 "core" &  A + .tElbow.seek 3 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&f& +4 "core" & A + "storage"(K& +5 "core" & 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +96 "core" ' + "storage"(h& +5 "core" &   v\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +294 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&L& +2 "core" &  A +2 "storage"(Q& +4 "core" & % m\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&H'u +14 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(M- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('f +29 "core" ' + "manipulator"&l% +4 "core" %΂  ? M +2 "storage"(W& +3 "core" &   h\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&;'Ϯ +32 "core" ' +2 "manipulator"&=& +4 "core" & S @ + "storage"(d& +4 "core" & X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r'7 +25 "core" ' +3 .tSE.seek 1.15 Pucks below Top Plate + "storage"(}' +49 "core" ' +2 "manipulator"&_& +4 "core" & @ + "manipulator"&Z% +4 "core" %F \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&j(ӂ +151 "core" ( +3 "manipulator"&& +4 "core" &Ӊ)  Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +2 "core" &Ӊ( j Aa +2 .tForearm.seek CC +2 "manipulator"&>'? +92 "core" ' +2 .tHand.close + "manipulator"&|/ +54 "core" / + .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(& +4 "core" & 9 .\  +2 "storage"(S& +3 "core" & * * Y\  +2 "manipulator"&m& +4 "core" &Ӌ) A_ + "manipulator"&D% +4 "core" % 2 U +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x( +162 "core" ( +2 "manipulator"&u& +4 "core" & C  + "storage"(-& +4 "core" & L K [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"& 'u +97 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&y1 +58 "core" 1 +2 "manipulator"&^% +4 "core" % }  G + "storage"(C& +4 "core" & Y ` \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&E'ϩ +33 "core" ' +2 "manipulator"&Y& +5 "core" &   + "storage"(!& +4 "core" & c c \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&('7 +13 "core" ' + "storage"(% +5 "core" % l i \ +2 ."downElevator"SE.seek :down +3 "storage"(A' +99 (o% +3 "core" %B H = G\ Vc +2 "manipulator"&n% +4 "core" %A + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +89 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'q& +4 "core" & g fZ\ + "manipulator"&\ % +4 "core" %   b  +2 "storage"(@% +4 "core" % e f N\ + "storage"(\\. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(X(,y +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +2 "core" &,v ) * G\  +2 "manipulator"&& +4 "core" & Y  + .tElbow.seek 4 +2 "manipulator"& ( +26 "core" ( + "manipulator"&~& +4 "core" & 9  +2 "storage"(1& +4 "core" &,v d e "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&$' +95 "core" ' + "storage"()& +5 "core" &,v m g\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'r +296 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,v % ' #\  +2 "manipulator"&.& +4 "core" & H  + .tElbow.seek 4 +2 "manipulator"&%( +17 "core" ( +2 "manipulator"&`& +4 "core" &   +2 "storage"(b& +3 "core" &,v N M d\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&?/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& + "storage"(' +8 "core" &  z  + "manipulator"&+% +4 "core" % χ  ( +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0(ӂ +160 "core" ( +3 "manipulator"&z& +4 "core" ' + &ӏ&  ?R + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&J& +6 "core" &ӏ&  t ?R + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +103 "core" ' +2 "manipulator"&:& +5 "core" &ӏ&  Q ?R + "manipulator"&t% +4 "core" %9 w +2 "collection"'&& +4 "core" & i j\ +2 "collection"'e& +4 "core" & h i\ +2 .tCC.seek :closed +2 "collection"'*(\\ +4 "core" & i ih\ +8 &A i jk\ $f +10 &W{ i jk\ 7 +9 &x j gk\ L +9 &T k hc\ M +10 &U i lg\ M +9 &BU j kZ\ L +9 &R n mY\ L +10 &S k lU\ L +9 &V j lX\ L +10 &JV m kZ\ L +9 & T m lZ\ M +9 &!T n l[\ L +10 &#W i lT\ L +9 &%RV l l[\ L +10 &'V m lW\ L +9 &(U k l[\ M +9 &*T k l[\ L +10 &,ZQ m nV\ L +9 &.U k lV\ L +9 &/T m lW\ L +10 &1S n l[\ L +9 &3bW l mT\ L +9 &5$U m nZ\ L +10 &6S m kL\ L +9 &8R n nM\ L +10 &:jW n oF\ L +9 &<,W n oL\ L +9 &=X p oE\ L +10 &?Y o oE\ L +9 &ArT s pH\ L +9 &C3Y r qC\ M +10 &Db s s?\ M +9 &Fm q tD\ O +10 &Hj t tI\ R +9 &J v v@\ V +9 &K x y;\ Y +10 &M y z;\ Y +9 &O[ x z@\ Z +9 &Q x {C\ Z +10 &R { zC\ Z +9 &T | zF\ [ +10 &V^ { |G\ [ +9 &X z zA\ \\ +9 &Y { {B\ ^ +10 &[ } |G\ K +9 &\\5 } }C\ 2 +9 &\\s ~ {C\ P +3 ( +2 "collection"'e& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&61 +55 "core" 1 + "manipulator"&{% +5 "core" % 9 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +89 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%[& +5 "core" &\ + "manipulator"&'% +4 "core" %  ]  + "storage"(#% +4 "core" % b\ +2 "storage"(. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(5(,y +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,v ~\  +2 "manipulator"&& +3 "core" &Ӑ& > ?Q +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&3( +165 "core" ( + "manipulator"&2& +5 "core" &  + "storage"(F& +4 "core" &,v   .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(N& +5 "core" &,v * , R\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +50 "storage"(i'r +297 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (c& +3 "core" &,v \  +2 "manipulator"&B& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & t  + "storage"(/& +4 "core" &,v \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +38 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(v' +7 "core" &  + "manipulator"&s% +4 "core" % w V X +2 .tForearm.seek :retract +2 "manipulator"&<' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&9& +4 "core" & 5 & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &  d & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f' +99 "core" ' + "manipulator"&K& +4 "core" & E % +2 "manipulator"&8% +4 "core" %  t  +2 "processing"%h& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%U(^ +4 "core" &/\ +7 & +-\ #b +10 &Uy.\ 7 +9 &}v0\ L +9 &S+\ P +10 &QR-\ P +9 &P*\ O +10 &O*\ O +9 &P(\ P +9 &YR*\ P +10 &P"\ O +9 &O \ P +9 &!Q+\ P +10 &#bR+\ O +9 &%%O*\ O +10 &&Q*\ O +9 &(T\ O +9 &*jT"\ O +10 &,,T\ O +9 &-Q \ P +9 &/S"\ P +10 &1qW)\ P +9 &33S \ P +10 &4R\ P +9 &6P\ O +9 &8yW\ P +10 &:<Q\ O +9 &;S\ O +9 &=T\ O +10 &?T\ P +9 &AAY\ P +10 &Bc\ R +9 &Dm\ S +9 &Fy\ U +10 &H8 \ V +9 &I\ V +9 &K\ V +10 &M}\ V +9 &O=\ W +9 &P\ W +10 &R\ W +9 &T\ X +10 &VA\ Y +9 &X\ W +9 &Y\ X +10 &[\ W +9 &]J\ L +9 &^Q\ $o +10 &^ \ . +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&O1 +60 "core" 1 + "manipulator"&V% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +88 "core" ' +2 "processing"%Q& +4 "core" &^ \ . + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&M% +4 "core" %  L  + "storage"(l% +4 "core" % \ + "storage"(W. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(=(,y +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &,w \  +2 "manipulator"&_& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & N % +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(Z'r +3 "manipulator"&( +5 "core" ( + "manipulator"&g& +4 "core" & L % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" & % +2 .tForearm.seek PC +2 "manipulator"&H' +94 "core" ' + .tHand.close +2 "manipulator"&;/ +67 "core" / +2 .tPC.seek :open +2 "processing"%( +83 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(G'1 +45 "core" ' +315 ( + "storage"(r& +4 "core" &,w   [\  +2 "manipulator"&R& +3 "core" & % +2 "manipulator"&|% +3 "core" %  : ' +2 .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +245 "core" ( +2 "manipulator"&& +4 "core" & _ : +2 "storage"(S& +3 "core" &,w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +91 "core" ' +2 .tHand.open + "manipulator"&D1 +63 "core" 1 +2 "storage"(u- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(-' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(>' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +4 "core" -' + "storage"(y& +4 "core" &,w \  +2 "manipulator"&^& +4 "core" & l 9 + .tElbow.seek 4 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&Y& +4 "core" &  T 9 + "storage"(!& +4 "core" &,w b H n\ j +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +49 "core" ' +2 "manipulator"&o& +4 "core" &  9 + "storage"(n& +5 "core" &,w ]\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&x'7 +24 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(q' +20 "core" ' + "manipulator"&\ % +5 "core" %= e + "storage"(E& +4 "core" &,w Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"&@'i +15 "core" ' + "manipulator"&\\& +5 "core" &  R 8 + "storage"(}& +5 "core" &,w y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +14 "core" ' +2 "storage"(A% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(T' +98 (% +2 "core" %nL \ Xi +2 "manipulator"&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (1& +4 "core" &,w \  +2 "collection"')& +4 "core" &\\n } }6\ P + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&p% +4 "core" %  S  + "storage"(]% +4 "core" %\ + "storage"(I. +3 "core" .(,y +2 "storage"(& +4 "core" &,w (\  + "storage"(.& +4 "core" &,w  e\  + "manipulator"&`& +4 "core" & 8 +2 .tElbow.seek 4 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&?& +3 "core" & @ 8 +2 "storage"(7& +4 "core" &,w  ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +95 "core" ' + "storage"( & +5 "core" &,w ( ^\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'r +294 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&J& +3 "core" & 8 +2 "storage"("& +3 "core" &,w &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(t'l +29 "core" ' + "manipulator"&&% +4 "core" %I _  +2 "storage"(& +4 "core" &,w\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&'u +15 "core" ' + "manipulator"&& +5 "core" &  7 + "storage"(6& +4 "core" &,w   |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&{' +67 "core" ' +4 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"([' +36 "core" ' + "manipulator"&'& +5 "core" & 2 7 + "manipulator"&#% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&e& +4 "core" &Ӑ% >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӑ% >N +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tCC.seek :open +2 "collection"'2( +446 "core" ( +2 "storage"(F& +4 "core" &,w C ? \  + "storage"(X& +4 "core" &,w 7 ? 5\  + "manipulator"&N& +4 "core" &ӑ% >M + "manipulator"&0% +5 "core" % C U b + .tForearm.seek :retract +2 "manipulator"&a' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +164 "core" ( + "manipulator"&c& +5 "core" &  + "storage"(B& +4 "core" &,w V `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&k1 +55 "core" 1 +2 "manipulator"&% +4 "core" % C   +2 "storage"(s& +3 "core" &,w e c #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&3'o +15 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(i& +4 "core" &,w Y a \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(9% +5 "core" % }\ +2 ."downElevator"SE.seek :down +3 "storage"(4' +99 (% +3 "core" %= @ K '\ Wd +2 "manipulator"&K% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +89 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'h& +4 "core" & g h\ +2 "manipulator"&v% +4 "core" %  g  + "storage"(<% +4 "core" % f f X\ + "storage"(. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(O(<- +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &<, @ D \ +2 "manipulator"&Q& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&M( +3 "core" ( + "manipulator"&l& +4 "core" &  S  +2 "storage"(W& +3 "core" &<, f e j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +92 "core" ' +2 "storage"(d& +4 "core" &<, \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +296 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (,& +3 "core" &<, > - Z\ + "manipulator"&f& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&;( +4 "core" ( + "manipulator"&5& +4 "core" & D  + "storage"(& +4 "core" &<, N N \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&w'Ϲ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +3 "storage"(Z' +7 "core" &   + "manipulator"&r% +4 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&R' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +152 "core" ( +2 "manipulator"&H& +5 "core" &Ӎ$  =G ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӎ$ 5 =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&S'? +91 "core" ' +2 "manipulator"&& +4 "core" &Ӎ$ Z =G +2 "manipulator"&D% +3 "core" %G & y +2 "collection"'u& +4 "core" & k jd\ +3 "collection"'j& +4 "core" & j i\ +2 .tCC.seek :closed +2 "collection"'y(\\ +5 "core" & j lc\  +9 &3{ h kk\ *z +9 &d} i il\ > +10 &n k lj\ M +9 &LR k mk\ L +9 & T l li\ L +10 &T n jb\ L +9 &T l la\ M +10 &RT l k]\ M +9 &X k nW\ L +9 &Q l nU\ L +10 & U m lV\ L +9 &"[V l lZ\ L +9 &$V l lX\ L +10 &%V k lV\ L +9 &'W n nW\ L +9 &)cV k lX\ L +10 &+%W m m[\ L +9 &,V l l[\ L +10 &.U n mW\ L +9 &0kU m mW\ L +9 &2-U n oW\ L +10 &3W l nT\ L +9 &5U o oP\ M +9 &7sR m nQ\ L +10 &95W m nP\ L +9 &:R m oV\ L +10 &<W q qN\ L +9 &>{X o pJ\ L +9 &@=W o pS\ L +10 &AY p qX\ M +9 &CZ q sQ\ M +9 &E~e u sN\ N +10 &G:o w wF\ P +9 &H { zH\ T +10 &J | {L\ W +9 &Lg ~ ~<\ Y +9 &N' ~ ~:\ Y +10 &O ~ ~B\ Z +9 &Q  ~I\ Z +9 &Sj ~ C\ Z +10 &U* ~ ~=\ [\ +9 &V ~C\ \\ +10 &X D\ \\ +9 &Zh B\ ^ +9 &\\ y L\ 7 +10 &\\) R\ &q +8 ( +2 &\\ O\ \\ +3 "collection"'j& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&^1 +62 "core" 1 +2 "manipulator"&Y% +4 "core" % G y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!' +91 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%P& +4 "core" &*\ + "manipulator"&o% +4 "core" %   +2 "storage"(n% +3 "core" % o\ +2 "storage"(\ . +3 "core" .(<- + "storage"(E& +4 "core" &<, w\ +2 "storage"(G& +4 "core" &<, s\ + "manipulator"&\\& +5 "core" &Ӎ#  =G + "manipulator"&}% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&-( +157 "core" ( + "manipulator"&A& +4 "core" &  +2 "storage"(& +4 "core" &<, +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +97 "core" ' + "storage"(>& +4 "core" &<, R\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<, ~\ +2 "manipulator"&C& +4 "core" & T  + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&x& +4 "core" &   +2 "storage"(1& +3 "core" &<, \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&@'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"(]' +7 "core" & )  +2 "manipulator"&I% +4 "core" % ϸ ; +2 .tForearm.seek :retract + "manipulator"&q' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +20 "Can"\ `] +52 "core" ( + "manipulator"&.& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?' +96 "core" ' +2 "manipulator"&7& +4 "core" &   + "manipulator"&(% +4 "core" % # 4 +2 "processing"% & +4 "core" &-\ +2 "processing"%T& +5 "core" &+\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &-\ +6 & ,&\ $d +10 &Us,\ 7 +9 &}v*\ L +9 &T*\ P +10 &QO+\ P +9 &N*\ O +9 &N/\ P +10 &S+\ O +9 &YO+\ P +10 &O+\ P +9 &N*\ O +9 &!N,\ P +10 &#aQ-\ P +9 &%$M*\ O +9 &&S)\ P +10 &(Q+\ P +9 &*jN)\ O +10 &,,O+\ O +9 &-O \ O +9 &/T$\ P +53 &1pS\ P +4 &33O\ P + &4O\ O +3 &6Q\ P + &8xT\ P + &:<Q\ O +3 &;R\ P +9 &=V\ P +10 &?T\ P +9 &ACU\ P +9 &C_\ Q +10 &Dd\ R +9 &F}r \ T +10 &H8\ V +9 &I#\ V +9 &K\ V +10 &M|\ W +9 &O:\ X +9 &P\ X +10 &R\ X +9 &T\ Y +10 &VD \ W +9 &X\ W +9 &Y\ W +10 &[\ Y +9 &]J\ L +9 &^R"\ $o +10 &^ \ / +2 ( +2 "processing"%T& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 + .Hand.open +2 "manipulator"&~1 +56 "core" 1 +2 "manipulator"&z% +4 "core" %  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +91 "core" ' +2 "processing"%"& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&%% +3 "core" %  Y  +2 "storage"(&% +4 "core" % \ + "storage"(. +4 "core" .(<- +2 "storage"(& +3 "core" &<, Z\ +3 "storage"(6& +2 "manipulator"&'& +6 "core" &<, /\ + &  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&#( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(+'r +2 "core" ( +2 "manipulator"&b& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +2 "core" &  2  +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&/ +65 "core" / +2 .tPC.seek :open +2 "processing"%t( +90 "core" ' +2 "storage"(e- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +313 ( + "storage"({& +4 "core" &<,   &\ +2 "manipulator"&:& +4 "core" & B  + "manipulator"&% +4 "core" %   M +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&*( +243 "core" ( +2 "manipulator"&F& +4 "core" &   + "storage"(X& +5 "core" &<, L\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +91 "core" ' +2 .tHand.open + "manipulator"&01 +52 "core" 1 +2 "storage"(c- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(B' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(k& +4 "core" &<, _ j \ @ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&s( +9 "core" ( + "manipulator"&& +5 "core" &   + "storage"(i& +4 "core" &<, z y \ A +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +9 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(a'" +52 "core" ' + "manipulator"&& +5 "core" & c  + "storage"(K& +4 "core" &<, c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +24 "core" ' +2 "manipulator"&3% +4 "core" %΍  +2 "storage"(v& +4 "core" &<, B\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&<'Ϲ +27 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"([& +4 "core" &<,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +18 "core" ' + "storage"(4% +5 "core" % =\ +2 ."downElevator"SE.seek :down +4 "storage"(=' +98 (V% +2 "core" %wM 3\ Yk +2 "manipulator"&Q% +5 "core" %M # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +88 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (W& +4 "core" &<,\ +2 "collection"'d& +4 "core" &\\ C\ \\ + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&/% +4 "core" %   + "storage"(8% +4 "core" % r\ + "storage"(g. +3 "core" .(<- +2 "storage"(,& +3 "core" &<, $\ +2 "storage"(f& +4 "core" &<, e\ + "manipulator"&5& +4 "core" & '  +2 .tElbow.seek 5 + "manipulator"&( +9 "core" ( + "manipulator"&L& +4 "core" & d +2 "storage"(U& +3 "core" &<, 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +93 "core" ' +2 "storage"(M& +4 "core" &<,  ,\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +303 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  +2 "storage"(_& +4 "core" &<,  8\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&w'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(D- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(u'^ +29 "core" ' + "manipulator"&;% +5 "core" % # + "storage"(Z& +4 "core" &<, _\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 286 counts +2 "manipulator"&R'ϫ +23 "core" ' + "manipulator"&2& +5 "core" & + "storage"(^& +4 "core" &<,  1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(P' +35 "core" ' + "manipulator"&o& +5 "core" & + "manipulator"&n% +5 "core" %O + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&E(ӂ +159 "core" ( +2 "manipulator"&G& +4 "core" &Ӑ# ( << + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &ӑ# _ <; +2 .tForearm.seek CC +2 "manipulator"&\\'? +96 "core" ' +2 .tHand.close + "manipulator"&}/ +63 "core" / +2 .tCC.seek :open + "collection"'S( +450 "core" ( + "storage"(A& +5 "core" &<, 5 -\ + "storage"(& +4 "core" &<, ) ( 9\ + "manipulator"&>& +4 "core" &ӑ# <; + "manipulator"&|% +4 "core" % A / +2 .tForearm.seek :retract + "manipulator"&!' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +156 "core" ( + "manipulator"&& +4 "core" & b +2 "storage"(C& +3 "core" &<, ? I \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&x'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&)1 +54 "core" 1 +2 "manipulator"&p% +5 "core" % ΐ y ! + "storage"(I& +4 "core" &<, I A \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&-'ϼ +14 "core" ' + "manipulator"&m& +4 "core" & r +2 "storage"(& +4 "core" &<, c c #\ +51 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&@'O +18 "core" ' +2 "storage"(.% +4 "core" % e d L\ +2 ."downElevator"SE.seek :down +3 "storage"(`' +101 (% +6 "core" %2C 7 6 p\ We +4 "manipulator"&7% +8 "core" %; +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&(' +89 "core" ' +40 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"' & +4 "core" & h iO\ +2 "manipulator"&]% +4 "core" %  H  + "storage"(q% +4 "core" % d c\ +2 "storage"(. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(~(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &K Z R )\ + "manipulator"&"& +4 "core" &  q + .tElbow.seek 6 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&&& +4 "core" &  l + "storage"(& +4 "core" &K W V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"('& +4 "core" &K w J\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'r +295 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +2 "core" &K 1 ' {\ +2 "manipulator"&$& +3 "core" &  ] +2 .tElbow.seek 6 +2 "manipulator"&?( +3 "core" ( + "manipulator"&& +4 "core" & - + "storage"(e& +4 "core" &K A J ?\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +41 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(+' +7 "core" & ' + "manipulator"&{% +5 "core" % \\  t n + .tForearm.seek :retract +2 "manipulator"&:' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &y+ h Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&F& + "storage"(5 +5 "core" &y+ a Ct +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'? +92 "core" ' +2 "manipulator"&#& +4 "core" &Ӎ) A` + "manipulator"&0% +4 "core" %A e +2 "collection"'c& +4 "core" & j j\ +2 "collection"'& +5 "core" & h k^\ +2 .tCC.seek :closed +2 "collection"'k(\\ +4 "core" & i jf\ +8 & 4 i kp\ $d +9 &Uu j jl\ 6 +9 &x j je\ K +10 &T k jh\ M +9 &cT j ki\ L +10 &#T l mi\ M +9 &T m lc\ L +9 &Q n mY\ L +10 &jU k lS\ L +9 &+S m l[\ M +9 &T l l]\ L +10 &!U l lX\ L +9 &#qU k kU\ M +10 &%3T m oV\ M +9 &&T l nO\ L +9 &(R l mV\ L +10 &*zQ l mQ\ L +9 &,;T n lP\ M +9 &-S m mP\ L +10 &/U m mW\ L +9 &1T n lR\ L +9 &3DQ o mU\ L +10 &5V m mO\ L +9 &6U m kR\ M +10 &8T k lQ\ L +9 &:LR n nU\ L +9 &<V p nQ\ L +10 &=W n pH\ L +9 &?R p oF\ L +9 &AST r pF\ M +10 &C\\ s r<\ M +9 &Dh u uJ\ O +10 &F x wL\ R +9 &H@ x wK\ V +9 &I w yH\ X +10 &K v vG\ Y +9 &M{ x xK\ Z +9 &O= w wP\ Z +10 &P y vP\ Z +9 &R y xW\ Z +10 &T} z xX\ \\ +9 &V> w xV\ \\ +9 &W y zN\ ] +10 &Y | yQ\ ^ +9 &[{ { {E\ K +9 &\\9 | }P\ 3 +10 &\\ } |P\ Y +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 +2 .Hand.open + "manipulator"&1 +3 "core" &\\~ | |R\ Y +57 1 + "manipulator"&% +4 "core" % A e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %  3  + "storage"(K% +4 "core" % x\ + "storage"(3. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (v& +3 "core" &K .\  +2 "manipulator"&B& +4 "core" &ӏ'  @^ + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&[( +165 "core" ( + "manipulator"&4& +5 "core" &   + "storage"(*& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +93 "core" ' +2 "storage"(& +4 "core" &K   #\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'r +294 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +2 "core" &K ~\  +2 "manipulator"&s& +4 "core" & 9  + .tElbow.seek 6 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(<& +3 "core" &K  A\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&W'h +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(8' +7 "core" & y  +2 "manipulator"&g% +3 "core" % n  +2 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&f& +4 "core" & V 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &  8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L' +89 "core" ' +2 "manipulator"&U& +4 "core" & 7 +2 "manipulator"&% +3 "core" % T m +2 "processing"%M& +4 "core" &)\ +2 "processing"%=& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &&\  +9 &1v*\ *x +10 &a}+\ > +9 &ep*\ O +10 &%S+\ O +9 &Q-\ O +9 &O-\ O +10 &kQ-\ O +9 &-N*\ O +9 &P*\ O +10 &O*\ O +9 & rO+\ P +9 &"5Q+\ O +10 &#P$\ O +9 &%M)\ O +10 &'{S*\ O +9 &)>N)\ O +9 &*T)\ O +10 &,T)\ O +9 &.P)\ P +10 &0DR'\ P +9 &2T#\ O +9 &3T\ O +10 &5T"\ P +9 &7LR\ P +9 &9Q \ O +10 &:S \ P +9 &<S\ P +10 &>TR\ P +9 &@S\ P +9 &A`!\ Q +10 &Cj \ R +9 &EO{\ T +9 &G \ U +10 &H\ V +9 &J\ V +9 &LR\ V +10 &N\ W +9 &O\ V +10 &Q\ W +9 &ST\ X +9 &U\ W +10 &V\ W +9 &X\ X +9 &Z]\ X +10 &\\ \ W +9 &]\ 6 +10 &^6u\ ? +8 ( +4 "processing"%=& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&l1 +3 "core" &^\ 0 +59 1 + "manipulator"&H% +4 "core" %  [ m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 "processing"%_& +4 "core" &^\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&D% +3 "core" %  T  +2 "storage"(;% +4 "core" % g\ + "storage"(Z. +4 "core" .(K + "storage"(2& +4 "core" &K q\  +2 "storage"(^& +3 "manipulator"&o& +4 "core" &K c\  + &  7 +2 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&n( +4 ."raiseStack"SE.seek :beamBreak + "storage"(r'r +3 "core" ( + "manipulator"&& +5 "core" & / 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & 7 +2 .tForearm.seek PC +2 "manipulator"&w' +94 "core" ' + .tHand.close + "manipulator"&R/ +68 "core" / +2 .tPC.seek :open +2 "processing"%u( +86 "core" ' + "storage"(G- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +54 "storage"(j'1 +46 "core" ' +262 ( +2 "storage"(Y& +4 "core" &K\  + "manipulator"&& +4 "core" &  7 +2 "manipulator"&}% +3 "core" %  ) " +2 .tForearm.seek :retract +2 "manipulator"&\ ' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&y( +244 "core" ( +2 "manipulator"&A& +4 "core" & 4 + +2 "storage"(& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +95 "core" ' + .tHand.open + "manipulator"&|1 +54 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(C' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(\\' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +4 "core" -' + "storage"()& +4 "core" &K d\ F +2 "manipulator"&p& +4 "core" &  & + + .tElbow.seek 6 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&m& +4 "core" &   s + + "storage"(& +4 "core" &K \ G +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(!'" +56 "core" ' + "manipulator"&& +4 "core" & + +2 "storage"(& +4 "core" &K 6\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&7'< +24 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +28 "core" ' + "manipulator"&-% +5 "core" %G +2 "storage"(]& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&q's +14 "core" ' +2 "manipulator"&& +4 "core" & - + +2 "storage"(P& +4 "core" &K |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&@' +18 "core" ' + "storage"(`% +5 "core" % &\ +2 ."downElevator"SE.seek :down +3 "storage"(O' +99 (z% +3 "core" %-H ]\ Xj +2 "manipulator"&"% +4 "core" % : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +87 "core" ' +71 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K \  + "collection"''& +4 "core" &\\~ | {\ Y +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&1% +3 "core" %  s  +2 "storage"((% +4 "core" % \ + "storage"(T. +3 "core" .(K +2 "storage"(b& +3 "core" &K \  +2 "storage"($& +4 "core" &K #\  + "manipulator"&& +4 "core" & { + + .tElbow.seek 6 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&J& +3 "core" & + +2 "storage"( & +4 "core" &K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&{' +92 "core" ' + "storage"(%& +4 "core" &K   I\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +305 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +2 "core" & z + +2 "storage"(6& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +13 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(c'f +31 "core" ' + "manipulator"&?% +4 "core" %M X +2 "storage"(+& +3 "core" &K "\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&:'y +16 "core" ' + "manipulator"&S& +5 "core" & k + + "storage"(& +5 "core" &K A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&& +5 "core" & + + "manipulator"&K% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&v& +4 "core" &ӏ'  @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &ӏ' \ @[ +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' + .tHand.close +2 "manipulator"&X/ +55 "core" / + .tCC.seek :open +2 "collection"'4( +450 "core" ( +2 "storage"(*& +4 "core" &K 8 6 S\  +2 "storage"(~& +3 "core" &K 5 5 \  +2 "manipulator"&& +3 "core" &Ӑ( + @Z +2 "manipulator"&% +3 "core" % < 8 L +2 .tForearm.seek :retract +2 "manipulator"&i' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&Q( +162 "core" ( + "manipulator"&9& +5 "core" &  +  + "storage"(s& +4 "core" &K D : `\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"& '< +95 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&d1 +55 "core" 1 +2 "manipulator"&/% +4 "core" % I ) / + "storage"(g& +4 "core" &K c c \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 313 counts + "manipulator"&['u +16 "core" ' + "manipulator"&N& +5 "core" &  N  + "storage"(V& +4 "core" &K f e K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +17 "core" ' +2 "storage"(f% +4 "core" % h l \ +2 ."downElevator"SE.seek :down +3 "storage"(5' +99 (a% +3 "core" %E > C \ Wd +2 "manipulator"&U% +4 "core" % m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'M& +4 "core" & h i\ + "manipulator"&8% +4 "core" %   |  +2 "storage"(h% +4 "core" % Y a\ + "storage"(t. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(l(  +1293 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &  8 = L\ + "manipulator"&_& +4 "core" & i  + .tElbow.seek 2 +2 "manipulator"&D( +13 "core" ( + "manipulator"&;& +5 "core" & x d + "storage"(Z& +4 "core" &  ` V 2\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&2'S +96 "core" ' +2 "storage"(o& +4 "core" &  n X\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'r +296 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  = ) %\ +2 "manipulator"& & +4 "core" &  U d + .tElbow.seek 2 +2 "manipulator"&L( +3 "core" ( + "manipulator"&R& +54 "core" & G d +2 "storage"(G& +3 "core" &  L M \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&,'Ͻ +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(r' +8 "core" &  d + "manipulator"&Y% +4 "core" %   = +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +160 "core" ( +2 "manipulator"&w& +5 "core" ' + &ӏ%  >N +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 &A& +2 "core" &ӏ% n >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&n& +4 "core" &Ӑ% [ >M +2 "manipulator"&|% +4 "core" %<  v +2 "collection"'& +3 "core" & h k\ +3 "collection"'E& +5 "core" & h kl\ +2 .tCC.seek :closed + "collection"')(\\ +5 "core" & k k_\ +7 &4 i ji\ $c +9 &Vy k io\ 7 +10 &u k kh\ K +9 &Q k ln\ L +9 &gS m mo\ L +10 &)U l ms\ L +9 &T k lv\ L +9 &V l hk\ L +10 &oT o mv\ L +9 &2Q l nk\ L +10 &S o mr\ L +9 &!T l no\ M +9 &#wU k oo\ L +10 &%8S m ln\ M +9 &&S m ny\ L +9 &(U m lh\ L +10 &*T m m^\ L +9 &,AW o m\\\ L +10 &.T m m^\ L +9 &/Q k of\ L +9 &1U n m^\ M +10 &3IS o mc\ L +9 &5 Q n o]\ L +9 &6W l nc\ L +10 &8V o oc\ L +9 &:QW n ob\ L +10 &<V n p_\ L +9 &=W s pZ\ L +9 &?W o o[\ M +10 &AYU q pc\ L +9 &CW q p[\ M +9 &D^ v ta\ N +10 &Fg u vX\ O +9 &HR} z wb\ Q +10 &J { {`\ U +9 &K ~ }b\ Y +9 &M  d\ Y +10 &OB \\\ Z +9 &Q ~a\ Z +9 &R  c\ Z +10 &T d\ [ +9 &VD ^\ \\ +10 &X c\ \\ +9 &Y `\ ] +9 &[ S\ K +10 &\\8 Q\ 0 +9 &\\~ P\ W +5 ( +2 "collection"'E& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&p1 +3 "core" &\\s Q\ W +60 1 +2 "manipulator"&m% +5 "core" % <  v + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%\ & +4 "core" &)\ +2 "manipulator"&% +4 "core" %   + "storage"(% +4 "core" % \ + "storage"(-. +4 "core" .(  + "storage"(]& +4 "core" &  \ + "storage"(j& +4 "core" &  m\ +2 "manipulator"&& +4 "core" &ӑ% >L + "manipulator"&P% +4 "core" %  7  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&C( +164 "core" ( + "manipulator"&`& +4 "core" & #  +2 "storage"(y& +3 "core" &    >\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'S +90 "core" ' +2 "storage"(\\& +4 "core" &  )\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'r +297 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (.& +3 "core" &  \ +2 "manipulator"&I& +3 "core" & b  +2 .tElbow.seek 2 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&7& +3 "core" &    +2 "storage"(q& +3 "core" &    I\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +3 "storage"((' +7 "core" & T  + "manipulator"& % +4 "core" % Ϲ / +2 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&$& +5 "core" & O / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  P / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&J' +102 "core" ' +2 "manipulator"& & +4 "core" & / + "manipulator"&@% +4 "core" %   +2 "processing"%%& +4 "core" &\ +2 "processing"%O& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%x(^ +3 "core" &&\ +9 &3+\ $c +9 &Tv-\ 7 +9 &|v+\ K +10 &Q+\ O +9 &MR,\ P +9 &S+\ O +10 &P*\ O +9 &T-\ O +10 &VR)\ O +9 &T*\ P +9 &Q*\ O +10 &!N$\ O +9 &#^T&\ O +9 &%!R*\ O +10 &&R*\ O +9 &(Q.\ O +10 &*eR+\ P +9 &,'R$\ P +9 &-M#\ O +10 &/R*\ P +9 &1nU+\ O +9 &30T%\ O +10 &4T*\ O +9 &6P#\ O +10 &8uQ*\ P +9 &:7S&\ P +9 &;Q"\ O +10 &=V!\ P +9 &?}U"\ P +9 &A>R#\ P +10 &Bb\ Q +9 &Dg\ R +10 &Fzv\ S +9 &H6\ U +9 &I\ U +10 &K\ V +9 &Mx\ W +9 &O<\ V +10 &P\ X +9 &R\ W +10 &T}#\ X +9 &VA%\ W +9 &X\ W +10 &Y\ W +9 &[\ W +9 &]G\ M +10 &^Q \ #m +9 &^$\ 0 +2 ( +2 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&&1 +63 "core" 1 +2 "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +92 "core" ' +2 "processing"%6& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&0% +4 "core" %  7  +2 "storage"(?% +4 "core" % y\ + "storage"(+. +3 "core" .(  +2 "storage"(S& +3 "core" &  s\ +2 "storage"(& +2 "manipulator"&& +7 "core" &  J\ + & / +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&K( +2 "storage"({'r +5 "core" ( + "manipulator"&e& +4 "core" & / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & / +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&:/ +72 "core" / +2 .tPC.seek :open +2 "processing"%v( +80 "core" ' + "storage"(c- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +43 "core" ' +320 ( + "storage"(& +5 "core" & \ + "manipulator"&#& +4 "core" &  / + "manipulator"&X% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&3' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&k( +245 "core" ( +2 "manipulator"&*& +4 "core" & Z H + "storage"(~& +4 "core" &  }\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +97 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(9- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(s' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(d& +4 "core" &  O\ Q + "manipulator"&/& +4 "core" &  G +2 .tElbow.seek 2 + "manipulator"&g( +3 "core" ( +2 "manipulator"&N& +4 "core" &  " G + "storage"(V& +4 "core" &  \ S +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&f'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(i'" +53 "core" ' + "manipulator"&a& +4 "core" & G +2 "storage"(U& +4 "core" &  n\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&Q'Α +24 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +54 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +25 "core" ' +2 "manipulator"&[% +4 "core" %Υ S +2 "storage"(8& +4 "core" &  r\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&h' +15 "core" ' + "manipulator"&t& +5 "core" & ( G + "storage"(& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&W'S +17 "core" ' +2 "storage"(5% +4 "core" %  (\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (H% +3 "core" %uN \ Yl +2 "manipulator"&_% +4 "core" %= + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +88 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Z& +4 "core" &  2\ +2 "collection"'o& +3 "core" &\\s _\ W +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&<% +3 "core" %   #  +2 "storage"(% +4 "core" %  G\ + "storage"(=. +3 "core" .(  +2 "storage"(& +4 "core" &   \ + "storage"( & +4 "core" &   *\ + "manipulator"&R& +5 "core" & G + .tElbow.seek 2 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&& +3 "core" &  p G +2 "storage"(& +4 "core" &  4 k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Y'S +92 "core" ' + "storage"(D& +4 "core" &   \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'r +294 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +2 "core" & j G +2 "storage"(^& +34 "core" &  h\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&,'Α +24 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"('_ +29 "core" ' + "manipulator"&L% +5 "core" %Τ = + "storage"(r& +4 "core" &   q\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&4& +4 "core" & F + "storage"(p& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'S +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(\ ' +39 "core" ' +2 "manipulator"&& +4 "core" & g F +2 "manipulator"&% +4 "core" %A x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +155 "core" ( +3 "manipulator"&E& +4 "core" &Ӛ" ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +2 "core" &Ӛ" ;4 +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&P/ +52 "core" / + .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(`& +4 "core" &  ? 8 `\ +2 "storage"(y& +3 "core" &  ' ( '\ +2 "manipulator"&\\& +3 "core" &Ӛ" 5 ;4 +2 "manipulator"&}% +3 "core" % D P 6 +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +169 "core" ( +2 "manipulator"&.& +4 "core" &  g  +2 "storage"(I& +15 "core" &  U U\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&7'Α +96 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +63 "core" 1 +2 "manipulator"&1% +4 "core" % Ο [ I +2 "storage"( & +3 "core" &  ` X\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&C' +19 "core" ' +2 "manipulator"&>& +4 "core" & S  + "storage"(z& +4 "core" &  W [ #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +17 "core" ' +2 "storage"($% +4 "core" % n \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (!% +3 "core" %L D 9 \ Xh + "manipulator"& % +4 "core" %V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +89 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'%& +4 "core" & g h\ +2 "manipulator"&(% +4 "core" %   d  +2 "storage"(T% +3 "core" % d d 6\ +2 "storage"(u. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(&( +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & > C \ + "manipulator"&6& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&0( +15 "core" ( + "manipulator"&?& +5 "core" & 8  + "storage"(+& +4 "core" & f f \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&S'7 +98 "core" ' +2 "storage"(O& +4 "core" & v \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (e& +3 "core" & * & P\ + "manipulator"&& +4 "core" &  }  +2 .tElbow.seek 3 + "manipulator"&J( +4 "core" ( + "manipulator"&:& +4 "core" &   + "storage"(c& +4 "core" & C E _\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&b'ϡ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&F/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& + "storage"({' +7 "core" & b  +2 "manipulator"&% +4 "core" % Ϯ  e +2 .tForearm.seek :retract + "manipulator"&#' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &Ӄ+  Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &Ӄ+ Cn +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'? +92 "core" ' +3 "manipulator"&K& +4 "core" &Ӆ*  C Bl +2 "manipulator"&% +3 "core" %9 r +2 "collection"'9& +4 "core" & j i\ +2 "collection"'& +5 "core" & h jp\ +2 .tCC.seek :closed +2 "collection"'d(\\ +4 "core" & i hs\ +8 &9 h jm\ %f +9 &Vw h hk\ 7 +9 &v i ko\ L +10 &S j jn\ L +9 &zT m ku\ M +9 &=S l ll\ L +10 &R k lw\ L +9 &V l nu\ L +9 &T n lk\ L +10 &EQ l mk\ L +9 & U l ns\ L +10 &!T n mn\ M +9 &#U l ln\ L +9 &%MQ n ll\ L +10 &'Q o md\ L +9 &(W n m_\ L +9 &*T n m\\\ M +10 &,UT n nc\ L +9 &.U n mc\ L +10 &/S m md\ M +9 &1T o me\ L +9 &3]U l nd\ L +10 &5U m md\ M +9 &6U o ob\ M +9 &8T n mc\ M +10 &:dU l ob\ M +9 &<'U q pa\ L +9 &=T o na\ L +10 &?W r p`\ L +9 &AlW p p]\ M +10 &C-[ q r`\ M +9 &D` t t\\\ N +9 &Fm u t_\ O +10 &Hd w x]\ R +9 &J | {d\ V +10 &K  d\ Y +9 &M a\ Y +9 &OU d\ Z +10 &Q d\ Z +9 &R Z\ [\ +9 &T Z\ [\ +10 &VV ]\ \\ +9 &X V\ ] +10 &Y _\ ^ +9 &[ W\ K +9 &\\= R\ * +10 &\\ R\ ] +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&/1 +112 "core" 1 + "manipulator"&N% +5 "core" % 9  r + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%3& +5 "core" &*\ + "manipulator"&a% +4 "core" %  [  +2 "storage"(U% +3 "core" % x\ +2 "storage"(B. +3 "core" .( + "storage"(s& +4 "core" & \ +2 "storage"([& +3 "core" & \ +2 "manipulator"&8& +4 "core" &ӆ* X Bk + "manipulator"&t% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +167 "core" ( + "manipulator"&5& +5 "core" &  + "storage"(k& +4 "core" & I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +95 "core" ' +2 "storage"(& +4 "core" &   P\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'r +297 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" & M\ + "manipulator"&g& +4 "core" & @  + .tElbow.seek 3 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&Q& +3 "core" & @  +2 "storage"(h& +3 "core" & U\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Z'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&o/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&<& +3 "storage"(' +7 "core" &   + "manipulator"&=% +5 "core" % Ϙ F +2 .tForearm.seek :retract + "manipulator"&M' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"& & +4 "core" & 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &  8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +101 "core" ' + "manipulator"&& +5 "core" & < 8 + "manipulator"&W% +4 "core" % r +2 "processing"%D& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &.\  +8 &1w,\ *x +10 &az)\ > +9 &dp&\ P +10 &%O/\ P +9 &R,\ O +9 &O-\ O +10 &mO,\ O +9 &.T6\ O +9 &P-\ O +10 &Q/\ O +9 & tS+\ O +10 &"6Q,\ O +9 &#T*\ O +9 &%Q)\ O +10 &'{R*\ P +9 &)?L*\ O +9 &+T,\ O +10 &,T/\ P +9 &.P/\ O +10 &0FQ+\ O +9 &2P.\ P +9 &3T)\ O +10 &5O'\ P +9 &7NT$\ O +9 &9R*\ O +10 &:S-\ O +9 &<Q&\ O +10 &>UR!\ P +9 &@T\ P +9 &A\\)\ Q +10 &Ck#\ R +9 &EPx"\ T +9 &G !\ V +10 &H\ V +9 &J%\ W +9 &LQ"\ V +10 &N\ W +9 &O\ X +10 &Q#\ X +9 &ST\ X +9 &U\ X +10 &V\ Y +9 &X\ W +9 &Z]\ X +10 &\\\ Y +9 &]!\ 8 +10 &^,x#\ Y +9 &^)%\ 5 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open +2 "manipulator"&;1 +63 "core" 1 + "manipulator"&w% +5 "core" %  . + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +4 "processing"%^& +5 "core" &^% \ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&|% +3 "core" %  h  +2 "storage"(L% +4 "core" % \ + "storage"(r. +3 "core" .( + "storage"(4& +4 "core" & {\ +2 "storage"(p& +5 "manipulator"&& +4 "core" & S\ + & ! 8 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"(Y'r +5 "core" ( + "manipulator"&G& +4 "core" &  8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +2 "core" & 8 +2 .tForearm.seek PC +2 "manipulator"&,' +99 "core" ' +2 .tHand.close + "manipulator"&/ +71 "core" / + .tPC.seek :open +2 "processing"%( +79 "core" ' + "storage"(E- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(j'1 +40 "core" ' +328 ( + "storage"(m& +5 "core" & \ + "manipulator"&n& +4 "core" & H 8 + "manipulator"&P% +4 "core" %  ` + .tForearm.seek :retract +2 "manipulator"&-' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&)( +247 "core" ( + "manipulator"&`& +4 "core" &  Y +2 "storage"(y& +3 "core" & y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\\'7 +95 "core" ' + .tHand.open +2 "manipulator"&}1 +55 "core" 1 + "storage"(.- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(I' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"('& +3 "core" & P\ I +2 "manipulator"&1& +4 "core" &  \\ Y + .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&>& +4 "core" &  8 Y + "storage"(z& +4 "core" & =\ I +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&$'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&!& +5 "core" & Y + "storage"( & +4 "core" & f\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&"'u +23 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(%' +23 "core" ' +2 "manipulator"&C% +4 "core" %Έ  +2 "storage"((& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&T'ϴ +26 "core" ' +2 "manipulator"&u& +4 "core" & S Y +2 "storage"(\ & +4 "core" & @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +18 "core" ' +2 "storage"(% +5 "core" % L\ +2 ."downElevator"SE.seek :down +4 "storage"(l' +98 (% +2 "core" %bI O\ Yk +2 "manipulator"&6% +5 "core" %, g + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +88 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (+& +4 "core" &\ +2 "collection"'O& +3 "core" &\\ [\ ] +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&q% +4 "core" %  r  +2 "storage"(@% +4 "core" % 8\ + "storage"(. +3 "core" .( +2 "storage"(e& +3 "core" & B\ +2 "storage"(& +4 "core" & O\ + "manipulator"&:& +4 "core" &  3 X + .tElbow.seek 3 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&F& +3 "core" & P X +2 "storage"(x& +4 "core" & >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +91 "core" ' +2 "storage"(0& +4 "core" & .\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'r +298 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +3 "core" & & X + "storage"(& +4 "core" & \ +51 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&b'u +24 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(9'f +29 "core" ' +2 "manipulator"&J% +4 "core" %΅ +2 "storage"({& +3 "core" & 4\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&#'ϱ +27 "core" ' + "manipulator"&& +5 "core" &  X + "storage"(/& +4 "core" & l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&N'7 +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&3& +4 "core" & = X +2 "manipulator"&a% +4 "core" %- < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B(ӂ +151 "core" ( +2 "manipulator"&s& +4 "core" &Ӈ* / Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &Ӈ* $ Bl +2 .tForearm.seek CC + "manipulator"&8'? +94 "core" ' +2 .tHand.close + "manipulator"&t/ +55 "core" / +2 .tCC.seek :open + "collection"'~( +447 "core" ( + "storage"(5& +4 "core" & - ) ,\ +2 "storage"(k& +4 "core" & * ' /\ + "manipulator"&& +4 "core" &ӊ*  j Bi + "manipulator"&X% +4 "core" % 6 ` D +2 .tForearm.seek :retract + "manipulator"&V' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&H( +156 "core" ( +2 "manipulator"&_& +4 "core" &w  + "storage"(g& +5 "core" & ? D \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&Q'u +94 "core" ' +2 .tElbow.hold + "manipulator"&h, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&o1 +52 "core" 1 +2 "manipulator"&<% +5 "core" % ΂  + "storage"(=& +4 "core" & L L 1\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&'Ϯ +25 "core" ' +3 "manipulator"&& +4 "core" &w  ^ + "storage"(f& +4 "core" & W V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Z'7 +20 "core" ' + "storage"( % +5 "core" % i g ?\ +2 ."downElevator"SE.seek :down +3 "storage"(R' +99 (i% +3 "core" %|F ? B \ Wd + "manipulator"&% +4 "core" %)  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +92 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'D& +5 "core" & g iw\ + "manipulator"&% +4 "core" %  }  +2 "storage"(M% +3 "core" % X V \ +2 "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(;(,y +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +3 "core" &,} 5 5\ + "manipulator"&^& +4 "core" &w +2 .tElbow.seek 4 +2 "manipulator"&|( +22 "core" ( + "manipulator"&L& +4 "core" &  +2 "storage"(r& +4 "core" &,} Y a \ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +90 "core" ' + "storage"(& +5 "core" &,} k (\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (G& +3 "core" &,{ M E U\  +2 "manipulator"&2& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +18 "core" ( +2 "manipulator"&& +4 "core" & h  +2 "storage"(E& +3 "core" &,{ b `\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&A/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(Y' +8 "core" & q  + "manipulator"&m% +4 "core" % ^ ; +2 .tForearm.seek :retract + "manipulator"&n' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&P(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&,& +3 "core" &x* Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &x* M Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'? +91 "core" ' + "manipulator"&& +4 "core" &y* Bk +2 "manipulator"&}% +4 "core" %G  { +2 "collection"'.& +4 "core" & f i3\ +3 "collection"']& +4 "core" & i jo\ +2 .tCC.seek :closed +2 "collection"''(\\ +4 "core" & j hs\ +8 &; h iz\ %g +9 &Wv h jq\ 7 +10 &w k ip\ L +9 &T k jo\ L +9 &U h ks\ L +10 &CU l lu\ M +9 &T j jv\ L +9 &U j lv\ M +10 &U j kt\ L +9 &LT k lt\ L +10 & R m ku\ L +9 &!T j lw\ L +9 &#U i mu\ L +10 &%TW k kw\ L +9 &'T j ls\ L +9 &(W l ke\ L +10 &*T j le\ L +9 &,\\T j l`\ L +10 &.Q j ka\ L +9 &/T n k]\ L +9 &1U o lc\ M +10 &3dT m me\ L +9 &5&U n m]\ L +9 &6S l la\ L +10 &8W k mc\ L +9 &:lU n mb\ L +9 &<.R m ne\ L +10 &=W n nf\ L +9 &?V p pg\ M +10 &AsV o qc\ M +9 &C5Z q rb\ M +9 &D` s sf\ N +10 &Fj r th\ O +9 &Hl r sc\ R +10 &J" v uc\ V +9 &K u yb\ X +9 &M x zf\ Y +10 &O^ { xg\ Y +9 &Q y zd\ Z +9 &R z yb\ [ +10 &T x zc\ [ +9 &V^ { za\ \\ +10 &X } zd\ ] +9 &Y { |a\ ^ +9 &[ { |c\ K +10 &\\6 | ~c\ 0 +9 &\\ | |_\ Y +2 ( +2 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&11 +61 "core" 1 +2 "manipulator"&>% +4 "core" % G . { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%-& +4 "core" &-\ + "manipulator"&!% +4 "core" %  ^  +2 "storage"( % +3 "core" % y\ +2 "storage"(C. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(((,y +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (j& +3 "core" &,{ b\  +2 "manipulator"&u& +4 "core" &y* # Bk + "manipulator"&\ % +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&I( +163 "core" ( +2 "manipulator"&& +4 "core" & X  + "storage"()& +4 "core" &,{  X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +98 "core" ' +2 "storage"(& +4 "core" &,{  6\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &,{ =\  +2 "manipulator"& & +3 "core" & 1  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&"& +4 "core" &  + "storage"(T& +4 "core" &,{ u\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&+'c +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&q& + "storage"(@' +7 "core" & i  +2 "manipulator"&% +4 "core" % X  +50 .tForearm.seek :retract +3 "manipulator"&%' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e( +114 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +124 "core" ( +2 "manipulator"&& +4 "core" &  & + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" & ] + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +96 "core" ' +2 "manipulator"&x& +4 "core" &  + * +2 "manipulator"&% +3 "core" %   ( +2 "processing"%0& +4 "core" &\ +2 "processing"%l& +5 "core" &5\ +2 .tPC.seek :closed +2 "processing"%7(^ +5 "core" &0\ +7 & -,\ $c +9 &Tv/\ 7 +9 &}v5\ L +10 &T;\ O +9 &SS3\ O +9 &Q1\ O +10 &O5\ O +9 &O.\ O +9 &\\R<\ O +10 &R5\ O +9 &O0\ O +10 &!Q0\ O +9 &#dO1\ O +9 &%%Q7\ O +10 &&O;\ O +9 &(S.\ O +10 &*kR,\ O +9 &,-T8\ O +9 &-Q3\ O +10 &/T/\ O +9 &1sT1\ O +9 &34S/\ P +10 &4Q/\ P +9 &6R/\ P +10 &8zS.\ P +9 &:=P.\ O +9 &;S.\ O +10 &=U.\ P +9 &?T*\ P +9 &ADW-\ P +10 &Ce)\ Q +9 &Dm,\ S +9 &Fz'\ U +10 &H:+\ V +9 &I#\ V +10 &K&\ V +9 &M$\ V +9 &O?(\ W +10 &Q*\ W +9 &R)\ W +9 &T%\ X +11 &VF$\ W +8 &X%\ W +10 &Y#\ X +9 &[#\ X +9 &]K\ L +10 &^P"\ "i +9 &^*(\ 3 +2 ( +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"&?1 +57 "core" 1 + "manipulator"&% +5 "core" %  ( + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +98 "core" ' +2 "processing"%& +4 "core" &^"!\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" % % 9 +2 "storage"(J% +4 "core" % \ + "storage"({. +3 "core" .(,y +2 "storage"(& +3 "core" &,{ \  +2 "storage"(/& +5 "manipulator"&3& +4 "core" &,{ F\  + & O * +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&a( +2 ."raiseStack"SE.seek :beamBreak +3 "storage"('r +2 "core" ( + "manipulator"&c& +4 "core" & M * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" & * +2 .tForearm.seek PC +2 "manipulator"&b' +93 "core" ' +2 .tHand.close +2 "manipulator"&#/ +71 "core" / +2 .tPC.seek :open +2 "processing"%9( +82 "core" ' + "storage"(s- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(['1 +48 "core" ' +314 ( + "storage"(N& +4 "core" &,{\  +2 "manipulator"&K& +4 "core" &  O * + "manipulator"&t% +4 "core" %  9 / + .tForearm.seek :retract +2 "manipulator"&U' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&d( +245 "core" ( + "manipulator"&5& +4 "core" & ? +2 "storage"(k& +3 "core" &,{ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' + .tHand.open +2 "manipulator"&X1 +53 "core" 1 +3 "storage"(_- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(g' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(8' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(B- +3 "core" -' +2 "storage"(o& +4 "core" &,{ #  ,\ 4 + "manipulator"&<& +4 "core" & , ? + .tElbow.seek 4 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&& +4 "core" & { ? + "storage"(f& +4 "core" &,{ 5 5\ 5 +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(V'" +55 "core" ' + "manipulator"&i& +4 "core" & D ? +2 "storage"(& +4 "core" &,{ u\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&H'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(D' +23 "core" ' + "manipulator"&% +5 "core" %9 Y + "storage"(& +5 "core" &,{ x\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 302 counts +2 "manipulator"&M'e +16 "core" ' + "manipulator"&v& +5 "core" &  8 + "storage"(& +4 "core" &,{  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +19 "core" ' + "storage"(R% +5 "core" % Y\ +2 ."downElevator"SE.seek :down +3 "storage"(&' +99 (w% +3 "core" %CI @\ Wh +2 "manipulator"&^% +4 "core" % g + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (r& +4 "core" &,{ ?\  +2 "collection"'& +3 "core" &\\ { }a\ Y +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&h% +4 "core" %  7  +2 "storage"(W% +3 "core" % H\ +2 "storage"(p. +3 "core" .(,y +2 "storage"(G& +3 "core" &,{ Z\  +2 "storage"(2& +3 "core" &,{ r\  +2 "manipulator"&& +4 "core" & # 8 +2 .tElbow.seek 4 + "manipulator"&E( +3 "core" ( +2 "manipulator"&A& +4 "core" & i 8 + "storage"( & +4 "core" &,{ l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +97 "core" ' +2 "storage"(|& +4 "core" &,{ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'r +294 "core" ' +2 "storage"(,- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" & " 8 + "storage"(& +4 "core" &,{ 8\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +15 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(}- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(.'j +30 "core" ' + "manipulator"&% +4 "core" %H y  +2 "storage"(Y& +4 "core" &,{ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&n't +15 "core" ' +2 "manipulator"&~& +4 "core" & | 7 + "storage"(1& +4 "core" &,{ 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(-' +39 "core" ' +2 "manipulator"&!& +4 "core" & 9 7 +2 "manipulator"& % +4 "core" %  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&](ӂ +149 "core" ( +2 "manipulator"&j& +3 "core" &Ӎ- Dx +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &Ӎ- C Dx +2 .tForearm.seek CC +2 "manipulator"&\ '? +101 "core" ' + .tHand.close +2 "manipulator"&y/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"()& +4 "core" &,{  I\  +2 "storage"(;& +3 "core" &,{ 5 6 *\  +2 "manipulator"&& +4 "core" &Ӫ'  U @[ + "manipulator"&P% +4 "core" %  7 +50 .tForearm.seek :retract +3 "manipulator"&z' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&6( +166 "core" ( + "manipulator"&$& +4 "core" & O  +2 "storage"( & +4 "core" &,{ : 7 F\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&"'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +53 "core" 1 +3 "manipulator"&q% +4 "core" % H ! + "storage"(& +4 "core" &,{ G : \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&I't +16 "core" ' + "manipulator"&\\& +5 "core" &   + "storage"(& +4 "core" &,{ d Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +19 "core" ' + "storage"(% +5 "core" % d e [\ +2 ."downElevator"SE.seek :down +3 "storage"(:' +99 (% +3 "core" %N> ? D \ Wc +2 "manipulator"&x% +4 "core" % 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'0& +4 "core" & i j\ +2 "manipulator"&@% +4 "core" %    + "storage"(%% +4 "core" % g f u\ + "storage"(. +4 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(?(<- +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<*  # ?\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +7 "core" ( + "manipulator"&J& +4 "core" &  } +2 "storage"({& +4 "core" &<* c Y ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(l& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'r +294 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" &<* ) = 3\  + "manipulator"&S& +4 "core" & a } + .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&#& +3 "core" & D } +2 "storage"(s& +3 "core" &<* M L \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&e'Ϲ +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& + "storage"(' +7 "core" & { } +2 "manipulator"&N% +4 "core" %  M v +2 .tForearm.seek :retract + "manipulator"&K' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&t(ӂ +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&b& +4 "core" &ӎ( m @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +2 "core" &ӎ' x @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'? +103 "core" ' +2 "manipulator"&a& +4 "core" &ӏ(  P @] + "manipulator"&X% +4 "core" %J G +2 "collection"'_& +4 "core" & j k\ +2 "collection"'B& +5 "core" & j j\ \ +2 .tCC.seek :closed +2 "collection"'o(\\ +5 "core" & j j"\ +7 &; j jm\ %h +9 &Yx i im\ 8 +10 &t i jv\ L +9 &T m ku\ L +9 &T j j{\ L +10 &JT l m|\ L +9 & U n lx\ L +10 &U m mz\ L +9 &T n k\ L +9 &SU l l|\ L +10 & T m l|\ L +9 &!T l ly\ L +10 &#U m mx\ L +9 &%YT n ow\ M +9 &'S n l{\ L +10 &(T k mu\ L +9 &*T p l|\ L +9 &,cQ l m|\ L +10 &.%U m no\ L +9 &/T m nc\ L +9 &1U o mg\ L +10 &3jU m mb\ L +9 &5+T k nb\ M +10 &6U m ne\ L +9 &8U m mb\ M +9 &:sT n oc\ L +10 &<4U p nc\ L +9 &=W p ni\ L +9 &?V o pe\ L +10 &AzS p qg\ L +9 &C<Y s qi\ L +10 &D` t qd\ N +9 &Fj v ud\ O +9 &Hp x xh\ R +10 &J( { zg\ V +9 &K } |f\ X +10 &M { |K\ Y +9 &Oc } |K\ Z +9 &Q% ~ ~d\ Z +10 &R ~ b\ Z +9 &T  H\ [ +9 &Vg  *\ [\ +10 &X% #\ \\ +9 &Y \ ^ +9 &[ W\ K +10 &\\1 d\ 2 +9 &\\m e\ S +3 ( + "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&<1 +64 "core" 1 +2 "manipulator"&% +4 "core" % J R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%U& +4 "core" &5\ +2 "manipulator"&i% +4 "core" %   + "storage"(% +4 "core" %  U\ + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" &<+ V\  + "manipulator"&v& +4 "core" &ӏ' f @] +2 "manipulator"&% +3 "core" %  m  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&g( +163 "core" ( +2 "manipulator"&R& +4 "core" &  + "storage"(d& +4 "core" &<+   O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' +2 "storage"(8& +4 "core" &<+ ( 3\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'r +296 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &<+ >\  +2 "manipulator"&=& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&V( +3 "core" ( +2 "manipulator"&H& +3 "core" &   +2 "storage"(r& +3 "core" &<+   X\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&M'Ϲ +44 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(W' +7 "core" & x  +2 "manipulator"&p% +3 "core" % ϭ  / ` +2 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&2& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&A' +95 "core" ' +2 "manipulator"& & +4 "core" &  + "manipulator"&Z% +5 "core" %  K + "processing"%|& +5 "core" &$\ +2 "processing"%&& +4 "core" &1\ +2 .tPC.seek :closed +2 "processing"%Q(^ +4 "core" &7\ +7 & -:\ #a +10 &Uz8\ 7 +9 &}x1\ L +10 &R;\ O +9 &RR=\ P +9 &O;\ O +10 &Q<\ O +9 &R<\ O +9 &\\N;\ O +10 &T=\ O +9 &Q;\ P +10 &!Q;\ O +9 &#cQ=\ O +9 &%&Q<\ O +10 &&R=\ O +9 &(Q,\ O +9 &*lS,\ O +10 &,.Q5\ O +9 &-Q6\ O +10 &/R8\ O +9 &1tR3\ O +9 &35R7\ O +10 &4Q/\ P +9 &6R5\ O +9 &8{U/\ O +10 &:<R/\ P +9 &;R4\ P +10 &=T/\ P +9 &?Q5\ O +9 &AES4\ O +10 &C^6\ Q +9 &De-\ R +9 &Ft#\ S +10 &H9-\ V +9 &I)\ U +10 &K,\ V +9 &M~(\ W +9 &O?\ W +10 &P&\ X +9 &R&\ W +9 &T&\ X +10 &VF*\ W +9 &X,\ X +10 &Y&\ W +9 &[%\ W +9 &]M\ J +10 &^yH)\ c +9 &^\ O+\ 6 +5 ( +2 "processing"%&& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&L1 +3 "core" &^*(\ 6 +59 1 +2 "manipulator"&,% +4 "core" %   K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +89 "core" ' +2 "processing"%& +4 "core" &^%)\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&}% +4 "core" %  O  +2 "storage"(% +53 "core" % \ +3 "storage"(Y. +3 "core" .(<- +2 "storage"(~& +3 "core" &<+ s\  +2 "storage"(1& +5 "manipulator"&!& +4 "core" &<+ r\  + & +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"& ( +3 ."raiseStack"SE.seek :beamBreak + "storage"(m'r +3 "core" ( + "manipulator"&E& +5 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &  + +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 .tHand.close +2 "manipulator"&n/ +76 "core" / +2 .tPC.seek :open +2 "processing"%.( +75 "core" ' + "storage"(j- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u'1 +42 "core" ' +325 ( +2 "storage"(>& +4 "core" &<+  \  + "manipulator"&& +4 "core" & I + "manipulator"&y% +4 "core" %  |  +2 .tForearm.seek :retract +2 "manipulator"&C' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&'( +244 "core" ( + "manipulator"&)& +4 "core" & P U +2 "storage"(;& +4 "core" &<+ W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +90 "core" ' +2 .tHand.open + "manipulator"&P1 +63 "core" 1 +2 "storage"($- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(\ ' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +4 "core" -' + "storage"(O& +4 "core" &<+ \ R +2 "manipulator"&q& +4 "core" &  U + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&\\& +4 "core" &  2 U + "storage"(& +4 "core" &<+ B\ S +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(z'" +53 "core" ' +2 "manipulator"&& +4 "core" & U +2 "storage"(x& +4 "core" &<+\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&6'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +30 "core" ' + "manipulator"&I% +5 "core" %Ε % + "storage"(@& +4 "core" &<+ r\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 308 counts +2 "manipulator"&%' +13 "core" ' +2 "manipulator"&& +4 "core" & n P +2 "storage"(-& +4 "core" &<+   P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&+'O +19 "core" ' +2 "storage"(:% +5 "core" %   @\ +2 ."downElevator"SE.seek :down +4 "storage"((' +98 (% +2 "core" %fF \ Xj +2 "manipulator"&% +5 "core" %@ j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +88 "core" ' +73 ' + ."downElevator"SE.stop + "storage"(5 +3 ({& +4 "core" &<+   \  +2 "collection"'l& +3 "core" &\\h \ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&T% +4 "core" %  *  +2 "storage"(% +3 "core" %   C\ +2 "storage"(/. +3 "core" .(<- +2 "storage"(c& +3 "core" &<+\  +2 "storage"(S& +3 "core" &<+ \  +2 "manipulator"&#& +4 "core" & P + .tElbow.seek 5 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&*& +4 "core" & q P + "storage"(7& +4 "core" &<+   N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +102 "core" ' + "storage"(& +5 "core" &<+  \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(b- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +3 "core" & f P + "storage"(3& +4 "core" &<+ i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&e'΍ +13 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(F'^ +29 "core" ' + "manipulator"&_% +5 "core" %Κ % E + "storage"(& +4 "core" &<+ 8\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&K' +13 "core" ' +2 "manipulator"&& +4 "core" & W P + "storage"(<& +4 "core" &<+  &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(U' +34 "core" ' +2 "manipulator"&i& +4 "core" & x P +2 "manipulator"&% +4 "core" %; q + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&B(ӂ +151 "core" ( +2 "manipulator"&[& +4 "core" &ӎ(   Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &ӎ) V Ad +2 .tForearm.seek CC + "manipulator"&'? +90 "core" ' + .tHand.close +2 "manipulator"&k/ +53 "core" / +2 .tCC.seek :open +2 "collection"'R( +446 "core" ( +2 "storage"(d& +4 "core" &<+ + ) \  +2 "storage"(?& +3 "core" &<+ 1 * L\  +2 "manipulator"&8& +3 "core" &ӎ( w Ad +2 "manipulator"&t% +4 "core" % P ! d + .tForearm.seek :retract +2 "manipulator"&f' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&^( +164 "core" ( + "manipulator"& & +4 "core" & '  +2 "storage"(=& +4 "core" &<+ C E \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&H'΍ +96 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&h% +4 "core" % Ξ   +2 "storage"(p& +4 "core" &<+ L M 1\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&g' +17 "core" ' +2 "manipulator"&& +4 "core" & \  9  + "storage"(w& +5 "core" &<+ c e Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +19 "core" ' + "storage"(2% +4 "core" % e h\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (V% +3 "core" %vG ? C \ Wd + "manipulator"& % +4 "core" %a  V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +93 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'|& +4 "core" & g g\ +2 "manipulator"&W% +4 "core" %   M  + "storage"(D% +4 "core" % ` V\ +2 "storage"(9. +3 "core" .(<- +51 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(L(K +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (,& +3 "core" &K ( ) @\  +2 "manipulator"&& +3 "core" &  }  +2 .tElbow.seek 6 +2 "manipulator"&}( +3 "core" ( + "manipulator"&& +4 "core" & c  +2 "storage"(&& +3 "core" &K Y `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y' +108 "core" ' + "storage"(~& +4 "core" &K o\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'r +295 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (E& +2 "core" &K = L @\  +3 "manipulator"&4& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&n& +3 "core" &    +2 "storage"(j& +4 "core" &K 7 8 \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&G'h +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&`/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(m' +7 "core" &   +2 "manipulator"&>% +4 "core" % ^  1 + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&& +5 "core" &ӌ  s 9$ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &ӌ   9$ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&;'? +106 "core" ' +3 "manipulator"& & +4 "core" &ӌ   w 9$ + "manipulator"&P% +4 "core" %F  +2 "collection"'$& +4 "core" & f j\ +2 "collection"']& +5 "core" & j j\ +2 .tCC.seek :closed +2 "collection"'O(\\ +4 "core" & i k\ +7 &9 i j\ %f +10 &Xz i ib\ 8 +9 &s k j9\ L +9 &T h kw\ L +10 &U k ks\ L +9 &HR j ly\ L +10 & T k k{\ L +9 &U l nv\ L +9 &R l k\ L +10 &OU l lQ\ L +9 & W j ku\ L +9 &!T k kz\ L +10 &#U k ky\ L +9 &%VT k l{\ M +10 &'S k l{\ L +9 &(T n lw\ L +9 &*T n o{\ L +10 &,`V k ny\ L +9 &."T o ku\ L +9 &/T l ld\ L +10 &1U l ld\ L +9 &3gU m ng\ L +10 &5*R n lg\ L +9 &6U m mc\ L +9 &8R o me\ L +10 &:oU n ne\ L +9 &<2W n pc\ L +9 &=U o pg\ L +10 &?W o qd\ L +9 &AvW q r$\ M +10 &C7\\ t sZ\ M +9 &Dn t tc\ O +9 &F w xc\ R +10 &Hd x xb\ V +9 &J x w\ Z +10 &K w x\ Z +9 &M w wY\ Z +9 &O^ z zg\ Z +10 &Q w y \ \\ +9 &R z z;\ \\ +9 &T y {\ ] +10 &V[ z |C\ ^ +9 &X x zI\ ] +9 &Y { z\ ^ +10 &[ { {K\ K +9 &\\:  | \ / +10 &\\m | ~1\ U +2 ( +2 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 + .Hand.open + "manipulator"&q1 +65 "core" 1 +2 "manipulator"&\\% +4 "core" % F 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%C& +5 "core" &8\ + "manipulator"&% +4 "core" %   +2 "storage"(x% +4 "core" % N\ + "storage"(I. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(@(K +24 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +2 "core" &K 4\ +2 "manipulator"&& +4 "core" &ӌ  < 9$ + "manipulator"&-% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&:& +4 "core" &   + "storage"('& +5 "core" &K   +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' + "storage"(\ & +4 "core" &K  \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K t\ + "manipulator"&& +4 "core" & *  +2 .tElbow.seek 6 +2 "manipulator"&z( +3 "core" ( + "manipulator"&6& +4 "core" &   + "storage"(%& +4 "core" &K\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&{'h +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +6 "storage"(' +3 "core" &   + "manipulator"&0% +4 "core" % c H +2 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&c( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( + "manipulator"&S& +4 "core" & Y # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" & j # +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&*' +100 "core" ' + "manipulator"&7& +5 "core" & # + "manipulator"&+% +4 "core" %   +2 "processing"%& +4 "core" &*\ +2 "processing"%(& +5 "core" &:\ +2 .tPC.seek :closed +2 "processing"%"(^ +5 "core" &:\ +6 & ,8\ $c +10 &Uv7\ 7 +9 &}v7\ L +9 &R7\ O +10 &UN1\ O +9 &O;\ O +10 &Q6\ O +9 &Q;\ O +9 &\\Q<\ O +10 &R:\ O +9 &Q<\ O +9 &!N;\ O +10 &#dR8\ O +9 &%'M:\ O +10 &&Q:\ O +9 &(Q;\ O +9 &*mO9\ O +10 &,.R6\ O +9 &-M7\ O +9 &/R9\ O +10 &1tO.\ O +9 &36Q5\ O +9 &4N.\ O +10 &6R4\ P +9 &8|R-\ O +10 &:>O,\ O +9 &<Q-\ O +9 &=U5\ O +10 &?R/\ O +9 &ADY$\ P +10 &Cg+\ R +9 &Dq*\ T +9 &Fz\ U +10 &H<0\ U +9 &I%\ V +9 &K)\ V +10 &M(\ V +9 &O@&\ W +10 &Q*\ X +9 &R%\ X +9 &T,\ X +10 &VG%\ W +9 &X )\ W +9 &Y*\ X +10 &[*\ X +9 &]N*\ J +9 &^yG-\ !e +10 &^N-\ 8 +5 ( +2 "processing"%(& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 +2 .Hand.open + "manipulator"&J1 +3 "core" &^.'\ 8 +59 1 + "manipulator"&b% +5 "core" %    + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +92 "core" ' +2 "processing"%3& +4 "core" &^.(\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&X% +4 "core" %    + "storage"(_% +4 "core" % \ +2 "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K G\ +2 "storage"(<& +2 "manipulator"&i& +7 "core" &K Z\ + & > # +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(N'r +5 "core" ( + "manipulator"&s& +4 "core" &  # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & G # +2 .tForearm.seek PC +2 "manipulator"&e' +100 "core" ' + .tHand.close +2 "manipulator"&K/ +69 "core" / +2 .tPC.seek :open +2 "processing"%[( +78 "core" ' + "storage"(F- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'1 +43 "core" ' +321 ( + "storage"(& +4 "core" &K j\ +2 "manipulator"&a& +4 "core" & N # + "manipulator"&k% +4 "core" %  q + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&o( +245 "core" ( + "manipulator"&d& +4 "core" &  Y 5 +2 "storage"(?& +3 "core" &K  3\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&8' +93 "core" ' +2 .tHand.open + "manipulator"&t1 +60 "core" 1 +2 "storage"( - +3 "core" -'1 +53 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(=' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(B- +3 "core" -' +2 "storage"(& +4 "core" &K   T\ 2 + "manipulator"&h& +4 "core" & U 5 +2 .tElbow.seek 6 + "manipulator"&p( +4 "core" ( + "manipulator"&& +4 "core" & " 5 +2 "storage"(w& +3 "core" &K  \ 3 +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(f'" +57 "core" ' + "manipulator"&V& +4 "core" &  5 +2 "storage"( & +4 "core" &K 4\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&^'< +22 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(|' +25 "core" ' + "manipulator"&g% +5 "core" %O i + "storage"(W& +32 "core" &K *\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&D'{ +15 "core" ' +2 "manipulator"&9& +4 "core" &  5 +2 "storage"(U& +4 "core" &K  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +17 "core" ' +2 "storage"(% +4 "core" %   >\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (,% +2 "core" %<H S\ Xj +2 "manipulator"&% +5 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (&& +4 "core" &K F\ +2 "collection"'~& +4 "core" &\\k | |0\ U + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&r% +4 "core" %  !  + "storage"(Z% +4 "core" %  \ + "storage"(1. +4 "core" .(K + "storage"(E& +4 "core" &K  >\ +2 "storage"(4& +3 "core" &K  Y\ +2 "manipulator"&n& +4 "core" & 5 + .tElbow.seek 6 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&`& +3 "core" &  5 +2 "storage"(Q& +4 "core" &K Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +95 "core" ' + "storage"(}& +5 "core" &K   v\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'r +295 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" & 1 5 + "storage"(!& +4 "core" &K  B\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&G'< +13 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(A- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(P'd +29 "core" ' + "manipulator"&$% +4 "core" %N  ; +2 "storage"(m& +3 "core" &K O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'z +16 "core" ' + "manipulator"&R& +5 "core" & > 4 + "storage"(q& +4 "core" &K g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\\' +17 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(C' +36 "core" ' +2 "manipulator"&& +4 "core" & < 4 + "manipulator"&x% +5 "core" % ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&](ӂ +153 "core" ( + "manipulator"&u& +5 "core" &ӏ' @Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӑ( [ @X +2 .tForearm.seek CC +2 "manipulator"&-'? +94 "core" ' +2 .tHand.close + "manipulator"&;/ +52 "core" / +2 .tCC.seek :open +2 "collection"':( +449 "core" ( +2 "storage"('& +4 "core" &K , * t\ +2 "storage"(L& +3 "core" &K ' ) \ +2 "manipulator"&\ & +4 "core" &ӑ( @W + "manipulator"&y% +4 "core" % 6  / / + .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( + "manipulator"&& +5 "core" &  + "storage"(& +4 "core" &K C > \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&6'< +95 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&l1 +52 "core" 1 +2 "manipulator"&T% +4 "core" % ;  +2 "storage"(0& +3 "core" &K N L D\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 299 counts +2 "manipulator"& 'g +13 "core" ' +3 "manipulator"&& +4 "core" & ^  +2 "storage"(& +3 "core" &K c c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&{' +19 "core" ' + "storage"(S% +4 "core" % c b\ +3 ."downElevator"SE.seek :down +3 "storage"(#' +99 (z% +3 "core" %D= C ? \ Vc +2 "manipulator"&7% +4 "core" % : + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +93 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & i i\ +2 "manipulator"&% +4 "core" %   +2 "storage"(/% +3 "core" % L c L\ +2 "storage"(.. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(J(  +1295 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" &  K 8 r\ +2 "manipulator"&3& +4 "core" & c  + .tElbow.seek 2 +2 "manipulator"&X( +4 "core" ( + "manipulator"&_& +4 "core" &  3  +2 "storage"(& +3 "core" &  c c \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +95 "core" ' + "storage"((& +4 "core" &  n T\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'r +296 "core" ' + "storage"(<- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (s& +3 "core" &  > &\ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&*( +4 "core" ( + "manipulator"&K& +4 "core" & E  + "storage"(F& +4 "core" &  K A 8\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&c'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&"& + "storage"(N' +7 "core" & N  +2 "manipulator"&% +3 "core" % ϸ  X +2 .tForearm.seek :retract +2 "manipulator"&a' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&k(ӂ +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&e& +3 "core" &Ӓ#  f <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +52 &d& +3 "core" &Ӓ#  <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&?'? +92 "core" ' +2 "manipulator"&& +4 "core" &ӓ#  \\ <= +2 "manipulator"&t% +4 "core" %<  O w +2 "collection"' & +3 "core" & j j\ +2 "collection"'& +6 "core" & k i\ +2 .tCC.seek :closed +2 "collection"'B(\\ +5 "core" & i j\ +6 &; j k\ %f +9 &Xy h h\ 8 +10 &s k k \ L +9 &O i k\ L +9 &T o j\ L +10 &BQ l k\ L +9 &U m m\ L +10 &U l mn\ M +9 &T m l\ L +9 &KQ l m\ L +10 & S o l\ M +9 &!S k ne\ L +9 &#U n ny\ M +10 &%RT n lv\ L +9 &'Q k n \ L +9 &(W l nk\ L +10 &*T n kz\ L +9 &,ZQ m o{\ L +10 &.T l o|\ L +9 &/Q j n{\ L +9 &1U k mu\ M +10 &3bT l m{\ L +9 &5$V n n|\ L +9 &6W m n\ L +10 &8U m mW\ M +9 &:jT m mt\ L +10 &<,R m n{\ L +9 &=W o nn\ L +9 &?R o pn\ L +10 &ArS o op\ L +9 &C3X s rP\ M +9 &D_ t sK\ M +10 &Fk v va\ O +9 &Hj} y wg\ R +10 &J! { {\ V +9 &K  L\ X +9 &M ~<\ Y +10 &O[  G\ Z +9 &Q #\ Z +9 &R 3\ [ +10 &T P\ Z +9 &V\\ $\ \\ +10 &X $\ \\ +9 &Y \ ^ +9 &[ M\ K +10 &\\1 F\ 5 +9 &\\e H\ M +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&h% +4 "core" % < Y w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%w& +4 "core" &9\ +2 "manipulator"&V% +4 "core" % \    +2 "storage"( % +3 "core" %  \ +2 "storage"(g. +3 "core" .(  + "storage"(v& +4 "core" &   @\ + "storage"(W& +5 "core" &   \ + "manipulator"&=& +4 "core" &ӓ# <= + "manipulator"&9% +5 "core" % \   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&U( +163 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(o& +3 "core" &  4 - ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&8'S +95 "core" ' + "storage"(& +4 "core" &  ( \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" &  0\ + "manipulator"&p& +4 "core" &  <  +2 .tElbow.seek 2 + "manipulator"&f( +3 "core" ( +2 "manipulator"&^& +4 "core" & .  + "storage"(D& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&&'Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& +4 "storage"(Z' +9 "core" & E  + "manipulator"&|% +4 "core" % ϴ E +2 .tForearm.seek :retract +2 "manipulator"&1' +68 "Can"\ ]Z +27 "core" ' + .tElbow.seek PC +2 "manipulator"&E( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&4& +4 "core" &  * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &n& +3 "core" &  * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&`' +95 "core" ' +2 "manipulator"&Q& +4 "core" & * + "manipulator"&M% +4 "core" % C +2 "processing"%}& +4 "core" &B\ +3 "processing"%& +6 "core" &1\ +2 .tPC.seek :closed + "processing"%H(^ +5 "core" &:\ +7 & ,6\ #b +9 &Uz:\ 8 +10 &}u8\ L +9 &O:\ O +9 &[P5\ O +10 &N7\ O +9 &Q8\ O +9 &Q9\ O +10 &dP;\ O +9 &%R9\ O +10 &Q9\ O +9 &!Q<\ O +9 &#kR9\ O +10 &%-P<\ O +9 &&Q=\ O +9 &(Q:\ O +10 &*tQ=\ O +9 &,6Q;\ O +10 &-O<\ N +9 &/R:\ O +9 &1zR7\ O +10 &3;R7\ P +9 &4Q9\ O +9 &6R6\ O +10 &8T7\ P +9 &:DR7\ O +10 &<Q8\ O +9 &=U8\ O +9 &?V7\ P +10 &AKU/\ P +9 &C b4\ Q +9 &Dh3\ R +10 &Fy7\ S +9 &HB5\ U +10 &J.\ V +9 &K3\ V +9 &M/\ W +10 &OG/\ V +9 &Q5\ X +9 &R.\ W +10 &T*\ X +9 &VN,\ W +10 &X.\ W +9 &Y.\ W +9 &["\ X +10 &]T)\ I +9 &^|G$\ c +9 &^L!\ 8 +6 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&1 +3 "core" &^2!\ 8 +54 1 + "manipulator"&% +4 "core" %  O C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +90 "core" ' + "processing"%!& +5 "core" &^2(\ 8 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&A% +3 "core" %   +2 "storage"($% +4 "core" % \ + "storage"(m. +3 "core" .(  + "storage"(R& +5 "core" &  \ +2 "storage"(q& +2 "manipulator"&& +7 "core" &  \ + & r * +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&x( +2 "storage"(>'r +5 "core" ( + "manipulator"&j& +4 "core" & " * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & 1 * +2 .tForearm.seek PC + "manipulator"&G' +98 "core" ' + .tHand.close + "manipulator"&/ +74 "core" / +3 .tPC.seek :open + "processing"%P( +77 "core" ' + "storage"(u- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +323 ( +2 "storage"(\\& +4 "core" &    E\ + "manipulator"& & +4 "core" & * +2 "manipulator"&;% +3 "core" %  Y  +2 .tForearm.seek :retract +2 "manipulator"&I' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&O( +246 "core" ( + "manipulator"&'& +4 "core" & - 7 +2 "storage"(L& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\ 'S +99 "core" ' +2 .tHand.open + "manipulator"&y1 +52 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(-' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"(l& +3 "core" &  w\ P +2 "manipulator"&T& +4 "core" &  7 +2 .tElbow.seek 2 +2 "manipulator"&0( +3 "core" ( + "manipulator"&& +4 "core" & W 7 +2 "storage"(& +4 "core" &  $\ P +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&S'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +53 "core" ' + "manipulator"&z& +4 "core" &  7 +2 "storage"(7& +4 "core" &  c\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +22 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"& % +5 "core" %Ξ  + "storage"(& +4 "core" &  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 313 counts +2 "manipulator"&/' +15 "core" ' + "manipulator"&.& +5 "core" &  l 6 + "storage"(C& +5 "core" &    @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'S +17 "core" ' +2 "storage"(#% +4 "core" % * \ +3 ."downElevator"SE.seek :down +3 "storage"(@' +99 (b% +3 "core" %S  ~\ Ym +2 "manipulator"&3% +53 "core" %= +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +89 "core" ' +16 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &    '\ +2 "collection"'(& +4 "core" &\\_ 4\ M + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&%% +3 "core" %  U  +2 "storage"(+% +4 "core" %   -\ + "storage"(<. +3 "core" .(  +2 "storage"(s& +4 "core" &    {\ + "storage"(& +4 "core" &    B\ + "manipulator"&K& +4 "core" & e 6 +2 .tElbow.seek 2 +2 "manipulator"&F( +9 "core" ( +2 "manipulator"&5& +4 "core" &  B  + "storage"("& +5 "core" &    {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +94 "core" ' +2 "storage"(X& +4 "core" &  $ A\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +2 "core" &  +2 "storage"(i& +4 "core" &   Z\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&c'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(t'_ +27 "core" ' +2 "manipulator"& % +4 "core" %Η y % +2 "storage"(N& +3 "core" &    \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 306 counts +2 "manipulator"&a' +27 "core" ' + "manipulator"&:& +4 "core" &  ?  +2 "storage"(& +4 "core" &    X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&h'S +15 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(w' +35 "core" ' + "manipulator"&V& +5 "core" & D  + "manipulator"& % +4 "core" %= +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +154 "core" ( + "manipulator"&& +5 "core" &ӏ' . @^ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &Ӑ' @] +3 .tForearm.seek CC +2 "manipulator"&='? +92 "core" ' + .tHand.close +2 "manipulator"&9/ +63 "core" / + .tCC.seek :open +2 "collection"'?( +450 "core" ( + "storage"(& +4 "core" &  = 7 \ +2 "storage"(o& +3 "core" &  ' ( |\ +2 "manipulator"&& +3 "core" &ӓ( / @Z +2 "manipulator"&k% +3 "core" % < a G +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +166 "core" ( + "manipulator"&2& +4 "core" &  +2 "storage"(p& +4 "core" &  d Y\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&^'Α +93 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&~1 +56 "core" 1 + "manipulator"&r% +5 "core" % Ο    + "storage"(|& +4 "core" &  c d '\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&U' +15 "core" ' +2 "manipulator"&8& +5 "core" &    + "storage"(,& +4 "core" &  ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&&'S +16 "core" ' +2 "storage"(4% +9 "core" % _\ +5 ."downElevator"SE.seek :down +7 "storage"(n' +96 (f% +2 "core" %6K - * H\ Xi +2 "manipulator"&Q% +4 "core" %A q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'}& +4 "core" & g g.\ +2 "manipulator"&Z% +4 "core" %  E  + "storage"(1% +4 "core" % e f d\ + "storage"([. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & D B \ + "manipulator"&!& +4 "core" &  [  +2 .tElbow.seek 3 +2 "manipulator"&A( +14 "core" ( + "manipulator"&$& +4 "core" &{ | +2 "storage"(m& +4 "core" & e c \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R'7 +92 "core" ' + "storage"(q& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" & B @ U\ + "manipulator"&Y& +4 "core" &{ k | + .tElbow.seek 3 +2 "manipulator"&`( +3 "core" ( + "manipulator"&& +4 "core" &{  y | +2 "storage"(u& +3 "core" & 4 3\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'ϡ +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& + "storage"(>' +7 "core" &{ j | + "manipulator"&\\% +4 "core" % ϝ +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&G& +4 "core" &Ӑ& k ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &Ӑ% J ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&L'? +91 "core" ' +2 "manipulator"&x& +5 "core" &Ӑ&  L ?T + "manipulator"&y% +5 "core" %I u { + "collection"'& +5 "core" & h i\ +2 "collection"']& +4 "core" & f i\ +2 .tCC.seek :closed +2 "collection"'l(\\ +4 "core" & h i\ \  +9 &4} h g\ +| +9 &f} h hs\ ? +10 &n j h>\ M +9 &SQ j k\ M +9 &T j k\ L +10 &Q k j>\ L +9 &R l k[\ M +9 &\\R n l\ L +10 &R j k9\ L +9 &T k lG\ M +10 & S l ko\ L +9 &"dV l k\ L +9 &$%T j m=\ M +10 &%T k l\ L +9 &'U k n\ L +9 &)lT j lP\ L +10 &+.Q l l\ L +9 &,T l j8\ M +10 &.T l mR\ L +9 &0tV l l-\ L +9 &26T m lY\ L +10 &3R l mv\ L +9 &5U l lx\ L +9 &7{T n nz\ M +10 &9=T m lz\ M +9 &;T l n/\ L +10 &<R m qO\ L +9 &>S r oE\ L +9 &@FR n p\ L +10 &BU p pS\ M +9 &CZ r rS\ M +9 &Ee t t\ N +10 &GBs v u@\ P +9 &H x xR\ T +10 &J } ~&\ W +9 &Lp } \ Y +9 &N2 ?\ Y +10 &O  @\ Z +9 &Q \ Z +9 &Sr C\ [ +10 &U4 E\ [ +9 &V #\ \\ +10 &X \ ] +9 &Zq @\ ^ +9 &\\{ D\ 1 +10 &\\3 K\ d +8 ( +3 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&T1 +3 "core" &\\n I\ P +57 1 + "manipulator"&% +4 "core" % I { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +100 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%I& +4 "core" &)\ + "manipulator"&z% +5 "core" %    + "storage"(7% +4 "core" % ;\ + "storage"( . +3 "core" .( +2 "storage"(& +3 "core" & +\ +2 "storage"(& +4 "core" &  g\ + "manipulator"&.& +4 "core" &ӑ& ?S + "manipulator"&C% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&#& +4 "core" &  x + "storage"(O& +4 "core" &   \ +52 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\ '7 +95 "core" ' + "storage"(-& +5 "core" & ) * X\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'r +296 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" & \ + "manipulator"&0& +4 "core" & +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & 1 + "storage"(/& +4 "core" &  =\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&(/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +3 "storage"(+' +7 "core" & _ +2 "manipulator"&% +4 "core" % Ϛ t +2 .tForearm.seek :retract +2 "manipulator"&<' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&& +4 "core" &  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &  < 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&5' +91 "core" ' + "manipulator"&"& +4 "core" & E 6 +2 "manipulator"&X% +4 "core" % T +2 "processing"%{& +3 "core" &3\ +3 "processing"%@& +5 "core" &E\ +2 .tPC.seek :closed + "processing"%6(^ +4 "core" &F\ +8 & ,>\ $c +9 &Uv@\ 7 +10 &~uB\ L +9 &P?\ O +9 &WP<\ O +10 &N:\ O +9 &Q>\ O +10 &P/\ O +9 &aO6\ O +9 &#Q9\ O +10 &Q<\ O +9 &!Q;\ O +9 &#hO;\ O +10 &%*O<\ O +9 &&Q<\ O +10 &(Q=\ O +9 &*pQ:\ O +9 &,3Q:\ O +10 &-O;\ O +9 &/Q<\ O +9 &1yR<\ O +10 &3;Q7\ O +9 &4Q9\ O +10 &6R<\ O +9 &8S;\ O +9 &:AR:\ O +10 &<P<\ O +9 &=T/\ O +9 &?S5\ P +10 &AHU;\ P +9 &Cg8\ Q +10 &Dn;\ S +9 &F~7\ U +9 &H>4\ V +10 &J8\ V +9 &K0\ V +9 &M.\ W +10 &OC/\ W +9 &Q6\ X +10 &R4\ W +9 &T5\ X +9 &VK3\ W +10 &X 3\ W +9 &Y&\ W +9 &[(\ X +10 &]R.\ H +9 &^u>n+\ )w +10 &^6"\ 1 +5 ( +2 "processing"%@& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 + .Hand.open +2 "manipulator"&_1 +3 "core" &^$'\ 1 +59 1 + "manipulator"&e% +4 "core" %  Y T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +96 "core" ' +2 "processing"%i& +5 "core" &^$)\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" % !  $ +2 "storage"( % +4 "core" % a\ + "storage"(N. +3 "core" .( + "storage"(:& +4 "core" & o\ +2 "storage"(& +2 "manipulator"&V& +7 "core" & Z 6 + & o\ +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( + "manipulator"&F& +4 "core" & Z 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & P 6 +2 .tForearm.seek PC +2 "manipulator"&c' +92 "core" ' + .tHand.close +2 "manipulator"&a/ +61 "core" / +2 .tPC.seek :open + "processing"%t( +98 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(W'1 +48 "core" ' +301 ( +2 "storage"(h& +4 "core" &   \ + "manipulator"&*& +4 "core" & s 6 + "manipulator"&9% +4 "core" %   w ; +2 .tForearm.seek :retract +2 "manipulator"&g' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&B( +247 "core" ( + "manipulator"&& +4 "core" & = +2 "storage"(o& +4 "core" & 8\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +96 "core" ' +2 .tHand.open + "manipulator"&k1 +58 "core" 1 +2 "storage"(2- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(v- +4 "core" -' + "storage"(~& +4 "core" &   U\ 2 + "manipulator"&r& +4 "core" & = < +2 .tElbow.seek 3 + "manipulator"&|( +4 "core" ( + "manipulator"&8& +4 "core" & 0 < +2 "storage"(,& +4 "core" & \ 3 +2 .tForearm.seek 3 + 450 counts + "manipulator"&4'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' + "manipulator"&f& +5 "core" &  < + "storage"(Q& +4 "core" & @\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +14 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(U' +28 "core" ' + "manipulator"&}% +5 "core" %΅ a D + "storage"(Z& +4 "core" & >\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&1'ϱ +24 "core" ' +2 "manipulator"&[& +4 "core" & I < +2 "storage"(w& +4 "core" &   {\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&&'7 +14 "core" ' + "storage"(n% +5 "core" %   \ +2 ."downElevator"SE.seek :down +4 "storage"(J' +98 (% +3 "core" %F \ Xh +2 "manipulator"&!% +4 "core" %L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +90 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (m& +4 "core" &  1\ + "collection"'q& +5 "core" &\\m \ P + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&D% +3 "core" %    +2 "storage"(M% +4 "core" % \ + "storage"(. +3 "core" .( +2 "storage"(j& +3 "core" &  M\ +2 "storage"(Y& +4 "core" &   ]\ + "manipulator"&& +4 "core" & ? < + .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&)& +3 "core" &  < +2 "storage"(H& +4 "core" &  Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\\'7 +94 "core" ' + "storage"(A& +4 "core" &   V\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'r +295 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +2 "core" & < +2 "storage"(& +4 "core" & ?\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&E'u +13 "core" ' +2 .tElbow.hold + "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(y- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('f +29 "core" ' +2 "manipulator"&`% +4 "core" %Ά  O +2 "storage"(>& +3 "core" &  ?\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"& 'ϲ +27 "core" ' + "manipulator"&?& +4 "core" & T < +2 "storage"(T& +4 "core" &   y\ +50 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(I' +36 "core" ' + "manipulator"&z& +5 "core" & @ < + "manipulator"&7% +5 "core" %- : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&]& +5 "core" &Ӌ+ ' Cr + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &ӌ+ a Cq +2 .tForearm.seek CC +2 "manipulator"&.'? +94 "core" ' + .tHand.close +2 "manipulator"&C/ +58 "core" / +2 .tCC.seek :open + "collection"'L( +447 "core" ( + "storage"(#& +4 "core" & ' ) 4\ +2 "storage"(O& +3 "core" & ' ' \ +2 "manipulator"&;& +4 "core" &ӥ' @X + "manipulator"&-% +4 "core" % H O 9 +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&3( +163 "core" ( +2 "manipulator"&S& +4 "core" & S  +2 "storage"(0& +3 "core" & K L \\\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +94 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&(1 +59 "core" 1 +2 "manipulator"&%% +4 "core" % { i + +2 "storage"(& +3 "core" & 8 7 \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 306 counts +2 "manipulator"&'ϧ +26 "core" ' +2 "manipulator"&\ & +4 "core" & q  +2 "storage"(b& +3 "core" & c c +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' + "storage"(% +4 "core" % c Z D\ +3 ."downElevator"SE.seek :down +3 "storage"(K' +99 (% +2 "core" %< L K !\ Vb +2 "manipulator"&"% +5 "core" %& J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +90 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'{& +5 "core" & g g \ + "manipulator"&+% +4 "core" %   +2 "storage"(<% +4 "core" % f d B\ + "storage"(P. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(_(,y +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (e& +3 "core" &,z 5 -\  + "manipulator"&i& +4 "core" & 4  +2 .tElbow.seek 4 +2 "manipulator"&( +33 "core" ( + "manipulator"& & +5 "core" & 7  + "storage"(N& +4 "core" &,z c Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +95 "core" ' + "storage"(@& +5 "core" &,z f h f\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +3 "core" &,z = * q\  + "manipulator"&& +4 "core" & Q  +2 .tElbow.seek 4 + "manipulator"&5( +22 "core" ( +2 "manipulator"&a& +4 "core" & o  +2 "storage"(& +3 "core" &,z 8 F |\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&s'c +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& + "storage"(' +7 "core" & }  +2 "manipulator"&h% +4 "core" % ϔ +2 .tForearm.seek :retract + "manipulator"&*' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&9(ӂ +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( + "manipulator"&c& +4 "core" &Ӂ  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӂ ] 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&o'? +92 "core" ' +2 "manipulator"& & +5 "core" &Ӂ   3 + "manipulator"&k% +4 "core" %B  l +2 "collection"'2& +5 "core" & i iH\ +2 "collection"'v& +5 "core" & h h8\ +2 .tCC.seek :closed +2 "collection"'~(\\ +4 "core" & h h.\ +8 &; i i\ %f +9 &Xy g iC\ 7 +9 &v j i[\ L +10 &T h j\ M +9 &}S j k\ L +9 &>T m m.\ L +10 &U k k\\\ M +9 &T i l\ L +10 &T l k\ L +9 &GQ j l2\ L +9 & T i kJ\ L +10 &!S k k\ L +9 &#Q l kH\ L +9 &%NT l j"\ L +10 &'T k l\ L +9 &(R j l<\ L +10 &*T k lT\ M +9 &,WT k l#\ L +9 &.T k kI\ L +10 &/S j kQ\ L +9 &1Q m kN\ L +9 &3^T n kR\ L +10 &5 T m l%\ L +9 &6R l lC\ L +10 &8T j kI\ L +9 &:gR l o\ L +9 &<(U n o\ L +10 &=R o mE\ L +9 &?R o mJ\ L +9 &AnS p oL\ L +10 &C0Y p qB\ L +9 &D` q rI\ N +10 &Fl r r@\ O +9 &He t sE\ R +9 &J w v#\ V +10 &K x wC\ Y +9 &M x y\ X +9 &OW y x\ Z +10 &Q y x\ Y +9 &R y y\ Z +10 &T z |\ [ +9 &VX z {\ \\ +9 &X { z\ ] +10 &Y y {\ ] +9 &[ } |\ K +9 &\\7 | }\ . +10 &\\ ~ ~\ [ +2 ( +2 "collection"'v& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&r1 +61 "core" 1 + "manipulator"&8% +5 "core" % B l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +94 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%g& +4 "core" &?\ + "manipulator"&f% +4 "core" %  c  +2 "storage"(Q% +3 "core" % i\ +2 "storage"(}. +3 "core" .(,y + "storage"(Z& +4 "core" &,z \  +2 "storage"(W& +4 "core" &,z \  + "manipulator"&[& +4 "core" &Ӂ , 3 + "manipulator"&p% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&w( +161 "core" ( +2 "manipulator"&n& +4 "core" & @  + "storage"(B& +4 "core" &,z   r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(=& +4 "core" &,z   :\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +308 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &,z \  + "manipulator"&|& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & [  +2 "storage"(m& +3 "core" &,z \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&1'c +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(M' +7 "core" &  +2 "manipulator"&U% +3 "core" % ϛ B +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&j( +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&Y& +4 "core" & X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&)' +102 "core" ' + "manipulator"&H& +5 "core" &  e + "manipulator"&&% +4 "core" %\   h +2 "processing"%A& +4 "core" &4\ +3 "processing"%J& +5 "core" &5\ +2 .tPC.seek :closed + "processing"%^(^ +4 "core" &I\ \ +9 &/sC\ *y +9 &a{D\ > +9 &\\pE\ O +10 &P?\ O +9 &S9\ O +10 &OB\ O +9 &bT?\ P +9 &%Q;\ O +10 &O6\ O +9 &N;\ O +60 & kR8\ O +4 &"-P2\ O +3 &#O<\ O + &%M3\ O + &'sR;\ O + &)5R=\ O +3 &*Q8\ P +3 &,R<\ P +8 &.{O<\ O +10 &0=O;\ O +9 &2P<\ O +10 &3R:\ O +9 &5N<\ O +9 &7EN;\ O +10 &9Q8\ P +9 &:S8\ P +9 &<O<\ P +10 &>LV:\ P +9 &@V:\ P +10 &A_<\ Q +9 &Cf7\ R +9 &EHx7\ T +10 &G8\ V +9 &H:\ U +9 &J-\ V +10 &LJ7\ V +9 &N6\ W +10 &O4\ W +9 &Q1\ W +9 &SM;\ X +10 &U7\ X +9 &V/\ X +9 &X-\ W +10 &ZU.\ X +9 &\\4\ X +9 &]0\ 8 +10 &^+j,\ "c +9 &^-5\ 6 +3 ( + "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&$1 +57 "core" 1 +2 "manipulator"&G% +4 "core" % \   h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +89 "core" ' +2 "processing"%& +4 "core" &^&+\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&y% +4 "core" %  *  +2 "storage"(`% +4 "core" % \\\ +2 "storage"(>. +3 "core" .(,y +2 "storage"(?& +3 "core" &,z O\  +2 "storage"(T& +5 "manipulator"&z& +4 "core" &,z `\  + & [ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&7( +2 "storage"(\\'r +5 "core" ( + "manipulator"&u& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" & ) +2 .tForearm.seek PC +2 "manipulator"&E' +94 "core" ' + .tHand.close +2 "manipulator"& / +53 "core" / +2 .tPC.seek :open +2 "processing"%( +102 "core" ' + "storage"(]- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +304 ( + "storage"(& +5 "core" &,z  \  + "manipulator"&x& +4 "core" & 3 + "manipulator"&C% +4 "core" % \   9 +2 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&l( +239 "core" ( +2 "manipulator"&#& +4 "core" &  ? + "storage"(O& +4 "core" &,z Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&;' +94 "core" ' + .tHand.open + "manipulator"&-1 +52 "core" 1 +2 "storage"(S- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(0' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(.' +57 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"((& +4 "core" &,z\ 0 + "manipulator"&%& +5 "core" & > + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&\ & +3 "core" &  > +2 "storage"(b& +4 "core" &,z\ 0 +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' + "manipulator"&& +5 "core" & > + "storage"("& +4 "core" &,z $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&3'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"({' +18 "core" ' + "manipulator"&% +5 "core" %K { + "storage"(+& +5 "core" &,z \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&<'w +25 "core" ' + "manipulator"&P& +5 "core" & J > + "storage"(I& +5 "core" &,z Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +24 "core" ' + "storage"(K% +5 "core" % +\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (e% +3 "core" %G \ Xi +2 "manipulator"&i% +4 "core" % " + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (N& +4 "core" &,z ^\  + "collection"'@& +4 "core" &\\z | }\ [ + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&/% +4 "core" %  \\  + "storage"(X% +4 "core" % F\ + "storage"(V. +4 "core" .(,y + "storage"(F& +4 "core" &,z _\  + "storage"(& +4 "core" &,z \  + "manipulator"&a& +4 "core" & > +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&d& +4 "core" & W > + "storage"(6& +4 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +94 "core" ' + "storage"(& +4 "core" &,z  (\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'r +307 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +4 "core" & > +2 "storage"(& +3 "core" &,z \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&s'7 +17 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(k- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(5'j +30 "core" ' + "manipulator"&2% +4 "core" %H X  +2 "storage"(& +3 "core" &,z 6\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&*'t +24 "core" ' + "manipulator"&L& +4 "core" & > +2 "storage"(r& +4 "core" &,z P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(g' +46 "core" ' + "manipulator"&f& +4 "core" &  > +2 "manipulator"&Q% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +154 "core" ( +2 "manipulator"&v& +4 "core" &Ӝ"  << + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &Ӝ" << +2 .tForearm.seek CC +2 "manipulator"&['? +96 "core" ' +2 .tHand.close + "manipulator"&p/ +61 "core" / +2 .tCC.seek :open +2 "collection"'o( +449 "core" ( +2 "storage"(n& +4 "core" &,z ( \  +2 "storage"(B& +4 "core" &,z $ <\  + "manipulator"&=& +4 "core" &ӝ# n <; + "manipulator"&9% +4 "core" % ;  + .tForearm.seek :retract +2 "manipulator"&,' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&!( +164 "core" ( + "manipulator"&4& +4 "core" & 1  +2 "storage"(|& +3 "core" &,z 7 ? \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&q1 +61 "core" 1 +2 "manipulator"&D% +4 "core" % :   + "storage"(U& +4 "core" &,z K L \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts +2 "manipulator"&w'f +64 "core" ' + "manipulator"&& +4 "core" & *  +2 "storage"(& +4 "core" &,z d d \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +20 "core" ' + "storage"(Y% +5 "core" % ` c\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +2 "core" %< C ? H\ Vb +2 "manipulator"&H% +5 "core" % C + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'A& +5 "core" & h h-\ + "manipulator"&M% +5 "core" %  ]  + "storage"(% +4 "core" % e c C\ +2 "storage"(t. +3 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"($(<- +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &<+ ) ) A\  +2 "manipulator"&& +4 "core" & e  + .tElbow.seek 5 +2 "manipulator"&y( +4 "core" ( + "manipulator"&`& +4 "core" & =  +2 "storage"(>& +4 "core" &<+ f e /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +95 "core" ' + "storage"(z& +5 "core" &<+ i u\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'r +294 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" &<+  : \  +2 "manipulator"&R& +4 "core" & X  + .tElbow.seek 5 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"& & +3 "core" & s  +2 "storage"(]& +3 "core" &<+ G : \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&j'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +2 "storage"(\\' +7 "core" &  ?  +2 "manipulator"&% +3 "core" % Ϲ r +2 .tForearm.seek :retract +2 "manipulator"&x' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&C(ӂ +156 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&E& + "storage"(5 +7 "core" &ӓ% } >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &ӓ% H >J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'? +99 "core" ' + "manipulator"&7& +4 "core" &Ӕ% n >I +2 "manipulator"&-% +4 "core" %6  e o +2 "collection"'S& +4 "core" & j iE\ +2 "collection"'& +5 "core" & h i?\ +2 .tCC.seek :closed +2 "collection"'((\\ +4 "core" & h k1\ +7 & - h iT\ $c +10 &Ut h iZ\ 6 +9 &w k i[\ K +10 &T l k:\ L +9 &cS n kf\ L +9 &%S k kd\ L +10 &T l i\\\ L +9 &T k jW\ M +9 &kS k m\\\ L +10 &-T j mL\ L +9 &S k lS\ L +10 &!T k lP\ L +9 &#qT l jX\ M +9 &%5R k jQ\ L +10 &&T l lN\ L +9 &(T l lF\ M +10 &*{R l kJ\ L +9 &,<T m lV\ L +9 &-S n lU\ L +9 &/Q m kM\ L +10 &1T l mR\ L +9 &3DT m k[\ L +10 &5U o n7\ L +9 &6T m lK\ L +9 &8S m lQ\ L +10 &:LR p p(\ L +9 &<T p n'\ L +9 &=R o oI\ L +10 &?W o oJ\ L +9 &ASV n pV\ M +10 &CV p rP\ M +9 &D` t sN\ N +9 &Fi u sM\ O +10 &HL w w.\ R +9 &J { {1\ U +10 &K | .\ Y +9 &M } }1\ X +9 &O> { {\ Y +10 &P ~ \ Z +9 &R  ~+\ Z +9 &T |  \ [\ +10 &V?  ~\ \\ +9 &W \ \\ +9 &Y \ ] +10 &[~ \ J +9 &\\< (\ 0 +10 &\\} %\ Y +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&%1 +4 "core" &\\t #\ Y +54 1 +2 "manipulator"&\ % +4 "core" % 6 o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +5 "core" &I\ + "manipulator"&% +4 "core" %   + "storage"("% +4 "core" % \ +2 "storage"(. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(+(<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<+( \  +2 "manipulator"&P& +4 "core" &ӕ% >H + "manipulator"&0% +4 "core" %  3  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&I( +155 "core" ( + "manipulator"&K& +5 "core" & + "storage"(l& +4 "core" &<+   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&;'O +97 "core" ' + "storage"(.& +4 "core" &<+   a\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'r +295 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<+ E\  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&3& +3 "core" & h +2 "storage"(<& +4 "core" &<+ \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&N'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&@/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(X' +7 "core" &  V +2 "manipulator"&{% +3 "core" % ϳ C +2 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&& +4 "core" & " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &  % " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&d' +95 "core" ' + "manipulator"&6& +5 "core" & \ " +2 "manipulator"&% +3 "core" % . q +2 "processing"%& +4 "core" &4\ +2 "processing"%& +5 "core" &3\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &H\  +8 &0rH\ *x +10 &byE\ > +9 &hnG\ O +10 &*NI\ O +9 &PG\ O +9 &OD\ O +10 &pQG\ O +9 &2Q?\ O +9 &QF\ O +10 &R>\ O +9 & xP>\ O +10 &":PA\ O +9 &#R;\ O +9 &%O:\ O +10 &'P9\ O +9 &)AQ5\ O +10 &+R5\ O +9 &,Q8\ O +9 &.O;\ O +10 &0JQ:\ O +9 &2 Q6\ O +9 &3Q2\ O +10 &5Q;\ O +9 &7RR;\ O +9 &9R:\ O +10 &:U=\ O +9 &<T9\ O +10 &>XT;\ P +9 &@T;\ P +9 &AT<\ P +10 &Cc6\ Q +9 &EYk<\ R +9 &Gx9\ T +10 &H<\ V +9 &J<\ V +10 &LW;\ U +9 &N7\ V +9 &O8\ W +10 &Q1\ X +9 &SZ9\ W +9 &U7\ W +10 &V5\ W +9 &X4\ W +10 &Za8\ X +9 &\\#7\ X +9 &]y/\ : +10 &^/3\ W +9 &^"5\ 3 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"& 1 +57 "core" 1 +2 "manipulator"&c% +4 "core" %   q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%& +4 "core" &^  \ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&k% +4 "core" %  d  + "storage"(2% +4 "core" % b\ +2 "storage"(. +3 "core" .(<- + "storage"(L& +4 "core" &<+ \  +2 "storage"(r& +3 "manipulator"&f& +4 "core" &<+ 1\  + & $ " +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b + "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +2 "manipulator"&Q( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(h'r +2 "core" ( +2 "manipulator"&& +4 "core" & Z " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" & 3 " +2 .tForearm.seek PC +2 "manipulator"&s' +93 "core" ' + .tHand.close +2 "manipulator"&*/ +55 "core" / + .tPC.seek :open +2 "processing"%5( +103 "core" ' + "storage"(v- +3 "core" -'r +2 ."raiseStack"SE.configure :default +53 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(W'1 +40 "core" ' +253 ( + "storage"(8& +5 "core" &<+   H\  + "manipulator"& & +4 "core" & / " +2 "manipulator"&p% +3 "core" %  M E +2 .tForearm.seek :retract +2 "manipulator"&}' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&~( +244 "core" ( + "manipulator"&n& +5 "core" & 9 + "storage"(B& +4 "core" &<+ @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +93 "core" ' +2 .tHand.open + "manipulator"&91 +57 "core" 1 +2 "storage"(4- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"([' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +4 "core" -' + "storage"(q& +4 "core" &<+ \ M +2 "manipulator"&D& +3 "core" &   a 8 +2 .tElbow.seek 5 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&& +3 "core" & A 8 +2 "storage"(& +4 "core" &<+ \ M +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(,'" +53 "core" ' +2 "manipulator"&!& +4 "core" & / 8 +2 "storage"(& +3 "core" &<+ B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&H'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(A' +23 "core" ' + "manipulator"&w% +5 "core" %Γ N + "storage"(M& +4 "core" &<+ z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&'Ͽ +28 "core" ' +2 "manipulator"&t& +4 "core" &  H ( +2 "storage"(g& +4 "core" &<+ -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +15 "core" ' +2 "storage"(% +4 "core" % &\ +3 ."downElevator"SE.seek :down +3 "storage"(_' +99 (G% +3 "core" %(G \ Xi + "manipulator"&% +5 "core" %L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +88 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (>& +4 "core" &<+ _\  + "collection"'z& +4 "core" &\\s +\ Y +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&m% +4 "core" %   +2 "storage"(&% +4 "core" %\ + "storage"(J. +4 "core" .(<- + "storage"(u& +4 "core" &<+  b\  + "storage"(R& +4 "core" &<+  \  +2 "manipulator"& & +4 "core" & * ( + .tElbow.seek 5 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&'& +3 "core" &  ( +2 "storage"(^& +4 "core" &<+  1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +90 "core" ' + "storage"(y& +4 "core" &<+  >\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'r +298 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" & ( + "storage"(T& +4 "core" &<+ T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&j'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(-- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(S'] +29 "core" ' + "manipulator"&)% +5 "core" %~ # + "storage"(\\& +4 "core" &<+ E\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 285 counts +2 "manipulator"&x'Ϫ +34 "core" ' + "manipulator"&o& +5 "core" & Z ( + "storage"(%& +4 "core" &<+  !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\ 'O +25 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"( ' +38 "core" ' + "manipulator"&& +4 "core" & 7 ( +2 "manipulator"&"% +4 "core" %m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&& +4 "core" &ӌ+ ! Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +2 "core" &Ӎ+ ) Cp +2 .tForearm.seek CC +2 "manipulator"&0'? +94 "core" ' +2 .tHand.close + "manipulator"&O/ +55 "core" / +2 .tCC.seek :open +2 "collection"'K( +449 "core" ( +2 "storage"(l& +4 "core" &<+ 6 -\  + "storage"($& +4 "core" &<+ ) ' 8\  + "manipulator"&.& +4 "core" &Ӭ& C ?Q + "manipulator"&C% +4 "core" % Q l ^ +2 .tForearm.seek :retract + "manipulator"&b' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&i( +164 "core" ( + "manipulator"&& +4 "core" & 5  +2 "storage"(& +4 "core" &<+ 6 7 \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&3'΍ +92 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&@1 +59 "core" 1 +2 "manipulator"&/% +4 "core" % Ό : +2 "storage"({& +3 "core" &<+ T G D\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 299 counts +2 "manipulator"&I'ϸ +32 "core" ' +2 "manipulator"&;& +4 "core" &  n  +2 "storage"(e& +4 "core" &<+ ` c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +24 "core" ' + "storage"(% +5 "core" % k j E\ +2 ."downElevator"SE.seek :down +3 "storage"(a' +99 (% +2 "core" %rC = ; \ Wd +2 "manipulator"&6% +4 "core" %c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" & h j7\ + "manipulator"&X% +4 "core" %    + "storage"(V% +4 "core" % a e )\ +2 "storage"(. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +376 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (c& +3 "core" &K V Y \ + "manipulator"&& +4 "core" &  f  +2 .tElbow.seek 6 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&2& +4 "core" &   + "storage"(& +4 "core" &K f f ;\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +94 "core" ' +2 "storage"(f& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K b Z\ + "manipulator"&:& +4 "core" & <  +50 .tElbow.seek 6 +4 "manipulator"&d( +3 "core" ( + "manipulator"&*& +4 "core" &  W  + "storage"(v& +4 "core" &K Y c 7\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&F'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +4 "storage"(8' +4 "core" &   + "manipulator"&h% +4 "core" % ] +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&p(ӂ +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&s& +4 "core" &ӎ  5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &ӎ 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'? +94 "core" ' +2 "manipulator"&Q& +4 "core" &ӎ  5 +2 "manipulator"&9% +3 "core" %A j +2 "collection"'4& +5 "core" & k jX\ +2 "collection"'Z& +5 "core" & h h=\ +2 .tCC.seek :closed +2 "collection"'q(\\ +4 "core" & j iC\ +6 &; h i<\ %h +10 &Yx j g`\ 8 +9 &t i j>\ L +10 &R j l<\ L +9 &T i kf\ L +9 &CS j kE\ L +10 &Q k jA\ L +9 &T j l:\ L +9 &S j k7\ L +10 &KT l jY\ L +9 & S l l]\ L +10 &!T l lA\ L +9 &#U m m3\ M +9 &%TS m l(\ L +10 &'T l k(\ L +9 &(T k nJ\ L +9 &*Q k l1\ L +10 &,\\T k k(\ L +9 &.S j l.\ L +9 &/T k kX\ L +10 &1U l l5\ M +9 &3dT n k5\ L +10 &5%T m m0\ L +9 &6R l m2\ L +9 &8U m l2\ M +10 &:kT n o2\ L +9 &<-V n m-\ L +10 &=U o oN\ M +9 &?U o n,\ M +9 &ArW p q-\ M +10 &C3] r q/\ M +9 &Dj u sP\ O +9 &F~ u xT\ R +10 &H_ x w-\ V +9 &J w x3\ X +9 &K w w2\ Y +10 &M w w(\ Z +9 &O\\ y x.\ Z +10 &Q v y-\ Z +9 &R z y$\ [\ +9 &T x x'\ \\ +10 &V] { x"\ \\ +9 &X z z\ ] +9 &Y y |\ ^ +10 &[ z z"\ L +9 &\\: { {\ / +10 &\\j } {"\ S +2 ( +2 "collection"'Z& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 +2 .Hand.open + "manipulator"&D1 +59 "core" 1 +2 "manipulator"&% +4 "core" % A j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%}& +4 "core" &7\ +2 "manipulator"&!% +3 "core" %   +2 "storage"(% +4 "core" % v\ + "storage"(w. +3 "core" .(K +2 "storage"(M& +3 "core" &K =\ +2 "storage"(W& +4 "core" &K 5\ + "manipulator"&t& +4 "core" &ӎ 9 5 + "manipulator"&|% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&g( +163 "core" ( + "manipulator"&& +5 "core" & !  + "storage"(~& +4 "core" &K   .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +97 "core" ' + "storage"([& +4 "core" &K ' (\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &K  \ +2 "manipulator"&U& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( +2 "manipulator"&H& +3 "core" &   +2 "storage"(& +3 "core" &K  Q\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&>'h +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(&' +7 "core" & A  +2 "manipulator"&A% +3 "core" % ϊ M +2 .tForearm.seek :retract +2 "manipulator"&J' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u( +169 "core" ' + ."downElevator"SE.stop + "storage"(5 +69 "core" ( + "manipulator"&R& +5 "core" &  / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &  / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'' +100 "core" ' +2 "manipulator"&^& +4 "core" & / +2 "manipulator"&1% +3 "core" % ( +2 "processing"%y& +4 "core" &J\ +2 "processing"%_& +5 "core" &5\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &I\  +9 &/rI\ *y +9 &c}C\ ? +10 &enG\ P +9 &)LF\ O +9 &PH\ O +10 &QG\ O +9 &nPJ\ O +10 &1OD\ O +9 &QL\ O +9 &QC\ O +10 & wQ?\ O +9 &"8NA\ O +9 &#PC\ O +10 &%O?\ O +9 &'PB\ O +10 &)@O=\ O +9 &+P:\ O +9 &,Q6\ O +10 &.O@\ O +9 &0IQ=\ O +9 &2 R6\ O +10 &3R9\ O +9 &5R9\ O +10 &7PQ/\ O +9 &9S7\ O +9 &:P:\ O +10 &<S=\ O +9 &>WT1\ O +9 &@T;\ O +10 &Aa8\ Q +9 &Cl;\ R +10 &EQ8\ T +9 &G:\ U +9 &H9\ U +10 &J<\ V +9 &LT6\ V +9 &N:\ V +10 &O8\ W +9 &Q6\ X +10 &SX<\ W +9 &U8\ W +9 &V8\ X +10 &X4\ W +9 &Z`6\ W +9 &\\!4\ X +10 &]~3\ 9 +9 &^.w1\ Z +9 &^(0\ 6 +3 ( +2 "processing"%_& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.74 +2 .Hand.open + "manipulator"&`1 +55 "core" 1 + "manipulator"&E% +4 "core" %  _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +91 "core" ' +2 "processing"%T& +4 "core" &^%\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&-% +4 "core" %    + "storage"()% +4 "core" % \ + "storage"(\\. +4 "core" .(K + "storage"(o& +4 "core" &K \ +2 "storage"(%& +4 "manipulator"&& +4 "core" &K \ + &  / +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&"( +2 "storage"('r +5 "core" ( +2 "manipulator"&]& +3 "core" & < / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" & d / +2 .tForearm.seek PC +2 "manipulator"&j' +92 "core" ' +2 .tHand.close + "manipulator"&x/ +55 "core" / +2 .tPC.seek :open +2 "processing"%S( +99 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(P'1 +48 "core" ' +299 ( +2 "storage"(\ & +4 "core" &K  \ + "manipulator"&7& +44 "core" & G / + "manipulator"&O% +4 "core" %  + 5 +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&(( +244 "core" ( +2 "manipulator"&l& +4 "core" & - + "storage"($& +4 "core" &K *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +94 "core" ' + .tHand.open +2 "manipulator"&C1 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(0' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(@& +4 "core" &K \ & + "manipulator"&/& +4 "core" & " , +2 .tElbow.seek 6 + "manipulator"&{( +3 "core" ( +2 "manipulator"&;& +4 "core" & % , + "storage"(e& +4 "core" &K \ & +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(b'" +54 "core" ' +2 "manipulator"&& +4 "core" &   , + "storage"(6& +4 "core" &K  *\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&i'< +25 "core" ' +2 .tElbow.hold + "manipulator"&3, +55 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +24 "core" ' + "manipulator"&I% +5 "core" %K + "storage"(X& +4 "core" &K C\ +2 .tForearm.force -20 "manipulator"&5 +4 .tForearm.seek 6 + 315 counts + "manipulator"&V'w +15 "core" ' +2 "manipulator"&& +4 "core" & ? , +2 "storage"( & +4 "core" &K m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&N' +16 "core" ' +2 "storage"(a% +4 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(+' +99 (c% +2 "core" %2N \ Yl +2 "manipulator"&% +5 "core" % Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +89 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K  \ + "collection"'f& +4 "core" &\\g | }3\ S +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&<% +4 "core" %   F  +2 "storage"(% +3 "core" %   >\ +2 "storage"(. +17 "core" .(K +2 "storage"(& +4 "core" &K   <\ + "storage"(:& +4 "core" &K   T\ + "manipulator"&*& +5 "core" &  , + .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&& +3 "core" & 4 , +2 "storage"(& +4 "core" &K   C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +99 "core" ' + "storage"(k& +5 "core" &K   \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'r +294 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&n& +3 "core" &  , +2 "storage"(r& +3 "core" &K "\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&F'< +15 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(4'd +30 "core" ' + "manipulator"&d% +4 "core" %I  +2 "storage"(8& +3 "core" &K E\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"& 'u +13 "core" ' +2 "manipulator"&K& +4 "core" &  , +2 "storage"(D& +4 "core" &K   E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(}' +35 "core" ' +2 "manipulator"&!& +4 "core" & V , + "manipulator"&% +5 "core" %  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M(ӂ +154 "core" ( + "manipulator"&W& +5 "core" &ӊ+ 0 Co + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &ӊ+ Co +2 .tForearm.seek CC +2 "manipulator"&t'? +96 "core" ' +2 .tHand.close + "manipulator"&|/ +58 "core" / +2 .tCC.seek :open + "collection"'B( +450 "core" ( + "storage"(& +5 "core" &K 9 + H\ + "storage"(~& +4 "core" &K 3 1 \ + "manipulator"&[& +4 "core" &ӓ* d Bf +2 "manipulator"&p% +3 "core" % = ] 4 +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( + "manipulator"&Y& +5 "core" & Y  + "storage"(U& +4 "core" &K 7 8 m\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&H'< +97 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +61 "core" 1 + "manipulator"&m% +5 "core" % ;  + "storage"(A& +4 "core" &K Y V\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 299 counts +2 "manipulator"&g'g +14 "core" ' +2 "manipulator"&=& +66 "core" &   +2 "storage"(G& +4 "core" &K e d \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +21 "core" ' + "storage"(R% +4 "core" % Y c +\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (,% +3 "core" %,D 5 +\ We + "manipulator"&^% +4 "core" % ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +92 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +21234 "Can"\ A= +60001 \ @= +60001 \ @= +60002 \ @= +60001 \ @= +60001 \ @= +60002 \ @= +60001 \ @= +60001 \ @= +60001 \ @= +60002 \ ?= +60001 \ @= +60001 \ @= +21928 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +5 #mEXIT @1628540781.55PDT @1628778232.97PDT = =mMAIN_scheduler =tMAIN @PDT1628778234.78 #"core_reset"Sent BREAK +2 #t@57944 select with ifg=0x10, ie=0xF5 + #@58579 receive with ifg=0x10, ie=0xFD + #@59214 receive with ifg=0x10, ie=0xFD #@59849 receive with ifg=0x10, ie=0xFD + #@60176 receive with ifg=0x80, ie=0xFD + #@43115 sendCRC with ifg=0x20, ie=0x7F #@43563 sendCRC with ifg=0x20, ie=0x7F + #@45153 sendCRC with ifg=0x08, ie=0x5F #@771 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +292 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can"\ C@ + \ C@ #tPolling Can every 10:00 +34 #Cleanly exited at 13:26:21PDT09-Aug-21 +449 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %m (\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %چ f\ 6 +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +2251 #-> 5.times {shuffle 2..6} +3 #Shuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'3& +4 "core" & } \ + .tHand.open +2 "manipulator"&41 +21 "core" 1 + "manipulator"&5% +5 "core" %  i  + "storage"(6% +4 "core" % = F \ + "storage"(7. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(8(  +1300 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (9& +3 "core" &  ' & ;\ + "manipulator"&:& +4 "core" & (  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&;( +3 "core" ( + "manipulator"&<& +4 "core" &  +2 "storage"(=& +3 "core" &  = B ~\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'S +98 "core" ' + "storage"(?& +4 "core" &  Z \\\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'r +299 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &  ! & :\ +2 "manipulator"&C& +4 "core" &  a  + .tElbow.seek 2 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&E& +3 "core" & L  +2 "storage"(F& +3 "core" &  A C \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&G'Ͻ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +75 "core" / +3 ."downElevator"SE.seek :down +39 "manipulator"&I& +7 "storage"(J' +7 "core" &   +2 "manipulator"&K% +3 "core" % Ϻ  d +2 .tForearm.seek :retract +2 "manipulator"&L' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M(ӂ +159 "core" ( + "manipulator"&N& +5 "core" ' + &ӑ%  >M +2 .tElbow.reconfigure :loose + ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&O& +5 "core" &ӑ% . >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&P'? +92 "core" ' +2 "manipulator"&Q& +4 "core" &ӑ& * >M +2 "manipulator"&R% +4 "core" %< g v +2 "collection"'S& +3 "core" &  ~\ +3 "collection"'T& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'U(\\ +4 "core" & ~\  +9 &3~ } ~t\ +| +10 &c \ ? +9 &zv 8\ O +9 &<Y   \ O +10 &Y v\ O +9 &X \ N +9 &V ~\ N +10 &FU \ N +9 &^ J\ O +10 &Y \ N +9 & V o\ N +9 &"N\\ \ N +10 &$Z \ N +9 &%Z \ O +9 &'Z \ N +10 &)VU \ N +9 &+Y \ N +10 &,T \ N +9 &.Y \ N +9 &0^Y \ N +10 &2!U \ N +9 &3Z \ N +9 &5X \ N +10 &7f[ \ N +9 &9(Y \ N +10 &:T \ N +9 &<X \ N +9 &>nZ \ N +10 &@0X \ N +9 &A] \ N +9 &C_ \ O +10 &Erg \ P +9 &G/v \ Q +10 &H \ T +9 &J \ X +9 &L] \ Z +10 &N \ Z +9 &O \ Z +9 &Q \ [ +10 &S` \ [ +9 &U! \ \\ +10 &V \ \\ +9 &X \ ] +9 &Za \ ^ +10 &\\y \ ; +9 &\\) \ &q +9 &\\ \ U +3 ( +2 "collection"'T& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&V1 +54 "core" 1 + "manipulator"&W% +5 "core" % < # v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%Y& +4 "core" &\ \ +2 "manipulator"&Z% +3 "core" % ! Y + +2 "storage"([% +4 "core" % ,\ + "storage"(\\. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(](  +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +2 "core" & )\ +2 "manipulator"&_& +4 "core" &ӑ% M >M + "manipulator"&`% +4 "core" % ! ! + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&a( +165 "core" ( +2 "manipulator"&b& +4 "core" & "  + "storage"(c& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&d'S +94 "core" ' + "storage"(e& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'r +295 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" & r\ +2 "manipulator"&i& +4 "core" & b  + .tElbow.seek 2 +2 "manipulator"&j( +3 "core" ( + "manipulator"&k& +4 "core" & x  +2 "storage"(l& +4 "core" & O\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&m'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +71 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&o& +3 "storage"(p' +8 "core" &  + "manipulator"&q% +5 "core" %  m + .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&s( +13 !to:SignalException : mesg" SIGHUP:@checkpoint: omitted:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +3 .SE.stop + "storage"(5 +3 "core" 'O g m n\ Z +3 !to:Storage::Warning: mesg">Exiting with generic puck from tube 2 in Collection Clamp:bt["6/home/esp/esp2/utils/storage.rb:560:in `writeAll'"2/home/esp/esp2/utils/storage.rb:555:in `each'"6/home/esp/esp2/utils/storage.rb:555:in `writeAll'"2/home/esp/esp2/utils/storage.rb:551:in `open'"6/home/esp/esp2/utils/storage.rb:551:in `writeAll'"(/home/esp/esp2/utils/storage.rb:567"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:757:in `[]'"0/home/esp/esp2/lib/thread.rb:757:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Storage::Warning: mesg"2Exiting with generic puck from tube 2 in Hand:bt["6/home/esp/esp2/utils/storage.rb:560:in `writeAll'"2/home/esp/esp2/utils/storage.rb:555:in `each'"6/home/esp/esp2/utils/storage.rb:555:in `writeAll'"2/home/esp/esp2/utils/storage.rb:551:in `open'"6/home/esp/esp2/utils/storage.rb:551:in `writeAll'"(/home/esp/esp2/utils/storage.rb:567"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:757:in `[]'"0/home/esp/esp2/lib/thread.rb:757:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #mEXIT @1628778321.17PDT @1628874580.02PDT = =tMAIN =mMAIN_scheduler @PDT1628874581.95 #"core_reset"Sent BREAK +2 #t@17349 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +293 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +398 "Can"\ !m + \ !m + #tPolling Can every 10:00 +492 #-> ESP.ready! +4 #Powering core bus +535 .Gate.power :raw,:ON +2 "sampler") +42 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % s s\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % p\ +2 .tSS.configure :default +2 "sampler")#.0X Hand.home +2 !o:NoMethodError : mesgu:NameError::message-undefined method `home' for Hand:Gripper: name: home: args[:bt["(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +748 #-> Arm.home + "manipulator"&;& +4 "core" & G  + "manipulator"&<% +4 "core" %  $  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home + "manipulator"&=( +243 "core" ( + "manipulator"&>& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &    +2 .tForearm.seek :home +2 "manipulator"&@' +43 "core" ' + "manipulator"&A& +4 "core" &   +2 "manipulator"&B% +4 "core" % + +246 #t-> Hand.open + .Hand.open +2 "manipulator"&C1 +70 "core" 1 +604 '  [ +2 !to:Slide::Error : mesg" Forearm positionErr at home: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiE: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi:deltaPressi[ : voltagef12.216037309769268Y: @type2F: @sourcei+: @error:positionErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +743 #-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&D' +63 "core" ' + ."closeHand"Hand.close +4 .tElbow.jog 1500 +2 "manipulator"&E/ +2 &F* +57 "core" * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear + "manipulator"&G(d +7 "core" / +245 ( + "manipulator"&H& +4 "core" &d & * +2 "manipulator"&I% +3 "core" %   +3161 #t-> Arm.CC +2 "manipulator"&J& +3 "core" &d  * +2 "manipulator"&K% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC + "manipulator"&L(ӂ +202 "core" ( + "manipulator"&M& +4 "core" &ӌ0 F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &ӌ0 K F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'? +78 "core" ' J +3 !to:Slide::Error\ : mesg")Forearm speedErr at PC + 3556 counts: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiT: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressiJ : voltagef12.22094648993618?: @type2F: @sourcei+: @error: speedErr:@axisName" Forearm:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"0/home/esp/esp2/utils/misc.rb:92:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +311 #-> HAnd.open + !o:NameError: mesg" uninitialized constant HAnd: name: HAnd:bt["(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +281 #-> Hand.open +37 .Hand.open +7 "manipulator"&P1 +86 "core" 1 +528 #t-> Hand.close + .Hand.close + "manipulator"&Q/ +704 !to:I2C::Request::Timeout: mesg"5No Response to I2C::Servo::Grip3Request[51:->26]: @requesto:I2C::Servo::Grip3Request : @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0: @channeli:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @dontLog0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:199:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:327"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "manipulator"&R/ +2 "core" / + !o:I2C::UnexpectedReply: mesg".I2C::Servo::Grip3Reply[51:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +454 !to:IRB::Abort: mesg"deferring User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 + #until Hand finishes closing +235 !o:IRB::Abort: mesg"7Hand could not finish closing because\ User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +446 #-> Arm.home + "manipulator"&S& +4 "core" &Ӵ* A_ + "manipulator"&T% +4 "core" %= +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +31 "core" / + !o:I2C::UnexpectedReply: mesg"'I2C::Servo::Grip3Reply[52:26->20] :bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +35 ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&V( +357 "core" ( + "manipulator"&W& +4 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +2 "core" & C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home + "manipulator"&Y' +41 "core" ' +2 "manipulator"&Z& +4 "core" & + "manipulator"&[% +4 "core" %   L +1392 #t-> Arm.CC + "manipulator"&\\& +4 "core" & +2 "manipulator"&]% +4 "core" % l L + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +37 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :CC + "manipulator"&_(ӂ +344 "core" ( + "manipulator"&`& +4 "core" &0 G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &0  G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'? +80 "core" 'S L +3 !to:Slide::Error\ : mesg")Forearm speedErr at PC + 3414 counts: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagig: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniS: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressiL : voltagef12.225855670103094j: @type2F: @sourcei+: @error: speedErr:@axisName" Forearm:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"0/home/esp/esp2/utils/misc.rb:92:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1070 #-> Hand.close + .Hand.close +2 "manipulator"&c/ +22 "core" / +869 #t-> Arm.home +2 "manipulator"&d& +3 "core" &Ӡ+   Bl +2 "manipulator"&e% +4 "core" %t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +79 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&g( +372 "core" ( + "manipulator"&h& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" & + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home +2 "manipulator"&j' +48 "core" ' +2 "manipulator"&k& +4 "core" &  + "manipulator"&l% +4 "core" % * +370 #t-> Hand.open +2 .Hand.open + "manipulator"&m1 +61 "core" 1 +352 #t-> Arm.CC +2 "manipulator"&n& +3 "core" &   +2 "manipulator"&o% +4 "core" %   N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +34 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&q(ӂ +351 "core" ( +2 "manipulator"&r& +4 "core" &ӎ ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +2 "core" &ӎ  h ) +2 .tForearm.seek CC +2 "manipulator"&t'? +92 "core" ' +2 "manipulator"&u& +4 "core" &ӎ   ) + "manipulator"&v% +4 "core" %R  J +521 #t-> Hand.close +2 .Hand.close +2 "manipulator"&w/ +53 "core" / +414 #t-> Arm.home +2 "manipulator"&x& +3 "core" &ӎ  ) +2 "manipulator"&y% +4 "core" % R J + .tForearm.seek :retract +2 "manipulator"&z' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home + "manipulator"&{( +349 "core" ( + "manipulator"&|& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" & J  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home +2 "manipulator"&~' +36 "core" ' + "manipulator"&& +4 "core" &  +2 "manipulator"&% +3 "core" %  / +365 #t-> Hand.open +2 .Hand.open + "manipulator"&1 +61 "core" 1 +880 '   +2 !to:Slide::Error : mesg" Forearm positionErr at home: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi~: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeT: positioni: velocityi : currenti:pwmi:erri: inPressi : outPressi:deltaPressi: voltagef12.216037309769268Y: @type2F: @sourcei+: @error:positionErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +765 #-> Arm.home +2 "manipulator"&& +3 "core" &&  g +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&( +9 "core" ( + "manipulator"&& +4 "core" &  '  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &  V  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :home + "manipulator"&' +33 "core" ' +2 "manipulator"&& +4 "core" &  |  + "manipulator"& % +4 "core" % / @1631214590.03PDT = =tMAIN =mMAIN_scheduler @PDT1631214591.96 #"core_reset"Sent BREAK +2 #t@24827 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +293 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +390 "Can"h\ !u + h\ !u + #tPolling Can every 10:00 @1631214934.92PDT = =tMAIN =mMAIN_scheduler @PDT1631214936.88 #"core_reset"Sent BREAK +2 #t@10313 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +299 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +408 "Can"V !y + V !y #tPolling Can every 10:00 +2 #Cleanly exited at 12:10:00PDT09-Sep-21 +522 #-> ESP.ready! +4 #Powering core bus +567 .Gate.power :raw,:ON +2 "sampler") +15 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ \ +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +2929 #-> 5.times {shuffle 2..6} +3 #Shuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"';& +3 "core" & \  +2 .tHand.open + "manipulator"&<1 +61 "core" 1 +2 "manipulator"&=% +4 "core" %    Z d + "storage"(>% +4 "core" % \  _\ +2 "storage"(?. +2 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(@(  +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (A& +3 "core" &  \  C\ + "manipulator"&B& +4 "core" &  = 4 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&C( +22 "core" ( +2 "manipulator"&D& +4 "core" &   + "storage"(E& +4 "core" & \  {\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'S +92 "core" ' + "storage"(G& +4 "core" &  M\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'r +298 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (J& +2 "core" &  :\ +2 "manipulator"&K& +4 "core" &  C  + .tElbow.seek 2 +2 "manipulator"&L( +4 "core" ( + "manipulator"&M& +3 "core" & \\  +2 "storage"(N& +5 "core" &  ~\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&O'Ͻ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Q& + "storage"(R' +8 "core" &  F  + "manipulator"&S% +4 "core" %  ` +2 .tForearm.seek :retract +37 "manipulator"&T' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +120 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +33 "core" ( +2 "manipulator"&V& +4 "core" &ӏ#   + =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &ӏ$   =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'? +95 "core" ' + "manipulator"&Y& +5 "core" &ӏ%  , =G +2 "manipulator"&Z% +4 "core" %8  a 5 + "collection"'[& +4 "core" & \  +2 "collection"'\\& +6 "core" & \  +2 .tCC.seek :closed +2 "collection"'](\\ +5 "core" & \  +6 &G \ %h +9 &X \ 9 +9 &} \ M +10 &\\ \ N +9 &`\\ \ M +9 &"] \ M +10 &]  \ N +9 &\\ \ N +10 &g[ \ N +9 &)Z \ N +9 &\\  \ M +10 &!_ \ N +9 &#o`  \ N +9 &%1] \ N +10 &&Y \ M +9 &([ \ N +10 &*w\\ \ N +9 &,:Y  \ M +9 &-\\ \ M +10 &/[ \ M +9 &1Z \ N +9 &3AZ \ N +10 &5Z \ M +9 &6[ \ M +10 &8Y \ N +9 &:J_ \ M +9 &< Z \ N +10 &=_ \ N +9 &?` \ N +9 &AQ` \ N +10 &Ca  \ N +9 &Dg \ O +9 &Fp \ P +10 &HL \ R +9 &J \ V +10 &K  \ X +9 &M  \ X +10 &OA \ Y +9 &Q \ Z +9 &R \ Y +10 &T \ [ +9 &VB \ [\ +9 &X \ [ +10 &Y \ ] +9 &[ \ J +9 &\\8 \ 3 +10 &\\i \ L +2 ( +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&^1 +60 "core" 1 +2 "manipulator"&_% +4 "core" % 8 j 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%a& +5 "core" &\  + "manipulator"&b% +4 "core" %   +2 "storage"(c% +3 "core" % \ +2 "storage"(d. +3 "core" .(  +2 "storage"(e& +4 "core" &  @\ + "storage"(f& +4 "core" &  \ +2 "manipulator"&g& +3 "core" &Ӑ$ n =F +2 "manipulator"&h% +4 "core" %  ?  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&i( +163 "core" ( + "manipulator"&j& +5 "core" & 8  + "storage"(k& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&l'S +90 "core" ' +2 "storage"(m& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +299 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (p& +3 "core" &  \ +2 "manipulator"&q& +3 "core" & V  +2 .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( + "manipulator"&s& +4 "core" &  E  + "storage"(t& +4 "core" &  }\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"(x' +8 "core" &   + "manipulator"&y% +4 "core" % Ϻ  O +2 .tForearm.seek :retract +2 "manipulator"&z' +87 "core" ' +2 .tElbow.seek PC + "manipulator"&{( +175 "core" ' + ."downElevator"SE.stop + "storage"(5 +64 "core" ( + "manipulator"&|& +4 "core" &  : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &  g : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&~' +93 "core" ' +3 "manipulator"&& +4 "core" &   a : +2 "manipulator"&% +4 "core" % % 9 + "processing"%& +4 "core" &\  +2 "processing"%& +6 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +6 &E\ $f +9 &rT\ 8 +10 &\ M +9 &zZ\ P +10 &;]\ P +9 &Z\ P +9 &_\ P +10 &[\ O +9 &DZ\ P +10 &]\ P +9 &Y\ P +9 &!Z\ O +9 &#LX\ P +10 &%Z\ O +9 &&[\ P +10 &(_\ P +9 &*U\\\ O +9 &,]\ P +10 &-]\ P +9 &/`\ P +10 &1]Y\ O +9 &3\\\ P +9 &4\\\ P +10 &6]\ P +9 &8c\\\ P +9 &:%\\\ P +10 &;]\ P +9 &=\\\ P +10 &?k]\ P +9 &A,^\ P +9 &Be\ Q +10 &Dm\ R +9 &Fi~\ S +9 &H$\ V +10 &I\ V +9 &K\ V +10 &Mj\ V +9 &O+\ V +9 &P\ X +10 &R\ W +9 &Tm\ X +9 &V2\ V +10 &W\ W +9 &Y\ W +10 &[v\ W +9 &]8\ Q +9 &^uCs\ 't +10 &^0\ 0 +5 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&1 +4 "core" &^ \ 0 +57 1 + "manipulator"&% +4 "core" %  9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + "processing"%& +5 "core" &^ \ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"& % +4 "core" % % M @ +2 "storage"(\ % +3 "core" %  { \ +2 "storage"( . +3 "core" .(  + "storage"( & +4 "core" &  } b\ +2 "storage"( & +3 "manipulator"&& +5 "core" &   | K\ + & \ : +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r + "manipulator"&( +5 "core" ( + "manipulator"&& +4 "core" &  : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  : +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open + "processing"%( +92 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +308 ( +2 "storage"(& +4 "core" &  \ + "manipulator"&& +4 "core" &  : + "manipulator"&% +4 "core" %  Z 6 +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&"( +245 "core" ( +2 "manipulator"&%& +4 "core" &  D +2 "storage"('& +3 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&)'S +97 "core" ' + .tHand.open + "manipulator"&(1 +62 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(#' +57 "core" ' + #tLights, camera, ACTION! +2 "storage"(,- +3 "core" -' +2 "storage"(-& +3 "core" &  ,\ +2 "manipulator"&.& +3 "core" &    D +2 .tElbow.seek 2 +2 "manipulator"&/( +4 "core" ( +2 "manipulator"&0& +4 "core" &   g D + "storage"(1& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&2'S +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +57 "core" ' + "manipulator"&4& +4 "core" &  [ D +2 "storage"(5& +4 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&6'Α +20 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +26 "core" ' +2 "manipulator"&9% +4 "core" %Ε  +2 "storage"(:& +5 "core" &  _\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 304 counts + "manipulator"&;' +17 "core" ' + "manipulator"&<& +5 "core" &  \\ C +2 "storage"(=& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&>'S +19 "core" ' + "storage"(?% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(!' +98 (A% +3 "core" %oB !\ Wc +2 "manipulator"&B% +4 "core" %t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (E& +4 "core" &  i\ +2 "collection"'G& +4 "core" &\\c \ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %   `  +2 "storage"(&% +3 "core" % \ +2 "storage"(I. +3 "core" .(  + "storage"( & +4 "core" &  \ +2 "storage"(J& +3 "core" &  \ +2 "manipulator"&K& +4 "core" &  Q C +2 .tElbow.seek 2 + "manipulator"&M( +4 "core" ( + "manipulator"&N& +4 "core" &  4 C +2 "storage"(P& +3 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +99 "core" ' +2 "storage"(S& +4 "core" &  ,\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'r +298 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +2 "core" &  C +2 "storage"(V& +4 "core" &  \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&W'Α +23 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +40 "storage"(Z'a +37 "core" ' +2 "manipulator"&[% +4 "core" %Π y + "storage"(L& +4 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&R' +17 "core" ' +2 "manipulator"&T& +5 "core" & C +2 "storage"(*& +4 "core" &  d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&^'S +17 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(_' +42 "core" ' + "manipulator"&a& +4 "core" & n C +2 "manipulator"&b% +4 "core" %M p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +154 "core" ( + "manipulator"&e& +5 "core" &ӏ( @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &ӏ( , @X +2 .tForearm.seek CC +2 "manipulator"&f'? +98 "core" ' +2 .tHand.close + "manipulator"&g/ +56 "core" / +3 .tCC.seek :open +2 "collection"'h( +447 "core" ( + "storage"(X& +4 "core" &  /\ +2 "storage"(j& +4 "core" &  \ + "manipulator"&k& +4 "core" &Ӑ(   @W + "manipulator"&m% +4 "core" % (  o o +2 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&`( +164 "core" ( + "manipulator"&o& +4 "core" &   +2 "storage"(p& +4 "core" &  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&q'Α +92 "core" ' +2 .tElbow.hold + "manipulator"&s, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&t1 +60 "core" 1 +2 "manipulator"&v% +5 "core" % Σ  > . + "storage"(w& +4 "core" &  H\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts + "manipulator"&y' +28 "core" ' + "manipulator"&i& +4 "core" & \ d  +2 "storage"(l& +4 "core" &  D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'S +17 "core" ' +2 "storage"(u% +4 "core" % s\ +3 ."downElevator"SE.seek :down +3 "storage"(|' +99 (}% +4 "core" %; \ U_ +2 "manipulator"&r% +4 "core" %L w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &  \ +2 "manipulator"&% +4 "core" %   ]  + "storage"(x% +4 "core" % \ +2 "storage"(z. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(+( +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & i\ \ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +32 "core" ( + "manipulator"& & +4 "core" &z > 3 +2 "storage"(\ & +4 "core" & G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +95 "core" ' +2 "storage"( & +4 "core" & !\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" & )\ +2 "manipulator"&& +4 "core" &z  l 3 + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&~& +4 "core" &z   w 3 + "storage"(& +4 "core" & _\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +7 "core" &z 3 +2 "manipulator"&% +4 "core" %   n + .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' + ( + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +7 "core" &ӏ) s Ab + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӑ( s Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'? +91 "core" ' +2 "manipulator"&'& +4 "core" &Ӓ) 8 A_ +2 "manipulator"&% +4 "core" %=  Q x +2 "collection"'(& +4 "core" &  \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"',(\\ +5 "core" & \ +6 & 5 \ %f +10 &V \ 7 +9 &~ \ L +9 &\\  \ N +10 &sW \ M +9 &5Z \ M +9 &Z \ M +10 &Y \ M +9 &z] \ N +10 &=X \ M +9 &Z \ M +9 &!W \ M +10 &#[ \ M +9 &%DW \ N +9 &'\\ \ M +10 &(W \ N +9 &*Z \ N +10 &,MX \ M +9 &.W \ M +9 &/Y \ M +10 &1[ \ N +9 &3UW \ M +9 &5\\ \ M +10 &6\\  \ M +9 &8W \ M +9 &:^Z \ M +10 &<\\ \ N +9 &=W \ M +10 &?Y \ N +9 &Ae] \ M +9 &C&_ \ N +10 &Df \ O +9 &Fo  \ P +10 &H]  \ S +9 &J \ \ W +9 &K \ Y +10 &M  \ Y +9 &OR  \ Y +10 &Q \ Z +9 &R \ Z +9 &T  \ \\ +10 &VR \ \ \\ +9 &X \ \\ +9 &Y \ ] +10 &[  \ J +9 &\\6  \ - +9 &\\ \ \ W +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 + .Hand.open + "manipulator"&-1 +4 "core" &\\ \ W +58 1 +2 "manipulator"&.% +5 "core" % =  + x + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&0' +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%1& +5 "core" &\ + "manipulator"&% +4 "core" %    +2 "storage"(4% +3 "core" % )\ +2 "storage"(5. +3 "core" .( + "storage"(9& +4 "core" & \ +2 "storage"(& +3 "core" & \ +2 "manipulator"&:& +4 "core" &ӓ'  @^ +2 "manipulator"&% +3 "core" %  L  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&<( +165 "core" ( + "manipulator"&=& +4 "core" &  &  +2 "storage"(?& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&"'7 +99 "core" ' +2 "storage"()& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'r +297 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" & <\ +2 "manipulator"&2& +3 "core" & v  +2 .tElbow.seek 3 +2 "manipulator"&/( +3 "core" ( + "manipulator"&3& +4 "core" &  + "storage"(6& +4 "core" &  2\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&G& + "storage"($' +7 "core" & j  +2 "manipulator"&&% +3 "core" % Ϡ  4 +2 .tForearm.seek :retract +2 "manipulator"&8' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&I( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +68 "core" ( + "manipulator"& & +4 "core" & D : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" & < : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K' +98 "core" ' + "manipulator"&N& +5 "core" &  S : + "manipulator"&P% +4 "core" %  ` +2 "processing"%>& +4 "core" &\ +2 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(^ +4 "core" &\ +8 & .\ #b +9 &T\ 8 +9 &}}\ L +10 &\\\ Q +9 &QY\ P +9 &W\ P +10 &Y\ P +9 &Z\ P +10 &ZY\ P +9 &Z\ P +9 &W\ P +10 &!Y\ P +9 &#cW\ P +9 &%%X\ P +10 &&X\ P +9 &(Z\ P +10 &*jZ\ P +9 &,,Z\ P +9 &-X\ P +10 &/Z\ P +9 &1sY\ P +9 &35Y\ P +10 &4Y\ O +9 &6Z\ P +10 &8z\\\ P +9 &:<Z\ P +9 &;\\\ P +10 &=Z\ P +9 &?Z\ P +9 &AB`\ Q +10 &Bj\ R +9 &Dr\ S +10 &F{\ U +9 &H:\ V +9 &I\ V +10 &K\ W +9 &M~\ W +9 &OA\ V +10 &Q\ W +9 &R\ W +9 &T\ X +10 &VG\ W +9 &X \ W +10 &Y\ X +9 &[\ W +9 &]M\ K +10 &^yG\ !e +9 &^C\ 7 +6 ( + "processing"%S& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&71 +3 "core" &^1\ 7 +51 1 +2 "manipulator"&D% +4 "core" %  ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +96 "core" ' + "processing"%H& +4 "core" &^/\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&V% +4 "core" %    +2 "storage"(Y% +4 "core" % g e q\ + "storage"([. +3 "core" .( +2 "storage"(L& +3 "core" & f e \ +2 "storage"(T& +3 "manipulator"&*& +6 "core" & e e \ + &  9 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&a( +2 "storage"(b'r +5 "core" ( + "manipulator"&Q& +4 "core" & 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +52 &M& +2 "core" &  a 9 +2 .tForearm.seek PC +2 "manipulator"&C' +91 "core" ' +2 .tHand.close + "manipulator"&W/ +61 "core" / +2 .tPC.seek :open +2 "processing"%R( +48 "core" ' + "storage"(Z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'1 +44 "core" ' +350 ( +2 "storage"(\\& +4 "core" & \ +2 "manipulator"&^& +4 "core" & q 9 + "manipulator"&O% +4 "core" %  w . +2 .tForearm.seek :retract +2 "manipulator"&g' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&c( +243 "core" ( +2 "manipulator"&]& +4 "core" &~ < I +2 "storage"(X& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&j'7 +95 "core" ' + .tHand.open + "manipulator"&k1 +55 "core" 1 +2 "storage"(m- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(o' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(p' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(d& +4 "core" & q p \ +2 "manipulator"&t& +3 "core" &~  \  I +2 .tElbow.seek 3 +2 "manipulator"&v( +4 "core" ( + "manipulator"&w& +4 "core" &~   / I +2 "storage"(i& +4 "core" & | y 7\ +2 .tForearm.seek 3 + 450 counts + "manipulator"&l'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(u'" +57 "core" ' + "manipulator"&U& +4 "core" &~ v I +2 "storage"(}& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&r'u +23 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(q' +23 "core" ' +2 "manipulator"&% +4 "core" % . +2 "storage"(y& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&'ϫ +21 "core" ' +2 "manipulator"&x& +4 "core" & n H +2 "storage"(z& +4 "core" & R\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&_'7 +26 "core" ' +2 "storage"(n% +4 "core" % #\ +3 ."downElevator"SE.seek :down +3 "storage"(|' +98 (@% +3 "core" %C  u y\ Vb +2 "manipulator"&% +4 "core" %0 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" & G\ + "collection"'\ & +4 "core" &\\ \ W +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %  b  +2 "storage"(s% +4 "core" % 6\ + "storage"(. +4 "core" .( + "storage"(& +4 "core" &  \ +2 "storage"( & +4 "core" & | \ + "manipulator"&& +4 "core" &  H + .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +4 "core" & 0 H + "storage"({& +4 "core" & ~ r\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +97 "core" ' + "storage"(& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +301 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & [ H + "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'u +15 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"('f +30 "core" ' + "manipulator"&(% +4 "core" %· ] < +2 "storage"(& +3 "core" & ~ v\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&'ϳ +27 "core" ' + "manipulator"&& +5 "core" &  H + "storage"(h& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&-'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(.' +40 "core" ' +2 "manipulator"&1& +5 "core" &  H + "manipulator"&% +4 "core" %;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&5(ӂ +154 "core" ( +2 "manipulator"&9& +4 "core" &ӎ( } A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &ӎ( t A` +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close + "manipulator"&:/ +62 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"(%& +4 "core" & V\ +2 "storage"(=& +4 "core" & \ +2 "manipulator"&?& +3 "core" &ӑ( @] +2 "manipulator"&)% +3 "core" % E  h E +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&0( +164 "core" ( + "manipulator"&A& +4 "core" & \  n  +2 "storage"(B& +4 "core" & K\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&2'u +98 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +62 "core" 1 +2 "manipulator"&E% +4 "core" % p  T +2 "storage"(G& +4 "core" & i\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts + "manipulator"&&'Ϝ +27 "core" ' + "manipulator"&<& +4 "core" & D  +2 "storage"("& +4 "core" & H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&#'7 +15 "core" ' + "storage"(;% +5 "core" % E\ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (J% +3 "core" %]; \ V^ + "manipulator"&/% +4 "core" %B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +95 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'P& +4 "core" & \ +2 "manipulator"&>% +4 "core" % ! ( + "storage"($% +4 "core" % \ +2 "storage"(8. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &,y R\  + "manipulator"&D& +4 "core" &  r  +2 .tElbow.seek 4 + "manipulator"&H( +29 "core" ( + "manipulator"&V& +5 "core" &   + "storage"(Y& +4 "core" &,y \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&[' +90 "core" ' +2 "storage"(L& +4 "core" &,y G\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +290 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &,y Y\  +2 "manipulator"&Q& +3 "core" & p  +2 .tElbow.seek 4 + "manipulator"&M( +19 "core" ( +2 "manipulator"&K& +4 "core" &  \\  + "storage"(W& +4 "core" &,y :\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&Z'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& + "storage"(!' +6 "core" &  d  +2 "manipulator"&b% +4 "core" % [  , +2 .tForearm.seek :retract +2 "manipulator"&\\' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^(ӂ +160 "core" ( +2 "manipulator"&O& +4 "core" &ӟ   9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' + ."downElevator"SE.stop +3 "manipulator"&C& + "storage"(5 +6 "core" &ӟ f 9& +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'? +92 "core" ' + "manipulator"&X& +5 "core" &ӟ  > 9& + "manipulator"&a% +4 "core" %I  s +2 "collection"'k& +4 "core" & \ +3 "collection"'m& +4 "core" & \ +3 .tCC.seek :closed + "collection"'f(\\ +5 "core" & \ +6 &;  \ %f +10 &W~ \ 7 +9 &~  \ L +10 &^ \ M +9 &qZ \ M +9 &3Z \ M +10 &W \ M +9 &[ \ M +9 &yZ  \ M +10 &<W \ M +9 &Y \ M +10 &!Z \ M +9 &#[ \ M +9 &%CY \ M +10 &'Y \ M +9 &(Z  \ M +9 &*Y \ M +10 &,KZ  \ M +9 &.Y \ M +9 &/Y  \ M +10 &1Z \ M +9 &3UZ \ M +10 &5W \ M +9 &6Y  \ M +9 &8Y \ \ M +10 &:]Z \ M +9 &<Y  \ M +9 &=Z \ M +10 &?Z  \ M +9 &AdZ \ M +10 &C$_ \ N +9 &Dh  \ N +47 &Fn \ \ O +13 &H[  \ S + &J  \ V + &K  \ Y + &M \ Y &OP \ Y +3 &Q  \ Z +9 &R \ Z +9 &T  \ [\ +10 &VQ \ \\ +9 &X \ \\ +9 &Y \ \ ] +10 &[  \ J +9 &\\9 \ - +10 &\\ \ X +2 ( + "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&d1 +57 "core" 1 +2 "manipulator"&t% +4 "core" % I  J s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%i& +4 "core" &\ +2 "manipulator"&g% +4 "core" % #  0 +2 "storage"(U% +4 "core" % Q\ + "storage"(}. +3 "core" .(,y +2 "storage"(& +4 "core" &,y >\  +2 "storage"(y& +4 "core" &,y C\  + "manipulator"&e& +4 "core" &ӟ  9& + "manipulator"&x% +4 "core" % # J 0 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&z( +163 "core" ( + "manipulator"&o& +5 "core" & ]  + "storage"(n& +4 "core" &,y @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&c' +93 "core" ' +2 "storage"(j& +4 "core" &,y 5\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'r +305 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,y N\  +2 "manipulator"&l& +4 "core" & |  +2 .tElbow.seek 4 + "manipulator"&v( +4 "core" ( + "manipulator"&u& +4 "core" & J  + "storage"(r& +4 "core" &,y \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"( ' +6 "core" &  +2 "manipulator"&s% +4 "core" % Ϗ E +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&q( +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +70 "core" ( + "manipulator"&& +5 "core" &   ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &  ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' + "manipulator"&& +4 "core" &  O ! +2 "manipulator"&{% +4 "core" %  0 X +2 "processing"%_& +4 "core" & \ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%|(^ +5 "core" &\ +6 & -\ $c +10 &Uz\ 7 +9 &|}\ L +9 &\\\ P +10 &PY\ P +9 &Y\ P +9 &Z\ P +10 &Y\ P +9 &[Y\ O +10 &Z\ P +9 &W\ P +9 &!X\ O +10 &#cY\ O +9 &%$X\ P +9 &&\\\ P +10 &(Y\ O +9 &*jY\ P +9 &,,\\\ P +10 &-Z\ P +9 &/\\\ P +10 &1rV\ P +9 &34W\ P +9 &4V\ P +10 &6[\ P +9 &8y]\ P +9 &:=Y\ O +10 &;Z\ P +9 &=Y\ O +10 &?Z\ P +9 &AC\\\ P +9 &Cg\ R +10 &Dp\ S +9 &Fz\ U +10 &H9\ V +9 &I\ V +9 &K\ X +10 &M}\ W +9 &O?\ W +10 &P\ X +9 &R\ W +9 &T\ X +9 &VF\ W +10 &X\ X +9 &Y\ W +10 &[\ X +9 &]L\ M +10 &^P\ $n +9 &^ \ . +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&`1 +53 "core" 1 + "manipulator"&% +4 "core" %   K X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' + "processing"%& +5 "core" &^\ . + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %  #  +2 "storage"('% +4 "core" % \ + "storage"((. +3 "core" .(,y +2 "storage"(& +3 "core" &,y w b\  +2 "storage"(& +5 "manipulator"&h& +3 "core" &,y J\  +2 & q ! +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&1( + "storage"('r +5 "core" ( + "manipulator"&& +4 "core" & O ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" & ! +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%( +101 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(9'1 +47 "core" ' +294 ( +2 "storage"(& +4 "core" &,y ~ V\  + "manipulator"&-& +4 "core" &  l ! + "manipulator"&% +4 "core" % \  ] - +2 .tForearm.seek :retract +2 "manipulator"&:' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&4( +245 "core" ( + "manipulator"&,& +4 "core" & / 1 +2 "storage"(%& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&=' +96 "core" ' +2 .tHand.open + "manipulator"&?1 +55 "core" 1 +2 "storage"()- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(B' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(5& +4 "core" &,y\ \  '\  +2 "manipulator"&6& +3 "core" & \  1 +2 .tElbow.seek 4 +2 "manipulator"&E( +3 "core" ( + "manipulator"&G& +4 "core" &    1 +2 "storage"(<& +3 "core" &,y\ \  k\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&"' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(;'" +52 "core" ' +2 "manipulator"&& +4 "core" & 1 +2 "storage"(J& +4 "core" &,y i w A\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&/'7 +13 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(2' +23 "core" ' +2 "manipulator"&P% +4 "core" %K m , +2 "storage"(&& +4 "core" &,y `\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&>'w +14 "core" ' +2 "manipulator"&$& +4 "core" & z 1 +2 "storage"(8& +4 "core" &,y )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +17 "core" ' + "storage"(#% +5 "core" % ,\ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (+% +3 "core" %7C h j \ Wd + "manipulator"&7% +5 "core" % ^ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +75 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (V& +3 "core" &,y E\  + "collection"'Y& +5 "core" &\\ \ X + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&L% +4 "core" %    + "storage"(3% +4 "core" % *\ +2 "storage"(N. +3 "core" .(,y + "storage"(T& +4 "core" &,y @\  +2 "storage"(S& +4 "core" &,y \  + "manipulator"&Q& +4 "core" & 9 1 +2 .tElbow.seek 4 + "manipulator"&K( +4 "core" ( + "manipulator"&W& +4 "core" &  v 1 +2 "storage"(I& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&F' +98 "core" ' +2 "storage"(b& +4 "core" &,y V\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'r +299 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & 1 +2 "storage"(C& +4 "core" &,y I\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&*'7 +12 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(a'j +29 "core" ' +2 "manipulator"&k% +4 "core" %B * + "storage"(M& +4 "core" &,y b\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 311 counts + "manipulator"&!'n +26 "core" ' + "manipulator"&\\& +4 "core" &  1 +2 "storage"(& +4 "core" &,y { H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(t' +49 "core" ' + "manipulator"&i& +5 "core" & 1 + "manipulator"&g% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&}(ӂ +150 "core" ( + "manipulator"&& +5 "core" &|-  Dw + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &|- Dw +2 .tForearm.seek CC +2 "manipulator"&y'? +94 "core" ' +2 .tHand.close + "manipulator"&e/ +54 "core" / + .tCC.seek :open +2 "collection"'x( +448 "core" ( +2 "storage"(]& +4 "core" &,y \  + "storage"(o& +56 "core" &,y \  + "manipulator"&n& +4 "core" &ӭ$ . =F + "manipulator"&j% +4 "core" % Q l  +2 .tForearm.seek :retract +2 "manipulator"&^' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&w( +165 "core" ( +2 "manipulator"&@& +4 "core" &   + "storage"(& +4 "core" &,y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&l'7 +102 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +52 "core" 1 +2 "manipulator"& % +4 "core" % 9  l +2 "storage"(\ & +4 "core" &,y _\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 302 counts + "manipulator"&s'e +17 "core" ' + "manipulator"&z& +4 "core" &  5  +2 "storage"(c& +4 "core" &,y Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +20 "core" ' +2 "storage"(% +4 "core" % S\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ( % +3 "core" %; g\ U^ +2 "manipulator"&v% +4 "core" %  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'{& +4 "core" & \ +2 "manipulator"&_% +4 "core" %   +  + "storage"( % +4 "core" % q\ +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(R(<- +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (`& +3 "core" &<* r\  + "manipulator"&& +4 "core" & R  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   + "storage"('& +4 "core" &<* u\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&('O +96 "core" ' + "storage"(& +5 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<* \  +2 "manipulator"&& +4 "core" &  c  + .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( + "manipulator"&& +4 "core" &  ?  +2 "storage"(& +3 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +32 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(|' +8 "core" &  +  + "manipulator"&% +4 "core" % Ͼ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +155 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &ӄ* $ Bi + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӆ*  5 Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&,'? +90 "core" ' +2 "manipulator"&%& +4 "core" &ӣ%   >J +2 "manipulator"&1% +4 "core" %@  $ i +2 "collection"'?& +4 "core" & \ +2 "collection"')& +5 "core" & \ +2 .tCC.seek :closed + "collection"'(\\ +6 "core" & \ +6 &;  \ %g +9 &X} \ 8 +10 &z \ L +9 &Y  \ L +9 &Z \ M +10 &E]  \ M +9 & Y  \ L +10 &Z  \ M +9 &W \ M +9 &NY \ M +10 & W \ M +9 &!V  \ M +9 &#Y \ M +10 &%VZ \ M +9 &'Z  \ M +10 &(W \ \ M +9 &*X \ L +9 &,^Y \ M +10 &. \\ \ M +9 &/Z \ L +9 &1Y \ M +10 &3f\\ \ \ M +9 &5(V \ M +10 &6W \ M +9 &8Y  \ M +9 &:n\\ \ M +10 &<0\\  \ M +9 &=W \ M +9 &?Y \ M +10 &Av\\ \ M +9 &C7] \ M +10 &Dg  \ N +9 &Fo \ \ P +9 &Hm \ S +10 &J$  \ V +9 &K \ \ Y +10 &M  \ Y +9 &Oa \ Y +9 &Q$ \ Y +9 &R \ Z +10 &T \ [\ +9 &Vd \ [\ +10 &X#  \ \\ +9 &Y  \ ] +9 &[  \ J +10 &\\2 \ 2 +9 &\\o \ M +3 ( + "collection"')& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&51 +63 "core" 1 +2 "manipulator"&6% +4 "core" % @ : i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&G' +96 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%<& +4 "core" &\ + "manipulator"&:% +4 "core" %    +2 "storage"(% +4 "core" % \ + "storage"(J. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(P(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (&& +3 "core" &<* N Q \  +2 "manipulator"&9& +4 "core" &ӣ% >J +2 "manipulator"&$% +3 "core" %  T  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&8( +165 "core" ( + "manipulator"&A& +5 "core" &  + "storage"(#& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&4'O +92 "core" ' + "storage"(=& +5 "core" &<* @\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'r +295 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &<* Y\  +2 "manipulator"&"& +3 "core" &  U  +2 .tElbow.seek 5 +2 "manipulator"&E( +3 "core" ( + "manipulator"&;& +4 "core" &   +2 "storage"(/& +3 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&>'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(L' +8 "core" &   + "manipulator"&2% +4 "core" % ϵ  - +2 .tForearm.seek :retract +2 "manipulator"&3' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&T& +4 "core" &  = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &  H = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q' +97 "core" ' +2 "manipulator"&W& +4 "core" & : = +2 "manipulator"&I% +4 "core" %  +2 "processing"%.& +3 "core" &\ +2 "processing"%b& +6 "core" &\ +2 .tPC.seek :closed + "processing"% (^ +5 "core" &\ +7 &<\ $d +9 &Uz\ 7 +10 &}}\ L +9 &\\\ P +9 &UW\ P +10 &W\ P +9 &\\\ P +10 &Z\ P +9 &]V\ P +9 &W\ P +10 &U\ O +9 &!W\ O +9 &#fY\ O +10 &%)V\ O +9 &&Y\ P +9 &(V\ O +10 &*nY\ O +9 &,/[\ P +10 &-W\ P +9 &/Z\ O +9 &1uY\ P +10 &38W\ O +9 &4V\ O +10 &6Z\ O +9 &8}W\ P +9 &:@U\ O +10 &<Y\ P +9 &=Z\ P +9 &?Y\ O +10 &AHY\ O +9 &Cb\ Q +10 &Dh\ R +9 &Fx\ S +9 &H>\ V +10 &I\ V +9 &K\ V +9 &M\ V +10 &OC\ V +9 &Q\ W +10 &R\ V +9 &T\ X +9 &VH\ X +10 &X \ W +9 &Y\ W +9 &[\ X +10 &]O\ K +9 &^Q\ #k +9 &^\ . +3 ( +2 "processing"%b& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&01 +56 "core" 1 + "manipulator"&D% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +93 "core" ' + "processing"%O& +5 "core" &^\ . + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&C% +3 "core" %  8  +2 "storage"(X% +4 "core" % \ + "storage"(k. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(M(<- +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +4 "core" &<* ? R V\  + "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & w = +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(i'r + "manipulator"&g( +5 "core" ( + "manipulator"&F& +4 "core" & ] = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" & N = +2 .tForearm.seek PC +2 "manipulator"&H' +93 "core" ' + .tHand.close + "manipulator"&*/ +63 "core" / +2 .tPC.seek :open +2 "processing"%!( +90 "core" ' + "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +315 ( +44 "storage"(m& +14 "core" &<* z { \  +2 "manipulator"&d& +3 "core" &  _ = +2 "manipulator"&Z% +4 "core" %  U 5 +2 .tForearm.seek :retract +2 "manipulator"&e' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&U( +245 "core" ( +2 "manipulator"&f& +4 "core" &  F +2 "storage"(]& +4 "core" &<* &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&o'O +94 "core" ' +2 .tHand.open + "manipulator"&n1 +65 "core" 1 +2 "storage"(j- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +4 "core" -' + "storage"(}& +4 "core" &<* \  +2 "manipulator"&r& +3 "core" &   # E +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&\ & +4 "core" &  U E +2 "storage"(z& +4 "core" &<* \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +53 "core" ' + "manipulator"&^& +5 "core" & E +2 "storage"( & +4 "core" &<* \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v'΍ +22 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(l' +21 "core" ' +2 "manipulator"&{% +4 "core" %Η ( +2 "storage"(s& +4 "core" &<* { .\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 310 counts +2 "manipulator"&_' +13 "core" ' + "manipulator"& & +5 "core" &  B D + "storage"(& +5 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +16 "core" ' +2 "storage"(p% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %D \ We +2 "manipulator"&`% +4 "core" %= G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<* \  +2 "collection"''& +4 "core" &\\k  \ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %   +2 "storage"(u% +4 "core" % \ + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +2 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<+6 [ g %\  + "manipulator"&& +4 "core" & C +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & \  \ C +2 "storage"(q& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +95 "core" ' + "storage"(& +5 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & C +2 "storage"(& +4 "core" &<* ~ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&h'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"(1'^ +28 "core" ' + "manipulator"&?% +4 "core" %Έ * # +2 "storage"(~& +4 "core" &<* &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 295 counts + "manipulator"&|'ϴ +14 "core" ' +2 "manipulator"&& +4 "core" &  B +2 "storage"(x& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +19 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(6' +34 "core" ' + "manipulator"&<& +4 "core" & 3 B +2 "manipulator"&:% +4 "core" %F  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +156 "core" ( + "manipulator"&)& +4 "core" &ә"  } <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &ә" U <? +2 .tForearm.seek CC + "manipulator"&9'? +93 "core" ' +2 .tHand.close + "manipulator"&$/ +63 "core" / +2 .tCC.seek :open + "collection"',( +448 "core" ( +2 "storage"(A& +4 "core" &<* \  +2 "storage"(#& +3 "core" &<* \  +2 "manipulator"&R& +37 "core" &Ӛ#  7 <> + "manipulator"&=% +5 "core" % G  < + .tForearm.seek :retract +2 "manipulator"&-' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&G( +164 "core" ( +2 "manipulator"&+& +4 "core" &  t  + "storage"(7& +4 "core" &<* {\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&"'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&/1 +61 "core" 1 +2 "manipulator"&V% +3 "core" % Π  J C +2 "storage"(Y& +5 "core" &<* h\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&2' +16 "core" ' + "manipulator"&8& +5 "core" & /  + "storage"(4& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&B'O +17 "core" ' +2 "storage"(>% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(T' +99 (S% +3 "core" %< \ U^ + "manipulator"&E% +4 "core" %?   < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +86 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'I& +4 "core" & \ +2 "manipulator"&.% +4 "core" %   5  +2 "storage"(L% +4 "core" % p\ + "storage"(3. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +408 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" &K ;\  +2 "manipulator"&D& +4 "core" &  r  +2 .tElbow.seek 6 + "manipulator"&O( +4 "core" ( + "manipulator"&C& +4 "core" & y  + "storage"(X& +4 "core" &K F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&k' +99 "core" ' + "storage"(b& +4 "core" &K D\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &K \  + "manipulator"&K& +4 "core" &   +2 .tElbow.seek 6 +50 "manipulator"&Q( +5 "core" ( + "manipulator"&*& +4 "core" & \\  +2 "storage"(P& +3 "core" &K ~\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'h +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +65 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&[& + "storage"( ' +6 "core" &  |  +2 "manipulator"&i% +4 "core" % ϝ +2 .tForearm.seek :retract +2 "manipulator"&m' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&Z& +5 "core" &Ӎ   & 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &Ӎ   4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'? +95 "core" ' +2 "manipulator"&]& +5 "core" &Ӎ   u 4 + "manipulator"&g% +4 "core" %I  +2 "collection"'n& +4 "core" & \ +2 "collection"'j& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'y(\\ +4 "core" &  \  +8 &4~  \ *z +10 &f  \ ? +9 &t \ N +9 &RW \ M +10 &W  \ L +9 &\\  \ M +10 &W  \ L +9 &\\X \ L +9 &Z  \ L +10 &W \ M +9 & W  \ L +9 &"dY \ L +10 &$&Y \ L +9 &%[  \ M +10 &'\\  \ M +9 &)kZ \ M +9 &+-W  \ M +10 &,Z \ L +9 &.V  \ M +9 &0tZ \ \ L +10 &25W  \ M +9 &3U  \ L +9 &5W  \ L +10 &7{[  \ M +9 &9=\\  \ M +10 &:Y \ M +9 &<V  \ L +9 &>Z  \ M +10 &@E[ \ M +9 &B_  \ M +10 &Cf  \ N +9 &Ew \ P +9 &G8 \ T +10 &H \ W +9 &J  \ Y +9 &Ln  \ Y +10 &N- \ Z +9 &O \ [\ +9 &Q \ Z +10 &So \ \\ +9 &U2 \ [ +10 &V \ ] +9 &X \ ^ +9 &Zo \ ^ +10 &\\z \ 6 +11 &\\' \ #i +8 ( +5 "collection"'j& +9 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 +2 .Hand.open +4 "manipulator"&}1 +6 "core" &\\ \ !` +2 &\\ \ !` +45 1 +3 "manipulator"&r% +9 "core" % I  +4 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&\ ' +93 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp +3 "processing"%z& +10 "core" &\ +4 "manipulator"&e% +8 "core" %     +4 "storage"(^% +9 "core" % \ +3 "storage"( . +7 "core" .(K +3 "storage"({& +8 "core" &K \  +4 "storage"(s& +8 "core" &K \ \  +4 "manipulator"&& +7 "core" &Ӎ 4 +3 "manipulator"& % +8 "core" %   +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +3 "manipulator"&( +165 "core" ( +3 "manipulator"&@& +8 "core" & I  +3 "storage"(p& +8 "core" &K  } \  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +3 "manipulator"&U' +100 "core" ' +3 "storage"(o& +9 "core" &K z z \  +5 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"('r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &K \  +2 "manipulator"&c& +3 "core" &  5  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" &   + "storage"(v& +4 "core" &K E\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&_'h +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(' +8 "core" & W  + "manipulator"&u% +4 "core" % l t +2 .tForearm.seek :retract +2 "manipulator"&l' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&& +5 "core" & 2 + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & R * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' +2 "manipulator"&q& +4 "core" &  * +2 "manipulator"&t% +4 "core" %  % + "processing"%& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed + "processing"%M(^ +5 "core" &\ +7 &6\ $c +9 &T{\ 7 +10 &}}\ L +9 &Z\ O +9 &SZ\ O +10 &V\ O +9 &[\ O +9 &U\ O +10 &ZT\ P +9 &[\ O +9 &T\ O +10 &!T\ O +9 &#cU\ O +10 &%%T\ O +9 &&[\ O +9 &(Z\ O +10 &*kZ\ O +9 &,,W\ P +10 &-W\ P +9 &/Y\ P +9 &1rW\ P +10 &34W\ P +9 &4W\ P +9 &6W\ P +10 &8{\\\ O +9 &:=U\ O +10 &;X\ O +9 &=Z\ P +9 &?Y\ P +10 &AC\\\ P +9 &Bl\ R +9 &Dt\ S +10 &Fy\ V +9 &H9\ V +9 &I\ U +10 &K\ V +9 &M~\ W +10 &O?\ W +9 &Q\ W +9 &R\ W +10 &T\ X +9 &VG\ W +9 &X\ W +10 &Y\ W +9 &[\ W +10 &]N\ I +9 &^vD\ %n +10 &^4\ 4 +5 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&w1 +4 "core" &^(\ 4 +57 1 + "manipulator"&% +4 "core" %   m % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +94 "core" ' +2 "processing"%& +4 "core" &^(\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %    +2 "storage"(%% +3 "core" % e e \ +2 "storage"(?. +3 "core" .(K + "storage"(~& +4 "core" &K e d A\  +2 "storage"(& +5 "manipulator"&x& +4 "core" &K e e v\  + & L * +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&<( + "storage"(:'r +5 "core" ( + "manipulator"& & +4 "core" & * * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & * +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&h/ +63 "core" / +2 .tPC.seek :open + "processing"%|( +95 "core" ' +2 "storage"(1- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'1 +47 "core" ' +300 ( + "storage"(&& +5 "core" &K  +\  + "manipulator"&5& +4 "core" &  * + "manipulator"&% +4 "core" % \  T / +2 .tForearm.seek :retract +2 "manipulator"&$' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +243 "core" ( +2 "manipulator"&& +4 "core" & W . + "storage"(A& +4 "core" &K k &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +93 "core" ' + .tHand.open + "manipulator"&R1 +52 "core" 1 +2 "storage"(=- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(+' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(7' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(9- +4 "core" -' + "storage"(J& +4 "core" &K i\  +2 "manipulator"&/& +4 "core" &  ~ . +2 .tElbow.seek 6 + "manipulator"&V( +3 "core" ( +2 "manipulator"&Y& +4 "core" &   & . +2 "storage"(8& +4 "core" &K T\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&4' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(>'" +65 "core" ' + "manipulator"&-& +4 "core" & i . +2 "storage"(S& +4 "core" &K y k Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&E'< +22 "core" ' + .tElbow.hold +2 "manipulator"&G, +54 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"("' +23 "core" ' +2 "manipulator"&I% +4 "core" %N y +2 "storage"(2& +4 "core" &K e i \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&.'z +15 "core" ' + "manipulator"&L& +5 "core" & " . + "storage"(3& +4 "core" &K W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +19 "core" ' + "storage"(B% +5 "core" % y\ +2 ."downElevator"SE.seek :down +4 "storage"(T' +99 (% +3 "core" %W? r g \ Wd +2 "manipulator"&0% +4 "core" %  v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +4 "core" &K \  + "collection"'X& +4 "core" &\\ \ !` +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&b% +4 "core" %  '  +2 "storage"(;% +3 "core" % \ +2 "storage"(W. +3 "core" .(K +2 "storage"(& +3 "core" &K \  +2 "storage"(F& +4 "core" &K "\  + "manipulator"&K& +4 "core" & \ . +2 .tElbow.seek 6 +2 "manipulator"&*( +3 "core" ( + "manipulator"&P& +4 "core" &  < . +2 "storage"(N& +4 "core" &K Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +96 "core" ' + "storage"(i& +5 "core" &K  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'r +300 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Z& +3 "core" &  6 . +2 "storage"(H& +3 "core" &K e e \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&\\'< +12 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(g'f +28 "core" ' + "manipulator"&n% +4 "core" %N  e 0 +2 "storage"(Q& +4 "core" &K b\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"& 'z +16 "core" ' + "manipulator"&m& +5 "core" & \\ . + "storage"(,& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(r' +39 "core" ' +2 "manipulator"&z& +4 "core" & f . +2 "manipulator"&j% +4 "core" % M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&^(ӂ +154 "core" ( +2 "manipulator"& & +4 "core" &ӏ( @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +2 "core" &ӏ' F @^ +2 .tForearm.seek CC +2 "manipulator"&s'? +92 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"' ( +448 "core" ( +2 "storage"(f& +4 "core" &K \  + "storage"(@& +4 "core" &K \  +2 "manipulator"&p& +3 "core" &ӏ( t @^ +2 "manipulator"&d% +3 "core" % <  I +2 .tForearm.seek :retract +2 "manipulator"&o' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&\ ( +169 "core" ( +2 "manipulator"&& +4 "core" &  I  +2 "storage"(`& +3 "core" &K 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&c'< +93 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +53 "core" 1 +2 "manipulator"&% +4 "core" % L   i 9 +2 "storage"('& +3 "core" &K t\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&u'x +15 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(U& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +20 "core" ' +2 "storage"(_% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (% +3 "core" %F \ Vb +2 "manipulator"& % +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +94 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'t& +4 "core" & \ +2 "manipulator"&% +4 "core" %   m  + "storage"(% +4 "core" % \ +2 "storage"(l. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(!(  +1301 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &  \ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +3 "core" & h  +2 "storage"(%& +4 "core" &  ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&?'S +93 "core" ' +2 "storage"(~& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  _\ +2 "manipulator"& & +4 "core" & D  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & ?  +2 "storage"(h& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&1'Ͻ +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&(& + "storage"(M' +6 "core" &  x  +2 "manipulator"&:% +4 "core" %  i + .tForearm.seek :retract +2 "manipulator"&&' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&5(ӂ +157 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +3 "core" &ӓ! o :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӓ! Y :0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + "manipulator"&A& +5 "core" &ӓ!  :0 + "manipulator"&<% +4 "core" %G  9 x +2 "collection"'R& +4 "core" & "\ +2 "collection"'=& +5 "core" & %\ +2 .tCC.seek :closed +2 "collection"'9(\\ +4 "core" & \  +9 &5~ \ +{ +9 & g "\ ? +10 &s "\ M +9 &YX \ L +10 &Z \ L +9 &Z  \ L +9 &V \ L +10 &aU \ L +9 &$Y \ L +9 &Y \ M +10 & X  \ L +9 &"iU  \ L +10 &$+U \ L +9 &%U \ L +9 &'U \ L +10 &)qU \ L +9 &+3U \ L +9 &,T \ L +10 &.X \ L +9 &0xW  \ M +10 &2;W \ L +9 &3U \ L +9 &5U \ L +10 &7Z  \ L +9 &9CZ  \ L +9 &;Z \ L +10 &<Y  \ L +9 &>Z \ M +9 &@JX  \ M +10 &B \\  \ M +9 &C` \ M +10 &Eg  \ N +9 &GIp \ P +9 &I  \ R +10 &J \ W +9 &Lv \ X +10 &N7 \ Y +9 &O \ Y +9 &Q  \ Y +10 &Sw  \ [ +9 &U9 \ [ +9 &V  \ [ +10 &X \ \\ +9 &Zy \ ] +10 &\\{ \ 0 +9 &\\/ \ \ "h +9 ( + &\\h \ Q +2 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.11 +51 .Hand.open +2 "manipulator"&J1 +55 "core" 1 + "manipulator"&/% +4 "core" % G  # x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Y' +92 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%8& +4 "core" &\ +2 "manipulator"&$% +3 "core" %    +2 "storage"(-% +4 "core" % \ +2 "storage"(S. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"()(  +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" & '\ +2 "manipulator"&I& +4 "core" &ӓ  :0 +2 "manipulator"&2% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&L( +164 "core" ( +2 "manipulator"&3& +4 "core" &  s  +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&B'S +94 "core" ' +2 "storage"(#& +4 "core" & p\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (4& +3 "core" & '\ +2 "manipulator"&0& +3 "core" &  T  +2 .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( + "manipulator"&>& +4 "core" &  :  +2 "storage"(E& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&.'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&X& + "storage"(b' +8 "core" &   + "manipulator"&;% +4 "core" % Ϲ Y +2 .tForearm.seek :retract +2 "manipulator"&"' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&W( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&& +4 "core" &  t 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" & 9 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K' +98 "core" ' +2 "manipulator"&P& +4 "core" &  4 4 +2 "manipulator"&N% +4 "core" %  + "processing"%6& +4 "core" &\ +2 "processing"%i& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%T(^ +4 "core" &\  +9 &0u\ *y +10 &c\ ? +9 &mu\ O +9 &/W\ O +10 &W\ O +9 &W\ O +9 &tZ\ O +10 &5X\ P +9 &Y\ P +10 &W\ O +9 & |U\ O +9 &">V\ O +10 &$T\ O +9 &%V\ O +9 &'W\ O +10 &)GT\ O +9 &+X\ O +10 &,X\ O +9 &.S\ O +9 &0OW\ O +10 &2W\ O +9 &3W\ O +9 &5W\ O +10 &7VX\ O +9 &9W\ O +10 &:Y\ P +9 &<X\ O +9 &>]Z\ P +10 &@ Y\ O +9 &A\\\ P +9 &Cg\ Q +10 &E_p\ R +9 &G\ T +10 &H\ V +9 &J\ V +9 &L[\ V +10 &N\ V +9 &O\ W +10 &Q\ W +9 &S_\ W +9 &U!\ W +10 &V\ W +9 &X\ X +9 &Zg\ W +10 &\\(\ X +9 &]|\ : +9 &^,\ !c +10 &^+\ 7 +2 ( +2 "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&G1 +53 "core" 1 + "manipulator"&D% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +94 "core" ' + "processing"%Z& +4 "core" &^.\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&H% +4 "core" % # ( 8 +2 "storage"(]% +3 "core" % d d 2\ +2 "storage"(n. +3 "core" .(  + "storage"(Q& +4 "core" & d d /\ +2 "storage"(m& +3 "manipulator"&,& +5 "core" & d e w\ + &  4 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&z( +6 ."raiseStack"SE.seek :beamBreak + "storage"(j'r +3 "core" ( + "manipulator"&[& +4 "core" & I 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" & 0 4 +2 .tForearm.seek PC +2 "manipulator"&O' +93 "core" ' + .tHand.close + "manipulator"&\\/ +65 "core" / +2 .tPC.seek :open + "processing"% ( +92 "core" ' + "storage"(g- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( '1 +43 "core" ' +311 ( + "storage"({& +4 "core" & \ +2 "manipulator"&}& +4 "core" & y 4 +2 "manipulator"&a% +3 "core" %   ? : +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&e( +245 "core" ( +2 "manipulator"&y& +4 "core" & S + "storage"(f& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&@'S +93 "core" ' + .tHand.open + "manipulator"&p1 +54 "core" 1 +2 "storage"(d- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(`' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +4 "core" -' +2 "storage"(^& +3 "core" & m\ +2 "manipulator"&v& +4 "core" &   _ R +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&'& +4 "core" &   d R +2 "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 450 counts + "manipulator"&U'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +51 "core" ' +2 "manipulator"&o& +4 "core" & < R +2 "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& 'Α +18 "core" ' +2 .tElbow.hold + "manipulator"&\ , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(c' +23 "core" ' +2 "manipulator"&t% +4 "core" %Τ  O +2 "storage"(u& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +16 "core" ' +2 "manipulator"&& +4 "core" & [ Q +2 "storage"(l& +4 "core" & s\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&r'S +17 "core" ' +2 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %C \ We +2 "manipulator"&w% +4 "core" %d  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +76 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & } .\ +2 "collection"'%& +4 "core" &\\h  \ Q + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&~% +4 "core" %  #  + "storage"(% +4 "core" % ~ { \ +2 "storage"(q. +3 "core" .(  + "storage"(x& +4 "core" & { ~ \ +2 "storage"(& +3 "core" & } ~ \ +2 "manipulator"& & +4 "core" & H Q +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&h& +4 "core" & ? Q + "storage"(& +4 "core" &  } p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&('S +97 "core" ' + "storage"(:& +5 "core" & \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +51 "storage"('r +301 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & V Q +2 "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +21 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(A- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(<'d +29 "core" ' + "manipulator"&R% +4 "core" %Σ  = +2 "storage"(& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&M' +16 "core" ' + "manipulator"&&& +5 "core" &   P + "storage"( & +4 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&J'S +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(/' +38 "core" ' + "manipulator"&=& +5 "core" & q P + "manipulator"&8% +4 "core" %f j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-(ӂ +148 "core" ( + "manipulator"&S& +4 "core" &ӏ(  Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" &ӏ(  Ac +2 .tForearm.seek CC +2 "manipulator"&I'? +91 "core" ' + .tHand.close +2 "manipulator"&2/ +56 "core" / +3 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(3& +4 "core" & \ +2 "storage"(& +3 "core" & \ +2 "manipulator"&!& +3 "core" &Ӑ) Ab +2 "manipulator"&#% +4 "core" % K  u b +2 .tForearm.seek :retract +2 "manipulator"&5' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Y( +165 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(4& +4 "core" & "\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&0'Α +93 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&E1 +52 "core" 1 +2 "manipulator"&C% +5 "core" % Ξ  \ ' + "storage"(X& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 313 counts +2 "manipulator"&;' +16 "core" ' + "manipulator"&L& +5 "core" & m  + "storage"(B& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&7'S +17 "core" ' +2 "storage"(.% +4 "core" % $\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (F% +3 "core" %G \ Wf +2 "manipulator"&V% +4 "core" %? i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +93 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'N& +4 "core" & \ +2 "manipulator"&6% +4 "core" %  r  +2 "storage"(b% +4 "core" % \ + "storage"(". +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(|( +38 "Can"B\ _\\ +319 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" & \ +2 "manipulator"&D& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&Z( +33 "core" ( + "manipulator"&H& +5 "core" &  *  + "storage"(]& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&n'7 +93 "core" ' +2 "storage"(Q& +4 "core" & I\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +294 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" & \ +2 "manipulator"&[& +4 "core" & #  + .tElbow.seek 3 +2 "manipulator"&*( +28 "core" ( + "manipulator"&K& +4 "core" & \  @ m +2 "storage"(\\& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&g'ϡ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"(T' +7 "core" &   m +2 "manipulator"&j% +4 "core" % ϕ  d +2 .tForearm.seek :retract + "manipulator"&{' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&a& +4 "core" &Ӕ#  m << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &Ӕ#  1 << +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&y'? +92 "core" ' + "manipulator"&f& +5 "core" &Ӕ#   << +2 "manipulator"&z% +4 "core" %@ e + "collection"'p& +4 "core" & \ +2 "collection"'d& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'s(\\ +4 "core" & \ +7 &<  \ %g +10 &Wy \ 7 +9 &| "\ L +9 &Y \ M +10 &Y \ M +9 &B[ \ L +9 &Z \ L +10 &[  \ M +9 &X \ L +10 &JU \ L +9 & T \ L +9 &!Y  \ L +10 &#Z  \ L +9 &%QX \ M +9 &'W \ L +10 &(U \ L +9 &*T  \ L +9 &,YW \ M +10 &.W \ L +9 &/Y  \ L +10 &1Y \ L +9 &3bY  \ L +9 &5$W \ L +10 &6U \ L +9 &8U \ L +9 &:kU \ L +10 &<,X \ L +9 &=U \ L +10 &?W  \ L +9 &AqY \ M +9 &C2_ \ M +10 &Dc \ N +9 &Fp \ O +10 &Hj  \ R +9 &J \ V +9 &K \ X +10 &M \ Y +9 &O^ \ Y +9 &Q \ X +10 &R  \ Z +9 &T \ Z +10 &V_  \ [\ +9 &X \ \\ +9 &Y \ \\ +10 &[ \ J +9 &\\5 \ 0 +9 &\\n \ O +3 ( + "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&^1 +60 "core" 1 +2 "manipulator"&v% +4 "core" % @  e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +96 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %  K  +2 "storage"(o% +4 "core" % \ + "storage"(. +3 "core" .( +2 "storage"(t& +4 "core" & \ + "storage"(u& +4 "core" & K\ +2 "manipulator"& & +3 "core" &ӕ# ( <; +2 "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&l( +165 "core" ( + "manipulator"&& +4 "core" & s  +2 "storage"(& +3 "core" & \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&e'7 +90 "core" ' +2 "storage"(@& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" & ~ \ +2 "manipulator"&U& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&_& +4 "core" & m  + "storage"( & +4 "core" & \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(~' +6 "core" & i  +51 "manipulator"&c% +5 "core" % Ϛ  N +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&q( +115 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +123 "core" ( + "manipulator"&x& +4 "core" &  " ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' +2 "manipulator"&h& +4 "core" &  C ! +2 "manipulator"&% +4 "core" %  +2 "processing"%r& +4 "core" &\ +2 "processing"%:& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%(^ +3 "core" &\ +5 &\ 3 +10 &/Gw\ 1 +9 &Vo\ E +10 &e\ P +9 &U\ O +9 &vY\ P +10 &8W\ P +9 &W\ P +10 &X\ P +9 &Y\ O +9 &AZ\ O +10 &!Y\ O +9 &"W\ O +9 &$Z\ O +10 &&IV\ O +9 &( Y\ O +10 &)W\ P +9 &+V\ O +9 &-QY\ O +10 &/W\ O +9 &0W\ O +9 &2W\ O +10 &4ZV\ O +9 &6Y\ O +9 &7W\ O +10 &9V\ O +9 &;a\\\ O +10 &="Y\ P +9 &>Z\ P +9 &@Z\ O +10 &Bec\ Q +9 &D#k\ R +10 &E\ T +9 &G\ U +9 &I^\ V +10 &K \ V +9 &L\ V +9 &N\ V +10 &Pc\ W +9 &R%\ W +9 &S\ X +10 &U\ V +9 &Wk\ W +10 &Y,\ W +9 &Z\ W +9 &\\\ X +10 &^+^v\ 6 +9 &^S\ 1 +5 ( +2 "processing"%:& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&\ 1 +3 "core" &^%\ 1 +58 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +95 "core" ' + "processing"%& +4 "core" &^%\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" % % @ 9 +2 "storage"(A% +4 "core" % d d A\ + "storage"(R. +3 "core" .( +2 "storage"(& +4 "core" & e e 9\ +2 "storage"(&& +4 "manipulator"& & +4 "core" & o h \ + &  ! +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(='r +3 "manipulator"&8( +3 "core" ( + "manipulator"&(& +4 "core" & I ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & h ! +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%M( +94 "core" ' + "storage"(<- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'1 +48 "core" ' +302 ( + "storage"(+& +4 "core" & \ +2 "manipulator"&J& +3 "core" &  ^ ! +2 "manipulator"&1% +4 "core" % \  1  +2 .tForearm.seek :retract + "manipulator"&2' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$( +242 "core" ( + "manipulator"&9& +4 "core" &~  i : +2 "storage"(3& +4 "core" & C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' + .tHand.open + "manipulator"&!1 +62 "core" 1 +2 "storage"(#- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(4' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(I- +3 "core" -' +2 "storage"(-& +4 "core" &\ \  \ ~ +2 "manipulator"&E& +4 "core" &  9 + .tElbow.seek 3 +2 "manipulator"&C( +3 "core" ( + "manipulator"&X& +4 "core" &  ' 9 +2 "storage"(L& +4 "core" & ;\ +2 .tForearm.seek 3 + 450 counts + "manipulator"&B'7 +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +52 "core" ' + "manipulator"&5& +4 "core" & 9 +2 "storage"(F& +4 "core" & '\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&V'u +20 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +23 "core" ' +2 "manipulator"&N% +4 "core" %{  +2 "storage"(;& +4 "core" & }\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 306 counts + "manipulator"&6'ϧ +25 "core" ' + "manipulator"&b& +5 "core" &  7 + "storage"("& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&/'7 +16 "core" ' + "storage"(7% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 ()% +3 "core" %A \ Wd +2 "manipulator"&G% +4 "core" %3 } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (H& +3 "core" & >\ +2 "collection"']& +4 "core" &\\o \ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&Q% +4 "core" %  g  +2 "storage"(>% +4 "core" % z z \ + "storage"(P. +4 "core" .( + "storage"(m& +4 "core" & } | \ +2 "storage"(i& +3 "core" &  \ +2 "manipulator"&[& +4 "core" & 7 +2 .tElbow.seek 3 + "manipulator"&K( +4 "core" ( + "manipulator"&\\& +4 "core" & 9 7 +2 "storage"(W& +3 "core" &  | \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&k'7 +99 "core" ' +2 "storage"(j& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +294 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +2 "core" &   7 +2 "storage"(O& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&,'u +14 "core" ' +2 .tElbow.hold + "manipulator"&g, +53 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(f- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(z'f +34 "core" ' + "manipulator"&p% +4 "core" %Έ * +2 "storage"(*& +4 "core" & W\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&T'ϴ +29 "core" ' + "manipulator"&{& +4 "core" & # 7 +2 "storage"(& +4 "core" & } 7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&^'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(v' +37 "core" ' + "manipulator"&& +5 "core" &   7 + "manipulator"&% +4 "core" %&   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +99 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +162 "core" ( +2 "manipulator"&t& +5 "core" &Ӎ @ 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &Ӎ X 0 +2 .tForearm.seek CC +2 "manipulator"&u'? +92 "core" ' +2 .tHand.close + "manipulator"& / +57 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"(y& +4 "core" & \ +2 "storage"(& +3 "core" & \ +2 "manipulator"&& +4 "core" &Ӎ c 0 +51 "manipulator"&@% +4 "core" % 8 / +2 .tForearm.seek :retract +2 "manipulator"&}' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'( +162 "core" ( + "manipulator"&& +5 "core" &   + "storage"(w& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&U'u +96 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&% +4 "core" % p    + "storage"(%& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 295 counts +2 "manipulator"&c'Ϝ +27 "core" ' +2 "manipulator"&l& +4 "core" &  +2 "storage"(e& +4 "core" & (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&`'7 +13 "core" ' +2 "storage"(% +4 "core" % C\ +2 ."downElevator"SE.seek :down +4 "storage"(x' +99 (% +3 "core" %? \ Va + "manipulator"&% +4 "core" %>  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" & !\ + "manipulator"&r% +4 "core" %     +2 "storage"(~% +4 "core" % \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +3 "core" &,w \ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +29 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(A& +4 "core" &,w L\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +99 "core" ' + "storage"(& +4 "core" &,w [\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +294 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" &,w \ +2 "manipulator"&(& +4 "core" & r  + .tElbow.seek 4 +2 "manipulator"&( +19 "core" ( + "manipulator"& & +5 "core" &   + "storage"(& +4 "core" &,w l\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&<'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(' +6 "core" &   +2 "manipulator"&=% +4 "core" % Ϟ  +2 .tForearm.seek :retract +2 "manipulator"&+' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&J(ӂ +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&1& +4 "core" &Ӌ  D :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӌ   ^ :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'? +93 "core" ' +2 "manipulator"&3& +4 "core" &ӌ! :- +2 "manipulator"&8% +4 "core" %4 7 b +2 "collection"'!& +4 "core" & (\ +2 "collection"'#& +6 "core" & \ +2 .tCC.seek :closed + "collection"'I(\\ +5 "core" & \ +7 &; "\ %f +9 &X}  \ 8 +9 &x \ L +10 &X \ L +9 &X "\ L +10 &BY &\ L +9 &X #\ L +9 &X \ L +10 &Y \ L +9 &JU !\ L +9 & X \ L +10 &!W \ L +9 &#Y \ L +10 &%SW \ L +9 &'W \ L +9 &(W \ L +10 &*W  \ L +9 &,ZW \ L +9 &.X \ L +10 &/W  \ L +9 &1X \ \ L +9 &3bY \ L +10 &5$X \ L +9 &6X \ L +10 &8W \ L +9 &:hX \ M +9 &<,X \ L +10 &=Y  \ L +9 &?U \ L +10 &AqZ \ L +9 &C3[ \ L +9 &Dc \ N +10 &Fm  \ O +9 &Hi \ R +10 &J! \ U +9 &K \ X +9 &M \ X +10 &O] \ Y +9 &Q \ Y +9 &R \ Y +10 &T \ [ +9 &V^ \ [\ +10 &X \ \\ +9 &Y \ ] +9 &[ \ J +10 &\\2 \ 4 +9 &\\g \ N +2 ( +2 "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&-1 +57 "core" 1 + "manipulator"&E% +4 "core" % 4 ' b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%L& +4 "core" &\ +2 "manipulator"&2% +4 "core" %  .  +2 "storage"(5% +3 "core" % \ +2 "storage"(F. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(N(,y +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (S& +3 "core" &,w d ` 7\ +2 "manipulator"&;& +4 "core" &ӌ  i :- + "manipulator"&% +4 "core" %  .  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&b( +165 "core" ( + "manipulator"&"& +4 "core" &  n  +2 "storage"(7& +4 "core" &,w \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&$' +95 "core" ' + "storage"(& +4 "core" &,w f\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'r +299 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &,w /\ +2 "manipulator"&B& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&C( +4 "core" ( + "manipulator"&.& +4 "core" & P  +2 "storage"(V& +3 "core" &,w \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&6'c +35 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"(Q' +7 "core" &   +2 "manipulator"&>% +4 "core" % u : Z +2 .tForearm.seek :retract + "manipulator"&0' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&m& +4 "core" & ; 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" & 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&[' +99 "core" ' +2 "manipulator"&\\& +4 "core" &  ` 8 +2 "manipulator"&W% +4 "core" % 1 " + "processing"%/& +4 "core" &\ +2 "processing"%j& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +7 &5\ $d +9 &Ty\ 7 +10 &~|\ L +9 &Y\ O +9 &ZU\ O +10 &W\ O +9 &W\ O +9 &W\ O +10 &bT\ O +9 &"Y\ P +10 &W\ O +9 &!W\ O +9 &#iW\ O +10 &%,X\ O +9 &&X\ O +10 &(X\ O +9 &*qX\ O +9 &,4U\ O +10 &-W\ O +9 &/W\ O +9 &1yV\ O +10 &3;W\ O +9 &4U\ O +9 &6Y\ O +10 &8Y\ O +9 &:CU\ O +10 &<Z\ O +9 &=[\ O +9 &?U\ O +10 &AJY\ P +9 &Cg\ Q +9 &Dr\ R +10 &F\ U +9 &HA\ U +10 &J\ V +9 &K\ V +9 &M\ V +10 &OG\ V +9 &Q\ W +9 &R\ W +10 &T\ X +9 &VN\ V +10 &X\ W +9 &Y\ W +9 &[\ W +10 &]U\ F +9 &^Fz\ b +10 &^F\ 7 +5 ( + "processing"%j& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&Y1 +4 "core" &^1\ 7 +54 1 + "manipulator"&D% +5 "core" %  ! " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +97 "core" ' +2 "processing"%a& +4 "core" &^0\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +51 "manipulator"&O% +5 "core" % %  A +2 "storage"(f% +3 "core" % d d 3\ +2 "storage"(p. +3 "core" .(,y + "storage"(*& +4 "core" &,w d Z =\ +2 "storage"({& +4 "manipulator"&& +4 "core" &,w e e ;\ + &  8 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( + "manipulator"&k& +4 "core" & 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &  8 +2 .tForearm.seek PC +2 "manipulator"&Z' +96 "core" ' +2 .tHand.close + "manipulator"&,/ +56 "core" / +2 .tPC.seek :open +2 "processing"%T( +97 "core" ' +2 "storage"(z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(t'1 +43 "core" ' +303 ( +2 "storage"(d& +4 "core" &,w \ +2 "manipulator"&^& +3 "core" &  > 8 +2 "manipulator"&g% +4 "core" %    + .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&o( +253 "core" ( + "manipulator"&s& +5 "core" & < _ + "storage"(y& +4 "core" &,w <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +97 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 +2 "storage"(@- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(w' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +4 "core" -' + "storage"(& +4 "core" &,w i y d\ + "manipulator"& & +4 "core" &   G ^ +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&%& +4 "core" &   ^ +2 "storage"(l& +4 "core" &,w o e\ +2 .tForearm.seek 4 + 450 counts + "manipulator"&e' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&}& +4 "core" &  N ^ +2 "storage"(& +4 "core" &,w \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(U' +20 "core" ' + "manipulator"&% +5 "core" %K  +2 "storage"(c& +4 "core" &,w N\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&r'w +15 "core" ' +2 "manipulator"&~& +4 "core" & 4 ^ +2 "storage"(& +4 "core" &,w ~ ~ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +20 "core" ' + "storage"(`% +5 "core" % ~ \ +2 ."downElevator"SE.seek :down +4 "storage"(x' +99 (|% +3 "core" %YF \ Wc + "manipulator"&\ % +4 "core" % 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,w | \ + "collection"'A& +4 "core" &\\e #\ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %   U " +2 "storage"(_% +3 "core" % } ~ \ +2 "storage"(h. +3 "core" .(,y +2 "storage"( & +4 "core" &,w { \ +2 "storage"(&& +3 "core" &,w z /\ +2 "manipulator"&(& +4 "core" &  N ^ + .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &  / ^ + "storage"(q& +4 "core" &,w ~ ~ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&?' +104 "core" ' + "storage"(=& +4 "core" &,w \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&1& +3 "core" &  s ^ +2 "storage"(& +3 "core" &,w }  G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&:'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(8'i +29 "core" ' + "manipulator"&!% +4 "core" %J  S +2 "storage"(& +4 "core" &,w \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&'v +15 "core" ' + "manipulator"&+& +5 "core" &  e ^ + "storage"(& +4 "core" &,w  } H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(E' +41 "core" ' + "manipulator"&L& +5 "core" &  l ^ + "manipulator"&2% +4 "core" % f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&F(ӂ +155 "core" ( + "manipulator"&#& +4 "core" &ӓ% 3 >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &ӓ% >O +3 .tForearm.seek CC + "manipulator"&;'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'9( +447 "core" ( +2 "storage"("& +4 "core" &,w \ + "storage"(7& +4 "core" &,w \ +2 "manipulator"& & +3 "core" &Ӕ% z >N +2 "manipulator"&% +4 "core" % ,  +2 .tForearm.seek :retract + "manipulator"&J' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&X( +165 "core" ( + "manipulator"&)& +4 "core" &   +2 "storage"(G& +4 "core" &,w 2\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&B'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&V1 +53 "core" 1 +2 "manipulator"&H% +4 "core" % A  G +2 "storage"(]& +4 "core" &,w \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts +2 "manipulator"&>'m +15 "core" ' +2 "manipulator"&b& +5 "core" &  V  + "storage"($& +4 "core" &,w \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +15 "core" ' +2 "storage"(6% +4 "core" % N\ +2 ."downElevator"SE.seek :down +4 "storage"(m' +99 (i% +2 "core" %A \ Va +2 "manipulator"&C% +4 "core" %  N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +93 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'W& +4 "core" & \ +2 "manipulator"&/% +4 "core" % %  % +51 "storage"(Q% +3 "core" % H\ +2 "storage"(0. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(M(<- +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Y& +3 "core" &<+ \  + "manipulator"&D& +4 "core" & s  +2 .tElbow.seek 5 + "manipulator"&a( +4 "core" ( + "manipulator"&O& +4 "core" &   G  +2 "storage"(j& +3 "core" &<+ @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +96 "core" ' +2 "storage"(p& +4 "core" &<+ :\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ({& +3 "core" &<+ \  +2 "manipulator"&k& +3 "core" & w  +2 .tElbow.seek 5 + "manipulator"&K( +4 "core" ( + "manipulator"&[& +4 "core" &  (  +2 "storage"(,& +3 "core" &<+ Y\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&z'Ϲ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& + "storage"(' +7 "core" &   +2 "manipulator"&% +4 "core" %  n u + .tForearm.seek :retract +2 "manipulator"&d' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&^(ӂ +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&g& +4 "core" &Ӎ  1 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &Ӎ X 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&s'? +106 "core" ' + "manipulator"&y& +5 "core" &Ӎ  , 1 + "manipulator"&% +4 "core" %@ +2 "collection"'& +4 "core" & 8\ +2 "collection"'@& +5 "core" & .\ +3 .tCC.seek :closed +2 "collection"'u(\\ +4 "core" & -\ +6 &< -\ $e +10 &V{ .\ 7 +9 &{ .\ L +9 &T ,\ L +10 &{W ,\ L +9 &>X /\ L +9 &Y +\ L +10 &X ,\ L +9 &X &\ L +9 &FV ,\ L +10 & W *\ L +9 &!W (\ K +10 &#W \ L +9 &%MV \ L +9 &'U \ L +10 &(W $\ L +9 &*V *\ L +9 &,VW \ L +10 &.Y \ L +9 &/V \ L +10 &1W \ L +9 &3^W \ L +9 &5Z \ L +10 &6W \ L +9 &8W \ L +9 &:eW \ L +10 &<'W \ L +9 &=W \ L +10 &?X \ L +9 &AlX \ L +9 &C.[ \ L +10 &Dc \ N +9 &Fm \ O +10 &Hd \ R +9 &J \ V +9 &K \ W +10 &M \ Y +9 &OY \ X +9 &Q \ Y +10 &R \ Z +9 &T \ Z +9 &VZ \ [ +10 &X \ [ +9 &Y \ ] +10 &[ \ J +9 &\\5 \ 3 +9 &\\` \ L +3 ( +2 "collection"'@& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"& % +4 "core" % @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%l& +4 "core" &\ +2 "manipulator"& % +4 "core" % ! ( +2 "storage"(}% +3 "core" % { ~ \ +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (c& +3 "core" &<+ z m }\  +3 "manipulator"&t& +4 "core" &Ӎ 1 + "manipulator"&~% +4 "core" % !  ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +164 "core" ( + "manipulator"&& +4 "core" &  p  +2 "storage"(`& +3 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&o'O +93 "core" ' +2 "storage"(& +4 "core" &<+ 2\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'r +300 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &<+ (\  +2 "manipulator"&e& +3 "core" & Z  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  J  + "storage"(& +4 "core" &<+ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&r'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(' +7 "core" &  +2 "manipulator"&_% +5 "core" %  +3 .tForearm.seek :retract + "manipulator"&h' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&U( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"& & +4 "core" &  h - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &  $ - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +92 "core" ' + "manipulator"&& +5 "core" & \ : - + "manipulator"&q% +4 "core" % w K +2 "processing"%v& +4 "core" &\ +2 "processing"%=& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%x(^ +4 "core" &\ +7 & .\ #b +10 &V}\ 7 +9 &}{\ L +9 &Y\ O +10 &PU\ O +9 &R\ O +10 &W\ O +9 &W\ O +9 &XU\ O +10 &Y\ O +9 &U\ O +9 &!U\ O +10 &#bV\ O +9 &%$T\ O +10 &&W\ O +9 &(W\ O +9 &*iW\ O +10 &,+W\ O +9 &-U\ O +9 &/W\ O +10 &1rU\ O +9 &34V\ O +9 &4X\ O +10 &6V\ O +9 &8yW\ O +10 &:9V\ P +9 &;X\ O +9 &=Y\ O +10 &?Y\ O +9 &AAX\ P +9 &C^\ P +10 &De\ Q +9 &F~v\ S +10 &H8\ V +9 &I\ U +10 &K\ V +9 &M{\ W +9 &O?\ V +10 &P\ V +9 &R\ W +9 &T\ X +10 &VE\ V +9 &X\ W +9 &Y\ W +10 &[\ W +9 &]J\ M +10 &^}K\ _ +9 &^F\ 6 +5 ( +2 "processing"%=& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&'1 +3 "core" &^)\ 6 +55 1 + "manipulator"&% +4 "core" %  K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +90 "core" ' + "processing"%1& +4 "core" &^)\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %   +2 "storage"(3% +3 "core" % Q\ +2 "storage"(!. +4 "core" .(<- + "storage"(& +4 "core" &<+ \  +2 "storage"(+& +4 "manipulator"&& +4 "core" &<+ \  + & - +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&L( +5 ."raiseStack"SE.seek :beamBreak + "storage"(2'r +3 "core" ( + "manipulator"&?& +4 "core" & - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &  - +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close +2 "manipulator"&:/ +54 "core" / +2 .tPC.seek :open +2 "processing"%( +103 "core" ' +2 "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'1 +47 "core" ' +294 ( +2 "storage"(S& +4 "core" &<+ \ \  + "manipulator"&-& +4 "core" &  L - +2 "manipulator"&<% +3 "core" %  { ( +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&5( +243 "core" ( +2 "manipulator"&I& +4 "core" & 7 6 + "storage"("& +4 "core" &<+ r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&7'O +91 "core" ' + .tHand.open + "manipulator"& 1 +110 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"()' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(G' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(;- +4 "core" -' + "storage"(F& +4 "core" &<+ 1\  +2 "manipulator"&V& +3 "core" &   5 +2 .tElbow.seek 5 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&]& +4 "core" &  \  5 +2 "storage"(b& +3 "core" &<+ \  +3 .tForearm.seek 5 + 450 counts + "manipulator"&$'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(6'" +52 "core" ' +2 "manipulator"&J& +4 "core" & 5 +2 "storage"(i& +4 "core" &<+ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&C'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(B' +20 "core" ' +2 "manipulator"&W% +4 "core" %  +2 "storage"(>& +4 "core" &<+ 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 286 counts +2 "manipulator"&/'ϫ +26 "core" ' + "manipulator"&E& +5 "core" &  3 + "storage"(Q& +5 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +13 "core" ' +2 "storage"(4% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(m' +99 (N% +3 "core" %YD \ Wd +2 "manipulator"&Y% +4 "core" %G K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +87 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &<+ \  + "collection"'j& +4 "core" &\\_ \ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&p% +4 "core" %  U  +2 "storage"(.% +4 "core" % \ +2 "storage"(\\. +3 "core" .(<- + "storage"(& +4 "core" &<+ \  +2 "storage"({& +3 "core" &<+ \  +2 "manipulator"&k& +4 "core" & 3 + .tElbow.seek 5 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&,& +4 "core" &   3 +2 "storage"(P& +3 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +92 "core" ' + "storage"(& +4 "core" &<+ O\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'r +295 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" &   3 + "storage"(Z& +4 "core" &<+ ~ | ,\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&*'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(y- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"(K'` +27 "core" ' +2 "manipulator"&% +4 "core" %Δ g H +2 "storage"(& +3 "core" &<+ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts + "manipulator"&' +27 "core" ' + "manipulator"&d& +4 "core" & O 3 +2 "storage"(9& +4 "core" &<+ <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"( ' +38 "core" ' + "manipulator"&l& +5 "core" &  3 + "manipulator"& % +4 "core" %: +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +87 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&@& +4 "core" &ӑ% >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &ӑ%  >M +2 .tForearm.seek CC +2 "manipulator"&t'? +93 "core" ' + .tHand.close + "manipulator"&~/ +54 "core" / +2 .tCC.seek :open + "collection"'s( +448 "core" ( + "storage"(& +4 "core" &<+ \  +2 "storage"(`& +4 "core" &<+ #\  +2 "manipulator"&M& +3 "core" &ӑ% I >M +2 "manipulator"&% +3 "core" % J 7 ` +2 .tForearm.seek :retract +2 "manipulator"&^' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&%( +162 "core" ( + "manipulator"&|& +4 "core" &   +2 "storage"(\ & +4 "core" &<+ \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&e'΍ +96 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % p   +2 "storage"(A& +3 "core" &<+ Q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 271 counts + "manipulator"&_'Ϝ +15 "core" ' +2 "manipulator"&& +4 "core" &  |  +2 "storage"(o& +3 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +14 "core" ' +2 "storage"(r% +4 "core" % %\ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (&% +3 "core" %D \ Vb +2 "manipulator"&% +4 "core" %F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'q& +4 "core" & 9\ +2 "manipulator"&v% +4 "core" %     +2 "storage"(% +4 "core" % \ + "storage"(h. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(T(K +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &K \  +2 "manipulator"&& +3 "core" & k  +2 .tElbow.seek 6 +2 "manipulator"&1( +3 "core" ( + "manipulator"&& +4 "core" & \ ^  +2 "storage"(3& +3 "core" &K !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&!' +96 "core" ' +2 "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' +2 "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (=& +3 "core" &K \  +2 "manipulator"&?& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&(& +4 "core" &  t  + "storage"(:& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&8'h +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +3 "storage"(x' +6 "core" &  ^  +2 "manipulator"&2% +4 "core" % ϙ  * +2 .tForearm.seek :retract +2 "manipulator"&S' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&-(ӂ +153 "core" ( +2 "manipulator"&<& +4 "core" ' +2 &z+ Cp + .tElbow.reconfigure :loose +51 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +5 "manipulator"&& +4 "core" &z+ Cp +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&I'? +95 "core" ' + "manipulator"&"& +5 "core" &|+ n Cn + "manipulator"&L% +4 "core" %C P +2 "collection"' & +4 "core" & .\ +2 "collection"'& +6 "core" & %\ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & .\ +6 &: /\ $e +9 &Vz /\ 7 +10 &x \ K +9 &W %\ L +9 &vV 3\ L +10 &8V /\ L +9 &W /\ L +10 &W /\ L +9 &~W .\ L +9 &@V .\ L +10 & V .\ L +9 &!W .\ L +10 &#W /\ L +9 &%IU .\ L +9 &' U /\ L +10 &(W /\ L +9 &*U 0\ L +9 &,PV /\ L +10 &.U /\ L +9 &/U /\ L +9 &1W "\ L +10 &3YV -\ L +9 &5W ,\ L +10 &6W "\ L +9 &8W -\ L +9 &:aW !\ L +10 &<#W \ L +9 &=W \ L +9 &?X \ L +10 &AfY  \ M +9 &C(_ $\ M +10 &Do !\ O +9 &F \ Q +9 &HT \ V +10 &J \ X +9 &K \ X +9 &M \ Y +10 &OQ \ Y +9 &Q \ Y +10 &R \ [ +9 &T \ Z +9 &VS \ [ +10 &X \ \\ +9 &Y \ ^ +9 &[ \ K +10 &\\: \ - +9 &\\ \ \\ +3 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&;1 +54 "core" 1 +2 "manipulator"&F% +4 "core" % C P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%]& +5 "core" &\ + "manipulator"&b% +4 "core" %   +2 "storage"(J% +4 "core" % \ + "storage"(i. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(W(K +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +2 "core" &K O O g\  +2 "manipulator"&#& +4 "core" &Ӄ*  Bg +2 "manipulator"&E% +4 "core" %   [  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&Q( +163 "core" ( + "manipulator"&)& +4 "core" &  +2 "storage"(4& +4 "core" &K } T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&5' +99 "core" ' + "storage"(7& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'r +299 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (Y& +3 "core" &K \  +2 "manipulator"&$& +3 "core" & p  +2 .tElbow.seek 6 +2 "manipulator"&H( +3 "core" ( + "manipulator"&6& +4 "core" &  N  + "storage"(C& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&O'h +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&j& +2 "storage"(p' +7 "core" &   + "manipulator"&.% +4 "core" % ~ F +2 .tForearm.seek :retract +2 "manipulator"&B' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\\( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&& +4 "core" & ` 4 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" & < 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&k' +100 "core" ' +2 "manipulator"&,& +4 "core" & N 4 +2 "manipulator"&P% +4 "core" % W +2 "processing"%0& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%m(^ +5 "core" &\ \ +8 &0u\ *x +9 &b\ > +10 &_u\ O +9 &W\ O +9 &U\ O +10 &R\ O +10 &eV\ O +9 &(V\ O +9 &W\ O +9 &W\ O +10 & nV\ O +9 &"1T\ N +9 &#V\ O +10 &%U\ O +9 &'vV\ O +10 &)8U\ O +9 &*V\ O +9 &,W\ O +10 &.~T\ O +9 &0@U\ O +9 &2U\ O +10 &3X\ O +9 &5U\ O +10 &7HU\ O +9 &9 X\ O +9 &:W\ O +10 &<W\ O +9 &>NZ\ O +9 &@Y\ P +10 &A]\ P +9 &Ck\ R +10 &EKz\ S +9 &G\ U +9 &H\ U +10 &J\ V +9 &LL\ U +10 &N \ W +9 &O\ W +9 &Q\ X +10 &SO\ W +9 &U\ W +9 &V\ X +10 &X\ V +9 &ZV\ X +10 &\\\ X +9 &]\ 7 +9 &^,p\ !a +9 &^+\ 7 +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&X1 +52 "core" 1 + "manipulator"&D% +4 "core" %  $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&f' +98 "core" ' + "processing"%g& +4 "core" &^.\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&Z% +4 "core" % % A +2 "storage"(y% +4 "core" % e f J\ + "storage"(. +4 "core" .(K + "storage"(& +4 "core" &K c c A\  +2 "storage"(d& +3 "manipulator"&9& +6 "core" &K ` c \  + & 4 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&l( +5 ."raiseStack"SE.seek :beamBreak + "storage"( 'r +3 "core" ( + "manipulator"&n& +4 "core" & g 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" & @ 4 +2 .tForearm.seek PC +2 "manipulator"&a' +95 "core" ' + .tHand.close + "manipulator"&*/ +57 "core" / +3 .tPC.seek :open + "processing"%( +97 "core" ' +2 "storage"(K- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'1 +42 "core" ' +308 ( + "storage"(c& +4 "core" &K z \  +2 "manipulator"&& +3 "core" &  4 +2 "manipulator"&z% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&~' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&}( +246 "core" ( + "manipulator"&u& +4 "core" & f > +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&`' +96 "core" ' +2 .tHand.open + "manipulator"&M1 +58 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(\ ' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +4 "core" -' + "storage"(& +4 "core" &K G [ T\  +2 "manipulator"&& +3 "core" &   = +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&A& +3 "core" &   $ = +2 "storage"(& +4 "core" &K ^ :\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(r'" +59 "core" ' +2 "manipulator"&^& +4 "core" &  R = +2 "storage"(&& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(e' +19 "core" ' +2 "manipulator"&q% +4 "core" %I  +2 "storage"(_& +4 "core" &K } Q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&v'u +16 "core" ' + "manipulator"&& +5 "core" & = + "storage"(h& +4 "core" &K F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +67 "core" ' +2 "storage"(w% +4 "core" % } :\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (% +3 "core" %\\I g n x\ Xg +3 "manipulator"&'% +4 "core" % = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K \  +2 "collection"'3& +3 "core" &\\| \ \\ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %   /  +2 "storage"(% +4 "core" % \ +2 "storage"(. +3 "core" .(K + "storage"(+& +4 "core" &K \  +2 "storage"(=& +3 "core" &K \  +2 "manipulator"&?& +4 "core" & ; = +2 .tElbow.seek 6 + "manipulator"&(( +4 "core" ( + "manipulator"&:& +4 "core" & = = + "storage"(U& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +97 "core" ' + "storage"(2& +4 "core" &K } ]\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'r +301 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" &  < +2 "storage"(& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +15 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"("'e +29 "core" ' + "manipulator"&L% +5 "core" %K  9 + "storage"( & +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 315 counts +2 "manipulator"&x'w +15 "core" ' +2 "manipulator"&S& +4 "core" & X < +2 "storage"(s& +29 "core" &K | l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&;' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(F' +37 "core" ' + "manipulator"&]& +5 "core" & < + "manipulator"&b% +4 "core" % ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&J' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&i(ӂ +156 "core" ( +2 "manipulator"&>& +4 "core" &ӓ# K <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӓ# a <? +2 .tForearm.seek CC + "manipulator"&#'? +94 "core" ' +2 .tHand.close + "manipulator"&E/ +60 "core" / +2 .tCC.seek :open + "collection"'I( +448 "core" ( + "storage"()& +4 "core" &K \  +2 "storage"(4& +4 "core" &K \  + "manipulator"&T& +4 "core" &Ӕ# <> + "manipulator"&7% +4 "core" % S 7 ` +2 .tForearm.seek :retract +2 "manipulator"&-' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&V( +156 "core" ( + "manipulator"&N& +4 "core" & +2 "storage"(Y& +4 "core" &K g\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&$'< +93 "core" ' +2 .tElbow.hold + "manipulator"&6, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +62 "core" 1 +2 "manipulator"&/% +4 "core" % ; \\ ) +2 "storage"(j& +3 "core" &K )\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 299 counts + "manipulator"&.'g +13 "core" ' +2 "manipulator"&Q& +5 "core" &  + "storage"(5& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +18 "core" ' +2 "storage"(O% +4 "core" % `\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 ({% +3 "core" %G \ Vb +2 "manipulator"&H% +4 "core" %\  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +88 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'P& +4 "core" &  \ +2 "manipulator"&0% +4 "core" %   K  + "storage"(p% +4 "core" % z\ +2 "storage"(B. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1298 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" &  D\ + "manipulator"&D& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&g( +8 "core" ( + "manipulator"&Z& +5 "core" &  + "storage"(y& +4 "core" &  x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +95 "core" ' +2 "storage"(& +4 "core" &  2\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'r +298 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  :\ +2 "manipulator"&n& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&[( +4 "core" ( +2 "manipulator"&k& +4 "core" &  u + "storage"(*& +4 "core" &  O\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&K'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\\/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(m' +7 "core" &  X +2 "manipulator"& % +3 "core" % ϸ b +3 .tForearm.seek :retract + "manipulator"&c' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&z& +3 "core" &ӎ% 5 >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" &ӎ$  4 >O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&u'? +103 "core" ' + "manipulator"&& +4 "core" &ӏ% \ ; >N +2 "manipulator"&l% +4 "core" %I  F +2 "collection"'M& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'t(\\ +4 "core" & \  +9 &4} \ +{ +9 &\ e \ > +9 &r \ M +10 &VT S\ L +9 &W \ L +9 &X F\ L +10 &T r\ L +9 &]W \ L +10 &Z  \ L +9 &W u\ L +9 & W \ L +10 &"eW \ L +9 &$'W  \ L +9 &%T \ L +10 &'X !\ L +9 &)mW !\ L +9 &+/W #\ L +10 &,W  \ L +9 &.V "\ L +10 &0uW #\ L +9 &27W !\ L +9 &3W  \ M +10 &5W &\ L +9 &7~X "\ L +9 &9?W "\ L +10 &;W "\ L +9 &<Y #\ L +10 &>Y !\ L +9 &@GY "\ L +9 &BZ "\ M +10 &CZ "\ M +9 &Ee "\ N +10 &GGq "\ O +9 &H '\ R +9 &J #\ V +10 &Lt (\ X +9 &N3 $\ Y +9 &O !\ Y +10 &Q #\ Y +9 &St .\ Z +10 &U6 (\ Z +9 &V "\ [ +9 &X  \ \\ +10 &Zv \ \\ +9 &\\x \ 3 +10 &\\, %\ T +8 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.12 + .Hand.open + "manipulator"&1 +4 "core" &\\l -\ L +59 1 +2 "manipulator"&% +4 "core" % I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&~% +4 "core" % ! @ - + "storage"(^% +4 "core" % \ +2 "storage"(&. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(q(  +11 "core" ( + .tSC.configure :limp +52 "storage"($\ 1b +3 (_& +3 "core" & \ +2 "manipulator"&@& +3 "core" &ӏ% ! >N +2 "manipulator"&% +4 "core" % ! z - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&h( +163 "core" ( + "manipulator"&|& +5 "core" &  &  + "storage"(w& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&}'S +93 "core" ' +2 "storage"(`& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" & } >\ +2 "manipulator"&o& +4 "core" & D  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&r& +4 "core" & \   +2 "storage"(& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&v'Ͻ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&3& +2 "storage"(' +7 "core" &  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&e' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +169 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +68 "core" ( +2 "manipulator"&+& +4 "core" & P 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" & F 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?' +100 "core" ' +2 "manipulator"&:& +4 "core" & d 8 +2 "manipulator"&U% +4 "core" %  X +2 "processing"% & +4 "core" &\ +2 "processing"%2& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\ +7 & .\ #b +9 &Ux\ 7 +9 &~z\ L +10 &V\ O +9 &PV\ O +10 &V\ O +9 &Y\ O +9 &V\ O +10 &XT\ O +9 &W\ O +9 &R\ O +10 &!T\ O +9 &#`X\ O +10 &%#T\ N +9 &&V\ O +9 &(V\ O +10 &*gU\ O +9 &,)V\ O +9 &-U\ O +10 &/Y\ O +9 &1qU\ N +10 &32U\ O +9 &4W\ O +9 &6Y\ O +10 &8xW\ O +9 &::U\ O +9 &;W\ O +10 &=W\ O +9 &?V\ O +10 &A@W\ O +9 &B_\ P +9 &Df\ Q +10 &F|u\ S +9 &H6\ V +10 &I\ U +9 &K\ U +9 &Mz\ V +10 &O<\ V +9 &P\ V +9 &R\ W +10 &T~\ X +9 &VC\ V +10 &X\ W +9 &Y\ W +9 &[\ X +10 &]H\ N +9 &^zF\ b +9 &^ H\ 5 +6 ( + "processing"%2& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&%1 +4 "core" &^(\ 5 +60 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +96 "core" ' +2 "processing"%<& +4 "core" &^(\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" % % Q 9 +2 "storage"( % +4 "core" % b Z \ + "storage"(L. +3 "core" .(  +2 "storage"( & +4 "core" & d d f\ + "storage"(S& +2 "manipulator"&s& +7 "core" & u i \ + & = 8 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&]( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'r +3 "core" ( + "manipulator"&R& +4 "core" & ( 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" & ! 8 +2 .tForearm.seek PC +2 "manipulator"&1' +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%x( +99 "core" ' + "storage"("- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'1 +44 "core" ' +301 ( + "storage"(& +4 "core" & ~ s\ +2 "manipulator"&;& +3 "core" & 4 8 +2 "manipulator"&8% +4 "core" %  7  +2 .tForearm.seek :retract +2 "manipulator"&E' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&J( +245 "core" ( + "manipulator"&& +4 "core" & m . +2 "storage"()& +4 "core" & +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&4'S +91 "core" ' + .tHand.open + "manipulator"&T1 +60 "core" 1 +3 "storage"(7- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(N' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Y' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +4 "core" -' + "storage"(i& +4 "core" & \ +2 "manipulator"&C& +3 "core" &  J . +2 .tElbow.seek 2 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&j& +3 "core" &  \ Y . +2 "storage"(Q& +4 "core" & \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'S +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(O'" +53 "core" ' +2 "manipulator"&-& +4 "core" & . +2 "storage"({& +3 "core" & .\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&H'Α +20 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"($' +23 "core" ' + "manipulator"&P% +5 "core" %Ξ  + "storage"(.& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&0' +15 "core" ' +2 "manipulator"&p& +4 "core" & Z - +2 "storage"(B& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'S +18 "core" ' +2 "storage"(G% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (W% +3 "core" %T w 3\ Xj +2 "manipulator"&X% +4 "core" %a ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (Z& +4 "core" & ~\ +2 "collection"'y& +3 "core" &\\k $\ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %  }  +2 "storage"(6% +3 "core" % } { \ +2 "storage"(,. +3 "core" .(  +2 "storage"(d& +4 "core" & ~ } \ + "storage"(& +4 "core" & ~ [\ + "manipulator"&n& +4 "core" &  [ - +2 .tElbow.seek 2 +2 "manipulator"&k( +3 "core" ( + "manipulator"&*& +4 "core" &  p - +2 "storage"(\\& +4 "core" & ~ } \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&f'S +98 "core" ' + "storage"( & +4 "core" & #\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&z& +2 "core" & - +2 "storage"(a& +3 "core" & \ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&9'Α +23 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +52 "storage"(l'b +31 "core" ' + "manipulator"&M% +5 "core" %Ο G + "storage"([& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&m' +15 "core" ' +2 "manipulator"&c& +4 "core" &  - +2 "storage"(I& +4 "core" & ~ Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&& +5 "core" & - +2 "manipulator"&~% +4 "core" %c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&&(ӂ +154 "core" ( +2 "manipulator"&& +5 "core" &Ӑ% >O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &Ӑ% >O +2 .tForearm.seek CC + "manipulator"&@'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'u( +447 "core" ( +2 "storage"(|& +4 "core" & \ + "storage"(w& +4 "core" & \ +2 "manipulator"&& +3 "core" &Ӑ% v >O +2 "manipulator"&`% +4 "core" % I ` + .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&A( +160 "core" ( +2 "manipulator"&& +4 "core" &  Q \ +2 "storage"('& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&o'Α +95 "core" ' +2 .tElbow.hold + "manipulator"&r, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" % Β   +2 "storage"(3& +3 "core" & S\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 301 counts +2 "manipulator"&'Ͼ +13 "core" ' + "manipulator"&h& +5 "core" &  \ + "storage"(}& +4 "core" & <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\ 'S +19 "core" ' + "storage"(v% +4 "core" % O\ +3 ."downElevator"SE.seek :down +3 "storage"(+' +99 (=% +2 "core" %wJ \ Wg +2 "manipulator"&% +4 "core" %; w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'U& +4 "core" &  \ +2 "manipulator"& % +4 "core" %    +2 "storage"(% +4 "core" % \ +2 "storage"(e. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +2 "core" & *\ +2 "manipulator"&& +4 "core" &  F \ + .tElbow.seek 3 +2 "manipulator"&<( +16 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"( & +4 "core" & {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&L'7 +104 "core" ' +2 "storage"(2& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +294 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" & \ +2 "manipulator"&R& +4 "core" & A  + .tElbow.seek 3 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&?& +3 "core" & \ r  +2 "storage"(& +4 "core" & [\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&"'ϡ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& + "storage"( ' +7 "core" &  +2 "manipulator"&b% +4 "core" % ϣ O 4 + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +157 "core" ( +3 "manipulator"&8& +4 "core" ' + &Ӆ+ V Cr + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &1& +2 "core" &ӆ+  Cq +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 "manipulator"&)& +4 "core" &ӌ*  Bk +2 "manipulator"&]% +3 "core" %4 h ~ +2 "collection"'T& +5 "core" & \ +2 "collection"'7& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'#(\\ +3 "core" & \ +6 &: \ %f +10 &X~ \ 8 +9 &v \ L +10 &V \ L +9 &W \ L +9 &EW W\ L +10 &W ^\ L +9 &W \\\ L +9 &W Q\ L +10 &MV \ L +9 & Z \ L +10 &!W \ L +9 &#X \ L +9 &%UU \ L +10 &'U \ L +9 &(W  \ L +9 &*V &\ K +10 &,\\W "\ L +9 &.V %\ L +10 &/V $\ L +9 &1V \ L +9 &3dW #\ L +10 &5'U (\ L +9 &6W &\ L +9 &8V &\ L +10 &:mW &\ L +9 && +7 "core" &Ӎ* o Bj + "manipulator"&p% +4 "core" % ! n ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&B( +165 "core" ( +2 "manipulator"&N& +4 "core" & h  +2 "storage"(G& +3 "core" &  ~ l\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&J'7 +91 "core" ' +2 "storage"(4& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'r +299 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" & o }\ +2 "manipulator"&5& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&/( +3 "core" ( +2 "manipulator"&O& +3 "core" & \ *  +2 "storage"(H& +3 "core" & \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&0'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"(' +7 "core" & B  +2 "manipulator"&6% +4 "core" % ϙ % + .tForearm.seek :retract +2 "manipulator"&,' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&$( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&d& +4 "core" & [ - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & W - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&n' +93 "core" ' +2 "manipulator"&*& +4 "core" & A - +2 "manipulator"&\\% +53 "core" % H 8 +3 "processing"%F& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 & -\ $c +10 &Uz\ 7 +9 &}|\ L +9 &U\ O +10 &TX\ O +9 &U\ N +9 &U\ N +10 &U\ O +9 &\\X\ O +10 &U\ O +9 &T\ O +9 &!S\ O +10 &#dT\ O +9 &%'U\ N +9 &&V\ O +10 &(U\ O +9 &*lV\ O +9 &,-Y\ O +10 &-T\ O +9 &/Y\ O +10 &1tU\ O +9 &36X\ O +9 &4X\ O +10 &6U\ O +9 &8{W\ O +10 &:=U\ O +9 &;X\ O +9 &=W\ O +10 &?V\ O +9 &ADW\ O +9 &Cg\ Q +10 &Dr\ R +9 &F{\ T +10 &H:\ U +9 &I\ U +9 &K\ V +10 &M~\ V +9 &OA\ V +10 &Q\ W +9 &R\ V +9 &T\ W +10 &VG\ V +9 &X \ V +9 &Y\ V +10 &[\ W +9 &]L\ L +9 &^O\ #k +10 &^ \ / +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&V1 +53 "core" 1 +2 "manipulator"&D% +4 "core" %  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + "processing"%z& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&a% +4 "core" % # / +2 "storage"(% +3 "core" % \ +2 "storage"(M. +3 "core" .( +2 "storage"([& +4 "core" & R\ + "storage"(c& +5 "manipulator"&I& +4 "core" & g 2\ + & - +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak + "storage"(~'r +3 "core" ( + "manipulator"&f& +4 "core" & - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" & s - +2 .tForearm.seek PC +2 "manipulator"&g' +94 "core" ' + .tHand.close + "manipulator"&9/ +60 "core" / +2 .tPC.seek :open +2 "processing"%m( +99 "core" ' + "storage"(l- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +303 ( + "storage"(_& +4 "core" & 7\ +2 "manipulator"&& +4 "core" &  - +2 "manipulator"&K% +3 "core" %  m 1 +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&^( +244 "core" ( +2 "manipulator"&t& +4 "core" & k Y + "storage"(|& +4 "core" & ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&w'7 +97 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(`- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"('' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' + "storage"(&& +4 "core" & o o \ +2 "manipulator"&& +3 "core" & \  Y +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&3& +3 "core" & \  Y +2 "storage"(h& +4 "core" & n l \ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&}'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(v'" +53 "core" ' + "manipulator"&& +4 "core" & z Y +2 "storage"(=& +4 "core" & 5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'u +14 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(o' +20 "core" ' + "manipulator"&U% +5 "core" %Ά < +2 "storage"(& +4 "core" & r\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"& 'ϲ +26 "core" ' +2 "manipulator"&& +4 "core" &  \\ X +2 "storage"(e& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +14 "core" ' + "storage"(\ % +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(+' +99 (q% +3 "core" %<M \ Xg +2 "manipulator"&%% +4 "core" %>  ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & \ +2 "collection"' & +4 "core" &\\p *\ P +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&2% +4 "core" % \  X  +2 "storage"(r% +3 "core" % \ +2 "storage"(:. +3 "core" .( + "storage"(s& +4 "core" & \ +2 "storage"(S& +3 "core" & \ +2 "manipulator"&R& +4 "core" & ~ X +2 .tElbow.seek 3 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&& +4 "core" & ; X + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&!'7 +96 "core" ' + "storage"(b& +4 "core" & +\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'r +295 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +4 "core" &  $ X +2 "storage"(1& +4 "core" & 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'u +18 "core" ' + .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"()- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(]'d +30 "core" ' + "manipulator"&T% +4 "core" %΀ V 2 +2 "storage"((& +3 "core" & |  N\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"& 'Ϭ +23 "core" ' + "manipulator"&& +4 "core" & \   X +2 "storage"(u& +4 "core" & { ~ 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&i'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(C' +48 "core" ' + "manipulator"&Q& +5 "core" & X + "manipulator"&E% +4 "core" %9 & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{(ӂ +148 "core" ( + "manipulator"&P& +4 "core" &ӌ( @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &ӌ' @\\ +2 .tForearm.seek CC +2 "manipulator"&.'? +94 "core" ' + .tHand.close +2 "manipulator"&>/ +60 "core" / + .tCC.seek :open +2 "collection"'p( +448 "core" ( +2 "storage"(& +4 "core" & 3\ + "storage"(N& +4 "core" & <\ + "manipulator"&G& +4 "core" &Ӎ( @[ + "manipulator"&4% +4 "core" % 2 $  +2 .tForearm.seek :retract +2 "manipulator"&;' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&j( +165 "core" ( + "manipulator"&W& +5 "core" & 0  + "storage"(X& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&5'u +101 "core" ' +2 .tElbow.hold +51 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&H1 +55 "core" 1 +2 "manipulator"&Z% +4 "core" % ΁  P +2 "storage"(y& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&6'ϭ +25 "core" ' + "manipulator"&B& +5 "core" &   + "storage"(J& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y'7 +16 "core" ' + "storage"(0% +4 "core" % A\ +3 ."downElevator"SE.seek :down +3 "storage"(d' +99 (% +3 "core" %A \ Va + "manipulator"&/% +4 "core" %& 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'\\& +5 "core" & a\ + "manipulator"&F% +4 "core" %  . +2 "storage"(% +4 "core" % 0\ +2 "storage"(,. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(x(,y +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &,x \ +2 "manipulator"&D& +4 "core" & [  +2 .tElbow.seek 4 + "manipulator"&z( +41 "core" ( + "manipulator"&a& +5 "core" &   + "storage"(& +4 "core" &,x p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&M' +93 "core" ' +2 "storage"([& +4 "core" &,x y\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'r +296 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &,x X\ +2 "manipulator"&f& +3 "core" &  \\  +2 .tElbow.seek 4 +2 "manipulator"&k( +12 "core" ( + "manipulator"&n& +4 "core" & = ~ +2 "storage"(9& +4 "core" &,x \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&l'c +45 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&$/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" &  ? ~ +2 "manipulator"&~% +4 "core" % T  q +2 .tForearm.seek :retract + "manipulator"&_' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&K& +4 "core" &Ӥ  % 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &Ӥ  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&t'? +92 "core" ' +2 "manipulator"&|& +4 "core" &Ӥ  _ 6 +2 "manipulator"&% +4 "core" %9 | +2 "collection"'& +4 "core" & \ +2 "collection"'`& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'@(\\ +3 "core" & \ +6 & \ 8 +10 &GJv \ 1 +9 &xt \ E +9 &#\\ \ L +10 &V \ L +9 &X \ K +10 &jX \ L +9 &-W \ L +9 &U \ L +10 &W \ L +9 &sV \ L +9 &!5W \ L +10 &"Y \ L +9 &$W \ L +10 &&zY *\ L +9 &(=W \ L +9 &)V Y\ L +10 &+Z H\ L +9 &-V \ L +9 &/EW \ L +10 &1X W\ L +9 &2U W\ L +10 &4W !\ L +9 &6NW \ K +9 &8 W -\ L +10 &9V .\ L +9 &;V /\ L +9 &=TW ,\ L +10 &?W -\ L +9 &@W -\ L +9 &BW ,\ L +10 &DY_ +\ M +9 &Fk -\ N +10 &G{ .\ P +9 &I -\ T +9 &KD -\ W +10 &M -\ X +9 &N ,\ X +10 &P .\ X +9 &RD .\ Z +9 &T .\ Z +10 &U .\ [\ +9 &W .\ \\ +10 &YE -\ \\ +9 &[ .\ \\ +9 &\\aO -\ 2 +10 &\\ -\ ` +8 ( +3 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&&1 +3 "core" &\\ +\ ^ +50 1 + "manipulator"&% +4 "core" % 9 | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3' +98 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%h& +4 "core" &\ + "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % \ + "storage"(=. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(U(,y +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,x ; g D\ +2 "manipulator"&& +4 "core" &Ӥ [ 6 + "manipulator"&% +4 "core" %  #  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&e( +155 "core" ( + "manipulator"&& +4 "core" & = +2 "storage"(\ & +4 "core" &,x } \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&^' +95 "core" ' + "storage"(w& +4 "core" &,x *\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''r +295 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" &,x f c N\ + "manipulator"&}& +4 "core" & ' +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&v& +4 "core" & [ +2 "storage"(& +3 "core" &,x \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'c +38 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(2' +8 "core" & + "manipulator"&r% +4 "core" % | e Q +2 .tForearm.seek :retract +2 "manipulator"&o' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&:( +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&s& +4 "core" & , 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &  6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R' +95 "core" ' + "manipulator"&& +4 "core" & / 6 +2 "manipulator"&% +4 "core" %  ( +2 "processing"%& +4 "core" &\ +2 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%+(^ +4 "core" &\  +8 &2x\ )w +10 &b}\ \ > +9 &jt\ O +9 &+V\ O +10 &W\ O +9 &U \ O +10 &sU\ N +9 &4U\ O +9 &U\ \ O +10 &V\ O +9 & zU\ O +9 &"<R\ \ O +10 &#U\ N +9 &%T\ O +10 &'U\ O +9 &)DT\ O +9 &+U\ O +10 &,T\ O +9 &.T\ N +9 &0LU\ O +10 &2S\ O +9 &3T\ O +10 &5T\ N +9 &7TT\ O +9 &9W\ O +10 &:W\ O +9 &<V\ O +9 &>[Y\ O +10 &@W\ O +9 &A]\ P +10 &Cj\ R +9 &EXy\ S +9 &G\ U +10 &H\ U +9 &J\ V +9 &LW\ V +10 &N\ W +9 &O\ V +9 &Q\ W +10 &S[\ W +9 &U\ W +10 &V\ W +9 &X\ W +9 &Zc\ W +10 &\\%\ W +9 &]\ < +10 &^6\ N +9 &^"\ / +2 ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&A1 +57 "core" 1 + "manipulator"&% +4 "core" %  ? ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +91 "core" ' +2 "processing"%8& +4 "core" &^!\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&1% +4 "core" %   + "storage"()% +4 "core" % d d \ +2 "storage"(T. +3 "core" .(,y + "storage"((& +4 "core" &,x d e A\ +2 "storage"(& +5 "manipulator"&u& +3 "core" &,x d e L\ +2 & 6 +2 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&Q( + "storage"(E'r +7 "core" ( + "manipulator"&!& +4 "core" & a 6 +2 .tElbow.reconfigure :loose +53 "manipulator"&$ &.,(#b +3 &?& +3 "core" & 6 +2 .tForearm.seek PC + "manipulator"&<' +95 "core" ' + .tHand.close + "manipulator"& / +62 "core" / + .tPC.seek :open +2 "processing"% ( +41 "core" ' +2 "storage"(]- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(P'1 +40 "core" ' +363 ( +2 "storage"(7& +4 "core" &,x \ + "manipulator"&i& +4 "core" & ` 6 +2 "manipulator"&"% +3 "core" %  a + +2 .tForearm.seek :retract +2 "manipulator"&>' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&-( +245 "core" ( +2 "manipulator"&#& +4 "core" & B = +2 "storage"(& +3 "core" &,x c d H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&N' +96 "core" ' + .tHand.open +2 "manipulator"&G1 +61 "core" 1 +2 "storage"(4- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(X' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(.- +4 "core" -' + "storage"({& +4 "core" &,x q o $\ +2 "manipulator"&H& +4 "core" &  / = +2 .tElbow.seek 4 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&y& +4 "core" &   3 = +2 "storage"(B& +3 "core" &,x o n !\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&J' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(;'" +55 "core" ' +2 "manipulator"&0& +4 "core" & b = +2 "storage"(j& +3 "core" &,x e d r\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +25 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(5' +27 "core" ' + "manipulator"&\\% +5 "core" %=  + "storage"(6& +4 "core" &,x f d L\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"&F'i +15 "core" ' + "manipulator"&& +5 "core" &  O 1 + "storage"(,& +4 "core" &,x \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&C' +16 "core" ' + "storage"(Y% +5 "core" % )\ +2 ."downElevator"SE.seek :down +4 "storage"(d' +99 (% +3 "core" %QO d d 3\ Xi + "manipulator"&V% +5 "core" % Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (a& +4 "core" &,x \ +2 "collection"'& +4 "core" &\\ '\ ^ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&[% +4 "core" %   + "storage"(O% +5 "core" % \ + "storage"(*. +4 "core" .(,y + "storage"(I& +4 "core" &,x '\ + "storage"( & +4 "core" &,x I\ +2 "manipulator"&f& +3 "core" & M 1 +2 .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( + "manipulator"&9& +4 "core" &  1 +2 "storage"($& +3 "core" &,x "\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +100 "core" ' +2 "storage"(~& +4 "core" &,x  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'r +296 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" & 1 1 +2 "storage"(g& +4 "core" &,x u d\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&c'7 +20 "core" ' + .tElbow.hold + "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(|- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"('h +30 "core" ' + "manipulator"&% +4 "core" %7 R  +2 "storage"(k& +3 "core" &,x h d }\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +14 "core" ' +2 "manipulator"&_& +4 "core" & \ { 1 +2 "storage"(p& +3 "core" &,x \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +43 "core" ' +2 "manipulator"&h& +4 "core" & 4 1 +2 "manipulator"&% +4 "core" % 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=(ӂ +150 "core" ( + "manipulator"&`& +4 "core" &{. E~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &{.  E~ +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 .tHand.close + "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'t( +447 "core" ( +2 "storage"(& +4 "core" &,x \ +2 "storage"(\ & +4 "core" &,x \ + "manipulator"&x& +4 "core" &Ӡ' @Y + "manipulator"&w% +4 "core" % 9 R +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&3( +163 "core" ( + "manipulator"&q& +4 "core" & +  +2 "storage"(%& +3 "core" &,x G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&}'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +5 "core" % 4    + "storage"( & +4 "core" &,x \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 297 counts + "manipulator"&r'` +14 "core" ' +2 "manipulator"&e& +4 "core" & \ u  +2 "storage"(^& +3 "core" &,x >\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +20 "core" ' +2 "storage"( % +4 "core" % ,\ +3 ."downElevator"SE.seek :down +3 "storage"(s' +98 (S% +3 "core" %C \ Wb +2 "manipulator"&% +4 "core" %  k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" & \ + "manipulator"&% +4 "core" %     +2 "storage"(2% +4 "core" % ]\ +2 "storage"(o. +3 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(m(<- +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (A& +3 "core" &<* l\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&8( +8 "core" ( + "manipulator"&1& +4 "core" & B  +2 "storage"()& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +55 "manipulator"&T'O +69 "Can"$\ >< +22 "core" ' + "storage"((& +4 "core" &<* i\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'r +295 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +2 "core" &<* ;\  +2 "manipulator"&!& +4 "core" & w  +2 .tElbow.seek 5 + "manipulator"&?( +4 "core" ( + "manipulator"&R& +4 "core" & S  +2 "storage"( & +3 "core" &<* 9\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&]'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"(+' +8 "core" & ,  + "manipulator"&E% +4 "core" %  J +2 .tForearm.seek :retract +2 "manipulator"&7' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&"& +4 "core" &ӌ*  f Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &ӌ*  N Bl +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&#'? +90 "core" ' +2 "manipulator"&& +4 "core" &Ӥ&  M ?T +2 "manipulator"&Q% +4 "core" %; } ~ +2 "collection"'G& +4 "core" & \ +2 "collection"'4& +4 "core" & \ +3 .tCC.seek :closed + "collection"'.(\\ +5 "core" & \ +7 &; \ %h +9 &Ww \ 7 +9 &y \ L +10 &U \ L +9 &U \ L +9 &CV \ L +10 &W \ L +9 &V \ K +10 &W \ L +9 &LV \ L +9 & V \ K +10 &!V \ L +9 &#U \ L +10 &%TU \ L +9 &'X \ L +9 &(U \ K +10 &*U \ L +9 &,[Y \ L +9 &.V \ K +10 &/U \ L +9 &1Z \ L +10 &3dT \ L +9 &5&U \ L +9 &6Y \ L +10 &8U \ K +9 &:lW \ L +9 &<.U \ L +10 &=V \ K +9 &?W \ L +9 &AtW D\ L +10 &C5\\ \ L +9 &Db y\ M +10 &Fp '\ O +9 &Hj \ R +9 &J" \ U +10 &K ?\ X +9 &M \ X +10 &O` '\ X +9 &Q \ Y +9 &R \ Y +10 &T \ [ +9 &V` 0\ [ +10 &X /\ [ +9 &Y .\ ] +9 &[ .\ I +9 &\\8 /\ . +10 &\\f -\ P +2 ( +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&{1 +60 "core" 1 +2 "manipulator"&H% +4 "core" % ; ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%B& +5 "core" &\ + "manipulator"&>% +4 "core" %  {  + "storage"(0% +4 "core" % \ +2 "storage"(j. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(\\(<- +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &<* e e m\  +2 "manipulator"&P& +4 "core" &Ӥ& y ?T + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&,( +162 "core" ( +2 "manipulator"&W& +4 "core" &  ~  +2 "storage"(Y& +3 "core" &<* &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +94 "core" ' +2 "storage"(N& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" &<* G\  +2 "manipulator"&J& +4 "core" &  K  + .tElbow.seek 5 +2 "manipulator"&Z( +3 "core" ( +2 "manipulator"&;& +4 "core" & Q  + "storage"(& +4 "core" &<* <\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&F'Ϲ +39 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&a/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"([' +8 "core" &  + "manipulator"&O% +4 "core" %  e A +2 .tForearm.seek :retract +2 "manipulator"&5' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&*( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&I& +5 "core" &  u - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & < , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&f' +99 "core" ' +2 "manipulator"&9& +4 "core" & k , +2 "manipulator"&$% +3 "core" % ~  +2 "processing"%C& +4 "core" &\ +2 "processing"%~& +5 "core" &#\ +2 .tPC.seek :closed +2 "processing"%d(^ +4 "core" &\  +9 &2x\ )w +9 &c~\ > +10 &js\ O +9 &+V \ O +9 &W\ O +10 &T\ O +9 &qX\ O +9 &3W\ O +10 &Y\ O +9 &T\ O +9 & yT\ O +10 &"<R \ N +9 &#U\ N +10 &%R \ O +9 &'T\ O +9 &)CR\ O +10 &+S\ \ N +9 &,V\ O +10 &.U\ N +9 &0KU\ O +9 &2 X\ O +10 &3W\ N +9 &5U\ N +9 &7SU \ O +10 &9Z\ O +9 &:W\ O +10 &<V\ O +9 &>[X\ O +9 &@W\ O +10 &AY\ O +9 &Ce\ Q +9 &E[n\ Q +10 &G\ T +9 &H\ U +10 &J\ U +9 &LW\ U +9 &N\ W +10 &O\ V +9 &Q\ W +9 &S\\\ W +10 &U\ V +9 &V\ X +10 &X\ V +9 &Zc\ W +9 &\\$\ W +10 &]\ 7 +9 &^,p\ U +9 &^*\ 5 +3 ( +2 "processing"%~& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&/1 +53 "core" 1 + "manipulator"&D% +5 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&M' +95 "core" ' + "processing"%K& +4 "core" &^(\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&g% +4 "core" % ! b ( +2 "storage"(|% +4 "core" % \ + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(k(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& + "manipulator"&p& +4 "core" &<+ [ c .\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&h( + "storage"('r +6 "core" ( + "manipulator"&& +4 "core" & , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" & , +2 .tForearm.seek PC +2 "manipulator"&z' +93 "core" ' +2 .tHand.close + "manipulator"&c/ +61 "core" / +3 .tPC.seek :open +2 "processing"%( +93 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +46 "core" ' +304 ( + "storage"(& +4 "core" &<+ #\  +2 "manipulator"&&& +4 "core" & , +2 "manipulator"&l% +3 "core" %   } & +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&@& +4 "core" &  9 + "storage"(& +4 "core" &<+ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +88 "core" ' + .tHand.open +2 "manipulator"&x1 +59 "core" 1 +2 "storage"(w- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(q' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(%' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(=& +4 "core" &<+ \  +2 "manipulator"&& +3 "core" & O 9 +51 .tElbow.seek 5 +3 "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" &  | 9 + "storage"(e& +4 "core" &<+ \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +56 "core" ' +2 "manipulator"&& +4 "core" &  S 9 +2 "storage"(S& +4 "core" &<+ w\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(}' +28 "core" ' + "manipulator"&% +5 "core" %΅ % + "storage"(r& +4 "core" &<+ } { X\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts +2 "manipulator"&'ϱ +27 "core" ' + "manipulator"&2& +5 "core" &  A 8 + "storage"(o& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' + "storage"('% +5 "core" % %\ +2 ."downElevator"SE.seek :down +4 "storage"(s' +99 (U% +3 "core" %gO \ Xi +2 "manipulator"&A% +4 "core" %= +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (1& +4 "core" &<+ \  +2 "collection"')& +4 "core" &\\c 4\ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&(% +4 "core" %  c  +2 "storage"(v% +3 "core" % \ +2 "storage"(. +3 "core" .(<- + "storage"(& +4 "core" &<+ \  +2 "storage"(b& +4 "core" &<+ \  + "manipulator"&!& +4 "core" & 8 +2 .tElbow.seek 5 +2 "manipulator"&R( +3 "core" ( + "manipulator"& & +4 "core" & C 8 +2 "storage"(:& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +94 "core" ' + "storage"(E& +5 "core" &<+ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'r +300 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&"& +3 "core" & } 8 +2 "storage"(<& +3 "core" &<+ ~ | J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&u'΍ +13 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(Q'_ +28 "core" ' +2 "manipulator"&G% +4 "core" %Ζ S +2 "storage"(?& +3 "core" &<+ ~\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts + "manipulator"&+' +14 "core" ' +2 "manipulator"&7& +4 "core" &   8 + "storage"(t& +4 "core" &<+ v\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +14 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(H' +41 "core" ' +2 "manipulator"&B& +4 "core" &  W 8 +2 "manipulator"&>% +4 "core" %3 ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +141 "core" ' + .tElbow.seek CC +2 "manipulator"&j(ӂ +162 "core" ( +2 "manipulator"&4& +5 "core" &ӊ 5\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" &ӊ . 5\ +2 .tForearm.seek CC +2 "manipulator"&P'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open + "collection"'#( +448 "core" ( + "storage"(W& +4 "core" &<+ \  +2 "storage"(Y& +3 "core" &<+ *\  +2 "manipulator"&m& +4 "core" &ӝ d 3 +2 "manipulator"&N% +4 "core" % : , + .tForearm.seek :retract +2 "manipulator"&i' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&y( +159 "core" ( + "manipulator"&& +5 "core" &  A  + "storage"(V& +4 "core" &<+ '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&J'΍ +93 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&a% +4 "core" % Μ  a 9 + "storage"(& +4 "core" &<+ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&O' +15 "core" ' +2 "manipulator"&,& +4 "core" &  z  +2 "storage"(-& +3 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +19 "core" ' + "storage"(F% +5 "core" % J\ +2 ."downElevator"SE.seek :down +3 "storage"(I' +99 ( % +3 "core" %I <\ Wb + "manipulator"&Z% +4 "core" %> +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +87 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'$& +4 "core" & \ +2 "manipulator"&C% +4 "core" %   +2 "storage"([% +4 "core" % \ + "storage"(5. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"( (K +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "core" &K 4\ +2 "manipulator"&D& +4 "core" & u  + .tElbow.seek 6 +2 "manipulator"&K( +4 "core" ( + "manipulator"&g& +4 "core" &  + "storage"(|& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +97 "core" ' + "storage"(~& +4 "core" &K T\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(_'r +296 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \ +2 "manipulator"&n& +4 "core" & b  + .tElbow.seek 6 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&c& +3 "core" &   +2 "storage"(\\& +4 "core" &K t\ +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&M& + "storage"(d' +8 "core" &  \\  + "manipulator"&% +4 "core" % Ϥ +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&&(ӂ +157 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&l& +4 "core" &Ӛ  :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &Ӛ   :- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'? +92 "core" ' +2 "manipulator"&& +4 "core" &Ӛ!  ` :- +2 "manipulator"&h% +4 "core" %8  < h +2 "collection"'x& +4 "core" & \ +2 "collection"'w& +54 "core" & \ +7 & \ +2 & \ + & \ + & \ +2 & \ +3 .tCC.seek :closed +2 "collection"'(\\ +3 "core" & \ +2 & \ + & \  +7 &5~ \ *z +10 &\ g \ ? +9 &j \ M +9 &[V \ L +10 &T \ L +9 &V \ K +9 &W \ L +10 &cY \ L +9 &%U \ L +10 &U \ L +9 & S \ L +9 &"lV \ K +10 &$-U \ L +9 &%Y \ L +9 &'W \ K +10 &)sV \ L +9 &+5T \ L +10 &,V  \ K +9 &.U  \ K +9 &0{V 2\ L +10 &2=Y \ L +9 &3Z \ L +9 &5V \ \ K +10 &7W  \ L +9 &9FW \ K +10 &;W \ K +9 &<V 4\ L +9 &>Z W\ L +10 &@NW \ K +9 &B [ \ L +9 &Cb L\ M +10 &Es N\ O +9 &G@ \ S +10 &H \ W +9 &J  \ Y +9 &Lq \ Z +10 &N3 (\ Z +9 &O 8\ [ +10 &Q 0\ [\ +9 &St .\ \\ +9 &U5 -\ \\ +10 &V 9\ \\ +9 &X 6\ ] +9 &Zw .\ ] +10 &\\y 9\ 4 +9 &\\. 7\ a +9 ( +3 "collection"'w& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.36 + .Hand.open +2 "manipulator"&=1 +3 "core" &\\m 1\ T +52 1 +2 "manipulator"&% +5 "core" % 8 h + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"% & +4 "core" &\ +2 "manipulator"&e% +3 "core" %  h  +2 "storage"(% +4 "core" % 1\ + "storage"(S. +3 "core" .(K +2 "storage"(`& +3 "core" &K V\ +2 "storage"(q& +4 "core" &K U\ +2 "manipulator"&& +4 "core" &Ӛ!  :- + "manipulator"&r% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&2( +160 "core" ( +2 "manipulator"&o& +4 "core" & m  +2 "storage"('& +3 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(\ & +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'r +299 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &K \ + "manipulator"&^& +4 "core" &  G  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & U  +2 "storage"(& +3 "core" &K I\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&)& + "storage"((' +6 "core" &  9  +2 "manipulator"&v% +4 "core" % ό  J +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +68 "core" ( + "manipulator"&& +4 "core" &  | 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" & % 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&!' +97 "core" ' + "manipulator"& & +5 "core" & K 3 + "manipulator"&:% +4 "core" %   +2 "processing"%& +4 "core" &\ +2 "processing"%E& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%s(^ +4 "core" &\ +7 &6\ $d +9 &Ux\ 7 +10 &~z\ L +9 &U\ O +9 &\\T\ O +10 &T\ N +9 &U\ N +9 &V\ O +10 &dX\ O +9 &&U\ O +10 &T\ N +9 &!T\ N +9 &#lT\ O +10 &%.R\ O +9 &&Y\ O +10 &(T\ N +9 &*tV\ O +9 &,5Y \ O +10 &-S \ N +9 &/U\ \ O +9 &1}T\ N +10 &3>U\ O +9 &5V\ \ O +9 &6W \ O +10 &8U \ O +9 &:FV\ O +10 &<W\ O +9 &=U\ O +9 &?V\ O +10 &AJ]\ P +9 &C h \ Q +10 &Dw\ S +9 &F\ U +9 &HB\ U +10 &J\ U +9 &K\ U +9 &M\ V +10 &OJ\ U +9 &Q \ V +9 &R\ V +10 &T\ W +9 &VO\ V +10 &X\ V +9 &Y\ W +9 &[\ W +10 &]T\ I +9 &^|F\ !c +9 &^=\ 4 +6 ( + "processing"%E& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&31 +4 "core" &^(\ 4 +51 1 +2 "manipulator"&% +4 "core" %  D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&T' +97 "core" ' + "processing"%"& +4 "core" &^(\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&<% +4 "core" % # 2 +2 "storage"(% +4 "core" % c d ;\ + "storage"(G. +3 "core" .(K + "storage"(?& +4 "core" &K d d 0\ +2 "storage"(7& +3 "manipulator"&t& +6 "core" &K d d \ + & 3 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&B( +2 "storage"(>'r +5 "core" ( + "manipulator"&L& +4 "core" & 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" & > 3 +2 .tForearm.seek PC +2 "manipulator"&8' +94 "core" ' + .tHand.close + "manipulator"&u/ +60 "core" / +2 .tPC.seek :open +2 "processing"%+( +96 "core" ' + "storage"(Q- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'1 +50 "core" ' +298 ( + "storage"(4& +4 "core" &K { } \ +2 "manipulator"&6& +4 "core" & Z 3 + "manipulator"&]% +4 "core" %  / , +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&0( +245 "core" ( +2 "manipulator"&.& +4 "core" &  K ! + "storage"(W& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Y' +97 "core" ' + .tHand.open +2 "manipulator"&m1 +56 "core" 1 +2 "storage"(N- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(V' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(P- +4 "core" -' + "storage"(j& +4 "core" &K\ \ 2\  +2 "manipulator"&& +3 "core" &    ! +2 .tElbow.seek 6 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&& +3 "core" &   C ! +2 "storage"(,& +4 "core" &K\ \  b\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(F'" +62 "core" ' + "manipulator"&i& +4 "core" & l ! +2 "storage"( & +4 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Z'< +22 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(J' +24 "core" ' + "manipulator"&$% +5 "core" %J J + "storage"(O& +4 "core" &K \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&C'v +26 "core" ' +2 "manipulator"&[& +5 "core" & B ! + "storage"(5& +5 "core" &K } } C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&H' +17 "core" ' + "storage"(X% +5 "core" % ~ \ +2 ."downElevator"SE.seek :down +4 "storage"(I' +99 (k% +3 "core" %MH \ Xg +2 "manipulator"&/% +4 "core" % & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (g& +4 "core" &K ,\ +2 "collection"'|& +4 "core" &\\m C\ T +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&~% +56 "core" % ! ( +2 "storage"(;% +4 "core" % }  f\ + "storage"(9. +3 "core" .(K +2 "storage"(p& +3 "core" &K | <\ +2 "storage"(& +4 "core" &K z  [\ +2 "manipulator"&n& +3 "core" & ~ ! +2 .tElbow.seek 6 +2 "manipulator"&c( +3 "core" ( + "manipulator"&\\& +4 "core" & + ! +2 "storage"(*& +4 "core" &K } } 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&M' +94 "core" ' +2 "storage"(& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&l& +3 "core" & t ! +2 "storage"(z& +4 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&_'< +14 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(h'e +28 "core" ' +2 "manipulator"&x% +4 "core" %O j W +2 "storage"(f& +3 "core" &K \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&d'{ +26 "core" ' + "manipulator"&& +4 "core" &  w ! +2 "storage"(#& +4 "core" &K ~ (\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&=' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +38 "core" ' +2 "manipulator"& & +4 "core" & @ ! +2 "manipulator"&e% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +156 "core" ( + "manipulator"&`& +4 "core" &ӟ V 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &ӟ 9) +2 .tForearm.seek CC + "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&w/ +56 "core" / +2 .tCC.seek :open +2 "collection"'r( +447 "core" ( +2 "storage"(@& +4 "core" &K n\ + "storage"(o& +4 "core" &K \ +2 "manipulator"&'& +3 "core" &ӟ  9) +2 "manipulator"&\ % +4 "core" % ; g +2 .tForearm.seek :retract + "manipulator"&&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&U& +4 "core" &  J  + "storage"(A& +4 "core" &K G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&^'< +92 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&1% +4 "core" % F  4 +2 "storage"()& +4 "core" &K 6\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&v'r +25 "core" ' +2 "manipulator"&2& +5 "core" &  + "storage"(& +4 "core" &K F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&%' +25 "core" ' +2 "storage"(% +4 "core" % '\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (b% +3 "core" %C \ Vb +2 "manipulator"&% +4 "core" %  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"':& +5 "core" & \ + "manipulator"&% +4 "core" %  {  +2 "storage"((% +3 "core" % M\ +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +1297 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (3& +3 "core" &  \ + "manipulator"&& +4 "core" & G  +2 .tElbow.seek 2 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&<& +4 "core" & v  + "storage"(& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&G'S +96 "core" ' + "storage"(?& +4 "core" &  6\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'r +295 "core" ' + "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" &  \ + "manipulator"&L& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&R( +3 "core" ( +2 "manipulator"&!& +3 "core" &  h  +2 "storage"(u& +4 "core" &  D\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Q'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +55 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&T& +2 "storage"(s' +8 "core" &  \  + "manipulator"&>% +4 "core" % Ϻ  +2 .tForearm.seek :retract +2 "manipulator"&4' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6(ӂ +158 "core" ' ( + "manipulator"&]& +3 ."downElevator"SE.stop +5 "storage"(5 +3 "core" &Ӓ% N >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &Ӓ% c >H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&.'? +91 "core" ' +2 "manipulator"&W& +4 "core" &ӓ$ f =G +2 "manipulator"&B% +4 "core" %>  ? k + "collection"'m& +4 "core" & \ +2 "collection"'N& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'P(\\ +4 "core" & \  +8 &4~ \ *z +9 &f} \ > +10 &p \ M +9 &QV \ L +9 &V \ K +10 &V \ L +9 &U \ L +10 &YY \ L +9 &X \ L +9 &U \ L +10 & U \ K +9 &"bW \ L +9 &$%W \ K +10 &%W \ L +9 &'U \ L +10 &)jW \ L +9 &+,U \ L +9 &,W \ L +10 &.Y \ L +9 &0sW \ K +9 &24V \ L +10 &3V \ K +9 &5W \ L +9 &7zV \ L +10 &9=V \ K +9 &:V \ L +10 &<W \ L +9 &>Y \ K +9 &@CX \ L +10 &BY \ L +9 &C_ \ M +10 &Ec \ M +9 &GBr \ O +9 &H \ Q +10 &J \ V +9 &Lo \ X +9 &N/ \ X +10 &O \ Y +9 &Q \ Y +10 &Sq \ Z +9 &U0 \ [ +9 &V \ [\ +10 &X \ \\ +9 &Zr \ \\ +9 &\\x \ 5 +10 &\\+ \ U +9 ( +2 "collection"'N& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&j1 +3 "core" &\\_ 2\ M +55 1 + "manipulator"&% +5 "core" % > [ k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%,& +4 "core" &\ + "manipulator"&% +4 "core" % !  ' +2 "storage"(i% +3 "core" % H\ +2 "storage"( . +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"($(  +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +2 "core" & v\ +2 "manipulator"&{& +4 "core" &ӓ$ ; =G +2 "manipulator"&% +3 "core" % " ' ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&[( +161 "core" ( + "manipulator"&5& +5 "core" &  n  + "storage"(X& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&0'S +93 "core" ' + "storage"(Y& +4 "core" & )\ +51 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(V'r +299 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" & \ + "manipulator"&-& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&a( +4 "core" ( + "manipulator"&F& +4 "core" &  '  + "storage"(Z& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&g'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(~' +7 "core" & ^  +2 "manipulator"&J% +4 "core" % Ϸ y +2 .tForearm.seek :retract +2 "manipulator"&;' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&9( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&p& +4 "core" &   A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&n' +100 "core" ' +2 "manipulator"&\\& +4 "core" &  A +2 "manipulator"&*% +3 "core" % 9 +2 "processing"%H& +4 "core" &$\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%I(^ +4 "core" & \  +9 &2y\ )w +9 &b\ > +9 &js\ O +10 &+U\ O +9 &W\ N +9 &W\ N +10 &rU\ N +9 &2Y\ O +10 &T\ O +9 &V\ O +9 & yX\ O +10 &"<R\ N +9 &#V\ O +9 &%W\ O +10 &'X\ O +9 &)CX \ O +10 &+T\ O +9 &,T\ O +9 &.T\ N +10 &0LU\ N +9 &2U\ N +9 &3W\ O +10 &5T\ O +9 &7TV\ N +9 &9X\ \ O +10 &:Z\ O +9 &<W\ O +10 &>Z\\ \ O +9 &@W \ O +9 &AZ\ O +10 &Cg\ Q +9 &E[n\ Q +9 &G \ S +10 &H \ U +9 &J \ U +10 &LW\ U +9 &N\ V +9 &O\ V +10 &Q \ W +9 &S]\ V +9 &U\ V +10 &V \ W +9 &X\ V +10 &Zd\ W +9 &\\&\ V +9 &]\ 3 +10 &^1o\ H +9 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&y1 +4 "core" &^&\ 2 +60 1 + "manipulator"&D% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 "processing"%l& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&z% +4 "core" % & F + "storage"(% +4 "core" % \ +2 "storage"(x. +3 "core" .(  + "storage"(f& +4 "core" & \ +2 "storage"(& +3 "manipulator"&#& +6 "core" & \ + & A +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(e'r +2 "core" ( + "manipulator"&M& +4 "core" & 8 A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" & ( A +2 .tForearm.seek PC +2 "manipulator"&K' +94 "core" ' +2 .tHand.close + "manipulator"&_/ +58 "core" / +2 .tPC.seek :open +2 "processing"%d( +97 "core" ' +2 "storage"(h- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +41 "core" ' +306 ( + "storage"(q& +4 "core" & \ +2 "manipulator"&=& +4 "core" &  : A + "manipulator"&% +4 "core" %  u - +2 .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +247 "core" ( + "manipulator"&& +4 "core" &  0 +2 "storage"(@& +4 "core" & y  Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'S +92 "core" ' + .tHand.open + "manipulator"&'1 +60 "core" 1 +2 "storage"(\ - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(U' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(A' +56 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(S& +4 "core" & o q X\ +2 "manipulator"&& +4 "core" &   0 + .tElbow.seek 2 +2 "manipulator"&1( +3 "core" ( +2 "manipulator"&)& +3 "core" &   3 0 +2 "storage"(2& +4 "core" & r p k\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +54 "core" ' + "manipulator"&&& +4 "core" & 0 +2 "storage"(b& +4 "core" & | \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +25 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(^' +20 "core" ' + "manipulator"&v% +5 "core" %Ι Y + "storage"(:& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&(& +4 "core" &  ^ / +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +2 "storage"(%% +4 "core" % 6\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 ( % +3 "core" %M \ Wf +2 "manipulator"&3% +5 "core" %= x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +69 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (<& +3 "core" & \ +2 "collection"'& +4 "core" &\\_ a\ M + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&?% +4 "core" %  |  +2 "storage"( % +3 "core" % \ +2 "storage"( . +3 "core" .(  + "storage"(t& +4 "core" & \ +2 "storage"(E& +3 "core" & \ +2 "manipulator"&L& +4 "core" &  T / +2 .tElbow.seek 2 +2 "manipulator"&!( +3 "core" ( + "manipulator"&u& +4 "core" &  8 / +2 "storage"(}& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&T'S +93 "core" ' + "storage"(>& +4 "core" & -\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'r +296 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&]& +3 "core" & / +2 "storage"(8& +3 "core" & ~ x\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&7'Α +26 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(W- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(B'd +28 "core" ' +2 "manipulator"&m% +4 "core" %΢ + "storage"(R& +4 "core" & ~ 4\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&s' +16 "core" ' + "manipulator"&4& +4 "core" & / + "storage"(r& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&j'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +85 "core" ' + "manipulator"&,& +5 "core" & V / + "manipulator"&% +4 "core" %? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +94 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +154 "core" ( +2 "manipulator"&N& +5 "core" &ӛ"  ;4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &ӛ! t ;4 +2 .tForearm.seek CC +2 "manipulator"&{'? +94 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'.( +447 "core" ( + "storage"(5& +5 "core" & \ + "storage"(X& +4 "core" & \ + "manipulator"&& +4 "core" &ӛ" l ;4 +2 "manipulator"&Y% +3 "core" % / [  +2 .tForearm.seek :retract +2 "manipulator"&6' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +165 "core" ( + "manipulator"&k& +5 "core" & o  + "storage"(/& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&-'Α +97 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Z1 +61 "core" 1 +2 "manipulator"&C% +4 "core" % Ό  g + "storage"(|& +4 "core" & S\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 295 counts + "manipulator"&J'ϸ +16 "core" ' + "manipulator"&[& +5 "core" &  7  + "storage"(0& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&V'S +18 "core" ' + "storage"(g% +4 "core" % +\ +2 ."downElevator"SE.seek :down +4 "storage"(p' +99 (% +2 "core" %zI \ Wd +2 "manipulator"&a% +4 "core" %?  m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +93 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'*& +4 "core" & \ +2 "manipulator"&H% +4 "core" %   a # + "storage"(~% +4 "core" % \ +2 "storage"(;. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(+( +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +2 "core" & >\ +2 "manipulator"&D& +4 "core" & t  + .tElbow.seek 3 +2 "manipulator"&l( +16 "core" ( + "manipulator"&z& +5 "core" & ( v + "storage"(& +4 "core" & p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&x'7 +96 "core" ' +2 "storage"(& +4 "core" & C\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" & 0\ +2 "manipulator"&M& +4 "core" & ` v + .tElbow.seek 3 +2 "manipulator"&c( +3 "core" ( + "manipulator"&n& +4 "core" &  9 v +2 "storage"(_& +3 "core" & \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&h'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(I' +7 "core" & v +2 "manipulator"&e% +4 "core" % ϕ ^ + .tForearm.seek :retract +2 "manipulator"&q' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&=(ӂ +155 "core" ( + "manipulator"&& +4 "core" &}( y @^ +3 ' + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&K& +7 "core" &}(  @^ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&@& +4 "core" &( N @\\ + "manipulator"& % +4 "core" %9 r f +2 "collection"''& +4 "core" & \ +2 "collection"'\ & +5 "core" & \ +3 .tCC.seek :closed + "collection"'(\\ +5 "core" & \ +6 & 4 \ %f +10 &Wy \ 7 +9 &y \ K +9 &T \ K +10 &vW \ L +9 &:V \ K +9 &W \ L +10 &Z \ L +9 &U \ L +10 &BV \ K +9 & W \ L +9 &!X \ L +10 &#W \ K +9 &%HU \ L +9 &' U \ L +10 &(V \ L +9 &*T \ L +10 &,QV \ L +9 &.T \ L +9 &/U \ L +10 &1W \ K +9 &3XU \ L +9 &5U \ L +10 &6W \ L +9 &8U \ K +9 &:`W \ L +10 &<#W \ L +9 &=V \ L +10 &?W \ L +9 &AiW \ L +9 &C)[ \ L +10 &Db \ N +9 &Fk \ N +10 &H_ \ R +9 &J \ U +9 &K \ X +10 &M \ X +9 &OS \ Y +9 &Q \ Y +10 &R -\ Z +9 &T \ Z +9 &VT \ [\ +10 &X B\ \\ +9 &Y D\ ] +10 &[  \ I +9 &\\7 7\ - +10 &\\ \ Z +5 ( + "collection"'\ & +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&S1 +4 "core" &\\ \ Z +53 1 + "manipulator"&% +5 "core" % 9  f + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +97 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%2& +4 "core" & \ + "manipulator"&w% +4 "core" %   +2 "storage"(&% +4 "core" % d d 2\ + "storage"(b. +3 "core" .( +2 "storage"(v& +4 "core" & d c 8\ + "storage"(:& +4 "core" & W X\ +2 "manipulator"&`& +4 "core" &Ӂ( @Z + "manipulator"&(% +4 "core" %  H  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +165 "core" ( + "manipulator"&U& +4 "core" & G  +2 "storage"(%& +4 "core" & T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +96 "core" ' +2 "storage"(o& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(A'r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (3& +3 "core" & | N\ +2 "manipulator"&& +3 "core" & r  +2 .tElbow.seek 3 +2 "manipulator"&1( +3 "core" ( + "manipulator"&& +4 "core" & %  +2 "storage"(& +3 "core" & c\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&& +6 "core" &\ \ +3 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ +5 &\ 5 +10 &>Fr\ 0 +9 &dp~ \ E +9 &a\ \ O +10 &T\ O +9 &R \ O +10 &IT \ O +9 & T\ O +9 &W \ O +10 &U\ N +9 &PU\ O +9 &!U\ N +10 &"T\ N +9 &$U\ O +10 &&XU\ O +9 &(T\ O +9 &)Y\ O +10 &+S\ O +9 &-bT\ N +10 &/$U\ N +9 &0U \ O +9 &2W\ O +10 &4jT\ N +9 &6+V\ O +9 &7Y \ O +10 &9U\ N +57 &;pW \ O +2 &=2W\ O + &>Y\ O + &@X \ O + &Btc \ P + &D2j\ R +3 &E\ T +9 &G\ U +9 &In\ U +10 &K.\ V +9 &L\ V +9 &N\ V +10 &Pr\ W +9 &R4 \ V +10 &S \ W +9 &U \ V +9 &Wy\ W +10 &Y< \ W +9 &Z\ W +9 &\\ \ X +10 &^9e\ &u +9 &^ i\ 4 +9 ( +2 &^\ / +2 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" %  Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +95 "core" ' +2 "processing"%]& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&8% +4 "core" % ! O , +2 "storage"(W% +4 "core" % f e V\ +2 "storage"(m. +3 "core" .( + "storage"(R& +4 "core" & c c 8\ +2 "storage"(4& +2 "manipulator"&r& +7 "core" & f d :\ + & & +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&,( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" ( + "manipulator"&T& +4 "core" & & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" & 4 & +2 .tForearm.seek PC +2 "manipulator"&"' +91 "core" ' + .tHand.close +2 "manipulator"&7/ +61 "core" / +2 .tPC.seek :open +2 "processing"%s( +93 "core" ' + "storage"(B- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(N'1 +41 "core" ' +314 ( + "storage"(O& +4 "core" & \ +2 "manipulator"&j& +3 "core" &  i & +2 "manipulator"&Q% +4 "core" %  0 +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&i( +246 "core" ( +2 "manipulator"&P& +4 "core" & _ I + "storage"(5& +4 "core" & d d X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&X'7 +92 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(Y- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(k' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +4 "core" -' + "storage"( & +4 "core" & a ` R\ +2 "manipulator"&Z& +4 "core" &   , I + .tElbow.seek 3 +2 "manipulator"&C( +4 "core" ( + "manipulator"&|& +4 "core" &   I +2 "storage"([& +4 "core" & c b\ +2 .tForearm.seek 3 + 450 counts + "manipulator"&0'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(g'" +54 "core" ' + "manipulator"&6& +4 "core" & S I +2 "storage"(& +4 "core" & g f c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&a'u +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(-' +20 "core" ' +2 "manipulator"&*% +4 "core" %Έ $ +2 "storage"(J& +4 "core" & e d j\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts + "manipulator"&H'ϴ +26 "core" ' +2 "manipulator"&~& +4 "core" & . I +2 "storage"(;& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +14 "core" ' + "storage"(V% +5 "core" % \ \ +2 ."downElevator"SE.seek :down +4 "storage"(p' +99 ($% +3 "core" %6L e f f\ Xh +2 "manipulator"&y% +4 "core" %: - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (z& +4 "core" & \ +2 "collection"'& +4 "core" &\\ \ Z +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %    +2 "storage"(F% +4 "core" % \ + "storage"(\\. +4 "core" .( + "storage"(& +4 "core" & !\ +2 "storage"(#& +3 "core" & h\ +2 "manipulator"&M& +4 "core" & J I +2 .tElbow.seek 3 + "manipulator"&n( +4 "core" ( + "manipulator"&_& +4 "core" & y I +2 "storage"(9& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +91 "core" ' +2 "storage"(e& +4 "core" &  } \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'r +296 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & w I + "storage"(K& +4 "core" & t i \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&f'u +18 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(@- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"( 'c +29 "core" ' +2 "manipulator"&'% +4 "core" %Έ e + "storage"(c& +4 "core" & f x \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts + "manipulator"&I'ϴ +27 "core" ' +2 "manipulator"&q& +4 "core" &  I +2 "storage"(.& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&S'7 +13 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +33 "core" ' +2 "manipulator"&2& +4 "core" & * I +2 "manipulator"&w% +4 "core" %>   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&b(ӂ +148 "core" ( +2 "manipulator"&v& +4 "core" &x2  H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &x2  H +2 .tForearm.seek CC + "manipulator"&\ '? +91 "core" ' +2 .tHand.close +2 "manipulator"&`/ +62 "core" / +2 .tCC.seek :open + "collection"'(( +451 "core" ( +2 "storage"(& +4 "core" & \ + "storage"(U& +4 "core" & \ +2 "manipulator"&%& +4 "core" &ӛ+ 1 Cr + "manipulator"&o% +4 "core" % > ] +2 .tForearm.seek :retract +2 "manipulator"&=' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&)( +166 "core" ( + "manipulator"& & +4 "core" &  I  +2 "storage"(3& +4 "core" & G\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'u +96 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +65 "core" 1 +2 "manipulator"&<% +4 "core" % Ή =  + "storage"(& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"& 'ϵ +27 "core" ' + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" & '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +53 .tForearm.seek 3 + 450 counts +2 "manipulator"&A'7 +14 "core" ' +2 "storage"(% +4 "core" % \  +2 ."downElevator"SE.seek :down +4 "storage"(t' +99 (E% +3 "core" % ? >\ Va +2 "manipulator"&1% +4 "core" %) Y + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'}& +4 "core" &  \ +2 "manipulator"&% +4 "core" %  G  +2 "storage"(?% +4 "core" % \ +2 "storage"(^. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(d(,y +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,z \  +2 "manipulator"&& +4 "core" & l  +2 .tElbow.seek 4 + "manipulator"&]( +42 "core" ( +2 "manipulator"&8& +4 "core" &   + "storage"(W& +4 "core" &,z g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +90 "core" ' + "storage"(R& +4 "core" &,z \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'r +295 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (>& +3 "core" &,z m\  +2 "manipulator"&T& +3 "core" & (  +2 .tElbow.seek 4 +2 "manipulator"&!( +3 "core" ( + "manipulator"&L& +4 "core" &  + "storage"(7& +4 "core" &,z \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&B'c +35 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +57 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&G& +2 "storage"(' +8 "core" & M  + "manipulator"&% +4 "core" % ϐ +2 .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +155 "core" ( +2 "manipulator"&Q& +5 "core" ' + &ӏ&  > ?Q + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &"& +3 "core" &ӏ& 6 ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&P'? +94 "core" ' + "manipulator"&5& +4 "core" &Ӑ& S ?P +2 "manipulator"&,% +4 "core" %; I +2 "collection"'& +4 "core" & \ +2 "collection"'Y& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'{(\\ +4 "core" & \ +8 &? \ %g +10 &Y{ \ 8 +9 &x \ L +9 &U \ L +10 &V \ L +9 &KX \ K +9 & Y \ L +10 &X \ K +9 &X \ K +10 &RW \ L +9 & U \ L +9 &!U \ L +10 &#X \ K +9 &%[W \ K +9 &'W \ L +10 &(\\ \ L +9 &*V \ K +10 &,bY \ L +9 &.$Z \ L +9 &/Y \ L +10 &1[ \ L +9 &3jZ \ L +9 &5,U \ L +10 &6W \ L +9 &8W \ L +9 &:r[ \ L +10 &<4Z \ L +9 &=U \ L +10 &?X \ K +9 &AzY \ L +9 &C;] \ L +10 &De \ M +9 &Fk \ N +9 &Hq \ Q +10 &J' \ V +9 &K \ W +10 &M \ X +9 &Oe \ X +10 &Q% \ Y +9 &R \ Z +9 &T \ Z +10 &Ve \ [\ +9 &X% \ \\ +9 &Y \ ] +10 &[ \ J +9 &\\0 \ 2 +10 &\\j \ Q +2 ( +2 "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"& 1 +57 "core" 1 +2 "manipulator"&Z% +5 "core" % ; + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%[& +4 "core" &\ +2 "manipulator"&% +4 "core" % ! U ' +2 "storage"(6% +3 "core" % \ +2 "storage"(. +3 "core" .(,y + "storage"(*& +4 "core" &,z \  +2 "storage"(J& +3 "core" &,z I\  +2 "manipulator"&N& +4 "core" &Ӑ& 1 ?P +2 "manipulator"&~% +3 "core" % !  ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&;( +165 "core" ( +2 "manipulator"&k& +4 "core" & x  + "storage"(V& +4 "core" &,z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +90 "core" ' + "storage"(X& +4 "core" &,z _\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'r +299 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (y& +3 "core" &,z  v\  +2 "manipulator"&0& +3 "core" & m  +2 .tElbow.seek 4 +2 "manipulator"&C( +3 "core" ( + "manipulator"&g& +4 "core" &    +2 "storage"(a& +3 "core" &,z \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&H'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +8 "core" & }  + "manipulator"&F% +4 "core" % x { +2 .tForearm.seek :retract +2 "manipulator"&-' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\\( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&& +4 "core" &  y 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" & 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&M' +95 "core" ' +2 "manipulator"&_& +4 "core" &  " 1 +2 "manipulator"&9% +4 "core" %  f + "processing"%& +4 "core" &!\ +2 "processing"%e& +5 "core" &'\ +2 .tPC.seek :closed +2 "processing"%p(^ +4 "core" &"\  +9 &2x"\ *x +9 &b\ > +9 &gt\ O +10 &)T\ N +9 &R\ O +9 &T\ O +10 &oW \ N +9 &0T\ O +10 &T\ N +9 &U\ N +9 & vT\ O +10 &"9V\ N +9 &#Y\ O +9 &%U\ O +10 &'S\ N +9 &)AT\ N +9 &+W\ O +10 &,X\ O +9 &.R\ N +10 &0JU\ N +9 &2 X\ N +9 &3W\ O +10 &5V\ O +9 &7QT\ N +9 &9W\ O +10 &:Y\ O +9 &<V!\ O +10 &>W[\ O +9 &@W\ O +9 &A^\ O +10 &Ck \ Q +9 &EUy\ R +10 &G\ T +9 &H\ U +9 &J\ U +10 &LU\ U +9 &N\ V +9 &O\ V +10 &Q\ V +9 &SY\ W +10 &U\ W +9 &V\ W +9 &X\ V +10 &Z`\ W +9 &\\!\ W +9 &]\ 6 +10 &^,k\ _ +13 &^1\ 7 ( +2 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +6 "manipulator"&1 +62 "core" 1 +2 "manipulator"&D% +4 "core" %  f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +90 "core" ' + "processing"%& +4 "core" &^4\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&K% +4 "core" %    +2 "storage"(@% +3 "core" % m z {\ +2 "storage"('. +3 "core" .(,y + "storage"(c& +4 "core" &,z \  +2 "storage"(q& +5 "manipulator"&.& +4 "core" &,z \  + & 1 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&2( +3 "storage"(w'r +3 "core" ( + "manipulator"&& +4 "core" & 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" & L 1 +2 .tForearm.seek PC +2 "manipulator"&l' +93 "core" ' +2 .tHand.close + "manipulator"&f/ +55 "core" / +2 .tPC.seek :open +2 "processing"%I( +99 "core" ' + "storage"(v- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'1 +44 "core" ' +304 ( +2 "storage"( & +4 "core" &,z F\  + "manipulator"&S& +4 "core" & Y 1 +2 "manipulator"&h% +3 "core" %  4 . +2 .tForearm.seek :retract +52 "manipulator"&`' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&&( +245 "core" ( +2 "manipulator"&& +4 "core" & / + "storage"(& +4 "core" &,z  ~ o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +91 "core" ' + .tHand.open +2 "manipulator"&%1 +58 "core" 1 +2 "storage"(o- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(3' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(\ - +3 "core" -' +2 "storage"(b& +4 "core" &,z d n W\  +2 "manipulator"&& +4 "core" &   / +2 .tElbow.seek 4 + "manipulator"&<( +4 "core" ( + "manipulator"&& +4 "core" &  n / +2 "storage"(& +4 "core" &,z n q [\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +53 "core" ' + "manipulator"&& +4 "core" & / +2 "storage"()& +4 "core" &,z l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&E'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&}% +5 "core" %I  +2 "storage"(& +4 "core" &,z \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"& 'u +14 "core" ' +2 "manipulator"&?& +4 "core" & ? / +2 "storage"(^& +4 "core" &,z { \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(A% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(t' +99 (+% +3 "core" %EF \ We + "manipulator"&% +4 "core" % g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (8& +4 "core" &,z \  +2 "collection"'W& +4 "core" &\\h \ Q + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&R% +4 "core" %  9  +2 "storage"(% +4 "core" % \ +2 "storage"(u. +3 "core" .(,y +2 "storage"(4& +3 "core" &,z \  +2 "storage"(>& +4 "core" &,z \  + "manipulator"&T& +4 "core" &  / +2 .tElbow.seek 4 + "manipulator"&L( +4 "core" ( + "manipulator"&7& +4 "core" &  c / +2 "storage"( & +3 "core" &,z \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +94 "core" ' +2 "storage"(& +4 "core" &,z \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +296 "core" ' + "storage"(m- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &  / +2 "storage"("& +3 "core" &,z } ~ \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&r'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(5- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(,'g +29 "core" ' + "manipulator"&% +5 "core" %G @ + "storage"(!& +4 "core" &,z V\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&'s +28 "core" ' + "manipulator"&O& +4 "core" & y / +2 "storage"((& +4 "core" &,z C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(Z' +46 "core" ' + "manipulator"&[& +5 "core" & / + "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +156 "core" ( +2 "manipulator"&*& +4 "core" &ӝ   :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &ӝ  :, +2 .tForearm.seek CC +2 "manipulator"&J'? +97 "core" ' + .tHand.close + "manipulator"&N/ +62 "core" / +2 .tCC.seek :open + "collection"'~( +448 "core" ( + "storage"(P& +4 "core" &,z \  +2 "storage"(k& +3 "core" &,z \  +2 "manipulator"&V& +4 "core" &ӝ  g :, + "manipulator"&X% +4 "core" % E - & +2 .tForearm.seek :retract + "manipulator"&j' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&|( +163 "core" ( +2 "manipulator"&$& +4 "core" & }  + "storage"(y& +4 "core" &,z \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&0'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&a1 +53 "core" 1 +2 "manipulator"&z% +4 "core" % : c % +2 "storage"(& +3 "core" &,z \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&F'f +13 "core" ' +2 "manipulator"&;& +4 "core" & p  +2 "storage"(i& +4 "core" &,z \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +18 "core" ' +2 "storage"(H% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (#% +3 "core" %? \ Va +2 "manipulator"&C% +4 "core" % t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +89 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'9& +4 "core" & \ +2 "manipulator"&% +4 "core" %  i  +2 "storage"(% +4 "core" % \ + "storage"(-. +4 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(s(<- +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<* &\  +2 "manipulator"&D& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&K& +3 "core" & y  +2 "storage"(@& +4 "core" &<* S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&''O +89 "core" ' + "storage"(c& +4 "core" &<* 9\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'r +295 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +2 "core" &<* /\  +2 "manipulator"&& +4 "core" & Z  +2 .tElbow.seek 5 + "manipulator"&n( +4 "core" ( + "manipulator"&M& +4 "core" &   + "storage"(f& +4 "core" &<* ^\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&v'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +49 "manipulator"&\\/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +3 "storage"(p' +6 "core" &  +2 "manipulator"&w% +4 "core" % Ϻ . +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&S(ӂ +158 "core" ( + ' + ."downElevator"SE.stop +4 "manipulator"&h& "storage"(5 +8 "core" &ӎ&  $ ?P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &ӎ&  b ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + "manipulator"&& +5 "core" &ӏ% p >O + "manipulator"&2% +4 "core" %6 w +2 "collection"'%& +4 "core" & \ +2 "collection"'o& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'\ (\\ +4 "core" & \  +9 &4} \ *z +9 &g \ ? +10 &p \ M +9 &UV \ L +9 &U \ L +10 &U \ L +9 &V \ L +9 &^V \ L +10 &[ \ L +9 &V \ L +10 & Y \ L +9 &"fV \ L +9 &$'Y \ L +10 &%V \ L +9 &'U \ L +9 &)nV \ L +10 &+0U \ L +9 &,U \ L +9 &.Y \ L +10 &0uT \ L +9 &28U \ L +10 &3U \ L +9 &5V \ L +9 &7}Y \ L +10 &9@V \ L +9 &;Y \ L +10 &<V \ K +9 &>W \ L +9 &@HV \ L +10 &B[ \ L +9 &C_ \ M +9 &Ed \ N +10 &GDs \ P +9 &H \ S +9 &J \ W +10 &Ls \ X +9 &N3 \ X +10 &O \ Y +9 &Q \ Y +9 &Ss \ Z +10 &U5 \ Z +9 &V "\ [ +9 &X \ \\ +10 &Zt \ ] +9 &\\z \ 1 +10 &\\2 \ a +8 ( +3 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&b1 +4 "core" &\\c \ O +50 1 + "manipulator"&% +4 "core" % 6  w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &6\ +2 "manipulator"&`% +3 "core" %  !  +2 "storage"(% +4 "core" % +\ + "storage"(). +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(}(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<* n f \  +2 "manipulator"&:& +4 "core" &Ӑ% . >N + "manipulator"&?% +4 "core" %  y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&^( +162 "core" ( + "manipulator"& & +5 "core" &   + "storage"(A& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&&'O +89 "core" ' + "storage"(U& +4 "core" &<* C\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'r +296 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<* \  +2 "manipulator"&& +3 "core" & 9  +2 .tElbow.seek 5 +2 "manipulator"&<( +3 "core" ( + "manipulator"&=& +4 "core" &  =  +2 "storage"(E& +3 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& + "storage"(R' +7 "core" & p  +2 "manipulator"&% +4 "core" % ϸ  + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&u( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&4& +4 "core" &   s : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" & : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&T' +100 "core" ' +2 "manipulator"&7& +4 "core" & p : +2 "manipulator"& % +3 "core" % X +2 "processing"%& +4 "core" &A\ +2 "processing"%& +5 "core" &A\ +2 .tPC.seek :closed +2 "processing"%t(^ +4 "core" &0\ \ +8 &0u*\ )w +10 &b&\ > +9 &ct&\ N +10 &#T\ O +9 &X#\ N +9 &V$\ N +10 &iV\ O +9 &+U\ O +9 &W!\ O +10 &T%\ N +9 & qT#\ O +10 &"3T"\ O +9 &#T\ O +9 &%V!\ N +10 &'zU\ N +9 &)<T!\ N +9 &*W#\ O +10 &,T\ N +9 &.S!\ N +9 &0DU"\ N +10 &2W\ O +9 &3U"\ O +10 &5W"\ N +9 &7LU\ N +9 &9X\ N +10 &:W\ N +9 &<V\ O +10 &>R\\!\ O +9 &@W\ O +9 &A]\ O +10 &Ce \ P +9 &EUk\ Q +9 &G}"\ T +10 &H\ U +9 &J\ U +9 &LQ\ U +10 &N \ V +9 &O\ V +10 &Q\ V +9 &SU!\ V +9 &U#\ W +10 &V"\ V +9 &X"\ V +10 &Z\\\ W +9 &\\\ W +9 &]\ 4 +10 &^4q\ C +8 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&11 +4 "core" &^"\ 3 +51 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +93 "core" ' +2 "processing"%Q& +4 "core" &^!-\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&"% +4 "core" % ! & & +2 "storage"(5% +3 "core" % \ +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(!(<- +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +4 "core" &<* @ S L\  +2 "manipulator"&(& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &  : +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(['r + "manipulator"&( +5 "core" ( + "manipulator"&G& +4 "core" & : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" & ` : +2 .tForearm.seek PC +2 "manipulator"&]' +96 "core" ' + .tHand.close +2 "manipulator"&r/ +59 "core" / +3 .tPC.seek :open + "processing"%( +91 "core" ' +2 "storage"(,- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'1 +50 "core" ' +303 ( + "storage"(Y& +4 "core" &<* \  +2 "manipulator"& & +3 "core" &  a : +2 "manipulator"&B% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&N' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&6( +245 "core" ( + "manipulator"&{& +4 "core" & '  +2 "storage"(P& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +106 "core" ' + .tHand.open + "manipulator"&V1 +63 "core" 1 +2 "storage"(X- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"($' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(y' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(J- +3 "core" -' +2 "storage"(& +4 "core" &<* T\  + "manipulator"&a& +4 "core" & o  +2 .tElbow.seek 5 +2 "manipulator"&z( +8 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(;& +4 "core" &<* \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&i'O +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(H'" +57 "core" ' +2 "manipulator"&j& +4 "core" &   +2 "storage"(#& +3 "core" &<* \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&C'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , +52 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +20 "core" ' +2 "manipulator"&9% +4 "core" %Κ _ +2 "storage"(F& +4 "core" &<* y \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&' +26 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(-& +4 "core" &<* g\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +22 "core" ' + "storage"(/% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (d% +2 "core" %J \ Wf +2 "manipulator"&% +5 "core" %W L + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +94 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (K& +3 "core" &<* \  +2 "collection"'@& +4 "core" &\\d \ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&c% +4 "core" % ! L ( +2 "storage"(g% +4 "core" % (\ + "storage"(_. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(.(<- +2 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (q& +3 "core" &<+ b Y A\  +2 "manipulator"&& +4 "core" & d  +2 .tElbow.seek 5 + "manipulator"&M( +10 "core" ( +2 "manipulator"&f& +4 "core" &  K +2 "storage"(\\& +3 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +99 "core" ' + "storage"(w& +5 "core" &<+ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"('- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&h& +3 "core" & + +2 "storage"(l& +3 "core" &<+ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&e'΍ +13 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(2'^ +31 "core" ' + "manipulator"&%% +4 "core" %Δ P +2 "storage"(n& +4 "core" &<+ &\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 307 counts + "manipulator"&p' +27 "core" ' + "manipulator"& & +5 "core" &  + "storage"(~& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +13 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&& +4 "core" & +2 "manipulator"&`% +4 "core" %U  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&)(ӂ +159 "core" ( +2 "manipulator"&o& +4 "core" &ӕ# F <@ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &ӕ# 2 <@ +2 .tForearm.seek CC +2 "manipulator"&:'? +92 "core" ' + .tHand.close + "manipulator"&?/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"( & +4 "core" &<+ p\  +2 "storage"(A& +3 "core" &<+ C\  +2 "manipulator"&s& +4 "core" &Ӗ# k <? + "manipulator"&U% +4 "core" % M a +2 .tForearm.seek :retract + "manipulator"&S' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( + "manipulator"&+& +5 "core" &   + "storage"(& +4 "core" &<+ >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +94 "core" ' + .tElbow.hold + "manipulator"&=, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +54 "core" 1 +7 "manipulator"&8% +4 "core" % ΅  +2 "storage"(W& +4 "core" &<+ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 292 counts +2 "manipulator"&'ϱ +36 "core" ' + "manipulator"&^& +4 "core" &   +2 "storage"(&& +4 "core" &<+ ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +27 "core" ' + "storage"( % +4 "core" % '\ +3 ."downElevator"SE.seek :down +3 "storage"(4' +99 (>% +3 "core" %B -\ Va + "manipulator"&<% +4 "core" %X E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"' & +5 "core" & \ + "manipulator"&% +4 "core" %   +2 "storage"(R% +4 "core" % =\ + "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(I(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (1& +3 "core" &K F\  +2 "manipulator"&& +4 "core" & V  +2 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( + "manipulator"&"& +4 "core" &  w  + "storage"(5& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +122 "core" ' + "storage"(& +4 "core" &K `\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'r +295 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &K |\  +2 "manipulator"&L& +4 "core" & m  +2 .tElbow.seek 6 + "manipulator"&T( +4 "core" ( + "manipulator"&r& +4 "core" &  V  +2 "storage"(}& +3 "core" &K *\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&,'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&u/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(t' +8 "core" & ^  + "manipulator"&[% +4 "core" % Ϛ +2 .tForearm.seek :retract +2 "manipulator"&Y' +91 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&B& +3 "core" &Ӝ  5 9$ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &Ӝ F 9$ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'? +98 "core" ' +2 "manipulator"&P& +4 "core" &Ӝ   O 9$ +2 "manipulator"&% +4 "core" %4 y +2 "collection"'V& +4 "core" & \ +2 "collection"'X& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'J(\\ +4 "core" & \ +8 &: \ %f +9 &X} \ 7 +9 &y \ L +10 &T \ L +9 &V \ L +9 &CZ \ L +10 &W \ K +9 &W \ L +10 &Y \ L +9 &KU \ L +9 & Y \ L +10 &!T \ L +9 &#W \ K +9 &%TU \ K +10 &'U \ L +9 &(T \ L +9 &*T \ L +10 &,\\U \ K +9 &.U \ K +10 &/U \ K +9 &1W \ K +9 &3cW \ L +10 &5%Y \ L +9 &6U \ L +9 &8U \ K +10 &:kW \ L +9 &<-Y \ L +10 &=Y \ L +9 &?W \ K +9 &ArY \ L +10 &C1d \ M +9 &Do \ O +10 &F \ Q +9 &H^ \ V +9 &J \ Y +10 &K \ W +9 &M \ Z +9 &OX \ Z +10 &Q \ Z +9 &R \ [ +10 &T \ [\ +9 &VZ \ \\ +65 &X \ ] +2 &Y \ ^ + &[ \ J + &\\= \ * + &\\v \ S + ( &\\u \ S + &\\u \ S +3 "collection"'X& +4 #tCollection Clamp onSpring/offSpring for 11/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&1 +4 "core" &\\u \ S +50 1 + "manipulator"&a% +4 "core" % 4 Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%N& +4 "core" &=\ +2 "manipulator"&;% +4 "core" %  ! +2 "storage"(j% +4 "core" % \ +2 "storage"(#. +3 "core" .(K + "storage"(*& +4 "core" &K \  +2 "storage"($& +3 "core" &K Q\  +2 "manipulator"&9& +4 "core" &Ӝ  g 9$ +2 "manipulator"&F% +4 "core" %  \\ ! +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +165 "core" ( + "manipulator"&-& +5 "core" & z  + "storage"(6& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&/' +100 "core" ' +2 "storage"(k& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'r +295 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &K \  +2 "manipulator"&& +4 "core" & I  +2 .tElbow.seek 6 + "manipulator"&z( +4 "core" ( + "manipulator"&H& +4 "core" & t  +2 "storage"(C& +3 "core" &K ~ } 1\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&@& + "storage"(c' +7 "core" & z  + "manipulator"&0% +4 "core" % c  0 +2 .tForearm.seek :retract +2 "manipulator"&g' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&_( +169 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&q& +4 "core" &  M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f' +94 "core" ' +2 "manipulator"&\\& +4 "core" & +2 "manipulator"&Z% +4 "core" % A 0 +2 "processing"%w& +4 "core" &0\ +2 "processing"%& +5 "core" &)\ +2 .tPC.seek :closed +2 "processing"%!(^ +4 "core" &.\  +9 &3x+\ *x +10 &c},\ > +9 &pq/\ N +9 &0T'\ O +10 &R&\ O +9 &Q*\ O +9 &vS)\ O +10 &9T-\ N +9 &Q"\ O +9 &S#\ O +10 & ~S%\ O +9 &"AW!\ N +10 &$T"\ O +9 &%Q"\ N +9 &'T$\ N +10 &)GW#\ O +9 &+\ T!\ O +10 &,T\ O +9 &.T"\ O +9 &0QT#\ N +10 &2T#\ N +9 &3W#\ O +9 &5V#\ O +10 &7YT#\ N +9 &9W"\ O +9 &:Y"\ O +10 &<T#\ O +9 &>_X#\ O +10 &@!X"\ O +9 &A`!\ P +9 &Cj"\ Q +10 &EZ{"\ T +9 &G#\ U +10 &H\ U +9 &J"\ U +9 &L["\ V +10 &N"\ W +9 &O!\ V +9 &Q\ V +10 &S`!\ W +9 &U!"\ W +10 &V"\ W +9 &X"\ V +9 &Zg\ W +10 &\\*!\ W +9 &]y!\ ; +9 &^2"\ S +10 &^"\ 1 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&|1 +57 "core" 1 + "manipulator"&D% +4 "core" %  0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +98 "core" ' + "processing"%h& +4 "core" &^!\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&l% +4 "core" % % < 9 +2 "storage"(% +3 "core" % a V\ +2 "storage"(%. +3 "core" .(K + "storage"(n& +4 "core" &K d d \ \  +2 "storage"( & +3 "manipulator"&~& +6 "core" &K d c \  + & Z +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(`'r +3 "core" ( + "manipulator"&x& +4 "core" & ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" & O +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close + "manipulator"&e/ +57 "core" / + .tPC.seek :open +2 "processing"%p( +98 "core" ' + "storage"(2- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(o'1 +44 "core" ' +302 ( + "storage"(& +4 "core" &K ~ | \  +2 "manipulator"&b& +4 "core" &  +2 "manipulator"&v% +3 "core" %  } 8 +2 .tForearm.seek :retract +2 "manipulator"&?' +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +238 "core" ( +2 "manipulator"&\ & +4 "core" & n 2 + "storage"( & +4 "core" &K \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&A' +94 "core" ' + .tHand.open + "manipulator"&s1 +59 "core" 1 +2 "storage"(U- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(+' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' + "storage"()& +4 "core" &K E\ | +2 "manipulator"&E& +3 "core" &   2 +2 .tElbow.seek 6 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&W& +3 "core" & 2 +2 "storage"(^& +4 "core" &K [\ | +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +51 "core" ' + "manipulator"&S& +4 "core" &  ? 2 +2 "storage"(>& +4 "core" &K y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&<'< +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"& % +5 "core" %P + "storage"(& +4 "core" &K G\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&'| +16 "core" ' +2 "manipulator"&R& +4 "core" & O 1 +2 "storage"(& +4 "core" &K |  <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +17 "core" ' + "storage"(3% +5 "core" % ~ \ +2 ."downElevator"SE.seek :down +4 "storage"(4' +98 (.% +3 "core" %hK n &\ Xi +2 "manipulator"&1% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ("& +4 "core" &K \  + "collection"'5& +4 "core" &\\u \ S +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  A  +2 "storage"(=% +3 "core" % Q\ +2 "storage"(7. +3 "core" .(K + "storage"((& +4 "core" &K ;\  +2 "storage"(G& +4 "core" &K O\  + "manipulator"&L& +4 "core" & f 1 +2 .tElbow.seek 6 + "manipulator"&r( +4 "core" ( + "manipulator"&}& +4 "core" &  } 1 +2 "storage"(u& +3 "core" &K ~ %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +96 "core" ' +2 "storage"([& +4 "core" &K 6\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +51 "storage"(Q'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" & v 1 +2 "storage"(]& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&O'< +23 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"('g +29 "core" ' +2 "manipulator"&V% +4 "core" %P a  + "storage"(T& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&t'| +15 "core" ' +2 "manipulator"&Y& +4 "core" & 1 +2 "storage"(& +4 "core" &K  } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(a' +41 "core" ' +2 "manipulator"&N& +4 "core" & I 1 +2 "manipulator"&;% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&j' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&#(ӂ +154 "core" ( +2 "manipulator"&*& +4 "core" &Ӆ- Dx + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &ӆ- d Dw +3 .tForearm.seek CC +2 "manipulator"&X'? +96 "core" ' + .tHand.close +2 "manipulator"&9/ +64 "core" / +2 .tCC.seek :open + "collection"'F( +448 "core" ( + "storage"({& +4 "core" &K \  +2 "storage"(-& +4 "core" &K K\  + "manipulator"&6& +4 "core" &Ӫ&  t ?S + "manipulator"&k% +4 "core" % C I 3 +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( + "manipulator"&i& +5 "core" &   + "storage"(d& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&C1 +56 "core" 1 +2 "manipulator"&K% +4 "core" % 4  H  +2 "storage"(@& +4 "core" &K #\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 292 counts + "manipulator"&0'` +15 "core" ' +2 "manipulator"&& +4 "core" &  !  +2 "storage"(/& +4 "core" &K U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +19 "core" ' +2 "storage"(% +4 "core" % \ \ +3 ."downElevator"SE.seek :down +3 "storage"(q' +98 (% +3 "core" %C \ V` +2 "manipulator"&z% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +92 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'Z& +4 "core" & \ +2 "manipulator"&w% +4 "core" %  v # + "storage"(c% +4 "core" % \ +2 "storage"(g. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1154 "Can"\ ^\\ +146 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (|& +4 "core" &  1\ +2 "manipulator"&D& +4 "core" & w  +2 .tElbow.seek 2 + "manipulator"&h( +4 "core" ( + "manipulator"&l& +4 "core" &  A  + "storage"(& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&%'S +100 "core" ' +2 "storage"(n& +4 "core" &  1\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +294 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  \ +2 "manipulator"&x& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&f& +3 "core" &    +2 "storage"(e& +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&2'Ͻ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(!' +8 "core" &  B  + "manipulator"&`% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b(ӂ +157 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&v& + "storage"(5 +7 "core" &Ә" 5 ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ә" E ;2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&\ '? +97 "core" ' +2 "manipulator"& & +5 "core" &Ә" a ;2 + "manipulator"&% +4 "core" %D K  +2 "collection"'s& +4 "core" & 0\ +2 "collection"'U& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"':(\\ +4 "core" & \ +8 &: \ %f +9 &X| \ 7 +10 &x \ L +9 &T \ L +10 &V \ L +9 &CU \ L +9 &V \ K +10 &U \ L +9 &U \ K +9 &JU \ L +10 & U \ L +9 &!Y \ L +9 &#W \ L +10 &%SX \ L +9 &'U \ K +10 &(V \ L +9 &*U \ K +9 &,[U \ L +10 &.Y \ L +9 &/U \ K +9 &1W \ K +10 &3cV \ L +9 &5%T \ L +10 &6V \ L +9 &8U \ K +9 &:kW \ L +10 &<.U \ K +9 &=W \ L +9 &?W \ L +10 &ArX \ L +9 &C2[ \ M +10 &D_ \ M +9 &Fk \ O +9 &Hl \ Q +10 &J" \ U +9 &K \ W +10 &M \ X +9 &O^ \ X +9 &Q \ X +10 &R \ Z +9 &T \ Z +9 &V] \ [ +10 &X \ \\ +9 &Y \ \\ +9 &[ \ I +10 &\\7 \ / +9 &\\e \ O +3 ( + "collection"'U& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&)1 +64 "core" 1 + "manipulator"&E% +4 "core" % D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%^& +4 "core" &0\ +2 "manipulator"&?% +4 "core" %   +2 "storage"(S% +3 "core" % *\ +2 "storage"(>. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( (  +12 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & y\ +2 "manipulator"&o& +4 "core" &Ә" D ;2 +2 "manipulator"&R% +3 "core" %  I  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +162 "core" ( + "manipulator"&+& +4 "core" &   +2 "storage"(3& +4 "core" & 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +95 "core" ' + "storage"(A& +4 "core" & V\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +2 "core" & \ +2 "manipulator"&&& +3 "core" & i  +2 .tElbow.seek 2 +2 "manipulator"&8( +3 "core" ( + "manipulator"& & +4 "core" &  B  + "storage"(<& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +33 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +107 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&5& +6 "storage"(' +8 "core" &  i  + "manipulator"&=% +4 "core" %  % +2 .tForearm.seek :retract +2 "manipulator"&7' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&(& +4 "core" & @ $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" & $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L' +99 "core" ' +2 "manipulator"&}& +4 "core" & $ +2 "manipulator"&u% +4 "core" % m  +2 "processing"%& +3 "core" &B\ +2 "processing"%[& +6 "core" &1\ +2 .tPC.seek :closed + "processing"%4(^ +4 "core" &1\ +8 &61\ $c +10 &U{0\ 7 +9 &~y0\ L +9 &T1\ N +10 &]W0\ O +9 & S,\ N +10 &U)\ N +9 &U/\ N +9 &fU+\ N +10 &(U,\ N +9 &R.\ O +9 &!Q0\ N +10 &#nT,\ N +9 &%1S#\ N +10 &&Y(\ O +9 &(T,\ O +9 &*uX$\ O +10 &,7V"\ O +9 &-R"\ N +9 &/U"\ N +10 &1}W"\ O +9 &3?U\ O +10 &5R!\ N +9 &6U\ O +9 &8Y!\ O +10 &:GU'\ O +9 &<Z\ O +9 &=W\ O +10 &?Y!\ O +9 &AOX"\ O +10 &C b\ P +9 &Df"\ Q +9 &Fy!\ S +10 &HF#\ T +9 &J"\ T +9 &K"\ U +10 &M"\ U +9 &OL"\ U +9 &Q "\ V +10 &R!\ V +9 &T"\ W +10 &VR#\ V +9 &X"\ V +9 &Y!\ W +10 &["\ W +9 &]W"\ F +9 &^{@s!\ )w +10 &^%!\ . +2 ( +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 "processing"%B& +4 "core" &^  \ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&]% +4 "core" % # . 5 + "storage"(P% +4 "core" % \ +2 "storage"(V. +3 "core" .(  + "storage"(T& +4 "core" & \ +2 "storage"(Y& +5 "manipulator"&& +4 "core" & \ + & , $ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(N'r +2 "manipulator"&;( +5 "core" ( + "manipulator"&m& +4 "core" & @ $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" & Y $ +2 .tForearm.seek PC +2 "manipulator"&Q' +92 "core" ' + .tHand.close + "manipulator"&O/ +60 "core" / +3 .tPC.seek :open + "processing"%t( +91 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'1 +39 "core" ' +316 ( +2 "storage"($& +4 "core" & \ +2 "manipulator"&& +3 "core" & o $ +2 "manipulator"&,% +3 "core" %  H +2 .tForearm.seek :retract +2 "manipulator"&9' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&j( +247 "core" ( + "manipulator"&J& +4 "core" & + 8 +2 "storage"({& +4 "core" & "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&-'S +95 "core" ' + .tHand.open + "manipulator"&61 +54 "core" 1 +2 "storage"(k- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(i' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(d' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(X- +4 "core" -' + "storage"(#& +4 "core" & f\ + "manipulator"&C& +4 "core" &  ^ 7 +2 .tElbow.seek 2 + "manipulator"&K( +4 "core" ( + "manipulator"&@& +4 "core" &   7 +2 "storage"(& +3 "core" & \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&/'S +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +56 "core" ' + "manipulator"& & +4 "core" &  7 +2 "storage"(& +4 "core" & ~ ~ p\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&z'Α +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&Z% +5 "core" %Σ o + "storage"(0& +5 "core" & a\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&w' +15 "core" ' +2 "manipulator"&c& +4 "core" &  7 +2 "storage"(g& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&a'S +18 "core" ' +2 "storage"(y% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(q' +99 (I% +3 "core" %NM \ Xi + "manipulator"&|% +4 "core" %S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +86 "core" ' +69 ' + ."downElevator"SE.stop + "storage"(5 +3 (l& +4 "core" & \ + "collection"'& +4 "core" &\\e \ O +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&n% +4 "core" %   +2 "storage"(H% +3 "core" % \ +2 "storage"(\\. +3 "core" .(  + "storage"(~& +4 "core" & T\ +2 "storage"(& +4 "core" & \ + "manipulator"&x& +4 "core" & 1 7 +2 .tElbow.seek 2 + "manipulator"&f( +4 "core" ( + "manipulator"&e& +4 "core" &  $ 7 + "storage"(_& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&''S +96 "core" ' + "storage"(`& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'r +295 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +2 "core" & 2 7 +2 "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& 'Α +21 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"('` +30 "core" ' + "manipulator"&s% +5 "core" %Τ G + "storage"(M& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 319 counts + "manipulator"&!' +16 "core" ' +2 "manipulator"&& +4 "core" & T 6 +2 "storage"(F& +3 "core" & P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&)'S +15 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(E' +37 "core" ' + "manipulator"&^& +5 "core" & J 6 + "manipulator"&?% +4 "core" %A  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +155 "core" ( +2 "manipulator"&U& +4 "core" &Ӕ# <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӕ# @ <? +2 .tForearm.seek CC +2 "manipulator"&o'? +92 "core" ' +2 .tHand.close + "manipulator"&R/ +54 "core" / +49 .tCC.seek :open +4 "collection"'\ ( +447 "core" ( +2 "storage"(+& +4 "core" & \ +2 "storage"(3& +4 "core" & \ + "manipulator"&& +4 "core" &ӕ# V <> + "manipulator"&A% +4 "core" % I  > +2 .tForearm.seek :retract +2 "manipulator"&b' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +156 "core" ( +2 "manipulator"&.& +4 "core" &  +2 "storage"(1& +3 "core" & t\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&&'Α +97 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +64 "core" 1 +2 "manipulator"&"% +4 "core" % Ί  {  + "storage"(5& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 293 counts +2 "manipulator"&='϶ +14 "core" ' +3 "manipulator"&& +28 "core" &  U + "storage"(& +5 "core" & M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +2 "storage"(% +5 "core" % #\ +2 ."downElevator"SE.seek :down +3 "storage"((' +99 (G% +3 "core" %J \ We + "manipulator"&8% +4 "core" %3 < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +86 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'u& +4 "core" & \ +2 "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % \ +2 "storage"(7. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(p( +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & 8\  +2 "manipulator"&& +4 "core" &  V + .tElbow.seek 3 +2 "manipulator"&B( +17 "core" ( +2 "manipulator"&]& +4 "core" &  V  +2 "storage"(P& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&V'7 +90 "core" ' + "storage"(T& +4 "core" & A\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" & \  + "manipulator"&m& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&r( +3 "core" ( +2 "manipulator"&L& +3 "core" &  F  +2 "storage"(O& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(4' +7 "core" & w  + "manipulator"&N% +4 "core" % Ϛ G +2 .tForearm.seek :retract +2 "manipulator"&$' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&,& +4 "core" &Ӑ$ u =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &Ӑ$ =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&J'? +102 "core" ' + "manipulator"&{& +5 "core" &Ӑ% . =G + "manipulator"&;% +4 "core" %D  ] $ +2 "collection"'6& +4 "core" & ,\ +2 "collection"'k& +6 "core" & +\ +2 .tCC.seek :closed +2 "collection"'X(\\ +4 "core" & \ +7 &; \ %f +10 &Wy \ 7 +9 &y \ K +9 &U \ L +10 &{T \ L +9 &=U \ L +10 &V \ K +9 &V \ L +9 &T \ L +10 &EU \ L +9 & S \ L +9 &!U \ K +10 &#W \ L +9 &%MT \ L +10 &'U \ K +9 &(V \ L +9 &*S \ L +10 &,VV \ K +9 &.U \ L +9 &/W \ L +10 &1U \ L +9 &3]U \ L +10 &5X \ L +9 &6T \ L +9 &8U \ L +10 &:fV \ K +9 &<'V \ L +9 &=U \ L +10 &?V \ L +9 &AmX \ L +10 &C-\\ \ L +9 &Db \ M +9 &Fk \ O +10 &Hd \ Q +9 &J \ V +9 &K \ X +10 &M \ X +9 &OT \ Z +10 &Q \ Z +9 &R \ Z +9 &T \ [ +10 &VW \ [ +9 &X \ \\ +9 &Y \ \\ +10 &[ \ J +9 &\\9 \ - +9 &\\ \ \\ +3 ( + "collection"'k& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open + "manipulator" +64 "core" 1 +2 "manipulator"&C% +4 "core" % D $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@' +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &@\ +2 "manipulator"&9% +4 "core" %  V  + "storage"( % +4 "core" % \ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(Z( +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +3 "core" & J 8 \  +2 "manipulator"&0& +4 "core" &Ӑ$ =G + "manipulator"&i% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&c( +164 "core" ( +2 "manipulator"&g& +4 "core" & f  +2 "storage"(y& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&j'7 +94 "core" ' +2 "storage"(-& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'r +297 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +2 "core" & { Z\  +2 "manipulator"&/& +4 "core" & 2  +2 .tElbow.seek 3 + "manipulator"&K( +4 "core" ( + "manipulator"&& +4 "core" &  f  +2 "storage"(z& +3 "core" & | \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&w'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(n' +8 "core" & k  + "manipulator"&H% +4 "core" % Ϝ +2 .tForearm.seek :retract +2 "manipulator"&\\' +96 "core" ' + .tElbow.seek PC +2 "manipulator"&( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&~& +4 "core" & ^ < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&x' +94 "core" ' + "manipulator"&e& +4 "core" & ` < +2 "manipulator"&_% +4 "core" % M +2 "processing"%a& +3 "core" &@\ +2 "processing"%`& +5 "core" &A\ +2 .tPC.seek :closed +2 "processing"%q(^ +4 "core" &1\  +9 &0u0\ *x +9 &b~.\ > +10 &os/\ O +9 &1Y*\ N +9 &T0\ O +10 &W-\ N +9 &vY0\ O +9 &8U-\ O +10 &W.\ O +9 &T(\ N +10 & U/\ N +9 &"AW.\ N +9 &$W/\ O +10 &%U0\ O +9 &'W.\ O +9 &)IR,\ N +10 &+ T)\ N +9 &,U%\ O +10 &.U*\ N +9 &0QU/\ N +9 &2V#\ O +10 &3V"\ O +9 &5W%\ O +9 &7YW+\ N +10 &9[$\ O +9 &:Y#\ O +9 &<U"\ N +10 &>`Z"\ O +9 &@"\\"\ O +10 &Ac"\ P +9 &Ck$\ Q +9 &E]}"\ R +10 &G"\ T +9 &H#\ U +9 &J%\ U +10 &L]$\ U +9 &N#\ V +10 &O#\ V +9 &Q"\ W +10 &Sc$\ V +9 &U$#\ V +9 &V#\ V +10 &X"\ V +9 &Zi"\ W +9 &\\,"\ V +10 &]~y"\ < +9 &^,$\ T +9 &^)#\ 4 +3 ( +2 "processing"%`& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&D% +4 "core" %  M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +54 .tForearm.seek :retract + "manipulator"&%' +92 "core" ' + "processing"%v& +4 "core" &^(2\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %  @  +2 "storage"( % +3 "core" % Y W \ \ +2 "storage"(s. +3 "core" .( +2 "storage"(M& +3 "core" & d Y\  +2 "storage"(& +5 "manipulator"&F& +4 "core" & d d Q\  + & < +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +3 "manipulator"&^( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(?'r +3 "core" ( + "manipulator"&'& +4 "core" & D < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +4 "core" & @ < + .tForearm.seek PC +2 "manipulator"&h' +96 "core" ' + .tHand.close +2 "manipulator"& / +60 "core" / + .tPC.seek :open +2 "processing"%!( +90 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'1 +47 "core" ' +307 ( + "storage"(& +4 "core" & 5\  +2 "manipulator"&)& +3 "core" & < +2 "manipulator"&2% +4 "core" %  ^  +2 .tForearm.seek :retract + "manipulator"&R' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&S( +245 "core" ( +2 "manipulator"&:& +4 "core" &~  L + "storage"(+& +4 "core" & =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&3'7 +91 "core" ' +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "storage"(A- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(.' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(1' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(o- +3 "core" -' +2 "storage"(>& +4 "core" & s p e\  +2 "manipulator"&<& +3 "core" &~    L +2 .tElbow.seek 3 +2 "manipulator"&"( +3 "core" ( + "manipulator"&5& +4 "core" &~ \  t L +2 "storage"(& +4 "core" & o n P\  +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +54 "core" ' + "manipulator"&b& +4 "core" &~ @ L +2 "storage"(G& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&8'u +25 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(&' +31 "core" ' + "manipulator"&u% +5 "core" %· T + "storage"(=& +4 "core" & Z a D\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&'ϳ +38 "core" ' +2 "manipulator"&& +4 "core" &~ ' L +2 "storage"(7& +4 "core" & N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&E'7 +15 "core" ' +2 "storage"(% +4 "core" % | ~ \ +3 ."downElevator"SE.seek :down +3 "storage"((' +99 ( % +3 "core" %L b Y )\ Vd + "manipulator"&% +4 "core" %4  x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (]& +4 "core" & -\  +2 "collection"'P& +4 "core" &\\{ \ \\ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&T% +4 "core" % # } 1 +2 "storage"( % +3 "core" % \ +2 "storage"(}. +3 "core" .( +2 "storage"(& +4 "core" & \  + "storage"(Y& +4 "core" & k\  +2 "manipulator"&m& +3 "core" &~ W L +2 .tElbow.seek 3 +2 "manipulator"&L( +3 "core" ( + "manipulator"&O& +4 "core" &~  L +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' + "storage"(N& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'r +299 "core" ' +2 "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&,& +3 "core" &~ X L +2 "storage"(Q& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&['u +17 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"({- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(;'c +28 "core" ' +2 "manipulator"&r% +4 "core" %· G 8 + "storage"(6& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&4'ϳ +26 "core" ' +2 "manipulator"&$& +4 "core" &~  L +2 "storage"(\ & +52 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&#'7 +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(C' +40 "core" ' + "manipulator"&& +5 "core" &~ L + "manipulator"&9% +4 "core" %:  | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( +2 "manipulator"&k& +4 "core" &Ӎ( + @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +2 "core" &ӎ( @Y +2 .tForearm.seek CC +2 "manipulator"&0'? +96 "core" ' + .tHand.close +2 "manipulator"&i/ +52 "core" / +2 .tCC.seek :open + "collection"'J( +448 "core" ( +2 "storage"(g& +4 "core" & \  + "storage"(y& +4 "core" & \  + "manipulator"&p& +4 "core" &ӏ(  ( @X +2 "manipulator"&-% +3 "core" % :  - / +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&@( +164 "core" ( + "manipulator"&I& +4 "core" & ;  +2 "storage"(|& +3 "core" & b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&/'u +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +56 "core" 1 +2 "manipulator"&l% +4 "core" % ΂ & +2 "storage"(& +3 "core" & z\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&H'Ϯ +30 "core" ' +2 "manipulator"&c& +5 "core" & -  + "storage"(j& +4 "core" & X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d'7 +17 "core" ' + "storage"(w% +5 "core" % *\ +2 ."downElevator"SE.seek :down +3 "storage"(~' +99 (% +3 "core" %^I 1\ Vc +2 "manipulator"&K% +4 "core" %7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +52 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'_& +4 "core" & \ +2 "manipulator"&a% +4 "core" % ! u % +2 "storage"(n% +3 "core" % \ +2 "storage"(\\. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(t(,y +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,} <\ +2 "manipulator"&D& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&`( +42 "core" ( +2 "manipulator"&v& +4 "core" &   +2 "storage"(& +3 "core" &,} {\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +96 "core" ' + "storage"(s& +5 "core" &,} ,\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +295 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" &,| 3\ +3 "manipulator"&'& +3 "core" & @  +2 .tElbow.seek 4 +2 "manipulator"&f( +3 "core" ( + "manipulator"&x& +4 "core" &   + "storage"( & +4 "core" &,| "\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& +3 "storage"(q' +6 "core" &   +2 "manipulator"&?% +4 "core" % ϋ L +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&)(ӂ +155 "core" ( + "manipulator"&2& +5 "core" &Ӑ& ` @X + ' + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b +2 "storage"(5 + "manipulator"&h& +6 "core" &Ӑ( / @X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&:'? +103 "core" ' +2 "manipulator"&+& +4 "core" &ӑ(  e @W +2 "manipulator"&^% +4 "core" %= & +2 "collection"'& +4 "core" & \ +2 "collection"'A& +5 "core" & 6\ +2 .tCC.seek :closed +2 "collection"'o(\\ +5 "core" & \  +8 &4} \ *z +9 & e} \ > +10 &p \ M +9 &VS \ L +9 &T \ L +10 &W \ L +9 &X \ L +10 &`S \ K +9 &!W \ L +9 &T \ L +10 & R \ L +9 &"gS \ L +9 &$)T \ L +10 &%U \ K +9 &'U \ L +10 &)oX \ L +9 &+1Y \ L +9 &,X \ L +10 &.Y \ L +9 &0wY \ L +9 &29W \ L +10 &3Y \ L +9 &5Y \ L +9 &7Y \ L +10 &9AT \ L +9 &;T \ L +10 &<U \ K +9 &>W \ L +9 &@JW \ K +10 &B\ W \ L +9 &C\\ \ M +10 &Ec \ M +9 &GFt \ O +9 &H \ R +10 &J \ V +9 &Lt \ X +9 &N6 \ X +10 &O \ Y +9 &Q \ Y +9 &St \ Z +10 &U6 \ Z +9 &V \ [ +10 &X \ \\ +9 &Zw \ \\ +9 &\\y \ 2 +10 &\\0 \ [ +9 ( +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&>1 +4 "core" &\\o \ N +55 1 +2 "manipulator"&<% +4 "core" % = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +93 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &0\ +2 "manipulator"&R% +3 "core" %  M  +2 "storage"(b% +4 "core" % \ + "storage"(G. +4 "core" .(,y + "storage"(u& +4 "core" &,| 2\ + "storage"(U& +4 "core" &,| 6\ +2 "manipulator"&=& +4 "core" &Ӓ& T ?V + "manipulator"&.% +4 "core" %  ^  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +166 "core" ( +2 "manipulator"&7& +4 "core" & C  +2 "storage"(& +3 "core" &,| \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +98 "core" ' + "storage"(3& +4 "core" &,| \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'r +296 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,| |\ +2 "manipulator"&& +3 "core" & f  +2 .tElbow.seek 4 + "manipulator"&"( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(8& +4 "core" &,| | | \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&]'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& + "storage"(T' +7 "core" & K  +2 "manipulator"& % +4 "core" % ` [ z + .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&&( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & ,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +91 "core" ' + "manipulator"&O& +5 "core" & C  + "manipulator"&% +4 "core" % n +2 "processing"%E& +4 "core" &-\ +2 "processing"%N& +5 "core" &"\ +2 .tPC.seek :closed +2 "processing"%((^ +4 "core" &)\  +8 &2x-\ *x +9 &b1\ > +10 &ot.\ O +9 &2U.\ N +9 &V.\ N +10 &U.\ O +9 &wU0\ O +10 &9W3\ O +9 &W0\ O +9 &U1\ N +10 & T0\ O +9 &"BR)\ N +10 &$U/\ O +9 &%U/\ O +9 &'V1\ O +10 &)IR1\ O +9 &+ Y+\ N +9 &,T-\ O +10 &.T0\ O +9 &0QV)\ O +9 &2R&\ N +10 &3W(\ N +9 &5X#\ O +10 &7ZV$\ N +9 &9W&\ N +9 &:W#\ N +10 &<W,\ N +9 &>a\\&\ O +9 &@#V#\ O +10 &A_#\ O +9 &Ck"\ Q +10 &E^w!\ R +9 &G'\ T +9 &H#\ U +10 &J!\ T +9 &L`#\ T +10 &N#\ V +9 &O#\ V +9 &Q\ V +10 &Sd$\ V +9 &U%#\ V +9 &V \ V +10 &X"\ V +9 &Zl#\ V +9 &\\-\ V +10 &]}w$\ = +9 &^)t$\ U +9 &^,#\ 5 +3 ( + "processing"%N& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&W1 +60 "core" 1 + "manipulator"&% +4 "core" %  n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&V' +92 "core" ' + "processing"%,& +4 "core" &^)#\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&Q% +4 "core" %  :  +2 "storage"({% +3 "core" % V\ +2 "storage"(r. +3 "core" .(,y + "storage"(6& +4 "core" &,| l \ +2 "storage"($& +3 "manipulator"&\ & +5 "core" &,| x j Z\ + & 5  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak + "storage"(9'r +3 "core" ( + "manipulator"&& +4 "core" & C  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&B' +99 "core" ' +2 .tHand.close + "manipulator"&[/ +60 "core" / +2 .tPC.seek :open +2 "processing"%4( +89 "core" ' +2 "storage"(;- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'1 +46 "core" ' +308 ( + "storage"(*& +4 "core" &,| | z \ +2 "manipulator"&#& +4 "core" &  + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&i' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +245 "core" ( +2 "manipulator"&X& +4 "core" & | / +2 "storage"(g& +3 "core" &,| /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&y' +91 "core" ' + .tHand.open + "manipulator"&p1 +62 "core" 1 +52 "storage"(-- +4 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(I' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(|' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(0- +4 "core" -' + "storage"(& +4 "core" &,| f b h\ +2 "manipulator"&z& +3 "core" &   / +2 .tElbow.seek 4 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&& +4 "core" &  / + "storage"(c& +4 "core" &,| m c {\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(w'" +53 "core" ' +2 "manipulator"&& +4 "core" & / +2 "storage"(& +4 "core" &,| 8\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&K'7 +26 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(/' +26 "core" ' +2 "manipulator"&_% +4 "core" %A N +2 "storage"(H& +4 "core" &,| \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 310 counts +2 "manipulator"&C'm +22 "core" ' +2 "manipulator"&a& +5 "core" & / + "storage"(n& +4 "core" &,| \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +25 "core" ' + "storage"(d% +5 "core" % "\ +2 ."downElevator"SE.seek :down +4 "storage"(~' +99 (Z% +3 "core" %RG f k \ Wf + "manipulator"&% +4 "core" % n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +95 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (v& +4 "core" &,| ~ } p\ + "collection"'& +4 "core" &\\o \ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&s% +4 "core" % !  ' +2 "storage"(% +3 "core" % { #\ +2 "storage"(e. +3 "core" .(,y + "storage"(& +4 "core" &,| ~  c\ +2 "storage"(F& +4 "core" &,| } { \ + "manipulator"&'& +4 "core" & O / +2 .tElbow.seek 4 +2 "manipulator"&x( +3 "core" ( + "manipulator"& & +4 "core" &  / +2 "storage"(& +4 "core" &,| } z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&%' +97 "core" ' +2 "storage"(?& +4 "core" &,| \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +294 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" & H / +2 "storage"(h& +3 "core" &,| ~ ~ ^\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&M'7 +21 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(^'g +29 "core" ' + "manipulator"&f% +4 "core" %H  +2 "storage"(& +4 "core" &,| x\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&q't +24 "core" ' + "manipulator"&& +5 "core" &  . + "storage"(J& +4 "core" &,| \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(<' +41 "core" ' +2 "manipulator"&& +4 "core" & E . +2 "manipulator"&R% +4 "core" % x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&G(ӂ +154 "core" ( +2 "manipulator"&u& +4 "core" &Ӓ% >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &Ӓ% >J +2 .tForearm.seek CC +2 "manipulator"&A'? +92 "core" ' +2 .tHand.close + "manipulator"&=/ +63 "core" / + .tCC.seek :open +2 "collection"'.( +447 "core" ( +2 "storage"(:& +4 "core" &,| }\ + "storage"(7& +4 "core" &,| \ +2 "manipulator"&& +3 "core" &ӓ%  >I +2 "manipulator"&3% +4 "core" % A e + .tForearm.seek :retract +2 "manipulator"&)' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&5( +167 "core" ( + "manipulator"& & +5 "core" &  + "storage"(& +4 "core" &,| E\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'7 +94 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&81 +56 "core" 1 +2 "manipulator"&% +4 "core" % 6   + "storage"(P& +4 "core" &,| ?\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 299 counts +2 "manipulator"& 'b +15 "core" ' +2 "manipulator"&& +4 "core" & {  + "storage"(S& +4 "core" &,| \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +20 "core" ' +2 "storage"(]% +4 "core" % +\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (Y% +3 "core" %< \\\ V` +2 "manipulator"&"% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" & (\ +2 "manipulator"&E% +4 "core" %   + "storage"(T% +4 "core" % \ +2 "storage"(}. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(!(<- +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (W& +3 "core" &<* '\  +2 "manipulator"&& +3 "core" &  q  +2 .tElbow.seek 5 +2 "manipulator"&,( +3 "core" ( + "manipulator"&Q& +4 "core" & $  + "storage"({& +4 "core" &<* "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&r'O +93 "core" ' +2 "storage"(6& +4 "core" &<* %\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'r +295 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +3 "core" &<* d\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&L( +3 "core" ( +2 "manipulator"&m& +3 "core" & )  +2 "storage"([& +4 "core" &<* w\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&;'Ϲ +36 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& + "storage"((' +6 "core" &  O  +2 "manipulator"&9% +4 "core" %  i J +2 .tForearm.seek :retract + "manipulator"&*' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&#(ӂ +153 "core" ( + "manipulator"&& +5 "core" ' + &y+  1 Cs + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +51 "storage"(5 +3 "manipulator"&$ &.,(#b +5 &B& +3 "core" &z+  % Cr +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&X'? +107 "core" ' +2 "manipulator"&g& +4 "core" &ӣ%  J >I +2 "manipulator"&% +4 "core" %@ 2 +2 "collection"'p& +4 "core" & \ +2 "collection"'-& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'i(\\ +3 "core" & \ +5 & \ : +10 &JKw \ 0 +9 &{t} \ E +10 &&X \ L +9 &T \ L +9 &Y \ L +10 &nY \ L +9 &0Y \ L +9 &Y \ L +10 &Y \ L +9 &wY \ K +10 &!9U \ K +9 &"Y \ L +9 &$T \ L +10 &&~T \ L +9 &(@T \ L +9 &*T \ L +10 &+T \ K +9 &-U \ K +10 &/IU \ K +9 &1 X \ L +9 &2T \ L +10 &4Y \ L +9 &6PY \ L +9 &8Y \ L +10 &9T \ L +9 &;S \ L +10 &=YV \ K +9 &?W \ L +9 &@U \ L +10 &BZ \ L +9 &D\\a \ M +9 &Fk \ N +10 &Gx \ P +9 &I \ T +10 &KF \ W +9 &M \ X +9 &N \ X +10 &P \ X +9 &RH \ Y +10 &T \ Z +9 &U \ [ +9 &W \ [ +10 &YH \ \\ +9 &[ \ \\ +9 &\\aK \ 7 +10 &\\u \ M +5 ( +2 "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&01 +3 "core" &\\j \ M +59 1 +2 "manipulator"&% +4 "core" % @  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &@\ +2 "manipulator"&c% +4 "core" %  _  +2 "storage"(% +3 "core" % z \ +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(_(<- +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +2 "core" &<* ; R c\  +2 "manipulator"&k& +4 "core" &ӣ%  >I +2 "manipulator"&a% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&I( +161 "core" ( +2 "manipulator"&n& +4 "core" &  +2 "storage"(d& +3 "core" &<* A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +93 "core" ' +2 "storage"(y& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'r +301 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +8 (& +2 "core" &<* \  +2 "manipulator"&j& +4 "core" &  R +2 .tElbow.seek 5 + "manipulator"&l( +4 "core" ( + "manipulator"&w& +4 "core" &  ( +2 "storage"(K& +4 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&C'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(s' +8 "core" &  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&e' +96 "core" ' + .tElbow.seek PC +2 "manipulator"&/( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +104 "core" ( + "manipulator"&& +4 "core" & - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &  | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&'' +90 "core" ' +2 "manipulator"& & +5 "core" & + "manipulator"&% +4 "core" % p +2 "processing"%\\& +4 "core" & \ +2 "processing"%?& +5 "core" &P\ +2 .tPC.seek :closed +2 "processing"%~(^ +4 "core" &\ +7 &5$\ $c +10 &Tz)\ 7 +9 &~y]\ L +9 &X\ O +10 &\\T(\ N +9 &T0\ N +10 &W-\ O +9 &V-\ O +9 &dR0\ N +10 &&U0\ N +9 &S0\ O +9 &!W.\ N +10 &#kX,\ O +9 &%-U)\ O +10 &&V1\ O +9 &(T(\ N +9 &*tV.\ N +10 &,6Y$\ N +9 &-Q+\ N +9 &/Y*\ O +10 &1{U+\ O +9 &3=V)\ O +10 &4U,\ O +9 &6T$\ N +9 &8V-\ O +10 &:FT/\ N +9 &<X,\ O +9 &=Z+\ O +10 &?U,\ O +9 &ANX\ N +9 &C `\ P +10 &Dg\ Q +9 &Fu#\ R +10 &HD\ T +9 &J\ T +9 &K\ U +10 &M\ V +9 &OI\ U +9 &Q \ V +10 &R\ V +9 &T\ W +10 &VO\ V +9 &X#\ V +9 &Y\ U +10 &[!\ V +9 &]V\ E +9 &^Dx!\ "e +10 &^4$\ 4 +5 ( +2 "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&@1 +3 "core" &^(\ 4 +52 1 +2 "manipulator"&D% +4 "core" %   p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' + "processing"%2& +5 "core" &^)\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&h% +3 "core" %    +2 "storage"(+% +4 "core" % \ +2 "storage"(f. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "manipulator"&J& +2 "core" &<+ S q '\  +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & o +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(R'r +5 "core" ( +2 "manipulator"&%& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" & +2 .tForearm.seek PC + "manipulator"&`' +94 "core" ' + .tHand.close + "manipulator"&M/ +65 "core" / +2 .tPC.seek :open +2 "processing"%q( +91 "core" ' + "storage"(^- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(u'1 +46 "core" ' +307 ( + "storage"(U& +4 "core" &<+ \  +2 "manipulator"&>& +3 "core" & { +2 "manipulator"&% +3 "core" %  = +2 .tForearm.seek :retract +2 "manipulator"&=' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&b( +239 "core" ( + "manipulator"&o& +4 "core" & o E +2 "storage"(:& +4 "core" &<+  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +93 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(3- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +3 "core" -' +2 "storage"(G& +4 "core" &<+ n\  +2 "manipulator"&8& +3 "core" & , E +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&P& +3 "core" & P E +2 "storage"(& +3 "core" &<+ \  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +12 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(]'" +49 "core" ' + "manipulator"&)& +5 "core" & W E + "storage"(Y& +4 "core" &<+ } \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&"'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +25 "core" ' + "manipulator"&% +5 "core" %Ν v + "storage"( & +4 "core" &<+ (\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&E' +24 "core" ' +2 "manipulator"&T& +5 "core" & \  6 E + "storage"(}& +54 "core" &<+ r\  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +16 "core" ' +2 "storage"(1% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (t% +2 "core" %3J \ Xh +3 "manipulator"&W% +4 "core" %I : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +73 ' + ."downElevator"SE.stop + "storage"(5 +3 (Q& +4 "core" &<+ \  +2 "collection"'{& +3 "core" &\\j \ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&6% +4 "core" %   +2 "storage"(% +4 "core" % \ +2 "storage"(O. +3 "core" .(<- + "storage"($& +4 "core" &<+ \  +2 "storage"(N& +3 "core" &<+ \  +2 "manipulator"&& +4 "core" & Z D +2 .tElbow.seek 5 +2 "manipulator"&m( +3 "core" ( + "manipulator"&[& +4 "core" & H D +2 "storage"(&& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&V'O +96 "core" ' + "storage"(9& +4 "core" &<+ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'r +296 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  1 D +2 "storage"(B& +3 "core" &<+ ~ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&\ '΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(g'^ +29 "core" ' + "manipulator"&% +4 "core" %Λ  M C +2 "storage"(p& +4 "core" &<+ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&(' +15 "core" ' + "manipulator"&*& +4 "core" &  D +2 "storage"(.& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&0'O +18 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&& +4 "core" & x D +2 "manipulator"&c% +4 "core" %; ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&-& +4 "core" &ӑ$ =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &ӑ$ =E +2 .tForearm.seek CC +2 "manipulator"&k'? +94 "core" ' +2 .tHand.close + "manipulator"&a/ +58 "core" / +2 .tCC.seek :open +2 "collection"'X( +447 "core" ( + "storage"(n& +4 "core" &<+ l\  +2 "storage"(d& +3 "core" &<+ \  +2 "manipulator"&!& +4 "core" &Ӝ# c <: + "manipulator"&y% +4 "core" % 6 8 ; +2 .tForearm.seek :retract +2 "manipulator"&#' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&z( +162 "core" ( +2 "manipulator"&Z& +4 "core" &  2  + "storage"(& +4 "core" &<+ 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&j'΍ +94 "core" ' +2 .tElbow.hold + "manipulator"&w, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +57 "core" 1 +2 "manipulator"&v% +4 "core" % ΅ d 6 +2 "storage"(& +3 "core" &<+ d\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts +2 "manipulator"&'ϱ +25 "core" ' +2 "manipulator"&I& +4 "core" &   +2 "storage"( & +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +16 "core" ' + "storage"(C% +5 "core" % =\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (F% +3 "core" %B \ Wb +2 "manipulator"&l% +4 "core" %A  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +87 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&\\% +4 "core" %  k  + "storage"(s% +4 "core" % \ +2 "storage"(e. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(4(K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (@& +3 "core" &K _\  +2 "manipulator"&D& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&2( +3 "core" ( + "manipulator"&h& +4 "core" & 9  + "storage"(+& +4 "core" &K #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&f' +96 "core" ' +2 "storage"(?& +4 "core" &K z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"('r +289 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" &K #\  +2 "manipulator"&x& +4 "core" & r  + .tElbow.seek 6 +2 "manipulator"&'( +4 "core" ( + "manipulator"&M& +4 "core" & 2  + "storage"(_& +4 "core" &K u\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&^'h +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(~' +8 "core" & [  + "manipulator"&R% +4 "core" % \\ :  +2 .tForearm.seek :retract +2 "manipulator"&U' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( + "manipulator"&& +5 "core" &ӏ(  B @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &ӏ' / @X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&o'? +92 "core" ' +2 "manipulator"&:& +4 "core" &ӑ& > ?V +2 "manipulator"&% +4 "core" %E - m +2 "collection"'& +4 "core" & \ +2 "collection"'3& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'A(\\ +3 "core" & \ +5 & \ 8 +10 &EJv \ / +9 &pr~ \ D +10 &\\ \ L +9 &W \ L +9 &T \ L +10 &_T \ L +9 &!T \ L +9 &T \ L +10 &T \ L +9 &gT \ L +10 &!)S \ L +9 &"Y \ L +9 &$T \ K +10 &&oV \ L +9 &(1T \ L +9 &)T \ L +10 &+S \ L +9 &-wS \ L +9 &/9Y \ L +10 &0X \ L +9 &2Y \ K +10 &4V \ K +9 &6AV \ L +9 &8Z \ L +10 &9Y \ L +9 &;X \ L +10 &=IY \ L +9 &? W \ K +9 &@X \ L +10 &B\\ \ L +9 &DLd \ M +10 &Fz \ P +9 &G \ T +9 &Iw \ W +10 &K6 \ X +9 &L \ X +9 &N \ X +10 &Pw \ Y +9 &R7 \ Z +10 &S \ [\ +9 &U \ [\ +9 &Wx \ \\ +9 &Y5 \ ] +10 &Z \ ^ +9 &\\YS \ 3 +10 &\\ \ ^ +8 ( +3 "collection"'3& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&G1 +3 "core" &\\ \ \\ +53 1 + "manipulator"&8% +5 "core" % E m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &8\ +2 "manipulator"&=% +4 "core" %  >  + "storage"()% +4 "core" % z l \ +2 "storage"(Y. +3 "core" .(K + .tSC.reconfigure :tight +53 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &K \ +2 "manipulator"&u& +4 "core" &Ӓ& ?U +2 "manipulator"&T% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +165 "core" ( +2 "manipulator"&}& +4 "core" & r  +2 "storage"(b& +3 "core" &K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +100 "core" ' +2 "storage"(7& +5 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +2 "core" &K \ +2 "manipulator"&W& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&]& +4 "core" &    +2 "storage"("& +3 "core" &K ~ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&E'h +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& + "storage"(6' +7 "core" & 0  +2 "manipulator"&% +4 "core" % ϛ y + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&$& +5 "core" & M < + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" & 6 < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + "manipulator"&[& +4 "core" & ] ; +2 "manipulator"&&% +4 "core" % v  +2 "processing"%<& +4 "core" &\ +2 "processing"%9& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +9 &3x#\ )w +10 &b'\ > +9 &ru%\ N +9 &3V#\ N +10 &X'\ N +9 &W#\ N +10 &yX*\ N +9 &;W'\ N +9 &R-\ N +10 &T'\ O +9 & W2\ N +9 &"CR)\ N +10 &$T(\ O +9 &%V$\ N +10 &'W'\ N +9 &)KR'\ N +9 &+T*\ N +10 &,U*\ O +9 &.T \ O +9 &0RU \ O +10 &2W,\ N +9 &3W$\ O +10 &5V%\ O +9 &7[R%\ N +9 &9W*\ N +10 &:Z\ O +9 &<U\ O +9 &>b\\\ O +10 &@$W\ O +9 &Aa\ P +10 &Cn\ Q +9 &E^ \ S +9 &G!\ T +10 &H\ T +9 &J\ T +9 &L`\ U +10 &N\ V +9 &O\ V +10 &Q\ V +9 &Sd\ V +9 &U&\ V +10 &V\ W +9 &X\ V +10 &Zk\ W +9 &\\-\ V +9 &]|\ 8 +10 &^-\ X +9 &^*!\ 4 +2 ( +2 "processing"%9& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&51 +57 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +99 "core" ' +2 "processing"%& +4 "core" &^(\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&B% +4 "core" % % 0 ; +2 "storage"(L% +4 "core" % d e L\ + "storage"(. +3 "core" .(K +2 "storage"(p& +4 "core" &K d d M\ +2 "storage"(*& +3 "manipulator"&.& +6 "core" &K d d 5\ + & E ; +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( + "storage"(c'r +6 "core" ( + "manipulator"&V& +4 "core" & C ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &  ; +2 .tForearm.seek PC +2 "manipulator"&,' +95 "core" ' + .tHand.close +2 "manipulator"&\ / +64 "core" / + .tPC.seek :open +2 "processing"%(( +90 "core" ' + "storage"(g- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(-'1 +43 "core" ' +312 ( + "storage"(H& +4 "core" &K *\ +2 "manipulator"&0& +3 "core" &  ; +2 "manipulator"&;% +4 "core" %  6 # +2 .tForearm.seek :retract +2 "manipulator"&a' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +245 "core" ( + "manipulator"&i& +4 "core" &  ( +2 "storage"(n& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&d' +90 "core" ' + .tHand.open +2 "manipulator"&!1 +60 "core" 1 +2 "storage"(y- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(Z' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +4 "core" -' +2 "storage"(& +3 "core" &K { @\ +2 "manipulator"&K& +4 "core" &  ( +2 .tElbow.seek 6 + "manipulator"&v( +4 "core" ( + "manipulator"&& +4 "core" &    ( +2 "storage"(I& +96 "core" &K F E !\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(C'" +50 "core" ' +2 "manipulator"&#& +4 "core" &  B ( + "storage"(F& +4 "core" &K k m\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&l'< +25 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(j' +28 "core" ' +2 "manipulator"&% +4 "core" %F 6 +2 "storage"(& +3 "core" &K e d \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&\\'r +15 "core" ' +2 "manipulator"&s& +4 "core" &  ' +2 "storage"(e& +4 "core" &K u\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(|% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (% +3 "core" %Q f d e\ Xh +2 "manipulator"&@% +5 "core" % H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +93 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (h& +4 "core" &K R\ + "collection"'+& +4 "core" &\\ \ \\ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&?% +4 "core" % " % +2 "storage"(w% +4 "core" % \ + "storage"( . +4 "core" .(K + "storage"(J& +4 "core" &K \ +2 "storage"(%& +3 "core" &K "\ +2 "manipulator"&x& +4 "core" &  E ' +2 .tElbow.seek 6 + "manipulator"&M( +3 "core" ( +2 "manipulator"&_& +4 "core" & 8 ' +2 "storage"(/& +3 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +97 "core" ' + "storage"(R& +5 "core" &K X\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'r +295 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  ' +2 "storage"(`& +3 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' + .tElbow.hold +2 "manipulator"&^, +53 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(:- +3 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('e +30 "core" ' + "manipulator"&% +5 "core" %J + "storage"('& +4 "core" &K O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&~'v +26 "core" ' +2 "manipulator"&U& +4 "core" & J ' +2 "storage"(X& +4 "core" &K ~ }\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&G' +26 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(8' +34 "core" ' +2 "manipulator"&& +4 "core" &  ' +2 "manipulator"&=% +4 "core" % u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +153 "core" ( + "manipulator"&3& +4 "core" &ӏ% >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӏ% >K +2 .tForearm.seek CC +2 "manipulator"&u'? +92 "core" ' +2 .tHand.close + "manipulator"&T/ +65 "core" / + .tCC.seek :open +2 "collection"'o( +447 "core" ( +2 "storage"(}& +4 "core" &K \ + "storage"(b& +4 "core" &K \ +2 "manipulator"&4& +3 "core" &Ӑ%  W >J +2 "manipulator"&7% +4 "core" % E ? h +2 .tForearm.seek :retract +2 "manipulator"&>' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&P( +164 "core" ( +2 "manipulator"&S& +4 "core" &  + "storage"(t& +4 "core" &K `\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&W'< +98 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&"1 +56 "core" 1 +2 "manipulator"&Q% +4 "core" % >  2 + "storage"({& +4 "core" &K N\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 302 counts +2 "manipulator"&'j +13 "core" ' +2 "manipulator"& & +4 "core" &  n  +2 "storage"(1& +4 "core" &K Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(E% +5 "core" % 0\ +2 ."downElevator"SE.seek :down +4 "storage"($' +99 (N% +3 "core" %J v\ Wc + "manipulator"&% +4 "core" %\   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +6723 #t-> 5.times {shuffle 2..6} +2 #Shuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'&& +3 "core" & /\ +2 "manipulator"&<% +4 "core" %   s  +2 "storage"(6% +3 "core" % c\ +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(q(  +1294 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +2 "core" &  <\ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&B& +4 "core" & k  + "storage"(L& +4 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +96 "core" ' + "storage"(p& +4 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'r +295 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &  v\ +2 "manipulator"&V& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&m( +3 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(\ & +4 "core" &  n\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&g'Ͻ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&r& + "storage"(' +8 "core" & L  + "manipulator"&c% +4 "core" % ϵ  +2 .tForearm.seek :retract +2 "manipulator"&H' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&0(ӂ +154 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&;& +4 "core" &ӏ$  =E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +3 "core" &ӏ# o =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'? +95 "core" ' + "manipulator"&n& +5 "core" &ӏ%  =E + "manipulator"&% +4 "core" %;  K j +2 "collection"'!& +4 "core" & 1\ +2 "collection"'y& +5 "core" & (\ +2 .tCC.seek :closed +3 "collection"'k(\\ +4 "core" & $\ +6 &A !\ $f +9 &Vy \ 7 +10 &y \ L +9 &U $\ L +9 &W !\ L +10 &DW \ L +9 &W \ L +9 &W \ L +10 &V \ L +9 &LX \ L +10 & W \ L +9 &!W \ L +9 &#X \ L +10 &%TW \ L +9 &'W  \ L +9 &(W \ L +10 &*V \ L +9 &,[W \ L +10 &.W \ \ L +9 &/V \ L +9 &1X \ L +10 &3cW \ L +9 &5%V \ L +9 &6W \ L +10 &8W \ L +9 &:lY \ \ L +10 &<.Y  \ L +9 &=X \ L +9 &?X \ L +10 &AsZ \ L +9 &C4^  \ M +10 &Db \ M +9 &Fk \ N +9 &Hl \ Q +10 &J%  \ U +9 &K \ W +9 &M  \ X +10 &O_ \ Y +9 &Q" \ X +10 &R \ Y +9 &T \ Z +9 &Va \ [ +10 &X# \ [ +9 &Y \ ] +9 &[ \ I +10 &\\4 \ 0 +9 &\\f \ N +2 ( +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&K% +5 "core" % ;  j + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%a& +4 "core" &\ + "manipulator"&I% +4 "core" %  ?  +2 "storage"(#% +4 "core" % \ + "storage"(F. +3 "core" .(  +2 "storage"(-& +4 "core" &  h\ + "storage"(Z& +4 "core" &  \ +2 "manipulator"&& +4 "core" &ӏ$ N =E + "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&s& +4 "core" & u  +2 "storage"(e& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&|'S +91 "core" ' +2 "storage"(d& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &  \ +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&v( +3 "core" ( + "manipulator"&C& +4 "core" &  ?  + "storage"(l& +4 "core" &  :\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&\\'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&+& "storage"(?' +8 "core" &  + "manipulator"&w% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&j' +96 "core" ' + .tElbow.seek PC +2 "manipulator"& ( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&J& +4 "core" &  _ \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +52 "core" & \ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&x' +91 "core" ' + "manipulator"&_& +5 "core" & > \ + "manipulator"&/% +4 "core" % W l +2 "processing"%& +4 "core" &\ +2 "processing"%R& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +8 &1z\ *x +10 &b\ > +9 &ju\ N +9 &*U\ O +10 &U\ N +9 &W\ N +9 &pW\ O +10 &2V\ O +9 &Z\ N +10 &T\ O +9 & xV\ O +9 &":V\ O +10 &#X\ O +9 &%R8\ N +9 &'V \ O +10 &)DRf\ N +9 &+X(\ N +10 &,Y.\ N +9 &.R \ N +9 &0KU0\ N +10 &2 W6\ N +9 &3W5\ O +9 &5V:\ O +10 &7RV:\ O +9 &9U3\ O +10 &:U3\ O +9 &<U(\ O +9 &>Y\\4\ O +10 &@X1\ N +9 &A\\+\ O +9 &Ce:\ P +10 &EZq6\ Q +9 &G)\ S +9 &H6\ T +10 &J7\ U +9 &LX;\ U +10 &N8\ U +9 &O3\ U +9 &Q0\ V +10 &S]1\ V +9 &U6\ V +9 &V6\ U +10 &X.\ V +9 &Zd1\ V +10 &\\&3\ V +9 &]{2\ 8 +10 &^.0\ V +9 &^$1\ 3 +2 ( +2 "processing"%R& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&z1 +63 "core" 1 +2 "manipulator"&D% +4 "core" %  9 l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +94 "core" ' +2 "processing"%& +4 "core" &^#6\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&`% +4 "core" %  # +2 "storage"(:% +4 "core" % 1\ + "storage"(. +3 "core" .(  +2 "storage"('& +3 "core" &  p\ +2 "storage"(U& +5 "manipulator"&X& +4 "core" &  \ + & r \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(='r +6 "core" ( + "manipulator"& & +4 "core" & \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" & \ +2 .tForearm.seek PC +2 "manipulator"&2' +93 "core" ' +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%~( +93 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'1 +44 "core" ' +306 ( +2 "storage"( & +4 "core" &  \ +2 "manipulator"&G& +4 "core" & \ + "manipulator"&^% +4 "core" %  ( +2 .tForearm.seek :retract +2 "manipulator"&T' +97 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&)( +241 "core" ( + "manipulator"&A& +5 "core" & 1 K + "storage"(}& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&b'S +95 "core" ' + .tHand.open +2 "manipulator"&41 +56 "core" 1 +3 "storage"(7- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(S' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(t' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +4 "core" -' + "storage"(Y& +4 "core" &  1\ +2 "manipulator"&"& +4 "core" &   K + .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&{& +4 "core" &   K + "storage"( & +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&1'S +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(E'" +53 "core" ' +2 "manipulator"&>& +4 "core" & K +2 "storage"(N& +4 "core" &  E\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +21 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(W' +20 "core" ' + "manipulator"&% +5 "core" %Ξ + "storage"(8& +4 "core" &  x \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&$& +4 "core" & J +2 "storage"(&& +4 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&<'S +18 "core" ' +2 "storage"(6% +4 "core" % '\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (% +3 "core" %oK \ Xg +2 "manipulator"&5% +4 "core" %b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (B& +4 "core" &  \ + "collection"'L& +4 "core" &\\d 7\ N +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&p% +4 "core" %  4 +2 "storage"(]% +4 "core" % \ + "storage"([. +4 "core" .(  + "storage"(.& +4 "core" &  \ +2 "storage"(*& +3 "core" &  \ +2 "manipulator"&V& +4 "core" &  J +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&\ & +4 "core" &  P J +2 "storage"(O& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&r'S +90 "core" ' +2 "storage"(c& +4 "core" &  +\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&;& +3 "core" & J + "storage"(,& +4 "core" &  U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&9'Α +25 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(n- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('b +27 "core" ' + "manipulator"&!% +4 "core" %Υ  +2 "storage"(m& +4 "core" &  | \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&' +16 "core" ' +2 "manipulator"&H& +4 "core" & = J + "storage"(o& +4 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(K' +35 "core" ' +2 "manipulator"&a& +4 "core" & L J +2 "manipulator"&I% +4 "core" %C P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +149 "core" ( +2 "manipulator"&-& +4 "core" &y- ! Dx +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &z- U Dw +2 .tForearm.seek CC + "manipulator"&y'? +101 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / + .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(i& +4 "core" &  \ + "storage"(s& +4 "core" &  \ +2 "manipulator"&e& +3 "core" &ә' D @X +2 "manipulator"&d% +3 "core" % ? f  +2 .tForearm.seek :retract +2 "manipulator"&0' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +166 "core" ( + "manipulator"&& +5 "core" &  + "storage"(@& +4 "core" &  \ + .tElbow.reconfigure :limp +52 "manipulator"&$ ,(b +5 .tForearm.seek 2 + "manipulator"& 'Α +96 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +53 "core" 1 +2 "manipulator"&h% +5 "core" % Α H  + "storage"(+& +4 "core" &  ~\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 300 counts + "manipulator"&w'Ͻ +15 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(|& +4 "core" &  /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +19 "core" ' +2 "storage"(\\% +4 "core" % .\ +2 ."downElevator"SE.seek :down +4 "storage"(J' +99 (%% +3 "core" %AG \ Xe + "manipulator"&v% +4 "core" %< 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +88 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'/& +4 "core" & \ +2 "manipulator"&% +4 "core" %  t  +2 "storage"(?% +4 "core" % I\ +2 "storage"(j. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"((( +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (z& +3 "core" & \ + "manipulator"&D& +4 "core" & q  +2 .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( + "manipulator"&`& +5 "core" &{ r + "storage"(:& +4 "core" & u\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +90 "core" ' +2 "storage"('& +4 "core" & a\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'r +296 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" & @\ + "manipulator"& & +4 "core" &{ h +2 .tElbow.seek 3 + "manipulator"&M( +4 "core" ( + "manipulator"&x& +4 "core" &{ & +2 "storage"(& +3 "core" & O\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(' +8 "core" &{ k + "manipulator"&=% +4 "core" % Ϝ d +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&G(ӂ +157 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&^& +4 "core" &Ӌ* A Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &Ӌ* h Bk +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'? +91 "core" ' +2 "manipulator"&}& +5 "core" &Ӫ%  >L + "manipulator"&% +4 "core" %= J } +2 "collection"'4& +4 "core" & P\ +2 "collection"'7& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'u(\\ +5 "core" &  \ +5 &  \ 9 +9 &JKx \ 0 +9 &zs~ \ E +10 &%Z \ L +9 &U \ L +9 &W \ L +10 &lW  \ L +9 &-W \ L +10 &V \ L +9 &V  \ L +9 &tW \ L +10 &!6U \ L +9 &"V \ L +9 &$U  \ L +10 &&|V  \ L +9 &(>W \ L +10 &*U \ L +9 &+W  \ L +9 &-U  \ L +10 &/FV \ L +9 &1U \ L +9 &2U \ L +10 &4V \ L +9 &6NU \ L +10 &8W \ L +9 &9V \ L +9 &;U \ L +10 &=UW \ L +9 &?Y \ L +9 &@W \ L +10 &B\\ \ M +9 &D[a \ M +10 &Fg \ N +9 &G{ \ Q +9 &I \ T +10 &KD \ X +9 &M \ X +9 &N \ Y +10 &P \ Y +9 &RG \ Y +10 &T \ [ +9 &U \ Z +9 &W \ [ +10 &YF \ \\ +9 &[ \ ] +9 &\\bL \ 5 +10 &\\\ ~ \ O +5 ( +2 "collection"'7& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&Y1 +3 "core" &\\f \ O +53 1 +2 "manipulator"&"% +4 "core" % =  L } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&T% +4 "core" %  H  +2 "storage"(>% +3 "core" %  ,\ +2 "storage"(N. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" & R\ +2 "manipulator"&3& +4 "core" &Ӫ% : >L +2 "manipulator"&$% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&&( +122 "Can"\ QO +43 "core" ( +2 "manipulator"&S& +4 "core" &  + "storage"(6& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&)'7 +90 "core" ' +2 "storage"(b& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (5& +3 "core" & *\ + "manipulator"&1& +4 "core" &  ]  +2 .tElbow.seek 3 + "manipulator"&Q( +3 "core" ( +2 "manipulator"&E& +4 "core" & u  + "storage"(& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"(p' +7 "core" & q  +2 "manipulator"&]% +4 "core" % ϱ g + .tForearm.seek :retract +2 "manipulator"&W' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +70 "core" ( + "manipulator"&.& +4 "core" &  P < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" & ) < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&V' +94 "core" ' + "manipulator"&\ & +5 "core" &  b ; + "manipulator"&O% +4 "core" % 0 8 +2 "processing"%<& +4 "core" &\ +2 "processing"%c& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &1v\ )w +10 &b\ > +9 &or\ O +9 &1S\ N +10 &U\ N +9 &X\ N +9 &vT\ O +10 &8U\ O +9 &W\ N +10 &S\ N +9 & U\ N +9 &"AR\ N +10 &$U\ O +9 &%U\ O +9 &'RX\ N +10 &)IT#\ N +9 &+\ X;\ O +10 &,W\ O +9 &.Q+\ N +9 &0QW9\ N +10 &2W6\ N +9 &3R;\ N +9 &5S;\ O +10 &7YR8\ N +9 &9W;\ N +9 &:W;\ N +10 &<V5\ O +9 &>`\\5\ O +10 &@!W9\ O +9 &A_3\ P +9 &Ck6\ Q +10 &E^{8\ R +9 &G<\ T +10 &H:\ T +9 &J6\ T +9 &L_5\ T +10 &N9\ U +9 &O7\ U +9 &Q5\ V +10 &Sc6\ V +9 &U%2\ V +10 &V7\ V +9 &X<\ U +9 &Zj7\ V +10 &\\,6\ V +9 &]}x:\ = +9 &^)s3\ V +10 &^,5\ 5 +2 ( +2 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&P1 +60 "core" 1 +2 "manipulator"&% +4 "core" %  q 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 "processing"%;& +4 "core" &^(.\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&,% +4 "core" %  +  + "storage"(n% +4 "core" % ,\ +2 "storage"(!. +3 "core" .( + "storage"(m& +4 "core" &  Q\ +2 "storage"(H& +5 "manipulator"&o& +3 "core" & ,\ +2 & ! ; +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +54 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&a( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(I'r +2 "core" ( +2 "manipulator"&r& +4 "core" & ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & B ; +2 .tForearm.seek PC + "manipulator"&' +95 "core" ' + .tHand.close + "manipulator"&9/ +54 "core" / +2 .tPC.seek :open +2 "processing"%( +102 "core" ' + "storage"(-- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +299 ( + "storage"(Z& +4 "core" & \ +2 "manipulator"&& +4 "core" & 7 ; + "manipulator"&g% +4 "core" %  B * +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&#( +244 "core" ( + "manipulator"&k& +4 "core" &  L +2 "storage"(i& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s'7 +92 "core" ' +2 .tHand.open + "manipulator"&e1 +63 "core" 1 +2 "storage"(d- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(@' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(y- +3 "core" -' +2 "storage"(F& +4 "core" & v \ + "manipulator"&l& +4 "core" &    L +2 .tElbow.seek 3 +2 "manipulator"&h( +3 "core" ( + "manipulator"&+& +4 "core" &  Z L +2 "storage"(& +4 "core" & 6\ +2 .tForearm.seek 3 + 450 counts + "manipulator"&|'7 +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(\\'" +54 "core" ' + "manipulator"&0& +4 "core" & L +2 "storage"(%& +4 "core" & { \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&v'u +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +18 "core" ' +2 "manipulator"&/% +4 "core" %Έ E +2 "storage"(w& +4 "core" & } \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&'ϴ +24 "core" ' + "manipulator"&?& +5 "core" &  K L + "storage"(j& +5 "core" & t\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&K'7 +14 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(J' +99 (q% +3 "core" %OK )\ Xg +2 "manipulator"&z% +4 "core" %2 n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +88 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (`& +4 "core" & Y\ +2 "collection"':& +4 "core" &\\e >\ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&'% +4 "core" %   e  +2 "storage"(C% +3 "core" % \ +2 "storage"(_. +3 "core" .( + "storage"(X& +4 "core" & \ +2 "storage"(U& +4 "core" & '\ + "manipulator"& & +4 "core" & R L +2 .tElbow.seek 3 + "manipulator"&x( +4 "core" ( + "manipulator"&& +4 "core" &  L +2 "storage"( & +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&f'7 +91 "core" ' + "storage"(=& +4 "core" & @\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&^& +3 "core" & e L + "storage"(2& +4 "core" & 9\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&R'u +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('c +29 "core" ' + "manipulator"&4% +5 "core" %΃ s 6 + "storage"(M& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&'ϯ +31 "core" ' + "manipulator"& & +5 "core" & N L + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y'7 +24 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"("' +34 "core" ' + "manipulator"& & +5 "core" &  L + "manipulator"&T% +4 "core" %C a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&N(ӂ +159 "core" ( +2 "manipulator"&8& +4 "core" &Ӌ  F 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &Ӌ 7 +2 .tForearm.seek CC + "manipulator"&3'? +99 "core" ' +2 .tHand.close + "manipulator"&$/ +58 "core" / +2 .tCC.seek :open + "collection"'A( +448 "core" ( +2 "storage"(S& +4 "core" & \ + "storage"(6& +4 "core" & \ + "manipulator"&(& +4 "core" &Ӕ 6 +2 "manipulator"&b% +3 "core" % 8 a +2 .tForearm.seek :retract +2 "manipulator"&G' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&{( +164 "core" ( + "manipulator"&& +4 "core" & ]  +2 "storage"(5& +4 "core" & "\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&1'u +95 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&B% +4 "core" % m _ # +2 "storage"(L& +3 "core" & (\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 292 counts +2 "manipulator"&]'ϙ +12 "core" ' +3 "manipulator"&&& +4 "core" &   + "storage"()& +4 "core" & o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t'7 +20 "core" ' +2 "storage"(% +4 "core" % u\ +2 ."downElevator"SE.seek :down +4 "storage"(.' +99 (*% +3 "core" %=G N\ Wc + "manipulator"&Q% +4 "core" %( H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'O& +4 "core" & =\ +2 "manipulator"&<% +4 "core" %   ;  +2 "storage"(p% +4 "core" % M\ +2 "storage"(W. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(~(,y +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +2 "core" &,y \  +2 "manipulator"&& +4 "core" & 5  +2 .tElbow.seek 4 + "manipulator"&;( +75 "core" ( +2 "manipulator"&,& +4 "core" & l  +2 "storage"(n& +3 "core" &,y &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +96 "core" ' + "storage"(m& +5 "core" &,y e\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +295 "core" ' +2 "storage"(H- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (c& +3 "core" &,y \  +2 "manipulator"&r& +3 "core" & \  +2 .tElbow.seek 4 +2 "manipulator"&( +19 "core" ( +2 "manipulator"&V& +4 "core" &   + "storage"(9& +4 "core" &,y c\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&-'c +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" & `  +2 "manipulator"&I% +4 "core" % } ` +2 .tForearm.seek :retract +2 "manipulator"&Z' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +161 "core" ( + ' + "manipulator"&g& +3 ."downElevator"SE.stop +5 "storage"(5 +3 "core" &ӛ   A 9& + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӛ  o 9& +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&k'? +92 "core" ' +2 "manipulator"&i& +4 "core" &ӛ  9& +2 "manipulator"&a% +4 "core" %?  K + "collection"'e& +4 "core" & S\ +2 "collection"'d& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'y(\\ +4 "core" & \ +7 &;  \ $e +9 &Wy \ \ 7 +10 &x  \ K +9 &V  \ L +10 &uT  \ L +9 &7U  \ L +9 &U  \ L +10 &W \ L +9 &~U  \ L +9 &?V  \ L +10 & U  \ L +9 &!U  \ K +10 &#W \ L +9 &%IU \ K +9 &' U  \ L +10 &(U \ \ L +9 &*T  \ L +9 &,PV  \ L +10 &.T \ \ L +9 &/U \ L +10 &1T \ L +9 &3XU  \ L +9 &5U \ K +10 &6W \ L +9 &8V \ L +9 &:`U \ L +10 &<#W \ K +9 &=W \ L +10 &?W \ L +9 &AfW \ L +9 &C'] \ M +10 &Dd \ M +9 &Fk \ O +9 &H_ \ Q +10 &J \ U +9 &K \ X +10 &M \ X +9 &OR \ Y +10 &Q \ Y +9 &R \ Z +9 &T \ Z +9 &VS \ [\ +10 &X \ \\ +9 &Y \ \\ +9 &[ \ J +10 &\\8 \ , +9 &\\ \ Y +6 ( +2 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&F1 +4 "core" &\\ \ Y +50 1 +2 "manipulator"&l% +4 "core" % ? ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %   w  +2 "storage"(0% +3 "core" % :\ +2 "storage"(%. +3 "core" .(,y + "storage"(/& +4 "core" &,y w\  +2 "storage"(w& +3 "core" &,y \  +2 "manipulator"&& +4 "core" &ӛ  q 9& +2 "manipulator"&?% +4 "core" %  w  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +161 "core" ( + "manipulator"&j& +5 "core" & 2  + "storage"(& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&#' +95 "core" ' +2 "storage"(s& +4 "core" &,y \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +300 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" &,y { <\  +2 "manipulator"&|& +3 "core" & x  +2 .tElbow.seek 4 +2 "manipulator"&h( +3 "core" ( + "manipulator"&\\& +4 "core" & 2  + "storage"(v& +4 "core" &,y \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&`'c +37 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& + "storage"('' +7 "core" & 2  +2 "manipulator"&C% +4 "core" % p B _ + .tForearm.seek :retract +2 "manipulator"& ' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&_( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&X& +5 "core" & [ 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" & @ 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' + "manipulator"&& +5 "core" & v 6 + "manipulator"& % +4 "core" %  | u +2 "processing"%K& +4 "core" &\ +2 "processing"%=& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(^ +4 "core" &\  +9 &3x\ *y +10 &c}\ > +9 &vr\ O +9 &9R\ N +10 &S3\ N +9 &T\ O +9 &~U \ O +10 &@V5\ O +9 &V\ O +10 &T\ N +9 & Y6\ O +9 &"IU\ N +10 &$ T\ N +9 &%R+\ N +9 &'S9\ N +10 &)QS;\ N +9 &+T;\ O +10 &,W;\ O +9 &.T7\ N +9 &0YT:\ N +10 &2R7\ N +9 &3R:\ N +9 &5T:\ N +10 &7aS<\ N +9 &9"U=\ O +10 &:Y7\ O +9 &<U9\ N +9 &>g\\<\ O +10 &@+W7\ N +9 &A_:\ O +10 &Cj8\ Q +9 &Efy7\ R +9 &G!6\ U +9 &H6\ U +10 &J7\ T +9 &Lg6\ T +10 &N%7\ V +9 &O0\ U +9 &Q6\ V +10 &Sk7\ V +9 &U-7\ V +10 &V5\ V +9 &X5\ V +9 &Zr7\ V +10 &\\45\ V +9 &]|u4\ < +9 &^'q1\ W +10 &^20\ 8 +2 ( +2 "processing"%=& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&D% +4 "core" %  = u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%^& +4 "core" &^0-\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&2% +4 "core" %  3  +2 "storage"(}% +3 "core" % c c \ +2 "storage"(4. +3 "core" .(,y + "storage"(M& +4 "core" &,y i g \  +2 "storage"( & +3 "manipulator"&& +6 "core" &,y c d \  + & U 6 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(T'r +3 "core" ( + "manipulator"&f& +4 "core" & 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" & Q 6 +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 .tHand.close + "manipulator"&R/ +54 "core" / + .tPC.seek :open +2 "processing"%( +107 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +47 "core" ' +293 ( + "storage"(7& +4 "core" &,y } \  +2 "manipulator"&Y& +3 "core" & p 6 +2 "manipulator"&% +4 "core" %  _ a + .tForearm.seek :retract +2 "manipulator"&$' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&>( +244 "core" ( +2 "manipulator"&u& +4 "core" & % + "storage"(S& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&6' +94 "core" ' + .tHand.open + "manipulator"&(1 +59 "core" 1 + "storage"(b- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(5' +58 "core" ' + #tLights, camera, ACTION! + "storage"(3- +4 "core" -' +2 "storage"(N& +3 "core" &,y\ \  \ ~ +2 "manipulator"&& +4 "core" &   . % + .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&L& +4 "core" &   7 % + "storage"(&& +55 "core" &,y\ \  /\ ~ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +52 "core" ' + "manipulator"&G& +5 "core" & % + "storage"(*& +4 "core" &,y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Q'7 +23 "core" ' +2 .tElbow.hold + "manipulator"&{, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(1' +22 "core" ' +2 "manipulator"&]% +5 "core" %< + "storage"(O& +4 "core" &,y \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 305 counts + "manipulator"&<'h +15 "core" ' + "manipulator"&p& +5 "core" & { % + "storage"(W& +4 "core" &,y y !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +19 "core" ' + "storage"(t% +5 "core" % I\ +2 ."downElevator"SE.seek :down +4 "storage"(.' +99 (% +3 "core" %L c d \ Xg + "manipulator"&P% +5 "core" %  9 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (,& +4 "core" &,y \  +2 "collection"'n& +4 "core" &\\ \ Y +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&m% +4 "core" %   z  +2 "storage"(E% +3 "core" % \ +2 "storage"(\ . +3 "core" .(,y +2 "storage"(H& +3 "core" &,y F\  +2 "storage"(c& +4 "core" &,y Z\  + "manipulator"&r& +4 "core" &  % +2 .tElbow.seek 4 + "manipulator"&V( +4 "core" ( + "manipulator"&9& +4 "core" & % +2 "storage"([& +3 "core" &,y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(I& +4 "core" &,y '\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak + "storage"(;'r +297 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +2 "core" & % +2 "storage"(& +3 "core" &,y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&o'7 +17 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(a'f +29 "core" ' +2 "manipulator"&e% +4 "core" %G  V  + "storage"(& +4 "core" &,y \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&'s +20 "core" ' +2 "manipulator"&Z& +4 "core" & { % +2 "storage"(A& +3 "core" &,y  z Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +24 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(l' +39 "core" ' +5 "manipulator"&& +4 "core" & - % +2 "manipulator"&% +4 "core" %  y t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%(ӂ +156 "core" ( + "manipulator"&/& +4 "core" &Ӟ  :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &Ӟ  :, +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&d/ +61 "core" / +2 .tCC.seek :open +2 "collection"'?( +450 "core" ( + "storage"(k& +4 "core" &,y \  +2 "storage"(j& +3 "core" &,y \  +2 "manipulator"&& +3 "core" &Ӟ! Z :, +2 "manipulator"&s% +4 "core" % A  G +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&+( +160 "core" ( +2 "manipulator"&q& +4 "core" & `  + "storage"(z& +4 "core" &,y s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&|'7 +95 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +57 "core" 1 +2 "manipulator"&% +4 "core" % % H  +2 "storage"(:& +4 "core" &,y W\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 282 counts + "manipulator"&C'Q +15 "core" ' +2 "manipulator"&& +4 "core" &    +2 "storage"(#& +3 "core" &,y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +21 "core" ' + "storage"(`% +4 "core" % :\ +2 ."downElevator"SE.seek :down +4 "storage"(X' +99 (U% +2 "core" %? v\ Va +2 "manipulator"&h% +4 "core" %  ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +3 "core" & @\ +2 "manipulator"&K% +5 "core" %   [  + "storage"('% +4 "core" % \ + "storage"( . +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<+ \ +2 "manipulator"&D& +4 "core" & H  +2 .tElbow.seek 5 + "manipulator"&^( +13 "core" ( +2 "manipulator"&2& +4 "core" &  :  + "storage"(}& +4 "core" &<+ t\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&4'O +95 "core" ' +2 "storage"(M& +4 "core" &<+ 2\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +2 "core" &<+ &\ +2 "manipulator"&f& +4 "core" & r  + .tElbow.seek 5 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"& & +4 "core" & "  + "storage"(R& +4 "core" &<+ \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(J' +7 "core" & w  +2 "manipulator"&T% +4 "core" % Ϻ b + .tForearm.seek :retract +2 "manipulator"&7' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&Y(ӂ +158 "core" ( + ' + ."downElevator"SE.stop +4 "manipulator"&& "storage"(5 +7 "core" &ӄ+ l Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӄ+ F Cn +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&u'? +92 "core" ' + "manipulator"&S& +5 "core" &ӌ*  u Bf + "manipulator"& % +4 "core" %? U +2 "collection"'(& +4 "core" & P\ +2 "collection"'b& +6 "core" & L\ +3 .tCC.seek :closed + "collection"'3(\\ +5 "core" &  \ +6 &9 \ \ %g +10 &Xw \ \ 7 +56 &x \ L +2 &T  \ L + &T  \ L + &CU \ \ K + &V \ L + &X  \ L +3 &X  \ L +10 &KU  \ K +9 & U  \ L +10 &!Y  \ L +9 &#T \ L +9 &%ST  \ K +10 &'U \ L +9 &(Y \ L +9 &*S \ L +10 &,[U \ \ K +9 &.U \ K +10 &/U \ L +9 &1Y \ L +9 &3bT \ L +10 &5%U \ K +9 &6V \ L +9 &8T \ L +10 &:jU \ L +9 &<,Y \ L +9 &=U \ K +10 &?W \ L +9 &ArW \ L +10 &C2[ \ L +9 &Db \ M +9 &Fm \ O +10 &Hi \ Q +9 &J \ U +10 &K \ X +9 &M \ X +9 &O\\ \ Y +10 &Q \ Y +9 &R \ Z +10 &T \ Z +9 &V^ \ [ +9 &X \ [\ +9 &Y \ \\ +10 &[ \ J +9 &\\4 \ 1 +10 &\\e \ M +2 ( + "collection"'b& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&N1 +58 "core" 1 + "manipulator"&% +4 "core" % ?  9 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +99 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%&& +4 "core" &\ +2 "manipulator"&$% +3 "core" %    +2 "storage"(G% +4 "core" %  \\\ + "storage"(*. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(8(<- +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<+ g l \ +2 "manipulator"&]& +4 "core" &Ӎ) Ae +2 "manipulator"&O% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&p( +167 "core" ( +2 "manipulator"&W& +4 "core" & ~  +2 "storage"(t& +3 "core" &<+ &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +94 "core" ' +2 "storage"(6& +4 "core" &<+ M\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'r +394 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" &<+ } !\ +2 "manipulator"&)& +4 "core" &  U  + .tElbow.seek 5 +2 "manipulator"&B( +3 "core" ( + "manipulator"&& +4 "core" & (  +2 "storage"(Q& +3 "core" &<+ \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&<'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(m' +7 "core" & q  +2 "manipulator"&E% +4 "core" %   : + .tForearm.seek :retract +2 "manipulator"&1' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&\ ( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&H& +4 "core" &  ( 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" &  9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r' +92 "core" ' +2 "manipulator"&9& +4 "core" &  X 9 +2 "manipulator"&[% +4 "core" % ~ v +2 "processing"%"& +4 "core" &\ +2 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed +7 "processing"%.(^ +3 "core" &\ +5 &\ 4 +9 &/Hv\ 0 +9 &Wq\ \ D +10 &e\ O +9 &W\ O +10 &yU\ N +9 &:W\ O +9 &W\ N +10 &T\ N +9 &Z\ N +9 &BY\ O +10 &!W\ O +9 &"U;\ N +10 &$T\ N +9 &&KY-\ N +9 &( Y;\ N +10 &)X;\ N +9 &+W:\ N +9 &-SX?\ N +10 &/V<\ O +9 &0W<\ O +10 &2W:\ N +9 &4[R:\ N +9 &6Y:\ N +10 &7S:\ N +9 &9T=\ N +9 &;cX:\ N +10 &=$U:\ O +9 &>W6\ O +9 &@[:\ O +10 &Bj]6\ O +9 &D(e<\ P +10 &Eu0\ Q +9 &G4\ S +10 &Ib7\ T +9 &K"8\ U +9 &L;\ U +10 &N;\ U +9 &Pf7\ U +9 &R'5\ V +10 &S2\ W +9 &U6\ U +10 &Wm6\ V +9 &Y/5\ V +9 &Z6\ V +9 &\\0\ V +10 &^+^s5\ 5 +9 &^Q.\ 0 +6 ( +2 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&{1 +4 "core" &^ 4\ 0 +55 1 + "manipulator"&% +4 "core" %  v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&!' +95 "core" ' + "processing"%g& +4 "core" &^ ?\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % !  , +2 "storage"(i% +3 "core" %  =\ +2 "storage"(e. +3 "core" .(<- + "storage"(& +4 "core" &<+ ~ Y\ +2 "storage"(Z& +3 "manipulator"&A& +6 "core" &<+ \ + & 9 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&& +4 "core" & 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &  9 +2 .tForearm.seek PC +2 "manipulator"&;' +97 "core" ' +2 .tHand.close + "manipulator"&o/ +59 "core" / + .tPC.seek :open +2 "processing"%( +92 "core" ' +2 "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(/'1 +41 "core" ' +310 ( + "storage"(w& +4 "core" &<+ \ +2 "manipulator"&F& +3 "core" & 9 +2 "manipulator"&-% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&d' +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&0( +244 "core" ( +2 "manipulator"&y& +4 "core" &   5 + "storage"(k& +4 "core" &<+ } 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +97 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(s- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(%& +4 "core" &<+ \ + "manipulator"&v& +4 "core" &  = 5 +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&:& +4 "core" & - 5 +2 "storage"(& +4 "core" &<+ \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&#'O +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(`'" +53 "core" ' +2 "manipulator"&& +4 "core" & z 5 + "storage"(U& +4 "core" &<+ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&h'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(|' +20 "core" ' +2 "manipulator"&C% +4 "core" %Ί H +2 "storage"( & +4 "core" &<+ ~ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 297 counts + "manipulator"&K'϶ +15 "core" ' +2 "manipulator"&'& +4 "core" & 3 +2 "storage"( & +4 "core" &<+ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&l'O +19 "core" ' +2 "storage"(@% +4 "core" % *\ +3 ."downElevator"SE.seek :down +3 "storage"(X' +98 (~% +3 "core" %.P s\ Yi +2 "manipulator"&% +4 "core" %: ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (2& +3 "core" &<+ \ +2 "collection"'}& +4 "core" &\\_ 7\ M + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&M% +4 "core" %    + "storage"(\\% +4 "core" % \ + "storage"(. +55 "core" .(<- + "storage"( & +4 "core" &<+ 2\ + "storage"(=& +4 "core" &<+ @\ +2 "manipulator"&f& +4 "core" &  3 + .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( + "manipulator"&R& +4 "core" &  S 3 +2 "storage"(_& +4 "core" &<+ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' + "storage"(T& +4 "core" &<+ {\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'r +296 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 3 + "storage"(& +4 "core" &<+ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'΍ +23 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"( '^ +29 "core" ' +2 "manipulator"&(% +4 "core" %Ε  R + "storage"(x& +4 "core" &<+ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts + "manipulator"&J' +14 "core" ' + "manipulator"&7& +5 "core" & Z 3 + "storage"(?& +4 "core" &<+ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&&& +5 "core" & g 3 + "manipulator"&$% +4 "core" %5 s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*(ӂ +154 "core" ( +2 "manipulator"&b& +4 "core" &ӎ( P @Z + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ(  ' @Z +2 .tForearm.seek CC +2 "manipulator"&]'? +91 "core" ' +2 .tHand.close + "manipulator"&O/ +60 "core" / +2 .tCC.seek :open + "collection"'u( +448 "core" ( +2 "storage"(W& +4 "core" &<+ \ + "storage"(t& +4 "core" &<+ \ + "manipulator"&& +4 "core" &ӏ( v @Y +2 "manipulator"&6% +3 "core" % R p [ +2 .tForearm.seek :retract + "manipulator"&Y' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&L( +163 "core" ( +2 "manipulator"&& +4 "core" & w  +2 "storage"(P& +4 "core" &<+ q\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&)'΍ +91 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +62 "core" 1 +2 "manipulator"&,% +4 "core" % Ά  +2 "storage"(n& +3 "core" &<+ z\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 293 counts +2 "manipulator"&E'ϲ +13 "core" ' +2 "manipulator"&p& +4 "core" &   +2 "storage"(>& +4 "core" &<+ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +29 "core" ' +2 "storage"(<% +4 "core" % P\ +3 ."downElevator"SE.seek :down +3 "storage"(H' +98 (c% +3 "core" %D \ Wb +2 "manipulator"&B% +4 "core" %w o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&9' +89 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'[& +4 "core" & \ +2 "manipulator"&"% +4 "core" %  r  +2 "storage"(m% +4 "core" % \ + "storage"(1. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &K <\ + "manipulator"&& +4 "core" & R  +2 .tElbow.seek 6 + "manipulator"&g( +4 "core" ( + "manipulator"&& +4 "core" &  }  + "storage"(i& +4 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +91 "core" ' +2 "storage"(& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +291 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (I& +3 "core" &K m\ +2 "manipulator"&& +3 "core" & X  +2 .tElbow.seek 6 +2 "manipulator"&V( +3 "core" ( + "manipulator"&r& +4 "core" &  A  + "storage"(o& +4 "core" &K s\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'h +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& + "storage"(.' +7 "core" &   +2 "manipulator"&% +4 "core" % m t s + .tForearm.seek :retract +2 "manipulator"&w' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&F(ӂ +159 "core" ' + ( + ."downElevator"SE.stop +4 "manipulator"&-& "storage"(5 +7 "core" &ӎ% >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &ӏ%  >L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'? +100 "core" ' +2 "manipulator"&k& +4 "core" &ӏ%  5 >L +2 "manipulator"&% +4 "core" %< X + "collection"'& +4 "core" & \ +2 "collection"'s& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +6 & \ ; +9 &FJv \ 0 +10 &vt~ \ E +9 & Y \ L +10 &U \ L +9 &T \ L +9 &hS  \ L +10 &*U \ L +9 &X \ L +10 &U \ K +9 &pV \ L +9 &!2S \ L +10 &"U \ K +9 &$U \ L +9 &&xT \ L +10 &(:U \ \ L +9 &)T \ L +10 &+U \ L +9 &-X \ L +9 &/BT \ L +10 &1U \ L +9 &2X \ L +9 &4U \ K +10 &6JU \ L +9 &8 U \ K +10 &9V \ L +9 &;U \ K +9 &=RU \ L +10 &?V \ L +9 &@W \ L +9 &B[ \ M +10 &DSe \ N +9 &Fx \ P +9 &G \ U +10 &Iz \ Y +9 &K< \ X +10 &L \ Z +9 &N \ Z +9 &P} \ Z +10 &R= \ [\ +9 &S \ \\ +9 &U \ \\ +11 &W} \ ] +8 &Y= \ ^ +10 &Z \ ^ +9 &\\\\O \ 5 +9 &\\ \ X +6 ( + "collection"'s& +5 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.33 + .Hand.open + "manipulator"&%1 +4 "core" &\\ \ X +53 1 +2 "manipulator"&v% +4 "core" % < ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&d% +4 "core" %   +2 "storage"(% +3 "core" % \ +2 "storage"(U. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(C(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &K Z b ;\ +2 "manipulator"&/& +4 "core" &Ӑ%  >K + "manipulator"&'% +4 "core" %  s  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +168 "core" ( + "manipulator"&q& +4 "core" & .  + "storage"(@& +5 "core" &K d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +99 "core" ' +2 "storage"(j& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +51 "storage"(z'r +300 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K c\ +2 "manipulator"&#& +4 "core" & *  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&`& +4 "core" &  ?  +2 "storage"(h& +4 "core" &K { | \ +2 .tForearm.seek 6 + 300 counts + "manipulator"&K'h +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(M' +8 "core" & *  + "manipulator"&\\% +4 "core" % z % +2 .tForearm.seek :retract +2 "manipulator"&|' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +72 "core" ( + "manipulator"& & +4 "core" &  > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" & W > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f' +92 "core" ' +2 "manipulator"&R& +4 "core" &  ! > +2 "manipulator"&_% +4 "core" % N K +2 "processing"%l& +4 "core" &\ +2 "processing"%T& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%X(^ +4 "core" &\ +7 & .\ #b +9 &T|\ 7 +10 &~|\ L +9 &X \ O +9 &YV\ N +10 &Q\ N +9 &W\ N +10 &W\ N +9 &aS\ N +9 &#T\ N +10 &T\ N +9 &!T7\ N +10 &#iS@\ N +9 &%+W!\ N +9 &&W8\ O +10 &(S=\ N +9 &*qX=\ N +9 &,2Y=\ O +10 &-T:\ N +9 &/T8\ O +10 &1xU;\ O +9 &3;S7\ N +9 &4W>\ N +10 &6T:\ N +9 &8W:\ N +9 &:BT<\ O +10 &<X;\ N +9 &=X:\ N +9 &?W6\ O +10 &AI\\;\ O +9 &Ck9\ Q +10 &Dt=\ R +9 &F7\ U +9 &H@7\ U +10 &J6\ U +9 &K;\ U +10 &M.\ U +9 &OF9\ U +9 &Q:\ V +10 &R7\ V +9 &T5\ V +9 &VL7\ V +10 &X0\ V +9 &Y/\ V +10 &[0\ W +9 &]S6\ G +9 &^v?v5\ +| +9 &^%>\ , +6 ( + "processing"%T& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&+1 +4 "core" &^1\ , +55 1 +2 "manipulator"&D% +4 "core" %  I K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +99 "core" ' +2 "processing"%& +4 "core" &^/\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" % #  7 +2 "storage"(S% +3 "core" % ` c\ +2 "storage"((. +3 "core" .(K + "storage"(x& +4 "core" &K c d \ +2 "storage"(7& +3 "manipulator"&?& +6 "core" &K w d F\ + & Q > +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&&( + "storage"($'r +5 "core" ( + "manipulator"&& +4 "core" & ? > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & > +2 .tForearm.seek PC +2 "manipulator"&^' +98 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%J( +98 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'1 +41 "core" ' +305 ( +2 "storage"(& +4 "core" &K \ + "manipulator"&N& +4 "core" &  > + "manipulator"&% +4 "core" %  A  +2 .tForearm.seek :retract +2 "manipulator"&O' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&G( +247 "core" ( + "manipulator"&3& +4 "core" & b 8 +2 "storage"(W& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&t' +91 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +3 "storage"(6- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"(*& +4 "core" &K k\ ~ + "manipulator"&Q& +4 "core" &   ) 8 +2 .tElbow.seek 6 + "manipulator"&,( +4 "core" ( + "manipulator"&n& +4 "core" &  8 +2 "storage"(p& +4 "core" &K\ \  U\ } +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +53 "core" ' +2 "manipulator"&Y& +4 "core" & g 8 +2 "storage"(c& +4 "core" &K M\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&B'< +18 "core" ' +2 .tElbow.hold + "manipulator"&L, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"()' +18 "core" ' + "manipulator"&E% +5 "core" %O  + "storage"([& +4 "core" &K t \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&"'{ +15 "core" ' +2 "manipulator"&m& +4 "core" &  8 +2 "storage"(1& +4 "core" &K a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(5% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(H' +99 (8% +3 "core" %J g g\ Xg + "manipulator"&{% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +71 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K }\ + "collection"'i& +4 "core" &\\ <\ X +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  s  +2 "storage"(% +4 "core" % } ~ \ +2 "storage"(9. +3 "core" .(K + "storage"(A& +4 "core" &K } } \ +2 "storage"(I& +3 "core" &K |  6\ +2 "manipulator"&& +4 "core" & 8 + .tElbow.seek 6 +2 "manipulator"&r( +4 "core" ( + "manipulator"&o& +4 "core" &  2 8 +2 "storage"(\ & +4 "core" &K } | \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +95 "core" ' +2 "storage"(& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'r +297 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&-& +3 "core" & 8 +2 "storage"(;& +3 "core" &K Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Z'< +22 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(k- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('e +29 "core" ' + "manipulator"&V% +4 "core" %G 6 +2 "storage"(& +3 "core" &K >\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&.'s +34 "core" ' + "manipulator"&w& +5 "core" & 0 8 + "storage"(u& +4 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&%' +13 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(v' +48 "core" ' + "manipulator"&& +5 "core" & ; 8 +50 "manipulator"&d% +6 "core" %  J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +152 "core" ( +3 "manipulator"&s& +4 "core" &Ӓ% A >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӓ% R >I +2 .tForearm.seek CC +2 "manipulator"&/'? +95 "core" ' + .tHand.close + "manipulator"&'/ +55 "core" / +2 .tCC.seek :open +2 "collection"'y( +450 "core" ( + "storage"(q& +5 "core" &K \ + "storage"(@& +4 "core" &K \ + "manipulator"&& +4 "core" &ӓ% d >H +2 "manipulator"&j% +3 "core" % /   +2 .tForearm.seek :retract +2 "manipulator"&F' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&:( +167 "core" ( + "manipulator"&~& +4 "core" & p  +2 "storage"(& +4 "core" &K \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&#'< +95 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&h1 +64 "core" 1 +2 "manipulator"&2% +4 "core" % 1  V  +2 "storage"(}& +3 "core" &K )\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 289 counts +2 "manipulator"&\\'] +15 "core" ' +2 "manipulator"& & +4 "core" &  &  + "storage"(0& +4 "core" &K ,\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +19 "core" ' +2 "storage"(K% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +98 (=% +3 "core" %; \ V` +2 "manipulator"&% +4 "core" % L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'_& +4 "core" & \ +2 "manipulator"&l% +4 "core" %  o  +2 "storage"(M% +3 "core" % +\ +2 "storage"(|. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +1295 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (+& +3 "core" &  d\ +2 "manipulator"&D& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +11 "core" ( + "manipulator"&& +4 "core" & ] w +2 "storage"(S& +4 "core" &  9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&('S +95 "core" ' + "storage"(x& +5 "core" &  7\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +297 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (7& +3 "core" &  \ +2 "manipulator"&& +4 "core" &  x w +2 .tElbow.seek 2 + "manipulator"& ( +3 "core" ( +2 "manipulator"&f& +3 "core" & # w +2 "storage"(& +4 "core" &  u\ +2 .tForearm.seek 2 + 300 counts + "manipulator"& 'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&4& + "storage"(X' +7 "core" &  w + "manipulator"&$% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&N(ӂ +161 "core" ( +2 "manipulator"&& +4 "core" ' + &Ӑ% X >H +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +5 "manipulator"&^& +4 "core" &Ӑ% a >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'? +91 "core" ' +2 "manipulator"&W& +4 "core" &ӑ$ ~ =G +2 "manipulator"&&% +4 "core" %H M q +2 "collection"'& +3 "core" & \ +2 "collection"'6& +7 "core" & \ +2 .tCC.seek :closed +3 "collection"'](\\ +3 "core" & (\ +5 & ,\ ; +10 &GJu $\ 0 +9 &wt~ "\ E +9 &!Y \ L +10 &T )\ L +9 &X \ L +9 &iX \ L +10 &+T \ L +9 &T \ L +9 &U  \ K +10 &rV \ K +9 &!4U  \ K +10 &"U \ K +9 &$U  \ K +9 &&yV \ \ L +10 &(;Y \ L +9 &)T \ L +10 &+T \ L +9 &-S \ L +9 &/CT \ L +10 &1T \ K +9 &2U \ \ K +9 &4U \ L +10 &6KX \ L +9 &8 T  \ L +9 &9V  \ L +10 &;Y  \ L +9 &=SU \ L +10 &?W \ L +9 &@U \ L +9 &BY  \ L +10 &DX_ \ M +9 &Fg \ N +10 &Gx \ P +9 &I \ S +9 &KC \ W +10 &M  \ X +9 &N \ X +9 &P \ \ X +10 &RC \ Y +9 &T \ Z +10 &U \ \ [ +9 &W \ Z +9 &YD \ \\ +10 &[ \ \ \\ +9 &\\_K \ 6 +9 &\\ ~  \ M +6 ( + "collection"'6& +5 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.11 + .Hand.open + "manipulator"&*1 +4 "core" &\\a  \ M +50 1 + "manipulator"&Q% +25 "core" % H i q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%p& +4 "core" &\ + "manipulator"&O% +4 "core" % !  & +2 "storage"(Y% +3 "core" % }  s\ +2 "storage"(c. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(E(  +13 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +2 "core" & ~ y\ +2 "manipulator"&b& +4 "core" &ӑ$  =G +2 "manipulator"&m% +3 "core" % " _ & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&1( +160 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(5& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&G'S +94 "core" ' + "storage"(t& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +296 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ({& +3 "core" & \ +2 "manipulator"&>& +3 "core" & M  +2 .tElbow.seek 2 +2 "manipulator"&,( +3 "core" ( + "manipulator"&<& +4 "core" & z  + "storage"(B& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&"'Ͻ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& + "storage"(' +7 "core" & -  +2 "manipulator"&% +4 "core" %  w +2 .tForearm.seek :retract +2 "manipulator"&)' +88 "core" ' + .tElbow.seek PC +2 "manipulator"&9( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +70 "core" ( + "manipulator"&A& +4 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" & ` 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&o& +5 "core" & } 0 + "manipulator"&\ % +4 "core" %  ^ +2 "processing"%& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%H(^ +5 "core" &\ +7 &<\ $e +10 &W}\ 7 +9 &y\ L +9 &U\ N +10 &iX\ N +9 &+R\ N +9 &W\ N +10 &W\ O +9 &qU\ N +9 &3T\ N +10 &X\ O +9 &!U\ O +10 &#xV\ O +9 &%;U\ N +9 &&T\ O +10 &(W\ N +9 &*Y\ N +10 &,BY;\ O +55 &.T#\ N +4 &/T<\ O &1V$\ O + &3JU\ O + &5 U0\ N + &6V<\ N +3 &8Yi\ O +9 &:RXL\ O +10 &<W$\ N +9 &=[9\ O +10 &?W=\ N +9 &AZZ=\ O +9 &Cc@\ P +10 &DmC\ Q +9 &Fw;\ R +10 &HR=\ T +9 &J>\ U +9 &K?\ U +10 &M;\ U +9 &OV<\ U +9 &Q:\ V +10 &R;\ V +9 &T7\ V +9 &V]9\ V +10 &X ;\ U +9 &Y:\ V +10 &[:\ V +9 &]c7\ D +10 &^@u;\ #h +9 &^6;\ 3 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&L1 +3 "core" &^#7\ 3 +59 1 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +91 "core" ' +2 "processing"%-& +4 "core" &^#?\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&;% +4 "core" %  Z # +2 "storage"(k% +4 "core" % \ + "storage"(V. +3 "core" .(  +2 "storage"(& +3 "core" & \ +2 "storage"(w& +5 "manipulator"&u& +4 "core" &  \ + & U 0 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(d'r +2 "core" ( +2 "manipulator"&!& +4 "core" & 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" & 0 +2 .tForearm.seek PC +2 "manipulator"&g' +94 "core" ' +2 .tHand.close + "manipulator"&Z/ +63 "core" / +2 .tPC.seek :open +2 "processing"%.( +91 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(s'1 +40 "core" ' +312 ( +2 "storage"( & +4 "core" & \ +2 "manipulator"&%& +3 "core" & 0 +2 "manipulator"&a% +4 "core" %  7 +2 .tForearm.seek :retract +2 "manipulator"&'' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +247 "core" ( + "manipulator"&& +4 "core" & = +2 "storage"(q& +4 "core" &  ?\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&@'S +90 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(j- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(/- +4 "core" -' + "storage"(U& +4 "core" & \ + "manipulator"&h& +4 "core" &   5 = +2 .tElbow.seek 2 +2 "manipulator"&2( +3 "core" ( + "manipulator"&}& +4 "core" &  k = +2 "storage"( & +4 "core" & \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&0'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(K'" +52 "core" ' + "manipulator"&F& +4 "core" & ~ = +2 "storage"(=& +4 "core" & } \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +25 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(#' +23 "core" ' + "manipulator"&_% +5 "core" %Τ + "storage"(\\& +4 "core" & H\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&l' +15 "core" ' +2 "manipulator"&M& +4 "core" &  o = +2 "storage"(|& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&v'S +15 "core" ' +2 "storage"(z% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +98 (C% +3 "core" %T } \ Yj +2 "manipulator"&+% +4 "core" %A { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +86 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & \ + "collection"'S& +4 "core" &\\` G\ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&x% +4 "core" %   t  +2 "storage"(`% +3 "core" % \ \ +2 "storage"(R. +3 "core" .(  +2 "storage"(?& +4 "core" & \ + "storage"(7& +4 "core" & \ +2 "manipulator"&& +3 "core" & " = +2 .tElbow.seek 2 + "manipulator"&f( +4 "core" ( + "manipulator"&& +4 "core" &  C = +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&4'S +99 "core" ' + "storage"($& +5 "core" & \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & A = +2 "storage"(^& +4 "core" & #\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&T'Α +25 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(W- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(&'a +29 "core" ' + "manipulator"&% +5 "core" %Μ r + "storage"( & +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&X' +16 "core" ' +2 "manipulator"&& +4 "core" & < +2 "storage"(y& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&*'S +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(Q' +36 "core" ' +2 "manipulator"&p& +4 "core" &  < < +2 "manipulator"&O% +4 "core" %; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&Y(ӂ +159 "core" ( +2 "manipulator"&c& +4 "core" &ӎ  7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &ӎ h 7 + .tForearm.seek CC +2 "manipulator"&b'? +93 "core" ' +2 .tHand.close + "manipulator"&m/ +61 "core" / +2 .tCC.seek :open +2 "collection"'3( +447 "core" ( + "storage"(& +3 "core" & t\ +2 "storage"(5& +4 "core" & \ +2 "manipulator"&& +4 "core" &ӎ M 7 + "manipulator"&t% +4 "core" % 2 Z  +2 .tForearm.seek :retract +2 "manipulator"&N' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&n( +164 "core" ( +2 "manipulator"&8& +4 "core" &  + "storage"({& +4 "core" & R\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&>'Α +97 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&B1 +56 "core" 1 +2 "manipulator"&% +4 "core" % Υ A +2 "storage"(i& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&1& +5 "core" &  + "storage"(G& +4 "core" & @\ +52 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&P'S +15 "core" ' + "storage"("% +5 "core" % [\ +2 ."downElevator"SE.seek :down +4 "storage"(A' +99 (I% +3 "core" %kJ \ We + "manipulator"&,% +5 "core" %C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +88 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'\ & +4 "core" & \ +2 "manipulator"&% +4 "core" %  U  +2 "storage"(% +4 "core" % \ +2 "storage"(). +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(J( +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +3 "core" & \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&-( +25 "core" ( + "manipulator"&;& +4 "core" &  c +2 "storage"(k& +4 "core" & B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&V'7 +92 "core" ' + "storage"(& +4 "core" & N\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'r +295 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & '\  + "manipulator"&!& +4 "core" & m c +2 .tElbow.seek 3 + "manipulator"&r( +3 "core" ( +2 "manipulator"&& +4 "core" &  H c + "storage"(Z& +4 "core" & c\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& + "storage"(H' +6 "core" &  X c +2 "manipulator"&d% +4 "core" %  z +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&%(ӂ +159 "core" ( +3 "manipulator"&a& +4 "core" ' + &Ӑ&  u ?U + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &g& +3 "core" &Ӑ& ] ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +102 "core" ' +3 "manipulator"&q& +4 "core" &ӑ& J ?T +2 "manipulator"&% +4 "core" %F % + "collection"'& +4 "core" &  \ +3 "collection"'j& +4 "core" & S\ +2 .tCC.seek :closed +2 "collection"'/(\\ +4 "core" & '\  +9 &4~ (\ *z +9 &f} )\ > +10 &p +\ M +9 &SU  \ K +9 &U \ K +10 &S \ L +9 &R \ L +10 &ZR  \ L +9 &Z  \ L +9 &Y \ L +10 & W \ K +9 &"cU \ K +9 &$%U \ K +10 &%U \ K +9 &'V  \ L +10 &)jW \ L +9 &+,Y \ L +9 &,X \ L +10 &.X \ L +9 &0rY \ L +9 &24X \ L +10 &3Y  \ L +9 &5Y  \ L +10 &7zX \ L +9 &9<Y \ \ L +9 &:T  \ L +10 &<T \ L +9 &>W \ L +9 &@CZ \ L +10 &BX \ L +9 &C] \ M +10 &Ec \ M +9 &GAt \ O +9 &H \ R +10 &J  \ V +9 &Lo \ X +9 &N1 \ X +10 &O \ Y +9 &Q  \ Y +10 &Sr \ Y +9 &U0 \ [ +9 &V \ \ [\ +10 &X \ \\ +9 &Zq \ \\ +9 &\\z  \ 2 +10 &\\2  \ b +9 ( + &\\m \ O +2 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&U1 +59 "core" 1 + "manipulator"&h% +4 "core" % F  % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}' +98 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"% & +4 "core" &\ +2 "manipulator"&'% +3 "core" % ! n ( +2 "storage"(F% +4 "core" % q\ +2 "storage"(=. +3 "core" .( + "storage"(_& +4 "core" & ~ y\  +2 "storage"(\\& +4 "core" &  \  + "manipulator"&s& +4 "core" &ӑ& ? ?T + "manipulator"&M% +4 "core" % ! k ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&|( +158 "core" ( + "manipulator"&~& +5 "core" &  \ + "storage"(z& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +99 "core" ' +2 "storage"(@& +4 "core" & 2\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +3 "core" & F\  +2 "manipulator"&0& +4 "core" & \ +2 .tElbow.seek 3 + "manipulator"&2( +9 "core" ( + "manipulator"&K& +4 "core" & +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& + "storage"(x' +6 "core" & +2 "manipulator"&`% +4 "core" % ϛ  7 +2 .tForearm.seek :retract +2 "manipulator"&R' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&#( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&?& +5 "core" & p 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" & ; 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' + "manipulator"&& +5 "core" & S 2 + "manipulator"&% +4 "core" % k : +2 "processing"%v& +4 "core" &\ +2 "processing"%$& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +5 "core" &\  +9 &2x\ *y +9 &b\ > +10 &pr\ N +9 &1U\ N +9 &W\ O +10 &T\ N +9 &xT\ N +10 &8U\ O +9 &Q\ N +9 &W\ O +10 & ~U\ O +9 &"AV\ N +9 &$Y\ O +10 &%T\ N +9 &'R4\ O +10 &)HT\ O +9 &+ X\ N +9 &,W\ O +10 &.T5\ N +9 &0QT?\ N +9 &2U\ O +10 &3RW\ N +9 &5WQ\ O +10 &7XU\ O +9 &9T \ O +9 &:Y.\ O +10 &<SA\ O +9 &>_V<\ O +9 &@"W=\ O +10 &A_=\ O +9 &Cl<\ Q +10 &E]{>\ R +9 &G<\ T +9 &H?\ U +10 &J=\ U +9 &L\\=\ U +9 &N;\ V +10 &O@\ U +9 &Q8\ V +10 &Sb@\ V +9 &U$;\ V +9 &V:\ V +10 &X9\ V +9 &Zj;\ V +9 &\\,;\ V +10 &]x6\ ; +9 &^1;\ V +9 &^!;\ 0 +3 ( +2 "processing"%$& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&:1 +58 "core" 1 +2 "manipulator"&D% +4 "core" %  : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +91 "core" ' + "processing"%& +5 "core" &^ C\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&^% +3 "core" %  T  +2 "storage"(W% +4 "core" % \ + "storage"(. +3 "core" .( +2 "storage"( & +4 "core" & m\  + "storage"(& +5 "manipulator"&y& +3 "core" & \  +2 &  2 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&p( +2 "storage"(O'r +5 "core" ( + "manipulator"&4& +4 "core" &  t 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" & 2 +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&T/ +54 "core" / + .tPC.seek :open +2 "processing"%X( +115 "core" ' + "storage"(&- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(c'1 +46 "core" ' +286 ( +2 "storage"([& +4 "core" & \  + "manipulator"&*& +4 "core" & J 2 +51 "manipulator"& % +5 "core" %  D 6 +2 .tForearm.seek :retract + "manipulator"&m' +90 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&6( +246 "core" ( + "manipulator"&]& +4 "core" &  X [ +2 "storage"(& +4 "core" & ~ ~ G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&5'7 +92 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(t- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(8' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"({' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(b- +4 "core" -' +2 "storage"(Y& +3 "core" & m i \  +2 "manipulator"&B& +4 "core" &  \  [ +2 .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&i& +4 "core" &    [ + "storage"(1& +4 "core" & m n \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&G'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"("'" +51 "core" ' +2 "manipulator"&N& +4 "core" &   [ +2 "storage"(I& +3 "core" & `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&n'u +22 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(>' +20 "core" ' +2 "manipulator"&\ % +4 "core" %· U +2 "storage"(& +4 "core" & } z ,\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϳ +14 "core" ' + "manipulator"&& +5 "core" &  D [ + "storage"()& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q'7 +17 "core" ' + "storage"(P% +5 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(A' +98 (E% +3 "core" %H u\ We +2 "manipulator"&L% +4 "core" %( H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (;& +4 "core" & \  +2 "collection"'k& +4 "core" &\\d \ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %    +2 "storage"(<% +3 "core" % \ +2 "storage"(o. +3 "core" .( + "storage"(w& +4 "core" & 2\  +2 "storage"(& +3 "core" & \  +2 "manipulator"&!& +4 "core" &  % Z +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&Z& +4 "core" & : Z +2 "storage"(9& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&e'7 +97 "core" ' + "storage"(d& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'r +299 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&a& +3 "core" &  ~ Z +2 "storage"(g& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&u'u +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(q- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"('c +29 "core" ' +2 "manipulator"&r% +4 "core" %x  C + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts + "manipulator"&H'Ϥ +14 "core" ' +2 "manipulator"& & +4 "core" &  h Z + "storage"(3& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&U'7 +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(h' +41 "core" ' +2 "manipulator"& & +4 "core" &  Z +2 "manipulator"&'% +4 "core" % G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&=(ӂ +152 "core" ( + "manipulator"&_& +4 "core" &ӌ+  Cs +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &ӌ+  Cs +2 .tForearm.seek CC +2 "manipulator"&\\'? +99 "core" ' + .tHand.close + "manipulator"&s/ +57 "core" / +2 .tCC.seek :open +2 "collection"'M( +446 "core" ( +2 "storage"(& +4 "core" & \  +2 "storage"(~& +4 "core" & <\  +2 "manipulator"&z& +3 "core" &ӫ& G ?T +2 "manipulator"&@% +3 "core" % 9 . +2 .tForearm.seek :retract +2 "manipulator"&%' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&}( +165 "core" ( + "manipulator"&C& +4 "core" &  v  +2 "storage"(+& +4 "core" & V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&0'u +93 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&l% +4 "core" % ΁  n D +2 "storage"(S& +3 "core" & p\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&`'ϭ +40 "core" ' +2 "manipulator"&|& +4 "core" &  i  +2 "storage"(& +4 "core" & a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +26 "core" ' + "storage"(% +5 "core" % F\ +2 ."downElevator"SE.seek :down +3 "storage"(?' +99 (7% +3 "core" %C n\ Va + "manipulator"&2% +4 "core" %R I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" & \ + "manipulator"&v% +4 "core" %  t  +2 "storage"(x% +4 "core" % \ + "storage"(R. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(.(,y +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +2 "core" &,} Y\ +2 "manipulator"&D& +4 "core" & *  +2 .tElbow.seek 4 + "manipulator"&( +27 "core" ( +2 "manipulator"&^& +4 "core" & s  + "storage"(W& +4 "core" &,} t\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"( & +4 "core" &,} /\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'r +294 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +4 "core" &,} \ +2 "manipulator"&4& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&f( +23 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(T& +3 "core" &,} O\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&&'c +28 "core" ' +51 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"( ' +8 "core" & M  + "manipulator"&O% +4 "core" % τ Z +2 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&*(ӂ +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"& & +4 "core" &ӌ   D 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'? +99 "core" ' +2 "manipulator"&& +4 "core" &ӌ  M 7 +2 "manipulator"&p% +4 "core" %@ * +2 "collection"'& +4 "core" & -\ +2 "collection"'t& +5 "core" & `\ +2 .tCC.seek :closed +2 "collection"'b(\\ +4 "core" & &\  +9 &4y (\ *y +10 &f~ *\ > +9 &p *\ L +9 &UV *\ L +10 &R \ L +9 &S "\ K +10 &U \ L +9 &^X \ K +9 &U \ L +10 &T \ L +9 & T \ K +9 &"fU \ K +10 &$(V \ K +9 &%Z \ L +10 &'V \ L +9 &)mU \ L +9 &+0Y \ K +10 &,V \ K +9 &.Y \ L +9 &0vY  \ K +10 &28U \ K +9 &3Y \ L +10 &5T \ L +9 &7}T \ L +9 &9@U \ K +10 &;V \ K +9 &<V \ K +9 &>X \ L +10 &@HW \ K +9 &B X \ L +10 &C\\ \ L +9 &Ec  \ N +9 &GDr \ \ O +10 &H \ R +9 &J \ W +9 &Lr \ X +10 &N3  \ X +9 &O  \ Y +9 &Q \ X +10 &Ss \ \ Z +9 &U4  \ Z +10 &V  \ [\ +9 &X \ \\ +9 &Zu  \ \\ +10 &\\z  \ 1 +9 &\\0 \ !d +9 ( +3 "collection"'t& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&Y1 +4 "core" &\\p \ \ O +56 1 +2 "manipulator"&B% +4 "core" % @ * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%1& +4 "core" &\ +2 "manipulator"&m% +4 "core" %  %  + "storage"(N% +4 "core" % z V\ +2 "storage"(I. +3 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(\ (,y +17 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z } \ + "manipulator"&c& +4 "core" &ӌ : 7 +2 "manipulator"&% +3 "core" %  1  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&)( +161 "core" ( +2 "manipulator"&8& +4 "core" &   +2 "storage"(P& +4 "core" &,z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&6' +98 "core" ' + "storage"(5& +4 "core" &,z \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"({'r +299 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (L& +3 "core" &,z  9\ +2 "manipulator"&G& +3 "core" & H  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&"& +4 "core" & X  + "storage"(n& +5 "core" &,z \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +45 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"(' +7 "core" & T  + "manipulator"&<% +4 "core" % ]  W +2 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&w& +5 "core" & / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & Y / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&!' +99 "core" ' + "manipulator"&Z& +5 "core" &  / + "manipulator"&9% +4 "core" %  +2 "processing"%Q& +4 "core" &\ +2 "processing"%d& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%A(^ +4 "core" &\ +8 & .\ $c +9 &T{\ 7 +10 &}x\ K +9 &T\ N +9 &UW\ N +10 &U\ N +9 &V$\ O +10 &U\ O +9 &]V\ N +9 &X\ N +10 &V\ N +9 &!S\ N +9 &#eR\ N +10 &%'R\ N +9 &&X\ O +10 &(T;\ N +9 &*mS \ N +9 &,/WG\ N +10 &-V\ N +9 &/Wg\ N +9 &1uW'\ N +10 &37Yk\ N +9 &4U)\ O +9 &6X>\ N +10 &8}YC\ N +9 &:?U)\ N +10 &;Z$\ O +9 &=U?\ O +9 &?VD\ N +10 &AEZ>\ O +9 &Cg?\ P +10 &DnC\ R +9 &F}C\ T +9 &H<E\ U +10 &I<\ U +9 &KC\ U +9 &M=\ U +10 &OB@\ U +9 &QB\ V +10 &RC\ V +9 &TC\ V +9 &VH<\ V +10 &X B\ V +9 &YB\ W +9 &[6\ V +10 &]NA\ K +9 &^~N:\ !f +10 &^,@\ 4 +2 ( + "processing"%d& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&,1 +64 "core" 1 +2 "manipulator"&% +4 "core" %  > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +95 "core" ' + "processing"%a& +5 "core" &^-4\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&g% +3 "core" % #  0 +2 "storage"(q% +4 "core" % X W\ + "storage"(r. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "manipulator"&3& +4 "core" &,z W [ C\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & / +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"& ( + "storage"(''r +5 "core" ( +2 "manipulator"&e& +4 "core" & , / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & / +2 .tForearm.seek PC +2 "manipulator"&-' +94 "core" ' + .tHand.close +2 "manipulator"&u/ +64 "core" / +2 .tPC.seek :open +2 "processing"%H( +89 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'1 +46 "core" ' +308 ( + "storage"(j& +4 "core" &,z \ +2 "manipulator"&U& +3 "core" &  . / +2 "manipulator"&% +3 "core" %  o ' +2 .tForearm.seek :retract +2 "manipulator"&s' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&F( +245 "core" ( +2 "manipulator"&/& +4 "core" &  j 2 + "storage"(& +4 "core" &,z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&~' +97 "core" ' + .tHand.open + "manipulator"&z1 +63 "core" 1 +2 "storage"(@- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(C' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(+' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +4 "core" -' + "storage"(=& +4 "core" &,z n k \ +2 "manipulator"&& +3 "core" &   , 2 +2 .tElbow.seek 4 +2 "manipulator"&l( +3 "core" ( + "manipulator"&S& +4 "core" &   2 +2 "storage"(|& +3 "core" &,z d k y\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +61 "core" ' +2 "manipulator"&%& +4 "core" & N 2 +2 "storage"(7& +4 "core" &,z } /\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&2'7 +74 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +20 "core" ' +2 "manipulator"&`% +4 "core" %C ` +2 "storage"(& +4 "core" &,z m\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&v'o +16 "core" ' +2 "manipulator"&x& +4 "core" &  2 +2 "storage"(R& +4 "core" &,z } \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +15 "core" ' +2 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(?' +99 (J% +3 "core" %<I )\ Xg +2 "manipulator"&:% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +88 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (^& +4 "core" &,z \ +2 "collection"'W& +4 "core" &\\p \ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %   +2 "storage"(K% +4 "core" % \ + "storage"(. +3 "core" .(,y +2 "storage"(& +4 "core" &,z x\ + "storage"($& +4 "core" &,z \ + "manipulator"&4& +4 "core" & I 2 +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&T& +4 "core" & 2 +2 "storage"(#& +3 "core" &,z \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +92 "core" ' +2 "storage"(O& +4 "core" &,z \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & G 2 + "storage"(& +4 "core" &,z \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&y'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(p'e +29 "core" ' + "manipulator"&f% +9 "core" %K  h +2 "storage"(& +3 "core" &,z x\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"& 'w +16 "core" ' + "manipulator"&[& +4 "core" & x 2 + "storage"(M& +5 "core" &,z | | G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(B' +37 "core" ' +2 "manipulator"&1& +4 "core" & 2 +2 "manipulator"&m% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&I(ӂ +153 "core" ( + "manipulator"&t& +5 "core" &Ӊ) m Ae + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӊ) R Ad +2 .tForearm.seek CC +2 "manipulator"&c'? +91 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"']( +447 "core" ( + "storage"(8& +4 "core" &,z B\ +2 "storage"(P& +3 "core" &,z \ +2 "manipulator"&.& +4 "core" &Ӎ)  Aa + "manipulator"&5% +4 "core" % F   c +2 .tForearm.seek :retract +2 "manipulator"&*' +89 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&i( +171 "core" ( + "manipulator"&E& +4 "core" &  O  +2 "storage"(L& +4 "core" &,z S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&G'7 +93 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&n1 +56 "core" 1 +2 "manipulator"&;% +5 "core" % K C 5 + "storage"(k& +4 "core" &,z P\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&<'w +16 "core" ' +2 "manipulator"&)& +4 "core" &  "  +2 "storage"(6& +3 "core" &,z \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +16 "core" ' + "storage"(% +5 "core" % _\ +2 ."downElevator"SE.seek :down +3 "storage"(w' +99 (% +3 "core" %F \ Wb + "manipulator"&% +4 "core" % f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'9& +5 "core" & O\ + "manipulator"&Q% +4 "core" %   q  +2 "storage"(% +4 "core" % %\ + "storage"(>. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(X(<- +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (,& +3 "core" &<* \  +2 "manipulator"&& +3 "core" & m  +2 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( + "manipulator"&g& +4 "core" &   + "storage"(q& +4 "core" &<* !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&r'O +93 "core" ' + "storage"(d& +4 "core" &<* G\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +2 "core" &<* \  +2 "manipulator"&& +4 "core" &  K  + .tElbow.seek 5 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&u& +3 "core" &   +2 "storage"(\ & +4 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&V& + "storage"(A' +8 "core" & c  + "manipulator"&'% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&j' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +157 "core" ' + ( + ."downElevator"SE.stop +4 "manipulator"&& "storage"(5 +7 "core" &ӏ  9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" &ӏ  ' 9% +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'? +91 "core" ' + "manipulator"&& +5 "core" &ӏ  g 9% + "manipulator"& % +4 "core" %> D o +2 "collection"'z& +4 "core" & (\ +2 "collection"'@& +6 "core" & &\ +3 .tCC.seek :closed +3 "collection"'\\(\\ +3 "core" & (\ +5 & )\ 9 +9 &IJu +\ 1 +9 &|t~ +\ E +10 &'W &\ L +9 &T ,\ K +9 &Y ,\ L +10 &oW ,\ L +9 &1W +\ L +10 &S -\ L +9 &W \ L +9 &xX \ K +10 &!9S \ L +9 &"X \ L +10 &$X \ K +9 &&V \ K +9 &(BV \ K +10 &*U \ K +9 &+U \ K +9 &-W \ L +10 &/JS \ K +9 &1 T \ K +9 &2U \ K +10 &4U \ K +9 &6RV \ K +10 &8W \ K +9 &9U \ K +9 &;U \ K +10 &=ZV \ K +9 &?W \ L +9 &@Z \ L +10 &BZ \ L +9 &D^_ \ M +10 &Fl \ N +9 &G} \ P +9 &I \ T +10 &KH \ W +9 &M \ X +9 &N \ X +10 &P \ \ Y +9 &RJ  \ Y +10 &T \ Z +9 &U \ Z +10 &W  \ [\ +9 &YJ \ \\ +9 &[\ \ \\ +9 &\\bK \ 6 +61 &\\s  \ L +4 ( +3 &\\` \ L +2 &\\`  \ L + &\\` \ L + &\\` \ L + &\\`  \ L + &\\` \ L +3 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&=1 +3 "core" &\\` \ \ L +54 1 + "manipulator"&% +5 "core" % >  o + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%|& +5 "core" &\ + "manipulator"&s% +4 "core" %  1  +2 "storage"(%% +4 "core" % | z \ +2 "storage"(7. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(_(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (C& +3 "core" &<* 9 C r\  + "manipulator"&`& +4 "core" &ӏ  i 9% +2 "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&x( +160 "core" ( + "manipulator"&R& +5 "core" &  + "storage"(F& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' + "storage"(~& +5 "core" &<* \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'r +294 "Can"\ QN +7 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<* D\  +2 "manipulator"&:& +4 "core" &  h + .tElbow.seek 5 +2 "manipulator"&l( +3 "core" ( + "manipulator"&& +4 "core" &  h + "storage"(2& +4 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&^'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& +3 "storage"( ' +6 "core" & F +2 "manipulator"&K% +4 "core" % ϱ T +2 .tForearm.seek :retract +2 "manipulator"&0' +95 "core" ' + .tElbow.seek PC +2 "manipulator"&( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&& +4 "core" & A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &  | A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&4' +98 "core" ' +2 "manipulator"&T& +4 "core" &  B A +2 "manipulator"&#% +4 "core" % @  +2 "processing"%h& +4 "core" &\ +2 "processing"%O& +5 "core" &\ +2 .tPC.seek :closed + "processing"%?(^ +5 "core" &\  +8 &1z\ *x +10 &b\ > +9 &it\ O +10 &+R\ N +9 &R\ N +9 &R\ N +10 &qR\ N +9 &2S\ O +9 &W\ O +10 &R\ N +9 & xX\ O +9 &";U\ N +10 &#T\ N +9 &%Q\ N +10 &'R\ N +9 &)CQ\ N +9 &+R\ N +10 &,Y\ O +9 &.T\ N +9 &0KW\ N +10 &2 W3\ N +9 &3R\ N +10 &5W,\ N +9 &7SR\ N +9 &9V3\ N +10 &:YB\ O +9 &<TC\ O +9 &>Y[C\ O +10 &@WC\ N +9 &AZB\ O +10 &CeC\ P +9 &E[lD\ Q +10 &G{C\ S +9 &HC\ T +9 &JD\ U +10 &LXC\ U +9 &ND\ U +9 &O<\ V +10 &QB\ V +9 &S\\C\ V +9 &U:\ V +10 &VC\ V +9 &XD\ V +10 &Zd=\ V +9 &\\%B\ V +9 &]yB\ 9 +10 &^1C\ P +9 &^"C\ 2 +2 ( +2 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&}1 +60 "core" 1 + "manipulator"&D% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + "processing"% & +4 "core" &^"Q\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    +2 "storage"(% +3 "core" % \ +2 "storage"(f. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +5 "manipulator"&M& + "core" &<* l .\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" & A +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&1( +2 "storage"(m'r +5 "core" ( + "manipulator"&(& +4 "core" & A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & # A +3 .tForearm.seek PC + "manipulator"&' +97 "core" ' + .tHand.close + "manipulator"&y/ +63 "core" / +3 .tPC.seek :open +2 "processing"% ( +89 "core" ' + "storage"(p- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'1 +38 "core" ' +319 ( + "storage"(& +5 "core" &<* \  + "manipulator"&Y& +4 "core" &  G A + "manipulator"&&% +4 "core" % \  W  +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&N( +244 "core" ( +2 "manipulator"&b& +4 "core" & / +2 "storage"(8& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +93 "core" ' + .tHand.open + "manipulator"&.1 +52 "core" 1 +2 "storage"(5- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(E' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(L' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(c- +3 "core" -' +2 "storage"(I& +4 "core" &<* \  + "manipulator"&n& +4 "core" & p / +2 .tElbow.seek 5 +2 "manipulator"&;( +3 "core" ( + "manipulator"&k& +4 "core" & > / +2 "storage"()& +3 "core" &<* \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +54 "core" ' + "manipulator"&*& +4 "core" &  / +2 "storage"(& +4 "core" &<* \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(G' +26 "core" ' +2 "manipulator"&9% +4 "core" %Ο ^ \ +2 "storage"(Q& +4 "core" &<* P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&<' +16 "core" ' +2 "manipulator"&& +5 "core" &  L / + "storage"(>& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +15 "core" ' +2 "storage"({% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(w' +98 (% +3 "core" %K { D\ Xg +2 "manipulator"&,% +4 "core" %9 N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (g& +4 "core" &<* \  + "collection"'q& +4 "core" &\\_ K\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&d% +4 "core" %  P " +2 "storage"("% +3 "core" % G\ +2 "storage"(Z. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(3(<- +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +2 "core" &<+ d d ;\  +2 "manipulator"&& +54 "core" & r / +2 .tElbow.seek 5 +2 "manipulator"&u( +3 "core" ( + "manipulator"&\ & +4 "core" & C / +2 "storage"(o& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&V'O +92 "core" ' + "storage"('& +4 "core" &<+ r\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'r +299 "core" ' +2 "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & / +2 "storage"(-& +4 "core" &<+ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"& '΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"( '` +29 "core" ' + "manipulator"&z% +4 "core" %Ε w  +2 "storage"(!& +4 "core" &<+ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts + "manipulator"&A' +14 "core" ' +2 "manipulator"&j& +4 "core" & C / +2 "storage"(]& +4 "core" &<+ L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&='O +27 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +36 "core" ' +2 "manipulator"&|& +4 "core" & a / +2 "manipulator"&s% +4 "core" %T r % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7(ӂ +152 "core" ( +2 "manipulator"&@& +4 "core" &Ӎ) Q Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &Ӎ)  Ab +2 .tForearm.seek CC +2 "manipulator"&`'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'/( +447 "core" ( + "storage"(R& +4 "core" &<+ \  +2 "storage"(F& +3 "core" &<+ \  +2 "manipulator"&X& +4 "core" &Ӛ& X ?U + "manipulator"&~% +4 "core" % . % +2 .tForearm.seek :retract + "manipulator"&U' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&S( +157 "core" ( + "manipulator"&J& +4 "core" & b +2 "storage"(& +4 "core" &<+ T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&:'΍ +104 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&21 +62 "core" 1 +2 "manipulator"&v% +4 "core" % ΂ a x + "storage"(W& +4 "core" &<+ &\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 289 counts + "manipulator"&K'Ϯ +17 "core" ' +2 "manipulator"&x& +5 "core" & + "storage"(& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +20 "core" ' +2 "storage"(^% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 ($% +2 "core" %X@ L\ V` +2 "manipulator"&l% +4 "core" %B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +88 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'#& +4 "core" & Q\ +2 "manipulator"&h% +4 "core" %   +2 "storage"( % +4 "core" % <\ +2 "storage"(0. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(H(K +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +2 "core" &K \  +2 "manipulator"&D& +3 "core" & +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" & i + "storage"(& +4 "core" &K R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&f' +96 "core" ' +2 "storage"(O& +4 "core" &K <\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['r +296 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" &K M\  + "manipulator"&& +4 "core" & X + .tElbow.seek 6 +2 "manipulator"&4( +4 "core" ( + "manipulator"&y& +4 "core" & H + "storage"(_& +4 "core" &K y\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&p'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(?' +7 "core" & +2 "manipulator"&m% +4 "core" % Ϝ +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&Y(ӂ +152 "core" ( + "manipulator"&&& +4 "core" &Ӈ& 2 ?U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +7 "core" &Ӈ&  Z ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&b'? +99 "core" ' +2 "manipulator"&8& +4 "core" &ӈ& ^ ?T +2 "manipulator"&1% +4 "core" %F o + +2 "collection"'.& +4 "core" & Y\ +2 "collection"'5& +5 "core" & _\ +2 .tCC.seek :closed +2 "collection"'c(\\ +4 "core" & %\ +8 &; )\ %f +9 &X| (\ 7 +9 &y *\ L +10 &U -\ L +9 &}U )\ K +10 &=Y +\ L +9 &T -\ L +9 &T &\ L +10 &X %\ L +9 &FX !\ L +9 & W \ L +10 &!V \ L +9 &#V \ K +9 &%NS \ L +10 &'S \ L +9 &(U \ L +10 &*S \ K +9 &,VV \ L +9 &.V \ L +10 &/S \ L +9 &1U \ L +10 &3^X \ L +9 &5!Y \ K +9 &6W \ K +10 &8W \ L +9 &:fZ \ L +9 &<'W \ L +10 &=U \ L +9 &?Z \ L +10 &AnY \ L +9 &C-_ \ M +9 &Dl \ N +10 &F \ Q +9 &HZ \ U +10 &J \ X +9 &K \ W +9 &M \ Y +9 &OV \ Y +10 &Q  \ Z +9 &R  \ Z +10 &T  \ [\ +9 &VW  \ \\ +10 &X \ ] +9 &Y \ \ ] +9 &[ \ \ K +10 &\\> \ * +9 &\\ \ ^ +2 ( +2 "collection"'5& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 + .Hand.open +2 "manipulator"&I1 +54 "core" 1 +2 "manipulator"&n% +4 "core" % E  , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%)& +4 "core" &\ +2 "manipulator"&% +4 "core" %   +2 "storage"(*% +3 "core" % z g <\ +2 "storage"(. +3 "core" .(K + "storage"(9& +4 "core" &K W W\  + "storage"(Q& +4 "core" &K k u \  +2 "manipulator"&t& +3 "core" &ӈ&  ?T +2 "manipulator"&% +4 "core" %  7  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&>( +164 "core" ( + "manipulator"&E& +4 "core" & g  +2 "storage"({& +4 "core" &K | | Y\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +96 "core" ' +2 "storage"(P& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"(L'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (,& +3 "core" &K b\  +2 "manipulator"&6& +3 "core" &    +2 .tElbow.seek 6 +51 "manipulator"&;( +4 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(& +3 "core" &K | y 3\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&<'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(d' +8 "core" &  B  + "manipulator"&"% +4 "core" % ϝ  { +2 .tForearm.seek :retract +2 "manipulator"&G' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&Z( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +3 "manipulator"&e& +4 "core" &  < @ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\ ' +99 "core" ' + "manipulator"&o& +5 "core" & P @ + "manipulator"&B% +4 "core" % M +2 "processing"%'& +4 "core" &\ +2 "processing"%w& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +7 &5\ $c +9 &T{\ 7 +10 &y\ L +9 &T\ N +9 &^W\ O +10 &!S\ N +9 &U\ N +9 &W\ N +10 &gQ\ N +9 &)U\ N +10 &W\ O +9 &!U\ O +9 &#nU\ O +10 &%2R\ N +9 &&W\ N +9 &(W\ N +10 &*vT\ O +9 &,8U\ O +10 &-Q;\ N +9 &/X*\ O +9 &1U\ N +10 &3BT\ N +9 &5U\ N +9 &6T\ N +10 &8Z.\ O +9 &:IX\ N +10 &< W-\ N +9 &=WB\ N +9 &?WC\ O +10 &AP\\D\ O +9 &C jE\ Q +9 &DsA\ R +10 &F?\ T +9 &HGB\ T +10 &J D\ T +9 &KB\ U +9 &MC\ U +10 &OL@\ U +9 &Q A\ W +9 &RB\ V +10 &T?\ W +9 &VS=\ V +10 &X?\ V +9 &Y@\ V +9 &[=\ V +10 &]Y8\ E +9 &^Ev<\ _ +9 &^ M:\ 6 +6 ( + "processing"%w& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&i1 +4 "core" &^(6\ 6 +49 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +94 "core" ' +2 "processing"%& +4 "core" &^(A\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&-% +4 "core" % # 8 1 +2 "storage"(% +3 "core" % d d \ +2 "storage"(z. +3 "core" .(K + "storage"(!& +4 "core" &K d c \  +2 "storage"(j& +4 "manipulator"&]& +4 "core" &K c c C\  + &  @ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&|( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(s'r +3 "core" ( + "manipulator"&V& +4 "core" & f @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" & * @ +2 .tForearm.seek PC +2 "manipulator"&a' +95 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +3 .tPC.seek :open + "processing"%A( +93 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(@'1 +41 "core" ' +313 ( + "storage"(C& +4 "core" &K W\  +2 "manipulator"&=& +3 "core" & @ +2 "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&%( +245 "core" ( + "manipulator"&\\& +4 "core" &  t ( +2 "storage"(R& +3 "core" &K y i t\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&F' +93 "core" ' + .tHand.open +2 "manipulator"&X1 +63 "core" 1 +2 "storage"(~- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(`- +4 "core" -' +2 "storage"(7& +3 "core" &K m w ]\  +2 "manipulator"&2& +4 "core" &  m ( +2 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( + "manipulator"&W& +4 "core" &   ( +2 "storage"(x& +3 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(^'" +63 "core" ' +2 "manipulator"&U& +4 "core" &  ( + "storage"($& +4 "core" &K h d H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&l'< +14 "core" ' +2 .tElbow.hold + "manipulator"&S, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(:' +30 "core" ' + "manipulator"&#% +5 "core" %O d Q +2 "storage"(K& +4 "core" &K i\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&h'{ +16 "core" ' + "manipulator"& & +5 "core" & O ( + "storage"(0& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +20 "core" ' +2 "storage"(+% +4 "core" % ^\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (3% +3 "core" %2L d c \ Xi + "manipulator"&}% +4 "core" %\  9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +93 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K \  +2 "collection"'& +4 "core" &\\ \ ^ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&O% +4 "core" %  y  +2 "storage"(% +3 "core" % \ +2 "storage"(T. +3 "core" .(K + "storage"(M& +18 "core" &K  u\  +2 "storage"((& +4 "core" &K o\  +2 "manipulator"&& +3 "core" & B ( +2 .tElbow.seek 6 +2 "manipulator"&y( +3 "core" ( + "manipulator"&_& +4 "core" &  ( +2 "storage"(& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +98 "core" ' + "storage"(m& +5 "core" &K | \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +299 "core" ' + "storage"(f- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" & b ( +2 "storage"(& +3 "core" &K u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&['< +15 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(8- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(1'e +28 "core" ' +2 "manipulator"&.% +4 "core" %I \\ 9 + "storage"(4& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&?'u +16 "core" ' + "manipulator"&& +4 "core" &  " ( +2 "storage"(/& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&I' +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(n' +40 "core" ' + "manipulator"&)& +4 "core" & ( +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +90 "core" ' + .tElbow.seek CC +50 "manipulator"&(ӂ +158 "core" ( +2 "manipulator"&9& +4 "core" &ӏ$ =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &ӏ#  =C +2 .tForearm.seek CC + "manipulator"&t'? +93 "core" ' + .tHand.close + "manipulator"&5/ +60 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( + "storage"(b& +4 "core" &K -\  +2 "storage"(E& +4 "core" &K \  + "manipulator"&{& +4 "core" &Ӑ% _ =B + "manipulator"&P% +4 "core" % J e +2 .tForearm.seek :retract +2 "manipulator"&Y' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&k( +156 "core" ( +2 "manipulator"&& +10 "core" &  r +2 "storage"(,& +8 "core" &K v\  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +5 .tForearm.seek 6 +2 "manipulator"&6'< +93 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&g% +4 "core" % -  ^  + "storage"(q& +4 "core" &K /\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 285 counts +3 "manipulator"&"'Y +15 "core" ' +2 "manipulator"&>& +4 "core" &  l + "storage"(N& +68 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +19 "core" ' +2 "storage"(<% +4 "core" % ?\ +2 ."downElevator"SE.seek :down +3 "storage"(e' +99 (% +4 "core" %@ x\ Va + "manipulator"&;% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'B& +5 "core" & c\ + "manipulator"&'% +4 "core" %  s  +2 "storage"(d% +4 "core" % s\ +2 "storage"(G. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( (  +1296 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +2 "core" &  X\ +2 "manipulator"&& +4 "core" & Y +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&-& +4 "core" &  k + "storage"(& +4 "core" &  w\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&z'S +95 "core" ' + "storage"(!& +4 "core" &  $\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'r +299 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &  J\ +2 "manipulator"&V& +3 "core" & C +2 .tElbow.seek 2 +2 "manipulator"&u( +3 "core" ( + "manipulator"&\ & +4 "core" & v +2 "storage"( & +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +2 "storage"(' +6 "core" & t +2 "manipulator"&s% +4 "core" %   S +2 .tForearm.seek :retract +2 "manipulator"&C' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &ә  9) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" &ә   9) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'? +92 "core" ' +2 "manipulator"&R& +4 "core" &ә  4 9) +2 "manipulator"&|% +4 "core" %4 O  +2 "collection"'X& +4 "core" & ?\ +2 "collection"'~& +6 "core" & n\ +3 .tCC.seek :closed + "collection"'`(\\ +5 "core" & 9\ +7 &; .\ %g +9 &Xw .\ 7 +9 &x -\ K +10 &U (\ L +9 &}T -\ L +10 &@T *\ K +9 &U )\ K +9 &T (\ L +10 &X -\ L +9 &HX )\ K +10 & T ,\ L +9 &!X *\ K +9 &#U ,\ L +10 &%PT '\ K +9 &'U '\ K +9 &(Y *\ L +10 &*X *\ L +9 &,WW ,\ L +9 &.S \ K +10 &/U %\ K +9 &1Z \ L +10 &3^W \ L +9 &5!T \ L +9 &6Z \ L +10 &8Y \ K +9 &:gT \ L +9 &<)Y \ L +10 &=W \ L +9 &?W \ K +10 &ApX \ K +9 &C0Z \ L +9 &Dc \ M +10 &Fn \ N +9 &Hi} \ P +10 &J \ U +9 &K \ W +9 &M \ Z +10 &OZ \ X +9 &Q \ Y +9 &R \ Y +10 &T \ Z +9 &V[ \ [ +10 &X \ [ +9 &Y \ \\ +9 &[ \ I +10 &\\3 \ 2 +9 &\\f \ N +2 ( +2 "collection"'~& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&71 +61 "core" 1 + "manipulator"&2% +4 "core" % 4 )  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%x& +5 "core" &\ + "manipulator"&% +4 "core" %   +2 "storage"(U% +3 "core" % e\ +2 "storage"($. +3 "core" .(  +2 "storage"(#& +3 "core" &  ~ u U\ +2 "storage"(K& +4 "core" &  | | o\ +2 "manipulator"&@& +4 "core" &ә  - 9) + "manipulator"& % +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&0( +161 "core" ( +2 "manipulator"&J& +4 "core" &  '  +2 "storage"(+& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&%'S +93 "core" ' + "storage"(F& +5 "core" &  2\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (}& +3 "core" &  ~ \ + "manipulator"&& +4 "core" & 1  +2 .tElbow.seek 2 + "manipulator"&v( +4 "core" ( + "manipulator"&^& +4 "core" & :  + "storage"(l& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&h'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(O' +7 "core" &  (  +2 "manipulator"&% +4 "core" %  e + .tForearm.seek :retract +2 "manipulator"&:' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&T( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&M& +4 "core" & q S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &  S +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + "manipulator"&_& +4 "core" &  R +2 "manipulator"&% +4 "core" % k +2 "processing"%& +4 "core" &\ +2 "processing"%m& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\ +7 & .\ #b +9 &T}\ 7 +10 &|\ L +9 &T\ N +9 &XT\ N +10 &T\ N +9 &W\ O +10 &V\ N +9 &_W\ N +9 & W\ O +10 &V\ O +9 &!V\ O +9 &#gV\ N +10 &%*R\ N +9 &&W\ O +10 &(V\ N +9 &*oY\ N +9 &,1W\ N +10 &-R\ N +9 &/V \ O +9 &1wV\ N +10 &38V\ O +9 &4U2\ N +10 &6X\ N +9 &8Z\ N +9 &:AU\ N +10 &<U\ O +9 &=Y4\ O +9 &?U\ O +10 &AH\\f\ O +9 &CbR\ O +9 &Di*\ Q +10 &Fz\ R +9 &H?3\ T +10 &J\ U +9 &K?\ U +10 &M@\ U +9 &OE>\ U +9 &QC\ V +10 &R@\ U +9 &TA\ V +9 &VK:\ V +10 &X<\ U +9 &Y9\ U +9 &[9\ V +10 &]SA\ E +9 &^}Ev>\ "e +10 &^59\ 4 +5 ( + "processing"%m& +54 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 +3 .Hand.open + "manipulator"&S1 +4 "core" &^)7\ 4 +55 1 + "manipulator"&D% +4 "core" %  k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +94 "core" ' +2 "processing"%&& +4 "core" &^(D\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" % !  ' +2 "storage"(8% +3 "core" % ;\ +2 "storage"(.. +3 "core" .(  +2 "storage"(4& +3 "core" &  { n\ +2 "storage"(& +4 "manipulator"&/& +5 "core" &  \ +2 &  R +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&)( +2 "storage"('r +5 "core" ( + "manipulator"&& +4 "core" &  R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &  R +2 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' +2 .tHand.close + "manipulator"&[/ +60 "core" / + .tPC.seek :open +2 "processing"%?( +93 "core" ' +2 "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(I'1 +48 "core" ' +302 ( + "storage"(9& +5 "core" &  \ + "manipulator"&Q& +4 "core" & p R + "manipulator"&p% +4 "core" %  @ * +2 .tForearm.seek :retract +2 "manipulator"&5' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&*( +242 "core" ( + "manipulator"&c& +4 "core" & A +2 "storage"(b& +4 "core" &  ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&E'S +92 "core" ' + .tHand.open + "manipulator"&{1 +59 "core" 1 +2 "storage"(P- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +62 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(t- +3 "core" -' +2 "storage"(& +4 "core" &  \ + "manipulator"&& +4 "core" &  . A +2 .tElbow.seek 2 + "manipulator"&g( +4 "core" ( + "manipulator"&q& +4 "core" & s A +2 "storage"(>& +3 "core" &   \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&N'S +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +56 "core" ' + "manipulator"&<& +4 "core" &  F A +2 "storage"(k& +4 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +18 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(6' +28 "core" ' +2 "manipulator"&B% +9 "core" %Ο + "storage"("& +5 "core" &  | } \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts + "manipulator"&'' +15 "core" ' +2 "manipulator"&d& +4 "core" & \  % @ +2 "storage"(G& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'S +15 "core" ' +2 "storage"(L% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(e' +98 (H% +3 "core" %R P\ Yj +2 "manipulator"&i% +4 "core" %A  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +63 ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 (-& +4 "core" &  \ +2 "collection"'& +4 "core" &\\c \ N + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&!% +4 "core" %    +2 "storage"(% +3 "core" % p\ +2 "storage"(o. +3 "core" .(  + "storage"(j& +4 "core" &  \ +2 "storage"(w& +3 "core" &  \ +2 "manipulator"&V& +4 "core" & @ +2 .tElbow.seek 2 + "manipulator"&\ ( +4 "core" ( + "manipulator"& & +4 "core" &   @ + "storage"(Z& +4 "core" &  v\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&r'S +95 "core" ' + "storage"(s& +4 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(z- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  D @ +2 "storage"(a& +3 "core" &  } \\\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&]'Α +28 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(R- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(|'a +28 "core" ' + "manipulator"&X% +5 "core" %Ν S + "storage"(u& +4 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&C& +4 "core" & { @ +2 "storage"(& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&7'S +18 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(2' +39 "core" ' +2 "manipulator"&x& +4 "core" & d @ +2 "manipulator"&% +4 "core" %; x + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$(ӂ +165 "core" ( + "manipulator"&#& +4 "core" &Ӎ E . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &Ӎ k . +2 .tForearm.seek CC +2 "manipulator"&K'? +94 "core" ' +2 .tHand.close + "manipulator"&@/ +55 "core" / +2 .tCC.seek :open + "collection"' ( +447 "core" ( +2 "storage"(\\& +4 "core" &  J\ +2 "storage"(J& +3 "core" &  \ +2 "manipulator"&+& +3 "core" &Ӎ X . +2 "manipulator"&F% +4 "core" % : 0 + .tForearm.seek :retract +2 "manipulator"&=' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +161 "core" ( + "manipulator"&3& +4 "core" & x  +2 "storage"(}& +4 "core" &  Q\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&'Α +99 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +53 "core" 1 +2 "manipulator"&% +4 "core" % Π H +2 "storage"(& +4 "core" &  (\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&' +16 "core" ' +2 "manipulator"&0& +5 "core" &  + "storage"(%& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +18 "core" ' + "storage"(h% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(M' +99 ((% +3 "core" %F \ Wd + "manipulator"&v% +4 "core" %;  N +43 .tForearm.reconfigure :loose +11 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +89 "core" ' +8 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&% +4 "core" %  >  +2 "storage"(O% +4 "core" % !\ + "storage"(:. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(A( +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" & 0\ +2 "manipulator"&D& +4 "core" & w  + .tElbow.seek 3 +2 "manipulator"&m( +36 "core" ( +2 "manipulator"&&& +4 "core" &  , + "storage"(& +4 "core" & <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&8'7 +94 "core" ' +2 "storage"(.& +4 "core" & 1\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'r +296 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ + "manipulator"&& +4 "core" &  , +2 .tElbow.seek 3 + "manipulator"&y( +5 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"([& +4 "core" & Z\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&1'ϡ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(' +6 "core" &  +2 "manipulator"&% +4 "core" % ϡ l +2 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&p& +4 "core" &ӎ e 5\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӎ  h 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&c'? +93 "core" ' +2 "manipulator"&b& +5 "core" &ӎ  4 5\ +2 "manipulator"&)% +3 "core" %H  o +2 "collection"'{& +4 "core" & /\ +2 "collection"'P& +6 "core" & d\ +2 .tCC.seek :closed + "collection"'t(\\ +4 "core" & /\  +9 &4~ (\ *z +9 &e} +\ > +10 &p %\ L +9 &TU *\ L +9 &W /\ K +10 &U 0\ K +9 &R 0\ L +9 &]S ,\ K +10 &W -\ L +9 &X *\ K +10 & U '\ K +9 &"dX )\ L +9 &$'W )\ K +10 &%U .\ K +9 &'V ,\ K +9 &)lS (\ L +10 &+/T \ K +9 &,U \ K +10 &.T \ L +9 &0uS \ K +9 &27U \ K +10 &3U \ K +9 &5X \ L +9 &7|Y \ L +10 &9?Y \ K +9 &;U \ K +10 &<Y \ L +9 &>U \ L +9 &@FU \ L +10 &BX \ L +9 &C\\ \ L +9 &Ec \ M +10 &GCr \ O +9 &H \ R +10 &J \ W +9 &Lr \ W +9 &N0 \ Y +10 &O \ X +9 &Q \ Y +9 &Ss \ Z +10 &U3 \ Z +9 &V \ [\ +10 &X \ \\ +9 &Zs \ \\ +9 &\\{ \ 1 +10 &\\5 \ "h +8 ( +3 "collection"'P& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&1 +4 "core" &\\d \ O +54 1 + "manipulator"&% +5 "core" % H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%>& +4 "core" &\ +2 "manipulator"&5% +3 "core" %  < \ +2 "storage"(<% +4 "core" % { \\\ + "storage"(k. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(B( +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (I& +3 "core" & c d `\  +2 "manipulator"&"& +4 "core" &ӎ : 5\ + "manipulator"&d% +4 "core" %   \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +164 "core" ( + "manipulator"&G& +4 "core" & B  +2 "storage"(L& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&*'7 +96 "core" ' +2 "storage"(E& +4 "core" & B\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'r +308 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (i& +3 "core" & \  +2 "manipulator"&N& +3 "core" & Y  +2 .tElbow.seek 3 + "manipulator"&g( +4 "core" ( + "manipulator"&Y& +4 "core" &  + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&-/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(!' +8 "core" & %  + "manipulator"&% +4 "core" % ϝ +2 .tForearm.seek :retract +2 "manipulator"&6' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&o( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&j& +4 "core" &  T 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &  I 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&V' +97 "core" ' +2 "manipulator"& & +4 "core" & p 1 +2 "manipulator"&Z% +4 "core" % N  + "processing"%n& +4 "core" &\ +2 "processing"%s& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%e(^ +4 "core" &\  +9 &3y\ )w +10 &c~\ > +9 &qr\ N +9 &2R\ N +10 &R\ N +9 &Q\ N +10 &wV\ O +9 &9U\ O +9 &U\ N +10 &S\ O +9 & U\ N +9 &"BR\ N +10 &$T\ N +9 &%R\ N +9 &'V\ N +10 &)JV\ N +9 &+ W\ N +10 &,X\ N +9 &.Q\ N +9 &0RR\ N +10 &2V\ N +9 &3W\ N +9 &5U\ O +10 &7[R\ N +9 &9Y\ O +10 &:Y\ O +9 &<X\ N +9 &>aY\ O +10 &@#[\ O +9 &A^ \ O +10 &Cm\ Q +9 &E\\\ S +9 &G\ T +10 &H \ T +9 &J\ U +9 &L_\ U +10 &N\ V +9 &O\ U +9 &QW\ V +10 &Sd'\ V +9 &U%\ V +10 &Ve\ V +9 &X$\ U +9 &Zk9\ V +10 &\\,:\ W +9 &]}xi\ = +9 &^)sK\ V +10 &^+%\ 6 +2 ( +2 "processing"%s& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&;1 +64 "core" 1 + "manipulator"&% +5 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' + "processing"%& +4 "core" &^(H\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&a% +4 "core" %   +2 "storage"(R% +3 "core" % i\ +2 "storage"(X. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(u( +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +5 "manipulator"&& + "core" & s ^\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&x( + "storage"('r +5 "core" ( +2 "manipulator"&r& +4 "core" &  1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &  % 1 +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&]/ +54 "core" / +2 .tPC.seek :open +2 "processing"%( +102 "core" ' + "storage"(|- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(#'1 +43 "core" ' +301 ( +2 "storage"(~& +4 "core" & \  +2 "manipulator"&7& +3 "core" &  ? 1 +2 "manipulator"& % +3 "core" %  5 +52 .tForearm.seek :retract +3 "manipulator"&@' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&U( +245 "core" ( + "manipulator"&`& +5 "core" &}  Q + "storage"(\\& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&J'7 +91 "core" ' + .tHand.open +2 "manipulator"&+1 +63 "core" 1 +2 "storage"(F- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(3' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(}' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"($& +4 "core" & \  +2 "manipulator"&l& +4 "core" &~ # P + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &~ P +2 "storage"(0& +4 "core" & L\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%'7 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(h'" +52 "core" ' +2 "manipulator"&=& +4 "core" &~ i P +2 "storage"((& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&v'u +24 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&% +5 "core" %΂ ? + "storage"(& +5 "core" & 1\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'Ϯ +29 "core" ' + "manipulator"&O& +5 "core" &~ P +2 "storage"(:& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&2'7 +15 "core" ' + "storage"(% +5 "core" % "\ +2 ."downElevator"SE.seek :down +4 "storage"(M' +98 ( % +5 "core" %ZK \ Vd + "manipulator"&S% +4 "core" %3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +94 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (&& +4 "core" & S\  + "collection"'& +4 "core" &\\d Q\ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&.% +4 "core" %  ) +2 "storage"(^% +4 "core" % \ +2 "storage"(_. +3 "core" .( + "storage"(/& +4 "core" & {\  + "storage"(& +4 "core" & d\  +2 "manipulator"&& +4 "core" &~  P + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&[& +4 "core" &~  \\ P + "storage"(T& +4 "core" & ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&f'7 +100 "core" ' + "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'r +296 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +2 "core" &~ J P +2 "storage"( & +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&4'u +12 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(b- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"()'c +28 "core" ' +2 "manipulator"&{% +4 "core" %Ά 6 0 + "storage"(y& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&'ϲ +14 "core" ' + "manipulator"&9& +5 "core" &~  P + "storage"( & +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +48 "core" ' + "manipulator"&>& +5 "core" &~ P + "manipulator"&5% +4 "core" %# +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&k(ӂ +153 "core" ( + "manipulator"&P& +4 "core" &Ӑ$  =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &ӑ$ m =B +2 .tForearm.seek CC +2 "manipulator"&"'? +94 "core" ' +2 .tHand.close + "manipulator"&d/ +52 "core" / +2 .tCC.seek :open + "collection"'c( +447 "core" ( +2 "storage"(G& +4 "core" & \  + "storage"(L& +4 "core" & \  + "manipulator"&A& +4 "core" &ӑ$ > =B +2 "manipulator"&E% +3 "core" % > [ 1 +2 .tForearm.seek :retract +2 "manipulator"&Q' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&q( +164 "core" ( +2 "manipulator"&H& +4 "core" &  z  + "storage"(i& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&N'u +95 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&-% +4 "core" % t \\ 4 +2 "storage"(& +3 "core" & e\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts + "manipulator"&'Ϡ +13 "core" ' +2 "manipulator"&& +5 "core" &   + "storage"(*& +4 "core" & (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&,'7 +21 "core" ' + "storage"('% +5 "core" % a\ +2 ."downElevator"SE.seek :down +3 "storage"(j' +99 (w% +3 "core" %~@ \ V` +2 "manipulator"&g% +4 "core" %1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'Z& +4 "core" & b\ +2 "manipulator"&n% +4 "core" %    +2 "storage"(!% +4 "core" % \ + "storage"(6. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(?(,y +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &,v \  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&( +25 "core" ( +2 "manipulator"&a& +4 "core" &  X  +2 "storage"(R& +3 "core" &,v ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +91 "core" ' +2 "storage"(s& +4 "core" &,v \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +294 "core" ' +2 "storage"(- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &,v \  + "manipulator"&\ & +4 "core" & q  +2 .tElbow.seek 4 + "manipulator"&V( +23 "core" ( + "manipulator"&]& +5 "core" & f  + "storage"(B& +4 "core" &,v \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&|'c +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +50 .tHand.close +3 "manipulator"&o/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&z& +3 "storage"(e' +7 "core" &   + "manipulator"&% +4 "core" % ϕ c +2 .tForearm.seek :retract +2 "manipulator"&~' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&7(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"& & +4 "core" &ӗ! t :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӗ! f :- +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&`'? +105 "core" ' +2 "manipulator"&\\& +4 "core" &ӗ! 1 :- +2 "manipulator"&x% +4 "core" %F +2 "collection"'+& +4 "core" & h\ +2 "collection"'F& +4 "core" & 8\ +2 .tCC.seek :closed +2 "collection"'K(\\ +4 "core" & 1\ +8 &9 (\ %g +10 &Yy &\ 8 +9 &u +\ L +9 &R +\ L +10 &X .\ K +9 &KV *\ K +9 & U )\ K +10 &Y )\ L +9 &T )\ L +10 &RT -\ L +9 & Y ,\ L +9 &!U (\ L +10 &#T +\ L +9 &%ZX *\ L +9 &'X *\ K +10 &(W *\ L +9 &*V \ L +10 &,cU )\ K +9 &.$Y (\ L +9 &/R &\ K +10 &1V #\ L +9 &3jY \ L +9 &5+W \ L +10 &6V \ K +9 &8U \ L +9 &:rY \ L +10 &<3W \ L +9 &=U \ K +10 &?V \ L +9 &AyY \ L +9 &C;Z \ L +10 &De \ N +9 &Fn \ O +9 &Hr \ Q +10 &J* !\ U +9 &K #\ X +10 &M \ X +9 &Of \ X +9 &Q& \ Y +10 &R \ Z +9 &T \ Z +9 &Ve \ [\ +10 &X% !\ \\ +9 &Y \ \\ +10 &[ \ J +9 &\\0 \ 2 +9 &\\p \ N +3 ( + "collection"'F& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&$1 +55 "core" 1 + "manipulator"&l% +5 "core" % F  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%0& +5 "core" &\ + "manipulator"&@% +4 "core" % ! + +2 "storage"(=% +3 "core" % \ +2 "storage"((. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,v V M\  +2 "manipulator"&#& +4 "core" &Ә  :, +2 "manipulator"&O% +4 "core" % ! U + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&3( +165 "core" ( + "manipulator"&:& +4 "core" &   +2 "storage"(& +4 "core" &,v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +92 "core" ' +2 "storage"(J& +4 "core" &,v \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'r +294 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (S& +3 "core" &,v | \  +2 "manipulator"&%& +3 "core" & Z  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&h& +4 "core" &  L  + "storage"(v& +4 "core" &,v \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&&'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(.' +7 "core" &   +2 "manipulator"&^% +4 "core" % W . +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&_( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&/& +4 "core" & k 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & v 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&[& +4 "core" & [ 8 +2 "manipulator"&T% +4 "core" % E ; + "processing"%2& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed + "processing"%M(^ +5 "core" &\  +8 &1y\ *x +9 &b\ > +10 &_s\ O +9 &"U\ N +10 &R\ N +9 &Q\ N +9 &iT\ N +10 &*W\ N +9 &X\ N +9 &U\ N +10 & pY\ N +9 &"2W\ N +9 &#X\ N +10 &%R\ N +9 &'wV\ O +10 &):T\ N +9 &*T\ N +9 &,V\ O +10 &.T\ O +9 &0BW\ N +9 &2U\ O +10 &3R\ N +9 &5U\ O +10 &7KR\ N +9 &9 Y\ N +9 &:U\ O +10 &<T\ O +9 &>Q[\ O +9 &@U\ O +10 &A]\ O +9 &Ch\ Q +10 &ENv\ R +9 &G \ T +9 &H\ T +10 &J \ U +9 &LN\ U +9 &N \ V +10 &O\ V +9 &Q\ V +10 &SS\ V +9 &U\ V +9 &V\ W +10 &X\ V +9 &ZZ4\ W +9 &\\\ W +10 &]\ 5 +9 &^6r3\ < +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&W1 +3 "core" &^>\ , +49 1 +2 "manipulator"&D% +5 "core" %  ; + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&8' +91 "core" ' +2 "processing"%p& +4 "core" &^,\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +4 "core" %  0  + "storage"(b% +4 "core" % | \ +2 "storage"({. +3 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(y(,y +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +2 "manipulator"& & +4 "core" &,w d H V\  +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & % 8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(>'r +2 "manipulator"&5( +5 "core" ( + "manipulator"&f& +5 "core" & . 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 8 +2 .tForearm.seek PC +2 "manipulator"&m' +90 "core" ' +2 .tHand.close + "manipulator"&4/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +101 "core" ' + "storage"()- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(P'1 +43 "core" ' +300 ( + "storage"(I& +4 "core" &,w 7\  +2 "manipulator"&& +4 "core" & 8 +2 "manipulator"&1% +4 "core" %  l \\ +2 .tForearm.seek :retract + "manipulator"&d' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&<( +247 "core" ( + "manipulator"&t& +5 "core" &\  O j + "storage"(G& +4 "core" &,w x ~ 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&L' +95 "core" ' + .tHand.open +2 "manipulator"&A1 +56 "core" 1 +2 "storage"(E- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(H' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(i' +53 "core" ' + #tLights, camera, ACTION! + "storage"("- +4 "core" -' + "storage"(k& +4 "core" &,w @\  +2 "manipulator"&& +4 "core" &\   i + .tElbow.seek 4 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&& +3 "core" &\  [ i +2 "storage"(& +4 "core" &,w /\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(''" +54 "core" ' + "manipulator"&Q& +4 "core" &\   i +2 "storage"(w& +4 "core" &,w *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&g'7 +23 "core" ' +2 .tElbow.hold +50 "manipulator"&q, +6 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +19 "core" ' +2 "manipulator"&Z% +5 "core" %I L + "storage"(& +5 "core" &,w  !\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&n'u +16 "core" ' +2 "manipulator"&!& +4 "core" &\  i +2 "storage"(6& +4 "core" &,w \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +17 "core" ' + "storage"(,% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(j' +99 (u% +3 "core" %~N \ Xg +2 "manipulator"&;% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +74 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (a& +3 "core" &,w \  +2 "collection"'R& +4 "core" &\\p V\ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&s% +4 "core" %   + "storage"(Y% +4 "core" % D\ +2 "storage"( . +3 "core" .(,y + "storage"(& +4 "core" &,w u\  +2 "storage"(r& +3 "core" &,w u\  +2 "manipulator"&\ & +4 "core" &   h +2 .tElbow.seek 4 + "manipulator"&]( +4 "core" ( + "manipulator"&B& +4 "core" &  D h + "storage"(o& +4 "core" &,w \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +94 "core" ' +2 "storage"(& +4 "core" &,w \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +2 "core" &   h +2 "storage"(& +4 "core" &,w \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&C'7 +16 "core" ' + .tElbow.hold + "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(\\- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(x'f +29 "core" ' + "manipulator"&V% +4 "core" %N S +2 "storage"(+& +4 "core" &,w | \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 323 counts +2 "manipulator"&e'z +15 "core" ' +2 "manipulator"&~& +4 "core" &  u h +2 "storage"(c& +3 "core" &,w \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&$' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(l' +49 "core" ' +2 "manipulator"&0& +5 "core" &  ' h +2 "manipulator"&@% +4 "core" % L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&((ӂ +156 "core" ( +2 "manipulator"&F& +4 "core" &Ӣ  0 :, + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӣ  # :, +2 .tForearm.seek CC +2 "manipulator"&#'? +93 "core" ' + .tHand.close +2 "manipulator"&O/ +55 "core" / +2 .tCC.seek :open + "collection"'`( +447 "core" ( +2 "storage"(:& +4 "core" &,w j\  + "storage"(& +4 "core" &,w )\  + "manipulator"&?& +4 "core" &Ӣ  o :, +2 "manipulator"&J% +3 "core" % G P B +2 .tForearm.seek :retract + "manipulator"&7' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +165 "core" ( + "manipulator"& & +5 "core" & @  + "storage"(S& +4 "core" &,w u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&%'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&v1 +58 "core" 1 +2 "manipulator"&% +4 "core" % : + " + "storage"(& +4 "core" &,w u\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 303 counts +2 "manipulator"&^'f +13 "core" ' +2 "manipulator"&3& +4 "core" &  +2 "storage"(U& +4 "core" &,w \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&}' +18 "core" ' + "storage"(&% +4 "core" % ?\ +3 ."downElevator"SE.seek :down +3 "storage"(/' +99 (% +3 "core" %? d\ V_ + "manipulator"&% +4 "core" % } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'T& +4 "core" & b\ +2 "manipulator"&2% +4 "core" %  0  +2 "storage"(.% +4 "core" % \ +2 "storage"(. +3 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &<* \  +2 "manipulator"&D& +3 "core" & !  +2 .tElbow.seek 5 +2 "manipulator"&p( +3 "core" ( + "manipulator"& & +4 "core" & =  +2 "storage"(b& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +97 "core" ' + "storage"(& +4 "core" &<* B\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'r +294 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" &<* A\  +2 "manipulator"&& +4 "core" & "  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&4& +4 "core" & [  + "storage"(& +87 "core" &<* _\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&)'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&8& "storage"(M' +8 "core" & P  + "manipulator"&>% +4 "core" % ϲ ? +2 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +2 "manipulator"&1& +5 "core" &Ә A 8! + ' + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&m& +3 "core" &Ә ' 8! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&t'? +90 "core" ' +2 "manipulator"&G& +4 "core" &Ә 8! +2 "manipulator"&5% +4 "core" %A z y +2 "collection"'A& +4 "core" & 4\ +2 "collection"'E& +6 "core" & o\ +2 .tCC.seek :closed + "collection"'"(\\ +5 "core" & 7\  +8 &4} >\ *z +9 &e} <\ > +10 &p +\ L +9 &RU .\ L +9 &X )\ K +10 &U +\ K +9 &T ,\ K +10 &ZS ,\ L +9 &Y 0\ L +9 &X +\ K +10 & S *\ L +9 &"bY 2\ L +9 &$#U ,\ L +10 &%T +\ L +9 &'T +\ L +10 &)jX '\ L +9 &+,W *\ L +9 &,S -\ K +10 &.U 6\ K +9 &0rT 0\ L +9 &25S 5\ K +10 &3U *\ K +9 &5T ,\ L +9 &7zS \ L +10 &9=T \ K +9 &:U \ L +10 &<W \ L +9 &>W \ K +9 &@EW \ K +10 &BY \ L +9 &C\\ \ L +9 &Ee \ N +10 &GAq  \ O +10 &H \ S +9 &J &\ W +9 &Lp (\ W +9 &N/ $\ X +10 &O  \ X +9 &Q +\ Z +10 &Sq &\ Z +9 &U0 \ [ +9 &V "\ [ +10 &X #\ \\ +9 &Zq $\ \\ +10 &\\z !\ 1 +9 &\\1 '\ "g +9 ( +2 "collection"'E& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 +52 .Hand.open + "manipulator"&k1 +4 "core" &\\t $\ Q +55 1 + "manipulator"&% +4 "core" % A  y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&d% +4 "core" % " : ( + "storage"(Q% +4 "core" % z\ +2 "storage"(w. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(P(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Z& +3 "core" &<* 7 8 _\  +2 "manipulator"&H& +4 "core" &ә z 8 +2 "manipulator"&% +4 "core" % !  ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&!( +164 "core" ( + "manipulator"&6& +5 "core" &  + "storage"(,& +4 "core" &<* T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +93 "core" ' +2 "storage"(L& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'r +300 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &<* ~ 9\  +2 "manipulator"&;& +4 "core" & J  +2 .tElbow.seek 5 + "manipulator"&-( +4 "core" ( + "manipulator"&'& +4 "core" &   + "storage"(g& +4 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&n'Ϲ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(s' +7 "core" &  +2 "manipulator"&N% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&Y' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +68 "core" ( +2 "manipulator"&& +4 "core" &  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" & 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&\ ' +99 "core" ' +2 "manipulator"&B& +4 "core" &  3 +2 "manipulator"&o% +3 "core" % M  +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%j(^ +5 "core" &\ +7 &;\ $e +10 &V}\ 8 +9 &v\ L +9 &T\ O +11 &nU\ O +10 &2Q\ N +9 &V\ N +8 &W\ N +9 &wW\ N +10 &9R\ N +9 &S\ N +9 &!U\ O +10 &#~U\ O +9 &%BQ\ N +9 &'U\ O +10 &(V\ N +9 &*U\ O +10 &,HU\ O +9 &. P\ N +9 &/W\ N +10 &1W\ O +9 &3QU\ N +9 &5R\ N +10 &6T\ N +9 &8W\ O +10 &:XT\ O +9 &<U\ O +9 &=Y\ O +10 &?U\ O +9 &A`V\ O +9 &Cb\ P +10 &Df\ Q +9 &Fv\ R +9 &HX"\ T +10 &J \ U +9 &K\ U +10 &M\ U +9 &O]\ U +10 &Q\ W +9 &R\ U +9 &T\ V +10 &Vc\ V +9 &X%\ V +9 &Y\ V +10 &[\ W +9 &]i\ D +9 &^~:n\ 'q +10 &^/\ 0 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&q1 +3 "core" &^C\ 0 +50 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +96 "core" ' +2 "processing"% & +4 "core" &^G\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % # 7 + "storage"(\\% +4 "core" % d\ +2 "storage"(V. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(+(<- +9 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +4 "core" &<* . P W\  +2 "manipulator"&c& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & 9 3 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&0( + "storage"(@'r +5 "core" ( + "manipulator"&z& +4 "core" & 3 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &  3 +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close +2 "manipulator"&C/ +59 "core" / +2 .tPC.seek :open +2 "processing"%e( +96 "core" ' + "storage"(x- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(F'1 +38 "core" ' +309 ( +2 "storage"(& +4 "core" &<* \  +2 "manipulator"&$& +3 "core" & o 3 +2 "manipulator"&|% +4 "core" %   $ + .tForearm.seek :retract +2 "manipulator"&O' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&=( +247 "core" ( + "manipulator"&K& +5 "core" & h 8 + "storage"(:& +4 "core" &<* *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +90 "core" ' +2 .tHand.open + "manipulator"&?1 +58 "core" 1 +3 "storage"(J- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(S' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +4 "core" -' + "storage"((& +4 "core" &<* T\  +2 "manipulator"&v& +3 "core" & " 8 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & 2 8 +2 "storage"(3& +4 "core" &<*\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&U'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(&'" +49 "core" ' +2 "manipulator"&7& +4 "core" & 8 +2 "storage"(& +3 "core" &<* \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +9 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +7 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(%' +20 "core" ' +2 "manipulator"&T% +4 "core" % }  +2 "storage"(^& +4 "core" &<* \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 286 counts + "manipulator"&2'ϫ +27 "core" ' +2 "manipulator"&.& +4 "core" &  P + +2 "storage"(& +4 "core" &<* | y V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +15 "core" ' +2 "storage"(}% +4 "core" % w\ +2 ."downElevator"SE.seek :down +4 "storage"(/' +99 (y% +3 "core" %PI \ Wf + "manipulator"&W% +4 "core" %= 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +88 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &<* o\  + "collection"'b& +4 "core" &\\u ]\ Q +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  m  + "storage"(h% +4 "core" % r\ + "storage"([. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<- +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +2 "core" &<+ d c ,\  +2 "manipulator"&& +4 "core" &  J + +2 .tElbow.seek 5 +2 "manipulator"&4( +3 "core" ( + "manipulator"&& +54 "core" & L + +2 "storage"(_& +4 "core" &<* x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&8'O +90 "core" ' + "storage"(>& +5 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'r +300 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&1& +3 "core" & W + +2 "storage"(m& +4 "core" &<* \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&9'΍ +20 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(G- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(5'` +28 "core" ' +2 "manipulator"&A% +4 "core" % $ 5 + "storage"(& +4 "core" &<* \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 286 counts + "manipulator"&M'ϫ +14 "core" ' + "manipulator"&I& +5 "core" & ~ + + "storage"(`& +4 "core" &<* -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +17 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +51 "core" ' + "manipulator"&E& +5 "core" & ~ + + "manipulator"&% +4 "core" %9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&Q(ӂ +155 "core" ( + "manipulator"&w& +4 "core" &ә" ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &ә" - ;2 +3 .tForearm.seek CC + "manipulator"&H'? +96 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +2 "collection"'t( +447 "core" ( + "storage"(6& +4 "core" &<* \  +2 "storage"(,& +4 "core" &<* \  +2 "manipulator"&& +3 "core" &ә" P ;2 +2 "manipulator"&L% +3 "core" % 7 ( +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&u& +4 "core" &  +2 "storage"(*& +3 "core" &<* Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&;'΍ +91 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&g1 +59 "core" 1 +2 "manipulator"&a% +4 "core" % Ε 4 > + "storage"(R& +4 "core" &<* {\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 308 counts +2 "manipulator"&N' +13 "core" ' +2 "manipulator"&!& +4 "core" &  \\  +2 "storage"(<& +4 "core" &<* U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&i'O +16 "core" ' + "storage"(n% +5 "core" % E\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (r% +3 "core" %G e\ Wc +2 "manipulator"&-% +5 "core" %. , + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +88 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'o& +4 "core" & `\ +2 "manipulator"&% +4 "core" %  w  +2 "storage"(s% +3 "core" % O\ +2 "storage"(Y. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (q& +3 "core" &K \  +2 "manipulator"&& +4 "core" & ?  +2 .tElbow.seek 6 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &  S  + "storage"(\\& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&V' +95 "core" ' +2 "storage"(& +4 "core" &K R\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'r +295 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" &K \  +2 "manipulator"&]& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&\ ( +3 "core" ( +2 "manipulator"&C& +3 "core" &  + "storage"(P& +4 "core" &K v\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&x'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(j' +8 "core" &    + "manipulator"&@% +4 "core" % c  s +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&$(ӂ +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&|& +5 "core" &Ӣ $ 9$ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӣ H 9$ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'? +93 "core" ' + "manipulator"&:& +5 "core" &Ӣ   9$ + "manipulator"&0% +4 "core" %> ' p +2 "collection"'?& +4 "core" & =\ +2 "collection"'J& +5 "core" & >\ +3 .tCC.seek :closed + "collection"'#(\\ +4 "core" & 6\  +9 &4~ .\ *z +10 &f} 1\ > +9 &p 6\ L +9 &UU &\ L +10 &U +\ L +9 &W 7\ K +10 &T +\ L +9 &^W 2\ K +9 &Z <\ L +10 &V -\ L +9 & R (\ K +9 &"fS ,\ K +10 &$(U /\ K +9 &%Y /\ L +9 &'X ,\ L +10 &)nT -\ K +9 &+/T +\ L +10 &,V )\ L +9 &.X 2\ K +9 &0vS *\ K +10 &29U /\ K +9 &3X \ K +9 &5T &\ K +10 &7~V (\ K +9 &9@T !\ K +10 &;U \ K +9 &<X \ L +9 &>W \ L +10 &@GT  \ L +9 &B Y \ L +9 &Ca !\ M +10 &Ep  \ O +9 &G< \ R +10 &H \ V +9 &J #\ W +9 &Lp \ X +10 &N1  \ Y +9 &O  \ Y +10 &Q \ Y +9 &Ss $\ Z +9 &U3 "\ [ +10 &V  \ [\ +9 &X $\ ] +9 &Zt !\ \\ +10 &\\x $\ 6 +9 &\\' !\ %o +9 ( +2 "collection"'J& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + .Hand.open +2 "manipulator"&(1 +3 "core" &\\ #\ !a +56 1 + "manipulator"&v% +4 "core" % > 9 p +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%3& +4 "core" &\ +2 "manipulator"&O% +4 "core" %  N  + "storage"(7% +4 "core" % 8\ + "storage"(. +3 "core" .(K +2 "storage"(T& +4 "core" &K \  + "storage"(^& +4 "core" &K z \  + "manipulator"&F& +4 "core" &Ӣ % 9$ +2 "manipulator"&.% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +162 "core" ( + "manipulator"& & +5 "core" &  + "storage"(}& +4 "core" &K }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&=' +97 "core" ' + "storage"(& +4 "core" &K n\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'r +299 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" &K { e\  +2 "manipulator"&U& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&&& +4 "core" &   +2 "storage"(& +3 "core" &K  \  +51 .tForearm.seek 6 + 300 counts +3 "manipulator"&2'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& + "storage"(' +7 "core" &   +2 "manipulator"&h% +4 "core" % ] +2 .tForearm.seek :retract +2 "manipulator"&%' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( +2 "manipulator"&f& +4 "core" &  g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +89 "core" ' +2 "manipulator"&_& +4 "core" & <  +2 "manipulator"&l% +3 "core" % [ r +2 "processing"%>& +4 "core" &\ +2 "processing"%/& +5 "core" &\ +3 .tPC.seek :closed + "processing"%+(^ +4 "core" & \  +9 &2x\ *x +9 &b\ > +9 &ns \ O +10 &/R\ O +9 &T\ O +10 &S\ N +9 &vR\ N +9 &7R \ O +10 &U\ O +9 &U\ O +9 & ~S\ N +10 &"@Q \ N +9 &$T\ O +10 &%T\ N +9 &'R \ N +9 &)IR \ N +10 &+\ U\ N +9 &,R\ O +9 &.S\ N +10 &0QT\ N +9 &2U\ \ O +10 &3T\ O +9 &5U\ O +9 &7YR\ N +10 &9Y\ O +9 &:Y\ O +9 &<S\ N +10 &>_X\ O +9 &@!Z\ O +10 &A`\ P +9 &Cm\ Q +9 &E\\~(\ R +10 &G\ T +9 &H\ T +9 &J\ U +10 &L]\ U +9 &N\ U +9 &O\ V +10 &Q#\ V +9 &Sa&\ V +10 &U"\ V +9 &V\ V +9 &X-\ V +10 &Zh.\ W +9 &\\),\ W +10 &]yP\ : +9 &^2:\ S +9 &^!-\ / +3 ( +2 "processing"%/& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&D% +4 "core" %  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +91 "core" ' +2 "processing"%1& +4 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&m% +4 "core" %   +2 "storage"(G% +3 "core" % c d 6\ +2 "storage"(A. +3 "core" .(K +2 "storage"(& +3 "core" &K d e ?\  +2 "storage"(I& +5 "manipulator"&`& +4 "core" &K e d E\  + & -  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&E( + "storage"('r +5 "core" ( +2 "manipulator"&8& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" & /  +2 .tForearm.seek PC +2 "manipulator"&p' +92 "core" ' + .tHand.close +2 "manipulator"&9/ +53 "core" / +2 .tPC.seek :open +2 "processing"%M( +102 "core" ' + "storage"(5- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'1 +45 "core" ' +295 ( +2 "storage"(Z& +4 "core" &K \  + "manipulator"&k& +4 "core" & s  +2 "manipulator"&)% +3 "core" %  6 2 +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&d( +241 "core" ( + "manipulator"&"& +5 "core" & v ; + "storage"(6& +4 "core" &K y _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&,' +97 "core" ' + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(L- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(u' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(*' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(H- +3 "core" -' +2 "storage"(Q& +4 "core" &K 7\  +2 "manipulator"&g& +3 "core" & ' : +2 .tElbow.seek 6 +2 "manipulator"&a( +3 "core" ( + "manipulator"&R& +4 "core" &  : +2 "storage"(!& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&<' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(n'" +57 "core" ' +2 "manipulator"&& +4 "core" & $ : +2 "storage"(r& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&-'< +16 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(;' +18 "core" ' +2 "manipulator"&o% +4 "core" %J Y  +2 "storage"(N& +4 "core" &K c Y ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&'v +24 "core" ' +2 "manipulator"&s& +4 "core" &  : +2 "storage"(Y& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(i% +4 "core" % ~ S\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 ( % +3 "core" %}N f d G\ Xg +2 "manipulator"&q% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K \  + "collection"'\\& +4 "core" &\\ "\ !a +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %   +2 "storage"('% +3 "core" % \ +2 "storage"(B. +3 "core" .(K + "storage"(c& +4 "core" &K \\\  +2 "storage"(z& +3 "core" &K \  +2 "manipulator"&]& +4 "core" &  : + .tElbow.seek 6 +2 "manipulator"&C( +4 "core" ( + "manipulator"&P& +4 "core" &  E : +2 "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +91 "core" ' +2 "storage"(@& +4 "core" &K _\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +295 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&|& +2 "core" & ~ : +2 "storage"(& +4 "core" &K i x Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&~'< +23 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(:- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(0'e +30 "core" ' + "manipulator"&?% +4 "core" %N c +2 "storage"(\ & +4 "core" &K a [ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&j'z +24 "core" ' +2 "manipulator"&& +4 "core" & W : +2 "storage"(t& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(v' +35 "core" ' +2 "manipulator"&3& +4 "core" & Q : +2 "manipulator"&O% +4 "core" % V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&T& +4 "core" &Ӛ 9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &Ӛ 9) +52 .tForearm.seek CC +2 "manipulator"&J'? +91 "core" ' +2 .tHand.close + "manipulator"&F/ +56 "core" / +2 .tCC.seek :open +2 "collection"'.( +446 "core" ( +2 "storage"(K& +4 "core" &K $\  +2 "storage"( & +4 "core" &K \  +2 "manipulator"&}& +3 "core" &Ӛ  | 9) +2 "manipulator"&% +4 "core" % :  T +2 .tForearm.seek :retract + "manipulator"&$' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +162 "core" ( +2 "manipulator"&y& +4 "core" & \ z  +2 "storage"(W& +4 "core" &K V\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&U'< +99 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"& % +4 "core" % A x + "storage"(b& +4 "core" &K :\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 305 counts +2 "manipulator"&h'm +15 "core" ' + "manipulator"&& +5 "core" &  F  + "storage"(=& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&S' +15 "core" ' +2 "storage"(2% +4 "core" % /\ +2 ."downElevator"SE.seek :down +4 "storage"(f' +99 (% +2 "core" %hB Z\ Va +2 "manipulator"&% +4 "core" % 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +94 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'l& +4 "core" & 7\ +2 "manipulator"&>% +4 "core" %  \  + "storage"(% +4 "core" % B\ +2 "storage"(%. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(e(  +1302 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  \ +2 "manipulator"&D& +3 "core" &  S  +2 .tElbow.seek 2 +2 "manipulator"&1( +3 "core" ( +6 "manipulator"&m& +5 "core" &  + "storage"(G& +4 "core" &  t\ +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&A'S +95 "core" ' + "storage"(& +4 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'r +296 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (I& +3 "core" &  \ +2 "manipulator"&8& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&4( +3 "core" ( + "manipulator"&& +4 "core" &   + "storage"(9& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&5'Ͻ +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(+' +8 "core" & r  + "manipulator"&% +4 "core" %  k +2 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&)& +4 "core" &Ӊ) - Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &ӊ)  Ad +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'? +103 "core" ' + "manipulator"&6& +5 "core" &ӟ% >O + "manipulator"&E% +4 "core" %7 l ! +2 "collection"'& +4 "core" & }\ +2 "collection"'L& +7 "core" & }\ +2 .tCC.seek :closed +3 "collection"'H(\\ +3 "core" & I\ +6 & P\ : +9 &NLx I\ 0 +10 &t~ I\ E +9 &*\\ D\ L +9 &R H\ K +10 &U H\ K +9 &rU G\ K +9 &3Y C\ L +10 &W J\ K +9 &U B\ K +10 &yT 5\ L +9 &!<S 9\ K +9 &"U 6\ K +10 &$Y 4\ L +9 &&Y 4\ L +10 &(CW <\ L +9 &*S >\ L +9 &+W 9\ K +10 &-S ;\ L +9 &/LX <\ K +9 &1 S ;\ L +10 &2W 9\ K +9 &4U 9\ K +9 &6SY 8\ L +10 &8W 6\ L +9 &9S 7\ L +10 &;X 7\ K +9 &=\\W 7\ K +9 &?W 5\ K +10 &@W 4\ K +9 &BZ 0\ L +10 &D`_ .\ M +9 &Fg (\ N +9 &Gx 4\ O +10 &I 0\ T +9 &KJ $\ W +9 &M\ $\ X +10 &N /\ X +9 &P 0\ Y +9 &RM /\ Y +10 &T\ +\ Z +9 &U #\ Z +10 &W $\ [\ +9 &YK #\ \\ +9 &[ %\ ] +10 &\\bG %\ 3 +9 &\\ $\ P +5 ( +2 "collection"'L& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.11 + .Hand.open + "manipulator"&Q1 +4 "core" &\\p ,\ P +57 1 +2 "manipulator"&g% +4 "core" % 7 3 ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +91 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%!& +4 "core" &\ +2 "manipulator"&% +3 "core" %   +2 "storage"(% +4 "core" % \ +2 "storage"(r. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(o(  +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (N& +3 "core" & \ +2 "manipulator"&w& +4 "core" &ӟ%  >O + "manipulator"&s% +4 "core" %  9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&Y( +135 "Can" \ RO +31 "core" ( + "manipulator"&u& +4 "core" &   +2 "storage"(i& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&d'S +96 "core" ' +2 "storage"(,& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'r +296 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +2 "core" & } \ +2 "manipulator"&<& +4 "core" & #  +2 .tElbow.seek 2 + "manipulator"&a( +4 "core" ( + "manipulator"&n& +4 "core" & 8  + "storage"(-& +3 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&\\& + "storage"(' +6 "core" & D  +2 "manipulator"&'% +4 "core" % ϸ | + .tForearm.seek :retract +2 "manipulator"&;' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&B( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&c& +4 "core" & F 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" & f 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&]' +102 "core" ' + "manipulator"&P& +5 "core" & ) 2 + "manipulator"& % +4 "core" % X  +2 "processing"%& +4 "core" &\ +2 "processing"%@& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +6 &6\ $c +9 &T}\ 7 +10 &z\ L +9 &R\ O +9 &[U\ O +10 &R\ N +9 &R \ N +10 &R\ N +9 &dR\ N +9 &'U\ N +10 &W\ N +9 &!V\ N +9 &#lW\ N +10 &%.Q\ N +9 &&S\ N +10 &(R\ N +9 &*tV\ N +9 &,6W\ N +10 &-Q\ N +9 &/W\ N +9 &1{W \ O +10 &3>U\ N +9 &5R\ \ N +10 &6S\ N +9 &8T\ O +9 &:FT \ N +10 &<W\ O +9 &=Y\ O +9 &?Y \ O +10 &AL[\ O +9 &C b\ P +9 &Di \ Q +10 &Fz\ R +9 &HD\ T +10 &J\ T +9 &K\ \ U +9 &M\ \ V +10 &OI\ U +9 &Q \ V +10 &R\ V +9 &T\ W +9 &VQ\ U +10 &X\ V +9 &Y\ V +9 &[\ V +10 &]U&\ H +9 &^|E\ !c +10 &^6$\ 4 +5 ( + "processing"%@& +54 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 +3 .Hand.open + "manipulator"&1 +4 "core" &^-(\ 4 +58 1 + "manipulator"&% +4 "core" %  X  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +91 "core" ' + "processing"%|& +4 "core" &^-\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %  [  +2 "storage"(:% +4 "core" % j /\ +2 "storage"(?. +3 "core" .(  + "storage"(\ & +4 "core" & h i /\ +2 "storage"(& +5 "manipulator"&t& +3 "core" & v \ +2 & C 2 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&3( +2 "storage"(O'r +5 "core" ( + "manipulator"&X& +4 "core" & ] 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &  2 +2 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' + .tHand.close +2 "manipulator"&~/ +64 "core" / +3 .tPC.seek :open +2 "processing"%j( +88 "core" ' +2 "storage"(0- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(T'1 +43 "core" ' +309 ( +2 "storage"(^& +4 "core" & } } F\ + "manipulator"&(& +4 "core" & 2 + "manipulator"&x% +4 "core" %  q , +2 .tForearm.seek :retract +2 "manipulator"&F' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&7( +244 "core" ( + "manipulator"&#& +5 "core" & [ ) + "storage"(K& +4 "core" & { 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'S +92 "core" ' + .tHand.open + "manipulator"&}1 +53 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(y' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(W' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +4 "core" -' + "storage"(& +4 "core" & R\ +2 "manipulator"&& +3 "core" & E ) +2 .tElbow.seek 2 +2 "manipulator"& ( +18 "core" ( +2 "manipulator"&b& +4 "core" &  ;  +2 "storage"(& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts + "manipulator"&='S +14 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(2'" +58 "core" ' +2 "manipulator"&$& +4 "core" & x  + "storage"(& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +20 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(U' +28 "core" ' +2 "manipulator"&l% +4 "core" %Κ  \ +2 "storage"(h& +4 "core" &   3\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&>' +16 "core" ' +2 "manipulator"&& +4 "core" & F  +2 "storage"(%& +4 "core" & ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&v'S +19 "core" ' +2 "storage"(S% +4 "core" % ,\ +2 ."downElevator"SE.seek :down +4 "storage"(f' +99 (% +3 "core" %FN \ Xh + "manipulator"&% +5 "core" %=  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +86 "core" ' +72 ' + ."downElevator"SE.stop + "storage"(5 +3 (m& +3 "core" & \ +2 "collection"'G& +4 "core" &\\o a\ P +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %   +2 "storage"(&% +3 "core" % \ +2 "storage"(_. +3 "core" .(  + "storage"(`& +4 "core" & \ +2 "storage"(I& +3 "core" & \ +2 "manipulator"&8& +4 "core" & D  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&9& +4 "core" & X  + "storage"([& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'S +91 "core" ' +2 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'r +294 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&)& +3 "core" &  <  +2 "storage"(p& +4 "core" & \ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&/'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(6- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"(E'a +30 "core" ' + "manipulator"&% +4 "core" %Ρ m = +2 "storage"(4& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&+' +16 "core" ' + "manipulator"&Z& +5 "core" & R  + "storage"(.& +4 "core" & +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(g' +34 "core" ' +2 "manipulator"&!& +4 "core" &  +2 "manipulator"&% +4 "core" %;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&r(ӂ +153 "core" ( + "manipulator"&L& +4 "core" &z+ Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &z+ M Cr +2 .tForearm.seek CC +2 "manipulator"&w'? +96 "core" ' + .tHand.close +2 "manipulator"&s/ +59 "core" / +2 .tCC.seek :open +2 "collection"'"( +450 "core" ( +4 "storage"(u& +4 "core" & s\ +2 "storage"(i& +3 "core" & \ +2 "manipulator"&e& +3 "core" &ӥ$ y =G +2 "manipulator"&,% +4 "core" % 6 g , +2 .tForearm.seek :retract +2 "manipulator"&k' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&R( +164 "core" ( +2 "manipulator"& & +4 "core" &  + "storage"(q& +4 "core" & @\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&<'Α +100 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&-1 +53 "core" 1 +2 "manipulator"&% +4 "core" % Μ z + "storage"(\\& +4 "core" & d\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&'' +15 "core" ' +2 "manipulator"&Y& +4 "core" & $  +2 "storage"(d& +3 "core" & K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&*'S +15 "core" ' + "storage"(% +4 "core" % (\ +3 ."downElevator"SE.seek :down +3 "storage"(c' +99 (z% +3 "core" %H \ We + "manipulator"&a% +4 "core" %;  z +43 .tForearm.reconfigure :loose +11 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +88 "core" ' +7 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +5 "core" & >\ + "manipulator"&% +4 "core" %  l  +2 "storage"(% +4 "core" % 3\ + "storage"(;. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(M( +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & Y\  +2 "manipulator"&& +4 "core" & j  + .tElbow.seek 3 +2 "manipulator"&@( +14 "core" ( + "manipulator"&|& +5 "core" &  f + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&:'7 +93 "core" ' +2 "storage"(?& +4 "core" & G\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'r +294 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & W\  +2 "manipulator"&X& +4 "core" &  P f + .tElbow.seek 3 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&]& +3 "core" &  ? f +2 "storage"(~& +4 "core" & 6\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&0'ϡ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& + "storage"(' +8 "core" & f + "manipulator"&O% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&^' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&((ӂ +158 "core" ( + "manipulator"&x& +4 "core" &ӏ&  9 ?P +2 ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 & & +3 "core" &Ӑ% , >O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&#'? +95 "core" ' + "manipulator"&K& +5 "core" &Ӑ%  2 >O + "manipulator"&3% +4 "core" %D | +2 "collection"'}& +4 "core" & K\ +2 "collection"'& +5 "core" & }\ +2 .tCC.seek :closed +2 "collection"'J(\\ +4 "core" & K\  +9 &5} H\ +{ +10 & h J\ ? +9 &p F\ L +9 &YU E\ L +10 &V K\ L +9 &S E\ K +10 &S >\ L +9 &bW ;\ K +9 &#U 7\ L +10 &R 3\ K +9 & T 5\ K +9 &"jX 6\ K +10 &$-U 8\ K +9 &%Y ;\ K +10 &'T =\ L +9 &)rT :\ K +9 &+5U <\ K +10 &,X 9\ K +9 &.X 4\ L +9 &0yV 7\ L +10 &2<X 4\ K +9 &3T 6\ L +9 &5Y 4\ K +10 &7T 3\ L +9 &9DT 7\ K +10 &;U 6\ K +9 &<X 1\ L +9 &>Y 8\ L +10 &@KY +\ L +9 &B [ 2\ L +9 &C\\ 4\ L +10 &Ed +\ N +9 &GIq $\ O +10 &I )\ R +9 &J (\ W +9 &Lv '\ X +10 &N6 #\ X +9 &O "\ Y +10 &Q $\ Y +9 &Sw '\ Z +9 &U7  \ [ +10 &V %\ [\ +9 &X (\ \\ +9 &Zy *\ \\ +10 &\\z $\ 0 +9 &\\1 &\ a +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&1 +4 "core" &\\n ,\ O +50 1 + "manipulator"&% +4 "core" % D  | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +91 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&F% +4 "core" %  G  +2 "storage"($% +4 "core" % | ~ F\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(T( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (l& +3 "core" & e d <\  +2 "manipulator"&h& +4 "core" &Ӑ% >O + "manipulator"&y% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +166 "core" ( +2 "manipulator"&%& +4 "core" &    +2 "storage"(S& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&7'7 +95 "core" ' + "storage"( & +3 "core" & \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'r +297 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & ~ \  + "manipulator"&=& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&2& +4 "core" & ]  + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&>'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +3 "storage"(' +6 "core" & m  +2 "manipulator"&&% +4 "core" % Ϛ +2 .tForearm.seek :retract +2 "manipulator"&U' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&_( +164 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +70 "core" ( +2 "manipulator"&`& +4 "core" &  . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" & 5 . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&8' +98 "core" ' + "manipulator"&9& +4 "core" &  . +2 "manipulator"&[% +4 "core" %  +2 "processing"%v& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%f(^ +4 "core" &\ +6 &\ 6 +9 &<Ht\ 0 +9 &cp}\ E +10 &^\ O +9 &V\ N +10 &S\ O +9 &IT\ N +9 & Q\ N +10 &T\ N +9 &W\ O +9 &PU\ O +10 &!W\ N +9 &"U \ N +9 &$V \ N +10 &&YV \ N +9 &(W \ O +10 &)U\ N +9 &+Q\ N +9 &-bS\ N +10 &/"U\ O +9 &0U\ O +9 &2U\ O +10 &4hT\ O +9 &6+W\ N +10 &7W\ N +9 &9U\ N +9 &;qV\ N +10 &=3U\ N +9 &>W\ O +9 &@Z\ O +10 &Btb\ P +9 &D2l\ Q +10 &E\ S +9 &G\ U +9 &Io\ T +10 &K.\ U +9 &L \ U +9 &N \ V +10 &Pq\ W +9 &R5\ V +10 &S\ W +9 &U \ V +9 &Wx \ W +10 &Y<\ V +9 &Z\ V +10 &\\\ W +9 &^9f/\ (z +9 &^k\ 7 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.66 + .Hand.open + "manipulator"&1 +4 "core" &^#\ \ 2 +59 1 + "manipulator"&D% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A' +93 "core" ' +2 "processing"%)& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&p% +4 "core" %   + "storage"(6% +4 "core" % \ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(4( +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Z& +4 "core" & Q 7 *\  + "manipulator"&.& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & . +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&!( + "storage"('r +6 "core" ( + "manipulator"&{& +4 "core" & . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ! . +2 .tForearm.seek PC +2 "manipulator"&1' +92 "core" ' +2 .tHand.close + "manipulator"&// +56 "core" / +2 .tPC.seek :open + "processing"%+( +98 "core" ' +2 "storage"(E- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(L'1 +47 "core" ' +302 ( +2 "storage"(N& +4 "core" & \  +2 "manipulator"&Q& +9 "core" & . + "manipulator"&5% +4 "core" %  F = +52 .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +247 "core" ( + "manipulator"&H& +4 "core" & P M +2 "storage"(u& +4 "core" &   D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&i'7 +89 "core" ' +2 .tHand.open + "manipulator"&e1 +64 "core" 1 +2 "storage"(,- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(q' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(w- +3 "core" -' +2 "storage"(r& +4 "core" & (\  +2 "manipulator"&-& +4 "core" &   M + .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( + "manipulator"&\\& +5 "core" &   + "storage"(Y& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' +2 "manipulator"&k& +4 "core" &  + "storage"(z& +4 "core" & U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&a'u +19 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(<' +26 "core" ' +2 "manipulator"& % +4 "core" %r  +2 "storage"(& +4 "core" & }  c\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 297 counts +2 "manipulator"&''Ϟ +13 "core" ' + "manipulator"&& +5 "core" &   +2 "storage"(;& +4 "core" & n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&g'7 +19 "core" ' +2 "storage"(*% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(c' +98 (o% +4 "core" %MJ \ Xh +2 "manipulator"&% +4 "core" %( + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (|& +3 "core" &  =\  +2 "collection"'& +4 "core" &\\n '\ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&?% +4 "core" % ! + +2 "storage"(n% +4 "core" % e\ + "storage"(P. +3 "core" .( +2 "storage"(t& +4 "core" & 0\  +2 "storage"(& +3 "core" & r\  +2 "manipulator"&X& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&]( +8 "core" ( +2 "manipulator"&~& +4 "core" &  b +2 "storage"(B& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&V'7 +99 "core" ' + "storage"(O& +5 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'r +298 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&x& +3 "core" & , +2 "storage"( & +3 "core" & x E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&\ 'u +15 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(K- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(3'd +28 "core" ' + "manipulator"&}% +4 "core" %| v G +2 "storage"(C& +3 "core" & 2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&'Ϩ +24 "core" ' +2 "manipulator"&^& +4 "core" & +2 "storage"("& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&& +4 "core" & t +2 "manipulator"&F% +4 "core" %C T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&& +4 "core" &ӏ  8! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &ӏ m 8! +3 .tForearm.seek CC +2 "manipulator"&h'? +91 "core" ' +2 .tHand.close + "manipulator"&y/ +60 "core" / +2 .tCC.seek :open + "collection"'#( +448 "core" ( +2 "storage"(%& +9 "core" & \  +3 "storage"(S& +6 "core" & \  +2 "manipulator"&M& +3 "core" &ӏ  Y 8! +2 "manipulator"& % +3 "core" % G 4 ` +2 .tForearm.seek :retract +2 "manipulator"&(' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&b( +165 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&='u +93 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&m% +4 "core" % ΄  X / +2 "storage"(G& +4 "core" & 4\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&&'ϰ +25 "core" ' +2 "manipulator"&& +4 "core" &    + "storage"(7& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&W'7 +18 "core" ' + "storage"(>% +4 "core" % ^\ +3 ."downElevator"SE.seek :down +3 "storage"(`' +99 (I% +3 "core" %B \ Wb + "manipulator"& % +4 "core" % y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +91 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'[& +5 "core" & 7\ + "manipulator"&v% +4 "core" %    +2 "storage"(% +4 "core" % \ + "storage"(U. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(j(,y +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,~ g\ +2 "manipulator"&D& +3 "core" & |  +2 .tElbow.seek 4 +2 "manipulator"&)( +27 "core" ( + "manipulator"&p& +4 "core" &  +2 "storage"(6& +4 "core" &,~ S\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(& +4 "core" &,~ t\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'r +296 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ({& +3 "core" &,} ?\ +2 "manipulator"&& +3 "core" & e  +2 .tElbow.seek 4 +2 "manipulator"&8( +18 "core" ( +2 "manipulator"&/& +4 "core" &   + "storage"(T& +4 "core" &,} z\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&E'c +31 "core" ' + .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&A& +3 "storage"(f' +6 "core" & V  +2 "manipulator"&% +4 "core" % ψ 9 +2 .tForearm.seek :retract +2 "manipulator"&N' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&5& +4 "core" &ӌ( s @W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &ӌ( @W +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&H'? +92 "core" ' +2 "manipulator"&u& +4 "core" &Ӎ'  6 ?V +2 "manipulator"&!% +4 "core" %3 \\ p +2 "collection"'e& +4 "core" & J\ +2 "collection"',& +5 "core" & }\ +2 .tCC.seek :closed +2 "collection"'w(\\ +4 "core" & M\  +9 &5~ H\ +{ +9 & g O\ ? +10 &o L\ L +9 &[U K\ K +9 &X J\ K +10 &T J\ K +9 &U ?\ K +9 &bU D\ L +10 &#W 8\ L +9 &T 8\ K +10 & R 5\ K +9 &"jT 7\ L +9 &$,W ;\ L +10 &%T 5\ K +9 &'U 5\ L +9 &)sT :\ K +10 &+5T <\ K +9 &,U >\ K +10 &.X 8\ K +9 &0zY >\ L +9 &2<W 9\ L +10 &3Y 7\ K +9 &5Y 9\ L +9 &7W 9\ L +10 &9EU 7\ K +9 &;V 6\ K +9 &<Y 8\ L +10 &>Y 8\ L +9 &@KY 7\ L +10 &BY 8\ K +9 &C] 4\ L +9 &Ec 1\ M +10 &GJr 3\ O +9 &I 1\ R +9 &J +\ V +10 &Lw -\ X +9 &N9 '\ X +10 &O (\ X +9 &Q $\ Y +9 &Sy #\ Z +10 &U: "\ Z +9 &V &\ [ +10 &X "\ [ +9 &Zy &\ \\ +9 &\\z "\ 0 +10 &\\3 $\ a +8 ( +3 "collection"',& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&r1 +4 "core" &\\c (\ N +57 1 + "manipulator"&-% +4 "core" % 3 U p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%Y& +4 "core" &\ +2 "manipulator"&s% +4 "core" %   +2 "storage"(k% +3 "core" % | } \ +2 "storage"(z. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (L& +3 "core" &,| x \ +2 "manipulator"&& +4 "core" &ӎ& v ?U + "manipulator"&% +4 "core" %  M  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +156 "core" ( + "manipulator"&;& +4 "core" & P  +2 "storage"(*& +4 "core" &,| S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +92 "core" ' + "storage"(i& +4 "core" &,| L\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +294 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,| | l\ +2 "manipulator"&d& +4 "core" & v  +2 .tElbow.seek 4 + "manipulator"&( +17 "core" ( + "manipulator"&& +5 "core" &  [ + "storage"(a& +4 "core" &,| \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&''c +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&|/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(?' +6 "core" &   , V +2 "manipulator"&n% +4 "core" % ϒ  1 +2 .tForearm.seek :retract +2 "manipulator"&<' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&P( +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&t& +4 "core" &  = C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X' +97 "core" ' +2 "manipulator"&~& +4 "core" & A B +2 "manipulator"&B% +3 "core" % d  +2 "processing"%g& +4 "core" & \ +2 "processing"%O& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%c(^ +4 "core" &\ +7 & .\ #b +10 &Uy\ 7 +9 &{\ L +9 &S\ O +10 &YU\ N +9 &S\ N +9 &R\ N +10 &T\ N +9 &bQ\ N +9 &#W\ N +10 &W\ N +9 &!Q\ N +10 &#iW\ N +9 &%+U\ N +9 &&U\ O +10 &(T\ O +9 &*qU\ N +9 &,3W\ N +10 &-V\ N +9 &/U\ N +10 &1yR\ N +9 &3;V\ N +9 &4U\ N +10 &6R\ N +9 &8U\ N +9 &:BS\ O +10 &<U\ O +9 &=U\ O +10 &?W\ N +9 &AIZ\ O +9 &Cg\ Q +10 &Dn\ \ Q +9 &F\ T +9 &H@\ U +10 &J\ U +9 &K\ U +10 &M \ U +9 &OF\ U +9 &Q\ V +10 &R\ V +9 &T\ V +9 &VL\ \ V +10 &X \ V +9 &Y\ V +10 &[\ V +9 &]R\ I +9 &^|G\ _ +10 &^ H\ 5 +5 ( +2 "processing"%O& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&R1 +3 "core" &^.\ 5 +56 1 +2 "manipulator"&% +4 "core" %  m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' +2 "processing"%x& +4 "core" &^+\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"& % +4 "core" %   ( +2 "storage"(K% +3 "core" % \ +2 "storage"(}. +3 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(C(,y +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (^& +4 "core" &,z \ + "manipulator"&"& +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(F'r +3 "core" ( + "manipulator"&V& +4 "core" &  B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" & M B +2 .tForearm.seek PC +2 "manipulator"&@' +93 "core" ' +2 .tHand.close + "manipulator"&\ / +53 "core" / +2 .tPC.seek :open +2 "processing"%( +100 "core" ' +2 "storage"(3- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +305 ( +2 "storage"(l& +4 "core" &,z F\ +2 "manipulator"&& +3 "core" &  6 B +2 "manipulator"&0% +3 "core" %  = 8 +2 .tForearm.seek :retract +2 "manipulator"&y' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&$( +243 "core" ( + "manipulator"&J& +5 "core" & \\ 0 + "storage"(%& +4 "core" &,z | \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&S' +97 "core" ' +2 .tHand.open + "manipulator"&M1 +64 "core" 1 +2 "storage"( - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(h- +4 "core" -' + "storage"(& +4 "core" &,z <\ +2 "manipulator"&& +3 "core" &  0 +2 .tElbow.seek 4 + "manipulator"&m( +4 "core" ( +2 "manipulator"&G& +4 "core" &  a 0 + "storage"(& +4 "core" &,z \ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(>'" +53 "core" ' +2 "manipulator"&(& +4 "core" & D 0 +2 "storage"(I& +3 "core" &,z \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& '7 +27 "core" ' +51 .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(=' +20 "core" ' + "manipulator"&[% +5 "core" %> ' + "storage"(&& +4 "core" &,z \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts + "manipulator"&v'j +15 "core" ' +2 "manipulator"&& +4 "core" & A / +2 "storage"(U& +4 "core" &,z \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(W% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(`' +98 (4% +3 "core" %L M\ Wf +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +88 "core" ' +69 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (p& +4 "core" &,z \ + "collection"'6& +4 "core" &\\c *\ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  <  +2 "storage"(2% +3 "core" % \ +2 "storage"(9. +3 "core" .(,y +2 "storage"(.& +3 "core" &,z \ +2 "storage"({& +4 "core" &,z -\ + "manipulator"&& +4 "core" & R . +2 .tElbow.seek 4 +2 "manipulator"&/( +3 "core" ( + "manipulator"&T& +4 "core" & 7 . +2 "storage"(_& +3 "core" &,z o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +93 "core" ' + "storage"(& +4 "core" &,z \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +3 "core" &  . +2 "storage"(1& +3 "core" &,z \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Z'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(u- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(!'e +29 "core" ' + "manipulator"&e% +4 "core" %I l  +2 "storage"(8& +3 "core" &,z  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&f'u +14 "core" ' +2 "manipulator"&N& +4 "core" & | . +2 "storage"(#& +3 "core" &,z n\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(-' +39 "core" ' + "manipulator"&Y& +5 "core" &  . + "manipulator"&s% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z(ӂ +154 "core" ( + "manipulator"&,& +4 "core" &ӗ" ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" &ӗ" o ;6 +2 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'H( +446 "core" ( +2 "storage"(;& +4 "core" &,z \ + "storage"(*& +4 "core" &,z \ +2 "manipulator"&j& +3 "core" &ӗ" ;6 +2 "manipulator"&i% +3 "core" % <   ) +2 .tForearm.seek :retract +2 "manipulator"&Q' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&\\( +167 "core" ( + "manipulator"&o& +4 "core" & m  +2 "storage"(& +4 "core" &,z ]\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&d'7 +98 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&a1 +53 "core" 1 +2 "manipulator"&|% +4 "core" % J +2 "storage"(& +4 "core" &,z a\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&n'v +15 "core" ' +2 "manipulator"& & +4 "core" &   + "storage"(& +4 "core" &,z )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&q' +18 "core" ' + "storage"('% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(t' +99 (% +3 "core" %D ]\ Vb + "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +93 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'B& +4 "core" & m\ +2 "manipulator"&g% +4 "core" %   X  + "storage"(?% +4 "core" % \ +2 "storage"(<. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(+(<- +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (R& +3 "core" &<, [\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&x( +3 "core" ( +2 "manipulator"& & +4 "core" &  c  + "storage"(K& +4 "core" &<, a\  +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&}'O +96 "core" ' + "storage"(O& +4 "core" &<, \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'r +294 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" &<, \  +3 "manipulator"&]& +3 "core" & w  +2 .tElbow.seek 5 +2 "manipulator"&X( +3 "core" ( + "manipulator"&\ & +4 "core" &  k  + "storage"( & +4 "core" &<, _\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&3'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"(c' +6 "core" &   + "manipulator"&F% +4 "core" % Ϻ  +2 .tForearm.seek :retract +2 "manipulator"&l' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +160 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&0& +4 "core" &Ӛ  E :+ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &Ӛ! :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'? +90 "core" ' + "manipulator"&%& +5 "core" &Ӛ! 0 :+ + "manipulator"&% +4 "core" %A u +2 "collection"'M& +4 "core" & ~\ +2 "collection"' & +5 "core" & }\ +2 .tCC.seek :closed +2 "collection"'h(\\ +4 "core" & K\ +8 &; K\ %g +9 &Yy N\ 8 +9 &u K\ L +10 &U L\ L +9 &V K\ L +9 &GU K\ L +10 &\ S J\ K +9 &U N\ K +10 &W K\ K +9 &PR K\ K +9 & T ?\ K +10 &!V :\ L +9 &#R A\ K +9 &%WR 8\ L +10 &'W 6\ K +9 &(S :\ L +10 &*V >\ L +9 &,`S 7\ K +9 &."U 6\ K +10 &/W >\ K +9 &1T A\ L +9 &3hW 9\ K +10 &5*R 9\ K +9 &6V :\ K +9 &8S :\ L +10 &:pY 9\ K +9 &<1T 6\ L +10 &=T 6\ K +9 &?V 7\ L +9 &AvW 6\ L +10 &C7Z 8\ L +9 &Dd 8\ M +9 &Fk =\ N +10 &Hm 8\ R +9 &J$ 7\ V +10 &K 3\ W +9 &M 8\ X +9 &Ob 0\ X +10 &Q# '\ Y +9 &R *\ Y +9 &T 3\ Z +10 &Vc #\ [ +9 &X# '\ [ +10 &Y 2\ \\ +9 &[ 1\ I +9 &\\5 "\ / +10 &\\s !\ P +2 ( +2 "collection"' & +59 "core" &\\p $\ P + &\\p \ P + &\\p  \ P + &\\p #\ P + &\\p \ P + &\\p  \ P + #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % A u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&y% +4 "core" %  /  +2 "storage"((% +3 "core" % { } \ +2 "storage"(I. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +2 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<, \\ b M\  +2 "manipulator"&[& +4 "core" &ӛ  :* +2 "manipulator"&&% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( + "manipulator"&U& +5 "core" &  + "storage"($& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +99 "core" ' +2 "storage"(S& +4 "core" &<, o\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &<, a\  + "manipulator"&& +4 "core" & 2  +2 .tElbow.seek 5 + "manipulator"&m( +4 "core" ( + "manipulator"&>& +4 "core" &    +2 "storage"( & +3 "core" &<, S\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&v'Ϲ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&p/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& + "storage"(' +7 "core" &  + "manipulator"&2% +4 "core" %  b s +2 .tForearm.seek :retract +2 "manipulator"&=' +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&9( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&.& +4 "core" & U 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &  5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 "manipulator"&T& +4 "core" &   5 +2 "manipulator"&_% +4 "core" % K  +2 "processing"%& +4 "core" & \ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%`(^ +4 "core" &\  +9 &1u\ )w +9 &c}\ > +10 &fr\ N +9 &&T\ O +9 &T\ O +10 &P\ N +9 &mU\ N +10 &/U\ N +9 &Q\ N +9 &S\ N +10 & uW\ N +9 &"7U\ N +9 &#R\ N +10 &%R\ N +9 &'}V\ N +9 &)?Q\ N +10 &+R\ O +9 &,U\ O +10 &.P\ N +9 &0GV\ N +9 &2 V\ N +10 &3Q\ N +9 &5U\ O +10 &7OT\ N +9 &9U\ N +9 &:S\ O +10 &<S\ O +9 &>VU\ O +9 &@V\ N +10 &AY\ O +9 &Ce\ \ P +10 &EWn\ \ Q +9 &Gy\ S +9 &H\ U +10 &J\ U +9 &LT\ U +10 &N\ U +9 &O\ U +9 &Q \ V +10 &SY\ V +9 &U\ V +9 &V\ V +10 &X\ U +9 &Z`\ V +10 &\\!\ W +9 &]}\ 8 +9 &^,u\ Y +9 &^%\ 4 +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&b1 +55 "core" 1 + "manipulator"&D% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 "processing"%5& +4 "core" &^) \ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&1% +4 "core" %    + "storage"(u% +4 "core" % \ +2 "storage"(e. +3 "core" .(<- + "storage"(8& +4 "core" &<, \  +2 "storage"(N& +5 "manipulator"&#& +3 "core" &<, \  + & 5 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&Y( + "storage"(s'r +7 "core" ( + "manipulator"&A& +4 "core" &  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" & * 5 +2 .tForearm.seek PC +2 "manipulator"&)' +94 "core" ' +2 .tHand.close + "manipulator"&Z/ +60 "core" / + .tPC.seek :open +2 "processing"%f( +95 "core" ' + "storage"(!- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(,'1 +43 "core" ' +306 ( + "storage"(L& +4 "core" &<, %\  +2 "manipulator"&r& +3 "core" & K 5 +2 "manipulator"&E% +4 "core" %  $ # + .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&k( +244 "core" ( +2 "manipulator"&w& +4 "core" & K 9 + "storage"(;& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&*'O +95 "core" ' +2 .tHand.open + "manipulator"&j1 +57 "core" 1 +2 "storage"(i- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(o' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(z& +4 "core" &<, ;\  +2 "manipulator"&a& +3 "core" & U 9 +2 .tElbow.seek 5 +2 "manipulator"&|( +3 "core" ( + "manipulator"&& +4 "core" &  2 9 +2 "storage"( & +4 "core" &<, =\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +12 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(''" +58 "core" ' +2 "manipulator"&Q& +4 "core" & G 9 + "storage"(& +4 "core" &<, | { \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +14 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(d' +19 "core" ' + "manipulator"&B% +5 "core" %Ν l X + "storage"(n& +4 "core" &<,  y O\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&g' +15 "core" ' +2 "manipulator"&?& +4 "core" & L 9 +2 "storage"(<& +4 "core" &<, 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +18 "core" ' +2 "storage"(q% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(t' +98 (C% +3 "core" %:J \ Wf +2 "manipulator"&R% +4 "core" %; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &<, ~  U\  + "collection"'K& +4 "core" &\\o \\\ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&O% +4 "core" %  p " +2 "storage"(% +3 "core" % ~ ~ 4\ +2 "storage"(~. +3 "core" .(<- + "storage"("& +4 "core" &<, x \  +2 "storage"(V& +4 "core" &<, { | >\  + "manipulator"&]& +4 "core" & 9 + .tElbow.seek 5 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"& & +4 "core" &  P 9 + "storage"(P& +4 "core" &<, } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&:'O +95 "core" ' +2 "storage"(F& +4 "core" &<, )\  +52 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +299 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" &  9 +2 "storage"(@& +3 "core" &<, \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&^'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"('^ +28 "core" ' +2 "manipulator"&M% +4 "core" %Γ ; + "storage"(X& +4 "core" &<, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts + "manipulator"&c'Ͽ +14 "core" ' + "manipulator"&l& +5 "core" & 2 8 + "storage"(H& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +19 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +41 "core" ' + "manipulator"&& +5 "core" &  8 + "manipulator"&y% +4 "core" %D . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +160 "core" ( +2 "manipulator"& & +4 "core" &Ӌ D 8" + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &Ӌ  8" +3 .tForearm.seek CC +2 "manipulator"&['? +92 "core" ' + .tHand.close +2 "manipulator"&&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'J( +446 "core" ( +2 "storage"(U& +4 "core" &<, \  + "storage"($& +4 "core" &<, \  + "manipulator"&+& +4 "core" &ӓ j 7 +2 "manipulator"&S% +4 "core" % K  6 < + .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&G( +161 "core" ( + "manipulator"&4& +4 "core" &  `  +2 "storage"(7& +4 "core" &<, \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +95 "core" ' + .tElbow.hold + "manipulator"&>, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&p% +4 "core" % ΄   +2 "storage"(6& +3 "core" &<, a\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 291 counts + "manipulator"&2'ϰ +13 "core" ' +2 "manipulator"&& +5 "core" & f  + "storage"(W& +4 "core" &<, :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +28 "core" ' + "storage"(v% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(.' +99 ({% +3 "core" %D >\ Vb +2 "manipulator"&m% +4 "core" %S 8 ( + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +92 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'_& +4 "core" & 7\ +2 "manipulator"&% +4 "core" %  k  + "storage"(% +4 "core" % /\ +2 "storage"(=. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" &K R\  +2 "manipulator"&D& +4 "core" & p  + .tElbow.seek 6 +2 "manipulator"&5( +3 "core" ( + "manipulator"&1& +4 "core" &  N  +2 "storage"(u& +3 "core" &K m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +92 "core" ' +2 "storage"(8& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'r +294 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &K o\  +2 "manipulator"&A& +3 "core" & 9  +2 .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( + "manipulator"&& +4 "core" &   + "storage"(Z& +4 "core" &K f\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&!'h +42 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&9/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(`' +7 "core" &  +2 "manipulator"&s% +4 "core" % d  q U +2 .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +159 "core" ( + "manipulator"&E& +5 "core" ' + &Ӗ# C <; + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &)& +3 "core" &Ӗ# 6 <; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&w'? +92 "core" ' +2 "manipulator"&;& +4 "core" &ӗ#   <: +2 "manipulator"&Y% +4 "core" %I q + "collection"'j& +4 "core" & \ +2 "collection"'i& +6 "core" & \ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & R\ +7 &; J\ %g +10 &Xv L\ 7 +9 &w J\ K +9 &Q I\ L +10 &~W J\ K +9 &@T D\ K +9 &T I\ K +10 &X J\ L +9 &W K\ L +10 &HW K\ K +9 & \ T J\ K +9 &!W K\ L +10 &#X =\ K +9 &%PT :\ K +9 &'W ?\ L +10 &(S >\ L +9 &*R 8\ L +10 &,XR 5\ K +9 &.T =\ K +9 &/T <\ K +10 &1T 9\ L +9 &3_R :\ L +9 &5"S :\ K +10 &6U 9\ L +9 &8X <\ L +10 &:gW 7\ L +9 &<)W 8\ L +9 &=X 7\ L +10 &?T 8\ L +9 &AoW 8\ L +9 &C.] 9\ M +10 &Dn 6\ N +9 &F 9\ Q +9 &H\\ 6\ U +10 &J 3\ X +9 &K 5\ X +10 &M 2\ X +9 &OW +\ Y +10 &Q ,\ Z +9 &R 5\ Z +9 &T 2\ [\ +9 &VW 7\ \\ +10 &X 8\ ] +9 &Y )\ ] +10 &[  \ J +9 &\\8 "\ / +10 &\\} %\ Z +2 ( + "collection"'i& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 +2 .Hand.open + "manipulator"&z1 +55 "core" 1 +2 "manipulator"&a% +4 "core" % I  Q q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&% +3 "core" %  B  +2 "storage"(Q% +4 "core" % \ +2 "storage"(. +3 "core" .(K + "storage"(B& +4 "core" &K \  +2 "storage"(n& +3 "core" &K \  +2 "manipulator"&,& +4 "core" &Ә& W <9 + "manipulator"&?% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&<( +164 "core" ( + "manipulator"&o& +4 "core" &  +2 "storage"(q& +4 "core" &K |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +102 "core" ' +2 "storage"(*& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" &K z x\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&|( +3 "core" ( +2 "manipulator"&'& +4 "core" &  + "storage"(& +4 "core" &K X\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&g'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +56 "core" / +2 ."downElevator"SE.seek :down +54 "manipulator"&K& + "storage"(O' +8 "core" &  + "manipulator"&% +4 "core" % Ϙ 9 +2 .tForearm.seek :retract +2 "manipulator"&d' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&~( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&"& +4 "core" &  F I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" & I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&]' +100 "core" ' + "manipulator"& & +4 "core" & H +2 "manipulator"&P% +4 "core" %  +2 "processing"%-& +4 "core" &\ +2 "processing"%F& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%t(^ +4 "core" &\ +7 & .\ $c +9 &Tz \ 7 +10 &~y\ \ K +9 &T\ N +10 &YV\ N +9 &R \ N +9 &W \ N +10 &T\ O +9 &aT \ N +9 &#R \ N +10 &Q\ N +9 &!V \ N +9 &#hU\ O +10 &%*T \ O +9 &&T\ N +10 &(Q \ N +9 &*qR\ N +9 &,3W\ N +10 &-U\ N +9 &/U\ O +9 &1yT\ N +10 &3;R\ N +9 &4V\ N +10 &6V\ N +9 &8Y\ O +9 &:CX\ \ N +10 &<V\ N +9 &=Y\ O +9 &?U\ O +10 &AIZ\ O +9 &Cf \ Q +10 &Dr\ R +9 &F\ T +9 &HA\ T +10 &J\ U +9 &K\ U +9 &M\ U +10 &OF\ U +9 &Q\ W +10 &R\ \ V +9 &T\ V +9 &VK\ V +10 &X \ V +9 &Y \ W +9 &[\ W +10 &]Q\ J +9 &^{G\ _ +9 &^V\ 2 +6 ( + "processing"%F& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&\\1 +4 "core" &^"\ 2 +53 1 + "manipulator"&% +5 "core" %  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +92 "core" ' +2 "processing"%0& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&@% +4 "core" %    +2 "storage"(%% +3 "core" % V `\ +2 "storage"(M. +3 "core" .(K + "storage"(X& +4 "core" &K \\ a\  +2 "storage"(l& +3 "manipulator"&H& +6 "core" &K s @\  +2 &  H +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"(y'r +5 "core" ( + "manipulator"&:& +4 "core" & H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &  5 H +2 .tForearm.seek PC +2 "manipulator"&x' +100 "core" ' + .tHand.close + "manipulator"&^/ +57 "core" / +2 .tPC.seek :open +2 "processing"%c( +92 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +41 "core" ' +312 ( + "storage"(& +5 "core" &K \  + "manipulator"&& +4 "core" & H + "manipulator"&3% +4 "core" %  <  +2 .tForearm.seek :retract +2 "manipulator"&&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&(( +243 "core" ( +2 "manipulator"&h& +4 "core" & * 1 + "storage"(U& +4 "core" &K )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&$' +94 "core" ' + .tHand.open + "manipulator"&+1 +57 "core" 1 +2 "storage"(S- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(4' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(7' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"([- +4 "core" -' + "storage"(I& +4 "core" &K 6\  +2 "manipulator"& & +4 "core" &  1 + .tElbow.seek 6 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&6& +4 "core" &  q 1 + "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(v'" +55 "core" ' +2 "manipulator"&& +4 "core" & k 1 +2 "storage"({& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&m'< +22 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 "manipulator"&2% +4 "core" %K 1 +2 "storage"(_& +4 "core" &K Y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&'w +15 "core" ' + "manipulator"&& +5 "core" & > 1 + "storage"(=& +4 "core" &K  ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(% +5 "core" % L\ +2 ."downElevator"SE.seek :down +3 "storage"(.' +99 (% +3 "core" %I X c\ Wg +2 "manipulator"&b% +4 "core" %  % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D' +88 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (1& +4 "core" &K y .\  + "collection"'u& +4 "core" &\\{ R\ Z +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&8% +4 "core" %   +2 "storage"(>% +3 "core" % ~ \ +2 "storage"(T. +3 "core" .(K + "storage"(N& +4 "core" &K | | \  +2 "storage"(& +3 "core" &K { { \  +2 "manipulator"&A& +4 "core" & { 1 +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&Z& +4 "core" & \ 1 +2 "storage"(9& +4 "core" &K | | \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(s& +4 "core" &K c\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'r +298 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +4 "core" & 1 +2 "storage"()& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&#'< +19 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(;- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Y'g +29 "core" ' +2 "manipulator"&j% +4 "core" %N  + "storage"(/& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts + "manipulator"&`'z +13 "core" ' +2 "manipulator"&L& +4 "core" & ' 1 +2 "storage"(J& +4 "core" &K  [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&z' +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(a' +47 "core" ' + "manipulator"& & +4 "core" & = 1 +2 "manipulator"&% +4 "core" %  k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&B& +4 "core" &Ӌ* 1 Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &Ӌ*  Bi +2 .tForearm.seek CC + "manipulator"&i'? +94 "core" ' + .tHand.close + "manipulator"&,/ +59 "core" / + .tCC.seek :open +2 "collection"'?( +447 "core" ( +3 "storage"(w& +4 "core" &K \  + "storage"(o& +4 "core" &K \  +2 "manipulator"&q& +3 "core" &ӣ& G ?Q +2 "manipulator"&*% +4 "core" % ; ! % +2 .tForearm.seek :retract + "manipulator"&r' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +165 "core" ( + "manipulator"&C& +4 "core" &  +2 "storage"(R& +4 "core" &K G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +95 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"& % +4 "core" % G 4  + "storage"(K& +4 "core" &K 1\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&'s +16 "core" ' +2 "manipulator"&<& +4 "core" & r  +2 "storage"(k& +4 "core" &K S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' +2 "storage"(g% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"("' +99 (V% +3 "core" %A J\ Wb +2 "manipulator"&|% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'P& +5 "core" & `\ + "manipulator"&-% +4 "core" %   +2 "storage"(O% +4 "core" % \ +2 "storage"(d. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(f(  +1296 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "core" &  6\ +2 "manipulator"&& +3 "core" &  6  +2 .tElbow.seek 2 +2 "manipulator"&0( +4 "core" ( + "manipulator"&@& +4 "core" & &  + "storage"(%& +4 "core" &  t\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&M'S +97 "core" ' +2 "storage"(X& +4 "core" &  +\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +299 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" &  p\ +2 "manipulator"&:& +4 "core" & [  + .tElbow.seek 2 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&]& +3 "core" &  &  +2 "storage"(^& +4 "core" &  E\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(t' +7 "core" &   +2 "manipulator"&y% +4 "core" % ϴ * +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +152 "core" ( + "manipulator"&3& +4 "core" &y+  H Cm +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&x& + "storage"(5 +6 "core" &z* = Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&h'? +91 "core" ' +2 "manipulator"&U& +5 "core" &z* Bl + "manipulator"&% +4 "core" %E \\ t +2 "collection"'+& +4 "core" & T\ +2 "collection"'S& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'[(\\ +5 "core" & W\ +7 &; V\ %g +9 &Xv ]\ 7 +9 &x G\ K +10 &R S\ L +9 &X L\ K +10 &HU D\ K +9 & T I\ L +9 &V J\ L +10 &T A\ K +9 &OS J\ L +9 & S K\ L +10 &!W K\ K +9 &#U C\ K +10 &%XT @\ K +9 &'T D\ K +9 &(T ?\ L +10 &*S 9\ L +9 &,`R ;\ K +9 &."T 0\ K +10 &/T 6\ K +9 &1X 8\ L +9 &3hR -\ K +10 &5*T 3\ K +9 &6V ;\ K +10 &8U :\ L +9 &:nV :\ L +9 &<2U 8\ K +10 &=U ;\ K +9 &?U 8\ L +10 &AwY 9\ L +9 &C8Y 5\ L +9 &Dc 5\ M +10 &Fk 6\ N +9 &Hp 7\ Q +10 &J& 4\ U +9 &K B\ W +9 &M A\ X +10 &Oc 2\ X +9 &Q$ 8\ X +9 &R B\ Y +10 &T <\ Z +9 &Vc 7\ [ +10 &X$ A\ [\ +9 &Y 4\ \\ +9 &[ 2\ I +10 &\\/ 0\ 7 +9 &\\g /\ K +5 ( +2 "collection"'S& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&I1 +3 "core" &\\_ 0\ K +57 1 +2 "manipulator"& % +4 "core" % E H t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&&% +4 "core" %   +2 "storage"(% +3 "core" % | Q\ +2 "storage"({. +3 "core" .(  + "storage"(2& +4 "core" &  q \ +2 "storage"(_& +3 "core" &  Q\ +2 "manipulator"& & +4 "core" &z* U Bl + "manipulator"&% +4 "core" %  z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&=( +167 "core" ( +2 "manipulator"&4& +4 "core" &  + "storage"(& +4 "core" &  >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&('S +94 "core" ' + "storage"($& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'r +307 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (b& +3 "core" &  \ +2 "manipulator"&W& +4 "core" & l  +2 .tElbow.seek 2 + "manipulator"&p( +4 "core" ( +2 "manipulator"&v& +4 "core" & x  + "storage"(m& +4 "core" &  O\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&1/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +3 "storage"(8' +6 "core" &   +2 "manipulator"&>% +4 "core" %  X + .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T( +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +71 "core" ( + "manipulator"&N& +4 "core" & J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & O J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&A' +99 "core" ' + "manipulator"&Z& +4 "core" & e J +2 "manipulator"&9% +4 "core" %   +2 "processing"%& +4 "core" &\ +2 "processing"%s& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%.(^ +3 "core" & \ +5 &\ 4 +10 &=Gq\ 0 +9 &eq}\ D +10 &c \ O +9 &R \ N +9 &R \ N +10 &IU\ N +9 &\ T \ O +10 &T \ N +9 &R \ N +9 &QR\ N +10 &!R\ \ N +9 &"R\ N +9 &$R\ N +10 &&YU\ N +9 &(V\ N +9 &)U\ O +10 &+T\ O +9 &-aT \ N +10 &/#Q\ N +9 &0W\ N +9 &2W \ N +10 &4hT\ O +9 &6*U\ O +9 &7U\ N +10 &9T\ N +9 &;pY\ O +10 &=2W\ O +9 &>Z\ O +9 &@Z\ O +10 &Bw]\ O +9 &D6c\ P +9 &Es\ R +10 &G\ T +9 &In\ U +10 &K0\ U +9 &L\ U +10 &N\ U +9 &Pr\ V +9 &R4\ V +9 &S\ V +10 &U\ V +9 &W{\ V +10 &Y=\ V +9 &Z\ V +10 &\\\ V +9 &^9f\ (z +9 &^j\ 7 +9 ( +3 "processing"%s& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&G1 +4 "core" &^#\ 2 +56 1 + "manipulator"&D% +4 "core" %  #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +93 "core" ' +2 "processing"%E& +4 "core" &^#\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +51 "manipulator"&)% +5 "core" % ! T % + "storage"(;% +4 "core" % |\ +2 "storage"(j. +3 "core" .(  + "storage"(/& +4 "core" &  \ +2 "storage"(L& +3 "manipulator"&J& +6 "core" &  ~ @\ + & L I +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"& ( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&& +4 "core" & 7 I + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  I +3 .tForearm.seek PC + "manipulator"&5' +97 "core" ' +2 .tHand.close + "manipulator"&#/ +58 "core" / +2 .tPC.seek :open +2 "processing"%`( +94 "core" ' + "storage"(Y- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +41 "core" ' +307 ( +2 "storage"(n& +4 "core" &  \ + "manipulator"&z& +4 "core" & D I +2 "manipulator"&!% +3 "core" %  A  +2 .tForearm.seek :retract +2 "manipulator"&,' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&Q( +256 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(w& +3 "core" &  ~ 0\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'S +93 "core" ' + .tHand.open +2 "manipulator"&q1 +60 "core" 1 +4 "storage"(*- +7 "core" -'1 +4 .tSE.seek -0.26 Pucks below Top Plate +4 "storage"(C' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(R' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(i- +4 "core" -' + "storage"(& +4 "core" &  \ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&K& +4 "core" & W  +2 "storage"(<& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts + "manipulator"&k'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(g'" +57 "core" ' +2 "manipulator"&r& +4 "core" & \  +2 "storage"(V& +3 "core" &  (\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&|'Α +25 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' + "manipulator"&P% +5 "core" %Ο  2 + "storage"(& +4 "core" &  } } i\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&-' +15 "core" ' +2 "manipulator"&O& +4 "core" & R  +2 "storage"(d& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&a'S +16 "core" ' + "storage"(% +5 "core" % H\ +2 ."downElevator"SE.seek :down +4 "storage"("' +98 (% +3 "core" %K ~ z \ Xh +2 "manipulator"&\\% +4 "core" %: * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (@& +4 "core" &  5\ +2 "collection"'%& +4 "core" &\\_ 6\ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&X% +4 "core" %  Y  +2 "storage"('% +3 "core" % -\ +2 "storage"( . +3 "core" .(  + "storage"(l& +4 "core" &  \ +2 "storage"(F& +4 "core" &  \ + "manipulator"&:& +4 "core" & ,  +2 .tElbow.seek 2 + "manipulator"&]( +4 "core" ( + "manipulator"&^& +4 "core" & *  +2 "storage"(~& +3 "core" &  t\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&}'S +91 "core" ' + "storage"(y& +5 "core" &  \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'r +299 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +2 "core" & ?  +2 "storage"(x& +4 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&H'Α +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(U- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"('a +27 "core" ' +2 "manipulator"&+% +4 "core" %Τ + "storage"(\ & +4 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&t' +16 "core" ' + "manipulator"&& +5 "core" & G  + "storage"(?& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&I'S +15 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"( ' +35 "core" ' + "manipulator"&& +5 "core" & *  + "manipulator"&&% +4 "core" %; \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&{(ӂ +157 "core" ( +2 "manipulator"&2& +4 "core" &Ӓ$ =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &ӓ$ i =F + .tForearm.seek CC +2 "manipulator"&_'? +98 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / +2 .tCC.seek :open + "collection"'( +450 "core" ( +2 "storage"(h& +4 "core" &  \ +2 "storage"(4& +4 "core" &  <\ +2 "manipulator"&& +3 "core" &ӓ$ =F +2 "manipulator"&$% +4 "core" % B < + .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&6( +163 "core" ( +2 "manipulator"&& +4 "core" & e  +2 "storage"(b& +3 "core" &  L\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&W'Α +95 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&m1 +61 "core" 1 +2 "manipulator"&1% +5 "core" % Τ   / + "storage"(u& +4 "core" &  s\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&>' +16 "core" ' + "manipulator"&=& +4 "core" & f  +2 "storage"((& +4 "core" &  S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&7'S +15 "core" ' +2 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(N' +98 (% +3 "core" %I \ We +2 "manipulator"&p% +4 "core" %: : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'9& +4 "core" & >\ +2 "manipulator"&% +3 "core" %   E  +50 "storage"(8% +5 "core" % 0\ +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(c( +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (G& +3 "core" & \  + "manipulator"&D& +4 "core" &  i  +2 .tElbow.seek 3 + "manipulator"&E( +15 "core" ( + "manipulator"&)& +5 "core" &  *  + "storage"(s& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&;'7 +92 "core" ' +2 "storage"(j& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'r +299 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (L& +3 "core" & -\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&A& +4 "core" &  C  +2 "storage"(#& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Y'ϡ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&e& + "storage"(.' +6 "core" &  6  +2 "manipulator"&% +4 "core" % Ϧ b +2 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&z(ӂ +157 "core" ( +2 ' + "manipulator"&!& +2 ."downElevator"SE.stop +6 "storage"(5 +3 "core" &ә  f :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &ә  - :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 "manipulator"&w& +4 "core" &ә!  \\ :0 +2 "manipulator"& % +4 "core" %@ I +2 "collection"'q& +4 "core" & x\ +2 "collection"'*& +6 "core" & L\ +2 .tCC.seek :closed +2 "collection"'i(\\ +4 "core" & Y\ +6 &; L\ %g +10 &Xv >\ 7 +9 &x A\ K +9 &W G\ K +10 &|U I\ K +9 &>U N\ K +10 &X I\ L +9 &T L\ K +9 &T I\ K +10 &FT A\ K +9 & T K\ K +9 &!W G\ L +10 &#T E\ L +9 &%NR J\ K +10 &'T <\ L +9 &(X <\ L +9 &*V @\ L +10 &,VT 7\ K +9 &.W +\ L +9 &/R 8\ K +10 &1U -\ L +9 &3\\V ,\ L +10 &5 T -\ K +9 &6Y 9\ L +9 &8T ;\ K +10 &:dY 2\ L +9 &<'S 8\ L +9 &=S 8\ L +10 &?T 4\ L +9 &AmV 8\ L +10 &C-] 3\ L +9 &Da 3\ M +9 &Fn 2\ O +10 &He @\ Q +9 &J :\ U +10 &K A\ X +9 &M @\ X +9 &OW C\ Y +10 &Q C\ Y +9 &R D\ Z +9 &T C\ Z +10 &VY D\ [ +9 &X C\ [ +9 &Y C\ \\ +10 &[ E\ I +9 &\\; D\ + +9 &\\{ B\ Y +3 ( + "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % @  1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%<& +4 "core" &\ +2 "manipulator"&,% +4 "core" % ! 8 ( + "storage"(r% +4 "core" % y\ + "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(P( +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & c d D\  +2 "manipulator"&B& +4 "core" &ә   :0 + "manipulator"&O% +4 "core" % ! q ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&d( +164 "core" ( + "manipulator"&C& +5 "core" & B  + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Q'7 +96 "core" ' +2 "storage"(o& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" & ~ } \  +2 "manipulator"&k& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&g& +4 "core" & *  +2 "storage"(|& +3 "core" & i\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&-'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&@/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& + "storage"(X' +7 "core" &  +2 "manipulator"&'% +3 "core" % ϯ a +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&l& +4 "core" & 8 = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" & V = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&:' +98 "core" ' +2 "manipulator"&^& +4 "core" &  T = +2 "manipulator"&~% +4 "core" %  + "processing"%a& +4 "core" &\ +2 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%"(^ +4 "core" &\ +7 &5\ $c +9 &T{\ 7 +10 &~y\ L +9 &V\ O +9 &WU\ O +10 &O\ N +9 &U\ O +10 &T\ O +9 &`S\ O +9 &#V\ N +10 &V \ N +9 &!Q\ N +9 &#hR\ O +10 &%*T\ O +9 &&U\ O +9 &(Q\ N +10 &*qV\ N +9 &,3W\ N +10 &-P\ N +9 &/V\ O +9 &1yT\ N +10 &3<S \ N +9 &4T\ O +9 &6U\ N +10 &8W\ O +9 &:BU \ O +10 &<T \ O +9 &=T\ O +9 &?T\ O +10 &AIY\ O +9 &Cf \ Q +10 &Do \ R +9 &F\ T +9 &H@\ U +10 &J \ U +9 &K \ U +9 &M\ U +10 &OE\ V +9 &Q\ V +9 &R\ V +10 &T\ V +9 &VM\ V +10 &X\ V +9 &Y\ V +9 &[\ V +10 &]R\ G +9 &^x@n \ 's +9 &^2\ 0 +6 ( + "processing"%y& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&1 +4 "core" &^ \ 0 +59 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +93 "core" ' + "processing"%3& +4 "core" &^ \ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&x% +4 "core" %  /  +2 "storage"(U% +3 "core" % k \ +2 "storage"(+. +3 "core" .( + "storage"(\ & +4 "core" & \  +2 "storage"(& +3 "manipulator"&?& +6 "core" & (\  +2 & = +2 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(&'r +2 "core" ( +2 "manipulator"&}& +4 "core" & = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" & = +3 .tForearm.seek PC + "manipulator"&0' +99 "core" ' +2 .tHand.close + "manipulator"&H/ +59 "core" / +2 .tPC.seek :open +2 "processing"%t( +88 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(2'1 +40 "core" ' +315 ( +2 "storage"(S& +4 "core" & } \  +2 "manipulator"&I& +3 "core" & E = +2 "manipulator"&% +4 "core" %  T +2 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +245 "core" ( + "manipulator"&[& +5 "core" &} l G + "storage"(h& +4 "core" & x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&4'7 +101 "core" ' +2 .tHand.open + "manipulator"&1 +108 "core" 1 +4 "storage"($- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(b' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"({& +4 "core" & 0\  +2 "manipulator"&m& +3 "core" &}  G +2 .tElbow.seek 3 +2 "manipulator"&1( +3 "core" ( + "manipulator"&u& +83 "core" &} # G + "storage"(=& +5 "core" & d\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&('7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +62 "core" ' + "manipulator"&& +5 "core" &} G + "storage"(& +4 "core" & W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&p'u +15 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(W' +24 "core" ' + "manipulator"&9% +5 "core" %Έ  + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&>'ϴ +14 "core" ' + "manipulator"&8& +5 "core" &~ j F + "storage"( & +4 "core" & { | =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +17 "core" ' +2 "storage"(7% +4 "core" % W\ +2 ."downElevator"SE.seek :down +4 "storage"(N' +99 (f% +3 "core" %"I \ Wf +2 "manipulator"&G% +4 "core" %+ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +96 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ()& +4 "core" &  Z\  +2 "collection"'s& +4 "core" &\\u A\ Y +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&j% +4 "core" % " I , +2 "storage"(v% +3 "core" %  0\ +2 "storage"(Z. +4 "core" .( + "storage"(J& +4 "core" & }  i\  + "storage"(L& +4 "core" & | \  +2 "manipulator"&& +4 "core" &~ b F + .tElbow.seek 3 +2 "manipulator"&A( +3 "core" ( +2 "manipulator"&#& +4 "core" &~  F +2 "storage"(T& +3 "core" &  l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&e'7 +94 "core" ' +2 "storage"(& +4 "core" & X\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'r +296 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" &~  F + "storage"(5& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&/'u +21 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(w- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"( 'd +30 "core" ' +2 "manipulator"&q% +4 "core" %Ά J + "storage"(& +4 "core" &  S\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&.'ϲ +14 "core" ' +2 "manipulator"&n& +4 "core" &~ F +2 "storage"(& +4 "core" & j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&<& +5 "core" &~  # F + "manipulator"&,% +4 "core" %*   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V(ӂ +151 "core" ( + "manipulator"&*& +4 "core" &ӑ% ( >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӑ% >O +2 .tForearm.seek CC +2 "manipulator"&B'? +91 "core" ' +2 .tHand.close + "manipulator"&O/ +60 "core" / + .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(C& +4 "core" & \  + "storage"(& +4 "core" & \  +2 "manipulator"&c& +3 "core" &ӗ&  P >I +2 "manipulator"&o% +3 "core" % F } W +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&K( +165 "core" ( + "manipulator"&& +5 "core" &   + "storage"(\\& +4 "core" & U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&k'u +98 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&|1 +64 "core" 1 +2 "manipulator"&@% +4 "core" % } , +2 "storage"(%& +4 "core" & ;\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 308 counts +2 "manipulator"&''ϩ +14 "core" ' +2 "manipulator"&d& +4 "core" & 6  + "storage"(Q& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R'7 +18 "core" ' + "storage"(-% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(l' +99 (F% +3 "core" %F \ Va + "manipulator"& % +4 "core" %1 V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^' +93 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'~& +4 "core" & K\ +2 "manipulator"&a% +4 "core" % \   + "storage"(X% +4 "core" % \ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(`(,y +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,y b\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&3( +37 "core" ( +2 "manipulator"&x& +4 "core" &   +2 "storage"(U& +3 "core" &,y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&+' +89 "core" ' +2 "storage"(\ & +4 "core" &,y (\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'r +297 "core" ' +2 "storage"(?- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,y \  +2 "manipulator"&}& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&]( +22 "core" ( +2 "manipulator"&:& +4 "core" &  _ | + "storage"(H& +4 "core" &,y c\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +42 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&M& + "storage"("' +7 "core" & 7 | +2 "manipulator"&&% +4 "core" % X  n h + .tForearm.seek :retract +2 "manipulator"&S' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +158 "core" ( + ' +2 "manipulator"&& + ."downElevator"SE.stop +6 "storage"(5 +3 "core" &ӎ&  9 ?Q +50 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &ӎ& p ?Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&['? +93 "core" ' + "manipulator"&h& +5 "core" &ӎ&  v ?Q + "manipulator"&% +4 "core" %;  l +2 "collection"'& +3 "core" & \ +3 "collection"'$& +6 "core" & ]\ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" & U\ +7 &@ T\ %g +9 &Xv X\ 7 +9 &w R\ L +10 &U Q\ L +9 &R L\ K +9 &CU I\ K +10 &U S\ K +9 &W N\ L +10 &U L\ L +9 &JR L\ L +9 & W C\ K +10 &!T I\ K +9 &#Y M\ L +9 &%SW C\ K +10 &'T K\ K +9 &(S B\ L +10 &*R N\ L +9 &,[W A\ K +9 &.S @\ L +10 &/R 0\ K +9 &1U <\ K +9 &3bX :\ L +10 &5$W B\ L +9 &6W E\ L +10 &8T <\ K +9 &:kU ;\ K +9 &<,T <\ L +10 &=S @\ L +9 &?U 7\ K +9 &ArW 8\ L +10 &C4Y 4\ L +9 &Db 9\ M +10 &Fj 6\ N +9 &Hj A\ Q +9 &J! @\ U +10 &K C\ W +9 &M D\ X +10 &O^ D\ X +9 &Q D\ Y +9 &R C\ Y +9 &T C\ Z +10 &V^ B\ [ +9 &X B\ [ +10 &Y B\ \\ +9 &[ @\ J +9 &\\4 C\ 2 +10 &\\n A\ M +2 ( +2 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&_1 +58 "core" 1 +2 "manipulator"&{% +4 "core" % ; Y l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%u& +4 "core" &\ +2 "manipulator"&=% +3 "core" %   +3 "storage"(% +4 "core" % } S\ + "storage"(. +3 "core" .(,y +2 "storage"(2& +4 "core" &,y G\  + "storage"(& +4 "core" &,y h\  +2 "manipulator"&9& +3 "core" &ӏ& J ?P +2 "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&8( +164 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(& +3 "core" &,y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +96 "core" ' + "storage"(4& +5 "core" &,y \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +297 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &,y \  +2 "manipulator"&(& +3 "core" &  u  +2 .tElbow.seek 4 +2 "manipulator"&1( +3 "core" ( + "manipulator"&& +4 "core" & r  + "storage"(p& +4 "core" &,y 5\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&>'c +27 "Can"\ LI +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& + "storage"(j' +7 "core" & F  +2 "manipulator"&v% +4 "core" % T  j + .tForearm.seek :retract +2 "manipulator"&W' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&Z( +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&J& +4 "core" &  w  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" & \  d  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +91 "core" ' +2 "manipulator"&#& +4 "core" & o  +2 "manipulator"&T% +4 "core" % M l + "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &!\ +2 .tPC.seek :closed +2 "processing"%N(^ +4 "core" &\ +7 &4\ $e +9 &Wy\ 7 +10 &y\ L +9 &R\ N +9 &`Q\ N +10 &"Q\ N +9 &V\ N +9 &V\ N +10 &iT\ N +9 &)U\ O +10 &S\ O +9 &!T\ O +9 &#oU\ O +10 &%1T\ O +9 &&U\ N +9 &(S\ N +10 &*xU\ N +9 &,:R\ N +10 &-P\ N +9 &/W\ N +9 &1U\ O +10 &3AU\ O +9 &5T\ N +10 &6R\ O +9 &8V\ O +9 &:JR\ N +10 &< U\ N +9 &=Y\ O +9 &?Y\ O +10 &APW\ O +14 &C f\ Q +5 &Dn\ Q +12 &F\ U +6 &HH\ T +10 &J  \ U +9 &K\ U +9 &M\ U +10 &ON \ U +9 &Q \ V +9 &R\ U +10 &T\ V +9 &VU\ \ U +10 &X\ U +9 &Y\ V +9 &[\ V +10 &]Z\ D +9 &^Hz \ Y +10 &^M \ 7 +5 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&61 +4 "core" &^0 \ 7 +53 1 + "manipulator"&D% +5 "core" %  l + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +97 "core" ' +2 "processing"%!& +4 "core" &^0\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&5% +4 "core" % % > +2 "storage"(w% +3 "core" % (\ +2 "storage"(q. +3 "core" .(,y + "storage"(& +4 "core" &,y | q\  +2 "storage"(n& +4 "manipulator"&& +4 "core" &,y \  + &  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&<( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(,'r +3 "core" ( +2 "manipulator"&e& +4 "core" & E  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &  +2 .tForearm.seek PC +2 "manipulator"&E' +94 "core" ' +2 .tHand.close + "manipulator"&// +58 "core" / +3 .tPC.seek :open + "processing"%.( +93 "core" ' + "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(*'1 +47 "core" ' +306 ( + "storage"(& +5 "core" &,y \  + "manipulator"&& +4 "core" &  + "manipulator"&Y% +4 "core" %  + +2 .tForearm.seek :retract + "manipulator"&O' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&r( +243 "core" ( +2 "manipulator"&i& +4 "core" &  + "storage"(C& +4 "core" &,y w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +101 "core" ' + .tHand.open + "manipulator"&c1 +52 "core" 1 +2 "storage"(o- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\\' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(B- +4 "core" -' + "storage"(V& +4 "core" &,y \  +2 "manipulator"&|& +4 "core" & \   +2 .tElbow.seek 4 + "manipulator"&@( +10 "core" ( + "manipulator"&%& +5 "core" &  :  + "storage"(d& +4 "core" &,y F\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(-'" +53 "core" ' +2 "manipulator"&z& +4 "core" & ^  +2 "storage"(F& +4 "core" &,y \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"& '7 +13 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(k' +23 "core" ' +2 "manipulator"&~% +4 "core" %> 6 , +2 "storage"('& +4 "core" &,y v\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts + "manipulator"&a'j +16 "core" ' + "manipulator"&X& +5 "core" & V  + "storage"(& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +17 "core" ' +2 "storage"(R% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(l' +98 (P% +53 "core" %bK ~ p\ Xg +3 "manipulator"&% +4 "core" % ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +18 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (x& +3 "core" &,y \  +2 "collection"'U& +4 "core" &\\` E\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&\ % +4 "core" %    +2 "storage"(g% +4 "core" % x\ + "storage"(^. +4 "core" .(,y + "storage"(?& +4 "core" &,y \  + "storage"(& +4 "core" &,y \  +2 "manipulator"&}& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&:( +4 "core" ( + "manipulator"&H& +4 "core" & T  +2 "storage"( & +3 "core" &,y 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +93 "core" ' +2 "storage"(&& +4 "core" &,y \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'r +295 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & _  +2 "storage"(y& +3 "core" &,y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +21 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(]- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(h'e +29 "core" ' + "manipulator"&% +5 "core" %E I + "storage"(& +4 "core" &,y \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&"'q +15 "core" ' +2 "manipulator"&S& +4 "core" &   +2 "storage"(& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&_' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"({' +40 "core" ' + "manipulator"&u& +5 "core" &  + "manipulator"&=% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ( + "manipulator"&2& +4 "core" &Ә" b ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &Ә" E ;2 +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close + "manipulator"&9/ +62 "core" / + .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"([& +4 "core" &,y \  +2 "storage"( & +3 "core" &,y \  +2 "manipulator"&& +3 "core" &Ә&  ;2 +2 "manipulator"&4% +4 "core" % < ^ / + .tForearm.seek :retract +2 "manipulator"&I' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&m( +159 "core" ( + "manipulator"&f& +5 "core" & 3 \ + "storage"(G& +4 "core" &,y Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&('7 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&p1 +62 "core" 1 +2 "manipulator"&)% +4 "core" % @ W % + "storage"(s& +4 "core" &,y h\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 309 counts +2 "manipulator"&v'l +14 "core" ' +2 "manipulator"&8& +5 "core" & / \ + "storage"(7& +4 "core" &,y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +19 "core" ' + "storage"(>% +4 "core" % i\ +2 ."downElevator"SE.seek :down +4 "storage"(J' +99 (L% +3 "core" %> I\ V` + "manipulator"&1% +5 "core" % 6 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'T& +4 "core" & J\ +2 "manipulator"&% +4 "core" %     + "storage"(j% +4 "core" % \ +2 "storage"(W. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(t(<- +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &<+ \  +2 "manipulator"&D& +4 "core" & r \ + .tElbow.seek 5 +2 "manipulator"&!( +14 "core" ( +2 "manipulator"&5& +4 "core" & !  +2 "storage"(w& +3 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +95 "core" ' + "storage"(& +4 "core" &<+ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(n- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<+ \ \  +2 "manipulator"&e& +3 "core" & 8  +2 .tElbow.seek 5 +2 "manipulator"&A( +3 "core" ( + "manipulator"&& +4 "core" & M  + "storage"(/& +4 "core" &<+ I\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&;& + "storage"(N' +7 "core" &  )  +2 "manipulator"&,% +4 "core" % ϻ s + .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&Y& +4 "core" ' + &ӏ%   >J +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&E& +3 "core" &ӏ%  2 >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'? +93 "core" ' +2 "manipulator"&C& +4 "core" &Ӓ% 1 =G +2 "manipulator"&<% +4 "core" %; 0 r + "collection"'c& +4 "core" & `\ +2 "collection"'o& +5 "core" & i\ +2 .tCC.seek :closed +3 "collection"'B(\\ +4 "core" & a\ +5 & _\ 9 +10 &JIu ^\ 0 +9 &{t~ ^\ E +10 &&\\ \\\ L +9 &Q N\ K +9 &U S\ K +10 &mX P\ L +9 &0W W\ K +9 &S U\ L +10 &W T\ L +9 &uU V\ L +10 &!8W V\ K +9 &"R L\ L +9 &$R U\ K +10 &&~U P\ K +9 &(?S H\ L +9 &*S Q\ K +10 &+T L\ K +9 &-R M\ L +9 &/HS J\ K +10 &1\ T :\ K +9 &2W F\ L +10 &4U D\ L +9 &6PT =\ K +9 &8U ;\ K +10 &9U B\ K +9 &;W A\ L +10 &=WW C\ L +9 &?T D\ L +9 &@U =\ L +10 &BY A\ L +9 &D]_ C\ L +9 &Fj @\ N +10 &G} C\ P +9 &I G\ S +10 &KF C\ W +9 &M A\ X +9 &N B\ X +10 &P G\ Y +9 &RJ D\ X +9 &T D\ Z +10 &U I\ Z +9 &W B\ [\ +10 &YG A\ \\ +9 &[ F\ \\ +9 &\\aK C\ 6 +10 &\\ | A\ M +5 ( +2 "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&V1 +3 "core" &\\m F\ M +51 1 +2 "manipulator"&|% +4 "core" % ; r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%d& +5 "core" &\ + "manipulator"&O% +4 "core" %   +2 "storage"(z% +4 "core" % /\ + "storage"(F. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(~(<- +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &<+ \\ t \  +2 "manipulator"&*& +4 "core" &ӓ$ % =F +2 "manipulator"&X% +3 "core" %   +2 .tElbow.reconfigure :tight +53 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&& +4 "core" & M  +2 "storage"(R& +3 "core" &<+ !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +91 "core" ' +2 "storage"(& +4 "core" &<+ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(\\'r +298 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<+ {\  +2 "manipulator"&Q& +4 "core" & _  +2 .tElbow.seek 5 +2 "manipulator"&@( +3 "core" ( + "manipulator"&-& +4 "core" & >  +2 "storage"( & +3 "core" &<+ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& + "storage"(\ ' +8 "core" & @  + "manipulator"&g% +4 "core" % ϼ   +2 .tForearm.seek :retract +2 "manipulator"&k' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^( +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +2 "manipulator"&?& +4 "core" &  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & # F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&}' +93 "core" ' +2 "manipulator"&H& +4 "core" &  E +2 "manipulator"& % +3 "core" % w d +2 "processing"%&& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%l(^ +4 "core" &%\  +8 &2x\ )w +10 &c}!\ > +9 &cr&\ O +9 &&R'\ N +10 &T)\ N +9 &Q\ N +10 &kU\ N +9 &.Q\ N +9 &T\ N +10 &R\ N +9 & sW\ N +9 &"5T\ N +10 &#R\ N +9 &%T\ N +10 &'{V\ N +9 &)=S\ N +9 &+V\ N +10 &,W\ N +9 &.T\ N +9 &0ER\ N +10 &2T\ N +9 &3R\ N +9 &5T\ N +10 &7MT\ N +9 &9T\ N +10 &:T\ N +9 &<S\ N +9 &>TW\ O +10 &@U\ N +9 &AY\ N +10 &Ce\ P +9 &EWk\ P +9 &G}\ S +10 &H\ T +9 &J\ T +10 &LS\ T +9 &N\ U +9 &O\ U +10 &Q\ V +9 &SU\ W +9 &U\ V +10 &V\ V +9 &X\ U +10 &Z^\ V +9 &\\! \ V +9 &]{\ 6 +10 &^-o\ X +9 &^*\ 6 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&K1 +62 "core" 1 + "manipulator"&% +4 "core" %   d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +98 "core" ' +2 "processing"%& +4 "core" &^( \ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&y% +4 "core" % % V A +2 "storage"(]% +3 "core" % \ +2 "storage"(. +3 "core" .(<- + "storage"(& +4 "core" &<+ \  +2 "storage"(S& +4 "manipulator"&& +4 "core" &<+ \  + &  E +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&u( +2 "storage"(='r +5 "core" ( + "manipulator"&M& +4 "core" & A E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" & 0 E +2 .tForearm.seek PC +2 "manipulator"&3' +93 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / + .tPC.seek :open +2 "processing"%"( +94 "core" ' +2 "storage"(h- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'1 +46 "core" ' +302 ( +2 "storage"($& +4 "core" &<+ \  + "manipulator"&_& +4 "core" & g E + "manipulator"&0% +4 "core" %  ; 9 +2 .tForearm.seek :retract +2 "manipulator"&9' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +245 "core" ( + "manipulator"& & +4 "core" &  L +2 "storage"([& +4 "core" &<+  `\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +93 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(4- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(f' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(G' +60 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &<+ p\  +2 "manipulator"&p& +4 "core" & ! L +2 .tElbow.seek 5 + "manipulator"&)( +4 "core" ( + "manipulator"&s& +4 "core" &  L +2 "storage"(8& +4 "core" &<+ \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(>'" +58 "core" ' +2 "manipulator"&I& +4 "core" & G L +2 "storage"(L& +3 "core" &<+  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&1'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"((' +20 "core" ' +2 "manipulator"&T% +4 "core" %Κ +2 "storage"(v& +4 "core" &<+ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&' +16 "core" ' + "manipulator"&j& +5 "core" & C K + "storage"(W& +5 "core" &<+ T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&{'O +17 "core" ' +2 "storage"(b% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(J' +98 (`% +3 "core" %XI \ Wf +2 "manipulator"&6% +4 "core" %;  n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +89 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (5& +3 "core" &<+ \  +2 "collection"'w& +4 "core" &\\l D\ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %   T  +2 "storage"(% +3 "core" % i\ +2 "storage"(#. +3 "core" .(<- + "storage"(n& +4 "core" &<+ \  +2 "storage"(& +4 "core" &<+ \  + "manipulator"&e& +4 "core" & K K +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&/& +4 "core" & K + "storage"(Z& +4 "core" &<+ y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +96 "core" ' + "storage"(,& +4 "core" &<+ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(!'r +299 "core" ' +2 "storage"(q- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Y& +3 "core" & < K +2 "storage"(E& +4 "core" &<+ =\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +14 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(C- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(<'] +29 "core" ' + "manipulator"&c% +5 "core" %Π J A + "storage"(A& +4 "core" &<+ \  +2 .tForearm.force -20 +42 "manipulator"&5 +11 .tForearm.seek 5 + 319 counts + "manipulator"&N' +15 "core" ' + "manipulator"&& +5 "core" & 1 K + "storage"(& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&V'O +19 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(|' +41 "core" ' + "manipulator"&d& +5 "core" & ; K + "manipulator"&O% +4 "core" %; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +148 "core" ( +2 "manipulator"&'& +4 "core" &* H Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &)  ( Bi +2 .tForearm.seek CC +2 "manipulator"&*'? +92 "core" ' + .tHand.close +2 "manipulator"&X/ +52 "core" / + .tCC.seek :open +2 "collection"'i( +446 "core" ( +2 "storage"(& +4 "core" &<+ \  +2 "storage"(R& +3 "core" &<+ \  +2 "manipulator"&t& +4 "core" &ӡ$ P =G + "manipulator"&% +4 "core" % L > R +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&%( +165 "core" ( +2 "manipulator"&P& +4 "core" &  +2 "storage"(& +4 "core" &<+ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Q'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +62 "core" 1 +2 "manipulator"&x% +4 "core" % Β  > < +2 "storage"(U& +3 "core" &<+ D\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 305 counts +2 "manipulator"&g'Ͼ +14 "core" ' + "manipulator"&& +5 "core" &  + "storage"(r& +4 "core" &<+ 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +17 "core" ' +2 "storage"(a% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(?' +98 (% +3 "core" %A z\ Va +2 "manipulator"&@% +4 "core" %/ & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"' & +5 "core" & O\ + "manipulator"&&% +4 "core" % # ^ 0 +2 "storage"(\ % +4 "core" % 4\ +2 "storage"(k. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(.(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (K& +3 "core" &K >\  +2 "manipulator"&& +4 "core" & B  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&y& +3 "core" & S  +2 "storage"(]& +4 "core" &K A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +98 "core" ' +2 "storage"(& +4 "core" &K D\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" &K P\  +2 "manipulator"&M& +3 "core" & ]  +2 .tElbow.seek 6 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&}& +4 "core" &  ~  + "storage"(& +4 "core" &K ]\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&h'h +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&^/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&+& + "storage"(l' +6 "core" &  f  +2 "manipulator"&=% +4 "core" % } +2 .tForearm.seek :retract +2 "manipulator"&$' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&_(ӂ +156 "core" ( + "manipulator"&0& +5 "core" &Ӈ) - A` + ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&3& +7 "core" &Ӈ) T A` + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +94 "core" ' +2 "manipulator"&[& +4 "core" &ӈ) x A_ +2 "manipulator"&u% +3 "core" %H  - ~ +2 "collection"'& +4 "core" & \ +2 "collection"'4& +5 "core" & k\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & c\ +7 &; d\ %f +10 &Y{ _\ 8 +9 &t _\ L +9 &Q ]\ K +10 &R ^\ K +9 &JT Y\ L +10 & U N\ L +9 &R T\ K +9 &T V\ K +10 &ST Y\ K +9 & W X\ L +9 &!U W\ L +10 &#S U\ L +9 &%[W I\ K +10 &'U L\ K +9 &(Y P\ L +9 &*X J\ L +10 &,bV U\ L +9 &.%S V\ K +9 &/R P\ K +10 &1U O\ K +9 &3kX I\ K +9 &5-T :\ K +10 &6W F\ K +9 &8T E\ L +10 &:rW <\ L +9 &<5T =\ K +9 &=U 7\ K +10 &?Y @\ L +9 &AzV A\ L +9 &C:_ ?\ L +10 &Dn ?\ N +9 &F =\ R +10 &Hh B\ U +9 &J! A\ X +9 &K D\ Y +10 &M D\ Z +9 &Oc B\ Y +9 &Q" C\ Z +10 &R ?\ [ +9 &T C\ \\ +10 &Va C\ \\ +9 &X" C\ ] +9 &Y @\ ] +10 &[ B\ K +9 &\\/ E\ 9 +10 &\\v D\ Q +5 ( + "collection"'4& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.39 + .Hand.open + "manipulator"&1 +4 "core" &\\s C\ Q +51 1 + "manipulator"&p% +4 "core" % H ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%8& +4 "core" &\ + "manipulator"&9% +4 "core" %    +2 "storage"(I% +4 "core" % | \ + "storage"(L. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(T(K +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +2 "core" &K b X\  +2 "manipulator"&2& +4 "core" &Ӊ( # @^ +2 "manipulator"&j% +3 "core" %  I  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&f( +156 "core" ( +2 "manipulator"&W& +4 "core" & ` +2 "storage"(b& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +90 "core" ' + "storage"( & +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'r +300 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" &K \  + "manipulator"&7& +4 "core" & A +2 .tElbow.seek 6 + "manipulator"&)( +4 "core" ( + "manipulator"&>& +4 "core" &  +2 "storage"(1& +3 "core" &K C\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&5/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"(' +8 "core" & 7 +2 "manipulator"&% +4 "core" % ^ +2 .tForearm.seek :retract +2 "manipulator"&(' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +3 "manipulator"&n& +4 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e' +100 "core" ' + "manipulator"&/& +5 "core" & I +50 "manipulator"&Z% +5 "core" % +2 "processing"%{& +4 "core" &&\ +2 "processing"%,& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(^ +4 "core" &(\ +6 &6)\ #c +10 &Uz\ 7 +9 &z\ L +9 &T \ N +10 &]U\ N +9 & R\ N +10 &U\ N +9 &R\ N +9 &eT\ N +10 &&U\ N +9 &Q\ N +9 &!T\ N +10 &#mU\ N +9 &%.T\ N +10 &&T\ N +9 &(U\ N +9 &*uU\ N +10 &,6U\ N +9 &-P\ N +9 &/U\ N +10 &1}U\ N +9 &3>T\ N +10 &5T\ N +9 &6V\ N +9 &8V\ N +10 &:FR\ N +9 &< U\ N +10 &=W\ O +9 &?T\ O +9 &ALY\ O +10 &C e\ P +9 &Dr\ R +9 &F\ T +10 &HD\ T +9 &J\ T +10 &K\ U +9 &M\ U +9 &OJ\ U +10 &Q \ V +9 &R\ U +9 &T\ V +10 &VP\ V +9 &X\ V +10 &Y\ V +9 &[\ V +9 &]W \ E +10 &^Dv\ !b +9 &^: \ 5 +5 ( +2 "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&m1 +4 "core" &^'\ 5 +60 1 + "manipulator"&D% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +92 "core" ' +2 "processing"%Y& +4 "core" &^' \ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&E% +4 "core" %   + "storage"(C% +4 "core" % k\ +2 "storage"(c. +3 "core" .(K +2 "storage"(A& +4 "core" &K \  +2 "storage"(& +5 "manipulator"&& +4 "core" &K B\  + & +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&d( +2 "storage"(O'r +4 "core" ( +2 "manipulator"&;& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & J +2 .tForearm.seek PC +2 "manipulator"&!' +93 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%N( +92 "core" ' +2 "storage"(<- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''1 +47 "core" ' +306 ( + "storage"(o& +4 "core" &K Q\  +2 "manipulator"&V& +4 "core" &  l +2 "manipulator"& % +4 "core" %  * +2 .tForearm.seek :retract + "manipulator"&X' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&z( +238 "core" ( + "manipulator"&B& +5 "core" & 0 + "storage"(& +4 "core" &K j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&R' +100 "core" ' + .tHand.open + "manipulator"&t1 +63 "core" 1 +3 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(P' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +62 "core" ' +2 #tLights, camera, ACTION! + "storage"(*- +4 "core" -' + "storage"(F& +4 "core" &K \  +2 "manipulator"& & +3 "core" &  \  0 +2 .tElbow.seek 6 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&U& +3 "core" &  0 +2 "storage"(& +4 "core" &K w\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(a'" +52 "core" ' +2 "manipulator"&& +4 "core" &  0 +2 "storage"(& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&@'< +13 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(Q' +21 "core" ' + "manipulator"& % +5 "core" %H  , + "storage"(g& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&&'t +15 "core" ' +2 "manipulator"&\ & +5 "core" & j 0 + "storage"(k& +4 "core" &K 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +19 "core" ' + "storage"(\\% +5 "core" % :\ +2 ."downElevator"SE.seek :down +3 "storage"(?' +99 (~% +3 "core" %NF \ Xg + "manipulator"&K% +5 "core" % * + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (y& +3 "core" &K o\  +2 "collection"']& +4 "core" &\\s C\ Q + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %   +2 "storage"(-% +3 "core" % p\ +2 "storage"(H. +3 "core" .(K +2 "storage"(& +3 "core" &K k\  +2 "storage"(S& +4 "core" &K i\  +2 "manipulator"&M& +3 "core" &  0 +2 .tElbow.seek 6 +2 "manipulator"&}( +3 "core" ( + "manipulator"&& +4 "core" & 0 +2 "storage"(^& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +98 "core" ' + "storage"(=& +4 "core" &K i\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&0& +2 "core" & 0 +2 "storage"(3& +4 "core" &K W\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +14 "core" ' + .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"([- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(u'f +30 "core" ' + "manipulator"&% +4 "core" %D j / + "storage"(:& +5 "core" &K 9\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"&l'p +16 "core" ' + "manipulator"&$& +5 "core" & h / + "storage"(i& +4 "core" &K W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +14 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(p' +37 "core" ' + "manipulator"&8& +4 "core" & / +2 "manipulator"&9% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&L(ӂ +150 "core" ( + "manipulator"&v& +5 "core" &x1 ' G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &x0 w G +3 .tForearm.seek CC + "manipulator"&2'? +96 "core" ' + .tHand.close +2 "manipulator"&j/ +58 "core" / +2 .tCC.seek :open +2 "collection"' ( +446 "core" ( +2 "storage"(W& +4 "core" &K )\  + "storage"(b& +4 "core" &K \  +2 "manipulator"& & +3 "core" &ӫ' C @[ +2 "manipulator"&.% +3 "core" % % +2 .tForearm.seek :retract +2 "manipulator"&_' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&s( +167 "core" ( + "manipulator"&`& +4 "core" & J  +2 "storage"(6& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&7'< +93 "core" ' +2 .tElbow.hold +52 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&11 +63 "core" 1 +2 "manipulator"&5% +5 "core" % M c K + "storage"(w& +4 "core" &K 0\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&'y +16 "core" ' + "manipulator"&f& +5 "core" &  }  + "storage"(& +4 "core" &K P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +17 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(n' +99 (% +3 "core" %SG f\ Wc + "manipulator"&)% +4 "core" % 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +88 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 @1631544838.84PDT = =mMAIN_scheduler =tMAIN @PDT1631544840.82 #"core_reset"Sent BREAK +3 #t@31820 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +299 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +24 !o:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 @1631545235.52PDT = =mMAIN_scheduler =tMAIN @PDT1631545237.41 #"core_reset"Sent BREAK +2 #t@64942 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +287 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +389 "Can"\ !u + \ !u + #tPolling Can every 10:00 +29 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +499 #-> ESP.ready! +4 #Powering core bus +535 .Gate.power :raw,:ON +2 "sampler") +59 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ \ +2 .tSS.configure :default +2 "sampler")#.0X + "collection"'3& +4 "core" & \  +2 "processing"%4& +3 "core" &\  +2 "manipulator"&5% +4 "core" %    m  + "manipulator"&6& +4 "core" &   ] ) + "storage"(7& +4 "core" &,x \  +2 "storage"(8% +3 "core" % \  +2 "collection"'99 +4 "core" 9eB +2 "processing"%:9 +3 "core" 9Up +1321 #t-> require 'shuffle.rb' +5103 #-> 5.times {shuffle 2..6} +2 #Shuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"';& +3 "core" & \  + .tHand.open +2 "manipulator"&<1 +54 "core" 1 + "manipulator"&=% +4 "core" %   X  +2 "storage"(>% +3 "core" % \  +2 "storage"(?. +3 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(@(  +675 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &  \ +2 "manipulator"&B& +3 "core" &   p ) +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&C( +3 "core" ( +2 "manipulator"&D& +4 "core" &  a ) + "storage"(E& +4 "core" &  \ +37 .tForearm.seek 2 + 450 counts +7 "manipulator"&F'S +91 "core" ' +2 "storage"(G& +4 "core" &  9\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +296 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (J& +3 "core" &  ;\ +2 "manipulator"&K& +4 "core" &  R ) +2 .tElbow.seek 2 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&M& +4 "core" &  Z ) + "storage"(N& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&O'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(R' +8 "core" &   ) + "manipulator"&S% +4 "core" %   W +2 .tForearm.seek :retract +2 "manipulator"&T' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&V& +4 "core" &ӏ&  >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &ӏ%  R >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'? +103 "core" ' +2 "manipulator"&Y& +4 "core" &ӏ&   L >M +2 "manipulator"&Z% +4 "core" %L   i + "collection"'[& +4 "core" & \  +2 "collection"'\\& +5 "core" & \  +2 .tCC.seek :closed +2 "collection"'](\\ +4 "core" & \  +7 &K \ %g +10 &}Y \ 8 +9 &} \ M +9 &[ \ N +10 &YX \ M +9 &\\ \ N +10 &Y \ M +9 &\\ \ N +9 &`] \ N +10 &#[ \ M +9 &X \ M +10 &!Z \ N +9 &#h] \ N +9 &%*Y \ N +10 &&Z \ M +9 &(Y \ M +9 &*pV \ N +10 &,3Z \ M +9 &-V \ N +9 &/Z \ M +10 &1xW \ N +9 &3:Y \ N +10 &4V \ M +9 &6Y \ M +9 &8W \ N +10 &:C\\ \ M +9 &<[ \ N +9 &=Z \ N +10 &?X \ M +9 &AKZ \ M +10 &C _ \ N +9 &Dh \ O +9 &Fn \ P +10 &HC \ S +9 &I \ V +9 &K \ X +10 &My \ X +9 &O8 \ Y +10 &P \ Z +9 &R \ Z +9 &Tz \ [ +10 &V; \ [\ +9 &W \ \\ +9 &Y \ ] +10 &[{ \ J +9 &\\6 \ 0 +10 &\\ \ R +5 ( +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&^1 +4 "core" &\\n \ R +56 1 + "manipulator"&_% +4 "core" % L   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%a& +4 "core" &K\  + "manipulator"&b% +4 "core" %   +2 "storage"(c% +4 "core" % i i \ + "storage"(d. +3 "core" .(  +2 "storage"(e& +4 "core" &  i g \ + "storage"(f& +4 "core" &  h e \ +2 "manipulator"&g& +4 "core" &ӏ%  >M + "manipulator"&h% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&i( +164 "core" ( +2 "manipulator"&j& +4 "core" &    +2 "storage"(k& +3 "core" &  n\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&l'S +95 "core" ' + "storage"(m& +4 "core" &  Y\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'r +294 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &  q f M\ +2 "manipulator"&q& +4 "core" &   ^  + .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( + "manipulator"&s& +4 "core" &  N  +2 "storage"(t& +3 "core" &  e h \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"(x' +7 "core" &     + "manipulator"&y% +4 "core" %   J +2 .tForearm.seek :retract +2 "manipulator"&z' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&{( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&|& +5 "core" &   b + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &   P + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +87 "core" ' +2 "manipulator"&& +4 "core" &  + +2 "manipulator"&% +3 "core" %   8 g +2 "processing"%& +4 "core" &M\  +3 "processing"%& +5 "core" &L\  +2 .tPC.seek :closed +3 "processing"%(^ +3 "core" &\  +7 &E\ $f +9 &wT\ 8 +10 &{\ M +9 &Y\ P +9 &BY\ P +10 &U\ P +9 &\\\ O +10 &W\ P +9 &LV\ O +9 & Z\ P +10 &X\ P +9 &!Z\ P +10 &#SX\ P +9 &%V\ O +9 &&[\ P +9 &([\ P +10 &*ZW\ P +9 &,Y\ P +10 &-Y\ P +9 &/]\ P +9 &1c[\ P +10 &3&Z\ O +9 &4Z\ P +9 &6\\\ P +10 &8k]\ P +9 &:.X\ O +10 &;\\\ P +9 &=Z\ O +9 &?r[\ P +10 &A4\\\ P +9 &Be\ Q +9 &Dk\ R +10 &Fp{\ S +9 &H,\ U +10 &I\ V +9 &K\ V +9 &Mo\ W +10 &O0\ W +9 &P\ X +9 &R\ W +10 &Tt\ X +9 &V8\ W +10 &W\ W +9 &Y\ W +9 &[}\ W +10 &]>\ P +9 &^xF\ "f +9 &^>!\ 4 +6 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&1 +4 "core" &^(\ 4 +61 1 + "manipulator"&% +5 "core" %   j g + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 "processing"%& +4 "core" &^(N\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"& % +3 "core" %   +2 "storage"(\ % +4 "core" % E D\ + "storage"( . +3 "core" .(  +2 "storage"( & +3 "core" &  E E \ +3 "storage"( & +2 "manipulator"&& +6 "core" &  D D \ \ + & s + +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"('r +5 "core" ( + "manipulator"&& +4 "core" & c + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  V + +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + .tHand.close +2 "manipulator"&/ +71 "core" / +2 .tPC.seek :open +2 "processing"%( +80 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +322 ( + "storage"(& +4 "core" &  i i \ +2 "manipulator"&& +3 "core" &  Z + +2 "manipulator"&% +4 "core" %   u + .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +245 "core" ( + "manipulator"&%& +4 "core" & \  F 4 +2 "storage"('& +4 "core" &  E T \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&)'S +95 "core" ' + .tHand.open +2 "manipulator"&(1 +61 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(#' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(-& +4 "core" &  \ +2 "manipulator"&.& +4 "core" &  3 + .tElbow.seek 2 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&0& +3 "core" &   L 3 +2 "storage"(1& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts + "manipulator"&2'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +56 "core" ' +2 "manipulator"&4& +4 "core" &   = 3 + "storage"(5& +4 "core" &  e i _\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&6'Α +27 "core" ' + .tElbow.hold +2 "manipulator"&7, +84 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +23 "core" ' + "manipulator"&9% +5 "core" %Ν ^ + "storage"(:& +4 "core" &  N F E\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 312 counts +2 "manipulator"&;' +15 "core" ' + "manipulator"&<& +5 "core" &  ? 3 + "storage"(=& +5 "core" &  l i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'S +16 "core" ' + "storage"(?% +4 "core" % v o o\ +3 ."downElevator"SE.seek :down +3 "storage"(!' +99 (A% +3 "core" %Q N N z\ Xj +2 "manipulator"&B% +4 "core" %?   ^ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +88 "core" ' +80 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &  t q \ + "collection"'G& +4 "core" &\\m \ R +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %   f  +2 "storage"(&% +4 "core" % p s \ + "storage"(I. +3 "core" .(  +2 "storage"( & +3 "core" &  t t b\ +2 "storage"(J& +4 "core" &  s t a\ +48 "manipulator"&K& +4 "core" &   X 3 +2 .tElbow.seek 2 + "manipulator"&M( +4 "core" ( + "manipulator"&N& +4 "core" &  3 + "storage"(P& +4 "core" &  s u .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +91 "core" ' +2 "storage"(S& +4 "core" &  v \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'r +297 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &  v 3 + "storage"(W& +4 "core" &  h i x\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&H'Α +16 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(Z'^ +27 "core" ' + "manipulator"&[% +5 "core" %Ξ   O  + "storage"(L& +4 "core" &  g h \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 313 counts +2 "manipulator"&R' +15 "core" ' +2 "manipulator"&T& +4 "core" &  % 3 + "storage"(*& +4 "core" &  t u s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&^'S +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(_' +33 "core" ' +2 "manipulator"&a& +4 "core" &   3 +2 "manipulator"&b% +4 "core" %=   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&d(ӂ +154 "core" ( +2 "manipulator"&e& +4 "core" &Ӆ,  x Cp + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &Ӆ, Cp +2 .tForearm.seek CC + "manipulator"&\\'? +90 "core" ' +2 .tHand.close + "manipulator"&g/ +55 "core" / +2 .tCC.seek :open + "collection"'h( +448 "core" ( +2 "storage"(X& +4 "core" &  ,\ +2 "storage"(j& +4 "core" &  \ + "manipulator"&k& +4 "core" &ӗ(  & @^ +2 "manipulator"&m% +3 "core" % L  K = +2 .tForearm.seek :retract +2 "manipulator"&U' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&`( +167 "core" ( + "manipulator"&o& +5 "core" &   + "storage"(p& +4 "core" &  l\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&q'Α +95 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&t1 +59 "core" 1 +2 "manipulator"&v% +5 "core" % Ν   + "storage"(w& +4 "core" &  a\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts + "manipulator"&y' +16 "core" ' + "manipulator"&i& +5 "core" &  v  + "storage"(l& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'S +17 "core" ' + "storage"(u% +5 "core" % '\ +2 ."downElevator"SE.seek :down +3 "storage"(|' +99 (}% +3 "core" %D L\ Wf +2 "manipulator"&r% +4 "core" %>   J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&% +4 "core" %    N  + "storage"(x% +4 "core" % \ +2 "storage"(z. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(+( +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & G\ \ +2 "manipulator"&& +4 "core" &   |  + .tElbow.seek 3 +2 "manipulator"&( +33 "core" ( +2 "manipulator"& & +4 "core" &  k F + "storage"(\ & +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +93 "core" ' + "storage"( & +4 "core" & !\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & >\ +2 "manipulator"&& +4 "core" &   b F + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&~& +4 "core" & u F + "storage"(& +4 "core" & x\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +34 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +7 "core" &   T F +2 "manipulator"&% +4 "core" % ϸ    H + .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ( + "manipulator"&& +5 "core" ' + &Ӕ  K 9) +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӕ   L 9) +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'? +91 "core" ' +2 "manipulator"&'& +4 "core" &Ӕ  \ ; 9) +2 "manipulator"&% +4 "core" %<  s +2 "collection"'(& +3 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"',(\\ +4 "core" & \  +9 &4 \ *z +9 &e \ ? +10 &u \ N +9 &IV \ M +9 &\ Y \ N +10 &[ \ M +9 &V \ M +9 &RT \ M +10 &[ \ N +9 &W \ M +10 & U \ M +9 &"XZ \ N +9 &$X \ N +10 &%X \ M +9 &'Y \ N +9 &)aX \ M +10 &+$U \ M +9 &,W \ M +10 &.X \ N +9 &0jW \ M +9 &2+X \ M +10 &3V \ M +9 &5X \ M +9 &7rU \ M +10 &92Y \ N +9 &:X \ M +10 &<[ \ M +9 &>xZ \ N +9 &@;Y \ M +10 &AY \ N +9 &C_ \ N +9 &E|h \ O +10 &G:v \ P +9 &H \ S +10 &J \ X +9 &Lh \ Y +9 &N) \ Y +10 &O \ Z +9 &Q \ Z +9 &Si \ [\ +10 &U, \ [ +9 &V \ \\ +10 &X \ \\ +9 &Zj \ ] +9 &\\z \ 6 +10 &\\& \ #g +9 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&-1 +3 "core" &\\ \ \\ +59 1 +2 "manipulator"&.% +4 "core" % <  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +88 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp + "processing"%1& +5 "core" &K\ + "manipulator"&% +4 "core" %   +2 "storage"(4% +3 "core" % P R 0\ +2 "storage"(5. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & 8 8\  +2 "manipulator"&9& +4 "core" &Ӕ  T 9) + "manipulator"&:% +4 "core" %  ~  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&<( +167 "core" ( + "manipulator"&=& +4 "core" &{  +2 "storage"("& +4 "core" & i f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&)'7 +96 "core" ' +2 "storage"(#& +4 "core" & u t S\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'r +296 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +3 "core" & N P @\  + "manipulator"&/& +4 "core" &{  &  +2 .tElbow.seek 3 + "manipulator"&B( +3 "core" ( +2 "manipulator"&3& +3 "core" &{  l  +2 "storage"(6& +4 "core" & F X \  + .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϡ +44 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"($' +6 "core" &{ (  +2 "manipulator"&8% +4 "core" % ύ > d +2 .tForearm.seek :retract + "manipulator"&&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&I( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"& & +5 "core" & h 9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +2 "core" &  9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K' +90 "core" ' +2 "manipulator"&N& +4 "core" &    9 +2 "manipulator"&P% +4 "core" %  d _ + "processing"%>& +4 "core" &\ +2 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(^ +5 "core" &\ +5 &\ 2 +10 &-Fx\ 1 +9 &Tp\ E +10 &g\ P +9 &Y\ P +9 &tV\ P +10 &6W\ P +9 &U\ O +9 &V\ O +10 &|]\ P +9 &>Z#\ P +10 &!X\ P +9 &"T\ O +9 &$W\ P +10 &&FX\ P +9 &( V\ O +9 &)W \ O +10 &+Z"\ P +9 &-OZ\ O +10 &/U$\ P +9 &0U"\ P +9 &2Z$\ O +10 &4WS%\ O +9 &6W#\ O +9 &7U\ O +10 &9Y'\ P +9 &;^Y!\ P +10 &=!X \ O +9 &>\\$\ P +9 &@Z%\ P +10 &Bce#\ Q +9 &D!n%\ R +9 &E(\ T +10 &G$\ V +9 &I]'\ U +10 &K*\ V +9 &L#\ V +9 &N%\ W +10 &P_%\ X +9 &R$'\ V +44 &S'\ X +13 &U(\ W + &Wh&\ W + &Y*(\ W + &Z(\ W + &\\,\ W +5 &^6ix-\ )~ +9 &^ y)\ ; +9 ( +2 &^#,\ 3 +2 "processing"%S& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&71 +54 "core" 1 +2 "manipulator"&D% +4 "core" %    > _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' +2 "processing"%V& +4 "core" &^#+\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&W% +4 "core" %  N  +2 "storage"(Y% +4 "core" % 8 7 )\ + "storage"([. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(L( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (T& +4 "core" & 9 : ;\  + "manipulator"&*& +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & 9 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&a( +3 ."raiseStack"SE.seek :beamBreak + "storage"(b'r +22 "core" ( +2 "manipulator"&Q& +4 "core" &   7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" & \  c +2 .tForearm.seek PC +2 "manipulator"&C' +97 "core" ' + .tHand.close +2 "manipulator"&H/ +56 "core" / +2 .tPC.seek :open +2 "processing"%R( +74 "core" ' +2 "storage"(Z- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'1 +46 "core" ' +322 ( + "storage"(f& +4 "core" & P N \  +2 "manipulator"&^& +3 "core" &  +2 "manipulator"&O% +3 "core" %  8 +2 .tForearm.seek :retract +2 "manipulator"&g' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&c( +241 "core" ( + "manipulator"&]& +4 "core" & 8 +2 "storage"(X& +4 "core" & 7 - \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&j'7 +93 "core" ' +2 .tHand.open + "manipulator"&k1 +61 "core" 1 +2 "storage"(m- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(o' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(p' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +4 "core" -' +2 "storage"(d& +3 "core" & \  +2 "manipulator"&t& +4 "core" & } 7 + .tElbow.seek 3 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&w& +4 "core" &  7 + "storage"(i& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&l'7 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(u'" +53 "core" ' + "manipulator"&U& +4 "core" &  ` 7 +2 "storage"(}& +4 "core" & Q 3 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&r'u +21 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(q' +20 "core" ' + "manipulator"&% +5 "core" %·  J + "storage"(y& +4 "core" & - + \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϳ +13 "core" ' + "manipulator"&x& +5 "core" &   7 + "storage"(z& +5 "core" & O \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&_'7 +16 "core" ' + "storage"(n% +5 "core" % N N \ +2 ."downElevator"SE.seek :down +3 "storage"(|' +99 (@% +3 "core" %K . :\ Xi +2 "manipulator"&% +4 "core" %-  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" & X N \  + "collection"'\ & +4 "core" &\\~ \ \\ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %  i  +2 "storage"(s% +3 "core" % [ [ !\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & 7 8 \  +2 "manipulator"&& +4 "core" & B 7 +2 .tElbow.seek 3 + "manipulator"&~( +4 "core" ( +2 "manipulator"&& +4 "core" &  ` 7 + "storage"({& +4 "core" & [ T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +90 "core" ' +2 "storage"(& +4 "core" & S h P\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +307 "core" ' + "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  ] 7 +2 "storage"(& +3 "core" & Z M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('d +32 "core" ' +2 "manipulator"&(% +4 "core" %Ή V + "storage"(& +4 "core" & P N U\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&'ϵ +14 "core" ' +2 "manipulator"&& +4 "core" & @ 7 + "storage"(h& +4 "core" & E E >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&-'7 +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(.' +34 "core" ' + "manipulator"&1& +5 "core" &  = 7 + "manipulator"&% +4 "core" %"  P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +151 "core" ( + "manipulator"&& +5 "core" &ӎ#  k <@ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ# ` <? + .tForearm.seek CC +2 "manipulator"&9'? +91 "core" ' +2 .tHand.close + "manipulator"&:/ +58 "core" / +2 .tCC.seek :open +2 "collection"'%( +448 "core" ( + "storage"(=& +4 "core" & _\  +2 "storage"("& +4 "core" & \  + "manipulator"&+& +4 "core" &ӏ#  V <? +2 "manipulator"&#% +3 "core" % G X +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&0( +166 "core" ( + "manipulator"&2& +5 "core" &  o  + "storage"(A& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&/'u +90 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&61 +61 "core" 1 +2 "manipulator"&E% +5 "core" % ΂  I G + "storage"(G& +4 "core" & ^\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&8'Ϯ +25 "core" ' +2 "manipulator"&<& +4 "core" &   t  +2 "storage"()& +4 "core" & 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&?'7 +13 "core" ' + "storage"(;% +5 "core" % S\ \ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (J% +3 "core" %?? \ We +2 "manipulator"&B% +5 "core" %6   8 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&N' +87 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'P& +4 "core" & \ +2 "manipulator"&>% +3 "core" %    M  +2 "storage"($% +4 "core" % t\ +2 "storage"(&. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +2 "core" &,z H\  +2 "manipulator"&D& +4 "core" &   (  + .tElbow.seek 4 +2 "manipulator"&V( +37 "core" ( + "manipulator"&W& +4 "core" & M +2 "storage"(Y& +3 "core" &,z {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +95 "core" ' + "storage"(S& +4 "core" &,z \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'r +295 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +2 "core" &,z G\  +2 "manipulator"&M& +4 "core" &   > +2 .tElbow.seek 4 + "manipulator"&K( +17 "core" ( +2 "manipulator"&H& +4 "core" &  f  +2 "storage"(& +3 "core" &,z \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&Z'c +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& + "storage"(!' +47 "core" &    +11 "manipulator"&b% +4 "core" % ό  R +2 .tForearm.seek :retract +2 "manipulator"&f' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&^(ӂ +112 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +41 "core" ( +2 "manipulator"&O& +4 "core" &y0  g F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &y0  5 F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'? +91 "core" ' +2 "manipulator"&X& +4 "core" &Ӥ(  _ @[ +2 "manipulator"&a% +4 "core" %E  4 m +2 "collection"'k& +4 "core" & \ +2 "collection"'m& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'\\(\\ +5 "core" & \  +8 &4 \ +{ +9 &d \ > +10 &s \ M +9 &MU \ M +9 &W \ M +10 &X \ L +9 &X \ M +9 &VV \ M +10 &Z \ M +9 &W \ L +10 & W \ M +9 &"_W \ L +9 &$W \ M +10 &%W \ M +9 &'W \ M +9 &)eW \ M +10 &+(W \ M +9 &,Z \ M +9 &.W \ M +10 &0nZ \ M +9 &20W \ M +10 &3Z \ M +9 &5W \ M +9 &7uU \ M +10 &98W \ M +9 &:W \ M +10 &<Z \ M +9 &>~Y \ M +9 &@@Y \ M +10 &BY \ M +9 &C^ \ N +9 &Eh \ O +10 &G=u \ P +9 &H \ S +10 &J \ W +9 &Lk \ Y +9 &N. \ X +10 &O \ Y +9 &Q \ Y +9 &Sm \ [ +10 &U/ \ [ +9 &V \ \\ +10 &X \ ] +9 &Zn \ ] +9 &\\y \ 5 +10 &\\( \ O +8 ( +3 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&d1 +4 "core" &\\j \ J +56 1 +2 "manipulator"&t% +4 "core" % E  m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +91 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp + "processing"%i& +5 "core" &\ + "manipulator"&g% +4 "core" %  c  +2 "storage"(U% +3 "core" % N M 6\ +2 "storage"(}. +3 "core" .(,y + "storage"(& +4 "core" &,z P X \  + "storage"(y& +4 "core" &,z N P z\  +2 "manipulator"&e& +4 "core" &Ӥ' I @[ + "manipulator"&x% +4 "core" %  i  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&z( +167 "core" ( +2 "manipulator"&o& +4 "core" &  .  + "storage"(n& +4 "core" &,z s s -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +96 "core" ' + "storage"(j& +5 "core" &,z u o \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'r +295 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,z I O T\  + "manipulator"&l& +4 "core" & =  + .tElbow.seek 4 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&u& +3 "core" &  +2 "storage"(r& +3 "core" &,z U V \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'c +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +3 "storage"( ' +7 "core" &   +2 "manipulator"&s% +4 "core" % Ϣ h + .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&& +5 "core" &  / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  Y / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + "manipulator"&{& +4 "core" &  g . +2 "manipulator"&_% +4 "core" % s ( +2 "processing"%& +4 "core" &\ +3 "processing"%|& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%L(^ +4 "core" &\ \ +9 &/v\ *x +9 &a\ > +10 &fv\ O +9 &&W\ P +9 &Z\ P +10 &W\ O +9 &m[\ O +9 &.Y\ P +10 &Y\ O +9 &W\ O +10 & u[\ O +9 &"7Z\ O +9 &#Y\ O +10 &%U\ O +9 &'}V\ O +9 &)@U\ O +10 &+Y\ O +9 &,\\\ P +10 &.W\ P +9 &0FX\ P +9 &2 Y\ O +10 &3W\ P +9 &5W\ P +9 &7NW\ P +10 &9\\\ P +9 &:Z\ P +9 &<X\ O +10 &>W[\ O +9 &@Z\ P +10 &A`\ P +9 &Cj\ R +9 &ESz\ S +10 &G\ U +9 &H\ U +10 &J\ V +9 &LT\ V +9 &N\ W +10 &O\ W +9 &Q\ X +9 &SX\ W +10 &U\ W +9 &V\ W +10 &X\ W +9 &Z`\ W +9 &\\"\ W +10 &]\ 7 +9 &^,p\ _ +9 &^-\ 6 +3 ( +2 "processing"%|& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&`1 +62 "core" 1 + "manipulator"&% +4 "core" %  ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' + "processing"%& +5 "core" &^(\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" % # 2 +2 "storage"('% +4 "core" % - 4 \ + "storage"((. +3 "core" .(,y +2 "storage"(& +3 "core" &,z 7 4\  +3 "storage"(& +4 "manipulator"&h& +4 "core" &,z 6 7\  + & d . +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&1( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&& +4 "core" & . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" & } . +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +306 ( + "storage"(& +4 "core" &,z i s 8\  +2 "manipulator"&-& +4 "core" &   ` . + "manipulator"&% +4 "core" %    Z H +2 .tForearm.seek :retract +2 "manipulator"&:' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&4( +244 "core" ( +3 "manipulator"&,& +8 "core" &  8 +3 "storage"(=& +8 "core" &,z E E A\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 4 + 450 counts +3 "manipulator"&"' +101 "core" ' +3 .tHand.open + "manipulator"&+1 +61 "core" 1 +5 "storage"(#- +8 "core" -'1 +4 .tSE.seek -0.26 Pucks below Top Plate +4 "storage"(2' +24 "core" ' +3 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +4 .tSE.seek -1.22 Pucks below Top Plate +4 "storage"(A' +60 "core" ' +3 #tLights, camera, ACTION! +3 "storage"(9- +7 "core" -' +3 "storage"(5& +7 "core" &,z \ ~ +3 "manipulator"&6& +7 "core" &    8 +4 .tElbow.seek 4 +2 "manipulator"&E( +6 "core" ( +3 "manipulator"&G& +8 "core" &   8 +3 "storage"(<& +7 "core" &,z\ \  r\ ~ +4 .tForearm.seek 4 + 450 counts +4 "manipulator"&)' +7 "core" ' +4 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +5 .tSE.seek -0.51 Pucks below Top Plate +3 "storage"(;'" +55 "core" ' +3 "manipulator"&& +8 "core" & 8 +4 "storage"(J& +8 "core" &,z P Q Q\  +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 4 +4 "manipulator"&B'7 +24 "core" ' +2 .tElbow.hold +4 "manipulator"&0, +15 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +9 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.32 Pucks below Top Plate +3 "storage"(/' +22 "core" ' +12 "manipulator"&P% +13 "core" %A +3 "storage"(>& +8 "core" &,z [ Q\  +4 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 4 + 310 counts +6 "manipulator"&8'm +17 "core" ' +5 "manipulator"&$& +13 "core" &  G 8 +4 "storage"(&& +11 "core" &,z h g \  +6 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts +5 "manipulator"&.' +15 "core" ' +2 "storage"(?% +4 "core" % e h \ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 ( % +2 "core" %F 3 A \ Xh +2 "manipulator"&7% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &,z W T (\  + "collection"'Y& +4 "core" &\\i \ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&S% +4 "core" %   k  +2 "storage"(3% +3 "core" % D X )\ +2 "storage"(N. +3 "core" .(,y + "storage"(*& +4 "core" &,z Q G X\  +2 "storage"(Q& +3 "core" &,z S V\  +2 "manipulator"&M& +4 "core" &  ~ 8 + .tElbow.seek 4 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&& +3 "core" &  > 8 +2 "storage"(I& +4 "core" &,z S D ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&F' +97 "core" ' + "storage"(b& +4 "core" &,z J h R\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak + "storage"(V'r +295 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +2 "core" &  : 8 +2 "storage"(O& +4 "core" &,z N O W\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&C'7 +16 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(X- +54 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(a'c +29 "core" ' +2 "manipulator"&k% +4 "core" %D  > + + "storage"(K& +4 "core" &,z N D *\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 313 counts +2 "manipulator"&!'p +27 "core" ' + "manipulator"&f& +4 "core" &   : 7 +2 "storage"(%& +4 "core" &,z f h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&d' +23 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(t' +33 "core" ' + "manipulator"&i& +5 "core" &   k 7 + "manipulator"&g% +4 "core" % $ s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' +3 .tElbow.seek CC +2 "manipulator"&}(ӂ +150 "core" ( + "manipulator"&& +5 "core" &ӂ*  : Bf + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &ӂ*  X Bf +2 .tForearm.seek CC +2 "manipulator"&m'? +90 "core" ' + .tHand.close + "manipulator"&e/ +63 "core" / +2 .tCC.seek :open +2 "collection"'x( +447 "core" ( +2 "storage"(]& +4 "core" &,z a\  + "storage"(o& +4 "core" &,z i g \  +2 "manipulator"&n& +3 "core" &Ө# \\ <@ +2 "manipulator"&j% +3 "core" % R j 7 +2 .tForearm.seek :retract +2 "manipulator"&^' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&w( +164 "core" ( + "manipulator"&@& +5 "core" &  ]  + "storage"(& +4 "core" &,z W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&l'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +56 "core" 1 +2 "manipulator"&% +4 "core" % F   H  +2 "storage"(\ & +4 "core" &,z \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&s'r +14 "core" ' + "manipulator"&z& +5 "core" &  S  + "storage"(c& +4 "core" &,z z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&p' +18 "core" ' + "storage"( % +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %D \ Wd +2 "manipulator"&v% +4 "core" %   1 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +95 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'_& +4 "core" & \ +2 "manipulator"&% +4 "core" % !   B ( + "storage"( % +4 "core" %  `\ +2 "storage"(. +3 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(R(<- +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (`& +3 "core" &<* f g \ +2 "manipulator"&& +3 "core" &  ?  +2 .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&& +4 "core" &  j d + "storage"('& +4 "core" &<* ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +96 "core" ' + "storage"(& +5 "core" &<* v\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" &<* !\ +2 "manipulator"&& +4 "core" &   F d + .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( + "manipulator"&& +4 "core" & ] d +2 "storage"(& +3 "core" &<* \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(L' +6 "core" &  Q d +2 "manipulator"&% +4 "core" %  u + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&& +4 "core" &ӎ  9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӎ   b 9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'? +104 "core" ' +2 "manipulator"&=& +4 "core" &ӎ   B 9) +2 "manipulator"&1% +4 "core" %K   X + "collection"'+& +4 "core" & \ +2 "collection"'#& +7 "core" & \ +3 .tCC.seek :closed +2 "collection"'9(\\ +4 "core" & \ +6 &; \ $e +10 &V{ \ 7 +9 &z \ L +9 &X \ M +10 &sU \ L +9 &3Y \ M +10 &W \ L +9 &W \ L +9 &{V \ L +10 &<W \ M +9 &Y \ M +9 &!X \ M +10 &#Z \ M +9 &%DT \ M +10 &'U \ L +9 &(V \ M +9 &*W \ M +10 &,KW \ M +9 &.U \ L +9 &/T \ M +10 &1T \ M +9 &3TT \ M +10 &5Y \ M +9 &6Y \ M +9 &8S \ M +10 &:\\U \ M +9 &<V \ L +9 &=W \ L +10 &?W \ M +9 &AdW \ M +10 &C%[ \ M +9 &Dg \ O +9 &Fm \ O +10 &HZ \ S +9 &J \ W +9 &K \ X +10 &M \ Y +9 &OO \ Y +9 &Q \ Z +10 &R \ Z +9 &T \ \\ +10 &VO \ \\ +9 &X \ \\ +9 &Y \ ] +10 &[ \ J +9 &\\8 \ - +10 &\\ \ V +2 ( +2 "collection"'#& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&:1 +55 "core" 1 +2 "manipulator"&5% +5 "core" % K \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +95 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%G& +4 "core" &\ + "manipulator"&<% +4 "core" % ! z * +2 "storage"(% +3 "core" % - 5\ +2 "storage"(J. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (2& +3 "core" &<* 7 ,\  +2 "manipulator"&P& +3 "core" &ӎ  9) +2 "manipulator"&>% +3 "core" % !  * +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&4( +161 "core" ( +2 "manipulator"&$& +4 "core" &  + "storage"("& +4 "core" &<* N N \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&&'O +94 "core" ' + "storage"(A& +4 "core" &<* h h y\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'r +295 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" &<* ? : \  +2 "manipulator"& & +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&7( +3 "core" ( + "manipulator"&;& +4 "core" & 9  +2 "storage"(B& +3 "core" &<* N N \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&W'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&8/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(S' +7 "core" &  C  + "manipulator"&3% +4 "core" %  e +2 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&/( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&*& +4 "core" & . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &   . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&M' +99 "core" ' + "manipulator"&& +4 "core" &  . +2 "manipulator"&I% +4 "core" %     +2 "processing"%.& +3 "core" &\ +2 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"% (^ +3 "core" &\ +6 & .\ #b +10 &S{\ 7 +9 &}|\ L +10 &Z\ O +9 &JW\ O +9 & Y\ O +10 &Z\ O +9 &U\ O +9 &RT\ O +10 &X\ O +9 &X\ O +10 &!T\ O +9 &#ZT\ O +9 &%T\ O +10 &&U\ O +9 &(U\ P +9 &*aW\ P +10 &,$Z\ O +9 &-Y\ O +10 &/Z\ O +9 &1jU\ O +9 &3,T\ O +10 &4W\ O +9 &6T\ O +9 &8rZ\ O +10 &:4U\ O +9 &;X\ O +10 &=\\\ P +9 &?y[\ P +9 &A;\\\ P +10 &B_\ P +9 &Df\ Q +9 &Fwt\ S +10 &H3\ U +9 &I \ U +10 &K\ V +9 &Mv \ V +9 &O8\ V +10 &P\ V +9 &R\ W +9 &T{\ W +10 &V>\ W +9 &X\ W +10 &Y\ W +9 &[ \ W +9 &]D\ O +10 &^yD\ #h +9 &^<\ 4 +6 ( + "processing"%b& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&01 +3 "core" &^(*\ 4 +58 1 + "manipulator"&D% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' +2 "processing"%T& +4 "core" &^(1\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&O% +4 "core" %   +44 "storage"(X% +13 "core" % 8 7\ +2 "storage"(k. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(K(<- +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (f& +3 "core" &<+ (  \  +2 "manipulator"&%& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & w . +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(i'r + "manipulator"&g( +6 "core" ( + "manipulator"&F& +4 "core" & . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" & Y . +2 .tForearm.seek PC + "manipulator"&V' +93 "core" ' +2 .tHand.close + "manipulator"&C/ +61 "core" / +2 .tPC.seek :open +2 "processing"%!( +90 "core" ' + "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +306 ( +2 "storage"(y& +4 "core" &<+ N N p\  +2 "manipulator"&d& +5 "core" &  Y . + "manipulator"&Z% +4 "core" %  m , +2 .tForearm.seek :retract + "manipulator"&e' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +245 "core" ( + "manipulator"&\\& +4 "core" &   / +2 "storage"(]& +4 "core" &<+ 3 B 6\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&o'O +93 "core" ' +2 .tHand.open + "manipulator"&n1 +58 "core" 1 +3 "storage"(j- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! + "storage"(m- +4 "core" -' +2 "storage"(}& +4 "core" &<+ 6\  + "manipulator"&r& +4 "core" &   / + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&\ & +4 "core" &  I / +2 "storage"(z& +4 "core" &<+ t -\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +56 "core" ' +2 "manipulator"&^& +4 "core" & ) / +2 "storage"(& +3 "core" &<+ , 7 J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(l' +25 "core" ' +2 "manipulator"&_% +4 "core" %Γ + "storage"(s& +5 "core" &<+ 5 -\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&'Ͽ +14 "core" ' +2 "manipulator"& & +4 "core" & \ X $ +2 "storage"(& +5 "core" &<+ N N \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +14 "core" ' + "storage"(p% +5 "core" % P R {\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %K 4 6\ Yi +2 "manipulator"&`% +4 "core" %] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<+ ? . \  + "collection"''& +4 "core" &\\y \ V +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" % !  w & +2 "storage"(u% +3 "core" % 5 6 \ +2 "storage"({. +3 "core" .(<- +2 "storage"(& +3 "core" &<+ O N %\  +2 "storage"(h& +4 "core" &<+ N ? l\  + "manipulator"&& +4 "core" &   c $ + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  l $ +2 "storage"(q& +4 "core" &<+ N N \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +97 "core" ' + "storage"(& +4 "core" &<+ X N \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & $ +2 "storage"(& +4 "core" &<+ ? )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&|'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(1'\\ +29 "core" ' +2 "manipulator"&~% +4 "core" %΀  7  + "storage"(+& +4 "core" &<+ < N %\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 287 counts + "manipulator"&L'Ϭ +13 "core" ' +2 "manipulator"&& +4 "core" &  # +2 "storage"(x& +3 "core" &<+ N N \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +19 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(5' +33 "core" ' +2 "manipulator"&G& +4 "core" &   # +2 "manipulator"&<% +4 "core" %E  h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J(ӂ +154 "core" ( + "manipulator"&#& +4 "core" &Ӑ'  @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &Ӑ( { @Y +2 .tForearm.seek CC +2 "manipulator"&P'? +97 "core" ' +2 .tHand.close + "manipulator"&>/ +52 "core" / +2 .tCC.seek :open +2 "collection"',( +450 "core" ( +2 "storage"($& +4 "core" &<+ h p \  +2 "storage"("& +3 "core" &<+ s h \  +2 "manipulator"&R& +4 "core" &ӑ(  @X + "manipulator"&A% +4 "core" % I    + .tForearm.seek :retract +2 "manipulator"&-' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&6( +167 "core" ( + "manipulator"&)& +4 "core" & \  +2 "storage"(E& +4 "core" &<+ O\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&B1 +133 "core" 1 +2 "manipulator"&8% +5 "core" % Λ  Q  + "storage"(Y& +4 "core" &<+ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&3' +14 "core" ' +2 "manipulator"&4& +4 "core" &  C  +2 "storage"(&& +3 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +15 "core" ' + "storage"(W% +5 "core" % h\ +2 ."downElevator"SE.seek :down +3 "storage"(*' +99 (Q% +3 "core" %iG \ Wf +2 "manipulator"&7% +4 "core" %=   M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp +51 "collection"'I& +5 "core" & \ +2 "manipulator"&.% +4 "core" %    :  +2 "storage"(S% +3 "core" % L\ +2 "storage"(N. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" &K h h \  +2 "manipulator"&D& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&O& +3 "core" &  P  +2 "storage"(X& +4 "core" &K | E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&b' +94 "core" ' + "storage"(k& +4 "core" &K a\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'r +300 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +3 "core" &K x\  +2 "manipulator"&H& +3 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&M( +3 "core" ( + "manipulator"&C& +4 "core" & \ %  +2 "storage"(& +3 "core" &K 1\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"( ' +7 "core" &  !  + "manipulator"&i% +4 "core" % ϙ   c +2 .tForearm.seek :retract +2 "manipulator"&y' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&d(ӂ +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( +6 "manipulator"&Z& +5 "core" &ӊ  G , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &ӊ ~ , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&\\'? +104 "core" ' +2 "manipulator"&]& +4 "core" &ӊ    , +2 "manipulator"&g% +3 "core" %O   H +2 "collection"'n& +4 "core" & \ +2 "collection"'j& +5 "core" & \ +2 .tCC.seek :closed + "collection"'m(\\ +5 "core" & \  +8 &4~ \ *z +10 &e} \ > +9 &r \ M +10 &NU \ M +9 &X \ L +9 &W \ L +10 &Y \ M +9 &WS \ L +10 &X \ L +9 &T \ L +9 & U \ L +10 &"^Y \ M +9 &$ W \ M +9 &%S \ L +10 &'V \ L +9 &)fX \ M +10 &+)Y \ L +9 &,T \ L +9 &.U \ L +10 &0oX \ L +9 &20T \ M +9 &3Y \ L +10 &5Y \ L +9 &7vT \ M +10 &98W \ M +9 &:T \ L +9 &<U \ L +10 &>W \ L +9 &@@T \ M +9 &BY \ M +10 &Ce \ N +9 &E{v \ P +10 &G4 \ T +9 &H \ W +9 &J \ Y +10 &Li \ Y +9 &N* \ Z +9 &O \ Z +10 &Q \ Z +9 &Sk \ [ +10 &U+ \ \\ +9 &V \ \\ +9 &X \ ^ +10 &Zm \ ] +9 &\\x \ 9 +9 &\\' \ )y +10 &\\ \ ^ +2 ( +2 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + .Hand.open + "manipulator"&}1 +58 "core" 1 +2 "manipulator"&r% +4 "core" % O   i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%z& +4 "core" &Z\ + "manipulator"&e% +4 "core" %   }  +2 "storage"(^% +4 "core" % 3 - \ + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(_(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K" 8 8\  +2 "manipulator"&s& +4 "core" &ӊ  3 , + "manipulator"& % +4 "core" %   s  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&@( +159 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(p& +3 "core" &K N N \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&U' +92 "core" ' + "storage"(o& +4 "core" &K X N z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &K * * 4\  +2 "manipulator"&c& +3 "core" &  m  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" &   i  +2 "storage"(v& +3 "core" &K * * \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&'& +2 "storage"(' +7 "core" &  Z  + "manipulator"&u% +4 "core" % d  i  +2 .tForearm.seek :retract +2 "manipulator"&l' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&{( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&& +5 "core" & }  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &  !  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 "manipulator"&& +4 "core" &  + "manipulator"&q% +4 "core" %  h ? +2 "processing"%t& +4 "core" &O\ +2 "processing"%& +4 "core" &)\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ \ +9 &0u\ )w +9 &a'\ > +9 &av+\ O +10 &!Y\ O +9 &Y\ O +9 &X'\ O +10 &fX$\ P +9 &(W3\ P +10 &X.\ P +9 &U1\ O +9 & oY\ O +10 &"1W4\ O +9 &#W,\ P +10 &%U\ O +9 &'wT,\ O +9 &)9S)\ O +10 &*T3\ O +9 &,Z0\ O +9 &.W\ O +10 &0AW\ O +9 &2R2\ O +9 &3U*\ O +10 &5V \ O +9 &7IU3\ O +10 &9 V\ O +9 &:V\ O +9 &<V-\ P +10 &>P\\2\ P +9 &@Z\ P +9 &Aa\ P +10 &Cn\ R +9 &EM|\ T +10 &G\ \ U +9 &H\ U +9 &J\ V +10 &LO\ U +9 &N \ W +9 &O\ V +10 &Q\ W +9 &ST\ V +10 &U\ W +9 &V#\ W +9 &X5\ W +10 &ZZ\ W +9 &\\\ X +10 &]\ 8 +9 &^-u\ V +9 &^.\ 5 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&w1 +59 "core" 1 + "manipulator"&% +4 "core" %  Y ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +93 "core" ' + "processing"%& +4 "core" &^,\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %  >  +2 "storage"(=% +3 "core" % h\ +2 "storage"(~. +3 "core" .(K + "storage"(+& +4 "core" &K \ \  +2 "storage"(& +4 "manipulator"&x& +4 "core" &K \ \ \  +2 &  +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&G( + "storage"(<'r +5 "core" ( + "manipulator"& & +4 "core" & r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & T  +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 .tHand.close + "manipulator"&|/ +57 "core" / + .tPC.seek :open +2 "processing"%L( +93 "core" ' + "storage"(#- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(1'1 +45 "core" ' +308 ( + "storage"(2& +4 "core" &K 6 ) \  +2 "manipulator"&:& +3 "core" &  +2 "manipulator"&% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&>' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +243 "core" ( +2 "manipulator"&9& +4 "core" &  Q + "storage"($& +4 "core" &K 7 8 ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&"' +150 "core" ' + .tHand.open +2 "manipulator"&R1 +58 "core" 1 +2 "storage"(A- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"()' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(E' +52 "core" ' + #tLights, camera, ACTION! + "storage"(P- +4 "core" -' +2 "storage"(J& +3 "core" &K\ \ \  +2 "manipulator"&B& +4 "core" &   Q + .tElbow.seek 6 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&Y& +4 "core" &   Q + "storage"(4& +4 "core" &K ^\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(-'" +51 "core" ' +2 "manipulator"&W& +4 "core" &  Q +2 "storage"(6& +3 "core" &K 7 -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Q'< +16 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +23 "core" ' +2 "manipulator"&I% +5 "core" %E <  + "storage"(3& +4 "core" &K : ; /\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts +2 "manipulator"&5'q +13 "core" ' +2 "manipulator"&.& +4 "core" &  ) P +2 "storage"(S& +4 "core" &K E ? \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +18 "core" ' +2 "storage"(?% +4 "core" % N N \ +3 ."downElevator"SE.seek :down +3 "storage"(*' +99 (K% +2 "core" %H  \ \ Yk +2 "manipulator"&0% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +70 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &K 8 9 q\  +2 "collection"'X& +3 "core" &\\ \ ^ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&k% +4 "core" %   m  +2 "storage"(;% +3 "core" % 6 ,\ +2 "storage"(. +3 "core" .(K +2 "storage"(%& +3 "core" &K - )\  +2 "storage"(F& +4 "core" &K 5 7 \  + "manipulator"&H& +4 "core" & P +2 .tElbow.seek 6 +2 "manipulator"&C( +3 "core" ( + "manipulator"&& +4 "core" &  Y P +2 "storage"(/& +4 "core" &K : 9 A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +90 "core" ' + "storage"(i& +4 "core" &K N N \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'r +298 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Z& +3 "core" &  j P +2 "storage"(V& +4 "core" &K * 4\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&f'< +23 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(M- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(]'e +30 "core" ' + "manipulator"&g% +4 "core" %N +2 "storage"(n& +3 "core" &K  - \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"& 'z +16 "core" ' + "manipulator"&y& +5 "core" & D P + "storage"(,& +4 "core" &K ) ) X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(r' +36 "core" ' +2 "manipulator"&z& +4 "core" &   P +2 "manipulator"&e% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&j& +4 "core" &Ӕ& h ?Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӕ&  ?Q + .tForearm.seek CC +2 "manipulator"&s'? +93 "core" ' +2 .tHand.close + "manipulator"& / +54 "core" / + .tCC.seek :open +2 "collection"'\\( +448 "core" ( + "storage"(& +4 "core" &K f f \  +2 "storage"(p& +3 "core" &K o t T\  +2 "manipulator"&& +3 "core" &Ӗ&  ) >O +2 "manipulator"&o% +3 "core" % H  A +2 .tForearm.seek :retract +2 "manipulator"&d' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\ ( +162 "core" ( +2 "manipulator"&& +4 "core" & m  +2 "storage"(`& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&c'< +91 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +53 "core" 1 +2 "manipulator"&% +4 "core" % M  P + "storage"('& +4 "core" &K ~ u\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&u'y +15 "core" ' + "manipulator"&@& +5 "core" &  W  +2 "storage"(U& +3 "core" &K G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (h% +3 "core" %J k n \ Xh +2 "manipulator"&% +3 "core" %\  3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'q& +4 "core" & \ +2 "manipulator"&t% +4 "core" % !   3 $ + "storage"(% +4 "core" % \ +2 "storage"(l. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(!(  +1295 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &  \ +2 "manipulator"&& +3 "core" &   L  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & o  + "storage"(=& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&~'S +99 "core" ' + "storage"(+& +4 "core" &   K\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  \ +2 "manipulator"& & +3 "core" &   ;  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  T  + "storage"(|& +4 "core" &  m\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&#'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& + "storage"(' +7 "core" &   #  +2 "manipulator"&<% +4 "core" % Ϻ    + .tForearm.seek :retract +2 "manipulator"&2' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +160 "core" ' + ( +50 ."downElevator"SE.stop +4 "manipulator"&& + "storage"(5 +7 "core" &Ӛ  g 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +5 "core" &Ӛ  y 8 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'? +102 "core" ' +2 "manipulator"&$& +4 "core" &Ӛ  T 8 +2 "manipulator"&G% +3 "core" %8  +2 "collection"'R& +4 "core" & \ +2 "collection"'A& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'>(\\ +5 "core" & \ +6 &A \ $f +9 &X{ \ 7 +10 &y \ L +9 &V \ M +9 &T \ L +10 &BU \ L +9 &Y \ M +9 &W \ M +10 &V \ M +9 &JR \ L +10 & T \ M +9 &!U \ M +9 &#W \ M +10 &%SQ \ L +9 &'X \ L +10 &(T \ L +9 &*S \ L +9 &,ZT \ L +10 &.S \ M +9 &/U \ M +9 &1W \ M +10 &3aV \ M +9 &5#U \ M +9 &6X \ L +10 &8T \ L +9 &:jU \ L +10 &<+W \ M +9 &=T \ L +9 &?T \ M +10 &ArY \ L +9 &C2Z \ M +9 &Db \ N +10 &Fn \ O +9 &Hj \ R +10 &J! \ V +9 &K \ Y +9 &M \ Y +10 &O[ \ Z +9 &Q \ Y +9 &R \ Z +10 &T \ [ +9 &V_ \ [\ +10 &X \ \\ +9 &Y \ ] +9 &[ \ J +10 &\\8 \ . +9 &\\n \ L +2 ( +2 "collection"'A& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&P1 +57 "core" 1 +2 "manipulator"&J% +4 "core" % 8  J  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%Y& +4 "core" &\ + "manipulator"&4% +4 "core" %   d  +2 "storage"(W% +3 "core" % M N \ +2 "storage"(6. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(I(  +5 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +2 "core" &  * - }\ +2 "manipulator"&1& +4 "core" &Ӛ  w 8 +2 "manipulator"&.% +4 "core" %   X  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&S( +163 "core" ( + "manipulator"&)& +4 "core" &  +2 "storage"(?& +4 "core" &  D : X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +95 "core" ' + "storage"("& +4 "core" &  h J P\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'r +296 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" &  A ) \ +2 "manipulator"&&& +3 "core" & j  +2 .tElbow.seek 2 +2 "manipulator"&8( +3 "core" ( + "manipulator"&-& +4 "core" &  v  +2 "storage"(Q& +3 "core" &  N N \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&5'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& + "storage"(k' +7 "core" &  `  +2 "manipulator"&;% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&%& +4 "core" & - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" & S - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&H' +96 "core" ' + "manipulator"&& +4 "core" &  , +2 "manipulator"&/% +4 "core" %  h  + "processing"%N& +4 "core" &\ +3 "processing"%i& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%*(^ +5 "core" &\  +7 &0v\ *x +9 &b~\ > +10 &fu\ O +9 &%X\ P +9 &W\ O +10 &W\ O +9 &lW\ O +10 &.W\ O +9 &X\ O +9 &U\ O +10 & sW\ P +9 &"7U\ O +9 &#W\ O +10 &%V\ O +9 &'}W\ O +10 &)>U\ O +9 &+Y\ O +9 &,Y\ O +10 &.U\ P +9 &0FW\ O +9 &2U\ O +10 &3U\ O +9 &5U\ O +10 &7OR\ O +9 &9Y\ P +9 &:X\ O +10 &<U\ O +9 &>U]\ P +9 &@Z\ P +10 &A_!\ P +9 &Ce\ Q +10 &EVn\ R +9 &G~\ T +9 &H\ U +10 &J\ V +9 &LT\ U +9 &N\ V +10 &O\ V +9 &Q\ V +10 &SY\ V +9 &U\ W +9 &V\ V +10 &X\ V +9 &Z`\ W +9 &\\"7\ W +10 &]\ 5 +9 &^5s3\ = +9 ( +2 &^\ / +2 "processing"%i& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&71 +60 "core" 1 + "manipulator"&D% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +94 "core" ' + "processing"%Z& +4 "core" &^4\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&V% +3 "core" %   +2 "storage"(M% +3 "core" % 7 8 ?\ +2 "storage"(g. +3 "core" .(  + "storage"(n& +4 "core" &  4 .\ +2 "storage"(y& +5 "manipulator"&,& +3 "core" &  9 : \ +2 & [ , +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&z( + "storage"(e'r +5 "core" ( +2 "manipulator"&[& +3 "core" &  O , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" & : , +2 .tForearm.seek PC +2 "manipulator"&T' +93 "core" ' +2 .tHand.close + "manipulator"&f/ +63 "core" / +2 .tPC.seek :open + "processing"% ( +93 "core" ' +2 "storage"(]- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'1 +40 "core" ' +309 ( + "storage"(& +4 "core" &  L C \ +2 "manipulator"&}& +3 "core" &  < , +2 "manipulator"&a% +4 "core" %  ? & + .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&^( +245 "core" ( +2 "manipulator"&m& +4 "core" &  M $ +2 "storage"(& +3 "core" &  M N \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&p'S +93 "core" ' + .tHand.open + "manipulator"&1 +59 "core" 1 +2 "storage"(o- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(`' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +3 "core" -' +2 "storage"(& +4 "core" &  p q \ +2 "manipulator"&v& +3 "core" & \  ! $ +2 .tElbow.seek 2 +2 "manipulator"&( +20 "core" ( +2 "manipulator"&'& +4 "core" &    + "storage"(@& +4 "core" &  o z 1\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&U'S +9 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' +2 "manipulator"&d& +4 "core" &  + "storage"(h& +4 "core" &  > D 5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +20 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "Can"h\ US + .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(c' +23 "core" ' +2 "manipulator"&q% +4 "core" %Υ Z + "storage"(u& +4 "core" &  9 7 @\ +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts + "manipulator"&t' +16 "core" ' + "manipulator"&& +5 "core" &  -  + "storage"(l& +4 "core" &  W P s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +41 .tForearm.seek 2 + 450 counts +13 "manipulator"&r'S +16 "core" ' + "storage"(% +5 "core" % M N \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (_% +4 "core" %HP 4 8 \ Yk +2 "manipulator"&w% +4 "core" %B  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  M O *\ +2 "collection"'=& +4 "core" &\\k \ L + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&+% +4 "core" %     + "storage"( % +4 "core" % M M \ +2 "storage"(. +3 "core" .(  + "storage"(& +4 "core" &  N O \ +2 "storage"(& +4 "core" &  Q P 9\ + "manipulator"& & +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&|& +4 "core" &  !  +2 "storage"({& +4 "core" &  O P \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&('S +98 "core" ' +2 "storage"(<& +4 "core" &  J E @\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +304 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  j  + "storage"(x& +4 "core" &  J N N\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&#'Α +14 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"($'_ +29 "core" ' +2 "manipulator"&G% +4 "core" %Ξ { 8 + "storage"(R& +4 "core" &  S N `\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 313 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&2& +4 "core" &  H  +2 "storage"(\\& +77 "core" &  g h \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&P'S +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(J' +34 "core" ' +2 "manipulator"&Y& +4 "core" & c  +2 "manipulator"&4% +4 "core" %A  A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&6(ӂ +167 "core" ( +2 "manipulator"&A& +4 "core" &Ӈ } 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &Ӈ + 2 +2 .tForearm.seek CC + "manipulator"&1'? +93 "core" ' +2 .tHand.close + "manipulator"&./ +53 "core" / +3 .tCC.seek :open + "collection"'9( +447 "core" ( +2 "storage"()& +4 "core" &  v \ + "storage"(?& +4 "core" &  e f \ +2 "manipulator"&!& +3 "core" &Ӈ 2 +2 "manipulator"&"% +3 "core" % S  ^ +2 .tForearm.seek :retract +2 "manipulator"&:' +90 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&B( +160 "core" ( + "manipulator"&K& +4 "core" &  b  +2 "storage"(0& +4 "core" &  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&&'Α +101 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +56 "core" 1 +2 "manipulator"&O% +5 "core" % Ν t + "storage"(X& +4 "core" &  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&;' +16 "core" ' +3 "manipulator"&S& +8 "core" &   &  +3 "storage"(& +6 "core" &  \ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 450 counts +2 "manipulator"&E'S +16 "core" ' + "storage"(5% +5 "core" % n\ +2 ."downElevator"SE.seek :down +3 "storage"(%' +99 (F% +4 "core" %DF f e \ Xg + "manipulator"&8% +4 "core" %B  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'/& +5 "core" & \ + "manipulator"&N% +4 "core" %   [  +2 "storage"(k% +4 "core" % "\ + "storage"( . +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(L( +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" & \ +2 "manipulator"&D& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&Z( +34 "core" ( + "manipulator"&V& +4 "core" & Q : +2 "storage"(M& +3 "core" & ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&g'7 +93 "core" ' +2 "storage"(n& +4 "core" & } "\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'r +298 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (i& +3 "core" & h\ +2 "manipulator"&[& +3 "core" &    : +2 .tElbow.seek 3 + "manipulator"&C( +4 "core" ( +2 "manipulator"&H& +3 "core" &  K : +2 "storage"(f& +3 "core" & ?\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&]'ϡ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& + "storage"(*' +7 "core" &   + : +2 "manipulator"&e% +3 "core" % Ϣ    +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&a& +4 "core" &ӝ   ] 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &ӝ  / 9' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&m'? +92 "core" ' +2 "manipulator"&& +5 "core" &ӝ  9' + "manipulator"&z% +4 "core" %9  b | +2 "collection"'& +4 "core" & \ +2 "collection"'o& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'s(\\ +4 "core" & \ +7 &< \ %f +9 &X| \ 7 +9 &y \ L +10 &V \ L +9 &U \ L +9 &?W \ M +10 &W \ M +9 &W \ M +10 &W \ L +9 &IU \ L +9 & \ V \ L +10 &!X \ L +9 &#W \ M +10 &%OV \ M +9 &'U \ M +9 &(W \ M +10 &*V \ M +9 &,WV \ M +9 &.V \ M +10 &/V \ M +9 &1W \ M +9 &3_W \ M +10 &5!V \ M +9 &6U \ M +10 &8U \ M +9 &:hY \ L +9 &<*Y \ L +10 &=T \ L +9 &?V \ L +9 &AoZ \ M +10 &C0X \ M +9 &De \ N +10 &Fn \ O +9 &Hf \ R +9 &J \ V +10 &K \ X +9 &M \ Y +9 &O\\ \ Y +10 &Q \ Y +9 &R \ Z +10 &T \ Z +9 &V] \ [\ +9 &X \ \\ +10 &Y \ ] +9 &[ \ J +9 &\\; \ * +10 &\\f \ O +2 ( +2 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&1 +60 "core" 1 + "manipulator"&v% +4 "core" % 9   | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&@% +3 "core" % !  ! . +2 "storage"(d% +4 "core" % ) ) e\ + "storage"(h. +3 "core" .( + "storage"(j& +4 "core" & 6 7 \ +2 "storage"(q& +3 "core" & ) 4\ +2 "manipulator"&u& +4 "core" &ӝ 9' + "manipulator"&% +4 "core" % " J . +52 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +163 "core" ( + "manipulator"&l& +4 "core" &  .  +2 "storage"(^& +4 "core" & M F ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +100 "core" ' + "storage"(p& +5 "core" & d S F\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(`'r +295 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (U& +3 "core" & R > Z\ +2 "manipulator"&w& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & i  + "storage"(& +4 "core" & N O \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&t'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&=& +2 "storage"(+' +6 "core" &  W  +2 "manipulator"& % +4 "core" % Ϟ  +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&& +5 "core" & H ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' + "manipulator"&|& +5 "core" & [ ! + "manipulator"&{% +4 "core" %  U w +2 "processing"%r& +4 "core" &\ +2 "processing"%<& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 &6\ $c +9 &S}\ 7 +10 &}z\ K +9 &Y\ O +10 &OW\ O +9 &U\ O +9 &W\ O +10 &W\ O +9 &XU\ O +9 &W\ O +10 &V\ O +9 &!U\ O +10 &#aU\ O +9 &%#U\ O +9 &&Z\ O +10 &(V\ O +9 &*hX\ O +9 &,*X\ O +10 &-V\ O +9 &/W\ O +10 &1qV\ O +9 &32Y\ O +9 &4V\ N +10 &6V\ O +9 &8xX\ O +9 &::W\ O +10 &;Y\ P +9 &=Y\ O +10 &?Z\ O +9 &A@]\ P +9 &Be\ Q +10 &Dn\ R +9 &Fx\ U +9 &H8\ U +10 &I\ U +9 &K\ U +10 &M|\ V +9 &O>\ V +9 &P\ V +10 &R\ W +9 &T\ X +9 &VD\ W +10 &X\ W +9 &Y\ W +10 &[\ W +9 &]I\ M +9 &^{I\ ] +10 &^ V\ 7 +5 ( +2 "processing"%<& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&\ 1 +4 "core" &^0\ 7 +54 1 +2 "manipulator"&% +4 "core" %  G w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +94 "core" ' +2 "processing"%& +4 "core" &^0\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&x% +4 "core" % # f 7 + "storage"(% +4 "core" % ( ( <\ +2 "storage"(G. +3 "core" .( + "storage"(R& +4 "core" & 6 6 \ +2 "storage"(2& +4 "manipulator"&\\& +4 "core" & 6 , \ + & O ! +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&Y( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(4'r +2 "core" ( +2 "manipulator"&(& +4 "core" & ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  ! +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&#/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"($- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'1 +44 "core" ' +309 ( +2 "storage"(3& +4 "core" & N M \ + "manipulator"&P& +4 "core" &  q ! +2 "manipulator"&% +3 "core" %   / & +2 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&W( +247 "core" ( + "manipulator"&>& +4 "core" &  C +2 "storage"()& +4 "core" & , ) 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&?'7 +90 "core" ' +2 .tHand.open + "manipulator"&!1 +58 "core" 1 +3 "storage"("- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(K' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(0' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(1- +3 "core" -' +2 "storage"(6& +3 "core" & \ +2 "manipulator"&Q& +4 "core" & k C + .tElbow.seek 3 +2 "manipulator"&O( +3 "core" ( + "manipulator"&X& +4 "core" &  C +2 "storage"(S& +3 "core" & \ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(5'" +57 "core" ' + "manipulator"&:& +5 "core" & C + "storage"(F& +4 "core" & N M \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&8'u +23 "core" ' +2 .tElbow.hold + "manipulator"&B, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(&' +18 "core" ' + "manipulator"&/% +5 "core" %Έ  | + "storage"(;& +5 "core" & , ) P\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&N'ϴ +26 "core" ' +2 "manipulator"&k& +4 "core" &  C +2 "storage"( & +4 "core" & Q M L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&J'7 +16 "core" ' +2 "storage"(E% +4 "core" % : H \ +2 ."downElevator"SE.seek :down +5 "storage"(%' +98 (I% +4 "core" %{K 6 7 \ Xh +2 "manipulator"&7% +4 "core" %7 Z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (V& +4 "core" & M O \ + "collection"'M& +4 "core" &\\e \ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&n% +4 "core" %  3  +2 "storage"(-% +3 "core" % M O \ +2 "storage"(. +3 "core" .( + "storage"(y& +4 "core" & M M \ +2 "storage"(i& +3 "core" & L J v\ +2 "manipulator"&[& +4 "core" & C +2 .tElbow.seek 3 +2 "manipulator"&H( +3 "core" ( + "manipulator"&f& +4 "core" &  u C +2 "storage"(& +4 "core" & M O \ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b'7 +96 "core" ' + "storage"(e& +5 "core" & J O A\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'r +295 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +2 "core" & @ C +2 "storage"(T& +4 "core" & , ( ;\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&,'u +14 "core" ' + .tElbow.hold +2 "manipulator"&], +90 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(z'b +29 "core" ' + "manipulator"&% +5 "core" %Ή   + "storage"(C& +54 "core" & N N {\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&*'ϵ +26 "core" ' +2 "manipulator"&& +4 "core" & C +2 "storage"(9& +3 "core" & M L S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +23 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(v' +34 "core" ' + "manipulator"& & +5 "core" & C + "manipulator"&@% +4 "core" %? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&h(ӂ +153 "core" ( + "manipulator"&j& +5 "core" &ӌ) 7 Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &Ӎ) G Ad +2 .tForearm.seek CC +2 "manipulator"&o'? +94 "core" ' + .tHand.close + "manipulator"&u/ +54 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"(m& +4 "core" & h p \ +2 "storage"(l& +3 "core" & p h Q\ +2 "manipulator"&^& +4 "core" &ӧ%  >J + "manipulator"&p% +4 "core" % ? L ] +2 .tForearm.seek :retract +2 "manipulator"&}' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'( +166 "core" ( +2 "manipulator"&_& +4 "core" &   +2 "storage"(U& +3 "core" & M\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&w'u +100 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" % ΃  % +2 "storage"(=& +4 "core" & '\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"& 'ϯ +38 "core" ' + "manipulator"&& +4 "core" &  .  +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`'7 +27 "core" ' +2 "storage"(t% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +2 "core" %@ i \ Wd +2 "manipulator"&% +5 "core" %e  ( + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'{& +5 "core" & \ + "manipulator"&r% +4 "core" %   h  +2 "storage"(+% +4 "core" % ~ \ + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +2 "core" &,{ e g \  +2 "manipulator"&& +4 "core" &  #  + .tElbow.seek 4 +2 "manipulator"&( +41 "core" ( +2 "manipulator"&x& +4 "core" &    + "storage"(& +4 "core" &,{ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&G' +94 "core" ' + "storage"(R& +5 "core" &,{ \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'r +296 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" &,{  Z _\  +2 "manipulator"&(& +3 "core" &  |  +3 .tElbow.seek 4 + "manipulator"&( +15 "core" ( +2 "manipulator"& & +4 "core" & \ t + "storage"(#& +4 "core" &,{ (\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&$'c +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& + "storage"(' +8 "core" &  P t + "manipulator"&4% +4 "core" % ϕ  O +2 .tForearm.seek :retract +2 "manipulator"&3' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P(ӂ +160 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"&& +2 "storage"(5 +6 "core" &Ӑ% { >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӑ% >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&>'? +92 "core" ' +2 "manipulator"&)& +5 "core" &Ӑ&  >J + "manipulator"&Y% +4 "core" %>   w +2 "collection"'!& +4 "core" & \ +2 "collection"'"& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'1(\\ +4 "core" & \  +9 &5} \ +{ +10 & g \ ? +9 &o \ M +9 &UR \ M +10 &U \ M +9 &W \ M +9 &V \ L +10 &^R \ L +9 & Y \ L +9 &U \ M +10 & U \ L +9 &"eU \ M +10 &$(U \ L +9 &%W \ L +9 &'W \ L +10 &)nS \ L +9 &+0U \ L +9 &,R \ L +10 &.U \ L +9 &0wS \ L +10 &28U \ L +9 &3T \ L +9 &5Y \ L +10 &7}W \ M +9 &9@W \ L +9 &;S \ L +10 &<W \ L +9 &>Y \ L +10 &@GX \ M +9 &B Y \ M +9 &C[ \ M +10 &Ef \ N +9 &GFs \ P +9 &H \ S +10 &J \ W +9 &Lt \ X +10 &N3 \ Y +9 &O \ Z +9 &Q \ Y +10 &Ss \ [\ +9 &U7 \ Z +9 &V \ \\ +10 &X \ \\ +9 &Zt \ ] +10 &\\z \ 1 +9 &\\0 \ ` +9 ( +3 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&61 +4 "core" &\\b \ O +55 1 + "manipulator"&Q% +5 "core" % > 5 w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%S& +4 "core" &\ +2 "manipulator"&.% +4 "core" %  c  + "storage"(:% +4 "core" % B > +\ +2 "storage"(F. +3 "core" .(,y + "storage"(/& +4 "core" &,{ @ A \  + "storage"(;& +4 "core" &,{ - > i\  + "manipulator"&A& +4 "core" &Ӑ% m >J +2 "manipulator"&k% +3 "core" %  f  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +167 "core" ( + "manipulator"&K& +4 "core" & :  +2 "storage"(E& +3 "core" &,{ 7 6 w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +92 "core" ' + "storage"(?& +4 "core" &,{ f e l\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +295 "core" ' + "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" &,{ A F o\  +2 "manipulator"&& +4 "core" & \\  + .tElbow.seek 4 +2 "manipulator"&O( +3 "core" ( + "manipulator"&5& +4 "core" &  $  + "storage"(8& +4 "core" &,{ L Y @\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&V'c +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&N/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(n' +7 "core" &  g  + "manipulator"&-% +4 "core" % T  < +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&&( +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&y& +4 "core" & \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &  w \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&[' +88 "core" ' + "manipulator"&f& +5 "core" &  8 \ + "manipulator"&% +4 "core" %  i +2 "processing"%J& +4 "core" &\ +41 "processing"%e& +17 "core" &\ +2 .tPC.seek :closed + "processing"%%(^ +4 "core" &\  +9 &0v\ *x +9 &b\ > +9 &au\ O +10 &!V\ O +9 &V\ O +10 &T\ O +9 &iV\ O +9 &+U\ O +10 &W\ O +9 &W\ N +9 & pW\ O +10 &"3T\ O +9 &#V\ N +10 &%U\ O +9 &'yW\ O +9 &)<T\ N +10 &*W\ O +9 &,W\ O +9 &.U\ O +10 &0CU\ O +9 &2T\ N +10 &3U\ O +9 &5W\ O +9 &7KU\ O +10 &9 \\\ O +9 &:X\ O +9 &<T\ O +10 &>QZ\ O +9 &@Z\ O +10 &Ab\ P +9 &Ck\ Q +9 &EOy\ S +10 &G \ U +9 &H\ U +9 &J\ V +10 &LO\ U +9 &N\ V +10 &O\ V +9 &Q\ W +9 &SS\ W +10 &U\ W +9 &V\ W +10 &X\ V +9 &Z[\ W +9 &\\\ W +10 &]\ 5 +9 &^3p\ F +9 ( +2 "processing"%e& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&B1 +4 "core" &^"\ 2 +54 1 + "manipulator"&D% +4 "core" %   i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +98 "core" ' + "processing"%a& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&T% +3 "core" % % I 9 +2 "storage"(% +4 "core" % + ) W\ + "storage"(. +3 "core" .(,y + "storage"(C& +4 "core" &,{ , + V\  +2 "storage"(& +3 "manipulator"&9& +6 "core" &,{ ) ) P\  + & a \ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&b( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(H'r +2 "core" ( + "manipulator"& & +4 "core" & Y \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" & = \ +2 .tForearm.seek PC +2 "manipulator"&Z' +92 "core" ' +2 .tHand.close + "manipulator"&,/ +60 "core" / +2 .tPC.seek :open + "processing"%*( +96 "core" ' +2 "storage"(j- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'1 +39 "core" ' +306 ( +2 "storage"(q& +4 "core" &,{ L K Y\  + "manipulator"&& +4 "core" &  J \ +2 "manipulator"&]% +3 "core" %   3  +2 .tForearm.seek :retract +2 "manipulator"&u' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&d( +248 "core" ( + "manipulator"&s& +5 "core" & \  G 7 + "storage"(m& +4 "core" &,{ L J M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +106 "core" ' + .tHand.open + "manipulator"&^1 +54 "core" 1 +2 "storage"(p- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(_' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(U' +59 "core" ' +2 #tLights, camera, ACTION! + "storage"(o- +4 "core" -' +2 "storage"(h& +3 "core" &,{ k\ z +2 "manipulator"&& +4 "core" &    7 + .tElbow.seek 4 +2 "manipulator"&( +28 "core" ( + "manipulator"&=& +4 "core" &  y  +2 "storage"(& +4 "core" &,{ \ { +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(t'" +52 "core" ' +2 "manipulator"&}& +4 "core" & <  +2 "storage"(& +3 "core" &,{ N M \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(w' +20 "core" ' +2 "manipulator"&{% +4 "core" %C  ^  +2 "storage"( & +3 "core" &,{ > 8 -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts +2 "manipulator"&r'o +15 "core" ' + "manipulator"&+& +4 "core" &  /  +2 "storage"(& +4 "core" &,{ M M \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +19 "core" ' + "storage"(`% +5 "core" % L L \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (L% +3 "core" %I , 4 u\ Xi +2 "manipulator"&\ % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (x& +4 "core" &,{ C D \  + "collection"'& +4 "core" &\\c \ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&R% +4 "core" %   R  +2 "storage"(% +4 "core" % F H \ + "storage"(|. +4 "core" .(,y + "storage"(\\& +4 "core" &,{ E : \  + "storage"(<& +4 "core" &,{ N E \  +2 "manipulator"&(& +3 "core" &  R  +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( + "manipulator"&#& +4 "core" &  S  +2 "storage"(c& +3 "core" &,{ L E 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +91 "core" ' +2 "storage"(4& +4 "core" &,{ O e Y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  +2 "storage"(& +4 "core" &,{ M M \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&2'7 +16 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"()- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(Y'd +30 "core" ' + "manipulator"&!% +4 "core" %G  p P +2 "storage"(& +4 "core" &,{ M M l\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&'s +16 "core" ' + "manipulator"&3& +5 "core" & .  + "storage"(& +4 "core" &,{ N M L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&6' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(Q' +40 "core" ' + "manipulator"&S& +5 "core" & Q  + "manipulator"&.% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&:' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +158 "core" ( +2 "manipulator"&/& +4 "core" &Ӆ* Bk + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &Ӆ* Bk + .tForearm.seek CC +2 "manipulator"&"'? +93 "core" ' +2 .tHand.close + "manipulator"&A/ +60 "core" / + .tCC.seek :open +2 "collection"'k( +448 "core" ( + "storage"(>& +4 "core" &,{ g o \  +2 "storage"(K& +3 "core" &,{ o s d\  +2 "manipulator"&E& +3 "core" &Ӑ) m A` +2 "manipulator"&?% +3 "core" % C  R Y +2 .tForearm.seek :retract +2 "manipulator"&P' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&X( +167 "core" ( +2 "manipulator"&I& +4 "core" &  I  +2 "storage"(7& +3 "core" &,{ u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +50 "manipulator"&81 +54 "core" 1 +2 "manipulator"&N% +4 "core" % 0  * +2 "storage"(M& +3 "core" &,{ ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 293 counts + "manipulator"&-'\\ +16 "core" ' +2 "manipulator"& & +4 "core" & <  + "storage"(W& +4 "core" &,{ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +18 "core" ' + "storage"(V% +4 "core" % T\ +3 ."downElevator"SE.seek :down +3 "storage"(y' +99 (i% +3 "core" %C \ Wd + "manipulator"&O% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +88 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" & \ + "manipulator"&J% +4 "core" %     +2 "storage"(n% +4 "core" %   ]\ +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +3 "core" &<* f g \  + "manipulator"&D& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( + "manipulator"&T& +4 "core" &  s  +2 "storage"(& +3 "core" &<* S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"(C& +4 "core" &<* w\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +23 "core" ' _; V y\ Qb +3 !to:Slide::Error\ : mesg"6Storage Elevator overCurrent at down + 192 counts: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeT: positioni_: velocityi: currenti;:pwmig:erri: inPressi : outPressiV :deltaPressiy : voltagef13.129144820814924: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"7/home/esp/esp2/lib/log.rb:412:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" +9 &p \ M +10 &PS \ L +9 &R \ L +9 &U \ L +10 &R \ L +9 &XU \ L +10 &X \ M +9 &U \ L +9 & U \ L +10 &"`X \ L +9 &$"U \ L +9 &%U \ L +10 &'X \ L +9 &)hV \ L +10 &+*V \ L +9 &,U \ M +9 &.U \ L +10 &0qU \ L +9 &22U \ L +9 &3W \ L +10 &5U \ L +9 &7xW \ L +10 &99V \ M +9 &:T \ L +9 &<V \ L +10 &>T \ L +9 &@BX \ L +9 &BY \ M +10 &C[ \ M +9 &Ef \ N +10 &G@r \ P +9 &H \ S +9 &J \ W +10 &Lm \ X +9 &N, \ Y +9 &O \ X +10 &Q \ Z +9 &Sn \ [ +10 &U. \ [ +9 &V \ \\ +9 &X \ \\ +10 &Zm \ ^ +9 &\\z \ 3 +9 &\\0 \ [ +9 ( +3 "collection"'z& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"& 1 +3 "core" &\\p \ N +53 1 + "manipulator"&_% +5 "core" % C  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&`% +3 "core" %  C " +2 "storage"(d% +4 "core" % 9 9 6\ + "storage"(l. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(U(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +3 "core" &<*   A\  +2 "manipulator"&\ & +3 "core" &ӏ) 1 Ae +2 "manipulator"&% +4 "core" %   " + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&t& +4 "core" &  X  + "storage"(& +4 "core" &<* M M \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +99 "core" ' + "storage"(x& +4 "core" &<* I D \ \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* G M B\  + "manipulator"&|& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&w( +4 "core" ( +2 "manipulator"&\\& +3 "core" & o  +2 "storage"(<& +3 "core" &<* M L \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&('Ϲ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&#/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&c& +4 "storage"(v' +5 "core" &   +2 "manipulator"&4% +4 "core" %  # +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&'( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +109 "core" ( + "manipulator"&& +5 "core" &  Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" & w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&& +5 "core" & + "manipulator"&)% +4 "core" % s +2 "processing"%!& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%3(^ +4 "core" &\ +7 &5\ #b +10 &T{\ 7 +9 &~{\ L +9 &T\ O +10 &VV\ O +9 &T\ O +9 &Z\ O +10 &U\ O +9 &^S\ O +10 &W\ O +9 &T\ O +9 &!T\ O +10 &#fT\ O +9 &%(U\ O +9 &&U\ N +10 &(V\ O +9 &*mW\ O +9 &,0V\ O +10 &-T\ N +9 &/V\ O +10 &1vU\ O +9 &38W\ O +9 &4W\ O +10 &6X\ O +9 &8}W\ O +9 &:?U\ O +10 &;W\ P +9 &=W\ O +10 &?Y\ O +9 &AEX\ P +9 &C_\ P +10 &Di\ Q +9 &Fv\ S +10 &H>\ U +9 &I\ U +9 &K\ V +10 &M\ V +9 &OB\ V +9 &Q\ V +10 &R\ W +9 &T\ X +10 &VI\ V +9 &X\ \ W +9 &Y\ W +10 &[\ W +9 &]O\ I +9 &^xE\ #i +10 &^5\ 3 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&1 +3 "core" &^"6\ 3 +58 1 + "manipulator"&S% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +52 "processing"%~& +4 "core" &^"\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" % # " 5 +2 "storage"(% +4 "core" % 3 ) i\ + "storage"(2. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +2 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (Y& +3 "core" &<+  \  +2 "manipulator"&/& +2 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 "core" & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +3 "manipulator"&;( +2 "storage"(6'r +26 "core" ( + "manipulator"&$& +5 "core" & ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &  z ' +2 .tForearm.seek PC +2 "manipulator"&:' +92 "core" ' +2 .tHand.close + "manipulator"&1/ +58 "core" / + .tPC.seek :open +2 "processing"%>( +76 "core" ' + "storage"(K- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(E'1 +46 "core" ' +323 ( +2 "storage"(?& +5 "core" &<+ M M \  + "manipulator"&I& +4 "core" & ' + "manipulator"&7% +4 "core" %  3 +2 .tForearm.seek :retract +2 "manipulator"&"' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&F( +243 "core" ( +2 "manipulator"&8& +4 "core" & j 0 + "storage"(N& +4 "core" &<+ 9 9 y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&M'O +94 "core" ' + .tHand.open + "manipulator"& 1 +59 "core" 1 + "storage"(W- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(V' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(P' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(i- +3 "core" -' +2 "storage"(O& +4 "core" &<+ \  + "manipulator"&X& +4 "core" & S 0 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  0 +2 "storage"(-& +4 "core" &<+ \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&J'O +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(n'" +49 "core" ' + "manipulator"&& +4 "core" & h 0 +2 "storage"(Q& +4 "core" &<+ + 3 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&0'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&y, +28 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"( ' +20 "core" ' + "manipulator"&B% +5 "core" %Η  # + "storage"(D& +4 "core" &<+ 9 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&T' +14 "core" ' + "manipulator"&& +5 "core" &  a / + "storage"(C& +5 "core" &<+ M M \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' + "storage"(e% +5 "core" % M N \ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 ([% +3 "core" %pK 3 ) I\ Yj +2 "manipulator"&,% +4 "core" %; # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +87 "core" ' +70 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (5& +4 "core" &<+ M J @\  +2 "collection"'f& +4 "core" &\\o \ N + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&a% +4 "core" %  F  +2 "storage"(% +4 "core" % M M \ + "storage"(%. +4 "core" .(<- + "storage"(9& +4 "core" &<+ M M \  + "storage"(H& +4 "core" &<+ M M \  +2 "manipulator"&q& +3 "core" &  / +2 .tElbow.seek 5 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&Z& +3 "core" & ? / +2 "storage"(m& +4 "core" &<+ N M \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +93 "core" ' +2 "storage"(p& +4 "core" &<+ L J W\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'r +307 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & D / + "storage"(u& +4 "core" &<+ 9 > \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&g'΍ +14 "core" ' +2 .tElbow.hold +2 "manipulator"&s, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(}'^ +29 "core" ' +2 "manipulator"&% +4 "core" %Λ X + "storage"(& +4 "core" &<+ N M \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&^' +14 "core" ' +2 "manipulator"&o& +4 "core" &  / + "storage"(k& +4 "core" &<+ M M \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +16 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(_' +35 "core" ' + "manipulator"&& +5 "core" & / + "manipulator"&`% +4 "core" %3 $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&d' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +152 "core" ( +2 "manipulator"&z& +4 "core" &Ӌ(  + @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +2 "core" &Ӌ( E @] +2 .tForearm.seek CC +2 "manipulator"&\ '? +95 "core" ' + .tHand.close + "manipulator"&/ +64 "core" / + .tCC.seek :open +2 "collection"'=( +448 "core" ( + "storage"(t& +4 "core" &<+ f j a\  +2 "storage"(& +4 "core" &<+ o r Q\  + "manipulator"&& +4 "core" &ә% 3 >O + "manipulator"&x% +4 "core" % K  [ Y +2 .tForearm.seek :retract +2 "manipulator"&h' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&+( +167 "core" ( +2 "manipulator"&R& +4 "core" &  '  +2 "storage"(& +18 "core" &<+ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&|'΍ +104 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +64 "core" 1 +2 "manipulator"&#% +5 "core" % Ά  d + "storage"(c& +4 "core" &<+ { z \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 293 counts +2 "manipulator"&4'ϲ +15 "core" ' +2 "manipulator"&& +4 "core" &  |  +2 "storage"(r& +3 "core" &<+ _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +21 "core" ' + "storage"((% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (G% +2 "core" %I w t\ Wf +2 "manipulator"&w% +4 "core" %L  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +140 "core" ' +4 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"')& +5 "core" & \ + "manipulator"&!% +4 "core" %  y  +2 "storage"(v% +4 "core" %  W\ + "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(*(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K h f \  + "manipulator"&S& +4 "core" &  '  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&~& +4 "core" &   +2 "storage"( & +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(2& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'r +296 "core" ' +2 "storage"(/- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ($& +3 "core" &K r 3\  +2 "manipulator"&A& +4 "core" &  U  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&1& +4 "core" &    +2 "storage"(U& +3 "core" &K 3\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&K'h +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& + "storage"(3' +7 "core" &  {  +2 "manipulator"&6% +4 "core" % ϋ > + .tForearm.seek :retract +2 "manipulator"&?' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&I(ӂ +160 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&7& +4 "core" &Ӑ&  ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &Ӑ&  = ?S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&8'? +94 "core" ' +2 "manipulator"&N& +4 "core" &Ӑ&  ` ?S + "manipulator"&;% +4 "core" %D  a +2 "collection"' & +4 "core" &  \ +2 "collection"'W& +6 "core" & `\ +2 .tCC.seek :closed +2 "collection"'i(\\ +4 "core" & `\ +6 & v\ 8 +10 &GIv g\ 0 +9 &vt~ U\ D +9 &] e\ M +10 &T `\ L +9 &U \ L +10 &cU \ L +9 &$U n\ M +9 &U z\ L +10 &U \ L +9 &kU \ L +9 &!-U i\ L +10 &"U e\ L +9 &$T \ M +10 &&tU \ L +9 &(5U \ L +9 &)U \ L +10 &+U \ L +9 &-}Q \ L +9 &/>U \ L +10 &1T \ L +9 &2T \ L +10 &4T \ L +9 &6EV \ L +9 &8U \ L +10 &9R \ L +9 &;U \ L +9 &=MW \ L +10 &?U \ M +9 &@V \ L +10 &B[ \ M +9 &DPg \ N +9 &F\ z \ Q +10 &G _\ T +9 &Iv d\ Y +9 &K8 f\ Y +10 &L \ Z +9 &N h\ Z +10 &P{ e\ Z +9 &R; f\ [ +9 &S g\ \\ +10 &U b\ \\ +9 &Wz e\ ] +9 &Y8 f\ ^ +10 &Z f\ ^ +9 &\\[R c\ 4 +10 &\\ f\ a +5 ( + "collection"'W& +5 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.32 + .Hand.open +2 "manipulator"&O1 +3 "core" &\\ \ !` +50 1 + "manipulator"&X% +5 "core" % D P + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%-& +5 "core" &\ + "manipulator"&"% +4 "core" %   -  +2 "storage"(% +4 "core" % ) , P\ + "storage"(Q. +3 "core" .(K +2 "storage"(E& +3 "core" &K 6 3 \  +2 "storage"(B& +4 "core" &K 3 ) {\  + "manipulator"&D& +4 "core" &Ӑ& % ?S +2 "manipulator"&% +3 "core" %  .  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&V( +165 "core" ( + "manipulator"&C& +4 "core" & F  +2 "storage"(e& +4 "core" &K M M \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&F' +95 "core" ' +2 "storage"(M& +4 "core" &K M L \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +295 "core" ' + "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +2 "core" &K 3 - \  +2 "manipulator"&J& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&n& +4 "core" &  ,  + "storage"(0& +4 "core" &K , , ;\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&T'h +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&5/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(a' +7 "core" &  ^  +2 "manipulator"&% +4 "core" % ϝ + .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&%( +171 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&9& +4 "core" & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" & 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&q' +95 "core" ' +2 "manipulator"&Z& +4 "core" & c +2 "manipulator"&m% +3 "core" %  $ +2 "processing"%& +4 "core" &=\ +2 "processing"%p& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &'\ +8 & .(\ #a +9 &T|*\ 7 +9 &~|&\ L +10 &U&\ O +9 &PU(\ O +9 &T)\ O +10 &U\ O +9 &U&\ O +9 &WS*\ O +10 &U(\ O +9 &T.\ O +10 &!S,\ O +9 &#`T)\ O +9 &%#T%\ O +10 &&T\ O +9 &(U(\ O +9 &*hU(\ O +10 &,+U\ O +9 &-S4\ O +10 &/U*\ O +9 &1pW#\ O +9 &33T&\ O +10 &4T\ N +9 &6T$\ O +10 &8xU'\ O +9 &::T&\ O +9 &;W"\ O +10 &=W&\ O +9 &?X\ O +9 &A?]\ P +10 &BgR\ Q +9 &Do\ R +9 &Fx\ T +10 &H7\ U +9 &I'\ U +10 &K\ U +9 &M{0\ V +9 &O>\ V +10 &P\ W +9 &R\ W +10 &T\ X +9 &VD%\ V +9 &X\ W +10 &Y\ W +9 &[\ W +9 &]I\ M +10 &^yG\ !d +9 &^;\ 4 +6 ( +2 "processing"%p& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&y1 +3 "core" &^'\ 4 +58 1 + "manipulator"&&% +4 "core" %  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j' +98 "core" ' + "processing"%& +5 "core" &^'\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&u% +3 "core" % % a < +2 "storage"(% +4 "core" % 6 6 ;\ + "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K 6 3 +\  +2 "storage"(o& +2 "manipulator"&k& +7 "core" &K 7 , \  +2 &  G +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(`'r +4 "core" ( +2 "manipulator"&b& +4 "core" & S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" & W +2 .tForearm.seek PC +2 "manipulator"&@' +93 "core" ' + .tHand.close +2 "manipulator"&g/ +58 "core" / +2 .tPC.seek :open +2 "processing"%^( +96 "core" ' + "storage"(}- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'1 +40 "core" ' +309 ( + "storage"(L& +4 "core" &K - 6\  +2 "manipulator"& & +3 "core" & 8 +2 "manipulator"&s% +4 "core" %  /  + .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&d( +239 "core" ( + "manipulator"&{& +4 "core" & 6 L +2 "storage"(t& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +51 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(x- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(R' +23 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(\ - +4 "core" -' +2 "storage"(l& +3 "core" &K\ \  O\ } +2 "manipulator"&<& +4 "core" &  C L +2 .tElbow.seek 6 + "manipulator"&#( +4 "core" ( + "manipulator"&c& +4 "core" &  L +2 "storage"(& +4 "core" &K\ \  t\ ~ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(('" +58 "core" ' + "manipulator"&h& +5 "core" & L + "storage"(G& +4 "core" &K ( ) P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&w'< +25 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(|' +22 "core" ' + "manipulator"&)% +5 "core" %N  + "storage"(4& +4 "core" &K  " J\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&!'z +24 "core" ' +2 "manipulator"&v& +4 "core" & W K +2 "storage"(& +4 "core" &K ( , k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&_' +19 "core" ' +2 "storage"(% +4 "core" % M < \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (% +4 "core" %O 6 2\ Yk + "manipulator"&% +4 "core" % 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (~& +3 "core" &K 6 4\  +2 "collection"' & +4 "core" &\\ \ !` +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&2% +4 "core" %  \\  +2 "storage"(\\% +3 "core" % 9 8 ,\ +2 "storage"(. +3 "core" .(K + "storage"(/& +4 "core" &K 6 6 4\  +2 "storage"($& +4 "core" &K 6 4\  + "manipulator"&A& +4 "core" & d K + .tElbow.seek 6 +2 "manipulator"&1( +4 "core" ( + "manipulator"&U& +4 "core" &  K +2 "storage"('& +4 "core" &K 7 8 ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +99 "core" ' +2 "storage"(6& +4 "core" &K + 4 \\\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +2 "core" &  K +2 "storage"(:& +4 "core" &K ( ' a\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&Y'< +17 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(N- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(;'g +29 "core" ' +2 "manipulator"& % +4 "core" %E ~  + "storage"(& +4 "core" &K  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 309 counts +2 "manipulator"&3'q +16 "core" ' + "manipulator"&?& +4 "core" &  V K +2 "storage"(=& +4 "core" &K + 2 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(X' +36 "core" ' +2 "manipulator"&-& +4 "core" & F K + "manipulator"&"% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&Q(ӂ +154 "core" ( +2 "manipulator"&E& +4 "core" &Ӛ" ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &Ӛ" K ;3 + .tForearm.seek CC +2 "manipulator"&W'? +95 "core" ' + .tHand.close + "manipulator"&D/ +62 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( +2 "storage"(8& +4 "core" &K s n b\  + "storage"(C& +4 "core" &K r r 7\  +2 "manipulator"&e& +3 "core" &Ӛ" C ;3 +2 "manipulator"&M% +3 "core" % E  A \\ +2 .tForearm.seek :retract +2 "manipulator"&I' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&[& +4 "core" &   + "storage"(,& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&J'< +95 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&01 +55 "core" 1 +2 "manipulator"&5% +4 "core" % .  u  + "storage"(f& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 286 counts +2 "manipulator"&'Z +15 "core" ' +2 "manipulator"&V& +4 "core" &   +2 "storage"(F& +3 "core" &K $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +17 "core" ' +2 "storage"(T% +4 "core" % } S\ +2 ."downElevator"SE.seek :down +4 "storage"(9' +99 (H% +3 "core" %eC e e \ Wd + "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +89 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'m& +9 "core" & T\ +2 "manipulator"&% +4 "core" %  ]  + "storage"(a% +4 "core" % y *\ +2 "storage"( . +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(>(  +1300 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (y& +3 "core" &  N\ + "manipulator"&&& +4 "core" &  X  +2 .tElbow.seek 2 +2 "manipulator"&( +9 "core" ( + "manipulator"&u& +4 "core" & \ D z +2 "storage"(& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +90 "core" ' +2 "storage"(& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'r +299 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (o& +3 "core" &   r\ + "manipulator"&b& +4 "core" &  r z +2 .tElbow.seek 2 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&q& +3 "core" &  u z +2 "storage"(g& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&}'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&%/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& + "storage"( ' +7 "core" &  z + "manipulator"&`% +4 "core" % Ͼ  +2 .tForearm.seek :retract +2 "manipulator"&L' +94 "core" ' + .tElbow.seek CC +51 "manipulator"& (ӂ +108 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +49 "core" ( +2 "manipulator"&s& +4 "core" &ӓ"  k ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &ӓ"  ;2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'? +101 "core" ' +2 "manipulator"&t& +4 "core" &Ӕ! u :1 +2 "manipulator"&% +4 "core" %E  u  + "collection"'& +4 "core" & n\ +2 "collection"'x& +6 "core" & r\ +2 .tCC.seek :closed +3 "collection"'\ (\\ +3 "core" & r\ +6 & s\ ; +9 &LJu s\ 0 +10 &{t} r\ E +9 &%X r\ L +9 &T s\ L +10 &U r\ L +9 &kT s\ L +9 &-T q\ L +10 &T k\ L +9 &S p\ L +10 &sT s\ L +9 &!5S e\ L +9 &"T p\ M +10 &$S l\ L +9 &&|T n\ L +9 &(=T r\ L +10 &)T s\ M +9 &+S e\ L +10 &-S l\ L +9 &/ET l\ L +9 &1T r\ L +10 &2T o\ L +9 &4T k\ L +9 &6MT i\ L +10 &8U l\ L +9 &9T d\ M +10 &;T e\ L +9 &=UU c\ L +9 &?W n\ L +10 &@V m\ L +9 &BW d\ L +9 &DZ` d\ M +10 &Fe h\ N +9 &Gu ^\ P +10 &I n\ T +9 &KD n\ X +9 &M \\\ X +10 &N j\ X +9 &P Y\ Y +10 &RF a\ Z +9 &T l\ Z +9 &U e\ Z +10 &W a\ [ +9 &YD a\ ] +9 &[ `\ \\ +10 &\\bN _\ 2 +9 &\\ d\ U +5 ( +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.12 + .Hand.open +3 "manipulator"&l1 +3 "core" &\\n \ U +58 1 +2 "manipulator"&<% +5 "core" % E 1  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &5\ +2 "manipulator"&% +3 "core" %  K  +2 "storage"(h% +4 "core" % 7 7 @\ + "storage"(G. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"()(  +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (4& +3 "core" & , ) }\ + "manipulator"&z& +4 "core" &Ӕ!  :1 + "manipulator"&v% +4 "core" %  4  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&R( +155 "core" ( +2 "manipulator"&& +4 "core" & + "storage"(& +4 "core" & M M \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&d'S +88 "core" ' +2 "storage"(& +4 "core" & G M f\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & ; D 0\ + "manipulator"&r& +4 "core" & U +2 .tElbow.seek 2 + "manipulator"&#( +4 "core" ( +2 "manipulator"&(& +3 "core" & 8 +2 "storage"(w& +3 "core" & M O \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&!'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(2' +7 "core" & { +2 "manipulator"&\\% +4 "core" % Ͼ 4 + .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&|( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&/& +4 "core" & c \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" & B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&A' +97 "core" ' +2 "manipulator"&U& +4 "core" &  \ +2 "manipulator"&'% +4 "core" % + "processing"%_& +4 "core" &7\ +2 "processing"%6& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &:\ \ +9 &0u8\ )w +9 &b<\ > +10 &gs6\ O +9 &(T9\ O +10 &R4\ O +9 &R5\ N +9 &oR3\ N +10 &0S?\ O +9 &X6\ O +9 &T6\ N +10 & vU4\ O +9 &"9Q8\ N +10 &#T9\ O +9 &%Q6\ N +9 &'}T7\ O +10 &)@R6\ O +9 &+V7\ O +9 &,U4\ N +10 &.R3\ O +9 &0HR5\ O +10 &2 S4\ N +9 &3R7\ N +9 &5R3\ O +10 &7QS4\ N +9 &9W5\ O +9 &:U4\ O +10 &<U6\ O +9 &>XX3\ O +10 &@W5\ O +9 &A[7\ P +9 &Cc6\ Q +10 &EXl7\ Q +9 &G6\ T +9 &H6\ U +10 &J5\ V +9 &LT6\ U +10 &N7\ V +9 &O6\ V +9 &Q6\ W +10 &SW6\ W +9 &U6\ W +9 &V6\ V +10 &X6\ V +9 &Z`6\ W +10 &\\"6\ W +9 &]y7\ 8 +9 &^,n3\ X +10 &^*6\ 5 +2 ( + "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&+1 +58 "core" 1 +2 "manipulator"&S% +4 "core" %   ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 "processing"%7& +4 "core" &^'5\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&:% +4 "core" % # 7 2 + "storage"(N% +4 "core" % ) * \ +2 "storage"( . +3 "core" .(  + "storage"(& +4 "core" & + , \ +2 "storage"(?& +4 "manipulator"&=& +4 "core" & + ) $\ + &  \ +4 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&-( +3 ."raiseStack"SE.seek :beamBreak + "storage"("'r +7 "core" ( + "manipulator"&.& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" & q  +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&Y/ +59 "core" / +3 .tPC.seek :open + "processing"%3( +91 "core" ' +2 "storage"(;- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'1 +46 "core" ' +307 ( + "storage"(B& +4 "core" & = J x\ + "manipulator"&O& +4 "core" & }  + "manipulator"&K% +4 "core" % \  < / +2 .tForearm.seek :retract + "manipulator"&D' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +235 "core" ( +2 "manipulator"&i& +4 "core" &  ^ ( +2 "storage"(8& +3 "core" & 8 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&C'S +92 "core" ' +2 .tHand.open + "manipulator"&e1 +60 "core" 1 +2 "storage"(M- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"([' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(W- +3 "core" -' +2 "storage"(Q& +4 "core" & o { B\ +2 "manipulator"&0& +3 "core" & \  ( +2 .tElbow.seek 2 +2 "manipulator"&5( +3 "core" ( + "manipulator"&f& +4 "core" &   ( +2 "storage"(V& +4 "core" & | } \ +2 .tForearm.seek 2 + 450 counts + "manipulator"&F'S +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(T'" +52 "core" ' +2 "manipulator"&I& +4 "core" & ( +2 "storage"(H& +4 "core" & 6 8 c\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(J' +20 "core" ' + "manipulator"&m% +5 "core" %Τ + "storage"(& +4 "core" & 8 9 \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&a& +5 "core" & V ' + "storage"( & +4 "core" & L M \ +52 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&X'S +19 "core" ' + "storage"(P% +5 "core" % M L ~\ +2 ."downElevator"SE.seek :down +4 "storage"(9' +99 (*% +3 "core" %O ) $ )\ Ym +2 "manipulator"&y% +4 "core" %X J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +92 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (u& +4 "core" & + , /\ + "collection"'& +4 "core" &\\m Z\ U +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %  E " +2 "storage"(n% +4 "core" % 7 @ Y\ + "storage"(Z. +4 "core" .(  + "storage"(k& +4 "core" & + * U\ +2 "storage"(o& +4 "core" & + ) O\ +2 "manipulator"&b& +3 "core" &  4 ' +2 .tElbow.seek 2 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&g& +3 "core" &  t ' +2 "storage"(%& +4 "core" & = - I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&j'S +98 "core" ' + "storage"(`& +5 "core" & M M \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&p& +3 "core" &  ' +2 "storage"(}& +3 "core" & 6 8 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&s'Α +14 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(t- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"('a +29 "core" ' + "manipulator"&% +4 "core" %Υ  - 3 +2 "storage"(]& +3 "core" & M M f\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"& ' +14 "core" ' +2 "manipulator"&L& +4 "core" & \ ' +2 "storage"(& +3 "core" & M L \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&l'S +15 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(<' +39 "core" ' + "manipulator"&& +5 "core" &  ' ' + "manipulator"&% +4 "core" %> ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +146 "core" ( +2 "manipulator"&x& +4 "core" &z)  Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &z) ( Ae +2 .tForearm.seek CC + "manipulator"&z'? +93 "core" ' +2 .tHand.close +2 "manipulator"&v/ +60 "core" / +2 .tCC.seek :open +2 "collection"'{( +447 "core" ( +2 "storage"(& +4 "core" & q j \ + "storage"(& +4 "core" & b d R\ + "manipulator"&& +4 "core" &Ӣ#  <= +2 "manipulator"&>% +3 "core" % M  = +2 .tForearm.seek :retract +2 "manipulator"& ' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&c( +162 "core" ( + "manipulator"&& +5 "core" & \ + "storage"(& +4 "core" & f g \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&r'Α +96 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&w1 +64 "core" 1 +2 "manipulator"&~% +4 "core" % Ά + "storage"( & +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 289 counts + "manipulator"&\\'ϲ +15 "core" ' + "manipulator"&R& +4 "core" & [ \ +2 "storage"(d& +4 "core" & D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +18 "core" ' +2 "storage"(!% +4 "core" % } R\ +2 ."downElevator"SE.seek :down +4 "storage"(/' +100 ($% +2 "core" %J r q 9\ Xi +2 "manipulator"&#% +4 "core" %>  G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"''& +4 "core" & $\ +2 "manipulator"&_% +4 "core" %    + "storage"(2% +4 "core" % \ +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(^( +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" & g f [\  +2 "manipulator"&S& +4 "core" & ) \ +2 .tElbow.seek 3 + "manipulator"&7( +33 "core" ( +2 "manipulator"&:& +4 "core" &  H 1 + "storage"(N& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +92 "core" ' +2 "storage"(& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='r +294 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (6& +3 "core" & h e \  + "manipulator"&.& +4 "core" & h 1 +2 .tElbow.seek 3 + "manipulator"&1( +4 "core" ( + "manipulator"&A& +4 "core" &  l 1 +2 "storage"(Y& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&;'ϡ +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +7 "core" &  L 1 + "manipulator"&"% +4 "core" % Ϛ m g +2 .tForearm.seek :retract +2 "manipulator"&B' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&O(ӂ +150 "core" ( + "manipulator"&K& +4 "core" &y+  b Cs +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +6 "core" &y+ b Cs +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&i'? +94 "core" ' + "manipulator"&8& +4 "core" &Ӝ& { ?P +3 "manipulator"&-% +3 "core" %7 w E +2 "collection"'e& +4 "core" & /\ +2 "collection"'M& +6 "core" & 2\ +2 .tCC.seek :closed + "collection"'W(\\ +4 "core" & i\  +8 &4w r\ *z +10 &g} p\ ? +9 &n s\ M +10 &^Q q\ L +9 & T s\ L +9 &T l\ L +10 &S o\ L +9 &fT s\ L +9 &'U n\ L +10 &T s\ L +9 & S h\ L +10 &"mT p\ L +9 &$/T h\ L +9 &%T e\ L +10 &'U s\ L +9 &)tT i\ L +9 &+8Q m\ L +10 &,U h\ L +9 &.T o\ L +9 &0}U s\ L +10 &2>T i\ L +9 &4T f\ L +10 &5U f\ L +9 &7T o\ M +9 &9GU f\ L +10 &;U h\ L +9 &<U d\ L +9 &>X k\ L +10 &@NU p\ L +9 &BZ k\ M +10 &C^ m\ M +9 &Ed h\ N +9 &GLs r\ P +10 &I f\ S +9 &J p\ W +10 &Lz g\ X +9 &N: j\ X +9 &O j\ X +10 &Q a\ Y +9 &S| j\ Z +9 &U= m\ Z +10 &V e\ \\ +9 &X g\ \\ +10 &Z| o\ ] +9 &\\"z o\ 0 +9 &\\/ l\ ] +9 ( +2 &\\c l\ O +2 "collection"'M& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&Q1 +62 "core" 1 +2 "manipulator"&0% +4 "core" % 7 E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%V& +5 "core" &8\ + "manipulator"&D% +4 "core" % \  1  +2 "storage"(I% +4 "core" % M L \ + "storage"(H. +3 "core" .( +2 .tSC.reconfigure :tight +51 "storage"($\ .\ 1~b +4 .tSC.seek 3 + "storage"(m( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & 8 3 \  + "manipulator"&E& +4 "core" &Ӝ& ?P +2 "manipulator"&a% +3 "core" % \  D  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& ( +163 "core" ( + "manipulator"&[& +5 "core" & 5  + "storage"(P& +4 "core" & : @ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' +2 "storage"(C& +4 "core" & e e \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'r +300 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" & C K +\  +2 "manipulator"&y& +4 "core" & A  + .tElbow.seek 3 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&T& +3 "core" & \ '  +2 "storage"(& +3 "core" & M O \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +36 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +7 "core" &  o  +2 "manipulator"&n% +4 "core" % ϱ O Q + .tForearm.seek :retract +2 "manipulator"&Z' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( + "manipulator"&k& +4 "core" &  +2 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +2 &o& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&b' +94 "core" ' + "manipulator"&g& +4 "core" &  +2 "manipulator"&%% +4 "core" %  s c +2 "processing"%X& +4 "core" &5\ +2 "processing"%`& +5 "core" &6\ +2 .tPC.seek :closed +2 "processing"%9(^ +4 "core" &;\ +7 & %9\ #b +9 &V|?\ 8 +10 &v8\ L +9 &U8\ O +9 &ZV5\ O +10 &Q8\ N +9 &W8\ O +9 &T8\ O +10 &dR7\ N +9 &%T9\ O +10 &W3\ O +9 &!Q8\ N +9 &#kR:\ O +10 &%.R9\ N +9 &&R7\ O +9 &(S9\ O +10 &*sV7\ O +9 &,5T8\ O +10 &-R8\ N +9 &/T8\ O +9 &1{T4\ O +10 &3<U:\ O +9 &5R6\ N +9 &6S@\ O +10 &8T?\ O +9 &:ETA\ O +10 &<U>\ O +9 &=U9\ O +9 &?U9\ O +10 &AJYB\ P +9 &Cc<\ Q +9 &Dp6\ R +10 &F=\ U +9 &HB<\ U +9 &J@\ U +10 &KB\ U +9 &M:\ V +10 &OGA\ V +9 &Q?\ V +9 &R;\ V +10 &TA\ X +9 &VL6\ W +9 &X;\ W +10 &Y?\ W +9 &[A\ W +10 &]R<\ J +9 &^}H8\ \\ +9 &^ Q6\ 6 +6 ( +2 "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&1 +4 "core" &^,=\ 6 +54 1 +2 "manipulator"&&% +4 "core" %  c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%p& +4 "core" &^,6\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&}% +4 "core" %   +2 "storage"(t% +3 "core" % + + S\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(]( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +2 "manipulator"&& +9 "core" & ' <\  + &  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"('r +4 "core" ( +2 "manipulator"&j& +3 "core" & [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" & # +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&s/ +65 "core" / +2 .tPC.seek :open + "processing"% ( +93 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'1 +44 "core" ' +307 ( +2 "storage"(4& +4 "core" & M M \  + "manipulator"&l& +4 "core" & Q +2 "manipulator"&@% +3 "core" % \  +2 .tForearm.seek :retract +2 "manipulator"&v' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&h( +242 "core" ( + "manipulator"&\ & +4 "core" &  S +2 "storage"(& +3 "core" & M M \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +88 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +3 "storage"(>- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(z- +4 "core" -' + "storage"(G& +4 "core" & \  +2 "manipulator"&w& +3 "core" & u S +2 .tElbow.seek 3 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"& & +3 "core" & S +2 "storage"(R& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(!'" +53 "core" ' +2 "manipulator"& & +4 "core" & D S +2 "storage"($& +3 "core" & = J i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&#'u +25 "core" ' +2 .tElbow.hold + "manipulator"&c, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +20 "core" ' + "manipulator"&'% +4 "core" %Ή " +2 "storage"(\\& +4 "core" & 3 , \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&_'ϵ +14 "core" ' + "manipulator"&2& +5 "core" &  $ S + "storage"(& +4 "core" & M L \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&<'7 +19 "core" ' + "storage"(% +5 "core" % L L \ +2 ."downElevator"SE.seek :down +3 "storage"(/' +99 ()% +3 "core" %<I 9 8 1\ Xi +2 "manipulator"&+% +4 "core" %5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +92 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (:& +4 "core" & I ? "\  +2 "collection"'N& +3 "core" &\\c m\ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %    +2 "storage"((% +3 "core" % M M \ +2 "storage"(U. +3 "core" .( + "storage"(?& +4 "core" & M B u\  +2 "storage"(6& +4 "core" & M L d\  + "manipulator"&.& +4 "core" &  S +2 .tElbow.seek 3 +2 "manipulator"&A( +3 "core" ( + "manipulator"&Y& +4 "core" &  W S +2 "storage"(|& +3 "core" & I L .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +97 "core" ' + "storage"("& +4 "core" & E K 9\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'r +294 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" & = S + "storage"(& +4 "core" & K L {\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tForearm.seek 3 + "manipulator"&='u +22 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(8- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(-'f +29 "core" ' + "manipulator"&e% +5 "core" %Ή o + "storage"(1& +4 "core" & L M \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts + "manipulator"&'ϵ +15 "core" ' + "manipulator"&B& +4 "core" &   S +2 "storage"({& +4 "core" & M M s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q'7 +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(0' +39 "core" ' + "manipulator"&V& +5 "core" & ( S +2 "manipulator"&D% +4 "core" %- s + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +87 "core" ' + .tElbow.seek CC +2 "manipulator"&H(ӂ +153 "core" ( +2 "manipulator"&M& +4 "core" &Ӎ) i Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӎ) ] Ad +2 .tForearm.seek CC + "manipulator"&E'? +96 "core" ' + .tHand.close +2 "manipulator"&a/ +56 "core" / +2 .tCC.seek :open +2 "collection"'i( +447 "core" ( + "storage"([& +5 "core" & e g \  + "storage"(P& +4 "core" & g e \  + "manipulator"&^& +4 "core" &ӏ) r Ab +2 "manipulator"&C% +3 "core" % K < 4 +2 .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&f( +167 "core" ( + "manipulator"&*& +5 "core" &| \  2  + "storage"(F& +4 "core" & /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&y'u +95 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&u% +4 "core" % r ! +2 "storage"(& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 297 counts + "manipulator"&n'Ϟ +13 "core" ' +2 "manipulator"& & +5 "core" &|   + "storage"(& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&,'7 +17 "core" ' + "storage"(% +5 "core" % ;\ +2 ."downElevator"SE.seek :down +3 "storage"(k' +99 (o% +3 "core" %D m f\ Wc + "manipulator"&5% +4 "core" %  P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +89 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'%& +5 "core" & '\ + "manipulator"&X% +4 "core" %   >  +2 "storage"(% +4 "core" % { @\ + "storage"(Z. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(3(,y +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,  k 1\ +2 "manipulator"&&& +3 "core" &|   +2 .tElbow.seek 4 +2 "manipulator"&p( +37 "core" ( +2 "manipulator"&}& +4 "core" & 5  + "storage"(t& +4 "core" &, | } o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +90 "core" ' + "storage"(`& +4 "core" &, \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(L- +3 "core" -'\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +2 "core" &,| h U\  +2 "manipulator"&q& +3 "core" & 6  +2 .tElbow.seek 4 +2 "manipulator"&b( +7 "core" ( +2 "manipulator"&s& +4 "core" & \ e  +2 "storage"(m& +4 "core" &,| +\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&J/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(9' +7 "core" &  +  + "manipulator"&% +4 "core" % _ k +2 .tForearm.seek :retract +2 "manipulator"&4' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&@& +4 "core" &Ӎ& F ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &Ӎ& ?V +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\ '? +105 "core" ' +2 "manipulator"&& +4 "core" &ӎ'  ?U +2 "manipulator"&% +3 "core" %B 9 +2 "collection"'& +5 "core" & 5\ +2 "collection"'>& +5 "core" & ;\ +2 .tCC.seek :closed + "collection"'z(\\ +4 "core" & \ +8 &< \ $e +10 &Vy v\ 7 +9 &v z\ K +10 &T y\ L +9 &T p\ K +9 &@U y\ L +10 &T u\ L +9 &X |\ L +9 &T |\ L +10 &IT q\ L +9 & T y\ K +10 &!T x\ L +9 &#U {\ L +9 &%QS ~\ L +10 &'W \ L +9 &(T }\ L +9 &*T z\ L +10 &,XT y\ L +9 &.T |\ L +9 &/T |\ K +10 &1U \ L +9 &3aU \ L +10 &5#T u\ L +9 &6X u\ L +9 &8U w\ L +10 &:hU v\ L +9 &<*V w\ L +10 &=U |\ L +9 &?V z\ L +9 &AoW z\ L +10 &C0W {\ M +9 &Db y\ M +9 &Fk y\ O +10 &Hh \ Q +9 &J \ V +10 &K ~\ X +9 &M x\ X +9 &O[ x\ Y +10 &Q z\ Y +9 &R }\ Z +9 &T {\ Z +10 &VZ {\ \\ +9 &X ~\ \\ +9 &Y {\ ] +10 &[ \ I +9 &\\: y\ *} +10 &\\ {\ ^ +2 ( +2 "collection"'>& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&G1 +58 "core" 1 +2 "manipulator"&w% +4 "core" % B  _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%R& +5 "core" &A\ + "manipulator"&v% +4 "core" %   +2 "storage"( % +3 "core" % \  \ +2 "storage"($. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"('(,y +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "core" &,| ) * Y\ \ +2 "manipulator"&x& +4 "core" &ӎ&  ?U + "manipulator"&2% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +164 "core" ( + "manipulator"&& +4 "core" & -  +2 "storage"(& +3 "core" &,| , * \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +96 "core" ' +2 "storage"(& +4 "core" &,| I ? F\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"()- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +3 "core" &,| :  Z\ \ + "manipulator"&d& +4 "core" &  l  +2 .tElbow.seek 4 + "manipulator"&~( +4 "core" ( + "manipulator"&!& +4 "core" & _  +2 "storage"(#& +3 "core" &,| * ( \ \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&_'c +33 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&N& +2 "storage"(' +7 "core" & A  + "manipulator"&(% +4 "core" % ϕ j +2 .tForearm.seek :retract +2 "manipulator"&U' +90 "core" ' +50 .tElbow.seek PC +4 "manipulator"&r( +120 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +132 "core" ( +2 "manipulator"&?& +5 "core" & 2  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&.' +100 "core" ' + "manipulator"&Y& +4 "core" &   +2 "manipulator"&|% +4 "core" %  K +2 "processing"%<& +4 "core" &\ +2 "processing"%"& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%/(^ +4 "core" &A\  +8 &/u\ *y +10 &dC\ ? +9 &kr\ O +9 &.Q\ O +10 &T\ N +9 &O\ O +9 &tT\ O +10 &5W5\ O +9 &T\ O +9 &T\ O +10 & }S\ N +9 &"?Q\ N +10 &$TB\ N +9 &%RE\ N +9 &'WJ\ O +10 &)FR?\ O +9 &+W\ O +9 &,U=\ O +10 &.R5\ N +9 &0MT8\ O +10 &2R?\ O +9 &3P:\ O +9 &5Q7\ O +10 &7VRB\ O +9 &9U?\ O +9 &:UB\ O +10 &<T7\ O +9 &>]X6\ O +10 &@VB\ P +9 &A^9\ P +9 &Ci5\ Q +10 &EXx3\ T +9 &G4\ U +9 &H5\ U +10 &J;\ U +9 &LY8\ V +10 &N2\ W +9 &OB\ V +9 &QG\ W +10 &S_8\ V +9 &U 8\ W +9 &V4\ W +10 &X:\ V +9 &Zf=\ W +10 &\\'H\ W +9 &]x7\ ; +9 &^48\ P +10 &^A\ / +2 ( +2 "processing"%"& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&c1 +62 "core" 1 + "manipulator"&S% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' +2 "processing"%K& +4 "core" &^\ / + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" % # ) 1 +2 "storage"(8% +4 "core" % 7 6 \ +2 "storage"(e. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(1(,y +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (B& +3 "core" &,| 6 % 2\  +2 "manipulator"&{& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & L  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&V( +2 "storage"(D'r +10 "core" ( +2 "manipulator"&& +4 "core" & # , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" & , +2 .tForearm.seek PC +2 "manipulator"&7' +97 "core" ' + .tHand.close +2 "manipulator"&=/ +63 "core" / + .tPC.seek :open +2 "processing"%( +81 "core" ' + "storage"(-- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'1 +52 "core" ' +315 ( +2 "storage"(& +4 "core" &,{ 9 8\  + "manipulator"&Q& +4 "core" & o + +2 "manipulator"&;% +3 "core" %  I \ +2 .tForearm.seek :retract +2 "manipulator"&a' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&I( +235 "core" ( +2 "manipulator"&W& +4 "core" &  Q 4 +2 "storage"([& +3 "core" &,{ , + Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&P' +92 "core" ' +2 .tHand.open + "manipulator"&^1 +52 "core" 1 +2 "storage"(C- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(*' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(F' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(E- +3 "core" -' +2 "storage"(H& +3 "core" &,{ %\ | +2 "manipulator"&& +4 "core" &   4 + .tElbow.seek 4 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&& +3 "core" & O 4 +2 "storage"( & +4 "core" &,{ g\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&O& +4 "core" & z 4 +2 "storage"(o& +4 "core" &,{  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&5'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(y' +24 "core" ' +2 "manipulator"&%% +4 "core" %E 9 +2 "storage"(n& +4 "core" &,{   \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&X'q +15 "core" ' + "manipulator"&& +5 "core" & P 4 + "storage"(Z& +5 "core" &,{ 6 6 \  + "Can"J\ WT +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +20 "core" ' + "storage"(,% +5 "core" % 6 6 \ +2 ."downElevator"SE.seek :down +3 "storage"(k' +99 (]% +3 "core" %MJ , 9 \ Yj +2 "manipulator"&% +4 "core" % D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +92 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (}& +4 "core" &,{ ( ) 8\  + "collection"'t& +4 "core" &\\ 9\ ^ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&`% +4 "core" %  a  +2 "storage"(T% +4 "core" % ( '\ + "storage"(g. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(L(,y +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +2 "core" &,{  \  +2 "manipulator"&q& +4 "core" & F 4 + .tElbow.seek 4 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&m& +3 "core" & s 4 +2 "storage"(J& +4 "core" &,{ ( +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(& +4 "core" &,{ - = \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +2 "core" & [ 4 +2 "storage"(& +4 "core" &,{ ' + \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +23 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('e +29 "core" ' + "manipulator"&b% +4 "core" %J + +2 "storage"(& +3 "core" &,{ ) ( D\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&9'v +13 "core" ' + "manipulator"&4& +4 "core" &  4 +2 "storage"(i& +4 "core" &,{ 6 5 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(w' +39 "core" ' + "manipulator"&R& +5 "core" & q 4 + "manipulator"&v% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&$(ӂ +151 "core" ( +2 "manipulator"&>& +4 "core" &ӌ) A_ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &ӌ) L A_ +2 .tForearm.seek CC +2 "manipulator"&x'? +92 "core" ' + .tHand.close + "manipulator"&2/ +62 "core" / + .tCC.seek :open +52 "collection"'\ ( +447 "core" ( +2 "storage"(& +4 "core" &,{ h e \  + "storage"(& +4 "core" &,{ c d t\  +2 "manipulator"&3& +3 "core" &Ӑ(  @[ +2 "manipulator"&% +4 "core" % 2   4 + .tForearm.seek :retract +2 "manipulator"&l' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +164 "core" ( + "manipulator"&)& +4 "core" & \ J  +2 "storage"(+& +4 "core" &,{ !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&d'7 +93 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator" +59 "core" 1 +2 "manipulator"&:% +4 "core" % ?  f 4 + "storage"(N& +4 "core" &,{ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts + "manipulator"&('k +16 "core" ' +2 "manipulator"&& +4 "core" &  ;  +2 "storage"(h& +4 "core" &,{ | { C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +21 "core" ' + "storage"(_% +5 "core" % ~ u\ +2 ."downElevator"SE.seek :down +3 "storage"(?' +99 (6% +3 "core" %A d d ^\ Wd +2 "manipulator"&~% +4 "core" %  ^ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +95 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'|& +5 "core" & |\ + "manipulator"&<% +4 "core" %   +2 "storage"(% +4 "core" % A\ + "storage"(U. +4 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"( (<- +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (c& +3 "core" &<, P N \  +2 "manipulator"&S& +4 "core" & J  + .tElbow.seek 5 +2 "manipulator"&K( +12 "core" ( +2 "manipulator"&& +4 "core" &  |  + "storage"(8& +4 "core" &<, E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +90 "core" ' + "storage"("& +4 "core" &<, \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'r +292 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<, \  +2 "manipulator"&A& +4 "core" &  j  + .tElbow.seek 5 +2 "manipulator"&.( +3 "core" ( + "manipulator"&=& +4 "core" &  %  +2 "storage"('& +3 "core" &<, \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&-'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&r/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(/' +7 "core" &  7  + "manipulator"&D% +4 "core" %   x +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +157 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&;& + "storage"(5 +7 "core" &Ӄ(   @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &Ӄ( s @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&W'? +93 "core" ' + "manipulator"&[& +4 "core" &ӄ( x @[ +2 "manipulator"&V% +4 "core" %8 q +2 "collection"'^& +5 "core" & \ +2 "collection"'C& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'E(\\ +4 "core" & \  +8 &4} \ +{ +10 &\ d} \ > +9 &l R\ M +9 &UT \ L +10 &T z\ K +9 &U \ L +10 &T W\ K +9 &^T z\ L +9 & U \ L +10 &W }\ L +9 & S z\ K +9 &"fU \ L +10 &$)T \ K +9 &%U {\ L +10 &'V \ L +9 &)mT z\ L +9 &+0U |\ L +10 &,T x\ K +9 &.T z\ L +9 &0wU \ K +10 &28U {\ L +9 &3U }\ K +10 &5U {\ L +9 &7~U |\ L +9 &9AU |\ K +10 &;U {\ L +9 &<T \ L +9 &>U \ L +10 &@FY ~\ L +9 &BW |\ L +10 &C\\ z\ L +9 &Ef \ N +9 &GEv |\ O +10 &H \ R +9 &J \ X +10 &Lp \ Y +9 &N3 \ X +9 &O \ Y +10 &Q \ Y +9 &Sq \ [\ +9 &U3 z\ [\ +10 &V }\ \\ +9 &X \ ] +9 &Zr {\ ] +10 &\\z {\ 2 +9 &\\, z\ #i +9 ( +3 "collection"'C& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&H1 +4 "core" &\\n \ U +53 1 + "manipulator"&% +4 "core" % 8 q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&a% +4 "core" %   + "storage"(O% +4 "core" % ( * >\ + "storage"(o. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(%(<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +3 "core" &<, ! m\  + "manipulator"&M& +4 "core" &ӆ( @Y + "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Z( +163 "core" ( +2 "manipulator"&*& +4 "core" &   +2 "storage"(,& +3 "core" &<, E K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +95 "core" ' + "storage"(P& +4 "core" &<, N ; '\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'r +299 "core" ' +2 "storage"(]- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<, C 7 ~\  +2 "manipulator"&& +4 "core" & %  + .tElbow.seek 5 +2 "manipulator"&u( +3 "core" ( + "manipulator"&& +4 "core" & \ P  +2 "storage"(5& +3 "core" &<, L L q\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&X'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&}/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& + "storage"(`' +7 "core" &  b  + "manipulator"&T% +4 "core" % ϱ [ +2 .tForearm.seek :retract +2 "manipulator"&g' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&y( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&j& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" & Y  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +98 "core" ' +2 "manipulator"&J& +4 "core" &  +2 "manipulator"&0% +4 "core" % J  +2 "processing"%& +4 "core" &\ +2 "processing"%k& +5 "core" &\ +2 .tPC.seek :closed + "processing"%1(^ +5 "core" &\  +8 &1y\ *x +9 &b~\ > +10 &hr\ O +9 &)T\ O +9 &T\ O +10 &R\ O +9 &pR\ N +10 &1R\ O +9 &W\ O +9 &S\ N +10 & wT\ O +9 &"9U\ O +10 &#V\ O +9 &%T\ O +9 &'U\ O +10 &)AT\ O +9 &+U\ O +9 &,U\ O +10 &.U\ O +9 &0JR\ N +9 &2 R\ O +10 &3Q\ O +9 &5Q\ O +10 &7RR\ N +9 &9U\ O +9 &:S\ O +10 &<T\ O +9 &>XW\ O +9 &@U\ O +10 &AY\ O +9 &Ca\ P +10 &EZj\ Q +9 &G}\ S +9 &H\ U +10 &J\ U +9 &LT\ V +9 &N\ V +10 &O\ U +9 &Q\ W +10 &SZ\ W +9 &U\ W +9 &V\ W +10 &X\ W +9 &Za\ W +9 &\\"\ W +10 &]\ 4 +9 &^3p\ A +9 ( +2 &^\ 0 +2 "processing"%k& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&f1 +65 "core" 1 + "manipulator"&&% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +53 "manipulator"&' +99 "core" ' + "processing"%@& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % %  ? +2 "storage"(% +3 "core" % + * \ +2 "storage"(b. +3 "core" .(<- + "storage"(& +4 "core" &<, + ( &\  +2 "storage"(4& +5 "manipulator"&i& +4 "core" &<, , + \  + & b  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&R( +2 "storage"(v'r +4 "core" ( +2 "manipulator"&& +4 "core" & 7  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" & /  +2 .tForearm.seek PC + "manipulator"&p' +94 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + .tPC.seek :open +2 "processing"%9( +98 "core" ' + "storage"(- +4 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(>'1 +45 "core" ' +301 ( +4 "storage"(\\& +5 "core" &<, * , $\  + "manipulator"&G& +4 "core" &    +2 "manipulator"&% +3 "core" %  , ) +2 .tForearm.seek :retract +2 "manipulator"&2' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +247 "core" ( + "manipulator"&z& +5 "core" & 2 + "storage"(& +4 "core" &<, ' ( "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' + .tHand.open + "manipulator"&31 +60 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"()' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(+' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +4 "core" -' + "storage"($& +4 "core" &<, \  +2 "manipulator"&#& +4 "core" &  4 1 + .tElbow.seek 5 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&N& +3 "core" & 8 1 +2 "storage"(& +4 "core" &<, \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +52 "core" ' + "manipulator"&l& +5 "core" & u 1 + "storage"(6& +4 "core" &<, 5 7 e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&~'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(d' +20 "core" ' + "manipulator"&|% +5 "core" %Ν / + "storage"((& +4 "core" &<, 6 8 \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&<' +15 "core" ' + "manipulator"&& +5 "core" &  0 +2 "storage"(U& +4 "core" &<, B ? f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +18 "core" ' + "storage"(% +4 "core" % N L \ +3 ."downElevator"SE.seek :down +3 "storage"(?' +99 (L% +3 "core" %UJ , + 5\ Xj +2 "manipulator"&c% +4 "core" %? G + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +94 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +4 "core" &<, = - P\  + "collection"'8& +5 "core" &\\n G\ U + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&"% +3 "core" % " ) +2 "storage"(!% +4 "core" % ? : A\ + "storage"(Y. +4 "core" .(<- + "storage"({& +4 "core" &<, + + T\  + "storage"(& +4 "core" &<, 9 @ \  +2 "manipulator"&A& +3 "core" & 0 +2 .tElbow.seek 5 +2 "manipulator"&=( +3 "core" ( + "manipulator"&'& +4 "core" & 0 +2 "storage"(r& +3 "core" &<, 9 ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +96 "core" ' +2 "storage"(D& +4 "core" &<, L L f\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +305 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&;& +3 "core" & : 0 + "storage"(7& +4 "core" &<, < ? C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&B'΍ +13 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"([- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(V'^ +27 "core" ' +2 "manipulator"&^% +4 "core" %Ν  n H + "storage"(.& +4 "core" &<, < M s\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&/' +14 "core" ' +2 "manipulator"&& +4 "core" & d 0 + "storage"(\ & +4 "core" &<, I ? L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&H'O +17 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"& & +5 "core" &  0 + "manipulator"&a% +5 "core" %< + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o(ӂ +154 "core" ( + "manipulator"&C& +4 "core" &ӈ+ Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &ӈ+  Cn +2 .tForearm.seek CC +2 "manipulator"&M'? +97 "core" ' +2 .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open + "collection"'W( +451 "core" ( + "storage"(*& +4 "core" &<, r g \  +2 "storage"(,& +4 "core" &<, b c l\  + "manipulator"& & +4 "core" &ӊ* M Bl + "manipulator"&P% +4 "core" % > , +2 .tForearm.seek :retract +2 "manipulator"&Q' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&]& +4 "core" &  +2 "storage"(& +3 "core" &<, A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&51 +61 "core" 1 +2 "manipulator"&}% +4 "core" % Ύ    + "storage"(t& +4 "core" &<, \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 301 counts +2 "manipulator"&T'Ϻ +26 "core" ' +2 "manipulator"&Z& +4 "core" &  m + "storage"(I& +4 "core" &<, w k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +14 "core" ' +2 "storage"(X% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(j' +99 (q% +3 "core" %F i j \ Xf +2 "manipulator"&u% +3 "core" %B   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&J' +96 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +53 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'0& +5 "core" & /\ + "manipulator"&% +5 "core" % ! & + "storage"(`% +4 "core" % } (\ +2 "storage"(g. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +2 "core" &K Z c \  +2 "manipulator"&&& +4 "core" & f + .tElbow.seek 6 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&@& +3 "core" & _ +2 "storage"(& +4 "core" &K :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(b& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +293 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &K \  +2 "manipulator"&& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&s( +3 "core" ( + "manipulator"&m& +4 "core" &  J +2 "storage"(& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&y/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(1' +6 "core" &  h +2 "manipulator"&v% +4 "core" % ] +2 .tForearm.seek :retract + "manipulator"&\\' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&G(ӂ +158 "core" ( + "manipulator"&& +4 "core" &ӓ% >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' + ."downElevator"SE.stop +3 "manipulator"&p& +3 "storage"(5 +4 "core" &ӓ% K >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&z'? +97 "core" ' +2 "manipulator"&& +4 "core" &Ӕ%  J >M +2 "manipulator"&R% +4 "core" %I O # + "collection"'3& +4 "core" & \ +3 "collection"'& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'x(\\ +4 "core" & \  +9 &5| \ +{ +9 &\ g} \ ? +10 &m D\ M +9 &YT I\ L +9 &T J\ L +10 &R \ L +9 &S C\ L +10 &bS I\ L +9 &$U \ L +9 &R W\ L +10 & S \ L +9 &"jT \ L +10 &$-T \ K +9 &%U w\ L +9 &'U \ L +10 &)rT \ L +9 &+4T \ L +9 &,R \ L +10 &.S \ L +9 &0zT \ L +9 &2=T q\ K +10 &3U \ L +9 &5T \ L +10 &7T g\ L +9 &9DU y\ L +9 &;T \ L +10 &<U \ L +9 &>U {\ L +9 &@LU y\ L +10 &B Z x\ L +9 &C` y\ N +10 &Eu x\ O +9 &G@ \ R +9 &H g\ W +10 &J D\ X +9 &Ls ~\ Y +10 &N4 J\ Y +9 &O \ Z +9 &Q w\ Z +10 &Sv \ [ +9 &U6 \ [ +9 &V B\ \\ +10 &X \ ] +9 &Zu \ ^ +9 &\\y \ 3 +10 &\\- \ _ +9 ( +3 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.37 + .Hand.open +2 "manipulator"&$1 +3 "core" &\\z j\ T +59 1 +2 "manipulator"&#% +4 "core" % I # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&2% +4 "core" %  m  +2 "storage"(l% +3 "core" % ( ) =\ +2 "storage"(6. +3 "core" .(K +2 "storage"(|& +3 "core" &K & \  +2 "storage"((& +4 "core" &K + 0 1\  + "manipulator"&>& +4 "core" &ӕ%  >L + "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&U( +164 "core" ( + "manipulator"&)& +4 "core" &   +2 "storage"(& +4 "core" &K K B (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 "storage"(& +4 "core" &K M G /\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'r +300 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (c& +3 "core" &K 5 , }\  +2 "manipulator"&h& +3 "core" & b  +2 .tElbow.seek 6 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&_& +3 "core" &  "  +2 "storage"(~& +3 "core" &K @ C \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +35 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ U +9 &J\ U +10 &K\ V +9 &M\ V +9 &OB\ V +10 &Q\ X +9 &R\ V +10 &T\ X +9 &VK\ V +9 &X \ W +10 &Y\ W +9 &[\ V +9 &]P\ H +10 &^xD}\ $k +9 &^4\ 3 +6 ( + "processing"%D& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"& 1 +3 "core" &^"\ 3 +49 1 + "manipulator"&S% +4 "core" %  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' +2 "processing"%;& +4 "core" &^"\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&7% +4 "core" %   +2 "storage"([% +4 "core" % , + H\ + "storage"(^. +3 "core" .(K +2 "storage"(.& +3 "core" &K ) ( 0\  +2 "storage"(& +4 "manipulator"&\ & +4 "core" &K + ) *\  + & $ A +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"& ( +2 "storage"(a'r +5 "core" ( + "manipulator"& & +4 "core" &  & A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" & 4 A +2 .tForearm.seek PC + "manipulator"&K' +94 "core" ' +2 .tHand.close + "manipulator"&B/ +54 "core" / +2 .tPC.seek :open +2 "processing"%/( +101 "core" ' + "storage"(V- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(C'1 +37 "core" ' +307 ( + "storage"(n& +4 "core" &K = M /\  +2 "manipulator"&H& +4 "core" & A + "manipulator"&-% +4 "core" %  . +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&O( +244 "core" ( + "manipulator"&E& +4 "core" & ; 6 +2 "storage"(*& +4 "core" &K 7 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +96 "core" ' +2 .tHand.open + "manipulator"& 1 +59 "core" 1 +3 "storage"(P- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(]' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(M- +4 "core" -' + "storage"(o& +4 "core" &K }\ z +2 "manipulator"&5& +4 "core" &   ] 6 +2 .tElbow.seek 6 +2 "manipulator"&}( +3 "core" ( + "manipulator"&t& +4 "core" &   q 6 +2 "storage"(Z& +4 "core" &K \ y +2 .tForearm.seek 6 + 450 counts + "manipulator"&I' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(X'" +53 "core" ' + "manipulator"&Q& +5 "core" & z 6 + "storage"(q& +4 "core" &K + + S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&u'< +14 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 "manipulator"&0% +4 "core" %P S ' +2 "storage"(T& +4 "core" &K 8 6 \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&'| +13 "core" ' + "manipulator"&& +5 "core" & G 6 +2 "storage"(`& +4 "core" &K > + \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +19 "core" ' +2 "storage"(F% +4 "core" % B @\ +2 ."downElevator"SE.seek :down +4 "storage"(j' +99 (%% +2 "core" %<J \  5\ Xi +2 "manipulator"&f% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +92 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (@& +4 "core" &K . 3 *\  +2 "collection"'& +4 "core" &\\z \ T +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&b% +4 "core" %  G  +2 "storage"(% +4 "core" % * + <\ + "storage"(J. +3 "core" .(K +2 "storage"(i& +4 "core" &K * ) F\  + "storage"(4& +4 "core" &K + + C\  +2 "manipulator"&& +4 "core" &  5 + .tElbow.seek 6 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&& +4 "core" & i 5 +2 "storage"(y& +3 "core" &K + + E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(v& +4 "core" &K M B \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'r +295 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & E 5 + "storage"(p& +4 "core" &K 8 8 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(R'g +29 "core" ' + "manipulator"&3% +5 "core" %L { \ + "storage"(s& +4 "core" &K 8 6\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&1'x +18 "core" ' +2 "manipulator"&\\& +4 "core" &  - 5 +2 "storage"(W& +3 "core" &K B K c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&$' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(#' +34 "core" ' +2 "manipulator"&& +4 "core" & 5 +2 "manipulator"&2% +4 "core" % ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6(ӂ +152 "core" ( + "manipulator"&|& +5 "core" &ӈ-  Dv + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӈ- Dv +2 .tForearm.seek CC +2 "manipulator"&('? +91 "core" ' +2 .tHand.close + "manipulator"&>/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(z& +4 "core" &K g f \  +2 "storage"()& +3 "core" &K d d n\  +2 "manipulator"&& +3 "core" &Ӥ'  @Z +2 "manipulator"&% +3 "core" % Q t [ +2 .tForearm.seek :retract +2 "manipulator"&G' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&N( +166 "core" ( + "manipulator"&L& +4 "core" &   +2 "storage"(c& +3 "core" &K g v \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&h'< +95 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&~1 +54 "core" 1 +2 "manipulator"&<% +4 "core" % 8 \  `  +2 "storage"(8& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 296 counts +2 "manipulator"&!'d +14 "core" ' +2 "manipulator"&U& +4 "core" &  +2 "storage"( & +4 "core" &K ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +19 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"({' +99 (% +3 "core" %vF d d M\ We + "manipulator"&:% +4 "core" % = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'r& +4 "core" & \ + "manipulator"&w% +4 "core" %  +2 "storage"("% +4 "core" % R\ + "storage"(Y. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(9(  +1294 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" & P\ +2 "manipulator"&S& +5 "core" & 8  + .tElbow.seek 2 +2 "manipulator"&;( +3 "core" ( + "manipulator"&7& +4 "core" &   + "storage"([& +4 "core" & | } C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&^'S +94 "core" ' + "storage"(.& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +2 "core" & Y s y\ +2 "manipulator"& & +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&=( +3 "core" ( + "manipulator"&A& +4 "core" &  +2 "storage"(B& +3 "core" & !\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&V'Ͻ +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& + "storage"(?' +6 "core" &  <  +2 "manipulator"&a% +4 "core" % Ͼ _ +2 .tForearm.seek :retract + "manipulator"&n' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +158 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&-& +53 "core" &ӎ& w ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &ӎ& ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&E'? +98 "core" ' +2 "manipulator"&*& +5 "core" &ӎ& ?P + "manipulator"& % +4 "core" %;  3 +2 "collection"' & +4 "core" & \ +2 "collection"'P& +6 "core" & \ +2 .tCC.seek :closed + "collection"'M(\\ +4 "core" & \ +8 &; \ $e +9 &Wx \ 7 +10 &w \ K +9 &S \ L +10 &yT \ K +9 &9T \ L +9 &U \ L +10 &U \ L +9 &T \ K +9 &AT \ L +10 & T \ L +9 &!T \ L +10 &#X \ L +9 &%IT \ L +9 &' T \ L +10 &(U \ L +9 &*T \ L +9 &,QR \ L +10 &.T \ L +9 &/T \ L +10 &1U \ L +9 &3YX \ L +9 &5T \ L +10 &6U \ L +9 &8U \ L +9 &:bT \ L +10 &<$U \ L +9 &=U \ L +10 &?U \ L +9 &AiW \ L +9 &C*[ \ L +10 &Da \ M +9 &Fh \ O +9 &Hc \ Q +10 &J \ U +9 &K \ W +10 &M \ Y +9 &OS \ Y +9 &Q \ Z +10 &R \ Y +9 &T \ [\ +9 &VR \ \\ +10 &X \ \\ +9 &Y \ ] +10 &[ \ J +9 &\\9 \ 0 +9 &\\n \ N +3 ( +2 "collection"'P& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&o1 +54 "core" 1 +2 "manipulator"&5% +4 "core" % ; 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%Z& +4 "core" &\ +2 "manipulator"&% +4 "core" %  X  + "storage"(Q% +4 "core" % + 6\ +2 "storage"(q. +3 "core" .(  + "storage"(0& +4 "core" & 6 8\ + "storage"(T& +4 "core" & 2 * \ +2 "manipulator"&C& +4 "core" &ӏ% G >O +2 "manipulator"&% +3 "core" %  O  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&`( +163 "core" ( + "manipulator"&]& +4 "core" &  K  +2 "storage"(F& +4 "core" & O N \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&O'S +93 "core" ' +2 "storage"(,& +5 "core" & D M (\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" & ' =\ +2 "manipulator"&I& +4 "core" & n  +2 .tElbow.seek 2 +2 "manipulator"&}( +3 "core" ( + "manipulator"&X& +4 "core" &  A  +2 "storage"(u& +3 "core" & I K U\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(b' +7 "core" &  + "manipulator"&% +4 "core" % Ϻ A +2 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&i& +4 "core" &  g 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" & h 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + "manipulator"&& +5 "core" & ; 9 + "manipulator"&y% +4 "core" %  f  +2 "processing"%g& +4 "core" &\ +2 "processing"%v& +4 "core" &\ +3 .tPC.seek :closed + "processing"%j(^ +4 "core" &\  +9 &/u\ *y +10 &c{\ > +9 &kq\ O +9 &,T\ O +10 &Q\ N +9 &Q\ N +10 &sS\ N +9 &4U\ O +9 &X\ O +10 &R\ O +9 & zW\ O +10 &"<S\ O +9 &#R\ O +9 &%Q\ N +10 &'T\ N +9 &)FR\ N +9 &+W\ O +10 &,Y\ O +9 &.T\ N +9 &0MT\ N +10 &2R\ N +9 &3U\ O +10 &5T\ O +9 &7UR\ N +9 &9U\ O +10 &:T\ O +9 &<U\ O +9 &>\\W\ O +10 &@U\ O +9 &AZ\ O +10 &Cd\ Q +9 &E[o\ R +9 &G~\ T +10 &H\ U +9 &J\ U +9 &LX\ U +10 &N\ V +9 &O\ V +10 &Q\ W +9 &S^\ V +9 &U\ V +10 &V\ W +9 &X\ V +9 &Zd\ W +10 &\\%\ W +9 &]x\ : +10 &^1\ S +9 &^&\ 2 +2 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&&% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + "processing"%& +4 "core" &^%\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&p% +3 "core" %  I  +2 "storage"(% +4 "core" % ' * \ + "storage"(3. +3 "core" .(  + "storage"(s& +4 "core" & / + \ +2 "storage"(\\& +4 "manipulator"&W& +4 "core" & 3 + q\ + & 9 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'r +3 "core" ( + "manipulator"&& +4 "core" & S 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &  9 + .tForearm.seek PC +2 "manipulator"&k' +94 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%1( +101 "core" ' + "storage"(R- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'1 +38 "core" ' +306 ( + "storage"(& +4 "core" & B L @\ +2 "manipulator"&$& +3 "core" & 9 +2 "manipulator"&% +4 "core" %  L  +2 .tForearm.seek :retract + "manipulator"&>' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&l( +256 "core" ( + "manipulator"&x& +4 "core" & \ +2 "storage"(z& +4 "core" & 8 = Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&)'S +95 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(L' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(c' +61 "core" ' + #tLights, camera, ACTION! +2 "storage"((- +3 "core" -' +2 "storage"(6& +4 "core" & \ \  :\  +2 "manipulator"&~& +3 "core" & , \ +2 .tElbow.seek 2 +2 "manipulator"&<( +3 "core" ( + "manipulator"&8& +4 "core" &  k \ +2 "storage"(U& +4 "core" & \ +2 .tForearm.seek 2 + 450 counts + "manipulator"& 'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +55 "core" ' + "manipulator"&G& +4 "core" &  Y \ +2 "storage"(& +4 "core" & + + Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&:'Α +23 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +20 "core" ' +2 "manipulator"&r% +4 "core" %Τ +2 "storage"(!& +4 "core" & 3 + M\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&w' +13 "core" ' + "manipulator"&"& +5 "core" &  L \ +2 "storage"(Y& +4 "core" & L L /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&#'S +16 "core" ' +2 "storage"(+% +4 "core" % O M \ +3 ."downElevator"SE.seek :down +3 "storage"({' +99 (% +53 "core" %bN + 6\ Xi +2 "manipulator"& % +4 "core" %B x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +93 "core" ' +12 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (7& +4 "core" & ? I \ +2 "collection"'[& +4 "core" &\\o \ N +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&.% +4 "core" %   # + "storage"(_% +4 "core" % ? ? \ +2 "storage"('. +3 "core" .(  + "storage"(\ & +4 "core" & L B\ +2 "storage"(D& +3 "core" & L H \ \ +2 "manipulator"& & +4 "core" & x \ +2 .tElbow.seek 2 + "manipulator"&A( +4 "core" ( + "manipulator"&B& +4 "core" &  \ +2 "storage"(d& +4 "core" & B I ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&e'S +93 "core" ' + "storage"(a& +5 "core" & L d \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'r +294 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&-& +3 "core" & \ +2 "storage"(& +4 "core" & ? I :\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&V'Α +18 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(=- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(*'a +29 "core" ' +2 "manipulator"& % +4 "core" %Ο . 1 + "storage"( & +4 "core" & O P 2\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&?' +14 "core" ' + "manipulator"&n& +5 "core" &  = \ + "storage"(& +4 "core" & L L ^\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'S +14 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(5' +37 "core" ' + "manipulator"&Z& +4 "core" &  w \ +2 "manipulator"&% +4 "core" %;  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Q' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&q(ӂ +159 "core" ( +2 "manipulator"&0& +4 "core" &ӏ$  J =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &ӏ$  =A + .tForearm.seek CC +2 "manipulator"&C'? +92 "core" ' + .tHand.close + "manipulator"&P/ +65 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"(E& +4 "core" & k B\ +2 "storage"(]& +3 "core" & Y b A\ +2 "manipulator"&F& +3 "core" &Ӑ#  s <@ +2 "manipulator"&,% +3 "core" % >  O +2 .tForearm.seek :retract +2 "manipulator"&H' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&t( +163 "core" ( + "manipulator"&%& +4 "core" & f  +2 "storage"(f& +4 "core" & A\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&I'Α +93 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&u1 +63 "core" 1 +2 "manipulator"&@% +4 "core" % Α \\  + "storage"(& +4 "core" & `\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +13 "core" ' +2 "manipulator"&`& +4 "core" & \  K  +2 "storage"(O& +3 "core" & | | c\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +16 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(i' +99 (4% +3 "core" %J d d @\ Xh +2 "manipulator"&}% +3 "core" %>  } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'y& +4 "core" & \ +2 "manipulator"&g% +4 "core" %  c  + "storage"(b% +5 "core" %  } \ + "storage"(J. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(/( +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" & h w N\ + "manipulator"&&& +4 "core" & Z  + .tElbow.seek 3 +2 "manipulator"&( +14 "core" ( + "manipulator"&p& +5 "core" &   + "storage"(& +4 "core" & ~ 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3'7 +94 "core" ' + "storage"(s& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +299 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (v& +3 "core" & \ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&m( +3 "core" ( + "manipulator"&& +4 "core" &  }  +2 "storage"(& +3 "core" & 2\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&R'ϡ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(j' +7 "core" & S  +2 "manipulator"&2% +4 "core" % ϔ  + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&$(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &Ӗ"  ;7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &Ӗ"  G ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&x'? +104 "core" ' + "manipulator"&z& +4 "core" &ӗ" E ;6 +2 "manipulator"&% +4 "core" %>  +2 "collection"'& +4 "core" & \ +4 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'((\\ +4 "core" & \  +10 &5| \ +{ +9 &\ g~ \ ? +9 &m \ M +10 &YU \ L +9 &T \ L +9 &T \ L +10 &T \ L +9 &bR \ L +9 &#U \ L +10 &T \ L +9 & T \ K +10 &"iU \ L +9 &$,T \ L +9 &%T \ L +10 &'Y \ L +9 &)qT \ L +9 &+3T \ L +10 &,T \ L +9 &.T \ L +10 &0zU \ L +9 &2=T \ K +9 &3U \ L +10 &5T \ L +9 &7T \ L +9 &9DU \ L +10 &;T \ L +9 &<Y \ L +10 &>U \ L +9 &@JU \ L +9 &B X \ M +10 &C_ \ M +9 &Ec \ N +9 &GGu \ P +10 &I \ S +9 &J \ W +10 &Lx \ W +9 &N7 \ X +9 &O \ X +10 &Q \ Y +9 &Sx \ Z +9 &U8 \ [ +10 &V \ [\ +9 &X \ \\ +10 &Zw \ ] +9 &\\z \ 1 +9 &\\/ \ ` +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&61 +3 "core" &\\c \ P +53 1 +2 "manipulator"&~% +4 "core" % B  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%U& +4 "core" &\ +2 "manipulator"&>% +3 "core" %  k  +2 "storage"(G% +4 "core" % = 9 \ + "storage"(. +3 "core" .( +2 "storage"(r& +3 "core" & * ( G\ +2 "storage"(!& +4 "core" & 9 = 8\ + "manipulator"&|& +4 "core" &ӗ" H ;6 + "manipulator"&"% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Y( +164 "core" ( + "manipulator"&L& +4 "core" &  +2 "storage"(+& +53 "core" & F 4 q\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&l'7 +96 "core" ' +2 "storage"()& +4 "core" & d d %\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & A J L\ +2 "manipulator"& & +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&<( +4 "core" ( + "manipulator"&& +4 "core" &  5  + "storage"(:& +4 "core" & E D \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&w'ϡ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&7/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(.' +7 "core" &  E  +2 "manipulator"&_% +4 "core" %  L +2 .tForearm.seek :retract + "manipulator"&h' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&'( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +71 "core" ( + "manipulator"&\ & +5 "core" & N - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &  - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' + "manipulator"&B& +5 "core" & - + "manipulator"&d% +4 "core" %  A +2 "processing"%a& +4 "core" &\ +2 "processing"%#& +5 "core" &\ +2 .tPC.seek :closed + "processing"%{(^ +5 "core" &\ +7 & .\ #b +9 &Uz\ 7 +9 &z\ L +10 &T\ N +9 &ZW\ O +10 &U\ N +9 &W\ O +9 &W\ O +10 &bS\ O +9 &%T\ N +9 &R\ N +10 &!P\ O +9 &#kU\ N +10 &%.R\ N +9 &&U\ O +9 &(R\ N +10 &*rW\ O +9 &,4W\ O +9 &-T\ N +10 &/W\ O +9 &1zQ\ O +10 &3<U\ O +9 &4R\ O +9 &6Q\ O +10 &8W\ O +9 &:DR\ O +9 &<U\ O +10 &=T\ O +9 &?V\ O +10 &AIZ\ P +9 &Cc\ Q +9 &Dn\ R +10 &F\ T +9 &HB\ U +9 &J\ U +10 &K\ U +9 &M\ U +10 &OE\ V +9 &Q\ W +9 &R\ W +10 &T\ W +9 &VL\ W +9 &X\ V +10 &Y\ V +9 &[\ X +10 &]T\ G +9 &^w@u\ *{ +9 &^*\ . +6 ( +2 "processing"%#& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&N1 +4 "core" &^\ . +48 1 + "manipulator"&S% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +2 "processing"%-& +5 "core" &^\ . + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %  x  +2 "storage"(=% +4 "core" % + + `\ + "storage"( . +3 "core" .( + "storage"( & +4 "core" & ) 2\ +2 "storage"(n& +2 "manipulator"&& +7 "core" & + 2 W\ + & - +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&Z( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&e& +4 "core" & [ - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &  - +2 .tForearm.seek PC +2 "manipulator"&;' +93 "core" ' +2 .tHand.close + "manipulator"&V/ +54 "core" / +4 .tPC.seek :open +3 "processing"%?( +95 "core" ' +2 "storage"(*- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'1 +43 "core" ' +305 ( +2 "storage"(T& +4 "core" & L L f\ + "manipulator"&o& +4 "core" & s - + "manipulator"&K% +4 "core" %   B +2 .tForearm.seek :retract +2 "manipulator"&P' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Q( +247 "core" ( + "manipulator"&M& +5 "core" &  b L + "storage"(E& +4 "core" & * * j\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&]'7 +97 "core" ' + .tHand.open + "manipulator"&F1 +60 "core" 1 +3 "storage"(,- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(%' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(f' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(C- +4 "core" -' + "storage"(q& +4 "core" & L\ +2 "manipulator"&u& +3 "core" &  L +2 .tElbow.seek 3 +2 "manipulator"&@( +3 "core" ( + "manipulator"&& +4 "core" &  L +2 "storage"(`& +4 "core" & \ +2 .tForearm.seek 3 + 450 counts + "manipulator"&O'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +49 "core" ' + "manipulator"&H& +5 "core" & Q L + "storage"(4& +4 "core" & @ 7 V\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'u +14 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(I' +25 "core" ' + "manipulator"&y% +5 "core" %· | ; + "storage"(g& +5 "core" & I B Q\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&'ϳ +26 "core" ' +2 "manipulator"&b& +4 "core" & Q L +2 "storage"(J& +4 "core" & L M |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&5'7 +11 "core" ' +2 "storage"(% +4 "core" % K N y\ +3 ."downElevator"SE.seek :down +3 "storage"(i' +99 (9% +2 "core" %K 7 6 $\ Yj +2 "manipulator"&% +5 "core" %= 3 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +91 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (p& +4 "core" & I ? '\ +2 "collection"'& +3 "core" &\\c \ P +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&s% +5 "core" %  B  + "storage"(X% +4 "core" % I ? \ + "storage"(. +3 "core" .( +2 "storage"(\\& +4 "core" & ? ? \ + "storage"(v& +4 "core" & > > \ + "manipulator"&& +4 "core" & E L +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & L +2 "storage"(& +3 "core" & ? B .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' + "storage"(2& +4 "core" & M d \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & Q L +2 "storage"(k& +4 "core" & I ? ~\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&W'u +24 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('h +29 "core" ' + "manipulator"&m% +5 "core" %΃ 9 + "storage"(& +4 "core" & * * X\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&j'ϯ +27 "core" ' +2 "manipulator"&& +4 "core" & = L + "storage"(& +53 "core" & N O \ +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&6'7 +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(~' +35 "core" ' + "manipulator"&U& +5 "core" & a L + "manipulator"&>% +5 "core" %(  a + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&r& +4 "core" &ӏ$ =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &ӏ$  ; =E +2 .tForearm.seek CC +2 "manipulator"&|'? +90 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'"( +447 "core" ( +2 "storage"(x& +4 "core" & m \ + "storage"(L& +4 "core" & Y W W\ +2 "manipulator"&+& +3 "core" &ӏ$ K =E +2 "manipulator"&$% +3 "core" % P : e +2 .tForearm.seek :retract +2 "manipulator"&)' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&8( +166 "core" ( + "manipulator"&& +4 "core" &  Z  +2 "storage"( & +4 "core" & ~ Y\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"& 'u +96 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&:1 +57 "core" 1 +2 "manipulator"&7% +4 "core" % o   , + "storage"([& +4 "core" & x w\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 294 counts + "manipulator"&_'ϛ +14 "core" ' +2 "manipulator"&Y& +4 "core" &  +2 "storage"(l& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&c'7 +19 "core" ' + "storage"(w% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(\ ' +99 (D% +3 "core" %< \ Va +2 "manipulator"&<% +5 "core" %& F + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'d& +4 "core" & \ + "manipulator"&a% +4 "core" %  U # +2 "storage"(.% +4 "core" % | F\ + "storage"(h. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(1(,y +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +3 "core" &,y e i r\  + "manipulator"&S& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&-( +41 "core" ( +2 "manipulator"&& +4 "core" & $  + "storage"(=& +4 "core" &,y ~ M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +96 "core" ' + "storage"( & +5 "core" &,y \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" &,y \  +2 "manipulator"&e& +3 "core" & f  +2 .tElbow.seek 4 +2 "manipulator"&A( +3 "core" ( + "manipulator"& & +4 "core" &  p  +2 "storage"(V& +3 "core" &,y \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&*'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&^& + "storage"({' +8 "core" & u  + "manipulator"&% +4 "core" % W N +2 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&o(ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&K& +4 "core" &Ӛ" : ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +2 "core" &Ӛ"  ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&M'? +92 "core" ' +3 "manipulator"&E& +4 "core" &Ӛ"  9 ;3 +2 "manipulator"&Z% +3 "core" %? k { +2 "collection"'F& +4 "core" & \ +2 "collection"',& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'C(\\ +4 "core" & \ +6 &; \ %f +10 &Xz \ 8 +9 &t \ L +10 &Q \ L +9 &T \ L +9 &GR \ L +10 &\ T \ L +9 &T \ K +9 &T \ L +10 &QT \ K +9 & T \ L +10 &!T \ K +9 &#U \ L +9 &%XT \ L +10 &'W \ L +9 &(U \ L +9 &*T \ K +10 &,`U \ L +9 &.#T \ K +10 &/T \ L +9 &1U \ K +9 &3gT \ L +10 &5*T \ L +9 &6U \ L +9 &8W \ L +10 &:pT \ L +9 &<2U \ L +9 &=T \ L +10 &?U \ L +9 &AxV \ L +10 &C7Z \ M +9 &D` \ M +9 &Fn \ O +10 &Ho \ Q +9 &J$ \ V +10 &K \ X +9 &M \ Y +9 &Ob \ Y +10 &Q! \ Z +9 &R \ Z +9 &T \ Z +10 &Vc \ [\ +9 &X" \ \\ +10 &Y \ \\ +9 &[ \ J +9 &\\4 \ 2 +10 &\\d \ N +2 ( +2 "collection"',& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&q1 +64 "core" 1 + "manipulator"&u% +5 "core" % ? ] { + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%`& +4 "core" &\ +2 "manipulator"&P% +3 "core" %  d # +2 "storage"(H% +4 "core" % > . z\ + "storage"(4. +3 "core" .(,y +2 "storage"(y& +3 "core" &,y O U ,\  +2 "storage"(g& +4 "core" &,y B ? \  + "manipulator"&0& +4 "core" &Ӛ" ;3 + "manipulator"&b% +4 "core" %  s # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&J( +163 "core" ( + "manipulator"&%& +5 "core" & !  + "storage"(& +4 "core" &,y 5 7 K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +97 "core" ' + "storage"(]& +4 "core" &,y d d &\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'r +295 "core" ' + "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,y F K 1\  +2 "manipulator"&O& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&@( +3 "core" ( + "manipulator"&& +4 "core" & j  + "storage"(}& +4 "core" &,y M G P\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&p'c +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(s' +8 "core" & i  + "manipulator"&X% +5 "core" % τ M + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&I( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&\\& +5 "core" &  ~ + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" & + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&& +5 "core" & + + "manipulator"&% +4 "core" %  +2 "processing"%5& +4 "core" &\ + "processing"%2& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%i(^ +4 "core" &\  +9 &2y\ *x +10 &c|\ > +9 &ms\ O +9 &/R\ O +10 &T\ O +9 &P\ N +53 &vR\ N +5 &7V\ O + &T\ O +2 &V\ N + & }R\ O +3 &"?R\ O +2 &$V\ O +8 &%R\ N +10 &'R\ N +9 &)GQ\ O +9 &+\ U\ N +10 &,S\ O +9 &.O\ N +9 &0OQ\ O +10 &2S\ O +9 &3P\ N +10 &5U\ O +9 &7XU\ N +9 &9X\ O +10 &:T\ O +9 &<T\ N +9 &>^[\ O +10 &@ U\ O +9 &A]\ P +10 &Cg\ Q +9 &E\\x\ R +9 &G\ T +10 &H\ T +9 &J\ U +9 &L\\\ U +10 &N\ V +9 &O\ V +10 &Q\ V +9 &Sa\ V +9 &U"\ V +10 &V\ V +9 &X\ V +9 &Zh\ V +10 &\\)\ W +9 &]{\ ; +10 &^2\ S +9 &^\ 0 +2 ( +2 "processing"%2& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&t1 +62 "core" 1 +2 "manipulator"&&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +97 "core" ' +2 "processing"%& +4 "core" &^\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&k% +4 "core" % % < + "storage"(z% +4 "core" % 2 +\ + "storage"(m. +3 "core" .(,y +2 "storage"(& +4 "core" &,y 6 6 \  +2 "storage"(& +2 "manipulator"&& +6 "core" &,y 6 6 \  + & + +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&U( +6 ."raiseStack"SE.seek :beamBreak + "storage"(>'r +3 "core" ( +2 "manipulator"&& +3 "core" & + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & + +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&W/ +58 "core" / +2 .tPC.seek :open +2 "processing"%j( +96 "core" ' + "storage"(r- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +302 ( +2 "storage"(!& +4 "core" &,y L L U\  + "manipulator"&6& +4 "core" & t + +2 "manipulator"&R% +3 "core" %   4 +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&G( +245 "core" ( + "manipulator"&(& +5 "core" &  k ? + "storage"(x& +4 "core" &,y N L q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +95 "core" ' +2 .tHand.open + "manipulator"&+1 +58 "core" 1 +2 "storage"($- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(|- +3 "core" -' +2 "storage"(& +4 "core" &,y\ \  G\ ~ + "manipulator"&:& +4 "core" & i ? +2 .tElbow.seek 4 +2 "manipulator"&7( +3 "core" ( + "manipulator"&[& +4 "core" &  S ? +2 "storage"(Y& +4 "core" &,y W H ?\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(w'" +53 "core" ' + "manipulator"&)& +5 "core" &  ? + "storage"(D& +4 "core" &,y = / l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&<'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +23 "core" ' + "manipulator"&d% +5 "core" %I \\ + "storage"(_& +4 "core" &,y 9 / &\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&a'u +14 "core" ' +2 "manipulator"&.& +4 "core" &  e > +2 "storage"(h& +4 "core" &,y O M \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +15 "core" ' + "storage"(c% +5 "core" % F M /\ +2 ."downElevator"SE.seek :down +3 "storage"(\ ' +99 (/% +3 "core" %L 5 6 \ Ve + "manipulator"&N% +4 "core" %  : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,y O N V\  +2 "collection"'=& +3 "core" &\\c \ N +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"& % +3 "core" %   +2 "storage"(% +4 "core" % O O \ + "storage"(B. +3 "core" .(,y + "storage"(& +4 "core" &,y N M \  +2 "storage"(#& +4 "core" &,y O N \  + "manipulator"&e& +4 "core" &   > + .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&V& +4 "core" &  U > + "storage"('& +4 "core" &,y M O \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +96 "core" ' + "storage"(& +4 "core" &,y M d\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'r +295 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +2 "core" & q > +2 "storage"(;& +4 "core" &,y B I \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&n'7 +24 "core" ' +2 .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(E- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(Z'e +28 "core" ' +2 "manipulator"&F% +4 "core" %A +2 "storage"(A& +3 "core" &,y K H D\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 310 counts +2 "manipulator"&{'m +24 "core" ' + "manipulator"&T& +4 "core" & = +2 "storage"("& +4 "core" &,y L L V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&q' +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(u' +40 "core" ' + "manipulator"&`& +4 "core" &  | = +2 "manipulator"&P% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&4(ӂ +151 "core" ( +2 "manipulator"&y& +4 "core" &ӊ&  ?V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +2 "core" &ӊ& . ?V +2 .tForearm.seek CC +2 "manipulator"&g'? +96 "core" ' +2 .tHand.close + "manipulator"&0/ +54 "core" / + .tCC.seek :open +2 "collection"'b( +447 "core" ( +2 "storage"(M& +4 "core" &,y d e n\  +2 "storage"(%& +3 "core" &,y d n p\  +2 "manipulator"&& +3 "core" &Ӝ$ c =D +2 "manipulator"&]% +4 "core" % K , + .tForearm.seek :retract +2 "manipulator"&o' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +163 "core" ( + "manipulator"&9& +4 "core" &  +2 "storage"(& +4 "core" &,y 9\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&O'7 +93 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&}1 +60 "core" 1 +2 "manipulator"&% +4 "core" % E  r G + "storage"(& +4 "core" &,y  \  + .tForearm.force -20 + "manipulator"&5 +52 .tForearm.seek 4 + 314 counts +3 "manipulator"&X'q +14 "core" ' +2 "manipulator"&J& +4 "core" & \\  +2 "storage"(Q& +3 "core" &,y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +19 "core" ' +2 "storage"(p% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(\\' +99 (v% +2 "core" %E \ Wc +2 "manipulator"&@% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&5% +4 "core" %  c  + "storage"(s% +4 "core" % \ +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(?(<- +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (t& +2 "core" &<, d d \  +2 "manipulator"&&& +4 "core" & R  +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&k& +4 "core" &  G  +2 "storage"(z& +4 "core" &<, } } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +91 "core" ' + "storage"(2& +4 "core" &<, \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<, D\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   + "storage"(W& +4 "core" &<, \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&r'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&I/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&3& +2 "storage"(i' +7 "core" &   + "manipulator"&>% +4 "core" % Ϯ  +2 .tForearm.seek :retract +2 "manipulator"&!' +87 "core" ' + .tElbow.seek CC +2 "manipulator"&6(ӂ +159 "core" ( + "manipulator"&R& +6 "core" &Ӑ#  <> ' +3 .tElbow.reconfigure :loose + ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&& +5 "core" &Ӑ#  W <> +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&('? +102 "core" ' +2 "manipulator"&x& +5 "core" &ӑ#  u <= + "manipulator"&U% +4 "core" %? r  +2 "collection"'+& +4 "core" & \ +2 "collection"'$& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'|(\\ +4 "core" & \  +8 &4} \ *z +9 & f{ \ > +10 &n \ M +9 &WT \ L +9 &T \ L +10 &T \ L +9 &T \ L +10 &`S \ L +9 &!T \ L +9 &T \ L +10 & S \ L +9 &"hT \ L +10 &$+T \ K +9 &%T \ L +9 &'U \ L +10 &)oT \ L +9 &+1S \ L +9 &,S \ L +10 &.T \ L +9 &0xU \ L +9 &2:T \ L +10 &3S \ L +9 &5U \ L +10 &7~T \ L +9 &9@U \ L +9 &;T \ L +10 &<U \ L +9 &>U \ L +9 &@IR \ L +10 &B X \ M +9 &C^ \ M +10 &Ee \ N +9 &GFv \ P +9 &H \ S +10 &J \ W +9 &Lu \ X +9 &N4 \ Y +10 &O \ Y +9 &Q \ Y +10 &Sv \ Z +9 &U6 \ [ +9 &V \ [ +10 &X \ \\ +9 &Zw \ \\ +10 &\\z \ 1 +9 &\\/ \ "g +9 ( +3 "collection"'$& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&1 +3 "core" &\\h \ S +60 1 + "manipulator"&:% +4 "core" % ? e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +90 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%Y& +4 "core" &\ + "manipulator"&% +4 "core" %    +2 "storage"()% +4 "core" % > > \ + "storage"(D. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(d(<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +2 "core" &<, + 3 \  +2 "manipulator"&& +4 "core" &ӑ# Q <= + "manipulator"&.% +4 "core" %  /  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&h( +158 "core" ( +2 "manipulator"&& +4 "core" &  k +2 "storage"(c& +3 "core" &<, 9 G a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +94 "core" ' +2 "storage"(L& +4 "core" &<, c d 7\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +297 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &<, J B 8\  +2 "manipulator"&l& +4 "core" & +2 .tElbow.seek 5 + "manipulator"&7( +3 "core" ( +2 "manipulator"&w& +3 "core" &  +2 "storage"(<& +4 "core" &<, O O \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&a/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +3 "storage"( ' +8 "core" & h + "manipulator"&% +4 "core" % ϻ +2 .tForearm.seek :retract +2 "manipulator"&B' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&& +4 "core" & v 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +2 "core" & [ 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e' +93 "core" ' +2 "manipulator"&V& +4 "core" &  } 2 +2 "manipulator"&'% +3 "core" % = 9 +2 "processing"%~& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (^ +4 "core" &\ +7 &5\ #c +9 &Ux\ 7 +10 &x\ L +9 &S\ O +10 &YU\ O +9 &R\ O +9 &T\ O +10 &Q\ N +9 &bQ\ N +9 &#U\ O +10 &T\ O +9 &!Q\ N +10 &#iU\ O +9 &%,T\ N +9 &&V\ O +10 &(U\ N +9 &*rS\ N +9 &,2W\ O +10 &-O\ N +9 &/T\ N +10 &1zR\ N +9 &3<U\ N +9 &4Q\ N +10 &6R\ N +9 &8S\ O +9 &:DS\ N +10 &<U\ O +9 &=X\ O +10 &?U\ O +9 &AKW\ O +9 &C ^\ P +10 &Dg\ Q +9 &Fs\ R +9 &HB\ T +10 &J\ U +9 &K\ U +9 &M\ U +10 &OG\ U +9 &Q\ W +10 &R\ V +9 &T\ W +9 &VN\ V +10 &X\ V +9 &Y\ V +9 &[\ V +10 &]R\ H +9 &^yC{\ #j +10 &^>\ 3 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&81 +3 "core" &^&\ 3 +58 1 + "manipulator"&S% +4 "core" %  4 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' + "processing"%K& +4 "core" &^&\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&;% +5 "core" %    + "storage"(E% +4 "core" % 5 6 \ + "storage"(F. +3 "core" .(<- +2 "storage"(A& +3 "core" &<, * + \  +2 "storage"(T& +4 "manipulator"&"& +4 "core" &<, 6 5\  + & % 2 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&`( +5 ."raiseStack"SE.seek :beamBreak + "storage"(P'r +3 "core" ( + "manipulator"&^& +4 "core" &  | 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & d 2 +2 .tForearm.seek PC +2 "manipulator"&-' +93 "core" ' +2 .tHand.close + "manipulator"&n/ +53 "core" / +2 .tPC.seek :open +2 "processing"%{( +102 "core" ' +3 "storage"(Z- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'1 +45 "core" ' +296 ( + "storage"(,& +4 "core" &<, L L Z\  +2 "manipulator"&q& +3 "core" & 2 +2 "manipulator"&*% +4 "core" %   e H +2 .tForearm.seek :retract + "manipulator"&0' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&H( +247 "core" ( + "manipulator"&C& +4 "core" &  @ +2 "storage"(M& +4 "core" &<, 7 6 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&%'O +93 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(]- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +57 "core" ' +3 #tLights, camera, ACTION! + "storage"(g- +3 "core" -' +2 "storage"(4& +4 "core" &<, e n o\  +2 "manipulator"&}& +3 "core" &  @ +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  ^ @ +2 "storage"(J& +4 "core" &<, \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(p'" +57 "core" ' + "manipulator"&o& +4 "core" & k @ +2 "storage"(& +4 "core" &<, H ? +\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&v'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(O' +19 "core" ' + "manipulator"&% +4 "core" %Γ u +2 "storage"(X& +4 "core" &<, * ( 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts + "manipulator"&5'Ͽ +15 "core" ' + "manipulator"&s& +5 "core" & 8 + "storage"(& +4 "core" &<, N O u\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&u'O +18 "core" ' + "storage"(f% +5 "core" % F M f\ +2 ."downElevator"SE.seek :down +3 "storage"(\\' +99 (1% +3 "core" %^J 6 +\ Xg +2 "manipulator"&t% +4 "core" %>  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +93 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (k& +4 "core" &<, > ? 2\  + "collection"'z& +4 "core" &\\h \ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&2% +4 "core" %  ! +2 "storage"(% +3 "core" % > ? \ +2 "storage"(. +3 "core" .(<- + "storage"(& +4 "core" &<, L L -\  +2 "storage"(& +3 "core" &<, > ? ]\  +2 "manipulator"&& +4 "core" &  T 8 + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&W& +4 "core" & I 8 +2 "storage"(I& +3 "core" &<, ? ? U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +96 "core" ' + "storage"(>& +4 "core" &<, 7 5 5\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(m- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&R& +3 "core" & Q 8 +2 "storage"(& +3 "core" &<, = 8\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +12 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(x- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"('^ +28 "core" ' + "manipulator"&U% +4 "core" %Η E L +2 "storage"(+& +4 "core" &<, L O r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&i' +14 "core" ' + "manipulator"&!& +4 "core" & 8 +2 "storage"(b& +4 "core" &<, L K ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(:' +40 "core" ' + "manipulator"&Y& +5 "core" & 8 + "manipulator"&% +5 "core" %< + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +87 "core" ' + .tElbow.seek CC +2 "manipulator"&D(ӂ +153 "core" ( + "manipulator"&$& +4 "core" &ӏ'  @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &ӏ' @Z + .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&./ +53 "core" / +2 .tCC.seek :open + "collection"'(( +448 "core" ( +2 "storage"(& +4 "core" &<, d c L\  + "storage"(c& +4 "core" &<, e d ]\  +2 "manipulator"&?& +3 "core" &ӛ%  ; >N +2 "manipulator"&L% +3 "core" % 8   +2 .tForearm.seek :retract +2 "manipulator"&6' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&[( +166 "core" ( + "manipulator"&/& +4 "core" &   +2 "storage"(N& +3 "core" &<, c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&l'΍ +101 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +62 "core" 1 +2 "manipulator"&a% +4 "core" % Ε  ; +2 "storage"(=& +4 "core" &<, 2\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 308 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&h& +4 "core" &   + "storage"(G& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +16 "core" ' +2 "storage"(% +4 "core" % \\\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (#% +4 "core" %D \ Wd + "manipulator"&7% +5 "core" %< M + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +89 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"''& +4 "core" & \ +2 "manipulator"&~% +4 "core" %  +  + "storage"( % +4 "core" % | | \ +2 "storage"(B. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(j(K +374 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &K ~ I\ +2 "manipulator"&S& +3 "core" & j  +2 .tElbow.seek 6 +2 "manipulator"&K( +3 "core" ( + "manipulator"&;& +4 "core" &  C  +2 "storage"(E& +3 "core" &K } b\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&F' +97 "core" ' + "storage"(A& +4 "core" &K \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'r +296 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +51 "core" &K W\ +3 "manipulator"&^& +4 "core" &  M  +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&e& +4 "core" & \ T  +2 "storage"(n& +3 "core" &K } } \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Z'h +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(\ ' +7 "core" & O  +2 "manipulator"&P% +4 "core" % b p +2 .tForearm.seek :retract + "manipulator"&,' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&*& +4 "core" &ӄ) A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" &ӄ) e A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'? +102 "core" ' +2 "manipulator"&M& +5 "core" &Ӆ(  @^ + "manipulator"&`% +4 "core" %G \\  +2 "collection"'& +4 "core" & \ +2 "collection"']& +7 "core" & \ +2 .tCC.seek :closed + "collection"'g(\\ +4 "core" & \  +8 &6{  \ +{ +10 &g}  \ ? +9 &i \ M +10 &bQ \ L +9 &#W \ L +9 &T \ L +10 &S \ L +9 &jS \ L +9 &,U \ L +10 &T \ L +9 & V \ L +10 &"rT \ L +9 &$4T \ L +9 &%R \ L +10 &'U \ L +9 &)yU \ L +9 &+;T \ L +10 &,T \ L +9 &.T \ L +10 &0T \ L +9 &2CW \ L +9 &4T \ L +10 &5U \ L +9 &7U \ L +9 &9KU \ L +10 &; T \ L +9 &<T \ L +10 &>T \ L +9 &@RU \ L +9 &BZ \ M +10 &Cc \ N +9 &Er \ O +9 &GF \ S +10 &H \ V +9 &J \ Y +10 &L} \ X +9 &N; \ Z +9 &O \ Z +10 &Q \ Z +9 &S| \ [ +9 &U= \ \\ +10 &V \ \\ +9 &X \ ] +10 &Z~ \ ] +9 &\\"z \ 2 +9 &\\, \ a +9 ( +3 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + .Hand.open +2 "manipulator"&41 +3 "core" &\\h \ S +56 1 +2 "manipulator"&}% +4 "core" % G   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%J& +4 "core" &\ +2 "manipulator"&0% +3 "core" %   # +2 "storage"(o% +4 "core" % 3 + v\ + "storage"(. +4 "core" .(K + "storage"(& +4 "core" &K * * g\ +2 "storage"(X& +3 "core" &K 2 ' l\ +2 "manipulator"&y& +4 "core" &Ӆ'  @^ + "manipulator"&s% +4 "core" %  # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +164 "core" ( + "manipulator"&9& +4 "core" & c  +2 "storage"(f& +4 "core" &K L F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +101 "core" ' + "storage"(%& +5 "core" &K d d -\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +2 "core" &K C :\ +2 "manipulator"&Q& +4 "core" & H  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&p& +4 "core" & Z  + "storage"(v& +4 "core" &K O O \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&5'h +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&k/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& +2 "storage"(2' +6 "core" &   +2 "manipulator"&% +4 "core" % ^ + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&& +4 "core" & 0 : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & N : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&W& +5 "core" &  : + "manipulator"&I% +4 "core" % < +2 "processing"%u& +4 "core" &\ +3 "processing"%>& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%\\(^ +4 "core" &\  +10 &2x\ )w +9 &c|\ > +9 &jq\ O +10 &,S\ N +9 &Q\ N +10 &O\ N +9 &sQ\ N +9 &3R\ O +10 &U\ O +9 &V\ N +9 & zR\ N +10 &"<O\ N +9 &#R\ N +10 &%N\ O +9 &'T\ O +9 &)DS\ N +10 &+R\ N +9 &,T\ N +10 &.O\ N +9 &0LR\ N +9 &2Q\ N +10 &3S\ O +9 &5R\ O +9 &7SO\ O +10 &9W\ O +9 &:R\ O +9 &<S\ N +10 &>ZW\ O +9 &@V\ O +10 &A`\ P +9 &Cl\ R +9 &EWx\ S +10 &G\ T +9 &H\ U +9 &J\ U +10 &LX\ U +9 &N\ V +10 &O\ V +9 &Q\ W +9 &S\\\ W +10 &U\ W +9 &V\ V +9 &X\ V +10 &Ze\ V +9 &\\&\ V +10 &]\ 4 +9 &^3q\ B +9 ( +3 "processing"%>& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&@1 +4 "core" &^!\ 1 +54 1 +2 "manipulator"&&% +4 "core" %  H < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +97 "core" ' +2 "processing"%R& +4 "core" &^"\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" % \  S  + "storage"(x% +4 "core" % @ 9 \ + "storage"(U. +3 "core" .(K +2 "storage"(+& +4 "core" &K . 7 2\ + "storage"(!& +5 "manipulator"&b& +3 "core" &K < ) \ +2 &  : +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(Y'r +3 "manipulator"&( +3 "core" ( + "manipulator"&3& +4 "core" & : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ? : +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open + "processing"%i( +104 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'1 +39 "core" ' +301 ( + "storage"(_& +5 "core" &K O O \ + "manipulator"&& +4 "core" & > : + "manipulator"&r% +4 "core" %  % F +2 .tForearm.seek :retract +2 "manipulator"&.' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&)( +245 "core" ( +2 "manipulator"&|& +4 "core" &   + "storage"(& +4 "core" &K + + `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&c' +102 "core" ' + .tHand.open + "manipulator"&?1 +58 "core" 1 +2 "storage"(L- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(N' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(D& +4 "core" &K \\ M\ + "manipulator"&<& +4 "core" & f  +2 .tElbow.seek 6 +2 "manipulator"&a( +9 "core" ( + "manipulator"&=& +5 "core" & I  + "storage"(h& +4 "core" &K c Y\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +52 "core" ' +2 "manipulator"&6& +4 "core" &   +2 "storage"(#& +4 "core" &K < , I\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&7'< +70 "core" ' +4 .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(l' +28 "core" ' +2 "manipulator"&'% +4 "core" %P + "storage"(& +4 "core" &K + + U\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&~'| +25 "core" ' + "manipulator"& & +5 "core" & 3  + "storage"(B& +4 "core" &K > >\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&:' +16 "core" ' + "storage"( % +5 "core" % A L Y\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (d% +3 "core" %XM + * \ Xi +2 "manipulator"&8% +4 "core" % Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +93 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +4 "core" &K ? ? \ + "collection"'E& +4 "core" &\\h \ S +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&A% +4 "core" %  l  + "storage"(w% +4 "core" % K L *\ +2 "storage"(V. +3 "core" .(K + "storage"("& +4 "core" &K H K \ +2 "storage"(& +4 "core" &K > > Q\ + "manipulator"&^& +4 "core" & l  +2 .tElbow.seek 6 +2 "manipulator"&e( +8 "core" ( +2 "manipulator"&n& +4 "core" &  7 +2 "storage"( & +3 "core" &K K M \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +91 "core" ' +2 "storage"(P& +4 "core" &K L D @\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +299 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&*& +3 "core" & 9 +2 "storage"(-& +3 "core" &K M N c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&T'< +14 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(M- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(`'g +26 "core" ' + "manipulator"&% +4 "core" %P Z +2 "storage"( & +3 "core" &K L L X\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&\ '| +14 "core" ' +2 "manipulator"&,& +4 "core" & b +2 "storage"((& +3 "core" &K E K G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(}' +36 "Can"'\ LJ + "core" ' +2 "manipulator"&J& +4 "core" & Z +2 "manipulator"&0% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +163 "core" ( + "manipulator"&]& +5 "core" &ӌ  c 5\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ 5\ +2 .tForearm.seek CC +2 "manipulator"&X'? +91 "core" ' +2 .tHand.close + "manipulator"&y/ +57 "core" / +2 .tCC.seek :open + "collection"'s( +451 "core" ( + "storage"(C& +4 "core" &K m \\\ +2 "storage"(9& +3 "core" &K X a \ +2 "manipulator"&f& +3 "core" &ӌ V 5\ +2 "manipulator"&%% +4 "core" % I  q b + .tForearm.seek :retract +2 "manipulator"&q' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +162 "core" ( + "manipulator"&1& +4 "core" & "  +2 "storage"(t& +4 "core" &K \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&Q'< +92 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +61 "core" 1 +2 "manipulator"&k% +4 "core" % J  _ 1 + "storage"(z& +4 "core" &K :\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&'v +15 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(H& +4 "core" &K } | f\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(5% +4 "core" % 1\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +2 "core" %A \ Vb +2 "manipulator"&% +4 "core" % " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'I& +4 "core" & \ + "manipulator"&u% +4 "core" %  x  +2 "storage"(2% +4 "core" % } 0\ + "storage"(. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"({(  +1299 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +2 "core" &  v i n\ +2 "manipulator"&&& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&R( +3 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(x& +4 "core" &   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&U'S +93 "core" ' +2 "storage"(+& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'r +294 "core" ' +2 "storage"(b- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (!& +3 "core" &  w K\ +2 "manipulator"&3& +3 "core" & F  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  1  + "storage"(& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&m& + "storage"(\\' +7 "core" & .  +2 "manipulator"&Y% +4 "core" %   ; + .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&r& +4 "core" &Ӎ < 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӎ  : 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&|'? +92 "core" ' + "manipulator"&& +4 "core" &Ӎ  3 +2 "manipulator"&% +4 "core" %8 m +2 "collection"'?& +4 "core" & \ +2 "collection"'L& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \  +8 &3y \ *z +10 &e| !\ > +9 &o \ M +9 &OT %\ L +10 &T "\ L +9 &W &\ L +10 &T \ L +9 &YS \ K +9 &V \ L +10 &T \ L +9 & R \ L +9 &"`U \ L +10 &$"R \ L +9 &%T \ L +9 &'U \ L +10 &)gX \ L +9 &+*T \ L +10 &,T \ L +9 &.W \ L +9 &0pT  \ L +10 &21R \ L +9 &3T \ L +10 &5U \ L +9 &7wR \ L +9 &99U \ L +10 &:U \ L +9 &<U  \ L +9 &>U \ \ L +10 &@BU \ L +9 &BV \ L +10 &C] \ M +9 &Ea \ M +9 &G?p \ O +10 &H \ R +9 &J \ V +9 &Ll \ X +10 &N, \ Y +9 &O \ Y +9 &Q \ Y +10 &Sm \ Z +9 &U/ \ Z +10 &V \ \\ +9 &X \ \\ +9 &Zn \ ] +11 &\\z \ 3 +8 &\\, \ #i +9 ( +56 &\\s \ W +4 &\\t \ W + &\\t \ W &\\t \ W + &\\t \ W + &\\t \ W + &\\t \ W +4 "collection"'L& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&D1 +4 "core" &\\t \ W +53 1 +2 "manipulator"&<% +4 "core" % 8  m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%h& +4 "core" &\ +2 "manipulator"&.% +4 "core" %  \  +2 "storage"(6% +3 "core" % ( + 2\ +2 "storage"(#. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"($(  +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "core" & & 2 2\ +2 "manipulator"&'& +4 "core" &Ӎ M 3 +2 "manipulator"&% +4 "core" %  3  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& ( +162 "core" ( +2 "manipulator"&B& +4 "core" &  + "storage"()& +4 "core" & B I R\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&c'S +93 "core" ' + "storage"( & +4 "core" & : L \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'r +298 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" & > - |\ +2 "manipulator"&8& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&& +3 "core" & x  +2 "storage"(7& +3 "core" & > > \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&~'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& + "storage"(A' +7 "core" & W  +2 "manipulator"&w% +4 "core" % ϶  + .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l( +169 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +68 "core" ( +2 "manipulator"&"& +4 "core" & J * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 6 * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&^' +90 "core" ' + "manipulator"&n& +4 "core" &  u * +2 "manipulator"& % +4 "core" %  k + "processing"%:& +4 "core" &\ +3 "processing"%P& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 &6\ $e +10 &Ux\ 7 +9 &~x\ L +9 &R\ O +10 &YT\ O +9 &O\ N +9 &T\ O +10 &S\ O +9 &aT\ O +10 &$Q\ N +9 &R\ O +9 &!R\ O +10 &#jQ\ N +9 &%,R\ N +9 &&V\ O +10 &(U\ N +9 &*qQ\ O +10 &,4R\ N +9 &-Q\ N +9 &/T\ N +10 &1zS\ N +9 &3;U\ O +9 &4R\ O +10 &6S\ N +9 &8W\ O +10 &:DS\ N +9 &<U\ O +9 &=W\ O +10 &?U\ O +9 &AJW\ O +9 &Cb\ P +10 &Df\ Q +9 &Fy\ S +10 &H@\ U +9 &J\ U +9 &K\ U +10 &M\ V +9 &OE\ V +9 &Q\ V +10 &R\ V +9 &T\ W +10 &VM\ V +9 &X\ V +9 &Y\ W +10 &[\ W +9 &]R\ H +9 &^xB{\ %m +10 &^6\ 2 +5 ( +2 "processing"%P& +3 "core" &^&\ 2 +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&[1 +60 "core" 1 +5 "manipulator"&S% +4 "core" %  m k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +90 "core" ' + "processing"%*& +4 "core" &^&\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&-% +4 "core" %    +2 "storage"(M% +3 "core" % * + M\ +2 "storage"(. +3 "core" .(  + "storage"( & +4 "core" & + + /\ +2 "storage"(,& +2 "manipulator"&(& +6 "core" & ) ' $\ + &  * +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&J( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(0'r +2 "core" ( +2 "manipulator"& & +3 "core" & * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" & * +2 .tForearm.seek PC +2 "manipulator"&K' +95 "core" ' + .tHand.close + "manipulator"&T/ +63 "core" / +2 .tPC.seek :open +2 "processing"%\ ( +90 "core" ' + "storage"(`- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'1 +40 "core" ' +314 ( +2 "storage"(& +4 "core" & K H T\ + "manipulator"&4& +4 "core" & # * +2 "manipulator"&Z% +3 "core" %  ! +2 .tForearm.seek :retract +2 "manipulator"&y' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&o( +245 "core" ( + "manipulator"&g& +4 "core" & = . +2 "storage"(C& +3 "core" & 5 7 \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&9'S +96 "core" ' + .tHand.open +2 "manipulator"&f1 +63 "core" 1 +2 "storage"(%- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(1' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(t' +53 "core" ' + #tLights, camera, ACTION! + "storage"(X- +4 "core" -' +2 "storage"(& +3 "core" & b g ~\ +2 "manipulator"&v& +4 "core" &   . + .tElbow.seek 2 +2 "manipulator"&k( +3 "core" ( + "manipulator"&z& +4 "core" &   g . +2 "storage"(& +4 "core" & a a \ +2 .tForearm.seek 2 + 450 counts + "manipulator"&H'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(5'" +58 "core" ' + "manipulator"&q& +5 "core" & t . + "storage"(& +4 "core" & + + A\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Q' +20 "core" ' +2 "manipulator"&I% +4 "core" %Π ^ + "storage"(& +4 "core" & + * p\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&u' +14 "core" ' +2 "manipulator"&2& +4 "core" &  _ . +2 "storage"(& +4 "core" & A L \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&}'S +18 "core" ' + "storage"(% +5 "core" % ? B -\ +2 ."downElevator"SE.seek :down +5 "storage"(' +98 (j% +3 "core" %+W  + \ Ym +2 "manipulator"&@% +4 "core" %M # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&&' +94 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & ) . P\ + "collection"'x& +4 "core" &\\s \ W +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&+% +4 "core" % ! & +2 "storage"(p% +3 "core" % D ? \ +2 "storage"(W. +3 "core" .(  + "storage"(b& +4 "core" & 2 + %\ +2 "storage"(!& +4 "core" & < *\ + "manipulator"&3& +4 "core" & l - + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   - +2 "storage"(O& +3 "core" & > > x\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'S +144 "core" ' +2 "storage"(Y& +4 "core" & G M <\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'r +294 "core" ' +2 "storage"(U- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&r& +3 "core" & - +2 "storage"(& +4 "core" & * + m\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&>'Α +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"('a +29 "core" ' + "manipulator"&?% +4 "core" %Υ ! +2 "storage"(& +4 "core" & 7 8\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&\\' +13 "core" ' +2 "manipulator"&_& +4 "core" & , - +2 "storage"(s& +4 "core" & > > \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&D'S +15 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(<' +36 "core" ' + "manipulator"&h& +5 "core" & C - + "manipulator"&.% +4 "core" %C j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&6' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +149 "core" ( +2 "manipulator"&L& +4 "core" &z+ Co + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +2 "core" &z+ Co +2 .tForearm.seek CC +2 "manipulator"&''? +93 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'|( +450 "core" ( +2 "storage"(B& +4 "core" & c d B\ +2 "storage"()& +3 "core" & d d \ +2 "manipulator"&{& +3 "core" &Ӗ& m ?S +2 "manipulator"& % +4 "core" % . t + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&=( +164 "core" ( + "manipulator"&G& +4 "core" & w  +2 "storage"(d& +4 "core" & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&8'Α +100 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&71 +64 "core" 1 +2 "manipulator"&;% +4 "core" % Σ  + "storage"(E& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&w' +16 "core" ' +2 "manipulator"& & +4 "core" & !  + "storage"(c& +4 "core" & ~ } b\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&N'S +14 "core" ' +2 "storage"(~% +4 "core" % O\ +3 ."downElevator"SE.seek :down +3 "storage"("' +99 (% +2 "core" %wI w d S\ Wg +2 "manipulator"&a% +4 "core" %F  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +88 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +4 "core" & \ +2 "manipulator"&:% +4 "core" %  E  + "storage"(A% +4 "core" % z | \ + "storage"(V. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(i( +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +2 "core" & d f `\  +2 "manipulator"&S& +4 "core" & x  + .tElbow.seek 3 +2 "manipulator"&*( +13 "core" ( +2 "manipulator"&-& +4 "core" &    + "storage"(M& +4 "core" & z 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +97 "core" ' + "storage"( & +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'r +296 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" & v b \  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&e( +3 "core" ( + "manipulator"&^& +4 "core" &   +2 "storage"(T& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&`'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(' +7 "core" & \\  + "manipulator"&0% +4 "core" % Ϙ d +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&4(ӂ +155 "core" ( + "manipulator"&Z& +5 "core" ' + &|-   Du + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &K& +2 "core" &|- Du +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'? +91 "core" ' +2 "manipulator"&C& +4 "core" &ӡ&  ?P +2 "manipulator"&J% +4 "core" %A e l + "collection"'f& +4 "core" & $\ +3 "collection"'%& +4 "core" & '\ +2 .tCC.seek :closed +2 "collection"'X(\\ +4 "core" & \  +9 &3y %\ *y +9 &e~ (\ > +10 &k (\ M +9 &LN &\ L +10 &S '\ L +9 &S $\ K +9 &S &\ L +10 &UQ \ L +9 &U &\ L +9 &T !\ K +10 & R  \ L +9 &"^S \ K +9 &$R \ L +10 &%T  \ L +9 &'T  \ L +10 &)dW \ L +9 &+&T \ L +9 &,T \ L +10 &.W  \ L +9 &0mT \ L +10 &2.W \ L +9 &3T \ L +9 &5R \ L +10 &7tT  \ L +9 &96U  \ L +9 &:T  \ L +10 &<W  \ L +9 &>|U  \ L +10 &@>U \ L +9 &BW  \ L +9 &C] \ M +10 &Ec \ N +9 &G<s \ O +9 &H \ S +10 &J \ W +9 &Lj \ X +9 &N) \ Y +10 &O \ Y +9 &Q \ Z +10 &Sk \ Z +9 &U+ \ [ +9 &V \ [ +10 &X \ \\ +9 &Zl \ \\ +9 &\\{ \ 4 +10 &\\* \ !b +9 ( +3 "collection"'%& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&1 +3 "core" &\\y \ Z +60 1 +2 "manipulator"&v% +4 "core" % A  l + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&y% +4 "core" %   +2 "storage"(q% +3 "core" % 5 5 \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(I( +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  s\  +2 "manipulator"&]& +4 "core" &ӡ& ?P + "manipulator"&2% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +165 "core" ( + "manipulator"&1& +5 "core" &   + "storage"(& +4 "core" & I ? -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&o'7 +94 "core" ' +2 "storage"(9& +4 "core" & : L \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'r +295 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (@& +3 "core" & ) ' #\  + "manipulator"&H& +4 "core" & g  +2 .tElbow.seek 3 + "manipulator"&k( +4 "core" ( + "manipulator"&5& +4 "core" &  {  + "storage"(& +4 "core" & > D \  +2 .tForearm.seek 3 + 300 counts +51 "manipulator"&u'ϡ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +2 "storage"(+' +7 "core" &  + "manipulator"&p% +4 "core" % Ϝ +2 .tForearm.seek :retract +2 "manipulator"&W' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&b& +4 "core" &  H 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &  W 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&3' +101 "core" ' +2 "manipulator"&& +4 "core" & @ 5 +2 "manipulator"&O% +3 "core" %  \\  +2 "processing"%}& +4 "core" & \ +2 "processing"%Y& +6 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\ +7 &5\ #c +10 &Tw\ 7 +9 &}z\ L +9 &T\ O +13 &ZR\ N +9 &S\ O +6 &T\ O +10 &Q\ O +9 &aQ\ O +9 &"V\ O +10 &R\ O +9 &!U\ O +10 &#iQ\ O +9 &%+P\ O +9 &&R\ O +10 &(R\ O +9 &*pR\ O +9 &,3T\ O +10 &-P\ O +9 &/S\ O +10 &1yT\ O +9 &3;T\ O +9 &4T\ O +10 &6Q\ O +9 &8T\ O +9 &:DR\ N +10 &<U\ O +9 &=U\ O +10 &?R\ O +9 &AHZ\ P +9 &Cb\ Q +10 &Dp\ R +9 &F\ T +10 &H?\ U +9 &J\ U +9 &K\ U +10 &M\ V +9 &OF\ V +9 &Q\ V +10 &R\ V +9 &T\ W +9 &VL\ V +10 &X \ W +9 &Y\ W +10 &[\ W +9 &]Q\ J +9 &^|I\ ] +10 &^ Q\ 5 +5 ( +2 "processing"%Y& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&1 +4 "core" &^+\ 5 +55 1 + "manipulator"&&% +5 "core" %  K  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' + "processing"%r& +4 "core" &^+\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %   +2 "storage"(% +4 "core" % + ) (\ +2 "storage"(?. +3 "core" .( + "storage"(& +4 "core" & '  @\  +2 "storage"(_& +5 "manipulator"&s& +3 "core" & % ) N\  +2 & " 5 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&h( +4 ."raiseStack"SE.seek :beamBreak + "storage"(.'r +3 "core" ( + "manipulator"&m& +4 "core" & d 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & * 5 +2 .tForearm.seek PC +2 "manipulator"&R' +93 "core" ' + .tHand.close +2 "manipulator"&>/ +55 "core" / +2 .tPC.seek :open +2 "processing"%\\( +100 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(L'1 +43 "core" ' +301 ( + "storage"(/& +4 "core" & ) . \  +2 "manipulator"&D& +3 "core" &  5 +2 "manipulator"&% +4 "core" %   * + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&6( +247 "core" ( + "manipulator"&& +4 "core" & ` D +2 "storage"(B& +4 "core" & * 1 _\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&)'7 +95 "core" ' + .tHand.open +2 "manipulator"&{1 +55 "core" 1 + "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(G' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(d' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"('- +3 "core" -' +2 "storage"(#& +4 "core" & ` a _\  + "manipulator"&7& +4 "core" &  [ D +2 .tElbow.seek 3 +2 "manipulator"&;( +3 "core" ( + "manipulator"&E& +4 "core" &  D +2 "storage"( & +3 "core" & j a +\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&c'7 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(~'" +53 "core" ' + "manipulator"&& +4 "core" & + D +2 "storage"(& +4 "core" & * 2 \\\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&a'u +22 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +26 "core" ' + "manipulator"& % +5 "core" %΃ + + "storage"(w& +4 "core" & * + G\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&:'ϯ +14 "core" ' +2 "manipulator"&A& +4 "core" &  D +2 "storage"(V& +4 "core" & * ) d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&<'7 +16 "core" ' +2 "storage"(N% +4 "core" % H G T\ +3 ."downElevator"SE.seek :down +3 "storage"("' +99 ($% +3 "core" %@H + \ Wf +2 "manipulator"&[% +4 "core" %- , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +94 "core" ' +63 ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 (-& +4 "core" & - 2 j\  +2 "collection"'M& +4 "core" &\\{ \ Z + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %  w  +2 "storage"(% +4 "core" % ' ( $\ + "storage"(n. +4 "core" .( + "storage"((& +4 "core" & , 2 N\  + "storage"(P& +4 "core" & ( ( \  +2 "manipulator"& & +4 "core" & k C + .tElbow.seek 3 +2 "manipulator"&^( +3 "core" ( + "manipulator"&T& +4 "core" &  P C +2 "storage"(l& +3 "core" & ( ( \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&F'7 +96 "core" ' + "storage"(0& +4 "core" & L M e\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +6 "storage"(*'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +2 "core" & 3 C +2 "storage"(K& +4 "core" & ) + d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&,'u +18 "core" ' + .tElbow.hold +2 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(C- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(J'i +30 "core" ' + "manipulator"&f% +4 "core" %v  +2 "storage"(e& +3 "core" & 5 5\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&'Ϣ +14 "core" ' +2 "manipulator"&& +4 "core" & C +2 "storage"(|& +3 "core" & * ( A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +18 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(v' +38 "core" ' + "manipulator"&& +4 "core" & J C +2 "manipulator"&y% +4 "core" %+ ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +165 "core" ( + "manipulator"&%& +4 "core" &ӊ 9 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӊ 2 +2 .tForearm.seek CC +51 "manipulator"&]'? +94 "core" ' + .tHand.close +2 "manipulator"&2/ +53 "core" / +2 .tCC.seek :open +2 "collection"'g( +450 "core" ( + "storage"(1& +4 "core" & $\  +2 "storage"(& +4 "core" & l h -\  + "manipulator"&i& +4 "core" &ӊ 2 +2 "manipulator"&9% +3 "core" % S N +2 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&z( +176 "core" ( +2 "manipulator"&j& +4 "core" &y   8 +2 "storage"(@& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&H'u +97 "core" ' +2 .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&% +5 "core" % Ή  + "storage"(x& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&p'ϵ +27 "core" ' + "manipulator"&& +5 "core" &y  8 8 + "storage"(o& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t'7 +14 "core" ' +2 "storage"(u% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(b' +99 (!% +3 "core" %A d d f\ Vb +2 "manipulator"&k% +4 "core" %X | + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'O& +5 "core" & \ + "manipulator"&}% +4 "core" %    +2 "storage"(+% +4 "core" % \ +2 "storage"(W. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(\ (,y +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" &,x d e U\  + "manipulator"&&& +4 "core" &z 9 7 + .tElbow.seek 4 +2 "manipulator"&r( +28 "core" ( +2 "manipulator"&& +4 "core" &  a \ + "storage"(& +4 "core" &,x \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&?' +94 "core" ' + "storage"(& +4 "core" &,x \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'r +295 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &,x d\  +2 "manipulator"&m& +4 "core" & \ + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&3& +4 "core" &  \ +2 "storage"(>& +4 "core" &,x x\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Q/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& + "storage"(' +7 "core" & X \ +2 "manipulator"&.% +4 "core" % ] Q +2 .tForearm.seek :retract +2 "manipulator"&/' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&D(ӂ +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&& +5 "core" &ӎ < 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +2 "core" &ӎ  o 2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + "manipulator"&B& +4 "core" &ӎ   2 +3 "manipulator"&h% +3 "core" %B ^ +2 "collection"'{& +4 "core" & *\ +3 "collection"' & +4 "core" & &\ +2 .tCC.seek :closed +2 "collection"''(\\ +4 "core" &  \  +8 &3x \ *z +10 &e{ \ > +9 &n \ M +9 &SS !\ L +10 &V $\ L +9 &W #\ L +9 &S \ K +10 &\\S &\ K +9 &U !\ L +9 &R \ L +10 & R \ K +9 &"cT \ L +10 &$%W \ L +9 &%R !\ L +9 &'U \ K +10 &)kT \ L +9 &+-R &\ L +9 &,T \ K +10 &.T \ L +9 &0sW \ L +10 &25Q \ L +9 &3T \ K +9 &5U \ L +10 &7{R \ L +9 &9=U \ L +10 &:R \ L +9 &<T \ L +9 &>X \ L +10 &@DT \ L +9 &BV \ L +9 &C] \ M +10 &Eb \ N +9 &GBs \ \ O +10 &H \ S +9 &J  \ W +9 &Lo \ X +10 &N/ \ Y +9 &O \ Y +9 &Q \ Y +10 &Sq \ Z +9 &U1 \ [ +9 &V \ [\ +10 &X \ \\ +9 &Zq \ ] +10 &\\{ \ 0 +9 &\\7  \ "j +9 ( +2 &\\g \ N +2 "collection"' & +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator" +56 "core" 1 +2 "manipulator"&7% +4 "core" % B   ^ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"% & +4 "core" &\ + "manipulator"&% +4 "core" %  F  +2 "storage"(% +4 "core" % > > \ + "storage"(. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (w& +3 "core" &,x   c\  +2 "manipulator"&L& +4 "core" &ӎ Q 2 + "manipulator"&A% +4 "core" %  5  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&V( +165 "core" ( + "manipulator"&G& +4 "core" &   +2 "storage"(N& +4 "core" &,x C G \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +96 "core" ' +2 "storage"()& +4 "core" &,x d c *\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'r +294 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +2 "core" &,x A @ a\  +2 "manipulator"&c& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&;( +3 "core" ( + "manipulator"&~& +4 "core" & '  +2 "storage"(a& +3 "core" &,x K K _\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&:'c +36 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&-/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&M& + "storage"( ' +8 "core" & j  + "manipulator"&% +5 "core" % ϑ g + .tForearm.seek :retract +2 "manipulator"&8' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"&(& +4 "core" &  * ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &  Y ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' + "manipulator"&T& +4 "core" & p ( +2 "manipulator"&l% +4 "core" % k  +2 "processing"%<& +4 "core" &\ +2 "processing"%0& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%"(^ +3 "core" &\ +9 & -\ $d +9 &Tx\ 7 +9 &}v\ K +10 &S\ O +9 &XQ\ N +10 &Q\ N +9 &V\ O +9 &Q\ O +10 &_P\ O +9 &!Q\ O +9 &R\ N +10 &!R\ N +9 &#hR\ N +10 &%*R\ N +9 &&V\ O +9 &(S\ O +10 &*oV\ O +9 &,1W\ O +9 &-P\ O +10 &/V\ O +9 &1xU\ N +10 &39Q\ O +9 &4S\ O +9 &6S\ N +10 &8~W\ O +9 &:AR\ O +9 &<U\ N +10 &=U\ O +9 &?V\ O +10 &AHX\ O +9 &Cb\ Q +9 &Dm\ R +10 &F\ T +9 &H?\ U +9 &J\ U +10 &K\ V +9 &M\ V +10 &OD\ V +9 &Q\ W +9 &R\ V +10 &T\ W +9 &VJ\ V +9 &X \ V +10 &Y\ V +9 &[\ V +10 &]P\ H +9 &^wBz\ %m +9 &^0\ 2 +6 ( +2 "processing"%0& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 .Hand.open +50 "manipulator"&=1 +5 "core" &^%\ 2 +61 1 + "manipulator"&S% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 "processing"%Z& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&K% +4 "core" %  :  +2 "storage"(C% +3 "core" % 3 5\ +2 "storage"(f. +3 "core" .(,y + "storage"(e& +4 "core" &,x  % "\  +2 "storage"(& +5 "manipulator"&|& +3 "core" &,x + 6\  +2 & < ( +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&( + "storage"(y'r +5 "core" ( + "manipulator"&F& +4 "core" & ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &  ( +2 .tForearm.seek PC +2 "manipulator"&*' +93 "core" ' +3 .tHand.close + "manipulator"&,/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' + "storage"(J- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'1 +52 "core" ' +297 ( +2 "storage"(& +4 "core" &,x B L R\  +2 "manipulator"&& +3 "core" &  ( +2 "manipulator"&`% +4 "core" %  a 1 + .tForearm.seek :retract +2 "manipulator"&2' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&q( +245 "core" ( + "manipulator"&X& +5 "core" & o % + "storage"(1& +4 "core" &,x B K D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +100 "core" ' + .tHand.open + "manipulator"&i1 +54 "core" 1 +2 "storage"(9- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(j' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(@' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +3 "core" -' +2 "storage"(& +4 "core" &,x %\ s +2 "manipulator"&& +3 "core" &  % % +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&x& +3 "core" &   { % +2 "storage"(& +4 "core" &,x d\ s +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(u'" +59 "core" ' + "manipulator"&4& +4 "core" & _ % +2 "storage"(!& +4 "core" &,x B ? *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&k'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(H' +18 "core" ' +2 "manipulator"&O% +4 "core" %- U  + "storage"(p& +4 "core" &,x 5 .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 290 counts +2 "manipulator"&}'Y +14 "core" ' +2 "manipulator"&+& +4 "core" &  ` $ +2 "storage"(W& +4 "core" &,x > > g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +18 "core" ' +2 "storage"(t% +4 "core" % K L \ +3 ."downElevator"SE.seek :down +3 "storage"(b' +99 (I% +3 "core" %I 5 +\ Xi +2 "manipulator"&% +4 "core" % H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,x D B L\  + "collection"'& +4 "core" &\\k \ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %   + "storage"(5% +4 "core" % > = \ +2 "storage"(. +3 "core" .(,y + "storage"(_& +4 "core" &,x > > \  + "storage"(Y& +4 "core" &,x B K (\  +2 "manipulator"&m& +3 "core" &  : $ +2 .tElbow.seek 4 +2 "manipulator"&3( +3 "core" ( + "manipulator"&>& +4 "core" &  $ +2 "storage"(Q& +4 "core" &,x > > \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +99 "core" ' + "storage"(.& +5 "core" &,x 5 F ~\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'r +295 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  E $ +2 "storage"(R& +3 "core" &,x ( ( A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&s'7 +15 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(B- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(h'e +29 "core" ' + "manipulator"&{% +5 "core" %B E , + "storage"(& +4 "core" &,x L A \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&'n +15 "core" ' +2 "manipulator"&/& +4 "core" & $ +2 "storage"(g& +3 "core" &,x O M H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(7' +34 "core" ' +2 "manipulator"& & +4 "core" & $ +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +155 "core" ( + "manipulator"&w& +4 "core" &Ә" <9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ә# <9 +2 .tForearm.seek CC +2 "manipulator"&L'? +91 "core" ' + .tHand.close +2 "manipulator"&A/ +61 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"(G& +5 "core" &,x d b\  +2 "storage"(N& +3 "core" &,x c d \  +2 "manipulator"&\ & +3 "core" &Ә# ] <9 +2 "manipulator"&)% +3 "core" % K  a +2 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&E( +164 "core" ( + "manipulator"&$& +5 "core" & r  + "storage"([& +4 "core" &,x \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&c'7 +98 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&a1 +54 "core" 1 +2 "manipulator"&-% +4 "core" % B n  + "storage"(M& +4 "core" &,x \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 311 counts + "manipulator"&'n +16 "core" ' +2 "manipulator"&V& +4 "core" &    + "storage"(6& +4 "core" &,x | F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +17 "core" ' +2 "storage"(:% +4 "core" % } +\ +2 ."downElevator"SE.seek :down +4 "storage"((' +99 (P% +3 "core" %;A *\ Va +2 "manipulator"&;% +4 "core" %  2 + .tForearm.reconfigure :loose +45 "manipulator"&#Q@2^d^b +10 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +5 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'l& +4 "core" & \ +2 "manipulator"&<% +4 "core" %   ~  + "storage"( % +4 "core" % }\ +2 "storage"(8. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(\\(<- +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" &<* g c 5\  +2 "manipulator"&S& +4 "core" &  K  + .tElbow.seek 5 +2 "manipulator"&0( +10 "core" ( + "manipulator"&Z& +4 "core" & e k +2 "storage"(K& +4 "core" &<*   q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +96 "core" ' +2 "storage"(f& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'r +297 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<*  L\  +2 "manipulator"&F& +4 "core" &  Q k + .tElbow.seek 5 +2 "manipulator"&^( +3 "core" ( + "manipulator"& & +4 "core" &  A k +2 "storage"(,& +3 "core" &<* } | \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&J'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"("' +7 "core" & d k + "manipulator"&y% +4 "core" % ϶ [ +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&`& +4 "core" &Ӑ$ Z =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &Ӑ# b =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'? +93 "core" ' + "manipulator"&1& +5 "core" &ӑ$ t =B + "manipulator"&% +4 "core" %F  u K +2 "collection"'i& +4 "core" & \ +3 "collection"'9& +6 "core" & !\ +2 .tCC.seek :closed +3 "collection"'](\\ +3 "core" & \ +5 & \ 9 +9 &MKs !\ 0 +10 &}t} \ E +9 &'W \ L +9 &S \ L +10 &W \ L +9 &oS \ \ L +9 &2T \ K +10 &T \ K +9 &T \ L +10 &wX \ L +9 &!9S \ L +9 &"S \ L +10 &$S \ L +9 &&U \ K +9 &(@U \ L +10 &*T \ K +9 &+T \ L +10 &-R \ L +9 &/IT \ L +9 &1 V \ L +10 &2R \ \ L +9 &4T \ K +9 &6QT \ L +10 &8T \ L +9 &9X \ L +10 &;T \ L +9 &=YU \ L +9 &?U \ K +10 &@V \ L +9 &BY \ M +9 &D][ \ \ M +10 &Fi \ N +9 &G| \ P +10 &I "\ T +9 &KE \ X +9 &M \ Y +10 &N \ Y +9 &P \ Y +9 &RI \ Y +10 &T \ [\ +9 &U \ Z +10 &W \ \\ +9 &YG \ ] +9 &[  \ ] +10 &\\bL \ 7 +9 &\\\ \ ] +5 ( +2 "collection"'9& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.16 + .Hand.open + "manipulator"&1 +4 "core" &\\ \ ] +50 1 +2 "manipulator"&% +4 "core" % F g K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&2% +4 "core" %    +2 "storage"(4% +3 "core" % ) * A\ +2 "storage"(!. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(O(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (p& +3 "core" &<*   j\  + "manipulator"&%& +4 "core" &Ӓ$ =A +2 "manipulator"&+% +3 "core" %  y  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&W( +162 "core" ( +2 "manipulator"&j& +4 "core" & s  + "storage"(t& +4 "core" &<* A ? \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&q'O +94 "core" ' +2 "storage"(& +4 "core" &<* L K x\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'r +298 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<* 9 6 \  +2 "manipulator"&o& +3 "core" & o  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&u& +4 "core" &   + "storage"(k& +4 "core" &<* * ( \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&}'Ϲ +44 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +7 "core" & +  + "manipulator"&5% +4 "core" %  4 F +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&H( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&_& +4 "core" & u ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & : ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&m' +90 "core" ' +2 "manipulator"&>& +4 "core" &  ; + "manipulator"&Q% +4 "core" % 7 l +2 "processing"%v& +4 "core" &\ +2 "processing"%.& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%b(^ +5 "core" &\  +8 &3x\ *x +10 &b|\ > +9 &lp\ O +9 &,R\ O +10 &O\ O +9 &O\ N +9 &tQ\ N +10 &6R\ N +9 &T\ N +9 &R\ N +10 & {R\ O +9 &">T\ N +10 &#S\ O +9 &%R\ O +9 &'R\ N +10 &)FR\ N +9 &+T\ O +9 &,W\ O +10 &.S\ O +9 &0MT\ O +10 &2P\ O +9 &3O\ N +9 &5R\ O +10 &7UU\ O +9 &9W\ O +9 &:T\ O +10 &<R\ O +9 &>\\V\ O +9 &@U\ O +10 &AW\ P +9 &C`\ P +10 &E\\k\ R +9 &Gx\ S +9 &H\ U +10 &J\ U +9 &LY\ U +10 &N\ V +9 &O\ V +9 &Q\ V +10 &S^\ W +9 &U\ W +9 &V\ V +10 &X\ V +9 &Ze\ W +10 &\\&\ W +9 &]y\ 9 +9 &^-x\ V +10 &^(\ 3 +2 ( +2 "processing"%.& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&z1 +57 "core" 1 + "manipulator"&&% +4 "core" %   l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +91 "core" ' + "processing"%& +4 "core" &^#\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&R% +4 "core" %   +2 "storage"(B% +3 "core" %   <\ +2 "storage"({. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "manipulator"&g& +5 "core" & = ; + &<+  \  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"& ( +5 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( + "manipulator"&U& +4 "core" & # ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" & ; +2 .tForearm.seek PC +2 "manipulator"&r' +93 "core" ' + .tHand.close + "manipulator"&s/ +54 "core" / +2 .tPC.seek :open + "processing"%( +103 "core" ' + "storage"(h- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'1 +43 "core" ' +299 ( +2 "storage"( & +4 "core" &<+ ) + G\  +2 "manipulator"&#& +3 "core" & K ; +2 "manipulator"&% +3 "core" %  U  +2 .tForearm.seek :retract +53 "manipulator"&A' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +245 "core" ( + "manipulator"&'& +5 "core" & % * + "storage"(G& +4 "core" &<+  f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&N'O +94 "core" ' + .tHand.open +2 "manipulator"&\ 1 +56 "core" 1 +2 "storage"()- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"($' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"([' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(L- +3 "core" -' +2 "storage"(& +3 "core" &<+ \  +2 "manipulator"&a& +4 "core" &  * +2 .tElbow.seek 5 +2 "manipulator"&-( +3 "core" ( + "manipulator"&M& +4 "core" &   s * +2 "storage"(V& +4 "core" &<+ \\ _ _\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(:'" +58 "core" ' + "manipulator"&D& +5 "core" & z * + "storage"(P& +4 "core" &<+ + * Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&;'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(c' +28 "core" ' + "manipulator"&l% +5 "core" %Λ  B S + "storage"(& +4 "core" &<+ 3 + 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&<' +14 "core" ' +2 "manipulator"& & +4 "core" & N * +2 "storage"(8& +4 "core" &<+ * ( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +17 "core" ' + "storage"(d% +5 "core" % . * d\ +2 ."downElevator"SE.seek :down +3 "storage"((' +99 ( % +4 "core" %KN  1 J\ Xj + "manipulator"&=% +4 "core" %:  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +92 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Z& +4 "core" &<+ + 2 W\  +2 "collection"'K& +3 "core" &\\ \ ] +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&f% +4 "core" %    +2 "storage"(~% +3 "core" % 2 - i\ +2 "storage"(T. +3 "core" .(<- + "storage"(|& +4 "core" &<+ 2 * T\  +2 "storage"(& +3 "core" &<+ 6 6 1\  +2 "manipulator"&F& +4 "core" & n * + .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&,& +3 "core" &  G * +2 "storage"(n& +4 "core" &<+ + * +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' +2 "storage"(y& +4 "core" &<+ 8 > \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'r +305 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&`& +3 "core" & ) +2 "storage"(*& +3 "core" &<+ 3 * c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&e'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(1- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"('` +28 "core" ' +2 "manipulator"&i% +4 "core" %΅ & + "storage"(^& +4 "core" &<+ 6 5\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 292 counts + "manipulator"&"'ϱ +15 "core" ' +2 "manipulator"&& +4 "core" & ) + "storage"(& +4 "core" &<+ ) ' F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +27 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +47 "core" ' +2 "manipulator"&& +4 "core" & ) + "manipulator"&2% +4 "core" %] u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&!(ӂ +150 "core" ( + "manipulator"&9& +4 "core" &z+ ; Cs +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &{+ 7 Cr +2 .tForearm.seek CC + "manipulator"&%'? +93 "core" ' + .tHand.close +2 "manipulator"&+/ +58 "core" / +2 .tCC.seek :open + "collection"'X( +451 "core" ( + "storage"(j& +4 "core" &<+ c d 6\  +2 "storage"(t& +3 "core" &<+ d d $\  +2 "manipulator"&\\& +3 "core" &ӧ$ & =F +2 "manipulator"&% +3 "core" % M K < +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&x( +162 "core" ( + "manipulator"&I& +5 "core" & b  + "storage"(& +4 "core" &<+ l z \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&o'΍ +98 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&k1 +64 "core" 1 +2 "manipulator"&% +4 "core" % Ή T  +2 "storage"(& +3 "core" &<+ J\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 296 counts +2 "manipulator"&5'ϵ +28 "core" ' +2 "manipulator"&W& +4 "core" & w  +2 "storage"(q& +3 "core" &<+ ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +15 "core" ' + "storage"(}% +5 "core" %  =\ +2 ."downElevator"SE.seek :down +3 "storage"(_' +99 (Y% +4 "core" %M> k m\ Wc + "manipulator"&% +4 "core" %D Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +96 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'Q& +4 "core" & \ +2 "manipulator"&v% +3 "core" % % # ) +2 "storage"(% +4 "core" % -\ + "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +2 "core" &K Z e $\  +2 "manipulator"&&& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&R& +4 "core" & w  + "storage"(B& +4 "core" &K R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&{' +98 "core" ' + "storage"(.& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +296 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (U& +3 "core" &K o\  + "manipulator"&3& +4 "core" & S  +2 .tElbow.seek 6 + "manipulator"&m( +4 "core" ( + "manipulator"&s& +4 "core" &    + "storage"(O& +4 "core" &K  { \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&h'h +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +50 "manipulator"&H/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& + "storage"(b' +7 "core" & Q  +2 "manipulator"&% +4 "core" % ϊ  h +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &Ӛ ] 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &Ӛ 9' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&''? +101 "core" ' + "manipulator"&G& +4 "core" &Ӛ  8 9' +2 "manipulator"& % +4 "core" %C < +2 "collection"'\ & +4 "core" & #\ +2 "collection"')& +5 "core" & *\ +2 .tCC.seek :closed +2 "collection"'L(\\ +4 "core" & +\ +7 &; +\ $f +9 &Y{ ,\ 7 +9 &v (\ L +10 &Q *\ L +9 &}R ,\ L +9 &?Q *\ L +10 &S )\ K +9 &S %\ K +9 &S (\ K +10 &GS \ L +9 & V $\ L +10 &!V $\ L +9 &#R #\ L +9 &%OQ &\ L +10 &'S !\ L +9 &(W "\ L +9 &*S \ K +10 &,WT  \ L +9 &.R \ L +10 &/T \ K +9 &1T \ K +9 &3_T !\ L +10 &5!V  \ L +9 &6W %\ L +9 &8T !\ K +10 &:gT  \ L +9 &<(W \ L +10 &=T  \ K +9 &?U #\ L +9 &AoW \ L +10 &C.] \ M +9 &Dl \ N +9 &F  \ R +10 &HZ "\ V +9 &J \ Y +10 &K \ Y +9 &M  \ Z +9 &OU !\ Z +10 &Q \ Z +9 &R \ Z +9 &T "\ [ +10 &VT "\ ] +9 &X \ \\ +10 &Y \ _ +9 &[ "\ K +9 &\\8 \ 1 +10 &\\ \ X +2 ( +2 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.39 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&a% +4 "core" % C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +92 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp + "processing"%V& +5 "core" &\ + "manipulator"&A% +4 "core" %   +2 "storage"(D% +4 "core" % 5 + F\ + "storage"(P. +3 "core" .(K + "storage"(l& +4 "core" &K + 2 \  +2 "storage"(& +4 "core" &K 2 * r\  + "manipulator"&w& +4 "core" &Ӛ  b 9' +2 "manipulator"& % +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&8( +162 "core" ( + "manipulator"&$& +4 "core" & B  +2 "storage"(d& +4 "core" &K > = \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +99 "core" ' +2 "storage"(N& +4 "core" &K G 6 ^\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['r +296 "core" ' + "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +2 "core" &K ( 2 l\  +2 "manipulator"&6& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&-( +3 "core" ( + "manipulator"&:& +4 "core" &  +2 "storage"(;& +3 "core" &K > > \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&<'h +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Z/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& + "storage"(f' +6 "core" & (  +2 "manipulator"&~% +4 "core" % ϟ O +2 .tForearm.seek :retract + "manipulator"&c' +88 "core" ' + .tElbow.seek PC +2 "manipulator"&T( +170 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&|& +5 "core" & 0  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F' +92 "core" ' + "manipulator"&,& +5 "core" &  + "manipulator"&n% +4 "core" % # k +2 "processing"%7& +4 "core" &\ +2 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%((^ +4 "core" &\ \ +9 &/u\ *x +10 &b|\ > +9 &jq\ O +9 &,R\ N +10 &R\ O +9 &Q\ O +10 &rS\ N +9 &4R\ N +9 &Q\ O +10 &U\ O +9 & yQ\ O +10 &";P\ O +9 &#V\ O +9 &%T\ N +10 &'R\ N +9 &)DQ\ N +9 &+R\ N +10 &,T\ N +9 &.Q\ N +9 &0LR\ N +10 &2Q\ N +9 &3T\ O +10 &5T\ O +9 &7TQ\ N +9 &9T\ O +10 &:V\ O +9 &<R\ O +9 &>ZY\ O +10 &@U\ O +9 &A_\ P +10 &Ck\ R +9 &EWy\ S +9 &G\ U +10 &H\ U +9 &J\ U +10 &LX\ U +9 &N\ V +9 &O\ V +10 &Q\ W +9 &S\\\ W +9 &U\ W +10 &V\ W +9 &X\ W +10 &Zc\ W +9 &\\%\ W +9 &]}\ 8 +10 &^-x\ X +9 &^%\ 3 +2 ( +2 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"&E1 +56 "core" 1 +2 "manipulator"&S% +4 "core" %   k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +99 "core" ' + "processing"%`& +4 "core" &^#\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&*% +4 "core" % # 5 +2 "storage"(1% +4 "core" %  \ + "storage"(i. +4 "core" .(K + "storage"(^& +4 "core" &K   i\  +2 "storage"(& +2 "manipulator"&& +6 "core" &K   \  + & ,  +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak + "storage"(2'r +3 "core" ( + "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & W  +2 .tForearm.seek PC +2 "manipulator"&0' +94 "core" ' + .tHand.close + "manipulator"&e/ +57 "core" / +3 .tPC.seek :open + "processing"%"( +99 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(9'1 +48 "core" ' +297 ( +2 "storage"(p& +4 "core" &K 1 ) W\  + "manipulator"&& +4 "core" &  +2 "manipulator"&J% +3 "core" %   % +2 .tForearm.seek :retract +2 "manipulator"&+' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&4( +241 "core" ( + "manipulator"&]& +4 "core" &   +2 "storage"(j& +4 "core" &K * * K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&t' +93 "core" ' +2 .tHand.open + "manipulator"&\\1 +58 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(I' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(%- +3 "core" -' +2 "storage"(!& +3 "core" &K 5\ | +2 "manipulator"&k& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &    + "storage"(W& +4 "core" &K \ { +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&q' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +52 "core" ' +2 "manipulator"&& +4 "core" & P  + "storage"(Y& +4 "core" &K * + Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +19 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(o' +22 "core" ' + "manipulator"&Q% +5 "core" %O   + "storage"(v& +4 "core" &K  # t\  + .tForearm.force -20 +51 "manipulator"&5 +4 .tForearm.seek 6 + 319 counts + "manipulator"&5'{ +17 "core" ' + "manipulator"&& +4 "core" & O  +2 "storage"(& +5 "core" &K ) ( T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(@% +5 "core" % - (\ +2 ."downElevator"SE.seek :down +3 "storage"(_' +99 (% +3 "core" %L  \ \ Xi +2 "manipulator"&z% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&&' +94 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (R& +4 "core" &K 6 5\  +2 "collection"'B& +3 "core" &\\ \ X +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&.% +4 "core" % ! Z % +2 "storage"(u% +4 "core" % 5 -\ + "storage"(>. +4 "core" .(K + "storage"(/& +4 "core" &K 5 5 \  + "storage"(U& +4 "core" &K 6 5 \  + "manipulator"&3& +4 "core" & L  +2 .tElbow.seek 6 +2 "manipulator"&s( +3 "core" ( + "manipulator"&O& +4 "core" & m  + "storage"(H& +4 "core" &K 3 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?' +95 "core" ' + "storage"(& +4 "core" &K L A f\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & n  + "storage"(r& +4 "core" &K - + \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&g'< +20 "core" ' + .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(G- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"( 'h +29 "core" ' + "manipulator"&\ % +4 "core" %N  +2 "storage"(m& +4 "core" &K + 5\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts + "manipulator"&b'z +16 "core" ' + "manipulator"& & +5 "core" &   + "storage"(X& +4 "core" &K ( ' C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(a' +39 "core" ' +2 "manipulator"&V& +4 "core" &   +2 "manipulator"&A% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&P(ӂ +167 "core" ( + "manipulator"&l& +4 "core" &ӄ  K 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &ӄ 2 +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&w/ +55 "core" / + .tCC.seek :open +2 "collection"' ( +450 "core" ( +2 "storage"('& +4 "core" &K k h H\  + "storage"($& +4 "core" &K a c\  +2 "manipulator"&d& +3 "core" &Ӆ  ~ 2 +2 "manipulator"&N% +3 "core" % C  >  +2 .tForearm.seek :retract +2 "manipulator"&#' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&M( +160 "core" ( +2 "manipulator"& & +4 "core" & Y  +2 "storage"(=& +3 "core" &K R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&6'< +95 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +53 "core" 1 +2 "manipulator"&Z% +4 "core" % 6 1  + "storage"(K& +4 "core" &K F\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 294 counts + "manipulator"&~'b +16 "core" ' +2 "manipulator"&8& +4 "core" &  n  + "storage"(& +4 "core" &K z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +20 "core" ' +2 "storage"(<% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(|' +99 (% +3 "core" %C \ Wc + "manipulator"&-% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +92 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +15716 "Can"\ <9 +60001 \ <9 +60003 \ =; +60000 \ <9 +60001 #\ <9 +60002 H\ <9 +60001 =\ <9 +60001 /\ <9 +60002 \ <9 +60001 \ <9 +2767 #t-> exit +5 #mEXIT @1631553077.01PDT @1631718579.26PDT = =tMAIN =mMAIN_scheduler @PDT1631718581.17 #"core_reset"Sent BREAK +3 #t@39873 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +291 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +402 "Can"u\ l + u\ l #tPolling Can every 10:00 +30 !o:Storage::Warning: mesg"8Invalid entry in line 208 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +15 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2106 #-> ESp.ready! + !o:NameError: mesg"uninitialized constant ESp: name:ESp:bt["(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +498 #-> ESP.ready! +2 #Powering core bus +567 .Gate.power :raw,:ON +2 "sampler") +18 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % u\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ \ + .tSS.configure :default +3 "sampler")#.0XRESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +289 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +396 "Can"\ !s + \ !s #tPolling Can every 10:00 +32 !o:Storage::Warning: mesg"8Invalid entry in line 208 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +14 !o:Storage::Warning: mesg"8Invalid entry in line 309 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #Cleanly exited at 08:10:33PDT15-Sep-21 @1631719392.96PDT = =tMAIN =mMAIN_scheduler @PDT1631719394.84 #"core_reset"Sent BREAK +2 #t@44187 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +393 "Can"|\ !y + |\ !y #tPolling Can every 10:00 +2835 #-> ESP.ready! +3 #Powering core bus +540 .Gate.power :raw,:ON +2 "sampler") +12 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %\ \ "\ +2 .tSS.configure :default +2 "sampler")#.0X +3 .tSC.hold + "storage"(2, +4 "core" , +2 .tSC.jog 90 +2 "storage"(3*Z +68 "core" * +2 .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(4' +19 "core" ', ~ / \  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi9: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni,: velocityi: currenti:pwmi:erri: inPressi~ : outPressi/ :deltaPressi : voltagef12.839503190967109.: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.hold + "storage"(5+ +4 "core" + +2 "storage"(6% +4 "core" %\ \  R\ } +2 .tSE.jog -128 +2 "storage"(7) +26 "core" ).  0 I\  +2 .tSC.hold +2 "storage"(8, +4 "core" , +2 .tSC.jog 90 +2 "storage"(9*Z +48 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"(:' +19 "core" '' $ )\ G +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.91 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi?: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni': velocityi: currenti:pwmi:erri: inPressi : outPressi$ :deltaPressi) : voltagef13.080053019145803Z: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.hold + "storage"(;+ +4 "core" + + "storage"(<% +5 "core" % i\ +2 .tSE.jog -128 +2 "storage"(=) +25 "core" ). 6 T\ N +2 .tSC.hold +2 "storage"(>, +4 "core" , +2 .tSC.jog 90 +2 "storage"(?*Z +63 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down +2 "storage"(@' +19 "core" '( t ! N\ , +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.91 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiE: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni(: velocityi: currenti:pwmi:erri: inPressit : outPressi! :deltaPressiN : voltagef12.947505154639176: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.hold +2 "storage"(A+ +2 "core" + +2 "storage"(B% +5 "core" % %\ +2 .tSE.jog -128 + "storage"(C) +25 "core" ). V 8\ 4 +3 .tSC.hold +2 "storage"(D, +4 "core" , +2 .tSC.jog 90 +2 "storage"(E*Z +71 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(F' +63 "core" ', 4\ 7 +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiK: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni,: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi4 : voltagef13.001506136475209: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.hold +2 "storage"(G+ +2 "core" + +2 "storage"(H% +4 "core" % * 3 W\ +2 .tSE.jog -128 +2 "storage"(I) +22 "core" )) \  \ ? +3 .tSC.hold +2 "storage"(J, +3 "core" , +2 .tSC.jog 90 +2 "storage"(K*Z +50 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"(L' +19 "core" '& q\ @ +4 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.91 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiQ: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni&: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiq : voltagef13.045688757977418: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(M+ +3 "core" + +2 "storage"(N% +4 "core" % F D B\ +2 .tSE.jog -128 +2 "storage"(O) +25 "core" ), M [\ D +2 .tSC.hold +2 "storage"(P, +4 "core" , +2 .tSC.jog 90 +2 "storage"(Q*Z +68 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"(R' +20 "core" '# P\ ? +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.91 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiW: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni#: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiP : voltagef13.040779577810506: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(S+ +4 "core" + +2 "storage"(T% +4 "core" % P M d\ +2 .tSE.jog -128 +2 "storage"(U) +28 "core" ) + .tSC.hold +2 "storage"(V, +4 "core" , +2 .tSC.jog 90 +2 "storage"(W*Z +65 "core" * +2 .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down + "storage"(X' +58 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.home.seek :initial +2 "storage"(Y(,y +2164 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 "manipulator"&Z& +4 "core" &d  k # +3 .tForearm.seek :retract + "manipulator"&[' +4 "core" ' + .tElbow.seek :hammer +2 "manipulator"&\\( +94 "core" ( + "manipulator"&]& +4 "core" & s  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted +2 "manipulator"&^' +11 "core" ' + "manipulator"&_% +4 "core" %  ~  +2 "processing"%`& +4 "collection"'a& +4 "core" & \ + &  \ +2 .tCC.reconfigure :default +3 ."openPC"PC.reconfigure :default +4 "collection"'$x2 ^22b +2 "processing"%$x2 ^22b +3 .tCC.home.seek :open +2 ."openPC"PC.home.seek :open +3 "collection"'b( +3 "processing"%c( +274 "core" ( +30 ( + "collection"'d +4 "core"  + "processing"%e +3 "core" W +2 "processing"%f +3 "core"  + "processing"%g +3 "core" A +2 "collection"'h% +4 "core" %m \ +2 "processing"%i% +3 "core" %ػ \ +2 "sampler")j% +4 "core" %څ\ \ t\ D +2 "collection"'k& +4 "core" & \  + "processing"%l& +4 "core" &\  +2 "manipulator"&m% +3 "core" %   +2 "manipulator"&n& +3 "core" &    +2 "storage"(o& +4 "core" &, \ + "storage"(p% +4 "core" %+ \ O + "collection"'q9 +3 "core" 9|X +2 "processing"%r9 +3 "core" 9u +2682 #t-> require 'shuffle.rb' +1006 #-> 5.times {shuffle 2..5} +2 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'s& +4 "core" & -\  +2 .tHand.open + "manipulator"&t1 +61 "core" 1 +2 "manipulator"&u% +4 "core" %    + "storage"(v% +4 "core" %+ \ O + "storage"(w. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(x(  +674 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +2 "core" &  .\ +2 "manipulator"&z& +3 "core" &  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&{( +3 "core" ( + "manipulator"&|& +4 "core" & \ S  + "storage"(}& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'S +92 "core" ' + "storage"(& +5 "core" &  \ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +27 "core" '\ $\  .\ \\ +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.68 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi$\ : outPressi\ :deltaPressi. : voltagef13.1831458026509571: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):3:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" 5.times {shuffle 3..5} +2 #Shuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" & M\  + "manipulator"&\ % +4 "core" %  3  +2 "storage"( % +3 "core" % S\ +2 "storage"( . +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & \ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&( +20 "core" ( + "manipulator"&& +4 "core" &|  + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +93 "core" ' +2 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +25 "core" ' \  [\ W +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.68 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi\ :deltaPressi[ : voltagef13.158599901816396: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):4:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" access 2 +2 "storage"(!% +3 "core" % 2\ + "manipulator"&$% +4 "core" %  :  +2 "manipulator"&%& +3 "core" &|  F  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(((K +987 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (*& +3 "core" &K (\  +1190 #t-> access 3 +2 "storage"(% +3 "core" % {\ +2 "manipulator"&+% +4 "core" %  <  + "manipulator"&.& +4 "core" &| B  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(0([ +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (1& +3 "core" &[ \ +1433 #t-> access 4 +2 "storage"(&% +3 "core" % \ +2 "manipulator"&4% +4 "core" %  w  + "manipulator"&"& +4 "core" &|  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(6(C +1930 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +2 "core" &E \ +1160 #t-> access 5 +2 "storage"(7% +3 "core" % R\ + "manipulator"&'% +4 "core" %   +2 "manipulator"&,& +3 "core" &| q  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(:(  +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +2 "core" &  _\  +1151 #t-> exit +5 #mEXIT @1631719766.31PDT @1631719813.93PDT = =tMAIN =mMAIN_scheduler @PDT1631719815.73 #"core_reset"Sent BREAK +2 #t@24557 receive with ifg=0x10, ie=0xFD + #@25192 receive with ifg=0x10, ie=0xFD #@25846 receive with ifg=0x10, ie=0xFD + #@26483 receive with ifg=0x10, ie=0xFD + #@27116 receive with ifg=0x10, ie=0xFD + #@27748 receive with ifg=0x10, ie=0xFD #@28381 receive with ifg=0x10, ie=0xFD + #@28707 receive with ifg=0x80, ie=0xFD #@55755 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +364 "Can"p\ =: + p\ =: + #tPolling Can every 10:00 +2621 #-> ESP.ready? +372 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %m \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ;\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ\ \  u\ D +2 .tSS.configure :default +2 "sampler")#.0X access 4 +2 "storage"(2% +3 "core" % $\ +2 "manipulator"&3% +4 "core" %   + "manipulator"&4& +4 "core" &|  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(5(C +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (6& +3 "core" &F \ +1665 #t-> require 'shuffle.rb' +2158 #-> 5.times [shuffle 4..5} + !o:SyntaxError: mesg"Gcompile error\ (ESP):5: syntax error, unexpected '}', expecting ']':bt["(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +783 #-> 5.times {shuffle 4..5} +2 #Shuffling pucks in tube 4 of [4..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'7& +4 "core" & \  + .tHand.open + "manipulator"&81 +22 "core" 1 + "manipulator"&9% +5 "core" %   + "storage"(:% +4 "core" % P\ + "storage"(;. +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(<(,y +995 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (=& +3 "core" &,| _\ +2 "manipulator"&>& +4 "core" &|  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&?( +40 "core" ( +2 "manipulator"&@& +4 "core" & i + "storage"(A& +4 "core" &,z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&B' +97 "core" ' + "storage"(C& +4 "core" &,z !\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +2 .tSE.seek :beamBreak +2 "storage"(D'r +296 "core" ' +2 "storage"(E- +3 "core" -'; +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &,l j\ +2 "manipulator"&G& +3 "core" & +2 .tElbow.seek 4 +2 "manipulator"&H( +3 "core" ( + "manipulator"&I& +4 "core" &  + "storage"(J& +4 "core" &,l %\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&K'c +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&L/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(N' +7 "core" & k +2 "manipulator"&O% +4 "core" % ϑ r + .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&R& +4 "core" &ӌ( P @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &Ӎ( p @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&T'? +90 "core" ' +2 "manipulator"&U& +4 "core" &ӎ(  = @[ +2 "manipulator"&V% +4 "core" %< p + "collection"'W& +4 "core" & \  +44 "collection"'X& +4 "core" & \  +2 .tCC.seek :closed +2 "collection"'Y(\\ +5 "core" & \  +9 &5} \ +| +9 &f \ ? +10 &Uu \ N +9 &Y \ N +9 &W \ N +10 &Z \ N +9 &`Z \ M +10 &"X \ M +9 &_ \ N +9 &Y \ N +10 & h\\ \ M +9 &"*Y \ M +9 &#Y \ M +10 &%] \ N +9 &'o\\ \ N +10 &)1[ \ N +9 &*[ \ N +9 &,[ \ N +10 &.wX \ N +9 &0:W \ M +9 &1Y \ M +10 &3] \ N +9 &5Z \ M +10 &7@] \ N +9 &9X \ M +9 &:\\ \ N +10 &<\\ \ M +9 &>JZ \ M +9 &@ W \ N +10 &AY \ N +9 &C^ \ N +10 &EMf \ O +9 &G\ v \ Q +9 &H \ T +10 &J| \ W +9 &L9 \ Y +9 &M \ Y +10 &O \ Z +9 &Q| \ Z +10 &S< \ Z +9 &T \ [\ +9 &V \ \\ +10 &X| \ \\ +9 &Z< \ ] +10 &[y \ L +9 &\\ \ D +5 ( +2 "collection"'X& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.04 + .Hand.open + "manipulator"&Z1 +4 "core" &\\T \ D +50 1 + "manipulator"&[% +4 "core" % < p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%]& +5 "core" &\  + "manipulator"&^% +4 "core" %  S  +2 "storage"(_% +3 "core" % Z U\  +2 "storage"(`. +3 "core" .(,y + "storage"(a& +4 "core" &,l V V \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(b(,y +36 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +2 "core" &,} g f i\ +2 "manipulator"&d& +4 "core" &Ӑ( @Y + "manipulator"&e% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&f( +164 "core" ( +2 "manipulator"&g& +4 "core" & U  + "storage"(h& +4 "core" &,} { | X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&i' +102 "core" ' +2 "storage"(j& +4 "core" &,} \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'r +298 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +2 "core" &,j \ +2 "manipulator"&n& +3 "core" & ?  +2 .tElbow.seek 4 +2 "manipulator"&o( +3 "core" ( + "manipulator"&p& +4 "core" &   + "storage"(q& +4 "core" &,j } ~ T\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&r'c +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& + "storage"(u' +7 "core" & q  +2 "manipulator"&v% +4 "core" % e ^ p + .tForearm.seek :retract +2 "manipulator"&w' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&x( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&y& +4 "core" &  v A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" & g A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{' +98 "core" ' + "manipulator"&|& +5 "core" & A + "manipulator"&}% +4 "core" %  +2 "processing"%~& +4 "core" &\  +2 "processing"%& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +8 &D\ %h +9 &|X~\ 9 +10 &y\ M +9 &Y\ P +10 &O[\ O +9 &Y\ O +10 &W\ P +9 &Y\ P +9 &WU\ O +10 &Y\ O +9 &Y\ O +9 &!Y\ O +10 &#^W\ P +9 &%![\ O +9 &&W\ P +10 &(W\ P +9 &*fW\ P +9 &,(Y\ P +10 &-U\ P +9 &/]\ P +10 &1n[\ P +9 &30Z\ P +9 &4Y\ O +10 &6Z\ O +9 &8u\\\ P +10 &::Y\ O +9 &;_\ P +9 &=Y\ P +10 &?Z\ O +9 &A@\\\ P +9 &Bd\ Q +10 &Dm\ R +9 &F|}\ S +9 &H6\ V +10 &I\ V +9 &K\ U +10 &Mz\ W +9 &O<\ V +9 &P\ V +10 &R\ V +9 &T\ W +9 &VC\ W +10 &X\ W +9 &Y\ W +10 &[\ W +9 &]I\ K +9 &^S\ #m +10 &^#\ 0 +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&1 +55 "core" 1 + "manipulator"&% +5 "core" %  @  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 "processing"%& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %  ? ! +2 "storage"( % +3 "core" % e b \ +2 "storage"( . +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&& +4 "core" &,} U B \  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & ( A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&( + "storage"('r +5 "core" ( + "manipulator"&& +4 "core" & A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & ; A +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close + "manipulator"&/ +64 "core" / + .tPC.seek :open +2 "processing"%( +96 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +39 "core" ' +307 ( +2 "storage"(& +4 "core" &,d \ ' + "manipulator"&& +4 "core" & ! A + "manipulator"&% +4 "core" %  ' +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +243 "core" ( + "manipulator"&!& +4 "core" &   & +2 "storage"("& +3 "core" &,d _ ] \ ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&#' +93 "core" ' + .tHand.open + "manipulator"&$1 +57 "core" 1 +2 "storage"(%- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(&' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"('' +53 "core" '\  \ L +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at -1.21 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi,: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi\ : outPressi :deltaPressi: voltagef13.104598919980363q: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"5/home/esp/esp2/utils/puckmoves.rb:527:in `image'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/puckmoves.rb:504:in `image'"6/home/esp/esp2/utils/puckmoves.rb:452:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:502:in `image'"9/home/esp/esp2/utils/puckmoves.rb:970:in `imagePuck'"4/home/esp/esp2/utils/shuffle.rb:26:in `shuffle'"!(ESP):6:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"' +33 "core" ' +2 "storage"(@& +4 "core" &,d { \ ' +2 "manipulator"&A& +3 "core" &  & +3 .tElbow.seek 4 + "manipulator"&C( +4 "core" ( + "manipulator"&& +4 "core" & & +2 "storage"(& +4 "core" &,d  h\ ' +3 .tForearm.seek 4 + 450 counts + "manipulator"&E' +4 "core" ' +2 "storage"(F- +3 "core" -' +3 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"(G'9 +35 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.16 Pucks below Top Plate +2 "storage"(I' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +4 "core" -' +2 "storage"(L& +5 "core" &,d o\ ' + "manipulator"&M& +5 "core" & & +2 .tElbow.seek 4 + "manipulator"&O( +4 "core" ( + "manipulator"&?& +5 "core" & V & + "storage"(B& +4 "core" &,d \ ' +3 .tForearm.seek 4 + 450 counts + "manipulator"&R' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.44 Pucks below Top Plate +2 "storage"(S'^ +47 "core" ' +2 "manipulator"&D& +4 "core" &   & +2 "storage"(K& +4 "core" &,d d\ ' + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&U'7 +25 "core" ' + .tElbow.hold +2 "manipulator"&V, +52 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +20 "core" ' +2 "manipulator"&H% +4 "core" %@ > +2 "storage"(N& +4 "core" &,d V V\ ' + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 309 counts +2 "manipulator"&P'l +15 "core" ' + "manipulator"&\ & +5 "core" &  k & + "storage"(Z& +4 "core" &,d l w c\ ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +17 "core" ' +2 "storage"(]% +4 "core" % n H\ +3 ."downElevator"SE.seek :down +3 "storage"(^' +99 (_% +3 "core" %<O b c\ Xg +2 "manipulator"&`% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a' +93 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (X& +4 "core" &,d U r T\ ' + "collection"'c& +4 "core" &\\T \ D +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&d% +4 "core" %  V  +2 "storage"(e% +3 "core" % \  +2 "storage"(T. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(g(,y +97 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +2 "core" &,x c f\  +2 "manipulator"&<& +4 "core" &  g & +2 .tElbow.seek 4 + "manipulator"&j( +4 "core" ( + "manipulator"&Q& +4 "core" &  [ & + "storage"(\\& +4 "core" &,x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&l' +95 "core" ' + "storage"(m& +5 "core" &,x ;\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'r +301 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +4 "core" & K & + "storage"(s& +3 "core" &,h r y +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&t'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(f- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(i'~ +27 "core" ' + "manipulator"&k% +5 "core" %F   + "storage"(r& +4 "core" &,h \\ \\\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&y'r +16 "core" ' +2 "manipulator"&z& +4 "core" &  [ & + "storage"(o& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +16 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(}' +32 "core" ' + "manipulator"&~& +5 "core" &  & + "manipulator"&u% +4 "core" % m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +156 "core" ( + "manipulator"&& +4 "core" &ӓ$ _ =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӓ% =C +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open + "collection"' ( +451 "core" ( +2 "storage"( & +4 "core" &,h t\  + "storage"(& +4 "core" &,h \  + "manipulator"&& +4 "core" &ӓ$  \\ =C + "manipulator"&% +4 "core" % >  N 4 +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +159 "core" ( + "manipulator"&{& +4 "core" & 4 +2 "storage"(& +3 "core" &,h \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&b'7 +96 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&x1 +64 "core" 1 +2 "manipulator"&% +5 "core" % 3 l  + "storage"(& +4 "core" &,h #\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts + "manipulator"&'_ +14 "core" ' + "manipulator"&& +4 "core" &  ! +2 "storage"(& +4 "core" &,h '\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +4 "core" % d\ +2 ."downElevator"SE.seek :down +3 "storage"(!' +99 ("% +3 "core" %I \ Wd + "manipulator"&% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +93 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'%& +5 "core" & \ + "manipulator"&'% +4 "core" %  K  + "storage"(% +4 "core" % \  +2 "storage"(. +3 "core" .(,u + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(&(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ()& +3 "core" &<* \  + "manipulator"&*& +4 "core" & . +2 .tElbow.seek 5 + "manipulator"&,( +7 "core" ( +2 "manipulator"&-& +4 "core" &  \ + "storage"(/& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +95 "core" ' +2 "storage"(#& +4 "core" &<* Q\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'r +295 "core" ' +2 "storage"((- +3 "core" -'' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" &<* \  +2 "manipulator"&3& +3 "core" & \ +2 .tElbow.seek 5 +2 "manipulator"&6( +3 "core" ( + "manipulator"&8& +4 "core" &  P \ +2 "storage"(9& +3 "core" &<* @\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&;'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&5/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +2 "storage"(A' +7 "core" &  B \ + "manipulator"&% +4 "core" % ϳ s +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&F(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&.& +4 "core" &Ӑ%   >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +2 "core" &Ӑ% >K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&L'? +97 "core" ' + "manipulator"&+& +4 "core" &Ӑ% e >K +2 "manipulator"&M% +4 "core" %?  v 0 +2 "collection"'0& +4 "core" & \ +2 "collection"'?& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'B(\\ +4 "core" & \ +7 &4 \ $c +10 &U{ \ 7 +9 &~{ \ K +9 &Z \ N +10 &aW \ M +9 &#Z \ M +9 &\\ \ M +10 &\\ \ M +9 &i[ \ M +10 &+[ \ M +9 &Z \ M +9 &!X \ M +10 &#qX \ M +9 &%3U \ M +10 &&X \ M +9 &(U \ M +9 &*xW \ N +10 &,;W \ M +9 &-Y \ N +9 &/V \ M +10 &1W \ M +9 &3CY \ M +10 &5W \ M +9 &6Y \ M +9 &8T \ M +10 &:KZ \ M +9 &< X \ M +9 &=X \ M +10 &?U \ M +9 &ASY \ M +10 &C[ \ M +9 &De \ N +9 &Fo \ P +10 &HK \ S +9 &J \ V +9 &K \ Y +10 &M \ Y +9 &O@ \ Y +9 &P \ Z +10 &R \ Z +9 &T \ \\ +10 &VA \ \\ +9 &X \ ] +9 &Y \ ] +10 &[ \ J +9 &\\4 \ 0 +9 &\\\ \ S +6 ( +2 "collection"'?& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&41 +3 "core" &\\k \ S +53 1 +2 "manipulator"&D% +5 "core" % ? . 0 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%K& +4 "core" &\ +2 "manipulator"&7% +3 "core" % " \ % +2 "storage"(% +4 "core" % K < !\  + "storage"(=. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(>(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (H& +3 "core" &<* . ) 7\  + "manipulator"&N& +4 "core" &ӑ% 4 >J + "manipulator"&G% +4 "core" % " H % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\ ( +167 "core" ( +2 "manipulator"&Z& +4 "core" &   + "storage"(]& +4 "core" &<* c c 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +96 "core" ' + "storage"(E& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(I'r +293 "core" ' +2 "storage"(_- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &<* V `\  +2 "manipulator"&R& +3 "core" & s  +2 .tElbow.seek 5 + "manipulator"&O( +4 "core" ( + "manipulator"&S& +4 "core" &  +2 "storage"(U& +3 "core" &<* f f Q\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&P'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& +50 "storage"(d' +8 "core" &  :  +2 "manipulator"&e% +4 "core" % ϵ  +2 .tForearm.seek :retract + "manipulator"&T' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&W( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&h& +4 "core" & ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" & > ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&<' +90 "core" ' + "manipulator"&Q& +4 "core" & ` ' +2 "manipulator"&\\% +4 "core" % 2 i +2 "processing"%m& +4 "core" &\ +2 "processing"%^& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\  +9 &1y\ *x +9 &a\ > +9 &ex\ O +10 &%V\ O +9 &W\ O +10 &V\ O +9 &kX\ O +9 &-Z\ O +10 &W\ P +9 &[\ O +9 & sX\ O +10 &"5V\ O +9 &#\\\ O +9 &%X\ O +10 &'{[\ O +9 &)=Z\ O +10 &*Z\ P +9 &,Z\ O +9 &.U\ O +10 &0E\\\ O +9 &2X\ O +10 &3Z\ O +9 &5Y\ O +9 &7LX\ P +10 &9[\ P +9 &:Z\ O +9 &<Y\ O +10 &>U_\ O +9 &@Z\ O +10 &Ab\ P +9 &Ck\ Q +9 &ERz\ S +10 &G\ U +9 &H\ U +9 &J\ U +10 &LS\ U +9 &N \ W +9 &O\ V +10 &Q\ W +9 &SW\ W +10 &U \ W +9 &V'\ V +9 &X\ V +10 &Z` \ V +9 &\\ :\ W +9 &]$\ 6 +10 &^+h=\ !` +9 &^,+\ 6 +2 ( +2 "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&V1 +53 "core" 1 +2 "manipulator"&a% +4 "core" %  i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +91 "core" ' +2 "processing"%q& +4 "core" &^&\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&s% +3 "core" %   +2 "storage"(f% +4 "core" % ? G (\  + "storage"(k. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(r(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &<+   f\  +2 "manipulator"&o& +7 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 "core" & w ' +3 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"(~'r +4 "manipulator"&u( +3 "core" ( +2 "manipulator"&l& +3 "core" & 0 ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +4 "core" & $ ' + .tForearm.seek PC +2 "manipulator"&n' +94 "core" ' + .tHand.close +2 "manipulator"&t/ +55 "core" / +2 .tPC.seek :open +2 "processing"%y( +100 "core" ' +2 "storage"(i- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +38 "core" ' +306 ( + "storage"(& +4 "core" &<+ e f B\  +2 "manipulator"&|& +4 "core" & ' + "manipulator"&v% +4 "core" %  f 0 + .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&w( +252 "core" ( + "manipulator"&Y& +4 "core" &  K +2 "storage"( & +3 "core" &<+ U _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"({' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"( & +3 "core" &<+ Z [\ g +2 "manipulator"&x& +3 "core" &    K +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  U K +2 "storage"(& +3 "core" &<+ [ [\ g +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +53 "core" ' +2 "manipulator"&& +4 "core" & K + "storage"("& +4 "core" &<+ c e \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(b' +25 "core" ' + "manipulator"&%% +5 "core" %Β  p + "storage"('& +5 "core" &<+ L K T\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&'Ͼ +17 "core" ' + "manipulator"&& +5 "core" & v J + "storage"(& +4 "core" &<+ c c \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +16 "core" ' + "storage"(% +4 "core" % e c "\ +3 ."downElevator"SE.seek :down +3 "storage"(!' +99 (g% +3 "core" %cI D E\ Xh + "manipulator"&)% +4 "core" %T C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*' +87 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (-& +3 "core" &<+ D T \  +2 "collection"'/& +4 "core" &\\j \ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&#% +4 "core" %  u  + "storage"(% +4 "core" % c a\  + "storage"($. +4 "core" .(<- + "storage"((& +4 "core" &<+ [ Z\  + "storage"(2& +4 "core" &<+ a [\  +2 "manipulator"&3& +3 "core" & e J +2 .tElbow.seek 5 +2 "manipulator"&8( +3 "core" ( + "manipulator"&9& +4 "core" & J +2 "storage"(5& +3 "core" &<+ a [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +95 "core" ' + "storage"(& +5 "core" &<+ _ k t\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'r +301 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" &  J + "storage"(J& +4 "core" &<+ X ` *\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&1'΍ +19 "core" ' + .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(+- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(M' +27 "core" ' + "manipulator"&0% +5 "core" %Ί u / + "storage"(6& +4 "core" &<+ b c (\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 297 counts + "manipulator"&A'϶ +13 "core" ' +2 "manipulator"&& +4 "core" &  J + "storage"( & +4 "core" &<+ e e S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +15 "core" ' + .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(D' +34 "core" ' + "manipulator"&K& +4 "core" &  w J +2 "manipulator"&7% +4 "core" %3 j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=(ӂ +152 "core" ( +2 "manipulator"&?& +4 "core" &Ә! % 8" + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &Ә" 8" +2 .tForearm.seek CC +2 "manipulator"&N'? +92 "core" ' + .tHand.close + "manipulator"&G/ +52 "core" / +2 .tCC.seek :open +2 "collection"'L( +447 "core" ( +2 "storage"(Z& +4 "core" &<+ [\  +2 "storage"(]& +3 "core" &<+ }\  +2 "manipulator"&&& +3 "core" &Ә" N 8" +2 "manipulator"&E% +3 "core" % 8 m 3 +2 .tForearm.seek :retract +2 "manipulator"&F' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&:( +156 "core" ( +2 "manipulator"&_& +4 "core" & 5  + "storage"(`& +4 "core" &<+ ^\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&R'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&U1 +62 "core" 1 +2 "manipulator"&X% +4 "core" % Ώ ; / +2 "storage"(c& +3 "core" &<+ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 302 counts +2 "manipulator"&e'ϻ +15 "core" ' +2 "manipulator"&\ & +4 "core" & < +2 "storage"(C& +4 "core" &<+ 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&I'O +16 "core" ' +2 "storage"(P% +4 "core" % %\ +2 ."downElevator"SE.seek :down +3 "storage"(h' +99 ([% +3 "core" %J C\ Vc + "manipulator"&O% +4 "core" %<  r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Q' +88 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'\\& +5 "core" & \ + "manipulator"&m% +4 "core" %   +2 "storage"(d% +4 "core" % \  + "storage"(T. +3 "core" .(<- +43 .tSC.reconfigure :tight +11 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +380 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (V& +3 "core" &,y \  +2 "manipulator"&a& +4 "core" &  Z + .tElbow.seek 4 +2 "manipulator"&q( +4 "core" ( + "manipulator"&s& +4 "core" & q + "storage"(f& +4 "core" &,y 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&k' +94 "core" ' + "storage"(z& +4 "core" &,y \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'r +295 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &,l 8\  + "manipulator"&j& +4 "core" & + .tElbow.seek 4 +2 "manipulator"&<( +4 "core" ( +2 "manipulator"&t& +3 "core" & C +2 "storage"(>& +4 "core" &,l \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&i'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"( ' +7 "core" & x + "manipulator"&~% +4 "core" % W  +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +155 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&v& +4 "core" &ӑ% >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &ӑ% r >K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'? +91 "core" ' +2 "manipulator"& & +4 "core" &ӑ& >K + "manipulator"&u% +4 "core" %9 s +2 "collection"'& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \  +9 &4~ \ *z +9 &f \ ? +10 &s \ N +9 &OW \ M +10 &U \ L +9 &W \ M +9 &U \ M +10 &XU \ M +9 &\\ \ M +9 &U \ M +10 & U \ L +9 &"_Z \ M +9 &$"W \ M +10 &%Z \ L +9 &'W \ M +10 &)hZ \ M +9 &+)X \ M +9 &,V \ L +10 &.U \ L +9 &0pT \ M +9 &22T \ M +10 &3W \ L +9 &5Y \ M +10 &7xU \ M +9 &9;W \ L +9 &:W \ L +10 &<V \ L +9 &>W \ M +9 &@BZ \ M +10 &BY \ M +9 &C] \ M +10 &Ee \ N +9 &G?r \ P +9 &H \ S +10 &J \ W +9 &Lo \ X +9 &N/ \ Y +10 &O \ Y +9 &Q \ Z +10 &Sq \ Z +9 &U1 \ [ +9 &V \ [ +10 &X \ \\ +9 &Zq \ ] +9 &\\x \ 5 +10 &\\( \ "f +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"& 1 +4 "core" &\\ \ Y +49 1 + "manipulator"&x% +4 "core" % 9 ] s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&% +4 "core" %  Z  +2 "storage"(% +3 "core" % E C @\  +2 "storage"(". +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(%(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ('& +3 "core" &,| C F \ + "manipulator"&& +4 "core" &Ӓ% { >J +2 "manipulator"&% +3 "core" %  c  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +166 "core" ( + "manipulator"&{& +4 "core" & m  +2 "storage"(& +4 "core" &,| U U 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +95 "core" ' + "storage"(& +4 "core" &,| c e 6\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &,h & C K\ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &,h J A >\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&-/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& + "storage"(#' +8 "core" & /  + "manipulator"&% +4 "core" % [  y +2 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&(& +4 "core" & 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" & o +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&3' +93 "core" ' + "manipulator"&9& +4 "core" & " +2 "manipulator"&5% +4 "core" % J I + "processing"%}& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%!(^ +5 "core" &\  +9 &/v\ *y +10 &c\ ? +9 &hv\ P +10 &*U\ O +9 &Y\ O +9 &V\ O +10 &pW\ O +9 &3Z\ O +9 &Y\ O +10 &Y\ O +9 & yV\ O +9 &":W\ O +10 &#Y\ O +9 &%S\ O +10 &'X\ O +9 &)CY\ O +9 &+X\ O +10 &,[\ O +9 &.W\ P +9 &0JX\ O +10 &2 T\ O +9 &3W\ O +10 &5W\ O +9 &7ST\ O +9 &9Z\ P +10 &:Y\ P +9 &<Y\ P +9 &>Y\\\ P +10 &@W\ P +9 &A`\ P +10 &Ch\ Q +9 &EZq\ R +9 &G\ T +10 &H\ U +9 &J\ V +10 &LW\ V +9 &N \ W +9 &O\ V +10 &QD\ W +9 &S[K\ W +9 &U?\ W +10 &V\ W +9 &X2\ W +9 &Zd\ W +10 &\\$$\ X +9 &]y1\ : +10 &^.\ Y +9 &^ \ 1 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&*% +4 "core" %   I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' + "processing"%.& +4 "core" &^#;\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&J% +4 "core" %  6  +2 "storage"(+% +3 "core" % ' ( \  +2 "storage"(0. +3 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(6(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z 0 ( \ + "manipulator"& & +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(K'r +3 "core" & N +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&7( +2 "core" ( + "manipulator"&@& +4 "core" & g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" & +2 .tForearm.seek PC +2 "manipulator"&,' +93 "core" ' + .tHand.close + "manipulator"&1/ +63 "core" / +2 .tPC.seek :open +2 "processing"%A( +85 "core" ' + "storage"(M- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(?'1 +40 "core" ' +317 ( + "storage"(H& +4 "core" &,f G X 3\ +2 "manipulator"&4& +3 "core" & S +2 "manipulator"&;% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&G' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +247 "core" ( +2 "manipulator"&B& +4 "core" & B + "storage"(Z& +4 "core" &,f C A \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&]' +97 "core" ' + .tHand.open + "manipulator"&&1 +54 "core" 1 +2 "storage"(E- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(_' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(`' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(=& +3 "core" &,f J\ p +2 "manipulator"&U& +4 "core" &   B + .tElbow.seek 4 +2 "manipulator"&X( +8 "core" ( +2 "manipulator"&c& +4 "core" &   + "storage"(\ & +4 "core" &,f \ s +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(P'" +57 "core" ' + "manipulator"&F& +4 "core" &   +2 "storage"([& +4 "core" &,f D D \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O'7 +13 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(R' +20 "core" ' +2 "manipulator"&\\% +4 "core" %= ( G +2 "storage"(m& +4 "core" &,f D C \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"&e'i +16 "core" ' + "manipulator"&d& +4 "core" &  +2 "storage"(T& +4 "core" &,f : K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&D' +15 "core" ' + "storage"(I% +5 "core" % G ; N\ +55 ."downElevator"SE.seek :down +3 "storage"(h' +99 (r% +2 "core" %,H 3 5 J\ Xg +2 "manipulator"&V% +4 "core" % T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +96 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (s& +4 "core" &,f ' ; I\ +2 "collection"'f& +4 "core" &\\| \ Y + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&z% +3 "core" % ! ) +2 "storage"(S% +4 "core" % K L Z\  +2 "storage"(Q. +3 "core" .(,y + "storage"(o& +4 "core" &,f K M o\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(l(,y +31 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +2 "core" &,| @ K \ +2 "manipulator"&t& +4 "core" & [  +2 .tElbow.seek 4 +2 "manipulator"&>( +9 "core" ( + "manipulator"&W& +5 "core" & 5  + "storage"(p& +4 "core" &,| D H \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +103 "core" ' +2 "storage"(q& +4 "core" &,| b `\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'r +298 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +2 "core" & %  +2 "storage"(^& +3 "core" &,h 9 I ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&i'7 +17 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"('~ +29 "core" ' +2 "manipulator"&<% +4 "core" %C  M + "storage"( & +4 "core" &,h 7 ; s\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&'o +17 "core" ' + "manipulator"&L& +4 "core" &  <  +2 "storage"( & +3 "core" &,h K K 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +18 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&& +5 "core" & p  + "manipulator"&% +4 "core" % 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( + "manipulator"&'& +4 "core" &y1  G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &y1 B G +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' + .tHand.close + "manipulator"&Y/ +60 "core" / +2 .tCC.seek :open +2 "collection"'{( +447 "core" ( +2 "storage"(& +4 "core" &,h \  +2 "storage"(& +3 "core" &,h i _ G\  +2 "manipulator"&& +3 "core" &Ӱ( c @W +2 "manipulator"&|% +3 "core" % L Y +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&g( +159 "core" ( + "manipulator"&)& +4 "core" &  +2 "storage"(& +3 "core" &,h \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'7 +93 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&-1 +54 "core" 1 +2 "manipulator"&/% +4 "core" % /  T N + "storage"(& +4 "core" &,h \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 292 counts + "manipulator"&'[ +16 "core" ' + "manipulator"&w& +4 "core" & V +2 "storage"(& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +18 "core" ' +2 "storage"((% +4 "core" % F\ +2 ."downElevator"SE.seek :down +3 "storage"(2' +99 (% +3 "core" %A \ Wb +2 "manipulator"&9% +3 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +89 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'}& +4 "core" & \ +2 "manipulator"&#% +3 "core" %     +2 "storage"($% +4 "core" % \  +2 "storage"(y. +3 "core" .(,| + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<- +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +2 "core" &<* R\  +2 "manipulator"&.& +3 "core" & 7 +2 .tElbow.seek 5 +2 "manipulator"&J( +3 "core" ( + "manipulator"&+& +4 "core" & e +2 "storage"(0& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +97 "core" ' + "storage"(& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +312 "core" ' + "storage"(@- +4 "core" -'' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &<* \  + "manipulator"&3& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&1( +4 "core" ( + "manipulator"&%& +3 "core" & +2 "storage"(M& +3 "core" &<* e\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&b'Ϲ +35 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(K' +7 "core" & +2 "manipulator"&H% +4 "core" %   A +2 .tForearm.seek :retract + "manipulator"&4' +98 "core" ' + .tElbow.seek CC +2 "manipulator"&;(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&,& +4 "core" &ӄ*  Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &ӄ* Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Z'? +92 "core" ' +2 "manipulator"&7& +4 "core" &Ӆ* , Bg + "manipulator"&&% +4 "core" %B e Z +2 "collection"'E& +4 "core" & \ +2 "collection"'N& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'=(\\ +5 "core" & \ +7 &< \ $e +9 &W} \ 7 +10 &{ \ L +9 &W \ M +9 &T \ M +10 &AY \ M +9 &Z \ M +9 &Z \ L +10 &U \ M +9 &JT \ L +10 & V \ L +9 &!S \ L +9 &#W \ L +10 &%RS \ L +9 &'U \ L +9 &(Z \ L +10 &*T \ M +9 &,YV \ M +10 &.T \ L +9 &/R \ L +9 &1V \ L +10 &3aW \ M +9 &5$S \ L +9 &6U \ L +10 &8U \ L +9 &:jZ \ L +10 &<+T \ M +9 &=Y \ L +9 &?T \ M +10 &AqZ \ M +9 &C2] \ M +9 &Dc \ N +10 &Fl \ O +9 &Hj \ R +10 &J \ V +9 &K \ X +9 &M \ Y +10 &O^ \ Y +9 &Q \ Y +9 &R \ Z +10 &T \ [ +9 &V_ \ [\ +10 &X \ \\ +9 &Y \ ] +9 &[ \ J +10 &\\= \ (x +9 &\\n \ L +2 ( +2 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&U1 +63 "core" 1 +2 "manipulator"&c% +4 "core" % B  Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ ' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%G& +5 "core" &\ + "manipulator"&F% +4 "core" %  3  +2 "storage"([% +4 "core" % G J \  + "storage"(\\. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(m(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +3 "core" &<* d\  + "manipulator"&d& +4 "core" &Ӈ) Ae +2 "manipulator"&T% +3 "core" %  B  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&_( +164 "core" ( + "manipulator"&I& +5 "core" & + "storage"(& +4 "core" &<* c d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +94 "core" ' + "storage"(`& +4 "core" &<* ] c g\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +301 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (C& +3 "core" &<* 7 4 n\  + "manipulator"&X& +4 "core" &  o +2 .tElbow.seek 5 +2 "manipulator"&P( +23 "core" ( + "manipulator"&O& +4 "core" &\  ` + "storage"(e& +4 "core" &<* Z V\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&s'Ϲ +37 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +44 "manipulator"&f/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +2 "storage"(S' +7 "core" &  ` + "manipulator"&Q% +4 "core" %  0 @ +2 .tForearm.seek :retract +2 "manipulator"&R' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&o( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( + "manipulator"&j& +5 "core" & 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&W' +97 "core" ' +2 "manipulator"&p& +4 "core" & M +2 "manipulator"&D% +3 "core" %  O  +2 "processing"%q& +4 "core" &\ +2 "processing"%h& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%6(^ +4 "core" &\  +9 &/u\ *y +9 &b\ > +10 &gv\ O +9 &)T\ O +10 &X\ O +9 &U\ O +9 &mW\ P +10 &0X\ O +9 &Z\ O +9 &W\ O +10 & vU\ O +9 &"8V\ O +10 &#T\ O +9 &%V\ O +9 &'~W\ O +10 &)@T\ O +9 &+W\ O +9 &,U\ O +10 &.U\ O +9 &0HW\ O +9 &2 T\ O +10 &3U\ O +9 &5V\ O +10 &7RV\ O +9 &9X\ O +9 &:Y\ O +10 &<T\ O +9 &>WZ\ P +9 &@Y\ P +10 &A_\ P +9 &Cm\ R +10 &EUx\ S +9 &G\ V +9 &H\ U +10 &J\ U +9 &LU\ V +10 &N\ W +9 &O\ V +9 &Q\ W +10 &SZ\ W +9 &U\ W +9 &V\ V +10 &X\ V +9 &Za\ W +9 &\\#\ W +10 &]}\ 9 +9 &^- \ Z +10 &^,\ 5 +2 ( +2 "processing"%h& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&:1 +59 "core" 1 +2 "manipulator"&a% +4 "core" %  X  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +92 "core" ' +2 "processing"%n& +4 "core" &^(J\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&^% +4 "core" % ! 1 ) +2 "storage"(u% +3 "core" % C . L\  +2 "storage"(<. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<- +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +5 "manipulator"& & + "core" &<+ & 0 O\  +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & B +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r + "manipulator"&( +5 "core" ( + "manipulator"&~& +4 "core" & @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" & O +2 .tForearm.seek PC +2 "manipulator"&k' +94 "core" ' + .tHand.close +2 "manipulator"&i/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +92 "core" ' + "storage"('- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +307 ( +2 "storage"(& +4 "core" &<+ d f g\  + "manipulator"&x& +4 "core" &  + "manipulator"& % +4 "core" %  H / +2 .tForearm.seek :retract + "manipulator"&Y' +88 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&"( +246 "core" ( + "manipulator"&& +5 "core" &  H + "storage"(& +4 "core" &<+ U Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 + "storage"(|- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"()' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &<+ Z\  +2 "manipulator"&-& +3 "core" & 1 H +2 .tElbow.seek 5 +2 "manipulator"&/( +9 "core" ( + "manipulator"&& +5 "core" & , & + "storage"(w& +4 "core" &<+ \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +3 "storage"(('" +48 "core" ' +2 "manipulator"&& +4 "core" & x & + "storage"(& +4 "core" &<+ e d \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&9'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&g, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 "manipulator"&}% +4 "core" %Κ M + "storage"(& +4 "core" &<+ L L #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&#' +26 "core" ' +2 "manipulator"&$& +4 "core" & & +2 "storage"(y& +4 "core" &<+ 5 7 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' + "storage"(% +5 "core" % Z X\ +2 ."downElevator"SE.seek :down +4 "storage"(2' +99 (l% +3 "core" %J ? F \ Xh +2 "manipulator"&*% +5 "core" %R  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.' +92 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (+& +4 "core" &<+ _ P \  + "collection"'0& +4 "core" &\\m \ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  U | +2 "storage"(% +3 "core" % d e\  +2 "storage"(5. +3 "core" .(<- + "storage"(@& +4 "core" &<+ c X\  +2 "storage"(8& +3 "core" &<+ V _\  +2 "manipulator"&3& +3 "core" & & +2 .tElbow.seek 5 +2 "manipulator"&%( +9 "core" ( +2 "manipulator"&M& +4 "core" &   +2 "storage"( & +3 "core" &<+ Y Z \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +95 "core" ' + "storage"(H& +4 "core" &<+ Y b\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +2 "core" & $  +3 "storage"(B& +3 "core" &<+ U U -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +13 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(7- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(&' +31 "core" ' + "manipulator"&E% +4 "core" %Γ O +2 "storage"(1& +4 "core" &<+ V U\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts +2 "manipulator"&K'Ͽ +14 "core" ' + "manipulator"&4& +4 "core" &  y  +2 "storage"({& +3 "core" &<+ V U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +26 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(c' +35 "core" ' + "manipulator"&G& +4 "core" & ~  +2 "manipulator"&F% +4 "core" %Z y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +151 "core" ( + "manipulator"&N& +4 "core" &ӈ) ' A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &ӈ) m A_ +44 .tForearm.seek CC +10 "manipulator"&d'? +94 "core" ' +2 .tHand.close + "manipulator"&T/ +54 "core" / + .tCC.seek :open +2 "collection"'Z( +448 "core" ( + "storage"(I& +4 "core" &<+ z \  +2 "storage"(& +3 "core" &<+ T\  +2 "manipulator"&& +3 "core" &Ӊ(  @^ +2 "manipulator"&`% +3 "core" % = : +2 .tForearm.seek :retract +2 "manipulator"&;' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&\ ( +162 "core" ( +2 "manipulator"&V& +4 "core" &  +2 "storage"(C& +3 "core" &<+ O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&X'΍ +98 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&e1 +62 "core" 1 +2 "manipulator"&f% +4 "core" % ΁   +2 "storage"(z& +3 "core" &<+ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 288 counts + "manipulator"&Q'ϭ +26 "core" ' + "manipulator"&_& +5 "core" & q  + "storage"(]& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +15 "core" ' +2 "storage"(s% +4 "core" % -\ +2 ."downElevator"SE.seek :down +4 "storage"(j' +99 (t% +3 "core" %> ^\ V` +2 "manipulator"&P% +3 "core" %O 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p' +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'D& +5 "core" & \ + "manipulator"&q% +4 "core" %     +2 "storage"(S% +4 "core" % \  +2 "storage"(R. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(A(,y +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &,{ \ +2 "manipulator"&a& +3 "core" & n  +2 .tElbow.seek 4 +2 "manipulator"&n( +3 "core" ( + "manipulator"&^& +4 "core" & z  + "storage"(u& +4 "core" &,{ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&<' +95 "core" ' + "storage"(h& +5 "core" &,{ M\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'r +298 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" &,h } z R\  +2 "manipulator"&>& +4 "core" & q  + .tElbow.seek 4 +2 "manipulator"&W( +4 "core" ( + "manipulator"&i& +4 "core" & m  +2 "storage"(m& +3 "core" &,h X\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&''c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&v& + "storage"(6' +7 "core" &  '  +2 "manipulator"&% +4 "core" % ϙ  : + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"& & +3 "core" &Ӎ& ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &Ӎ& P ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + "manipulator"&& +4 "core" &ӎ& ?T +2 "manipulator"&% +4 "core" %8 Q p + "collection"'& +4 "core" & \ +3 "collection"'|& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \  +8 &3y \ *y +10 &e~ \ > +9 &q \ M +10 &HS \ M +9 &\ U \ M +9 &X \ L +10 &S \ L +9 &RT \ L +9 &W \ M +10 &R \ L +9 & R \ L +10 &"YS \ L +9 &$T \ L +9 &%S \ L +10 &'S \ L +9 &)aR \ L +9 &+#S \ L +10 &,W \ L +9 &.W \ L +10 &0hV \ M +9 &2+U \ L +9 &3S \ L +10 &5R \ L +9 &7qS \ L +9 &93S \ L +10 &:R \ L +9 &<T \ L +10 &>yT \ L +9 &@;U \ L +9 &A[ \ M +10 &C^ \ M +9 &E|f \ N +9 &G:o \ O +10 &H \ R +9 &J \ W +10 &Lf \ X +9 &N' \ X +9 &O \ X +10 &Q \ Z +9 &Sh \ Z +9 &U) \ [ +10 &V \ [ +9 &X \ ] +10 &Zj \ \\ +9 &\\ y \ 8 +9 &\\& \ (u +10 &\\ \ Z +2 ( +2 "collection"'|& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&-% +4 "core" % 8 p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%w& +5 "core" &\ + "manipulator"&Y% +4 "core" %  g  + "storage"(% +4 "core" % D D \  + "storage"(. +3 "core" .(,y +2 "storage"(}& +3 "core" &,h ' ( b\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,| C F \ +2 "manipulator"&$& +3 "core" &ӏ&  ?S +2 "manipulator"&y% +3 "core" %  \\  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&)( +166 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"("& +4 "core" &,| [ Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +101 "core" ' +2 "storage"(& +4 "core" &,| [ Z 6\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'r +298 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,h ' ( A\  +2 "manipulator"&/& +3 "core" & V  +2 .tElbow.seek 4 + "manipulator"&(( +4 "core" ( + "manipulator"&9& +4 "core" & o  +2 "storage"(#& +3 "core" &,h D D \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&+'c +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&0/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" & Z  + "manipulator"&5% +4 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&8& +5 "core" &  2 ' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &  ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&M' +88 "core" ' + "manipulator"& & +5 "core" & > ' + "manipulator"&% +4 "core" % s +2 "processing"%H& +4 "core" &\ +2 "processing"%2& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%g(^ +4 "core" &\ \ +10 &/u\ *x +9 &a\ > +9 &it\ O +10 &)W\ O +9 &U\ O +10 &U\ O +9 &pU\ O +9 &2W\ O +10 &W\ O +9 &W\ O +9 & vT\ O +10 &"8U\ O +9 &#X\ O +10 &%T\ O +9 &'~U\ O +9 &)@U\ O +10 &+S\ O +9 &,W\ O +9 &.U\ O +10 &0HW\ O +9 &2 R\ O +10 &3T\ O +9 &5U\ O +9 &7SU\ N +10 &9X\ O +9 &:W\ P +9 &<W\ O +10 &>XV\ O +9 &@U\ P +10 &A]\ P +9 &Ch\ Q +9 &EYn\ R +10 &G\ T +9 &H\ U +9 &J\ V +10 &LU\ V +9 &N\ W +10 &O\ V +9 &Q\ W +9 &S[\ V +10 &U\ W +9 &V\ W +9 &X\ V +10 &Zb\ W +9 &\\#\ W +10 &]{\ 8 +9 &^+v\ \\ +9 &^,\ 5 +3 ( +2 "processing"%2& +52 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +2 .Hand.open +2 "manipulator"&.1 +61 "core" 1 + "manipulator"&% +5 "core" %  7 s + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +89 "core" ' +2 "processing"%B& +4 "core" &^(H\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&7% +4 "core" %    + "storage"(E% +4 "core" % * ' \  +2 "storage"(1. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(4(,y +36 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +4 "core" &,y  $ e\ + "manipulator"&G& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" & D ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&F( +2 "storage"(!'r +5 "core" ( + "manipulator"&%& +4 "core" &  ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +4 "core" &  ' +2 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' +2 .tHand.close + "manipulator"&K/ +60 "core" / + .tPC.seek :open +2 "processing"%N( +96 "core" ' + "storage"(&- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(?'1 +40 "core" ' +309 ( +2 "storage"(U& +4 "core" &,f 7 B \  + "manipulator"&b& +4 "core" & l ' + "manipulator"&T% +4 "core" %  ( +2 .tForearm.seek :retract +2 "manipulator"&[' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&=( +249 "core" ( +2 "manipulator"&I& +4 "core" & K +2 "storage"(& +3 "core" &,f ) ) #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' + .tHand.open + "manipulator"&`1 +62 "core" 1 +2 "storage"(V- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(C' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(d' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(\\- +3 "core" -' +2 "storage"(e& +4 "core" &,f [ ] Z\ j + "manipulator"&f& +4 "core" &  K +2 .tElbow.seek 4 +2 "manipulator"&z( +3 "core" ( + "manipulator"&_& +4 "core" &   K +2 "storage"(]& +3 "core" &,f [ ]\ j +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +64 "core" ' + "manipulator"&t& +5 "core" & K + "storage"(P& +4 "core" &,f ' & !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&\ '7 +14 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(D' +20 "core" ' +2 "manipulator"&Q% +4 "core" %H 4 O + "storage"(q& +4 "core" &,f & + !\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&S't +23 "core" ' +2 "manipulator"&R& +5 "core" &  J + "storage"(c& +4 "core" &,f > C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&r' +24 "core" ' + "storage"(j% +5 "core" % D . s\ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (:% +3 "core" %%H & &\ Xh +2 "manipulator"&a% +4 "core" % ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +92 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (u& +3 "core" &,f ' 0 +\  +2 "collection"'h& +4 "core" &\\ \ \ Z +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&O% +4 "core" %  Y  + "storage"(p% +4 "core" % D D \  + "storage"( . +3 "core" .(,y +2 "storage"(~& +4 "core" &,f D D \  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(>(,y +31 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" &,x C D o\ + "manipulator"&m& +4 "core" & J +2 .tElbow.seek 4 +2 "manipulator"&o( +3 "core" ( + "manipulator"&v& +4 "core" &  J +2 "storage"(& +4 "core" &,x D D \ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +95 "core" ' + "storage"(<& +4 "core" &,x F : \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &  Q J + "storage"('& +4 "core" &,h ' ' \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(W' +29 "core" ' + "manipulator"&6% +4 "core" %J B  +2 "storage"(& +4 "core" &,h ? C J\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&Z'v +22 "core" ' +2 "manipulator"&& +4 "core" & . J + "storage"(-& +4 "core" &,h K J P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +18 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(Y' +45 "core" ' + "manipulator"&& +5 "core" & S J + "manipulator"&% +4 "core" % V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&|(ӂ +150 "core" ( + "manipulator"&& +4 "core" &ӏ( Ac +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +2 "core" &Ӑ) , Ab +2 .tForearm.seek CC +2 "manipulator"&y'? +91 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( + "storage"("& +4 "core" &,h \  + "storage"(A& +4 "core" &,h E\  + "manipulator"&& +4 "core" &Ӑ)  Ab + "manipulator"&x% +4 "core" % 4 S Q +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&*( +164 "core" ( + "manipulator"&& +4 "core" & t  +2 "storage"(/& +4 "core" &,h w | @\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&9'7 +93 "core" ' +2 .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&01 +62 "core" 1 +2 "manipulator"&% +4 "core" % , 7 ? + "storage"(5& +4 "core" &,h Q\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 289 counts +2 "manipulator"&)'X +15 "core" ' + "manipulator"&& +4 "core" & /  +2 "storage"(l& +4 "core" &,h \  +43 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&+' +19 "core" ' +2 "storage"(8% +4 "core" % 8\ +3 ."downElevator"SE.seek :down +3 "storage"(3' +98 ((% +3 "core" %> | { 4\ Va +2 "manipulator"& % +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'H& +4 "core" & \ +2 "manipulator"&% +4 "core" %  ~  + "storage"(% +4 "core" % i\  + "storage"(. +4 "core" .(,y + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(.(<- +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<* j\  + "manipulator"&2& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&B( +3 "core" ( + "manipulator"&7& +4 "core" & g  +2 "storage"(E& +3 "core" &<* j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&1'O +98 "core" ' + "storage"({& +4 "core" &<* t\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +291 "core" ' +2 "storage"(%- +3 "core" -') +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" &<*  O\  +2 "manipulator"&M& +3 "core" & U  +2 .tElbow.seek 5 +2 "manipulator"&K( +3 "core" ( + "manipulator"&& +5 "core" & )  + "storage"(&& +4 "core" &<* s\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&@'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& +2 "storage"(!' +7 "core" &  S  +2 "manipulator"&U% +4 "core" % ϳ U + .tForearm.seek :retract +2 "manipulator"&b' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&T(ӂ +159 "core" ' + ( + ."downElevator"SE.stop +3 "manipulator"& & + "storage"(5 +7 "core" &ә"  O ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &ә" K ;4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + "manipulator"&F& +5 "core" &ә" ;4 + "manipulator"&`% +4 "core" %D 5 p +2 "collection"'V& +3 "core" & \ +2 "collection"'\\& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'e(\\ +4 "core" & \ +7 &2 \ $c +10 &Vy \ 7 +9 &v \ K +9 &R \ L +10 &iR \ L +9 &*U \ L +9 &X \ L +10 &U \ L +9 &oU \ M +10 &3T \ L +9 &U \ L +9 &!U \ L +10 &#xX \ L +9 &%;U \ L +9 &&U \ L +10 &(W \ L +9 &*U \ L +10 &,BT \ L +9 &.U \ M +9 &/T \ L +10 &1U \ L +9 &3JT \ L +9 &5 U \ L +10 &6R \ L +9 &8T \ L +10 &:SR \ L +9 &<U \ L +9 &=U \ M +10 &?V \ L +9 &AZY \ L +9 &C[ \ M +10 &Da \ M +9 &Fj \ O +10 &HS \ Q +9 &J \ V +9 &K \ X +10 &M \ Y +9 &OD \ Y +9 &Q \ Z +10 &R \ Z +9 &T \ [ +10 &VB \ ] +9 &X \ ] +9 &Y \ ] +10 &[ \ J +9 &\\8 \ . +9 &\\ \ X +6 ( +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&f1 +4 "core" &\\u \ X +52 1 +2 "manipulator"&_% +4 "core" % D  p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +90 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%[& +4 "core" &\ + "manipulator"&t% +4 "core" %  7  +2 "storage"(P% +3 "core" % ? B \  +2 "storage"(Q. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(q(<- +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &<*   O\  +2 "manipulator"&R& +4 "core" &ә" ;4 +2 "manipulator"&c% +4 "core" %    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&C( +158 "core" ( + "manipulator"&j& +5 "core" & b + "storage"(=& +4 "core" &<* U T +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +89 "core" ' + "storage"(d& +4 "core" &<* a c\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +301 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +2 "Can"h\ UQ +3 "core" &<* : L \  +2 "manipulator"&z& +3 "core" & " +2 .tElbow.seek 5 +2 "manipulator"&;( +3 "core" ( + "manipulator"&\ & +4 "core" &  ) + "storage"(S& +4 "core" &<* 6 6 `\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&u'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& +2 "storage"(p' +7 "core" & E + "manipulator"& % +4 "core" % Ϻ > +2 .tForearm.seek :retract + "manipulator"&D' +87 "core" ' +2 .tElbow.seek PC +2 "manipulator"&~( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&i& +5 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&v' +91 "core" ' + "manipulator"&& +5 "core" &  Q + "manipulator"&r% +4 "core" %  " l +2 "processing"%<& +4 "core" &\ +2 "processing"% & +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%4(^ +4 "core" &\ \ +10 &0t\ )w +9 &b\ > +9 &ev\ O +10 &'V\ O +9 &U\ O +10 &T\ N +9 &mV\ O +9 &/U\ O +10 &Z\ O +9 &V\ O +9 & uV\ O +10 &"8U\ N +9 &#W\ O +10 &%T\ N +9 &'|V\ O +9 &)?T\ O +10 &+U\ O +9 &,W\ O +9 &.W\ O +10 &0GV\ O +9 &2\ U\ N +10 &3T\ O +9 &5X\ O +9 &7OS\ O +10 &9W\ O +9 &:W\ O +9 &<V\ O +10 &>VY\ O +9 &@Y\ O +9 &A_\ P +10 &Ck\ Q +9 &ESz\ S +10 &G\ U +9 &H\ U +9 &J\ V +10 &LT\ U +9 &N\ V +9 &O\ V +10 &Q\ W +9 &SW\ W +10 &U\ W +9 &V\ W +9 &X\ V +10 &Z_\ W +9 &\\\ X +9 &]\ 7 +10 &^+l\ !a +9 &^+\ 6 +3 ( +2 "processing"% & +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&X1 +60 "core" 1 + "manipulator"&^% +4 "core" %  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k' +95 "core" ' +2 "processing"%L& +4 "core" &^&\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&'% +4 "core" % # ? / + "storage"(% +4 "core" % 0 3 #\  +2 "storage"(6. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&-& +3 "core" &<+   \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & g +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +4 "manipulator"&( +3 "core" ( +2 "manipulator"&n& +3 "core" & D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" & ; +2 .tForearm.seek PC +2 "manipulator"& ' +94 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%Z( +95 "core" ' +2 "storage"(W- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +307 ( + "storage"($& +5 "core" &<+ : E \  + "manipulator"&w& +4 "core" & D + "manipulator"&% +4 "core" %   ' +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +240 "core" ( + "manipulator"&& +4 "core" & # +2 "storage"("& +4 "core" &<+ ? D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A'O +96 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(x- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +4 "core" -' + "storage"(|& +4 "core" &<+ ` k *\ l +2 "manipulator"&0& +4 "core" &   # + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&5& +4 "core" &   # +2 "storage"(& +3 "core" &<+ k k \ l +3 .tForearm.seek 5 + 450 counts + "manipulator"&l'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(8'" +59 "core" ' + "manipulator"&& +5 "core" & 5 # + "storage"(*& +4 "core" &<+ K K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&('΍ +19 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(9' +18 "core" ' +2 "manipulator"&H% +4 "core" %Γ Y ! + "storage"()& +4 "core" &<+ C C \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts + "manipulator"&'Ͽ +15 "core" ' +2 "manipulator"&& +4 "core" &  U " +2 "storage"(& +4 "core" &<+ 5 E l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y'O +17 "core" ' + "storage"(+% +5 "core" % F ; E\ +2 ."downElevator"SE.seek :down +3 "storage"(3' +99 (>% +3 "core" %II ' '\ Xh +2 "manipulator"&% +4 "core" %>  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&2' +88 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (7& +4 "core" &<+ 5 .\  + "collection"'E& +5 "core" &\\t  \ X + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&{% +3 "core" %   [  +2 "storage"(#% +4 "core" % T T E\  + "storage"(. +3 "core" .(<- + "storage"(%& +4 "core" &<+ 6 5 D\  +2 "storage"(J& +3 "core" &<+ 7 6 #\  +2 "manipulator"&M& +3 "core" & B " +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&&& +4 "core" & < " +2 "storage"(,& +3 "core" &<+ 4 O \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +88 "core" ' +2 "storage"(U& +4 "core" &<+ b X\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'r +298 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +2 "core" & P " +2 "storage"(I& +3 "core" &<+ H J \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&G'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(`' +29 "core" ' + "manipulator"&V% +4 "core" %΅ A  +2 "storage"(K& +4 "core" &<+ : 7 5\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts + "manipulator"&!'ϱ +15 "core" ' + "manipulator"&b& +4 "core" & + " +2 "storage"(& +3 "core" &<+ ; ; p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +18 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(_' +46 "core" ' + "manipulator"&[& +5 "core" &  9 " + "manipulator"&t% +4 "core" %<  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&Q(ӂ +156 "core" ( + "manipulator"&\\& +4 "core" &Ӕ% e >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &Ӕ% K >N +2 .tForearm.seek CC +2 "manipulator"&R'? +91 "core" ' +2 .tHand.close + "manipulator"&c/ +52 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( +2 "storage"(j& +4 "core" &<+ } U\  + "storage"(=& +4 "core" &<+ O\  +2 "manipulator"&.& +3 "core" &Ӟ$ =D +2 "manipulator"&d% +3 "core" % F [ +2 .tForearm.seek :retract +2 "manipulator"&T' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&]( +156 "core" ( + "manipulator"&a& +4 "core" &  +2 "storage"(s& +3 "core" &<+ w\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&z'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +61 "core" 1 +2 "manipulator"&h% +4 "core" % ΋ , B + "storage"(O& +4 "core" &<+ Z\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 298 counts +2 "manipulator"& 'Ϸ +15 "core" ' +2 "manipulator"&C& +4 "core" & B + "storage"(& +4 "core" &<+ &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +19 "core" ' + "storage"(u% +4 "core" % L\ +3 ."downElevator"SE.seek :down +3 "storage"(i' +99 (m% +2 "core" %D y y \ Wc +2 "manipulator"&;% +4 "core" %? \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'r& +5 "core" & \ + "manipulator"&<% +5 "core" %  >  + "storage"(p% +4 "core" % :\  +2 "storage"(D. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(N(,y +360 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +2 "core" &,y }\ +2 "manipulator"&^& +3 "core" &  # +2 .tElbow.seek 4 +2 "manipulator"&L( +3 "core" ( + "manipulator"&'& +4 "core" &  5 + "storage"(& +4 "core" &,y \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +100 "core" ' + "storage"( & +4 "core" &,y \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +52 (n& +3 "core" &,k G\ + "manipulator"&o& +4 "core" & +2 .tElbow.seek 4 + "manipulator"&v( +4 "core" ( + "manipulator"&& +4 "core" &  + "storage"(q& +4 "core" &,k v\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&W'c +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"(4' +7 "core" &  C +2 "manipulator"&% +3 "core" % Ϗ  D +2 .tForearm.seek :retract +2 "manipulator"&$' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&w(ӂ +157 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &Ӌ( # @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &Ӌ( 2 @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + "manipulator"&"& +5 "core" &Ӎ( 2 @[ + "manipulator"&% +4 "core" %D t +2 "collection"'& +4 "core" & \ +3 "collection"'x& +5 "core" & \ +3 .tCC.seek :closed +3 "collection"'y(\\ +3 "core" & \ +5 & \ 9 +9 &LJt \ 1 +10 &}t~ \ E +9 &'Z \ M +9 &T \ K +10 &U \ L +9 &nV \ L +10 &1V \ L +9 &T \ L +9 &U \ L +10 &wU \ L +9 &!9U \ L +9 &"U \ L +10 &$T \ L +9 &&U \ L +10 &(BT \ L +9 &*T \ L +10 &+T \ K +9 &-T \ L +9 &/JT \ L +9 &1 T \ L +10 &2R \ L +9 &4T \ L +9 &6RT \ L +10 &8U \ L +9 &9Y \ L +10 &;T \ L +9 &=ZV \ L +9 &?V \ L +10 &@V \ L +9 &BY \ L +10 &D^` \ M +9 &Fh \ N +9 &Gz \ P +10 &I \ T +9 &KJ \ W +9 &M \ X +10 &N \ X +9 &P \ Y +10 &RJ \ Y +9 &T \ Z +9 &U \ [ +10 &W \ [\ +9 &YH \ ] +9 &[ \ \\ +10 &\\bJ \ 6 +9 &\\ z \ M +6 ( + "collection"'x& +4 "core" &\\k \ M +2 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.13 + .Hand.open + "manipulator"&|1 +58 "core" 1 +2 "manipulator"&0% +4 "core" % D & t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +88 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" & \ +2 "manipulator"&% +3 "core" %   +2 "storage"(% +4 "core" % J E \  + "storage"(*. +3 "core" .(,y + "storage"(H& +4 "core" &,k @ 5 \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"()(,y +29 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,| ? G Q\ +2 "manipulator"&& +4 "core" &ӎ( ) @Z + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&+& +4 "core" & e  + "storage"(}& +4 "core" &,| X Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&A' +98 "core" ' +2 "storage"(/& +4 "core" &,| Z Z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(>'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" &,i \\ X\  +2 "manipulator"&& +3 "core" & L  +2 .tElbow.seek 4 +2 "manipulator"&8( +3 "core" ( + "manipulator"&(& +4 "core" & 7  +2 "storage"(7& +3 "core" &,i e c -\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(#' +7 "core" &   + "manipulator"&% +4 "core" % ϙ +2 .tForearm.seek :retract +2 "manipulator"&9' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&%( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&J& +4 "core" &  + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &  + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&&' +92 "core" ' +2 "manipulator"&,& +4 "core" & b + +2 "manipulator"&Y% +3 "core" % U Q +2 "processing"%U& +4 "core" &\ +2 "processing"%3& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\  +9 &1w\ *x +9 &b~\ > +10 &gt\ O +9 &(V\ O +9 &U\ O +10 &S\ N +9 &nU\ O +10 &1T\ O +9 &Z\ O +9 &V\ O +10 & wU\ O +9 &"9S\ O +9 &#U\ O +10 &%V\ O +9 &'~X\ O +10 &)AT\ O +9 &+T\ N +9 &,V\ O +10 &.T\ N +9 &0IU\ O +9 &2 T\ O +10 &3R\ O +9 &5S\ O +10 &7RT\ N +9 &9W\ O +9 &:W\ O +10 &<U\ O +9 &>XX\ O +9 &@X\ O +10 &A]\ P +9 &Cd\ Q +10 &EXm\ R +9 &G\ T +9 &H\ U +10 &J\ V +9 &LT\ V +10 &N\ V +9 &O\ V +9 &Q\ X +10 &SZ\ W +9 &U\ V +9 &V\ W +10 &X\ W +9 &Za\ W +9 &\\"\ W +10 &]\ 5 +9 &^6r\ : +10 ( + &^\ , +2 "processing"%3& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&21 +60 "core" 1 +2 "manipulator"&1% +4 "core" %  6 Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' + "processing"%I& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&F% +4 "core" %  R  + "storage"(V% +4 "core" % > B \  + "storage"(K. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(b(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& + "manipulator"&[& +6 "core" &,} ; C \ + & 3 + +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&t( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'r +3 "core" ( + "manipulator"&& +4 "core" &  + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" & R + +2 .tForearm.seek PC +2 "manipulator"&G' +94 "core" ' + .tHand.close + "manipulator"&!/ +55 "core" / +3 .tPC.seek :open + "processing"%`( +102 "core" ' +2 "storage"(\\- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(?'1 +45 "core" ' +298 ( + "storage"(f& +4 "core" &,f ; 6 \  +2 "manipulator"&@& +3 "core" &  + +2 "manipulator"&c% +4 "core" %  T  + .tForearm.seek :retract +2 "manipulator"&P' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&e( +245 "core" ( + "manipulator"&j& +4 "core" &  * +2 "storage"(=& +4 "core" &,f D D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +107 "core" ' +2 .tHand.open + "manipulator"&d1 +57 "core" 1 +2 "storage"(a- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(s' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(R' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(Q- +4 "core" -' +2 "storage"(S& +3 "core" &,f \\\ u +2 "manipulator"&h& +3 "core" &  * +2 .tElbow.seek 4 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&C& +3 "core" & 4 * +2 "storage"(& +4 "core" &,f H\ u +2 .tForearm.seek 4 + 450 counts + "manipulator"&u' +11 "core" ' + .tSE.reconfigure :gently +53 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(T'" +51 "core" ' +2 "manipulator"&m& +4 "core" & $ * + "storage"(;& +4 "core" &,f 5 4 )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&]'7 +20 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +18 "core" ' + "manipulator"& % +5 "core" %G \\ + "storage"(<& +4 "core" &,f C C \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&p's +15 "core" ' +2 "manipulator"&D& +4 "core" & " ) +2 "storage"(_& +4 "core" &,f : E ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +21 "core" ' + "storage"(i% +5 "core" % F U j\ +2 ."downElevator"SE.seek :down +5 "storage"(' +98 (X% +4 "core" %AL D D \ Xh + "manipulator"&^% +4 "core" % b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +94 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,f 5 1 \  + "collection"' & +4 "core" &\\k \ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&\ % +4 "core" %  " ! +2 "storage"(% +3 "core" % T F V\  +2 "storage"(-. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(n(,y +28 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +2 "core" &,z 7 4 \ +2 "manipulator"&& +4 "core" &  i ) +2 .tElbow.seek 4 +2 "manipulator"&q( +3 "core" ( + "manipulator"&~& +4 "core" & { ) +2 "storage"(k& +4 "core" &,z T F 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +91 "core" ' +2 "storage"(L& +4 "core" &,z b b\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'r +302 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & ) + "storage"(& +4 "core" &,h ` U F\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&W'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(' +27 "core" ' + "manipulator"&v% +4 "core" %? 4  +2 "storage"(4& +3 "core" &,h ; : j\ \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 308 counts +2 "manipulator"&$'k +16 "core" ' + "manipulator"&& +5 "core" & ) + "storage"(|& +4 "core" &,h U U \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +20 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&& +4 "core" & M ) +2 "manipulator"&% +5 "core" %  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +154 "core" ( +2 "manipulator"&x& +4 "core" &ә   :1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ә  b :1 +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(+& +4 "core" &,h /\ \ + "storage"(}& +4 "core" &,h \ \ + "manipulator"&N& +4 "core" &ә  :1 + "manipulator"&/% +4 "core" % 9  # +2 .tForearm.seek :retract + "manipulator"&w' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&5( +167 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(l& +4 "core" &,h Q\ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +55 "core" 1 +2 "manipulator"&E% +4 "core" % 5  p ! + "storage"({& +4 "core" &,h Z\ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 298 counts +2 "manipulator"&'a +15 "core" ' +2 "manipulator"&& +4 "core" & e  + "storage"(A& +4 "core" &,h \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&>' +20 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(J' +99 (M% +3 "core" %A z z v\ Va + "manipulator"&8% +5 "core" % ` + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'Y& +4 "core" & \ +2 "manipulator"&U% +4 "core" % ! i * + "storage"(#% +4 "core" % \  +2 "storage"(9. +3 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Z(<- +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (2& +2 "core" &<+ ` Y \  +2 "manipulator"&1& +4 "core" & U  + .tElbow.seek 5 +2 "manipulator"&I( +4 "core" ( + "manipulator"&F& +4 "core" &   + "storage"(V& +4 "core" &<+ r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +93 "core" ' +2 "storage"(3& +4 "core" &<+ t\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"([- +4 "core" -'+ + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +23 "core" &<+ C\  + "manipulator"&B& +4 "core" & Q  +2 .tElbow.seek 5 + "manipulator"&&( +4 "core" ( + "manipulator"&!& +4 "core" & e  + "storage"()& +4 "core" &<+ ,\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&\\'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&%/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"( ' +7 "core" &  e  + "manipulator"&g% +4 "core" % Ϻ e +2 .tForearm.seek :retract +2 "manipulator"&f' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@(ӂ +153 "core" ( + "manipulator"&c& +5 "core" &ӎ) Bf ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&G& +4 "core" &ӎ*  Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&j'? +101 "core" ' +2 "manipulator"&=& +4 "core" &ӏ) Ae +2 "manipulator"&t% +4 "core" %D  & +2 "collection"'d& +4 "core" & \ +3 "collection"'a& +6 "core" & \ +2 .tCC.seek :closed + "collection"'Q(\\ +5 "core" & \ +6 & \ : +59 &GJu \ 0 +5 &us~ \ D + &] \ M +3 &T \ L + &U \ L + &dU \ L + &&U \ L +4 &U \ L +10 &T \ L +9 &mU \ L +9 &!/T \ L +10 &"T \ L +9 &$R \ L +9 &&tT \ L +10 &(6U \ L +9 &)T \ L +10 &+T \ L +9 &-~T \ K +9 &/>T \ L +10 &1S \ L +9 &2T \ L +9 &4T \ K +10 &6FU \ L +9 &8U \ L +10 &9U \ L +9 &;U \ L +9 &=NU \ L +10 &?U \ L +9 &@U \ L +9 &BX \ L +10 &DS] \ M +9 &Fi \ N +9 &Gx \ Q +10 &I \ T +9 &K> \ W +10 &L \ Y +9 &N \ Y +9 &P \ Y +10 &R= \ Z +9 &S \ [ +9 &U \ [ +10 &W~ \ \\ +9 &Y; \ ] +10 &Z \ ] +9 &\\]Q \ 3 +9 &\\ \ Y +6 ( +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&S1 +4 "core" &\\u \ Y +59 1 +2 "manipulator"&h% +4 "core" % D  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +94 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&P% +4 "core" %   + "storage"(m% +4 "core" % D D I\  +2 "storage"(;. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(?(<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &<+( '  7\  +2 "manipulator"&s& +3 "core" &ӏ) K Ae +2 "manipulator"&<% +4 "core" %  F  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&D( +165 "core" ( + "manipulator"&_& +4 "core" & 0  +2 "storage"(i& +3 "core" &<+ U T z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +95 "core" ' + "storage"(.& +4 "core" &<+ Z [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +298 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +2 "core" &<+ K D \  +2 "manipulator"&u& +4 "core" & (  + .tElbow.seek 5 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&T& +3 "core" &   +2 "storage"(]& +3 "core" &<+ 4 6\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&p'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(\ ' +7 "core" & R  + "manipulator"&% +4 "core" % ϱ   +2 .tForearm.seek :retract +2 "manipulator"&-' +95 "core" ' + .tElbow.seek PC +2 "manipulator"&r( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&o& +4 "core" & 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  O 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +92 "core" ' +2 "manipulator"&k& +4 "core" &  2 +2 "manipulator"&:% +3 "core" % , ? +2 "processing"%L& +4 "core" &\ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%b(^ +4 "core" &\ +7 & .\ $c +10 &Tz\ 7 +9 &}y\ K +9 &V\ O +10 &WV\ N +9 &T\ N +10 &T\ O +9 &T\ N +9 &_T\ N +10 &!U\ N +9 &U\ O +9 &!U\ O +10 &#fV\ O +9 &%)S\ N +10 &&U\ O +9 &(U\ N +9 &*nU\ O +10 &,0T\ O +9 &-S\ O +9 &/Y\ O +10 &1vT\ O +9 &38W\ O +10 &4Q\ O +9 &6T\ N +9 &8}W\ O +10 &:@T\ O +9 &<U\ O +9 &=U\ O +10 &?V\ O +9 &AEZ\ P +10 &Ce\ Q +9 &Dn\ R +9 &F}~\ U +10 &H<\ U +9 &I\ U +9 &K\ U +10 &M\ V +9 &OC\ V +10 &Q\ V +9 &R\ W +9 &T\ W +10 &VI\ W +9 &X \ V +9 &Y\ W +10 &[\ W +9 &]N\ K +10 &^~O\ "i +9 &^+\ 2 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&z1 +59 "core" 1 + "manipulator"&'% +4 "core" %  ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + "processing"% & +5 "core" &^&\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %   +2 "storage"(% +3 "core" % & &\  +2 "storage"(v. +3 "core" .(<- + "storage"(4& +4 "core" &<+ ' '\  +2 "storage"(& +2 "manipulator"&|& +6 "core" &<+ ' '\  + & % 2 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +3 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( + "manipulator"&& +4 "core" & G 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +8 "core" &  2 +2 .tForearm.seek PC + "manipulator"&6' +97 "core" ' + .tHand.close + "manipulator"&W/ +59 "core" / + .tPC.seek :open +2 "processing"%$( +90 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(x'1 +39 "core" ' +313 ( + "storage"(& +5 "core" &<+ V Y \  + "manipulator"&0& +4 "core" & # 2 + "manipulator"&"% +4 "core" %   ! + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&*( +245 "core" ( +2 "manipulator"&y& +4 "core" & & + "storage"(+& +4 "core" &<+ J K 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&}'O +94 "core" ' + .tHand.open + "manipulator"&N1 +59 "core" 1 +2 "storage"(/- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +56 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(H& +3 "core" &<+  O\ m +2 "manipulator"&7& +3 "core" &  & +2 .tElbow.seek 5 +2 "manipulator"&E( +3 "core" ( + "manipulator"&{& +5 "core" &  & + "storage"(& +4 "core" &<+ ~ Y\ m +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A'O +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&w& +4 "core" & & +2 "storage"(M& +4 "core" &<+ H C\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&8'΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&Y% +4 "core" %Β   +2 "storage"(& +4 "core" &<+ C D \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&U'Ͼ +15 "core" ' +2 "manipulator"&#& +4 "core" & $ % +2 "storage"(9& +4 "core" &<+ Z V 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' + "storage"(>% +5 "core" % U X\ +2 ."downElevator"SE.seek :down +4 "storage"(J' +99 (n% +3 "core" %K ( - P\ Xg +2 "manipulator"&2% +3 "core" %:  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1' +86 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (F& +4 "core" &<+ 5 1\  + "collection"'V& +5 "core" &\\t \ Y + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&3% +3 "core" %  }  +2 "storage"((% +4 "core" % Z U Q\  +52 "storage"(,. +4 "core" .(<- + "storage"([& +4 "core" &<+ U T f\  + "storage"(& +5 "core" &<+ V Z G\  + "manipulator"&B& +4 "core" & ^ % +2 .tElbow.seek 5 + "manipulator"&!( +3 "core" ( +2 "manipulator"&)& +4 "core" & > % + "storage"(%& +4 "core" &<+ Y W C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +91 "core" ' + "storage"(g& +4 "core" &<+ d e\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'r +296 "core" ' +2 "storage"(K- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&c& +3 "core" & ~ % +2 "storage"(G& +4 "core" &<+ < 9 Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(=- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(t' +30 "core" ' +2 "manipulator"&d% +4 "core" %Ι , , + "storage"(&& +4 "core" &<+ 4 9 r\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 312 counts + "manipulator"& ' +17 "core" ' + "manipulator"&f& +4 "core" & % +2 "storage"(& +3 "core" &<+ T U a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +15 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(h' +45 "core" ' +3 "manipulator"&& +4 "core" & d % +2 "manipulator"&P% +4 "core" %9  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +156 "core" ( + "manipulator"&a& +4 "core" &ӊ+ Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӊ+ S Co +2 .tForearm.seek CC +2 "manipulator"&s'? +91 "core" ' + .tHand.close + "manipulator"&& +4 "core" &,x U U _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +95 "core" ' + "storage"(}& +4 "core" &,x c d\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +52 "storage"(l'r +303 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" &,h J B 8\  +2 "manipulator"&A& +3 "core" & D  +2 .tElbow.seek 4 +2 "manipulator"&E( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(8& +3 "core" &,h < 6\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&F'c +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&U/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(3' +7 "core" &   + "manipulator"&(% +4 "core" % σ  e +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' + .tElbow.seek PC +2 "manipulator"&,( +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +2 "manipulator"&[& +4 "core" &  , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & F , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B' +92 "core" ' + "manipulator"&)& +5 "core" &  , + "manipulator"&%% +4 "core" % L J +2 "processing"%& +4 "core" &\ +2 "processing"%g& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(^ +4 "core" &\ +6 &\ 6 +9 &@Gu\ 0 +10 &fp~\ E +9 &`\ O +9 &T\ N +10 &T\ O +9 &KU\ O +10 & U\ O +9 &V\ O +9 &W\ O +10 &SW\ O +9 &!T\ N +9 &"S\ N +10 &$T\ N +9 &&[Q\ O +9 &(T\ N +10 &)T\ N +9 &+S\ O +10 &-bW\ O +9 &/%S\ O +9 &0T\ N +10 &2T\ N +9 &4kQ\ O +9 &6-S\ O +10 &7Q\ O +9 &9T\ O +10 &;rY\ O +9 &=4U\ O +9 &>W\ O +10 &@V\ O +9 &Bw\\\ P +10 &D7e\ Q +9 &Eu\ R +9 &G\ U +10 &Ip\ U +9 &K0\ V +9 &L\ V +10 &N\ V +9 &Pu\ V +10 &R6\ V +9 &S\ V +9 &U\ V +10 &W|\ V +9 &Y=\ W +9 &Z\ W +10 &\\\ W +9 &^9c\ &v +10 &^#q\ 7 +8 ( +3 "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&51 +4 "core" &^ \ / +55 1 + "manipulator"&1% +4 "core" %  J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +96 "core" ' +2 "processing"%c& +4 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&G% +4 "core" % % L = + "storage"(=% +4 "core" % * ' X\  + "storage"(d. +3 "core" .(,y +2 "storage"(&& +3 "core" &,h 3 4 I\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(f(,y +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" &,{ ' ' \  +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & s , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(P'r + "manipulator"& ( +5 "core" ( +2 "manipulator"&!& +3 "core" & m , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" & b , +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' + .tHand.close + "manipulator"& / +64 "core" / + .tPC.seek :open +2 "processing"%t( +95 "core" ' + "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +41 "core" ' +309 ( + "storage"(S& +5 "core" &,e G ; p\ & + "manipulator"&\\& +4 "core" & H , + "manipulator"&<% +4 "core" %  o H +2 .tForearm.seek :retract + "manipulator"&m' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&Q( +255 "core" ( + "manipulator"&_& +4 "core" &  +2 "storage"(i& +3 "core" &,e D C \ & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +93 "core" ' +2 .tHand.open + "manipulator"&.1 +58 "core" 1 +2 "storage"(X- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(^' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(s' +55 "core" ' + #tLights, camera, ACTION! + "storage"(;- +4 "core" -' + "storage"(]& +4 "core" &,e \ t& +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"& ( +8 "core" ( + "manipulator"&D& +5 "core" &    + "storage"(e& +4 "core" &,e /\ t& +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(@'" +57 "core" ' + "manipulator"&& +5 "core" & x  + "storage"(O& +4 "core" &,e J L ?\ & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&C'7 +17 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +27 "core" ' +2 "manipulator"&% +4 "core" %K  \ + "storage"(L& +4 "core" &,e @ C \ & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&\ 'w +14 "core" ' +2 "manipulator"&-& +4 "core" &  c  +2 "storage"(h& +5 "core" &,e 6 6 >\ & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +21 "core" ' +3 "storage"(o% +10 "core" % : P\ +3 ."downElevator"SE.seek :down +3 "storage"(?' +99 (z% +4 "core" %:J 1 & 3\ Xg + "manipulator"&'% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,e 0 5\ & +2 "collection"'4& +3 "core" &\\| \ U +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&T% +4 "core" %  P  + "storage"(k% +4 "core" % P 8 T\  +2 "storage"(|. +3 "core" .(,y + "storage"(& +4 "core" &,e F U /\ & +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +36 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +2 "core" &,{ K L \ +2 "manipulator"&W& +4 "core" &  b  +2 .tElbow.seek 4 + "manipulator"&r( +4 "core" ( + "manipulator"&& +4 "core" & *  + "storage"(& +4 "core" &,{ T G /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +96 "core" ' + "storage"(v& +4 "core" &,{ c c\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +301 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & +  +2 "storage"(& +4 "core" &,h U V \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&+'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(q' +28 "core" ' + "manipulator"&b% +4 "core" %A =  +2 "storage"(& +3 "core" &,h F D ,\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 310 counts +51 "manipulator"&j'm +17 "core" ' + "manipulator"&H& +5 "core" &  + "storage"(7& +4 "core" &,h H C +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(' +44 "core" ' +2 "manipulator"&w& +4 "core" & 0  + "manipulator"&M% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&x& +4 "core" &ӊ* O Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &ӊ* K Bh +2 .tForearm.seek CC +2 "manipulator"&y'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'>( +447 "core" ( + "storage"(`& +4 "core" &,h \  +2 "storage"(}& +3 "core" &,h h\  +2 "manipulator"&0& +3 "core" &ӑ)  Aa +2 "manipulator"&{% +4 "core" % N  8 * + .tForearm.seek :retract +2 "manipulator"&n' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&2( +167 "core" ( + "manipulator"&A& +4 "core" & #  +2 "storage"(& +4 "core" &,h M\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&8'7 +100 "core" ' + .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&V1 +61 "core" 1 + "manipulator"&(% +5 "core" % 5  + "storage"(9& +4 "core" &,h M\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 298 counts + "manipulator"&*'a +16 "core" ' + "manipulator"&l& +4 "core" &   +2 "storage"(F& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +20 "core" ' + "storage"(% +5 "core" % g\ +2 ."downElevator"SE.seek :down +3 "storage"(E' +99 ()% +3 "core" %A { z n\ Va + "manipulator"&%% +9 "core" %  B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'3& +4 "core" & \ +2 "manipulator"&% +4 "core" %     + "storage"($% +4 "core" % \  +2 "storage"(5. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(1(<- +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (c& +3 "core" &<* l { >\  + "manipulator"&G& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&=( +3 "core" ( + "manipulator"&d& +4 "core" & I  +2 "storage"(&& +3 "core" &<* $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g'O +94 "core" ' + "storage"(& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(!- +3 "core" -'( + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (I& +3 "core" &<*  ~\  + "manipulator"&B& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&Y& +4 "core" & b  + "storage"(a& +4 "core" &<* s\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&,'Ϲ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&K/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& + "storage"(P' +7 "core" & R  +2 "manipulator"&S% +4 "core" %  p + .tForearm.seek :retract +2 "manipulator"&\\' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&<(ӂ +153 "core" ( + "manipulator"&& +5 "core" &x-  Dx + ' +2 .tElbow.reconfigure :loose + ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&_& +6 "core" &x- q Dx +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'? +91 "core" ' +2 "manipulator"& & +4 "core" &Ӓ( x @^ +2 "manipulator"&.% +4 "core" %A m j +2 "collection"'X& +3 "core" & 3\ +2 "collection"';& +6 "core" & 3\ +2 .tCC.seek :closed +2 "collection"'](\\ +4 "core" & \  +8 &4w \ *z +9 &g~ \ ? +10 &n \ M +9 &^R \ L +9 &!T \ L +10 &X \ L +9 &R \ L +10 &gR \ L +9 &)T \ L +9 &R \ L +10 & R \ L +9 &"oR \ L +9 &$2T \ K +10 &%T \ K +9 &'U \ L +10 &)wX \ L +9 &+:S \ K +9 &,T \ L +10 &.W \ L +9 &0W \ L +9 &2AW \ L +10 &4W \ L +9 &5X \ L +10 &7Y \ L +9 &9IT \ L +9 &; R \ L +10 &<S \ L +9 &>U \ K +9 &@QU \ L +10 &BZ \ L +9 &C[ \ L +10 &Ec \ N +9 &GOu \ O +9 &I \ S +10 &J \ V +9 &L} \ W +9 &N< \ X +10 &O \ X +9 &Q \ Y +10 &S} \ Z +9 &U> \ Z +10 &V \ \\ +9 &X \ \\ +9 &Z} \ ] +9 &\\"{ \ 0 +10 &\\0 \ c +9 ( +2 "collection"';& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&1 +3 "core" &\\q \ P +49 1 +2 "manipulator"&D% +4 "core" % A  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%m& +4 "core" &\ + "manipulator"&% +4 "core" %    +2 "storage"(O% +3 "core" % 9 I \  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(L(<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +2 "core" &<* 5 4 \  +2 "manipulator"&-& +4 "core" &ӓ( @] +2 "manipulator"&h% +3 "core" %  =  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&^( +163 "core" ( + "manipulator"&o& +5 "core" &   + "storage"(Q& +4 "core" &<* [ `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +89 "core" ' + "storage"(s& +4 "core" &<* m !\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +295 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &<* ? A \ \  +2 "manipulator"& & +4 "core" & )  + .tElbow.seek 5 +2 "manipulator"&@( +3 "core" ( + "manipulator"&C& +4 "core" &  .  + "storage"(\ & +4 "core" &<* T T G\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& + "storage"(k' +8 "core" &  o  + "manipulator"&|% +4 "core" % Ϲ  F +2 .tForearm.seek :retract +2 "manipulator"&:' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&~& +5 "core" & E ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" & ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +91 "core" ' +2 "manipulator"&& +4 "core" & ' ( + "manipulator"&R% +4 "core" % x U +2 "processing"%v& +53 "core" &\ +4 "processing"%?& +5 "core" &\ +2 .tPC.seek :closed + "processing"%f(^ +4 "core" &\  +9 &0t\ *x +9 &b~\ > +9 &bs\ O +10 &%S\ N +9 &T\ N +9 &Q\ N +10 &iS\ O +9 &-S\ N +10 &T\ O +9 &S\ N +9 & rT\ O +10 &"5R\ N +9 &#S\ O +9 &%R\ N +10 &'yV\ O +9 &)<R\ O +10 &*V\ O +9 &,U\ N +9 &.R\ N +10 &0DT\ O +9 &2U\ O +10 &3U\ N +9 &5T\ N +9 &7MT\ N +10 &9U\ N +9 &:U\ N +9 &<T\ O +10 &>TW\ O +9 &@W\ O +9 &A]\ P +10 &Ci\ Q +9 &EPx\ S +10 &G \ U +9 &H\ U +9 &J\ V +10 &LO\ V +9 &N\ V +9 &O\ V +10 &Q\ W +9 &ST\ W +10 &U\ W +9 &V\ W +9 &X\ V +10 &ZZ\ X +9 &\\\ W +9 &]\ 6 +10 &^1n\ I +9 ( +3 "processing"%?& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&u1 +3 "core" &^+\ 4 +54 1 + "manipulator"&% +4 "core" %  c U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&6' +90 "core" ' +2 "processing"%& +4 "core" &^,\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %  A  + "storage"(N% +4 "core" % C D u\  +2 "storage"(b. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" &<+   b\  +2 "manipulator"&7& +2 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 "core" & D ( +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&w( + "storage"(M'r +5 "core" ( + "manipulator"& & +4 "core" & : ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &  ~ ( +2 .tForearm.seek PC +2 "manipulator"&"' +94 "core" ' + .tHand.close +2 "manipulator"&+/ +53 "core" / +2 .tPC.seek :open +2 "processing"%j( +102 "core" ' + "storage"(q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(x'1 +45 "core" ' +297 ( +2 "storage"(#& +4 "core" &<+ U U \  + "manipulator"&& +4 "core" &  ( + "manipulator"&% +4 "core" %   # +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&/( +247 "core" ( + "manipulator"&& +4 "core" & j 3 + "storage"(`& +4 "core" &<+ @ = \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +96 "core" ' +2 .tHand.open + "manipulator"&01 +61 "core" 1 +2 "storage"({- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(y- +4 "core" -' + "storage"(& +4 "core" &<+  \ m + "manipulator"&V& +4 "core" &   3 +2 .tElbow.seek 5 + "manipulator"&(( +4 "core" ( +2 "manipulator"&9& +3 "core" &    3 +2 "storage"(l& +4 "core" &<+  \ m +2 .tForearm.seek 5 + 450 counts + "manipulator"&F'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +53 "core" ' + "manipulator"&n& +4 "core" & 4 3 +2 "storage"()& +4 "core" &<+ ; G \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&%'΍ +26 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +18 "core" ' +2 "manipulator"&3% +4 "core" %Ε  + "storage"(*& +4 "core" &<+ 9 ? \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&$& +4 "core" & ~ 2 +2 "storage"(5& +4 "core" &<+ U T \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +18 "core" ' + "storage"([% +5 "core" % U U \ +2 ."downElevator"SE.seek :down +3 "storage"(E' +99 (% +3 "core" %QO . C ?\ Xi +2 "manipulator"&c% +3 "core" %@  2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +88 "core" ' +67 ' +2 ."downElevator"SE.stop +3 "storage"(5 +4 (d& +8 "core" &<+ U Y\  +3 "collection"'&& +8 "core" &\\p \ P +4 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  "  +2 "storage"(U% +4 "core" % U U \  + "storage"(. +4 "core" .(<- + "storage"(!& +3 "core" &<+ U U ~\  +2 "storage"(I& +4 "core" &<+ Y V \  + "manipulator"&B& +4 "core" & c 2 + .tElbow.seek 5 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&a& +4 "core" & = 2 +2 "storage"(K& +3 "core" &<+ U T z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&J'O +91 "core" ' + "storage"(S& +4 "core" &<+ c b\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='r +309 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & E 2 +2 "storage"(_& +3 "core" &<+ 7 9 m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(.' +29 "core" ' +2 "manipulator"&X% +4 "core" %΍ y  + "storage"( & +4 "core" &<+ ; F k\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&P'Ϲ +17 "core" ' + "manipulator"&\\& +5 "core" & u 1 + "storage"(>& +4 "core" &<+ T T _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(D' +39 "core" ' +2 "manipulator"&m& +4 "core" &  = 1 + "manipulator"&% +4 "core" %M - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&;& +4 "core" &Ӑ$ E =C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &Ӑ$ p =C +2 .tForearm.seek CC +2 "manipulator"&-'? +92 "core" ' + .tHand.close + "manipulator"&h/ +54 "core" / +2 .tCC.seek :open + "collection"'i( +451 "core" ( +2 "storage"(o& +4 "core" &<+ {\  + "storage"(Q& +4 "core" &<+ G\  + "manipulator"&1& +4 "core" &Ӑ$ ~ =C + "manipulator"&s% +4 "core" % C U Z +2 .tForearm.seek :retract + "manipulator"&<' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&e( +162 "core" ( +2 "manipulator"&'& +4 "core" & u  + "storage"(p& +4 "core" &<+ v\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +42 "manipulator"& '΍ +107 "core" ' + .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&\ 1 +54 "core" 1 +2 "manipulator"&4% +5 "core" % Ύ ` - + "storage"(T& +4 "core" &<+ d\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&|'Ϻ +29 "core" ' +2 "manipulator"&^& +4 "core" &  +2 "storage"(Z& +3 "core" &<+ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +26 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(~' +99 (W% +3 "core" %B ~\ Va + "manipulator"&@% +4 "core" %i  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +85 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +20974 "Can"X\ 97 +60001 T\ 96 +51680 #t-> exit +5 #mEXIT @1631722138.52PDT @1631795212.84PDT = =mMAIN_scheduler =tMAIN @PDT1631795214.72 #"core_reset"Sent BREAK +2 #t@18699 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +285 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +379 "Can"N\ !x +2 N\ !x + #tPolling Can every 10:00 +685 #-> ESP.ready? +340 #-> ESP.ready! +3 #Powering core bus +548 .Gate.power :raw,:ON +2 "sampler") +24 ) +2 "core"  + "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ \ +2 .tSS.configure :default +2 "sampler")#.0X +3 "collection"'3& +4 "core" &~ \  +2 "processing"%4& +3 "core" &\  +2 "manipulator"&5% +4 "core" %     +2 "manipulator"&6& +3 "core" &    , +2 "storage"(7& +3 "core" &,v f f {\ +2 "storage"(8% +4 "core" % e e \ - +2 "collection"'99 +3 "core" 9vS + "processing"%:9 +3 "core" 9r +342 #t-> access 6 +2 "storage"(;% +3 "core" % v n \ - +2 "manipulator"&<% +4 "core" %   Y  + "manipulator"&=& +4 "core" &   , +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(>( +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" & ) 3 Y\ +1380 #t-> require 'shuffle.rb' +1259 #-> 5.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'@& +3 "core" &~ \  + .tHand.open +2 "manipulator"&A1 +56 "core" 1 +2 "manipulator"&B% +4 "core" %  u  + "storage"(C% +4 "core" % d c M\ - + "storage"(D. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(E(,y +360 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" &,w + , \  +2 "manipulator"&G& +4 "core" &  , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&H( +3 "core" ( +2 "manipulator"&I& +4 "core" & K , + "storage"(J& +4 "core" &,w e d o\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +95 "core" ' + "storage"(L& +4 "core" &,w j m ;\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +298 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" &,j h d \  +2 "manipulator"&P& +3 "core" &  A , +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&R& +4 "core" &  D , +2 "storage"(S& +4 "core" &,j 0\  +36 .tForearm.seek 4 + 300 counts +8 "manipulator"&T'c +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&U/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& +2 "storage"(W' +6 "core" &  R , +2 "manipulator"&X% +4 "core" % ϙ   +2 .tForearm.seek :retract +2 "manipulator"&Y' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +148 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&[& +2 "storage"(5 +7 "core" &x,  & Cs + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &x,  S Cs +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'? +98 "core" ' +2 "manipulator"&^& +4 "core" &z,  r Cq +2 "manipulator"&_% +4 "core" %D  j , +2 "collection"'`& +3 "core" &~ \  +2 "collection"'a& +6 "core" &~ \  +2 .tCC.seek :closed +2 "collection"'b(\\ +4 "core" &~ \  +7 &G \ %h +9 &jY~ \ 8 +10 &{ \ M +9 &~\\ \ N +9 &BV \ N +10 &X \ N +9 &Y \ N +10 &W \ M +9 &JX \ N +9 & X \ N +10 &Z \ N +9 &!W \ N +9 &#Q[ \ N +10 &%W \ M +9 &&W \ N +9 &(Z \ N +10 &*ZW \ N +9 &,[ \ N +10 &-U \ N +9 &/V \ M +9 &1bW \ N +10 &3$Y \ N +9 &4Z \ N +9 &6X \ M +10 &8iW \ N +9 &:,W \ N +10 &;Y \ N +9 &=W \ N +9 &?sX \ M +10 &A3W \ N +9 &B\\ \ N +9 &Db \ O +10 &Frj \ P +9 &H- \ S +10 &I \ V +9 &K \ Y +9 &M` \ Y +10 &O! \ Z +9 &P \ Z +10 &R \ [\ +9 &Ta \ \\ +9 &V" \ \\ +10 &W \ ] +9 &Y \ ^ +10 &[b \ P +9 &\\C \ + +9 &\\ \ V +6 ( + "collection"'a& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&c1 +4 "core" &\\ \ V +49 1 + "manipulator"&d% +4 "core" % D 5 , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%f& +5 "core" &\  + "manipulator"&g% +4 "core" %  J  +2 "storage"(h% +3 "core" %   L\  +2 "storage"(i. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(j(,y +26 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" &,}  \ + "manipulator"&l& +4 "core" &Ӧ$  =E +2 "manipulator"&m% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&n( +168 "core" ( + "manipulator"&o& +4 "core" & w +2 "storage"(p& +4 "core" &,} 9 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&q' +95 "core" ' + "storage"(r& +4 "core" &,} 3 5 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +299 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" &,h   \ +2 "manipulator"&v& +3 "core" & R +2 .tElbow.seek 4 +2 "manipulator"&w( +11 "core" ( + "manipulator"&x& +4 "core" &   +2 "storage"(y& +3 "core" &,h * , ;\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&z'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(}' +7 "core" &  ?  + "manipulator"&~% +4 "core" % [  o +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( +2 "manipulator"&& +4 "core" &  H  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +102 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&% +3 "core" %  > +2 "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\  +8 &A\ %h +9 &lV}\ 9 +10 &x\ M +9 &yW\ P +9 &<U\ P +10 &T\ P +9 &W\ P +10 &U\ P +9 &DU\ P +9 &W\ P +10 &W\ P +9 &!V\ P +9 &#KV\ P +10 &% W\ P +9 &&W\ P +10 &(Y\ P +9 &*TW\ P +9 &,X\ P +10 &-V\ O +9 &/Y\ P +9 &1\\V\ P +10 &3 V\ O +9 &4U\ O +9 &6W\ P +10 &8eY\ P +9 &:'W\ P +9 &;Z\ P +10 &=Y\ P +9 &?lZ\ P +10 &A,[\ Q +9 &B`\ Q +9 &Dj\ R +10 &Fi|\ T +9 &H%\ V +10 &I\ V +9 &K\ V +9 &Mh\ W +10 &O*\ W +9 &P\ X +9 &R\ W +10 &Tl\ X +9 &V0\ X +10 &W\ X +9 &Y\ X +9 &[w\ W +10 &]7\ S +9 &^s=k\ 'q +10 &^S\ 2 +5 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&\ 1 +4 "core" &^"\ 2 +54 1 + "manipulator"& % +4 "core" %  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +88 "core" ' +2 "processing"% & +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %  [  +2 "storage"(% +3 "core" % 2\  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +24 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,{ /\ +2 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" & +  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"('r +5 "core" ( + "manipulator"&& +4 "core" & ,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &   S  +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&/ +65 "core" / +2 .tPC.seek :open + "processing"%( +95 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"("'1 +42 "core" ' +309 ( + "storage"(%& +4 "core" &,f \ \ +2 "manipulator"&'& +4 "core" &   + "manipulator"&)% +4 "core" % e ' + .tForearm.seek :retract +2 "manipulator"&(' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +239 "core" ( +2 "manipulator"&& +4 "core" & 4 . + "storage"(#& +4 "core" &,f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&,' +95 "core" ' +2 .tHand.open + "manipulator"&-1 +57 "core" 1 +2 "storage"(.- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(0' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +4 "core" -' + "storage"(2& +4 "core" &,f 7 : 5\ ^ +2 "manipulator"&3& +3 "core" &  . +2 .tElbow.seek 4 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&5& +4 "core" &  R . + "storage"(6& +4 "core" &,f ;  \ \\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(8'" +51 "core" ' + "manipulator"&9& +5 "core" & f . + "storage"(:& +4 "core" &,f W\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&;'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(=' +20 "core" ' + "manipulator"&!% +5 "core" %>   @ +2 "storage"(?& +4 "core" &,f p\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts + "manipulator"&@'j +15 "core" ' +2 "manipulator"&A& +4 "core" &  p . +2 "storage"(B& +4 "core" &,f   (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +20 "core" ' + "storage"(D% +5 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(>' +98 (F% +4 "core" %&G \ Xi + "manipulator"&G% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (J& +4 "core" &,f _\ + "collection"'L& +4 "core" &\\~ \ V +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&$% +4 "core" %  P  +2 "storage"(&% +3 "core" %   \  +2 "storage"(N. +3 "core" .(,y + "storage"( & +4 "core" &,f   \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(O(,y +26 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (P& +3 "core" &,z  \ +2 "manipulator"&R& +4 "core" &  . + .tElbow.seek 4 +2 "manipulator"&S( +4 "core" ( + "manipulator"&U& +4 "core" &  T . +2 "storage"(V& +4 "core" &,z   \ \ +2 .tForearm.reconfigure :tight +48 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +95 "core" ' + "storage"(H& +5 "core" &,z - - p\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +300 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&\\& +3 "core" & G . +2 "storage"(M& +3 "core" &,i -\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&T'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(_- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(`'z +30 "core" ' +2 "manipulator"&Q% +4 "core" %9  +2 "storage"(W& +3 "core" &,i  6\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 302 counts +2 "manipulator"&Y'e +13 "core" ' + "manipulator"&+& +5 "core" & j - + "storage"(c& +4 "core" &,i  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(f' +33 "core" ' + "manipulator"&g& +5 "core" &  / - + "manipulator"&h% +4 "core" % D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +156 "core" ( + "manipulator"&k& +4 "core" &ӓ$ F =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &Ӕ% \\ =B +2 .tForearm.seek CC +2 "manipulator"&m'? +93 "core" ' + .tHand.close + "manipulator"&]/ +54 "core" / + .tCC.seek :open +2 "collection"'o( +451 "core" ( +2 "storage"(p& +4 "core" &,i 4 - Z\ +2 "storage"(E& +3 "core" &,i ' 4 \ +2 "manipulator"&r& +3 "core" &Ӕ%  Y =B +2 "manipulator"&Z% +4 "core" % N ? c + .tForearm.seek :retract +2 "manipulator"&e' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&t( +158 "core" ( + "manipulator"&u& +4 "core" & :  +2 "storage"(v& +4 "core" &,i N O W\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&x'7 +100 "core" ' + .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&{1 +54 "core" 1 +2 "manipulator"&|% +4 "core" % D \   + "storage"(~& +4 "core" &,i W N \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 313 counts +2 "manipulator"&n'p +15 "core" ' +2 "manipulator"&q& +4 "core" &   +2 "storage"(s& +3 "core" &,i d f m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +20 "core" ' +2 "storage"(% +4 "core" % g i i\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (w% +3 "core" %@ C @\ Vb +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&}% +4 "core" %   }  +2 "storage"(% +4 "core" % 6 R \  + "storage"(*. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(\ (<- +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &<*  \  +2 "manipulator"& & +3 "core" & +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &    + "storage"(& +4 "core" &<* 6 5 W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +102 "core" ' + "storage"(& +4 "core" &<* m i l\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(- +4 "core" -'& + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<* U E q\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&j& +4 "core" &  i + "storage"(& +4 "core" &<* C D\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(' +7 "core" &  + "manipulator"&%% +4 "core" % ϼ  7 +2 .tForearm.seek :retract +2 "manipulator"&'' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &ӏ#  6 <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ#  = <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&#'? +99 "core" ' +2 "manipulator"&& +4 "core" &ӏ#  <@ +2 "manipulator"&-% +4 "core" %F  . + "collection"'.& +4 "core" & \ +2 "collection"'1& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'2(\\ +5 "core" & \ +6 & \ 9 +9 &DIu \ 1 +10 &oq \ E +9 &_ \ N +9 &T \ M +10 &Z \ N +9 &YY \ N +10 &W \ N +9 &T \ M +9 &U \ M +10 &aT \ N +9 &!$W \ M +9 &"Y \ N +10 &$W \ N +9 &&jW \ M +9 &(+T \ N +10 &)W \ N +9 &+R \ M +10 &-qW \ N +9 &/3V \ N +9 &0T \ N +10 &2V \ N +9 &4zW \ M +9 &6<X \ M +10 &7T \ M +9 &9T \ M +10 &;X \ M +9 &=CY \ N +9 &?W \ N +10 &@T \ M +9 &BY \ N +9 &DI` \ N +10 &Fm \ P +9 &G} \ R +10 &I{ \ U +9 &K2 \ Y +9 &L \ Y +10 &N \ Z +9 &Pv \ Z +9 &R5 \ [ +10 &S \ \\ +9 &U \ [ +10 &Ws \ ] +9 &Y4 \ ^ +9 &Z \ ^ +10 &\\YV \ 1 +9 &\\ \ [ +9 ( +2 &\\v \ X +2 "collection"'1& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.11 + .Hand.open + "manipulator"&31 +58 "core" 1 +2 "manipulator"&5% +5 "core" % F M . + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%(& +5 "core" &\ + "manipulator"&9% +4 "core" %   +2 "storage"(:% +3 "core" % \  +2 "storage"(!. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(?(<- +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +2 "core" &<* X\  +2 "manipulator"&A& +4 "core" &Ӑ#  X <? + "manipulator"&B% +4 "core" %   z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&/( +160 "core" ( +2 "manipulator"&D& +4 "core" &   +2 "storage"(& +3 "core" &<* \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +91 "core" ' +2 "storage"(0& +4 "core" &<* 5 3 \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'r +297 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &<* \  + "manipulator"&4& +4 "core" & x  +2 .tElbow.seek 5 + "manipulator"&8( +4 "core" ( + "manipulator"&;& +4 "core" &  #  + "storage"(@& +4 "core" &<* \ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&J'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& +2 "storage"(&' +6 "core" &    +2 "manipulator"&N% +4 "core" % ϴ  = +2 .tForearm.seek :retract + "manipulator"&=' +87 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +168 "core" ' + ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&P& +4 "core" & / 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" & 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U' +101 "core" ' +2 "manipulator"&V& +4 "core" & \  | 8 +2 "manipulator"&C% +4 "core" %   + "processing"%H& +4 "core" &\ +2 "processing"%>& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ \ +9 &/u\ *x +9 &b\ > +9 &av\ P +10 &#V\ O +9 &R\ O +10 &R\ O +9 &iU\ O +9 &*T\ P +10 &Z\ P +9 &Y\ P +9 & qZ\ O +10 &"3T\ O +9 &#Y\ P +9 &%V\ P +10 &'xT\ P +9 &);S\ O +10 &*U\ O +9 &,W\ O +9 &.R\ P +10 &0CT\ O +9 &2T\ O +9 &3W\ O +10 &5Y\ O +9 &7KT\ O +10 &9 X\ O +9 &:V\ P +9 &<U\ P +10 &>R\\\ P +9 &@W\ P +9 &A_\ P +10 &Ck\ R +9 &EOv\ T +10 &G \ U +9 &H\ U +9 &J\ V +10 &LP\ V +9 &N\ W +9 &O\ V +10 &Q\ W +9 &ST\ W +10 &U\ W +9 &V\ W +9 &X\ W +10 &Z\\\ W +9 &\\\ X +9 &]\ 4 +10 &^5s\ C +9 ( +2 "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&<1 +43 "core" &^%\ 1 +11 1 + "manipulator"&I% +4 "core" %  E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +92 "core" ' + "processing"%\\& +5 "core" &^%\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&M% +4 "core" %   + "storage"(_% +4 "core" % \\\  + "storage"(Q. +3 "core" .(<* +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(W(<- +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (+& +4 "core" &<+ \  +2 "manipulator"&c& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" & J 8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(g'r +2 "manipulator"&h( +5 "core" ( + "manipulator"&X& +4 "core" & P 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &  8 +2 .tForearm.seek PC +2 "manipulator"&K' +91 "core" ' +2 .tHand.close +2 "manipulator"&T/ +70 "core" / +2 .tPC.seek :open + "processing"%Y( +82 "core" ' +2 "storage"(`- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'1 +44 "core" ' +316 ( +2 "storage"(l& +4 "core" &<+ c\  + "manipulator"&d& +4 "core" &  s 8 + "manipulator"&^% +4 "core" %  . " +2 .tForearm.seek :retract +2 "manipulator"&]' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&i( +245 "core" ( +2 "manipulator"&b& +4 "core" & v * + "storage"(p& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&E'O +94 "core" ' +2 .tHand.open + "manipulator"&r1 +57 "core" 1 +2 "storage"(Z- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(v' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(m- +3 "core" -' +2 "storage"(a& +3 "core" &<+ M _\ Y +2 "manipulator"&{& +4 "core" &  h * + .tElbow.seek 5 +2 "manipulator"&|( +4 "core" ( + "manipulator"&~& +4 "core" &   * +2 "storage"(q& +4 "core" &<+ O |\ Z +2 .tForearm.seek 5 + 450 counts + "manipulator"&s'O +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +55 "core" ' +2 "manipulator"&e& +4 "core" &  { * + "storage"(w& +4 "core" &<+ 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(x' +27 "core" ' +2 "manipulator"&% +4 "core" %Α  - +2 "storage"(n& +4 "core" &<+ h\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&}'Ͻ +26 "core" ' +2 "manipulator"&& +4 "core" &  ^  +2 "storage"(*& +4 "core" &<+   ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f'O +15 "core" ' + "storage"(z% +5 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (O% +3 "core" %1F\ Xi +2 "manipulator"& % +4 "core" %D | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<+ , d\  +2 "collection"'& +4 "core" &\\t \ X +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  +  +2 "storage"(y% +3 "core" % I\  +2 "storage"(. +3 "core" .(<- + "storage"(& +4 "core" &<+ 7\  + "storage"(& +4 "core" &<+ H\  +2 "manipulator"&& +4 "core" &  0  + .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&& +3 "core" & z  +2 "storage"( & +4 "core" &<+ n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +126 "core" ' + "storage"(%& +5 "core" &<+ l\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   +2 "storage"(& +3 "core" &<+ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate + "storage"(-' +30 "core" ' + "manipulator"&.% +4 "core" %Λ  +2 "storage"(& +4 "core" &<+ d\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&' +16 "core" ' + "manipulator"&'& +4 "core" &    +2 "storage"(o& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&3'O +17 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(5' +47 "core" ' + "manipulator"&(& +5 "core" & K  + "manipulator"&9% +5 "core" %I ` + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!(ӂ +151 "core" ( + "manipulator"&1& +4 "core" &ӎ$ l =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &ӎ$ Z =G +2 .tForearm.seek CC +2 "manipulator"&A'? +97 "core" ' +2 .tHand.close + "manipulator"&B/ +54 "core" / + .tCC.seek :open +2 "collection"'#( +451 "core" ( + "storage"(D& +4 "core" &<+   )\  +2 "storage"(& +4 "core" &<+ \  \  + "manipulator"&\ & +4 "core" &ӏ$ @ =F + "manipulator"&0% +4 "core" % L  n , +2 .tForearm.seek :retract + "manipulator"&)' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&6( +168 "core" ( + "manipulator"&G& +5 "core" &  X  + "storage"(7& +4 "core" &<+ 8 9\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&4'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&@1 +59 "core" 1 +2 "manipulator"&L% +4 "core" % Η  ) + +2 "storage"($& +3 "core" &<+ ( ( \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&N' +15 "core" ' + "manipulator"&/& +4 "core" & \ =  +2 "storage"(,& +4 "core" &<+ + 3 ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +17 "core" ' +2 "storage"(J% +4 "core" % - > \ +3 ."downElevator"SE.seek :down +3 "storage"(P' +99 (R% +2 "core" %? $  }\ Wd +2 "manipulator"&8% +4 "core" %K  N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&V' +94 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'C& +5 "core" & \ + "manipulator"&H% +4 "core" % !   $ +2 "storage"(&% +4 "core" % * 3 \  + "storage"(=. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"((K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" &K O\  +2 "manipulator"&I& +3 "core" &  d  +2 .tElbow.seek 6 +2 "manipulator"&\\( +3 "core" ( + "manipulator"&M& +4 "core" &  a  + "storage"(_& +4 "core" &K  y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Q' +96 "core" ' +2 "storage"(+& +4 "core" &K 0 M $\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(>'r +308 "core" ' + "storage"(c- +4 "core" -'( + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" &K ! 4 J\  + "manipulator"&S& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&U( +4 "core" ( + "manipulator"&T& +4 "core" & <  + "storage"(?& +4 "core" &K + ) <\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&`'h +35 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(' +7 "core" &  k  +2 "manipulator"&g% +4 "core" % c  x + .tForearm.seek :retract +2 "manipulator"&l' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&d(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&^& +4 "core" &ӎ( @Z +41 .tElbow.reconfigure :loose +12 "manipulator"&$ &.,(#b +2 &K& +3 "core" &ӎ'   @Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&b'? +95 "core" ' +3 "manipulator"&p& +4 "core" &ӏ( @Y +2 "manipulator"&h% +3 "core" %3  +2 "collection"'r& +4 "core" & \ +3 "collection"'Z& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'m(\\ +5 "core" & \ +7 & + \ $d +9 &Vv \ 7 +9 &x \ K +10 &V \ N +9 &_T \ M +9 & U \ M +10 &R \ M +9 &R \ M +10 &eU \ N +9 &'T \ N +9 &T \ M +10 &!Q \ M +9 &#mW \ N +9 &%0S \ M +10 &&Q \ M +9 &(V \ M +9 &*vU \ M +10 &,8T \ M +9 &-V \ M +10 &/T \ M +9 &1~V \ M +9 &3@T \ M +10 &5T \ N +9 &6T \ M +9 &8U \ M +10 &:GU \ N +9 &<\ U \ M +10 &=W \ M +9 &?W \ M +9 &AOV \ N +10 &CW  \ N +9 &Da \ O +9 &Fn  \ P +10 &HH \ S +9 &I \ W +10 &K \ \ Y +9 &My \ Z +9 &O< \ Z +10 &P \ Z +9 &R \ [ +9 &T{ \ \\ +10 &V: \ ] +9 &W \ ] +10 &Y \ _ +9 &[{ \ L +9 &\\8 \ 4 +10 &\\ \ U +5 ( +2 "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&a1 +3 "core" &\\} \ U +53 1 + "manipulator"&{% +5 "core" % : + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%q& +4 "core" &\ +2 "manipulator"&]% +3 "core" %    +2 "storage"(e% +4 "core" % /\  +2 "storage"(w. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" &K @\  + "manipulator"&n& +4 "core" &ӏ( @Y +2 "manipulator"&u% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&*& +4 "core" &   +2 "storage"(z& +3 "core" &K V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +96 "core" ' + "storage"(E& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'r +297 "core" ' + "storage"(O- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &K \  + "manipulator"&s& +4 "core" & -  +2 .tElbow.seek 6 +2 "manipulator"&|( +3 "core" ( + "manipulator"&& +4 "core" & \ 5  + "storage"(& +4 "core" &K C\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" &  +  +2 "manipulator"&y% +4 "core" % ϒ  j + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&x& +4 "core" & $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & $ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&& +4 "core" &  O $ + "manipulator"& % +4 "core" %  \\ h +2 "processing"%f& +4 "core" &\ +2 "processing"%%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 & .\ #b +9 &U{\ 7 +10 &|{\ L +9 &T\ P +10 &QT\ P +9 &R\ P +9 &T\ P +10 &S\ P +9 &ZR\ P +9 &T\ P +10 &S\ P +9 &!S\ P +10 &#bT\ P +9 &%$Q\ P +9 &&T\ P +10 &(T\ P +9 &*jT\ P +10 &,+T\ P +9 &-R\ P +9 &/S\ |P +10 &1pQ\ {P +9 &32S\ P +9 &4R\ P +10 &6S\ P +9 &8yU\ P +9 &:;S\ P +10 &;T\ P +9 &=U\ P +10 &?S\ P +9 &AAV\ Q +9 &Be\ R +10 &Dn\ S +9 &Fy\ ~U +9 &H9\ {V +10 &I\ yV +9 &K\ uV +10 &M}\ {W +9 &O>\ {W +9 &P\ }X +10 &R\ ~X +9 &T\ ~X +9 &VE\ }X +10 &X\ |W +9 &Y\ W +10 &[\ }X +9 &]J\ |L +9 &^}M\ |!e +10 &^+\ 4 +2 ( +2 "processing"%%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&t1 +59 "core" 1 + "manipulator"& % +5 "core" %   h + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%& +4 "core" &^'\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %  j  +2 "storage"(% +3 "core" % z s b\  +2 "storage"(.. +3 "core" .(K + "storage"(& +4 "core" &K h o .\  +2 "storage"('& +3 "manipulator"&o& +5 "core" &K n n \  + & O $ +4 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(( +3 "storage"(9'r +3 "core" ( + "manipulator"& & +4 "core" &  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" & Q $ +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&/ +76 "core" / +2 .tPC.seek :open +2 "processing"%( +83 "core" ' + "storage"(-- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +48 "core" ' +317 ( + "storage"("& +4 "core" &K >\  +2 "manipulator"&3& +3 "core" &  $ +2 "manipulator"&% +4 "core" %  x G + .tForearm.seek :retract +2 "manipulator"&B' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&:( +245 "core" ( +2 "manipulator"&2& +4 "core" &  7 + "storage"(D& +4 "core" &K g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +97 "core" ' + .tHand.open + "manipulator"&\ 1 +62 "core" 1 +2 "storage"(0- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(G' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(7' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(A- +4 "core" -' + "storage"(!& +4 "core" &K ;\ L + "manipulator"&@& +4 "core" &   W 6 +2 .tElbow.seek 6 +2 "manipulator"&L( +3 "core" ( + "manipulator"&$& +4 "core" &   # 6 +2 "storage"(/& +4 "core" &K b\ Q +2 .tForearm.seek 6 + 450 counts + "manipulator"&,' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(J'" +59 "core" ' + "manipulator"&)& +5 "core" & t 6 + "storage"(R& +4 "core" &K  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&8'< +25 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(4' +18 "core" ' +2 "manipulator"&C% +4 "core" %7 +2 "storage"(N& +4 "core" &K 2\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 295 counts +2 "manipulator"&H'c +15 "core" ' + "manipulator"&&& +5 "core" & b 6 + "storage"(=& +4 "core" &K 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&5' +20 "core" ' + "storage"(F% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(P' +99 (W% +3 "core" %J \ Xj +2 "manipulator"&<% +4 "core" % F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&I' +95 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (M& +4 "core" &K ! K\  + "collection"'_& +4 "core" &\\| \ U +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&+% +4 "core" % " u  +2 "storage"(;% +3 "core" % I\  +2 "storage"(V. +3 "core" .(K + "storage"(c& +4 "core" &K \  +2 "storage"(X& +3 "core" &K o\  +2 "manipulator"&S& +4 "core" & 6 + .tElbow.seek 6 +2 "manipulator"&T( +3 "core" ( + "manipulator"&?& +4 "core" & 9 6 +2 "storage"( & +4 "core" &K \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +94 "core" ' +2 "storage"(g& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'r +295 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&^& +3 "core" & 4 6 +2 "storage"(K& +4 "core" &K 5\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&>'< +24 "core" ' + .tElbow.hold +2 "manipulator"&`, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(U- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(p' +29 "core" ' + "manipulator"&h% +4 "core" %I f +2 "storage"(r& +4 "core" &K '\  +53 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 313 counts + "manipulator"&'u +26 "core" ' +2 "manipulator"&l& +4 "core" & 6 +2 "storage"(#& +4 "core" &K   P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&a' +16 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"({' +46 "core" ' +2 "manipulator"&q& +4 "core" & p 6 +2 "manipulator"&]% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&w(ӂ +151 "core" ( +2 "manipulator"&Z& +4 "core" &ӓ!  _ :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &Ӕ! :, +2 .tForearm.seek CC +2 "manipulator"&n'? +92 "core" ' +2 .tHand.close + "manipulator"&u/ +55 "core" / +2 .tCC.seek :open + "collection"'b( +448 "core" ( +2 "storage"(*& +4 "core" &K 8 4 y\  + "storage"(z& +4 "core" &K 7 6 \  +2 "manipulator"&& +3 "core" &Ӕ!  b :, +2 "manipulator"&E% +3 "core" % ; J a +2 .tForearm.seek :retract +2 "manipulator"&d' +88 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&~( +165 "core" ( +2 "manipulator"&O& +4 "core" & \  W  +2 "storage"( & +3 "core" &K L M P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&s'< +93 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&}% +4 "core" % A  I H + "storage"(& +4 "core" &K M L Y\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 305 counts + "manipulator"&y'm +16 "core" ' +2 "manipulator"&& +4 "core" &    +2 "storage"(i& +4 "core" &K e d \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +16 "core" ' + "storage"(% +5 "core" % d e j\ +2 ."downElevator"SE.seek :down +3 "storage"(x' +99 (% +3 "core" %F : ? j\ We +2 "manipulator"&|% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"' & +5 "core" & \ \ + "manipulator"&f% +4 "core" %    +2 "storage"(% +4 "core" % J Q .\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(Y(,y +673 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" &,| , , C\ +2 "manipulator"& & +4 "core" &  '  +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(& +4 "core" &,| 5 5 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&.' +98 "core" ' +2 "storage"(& +4 "core" &,| d d Q\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +292 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (%& +3 "core" &,j M G \  + "manipulator"& & +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&j( +4 "core" ( + "manipulator"&& +4 "core" & z  + "storage"(& +4 "core" &,j 6 5 n\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&-'c +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +7 "core" &    + "manipulator"&9% +4 "core" % ϋ  +2 .tForearm.seek :retract +2 "manipulator"&"' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &Ӎ'  i @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ&  9 ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'? +92 "core" ' +2 "manipulator"&D& +4 "core" &ӎ&  z ?V +2 "manipulator"&(% +4 "core" %7 c \\ + "collection"'\ & +4 "core" & \ +2 "collection"'0& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'A(\\ +4 "core" & \  +9 &3v \ *z +10 &d| \ > +9 &p \ N +9 &MT \ M +10 &S \ M +9 &S \ L +10 &T \ M +9 &VT \ M +9 &S \ M +10 &T \ M +9 & S \ L +9 &"^T \ M +10 &$ R \ M +9 &%T \ M +10 &'S \ M +9 &)fT \ M +9 &+)S \ L +10 &,T \ M +9 &.R \ L +9 &0nT \ M +10 &21R \ L +9 &3S \ M +10 &5T \ M +9 &7uW \ M +9 &97U \ M +10 &:T \ M +9 &<U \ M +9 &>~U \ M +10 &@@T \ M +9 &BW \ M +10 &C[ \ N +9 &Ec \ O +9 &G=o \ P +10 &H \ S +9 &J \ W +9 &Lj \ Y +10 &N* \ Z +9 &O \ Z +10 &Q \ Z +9 &Si \ \\ +9 &U- \ [ +10 &V \ ] +9 &X \ ] +9 &Zm \ ] +10 &\\{ \ 5 +9 &\\* \ R +9 ( +2 "collection"'0& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&!1 +4 "core" &\\a \ L +58 1 +2 "manipulator"&@% +4 "core" % 7   \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%/& +5 "core" &\ + "manipulator"&B% +4 "core" %  s  +2 "storage"()% +3 "core" %  \  +2 "storage"(R. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(C(,y +27 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +2 "core" &,|  \ +2 "manipulator"&1& +4 "core" &ӎ&   k ?V + "manipulator"&&% +4 "core" %   J  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&=( +164 "core" ( +2 "manipulator"&G& +4 "core" & j  + "storage"(F& +4 "core" &,| 7 7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&:' +95 "core" ' +2 "storage"(& +4 "core" &,| *  ?\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'r +300 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" &,h \  +2 "manipulator"&,& +4 "core" &    +2 .tElbow.seek 4 + "manipulator"&L( +4 "core" ( + "manipulator"&J& +4 "core" & R  + "storage"(8& +4 "core" &,h   5\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&H'c +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&_& + "storage"(+' +7 "core" & a  +2 "manipulator"&;% +3 "core" % ϙ +2 .tForearm.seek :retract +2 "manipulator"&V' +87 "core" ' + .tElbow.seek PC +2 "manipulator"&4( +168 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +68 "core" ( + "manipulator"&c& +5 "core" &  Q 8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" & F 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +102 "core" ' +2 "manipulator"&?& +4 "core" &  9 8 + "manipulator"& % +4 "core" % d +2 "processing"%5& +4 "core" &\ +2 "processing"%g& +5 "core" & \ +2 .tPC.seek :closed + "processing"%P(^ +5 "core" &\  +9 &1y\ *x +9 &b~\ > +10 &^s\ O +9 &S\ O +10 &Q\ P +9 &T\ P +9 &dT\ O +10 &&Q\ O +9 &W\ O +10 &R\ O +9 & kS\ P +9 &".T\ O +10 &#R\ O +9 &%Q\ O +9 &'tU\ O +10 &)6Q\ O +9 &*U\ P +9 &,W\ O +10 &.}Q\ O +9 &0>V\ O +10 &2S\ O +9 &3Q\ O +9 &5T\ O +10 &7FU\ O +9 &9W\ P +9 &:U\ O +10 &<R\ O +9 &>MX\ P +10 &@T\ O +9 &AZ\ P +9 &Ce\ Q +10 &ENm\ R +9 &G\ {\ T +10 &H\ V +9 &J\ V +9 &LK\ V +10 &N \ V +9 &O\ V +9 &Q\ W +10 &SP\ W +9 &U\ W +10 &V\ W +9 &X\ W +9 &ZW\ W +10 &\\\ W +9 &]\ 6 +9 &^-h\ ^ +10 &^-\ 7 +2 ( + "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&61 +55 "core" 1 + "manipulator"&I% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' + "processing"%^& +56 "core" &^0\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&K% +4 "core" % ! 3 . + "storage"(U% +4 "core" %\  + "storage"(h. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(r(,y +24 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +2 "manipulator"&#& +4 "core" &,| " \ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & 7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&q( + "storage"(]'r +6 "core" ( + "manipulator"&[& +4 "core" &  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &  7 +2 .tForearm.seek PC +2 "manipulator"&\\' +94 "core" ' +2 .tHand.close + "manipulator"&>/ +67 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(p- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(Z'1 +40 "core" ' +312 ( +2 "storage"(k& +4 "core" &,e  4\  +2 "manipulator"&a& +4 "core" &  C 7 + "manipulator"&`% +4 "core" %  # +2 .tForearm.seek :retract + "manipulator"&u' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&e( +246 "core" ( + "manipulator"&m& +5 "core" &\  l + "storage"(*& +4 "core" &,e  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&z' +97 "core" ' + .tHand.open + "manipulator"&1 +65 "core" 1 +2 "storage"(E- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(O' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +58 "core" ' + #tLights, camera, ACTION! + "storage"(n- +4 "core" -' +2 "storage"(w& +4 "core" &,e\  ~\ T + "manipulator"&& +4 "core" &    f +2 .tElbow.seek 4 +2 "manipulator"&}( +3 "core" ( + "manipulator"&& +4 "core" &  E f +2 "storage"(& +4 "core" &,e < = \ ^ +2 .tForearm.seek 4 + 450 counts + "manipulator"&i' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +57 "core" ' +2 "manipulator"&d& +4 "core" &  p f +2 "storage"(& +4 "core" &,e   \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&|'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +29 "core" ' + "manipulator"& % +5 "core" %: C + "storage"(f& +4 "core" &,e  y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts +2 "manipulator"&y'f +14 "core" ' +2 "manipulator"&& +4 "core" &   @ e +2 "storage"(& +4 "core" &,e   D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +18 "core" ' +2 "storage"(v% +4 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(x' +98 (% +3 "core" %rD /\ Xh +2 "manipulator"&t% +4 "core" %  7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,e \  + "collection"'& +4 "core" &\\` \ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  "  +2 "storage"(% +3 "core" % ( '\  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"('(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (%& +3 "core" &,} \ +2 "manipulator"& & +4 "core" &  ] e + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &   * e +2 "storage"(& +3 "core" &,} + ) 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(9& +4 "core" &,} " 2 '\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +301 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  X e +2 "storage"(& +4 "core" &,h  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&o'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(D- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(('{ +29 "core" ' + "manipulator"&\ % +5 "core" %;  $ I + "storage"(j& +4 "core" &,h  %\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 304 counts + "manipulator"&'g +16 "core" ' +2 "manipulator"&"& +4 "core" &   ~ e +2 "storage"(b& +3 "core" &,h ( (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(@' +46 "core" ' +2 "manipulator"&/& +4 "core" &  h e +2 "manipulator"&B% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&R(ӂ +153 "core" ( + "manipulator"&0& +4 "core" &ӏ& = ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &ӏ& , ?U +2 .tForearm.seek CC +2 "manipulator"&1'? +93 "core" ' + .tHand.close + "manipulator"&&/ +59 "core" / + .tCC.seek :open +2 "collection"'2( +448 "core" ( + "storage"(G& +4 "core" &,h L C .\  +2 "storage"(F& +4 "core" &,h * ) Z\  + "manipulator"&Y& +4 "core" &Ӑ& ?T + "manipulator"&% +4 "core" % ? k +2 .tForearm.seek :retract +2 "manipulator"&3' +88 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&$( +158 "core" ( + "manipulator"&W& +4 "core" & \ 7 +2 "storage"(<& +3 "core" &,h K N 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&,'7 +91 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&81 +57 "core" 1 +2 "manipulator"&M% +4 "core" % :  m O +2 "storage"(_& +4 "core" &,h 6 5 M\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts +2 "manipulator"&;'f +14 "core" ' +2 "manipulator"&=& +4 "core" & k +2 "storage"(:& +4 "core" &,h d d f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +15 "core" ' + "storage"(H% +4 "core" % e i o\ +3 ."downElevator"SE.seek :down +3 "storage"(c' +99 (X% +4 "core" %cD ; K @\ Wd + "manipulator"&L% +4 "core" % ` +43 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?' +88 "core" ' +4 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +5 "core" & \ + "manipulator"&5% +4 "core" %  T  +2 "storage"(+% +4 "core" % e d y\  +2 "storage"(V. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &<+ L M f\ +2 "manipulator"&I& +4 "core" &  R + .tElbow.seek 5 +2 "manipulator"&^( +3 "core" ( + "manipulator"&g& +4 "core" & 3 +2 "storage"(K& +3 "core" &<+ d d L\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +92 "core" ' + "storage"(h& +5 "core" &<+ i l T\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'r +309 "core" ' + "storage"(#- +4 "core" -'& + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ([& +3 "core" &<+ F L ~\ +2 "manipulator"&T& +3 "core" &  1 +2 .tElbow.seek 5 +2 "manipulator"&S( +3 "core" ( + "manipulator"&>& +4 "core" &  D +2 "storage"(C& +3 "core" &<+ L P \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&p'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(P' +8 "core" &   + "manipulator"&]% +4 "core" % ϻ  h +2 .tForearm.seek :retract +2 "manipulator"&k' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&a(ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&`& +4 "core" &Ӛ!  :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &Ӛ   ] :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'? +90 "core" ' + "manipulator"&*& +5 "core" &Ӛ!  * :. + "manipulator"&q% +4 "core" %F  D z +2 "collection"'& +4 "core" &  \ +3 "collection"'E& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'n(\\ +4 "core" & \ +7 &; \ %f +10 &Wz \ 7 +9 &x \ L +10 &T \ M +9 &wQ \ M +9 &9R \ M +10 &W \ M +9 &W \ L +9 &R \ M +10 &AQ \ M +9 & Q \ L +10 &!T \ L +9 &#U \ L +9 &%IU \ M +10 &' U \ L +9 &(T \ L +9 &*V \ M +10 &,RU \ L +9 &.Q \ M +10 &/Q \ L +9 &1T \ L +9 &3ZT \ L +10 &5W \ M +9 &6W \ M +9 &8U \ L +10 &:aT \ M +9 &<"U \ M +10 &=T \ L +9 &?T \ M +9 &AhX \ M +10 &C*X \ M +9 &Dc \ N +9 &Fj \ P +10 &H` \ R +9 &J \ V +10 &K \ Y +9 &M \ Y +9 &OS \ Z +10 &Q \ Z +9 &R \ [ +9 &T \ [ +10 &VS \ \\ +9 &X \ ] +9 &Y \ ^ +10 &[ \ K +9 &\\@ \ (y +10 &\\] \ K +2 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&w1 +54 "core" 1 +2 "manipulator"&% +4 "core" % F  z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ \ +2 "manipulator"&u% +4 "core" %  O  + "storage"(d% +4 "core" %   l\  +2 "storage"(. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<- +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (f& +3 "core" &<+  \ +2 "manipulator"&Z& +3 "core" &Ӛ  b :. +2 "manipulator"&% +4 "core" %  ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( + "manipulator"&O& +4 "core" &  +2 "storage"(v& +4 "core" &<+ + + 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&e'O +92 "core" ' + "storage"(z& +4 "core" &<+ ( ' M\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +2 "core" &<+ ( ~\ +2 "manipulator"&i& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&}( +4 "core" ( + "manipulator"&& +4 "core" &    + "storage"(|& +4 "core" &<+ + ( \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&y'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +7 "core" & {  + "manipulator"&% +4 "core" % ϳ   +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' + .tElbow.seek PC +2 "manipulator"&s( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&%& +4 "core" &  e 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &  s 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&& +4 "core" & 6 + "manipulator"&{% +4 "core" % r g +2 "processing"%9& +4 "core" &\ +2 "processing"%x& +4 "core" &\ \ +2 .tPC.seek :closed +2 "processing"%r(^ +4 "core" &\ \ +9 &0u\ *x +10 &b~\ > +9 &fs\ O +10 &(R\ O +9 &T\ O +9 &R\ O +10 &nT\ O +9 &/T\ O +10 &T\ O +9 &Q\ O +9 & uU\ O +10 &"8P\ O +9 &#U\ O +9 &%S\ O +10 &'}P\ O +9 &)?O\ O +9 &+U\ O +10 &,U\ P +9 &.R\ O +10 &0GQ\ O +9 &2\ U\ O +9 &3S\ O +10 &5R\ P +9 &7OR\ O +9 &9W\ O +10 &:U\ O +9 &<R\ O +10 &>WW\ O +9 &@T\ P +9 &A^\ P +10 &Cg\ R +9 &EUu\ S +9 &G\ U +10 &H\ V +9 &J\ U +10 &LT\ V +9 &N\ W +9 &O\ W +10 &Q\ W +9 &SY\ W +9 &U\ W +10 &V\ W +9 &X\ W +10 &Z`\ W +9 &\\"\ W +9 &]\ 7 +10 &^,n\ _ +9 &^1\ 7 +2 ( +2 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&~1 +52 "core" 1 +2 "manipulator"& % +4 "core" %  1 g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +96 "core" ' +2 "processing"%& +4 "core" &^5\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % #  1 +2 "storage"(D% +3 "core" % a\  +2 "storage"(\ . +3 "core" .(<- + "storage"(j& +4 "core" &<+ \ +2 "storage"("& +3 "manipulator"&b& +5 "core" &<+ ,\ + &  6 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&/( +6 ."raiseStack"SE.seek :beamBreak + "storage"(B'r +3 "core" ( + "manipulator"&& +4 "core" & 1 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & \ 8 6 +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' + .tHand.close + "manipulator"&o/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +101 "core" ' + "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'1 +49 "core" ' +295 ( +2 "storage"(N& +4 "core" &<+ + 2 -\ + "manipulator"&!& +4 "core" & ; 6 + "manipulator"&-% +4 "core" %  N 7 +2 .tForearm.seek :retract +2 "manipulator"&&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +52 .tElbow.seek 5 +3 "manipulator"&)( +242 "core" ( +2 "manipulator"&A& +4 "core" & / + "storage"(G& +4 "core" &<+   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +93 "core" ' + .tHand.open +2 "manipulator"&Y1 +59 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(W' +34 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(<' +56 "core" ' + #tLights, camera, ACTION! + "storage"(1- +4 "core" -' +2 "storage"(R& +3 "core" &<+ ` ^\ g +2 "manipulator"&8& +4 "core" & / +2 .tElbow.seek 5 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&_& +3 "core" &  \  / +2 "storage"(=& +4 "core" &<+ L F \ h +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&:'O +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(H'" +50 "core" ' + "manipulator"&3& +4 "core" & / +2 "storage"(X& +4 "core" &<+ ) , l\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&L'΍ +28 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(,' +20 "core" ' + "manipulator"& % +5 "core" %Ώ 7 + "storage"(5& +4 "core" &<+  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts + "manipulator"&;'ϻ +15 "core" ' +2 "manipulator"&+& +4 "core" & n  +2 "storage"(V& +4 "core" &<+ 1 7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +17 "core" ' + "storage"(7% +4 "core" %  %\ +2 ."downElevator"SE.seek :down +4 "storage"(c' +99 ('% +3 "core" %?I  \ Yj +2 "manipulator"&6% +4 "core" %M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I' +94 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (g& +4 "core" &<+  )\ +2 "collection"'K& +3 "core" &\\` \ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&h% +4 "core" % "  A $ +2 "storage"(J% +4 "core" % * 3 M\  + "storage"(?. +3 "core" .(<- +2 "storage"(#& +4 "core" &<+ + 7\ +2 "storage"([& +3 "core" &<+ 3 7\ +2 "manipulator"&T& +4 "core" & v  +2 .tElbow.seek 5 + "manipulator"&>( +9 "core" ( + "manipulator"&C& +4 "core" &   +2 "storage"(4& +4 "core" &<+ 7 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +93 "core" ' +2 "storage"(]& +4 "core" &<+ 5 3 )\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'r +308 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&`& +3 "core" &   +2 "storage"(\\& +3 "core" &<+ + * :\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&l'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(*- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(q' +33 "core" ' + "manipulator"&% +4 "core" %Ά  +2 "storage"(S& +3 "core" &<+ \  6\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 293 counts + "manipulator"&P'ϲ +24 "core" ' + "manipulator"&k& +4 "core" & 1  +2 "storage"(2& +4 "core" &<+ + ( S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +14 "core" ' +3 .tSE.seek 1.18 Pucks below Top Plate + "storage"(' +39 "core" ' +2 "manipulator"&& +4 "core" &  -  +2 "manipulator"&u% +4 "core" %\\ s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&d' +86 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&f& +4 "core" &ӊ*  * Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &Ӌ* Bg +2 .tForearm.seek CC +2 "manipulator"&Z'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'m( +448 "core" ( + "storage"(O& +4 "core" &<+ M M }\ +2 "storage"(v& +3 "core" &<+ @ H C\ +2 "manipulator"&& +4 "core" &ӣ%  f >O + "manipulator"&z% +4 "core" % L  ~ A + .tForearm.seek :retract +2 "manipulator"&a' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +166 "core" ( + "manipulator"&& +4 "core" &  q  +2 "storage"(t& +4 "core" &<+ d d .\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&i'΍ +103 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&|1 +60 "core" 1 +2 "manipulator"&% +4 "core" % ΍  P +2 "storage"(& +4 "core" &<+ b d\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +31 "core" ' + "manipulator"&& +4 "core" &  q  +2 "storage"(e& +4 "core" &<+ f e \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +15 "core" ' + "storage"(y% +5 "core" % m J\ +2 ."downElevator"SE.seek :down +3 "storage"(%' +99 ( % +3 "core" %F 5 H \ We +2 "manipulator"&}% +4 "core" %H  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'{& +4 "core" & \ +2 "manipulator"&9% +3 "core" %   ; ! +2 "storage"(% +4 "core" % e f D\  +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (~& +3 "core" &K + + I\  +2 "manipulator"& & +4 "core" &  R  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(D& +4 "core" &K d d &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +91 "core" ' +2 "storage"(j& +4 "core" &K w \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'r +294 "core" ' + "storage"("- +4 "core" -'' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (x& +3 "core" &K d e c\  +2 "manipulator"&& +4 "core" &   9  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &  :  +2 "storage"(o& +4 "core" &K f d -\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&('h +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +52 "storage"(r' +7 "core" &  4  +2 "manipulator"&B% +4 "core" % ϓ  + .tForearm.seek :retract +2 "manipulator"&N' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&!(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&-& +4 "core" &ӌ+  i Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӌ+  ` Cn +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'? +97 "core" ' + "manipulator"&G& +5 "core" &ӎ* 9 Bl + "manipulator"&/% +4 "core" %8  M n +2 "collection"'Y& +4 "core" & \ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'1(\\ +4 "core" & \  +9 &3x \ *z +9 &ez \ > +9 &n \ M +10 &JS \ M +9 & T \ M +9 &Q \ L +10 &R \ L +9 &SU \ L +10 &Q \ M +9 &T \ M +9 & Q \ L +10 &"ZQ \ M +9 &$T \ M +10 &%Q \ L +9 &'S \ L +9 &)bV \ M +10 &+$T \ M +9 &,Q \ L +9 &.R \ L +10 &0jV \ M +9 &2,S \ M +10 &3U \ L +9 &5U \ M +9 &7rT \ M +10 &94R \ M +9 &:U \ L +9 &<S \ L +10 &>zW \ M +9 &@<W \ M +9 &AY \ M +10 &CZ \ M +9 &E|c \ O +10 &G9r \ P +9 &H \ T +9 &J \ X +10 &Lg \ Y +9 &N( \ Y +9 &O \ Z +10 &Q \ Z +9 &Sg \ [ +10 &U) \ [ +9 &V \ \\ +9 &X \ ] +10 &Zi \ ] +9 &\\{ \ 6 +9 &\\& \ $k +9 ( +2 &\\ \ ^ +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&R1 +58 "core" 1 + "manipulator"&8% +4 "core" % 8 n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%=& +4 "core" &\ + "manipulator"&&% +4 "core" %  P  +2 "storage"(3% +3 "core" %  O\  +2 "storage"(X. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(0(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &K \  +2 "manipulator"&5& +4 "core" &ӏ* Bk +2 "manipulator"&+% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&V( +169 "core" ( + "manipulator"&W& +4 "core" &  u  +2 "storage"(7& +4 "core" &K + ( K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&)' +96 "core" ' +2 "storage"(F& +4 "core" &K C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'r +295 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" &K  !\  +2 "manipulator"&:& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&M( +3 "core" ( + "manipulator"&H& +4 "core" &  5  + "storage"(L& +4 "core" &K   \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&g'h +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& + "storage"(h' +7 "core" &  +2 "manipulator"&J% +4 "core" % ^ \\  + .tForearm.seek :retract +2 "manipulator"&?' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&,( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&#& +5 "core" &  B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" & t B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&T' +96 "core" ' + "manipulator"&C& +5 "core" & B + "manipulator"&4% +4 "core" % j ( +2 "processing"%@& +4 "core" &\ +2 "processing"%]& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%c(^ +4 "core" &\ +7 & -\ #a +10 &U}\ 7 +9 &}y\ L +9 &U\ O +10 &TT\ O +9 &N\ O +9 &S\ O +10 &R\ O +9 &\\O\ O +9 &V\ O +10 &T\ O +9 &!O\ O +10 &#dT\ O +9 &%&R\ O +9 &&Q\ O +10 &(U\ O +9 &*lU\ O +9 &,-T\ P +10 &-Q\ P +9 &/T\ P +10 &1tR\ O +9 &36P\ O +9 &4S\ O +10 &6T\ O +9 &8{T\ P +9 &:?O\ O +10 &<U\ O +9 &=U\ P +10 &?W\ O +9 &ADW\ P +9 &Ce\ R +10 &Dm\ R +9 &F{\ U +10 &H:\ V +9 &I\ V +9 &K\ V +10 &M\ W +9 &O@\ W +9 &Q\ X +10 &R\ V +9 &T\ X +10 &VH\ W +9 &X\ \ W +9 &Y\ X +10 &[\ X +9 &]M\ M +9 &^}I\ ^ +10 &^ T\ 6 +5 ( +2 "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&$1 +4 "core" &^(\ 6 +51 1 + "manipulator"&I% +5 "core" %  ( + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +89 "core" ' +2 "processing"%`& +4 "core" &^)\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&\\% +4 "core" %    +2 "storage"(*% +3 "core" % p\  +2 "storage"(. +3 "core" .(K + "storage"(S& +4 "core" &K z\  +2 "storage"(k& +4 "manipulator"&2& +4 "core" &K \  + & @ B +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(u'r +21 "core" ( +3 "manipulator"&Q& +9 "core" &  @ +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 &>& +7 "core" & +4 .tForearm.seek PC +2 "manipulator"&^' +93 "core" ' +3 .tHand.close +3 "manipulator"&l/ +79 "core" / +5 .tPC.seek :open +4 "processing"%P( +35 "core" ' +2 "storage"(q- +7 "core" -'r +3 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(f'1 +54 "core" ' +342 ( +2 "storage"(E& +4 "core" &K \  + "manipulator"&w& +4 "core" & +2 "manipulator"&p% +3 "core" %  } 1 +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&d( +240 "core" ( + "manipulator"&n& +4 "core" &  ; % +2 "storage"(O& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +107 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(z- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(t' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +4 "core" -' +2 "storage"(& +3 "core" &K ; : `\ c +2 "manipulator"&|& +4 "core" & | % + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   % +2 "storage"(& +4 "core" &K ; : u\ c +2 .tForearm.seek 6 + 450 counts + "manipulator"&e' +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(y'" +58 "core" ' + "manipulator"&a& +5 "core" & 2 % + "storage"( & +4 "core" &K  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&}'< +26 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(i' +19 "core" ' + "manipulator"&{% +5 "core" %M y + "storage"(9& +4 "core" &K\  +52 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&'y +16 "core" ' + "manipulator"&& +5 "core" & c % + "storage"(& +4 "core" &K   *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +20 "core" ' +2 "storage"( % +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(%' +99 ( % +3 "core" %F\ Xh + "manipulator"&~% +5 "core" % P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K &\  + "collection"'D& +4 "core" &\\ \ ^ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&j% +4 "core" %   l  +2 "storage"(% +3 "core" %   @\  +2 "storage"(. +3 "core" .(K + "storage"("& +4 "core" &K  \  +2 "storage"(x& +4 "core" &K   \  + "manipulator"&& +4 "core" & P % +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&o& +4 "core" &   T % + "storage"(s& +4 "core" &K   D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +94 "core" ' +2 "storage"(B& +4 "core" &K +  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +2 "core" &  % +2 "storage"(-& +4 "core" &K  X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +21 "core" ' + .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(G- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(/' +29 "core" ' + "manipulator"&Y% +4 "core" %:  z +2 "storage"(& +4 "core" &K   /\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 298 counts + "manipulator"&r'f +16 "core" ' + "manipulator"&N& +5 "core" & k % + "storage"(m& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&R' +15 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(8' +34 "core" ' + "manipulator"&=& +4 "core" &  % +2 "manipulator"&&% +4 "core" % , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&X(ӂ +153 "core" ( +2 "manipulator"&& +4 "core" &Ӌ+ Cp + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӌ+ ) Cp +2 .tForearm.seek CC + "manipulator"&5'? +93 "core" ' + .tHand.close +2 "manipulator"&+/ +60 "core" / + .tCC.seek :open +2 "collection"'A( +448 "core" ( +2 "storage"(W& +4 "core" &K ? B F\  + "storage"(7& +4 "core" &K K L 8\  + "manipulator"&& +4 "core" &Ӥ'  @W +2 "manipulator"&F% +3 "core" % B  _ I +2 .tForearm.seek :retract +2 "manipulator"&!' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&_( +162 "core" ( +2 "manipulator"&'& +4 "core" & \  /  +2 "storage"(6& +3 "core" &K e d E\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&:'< +91 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&L1 +60 "core" 1 + "manipulator"&;% +5 "core" % H  [ + "storage"(K& +4 "core" &K d c c\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&J't +14 "core" ' +2 "manipulator"&V& +5 "core" & \ Q  + "storage"()& +4 "core" &K e e \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&<' +18 "core" ' +2 "storage"(g% +4 "core" % d f r\ +3 ."downElevator"SE.seek :down +3 "storage"(#' +99 ([% +2 "core" %= O N \ Vb +2 "manipulator"&M% +4 "core" %  p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'4& +4 "core" & \ +2 "manipulator"&@% +4 "core" %   y  + "storage"(h% +4 "core" % g e W\  +2 "storage"(?. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +3 "core" &,z L E \ + "manipulator"&I& +5 "core" &  + .tElbow.seek 4 +2 "manipulator"&`( +3 "core" ( + "manipulator"&\\& +4 "core" &  s  +2 "storage"(*& +3 "core" &,z e d <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(S& +4 "core" &,z o \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'r +249 "Can"0\ NL +42 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &,k E = \  +2 "manipulator"&Q& +3 "core" & f  +2 .tElbow.seek 4 +2 "manipulator"&>( +3 "core" ( + "manipulator"&T& +4 "core" &  _  +2 "storage"(l& +3 "core" &,k d d '\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&q'c +32 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&U& + "storage"(c' +8 "core" &  #  + "manipulator"&u% +4 "core" % π  +2 .tForearm.seek :retract +2 "manipulator"&E' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&w(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&p& +4 "core" &y- 6 Du + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &z+  " Ct +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&n'? +96 "core" ' +2 "manipulator"&O& +4 "core" &{,  _ Cs +2 "manipulator"&% +4 "core" %I  ` * + "collection"'& +4 "core" & \ +2 "collection"'z& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'Z(\\ +4 "core" & \ +8 &; \ %g +9 &Wu \ 7 +10 &x \ L +9 &Q \ M +9 &}T \ M +10 &?U \ M +9 &T \ M +9 &Q \ L +10 &P \ L +9 &HS \ L +10 & U \ M +9 &!T \ M +9 &#V \ L +10 &%PP \ L +9 &'R \ L +9 &(V \ M +10 &*T \ M +9 &,XP \ L +10 &.S \ L +9 &/U \ M +9 &1T \ M +10 &3`U \ L +9 &5!U \ M +9 &6T \ M +10 &8U \ L +9 &:hS \ L +10 &<)V \ M +9 &=V \ L +9 &?S \ L +10 &ApT \ L +9 &C0W \ M +10 &Da \ N +9 &Fj \ O +9 &Hg \ R +10 &J \ V +9 &K \ X +9 &M \ Y +10 &OZ \ Y +9 &Q \ Z +9 &R \ [ +10 &T \ [ +9 &V[ \ \\ +10 &X \ ] +9 &Y \ ^ +9 &[ \ K +10 &\\> \ (y +9 &\\` \ L +2 ( +2 "collection"'z& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&|% +4 "core" % I  B * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +52 "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %   +2 "storage"(a% +4 "core" %   (\  + "storage"( . +3 "core" .(,y +2 "storage"({& +4 "core" &,k  V\  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(f(,y +32 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +2 "core" &,{  \ +2 "manipulator"&& +4 "core" &ӧ# 3 =G + "manipulator"&% +4 "core" %  )  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +158 "core" ( + "manipulator"&d& +4 "core" & +2 "storage"( & +4 "core" &,{ 9 7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&v' +95 "core" ' +2 "storage"(t& +4 "core" &,{ + 6\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'r +297 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" &,h ! K\ +2 "manipulator"&& +4 "core" &  n +2 .tElbow.seek 4 +2 "manipulator"&y( +3 "core" ( + "manipulator"&}& +4 "core" &  p +2 "storage"(& +3 "core" &,h 8 5 \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +34 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&D/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& + "storage"(' +7 "core" & +2 "manipulator"&% +4 "core" % ϐ J + .tForearm.seek :retract +2 "manipulator"&i' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&"( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&x& +5 "core" &  2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  u 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&o' +91 "core" ' + "manipulator"&s& +5 "core" & C 1 + "manipulator"&% +4 "core" % x T +2 "processing"%B& +4 "core" &\ +2 "processing"%%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &0t\ *x +9 &a}\ > +10 &kq\ O +9 &+T\ O +9 &R\ O +10 &Q\ O +9 &tR\ N +9 &4R\ O +10 &S\ O +9 &S\ O +10 & zT\ O +9 &"=R\ O +9 &#S\ O +10 &%U\ O +9 &'R\ O +9 &)ER\ O +10 &+R\ O +9 &,W\ O +10 &.Q\ O +9 &0MR\ O +9 &2R\ O +10 &3Q\ N +9 &5R\ O +9 &7UQ\ O +10 &9T\ O +9 &:S\ O +9 &<T\ O +10 &>[V\ O +9 &@S\ P +10 &AY\ P +9 &Cd\ Q +9 &EZk\ R +10 &G{\ T +9 &H\ V +10 &J\ V +9 &LY\ U +9 &N\ W +10 &O\ V +9 &Q\ W +9 &S]\ W +10 &U\ W +9 &V\ W +10 &X\ W +9 &Ze\ W +9 &\\%\ X +10 &]~\ 6 +9 &^)g\ "b +9 &^0\ 5 +3 ( +2 "processing"%%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"& 1 +62 "core" 1 + "manipulator"&\ % +5 "core" %  T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +97 "core" ' +2 "processing"%-& +4 "core" &^,\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&G% +4 "core" % % \ > +2 "storage"(Y% +3 "core" % P\  +2 "storage"(. +3 "core" .(,y + "storage"(N& +4 "core" &,h * K\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(m(,y +28 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (=& + "manipulator"&&& +6 "core" & % 1 + &,z %\ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&.( +3 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( + "manipulator"&& +4 "core" & 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  Z 1 +2 .tForearm.seek PC +2 "manipulator"&r' +94 "core" ' + .tHand.close +2 "manipulator"&// +57 "core" / + .tPC.seek :open +2 "processing"%( +101 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(R'1 +41 "core" ' +307 ( + "storage"((& +4 "core" &,e ( \  +2 "manipulator"&+& +3 "core" &  n 1 +2 "manipulator"&3% +3 "core" %  l ! +2 .tForearm.seek :retract +2 "manipulator"&1' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&W( +259 "core" ( + "manipulator"&7& +4 "core" & +  +2 "storage"(& +3 "core" &,e  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +100 "core" ' +2 .tHand.open + "manipulator"&'1 +54 "core" 1 +2 "storage"(6- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(5' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(X' +56 "core" ' + #tLights, camera, ACTION! + "storage"(L- +4 "core" -' + "storage"(;& +4 "core" &,e j j \ j +2 "manipulator"&K& +4 "core" &  _  + .tElbow.seek 4 +2 "manipulator"&V( +3 "core" ( + "manipulator"&)& +4 "core" &   +2 "storage"(g& +4 "core" &,e i f \\\ l +2 .tForearm.seek 4 + 450 counts + "manipulator"&!' +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(['" +50 "core" ' +2 "manipulator"&M& +4 "core" &  +2 "storage"(_& +4 "core" &,e + 2 c\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&:'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(J' +20 "core" ' +2 "manipulator"&@% +4 "core" %E U  +2 "storage"(h& +4 "core" &,e \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&?'q +16 "core" ' + "manipulator"&8& +5 "core" & o  + "storage"(<& +5 "core" &,e 3 7 (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&#' +20 "core" ' +2 "storage"(0% +4 "core" %  1 p\ +3 ."downElevator"SE.seek :down +3 "storage"($' +98 (I% +4 "core" %CI   }\ Xi +2 "manipulator"&\\% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&*' +96 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (S& +4 "core" &,e   A\  + "collection"'H& +4 "core" &\\` \ L +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&C% +4 "core" %   +2 "storage"(k% +4 "core" % + + :\  + "storage"(]. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(Q(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (T& +3 "core" &,}   L\ +2 "manipulator"&l& +4 "core" & t  +2 .tElbow.seek 4 + "manipulator"&,( +4 "core" ( + "manipulator"&U& +4 "core" &    +2 "storage"(u& +4 "core" &,} ' '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&`' +94 "core" ' +2 "storage"(& +53 "core" &,}  + &\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'r +299 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" & `  +2 "storage"(q& +3 "core" &,h  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(>'| +29 "core" ' + "manipulator"&c% +5 "core" %= g  + "storage"(E& +4 "core" &,h  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 306 counts +2 "manipulator"&A'i +15 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(|& +4 "core" &,h \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(z' +38 "core" ' + "manipulator"&& +5 "core" & j  + "manipulator"&a% +4 "core" % ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&{(ӂ +167 "core" ( +2 "manipulator"&9& +4 "core" &ӊ  < 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӊ \ 2 +2 .tForearm.seek CC +2 "manipulator"&'? +100 "core" ' + .tHand.close +2 "manipulator"&n/ +62 "core" / +2 .tCC.seek :open +2 "collection"'d( +451 "core" ( + "storage"( & +4 "core" &,h : , >\  +2 "storage"(& +4 "core" &,h & * &\  + "manipulator"&t& +4 "core" &ӊ e 2 +2 "manipulator"&w% +3 "core" % M  *  +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& ( +163 "core" ( +2 "manipulator"&~& +4 "core" &  r  + "storage"(& +4 "core" &,h : C x\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&}'7 +92 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&D1 +55 "core" 1 +2 "manipulator"&j% +5 "core" % 1 \  M N + "storage"(& +4 "core" &,h d d L\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 294 counts +2 "manipulator"&'] +14 "core" ' +2 "manipulator"&v& +4 "core" & p  +2 "storage"(e& +4 "core" &,h d e j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(x% +4 "core" % g e \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (y% +3 "core" %> ? ? \ Wc +2 "manipulator"&s% +4 "core" % b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'B& +4 "core" & \ +2 "manipulator"&% +4 "core" %  Y # + "storage"(i% +4 "core" % 8 ? v\  +2 "storage"(P. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<- +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" &<+ 0 + \ +2 "manipulator"&-& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&G( +4 "core" ( + "manipulator"&Y& +4 "core" &  2  +2 "storage"(& +3 "core" &<+ 7 5 i\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +96 "core" ' +2 "storage"(N& +4 "core" &<+ e f \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'r +295 "core" ' +2 "storage"(=- +4 "core" -'' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<+ K E =\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&o( +3 "core" ( +2 "manipulator"&/& +3 "core" &   +2 "storage"(f& +4 "core" &<+ J N Q\ +2 .tForearm.seek 5 + 300 counts + "manipulator"& 'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&"/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& + "storage"(' +6 "core" &  1  +2 "manipulator"&% +4 "core" %  C +2 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&+(ӂ +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&3& +4 "core" &ӡ  1 9% + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &ӡ  h 9% +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&7'? +102 "core" ' +2 "manipulator"&& +5 "core" &ӡ   9% + "manipulator"&.% +4 "core" %C " +2 "collection"''& +4 "core" & \ +2 "collection"'6& +6 "core" & \ \ +2 .tCC.seek :closed +3 "collection"'L(\\ +3 "core" &  \ +6 &  \ 8 +9 &BIs  \ 0 +9 &os| \ \ E +10 &Z  \ M +9 &U \ L +9 &T  \ L +10 &\\W \ M +9 & Q  \ L +10 &R  \ L +9 &R \ L +9 &eV  \ M +10 &!'T \ M +9 &"Q  \ L +9 &$R  \ L +10 &&mU \ \ M +9 &(0U \ L +10 &)R \ L +9 &+U \ M +9 &-uS \ M +10 &/8Q \ L +9 &0P  \ L +9 &2R  \ L +10 &4~U  \ L +9 &6?Q  \ M +10 &8U \ M +9 &9T \ M +9 &;Q \ L +10 &=HS \ \ L +9 &? V \ M +9 &@W  \ L +10 &BV \ M +9 &DL\\  \ N +10 &F e  \ O +9 &Gy  \ Q +9 &I~  \ T +10 &K2 \ Y +9 &L \ Z +9 &N  \ Y +10 &Pw  \ Z +9 &R8  \ Z +10 &S \ [\ +9 &U \ \\ +9 &Wv \ ] +10 &Y6 \ ] +9 &Z  \ ^ +9 &\\ZU \ \ 1 +10 &\\ \ \\ +9 ( +2 "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.15 + .Hand.open +2 "manipulator"&;1 +3 "core" &\\z \ Y +52 1 +2 "manipulator"&K% +4 "core" % C  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%g& +5 "core" &\ + "manipulator"&1% +4 "core" %    + "storage"(M% +4 "core" % 7\  +2 "storage"(_. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(@(<- +2 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (h& +4 "core" &<+ 4\ +2 "manipulator"&R& +4 "core" &Ӣ 4 9$ +2 "manipulator"&8% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&<( +161 "core" ( + "manipulator"&5& +4 "core" & J  +2 "storage"(0& +4 "core" &<+   e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +94 "core" ' + "storage"(F& +4 "core" &<+ ' ' (\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'r +296 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (\\& +3 "core" &<+ (\ +2 "manipulator"&!& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&V( +3 "core" ( + "manipulator"&[& +4 "core" &   +2 "storage"(:& +3 "core" &<+  \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&?'Ϲ +19 "core" ' +51 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& + "storage"(C' +7 "core" &  +2 "manipulator"&k% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&]' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&J( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&T& +4 "core" &   % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +4 "core" &  % % +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U' +93 "core" ' +2 "manipulator"&u& +4 "core" & % +2 "manipulator"&#% +4 "core" %  G y +2 "processing"%& +3 "core" &\ +2 "processing"%$& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%m(^ +5 "core" &\ +6 & -\ $c +9 &Ux\ 7 +9 &~x\ L +10 &R\ O +9 &UR\ O +10 &T\ O +9 &T\ O +9 &R\ O +10 &]Q\ O +9 &R\ O +10 &R\ O +9 &!M\ O +9 &#gR\ O +10 &%(R\ O +9 &&S\ O +9 &(S\ O +10 &*mR\ O +9 &,/T\ O +10 &-Q\ O +9 &/T\ O +9 &1xR\ N +10 &39R\ O +9 &4P\ O +9 &6S\ O +10 &8~R\ O +9 &:?R\ O +9 &<P\ O +10 &=U\ O +9 &?Q\ O +10 &AFW\ P +9 &Cb\ Q +9 &Dn\ S +10 &F~\ T +9 &H<\ V +9 &I\ V +10 &K\ V +9 &M\ W +10 &OA\ W +9 &Q\ X +9 &R\ W +10 &T\ X +9 &VI\ W +9 &X \ W +10 &Y\ W +9 &[\ W +10 &]O\ I +9 &^zH\ !d +9 &^@\ 5 +6 ( +2 "processing"%$& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 + .Hand.open + "manipulator"&41 +4 "core" &^(\ 5 +51 1 + "manipulator"&*% +4 "core" %  W y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +94 "core" ' + "processing"%2& +4 "core" &^(\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&q% +4 "core" % !  , +2 "storage"(% +4 "core" %\  + "storage"(c. +3 "core" .(<- + "storage"(E& +4 "core" &<+ ,\ +2 "storage"(& +3 "manipulator"&|& +6 "core" &<+\ + &  % +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(a'r +3 "core" ( + "manipulator"&`& +4 "core" &  % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" & % +2 .tForearm.seek PC +2 "manipulator"&p' +92 "core" ' +2 .tHand.close + "manipulator"&O/ +63 "core" / +2 .tPC.seek :open +2 "processing"%A( +91 "core" ' + "storage"(>- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'1 +40 "core" ' +316 ( + "storage"(& +4 "core" &<+ \ \ +2 "manipulator"&& +4 "core" & % + "manipulator"&% +4 "core" %  e : +2 .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +244 "core" ( + "manipulator"&Z& +4 "core" & D / +2 "storage"( & +3 "core" &<+\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +104 "core" ' + .tHand.open +2 "manipulator"&t1 +56 "core" 1 +2 "storage"(w- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"({& +4 "core" &<+ / , K\ b + "manipulator"&D& +4 "core" & / +2 .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&& +4 "core" & @ / + "storage"(v& +4 "core" &<+ - 0 r\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(x'" +51 "core" ' +2 "manipulator"&& +4 "core" & / +2 "storage"(y& +4 "core" &<+   \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&s'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(}' +25 "core" ' + "manipulator"&B% +5 "core" %Ξ   + "storage"(& +4 "core" &<+   "\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&i& +4 "core" &  + ! +2 "storage"(P& +4 "core" &<+  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z'O +17 "core" ' + "storage"(% +5 "core" %  ,\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (Q% +3 "core" %DH \ Xi +2 "manipulator"&\ % +3 "core" %N  b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Y& +4 "core" &<+  [\ + "collection"'& +4 "core" &\\v \ Y +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&N% +3 "core" %   +2 "storage"(% +4 "core" %\  + "storage"(. +3 "core" .(<- + "storage"(=& +4 "core" &<+\ +2 "storage"(& +4 "core" &<+\ + "manipulator"&& +4 "core" & J ! +2 .tElbow.seek 5 +2 "manipulator"&/( +16 "core" ( + "manipulator"&f& +5 "core" &   + "storage"("& +4 "core" &<+ &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +92 "core" ' +2 "storage"(& +4 "core" &<+ \ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'r +294 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &  s  +2 "storage"(r& +4 "core" &<+ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&&'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(.' +29 "core" ' + "manipulator"&o% +5 "core" %ΐ + "storage"('& +4 "core" &<+\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&'ϼ +15 "core" ' +2 "manipulator"&(& +4 "core" &   +2 "storage"(d& +3 "core" &<+   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&;'O +16 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(K' +35 "core" ' + "manipulator"&g& +5 "core" &  *  + "manipulator"&1% +4 "core" %H  } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +87 "core" ' + .tElbow.seek CC +2 "manipulator"&_(ӂ +158 "core" ( + "manipulator"&6& +4 "core" &Ӊ* a Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &Ӊ*  Bh +2 .tForearm.seek CC +51 "manipulator"&R'? +97 "core" ' + .tHand.close + "manipulator"&8/ +54 "core" / + .tCC.seek :open +2 "collection"'7( +448 "core" ( + "storage"(5& +4 "core" &<+ *  \ +2 "storage"(0& +4 "core" &<+  \ + "manipulator"& & +4 "core" &Ӫ$ @ =G + "manipulator"&F% +4 "core" % P _ 1 +2 .tForearm.seek :retract +2 "manipulator"&+' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&)( +165 "core" ( +2 "manipulator"&I& +4 "core" &  a  +2 "storage"(\\& +4 "core" &<+ * * 9\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&!'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&:1 +58 "core" 1 +2 "manipulator"&S% +4 "core" % Ι ) D + "storage"(H& +4 "core" &<+ ? H #\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&k' +16 "core" ' +2 "manipulator"&<& +5 "core" &  l  + "storage"(W& +4 "core" &<+ L N \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +17 "core" ' + "storage"(?% +5 "core" % L : \ +2 ."downElevator"SE.seek :down +3 "storage"(T' +99 (l% +3 "core" %I 3 ' Q\ Wf + "manipulator"&V% +4 "core" %K { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +96 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'#& +5 "core" & \ \ + "manipulator"&% +4 "core" %  u # +2 "storage"(C% +5 "core" % O M j\  + "storage"(]. +3 "core" .(<- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +363 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (4& +3 "core" &K > 0 8\ + "manipulator"&*& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&2( +3 "core" ( + "manipulator"&q& +4 "core" & m  + "storage"(& +4 "core" &K H L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&c' +98 "core" ' +2 "storage"(E& +4 "core" &K d d \\\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(|- +3 "core" -'$ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &K . 1 \ +2 "manipulator"&`& +4 "core" &  e  + .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( + "manipulator"&U& +4 "core" &   +2 "storage"(O& +3 "core" &K B I B\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&>'h +28 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&J/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&^& + "storage"(m' +6 "core" &  H  +2 "manipulator"&a% +4 "core" % ϓ  ^ + .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&& +4 "core" &ӊ+ & Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &Ӌ+ C Cm +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&Z'? +92 "core" ' + "manipulator"& & +4 "core" &ӌ*  5 Bl +2 "manipulator"&% +4 "core" %?  I +2 "collection"'t& +4 "core" &  \ +3 "collection"'w& +5 "core" &  \ +2 .tCC.seek :closed +3 "collection"'(\\ +4 "core" & \ +5 & \ : +9 &NKu  \ 1 +10 &u{ \ E +9 &+Z \ M +9 &R \ M +10 &T \ M +9 &tV \ L +10 &5Q \ M +9 &T \ M +9 &Q  \ L +10 &}R  \ L +9 &!=T \ M +9 &#P \ L +10 &$Q \ L +9 &&R  \ M +10 &(FQ \ L +9 &*R \ L +9 &+T  \ L +10 &-T \ M +9 &/MR \ M +10 &1R \ M +9 &2O \ L +9 &4O \ L +10 &6VR \ L +9 &8U \ \ M +9 &9T \ M +10 &;P \ L +9 &=^S \ L +9 &? R  \ L +10 &@V \ M +9 &BU \ M +10 &Db\\ \ N +9 &F f \ O +9 &Gz \ Q +10 &I  \ V +9 &KJ  \ Y +9 &M  \ Y +10 &N \ Y +9 &P  \ Z +10 &RL  \ [ +9 &T  \ [ +9 &U \ [ +10 &W  \ ] +9 &YK  \ ^ +9 &[ \ ^ +10 &\\dG \ 3 +9 &\\ \ T +6 ( + "collection"'w& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&{1 +3 "core" &\\n  \ T +56 1 +2 "manipulator"&D% +4 "core" % ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%v& +4 "core" &\ +2 "manipulator"&n% +4 "core" %   + "storage"(% +4 "core" % J\  +2 "storage"(y. +3 "core" .(K + "storage"(B& +4 "core" &K +\ +2 "storage"(& +3 "core" &K S\ +2 "manipulator"&9& +4 "core" &Ӎ* P Bk + "manipulator"&i% +4 "core" %  0  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&P( +165 "core" ( +2 "manipulator"&~& +4 "core" &  z  + "storage"(& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +97 "core" ' + "storage"(& +4 "core" &K  \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &K n\ +2 "manipulator"&e& +3 "core" & E  +2 .tElbow.seek 6 +2 "manipulator"&j( +4 "core" ( + "manipulator"&x& +4 "core" & \  5  +2 "storage"(s& +3 "core" &K   U\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Y'h +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(N' +7 "core" & l  +2 "manipulator"&% +4 "core" % z  + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&}& +5 "core" & ! 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & k 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 "manipulator"&f& +4 "core" & $ 6 +2 "manipulator"&"% +4 "core" %  + "processing"%z& +4 "core" &\ +2 "processing"%& +5 "core" &\ \ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" & \ +8 & .\ #a +9 &U| \ 7 +10 &}y\ L +9 &T\ O +9 &LR\ O +10 &O\ O +9 &R\ O +9 &Q\ O +10 &UQ\ O +9 &R\ O +9 &Q\ O +10 &!Q\ O +9 &#\\Q\ O +10 &%R\ O +9 &&R\ O +9 &(R\ O +10 &*cR\ O +9 &,%S\ O +9 &-N\ O +10 &/S\ O +9 &1kR\ O +10 &3.Q \ O +9 &4Q\ O +9 &6R\ O +10 &8sR\ O +9 &:5Q\ O +9 &;P\ O +10 &=S\ O +9 &?zR\ P +10 &A<Y\ P +9 &Bc\ Q +9 &Dk\ R +10 &Ft\ T +9 &H1\ V +10 &I\ V +9 &K\ V +9 &Mv\ W +10 &O8\ V +9 &P\ X +9 &R\ W +10 &Tz\ X +9 &V>\ W +9 &X\ W +10 &Y\ W +9 &[\ W +10 &]E\ M +9 &^~Q\ #l +9 &^ \ - +3 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"& 1 +56 "core" 1 + "manipulator"&-% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +52 "manipulator"&%' +95 "core" ' +2 "processing"%3& +4 "core" &^\ - + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&r% +4 "core" %  -  + "storage"(% +4 "core" %\  + "storage"(o. +3 "core" .(K +2 "storage"('& +4 "core" &K \ + "storage"((& +5 "manipulator"&d& +4 "core" &K  ,\ + & 6 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&g( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(1'r +2 "core" ( +2 "manipulator"&b& +4 "core" &  p 6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" & 6 +2 .tForearm.seek PC + "manipulator"&G' +95 "core" ' +2 .tHand.close + "manipulator"&&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +94 "core" ' + "storage"(.- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(6'1 +40 "core" ' +313 ( + "storage"(h& +5 "core" &K &\ + "manipulator"&;& +4 "core" &  W 6 +2 "manipulator"& % +3 "core" %  Q 0 +2 .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&M( +247 "core" ( + "manipulator"&L& +4 "core" & B = +2 "storage"(5& +3 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +106 "core" ' + .tHand.open + "manipulator"& 1 +52 "core" 1 +2 "storage"(F- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(I' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\\' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +4 "core" -' + "storage"(_& +4 "core" &K ; < C\ c +2 "manipulator"&:& +4 "core" & \  ' = + .tElbow.seek 6 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&H& +3 "core" &  k = +2 "storage"(<& +4 "core" &K : 7\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(?'" +52 "core" ' +2 "manipulator"&+& +4 "core" & = +2 "storage"(l& +3 "core" &K  c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&V'< +24 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(!' +20 "core" ' + "manipulator"&#% +5 "core" %N + "storage"(k& +4 "core" &K U\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&'z +14 "core" ' + "manipulator"&C& +5 "core" & d = +2 "storage"(]& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&K' +18 "core" ' +2 "storage"(X% +4 "core" % U\ +2 ."downElevator"SE.seek :down +4 "storage"(T' +99 (@% +3 "core" %*C k\ Xi +2 "manipulator"&4% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +95 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (q& +4 "core" &K s\ +2 "collection"'& +3 "core" &\\n \ T +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&E% +4 "core" %  . " +2 "storage"([% +3 "core" %\  +2 "storage"(u. +3 "core" .(K + "storage"(|& +4 "core" &K\ +2 "storage"($& +3 "core" &K \ +2 "manipulator"&`& +4 "core" & 8 < + .tElbow.seek 6 +2 "manipulator"&U( +4 "core" ( + "manipulator"&O& +4 "core" &  < +2 "storage"(J& +4 "core" &K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +94 "core" ' +2 "storage"(a& +4 "core" &K   l\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'r +299 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  g < +2 "storage"(p& +3 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +20 "core" ' + .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&t% +4 "core" %5 { + "storage"(,& +4 "core" &K h\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 293 counts +2 "manipulator"&m'a +16 "core" ' + "manipulator"&& +4 "core" &  P < +2 "storage"(7& +4 "core" &K   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&{' +15 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(D' +39 "core" ' +2 "manipulator"&v& +4 "core" & g < +2 "manipulator"&n% +4 "core" %  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&y(ӂ +150 "core" ( + "manipulator"&B& +4 "core" &ӆ* ! Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӆ* T Bg +2 .tForearm.seek CC +2 "manipulator"&w'? +90 "core" ' + .tHand.close + "manipulator"&9/ +63 "core" / +2 .tCC.seek :open +2 "collection"'i( +450 "core" ( +2 "storage"(Z& +4 "core" &K 2 ! \ +2 "storage"(~& +3 "core" &K 6 8\ +2 "manipulator"&& +4 "core" &ӌ) k Aa + "manipulator"&% +4 "core" % E i +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( + "manipulator"&Q& +5 "core" &  N  + "storage"(\ & +4 "core" &K 5 2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&e'< +92 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&s1 +59 "core" 1 +2 "manipulator"&% +4 "core" % D  h N +2 "storage"(& +4 "core" &K 8 /\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"&'p +15 "core" ' +2 "manipulator"&P& +4 "core" & Z  +2 "storage"( & +3 "core" &K @ H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(Y% +5 "core" % E @ (\ +2 ."downElevator"SE.seek :down +3 "storage"(}' +99 (% +3 "core" %C . 4 ~\ We +2 "manipulator"&j% +3 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +53 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'"& +5 "core" & \ + "manipulator"&z% +5 "core" %   + "storage"(N% +4 "core" % L J \  +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(A(,y +664 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &,| + ( \ +2 "manipulator"&-& +4 "core" & .  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&3& +4 "core" &  A  +2 "storage"(r& +3 "core" &,| ( ( \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(o& +4 "core" &,| B 9 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''r +296 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" &,k \  +2 "manipulator"&b& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&/( +3 "core" ( +2 "manipulator"&& +4 "core" & k  + "storage"(&& +4 "core" &,k  s\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&.'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&=/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& + "storage"(' +7 "core" &   +2 "manipulator"&1% +4 "core" % W  < +2 .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +154 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"& & +4 "core" &ӓ% D >J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +3 "core" &Ӕ%  [ >I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'? +96 "core" ' +2 "manipulator"&5& +4 "core" &ӕ%  S >H +2 "manipulator"&g% +4 "core" %@ K q +2 "collection"' & +4 "core" & \ +2 "collection"'F& +4 "core" & \ +3 .tCC.seek :closed + "collection"'R(\\ +5 "core" & \ +6 &: "\ %f +10 &Wx "\ 8 +9 &s "\ L +10 &Q \ M +9 &~O !\ M +9 &AQ \ L +10 &R  \ M +9 &Q \ M +9 &O  \ M +10 &GQ !\ M +9 & \ P \ M +10 &!O \ M +9 &#Q \ N +9 &%OM \ M +10 &'O \ M +9 &(Q \ M +9 &*P \ M +10 &,VM \ M +9 &.Q \ N +10 &/P \ M +9 &1Q  \ M +9 &3aQ  \ L +10 &5"Q \ M +9 &6R \ M +9 &8O  \ M +10 &:gQ  \ M +9 &<*R \ \ M +9 &=R \ M +10 &?R \ M +9 &ApR  \ M +10 &C/U \ N +9 &D] \ N +9 &Fg \ P +10 &Hhz \ R +9 &J \ V +9 &K \ Y +10 &M \ Z +9 &OW \ [ +10 &Q \ Z +9 &R \ \\ +9 &T \ [ +10 &VX \ ] +9 &X \ ] +9 &Y \ ^ +10 &[ \ L +9 &\\: \ - +10 &\\ \ Y +2 ( +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"&_1 +60 "core" 1 + "manipulator"&:% +4 "core" % @  [ q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%<& +4 "core" &\ + "manipulator"&8% +4 "core" %   +2 "storage"(+% +4 "core" % \  + "storage"(l. +3 "core" .(,| +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(#(,y +27 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +2 "core" &,{ %\ +2 "manipulator"&6& +4 "core" &Ӗ$  9 =G + "manipulator"&C% +4 "core" %   M  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&]( +158 "core" ( + "manipulator"&I& +4 "core" &  +2 "storage"(X& +3 "core" &,{ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +93 "core" ' + "storage"(0& +5 "core" &,{ t\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'r +300 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &,h \  +2 "manipulator"&W& +4 "core" & +2 .tElbow.seek 4 + "manipulator"&S( +4 "core" ( + "manipulator"&?& +4 "core" & + "storage"(V& +4 "core" &,h  G\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(E' +7 "core" &  + "manipulator"&[% +4 "core" % i  +2 .tForearm.seek :retract +2 "manipulator"&u' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&!( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&|& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &  S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&`' +92 "core" ' + "manipulator"&O& +5 "core" &  t + "manipulator"&J% +4 "core" % ^ U +2 "processing"%K& +4 "core" &\ +2 "processing"%a& +4 "core" &#\ +2 .tPC.seek :closed +2 "processing"%T(^ +4 "core" &\ \ \ +10 &0s \ )w +9 &az\ > +9 &`p\ O +10 & T\ O +9 &R\ O +10 &N\ O +9 &fR \ O +9 &(Q\ O +10 &N\ O +9 &Q\ O +9 & nT \ O +10 &"0Q\ O +9 &#R\ \ O +9 &%Q\ O +10 &'vR \ O +9 &)8Q\ \ O +10 &*R\ O +9 &,U\ O +9 &.Q\ O +10 &0@Q\ O +9 &2R\ O +9 &3Q\ O +10 &5Q\ O +9 &7HQ\ O +10 &9 T\ P +9 &:R\ O +9 &<T\ O +10 &>OU\ P +9 &@R\ P +10 &AY\ P +9 &Cc\ Q +9 &EOj\ R +10 &G z\ U +9 &H\ U +9 &J\ U +10 &LM\ V +9 &N \ W +10 &O\ W +9 &Q\ W +9 &SR\ W +10 &U\ W +9 &V\ W +9 &X\ W +10 &ZZ\ W +9 &\\\ X +10 &]\ 6 +9 &^1l\ H +9 ( +3 "processing"%a& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&)1 +3 "core" &^"\ 2 +64 1 + "manipulator"&*% +5 "core" %  U + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +92 "core" ' +2 "processing"%& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&p% +4 "core" %   +2 "storage"( % +3 "core" % \  +2 "storage"(t. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(,(,y +36 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" &,{ =\ + "manipulator"&7& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & O +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(v'r +3 "manipulator"&n( +3 "core" ( + "manipulator"&^& +4 "core" & 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" & +2 .tForearm.seek PC +2 "manipulator"&2' +97 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / + .tPC.seek :open +2 "processing"%m( +93 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +52 "core" ' +296 ( +2 "storage"(& +4 "core" &,e\  + "manipulator"&{& +4 "core" & / + "manipulator"&>% +4 "core" % \  /  +2 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +249 "core" ( +52 "manipulator"&& +4 "core" & * +2 "storage"(Z& +3 "core" &,e a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +93 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Q' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(\ ' +56 "core" ' + #tLights, camera, ACTION! + "storage"(w- +4 "core" -' +2 "storage"(y& +4 "core" &,e \ L + "manipulator"&s& +4 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(P& +4 "core" &,e L \ Y +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +57 "core" ' +2 "manipulator"&& +4 "core" & c +2 "storage"(& +4 "core" &,e }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&j'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(e' +31 "core" ' + "manipulator"&"% +5 "core" %(  *  + "storage"(& +4 "core" &,e \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 285 counts + "manipulator"&D'T +15 "core" ' + "manipulator"&z& +5 "core" &  + "storage"(N& +4 "core" &,e h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(}' +98 (% +3 "core" %GI \ Yl +2 "manipulator"& % +4 "core" % j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&-' +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (3& +4 "core" &,e \  + "collection"'r& +4 "core" &\\s !\ Y +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&o% +4 "core" %  v  +2 "storage"(x% +4 "core" % \  + "storage"(f. +3 "core" .(,y + "storage"(d& +4 "core" &,e s\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(((,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (b& +3 "core" &,| H\ +2 "manipulator"&& +4 "core" &  Q +2 .tElbow.seek 4 +2 "manipulator"&&( +3 "core" ( + "manipulator"&=& +4 "core" & U +2 "storage"(%& +4 "core" &,| \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +92 "core" ' +2 "storage"(& +4 "core" &,| \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +302 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" & y +2 "storage"('& +3 "core" &,h t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&.'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(g- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"( '| +33 "core" ' +2 "manipulator"&/% +4 "core" %K s Y +2 "storage"(& +3 "core" &,h S\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&h'w +14 "core" ' +2 "manipulator"&i& +4 "core" & " + "storage"(_& +4 "core" &,h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(<' +33 "core" ' +2 "manipulator"&8& +4 "core" & ` +2 "manipulator"&+% +4 "core" % h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&l' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&F(ӂ +155 "core" ( + "manipulator"&k& +4 "core" &ӏ(  i A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &ӏ) = A` +2 .tForearm.seek CC + "manipulator"&C'? +94 "core" ' + .tHand.close + "manipulator"&L/ +63 "core" / +2 .tCC.seek :open + "collection"'I( +448 "core" ( +2 "storage"(X& +4 "core" &,h &  M\  + "storage"(A& +4 "core" &,h 6 + R\  +2 "manipulator"&0& +3 "core" &ӟ&  ?P +2 "manipulator"&;% +3 "core" % @ 3 +2 .tForearm.seek :retract +2 "manipulator"&H' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&@( +162 "core" ( +2 "manipulator"&4& +4 "core" &   + "storage"(W& +4 "core" &,h 5 .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&?'7 +97 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&q1 +60 "core" 1 +2 "manipulator"&% +5 "core" % I s  + "storage"([& +9 "core" &,h 6 5\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +3 "manipulator"&]'u +15 "core" ' + "manipulator"&M& +5 "core" &   + "storage"(\\& +4 "core" &,h B L -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +20 "core" ' + "storage"(|% +5 "core" % H < v\  +2 ."downElevator"SE.seek :down +3 "storage"($' +99 (S% +3 "core" %D?  1 \ We +2 "manipulator"&O% +4 "core" %  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'K& +4 "core" & !\ +2 "manipulator"&E% +4 "core" %   a + "storage"(u% +4 "core" % > > \  +2 "storage"(. +3 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"()(<- +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +2 "core" &<, 6 1 \  +2 "manipulator"&& +4 "core" & K  + .tElbow.seek 5 +2 "manipulator"&p( +14 "core" ( +2 "manipulator"& & +4 "core" &  a + "storage"(t& +4 "core" &<, M M b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +94 "core" ' +2 "storage"(& +4 "core" &<, = I \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'r +298 "core" ' + "storage"(^- +3 "core" -'( +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" &<,   \  +2 "manipulator"&`& +3 "core" & ` a +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&#& +4 "core" & ] a +2 "storage"(& +3 "core" &<, + , Y\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&!'Ϲ +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +55 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&T& + "storage"(v' +7 "core" & a +2 "manipulator"&% +4 "core" %  ' +2 .tForearm.seek :retract + "manipulator"&{' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +153 "core" ( + "manipulator"&2& +5 "core" ' + &x+ Cm + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 &n& +2 "core" &x+   Cm +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + "manipulator"&Z& +5 "core" &x+ ? Cm +2 "manipulator"&% +3 "core" %E ; w +2 "collection"'& +4 "core" & 4\ +3 "collection"'w& +4 "core" & -\ +2 .tCC.seek :closed +2 "collection"'y(\\ +5 "core" & +\ +6 &; -\ %g +10 &Wt \ 7 +9 &u *\ L +9 &R  \ M +10 &{T (\ L +9 &>R +\ L +10 &U (\ M +9 &R '\ M +9 &O (\ L +10 &EQ (\ L +9 & O ,\ M +9 &!R \ M +10 &#P (\ L +9 &%MO )\ L +10 &'Q .\ L +9 &(T +\ M +9 &*R (\ M +10 &,UO \ L +9 &.P \ L +9 &/Q \ L +10 &1U \ L +9 &3]T \ L +9 &5T \ L +10 &6P \ L +9 &8Q \ L +10 &:eU \ L +9 &<'U \ L +9 &=U \ M +10 &?T \ M +9 &AlV \ M +10 &C-Y \ M +9 &D` \ N +9 &Fk \ O +10 &Hb \ S +9 &J \ W +9 &K \ X +10 &M \ Z +9 &OV \ Z +9 &Q \ Z +10 &R \ [\ +9 &T \ [\ +10 &VU \ ] +9 &X \ ] +9 &Y \ ^ +10 &[ \ L +9 &\\; \ - +10 &\\t \ X +2 ( +2 "collection"'w& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&s1 +61 "core" 1 + "manipulator"&% +4 "core" % E  w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%9& +4 "core" &\ +2 "manipulator"&% +3 "core" %  %  +2 "storage"(% +4 "core" % |\  +2 "storage"(B. +3 "core" .(<- + "storage"("& +4 "core" &<, x\  +2 "storage"(& +3 "core" &<, y\  +2 "manipulator"&Q& +4 "core" &z* $ Bk +2 "manipulator"&z% +4 "core" %  6  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&N( +166 "core" ( + "manipulator"&& +4 "core" &  <  +2 "storage"(& +3 "core" &<, {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&~'O +95 "core" ' + "storage"(\ & +5 "core" &<,   \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &<, r\  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&j& +4 "core" & u  +2 "storage"(3& +3 "core" &<, \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&D'Ϲ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&r/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& + "storage"(x' +7 "core" &  +2 "manipulator"&f% +4 "core" %  9 + .tForearm.seek :retract +2 "manipulator"&e' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&d( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +70 "core" ( + "manipulator"&b& +4 "core" &  S 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +94 "core" ' +2 "manipulator"&%& +4 "core" &  5 +2 "manipulator"&% +4 "core" %  R ) +2 "processing"%& +4 "core" &\ \ +3 "processing"%}& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%,(^ +4 "core" &\  +10 &1w\ *x +9 &a|\ \ > +9 &iq \ O +10 &(S\ \ O +9 &R\ \ O +10 &P\ O +9 &oR \ O +9 &1R\ O +10 &R\ O +9 &Q\ P +9 & vR\ O +10 &"8Q \ O +9 &#O\ O +10 &%Q\ O +9 &'~S \ O +9 &)@Q \ O +10 &+T \ O +9 &,S\ P +9 &.P \ O +10 &0HS\ O +9 &2\ Q\ O +10 &3R\ O +9 &5Q\ O +9 &7PQ\ O +10 &9P\ O +9 &:O\ O +9 &<N\ O +10 &>WR\ P +9 &@V\ O +10 &AZ\ P +9 &Ce\ R +10 &ETs\ T +9 &G\ U +9 &H\ U +10 &J\ V +9 &LV\ U +9 &N\ W +10 &O\ W +9 &Q\ X +9 &SY\ W +10 &U\ W +9 &V\ W +10 &X\ W +9 &Z`\ X +9 &\\!\ X +10 &]}\ : +9 &^,x\ Z +9 &^+\ 5 +3 ( +2 "processing"%}& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&-% +5 "core" %  ) + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 "processing"%G& +4 "core" &^(\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&'% +4 "core" %   +2 "storage"(g% +3 "core" % Y\  +2 "storage"(/. +3 "core" .(<- + "storage"(& +4 "core" &<, /\  +2 "storage"(i& +4 "manipulator"&_& +4 "core" &<, f\  +2 & D 5 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&8( +4 ."raiseStack"SE.seek :beamBreak + "storage"(+'r +3 "core" ( + "manipulator"&1& +4 "core" & 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" & \  5 +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&./ +66 "core" / +2 .tPC.seek :open +2 "processing"%h( +88 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(k'1 +40 "core" ' +320 ( + "storage"(6& +4 "core" &<,\  +2 "manipulator"&:& +4 "core" & m 5 + "manipulator"&5% +4 "core" %  H +2 .tForearm.seek :retract + "manipulator"&L' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&l( +246 "core" ( + "manipulator"&R& +5 "core" & 2 5 + "storage"(X& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A'O +92 "core" ' + .tHand.open + "manipulator"&01 +57 "core" 1 +2 "storage"(;- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(4' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(W' +60 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(F& +4 "core" &<, @ O 9\ d + "manipulator"&q& +4 "core" &  5 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&[& +4 "core" &  5 +2 "storage"(M& +3 "core" &<, -\ m +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(|'" +55 "core" ' +2 "manipulator"&H& +4 "core" & g 5 +2 "storage"(S& +4 "core" &<, V\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&O'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&@, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +18 "core" ' + "manipulator"&K% +5 "core" %Γ 0 + "storage"(]& +5 "core" &<, r r -\  + .tForearm.force -20 + "manipulator"&5 +53 .tForearm.seek 5 + 306 counts +2 "manipulator"&E'Ͽ +16 "core" ' + "manipulator"&u& +5 "core" & Z 1 + "storage"(& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +17 "core" ' +2 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"($' +99 ((% +2 "core" %uD ^\ Xi +2 "manipulator"&*% +4 "core" %O | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &<, P\  +2 "collection"'t& +4 "core" &\\s (\ X +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" % \  v  +2 "storage"(V% +4 "core" % \  + "storage"(J. +3 "core" .(<- +2 "storage"(^& +4 "core" &<, c\  + "storage"(U& +4 "core" &<, e\  +2 "manipulator"&`& +3 "core" & m 1 +2 .tElbow.seek 5 +2 "manipulator"&#( +3 "core" ( + "manipulator"&& +4 "core" & N 1 +2 "storage"(c& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&T'O +95 "core" ' + "storage"(& +5 "core" &<, \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'r +296 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&2& +3 "core" & 1 +2 "storage"(n& +3 "core" &<, e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&7'΍ +13 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Z- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&% +4 "core" %Λ C + "storage"(& +4 "core" &<, 6\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&v' +16 "core" ' + "manipulator"&{& +4 "core" & 1 +2 "storage"(I& +4 "core" &<, d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(' +35 "core" ' +2 "manipulator"&9& +4 "core" &  M 1 +2 "manipulator"&% +4 "core" %X 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&B(ӂ +156 "core" ( + "manipulator"&"& +4 "core" &Ӡ  9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӡ  9% +2 .tForearm.seek CC +2 "manipulator"&w'? +93 "core" ' + .tHand.close +2 "manipulator"&Q/ +51 "core" / +2 .tCC.seek :open +2 "collection"'z( +447 "core" ( +2 "storage"(& +4 "core" &<, \  +2 "storage"(& +4 "core" &<, f\  + "manipulator"&& +4 "core" &Ӡ  w 9% +2 "manipulator"&\ % +3 "core" % >  +2 .tForearm.seek :retract +2 "manipulator"&>' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&P( +155 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"( & +4 "core" &<,\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +93 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&31 +54 "core" 1 +2 "manipulator"&r% +4 "core" % Ώ A ; + "storage"(o& +4 "core" &<, \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 302 counts + "manipulator"&f'ϻ +25 "core" ' +2 "manipulator"&N& +4 "core" &  h +2 "storage"(~& +4 "core" &<,   x\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' + "storage"(D% +4 "core" %  \ \ +3 ."downElevator"SE.seek :down +3 "storage"(b' +99 (% +2 "core" %B 7\ We +2 "manipulator"&Y% +4 "core" %Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" & -\ + "manipulator"&% +5 "core" %  \\ # + "storage"(x% +4 "core" %  \  +2 "storage"(e. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(m(K +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K W\  +2 "manipulator"&-& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&G( +3 "core" ( + "manipulator"&'& +4 "core" &  ! + "storage"(g& +4 "core" &K   O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +89 "core" ' +2 "storage"(& +4 "core" &K   T\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +296 "core" ' +2 "storage"(i- +3 "core" -'' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +2 "core" &K\  +2 "manipulator"&1& +3 "core" & q +2 .tElbow.seek 6 +2 "manipulator"&&( +3 "core" ( + "manipulator"&=& +4 "core" &  H + "storage"(.& +4 "core" &K   l\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(,' +7 "core" &  +2 "manipulator"&+% +4 "core" % y + .tForearm.seek :retract +2 "manipulator"&6' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&:(ӂ +153 "core" ( +2 "manipulator"&5& +5 "core" &Ӊ) ! Aa ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&& +6 "core" &Ӊ) O Aa +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&R'? +91 "core" ' + "manipulator"&X& +4 "core" &ӓ( \ ?W +2 "manipulator"&8% +4 "core" %6 o +2 "collection"'0& +4 "core" &  \ +2 "collection"';& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'C(\\ +4 "core" & \ +7 &: ,\ %g +10 &Vs -\ 7 +9 &u \ L +10 &T \ M +9 &~S -\ L +9 &@P /\ L +10 &P &\ L +9 &O /\ M +10 &T 0\ M +9 &HS /\ L +9 & \ O .\ L +10 &!S +\ M +9 &#T 0\ M +9 &%OQ .\ M +10 &'N .\ M +9 &(O -\ M +10 &*O .\ M +9 &,WS ,\ M +9 &.R -\ M +10 &/O .\ M +9 &1O .\ L +9 &3`Q /\ L +10 &5"P .\ L +9 &6Q .\ L +9 &8Q /\ L +10 &:hQ -\ L +9 &<*Q *\ L +10 &=Q #\ M +9 &?T +\ M +9 &AnP /\ M +10 &C.V .\ N +9 &D] /\ N +10 &Fj (\ P +9 &He \ S +9 &J !\ X +10 &K  \ Z +9 &M "\ Z +9 &OW (\ Z +10 &Q $\ [\ +9 &R "\ [ +10 &T  \ \\ +9 &VW .\ ] +9 &X $\ ^ +10 &Y \ ^ +9 &[ \ L +9 &\\8 \ / +10 &\\f \ P +2 ( + "collection"';& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.29 + .Hand.open + "manipulator"&F1 +64 "core" 1 +2 "manipulator"&q% +4 "core" % 6  I o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +89 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%M& +4 "core" &\ +51 "manipulator"&L% +5 "core" %  2  +2 "storage"(H% +3 "core" % \  +2 "storage"(S. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(K(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (]& +3 "core" &K z\  +2 "manipulator"&k& +4 "core" &ӕ& ?U + "manipulator"&4% +4 "core" %  ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&u( +164 "core" ( + "manipulator"&& +5 "core" &    + "storage"(& +4 "core" &K O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&l' +92 "core" ' +2 "storage"(A& +4 "core" &K\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'r +296 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &K \  + "manipulator"&\\& +4 "core" & v  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&|& +4 "core" &  4  +2 "storage"(O& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(' +8 "core" & Y  + "manipulator"&V% +4 "core" % Ϙ O +2 .tForearm.seek :retract +2 "manipulator"&J' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&?( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&^& +4 "core" & M * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" & H * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&`' +97 "core" ' + "manipulator"&& +5 "core" & D * + "manipulator"&c% +4 "core" %  +2 "processing"%<& +4 "core" &)\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%$(^ +4 "core" &\ +7 & .\ #b +10 &U{\ 8 +9 &}v\ L +9 &P\ O +10 &VQ\ \ O +9 &N\ O +9 &R\ O +10 &S\ O +9 &]P\ P +10 &Q\ P +9 &Q\ O +9 &!L\ O +10 &#eR\ P +9 &%(P \ O +9 &&O\ O +10 &(N\ O +9 &*nO\ O +9 &,0P\ O +10 &-N\ O +9 &/T\ O +10 &1vR\ O +9 &38R\ O +9 &4Q\ P +10 &6R\ O +9 &8|S\ P +9 &:@O\ O +10 &<Q\ O +9 &=U\ O +10 &?R\ P +9 &AEY\ P +9 &C`\ pR +10 &Dj\ wS +9 &F|\ tU +9 &H=\ ~V +10 &I\ ~V +9 &K\ zV +10 &M\ wW +9 &OB \ {W +9 &Q\ W +10 &R\ W +9 &T\ X +10 &VJ\ W +9 &X  \ W +9 &Y \ X +10 &[\ W +9 &]P\ I +9 &^wB}\ %o +10 &^6\ 3 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 + .Hand.open +2 "manipulator"&@1 +3 "core" &^&\ 3 +51 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +93 "core" ' +2 "processing"%2& +4 "core" &^&\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&n% +4 "core" %   +2 "storage"(Z% +4 "core" % \  + "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K \  +2 "storage"({& +3 "manipulator"&I& +6 "core" &K \  +2 & 8 * +2 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +6 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&9( +2 "storage"('r +5 "core" ( + "manipulator"&T& +4 "core" & . * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &  * +2 .tForearm.seek PC +2 "manipulator"&p' +99 "core" ' +2 .tHand.close + "manipulator"&7/ +66 "core" / +2 .tPC.seek :open + "processing"%v( +86 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'1 +38 "core" ' +322 ( + "storage"(& +4 "core" &K \ +2 "manipulator"&s& +3 "core" &  , * +2 "manipulator"&!% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&Q' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +258 "core" ( + "manipulator"&y& +4 "core" &   +2 "storage"(& +3 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +99 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(\ - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(w- +3 "core" -' +2 "storage"(B& +4 "core" &K / , X\ b + "manipulator"&3& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&r( +3 "core" ( + "manipulator"&o& +4 "core" & k  +2 "storage"(N& +3 "core" &K 0 0\ d +3 .tForearm.seek 6 + 450 counts + "manipulator"&~' +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(D'" +53 "core" ' +2 "manipulator"&>& +4 "core" &   + "storage"(& +4 "core" &K 5\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Y'< +19 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&% +4 "core" %A 5  +2 "storage"(& +4 "core" &K \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&f'm +15 "core" ' +2 "manipulator"&x& +4 "core" &  :  +2 "storage"(e& +3 "core" &K # \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(b' +99 ()% +3 "core" %G :\ Yk +2 "manipulator"&% +5 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 ('& +4 "core" &K \\\ + "collection"'g& +4 "core" &\\b \ P +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %   +2 "storage"(j% +3 "core" % k\  +2 "storage"(%. +3 "core" .(K + "storage"(i& +4 "core" &K \ +2 "storage"(}& +3 "core" &K \ +2 "manipulator"&1& +4 "core" & ,  + .tElbow.seek 6 +2 "manipulator"&=( +4 "core" ( + "manipulator"&.& +4 "core" & e  +2 "storage"(d& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +96 "core" ' + "storage"(+& +5 "core" &K B\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'r +299 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +2 "core" & 7  +2 "storage"(& +4 "core" &K V\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +2 "manipulator"&_'< +13 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(8' +29 "core" ' +2 "manipulator"&0% +4 "core" %N g 2 +2 "storage"(&& +3 "core" &K |\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&,'z +26 "core" ' +2 "manipulator"&6& +4 "core" &  x  +2 "storage"(z& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&F' +16 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(q' +49 "core" ' +2 "manipulator"&M& +4 "core" & P  +2 "manipulator"&L% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H(ӂ +159 "core" ( +2 "manipulator"&S& +4 "core" &ӏ) ! Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +2 "core" &ӏ) ^ Aa +2 .tForearm.seek CC +2 "manipulator"&k'? +93 "core" ' + .tHand.close + "manipulator"&4/ +55 "core" / +2 .tCC.seek :open +2 "collection"'R( +447 "core" ( +2 "storage"(& +4 "core" &K   \ + "storage"(& +4 "core" &K #\ + "manipulator"&m& +4 "core" &Ӑ) A` +2 "manipulator"&A% +3 "core" % H f +2 .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&[( +169 "core" ( + "manipulator"&(& +4 "core" & t  +2 "storage"(*& +4 "core" &K  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&\\'< +93 "core" ' +2 .tElbow.hold + "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&O1 +53 "core" 1 +2 "manipulator"&E% +4 "core" % =  O 3 +2 "storage"(t& +4 "core" &K   \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 301 counts +2 "manipulator"&V'i +14 "core" ' +2 "manipulator"&u& +4 "core" &    +2 "storage"(l& +4 "core" &K  ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&W' +16 "core" ' +2 "storage"( % +4 "core" % +  (\ +2 ."downElevator"SE.seek :down +4 "storage"(^' +99 (U% +3 "core" %dC   |\ Wg + "manipulator"&% +4 "core" % i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'c& +5 "core" & 1\ + "manipulator"&<% +4 "core" %  ;  +2 "storage"(% +4 "core" % 2 - \  + "storage"(J. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(h(,y +668 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +2 "core" &,|  \ +2 "manipulator"&& +3 "core" &  .  +2 .tElbow.seek 4 +2 "manipulator"&2( +3 "core" ( + "manipulator"&n& +4 "core" &  V  +2 "storage"(Z& +3 "core" &,| ( ' \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +91 "core" ' + "storage"(& +4 "core" &,| * * 4\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'r +295 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,j  \  +2 "manipulator"&T& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&#( +4 "core" ( + "manipulator"&`& +4 "core" &    + "storage"(7& +4 "core" &,j + + %\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&a& + "storage"($' +7 "core" &    +2 "manipulator"&% +4 "core" % τ  u + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&s(ӂ +157 "core" ' ( +2 ."downElevator"SE.stop +3 "manipulator"&!& + "storage"(5 +7 "core" &ӌ) W A_ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &ӌ) K A_ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&y'? +104 "core" ' + "manipulator"&& +5 "core" &Ӎ(  @^ + "manipulator"&9% +4 "core" %: ' +2 "collection"'& +4 "core" & \ +2 "collection"'\ & +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'w(\\ +3 "core" & \ +6 & @\ 9 +9 &EIr A\ 1 +10 &wty X\ E +9 &Y \ N +10 &S G\ M +9 &R ;\ M +9 &iQ &\ L +10 &+Q \ L +9 &O V\ M +9 &N D\ M +10 &qO \ L +9 &!3Q \ L +9 &"O !\ M +10 &$O #\ L +9 &&yQ "\ L +10 &(;R #\ L +9 &)R \ L +9 &+O \ M +10 &-O \ M +9 &/BT \ M +9 &1T \ L +10 &2Q !\ L +9 &4T "\ M +10 &6JT \ M +9 &8 U \ M +9 &9T \ M +10 &;T #\ L +9 &=SR "\ L +9 &?Q $\ M +10 &@U \ M +9 &BU \ M +10 &DV[ \ N +9 &Fd \ O +9 &Gu #\ Q +10 &I \ U +9 &K@ \ X +9 &L  \ Z +10 &N \ Z +9 &P #\ Z +10 &RA \ [ +9 &S !\ \\ +9 &U \ \\ +10 &W #\ ] +9 &Y>  \ ^ +10 &Z \ _ +9 &\\_P "\ 6 +9 &\\ &\ !a +6 ( + "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&B1 +3 "core" &\\ "\ !` +53 1 +2 "manipulator"&3% +4 "core" % : 4 ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%N& +5 "core" &+\ } + "manipulator"&Q% +4 "core" %    +2 "storage"(>% +4 "core" %  \  + "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"("(,y +17 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,| q e A\ +2 "manipulator"&& +4 "core" &Ӎ( @^ + "manipulator"& % +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&x( +155 "core" ( +2 "manipulator"&e& +4 "core" &  l +2 "storage"(& +3 "core" &,{ 7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' + "storage"(& +5 "core" &,{ \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +300 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,i \  +2 "manipulator"&~& +4 "core" & + .tElbow.seek 4 +2 "manipulator"&r( +3 "core" ( + "manipulator"&D& +4 "core" &  +2 "storage"(Y& +3 "core" &,i \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&''c +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& + "storage"(' +8 "core" &  y + "manipulator"&j% +4 "core" % ^ P +2 .tForearm.seek :retract +2 "manipulator"&%' +91 "core" ' +2 .tElbow.seek PC +52 "manipulator"&( +113 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +145 "core" ( + "manipulator"&i& +5 "core" &  S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" & +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&1' +98 "core" ' +2 "manipulator"&.& +4 "core" & g +2 "manipulator"&d% +4 "core" % m +2 "processing"%& +4 "core" &.\ +2 "processing"%+& +5 "core" &&\ +2 .tPC.seek :closed + "processing"%b(^ +5 "core" &#\ +6 & .$\ #a +10 &Tx\ 7 +9 &}x\ L +10 &R\ O +9 &LR\ O +9 &Q\ O +10 &O\ O +9 &R \ O +9 &TO\ O +10 &T\ O +9 &R\ O +10 &!Q!\ O +9 &#[Q \ P +9 &%Q!\ O +10 &&S!\ O +9 &(S \ O +9 &*cQ!\ P +10 &,&S!\ O +9 &-M!\ O +9 &/T!\ P +10 &1lP!\ O +9 &3.R!\ O +10 &4Q!\ O +9 &6N\ O +9 &8tP \ O +10 &:6N\ O +9 &;Q\ O +10 &=S \ P +9 &?{Q\ P +9 &A=R\ P +10 &B\\\ Q +9 &D`\ R +9 &Fxu\ S +10 &H4\ U +9 &I!\ V +9 &K!\ V +10 &Mw!\ V +9 &O9\ V +10 &P\ W +9 &R \ X +9 &T|\ X +10 &V@\ W +9 &W\ X +9 &Y\ X +10 &[\ X +9 &]F \ M +10 &^T\ %q +10 &^\ ( +4 ( +8 "processing"%+& +6 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open +3 "manipulator"&P1 +7 "core" &^\ ( +51 1 +2 "manipulator"&-% +4 "core" %  t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +96 "core" ' + "processing"%5& +4 "core" &^\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" % #  2 +2 "storage"(X% +4 "core" % v\  + "storage"(0. +3 "core" .(,y + "storage"(&& +4 "core" &,i <\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(6(,y +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +3 "core" &,{ \ +2 "manipulator"&M& +2 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(L'r +3 "core" & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"& ( +3 "core" ( + "manipulator"&=& +5 "core" & i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" & +2 .tForearm.seek PC +2 "manipulator"&_' +93 "core" ' +2 .tHand.close +2 "manipulator"&,/ +68 "core" / +2 .tPC.seek :open +2 "processing"%8( +74 "core" ' + "storage"(S- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(]'1 +56 "core" ' +315 ( + "storage"(F& +4 "core" &,e \  +2 "manipulator"& & +4 "core" &  4 + "manipulator"&4% +4 "core" %  d - + .tForearm.seek :retract +2 "manipulator"&;' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&C( +241 "core" ( + "manipulator"&& +4 "core" & v < +2 "storage"(& +3 "core" &,e \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +95 "core" ' + .tHand.open + "manipulator"&A1 +63 "core" 1 +3 "storage"((- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(*' +37 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(k' +56 "core" ' + #tLights, camera, ACTION! + "storage"(H- +4 "core" -' +2 "storage"(O& +3 "core" &,e I \ Z +2 "manipulator"&E& +4 "core" &   < + .tElbow.seek 4 +2 "manipulator"&t( +3 "core" ( + "manipulator"&u& +4 "core" &  w < +2 "storage"(l& +4 "core" &,e : : F\ c +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(:'" +57 "core" ' + "manipulator"&U& +5 "core" & < + "storage"(& +4 "core" &,e \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&['7 +20 "core" ' +2 .tElbow.hold + "manipulator"&\\, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(c' +28 "core" ' +2 "manipulator"&<% +4 "core" %I  N + "storage"(V& +4 "core" &,e 0\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&'u +16 "core" ' + "manipulator"&J& +4 "core" & < +2 "storage"(q& +4 "core" &,e k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +20 "core" ' +2 "storage"(^% +4 "core" % e\ +3 ."downElevator"SE.seek :down +3 "storage"(K' +99 (@% +2 "core" %tE \ Xj +2 "manipulator"&% +4 "core" %  x +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +90 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (Z& +3 "core" &,e \\\  +2 "collection"'& +4 "core" &\\ -\ !` +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&|% +4 "core" %  _  +2 "storage"(% +3 "core" % \  +2 "storage"({. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (T& +3 "core" &,} *\ + "manipulator"&`& +4 "core" & L < +2 .tElbow.seek 4 +2 "manipulator"&7( +3 "core" ( + "manipulator"&?& +4 "core" &  F < +2 "storage"(a& +4 "core" &,} \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(2& +4 "core" &,} \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&p& +3 "core" & Z < +2 "storage"(I& +4 "core" &,i $\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(9- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(#'| +29 "core" ' + "manipulator"&% +4 "core" %G  U +2 "storage"($& +4 "core" &,i R\ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&'s +16 "core" ' + "manipulator"&R& +5 "core" &  ; + "storage"(B& +4 "core" &,i \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(N' +39 "core" ' +2 "manipulator"&Q& +4 "core" &  ; +2 "manipulator"&>% +4 "core" %  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&\ (ӂ +154 "core" ( +2 "manipulator"&& +4 "core" &ӑ#  <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &ӑ# ; <> +2 .tForearm.seek CC +2 "manipulator"& '? +92 "core" ' + .tHand.close + "manipulator"&y/ +83 "core" / +3 .tCC.seek :open + "collection"'e( +449 "core" ( +2 "storage"(& +4 "core" &,i  &\ \ +2 "storage"(h& +3 "core" &,i   0\ \ +2 "manipulator"&& +4 "core" &ӑ# $ <> + "manipulator"&s% +4 "core" % 2 3 Q +2 .tForearm.seek :retract + "manipulator"&o' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&)( +162 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(~& +4 "core" &,i 7 ? {\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&D'7 +94 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&f1 +60 "core" 1 +2 "manipulator"&g% +4 "core" % )  J * +2 "storage"(j& +4 "core" &,i + * \ \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 286 counts + "manipulator"&x'U +15 "core" ' +2 "manipulator"&& +4 "core" &  !  +2 "storage"( & +4 "core" &,i O O \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +19 "core" ' +2 "storage"(i% +4 "core" % : G J\ +2 ."downElevator"SE.seek :down +5 "storage"(}' +99 (r% +3 "core" %dE 4 5 \ We +2 "manipulator"&.% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & &\ +2 "manipulator"&% +4 "core" %   +2 "storage"(%% +3 "core" % L K @\  +2 "storage"(v. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(P(<- +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +2 "core" & D\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&S'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& + "storage"(b' +8 "core" & { + "manipulator"&L% +4 "core" % Ͻ  +2 .tForearm.seek :retract +2 "manipulator"&F' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( +2 "manipulator"&4& +4 "core" &ӎ&  o ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &ӏ& . ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 "manipulator"&& +4 "core" &ӏ& a ?T +2 "manipulator"& % +4 "core" %> + "collection"'A& +4 "core" & \ +2 "collection"'(& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'H(\\ +5 "core" & \ +6 &: \ %f +9 &Xx \ 8 +10 &r \ L +9 &P \ L +10 &R \ L +9 &FS \ M +9 &\ R \ L +10 &R \ L +9 &Q \ M +9 &PQ \ L +10 & Q \ L +9 &!Q \ L +9 &#S \ L +10 &%XO 5\ L +9 &'R F\ L +10 &(S \ L +9 &*O V\ L +6 "Can"\\\ MJ +3 "core" &,_Q  \ L +10 &. R  \ M +9 &/R \ L +10 &1S D\ L +9 &3gS /\ L +9 &5*T \ L +10 &6S \ L +9 &8R "\ M +9 &:pR \ L +10 &<1S &\ L +9 &=O )\ L +10 &?T +\ M +9 &AvT -\ M +9 &C8Y  \ M +10 &D_ ,\ M +9 &Fm ,\ P +10 &Ho  \ R +9 &J#  \ W +9 &K +\ Y +10 &M ,\ Y +9 &O` .\ Z +9 &Q# -\ Y +10 &R *\ [\ +9 &T .\ \\ +10 &Va ,\ \\ +9 &X" )\ \\ +9 &Y ,\ ^ +9 &[ ,\ K +10 &\\6 .\ 0 +9 &\\b ,\ O +3 ( +2 "collection"'(& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&O1 +54 "core" 1 +2 "manipulator"&E% +4 "core" % > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%;& +5 "core" &\ + "manipulator"&l% +4 "core" %    +2 "storage"(U% +3 "core" %  \  +2 "storage"(. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(](<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" &<. " \ +2 "manipulator"&V& +4 "core" &Ӑ& i ?S +2 "manipulator"&J% +4 "core" %  \\  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&q( +163 "core" ( +2 "manipulator"&*& +4 "core" &  +2 "storage"(^& +3 "core" &<.   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +93 "core" ' + "storage"(m& +5 "core" &<.   O\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'r +304 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &<.  T\ +2 "manipulator"& & +3 "core" &  :  +2 .tElbow.seek 5 +2 "manipulator"&t( +3 "core" ( + "manipulator"&:& +4 "core" & B  + "storage"([& +4 "core" &<. \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +37 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(|' +7 "core" & K  +2 "manipulator"&% +4 "core" %  m G + .tForearm.seek :retract +2 "manipulator"&c' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&{( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&T& +4 "core" & ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" & ^ ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?' +90 "core" ' +2 "manipulator"&a& +4 "core" & O ; +2 "manipulator"&W% +3 "core" % q +2 "processing"%2& +4 "core" &'\ +2 "processing"%K& +5 "core" &4\ +2 .tPC.seek :closed + "processing"%6(^ +5 "core" &'\  +9 &1w,\ *x +9 &b{-\ > +10 &hp,\ O +9 &*N'\ O +9 &R+\ O +10 &Q$\ O +9 &oQ+\ O +10 &1P'\ O +9 &R#\ O +9 &Q \ O +10 & wS"\ O +9 &"9P%\ O +9 &#Q"\ O +10 &%N#\ O +9 &'Q"\ O +10 &)BQ#\ O +9 &+Q\ O +9 &,R\ O +10 &.P!\ O +9 &0IR"\ O +9 &2 R!\ O +10 &3Q \ O +9 &5Q!\ O +9 &7SQ"\ O +10 &9R#\ O +9 &:S#\ O +10 &<S"\ O +9 &>XU"\ P +9 &@T"\ P +10 &AZ"\ P +9 &Cg\ R +9 &EVs!\ S +10 &G"\ U +9 &H"\ V +10 &J"\ V +9 &LW#\ U +9 &N#\ V +10 &O"\ W +9 &Q \ W +9 &SZ"\ W +10 &U"\ W +9 &V!\ W +10 &X#\ W +9 &Zb"\ W +9 &\\" \ X +10 &]}"\ 8 +9 &^+n \ [ +9 &^+"\ 6 +3 ( +2 "processing"%K& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&\\1 +56 "core" 1 +2 "manipulator"&n% +4 "core" %  M q +51 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!' +96 "core" ' + "processing"%p& +4 "core" &^'1\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&I% +4 "core" % # o 8 +2 "storage"(9% +3 "core" % z\  +2 "storage"(. +3 "core" .(<- + "storage"($& +4 "core" &<. \ +2 "storage"(R& +2 "manipulator"&B& +7 "core" &<. \ + &  ; +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&Q( +4 ."raiseStack"SE.seek :beamBreak + "storage"(>'r +3 "core" ( + "manipulator"&& +4 "core" & = ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" & ; +2 .tForearm.seek PC +2 "manipulator"&' +95 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +97 "core" ' +2 "storage"(#- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +47 "core" ' +303 ( + "storage"(& +4 "core" &<.\ +2 "manipulator"&3& +4 "core" & z ; + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&y' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +258 "core" ( + "manipulator"&w& +4 "core" & >  +2 "storage"(& +4 "core" &<.  4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h'O +92 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(s- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(~' +61 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(\ & +4 "core" &<. T X \ h +2 "manipulator"&f& +3 "core" & n  +2 .tElbow.seek 5 +2 "manipulator"&g( +3 "core" ( + "manipulator"&j& +4 "core" & =  +2 "storage"(& +4 "core" &<. c\ v +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(i'" +56 "core" ' +2 "manipulator"&o& +4 "core" & Y  + "storage"(r& +4 "core" &<. g\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&.'΍ +20 "core" ' +2 .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(D' +18 "core" ' + "manipulator"&% +5 "core" %Θ h ) + "storage"(x& +5 "core" &<.   \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts + "manipulator"&' +25 "core" ' + "manipulator"&%& +5 "core" & s  + "storage"(v& +4 "core" &<. ) * Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +16 "core" ' + "storage"('% +5 "core" % * + d\ +2 ."downElevator"SE.seek :down +3 "storage"(}' +99 (% +3 "core" %K \ Xj + "manipulator"&-% +4 "core" %G U +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (X& +4 "core" &<. =\ + "collection"'0& +4 "core" &\\c )\ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&+% +4 "core" %  n  +2 "storage"(Y% +3 "core" % \  +2 "storage"(d. +3 "core" .(<- + "storage"(M& +4 "core" &<. S\ +2 "storage"(=& +3 "core" &<. C\ +2 "manipulator"&G& +4 "core" &  B  + .tElbow.seek 5 +2 "manipulator"&,( +4 "core" ( + "manipulator"&"& +4 "core" & f  + "storage"(& +4 "core" &<. \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&/'O +88 "core" ' + "storage"(L& +4 "core" &<.  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(&- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&4& +2 "core" &  +2 "storage"(_& +4 "core" &<. \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&z'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"( ' +29 "core" ' + "manipulator"&A% +4 "core" %Ύ ) +2 "storage"(1& +3 "core" &<. \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&b'Ϻ +14 "core" ' +2 "manipulator"&F& +4 "core" &   +2 "storage"(e& +3 "core" &<. \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +16 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(E' +46 "core" ' + "manipulator"&;& +5 "core" &  C  + "manipulator"&l% +4 "core" %< +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +170 "core" ( + "manipulator"&<& +4 "core" &Ӈ 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &Ӈ a 2 +2 .tForearm.seek CC +2 "manipulator"&V'? +94 "core" ' + .tHand.close + "manipulator"&J/ +53 "core" / + .tCC.seek :open +2 "collection"'( +448 "core" ( + "storage"(*& +4 "core" &<. *  ,\ + "storage"(^& +4 "core" &<.  \ +2 "manipulator"&P& +3 "core" &ӈ  a 2 +2 "manipulator"&m% +3 "core" % +  +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&u( +162 "core" ( + "manipulator"&@& +4 "core" &   +2 "storage"(& +4 "core" &<. ' * 8\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&[1 +58 "core" 1 +2 "manipulator"&Z% +4 "core" % Ί  g  + "storage"(& +4 "core" &<. ' * *\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 297 counts + "manipulator"&'϶ +25 "core" ' +2 "manipulator"&q& +4 "core" &  ]  +2 "storage"(C& +4 "core" &<.   <\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +16 "core" ' + "storage"(% +5 "core" % - + m\ +2 ."downElevator"SE.seek :down +3 "storage"(T' +99 (`% +3 "core" %A * * E\ We + "manipulator"&t% +4 "core" %D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +92 "core" ' +49 ' +49 ."downElevator"SE.stop +3 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'W& +5 "core" & \ + "manipulator"&2% +5 "core" %   + "storage"(|% +4 "core" % * ' i\  +2 "storage"(c. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(8(K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\\& +3 "core" &K  \  +2 "manipulator"&n& +4 "core" &  m  +2 .tElbow.seek 6 +2 "manipulator"&K( +3 "core" ( + "manipulator"&p& +4 "core" & D  +2 "storage"(I& +3 "core" &K . = \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&9' +97 "core" ' +2 "storage"(& +4 "core" &K A J :\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'r +296 "core" ' +2 "storage"(R- +3 "core" -'" +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &K  \ (\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&7( +3 "core" ( +2 "manipulator"&?& +3 "core" &  Z  +2 "storage"(& +4 "core" &K * + I\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&#'h +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&!& + "storage"(6' +8 "core" & o  + "manipulator"&>% +4 "core" % υ  I +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&& +4 "core" &ә"  2 ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ә" ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&w'? +95 "core" ' +2 "manipulator"&& +4 "core" &ә" e ;6 +2 "manipulator"&Q% +3 "core" %E L Q +2 "collection"'& +4 "core" & \ +2 "collection"'s& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" & \  +9 &4z \ +{ +9 &e| \ > +10 &l \ M +9 &LO \ L +9 & R \ M +10 &R \ L +9 &Q \ L +9 &UN \ L +10 &T \ L +9 &O \ L +10 & R \ L +9 &"[T \ M +9 &$R \ L +10 &%T \ L +9 &'R \ L +9 &)dO \ L +10 &+%R \ M +9 &,R \ L +10 &.R \ M +9 &0mR \ L +9 &2.R \ L +10 &3O \ L +9 &5R \ L +9 &7tO \ L +10 &96U \ L +9 &:S \ M +9 &<R \ L +10 &>|Q \ L +9 &@>U \ L +10 &AX \ M +9 &CW \ M +9 &E~c \ N +10 &G:p \ P +9 &H \ S +9 &J \ X +10 &Lh \ Y +9 &N' \ Z +10 &O \ Z +9 &Q \ Z +9 &Sh \ [ +10 &U) G\ \\ +9 &V \ \\ +10 &X \ ] +9 &Zi \ ^ +9 &\\{  \ 5 +10 &\\) \ O +8 ( +3 "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&\ 1 +3 "core" &\\` 1\ K +56 1 +2 "manipulator"&f% +4 "core" % E / Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j' +99 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" &)\ + "manipulator"&y% +4 "core" % ! ' +2 "storage"(o% +4 "core" % \  +2 "storage"(r. +3 "core" .(K + "storage"(& +4 "core" &K \  +2 "storage"(& +3 "core" &K \  +2 "manipulator"&x& +4 "core" &ә" ;6 + "manipulator"&% +4 "core" % ! ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&%( +163 "core" ( +2 "manipulator"&v& +4 "core" & }  + "storage"('& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' + "storage"(h& +4 "core" &K  \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" &K b\  +2 "manipulator"& & +3 "core" & `  +2 .tElbow.seek 6 +2 "manipulator"&g( +3 "core" ( + "manipulator"&i& +4 "core" & ;  + "storage"(.& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&X'h +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&0& +3 "storage"(+' +8 "core" & O  + "manipulator"&Y% +4 "core" % c K +2 .tForearm.seek :retract +2 "manipulator"&d' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&D( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&M& +5 "core" & A 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" & 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&G' +90 "core" ' + "manipulator"&"& +4 "core" & I 7 +2 "manipulator"&% +4 "core" %  p +2 "processing"%N& +4 "core" &A\ +2 "processing"%L& +5 "core" &@\ +2 .tPC.seek :closed + "processing"%}(^ +4 "core" &'\ \ +9 &/s0\ *x +10 &a}/\ > +9 &fq-\ O +9 &&R*\ O +10 &Q(\ O +9 &O)\ O +9 &nQ-\ N +10 &.P\ O +9 &Q+\ O +9 &Q'\ O +10 & uR%\ O +9 &"7P*\ O +10 &#T$\ O +9 &%P!\ O +9 &'}Q%\ O +10 &)?O\ O +9 &+Q)\ O +9 &,R \ O +10 &.O!\ O +9 &0FQ&\ O +10 &2P$\ O +14 &3Q!\ O +4 &5O\ O +13 &7NP\ O +6 &9R\ O +10 &:R\ O +9 &<Q\ O +9 &>UT\ O +10 &@T\ P +9 &A\\\ P +9 &Ci\ R +10 &ERu\ S +9 &G\ U +9 &H\ U +10 &J\ U +9 &LS"\ U +10 &N\ W +9 &O\ V +9 &Q\ W +10 &SV\ W +9 &U\ W +10 &V \ W +9 &X!\ W +9 &Z]\ X +10 &\\ \ W +9 &] \ 5 +9 &^6q\ = +9 ( +3 "processing"%L& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&)1 +4 "core" &^\ . +55 1 + "manipulator"&5% +4 "core" %  E p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +94 "core" ' +2 "processing"%4& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&_% +4 "core" % # 5 + "storage"(% +4 "core" % \  + "storage"(A. +3 "core" .(K +2 "storage"(1& +4 "core" &K \  + "storage"(F& +4 "manipulator"&e& +4 "core" &K \  + & = 7 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&;( +2 "storage"(l'r +5 "core" ( + "manipulator"&/& +4 "core" &  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" & 7 +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close + "manipulator"&z/ +64 "core" / +2 .tPC.seek :open +2 "processing"%b( +95 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(<'1 +39 "core" ' +310 ( + "storage"((& +4 "core" &K \  +2 "manipulator"&O& +4 "core" & 7 + "manipulator"&S% +4 "core" %  4 +2 .tForearm.seek :retract + "manipulator"&J' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&U( +244 "core" ( + "manipulator"&H& +4 "core" & ' / +2 "storage"(*& +4 "core" &K X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&^' +92 "core" ' + .tHand.open +52 "manipulator"&P1 +63 "core" 1 + "storage"(m- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(V- +4 "core" -' + "storage"(& +4 "core" &K O x\ [ +2 "manipulator"&[& +4 "core" & \  C / + .tElbow.seek 6 +2 "manipulator"&Z( +4 "core" ( + "manipulator"&& +4 "core" &   / +2 "storage"(q& +4 "core" &K 6 ) ]\ _ +2 .tForearm.seek 6 + 450 counts + "manipulator"&C' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +54 "core" ' + "manipulator"& & +5 "core" &  / + "storage"(`& +4 "core" &K ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&t'< +23 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +19 "core" ' +2 "manipulator"&W% +4 "core" %N = +2 "storage"(& +4 "core" &K 4\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&E'z +24 "core" ' + "manipulator"&2& +5 "core" &   . +2 "storage"(|& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&c' +23 "core" ' + "storage"(k% +5 "core" % r\ +2 ."downElevator"SE.seek :down +4 "storage"(T' +98 (]% +3 "core" %L ;\ Xj +2 "manipulator"&\\% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +91 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (p& +3 "core" &K 0\  +2 "collection"'I& +4 "core" &\\` 0\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  i  +2 "storage"(:% +3 "core" % B\  +2 "storage"(a. +3 "core" .(K + "storage"(R& +4 "core" &K \  +2 "storage"(B& +4 "core" &K \  + "manipulator"&& +4 "core" & . +2 .tElbow.seek 6 +2 "manipulator"&?( +3 "core" ( + "manipulator"&& +4 "core" & 9 . +2 "storage"({& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +100 "core" ' +2 "storage"(>& +4 "core" &K x\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +296 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  . + "storage"(& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&$'< +14 "core" ' + .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(Q' +29 "core" ' + "manipulator"&% +4 "core" %K  h - +2 "storage"(7& +3 "core" &K 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&6'w +14 "core" ' +2 "manipulator"&& +4 "core" &  . +2 "storage"(& +3 "core" &K b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +18 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(f' +36 "core" ' + "manipulator"&& +5 "core" & . + "manipulator"&y% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +152 "core" ( +2 "manipulator"&& +4 "core" &Ӈ( H @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &Ӈ( D @Z +3 .tForearm.seek CC + "manipulator"&'? +92 "core" ' +2 .tHand.close + "manipulator"&x/ +63 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( + "storage"(w& +4 "core" &K K\  +2 "storage"(v& +4 "core" &K \  + "manipulator"&'& +4 "core" &Ө# b <9 + "manipulator"&h% +4 "core" % G L < +2 .tForearm.seek :retract + "manipulator"&3' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&j( +164 "core" ( +2 "manipulator"&& +4 "core" & 6  +2 "storage"(-& +3 "core" &K   _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"& '< +98 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&.1 +64 "core" 1 +2 "manipulator"&% +5 "core" % F . + "storage"(0& +4 "core" &K\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 310 counts +2 "manipulator"&Y'r +14 "core" ' +2 "manipulator"&%& +4 "core" &   + "storage"(& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +19 "core" ' +2 "storage"(X% +4 "core" % O\ \ +3 ."downElevator"SE.seek :down +3 "storage"(M' +99 (=% +2 "core" %@ >\ We +2 "manipulator"&g% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3317 #t-> exit +5 #mEXIT @1631796609.47PDT @1632142101.65PDT = =tMAIN =mMAIN_scheduler @PDT1632142103.53 #"core_reset"Sent BREAK +2 #t@55571 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +302 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +390 "Can"#\ ! + #\ ! + #tPolling Can every 10:00 +11 #Cleanly exited at 05:50:09PDT16-Sep-21 +1511 #-> ESP.ready! +4 #Powering core bus +569 .Gate.power :raw,:ON + "sampler") +25 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %)\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % f\ + .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +1327 #-> 5.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"';& +3 "core" & \  +2 .tHand.open + "manipulator"&<1 +65 "core" 1 + "manipulator"&=% +4 "core" %   Q  +2 "storage"(>% +3 "core" % \ < +2 "storage"(?. +3 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(@(,y +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &,y d e B\  +2 "manipulator"&B& +4 "core" & - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&C( +4 "core" ( + "manipulator"&D& +4 "core" & - + "storage"(E& +4 "core" &,y \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +95 "core" ' + "storage"(G& +4 "core" &,y I\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +296 "core" ' +2 "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +2 "core" &,j y U\  +2 "manipulator"&K& +4 "core" &  R - +2 .tElbow.seek 4 + "manipulator"&L( +3 "core" ( +2 "manipulator"&M& +3 "core" & 6 - +2 "storage"(N& +4 "core" &,j \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&O'c +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +37 .tHand.close +8 "manipulator"&P/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R' +8 "core" &  - + "manipulator"&S% +4 "core" % ϖ  0 +2 .tForearm.seek :retract +2 "manipulator"&T' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +152 "core" ( + ' + ."downElevator"SE.stop +4 "manipulator"&V& "storage"(5 +8 "core" &Ӂ- H Du + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &Ӂ-  K Du +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'? +94 "core" ' + "manipulator"&Y& +4 "core" &ӂ,  b Ct +2 "manipulator"&Z% +4 "core" %G  n +2 "collection"'[& +4 "core" & \  +2 "collection"'\\& +5 "core" & \  +2 .tCC.seek :closed +2 "collection"'](\\ +5 "core" & \  +6 &F \ %h +9 &jX \ 8 +10 &| \ M +9 &V \ N +10 &BW \ N +9 &X \ N +9 &Y \ N +10 &W \ N +9 &KX \ N +9 & X \ N +10 &X \ N +9 &!W \ N +10 &#SY \ N +9 &%W \ M +9 &&X \ N +10 &(X \ N +9 &*[W \ N +9 &,X \ N +10 &-U \ N +9 &/V \ N +10 &1bU \ N +9 &3%W \ N +9 &4V \ N +10 &6W \ N +9 &8jU \ N +9 &:-W \ N +10 &;U \ N +9 &=W \ M +9 &?rY \ N +10 &A5Y \ N +9 &B] \ N +10 &Db \ O +9 &Ftm \ P +10 &H/ H\ R +9 &I M\ V +9 &K \ Y +9 &M` \ Z +10 &O" F\ Z +9 &P \ Z +10 &R #\ [ +9 &Tc \ [ +10 &V# \ \\ +9 &W L\ \\ +9 &Y !\ ^ +9 &[d \ N +10 &\\= %\ 5 +9 &\\{ ;\ O +6 ( + "collection"'\\& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.11 + .Hand.open + "manipulator"&^1 +4 "core" &\\u *\ O +52 1 + "manipulator"&_% +5 "core" % G  e n + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&`' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%a& +4 "core" &A\  + "manipulator"&b% +4 "core" %   ]  +2 "storage"(c% +3 "core" % ) + \  +2 "storage"(d. +3 "core" .(,y + "storage"(e& +4 "core" &,j * + B\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(f(,y +44 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +2 "core" &,y  2 1\ +2 "manipulator"&h& +4 "core" &ӄ+ M Cr + "manipulator"&i% +4 "core" %  1  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&j( +162 "core" ( +2 "manipulator"&k& +4 "core" &  \ +2 "storage"(l& +3 "core" &,y K I M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&m' +98 "core" ' +2 "storage"(n& +4 "core" &,y L c e\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'r +299 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (q& +3 "core" &,g ( ( ;\  + "manipulator"&r& +4 "core" &  _ \ +2 .tElbow.seek 4 + "manipulator"&s( +4 "core" ( + "manipulator"&t& +4 "core" &  \ + "storage"(u& +4 "core" &,g + ( F\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&v'c +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b + .tHand.close +2 "manipulator"&w/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& + "storage"(y' +6 "core" &  m \ +2 "manipulator"&z% +4 "core" % ϔ  +2 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&|( +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&}& +5 "core" & } . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" & . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' + "manipulator"&& +5 "core" &  x - + "manipulator"&% +4 "core" % f K +2 "processing"%& +4 "core" &<\  +2 "processing"%& +6 "core" &=\  +2 .tPC.seek :closed + "processing"%(^ +4 "core" &>\  +9 &5y<\ +| +10 &e>\ @ +9 &[u;\ P +9 &X=\ O +10 &Y;\ O +9 &T9\ P +9 &c[<\ P +10 &&X?\ O +9 &X>\ O +10 &X<\ P +9 & kW<\ P +9 &".W?\ O +10 &#\\>\ P +9 &%U?\ O +9 &'sX=\ P +10 &)5V=\ P +9 &*X=\ O +9 &,Z=\ P +10 &.|U<\ O +9 &0<Y;\ P +10 &2W<\ O +9 &3U3\ O +9 &5V:\ O +10 &7FW;\ O +9 &9]8\ P +10 &:Y8\ P +9 &<X;\ O +9 &>M\\5\ P +10 &@Z4\ P +9 &A^0\ P +9 &Cf5\ Q +10 &EMt7\ R +9 &G\ +\ T +9 &H5\ V +10 &J6\ V +9 &LL1\ U +10 &N\ /\ W +9 &O/\ W +10 &Q0\ W +9 &SP/\ W +9 &U4\ W +10 &V0\ W +9 &X/\ W +10 &ZW0\ W +9 &\\0\ X +9 &]0\ 6 +9 &^3p0\ F +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&1 +3 "core" &^$1\ 1 +60 1 + "manipulator"&% +5 "core" %    K + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 "processing"% & +4 "core" &^%0\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&\ % +4 "core" % # ` 7 +2 "storage"( % +3 "core" % 6 5 \  +2 "storage"( . +3 "core" .(,y + "storage"( & +4 "core" &,g 5 5 \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,| 3 + a\ +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & - +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('r + "manipulator"&( +5 "core" ( + "manipulator"&& +4 "core" &  - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  f - +2 .tForearm.seek PC + "manipulator"&' +96 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%( +96 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +41 "core" ' +305 ( +2 "storage"(& +4 "core" &,f 3 ' \\\ + "manipulator"&& +4 "core" & C - + "manipulator"&"% +4 "core" %  v  +2 .tForearm.seek :retract + "manipulator"&%' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&'( +246 "core" ( + "manipulator"&(& +4 "core" &  } 3 +2 "storage"()& +3 "core" &,f * * ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +97 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +3 "storage"(#- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(,' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(-' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(.- +4 "core" -' + "storage"(/& +4 "core" &,f \\\ y +2 "manipulator"&0& +3 "core" &   9 3 +2 .tElbow.seek 4 +2 "manipulator"&1( +3 "core" ( + "manipulator"&2& +4 "core" & $ 3 +2 "storage"(3& +3 "core" &,f K\ x +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(5'" +58 "core" ' + "manipulator"&6& +5 "core" &  { 3 + "storage"(7& +4 "core" &,f 3 -\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&8'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&9, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(:' +29 "core" ' + "manipulator"&;% +5 "core" %K  + "storage"(<& +4 "core" &,f * * !\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&='w +14 "core" ' + "manipulator"&>& +5 "core" &  ` 3 + "storage"(?& +4 "core" &,f - 8 m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +17 "core" ' +2 "storage"(B% +4 "core" % 7 > \ +3 ."downElevator"SE.seek :down +3 "storage"(D' +99 (E% +2 "core" %OB   o\ Xf +2 "manipulator"&G% +4 "core" % , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +88 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ($& +4 "core" &,f 4 /\ +2 "collection"'&& +4 "core" &\\s $\ O + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&I% +4 "core" %   X  + "storage"( % +4 "core" % E : u\  + "storage"(J. +3 "core" .(,y +2 "storage"(K& +4 "core" &,f 4 .\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(M(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (N& +3 "core" &,z . ( \ +2 "manipulator"&P& +3 "core" &  > 3 +2 .tElbow.seek 4 +2 "manipulator"&Q( +4 "core" ( + "manipulator"&S& +4 "core" &  z 3 + "storage"(C& +4 "core" &,z 6 3\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +96 "core" ' + "storage"(V& +4 "core" &,z E A 8\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'r +301 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & 3 + "storage"(Y& +4 "core" &,h * 3 O\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&Z'7 +21 "core" ' +2 .tElbow.hold +2 "manipulator"&[, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 "storage"(L- +4 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate + "storage"(R'y +30 "core" ' + "manipulator"&T% +5 "core" %H  X  + "storage"(+& +4 "core" &,h 7 6 \ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts + "manipulator"&^'t +15 "core" ' + "manipulator"&_& +4 "core" & G 3 +2 "storage"(a& +4 "core" &,h I L C\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&b' +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(c' +41 "core" ' +2 "manipulator"&d& +4 "core" & 3 +2 "manipulator"&e% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +154 "core" ( +2 "manipulator"&h& +4 "core" &ӑ% = >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &ӑ& F >J +2 .tForearm.seek CC +2 "manipulator"&X'? +94 "core" ' + .tHand.close + "manipulator"&k/ +57 "core" / +2 .tCC.seek :open + "collection"'l( +448 "core" ( +2 "storage"(@& +4 "core" &,h o j \ \ + "storage"(n& +4 "core" &,h a d \ \ + "manipulator"&U& +4 "core" &Ӓ&   >I + "manipulator"&`% +4 "core" % H  0 +2 .tForearm.seek :retract +2 "manipulator"&p' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&q( +165 "core" ( + "manipulator"&r& +4 "core" &  A  +2 "storage"(t& +4 "core" &,h a [ i\ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&u'7 +98 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&x1 +63 "core" 1 + "manipulator"&z% +5 "core" % G , \ + "storage"(j& +4 "core" &,h \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&m's +14 "core" ' +2 "manipulator"&o& +4 "core" &  S  +2 "storage"(v& +57 "core" &,h s\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&}' +18 "core" ' + "storage"(~% +5 "core" % ~  X\ +2 ."downElevator"SE.seek :down +4 "storage"(s' +99 (% +3 "core" %9 i w \ V` +2 "manipulator"&% +4 "core" %  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'y& +4 "core" & $\ +2 "manipulator"&{% +3 "core" %    +2 "storage"(*% +4 "core" %  v\  +2 "storage"(. +3 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &<* Q O t\  +2 "manipulator"&\ & +4 "core" &   + .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"& & +3 "core" &  w  +2 "storage"(& +4 "core" &<* %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +95 "core" ' +2 "storage"(& +4 "core" &<* \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(- +4 "core" -'' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<* e [ u\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&f& +3 "core" &  u  +2 "storage"(& +4 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&|'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +7 "core" &  Z  +2 "manipulator"&% +4 "core" % ϵ  +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&"(ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &ӏ& w ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &ӏ&  ?S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'? +97 "core" ' + "manipulator"&& +5 "core" &Ӑ' \ I ?R + "manipulator"&% +4 "core" %C z ? +2 "collection"'#& +4 "core" & \ +2 "collection"'.& +5 "core" & \ +3 .tCC.seek :closed + "collection"'/(\\ +4 "core" & \  +9 &4~ \ *z +9 &e \ ? +10 &s \ N +9 &LW \ M +10 & W \ M +9 &V \ M +9 &X \ N +10 &TS \ M +9 &\\ \ M +9 &U \ M +10 & U \ M +9 &"[T 1\ M +9 &$U \ M +10 &%W \ N +9 &'W \ N +10 &)cU \ M +9 &+%Y \ M +9 &,Y \ M +10 &.Y J\ M +9 &0jW \ N +10 &2,V \ N +9 &3V |\ N +9 &5V `\ M +10 &7rT N\ N +9 &94W \ N +10 &:V \ N +9 &<V \ N +9 &>{Z :\ M +9 &@=Y \ M +10 &AX \ M +9 &C] \ N +10 &E}g u\ O +9 &G9u \ Q +10 &H \ T +9 &J 8\ X +9 &Lh \ Y +10 &N) \ Z +9 &O 5\ Y +9 &Q s\ Z +10 &Sk \ [\ +9 &U, !\ [ +10 &V H\ \\ +9 &X \ ] +9 &Zk c\ ^ +9 &\\{ q\ 5 +10 &\\& P\ "f +9 ( +2 &\\ e\ ^ + "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&01 +58 "core" 1 + "manipulator"&2% +5 "core" % C  ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%%& +4 "core" &/\ +2 "manipulator"&6% +3 "core" %  K  +2 "storage"(7% +4 "core" % z\  + "storage"(;. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(<(<- +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<+ E\  +2 "manipulator"&>& +4 "core" &ӑ& O ?Q + "manipulator"&?% +4 "core" %  ^  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&,( +162 "core" ( +2 "manipulator"&B& +4 "core" &   +2 "storage"('& +3 "core" &<+  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' + "storage"(-& +4 "core" &<+ 2 6 k\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'r +295 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +43 "core" &<+ 6 6 \  + "manipulator"&1& +5 "core" &  t  + .tElbow.seek 5 +2 "manipulator"&5( +3 "core" ( + "manipulator"&8& +4 "core" & `  + "storage"($& +4 "core" &<+ 6 6 (\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&='Ϲ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"( ' +7 "core" & {  +2 "manipulator"&J% +4 "core" % Ϯ { +2 .tForearm.seek :retract + "manipulator"&:' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&K( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( + "manipulator"&N& +4 "core" & s 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" & 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +92 "core" ' + "manipulator"&C& +4 "core" &  o 5 +2 "manipulator"&A% +4 "core" %  ~ M +2 "processing"%V& +3 "core" &3\ +2 "processing"%D& +6 "core" &0\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &<\  +8 &0t?\ *x +10 &a~<\ > +9 &dv=\ O +9 &$W;\ O +10 &Z=\ P +9 &W=\ O +10 &iZ;\ P +9 &+Z;\ P +9 &Y;\ P +10 &V:\ O +9 & rX,\ O +9 &"3T&\ P +10 &#Z:\ O +9 &%T?\ P +10 &'yZ6\ P +9 &);Y;\ P +9 &*Y;\ O +10 &,Y;\ O +9 &.T;\ P +9 &0DV2\ O +10 &2T;\ O +9 &3V9\ P +10 &5W:\ P +9 &7KW<\ P +9 &9 X4\ P +10 &:[;\ P +9 &<Z=\ O +9 &>SZ;\ P +10 &@\\>\ P +9 &Ab8\ P +10 &Cj1\ R +9 &EPx8\ T +9 &G 2\ V +10 &H7\ V +9 &J4\ V +9 &LQ/\ V +10 &N1\ V +9 &O/\ W +10 &Q/\ W +9 &SU(\ W +9 &U+\ W +10 &V2\ W +9 &X-\ W +9 &Z]/\ W +10 &\\*\ X +9 &](\ 6 +10 &^0p.\ J +8 ( +3 "processing"%D& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&91 +3 "core" &^,%\ 6 +51 1 + "manipulator"&!% +43 "core" %  H M +12 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +94 "core" ' +2 "processing"%O& +4 "core" &^+'\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&Y% +4 "core" %   \ +2 "storage"(L% +3 "core" %   \  +2 "storage"(T. +3 "core" .(<- + "storage"(+& +4 "core" &<+   \  +2 "storage"(_& +4 "manipulator"&a& +4 "core" &<+   \  + &  5 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&d( +4 ."raiseStack"SE.seek :beamBreak + "storage"(e'r +3 "core" ( + "manipulator"&F& +4 "core" &  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" & r 5 +2 .tForearm.seek PC +2 "manipulator"&W' +93 "core" ' + .tHand.close +2 "manipulator"&Z/ +64 "core" / +2 .tPC.seek :open +2 "processing"%^( +89 "core" ' +2 "storage"(R- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'1 +46 "core" ' +309 ( +2 "storage"(i& +4 "core" &<+ % ' -\  +2 "manipulator"&b& +3 "core" & i 5 +2 "manipulator"&[% +3 "core" %  v +2 .tForearm.seek :retract +2 "manipulator"&k' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\\( +245 "core" ( +2 "manipulator"&]& +4 "core" & N 6 + "storage"(@& +4 "core" &<+  '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&n'O +95 "core" ' + .tHand.open +2 "manipulator"&U1 +55 "core" 1 +2 "storage"(`- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(r' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(t' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(X- +4 "core" -' + "storage"(g& +4 "core" &<+ \ s +2 "manipulator"&x& +4 "core" &  m 6 + .tElbow.seek 5 +2 "manipulator"&z( +3 "core" ( +2 "manipulator"&j& +3 "core" & g 6 +2 "storage"(o& +4 "core" &<+ \ s +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&v'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(~'" +57 "core" ' +2 "manipulator"&p& +4 "core" & 6 +2 "storage"(q& +3 "core" &<+ + ' r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(u' +19 "core" ' + "manipulator"&y% +5 "core" %΋ + "storage"(m& +4 "core" &<+   \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 298 counts + "manipulator"&{'Ϸ +32 "core" ' +2 "manipulator"&*& +4 "core" &   # +2 "storage"(& +4 "core" &<+ ' & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&c'O +24 "core" ' + "storage"(}% +5 "core" %  \ +2 ."downElevator"SE.seek :down +5 "storage"(s' +99 (M% +3 "core" %D  [\ Wf + "manipulator"& % +5 "core" %\\ 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &<+   #\  +2 "collection"'& +4 "core" &\\ .\ ^ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %   +2 "storage"(w% +3 "core" % 2 5 \  +2 "storage"(. +3 "core" .(<- + "storage"(& +4 "core" &<+ 5 6\  +2 "storage"(& +3 "core" &<+ 2 +\  +2 "manipulator"&& +3 "core" & @ # +2 .tElbow.seek 5 +2 "manipulator"&f( +9 "core" ( + "manipulator"&& +5 "core" & P  + "storage"(& +4 "core" &<+ 6 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' +2 "storage"(& +4 "core" &<+ + * >\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & T  + "storage"((& +4 "core" &<+   U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'΍ +15 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(' +29 "core" ' + "manipulator"&#% +4 "core" %Κ  8 G +2 "storage"(& +3 "core" &<+ 2 - #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&' +14 "core" ' +2 "manipulator"&& +4 "core" &  m  +2 "storage"(l& +3 "core" &<+ ' & D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&0'O +15 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(2' +40 "core" ' +2 "manipulator"&%& +4 "core" & m  +2 "manipulator"&6% +3 "core" %=  5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&7' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&;(ӂ +150 "core" ( + "manipulator"&.& +4 "core" &z, / Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &z, Cr +2 .tForearm.seek CC +2 "manipulator"&>'? +90 "core" ' + .tHand.close +2 "manipulator"&?/ +53 "core" / +2 .tCC.seek :open + "collection"')( +448 "core" ( +2 "storage"(B& +3 "core" &<+ = < w\  +2 "storage"('& +4 "core" &<+ H A \  +2 "manipulator"&& +3 "core" &ӡ% G >K +2 "manipulator"&-% +3 "core" % K | 7 +2 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&3( +168 "core" ( + "manipulator"&G& +4 "core" &   +2 "storage"(4& +4 "core" &<+ d f &\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 + "manipulator"&1'΍ +92 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&$1 +60 "core" 1 +2 "manipulator"&&% +4 "core" % Ζ   6 + "storage"(I& +4 "core" &<+ g d R\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 309 counts +2 "manipulator"&J' +15 "core" ' +2 "manipulator"&,& +4 "core" &  P  + "storage"(& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&E'O +15 "core" ' +2 "storage"(=% +4 "core" % @\ +2 ."downElevator"SE.seek :down +5 "storage"(N' +99 (P% +3 "core" %> K ` 9\ Wb + "manipulator"&5% +4 "core" %B  w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C' +96 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'A& +4 "core" & K\ + "manipulator"&V% +4 "core" %  0 ! +2 "storage"( % +4 "core" % f m \  + "storage"(:. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (9& +3 "core" &K 9 ?\  +2 "manipulator"&!& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&D( +4 "core" ( + "manipulator"&O& +4 "core" & T  +2 "storage"(Y& +3 "core" &K c c Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&L' +101 "core" ' + "storage"(T& +4 "core" &K W\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'r +295 "core" ' +3 "storage"(a- +5 "core" -'$ + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (_& +3 "core" &K ? U >\  +2 "manipulator"&F& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( + "manipulator"&S& +4 "core" & l  + "storage"(Z& +4 "core" &K d f _\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&R'h +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&K/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"(' +8 "core" &  v  + "manipulator"&e% +4 "core" % ^  O +2 .tForearm.seek :retract +2 "manipulator"&i' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&b(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&[& +4 "core" &Ӊ+ Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &ӊ+ ' Cq +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'? +148 "core" ' + "manipulator"&@& +4 "core" &Ӌ,  Cp +2 "manipulator"&d% +4 "core" %?  . +2 "collection"'U& +4 "core" & \ +2 "collection"'`& +5 "core" & \ +2 .tCC.seek :closed + "collection"'X(\\ +5 "core" & \ +7 &9 \ $e +9 &Vy \ 7 +10 &y \ L +9 &T \ M +10 &tV \ M +9 &6V \ M +9 &W \ M +10 &V \ M +9 &|V \ M +9 &=U \ M +10 &U \ M +9 &!U \ M +10 &#V  \ M +9 &%EU \ M +9 &'U \ M +10 &(U \ M +9 &*R L\ M +9 &,NU .\ M +10 &.U \ M +9 &/T \ M +9 &1U >\ M +10 &3WU \ M +9 &5U \ M +10 &6U \ M +9 &8U \ M +9 &:^U \ M +10 &< U I\ M +9 &=U \ M +9 &?U &\ M +10 &AdW !\ N +9 &C%Z \ N +10 &Dc F\ O +9 &Fn 1\ P +10 &H] \ S +9 &J 0\ W +9 &K \ Y +9 &M \ Z +10 &OQ \ Z +9 &Q 7\ Z +10 &R -\ [ +9 &T \ [ +9 &VR \ \\ +10 &X [\ ] +9 &Y Q\ ^ +9 &[  \ K +10 &\\9 ,\ , +9 &\\} \ Z +3 ( + "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&g1 +54 "core" 1 +2 "manipulator"&x% +4 "core" % ? . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%o& +4 "core" &3\ +2 "manipulator"&k% +4 "core" %  L  + "storage"(p% +4 "core" %   B\  +2 "storage"(q. +3 "core" .(K + "storage"(y& +4 "core" &K   U\  +2 "storage"(m& +3 "core" &K   .\  +2 "manipulator"&h& +4 "core" &ӌ+ ' Co + "manipulator"&*% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&r( +163 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(}& +4 "core" &K 6 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&\\' +97 "core" ' + "storage"(n& +5 "core" &K * - <\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'r +296 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &K +  0\  +2 "manipulator"&v& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&z( +3 "core" ( +2 "manipulator"&~& +3 "core" & \ `  +2 "storage"(& +3 "core" &K * ) \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&{'h +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +8 "core" &  {  + "manipulator"&w% +4 "core" % σ % +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&u( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +91 "core" ' +2 "manipulator"&& +4 "core" &  w  + "manipulator"&% +4 "core" % ] m +2 "processing"%c& +4 "core" &.\ +2 "processing"%& +5 "core" &5\ +2 .tPC.seek :closed +2 "processing"%s(^ +4 "core" &;\ +6 & -7\ #a +10 &S},\ 7 +9 &}}'\ L +9 &W0\ P +10 &OT/\ O +9 &S6\ O +9 &Y=\ P +10 &V6\ P +9 &VU8\ P +9 &Z8\ O +10 &T7\ O +9 &!R9\ O +10 &#_W9\ O +9 &%!S7\ O +9 &&Y5\ O +10 &(Y7\ O +9 &*gZ7\ O +10 &,)Z7\ O +9 &-T7\ O +9 &/U7\ P +10 &1oY;\ O +9 &31W1\ O +9 &4U6\ P +10 &6W9\ O +9 &8vY5\ P +9 &:8X7\ P +10 &;Z1\ P +9 &=X1\ P +10 &?W5\ O +9 &A>\\9\ P +9 &Be7\ Q +10 &Dp<\ R +9 &Fw6\ U +10 &H85\ U +9 &I8\ V +9 &K9\ V +10 &Mz6\ W +9 &O<8\ V +9 &P2\ X +10 &R3\ W +9 &T8\ X +9 &VC4\ W +10 &X8\ W +9 &Y1\ W +10 &[5\ W +9 &]J6\ K +9 &^xI&\ ` +10 &^W%\ 6 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&1 +4 "core" &^-\ 6 +60 1 +2 "manipulator"&\ % +4 "core" %  m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 "processing"%& +4 "core" &^-&\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&(% +4 "core" % # 5 +2 "storage"(% +3 "core" % \  +2 "storage"(#. +3 "core" .(K + "storage"(& +4 "core" &K  E\  +2 "storage"(& +3 "manipulator"&l& +5 "core" &K  \  + &  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&%( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(6'r +2 "core" ( +2 "manipulator"&& +4 "core" & +  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +2 "core" &   +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%( +102 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(.'1 +46 "core" ' +294 ( + "storage"(& +4 "core" &K - 6\  +2 "manipulator"&0& +4 "core" & g  + "manipulator"&|% +4 "core" %  Z ' +2 .tForearm.seek :retract + "manipulator"&?' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&7( +239 "core" ( +2 "manipulator"&/& +4 "core" & > . +2 "storage"(B& +3 "core" &K + + X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'' +91 "core" ' + .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(-- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(G' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(4' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +4 "core" -' + "storage"(;& +4 "core" &K ^ y I\ m +2 "manipulator"&$& +3 "core" & \  - +2 .tElbow.seek 6 +2 "manipulator"&&( +3 "core" ( + "manipulator"&I& +4 "core" &   - +2 "storage"(,& +4 "core" &K Z\ m +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +53 "core" ' + "manipulator"&"& +5 "core" &  ^ - + "storage"(P& +4 "core" &K  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&5'< +26 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(1' +20 "core" ' +2 "manipulator"&A% +4 "core" %9 * +2 "storage"(V& +4 "core" &K  v\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 297 counts + "manipulator"&J'e +15 "core" ' +2 "manipulator"& & +4 "core" & q - +2 "storage"(:& +4 "core" &K + + I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +18 "core" ' +2 "storage"(E% +4 "core" % + + T\ +2 ."downElevator"SE.seek :down +4 "storage"(N' +99 (<% +2 "core" %ED  \ Xh +2 "manipulator"&9% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (O& +4 "core" &K   \  +2 "collection"'Y& +4 "core" &\\z +\ Z + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&T% +3 "core" %  .  +2 "storage"(8% +4 "core" % 6  D\  + "storage"(C. +3 "core" .(K +2 "storage"(a& +3 "core" &K 6 5 \  +2 "storage"(_& +4 "core" &K %  ;\  +2 "manipulator"&F& +3 "core" & I - +2 .tElbow.seek 6 +2 "manipulator"&S( +3 "core" ( + "manipulator"&Z& +4 "core" &  \\ - +2 "storage"(K& +3 "core" &K 5 5 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&H' +92 "core" ' +2 "storage"(e& +4 "core" &K ! T\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(D'r +295 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&[& +3 "core" & % - + "storage"(W& +4 "core" &K   T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&+'< +14 "core" ' + .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Q- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate + "storage"(@'| +30 "core" ' + "manipulator"&d% +4 "core" %Q  L = +2 "storage"(U& +4 "core" &K *  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 321 counts + "manipulator"&'} +14 "core" ' +2 "manipulator"&i& +4 "core" & _ - +2 "storage"()& +3 "core" &K + * P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +54 .tForearm.seek 6 + 450 counts +2 "manipulator"&g' +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(x' +35 "core" ' +2 "manipulator"&o& +4 "core" & b - +2 "manipulator"&k% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +155 "core" ( +2 "manipulator"&y& +4 "core" &Ӗ!  :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &Ӗ! - :0 +2 .tForearm.seek CC +2 "manipulator"&h'? +94 "core" ' + .tHand.close + "manipulator"&`/ +62 "core" / +2 .tCC.seek :open + "collection"'*( +451 "core" ( +2 "storage"(]& +4 "core" &K 6 Q 0\  + "storage"(& +4 "core" &K ? > \  + "manipulator"&}& +4 "core" &Ӗ!  Y :0 +2 "manipulator"&n% +3 "core" % @ j I +2 .tForearm.seek :retract +2 "manipulator"&b' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&j( +164 "core" ( +2 "manipulator"&M& +4 "core" & l  + "storage"( & +4 "core" &K O O w\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&v'< +95 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"& % +4 "core" % 7  h 3 +2 "storage"(& +3 "core" &K d d \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 295 counts +2 "manipulator"&w'c +14 "core" ' +2 "manipulator"&r& +4 "core" & N  + "storage"(\\& +4 "core" &K ` b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&t' +20 "core" ' +2 "storage"({% +4 "core" % f d G\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %@ K K h\ Wd +2 "manipulator"&z% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & @\ +2 "manipulator"&c% +4 "core" %    + "storage"(% +4 "core" % d c \  +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(^(,y +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,{ D B \ +2 "manipulator"&\ & +3 "core" & c  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&(& +4 "core" & ?  + "storage"(& +4 "core" &,{ V Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&#' +92 "core" ' + "storage"(& +4 "core" &,{ Z a s\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,i V > t\ +2 "manipulator"&& +4 "core" &  ?  + .tElbow.seek 4 +2 "manipulator"&f( +4 "core" ( + "manipulator"&& +4 "core" & d  +2 "storage"(& +3 "core" &,i 8 8 \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&u/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(s' +6 "core" &   +2 "manipulator"&6% +4 "core" % ϐ { +2 .tForearm.seek :retract + "manipulator"&' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0(ӂ +159 "core" ( + "manipulator"&|& +5 "core" ' + &ӏ% x >N + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӏ% P >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&/'? +93 "core" ' +2 "manipulator"&B& +4 "core" &ӏ% l >N +2 "manipulator"&%% +3 "core" %6 $ v +2 "collection"'& +4 "core" & \ +2 "collection"'-& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'>(\\ +3 "core" & \ +7 & , \ $d +9 &Vx \ 7 +9 &y \ L +10 &V \ M +9 &gT \ M +9 &*U \ M +10 &U \ L +9 &U \ M +10 &pR \ M +9 &2U \ M +9 &S \ M +10 &!T \ M +9 &#wY \ M +9 &%;S \ L +10 &&T \ M +9 &(U \ M +10 &*U \ M +9 &,BR \ M +9 &.S \ M +10 &/V  \ M +9 &1T \ L +9 &3JS \ M +10 &5 V \ M +9 &6R \ M +10 &8S \ M +9 &:ST  \ L +9 &<U \ M +10 &=T \ M +9 &?U \ M +10 &AXY \ M +9 &C[ \ M +9 &D` \ N +10 &Fi \ O +9 &HQ \ R +9 &J \ V +10 &K \ Y +9 &M \ Z +9 &OD \ Z +10 &Q \ Z +9 &R \ Z +10 &T \ \\ +9 &VF \ \\ +9 &X \ ] +10 &Y \ ^ +9 &[ \ K +9 &\\: \ - +10 &\\ \ [ +5 ( +2 "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&;1 +3 "core" &\\| \ [ +53 1 +2 "manipulator"&$% +4 "core" % 6 6 v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%,& +4 "core" &\ +2 "manipulator"&?% +3 "core" %  U  +2 "storage"("% +4 "core" %  _\  +2 "storage"(P. +3 "core" .(,| + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(A(,y +26 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &,{  \ +2 "manipulator"&.& +4 "core" &ӏ% >N +2 "manipulator"& % +3 "core" %  C  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&:( +164 "core" ( + "manipulator"&G& +4 "core" &    +2 "storage"(E& +4 "core" &,{ 5 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +92 "core" ' + "storage"('& +4 "core" &,{  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'r +301 "core" ' + "storage"(<- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +2 "core" &,h \  t\ \ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&&( +3 "core" ( + "manipulator"&=& +4 "core" &   + "storage"(5& +4 "core" &,h + ( $\ \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&O'c +36 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& + "storage"(T' +8 "core" &  + "manipulator"&8% +4 "core" % ϒ c +2 .tForearm.seek :retract + "manipulator"&C' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&1( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&a& +4 "core" & i / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" & : / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F' +101 "core" ' + "manipulator"&Z& +4 "core" & / +2 "manipulator"&K% +4 "core" % e ~ +2 "processing"%2& +3 "core" &\ +2 "processing"%e& +5 "core" &,\ +2 .tPC.seek :closed +2 "processing"%N(^ +4 "core" &\ \ +10 &0t/\ *x +9 &b~\ > +9 &ht2\ O +10 &(R4\ O +9 &S;\ O +9 &Q2\ O +10 &mU\ P +9 &/U\ P +10 &W\ P +9 &S\ \ O +9 & vU5\ O +10 &"8V1\ O +9 &#W7\ P +9 &%T1\ O +10 &'~T>\ O +9 &)@Q8\ O +10 &+S7\ O +9 &,W7\ O +9 &.V8\ O +10 &0GX7\ P +9 &2 U6\ P +9 &3T5\ O +10 &5R0\ O +9 &7PR;\ O +10 &9V8\ O +9 &:Y9\ P +9 &<X1\ O +10 &>WW1\ P +9 &@W8\ O +9 &A]6\ P +10 &Cc7\ Q +9 &EWq1\ R +9 &G8\ T +10 &H6\ V +10 &J4\ V +9 &LU<\ V +9 &N:\ W +10 &O<\ W +9 &Q8\ W +9 &SV8\ X +9 &U?\ W +10 &V:\ X +9 &X<\ W +10 &Za9\ W +9 &\\!<\ X +10 &]~9\ 6 +9 &^+k9\ !a +9 &^<3\ ; +2 ( +2 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&31 +52 "core" 1 +2 "manipulator"&!% +4 "core" %   ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +96 "core" ' + "processing"%[& +4 "core" &^8,\ ; +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&W% +4 "core" %    +2 "storage"(Q% +3 "core" %   S\  +2 "storage"(d. +3 "core" .(,y + "storage"(U& +4 "core" &,h  4\ \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(i(,y +27 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +56 ()& +4 "core" &,|   B\ + "manipulator"&o& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & ' / +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&k( +2 "storage"(H'r +5 "core" ( + "manipulator"&S& +4 "core" & G / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &  / +2 .tForearm.seek PC +2 "manipulator"&+' +92 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%@( +101 "core" ' +2 "storage"(y- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'1 +42 "core" ' +299 ( +2 "storage"(g& +4 "core" &,d - + "\  + "manipulator"&R& +4 "core" & / + "manipulator"&`% +4 "core" %  " +2 .tForearm.seek :retract +2 "manipulator"&p' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&X( +244 "core" ( +2 "manipulator"&]& +16 "core" &  3 +2 "storage"(& +4 "core" &,d ( ) \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&}' +96 "core" ' +2 .tHand.open + "manipulator"&n1 +61 "core" 1 +2 "storage"(M- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"( ' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(h' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +4 "core" -' +2 "storage"(& +3 "core" &,d h ^ \ k +2 "manipulator"& & +4 "core" &   3 + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&r& +4 "core" &  \  3 + "storage"(\\& +4 "core" &,d \\\ x +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(b'" +49 "core" ' +2 "manipulator"&& +4 "core" &  3 +2 "storage"(z& +4 "core" &,d   \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&j'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +28 "core" ' +2 "manipulator"&w% +4 "core" %5 H C +2 "storage"(c& +4 "core" &,d  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 298 counts + "manipulator"&'a +16 "core" ' +2 "manipulator"&& +4 "core" & 3 +2 "storage"(x& +4 "core" &,d ' ) \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&t' +19 "core" ' +2 "storage"(% +4 "core" % * * F\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +2 "core" %AH   .\ Wf +2 "manipulator"&\ % +4 "core" % x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &,d b\  + "collection"'& +4 "core" &\\{ +\ [ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&~% +4 "core" %  t  +2 "storage"(% +3 "core" %  \  +2 "storage"(l. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +47 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,{   (\ + "manipulator"&& +4 "core" & 3 +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&u& +4 "core" &  3 +2 "storage"( & +3 "core" &,{  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +96 "core" ' +2 "storage"(& +4 "core" &,{ 0 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'r +304 "core" ' + "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +2 "core" & Y 3 +2 "storage"(& +4 "core" &,h  [\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('x +29 "core" ' +2 "manipulator"&f% +4 "core" %C U + "storage"(s& +4 "core" &,h \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 312 counts +2 "manipulator"&'o +15 "core" ' +2 "manipulator"&*& +4 "core" &  y 3 +2 "storage"(;& +3 "core" &,h 3 , L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&$' +20 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(,' +34 "core" ' + "manipulator"&?& +4 "core" & W 3 +2 "manipulator"&"% +4 "core" % J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&-(ӂ +155 "core" ( + "manipulator"&V& +4 "core" &Ӎ- Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &Ӎ- Dv +2 .tForearm.seek CC + "manipulator"& '? +97 "core" ' + .tHand.close + "manipulator"&// +62 "core" / + .tCC.seek :open +2 "collection"'G( +448 "core" ( +2 "storage"(E& +4 "core" &,h 4 0 W\  + "storage"(^& +4 "core" &,h 5 4\  +2 "manipulator"&'& +3 "core" &Ӓ+ c Cq +2 "manipulator"&0% +3 "core" % @ w 1 +2 .tForearm.seek :retract + "manipulator"&I' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&<( +171 "core" ( + "manipulator"&9& +4 "core" &  g  +2 "storage"(& +4 "core" &,h H = \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&='7 +94 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&J1 +64 "core" 1 +2 "manipulator"&Y% +4 "core" % J  T +2 "storage"(8& +3 "core" &,h c I u\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&:'v +16 "core" ' + "manipulator"&7& +4 "core" &  P  +2 "storage"(4& +4 "core" &,h c b \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&O' +21 "core" ' + "storage"(a% +4 "core" % c c ,\ +2 ."downElevator"SE.seek :down +4 "storage"(_' +99 (&% +2 "core" %> M N O\ Vb +2 "manipulator"&Z% +4 "core" %\  m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +96 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'2& +4 "core" & \ +2 "manipulator"&T% +4 "core" % "  + "storage"(C% +52 "core" % U U\  +3 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(3(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (!& +3 "core" &<* ( - 4\  +2 "manipulator"&[& +3 "core" &  `  +2 .tElbow.seek 5 + "manipulator"&W( +4 "core" ( + "manipulator"&Q& +4 "core" &  N  + "storage"(d& +4 "core" &<* < J {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&U'O +95 "core" ' + "storage"(e& +4 "core" &<* a e 8\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'r +309 "core" ' + "storage"(o- +4 "core" -'( + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &<* S > '\  + "manipulator"&D& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&F( +4 "core" ( + "manipulator"&& +4 "core" &  1  + "storage"(A& +4 "core" &<* e f \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&y'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&L& + "storage"(N' +6 "core" &  w  +2 "manipulator"&H% +4 "core" % ϳ e +2 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&`& +5 "core" &Ӓ& ?U + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &ӓ& T ?T +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'? +100 "core" ' +2 "manipulator"&& +5 "core" &Ӕ& ?S + "manipulator"&k% +4 "core" %< / +2 "collection"'n& +4 "core" & \ +2 "collection"'M& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'q(\\ +4 "core" & \  +8 &5{ \ +{ +10 & f~ \ ? +9 &o \ N +9 &UT \ L +10 &W \ M +9 &W \ M +9 &U \ M +10 &\\Q \ M +9 &W \ M +10 &U \ M +9 & Q \ L +9 &"dR \ M +10 &$'W \ L +9 &%R \ M +10 &'U \ M +9 &)lR \ M +9 &+/V \ L +10 &,R \ M +9 &.V \ L +9 &0uR \ L +10 &27S \ L +9 &3V \ L +9 &5R \ M +10 &7|W \ M +9 &9>U \ M +10 &;R \ L +9 &<T \ L +9 &>X \ M +10 &@FR \ M +9 &BU \ M +9 &C[ \ M +10 &Eb \ O +9 &GDr \ P +10 &H \ T +9 &J \ W +9 &Lp \ Y +10 &N2 \ Y +9 &O \ Z +9 &Q \ Y +10 &Sr \ [\ +9 &U3 \ [ +10 &V \ [ +9 &X \ ] +9 &Zt \ ] +10 &\\{ \ 2 +9 &\\+ \ #j +9 ( +3 "collection"'M& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&1 +3 "core" &\\ \ X +52 1 + "manipulator"& % +5 "core" % < $ / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r' +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%\\& +4 "core" &\ + "manipulator"&p% +4 "core" %   +2 "storage"(% +4 "core" %  K\  + "storage"(z. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(w(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (c& +3 "core" &<* c\ \  +2 "manipulator"&m& +4 "core" &Ӗ& ?Q + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&x( +162 "core" ( + "manipulator"& & +4 "core" & +2 "storage"(& +4 "core" &<* ) ( .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&X'O +95 "core" ' + "storage"(}& +4 "core" &<* ) 0 \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (\ & +3 "core" &<*   P\  +2 "manipulator"&{& +3 "core" &  v +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&b& +4 "core" & +2 "storage"(j& +3 "core" &<* ' ) \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +40 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(~' +7 "core" & N +2 "manipulator"&% +21 "core" %  H 9 +2 .tForearm.seek :retract +2 "manipulator"&l' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&& +4 "core" & V % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & L % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u' +92 "core" ' + "manipulator"& & +5 "core" &  % + "manipulator"&t% +4 "core" % _ F +2 "processing"%& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%i(^ +4 "core" &\ +8 &6\ $c +10 &S{\ 7 +9 &}{\ L +9 &V\ O +10 &YT\ O +9 &V\ O +9 &W\ P +10 &U\ O +9 &aQ\ O +10 &#S\ O +9 &T\ O +9 &!T5\ P +10 &#iT?\ O +9 &%+Q=\ O +9 &&U>\ P +10 &(U!\ P +9 &*pU8\ P +10 &,3UE\ O +9 &-QE\ O +9 &/WF\ O +10 &1yU9\ O +9 &3;R7\ O +10 &4T8\ O +9 &6Q=\ O +9 &8X>\ O +10 &:CW7\ O +9 &<U6\ O +9 &=W?\ P +10 &?T1\ P +9 &AJY6\ P +9 &Cg9\ Q +10 &Dn:\ S +9 &F5\ U +10 &H?7\ V +9 &J7\ U +9 &K6\ V +10 &M8\ W +9 &OF>\ V +9 &QB\ W +10 &R@\ W +9 &T<\ X +10 &VM6\ W +9 &X ;\ X +9 &YA\ W +10 &[<\ W +9 &]T7\ G +9 &^}F|8\ "g +10 &^<@\ 6 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&v1 +3 "core" &^':\ 6 +61 1 + "manipulator"&(% +4 "core" %   F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +96 "core" ' +2 "processing"% & +4 "core" &^'2\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" % # H / + "storage"(%% +4 "core" % \  +2 "storage"(f. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(s(<- +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +4 "core" &<+ \  + "manipulator"&;& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & % +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(?'r + "manipulator"&"( +5 "core" ( + "manipulator"&6& +4 "core" &  % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & % +2 .tForearm.seek PC +2 "manipulator"&#' +94 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(V'1 +40 "core" ' +317 ( +2 "storage"(.& +4 "core" &<+   W\  + "manipulator"&$& +4 "core" & * % + "manipulator"&B% +4 "core" %  j Q +2 .tForearm.seek :retract + "manipulator"&/' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&P( +245 "core" ( +2 "manipulator"&>& +4 "core" & g & + "storage"(E& +4 "core" &<+   Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +52 .tForearm.seek 5 + 450 counts +3 "manipulator"&^'O +94 "core" ' +2 .tHand.open + "manipulator"&'1 +55 "core" 1 +2 "storage"(0- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(9' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(-& +4 "core" &<+ \ o +2 "manipulator"&J& +4 "core" &  % +2 .tElbow.seek 5 + "manipulator"&Y( +4 "core" ( + "manipulator"&8& +4 "core" &   6 % +2 "storage"(7& +3 "core" &<+ \ o +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&4'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(a'" +54 "core" ' + "manipulator"&I& +5 "core" & % + "storage"(&& +4 "core" &<+ 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Z'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(=' +20 "core" ' + "manipulator"&2% +5 "core" %Π G ? + "storage"(:& +4 "core" &<+   G\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&T' +14 "core" ' +2 "manipulator"&C& +4 "core" & 5 # +2 "storage"(,& +4 "core" &<+   C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +16 "core" ' +2 "storage"(O% +4 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(_' +99 (% +2 "core" %KD '\ Wg +2 "manipulator"&!% +4 "core" %G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +86 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (Q& +3 "core" &<+  \  +2 "collection"'d& +4 "core" &\\ \ X +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&e% +4 "core" %  f  +2 "storage"(5% +3 "core" %   \  +2 "storage"(K. +3 "core" .(<- + "storage"(o& +4 "core" &<+   \  +2 "storage"(S& +3 "core" &<+   \ \  +2 "manipulator"&D& +4 "core" & 4 # +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&A& +4 "core" &  # +2 "storage"(1& +3 "core" &<+  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +94 "core" ' +2 "storage"(H& +4 "core" &<+ 5 ,\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'r +295 "core" ' + "storage"(U- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +2 "core" &  ? # +2 "storage"(+& +4 "core" &<+   \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&)'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(k' +29 "core" ' +2 "manipulator"&n% +4 "core" %Ύ ) + "storage"(F& +4 "core" &<+   \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&N'Ϻ +14 "core" ' + "manipulator"&g& +5 "core" &   ! + "storage"(G& +4 "core" &<+   J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +17 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"( ' +35 "core" ' + "manipulator"&\\& +5 "core" & ! + "manipulator"&p% +4 "core" %>  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z(ӂ +162 "core" ( + "manipulator"&M& +4 "core" &Ӈ  < 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &Ӈ ; 4 +2 .tForearm.seek CC +2 "manipulator"&m'? +91 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"']( +450 "core" ( +2 "storage"( & +4 "core" &<+ ? 8 <\  + "storage"(& +4 "core" &<+ % ( $\  + "manipulator"&3& +4 "core" &ӈ P 4 +2 "manipulator"&}% +3 "core" % A = = +2 .tForearm.seek :retract + "manipulator"&R' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&r( +166 "core" ( +2 "manipulator"&& +4 "core" & H  +2 "storage"(\ & +3 "core" &<+ L L \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&{'΍ +94 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +53 "core" 1 +2 "manipulator"&% +5 "core" % Θ  R & + "storage"(& +4 "core" &<+ M L U\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&x& +4 "core" &  v  +2 "storage"(X& +4 "core" &<+ a c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&h'O +15 "core" ' + "storage"(% +4 "core" % Y W\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +2 "core" %> @ J (\ Vb +2 "manipulator"&% +4 "core" %A  U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'t& +4 "core" & \ + "manipulator"&% +4 "core" %  j  +2 "storage"(~% +4 "core" % Y `\  +2 "storage"(l. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(@(K +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +2 "core" &K + 1 -\  +2 "manipulator"&(& +3 "core" & y  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" &  1  + "storage"(%& +4 "core" &K Z a \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&f' +92 "core" ' + "storage"(& +4 "core" &K d e +\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'r +296 "core" ' +2 "storage"(;- +3 "core" -'" +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" &K A B \  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(w& +3 "core" &K N M \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& + "storage"(i' +6 "core" &   +2 "manipulator"&?% +3 "core" % τ ` +2 .tForearm.seek :retract +2 "manipulator"&.' +90 "core" ' + .tElbow.seek CC +51 "manipulator"&$(ӂ +108 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +46 "core" ( + "manipulator"&B& +4 "core" &Ӊ*  Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &ӊ* R Bg +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&>'? +95 "core" ' +2 "manipulator"&E& +5 "core" &ӊ* p Bg + "manipulator"&"% +4 "core" %7 e z +2 "collection"''& +4 "core" & \ +2 "collection"'0& +6 "core" & \ +2 .tCC.seek :closed + "collection"' (\\ +5 "core" & \ +7 &2 \ $d +9 &Vv \ 7 +10 &v \ K +9 &P \ M +10 &hQ \ L +9 &)W \ L +9 &W \ L +10 &R \ L +9 &oQ \ L +9 &1Q \ L +10 &Q \ L +9 &!U \ L +10 &#wW \ L +9 &%9U \ L +9 &&V \ L +10 &(W \ L +9 &*V \ L +9 &,AU \ L +10 &.U \ L +9 &/U \ L +10 &1U \ M +9 &3HS \ M +9 &5 S \ L +10 &6Q \ L +9 &8Q \ L +9 &:PR \ M +10 &<U \ M +9 &=U \ M +10 &?R \ L +9 &AXX \ M +9 &C[ \ M +10 &Dc \ N +9 &Fm \ O +9 &HP \ R +10 &J \ V +9 &K \ X +10 &M \ Y +9 &OB \ Z +9 &Q \ Y +10 &R \ [ +9 &T \ [\ +9 &VC \ \\ +10 &X \ \\ +9 &Y \ ] +10 &[ \ K +9 &\\9 \ - +10 &\\ \ Y +5 ( + "collection"'0& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&-1 +4 "core" &\\ \ Y +59 1 + "manipulator"&J% +4 "core" % 7  z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&8' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%7& +4 "core" &\ +2 "manipulator"&/% +4 "core" %  R  +2 "storage"(I% +3 "core" %  S\  +2 "storage"(&. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(2(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (:& +3 "core" &K j\  +2 "manipulator"&V& +4 "core" &Ӌ* Bf + "manipulator"&C% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&,( +168 "core" ( +2 "manipulator"&9& +4 "core" &    + "storage"(O& +4 "core" &K   @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&P' +90 "core" ' +2 "storage"(^& +4 "core" &K # B\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" &K   -\  +2 "manipulator"&4& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&Y( +3 "core" ( +2 "manipulator"&a& +4 "core" &  ?  + "storage"(Z& +4 "core" &K & ) "\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Q'h +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(e' +7 "core" & g  +2 "manipulator"&5% +4 "core" % | ^ +2 .tForearm.seek :retract +2 "manipulator"&K' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&=( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&o& +4 "core" &  # 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &  8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&D' +97 "core" ' + "manipulator"&A& +4 "core" & = 8 +2 "manipulator"&1% +4 "core" % & $ +2 "processing"%& +4 "core" &\ +2 "processing"%H& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%_(^ +4 "core" &\  +8 &1x\ *x +10 &a\ > +9 &gt\ O +10 &&T\ P +9 &U\ O +9 &T\ O +10 &mV\ O +9 &0T\ O +9 &U\ O +10 &V\ O +9 & uU\ O +10 &"8Q\ O +9 &#U\ O +9 &%S\ O +10 &'|U\ P +9 &)?S\ O +9 &+U\ O +10 &,S.\ O +9 &.R\ P +10 &0GU\ O +9 &2\ U!\ O +9 &3S=\ O +10 &5TA\ O +9 &7OTA\ O +9 &9Y=\ O +10 &:W;\ P +9 &<U?\ O +10 &>WU@\ O +9 &@W@\ O +9 &Ab?\ Q +10 &Cj@\ Q +9 &ETz\ S +9 &G6\ U +10 &H8\ U +9 &J8\ V +10 &LT?\ V +9 &N@\ V +9 &O?\ W +10 &Q>\ W +9 &SX@\ W +9 &UA\ W +10 &V?\ W +9 &X>\ V +10 &Za?\ W +9 &\\!?\ X +10 &]{A\ : +9 &^1?\ V +9 &^(?\ 5 +2 ( +2 "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&<1 +59 "core" 1 + "manipulator"&[% +3 "core" %  $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +94 "core" ' +2 "processing"%`& +4 "core" &^'?\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&+% +4 "core" % ! 6 $ + "storage"(% +4 "core" % e\  + "storage"(n. +4 "core" .(K + "storage"(F& +4 "core" &K \  +2 "storage"(g& +3 "manipulator"&G& +6 "core" &K 4\  + &  8 +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b +2 "manipulator"&\\( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(p'r +2 "core" ( +2 "manipulator"&L& +4 "core" & 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & R 8 +2 .tForearm.seek PC +2 "manipulator"&W' +92 "core" ' + .tHand.close +2 "manipulator"&)/ +61 "core" / + .tPC.seek :open +2 "processing"%N( +95 "core" ' + "storage"(k- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'1 +44 "core" ' +303 ( +2 "storage"(c& +4 "core" &K   E\  +2 "manipulator"&& +3 "core" & D 8 +2 "manipulator"&y% +4 "core" %  - : + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +246 "core" ( + "manipulator"&q& +4 "core" & 0 +2 "storage"( & +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' + .tHand.open + "manipulator"&31 +55 "core" 1 +2 "storage"(}- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\ ' +56 "core" ' + #tLights, camera, ACTION! + "storage"(m- +4 "core" -' +2 "storage"(z& +3 "core" &K   v\ ] +2 "manipulator"&j& +4 "core" &   0 +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   [ 0 + "storage"(x& +4 "core" &K +\ u +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&X' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +62 "core" ' +2 "manipulator"&R& +4 "core" & k 0 + "storage"(& +4 "core" &K   (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'< +26 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"({' +20 "core" ' +2 "manipulator"&t% +4 "core" %N 3 +2 "storage"(& +4 "core" &K e\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'z +14 "core" ' +2 "manipulator"&~& +4 "core" &  9 / +2 "storage"(l& +4 "core" &K   7\  +53 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +21 "core" ' + "storage"(h% +5 "core" %   3\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (s% +3 "core" %E\ Xi +2 "manipulator"&v% +4 "core" % p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K \  +2 "collection"'%& +4 "core" &\\ \ Y +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  t  +2 "storage"(b% +3 "core" %   q\  +2 "storage"( . +3 "core" .(K + "storage"(;& +4 "core" &K \  +2 "storage"(6& +4 "core" &K   k\  + "manipulator"&& +4 "core" &  v / +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&w& +4 "core" &  / + "storage"(& +4 "core" &K   a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +94 "core" ' +2 "storage"(?& +4 "core" &K * * \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +308 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +2 "core" &  = / +2 "storage"(& +4 "core" &K   "\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&B'< +24 "core" ' + .tElbow.hold + "manipulator"&#, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(E- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"("'{ +32 "core" ' + "manipulator"&'% +4 "core" %0 ; +2 "storage"(u& +3 "core" &K  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 288 counts + "manipulator"&i'\\ +16 "core" ' + "manipulator"&.& +5 "core" &  l / + "storage"(]& +4 "core" &K ) * \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&-' +20 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(J' +33 "core" ' +2 "manipulator"&7& +4 "core" & / +2 "manipulator"&/% +3 "core" % ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +154 "core" ( +2 "manipulator"&0& +4 "core" &Ӎ( @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +2 "core" &Ӎ( , @[ +2 .tForearm.seek CC +2 "manipulator"&V'? +95 "core" ' + .tHand.close + "manipulator"&C/ +55 "core" / +2 .tCC.seek :open +2 "collection"'>( +448 "core" ( + "storage"(9& +4 "core" &K + ' k\  +2 "storage"(O& +3 "core" &K * 2 1\  +2 "manipulator"&@& +3 "core" &ӎ( O @Z +2 "manipulator"&^% +3 "core" % 5  : @ +2 .tForearm.seek :retract +2 "manipulator"&$' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&8( +165 "core" ( +2 "manipulator"&& +4 "core" &  -  + "storage"(!& +4 "core" &K C >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&4'< +94 "core" ' + .tElbow.hold + "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Z1 +54 "core" 1 +2 "manipulator"&T% +5 "core" % P  R + "storage"(d& +4 "core" &K 5 E r\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&5'| +13 "core" ' +2 "manipulator"&,& +4 "core" & I  + "storage"(P& +4 "core" &K 4 3 %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +20 "core" ' + "storage"(Q% +4 "core" % Y c\ +2 ."downElevator"SE.seek :down +4 "storage"(o' +99 (S% +2 "core" %? D D o\ Vc +2 "manipulator"&Y% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&A' +88 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'1& +4 "core" & \ +2 "manipulator"&% +4 "core" %  m  +2 "storage"(e% +3 "core" % a J 0\  +2 "storage"(K. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((,y +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" &,| 9 ,\ + "manipulator"&[& +4 "core" & t  + .tElbow.seek 4 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&+& +3 "core" & g  +2 "storage"(& +3 "core" &,| 7 6 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +91 "core" ' +2 "storage"(F& +4 "core" &,| d e ,\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'r +297 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (H& +3 "core" &,j + = 4\  + "manipulator"&L& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&D& +4 "core" &  + "storage"()& +4 "core" &,j L K Z\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&k'c +38 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&U& + "storage"(_' +8 "core" &  + "manipulator"&p% +4 "core" % | C S +2 .tForearm.seek :retract +2 "manipulator"&c' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&y& +5 "core" &ӓ  4 :1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &ӓ! 5 :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&q'? +84 "Can"$\ GD +7 "core" ' + "manipulator"& & +4 "core" &Ӕ! V :0 +2 "manipulator"&\\% +4 "core" %B | +2 "collection"'3& +4 "core" & \ +2 "collection"'}& +5 "core" & \ +2 .tCC.seek :closed + "collection"'m(\\ +5 "core" & \ +7 &? \ %g +10 &Yy \ 8 +9 &t \ L +9 &R \ M +10 &S \ L +9 &GT \ L +9 & U \ L +10 &T \ L +9 &S \ M +10 &OR \ L +9 & S \ M +9 &!R \ L +10 &#U \ M +9 &%XS \ L +9 &'S \ L +10 &(R \ L +9 &*U \ L +10 &,_S \ L +9 &.!U \ L +9 &/S \ L +10 &1T \ M +9 &3gT \ L +9 &5)R \ L +10 &6Q \ L +9 &8S \ M +10 &:oS \ L +9 &<0T \ M +9 &=T \ L +10 &?R \ L +9 &AwR \ L +9 &C8X \ M +10 &D` \ N +9 &Fk \ O +10 &Ho} \ R +9 &J& \ V +9 &K \ X +10 &M \ Y +9 &Oa \ Y +9 &Q" \ Z +10 &R \ [ +9 &T \ [ +10 &Vb \ \\ +9 &X# \ \\ +10 &Y \ ] +9 &[ \ J +9 &\\5 \ 0 +10 &\\s \ P +2 ( + "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&z1 +60 "core" 1 +2 "manipulator"&j% +5 "core" % B  K | + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%x& +4 "core" &\ + "manipulator"&% +4 "core" %   +2 "storage"(R% +3 "core" %   @\  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +51 "storage"($\ .\ 1~b +4 .tSC.seek 4 + "storage"(t(,y +29 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,{   \ +2 "manipulator"&M& +4 "core" &Ӕ! g :0 + "manipulator"&~% +4 "core" %  N  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&l( +164 "core" ( + "manipulator"&& +4 "core" & (  +2 "storage"(& +4 "core" &,{ ) ( \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +96 "core" ' +2 "storage"(& +4 "core" &,{  ' \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'r +299 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (s& +3 "core" &,i \  +2 "manipulator"&v& +3 "core" & :  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & /  + "storage"(& +4 "core" &,i   \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +39 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(' +8 "core" &  3  +2 "manipulator"&b% +4 "core" % | 5 U +2 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&;( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&{& +4 "core" &  w +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" & M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +99 "core" ' +2 "manipulator"&w& +4 "core" & $ +2 "manipulator"&% +3 "core" % ! +2 "processing"% & +4 "core" &\ +2 "processing"%?& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\ +8 & -\ #a +9 &V}\ 7 +9 &~y\ L +10 &V\ O +9 &UT\ O +9 &R\ O +10 &T\ O +9 &T\ O +9 &_T\ O +10 & V\ O +9 &R\ O +10 &!R\ O +9 &#gT\ O +9 &%)R\ O +10 &&T\ O +9 &(U\ O +9 &*mU\ O +10 &,/U3\ O +9 &-S \ O +9 &/U/\ O +10 &1uV\ O +9 &38T\ O +10 &4S4\ O +9 &6U\ \ O +9 &8}U\ O +10 &:?Q/\ O +9 &<W\ O +9 &=W\ O +10 &?X/\ P +9 &AFW7\ P +10 &C_6\ Q +9 &DeF\ R +10 &Fw9\ S +9 &H=3\ U +9 &IF\ V +10 &K\ V +9 &M@\ V +9 &OD?\ V +10 &QH\ V +9 &RK\ V +10 &TH\ W +9 &VI?\ W +9 &X @\ V +9 &YF\ V +10 &[?\ W +9 &]OB\ K +10 &^N@\ "i +9 &^%>\ 2 +2 ( +2 "processing"%?& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&r1 +55 "core" 1 +2 "manipulator"&(% +4 "core" %  2 ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +97 "core" ' +2 "processing"%*& +4 "core" &^!?\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" % %  ; + "storage"(E% +4 "core" %  \  +2 "storage"('. +3 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(u(,y +25 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +4 "core" &,{ [\ + "manipulator"&]& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(7'r + "manipulator"&/( +5 "core" ( + "manipulator"&|& +4 "core" & N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"& ' +96 "core" ' +2 .tHand.close + "manipulator"&B/ +53 "core" / +2 .tPC.seek :open +2 "processing"%i( +99 "core" ' +2 "storage"("- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(0'1 +42 "core" ' +301 ( +2 "storage"(:& +4 "core" &,e   \ + "manipulator"&-& +4 "core" & T + "manipulator"&#% +4 "core" %  O +2 .tForearm.seek :retract +2 "manipulator"&C' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&I( +241 "core" ( + "manipulator"& & +4 "core" &  @ +2 "storage"(9& +3 "core" &,e   G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +92 "core" ' + .tHand.open + "manipulator"&@1 +54 "core" 1 +2 "storage"(^- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(!' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(V- +4 "core" -' + "storage"(&& +4 "core" &,e / 7 \ c +2 "manipulator"&Z& +3 "core" &  @ +2 .tElbow.seek 4 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&d& +4 "core" &  = @ +2 "storage"(,& +3 "core" &,e \ v +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Q'" +56 "core" ' + "manipulator"&$& +4 "core" & U @ +2 "storage"(S& +4 "core" &,e * * R\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Y'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(4' +28 "core" ' + "manipulator"&1% +5 "core" %H U + "storage"(5& +4 "core" &,e   \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&'t +15 "core" ' + "manipulator"&e& +5 "core" & a @ + "storage"(K& +4 "core" &,e * ' \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&J' +19 "core" ' + "storage"(% +5 "core" % ' * \ +2 ."downElevator"SE.seek :down +4 "storage"(o' +98 (2% +3 "core" %\\H  7\ Xi +2 "manipulator"&<% +4 "core" % v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (+& +3 "core" &,e  t\ +2 "collection"'& +4 "core" &\\o \ P + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&F% +4 "core" %  S  +2 "storage"(a% +3 "core" %   +\  +2 "storage"(A. +3 "core" .(,y + "storage"(g& +4 "core" &,e   9\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(H(,y +23 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +3 "core" &,|   V\ + "manipulator"&D& +4 "core" & | @ +2 .tElbow.seek 4 +2 "manipulator"&)( +3 "core" ( + "manipulator"&=& +4 "core" &  k @ +2 "storage"(U& +3 "core" &,|   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +93 "core" ' +2 "storage"(`& +4 "core" &,| * 5 m\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'r +300 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +53 "manipulator"&W& +3 "core" &  @ +2 "storage"(G& +3 "core" &,i & ' \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&k'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\\- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate + "storage"(3'x +32 "core" ' + "manipulator"&% +4 "core" %I 5 Z +2 "storage"(_& +4 "core" &,i   >\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&c'u +16 "core" ' + "manipulator"&>& +5 "core" &  o @ + "storage"(z& +4 "core" &,i ) ) \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(x' +37 "core" ' + "manipulator"&& +5 "core" & K @ + "manipulator"&R% +4 "core" % ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&}(ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &ӏ( @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &ӏ( - @Y +2 .tForearm.seek CC +2 "manipulator"&~'? +95 "core" ' +2 .tHand.close + "manipulator"&q/ +52 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( +2 "storage"(& +4 "core" &,i ( '\  + "storage"(& +4 "core" &,i & 0 $\  + "manipulator"&& +4 "core" &ӑ'  @W + "manipulator"&% +4 "core" % 9 . 8 +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&X( +166 "core" ( + "manipulator"&s& +4 "core" & U  +2 "storage"(v& +4 "core" &,i E D\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +93 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&%% +4 "core" % 1  c P +2 "storage"(b& +4 "core" &,i 7 7 I\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 294 counts +2 "manipulator"&l'] +14 "core" ' +2 "manipulator"&h& +4 "core" & m  +2 "storage"(\ & +3 "core" &,i Y b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"({% +4 "core" % U V V\ +2 ."downElevator"SE.seek :down +4 "storage"(6' +99 (% +2 "core" %< ? C \ Wc +2 "manipulator"&w% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"' & +4 "core" & \ +2 "manipulator"&% +3 "core" % ! f % +2 "storage"( % +4 "core" % K I \  +2 "storage"(N. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(r(<- +345 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" &<* ) ' [\  +2 "manipulator"&*& +4 "core" & I  + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&E& +4 "core" & E  +2 "storage"('& +4 "core" &<* H J \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&?'O +90 "core" ' + "storage"(.& +4 "core" &<* e a\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'r +295 "core" ' + "storage"(|- +4 "core" -') + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<* U C P\  +2 "manipulator"&& +4 "core" & g  +2 .tElbow.seek 5 + "manipulator"&B( +4 "core" ( + "manipulator"&t& +3 "core" &  m  +2 "storage"("& +5 "core" &<* c c\  +4 .tForearm.seek 5 + 300 counts +3 "manipulator"&;'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(7' +7 "core" &  +2 "manipulator"&:% +4 "core" % ϼ +2 .tForearm.seek :retract + "manipulator"&-' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"& & +4 "core" &Ӊ    / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &Ӊ 0 / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'? +95 "core" ' +2 "manipulator"&/& +4 "core" &Ӊ  / + "manipulator"&@% +4 "core" %9 ( r +2 "collection"'^& +4 "core" & \ +2 "collection"'V& +6 "core" & \ +2 .tCC.seek :closed + "collection"'&(\\ +5 "core" & \ +6 &; \ %g +10 &Wu \ 7 +9 &v \ L +10 &R \ L +9 &xS \ M +9 &;T \ L +10 &U \ L +9 &T \ M +9 &S \ L +10 &CP \ L +9 & T \ L +10 &!R \ L +9 &#U \ L +9 &%KS \ L +10 &' T \ L +9 &(T \ M +9 &*R \ L +10 &,RS \ M +9 &.S \ L +10 &/R \ L +9 &1Q \ L +9 &3[S \ L +10 &5O \ L +9 &6T \ M +10 &8S \ L +9 &:cQ \ L +9 &<$T \ M +10 &=T \ M +9 &?T \ L +9 &AkR \ L +10 &C,W \ M +9 &D` \ M +9 &Fk \ O +10 &Hc \ R +9 &J \ V +10 &K \ X +9 &M \ Y +9 &OU \ Y +10 &Q \ Y +9 &R \ Z +10 &T \ [\ +9 &VV \ \\ +9 &X \ \\ +9 &Y \ ] +10 &[ \ K +10 &\\; \ - +9 &\\y \ Y +2 ( +2 "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&Z1 +64 "core" 1 +2 "manipulator"&d% +4 "core" % 9  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%C& +4 "core" &\ +2 "manipulator"&$% +4 "core" %    + "storage"(S% +4 "core" %   r\  + "storage"(1. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(5(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +3 "core" &<* \  + "manipulator"&e& +4 "core" &Ӊ / +2 "manipulator"&K% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +160 "core" ( + "manipulator"&& +3 "core" &   +2 "storage"(I& +4 "core" &<* ) ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +95 "core" ' + "storage"(!& +4 "core" &<* ( 1 P\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'r +293 "core" ' + "storage"(<- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (P& +3 "core" &<*  a\  + "manipulator"&T& +4 "core" & k  + .tElbow.seek 5 +2 "manipulator"&Q( +4 "core" ( + "manipulator"&Y& +3 "core" &  a  +2 "storage"(& +5 "core" &<*  ?\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&+'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(a' +6 "core" &  +51 "manipulator"&A% +5 "core" % Ϯ +2 .tForearm.seek :retract +2 "manipulator"&4' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g( +113 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +124 "core" ( +2 "manipulator"&L& +4 "core" &  U & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" & I & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&=' +98 "core" ' + "manipulator"&U& +5 "core" & : & + "manipulator"&J% +4 "core" %  +2 "processing"%`& +4 "core" &\ +2 "processing"%o& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%u(^ +5 "core" &\ +7 &4\ $c +9 &S{\ 7 +10 &~y\ L +9 &U\ O +9 &UU\ O +10 &T\ O +9 &T\ O +9 &T\ O +10 &]T\ O +9 &V\ O +10 &R\ O +9 &!R\ O +9 &#eS\ O +10 &%'R\ O +9 &&T\ O +9 &(T\ O +10 &*nT\ O +9 &,0T\ O +9 &-R\ O +10 &/T\ O +9 &1uS\ O +10 &37S\ O +9 &4R\ O +9 &6T\ O +10 &8}T\ O +9 &:@Q\ O +9 &<U \ P +10 &=U0\ O +9 &?R7\ O +10 &AFX5\ P +9 &Cc7\ Q +10 &Dl3\ R +9 &F}>\ U +9 &H<E\ V +9 &IA\ V +10 &K@\ V +9 &MI\ V +10 &OB@\ V +9 &QM\ W +9 &R"\ W +10 &T\ X +9 &VI<\ W +9 &X\ I\ W +10 &YB\ W +9 &[@\ W +10 &]OE\ I +9 &^xE>\ #j +9 &^=C\ 7 +6 ( + "processing"%o& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&81 +4 "core" &^4D\ 7 +60 1 +2 "manipulator"&[% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +93 "core" ' + "processing"%W& +4 "core" &^59\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&G% +4 "core" %    +2 "storage"(\\% +3 "core" % I\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(_(<- +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& + "manipulator"&z& +6 "core" & C & + &<*  \  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(R'r +3 "core" ( + "manipulator"&p& +4 "core" & & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &  & +2 .tForearm.seek PC +2 "manipulator"&n' +88 "core" ' + .tHand.close +2 "manipulator"&k/ +53 "core" / +2 .tPC.seek :open +2 "processing"%c( +105 "core" ' +2 "storage"(3- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +293 ( +2 "storage"(M& +4 "core" &<*  ( C\  + "manipulator"&j& +4 "core" & & + "manipulator"& % +4 "core" %  ? S +2 .tForearm.seek :retract + "manipulator"&q' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&m& +4 "core" & D 4 + "storage"(& +4 "core" &<*   /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +97 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(s' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(v' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +4 "core" -' + "storage"(}& +4 "core" &<* \ r +2 "manipulator"&& +3 "core" &  c 4 +2 .tElbow.seek 5 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&b& +3 "core" & F 4 +2 "storage"(h& +4 "core" &<* <\ r +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"({'" +57 "core" ' + "manipulator"&& +4 "core" & s 4 +2 "storage"(& +4 "core" &<*  ' \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&w'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"& % +5 "core" %Ρ M $ + "storage"(& +4 "core" &<*   N\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&l' +17 "core" ' + "manipulator"& & +5 "core" &  ' + "storage"(N& +4 "core" &<*  U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&x'O +17 "core" ' + "storage"(% +4 "core" %  4\ +3 ."downElevator"SE.seek :down +3 "storage"(6' +99 (H% +3 "core" %F\ Xh + "manipulator"&(% +4 "core" %G  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +94 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &<*  B\  + "collection"''& +4 "core" &\\r \ Y +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&.% +4 "core" %  # +2 "storage"(% +3 "core" %   @\  +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(|(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<+/ D\  +2 "manipulator"&& +3 "core" & ' +2 .tElbow.seek 5 +2 "manipulator"&t( +9 "core" ( + "manipulator"&"& +5 "core" & P  + "storage"(f& +4 "core" &<+  >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +94 "core" ' + "storage"(:& +4 "core" &<+ ) ' >\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' +3 "storage"(?- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" & '  +2 "storage"( & +3 "core" &<+  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&]'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(/- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(@' +29 "core" ' + "manipulator"&B% +5 "core" %΃  M  + "storage"(^& +4 "core" &<+   [\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 290 counts +2 "manipulator"&7'ϯ +15 "core" ' +2 "manipulator"&-& +4 "core" &  + "storage"(& +4 "core" &<+  $ -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Z'O +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(d' +35 "core" ' +2 "manipulator"&C& +4 "core" &   +2 "manipulator"&$% +4 "core" %= [ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1(ӂ +155 "core" ( +2 "manipulator"&V& +4 "core" &ӓ$ \ =B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +2 "core" &ӓ$  =B +53 .tForearm.seek CC +2 "manipulator"&e'? +92 "core" ' +2 .tHand.close + "manipulator"&K/ +61 "core" / +2 .tCC.seek :open +2 "collection"'9( +447 "core" ( +2 "storage"(& +4 "core" &<+ ' ' \  + "storage"(I& +4 "core" &<+ ( ' \  + "manipulator"&r& +4 "core" &Ӕ$  \ =A +2 "manipulator"&!% +3 "core" % ; + T +2 .tForearm.seek :retract +2 "manipulator"&#' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +162 "core" ( +2 "manipulator"&<& +4 "core" &  ~ + "storage"(P& +4 "core" &<+ K K ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&T'΍ +92 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % Ζ  $ K +2 "storage"(F& +4 "core" &<+ J K 3\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 309 counts +2 "manipulator"&A' +16 "core" ' +2 "manipulator"&& +4 "core" & { + "storage"(O& +4 "core" &<+ 8 6 O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&2'O +18 "core" ' +2 "storage"(+% +4 "core" % c Y\ +2 ."downElevator"SE.seek :down +4 "storage"(L' +98 (D% +3 "core" %; ? D \ Vc +2 "manipulator"&Q% +4 "core" %A  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +94 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'J& +4 "core" & \ +2 "manipulator"&`% +4 "core" % ! { + +2 "storage"(a% +4 "core" % K 9 *\  +2 "storage"(4. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(i(K +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +2 "core" &K ! U\  +2 "manipulator"&[& +4 "core" & ~ +2 .tElbow.seek 6 + "manipulator"&W( +4 "core" ( + "manipulator"&G& +4 "core" & + "storage"(\\& +4 "core" &K L K X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(o& +4 "core" &K c Y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'r +296 "core" ' + "storage"(>- +4 "core" -'! + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &K > + \  +2 "manipulator"&)& +4 "core" & q + .tElbow.seek 6 +2 "manipulator"&=( +4 "core" ( + "manipulator"&k& +4 "core" &  H + "storage"(5& +4 "core" &K C E O\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&3'h +44 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"(u' +7 "core" & B +2 "manipulator"&R% +3 "core" % ψ  +2 .tForearm.seek :retract +2 "manipulator"&M' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +157 "core" ' + ( + "manipulator"& & +3 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &Ӛ! Z :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &Ӛ  :, +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'? +95 "core" ' +2 "manipulator"&& +4 "core" &Ӛ  g :, +2 "manipulator"&% +4 "core" %3 L { +2 "collection"'& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed + "collection"'~(\\ +4 "core" & \  +9 &5y \ +{ +9 &f| \ ? +10 &m \ M +9 &]P \ L +10 &S \ L +9 &Q \ L +9 &R \ L +10 &fO \ L +9 &'T \ L +9 &P \ L +10 & R \ L +9 &"mR \ L +10 &$0O \ L +9 &%R \ L +9 &'S \ L +10 &)vQ \ L +9 &+6S \ M +9 &,S \ L +10 &.R \ L +9 &0~P \ L +9 &2?R \ L +10 &4S \ M +9 &5S \ L +10 &7U \ L +9 &9GT \ L +9 &;\ Q \ L +10 &<T \ L +10 &>Q \ L +9 &@OU \ L +9 &BV \ M +9 &CZ \ M +10 &Ed \ N +9 &GKr \ P +9 &I \ T +10 &J \ Y +9 &Lx \ Y +9 &N6 \ Z +10 &O \ [\ +10 &Q \ [ +9 &Sy \ [ +9 &U: \ \\ +9 &V \ ] +10 &X \ _ +9 &Zy \ ^ +10 &\\ { \ 1 +9 &\\. \ a +9 ( +2 &\\h \ R + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 +2 .Hand.open + "manipulator"&}1 +58 "core" 1 +2 "manipulator"&% +4 "core" % 3  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%h& +4 "core" &\ +2 "manipulator"&q% +3 "core" %   ^  +2 "storage"(% +4 "core" %   h\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K" @\  +2 "manipulator"&& +4 "core" &Ӛ   :, + "manipulator"&s% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +166 "core" ( +2 "manipulator"&N& +4 "core" &  +  +2 "storage"(& +3 "core" &K 1 $ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +99 "core" ' + "storage"(& +4 "core" &K  0 U\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'r +298 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" &K  v\  +2 "manipulator"&\ & +4 "core" & s  + .tElbow.seek 6 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&{& +4 "core" &  !  + "storage"(w& +4 "core" &K   %\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&E'h +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"(.' +7 "core" &  +2 "manipulator"&% +3 "core" % d +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&& +4 "core" &  9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & P 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&"' +98 "core" ' +2 "manipulator"&f& +4 "core" &  1 8 + "manipulator"&x% +4 "core" %  k +2 "processing"%:& +4 "core" &\ +2 "processing"%6& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%_(^ +3 "core" &\ +6 & ,\ #a +10 &U}\ 7 +9 &~y\ L +9 &U\ O +10 &UT\ O +9 &Q\ N +10 &T\ O +9 &S\ O +9 &]W\ O +10 &U\ O +9 &R\ O +10 &!Q\ O +9 &#fW\ O +9 &%)R\ N +10 &&U\ O +9 &(T\ O +9 &*mW\ O +10 &,/T\ O +9 &-R\ O +9 &/T\ O +10 &1uW\ O +9 &37R\ O +10 &4R\ N +9 &6T\ O +9 &8~U\ O +10 &:AT\ N +9 &<U\ O +9 &=U\ O +10 &?S\ O +9 &AEZ\ P +10 &Ce\ Q +9 &Dn\ R +9 &F|\ U +10 &H<\ U +9 &I\ U +9 &K\ U +10 &M\ V +9 &OB\ V +10 &Q\ V +9 &R\ W +9 &T\ X +10 &VH\ W +9 &X\ \ W +9 &Y2\ W +10 &[,\ W +9 &]O\ I +10 &^yF/\ "f +9 &^F8\ 6 +5 ( +2 "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 .Hand.open +52 "manipulator"&X1 +4 "core" &^'8\ 6 +53 1 + "manipulator"&*% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +95 "core" ' + "processing"% & +4 "core" &^'B\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +4 "core" %  " +2 "storage"(/% +3 "core" %  \  +2 "storage"(B. +3 "core" .(K + "storage"(^& +4 "core" &K  [\  +2 "storage"(-& +4 "manipulator"&& +4 "core" &K  Y\  + & 8 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&C( + "storage"($'r +5 "core" ( + "manipulator"&& +4 "core" & 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" & K 8 +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close +2 "manipulator"&]/ +58 "core" / +2 .tPC.seek :open +2 "processing"%7( +94 "core" ' + "storage"(@- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(V'1 +45 "core" ' +306 ( + "storage"(0& +4 "core" &K - 5\  +2 "manipulator"&Z& +3 "core" &  h 8 +2 "manipulator"&;% +3 "core" %  n  +2 .tForearm.seek :retract +2 "manipulator"&K' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&S( +257 "core" ( + "manipulator"&&& +5 "core" &  + "storage"(& +4 "core" &K ( '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +98 "core" ' +2 .tHand.open + "manipulator"&r1 +63 "core" 1 +2 "storage"(!- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(<' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(P' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(e- +3 "core" -' +2 "storage"(1& +3 "core" &K \ q +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&F& +4 "core" & \  +2 "storage"(& +3 "core" &K .\ q +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(+'" +63 "core" ' +2 "manipulator"&#& +4 "core" & E + "storage"(D& +4 "core" &K * * M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Q'< +20 "core" ' +2 .tElbow.hold + "manipulator"&,, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(T' +18 "core" ' + "manipulator"&J% +5 "core" %< F  + "storage"(A& +4 "core" &K   i\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 300 counts + "manipulator"&`'h +14 "core" ' + "manipulator"&a& +5 "core" &  ? + "storage"(4& +4 "core" &K ) ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +16 "core" ' + "storage"(2% +5 "core" % , * Y\ +2 ."downElevator"SE.seek :down +3 "storage"(L' +99 (|% +3 "core" %G   \ Xh +2 "manipulator"&8% +4 "core" % ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&[' +90 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (G& +4 "core" &K  @\  +2 "collection"'\\& +3 "core" &\\g \ R +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&o% +4 "core" %   +2 "storage"(Y% +4 "core" % * ( \  + "storage"(U. +3 "core" .(K +2 "storage"(>& +4 "core" &K - 4 F\  + "storage"(p& +4 "core" &K ) ( '\  +2 "manipulator"&)& +3 "core" &  +2 .tElbow.seek 6 + "manipulator"&k( +4 "core" ( + "manipulator"&5& +4 "core" & # +2 "storage"(g& +3 "core" &K ( 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +91 "core" ' +2 "storage"(R& +4 "core" &K  O\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'r +305 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" & W +2 "storage"(n& +4 "core" &K ' ) <\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&z'< +14 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('| +31 "core" ' + "manipulator"&% +4 "core" %M z M +2 "storage"(=& +3 "core" &K * * \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&u'y +14 "core" ' +2 "manipulator"&M& +4 "core" &  + "storage"(9& +4 "core" &K 5 4 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(' +35 "core" ' +2 "manipulator"&h& +4 "core" & +2 "manipulator"&q% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +86 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&& +4 "core" &ӕ% [ >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӕ% # >H +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' + .tHand.close + "manipulator"&s/ +63 "core" / +2 .tCC.seek :open + "collection"'m( +448 "core" ( +2 "storage"(N& +4 "core" &K 5 5 \  +2 "storage"(& +3 "core" &K 4 4\  +2 "manipulator"&i& +3 "core" &Ӗ$ 8 =G +2 "manipulator"&% +4 "core" % K X & +2 .tForearm.seek :retract + "manipulator"&j' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&b( +166 "core" ( + "manipulator"&H& +5 "core" & r  + "storage"((& +4 "core" &K ? D \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 + "manipulator"&\ '< +96 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&w1 +53 "core" 1 +2 "manipulator"&l% +4 "core" % C : D +2 "storage"('& +3 "core" &K K L -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts + "manipulator"&'o +13 "core" ' +3 "manipulator"& & +4 "core" & x  + "storage"(& +4 "core" &K c c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&v' +20 "core" ' +2 "storage"(E% +4 "core" % c c \ +2 ."downElevator"SE.seek :down +5 "storage"(' +99 (% +3 "core" %I E / v\ Xf + "manipulator"&%% +4 "core" %  l +2 .tForearm.reconfigure :loose +52 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +91 "core" ' + ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'x& +5 "core" & \ + "manipulator"&:% +4 "core" %  ;  +2 "storage"(.% +4 "core" % F U \  +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(c(,y +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" &,| * 5 \\\ +2 "manipulator"&*& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&6( +3 "core" ( + "manipulator"& & +4 "core" & l  +2 "storage"( & +3 "core" &,| 6 7 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +90 "core" ' + "storage"(B& +5 "core" &,| b `\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (-& +3 "core" &,j = * \ +2 "manipulator"&& +3 "core" & %  +2 .tElbow.seek 4 +2 "manipulator"&t( +3 "core" ( + "manipulator"&"& +4 "core" &  b  + "storage"(]& +4 "core" &,j A > \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&@'c +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(_' +7 "core" &  +2 "manipulator"&$% +3 "core" % W _ +2 .tForearm.seek :retract +2 "manipulator"&0' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&Z(ӂ +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ( + "manipulator"&;& +5 "core" &Ӝ 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӝ 9( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&&'? +93 "core" ' +2 "manipulator"&& +4 "core" &Ӝ  & 9( +2 "manipulator"&C% +4 "core" %C h P +2 "collection"'r& +4 "core" &  \ +2 "collection"'!& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'e(\\ +4 "core" & \ +8 &@ \ %g +9 &Yw \ 8 +10 &r \ L +9 &R \ M +9 &S \ L +10 &GT \ M +9 &\ S \ L +10 &U \ L +9 &R \ L +9 &PT \ L +10 & R \ L +9 &!T \ L +9 &#T \ L +10 &%YP \ L +9 &'R \ L +9 &(Q \ L +10 &*T \ L +9 &,`T \ L +10 &."R \ L +9 &/P \ L +9 &1U \ L +10 &3hR \ L +9 &5*O \ L +9 &6T \ M +10 &8R \ M +9 &:pR \ L +9 &<2Q \ L +10 &=Q \ L +9 &?Q \ L +10 &AwR \ M +9 &C8U \ M +10 &Da \ N +9 &Fi \ O +9 &Ho \ R +10 &J& \ V +9 &K \ X +10 &M \ Y +9 &Ob \ Y +9 &Q! \ Z +10 &R \ Z +9 &T \ [\ +9 &Vb \ \\ +10 &X$ \ \\ +9 &Y \ ] +10 &[ \ K +9 &\\2 \ 2 +9 &\\v \ Q +2 ( +2 "collection"'!& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&11 +60 "core" 1 +3 "manipulator"&% +4 "core" % C  4 P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&K% +4 "core" % \    +2 "storage"(#% +4 "core" %   ;\  + "storage"(D. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(J(,y +31 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &,|  \ +2 "manipulator"&V& +4 "core" &Ӝ 2 9( + "manipulator"&a% +4 "core" % \  P  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&4( +162 "core" ( + "manipulator"&<& +4 "core" &   +2 "storage"(2& +4 "core" &,| 1 & )\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +95 "core" ' + "storage"(I& +4 "core" &,| # i\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +299 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" &,h  J\  +2 "manipulator"&O& +3 "core" & N  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&+& +4 "core" &    +2 "storage"(Q& +3 "core" &,h   j\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&G'c +37 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&\\& + "storage"(o' +6 "core" &  ~  +2 "manipulator"&Y% +4 "core" % g c + .tForearm.seek :retract +2 "manipulator"&U' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T( +163 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( + "manipulator"&>& +4 "core" & 9 % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" & % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&)' +95 "core" ' + "manipulator"&5& +4 "core" & 7 $ +2 "manipulator"&g% +4 "core" % F +2 "processing"%d& +3 "core" &\ +2 "processing"%R& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%L(^ +3 "core" &\ +5 &\ 2 +10 &;Hv\ 0 +9 &`p}\ D +9 &c\ P +10 &R\ O +9 &T\ O +10 &AR\ O +9 &S\ O +9 &R\ O +10 &T\ O +9 &KR\ N +9 &! S\ O +10 &"Q\ O +9 &$R\ O +10 &&RT\ O +9 &(S\ O +9 &)U\ O +10 &+U\ O +9 &-ZS\ O +9 &/V\ O +10 &0S\ N +9 &2S\ O +10 &4cO\ N +9 &6#T\ O +9 &7R\ O +10 &9T\ N +9 &;iU\ O +9 &=+T\ O +10 &>W\ O +9 &@T\ O +10 &Bo[\ P +9 &D.e\ Q +9 &Et\ S +10 &G\ U +9 &If\ U +10 &K'\ V +9 &L\ V +9 &N\ V +9 &Pl\ V +10 &R-\ V +10 &S\ W +9 &U\ V +9 &Wp\ X +9 &Y4\ W +10 &Z\ W +9 &\\\ X +9 &^3e\ * +10 &^h\ 8 +9 ( +2 &^"\ 3 + "processing"%R& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&,1 +63 "core" 1 +2 "manipulator"&[% +4 "core" %  < F + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"% & +4 "core" &^"=\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&n% +4 "core" % ! , + "storage"(% +4 "core" %\  + "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(=(,y +25 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +2 "manipulator"&9& +5 "core" &,| c\ +2 &  $ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&h( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(q'r +2 "core" ( +2 "manipulator"&y& +4 "core" & $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" & $ +2 .tForearm.seek PC +2 "manipulator"&W' +90 "core" ' + .tHand.close + "manipulator"&z/ +63 "core" / +2 .tPC.seek :open +2 "processing"%u( +99 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +306 ( +2 "storage"(& +4 "core" &,e ' >\  + "manipulator"&}& +4 "core" & e $ + "manipulator"&3% +4 "core" %  K \\ +2 .tForearm.seek :retract +52 "manipulator"&s' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +244 "core" ( +2 "manipulator"&~& +4 "core" &   - + "storage"(N& +4 "core" &,e   7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +98 "core" ' +2 .tHand.open + "manipulator"&i1 +55 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(H' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"((' +55 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &,e g h z\ k +2 "manipulator"&w& +4 "core" &  - +2 .tElbow.seek 4 + "manipulator"&l( +4 "core" ( + "manipulator"&'& +4 "core" &  ; - +2 "storage"( & +4 "core" &,e h h U\ j +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(E'" +53 "core" ' + "manipulator"&j& +4 "core" &  O - +2 "storage"(& +4 "core" &,e   )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&%'7 +23 "core" ' +2 .tElbow.hold + "manipulator"&b, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\ ' +19 "core" ' +2 "manipulator"&x% +4 "core" %B N  +7 "storage"(& +4 "core" &,e  D\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +7 "manipulator"&:'n +15 "core" ' +2 "manipulator"&.& +4 "core" &  - +2 "storage"(& +4 "core" &,e   3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(v% +4 "core" %  \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 ( % +3 "core" %>  !\ Wf +2 "manipulator"&X% +4 "core" % ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &,e `\  + "collection"' & +4 "core" &\\u \ Q +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&B% +4 "core" %  X  +2 "storage"({% +4 "core" % \  + "storage"(f. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (-& +3 "core" &,}  .\ +2 "manipulator"&& +3 "core" & { - +2 .tElbow.seek 4 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&]& +3 "core" & - +2 "storage"(& +4 "core" &,}   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&?' +97 "core" ' + "storage"($& +4 "core" &,} * - \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'r +299 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&;& +2 "core" & - +2 "storage"(& +4 "core" &,h  z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&^'7 +22 "core" ' + .tElbow.hold + "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(C'y +30 "core" ' + "manipulator"&r% +4 "core" %>  g  +2 "storage"(t& +4 "core" &,h   K\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 307 counts + "manipulator"&_'j +15 "core" ' + "manipulator"&0& +4 "core" &  @ - +2 "storage"(m& +4 "core" &,h   "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&1' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +39 "core" ' +2 "manipulator"&& +4 "core" & - +2 "manipulator"&K% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&D(ӂ +154 "core" ( +2 "manipulator"&!& +4 "core" &Ӑ&  ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &Ӑ& S ?U +2 .tForearm.seek CC + "manipulator"&V'? +92 "core" ' + .tHand.close + "manipulator"&a/ +56 "core" / + .tCC.seek :open +2 "collection"'&( +451 "core" ( +2 "storage"(<& +4 "core" &,h 4 6 f\  + "storage"(2& +4 "core" &,h ' 1 t\  + "manipulator"&c& +4 "core" &ӥ#  _ <@ + "manipulator"&I% +4 "core" % J  u B +2 .tForearm.seek :retract + "manipulator"&Z' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&F( +166 "core" ( +2 "manipulator"&|& +4 "core" &  g  + "storage"(8& +4 "core" &,h L K ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&O'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Q1 +55 "core" 1 + "manipulator"&`% +5 "core" % 2  P + "storage"(\\& +4 "core" &,h 7 P \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 295 counts +2 "manipulator"&Y'^ +14 "core" ' +2 "manipulator"&4& +5 "core" &    + "storage"(S& +4 "core" &,h ` U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +15 "core" ' +2 "storage"(G% +4 "core" % b X\ +2 ."downElevator"SE.seek :down +4 "storage"(>' +98 (p% +3 "core" %? B @ `\ Wc +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5' +89 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'g& +4 "core" & \ +2 "manipulator"&d% +4 "core" %   +2 "storage"(o% +3 "core" % V X\  +2 "storage"(U. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(7(<- +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (,& +3 "core" &<+ , '\ + "manipulator"&[& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"& ( +4 "core" ( + "manipulator"&n& +4 "core" & (  +2 "storage"(& +3 "core" &<+ U _ 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +96 "core" ' +2 "storage"(R& +4 "core" &<+ ` d\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'r +295 "core" ' + "storage"(9- +4 "core" -'* + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &<+ ? F \ +2 "manipulator"&k& +4 "core" & ;  +2 .tElbow.seek 5 + "manipulator"&)( +4 "core" ( + "manipulator"&z& +4 "core" & s  +2 "storage"(J& +4 "core" &<+ _ b\ +2 .tForearm.seek 5 + 300 counts +52 "manipulator"&'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&T/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(L' +7 "core" & 3  +2 "manipulator"&q% +4 "core" % ϴ k + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&}(ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&3& +4 "core" &ӑ%  ? >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &ӑ$  : >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'? +94 "core" ' + "manipulator"&N& +5 "core" &ӑ%  >H +2 "manipulator"&h% +3 "core" %<  7 +2 "collection"'i& +4 "core" & \ +2 "collection"'& +6 "core" & #\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +8 &? \ %g +9 &Wu \ 7 +9 &u \ L +10 &S \ M +9 &~R \ L +10 &>S \ M +9 &R \ L +9 &P \ L +10 &S \ L +9 &GP \ L +9 & T \ L +10 &!S \ L +9 &#P \ L +10 &%NR \ M +9 &'Q \ L +9 &(Q \ L +10 &*U \ L +9 &,WS \ L +9 &.Q \ L +10 &/T \ L +9 &1T \ L +9 &3`P \ L +10 &5!R \ L +9 &6Q \ L +10 &8U \ L +9 &:gU \ L +9 &<(T \ M +10 &=S \ M +9 &?T \ M +10 &AnT \ M +9 &C0U \ M +10 &D` \ N +9 &Fj \ O +9 &Hf \ R +10 &J \ V +9 &K \ Y +9 &M \ Y +10 &OY \ Y +9 &Q \ Z +10 &R \ Z +9 &T \ [ +9 &VZ \ \\ +10 &X \ ] +9 &Y \ ^ +9 &[ \ J +9 &\\8 \ + +10 &\\ \ \\ +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&1 +3 "core" &\\{ \ \\ +53 1 +2 "manipulator"&w% +4 "core" % <  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +5 "core" &\ + "manipulator"&s% +4 "core" %  C  + "storage"(j% +4 "core" % 9\  +2 "storage"(. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(x(<- +2 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<+ ?\ +2 "manipulator"&& +4 "core" &ӑ% >H +2 "manipulator"&.% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +166 "core" ( + "manipulator"&H& +4 "core" & y  +2 "storage"(v& +4 "core" &<+   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' + "storage"(& +5 "core" &<+  " g\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(('r +299 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +2 "core" &<+  Q\ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&E& +3 "core" &  +2 "storage"(%& +4 "core" &<+ ( ' -\ +2 .tForearm.seek 5 + 300 counts + "manipulator"& 'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(B' +8 "core" & j  + "manipulator"&{% +4 "core" % ϲ ! +2 .tForearm.seek :retract + "manipulator"&f' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&\ ( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&-& +4 "core" & < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & # < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&]' +98 "core" ' +2 "manipulator"&& +4 "core" & < + "manipulator"&% +4 "core" % m  +2 "processing"%$& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%=(^ +5 "core" &\ \ +9 &0t\ *x +9 &a|\ > +10 &er\ O +9 &%R\ O +9 &R\ O +10 &R\ O +9 &mR\ O +9 &/R\ O +10 &W\ O +9 &S\ O +10 & uS\ O +9 &"7P\ O +9 &#T\ O +10 &%Q\ O +9 &'}R\ O +10 &)?Q\ O +9 &+R\ O +9 &,U\ O +9 &.Q\ N +10 &0ES\ O +9 &2R\ O +10 &3Q\ O +9 &5Q\ O +9 &7MQ\ O +10 &9T\ O +9 &:T\ P +9 &<R\ O +10 &>UW\ O +9 &@S\ O +10 &A\\\ P +9 &Cf\ Q +10 &ESu\ S +9 &G\ U +9 &H\ U +9 &J\ U +10 &LS\ U +10 &N\ W +9 &O\ V +9 &Q\ W +10 &SW\ W +9 &U\ W +9 &V\ W +9 &X\ V +10 &Z_\ W +9 &\\\ X +10 &]\ 7 +9 &^+k\ "c +9 &^*\ 4 +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&b1 +56 "core" 1 +2 "manipulator"&*% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +92 "core" ' +2 "processing"%;& +4 "core" &^(/\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %    + "storage"(% +4 "core" % \  + "storage"(r. +3 "core" .(<- +2 "storage"(t& +3 "core" &<+\ +2 "storage"(0& +5 "manipulator"&m& +3 "core" &<+\ + & # < +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( + "storage"(K'r +6 "core" ( + "manipulator"&?& +4 "core" & < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &  < +2 .tForearm.seek PC +2 "manipulator"&6' +96 "core" ' + .tHand.close +2 "manipulator"&^/ +61 "core" / +2 .tPC.seek :open + "processing"%_( +95 "core" ' +2 "storage"(C- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(!'1 +40 "core" ' +311 ( + "storage"(A& +4 "core" &<+   +\ +2 "manipulator"&1& +3 "core" &  < +2 "manipulator"&@% +3 "core" %  w +2 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&#( +243 "core" ( +2 "manipulator"&e& +4 "core" &  1 + "storage"(<& +4 "core" &<+   /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&2'O +95 "core" ' +2 .tHand.open + "manipulator"&c1 +60 "core" 1 +2 "storage"(I- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(8' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(V- +4 "core" -' + "storage"(D& +4 "core" &<+ g i \ k +2 "manipulator"&Q& +3 "core" & # 1 +2 .tElbow.seek 5 +2 "manipulator"&`( +3 "core" ( + "manipulator"&\\& +4 "core" &   / 1 +2 "storage"(4& +3 "core" &<+ k i \ k +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(G'" +53 "core" ' + "manipulator"&Z& +4 "core" &   1 +2 "storage"(p& +4 "core" &<+   R\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'΍ +29 "core" ' + .tElbow.hold +2 "manipulator"&F, +54 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(O' +21 "core" ' +4 "manipulator"&g% +8 "core" %Ώ  +3 "storage"(Y& +9 "core" &<+ \ +4 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts + "manipulator"&d'ϻ +15 "core" ' +2 "manipulator"&o& +4 "core" & v $ +2 "storage"(U& +4 "core" &<+   7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +18 "core" ' + "storage"(P% +5 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(>' +99 (% +3 "core" %>G Q\ Yj + "manipulator"&,% +4 "core" %A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (n& +4 "core" &<+ 1\ + "collection"'& +4 "core" &\\{ \ \\ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&R% +4 "core" %   t  +2 "storage"(+% +4 "core" %   K\  +2 "storage"(5. +3 "core" .(<- + "storage"(9& +4 "core" &<+   K\ +2 "storage"(y& +3 "core" &<+   /\ +2 "manipulator"&k& +4 "core" &  $ +2 .tElbow.seek 5 +2 "manipulator"&z( +3 "core" ( + "manipulator"&J& +4 "core" & $ +2 "storage"(T& +3 "core" &<+   -\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' + "storage"(q& +5 "core" &<+ ' ( B\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &  $ +2 "storage"(W& +4 "core" &<+  K\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&M'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(N- +2 "core" -' +3 .tSE.seek 0.19 Pucks below Top Plate + "storage"(h' +29 "core" ' +2 "manipulator"&i% +4 "core" %Β 4  + "storage"()& +4 "core" &<+   Z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&L'Ͼ +16 "core" ' + "manipulator"&& +4 "core" & $ +2 "storage"(&& +4 "core" &<+  i\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(w' +38 "core" ' +2 "manipulator"& & +4 "core" & Y $ +2 "manipulator"&s% +4 "core" %L U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&& +5 "core" &Ӥ 8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӥ  8 +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&./ +61 "core" / +2 .tCC.seek :open + "collection"'~( +448 "core" ( + "storage"(H& +4 "core" &<+ ' &\ +2 "storage"(v& +3 "core" &<+ ' ' N\ +2 "manipulator"&7& +4 "core" &Ӥ j 8 + "manipulator"&% +4 "core" % I / X +2 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&'( +164 "core" ( +2 "manipulator"& & +4 "core" & %  + "storage"(X& +4 "core" &<+ D E U\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +57 "core" 1 +2 "manipulator"&:% +4 "core" % Π  <  +2 "storage"( & +3 "core" &<+ C D \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&{' +15 "core" ' +2 "manipulator"&& +4 "core" & /  + "storage"(& +4 "core" &<+ P : \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +14 "core" ' +2 "storage"( % +4 "core" % T X\ +3 ."downElevator"SE.seek :down +3 "storage"(-' +98 (% +3 "core" %> D D \ Wc +2 "manipulator"&l% +4 "core" %H ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" & \ + "manipulator"&$% +4 "core" % # o 4 +2 "storage"(B% +4 "core" % K K N\  + "storage"(f. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(u(K +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" &K   m\  +2 "manipulator"&*& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&;( +3 "core" ( + "manipulator"&& +4 "core" & L  +2 "storage"(& +3 "core" &K J K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&r' +95 "core" ' + "storage"(t& +5 "core" &K Y d \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'r +295 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K .  \  + "manipulator"&?& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&"( +3 "core" ( +2 "manipulator"&]& +4 "core" & !  +2 "storage"(^& +4 "core" &K D D \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&C'h +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&/& + "storage"(=' +7 "core" &  j  +2 "manipulator"&K% +4 "core" % ϒ H +2 .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&1(ӂ +155 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&@& +4 "core" &ӌ* Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &ӌ* w Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&e'? +91 "core" ' + "manipulator"&<& +4 "core" &ӏ) Ac +2 "manipulator"&% +4 "core" %9 v +2 "collection"'c& +4 "core" & \ +2 "collection"'I& +5 "core" & #\ +2 .tCC.seek :closed + "collection"'V(\\ +5 "core" & \  +8 &4y \ +{ +10 & d{ \ > +9 &m \ M +10 &WO \ L +9 &R \ L +11 &S \ L +8 &Q \ L +9 &_Q \ L +10 &!S \ L +9 &R \ L +9 & R \ L +9 &"hR \ L +10 &$)Q \ L +9 &%S \ L +10 &'R \ L +9 &)oS \ L +9 &+1S \ L +10 &,S \ L +9 &.S \ L +9 &0wR \ L +10 &29S \ L +9 &3S \ L +10 &5T \ L +9 &7~T \ L +9 &9@T \ L +10 &;U \ L +9 &<T \ L +9 &>T \ L +10 &@HV \ L +9 &B W \ M +10 &CY \ M +9 &Ee \ N +10 &GEr \ P +9 &H \ S +9 &J \ W +9 &Lo \ Z +10 &N4 \ X +10 &O \ [ +9 &Q \ [\ +9 &Sp \ \\ +10 &U3 \ \\ +9 &V \ \\ +9 &X \ ] +9 &Zu \ ] +10 &\\y \ 4 +9 &\\& \ $l +9 ( +3 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + .Hand.open +52 "manipulator"&D1 +4 "core" &\\ \ _ +61 1 + "manipulator"&Q% +4 "core" % 9 v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%4& +5 "core" &\ + "manipulator"&a% +4 "core" %    + "storage"(Z% +4 "core" %  \  +2 "storage"(p. +3 "core" .(K + "storage"(!& +4 "core" &K  "\  +2 "storage"(|& +4 "core" &K  H\  + "manipulator"&g& +4 "core" &Ӑ) Ab + "manipulator"&Y% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&o( +164 "core" ( + "manipulator"&U& +4 "core" &    +2 "storage"(#& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +94 "core" ' + "storage"(P& +4 "core" &K ( , N\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'r +295 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K   8\  + "manipulator"&,& +4 "core" & '  + .tElbow.seek 6 +2 "manipulator"&`( +4 "core" ( + "manipulator"&G& +4 "core" &  + "storage"(& +4 "core" &K * )\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&n'h +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(R' +8 "core" &  + "manipulator"&+% +4 "core" % a P +2 .tForearm.seek :retract + "manipulator"&5' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&9& +5 "core" & ` \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &  E \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&k' +100 "core" ' + "manipulator"&J& +5 "core" & \ + "manipulator"&T% +4 "core" %  L +2 "processing"%& +4 "core" &\ +2 "processing"%q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%>(^ +4 "core" &\  +8 &0s\ *x +10 &b}\ > +9 &kq\ O +10 &,T\ O +9 &S\ N +9 &P\ O +10 &qU\ O +9 &4R\ O +9 &S\ O +10 &R\ N +9 & zS\ O +10 &"=P\ N +9 &#S\ O +9 &%T\ O +10 &'R\ O +9 &)CS\ O +9 &+S\ O +10 &,X\ O +9 &.P\ O +10 &0LS\ O +9 &2R\ O +9 &3T\ O +10 &5R\ O +9 &7SS\ O +10 &9T\ O +9 &:T\ O +9 &<O\ O +10 &>YW\ P +9 &@R\ O +9 &A]\ P +10 &Ch\ R +9 &EVv\ T +9 &G\ V +10 &H\ W +9 &J\ U +10 &LW\ V +9 &N\ W +9 &O\ V +10 &Q\ W +9 &S[\ W +9 &U\ W +10 &V\ W +9 &X\ W +10 &Zc\ W +9 &\\$\ X +9 &]y\ ; +10 &^.\ W +9 &^#\ 3 +2 ( +2 "processing"%q& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&F1 +60 "core" 1 + "manipulator"&[% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 "processing"%3& +4 "core" &^"\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&W% +4 "core" % ' E +2 "storage"(N% +3 "core" % \  +2 "storage"(i. +3 "core" .(K + "storage"()& +4 "core" &K  s\  +2 "storage"(& +4 "manipulator"&&& +4 "core" &K M\  + & C \ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& ( + "storage"(s'r +7 "core" ( +2 "manipulator"&& +5 "core" & . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &   +2 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' +2 .tHand.close + "manipulator"&M/ +60 "core" / +2 .tPC.seek :open +2 "processing"%L( +92 "core" ' +2 "storage"(h- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +39 "core" ' +316 ( + "storage"(& +4 "core" &K ' Q\  +2 "manipulator"&& +3 "core" & 8 +2 "manipulator"&% +3 "core" %  9 @ +2 .tForearm.seek :retract + "manipulator"&.' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&j( +239 "core" ( +2 "manipulator"&& +4 "core" & 1 * + "storage"(H& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +98 "core" ' +2 .tHand.open + "manipulator"&71 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(X' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &K  \ r +2 "manipulator"&%& +3 "core" &   7 * +2 .tElbow.seek 6 +2 "manipulator"&:( +3 "core" ( + "manipulator"& & +4 "core" &  4 * +2 "storage"(& +3 "core" &K P\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +50 "core" ' + "manipulator"&}& +5 "core" & * +2 "storage"(& +4 "core" &K S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&l'< +15 "core" ' +2 .tElbow.hold + "manipulator"&', +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +21 "core" ' + "manipulator"&% +5 "core" %O   + "storage"($& +4 "core" &K U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&{'{ +13 "core" ' +2 "manipulator"&B& +4 "core" & k * +2 "storage"(f& +4 "core" &K   Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&w' +18 "core" ' +2 "storage"((% +5 "core" %   #\ +2 ."downElevator"SE.seek :down +3 "storage"(-' +99 (x% +3 "core" %G \ Yj + "manipulator"&b% +4 "core" % d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&*' +91 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K @\  +2 "collection"'& +3 "core" &\\ \ _ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&t% +4 "core" %    +2 "storage"(E% +3 "core" %   1\  +2 "storage"(. +3 "core" .(K +2 "storage"(0& +4 "core" &K   \  + "storage"(& +4 "core" &K  \  +2 "manipulator"&?& +3 "core" & 9 * +2 .tElbow.seek 6 +2 "manipulator"&]( +3 "core" ( + "manipulator"&^& +4 "core" &  * + "storage"(\ & +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&/' +93 "core" ' + "storage"(K& +4 "core" &K '  \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'r +298 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +52 "core" & 7 * +3 "storage"(6& +4 "core" &K   +\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&m'< +21 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(<- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"('{ +29 "core" ' +2 "manipulator"&c% +4 "core" %F #  +2 "storage"("& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&='r +14 "core" ' +2 "manipulator"&A& +4 "core" & s * + "storage"(~& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&D' +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(Q' +47 "core" ' +2 "manipulator"&I& +4 "core" & F * +2 "manipulator"&4% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +151 "core" ( + "manipulator"&p& +4 "core" &Ӊ(  @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &Ӊ(  @\\ +2 .tForearm.seek CC +2 "manipulator"&|'? +91 "core" ' + .tHand.close +2 "manipulator"&g/ +53 "core" / +2 .tCC.seek :open +2 "collection"'Y( +447 "core" ( +2 "storage"(e& +4 "core" &K & ' 2\  +2 "storage"(U& +4 "core" &K 1 4 F\  + "manipulator"&#& +4 "core" &ӊ( W @[ + "manipulator"&P% +4 "core" % ;  Y +2 .tForearm.seek :retract +2 "manipulator"&1' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&\\( +163 "core" ( + "manipulator"&S& +4 "core" &  +2 "storage"(& +4 "core" &K K I \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&,'< +95 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&d% +4 "core" % 4 p  +2 "storage"(& +3 "core" &K I K 5\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 292 counts + "manipulator"&+'` +15 "core" ' +2 "manipulator"&o& +4 "core" & T  +2 "storage"(2& +4 "core" &K T F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&8' +16 "core" ' +2 "storage"(n% +4 "core" % U U }\ +2 ."downElevator"SE.seek :down +5 "storage"(9' +99 (y% +3 "core" %? C D \ Wc + "manipulator"&`% +4 "core" % | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&J' +94 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'T& +5 "core" & \ + "manipulator"&% +4 "core" %  U " +2 "storage"(R% +4 "core" % D : \  + "storage"(5. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(_(,y +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (F& +3 "core" &,| 5 4 2\ +2 "manipulator"&[& +3 "core" &  u  +2 .tElbow.seek 4 + "manipulator"&3( +4 "core" ( + "manipulator"&W& +4 "core" & 6  +2 "storage"(N& +3 "core" &,| L K ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +91 "core" ' + "storage"()& +4 "core" &,| d Y\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +296 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,g = < \  + "manipulator"&& +4 "core" & *  +2 .tElbow.seek 4 + "manipulator"&z( +4 "core" ( + "manipulator"&k& +4 "core" & 8  + "storage"(M& +4 "core" &,g K L 0\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&h'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(>' +8 "core" &  Q  +2 "manipulator"&s% +4 "core" % Ϝ  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( + "manipulator"&& +4 "core" &ӎ [ & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &ӎ ~ & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +100 "core" ' + "manipulator"&H& +4 "core" &ӎ  . & +2 "manipulator"& % +4 "core" %G  " + +2 "collection"'7& +3 "core" & \ +2 "collection"'& +6 "core" & 3\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" & \  +9 &5y \ +{ +10 &g| \ ? +9 &l \ M +10 &`M \ L +9 &"R \ L +9 &S \ L +10 &R \ L +9 &jR \ K +9 &*S \ L +10 &R \ L +9 & Q \ L +10 &"qP \ L +9 &$3R \ L +9 &%S \ L +10 &'R \ L +9 &)xT \ L +9 &+:S \ L +10 &,S \ L +9 &.Q \ L +9 &0R \ L +10 &2CR \ L +9 &4U \ L +10 &5T \ L +9 &7T \ L +9 &9KT \ L +10 &; T \ L +9 &<S \ L +10 &>T \ L +9 &@RT \ L +9 &BW \ L +10 &CZ \ L +9 &Ec \ N +10 &GOr \ P +9 &I\ \ R +9 &J \ W +9 &L| \ X +10 &N< \ Y +9 &O \ Y +10 &Q \ Z +9 &S} \ [ +10 &U@ \ Z +9 &V \ \\ +9 &X \ \\ +9 &Z~ \ ] +10 &\\"z \ 0 +9 &\\. \ !e +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&1 +3 "core" &\\u \ Q +59 1 + "manipulator"&%% +4 "core" % G ] + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&.% +4 "core" %  L  +2 "storage"(}% +3 "core" %   -\  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ($& +3 "core" &,{  \ +2 "manipulator"&& +4 "core" &ӎ S & + "manipulator"&B% +4 "core" %  =  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&f( +156 "core" ( + "manipulator"& & +4 "core" & m  +2 "storage"((& +4 "core" &,{ ' '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +99 "core" ' +2 "storage"(v& +4 "core" &,{  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'r +299 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (b& +3 "core" &,g !\ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&:( +4 "core" ( + "manipulator"& & +4 "core" &   + "storage"(l& +4 "core" &,g  u\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&{'c +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(t' +5 "core" &  +3 "manipulator"&E% +53 "core" % ϙ   +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +107 "core" ' + ."downElevator"SE.stop + "storage"(5 +150 "core" ( + "manipulator"&0& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&?' +93 "core" ' +2 "manipulator"&^& +4 "core" &  t +2 "manipulator"&\ % +4 "core" % u N + "processing"%w& +4 "core" &\ +2 "processing"%K& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%-(^ +4 "core" &\  +9 &1x\ *x +9 &b|\ > +9 &ar\ O +10 &"Q\ O +9 &S\ O +10 &P\ O +9 &iS\ O +9 &*R\ O +10 &R\ O +9 &S\ O +9 & oU\ O +10 &"3P\ O +9 &#R\ O +10 &%Q\ O +9 &'xU\ O +9 &):Q\ O +10 &*R\ O +9 &,T\ O +9 &.Q\ O +10 &0BR\ O +9 &2Q\ O +10 &3P\ O +9 &5Q\ O +9 &7LQ\ N +10 &9 T\ O +9 &:S\ O +9 &<O\ O +10 &>PU\ P +9 &@U\ P +10 &AZ\ P +9 &Ce\ Q +9 &EQl\ R +10 &G{\ T +9 &H\ U +9 &J\ V +10 &LN\ V +9 &N\ W +10 &O\ V +9 &Q\ W +9 &SS\ W +10 &U\ W +9 &V\ W +9 &X\ V +10 &Z\\\ V +9 &\\\ W +10 &]\ 7 +9 &^+k\ ] +10 &^1\ 5 +2 ( + "processing"%K& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&'1 +62 "core" 1 +2 "manipulator"&*% +4 "core" %   N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +89 "core" ' +2 "processing"%@& +4 "core" &^-\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&6% +4 "core" %  T  + "storage"(<% +4 "core" % (\  +2 "storage"(c. +3 "core" .(,y + "storage"("& +4 "core" &,g\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(A(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +2 "manipulator"&I& +4 "core" &,{\ +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" & $ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(4'r + "manipulator"&/( +6 "core" ( + "manipulator"&]& +4 "core" & Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&m' +93 "core" ' + .tHand.close +2 "manipulator"&=/ +53 "core" / +3 .tPC.seek :open + "processing"%( +99 "core" ' + "storage"(p- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'1 +42 "core" ' +306 ( + "storage"(D& +5 "core" &,f   %\  + "manipulator"&C& +4 "core" &  + "manipulator"&g% +4 "core" %  D  +2 .tForearm.seek :retract + "manipulator"&a' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&V( +239 "core" ( +2 "manipulator"&e& +4 "core" & \\ 1 + "storage"(U& +4 "core" &,f  Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +96 "core" ' + .tHand.open +2 "manipulator"&P1 +53 "core" 1 +2 "storage"(S- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(|' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(Z- +3 "core" -' +2 "storage"(& +3 "core" &,f \ S +2 "manipulator"&d& +4 "core" &  1 +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&o& +4 "core" &    1 + "storage"(2& +4 "core" &,f\ \  C\ V +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +59 "core" ' + "manipulator"&y& +4 "core" & t 1 +2 "storage"(`& +4 "core" &,f   S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&\\'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&,, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(T' +18 "core" ' + "manipulator"&% +5 "core" %C - / + "storage"(+& +4 "core" &,f  <\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&R'o +15 "core" ' +2 "manipulator"&5& +4 "core" & z 1 +2 "storage"(Q& +4 "core" &,f   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +15 "core" ' +2 "storage"(9% +4 "core" %   B\ +2 ."downElevator"SE.seek :down +4 "storage"(u' +99 (F% +3 "core" %;G +\ Yj +2 "manipulator"&[% +4 "core" % < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (N& +4 "core" &,f U\  +2 "collection"')& +3 "core" &\\u \ Q +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&G% +4 "core" %  Q  +2 "storage"(J% +3 "core" %   \  +2 "storage"(&. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +33 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,}\ +2 "manipulator"&k& +4 "core" & q 1 +2 .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( + "manipulator"&O& +4 "core" &  @ 1 +2 "storage"(& +3 "core" &,}   [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&s' +97 "core" ' +2 "storage"(3& +4 "core" &,} ' ' #\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(i'r +301 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & 1 + "storage"(q& +4 "core" &,g   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&h'7 +23 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(H- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"( 'x +29 "core" ' +2 "manipulator"&7% +4 "core" %C ) +2 "storage"(>& +3 "core" &,g D\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 312 counts +2 "manipulator"&'o +14 "core" ' +2 "manipulator"&Y& +4 "core" &  ! 1 + "storage"(& +4 "core" &,g   P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&%' +16 "core" ' + .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +40 "core" ' + "manipulator"&.& +5 "core" & 1 + "manipulator"&}% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +160 "core" ( +2 "manipulator"&$& +4 "core" &ӎ V 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ  q 2 +52 .tForearm.seek CC +3 "manipulator"&B'? +97 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"' ( +447 "core" ( +2 "storage"((& +4 "core" &,g E 8 \  + "storage"(_& +4 "core" &,g ' & d\  + "manipulator"&v& +4 "core" &ӎ  1 2 + "manipulator"&% +4 "core" % N s * +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&x( +161 "core" ( + "manipulator"&b& +4 "core" &  t  +2 "storage"(& +4 "core" &,g = ? \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"& '7 +95 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % : ] 1 +2 "storage"(E& +3 "core" &,g K K 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&f'f +13 "core" ' +2 "manipulator"&j& +5 "core" & p  + "storage"(X& +4 "core" &,g : 7 C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&{' +15 "core" ' + "storage"(0% +5 "core" % W `\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (:% +3 "core" %E C 8 K\ We +2 "manipulator"&^% +4 "core" %  ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'w& +4 "core" & \ +2 "manipulator"&t% +4 "core" %   +2 "storage"(% +4 "core" % L K )\  + "storage"(L. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"('(<- +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (*& +3 "core" &<+ 4 4 \  +2 "manipulator"&@& +4 "core" &  C  + .tElbow.seek 5 +2 "manipulator"&6( +4 "core" ( + "manipulator"&<& +4 "core" &  + "storage"(c& +4 "core" &<+ K K Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&"'O +89 "core" ' + "storage"(K& +4 "core" &<+ X d G\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'r +298 "core" ' + "storage"(I- +4 "core" -'* + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &<+ 2 / \  +2 "manipulator"&;& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&=& +4 "core" &  + "storage"(& +4 "core" &<+ K K W\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&p'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& + "storage"(-' +7 "core" & 9  +2 "manipulator"&4% +3 "core" % ϼ  +2 .tForearm.seek :retract +2 "manipulator"&D' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +157 "core" ( +2 "manipulator"&g& +4 "core" ' +2 &Ӑ% >I + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&m& +6 "core" &Ӑ% + >I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&e'? +96 "core" ' +2 "manipulator"&U& +4 "core" &Ӑ% t >I +2 "manipulator"&/% +4 "core" %F  ` , + "collection"'P& +4 "core" & \ +2 "collection"'S& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'Z(\\ +4 "core" & \  +9 &6y \ +{ +10 &g{ \ ? +9 &g \ M +9 &_O \ L +10 &!R \ L +9 &R \ L +9 &R \ L +10 &gQ \ L +9 &)S \ L +10 &Q \ L +9 & R \ L +9 &"nR \ L +9 &$0R \ L +10 &%R \ L +9 &'S \ L +10 &)vT \ L +9 &+8S \ L +9 &,R \ L +10 &.R \ L +9 &0}S \ L +10 &2@R \ L +9 &4R \ L +9 &5T \ L +10 &7T \ L +9 &9HV \ L +9 &;\ T \ L +10 &<T \ L +9 &>T \ L +9 &@NT \ M +10 &BU \ L +9 &CZ \ M +10 &Ed \ N +9 &GLr \ P +10 &I \ S +9 &J \ X +9 &Ly \ Y +9 &N8 \ Y +10 &O \ Z +9 &Q \ Z +10 &Sz \ [\ +9 &U: \ \\ +10 &V \ ] +9 &X \ ] +9 &Z{ \ ] +9 &\\x \ 2 +10 &\\- \ ` +9 ( +2 &\\i \ R + "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&d% +4 "core" % F r , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o' +96 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%2& +4 "core" &\ + "manipulator"&a% +4 "core" %   +2 "storage"(y% +4 "core" % 0\  + "storage"(`. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" &<+ ;\  +2 "manipulator"&!& +3 "core" &ӑ% >H +2 "manipulator"&5% +4 "core" %  5  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&Q( +145 "Can"\ SQ +14 "core" ( +2 "manipulator"&& +4 "core" & +2 "storage"(9& +3 "core" &<+ ( )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&V'O +103 "core" ' +2 "storage"(#& +4 "core" &<+ ' &\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'r +300 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ([& +3 "core" &<+ ) ' \  + "manipulator"&n& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&1& +3 "core" &  M +2 "storage"(\\& +4 "core" &<+  \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&N'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&R/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&)& + "storage"(G' +6 "core" &  +2 "manipulator"&J% +4 "core" % Ͻ < +2 .tForearm.seek :retract + "manipulator"&&' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&T( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&& +4 "core" & E 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &  4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&O' +99 "core" ' +2 "manipulator"&& +5 "core" & _ 4 + "manipulator"&8% +4 "core" % b  +2 "processing"%3& +3 "core" &\ +2 "processing"%u& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%A(^ +4 "core" &\ +7 & -\ $c +10 &Tx\ 7 +9 &}v\ K +10 &U\ O +9 &RS\ O +9 &R\ O +10 &R\ O +9 &U\ O +9 &ZR\ O +10 &S\ O +9 &Q\ O +10 &!Q\ O +9 &#cP\ O +9 &%%R\ O +10 &&Q\ O +9 &(R\ O +9 &*kR\ O +10 &,,V\ O +9 &-Q\ O +10 &/V\ O +9 &1sR\ O +9 &35T\ O +10 &4P\ O +9 &6R\ O +9 &8{V\ O +10 &:>R\ N +9 &;T\ O +9 &=T\ O +10 &?T\ O +9 &ACX\ O +10 &Cc\ Q +9 &Dp\ R +9 &Fz\ T +10 &H9\ U +9 &I\ V +10 &K\ V +9 &M|\ W +10 &O?\ V +9 &P\ W +9 &R\ V +10 &T\ W +9 &VF\ V +9 &X\ W +10 &Y\ W +9 &[\ W +10 &]K\ K +9 &^{K\ a +9 &^L\ 7 +5 ( +2 "processing"%u& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 +51 .Hand.open +3 "manipulator"&,1 +3 "core" &^.\ 7 +57 1 + "manipulator"&W% +5 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 "processing"% & +4 "core" &^.\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&q% +4 "core" % # T 7 +2 "storage"(H% +3 "core" % j\  +2 "storage"(7. +3 "core" .(<- + "storage"(>& +4 "core" &<+ f\  +2 "storage"(Y& +2 "manipulator"&& +7 "core" &<+ \  + & \\ 4 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&.( + "storage"(}'r +6 "core" ( + "manipulator"&s& +4 "core" & 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" & 3 4 +2 .tForearm.seek PC +2 "manipulator"&i' +95 "core" ' + .tHand.close +2 "manipulator"&h/ +56 "core" / +2 .tPC.seek :open +2 "processing"%( +100 "core" ' +2 "storage"( - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'1 +41 "core" ' +303 ( + "storage"(& +4 "core" &<+ - 4 \  +2 "manipulator"&%& +4 "core" & ' 4 +2 "manipulator"&z% +3 "core" %  ) ( +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +256 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"((& +4 "core" &<+  # E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&_'O +94 "core" ' + .tHand.open + "manipulator"&v1 +59 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(b' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(B- +4 "core" -' + "storage"(& +4 "core" &<+ A\ r + "manipulator"&& +4 "core" & 3 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&E& +4 "core" &  G +2 "storage"(j& +3 "core" &<+ @\ q +3 .tForearm.seek 5 + 450 counts + "manipulator"&X'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(0'" +53 "core" ' + "manipulator"& & +4 "core" &  m +2 "storage"(:& +4 "core" &<+   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&^'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +20 "core" ' + "manipulator"&w% +5 "core" %Ί  + "storage"(t& +4 "core" &<+   w\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 297 counts + "manipulator"&f'϶ +13 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(L& +4 "core" &<+ ' ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' +2 "storage"({% +4 "core" % , 3 3\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +2 "core" %HN  <\ Wi +2 "manipulator"&*% +4 "core" %B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&@' +91 "core" ' +60 ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 (<& +4 "core" &<+ x\  +2 "collection"'c& +4 "core" &\\h \ R +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&K% +4 "core" %  )  +2 "storage"(l% +3 "core" %  $ \  +2 "storage"(\ . +3 "core" .(<- + "storage"(I& +4 "core" &<+  (\  +2 "storage"(]& +3 "core" &<+ $ V\  +2 "manipulator"&;& +4 "core" & + .tElbow.seek 5 +2 "manipulator"&=( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &<+  # H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&r'O +94 "core" ' +2 "storage"(4& +4 "core" &<+ /  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'r +300 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +2 "core" & A +2 "storage"(m& +4 "core" &<+   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&~'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate + "storage"(/' +29 "core" ' + "manipulator"&P% +4 "core" %Ό  +2 "storage"(?& +3 "core" &<+ ' ) \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 299 counts + "manipulator"&-'ϸ +14 "core" ' +2 "manipulator"&D& +4 "core" & i +2 "storage"( & +3 "core" &<+ ' ' 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate + "storage"(d' +45 "core" ' + "manipulator"&2& +4 "core" & b +2 "manipulator"&a% +4 "core" %;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&`(ӂ +159 "core" ( + "manipulator"&S& +5 "core" &Ӑ& ( ?V + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &ӑ& ?U +2 .tForearm.seek CC +2 "manipulator"&!'? +96 "core" ' +2 .tHand.close + "manipulator"&5/ +60 "core" / + .tCC.seek :open +2 "collection"'e( +447 "core" ( +2 "storage"(& +5 "core" &<+ ' & \  + "storage"(9& +4 "core" &<+ ) (\  +2 "manipulator"&'& +3 "core" &Ӓ&  ?T +2 "manipulator"&#% +3 "core" % I [ O +2 .tForearm.seek :retract +2 "manipulator"&C' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&o( +165 "core" ( + "manipulator"&F& +4 "core" &  +2 "storage"([& +4 "core" &<+ L @ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&n'΍ +92 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\\1 +61 "core" 1 +2 "manipulator"&R% +4 "core" % Ε v F + "storage"()& +4 "core" &<+ K J M\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 308 counts + "manipulator"&J' +15 "core" ' +2 "manipulator"&Q& +5 "core" & 1  + "storage"(V& +4 "core" &<+ F U p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&|'O +18 "core" ' + "storage"(N% +5 "core" % V Y\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (k% +3 "core" %F A > .\ Wd +2 "manipulator"&% +4 "core" %P H +50 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +4 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'8& +5 "core" & \ + "manipulator"&3% +4 "core" %   +2 "storage"(G% +4 "core" % G ; \  + "storage"(&. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +2 "core" &K ' '\  +2 "manipulator"&W& +4 "core" & =  +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( + "manipulator"& & +4 "core" &   + "storage"(q& +4 "core" &K C 9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&H' +96 "core" ' + "storage"(7& +4 "core" &K Y V\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Y& +3 "core" &K ? < P\  +2 "manipulator"&s& +3 "core" & C  +2 .tElbow.seek 6 +2 "manipulator"&M( +3 "core" ( + "manipulator"&O& +4 "core" &  !  + "storage"(h& +4 "core" &K H J 7\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(A' +7 "core" & `  +2 "manipulator"&}% +4 "core" % ϙ +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' + .tElbow.seek CC +2 "manipulator"&%(ӂ +157 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&z& +4 "core" &ӑ%  >L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &ӑ% 5 >L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' +2 "manipulator"&(& +5 "core" &ӓ& >J + "manipulator"&.% +4 "core" %> G +2 "collection"'v& +4 "core" & 0\ +2 "collection"'& +5 "core" & /\ +2 .tCC.seek :closed +2 "collection"'B(\\ +4 "core" & \ +8 &; \ %f +9 &Xy \ 8 +10 &s \ L +9 &Q \ L +9 &Q \ L +10 &HS \ L +9 & R \ L +10 &Q \ L +9 &R \ L +9 &QR \ L +10 & R \ L +9 &!U \ L +9 &#S \ L +10 &%YR \ L +9 &'R \ L +9 &(S \ K +10 &*S \ L +9 &,`R \ L +10 &."T \ L +9 &/R \ L +9 &1S \ L +10 &3hQ \ L +9 &5*S \ L +9 &6T \ L +10 &8R \ L +9 &:oT \ L +10 &<0T \ M +9 &=T \ L +9 &?T \ L +10 &AwU \ L +9 &C9Y \ L +9 &Da \ N +10 &Fk \ O +9 &Ho \ R +10 &J% \ V +9 &K \ X +9 &M \ X +10 &Ob \ Y +9 &Q$ \ Y +9 &R \ Z +10 &T \ Z +9 &Vc \ [ +10 &X$ \ \\ +9 &Y \ ] +9 &[ \ J +10 &\\0 \ 5 +9 &\\j \ P +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % > +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&E' +94 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%j& +4 "core" &\ + "manipulator"&% +4 "core" %   +2 "storage"( % +4 "core" %   \  + "storage"(:. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(w(K +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" &K  \  +2 "manipulator"&$& +4 "core" &Ӕ% >I + "manipulator"&% +4 "core" %  V  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&L( +166 "core" ( +2 "manipulator"&b& +4 "core" &  + "storage"({& +4 "core" &K & ' $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +95 "core" ' +2 "storage"(_& +4 "core" &K &  9\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &K   @\ \ +2 "manipulator"&X& +4 "core" & !  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&0& +4 "core" & y  +2 "storage"(^& +3 "core" &K  I\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&<'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&f/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& + "storage"(K' +6 "core" & w  +2 "manipulator"&l% +4 "core" % Ϡ + .tForearm.seek :retract +2 "manipulator"&\ ' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&I& +4 "core" &  m $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" & t $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&;' +97 "core" ' +2 "manipulator"&& +4 "core" & $ +2 "manipulator"&% +4 "core" % O 5 +2 "processing"%& +4 "core" &\ +2 "processing"%4& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &0s\ *x +9 &b}\ > +10 &kp\ O +9 &,S\ O +9 &U\ O +10 &O\ N +9 &rR\ O +9 &4U\ O +10 &U\ O +9 &Q\ O +10 & {R\ N +9 &"=Q\ N +9 &#V\ O +10 &%O\ O +9 &'Q\ O +9 &)EQ\ N +10 &+R\ N +9 &,T\ O +10 &.P\ N +9 &0KR\ O +9 &2R\ O +10 &3S\ O +9 &5T\ O +9 &7UQ\ N +10 &9T\ O +9 &:S\ O +10 &<R\ N +9 &>[U\ O +9 &@U\ O +10 &AZ\ P +9 &Cg\ Q +9 &EWv\ S +10 &G\ U +10 &H\ V +9 &J\ U +9 &LW\ V +10 &N\ V +9 &O\ V +9 &Q\ W +9 &S\\\ W +10 &U\ W +9 &V\ W +10 &X\ W +9 &Zc\ W +10 &\\%\ W +9 &]z\ 9 +9 &^-~\ X +9 &^5\ 7 +3 ( + "processing"%4& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open + "manipulator"&x1 +63 "core" 1 + "manipulator"&@% +4 "core" %  w 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +93 "core" ' + "processing"%g& +4 "core" &^4\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&m% +4 "core" %  " +2 "storage"(U% +3 "core" %\  +2 "storage"(P. +3 "core" .(K + "storage"(?& +4 "core" &K\ \ +2 "storage"(D& +3 "manipulator"& & +5 "core" &K \ \ + & $ +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&2( +4 ."raiseStack"SE.seek :beamBreak + "storage"(a'r +3 "core" ( + "manipulator"&r& +4 "core" & ] $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" & q $ +2 .tForearm.seek PC +2 "manipulator"&6' +93 "core" ' + .tHand.close + "manipulator"&~/ +54 "core" / +2 .tPC.seek :open +2 "processing"%-( +99 "core" ' + "storage"(/- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'1 +49 "core" ' +300 ( + "storage"(+& +4 "core" &K ' 9\ +2 "manipulator"&& +3 "core" & ' $ +2 "manipulator"&p% +3 "core" %  z J +2 .tForearm.seek :retract +2 "manipulator"&5' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +51 "manipulator"&y( +260 "core" ( + "manipulator"&Z& +4 "core" & l  +2 "storage"(& +4 "core" &K   ?\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&9' +90 "core" ' +2 .tHand.open + "manipulator"&'1 +57 "core" 1 +2 "storage"(#- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(F' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"([' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(!- +3 "core" -' +2 "storage"(`& +4 "core" &K \ y + "manipulator"&\\& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&)& +3 "core" & $  +2 "storage"(Q& +4 "core" &K \ y +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&V' +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(N'" +58 "core" ' + "manipulator"&C& +5 "core" & A  + "storage"(k& +4 "core" &K ' ( #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +18 "core" ' +2 .tElbow.hold + "manipulator"&o, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(n' +18 "core" ' +2 "manipulator"&8% +4 "core" %< y +2 "storage"(J& +4 "core" &K   O\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&3'h +14 "core" ' +2 "manipulator"&G& +4 "core" & G  +2 "storage"(&& +4 "core" &K ) ' \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +15 "core" ' +2 "storage"(|% +4 "core" % 4 , u\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +2 "core" %H   S\ Xi +2 "manipulator"&,% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +93 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &K  Y\ +2 "collection"'q& +4 "core" &\\c \ P + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&7% +4 "core" %  5  + "storage"(1% +4 "core" % ' (\  + "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K $  \ + "storage"(Y& +4 "core" &K ' ' "\ + "manipulator"&s& +4 "core" & i  +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( + "manipulator"&h& +4 "core" &  +  + "storage"(T& +4 "core" &K ' '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(}& +4 "core" &K  _\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'r +298 "core" ' +2 "storage"(H- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&z& +3 "core" &  5  +2 "storage"(i& +4 "core" &K  % \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&>'< +13 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"((- +3 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(.'| +29 "core" ' + "manipulator"&M% +5 "core" %H  : + "storage"(v& +3 "core" &K  @\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&A't +14 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(e& +4 "core" &K ' ' &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&j& +4 "core" & 9  +2 "manipulator"&% +3 "core" %  _ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +157 "core" ( + "manipulator"&& +5 "core" &ӑ% >L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &ӑ% 3 >L +2 .tForearm.seek CC + "manipulator"&$'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(b& +4 "core" &K & & \ +2 "storage"({& +3 "core" &K 4 4 I\ +2 "manipulator"&& +4 "core" &Ӓ% >K + "manipulator"&_% +4 "core" % E o a +2 .tForearm.seek :retract + "manipulator"&%' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&E( +167 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(*& +4 "core" &K L L 3\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&X'< +95 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&^1 +56 "core" 1 + "manipulator"&f% +5 "core" % > 0 + "storage"(c& +4 "core" &K K M g\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 302 counts + "manipulator"&l'j +15 "core" ' +2 "manipulator"&L& +5 "core" &  A  + "storage"(& +4 "core" &K U U M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +21 "core" ' + "storage"(<% +5 "core" % G U\ +2 ."downElevator"SE.seek :down +4 "storage"(I' +99 (]% +3 "core" %G * 7\ Xg +2 "manipulator"&% +4 "core" %  p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +45634 "Can" \ @= +16209 #t-> exit +5 #mEXIT @1632144076.58PDT @1632321752.81PDT = =tMAIN =mMAIN_scheduler @PDT1632321754.70 #"core_reset"Sent BREAK +2 #t@24526 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +386 "Can"\ ! i + \ ! i + #tPolling Can every 10:00 +18 #Cleanly exited at 06:21:16PDT20-Sep-21 +978 #-> ESP.ready! +3 #Powering core bus +548 .Gate.power :raw,:ON +3 "sampler") +44 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % X\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" % \ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ \ +2 .tSS.configure :default +2 "sampler")#.0X\ + .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down + "storage"( ' +59 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.home.seek :initial +2 "storage"(!(,y +169 "core" ' + ."rdyProcessing"PS.stop + "processing"%5 +93 "core" ' +2253 ( + .tSC.configure :limp +2 "storage"($\ 1b +3 "manipulator"&"& +2 "core" &d   # +2 .tForearm.seek :retract +2 "manipulator"&#' +3 "core" ' +2 .tElbow.seek :hammer + "manipulator"&$( +93 "core" ( +2 "manipulator"&%& +4 "core" &  S 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted + "manipulator"&&' +5 "core" ' + "manipulator"&'% +5 "core" %   v  +2 "processing"%(& +3 "collection"')& +4 "core" &\ + & l\ +3 ."openPC"PC.reconfigure :default +2 .tCC.reconfigure :default +3 "processing"%$x2 ^22b +4 "collection"'$x2 ^22b +2 ."openPC"PC.home.seek :open +3 .tCC.home.seek :open + "processing"%*( +2 "collection"'+( +278 "core" ( +26 ( +2 "collection"', +4 "core"  + "processing"%- +3 "core" W +2 "processing"%. +3 "core"  + "processing"%/ +3 "core" A +2 "collection"'0% +4 "core" %d r\ + "processing"%1% +4 "core" %E\ +2 "sampler")2% +4 "core" %ڃ\ \  \ 5 +2 "collection"'3& +4 "core" & )\  + "processing"%4& +4 "core" &\  +2 "manipulator"&5% +3 "core" %   J  +2 "manipulator"&6& +4 "core" & 1 + "storage"(7& +4 "core" &,w >\  +2 "storage"(8% +4 "core" %? #\ ] + "collection"'99 +63 "core" 9pL +2 "processing"%:9 +3 "core" 9j +729 #t-> require 'shuffle.rb' +4039 #-> 5.times {shuffle 4..6} +3 #Shuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"';& +3 "core" & \  + .tHand.open +2 "manipulator"&<1 +54 "core" 1 +2 "manipulator"&=% +4 "core" %    + "storage"(>% +4 "core" %? e e \ ] +2 "storage"(?. +3 "core" .(,y + "storage"(@& +4 "core" &,w p q Z\  + "storage"(A& +4 "core" &,w s u L\  + "manipulator"&B& +4 "core" & Z 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&C( +30 "core" ( + "manipulator"&D& +5 "core" & r + "storage"(E& +4 "core" &,w f h \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +94 "core" ' +2 "storage"(G& +4 "core" &,w L\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +296 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &,k ?\  + "manipulator"&K& +4 "core" &  F r +2 .tElbow.seek 4 +2 "manipulator"&L( +3 "core" ( +36 "manipulator"&M& +10 "core" &   + r +2 "storage"(N& +4 "core" &,k `\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&O'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R' +7 "core" &   m r +2 "manipulator"&S% +3 "core" % \\  j +2 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&V& +5 "core" &ӓ$  =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &ӓ% h =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'? +94 "core" ' +2 "manipulator"&Y& +4 "core" &ӓ%   v =G +2 "manipulator"&Z% +3 "core" %6   7 H +2 "collection"'[& +4 "core" & F\  +3 "collection"'\\& +5 "core" & \  +2 .tCC.seek :closed +2 "collection"'](\\ +4 "core" & \  +7 &G \ %i +9 &jX \ 9 +9 &y |\ M +10 &X \ N +9 &HX ~\ N +9 &\ [ |\ N +10 &Y \ N +9 &\\ x\ N +10 &QY u\ M +9 &Y v\ N +9 &X v\ M +10 &!X t\ N +9 &#XY v\ N +10 &%Z r\ N +9 &&W u\ N +9 &(Y v\ N +10 &*_Z r\ N +9 &,#X u\ M +9 &-W w\ N +10 &/U u\ N +9 &1hW u\ N +9 &3)Y {\ N +10 &4W s\ M +9 &6Y p\ N +10 &8pY q\ N +9 &:1\\ s\ N +9 &;X w\ N +10 &=W q\ N +9 &?xX w\ N +9 &A:Y q\ N +10 &B] u\ N +9 &Db w\ O +10 &Fxk ~\ P +9 &H3 ~\ S +9 &I \ V +10 &K z\ Y +9 &Mg \ Y +9 &O( {\ Y +10 &P |\ Z +9 &R s\ Z +10 &Th w\ [ +9 &V) y\ \\ +9 &W z\ \\ +10 &Y y\ ] +9 &[k z\ J +9 &\\M v\ c +10 &\\$) z\ (y +9 &]j r\ P +2 ( +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&^1 +54 "core" 1 +2 "manipulator"&_% +4 "core" % 6  _ H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +94 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%a& +4 "core" &\  + "manipulator"&b% +4 "core" %   {  +2 "storage"(c% +4 "core" % 1 M "\  + "storage"(d. +3 "core" .(,y +2 "storage"(e& +3 "core" &,k 7 6 \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(f(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (g& +3 "core" &,} 6 6\ + "manipulator"&h& +5 "core" &Ӕ% H =F + "manipulator"&i% +4 "core" %  j  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&j( +157 "core" ( + "manipulator"&k& +5 "core" &   + "storage"(l& +4 "core" &,} S D =\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&m' +95 "core" ' + "storage"(n& +5 "core" &,} g e \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'r +298 "core" ' + "storage"(p- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" &,i Y N :\ + "manipulator"&r& +4 "core" &  W  +2 .tElbow.seek 4 +2 "manipulator"&s( +19 "core" ( + "manipulator"&t& +4 "core" & \  B "x +2 "storage"(u& +3 "core" &,i N N 4\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&v'c +39 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& + "storage"(y' +7 "core" &\  3 !v +2 "manipulator"&z% +4 "core" % |  O + .tForearm.seek :retract +2 "manipulator"&{' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&|( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&}& +5 "core" &  _  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" & :  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&& +4 "core" &  *  + "manipulator"&% +4 "core" %   b u +2 "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\ \  +9 &5y\ +{ +9 &c\ ? +10 &Xu\ P +9 &X\ O +9 &Y\ O +10 &U\ P +9 &`W\ P +9 &#W\ O +10 &W\ O +9 &W\ P +10 & iX\ O +9 &"+U\ O +9 &#\\\ O +10 &%Z\ O +9 &'q\\\ O +9 &)2[\ P +10 &*Y\ P +9 &,Y\ P +10 &.xX\ P +9 &0:W\ P +9 &1Y\ O +10 &3U\ P +9 &5Y\ P +9 &7BU \ P +10 &9]\ P +9 &:X\ P +10 &<W\ P +9 &>JZ\ P +9 &@ Z\ P +10 &A_\ P +9 &Cf\ Q +9 &EJs\ R +10 &G\ U +9 &HE\ U +10 &J\ U +9 &LI\ U +9 &N\ W +10 &O\ W +9 &Q\ W +9 &SN\ W +10 &U4\ V +9 &V$\ W +9 &X\ V +10 &ZV\ V +9 &\\\ W +10 &] \ 8 +9 &^+k\ #f +9 &^-\ 2 +3 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&% +4 "core" %   u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 "processing"% & +4 "core" &^&\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&\ % +3 "core" % % A 9 +2 "storage"( % +4 "core" % 7 ,\  + "storage"( . +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,{ \ \ +2 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & <  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"('r +5 "core" ( + "manipulator"&& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&/ +66 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +309 ( +2 "storage"(& +4 "core" &,e M M \ +2 "manipulator"&& +3 "core" &   >  +2 "manipulator"&% +4 "core" %    - +2 .tForearm.seek :retract + "manipulator"&"' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&%( +244 "core" ( +2 "manipulator"&'& +4 "core" &  A ) + "storage"((& +4 "core" &,e * + @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&)' +97 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(#' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +4 "core" -' + "storage"(.& +4 "core" &,e \ t + "manipulator"&/& +4 "core" &   ) +2 .tElbow.seek 4 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&1& +4 "core" &   ' ) + "storage"(2& +4 "core" &,e T\ w +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +52 "core" ' +2 "manipulator"&5& +4 "core" &   ) ) +2 "storage"(6& +3 "core" &,e + , #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&7'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +28 "core" ' +2 "manipulator"&:% +4 "core" %B M  +2 "storage"(;& +3 "core" &,e 9 - \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&<'n +13 "core" ' + "manipulator"&=& +5 "core" &  q ) + "storage"(>& +5 "core" &,e M M u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +19 "core" ' + "storage"(@% +5 "core" % P N \ +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (B% +3 "core" %JJ , , n\ Xh + "manipulator"&D% +5 "core" % @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +95 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (G& +4 "core" &,e 5 , /\ +2 "collection"'$& +3 "core" &]h !\ P +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&&% +3 "core" % #  ! +2 "storage"(I% +4 "core" % = ) \  + "storage"( . +3 "core" .(,y +2 "storage"(J& +3 "core" &,e + = \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(K(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (M& +3 "core" &,} , 5 \ +2 "manipulator"&N& +4 "core" &  ) + .tElbow.seek 4 +2 "manipulator"&P( +50 "core" ( +2 "manipulator"&Q& +4 "core" &  v ) + "storage"(S& +5 "core" &,} B 9 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +99 "core" ' + "storage"(F& +5 "core" &,} N L g\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'r +301 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&H& +3 "core" &   0 ) +2 "storage"(O& +3 "core" &,h , 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Y'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(L'y +29 "core" ' + "manipulator"&R% +5 "core" %8  + "storage"(T& +4 "core" &,h K C K\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts +2 "manipulator"&+'d +14 "core" ' + "manipulator"&^& +4 "core" &  5 ) +2 "storage"(_& +4 "core" &,h M P \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&a' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(b' +46 "core" ' + "manipulator"&c& +5 "core" &  g ) + "manipulator"&d% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +156 "core" ( + "manipulator"&g& +4 "core" &ӎ&  ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &ӎ& V ?V +3 .tForearm.seek CC + "manipulator"&i'? +94 "core" ' +2 .tHand.close + "manipulator"&X/ +57 "core" / + .tCC.seek :open +2 "collection"'k( +451 "core" ( + "storage"(l& +4 "core" &,h i i \  +2 "storage"(!& +4 "core" &,h c e a\  + "manipulator"&n& +4 "core" &ӏ& c ?U + "manipulator"&U% +4 "core" % :  e 7 +2 .tForearm.seek :retract + "manipulator"&`' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&p( +167 "core" ( +2 "manipulator"&q& +4 "core" & \  + "storage"(r& +4 "core" &,h k h j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&t'7 +91 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&w1 +61 "core" 1 +2 "manipulator"&x% +4 "core" % 2 [ 9 +2 "storage"(z& +3 "core" &,h \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 295 counts + "manipulator"&j'^ +15 "core" ' + "manipulator"&m& +5 "core" &  Q  + "storage"(o& +4 "core" &,h 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +14 "core" ' +2 "storage"(}% +4 "core" % .\ +3 ."downElevator"SE.seek :down +3 "storage"(~' +100 (s% +3 "core" %@ h h\ Vb + "manipulator"&% +5 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" & 4\ + "manipulator"&y% +32 "core" %   P  +2 "storage"({% +4 "core" % { \  +2 "storage"(*. +3 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<0 = O A\  +2 "manipulator"& & +4 "core" &  K  + .tElbow.seek 5 +2 "manipulator"&\ ( +3 "core" ( + "manipulator"& & +4 "core" &  U  +2 "storage"( & +3 "core" &<0 _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' + "storage"(& +4 "core" &<0 B\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -'+ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<. n r <\  +2 "manipulator"&& +4 "core" &     + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&f& +5 "core" &  0  + "storage"(& +4 "core" &<. g e \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&|'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +9 "core" &  W  + "manipulator"&% +4 "core" %   , +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +162 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +6 "core" &ӑ!  D :1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &'& +2 "core" &ӑ  ? :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&('? +103 "core" ' +2 "manipulator"&& +4 "core" &ӑ"  & :1 +2 "manipulator"&% +4 "core" %<  L  + "collection"'& +5 "core" & u\ +2 "collection"'-& +4 "core" & -\ +2 .tCC.seek :closed +2 "collection"'.(\\ +4 "core" & r\  +9 &1| u\ *y +9 &b t\ > +10 &tt q\ N +9 &7U s\ M +9 &T s\ M +10 &U t\ M +9 &~V t\ M +9 &?Z w\ M +10 &Z v\ N +9 &T t\ M +10 & Z s\ M +9 &"FW t\ N +9 &$ X w\ M +10 &%W r\ N +9 &'W t\ N +9 &)NW s\ N +10 &+W t\ M +9 &,T u\ M +9 &.U u\ M +10 &0WY w\ M +9 &2V t\ N +10 &3W r\ M +9 &5X w\ M +9 &7^Y u\ N +10 &9 X t\ N +9 &:W s\ M +9 &<T s\ M +10 &>gU t\ M +9 &@)T t\ M +10 &AW q\ M +9 &C\\ r\ N +9 &Eje r\ O +10 &G'r q\ Q +9 &H s\ T +9 &J v\ X +10 &LU q\ Y +9 &N p\ Z +10 &O r\ Z +9 &Q r\ Z +9 &SW t\ [\ +10 &U x\ \\ +9 &V p\ \\ +10 &X s\ ] +9 &ZX s\ ] +9 &[{ k\ ; +10 &\\* q\ 't +9 &\\y p\ X +2 ( +2 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&/1 +54 "core" 1 +2 "manipulator"&1% +4 "core" % <     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%"& +4 "core" &\ +2 "manipulator"&5% +4 "core" %   + "storage"(6% +4 "core" % - 4\  +2 "storage"(:. +3 "core" .(<- + "storage"(;& +4 "core" &<. 8 7 \  + "storage"(& +4 "core" &<. ' %\  + "manipulator"&=& +5 "core" &ӑ!  ^ :1 + "manipulator"&>% +4 "core" %  S  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&#( +162 "core" ( +2 "manipulator"&@& +4 "core" &  8  + "storage"(%& +4 "core" &<. * , b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +94 "core" ' + "storage"(,& +5 "core" &<. J M g\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'r +295 "core" ' + "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +2 "core" &<. - 9 4\  +2 "manipulator"&0& +4 "core" &  b  +2 .tElbow.seek 5 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&7& +3 "core" &  3  +2 "storage"(<& +4 "core" &<.   a\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&G'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(I' +7 "core" & j  +2 "manipulator"& % +4 "core" % ϯ  Y +2 .tForearm.seek :retract + "manipulator"&9' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&J( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&M& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?' +97 "core" ' + "manipulator"&Q& +5 "core" &  v + "manipulator"&S% +4 "core" % g  +2 "processing"%F& +4 "core" &\ +2 "processing"%A& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\  +9 &1y\ *x +10 &a\ > +9 &gv\ O +9 &'V\ O +10 &W\ O +9 &Y\ O +9 &lU\ P +10 &.Y\ P +9 &Y\ P +9 &U\ P +10 & u[\ O +9 &"7U\ O +10 &#V\ P +9 &%W\ O +9 &'}U\ O +10 &)?U\ O +9 &+V\ O +9 &,Y\ O +10 &.T\ O +9 &0FV\ P +10 &2S\ P +9 &3S\ O +9 &5U\ P +10 &7NW\ P +9 &9Z\ P +9 &:W\ P +10 &<Z\ P +9 &>UW\ P +10 &@W\ P +9 &A_\ Q +9 &Cj\ R +10 &ERv\ T +9 &G\ V +9 &H\ U +10 &J\ W +9 &LS\ V +10 &N\ W +9 &O\ W +9 &Q\ X +10 &SW\ X +9 &U\ W +9 &V\ X +10 &X\ W +9 &Z`\ W +10 &\\!\ X +9 &]\ 5 +9 &^2r\ E +9 ( +3 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&81 +42 "core" &^"\ 3 +21 1 + "manipulator"&E% +4 "core" %  `  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +92 "core" ' +2 "processing"%H& +4 "core" &^"\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&O% +4 "core" % ! F % +2 "storage"([% +3 "core" %   \  +2 "storage"(R. +3 "core" .(<- + "storage"(T& +4 "core" &<. \  +2 "storage"(^& +4 "manipulator"&_& +5 "core" &<.   @\  + & g +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&c( +4 ."raiseStack"SE.seek :beamBreak + "storage"(d'r +3 "core" ( + "manipulator"&C& +5 "core" &  i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" & , +2 .tForearm.seek PC + "manipulator"&V' +93 "core" ' + .tHand.close +2 "manipulator"&Y/ +64 "core" / +2 .tPC.seek :open +2 "processing"%+( +91 "core" ' + "storage"(L- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'1 +44 "core" ' +306 ( + "storage"(h& +5 "core" &<,  , V\  + "manipulator"&a& +4 "core" &    + "manipulator"&Z% +4 "core" %  U " +2 .tForearm.seek :retract + "manipulator"&X' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&e( +240 "core" ( + "manipulator"&]& +5 "core" &  v / + "storage"(l& +4 "core" &<, ) , S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +101 "core" ' +2 .tHand.open + "manipulator"&n1 +52 "core" 1 +2 "storage"(U- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(r' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(i- +4 "core" -' +2 "storage"(\\& +3 "core" &<, _\ u +2 "manipulator"&w& +4 "core" &  s / + .tElbow.seek 5 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&z& +3 "core" &    / +2 "storage"(m& +4 "core" &<, \ w +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&o'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +52 "core" ' + "manipulator"&`& +5 "core" & / + "storage"(s& +5 "core" &<,  ;\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +23 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(t' +20 "core" ' + "manipulator"&% +5 "core" %Ύ  + "storage"(j& +5 "core" &<,  %\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&b'Ϻ +19 "core" ' + "manipulator"&y& +5 "core" & L  + "storage"({& +5 "core" &<, , * @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +25 "core" ' + "storage"(v% +4 "core" % ,  %\ +3 ."downElevator"SE.seek :down +4 "storage"(~' +98 (K% +2 "core" %dA 3 ) \ Xg +2 "manipulator"&% +4 "core" %F V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &<,  |\  +2 "collection"' & +4 "core" &\\w d\ X + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %   M  +2 "storage"(u% +4 "core" % 6 5 \  + "storage"(. +3 "core" .(<- +2 "storage"(& +3 "core" &<, 7 6 \  +2 "storage"(& +3 "core" &<, ) '\  +2 "manipulator"&& +4 "core" & _  + .tElbow.seek 5 +2 "manipulator"&f( +9 "core" ( + "manipulator"&& +4 "core" &  e  +2 "storage"(& +4 "core" &<, ) + \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' + "storage"(& +4 "core" &<, 1 L h\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'r +294 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & #  +2 "storage"('& +4 "core" &<,  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&|, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(' +29 "core" ' + "manipulator"&% +5 "core" %Ά  4  + "storage"(& +4 "core" &<, + $ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 293 counts +2 "manipulator"&'ϲ +14 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(k& +4 "core" &<, 8 7 \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&/'O +17 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate + "storage"(1' +38 "core" ' +2 "manipulator"&"& +4 "core" &  +2 "manipulator"&5% +4 "core" %< r + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&:(ӂ +155 "core" ( + "manipulator"&;& +4 "core" &Ӓ$ 9 =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӓ% O =E +2 .tForearm.seek CC +2 "manipulator"&-'? +94 "core" ' + .tHand.close +2 "manipulator"&=/ +56 "core" / +2 .tCC.seek :open +2 "collection"'>( +451 "core" ( +2 "storage"((& +4 "core" &<, : H \  + "storage"(@& +4 "core" &<, K F \  + "manipulator"&%& +5 "core" &ӓ%  4 =D + "manipulator"&,% +4 "core" % E  J + .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&2( +164 "core" ( + "manipulator"&D& +4 "core" & <  +2 "storage"(3& +3 "core" &<, o r S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&0'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&<1 +54 "core" 1 +2 "manipulator"&$% +5 "core" % Α   + "storage"(&& +4 "core" &<, r s :\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"& 'Ͻ +14 "core" ' +2 "manipulator"&#& +4 "core" &   d  +2 "storage"()& +4 "core" &<, %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +16 "core" ' +2 "storage"(G% +4 "core" % S\ +2 ."downElevator"SE.seek :down +3 "storage"(M' +99 (N% +3 "core" %A g g \ Wc +2 "manipulator"&4% +4 "core" %A  o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +92 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'S& +5 "core" & 1\ + "manipulator"&F% +4 "core" %   &  +2 "storage"(I% +4 "core" % q \  + "storage"(9. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &K N P X\  +2 "manipulator"&E& +3 "core" &  d  +2 .tElbow.seek 6 +2 "manipulator"&H( +3 "core" ( + "manipulator"&O& +4 "core" & }  + "storage"([& +4 "core" &K v f @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&R' +93 "core" ' +2 "storage"(T& +4 "core" &K J\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'r +299 "core" ' + "storage"(_- +4 "core" -'! + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (^& +3 "core" &K x f \  + "manipulator"&C& +4 "core" &  9  +2 .tElbow.seek 6 +2 "manipulator"&P( +3 "core" ( + "manipulator"&?& +4 "core" &   Q  +2 "storage"(Y& +4 "core" &K e f \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&L'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& + "storage"( ' +8 "core" &  g  + "manipulator"&d% +5 "core" % ϟ  | + .tForearm.seek :retract +2 "manipulator"&h' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&a(ӂ +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&Z& +4 "core" &Ӌ* d Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +4 "core" &Ӌ*  : Bl +2 .tForearm.reconfigure :tight +42 "manipulator"&#Q@2^d^\ b +11 .tForearm.seek CC +2 "manipulator"&]'? +94 "core" ' +2 "manipulator"&l& +4 "core" &ӌ+  i Bk +2 "manipulator"&c% +4 "core" %) P Y +2 "collection"'n& +4 "core" & w\ +2 "collection"'U& +5 "core" & 5\ +2 .tCC.seek :closed +2 "collection"'i(\\ +4 "core" & r\  +8 &.w s\ +z +10 &c t\ > +9 &xr u\ N +10 &:U s\ M +9 &U u\ M +9 &X v\ M +10 &R p\ M +9 &CV t\ M +9 &W r\ M +10 &U s\ M +9 & U z\ M +10 &"KU q\ M +9 &$ U s\ M +9 &%V s\ M +10 &'V q\ M +9 &)TV t\ M +9 &+T t\ M +10 &,U u\ M +9 &.U s\ M +9 &0\\S s\ M +10 &2U w\ M +9 &3V q\ M +10 &5Y r\ M +9 &7cW s\ M +9 &9%V s\ M +10 &:V u\ M +9 &<V r\ M +9 &>kW t\ M +10 &@.U q\ M +9 &AX u\ M +10 &C_ s\ N +9 &Eng r\ O +9 &G+v t\ P +10 &H f\ T +9 &J r\ X +9 &LY o\ Y +10 &N g\ Y +9 &O m\ Z +10 &Q m\ Z +9 &SZ t\ [\ +9 &U l\ \\ +10 &V m\ \\ +9 &X s\ ] +9 &Z[ q\ ] +10 &\\{ r\ ; +9 &\\* m\ (v +10 &\\~ k\ V +2 ( +2 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&\\1 +60 "core" 1 +2 "manipulator"&w% +4 "core" % )  Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +88 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%m& +4 "core" &\ +2 "manipulator"&X% +4 "core" %  C  + "storage"(`% +4 "core" % ) , 3\  +2 "storage"(s. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (j& +3 "core" &K '\  +2 "manipulator"&g& +4 "core" &ӏ* L Bh + "manipulator"&y% +4 "core" %   V  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&{( +166 "core" ( +2 "manipulator"&q& +4 "core" &  8  + "storage"(v& +4 "core" &K ) 3 [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&e' +95 "core" ' +2 "storage"(!& +4 "core" &K ; : `\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'r +297 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \ " =\  +2 "manipulator"&o& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&x( +3 "core" ( + "manipulator"&}& +5 "core" &   |  + "storage"(& +4 "core" &K 9 9 8\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&b'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(' +8 "core" &   + "manipulator"&u% +4 "core" % c  1 +2 .tForearm.seek :retract + "manipulator"&t' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&& +4 "core" & + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  C + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&& +5 "core" &  h + + "manipulator"&% +4 "core" %   2 s +2 "processing"%*& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%~(^ +4 "core" &\  +8 &1z\ *x +10 &a\ > +9 &fv\ O +10 &(U\ O +9 &W\ P +9 &S\ O +10 &lX\ P +9 &/W\ O +9 &U\ O +10 &V\ O +9 & uZ\ O +10 &"7W\ O +9 &#Y\ O +9 &%R\ O +10 &'}Y\ O +9 &)?S\ O +9 &+T\ P +10 &,X\ P +9 &.R\ O +10 &0FY\ P +9 &2U\ P +9 &3U\ O +10 &5R\ O +9 &7OR\ O +9 &9Z\ P +10 &:W\ P +9 &<T\ O +9 &>VX\ P +10 &@Z\ P +9 &A`\ Q +10 &Ci\ R +9 &ER{\ T +9 &G\ V +10 &H\ V +9 &J\ W +9 &LU\ U +10 &N\ V +9 &O\ V +10 &Q\ X +9 &SY\ W +9 &U\ W +10 &V\ W +9 &X\ W +9 &Za\ W +10 &\\!\ X +9 &]~\ 8 +10 &^.x\ W +9 &^+\ 5 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&p1 +62 "core" 1 +2 "manipulator"& % +4 "core" %  4 s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%& +4 "core" &^(\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&'% +4 "core" %  o  + "storage"(% +4 "core" %   s\  + "storage"(. +4 "core" .(K + "storage"(& +4 "core" &K   \  +2 "storage"(& +5 "manipulator"&k& +4 "core" &K   \  + & R + +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&"( +3 "storage"(5'r +4 "core" ( + "manipulator"&& +5 "core" & # + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" & ! + +2 .tForearm.seek PC +2 "manipulator"&\ ' +95 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'1 +44 "core" ' +310 ( + "storage"(& +4 "core" &K  * K\  + "manipulator"&/& +4 "core" &  + +2 "manipulator"&|% +3 "core" %  y  +2 .tForearm.seek :retract +2 "manipulator"&=' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&6( +244 "core" ( +2 "manipulator"&.& +4 "core" &  ? + "storage"((& +4 "core" &K 9 8 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&@' +94 "core" ' + .tHand.open +2 "manipulator"&%1 +59 "core" 1 +2 "storage"(,- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(D' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(3' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(-- +3 "core" -' +2 "storage"(:& +4 "core" &K 7\ u + "manipulator"&<& +4 "core" &   ? + .tElbow.seek 6 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&&& +3 "core" & \ ? +2 "storage"(#& +4 "core" &K U\ t +2 .tForearm.seek 6 + 450 counts + "manipulator"&)' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(G'" +52 "core" ' +2 "manipulator"&& +4 "core" & ? +2 "storage"(N& +4 "core" &K - 3\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&4'< +24 "core" ' + .tElbow.hold +2 "manipulator"&2, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +17 "core" ' +2 "manipulator"&S% +4 "core" %? 9 +2 "storage"(F& +4 "core" &K  1\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 303 counts +2 "manipulator"& 'k +13 "core" ' +2 "manipulator"&I& +4 "core" & | ? +2 "storage"(9& +4 "core" &K 8 +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +18 "core" ' +2 "storage"(B% +4 "core" % 3 " q\ +3 ."downElevator"SE.seek :down +3 "storage"(M' +100 (% +3 "core" %6G   q\ Wh + "manipulator"&8% +5 "core" %  I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &K " \  + "collection"'[& +4 "core" &\\{ ]\ V + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&T% +4 "core" %  U  + "storage"(7% +4 "core" % 9 9 M\  + "storage"(Q. +3 "core" .(K +2 "storage"(_& +4 "core" &K 9 9 -\  + "storage"(^& +4 "core" &K ( + ]\  + "manipulator"&C& +4 "core" &  ? +2 .tElbow.seek 6 + "manipulator"&?( +3 "core" ( +2 "manipulator"&Y& +3 "core" &  G ? +2 "storage"(J& +4 "core" &K 9 7 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +98 "core" ' + "storage"(d& +5 "core" &K ) ) V\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +294 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Z& +3 "core" &  G ? + "storage"(V& +4 "core" &K 6 1 w\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&A'< +23 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(l'| +30 "core" ' + "manipulator"&c% +4 "core" %D  M +2 "storage"(n& +3 "core" &K + 3\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"& 'p +16 "core" ' +53 "manipulator"&h& +4 "core" & > +2 "storage"(>& +3 "core" &K   ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(w' +33 "core" ' + "manipulator"&m& +5 "core" &  P > + "manipulator"&X% +5 "core" % D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&s(ӂ +153 "core" ( +2 "manipulator"&U& +4 "core" &ӎ( Z @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &ӎ( 0 @\\ +2 .tForearm.seek CC +2 "manipulator"&g'? +93 "core" ' +2 .tHand.close + "manipulator"&y/ +60 "core" / +2 .tCC.seek :open + "collection"']( +448 "core" ( + "storage"(q& +5 "core" &K O M \  + "storage"(v& +4 "core" &K @ I K\  + "manipulator"&& +4 "core" &ӏ( e @[ +2 "manipulator"&!% +4 "core" % K  S +2 .tForearm.seek :retract + "manipulator"&a' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&z( +161 "core" ( + "manipulator"&K& +4 "core" & $  +2 "storage"(& +4 "core" &K e g \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&o'< +96 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"& % +4 "core" % J  :  + "storage"( & +4 "core" &K f e \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&u'v +13 "core" ' +2 "manipulator"&{& +4 "core" &  a  +2 "storage"(e& +4 "core" &K f e \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +18 "core" ' + "storage"(b% +4 "core" % w \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +2 "core" %> W H a\ We +2 "manipulator"&x% +5 "core" % g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" & -\ + "manipulator"&*% +4 "core" % !  h ) +2 "storage"(% +3 "core" % g o :\  +2 "storage"(t. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(+(,y +670 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +2 "core" &,| ; C \ +2 "manipulator"& & +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&'& +4 "core" &   + "storage"(& +4 "core" &,| f f \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +3 "storage"(& +4 "core" &,| \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'r +293 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,j O X\  + "manipulator"&& +4 "core" &  k  +2 .tElbow.seek 4 +2 "manipulator"&f( +3 "core" ( + "manipulator"&& +4 "core" &  8  + "storage"(& +4 "core" &,j r r 9\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(~' +7 "core" & 9  + "manipulator"&5% +4 "core" % ϖ   +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&/(ӂ +153 "core" ( + ' +2 ."downElevator"SE.stop +3 "manipulator"&|& + "storage"(5 +7 "core" &z* z Bh + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &z*  Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&.'? +102 "core" ' + "manipulator"&(& +4 "core" &{+ } Bg +2 "manipulator"&"% +4 "core" %= L  +2 "collection"'%& +3 "core" & t\ +2 "collection"',& +6 "core" & :\ +2 .tCC.seek :closed + "collection"'-(\\ +5 "core" & s\  +9 &4} p\ *z +9 &\ f s\ ? +9 &p s\ N +10 &TQ t\ M +9 &W p\ M +10 &U l\ M +9 &R s\ M +9 &\\T r\ M +10 &Y q\ M +9 &T s\ M +9 & R t\ M +10 &"dT p\ M +9 &$%W t\ M +10 &%T q\ M +9 &'Y u\ M +9 &)lU t\ M +10 &+.Y r\ M +9 &,R s\ M +9 &.T r\ L +10 &0tU r\ M +9 &26W u\ M +10 &3R q\ M +9 &5T s\ L +9 &7{U q\ M +10 &9?U r\ L +9 &;U t\ M +9 &<T s\ L +10 &>U w\ M +9 &@GT q\ L +10 &BW u\ M +9 &C] u\ N +9 &Ec o\ O +10 &GCp r\ P +9 &H n\ T +9 &J u\ W +10 &Lq |\ Y +9 &N0 {\ Z +9 &O z\ Z +10 &Q r\ Z +9 &Ss u\ [ +10 &U4 x\ [\ +9 &V z\ \\ +9 &X y\ \\ +10 &Zs f\ ] +9 &\\z o\ 2 +9 &\\/ t\ Y +10 ( +2 "collection"',& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&:1 +3 "core" &\\k y\ K +59 1 + "manipulator"&<% +4 "core" % = 8  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&' +88 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%#& +4 "core" &\ + "manipulator"&=% +4 "core" %  L  + "storage"(% +5 "core" % , ) u\  + "storage"(N. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(S(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (F& +3 "core" &,}  \ \ +2 "manipulator"&;& +3 "core" &ӌ& 0 ?V +2 "manipulator"&I% +4 "core" %  N  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&9( +164 "core" ( + "manipulator"&D& +4 "core" &  +2 "storage"(B& +4 "core" &,} 4 * g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +95 "core" ' + "storage"(@& +5 "core" &,} - > P\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'r +301 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (8& +3 "core" &,h  7\  +2 "manipulator"&)& +3 "core" &  j  +2 .tElbow.seek 4 + "manipulator"&$( +4 "core" ( + "manipulator"&G& +4 "core" &  + "storage"(4& +4 "core" &,h )  \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(T' +7 "core" &  + "manipulator"&7% +4 "core" % c +2 .tForearm.seek :retract +2 "manipulator"&Q' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&0( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&_& +5 "core" & v = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &  B = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&C' +94 "core" ' +2 "manipulator"&Y& +4 "core" & = + "manipulator"&J% +5 "core" % n + "processing"%1& +4 "core" &\ +3 "processing"%d& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%M(^ +4 "core" &\ +8 & %\ #b +9 &T~\ 8 +9 &}y\ L +10 &U\ P +9 &MU\ P +10 &R\ O +9 &Y\ P +9 &W\ O +10 &VQ\ O +9 &T\ O +9 &T\ O +10 &!Q\ O +9 &#_T\ O +10 &%U\ P +9 &&V\ P +9 &(T\ O +10 &*eY\ P +9 &,(W\ O +9 &-R\ O +10 &/Y\ O +9 &1nX\ O +10 &30W\ O +9 &4U\ O +9 &6R\ O +10 &8vY\ O +9 &:8R\ O +9 &;V\ O +10 &=Y\ P +9 &?~Y\ O +10 &A?W\ P +9 &B`\ Q +9 &Dg\ R +10 &F{w\ S +9 &H6\ U +9 &I\ V +10 &K\ V +9 &My\ V +10 &O:\ W +9 &P\ X +9 &R\ W +10 &T\ W +9 &VA\ W +9 &X\ X +10 &Y\ W +9 &[\ W +10 &]H\ L +9 &^~S\ $p +9 &^"\ / +3 ( + "processing"%d& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&21 +62 "core" 1 +2 "manipulator"&E% +4 "core" %  W n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +90 "core" ' +2 "processing"%Z& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&V% +4 "core" %  <  + "storage"(P% +4 "core" % , , L\  +2 "storage"(c. +3 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(n(,y +22 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +55 (h& +4 "core" &,| ) ) I\ + "manipulator"&>& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" & : = +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&m( + "storage"(X'r +5 "core" ( + "manipulator"&W& +5 "core" & 9 = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" & ) = +2 .tForearm.seek PC +2 "manipulator"&H' +95 "core" ' +2 .tHand.close + "manipulator"&A/ +57 "core" / +2 .tPC.seek :open + "processing"% ( +96 "core" ' +2 "storage"(l- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'1 +48 "core" ' +297 ( + "storage"(j& +4 "core" &,f ) + C\  +2 "manipulator"&\\& +4 "core" &  = + "manipulator"&L% +4 "core" %  p & +2 .tForearm.seek :retract + "manipulator"&y' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`( +245 "core" ( + "manipulator"&i& +5 "core" & U B + "storage"(q& +4 "core" &,f ( ) L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +96 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(!- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(K' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(s& +3 "core" &,f i u\ m +2 "manipulator"&& +4 "core" &   n B + .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"& & +4 "core" & c B + "storage"({& +5 "core" &,f q 2 5\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&e' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(b'" +55 "core" ' + "manipulator"&a& +5 "core" &  D B + "storage"(& +4 "core" &,f  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&x'7 +20 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(o' +19 "core" ' + "manipulator"&% +5 "core" %I 2 \ + "storage"(u& +5 "core" &,f ) , \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&*'u +14 "core" ' +2 "manipulator"&& +4 "core" &   B +2 "storage"(t& +4 "core" &,f  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +18 "core" ' +2 "storage"(r% +4 "core" %  $\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %EP  \ Yl +2 "manipulator"&p% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 ('& +4 "core" &,f  k\  + "collection"'& +4 "core" &\\k :\ K +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +3 "core" %   U  +2 "storage"(}% +4 "core" % ) , A\  + "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +30 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,|  \ +2 "manipulator"&& +4 "core" &  w B +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  / B +2 "storage"(& +3 "core" &,| ) + 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +98 "core" ' +2 "storage"(5& +4 "core" &,| 4 +\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" &  M B + "storage"(\ & +4 "core" &,i ( 3 X\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&k'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"((- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"("'z +32 "core" ' + "manipulator"&%% +5 "core" %E  )  + "storage"(f& +4 "core" &,i * , r\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&~'q +15 "core" ' +2 "manipulator"&& +4 "core" & [ B + "storage"(]& +4 "core" &,i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(<' +35 "core" ' +2 "manipulator"&#& +5 "core" & B + "manipulator"&=% +4 "core" %  { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N(ӂ +151 "core" ( + "manipulator"&,& +4 "core" &ӊ* @ Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +4 "core" &ӊ* [ Bi +3 .tForearm.seek CC +2 "manipulator"&;'? +92 "core" ' +2 .tHand.close + "manipulator"&I/ +55 "core" / +2 .tCC.seek :open +2 "collection"'.( +447 "core" ( +2 "storage"(D& +4 "core" &,i N M \ + "storage"(B& +4 "core" &,i A J W\ + "manipulator"&+& +4 "core" &Ӎ* b Bf +2 "manipulator"&@% +3 "core" % S  x H +2 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&&( +168 "core" ( +2 "manipulator"&& +4 "core" &  H  +2 "storage"(8& +3 "core" &,i f f ~\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&)'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&41 +54 "core" 1 +2 "manipulator"&O% +4 "core" % ) \ 2 . +2 "storage"([& +3 "core" &,i g e \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 286 counts + "manipulator"&7'U +15 "core" ' +2 "manipulator"&9& +4 "core" &  \ Y  +2 "storage"(6& +4 "core" &,i e e \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +18 "core" ' + "storage"( % +4 "core" % n v \ +3 ."downElevator"SE.seek :down +3 "storage"(_' +99 (^% +3 "core" %C C C X\ Wd + "manipulator"&$% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +94 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'J& +4 "core" & l\ +2 "manipulator"&1% +4 "core" %    +49 "storage"(T% +5 "core" % q n D\  +2 "storage"(Q. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (2& +3 "core" &<* , - \  +2 "manipulator"&E& +3 "core" &  F  +2 .tElbow.seek 5 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&V& +4 "core" &  A  +2 "storage"(P& +4 "core" &<* d f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c'O +94 "core" ' + "storage"(d& +4 "core" &<* P\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'r +291 "core" ' +2 "storage"(>- +3 "core" -', +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" &<* : A -\  +6 "manipulator"&?& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( + "manipulator"&A& +4 "core" &  `  +2 "storage"(S& +4 "core" &<* e g \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&l'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&0/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& + "storage"(M' +7 "core" &  +2 "manipulator"&X% +4 "core" % ϳ  t + .tForearm.seek :retract +2 "manipulator"&j' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&L& +4 "core" &Ӊ { 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &Ӊ d 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'? +98 "core" ' +2 "manipulator"&q& +4 "core" &Ӊ * 3 +2 "manipulator"&m% +4 "core" %7  v + "collection"'& +4 "core" & u\ +2 "collection"'!& +5 "core" & ;\ +2 .tCC.seek :closed +2 "collection"'g(\\ +4 "core" & }\  +9 &4} t\ +{ +10 &d~ p\ > +9 &o l\ M +10 &MO u\ M +9 &R n\ M +9 &X s\ M +10 &U t\ L +9 &UV o\ M +9 &V g\ M +10 &Q r\ M +9 & V p\ L +10 &"^R o\ L +9 &$T v\ M +9 &%U k\ M +10 &'R j\ L +9 &)fT j\ L +9 &+(S i\ L +10 &,V k\ M +9 &.V h\ M +10 &0mU j\ M +9 &20Q k\ L +9 &3T h\ L +10 &5R q\ M +9 &7vQ j\ L +9 &97T i\ M +10 &:U r\ M +9 &<R j\ M +9 &>}W h\ M +10 &@@W o\ L +9 &BV t\ M +10 &C\\ m\ M +9 &Ee j\ N +9 &G<t v\ P +10 &H x\ T +9 &J w\ X +10 &Li |\ Y +9 &N( \ Z +9 &O \ Y +10 &Q \ Z +9 &Sk \ [\ +9 &U) \ \\ +10 &V \ ] +9 &X \ ] +9 &Zk \ ^ +10 &\\z \ 5 +9 &\\' \ O +9 ( +2 &\\k \ K +2 "collection"'!& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&s1 +52 "core" 1 +2 "manipulator"&% +4 "core" % 7  v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%{& +4 "core" &\ +2 "manipulator"&y% +4 "core" % " , + "storage"(a% +4 "core" % ) ) \  + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (u& +3 "core" &<+\  + "manipulator"&U& +4 "core" &Ӊ b 3 +2 "manipulator"&% +3 "core" % "  ~ , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&t( +162 "core" ( + "manipulator"&K& +4 "core" &   +2 "storage"(r& +4 "core" &<+ , +\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +88 "core" ' +2 "storage"(v& +4 "core" &<+ . = `\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (p& +3 "core" &<+ ( ) +\  +2 "manipulator"&e& +3 "core" &  _  +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"&b& +4 "core" &  p  + "storage"(x& +4 "core" &<+ ( , i\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&*'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +7 "core" &  +2 "manipulator"&}% +3 "core" % ϻ  d +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&o( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&& +4 "core" &  } 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&& +4 "core" & 9 3 +2 "manipulator"&w% +3 "core" % +2 "processing"%5& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%n(^ +3 "core" &\  +9 &1y\ *x +9 &b~\ > +10 &iu\ O +9 &+R\ O +9 &U\ O +10 &T\ O +9 &pV\ O +9 &3R\ O +10 &W\ O +9 &W\ O +10 & wW\ P +9 &";S\ O +9 &#V\ O +10 &%U\ O +9 &'U\ O +9 &)BV\ O +10 &+V\ O +9 &,Y\ O +10 &.T\ O +9 &0JX\ O +9 &2 U\ O +10 &3Q\ O +9 &5U\ O +9 &7ST\ O +10 &9W\ O +9 &:V\ P +10 &<U\ O +9 &>ZV\ O +9 &@V\ O +10 &A`\ Q +9 &Cg\ R +9 &EWu\ S +10 &G\ U +9 &H\ V +10 &J\ V +9 &LW\ V +9 &N\ W +10 &O\ V +10 &Q\ W +8 &S]\ V +10 &U\ W +9 &V\ W +9 &X\ V +10 &Zb\ X +9 &\\%\ W +10 &]~\ 9 +9 &^/\ V +9 &^)\ 4 +3 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&z1 +56 "core" 1 + "manipulator"& % +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 "processing"%|& +4 "core" &^(\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&\ % +3 "core" %  R  +2 "storage"((% +4 "core" % ( (\  + "storage"(%. +3 "core" .(<- + "storage"(f& +5 "core" &<+ ) (\  +2 "storage"(& +2 "manipulator"&]& +7 "core" &<+ $  \  + & & 3 +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&#( + "storage"(='r +5 "core" ( + "manipulator"&& +4 "core" &  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & M 3 +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + .tHand.close + "manipulator"&k/ +62 "core" / + .tPC.seek :open +3 "processing"%~( +94 "core" ' + "storage"("- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'1 +46 "core" ' +308 ( + "storage"(F& +4 "core" &<+ - :\  +2 "manipulator"&:& +3 "core" & D 3 +2 "manipulator"&% +4 "core" %   K < + .tForearm.seek :retract +2 "manipulator"&I' +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +245 "core" ( + "manipulator"&-& +4 "core" & g 9 +2 "storage"(D& +3 "core" &<+ 9 : \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B'O +93 "core" ' + .tHand.open +2 "manipulator"&+1 +61 "core" 1 +52 "storage"(@- +4 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(8' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(;- +3 "core" -' +2 "storage"(N& +3 "core" &<+ \ v +2 "manipulator"&4& +4 "core" &  8 + .tElbow.seek 5 +2 "manipulator"&O( +4 "core" ( + "manipulator"&[& +4 "core" &  8 +2 "storage"(9& +4 "core" &<+ T\ u +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"( '" +58 "core" ' + "manipulator"&/& +4 "core" & k 8 +2 "storage"(^& +4 "core" &<+   .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&$'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"()' +27 "core" ' +2 "manipulator"&J% +4 "core" %Δ   j +2 "storage"(7& +4 "core" &<+ 9 9 B\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&1' +14 "core" ' +2 "manipulator"&T& +5 "core" &  $ + "storage"(<& +4 "core" &<+ ) + S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +15 "core" ' +2 "storage"(3% +4 "core" % , , \ +3 ."downElevator"SE.seek :down +3 "storage"(_' +99 (% +2 "core" %J '  \ Xi +2 "manipulator"&2% +5 "core" %@ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +86 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (V& +4 "core" &<+ "  \  +2 "collection"'P& +4 "core" &\\k |\ K + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&d% +3 "core" %   p  +2 "storage"(G% +4 "core" %  a\  + "storage"(Y. +3 "core" .(<- +2 "storage"(>& +4 "core" &<+  .\  + "storage"(W& +4 "core" &<+  \  + "manipulator"&?& +4 "core" & $ +2 .tElbow.seek 5 +2 "manipulator"&A( +21 "core" ( +2 "manipulator"&S& +4 "core" &   +2 "storage"(0& +3 "core" &<+ )  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&R'O +95 "core" ' + "storage"(X& +4 "core" &<+ ( ) \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +296 "core" ' + "storage"(c- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +2 "core" &  +2 "storage"(H& +4 "core" &<+ 7 7\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&h'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(q- +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(m' +29 "core" ' + "manipulator"&C% +4 "core" %Κ  E +2 "storage"(& +4 "core" &<+ 7 ,\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&M' +18 "core" ' +2 "manipulator"&j& +4 "core" & <  + "storage"(.& +5 "core" &<+ + ) \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +15 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate + "storage"(' +38 "core" ' +2 "manipulator"&{& +4 "core" &  E  +2 "manipulator"&y% +4 "core" %N O + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&!& +4 "core" &x- Dy +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &x- & Dy +2 .tForearm.seek CC + "manipulator"&U'? +92 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / + .tCC.seek :open +2 "collection"'i( +448 "core" ( + "storage"(K& +4 "core" &<+ C J C\  +2 "storage"(r& +3 "core" &<+ 9 A\  +2 "manipulator"&& +3 "core" &Ӡ&  0 ?Q +2 "manipulator"&v% +3 "core" % ;  H @ +2 .tForearm.seek :retract +2 "manipulator"&\\' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&& +4 "core" &  :  + "storage"(p& +4 "core" &<+ G N O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&e'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&x1 +58 "core" 1 + "manipulator"&'% +5 "core" % ΐ   H + "storage"(& +4 "core" &<+ e e \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&}'ϼ +14 "core" ' +2 "manipulator"&t& +4 "core" & \  M  +2 "storage"(`& +3 "core" &<+ i g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 "storage"(*% +4 "core" % d n \ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %? M O \ Wb +2 "manipulator"& % +4 "core" %; + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'w& +4 "core" & ,\ + "manipulator"&5% +5 "core" %   U  + "storage"(% +4 "core" % e e \  + "storage"(. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (z& +3 "core" &K > B \  + "manipulator"& & +4 "core" &  ?  +2 .tElbow.seek 6 +2 "manipulator"&|( +3 "core" ( + "manipulator"&\ & +4 "core" & \ v  +2 "storage"((& +3 "core" &K e e \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&%' +97 "core" ' + "storage"(f& +4 "core" &K 5\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'r +310 "core" ' +2 "storage"(- +3 "core" -'! +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K M L \  +2 "manipulator"&& +4 "core" &  >  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  \ z  +2 "storage"(k& +3 "core" &K d e \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&"'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(n' +7 "core" &  p  + "manipulator"&=% +4 "core" % _  : +2 .tForearm.seek :retract +2 "manipulator"&F' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&:(ӂ +155 "core" ( +2 "manipulator"&& +4 "core" ' + &x.  E} +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +53 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&& +6 "core" &y. [ E| + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&-'? +95 "core" ' +2 "manipulator"&D& +4 "core" &ӥ&  \ W ?P +2 "manipulator"&#% +4 "core" %/  W Q +2 "collection"'+& +3 "core" & \ +3 "collection"'@& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'I(\\ +4 "core" & n\ +8 &: \ %f +9 &X{ \ 8 +9 &u @\ L +10 &Q Y\ L +9 &T \ L +10 &AQ u\ M +9 &V \ M +9 &T \ M +10 &T \ M +9 &JP  \ L +9 & R \ L +10 &!U J\ L +9 &#R \ M +10 &%RP \ L +9 &'Q \ M +9 &(W \ M +10 &*S \ M +9 &,ZQ y\ L +9 &.Q \ L +10 &/R x\ L +9 &1W z\ L +10 &3bQ {\ L +9 &5$R \ L +9 &6W \ M +10 &8T r\ M +9 &:jQ \ L +9 &<,T {\ L +10 &=W \ M +9 &?W |\ M +10 &ApV {\ M +9 &C1Y x\ M +9 &Db {\ N +10 &Fm z\ P +9 &Hg \ S +9 &J \ W +10 &K |\ Y +9 &M {\ Z +10 &OY {\ Z +9 &Q ~\ [ +9 &R z\ Z +10 &T {\ \\ +9 &VZ |\ ] +9 &X z\ ] +10 &Y {\ ^ +9 &[ }\ J +12 &\\> ~\ (y +8 &\\l \ N +3 ( +4 "collection"'@& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&;1 +3 "core" &\\p \ N +58 1 +2 "manipulator"&N% +4 "core" % / = Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%[& +4 "core" &\ +2 "manipulator"&9% +4 "core" %    + "storage"(/% +4 "core" %   O\  +2 "storage"(^. +3 "core" .(K + "storage"(J& +4 "core" &K   ]\  +2 "storage"(7& +4 "core" &K   h\  + "manipulator"&,& +4 "core" &ӥ&  ?P + "manipulator"&T% +4 "core" %  a  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&<( +159 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(3& +4 "core" &K  N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(B& +4 "core" &K 7 +\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'r +296 "core" ' +3 "storage"(- +10 "core" -' +5 .tSE.configure :default +5 "storage"(#QK-0-\ b +4 (2& +7 "core" &K # \  +4 "manipulator"&6& +8 "core" & q  +4 .tElbow.seek 6 +8 "manipulator"&O( +6 "core" ( +3 "manipulator"& & +10 "core" & z  +4 "storage"($& +7 "core" &K ( (\  +6 .tForearm.seek 6 + 300 counts +5 "manipulator"&V'h +29 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&1/ +62 "core" / +6 ."downElevator"SE.seek :down +5 "manipulator"&P& +4 "storage"(d' +15 "core" &  *  +4 "manipulator"&G% +8 "core" % ϕ ~ +4 .tForearm.seek :retract +3 "manipulator"&Y' +94 "core" ' +3 .tElbow.seek PC +4 "manipulator"&)( +144 "core" ' +2 ."downElevator"SE.stop +5 "storage"(5 +104 "core" ( + "manipulator"&>& +4 "core" & i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" & E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?' +102 "core" ' + "manipulator"&S& +4 "core" & h +2 "manipulator"&0% +4 "core" %   + "processing"%Q& +4 "core" &\ +3 "processing"%X& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%_(^ +4 "core" &\  +8 &/v\ *y +10 &c\ ? +9 &^s\ P +9 &!R\ O +10 &U\ O +9 &S\ O +9 &fW\ O +10 &'U\ P +9 &V\ O +9 &T\ O +10 & nW\ O +9 &"0S\ O +10 &#U\ P +9 &%T\ O +9 &'vU\ O +10 &)8Q\ O +9 &*R\ O +9 &,S\ O +10 &.~Q\ O +9 &0@V\ O +10 &2Q\ O +9 &3U\ O +9 &5T\ O +10 &7IQ\ O +9 &9 W\ P +10 &:U\ P +9 &<U\ P +9 &>OX\ P +10 &@U\ O +9 &A]\ P +9 &Ci\ R +10 &ENv\ S +9 &G \ U +10 &H\ U +9 &J\ U +9 &LM\ V +10 &N \ W +9 &O\ V +9 &Q\ W +10 &SS\ V +9 &U\ W +9 &V\ W +10 &X\ V +9 &ZX\ X +10 &\\\ W +9 &]\ 6 +9 &^1p\ I +9 ( +3 "processing"%X& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&&1 +4 "core" &^-\ 5 +53 1 + "manipulator"&E% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +95 "core" ' +2 "processing"%L& +4 "core" &^,\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&H% +4 "core" % % = +2 "storage"(q% +4 "core" % \  + "storage"(C. +3 "core" .(K + "storage"(& +4 "core" &K  \  +2 "storage"(j& +3 "manipulator"&.& +6 "core" &K  g\  + & f +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&{( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(y'r +2 "core" ( +2 "manipulator"&R& +3 "core" & o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &  A +2 .tForearm.seek PC +2 "manipulator"&Z' +92 "core" ' +2 .tHand.close + "manipulator"&h/ +61 "core" / +2 .tPC.seek :open + "processing"%M( +95 "core" ' + "storage"(m- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(!'1 +48 "core" ' +303 ( +2 "storage"(u& +4 "core" &K , +\  +2 "manipulator"&s& +3 "core" & D +2 "manipulator"&l% +4 "core" %   " @ + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&a( +240 "core" ( +2 "manipulator"&g& +4 "core" & _ K +2 "storage"(K& +3 "core" &K   S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +96 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(v- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(p' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' +2 "storage"(& +3 "core" &K i { 8\ m +2 "manipulator"&x& +4 "core" &   1 K + .tElbow.seek 6 +2 "manipulator"&'( +4 "core" ( + "manipulator"&& +54 "core" &  L K + "storage"(t& +4 "core" &K L\ n +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(*'" +53 "core" ' + "manipulator"&\\& +4 "core" & o K +3 "storage"(& +3 "core" &K & ( \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +18 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(e' +19 "core" ' +2 "manipulator"&w% +4 "core" %P +2 "storage"(5& +4 "core" &K  <\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&}'| +13 "core" ' +2 "manipulator"&& +4 "core" &  K +2 "storage"(& +3 "core" &K ( ( \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(% +4 "core" % 7 9 \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +53 "core" %MH  #\ Xh +3 "manipulator"&z% +4 "core" %  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +12 ' + ."downElevator"SE.stop + "storage"(5 +3 (\ & +4 "core" &K  \  +2 "collection"'(& +4 "core" &\\o D\ N + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&f% +3 "core" %  c  +2 "storage"(b% +4 "core" % ( (\  + "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K ' ( \  + "storage"(& +4 "core" &K ( (\  + "manipulator"&& +5 "core" & r K + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&k& +3 "core" &  K +2 "storage"(o& +4 "core" &K ( '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +90 "core" ' + "storage"(=& +5 "core" &K +  "\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'r +297 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & K + "storage"(& +4 "core" &K * ) F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&]'< +18 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(D'| +29 "core" ' +2 "manipulator"&#% +4 "core" %E u  + "storage"(+& +4 "core" &K ) + X\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 309 counts +2 "manipulator"&n'q +14 "core" ' + "manipulator"&F& +5 "core" & 7 K + "storage"(i& +4 "core" &K 9  ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(N' +41 "core" ' +2 "manipulator"&[& +4 "core" & K +2 "manipulator"&9% +4 "core" % ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^(ӂ +152 "core" ( +2 "manipulator"&J& +4 "core" &Ӎ) p Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +2 "core" &Ӎ) K Aa +2 .tForearm.seek CC +2 "manipulator"&7'? +93 "core" ' +2 .tHand.close + "manipulator"&,/ +52 "core" / +2 .tCC.seek :open + "collection"'T( +448 "core" ( +2 "storage"(-& +4 "core" &K L L S\  +2 "storage"(& +3 "core" &K M L o\  +2 "manipulator"&3& +3 "core" &Ӫ$ \\ =D +2 "manipulator"&B% +4 "core" % C T + .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&4( +165 "core" ( +2 "manipulator"&& +4 "core" & \ @  + "storage"(2& +4 "core" &K 6 ? W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&6'< +94 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&$1 +54 "core" 1 +2 "manipulator"&1% +4 "core" % 0 C # + "storage"(P& +4 "core" &K e G G\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 288 counts + "manipulator"&G'\\ +13 "core" ' +2 "manipulator"&<& +5 "core" &  ]  +2 "storage"(& +3 "core" &K f e \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&8' +15 "core" ' +2 "storage"(V% +4 "core" % d d \ +2 ."downElevator"SE.seek :down +3 "storage"(>' +31 "Can"\ HE +68 "storage"(W% +3 "core" %sA J O \ Vb +2 "manipulator"&O% +4 "core" % h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +86 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'0& +4 "core" & I\ + "manipulator"&Q% +5 "core" %   + "storage"(d% +4 "core" % n q $\  +2 "storage"(Y. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(~(,y +676 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +2 "core" &,{ 8 C B\ +2 "manipulator"&E& +4 "core" &  .  + .tElbow.seek 4 +2 "manipulator"&L( +3 "core" ( + "manipulator"&H& +4 "core" & C  +2 "storage"(q& +3 "core" &,{ g o e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +94 "core" ' +2 "storage"(& +4 "core" &,{ m I\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'r +294 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (X& +4 "core" &,i F M ?\  +2 "manipulator"&R& +4 "core" & V  +2 .tElbow.seek 4 +2 "manipulator"&A( +3 "core" ( + "manipulator"&?& +4 "core" &  a  + "storage"(h& +4 "core" &,i e d "\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&m'c +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& + "storage"(_' +7 "core" &    +2 "manipulator"&y% +4 "core" % ύ  S +2 .tForearm.seek :retract + "manipulator"&u' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&s(ӂ +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&l& +4 "core" &Ӕ%  =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &Ӕ$  } =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'? +93 "core" ' + "manipulator"&K& +5 "core" &Ӕ% U =G + "manipulator"&{% +4 "core" %B  | { +2 "collection"'& +4 "core" & \ +2 "collection"'v& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'U(\\ +4 "core" & \ +7 &: \ %g +10 &Wu \ 7 +9 &w \ L +9 &T \ M +10 &{T \ L +9 &=Q \ L +9 &S \ L +10 &T \ M +9 &T \ M +10 &EP \ L +9 & U \ L +9 &!U \ L +10 &#R \ L +9 &%MP \ L +9 &'R \ L +10 &(W \ L +9 &*Q \ L +10 &,UQ \ L +9 &.R \ L +9 &/T \ M +10 &1V \ L +9 &3]U \ L +9 &5W \ L +10 &6R Q\ L +9 &8S Z\ L +10 &:eW \ L +9 &<&V \ M +9 &=T  \ M +10 &?R \ L +9 &AlT \ M +9 &C.Y \ M +10 &Da V\ N +9 &Fj \ O +10 &He~ \ R +9 &J \ U +9 &K \ X +10 &M P\ Y +9 &OW \\\ Y +9 &Q \ Z +10 &R \ Z +9 &T \ Z +10 &VY ~\ [ +9 &X P\ \\ +9 &Y \ ] +10 &[ f\ J +9 &\\= w\ * +9 &\\` z\ M +3 ( +2 "collection"'v& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&x% +5 "core" % B  a { + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&t% +4 "core" %  D  + "storage"(\\% +4 "core" % ' ' \  +2 "storage"(. +3 "core" .(,y + "storage"(!& +4 "core" &,i ' # \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(w(,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &,z + ( V\ + "manipulator"&& +4 "core" &ӕ$ F =F +2 "manipulator"&% +3 "core" %  I  +52 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&& +4 "core" & v  + "storage"(a& +4 "core" &,z , + M\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +99 "core" ' +2 "storage"(p& +5 "core" &,z 4 6 \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(z- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" &,g  \ +2 "manipulator"&'& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&*( +3 "core" ( + "manipulator"& & +4 "core" &  6  +2 "storage"(\ & +3 "core" &,g 6 6 "\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&}'c +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&(/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(b' +7 "core" & Y  +2 "manipulator"&% +4 "core" % t  x + .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&& +4 "core" & 8  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&k' +98 "core" ' +2 "manipulator"&o& +4 "core" & \ /  +2 "manipulator"&=% +4 "core" %  F \ + "processing"%& +5 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"% (^ +4 "core" &\ +8 & -\ #b +9 &Ty\ 7 +10 &}y\ L +9 &U\ O +9 &ST\ O +10 &Q\ O +9 &U\ O +10 &T\ O +9 &\\U\ O +9 &V\ O +10 &Q\ O +9 &!T\ O +9 &#eU\ O +10 &%(T\ N +9 &&U\ O +9 &(U\ O +10 &*mU\ O +9 &,.U\ O +10 &-T\ O +9 &/W\ P +9 &1sU\ O +10 &35T\ O +9 &4S\ O +9 &6T\ P +10 &8|U\ O +9 &:=T\ O +10 &;X\ O +9 &=V\ O +9 &?U\ O +10 &ADX\ P +9 &C`\ P +9 &Df\ Q +10 &Fx\ S +9 &H<\ U +10 &I\ V +9 &K\ V +9 &M\ V +10 &O@\ V +9 &Q\ W +9 &R\ W +10 &T\ W +9 &VG\ W +10 &X \ W +9 &Y\ X +9 &[\ W +10 &]N\ I +9 &^xF\ "h +9 &^ H\ 4 +6 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"& 1 +3 "core" &^+\ 4 +51 1 + "manipulator"&%% +4 "core" %  * \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 "processing"%& +4 "core" &^+\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %  ! + "storage"(#% +4 "core" %   5\  +2 "storage"(+. +3 "core" .(,y + "storage"(F& +4 "core" &,g   R\ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(i(,y +23 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +2 "manipulator"&9& +4 "core" &,|   =\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&( +2 "storage"('r +5 "core" ( + "manipulator"&|& +5 "core" & r  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &  +2 .tForearm.seek PC + "manipulator"&n' +93 "core" ' + .tHand.close +2 "manipulator"&D/ +55 "core" / +2 .tPC.seek :open +2 "processing"%J( +102 "core" ' + "storage"(@- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'1 +40 "core" ' +300 ( + "storage"("& +4 "core" &,d ) * A\  +2 "manipulator"&,& +3 "core" & {  +2 "manipulator"&/% +4 "core" %  t " + .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&-( +240 "core" ( + "manipulator"&& +5 "core" &  l 6 + "storage"(3& +4 "core" &,d  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&B' +95 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +3 "storage"(2- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(^' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"($- +3 "core" -' +2 "storage"(1& +3 "core" &,d .\ o +2 "manipulator"&P& +4 "core" &  6 + .tElbow.seek 4 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&& +3 "core" &  6 +2 "storage"(V& +4 "core" &,d \ p +2 .tForearm.seek 4 + 450 counts + "manipulator"&:' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(W'" +52 "core" ' +2 "manipulator"&O& +4 "core" & 6 +2 "storage"(4& +4 "core" &,d 5 -\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&6'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&0, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(Q' +20 "core" ' + "manipulator"&G% +5 "core" %H g \ + "storage"(d& +5 "core" &,d 7 7 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&Y't +13 "core" ' + "manipulator"&N& +4 "core" & S 6 +2 "storage"(8& +4 "core" &,d   ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +20 "core" ' +2 "storage"( % +4 "core" %  ,\ +3 ."downElevator"SE.seek :down +4 "storage"(&' +99 (E% +3 "core" %,@ * $ !\ Xg + "manipulator"&H% +4 "core" %  E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,d # \  + "collection"' & +4 "core" &\\_ |\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&S% +4 "core" %  L  +2 "storage"(.% +4 "core" %  \  + "storage"(X. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(R(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &,|  3\ +2 "manipulator"&h& +3 "core" & F 6 +2 .tElbow.seek 4 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&c& +3 "core" &   6 +2 "storage"(y& +5 "core" &,|   |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +94 "core" ' + "storage"(C& +5 "core" &,| , + U\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'r +300 "core" ' + "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +2 "core" &  O 6 +2 "storage"(m& +4 "core" &,h  O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +51 "manipulator"&K'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(A'z +29 "core" ' + "manipulator"&_% +4 "core" %G  T  +2 "storage"(u& +4 "core" &,h 2 6\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&T's +15 "core" ' + "manipulator"&& +5 "core" & w 6 + "storage"(x& +5 "core" &,h   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(t' +38 "core" ' +2 "manipulator"&\\& +4 "core" &  6 +2 "manipulator"&% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v(ӂ +148 "core" ( +2 "manipulator"&5& +4 "core" &z+ H Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &z+  Ct +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&g/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(a& +4 "core" &,h L L X\  +2 "storage"(~& +3 "core" &,h ? I 2\  +2 "manipulator"&p& +3 "core" &Ӧ% >H +2 "manipulator"&s% +4 "core" % /  O  + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&z( +166 "core" ( + "manipulator"&`& +4 "core" & \   +2 "storage"('& +4 "core" &,h 9 6 j\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"& '7 +96 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&(1 +62 "core" 1 +2 "manipulator"&f% +4 "core" % %   , + "storage"(& +4 "core" &,h e e l\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 282 counts +2 "manipulator"&'Q +15 "core" ' +2 "manipulator"&r& +4 "core" &  A  + "storage"(& +4 "core" &,h f o h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&}' +19 "core" ' +2 "storage"(% +4 "core" % h j p\ +3 ."downElevator"SE.seek :down +3 "storage"(' +100 (*% +3 "core" %B G 4 \ Wc + "manipulator"&o% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&b% +4 "core" %   y  + "storage"(e% +4 "core" % d d P\  +2 "storage"(M. +3 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<- +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (%& +3 "core" &<+ L M F\ + "manipulator"&& +4 "core" & \\  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&#& +4 "core" &  J  +2 "storage"(+& +3 "core" &<+ d e w\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&F'O +96 "core" ' +2 "storage"(& +4 "core" &<+ m \\\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['r +296 "core" ' + "storage"(9- +4 "core" -', + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (|& +3 "core" &<+ C A J\ + "manipulator"&]& +4 "core" & .  +2 .tElbow.seek 5 + "manipulator"&k( +4 "core" ( + "manipulator"&D& +4 "core" &  j  + "storage"(w& +4 "core" &<+ d e E\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&@'Ϲ +32 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( ' +7 "core" &    +2 "manipulator"&% +3 "core" %   0 +2 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&,(ӂ +157 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&/& +4 "core" &Ӌ+ o Cs + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &ӌ+  ( Cr +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +101 "core" ' +2 "manipulator"&3& +4 "core" &Ӝ)  Ab +2 "manipulator"&% +4 "core" %9 + "collection"'& +4 "core" & \ +3 "collection"'2& +5 "core" & \ +2 .tCC.seek :closed + "collection"'$(\\ +5 "core" & \ +7 &; \ %f +9 &Xy \ 7 +10 &x \ L +9 &S \ L +9 &{U \ L +10 &=U \ L +9 &T \ M +10 &U \ M +9 &T \ L +9 &EQ \ L +10 & Q \ L +9 &!U \ L +9 &#V \ L +10 &%LS \ M +9 &'S \ L +10 &(R \ M +9 &*T \ L +9 &,UQ \ L +10 &.Q \ L +9 &/P \ L +9 &1V \ L +10 &3]U \ L +9 &5V \ L +9 &6W \ L +10 &8V \ L +9 &:eW \ L +10 &<'V V\ L +9 &=Q \ L +9 &?T \ L +10 &AkU \ M +9 &C.Y \ M +9 &Db \ N +10 &Fk \ O +9 &Hd \ R +10 &J \ V +9 &K \ X +9 &M \ X +10 &OX \ Y +9 &Q \ Z +10 &R \ Z +9 &T U\ Z +9 &VX x\ \\ +10 &X \ \\ +9 &Y \ ] +9 &[ V\ J +10 &\\= \ *~ +9 &\\k \ M +2 ( +2 "collection"'2& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&11 +54 "core" 1 +2 "manipulator"&P% +4 "core" % 9 S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%V& +4 "core" &\ + "manipulator"&I% +4 "core" % "  & +2 "storage"(O% +4 "core" %   \  + "storage"(4. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(G(<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +3 "core" &<+ %\ + "manipulator"&;& +5 "core" &ӝ( Aa + "manipulator"&N% +4 "core" % "  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&8( +165 "core" ( +2 "manipulator"&7& +4 "core" &  &  + "storage"( & +5 "core" &<+  + \ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&-'O +93 "core" ' + "storage"(B& +4 "core" &<+ 2 5\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'r +307 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (H& +3 "core" &<+   &\ +2 "manipulator"&:& +3 "core" &  z  +2 .tElbow.seek 5 +2 "manipulator"&<( +3 "core" ( + "manipulator"&W& +4 "core" & 2  + "storage"(6& +4 "core" &<+ + , B\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Y'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(S' +7 "core" &  +2 "manipulator"&.% +4 "core" % ϼ  +2 .tForearm.seek :retract +2 "manipulator"&X' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&Q( +161 "core" ' +50 ."downElevator"SE.stop +2 "storage"(5 +46 "core" ( +2 "manipulator"&?& +4 "core" & y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&c' +91 "core" ' + "manipulator"&y& +4 "core" &  v +2 "manipulator"&>% +4 "core" %  m ^ +2 "processing"%C& +3 "core" &\ +3 "processing"%&& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%i(^ +3 "core" &\ +6 &\ 4 +9 &:Hu\ 0 +10 &_o~\ D +9 &c\ P +9 &T\ O +10 &~U\ O +9 &@T\ O +9 &T\ O +10 &T\ O +9 &V\ O +10 &GT\ O +9 &! T\ O +9 &"R\ O +10 &$Y\ O +9 &&QR\ O +9 &(T\ O +10 &)X\ O +9 &+T\ N +10 &-XS\ O +9 &/S\ O +9 &0T\ O +10 &2T\ O +9 &4aP\ O +9 &6#U\ O +10 &7V\ O +9 &9S\ O +10 &;iU\ O +9 &=+U\ O +9 &>X\ O +10 &@W\ P +9 &Bm_\ P +9 &D*l\ R +10 &E\ T +9 &G\ V +10 &Id\ V +9 &K&\ V +9 &L\ V +10 &N\ V +9 &Pi\ W +9 &R+\ W +10 &S\ W +9 &U\ V +10 &Wp\ W +9 &Y3\ W +9 &Z\ W +10 &\\\ X +9 &^2d\ , +9 &^n\ ; +9 ( +2 &^(\ 5 +2 "processing"%&& +3 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&01 +59 "core" 1 +2 "manipulator"&q% +4 "core" %  ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +89 "core" ' +2 "processing"%j& +4 "core" &^(\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&m% +4 "core" %   +2 "storage"(% +3 "core" % \  +2 "storage"(_. +3 "core" .(<- +2 "storage"(u& +4 "core" &<+  \ +2 "storage"(& +2 "manipulator"&x& +6 "core" &<+   [\ + &  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&\\( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( + "manipulator"&L& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &  $ +2 .tForearm.seek PC + "manipulator"&l' +95 "core" ' + .tHand.close +2 "manipulator"&K/ +52 "core" / +2 .tPC.seek :open +2 "processing"%T( +100 "core" ' + "storage"(A- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(5'1 +46 "core" ' +299 ( + "storage"(& +4 "core" &<+ . 6\ +2 "manipulator"&& +3 "core" &  9 +2 "manipulator"&{% +4 "core" % \  / % + .tForearm.seek :retract +2 "manipulator"&g' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&!( +240 "core" ( +2 "manipulator"&U& +4 "core" & Z E + "storage"(a& +4 "core" &<+ 5 , \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&~'O +97 "core" ' + .tHand.open +2 "manipulator"&p1 +58 "core" 1 +2 "storage"(s- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(`' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"('' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(v& +4 "core" &<+ \ q +2 "manipulator"&(& +4 "core" &   E + .tElbow.seek 5 +2 "manipulator"&f( +3 "core" ( + "manipulator"&& +4 "core" & \ E +2 "storage"(r& +4 "core" &<+ \ q +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' +2 "manipulator"&& +4 "core" & @ E +2 "storage"(*& +3 "core" &<+ 3 , n\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&o'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +19 "core" ' + "manipulator"&% +5 "core" %Ζ u + "storage"(& +5 "core" &<+ , . \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts + "manipulator"&b' +14 "core" ' + "manipulator"&e& +5 "core" & j / + "storage"(M& +5 "core" &<+  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&t'O +16 "core" ' + "storage"(}% +5 "core" % )  \ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (R% +3 "core" %~J  ' 3\ Xi +2 "manipulator"&%% +4 "core" %9 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (#& +4 "core" &<+  \ +2 "collection"'+& +4 "core" &\\k \ M + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %   f  +2 "storage"(\ % +4 "core" % + ) B\  + "storage"(=. +3 "core" .(<- +2 "storage"(9& +3 "core" &<+ # * "\ +2 "storage"(|& +4 "core" &<+ ( ( %\ + "manipulator"&]& +4 "core" & / +2 .tElbow.seek 5 + "manipulator"&D( +28 "core" ( +2 "manipulator"&w& +4 "core" &  |  + "storage"(& +4 "core" &<+ * * P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +92 "core" ' + "storage"(& +5 "core" &<+ 6 3 \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +306 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +2 "core" &  +2 "storage"(n& +4 "core" &<+ &  1\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&['΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(3- +3 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(' +30 "core" ' +2 "manipulator"&% +4 "core" %Λ   + "storage"(k& +4 "core" &<+   3\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"& ' +17 "core" ' + "manipulator"&"& +5 "core" &   + "storage"(& +4 "core" &<+ 4 . \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&1'O +14 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(P' +33 "core" ' +2 "manipulator"&V& +4 "core" &  z  +2 "manipulator"&I% +4 "core" %M  W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&4(ӂ +155 "core" ( + "manipulator"&2& +4 "core" &y+  Ct + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &y+ Ct +2 .tForearm.seek CC +2 "manipulator"&;'? +95 "core" ' +2 .tHand.close + "manipulator"&N/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(7& +4 "core" &<+ D J \ + "storage"( & +4 "core" &<+ N O \ +2 "manipulator"& & +3 "core" &Ӧ$ M =G +2 "manipulator"&B% +3 "core" % I  V * +2 .tForearm.seek :retract +2 "manipulator"&,' +96 "core" ' +2 .tElbow.reconfigure :tight +52 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +165 "core" ( + "manipulator"&E& +4 "core" &   +2 "storage"(H& +4 "core" &<+ c d ^\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&:'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +60 "core" 1 +2 "manipulator"&% +5 "core" % Ρ \  D ) + "storage"( & +4 "core" &<+ d d "\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&.' +15 "core" ' +2 "manipulator"&8& +4 "core" &  7  + "storage"(-& +5 "core" &<+ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +18 "core" ' + "storage"(Y% +4 "core" % \  +3 ."downElevator"SE.seek :down +3 "storage"(?' +99 (h% +2 "core" %J N I D\ Xf +2 "manipulator"&<% +5 "core" %L  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'>& +5 "core" & \ + "manipulator"&C% +5 "core" %   + "storage"(S% +4 "core" % o g \  + "storage"(X. +4 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(J(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +3 "core" &K + * Q\  +2 "manipulator"&q& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&j( +3 "core" ( + "manipulator"&m& +4 "core" & 6  +2 "storage"(& +3 "core" &K e g w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +94 "core" ' + "storage"(u& +4 "core" &K p y\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(x- +3 "core" -'! +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" &K L F \  +2 "manipulator"&L& +4 "core" &  /  +2 .tElbow.seek 6 + "manipulator"&)( +4 "core" ( + "manipulator"&c& +4 "core" & \ l  +2 "storage"(K& +4 "core" &K d d \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&A'h +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& +2 "storage"(i' +7 "core" &  "  +2 "manipulator"&% +3 "core" % p   +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&{& +4 "core" &Ӕ#   <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &Ӕ#  G <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&U'? +105 "core" ' + "manipulator"&a& +5 "core" &Ӕ# ~ <@ + "manipulator"&\\% +5 "core" %S f + "collection"'p& +5 "core" & \ +2 "collection"'s& +4 "core" & \ +3 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +6 &; \ %f +9 &Wz \ 7 +10 &w \ L +9 &S \ L +10 &uS \ M +9 &8S \ L +10 &V \ L +9 &T \ L +9 &~U \ L +9 &@T \ L +10 & Q \ L +9 &!T \ L +10 &#Q \ L +9 &%GS \ M +9 &'\ S \ L +10 &(V \ L +9 &*U \ L +9 &,PT \ L +10 &.Q E\ L +9 &/U \ L +10 &1T \ M +9 &3XS \ L +9 &5U \ L +10 &6T \ M +9 &8T \ L +9 &:`Q \ L +10 &<#R \ L +9 &=V \ L +10 &?W \ L +9 &AhW \ L +9 &C)X \ M +10 &Da \ N +9 &Fk \ O +9 &H_ \ R +10 &J \ V +9 &K \ X +10 &M \ Y +9 &OT \ Y +9 &Q \ Y +10 &R \ Z +9 &T \ Z +9 &VS \ \\ +10 &X \ \\ +9 &Y \ ] +10 &[ \ J +9 &\\@ \ ({ +9 &\\ \ Y +3 ( + "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&v1 +57 "core" 1 +2 "manipulator"&(% +4 "core" % S V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%r& +4 "core" &\ + "manipulator"&g% +4 "core" % " & +2 "storage"(% +3 "core" %   \  +2 "storage"(*. +3 "core" .(K + "storage"(& +4 "core" &K   \  +2 "storage"(& +4 "core" &K   \  + "manipulator"&5& +4 "core" &ӕ# <? + "manipulator"&e% +4 "core" % " ] & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&M( +161 "core" ( + "manipulator"&`& +5 "core" & h  + "storage"(}& +4 "core" &K ) + D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&!' +97 "core" ' + "storage"(~& +4 "core" &K ( ) 8\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''r +298 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" &K  " S\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&f( +3 "core" ( + "manipulator"&& +4 "core" &  A  + "storage"(o& +4 "core" &K ( (\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&#'h +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +3 "storage"(' +8 "core" &  + "manipulator"&\ % +9 "core" % π w +2 .tForearm.seek :retract +2 "manipulator"&=' +94 "core" ' + .tElbow.seek PC +2 "manipulator"& ( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&9& +4 "core" & I " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" & P " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&]' +93 "core" ' + "manipulator"&w& +4 "core" &  ~ " +2 "manipulator"&% +4 "core" % g G +2 "processing"%t& +3 "core" &\ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +8 & .\ $c +9 &Ty\ 7 +10 &|x\ K +9 &W\ O +9 &TU\ O +10 &T\ O +9 &U\ O +10 &T\ O +9 &[T\ O +9 &R\ O +10 &R\ O +9 &!R\ O +9 &#cT\ O +10 &%%S\ O +9 &&T\ O +10 &(T\ O +9 &*jU\ P +9 &,.U\ O +10 &-S\ O +9 &/U\ O +9 &1sW\ O +10 &36S\ O +9 &4R\ O +9 &6T\ O +10 &8|T\ O +9 &:>S\ O +10 &;U\ O +9 &=V\ O +9 &?T\ O +10 &ADW\ P +9 &Cg\ Q +9 &Dp\ R +10 &F|\ T +9 &H;\ U +10 &I\ U +9 &K\ V +9 &M\ V +10 &OB\ V +9 &Q\ V +9 &R\ V +10 &T\ X +9 &VH\ W +10 &X\ \ V +9 &Y\ W +9 &[\ W +10 &]M\ J +9 &^yH\ b +10 &^ Q\ 6 +5 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&z1 +3 "core" &^&\ 6 +55 1 + "manipulator"&% +5 "core" %  G + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +91 "core" ' + "processing"%/& +5 "core" &^&\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&n% +3 "core" %    +2 "storage"(3% +4 "core" %   r\  + "storage"(. +3 "core" .(K + "storage"(k& +4 "core" &K A\  +3 "storage"("& +2 "manipulator"&& +6 "core" &K   \  + &  " +2 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +54 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +3 "manipulator"&V( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(I'r +2 "core" ( +2 "manipulator"&& +3 "core" & " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &  < " +3 .tForearm.seek PC + "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&[/ +54 "core" / + .tPC.seek :open +2 "processing"% ( +104 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(2'1 +45 "core" ' +297 ( + "storage"(d& +5 "core" &K " 3\  + "manipulator"&1& +4 "core" & 1 " + "manipulator"&@% +4 "core" %   > +2 .tForearm.seek :retract +2 "manipulator"&N' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&O( +245 "core" ( +2 "manipulator"&$& +4 "core" &  t # + "storage"(7& +4 "core" &K ' ( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +94 "core" ' + .tHand.open +2 "manipulator"& 1 +58 "core" 1 + "storage"(B- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(;' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(E' +58 "core" ' + #tLights, camera, ACTION! +2 "storage"(H- +3 "core" -' +2 "storage"(4& +4 "core" &K Y\ { + "manipulator"&6& +4 "core" & F # +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & W # +2 "storage"(8& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts + "manipulator"&-' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +49 "core" ' + "manipulator"&,& +5 "core" &  C # + "storage"(h& +4 "core" &K  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&<'< +25 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +19 "core" ' + "manipulator"&>% +5 "core" %6 R + "storage"(.& +4 "core" &K  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 294 counts +2 "manipulator"&C'b +16 "core" ' + "manipulator"&S& +5 "core" &  # + "storage"(X& +5 "core" &K , ( X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +17 "core" ' +2 "storage"(^% +4 "core" % 6 6\ +3 ."downElevator"SE.seek :down +3 "storage"(?' +99 (G% +3 "core" %HI   ~\ Xi +2 "manipulator"&0% +4 "core" % / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +96 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (m& +4 "core" &K\  +2 "collection"'& +4 "core" &\\ \ Y + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&u% +3 "core" % ! G & +2 "storage"(W% +4 "core" % ) $ j\  + "storage"(y. +3 "core" .(K +2 "storage"(x& +3 "core" &K '  r\  +2 "storage"(&& +4 "core" &K   )\  + "manipulator"&L& +4 "core" & # +2 .tElbow.seek 6 + "manipulator"&c( +4 "core" ( + "manipulator"&K& +5 "core" &  { # + "storage"(Q& +4 "core" &K  # r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z' +94 "core" ' + "storage"(& +4 "core" &K 0 " 5\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'r +298 "core" ' +2 "storage"(_- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&{& +4 "core" & t # + "storage"(l& +4 "core" &K ' ( \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'< +13 "core" ' +2 .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(\\'| +31 "core" ' +3 "manipulator"&)% +8 "core" %O \ O + "storage"(p& +4 "core" &K ' ( &\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&i'{ +14 "core" ' + "manipulator"&& +5 "core" &   # + "storage"(& +4 "core" &K ' ( (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v' +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"((' +35 "core" ' + "manipulator"&r& +5 "core" & # + "manipulator"&g% +4 "core" %\   . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&*(ӂ +155 "core" ( + "manipulator"&& +4 "core" &ӛ  / :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӛ  m :- +2 .tForearm.seek CC +2 "manipulator"&s'? +96 "core" ' + .tHand.close + "manipulator"&5/ +59 "core" / + .tCC.seek :open +2 "collection"'e( +451 "core" ( +2 "storage"(U& +4 "core" &K P Y L\  + "storage"(`& +4 "core" &K N O n\  + "manipulator"&}& +4 "core" &ӛ! N :- +2 "manipulator"&~% +4 "core" % N W 3 + .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( + "manipulator"&R& +4 "core" &  G  +2 "storage"(%& +3 "core" &K e d V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'< +92 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&o1 +62 "core" 1 +2 "manipulator"&b% +4 "core" % :  Q 7 +2 "storage"(+& +3 "core" &K q g \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 298 counts + "manipulator"&\ 'f +17 "core" ' + "manipulator"&M& +4 "core" &   +2 "storage"(!& +3 "core" &K d f X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'' +15 "core" ' + "storage"(#% +5 "core" % l j \ +2 ."downElevator"SE.seek :down +3 "storage"(9' +99 (|% +3 "core" %A M G C\ Wd +2 "manipulator"&f% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" & \ + "manipulator"&t% +4 "core" %   =  +2 "storage"(% +4 "core" % d d J\  +2 "storage"(=. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(T(,y +674 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +3 "core" &,u C D ;\ + "manipulator"&& +4 "core" & 6  +50 .tElbow.seek 4 +3 "manipulator"&/( +3 "core" ( + "manipulator"&n& +4 "core" &  g  +2 "storage"(3& +3 "core" &,u e d 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +90 "core" ' + "storage"(k& +4 "core" &,u I\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,g 7 8 \  + "manipulator"&& +4 "core" &  0  +2 .tElbow.seek 4 +2 "manipulator"&D( +3 "core" ( + "manipulator"&]& +4 "core" & @  +2 "storage"([& +3 "core" &,g e e \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& + "storage"(' +8 "core" &  {  + "manipulator"&I% +4 "core" % ϛ 7 +2 .tForearm.seek :retract +2 "manipulator"&d' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&1(ӂ +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&@& +5 "core" &Ә% c =A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ә% =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&$'? +90 "core" ' +2 "manipulator"&7& +4 "core" &Ә%  F =A +2 "manipulator"&V% +4 "core" %6  s +2 "collection"' & +3 "core" & \ +3 "collection"'B& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'H(\\ +4 "core" & \ +5 & \ ; +10 &KJu \ 0 +9 &ys| \ E +9 &#X \ L +10 &R \ L +9 &Q \ L +10 &hT \ M +9 &+S \ L +9 &R \ L +10 &P \ L +9 &pT \ M +9 &!4S \ L +10 &"S \ L +9 &$P \ L +9 &&yT \ L +10 &(;U \ L +9 &)T \ M +10 &+T \ L +9 &-U \ L +9 &/CT \ L +10 &1U \ L +9 &2S \ L +9 &4U \ L +10 &6KT \ L +9 &8 R \ L +10 &9W \ L +9 &;U \ M +9 &=ST \ L +10 &?V \ L +9 &@V \ L +9 &BY \ M +10 &DZ\\ \ M +9 &Fh \ N +9 &Gw \ P +10 &I \ T +9 &KD \ W +10 &M \ X +9 &N \ X +9 &P \ Y +10 &RD \ Z +9 &T \ Z +10 &U \ [\ +9 &W \ \\ +9 &YE \ \\ +10 &[ \ ] +9 &\\_J \ 5 +9 &\\ \ S +6 ( +2 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&41 +4 "core" &\\s \ S +56 1 + "manipulator"&6% +4 "core" % 6 g s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +87 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%8& +4 "core" &\ + "manipulator"&N% +4 "core" %   x  +2 "storage"(,% +4 "core" % + ( %\  +2 "storage"(h. +3 "core" .(,u + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(>(,y +29 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (.& +3 "core" &,{ (  \ + "manipulator"&2& +4 "core" &Ә$  =A +2 "manipulator"&S% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&X( +157 "core" ( + "manipulator"&;& +5 "core" & + "storage"(^& +4 "core" &,{ ) ( :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +92 "core" ' + "storage"( & +5 "core" &,{ * ( \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'r +298 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &,h 6 ,\  + "manipulator"&-& +4 "core" &  4 +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&Y& +3 "core" &  K +2 "storage"(<& +4 "core" &,h  \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&m'c +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&C/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(u' +7 "core" & +2 "manipulator"&W% +4 "core" % ϥ  +2 .tForearm.seek :retract +2 "manipulator"&y' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&x& +4 "core" &   ! I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &  8 I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L' +98 "core" ' +2 "manipulator"&K& +4 "core" & I +2 "manipulator"&Q% +4 "core" %  + "processing"%P& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%?(^ +4 "core" &\ +8 & .\ $c +9 &Ty\ 7 +9 &|x\ K +10 &U\ O +9 &ST\ O +10 &S\ N +9 &U\ O +9 &S\ O +10 &ZQ\ O +9 &U\ O +9 &Q\ O +10 &!R\ O +9 &#bT\ O +9 &%$R\ O +10 &&T\ O +9 &(T\ O +10 &*jS\ O +9 &,,T\ O +9 &-R\ N +10 &/U\ O +9 &1rT\ O +9 &35S\ O +10 &4Q\ O +9 &6S\ O +10 &8{T\ O +9 &:=R\ O +9 &;U\ O +10 &=U\ O +9 &?U\ O +9 &ACY\ O +10 &C_\ Q +9 &De\ Q +10 &F~y\ S +9 &H:\ U +9 &I\ U +10 &K\ U +9 &M}\ V +9 &O@\ V +10 &Q\ V +9 &R\ V +10 &T\ W +9 &VF\ V +9 &X\ W +10 &Y\ W +9 &[\ W +9 &]K\ M +10 &^~L\ d +9 &^3\ 6 +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&1 +4 "core" &^,\ 6 +57 1 + "manipulator"&q% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +94 "core" ' + "processing"%{& +5 "core" &^,\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&l% +4 "core" % ! = . + "storage"(a% +4 "core" %  \  + "storage"(). +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(p(,y +31 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& + "manipulator"&& +4 "core" &,} $\ +6 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &  I +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&r( + "storage"(g'r +23 "core" ( + "manipulator"&Z& +5 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +2 "core" & +2 .tForearm.seek PC +2 "manipulator"&j' +97 "core" ' +2 .tHand.close +2 "manipulator"&/ +64 "core" / + .tPC.seek :open +2 "processing"%i( +71 "core" ' + "storage"(\\- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +45 "core" ' +329 ( +3 "storage"(& +4 "core" &,e +  \  + "manipulator"&v& +4 "core" & + "manipulator"&A% +5 "core" %   e  + .tForearm.seek :retract +2 "manipulator"&5' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +241 "core" ( + "manipulator"&& +4 "core" &  " +2 "storage"(U& +3 "core" &,e   D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&`' +93 "core" ' + .tHand.open +2 "manipulator"&}1 +57 "core" 1 +2 "storage"(~- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(R' +23 "core" ' +51 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(%' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(s- +3 "core" -' +2 "storage"(*& +4 "core" &,e d\ u + "manipulator"&o& +4 "core" &  | ! + .tElbow.seek 4 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&+& +4 "core" &  % ! + "storage"(M& +4 "core" &,e \ v +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(#'" +57 "core" ' +2 "manipulator"&& +4 "core" &  ! +2 "storage"(|& +3 "core" &,e + + U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&f'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&% +4 "core" %H b R +2 "storage"(t& +4 "core" &,e + ) \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&\ 't +13 "core" ' + "manipulator"&& +5 "core" &   _ ! +2 "storage"(=& +4 "core" &,e 3 ( S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +19 "core" ' +2 "storage"('% +4 "core" % 4 8 \ +3 ."downElevator"SE.seek :down +3 "storage"(9' +99 (J% +3 "core" %<E  \ Xh +2 "manipulator"&z% +4 "core" % Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (n& +4 "core" &,e  M\  + "collection"'3& +4 "core" &\\t \ S +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&k% +4 "core" % %  - + "storage"(% +4 "core" % ( (\  + "storage"(w. +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"("(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,{ / ) $\ +2 "manipulator"&& +4 "core" &  G ! + .tElbow.seek 4 +2 "manipulator"&]( +3 "core" ( +2 "manipulator"&[& +4 "core" &  W ! + "storage"( & +4 "core" &,{ + ( \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +94 "core" ' +2 "storage"(I& +4 "core" &,{ * + ]\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'r +300 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" & i ! + "storage"(& +4 "core" &,h '  ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(V'z +29 "core" ' + "manipulator"& % +5 "core" %B + "storage"(D& +4 "core" &,h + ) H\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 311 counts +2 "manipulator"&'n +15 "core" ' +2 "manipulator"&d& +4 "core" &  @ ! +2 "storage"(e& +4 "core" &,h   8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(6' +46 "core" ' +2 "manipulator"&8& +4 "core" &  ! + "manipulator"&N% +5 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +157 "core" ( + "manipulator"&B& +4 "core" &ә   :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +4 "core" &ә  $ :. +2 .tForearm.seek CC + "manipulator"&2'? +93 "core" ' + .tHand.close +2 "manipulator"&S/ +53 "core" / +2 .tCC.seek :open + "collection"'$( +451 "core" ( + "storage"(;& +5 "core" &,h O M \  + "storage"(^& +4 "core" &,h A @ \  +2 "manipulator"&T& +3 "core" &ә!  z :. +2 "manipulator"& % +4 "core" % J V + .tForearm.seek :retract +2 "manipulator"&1' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +159 "core" ( + "manipulator"&G& +5 "core" & \ ; \ + "storage"(0& +4 "core" &,h N : 1\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&-'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&<1 +61 "core" 1 +2 "manipulator"&C% +4 "core" % @  W W +2 "storage"(& +3 "core" &,h d e Q\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 309 counts +2 "manipulator"&W'l +13 "core" ' +2 "manipulator"&X& +4 "core" & \ T \ +2 "storage"(O& +4 "core" &,h e e \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +15 "core" ' + "storage"(m% +5 "core" % f o w\ +2 ."downElevator"SE.seek :down +3 "storage"(x' +99 (&% +3 "core" %C I 9 8\ Wd + "manipulator"&% +5 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +90 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'Q& +4 "core" & \ + "manipulator"&P% +4 "core" %  [  +2 "storage"(u% +4 "core" % g d }\  + "storage"(y. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<- +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<*# 3 6 #\  +2 "manipulator"&q& +4 "core" &  2 \ +2 .tElbow.seek 5 +2 "manipulator"&{( +15 "core" ( + "manipulator"&l& +4 "core" & } +2 "storage"(a& +3 "core" &<* g e c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +93 "core" ' +2 "storage"(& +4 "core" &<* S\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +303 "core" ' +2 "storage"(- +3 "core" -'+ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +2 "core" &<* D > z\  +2 "manipulator"&c& +4 "core" & } + .tElbow.seek 5 +2 "manipulator"&L( +56 "core" ( + "manipulator"&& +5 "core" &  } + "storage"(>& +4 "core" &<* e e _\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&\\'Ϲ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&_& + "storage"(?' +7 "core" &  $ } +2 "manipulator"&g% +4 "core" %  A ~ +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&v(ӂ +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&A& +4 "core" &Ӂ+  Cr +50 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &j& +3 "core" &ӂ+  B Cq +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +90 "core" ' +2 "manipulator"&U& +5 "core" &ӟ&  ?T + "manipulator"&r% +4 "core" %;  E v +2 "collection"'}& +4 "core" & \ +2 "collection"'~& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'s(\\ +4 "core" & \ +8 &? \ $f +9 &Ww \ 7 +9 &v \ L +10 &Q \ L +9 &zS \ L +9 &<S \ L +10 &S \ L +9 &T \ L +10 &S \ L +9 &ET \ L +9 & Q \ L +10 &!S \ L +9 &#T \ L +9 &%MR \ L +10 &'R \ L +9 &(T \ L +10 &*T \ L +9 &,UT \ L +9 &.S \ L +10 &/R \ K +9 &1T \ L +9 &3\\T \ L +10 &5T \ L +9 &6T \ L +9 &8T \ L +10 &:cU \ L +9 &<&Q \ L +10 &=T \ L +9 &?S \ L +9 &AkW \ L +10 &C,Z \ M +9 &D` \ M +10 &Fk \ O +9 &Hd \ Q +9 &J \ V +10 &K \ X +9 &M \ Y +9 &OW \ Y +10 &Q \ Z +9 &R \ [ +9 &T \ [\ +10 &VX \ [\ +9 &X \ \\ +10 &Y \ \\ +9 &[ \ J +9 &\\8 \ . +10 &\\v \ X +2 ( +2 "collection"'~& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&51 +64 "core" 1 + "manipulator"&*% +5 "core" % ; v + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%+& +4 "core" &\ +2 "manipulator"&M% +4 "core" % " @ + + "storage"(% +4 "core" %   \  +2 "storage"(|. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<+ \  + "manipulator"&t& +5 "core" &ӟ& ?T + "manipulator"&% +4 "core" % !  + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&=( +163 "core" ( + "manipulator"&R& +5 "core" &   + "storage"('& +4 "core" &<+ 7 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' +2 "storage"(`& +4 "core" &<+ , + /\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'r +297 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (z& +3 "core" &<+ * 6\  +2 "manipulator"&!& +4 "core" &  n  + .tElbow.seek 5 +2 "manipulator"&b( +3 "core" ( + "manipulator"&#& +4 "core" &  G  +2 "storage"(f& +4 "core" &<+ ( + \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&\ 'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&n/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& + "storage"(k' +7 "core" &  u  +2 "manipulator"&% +4 "core" % ϼ Z +2 .tForearm.seek :retract + "manipulator"&w' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&& +5 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&[' +94 "core" ' +2 "manipulator"& & +4 "core" & + "manipulator"&(% +4 "core" % +2 "processing"%I& +4 "core" &\ +2 "processing"%9& +5 .tPC.seek :closed +3 "core" &\ + "processing"%p(^ +7 "core" &\ \ +9 &0u\ )w +9 &b~\ > +10 &ar\ O +9 &"U\ O +10 &T\ O +9 &R\ N +9 &iT\ O +10 &+V\ O +9 &U\ N +9 &T\ O +10 & rT\ N +9 &"3R\ O +10 &#W\ O +9 &%Q\ O +9 &'yR\ O +10 &);R\ O +9 &*Q\ O +9 &,U\ O +10 &.Q\ O +9 &0CT\ O +10 &2R\ N +9 &3R\ N +9 &5R\ O +10 &7KQ\ O +9 &9 U\ O +9 &:R\ O +10 &<T\ O +9 &>RV\ O +10 &@U\ O +9 &AZ\ P +9 &Cg\ Q +10 &ENw\ S +9 &G\ \ U +9 &H\ V +10 &J\ V +9 &LN\ V +10 &N\ V +9 &O\ W +9 &Q\ X +10 &SR\ W +9 &U\ W +9 &V\ W +10 &X\ W +9 &ZZ\ W +10 &\\\ W +9 &]\ 6 +9 &^0n\ M +10 &^-\ 6 +2 ( +2 "processing"%9& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%@& +4 "core" &^,\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %   +2 "storage"(7% +4 "core" %   \  + "storage"( . +3 "core" .(<- + "storage"(D& +4 "core" &<+\  +2 "storage"(d& +5 "manipulator"&e& +4 "core" &<+   4\  + & +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +3 "storage"(8'r + "manipulator"&N( +5 "core" ( + "manipulator"&F& +5 "core" & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" & D +2 .tForearm.seek PC +2 "manipulator"&/' +97 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +85 "core" ' + "storage"(V- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(B'1 +40 "core" ' +317 ( + "storage"(.& +5 "core" &<+ #  <\  + "manipulator"&4& +4 "core" &  U +2 "manipulator"&% +3 "core" %   2 % +2 .tForearm.seek :retract +2 "manipulator"&S' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +238 "core" ( + "manipulator"&H& +5 "core" &  E + "storage"(;& +4 "core" &<+ ( + )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +100 "core" ' + .tHand.open +2 "manipulator"&T1 +62 "core" 1 +2 "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(G' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(0' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(2- +3 "core" -' +2 "storage"(h& +3 "core" &<+ n\ v +2 "manipulator"&<& +4 "core" &  f E + .tElbow.seek 5 +2 "manipulator"&C( +4 "core" ( + "manipulator"&& +4 "core" & / E +2 "storage"(X& +3 "core" &<+ I\ v +3 .tForearm.seek 5 + 450 counts + "manipulator"&O'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(m'" +56 "core" ' +2 "manipulator"&1& +4 "core" & C E + "storage"(&& +4 "core" &<+ #  :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +14 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(-' +27 "core" ' +2 "manipulator"&Q% +4 "core" %Ν s . +2 "storage"(P& +4 "core" &<+   D\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&W' +15 "core" ' + "manipulator"&u& +5 "core" &  A 5 + "storage"(y& +5 "core" &<+ ( ) ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +17 "core" ' +2 "storage"(E% +54 "core" % ! 1 \ +4 ."downElevator"SE.seek :down +3 "storage"(x' +100 ("% +3 "core" %GI \ \ Xj + "manipulator"&% +5 "core" %< e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (l& +4 "core" &<+  !\  +2 "collection"'a& +4 "core" &\\u \ X + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %  }  + "storage"(Y% +4 "core" % , ( \  +2 "storage"(K. +3 "core" .(<- + "storage"(& +5 "core" &<+ + ) /\  + "storage"(Z& +4 "core" &<+ , ( "\  +2 "manipulator"&c& +4 "core" & 5 + .tElbow.seek 5 +2 "manipulator"&( +28 "core" ( +2 "manipulator"&>& +4 "core" & >  +2 "storage"(:& +4 "core" &<+ 6 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +98 "core" ' + "storage"(g& +4 "core" &<+ + + 7\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"({'r +307 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&A& +3 "core" & }  +2 "storage"(j& +93 "core" &<+ 8 6 %\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(U' +29 "core" ' + "manipulator"&r% +5 "core" %Ρ D + "storage"(}& +4 "core" &<+ 8 8\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&?' +15 "core" ' +2 "manipulator"&& +4 "core" & \ @  + "storage"($& +4 "core" &<+   [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +16 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(*' +35 "core" ' + "manipulator"&+& +5 "core" &  + "manipulator"&M% +4 "core" %A e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +151 "core" ( +2 "manipulator"&~& +4 "core" &z)  R Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &z) Ae +2 .tForearm.seek CC +2 "manipulator"&t'? +97 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"(R& +4 "core" &<+ M M \  +2 "storage"('& +4 "core" &<+ J L g\  + "manipulator"& & +4 "core" &ӡ#  X <> + "manipulator"&`% +4 "core" % >  ] / +2 .tForearm.seek :retract + "manipulator"&v' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&o( +162 "core" ( + "manipulator"&J& +5 "core" & #  + "storage"(z& +4 "core" &<+ G V p\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&!'΍ +101 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&f1 +63 "core" 1 +2 "manipulator"&n% +5 "core" % Έ  > + "storage"(3& +4 "core" &<+ d d =\  + .tForearm.force -20 + "manipulator"&5 +18 .tForearm.seek 5 + 295 counts +2 "manipulator"&'ϴ +13 "core" ' +2 "manipulator"&=& +4 "core" & \  1  + "storage"(& +5 "core" &<+ e e \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&%'O +19 "core" ' +2 "storage"(\ % +4 "core" % S\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %C G 8 \ Wd +2 "manipulator"&b% +4 "core" %9 i + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +85 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'(& +4 "core" & \ + "manipulator"&I% +4 "core" %   _  +2 "storage"(k% +4 "core" % d d O\  + "storage"(w. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(i(K +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &K M L }\  +2 "manipulator"&& +4 "core" & ]  +2 .tElbow.seek 6 + "manipulator"&@( +3 "core" ( +2 "manipulator"&& +3 "core" &  d  +2 "storage"(7& +4 "core" &K d c g\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +94 "core" ' +2 "storage"(D& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'r +291 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (9& +3 "core" &K H K \  +2 "manipulator"&F& +4 "core" &    +2 .tElbow.seek 6 + "manipulator"&]( +3 "core" ( +2 "manipulator"&[& +4 "core" &  U  + "storage"(& +4 "core" &K e e c\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&V'h +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(p' +6 "core" &   +2 "manipulator"&8% +4 "core" % ϊ < +2 .tForearm.seek :retract + "manipulator"&.' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&& +4 "core" &Ӕ$  V =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &Ӕ$ =C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&H'? +103 "core" ' +2 "manipulator"&;& +4 "core" &Ӝ# p <; + "manipulator"&N% +4 "core" %C  W +2 "collection"'T& +4 "core" & \ +2 "collection"' & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'2(\\ +5 "core" & \  +8 &5} \ +{ +9 &g} \ ? +10 &m \ M +9 &^O \ L +10 & T \ L +9 &T \ L +9 &S \ L +10 &gQ \ L +9 &(U \ L +9 &T \ L +10 & S \ K +9 &"nT \ L +10 &$0S \ L +9 &%T \ L +9 &'T \ L +10 &)vT \ L +9 &+9S \ L +9 &,S \ L +10 &.S \ L +9 &0T \ L +10 &2AS \ L +9 &4W \ L +9 &5T \ L +10 &7T \ L +9 &9GT \ L +9 &; T \ L +10 &<T \ L +9 &>T \ L +10 &@OT \ L +9 &BT \ L +9 &CZ \ M +10 &Ec \ N +9 &GMr \ P +9 &I \ S +10 &J \ W +9 &Lz \ X +9 &N< \ X +10 &O \ Y +9 &Q \ Z +10 &S~ \ Z +9 &U< \ [\ +9 &V \ \\ +10 &X \ \\ +9 &Z} \ ] +10 &\\"z \ 0 +9 &\\0 \ !e +9 ( +3 "collection"' & +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&h1 +3 "core" &\\h \ Q +59 1 +2 "manipulator"&<% +4 "core" % C \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%X& +4 "core" &\ + "manipulator"&S% +4 "core" %  ^  +2 "storage"(1% +3 "core" % ( '\  +2 "storage"(&. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(Q(K +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +2 "core" &K u\  +2 "manipulator"&B& +54 "core" &Ӝ#  <; +2 "manipulator"&u% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&y( +164 "core" ( + "manipulator"&G& +4 "core" &  +2 "storage"(E& +4 "core" &K + ( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +93 "core" ' +2 "storage"(^& +4 "core" &K + 3 K\  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'r +296 "core" ' +2 "storage"("- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K \ ! 9\  +2 "manipulator"&O& +3 "core" & N  +2 .tElbow.seek 6 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&m& +3 "core" &  A  +2 "storage"(& +4 "core" &K 6 5\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&W'h +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"(' +7 "core" &   + "manipulator"&Y% +4 "core" % ` a +2 .tForearm.seek :retract +2 "manipulator"&K' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&& +4 "core" & D . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" & . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&c' +101 "core" ' + "manipulator"&>& +4 "core" & f . +2 "manipulator"&:% +4 "core" % H + "processing"%6& +4 "core" &\ +3 "processing"%g& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%x(^ +4 "core" &\ +8 & -\ $c +9 &Ty\ 7 +9 &|y\ K +10 &S\ O +9 &US\ O +10 &R\ N +9 &T\ O +9 &Q\ O +10 &_R\ N +9 &S\ O +9 &R\ O +10 &!Q\ O +9 &#fQ\ O +10 &%(R\ O +9 &&V\ O +9 &(S\ O +10 &*mW\ O +9 &,0T\ O +9 &-Q\ O +10 &/T\ O +9 &1uW\ O +9 &39R\ N +10 &4Q\ N +9 &6T\ O +10 &8~W\ O +9 &:@Q\ O +9 &<T\ O +10 &=S\ O +9 &?U\ O +10 &ADZ\ P +9 &Ce\ Q +9 &Dn\ R +10 &F}\ T +9 &H=\ U +9 &I\ U +10 &K\ U +9 &M\ V +10 &OB\ V +9 &Q\ W +9 &R\ V +10 &T\ W +9 &VI\ V +9 &X \ W +10 &Y\ V +9 &[\ W +10 &]N\ J +9 &^yG\ c +9 &^;\ 6 +6 ( + "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"& 1 +3 "core" &^(\ 6 +49 1 + "manipulator"&q% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&)' +90 "core" ' +2 "processing"%A& +4 "core" &^(\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&j% +4 "core" %  +  +2 "storage"(L% +3 "core" %  :\  +2 "storage"(r. +3 "core" .(K + "storage"(}& +4 "core" &K   g\  +2 "storage"(& +4 "manipulator"&$& +3 "core" &K   \ \  +2 &  . +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&+( +5 ."raiseStack"SE.seek :beamBreak + "storage"(M'r +3 "core" ( + "manipulator"&_& +5 "core" & t . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  . +2 .tForearm.seek PC + "manipulator"&{' +94 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%?( +99 "core" ' + "storage"(~- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(U'1 +45 "core" ' +298 ( + "storage"(& +4 "core" &K * + E\  +2 "manipulator"&5& +3 "core" & b . +2 "manipulator"&\\% +4 "core" %   . + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +245 "core" ( + "manipulator"&s& +4 "core" & . +2 "storage"(R& +3 "core" &K   2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'' +95 "core" ' + .tHand.open + "manipulator"& 1 +63 "core" 1 +3 "storage"(`- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(t- +3 "core" -' +2 "storage"(|& +4 "core" &K \ y + "manipulator"&f& +4 "core" & ` - + .tElbow.seek 6 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&3& +3 "core" & " - +2 "storage"(=& +4 "core" &K 6\ x +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\ '" +53 "core" ' + "manipulator"&v& +5 "core" & - + "storage"(& +4 "core" &K + + P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&b'< +27 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(!' +18 "core" ' +2 "manipulator"&(% +4 "core" %? A +2 "storage"(& +4 "core" &K   '\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 303 counts +2 "manipulator"&I'k +14 "core" ' +2 "manipulator"&k& +4 "core" &  M - +2 "storage"(w& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&*' +17 "core" ' +2 "storage"(%% +4 "core" % +  $\ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +3 "core" %}I   }\ Xi +2 "manipulator"&% +4 "core" % ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K  \  + "collection"'7& +5 "core" &\\h \ Q + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&D% +3 "core" %  u  +2 "storage"(#% +3 "core" % + *\  +2 "storage"( . +3 "core" .(K + "storage"(d& +5 "core" &K ( + "\  + "storage"(9& +4 "core" &K ( * \  +2 "manipulator"&F& +3 "core" & o - +2 .tElbow.seek 6 +2 "manipulator"&[( +3 "core" ( + "manipulator"&& +4 "core" &  ! - +2 "storage"(& +3 "core" &K ( *\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +91 "core" ' +2 "storage"(8& +4 "core" &K ( . A\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'r +297 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & S - + "storage"(/& +4 "core" &K \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&e'< +22 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(;- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(N'} +52 "core" ' +3 "manipulator"&T% +4 "core" %B + "storage"(]& +4 "core" &K * ( \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts +2 "manipulator"&p'n +14 "core" ' +2 "manipulator"&.& +4 "core" & ; - +2 "storage"(& +4 "core" &K  ! I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&h' +20 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(<' +46 "core" ' +2 "manipulator"&X& +4 "core" & - +2 "manipulator"&S% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&(ӂ +156 "core" ( + "manipulator"& & +5 "core" &ӎ%  A >L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +2 "core" &ӎ%  >L +3 .tForearm.seek CC + "manipulator"&B'? +91 "core" ' + .tHand.close +2 "manipulator"&u/ +53 "core" / +2 .tCC.seek :open +2 "collection"'H( +447 "core" ( +2 "storage"(G& +4 "core" &K L L _\  + "storage"(E& +4 "core" &K B ? \  + "manipulator"&i& +4 "core" &Ӑ% >J +2 "manipulator"&^% +4 "core" % R  R b + .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +156 "core" ( + "manipulator"&"& +5 "core" &  + "storage"(& +4 "core" &K d d \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&O'< +98 "core" ' +2 .tElbow.hold + "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&l% +4 "core" % G \  E +2 "storage"(a& +4 "core" &K d d 6\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&Y's +13 "core" ' +2 "manipulator"&y& +4 "core" &  _ + "storage"(,& +4 "core" &K q q ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +16 "core" ' + "storage"(W% +4 "core" % d e \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (Z% +3 "core" %A 6 5 y\ Wc + "manipulator"&C% +5 "core" %  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"':& +5 "core" & \ + "manipulator"&6% +4 "core" %   ^ ~ +2 "storage"(% +3 "core" % \  +2 "storage"(K. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +670 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +2 "core" &,{ e g s\ +2 "manipulator"&q& +4 "core" & + .tElbow.seek 4 +2 "manipulator"&A( +3 "core" ( + "manipulator"&j& +4 "core" &  +2 "storage"(L& +4 "core" &,{ e i \ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&r' +91 "core" ' +2 "storage"(}& +4 "core" &,{ k h\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'r +294 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (g& +3 "core" &,k X d \  +2 "manipulator"&_& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&c& +4 "core" &  q + "storage"(& +4 "core" &,k d c E\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&~'c +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(x' +7 "core" &  C +2 "manipulator"&M% +3 "core" % _  5 +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&5(ӂ +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&\\& +5 "core" &Ӑ% >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &Ӑ% t >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&s'? +102 "core" ' + "manipulator"&R& +5 "core" &ӑ%  >L + "manipulator"&+% +5 "core" %>  + "collection"' & +5 "core" & \ +2 "collection"'`& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'t(\\ +4 "core" & \ +5 &  \ : +10 &JLv  \ 0 +9 &zt| \ E +9 &$Y  \ L +10 &R  \ L +9 &S \ L +10 &kS \ L +9 &-T \ L +9 &S  \ L +10 &T \ L +9 &sT \ L +9 &!5S \ L +10 &"R \ L +9 &$R \ L +10 &&{S \ L +9 &(=T \ L +9 &)T \ L +10 &+T \ L +9 &-T \ L +9 &/DT \ L +10 &1R \ L +9 &2R \ L +10 &4S \ L +9 &6LT \ L +9 &8 U \ M +10 &9T \ L +9 &;T \ L +9 &=TT \ L +10 &?T \ L +9 &@V \ L +10 &BW \ M +9 &DZ\\ \ M +9 &Fg \ N +10 &Gt \ P +9 &I \ S +9 &KD \ W +10 &M \ X +9 &N \ Y +10 &P \ Y +9 &RF \ Y +9 &T \ [ +10 &U \ [\ +9 &W \ \\ +9 &YE \ \\ +10 &[ \ ] +9 &\\`K \ 6 +9 &\\\ w \ M +6 ( + "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&|1 +3 "core" &\\l \ M +57 1 +2 "manipulator"&f% +4 "core" % > + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%=& +4 "core" &\ +2 "manipulator"&% +3 "core" %   +2 "storage"(v% +4 "core" %  # a\  + "storage"(. +3 "core" .(,y + "storage"((& +5 "core" &,k * ( >\  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (U& +3 "core" &,} ' ( \ +2 "manipulator"&k& +4 "core" &ӑ%  >L + "manipulator"&w% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&J( +164 "core" ( +2 "manipulator"&%& +4 "core" &  ?  + "storage"(& +4 "core" &,} * + E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&'' +94 "core" ' + "storage"(z& +4 "core" &,} 7 5 m\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +301 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,h 5 6 \  + "manipulator"&n& +4 "core" & L  +2 .tElbow.seek 4 +2 "manipulator"&\ ( +3 "core" ( + "manipulator"&b& +4 "core" &  f  + "storage"(& +4 "core" &,h   "\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&I'c +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&7/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(#' +7 "core" & T  + "manipulator"& % +4 "core" % z H +2 .tForearm.seek :retract +2 "manipulator"&!' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&d( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&9& +4 "core" & _ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &  +2 .tForearm.reconfigure :tight +50 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC + "manipulator"&' +102 "core" ' + "manipulator"&& +4 "core" &  +2 "manipulator"&*% +4 "core" % _  +2 "processing"%8& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%o(^ +4 "core" &\  +9 &0u\ *x +10 &b~\ > +9 &ir\ O +10 &*R\ O +9 &Q\ O +9 &R\ O +10 &qS\ N +9 &3S\ N +9 &T\ N +10 &S\ N +9 & xT\ O +10 &";T\ N +9 &#S\ N +9 &%Q\ O +10 &'R\ O +9 &)BP\ O +9 &+R\ N +10 &,U\ O +9 &.T\ N +10 &0KU\ N +9 &2 T\ N +9 &3U\ N +10 &5R\ N +9 &7SR\ N +9 &9U\ O +10 &:V\ O +9 &<S\ O +9 &>ZV\ O +11 &@T\ O +11 &AZ\ P +7 &Cb\ Q +9 &EZk\ Q +9 &G\ T +10 &H\ U +9 &J\ V +9 &LV\ U +10 &N\ V +9 &O\ V +10 &Q\ W +9 &S[\ W +9 &U\ V +10 &V\ V +9 &X\ V +9 &Zc\ V +10 &\\$\ W +9 &]\ 4 +10 &^2q\ F +8 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&1 +3 "core" &^#\ 1 +58 1 + "manipulator"& % +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + "processing"%/& +4 "core" &^#\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&;% +4 "core" % % 9 +2 "storage"(T% +3 "core" % \  +2 "storage"(]. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(.(,y +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,}   ;\ +2 "manipulator"&X& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&S( + "storage"('r +5 "core" ( +2 "manipulator"&[& +3 "core" & J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &  7 +3 .tForearm.seek PC + "manipulator"&e' +93 "core" ' +2 .tHand.close +2 "manipulator"&p/ +56 "core" / +2 .tPC.seek :open + "processing"%N( +101 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(P'1 +45 "core" ' +299 ( +2 "storage"(h& +4 "core" &,e - 3 \  + "manipulator"&V& +4 "core" & +2 "manipulator"&u% +4 "core" %   + + .tForearm.seek :retract +2 "manipulator"&1' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&2( +240 "core" ( +2 "manipulator"&G& +4 "core" &  < + "storage"(E& +4 "core" &,e ! 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&i' +98 "core" ' +2 .tHand.open + "manipulator"&^1 +54 "core" 1 +2 "storage"("- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(B' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +82 "core" -' + "storage"(& +5 "core" &,e \ { + "manipulator"&l& +4 "core" & z < + .tElbow.seek 4 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&y& +3 "core" & D < +2 "storage"(,& +4 "core" &,e \ { +2 .tForearm.seek 4 + 450 counts + "manipulator"&W' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +57 "core" ' + "manipulator"&Z& +4 "core" & V < +2 "storage"(C& +4 "core" &,e 2 ( [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +13 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(:' +28 "core" ' +2 "manipulator"&6% +4 "core" %> / E + "storage"(Y& +5 "core" &,e 8 8\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 307 counts +2 "manipulator"&'j +13 "core" ' + "manipulator"&K& +5 "core" &  G < + "storage"(<& +5 "core" &,e   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +16 "core" ' + "storage"(% +5 "core" %  + 5\ +2 ."downElevator"SE.seek :down +3 "storage"(Q' +99 ( % +4 "core" %F  \ Xj +2 "manipulator"&q% +4 "core" % 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (L& +4 "core" &,e   \  + "collection"'}& +5 "core" &\\k \ M + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&m% +4 "core" %   a  + "storage"(>% +4 "core" % &  \  +2 "storage"(. +3 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(g(,y +24 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (_& +3 "core" &,} ( , \ + "manipulator"&c& +5 "core" & * < + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&-& +3 "core" &  < +2 "storage"()& +4 "core" &,}  1 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +95 "core" ' + "storage"(A& +5 "core" &,} + 6\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'r +297 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +3 "core" &  . < + "storage"($& +4 "core" &,g * N\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&~'7 +23 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(+- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"( 'z +29 "core" ' + "manipulator"&% +5 "core" %8  + "storage"(x& +4 "core" &,g   \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts + "manipulator"&'d +13 "core" ' + "manipulator"&H& +5 "core" &  * < + "storage"(|& +4 "core" &,g * ( Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(=' +34 "core" ' + "manipulator"&& +4 "core" &  < +2 "manipulator"&v% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&((ӂ +151 "core" ( + "manipulator"&`& +5 "core" &ӏ' @W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &ӏ( C @W +2 .tForearm.seek CC +2 "manipulator"&k'? +93 "core" ' + .tHand.close +2 "manipulator"&w/ +63 "core" / + .tCC.seek :open +2 "collection"'s( +448 "core" ( + "storage"(%& +5 "core" &,g ? B '\ + "storage"(& +4 "core" &,g ? ? \ + "manipulator"&& +4 "core" &Ӑ& ] ?V + "manipulator"&z% +4 "core" % <  [ K +2 .tForearm.seek :retract + "manipulator"&5' +93 "core" ' +52 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&3( +167 "core" ( +2 "manipulator"&& +4 "core" &  8  +2 "storage"(& +3 "core" &,g 5 6 1\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&n'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&7% +4 "core" % 4 / +2 "storage"(D& +4 "core" &,g d d 5\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 297 counts + "manipulator"& '` +15 "core" ' + "manipulator"&J& +4 "core" & 2  +2 "storage"('& +4 "core" &,g c d S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(I% +5 "core" % e h \ +2 ."downElevator"SE.seek :down +3 "storage"(9' +99 (F% +3 "core" %F L L [\ Wc +2 "manipulator"&\ % +4 "core" % j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'*& +4 "core" & \ +2 "manipulator"&8% +4 "core" %    + "storage"(#% +4 "core" % d d 7\  +2 "storage"(!. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(?(<- +25 "Can"u\ _\\ +321 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" &<, + * F\  +3 "manipulator"& & +3 "core" & O  +2 .tElbow.seek 5 +2 "manipulator"&/( +11 "core" ( + "manipulator"&;& +4 "core" &  v h +2 "storage"(T& +3 "core" &<, f d 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +101 "core" ' + "storage"(& +5 "core" &<, ;\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +292 "core" ' +2 "storage"(X- +3 "core" -', +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +2 "core" &<, ] d G\  +2 "manipulator"&@& +4 "core" &  h + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&p& +3 "core" &  h +2 "storage"(& +3 "core" &<, e f =\  +3 .tForearm.seek 5 + 300 counts + "manipulator"& 'Ϲ +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(o' +7 "core" & _ h + "manipulator"&% +4 "core" % Ϲ N @ +2 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&V(ӂ +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&u& +4 "core" &ӄ) A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +4 "core" &ӄ) f A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'? +97 "core" ' + "manipulator"&E& +4 "core" &Ӆ( \  $ @^ +2 "manipulator"&S% +4 "core" %: ( N +2 "collection"'^& +3 "core" & \ +3 "collection"'"& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'1(\\ +4 "core" & \ +8 &: \ %g +9 &Wu \ 7 +10 &v \ K +9 &R \ L +9 &}T \ L +10 &?S \ L +9 &T \ L +9 &T \ L +10 &S \ L +9 &GO \ L +10 & R \ L +9 &!S \ L +9 &#T \ L +10 &%NS \ L +9 &'R \ L +9 &(Q  \ L +10 &*S \ L +9 &,VR \ L +9 &.P \ L +10 &/R  \ L +9 &1T \ L +10 &3^S \ L +9 &5 S \ L +9 &6V \ L +10 &8T \ L +9 &:eT \ M +9 &<)T \ L +10 &=S \ L +9 &?T \ M +10 &AnU \ L +9 &C/Z \ M +9 &D` \ M +10 &Fj \ O +9 &Hf \ R +10 &J \ V +9 &K \ X +9 &M \ X +10 &OY \ Y +9 &Q  \ Z +9 &R \ Z +10 &T \ [ +9 &V[ \ [\ +9 &X \ \\ +10 &Y  \ ] +9 &[ \ J +10 &\\9 \ . +9 &\\c \ M +2 ( +2 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % :  N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%y& +4 "core" &\ +2 "manipulator"&,% +4 "core" % ! & + "storage"(Z% +4 "core" % + + ,\  + "storage"(C. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(P(<- +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<, L\  + "manipulator"&6& +4 "core" &ӆ( @] +2 "manipulator"&Y% +3 "core" % ! & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&K( +163 "core" ( + "manipulator"&<& +5 "core" & \ Y  + "storage"(& +4 "core" &<, * + L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +94 "core" ' + "storage"(i& +4 "core" &<, B K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'r +299 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (q& +3 "core" &<,   7\  +2 "manipulator"&W& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( + "manipulator"&4& +5 "core" & @  + "storage"(& +4 "core" &<, + + 0\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&L'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&}& + "storage"(m' +7 "core" &  5  +2 "manipulator"&>% +4 "core" % ϴ  +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&_& +4 "core" &  # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" & # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&-' +99 "core" ' +2 "manipulator"&)& +5 "core" &  # + "manipulator"&0% +4 "core" %  L +2 "processing"%A& +4 "core" &\ +2 "processing"%Q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%.(^ +4 "core" &\ +6 &5\ $c +10 &Ty\ 7 +9 &}v\ K +9 &S\ O +10 &[R\ N +9 &R\ N +10 &U\ O +9 &U\ N +9 &cQ\ N +10 &%R\ N +9 &R\ N +9 &!O\ N +10 &#kR\ N +9 &%-T\ N +10 &&Q\ N +9 &(R\ N +9 &*rW\ O +10 &,4U\ O +9 &-P\ N +9 &/W\ O +10 &1zV\ O +9 &3=T\ N +10 &4Q\ N +9 &6Q\ O +9 &8U\ O +10 &:EQ\ N +9 &<T\ N +9 &=R\ O +10 &?U\ N +9 &AKX\ O +10 &Cd\ Q +9 &Dn\ Q +9 &F\ T +10 &HA\ U +9 &J\ U +9 &K\ U +10 &M\ V +9 &OG\ V +10 &Q\ W +9 &R\ W +9 &T\ X +10 &VN\ V +9 &X\ V +9 &Y\ V +10 &[\ W +9 &]S\ H +10 &^yC{\ $j +9 &^6\ 4 +5 ( +2 "processing"%Q& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&O1 +3 "core" &^(\ 4 +49 1 + "manipulator"&j% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +91 "core" ' +2 "processing"%{& +4 "core" &^(\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&$% +4 "core" %  ^  +2 "storage"(+% +4 "core" %   \  + "storage"(. +3 "core" .(<- + "storage"(x& +54 "core" &<,   \  +3 "storage"(H& +2 "manipulator"&|& +6 "core" &<,   X\  +2 & # +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak + "storage"(v'r +3 "core" ( + "manipulator"&M& +5 "core" &  # + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & E # +2 .tForearm.seek PC + "manipulator"&r' +99 "core" ' + .tHand.close +2 "manipulator"&~/ +58 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +47 "core" ' +307 ( +2 "storage"(U& +4 "core" &<,  ) *\  + "manipulator"&f& +4 "core" & z # +2 "manipulator"&R% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&w' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +245 "core" ( +2 "manipulator"&t& +4 "core" & l  +2 "storage"(%& +3 "core" &<, &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +88 "core" ' + .tHand.open +2 "manipulator"&1 +60 "core" 1 + "storage"(z- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(k' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"((& +4 "core" &<, \ { +2 "manipulator"&& +3 "core" &  R  +2 .tElbow.seek 5 +2 "manipulator"&7( +16 "core" ( +2 "manipulator"&D& +4 "core" &   +2 "storage"(J& +3 "core" &<, &\ z +3 .tForearm.seek 5 + 450 counts + "manipulator"&''O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(I'" +57 "core" ' +2 "manipulator"&5& +4 "core" &  +2 "storage"(F& +3 "core" &<, + + [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&\ '΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(n' +27 "core" ' +2 "manipulator"&*% +4 "core" %΃ b  + "storage"(8& +5 "core" &<, + ( \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 290 counts +2 "manipulator"& 'ϯ +16 "core" ' + "manipulator"&#& +5 "core" &  +2 "storage"(!& +4 "core" &<, 5 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +17 "core" ' +2 "storage"(% +4 "core" % / ; i\ +3 ."downElevator"SE.seek :down +4 "storage"(9' +98 (g% +3 "core" %H 8 7\ Xi + "manipulator"&% +4 "core" %1 ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +4 "core" &<,  & L\  + "collection"'T& +5 "core" &\\` \ M + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %    + "storage"(b% +4 "core" % + + <\  +2 "storage"(. +3 "core" .(<- + "storage"(X& +5 "core" &<, $ & ,\  + "storage"([& +4 "core" &<, * ( \  + "manipulator"&@& +4 "core" & e  +2 .tElbow.seek 5 +2 "manipulator"&p( +3 "core" ( + "manipulator"&& +4 "core" & [  +2 "storage"(d& +3 "core" &<, + + 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +95 "core" ' + "storage"(& +4 "core" &<, L B \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'r +307 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +2 "core" &  +2 "storage"(e& +4 "core" &<, ' $ &\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(E- +2 "core" -' +3 .tSE.seek 0.19 Pucks below Top Plate + "storage"(S' +30 "core" ' + "manipulator"&^% +4 "core" %Β ? $ +2 "storage"(& +3 "core" &<,  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&o'Ͼ +16 "core" ' + "manipulator"&h& +5 "core" &   + "storage"(s& +4 "core" &<, ( + Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +17 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(' +44 "core" ' + "manipulator"&y& +5 "core" & w  + "manipulator"&,% +4 "core" %9 _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +157 "core" ( + "manipulator"&"& +4 "core" &Ӑ% . >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӑ% k >K +2 .tForearm.seek CC +3 "manipulator"&6'? +95 "core" ' + .tHand.close +2 "manipulator"&Y/ +61 "core" / +2 .tCC.seek :open + "collection"'G( +448 "core" ( + "storage"(<& +4 "core" &<, 9 B \  +2 "storage"(& +4 "core" &<, @ ? \  + "manipulator"&?& +4 "core" &Ӑ%   >K + "manipulator"&i% +4 "core" % J J P +2 .tForearm.seek :retract + "manipulator"&V' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&l( +165 "core" ( + "manipulator"& & +4 "core" & 6  +2 "storage"(q& +4 "core" &<, c c (\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&W'΍ +93 "core" ' +2 .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&% +5 "core" % Α   G + "storage"(}& +4 "core" &<, f d B\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 304 counts + "manipulator"&>'Ͻ +13 "core" ' + "manipulator"&K& +5 "core" &    + "storage"(2& +4 "core" &<, w i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&B'O +18 "core" ' +2 "storage"(L% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(_' +99 (c% +3 "core" %o= d d +\ Vb +2 "manipulator"&a% +4 "core" %9 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +86 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'0& +5 "core" & \ \ + "manipulator"&A% +4 "core" %   +2 "storage"(m% +4 "core" % i y }\  + "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +50 .tSC.seek 6 +3 "storage"(N(K +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (O& +2 "core" &K e d \\\ +2 "manipulator"&j& +4 "core" &  n  +2 .tElbow.seek 6 + "manipulator"&{( +4 "core" ( + "manipulator"&$& +4 "core" &  +2 "storage"(+& +3 "core" &K c c !\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(x& +4 "core" &K c\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'r +296 "core" ' + "storage"(|- +4 "core" -'! + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (H& +3 "core" &K B < ,\ +2 "manipulator"&M& +3 "core" & m  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&-& +4 "core" &   + "storage"(~& +4 "core" &K d d -\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& + "storage"(.' +8 "core" & X  + "manipulator"&v% +4 "core" % ϛ +2 .tForearm.seek :retract +2 "manipulator"&U' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&R& +4 "core" &Ӟ  :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &Ӟ  :. +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&t'? +95 "core" ' +2 "manipulator"&%& +4 "core" &Ӟ!  9 :. +2 "manipulator"&% +3 "core" %I  A { +2 "collection"'& +4 "core" & \ +3 "collection"'z& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +7 &; \ %g +9 &Wu \ 7 +9 &v \ K +9 &R \ L +10 &|S \ L +9 &>S \ L +10 &S \ L +9 &T \ L +9 &S $\ L +10 &FO \ L +9 & R \ L +9 &!R \ L +10 &#T \ L +9 &%LR \ M +9 &'R \ L +10 &(T \ L +9 &*T \ L +10 &,VU \ L +9 &.S \ L +9 &/R \ L +10 &1T \ L +9 &3]S  \ L +10 &5T \ L +9 &6R \ L +9 &8T \ L +10 &:eT \ L +9 &<(Q \ L +9 &=T \ L +10 &?U  \ L +9 &AlU \ \ M +9 &C.\\ \ M +10 &D` \ M +9 &Fk \ O +10 &Hd \ R +9 &J \ V +9 &K \ X +10 &M \ Y +9 &OW \ Y +10 &Q \ Z +9 &R \ Z +9 &T \ \ Z +10 &VY \ [ +9 &X \ \\ +9 &Y \ \\ +10 &[ \ J +9 &\\; \ *~ +10 &\\ \ Z +2 ( +2 "collection"'z& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&(1 +58 "core" 1 + "manipulator"&% +4 "core" % I { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%J& +4 "core" &\ + "manipulator"&w% +4 "core" %   + "storage"(5% +5 "core" %   \  + "storage"(F. +3 "core" .(K + "storage"(*& +4 "core" &K   q\ +2 "storage"(`& +4 "core" &K   h\ + "manipulator"&8& +4 "core" &Ӟ  v :. +2 "manipulator"&k% +4 "core" %  y  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&#( +163 "core" ( + "manipulator"&!& +5 "core" &   + "storage"(& +4 "core" &K * + $\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +92 "core" ' + "storage"(& +5 "core" &K (  \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K  \ +2 "manipulator"&'& +4 "core" & p  + .tElbow.seek 6 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&I& +3 "core" &  h  +2 "storage"(\ & +3 "core" &K   n\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&;'h +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(' +7 "core" &  +2 "manipulator"&b% +3 "core" % ^ p +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&X& +4 "core" & : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &[& +2 "core" & b +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@' +93 "core" ' +2 "manipulator"&& +4 "core" & y + "manipulator"&d% +4 "core" %  n +2 "processing"%=& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(^ +4 "core" &\ +7 &6\ $d +10 &Tx\ 7 +9 &|v\ K +9 &R\ O +10 &TQ\ O +9 &O\ N +9 &U\ O +10 &Q\ O +9 &\\S\ O +10 &R\ O +9 &T\ O +9 &!Q\ O +10 &#dT\ O +9 &%'Q\ N +9 &&R\ N +10 &(Q\ O +9 &*mR\ N +10 &,.S\ O +9 &-T\ N +9 &/S\ O +10 &1tW\ O +9 &36T\ O +9 &4R\ O +10 &6R\ O +9 &8|U\ O +10 &:?R\ N +9 &;R\ O +9 &=S\ O +10 &?T\ O +9 &ADX\ O +9 &Ce\ Q +10 &Dn\ R +9 &F{\ T +10 &H:\ U +9 &I\ V +9 &K\ V +10 &M\ V +9 &O@\ V +9 &Q\ W +10 &R\ W +9 &T\ W +10 &VG\ V +9 &X\ W +9 &Y\ W +10 &[\ W +9 &]L\ K +9 &^|L\ a +10 &^6\ 9 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"&31 +3 "core" &^.\ 9 +61 1 + "manipulator"& % +4 "core" %   n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +94 "core" ' + "processing"%u& +5 "core" &^.\ 9 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&e% +3 "core" % # l 6 +2 "storage"(E% +3 "core" % m\  +2 "storage"(^. +3 "core" .(K + "storage"(& +4 "core" &K\ +2 "storage"(h& +2 "manipulator"&s& +8 "core" &K\ + & +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(y'r + "manipulator"&,( +5 "core" ( +2 "manipulator"&& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &  \ +2 .tForearm.seek PC +2 "manipulator"&/' +95 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%o( +91 "core" ' + "storage"(S- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"("'1 +48 "core" ' +309 ( + "storage"(& +4 "core" &K  \ \ +2 "manipulator"&&& +3 "core" & \\ +2 "manipulator"& % +4 "core" %  u 2 + .tForearm.seek :retract +2 "manipulator"&Y' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&Z( +240 "core" ( +2 "manipulator"&1& +4 "core" &  ; + "storage"(<& +4 "core" &K  ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +92 "core" ' +2 .tHand.open + "manipulator"&?1 +63 "core" 1 +2 "storage"(i- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(q' +53 "core" ' +53 #tLights, camera, ACTION! + "storage"(6- +3 "core" -' +2 "storage"(C& +4 "core" &K 1\ p + "manipulator"&& +4 "core" &  ! ; +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&}& +4 "core" &  ] ; +2 "storage"(K& +4 "core" &K \ p +2 .tForearm.seek 6 + 450 counts + "manipulator"&2' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(L'" +60 "core" ' +2 "manipulator"&V& +4 "core" & ; +2 "storage"(c& +4 "core" &K   \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&a'< +24 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(W' +18 "core" ' + "manipulator"&0% +5 "core" %0 ! + "storage"(>& +5 "core" &K  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 288 counts +2 "manipulator"&A'\\ +14 "core" ' +2 "manipulator"&m& +4 "core" & : ; +2 "storage"(& +4 "core" &K   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(B% +5 "core" %  C\ +2 ."downElevator"SE.seek :down +3 "storage"(_' +99 (P% +3 "core" %7K %\ Yk +2 "manipulator"&O% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ($& +4 "core" &K \ +2 "collection"'+& +4 "core" &\\  \ Z +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&x% +3 "core" %    +2 "storage"(4% +4 "core" %   \  + "storage"(). +3 "core" .(K +2 "storage"(|& +4 "core" &K   B\ + "storage"(H& +4 "core" &K   R\ + "manipulator"&M& +4 "core" & ; +2 .tElbow.seek 6 +2 "manipulator"&-( +3 "core" ( +2 "manipulator"&~& +3 "core" & 2 ; +2 "storage"(:& +4 "core" &K   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\\' +95 "core" ' + "storage"(v& +5 "core" &K ) ( $\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"({'r +306 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +3 "core" & : ; + "storage"(r& +4 "core" &K   k\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Q'< +14 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"('~ +29 "core" ' + "manipulator"&% +4 "core" %P K +2 "storage"(& +3 "core" &K  \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&.'| +14 "core" ' +2 "manipulator"&U& +4 "core" & E ; + "storage"(G& +5 "core" &K * #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&(' +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(' +40 "core" ' + "manipulator"&J& +5 "core" & m ; + "manipulator"&w% +4 "core" % a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&F(ӂ +151 "core" ( +2 "manipulator"&*& +4 "core" &ӎ) } Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &ӎ) " Ae +2 .tForearm.seek CC + "manipulator"&z'? +92 "core" ' + .tHand.close +2 "manipulator"&8/ +53 "core" / +2 .tCC.seek :open + "collection"'k( +451 "core" ( +2 "storage"(t& +4 "core" &K ? A R\ + "storage"(!& +4 "core" &K ? > V\ + "manipulator"&& +4 "core" &ӫ% U >H +2 "manipulator"&% +4 "core" % R I M + .tForearm.seek :retract +2 "manipulator"&f' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&D( +163 "core" ( +2 "manipulator"&g& +4 "core" & w  +2 "storage"(& +3 "core" &K K N 6\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&''< +96 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\ 1 +58 "core" 1 +2 "manipulator"& % +5 "core" % 4  \\ ! + "storage"(T& +4 "core" &K d d "\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 292 counts +2 "manipulator"&b'` +14 "core" ' +2 "manipulator"&#& +4 "core" &  +2 "storage"(& +3 "core" &K c e [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(;% +4 "core" % e f ;\ +3 ."downElevator"SE.seek :down +3 "storage"(X' +99 ([% +2 "core" %? 5 4 \ Wc +2 "manipulator"&7% +4 "core" %   m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +43435 "Can"\ =; @1632400429.93PDT = =tMAIN =mMAIN_scheduler @PDT1632400431.92 #"core_reset"Sent BREAK +2 #t@34566 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +300 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +410 "Can"N\ !t + N\ !t #tPolling Can every 10:00 +28 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +573 #-> ESP.ready! +3 #Powering core bus +564 .Gate.power :raw,:ON +2 "sampler") +27 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % \ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ \ + .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +946 #-> 5.times {shuffle 4..6} +3 #Shuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"';& +4 "core" & \  +2 .tHand.open + "manipulator"&<1 +58 "core" 1 +2 "manipulator"&=% +4 "core" %   ^  +2 "storage"(>% +3 "core" %@ e d F\ ] +2 "storage"(?. +3 "core" .(,y + "storage"(@& +4 "core" &,{ d e ,\  +2 "storage"(A& +3 "core" &,{ d d 1\  +2 "manipulator"&B& +4 "core" & 3 & + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&C( +23 "core" ( + "manipulator"&D& +5 "core" &  H  + "storage"(E& +4 "core" &,{ \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +91 "core" ' +2 "storage"(G& +4 "core" &,{ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +38 .tSE.seek :beamBreak +8 "storage"(H'r +298 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &,j &\ +2 "manipulator"&K& +4 "core" &  g  + .tElbow.seek 4 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&M& +4 "core" &  *  + "storage"(N& +4 "core" &,j *\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&O'c +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R' +8 "core" &  N  + "manipulator"&S% +4 "core" % k  ? +2 .tForearm.seek :retract +2 "manipulator"&T' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&V& +5 "core" &ӆ'   ?R + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &ӆ' W ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'? +101 "core" ' +2 "manipulator"&Y& +4 "core" &Ӈ'  \\ ?Q +2 "manipulator"&Z% +4 "core" %I  + "collection"'[& +4 "core" & \  +3 "collection"'\\& +4 "core" & \  +2 .tCC.seek :closed +2 "collection"'](\\ +5 "core" & \  +6 &J \ %i +10 &}Y "\ 9 +9 &{ \ M +9 &] \ N +10 &\\V \ N +9 &Y \ N +10 &\\ \ N +9 &Y \ N +9 &d\\ \ N +9 &&Y  \ N +10 &[ \ N +9 &!V  \ N +10 &#mY  \ M +9 &%/W \ M +9 &&W \ M +10 &(W \ N +9 &*uY \ M +9 &,7W \ M +10 &-W \ M +9 &/T \ \ N +10 &1|Z \ N +9 &3>Z \ N +9 &4X \ N +10 &6W \ M +9 &8W \ M +9 &:GW \ \ M +10 &< X \ M +9 &=V \ N +10 &?V \ N +9 &ANW \ N +9 &C] \ N +10 &Dg \ O +9 &Fp \ P +9 &HG \ S +10 &I \ V +9 &K \ Y +10 &Mz  \ Y +9 &O; \ Z +9 &P \ Z +10 &R \ Z +9 &T{ \ \\ +9 &V> \ [ +10 &W \ ] +9 &Y \ ] +10 &[~ \ J +9 &\\7 \ 0 +9 &\\x  \ P +6 ( +2 "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.10 + .Hand.open + "manipulator"&^1 +4 "core" &\\h \ P +58 1 +2 "manipulator"&_% +5 "core" % I & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%a& +4 "core" &\  +2 "manipulator"&b% +3 "core" %  %  +2 "storage"(c% +4 "core" % + ( G\ +2 "storage"(d. +3 "core" .(,y + "storage"(e& +4 "core" &,j + * ;\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(f(,y +45 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (g& +3 "core" &,}  \ +2 "manipulator"&h& +3 "core" &Ӊ%  >O +2 "manipulator"&i% +4 "core" %  *  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&j( +157 "core" ( + "manipulator"&k& +5 "core" &  # + "storage"(l& +4 "core" &,} a d \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +96 "core" ' + "storage"(n& +4 "core" &,} e d /\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +295 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" &,h < A &\  +2 "manipulator"&r& +3 "core" &  1 +2 .tElbow.seek 4 +2 "manipulator"&s( +3 "core" ( + "manipulator"&t& +5 "core" & : + "storage"(u& +4 "core" &,h L L r\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&v'c +36 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&w/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +2 "storage"(y' +7 "core" & + "manipulator"&z% +4 "core" % ϝ +2 .tForearm.seek :retract +2 "manipulator"&{' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&|( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&}& +4 "core" &  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" & k 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' +2 "manipulator"&& +4 "core" &  4 5 +2 "manipulator"&% +4 "core" %   " +2 "processing"%& +3 "core" &\  +3 "processing"%& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ \  +7 &4x\ *z +9 &c#\ ? +10 &Yw!\ O +9 &U"\ O +10 &U"\ P +9 &U\ O +9 &_Z!\ P +10 & X\ P +9 &V\ P +9 &V\ P +10 & g\\!\ P +9 &")X\ P +9 &#Y\ P +10 &%U!\ O +9 &'pW\ O +10 &)1Z!\ P +9 &*Y \ P +9 &,W\ O +10 &.xV\ O +9 &09Z \ P +9 &1Z\ O +10 &3T \ O +9 &5Y\ P +10 &7AW \ P +9 &9]\ P +9 &:Z\ P +10 &<X \ O +9 &>I\\!\ P +9 &@ Y\ P +10 &A^\ P +9 &Ch\ Q +10 &EKn\ R +9 &G\ T +9 &H\ U +10 &J\ V +9 &LG\ V +9 &N\ V +10 &O\ V +9 &Q\ X +10 &SL\ W +9 &U\ W +9 &V\ W +10 &X\ W +9 &ZT\ W +9 &\\\ W +10 &]\ 9 +9 &^/y\ Y +10 &^*\ 6 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&% +4 "core" %  " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +3 "processing"% & +4 "core" &^'\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&\ % +3 "core" % # 5 +2 "storage"( % +4 "core" % + + ;\ \ + "storage"( . +4 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +21 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +4 "core" &,} + ) \ + "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &  5 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&( + "storage"('r +5 "core" ( +2 "manipulator"&& +4 "core" &  5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & \ * 5 +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +49 "core" ' +300 ( +2 "storage"(& +4 "core" &,d I < \  +2 "manipulator"&& +3 "core" &  5 +2 "manipulator"&% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&"' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&%( +246 "core" ( + "manipulator"&'& +4 "core" &  s A +2 "storage"((& +4 "core" &,d 7 6 M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +96 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +3 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(#' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +3 "core" -' +2 "storage"(.& +4 "core" &,d\ \  \ } + "manipulator"&/& +4 "core" &  < @ +2 .tElbow.seek 4 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&1& +3 "core" &   @ +2 "storage"(2& +4 "core" &,d\ \  J\ ~ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +57 "core" ' + "manipulator"&5& +5 "core" & S @ + "storage"(6& +4 "core" &,d ) * L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&7'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +18 "core" ' +2 "manipulator"&:% +4 "core" %5   : +2 "storage"(;& +4 "core" &,d 8 7 \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 298 counts + "manipulator"&<'a +13 "core" ' + "manipulator"&=& +5 "core" & i @ +2 "storage"(>& +4 "core" &,d A I \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +15 "core" ' +2 "storage"(@% +4 "core" % L L @\ +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (B% +3 "core" %;E ( + ,\ Wf +2 "manipulator"&D% +4 "core" % a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +91 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (G& +4 "core" &,d + 6 .\  + "collection"'$& +4 "core" &\\g \ P +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&&% +4 "core" %   +2 "storage"(I% +4 "core" % I K ,\ +2 "storage"( . +3 "core" .(,} +2 .tSC.reconfigure :tight +40 "storage"($\ .\ 1~b +12 .tSC.seek 4 + "storage"(J(,y +32 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +2 "core" &,} 6 3 \ +2 "manipulator"&M& +4 "core" & Z @ +2 .tElbow.seek 4 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&P& +3 "core" &  1 @ +2 "storage"(Q& +5 "core" &,} L K )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +93 "core" ' +2 "storage"(C& +4 "core" &,} L G N\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'r +299 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&W& +3 "core" &  @ +2 "storage"(H& +4 "core" &,h = + )\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(['z +27 "core" ' +2 "manipulator"&L% +4 "core" %E " +2 "storage"(R& +4 "core" &,h + = \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&T'q +14 "core" ' +2 "manipulator"&+& +4 "core" & @ + "storage"(^& +4 "core" &,h O O x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&_' +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(a' +35 "core" ' +2 "manipulator"&b& +4 "core" & p @ +2 "manipulator"&c% +4 "core" % K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +146 "core" ( +2 "manipulator"&\\& +4 "core" &x, Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &x+  Cm +2 .tForearm.seek CC + "manipulator"&h'? +97 "core" ' + .tHand.close + "manipulator"&i/ +63 "core" / +2 .tCC.seek :open +2 "collection"'X( +447 "core" ( +2 "storage"(k& +5 "core" &,h d d !\  + "storage"(l& +4 "core" &,h d d \  + "manipulator"&!& +4 "core" &ӏ'  ?V + "manipulator"&n% +5 "core" % L  q ! + .tForearm.seek :retract +2 "manipulator"&U' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`( +168 "core" ( +3 "manipulator"&p& +9 "core" &   +3 "storage"(q& +7 "core" &,h t\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&r'7 +99 "core" ' + .tElbow.hold +2 "manipulator"&t, +90 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&u1 +52 "core" 1 +2 "manipulator"&w% +4 "core" % @ \ ,  +2 "storage"(x& +4 "core" &,h \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 309 counts + "manipulator"&z'l +14 "core" ' + "manipulator"&j& +4 "core" &   +2 "storage"(m& +4 "core" &,h ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +17 "core" ' + "storage"(v% +4 "core" % M\ +3 ."downElevator"SE.seek :down +3 "storage"(}' +99 (~% +2 "core" %> y O\ Wb +2 "manipulator"&s% +4 "core" %  , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" & \ + "manipulator"&% +5 "core" %   D  + "storage"(y% +5 "core" % ~ |\ + "storage"({. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(*(<- +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<. d d 7\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&\ & +3 "core" & \   +2 "storage"( & +4 "core" &<. \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +94 "core" ' + "storage"(& +4 "core" &<. \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +291 "core" ' +2 "storage"(- +3 "core" -'+ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<. X a \  +2 "manipulator"&& +4 "core" & f  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  y  + "storage"(f& +4 "core" &<. \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +7 "core" & !  +2 "manipulator"&% +4 "core" % ϯ  E + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( +2 "manipulator"&& +4 "core" &{) A` + ' +2 .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +2 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&& +6 "core" &{) o A` + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&''? +99 "core" ' +2 "manipulator"&(& +4 "core" &|*   A_ +2 "manipulator"&% +4 "core" %F I  +2 "collection"'& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'-(\\ +4 "core" & \  +8 &4 \ *z +10 &e \ \ ? +9 &s \ \ N +10 &PU \ M +9 &V \ M +9 &X  \ N +10 &W \ N +9 &WW  \ M +9 &V \ M +10 &U  \ M +9 & Y  \ M +10 &"_W  \ M +9 &$!T \ M +9 &%T \ M +10 &'Y  \ M +9 &)fW \ N +9 &+)W \ M +10 &,Y  \ M +9 &.V \ M +10 &0pS \ M +9 &20U  \ N +9 &3W  \ M +10 &5V \ N +9 &7wW \ M +9 &99U  \ M +10 &:T  \ M +9 &<W  \ N +10 &>X \ M +9 &@AT \ M +9 &BV \ N +10 &C] \ \ N +9 &Eh  \ O +9 &G>x  \ Q +10 &H \ S +9 &J \ X +10 &Lo \ X +9 &N- \ Z +9 &O  \ Z +10 &Q \ Z +9 &So \ [\ +9 &U/ \ \\ +10 &V \ \\ +9 &X  \ \\ +10 &Zp  \ ] +9 &\\{ \ 2 +9 &\\0 \ Z +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&.1 +3 "core" &\\` \ K +52 1 +2 "manipulator"&/% +4 "core" % E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%2& +5 "core" &\ + "manipulator"&"% +4 "core" %    + "storage"(5% +4 "core" % ' ( \  +2 "storage"(6. +3 "core" .(<- + "storage"(:& +4 "core" &<. & # \  +2 "storage"(;& +3 "core" &<. ( *\  +2 "manipulator"&& +4 "core" &|) r A_ + "manipulator"&=% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&>( +165 "core" ( +2 "manipulator"&#& +4 "core" &  6  + "storage"(@& +4 "core" &<. H B 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&%'O +94 "core" ' + "storage"()& +4 "core" &<. G ; \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak + "storage"(,'r +297 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (D& +3 "core" &<. . @ H\  +2 "manipulator"&3& +3 "core" & Y  +2 .tElbow.seek 5 +2 "manipulator"&0( +3 "core" ( + "manipulator"&4& +4 "core" &  9  +2 "storage"(7& +3 "core" &<. N N O\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&<'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&G/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(&' +7 "core" & 2  +2 "manipulator"&I% +4 "core" %  b + .tForearm.seek :retract +2 "manipulator"&9' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&K& +4 "core" &   5  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &  2  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&P' +92 "core" ' +2 "manipulator"&?& +4 "core" & Q  +2 "manipulator"&Q% +4 "core" %  r +2 "processing"%C& +4 "core" &)\ +3 "processing"%A& +5 "core" &*\ +2 .tPC.seek :closed + "processing"% (^ +4 "core" &/\  +9 &.v-\ *y +9 &a~-\ > +9 &fv-\ O +10 &(T-\ O +9 &W.\ O +10 &R,\ O +9 &mV.\ O +9 &/T.\ O +10 &Y$\ O +9 &W,\ O +9 & uV,\ O +10 &"8X+\ O +9 &#W+\ O +9 &%U#\ O +10 &'}T$\ O +9 &)?W%\ O +10 &+W!\ O +9 &,U'\ O +9 &.V*\ O +10 &0GT&\ O +9 &2\ S,\ O +9 &3V.\ O +10 &5V%\ O +9 &7PS*\ O +10 &9Y#\ P +9 &:W+\ P +9 &<Y(\ O +10 &>V\\+\ P +9 &@Y*\ P +9 &A`)\ P +10 &Ch-\ R +9 &EUv"\ S +10 &G-\ U +9 &H0\ U +9 &J(\ V +10 &LT#\ V +49 &N"\ W +14 &O\ V +3 &Q%\ W +2 &SX'\ W + &U\ W &V!\ W + &X%\ V +5 &Z`#\ W +9 &\\"&\ W +9 &]|\ 9 +10 &^0\ T +9 &^'\ 2 +3 ( +2 "processing"%A& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&81 +55 "core" 1 +2 "manipulator"&E% +4 "core" %  : r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +91 "core" ' +2 "processing"%W& +4 "core" &^%\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&H% +4 "core" %  J  + "storage"(Z% +4 "core" % * + N\ +2 "storage"(L. +3 "core" .(<- + "storage"(R& +4 "core" &<. * *\  +3 "storage"(+& +2 "manipulator"&^& +6 "core" &<. ) ( C\  +2 &   +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&b( +4 ."raiseStack"SE.seek :beamBreak + "storage"(c'r +3 "core" ( +2 "manipulator"&S& +4 "core" & [  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &  D  +2 .tForearm.seek PC +2 "manipulator"&F' +93 "core" ' + .tHand.close + "manipulator"&O/ +63 "core" / +2 .tPC.seek :open +2 "processing"%T( +91 "core" ' +2 "storage"(\\- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['1 +46 "core" ' +307 ( +2 "storage"(g& +4 "core" &<- 7 , J\  +2 "manipulator"&_& +3 "core" & Y  +2 "manipulator"&Y% +4 "core" %   k ; + .tForearm.seek :retract +2 "manipulator"&i' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&d( +244 "core" ( +2 "manipulator"&]& +4 "core" &   3 +2 "storage"(k& +3 "core" &<- $  B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +96 "core" ' + .tHand.open +2 "manipulator"&!1 +63 "core" 1 +2 "storage"(n- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(q' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(h- +3 "core" -' +2 "storage"(e& +4 "core" &<- +\ y + "manipulator"&u& +4 "core" &  ; 2 +2 .tElbow.seek 5 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&x& +3 "core" & 2 +2 "storage"(j& +4 "core" &<- \ y +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(U'" +52 "core" ' + "manipulator"&v& +5 "core" &  V 2 + "storage"(`& +4 "core" &<- + ) Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&~'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(r' +18 "core" ' +2 "manipulator"&% +5 "core" %Ρ < + "storage"(z& +4 "core" &<- , 3 R\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 320 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&y& +5 "core" & 1 + "storage"({& +5 "core" &<- ( * b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +16 "core" ' + "storage"(o% +5 "core" % E : \ +2 ."downElevator"SE.seek :down +4 "storage"(}' +98 (J% +3 "core" %DG #  \ Xj +2 "manipulator"&% +4 "core" %A  B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +4 "core" &<- 2 4 \  + "collection"' & +5 "core" &\\`  \ K + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %   /  +2 "storage"(t% +4 "core" % < ? \  + "storage"(. +4 "core" .(<- + "storage"(& +4 "core" &<- * < P\  + "storage"(& +4 "core" &<- 7 ? p\  +2 "manipulator"&& +3 "core" & u 1 +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&f& +4 "core" & { 1 +2 "storage"(|& +4 "core" &<- G ; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"(& +4 "core" &<- K K G\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +308 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ] 1 + "storage"(& +4 "core" &<- 2 6 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"((- +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 "manipulator"&% +4 "core" %Ε + "storage"(& +4 "core" &<- ) * L\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 308 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&& +4 "core" &  P 1 +2 "storage"(X& +4 "core" &<- ; 7 I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +15 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(/' +36 "core" ' + "manipulator"&2& +5 "core" & 1 + "manipulator"&"% +4 "core" %D  L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +87 "core" ' + .tElbow.seek CC +2 "manipulator"&6(ӂ +153 "core" ( + "manipulator"&:& +4 "core" &Ӕ!  :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &Ӕ!  :0 +2 .tForearm.seek CC +2 "manipulator"&'? +102 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'=( +451 "core" ( +2 "storage"('& +4 "core" &<- A H \  +2 "storage"(#& +3 "core" &<- ; 7 \  +2 "manipulator"&@& +3 "core" &Ӕ!  :0 +2 "manipulator"&)% +4 "core" % $ s + .tForearm.seek :retract +2 "manipulator"&' +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&1( +162 "core" ( + "manipulator"&B& +4 "core" &   +2 "storage"(D& +4 "core" &<- f g _\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&3'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&71 +59 "core" 1 +2 "manipulator"&G% +4 "core" % ΀  !  +2 "storage"($& +3 "core" &<- \\ W \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 287 counts +2 "manipulator"&I'Ϭ +16 "core" ' + "manipulator"&>& +4 "core" &  +2 "storage"(%& +4 "core" &<- _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +17 "core" ' + "storage"(<% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(K' +99 (M% +2 "core" %< q g \ Vb +2 "manipulator"&0% +5 "core" %/ s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'Q& +4 "core" & \ +2 "manipulator"&C% +4 "core" %   u  +2 "storage"(&% +3 "core" % \  +2 "storage"(9. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &K N O q\  +2 "manipulator"&E& +4 "core" &  D  + .tElbow.seek 6 +2 "manipulator"&W( +4 "core" ( + "manipulator"&H& +4 "core" &  y  +2 "storage"(Z& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L' +96 "core" ' + "storage"(R& +5 "core" &K R\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'r +291 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +3 "core" &K X b \  + "manipulator"&S& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&N( +3 "core" ( + "manipulator"&P& +4 "core" &    +2 "storage"(O& +3 "core" &K d d \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&\\'h +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&V& +2 "storage"( ' +7 "core" &   + "manipulator"&c% +4 "core" % s  A +2 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +2 .tElbow.seek CC +41 "manipulator"&_(ӂ +114 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +50 "core" ( + "manipulator"&Y& +4 "core" &Ӎ%  >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &Ӎ%  d >H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'? +104 "core" ' + "manipulator"&k& +5 "core" &ӎ% \ e =G +2 "manipulator"&b% +3 "core" %D   +2 "collection"'!& +4 "core" & '\ +3 "collection"'n& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'h(\\ +4 "core" & \  +8 &3z  \ *y +10 &d~ \ > +9 &r \ N +9 &GS \ M +10 &\ T \ L +9 &W \ M +10 &U \ M +9 &NU \ M +9 &W \ M +10 &T \ M +9 & T \ M +9 &"WU \ M +10 &$U \ M +9 &%T \ M +10 &'U \ M +9 &)^V \ M +9 &+!U \ M +10 &,U \ M +9 &.U \ L +9 &0fU \ M +10 &2)U  \ M +9 &3T  \ M +10 &5U \ M +9 &7nV  \ M +9 &91U \ M +10 &:U \ M +9 &<U \ M +9 &>wW \ M +10 &@8U  \ M +9 &AY \ M +10 &C\\ \ N +9 &Exf \ O +9 &G4u \ Q +10 &H \ S +9 &J \ Y +9 &Le \ X +10 &N! \ Z +9 &O \ Z +10 &Q \ Z +9 &Se \ [\ +9 &U& \ [ +10 &V  \ \\ +9 &X  \ ] +9 &Zf \ ] +10 &\\ {  \ 7 +9 &\\%  \ &p +10 &\\ \ ] +2 ( +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&e1 +54 "core" 1 +2 "manipulator"&u% +4 "core" % D  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&x' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%j& +5 "core" &+\ + "manipulator"&i% +4 "core" %  ]  +2 "storage"(v% +4 "core" % ) + >\  + "storage"(`. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" &K" F\  +2 "manipulator"&[& +5 "core" &Ӑ$ =E + "manipulator"&y% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&{( +162 "core" ( +2 "manipulator"&p& +4 "core" &  <  +2 "storage"(o& +3 "core" &K ) * \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +93 "core" ' + "storage"(l& +5 "core" &K ( ' \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'r +295 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K # 6\  +2 "manipulator"&m& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&w( +4 "core" ( + "manipulator"&U& +4 "core" &  \ V  + "storage"(~& +4 "core" &K 7 8 \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&\ 'h +35 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(' +8 "core" &  I  + "manipulator"&t% +4 "core" % ]  < l +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&r( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" & J ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  8 ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&f& +5 "core" & ; + "manipulator"&|% +5 "core" %  j + "processing"%a& +5 "core" &"\ +2 "processing"%& +4 "core" &(\ +2 .tPC.seek :closed +2 "processing"%}(^ +5 "core" &,\ +7 & .$\ $c +9 &Ty,\ 7 +9 &}y-\ L +10 &W/\ O +9 &GU.\ P +9 & T/\ P +10 &W/\ P +9 &U/\ O +9 &QO.\ O +10 &Y*\ P +9 &T+\ O +10 &!Q,\ O +9 &#WU0\ P +9 &%U1\ P +10 &&V/\ O +9 &(X.\ O +9 &*`X0\ O +10 &,"Y+\ O +9 &-Q(\ O +10 &/X*\ O +9 &1hW.\ O +9 &3*S/\ O +10 &4T/\ O +9 &6W-\ O +9 &8pV/\ O +10 &:3Q/\ O +9 &;Y(\ O +10 &=X0\ O +9 &?xT0\ O +9 &A9Y&\ P +10 &Be(\ Q +9 &Dp/\ R +10 &Fq)\ T +9 &H//\ V +9 &I/\ V +10 &K/\ V +9 &Mt%\ V +9 &O5/\ V +10 &P0\ W +9 &R/\ W +9 &Tx/\ X +10 &V</\ W +9 &W/\ W +10 &Y/\ W +9 &[/\ W +9 &]B/\ N +10 &^wI%\ b +9 &^ Q)\ 4 +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&s1 +3 "core" &^))\ 4 +58 1 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +93 "core" ' + "processing"%& +5 "core" &^(#\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" % # 5 +2 "storage"((% +4 "core" %   q\  + "storage"(. +4 "core" .(K + "storage"(& +4 "core" &K   \  +3 "storage"(& +3 "manipulator"&X& +4 "core" &K   \  +2 & ; +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(2'r +2 "manipulator"&"( +5 "core" ( + "manipulator"&& +4 "core" &   ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   ; +2 .tForearm.seek PC +2 "manipulator"& ' +95 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +87 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'1 +47 "core" ' +313 ( + "storage"(;& +4 "core" &K  * \  +2 "manipulator"&.& +4 "core" & w ; + "manipulator"&% +4 "core" %  t I +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&5( +247 "core" ( + "manipulator"&-& +4 "core" & * 5 +2 "storage"('& +3 "core" &K ( * \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#' +96 "core" ' + .tHand.open +2 "manipulator"&@1 +58 "core" 1 +2 "storage"()- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(B' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(D' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(6& +4 "core" &K 4\ u +2 "manipulator"&7& +4 "core" &  G 5 + .tElbow.seek 6 +2 "manipulator"&G( +3 "core" ( +2 "manipulator"&$& +4 "core" &    5 + "storage"(>& +4 "core" &K :\ u +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&%' +9 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +52 "core" ' + "manipulator"&& +5 "core" & } 5 + "storage"(M& +4 "core" &K 2 ( h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&0'< +25 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(3' +18 "core" ' +2 "manipulator"&Q% +4 "core" %C +2 "storage"(I& +4 "core" &K  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&C'o +14 "core" ' + "manipulator"&&& +5 "core" &   5 + "storage"(9& +4 "core" &K 6 6 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +19 "core" ' + "storage"(,% +5 "core" %  4\ +2 ."downElevator"SE.seek :down +3 "storage"(K' +99 (*% +3 "core" %AI   \ Yj +2 "manipulator"&8% +4 "core" % h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +90 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (H& +4 "core" &K 9 \  +2 "collection"'Z& +3 "core" &\\ \ ] +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&R% +3 "core" %  #  +2 "storage"(4% +4 "core" % 1 5 4\  + "storage"(?. +4 "core" .(K + "storage"(+& +4 "core" &K ' ' "\  + "storage"(A& +4 "core" &K 1 ' 9\  +2 "manipulator"&S& +4 "core" & Q 5 + .tElbow.seek 6 +2 "manipulator"&P( +4 "core" ( + "manipulator"&O& +4 "core" &   ] 5 + "storage"( & +4 "core" &K 5 5 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&V' +95 "core" ' + "storage"(c& +5 "core" &K  \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'r +306 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&^& +3 "core" & r 5 +2 "storage"(\\& +4 "core" &K   e\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&Y'< +13 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(N- +2 "core" -' +54 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(k'~ +29 "core" ' + "manipulator"&b% +5 "core" %N M E + "storage"(!& +4 "core" &K - 5\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"& 'z +13 "core" ' + "manipulator"&g& +4 "core" &  u 4 +2 "storage"(=& +4 "core" &K  %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(u' +36 "core" ' + "manipulator"&j& +5 "core" &   4 + "manipulator"&i% +5 "core" % " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +154 "core" ( +2 "manipulator"&z& +4 "core" &ӕ$ =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +4 "core" &ӕ$  R =E +2 .tForearm.seek CC + "manipulator"&['? +94 "core" ' + .tHand.close + "manipulator"&y/ +62 "core" / + .tCC.seek :open +2 "collection"']( +448 "core" ( + "storage"(p& +4 "core" &K L K ?\  +2 "storage"(o& +4 "core" &K C ?\  + "manipulator"&& +4 "core" &ӕ% =E +2 "manipulator"&l% +3 "core" % 4    +2 .tForearm.seek :retract +2 "manipulator"&_' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&x( +164 "core" ( + "manipulator"&J& +5 "core" &  H  + "storage"(& +4 "core" &K d J R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&m'< +97 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&~1 +60 "core" 1 +2 "manipulator"&% +4 "core" % 7    +2 "storage"( & +3 "core" &K Y ` \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 295 counts +2 "manipulator"&t'c +14 "core" ' + "manipulator"&{& +5 "core" & q  + "storage"(d& +4 "core" &K e Y :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&q' +16 "core" ' + "storage"(\ % +5 "core" % l E\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %@ d c \ Vb +2 "manipulator"&w% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'|& +4 "core" & \ +2 "manipulator"&a% +3 "core" %  q  +2 "storage"(% +4 "core" % d g C\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(T(,y +671 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +2 "core" &,| M N 3\ +2 "manipulator"&& +4 "core" & r  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  {  +2 "storage"((& +3 "core" &,| f c Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(& +4 "core" &,| \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,j C K \  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  {  +2 "storage"(& +3 "core" &,j d d \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&r/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(}' +7 "core" &  %  +2 "manipulator"&2% +4 "core" % ψ +2 .tForearm.seek :retract +2 "manipulator"&;' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&.(ӂ +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +3 "core" &ӑ& _ ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &ӑ& Q ?R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'? +94 "core" ' +2 "manipulator"&'& +5 "core" &ӑ&  s ?R + "manipulator"&"% +4 "core" %9 Y k +2 "collection"'@& +5 "core" & -\ +2 "collection"')& +5 "core" & .\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & %\ +8 &;  \ %g +9 &Vw !\ 7 +9 &y \ L +10 &U #\ M +9 &vT #\ L +9 &8T \ L +10 &U  \ L +9 &Y \ M +10 &~S #\ L +9 &@T !\ L +9 & T $\ L +10 &!V "\ M +9 &#Y "\ M +9 &%HW "\ L +10 &'\ T !\ L +9 &(U \ L +10 &*T \ L +9 &,PT %\ L +9 &.T $\ M +10 &/V \ L +9 &1U "\ L +9 &3XU \ L +10 &5T \ L +9 &6U \ L +9 &8T \ L +10 &:_U \ M +9 && +5 "core" &'\ + "manipulator"&% +4 "core" %  d  +2 "storage"(% +4 "core" % ( ) \  + "storage"(M. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(Q(,y +17 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (I& +3 "core" &,|   /\ +2 "manipulator"&:& +4 "core" &Ӓ& , ?Q +2 "manipulator"&&% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&9( +167 "core" ( + "manipulator"&B& +5 "core" & m  + "storage"(,& +4 "core" &,z ( ) \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&5' +111 "core" ' + "storage"(#& +4 "core" &,z ) 1\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(D'r +298 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &,j ) \  + "manipulator"&%& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&G( +4 "core" ( + "manipulator"&<& +4 "core" & \ q  + "storage"(0& +4 "core" &,j ) # 2\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&C'c +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& + "storage"(R' +7 "core" &  m  +2 "manipulator"&4% +4 "core" % S  h Y +2 .tForearm.seek :retract +2 "manipulator"&3' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&+& +4 "core" & ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" & l ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&S' +90 "core" ' +2 "manipulator"&O& +4 "core" &  ' +2 "manipulator"& % +3 "core" % A x +2 "processing"%/& +4 "core" &3\ +2 "processing"%c& +5 "core" &1\ +2 .tPC.seek :closed + "processing"%K(^ +5 "core" &0\  +9 &1z3\ *x +10 &b~*\ > +9 &au2\ O +9 &!U1\ O +10 &T7\ O +9 &S0\ O +10 &gT*\ O +9 &*T,\ O +9 &V.\ O +10 &U.\ O +9 & oR.\ O +9 &"1S'\ O +10 &#U.\ O +9 &%Q/\ O +10 &'xU0\ O +9 &)9T/\ O +9 &*Q/\ O +10 &,W-\ O +9 &.O0\ O +9 &0@U/\ P +10 &2S0\ O +9 &3T-\ O +10 &5T/\ O +9 &7IT/\ O +9 &9\ U0\ P +10 &:U/\ O +9 &<U0\ O +9 &>QU0\ O +10 &@T0\ P +9 &A\\0\ P +10 &Cc/\ Q +9 &ERl0\ R +9 &G0\ T +10 &H0\ U +9 &J0\ U +9 &LO1\ U +10 &N1\ V +9 &O/\ V +10 &Q0\ W +9 &ST/\ V +9 &U0\ W +10 &V0\ W +9 &X.\ W +9 &Z[/\ W +10 &\\0\ W +9 &]0\ 7 +10 &^*w/\ #f +9 &^9/\ 9 +2 ( +2 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&11 +52 "core" 1 + "manipulator"&E% +5 "core" %  x + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +92 "core" ' +2 "processing"%^& +4 "core" &^0&\ 9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&\\% +4 "core" %    +2 "storage"(N% +4 "core" %   8\  + "storage"(b. +56 "core" .(,y + "storage"(!& +4 "core" &,j   d\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(g(,y +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +4 (=& + "manipulator"&j& +6 "core" &,| ( \  +2 &  ' +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&i( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(V'r +2 "core" ( + "manipulator"&P& +4 "core" & O ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" & g ' +3 .tForearm.seek PC + "manipulator"&Y' +93 "core" ' +2 .tHand.close + "manipulator"& / +56 "core" / +2 .tPC.seek :open +2 "processing"%k( +99 "core" ' + "storage"(z- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'1 +42 "core" ' +303 ( +2 "storage"(e& +4 "core" &,e , ) 1\ & +2 "manipulator"&F& +4 "core" & @ ' + "manipulator"&y% +4 "core" %   = 5 +2 .tForearm.seek :retract + "manipulator"&v' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&h( +255 "core" ( +2 "manipulator"&p& +4 "core" & i  +2 "storage"(o& +4 "core" &,e ( * 3\ & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' + .tHand.open + "manipulator"&l1 +58 "core" 1 +3 "storage"(J- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"([' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(`- +4 "core" -' + "storage"(~& +4 "core" &,e A\ v& +2 "manipulator"&& +4 "core" &    + .tElbow.seek 4 +2 "manipulator"& ( +4 "core" ( + "manipulator"&{& +4 "core" & M  +2 "storage"(d& +4 "core" &,e ?\ v& +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(_'" +53 "core" ' + "manipulator"&& +5 "core" &  + "storage"(w& +4 "core" &,e 2 5 !\ & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&x'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(|' +20 "core" ' + "manipulator"&a% +5 "core" %9 A ( + "storage"(t& +5 "core" &,e * * @\ & + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 302 counts + "manipulator"&'e +14 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(u& +4 "core" &,e %  m\ & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&q' +18 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +5 "storage"(' +99 (s% +3 "core" %$F )  %\ Xh +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +2 ((& +4 "core" &,e   ;\ & +2 "collection"'& +4 "core" &\\s \ X + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&U% +4 "core" % ! d ' + "storage"(f% +4 "core" %  _\  +2 "storage"(. +3 "core" .(,y + "storage"(& +5 "core" &,e 5 5\ & + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +58 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,}   \ +2 "manipulator"&& +4 "core" & N  +2 .tElbow.seek 4 +2 "manipulator"&r( +3 "core" ( + "manipulator"& & +4 "core" & d  +2 "storage"(2& +4 "core" &,} 5 5 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(& +4 "core" &,} * ( \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +301 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&X& +3 "core" &   +2 "storage"(& +3 "core" &,i  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&''7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&", +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(@- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('z +32 "core" ' + "manipulator"&}% +4 "core" %< p O +2 "storage"(;& +4 "core" &,i  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 305 counts +2 "manipulator"&]'h +13 "core" ' +2 "manipulator"&6& +4 "core" & R  +2 "storage"(7& +4 "core" &,i  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&M% +4 "core" %  g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&I(ӂ +153 "core" ( + "manipulator"&:& +5 "core" &|) Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &|)  Ab +2 .tForearm.seek CC +2 "manipulator"&-'? +98 "core" ' + .tHand.close + "manipulator"&B/ +57 "core" / +2 .tCC.seek :open + "collection"',( +448 "core" ( +2 "storage"(T& +4 "core" &,i > ? \  +2 "storage"(#& +3 "core" &,i = C \  +2 "manipulator"&.& +3 "core" &Ӓ% 9 >L +2 "manipulator"&$% +4 "core" % R  + .tForearm.seek :retract +2 "manipulator"&*' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&8( +162 "core" ( + "manipulator"&%& +5 "core" & \   + "storage"(<& +4 "core" &,i c c \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&0'7 +98 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Z1 +54 "core" 1 +2 "manipulator"&4% +4 "core" % A    +2 "storage"(9& +3 "core" &,i d e -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts +2 "manipulator"&5'm +14 "core" ' +2 "manipulator"&D& +4 "core" &   +2 "storage"(C& +3 "core" &,i e k \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +17 "core" ' +2 "storage"(A% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(G' +99 (O% +3 "core" %< 7 9 \ Vb +2 "manipulator"& % +4 "core" % W + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +51 "manipulator"&/' +94 "core" ' + ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'R& +4 "core" & \ +2 "manipulator"&3% +4 "core" %   V  + "storage"(% +5 "core" % d e N\  + "storage"(1. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(E(<- +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (^& +3 "core" &<+ 5 A "\  + "manipulator"&\\& +4 "core" & }  +2 .tElbow.seek 5 +2 "manipulator"&N( +14 "core" ( + "manipulator"&b& +4 "core" & \  j s +2 "storage"(c& +87 "core" &<+ V U \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!'O +93 "core" ' + "storage"(j& +5 "core" &<+ \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='r +291 "core" ' +2 "storage"(P- +3 "core" -'+ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" &<+ a T }\  +2 "manipulator"&S& +4 "core" &   s + .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"&Q& +4 "core" &   s +2 "storage"(z& +3 "core" &<+ d c \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&?'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&L/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& +2 "storage"(V' +7 "core" &  s + "manipulator"&e% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&F' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&y(ӂ +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&Y& +4 "core" &Ӂ+  v Cp + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &Ӂ+ U Cp +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&o'? +92 "core" ' +2 "manipulator"&i& +4 "core" &ӟ& ?R +2 "manipulator"&l% +4 "core" %G U v +2 "collection"'J& +3 "core" & -\ +2 "collection"'`& +6 "core" & )\ +2 .tCC.seek :closed +2 "collection"'~(\\ +4 "core" & \ +8 &; "\ %g +9 &Xy #\ 8 +10 &v ,\ L +9 &Q !\ M +9 &U #\ M +10 &IQ #\ L +9 &\ R #\ M +9 &W  \ M +10 &T $\ M +9 &QQ #\ L +9 & R  \ L +10 &!U '\ L +9 &#W $\ M +10 &%XT $\ M +9 &'P \ L +9 &(T #\ L +10 &*W %\ M +9 &,`T !\ M +9 &."V #\ M +10 &/T !\ L +9 &1T $\ L +10 &3iW \ L +9 &5+Q #\ L +9 &6U "\ L +10 &8R $\ M +9 &:qQ #\ L +9 &<3T (\ L +10 &=W &\ M +9 &?W #\ M +10 &AwW "\ M +9 &C9Y  \ M +9 &De $\ N +10 &Fl *\ O +9 &Ho ,\ R +9 &J& .\ V +10 &K &\ X +9 &M )\ Y +10 &Od ,\ Y +9 &Q% *\ Y +9 &R +\ Z +10 &T -\ [\ +9 &Vd (\ \\ +9 &X% (\ \\ +10 &Y .\ ] +9 &[ -\ J +10 &\\4 +\ 1 +9 &\\i .\ P +2 ( +2 "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&1 +60 "core" 1 + "manipulator"&{% +5 "core" % G  v + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%v& +5 "core" &8\ + "manipulator"&% +4 "core" %    + "storage"(w% +4 "core" % * + @\  +2 "storage"(a. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(t(<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +2 "core" &<+ \  +2 "manipulator"&& +4 "core" &ӟ& C ?R +2 "manipulator"&u% +3 "core" %  -  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +165 "core" ( + "manipulator"&& +4 "core" &  1  +2 "storage"(h& +4 "core" &<+ * *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +93 "core" ' +2 "storage"([& +4 "core" &<+ ) - c\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +2 "core" &<+   E\  +2 "manipulator"& & +4 "core" & I  +2 .tElbow.seek 5 + "manipulator"&_( +4 "core" ( + "manipulator"&x& +4 "core" &  + "storage"(& +4 "core" &<+ ( )\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&('Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&U& + "storage"(f' +7 "core" & j  + "manipulator"&% +4 "core" % ϴ w +2 .tForearm.seek :retract +2 "manipulator"&|' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&& +5 "core" &  E ? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & T ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +99 "core" ' +2 "manipulator"&2& +4 "core" &  n > +2 "manipulator"&q% +4 "core" % F + "processing"%& +4 "core" &<\ +2 "processing"%& +6 "core" &2\ +2 .tPC.seek :closed +2 "processing"%g(^ +5 "core" &6\  +8 &1v4\ )w +9 &b:\ > +9 &ks:\ N +10 &*U1\ O +9 &T8\ N +9 &S1\ O +10 &rT/\ N +9 &3U/\ O +10 &T,\ O +9 &U&\ O +9 & xU)\ O +10 &"<S/\ N +9 &#U/\ O +9 &%Q'\ O +10 &'T%\ O +9 &)BV"\ O +10 &+T/\ O +9 &,V'\ O +9 &.R+\ O +10 &0KT0\ O +9 &2 T.\ O +9 &3U.\ O +10 &5R'\ O +9 &7SS0\ O +10 &9U/\ O +9 &:T,\ O +9 &<T0\ O +10 &>XW/\ P +9 &@U0\ P +10 &AY/\ P +9 &Cf.\ Q +9 &EWu0\ S +10 &G.\ U +9 &H/\ U +9 &J0\ U +10 &LX0\ U +9 &N0\ W +9 &O%\ W +10 &Q/\ W +9 &S[0\ W +10 &U/\ W +9 &V0\ W +9 &X/\ V +10 &Zc0\ W +9 &\\%/\ W +9 &]+\ 4 +10 &^4p,\ B +9 ( +3 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&m1 +4 "core" &^!/\ 1 +53 1 +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' + "processing"%X& +5 "core" &^"'\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %   + "storage"(@% +4 "core" % * ) \  + "storage"(}. +4 "core" .(<- + "storage"(;& +5 "core" &<+ * ) ]\  + "storage"(6& +3 "manipulator"&7& +6 "core" &<+ ' ) )\  + & M > +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(M'r +5 "core" ( +2 "manipulator"&& +3 "core" & ? > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &  > +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&'/ +65 "core" / +2 .tPC.seek :open +2 "processing"%]( +86 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'1 +40 "core" ' +318 ( +2 "storage"(&& +4 "core" &<+ 1 '\  + "manipulator"&>& +4 "core" & n > +2 "manipulator"&"% +3 "core" %  U +2 .tForearm.seek :retract +2 "manipulator"&B' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&)( +245 "core" ( +4 "manipulator"&& +117 "core" & I G +4 "storage"(T& +7 "core" &<+ * * .\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&#'O +97 "core" ' +3 .tHand.open + "manipulator"&.1 +62 "core" 1 +4 "storage"($- +7 "core" -'1 +5 .tSE.seek -0.26 Pucks below Top Plate +3 "storage"(%' +30 "core" ' +9 .tSE.reconfigure :seal +5 "storage"(#QK-0-\ b +9 .tSE.seek -1.22 Pucks below Top Plate +5 "storage"(<' +54 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(-- +12 "core" -' +4 "storage"(I& +13 "core" &<+ \ | +4 "manipulator"&Z& +9 "core" & d G +4 .tElbow.seek 5 +6 "manipulator"&4( +9 "core" ( +3 "manipulator"&9& +8 "core" & S G +4 "storage"(D& +5 "core" &<+ \ | +2 .tForearm.seek 5 + 450 counts + "manipulator"&C'O +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(A'" +58 "core" ' + "manipulator"&*& +5 "core" & A G + "storage"(O& +4 "core" &<+ 5 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&8, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(0' +27 "core" ' + "manipulator"&R% +5 "core" %Ύ + "storage"(5& +4 "core" &<+ * * Z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts +2 "manipulator"&3'Ϻ +14 "core" ' +2 "manipulator"&& +4 "core" & . +2 "storage"(1& +4 "core" &<+ ( ( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' + "storage"(+% +5 "core" % + - U\ +2 ."downElevator"SE.seek :down +4 "storage"(G' +99 (% +3 "core" %[I (\ Yj + "manipulator"&^% +5 "core" %: + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +95 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (b& +4 "core" &<+   (\  + "collection"'c& +4 "core" &\\c \ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&j% +4 "core" % ! $ +2 "storage"(H% +4 "core" %  s\  + "storage"(/. +3 "core" .(<- +2 "storage"(P& +3 "core" &<+   \  +2 "storage"(W& +4 "core" &<+  0\  + "manipulator"&S& +4 "core" & . +2 .tElbow.seek 5 +2 "manipulator"&Q( +24 "core" ( + "manipulator"&z& +5 "core" & L  + "storage"(L& +4 "core" &<+  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +91 "core" ' + "storage"(e& +5 "core" &<+ D . \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'r +299 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" &  q  + "storage"(p& +4 "core" &<+ & * 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&='΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(i- +2 "core" -' +3 .tSE.seek 0.19 Pucks below Top Plate + "storage"(l' +29 "core" ' + "manipulator"&J% +5 "core" %Δ  + "storage"( & +4 "core" &<+   \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&V' +14 "core" ' +2 "manipulator"&F& +4 "core" &  +2 "storage"(,& +3 "core" &<+ ( ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"({' +36 "core" ' +2 "manipulator"&v& +4 "core" & x  +2 "manipulator"&% +4 "core" %4 v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +87 "core" ' + .tElbow.seek CC +2 "manipulator"&a(ӂ +159 "core" ( + "manipulator"&`& +5 "core" &Ӎ' U @Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &Ӎ( U @Y +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&u/ +55 "core" / +2 .tCC.seek :open +2 "collection"'o( +447 "core" ( +2 "storage"(& +4 "core" &<+ K B\  + "storage"(h& +4 "core" &<+ > B \  +2 "manipulator"&E& +3 "core" &Ө# V <> +2 "manipulator"&[% +4 "core" % O  " - +2 .tForearm.seek :retract + "manipulator"&y' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&d( +162 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(\ & +4 "core" &<+ 4 5 \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"& '΍ +96 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +5 "core" % |   + "storage"(U& +4 "core" &<+ c c\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 283 counts + "manipulator"&'Ϩ +14 "core" ' + "manipulator"&& +5 "core" &  <  + "storage"(& +4 "core" &<+ e d A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +28 "core" ' + "storage"((% +5 "core" % g j \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %? ` c\ Wb +2 "manipulator"&_% +4 "core" %]  i \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'q& +5 "core" & /\ + "manipulator"&% +5 "core" %  } + "storage"(f% +4 "core" % k { W\  +2 "storage"(|. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(k(K +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +3 "core" &K > B #\  + "manipulator"&& +4 "core" & r  +2 .tElbow.seek 6 +2 "manipulator"&X( +3 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(@& +3 "core" &K j .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +95 "core" ' + "storage"(;& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'r +294 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K S 4 ,\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&r( +3 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"('& +3 "core" &K Z V\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & + "storage"(g' +8 "core" & l  + "manipulator"&M% +4 "core" % ^ ; +52 .tForearm.seek :retract +2 "manipulator"&&' +98 "core" ' + .tElbow.seek CC +3 "manipulator"&>(ӂ +95 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +60 "core" ( +2 "manipulator"&"& +4 "core" &ӏ$  W =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ$ =B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' +2 "manipulator"&& +4 "core" &ӏ% l =B +2 "manipulator"&T% +4 "core" %@ ! +2 "collection"'.& +4 "core" & 0\ +2 "collection"'$& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'-(\\ +4 "core" & \ +7 &; *\ %f +9 &X{ 3\ 8 +9 &v \ L +10 &T $\ M +9 &S +\ M +10 &DT \ M +9 &R \ L +9 &U )\ M +10 &T .\ L +9 &MR -\ L +9 & V +\ L +10 &!U )\ L +9 &#R -\ L +9 &%UQ .\ L +10 &'R ,\ L +10 &(U -\ M +9 &*Q -\ L +9 &,]V *\ L +9 &.W &\ M +10 &/T 0\ L +9 &1R -\ L +9 &3dR 0\ M +10 &5&T -\ M +9 &6W )\ L +10 &8V /\ M +9 &:lU .\ M +9 &\ O +10 &V=\ O +9 &T7\ O +9 &KS4\ O +10 &! S=\ O +9 &"Q5\ O +10 &$T<\ O +9 &&RR7\ O +9 &(R<\ O +10 &)S9\ O +9 &+R8\ O +9 &-YR=\ O +10 &/S?\ O +9 &0T8\ O +10 &2S6\ O +9 &4bQ9\ O +9 &6$T0\ O +10 &7R2\ O +9 &9T4\ O +9 &;jU(\ O +10 &=,S(\ O +9 &>V&\ P +10 &@V/\ P +9 &Bn`%\ P +9 &D+j+\ R +10 &E*\ U +9 &G+\ U +9 &Ig&\ U +10 &K)+\ U +9 &L'\ U +10 &N#\ W +9 &Pk%\ W +9 &R-%\ W +10 &S3\ W +9 &U/\ V +9 &Ws/\ W +10 &Y4*\ W +9 &Z0\ W +10 &\\(\ X +9 &^3c1\ + +9 &^d)\ 7 +9 ( +3 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&81 +4 "core" &^&(\ 3 +60 1 +2 "manipulator"&\\% +4 "core" %  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +91 "core" ' + "processing"%Y& +5 "core" &^%'\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&p% +3 "core" %    +2 "storage"(i% +4 "core" %  \  + "storage"(J. +4 "core" .(K + "storage"( & +4 "core" &K  \  +2 "storage"(F& +4 "manipulator"&,& +4 "core" &K  &\  + &  % +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&v( +3 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( + "manipulator"&K& +5 "core" & % + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &   % +2 .tForearm.seek PC +2 "manipulator"&N' +97 "core" ' + .tHand.close + "manipulator"&=/ +63 "core" / +2 .tPC.seek :open +2 "processing"%V( +86 "core" ' +2 "storage"(l- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`'1 +38 "core" ' +323 ( +2 "storage"(n& +4 "core" &K & +\  +2 "manipulator"&& +3 "core" & % +2 "manipulator"&?% +3 "core" %  F  +2 .tForearm.seek :retract +2 "manipulator"&u' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&w( +245 "core" ( + "manipulator"&~& +5 "core" &  5 ; + "storage"(& +4 "core" &K * ) >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&h' +95 "core" ' + .tHand.open +2 "manipulator"&E1 +63 "core" 1 +2 "storage"([- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +36 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\ ' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(a& +4 "core" &K \ y +2 "manipulator"&& +4 "core" &  ; + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&U& +3 "core" &   k ; +2 "storage"(& +4 "core" &K \ y +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(('" +58 "core" ' + "manipulator"&y& +5 "core" & e ; + "storage"(& +4 "core" &K 2 )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&_'< +22 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +18 "core" ' +2 "manipulator"&q% +4 "core" %D  +2 "storage"(& +4 "core" &K $  M\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 308 counts +52 "manipulator"&'p +16 "core" ' +2 "manipulator"&f& +4 "core" &  " ; +2 "storage"(|& +4 "core" &K  N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&{' +17 "core" ' + "storage"(s% +5 "core" % '  *\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (t% +3 "core" %GF  :\ Xi +2 "manipulator"&m% +4 "core" % ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K   J\  + "collection"'@& +4 "core" &\\c .\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&;% +4 "core" %   +2 "storage"(x% +4 "core" %   \  +2 "storage"(2. +3 "core" .(K + "storage"(6& +4 "core" &K   ]\  +2 "storage"(& +4 "core" &K \  + "manipulator"&& +4 "core" & g ; +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&'& +3 "core" &  h ; +2 "storage"(& +4 "core" &K  )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +99 "core" ' + "storage"(M& +5 "core" &K * *\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'r +297 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +2 "core" & H ; +2 "storage"("& +4 "core" &K ( $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +14 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(T'~ +29 "core" ' +2 "manipulator"&.% +4 "core" %H m : + "storage"(r& +4 "core" &K  / \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 312 counts +2 "manipulator"&g't +15 "core" ' +2 "manipulator"&&& +4 "core" & k ; +2 "storage"(o& +4 "core" &K  o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&B' +15 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(I' +36 "core" ' +2 "manipulator"&9& +4 "core" & ; + "manipulator"&D% +5 "core" % L + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +154 "core" ( +2 "manipulator"&$& +4 "core" &Ӓ% >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &Ӓ% D >H +2 .tForearm.seek CC +2 "manipulator"&R'? +94 "core" ' + .tHand.close +2 "manipulator"&5/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(1& +4 "core" &K = @\  +2 "storage"(+& +3 "core" &K ? C \  +2 "manipulator"&k& +4 "core" &Ӓ% Q >H + "manipulator"&#% +4 "core" % @  F +2 .tForearm.seek :retract + "manipulator"&>' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&Z( +160 "core" ( +2 "manipulator"&& +4 "core" &  \ +2 "storage"(^& +3 "core" &K 7 6 k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&C'< +96 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&b% +4 "core" % A  Z * +2 "storage"(c& +3 "core" &K X V \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&H'm +13 "core" ' +3 "manipulator"&& +4 "core" & \ +2 "storage"()& +3 "core" &K f e 8\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&<' +15 "core" ' +2 "storage"(3% +4 "core" % e i \ +3 ."downElevator"SE.seek :down +3 "storage"(P' +99 (W% +2 "core" %> 6 6 l\ Wc +2 "manipulator"&4% +5 "core" %  ^ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'L& +5 "core" & 9\ + "manipulator"&% +5 "core" %  \ + "storage"(j% +4 "core" % ` X\  +2 "storage"(0. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(](,y +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" &,| F : \ + "manipulator"&\\& +4 "core" & \ +2 .tElbow.seek 4 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&p& +4 "core" &  C \ +2 "storage"(i& +4 "core" &,| a ` \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&J' +97 "core" ' + "storage"( & +4 "core" &,| _ e\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +298 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" &,j 9\  +2 "manipulator"&K& +4 "core" &  W \ +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&S& +4 "core" &  Y \ + "storage"(=& +4 "core" &,j K L T\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&l'c +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +65 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(G' +7 "core" &  W \ +2 "manipulator"&% +3 "core" % p  { +2 .tForearm.seek :retract +2 "manipulator"&n' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ( +2 "manipulator"&?& +5 "core" &y* ; Bj + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" ' + &y* T Bj + ."downElevator"SE.stop +4 .tForearm.reconfigure :tight +2 "storage"(5 +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&~'? +90 "core" ' +2 "manipulator"&& +4 "core" &y* ' Bj +2 "manipulator"&v% +4 "core" %J ? j + "collection"'E& +4 "core" & \ +3 "collection"'[& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +7 &; \ %f +9 &X{ \ 7 +9 &x  \ L +10 &T \ M +9 &}Q \ L +10 &>R \ M +9 &W \ M +9 &T \ M +10 &T F\ M +9 &GQ :\ L +9 & Q \ M +10 &!T \ M +9 &#Q \ L +10 &%OQ \ L +9 &'R \ \ L +9 &(U {\ M +10 &*S \ M +9 &,WU d\ L +9 &.W %\ M +10 &/T \ M +9 &1U /\ M +10 &3_Q \ L +9 &5 V !\ M +9 &6T  \ L +10 &8R '\ L +9 &:fW  \ M +10 &<(U +\ M +9 &=Q -\ L +9 &?T +\ L +10 &AnX /\ M +9 &C0Y \ M +9 &D` #\ N +10 &Fk !\ O +9 &Hh \ Q +9 &J  \ V +10 &K \ X +9 &M \ Y +10 &OY #\ Y +9 &Q &\ Y +9 &R \ [ +10 &T \ Z +9 &VY \ \\ +9 &X  \ \\ +10 &Y  \ ] +9 &[ \ J +10 &\\> !\ 'v +9 &\\y \ Z +2 ( +2 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&a1 +54 "core" 1 + "manipulator"&% +4 "core" % J  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &@\ +2 "manipulator"&u% +4 "core" %    +52 "storage"(y% +4 "core" %   \  + "storage"(. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(q(,y +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,| [\  +2 "manipulator"&`& +5 "core" &z* Bi + "manipulator"&% +4 "core" %  3  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&f( +167 "core" ( +2 "manipulator"&|& +4 "core" & e  + "storage"(s& +4 "core" &,| , 2 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +94 "core" ' +2 "storage"(h& +4 "core" &,| ' \ F\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'r +218 "Can"8\ li +79 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +2 "core" &,i  ( #\ ! +2 "manipulator"&& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&(& +3 "core" & I  +2 "storage"(_& +4 "core" &,i 5 5 \ ! +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&@& + "storage"(;' +7 "core" & u  + "manipulator"&x% +4 "core" % i h +2 .tForearm.seek :retract +2 "manipulator"&2' +93 "core" ' +2 .tElbow.seek PC + "manipulator"& ( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&6& +5 "core" &  ` 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' + "manipulator"&'& +5 "core" & \  m 6 + "manipulator"&% +4 "core" %  # +2 "processing"%{& +4 "core" &\ +2 "processing"%M& +5 "core" &2\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &@\  +9 &1y@\ *x +9 &b}I\ > +10 &^sE\ O +9 &QB\ O +9 &QD\ O +10 &Q@\ O +9 &gR?\ O +10 &)RA\ O +9 &RD\ O +9 &RG\ N +10 & mT?\ O +9 &"0R>\ O +9 &#S@\ O +10 &%R=\ O +9 &'vV@\ O +10 &)8R?\ O +9 &*SG\ O +9 &,U=\ O +10 &.}R?\ O +9 &0?S>\ O +9 &2PA\ O +10 &3R@\ O +9 &5R@\ O +10 &7IR=\ O +9 &9 T:\ O +9 &:T@\ O +10 &<TA\ O +9 &>NW@\ P +9 &@U?\ O +10 &AV@\ P +9 &Cd?\ Q +10 &EPk?\ R +9 &G >\ T +9 &H8\ U +10 &J?\ U +9 &LM@\ U +9 &N@\ X +10 &OA\ V +9 &Q@\ W +10 &SP?\ W +9 &U=\ W +9 &V=\ W +10 &X5\ V +9 &ZT3\ Y +9 &\\3\ W +10 &]8\ 8 +9 &^-t<\ W +10 &^02\ 7 +2 ( +2 "processing"%M& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&d1 +62 "core" 1 +2 "manipulator"&% +4 "core" %  # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' + "processing"%7& +5 "core" &^.+\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&"% +3 "core" %   +2 "storage"(% +4 "core" % \  + "storage"(.. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(r(,y +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +4 "core" &,{ =\ + "manipulator"&o& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" & / 6 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&9( +2 "storage"(D'r +5 "core" ( + "manipulator"& & +4 "core" & 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &  6 +2 .tForearm.seek PC +2 "manipulator"&X' +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + .tPC.seek :open +2 "processing"%g( +93 "core" ' + "storage"(T- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'1 +39 "core" ' +309 ( +2 "storage"(%& +4 "core" &,e ) \  +2 "manipulator"&B& +4 "core" & [ 6 + "manipulator"&% +4 "core" %  7 +2 .tForearm.seek :retract + "manipulator"&5' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&*( +245 "core" ( + "manipulator"&-& +4 "core" &  t 2 +2 "storage"(1& +3 "core" &,e   H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +96 "core" ' + .tHand.open +2 "manipulator"&k1 +57 "core" 1 +2 "storage"(#- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(^' +58 "core" ' + #tLights, camera, ACTION! +2 "storage"(R- +3 "core" -' +2 "storage"(O& +4 "core" &,e \ v + "manipulator"& & +4 "core" & 1 +2 .tElbow.seek 4 + "manipulator"&b( +10 "core" ( + "manipulator"&c& +5 "core" &  ?  + "storage"(& +4 "core" &,e j\ z +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +57 "core" ' +2 "manipulator"&>& +4 "core" &   +2 "storage"(W& +4 "core" &,e  I\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&4'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(C' +27 "core" ' +2 "manipulator"&L% +5 "core" %3 q F + "storage"(H& +5 "core" &,e  d\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts + "manipulator"&'_ +15 "core" ' + "manipulator"&j& +5 "core" & H  + "storage"(0& +4 "core" &,e $  [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +17 "core" ' +2 "storage"(<% +4 "core" % ) )\ +3 ."downElevator"SE.seek :down +3 "storage"(P' +99 (:% +3 "core" %9I   \ Xi +2 "manipulator"&8% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +89 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (p& +4 "core" &,e  \  + "collection"'i& +4 "core" &\\{ .\ Z +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %  1  +2 "storage"(A% +4 "core" % ( &\  + "storage"(z. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(,(,y +30 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +3 "core" &,{  \ + "manipulator"&K& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&S( +9 "core" ( + "manipulator"&=& +5 "core" & P  + "storage"(/& +4 "core" &,{ ) ) \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +94 "core" ' + "storage"(& +5 "core" &,{ ' \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'r +347 "core" ' +3 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&?& +3 "core" &  +2 "storage"(N& +4 "core" &,i  ' W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&e'7 +14 "core" ' +2 .tElbow.hold + "manipulator"&l, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(v'x +28 "core" ' +2 "manipulator"&E% +4 "core" %E X Y + "storage"(Q& +4 "core" &,i ) ( \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&G'q +14 "core" ' + "manipulator"&n& +5 "core" & p  + "storage"(& +4 "core" &,i 1 + 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +41 "core" ' + "manipulator"&& +5 "core" & i  + "manipulator"&u% +5 "core" %  P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +155 "core" ( +2 "manipulator"&& +4 "core" &Ә" d ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &Ә" ;3 +2 .tForearm.seek CC +2 "manipulator"&`'? +95 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'~( +447 "core" ( + "storage"(|& +5 "core" &,i I ; b\  + "storage"(s& +4 "core" &,i $ '\  + "manipulator"&]& +4 "core" &Ә" ? ;3 +2 "manipulator"&h% +3 "core" % > }  +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&U( +159 "core" ( + "manipulator"&t& +5 "core" &  d + "storage"(m& +4 "core" &,i 6 6 Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'7 +96 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&_1 +62 "core" 1 +2 "manipulator"&% +4 "core" % G  H ( +2 "storage"(@& +3 "core" &,i U V /\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&x's +15 "core" ' +2 "manipulator"&f& +4 "core" &   +2 "storage"(w& +4 "core" &,i b ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +16 "core" ' + "storage"(% +5 "core" % b Y\ +2 ."downElevator"SE.seek :down +3 "storage"(6' +99 (% +3 "core" %@ ? C *\ Wd +2 "manipulator"&% +4 "core" % | + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +85 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&{% +4 "core" %   +2 "storage"(;% +4 "core" % ` X\  + "storage"(2. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(V(<- +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (d& +3 "core" &<+ > A \ + "manipulator"&& +4 "core" & ^ +2 .tElbow.seek 5 +2 "manipulator"&7( +14 "core" ( + "manipulator"&"& +4 "core" &    +2 "storage"(& +4 "core" &<+ a c \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +92 "core" ' + "storage"(M& +4 "core" &<+ l h \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'r +298 "core" ' + "storage"(o- +4 "core" -'* +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &<+ E D O\ +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & r  +2 "storage"(q& +4 "core" &<+ b c\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&T'Ϲ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& + "storage"(' +6 "core" & 7  +2 "manipulator"&D% +4 "core" %  : +2 .tForearm.seek :retract +2 "manipulator"&%' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &Ӌ* f Bg + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &Ӌ* v Bg +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'? +103 "core" ' +2 "manipulator"&1& +4 "core" &Ӧ%  >L +2 "manipulator"&9% +4 "core" %= 2  + "collection"'k& +4 "core" & \ +3 "collection"'#& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'R(\\ +4 "core" & \ +8 &< \ %f +9 &Xy \ 7 +9 &v \ L +10 &S \ M +9 &{T \ M +9 &>U \ L +10 &V \ L +9 &V \ M +9 &T \ L +10 &FU \ L +9 & U \ L +10 &!U \ L +9 &#T \ M +9 &%MR \ M +10 &'R \ M +9 &(S \ M +10 &*S Q\ M +9 &,US I\ M +9 &.T A\ M +10 &/S \ M +9 &1U &\ M +9 &3^T \ L +10 &5 Q E\ L +9 &6Q @\ L +10 &8R S\ L +9 &:eT K\ M +9 &<'T L\ M +10 &=T G\ M +9 &?U \ L +9 &AnW \ L +10 &C/W =\ M +9 &Db `\ N +10 &Fk W\ O +9 &He \ R +9 &J \ V +10 &K \ Y +9 &M \ Y +9 &OW \ Z +10 &Q X\ Z +9 &R G\ [\ +9 &T \ [\ +10 &VW B\ \\ +9 &X \ ] +10 &Y \ ^ +9 &[ C\ K +9 &\\8 \ . +10 &\\u *\ W +2 ( + "collection"'#& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&O1 +53 "core" 1 +2 "manipulator"& % +4 "core" % = *  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&5% +3 "core" %   +2 "storage"(>% +4 "core" %  \  + "storage"(W. +4 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(L(<- +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +3 "core" &<+ \ + "manipulator"&H& +4 "core" &Ӧ%  >L +2 "manipulator"&j% +4 "core" %  9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&0( +258 "core" ( + "manipulator"&& +5 "core" & 7  + "storage"(<& +4 "core" &<+  # \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&*'O +96 "core" ' +2 "storage"(+& +4 "core" &<+ * + N\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'r +300 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (8& +3 "core" &<+ ( ) 3\ + "manipulator"&)& +4 "core" & x  +2 .tElbow.seek 5 +2 "manipulator"&b( +3 "core" ( + "manipulator"&3& +4 "core" &  k  + "storage"(4& +4 "core" &<+   +\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&p/ +55 "core" / +3 ."downElevator"SE.seek :down +54 "manipulator"&i& +2 "storage"( ' +6 "core" & W  +2 "manipulator"&A% +4 "core" % Ϯ  X +3 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&C( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&F& +5 "core" &  B ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" & 6 ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +99 "core" ' + "manipulator"&/& +5 "core" & ; + "manipulator"&I% +4 "core" % 1 +2 "processing"%& +4 "core" &\ +3 "processing"%P& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%r(^ +4 "core" &\ \ +9 &/u\ *x +9 &a~\ > +9 &gr\ O +10 &'R\ O +9 &R\ O +10 &Q\ O +9 &mU\ O +9 &0Q\ O +10 &Q\ O +9 &R-\ O +9 & uS1\ O +10 &"8RE\ O +9 &#SG\ O +10 &%PJ\ O +9 &'~R9\ O +9 &)@Q1\ O +10 &+RB\ O +9 &,T>\ O +9 &.QA\ N +10 &0FRA\ O +9 &2 R>\ O +9 &3QA\ O +10 &5QA\ O +9 &7PQA\ O +10 &9VI\ O +9 &:S?\ O +9 &<RI\ O +10 &>VWC\ O +9 &@U@\ P +10 &A]?\ P +9 &Ce@\ Q +9 &ETs?\ S +10 &G?\ U +9 &H@\ U +9 &JA\ V +10 &LRH\ V +9 &N@\ W +9 &OA\ W +10 &Q@\ W +9 &SX@\ W +10 &U?\ W +9 &V=\ W +9 &X?\ W +10 &Za@\ V +9 &\\"?\ W +9 &]?\ 5 +10 &^2x?\ K +9 ( +3 "processing"%P& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&Z1 +4 "core" &^A?\ ; +50 1 +2 "manipulator"&\\% +5 "core" %  a 1 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +2 "processing"%?& +4 "core" &^@5\ ; +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&N% +4 "core" %  &  + "storage"(% +4 "core" %  ;\  +2 "storage"(E. +3 "core" .(<- + "storage"(Q& +4 "core" &<+  B\ +2 "storage"(n& +5 "manipulator"&& +4 "core" &<+  \ + & ] ; +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(u'r +5 "core" ( +2 "manipulator"&!& +3 "core" &  ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +3 "core" & S ; +2 .tForearm.seek PC +2 "manipulator"&Y' +94 "core" ' + .tHand.close +2 "manipulator"&e/ +62 "core" / +2 .tPC.seek :open +2 "processing"%G( +90 "core" ' + "storage"(v- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +48 "core" ' +307 ( +2 "storage"(& +4 "core" &<+ * 4 \ +2 "manipulator"&a& +3 "core" & { ; +2 "manipulator"&l% +3 "core" %   @ +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&[( +256 "core" ( +2 "manipulator"&& +4 "core" & Y \ + "storage"(|& +4 "core" &<+   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +97 "core" ' +2 .tHand.open + "manipulator"&]1 +61 "core" 1 +2 "storage"(h- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(t' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(m' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(`- +3 "core" -' +2 "storage"(y& +4 "core" &<+ S\ y + "manipulator"&_& +4 "core" &  \ +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&@& +3 "core" &  \ +2 "storage"(f& +4 "core" &<+ "\ y +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' +2 "manipulator"&& +4 "core" & g \ + "storage"(& +4 "core" &<+ ) ) \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&% +4 "core" %Λ +2 "storage"({& +4 "core" &<+   6\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&x' +15 "core" ' +2 "manipulator"&;& +4 "core" & \ +2 "storage"(2& +4 "core" &<+ ) & 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +16 "core" ' +2 "storage"(\ % +4 "core" %  /\ +3 ."downElevator"SE.seek :down +3 "storage"(6' +98 (,% +4 "core" %D   \ Xh + "manipulator"&d% +4 "core" %;  | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 ("& +4 "core" &<+   >\ +2 "collection"'& +4 "core" &\\s +\ W + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&M% +5 "core" %    + "storage"((% +4 "core" % ' ' .\  + "storage"('. +4 "core" .(<- + "storage"(o& +4 "core" &<+ 5 +\ +2 "storage"( & +3 "core" &<+ ' ' ,\ +2 "manipulator"& & +4 "core" & p \ + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&q& +4 "core" &  \ + "storage"( & +4 "core" &<+ 4 + +\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&}'O +93 "core" ' +2 "storage"(D& +4 "core" &<+ ' ( \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'r +298 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  j \ + "storage"(X& +4 "core" &<+ ( ' \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&&'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(1- +3 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(9' +29 "core" ' + "manipulator"&k% +4 "core" %Κ  +2 "storage"(& +4 "core" &<+  e\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&' +16 "core" ' + "manipulator"&%& +5 "core" & g \ + "storage"(~& +4 "core" &<+ 4 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&O'O +16 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"( ' +35 "core" ' +2 "manipulator"&& +4 "core" & C \ +2 "manipulator"&5% +4 "core" %; k + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&W(ӂ +158 "core" ( + "manipulator"&$& +4 "core" &ӏ& ] ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &ӏ&  ?T +2 .tForearm.seek CC +2 "manipulator"&H'? +93 "core" ' + .tHand.close + "manipulator"&j/ +55 "core" / +2 .tCC.seek :open +2 "collection"'-( +447 "core" ( +52 "storage"(& +4 "core" &<+ D ? =\ +2 "storage"(<& +4 "core" &<+ @ 7 \ + "manipulator"&V& +4 "core" &Ӯ" A ;5 +2 "manipulator"&B% +3 "core" % E % +2 .tForearm.seek :retract +2 "manipulator"&+' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&c( +158 "core" ( + "manipulator"&:& +5 "core" &  + "storage"(8& +4 "core" &<+ 5 4 .\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&)'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&41 +60 "core" 1 +2 "manipulator"&p% +5 "core" % Π  H % + "storage"(i& +4 "core" &<+ X `\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&A' +13 "core" ' +2 "manipulator"&0& +5 "core" & + "storage"(*& +4 "core" &<+ X d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +17 "core" ' + "storage"(% +5 "core" % e c \ +2 ."downElevator"SE.seek :down +3 "storage"(F' +99 (K% +3 "core" %A ? H \ Wc +2 "manipulator"&b% +4 "core" %;  z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'I& +5 "core" & +\ + "manipulator"&% +4 "core" %  v  +2 "storage"( % +4 "core" % _ b\  + "storage"(z. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(g(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Z& +4 "core" &K ' ( (\  +2 "manipulator"&\\& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&?( +3 "core" ( + "manipulator"&N& +4 "core" &  8 +2 "storage"(& +4 "core" &K U U \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&E' +98 "core" ' +2 "storage"(Q& +4 "core" &K l ^ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +293 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" &K F 3 y\  + "manipulator"&!& +4 "core" & [ +2 .tElbow.seek 6 +2 "manipulator"&S( +3 "core" ( + "manipulator"&=& +4 "core" &  * +2 "storage"(e& +3 "core" &K N 4 S\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&v'h +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&C/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +2 "storage"(r' +7 "core" &  : + "manipulator"&u% +4 "core" % ϟ h +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' + .tElbow.seek CC +2 "manipulator"&a(ӂ +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&l& +4 "core" &Ӝ  2 :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &Ӝ  V :- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' + "manipulator"&|& +5 "core" &Ӝ! :- + "manipulator"&% +4 "core" %C k $ +2 "collection"']& +4 "core" & \ +3 "collection"'h& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'`(\\ +4 "core" & \ +7 &: \ %f +10 &X{ \ 7 +9 &w \ L +9 &T \ L +10 &T \ M +9 &BS \ L +10 &V \ L +9 &T \ M +9 &S \ L +10 &JS \ L +9 & Q \ L +9 &!S \ L +10 &#V \ L +9 &%RR \ L +10 &'T \ L +9 &(U \ M +9 &*S \ L +10 &,[U \ L +9 &.T \ L +9 &/P \ L +10 &1T \ L +9 &3bU \ L +10 &5$S \ L +9 &6W \ L +9 &8U \ L +10 &:iT \ M +9 &<,T \ L +9 &=Q \ L +10 &?V \ L +9 &ArW \ L +10 &C4X \ L +9 &Dc \ N +9 &Fm \ O +10 &Hi \ R +9 &J \ V +9 &K \ X +10 &M \ Z +9 &O[ \ Z +10 &Q \ Z +9 &R \ [ +9 &T \ [\ +10 &V\\ \ \\ +9 &X \ ] +9 &Y \ ] +10 &[ \ K +9 &\\7 \ / +10 &\\q \ O +2 ( +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&y1 +54 "core" 1 +2 "manipulator"&_% +4 "core" % C $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%f& +5 "core" &\ + "manipulator"&% +4 "core" %  o  +2 "storage"(% +4 "core" %   k\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ({& +4 "core" &K"\  + "manipulator"&& +4 "core" &Ӝ  : :- +2 "manipulator"&;% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&2( +165 "core" ( +2 "manipulator"&t& +4 "core" & S  +2 "storage"(\ & +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&[' +90 "core" ' + "storage"(s& +4 "core" &K - 3 [\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'r +296 "core" ' +2 "storage"(,- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (d& +2 "core" &K   R\  +2 "manipulator"&w& +4 "core" & >  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & ~  + "storage"(& +4 "core" &K ' '\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&"'h +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(M' +7 "core" & U  + "manipulator"&(% +4 "core" % ϧ ! +2 .tForearm.seek :retract +2 "manipulator"&'' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&o& +4 "core" & U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &  ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +94 "core" ' +2 "manipulator"&q& +4 "core" &  + "manipulator"& % +4 "core" % V a +2 "processing"%& +4 "core" &\ +2 "processing"%D& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%6(^ +4 "core" &\ +7 & -\ $c +10 &Ty\ 7 +9 &~x\ L +9 &R\ O +10 &UR\ O +9 &Q\ N +10 &R\ O +9 &T\ O +9 &_Q\ N +10 & R\ O +9 &R\ O +9 &!S\ O +10 &#fQ\ O +9 &%(Q\ O +10 &&U\ O +9 &(R\ N +9 &*mT\ O +10 &,0T\ O +9 &-R\ O +9 &/V\ O +10 &1uS@\ O +9 &38Q)\ O +10 &4P7\ O +9 &6Q\ O +9 &8}V;\ O +10 &:@Q\ O +9 &<S<\ O +9 &=QC\ O +10 &?TE\ O +9 &AFUG\ O +10 &CeH\ Q +9 &DnF\ R +9 &F}A\ T +10 &H<A\ U +9 &IL\ U +9 &KF\ V +10 &M?\ V +9 &OBB\ V +10 &QK\ W +9 &RG\ V +9 &T@\ W +10 &VIB\ V +9 &X\ D\ W +9 &YD\ V +10 &[C\ W +9 &]OC\ I +10 &^yFI\ "f +9 &^>D\ 5 +5 ( +2 "processing"%D& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"&U1 +3 "core" &^-F\ 5 +61 1 + "manipulator"&% +4 "core" %  @ a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +143 "core" ' +2 "processing"%& +4 "core" &^-9\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&X% +4 "core" % !  ( +2 "storage"(1% +4 "core" %   \  +2 "storage"(k. +3 "core" .(K + "storage"(& +4 "core" &K   3\  +2 "storage"(%& +4 "manipulator"&~& +4 "core" &K   B\  + & +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(5'r +5 "core" ( + "manipulator"&}& +4 "core" & " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & G +3 .tForearm.seek PC + "manipulator"&7' +92 "core" ' +2 .tHand.close + "manipulator"&&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' + "storage"(9- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"($'1 +46 "core" ' +305 ( + "storage"(#& +5 "core" &K  \  + "manipulator"&O& +4 "core" & + "manipulator"&T% +4 "core" %  ] 8 +2 .tForearm.seek :retract +2 "manipulator"&j' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&>( +242 "core" ( + "manipulator"&R& +4 "core" &  +2 "storage"(& +4 "core" &K ' ' 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&<' +95 "core" ' +2 .tHand.open + "manipulator"&V1 +57 "core" 1 +2 "storage"(B- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(:' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(8' +58 "core" ' + #tLights, camera, ACTION! + "storage"(H- +4 "core" -' +2 "storage"(W& +3 "core" &K h _ \ i +2 "manipulator"&4& +4 "core" &  I  + .tElbow.seek 6 +2 "manipulator"&p( +14 "core" ( +2 "manipulator"&i& +4 "core" &  q  +2 "storage"(0& +4 "core" &K g h ,\ k +2 .tForearm.seek 6 + 450 counts + "manipulator"&*' +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&+& +5 "core" & j  + "storage"(K& +5 "core" &K 2 3 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&b'< +25 "core" ' +2 .tElbow.hold +2 "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"()' +20 "core" ' + "manipulator"&I% +5 "core" %P + "storage"(& +4 "core" &K  \\\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&A'| +15 "core" ' +2 "manipulator"& & +4 "core" & 8  +2 "storage"(z& +4 "core" &K  4 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +17 "core" ' +2 "storage"(^% +4 "core" %  \ \ +3 ."downElevator"SE.seek :down +3 "storage"(F' +99 (L% +4 "core" %KK  3\ Yj +2 "manipulator"&Z% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +90 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (N& +4 "core" &K   \  + "collection"'& +4 "core" &\\n \ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&Q% +4 "core" %  y  +2 "storage"(3% +4 "core" % 4 4\ + "storage"(/. +3 "core" .(K +2 "storage"(n& +3 "core" &K & ) 9\  +2 "storage"(P& +4 "core" &K 0 $\  + "manipulator"&!& +4 "core" & B  +2 .tElbow.seek 6 +2 "manipulator"&=( +3 "core" ( + "manipulator"&e& +4 "core" & \  e  +2 "storage"(C& +3 "core" &K 3 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +93 "core" ' +2 "storage"(u& +4 "core" &K , ) F\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'r +299 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&l& +3 "core" & {  +2 "storage"(Y& +3 "core" &K   #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +18 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(|- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"('} +30 "core" ' + "manipulator"&]% +5 "core" %H + "storage"(S& +4 "core" &K 1 4 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&r't +14 "core" ' + "manipulator"&& +4 "core" & 1  +2 "storage"(-& +4 "core" &K ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&y' +17 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(_' +34 "core" ' + "manipulator"&f& +5 "core" & W  + "manipulator"&% +4 "core" % \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( + "manipulator"&h& +4 "core" &Ӊ* Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &ӊ* Bf +2 .tForearm.seek CC + "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&;/ +60 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( +2 "storage"(t& +4 "core" &K ' . \  + "storage"(\ & +4 "core" &K & ' ,\  +2 "manipulator"&g& +3 "core" &Ӫ$ =F +2 "manipulator"&s% +3 "core" % O K 8 +2 .tForearm.seek :retract +2 "manipulator"&a' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&@( +164 "core" ( + "manipulator"&,& +4 "core" & M  +2 "storage"(d& +4 "core" &K : 5 W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&w'< +98 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&x% +4 "core" % L    + "storage"(& +4 "core" &K 6 7 "\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&('x +15 "core" ' +2 "manipulator"&2& +4 "core" &    +2 "storage"([& +4 "core" &K c d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m' +15 "core" ' + "storage"("% +4 "core" % a b *\ +3 ."downElevator"SE.seek :down +3 "storage"(o' +99 ( % +2 "core" %B K F <\ Wc +2 "manipulator"&% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +85 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +51 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"' & +5 "core" & \ + "manipulator"&% +5 "core" %    + "storage"(M% +4 "core" % e d 4\  +2 "storage"('. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(G(,y +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &,| ? = ~\ +2 "manipulator"&& +4 "core" & <  + .tElbow.seek 4 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&& +4 "core" & <  + "storage"(X& +4 "core" &,| c X \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +91 "core" ' +2 "storage"(k& +4 "core" &,| i g \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" &,k J > S\  + "manipulator"&}& +4 "core" & ,  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & z  +2 "storage"(&& +3 "core" &,k H ; \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&9'c +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +2 "storage"(6' +7 "core" &  + "manipulator"&5% +4 "core" % ϔ  t +2 .tForearm.seek :retract +2 "manipulator"&#' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&T& +4 "core" &ӊ* x Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &ӊ*  & Bl +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&R'? +94 "core" ' +2 "manipulator"&& +4 "core" &Ӌ+ 7 Bk +2 "manipulator"&% +5 "core" %>  + "collection"'V& +4 "core" & \ +3 "collection"'B& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'H(\\ +3 "core" & \ +6 &: \ %f +9 &Xz \ 7 +10 &x \ L +9 &S \ L +9 &S \ L +10 &@T \ L +9 &P \ L +10 &S \ L +9 &P \ L +9 &HR \ L +10 & \ T \ L +9 &!R \ L +9 &#S \ M +10 &%QR \ L +9 &'R \ L +10 &(P \ L +9 &*T \ M +9 &,YS \ L +10 &.S \ L +9 &/T \ L +9 &1T \ L +10 &3`T \ L +9 &5!S \ M +10 &6T \ L +9 &8T \ M +9 &:hT \ L +10 &<)T \ M +9 &=T \ L +9 &?V \ L +10 &AoU \ M +9 &C1U \ M +10 &D` \ N +9 &Fk \ O +9 &Hi| \ Q +10 &J \ V +9 &K \ X +9 &M \ Y +10 &OZ \ Y +9 &Q \ Z +10 &R \ Z +9 &T \ [\ +9 &V[ \ \\ +10 &X \ \\ +9 &Y \ ] +9 &[ \ J +10 &\\; \ *~ +9 &\\ \ Y +3 ( + "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&W1 +60 "core" 1 +2 "manipulator"&4% +4 "core" % > \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%0& +4 "core" &\ + "manipulator"&j% +4 "core" %   +2 "storage"(+% +4 "core" %   \ + "storage"(K. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"($(,y +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (I& +3 "core" &,z  f\ +2 "manipulator"&& +4 "core" &ӌ* 0 Bj + "manipulator"&:% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& ( +165 "core" ( +2 "manipulator"&z& +4 "core" & A  +2 "storage"(^& +4 "core" &,z ' ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +95 "core" ' + "storage"(<& +4 "core" &,z  >\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'r +294 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +2 "core" &,j   Y\ +2 "manipulator"&*& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&p( +4 "core" ( + "manipulator"&& +4 "core" &    + "storage"(b& +4 "core" &,j ' '\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&A'c +43 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&N/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(Q' +7 "core" &  + "manipulator"&3% +4 "core" % d ] a +2 .tForearm.seek :retract +2 "manipulator"&/' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&n& +4 "core" & ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &  ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&!' +103 "core" ' + "manipulator"&e& +5 "core" & I ' + "manipulator"&C% +4 "core" %  Z +2 "processing"% & +4 "core" &\ +2 "processing"%u& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(^ +4 "core" &\  +9 &0u\ *x +9 &b|\ > +9 &jp\ O +10 &*R\ O +9 &Q\ O +9 &N\ O +10 &rR\ N +9 &3P\ O +9 &T\ O +10 &P\ O +9 & yR\ O +10 &";S\ O +9 &#U\ O +9 &%P\ N +10 &'T\ O +9 &)CQ\ O +10 &+P\ O +9 &,T\ O +9 &.Q\ N +10 &0JR\ O +9 &2 Q\ O +9 &3O\ O +10 &5P\ O +9 &7TP\ N +9 &9S\ O +10 &:R\ O +9 &<R\ O +10 &>[U\ O +9 &@T\ O +9 &AW\ P +10 &Cb\ Q +9 &EYj\ R +10 &Gy\ T +9 &H\ U +9 &J\ V +10 &LW\ U +9 &N\ V +9 &O \ W +10 &Q \ W +9 &S[\ W +9 &U \ W +10 &V(\ W +9 &X\ V +10 &Zc8\ W +9 &\\&@\ V +9 &]@\ 4 +10 &^3n@\ C +9 ( + &^?\ 0 +3 "processing"%u& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&c1 +60 "core" 1 + "manipulator"&\\% +4 "core" %  Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +89 "core" ' + "processing"%l& +5 "core" &^9\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&Y% +3 "core" %   +2 "storage"(|% +4 "core" %   .\ + "storage"(]. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(S(,y +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&-& +5 "core" & ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "core" &,}  v\ +2 .tElbow.seek PC +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&f( +4 "storage"(#]kK-0-\ b +4 "core" ( +2 "manipulator"&& +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(J'r +3 "core" & ' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" & ' +2 .tForearm.seek PC +2 "manipulator"&?' +98 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%r( +96 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(h'1 +56 "core" ' +290 ( +2 "storage"({& +4 "core" &,d  \  +2 "manipulator"&y& +4 "core" & ] ' + "manipulator"&v% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&;' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +245 "core" ( + "manipulator"&`& +5 "core" &\  \\ +52 "storage"(t& +4 "core" &,d  q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +97 "core" ' +2 .tHand.open +2 "manipulator"&g1 +59 "core" 1 +2 "storage"(s- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(,' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(d' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &,d \ q +2 "manipulator"&& +4 "core" & % \\ +2 .tElbow.seek 4 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&& +3 "core" &   L \\ +2 "storage"(2& +4 "core" &,d \ r +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"("'" +58 "core" ' +2 "manipulator"&a& +4 "core" & = \\ +2 "storage"( & +4 "core" &,d   .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +13 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(w' +27 "core" ' +2 "manipulator"& % +4 "core" %A  F +2 "storage"((& +4 "core" &,d   \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts +2 "manipulator"&_'m +14 "core" ' +2 "manipulator"&& +5 "core" & [ + "storage"(M& +5 "core" &,d   5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&'' +15 "core" ' +2 "storage"(m% +4 "core" % ) (\ +3 ."downElevator"SE.seek :down +3 "storage"(o' +99 (% +3 "core" %AG  H\ Xi +2 "manipulator"&U% +4 "core" % P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,d r\  +2 "collection"'X& +4 "core" &\\ \ Y + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&k% +4 "core" %  @  + "storage"(% +4 "core" %  \ +2 "storage"(q. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(~(,y +38 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (%& +3 "core" &,{   \ +2 "manipulator"&}& +3 "core" & g [ +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&&& +4 "core" & [ + "storage"(& +4 "core" &,{  Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +94 "core" ' + "storage"(5& +5 "core" &,{  " *\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +292 "core" ' +2 "storage"(1- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" &   [ + "storage"(7& +4 "core" &,h # ( T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +22 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"('y +26 "core" ' +2 "manipulator"&V% +4 "core" %9   +2 "storage"(& +3 "core" &,h  r\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 302 counts +2 "manipulator"&6'e +13 "core" ' + "manipulator"&#& +5 "core" & o [ + "storage"(& +4 "core" &,h ' ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&W' +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(4' +37 "core" ' + "manipulator"&0& +4 "core" & [ +2 "manipulator"&j% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +161 "core" ( +2 "manipulator"&B& +4 "core" &ӈ c 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &ӈ  6 +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' + .tHand.close + "manipulator"&:/ +57 "core" / +2 .tCC.seek :open +2 "collection"'R( +450 "core" ( +2 "storage"(z& +4 "core" &,h G ; \  +2 "storage"(^& +5 "core" &,h C ? \  + "manipulator"&G& +4 "core" &ӈ   6 + "manipulator"&<% +4 "core" % > ` e +2 .tForearm.seek :retract +2 "manipulator"&O' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&i( +163 "core" ( +2 "manipulator"&L& +4 "core" & s  +2 "storage"(Z& +4 "core" &,h W V \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&*'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&b1 +54 "core" 1 +2 "manipulator"&N% +4 "core" % * . I +2 "storage"(& +3 "core" &,h [ V\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 287 counts +2 "manipulator"&3'V +14 "core" ' +2 "manipulator"& & +4 "core" &  '  +2 "storage"(>& +3 "core" &,h c e \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +16 "core" ' + "storage"(A% +5 "core" % X `\ +2 ."downElevator"SE.seek :down +3 "storage"(n' +99 (P% +3 "core" %? J H\ Vb +2 "manipulator"&p% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +90 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'C& +4 "core" & \ +2 "manipulator"& % +4 "core" %  P  +2 "storage"(Q% +3 "core" % Z V t\ +2 "storage"(/. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +365 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (c& +3 "core" &<0 ' '\  + "manipulator"&\\& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&l( +3 "core" ( + "manipulator"&Y& +4 "core" &  3  +2 "storage"(|& +4 "core" &<0 \\ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +104 "core" ' +2 "storage"(u& +4 "core" &<0 | \\\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'r +296 "core" ' + "storage"(- +3 "core" -'+ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<. = B y\  +2 "manipulator"&=& +4 "core" & ]  + .tElbow.seek 5 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"($& +4 "core" &<. U X\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&)/ +61 "core" / +3 ."downElevator"SE.seek :down +53 "manipulator"&E& +2 "storage"(F' +7 "core" & -  + "manipulator"&J% +4 "core" % Ϟ  j +2 .tForearm.seek :retract +2 "manipulator"&{' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&v& +4 "core" &ӗ"  L ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &ӗ" ;4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&`'? +92 "core" ' +3 "manipulator"&f& +4 "core" &ӗ" # ;4 +2 "manipulator"&t% +4 "core" %5 ? w + "collection"'g& +4 "core" & \ +2 "collection"'s& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +7 &< \ %f +10 &X{ \ 7 +9 &v \ L +10 &R \ K +9 &}T \ L +9 &?S \ L +10 &S \ L +9 &S \ L +9 &S \ L +10 &HS \ L +9 & \ R \ L +9 &!R \ L +10 &#T \ L +9 &%QR \ L +10 &'R \ L +9 &(S \ L +9 &*R \ L +10 &,XS \ L +9 &.S \ L +9 &/R \ L +10 &1T \ L +9 &3_S \ L +10 &5!R \ L +9 &6P \ L +9 &8T \ L +10 &:gS \ L +9 &<(T \ M +9 &=S \ L +10 &?T \ L +9 &AoV \ L +10 &C/\\ \ M +9 &D` \ N +9 &Fi \ O +10 &Hh \ Q +9 &J \ V +9 &K \ X +10 &M \ Y +9 &OY \ Y +10 &Q \ Z +9 &R \ Z +9 &T \ [\ +10 &VY \ \\ +9 &X \ \\ +9 &Y \ ] +10 &[ \ K +9 &\\6 \ 1 +10 &\\g \ P +2 ( +2 "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % 5 w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%2& +4 "core" &\ +2 "manipulator"&;% +4 "core" %    + "storage"(a% +4 "core" %  \  +2 "storage"( . +3 "core" .(<- +2 "storage"( & +3 "core" &<. ' '\  +2 "storage"((& +4 "core" &<. ' '\  + "manipulator"&h& +4 "core" &ӗ"  ;4 + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&M( +153 "core" ( +2 "manipulator"&,& +4 "core" & + "storage"(m& +4 "core" &<. J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +94 "core" ' +2 "storage"(\ & +4 "core" &<. ' '\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" &<. ) ( +\  +2 "manipulator"&[& +4 "core" &  A + .tElbow.seek 5 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&"& +3 "core" & +2 "storage"(& +4 "core" &<.  M\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +65 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&X& +3 "storage"(k' +8 "core" & M + "manipulator"&% +5 "core" %  b + .tForearm.seek :retract +2 "manipulator"&q' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&%& +5 "core" &  ( @ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" & i @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&&' +98 "core" ' + "manipulator"&& +5 "core" & S @ + "manipulator"&'% +4 "core" %    +2 "processing"%5& +4 "core" &\ +2 "processing"%o& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%S(^ +4 "core" &\  +9 &2x\ *x +9 &b~\ > +9 &mp\ O +10 &/Q\ N +9 &Q\ N +9 &Q\ N +10 &uQ\ N +9 &7Q\ N +10 &Q\ N +9 &Q\ N +9 & |Q\ O +10 &">R\ O +9 &#R\ O +9 &%O\ N +10 &'Q\ O +9 &)FO\ O +10 &+P\ O +9 &,Q\ O +9 &.P\ N +10 &0NR\ O +9 &2O\ O +9 &3O\ N +10 &5Q\ O +9 &7VT\ O +10 &9V\ O +9 &:R\ N +9 &<Q\ O +10 &>^U\ O +9 &@ T\ O +10 &A[\ P +9 &Cd\ Q +9 &EZv\ S +10 &G\ U +9 &H\ U +9 &J\ U +10 &LY\ V +9 &N\ W +9 &O\ V +10 &Q\ W +9 &S^\ W +10 &U\ W +9 &V\ W +9 &X\ V +10 &Zf\ W +9 &\\'\ W +9 &]x\ ; +10 &^3\ V +9 &^ \ 0 +2 ( +2 "processing"%o& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"&@1 +53 "core" 1 + "manipulator"&% +4 "core" %  ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +99 "core" ' +2 "processing"%T& +4 "core" &^I\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&7% +4 "core" % % = 9 +2 "storage"(% +4 "core" %   *\ + "storage"(V. +4 "core" .(<- + "storage"(& +4 "core" &<.   -\  +2 "storage"(#& +4 "manipulator"&& +4 "core" &<.   =\  + & @ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&0( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'r +2 "core" ( + "manipulator"&.& +4 "core" & @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &  @ +2 .tForearm.seek PC + "manipulator"&D' +96 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + .tPC.seek :open +2 "processing"%6( +96 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'1 +44 "core" ' +304 ( +2 "storage"(I& +4 "core" &<. ) '\  + "manipulator"&W& +4 "core" &  @ +2 "manipulator"&9% +3 "core" %  \ +2 .tForearm.seek :retract +2 "manipulator"&:' +90 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&+( +245 "core" ( + "manipulator"&H& +4 "core" & 3 4 +2 "storage"(z& +4 "core" &<.   ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^'O +102 "core" ' +2 .tHand.open + "manipulator"&G1 +63 "core" 1 +2 "storage"(<- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(L' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Z' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(K& +4 "core" &<. J\ z +2 "manipulator"&b& +4 "core" &  4 + .tElbow.seek 5 +2 "manipulator"&N( +4 "core" ( + "manipulator"&& +4 "core" & P 4 +2 "storage"( & +4 "core" &<. \ z +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(A'" +58 "core" ' +2 "manipulator"&O& +4 "core" &  4 + "storage"(P& +4 "core" &<. 1 3 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&p'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(*' +19 "core" ' + "manipulator"&C% +5 "core" %Ζ + "storage"(3& +5 "core" &<.  # W\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts +2 "manipulator"& ' +78 "core" ' + "manipulator"&Q& +5 "core" &  b * + "storage"(/& +5 "core" &<.  s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&4'O +28 "core" ' +2 "storage"(8% +4 "core" % ' \ +3 ."downElevator"SE.seek :down +4 "storage"(n' +99 (~% +2 "core" %CI  W\ Xi +2 "manipulator"&c% +4 "core" %O  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (Y& +4 "core" &<.  :\  +2 "collection"'|& +4 "core" &\\c \ P + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&u% +3 "core" % # 2 0 +2 "storage"(% +4 "core" % 5 4 \ +2 "storage"(e. +3 "core" .(<- + "storage"(& +4 "core" &<. 4 4 z\  +2 "storage"(& +4 "core" &<. , 2 \  + "manipulator"&=& +4 "core" & ~ ) +2 .tElbow.seek 5 +2 "manipulator"&( +22 "core" ( + "manipulator"&$& +5 "core" & !  + "storage"()& +4 "core" &<. # \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&E'O +94 "core" ' + "storage"(J& +5 "core" &<. * '\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'r +295 "core" ' +2 "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&v& +3 "core" &  q  +2 "storage"(?& +4 "core" &<.   \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&-'΍ +19 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(f- +2 "core" -' +3 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(t' +28 "core" ' +2 "manipulator"&g% +4 "core" %Θ  +2 "storage"(!& +3 "core" &<.  $\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts + "manipulator"&F' +14 "core" ' +2 "manipulator"&{& +4 "core" & 9  + "storage"(R& +4 "core" &<. & '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(' +41 "core" ' + "manipulator"&2& +4 "core" &  +2 "manipulator"&;% +4 "core" %;  ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +159 "core" ( + "manipulator"& & +4 "core" &Ӌ* f Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &Ӌ* n Bf +2 .tForearm.seek CC +3 "manipulator"&('? +98 "core" ' + .tHand.close +2 "manipulator"&h/ +64 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( + "storage"(`& +5 "core" &<. K @ $\  + "storage"(,& +4 "core" &<. I @ \  + "manipulator"&m& +4 "core" &Ӡ& ?Q + "manipulator"&\ % +4 "core" % F " +2 .tForearm.seek :retract +2 "manipulator"&y' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&& +4 "core" & Z  +2 "storage"(U& +4 "core" &<. 6 7 o\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&['΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&_% +4 "core" % ΍ 0 +2 "storage"(X& +3 "core" &<. X U\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +14 "core" ' +2 "manipulator"&M& +4 "core" & O  +2 "storage"(& +3 "core" &<. Z V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +16 "core" ' + "storage"(% +5 "core" % i Y H\ +2 ."downElevator"SE.seek :down +4 "storage"(%' +99 (}% +3 "core" %A 6 ; 7\ Wc +2 "manipulator"&x% +4 "core" %1 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"''& +4 "core" & \ +2 "manipulator"&5% +4 "core" %  j  + "storage"(k% +4 "core" % e e ?\  +2 "storage"(q. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(r(K +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +2 "core" &K 4 4 u\  +2 "manipulator"&& +4 "core" & F  + .tElbow.seek 6 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&7& +3 "core" &   +2 "storage"(& +3 "core" &K e c I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&V' +93 "core" ' + "storage"(& +4 "core" &K x l \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +294 "core" ' +3 "storage"(#- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (o& +3 "core" &K J K \  +2 "manipulator"&.& +3 "core" & >  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&&& +4 "core" &    + "storage"(& +4 "core" &K X U\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&1& +3 "storage"(S' +7 "core" & I  +2 "manipulator"&j% +4 "core" % Ϛ +2 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&9& +5 "core" &Ӌ) x Aa + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &Ӌ)  Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&H'? +93 "core" ' +2 "manipulator"&z& +4 "core" &ӥ$ f =G +2 "manipulator"&0% +4 "core" %? } + "collection"'G& +4 "core" & \ +2 "collection"'<& +6 "core" &  \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +7 &A \ $f +9 &X{ \ 8 +9 &s \ L +10 &R \ L +9 &Q \ L +10 &CS \ L +9 &S \ L +9 &S \ L +10 &S \ L +9 &LR \ L +9 & Q \ L +10 &!R \ L +9 &#S \ L +10 &%SP \ L +9 &'R \ L +9 &(T \ L +10 &*S \ L +9 &,\\T \ L +9 &.S \ L +10 &/P \ L +9 &1T \ L +10 &3dR \ L +9 &5&R \ L +9 &6W \ L +10 &8S \ L +9 &:kT \ L +9 &<-T \ L +10 &=S \ L +9 &?T \ L +10 &ArT \ L +9 &C3U \ M +9 &D` \ N +10 &Fk \ O +9 &Hj \ R +9 &J \ V +10 &K \ X +9 &M \ X +10 &O] \ Y +9 &Q \ Y +9 &R \ Z +10 &T \ Z +9 &V^ \ [ +9 &X \ \\ +10 &Y \ ] +9 &[ \ J +9 &\\9 \ - +10 &\\f \ P +2 ( +2 "collection"'<& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&K1 +60 "core" 1 + "manipulator"&b% +5 "core" % ?  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +5 "core" &\ + "manipulator"&:% +4 "core" %    +2 "storage"(O% +52 "core" % ) (\  +3 "storage"(P. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(C(K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +3 "core" &K x\  +2 "manipulator"&3& +3 "core" &ӥ# 0 =G +2 "manipulator"&L% +4 "core" %  L  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&Q( +164 "core" ( +2 "manipulator"&/& +4 "core" & A  +2 "storage"(+& +3 "core" &K ' '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +94 "core" ' +2 "storage"(8& +4 "core" &K 2 ) \  +3 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'r +296 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &K  s\  + "manipulator"&c& +4 "core" & ?  +2 .tElbow.seek 6 + "manipulator"&N( +4 "core" ( + "manipulator"&A& +4 "core" & C  +2 "storage"(p& +4 "core" &K ) ' R\  +2 .tForearm.seek 6 + 300 counts + "manipulator"& 'h +36 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& + "storage"(u' +7 "core" & [  +2 "manipulator"&% +4 "core" % {  Y +2 .tForearm.seek :retract +2 "manipulator"&e' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( + "manipulator"&& +5 "core" & ~  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &  z  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +91 "core" ' +2 "manipulator"&$& +4 "core" &  I  + "manipulator"&)% +4 "core" % N +2 "processing"%4& +4 "core" &\ +2 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%n(^ +4 "core" &\ +7 &4\ $d +10 &Tx\ 7 +9 &}v\ K +9 &R\ O +10 &XP\ N +9 &R\ N +10 &T\ O +9 &T\ N +9 &_N\ O +10 &!T\ O +9 &T\ O +9 &!Q\ O +10 &#hO\ N +9 &%*Q\ N +9 &&U\ O +10 &(S\ O +9 &*pU\ N +10 &,2R\ N +9 &-O\ O +9 &/U\ O +10 &1wU\ O +9 &39R\ O +9 &4T\ N +10 &6P\ O +9 &8U\ N +10 &:BQ\ N +9 &<U\ O +9 &=Q\ O +10 &?T\ O +9 &AHW\ O +9 &Ce\ Q +10 &Dn\ R +9 &F\ T +10 &H>\ U +9 &J\ U +9 &K\ U +10 &M\ U +9 &OC\ V +9 &Q\ W +10 &R\ V +9 &T\ V +10 &VI\ W +9 &X \ V +9 &Y\ V +10 &[\ W +9 &]P\ I +9 &^xE\ #j +10 &^>\ 5 +5 ( +2 "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&i1 +3 "core" &^(\ 5 +51 1 +2 "manipulator"&\\% +4 "core" %  H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +91 "core" ' +2 "processing"%v& +4 "core" &^(\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&?% +4 "core" %  /  +2 "storage"(f% +4 "core" %   -\ + "storage"(g. +3 "core" .(K + "storage"(!& +4 "core" &K  S\  +2 "storage"({& +3 "manipulator"&R& +6 "core" &K   .\  + & Q  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&2( + "storage"(;'r +5 "core" ( +2 "manipulator"&E& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & 2  +2 .tForearm.seek PC +2 "manipulator"&l' +94 "core" ' + .tHand.close +2 "manipulator"&-/ +62 "core" / +2 .tPC.seek :open +2 "processing"%F( +91 "core" ' +2 "storage"(t- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +39 "core" ' +311 ( + "storage"(s& +5 "core" &K  ' \  + "manipulator"&& +5 "core" & 9  + "manipulator"&% +4 "core" %  4 +2 .tForearm.seek :retract +2 "manipulator"&h' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&a( +238 "core" ( +2 "manipulator"&& +4 "core" & t 0 + "storage"(`& +4 "core" &K ' & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&,' +93 "core" ' + .tHand.open + "manipulator"&m1 +54 "core" 1 +2 "storage"(\ - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(U' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"((- +4 "core" -' +2 "storage"( & +3 "core" &K 5\ y +2 "manipulator"&& +4 "core" & J 0 + .tElbow.seek 6 +2 "manipulator"&_( +4 "core" ( + "manipulator"&X& +4 "core" & 0 +2 "storage"(M& +3 "core" &K \ x +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&y& +4 "core" &  T 0 + "storage"(}& +4 "core" &K  X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&x'< +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"([' +18 "core" ' + "manipulator"&'% +5 "core" %D ` + "storage"(5& +5 "core" &K   \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts +2 "manipulator"&'p +14 "core" ' + "manipulator"&k& +5 "core" &  N 0 + "storage"(q& +5 "core" &K 4 * -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(d% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(%' +99 (% +3 "core" %DG  M\ Xj +2 "manipulator"&@% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (7& +4 "core" &K  -\  + "collection"'& +4 "core" &\\c \ \ P +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +3 "core" %  )  +2 "storage"("% +4 "core" % 5 4 "\  + "storage"(. +4 "core" .(K + "storage"(#& +4 "core" &K - 3\  + "storage"(o& +4 "core" &K 0 4 >\  +2 "manipulator"&.& +4 "core" & t 0 + .tElbow.seek 6 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&& +3 "core" & [ 0 +2 "storage"(w& +4 "core" &K 4 3 U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +93 "core" ' + "storage"(j& +4 "core" &K & '\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak +3 "storage"(T'r +300 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&9& +2 "core" & e 0 +2 "storage"(D& +4 "core" &K 4  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +71 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(0'~ +27 "core" ' + "manipulator"&G% +5 "core" %> 1 + "storage"( & +4 "core" &K ) ( 5\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts +2 "manipulator"&S'j +13 "core" ' + "manipulator"&I& +4 "core" & @ 0 +2 "storage"(& +4 "core" &K t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&K' +17 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(b' +36 "core" ' +2 "manipulator"& & +4 "core" & 0 +2 "manipulator"&:% +5 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&<(ӂ +151 "core" ( +2 "manipulator"&P& +5 "core" &ӆ*  Bh + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +2 "core" &ӆ* Bh +3 .tForearm.seek CC + "manipulator"&3'? +92 "core" ' +2 .tHand.close + "manipulator"&L/ +63 "core" / +2 .tCC.seek :open + "collection"'H( +448 "core" ( + "storage"(/& +4 "core" &K C D \  +2 "storage"(+& +4 "core" &K ' & D\  + "manipulator"&r& +4 "core" &ӧ$  ` =G + "manipulator"&8% +4 "core" % D K ] +2 .tForearm.seek :retract +2 "manipulator"&W' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +167 "core" ( + "manipulator"&>& +4 "core" &  =  +2 "storage"(~& +4 "core" &K 4 4 [\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&c'< +93 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&p1 +58 "core" 1 +2 "manipulator"&Y% +4 "core" % ? A 9 + "storage"(|& +4 "core" &K : 5 \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 303 counts + "manipulator"&'k +13 "core" ' +2 "manipulator"&Q& +4 "core" &  x  +2 "storage"(^& +4 "core" &K U T H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Z' +16 "core" ' +2 "storage"( % +4 "core" % X d\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +2 "core" %: K < \ Va +2 "manipulator"&N% +4 "core" %  . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +86 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"')& +5 "core" & \ +2 "manipulator"&4% +3 "core" %  _  +2 "storage"(u% +4 "core" % b b\  + "storage"(e. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(6(,y +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (i& +4 "core" &,| 6 ? v\ + "manipulator"&\\& +5 "core" &  C  + .tElbow.seek 4 +2 "manipulator"&v( +4 "core" ( + "manipulator"&?& +4 "core" & u  +2 "storage"(f& +4 "core" &,| _ W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +95 "core" ' + "storage"(!& +4 "core" &,| c `\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'r +296 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (J& +3 "core" &,j = B \  +2 "manipulator"&E& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&=& +4 "core" & B  +2 "storage"(-& +3 "core" &,j ` U\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&t'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&*/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"(n' +7 "core" & N  +2 "manipulator"&;% +4 "core" % a  +2 .tForearm.seek :retract +2 "manipulator"&s' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &Ӌ*  Y Cm + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &Ӌ+  Cm +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + "manipulator"&`& +5 "core" &Ӎ*  Bk + "manipulator"&2% +4 "core" %: +2 "collection"'m& +4 "core" & \ +2 "collection"'\ & +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'((\\ +4 "core" & \ +7 &: \ %f +10 &Xz \ 7 +9 &v \ L +9 &R \ L +10 &R \ K +9 &@R \ L +9 &R \ L +10 &R \ L +9 &S \ L +10 &JR \ L +9 & R \ K +9 &!S \ L +10 &#S \ L +9 &%PQ \ L +9 &'R \ L +10 &(P \ L +9 &*S \ L +10 &,XS \ L +9 &.Q \ L +9 &/R \ L +10 &1S \ M +9 &3aR \ L +9 &5"R \ L +10 &6S \ L +9 &8P \ L +9 &:hS \ L +10 &<+U \ L +9 &=S \ L +10 &?U \ L +9 &AoT \ M +9 &C1Z \ M +10 &D_ \ M +9 &Fj \ O +10 &Hi{ \ Q +9 &J \ U +9 &K \ X +10 &M \ Y +9 &OZ \ Y +9 &Q \ Y +10 &R \ Z +9 &T \ [ +10 &V\\ \ [ +9 &X \ \\ +9 &Y \ ] +10 &[ \ J +9 &\\8 \ . +9 &\\j \ M +3 ( +2 "collection"'\ & +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"& 1 +57 "core" 1 +3 "manipulator"&% +4 "core" % :  r + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%M& +4 "core" &\ +2 "manipulator"&h% +3 "core" % !  $ +2 "storage"(y% +4 "core" %   <\ +2 "storage"(}. +3 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"('(,y +29 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (5& +3 "core" &,z  \ +2 "manipulator"& & +4 "core" &ӎ*  Bj + "manipulator"&k% +4 "core" %   # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&q( +164 "core" ( + "manipulator"&& +5 "core" & $  + "storage"(d& +4 "core" &,z  a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&a' +89 "core" ' + "storage"(,& +4 "core" &,z ' )\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'r +299 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &,h ! ' ,\  +2 "manipulator"&& +3 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(x& +3 "core" &,h 3 0 _\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&7'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" & T  + "manipulator"&"% +4 "core" % \\ W +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[( +152 "core" ' +50 ."downElevator"SE.stop +3 "storage"(5 +33 "core" ( +2 "manipulator"&#& +4 "core" &  ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" & ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&.' +99 "core" ' + "manipulator"&& +5 "core" & g ; + "manipulator"&w% +4 "core" %   +2 "processing"%& +4 "core" &\ +2 "processing"%j& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%%(^ +4 "core" &\  +9 &/u\ *y +9 &b|\ > +9 &kp\ O +10 &-Q\ N +9 &T\ O +9 &R\ N +10 &rT\ O +9 &4R\ O +10 &O\ N +9 &Q\ N +9 & {R\ N +10 &"<O\ O +9 &#T\ N +9 &%N\ O +10 &'T\ O +9 &)ES\ N +10 &+P\ O +9 &,P\ O +9 &.R\ N +10 &0LR\ O +9 &2S\ O +9 &3R\ O +10 &5O\ N +9 &7UP\ N +9 &9R\ N +10 &:R\ N +9 &<R\ N +10 &>]T\ N +9 &@R\ O +9 &AW\ O +10 &Cb\ Q +9 &E[m\ R +9 &G}\ S +10 &H\ T +9 &J\ U +10 &LW\ V +9 &N\ V +9 &O\ V +10 &Q\ W +9 &S]\ V +9 &U\ W +10 &V\ W +9 &X\ V +10 &Zd\ W +9 &\\&\ W +9 &]{\ ; +10 &^3\ R +9 &^!\ / +2 ( +2 "processing"%j& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&1 +59 "core" 1 + "manipulator"&% +5 "core" %  %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +95 "core" ' +2 "processing"%9& +4 "core" &^ \ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&D% +4 "core" % ! . + "storage"(z% +4 "core" %  \  +2 "storage"(G. +3 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +36 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +2 "manipulator"&& +4 "core" &,{ k\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & : ; +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& ( + "storage"(:'r +5 "core" ( +2 "manipulator"&1& +4 "core" & L ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &  F ; +2 .tForearm.seek PC +2 "manipulator"&T' +96 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +3 .tPC.seek :open +2 "processing"%S( +100 "core" ' + "storage"(0- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(P'1 +40 "core" ' +304 ( +2 "storage"(B& +4 "core" &,e ' , 1\  + "manipulator"&K& +4 "core" & a ; +2 "manipulator"&% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&L' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&O( +242 "core" ( + "manipulator"&& +4 "core" & \\ B +2 "storage"(/& +4 "core" &,e ' ) 4\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +90 "core" ' + .tHand.open +2 "manipulator"&r1 +56 "core" 1 +2 "storage"(8- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(>' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(~' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' +2 "storage"(<& +3 "core" &,e F\ t +2 "manipulator"&p& +4 "core" & # B + .tElbow.seek 4 +2 "manipulator"&Y( +4 "core" ( + "manipulator"&|& +4 "core" & & B +2 "storage"(Q& +4 "core" &,e \ s +2 .tForearm.seek 4 + 450 counts + "manipulator"&^' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"( '" +58 "core" ' +2 "manipulator"&W& +4 "core" & 8 B + "storage"(& +4 "core" &,e  4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&N'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(c' +29 "core" ' + "manipulator"&)% +5 "core" %D  @ + "storage"(4& +4 "core" &,e ' & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 313 counts + "manipulator"&'p +14 "core" ' + "manipulator"&u& +5 "core" & B + "storage"(e& +4 "core" &,e  ,\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&b' +20 "core" ' +2 "storage"(Z% +4 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (C% +2 "core" %vF  W\ Xh +2 "manipulator"&i% +5 "core" % ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +94 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (?& +4 "core" &,e  \  + "collection"'f& +4 "core" &\\_ \ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&!% +4 "core" % " P ) +2 "storage"(A% +4 "core" % 3 * E\ + "storage"($. +4 "core" .(,y + "storage"({& +4 "core" &,e 0 & )\  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(J(,y +13 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (E& +3 "core" &,|   \  +2 "manipulator"&=& +4 "core" &  B +2 .tElbow.seek 4 +2 "manipulator"&-( +3 "core" ( + "manipulator"&*& +4 "core" & B +2 "storage"(]& +4 "core" &,| & ) \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&;' +110 "core" ' +2 "storage"(v& +4 "core" &,| ( '\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'r +294 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&l& +3 "core" &  B +2 "storage"(R& +3 "core" &,i  V\ ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&t'7 +18 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(2- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(m'x +31 "core" ' + "manipulator"&% +5 "core" %K  B S + "storage"(n& +4 "core" &,i \ ! +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&s'w +14 "core" ' + "manipulator"&H& +4 "core" & B +2 "storage"( & +4 "core" &,i   ~\ ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(M' +45 "core" ' +2 "manipulator"&h& +4 "core" & u B +2 "manipulator"&y% +4 "core" % H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ (ӂ +152 "core" ( +2 "manipulator"&5& +4 "core" &ӏ( A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &ӏ) A A_ +2 .tForearm.seek CC +2 "manipulator"&k'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / + .tCC.seek :open +2 "collection"'( +498 "core" ( + "storage"(d& +4 "core" &,i C C \ ! +2 "storage"(6& +3 "core" &,i 1 ? .\ ! +2 "manipulator"&,& +4 "core" &Ӑ( M @^ + "manipulator"&% +4 "core" % E V a +2 .tForearm.seek :retract +2 "manipulator"&X' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +162 "core" ( + "manipulator"&@& +4 "core" &   +2 "storage"(& +4 "core" &,i K K \ ! + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +5 "core" % & @ + "storage"("& +4 "core" &,i P E \ ! + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 283 counts + "manipulator"&q'R +14 "core" ' +2 "manipulator"&a& +4 "core" &   + "storage"(U& +4 "core" &,i T U \ ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +27 "core" ' + "storage"(#% +5 "core" % V X\ +2 ."downElevator"SE.seek :down +3 "storage"(o' +99 (_% +3 "core" %B D D \ Wd +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" & \ + "manipulator"&% +5 "core" %  s  + "storage"(% +4 "core" % d c\ +2 "storage"(F. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<- +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" &<* & & G\  + "manipulator"&9& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&D( +3 "core" ( + "manipulator"&z& +4 "core" & k  +2 "storage"(G& +4 "core" &<* _ c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&j'O +99 "core" ' + "storage"(I& +5 "core" &<* d d @\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(1- +3 "core" -'* +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" &<* I K G\  +2 "manipulator"&.& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&'& +4 "core" &   + "storage"(0& +4 "core" &<* F T +\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&['Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(:' +7 "core" & f  +2 "manipulator"&B% +4 "core" % Ϻ  + .tForearm.seek :retract +2 "manipulator"&K' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +157 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&T& +4 "core" &Ӑ% >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӑ%  >M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'? +91 "core" ' +2 "manipulator"& & +4 "core" &Ӑ% >M +2 "manipulator"&r% +4 "core" %: ( +2 "collection"'8& +4 "core" & \ +2 "collection"'3& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'<(\\ +4 "core" & \ +6 &< \ $e +10 &Wv \ 7 +9 &v \ L +9 &P \ L +10 &xS \ L +9 &;O \ L +10 &S \ L +9 &R \ L +9 &R \ L +10 &CT \ L +9 & R \ L +9 &!R \ L +10 &#S \ L +9 &%JR \ L +10 &' R \ L +9 &(R \ M +9 &*R \ L +10 &,RR \ L +9 &.T \ L +9 &/R \ L +10 &1S \ L +9 &3ZR \ L +9 &5R \ L +10 &6U \ L +9 &8R \ L +10 &:cU \ L +9 &<$T \ L +9 &=S \ M +10 &?T \ L +9 &AjV \ L +9 &C+Y \ M +10 &D_ \ M +9 &Fk \ O +10 &Hc \ Q +9 &J \ V +9 &K \ X +10 &M \ Y +9 &OS \ Z +9 &Q \ Z +10 &R \ Z +9 &T \ [ +10 &VV \ [ +9 &X \ \\ +9 &Y \ ] +10 &[ \ J +9 &\\; \ + +9 &\\ \ [ +3 ( +2 "collection"'3& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 +2 .Hand.open + "manipulator"&p1 +64 "core" 1 + "manipulator"&|% +4 "core" % : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%L& +4 "core" & \ + "manipulator"&W% +4 "core" %    +2 "storage"(% +4 "core" %   F\ \ + "storage"(). +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(4(<- +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (P& +3 "core" &<* ?\  +2 "manipulator"&u& +4 "core" &ӑ% < >L + "manipulator"&e% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&>( +160 "core" ( + "manipulator"&Z& +5 "core" &  + "storage"(O& +4 "core" &<* ( & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +94 "core" ' + "storage"(~& +5 "core" &<* 8\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'r +299 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &<*  ]\  + "manipulator"&Y& +4 "core" & p +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"&N& +4 "core" &   X +2 "storage"(& +3 "core" &<* ' (\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&?'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(A' +7 "core" &  + "manipulator"&$% +4 "core" % ϳ J +2 .tForearm.seek :retract +2 "manipulator"&c' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&{( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&E& +5 "core" & m 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +2 "core" & K 0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&*' +102 "core" ' +2 "manipulator"&]& +4 "core" & 0 + "manipulator"&b% +4 "core" %  +2 "processing"%v& +4 "core" & \ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "Can"\ TP +2 "processing"% (^ +3 "core" &\ +6 &\ 5 +9 &<Fq\ 0 +10 &bq|\ E +9 &]\ O +10 &S\ N +9 &O\ N +9 &HR\ N +10 &\ P\ N +9 &R\ O +9 &R\ O +10 &PP\ N +9 &!O\ N +10 &"R\ N +9 &$Q\ N +9 &&WN\ O +10 &(N\ O +9 &)T\ O +9 &+R\ N +10 &-`Q\ N +9 &/ T\ O +10 &0P\ O +9 &2O\ O +9 &4gN\ O +10 &6)T\ O +9 &7R\ O +9 &9R\ N +10 &;pR\ N +9 &=1R\ O +10 &>W\ O +9 &@T\ O +9 &Bs`\ P +10 &D2e\ Q +9 &E|\ T +9 &G\ U +10 &Ik\ U +9 &K-\ U +10 &L\ V +9 &N\ V +9 &Pp\ W +10 &R0\ W +9 &S\ W +9 &U\ V +10 &Wx\ W +9 &Y8\ W +10 &Z\ W +9 &\\\ W +9 &^4b\ + +10 &^}\ > +8 ( +4 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 +2 .Hand.open + "manipulator"&1 +3 "core" &^4\ 8 +55 1 + "manipulator"&\\% +4 "core" %  O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +50 "manipulator"&' +99 "core" ' + "processing"%l& +4 "core" &^4\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&R% +4 "core" % # A 5 +2 "storage"(2% +3 "core" % O\ +2 "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(n(<- +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +5 "manipulator"& & + "core" &<+ \  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & j 0 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(h'r + "manipulator"&y( +5 "core" ( +2 "manipulator"&;& +4 "core" & 6 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &   0 +2 .tForearm.seek PC +2 "manipulator"&g' +99 "core" ' +2 .tHand.close +2 "manipulator"&t/ +54 "core" / +2 .tPC.seek :open +2 "processing"%s( +90 "core" ' + "storage"(m- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'1 +43 "core" ' +314 ( +2 "storage"( & +4 "core" &<+   H\  +2 "manipulator"&& +3 "core" & \ 0 +2 "manipulator"&`% +4 "core" %  M + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +256 "core" ( + "manipulator"&(& +4 "core" & +2 "storage"(d& +3 "core" &<+  Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&6'O +93 "core" ' + .tHand.open +2 "manipulator"&,1 +52 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(@' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! + "storage"(k- +4 "core" -' +2 "storage"(\ & +4 "core" &<+ \ v + "manipulator"&& +4 "core" & \  +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&"& +4 "core" & : +2 "storage"(a& +4 "core" &<+ /\ v +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(#'" +57 "core" ' +2 "manipulator"&X& +4 "core" &  +2 "storage"(_& +4 "core" &<+   \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 "manipulator"&% +4 "core" %Θ G +2 "storage"(q& +4 "core" &<+ &\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&& +4 "core" & +2 "storage"(F& +4 "core" &<+ & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&M'O +18 "core" ' +2 "storage"(7% +4 "core" % ( , F\ +3 ."downElevator"SE.seek :down +3 "storage"(o' +99 (J% +3 "core" %K   \ Yj +2 "manipulator"&% +4 "core" %K , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +94 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (z& +4 "core" &<+ p\  + "collection"'G& +4 "core" &\\y \ [ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&I% +4 "core" % # X / +2 "storage"(x% +4 "core" %  '\ + "storage"(w. +3 "core" .(<- +2 "storage"(1& +4 "core" &<+  (\  + "storage"(&& +4 "core" &<+  \  +2 "manipulator"&.& +3 "core" &  X +2 .tElbow.seek 5 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&0& +3 "core" &  G +2 "storage"(V& +4 "core" &<+  3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&%'O +94 "core" ' +2 "storage"(B& +4 "core" &<+ )\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +297 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&T& +3 "core" & +2 "storage"(& +4 "core" &<+ % & C\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(r' +27 "core" ' + "manipulator"&8% +5 "core" %΅  t  + "storage"(& +4 "core" &<+  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 292 counts +2 "manipulator"&:'ϱ +17 "core" ' + "manipulator"&K& +5 "core" &  + "storage"(& +4 "core" &<+ 3 , M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(|' +36 "core" ' +2 "manipulator"&L& +4 "core" & +2 "manipulator"&W% +4 "core" %a P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&)(ӂ +156 "core" ( +2 "manipulator"&3& +4 "core" &ӏ( @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &ӏ( @Z +2 .tForearm.seek CC +2 "manipulator"&u'? +94 "core" ' + .tHand.close + "manipulator"&e/ +60 "core" / +2 .tCC.seek :open +2 "collection"'/( +447 "core" ( +2 "storage"(Z& +4 "core" &<+ ' * \  +2 "storage"(O& +3 "core" &<+ % % \  +2 "manipulator"&& +3 "core" &ӑ( s @X +2 "manipulator"&~% +4 "core" % 1 + > + .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Q( +166 "core" ( + "manipulator"&i& +4 "core" &   +2 "storage"(^& +4 "core" &<+ : 4\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&Y'΍ +92 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&f% +4 "core" % Κ d L +2 "storage"(!& +3 "core" &<+ 4 4\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&$' +16 "core" ' +2 "manipulator"&>& +4 "core" & ]  + "storage"(+& +4 "core" &<+ V T \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C'O +16 "core" ' + "storage"(?% +4 "core" % X c\ +3 ."downElevator"SE.seek :down +3 "storage"(E' +99 (=% +2 "core" %< K J 4\ Vb +2 "manipulator"& % +5 "core" %= + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +52 "manipulator"&]' +88 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'b& +5 "core" & \ +2 "manipulator"&v% +4 "core" %    + "storage"(A% +5 "core" % T T 9\  + "storage"(c. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(S(K +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K C D B\  +2 "manipulator"&\\& +4 "core" & C  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&l& +3 "core" & %  +2 "storage"(R& +4 "core" &K Z V \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&2' +94 "core" ' + "storage"(& +4 "core" &K c g T\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'r +300 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (;& +4 "core" &K I B $\  + "manipulator"&-& +4 "core" & |  +2 .tElbow.seek 6 +2 "manipulator"&*( +3 "core" ( + "manipulator"&t& +4 "core" &  +2 "storage"(4& +3 "core" &K : F ,\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&m'h +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( ' +6 "core" & +  +2 "manipulator"&h% +4 "core" % ϕ  > +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&`& +4 "core" &Ӓ% = >M + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &Ӓ% e >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&('? +97 "core" ' + "manipulator"&d& +4 "core" &ӓ%  q >L +2 "manipulator"&y% +5 "core" %B  9 + "collection"',& +4 "core" & 4\ +3 "collection"'& +4 "core" & 5\ +2 .tCC.seek :closed +2 "collection"'k(\\ +5 "core" & \  +7 &5| \ +{ +10 & f{ \ ? +9 &m \ M +9 &\\O \ L +10 &R \ L +9 &S \ L +10 &R \ L +9 &cQ \ L +9 &%T \ L +10 &R \ M +9 & R \ L +9 &"mS \ L +10 &$.R \ L +9 &%R \ L +10 &'R \ L +9 &)sS \ L +9 &+6P \ L +10 &,S \ L +9 &.R \ L +9 &0{S \ L +10 &2=R \ L +9 &4U \ L +10 &5S \ L +9 &7S \ L +9 &9DT \ M +10 &;R \ L +9 &<S \ L +9 &>T \ M +10 &@MS \ L +9 &BW \ L +10 &CZ \ M +9 &Ee \ N +9 &GKq \ P +10 &I \ S +9 &J \ X +9 &Lw \ Y +10 &N7 \ Y +9 &O \ Z +10 &Q \ Z +9 &S{ \ Z +9 &U9 \ [ +10 &V \ \\ +9 &X \ \\ +9 &Zz \ ] +10 &\\y \ 0 +9 &\\1 \ d +9 ( +2 &\\s \ Q +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 + .Hand.open +2 "manipulator"&\ 1 +58 "core" 1 + "manipulator"&% +5 "core" % B 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%a& +4 "core" &\ +2 "manipulator"&% +4 "core" %    + "storage"(X% +4 "core" %  /\  +2 "storage"(_. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (q& +3 "core" &K$ \  + "manipulator"&5& +4 "core" &Ӕ% >K +2 "manipulator"&% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&F( +164 "core" ( +2 "manipulator"&@& +4 "core" & K  +2 "storage"(7& +3 "core" &K  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +93 "core" ' + "storage"(6& +5 "core" &K \ ' }\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K  c\  +2 "manipulator"&U& +4 "core" & f  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&#& +3 "core" & W  +2 "storage"(& +4 "core" &K  s\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +44 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&G& +3 "storage"(I' +8 "core" & 0  + "manipulator"&x% +4 "core" % V   +2 .tForearm.seek :retract +2 "manipulator"&w' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&( +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&1& +4 "core" &  9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &  % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&.' +91 "core" ' + "manipulator"&0& +4 "core" & +2 "manipulator"&V% +4 "core" % . n +2 "processing"%M& +3 "core" &\ +2 "processing"%B& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%o(^ +4 "core" &\ +8 & .\ $c +9 &Tw\ 7 +9 &}u\ K +10 &R\ O +9 &MP\ N +9 &Q\ N +10 &P\ O +9 &T\ N +10 &TO\ O +9 &R\ O +9 &O\ O +10 &!O\ O +9 &#\\T\ O +10 &%R\ O +9 &&Q\ N +9 &(Q\ N +10 &*eR\ N +9 &,%V\ O +9 &-O\ O +10 &/Q\ O +9 &1mS\ N +9 &3/Q\ N +10 &4S\ O +9 &6S\ O +10 &8tQ\ O +9 &:6P\ O +9 &;Q\ O +10 &=S\ N +9 &?{T\ O +9 &A=W\ O +10 &Bb\ P +9 &Dn\ R +10 &Ft\ T +9 &H1\ V +9 &I\ U +10 &K\ V +9 &Mv\ V +9 &O8\ V +10 &P\ V +9 &R\ V +10 &T|\ W +9 &V>\ W +9 &X\ W +10 &Y\ W +9 &[\ W +9 &]D\ N +10 &^zK\ _ +9 &^ O\ 6 +6 ( +2 "processing"%B& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"&1 +3 "core" &^(\ 6 +52 1 + "manipulator"&9% +5 "core" %  m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +89 "core" ' +2 "processing"%T& +4 "core" &^( \ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %    + "storage"( % +4 "core" %  \ +2 "storage"(8. +3 "core" .(K + "storage"(& +4 "core" &K  =\  +2 "storage"(K& +2 "manipulator"&& +6 "core" &K  \  + & g +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b + .tElbow.seek PC +4 "manipulator"&L( +4 ."raiseStack"SE.seek :beamBreak + "storage"(W'r +3 "core" ( +2 "manipulator"&%& +4 "core" & F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" & +2 .tForearm.seek PC + "manipulator"&D' +94 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tPC.seek :open +2 "processing"%:( +99 "core" ' +2 "storage"(r- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'1 +39 "core" ' +334 ( +2 "storage"(P& +4 "core" &K & ?\  + "manipulator"&p& +4 "core" & +2 "manipulator"&[% +3 "core" %  - 4 +2 .tForearm.seek :retract +2 "manipulator"&e' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +238 "core" ( + "manipulator"&<& +55 "core" & b , +2 "storage"(Z& +3 "core" &K  *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&O' +92 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 + "storage"(~- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(i' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(^' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(u- +3 "core" -' +2 "storage"()& +4 "core" &K X R\ g + "manipulator"&& +4 "core" &  , +2 .tElbow.seek 6 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&!& +4 "core" &   E , + "storage"(>& +4 "core" &K T T $\ f +3 .tForearm.seek 6 + 450 counts + "manipulator"&+' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(?'" +52 "core" ' +2 "manipulator"&& +4 "core" & B , +2 "storage"(=& +4 "core" &K  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"& '< +24 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Y' +20 "core" ' +2 "manipulator"&b% +4 "core" %7  +2 "storage"(v& +4 "core" &K   G\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 295 counts + "manipulator"&$'c +13 "core" ' +2 "manipulator"&A& +4 "core" & ` , +2 "storage"(c& +4 "core" &K ' (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&|' +15 "core" ' +2 "storage"(C% +4 "core" % ' &\ +3 ."downElevator"SE.seek :down +3 "storage"(E' +99 (n% +3 "core" %<Q B\ Yl +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +92 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (l& +4 "core" &K ?\  +2 "collection"'R& +4 "core" &\\s \ Q + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %  E  + "storage"(N% +4 "core" % & $ 8\ +2 "storage"(]. +3 "core" .(K + "storage"( & +4 "core" &K  P\  +2 "storage"(;& +4 "core" &K   h\  + "manipulator"&-& +4 "core" & d , + .tElbow.seek 6 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&4& +4 "core" & z , + "storage"({& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +100 "core" ' + "storage"(h& +4 "core" &K  =\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +301 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +2 "core" &  x , +2 "storage"(g& +4 "core" &K & $\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&H'< +14 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(d- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(y' +31 "core" ' + "manipulator"&,% +4 "core" %E Q ? +2 "storage"(*& +4 "core" &K  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"& 'q +14 "core" ' +2 "manipulator"& & +4 "core" &  + +2 "storage"(/& +4 "core" &K & ' \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ ' +18 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(' +35 "core" ' + "manipulator"&a& +4 "core" &  K + +2 "manipulator"&% +4 "core" %  [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&_(ӂ +156 "core" ( +2 "manipulator"&& +4 "core" &Ӕ# <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +2 "core" &Ӕ# \\ <; +2 .tForearm.seek CC +2 "manipulator"&5'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'(( +451 "core" ( + "storage"(@& +4 "core" &K D F \  +2 "storage"(7& +4 "core" &K C D\  + "manipulator"&S& +4 "core" &Ӕ# <; +2 "manipulator"&6% +3 "core" % F G S +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&"( +158 "core" ( +2 "manipulator"&J& +4 "core" & Y \ +2 "storage"(& +4 "core" &K S F }\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&U'< +96 "core" ' + .tElbow.hold +2 "manipulator"&#, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&z% +4 "core" % <  $ + "storage"(G& +4 "core" &K T Y J\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&x'h +13 "core" ' +2 "manipulator"&F& +4 "core" & i \ +2 "storage"(}& +3 "core" &K c X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(% +5 "core" % Y ] T\ \ +2 ."downElevator"SE.seek :down +3 "storage"(1' +99 (&% +3 "core" %W< @ G \ Wc +2 "manipulator"&% +4 "core" %  W + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +46683 "Can"8\ >; +54404 #t-> access 4 +3 "storage"(V% +3 "core" % } \  +2 "manipulator"&M% +3 "core" %  |  +2 "manipulator"&I& +4 "core" &  W \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(w(C +1623 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +2 "core" &D e d u\ +1787 #t-> access 5 +2 "storage"(% +3 "core" % { \  +2 "manipulator"&9% +4 "core" %   +2 "manipulator"&T& +3 "core" & \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &  w k ~\  +1769 "Can"+\ >; +2286 #t-> access 6 +2 "storage"(8% +3 "core" % x '\  +2 "manipulator"&% +4 "core" %    + "manipulator"&K& +4 "core" & v \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +2 "core" & q f \ +10782 #t-> exit +5 #mEXIT @1632402978.25PDT @1632416845.63PDT = =mMAIN_scheduler =tMAIN @PDT1632416847.55 #"core_reset"Sent BREAK +2 #t@56836 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +292 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +409 "Can"\ !p + \ !p + #tPolling Can every 10:00 +2 #Cleanly exited at 06:16:18PDT23-Sep-21 +1584 !o:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +4 #mEXIT @1632416872.58PDT @1632416908.41PDT = =tMAIN =mMAIN_scheduler @PDT1632416910.20 #"core_reset"Sent BREAK +2 #t@57890 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can"\ "v + \ "v + #tPolling Can every 10:00 +2 #Cleanly exited at 10:07:52PDT23-Sep-21 +710 #-> ESP.ready! +3 #Powering core bus +578 .Gate.power :raw,:ON +2 "sampler") +24 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ 5\ +2 .tSS.configure :default +2 "sampler")#.0X& +3 "core" & ) +2 "storage"(?& +3 "core" &,| \  +2 "storage"(@% +4 "core" %? \ ` + "collection"'A9 +3 "core" 9zV +2 "processing"%B9 +3 "core" 9s +818 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%C +85 "core" +504 #t-> PTV.PRV +3 .PTV.dial PRV + "processing"%D @ +71 "core" A +575 #t-> PRV.AB1 +2 .PRV.dial :AB1 + "processing"%E @ +130 "core" A +1833 #t-> PS.pull 2 +2 "processing"%F% +3 "core" %ؾ\ +2 .tPS.seek 2ml +2 "processing"%G' +2116 "core" ' + "processing"%H% +4 "core" %\  +1212 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%I  +104 "core"  +497 #t-> PS.empty +3 .PS.seek 0ml + "processing"%J'ؾ +2124 "core" ' + "processing"%K% +4 "core" %\ +1261 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%L +104 "core" +950 #t-> PS.pull 0.4 +2 "processing"%M% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%N' +496 "core" ' +43 "processing"%O% +4 "core" % \  +1675 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%P' +2224 "core" ' + "processing"%Q% +4 "core" %\  +30454 #t-> PSV.waste2 + .PSV.dial :waste2 +2 "processing"%R  +131 "core"  +1225 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%S'ؾ +2630 "core" ' +2 "processing"%T% +4 "core" %\ +544 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%U +134 "core" ~ +718 #t-> PS.pull 0.4 +2 "processing"%V% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%W' +492 "core" ' + "processing"%X% +4 "core" % \  +1497 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%Y' +1034 "Can"\ LI +1188 "core" ' + "processing"%Z% +4 "core" %\  +1535 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%[  +103 "core"  +331 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%\\'ؾ +2628 "core" ' + "processing"%]% +4 "core" %"\ +670 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%^ +105 "core" +521 #t-> PS.pull 0.4 + "processing"%_% +4 "core" %\ +2 .tPS.seek 0.4ml + "processing"%`' +494 "core" ' +2 "processing"%a% +4 "core" % \  +1836 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%b' +2232 "core" ' +2 "processing"%c% +3 "core" % \  +1662 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%d  +104 "core"  +418 #t-> PS.empty +3 .PS.seek 0ml +2 "processing"%e'ؾ +2628 "core" ' + "processing"%f% +4 "core" %\ +699 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%g +103 "core" +1804 #t-> PS.pull 0.4 +2 "processing"%h% +3 "core" %\ +2 .tPS.seek 0.4ml +2 "processing"%i' +495 "core" ' +2 "processing"%j% +4 "core" % \  +1809 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%k' +2221 "core" ' +2 "processing"%l% +4 "core" %*\  +1927 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%m  +104 "core"  +570 #t-> PS.empty +3 .PS.seek 0ml + "processing"%n'ؾ +2629 "core" ' + "processing"%o% +5 "core" %1\ +438 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%p +104 "core" +561 #t-> PS.pull 0.4 +2 "processing"%q% +3 "core" %0\ +2 .tPS.seek 0.4ml +2 "processing"%r' +504 "core" ' +2 "processing"%s% +4 "core" % /\ +1035 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%t' +2224 "core" ' + "processing"%u% +4 "core" %.\  +1057 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%v  +104 "core"  +392 #t-> PS.empty +3 .PS.seek 0ml +2 "processing"%w'ؾ +2636 "core" ' + "processing"%x% +4 "core" %ؼ5\ +447 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%y +105 "core" +574 #t-> PS.pull 0.4 + "processing"%z% +3 "core" %ؼ3\ +2 .tPS.seek 0.4ml +2 "processing"%{' +488 "core" ' + "processing"%|% +4 "core" % :\  +1406 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%}' +2229 "core" ' + "processing"%~% +4 "core" %2\  +1717 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%  +116 "core"  +464 #t-> PS.empty +3 .PS.seek 0ml + "processing"%'ؾ +2630 "core" ' + "processing"%% +4 "core" %=\ +501 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"% +104 "core" +3149 #t-> PS.pull 0.1 +2 "processing"%% +3 "core" %<\ +2 .tPS.seek 0.1ml +2 "processing"%' +182 "core" ' + "processing"%% +4 "core" %9\  +265 #t-> PS.pull 0.1 +2 "processing"%% +3 "core" %6\  +2 .tPS.seek 0.2ml +2 "processing"%'I +184 "core" ' + "processing"% % +4 "core" %G0\ \ +248 #t-> PS.pull 0.1 +2 "processing"%\ % +3 "core" %G/\ \ +2 .tPS.seek 0.3ml +2 "processing"% '\ +175 "core" ' + "processing"% % +4 "core" %=\  +6922 "Can"\ HF +40290 #t-> PS.pull 0.5 +2 "processing"% % +3 "core" %\  +2 .tPS.seek 0.8ml +2 "processing"%'> +598 "core" ' +2 "processing"%% +3 "core" %>\  +534 #t-> PSV.waste1 +3 .PSV.dial :waste1 + "processing"%  +104 "core"  +342 #t-> PS.empty +2 .PS.seek 0ml + "processing"%'ؾ +899 "core" ' + "processing"%% +4 "core" %ؽ\ | +2288 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"% +44 "core"  +533 #t-> PSR.flush + .PSR.select :flush +2 "processing"%j +1759 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%' +2639 "core" ' + "processing"%% +4 "core" %\  +560 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"% +71 "core" +568 #t-> PTV.PRV +2 .PTV.dial PRV +732 #-> PRV.air +2 .PRV.dial :air +2 "processing"%  +73 "core"  +1259 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' + "processing"%% +4 "core" %ؿ\ +604 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"% +73 "core"  +470 #t-> PSR.flush +2 .PSR.select :flush +691 #-> PS.fill +2 .PS.seek 2.5ml +2 "processing"% ' +2173 "Can"\ KI +465 "core" ' + "processing"%#% +4 "core" %\  +567 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%" +73 "core" +703 #t-> PTV.PRV +2 .PTV.dial PRV +706 #-> PRV.air +2 .PRV.dial :air +624 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%%'ؾ +2632 "core" ' +2 "processing"%!% +4 "core" %ؼ\  +752 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%$ +73 "core"  +372 #t-> PSR.air + .PSR.select :air +2 "processing"% +404 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%&' +2638 "core" ' +2 "processing"%% +4 "core" %\  +791 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%' +86 "core" +696 #t-> PTV.PRV +2 .PTV.dial PRV +1122 #-> PRV.air +2 .PRV.dial :air +1346 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%*'ؾ +2639 "core" ' +2 "processing"%-% +4 "core" %\ +838 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%/ +73 "core"  +351 #t-> PSR.air + .PSR.select :air +328 #-> PS.fill +2 .PS.seek 2.5ml + "processing"%0' +2634 "core" ' + "processing"%1% +4 "core" %\ ~ +727 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"% +75 "core" +467 #t-> PTV.PRV +2 .PTV.dial PRV +495 #-> PRV.air +2 .PRV.dial :air +434 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%'ؾ +2628 "core" ' +2 "processing"%+% +4 "core" %\ ~ +34176 "Can"\ JG +1564 #t-> PSV.PTV +2 .PSV.dial PTV +613 #-> PTV.PRV +2 .PTV.dial PRV +710 #-> PRV.AB2 +2 .PRV.dial :AB2 + "processing"%4  +44 "core"  +2701 #t-> PS.pull 2 +2 "processing"%5% +3 "core" %\ +2 .tPS.seek 2ml +2 "processing"%6' +2116 "core" ' +2 "processing"%7% +4 "core" %\  +1960 #t-> PSV.waste1 +2 .PSV.dial :waste1 +2 "processing"%8  +104 "core"  +545 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%9'ؾ +2121 "core" ' + "processing"%:% +4 "core" %%\ +663 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%; +117 "core" ~ +674 #t-> PS.pull 0.4 +2 "processing"%<% +3 "core" %B\ +2 .tPS.seek 0.4ml +2 "processing"%=' +485 "core" ' +2 "processing"%>% +4 "core" % *\  +2505 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%?' +2229 "core" ' + "processing"%@% +4 "core" %\ \ +3311 #t-> PSV.waste 2 +2 !o:NoMethodError : mesgu:NameError::message+undefined method `waste' for PSV:Shaft: name:\ waste: args[i:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):82:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1091 #-> PSV.waste2 +2 .PSV.dial :waste2 +2 "processing"%A  +134 "core"  +22191 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%B'ؾ +2629 "core" ' +2 "processing"%C% +4 "core" %*\ +522 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%D +133 "core" ~ +522 #t-> PS.pull 0.4 +2 "processing"%E% +3 "core" %.\ +2 .tPS.seek 0.4ml +2 "processing"%F' +493 "core" ' +2 "processing"%H% +4 "core" % N\  +1684 #t-> PS.fill + .PS.seek 2.5ml +2 "processing"%I' +2232 "core" ' + "processing"%G% +4 "core" %.\  +1464 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%K  +103 "core"  +374 #t-> PS.empty +3 .PS.seek 0ml + "processing"%L'ؾ +2634 "core" ' +2 "processing"%M% +3 "core" %ؽ$\ +414 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%J +105 "core" +566 #t-> PS.pull 0.4 + "processing"%O% +3 "core" %ؽ*\ +2 .tPS.seek 0.4ml +2 "processing"%N' +121 "Can"\ MJ +362 "core" ' +2 "processing"%Q% +4 "core" % +\  +1906 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%R' +2228 "core" ' + "processing"%P% +4 "core" %*\  +1326 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%T  +104 "core"  +347 #t-> PS.empty +3 .PS.seek 0ml + "processing"%U'ؾ +2636 "core" ' + "processing"%V% +4 "core" %ؿ/\ +499 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%S +104 "core" +1260 #t-> PS.pull 0.4 + "processing"%X% +4 "core" %ؿY\ +2 .tPS.seek 0.4ml +2 "processing"%W' +485 "core" ' + "processing"%Z% +4 "core" % *\  +1335 #t-> PS.fill + .PS.seek 2.5ml +2 "processing"%[' +2222 "core" ' + "processing"%Y% +4 "core" %3\  +1555 #t-> PSV.waste1 +2 .PSV.dial :waste1 + "processing"%]  +104 "core"  +451 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%^'ؾ +2625 "core" ' + "processing"%_% +4 "core" %G\ +658 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%\\ +105 "core" +895 #t-> PS.pull 0.4 + "processing"%a% +3 "core" %]\ +2 .tPS.seek 0.4ml +2 "processing"%`' +490 "core" ' +2 "processing"%c% +4 "core" % `\  +1296 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%d' +2227 "core" ' + "processing"%b% +4 "core" %>\  +1407 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%f  +103 "core"  +700 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%g'ؾ +2628 "core" ' + "processing"%h% +4 "core" %?\ +524 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%e +103 "core" +562 #t-> PS.pull 0.4 + "processing"%j% +3 "core" %=\ +2 .tPS.seek 0.4ml +2 "processing"%i' +491 "core" ' +3 "processing"%l% +4 "core" % c\  +968 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%m' +2228 "core" ' + "processing"%k% +4 "core" %D\  +1117 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%o  +104 "core"  +272 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%p'ؾ +2629 "core" ' + "processing"%q% +4 "core" %ؿB\ +453 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%n +105 "core" +1227 #t-> PS.pull 0.1 +2 "processing"%s% +3 "core" %ؿ=\ +2 .tPS.seek 0.1ml +2 "processing"%r' +176 "core" ' + "processing"%u% +4 "core" %}A\ \ +153 #t-> PS.pull 0.1 +2 "processing"%v% +3 "core" %}A\ \ +2 .tPS.seek 0.2ml +2 "processing"%t'@ +186 "core" ' +2 "processing"%x% +4 "core" %Dh\  +106 #t-> PS.pull 0.1 +2 "processing"%y% +3 "core" %DA\  +2 .tPS.seek 0.3ml + "processing"%z' +186 "core" ' +2 "processing"%w% +4 "core" %I\  +153 #t-> PS.pull 0.1 +2 "processing"%|% +3 "core" %@\  +2 .tPS.seek 0.4ml + "processing"%{' +193 "core" ' + "processing"%~% +4 "core" % ?\  +470 #t-> PS.pull 0.1 +2 "processing"%% +3 "core" % j\  +2 .tPS.seek 0.5ml +2 "processing"%}' +178 "core" ' +2 "processing"%% +4 "core" %J\  +17143 "Can"\ HE +23102 #t-> PS.pull 0.5 +2 "processing"%% +3 "core" %\  +2 .tPS.seek 1ml +2 "processing"%'X] +605 "core" ' +2 "processing"%% +3 "core" %X_\ +423 #t-> PSV.waste1 + .PSV.dial :waste1 +2 "processing"%  +105 "core"  +385 #t-> PS.empty +3 .PS.seek 0ml + "processing"%'ؾ +1103 "core" ' + "processing"% % +4 "core" %\ +3370 #t-> PSV.PSr +2 .PSV.dial :PSr + "processing"% +45 "core"  +503 #t-> PSR.flush +2 .PSR.select :flush +2 "processing"%@ +310 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%\ ' +2628 "core" ' + "processing"% % +4 "core" %>\  +827 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"% +73 "core" +471 #t-> PTV.PRV +3 .PTV.dial PRV +526 #-> PRV.air + .PRV.dial :air +2 "processing"%  +43 "core"  +438 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"% 'ؾ +2641 "core" ' +2 "processing"%% +4 "core" %ؼ\ +615 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"% +75 "core"  +431 #t-> PSR.flush +2 .PSR.select :flush +341 #-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%' +2651 "core" ' +2 "processing"%% +4 "core" %\ +581 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"% +74 "core" +574 #t-> PTV.PRV + .PTV.dial PRV +400 #-> PRV.air +2 .PRV.dial :air +612 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%'ؾ +2631 "core" ' + "processing"%% +4 "core" %\ +2227 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"% +76 "core"  +305 #t-> PSR.air + .PSR.select :air +2 "processing"% +363 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%' +2635 "core" ' +2 "processing"%% +4 "core" %\  +696 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"% +74 "core" +498 #t-> PTV.PRV +2 .PTV.dial PRV +325 #-> PRV.air + .PRV.dial :air +364 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' + "processing"%% +4 "core" %\ +852 #t-> PSV.PSR +34 .PSV.dial PSR +14 "processing"%# +74 "core"  +263 #t-> PSR.air + .PSR.select :air +655 #-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%"' +1202 "Can"\ LI +1445 "core" ' +2 "processing"% % +4 "core" %0\ +720 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%! +74 "core" +496 #t-> PTV.PRV + .PTV.dial PRV +420 #-> PRV.air + .PRV.dial :air +395 #-> PS.empty +2 .PS.seek 0ml +2 "processing"%$'ؾ +2632 "core" ' +2 "processing"%%% +4 "core" %b\ +15666 #t-> exit +6 #mEXIT @1632421338.26PDT @1632743221.94PDT = =tMAIN =mMAIN_scheduler @PDT1632743223.98 #"core_reset"Sent BREAK +2 #t@40250 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +298 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +424 "Can"&\ !t + &\ !t + #tPolling Can every 10:00 +429 #-> ESP.ready! +3 #Powering core bus +572 .Gate.power :raw,:ON +2 "sampler") +37 ) +3 "core"  + "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" % \ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +4 "core" %\ \ \ + .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(;% +4 "core" %E d c \ e + "manipulator"&<% +4 "core" %  b  +2 "manipulator"&=& +4 "core" & ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +3 "core" &K 2 5 \  +23016 "Can".\ HF +7670 #t-> $da[:extractVol]=0.20 +3427 #-> $da[:extractVol]=0.21 +3316 #-> access 5 +2 "storage"(@% +3 "core" %D a b \ e +2 "manipulator"&A% +4 "core" %  ;  + "manipulator"&B& +4 "core" & P ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(C(  +1308 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" & @ F \ +8307 #t-> startTube 5 +284 #-> shortDA +3 "collection"'E% +2 "processing"%F% +4 "core" %e #\ +6 %ؼ"\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +4772 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%G +44 "core" +2 .tPTV.dial :PRVmixing + "processing"%H  +72 "core" +2 .tPRV.dial :sipper + "processing"%I  +102 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%J'e +2290 "core" ' +3 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%K  + "collection"'L  +74 "core" +55  +2 .tPS.seek 0.5ml +2 "processing"%M' +1271 "core" ' + .tPRV.dial :waste2 +2 "processing"%N @ +98 "core" ? +2 .tPS.reconfigure :default +5 "processing"%#A d`xb +2 .tPS.seek 0ml + "processing"%O'ؾ +592 "core" ' + .tPSV.dial PSR +2 "processing"%P +102 "core"  + "processing"%Q% +4 "core" %ؿ\ + #tPulling 1ml of PSR.flush +36 .PSR.select :flush +8 "processing"%j +9 .tPS.seek 1ml + "processing"%R'X\\ +1101 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml + "processing"%S' +1612 "core" ' + .tPSV.dial :mixloop + "processing"%T +102 "core" +2 .tPS.seek 0ml +2 "processing"%U'ؾ +2635 "core" ' +2 .tPSV.dial PSR + "processing"%V +102 "core"  + "processing"%W% +5 "core" %ؼ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush + "processing"%@ +10 .tPS.seek 1ml + "processing"%X'X\\ +1097 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%Y' +1611 "core" ' + .tPSV.dial :mixloop +2 "processing"%Z +114 "core" +2 .tPRV.dial :sipper + "processing"%[  +43 "core" +2 .tPS.seek 0ml + "processing"%\\'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%] +100 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml + "processing"%^' +2633 "core" ' + .tPSV.dial :mixloop + "processing"%_ +102 "core" +2 .tPS.seek 0ml + "processing"%`'ؾ +2636 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%a& +4 "core" &\  + .tHand.open + "manipulator"&b1 +64 "core" 1 + "manipulator"&c% +5 "core" %  7  + "storage"(d% +4 "core" %D e e c\ e + "storage"(e. +3 "core" .(  +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(f(<- +985 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +3 (g& +2 "core" &<,  5 *\  +2 "manipulator"&h& +4 "core" &  ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&i( +28 "core" ( + "manipulator"&j& +4 "core" &  f +2 "storage"(k& +4 "core" &<, Z [ \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&l'O +89 "core" ' + "storage"(m& +4 "core" &<, q\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'r +300 "core" ' +2 "storage"(o- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &<, 6\  +2 "manipulator"&q& +4 "core" &  ? f + .tElbow.seek 5 + "manipulator"&r( +3 "core" ( +2 "manipulator"&s& +3 "core" & K f +2 "storage"(t& +4 "core" &<, \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&u'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(x' +7 "core" & P f + "manipulator"&y% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&z' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&{( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&|& +4 "core" & ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" & ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&~' +98 "core" ' + "manipulator"&& +5 "core" &  ! + "manipulator"&% +4 "core" % t +2 "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" &\  +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\  +8 &C\ $e +9 &vV~\ 8 +10 &~{\ L +9 &~X\ P +9 &BX\ O +10 &Y\ P +9 &Y\ O +10 &Z\ O +9 &IY\ O +9 & \\\ O +10 &Z\ O +9 &!Z\ O +9 &#QW\ O +10 &%V\ O +9 &&Z\ P +10 &(Z\ P +9 &*YZ\ O +9 &,W\ O +10 &-V\ O +9 &/Z\ P +10 &1aW\ O +9 &3$U\ O +9 &4W\ O +10 &6[\ O +9 &8hZ\ P +9 &:,U\ O +10 &;\\\ P +9 &=Z\ O +9 &?rY\ O +10 &A2]\ P +9 &Bd\ Q +10 &Ds\ R +9 &Fg\ U +9 &H(\ V +10 &I\ V +9 &K\ U +9 &Mm\ V +10 &O.\ V +9 &P\ X +10 &R\ V +9 &Tp\ X +9 &V6\ V +10 &W\ W +9 &Y\ W +9 &[x\ X +10 &]:\ R +9 &^vAq\ *{ +10 &^-\ 1 +5 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 .Hand.open + "manipulator"&1 +3 "core" &^!\ 1 +56 1 +2 "manipulator"&% +4 "core" %  ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"% h +2 % 9 +6 "core" 9 +102 "processing"%\ 9 +3 "core" 9 +102 "processing"% 9 +2 "core" 9  +102 "processing"% 9 +2 "core" 9  +102 "processing"% 9 +4 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +3 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +2 "core" 97 +103 "processing"%9 +2 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"%9 +2 "core" 9C +103 "processing"%9 +2 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%"9 +3 "core" 9P +102 "processing"%%9 +3 "core" 9T +102 "processing"%'9 +2 "core" 9X +102 "processing"%(9 +3 "core" 9] +102 "processing"%)9 +2 "core" 9a +102 "processing"%9 +3 "core" 9e +102 "processing"%9 +3 "core" 9i +102 "processing"%#9 +3 "core" 9m +102 "processing"%,9 +2 "core" 9r +102 "processing"%-9 +2 "core" 9v +102 "processing"%.9 +3 "core" 9z +102 "processing"%/9 +2 "core" 9~ +102 "processing"%09 +3 "core" 9 +102 "processing"%19 +2 "core" 9 +102 "processing"%29 +2 "core" 9 +102 "processing"%39 +4 "core" 9 +102 "processing"%49 +2 "core" 9 +102 "processing"%59 +2 "core" 9 +102 "processing"%69 +3 "core" 9 +102 "processing"%79 +2 "core" 9 +102 "processing"%89 +3 "core" 9\  +102 "processing"%99 +3 "core" 9 +102 "processing"%:9 +2 "core" 9 +102 "processing"%;9 +3 "core" 9 +102 "processing"%<9 +2 "core" 9# +3 .tPH.hold 2:00:00,28C +2 "processing"%= php +2 .tdelay 1:30 +4 "core"  +1149 "Can"(\  +7850 .tPSR.select :air + .PSV.dial PSR + "processing"%! +104 "core"  + "processing"%?% +4 "core" %ؼN\ +2 #tPulling 0.5ml of PSR.wash .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml + "processing"%@' +596 "core" ' +2 .tdelay 5 seconds +501 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%A' +1606 "core" ' + .tPTV.dial :puck +2 "processing"%B  +127 "core"  + .tPSV.dial PTV + "processing"%> +73 "core" + .tPBV.dial :waste1 + "processing"%D  +54 "core" + "processing"%E% +5 "core" %G\  +2 .tPS.seek 1.5ml + "processing"%F'* +596 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%G * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%H'ؾ +1609 "core" ' + .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%I  +34 "core" + .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" + + .tPSR.select :air +2 .PSV.dial PSR + "processing"%K +72 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml + "processing"%J' +2449 "core" ' +2 .tPSV.dial PTV + "processing"%N +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%M +72 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV + "processing"%P +85 "core" +2 .tdelay 5 seconds +501 .PSV.dial :air +2 "processing"%Q  +86 "core"  +2 .tPS.seek 0ml + "processing"%O'ؾ +2359 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%R  +130 "core" + .tPSV.dial :mixloop + "processing"%T +42 "core" + .tPRV.dial :ab1 + "processing"%S @ +98 "core" @ + .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%V' +378 "core" ' +2 .tdelay 2 seconds +201 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "processing"%W  +44 "core"  + "processing"%U% +4 "core" %\ +2 .tPS.seek 0.36ml + "processing"%X' +473 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'Z  +27 "core" +2 .tPRV.dial :air + "processing"%[  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%Y'K +1145 "core" ' + .tPRV.dial :waste2 + "processing"%] @ +71 "core" ? +2 .tPS.seek 0.5ml + "processing"%\\' +861 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%_  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%^' +1615 "core" ' + .tPSV.dial :PML + "processing"%a +43 "core" +2 .tPTV.dial :mixing + "processing"%b @ +71 "core" A + .tPBV.dial :waste1 + "processing"%c  +34 "core" + "processing"%d% +4 "core" %7\  +2 .tPS.seek 1.85ml + "processing"%e' +234 "core" ' + .tPBV.dial between PSV and waste1 + "processing"%C * +34 "core" , +2 .tPS.seek 0ml + "processing"%g'ؾ +826 "Can"\ LI +1144 "core" ' +2 .tdelay 2 seconds +201 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'h& +3 "core" & \  +2 "manipulator"&j& +4 "core" & V ! + "manipulator"&k% +4 "core" %  J % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&m(- +125 "core" ( +2 "manipulator"&$& +4 "core" &-  +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &&& +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"& 'w +96 "core" ' +2 .tHand.close + "manipulator"&o/ +61 "core" / +2 "manipulator"&p& +4 "core" &-   +2 "manipulator"&q% +4 "core" % ρ &  +2 .tForearm.seek :retract + "manipulator"&s' +98 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&t(ӂ +273 "core" ( + "manipulator"&v& +4 "core" &}, Cs +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &w& +2 "core" &}+  Cs +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'? +93 "core" ' +2 "manipulator"&i& +4 "core" &~, ( Cr +2 "manipulator"&l% +4 "core" %B Q +2 "collection"'n& +4 "core" & \  +2 "collection"'u& +5 "core" & f\  +51 & \  +6 .tCC.seek :closed + "collection"'|(\\ +3 "core" & z\  +3 & \  + & v\  & \  + & {\  + & v\  +6 &7} }\ ,~ +10 &f{ \ @ +9 &im \ O +9 &,R x\ O +10 &T z\ N +9 &T |\ O +9 &sQ \ N +10 &5Q x\ N +9 &T x\ O +10 &U |\ N +9 & {P |\ N +9 &"=Q }\ N +10 &$R y\ N +9 &%T v\ O +9 &'R u\ O +10 &)DS z\ O +9 &+S w\ O +10 &,U |\ O +9 &.P v\ N +9 &0MU u\ N +10 &2U w\ N +9 &3U v\ O +9 &5R t\ N +10 &7TR s\ O +9 &9T w\ O +10 &:S w\ O +9 &<S v\ N +9 &>]Q s\ N +10 &@Q o\ N +9 &AU w\ O +9 &C_ x\ P +10 &EXv x\ S +9 &G y\ W +10 &H n\ Z +9 &J {\ Z +9 &LH \ [\ +10 &N \ [ +9 &O z\ \\ +9 &Q {\ \\ +10 &SL q\ \\ +9 &U\ {\ ^ +10 &V ~\ ^ +9 &X }\ _ +9 &ZK v\ _ +10 &[y \ E +9 &\\$ \ , +9 &\\ w\ !` +3 ( + "collection"'u& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 + "collection"'}& +4 "core" &\\ U\ !` + .tHand.open + "manipulator"&r1 +63 "core" 1 + "manipulator"&% +5 "core" % B  Q +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' + .tPSV.dial PSR + "processing"% +104 "core"  +2 "processing"%x% +4 "core" %ؽ\ \ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1.5ml + "processing"%z'+ +1621 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%*  +44 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1617 "core" ' +2 .tPSV.dial PSR + "processing"% +44 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"% ' +2630 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 "processing"%  +2 .tCBV.dial PRV +3 "collection"'\  +31 "core" +124  + .tPSV.dial :mixloop +2 "processing"%~ +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing + "processing"%  +73 "core" +2 .tPS.seek 0ml + "processing"% 'ؾ +2637 "core" ' +2 .tPSV.dial :air + "processing"%  +43 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2639 "core" ' + .tPSV.dial :mixloop + "processing"% +45 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2637 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &+ Cq +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +2 "core" ( +2 "manipulator"&& +3 "core" &+ D Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &* 8 Cq +2 .tForearm.seek CC + "manipulator"&'? +99 "core" ' + .tHand.close + "manipulator"&/ +74 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( + "manipulator"&"& +4 "core" &+ C Cq +2 "manipulator"&%% +4 "core" % 9 7  + .tForearm.seek :retract +2 "manipulator"&'' +93 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&((- +279 "core" ( + "manipulator"&)& +5 "core" &- c  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-   +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +99 "core" ' +2 .tHand.open + "manipulator" +55 "core" 1 +2 "manipulator"&,% +4 "core" % π q +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +92 "core" ' +2 ."da"delayUntil "05:25:29.64" +24793 #recoverPRVreagent08 .PTV.dial :mixing + "processing"%. @ +74 "core" B + ."da"PBV.dial :waste1 + "processing"%/  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%0 * +34 "core" , + ."da"PSV.dial :air +2 "processing"%1  +44 "core"  + ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%2' +2428 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%3 +44 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air + "processing"%4  +45 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%5 +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%6  +45 "core"  +2 ."da"PS.seek 0ml +2 "processing"%7'ؾ +2377 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air + .PSV.dial PSR + "processing"%8 +131 "core" +2 "processing"%9% +4 "core" %ؽ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%:' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%;' +583 "Can"\ LJ +1026 "core" ' + ."da"PTV.dial :puck +2 "processing"%<  +71 "core"  + ."da"PSV.dial PTV + "processing"%! +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%?  +33 "core" + "processing"%`% +4 "core" %*\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%@'' +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%B * +35 "core" + +2 ."da"PS.seek 0ml + "processing"%>'ؾ +1617 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%D  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 + "processing"%E * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%A +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%G' +2425 "core" ' + ."da"PSV.dial PTV +2 "processing"%F +72 "core" +2 ."da"delay 5 seconds +501 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%I +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%L  +86 "core"  +2 ."da"PS.seek 0ml + "processing"%K'ؾ +2366 "core" ' + #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%H +131 "core"  + "processing"%N% +4 "core" %(\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%M' +587 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%P' +1606 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV + "processing"%Q +85 "core" +2 ."da"PBV.dial :waste1 + "processing"%J  +33 "core" +2 "processing"%R% +4 "core" %-\  +2 ."da"PS.seek 1.5ml + "processing"%T'( +588 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 + "processing"%S * +34 "core" + +2 ."da"PS.seek 0ml + "processing"%O'ؾ +1603 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%W  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 + "processing"%U * +34 "core" + +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%V +70 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%Z' +2425 "core" ' + ."da"PSV.dial PTV +2 "processing"%[ +85 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%X +71 "core"  +2 ."da"delay 5 seconds +501 .PSV.dial PTV +2 "processing"%] +86 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%Y  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%_'ؾ +2384 "core" ' +2 #"da"getPMLReagent08 .PRV.dial :air + "processing"%\\  +42 "core"  +2 ."da"delay 5 seconds +501 .PTV.dial :PRVmixing +2 "processing"%a  +130 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%b  +41 "core"  + ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%c +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%d' +394 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%C  +43 "core"  + "processing"%^% +4 "core" % \  +2 ."da"PS.seek 0.55ml + "processing"%e' +342 "core" ' + #"da"addPMLReagent08 + .PSV.dial :air + "processing"%h  +44 "core"  +2 ."da"PS.seek 2ml + "processing"%j' +1553 "core" ' + ."da"PSV.dial :PML + "processing"%k +43 "core" + ."da"PTV.dial :mixing +2 "processing"%$ @ +74 "core" B + ."da"PBV.dial :waste1 + "processing"%&  +34 "core" + "processing"%{% +4 "core" %)\  +2 ."da"PS.seek 1.85ml + "processing"%o' +234 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%p * +34 "core" + +3 ."da"PS.seek 0ml + "processing"%q'ؾ +1965 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +624 "Can"\ JH +47378 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" + + ."da"PSV.dial :air +2 "processing"%v  +44 "core"  + ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%w' +2422 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%m +43 "core" + ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%i  +42 "core"  +2 ."da"delay 2 seconds +201 .PSV.dial :mixloop +2 "processing"%l +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%n  +43 "core"  +2 ."da"PS.seek 0ml + "processing"%s'ؾ +2437 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air + .PSV.dial PSR + "processing"%+ +131 "core"  +2 "processing"%}% +4 "core" %عM\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%r' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1606 "core" ' +2 ."da"PTV.dial :puck + "processing"%u  +71 "core"  + ."da"PSV.dial PTV + "processing"% +84 "core" + ."da"PBV.dial :waste1 + "processing"%x  +34 "core" + "processing"%y% +4 "core" %M\  +2 ."da"PS.seek 1.5ml + "processing"%g'& +587 "core" ' + ."da"delay 3 seconds +175 "Can"\ DA +127 ."da"PBV.dial between PSV and waste1 + "processing"%* * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +34 "core" + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%\ +70 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2435 "core" ' + ."da"PSV.dial PTV + "processing"%~ +73 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2390 "core" ' + #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +131 "core"  + "processing"%% +4 "core" %ؾ?\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +587 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1619 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV + "processing"% +84 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%% +4 "core" %;\  +2 ."da"PS.seek 1.5ml + "processing"%'- +596 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1607 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%t  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%| +70 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%"' +2422 "core" ' + ."da"PSV.dial PTV +2 "processing"%% +72 "core" +2 ."da"delay 5 seconds +501 .PSV.dial PSR + "processing"% +74 "core"  +2 ."da"delay 5 seconds +501 .PSV.dial PTV +2 "processing"%) +86 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2363 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%# +130 "core"  +2 "processing"%,% +4 "core" %ؼa\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%'' +593 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1613 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV + "processing"%. +72 "core" + ."da"PBV.dial :waste1 + "processing"%/  +34 "core" + "processing"%0% +4 "core" %a\  +2 ."da"PS.seek 1.5ml + "processing"%1'* +593 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%3'ؾ +1606 "core" ' +2 ."da"delay 2:00 +3545 "Can"\ nk +8457 #"da"recoverPSRreagent08 + .PTV.dial :puck .PBV.dial :waste1 + "processing"%4  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%5 * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%6 +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml + "processing"%2' +2424 "core" ' + ."da"PSV.dial PTV +2 "processing"%8 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%9 +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%7 +86 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%:  +87 "core"  +2 ."da"PS.seek 0ml + "processing"%<'ؾ +2365 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates + .PSR.select :air + .PSV.dial PSR + "processing"%! +156 "core" +2 "processing"%?% +12 "core" %غL +5 #"da"Pulling 0.25ml of PSR.sub1 .PSR.select :sub1 +5 "processing"% +11 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +5 "processing"%`' +347 "core" ' + ."da"delay 5 seconds +502 "processing"%;% +4 "core" %M \ + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml + "processing"%B' +341 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%@' +1613 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%D +76 "core" + ."da"PBV.dial :waste1 + "processing"%E  +35 "core" +2 "processing"%A% +4 "core" %A\  +2 ."da"PS.seek 1.5ml + "processing"%>') +596 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%F * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' + ."da"delay 10 seconds +1002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%I  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%L * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%G +75 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%H' +2552 "core" ' + ."da"PSV.dial PTV + "processing"%N +77 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%K +77 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%M +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%Q  +89 "core"  +2 ."da"PS.seek 0ml +2 "processing"%J'ؾ +2508 "core" ' +3 #"da"Additional air clear .PSR.select :air +2 .PSV.dial PSR + "processing"%R +140 "core"  + "processing"%P% +4 "core" %n\ T + #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%S' +2121 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck + .PSV.dial PTV + "processing"%T +77 "core" +2 ."da"PBV.dial :waste1 + "processing"%W  +33 "core" +2 "processing"%U% +4 "core" %^  +2 ."da"PS.seek 1.5ml + "processing"%V'& +595 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%O * +35 "core" * + ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%[  +107 "core"  +2 ."da"PS.seek 0ml + "processing"%X'ؾ +1609 "core" ' + "processing"%]9 +4 "core" 9k5 +2 #"da"Processing Puck Heater at 28.1C before imaging .PH.coast + "processing"%Y  +4 "core" 5 + 5 + "processing"%Z& +4 "core" &^!c 1 + #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&\\% +4 "core" %  # n +2 "storage"(a% +4 "core" % t t V + "storage"(b. +3 "core" .(<* +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 + "storage"(c(,y +358 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +2 (_& +3 "core" &,|\ \  \ W +2 "manipulator"&C& +5 "core" &-   + "manipulator"&^% +4 "core" %  Y  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 + "manipulator"&d( +171 "core" ( +2 "manipulator"&h& +4 "core" & s } ~ j. + "storage"(e& +4 "core" &,| Z Z +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts + "manipulator"&k' +95 "core" ' + "storage"($& +54 "core" &,| X T  +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(&'r +274 "core" ' +2 "storage"({- +3 "core" -'r + ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(p'1 +45 "core" ' +3 "manipulator"&j& +4 "core" & }  y l- + "manipulator"&o% +4 "core" % z p N l +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract + "manipulator"&' +90 "core" ' + ."da"Elbow.seek PC +2 "manipulator"& ( +243 "core" ( +2 "manipulator"&v& +4 "core" & D 9 +2 ."da"Elbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &q& +3 "core" &  9 +2 ."da"Forearm.seek PC + "manipulator"&m' +93 "core" ' +2 ."da"Hand.close + "manipulator"&i/ +65 "core" / +2 ."da"PC.seek :open + "processing"%l( +456 "core" ( + "storage"(n& +4 "core" &,f \  +2 "manipulator"&w& +4 "core" & # p9 + "manipulator"&+% +4 "core" %  q% +2 ."da"Forearm.seek :retract + "manipulator"&}' +100 "core" ' + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 + "manipulator"&s( +244 "core" ( +2 "manipulator"&r& +4 "core" & 3 + "storage"(u& +4 "core" &,f # * T\ ] +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&' +91 "core" ' + ."da"Hand.open + "manipulator"&x1 +71 "core" 1 +2 "storage"(y- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate + "storage"(*' +55 "core" ' +3 #"da"Lights, camera, ACTION! + #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%g& +2 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2706h.tif +11 "core" &\ * +4 "manipulator"&& +8 "core" & 3 +4 "manipulator"&% +10 "core" % f k +4 ."psFlush"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."psFlush"Forearm.seek :retract +4 "manipulator"&\ ' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&z(- +175 "core" ( +2 "manipulator"&~& +5 "core" &- u | ^ 9O +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &- 6 /O +2 ."psFlush"Forearm.seek :garage +2 "manipulator"& 'w +92 "core" ' + ."psFlush"Hand.close +2 "manipulator"& / +66 "core" / + "manipulator"&& +4 "core" &- L H 6O +2 "manipulator"&% +4 "core" % v D A 7 +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"& ( +117 "core" ( +2 "manipulator"&& +4 "core" & I ` B 8& +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & V V , 9& +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +96 "core" ' +2 "manipulator"&& +4 "core" & * & +2 "manipulator"&% +4 "core" % ) + "processing"%& +4 "core" &\ = +2 "processing"%& +5 "core" &\ < +2 ."psFlush"PC.seek :closed +2 "processing"%t(^ +4 "core" &\ ' +8 & 1\ !$d +10 &Rr\ 8 +9 &vo M +9 &qL U +10 &3C U +9 &A U +9 &C U +10 &yC U +9 &<D U +9 &E U +10 &A U +9 &!D U +10 &#CD U +9 &%G U +9 &&F U +10 &(A U +9 &*JD V +9 &, E U +10 &-Bx U +9 &/I\ S +10 &1\\L\ R +9 &3L\ R +9 &4K\ R +10 &6L\ 4R +9 &8eO\ 4R +9 &:)L\ 5Q +10 &;N\ "R +9 &=L\ S +10 &?kN\ S +9 &A+G S +9 &BV W +10 &Db Y +9 &FV ] +9 &Hx ] +10 &I{v ] +10 &K~} ] +9 &M[ ^ +9 &O ^ +9 &P _ +10 &R{ ^ +9 &T`x _ +9 &V#| ^ +10 &Wt _ +10 &Yw _ +9 &[hp _ +9 &]'o ` +9 &^Rmj S +10 &^Oh\ D +2 ( + "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.80 + "processing"%& +4 "core" &^LS\ D + ."psFlush"Hand.open + "manipulator"&|1 +66 "core" 1 +2 "manipulator"&% +4 "core" %  o ; ~) + ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&%' +90 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"% +47 "core"  + "processing"%)% +4 "core" %; +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush + "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%' +597 "core" ' +2 ."psFlush"delay 5 seconds +501 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%"' +1994 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 43.133 seconds\ /var/log/esp/da21sep2706h.tif: TIFF Upload Complete\ +6 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2706h15s.tif +131 "core" ' +2 ."psFlush"delay 1 second +101 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%# @ +201 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%,  +138 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +122 "core" + ."psFlush"PS.seek :empty +2 "processing"%''ؠ +856 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2706h15s.tif: TIFF Upload Complete\ +2 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2706h30s.tif +1782 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%. +106 "core"  +2 "processing"%/% +4 "core" %؞\  + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%0' +590 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +50 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2706h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2706h70s.tif +2065 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%  +36 "core" +2 ."psFlush"PTV.dial :mixing + "processing"%1 @ +77 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%4 +120 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%5'ؠ +2649 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%6 +110 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%3'X\\ +1108 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%8' +389 "Can" C@ +485 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2706h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF + ."Qmail"DAfans.email "43.133 sec auto-exposure",Subject: "da21sep2706h images!" +4 "storage"(9- +2 "core" -' +2 "storage"(7& +10 "core" &,f / T }\ d + "manipulator"&:& +4 "core" &  $ & + "manipulator"&2% +5 "core" %   $  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&!( +244 "core" ( +2 "manipulator"&?& +4 "core" &   " +2 "storage"(<& +4 "core" &,f - , j\ _ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&;' +94 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate + "storage"(`'" +49 "core" ' +2 "manipulator"&B& +4 "core" & ! " +9 "storage"(D& +9 "core" &,f %\  +4 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek 4 +4 "manipulator"&E'7 +18 "core" ' +2 ."da"Elbow.hold +4 "manipulator"&A, +9 "core" , +4 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +4 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(@' +25 "core" ' + "manipulator"&F% +5 "core" %H 7 3 + "storage"(>& +4 "core" &,f  O\  +2 ."da"Forearm.force -20 + "manipulator"&5 +2 ."da"Forearm.seek 4 + 317 counts +2 "manipulator"&I't +14 "core" ' + "manipulator"&L& +5 "core" & h " + "storage"(G& +4 "core" &,f   0\  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(N% +5 "core" % & ' k\ +2 ."downElevator"SE.seek :down +2 "storage"(K' +72 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%M +25 "storage"(Q% +3 "core" %? \ U] +2 "manipulator"&H% +4 "core" % r +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&R' +32 "core" + ."psFlush"PTV.dial :puck +2 "processing"%P  +56 "core" ' +15  +2 ."psFlush"PBV.dial :waste1 +6 .PS.seek 0ml +14 "processing"%J'ؾ +27 "core" ' +6 ."downElevator"SE.stop +2 "storage"(5 +4 (T& +8 "core" &,f  \  +2581 ' + ."psFlush"PSV.dial PSR +4 "processing"%W +76 "core"  +57 ."psFlush"PSR.select :flush +5 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +2 "processing"%U' +601 "core" ' +2 ."psFlush"PSR.select :air +5 "processing"% +16 ."psFlush"PS.seek 2.5ml +2 "processing"%S' +1806 #"uploadLog"upsync +349 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%O +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%[ U +53 "core" V +2 ."psFlush"PS.seek 0ml + "processing"%V'ؾ +2652 "core" ' + ."psFlush"PSV.dial PBV + "processing"%] @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%Y' +2635 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%Z  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%\\'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%a +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml + "processing"%b' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%f +83 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%_'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%C @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%^' +2634 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%h  +71 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%e'ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%$ +43 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%('X\\ +1097 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%-' +1614 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%{ +70 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 + "processing"%j  +53 "core" + ."psFlush"PS.seek 0ml +2 "processing"%o'ؾ +2639 "core" ' + ."psFlush"PSV.dial PSR + "processing"%& +73 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%k' +586 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml + "processing"%v' +2133 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%q +72 "core" +2 ."psFlush"PBV.dial PSV + "processing"%d U +54 "core" W +2 ."psFlush"PS.seek 0ml + "processing"%i'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +42 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2645 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%n  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%w'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%+ +42 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml + "processing"%m' +2628 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%r +81 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%u'ؾ +2630 "core" ' + ."psFlush"PSV.dial PBV + "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%x' +2627 "core" ' + ."psFlush"PSV.dial :waste1 + "processing"%y  +70 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%g'ؾ +2625 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" & 4 " +2 "manipulator"&% +4 "core" %    + ."psFlush"Elbow.seek PC +2 "manipulator"&}( +241 "core" ( +2 "manipulator"&p& +4 "core" & 5 > + ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & O > +2 ."psFlush"Forearm.seek PC +2 "manipulator"&~' +93 "core" ' + ."psFlush"Hand.close +2 "manipulator"& / +58 "core" / +2 ."psFlush"PC.seek :open + "processing"%( +554 "core" ( +21 "manipulator"&s& +7 "core" &  = +4 "manipulator"& % +7 "core" %   " +5 ."psFlush"Forearm.seek :retract +4 "manipulator"&' +97 "core" ' +3 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage + "manipulator"&(- +126 "core" ( +2 "manipulator"&\ & +4 "core" &- C + ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-  +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage + "manipulator"&'w +103 "core" ' + ."psFlush"Hand.open +2 "manipulator"& 1 +61 "core" 1 +2 "manipulator"&% +4 "core" % y 9 +2 ."psFlush"Forearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&' +95 "core" ' + #tFinished short da assay +2 !o:Errno::EIO:\ errnoi\ : mesg"Input/output error:bt["2/opt/mbari/lib/ruby/1.8/irb.rb:318:in `write'"3/opt/mbari/lib/ruby/1.8/irb.rb:318:in `printf'"9/opt/mbari/lib/ruby/1.8/irb.rb:318:in `output_value'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:163:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:188:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Errno::EIO:\ errnoi\ : mesg"Input/output error:bt["2/opt/mbari/lib/ruby/1.8/irb.rb:202:in `write'"2/opt/mbari/lib/ruby/1.8/irb.rb:202:in `print'"7/opt/mbari/lib/ruby/1.8/irb.rb:202:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:163:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:188:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 !o: EOFError:@timestampu: Time mc6yA: mesg"end of file reached:bt[,"(eval):4:in `sysreadRaw'"(eval):4:in `sysread'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"(eval):4:in `sysread'"8/home/esp/esp2/lib/reprompt.rb:44:in `origReadline'"4/home/esp/esp2/lib/reprompt.rb:44:in `readline'"0/home/esp/esp2/lib/prompter.rb:20:in `call'"6/home/esp/esp2/lib/prompter.rb:20:in `callKbdPrc'"9/home/esp/esp2/lib/prompter.rb:38:in `claimKeyboard'"5/home/esp/esp2/lib/rmutex.rb:89:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:62:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'"9/home/esp/esp2/lib/prompter.rb:38:in `claimKeyboard'"4/home/esp/esp2/lib/reprompt.rb:41:in `readline'"=/opt/mbari/lib/ruby/1.8/irb/input-method.rb:97:in `gets'"7/opt/mbari/lib/ruby/1.8/irb.rb:148:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:147:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `call'"?/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `buf_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:101:in `getc'":/opt/mbari/lib/ruby/1.8/irb/slex.rb:206:in `match_io'"6/opt/mbari/lib/ruby/1.8/irb/slex.rb:76:in `match'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:284:in `token'"9/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:260:in `lex'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:231:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:188:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #Waiting to Resume from Checkpoint "Garaging FlushPuck in Collection Clamp" + ."Qmail"BadNews.email "end of file reached",Subject: "EOFError in MAIN" +2758 #"uploadLog"upsync +2401 "Can"\ @> @1632748730.62PDT = =mMAIN_scheduler =tMAIN @PDT1632748732.54 #"core_reset"Sent BREAK + #t@18415 sendCRC with ifg=0x20, ie=0x7F + #@20250 sendCRC with ifg=0x08, ie=0x5F + #@24706 idle with ifg=0x84, ie=0x75 + #@25376 select with ifg=0x10, ie=0xF5 #@26010 receive with ifg=0x10, ie=0xFD + #@26643 receive with ifg=0x10, ie=0xFD + #@27276 receive with ifg=0x10, ie=0xFD #@27603 receive with ifg=0x80, ie=0xFD + #@41344 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +172 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +127 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +390 "Can"\ C@ + \ C@ + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1301 #-> ESP.ready? +404 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ [\ > + .tSS.configure :default +3 "sampler")#.0X + %  E  +2 "manipulator"&& +3 "core" &- ! + "storage"(& +4 "core" &,k 0\  + "storage"(% +4 "core" % 0\  + "collection"'& +3 "core" & \ +2 "processing"%& +3 "core" &\ +2 "collection"'  +3 "core"  +2 "collection"'! +2 "core"  +2 "collection"'" +4 "core"  + "processing"%# +3 "core"  +2 "processing"%$ +3 "core" W + "processing"%% +3 "core"  +2 "processing"%& +3 "core" B + "sampler")' +3 "core"  +2 "collection"'(% +4 "core" %e \ +2 "processing"%)% +4 "core" %\ +2 "sampler")*% +3 "core" %څ h\ > +2 "collection"'+& +4 "core" & \ + "processing"%,& +4 "core" &\ +2 "manipulator"&-% +3 "core" %  *  +2 "manipulator"&.& +3 "core" &- c +2 "storage"(/& +4 "core" &,k \  + "storage"(0% +4 "core" % '\  +2 "collection"'19 +3 "core" 9 + "processing"%29 +3 "core" 9 +5684 #t-> access 4 +3 "storage"(3% +3 "core" % )\  + "manipulator"&4% +4 "core" %    +2 "manipulator"&5& +3 "core" &- 4 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(6(C +984 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &F \ +1962 #t-> access 2 +3 "storage"(8% +3 "core" % L\  +2 "manipulator"&9% +4 "core" %    + "manipulator"&:& +4 "core" &- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(;(K +1620 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" &K [ [\  +3152 #t-> exit +5 #mEXIT @1632748896.74PDT @1632748929.12PDT = =mMAIN_scheduler =tMAIN @PDT1632748931.00 #"core_reset"Sent BREAK + #t@9795 receive with ifg=0x10, ie=0xFD + #@10431 receive with ifg=0x10, ie=0xFD + #@11089 receive with ifg=0x10, ie=0xFD + #@11726 receive with ifg=0x10, ie=0xFD #@12361 receive with ifg=0x10, ie=0xFD + #@12995 receive with ifg=0x10, ie=0xFD + #@13630 receive with ifg=0x10, ie=0xFD #@13956 receive with ifg=0x80, ie=0xFD + #@54075 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +292 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +394 "Can"\ C@ + \ C@ + #tPolling Can every 10:00 +1092 #-> ESP.ready? +951 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ c\ > + .tSS.configure :default +3 "sampler")#.0X + "manipulator"&& +5 "core" &- ) + "storage"(& +3 "core" &K y \  +2 "storage"(% +3 "core" % } | y\  +2 "collection"'& +3 "core" & \ +2 "processing"%& +3 "core" &\ +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core"  +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" W +2 "processing"%% +3 "core"  +2 "processing"%& +2 "core" B +2 "sampler")' +3 "core"  +2 "collection"'(% +4 "core" %e \ +2 "processing"%)% +3 "core" %\ +2 "sampler")*% +4 "core" %څ k\ > + "collection"'+& +4 "core" & \ +2 "processing"%,& +3 "core" &\ +2 "manipulator"&-% +4 "core" %  h  +2 "manipulator"&.& +4 "core" &-  + "storage"(/& +4 "core" &K } Y\  +2 "storage"(0% +3 "core" % (\  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +4404 #"dave"Session Begun +922 #-> exit +2 #Session Ended +50050 #t-> access 5 +2 "storage"(3% +3 "core" % [\  +2 "manipulator"&4% +4 "core" %  b  +2 "manipulator"&5& +4 "core" &- d +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(6(  +1297 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &  \ +649 "Can"\ @> +60001 \ @= +60001 \ B? +60001 \ B? +42455 #t-> startTube 5 +1780 #-> shortDA + "collection"'8% +3 "processing"%9% +4 "core" %e \ +4 % \ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +4 #Awaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1904 !o:IRB::Abort: mesg"User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +2178 #-> $da[:extractVol]=0.21 +470 #-> startTube 5 +324 #-> shortDA +2 "collection"':% +2 "processing"%;% +5 "core" %e \ +6 % \ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +2364 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%< +131 "core" + .tPTV.dial :PRVmixing +2 "processing"%=  +128 "core" + .tPRV.dial :sipper +2 "processing"%>  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%?'e +2298 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%@  + "collection"'A  +6 "core" +121  +2 .tPS.seek 0.5ml +2 "processing"%B' +1279 "core" ' + .tPRV.dial :waste2 +2 "processing"%C @ +100 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%D'ؾ +586 "core" ' + .tPSV.dial PSR + "processing"%E +102 "core"  +2 "processing"%F% +4 "core" %\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +10 .tPS.seek 1ml + "processing"%G'X\\ +1108 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%H' +1507 "Can" \ B? +106 "core" ' + .tPSV.dial :mixloop +2 "processing"%I +103 "core" +2 .tPS.seek 0ml +2 "processing"%J'ؾ +2627 "core" ' +2 .tPSV.dial PSR + "processing"%K +104 "core"  + "processing"%L% +4 "core" %\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%M'X\\ +1104 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%N' +1611 "core" ' + .tPSV.dial :mixloop +2 "processing"%O +103 "core" + .tPRV.dial :sipper +2 "processing"%P  +42 "core" +2 .tPS.seek 0ml +2 "processing"%Q'ؾ +2635 "core" ' +2 .tPSV.dial PSR + "processing"%R +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%S' +2631 "core" ' + .tPSV.dial :mixloop +37 "processing"%T +120 "core" + .tPS.seek 0ml +2 "processing"%U'ؾ +2636 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%V& +4 "core" &\ + .tHand.open +2 "manipulator"&W1 +17 "core" 1 +2 "manipulator"&X% +4 "core" %  C  + "storage"(Y% +4 "core" % 7\  + "storage"(Z. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"([(<- +984 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\\& +3 "core" &<* Z X\  + "manipulator"&]& +4 "core" &- + "manipulator"&^% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&_( +171 "core" ( + "manipulator"&`& +5 "core" &  = + "storage"(a& +4 "core" &<* M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +93 "core" ' +2 "storage"(c& +4 "core" &<* m\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'r +297 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (f& +2 "core" &<* K\  +2 "manipulator"&g& +3 "core" & = +2 .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( + "manipulator"&i& +4 "core" &  = +2 "storage"(j& +3 "core" &<* 8\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&k'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&m& + "storage"(n' +7 "core" &  = +2 "manipulator"&o% +4 "core" % Ϸ + .tForearm.seek :retract +2 "manipulator"&p' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q( +170 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +72 "core" ( + "manipulator"&r& +4 "core" & M " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" & + " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t' +89 "core" ' +2 "manipulator"&u& +4 "core" & ! " +2 "manipulator"&v% +3 "core" %  e +2 "processing"%w& +4 "core" &\ +2 "processing"%x& +5 "core" &~\ +2 .tPC.seek :closed + "processing"%y(^ +4 "core" &p\ +8 & 4\ $e +9 &U~\ 7 +10 &~~\ L +9 &Y\ O +10 &\\X\ O +9 &Z\ O +9 &\\\ O +10 &W\ N +9 &dX\ O +9 &&Y\ O +10 &X\ O +9 &!Z\ O +10 &#lX \ O +9 &%.X\ O +9 &&[\ O +10 &(Y\ O +9 &*tZ\ O +9 &,4]\ O +10 &-W\ O +9 &/Y\ O +10 &1z\\\ O +9 &3<Y\ O +9 &5W\ O +10 &6Y \ N +9 &8Z\ O +9 &:EW\ O +10 &<Z\ O +9 &=Y\ O +10 &?W\ O +9 &AK]\ P +9 &C h\ Q +10 &Dy\ S +9 &F\ U +9 &HC\ U +10 &J\ V +9 &K\ U +9 &M\ V +10 &OH\ V +9 &Q\ W +10 &R\ V +9 &T\ W +9 &VN\ W +10 &X\ V +9 &Y\ W +10 &[\ W +9 &]U\ F +9 &^|Cx\ $j +10 &^<\ 5 +5 ( + "processing"%x& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&z1 +3 "core" &^*\ 5 +54 1 + "manipulator"&{% +5 "core" %   e + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +86 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +3 .PH.seek 28C,5:00 +2 "processing"%} h +2 %~9 +6 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9  +102 "processing"%9 +2 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%\ 9 +3 "core" 9" +102 "processing"% 9 +2 "core" 9& +102 "processing"%9 +3 "core" 9* +102 "processing"%9 +2 "core" 9/ +102 "processing"%9 +3 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%9 +2 "core" 9? +102 "processing"%9 +3 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%9 +3 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"% 9 +3 "core" 9i +102 "processing"%!9 +2 "core" 9m +102 "processing"%"9 +2 "core" 9q +102 "processing"%#9 +5 "core" 9v +102 "processing"%$9 +3 "core" 9z +102 "processing"%%9 +2 "core" 9~ +103 "processing"%&9 +2 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +2 "core" 9 +103 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +2 "core" 9 +102 "processing"%,9 +2 "core" 9 +103 "processing"%-9 +2 "core" 9 +103 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +2 "core" 9 +102 "processing"%09 +2 "core" 9 +102 "processing"%19 +3 "core" 9  +102 "processing"%29 +3 "core" 9 +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +3 "core" 9 +102 "processing"%59 +2 "core" 9! +3 .tPH.hold 2:00:00,28C +3 "processing"% php +4 .tdelay 1:30 + "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +100 "core"  +2 "processing"%8% +4 "core" %ظ\ + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%9' +589 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml + "processing"%:' +1618 "core" ' + .tPTV.dial :puck +2 "processing"%;  +128 "core"  + .tPSV.dial PTV +2 "processing"%< +73 "core" +2 .tPBV.dial :waste1 + "processing"%=  +54 "core" + "processing"%>% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%', +592 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%A * +34 "core" , +3 .tPS.seek 0ml + "processing"%@'ؾ +1620 "core" ' + .tdelay 5:00 +23558 "Can"\ HE +6445 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%?  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%C * +32 "core" * + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%B +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%E' +2409 "core" ' + .tPSV.dial PTV +2 "processing"%F +74 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%D +73 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%G +73 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%I  +84 "core"  +2 .tPS.seek 0ml + "processing"%H'ؾ +2369 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%K  +128 "core" + .tPSV.dial :mixloop +2 "processing"%L +42 "core" +2 .tPRV.dial :ab1 + "processing"%J @ +100 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml + "processing"%M' +356 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%O  +41 "core"  +2 "processing"%P% +4 "core" %=\ +2 .tPS.seek 0.36ml +2 "processing"%N' +478 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'R  +29 "core" +2 .tPRV.dial :air + "processing"%Q  +43 "core"  +2 .tPS.seek 0.9ml + "processing"%T'K +1145 "core" ' + .tPRV.dial :waste2 +2 "processing"%S @ +72 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%V' +858 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%W  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%X' +1606 "core" ' + .tPSV.dial :PML +2 "processing"%Y +44 "core" + .tPTV.dial :mixing +2 "processing"%Z @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%6  +33 "core" + "processing"%\\% +4 "core" %G\  +2 .tPS.seek 1.85ml +2 "processing"%]' +230 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%^ * +34 "core" , +3 .tPS.seek 0ml + "processing"%`'ؾ +1987 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'a& +3 "core" & \ + "manipulator"&c& +5 "core" & , " + "manipulator"&% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +126 "core" ( + "manipulator"&e& +4 "core" &- /  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &- D  +2 .tForearm.seek :garage + "manipulator"&g'w +92 "core" ' + .tHand.close +2 "manipulator"&i/ +55 "core" / +2 "manipulator"&j& +4 "core" &- L  +2 "manipulator"&l% +4 "core" % u ' +2 .tForearm.seek :retract + "manipulator"&m' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&o(ӂ +276 "core" ( + "manipulator"&_& +5 "core" &Ӣ 8 9) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &Ӣ  # 9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&d'? +100 "core" ' +2 "manipulator"&k& +4 "core" &Ӣ  F 9) +2 "manipulator"&r% +4 "core" %7 < + "collection"'s& +4 "core" & @\ +2 "collection"'h& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'u(\\ +4 "core" & ;\  +9 &3| =\ *z +10 &c} =\ ? +9 &qp 8\ O +9 &3Q 7\ O +10 &N <\ N +9 &R 0\ N +9 &{Q 3\ N +10 &<R 1\ O +9 &U /\ O +10 &N '\ N +9 & O 0\ O +9 &"DR /\ O +10 &$Q /\ O +9 &%S -\ O +9 &'Q '\ O +10 &)LQ (\ O +9 &+R -\ O +10 &,R +\ N +9 &.T '\ N +9 &0TQ +\ O +10 &2Q .\ N +9 &3T )\ O +9 &5S 2\ N +10 &7]W /\ N +9 &9X 6\ N +10 &:T 6\ N +9 &<X 7\ N +9 &>eX 7\ N +10 &@'W 7\ N +9 &A^ 7\ O +9 &Cd /\ P +10 &Eau ,\ R +9 &G B\ W +10 &H 5\ Y +9 &J 6\ [ +9 &LQ B\ [ +10 &N 8\ [ +9 &O 5\ [ +9 &Q 9\ \\ +10 &ST 7\ \\ +9 &U @\ ] +10 &V >\ ^ +9 &X +\ _ +9 &ZT A\ _ +10 &[y E\ C +9 &\\, <\ (x +9 &\\ B\ Y +3 ( + "collection"'h& +58 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 +2 "collection"'v& +4 "core" &\\ <\ Y + &\\ <\ Y + &\\ 8\ Y + &\\ =\ Y + &\\ >\ Y + &\\ >\ Y &\\ ?\ Y +2 .tHand.open + "manipulator"&w1 +63 "core" 1 + "manipulator"&n% +5 "core" % 7  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +89 "core" ' + .tPSV.dial PSR +2 "processing"% +103 "core"  +2 "processing"%z% +4 "core" %V\  + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%{'+ +1612 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%~  +41 "core"  +2 .tPS.seek 0ml +2 "processing"%x'ؾ +1615 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%t' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV + "processing"%  +3 "collection"'  +32 "core" ~ +124  + .tPSV.dial :mixloop +2 "processing"% +101 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  +2 "collection"'  +4 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%\ 'ؾ +2631 "core" ' + .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 .tPSV.dial :air + "processing"%  +57 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2641 "core" ' + .tPSV.dial :mixloop + "processing"% +43 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2633 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &Ӣ C 9) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +39 "core" ( +2 "manipulator"&& +4 "core" &x  :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &x  b :/ +2 .tForearm.seek CC + "manipulator"&'? +101 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( +2 "manipulator"&& +4 "core" &ӡ 5 + "manipulator"& % +4 "core" % 3 F +2 .tForearm.seek :retract + "manipulator"&!' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&"(- +283 "core" ( +2 "manipulator"&#& +4 "core" &- t ^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +2 "core" &- ? ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&%'w +93 "core" ' + .tHand.open +2 "manipulator"&&1 +62 "core" 1 +2 "manipulator"&'% +4 "core" % o I ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +90 "core" ' + ."da"delayUntil "07:34:19.86" +12481 "Can"\ HD +12247 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%) @ +71 "core" A + ."da"PBV.dial :waste1 +2 "processing"%*  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%+ * +34 "core" , +2 ."da"PSV.dial :air + "processing"%,  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%-' +2400 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%. +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%/  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%0 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%1  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%2'ؾ +2354 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%3 +129 "core"  +2 "processing"%4% +4 "core" %ؿb\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%5' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%7' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%8  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%U +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%9  +35 "core" + "processing"%;% +4 "core" %\\\  +2 ."da"PS.seek 1.5ml +2 "processing"%<'& +583 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%= * +34 "core" , +3 ."da"PS.seek 0ml + "processing"%>'ؾ +1609 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%:  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%}' +2402 "core" ' +2 ."da"PSV.dial PTV + "processing"%? +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%C +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%B +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%@  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%F'ؾ +2357 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%D +131 "core"  +2 "processing"%G% +4 "core" %ؾI\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%I' +602 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%E' +1623 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%K +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +35 "core" + "processing"%J% +4 "core" %M\  +2 ."da"PS.seek 1.5ml +2 "processing"%H'- +600 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%O * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +1610 "core" ' + ."da"delay 2:00 +6037 "Can"\ }{ +5967 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%M  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%R * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Q +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%N' +2413 "core" ' + ."da"PSV.dial PTV +2 "processing"%S +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%T +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%W +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%V  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Y'ؾ +2351 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%Z  +43 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%6  +128 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%\\  +41 "core"  +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%^ +42 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%X' +390 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%]  +42 "core"  + "processing"%a% +4 "core" %J\  +2 ."da"PS.seek 0.55ml +2 "processing"%c' +334 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%e' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"%f +44 "core" + ."da"PTV.dial :mixing +2 "processing"%i @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%j  +34 "core" +2 "processing"%q% +4 "core" %U\  +2 ."da"PS.seek 1.85ml +2 "processing"%l' +237 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%| * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%g'ؾ +1967 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +37784 "Can"\ JH +10218 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%_  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%b * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%k' +2408 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%r +57 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%s  +42 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%m +43 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%v'ؾ +2353 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%w +130 "core" + "processing"%n% +4 "core" %w\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%h' +586 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%z  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%d +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%`  +35 "core" + "processing"%~% +54 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%{'( +590 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%x'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2385 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%t +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +72 "core"  +2 ."da"PS.seek 0ml + "processing"%\ 'ؾ +2340 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  +2 "processing"%% +3 "core" %|\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1610 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %j\  +2 ."da"PS.seek 1.5ml + "processing"%', +593 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' +2 ."da"delay 2:00 +8151 "Can"\ HE +3851 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%o  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%p * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%u +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2411 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%# +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%$  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2354 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%& +130 "core"  + "processing"%'% +4 "core" %ؾZ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%!' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%%' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%) +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%*  +34 "core" +2 "processing"%+% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%,'* +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%.'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%/  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%0 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%1 +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%-' +2413 "core" ' + ."da"PSV.dial PTV +2 "processing"%3 +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%4 +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%2 +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%5  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%8'ؾ +2344 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%U +138 "core"  +5 "processing"%9% +10 "core" %}\  +5 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +8 "processing"% +15 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +4 "processing"%;' +360 "core" ' + ."da"delay 5 seconds +503 "processing"%7% +3 "core" %}\ +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%=' +339 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%<' +1614 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%: +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%A  +36 "core" +2 "processing"%% +4 "core" %x\  + ."da"PS.seek 1.5ml +2 "processing"%>'- +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%? * +34 "core" * +2 ."da"PS.seek 0ml +2 "processing"%C'ؾ +1617 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%B  +34 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%@ * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%} +77 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%D' +2502 "core" ' +2 ."da"PSV.dial PTV + "processing"%G +79 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%F +76 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%I +75 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%K  +87 "core"  +2 ."da"PS.seek 0ml +2 "processing"%L'ؾ +2477 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%J +138 "core"  + "processing"%E% +4 "core" %ؿz\ + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%O' +1713 "Can"\ ;{ +410 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck + .PSV.dial PTV +2 "processing"%H +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%M  +34 "core" +2 "processing"%R% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%Q'* +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%P * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%S  +108 "core"  +2 ."da"PS.seek 0ml + "processing"%T'ؾ +1614 "core" ' + "processing"%W9 +3 "core" 9o5s +2 #"da"Processing Puck Heater at 28.2C before imaging +2 .PH.coast + "processing"%V  +4 "core" 5s + 5s + "processing"%N& +3 "core" &^*\ ~5 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&Z% +3 "core" %  V  +2 "storage"(6% +3 "core" % k o '\ j +2 "storage"(\\. +3 "core" .(<* +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(^(,y +353 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (Y& +2 "core" &,{ U W\  +2 "manipulator"&]& +3 "core" &- z z 4 ^ +2 "manipulator"&a% +3 "core" %  { E  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&X( +177 "core" ( + "manipulator"&& +4 "core" & v x | T +2 "storage"(c& +4 "core" &,{ [ e\  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&f' +106 "core" ' + "storage"(i& +4 "core" &,{ K\ b +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(j'r +280 "core" ' +2 "storage"(q- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek :place +2 "storage"(|'1 +42 "core" ' +2 "manipulator"&e& +4 "core" & w T + "manipulator"&l% +4 "core" %$ L { +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&_' +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&b( +245 "core" ( + "manipulator"&& +4 "core" & p a n 6 +53 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" & 5 +2 ."da"Forearm.seek PC +2 "manipulator"&r' +93 "core" ' + ."da"Hand.close +2 "manipulator"&s/ +75 "core" / +2 ."da"PC.seek :open +2 "processing"%m( +457 "core" ( + "storage"( & +4 "core" &,f \  +2 "manipulator"&k& +3 "core" &  3 +2 "manipulator"&w% +3 "core" % 2 ! +2 ."da"Forearm.seek :retract +2 "manipulator"&n' +94 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&v( +259 "core" ( + "manipulator"&h& +4 "core" & w 8  +2 "storage"(z& +4 "core" &,f s \ j +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&d' +96 "core" ' +2 ."da"Hand.open + "manipulator"&`1 +66 "core" 1 +2 "storage"(~- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate + "storage"( ' +25 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2708h.tif +4 "processing"%{& +12 "core" &J\  +4 "manipulator"&& +4 "core" & ;  +3 "manipulator"&% +5 "core" %  N +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&x(- +163 "core" ( +2 "manipulator"&& +4 "core" &- r a 7  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &- g f  + ."psFlush"Forearm.seek :garage +2 "manipulator"&t'w +99 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"& / +76 "core" / + "manipulator"&& +4 "core" &- i n  +2 "manipulator"&% +4 "core" % φ f c , +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&\ ( +132 "core" ( + "manipulator"&& +4 "core" & e r  \ +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & e g \ +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC + "manipulator"&' +100 "core" ' +2 "manipulator"&& +4 "core" &  ; 0\ +2 "manipulator"&% +4 "core" % . 0" + "processing"%& +4 "core" & +2 "processing"%& +5 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%o(^ +4 "core" & +8 & * $c +9 &Pp 9 +10 &wo N +9 &lL U +10 &.C U +9 &@ U +9 &B U +10 &sC V +9 &7A U +9 &B U +10 &D\ R +9 &!J\ R +10 &#GK\ R +9 &% G\ R +9 &&K\ #R +10 &(J\ #Q +9 &*QI\ R +9 &,J\ R +10 &-K\ R +9 &/L\ S +10 &1OI U +9 &3C U +9 &4B U +10 &6B U +9 &8WD U +9 &:BE U +10 &;CK V +9 &=DG U +10 &?^BL U +9 &A DI U +9 &BS; W +10 &De: Z +9 &FP; ] +9 &Hx< \\ +10 &I|= ] +9 &K7 ^ +10 &MX/ ] +9 &O!+\ [ +9 &P+\ [ +10 &R0\ [ +9 &Td)\ \\ +9 &V*(\ Z +10 &W(\ [ +9 &Y"\ [\ +10 &[m\ [ +9 &]-\ [\ +9 &^Lg\ \ [ +10 &^ X @ +5 ( + "processing"%& +5 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.86 + "processing"%p& +4 "core" &^M @ + &^M @ +2 ."psFlush"Hand.open + "manipulator"&u1 +71 "core" 1 +2 "manipulator"&% +4 "core" % 3 " + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +99 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +44 "core"  +2 "processing"%#% +4 "core" % + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%$' +589 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +577 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 29.697 seconds\ /var/log/esp/da21sep2708h.tif: TIFF Upload Complete\ +2 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2708h15s.tif +1543 "core" ' +7 ."psFlush"delay 1 second +14 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2708h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2708h30s.tif +87 ."psFlush"PRV.dial :waste2,avoiding: :ab2 +2 "processing"%& @ +200 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%'  +139 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +120 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%!'ؠ +2505 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2708h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2708h70s.tif +129 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%) +109 "core"  + "processing"%*% +4 "core" %؜`\ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%+' +592 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +2126 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%, @ +78 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%/ +112 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%0'ؠ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%1 +112 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%.'X\\ +568 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2708h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "29.697 sec auto-exposure",Subject: "da21sep2708h images!" +5 "storage"(3- +3 "core" -' + "storage"(4& +10 "core" &,f \ ( +2 "manipulator"&2& +4 "core" & L \ + "manipulator"&5% +4 "core" % # 2 / +3 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&-( +240 "core" ( +2 "manipulator"&U& +4 "core" & * " + "storage"(9& +4 "core" &,f v\ * +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&8' +97 "core" ' +7 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +8 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(7'" +57 "core" ' + "manipulator"&;& +5 "core" & Y ! + "storage"(=& +4 "core" &,f \ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&:'7 +22 "core" ' +2 ."da"Elbow.hold +3 "manipulator"&A, +4 "core" ' + , + ."da"Elbow.reconfigure :tight +4 ."psFlush"PSR.select :air +10 "manipulator"&$&.,(\ #b +2 "processing"% +10 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.32 Pucks below Top Plate +6 "storage"(' +6 ."psFlush"PS.seek 2.5ml +3 "processing"%<' +28 "core" ' +2 "manipulator"&?% +4 "core" %> / + "storage"(>& +4 "core" &,f \\\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 4 + 307 counts +2 "manipulator"&B'j +13 "core" ' +2 "manipulator"&@& +4 "core" & @ ! +2 "storage"(}& +4 "core" &,f q\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&C' +18 "core" ' +2 "storage"(G% +4 "core" % )\  +2 ."downElevator"SE.seek :down +3 "storage"(F' +99 (I% +6 "core" %CD Q\ U\\ +4 "manipulator"&K% +8 "core" % s +4 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&D' +91 "core" ' +46 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (J& +6 "core" &,f { c\ +1213 ' +2 ."psFlush"PSV.dial PTV +4 "processing"%E +88 "core" +4 ."psFlush"PTV.dial :puck +3 "processing"%L  +72 "core"  +2 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml +2 "processing"%H'ؾ +1052 #"uploadLog"upsync +1577 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%M +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%R' +594 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%O' +2138 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%P +86 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%S U +53 "core" V +2 ."psFlush"PS.seek 0ml + "processing"%Q'ؾ +2636 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%W @ +44 "core" > + ."psFlush"PS.seek 2.5ml +2 "processing"%V' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%N  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%Z'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%6 +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%\\' +2638 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%[ +72 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%Y'ؾ +2651 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%] @ +57 "core" @ +2 ."psFlush"PS.seek 2.5ml + "processing"%a' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +74 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%c'ؾ +2651 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%" +44 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%i'X\\ +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%(' +1617 "core" ' +4 ."psFlush"PSV.dial PTV +5 "processing"%q +71 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%e  +52 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%l'ؾ +2654 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%j +74 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%f' +595 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%X +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%g U +53 "core" V +2 ."psFlush"PS.seek 0ml + "processing"%s'ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%_ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%y' +157 "Can"\ OL +2477 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%k'ؾ +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%w +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%r' +2641 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%h +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%z'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%b @ +57 "core" @ +2 ."psFlush"PS.seek 2.5ml + "processing"%`' +2628 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%~  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%{'ؾ +2642 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +4 "core" & 7 ! + "manipulator"&% +4 "core" %   +2 ."psFlush"Elbow.seek PC + "manipulator"&n( +245 "core" ( + "manipulator"&|& +4 "core" & ) 5 +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & | 5 +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +94 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +58 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%d( +456 "core" ( +2 "manipulator"&v& +4 "core" & a 5 + "manipulator"& % +4 "core" %  5 & +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +90 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage + "manipulator"&(- +125 "core" ( + "manipulator"&& +4 "core" &- X \ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- \ +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +97 "core" ' +2 ."psFlush"Hand.open + "manipulator"&t1 +55 "core" 1 +2 "manipulator"&% +4 "core" % } 7 \ + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +48 "manipulator"&' +95 "core" ' + #tFinished short da assay +2468 #-> access 4 +3 "storage"(% +3 "core" % ( \  +2 "manipulator"&x% +4 "core" %  1  + "manipulator"&& +4 "core" &- \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(m(C +988 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +2 "core" &C   \ +5973 #t-> exit +6 #mEXIT @1632756406.89PDT @1632756430.99PDT = =tMAIN =mMAIN_scheduler @PDT1632756432.80 #"core_reset"Sent BREAK + #t@53430 receive with ifg=0x10, ie=0xFD + #@54066 receive with ifg=0x10, ie=0xFD + #@54722 receive with ifg=0x10, ie=0xFD + #@55358 receive with ifg=0x10, ie=0xFD #@55994 receive with ifg=0x10, ie=0xFD + #@56628 receive with ifg=0x10, ie=0xFD + #@57262 receive with ifg=0x10, ie=0xFD #@57589 receive with ifg=0x80, ie=0xFD + #@29820 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +284 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +374 "Can"\ C@ + \ C@ + #tPolling Can every 10:00 +805 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e D\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %غs\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %څ c\ > +2 .tSS.configure :default +2 "sampler")#.0X + "manipulator"&& +5 "core" &- \ + "storage"(& +3 "core" &C  " 7\ +2 "storage"(% +3 "core" %   \  + "collection"'& +4 "core" & L\ + "processing"%& +4 "core" &\ + "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core" ~ +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" V +2 "processing"%% +3 "core"  + "processing"%& +3 "core" A +2 "sampler")' +3 "core"  +2 "collection"'(% +3 "core" %e S\ +2 "processing"%)% +3 "core" %غ$\ +2 "sampler")*% +4 "core" %څ _\ > +2 "collection"'+& +4 "core" & T\ + "processing"%,& +4 "core" &\ + "manipulator"&-% +4 "core" %   + "manipulator"&.& +4 "core" &- h \ +2 "storage"(/& +4 "core" &C   \ + "storage"(0% +4 "core" %   U\  +2 "collection"'19 +3 "core" 9 + "processing"%29 +3 "core" 9 +1667 #t-> ESP.ready? +2 "collection"'3% +3 "core" %e d\ +2 "sampler")4% +4 "core" %څ _\ > + "manipulator"&5% +4 "core" %   + "manipulator"&6& +4 "core" &- a \ + "storage"(7& +3 "core" &C   \ +2 "storage"(8% +4 "core" %   \  + "collection"'9& +3 "core" & Y\ +2 "processing"%:& +3 "core" &\ + "processing"%;% +4 "core" %غ\ +3579 #t-> $da[:extractVol]=0.21 +53379 "Can"\ B? +60001 \ B? +16747 #t-> access 5 + "storage"(<% +4 "core" % ' ' \  + "manipulator"&=% +4 "core" %   +2 "manipulator"&>& +3 "core" &- \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(?(  +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (@& +3 "core" &   f\  +5316 #t-> startTube 5 +293 #-> shortDA +2 "collection"'A% +5 "core" %e \ + "processing"%B% +5 "core" %غ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1038 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%C +131 "core" +2 .tPTV.dial :PRVmixing + "processing"%D  +130 "core" +2 .tPRV.dial :sipper + "processing"%E  +44 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml + "processing"%F'e +2301 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%G  + "collection"'H  +16 "core" +111  +2 .tPS.seek 0.5ml +2 "processing"%I' +1279 "core" ' + .tPRV.dial :waste2 +2 "processing"%J @ +99 "core" ? + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%K'ؾ +590 "core" ' + .tPSV.dial PSR +2 "processing"%L +114 "core" +2 "processing"%M% +4 "core" %ؾ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +9 .tPS.seek 1ml +2 "processing"%N'X\\ +1189 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%O' +1613 "core" ' +2 .tPSV.dial :mixloop + "processing"%P +102 "core" +2 .tPS.seek 0ml + "processing"%Q'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%R +103 "core"  +2 "processing"%S% +4 "core" %غ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%T'X\\ +1106 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%U' +1607 "core" ' +2 .tPSV.dial :mixloop + "processing"%V +103 "core" +2 .tPRV.dial :sipper + "processing"%W  +44 "core" +2 .tPS.seek 0ml +2 "processing"%X'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%Y +103 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%Z' +2639 "core" ' + .tPSV.dial :mixloop + "processing"%[ +104 "core" +2 .tPS.seek 0ml + "processing"%\\'ؾ +2650 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%]& +4 "core" &s\ + .tHand.open +43 "manipulator"&^1 +15 "core" 1 + "manipulator"&_% +4 "core" %   +2 "storage"(`% +3 "core" % K K -\ +2 "storage"(a. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(b(<- +982 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +2 "core" &<* * ( /\  +2 "manipulator"&d& +4 "core" &- \ + "manipulator"&e% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&f( +169 "core" ( +2 "manipulator"&g& +4 "core" & ~ 5 + "storage"(h& +4 "core" &<* D D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&i'O +95 "core" ' +2 "storage"(j& +4 "core" &<* e c @\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'r +300 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &<* L D 8\  + "manipulator"&n& +4 "core" & e 5 +2 .tElbow.seek 5 + "manipulator"&o( +3 "core" ( +2 "manipulator"&p& +3 "core" & 4 5 +2 "storage"(q& +4 "core" &<* 6 7 \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&r'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& + "storage"(u' +7 "core" &  5 + "manipulator"&v% +4 "core" % ϰ C +2 .tForearm.seek :retract +2 "manipulator"&w' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&y& +4 "core" & f $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" & $ $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{' +89 "core" ' +2 "manipulator"&|& +4 "core" &  $ +2 "manipulator"&}% +4 "core" %  _ + "processing"%~& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\  +9 &1y\ *z +9 &b~ \ > +10 &pt\ O +9 &2S \ O +10 &U\ O +9 &T\ O +9 &xV\ O +10 &:U\ O +9 &U\ O +9 &U\ O +10 & W\ O +9 &"AU\ O +9 &$V\ O +10 &%R\ O +9 &'V\ P +10 &)JT\ O +9 &+\ V\ \ P +9 &,W\ O +10 &.R\ \ O +9 &0QU \ O +9 &2R\ O +10 &3U \ O +9 &5U\ \ O +10 &7[U\ O +9 &9W\ O +9 &:W\ O +10 &<V\ O +9 &>`Y\ P +9 &@#Y \ O +10 &Ab\ \ P +9 &Cm\ R +10 &EZ\ U +9 &G\ U +9 &H\ U +10 &J\ V +9 &L^\ V +9 &N\ W +10 &O\ V +9 &Q\ X +10 &Sb\ W +9 &U#\ W +9 &V\ V +10 &X\ W +9 &Zj\ W +9 &\\+\ X +10 &]~w\ = +9 &^*}\ Z +10 &^5\ 8 +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&% +4 "core" %  K _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"% h +2 %9 +6 "core" 9 +102 "processing"%\ 9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9  +102 "processing"%9 +2 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%9 +3 "core" 9? +101 "processing"%9 +3 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"% 9 +3 "core" 9L +102 "processing"%!9 +2 "core" 9P +102 "processing"%"9 +2 "core" 9T +102 "processing"%#9 +3 "core" 9X +102 "processing"%$9 +2 "core" 9] +102 "processing"%%9 +3 "core" 9a +102 "processing"%&9 +3 "core" 9e +102 "processing"%'9 +2 "core" 9i +102 "processing"%(9 +3 "core" 9m +102 "processing"%)9 +2 "core" 9q +102 "processing"%*9 +3 "core" 9v +102 "processing"%+9 +2 "core" 9z +102 "processing"%,9 +2 "core" 9~ +102 "processing"%-9 +3 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +3 "core" 9 +102 "processing"%19 +2 "core" 9 +102 "processing"%29 +3 "core" 9 +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +3 "core" 9 +102 "processing"%59 +2 "core" 9 +102 "processing"%69 +3 "core" 9 +102 "processing"%79 +2 "core" 9 +102 "processing"%89 +3 "core" 9  +102 "processing"%99 +2 "core" 9 +102 "processing"%:9 +2 "core" 9 +102 "processing"%;9 +3 "core" 9 +102 "processing"%<9 +3 "core" 9# +3 .tPH.hold 2:00:00,28C +3 "processing"%= php +2 .tdelay 1:30 +4 "core"  +5830 "Can"\ HF +3170 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%> +103 "core"  +2 "processing"%% +4 "core" %ؽ\  + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%@' +594 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%A' +1617 "core" ' + .tPTV.dial :puck +2 "processing"%B  +130 "core"  + .tPSV.dial PTV +2 "processing"%C +73 "core" +2 .tPBV.dial :waste1 + "processing"%D  +54 "core"  + "processing"%E% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%'- +587 "core" ' +2 .tdelay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%H * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%G'ؾ +1602 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%F  +36 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%J * +34 "core" + +2 .tPSR.select :air + .PSV.dial PSR +2 "processing"%I +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%L' +2426 "core" ' +2 .tPSV.dial PTV + "processing"%M +74 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%K +74 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%N +85 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%P  +88 "core"  + .tPS.seek 0ml +2 "processing"%O'ؾ +2385 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%R  +131 "core" + .tPSV.dial :mixloop +2 "processing"%S +42 "core" +2 .tPRV.dial :ab1 + "processing"%Q @ +100 "core" @ +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml + "processing"%T' +356 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%V  +42 "core" +2 "processing"%W% +4 "core" % A\  +2 .tPS.seek 0.36ml + "processing"%U' +482 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'Y  +28 "core" +2 .tPRV.dial :air + "processing"%X  +44 "core"  +2 .tPS.seek 0.9ml + "processing"%['K +1151 "core" ' +2 .tPRV.dial :waste2 + "processing"%Z @ +71 "core" @ +2 .tPS.seek 0.5ml + "processing"%]' +873 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%^  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%_' +1614 "core" ' + .tPSV.dial :PML +2 "processing"%` +45 "core" +2 .tPTV.dial :mixing + "processing"%a @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%?  +35 "core" + "processing"%c% +4 "core" %U\  +2 .tPS.seek 1.85ml +2 "processing"%d' +230 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%e * +35 "core" + +2 .tPS.seek 0ml + "processing"%g'ؾ +1971 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'h& +3 "core" & \ + "manipulator"&j& +4 "core" & ! $ + "manipulator"&% +4 "core" %  D  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +126 "core" ( +2 "manipulator"&l& +4 "core" &- e \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +2 "core" &- m \ +2 .tForearm.seek :garage +2 "manipulator"&n'w +95 "core" ' + .tHand.close +2 "manipulator"&p/ +59 "core" / +2 "manipulator"&q& +4 "core" &- k \ + "manipulator"&s% +4 "core" % ψ   +2 .tForearm.seek :retract + "manipulator"&t' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&v(ӂ +281 "core" ( +2 "manipulator"&f& +4 "core" &ӑ%  >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &ӑ%  >K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'? +102 "core" ' +3 "manipulator"&r& +4 "core" &ӑ&  B >K +2 "manipulator"&y% +3 "core" %E +2 "collection"'z& +4 "core" & \ +2 "collection"'o& +5 "core" & \ +2 .tCC.seek :closed + "collection"'|(\\ +4 "core" & \  +9 &1y \ *y +10 &a \ > +9 &hs \ O +9 &)U \ O +10 &Y \ O +9 &V \ O +10 &pR \ N +9 &2T \ N +9 &Y \ N +10 &U \ N +9 & xT \ N +9 &"9X \ O +10 &#V \ N +9 &%S \ O +10 &'S \ O +9 &)AS \ O +9 &+R \ O +10 &,R \ O +9 &.N \ O +9 &0IL \ O +10 &2 R \ O +9 &3T \ O +10 &5P \ N +9 &7RS \ N +9 &9U \ O +10 &:U \ N +9 &<U \ O +9 &>YU \ O +10 &@R \ O +9 &AV \ O +10 &C_ \ P +9 &EVt \ R +9 &G \ W +10 &H \ Z +9 &J \ [ +9 &LC \ \\ +10 &N \ \\ +9 &O \ \\ +10 &Q \ \\ +9 &SE \ ^ +9 &U \ ^ +10 &V \ _ +9 &X \ ` +9 &ZD \ a +10 &[{ \ E +9 &\\% \ . +10 &\\ \ ^ +2 ( + "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + "collection"'}& +4 "core" &\\ \ ^ +2 .tHand.open + "manipulator"&~1 +62 "core" 1 +2 "manipulator"&u% +43 "core" % E  +11 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +88 "core" ' +2 .tPSV.dial PSR +2 "processing"% +102 "core"  + "processing"%% +5 "core" %ؿ/\ q + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%'+ +1607 "Can"\ ec +9 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1615 "core" ' + .tPSV.dial PSR +2 "processing"%\ +45 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%{' +2634 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  + "collection"'  +32 "core"  +126 + .tPSV.dial :mixloop +2 "processing"% +114 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 .tPSV.dial :air + "processing"%  +46 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2630 "core" ' + .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &ӑ% >K +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& (ӂ +25 "core" ( + "manipulator"&!& +4 "core" &ӊ ` ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &ӊ  ' +2 .tForearm.seek CC + "manipulator"&#'? +92 "core" ' + .tHand.close +2 "manipulator"&$/ +61 "core" / +2 .tCC.seek :open + "collection"'%( +450 "core" ( + "manipulator"&&& +4 "core" &ӊ K ' + "manipulator"&'% +4 "core" % F _ 9 +2 .tForearm.seek :retract + "manipulator"&(' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&)(- +283 "core" ( + "manipulator"&*& +4 "core" &- z < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" &- g < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&,'w +95 "core" ' +2 .tHand.open + "manipulator"&-1 +58 "core" 1 + "manipulator"&.% +5 "core" % ρ  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/' +95 "core" ' +2 ."da"delayUntil "09:14:46.71" +24740 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%0 @ +72 "core" B +2 ."da"PBV.dial :waste1 + "processing"%1  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%2 * +34 "core" + +2 ."da"PSV.dial :air +2 "processing"%3  +45 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%4' +2426 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%5 +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%6  +44 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%7 +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%8  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +2368 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%: +131 "core" +2 "processing"%;% +4 "core" %8\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%<' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%>' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%\\ +85 "core" + ."da"PBV.dial :waste1 +2 "processing"%@  +34 "core" +2 "processing"%B% +3 "core" %>\ v +2 ."da"PS.seek 1.5ml +2 "processing"%C'& +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%D * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%E'ؾ +1631 "core" ' + ."da"delay 2:00 +824 "Can"\ HE +11179 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%A  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%H * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2425 "core" ' +2 ."da"PSV.dial PTV + "processing"%F +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%J +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%I +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%G  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +2367 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%K +131 "core"  +2 "processing"%N% +3 "core" %ؽ\\\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%P' +590 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%L' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%R +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%S  +35 "core" + "processing"%Q% +4 "core" %`\  +2 ."da"PS.seek 1.5ml +2 "processing"%O'& +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%V * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%W'ؾ +1629 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%T  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%Y * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%X +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%U' +2428 "core" ' + ."da"PSV.dial PTV +2 "processing"%Z +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%[ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%^ +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%]  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%`'ؾ +2370 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%a  +43 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%?  +129 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%c  +43 "core" ~ +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%e +56 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%_' +387 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%d  +43 "core"  + "processing"%h% +4 "core" %P\  +2 ."da"PS.seek 0.55ml +2 "processing"%j' +333 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%  +55 "core" +2 ."da"PS.seek 2ml +2 "processing"%l' +1565 "core" ' + ."da"PSV.dial :PML +2 "processing"%m +42 "core" +2 ."da"PTV.dial :mixing +2 "processing"%x @ +73 "core" A + ."da"PBV.dial :waste1 +2 "processing"%p  +35 "core" + "processing"%q% +4 "core" %2\  +2 ."da"PS.seek 1.85ml + "processing"%s' +232 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%n'ؾ +1972 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +5177 "Can"\ MJ +42826 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%f  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%i * +35 "core" , + ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%r' +2440 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%y +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%z  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%t +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%}'ؾ +2375 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%~ +131 "core"  +2 "processing"%u% +3 "core" %عd\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%o' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%k +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%g  +34 "core" +2 "processing"%% +3 "core" %`\  +2 ."da"PS.seek 1.5ml +2 "processing"%'' +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%\ * +33 "core" + +51 ."da"PS.seek 0ml +2 "processing"%'ؾ +1630 "core" ' +2 ."da"delay 2:00 +2740 "Can"\ pl +9262 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2440 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%{ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2385 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  + "processing"%% +4 "core" %ؼR\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1614 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %c\ \ + ."da"PS.seek 1.5ml +2 "processing"%!'( +596 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%" * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%$'ؾ +1629 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%v  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%w * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%| +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%&' +2441 "core" ' + ."da"PSV.dial PTV +2 "processing"%' +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%# +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%* +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%+  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2387 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%- +132 "core"  + "processing"%.% +4 "core" %ؾs\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%(' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%,' +1612 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%0 +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%1  +34 "core" +2 "processing"%2% +4 "core" %{\  +2 ."da"PS.seek 1.5ml + "processing"%3'& +584 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%5'ؾ +1614 "core" ' + ."da"delay 2:00 +7997 "Can"\ JH +4006 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%6  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%7 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%4' +2430 "core" ' +2 ."da"PSV.dial PTV + "processing"%: +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%; +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%9 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%<  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2392 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%\\ +142 "core"  +5 "processing"%@% +10 "core" %ؾp +2 #"da"Pulling 0.25ml of PSR.sub1 +7 .PSR.select :sub1 +5 "processing"% +17 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +4 "processing"%B' +339 "core" ' +2 ."da"delay 5 seconds +502 "processing"%>% +4 "core" %[  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%D' +345 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%C' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%A +89 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +36 "core" + "processing"%% +4 "core" %j +2 ."da"PS.seek 1.5ml +2 "processing"%E'& +599 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%F * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%J'ؾ +1609 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%I  +33 "core"  +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%G * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +76 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%K' +2546 "core" ' +2 ."da"PSV.dial PTV + "processing"%N +79 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%M +76 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%P +75 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%R  +78 "core"  +2 ."da"PS.seek 0ml +2 "processing"%S'ؾ +2513 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%Q +138 "core"  +2 "processing"%L% +4 "core" %ع\ C + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%V' +2132 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%O +77 "core" +2 ."da"PBV.dial :waste1 + "processing"%T  +36 "core" +2 "processing"%Y% +3 "core" % +2 ."da"PS.seek 1.5ml +2 "processing"%X'+ +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%W * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%Z  +107 "core"  +3 ."da"PS.seek 0ml +2 "processing"%['ؾ +1609 "core" ' +2 "processing"%^9 +3 "core" 9f5 +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%]  +4 "core" 5 5 +2 "processing"%U& +3 "core" &^3| 8 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&a% +4 "core" %  L + "storage"(?% +4 "core" %  + "storage"(c. +3 "core" .(<* +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(e(,y +357 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (`& +3 "core" &,{ o <\ = + "manipulator"&d& +4 "core" &- o < + "manipulator"&h% +4 "core" %   + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&_( +171 "core" ( +2 "manipulator"&& +4 "core" & s I1 + "storage"(j& +4 "core" &,{  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&m' +94 "core" ' + "storage"(x& +4 "core" &,{ \ G +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(p'r +283 "core" ' + "storage"(q- +4 "core" -'r + ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"('1 +48 "core" ' +2 "manipulator"&l& +4 "core" & U J1 + "manipulator"&s% +4 "core" % Y J + ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&f' +87 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&i( +244 "core" ( + "manipulator"&& +4 "core" & R 2 + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &  2 +2 ."da"Forearm.seek PC + "manipulator"&y' +98 "core" ' +2 ."da"Hand.close + "manipulator"&z/ +66 "core" / +2 ."da"PC.seek :open + "processing"%t( +460 "core" ( +10 "storage"( & +4 "core" &,e   + "manipulator"&r& +4 "core" & E K2 + "manipulator"&~% +4 "core" % f J +2 ."da"Forearm.seek :retract +2 "manipulator"&u' +98 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 + "manipulator"&}( +244 "core" ( + "manipulator"&o& +4 "core" & , +2 "storage"(& +3 "core" &,e Z 0\ a +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&k' +95 "core" ' + ."da"Hand.open +2 "manipulator"&g1 +67 "core" 1 +2 "storage"(- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +28 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(\ ' +54 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2709h.tif +6 "processing"%& +11 "core" &@ +3 "manipulator"&& +6 "core" &  P O, +2 "manipulator"& % +5 "core" %  D +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +177 "core" ( +2 "manipulator"&& +4 "core" &-  b +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- K +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&{'w +95 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +71 "core" / +2 "manipulator"&& +4 "core" &- ; ,  ` +2 "manipulator"&% +3 "core" % υ   E `+ +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +122 "core" ( +2 "manipulator"&& +93 "core" & f Z N i> +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & g k Y g> +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&& +4 "core" & H l a> +2 "manipulator"&% +4 "core" % = 3 HF + "processing"%"& +4 "core" & +2 "processing"%!& +5 "core" & +2 ."psFlush"PC.seek :closed + "processing"%v(^ +4 "core" &  +10 &+i {- +9 &]n wA +9 &Ib yU +10 &> S +9 &F S +9 &F S +10 &SF S +9 &F\ R +9 &J\ S +10 &I\ S +9 & ZG T +10 &"G S +9 &#H T +9 &%C W +10 &'Y@ W +9 &)< V +9 &*> V +10 &,?F W +9 &.a<M W +10 &0#=E W +9 &1;D V +9 &3<K W +10 &5i>6 W +9 &7,<0 V +9 &8?9 W +10 &:<2 W +9 &3A+ W +9 &?@* W +9 &AI# W +10 &C{Y4 V +9 &E4z# Y +10 &Fy% Z +9 &H [ +9 &Jx{& Z +10 &L9 Z +9 &M [\ +9 &O \\ +10 &Qy \\ +9 &S: ] +9 &TQ ` +10 &Vz za +9 &Xud y` +10 &Z5 xa +9 &[ va +9 &][ tN +10 &^'\\W ~!a +9 &^J C +2 ( +2 "processing"%!& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.99 +2 "processing"%w& +4 "core" &^I ~C + ."psFlush"Hand.open +2 "manipulator"&|1 +67 "core" 1 + "manipulator"&$% +4 "core" %  F +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&'' +91 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%# +47 "core" + "processing"%*% +4 "core" %ػK +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%+' +593 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%&' +754 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 32.21 seconds\ /var/log/esp/da21sep2709h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2709h15s.tif +1391 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%- @ +68 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2709h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2709h30s.tif +134 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%.  +140 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +112 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%('ؠ +2658 "core" ' +5 ."psFlush"PSR.select :air +7 .PSV.dial PSR +5 "processing"%0 +3 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2709h30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2709h70s.tif +108 "core"  +2 "processing"%1% +4 "core" %؜2  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%2' +594 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%,' +2129 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%3 @ +75 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%6 +114 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%7'ؠ +2638 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%8 +109 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%5'X\\ +691 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2709h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "32.21 sec auto-exposure",Subject: "da21sep2709h images!" +5 "storage"(:- +3 "core" -' + "storage"(;& +9 "core" &,e L\ E +2 "manipulator"&9& +4 "core" & > + "manipulator"&<% +4 "core" %   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&4( +244 "core" ( +2 "manipulator"&\\& +5 "core" &  L 0 +2 "storage"(@& +3 "core" &,e i l ^\ D +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&' +99 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(>'" +6 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%B' +58 "core" ' +10 "manipulator"&D& +10 "core" &  0 +4 "storage"(A& +8 "core" &,e \  +5 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +7 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 4 +6 "manipulator"&H'7 +13 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&, +4 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(C' +35 "core" ' +2 "manipulator"&F% +5 "core" %D # 0 + "storage"(E& +4 "core" &,e   )\  + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 4 + 313 counts +2 "manipulator"&I'p +13 "core" ' + "manipulator"&G& +5 "core" & B 0 +2 "storage"(& +4 "core" &,e  p\  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&J' +15 "core" ' + "storage"(N% +7 "core" %  #\ +4 ."downElevator"SE.seek :down +5 "storage"(M' +99 (P% +3 "core" %gG \ U\\ +2 "manipulator"&R% +4 "core" %  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&K' +96 "core" ' +56 ' +2 ."downElevator"SE.stop +4 "storage"(5 +7 (Q& +5 "core" &,e \  +1045 ' +2 ."psFlush"PSV.dial PTV +7 "processing"%L +73 "core" +4 ."psFlush"PTV.dial :puck + "processing"%S  +74 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +5 "processing"%O'ؾ +2144 #"uploadLog"upsync +496 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%T +71 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%Y' +145 "Can"\ PM +453 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%V' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%W +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%Z U +53 "core" W +2 ."psFlush"PS.seek 0ml + "processing"%X'ؾ +2633 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%^ @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%]' +2628 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%U  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%a'ؾ +2650 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%? +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%c' +2634 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%b +72 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%`'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%d @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%h' +2631 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +4 ."psFlush"PS.seek 0ml +3 "processing"%j'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%x +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%)'X\\ +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%/' +1613 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%q +72 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%l  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%s'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%p +74 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%m' +592 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2117 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%n +86 "core" + ."psFlush"PBV.dial PSV +2 "processing"%_ U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%z'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%f @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%r'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%~ +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%y' +2626 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%o +83 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%i @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%g' +2636 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2640 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +4 "core" & 0 + "manipulator"&u% +3 "core" %    +2 ."psFlush"Elbow.seek PC +2 "manipulator"& ( +244 "core" ( + "manipulator"&& +4 "core" & ? + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" & ? +2 ."psFlush"Forearm.seek PC + "manipulator"&' +90 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +61 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%k( +456 "core" ( + "manipulator"&}& +4 "core" &  > +2 "manipulator"&% +3 "core" %  J +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +126 "core" ( + "manipulator"&& +4 "core" &- E  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &- B  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +89 "core" ' +2 ."psFlush"Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % ρ F +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tFinished short da assay +5701 #-> access 4 +3 "storage"(% +3 "core" % V U \  +2 "manipulator"&"% +4 "core" %   +2 "manipulator"&& +3 "core" &- U  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +46 "storage"(t(C +981 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (w& +3 "core" &D W = A\ +2902 "Can"\ ?= +1755 #t-> PS.flush +2 #Flushing Processing stage +2 "processing"%|% +3 "core" %غ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%$& +4 "core" &\ +2 "manipulator"&!& +3 "core" &- 9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&#(- +15 "core" ( +2 "manipulator"&*& +4 "core" &- . U + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- B U +2 .tForearm.seek :garage +2 "manipulator"&['w +93 "core" ' + .tHand.close +2 "manipulator"&+/ +55 "core" / + "manipulator"&-& +4 "core" &- 3 U +2 "manipulator"&.% +4 "core" % { % + .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&&( +119 "core" ( + "manipulator"&0& +4 "core" & : ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" & ; ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&(' +93 "core" ' +2 "manipulator"&2& +5 "core" & ; + "manipulator"&% +4 "core" % G +2 "processing"%3& +4 "core" &\ +2 "processing"%6& +4 "core" &\ +3 .tPC.seek :closed + "processing"%,(^ +4 "core" &\ +8 &2\ $e +10 &Vz\ 7 +9 &x\ L +9 &Q\ N +10 &jQ\ N +9 &,Q\ N +10 &R\ M +9 &R\ M +9 &rR\ N +10 &4Q\ N +9 &S\ N +10 &!U\ N +9 &#zQ\ N +9 &%<T\ N +10 &&V\ N +9 &(V\ N +9 &*W\ N +10 &,DR\ N +9 &.Q\ N +9 &/T\ N +10 &1T\ M +9 &3LT\ N +10 &5U\ N +9 &6R\ N +9 &8U\ N +10 &:TV\ N +9 &<T\ N +10 &=S\ N +9 &?V\ N +9 &AZV\ N +10 &Ch\ P +9 &D|\ S +9 &F\ T +10 &HN\ U +9 &J\ U +9 &K\ U +10 &M\ V +9 &OU\ U +10 &Q\ V +9 &R\ W +9 &T\ W +10 &V\\\ V +9 &X\ V +9 &Y\ V +10 &[\ V +9 &]a\ D +10 &^Du\ ^ +9 &^\ Z\ ; +5 ( +2 "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 + "processing"%8& +4 "core" &^4\ ; + &^4\ ; +2 .tHand.open + "manipulator"&71 +60 "core" 1 +2 "manipulator"&:% +4 "core" %  4 G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +89 "core" ' +2 .tPSV.dial PSR +2 "processing"%9 +43 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%<'X\\ +1107 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%\\' +1629 "core" ' + .tPSV.dial PTV +2 "processing"%@ +83 "core" + .tPTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +54 "core" +2 .tPS.seek 0ml + "processing"%D'ؾ +2625 "core" ' + .tPSV.dial PSR +2 "processing"%A +72 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%'' +589 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%F' +2126 "core" ' +2 .tPSV.dial PTV + "processing"%E +74 "core" + .tPBV.dial PSV +2 "processing"%G U +53 "core" W +2 .tPS.seek 0ml +2 "processing"%'ؾ +2657 "core" ' + .tPSV.dial PBV +2 "processing"%N @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%\ ' +2633 "core" ' +2 .tPSV.dial :waste1 + "processing"%5  +71 "core"  +2 .tPS.seek 0ml + "processing"%P'ؾ +2633 "core" ' +2 .tPSV.dial PSR + "processing"%R +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%' +2632 "core" ' + .tPSV.dial PTV +2 "processing"%4 +72 "core" + .tPBV.dial PSV +3 .PS.seek 0ml + "processing"%>'ؾ +2636 "core" ' + .tPSV.dial PBV + "processing"%H @ +45 "core" ? + .tPS.seek 2.5ml +2 "processing"%I' +2631 "core" ' + .tPSV.dial :waste1 +2 "processing"%Q  +72 "core"  +2 .tPS.seek 0ml + "processing"%C'ؾ +2637 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&J& +4 "core" & I ; +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&M( +3 "core" ( +2 "manipulator"&L& +3 "core" & ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &  ; +2 .tForearm.seek PC + "manipulator"&B' +90 "core" ' +2 .tHand.close + "manipulator"&T/ +57 "core" / +2 .tPC.seek :open + "processing"%O( +459 "core" ( +2 "manipulator"&Y& +4 "core" & ( ; + "manipulator"&W% +4 "core" %   M +2 .tForearm.seek :retract + "manipulator"&Z' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&V(- +128 "core" ( + "manipulator"&^& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&U'w +103 "core" ' + .tHand.open +2 "manipulator"&]1 +61 "core" 1 + "manipulator"&?% +4 "core" % y H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +98 "core" ' +28437 "Can"\ A> +25313 #t-> exit +5 #mEXIT @1632763292.85PDT @1632763315.10PDT = =tMAIN =mMAIN_scheduler @PDT1632763316.95 #"core_reset"Sent BREAK + #t@36885 sendCRC with ifg=0x20, ie=0x7F + #@38720 sendCRC with ifg=0x08, ie=0x5F + #@42633 idle with ifg=0x84, ie=0x75 + #@43302 select with ifg=0x10, ie=0xF5 #@43936 receive with ifg=0x10, ie=0xFD + #@44569 receive with ifg=0x10, ie=0xFD #@45202 receive with ifg=0x10, ie=0xFD + #@45529 receive with ifg=0x80, ie=0xFD #@37401 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +285 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +382 "Can"\ CA + \ CA #tPolling Can every 10:00 +545 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e ;\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ؾ\ + .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ W\ > + .tSS.configure :default +3 "sampler")#.0X +2 "manipulator"&& +3 "core" &- e +2 "storage"(& +3 "core" &D X W _\ +2 "storage"(% +3 "core" % P W \\\  + "collection"'& +4 "core" & ;\ + "processing"%& +4 "core" &\ +2 "collection"'  +3 "core"  + "collection"'! +4 "core"  + "collection"'" +3 "core"  +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" W +2 "processing"%% +3 "core"  + "processing"%& +3 "core" B +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" %e <\ +2 "processing"%)% +3 "core" %ؾE\ +2 "sampler")*% +4 "core" %څ X\ > +2 "collection"'+& +4 "core" & >\ + "processing"%,& +4 "core" &B\ +2 "manipulator"&-% +4 "core" %  C  + "manipulator"&.& +4 "core" &-  + "storage"(/& +4 "core" &D Y W l\ +2 "storage"(0% +4 "core" % Z Y !\  + "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +2044 #t-> $da[:extractVol]=0.21 +56870 "Can"\ CA +2793 #t-> access 5 +2 "storage"(3% +3 "core" % M [ #\  +2 "manipulator"&4% +4 "core" %    +2 "manipulator"&5& +3 "core" &- ; +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(6(  +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &  # /\  +2547 #t-> startTube 5 +1306 #-> shortDA +3 "collection"'8% +4 "core" %e .\ + "processing"%9% +6 "core" %ؾ>\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +491 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%: +130 "core" +2 .tPTV.dial :PRVmixing + "processing"%;  +130 "core" + .tPRV.dial :sipper +2 "processing"%<  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%='e +2301 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%>  + "collection"'?  +7 "core" +120 +2 .tPS.seek 0.5ml + "processing"%@' +1275 "core" ' + .tPRV.dial :waste2 + "processing"%A @ +101 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%B'ؾ +585 "core" ' +2 .tPSV.dial PSR + "processing"%C +102 "core"  +2 "processing"%D% +4 "core" %ؿD\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +9 .tPS.seek 1ml +2 "processing"%E'X\\ +1105 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%F' +1617 "core" ' + .tPSV.dial :mixloop +2 "processing"%G +103 "core" +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2624 "core" ' +2 .tPSV.dial PSR + "processing"%I +104 "core"  + "processing"%J% +4 "core" %\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%K'X\\ +1110 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%L' +1611 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +103 "core" + .tPRV.dial :sipper +2 "processing"%N  +42 "core" +2 .tPS.seek 0ml +2 "processing"%O'ؾ +2651 "core" ' + .tPSV.dial PSR +2 "processing"%P +102 "core"  + .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%Q' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%R +103 "core" +2 .tPS.seek 0ml +2 "processing"%S'ؾ +2633 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp +2 "processing"%T& +4 "core" & \ + .tHand.open +2 "manipulator"&U1 +25 "core" 1 + "manipulator"&V% +4 "core" %  V  +2 "storage"(W% +4 "core" % a [ >\  + "storage"(X. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(Y(<- +978 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &<, 0 &\  +2 "manipulator"&[& +3 "core" &- F +2 "manipulator"&\\% +3 "core" %  Q  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +37 "manipulator"&]( +175 "core" ( + "manipulator"&^& +4 "core" & K 3 +2 "storage"(_& +4 "core" &<, ` ` \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +92 "core" ' + "storage"(a& +4 "core" &<, w\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'r +300 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (d& +3 "core" &<, > G \  +2 "manipulator"&e& +3 "core" &  2 +2 .tElbow.seek 5 + "manipulator"&f( +4 "core" ( + "manipulator"&g& +4 "core" & 2 + "storage"(h& +4 "core" &<, b b\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&i'Ϲ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(l' +7 "core" & s 2 +2 "manipulator"&m% +3 "core" % ϻ 4 +2 .tForearm.seek :retract +2 "manipulator"&n' +94 "core" ' + .tElbow.seek PC +2 "manipulator"&o( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&p& +4 "core" & E 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" & t 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&r' +90 "core" ' + "manipulator"&s& +5 "core" & s 1 + "manipulator"&t% +4 "core" % 7 Z +2 "processing"%u& +4 "core" &>\ +2 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed + "processing"%w(^ +5 "core" &\ +7 & ,\ $d +9 &T{\ 7 +10 &~}\ L +9 &U\ N +9 &[T\ N +10 &U\ N +9 &X\ O +9 &R \ O +10 &cQ \ N +9 &$T \ O +10 &W\ O +9 &!R\ O +9 &#jS \ O +10 &%,R\ O +9 &&T\ O +9 &(T\ N +10 &*sU\ \ N +9 &,4U\ O +10 &-W\ N +9 &/U \ O +9 &1zX\ O +10 &3<W \ O +9 &4W \ O +9 &6W\ O +10 &8W\ O +9 &:DR\ \ O +9 &<U\ O +10 &=Y\ O +9 &?W\ O +10 &AKW\ \ O +9 &Ci\ Q +9 &Dy\ S +10 &F~\ U +9 &H@\ U +10 &I\ W +9 &K\ U +9 &M\ V +10 &OG\ V +9 &Q\ V +9 &R\ V +10 &T\ W +9 &VM\ V +9 &X \ W +10 &Y\ W +9 &[\ W +10 &]S\ G +9 &^w@s\ )x +9 &^2\ 3 +6 ( + "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&x1 +3 "core" &^ \ 3 +52 1 +2 "manipulator"&y% +4 "core" %  i Z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&z' +94 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%{ h +2 %|9 +7 "core" 9 +102 "processing"%}9 +2 "core" 9 +103 "processing"%~9 +2 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%\ 9 +2 "core" 9* +102 "processing"% 9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%9 +2 "core" 9? +103 "processing"%9 +2 "core" 9C +102 "processing"%9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +102 "processing"%9 +3 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%9 +3 "core" 9a +103 "processing"%9 +2 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +2 "core" 9m +103 "processing"% 9 +2 "core" 9q +102 "processing"%!9 +2 "core" 9v +102 "processing"%"9 +2 "core" 9z +102 "processing"%#9 +3 "core" 9~ +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +3 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +3 "core" 9  +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +2 "core" 9 +102 "processing"%09 +4 "core" 9 +102 "processing"%19 +2 "core" 9! +3 .tPH.hold 2:00:00,28C +2 "processing"%2 php +4 .tdelay 1:30 +3 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%3 +103 "core"  +2 "processing"%4% +4 "core" %ػ\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%5' +592 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%' +1621 "core" ' + .tPTV.dial :puck + "processing"%7  +127 "core"  +2 .tPSV.dial PTV +2 "processing"%8 +73 "core" + .tPBV.dial :waste1 +2 "processing"%9  +55 "core" + "processing"%:% +4 "core" %\ \ +2 .tPS.seek 1.5ml +2 "processing"%;', +592 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%< * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' +2 .tdelay 5:00 +7707 "Can"\ HF +22295 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%?  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%> * +35 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%= +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%A' +2399 "core" ' +2 .tPSV.dial PTV + "processing"%@ +86 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%C +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%D +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%B  +74 "core"  +2 .tPS.seek 0ml + "processing"%E'ؾ +2364 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%G  +133 "core" + .tPSV.dial :mixloop +2 "processing"%F +44 "core" + .tPRV.dial :ab1 +2 "processing"%I @ +100 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +4 "processing"%J' +362 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "processing"%H  +42 "core" +2 "processing"%K% +4 "core" % n\  +2 .tPS.seek 0.36ml +2 "processing"%M' +468 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'N  +29 "core" +2 .tPRV.dial :air +2 "processing"%L  +43 "core"  +2 .tPS.seek 0.9ml + "processing"%P'K +1153 "core" ' + .tPRV.dial :waste2 +2 "processing"%O @ +72 "core" > +2 .tPS.seek 0.5ml +2 "processing"%R' +858 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%Q  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%T' +1609 "core" ' + .tPSV.dial :PML +2 "processing"%U +44 "core" + .tPTV.dial :mixing +2 "processing"%V @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%W  +34 "core" +2 "processing"%X% +4 "core" %\  +2 .tPS.seek 1.85ml + "processing"%6' +229 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%Z * +34 "core" , +3 .tPS.seek 0ml + "processing"%['ؾ +1971 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'\\& +3 "core" & 7\ +2 "manipulator"&^& +4 "core" & 6 1 + "manipulator"&_% +4 "core" % " * 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +127 "core" ( +2 "manipulator"&a& +4 "core" &- g \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- m \ +2 .tForearm.seek :garage + "manipulator"&c'w +97 "core" ' + .tHand.close + "manipulator"&d/ +57 "core" / + "manipulator"&e& +5 "core" &- ) \ + "manipulator"&g% +4 "core" % ω +2 .tForearm.seek :retract + "manipulator"&h' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +275 "core" ( + "manipulator"&k& +4 "core" &Ӄ) \ A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &Ӄ)  A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'? +103 "core" ' +2 "manipulator"&`& +4 "core" &ӏ' _ ?S +2 "manipulator"&b% +4 "core" %J v +2 "collection"'i& +4 "core" & *\ +2 "collection"'p& +5 "core" & /\ +2 .tCC.seek :closed + "collection"'q(\\ +5 "core" & )\  +9 &2y 3\ *y +9 &b ,\ > +10 &jr &\ O +9 &-R 4\ N +9 &T .\ O +10 &W -\ N +9 &sW (\ N +10 &5U 2\ N +9 &W )\ O +9 &V $\ N +10 & {Q '\ N +9 &"<U +\ N +9 &#T &\ N +10 &%V &\ N +9 &'Q $\ N +10 &)EU &\ N +9 &+U &\ N +9 &,U %\ N +10 &.U &\ N +9 &0LT '\ N +9 &2U .\ N +10 &3W '\ N +9 &5R \ N +10 &7SW $\ O +9 &9S  \ N +9 &:V !\ N +10 &<R &\ N +9 &>\\U "\ N +10 &@U !\ N +9 &AW \ O +9 &C` !\ P +10 &EXx $\ R +9 &G "\ W +9 &H +\ Z +10 &J &\ [\ +9 &LH /\ [ +9 &N +\ [\ +10 &O ,\ \\ +9 &Q 6\ \\ +10 &SI +\ ] +9 &U\ 6\ ] +9 &V .\ _ +10 &X 7\ _ +9 &ZH 2\ ` +9 &[z 8\ H +10 &\\ 2\ +| +9 &] ! 3\ Z +9 ( +3 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.36 + "collection"'f& +4 "core" &]v 7\ W +2 &]v 3\ W + .tHand.open + "manipulator"&s1 +59 "core" 1 +2 "manipulator"&t% +4 "core" % J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +95 "core" ' +2 .tPSV.dial PSR +2 "processing"%l +103 "core"  + "processing"%n% +4 "core" %ؽ\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"% '+ +1614 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%x  +41 "core"  +2 .tPS.seek 0ml +2 "processing"%y'ؾ +1612 "core" ' + .tPSV.dial PSR +41 "processing"%| +52 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%v' +2629 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +4 "processing"%}  "collection"'r  +34 "core" ~ +123 +2 .tPSV.dial :mixloop + "processing"%~ +102 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"' +3 "core"  +2 "collection"'  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2631 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%\ 'ؾ +2624 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +670 "Can"\ eb +1964 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӑ& ?R +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +29 "core" ( + "manipulator"&& +4 "core" &ӌ  : # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ   # +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open + "collection"'( +454 "core" ( + "manipulator"&& +5 "core" &ӌ  ? # + "manipulator"&% +4 "core" % E 6 : + .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +276 "core" ( +2 "manipulator"&& +4 "core" &-  X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &- ! X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&!'w +91 "core" ' +2 .tHand.open +2 "manipulator"&"1 +57 "core" 1 +2 "manipulator"&#% +4 "core" % q ; : + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +89 "core" ' +2 ."da"delayUntil "10:56:44.62" +24782 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%% @ +74 "core" A + ."da"PBV.dial :waste1 +2 "processing"%&  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%' * +35 "core" , + ."da"PSV.dial :air +2 "processing"%(  +44 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%)' +2401 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%* +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%+  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%, +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%-  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%.'ؾ +2351 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%/ +130 "core"  + "processing"%0% +4 "core" %ؿ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%1' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%3' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%4  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%S +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%5  +35 "core" + "processing"%7% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%8') +584 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%9 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%< * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%; +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%{' +2344 "Can"\ GE +62 "core" ' + ."da"PSV.dial PTV +2 "processing"%? +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%> +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%= +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%@'ؾ +2364 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%C +129 "core"  +2 "processing"%D% +4 "core" %|\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%B' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%A' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%G +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%F  +34 "core" +2 "processing"%I% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%E'* +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%H * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%K'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%J  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%N * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%L +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%M' +2407 "core" ' +2 ."da"PSV.dial PTV + "processing"%O +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%P +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Q +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%R  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%U'ؾ +2369 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%V  +44 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%W  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%X  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%Z +45 "core" + ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%T' +388 "core" ' +2 ."da"delay 2 seconds +201 .PRV.dial :air +2 "processing"%6  +44 "core"  + "processing"%\\% +4 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%^' +336 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%_  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%a' +1558 "core" ' +2 ."da"PSV.dial :PML + "processing"% +44 "core" +2 ."da"PTV.dial :mixing + "processing"%o @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%d  +35 "core" + "processing"%e% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%g' +238 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%z * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%c'ؾ +1962 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +21947 "Can"\ FB +26055 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%k  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%m * +33 "core" , +2 ."da"PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%`' +2429 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%b +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%i  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%h +43 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%f'ؾ +2345 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%s +130 "core"  + "processing"%t% +4 "core" %ؾ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%p' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%l' +1630 "core" ' + ."da"PTV.dial :puck +2 "processing"%n  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%] +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%[  +35 "core" + "processing"%x% +4 "core" %\ +2 ."da"PS.seek 1.5ml + "processing"% ', +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%| * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%y'ؾ +1629 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%r  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%} * +35 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%~ +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2402 "core" ' +2 ."da"PSV.dial PTV +42 "processing"% +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%v +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +160 "Can"\ ][ +2197 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +130 "core"  + "processing"%% +4 "core" %ؼ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%\ ' +1607 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%'& +590 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1607 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%j  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%u * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%q +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2417 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2365 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%" +130 "core"  + "processing"%#% +4 "core" %\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%!' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%% +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%&  +34 "core" +2 "processing"%'% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%('' +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%*'ؾ +1610 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%+  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%, * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%)' +2412 "core" ' + ."da"PSV.dial PTV +2 "processing"%/ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%0 +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%. +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%1  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%4'ؾ +2343 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%S +140 "core"  +5 "processing"%5% +10 "core" %\  +2 #"da"Pulling 0.25ml of PSR.sub1 +6 .PSR.select :sub1 +4 "processing"% +17 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +6 "processing"%7' +335 "core" ' + ."da"delay 5 seconds +503 "processing"%3% +3 "core" %\  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%9' +329 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%8' +1285 "Can"\ / +326 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%<  +36 "core" + "processing"%;% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%:'& +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%? * +36 "core" , +2 ."da"PS.seek 0ml + "processing"%>'ؾ +1618 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%=  +36 "core" + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +36 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%{ +77 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%C' +2508 "core" ' + ."da"PSV.dial PTV +2 "processing"%D +76 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%@ +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%B +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%G  +78 "core"  +2 ."da"PS.seek 0ml +2 "processing"%F'ؾ +2480 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%I +137 "core"  +2 "processing"%A% +3 "core" %ؾ\ g +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%H' +2127 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck + .PSV.dial PTV +2 "processing"%E +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%J  +36 "core" +2 "processing"%N% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%L') +605 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%K * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%O  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +1610 "core" ' + "processing"%Q9 +3 "core" 9n5u +2 #"da"Processing Puck Heater at 28.2C before imaging +2 .PH.coast + "processing"%R  +4 "core" 5u + 5u + "processing"%M& +3 "core" &^!\ 3 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&V% +3 "core" % \ \ n ~ +2 "storage"(W% +3 "core" % + / ]\ +2 "storage"(X. +3 "core" .(<- + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 4 + "storage"(Z(,y +357 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &,| / ! m\ e +2 "manipulator"&6& +4 "core" &- ~ O X + "manipulator"&\\% +4 "core" %  u i r  + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&T( +185 "core" ( +2 "manipulator"&_& +4 "core" &   + "storage"(^& +4 "core" &,| \ n +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&' +89 "core" ' +2 "storage"(o& +4 "core" &,| R 4 '\  + ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(d'r +280 "core" ' +2 "storage"(e- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"(z'1 +46 "core" ' +2 "manipulator"&a& +4 "core" & J  +2 "manipulator"&g% +8 "core" %   +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&k' +96 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&m( +255 "core" ( + "manipulator"&& +4 "core" & U v +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +2 "core" & t +2 ."da"Forearm.seek PC +2 "manipulator"&b' +96 "core" ' + ."da"Hand.close +2 "manipulator"&i/ +74 "core" / + ."da"PC.seek :open +2 "processing"%h( +459 "core" ( + "storage"( & +4 "core" &,e f L \ h +2 "manipulator"&`& +3 "core" & +2 "manipulator"&s% +3 "core" %  +2 ."da"Forearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 + "manipulator"&f( +239 "core" ( + "manipulator"&p& +4 "core" & H |: +2 "storage"(n& +4 "core" &,e \  +45 ."da"Forearm.reconfigure :tight +11 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&]' +91 "core" ' +2 ."da"Hand.open +2 "manipulator"&[1 +76 "core" 1 +2 "storage"(x- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(l' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(|' +52 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2711h.tif +7 "processing"% & +15 "core" &k\  +3 "manipulator"&r& +5 "core" & Z : +3 "manipulator"&}% +4 "core" % z 8 i +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&~' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage + "manipulator"&y(- +176 "core" ( +3 "manipulator"&& +4 "core" &-  ,T +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- +T +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&v'w +100 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +69 "core" / + "manipulator"&& +4 "core" &-  T +2 "manipulator"&% +4 "core" % x + ."psFlush"Forearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +118 "core" ( + "manipulator"& & +4 "core" & N G +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" & G + ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +111 "core" ' +2 "manipulator"&& +4 "core" &  ,G +2 "manipulator"&\ % +4 "core" % .M +2 "processing"%& +4 "core" &$ +2 "processing"%& +5 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%j(^ +4 "core" & +7 & * $d +9 &Sp 9 +10 &wm N +9 &rE U +9 &3@ U +10 &> U +9 &B\ R +9 &G\ Q +10 &EF\ R +9 &H\ R +9 &J\ #R +10 &!I\ &R +9 &#NJ\ R +10 &%I\ R +9 &&I\ R +9 &(G\ R +10 &*PC T +9 &,A U +10 &-@ U +9 &/A U +9 &1U? U +10 &3@ U +9 &4? U +9 &6? U +10 &8]B U +9 &:? U +10 &;A U +9 &=A U +9 &?cC U +10 &A%E U +9 &BU X +9 &Dk Z +10 &FW \\ +9 &H!}\ \ Z +9 &I\ \ Z +10 &K\ Z +9 &Md\ [ +10 &O(\ Z +9 &P\ [\ +9 &R\ [ +10 &ThZ\ \\ +9 &V-Z\ [\ +9 &Wa\ [ +10 &YP _ +9 &[iO ^ +10 &]'I ` +9 &^PeE Y +9 &^RT E +6 ( + "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.97 +2 "processing"%u& +4 "core" &^OO E + &^ON E + ."psFlush"Hand.open +2 "manipulator"&q1 +76 "core" 1 + "manipulator"&% +4 "core" % C jM +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"% +46 "core"  +2 "processing"%% +4 "core" %غ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"% ' +589 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1117 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 35.246 seconds\ /var/log/esp/da21sep2711h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2711h15s.tif +997 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%" @ +198 "core" A +2 ."psFlush"PTV.dial :PRVmixing + "processing"%#  +138 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +121 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2711h15s.tif: TIFF Upload Complete\ +3 "core" + #"da"PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2711h30s.tif +6 ."psFlush"PS.seek :empty +6 "processing"%'ؠ +2639 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%% +109 "core"  + "processing"%&% +4 "core" %؝f + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%'' +288 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2711h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2711h70s.tif +311 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +2126 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%  +36 "core" +2 ."psFlush"PTV.dial :mixing + "processing"%( @ +77 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%+ +113 "core" + ."psFlush"PS.seek :empty +2 "processing"%,'ؠ +2632 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%- +107 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%*'X\\ +1103 "core" ' +4 ."psFlush"PSR.select :air +7 "processing"% +6 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2711h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "35.246 sec auto-exposure",Subject: "da21sep2711h images!" +9 "storage"(/- +3 "core" -' +2 "storage"(0& +4 ."psFlush"PS.seek 2.5ml +4 "processing"%.' +3 "core" &,e J\ S + "manipulator"&1& +4 "core" & G +2 "manipulator"&)% +4 "core" % ! % + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&S( +243 "core" ( +2 "manipulator"&5& +4 "core" &  t + + "storage"(4& +4 "core" &,e a\ P +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&3' +101 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate + "storage"(7'" +58 "core" ' +2 "manipulator"&9& +5 "core" & u + +2 "storage"(& +3 "core" &,e\  +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 + "manipulator"&<'7 +14 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&;, +4 "core" , +82 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +28 "core" ' + "manipulator"&?% +5 "core" %B  * + "storage"(:& +4 "core" &,e  J\  + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 4 + 311 counts +2 "manipulator"&='n +15 "core" ' + "manipulator"&& +5 "core" & 6 + + "storage"({& +4 "core" &,e   \  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&>' +17 "core" ' +4 "storage"(D% +7 "core" %   \ +14 ."downElevator"SE.seek :down +5 "storage"(@' +99 (B% +6 "core" %@  `\ UZ +4 "manipulator"&G% +8 "core" % E +6 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&C' +91 "core" ' +46 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 (I& +6 "core" &,e + \ \  +603 ' +2 ."psFlush"PSV.dial PTV +4 "processing"%A +75 "core" +4 ."psFlush"PTV.dial :puck + "processing"%F  +73 "core"  +4 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml + "processing"%E'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%J +72 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%N' +6 #"uploadLog"upsync +588 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%H' +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%K +73 "core" + ."psFlush"PBV.dial PSV +2 "processing"%O U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%L'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%Q @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%R' +2655 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%M  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%V'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%W +45 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%X' +2638 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Y +83 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%U'ؾ +2625 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%6 @ +44 "core" > + ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +882 "Can"\ MK +1746 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%_  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%^'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%o +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%$' +1608 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%e +83 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%a  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%g'ؾ +2653 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%d +72 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +594 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2119 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%c +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%T U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%i'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%k @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +82 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%`'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%s +42 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%b' +2630 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%p +83 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%n'ؾ +2652 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%m @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%[' +2633 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%x  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"% 'ؾ +2625 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&r& +4 "core" &  + + "manipulator"&t% +4 "core" %  \  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&}( +261 "core" ( + "manipulator"&z& +4 "core" & ! +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" & +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +55 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%]( +455 "core" ( + "manipulator"&f& +4 "core" & 8 +2 "manipulator"&% +4 "core" %  K < + ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage + "manipulator"&(- +122 "core" ( + "manipulator"&~& +4 "core" &- \\  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &- r  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +97 "core" ' + ."psFlush"Hand.open +2 "manipulator"&v1 +58 "core" 1 +2 "manipulator"&% +3 "core" % π  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&\ ' +94 "core" ' +2 #tFinished short da assay +1515 #-> access 4 +3 "storage"(% +3 "core" % x t -\  +2 "manipulator"&y% +4 "core" %  d  + "manipulator"&& +4 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(h(C +992 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (u& +3 "core" &E Y V \ +24171 "Can"\ >; +29251 #t-> exit +5 #mEXIT @1632769016.39PDT @1632769040.73PDT = =tMAIN =mMAIN_scheduler @PDT1632769042.59 #"core_reset"Sent BREAK + #t@47870 receive with ifg=0x10, ie=0xFD + #@48506 receive with ifg=0x10, ie=0xFD + #@49163 receive with ifg=0x10, ie=0xFD + #@49799 receive with ifg=0x10, ie=0xFD + #@50525 receive with ifg=0x10, ie=0xFD #@51163 receive with ifg=0x10, ie=0xFD + #@51797 receive with ifg=0x10, ie=0xFD #@52123 receive with ifg=0x80, ie=0xFD + #@717 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +287 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +378 "Can"\ =; + \ =; + #tPolling Can every 10:00 +3265 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %>\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ [\ > +2 .tSS.configure :default +2 "sampler")#.0X + %\ 0  +2 "manipulator"&& +3 "core" &- "  + "storage"(& +4 "core" &F w w k\ + "storage"(% +89 "core" % [\  + "collection"'& +4 "core" & \ +2 "processing"%& +3 "core" &S\ +2 "collection"'  +3 "core"  +2 "collection"'! +2 "core"  +2 "collection"'" +3 "core" ~ +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" W +2 "processing"%% +3 "core"  +2 "processing"%& +3 "core" A + "sampler")' +3 "core"  +2 "collection"'(% +3 "core" %e \ +2 "processing"%)% +5 "core" %K\ + "sampler")*% +4 "core" %څ g\ > +2 "collection"'+& +4 "core" & \ + "processing"%,& +4 "core" &N\ +2 "manipulator"&-% +3 "core" %\ 0 . +2 "manipulator"&.& +4 "core" &- N  + "storage"(/& +4 "core" &F v f t\ +2 "storage"(0% +3 "core" % t i l\  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +2125 #t-> $da[:extractVol]=0.21 +7570 #-> access 5 +2 "storage"(3% +3 "core" % i | \  +2 "manipulator"&4% +4 "core" %\ 0 + "manipulator"&5& +4 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(6(  +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" & ? < ~\  +45977 "Can"\ \ ;9 +41286 #t-> startTube 5 +330 #-> shortDA + "collection"'8% +3 "processing"%9% +5 "core" %e \ +5 %\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +167 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%: +130 "core" +2 .tPTV.dial :PRVmixing + "processing"%;  +129 "core" + .tPRV.dial :sipper +2 "processing"%<  +42 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%='e +2295 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%>  "collection"'?  +18 "core" +110  +2 .tPS.seek 0.5ml +2 "processing"%@' +1279 "core" ' + .tPRV.dial :waste2 +2 "processing"%A @ +100 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%B'ؾ +586 "core" ' + .tPSV.dial PSR + "processing"%C +102 "core"  +2 "processing"%D% +4 "core" %ؿ\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%E'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%F' +1611 "core" ' + .tPSV.dial :mixloop + "processing"%G +104 "core" +2 .tPS.seek 0ml + "processing"%H'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%I +102 "core"  + "processing"%J% +4 "core" %ؿ\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%K'X\\ +1105 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%L' +1610 "core" ' +2 .tPSV.dial :mixloop + "processing"%M +104 "core" + .tPRV.dial :sipper +2 "processing"%N  +42 "core" +2 .tPS.seek 0ml + "processing"%O'ؾ +2633 "core" ' + .tPSV.dial PSR +2 "processing"%P +103 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%Q' +1123 "Can"\ =; +1515 "core" ' + .tPSV.dial :mixloop +2 "processing"%R +103 "core" +2 .tPS.seek 0ml +2 "processing"%S'ؾ +2627 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%T& +5 "core" &o\ + .tHand.open +2 "manipulator"&U1 +19 "core" 1 +2 "manipulator"&V% +4 "core" %\ 0 + "storage"(W% +4 "core" % e\  + "storage"(X. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(Y(<- +982 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (Z& +3 "core" &<* B > \  +2 "manipulator"&[& +4 "core" &- 9  + "manipulator"&\\% +4 "core" %\ 0  6 +37 .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&]( +171 "core" ( +2 "manipulator"&^& +4 "core" & v & +2 "storage"(_& +3 "core" &<* }  B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +93 "core" ' +2 "storage"(a& +4 "core" &<* '\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +299 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (d& +2 "core" &<* h :\  +2 "manipulator"&e& +3 "core" &  + & +2 .tElbow.seek 5 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +3 "core" & & +2 "storage"(h& +3 "core" &<* ~ U\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&i'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&k& "storage"(l' +7 "core" & & +2 "manipulator"&m% +4 "core" % ϭ a +2 .tForearm.seek :retract + "manipulator"&n' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&p& +4 "core" & ( @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &  @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r' +98 "core" ' + "manipulator"&s& +5 "core" & @ + "manipulator"&t% +4 "core" %\    +2 "processing"%u& +4 "core" &x\ +2 "processing"%v& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%w(^ +4 "core" &\  +8 &2x\ *x +10 &b|\ > +9 &or}\ O +10 &1Q\ N +9 &R\ N +9 &Q|\ N +10 &wR\ N +9 &8Uy\ O +10 &U}\ O +9 &Rv\ N +9 & Ru\ N +10 &"AQu\ N +9 &$Rm\ N +9 &%Rv\ N +10 &'Vu\ N +9 &)IUu\ N +9 &+\ Uv\ O +10 &,Uk\ O +9 &.Uu\ N +10 &0PSw\ O +9 &2Ru\ O +9 &3Wv\ N +10 &5Rl\ O +9 &7YWt\ N +9 &9Uq\ N +10 &:Xs\ O +9 &<Wn\ N +10 &>aVf\ N +9 &@"Xf\ O +9 &Ad[\ P +10 &Cv[\ S +9 &EV`\ U +9 &G[\ T +10 &H_\ U +9 &JY\ U +10 &L\\Z\ U +9 &NX\ V +9 &OZ\ V +10 &Qf\ W +9 &Sac\ V +9 &U"f\ W +10 &V[\ W +9 &XW\ V +10 &Zja\ V +9 &\\*e\ W +9 &]c\ : +10 &^.`\ V +9 &^*_\ 4 +2 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open + "manipulator"&x1 +58 "core" 1 +2 "manipulator"&y% +4 "core" % \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%{ h +2 %|9 +6 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +2 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9" +103 "processing"%9 +2 "core" 9& +103 "processing"%\ 9 +2 "core" 9* +103 "processing"% 9 +2 "core" 9/ +102 "processing"%9 +2 "core" 93 +103 "processing"%9 +2 "core" 97 +102 "processing"%9 +3 "core" 9; +103 "processing"%9 +2 "core" 9? +102 "processing"%9 +2 "core" 9D +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%9 +2 "core" 9a +103 "processing"%9 +64 "core" 9g +102 "processing"%9 +2 "core" 9l +102 "processing"%9 +3 "core" 9p +102 "processing"% 9 +2 "core" 9t +102 "processing"%!9 +3 "core" 9x +102 "processing"%"9 +2 "core" 9| +103 "processing"%#9 +2 "core" 9 +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +2 "core" 9 +102 "processing"%'9 +4 "core" 9 +102 "processing"%(9 +2 "core" 9 +103 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +2 "core" 9 +103 "processing"%+9 +2 "core" 9 +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +3 "core" 9 +102 "processing"%/9 +2 "core" 9 +102 "processing"%09 +2 "core" 9  +103 "processing"%19 +2 "core" 9 +102 "processing"%29 +3 "core" 9 +102 "processing"%39 +3 "core" 9 +102 "processing"%49 +2 "core" 9$ +3 .tPH.hold 2:00:00,28C +3 "processing"%5 php +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"% +103 "core"  +2 "processing"%7% +4 "core" %ؽX\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 .tPS.seek 0.5ml + "processing"%8' +588 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml + "processing"%9' +1609 "core" ' + .tPTV.dial :puck + "processing"%:  +130 "core"  +2 .tPSV.dial PTV + "processing"%; +74 "core" + .tPBV.dial :waste1 +2 "processing"%<  +53 "core" +2 "processing"%% +4 "core" %`\  +2 .tPS.seek 1.5ml + "processing"%?'+ +597 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%> * +34 "core" , +3 .tPS.seek 0ml + "processing"%='ؾ +1620 "core" ' + .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%A  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%@ * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%C +34 "Can"\ ^\\ +39 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml + "processing"%D' +2403 "core" ' + .tPSV.dial PTV +2 "processing"%B +74 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%E +73 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%G +73 "core" + .tdelay 5 seconds +502 .PSV.dial :air +3 "processing"%F  +74 "core"  +2 .tPS.seek 0ml + "processing"%I'ؾ +2381 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%J  +131 "core" +2 .tPSV.dial :mixloop + "processing"%H +46 "core" + .tPRV.dial :ab1 +2 "processing"%K @ +100 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%M' +350 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%N  +43 "core"  +2 "processing"%L% +4 "core" %\ \ +2 .tPS.seek 0.36ml + "processing"%P' +496 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'O  +27 "core" +2 .tPRV.dial :air + "processing"%R  +43 "core"  +2 .tPS.seek 0.9ml +2 "processing"%Q'K +1144 "core" ' +2 .tPRV.dial :waste2 +4 "processing"%T @ +71 "core" > +2 .tPS.seek 0.5ml +2 "processing"%U' +861 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%V  +56 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%W' +1615 "core" ' + .tPSV.dial :PML +2 "processing"%X +42 "core" + .tPTV.dial :mixing +2 "processing"%6 @ +72 "core" @ + .tPBV.dial :waste1 +2 "processing"%Z  +35 "core" + "processing"%[% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%\\' +233 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%^ * +34 "core" , +3 .tPS.seek 0ml + "processing"%_'ؾ +1965 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'a& +3 "core" & \ + "manipulator"&& +4 "core" & @ +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&c(- +124 "core" ( +2 "manipulator"&d& +4 "core" &- ] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &- +2 .tForearm.seek :garage + "manipulator"&g'w +92 "core" ' + .tHand.close +2 "manipulator"&h/ +59 "core" / +2 "manipulator"&j& +5 "core" &- 9 + "manipulator"&k% +4 "core" % ρ 7 K +2 .tForearm.seek :retract + "manipulator"&m' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&](ӂ +275 "core" ( + "manipulator"&`& +9 "core" &~*  C Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +7 "core" &~*   Bg +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'? +95 "core" ' +2 "manipulator"&p& +4 "core" &ӂ) ^ Ac +2 "manipulator"&q% +4 "core" %8 \  U o +2 "collection"'f& +3 "core" & \ +3 "collection"'s& +5 "core" & #\ +2 .tCC.seek :closed + "collection"'t(\\ +5 "core" & *\ +7 &; &\ $e +10 &Ty $\ 7 +9 &{ '\ L +9 &W \\\ N +10 &]T c\ O +9 &Q #\ O +9 &V &\ N +10 &T  \ N +9 &eY %\ O +10 &(W \ N +9 &U $\ N +9 &!W !\ O +10 &#nW "\ N +9 &%1R \ N +9 &&U k\ N +10 &(X \ N +9 &*vU \ N +10 &,7W ?\ O +9 &-T z\ N +9 &/T @\ N +10 &1~U \ N +9 &3@U {\ N +9 &5U w\ N +10 &6W u\ O +9 &8U x\ N +10 &:HU \ N +9 &<\ U \ N +9 &=U \ O +10 &?U \ N +9 &AOY \ O +9 &C_ \ O +10 &Dq \ Q +9 &F \ U +10 &H7 \ Z +9 &I \ Z +9 &K \ [\ +10 &Mz {\ [ +9 &O; \ [\ +9 &P \ \\ +10 &R \ \\ +9 &T{ \ ] +10 &V; \ ^ +9 &W \ _ +9 &Y \ ` +10 &[z \ M +9 &\\< \ 1 +9 &\\ s\ [ +6 ( + "collection"'s& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.34 + "collection"'u& +4 "core" &\\} {\ [ + &\\} w\ [ +2 .tHand.open + "manipulator"&l1 +55 "core" 1 +2 "manipulator"&n% +4 "core" % 8  8 o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tPSV.dial PSR + "processing"%x +103 "core"  +2 "processing"%y% +4 "core" %ؽ\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%|'+ +1611 "core" ' +2 .tdelay 5 seconds +541 .PSV.dial :waste1 +11 "processing"%v  +42 "core"  +2 .tPS.seek 0ml + "processing"%}'ؾ +1611 "core" ' + .tPSV.dial PSR +2 "processing"%r +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%~' +2639 "core" ' + ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  + "collection"'  +32 "core" +127  + .tPSV.dial :mixloop +2 "processing"% +102 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"' +3 "core"  +2 "collection"'  +4 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2624 "core" ' + .tPSV.dial :air +2 "processing"%\  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"% ' +2630 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2633 "core" ' + .tPSV.dial :air + "processing"%  +46 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2635 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2654 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +5 "core" &ӄ(   Aa + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +3 "core" ( + "manipulator"&& +4 "core" &ӄ(   ] Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӄ(  Aa +2 .tForearm.seek CC + "manipulator"&'? +98 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( +2 "manipulator"&& +4 "core" &ӄ( Aa + "manipulator"&% +4 "core" % B  $ +2 .tForearm.seek :retract + "manipulator"& ' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&!(- +287 "core" ( +2 "manipulator"&"& +4 "core" &- P < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &- < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +3 "manipulator"&$'w +100 "core" ' +2 .tHand.open + "manipulator"&%1 +58 "core" 1 + "manipulator"&&% +5 "core" % z  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'' +96 "core" ' +2 ."da"delayUntil "12:37:55.97" +22061 "Can"\ GD +2708 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%( @ +73 "core" B +2 ."da"PBV.dial :waste1 + "processing"%)  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%* * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%+  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%,' +2426 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%- +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%.  +56 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%/ +42 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%0  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +2373 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%2 +130 "core"  + "processing"%3% +4 "core" %ؾ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%4' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1616 "core" ' +2 ."da"PTV.dial :puck + "processing"%7  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%S +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%8  +34 "core" +2 "processing"%:% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%;') +595 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%< * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%9  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%> * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%? +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%{' +2426 "core" ' + ."da"PSV.dial PTV +2 "processing"%A +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%@ +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%C +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%=  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%B'ؾ +2368 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%E +132 "core"  + "processing"%G% +4 "core" %ؼ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%F' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%D' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%J +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +34 "core" +2 "processing"%K% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%I') +598 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%N * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%L'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%M  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%O * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%R +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%P' +308 "Can"\ VT +2126 "core" ' + ."da"PSV.dial PTV +2 "processing"%T +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%Q +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%V +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%U  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%X'ؾ +2365 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%6  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%Z  +130 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%[  +43 "core" ~ +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%^ +44 "core" + ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%W' +384 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%\\  +43 "core"  +2 "processing"%a% +4 "core" %8\  +2 ."da"PS.seek 0.55ml + "processing"%' +340 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%d' +1560 "core" ' + ."da"PSV.dial :PML +2 "processing"%e +44 "core" + ."da"PTV.dial :mixing +2 "processing"%h @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%j  +34 "core" +2 "processing"%o% +4 "core" %.\  +2 ."da"PS.seek 1.85ml + "processing"%k' +238 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%z * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%g'ؾ +1983 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +47178 "Can"\ GE +824 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%`  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%b * +34 "core" , +2 ."da"PSV.dial :air + "processing"%c  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%p' +2421 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%q +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%f  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%m +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +2372 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +129 "core"  +2 "processing"%n% +4 "core" %غG\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%s' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%x' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%y  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%i +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%_  +34 "core" +2 "processing"%v% +3 "core" %C\  +2 ."da"PS.seek 1.5ml +2 "processing"%|'& +588 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%r * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%}'ؾ +1607 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +42 ."da"PS.reconfigure :fast +12 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2435 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%~ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%\  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2362 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +130 "core"  + "processing"% % +4 "core" %5\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%% +4 "core" %B\  +2 ."da"PS.seek 1.5ml +2 "processing"%') +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1629 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%]  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%t +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2276 "Can"\ kk +156 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%" +85 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%#  +86 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2389 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%% +131 "core"  +2 "processing"%&% +4 "core" %ؽm\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%$' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%( +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%)  +35 "core" + "processing"%*% +4 "core" %l\  +2 ."da"PS.seek 1.5ml +2 "processing"%+'' +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%-'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%.  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%/ * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%,' +2428 "core" ' + ."da"PSV.dial PTV +2 "processing"%2 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%3 +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%1 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%4  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%7'ؾ +2365 "core" ' + ."da"Gate.power :camera,:ON +3 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%S +138 "core"  +5 "processing"%8% +10 "core" %ؽ4 +2 #"da"Pulling 0.25ml of PSR.sub1 +7 .PSR.select :sub1 +6 "processing"% +16 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +3 ."da"PS.seek 0.25ml +5 "processing"%:' +345 "core" ' +2 ."da"delay 5 seconds +503 "processing"%% +3 "core" %5  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%<' +341 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%;' +1621 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%9 +87 "core" + ."da"PBV.dial :waste1 +2 "processing"%>  +36 "core" +2 "processing"%?% +4 "core" %:  +2 ."da"PS.seek 1.5ml + "processing"%'/ +588 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%A * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%@'ؾ +1613 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%C  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%= * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%{ +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%E' +2511 "core" ' +2 ."da"PSV.dial PTV + "processing"%G +76 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%B +76 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%F +78 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%J  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%H'ؾ +2486 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%K +133 "core"  +2 "processing"%D% +4 "core" %ؽc\ + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%N' +2126 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%I +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%M  +34 "core" +2 "processing"%O% +4 "core" %o\ y +2 ."da"PS.seek 1.5ml + "processing"%R'+ +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%T  +106 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Q'ؾ +1618 "core" ' + "processing"%V9 +3 "core" 9l5 +2 #"da"Processing Puck Heater at 28.1C before imaging +2 .PH.coast + "processing"%U  +4 "core" 5 + 5 + "processing"%P& +3 "core" &^*`\ 4 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&6% +3 "core" %   v +2 "storage"(Z% +4 "core" %\ '\ ] + "storage"([. +3 "core" .(<* +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(^(,y +351 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" &,{  A\ \ +2 "manipulator"&\\& +4 "core" &- z; + "manipulator"&a% +4 "core" %  z +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&W( +172 "core" ( +2 "manipulator"&& +4 "core" & ~ , + "storage"(& +4 "core" &,{ -\ w +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&e' +97 "core" ' + "storage"(h& +4 "core" &,{   j\ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(j'r +277 "core" ' + "storage"(o- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(z'1 +44 "core" ' +2 "manipulator"&d& +4 "core" & L , +2 "manipulator"&k% +4 "core" %  d + ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&`' +92 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&b( +244 "core" ( + "manipulator"&c& +4 "core" & ` x8 +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" & y v8 +2 ."da"Forearm.seek PC +2 "manipulator"&q' +96 "core" ' + ."da"Hand.close +2 "manipulator"&f/ +69 "core" / + ."da"PC.seek :open +2 "processing"%m( +461 "core" ( +2 "storage"( & +4 "core" &,f C < c\ + "manipulator"&p& +4 "core" &\ \ \  }8 +2 "manipulator"&l% +3 "core" % \ \ \ \ } } +2 ."da"Forearm.seek :retract +2 "manipulator"&n' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +45 "manipulator"&u( +257 "core" ( + "manipulator"&s& +4 "core" & \   {M + "storage"(y& +4 "core" &,f : 9 (\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&i' +93 "core" ' + ."da"Hand.open +3 "manipulator"&_1 +60 "core" 1 +2 "storage"(v- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(x' +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(r' +55 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2713h.tif +6 "processing"%|& +11 "core" & +3 "manipulator"&& +6 "core" & % M +3 "manipulator"&% +4 "core" % '  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +97 "core" ' + ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&}(- +173 "core" ( +2 "manipulator"&& +4 "core" &- ` V +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- j V +3 ."psFlush"Forearm.seek :garage +2 "manipulator"&~'w +100 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&\ / +67 "core" / + "manipulator"&& +4 "core" &-\ \  G }U +2 "manipulator"&% +4 "core" % ς\ \  5 ~ +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +135 "core" ( +2 "manipulator"&& +4 "core" & \\ d :  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & i i  +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC + "manipulator"&' +90 "core" ' +2 "manipulator"&& +5 "core" & # + "manipulator"&% +5 "core" % O #s + "processing"%& +4 "core" & +2 "processing"%& +5 "core" & +3 ."psFlush"PC.seek :closed + "processing"%](^ +5 "core" & +7 & ) $c +9 &wRm 9 +10 &xl N +9 &aE U +9 &-?\ \ R +10 &G\ R +9 &G\ R +9 &sI\ R +10 &6HE\ Q +9 &K4\ R +10 &IB\ Q +9 &!{GA\ \ R +9 &#=G<\ \ R +10 &$H:\ \ R +9 &&I- U +9 &(x@C U +10 &*:@* U +9 &+A+ U +10 &-@2 U +9 &/B0 U +9 &1B? U +10 &3@ U +9 &4? U +9 &6@ U +10 &8JA~ U +9 &: Az U +10 &;At U +9 &=Ay U +9 &?R?x U +10 &ABw U +9 &BRq W +9 &Dqv X +10 &FMj\ Z +9 &Hg\ Z +10 &Ik\ Y +9 &Kl\ Y +9 &MVZ\ Z +10 &OX\ Z +9 &Pa\ [\ +9 &Ri\ [ +10 &TWg \\ +9 &V}_ \\ +10 &WS _ +9 &YS _ +9 &[UV _ +10 &]Z ` +9 &^{QgS "i +9 &^OS @ +6 ( + "processing"%& +5 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.94 + "processing"% & +4 "core" &^FL @ +2 &^FG @ + ."psFlush"Hand.open +2 "manipulator"&t1 +69 "core" 1 +2 "manipulator"&% +4 "core" %  s +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&' +92 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"% +48 "core"  + "processing"%"% +4 "core" %9 + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%#' +597 "core" ' +2 ."psFlush"delay 5 seconds +377 "Can" WU +125 ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +272 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 26.757 seconds\ /var/log/esp/da21sep2713h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2713h15s.tif +1564 #SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2713h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2713h30s.tif +283 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +3 "processing"%% @ +199 "core" A +2 ."psFlush"PTV.dial :PRVmixing + "processing"%&  +142 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +118 "core" +2 ."psFlush"PS.seek :empty +2 "processing"% 'ؠ +2209 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2713h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2713h70s.tif +424 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%( +107 "core"  +2 "processing"%)% +4 "core" %ء\  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%*' +591 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%$' +2123 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%  +34 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%+ @ +77 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"%. +123 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%/'ؠ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%0 +109 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%-'X\\ +278 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2713h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "26.757 sec auto-exposure",Subject: "da21sep2713h images!" +4 "storage"(2- +3 "core" -' +2 "storage"(3& +9 "core" &,f j n m\ = +2 "manipulator"&1& +4 "core" & z  + "manipulator"&4% +5 "core" %   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&,( +238 "core" ( +2 "manipulator"&S& +4 "core" &   ) + "storage"(8& +4 "core" &,f ; = \ 9 +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&7' +97 "core" ' +3 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' + "manipulator"&:& +5 "core" & h ) + "storage"(<& +5 "core" &,f \ +2 ."da"Elbow.reconfigure :limp +6 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +3 "manipulator"&9'7 +15 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&>, +6 "core" , +4 ."da"Elbow.reconfigure :tight +64 "manipulator"&$&.,(\ #b +4 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(?' +28 "core" ' + "manipulator"&;% +5 "core" %B 2 2 + "storage"(A& +4 "core" &,f \ + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 4 + 311 counts +2 "manipulator"&'n +13 "core" ' +3 "manipulator"&C& +4 "core" & ) +2 "storage"(=& +10 "core" &,f \ +8 ."da"Forearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 4 + 450 counts +4 "manipulator"&{' +18 "core" ' +2 "storage"(@% +10 "core" % L\ +4 ."downElevator"SE.seek :down +9 "storage"(G' +71 "core" ' + ."psFlush"PSR.select :air +5 "processing"% +14 ."psFlush"PS.seek 2.5ml +4 "processing"%B' +6 "storage"(F% +6 "core" %? o o (\ T[ +4 "manipulator"&J% +8 "core" % I +4 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&E' +92 "core" ' +47 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (K& +8 "core" &,f :\ +1417 ' +2 ."psFlush"PSV.dial PTV +3 "processing"%D +76 "core" +4 ."psFlush"PTV.dial :puck +4 "processing"%H  +72 "core"  +4 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +4 "processing"%I'ؾ +957 #"uploadLog"upsync +1678 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%M +74 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%O' +602 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%N' +2129 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%L +73 "core" +2 ."psFlush"PBV.dial PSV + "processing"%T U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%R'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%V @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%U' +2628 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%P  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%6'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%Z +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%[' +2631 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%Y +72 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%X'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%\\ @ +45 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%a' +2635 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%h +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%!'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%'' +1607 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%o +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%d  +53 "core" +2 ."psFlush"PS.seek 0ml + "processing"%k'ؾ +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%j +73 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%e' +587 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%c' +2125 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%g +73 "core" + ."psFlush"PBV.dial PSV +2 "processing"%W U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%` @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2624 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%l +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%q' +2632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%b +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%s'ؾ +1407 "Can"\ MK +1219 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%y @ +45 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%_' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%v  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%|'ؾ +2634 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +4 "core" & ? ) + "manipulator"&% +4 "core" %    +2 ."psFlush"Elbow.seek PC +2 "manipulator"&n( +241 "core" ( +2 "manipulator"&z& +4 "core" & \\ J + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" & 0 J +2 ."psFlush"Forearm.seek PC + "manipulator"&' +93 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +58 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%i( +460 "core" ( +2 "manipulator"&u& +4 "core" &  < + "manipulator"&\ % +4 "core" %   & +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +124 "core" ( +2 "manipulator"&& +4 "core" &- A  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- F  +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage + "manipulator"&'w +102 "core" ' +2 ."psFlush"Hand.open + "manipulator"&~1 +57 "core" 1 + "manipulator"&% +4 "core" % z B +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tFinished short da assay +18996 #-> access 4 +3 "storage"(% +3 "core" % B D \  +2 "manipulator"&}% +4 "core" %   + "manipulator"& & +4 "core" &-   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(m(C +987 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &F   \ +2046 #t-> PS.flush +2 #Flushing Processing stage + "processing"%t% +4 "core" %a\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +4 "core" &\\\ +2 "manipulator"&& +3 "core" &- @  +38 .tElbow.reconfigure :tight +11 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +14 "core" ( +2 "manipulator"&"& +4 "core" &-  w + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- & w +2 .tForearm.seek :garage + "manipulator"&Q'w +98 "core" ' + .tHand.close +2 "manipulator"&#/ +61 "core" / + "manipulator"&%& +5 "core" &- F w + "manipulator"&&% +4 "core" % o +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +120 "core" ( +2 "manipulator"&(& +4 "core" & F C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" & m C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +91 "core" ' +2 "manipulator"&*& +4 "core" &  C +2 "manipulator"&% +3 "core" % 7 g +2 "processing"%+& +4 "core" &b\ +2 "processing"%.& +5 "core" &^\ +2 .tPC.seek :closed +2 "processing"%$(^ +4 "core" &G\ +8 & -C\ $c +9 &UxG\ 7 +10 &~wC\ K +9 &PH\ N +10 &\\SH\ N +9 &SC\ N +9 &RH\ N +10 &RH\ N +9 &fRH\ M +9 &&TJ\ N +10 &RJ\ N +9 &!RJ\ N +10 &#mTG\ N +9 &%0TH\ M +9 &&TB\ N +10 &(SA\ M +9 &*tTA\ N +9 &,7T@\ N +10 &-VC\ N +9 &/TA\ N +10 &1|T<\ N +9 &3>T6\ N +9 &5RC\ N +10 &6TH\ N +9 &8UB\ M +9 &:FT<\ N +10 &<U:\ N +9 &=UC\ N +10 &?Y>\ N +9 &ALWD\ O +10 &C h8\ P +9 &D~4\ S +9 &F>\ T +9 &HB7\ U +10 &J2\ U +9 &K9\ U +10 &M4\ U +9 &OI5\ U +9 &Q6\ W +10 &R4\ V +9 &T8\ W +9 &VN5\ V +10 &X5\ W +9 &Y4\ W +10 &[5\ V +9 &]T3\ H +9 &^xB6\ %o +10 &^:5\ 5 +5 ( + "processing"%.& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 + "processing"%0& +4 "core" &^%5\ 5 + &^%4\ 5 +2 .tHand.open + "manipulator"&21 +55 "core" 1 +2 "manipulator"&3% +4 "core" %  D g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +91 "core" ' + .tPSV.dial PSR +2 "processing"%1 +44 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%4'X\\ +1097 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%S' +1613 "core" ' +2 .tPSV.dial PTV +2 "processing"%8 +71 "core" +2 .tPTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +53 "core" +2 .tPS.seek 0ml +2 "processing"%:'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"%< +74 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%' +587 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%;' +2126 "core" ' + .tPSV.dial PTV +2 "processing"%A +73 "core" +2 .tPBV.dial PSV + "processing"%C U +54 "core" W +2 .tPS.seek 0ml + "processing"%='ؾ +2636 "core" ' + .tPSV.dial PBV + "processing"%r @ +45 "core" > +2 .tPS.seek 2.5ml + "processing"%@' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%7  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%,'ؾ +2629 "core" ' + .tPSV.dial PSR +2 "processing"%F +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%J' +2653 "core" ' +2 .tPSV.dial PTV + "processing"% +72 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%9'ؾ +2635 "core" ' + .tPSV.dial PBV +2 "processing"% @ +45 "core" > +2 .tPS.seek 2.5ml +2 "processing"%K' +2635 "core" ' +2 .tPSV.dial :waste1 + "processing"%?  +71 "core"  +2 .tPS.seek 0ml + "processing"%-'ؾ +2633 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&{& +4 "core" & C +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&G( +2 "core" ( +2 "manipulator"&D& +4 "core" & C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &  C +2 .tForearm.seek PC +2 "manipulator"&B' +90 "core" ' + .tHand.close +2 "manipulator"&M/ +61 "core" / +2 .tPC.seek :open +2 "processing"%I( +460 "core" ( + "manipulator"&O& +4 "core" & C +2 "manipulator"&L% +4 "core" %  E + .tForearm.seek :retract +2 "manipulator"&T' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&N(- +128 "core" ( +2 "manipulator"&V& +4 "core" &- O \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &- < \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&P'w +93 "core" ' + .tHand.open +2 "manipulator"&U1 +56 "core" 1 +2 "manipulator"&Z% +4 "core" % x | G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +94 "core" ' +77 "Can"\ >< +60001 \ ?< +1280 #t-> exit +6 #mEXIT @1632775661.86PDT @1632775685.91PDT = =mMAIN_scheduler =tMAIN @PDT1632775687.68 #"core_reset"Sent BREAK + #t@44148 sendCRC with ifg=0x20, ie=0x7F + #@45983 sendCRC with ifg=0x08, ie=0x5F + #@57542 idle with ifg=0x84, ie=0x75 + #@58214 select with ifg=0x10, ie=0xF5 #@58848 receive with ifg=0x10, ie=0xFD + #@59481 receive with ifg=0x10, ie=0xFD #@60114 receive with ifg=0x10, ie=0xFD + #@60441 receive with ifg=0x80, ie=0xFD #@4695 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +363 "Can"\ \ A> + \ \ A> #tPolling Can every 10:00 +719 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ظ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ k\ > +2 .tSS.configure :default +2 "sampler")#.0X + %  \ + "manipulator"&& +4 "core" &- " \ +2 "storage"(& +4 "core" &G C A \ + "storage"(% +3 "core" % D = \  +2 "collection"'& +3 "core" & \ + "processing"%& +4 "core" &\ +2 "collection"'  +2 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core"  +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" W +2 "processing"%% +3 "core"  + "processing"%& +3 "core" A +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" %e \ +2 "processing"%)% +3 "core" %ظ\ +2 "sampler")*% +4 "core" %څ k\ > +2 "collection"'+& +3 "core" & \ +2 "processing"%,& +3 "core" &\ +2 "manipulator"&-% +4 "core" %  * \ + "manipulator"&.& +4 "core" &- K \ +2 "storage"(/& +4 "core" &G B @ \ + "storage"(0% +4 "core" % C C \  + "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +2599 #t-> $da[:extractVol]=0.21 +56139 "Can"\ DB +60001 \ DA +23009 #t-> access 5 +3 "storage"(3% +3 "core" % D D \  + "manipulator"&4% +4 "core" %  \ +2 "manipulator"&5& +3 "core" &- d \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(6(  +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &  7 ; j\  +1450 #t-> startTube 5 +314 #-> shortDA +2 "collection"'8% +2 "processing"%9% +5 "core" %ظ\ +2 %e \ +4 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +861 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%: +131 "core" + .tPTV.dial :PRVmixing +2 "processing"%;  +128 "core" + .tPRV.dial :sipper +2 "processing"%<  +42 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml + "processing"%='e +2301 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%>  "collection"'?  +7 "core" +121  +2 .tPS.seek 0.5ml +2 "processing"%@' +1270 "core" ' + .tPRV.dial :waste2 +2 "processing"%A @ +98 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%B'ؾ +591 "core" ' + .tPSV.dial PSR +2 "processing"%C +101 "core"  +2 "processing"%D% +4 "core" %ؾ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +10 .tPS.seek 1ml + "processing"%E'X\\ +1108 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%F' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"%G +103 "core" +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2627 "core" ' +2 .tPSV.dial PSR + "processing"%I +104 "core"  + "processing"%J% +4 "core" %ؿ\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%K'X\\ +1104 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%L' +1614 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +103 "core" + .tPRV.dial :sipper +2 "processing"%N  +44 "core" +2 .tPS.seek 0ml + "processing"%O'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%P +114 "core" +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%Q' +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"%R +102 "core" +2 .tPS.seek 0ml + "processing"%S'ؾ +2630 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%T& +4 "core" & \ + .tHand.open +2 "manipulator"&U1 +21 "core" 1 +2 "manipulator"&V% +3 "core" %   \ +2 "storage"(W% +3 "core" % W U\  +2 "storage"(X. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(Y(<- +984 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &<, 5 4\  +2 "manipulator"&[& +3 "core" &- \ +2 "manipulator"&\\% +3 "core" %   \ +44 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&]( +170 "core" ( + "manipulator"&^& +4 "core" & g ) +2 "storage"(_& +3 "core" &<, W U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +93 "core" ' +2 "storage"(a& +4 "core" &<, n W\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +310 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &<, c Y \  +2 "manipulator"&e& +3 "core" & ) +2 .tElbow.seek 5 +2 "manipulator"&f( +3 "core" ( + "manipulator"&g& +4 "core" & % ) + "storage"(h& +4 "core" &<, f f N\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&i'Ϲ +39 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&j/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +3 "storage"(l' +6 "core" &  ) + "manipulator"&m% +4 "core" %  a > +2 .tForearm.seek :retract + "manipulator"&n' +93 "core" ' +2 .tElbow.seek PC + "manipulator"&o( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&p& +4 "core" &  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" & & 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r' +126 "core" ' + "manipulator"&s& +4 "core" & ` 8 +2 "manipulator"&t% +3 "core" % P +2 "processing"%u& +4 "core" &\ +2 "processing"%v& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%w(^ +4 "core" &\ +8 &3`\ $c +9 &T|\ 7 +10 &~{\ L +9 &W\ O +9 &TV\ O +10 &Q\ N +9 &W\ O +9 &T<\ N +10 &^R\ N +9 &W\ N +10 &R\ O +9 &!T\ O +9 &#dV\ O +10 &%'R\ N +9 &&W\ O +9 &(Uk\ O +10 &*lUs\ O +9 &,.Uq\ O +10 &-Rm\ N +9 &/To\ O +9 &1tVn\ O +10 &36Rt\ O +9 &4Ut\ O +9 &6Rp\ N +10 &8}Um\ N +9 &:>Wq\ O +10 &<Yq\ O +9 &=Wp\ O +9 &?Tp\ O +10 &AFZo\ O +9 &Boq\ R +9 &Dq\ T +10 &Fzk\ U +9 &H<m\ U +10 &Io\ U +9 &Kq\ U +9 &Mf\ V +10 &OAc\ V +9 &Qm\ V +9 &Ri\ V +10 &Ta\ V +9 &VGa\ V +10 &X b\ V +9 &Yb\ W +9 &[a\ V +10 &]La\ L +9 &^Q]\ #l +9 &^"_\ / +3 ( + "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&x1 +62 "core" 1 + "manipulator"&y% +4 "core" %  | P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +3 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%{ h +3 %|9 +4 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +4 "core" 9  +102 "processing"%9 +2 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%\ 9 +3 "core" 9* +102 "processing"% 9 +2 "core" 9/ +102 "processing"%9 +3 "core" 93 +102 "processing"%9 +2 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"%9 +2 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +3 "core" 9] +102 "processing"%9 +2 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +3 "core" 9m +102 "processing"% 9 +2 "core" 9q +102 "processing"%!9 +3 "core" 9v +102 "processing"%"9 +2 "core" 9z +102 "processing"%#9 +3 "core" 9~ +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +2 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +3 "core" 9 +102 "processing"%+9 +2 "core" 9 +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +2 "core" 9 +102 "processing"%19 +2 "core" 9 +102 "processing"%29 +3 "core" 9  +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +3 "core" 9 +102 "processing"%59 +2 "core" 9 +102 "processing"%9 +2 "core" 9# +3 .tPH.hold 2:00:00,28C +3 "processing"%7 php + .tdelay 1:30 +5 "core"  +3335 "Can"&\ GD +5665 .tPSR.select :air +2 .PSV.dial PSR + "processing"%8 +103 "core"  + "processing"%9% +4 "core" %\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%:' +583 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%;' +1617 "core" ' + .tPTV.dial :puck +2 "processing"%<  +128 "core"  +2 .tPSV.dial PTV + "processing"% +74 "core" + .tPBV.dial :waste1 +2 "processing"%?  +55 "core" + "processing"%>% +4 "core" %\ \ +2 .tPS.seek 1.5ml +2 "processing"%='( +587 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%A * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%@'ؾ +1617 "core" ' + .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%C  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%D * +35 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%B +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%E' +2428 "core" ' + .tPSV.dial PTV +2 "processing"%G +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%F +74 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%I +73 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%J  +85 "core"  +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2373 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%K  +130 "core" + .tPSV.dial :mixloop + "processing"%M +44 "core" +2 .tPRV.dial :ab1 + "processing"%N @ +102 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%L' +351 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%P  +42 "core"  + "processing"%O% +4 "core" %\ \ w  +2 .tPS.seek 0.36ml + "processing"%R' +476 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'Q  +30 "core" + .tPRV.dial :air +2 "processing"%T  +43 "core"  +2 .tPS.seek 0.9ml +2 "processing"%U'K +1149 "core" ' +2 .tPRV.dial :waste2 + "processing"%V @ +72 "core" > +2 .tPS.seek 0.5ml +2 "processing"%W' +862 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%X  +46 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%6' +1607 "core" ' +2 .tPSV.dial :PML + "processing"%Z +46 "core" + .tPTV.dial :mixing +2 "processing"%[ @ +73 "core" @ +2 .tPBV.dial :waste1 + "processing"%\\  +35 "core" + "processing"%^% +5 "core" %4\  + .tPS.seek 1.85ml +2 "processing"%_' +231 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%a * +35 "core" , +2 .tPS.seek 0ml +2 "processing"%'ؾ +1968 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +2 "core" & A\ +2 "manipulator"&c& +4 "core" & < 8 + "manipulator"&d% +4 "core" %  V  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&e(- +127 "core" ( + "manipulator"&g& +4 "core" &- \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &- N \ +2 .tForearm.seek :garage + "manipulator"&j'w +95 "core" ' +2 .tHand.close + "manipulator"&k/ +63 "core" / + "manipulator"&m& +4 "core" &- d \ +2 "manipulator"&]% +3 "core" % ϋ h  +2 .tForearm.seek :retract +2 "manipulator"&`' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&b(ӂ +294 "core" ( + "manipulator"&i& +4 "core" &ӆ q 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &ӆ 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&q'? +78 "Can"1\ LI +23 "core" ' +2 "manipulator"&f& +4 "core" &ӆ  1 + "manipulator"&s% +4 "core" %4  2 +2 "collection"'t& +3 "core" & B\ +2 "collection"'u& +6 "core" & @\ +2 .tCC.seek :closed + "collection"'l(\\ +5 "core" & ;\ +6 & 3 @\ $d +10 &Uy A\ 7 +9 &}y >\ L +9 &Z 6\ O +10 &WT @\ O +9 &Q 8\ O +9 &T @\ O +10 &T A\ O +9 &_W B\ O +10 &!T :\ O +9 &S A\ O +9 &!W @\ O +10 &#gS A\ O +9 &%)Q @\ O +9 &&Q 9\ O +10 &(S A\ N +9 &*nV @\ O +9 &,2R <\ N +10 &-T 5\ O +9 &/U 5\ N +10 &1xT 5\ N +9 &39Q @\ O +9 &4Q 0\ O +10 &6V ;\ O +9 &8Q (\ O +10 &:AR ;\ O +9 &<T 1\ N +9 &=S (\ N +10 &?T 2\ O +9 &AIV '\ O +9 &C] /\ P +10 &Dn 7\ R +9 &F{ 1\ V +10 &H1 1\ Z +9 &I $\ [\ +9 &K ,\ [ +10 &Mq Z\ \\ +9 &O4 5\ [ +9 &P /\ \\ +10 &R 2\ ] +9 &Tt 2\ ] +10 &V4 3\ ^ +9 &W 0\ _ +9 &Y 2\ ` +10 &[q "\ N +9 &\\= 4\ 1 +9 &\\ 4\ Z +6 ( + "collection"'u& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.38 +2 "collection"'n& +4 "core" &\\} 2\ Z + &\\} "\ Z + .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&x% +4 "core" % 4  @ 2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&y' +92 "core" ' + .tPSV.dial PSR +2 "processing"%| +103 "core"  + "processing"%v% +4 "core" %ػG\ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +58 .tPS.seek 1.5ml + "processing"%}'+ +1613 "core" ' +3 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%r  +42 "core"  +2 .tPS.seek 0ml + "processing"%~'ؾ +1617 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2642 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%  + "collection"'  +32 "core" ~ +126  +2 .tPSV.dial :mixloop + "processing"% +102 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%\  +73 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%  +56 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"% +55 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2651 "core" ' +2 .tPSV.dial :air + "processing"%  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2632 "core" ' + .tPSV.dial :mixloop +2 "processing"% +55 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2648 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӆ E 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +3 "core" ( +2 "manipulator"&& +4 "core" &ӆ W 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӆ 4 1 +2 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( +2 "manipulator"& & +4 "core" &ӆ F 1 + "manipulator"&!% +4 "core" % ( f  + .tForearm.seek :retract +2 "manipulator"&"' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&#(- +282 "core" ( +2 "manipulator"&$& +4 "core" &- G D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +2 "core" &- D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&&'w +99 "core" ' + .tHand.open +2 "manipulator"&'1 +64 "core" 1 + "manipulator"&(% +4 "core" % z A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +88 "core" ' +2 ."da"delayUntil "14:36:05.66" +24682 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%* @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%+  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%, * +33 "core" , +2 ."da"PSV.dial :air + "processing"%-  +42 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%.' +2427 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%/ +44 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%0  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%1 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%2  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +2364 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%4 +130 "core"  + "processing"%5% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +606 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%8' +1607 "core" ' +2 ."da"PTV.dial :puck + "processing"%9  +72 "core"  +2 ."da"PSV.dial PTV + "processing"%S +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%:  +35 "core" + "processing"%<% +4 "core" % \  +2 ."da"PS.seek 1.5ml +2 "processing"%'' +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%? * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +27 "Can"2\ JG +1586 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%;  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%A * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%{' +2429 "core" ' + ."da"PSV.dial PTV +2 "processing"%C +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%D +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%B +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%@  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +2395 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%F +131 "core"  +2 "processing"%I% +4 "core" %غ\ s + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%J' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%E' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%K +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%M  +34 "core" +2 "processing"%N% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%H'' +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%P * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%O'ؾ +1635 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%L  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Q * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%T +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%R' +2430 "core" ' +2 ."da"PSV.dial PTV + "processing"%V +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%U +72 "core" + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%X +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%W  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Z'ؾ +2371 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%[  +44 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing + "processing"%\\  +131 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%^  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%a +46 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%6' +382 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%_  +44 "core"  + "processing"%% +4 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%c' +333 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%d  +56 "core"  + ."da"PS.seek 2ml +2 "processing"%g' +1553 "core" ' + ."da"PSV.dial :PML +2 "processing"%h +42 "core" + ."da"PTV.dial :mixing +2 "processing"%o @ +74 "core" B + ."da"PBV.dial :waste1 +2 "processing"%k  +34 "core" +2 "processing"%m% +3 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%]' +229 "core" ' + ."da"PBV.dial between PSV and waste1 +3 "processing"%z * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%j'ؾ +1971 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +2756 "Can"\ IF +45246 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%i  +34 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%e * +35 "core" , + ."da"PSV.dial :air +2 "processing"%p  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%f' +2425 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%s +45 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%t  +58 "core" + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%` +41 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%n'ؾ +2393 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"% +131 "core" +2 "processing"%x% +4 "core" %ع \ w + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%u' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%|' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%v  +72 "core"  +2 ."da"PSV.dial PTV + "processing"%q +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%r% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%}'' +594 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%~'ؾ +1613 "core" ' +2 ."da"delay 2:00 +355 "Can"\ FD +11647 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +51 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%\ +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2364 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"% +131 "core"  +2 "processing"%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1620 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" + "processing"%% +4 "core" %\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%b  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%y * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2413 "core" ' +2 ."da"PSV.dial PTV + "processing"%! +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%$ +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%%  +87 "core" +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2393 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%' +131 "core"  +2 "processing"%(% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%"' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%&' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%* +86 "core" + ."da"PBV.dial :waste1 +2 "processing"%+  +35 "core" + "processing"%,% +4 "core" %\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%-'' +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%/'ؾ +1616 "core" ' +2 ."da"delay 2:00 +5579 "Can"\ HF +6423 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%0  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%1 * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%2 +72 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%.' +2421 "core" ' +2 ."da"PSV.dial PTV + "processing"%4 +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%5 +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%3 +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%9'ؾ +2365 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%S +143 "core"  +3 "processing"%:% +10 "core" %\  +5 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +5 "processing"% +16 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%<' +343 "core" ' +3 ."da"delay 5 seconds +502 "processing"%8% +3 "core" % +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%?' +339 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1612 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%; +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%A  +36 "core" + "processing"%=% +4 "core" % +2 ."da"PS.seek 1.5ml + "processing"%>'& +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%C * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1609 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%B  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%@ * +34 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +76 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%F' +2497 "core" ' +2 ."da"PSV.dial PTV + "processing"%I +77 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%G +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%J +78 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%K  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +2484 "core" ' + #"da"Additional air clear +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%N +136 "core"  +2 "processing"%E% +4 "core" %ؽ-\ x + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%P' +2122 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%H +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +36 "core" + "processing"%Q% +4 "core" %<\  +2 ."da"PS.seek 1.5ml + "processing"%T') +592 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%O * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%V  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%U'ؾ +1608 "core" ' + "processing"%X9 +4 "core" 9l5 +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%W  +3 "core" 5 + 5 + "processing"%R& +3 "core" &^2\ / +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&[% +3 "core" %  - x +2 "storage"(\\% +3 "core" %\  +2 "storage"(^. +3 "core" .(<* + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(a(,y +352 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &,| G\ w +2 "manipulator"&_& +3 "core" &- P D +2 "manipulator"&% +4 "core" %   +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&6( +173 "core" ( +2 "manipulator"&d& +4 "core" & N @ + "storage"(c& +3 "core" &,| , . ]\ b +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&h' +94 "core" ' + "storage"(o& +4 "core" &,|   $\ +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(k'r +277 "core" ' + "storage"(m- +4 "core" -'r + ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(z'1 +42 "core" ' +2 "manipulator"&g& +4 "core" & ^ q@ + "manipulator"&]% +4 "core" % / oE +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&i' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&e( +243 "core" ( +2 "manipulator"&p& +4 "core" & ! B + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" & B +2 ."da"Forearm.seek PC + "manipulator"&s' +96 "core" ' +2 ."da"Hand.close + "manipulator"&t/ +72 "core" / +2 ."da"PC.seek :open +2 "processing"%`( +460 "core" ( + "storage"( & +4 "core" &,f $ ) B\ + "manipulator"&f& +4 "core" & yB + "manipulator"& % +4 "core" %  y +2 ."da"Forearm.seek :retract + "manipulator"&x' +90 "core" ' +2 ."da"Elbow.reconfigure :tight +54 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&n( +245 "core" ( + "manipulator"&u& +4 "core" & d  +2 "storage"(v& +3 "core" &,f [ X \ g +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&q' +93 "core" ' +10 ."da"Hand.open +2 "manipulator"&1 +74 "core" 1 +2 "storage"(r- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate + "storage"(' +56 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2715h.tif +5 "processing"%}& +11 "core" & +4 "manipulator"&& +6 "core" &     +2 "manipulator"&% +4 "core" %   +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +89 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&~(- +176 "core" ( +2 "manipulator"&& +4 "core" &- : @  ? +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &-    ? +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +99 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +73 "core" / + "manipulator"&& +4 "core" &- ? +2 "manipulator"&% +4 "core" % π w x + ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"& ( +132 "core" ( + "manipulator"&& +4 "core" &  m +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  { +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +94 "core" ' +2 "manipulator"&& +4 "core" & F D ) +2 "manipulator"&% +4 "core" % < ;  G +2 "processing"%& +3 "core" & +2 "processing"%& +5 "core" &^ +2 ."psFlush"PC.seek :closed +2 "processing"%b(^ +4 "core" &d \ +9 &*h ,~ +9 &^n @ +10 &5e T +9 &; V +9 &> W +10 &t< V +9 &7: V +9 &< V +10 &< V +9 &}< V +10 & H@ S +9 &"\ Hr S +9 &#Cl S +10 &%Fr\ R +9 &'QGp\ R +9 &)Gb\ S +10 &*Fi\ R +9 &,G_\ R +9 &.XDP S +10 &0FG R +9 &1CM U +10 &3>W V +9 &5V?N V +9 &7>G V +10 &8>C V +9 &:>9 V +10 &<^;< V +9 &>>7 W +9 &?C2 V +10 &AC: W +9 &C\\YG Z +9 &ErF ] +10 &FuA ^ +9 &Hv ^ +10 &JVz0 ^ +9 &L|& ^ +9 &M/ _ +10 &O}. _ +9 &Qd! \\ +9 &S% ] +10 &T \\ +9 &V\ [ +9 &Xp\ [\ +10 &Z2\ [\ +9 &[ \ [ +10 &]\ I +9 &^*n !` +9 &^7\ : +3 ( + "processing"%& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.99 +2 "processing"%y& +4 "core" &^< : + ."psFlush"Hand.open +2 "manipulator"&l1 +73 "core" 1 +2 "manipulator"&% +4 "core" %  D G +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&!' +95 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"% +47 "core"  +2 "processing"%$% +3 "core" % +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%%' +589 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"% ' +2089 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 44.863 seconds\ /var/log/esp/da21sep2715h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2715h15s.tif +38 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%' @ +202 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%(  +142 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%"'ؠ +958 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2715h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2715h30s.tif +1692 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%* +112 "core"  +2 "processing"%+% +4 "core" %؝  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%,' +603 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%&' +116 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2715h30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2715h70s.tif +2019 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%  +37 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%- @ +78 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%0 +113 "core" + ."psFlush"PS.seek :empty +2 "processing"%1'ؠ +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%2 +109 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%/'X\\ +1103 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%4' +935 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2715h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "44.863 sec auto-exposure",Subject: "da21sep2715h images!" +4 "storage"(5- +3 "core" -' + "storage"(3& +10 "core" &,f ' \ - +2 "manipulator"&& +3 "core" &  U +2 "manipulator"&.% +4 "core" % # N 1 +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&S( +240 "core" ( +2 "manipulator"&:& +4 "core" &  ? + "storage"(9& +4 "core" &,f  <\ - +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&8' +97 "core" ' +3 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +56 "core" ' +2 "manipulator"&?& +4 "core" & ; > + "storage"(;& +7 "core" &,f K\ +4 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +81 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 4 +2 "manipulator"&A'7 +14 "core" ' + ."da"Elbow.hold +2 "manipulator"&=, +5 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&C% +4 "core" %K  1 + "storage"(>& +4 "core" &,f N\ +2 ."da"Forearm.force -20 + "manipulator"&5 +2 ."da"Forearm.seek 4 + 320 counts +2 "manipulator"&B'w +19 "core" ' +2 ."psFlush"PSV.dial PTV +5 "processing"%@ +11 "core" ' +5 "manipulator"&{& +9 "core" &  P > +3 "storage"(D& +8 "core" &,f g \ +4 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 4 + 450 counts +4 "manipulator"&I' +14 "core" ' +4 "storage"(G% +13 "core" % f j\ \ +4 ."psFlush"PTV.dial :puck +9 ."downElevator"SE.seek :down +4 "processing"%J  +6 "storage"(K' +70 "core"  +4 ."psFlush"PBV.dial :waste1 +3 .PS.seek 0ml + "processing"%F'ؾ +10 "storage"(N% +6 "core" %A &\ TY +4 "manipulator"&E% +8 "core" %  + +4 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +6 "manipulator"&M' +92 "core" ' +55 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 (H& +6 "core" &,f ,\ +449 "Can"\ PM +1996 "core" ' +2 ."psFlush"PSV.dial PSR +4 "processing"%L +75 "core"  +4 ."psFlush"PSR.select :flush +4 "processing"%@ +17 ."psFlush"PS.seek 0.5ml +4 "processing"%Q' +480 #"uploadLog"upsync +109 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%P' +2129 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%O +73 "core" +2 ."psFlush"PBV.dial PSV + "processing"%V U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%T'ؾ +2655 "core" ' +3 ."psFlush"PSV.dial PBV +3 "processing"%X @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%W' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%R  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%['ؾ +2640 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%\\ +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%^' +2641 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Y +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%Z'ؾ +2636 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%_ @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2631 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%d  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%c'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%o +44 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%#'X\\ +1104 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%)' +1613 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%m +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%g  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%]'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%k +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%h' +592 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%p' +2129 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%j +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%6 U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%t'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%i @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%w' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%s' +2632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%u +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%v'ؾ +2639 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%e @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%' +2628 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%r  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%}'ؾ +2633 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&x& +3 "core" &  > +2 "manipulator"&% +3 "core" %  <  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +246 "core" ( +2 "manipulator"&z& +4 "core" & F + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" & & F +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +94 "core" ' + ."psFlush"Hand.close +2 "manipulator"&\ / +59 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%q( +459 "core" ( +2 "manipulator"&n& +4 "core" & F + "manipulator"&% +3 "core" %   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +125 "core" ( + "manipulator"&& +4 "core" &- t \ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  \ +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +99 "core" ' +2 ."psFlush"Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&% +4 "core" % ρ p +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 #tFinished short da assay +7368 "Can"\ =: +59735 #t-> access 4 +3 "storage"(% +3 "core" % ` X \  +2 "manipulator"&~% +3 "core" %   +2 "manipulator"&& +3 "core" &- \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(`(C +243 "Can"\ ^\\ +770 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (y& +3 "core" &B 9 L \  +29356 #t-> access 5 +2 "storage"(l% +4 "core" % V Z\  + "manipulator"&% +4 "core" %   +38 "manipulator"&& +12 "core" &-  \ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +2 "core" & 4 4 \ +3788 #t-> exit +5 #mEXIT @1632782637.75PDT @1632782706.65PDT = =tMAIN =mMAIN_scheduler @PDT1632782708.49 #"core_reset"Sent BREAK + #t@60183 receive with ifg=0x10, ie=0xFD + #@60819 receive with ifg=0x10, ie=0xFD + #@61477 receive with ifg=0x10, ie=0xFD + #@62114 receive with ifg=0x10, ie=0xFD #@62815 receive with ifg=0x10, ie=0xFD + #@63450 receive with ifg=0x10, ie=0xFD + #@64085 receive with ifg=0x10, ie=0xFD #@64411 receive with ifg=0x80, ie=0xFD + #@45117 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +379 "Can"\ @= + \ @= #tPolling Can every 10:00 +496 #-> ESP.ready? +606 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %e -\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ظ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ d\ > +2 .tSS.configure :default +2 "sampler")#.0X + %  ?  + "manipulator"&& +5 "core" &- 7 \ + "storage"(& +4 "core" &  ' ' \  + "storage"(% +3 "core" % * 4 Z\  +2 "collection"'& +3 "core" & &\ +2 "processing"%& +3 "core" &\ +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core" ~ +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" V +2 "processing"%% +3 "core"  + "processing"%& +3 "core" A +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" %e \ +2 "processing"%)% +3 "core" %ظ\ +2 "sampler")*% +4 "core" %څ m\ > +2 "collection"'+& +3 "core" & \ +2 "processing"%,& +4 "core" &\ +2 "manipulator"&-% +3 "core" %    +2 "manipulator"&.& +4 "core" &- \\ \ + "storage"(/& +4 "core" &  ' &\  +2 "storage"(0% +3 "core" % & )\  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +646 #t-> startTube 5 +2901 #-> $da[:extractVol]=.21 +54810 "Can" \ CA +60001 \ DA +60002 \ DA +35961 #t-> shortDA +2 "collection"'3% +3 "processing"%4% +4 "core" %e \ +6 %ظ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +174 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%5 +131 "core" + .tPTV.dial :PRVmixing +2 "processing"%6  +130 "core" + .tPRV.dial :sipper +2 "processing"%7  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%8'e +2290 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%9  + "collection"':  +16 "core" +112  +2 .tPS.seek 0.5ml +2 "processing"%;' +1272 "core" ' +2 .tPRV.dial :waste2 + "processing"%< @ +99 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%='ؾ +593 "core" ' +2 .tPSV.dial PSR + "processing"%> +102 "core"  +2 "processing"%?% +4 "core" %ػ\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%@'X\\ +1095 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%A' +1620 "core" ' + .tPSV.dial :mixloop +2 "processing"%B +103 "core" +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2630 "core" ' +2 .tPSV.dial PSR + "processing"%D +104 "core"  + "processing"%E% +4 "core" %ؼ\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%F'X\\ +1097 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%G' +1616 "core" ' +2 .tPSV.dial :mixloop + "processing"%H +104 "core" + .tPRV.dial :sipper +2 "processing"%I  +44 "core" +2 .tPS.seek 0ml + "processing"%J'ؾ +2637 "core" ' + .tPSV.dial PSR +2 "processing"%K +103 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%L' +2641 "core" ' +2 .tPSV.dial :mixloop + "processing"%M +103 "core" +3 .tPS.seek 0ml + "processing"%N'ؾ +2631 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%O& +4 "core" &\ +2 .tHand.open + "manipulator"&P1 +17 "core" 1 + "manipulator"&Q% +4 "core" %  0  +2 "storage"(R% +3 "core" % % & '\  +2 "storage"(S. +3 "core" ., + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(T(<- +984 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &<*  A\  +2 "manipulator"&V& +3 "core" &- \ +2 "manipulator"&W% +4 "core" %  <  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&X( +169 "core" ( +2 "manipulator"&Y& +39 "core" & X 7 +8 "storage"(Z& +4 "core" &<* 4 O \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +86 "Can"\ ?= +6 "core" ' +2 "storage"(\\& +4 "core" &<* Y a\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(]'r +309 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &<* B I \  +2 "manipulator"&`& +3 "core" &  7 +2 .tElbow.seek 5 + "manipulator"&a( +4 "core" ( + "manipulator"&b& +4 "core" & F 7 + "storage"(c& +4 "core" &<* Y V\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&d'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&e/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(g' +7 "core" & K 7 +2 "manipulator"&h% +4 "core" % ϴ  +2 .tForearm.seek :retract + "manipulator"&i' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&j( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&k& +4 "core" &  < +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" & < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +102 "core" ' + "manipulator"&n& +4 "core" &  < +2 "manipulator"&o% +4 "core" % V +2 "processing"%p& +3 "core" &\ +2 "processing"%q& +5 "core" &\ +2 .tPC.seek :closed + "processing"%r(^ +5 "core" &\  +8 &1x\ *y +10 &a~\ > +9 &]r\ N +10 &T\ O +9 &W\ N +9 &R\ N +10 &dR\ N +9 &&R\ N +9 &R\ \ N +10 &T\ O +9 & kV\ O +9 &".U\ N +10 &#S \ O +9 &%U\ N +10 &'sR\ \ O +9 &)5U\ O +9 &*U\ O +10 &,W\ O +9 &.{U\ O +9 &0=T\ O +10 &1T\ O +9 &3W\ O +10 &5R\ O +9 &7FS\ N +9 &9U\ O +10 &:T\ O +9 &<S\ O +9 &>MU\ O +10 &@ W\ O +9 &AZ\ P +10 &Cs\ S +9 &EC\ U +9 &G\ U +10 &H\ V +9 &J\ V +9 &LI\ U +10 &N\ V +9 &O\ W +10 &Q\ X +9 &SM\ W +9 &U\ W +10 &V\ W +9 &X\ W +9 &ZU\ W +10 &\\\ W +9 &]\ 9 +10 &^,tB\ Z +9 &^8I\ 8 +2 ( +2 "processing"%q& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&s1 +58 "core" 1 + "manipulator"&t% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +96 "core" ' +3 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%v h +2 %w9 +6 "core" 9 +102 "processing"%x9 +2 "core" 9 +102 "processing"%y9 +3 "core" 9  +102 "processing"%z9 +2 "core" 9  +102 "processing"%{9 +2 "core" 9 +102 "processing"%|9 +3 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +2 "core" 9 +103 "processing"%9 +2 "core" 9" +103 "processing"%9 +2 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +103 "processing"%9 +2 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%\ 9 +3 "core" 9? +102 "processing"% 9 +2 "core" 9C +103 "processing"%9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +103 "processing"%9 +22 "core" 9U +102 "processing"%9 +2 "core" 9Y +103 "processing"%9 +2 "core" 9] +102 "processing"%9 +3 "core" 9b +102 "processing"%9 +2 "core" 9f +103 "processing"%9 +2 "core" 9j +102 "processing"%9 +2 "core" 9n +102 "processing"%9 +3 "core" 9r +102 "processing"%9 +2 "core" 9v +103 "processing"%9 +2 "core" 9{ +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"% 9 +2 "core" 9 +102 "processing"%!9 +3 "core" 9 +102 "processing"%"9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +3 "core" 9 +102 "processing"%/9 +2 "core" 9 +103 "processing"%09 +2 "core" 9 +102 "processing"%19 +3 "core" 9 +102 "processing"%29 +2 "core" 9% +3 .tPH.hold 2:00:00,28C +3 "processing"%3 php +3 .tdelay 1:30 +3 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +115 "core" +2 "processing"%5% +4 "core" %\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%6' +598 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml + "processing"%7' +1618 "core" ' + .tPTV.dial :puck +2 "processing"%  +128 "core"  +2 .tPSV.dial PTV + "processing"%: +72 "core" + .tPBV.dial :waste1 +2 "processing"%9  +55 "core" + "processing"%8% +4 "core" % \ \ +2 .tPS.seek 1.5ml +2 "processing"%<'* +599 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%; * +34 "core" + +2 .tPS.seek 0ml + "processing"%>'ؾ +1611 "core" ' + .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%?  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%= * +35 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%B' +2431 "core" ' + .tPSV.dial PTV +2 "processing"%A +74 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%D +73 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%E +73 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%C  +87 "core" +2 .tPS.seek 0ml +2 "processing"%F'ؾ +992 "Can"\ KI +1363 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%H  +132 "core" + .tPSV.dial :mixloop +2 "processing"%I +42 "core" + .tPRV.dial :ab1 +2 "processing"%G @ +100 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%K' +350 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%J  +42 "core"  +2 "processing"%M% +4 "core" %\ V\  +2 .tPS.seek 0.36ml + "processing"%L' +475 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'O  +28 "core" + .tPRV.dial :air +2 "processing"%P  +44 "core"  +2 .tPS.seek 0.9ml +2 "processing"%Q'K +1154 "core" ' + .tPRV.dial :waste2 +2 "processing"%R @ +72 "core" > +2 .tPS.seek 0.5ml + "processing"%S' +859 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%U' +1617 "core" ' + .tPSV.dial :PML +2 "processing"%V +45 "core" +2 .tPTV.dial :mixing + "processing"%W @ +72 "core" @ +2 .tPBV.dial :waste1 + "processing"%Y  +35 "core" + "processing"%Z% +5 "core" %B\  + .tPS.seek 1.85ml +2 "processing"%' +236 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%\\ * +35 "core" , +2 .tPS.seek 0ml +2 "processing"%'ؾ +1968 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'^& +2 "core" & *\ +2 "manipulator"&_& +4 "core" & N < + "manipulator"&`% +4 "core" %   . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&b(- +125 "core" ( +2 "manipulator"&c& +4 "core" &- ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &- 1 +2 .tForearm.seek :garage + "manipulator"&f'w +101 "core" ' +2 .tHand.close + "manipulator"&h/ +71 "core" / +2 "manipulator"&X& +4 "core" &-  + "manipulator"&[% +4 "core" % b # +2 .tForearm.seek :retract + "manipulator"&]' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&d(ӂ +277 "core" ( + "manipulator"&k& +4 "core" &z1  * G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &ӣ(  1 Ad +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&a'? +101 "core" ' +2 "manipulator"&n& +4 "core" &ӣ)   D Ad +2 "manipulator"&o% +4 "core" %7   + "collection"'p& +4 "core" & .\ +2 "collection"'g& +5 "core" & 2\ +2 .tCC.seek :closed +2 "collection"'i(\\ +4 "core" & 5\ +7 & 3 2\ $e +10 &U{ 0\ 8 +9 &y 7\ M +9 &Y 7\ P +10 &]T 8\ O +9 &U 8\ O +9 &S 9\ O +10 &W 1\ O +9 &eW 4\ O +10 &&W /\ O +9 &X 6\ O +9 &!U 4\ O +10 &#lW 0\ O +9 &%/U -\ O +9 &&U -\ O +10 &(V 3\ O +9 &*vR )\ O +10 &,7Q -\ O +9 &-U /\ O +9 &/S ,\ O +10 &1~O #\ O +9 &3>Q )\ O +9 &5N -\ O +10 &6O ,\ O +9 &8N '\ O +10 &:HO #\ O +9 &<\ O '\ O +9 &=R %\ O +10 &?O \ O +9 &AMS  \ P +9 &C[ (\ P +10 &Dj \ S +9 &F *\ V +10 &H6 ,\ zZ +9 &I ,\ [ +9 &K .\ \\ +10 &Mw 0\ \\ +9 &O8 (\ \\ +9 &P .\ ] +10 &R 4\ ] +9 &Tx  \ ^ +10 &V9 9\ _ +9 &W )\ ` +9 &Y '\ |a +10 &[w (\ |N +9 &\\: $\ 3 +9 &\\ ,\ [ +6 ( + "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 +2 "collection"' & +4 "core" &\\} ,\ [ + &\\| "\ [ + .tHand.open +2 "manipulator"&s1 +56 "core" 1 +2 "manipulator"&t% +4 "core" % 7  \   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&w' +99 "core" ' + .tPSV.dial PSR +2 "processing"%q +104 "core"  + "processing"%x% +4 "core" %P\ i +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%m'+ +1613 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%y  +90 "core"  +2 .tPS.seek 0ml +2 "processing"%z'ؾ +1613 "core" ' +2 .tPSV.dial PSR + "processing"%{ +44 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%|' +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV + "processing"%}  +2 "collection"'~  +32 "core"  +126  +2 .tPSV.dial :mixloop + "processing"% +104 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"' +3 "core"  +2 "collection"'  +4 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +74 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2637 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :mixloop + "processing"%\ +46 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2636 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӥ(  S Ab +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +56 "core" ( +2 "manipulator"&& +4 "core" &Ӟ  t 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӟ  ( 3 +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&/ +66 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( + "manipulator"&& +4 "core" &Ӟ A 3 +2 "manipulator"&% +4 "core" % ) % +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +285 "core" ( +2 "manipulator"& & +4 "core" &-  # E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &- y E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&"'w +98 "core" ' + .tHand.open +2 "manipulator" +61 "core" 1 + "manipulator"&$% +4 "core" % o %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&%' +88 "core" ' +2 ."da"delayUntil "16:44:49.29" +24692 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%& @ +72 "core" A +2 ."da"PBV.dial :waste1 + "processing"%'  +35 "core" + ."da"delay 30 seconds +2483 "Can"\ HE +520 ."da"PBV.dial between PSV and waste1 +2 "processing"%( * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%)  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2424 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%+ +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%,  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"%- +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%.  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%/'ؾ +2364 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%0 +131 "core"  +2 "processing"%1% +4 "core" %ؽ9\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%2' +599 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%4' +1620 "core" ' +2 ."da"PTV.dial :puck + "processing"%5  +72 "core"  +2 ."da"PSV.dial PTV +2 "processing"%N +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%6  +34 "core" + "processing"%% +4 "core" %3\  +2 ."da"PS.seek 1.5ml +2 "processing"%:'- +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%9 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%8'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%7  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%; * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%< +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%v' +2412 "core" ' + ."da"PSV.dial PTV +2 "processing"%? +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%= +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%@ +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%>  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +2367 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%D +131 "core"  +2 "processing"%E% +4 "core" %ؿJ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%C' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%B' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%H +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%I  +35 "core" + "processing"%G% +4 "core" %Q\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%F'' +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%J * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%M'ؾ +1611 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%K  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%O * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%P +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%L' +2414 "core" ' + ."da"PSV.dial PTV +2 "processing"%R +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%Q +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%S  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%V'ؾ +1437 "Can"\ HE +930 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%W  +42 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%Y  +134 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%Z  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%\\ +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%U' +392 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%  +43 "core"  +2 "processing"%^% +4 "core" %G\ \ +2 ."da"PS.seek 0.55ml + "processing"%_' +337 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%`  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%c' +1557 "core" ' + ."da"PSV.dial :PML +2 "processing"%e +45 "core" +2 ."da"PTV.dial :mixing +2 "processing"%j @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%h  +35 "core" + "processing"%X% +4 "core" %Q\  +2 ."da"PS.seek 1.85ml +2 "processing"%[' +231 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%u * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%f'ؾ +1967 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +48003 #recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%k  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%l * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%b  +57 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%n' +1420 "Can"\ hg +1009 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%o +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%p  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%] +55 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +55 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2372 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%s +131 "core"  +2 "processing"%t% +3 "core" %e\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%g' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%q' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%x  +76 "core"  +2 ."da"PSV.dial PTV + "processing"%a +86 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%y% +4 "core" %g\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%m'& +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%{ * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +1628 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%~  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%} * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +43 "processing"%#A ,`xb +11 ."da"PS.seek 2.5ml +2 "processing"%' +2450 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%| +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2365 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%\ +144 "core" + "processing"%% +4 "core" %Q\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1610 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %a\  +2 ."da"PS.seek 1.5ml +2 "processing"%'( +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%d  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%w * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2434 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%!  +86 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2365 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%# +131 "core"  + "processing"%$% +4 "core" %ؾc\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +593 "core" ' + ."da"delay 5 seconds +167 "Can"\ GD +335 ."da"PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%& +87 "core" + ."da"PBV.dial :waste1 +2 "processing"%'  +34 "core" +2 "processing"%(% +3 "core" %o\  +2 ."da"PS.seek 1.5ml +2 "processing"%)'0 +588 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +1619 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%,  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%- * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%. +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2432 "core" ' + ."da"PSV.dial PTV +2 "processing"%0 +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%1 +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%/ +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%2  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +2357 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%N +140 "core" +5 "processing"%6% +12 "core" %غb\ +3 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +6 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +3 ."da"PS.seek 0.25ml +4 "processing"%' +355 "core" ' +2 ."da"delay 5 seconds +502 "processing"%4% +4 "core" %] + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%9' +342 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml + "processing"%:' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%7 +78 "core" + ."da"PBV.dial :waste1 +2 "processing"%;  +36 "core" + "processing"%<% +4 "core" %J  +2 ."da"PS.seek 1.5ml +2 "processing"%8'- +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%? * +35 "core" , +3 ."da"PS.seek 0ml + "processing"%='ؾ +1609 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%@  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%> * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%v +77 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%D' +2519 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%E +78 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%A +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%C +87 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%H  +78 "core"  +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +2498 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%G +138 "core"  + "processing"%B% +4 "core" %~\ X + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%J' +2120 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%F +87 "core" + ."da"PBV.dial :waste1 +2 "processing"%K  +36 "core" +2 "processing"%O% +3 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%P'& +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%M * +34 "core" + + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%R  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Q'ؾ +1607 "core" ' + "processing"%9 +4 "core" 9m5 +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%S  +3 "core" 5 + 5 + "processing"%L& +3 "core" &^4 8 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&W% +3 "core" %  X _ e +2 "storage"(Y% +3 "core" %  % +2 "storage"(Z. +3 "core" .(<* + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(\\(,y +357 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (V& +2 "core" &,|\  \ V +2 "manipulator"&& +4 "core" &-  E + "manipulator"&^% +4 "core" %  &  + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&U( +172 "core" ( +2 "manipulator"&`& +4 "core" & P K - c/ + "storage"(_& +4 "core" &,|   V +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&e' +99 "core" ' + "storage"(j& +4 "core" &,| 0 l\ [ +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(h'r +281 "core" ' +2 "storage"(X- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"(u'1 +42 "core" ' +2 "manipulator"&c& +4 "core" & b O c/ + "manipulator"&[% +4 "core" %  *  _ +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&k' +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&l( +243 "core" ( +2 "manipulator"&b& +4 "core" & , 2 + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +2 "core" & + 2 +2 ."da"Forearm.seek PC +2 "manipulator"&o' +92 "core" ' + ."da"Hand.close +2 "manipulator"&p/ +76 "core" / +2 ."da"PC.seek :open +2 "processing"%]( +461 "core" ( + "storage"( & +4 "core" &,f b e  +2 "manipulator"&n& +4 "core" & { y 6 i2 + "manipulator"&s% +4 "core" %  y b h" +2 ."da"Forearm.seek :retract + "manipulator"&t' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"& ( +243 "core" ( + "manipulator"&g& +4 "core" & w 8 +2 "storage"(x& +46 "core" &,f\ '\ ' 0\ Y +11 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&a' +91 "core" ' +2 ."da"Hand.open +2 "manipulator"&1 +67 "core" 1 +2 "storage"(y- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"({' +57 "core" ' + #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2717h.tif +4 "processing"%m& +14 "core" &6 +4 "manipulator"&~& +6 "core" & I K C8 +2 "manipulator"&}% +5 "core" %  2 5u +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&z(- +171 "core" ( +2 "manipulator"&& +4 "core" &-  / ;i + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &- 3 " i +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&|'w +96 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +73 "core" / +2 "manipulator"&& +4 "core" &- <  Pi +2 "manipulator"&\ % +3 "core" % φ  J T +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +118 "core" ( +2 "manipulator"&& +4 "core" & ?: + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   w: +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&& +4 "core" &   V: +2 "manipulator"& % +3 "core" % " +2 "processing"%& +4 "core" & +2 "processing"%& +5 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%d(^ +5 "core" & +7 & ( $e +10 &Ql t: +9 &wi rO +9 &kA xW +10 &.8 yV +9 &9 wV +9 &= vW +10 &t< |V +9 &67 {V +9 &: vV +10 &: wV +9 &!{: tW +10 &#<> tW +9 &%; tV +9 &&C V +10 &(? S +9 &*PA S +9 &,D T +10 &-C@ S +9 &/E: R +10 &1ZD R +9 &3AG S +9 &4C T +10 &6DB T +9 &8^D@ T +9 &:?E yW +10 &;9C zW +9 &=;A yV +10 &?\\<0 xW +9 &A?- xW +9 &BL2 vY +10 &Dc8 q] +9 &FMy- q_ +9 &Hv- q_ +10 &Iu/ p_ +9 &K{ k` +10 &MRy! k` +9 &O! r` +9 &P s` +10 &R ta +9 &TW ta +9 &V u` +10 &W ^ +9 &Y ] +10 &[lw ] +9 &]+Y ^ +9 &^Pd} M +10 &^9 !c +9 &^2o : +2 ( +2 "processing"%& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.98 +2 "processing"%w& +4 "core" &^6r : + ."psFlush"Hand.open +2 "manipulator"&i1 +75 "core" 1 + "manipulator"&% +4 "core" % ,  e" +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +97 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +47 "core"  + "processing"% % +5 "core" %G + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%!' +594 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +145 #"da"SX HX9/16 (USB:08): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 25.488 seconds\ /var/log/esp/da21sep2717h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2717h15s.tif +1565 #SX HX9/16 (USB:08): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2717h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2717h30s.tif +423 "core" ' +3 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%# @ +204 "core" B +2 ."psFlush"PTV.dial :PRVmixing + "processing"%$  +138 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +112 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2075 #"da"SX HX9/16 (USB:08): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2717h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2717h70s.tif +304 "Can" `] +260 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +113 "core"  +2 "processing"%'% +4 "core" %؞N + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%(' +597 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +2132 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%) @ +78 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%, +114 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%-'ؠ +2641 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%. +112 "core"  +6 ."psFlush"PSR.select :flush +5 "processing"%@ +17 ."psFlush"PS.seek 1ml +6 "processing"%+'X\\ +100 #"da"SX HX9/16 (USB:08): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2717h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "25.488 sec auto-exposure",Subject: "da21sep2717h images!" +9 "storage"(0- +3 "core" -' + "storage"(1& +6 "core" &,f /\  +2 "manipulator"&/& +4 "core" &  : + "manipulator"&2% +4 "core" % % 8 A +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 +3 "manipulator"&*( +245 "core" ( +2 "manipulator"&N& +4 "core" & 1 +2 "storage"(6& +4 "core" &,f \ % +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&5' +97 "core" ' +6 ."da"SE.reconfigure :gently +4 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +57 "core" ' +2 "manipulator"&& +4 "core" & E 1 + "storage"(9& +4 "core" &,f ,\  + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&7'7 +19 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&;, +6 "core" , +2 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +73 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(<' +28 "core" ' +2 "manipulator"&:% +4 "core" %3 - + "storage"(?& +4 "core" &,f 0\  + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 4 + 296 counts +2 "manipulator"&8'_ +13 "core" ' + "manipulator"&@& +6 "core" &  1 + "storage"(>& +5 "core" &,f \  +9 ."da"Forearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 4 + 450 counts +3 "manipulator"&v' +17 "core" ' +4 "storage"(=% +8 "core" % \  +4 ."downElevator"SE.seek :down +10 "storage"(E' +94 (A% +5 "core" %? \ {U\\ +5 "manipulator"&C% +10 "core" %  +4 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +4 "manipulator"&H' +92 "core" ' +18 ' +2 ."psFlush"PSR.select :air +4 "processing"% +14 ."psFlush"PS.seek 2.5ml +4 "processing"%D' +4 "core" ' +2 ."downElevator"SE.stop +8 "storage"(5 +6 (G& +5 "core" &,f \  +1604 ' +4 ."psFlush"PSV.dial PTV +8 "processing"%B +74 "core" +2 ."psFlush"PTV.dial :puck +3 "processing"%I  +75 "core"  +5 ."psFlush"PBV.dial :waste1 +3 .PS.seek 0ml +4 "processing"%F'ؾ +1039 #"uploadLog"upsync +1616 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%K +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%O' +595 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%J' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%M +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%R U +54 "core" W +2 ."psFlush"PS.seek 0ml +3 "processing"%P'ؾ +2633 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%S' +2633 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%L  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%W'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%Y +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%Z' +2641 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%T +71 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%V'ؾ +2625 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"% @ +46 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%^' +2650 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%`  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%j +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +1613 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%X +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%c  +53 "core" +2 ."psFlush"PS.seek 0ml + "processing"%['ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%h +74 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%e' +583 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%b' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%f +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%U U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2654 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%k @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%n'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%s +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%o' +2632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%g +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%x'ؾ +2654 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%l @ +45 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2635 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%y  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%m'ؾ +1065 "Can"\ LI +1576 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&~& +4 "core" & x 0 +2 "manipulator"&}% +3 "core" %  G  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&t( +243 "core" ( +2 "manipulator"&u& +4 "core" & M - + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &  - +2 ."psFlush"Forearm.seek PC + "manipulator"&' +93 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +60 "core" / +2 ."psFlush"PC.seek :open + "processing"%a( +458 "core" ( + "manipulator"& & +4 "core" & - +2 "manipulator"&% +4 "core" % \  0  +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&\ (- +126 "core" ( +2 "manipulator"&& +4 "core" &-  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- C +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +100 "core" ' + ."psFlush"Hand.open +2 "manipulator"&|1 +59 "core" 1 +2 "manipulator"&% +4 "core" % p +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 #tFinished short da assay +56998 "Can"\ =; +60001 \ =; +60002 \ >< +60001 \ >; +60001 \ =; +60002 \ >; +60001 \ >; +60001 \ >< +60001 \ =; +60002 \ >; +60001 \ >; +60001 \ @= +60001 \ >: +60002 \ =; +60001 \ >; +60001 \ >; +60001 \ =; +60002 \ =; +60001 \ =; +60001 \ >; +60002 \ >; +60001 \ >; +60001 \ >; +60002 \ =; +60001 \ >; +60001 \ >; +60001 \ >; +60002 \ =; +60001 \ >: +60001 \ ?; +60002 \ >; +60001 \ =; +60001 \ >< +60001 \ >; +60001 \ =; +60002 \ >; +60001 \ >; +60001 \ =; @PDT1632812715.84 \ =; +60001 \ >; +60001 \ =; +60001 \ >; +60002 \ =: +60001 \ =; +60001 \ >; +60001 \ =; +60002 \ >; +60001 \ =: +60001 \ >; +60002 \ >; +60001 \ >; +60001 \ >; +60001 \ =: +60002 \ >< +60001 \ >; +60001 \ >; +60002 \ >; +60001 \ >: +60001 \ =: +60001 \ =< +60002 \ =; +60001 \ =; +60001 \ =; +60002 \ >< +60001 \ >; +60001 \ >; +60001 \ >; +17030 #t-> access 4 +4 "storage"(% +3 "core" % A A \  +2 "manipulator"&z% +4 "core" %    + "manipulator"&& +4 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(](C +991 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &C  # E\ +1977 #t-> access 5 +2 "storage"(i% +4 "core" %  & J\  +2 "manipulator"&% +4 "core" %  j  + "manipulator"&& +4 "core" &- A + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &   / 9\ +948 #t-> exit +6 #mEXIT @1632829729.94PDT @1632829796.57PDT = =tMAIN =mMAIN_scheduler @PDT1632829798.49 #"core_reset"Sent BREAK +2 #t@12592 receive with ifg=0x10, ie=0xFD #@13228 receive with ifg=0x10, ie=0xFD + #@13884 receive with ifg=0x10, ie=0xFD + #@14522 receive with ifg=0x10, ie=0xFD + #@15157 receive with ifg=0x10, ie=0xFD #@15791 receive with ifg=0x10, ie=0xFD + #@16425 receive with ifg=0x10, ie=0xFD #@16751 receive with ifg=0x80, ie=0xFD + #@6831 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +293 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +399 "Can"\ @= + \ @= + #tPolling Can every 10:00 +789 #-> startTube 5 +2480 #-> $da[extractVol]=.2 +56696 "Can"\ >; +13478 #t-> shortDA +159 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "sampler") +2 ) +3 "core"  + "processing"% +2 % +3265 !to:IRB::Abort: mesg"User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +615 #-> shortDA +2829 !o:IRB::Abort: mesg"User Abort!!:@checkpoint: omitted:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +920 #-> exit +5 "core"   +4 #mEXIT @1632830618.18PDT @1632830653.93PDT = =tMAIN =mMAIN_scheduler @PDT1632830655.71 #"core_reset"Sent BREAK + #t@15197 receive with ifg=0x10, ie=0xFD + #@15854 receive with ifg=0x10, ie=0xFD + #@16492 receive with ifg=0x10, ie=0xFD + #@17127 receive with ifg=0x10, ie=0xFD + #@17762 receive with ifg=0x10, ie=0xFD #@18093 receive with ifg=0x80, ie=0xFD + #@34385 probe with ifg=0x02, ie=0x5F #@4383 probe with ifg=0x02, ie=0x5F + #@30546 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +369 "Can"\ ?= + \ ?= #tPolling Can every 10:00 +2 #Cleanly exited at 05:03:38PDT28-Sep-21 +803 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %e !\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ع\ + .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")% +2 "core" %څ [\ > +2 .tSS.configure :default +2 "sampler")#.0X +2 %ع\ + %  G  +2 "manipulator"&& +3 "core" &- + "storage"(& +4 "core" &   \  + "storage"(% +4 "core" %  i\  + "collection"'& +3 "core" & \ +2 "processing"%& +4 "core" &\ +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  +2 "collection"'" +3 "core"  + "processing"%# +3 "core"  +2 "processing"%$ +2 "core" V +2 "processing"%% +3 "core"  + "processing"%& +3 "core" B +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" %e \ +2 "processing"%)% +3 "core" %ع\ +2 "sampler")*% +4 "core" %څ a\ > +2 "collection"'+& +4 "core" & \ + "processing"%,& +4 "core" &\ + "manipulator"&-% +5 "core" %    + "manipulator"&.& +4 "core" &- < + "storage"(/& +4 "core" &   {\  +2 "storage"(0% +3 "core" % z\  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +4445 #t-> startTube 5 +1300 #-> $da[:extractVol]=.2 +777 #-> shortDA + "collection"'3% +3 "processing"%4% +5 "core" %e \ +3 %ع\ \ +3 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1518 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%5 +133 "core" + .tPTV.dial :PRVmixing +2 "processing"%6  +130 "core" + .tPRV.dial :sipper +2 "processing"%7  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%8'e +2292 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%9  + "collection"':  +7 "core" +120  +2 .tPS.seek 0.5ml +2 "processing"%;' +1293 "core" ' + .tPRV.dial :waste2 +2 "processing"%< @ +100 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%='ؾ +589 "core" ' + .tPSV.dial PSR +2 "processing"%> +102 "core"  + "processing"%?% +4 "core" %ػ \ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +9 .tPS.seek 1ml +2 "processing"%@'X\\ +1105 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%A' +1611 "core" ' + .tPSV.dial :mixloop +2 "processing"%B +103 "core" +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2640 "core" ' + .tPSV.dial PSR +2 "processing"%D +103 "core"  +2 "processing"%E% +4 "core" %ظ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%F'X\\ +1097 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%G' +1616 "core" ' +4 .tPSV.dial :mixloop + "processing"%H +104 "core" + .tPRV.dial :sipper +2 "processing"%I  +42 "core" +2 .tPS.seek 0ml +2 "processing"%J'ؾ +2628 "core" ' + .tPSV.dial PSR + "processing"%K +104 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%L' +2632 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +103 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2656 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%O& +4 "core" &\ + .tHand.open +2 "manipulator"&P1 +21 "core" 1 +2 "manipulator"&Q% +4 "core" %  P  +2 "storage"(R% +3 "core" % & &\  +2 "storage"(S. +3 "core" .,  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(T(<- +985 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &<,   \  +2 "manipulator"&V& +3 "core" &- + +2 "manipulator"&W% +3 "core" %  ?  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&X( +170 "core" ( + "manipulator"&Y& +5 "core" & 3 1 + "storage"(Z& +4 "core" &<, % ' @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&['O +92 "core" ' + "storage"(\\& +5 "core" &<, E G \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +37 "storage"(]'r +306 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &<, % \  + "manipulator"&`& +4 "core" & p 1 +2 .tElbow.seek 5 + "manipulator"&a( +4 "core" ( + "manipulator"&b& +4 "core" & & 1 + "storage"(c& +5 "core" &<, A B \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&d'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&e/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(g' +7 "core" & e 1 +2 "manipulator"&h% +3 "core" % ϸ +2 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&k& +4 "core" & 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" & g 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +90 "core" ' + "manipulator"&n& +5 "core" & ^ 2 + "manipulator"&o% +4 "core" % Y t + "processing"%p& +4 "core" &\ +2 "processing"%q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%r(^ +4 "core" &\ +7 &:\ $e +9 &Uz\ 7 +10 &}w\ L +9 &Q\ O +9 &dR\ O +10 &'Q\ O +9 &Q\ O +10 &P\ O +9 &lS\ O +9 &.Q\ O +10 &Q\ O +9 &!T\ O +9 &#uR\ O +10 &%7P\ O +9 &&R\ O +10 &(R\ N +9 &*}R\ O +9 &,?R\ O +10 &.Q\ O +9 &/T\ O +9 &1W\ O +10 &3GT\ O +9 &5 R\ O +10 &6Q\ O +9 &8T\ O +9 &:OR\ O +10 &<T\ O +9 &=T\ O +9 &?W\ O +10 &ATZ\ P +9 &C q\ S +10 &D\ U +9 &F\ U +9 &HJ\ V +10 &J \ U +9 &K\ U +9 &M\ W +10 &OP\ V +9 &Q\ W +9 &R\ W +10 &T\ W +9 &VW\ W +10 &X\ W +9 &Y\ W +9 &[\ W +10 &]]\ E +9 &^H~\ Z +10 &^ Z\ 9 +5 ( + "processing"%q& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 + .Hand.open + "manipulator"&s1 +3 "core" &^3\ 9 +55 1 + "manipulator"&t% +5 "core" %  ; t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' +3 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%v h +2 %w9 +6 "core" 9 +102 "processing"%x9 +2 "core" 9 +102 "processing"%y9 +2 "core" 9  +102 "processing"%z9 +3 "core" 9  +102 "processing"%{9 +2 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +3 "core" 9 +102 "processing"%~9 +2 "core" 9 +102 "processing"%9 +2 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%9 +3 "core" 9* +102 "processing"%9 +2 "core" 9. +102 "processing"%9 +3 "core" 93 +102 "processing"%9 +2 "core" 97 +102 "processing"%9 +3 "core" 9; +103 "processing"%\ 9 +2 "core" 9? +102 "processing"% 9 +2 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +3 "core" 9\\ +103 "processing"%9 +2 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +3 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +2 "core" 9q +102 "processing"%9 +2 "core" 9v +102 "processing"%9 +3 "core" 9z +102 "processing"%9 +3 "core" 9~ +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%!9 +2 "core" 9 +102 "processing"%"9 +3 "core" 9 +102 "processing"%#9 +2 "core" 9 +102 "processing"%$9 +3 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +2 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +2 "core" 9 +103 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +3 "core" 9 +102 "processing"%/9 +2 "core" 9  +102 "processing"%09 +3 "core" 9 +102 "processing"%19 +2 "core" 9 +102 "processing"%29 +3 "core" 9 +102 "processing"%39 +3 "core" 9 +101 "processing"%49 +3 "core" 9" +2 .tPH.hold 2:00:00,28C +3 "processing"%5 php +3 .tdelay 1:30 +3 "core"  +9001 .tPSR.select :air + .PSV.dial PSR +2 "processing"%6 +103 "core"  + "processing"%7% +4 "core" %B\  + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%' +589 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%:' +1617 "core" ' + .tPTV.dial :puck +2 "processing"%9  +130 "core"  + .tPSV.dial PTV + "processing"%8 +74 "core" +2 .tPBV.dial :waste1 + "processing"%<  +55 "core" + "processing"%;% +4 "core" %r\ +2 .tPS.seek 1.5ml +2 "processing"%>'* +592 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%? * +35 "core" + +2 .tPS.seek 0ml + "processing"%='ؾ +1636 "core" ' + .tdelay 5:00 +4993 "Can"\ FC +25009 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%@  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%B * +35 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%A +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%D' +2443 "core" ' +2 .tPSV.dial PTV + "processing"%E +86 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%C +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"%F +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%H  +86 "core"  +2 .tPS.seek 0ml + "processing"%I'ؾ +2365 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%G  +132 "core" + .tPSV.dial :mixloop +2 "processing"%K +42 "core" + .tPRV.dial :ab1 +2 "processing"%J @ +100 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%M' +356 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%L  +44 "core"  + "processing"%O% +4 "core" %\ +2 .tPS.seek 0.35ml +2 "processing"%P'k +461 "core" ' +2 .tdelay 2 seconds +201 .CBV.dial between PRV and PSV +2 "collection"'Q  +30 "core" +2 .tPRV.dial :air + "processing"%R  +42 "core"  +2 .tPS.seek 0.9ml + "processing"%S'K +1170 "core" ' +2 .tPRV.dial :waste2 + "processing"% @ +71 "core" ? +2 .tPS.seek 0.5ml + "processing"%U' +870 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%V  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%W' +1614 "core" ' + .tPSV.dial :PML +2 "processing"%Y +45 "core" +2 .tPTV.dial :mixing + "processing"%Z @ +72 "core" @ +2 .tPBV.dial :waste1 + "processing"%\\  +35 "core" + "processing"%% +4 "core" %r\  +2 .tPS.seek 1.85ml +2 "processing"%' +233 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%^ * +34 "core" + +3 .tPS.seek 0ml + "processing"%_'ؾ +1971 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'`& +3 "core" & \ +2 "manipulator"&b& +3 "core" & 2 +2 "manipulator"&c% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&e(- +125 "core" ( + "manipulator"&f& +4 "core" &- N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &- E +2 .tForearm.seek :garage + "manipulator"&X'w +97 "core" ' + .tHand.close +2 "manipulator"&[/ +75 "core" / +2 "manipulator"&]& +4 "core" &- ] + "manipulator"&d% +4 "core" % q D +2 .tForearm.seek :retract + "manipulator"&k' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +278 "core" ( + "manipulator"&a& +4 "core" &Ӌ(  F @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &Ӌ( [ @Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&o'? +99 "core" ' +3 "manipulator"&p& +4 "core" &Ӌ( W @Z + "manipulator"&g% +4 "core" %C ?  +2 "collection"'i& +4 "core" & \ +2 "collection"' & +6 "core" & \ +2 .tCC.seek :closed + "collection"'s(\\ +5 "core" & \ +6 & 3 \ $e +10 &Uy \ 7 +9 &|w \ {L +10 &U \ {P +9 &MQ \ }P +9 &Q \ O +10 &S \ P +9 &R \ P +9 &WS \ O +10 &Q \ O +9 &S \ O +10 &!Q \ }O +9 &#^R \ }P +9 &% R \ P +10 &&Q \ O +9 &(R \ O +9 &*hO \ O +10 &,*R \ O +9 &-Q \ O +9 &/P \ ~O +10 &1nT \ |P +9 &30R \ ~P +10 &4P \ ~O +9 &6R \ |O +9 &8wO \ O +10 &:8R \ P +9 &;Q \ O +10 &=R \ }O +9 &?R \ |O +9 &A@T \ }P +10 &B\\ \ {Q +9 &Dm \ xS +9 &Ft \ V +10 &H' \ x[\ +9 &I \ o\\ +9 &K \ f] +10 &Mi \ g\\ +9 &O( \ g] +10 &P \ d_ +9 &R \ c_ +9 &Tf \ a` +10 &V( \ a` +9 &W \ _a +10 &Y \ \\b +9 &[e \ [S +9 &\\< \ g6 +10 &\\ \ nZ +5 ( + "collection"' & +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.44 + "collection"'t& +4 "core" &\\{ \ qZ + &\\{ \ }Z +2 .tHand.open + "manipulator"&w1 +55 "core" 1 +2 "manipulator"&q% +4 "core" % C  t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +91 "core" ' + .tPSV.dial PSR +2 "processing"%m +117 "core" + "processing"%y% +4 "core" %غV\ K +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%z'+ +1610 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%{  +45 "core"  +2 .tPS.seek 0ml + "processing"%|'ؾ +1606 "core" ' + .tPSV.dial PSR +2 "processing"%} +46 "core"  + .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +40 "processing"%~' +2658 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%  + "collection"'  +33 "core" ~ +126 + .tPSV.dial :mixloop +2 "processing"% +103 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"' +3 "core"  +2 "collection"'  +4 "core"  + .tPTV.dial :PRVmixing + "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 .tPSV.dial :air + "processing"%\  +57 "core" +2 .tPS.seek 2.5ml + "processing"% ' +2628 "core" ' + .tPSV.dial :mixloop +2 "processing"% +42 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2641 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +519 "Can"\ ec +2108 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2639 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӎ' 7 @X +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +22 "core" ( + "manipulator"&& +4 "core" &ӌ 1 , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ , +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +66 "core" / + .tCC.seek :open +2 "collection"'( +451 "core" ( + "manipulator"&& +4 "core" &ӌ X , +2 "manipulator"&% +4 "core" % < S 6 + .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&!(- +286 "core" ( +2 "manipulator"&"& +4 "core" &- Y " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +2 "core" &- " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&$'w +101 "core" ' +2 .tHand.open + "manipulator"&%1 +56 "core" 1 + "manipulator"&&% +5 "core" % w  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'' +92 "core" ' +2 ."da"delayUntil "05:29:31.05" +24715 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%( @ +74 "core" B + ."da"PBV.dial :waste1 +2 "processing"%)  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%* * +35 "core" , + ."da"PSV.dial :air +2 "processing"%+  +58 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%,' +2443 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%- +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%.  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%/ +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%0  +57 "core" +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +2403 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%2 +131 "core"  +2 "processing"%3% +3 "core" %ؼs\  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%4' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%6' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%7  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%N +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%9% +4 "core" %~\  +2 ."da"PS.seek 1.5ml +2 "processing"%8'' +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%< * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%;'ؾ +1611 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%:  +35 "core" +2 ."da"delay 30 seconds +2573 "Can"\ MJ +429 ."da"PBV.dial between PSV and waste1 +2 "processing"%? * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%> +73 "core"  +3 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%v' +2418 "core" ' + ."da"PSV.dial PTV +2 "processing"%@ +86 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%B +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%A +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%=  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +2368 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%C +131 "core"  +2 "processing"%F% +4 "core" %^\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%H' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%D' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%G +84 "core" +2 ."da"PBV.dial :waste1 + "processing"%K  +35 "core" + "processing"%J% +4 "core" %:\ k +2 ."da"PS.seek 1.5ml +2 "processing"%I'+ +583 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%L * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%O'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%M  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Q * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%R +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%P' +2453 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%S +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%V +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%U  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%Y'ؾ +2386 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%Z  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%\\  +130 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%  +41 "core"  +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%^ +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%W' +392 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +43 "core"  +2 "processing"%`% +3 "core" %Y\ \ +2 ."da"PS.seek 0.55ml +2 "processing"%b' +330 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%c  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%f' +1556 "core" ' + ."da"PSV.dial :PML +2 "processing"%h +45 "core" + ."da"PTV.dial :mixing +2 "processing"%j @ +73 "core" A +2 ."da"PBV.dial :waste1 + "processing"%[  +35 "core" + "processing"%]% +4 "core" %N\ d +2 ."da"PS.seek 1.85ml +2 "processing"%d' +228 "core" ' +2 ."da"PBV.dial between PSV and waste1 + "processing"%u * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%X'ؾ +1971 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +18958 "Can"\ sr +29044 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%a  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%n * +35 "core" , + ."da"PSV.dial :air +2 "processing"%e  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%p' +2431 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%g +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%i  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%k +45 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%t'ؾ +2371 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%w +131 "core"  + "processing"%q% +4 "core" %ؽi\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +593 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%m' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%y  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%o +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%_  +34 "core" +2 "processing"%{% +4 "core" %d\  +2 ."da"PS.seek 1.5ml + "processing"%z'. +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%} * +33 "core" , +3 ."da"PS.seek 0ml + "processing"%|'ؾ +1611 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +1425 "Can"\ IG +1007 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +42 "processing"% +82 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%~ +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%\  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2373 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"% +130 "core"  + "processing"% % +4 "core" %ؾa\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %e\  + ."da"PS.seek 1.5ml +2 "processing"%'- +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%l  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%x * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%s +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2410 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%" +87 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%#  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2362 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%% +131 "core"  +2 "processing"%&% +4 "core" %q\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%$' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%( +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%)  +35 "core" + "processing"%*% +4 "core" %]\  +2 ."da"PS.seek 1.5ml +2 "processing"%+') +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%-'ؾ +1614 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%.  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%/ * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%0 +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%,' +2405 "core" ' +2 ."da"PSV.dial PTV + "processing"%2 +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%3 +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%1 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%4  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%7'ؾ +2367 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +96 "Can" CAn +45 "core"  +2 "processing"%% +10 "core" %ؽf +5 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +6 "processing"% +12 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%9' +340 "core" ' +3 ."da"delay 5 seconds +502 "processing"%6% +3 "core" %g  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%<' +339 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%8' +1612 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%: +77 "core" +2 ."da"PBV.dial :waste1 + "processing"%?  +36 "core" +2 "processing"%>% +3 "core" %v \ +2 ."da"PS.seek 1.5ml +2 "processing"%;'& +599 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%@ * +36 "core" , +2 ."da"PS.seek 0ml + "processing"%B'ؾ +1612 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%A  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%= * +35 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%v +78 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%C' +2535 "core" ' +2 ."da"PSV.dial PTV + "processing"%F +79 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%E +76 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%H +75 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%G  +90 "core" +2 ."da"PS.seek 0ml +2 "processing"%K'ؾ +2518 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%J +138 "core"  + "processing"%D% +4 "core" %ؽ  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%L' +2116 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%I +77 "core" +2 ."da"PBV.dial :waste1 + "processing"%M  +35 "core" + "processing"%Q% +4 "core" %~  +2 ."da"PS.seek 1.5ml +2 "processing"%R'* +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%O * +34 "core" + + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +107 "core"  +3 ."da"PS.seek 0ml + "processing"%S'ؾ +1610 "core" ' + "processing"%V9 +4 "core" 9f5 +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast + "processing"%U  +4 "core" 5 + 5 + "processing"%P& +3 "core" &^4 9 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&Z% +3 "core" %   E +2 "storage"(\\% +3 "core" %  +2 "storage"(. +3 "core" .(<- +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(^(,y +359 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (Y& +3 "core" &,|  5 + "manipulator"&& +4 "core" &- E ? }" + "manipulator"&`% +4 "core" %     +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 + "manipulator"&W( +175 "core" ( +2 "manipulator"&c& +4 "core" & z M ?" + "storage"(b& +4 "core" &,|   ( +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&h' +91 "core" ' + "storage"(j& +4 "core" &,|  p\ a +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(['r +285 "core" ' + "storage"(]- +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek :place +2 "storage"(u'1 +42 "core" ' +2 "manipulator"&f& +4 "core" & M ` I 9" + "manipulator"&d% +4 "core" % Y e A  W +9 &}< W +10 &?; W +9 &? V +9 &> V +10 &!; S +9 &#SG S +9 &%E S +10 &&H S +9 &(D\ R +9 &*\\G\ R +10 &,E S +9 &-D S +10 &/F S +9 &1aD S +9 &3D V +10 &4>; V +9 &6>M V +9 &8`?M V +10 &:";R V +9 &;<@ V +10 &=;M V +9 &?g?> W +9 &A)?A W +10 &BN< Y +9 &Dg: {\\ +9 &FXz: w_ +10 &H{; w_ +9 &It( x_ +10 &K|% w_ +9 &M^}- w_ +9 &O0 ` +10 &P4 \\ +9 &R/ \\ +10 &Tn2 ] +9 &V3% \\ +9 &W \\ +10 &Y \\ +9 &[x \\ +9 &]5 [ +10 &^Gg c +9 &^ ] E +5 ( +2 "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.98 +2 "processing"%x& +4 "core" &^LM E + &^L E + ."psFlush"Hand.open +2 "manipulator"&s1 +74 "core" 1 +2 "manipulator"&% +4 "core" % 3 ( Qs +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"% +45 "core"  +2 "processing"%"% +4 "core" %a ~ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%#' +591 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +464 #"da"SX HX9/16 (USB:09): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 28.467 seconds\ /var/log/esp/da21sep2806h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2806h15s.tif +1565 #SX HX9/16 (USB:09): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2806h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2806h30s.tif +95 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%% @ +200 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%&  +138 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +110 "core" + ."psFlush"PS.seek :empty +2 "processing"% 'ؠ +2402 #"da"SX HX9/16 (USB:09): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2806h30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2806h70s.tif +236 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%( +109 "core"  + "processing"%)% +4 "core" %؟+ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%*' +592 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%$' +2127 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +3 "processing"%  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%+ @ +78 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%. +110 "core" + ."psFlush"PS.seek :empty +2 "processing"%/'ؠ +2639 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%0 +112 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%-'X\\ +467 #"da"SX HX9/16 (USB:09): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2806h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "28.467 sec auto-exposure",Subject: "da21sep2806h images!" +4 "storage"(2- +2 "core" -' +2 "storage"(3& +12 "core" &,e\ . + "manipulator"&1& +4 "core" & % + "manipulator"&4% +6 "core" %   +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 +2 "manipulator"&,( +253 "core" ( + "manipulator"&N& +16 "core" & \ +5 "storage"(& +8 "core" &,e i\  +4 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 4 + 450 counts +4 "manipulator"&7' +94 "core" ' +3 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(6'" +52 "core" ' + "manipulator"&9& +4 "core" & + \ +2 "storage"(<& +4 "core" &,e O N a\ f + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&:'7 +21 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&?, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(>' +26 "core" ' + "manipulator"&8% +4 "core" %" ( + "storage"(@& +4 "core" &,e [ D\ \\ +2 ."da"Forearm.force -20 +79 "manipulator"&5 +10 ."da"Forearm.seek 4 + 279 counts +2 "manipulator"&;'N +6 "core" ' +2 ."psFlush"PSR.select :air +4 "processing"% +8 "core" ' +4 "manipulator"&A& +8 "core" & J \ +4 "storage"(=& +8 ."psFlush"PS.seek 2.5ml +3 "processing"%v' +6 "core" &,e | } \ m +7 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 ."da"Forearm.seek 4 + 450 counts +5 "manipulator"&B' +16 "core" ' +4 "storage"(F% +8 "core" % < I \ g +4 ."downElevator"SE.seek :down +5 "storage"(E' +99 (H% +5 "core" %\\6\ ' \\ c\ ]Va +4 "manipulator"&G% +7 "core" % 9 +4 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +4 "manipulator"&C' +93 "core" ' +45 ' +2 ."downElevator"SE.stop +4 "storage"(5 +4 (J& +8 "core" &,e 5 (\ e +1264 ' +4 ."psFlush"PSV.dial PTV + "processing"%D +78 "core" +2 ."psFlush"PTV.dial :puck +3 "processing"%K  +76 "core"  +2 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +4 "processing"%I'ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PSR +3 "processing"%M +75 "core"  +4 ."psFlush"PSR.select :flush +3 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%Q' +586 "core" ' +2 ."psFlush"PSR.select :air +4 "processing"% +13 ."psFlush"PS.seek 2.5ml +4 "processing"%L' +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%O +77 "core" +2 ."psFlush"PBV.dial PSV +4 "processing"% U +68 "core" T +4 ."psFlush"PS.seek 0ml + "processing"%R'ؾ +729 #"uploadLog"upsync +1908 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%V @ +46 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%U' +2638 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%P  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%Z'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%\\ +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2638 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%T +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%Y'ؾ +342 "Can"\ NL +2290 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +46 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%`' +2636 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%c  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%b'ؾ +2628 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%j +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%!'X\\ +1103 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +3 "processing"%'' +1628 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%] +72 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%f  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%d'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%[ +75 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%h' +588 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%e' +2123 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%X +75 "core" + ."psFlush"PBV.dial PSV +2 "processing"%W U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%i'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%a @ +56 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +75 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%p'ؾ +2628 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%w +45 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%g' +2636 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%y'ؾ +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%n @ +56 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%_' +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%{  +74 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%q'ؾ +2639 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&z& +4 "core" & \ + "manipulator"&% +4 "core" %  '  +2 ."psFlush"Elbow.seek PC + "manipulator"&( +241 "core" ( + "manipulator"&u& +4 "core" & G +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" & $ G +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +93 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +77 "core" / + ."psFlush"PC.seek :open +2 "processing"%o( +459 "core" ( + "manipulator"&t& +4 "core" & M F +2 "manipulator"&\ % +3 "core" % \   & +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +118 "core" ( +2 "manipulator"&& +4 "core" &-  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- u  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +98 "core" ' + ."psFlush"Hand.open +2 "manipulator"&~1 +58 "core" 1 + "manipulator"&% +4 "core" % ρ   + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tFinished short da assay +23502 "Can"\ @= +60002 \ @= +31134 #t-> exit +6 #mEXIT @1632836373.81PDT @1632836393.70PDT = =tMAIN =mMAIN_scheduler @PDT1632836395.47 #"core_reset"Sent BREAK + #t@26768 sendCRC with ifg=0x20, ie=0x7F + #@28603 sendCRC with ifg=0x08, ie=0x5F + #@27616 idle with ifg=0x84, ie=0x75 + #@28286 select with ifg=0x10, ie=0xF5 #@28919 receive with ifg=0x10, ie=0xFD + #@29552 receive with ifg=0x10, ie=0xFD + #@30185 receive with ifg=0x10, ie=0xFD #@30512 receive with ifg=0x80, ie=0xFD + #@6081 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +275 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +361 "Can"\ B@ + \ B@ + #tPolling Can every 10:00 +2 #Cleanly exited at 06:39:33PDT28-Sep-21 +485 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ؾZ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ U\ > + .tSS.configure :default +3 "sampler")#.0X + %ؾU\ + %   + "manipulator"&& +4 "core" &- D  + "storage"(& +3 "core" &,f : 9 z\  +2 "storage"(% +3 "core" % 8 ; 2\  +2 "collection"'& +3 "core" & \ +2 "processing"%& +3 "core" &p\ +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core" ~ +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" V +2 "processing"%% +3 "core"  + "processing"%& +3 "core" B +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" %e \ +2 "processing"%)% +3 "core" %ؾc\ +2 "sampler")*% +4 "core" %څ S\ > +2 "collection"'+& +3 "core" & \ +2 "processing"%,& +3 "core" &R\ +2 "manipulator"&-% +4 "core" %    + "manipulator"&.& +4 "core" &-  +2 "storage"(/& +3 "core" &,f F N \  +2 "storage"(0% +4 "core" % O E (\  + "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +112 #t-> access 4 +3 "storage"(3% +3 "core" % I > _\  + "manipulator"&4% +4 "core" %  5  +2 "manipulator"&5& +3 "core" &-   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(6(C +980 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &E ~ } #\ +682 #t-> $da[:extractVol]=0.2 +1775 #-> access5 +434 #-> access 5 + "storage"(8% +4 "core" % \  + "manipulator"&9% +4 "core" %   +2 "manipulator"&:& +3 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(;(  +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +2 "core" & b c '\ \ +39141 #t-> startTube 5 +282 #-> shortDA + "collection"'=% +3 "processing"%>% +4 "core" %e r\ +5 %ؾL\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +138 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%? +132 "core" +2 .tPTV.dial :PRVmixing + "processing"%@  +132 "core" + .tPRV.dial :sipper + "processing"%A  +44 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%B'e +2291 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%C  +2 "collection"'D  +17 "core" +112  +2 .tPS.seek 0.5ml +2 "processing"%E' +1293 "core" ' + .tPRV.dial :waste2 +2 "processing"%F @ +100 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%G'ؾ +595 "core" ' + .tPSV.dial PSR +2 "processing"%H +103 "core"  +2 "processing"%I% +4 "core" %ظa\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%J'X\\ +1100 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%K' +1610 "core" ' + .tPSV.dial :mixloop +2 "processing"%L +116 "core" +2 .tPS.seek 0ml + "processing"%M'ؾ +2625 "core" ' + .tPSV.dial PSR +2 "processing"%N +102 "core"  + "processing"%O% +4 "core" %U\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%P'X\\ +1118 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%Q' +1620 "core" ' + .tPSV.dial :mixloop +7 "processing"%R +103 "core" + .tPRV.dial :sipper +2 "processing"%S  +44 "core" +2 .tPS.seek 0ml + "processing"%T'ؾ +561 "Can"\ @= +2072 "core" ' + .tPSV.dial PSR + "processing"%U +102 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%V' +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"%W +116 "core" +2 .tPS.seek 0ml +2 "processing"%X'ؾ +2652 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp +2 "processing"%Y& +4 "core" &F\ + .tHand.open +2 "manipulator"&Z1 +18 "core" 1 +2 "manipulator"&[% +45 "core" %   +2 "storage"(\\% +3 "core" % N\  +2 "storage"(]. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(^(<- +983 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (_& +3 "core" &<- \\  \  +2 "manipulator"&`& +3 "core" &- '  +2 "manipulator"&a% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&b( +167 "core" ( +2 "manipulator"&c& +4 "core" & d 6 + "storage"(d& +4 "core" &<- \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&e'O +92 "core" ' +2 "storage"(f& +4 "core" &<-  M\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'r +299 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" &<- Y\  +2 "manipulator"&j& +3 "core" & 6 +2 .tElbow.seek 5 + "manipulator"&k( +3 "core" ( +2 "manipulator"&l& +4 "core" & , 6 + "storage"(m& +4 "core" &<- \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&n'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"(q' +7 "core" &  6 +2 "manipulator"&r% +4 "core" % Ϸ +2 .tForearm.seek :retract + "manipulator"&s' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t( +191 "core" ' + ."downElevator"SE.stop + "storage"(5 +51 "core" ( +2 "manipulator"&u& +4 "core" & c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" & c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&w' +90 "core" ' +2 "manipulator"&x& +4 "core" & b + "manipulator"&y% +4 "core" % k e +2 "processing"%z& +4 "core" &J\ +2 "processing"%{& +4 "core" &7\ +2 .tPC.seek :closed +2 "processing"%|(^ +4 "core" &K\  +9 &0wH\ *y +10 &a{I\ > +9 &bpJ\ O +9 &$PJ\ O +10 &RE\ O +9 &OD\ O +10 &iTG\ O +9 &,Q=\ O +9 &Q3\ O +10 &Q8\ O +9 & qT:\ O +9 &"3R:\ O +10 &#R=\ P +9 &%Q9\ O +10 &'xR>\ P +9 &);Q5\ O +9 &*R6\ P +10 &,T6\ O +9 &.S8\ O +9 &0CQ9\ O +10 &2R,\ O +9 &3T,\ O +10 &5O/\ O +9 &7KU-\ O +9 &9 U/\ O +10 &:T/\ P +9 &<S/\ P +10 &>RU%\ P +9 &@T'\ O +9 &A^)\ P +10 &Cv+\ S +9 &EH*\ {V +9 &G\ '\ ~V +10 &H\ |V +9 &J \ |W +9 &LO%\ |V +10 &N\ zW +9 &O\ {X +10 &Q\ yX +9 &SS\ yX +9 &U\ xW +10 &V\ yX +9 &X\ {W +9 &Z\\\ zW +10 &\\\ zX +9 &]\ |8 +10 &^+o\ _ +9 &^8!\ : +2 ( +2 "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open + "manipulator"&}1 +60 "core" 1 +2 "manipulator"&~% +4 "core" %   e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h + %9 +7 "core" 9 +101 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%\ 9 +2 "core" 9 +102 "processing"% 9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +2 "core" 9/ +102 "processing"%9 +3 "core" 93 +102 "processing"%9 +2 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"%9 +3 "core" 9C +103 "processing"%9 +2 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +3 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"% 9 +3 "core" 9] +102 "processing"%!9 +3 "core" 9a +103 "processing"%"9 +2 "core" 9e +102 "processing"%#9 +3 "core" 9i +102 "processing"%$9 +2 "core" 9m +102 "processing"%%9 +2 "core" 9r +102 "processing"%&9 +3 "core" 9v +102 "processing"%'9 +2 "core" 9z +102 "processing"%(9 +3 "core" 9~ +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +3 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +2 "core" 9 +102 "processing"%09 +3 "core" 9 +102 "processing"%19 +3 "core" 9 +102 "processing"%29 +2 "core" 9 +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +3 "core" 9 +102 "processing"%59 +2 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%79 +2 "core" 9 +102 "processing"%89 +3 "core" 9 +102 "processing"%99 +2 "core" 9  +3 .tPH.hold 2:00:00,28C +2 "processing"%: php +3 .tdelay 1:30 +3 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%6 +103 "core"  +2 "processing"%<% +4 "core" %غ\  + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%=' +593 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%>' +1611 "core" ' +2 .tPTV.dial :puck + "processing"%?  +130 "core"  + .tPSV.dial PTV +2 "processing"%@ +75 "core" +2 .tPBV.dial :waste1 + "processing"%A  +53 "core" +2 "processing"%% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%D', +584 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%C * +34 "core" , +2 .tPS.seek 0ml + "processing"%B'ؾ +1633 "core" ' + .tdelay 5:00 +29841 "Can"\ GE +161 #trecoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%F  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%E * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%H +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%I' +2450 "core" ' + .tPSV.dial PTV + "processing"%G +74 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%J +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%L +85 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%K  +75 "core"  +2 .tPS.seek 0ml + "processing"%N'ؾ +2406 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%O  +133 "core" + .tPSV.dial :mixloop +2 "processing"%M +45 "core" +2 .tPRV.dial :ab1 + "processing"%P @ +102 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%R' +353 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%S  +43 "core"  +2 "processing"%Q% +4 "core" % V\ z  +2 .tPS.seek 0.35ml + "processing"%U'e +452 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'T  +28 "core" + .tPRV.dial :air +2 "processing"%W  +43 "core"  +2 .tPS.seek 0.9ml + "processing"%V'K +1175 "core" ' + .tPRV.dial :waste2 + "processing"%Y @ +71 "core" @ +2 .tPS.seek 0.5ml +2 "processing"%Z' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%[  +45 "core"  + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%\\' +1609 "core" ' + .tPSV.dial :PML + "processing"%] +45 "core" + .tPTV.dial :mixing +2 "processing"%; @ +73 "core" A + .tPBV.dial :waste1 +2 "processing"%_  +35 "core" + "processing"%`% +4 "core" %M\ | +2 .tPS.seek 1.85ml + "processing"%a' +228 "core" ' + .tPBV.dial between PSV and waste1 + "processing"%c * +35 "core" , +2 .tPS.seek 0ml +2 "processing"%d'ؾ +1965 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'f& +2 "core" & 3\ +2 "manipulator"&& +4 "core" &  b + "manipulator"&% +3 "core" %  ?  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&h(- +124 "core" ( +2 "manipulator"&i& +4 "core" &- 0 \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &- R \ + .tForearm.seek :garage +2 "manipulator"&l'w +96 "core" ' +2 .tHand.close + "manipulator"&m/ +77 "core" / +2 "manipulator"&o& +4 "core" &- r \ + "manipulator"&p% +4 "core" % ϊ _ +2 .tForearm.seek :retract + "manipulator"&r' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&b(ӂ +279 "core" ( +2 "manipulator"&e& +4 "core" &Ӕ# ^ <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +2 "core" &Ӕ# <; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&n'? +100 "core" ' +2 "manipulator"&u& +4 "core" &Ӕ# r <; +2 "manipulator"&v% +4 "core" %A F " +2 "collection"'k& +4 "core" & 0\ +2 "collection"'x& +4 "core" & -\ +2 .tCC.seek :closed +2 "collection"'y(\\ +5 "core" & /\ +7 &4 .\ $e +9 &Tv 0\ 7 +10 &|y 1\ L +9 &W )\ P +9 &PR +\ O +10 &V 1\ O +9 &P -\ O +9 &T 2\ O +10 &XT 6\ O +9 &R 2\ O +9 &R -\ O +10 &!R '\ O +9 &#aT *\ O +10 &%$R \ O +9 &&R $\ O +9 &(S \ N +10 &*jS !\ O +9 &,,S  \ O +10 &-U \ O +9 &/R \ N +9 &1rR "\ O +10 &34Q \ O +9 &4R \ O +9 &6W $\ O +10 &8zS &\ O +9 &:;V $\ O +9 &;S "\ O +10 &=T "\ N +9 &?U #\ O +10 &ACW $\ O +9 &C` !\ P +9 &Dm #\ R +10 &Fv )\ V +9 &H* #\ Z +9 &I #\ [ +10 &K $\ \\ +9 &Mk (\ \\ +10 &O, &\ \\ +9 &P %\ ] +9 &R $\ ] +10 &Tk "\ ~_ +9 &V, %\ }_ +9 &W "\ |` +10 &Y )\ za +9 &[j $\ vP +10 &\\< #\ 4 +9 &\\ '\ Z +5 ( +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.39 +2 "collection"'z& +4 "core" &\\}  \ Z + &\\}  \ Z + .tHand.open + "manipulator"&q1 +55 "core" 1 + "manipulator"&s% +4 "core" % A H " +40 .tForearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' + .tPSV.dial PSR +2 "processing"%} +115 "core" +2 "processing"%~% +4 "core" %ؾ]\ T + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%'+ +1611 "core" ' +3 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%{  +45 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1617 "core" ' + .tPSV.dial PSR +2 "processing"%w +133 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2634 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  "collection"'  +33 "core" +128  +2 .tPSV.dial :mixloop + "processing"%\ +103 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'  +3 "core"  +2 "collection"'  +3 "core"  +2 .tPTV.dial :PRVmixing + "processing"%  +74 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2639 "core" ' + .tPSV.dial :air +2 "processing"%  +57 "core" +2 .tPS.seek 2.5ml +2 "processing"%' +2639 "core" ' + .tPSV.dial :mixloop + "processing"% +43 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2633 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2629 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӕ#  \\ <: +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +18 "core" ( +2 "manipulator"&& +4 "core" &ӈ s , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӈ , +2 .tForearm.seek CC +2 "manipulator"& '? +92 "core" ' + .tHand.close + "manipulator"&!/ +76 "core" / +2 .tCC.seek :open + "collection"'"( +452 "core" ( +2 "manipulator"&#& +4 "core" &ӈ ' , + "manipulator"&$% +4 "core" % H * M +2 .tForearm.seek :retract + "manipulator"&%' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&&(- +283 "core" ( + "manipulator"&'& +4 "core" &- Y A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &- j A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&)'w +100 "core" ' + .tHand.open +2 "manipulator"&*1 +59 "core" 1 +2 "manipulator"&+% +4 "core" % w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +94 "core" ' +2 ."da"delayUntil "07:11:01.83" +18574 "Can"\ WU +6037 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%- @ +72 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%.  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%/ * +35 "core" , + ."da"PSV.dial :air +2 "processing"%0  +56 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%1' +2428 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%2 +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%3  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%4 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%5  +42 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2362 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%7 +131 "core"  +2 "processing"%8% +4 "core" %p\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%9' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%6' +1614 "core" ' +2 ."da"PTV.dial :puck + "processing"%<  +72 "core"  +2 ."da"PSV.dial PTV + "processing"%X +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%=  +35 "core" + "processing"%?% +4 "core" %m\  +2 ."da"PS.seek 1.5ml +2 "processing"%@'* +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%A * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%>  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%C * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%D +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2415 "core" ' + ."da"PSV.dial PTV +2 "processing"%F +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%E +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%H +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%B  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +2371 "core" ' +7 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%J +130 "core"  +2 "processing"%L% +3 "core" %عd\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%K' +591 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%I' +1608 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%O +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%M  +35 "core" + "processing"%P% +4 "core" %X\  +2 ."da"PS.seek 1.5ml + "processing"%N', +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%S * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%Q'ؾ +1619 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%R  +35 "core" + ."da"delay 30 seconds +163 "Can"\ GE +2840 ."da"PBV.dial between PSV and waste1 +2 "processing"%T * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%W +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%U' +2429 "core" ' + ."da"PSV.dial PTV +2 "processing"%Y +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%V +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%[ +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%Z  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%]'ؾ +2368 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%;  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%_  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%`  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%c +46 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%\\' +389 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%a  +43 "core"  +2 "processing"%f% +3 "core" %E\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +330 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +58 "core" +2 ."da"PS.seek 2ml +2 "processing"%i' +1555 "core" ' + ."da"PSV.dial :PML +2 "processing"%j +42 "core" +2 ."da"PTV.dial :mixing + "processing"%t @ +74 "core" A + ."da"PBV.dial :waste1 +2 "processing"%m  +34 "core" +2 "processing"%o% +3 "core" %M\  +2 ."da"PS.seek 1.85ml +2 "processing"%p' +238 "core" ' +2 ."da"PBV.dial between PSV and waste1 + "processing"% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%l'ؾ +1961 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +43915 "Can"\ HE +4087 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%e  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%g * +33 "core" , +2 ."da"PSV.dial :air + "processing"%h  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%u' +2433 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%v +44 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%k  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%r +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +2386 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%q +131 "core"  + "processing"%s% +4 "core" %ؿ?\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%x' +590 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%}' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%~  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%n +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%d  +34 "core" +2 "processing"%{% +4 "core" %L\ + ."da"PS.seek 1.5ml +2 "processing"%'* +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%w * +35 "core" , +51 ."da"PS.seek 0ml +2 "processing"%'ؾ +1631 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2424 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +86 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2384 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +131 "core"  +2 "processing"%% +4 "core" %O\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %[\  +2 ."da"PS.seek 1.5ml + "processing"%'/ +584 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%!'ؾ +1607 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%b  +34 "core" +2 ."da"delay 30 seconds +2073 "Can"\ if +929 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%y +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%#' +2426 "core" ' + ."da"PSV.dial PTV +2 "processing"%$ +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%' +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%(  +87 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2359 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%* +132 "core"  + "processing"%+% +4 "core" %ؿN\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%%' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%)' +1607 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%- +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%.  +34 "core" + "processing"%/% +4 "core" %H\  +2 ."da"PS.seek 1.5ml +2 "processing"%0'( +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%2'ؾ +1632 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%3  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%4 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%5 +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%1' +2427 "core" ' +2 ."da"PSV.dial PTV + "processing"%7 +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%8 +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%9  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%<'ؾ +2364 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%X +142 "core"  +5 "processing"%=% +10 "core" %ؼL +2 #"da"Pulling 0.25ml of PSR.sub1 +6 .PSR.select :sub1 +4 "processing"% +16 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml + "processing"%?' +329 "core" ' +2 ."da"delay 5 seconds +503 "processing"%6% +3 "core" %H \ + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%A' +335 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%@' +1605 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%> +76 "core" +2 ."da"PBV.dial :waste1 + "processing"%C  +36 "core" +2 "processing"%D% +4 "core" %W  + ."da"PS.seek 1.5ml +2 "processing"%') +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%F * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +1609 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%H  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%B * +37 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +77 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%J' +2569 "core" ' +2 ."da"PSV.dial PTV + "processing"%L +77 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%G +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%K +78 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%O  +77 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +2521 "core" ' +3 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%P +136 "core"  + "processing"%I% +4 "core" %ظq\ J + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%S' +2126 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%N +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%R  +36 "core" +2 "processing"%T% +3 "core" %s\ C +2 ."da"PS.seek 1.5ml +2 "processing"%W') +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Q * +35 "core" , +2 ."da"delay 1 second +101 .PSV.dial :waste1 +2 "processing"%Y  +108 "core"  +2 ."da"PS.seek 0ml + "processing"%V'ؾ +1618 "core" ' +2 "processing"%[9 +3 "core" 9k5 +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%Z  +3 "core" 5 + 5 + "processing"%U& +4 "core" &^5| : +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&;% +4 "core" %  K + "storage"(_% +3 "core" %  +2 "storage"(`. +3 "core" .(<* + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(c(,y +358 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +2 (]& +3 "core" &,| { + "manipulator"&a& +4 "core" &- x NA + "manipulator"&f% +4 "core" % ] N +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&\\( +179 "core" ( + "manipulator"&& +4 "core" & ? +2 "storage"(& +3 "core" &,| \ P +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&j' +93 "core" ' +2 "storage"(t& +4 "core" &,| 0 + ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(m'r +284 "core" ' +2 "storage"(o- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"('1 +41 "core" ' + "manipulator"&i& +4 "core" & ' +2 "manipulator"&p% +3 "core" % r +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&e' +88 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&g( +242 "core" ( + "manipulator"&h& +4 "core" & ~ K# +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" & R H# +2 ."da"Forearm.seek PC +2 "manipulator"&v' +93 "core" ' + ."da"Hand.close +2 "manipulator"&k/ +72 "core" / +53 ."da"PC.seek :open + "processing"%r( +326 "Can"\ a +132 "core" ( +2 "storage"( & +4 "core" &,e z \ Q + "manipulator"&u& +3 "core" & 1 # +2 "manipulator"&q% +3 "core" %  _  +2 ."da"Forearm.seek :retract +2 "manipulator"&s' +96 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&z( +245 "core" ( + "manipulator"&x& +5 "core" & K6 + "storage"(~& +4 "core" &,e   +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&n' +98 "core" ' + ."da"Hand.open +2 "manipulator"&d1 +62 "core" 1 +2 "storage"({- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(}' +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(w' +52 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2807h.tif +6 "processing"%& +11 "core" & +3 "manipulator"&& +6 "core" & 5 65 +2 "manipulator"&% +6 "core" % 4 4 +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&\ ' +89 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +180 "core" ( +2 "manipulator"&& +4 "core" &- S 6 1* + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- 3 3 * +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +95 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +76 "core" / +2 "manipulator"& & +3 "core" &-  6 * +2 "manipulator"&% +4 "core" % ρ > T ' + ."psFlush"Forearm.seek :retract +3 "manipulator"&' +99 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +132 "core" ( + "manipulator"&& +4 "core" & L  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & 3 2 I +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&& +4 "core" & 5 * T +2 "manipulator"&% +4 "core" % 4 3= +2 "processing"%& +4 "core" & +2 "processing"%& +4 "core" & +2 ."psFlush"PC.seek :closed +4 "processing"%b(^ +2 "core" & +7 & 0 ~$e +9 &Tu : +10 &{k N +9 &F S +10 &LD S +9 &C\ R +9 &G R +10 &C R +9 &TF S +9 &D T +10 &D S +9 &!?0 V +9 &#T> V +10 &%: V +9 &&9( W +10 &(>9 ~W +9 &*Z<= ~W +9 &,:> W +10 &-9< ~V +9 &/<+ }V +9 &1c;y }V +10 &3$> |W +9 &4<8 ~W +10 &6:1 ~W +9 &8k:p ~V +9 &:,; }W +10 &;? |W +9 &=; }W +9 &?{> T +10 &A=Gr T +9 &BXv V +10 &Dmv X +9 &Fr~x Z +9 &H4{y Z +10 &I~y Z +9 &Kl [\ +9 &Mtl \\ +10 &O7m [ +9 &Pc y_ +10 &Rk t` +9 &Tl^ ra +9 &V0[ t` +10 &Wg q` +9 &Yh qa +10 &[vf s` +9 &]4l p` +9 &^Lek y] +10 &^\ W` yC +5 ( + "processing"%& +5 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 2.05 + "processing"% & +4 "core" &^Q] zC + &^QW yC + ."psFlush"Hand.open +2 "manipulator"&y1 +66 "core" 1 +2 "manipulator"&!% +4 "core" % %  Q= +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&$' +92 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +48 "core"  + "processing"%'% +4 "core" %عM + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%(' +604 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%#' +838 #"da"SX HX9/16 (USB:10): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 32.404 seconds\ /var/log/esp/da21sep2807h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2807h15s.tif +1296 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%* @ +162 #"da"SX HX9/16 (USB:10): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2807h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2807h30s.tif +37 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%+  +142 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +108 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%%'ؠ +2641 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%- +115 "core"  +4 "processing"%.% +10 "core" %؟ + #"psFlush"Pulling 0.5ml of PSR.flush +3 #"da"SX HX9/16 (USB:10): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2807h30s.tif: TIFF Upload Complete\ +3 ."psFlush"PSR.select :flush +2 #"da"PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2807h70s.tif +6 "processing"%@ +15 ."psFlush"PS.seek 0.5ml +2 "processing"%/' +596 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%)' +2129 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%0 @ +80 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%3 +112 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%4'ؠ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%5 +113 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%2'X\\ +815 #"da"SX HX9/16 (USB:10): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2807h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "32.404 sec auto-exposure",Subject: "da21sep2807h images!" +5 "storage"(7- +3 "core" -' + "storage"(8& +10 "core" &,e  V\ . + "manipulator"&& +4 "core" & u +2 "manipulator"&9% +4 "core" %  t  +2 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&1( +239 "core" ( + "manipulator"&X& +4 "core" & , +2 "storage"(=& +3 "core" &,e >\ % +2 ' + ."psFlush"PSR.select :air +4 ."da"Forearm.reconfigure :tight +3 "processing"% +4 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&<' +3 ."psFlush"PS.seek 2.5ml +2 "processing"%6' +89 "core" ' +4 ."da"SE.reconfigure :gently +8 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate +4 "storage"(?'" +59 "core" ' +2 "manipulator"&A& +4 "core" & W , +2 "storage"(>& +4 "core" &,e z\  +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&C'7 +24 "core" ' +2 ."da"Elbow.hold +4 "manipulator"&D, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.32 Pucks below Top Plate +3 "storage"(@' +29 "core" ' + "manipulator"&F% +4 "core" %*  +2 "storage"(& +4 "core" &,e r\ | +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 4 + 287 counts + "manipulator"&H'V +15 "core" ' +2 "manipulator"&B& +4 "core" & , , + "storage"(& +4 "core" &,e N _ d\  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&E' +19 "core" ' +2 "storage"(L% +4 "core" % a ^\ +2 ."downElevator"SE.seek :down +3 "storage"(G' +99 (K% +6 "core" %: \ xT[ +4 "manipulator"&O% +8 "core" % 5 +4 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&J' +93 "core" ' +46 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (P& +6 "core" &,e V\  +962 ' +2 ."psFlush"PSV.dial PTV +6 "processing"%I +75 "core" +2 ."psFlush"PTV.dial :puck +3 "processing"%M  +73 "core"  +3 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml + "processing"%N'ؾ +2652 "core" ' +4 ."psFlush"PSV.dial PSR +3 "processing"%R +74 "core"  +4 ."psFlush"PSR.select :flush +3 "processing"%@ +16 ."psFlush"PS.seek 0.5ml +4 "processing"%T' +589 "core" ' +2 ."psFlush"PSR.select :air +10 "processing"% +14 ."psFlush"PS.seek 2.5ml +4 "processing"%S' +2123 "core" ' +2 ."psFlush"PSV.dial PTV +3 "processing"%Q +78 "core" +2 ."psFlush"PBV.dial PSV +5 "processing"%Y U +65 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%W'ؾ +1807 #"uploadLog"upsync +830 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%[ @ +45 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%Z' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%U  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%;'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%_ +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%`' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%^ +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%]'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%a @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%f' +2627 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2626 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%t +45 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%&'X\\ +1105 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%,' +1620 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%o +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%i  +52 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%m +74 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%j' +596 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%h' +2117 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%l +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%\\ U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%k'ؾ +2650 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%e @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%|' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%u'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%q +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%v' +587 "Can"\ NK +2045 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%x +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%~'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%g @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%d' +2631 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%{  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2637 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +4 "core" & , + "manipulator"&% +4 "core" %    + ."psFlush"Elbow.seek PC +2 "manipulator"&s( +243 "core" ( + "manipulator"&& +4 "core" & Y E +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &  ! E +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +61 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%n( +455 "core" ( +2 "manipulator"&z& +3 "core" & K E +2 "manipulator"&% +4 "core" %  @ 4 + ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage + "manipulator"&(- +125 "core" ( + "manipulator"&\ & +4 "core" &- ! +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +100 "core" ' +2 ."psFlush"Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&% +4 "core" % r D +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +95 "core" ' +2 #tFinished short da assay +7288 #-> access 4 +2 "storage"(% +3 "core" % 5\  +2 "manipulator"&% +4 "core" %  Z  + "manipulator"&& +4 "core" &-  E +48 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(r(C +995 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &D \ +7 #t-> PS.flush +2 #Flushing Processing stage + "processing"%y% +4 "core" %ؿ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%!& +4 "core" &.\ + "manipulator"&& +4 "core" &-  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (- +24 "core" ( + "manipulator"&'& +4 "core" &- & O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- O +2 .tForearm.seek :garage + "manipulator"&V'w +93 "core" ' +2 .tHand.close + "manipulator"&(/ +57 "core" / + "manipulator"&*& +4 "core" &- X O +2 "manipulator"&+% +4 "core" % π  G + .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&#( +117 "core" ( + "manipulator"&-& +4 "core" & Y * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" & # * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&%' +93 "core" ' +2 "manipulator"&/& +7 "core" & * +4 "manipulator"&% +8 "core" % } a +4 "processing"%0& +8 "core" &4\ +3 "processing"%3& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%)(^ +5 "core" &\  +9 &2t\ *y +10 &bz\ > +9 &{m\ N +9 &<Q\ N +10 &O\ N +9 &P\ N +9 &Q\ N +10 &DQ\ N +9 &P\ N +10 &N\ N +9 & R\ N +9 &"LP\ N +10 &$ R\ O +9 &%Q\ N +9 &'Q\ N +10 &)UN\ N +9 &+R\ N +10 &,S\ N +9 &.P\ N +9 &0]N\ N +10 &2Q\ N +9 &3R\ N +9 &5R\ N +10 &7dQ\ N +9 &9&O\ N +10 &:R\ O +9 &<R\ O +9 &>kS\ O +10 &@.Q\ N +9 &AY\ O +9 &Cm\ Q +10 &Ea\ ~U +9 &G"\ ~U +10 &H\ ~U +9 &J\ ~V +9 &Lg\ U +10 &N&\ }W +9 &O\ }V +9 &Q\ |W +10 &Sj\ |W +9 &U-\ }W +10 &V\ {W +9 &X\ }W +9 &Zt\ {V +10 &\\3$\ |X +9 &]}s\ < +9 &^(v\ Z +10 &^8\ : +2 ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 +2 "processing"%5& +4 "core" &^3\ : + .tHand.open +2 "manipulator"&41 +62 "core" 1 + "manipulator"&7% +4 "core" %   a +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&8' +95 "core" ' + .tPSV.dial PSR +2 "processing"% +43 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%9'X\\ +1102 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%X' +1610 "core" ' + .tPSV.dial PTV +2 "processing"%= +72 "core" + .tPTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +54 "core" +2 .tPS.seek 0ml + "processing"%A'ؾ +2629 "core" ' +2 .tPSV.dial PSR + "processing"%> +74 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%F' +596 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2123 "core" ' +2 .tPSV.dial PTV + "processing"%$ +86 "core" +2 .tPBV.dial PSV + "processing"%2 U +54 "core" V +2 .tPS.seek 0ml + "processing"%B'ؾ +2651 "core" ' +2 .tPSV.dial PBV + "processing"% @ +55 "core" @ +2 .tPS.seek 2.5ml +2 "processing"%L' +2632 "core" ' + .tPSV.dial :waste1 +2 "processing"%w  +74 "core"  +2 .tPS.seek 0ml + "processing"%K'ؾ +2636 "core" ' + .tPSV.dial PSR + "processing"%O +45 "core"  + .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%<' +2641 "core" ' +2 .tPSV.dial PTV + "processing"%1 +72 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml + "processing"%?'ؾ +2633 "core" ' + .tPSV.dial PBV +2 "processing"%C @ +44 "core" ? +2 .tPS.seek 2.5ml + "processing"%H' +2637 "core" ' +2 .tPSV.dial :waste1 + "processing"%P  +74 "core"  +2 .tPS.seek 0ml + "processing"%@'ؾ +2630 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&E& +4 "core" & } * + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&G( +4 "core" ( + "manipulator"&I& +4 "core" &  * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" & Y * +2 .tForearm.seek PC + "manipulator"&6' +94 "core" ' + .tHand.close + "manipulator"&R/ +57 "core" / +2 .tPC.seek :open +2 "processing"%N( +461 "core" ( + "manipulator"&T& +4 "core" & c * + "manipulator"&Q% +4 "core" %  E B +2 .tForearm.seek :retract + "manipulator"&Y' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&S(- +125 "core" ( + "manipulator"&[& +4 "core" &-  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&U'w +101 "core" ' + .tHand.open +2 "manipulator"&Z1 +59 "core" 1 +2 "manipulator"&_% +4 "core" % v a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +91 "core" ' +10205 "Can"\ >; +21305 #t-> exit +6 #mEXIT @1632842014.68PDT @1632842032.67PDT = =tMAIN =mMAIN_scheduler @PDT1632842034.53 #"core_reset"Sent BREAK + #t@23104 sendCRC with ifg=0x20, ie=0x7F + #@24939 sendCRC with ifg=0x08, ie=0x5F + #@47733 idle with ifg=0x84, ie=0x75 + #@48405 select with ifg=0x10, ie=0xF5 #@49039 receive with ifg=0x10, ie=0xFD + #@49672 receive with ifg=0x10, ie=0xFD #@50305 receive with ifg=0x10, ie=0xFD + #@50632 receive with ifg=0x80, ie=0xFD #@47937 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +387 "Can"\ @= + \ @= + #tPolling Can every 10:00 +207 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %e \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ Z\ > +2 .tSS.configure :default +2 "sampler")#.0X + %\ + %  A  +2 "manipulator"&& +3 "core" &- f +2 "storage"(& +4 "core" &D \ + "storage"(% +3 "core" % \  +2 "collection"'& +4 "core" & \ + "processing"%& +3 "core" &\ +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core"  +2 "processing"%# +3 "core"  +2 "processing"%$ +2 "core" V +2 "processing"%% +3 "core"  +2 "processing"%& +3 "core" A + "sampler")' +3 "core"  +2 "collection"'(% +3 "core" %e \ +2 "processing"%)% +4 "core" %\ +2 "sampler")*% +3 "core" %څ \\\ > +2 "collection"'+& +4 "core" & \ + "processing"%,& +4 "core" &\ +2 "manipulator"&-% +3 "core" %  1  +2 "manipulator"&.& +4 "core" &- \\ + "storage"(/& +4 "core" &D 7\ +2 "storage"(0% +3 "core" % _\  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +1175 #t-> $da[:extractVol]=0.20 +40985 #-> access 5 +2 "storage"(3% +3 "core" % \  +2 "manipulator"&4% +3 "core" %   <  +2 "manipulator"&5& +4 "core" &- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(6(  +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &  0\ +139 #t-> startTube 5 +356 #-> shortDA +2 "collection"'8% +3 "processing"%9% +4 "core" %e \ +5 %\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +953 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%: +133 "core" + .tPTV.dial :PRVmixing +2 "processing"%;  +130 "core" + .tPRV.dial :sipper +2 "processing"%<  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%='e +2298 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%>  + "collection"'?  +7 "core" +122  +2 .tPS.seek 0.5ml +2 "processing"%@' +1268 "core" ' + .tPRV.dial :waste2 +2 "processing"%A @ +100 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%B'ؾ +592 "core" ' +2 .tPSV.dial PSR + "processing"%C +102 "core"  + "processing"%D% +4 "core" %\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%E'X\\ +1123 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%F' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"%G +103 "core" +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2624 "core" ' +2 .tPSV.dial PSR + "processing"%I +104 "core"  +2 "processing"%J% +4 "core" %\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%K'X\\ +1106 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%L' +1614 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +116 "core" + .tPRV.dial :sipper +2 "processing"%N  +42 "core" +2 .tPS.seek 0ml + "processing"%O'ؾ +797 "Can" \ ?< +1845 "core" ' + .tPSV.dial PSR +2 "processing"%P +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%Q' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%R +105 "core" +2 .tPS.seek 0ml + "processing"%S'ؾ +2632 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp +2 "processing"%T& +4 "core" &\ + .tHand.open +2 "manipulator"&U1 +16 "core" 1 +2 "manipulator"&V% +4 "core" %  k  + "storage"(W% +4 "core" % =\  + "storage"(X. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Y(<- +985 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Z& +3 "core" &<, n w \  +2 "manipulator"&[& +3 "core" &- P +2 "manipulator"&\\% +3 "core" %  -  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +37 "manipulator"&]( +176 "core" ( + "manipulator"&^& +4 "core" &  +2 "storage"(_& +4 "core" &<, )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +93 "core" ' +2 "storage"(a& +4 "core" &<,  S\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +295 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &<, \  +2 "manipulator"&e& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&f( +10 "core" ( + "manipulator"&g& +4 "core" &  +2 "storage"(h& +3 "core" &<, \\\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&i'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"(l' +7 "core" &  +2 "manipulator"&m% +4 "core" % ϲ @ +2 .tForearm.seek :retract + "manipulator"&n' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&o( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&p& +4 "core" & ) 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" & 9 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r' +92 "core" ' +2 "manipulator"&s& +4 "core" &  5 +2 "manipulator"&t% +4 "core" % # < + "processing"%u& +4 "core" &\ +2 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed + "processing"%w(^ +5 "core" &\ +7 & *\ $c +9 &U|\ {8 +10 &~v\ zL +9 &P\ O +9 &MR\ O +10 &Q\ O +9 &R\ O +9 &Q\ O +10 &VQ\ O +9 &Q\ O +10 &R\ O +9 &!R\ O +9 &#]S\ O +10 &%R\ O +9 &&R\ O +9 &(R\ O +10 &*dR\ O +9 &,&S\ O +10 &-R\ O +9 &/T\ O +9 &1mT\ O +10 &3/R\ O +9 &4R\ O +9 &6R\ P +10 &8tR\ O +9 &:7S\ O +10 &;R\ O +9 &=O\ O +9 &?{W\ P +10 &A<W\ P +9 &Bi\ ~R +9 &D~\ zU +10 &Fq\ wV +9 &H2\ wV +10 &I\ vV +9 &K\ uV +9 &Mv\ uW +10 &O7\ vW +9 &P\ tX +9 &R\ vX +10 &Tz\ sX +9 &V>\ vW +10 &W\ sX +9 &Y\ uX +9 &[\ uX +10 &]D\ rN +9 &^|O\ s"j +9 &^4\ 8 +3 ( + "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 +2 .Hand.open + "manipulator"&x1 +63 "core" 1 +2 "manipulator"&y% +4 "core" %  ( < + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&z' +90 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +3 .PH.seek 28C,5:00 +2 "processing"%{ h + %|9 +7 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +2 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%\ 9 +2 "core" 9* +103 "processing"% 9 +2 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%9 +2 "core" 9? +102 "processing"%9 +2 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +103 "processing"%9 +2 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%9 +2 "core" 9] +103 "processing"%9 +2 "core" 9a +103 "processing"%9 +3 "core" 9e +102 "processing"%9 +3 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"% 9 +2 "core" 9q +103 "processing"%!9 +2 "core" 9v +102 "processing"%"9 +2 "core" 9z +102 "processing"%#9 +3 "core" 9~ +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +2 "core" 9 +103 "processing"%&9 +2 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +103 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +2 "core" 9 +102 "processing"%09 +3 "core" 9 +102 "processing"%19 +3 "core" 9 +102 "processing"%29 +2 "core" 9  +102 "processing"%39 +3 "core" 9 +102 "processing"%49 +2 "core" 9 +102 "processing"%59 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%79 +3 "core" 9& +2 .tPH.hold 2:00:00,28C +3 "processing"%8 php +2 .tdelay 1:30 +5 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%9 +103 "core"  +2 "processing"%:% +4 "core" %ػ\  + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 .tPS.seek 0.5ml + "processing"%;' +596 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%<' +1617 "core" ' + .tPTV.dial :puck +2 "processing"%  +131 "core"  +2 .tPSV.dial PTV + "processing"%? +86 "core" +2 .tPBV.dial :waste1 + "processing"%>  +55 "core" +2 "processing"%=% +4 "core" % \  +2 .tPS.seek 1.5ml + "processing"%A'- +591 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%@ * +34 "core" + +2 .tPS.seek 0ml +2 "processing"%C'ؾ +1610 "core" ' +2 .tdelay 5:00 +29764 "Can"\ HE +238 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%D  +34 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%B * +34 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%E +72 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%G' +2454 "core" ' +2 .tPSV.dial PTV + "processing"%F +74 "core" + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%I +73 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%J +74 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%H  +85 "core"  +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2371 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%M  +133 "core" +2 .tPSV.dial :mixloop + "processing"%N +44 "core" + .tPRV.dial :ab1 +2 "processing"%L @ +102 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%P' +351 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%O  +43 "core"  + "processing"%R% +4 "core" %\ R\ {  +2 .tPS.seek 0.35ml +2 "processing"%Q'e +477 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'T  +29 "core" + .tPRV.dial :air +2 "processing"%U  +43 "core"  +4 .tPS.seek 0.9ml +4 "processing"%V'K +1168 "core" ' + .tPRV.dial :waste2 +2 "processing"%W @ +73 "core" > +2 .tPS.seek 0.5ml +2 "processing"%X' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%6  +45 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%Z' +1611 "core" ' + .tPSV.dial :PML +2 "processing"%[ +46 "core" + .tPTV.dial :mixing +2 "processing"%\\ @ +73 "core" @ +2 .tPBV.dial :waste1 + "processing"%^  +35 "core" + "processing"%_% +4 "core" %C\ ` +2 .tPS.seek 1.85ml +2 "processing"%' +228 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%a * +35 "core" + +2 .tPS.seek 0ml + "processing"%'ؾ +1968 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'c& +3 "core" & \ + "manipulator"&d& +4 "core" & C 5 + "manipulator"&e% +4 "core" %  #  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&g(- +126 "core" ( + "manipulator"&h& +5 "core" &- u  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&k'w +98 "core" ' + .tHand.close +2 "manipulator"&m/ +70 "core" / +2 "manipulator"&]& +4 "core" &-  + "manipulator"&`% +4 "core" % σ P +2 .tForearm.seek :retract + "manipulator"&b' +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&i(ӂ +286 "core" ( +2 "manipulator"&p& +4 "core" &ө 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &ө f 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&f'? +93 "core" ' +3 "manipulator"&s& +4 "core" &ө 6 +2 "manipulator"&t% +4 "core" %9 ? + "collection"'u& +4 "core" & \ s +2 "collection"'l& +5 "core" & \ t +2 .tCC.seek :closed +3 "collection"'n(\\ +3 "core" & \ u +6 & 3 \ l%f +10 &Tw \ ^8 +9 &}s \ [M +10 &Q \ cQ +9 &LL \ eP +9 &N \ dP +10 &N \ eQ +9 &N \ eP +9 &SN \ dQ +10 &M \ dP +9 &N \ dP +10 &!L \ dP +9 &#\\M \ dP +9 &%L \ dP +10 &&I \ dP +9 &(M \ cP +9 &*dN \ eP +10 &,&M \ dP +9 &-N \ cP +9 &/K \ cP +10 &1mL \ cP +9 &3/L \ cP +10 &4M \ dP +9 &6N \ cP +9 &8tM \ cP +10 &:6M \ dP +9 &;N \ dP +10 &=J \ dP +9 &?|N \ cP +9 &A=Q \ bQ +10 &BY \ _Q +9 &Df \ \\T +9 &Fo \ SX +10 &H% \ E\\ +9 &I \ A^ +10 &K \ A^ +9 &Mb \ B_ +9 &O% \ F^ +10 &P \ H_ +9 &R \ C` +9 &Td \ Ca +10 &V& \ @a +9 &W \ >b +10 &Y \ 7b( +9 &[X \ 7_ +9 &\\8 \ I2 +10 &\\ \ M ^ +5 ( +2 "collection"'l& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.54 + "collection"' & +4 "core" &\\ \ Q ^ + &\\ \ I ^ +2 .tHand.open + "manipulator"&x1 +59 "core" 1 +2 "manipulator"&y% +4 "core" % 9 f + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|' +89 "core" ' +2 .tPSV.dial PSR + "processing"%v +106 "core"  +2 "processing"%}% +4 "core" %ؼA\ D + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%r'+ +1614 "core" ' +11 .tdelay 5 seconds +503 .PSV.dial :waste1 + "processing"%~  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1606 "core" ' + .tPSV.dial PSR +2 "processing"% +45 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV + "processing"%  +2 "collection"'  +34 "core" ~ +126  +2 .tPSV.dial :mixloop + "processing"% +116 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'\  +4 "core"  +2 .tPTV.dial :PRVmixing + "processing"%  +74 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2657 "core" ' + .tPSV.dial :air +2 "processing"%  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2639 "core" ' + .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 .tPSV.dial :air + "processing"%  +57 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2640 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &ө 6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +18 "core" ( + "manipulator"&& +5 "core" &w 7 ) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &w 7 ) +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +67 "core" / +2 .tCC.seek :open +2 "collection"' ( +450 "core" ( +2 "manipulator"&!& +4 "core" &x $ ) + "manipulator"&"% +4 "core" % $ B +2 .tForearm.seek :retract + "manipulator"&#' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&$(- +279 "core" ( +2 "manipulator"&%& +4 "core" &- 2 ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &- 8 ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&''w +99 "core" ' +2 .tHand.open +2 "manipulator"&(1 +62 "core" 1 +2 "manipulator"&)% +4 "core" % n 2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +95 "core" ' +2 ."da"delayUntil "08:45:01.78" +18583 "Can"\ WT +6117 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%+ @ +75 "core" B + ."da"PBV.dial :waste1 +2 "processing"%,  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%- * +35 "core" + + ."da"PSV.dial :air +2 "processing"%.  +45 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%/' +2465 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%0 +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%1  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%2 +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%3  +58 "core" +2 ."da"PS.seek 0ml +2 "processing"%4'ؾ +2387 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%5 +144 "core" + "processing"%% +4 "core" %ؾn\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%7' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%9' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%:  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%S +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%;  +35 "core" + "processing"%% +4 "core" %T\  +2 ."da"PS.seek 1.5ml +2 "processing"%?'( +596 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%> * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%='ؾ +1610 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%<  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%@ * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%A +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%{' +2452 "core" ' +2 ."da"PSV.dial PTV + "processing"%D +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%B +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%E +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%C  +75 "core"  +2 ."da"PS.seek 0ml + "processing"%F'ؾ +2404 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%I +133 "core"  + "processing"%J% +4 "core" %5\ y + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%H' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%G' +1612 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%M +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%N  +34 "core" +2 "processing"%L% +3 "core" %I\ i +2 ."da"PS.seek 1.5ml +2 "processing"%K') +588 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%O * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%R'ؾ +1613 "core" ' +2 ."da"delay 2:00 +11973 "Can"\ IF +29 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%P  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%T * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%U +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%Q' +2451 "core" ' + ."da"PSV.dial PTV +2 "processing"%W +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%V +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%6 +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%X  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%['ؾ +2393 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%\\  +44 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing + "processing"%^  +131 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%_  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%a +46 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%Z' +386 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%  +44 "core"  +2 "processing"%c% +3 "core" %e\  +2 ."da"PS.seek 0.55ml +2 "processing"%d' +333 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%e  +45 "core"  +2 ."da"PS.seek 2ml +2 "processing"%h' +1556 "core" ' + ."da"PSV.dial :PML +2 "processing"%j +45 "core" + ."da"PTV.dial :mixing +2 "processing"%o @ +74 "core" B + ."da"PBV.dial :waste1 +2 "processing"%m  +34 "core" +2 "processing"%]% +3 "core" %\\\  +2 ."da"PS.seek 1.85ml +2 "processing"%`' +241 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%z * +35 "core" + +2 ."da"PS.seek 0ml + "processing"%k'ؾ +1968 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +43629 "Can"\ OL +4373 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%p  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%q * +34 "core" + +2 ."da"PSV.dial :air +2 "processing"%g  +57 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%s' +2451 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%t +42 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%u  +45 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%b +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +45 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2407 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%x +133 "core"  + "processing"%y% +4 "core" %ؼr\ y + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%l' +600 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%v' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%}  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%f +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%~% +3 "core" %k\ b +2 ."da"PS.seek 1.5ml +2 "processing"%r'* +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +42 "processing"% +83 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2471 "core" ' +2 ."da"PSV.dial PTV + "processing"%\ +86 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"% +75 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +74 "core"  +3 ."da"PS.seek 0ml + "processing"%'ؾ +2393 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +132 "core"  +2 "processing"%% +4 "core" %ؾq\ e + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %_\ y +2 ."da"PS.seek 1.5ml + "processing"%'& +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" + +3 ."da"PS.seek 0ml + "processing"%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%i  +35 "core" +2 ."da"delay 30 seconds +1643 "Can"\ ^[ +1359 ."da"PBV.dial between PSV and waste1 +2 "processing"%| * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%n +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%!' +2483 "core" ' +2 ."da"PSV.dial PTV + "processing"%" +76 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%% +75 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%&  +74 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2401 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%( +131 "core" + "processing"%)% +4 "core" %s\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%#' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%'' +1605 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%+ +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%,  +35 "core" + "processing"%-% +4 "core" %o\  +2 ."da"PS.seek 1.5ml +2 "processing"%.') +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%0'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%1  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%2 * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%3 +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%/' +2461 "core" ' +2 ."da"PSV.dial PTV + "processing"%5 +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%4 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%7  +86 "core"  +2 ."da"PS.seek 0ml + "processing"%:'ؾ +2390 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%S +143 "core"  +3 "processing"%;% +12 "core" %ؾ +3 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +15 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +7 "processing"%' +341 "core" ' +2 ."da"delay 5 seconds +502 "processing"%9% +4 "core" %  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%>' +336 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml + "processing"%?' +1606 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%< +78 "core" +2 ."da"PBV.dial :waste1 + "processing"%@  +36 "core" +2 "processing"%A% +4 "core" %m  +2 ."da"PS.seek 1.5ml + "processing"%='- +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%D * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%B'ؾ +1608 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%E  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%C * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +77 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%I' +2563 "core" ' + ."da"PSV.dial PTV +2 "processing"%J +78 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%F +75 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%H +89 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%M  +79 "core"  +2 ."da"PS.seek 0ml +2 "processing"%N'ؾ +2521 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%L +136 "core"  + "processing"%G% +4 "core" %ؼ\ D + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%O' +2118 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%K +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%P  +34 "core"  +2 "processing"%T% +4 "core" %\ = +2 ."da"PS.seek 1.5ml + "processing"%U'' +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%R * +33 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%W  +105 "core"  +2 ."da"PS.seek 0ml +2 "processing"%V'ؾ +1606 "core" ' + "processing"%69 +3 "core" 9n5 +2 #"da"Processing Puck Heater at 28.2C before imaging +2 .PH.coast + "processing"%X  +4 "core" 5 + 5 + "processing"%Q& +3 "core" &^. 8 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&\\% +3 "core" %  V W ; +2 "storage"(^% +3 "core" % 0 % D  +2 "storage"(_. +3 "core" .(<* +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(a(,y +355 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 ([& +2 "core" &,|   u\ 4 +2 "manipulator"&& +4 "core" &-  ` + "manipulator"&c% +4 "core" %  5  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 + "manipulator"&Z( +174 "core" ( + "manipulator"&e& +4 "core" & 3 ! +2 "storage"(d& +3 "core" &,|  \ 4 +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&j' +93 "core" ' +2 "storage"(o& +4 "core" &,| p o t +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(m'r +283 "core" ' + "storage"(]- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(z'1 +41 "core" ' +2 "manipulator"&h& +4 "core" & { a L <! +2 "manipulator"&`% +3 "core" % U T 7 +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&p' +90 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&q( +250 "Can"\ \\ +12 "core" ( + "manipulator"&g& +4 "core" &  T ; +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" & S U : +2 ."da"Forearm.seek PC +2 "manipulator"&t' +91 "core" ' +2 ."da"Hand.close + "manipulator"&u/ +72 "core" / +2 ."da"PC.seek :open +2 "processing"%b( +461 "core" ( +2 "storage"( & +4 "core" &,f . & ' \ + "manipulator"&s& +4 "core" & V . y + "manipulator"&x% +4 "core" %   - 8 +2 ."da"Forearm.seek :retract + "manipulator"&y' +91 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +54 ."da"Elbow.seek 4 +2 "manipulator"& ( +243 "core" ( +2 "manipulator"&l& +4 "core" &\ G / W 6 m + "storage"(}& +4 "core" &,f  \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&f' +94 "core" ' +2 ."da"Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "storage"(~- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate + "storage"(v' +26 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2809h.tif +5 "processing"%r& +14 "core" &V n +3 "manipulator"&& +5 "core" &\ \  m +2 "manipulator"&% +5 "core" %   +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage + "manipulator"&(- +175 "core" ( + "manipulator"&\ & +4 "core" &- 4] +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &- 2] +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +95 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +72 "core" / + "manipulator"&& +4 "core" &-  X O] +2 "manipulator"&% +4 "core" % χ    + ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +132 "core" ( + "manipulator"&& +4 "core" &  E\ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & g\ +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC + "manipulator"&' +94 "core" ' + "manipulator"&& +5 "core" &  ] +2 "manipulator"&% +3 "core" %  7R +2 "processing"%& +4 "core" & w +2 "processing"%& +5 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%i(^ +5 "core" & +6 &\ # $c +10 &Rq 9 +9 &{m N +9 &zE S +10 &>C R +9 &A R +9 &D S +10 &@ S +9 &C? S +10 &> zV +9 &; uV +9 &!: uW +10 &#B: tV +9 &%; tW +9 &&: sW +10 &(9 tW +9 &*H9 sW +9 &,\ ; sW +10 &-: sW +9 &/< sW +10 &1P9 rW +9 &39 rW +9 &49 rW +10 &6; sW +9 &8Y;H sW +9 &:9L rW +10 &;>\\ T +9 &=AS S +10 &?iDQ T +9 &A,DN T +10 &BWN U +9 &DmE W +9 &F_; Z +10 &H~9 [\ +9 &I{; [ +9 &K> \\ +10 &M]|, x^ +9 &O/ j` +9 &P% ja +10 &R3 ja +9 &TY1 jb +9 &V~. la +10 &W/ ia +9 &Y. ja +10 &[b ia +9 &]" gb +9 &^Se p\\ +10 &^U pG +5 ( +8 "processing"%& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 2.09 + "processing"%|& +9 "core" &^L rG +2 &^L pG + ."psFlush"Hand.open +2 "manipulator"&n1 +72 "core" 1 + "manipulator"&% +4 "core" % g Q dR +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&"' +92 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"% +49 "core"  + "processing"%%% +4 "core" %ؽ2 ~ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%&' +601 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +248 #"da"SX HX9/16 (USB:11): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 26.719 seconds\ /var/log/esp/da21sep2809h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2809h15s.tif +1565 #SX HX9/16 (USB:11): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2809h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2809h30s.tif +316 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%( @ +201 "core" @ +2 ."psFlush"PTV.dial :PRVmixing + "processing"%)  +143 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%#'ؠ +2183 #"da"SX HX9/16 (USB:11): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2809h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2809h70s.tif +457 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%+ +111 "core"  +2 "processing"%,% +4 "core" %ءA t + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%-' +611 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%'' +2142 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%. @ +78 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%1 +111 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%2'ؠ +2644 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%3 +110 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +12 ."psFlush"PS.seek 1ml +2 "processing"%0'X\\ +187 #"da"SX HX9/16 (USB:11): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2809h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "26.719 sec auto-exposure",Subject: "da21sep2809h images!" +5 "storage"(5- +2 "core" -' +2 "storage"(& +10 "core" &,f / ;\ 9\ + "manipulator"&4& +4 "core" & + "manipulator"&7% +5 "core" %   +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 + "manipulator"&/( +238 "core" ( +12 "manipulator"&S& +5 "core" & # + "storage"(;& +4 "core" &,f  p\ -\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&:' +94 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +51 "core" ' +4 "manipulator"&& +8 "core" & ! # +4 "storage"(>& +6 "core" &,f T\ \ +4 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 4 +5 "manipulator"&<'7 +25 "core" ' + ."da"Elbow.hold +2 "manipulator"&@, +4 "core" , +56 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +4 "storage"(A' +30 "core" ' +4 "manipulator"&?% +8 "core" %* E +2 "storage"(D& +8 "core" &,f  \ \ +2 ."da"Forearm.force -20 +3 "manipulator"&5 +5 ."da"Forearm.seek 4 + 287 counts +2 "manipulator"&='V +14 "core" ' +2 "manipulator"&E& +4 "core" &  # +2 "storage"(C& +7 "core" &,f \ \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&{' +16 "core" ' +2 "storage"(B% +4 "core" % \  +2 ."downElevator"SE.seek :down +3 "storage"(J' +100 (F% +6 "core" %: S\ SW +7 "manipulator"&H% +8 "core" % R +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +4 "manipulator"&M' +31 "core" ' +2 ."psFlush"PSR.select :air +4 "processing"% +13 ."psFlush"PS.seek 2.5ml +4 "processing"%I' +38 "core" ' +39 ' +4 ."downElevator"SE.stop + "storage"(5 +6 (L& +8 "core" &,f " l\ \ +1520 ' +2 ."psFlush"PSV.dial PTV +3 "processing"%G +75 "core" +5 ."psFlush"PTV.dial :puck +2 "processing"%N  +74 "core"  +4 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml + "processing"%K'ؾ +2629 "core" ' +4 ."psFlush"PSV.dial PSR +4 "processing"%P +75 "core"  +2 ."psFlush"PSR.select :flush +5 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +3 "processing"%T' +594 "core" ' +2 ."psFlush"PSR.select :air +5 "processing"% +12 ."psFlush"PS.seek 2.5ml +3 "processing"%O' +2144 "core" ' +2 ."psFlush"PSV.dial PTV +4 "processing"%R +75 "core" +2 ."psFlush"PBV.dial PSV +3 "processing"%W U +53 "core" W +7 ."psFlush"PS.seek 0ml +4 "processing"%U'ؾ +1463 #"uploadLog"upsync +1173 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%6 @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%X' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%Q  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%\\'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%^ +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%_' +2634 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%Y +71 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%['ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +56 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%c' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%e  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%d'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%o +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%$'X\\ +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%*' +1613 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%] +83 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%h  +53 "core" +2 ."psFlush"PS.seek 0ml + "processing"%`'ؾ +2640 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%m +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%j' +610 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%g' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%k +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%Z U +53 "core" W +2 ."psFlush"PS.seek 0ml + "processing"%u'ؾ +2633 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%p @ +44 "core" ? + ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2628 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%s'ؾ +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%x +32 "Can"\ ca +12 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%t' +2631 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%l +71 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%}'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%q @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%~  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%r'ؾ +2634 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" & " + "manipulator"&% +4 "core" %  3  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&y( +243 "core" ( + "manipulator"&z& +4 "core" & ' +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" & ' +2 ."psFlush"Forearm.seek PC +2 "manipulator"&\ ' +90 "core" ' + ."psFlush"Hand.close +2 "manipulator"& / +62 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%f( +457 "core" ( +2 "manipulator"& & +4 "core" & M ' + "manipulator"&% +4 "core" %  O +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +118 "core" ( + "manipulator"&& +4 "core" &- F  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- [  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +97 "core" ' +2 ."psFlush"Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % }   + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tFinished short da assay +26270 #-> access 4 +3 "storage"(% +3 "core" % a a x\  +2 "manipulator"&% +4 "core" %  U  + "manipulator"&& +4 "core" &-  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(b(C +987 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" &F 8 C ]\ +3008 #t-> access 5 +2 "storage"(n% +3 "core" % i b \  +2 "manipulator"&% +4 "core" %  :  +2 "manipulator"&& +3 "core" &-   +2 .tSC.reconfigure :tight +38 "storage"($\ .\ 1~b +11 .tSC.seek 2 + "storage"((  +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (%& +3 "core" & 0 ;\ +10714 #t-> exit +6 #mEXIT @1632847376.97PDT @1632847407.35PDT = =tMAIN =mMAIN_scheduler @PDT1632847409.24 #"core_reset"Sent BREAK + #t@23945 receive with ifg=0x10, ie=0xFD + #@24581 receive with ifg=0x10, ie=0xFD + #@25235 receive with ifg=0x10, ie=0xFD + #@25869 receive with ifg=0x10, ie=0xFD #@26695 receive with ifg=0x10, ie=0xFD + #@27331 receive with ifg=0x10, ie=0xFD + #@27965 receive with ifg=0x10, ie=0xFD #@28291 receive with ifg=0x80, ie=0xFD + #@20643 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +313 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +391 "Can"\ @= + \ @= #tPolling Can every 10:00 +805 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %e +\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽ_\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %څ U\ > +2 .tSS.configure :default +2 "sampler")#.0X +2 %ؽu\ + %   +2 "manipulator"&& +3 "core" &- +  + "storage"(& +4 "core" &  @ > g\  + "storage"(% +4 "core" % ? @ ~\  + "collection"'& +3 "core" & 1\ +2 "processing"%& +4 "core" &l\ + "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core" ~ +2 "processing"%# +2 "core"  +2 "processing"%$ +3 "core" W + "processing"%% +3 "core"  +2 "processing"%& +3 "core" @ + "sampler")' +3 "core"  +2 "collection"'(% +3 "core" %e 7\ +2 "processing"%)% +4 "core" %ؽZ\ +2 "sampler")*% +3 "core" %څ f\ > +2 "collection"'+& +4 "core" & +\ + "processing"%,& +4 "core" &l\ +2 "manipulator"&-% +3 "core" %  `  +2 "manipulator"&.& +4 "core" &-   + "storage"(/& +4 "core" &  @ @ q\  +2 "storage"(0% +3 "core" % 5 ? k\  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +2947 #t-> $da[:extractVol]=0.20 +33933 #-> startTube 5 +314 #-> shortDA + "collection"'3% +3 "processing"%4% +5 "core" %e 8\ +4 %ؽG\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +532 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%5 +131 "core" + .tPTV.dial :PRVmixing +2 "processing"%6  +130 "core" + .tPRV.dial :sipper +2 "processing"%7  +42 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%8'e +2291 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%9  "collection"':  +18 "core" +109  +3 .tPS.seek 0.5ml + "processing"%;' +1278 "core" ' + .tPRV.dial :waste2 + "processing"%< @ +101 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%='ؾ +592 "core" ' + .tPSV.dial PSR +2 "processing"%> +101 "core"  +2 "processing"%?% +4 "core" %C\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +9 .tPS.seek 1ml +2 "processing"%@'X\\ +1105 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%A' +1611 "core" ' + .tPSV.dial :mixloop +2 "processing"%B +103 "core" +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2627 "core" ' +2 .tPSV.dial PSR + "processing"%D +104 "core"  + "processing"%E% +4 "core" %G\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%F'X\\ +1106 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%G' +1629 "core" ' +2 .tPSV.dial :mixloop + "processing"%H +104 "core" + .tPRV.dial :sipper +2 "processing"%I  +42 "core" +2 .tPS.seek 0ml +2 "processing"%J'ؾ +2626 "core" ' + .tPSV.dial PSR + "processing"%K +104 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%L' +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"%M +104 "core" +2 .tPS.seek 0ml + "processing"%N'ؾ +1014 "Can"\ FC +1620 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%O& +4 "core" &H\ +2 .tHand.open + "manipulator"&P1 +20 "core" 1 +2 "manipulator"&Q% +3 "core" %    +2 "storage"(R% +3 "core" % 3 5 M\  +2 "storage"(S. +3 "core" ., + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(T(<- +983 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +3 "core" &<* & % /\  + "manipulator"&V& +4 "core" &-   + "manipulator"&W% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&X( +168 "core" ( + "manipulator"&Y& +4 "core" & ' +2 "storage"(Z& +4 "core" &<* T V\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +92 "core" ' +2 "storage"(\\& +4 "core" &<* z E\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +45 .tSE.seek :beamBreak + "storage"(]'r +305 "core" ' +2 "storage"(^- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +2 "core" &<* W Y\  +2 "manipulator"&`& +4 "core" &  ' + .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( + "manipulator"&b& +4 "core" & ' + "storage"(c& +4 "core" &<* T X @\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&d'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(g' +8 "core" & ? ' + "manipulator"&h% +4 "core" % Ϸ  +2 .tForearm.seek :retract + "manipulator"&i' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&j( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&k& +4 "core" & U R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" & | R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +99 "core" ' +2 "manipulator"&n& +4 "core" &  R +2 "manipulator"&o% +4 "core" %  + "processing"%p& +4 "core" &J\ +2 "processing"%q& +5 "core" &F\ +2 .tPC.seek :closed +3 "processing"%r(^ +3 "core" &H\ +7 & 2A\ %f +9 &Vz;\ 7 +9 &~x<\ L +10 &O;\ N +9 &fS:\ O +9 &*R9\ N +10 &S:\ N +9 &R;\ N +9 &oR9\ N +10 &1R2\ N +9 &P,\ N +10 &!Q,\ N +9 &#wT*\ N +9 &%:O.\ N +10 &&S.\ O +9 &(T*\ N +9 &*T*\ N +10 &,BP+\ N +9 &.R*\ N +10 &/Q*\ N +9 &1Q\ N +9 &3IQ\ N +10 &5 U\ N +9 &6T\ O +9 &8T\ O +10 &:QR\ N +9 &<R\ N +10 &=R\ N +9 &?W\ O +9 &AWX\ O +10 &Cp\ Q +9 &D\ U +9 &F\ U +10 &HM \ U +9 &J\ U +10 &K\ U +9 &M\ V +9 &OT\ U +10 &Q \ W +9 &R\ V +9 &T\ W +10 &V[ \ V +9 &X\ V +10 &Y \ V +9 &[ \ V +9 &]_\ D +10 &^H}\ W +9 &^[\ 8 +5 ( +2 "processing"%q& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 +2 .Hand.open + "manipulator"&s1 +3 "core" &^.\ 8 +59 1 +2 "manipulator"&t% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +88 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%v h +2 %w9 +6 "core" 9 +102 "processing"%x9 +2 "core" 9 +102 "processing"%y9 +2 "core" 9  +102 "processing"%z9 +2 "core" 9  +102 "processing"%{9 +3 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +3 "core" 9 +102 "processing"%~9 +3 "core" 9 +101 "processing"%9 +3 "core" 9" +102 "processing"%9 +3 "core" 9& +101 "processing"%9 +3 "core" 9* +102 "processing"%9 +2 "core" 9. +102 "processing"%9 +3 "core" 93 +102 "processing"%9 +2 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%\ 9 +3 "core" 9? +102 "processing"% 9 +2 "core" 9C +102 "processing"%9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%9 +3 "core" 9\\ +102 "processing"%9 +2 "core" 9a +102 "processing"%9 +3 "core" 9e +103 "processing"%9 +2 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +2 "core" 9q +102 "processing"%9 +3 "core" 9v +102 "processing"%9 +2 "core" 9z +102 "processing"%9 +2 "core" 9~ +102 "processing"%9 +3 "core" 9 +102 "processing"% 9 +2 "core" 9 +102 "processing"%!9 +2 "core" 9 +102 "processing"%"9 +3 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9  +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9  +2 .tPH.hold 2:00:00,28C +3 "processing"%0 php +3 .tdelay 1:30 +2 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%1 +104 "core"  +2 "processing"%2% +4 "core" %ؿ\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%3' +599 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%4' +1614 "core" ' + .tPTV.dial :puck +2 "processing"%5  +131 "core"  +2 .tPSV.dial PTV + "processing"%6 +75 "core" +2 .tPBV.dial :waste1 + "processing"%7  +54 "core" + "processing"%% +4 "core" %\ }\ +2 .tPS.seek 1.5ml +2 "processing"%:'& +600 "core" ' + .tdelay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%9 * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%8'ؾ +1632 "core" ' + .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%<  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%; * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%> +75 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%?' +2476 "core" ' + .tPSV.dial PTV +2 "processing"%= +75 "core" +2 .tdelay 5 seconds +50 "Can"\ GD +452 .tPSV.dial PSR +2 "processing"%@ +74 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%B +75 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%A  +73 "core"  +2 .tPS.seek 0ml + "processing"%D'ؾ +2394 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%E  +131 "core" + .tPSV.dial :mixloop +2 "processing"%C +45 "core" +2 .tPRV.dial :ab1 + "processing"%F @ +102 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%H' +358 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%I  +42 "core" + "processing"%G% +4 "core" %\ y +2 .tPS.seek 0.35ml +2 "processing"%K'h +450 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'J  +28 "core" + .tPRV.dial :air +2 "processing"%M  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%L'K +1168 "core" ' + .tPRV.dial :waste2 +2 "processing"%O @ +73 "core" > +2 .tPS.seek 0.5ml +2 "processing"%P' +870 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%Q  +46 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%R' +1614 "core" ' + .tPSV.dial :PML +2 "processing"%S +45 "core" +2 .tPTV.dial :mixing + "processing"% @ +74 "core" A + .tPBV.dial :waste1 +2 "processing"%U  +34 "core" +2 "processing"%V% +3 "core" %t\ u +2 .tPS.seek 1.85ml +2 "processing"%W' +232 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%Y * +34 "core" , +3 .tPS.seek 0ml + "processing"%Z'ؾ +1971 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'\\& +3 "core" & 7\ v +2 "manipulator"&& +3 "core" & , R +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&^(- +126 "core" ( +2 "manipulator"&_& +4 "core" &- @ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +2 "core" &- F +2 .tForearm.seek :garage +2 "manipulator"&b'w +93 "core" ' +2 .tHand.close + "manipulator"&c/ +72 "core" / +2 "manipulator"&e& +4 "core" &-  +2 "manipulator"&f% +3 "core" % v D  +2 .tForearm.seek :retract +2 "manipulator"&h' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +276 "core" ( +2 "manipulator"&[& +4 "core" &Ӌ* @ Bh + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &Ӌ*  Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&d'? +102 "core" ' +2 "manipulator"&k& +4 "core" &ӌ+ Bg + "manipulator"&l% +4 "core" %< " " +2 "collection"'a& +3 "core" & 3\ m +2 "collection"'n& +5 "core" & )\ m +2 .tCC.seek :closed +2 "collection"'o(\\ +4 "core" & 3\ +8 &9 %\ f%f +9 &Tx /\ h8 +10 &}s 0\ UM +9 &V 0\ rQ +9 &QQ 6\ ~P +10 &J )\ `Q +9 &R 1\ pP +9 &O +\ \\P +10 &XT 0\ sP +9 &P 2\ ~P +10 &I +\ `P +9 &!R *\ oP +9 &#_N +\ \\Q +10 &%$R (\ sP +9 &&R /\ }P +9 &(I )\ `P +10 &*iQ 2\ pP +9 &,+L %\ ]P +9 &-R -\ rP +10 &/Q 8\ }P +9 &1rI $\ _P +10 &33O +\ pP +9 &4L '\ ]P +9 &6S &\ sP +10 &8yR $\ }P +9 &::Q $\ vP +9 &;Q *\ xP +10 &=T "\ xP +9 &?N )\ \\P +10 &AAW ,\ rQ +9 &C^ '\ zQ +9 &Dd 0\ ZS +10 &Fv (\ cW +9 &H( (\ L\\ +9 &I -\ E] +10 &K 0\ L^ +9 &Mg 8\ Z^ +10 &O( (\ G_ +9 &P +\ X_ +9 &R -\ `` +10 &Th +\ Ca +9 &V( /\ Sb +9 &W 4\ @b +10 &Y /\ Pb$ +9 &[` )\ YY +10 &\\I 1\ C+ +9 &\\ 7\ ["e +5 ( +2 "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.47 + "collection"'p& +4 "core" &\\ -\ L#e + &\\ )\ ^#e +2 .tHand.open + "manipulator"&g1 +61 "core" 1 +2 "manipulator"&i% +4 "core" % < | " + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' + .tPSV.dial PSR +2 "processing"%s +105 "core"  +2 "processing"%t% +4 "core" %ؼ\ M + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%w'+ +1616 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%q  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%x'ؾ +1610 "core" ' +2 .tPSV.dial PSR + "processing"%m +46 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%y' +2637 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +42 "processing"%z  +11 "collection"'{  +30 "core" +128  + .tPSV.dial :mixloop +2 "processing"%| +114 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'} +4 "core"  + "collection"'~  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' +2 .tPSV.dial :air + "processing"%  +46 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2626 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2639 "core" ' + .tPSV.dial :air +2 "processing"%  +56 "core"  +2 .tPS.seek 2.5ml +2 "processing"%\ ' +2640 "core" ' + .tPSV.dial :mixloop +2 "processing"% +42 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +5 "core" &ӎ( Ae + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +33 "core" ( +2 "manipulator"&& +4 "core" &ӌ  q !t + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ\  U !t +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( + "manipulator"&& +4 "core" &ӌ\  N !t + "manipulator"&% +4 "core" % E S W +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +278 "core" ( +2 "manipulator"&& +4 "core" &- 1 N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- P N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +99 "core" ' +2 .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&!% +4 "core" % z   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +96 "core" ' +2 ."da"delayUntil "10:13:37.11" +24555 "Can"\ IE +135 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%# @ +72 "core" B + ."da"PBV.dial :waste1 +2 "processing"%$  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%% * +35 "core" , +2 ."da"PSV.dial :air + "processing"%&  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%'' +2425 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%( +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%)  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%* +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%+  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%,'ؾ +2366 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +142 "core" + "processing"%.% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%/' +592 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml +2 "processing"%1' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%2  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%N +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%3  +34 "core" +2 "processing"%5% +3 "core" %v\  +2 ."da"PS.seek 1.5ml +2 "processing"%6'& +588 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%7 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1607 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%4  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%9 * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%: +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%v' +2411 "core" ' + ."da"PSV.dial PTV +2 "processing"%< +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%; +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%> +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%8  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%='ؾ +2371 "core" ' +2 #"da"washCycleDA #2 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%@ +129 "core"  +2 "processing"%B% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%A' +594 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +5 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%?' +1612 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%E +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%C  +35 "core" + "processing"%F% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%D'- +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%I * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%H  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%J * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%M +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%K' +2417 "core" ' + ."da"PSV.dial PTV +2 "processing"%O +73 "core" +2 ."da"delay 5 seconds +456 "Can"\ HF +46 ."da"PSV.dial PSR + "processing"%L +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Q +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%P  +73 "core"  + ."da"PS.seek 0ml +2 "processing"%S'ؾ +2364 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%U  +130 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%V  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%Y +46 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%R' +389 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%W  +43 "core"  +2 "processing"%\\% +3 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +333 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +4 ."da"PS.seek 2ml +6 "processing"%_' +1566 "core" ' +2 ."da"PSV.dial :PML + "processing"%` +44 "core" +2 ."da"PTV.dial :mixing + "processing"%j @ +74 "core" A + ."da"PBV.dial :waste1 +2 "processing"%c  +34 "core" +2 "processing"%e% +3 "core" %v\  +2 ."da"PS.seek 1.85ml +2 "processing"%f' +227 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%u * +45 "core" ) +2 ."da"PS.seek 0ml + "processing"%b'ؾ +1976 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +48002 #recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%[  +33 "core" +2 ."da"delay 30 seconds +1794 "Can"\ IG +1208 ."da"PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" + +2 ."da"PSV.dial :air + "processing"%^  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%k' +2428 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%l +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%a  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%h +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%p'ؾ +2385 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%g +130 "core"  + "processing"%i% +4 "core" %ؾ\  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%n' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%s' +1610 "core" ' +2 ."da"PTV.dial :puck + "processing"%t  +72 "core"  +2 ."da"PSV.dial PTV +2 "processing"%d +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%Z  +35 "core" + "processing"%q% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%w', +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%m * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%x'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%{  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%z * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%| +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%}' +2446 "core" ' + ."da"PSV.dial PTV +2 "processing"%~ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%y +72 "core" +2 ."da"delay 5 seconds +543 .PSV.dial :air +10 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2387 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"% +129 "core"  +2 "processing"%% +4 "core" %ؼ\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1605 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%\  +35 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'* +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%X  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%o +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2432 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +625 "Can"\ IG +1735 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +130 "core"  + "processing"%!% +4 "core" %ؿ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1621 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%# +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%$  +35 "core" + "processing"%%% +4 "core" %\ +2 ."da"PS.seek 1.5ml + "processing"%&') +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%('ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%)  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%* * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%+ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%'' +2406 "core" ' + ."da"PSV.dial PTV +2 "processing"%- +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%. +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%, +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%/  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%2'ؾ +2385 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +139 "core"  +5 "processing"%3% +10 "core" %ظ  +5 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +5 "processing"% +12 ."da"PS.reconfigure :default +9 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +5 "processing"%5' +334 "core" ' +2 ."da"delay 5 seconds +502 "processing"%1% +4 "core" %  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%7' +332 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml + "processing"%6' +1609 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%4 +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%9  +36 "core" + "processing"%:% +4 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%'* +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%< * +34 "core" * +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +1607 "core" ' +2 ."da"delay 10 seconds +1002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%>  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%8 * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%v +77 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%@' +2549 "core" ' + ."da"PSV.dial PTV +2 "processing"%B +77 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%= +78 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%A +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%E  +90 "core"  +2 ."da"PS.seek 0ml +2 "processing"%C'ؾ +2538 "core" ' +3 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%F +139 "core"  + "processing"%?% +4 "core" %ؼ + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%I' +2128 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%D +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +34 "core" +2 "processing"%J% +3 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%M'- +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%G * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%O  +108 "core"  +2 ."da"PS.seek 0ml +2 "processing"%L'ؾ +1613 "core" ' +2 "processing"%Q9 +3 "core" 9n5 +2 #"da"Processing Puck Heater at 28.2C before imaging + .PH.coast +2 "processing"%P  +4 "core" 5 5 +2 "processing"%K& +3 "core" &^. 8 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %  + + 1 8 + "storage"(U% +4 "core" % % $ 0  + "storage"(V. +3 "core" .(<* +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 4 +2 "storage"(Y(,y +357 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" &,|  n +2 "manipulator"&W& +4 "core" &- - + 5 8M + "manipulator"&\\% +3 "core" %   Y  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&R( +172 "core" ( +2 "manipulator"&& +4 "core" & B E  8H + "storage"(& +4 "core" &,|  = +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&`' +98 "core" ' + "storage"(j& +4 "core" &,|\ \  r\ V +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(c'r +286 "core" ' + "storage"(e- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(u'1 +44 "core" ' +2 "manipulator"&_& +4 "core" & P T h 9H +2 "manipulator"&f% +4 "core" % H J 9 + ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&[' +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&]( +243 "core" ( + "manipulator"&^& +4 "core" & - +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" & & - +2 ."da"Forearm.seek PC +2 "manipulator"&l' +91 "core" ' +2 ."da"Hand.close + "manipulator"&a/ +77 "core" / +2 ."da"PC.seek :open +2 "processing"%h( +461 "core" ( + "storage"( & +4 "core" &,e Q n  +2 "manipulator"&k& +3 "core" & e c @- + "manipulator"&g% +4 "core" %  U V @" +2 ."da"Forearm.seek :retract +2 "manipulator"&i' +96 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&p( +243 "core" ( +2 "manipulator"&n& +4 "core" & V + + "storage"(t& +4 "core" &,e w \ ? +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&d' +94 "core" ' + ."da"Hand.open +2 "manipulator"&Z1 +66 "core" 1 +2 "storage"(q- +3 "core" -'1 +53 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(s' +26 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(m' +51 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2810h.tif +6 "processing"%w& +10 "core" &~ j +5 "manipulator"&{& +6 "core" & + +3 "manipulator"&z% +5 "core" %  M +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&|' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&x(- +175 "core" ( +2 "manipulator"&~& +4 "core" &- ' 8B +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- KB +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&y'w +100 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +72 "core" / +2 "manipulator"&}& +4 "core" &-  4 QB + "manipulator"&% +4 "core" % } J R +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +98 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +117 "core" ( + "manipulator"&& +4 "core" & # g? +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & X R? +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&\ ' +94 "core" ' + "manipulator"&& +4 "core" &  .? +2 "manipulator"&% +4 "core" % 2  H +2 "processing"%& +3 "core" &B +2 "processing"%& +5 "core" &B +2 ."psFlush"PC.seek :closed + "processing"%X(^ +5 "core" & +8 & * }$e +9 &Rl r: +10 &wh! pO +9 &sB uV +9 &5; |V +10 &9 S +9 &D S +9 &C\ S +10 &FB S +9 &A S +10 &D S +9 &!D S +9 &#MD T +10 &%D T +9 &&D T +9 &(? U +10 &*M> zV +9 &, > zW +9 &-: zV +10 &/< yW +9 &1T> yW +10 &39 {W +9 &48 {W +9 &69 {W +10 &8]; {V +9 &:: |W +9 &;; {V +10 &=; {W +9 &?b= zX +10 &A%< yW +9 &BO W +9 &Dj Y +10 &F` [\ +9 &H#} [ +9 &I} [\ +10 &K [ +9 &Mg [ +10 &O' \\ +9 &P ] +9 &RL \\ +10 &TjX ] +9 &V.\\ \\ +10 &WY o` +9 &Y\\ oa +9 &[gX qa +10 &](Q na +9 &^QeN v[ +9 &^PO xG +6 ( + "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 2.06 +2 "processing"% & +4 "core" &^MH xG + &^MG wG + ."psFlush"Hand.open +2 "manipulator"&o1 +70 "core" 1 + "manipulator"&% +5 "core" % Z NH + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&' +91 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +47 "core"  + "processing"%% +4 "core" %ػ } +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +600 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%' +389 #"da"SX HX9/16 (USB:12): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 27.787 seconds\ /var/log/esp/da21sep2810h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2810h15s.tif +1565 #SX HX9/16 (USB:12): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2810h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2810h30s.tif +183 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +192 "Can" \ +16 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%!  +142 "core" + ."psFlush"PSV.dial :mixloop +3 "processing"% +110 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2309 #"da"SX HX9/16 (USB:12): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2810h30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2810h70s.tif +335 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%# +123 "core" +2 "processing"%$% +4 "core" %ؠc + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%%' +604 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2138 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%& @ +79 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"%) +107 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%*'ؠ +2640 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%+ +113 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%('X\\ +310 #"da"SX HX9/16 (USB:12): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2810h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "27.787 sec auto-exposure",Subject: "da21sep2810h images!" +10 "storage"(-- +2 "core" -' +2 "storage"(.& +5 "core" &,e \ , +2 "manipulator"&,& +4 "core" & . ? +2 "manipulator"&/% +3 "core" %  [  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +4 "manipulator"&'( +246 "core" ( + "manipulator"&N& +4 "core" &  3 +2 "storage"(3& +3 "core" &,e ?\ + +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&2' +97 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +51 "core" ' + "manipulator"&5& +4 "core" & / 2 +2 "storage"(7& +4 "core" &,e Q  \  + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b + ."da"Forearm.seek 4 +3 "manipulator"&4'7 +13 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&9, +7 "core" , +4 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +4 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.32 Pucks below Top Plate +3 "storage"(:' +37 "core" ' + "manipulator"&6% +4 "core" %@ I 6 +2 "storage"(<& +4 "core" &,e ] S \  + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 4 + 309 counts + "manipulator"&'l +14 "core" ' +2 "manipulator"&>& +59 "core" & m 2 +3 "storage"(8& +5 "core" &,e x Q\  +6 ."da"Forearm.reconfigure :tight +8 "manipulator"&#Q@2^d^\ b +7 ."da"Forearm.seek 4 + 450 counts +5 "manipulator"&v' +22 "core" ' +2 "storage"(;% +9 "core" % b ]\ +4 ."downElevator"SE.seek :down +8 "storage"(B' +37 "core" ' +3 ."psFlush"PSR.select :air +8 "processing"% +16 ."psFlush"PS.seek 2.5ml +4 "processing"%=' +30 "storage"(A% +6 "core" %$? \ tU\\ +4 "manipulator"&E% +8 "core" % Q +7 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +4 "manipulator"&@' +92 "core" ' +41 ' +2 ."downElevator"SE.stop +3 "storage"(5 +4 (F& +8 "core" &,e [\  +1402 ' +2 ."psFlush"PSV.dial PTV +4 "processing"%? +77 "core" +2 ."psFlush"PTV.dial :puck +4 "processing"%C  +73 "core"  +4 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml +4 "processing"%D'ؾ +2636 "core" ' +4 ."psFlush"PSV.dial PSR +4 "processing"%H +73 "core"  +4 ."psFlush"PSR.select :flush +6 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +4 "processing"%J' +588 "core" ' +2 ."psFlush"PSR.select :air +5 "processing"% +12 ."psFlush"PS.seek 2.5ml +3 "processing"%I' +2135 "core" ' +2 ."psFlush"PSV.dial PTV +6 "processing"%G +86 "core" +2 ."psFlush"PBV.dial PSV +3 "processing"%O U +56 "core" V +4 ."psFlush"PS.seek 0ml +4 "processing"%M'ؾ +1691 #"uploadLog"upsync +942 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%Q @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%P' +2635 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%K  +71 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%U +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%V' +2631 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%T +72 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%S'ؾ +2639 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%W @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +2652 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2624 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%j +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1122 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +1610 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%e +72 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%_  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%c +73 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%`' +583 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%^' +2125 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%b +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%R U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%a'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%[ @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +74 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%k'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%g +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%l' +2634 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%n +72 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%t'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%] @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%Z' +1116 "Can"\ OL +1512 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%q  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%i'ؾ +2639 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&w& +4 "core" & L 2 + "manipulator"&{% +4 "core" %   + ."psFlush"Elbow.seek PC +2 "manipulator"&z( +244 "core" ( + "manipulator"&u& +4 "core" & > +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" & > +2 ."psFlush"Forearm.seek PC +2 "manipulator"&~' +90 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +59 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%d( +457 "core" ( + "manipulator"&p& +4 "core" & 6 +2 "manipulator"&% +3 "core" %  : +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&}' +91 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +132 "core" ( +2 "manipulator"&|& +4 "core" &- v  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- ?  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"& 'w +98 "core" ' + ."psFlush"Hand.open +2 "manipulator"&y1 +58 "core" 1 + "manipulator"&% +4 "core" % ρ   +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tFinished short da assay +1804 #-> access 4 +2 "storage"(% +3 "core" % P\  +2 "manipulator"&x% +4 "core" %  R  + "manipulator"&& +4 "core" &- @  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(h(C +992 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &F d\ +373 #t-> PS.flush + #Flushing Processing stage +2 "processing"%o% +3 "core" %ط\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +4 "core" &\ +2 "manipulator"&& +3 "core" &- n  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +16 "core" ( + "manipulator"&& +4 "core" &- E G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &- G +2 .tForearm.seek :garage + "manipulator"&L'w +91 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 "manipulator"& & +40 "core" &- G +9 "manipulator"&!% +4 "core" % n k - +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +116 "core" ( + "manipulator"&#& +4 "core" & 4 H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" & > H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' + "manipulator"&%& +5 "core" &  H + "manipulator"&% +4 "core" % j +2 "processing"%&& +4 "core" &\ +2 "processing"%)& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 &8\ %f +9 &Wv\ 8 +10 &t\ M +9 &P\ N +9 &vQ\ N +10 &9O\ N +9 &O\ M +9 &O\ N +10 &O\ N +9 &@N\ N +10 & P\ N +9 &!P\ N +9 &#P\ N +10 &%IO\ N +9 &' O\ N +9 &(P\ N +10 &*P\ N +9 &,OO\ N +10 &.L\ N +9 &/Q\ N +9 &1O\ N +10 &3XO\ N +9 &5O\ N +9 &6P\ N +10 &8Q\ N +9 &:`P\ N +10 & U +55 "core" W +2 .tPS.seek 0ml + "processing"%8'ؾ +2631 "core" ' + .tPSV.dial PBV +2 "processing"%m @ +45 "core" > +2 .tPS.seek 2.5ml +2 "processing"%;' +2635 "core" ' +2 .tPSV.dial :waste1 + "processing"%2  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%''ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%1 +44 "core"  + .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%A' +2644 "core" ' +2 .tPSV.dial PTV + "processing"%E +72 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%4'ؾ +2638 "core" ' + .tPSV.dial PBV +2 "processing"% @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%F' +2627 "core" ' +2 .tPSV.dial :waste1 + "processing"%:  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%('ؾ +2634 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&v& +4 "core" &  H + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&B( +3 "core" ( +2 "manipulator"&?& +4 "core" &  H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &  H +2 .tForearm.seek PC +2 "manipulator"&=' +94 "core" ' +2 .tHand.close + "manipulator"&H/ +63 "core" / +2 .tPC.seek :open + "processing"%D( +461 "core" ( + "manipulator"&J& +5 "core" & 6 H + "manipulator"&G% +4 "core" %  & $ +2 .tForearm.seek :retract + "manipulator"&O' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&I(- +125 "core" ( + "manipulator"&Q& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &- &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&K'w +93 "core" ' +2 .tHand.open + "manipulator"&P1 +55 "core" 1 +2 "manipulator"&U% +4 "core" % } , J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +21351 "Can"\ >; +52049 #t-> exit +6 #mEXIT @1632853336.40PDT @1632853356.79PDT = =tMAIN =mMAIN_scheduler @PDT1632853358.64 #"core_reset"Sent BREAK + #t@22748 sendCRC with ifg=0x20, ie=0x7F + #@24583 sendCRC with ifg=0x08, ie=0x5F + #@41770 idle with ifg=0x84, ie=0x75 + #@42439 select with ifg=0x10, ie=0xF5 + #@43073 receive with ifg=0x10, ie=0xFD #@43705 receive with ifg=0x10, ie=0xFD + #@44339 receive with ifg=0x10, ie=0xFD #@44666 receive with ifg=0x80, ie=0xFD + #@43719 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +285 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +377 "Can"\ @= + \ @= + #tPolling Can every 10:00 +490 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e ~\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؿ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ Y\ > +2 .tSS.configure :default +2 "sampler")#.0X +2 "manipulator"&& +4 "core" &- N  + "storage"(& +3 "core" &G l\ +2 "storage"(% +4 "core" % ,\  + "collection"'& +3 "core" & |\ +2 "processing"%& +3 "core" &z\ +2 "collection"'  +3 "core"  +2 "collection"'! +2 "core"  +2 "collection"'" +3 "core"  + "processing"%# +3 "core"  +2 "processing"%$ +3 "core" W + "processing"%% +3 "core"  +2 "processing"%& +3 "core" B + "sampler")' +3 "core"  +2 "collection"'(% +3 "core" %e o\ +2 "processing"%)% +4 "core" %ؿ}\ +2 "sampler")*% +4 "core" %څ b\ > +2 "collection"'+& +3 "core" & |\ +2 "processing"%,& +4 "core" &\ + "manipulator"&-% +4 "core" %  O  + "manipulator"&.& +4 "core" &- j  +2 "storage"(/& +3 "core" &G $\ +2 "storage"(0% +4 "core" % 1\  + "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +1252 #t-> $da[:extractVol]=0.20 +410 #-> access 5 +2 "storage"(3% +3 "core" % M\  +2 "manipulator"&4% +3 "core" %  T  +2 "manipulator"&5& +3 "core" &- +  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(6(  +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" & } )\  +142 #t-> startTube 5 +298 #-> shortDA +2 "collection"'8% +5 "processing"%9% + "core" %e |\ +6 %ؿ~\ + #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1974 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%: +132 "core" +2 .tPTV.dial :PRVmixing + "processing"%;  +130 "core" +2 .tPRV.dial :sipper + "processing"%<  +44 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%='e +2294 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%>  "collection"'?  +7 "core" +121 +2 .tPS.seek 0.5ml +2 "processing"%@' +1276 "core" ' + .tPRV.dial :waste2 +2 "processing"%A @ +100 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%B'ؾ +595 "core" ' + .tPSV.dial PSR +2 "processing"%C +102 "core"  + "processing"%D% +4 "core" %غi\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%E'X\\ +1096 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%F' +1614 "core" ' + .tPSV.dial :mixloop +2 "processing"%G +103 "core" +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2634 "core" ' + .tPSV.dial PSR + "processing"%I +104 "core"  + "processing"%J% +4 "core" %ػv\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%K'X\\ +1110 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%L' +1616 "core" ' +2 .tPSV.dial :mixloop + "processing"%M +104 "core" + .tPRV.dial :sipper +2 "processing"%N  +42 "core" +2 .tPS.seek 0ml + "processing"%O'ؾ +2633 "core" ' + .tPSV.dial PSR +2 "processing"%P +103 "core" + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%Q' +2629 "core" ' +2 .tPSV.dial :mixloop + "processing"%R +105 "core" +2 .tPS.seek 0ml +2 "processing"%S'ؾ +2632 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%T& +4 "core" &a\ +2 .tHand.open + "manipulator"&U1 +24 "core" 1 + "manipulator"&V% +4 "core" %    +2 "storage"(W% +3 "core" % /\  + "storage"(X. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(Y(<- +979 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Z& +3 "core" &<, 6\  + "manipulator"&[& +4 "core" &- =  + "manipulator"&\\% +4 "core" %  (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&]( +170 "core" ( + "manipulator"&^& +40 "core" & K 1 +8 "storage"(_& +3 "core" &<, K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&`'O +95 "core" ' + "storage"(a& +4 "core" &<, a\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'r +301 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &<, \  + "manipulator"&e& +4 "core" & 0 +2 .tElbow.seek 5 + "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +3 "core" & 8 0 +2 "storage"(h& +3 "core" &<, \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&i'Ϲ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"(l' +7 "core" & H 0 +2 "manipulator"&m% +4 "core" % ϯ % +2 .tForearm.seek :retract + "manipulator"&n' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&o( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&p& +4 "core" & U N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" & ( N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r' +96 "core" ' +2 "manipulator"&s& +4 "core" & b N +2 "manipulator"&t% +3 "core" %  +2 "processing"%u& +4 "core" &X\ +2 "processing"%v& +5 "core" &c\ +2 .tPC.seek :closed + "processing"%w(^ +4 "core" &[\ +8 & +b\ $c +10 &U{b\ ~8 +9 &~vg\ }L +9 &Qd\ O +10 &PRd\ O +9 &Of\ O +10 &QZ\ O +9 &QS\ O +9 &WPZ\ O +10 &Q\\\ O +9 &QX\ O +9 &!QT\ O +10 &#_RY\ O +9 &%"OR\ O +10 &&RW\ O +9 &(RS\ O +9 &*hQJ\ O +10 &,)RH\ O +9 &-QH\ P +9 &/RK\ O +10 &1nTK\ P +9 &32QA\ O +10 &4QC\ P +9 &6QO\ O +9 &8wOK\ O +10 &:9RA\ O +9 &;T?\ P +9 &=R<\ O +10 &?S5\ O +9 &A?S7\ P +10 &Bg<\ R +9 &Dy5\ }T +9 &Ft3\ yV +10 &H5C\ {V +9 &I7\ {V +9 &K6\ xV +10 &Mz5\ yV +9 &O;9\ yW +10 &P7\ wX +9 &R/\ yX +9 &T-\ wX +10 &VA(\ xX +9 &X!\ xW +9 &Y+\ xW +10 &['\ xX +9 &]H+\ wL +10 &^}P0\ u#l +9 &^+4\ 4 +2 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&x1 +58 "core" 1 +2 "manipulator"&y% +4 "core" %  N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%{ h +2 %|9 +6 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +3 "core" 9  +102 "processing"%9 +2 "core" 9  +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +3 "core" 9& +103 "processing"%\ 9 +2 "core" 9* +102 "processing"% 9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +103 "processing"%9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%9 +2 "core" 9? +102 "processing"%9 +3 "core" 9D +102 "processing"%9 +2 "core" 9H +103 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%9 +2 "core" 9a +103 "processing"%9 +2 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +3 "core" 9m +102 "processing"% 9 +2 "core" 9r +102 "processing"%!9 +3 "core" 9v +102 "processing"%"9 +2 "core" 9z +103 "processing"%#9 +2 "core" 9~ +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +22 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +103 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +3 "core" 9 +102 "processing"%.9 +2 "core" 9 +103 "processing"%/9 +2 "core" 9 +102 "processing"%09 +2 "core" 9 +102 "processing"%19 +2 "core" 9  +103 "processing"%29 +2 "core" 9 +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +2 "core" 9 +103 "processing"%59 +3 "core" 9 +102 "processing"%9 +2 "core" 9# +3 .tPH.hold 2:00:00,28C +2 "processing"%7 php +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +103 "core"  + "processing"%9% +4 "core" %ؼ!\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%:' +598 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%;' +1615 "core" ' + .tPTV.dial :puck +2 "processing"%<  +128 "core"  + .tPSV.dial PTV +2 "processing"% +74 "core" + .tPBV.dial :waste1 + "processing"%?  +55 "core" +2 "processing"%>% +4 "core" %<\ +2 .tPS.seek 1.5ml + "processing"%=') +588 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%A * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%@'ؾ +1613 "core" ' +2 .tdelay 5:00 +9172 "Can"\ HE +20831 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%C  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%D * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%B +84 "core" +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%E' +2432 "core" ' +2 .tPSV.dial PTV + "processing"%G +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%F +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%I +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%J  +73 "core"  +2 .tPS.seek 0ml + "processing"%H'ؾ +2353 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%K  +130 "core" + .tPSV.dial :mixloop + "processing"%M +44 "core" +2 .tPRV.dial :ab1 + "processing"%N @ +101 "core" > + .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%L' +359 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%P  +42 "core"  + "processing"%O% +4 "core" % \  +2 .tPS.seek 0.35ml +2 "processing"%R'k +456 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'Q  +30 "core" +2 .tPRV.dial :air + "processing"%T  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%U'K +1188 "core" ' +2 .tPRV.dial :waste2 + "processing"%V @ +72 "core" > +2 .tPS.seek 0.5ml +2 "processing"%W' +868 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%X  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%6' +1614 "core" ' + .tPSV.dial :PML +2 "processing"%Z +44 "core" + .tPTV.dial :mixing +2 "processing"%[ @ +73 "core" B +2 .tPBV.dial :waste1 + "processing"%\\  +35 "core" + "processing"%^% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%_' +230 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%a'ؾ +1987 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +4 "core" & K\ +7 "manipulator"&c& +12 "core" &  N +2 "manipulator"&d% +7 "core" %  +  +6 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek FlushPuck::Garage +3 "manipulator"&e(- +128 "core" ( +4 "manipulator"&g& +11 "core" &- { \ +4 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &h& +9 "core" &- . \ +4 .tForearm.seek :garage +4 "manipulator"&j'w +96 "core" ' +4 .tHand.close +4 "manipulator"&k/ +58 "core" / +2 "manipulator"&m& +10 "core" &- 8 \ +5 "manipulator"&]% +9 "core" % ς   +4 .tForearm.seek :retract +6 "manipulator"&`' +92 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 .tElbow.seek CC + "manipulator"&b(ӂ +280 "core" ( + "manipulator"&i& +4 "core" &Ӌ) Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &Ӌ)  Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&q'? +104 "core" ' +2 "manipulator"&f& +4 "core" &Ӌ* J Ab +2 "manipulator"&s% +4 "core" %E  +2 "collection"'t& +4 "core" & E\ +2 "collection"'u& +5 "core" & J\ +2 .tCC.seek :closed + "collection"'l(\\ +5 "core" & G\ +6 & 4 J\ $e +10 &U} 9\ 7 +9 &}{ 6\ L +9 &X ?\ O +10 &VT A\ O +9 &T 7\ N +9 &U C\ O +10 &X 8\ O +9 &^W =\ O +10 &!W 7\ O +9 &S ;\ O +9 &!O 9\ N +10 &#gU A\ O +9 &%)Q >\ O +9 &&N :\ N +10 &(W 6\ O +9 &*pU 6\ N +10 &,1Y F\ O +9 &-X B\ O +9 &/W G\ N +10 &1wX G\ O +9 &3:U >\ N +9 &4R 9\ O +10 &6V >\ O +9 &8S 9\ N +10 &:BU B\ N +9 &<Y ;\ O +9 &=V :\ O +10 &?T >\ N +9 &AIX >\ O +10 &C _ :\ O +9 &Dm ;\ R +9 &F} E\ U +10 &H1 >\ Z +9 &I >\ [\ +9 &K 9\ [\ +10 &Mp B\ \\ +9 &O4 <\ [ +9 &P <\ \\ +10 &R <\ ] +9 &Tr D\ ^ +10 &V5 <\ ^ +9 &W ;\ _ +9 &Y <\ ` +10 &[q C\ N +9 &\\@ B\ , +9 &\\ @\ !b +6 ( + "collection"'u& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 + "collection"'n& +4 "core" &\\ :\ !b +2 &\\ ;\ !b + .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&x% +4 "core" % E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +91 "core" ' +2 .tPSV.dial PSR + "processing"%| +105 "core"  +2 "processing"%v% +4 "core" %u\ q + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%}'+ +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +5 "processing"%r  +45 "core"  +121 .tPS.seek 0ml +2 "processing"%~'ؾ +1610 "core" ' + .tPSV.dial PSR +2 "processing"% +45 "core"  +2 .tPSR.select :air +4 "processing"% +14 .tPS.seek 2.5ml + "processing"%' +2634 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%  + "collection"'  +33 "core" ~ +126  +2 .tPSV.dial :mixloop + "processing"% +114 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"' +3 "core"  +2 "collection"'  +4 "core"  +2 .tPTV.dial :PRVmixing + "processing"%\  +73 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2637 "core" ' +2 .tPSV.dial :air +5 "processing"%  +46 "core"  +4 .tPS.seek 2.5ml +5 "processing"%' +2630 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tPSV.dial :air + "processing"%  +57 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2627 "core" ' +2 .tPSV.dial :mixloop + "processing"% +43 "core" + .tPS.seek 0ml +2 "processing"%'ؾ +1849 "Can"\ lit +780 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +5 "core" &ӌ( Aa + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +3 "core" ( + "manipulator"&& +4 "core" &ӌ( 5 Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ(  H Aa +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'( +450 "core" ( +2 "manipulator"& & +4 "core" &Ӎ( A` + "manipulator"&!% +4 "core" % 4   % +2 .tForearm.seek :retract + "manipulator"&"' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&#(- +286 "core" ( + "manipulator"&$& +4 "core" &- 7 [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &- y [ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&&'w +100 "core" ' + .tHand.open +2 "manipulator"&'1 +54 "core" 1 +2 "manipulator"&(% +4 "core" % ρ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +91 "core" ' +2 ."da"delayUntil "11:47:11.78" +24570 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%* @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%+  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%, * +35 "core" , + ."da"PSV.dial :air +2 "processing"%-  +44 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%.' +2434 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%/ +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%0  +56 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%1 +41 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%2  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +2376 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +129 "core"  + "processing"%5% +4 "core" %غ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%8' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%9  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%S +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%:  +34 "core" +2 "processing"%<% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%'0 +585 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%? * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%;  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%{' +2432 "core" ' + ."da"PSV.dial PTV +2 "processing"%C +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%D +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%B +73 "core" + ."da"delay 5 seconds +16 "Can"\ FC +487 ."da"PSV.dial :air +2 "processing"%@  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +2375 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%F +129 "core"  +2 "processing"%I% +4 "core" %ط\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%J' +592 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%E' +1608 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%K +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%M  +35 "core" + "processing"%N% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%H'& +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%P * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%O'ؾ +1607 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%L  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Q * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%T +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%R' +2429 "core" ' + ."da"PSV.dial PTV +2 "processing"%V +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%U +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%X +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%W  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Z'ؾ +2366 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%[  +41 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%\\  +130 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%^  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"% +46 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%6' +393 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%_  +45 "core"  +2 "processing"%% +4 "core" % O\  +2 ."da"PS.seek 0.55ml + "processing"%c' +332 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%d  +58 "core" +2 ."da"PS.seek 2ml +2 "processing"%g' +1565 "core" ' + ."da"PSV.dial :PML +2 "processing"%h +42 "core" +2 ."da"PTV.dial :mixing +2 "processing"%o @ +73 "core" A + ."da"PBV.dial :waste1 +2 "processing"%k  +35 "core" + "processing"%m% +4 "core" %`\  +2 ."da"PS.seek 1.85ml + "processing"%]' +235 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%z * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%j'ؾ +1986 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +23196 "Can"\ lj +24806 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%i  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%p * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%e  +56 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%f' +2446 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%s +43 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%t  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%` +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +57 "core" + ."da"PS.seek 0ml +2 "processing"%n'ؾ +2421 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  +2 "processing"%x% +4 "core" %ؾ\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%u' +591 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%|' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%v  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%q +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%a  +35 "core" + "processing"%r% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%}'( +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%~'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +52 ."da"PS.seek 2.5ml + "processing"%' +2446 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%\ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1261 "Can"\ PM +1116 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +131 "core"  + "processing"%% +4 "core" %ػY\ } +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1607 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" + "processing"%% +4 "core" %v\  +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +589 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%b  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%y * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"% ' +2431 "core" ' + ."da"PSV.dial PTV +2 "processing"%! +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%$ +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%%  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2376 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%' +142 "core" + "processing"%(% +4 "core" %ؽ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%"' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%&' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%* +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%+  +34 "core" +2 "processing"%,% +3 "core" %o\  +2 ."da"PS.seek 1.5ml +2 "processing"%-'+ +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%/'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%0  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%1 * +35 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%2 +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%.' +2412 "core" ' + ."da"PSV.dial PTV +2 "processing"%4 +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%5 +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%3 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%9'ؾ +2359 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%S +141 "core"  +5 "processing"%:% +4 "core" %ؿS +5 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +10 "processing"% +16 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +3 "processing"%<' +337 "core" ' + ."da"delay 5 seconds +503 "processing"%8% +3 "core" %O  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%?' +336 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml +2 "processing"%' +1620 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%; +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%A  +36 "core" + "processing"%=% +4 "core" %N +2 ."da"PS.seek 1.5ml +2 "processing"%>') +550 "Can"  +36 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%C * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1614 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%B  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%@ * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +76 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%F' +2556 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%I +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%G +77 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%J +89 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%K  +89 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +2535 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +140 "core"  +2 "processing"%E% +3 "core" %ػ  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%P' +2114 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%H +86 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +36 "core" +2 "processing"%Q% +3 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%T'( +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%O * +33 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%V  +105 "core"  +3 ."da"PS.seek 0ml +2 "processing"%U'ؾ +1614 "core" ' + "processing"%X9 +4 "core" 9o5 +2 #"da"Processing Puck Heater at 28.2C before imaging + .PH.coast +2 "processing"%W  +3 "core" 5 + 5 + "processing"%R& +4 "core" &^+ 4 + #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&[% +3 "core" %  2 G +2 "storage"(\\% +3 "core" % w  +2 "storage"(^. +3 "core" .(<- + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"((,y +357 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (Z& +3 "core" &,| Y >\ = + "manipulator"&_& +4 "core" &-  [ +2 "manipulator"&% +3 "core" %  8  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&6( +172 "core" ( + "manipulator"&d& +4 "core" &  D8 +2 "storage"(c& +3 "core" &,|  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&h' +90 "core" ' +2 "storage"(o& +23 "core" &,| y | *\ D + ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(k'r +283 "core" ' +2 "storage"(m- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(z'1 +47 "core" ' +2 "manipulator"&g& +4 "core" & 9 F7 +2 "manipulator"&]% +3 "core" %  E +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&i' +96 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&p( +243 "core" ( + "manipulator"&e& +4 "core" & % +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" & 0 % +2 ."da"Forearm.seek PC +2 "manipulator"&s' +95 "core" ' + ."da"Hand.close +2 "manipulator"&t/ +76 "core" / +2 ."da"PC.seek :open +2 "processing"%`( +460 "core" ( +2 "storage"( & +3 "core" &,f   +2 "manipulator"&f& +4 "core" & B L% + "manipulator"& % +4 "core" % O K +2 ."da"Forearm.seek :retract + "manipulator"&x' +97 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 + "manipulator"&n( +245 "core" ( +52 "manipulator"&u& +4 "core" &   L+ +2 "storage"(v& +3 "core" &,f   +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&q' +97 "core" ' +2 ."da"Hand.open + "manipulator"&a1 +72 "core" 1 +2 "storage"(r- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +5 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2812h.tif +5 "processing"%}& +12 "core" &? x +4 "manipulator"&& +10 "core" & <+ +4 "manipulator"&% +8 "core" %  w +6 ."psFlush"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +95 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&~(- +174 "core" ( + "manipulator"&& +4 "core" &- . 2 rh +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &-  Lh +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +93 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +64 "core" / +2 "manipulator"&& +4 "core" &-   _ Xh + "manipulator"&% +4 "core" % ϊ  W +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"& ( +119 "core" ( +2 "manipulator"&& +4 "core" & 3 E ? [U +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &    \\U +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +91 "core" ' + "manipulator"&& +4 "core" & /  U +2 "manipulator"&% +4 "core" %   9b +2 "processing"%& +4 "core" & +2 "processing"%& +4 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%b(^ +4 "core" & +9 &\ # ~$c +9 &Tu : +9 &|k N +10 &F T +9 &CB S +9 &> S +10 &D R +9 &F S +10 &LC S +9 & E S +9 &F S +10 &!: U +9 &#J> }V +9 &% ; }W +10 &&< |W +9 &(; {W +9 &*Q= {W +10 &,9 {W +9 &-: {W +10 &/; {W +9 &1Y< {W +9 &3: zV +10 &49 {V +9 &6;? zW +10 &8b;U zV +9 &:"9U zW +14 &;;P zW +5 &=E\\ V +12 &?sBQ S +6 &A5E> S +10 &BT= V +9 &DmF X +9 &Fh|C Z +10 &H+}> Z +9 &I}7 [\ +10 &K8 \\ +9 &Mj) \\ +9 &O+. \\ +10 &P. pa +9 &R2 pa +10 &Ta2 ob +9 &V'* o` +9 &W ma +10 &Y oa +9 &[l na +9 &]+ lb +10 &^Rc sV +9 &^T uH +2 ( +2 "processing"%& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 2.05 +2 "processing"%y& +4 "core" &^U sH + ."psFlush"Hand.open +2 "manipulator"&l1 +72 "core" 1 +2 "manipulator"&% +4 "core" %  | Mb +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&!' +91 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +46 "core"  +2 "processing"%$% +4 "core" %ظ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%%' +606 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +737 #"da"SX HX9/16 (USB:13): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 31.02 seconds\ /var/log/esp/da21sep2812h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2812h15s.tif +1399 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%' @ +60 #"da"SX HX9/16 (USB:13): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2812h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2812h30s.tif +142 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%(  +140 "core" + ."psFlush"PSV.dial :mixloop +3 "processing"% +112 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%"'ؠ +2633 "core" ' +4 ."psFlush"PSR.select :air +7 .PSV.dial PSR +5 "processing"%* +11 #"da"SX HX9/16 (USB:13): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2812h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2812h70s.tif +102 "core"  + "processing"%+% +4 "core" %آ: v +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%,' +594 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%&' +2132 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%- @ +78 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%0 +116 "core" + ."psFlush"PS.seek :empty +2 "processing"%1'ؠ +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%2 +123 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%/'X\\ +701 #"da"SX HX9/16 (USB:13): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2812h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "31.02 sec auto-exposure",Subject: "da21sep2812h images!" +9 "storage"(4- +2 "core" -' +2 "storage"(5& +5 "core" &,f  \ - +3 "manipulator"&3& +4 "core" & U + "manipulator"&% +4 "core" %   +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."da"Elbow.seek 4 +2 "manipulator"&.( +243 "core" ( + "manipulator"&S& +5 "core" & n  + "storage"(:& +4 "core" &,f \ " +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&9' +92 "core" ' +2 ."da"SE.reconfigure :gently +4 "storage"(#QK-0-\ b +2 "core" ' +2 ."da"SE.seek -0.51 Pucks below Top Plate +3 ."psFlush"PSR.select :air +2 "storage"(8'" + "processing"% +11 ."psFlush"PS.seek 2.5ml +2 "processing"%<' +36 "core" ' +2 "manipulator"&?& +4 "core" &  + "storage"(;& +4 "core" &,f a ] #\  +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 + "manipulator"&A'7 +21 "core" ' +4 ."da"Elbow.hold +72 "manipulator"&=, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&C% +4 "core" %* + "storage"(>& +4 "core" &,f b c\  +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 4 + 287 counts +2 "manipulator"&B'V +13 "core" ' + "manipulator"&@& +5 "core" &  + "storage"({& +4 "core" &,f z } U\  +2 ."da"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&D' +16 "core" ' +3 "storage"(I% +10 "core" % y } !\ +8 ."downElevator"SE.seek :down +6 "storage"(G' +96 (J% +8 "core" %Q? \ xU] +4 "manipulator"&K% +8 "core" % M +4 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +4 "manipulator"&F' +86 "core" ' +48 ' +4 ."downElevator"SE.stop + "storage"(5 +6 (N& +6 "core" &,f e\  +1019 ' +2 ."psFlush"PSV.dial PTV +4 "processing"%E +74 "core" +3 ."psFlush"PTV.dial :puck +3 "processing"%M  +73 "core"  +4 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +4 "processing"%H'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +3 "processing"%L +75 "core"  +2 ."psFlush"PSR.select :flush +6 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +3 "processing"%Q' +594 "core" ' +2 ."psFlush"PSR.select :air +8 "processing"% +12 ."psFlush"PS.seek 2.5ml +4 "processing"%P' +2143 "core" ' +2 ."psFlush"PSV.dial PTV +4 "processing"%O +74 "core" + ."psFlush"PBV.dial PSV +3 "processing"%V U +52 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%T'ؾ +2086 #"uploadLog"upsync +554 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%X @ +45 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%W' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%R  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%['ؾ +2624 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%\\ +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%^' +2628 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%Y +72 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%Z'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%_ @ +45 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1740 "Can"\ OL +895 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%d  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%c'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%# +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%o'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%)' +1613 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%m +72 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%g  +55 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%]'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%k +73 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%h' +593 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%e' +2122 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%j +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%6 U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%t'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%i @ +45 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2638 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%s' +2641 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%u +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%p'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%v @ +45 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%a' +2632 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%r  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%}'ؾ +2634 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&x& +4 "core" &  + "manipulator"&% +4 "core" %    +2 ."psFlush"Elbow.seek PC + "manipulator"&( +244 "core" ( +2 "manipulator"&z& +4 "core" & < + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" & < +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +91 "core" ' + ."psFlush"Hand.close +2 "manipulator"&\ / +61 "core" / +2 ."psFlush"PC.seek :open + "processing"%q( +457 "core" ( +2 "manipulator"&n& +4 "core" & < + "manipulator"&% +4 "core" %  i ! +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +126 "core" ( +2 "manipulator"&& +4 "core" &- k + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- D +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +101 "core" ' + ."psFlush"Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % u %  + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tFinished short da assay +2805 #-> access 4 +3 "storage"(% +3 "core" % <\  +2 "manipulator"&~% +4 "core" %   + "manipulator"&& +4 "core" &- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(`(C +990 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (y& +2 "core" &F \ +5337 #t-> access 5 + "storage"(l% +4 "core" % N\  +2 "manipulator"&% +4 "core" %  d  + "manipulator"&& +3 "core" &-  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +355 "core" ( +37 .tSC.configure :limp +11 "storage"($\ 1b +2 ($& +3 "core" & L\  +2186 #t-> exit +5 #mEXIT @1632858006.87PDT @1632858030.49PDT = =tMAIN =mMAIN_scheduler @PDT1632858032.33 #"core_reset"Sent BREAK + #t@58196 receive with ifg=0x10, ie=0xFD + #@58831 receive with ifg=0x10, ie=0xFD + #@59487 receive with ifg=0x10, ie=0xFD + #@60125 receive with ifg=0x10, ie=0xFD + #@60759 receive with ifg=0x10, ie=0xFD #@61393 receive with ifg=0x10, ie=0xFD + #@62026 receive with ifg=0x10, ie=0xFD #@62352 receive with ifg=0x80, ie=0xFD + #@15017 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +288 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +387 "Can"\ B@ + \ B@ #tPolling Can every 10:00 +1318 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e a\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؾ'\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ S\ > +2 .tSS.configure :default +2 "sampler")#.0X + %ؾl\ + %  (  + "manipulator"&& +5 "core" &-  + "storage"(& +3 "core" &  Z\  +2 "storage"(% +4 "core" % r\  + "collection"'& +3 "core" & W\ +2 "processing"%& +3 "core" &r\ +2 "collection"'  +3 "core"  +2 "collection"'! +2 "core"  +2 "collection"'" +3 "core" ~ + "processing"%# +3 "core"  +2 "processing"%$ +3 "core" W + "processing"%% +3 "core"  +2 "processing"%& +3 "core" B + "sampler")' +3 "core"  +2 "collection"'(% +4 "core" %e T\ + "processing"%)% +4 "core" %ؾ%\ +2 "sampler")*% +3 "core" %څ U\ > +2 "collection"'+& +4 "core" & W\ +2 "processing"%,& +3 "core" &%\ +2 "manipulator"&-% +3 "core" %  M  +2 "manipulator"&.& +4 "core" &- +2 "storage"(/& +3 "core" &  Z\  +2 "storage"(0% +4 "core" % v\  + "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +870 #t-> startTube 5 +2572 #-> $da[:extractVol]=.2 +54689 "Can"\ JH +10267 #t-> shortDA +2 "collection"'3% +3 "processing"%4% +4 "core" %e ]\ +6 %ؾO\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +830 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%5 +132 "core" + .tPTV.dial :PRVmixing +2 "processing"%6  +130 "core" + .tPRV.dial :sipper +2 "processing"%7  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%8'e +2303 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%9  + "collection"':  +17 "core" +111  +2 .tPS.seek 0.5ml +2 "processing"%;' +1279 "core" ' + .tPRV.dial :waste2 +2 "processing"%< @ +98 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml + "processing"%='ؾ +613 "core" ' + .tPSV.dial PSR +2 "processing"%> +101 "core"  +2 "processing"%?% +4 "core" %\  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +10 .tPS.seek 1ml +2 "processing"%@'X\\ +1104 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%A' +1608 "core" ' + .tPSV.dial :mixloop +2 "processing"%B +103 "core" +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2627 "core" ' +2 .tPSV.dial PSR + "processing"%D +104 "core"  + "processing"%E% +4 "core" %[\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%F'X\\ +1107 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%G' +1611 "core" ' + .tPSV.dial :mixloop +2 "processing"%H +103 "core" + .tPRV.dial :sipper +2 "processing"%I  +44 "core" +2 .tPS.seek 0ml + "processing"%J'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%K +103 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%L' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +105 "core" + .tPS.seek 0ml +2 "processing"%N'ؾ +2636 "core" ' + #tLoading da puck from tube 5 into Processing Clamp +2 "processing"%O& +4 "core" &X\ + .tHand.open +2 "manipulator"&P1 +20 "core" 1 +2 "manipulator"&Q% +4 "core" %    + "storage"(R% +4 "core" %  \  + "storage"(S. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(T(<- +983 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (U& +3 "core" &<+ q\  +2 "manipulator"&V& +3 "core" &-  +2 "manipulator"&W% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&X( +170 "core" ( +2 "manipulator"&Y& +4 "core" &  0 + "storage"(Z& +4 "core" &<+   {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&['O +102 "core" ' + "storage"(\\& +4 "core" &<+ , @\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +45 .tSE.seek :beamBreak + "storage"(]'r +300 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &<+ B\  + "manipulator"&`& +4 "core" & / + .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&b& +3 "core" & % / +2 "storage"(c& +4 "core" &<+   \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&d'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(g' +7 "core" &  / +2 "manipulator"&h% +3 "core" %  ' +2 .tForearm.seek :retract +2 "manipulator"&i' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&k& +4 "core" & ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" & ; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&m' +89 "core" ' +2 "manipulator"&n& +4 "core" &  ; +2 "manipulator"&o% +4 "core" % z j +2 "processing"%p& +3 "core" &S\ +2 "processing"%q& +5 "core" &S\ +2 .tPC.seek :closed +2 "processing"%r(^ +4 "core" &X\ +7 &4S\ $d +10 &TxQ\ 7 +9 &|vS\ K +9 &QT\ N +10 &_SO\ O +9 &"RD\ N +9 &P=\ N +10 &O@\ N +9 &hO@\ N +10 &*TB\ N +9 &SD\ O +9 &!R:\ O +10 &#pRD\ N +9 &%2OE\ N +10 &&S7\ O +9 &(R0\ O +9 &*wR0\ O +10 &,9R3\ O +9 &-R9\ O +9 &/T8\ O +10 &1P5\ N +9 &3BQ:\ N +10 &5T8\ N +9 &6P6\ N +9 &8U,\ N +10 &:JO5\ N +9 &< Q\ N +9 &=R&\ N +10 &?X1\ O +9 &APU$\ O +9 &C\ k \ R +10 &D\ T +9 &F(\ U +10 &HH*\ T +9 &J%\ U +9 &K!\ U +10 &M#\ V +9 &OL\ V +10 &Q %\ W +9 &R*\ V +9 &T\ W +10 &VR\ V +9 &X\ W +9 &Y\ W +10 &[\ W +9 &]X\ G +10 &^y?v\ *| +9 &^/\ 1 +5 ( +2 "processing"%q& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&s1 +3 "core" &^$\ 1 +50 1 +2 "manipulator"&t% +4 "core" %  ! j + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%v h + %w9 +7 "core" 9 +102 "processing"%x9 +2 "core" 9 +102 "processing"%y9 +3 "core" 9  +102 "processing"%z9 +2 "core" 9  +103 "processing"%{9 +2 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +2 "core" 9 +103 "processing"%~9 +2 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +103 "processing"%9 +2 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%\ 9 +2 "core" 9? +102 "processing"% 9 +2 "core" 9C +103 "processing"%9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%9 +2 "core" 9] +103 "processing"%9 +2 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +3 "core" 9i +102 "processing"%9 +3 "core" 9m +103 "processing"%9 +2 "core" 9q +102 "processing"%9 +3 "core" 9v +102 "processing"%9 +2 "core" 9z +102 "processing"%9 +3 "core" 9~ +102 "processing"%9 +2 "core" 9 +103 "processing"% 9 +2 "core" 9 +102 "processing"%!9 +3 "core" 9 +102 "processing"%"9 +3 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9  +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +2 "core" 9! +3 .tPH.hold 2:00:00,28C +2 "processing"%/ php +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +104 "core"  + "processing"%1% +4 "core" %ؿ\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%2' +599 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%3' +1610 "core" ' +2 .tPTV.dial :puck + "processing"%4  +130 "core"  + .tPSV.dial PTV +2 "processing"%5 +86 "core" +2 .tPBV.dial :waste1 + "processing"%6  +55 "core" + "processing"%7% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%'' +589 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%: * +34 "core" + +3 .tPS.seek 0ml + "processing"%9'ؾ +1607 "core" ' +2 .tdelay 5:00 +3906 "Can"\ HF +26096 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%8  +34 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%< * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%; +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%>' +2423 "core" ' +2 .tPSV.dial PTV + "processing"%? +86 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%= +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"%@ +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%B  +86 "core"  +2 .tPS.seek 0ml + "processing"%A'ؾ +2371 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%D  +129 "core" +2 .tPSV.dial :mixloop + "processing"%E +43 "core" + .tPRV.dial :ab1 +2 "processing"%C @ +100 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%F' +357 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%H  +42 "core"  +2 "processing"%I% +4 "core" %\ e\ t  +2 .tPS.seek 0.35ml + "processing"%G'j +451 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'K  +28 "core" +2 .tPRV.dial :air + "processing"%J  +43 "core"  +2 .tPS.seek 0.9ml +2 "processing"%M'K +1170 "core" ' + .tPRV.dial :waste2 +2 "processing"%L @ +72 "core" > +2 .tPS.seek 0.5ml + "processing"%O' +869 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%P  +43 "core"  + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%Q' +1610 "core" ' +2 .tPSV.dial :PML + "processing"%R +46 "core" + .tPTV.dial :mixing +2 "processing"%S @ +73 "core" A +2 .tPBV.dial :waste1 + "processing"%  +35 "core" + "processing"%U% +4 "core" %k\  +2 .tPS.seek 1.85ml +2 "processing"%V' +238 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%W * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%Y'ؾ +1971 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'Z& +3 "core" & M\ + "manipulator"&\\& +4 "core" & C : +2 "manipulator"&% +3 "core" %  2  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +127 "core" ( + "manipulator"&^& +4 "core" &- 6  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &- (  +2 .tForearm.seek :garage + "manipulator"&`'w +102 "core" ' + .tHand.close + "manipulator"&b/ +55 "core" / +2 "manipulator"&c& +5 "core" &- H  + "manipulator"&e% +4 "core" % i ? | + .tForearm.seek :retract +2 "manipulator"&f' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +284 "core" ( +2 "manipulator"&X& +4 "core" &ӕ b 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &ӕ S 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'? +95 "core" ' + "manipulator"&d& +4 "core" &ӕ 7 +2 "manipulator"&k% +3 "core" %? 6 x +2 "collection"'l& +4 "core" & V\ +2 "collection"'a& +5 "core" & P\ + .tCC.seek :closed +2 "collection"'n(\\ +4 "core" & I\ +8 & 4 N\ $d +10 &U{ D\ 7 +9 &~z K\ L +9 &Y H\ O +10 &[T N\ N +9 &S @\ O +10 &W A\ O +9 &W <\ O +9 &bS B\ O +10 &%T @\ N +9 &T ?\ N +9 &!T 8\ N +10 &#kT 8\ N +9 &%-O 8\ N +10 &&S :\ O +9 &(T 8\ O +9 &*rQ 7\ O +10 &,4Q @\ O +9 &-P 9\ O +9 &/M 8\ N +10 &1yQ @\ O +9 &3=K @\ N +10 &4N >\ O +9 &6Q @\ O +9 &8N E\ O +10 &:DR 5\ O +9 &<R ?\ O +9 &=R 9\ O +10 &?R 2\ O +9 &AKU 5\ O +10 &C\ Z <\ P +9 &Dj :\ R +9 &F~ >\ V +10 &H3 ?\ Z +9 &I @\ u\\ +9 &K 9\ u] +10 &Mr <\ u\\ +9 &O2 :\ u] +10 &P :\ t] +9 &R 8\ r^ +9 &Tr ?\ r_ +10 &V1 3\ p` +9 &W 6\ o` +9 &Y 9\ la +10 &[s :\ lN +9 &\\= 8\ x3 +10 &\\ 5\ ~[ +5 ( + "collection"'a& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.43 + "collection"'o& +4 "core" &\\ 3\ [ + &\\ 6\ [ +2 .tHand.open + "manipulator"&p1 +55 "core" 1 +2 "manipulator"&g% +4 "core" % ?  Z x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' + .tPSV.dial PSR + "processing"% +105 "core"  +2 "processing"%s% +4 "core" %\ y + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%t'+ +1613 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%w  +44 "core"  +2 .tPS.seek 0ml + "processing"%q'ؾ +1609 "core" ' + .tPSV.dial PSR +2 "processing"%x +46 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%m' +2640 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%y  + "collection"'z  +69 "core" +89  +2 .tPSV.dial :mixloop + "processing"%{ +102 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'| +4 "core"  + "collection"'}  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%~  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2627 "core" ' + .tPSV.dial :mixloop +2 "processing"% +46 "core" + .tPS.seek 0ml +2 "processing"%'ؾ +2234 "Can"\ ca +405 "core" ' + .tPSV.dial :air + "processing"%  +46 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%\ +45 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2629 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӗ 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +27 "core" ( +2 "manipulator"&& +4 "core" &Ӂ w G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӂ G +2 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'( +452 "core" ( + "manipulator"&& +4 "core" &Ӂ a G +2 "manipulator"&% +3 "core" % 8 k 0 +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +276 "core" ( +2 "manipulator"&& +4 "core" &- B ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- R ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +102 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"& % +4 "core" % y N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +95 "core" ' +2 ."da"delayUntil "13:15:58.42" +24812 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%" @ +73 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%#  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%$ * +35 "core" , + ."da"PSV.dial :air +2 "processing"%%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%&' +2432 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%' +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%(  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"%) +55 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%*  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +2387 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%, +131 "core"  +2 "processing"%-% +4 "core" %ؽ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%.' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%0' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%1  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%N +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%2  +34 "core" +2 "processing"%4% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%5'( +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%6 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%7'ؾ +1631 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%3  +34 "core" +2 ."da"delay 30 seconds +1530 "Can"\ FC +1472 ."da"PBV.dial between PSV and waste1 +2 "processing"%: * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%v' +2433 "core" ' +2 ."da"PSV.dial PTV + "processing"%8 +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%< +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%; +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%9  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%?'ؾ +2379 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%= +132 "core"  + "processing"%@% +4 "core" %w\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%B' +589 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%>' +1618 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%D +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%E  +35 "core" + "processing"%C% +4 "core" %\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%A'' +583 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%H * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%F  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%K * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%J +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%G' +2434 "core" ' + ."da"PSV.dial PTV +2 "processing"%L +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%M +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%P +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%O  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%R'ؾ +2391 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%S  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%  +130 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%U  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%W +43 "core" + ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%Q' +392 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%V  +46 "core"  + "processing"%Z% +4 "core" %\ \  +2 ."da"PS.seek 0.55ml +2 "processing"%\\' +334 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.seek 2ml + "processing"%^' +1567 "core" ' + ."da"PSV.dial :PML +2 "processing"%_ +56 "core" +2 ."da"PTV.dial :mixing + "processing"%j @ +72 "core" @ +2 ."da"PBV.dial :waste1 + "processing"%b  +35 "core" + "processing"%c% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%e' +235 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%u * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%`'ؾ +1984 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +17874 "Can"\ EC +30128 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%X  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%[ * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%  +42 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%d' +2423 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%k +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%l  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%f +59 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +42 "core"  +2 ."da"PS.seek 0ml +2 "processing"%o'ؾ +2409 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%p +131 "core"  +2 "processing"%g% +3 "core" %ؾ~\ v +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%a' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%s  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%] +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%Y  +35 "core" + "processing"%w% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%t'/ +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%x * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%q'ؾ +1607 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%z  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%y * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%|' +311 "Can"\ IG +2113 "core" ' + ."da"PSV.dial PTV +2 "processing"%} +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%~ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%m +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +136 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2387 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +132 "core"  +2 "processing"%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +584 "core" ' +2 ."da"delay 5 seconds +507 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1613 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%\ +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %\ \ +2 ."da"PS.seek 1.5ml + "processing"%') +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%'ؾ +1629 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%h  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%i * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%n +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2441 "core" ' +2 ."da"PSV.dial PTV + "processing"% +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2384 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +145 "core" +2 "processing"% % +4 "core" %ؿ\ t + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%" +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%#  +34 "core" +2 "processing"%$% +4 "core" %\  + ."da"PS.seek 1.5ml +2 "processing"%%'* +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%''ؾ +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%(  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%) * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%* +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%&' +2437 "core" ' + ."da"PSV.dial PTV +2 "processing"%, +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%- +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%+ +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%.  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%1'ؾ +1247 "Can"\ ]Z +1148 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%N +141 "core" +2 "processing"%2% +10 "core" %غx +5 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +7 "processing"% +14 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +6 "processing"%4' +345 "core" ' +2 ."da"delay 5 seconds +502 "processing"%0% +4 "core" %z  + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%6' +339 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%5' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%3 +89 "core" + ."da"PBV.dial :waste1 +2 "processing"%:  +36 "core" + "processing"%% +4 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%7'. +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%8 * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%<'ؾ +1605 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%;  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%9 * +36 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%v +87 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%=' +2544 "core" ' +2 ."da"PSV.dial PTV + "processing"%@ +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%? +76 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%B +79 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%D  +89 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +2521 "core" ' +2 #"da"Additional air clear + .PSR.select :air + .PSV.dial PSR +2 "processing"%C +138 "core"  + "processing"%>% +4 "core" %ؿ + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%H' +2129 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%A +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%F  +35 "core" + "processing"%K% +4 "core" % +2 ."da"PS.seek 1.5ml +2 "processing"%J'* +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%I * +34 "core" * + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%L  +109 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +1614 "core" ' +2 "processing"%P9 +3 "core" 9m5 +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%O  +3 "core" 5 + 5 + "processing"%G& +4 "core" &^% 1 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&S% +4 "core" %  K + "storage"(% +4 "core" % + "storage"(U. +3 "core" .(<* +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(W(,y +359 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (R& +2 "core" &,| n v K +2 "manipulator"&V& +3 "core" &-  G; +2 "manipulator"&Z% +3 "core" %  : Z  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&Q( +183 "core" ( + "manipulator"&& +4 "core" & HM + "storage"(\\& +4 "core" &,| y +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&_' +90 "core" ' + "storage"(j& +4 "core" &,|\ \  \ Z +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(b'r +283 "core" ' + "storage"(c- +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek :place +2 "storage"(u'1 +45 "core" ' +2 "manipulator"&^& +3 "core" & O IM +2 "manipulator"&e% +3 "core" % u I +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&X' +91 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&[( +263 "core" ( + "manipulator"&& +4 "core" & T +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" & ^ +2 ."da"Forearm.seek PC +2 "manipulator"&k' +93 "core" ' + ."da"Hand.close +2 "manipulator"&l/ +72 "core" / + ."da"PC.seek :open +2 "processing"%f( +457 "core" ( +2 "storage"( & +4 "core" &,e  + "manipulator"&d& +4 "core" & P + "manipulator"&p% +4 "core" % P* + ."da"Forearm.seek :retract +2 "manipulator"&g' +93 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&o( +246 "core" ( +2 "manipulator"&a& +4 "core" &  S Z + "storage"(s& +3 "core" &,e k v ~\ A +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&]' +97 "core" ' + ."da"Hand.open +2 "manipulator"&Y1 +67 "core" 1 +2 "storage"(w- +3 "core" -'1 +53 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(x' +50 "core" ' | = +3 !"da"o:Slide::Error\ : mesg"?Storage Elevator overCurrent at -1.2 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi}: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi| : outPressi :deltaPressi : voltagef11.774211094747178Gk: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"5/home/esp/esp2/utils/puckmoves.rb:527:in `image'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/puckmoves.rb:504:in `image'"6/home/esp/esp2/utils/puckmoves.rb:452:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:502:in `image'"9/home/esp/esp2/utils/puckmoves.rb:970:in `imagePuck'"B/home/esp/esp2/protocol/2G/utilities.rb:129:in `prepAndImage'";/home/esp/esp2/protocol/2G/DAprocess.rb:332:in `runDA'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Retry #1 of 4 +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 ."da"SE.home.seek :down + "storage"(t' +323 "core" ' +2 "storage"(z& +4 "core" &,e U  + "manipulator"&y& +4 "core" &   g WZ +2 ."da"Elbow.seek 4 +2 "manipulator"&{( +3 "core" ( +2 "manipulator"&q& +3 "core" &  S WZ +2 "storage"(}& +4 "core" &,e  +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&~' +16 "core" ' +2 "storage"(m& +4 "core" &,e \ Q +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"('r +301 "core" ' + "storage"(|- +4 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   Z +2 "storage"(& +3 "core" &,e J ,  +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&'7 +16 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(\ - +2 "core" -' +3 ."da"SE.seek 0.18 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 "manipulator"&% +4 "core" %9 2 5 , a7 + "storage"(& +4 "core" &,e   + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 4 + 302 counts +2 "manipulator"&'e +13 "core" ' +2 "manipulator"&& +4 "core" & J K _ bZ + "storage"(h& +4 "core" &,e   -  +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&i' +16 "core" ' +3 ."da"SE.seek 1.18 Pucks below Top Plate +2 "storage"(n' +35 "core" ' +2 "storage"(& +4 "core" &,e   \ Z +2 "manipulator"&& +4 "core" &  Z +2 ."da"Elbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  Z +2 "storage"(& +4 "core" &,e\ \ \ Y +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&' +19 "core" ' +2 "storage"(- +3 "core" -' +3 ."da"SE.seek -0.19 Pucks below Top Plate +2 "storage"( '9 +39 "core" ' +3 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.16 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2813h.tif +6 "processing"%& +10 "core" &&\  +4 "manipulator"&"& +5 "core" & zZ +2 "manipulator"&#% +6 "core" % w z +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&$' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +176 "core" ( +2 "manipulator"& & +4 "core" &- # wR +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &-  wR +3 ."psFlush"Forearm.seek :garage + "manipulator"&('w +93 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&)/ +68 "core" / +2 "manipulator"&*& +4 "core" &- wR + "manipulator"&'% +4 "core" % { X w +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&,' +99 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&-( +116 "core" ( +2 "manipulator"&+& +4 "core" &  t7 + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" & < t7 +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&&' +93 "core" ' +2 "manipulator"&N& +4 "core" & a U : 7 +2 "manipulator"&2% +3 "core" % ] ^  N +2 "processing"%1& +4 "core" & +2 "processing"%0& +4 "core" & +3 ."psFlush"PC.seek :closed + "processing"%4(^ +4 "core" &  +9 &-j ,~ +10 &]m @ +9 &Mb T +9 & > V +10 &> V +9 &? V +9 &O: V +10 &; V +9 &> V +9 &F T +10 & aC\ R +9 &"#D\ R +10 &#GD\ S +9 &%F\ R +9 &'iF\ R +10 &),E\ R +9 &*F&\ S +9 &,CP\ R +10 &.qD\ R +9 &03DE\ R +10 &1AF V +9 &3<L U +9 &5n>D V +10 &71:; V +9 &8<8 V +9 &:;: V +10 & U +9 &>9>> V +10 &??C V +9 &AD: W +9 &Cu\\- Y +10 &E-t( ] +9 &Fu* ] +9 &Hv& ^ +10 &Jo|( ^ +9 &L2) ^ +10 &M [\ +9 &O [ +9 &Q} \\ +10 &SA [ +9 &U'\ \\ +9 &V)\ [ +10 &X [ +9 &ZI [ +10 &\\\  \\ +9 &] F +9 &^#b $i +10 &^F @ +2 ( + "processing"%0& +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.99 + "processing"%6& +4 "core" &^I @ +2 ."psFlush"Hand.open + "manipulator"&31 +73 "core" 1 +2 "manipulator"&:% +4 "core" %  I N +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +98 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%5 +46 "core"  + "processing"%8% +5 "core" %ؽ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%7' +590 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%;' +169 #"da"SX HX9/16 (USB:14): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 25.427 seconds\ /var/log/esp/da21sep2813h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2813h15s.tif +1565 #SX HX9/16 (USB:14): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2813h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2813h30s.tif +389 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%9 @ +200 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%v  +140 "core" +2 ."psFlush"PSV.dial :mixloop + "processing"%< +107 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%@'ؠ +2116 #"da"SX HX9/16 (USB:14): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2813h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2813h70s.tif +514 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%? +124 "core" + "processing"%B% +4 "core" %آl + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%D' +593 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%=' +2123 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%C  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%> @ +77 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%E +122 "core" + ."psFlush"PS.seek :empty +2 "processing"%A'ؠ +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%F +109 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%K'X\\ +175 #"da"SX HX9/16 (USB:14): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2813h70s.tif: TIFF Upload Complete\ +60 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "25.427 sec auto-exposure",Subject: "da21sep2813h images!" +6 "storage"(H- +6 "core" -' +2 "storage"(I& +4 "core" &,e \ O +2 "manipulator"&L& +5 "core" & 7 + "manipulator"&J% +4 "core" % ! - +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&P( +168 !"Qmail"o:Net::SMTPFatalError: mesg"T553-5.1.3 The recipient address is\ :@checkpoint: omitted:bt["@/opt/mbari/lib/ruby/1.8/net/smtp.rb:942:in `check_response'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:911:in `getok'"8/opt/mbari/lib/ruby/1.8/net/smtp.rb:854:in `rcptto'"=/opt/mbari/lib/ruby/1.8/net/smtp.rb:835:in `rcptto_list'"6/opt/mbari/lib/ruby/1.8/net/smtp.rb:833:in `each'"=/opt/mbari/lib/ruby/1.8/net/smtp.rb:833:in `rcptto_list'";/opt/mbari/lib/ruby/1.8/net/smtp.rb:654:in `send_mail'"2/home/esp/esp2/lib/email.rb:327:in `sendOnce'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:526:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +87 "core" ( +2 "manipulator"&O& +4 "core" &  + "storage"(G& +4 "core" &,e \ Q +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&S' +104 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.44 Pucks below Top Plate + "storage"('^ +52 "core" ' +2 "manipulator"&U& +3 "core" &  +2 "storage"(T& +4 "core" &,e E\  + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&R'7 +19 "core" ' + ."da"Elbow.hold +2 "manipulator"&V, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(Z' +26 "core" ' +2 "manipulator"&% +4 "core" %G  > + "storage"(\\& +4 "core" &,e c\  + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 4 + 316 counts + "manipulator"&j's +14 "core" ' + "manipulator"&& +5 "core" & ! + "storage"(!& +4 "core" &,e _\  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&c' +17 "core" ' +2 "storage"(^% +4 "core" %  _\  +2 ."downElevator"SE.seek :down +3 "storage"(e' +99 (b% +3 "core" %~4  \ SX +2 "manipulator"&_% +4 "core" % +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&' +89 "core" ' +6 ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%`' +43 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 (Q& +4 "core" &,e h\  +1567 ' + ."psFlush"PSV.dial PTV +2 "processing"%l +74 "core" + ."psFlush"PTV.dial :puck +2 "processing"%X  +70 "core"  +2 ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml + "processing"%r'ؾ +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%d' +598 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%p' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%k +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%a U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%s'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%[ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%Y' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%w  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%g'ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%x +43 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%u' +845 "Can"\ KI +1793 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +83 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%z'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%y @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%q' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%}  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%m'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%o +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%]'X\\ +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%t' +1629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%| +83 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2640 "core" ' +5 ."psFlush"PSV.dial PSR +3 "processing"%\ +74 "core"  +2 ."psFlush"PSR.select :flush +5 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +5 "processing"%' +592 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2116 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" + ."psFlush"PBV.dial PSV +2 "processing"%h U +54 "core" W +4 ."psFlush"PS.seek 0ml +3 "processing"%'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%~ +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%{' +2628 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +83 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%" @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%#' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +83 "core"  +46 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" & +2 "manipulator"&% +3 "core" %  '  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&i( +258 "core" ( +2 "manipulator"&n& +4 "core" & ? + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" & = +2 ."psFlush"Forearm.seek PC +2 "manipulator"& ' +91 "core" ' + ."psFlush"Hand.close +2 "manipulator"&%/ +53 "core" / +2 ."psFlush"PC.seek :open + "processing"%( +457 "core" ( + "manipulator"&& +7 "core" & +2 "manipulator"&)% +7 "core" %  ~ V +4 ."psFlush"Forearm.seek :retract +3 "manipulator"&*' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&'(- +129 "core" ( +3 "manipulator"&$& +8 "core" &- 0  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &- 8  +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage + "manipulator"&.'w +97 "core" ' +2 ."psFlush"Hand.open + "manipulator"&(1 +57 "core" 1 + "manipulator"&N% +4 "core" % ρ   +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&2' +95 "core" ' +2 #tFinished short da assay +1684 #-> access 4 +3 "storage"(1% +3 "core" % ) % \  +2 "manipulator"&% +4 "core" %  (  +2 "manipulator"&,& +3 "core" &- E  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(f(C +984 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &E @ @ u\ +7 #t-> PS.flush +2 #Flushing Processing stage + "processing"%3% +4 "core" %*\ + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%:& +3 "core" &r\ +2 "manipulator"&0& +4 "core" &- =  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&5(- +12 "core" ( +2 "manipulator"&8& +4 "core" &- G = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &- 2 = +2 .tForearm.seek :garage +2 "manipulator"&M'w +95 "core" ' + .tHand.close + "manipulator"&7/ +63 "core" / +2 "manipulator"&9& +4 "core" &- ! = + "manipulator"&v% +4 "core" % ω b  +2 .tForearm.seek :retract + "manipulator"&<' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&;( +119 "core" ( + "manipulator"&?& +5 "core" & ? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &  ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@' +90 "core" ' + "manipulator"&D& +4 "core" & ? ? +2 "manipulator"&C% +4 "core" %  M + "processing"%>& +4 "core" &,\ +2 "processing"%E& +5 "core" &G\ +2 .tPC.seek :closed + "processing"%=(^ +5 "core" &/\ +6 &3>\ $d +10 &Vx:\ 7 +9 &u7\ K +9 &Q\ M +10 &lR\ M +9 &.Q:\ M +9 &S\ M +10 &Q\ M +9 &tQW\ M +10 &6T\ M +9 &R\ M +9 &!OY\ M +10 &#|T\ M +9 &%=R\ N +9 &'Q:\ M +10 &(O4\ M +9 &*U\ M +10 &,ER\ N +9 &.Q9\ M +9 &/QS\ M +10 &1Ow\ M +9 &3NOT\ M +9 &5R\ M +10 &6O\ M +9 &8R\ N +9 &:VR\ M +10 &<Tz\ M +9 &=SS\ N +10 &?Uw\ N +9 &A]RS\ N +9 &Cg\ O +10 &D{9\ R +9 &F\ T +9 &HSH\ T +10 &Js\ T +9 &K\ U +10 &Mx\ U +9 &OW\ U +9 &Q\ V +10 &R\ V +9 &T\ V +9 &V^\ U +10 &X \ U +9 &Y\ V +10 &[\ V +9 &]d\ C +9 &^Cv\ ^ +10 &^A\ : +5 ( +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 + "processing"%F& +4 "core" &^3\ : + &^3\ : + .tHand.open +2 "manipulator"&H1 +56 "core" 1 +2 "manipulator"&I% +4 "core" %  3 M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +92 "core" ' +2 .tPSV.dial PSR + "processing"%J +42 "core" + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%A'X\\ +1107 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%O' +1605 "core" ' + .tPSV.dial PTV + "processing"%G +73 "core" + .tPTV.dial :puck +2 .PBV.dial :waste1 +4 "processing"%-  +52 "core" +2 .tPS.seek 0ml +2 "processing"%U'ؾ +2627 "core" ' + .tPSV.dial PSR +2 "processing"%T +74 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%' +593 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%\\' +2123 "core" ' + .tPSV.dial PTV +2 "processing"% +86 "core" + .tPBV.dial PSV +2 "processing"%! U +53 "core" W +2 .tPS.seek 0ml +3 "processing"%'ؾ +2653 "core" ' + .tPSV.dial PBV +2 "processing"%^ @ +44 "core" > +2 .tPS.seek 2.5ml + "processing"%' +2637 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%b  +70 "core"  +2 .tPS.seek 0ml + "processing"%_'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%S +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%P' +627 "Can"\ JH +2008 "core" ' +2 .tPSV.dial PTV + "processing"% +72 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml + "processing"%R'ؾ +2648 "core" ' +2 .tPSV.dial PBV +2 "processing"%Q @ +43 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%j' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%Z  +72 "core"  +2 .tPS.seek 0ml + "processing"%c'ؾ +2634 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&K& +4 "core" & = ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&e( +3 "core" ( +2 "manipulator"&l& +4 "core" & } ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" & A ? +2 .tForearm.seek PC + "manipulator"&`' +89 "core" ' + .tHand.close + "manipulator"& / +63 "core" / +2 .tPC.seek :open +2 "processing"%r( +456 "core" ( +2 "manipulator"&d& +4 "core" &  ? + "manipulator"&k% +4 "core" %  I +2 .tForearm.seek :retract + "manipulator"&a' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&p(- +127 "core" ( + "manipulator"&[& +4 "core" &- V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&w'w +99 "core" ' +2 .tHand.open + "manipulator"&Y1 +57 "core" 1 + "manipulator"&x% +4 "core" %  E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&g' +98 "core" ' +4745 #t-> exit +7 #mEXIT @1632863599.92PDT @1632863628.95PDT = =tMAIN =mMAIN_scheduler @PDT1632863630.75 #"core_reset"Sent BREAK + #t@23352 sendCRC with ifg=0x20, ie=0x7F + #@25187 sendCRC with ifg=0x08, ie=0x5F + #@13747 idle with ifg=0x84, ie=0x75 + #@14417 select with ifg=0x10, ie=0xF5 #@15051 receive with ifg=0x10, ie=0xFD + #@15684 receive with ifg=0x10, ie=0xFD + #@16318 receive with ifg=0x10, ie=0xFD #@16645 receive with ifg=0x80, ie=0xFD + #@19911 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +280 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +375 "Can"\ A> + \ A> + #tPolling Can every 10:00 +59970 "Can"\ >; +8984 #t-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +3 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e 4\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %غ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ k\ > + .tSS.configure :default +2 "sampler")#.0X + "manipulator"&& +4 "core" &- C + "storage"(& +4 "core" &E ' ) ;\ + "storage"(% +3 "core" %  - R\  +2 "collection"'& +3 "core" & +\ +2 "processing"%& +4 "core" & \ + "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core"  +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" W +2 "processing"%% +3 "core"  + "processing"%& +3 "core" B +2 "sampler")' +2 "core"  +2 "collection"'(% +4 "core" %e ;\ + "processing"%)% +4 "core" %غ\ +2 "sampler")*% +4 "core" %څ Z\ > + "collection"'+& +4 "core" & 5\ + "processing"%,& +4 "core" &\ +2 "manipulator"&-% +4 "core" %  /  + "manipulator"&.& +5 "core" &- b + "storage"(/& +4 "core" &E & & \ + "storage"(0% +4 "core" % 0 3 "\  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +2 "core" 9 +1767 #t-> $da[:extractVol]=0.20 +406 #-> access 5 + "storage"(3% +4 "core" % A , r\  + "manipulator"&4% +4 "core" %  (  +2 "manipulator"&5& +3 "core" &- ? +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(6(  +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +2 "core" &  0 % V\  +272 #t-> startTube 5 +13789 #-> shortDA + "collection"'8% +3 "processing"%9% +5 "core" %e \ +4 %غ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +212 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%: +131 "core" + .tPTV.dial :PRVmixing +2 "processing"%;  +130 "core" + .tPRV.dial :sipper +2 "processing"%<  +44 "core" + .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%='e +2293 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%>  + "collection"'?  +7 "core" +121  +2 .tPS.seek 0.5ml +2 "processing"%@' +1269 "core" ' +2 .tPRV.dial :waste2 + "processing"%A @ +99 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%B'ؾ +587 "core" ' + .tPSV.dial PSR +2 "processing"%C +102 "core"  + "processing"%D% +4 "core" %غ\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%E'X\\ +1105 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%F' +1617 "core" ' + .tPSV.dial :mixloop +2 "processing"%G +103 "core" +2 .tPS.seek 0ml + "processing"%H'ؾ +2634 "core" ' +2 .tPSV.dial PSR + "processing"%I +104 "core"  + "processing"%J% +4 "core" %\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1ml + "processing"%K'X\\ +1107 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%L' +1608 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +103 "core" + .tPRV.dial :sipper +2 "processing"%N  +42 "core" +2 .tPS.seek 0ml +2 "processing"%O'ؾ +2626 "core" ' + .tPSV.dial PSR +2 "processing"%P +103 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%Q' +2635 "core" ' + .tPSV.dial :mixloop + "processing"%R +104 "core" +2 .tPS.seek 0ml + "processing"%S'ؾ +2634 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%T& +5 "core" &\ + .tHand.open + "manipulator"&U1 +22 "core" 1 + "manipulator"&V% +4 "core" %  S  +2 "storage"(W% +3 "core" % < = \  + "storage"(X. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Y(<- +983 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Z& +2 "core" &<*  \  +2 "manipulator"&[& +8 "core" &- - +2 "manipulator"&\\% +4 "core" %  #  +2 .tElbow.reconfigure :tight +38 "manipulator"&$&.,(\ #b +8 .tElbow.seek 5 + "manipulator"&]( +170 "core" ( + "manipulator"&^& +5 "core" & G + "storage"(_& +4 "core" &<* 2 ( X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +98 "core" ' +2 "storage"(a& +4 "core" &<* T E m\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +305 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (d& +3 "core" &<*  1\  + "manipulator"&e& +4 "core" & G +2 .tElbow.seek 5 + "manipulator"&f( +4 "core" ( + "manipulator"&g& +4 "core" & P G +2 "storage"(h& +4 "core" &<*  % G\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&i'Ϲ +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&j/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(l' +7 "core" & N G +2 "manipulator"&m% +4 "core" %  6 +2 .tForearm.seek :retract + "manipulator"&n' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&p& +4 "core" & 7 & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &  & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&r' +96 "core" ' +2 "manipulator"&s& +31 "core" & L & + "manipulator"&t% +4 "core" %  +2 "processing"%u& +4 "core" &\ +2 "processing"%v& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%w(^ +4 "core" &\  +9 &2w\ *y +9 &c|\ > +10 &mp\ O +9 &0Q\ N +9 &T\ O +10 &Q\ O +9 &vN\ N +9 &8O\ N +10 &O\ O +9 &N\ O +10 & }O\ O +9 &"@O\ N +9 &$Q\ O +10 &%Q\ O +9 &'O\ N +9 &)HP\ N +10 &+\ Q\ N +9 &,Q\ N +9 &.P\ N +10 &0PQ\ N +9 &2Q\ N +10 &3T\ O +9 &5P\ O +9 &7WT\ O +10 &9S\ O +9 &:Q\ N +10 &<R\ O +9 &>_V\ O +9 &@!T\ O +10 &A]\ O +9 &Ct\ R +9 &ES\ V +10 &G\ U +9 &H\ U +10 &J\ V +9 &LZ\ V +9 &N\ V +10 &O\ U +9 &Q\ W +9 &S`\ V +10 &U!\ W +9 &V\ W +9 &X\ V +10 &Zg\ W +9 &\\*\ V +10 &]\ 6 +9 &^+p\ \\ +9 &^3\ 7 +3 ( + "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 +2 .Hand.open + "manipulator"&x1 +52 "core" 1 +2 "manipulator"&y% +3 "core" %  $  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&z' +90 "core" ' +3 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%{ h +2 %|9 +7 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +3 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%\ 9 +2 "core" 9* +102 "processing"% 9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +2 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"%9 +2 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%9 +2 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +3 "core" 9\\ +102 "processing"%9 +2 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +3 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"% 9 +3 "core" 9q +102 "processing"%!9 +2 "core" 9v +102 "processing"%"9 +2 "core" 9z +102 "processing"%#9 +3 "core" 9~ +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +2 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +2 "core" 9 +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +3 "core" 9 +102 "processing"%19 +2 "core" 9 +102 "processing"%29 +2 "core" 9 +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +3 "core" 9  +102 "processing"%59 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%79 +2 "core" 9 +102 "processing"%89 +3 "core" 9" +2 .tPH.hold 2:00:00,28C +3 "processing"%9 php +4 .tdelay 1:30 + "core"  +2841 "Can"\ kg +6159 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%: +102 "core"  +2 "processing"%;% +4 "core" %,\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%<' +588 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml + "processing"%' +1611 "core" ' +2 .tPTV.dial :puck + "processing"%?  +132 "core"  + .tPSV.dial PTV +2 "processing"%> +73 "core" +2 .tPBV.dial :waste1 + "processing"%=  +55 "core" +2 "processing"%A% +4 "core" %b\  +2 .tPS.seek 1.5ml + "processing"%@') +585 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%C * +34 "core" + +2 .tPS.seek 0ml +2 "processing"%D'ؾ +1607 "core" ' + .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%B  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%E * +33 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%G +74 "core"  + .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%F' +2420 "core" ' + .tPSV.dial PTV + "processing"%I +73 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%J +84 "core" + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%H +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%K  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%M'ؾ +2346 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%N  +132 "core" + .tPSV.dial :mixloop +2 "processing"%L +56 "core" + .tPRV.dial :ab1 +2 "processing"%P @ +100 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%O' +355 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%R  +42 "core"  + "processing"%Q% +4 "core" %\  +2 .tPS.seek 0.35ml +2 "processing"%T'd +459 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'U  +29 "core" + .tPRV.dial :air +2 "processing"%V  +42 "core"  +2 .tPS.seek 0.9ml + "processing"%W'K +1178 "core" ' + .tPRV.dial :waste2 +2 "processing"%X @ +72 "core" ? +2 .tPS.seek 0.5ml + "processing"%6' +869 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%Z  +41 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%[' +1612 "core" ' + .tPSV.dial :PML +2 "processing"%\\ +44 "core" + .tPTV.dial :mixing +2 "processing"%^ @ +72 "core" B + .tPBV.dial :waste1 +2 "processing"%_  +35 "core" + "processing"%a% +4 "core" %\ +2 .tPS.seek 1.85ml + "processing"%' +235 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"% * +35 "core" , +2 .tPS.seek 0ml + "processing"%c'ؾ +1969 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'d& +2 "core" & &\ +2 "manipulator"&e& +3 "core" &  & +2 "manipulator"&g% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&h(- +126 "core" ( +2 "manipulator"&j& +4 "core" &- j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &- D  + .tForearm.seek :garage +2 "manipulator"&m'w +96 "core" ' +2 .tHand.close + "manipulator"&]/ +52 "core" / +2 "manipulator"&`& +4 "core" &- t  +2 "manipulator"&b% +4 "core" % ς c +2 .tForearm.seek :retract + "manipulator"&i' +31 "Can"\ rqt +60 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&p(ӂ +283 "core" ( + "manipulator"&q& +4 "core" &ӧ o 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &ӧ  9% +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&s'? +100 "core" ' + "manipulator"&t& +4 "core" &ӧ  E 9% +2 "manipulator"&u% +4 "core" %D 5 +2 "collection"'l& +3 "core" & $\ +2 "collection"'n& +6 "core" & !\ +2 .tCC.seek :closed + "collection"' (\\ +5 "core" & #\ +6 & 3 !\ $d +10 &U{ "\ 7 +9 &~| %\ L +10 &Y $\ O +9 &YO #\ O +9 &O !\ O +10 &T "\ O +9 &Y \ N +9 &bT \ N +10 &#S \ O +9 &T  \ O +10 &!U \ O +9 &#jU \ N +9 &%+X \ O +10 &&S \ O +9 &(T \ O +9 &*rT \ N +10 &,4V \ N +9 &-V \ N +9 &/U \ N +10 &1yT  \ O +9 &3<R \ N +10 &4U \ O +9 &6Y \ O +9 &8Y \ O +10 &:CY \ O +9 &<Y \ N +10 &=W \ O +9 &?Y \ N +9 &AKY \ O +10 &C\ _ \ P +9 &Dp \ \ R +9 &F \ U +10 &H2 \ Z +9 &I \ \\ +9 &K \ \\ +10 &Mr \ \\ +9 &O2 \ ] +10 &P \ ] +9 &R \ ^ +9 &Ts \ ^ +10 &V3  \ _ +9 &W \ ` +10 &Y \ a +9 &[p \ O +9 &\\A \ + +10 &\\ \ "c +5 ( + "collection"'n& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.43 + "collection"'x& +4 "core" &\\ \ "c + &\\ \ "c + .tHand.open +2 "manipulator"&y1 +54 "core" 1 +2 "manipulator"&|% +4 "core" % D / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +97 "core" ' + .tPSV.dial PSR + "processing"%} +105 "core"  + "processing"%r% +4 "core" %غi\ k +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +40 "processing"%@ +20 .tPS.seek 1.5ml + "processing"%~'+ +1615 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +43 "core"  + .tPS.seek 0ml +2 "processing"%'ؾ +1632 "core" ' +2 .tPSV.dial PSR + "processing"% +46 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2628 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV + "processing"%  + "collection"'  +33 "core" ~ +125 + .tPSV.dial :mixloop +2 "processing"% +101 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'\  +4 "core"  + "collection"'  +4 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2639 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' + .tPSV.dial :air + "processing"%  +44 "core"  +3 .tPS.seek 2.5ml + "processing"%' +2628 "core" ' + .tPSV.dial :mixloop + "processing"% +45 "core" + .tPS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӧ 9% +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +23 "core" ( +2 "manipulator"&& +4 "core" &}\  K !v + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &}\  l !v +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +2 .tHand.close + "manipulator"& / +58 "core" / +2 .tCC.seek :open +2 "collection"'!( +449 "core" ( +2 "manipulator"&"& +4 "core" &}\  !v + "manipulator"&#% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&$' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&%(- +281 "core" ( + "manipulator"&&& +4 "core" &- 6 @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &- @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&('w +90 "core" ' +2 .tHand.open +2 "manipulator"&)1 +57 "core" 1 +2 "manipulator"&*% +3 "core" % }  o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&+' +92 "core" ' +2 ."da"delayUntil "14:51:53.55" +24763 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%, @ +74 "core" A + ."da"PBV.dial :waste1 +2 "processing"%-  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%. * +34 "core" , +2 ."da"PSV.dial :air + "processing"%/  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%0' +2423 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%1 +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%2  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%3 +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%4  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +2410 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +142 "core" + "processing"%7% +4 "core" %\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%8' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%:' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%;  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%S +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%<  +34 "core" +2 "processing"%?% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%>', +432 "Can"\ IG +154 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%= * +34 "core" , +3 ."da"PS.seek 0ml + "processing"%A'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%C * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%{' +2427 "core" ' + ."da"PSV.dial PTV +2 "processing"%B +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%E +84 "core" + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%G +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%D  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +2382 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%J +130 "core"  + "processing"%H% +5 "core" %ؿ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%K' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%F' +1608 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%N +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%L  +35 "core" + "processing"%P% +4 "core" %q\  +2 ."da"PS.seek 1.5ml +2 "processing"%M'' +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%R * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%Q'ؾ +1617 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%O  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%U * +80 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%V +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%T' +2434 "core" ' + ."da"PSV.dial PTV +2 "processing"%X +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%W +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%Z +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%6  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\\'ؾ +2367 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%^  +44 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing + "processing"%_  +130 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%a  +41 "core"  +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%[' +392 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +43 "core"  +2 "processing"%d% +4 "core" % i\  + ."da"PS.seek 0.55ml +2 "processing"%e' +333 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%g  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%j' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"%k +45 "core" +2 ."da"PTV.dial :mixing +2 "processing"%] @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%`  +35 "core" + "processing"%o% +4 "core" %c\  +2 ."da"PS.seek 1.85ml + "processing"%b' +238 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%z * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%m'ؾ +1974 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +2175 "Can"\ fd +45827 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%q  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%f * +35 "core" , + ."da"PSV.dial :air +2 "processing"%h  +56 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml + "processing"%t' +2438 "core" ' + ."da"PSV.dial :mixloop + "processing"%u +43 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%l  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%i +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%x'ؾ +2374 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%y +129 "core"  +2 "processing"%|% +3 "core" %ؽ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%n' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%}' +1612 "core" ' + ."da"PTV.dial :puck + "processing"%r  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%s +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%c  +34 "core" +2 "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%~'* +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1411 "Can"\ ZV +202 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +83 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%\ ' +2435 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2369 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  +2 "processing"%% +3 "core" %ؽ~\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%' +1614 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" + "processing"%% +4 "core" %i\  +2 ."da"PS.seek 1.5ml + "processing"%', +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%p  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%v * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%"' +2431 "core" ' + ."da"PSV.dial PTV +2 "processing"%# +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%& +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%'  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2374 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%) +131 "core"  + "processing"%*% +4 "core" %ؽu\ y + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%$' +596 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%(' +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%, +85 "core" + ."da"PBV.dial :waste1 +2 "processing"%-  +35 "core" + "processing"%.% +4 "core" %n\ +2 ."da"PS.seek 1.5ml + "processing"%/'* +593 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +1610 "core" ' +2 ."da"delay 2:00 +5042 "Can"\ vq +6961 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%2  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%3 * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%0' +2432 "core" ' + ."da"PSV.dial PTV +2 "processing"% +86 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%7 +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%5 +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%8  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +2389 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%S +143 "core"  +3 "processing"%<% +14 "core" % +2 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +8 "processing"% +13 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +3 "processing"%?' +346 "core" ' +2 ."da"delay 5 seconds +502 "processing"%:% +3 "core" %  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%=' +338 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml +2 "processing"%>' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +76 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%C  +35 "core" +2 "processing"%@% +4 "core" %  +2 ."da"PS.seek 1.5ml + "processing"%A'+ +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%B * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +1631 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%G  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%D * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%J' +2547 "core" ' +2 ."da"PSV.dial PTV + "processing"%H +77 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%I +77 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%K +78 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%N  +87 "core"  +2 ."da"PS.seek 0ml +2 "processing"%L'ؾ +2515 "core" ' + #"da"Additional air clear +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%P +139 "core"  + "processing"%F% +4 "core" % + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%R' +2119 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%M +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%O  +35 "core" + "processing"%U% +4 "core" %  +2 ."da"PS.seek 1.5ml + "processing"%V'( +601 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%Q * +33 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%X  +109 "core"  +3 ."da"PS.seek 0ml +2 "processing"%W'ؾ +1608 "core" ' + "processing"%Z9 +3 "core" 9k5 +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%6  +4 "core" 5 5 +2 "processing"%T& +3 "core" &^1\ K7 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&^% +4 "core" %   + "storage"(_% +4 "core" % I  + "storage"(a. +3 "core" .(<* +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"((,y +361 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "core" &,{  +2 "manipulator"&& +3 "core" &-  Q@ +2 "manipulator"&d% +3 "core" %   ! Q +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&[( +172 "core" ( + "manipulator"&g& +4 "core" & / m R) +2 "storage"(e& +3 "core" &,{ N +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&k' +95 "core" ' + "storage"(]& +4 "core" &,{ \ J +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(`'r +284 "core" ' + "storage"(o- +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek :place +2 "storage"(z'1 +40 "core" ' +2 "manipulator"&j& +4 "core" &  " T) + "manipulator"&b% +4 "core" % 1 SE +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&q' +95 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&f( +242 "core" ( +2 "manipulator"&h& +4 "core" &  P. + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +2 "core" & = N. +2 ."da"Forearm.seek PC +2 "manipulator"&u' +92 "core" ' + ."da"Hand.close +2 "manipulator"&l/ +67 "core" / +2 ."da"PC.seek :open +2 "processing"%i( +459 "core" ( +2 "storage"( & +4 "core" &,e   g + "manipulator"&t& +4 "core" & ' 4 `. + "manipulator"&y% +3 "core" %    `0 +2 ."da"Forearm.seek :retract +2 "manipulator"&|' +95 "core" ' +44 ."da"Elbow.reconfigure :tight +11 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&x( +245 "core" ( +2 "manipulator"&n& +4 "core" & % > + "storage"(r& +4 "core" &,e\  \ W +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&s' +95 "core" ' +2 ."da"Hand.open + "manipulator"&c1 +77 "core" 1 +2 "storage"(- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(}' +26 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2815h.tif +6 "processing"%~& +10 "core" &F r +4 "manipulator"&& +5 "core" & > +2 "manipulator"&% +5 "core" % v +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +177 "core" ( +2 "manipulator"& & +5 "core" &- *< + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- 3< +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +94 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +70 "core" / + "manipulator"&\ & +4 "core" &- b ` g< +2 "manipulator"&% +3 "core" % π a a g +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +116 "core" ( +2 "manipulator"&& +4 "core" & RA + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & TA +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&& +4 "core" & <A +2 "manipulator"&% +4 "core" % UL +2 "processing"%& +3 "core" & z +2 "processing"%& +5 "core" & z +2 ."psFlush"PC.seek :closed +2 "processing"%p(^ +4 "core" & y +7 & 0 t$e +9 &Qm i9 +10 &uh iN +9 &`B pW +9 &#9 rV +10 &8 rW +9 &8 rW +9 &h8 rW +10 &+8 qV +9 &< T +10 &B T +9 &!y? T +9 &#;? T +10 &$C S +9 &&D S +9 &(C S +10 &*DD S +9 &,B S +10 &-D T +9 &/? {V +9 &1B9 vW +10 &38 uW +9 &48 tW +9 &69 sW +10 &8J6 tW +9 &:\ 8 sX +10 &;9 sW +9 &=6 sW +9 &?P< rX +10 &A; rX +9 &BK oY +9 &D] k\\ +10 &F@}N e` +9 &HvM f_ +10 &IuL f` +9 &Ky) \\ +9 &MQS ] +10 &OP \\ +9 &PK ] +9 &RB ] +10 &TWC ] +9 &VG ] +10 &WJ ^ +9 &Y? ] +9 &[^2 ^ +10 &] ? ^ +9 &^xMg# o&s +9 &^N' r@ +6 ( + "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 2.09 +2 "processing"%v& +4 "core" &^K" p@ + &^K( o@ + ."psFlush"Hand.open +2 "manipulator"& 1 +72 "core" 1 + "manipulator"& % +4 "core" % uL +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&#' +92 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"% +47 "core"  +2 "processing"%&% +4 "core" %ؼ o + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%'' +598 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +749 #"da"SX HX9/16 (USB:15): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 31.426 seconds\ /var/log/esp/da21sep2815h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2815h15s.tif +1387 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%) @ +73 #"da"SX HX9/16 (USB:15): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2815h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2815h30s.tif +129 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%*  +142 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +111 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%$'ؠ +2640 "core" ' +6 ."psFlush"PSR.select :air +8 .PSV.dial PSR +6 "processing"%, +17 #"da"SX HX9/16 (USB:15): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2815h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2815h70s.tif +97 "core"  +2 "processing"%-% +4 "core" %إs o + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%.' +597 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%(' +2151 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +58 "processing"%  +35 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%/ @ +77 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%2 +126 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%3'ؠ +2649 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%4 +109 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%1'X\\ +611 #"da"SX HX9/16 (USB:15): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2815h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "31.426 sec auto-exposure",Subject: "da21sep2815h images!" +5 "storage"(- +2 "core" -' +2 "storage"(7& +10 "core" &,e \ % + "manipulator"&5& +4 "core" &  A + "manipulator"&8% +5 "core" %   +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 +2 "manipulator"&0( +245 "core" ( +2 "manipulator"&S& +4 "core" & y  ' + "storage"(<& +4 "core" &,e \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&;' +94 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(:'" +60 "core" ' + "manipulator"&?& +6 "core" &  & +2 "storage"(=& +7 "core" &,e 6\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 "core" ' + ."psFlush"PSR.select :air +4 ."da"Forearm.reconfigure :loose +83 "processing"% +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 4 +3 "manipulator"&'7 +5 ."psFlush"PS.seek 2.5ml +2 "processing"%C' +11 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&@, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(>' +28 "core" ' +2 "manipulator"&B% +4 "core" %> 4  + "storage"(A& +4 "core" &,e \ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 4 + 307 counts + "manipulator"&G'j +15 "core" ' + "manipulator"&D& +5 "core" & # & +2 "storage"({& +4 "core" &,e <\ +6 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +8 ."da"Forearm.seek 4 + 450 counts +5 "manipulator"&E' +17 "core" ' +2 "storage"(H% +8 "core" % \  +4 ."downElevator"SE.seek :down +5 "storage"(I' +99 (K% +6 "core" %Q? \ TY +4 "manipulator"&N% +8 "core" % o +4 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&J' +97 "core" ' +39 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 (P& +8 "core" &,e _\ +1096 "Can"\ SQ +66 "core" ' +4 ."psFlush"PSV.dial PTV +4 "processing"%F +74 "core" +6 ."psFlush"PTV.dial :puck +5 "processing"%L  +74 "core"  +2 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml + "processing"%M'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +4 "processing"%O +76 "core"  +4 ."psFlush"PSR.select :flush +3 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%U' +608 "core" ' +4 ."psFlush"PSR.select :air +7 "processing"% +12 ."psFlush"PS.seek 2.5ml +3 "processing"%R' +2121 "core" ' +2 ."psFlush"PSV.dial PTV +3 "processing"%Q +76 "core" +4 ."psFlush"PBV.dial PSV +4 "processing"%X U +53 "core" W +4 ."psFlush"PS.seek 0ml +4 "processing"%V'ؾ +2634 "core" ' +4 ."psFlush"PSV.dial PBV + "processing"%Z @ +44 "core" ? +4 ."psFlush"PS.seek 2.5ml +3 "processing"%6' +2632 "core" ' +2 ."psFlush"PSV.dial :waste1 +4 "processing"%T  +72 "core"  +6 ."psFlush"PS.seek 0ml + "processing"%^'ؾ +1780 #"uploadLog"upsync +852 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%_ +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%a' +2632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Y +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%\\'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +45 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%d' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%g  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%e'ؾ +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%] +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%%'X\\ +1104 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%+' +1628 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%o +105 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%j  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%b'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%` +74 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%k' +596 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%h' +2126 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%m +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%[ U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%l'ؾ +2654 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%q @ +45 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2651 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%t'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%y +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%u' +2654 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%n +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%r'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%f @ +45 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%c' +2635 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%~'ؾ +2637 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&|& +4 "core" &  & +2 "manipulator"&% +3 "core" %    +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +243 "core" ( + "manipulator"&z& +5 "core" & 4 + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +2 "core" & e 4 +2 ."psFlush"Forearm.seek PC +2 "manipulator"& ' +96 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +61 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%s( +459 "core" ( + "manipulator"&x& +4 "core" &  3 + "manipulator"&% +4 "core" %  `  +2 ."psFlush"Forearm.seek :retract + "manipulator"&\ ' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +125 "core" ( + "manipulator"&& +4 "core" &-   +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-   +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +96 "core" ' +2 ."psFlush"Hand.open + "manipulator"&1 +65 "core" 1 + "manipulator"&% +4 "core" % t  +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tFinished short da assay +6389 "Can"\ >< +60002 \ >; +60001 \ >< +60001 \ >< +60002 \ >; +60001 \ >; +60001 \ >< +60001 \ >< +60002 \ >; +60001 \ >; +60001 \ >; @1632875482.44PDT = =mMAIN_scheduler =tMAIN @PDT1632875484.24 #"core_reset"Sent BREAK + #t@7631 sendCRC with ifg=0x20, ie=0x7F + #@9465 sendCRC with ifg=0x08, ie=0x5F + #@62772 idle with ifg=0x84, ie=0x75 + #@63443 select with ifg=0x10, ie=0xF5 #@64076 receive with ifg=0x10, ie=0xFD + #@64709 receive with ifg=0x10, ie=0xFD + #@65342 receive with ifg=0x10, ie=0xFD #@133 receive with ifg=0x80, ie=0xFD + #@13713 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +160 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +120 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +373 "Can"\ A> + \ A> + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +684 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %e e\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽS\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ X\ > +2 .tSS.configure :default +2 "sampler")#.0X + %ؽc\ + %  /  +2 "manipulator"&& +4 "core" &-  + "storage"(& +3 "core" &,j6 \  +2 "storage"(% +3 "core" % A\  + "collection"'& +4 "core" & m\ + "processing"%& +4 "core" &F\ + "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core" ~ +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" W +2 "processing"%% +3 "core"  + "processing"%& +3 "core" B +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" %e ]\ +2 "processing"%)% +4 "core" %ؽI\ + "sampler")*% +4 "core" %څ U\ > +2 "collection"'+& +3 "core" & g\ +2 "processing"%,& +4 "core" &a\ +2 "manipulator"&-% +4 "core" %  L  + "manipulator"&.& +4 "core" &- "  + "storage"(/& +4 "core" &,j6 \  +2 "storage"(0% +4 "core" % \  + "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +549 #t-> access 4 +3 "storage"(3% +3 "core" % v\  +2 "manipulator"&4% +4 "core" %  C  + "manipulator"&5& +4 "core" &- 5  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(6(C +990 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &@   \ +1074 #t-> samplePassF +3 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'8& +3 "core" & g\ +2 .tHand.open + "manipulator"&91 +27 "core" 1 + "manipulator"&:& +4 "core" &- Q  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&;(- +18 "core" ( + "manipulator"&<& +5 "core" &- M C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &- k C +2 .tForearm.seek :garage + "manipulator"&>'w +92 "core" ' +2 .tHand.close + "manipulator"&?/ +57 "core" / + "manipulator"&@& +4 "core" &- _ C +2 "manipulator"&A% +4 "core" % o  3 + .tForearm.seek :retract +2 "manipulator"&B' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +284 "core" ( + "manipulator"&D& +5 "core" &Ӓ% E >L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &Ӓ% A >L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'? +95 "core" ' +2 "manipulator"&G& +4 "core" &Ӓ& ( >L + "manipulator"&H% +4 "core" %4 & x +2 "collection"'I& +4 "core" & g\ +2 "collection"'J& +4 "core" & j\ +2 .tCC.seek :closed +2 "collection"'K(\\ +4 "core" & a\  +9 &2y e\ *x +9 &b b\ > +10 &js d\ O +9 &,R ]\ N +10 &T d\ N +9 &S W\ N +9 &rS R\ N +10 &4T T\ N +9 &W X\ O +9 &T V\ N +10 & zT X\ N +9 &"=U Y\ N +10 &#S X\ N +9 &%U \\\ N +9 &'T S\ N +10 &)ET \\\ N +9 &+T [\ N +9 &,T Z\ N +10 &.T [\ N +9 &0NT \\\ N +10 &2T \\\ N +9 &3U V\ N +9 &5T V\ N +10 &7UU ]\ N +9 &9U T\ N +9 &:T Z\ N +10 &<T W\ N +9 &>\\T \\\ N +10 &@U Z\ N +9 &AW Z\ O +9 &Ca \\\ P +10 &EYx [\ R +9 &G ^\ V +10 &H \\\ Z +9 &J \\\ [\ +9 &LI ]\ Z +10 &N ^\ ] +9 &O ]\ ] +9 &Q ]\ \\ +10 &SE ]\ ^ +9 &U Y\ ^ +9 &V Q\ ` +10 &X T\ ` +9 &ZF X\ a +10 &[z T\ F +9 &\\$ Q\ , +9 &\\ F\ "c +3 ( + "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.42 +2 "collection"'L& +3 "core" &\\ Q\ "c +2 .tHand.open + "manipulator"&M1 +56 "core" 1 +2 "manipulator"&N% +4 "core" % 4 < x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +96 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%P +3 "core"  +2 "processing"%Q  +45 "core"  +2 "processing"%R% +4 "core" %ؽi\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%j +9 .tPS.seek 1.5ml +2 "processing"%S'+ +1621 "core" ' + .tdelay 5 seconds +538 .PSV.dial :waste1 +7 "processing"%T  +46 "core"  +2 .tPS.seek 0ml + "processing"%U'ؾ +1614 "core" ' + .tPSV.dial PSR +2 "processing"%V +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%W' +2636 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%X  + "collection"'Y  +19 "core" +80  +2 .tPSV.dial :PTV,via: :air +2 "processing"%Z +193 "core"  +2 .tCTV.dial :air,avoiding: :intake + "collection"'[ +3 "core"  +2 "collection"'\\  +4 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%] +3 "core"  +2 "processing"%^ @ +72 "core" A +2 .tPS.seek 0ml +2 "processing"%_'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%`  +75 "core"  +2 .tPS.seek 2.5ml +2 "processing"%a' +2637 "core" ' + .tPSV.dial :PTV +2 "processing"%b +75 "core"  +2 .tPS.seek 0ml + "processing"%c'ؾ +2637 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +5 "core" &Ӕ% ? >J + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +32 "core" ( +2 "manipulator"&f& +4 "core" &x  7 c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +2 "core" &x  5 c +2 .tForearm.seek CC +2 "manipulator"&h'? +92 "core" ' + .tHand.close +2 "manipulator"&i/ +56 "core" / +2 .tCC.seek :open + "collection"'j( +450 "core" ( +2 "manipulator"&k& +4 "core" &x  . c + "manipulator"&l% +4 "core" % L W Q + .tForearm.seek :retract +2 "manipulator"&m' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&n(- +279 "core" ( +2 "manipulator"&o& +4 "core" &- 8 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &- b 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&q'w +102 "core" ' +2 .tHand.open +2 "manipulator"&r1 +64 "core" 1 + "manipulator"&s% +4 "core" % y ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +96 "core" ' +809 #t-> PS.flush +2 #Flushing Processing stage +2 "processing"%u% +3 "core" %ظN\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%v& +4 "core" &L\ +2 "manipulator"&w& +3 "core" &-  8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&x(- +8 "core" ( + "manipulator"&y& +4 "core" &- M / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &- 9 / +2 .tForearm.seek :garage + "manipulator"&{'w +94 "core" ' + .tHand.close + "manipulator"&|/ +59 "core" / + "manipulator"&}& +4 "core" &- / +2 "manipulator"&~% +3 "core" % π   +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +118 "core" ( +2 "manipulator"&& +4 "core" & 7  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & W  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&& +4 "core" & E  +2 "manipulator"&% +4 "core" % Y  +2 "processing"%\ & +3 "core" &L\ +2 "processing"% & +5 "core" &D\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &M\ +7 &3P\ $c +10 &TyM\ 7 +9 &~wM\ L +9 &RN\ N +10 &ZPL\ O +9 &OS\ O +9 &TU\ N +10 &OL\ O +9 &cTT\ N +10 &$QK\ O +9 &TS\ N +9 &!QN\ N +10 &#jUI\ O +9 &%,TM\ O +9 &&TO\ N +10 &(UX\ O +9 &*rTP\ O +10 &,4QL\ O +9 &-OC\ N +9 &/RE\ N +10 &1zVT\ O +9 &3=VO\ N +10 &4QN\ N +9 &6SN\ N +9 &8WO\ O +10 &:DTN\ O +9 &<RN\ O +9 &=VL\ O +10 &?WR\ O +9 &ALWS\ O +9 &ClQ\ R +10 &DN\ T +9 &FK\ U +10 &H@S\ U +9 &JT\ U +9 &KV\ V +10 &MN\ V +9 &OGR\ V +9 &QS\ W +10 &RS\ W +9 &TU\ W +10 &VLJ\ W +9 &XL\ W +9 &YU\ W +10 &[U\ W +9 &]RT\ J +9 &^{GU\ a +10 &^ MV\ 7 +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 + "processing"%& +4 "core" &^1S\ 7 + &^1T\ 7 + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tPSV.dial PSR +2 "processing"% +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%'X\\ +1098 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +1614 "core" ' + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPTV.dial :puck + "processing"%  +74 "core"  + .tPBV.dial :waste1 +2 "processing"%  +53 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 .tPSV.dial PSR + "processing"% +74 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%' +612 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2117 "core" ' + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPBV.dial PSV + "processing"%! U +54 "core" W + .tPS.seek 0ml +2 "processing"%"'ؾ +2632 "core" ' +2 .tPSV.dial PBV + "processing"%# @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%$' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%%  +72 "core"  +2 .tPS.seek 0ml + "processing"%&'ؾ +2637 "core" ' +2 .tPSV.dial PSR + "processing"%' +44 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%(' +2635 "core" ' + .tPSV.dial PTV +2 "processing"%) +72 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%*'ؾ +2651 "core" ' + .tPSV.dial PBV +2 "processing"%+ @ +44 "core" ? +2 .tPS.seek 2.5ml + "processing"%,' +2637 "core" ' +2 .tPSV.dial :waste1 + "processing"%-  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%.'ؾ +2631 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&/& +4 "core" & 3  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&1& +4 "core" &   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &  +2 .tForearm.seek PC +2 "manipulator"&3' +90 "core" ' + .tHand.close +2 "manipulator"&4/ +53 "core" / +2 .tPC.seek :open +2 "processing"%5( +461 "core" ( + "manipulator"&& +4 "core" &   + "manipulator"&7% +4 "core" % ( J +2 .tForearm.seek :retract + "manipulator"&8' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&9(- +126 "core" ( +2 "manipulator"&:& +4 "core" &-  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &- % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&='w +93 "core" ' + .tHand.open +2 "manipulator"&?1 +63 "core" 1 + "manipulator"&@% +4 "core" % o R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A' +90 "core" ' +682 #t-> samplePassF +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & [\ +2 "manipulator"&& +4 "core" &- K + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&>(- +18 "core" ( + "manipulator"&D& +4 "core" &- E l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &- D l +2 .tForearm.seek :garage + "manipulator"&;'w +94 "core" ' + .tHand.close + "manipulator"&G/ +62 "core" / + "manipulator"&H& +4 "core" &- l +2 "manipulator"&I% +4 "core" % x _ . +2 .tForearm.seek :retract + "manipulator"&B' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& (ӂ +284 "core" ( +2 "manipulator"&L& +3 "core" &ә  8! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &ә  8! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'? +92 "core" ' +2 "manipulator"&P& +4 "core" &ә < 8! +2 "manipulator"&J% +4 "core" %: & ~ +2 "collection"'Q& +4 "core" & X\ +2 "collection"'R& +4 "core" & \\\ +2 .tCC.seek :closed +2 "collection"'F(\\ +4 "core" & P\  +10 &1y U\ *z +9 &d| T\ > +9 &rq T\ N +10 &4T Z\ N +9 &R \\\ N +9 &T [\ M +10 &|R ^\ M +9 &>S W\ M +10 &X Y\ N +9 &R \\\ N +9 & Q Z\ M +10 &"ES ]\ N +9 &$U Y\ M +9 &%T R\ M +10 &'R W\ M +9 &)NT [\ M +10 &+W Y\ N +9 &,R Q\ M +9 &.T W\ M +10 &0VQ \\\ M +9 &2R X\ M +9 &3V Y\ N +10 &5T X\ N +9 &7]Q W\ N +10 &9 R R\ M +9 &:T W\ M +9 &<T R\ M +10 &>dY W\ N +9 &@(R V\ M +9 &AY \\\ N +10 &C` X\ O +9 &Eax O\ R +10 &G N\ V +9 &H M\ Z +9 &J T\ Z +10 &LO Q\ [ +9 &N L\ [ +9 &O A\ [\ +10 &Q D\ \\ +9 &SQ K\ ] +10 &U J\ ] +9 &V ?\ ^ +9 &X C\ _ +10 &ZP B\ ` +9 &[z E\ C +9 &\\+ D\ + +10 &\\~ E\ \\ +2 ( +2 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.38 + "collection"'& +4 "core" &\\} P\ \\ +2 .tHand.open + "manipulator"&T1 +62 "core" 1 +2 "manipulator"&S% +4 "core" % : N ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&V' +90 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%U  +44 "core"  + "processing"%Y% +4 "core" %ؿg\ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%X'+ +1614 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +41 "processing"%Z  +54 "core"  +2 .tPS.seek 0ml + "processing"%['ؾ +1614 "core" ' + .tPSV.dial PSR +2 "processing"%\\ +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%]' +1536 "Can"\ YW +1094 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .PSV.dial :PTV,via: :air +2 "processing"%^ +193 "core"  +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 "processing"%W @ +73 "core" A +2 .tPS.seek 0ml +2 "processing"%`'ؾ +2657 "core" ' + .tPSV.dial :air +2 "processing"%_  +75 "core"  +2 .tPS.seek 2.5ml +2 "processing"%b' +2634 "core" ' + .tPSV.dial :PTV +2 "processing"%a +75 "core" ~ +2 .tPS.seek 0ml + "processing"%d'ؾ +2631 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&f& +4 "core" &ә \ 8! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&g(ӂ +18 "core" ( + "manipulator"&i& +4 "core" &Ӌ ; ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &Ӌ ) +2 .tForearm.seek CC +2 "manipulator"&O'? +93 "core" ' + .tHand.close + "manipulator"&K/ +55 "core" / +2 .tCC.seek :open +2 "collection"'k( +449 "core" ( +2 "manipulator"&l& +4 "core" &Ӌ 2 ) + "manipulator"&h% +4 "core" % 3 . ' +2 .tForearm.seek :retract + "manipulator"&o' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&p(- +282 "core" ( +2 "manipulator"&e& +4 "core" &- C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &- C C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&s'w +101 "core" ' +2 .tHand.open + "manipulator"&m1 +61 "core" 1 + "manipulator"&q% +5 "core" % p + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&u' +95 "core" ' +528 #t-> exit +5 #mEXIT @1632876203.90PDT @1632914983.59PDT = =tMAIN =mMAIN_scheduler @PDT1632914985.36 #"core_reset"Sent BREAK +2 #t@24083 sendCRC with ifg=0x20, ie=0x7F #@25918 sendCRC with ifg=0x08, ie=0x5F + #@57149 idle with ifg=0x84, ie=0x75 + #@57818 select with ifg=0x10, ie=0xF5 #@58452 receive with ifg=0x10, ie=0xFD + #@59085 receive with ifg=0x10, ie=0xFD + #@59718 receive with ifg=0x10, ie=0xFD #@60045 receive with ifg=0x80, ie=0xFD + #@12020 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +370 "Can"\ @> + \ @> + #tPolling Can every 10:00 +478 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %e O\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ؿ6\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ g\ > +2 .tSS.configure :default +2 "sampler")#.0X + "manipulator"&& +4 "core" &- % C +2 "storage"(& +3 "core" &@ ' ! G\ +2 "storage"(% +3 "core" % % & \  + "collection"'& +4 "core" & O\ + "processing"%& +4 "core" &3\ + "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core"  +2 "processing"%# +3 "core" ~ + "processing"%$ +4 "core" W +2 "processing"%% +3 "core" A + "processing"%& +3 "core"  +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" %e G\ +2 "processing"%)% +3 "core" %ؿS\ +2 "sampler")*% +4 "core" %څ U\ > +2 "collection"'+& +4 "core" & T\ + "processing"%,& +4 "core" &T\ + "manipulator"&-% +4 "core" %   +2 "manipulator"&.& +3 "core" &- C +2 "storage"(/& +4 "core" &@   \ + "storage"(0% +4 "core" %   q\  + "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +457 #t-> access 5 + "storage"(3% +4 "core" % + & `\  + "manipulator"&4% +4 "core" %   +2 "manipulator"&5& +3 "core" &- " C +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(6(  +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +2 "core" & ( ( 3\  +483 #t-> startTube 5 +1203 #-> $da[extractVol]=.2 +56396 "Can"\ ?< +60001 \ ?< +47670 #t-> shortDA +2 "collection"'8% +4 "core" %e \ + "processing"%9% +6 "core" %ؿ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +222 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%: +55 "core" +2 .tPTV.dial :PRVmixing + "processing"%;  +74 "core" + .tPRV.dial :sipper +2 "processing"%<  +128 "core"  +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml + "processing"%='e +2289 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%>  + "collection"'?  +16 "core" +112  +2 .tPS.seek 0.5ml +2 "processing"%@' +1291 "core" ' +2 .tPRV.dial :waste2 + "processing"%A @ +100 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%B'ؾ +586 "core" ' + .tPSV.dial PSR +2 "processing"%C +102 "core"  + "processing"%D% +4 "core" %\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%E'X\\ +1105 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%F' +1617 "core" ' + .tPSV.dial :mixloop + "processing"%G +104 "core" +2 .tPS.seek 0ml + "processing"%H'ؾ +2634 "core" ' +2 .tPSV.dial PSR + "processing"%I +104 "core"  + "processing"%J% +4 "core" %ؼ\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%K'X\\ +667 "Can"\ A> +455 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%L' +1616 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%M +103 "core" + .tPRV.dial :sipper +2 "processing"%N  +44 "core" +2 .tPS.seek 0ml + "processing"%O'ؾ +2650 "core" ' + .tPSV.dial PSR +2 "processing"%P +103 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%Q' +2639 "core" ' + .tPSV.dial :mixloop + "processing"%R +104 "core" +2 .tPS.seek 0ml + "processing"%S'ؾ +2637 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp +2 "processing"%T& +4 "core" &\ + .tHand.open + "manipulator"&U1 +18 "core" 1 +2 "manipulator"&V% +4 "core" %  3  + "storage"(W% +4 "core" % ' ' -\  + "storage"(X. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Y(<- +981 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Z& +3 "core" &<+ ! \  + "manipulator"&[& +4 "core" &- 9 C +2 "manipulator"&\\% +39 "core" %   +8 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&]( +180 "core" ( +2 "manipulator"&^& +4 "core" & ~ + "storage"(_& +4 "core" &<+ > 3 [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +94 "core" ' + "storage"(a& +4 "core" &<+ : F _\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'r +309 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &<+ %  &\  +2 "manipulator"&e& +3 "core" & +2 .tElbow.seek 5 + "manipulator"&f( +9 "core" ( +2 "manipulator"&g& +4 "core" & O  + "storage"(h& +4 "core" &<+ D C \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&i'Ϲ +42 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"(l' +7 "core" &   +2 "manipulator"&m% +4 "core" % ϸ M C +2 .tForearm.seek :retract + "manipulator"&n' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&o( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&p& +4 "core" & ?  &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +2 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&r' +101 "core" ' +2 "manipulator"&s& +4 "core" &   + "manipulator"&t% +4 "core" %  v +2 "processing"%u& +3 "core" &\ +2 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%w(^ +4 "core" &\ \ +10 &0s\ )w +9 &a~\ > +9 &]r\ O +10 &S\ N +9 &S\ N +9 &R\ N +10 &eS\ N +9 &'R\ N +10 &R\ N +9 &R\ N +9 & lR\ O +10 &".T\ O +9 &#U\ O +9 &%T\ N +10 &'tR\ O +9 &)7T\ N +10 &*Q\ O +9 &,W\ O +9 &.}U\ N +10 &0>T\ O +9 &2U\ O +9 &3R\ O +10 &5R\ N +9 &7GS\ N +10 &9T\ O +9 &:V\ O +9 &<R\ O +10 &>OU\ N +9 &@W\ O +9 &A]\ P +10 &Cx\ S +9 &EC\ U +10 &G\ U +9 &H\ U +9 &J\ V +10 &LI\ V +9 &N\ \ V +9 &O\ V +10 &Q\ W +9 &SN\ W +10 &U\ W +9 &V\ W +9 &X\ V +10 &ZU\ W +9 &\\\ W +9 &]\ : +10 &^-\ [ +9 &^.\ 7 +2 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&x1 +58 "core" 1 + "manipulator"&y% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +88 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%{ h +2 %|9 +6 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +2 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +3 "core" 9 +103 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%\ 9 +2 "core" 9* +103 "processing"% 9 +2 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"%9 +2 "core" 9D +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +3 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +3 "core" 9m +102 "processing"% 9 +2 "core" 9r +102 "processing"%!9 +3 "core" 9v +102 "processing"%"9 +3 "core" 9z +102 "processing"%#9 +2 "core" 9~ +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +103 "processing"%+9 +2 "core" 9 +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +3 "core" 9 +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +2 "core" 9 +102 "processing"%19 +3 "core" 9 +102 "processing"%29 +2 "core" 9 +102 "processing"%39 +3 "core" 9\  +102 "processing"%49 +2 "core" 9 +102 "processing"%59 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%79 +3 "core" 9 +102 "processing"%89 +2 "core" 9" +3 .tPH.hold 2:00:00,28C +2 "processing"%9 php +2 .tdelay 1:30 +5 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%: +105 "core"  + "processing"%;% +4 "core" %ػ\ + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%<' +588 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%' +1611 "core" ' + .tPTV.dial :puck +2 "processing"%?  +130 "core"  + .tPSV.dial PTV +2 "processing"%> +73 "core" +2 .tPBV.dial :waste1 + "processing"%=  +54 "core" + "processing"%A% +4 "core" %8\  +2 .tPS.seek 1.5ml + "processing"%@'+ +588 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%C * +34 "core" , +3 .tPS.seek 0ml + "processing"%D'ؾ +1611 "core" ' + .tdelay 5:00 +26573 "Can"\ IF +3429 #trecoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%B  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%E * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%G +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%F' +2431 "core" ' + .tPSV.dial PTV +2 "processing"%I +86 "core" + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%J +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%H +73 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%K  +73 "core"  +2 .tPS.seek 0ml + "processing"%M'ؾ +2381 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%N  +130 "core" + .tPSV.dial :mixloop +2 "processing"%L +44 "core" + .tPRV.dial :ab1 +2 "processing"%P @ +98 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%O' +352 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%R  +43 "core"  +2 "processing"%Q% +4 "core" %\ \  +2 .tPS.seek 0.35ml + "processing"%T'e +461 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'U  +30 "core" +2 .tPRV.dial :air + "processing"%V  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%W'K +1176 "core" ' + .tPRV.dial :waste2 +2 "processing"%X @ +72 "core" > +2 .tPS.seek 0.5ml + "processing"%6' +869 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%Z  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%[' +1609 "core" ' +2 .tPSV.dial :PML + "processing"%\\ +46 "core" + .tPTV.dial :mixing +2 "processing"%^ @ +73 "core" B +2 .tPBV.dial :waste1 + "processing"%_  +35 "core" + "processing"%a% +4 "core" %k\ i +2 .tPS.seek 1.85ml +2 "processing"%' +225 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 .tPS.seek 0ml + "processing"%c'ؾ +1962 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'d& +3 "core" & \ + "manipulator"&e& +4 "core" & x  + "manipulator"&g% +4 "core" %  N  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&h(- +121 "core" ( + "manipulator"&j& +4 "core" &- ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &- k +2 .tForearm.seek :garage + "manipulator"&m'w +92 "core" ' + .tHand.close +2 "manipulator"&]/ +52 "core" / +2 "manipulator"&`& +4 "core" &-  + "manipulator"&b% +4 "core" % υ V  +2 .tForearm.seek :retract +2 "manipulator"&i' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +297 "core" ( + "manipulator"&q& +4 "core" &ӂ : ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +4 "core" &ӂ  ( + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&s'? +97 "core" ' +2 "manipulator"&t& +4 "core" &ӂ ( +2 "manipulator"&u% +4 "core" %7 L ) + "collection"'l& +4 "core" & ~\ +2 "collection"'n& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" &  \  +9 &1x  ~\ *z +9 &c~ \ ? +9 &kr \ P +10 &-P \ O +9 &T  \ P +10 &U \ P +9 &sS \ O +9 &5Q \ O +10 &X \ O +9 &R \ O +9 & {T  \ O +10 &"=T \ O +9 &#O \ O +10 &%R \ O +9 &'P \ O +9 &)FR \ O +10 &+R \ P +9 &,R \ P +9 &.U \ O +10 &0LS \ P +9 &2R \ P +10 &3T \ O +9 &5T \ O +9 &7TU \ P +10 &9S \ P +9 &:S \ P +9 &<U \ O +10 &>\\V \ P +9 &@T \ P +10 &AW \ P +9 &C` \ Q +9 &EYv \ S +10 &G \ X +9 &H \ ~\\ +9 &J \ |] +10 &LF \ {] +9 &N \ {] +10 &O \ w^ +9 &Q \ x^ +9 &SE \ u` +10 &U \ v_ +9 &V \ ra +9 &X \ ob +10 &ZG \ qb +9 &[| \ xG +10 &\\# \ . +9 &\\ \ !b +2 ( +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.44 +2 "collection"'x& +4 "core" &\\ \ !b + .tHand.open + "manipulator"&y1 +63 "core" 1 +2 "manipulator"&|% +4 "core" % 7 ) + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +91 "core" ' + .tPSV.dial PSR +2 "processing"%} +105 "core"  + "processing"%r% +43 "core" %@\ h +11 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%~'+ +1612 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1607 "core" ' +2 .tPSV.dial PSR + "processing"% +46 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2637 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV + "processing"%  +2 "collection"'  +32 "core" ~ +125  + .tPSV.dial :mixloop +2 "processing"% +103 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'\  +4 "core"  + "collection"'  +5 "core"  +2 .tPTV.dial :PRVmixing + "processing"%  +75 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2631 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2639 "core" ' + .tPSV.dial :air +2 "processing"%  +56 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"% +54 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +3 "core" &ӂ G ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +2 "core" ( +2 "manipulator"&& +4 "core" &ӂ    ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӂ ( +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 .tHand.close + "manipulator"& / +52 "core" / +2 .tCC.seek :open + "collection"'!( +452 "core" ( + "manipulator"&"& +5 "core" &ӂ  ( + "manipulator"&#% +3 "core" % D S [ +2 .tForearm.seek :retract +2 "manipulator"&$' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&%(- +272 "core" ( + "manipulator"&&& +5 "core" &-   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &-  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&('w +97 "core" ' +2 .tHand.open + "manipulator"&)1 +61 "core" 1 + "manipulator"&*% +4 "core" % z ' % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&+' +92 "core" ' + ."da"delayUntil "05:21:24.06" +15505 "Can"\ IF +9268 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%, @ +73 "core" A + ."da"PBV.dial :waste1 +2 "processing"%-  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%. * +34 "core" , +2 ."da"PSV.dial :air + "processing"%/  +56 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%0' +2433 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%1 +42 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%2  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%3 +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%4  +58 "core" +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +2383 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  + "processing"%7% +4 "core" %z\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%8' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +14 ."da"PS.seek 2ml +2 "processing"%:' +1618 "core" ' + ."da"PTV.dial :puck +2 "processing"%;  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%S +86 "core" + ."da"PBV.dial :waste1 +2 "processing"%<  +34 "core" +2 "processing"%?% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%>', +584 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%= * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%C * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%{' +2449 "core" ' +2 ."da"PSV.dial PTV + "processing"%B +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%E +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%G +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%D  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +2374 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%J +131 "core"  + "processing"%H% +4 "core" %ؾ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%K' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%F' +1607 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%N +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +34 "core" + "processing"%P% +4 "core" %z\  +2 ."da"PS.seek 1.5ml +2 "processing"%M'+ +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%R * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%Q'ؾ +1619 "core" ' +2 ."da"delay 2:00 +8862 "Can"\ JF +3140 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%O  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%U * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%V +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%T' +2424 "core" ' + ."da"PSV.dial PTV +2 "processing"%X +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%W +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Z +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%6  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\\'ؾ +2376 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%^  +44 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%_  +130 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%a  +41 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"% +43 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%[' +389 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +43 "core"  +2 "processing"%d% +3 "core" %E\  +2 ."da"PS.seek 0.55ml +2 "processing"%e' +330 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%g  +58 "core" +2 ."da"PS.seek 2ml +2 "processing"%j' +1555 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%k +41 "core" +2 ."da"PTV.dial :mixing + "processing"%] @ +74 "core" A + ."da"PBV.dial :waste1 +2 "processing"%`  +35 "core" + "processing"%b% +4 "core" %9\ +2 ."da"PS.seek 1.85ml + "processing"%o' +235 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%z * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%m'ؾ +1961 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +40575 "Can"\ GE +7427 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%q  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%h * +34 "core" , +2 ."da"PSV.dial :air + "processing"%f  +46 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%t' +2454 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%u +46 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%l  +57 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%i +41 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +45 "core"  +2 ."da"PS.seek 0ml +2 "processing"%x'ؾ +2388 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%y +132 "core"  + "processing"%|% +4 "core" %\\\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%n' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%}' +1617 "core" ' +2 ."da"PTV.dial :puck + "processing"%r  +74 "core"  + ."da"PSV.dial PTV +2 "processing"%s +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%c  +35 "core" + "processing"%% +4 "core" %^\ u +2 ."da"PS.seek 1.5ml + "processing"%~'0 +602 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%'ؾ +1617 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +34 "core" + ."da"delay 30 seconds +3043 .PBV.dial between PSV and waste1 +11 "processing"% * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%\ ' +2456 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2391 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +132 "core"  +2 "processing"%% +4 "core" %u\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%' +601 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +86 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +3 ."da"PS.seek 0ml + "processing"% 'ؾ +1635 "core" ' +2 ."da"delay 2:00 +10636 "Can"\ EB +1366 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%p  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%v * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%"' +2451 "core" ' + ."da"PSV.dial PTV +2 "processing"%# +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%& +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%'  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2390 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%) +131 "core"  +2 "processing"%*% +4 "core" %p\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%$' +612 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%(' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%, +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%-  +34 "core" + "processing"%.% +4 "core" %y\ { +2 ."da"PS.seek 1.5ml +2 "processing"%/'' +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%1'ؾ +1614 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%2  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%3 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%0' +2433 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%7 +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%5 +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%8  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +2374 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air + .PSV.dial PSR +2 "processing"%S +143 "core"  +5 "processing"%<% +8 "core" % +6 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +7 "processing"% +18 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%?' +345 "core" ' +2 ."da"delay 5 seconds +502 "processing"%:% +4 "core" %  + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%=' +329 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml + "processing"%>' +1606 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +78 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%C  +36 "core" + "processing"%@% +4 "core" %m  +2 ."da"PS.seek 1.5ml +2 "processing"%A'( +600 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%B * +36 "core" , +2 ."da"PS.seek 0ml + "processing"%E'ؾ +1612 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%G  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%D * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +78 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%J' +2570 "core" ' + ."da"PSV.dial PTV +2 "processing"%H +91 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%I +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%K +75 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%N  +88 "core"  +2 ."da"PS.seek 0ml +2 "processing"%L'ؾ +2520 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%P +137 "core"  + "processing"%F% +4 "core" %ع\ g + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%R' +2123 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%M +78 "core" + ."da"PBV.dial :waste1 +2 "processing"%O  +34 "core" +2 "processing"%U% +3 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%V'& +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Q * +33 "core" * +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%X  +107 "core"  +2 ."da"PS.seek 0ml +2 "processing"%W'ؾ +25 "Can"\ s +1585 "core" ' + "processing"%Z9 +3 "core" 9p5 +2 #"da"Processing Puck Heater at 28.2C before imaging +2 .PH.coast + "processing"%6  +4 "core" 5 + 5 + "processing"%T& +3 "core" &^- 7 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&^% +3 "core" %  M O +2 "storage"(_% +3 "core" % 9 +2 "storage"(a. +2 "core" .(<* +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"((,y +361 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (\\& +3 "core" &,x  + "manipulator"&& +4 "core" &-  h S + "manipulator"&d% +4 "core" %   S +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 + "manipulator"&[( +172 "core" ( + "manipulator"&g& +4 "core" & { ' +2 "storage"(e& +3 "core" &,x 4  K\ d +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&k' +90 "core" ' +2 "storage"(]& +4 "core" &,x t +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(`'r +280 "core" ' +2 "storage"(b- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"(z'1 +45 "core" ' +2 "manipulator"&j& +4 "core" & K' + "manipulator"&o% +4 "core" % F E fi +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&q' +93 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&h( +243 "core" ( +2 "manipulator"&f& +3 "core" & 6 9 I ZL +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" & E ML +2 ."da"Forearm.seek PC +2 "manipulator"&u' +93 "core" ' +2 ."da"Hand.close + "manipulator"&l/ +71 "core" / +2 ."da"PC.seek :open + "processing"%i( +461 "core" ( + "storage"( & +4 "core" &,f K  + "manipulator"&t& +4 "core" &   ? K + "manipulator"&y% +4 "core" %  c " +2 ."da"Forearm.seek :retract +44 "manipulator"&|' +103 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&x( +243 "core" ( +2 "manipulator"&n& +4 "core" & S6 + "storage"(r& +4 "core" &,f   +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&s' +93 "core" ' + ."da"Hand.open +3 "manipulator"&c1 +54 "core" 1 +2 "storage"(- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(}' +25 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +57 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2906h.tif +6 "processing"%~& +10 "core" &c g +5 "manipulator"&& +5 "core" & e6 +2 "manipulator"&% +5 "core" %  m +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +177 "core" ( +2 "manipulator"& & +4 "core" &- 2Q + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &- Q + ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +100 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +70 "core" / +2 "manipulator"&\ & +4 "core" &- Q + "manipulator"&% +4 "core" % ς  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +117 "core" ( + "manipulator"&& +4 "core" & NP +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & bP +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&& +4 "core" & T E @ cP +2 "manipulator"&% +4 "core" % W ^ : fl +2 "processing"%& +3 "core" && +3 "processing"%& +4 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%p(^ +4 "core" & +8 &\ # $c +9 &Rr 9 +10 &vg xN +9 &hG nW +10 &*9 pW +9 &6 qW +9 &> nW +10 &q7 oW +9 &39 nW +9 &: nW +10 &; nW +9 &!x; mW +9 &#:9 sW +10 &$< mW +9 &&; nX +10 &(: nX +9 &*B7 nW +9 &,F V +10 &-> T +9 &/F T +9 &1TB T +10 &3E T +9 &4D S +10 &6D S +9 &8[D T +9 &:C T +10 &;C T +9 &=F T +10 &?YE sX +9 &A; sX +9 &BN nY +10 &De j] +9 &FH{ d` +9 &H v f_ +10 &Iw e` +9 &K{N d` +9 &MN}E da +10 &OI da +9 &PG ba +10 &RL ca +9 &TPF bb! +9 &V~@ db +10 &W7 bb +9 &Y= ca +10 &[gD ^ +9 &])> ^ +9 &^Pk8 W +10 &^T; C +5 ( + "processing"%& +5 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.96 + "processing"%v& +4 "core" &^L: C + &^L. C +2 ."psFlush"Hand.open + "manipulator"& 1 +74 "core" 1 +2 "manipulator"& % +4 "core" % &l +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&#' +87 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"% +46 "core"  +2 "processing"%&% +4 "core" % + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%'' +605 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +69 #"da"SX HX9/16 (USB:16): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 24.588 seconds\ /var/log/esp/da21sep2906h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2906h15s.tif +1564 #SX HX9/16 (USB:16): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2906h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2906h30s.tif +505 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%) @ +204 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%*  +144 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%$'ؠ +1982 #"da"SX HX9/16 (USB:16): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2906h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2906h70s.tif +682 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%, +111 "core"  + "processing"%-% +4 "core" %؝a  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%.' +604 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%(' +2139 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +35 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%/ @ +78 "core" @ + ."psFlush"PSV.dial :mixloop +2 "processing"%2 +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%3'ؠ +2651 "core" ' +6 ."psFlush"PSV.dial PSR +5 "processing"%4 +87 #"da"SX HX9/16 (USB:16): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2906h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "24.588 sec auto-exposure",Subject: "da21sep2906h images!" +9 "storage"(1- +3 "core" -' +2 "storage"(& +6 "core" &,f r C\ # +  + "manipulator"&7& +2 ."psFlush"PSR.select :flush +5 "processing"%@ +3 "core" & P +2 "manipulator"&5% +3 "core" %  *  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 +3 "manipulator"&8( +3 ."psFlush"PS.seek 1ml +2 "processing"%0'X\\ +237 "core" ( +2 "manipulator"&S& +4 "core" & ; 1 + "storage"(<& +4 "core" &,f V\ & +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&;' +100 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(:'" +59 "core" ' +2 "manipulator"&?& +4 "core" & 9 1 + "storage"(=& +4 "core" &,f \  + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&'7 +28 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&C, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(@' +26 "core" ' + "manipulator"&>% +4 "core" % +2 "storage"(B& +4 "core" &,f \  + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 4 + 275 counts +2 "manipulator"&A'J +15 "core" ' + "manipulator"&G& +5 "core" & Y 1 + "storage"(D& +4 "core" &,f \  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&{' +16 "core" ' +2 "storage"(E% +59 "core" %\  +3 ."downElevator"SE.seek :down +3 "storage"(H' +99 (I% +3 "core" %7 6\ ST +2 "manipulator"&K% +4 "core" % G +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&N' +93 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (J& +4 "core" &,f Y\  +161 ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%P' +1617 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%F +86 "core" + ."psFlush"PTV.dial :puck +2 "processing"%L  +80 "core"  +13 ."psFlush"PBV.dial :waste1 +8 .PS.seek 0ml + "processing"%M'ؾ +1229 !"Qmail"o:Net::SMTPUnknownError: mesg"could not get 3xx (421):@checkpoint: omitted:bt["@/opt/mbari/lib/ruby/1.8/net/smtp.rb:948:in `check_continue'"6/opt/mbari/lib/ruby/1.8/net/smtp.rb:888:in `data'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:933:in `critical'"6/opt/mbari/lib/ruby/1.8/net/smtp.rb:887:in `data'";/opt/mbari/lib/ruby/1.8/net/smtp.rb:654:in `send_mail'"=/opt/mbari/lib/ruby/1.8/net/smtp.rb:843:in `rcptto_list'";/opt/mbari/lib/ruby/1.8/net/smtp.rb:654:in `send_mail'"2/home/esp/esp2/lib/email.rb:327:in `sendOnce'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:526:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1400 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%O +72 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%U' +585 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%R' +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Q +73 "core" +4 ."psFlush"PBV.dial PSV +2 "processing"%X U +52 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%V'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%Z @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%6' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%T  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%^'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%_ +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%a' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Y +72 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%\\'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"% @ +57 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%d' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%g  +74 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%e'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%] +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%%'X\\ +1106 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%+' +1614 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%b +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%j  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%o'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%` +74 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%k' +596 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%f' +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%m +86 "core" + ."psFlush"PBV.dial PSV +2 "processing"%[ U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%l'ؾ +2626 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%q @ +55 "core" @ +2 ."psFlush"PS.seek 2.5ml + "processing"%w' +2426 "Can"x\ OL +213 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%t'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%y +44 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%u' +2625 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%n +72 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%r'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%h @ +45 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%c' +2642 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%~'ؾ +2640 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +4 "core" & P 1 + "manipulator"&% +4 "core" %  *  + ."psFlush"Elbow.seek PC +2 "manipulator"&|( +244 "core" ( +2 "manipulator"&z& +4 "core" & = 4 + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" & 0 4 +2 ."psFlush"Forearm.seek PC +2 "manipulator"& ' +91 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +61 "core" / +2 ."psFlush"PC.seek :open + "processing"%s( +457 "core" ( + "manipulator"&x& +4 "core" & P 4 +2 "manipulator"&% +3 "core" %   . +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&\ ' +98 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +134 "core" ( + "manipulator"&& +4 "core" &- O  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &-  +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +91 "core" ' + ."psFlush"Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % q i N + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 #tFinished short da assay +93 #-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \\\ +2 "manipulator"&& +4 "core" &- n  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +8 "core" ( +2 "manipulator"&i& +4 "core" &- e V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &-  V +2 .tForearm.seek :garage +2 "manipulator"& 'w +97 "core" ' +2 .tHand.close +39 "manipulator"& / +65 "core" / +2 "manipulator"&& +4 "core" &- J V + "manipulator"&% +4 "core" % } C +2 .tForearm.seek :retract +2 "manipulator"&&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +284 "core" ( + "manipulator"&W& +4 "core" &Ӛ# L <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &Ӛ# E <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&)'? +93 "core" ' +2 "manipulator"&*& +4 "core" &Ӛ#  <: +2 "manipulator"&% +4 "core" %D  y +2 "collection"'"& +3 "core" & _\ +2 "collection"',& +5 "core" & e\ +2 .tCC.seek :closed +2 "collection"'-(\\ +4 "core" &  [\  +9 &3~ `\ *z +10 &c} a\ > +9 &oq c\ O +10 &1T f\ N +9 &T g\ N +9 &T d\ N +10 &wT e\ N +9 &9S _\ N +9 &U e\ N +10 &S g\ N +9 & S c\ N +10 &"BT `\ N +9 &$S f\ N +9 &%T d\ N +10 &'S `\ N +9 &)KS d\ N +9 &+ W c\ N +10 &,T ^\ N +9 &.T c\ N +9 &0ST d\ N +10 &2W g\ N +9 &3T e\ N +10 &5T a\ M +9 &7ZU ^\ N +9 &9T [\ N +10 &:T [\ N +9 &<U d\ N +10 &>cU a\ N +9 &@&U _\ M +9 &AZ ^\ O +10 &C` c\ O +9 &E\\} e\ S +9 &G n\ V +10 &H e\ Z +9 &J ]\ [\ +10 &LG b\ ] +9 &N b\ \\ +9 &O d\ \\ +10 &Q _\ ] +9 &SL d\ ^ +9 &U f\ ^ +10 &V _\ _ +9 &X m\ ` +9 &ZK h\ a +10 &[{ j\ E +9 &\\% o\ - +10 &\\ q\ _ +2 ( + "collection"',& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.43 +2 "collection"'$& +3 "core" &\\ o\ _ +2 .tHand.open + "manipulator"&.1 +62 "core" 1 + "manipulator"&% +4 "core" % D P y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/' +90 "core" ' +2 .tPSV.dial PSR,avoiding: PBV + "processing"%2  +43 "core"  +2 "processing"%(% +4 "core" %ع\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%1'+ +1626 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%4'ؾ +1613 "core" ' +2 .tPSV.dial PSR + "processing"%7 +44 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%5' +2635 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%S  +99 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%< +193 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +72 "core" @ +2 .tPS.seek 0ml + "processing"%3'ؾ +2639 "core" ' + .tPSV.dial :air +2 "processing"%?  +75 "core"  +2 .tPS.seek 2.5ml +2 "processing"%=' +2633 "core" ' +2 .tPSV.dial :PTV + "processing"%> +74 "core" +2 .tPS.seek 0ml +2 "processing"%B'ؾ +2629 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&#& +4 "core" &Ӛ" <: +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +17 "core" ( + "manipulator"&D& +5 "core" &Ӄ + . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &Ӄ 3 . +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&;/ +55 "core" / +2 .tCC.seek :open + "collection"'I( +451 "core" ( +2 "manipulator"&K& +4 "core" &ӄ K . + "manipulator"&8% +4 "core" % @ T  + .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +283 "core" ( + "manipulator"&A& +4 "core" &- Q A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &- : A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&@'w +101 "core" ' + .tHand.open +2 "manipulator"&{1 +60 "core" 1 + "manipulator"&H% +4 "core" % m P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +96 "core" ' +2070 #t-> access 4 +3 "storage"(F% +3 "core" % ' % ,\  +2 "manipulator"&L% +4 "core" %    + "manipulator"&P& +4 "core" &- A + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(O(C +1012 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (M& +3 "core" &F % & #\ +6 #t-> PS.flush +2 #Flushing Processing stage +2 "processing"%U% +3 "core" %ؿ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%Q& +4 "core" &\ + "manipulator"&X& +4 "core" &- A + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&R(- +9 "core" ( + "manipulator"&Z& +4 "core" &- + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &-  + +2 .tForearm.seek :garage +2 "manipulator"&T'w +93 "core" ' + .tHand.close +2 "manipulator"&6/ +56 "core" / +2 "manipulator"&_& +4 "core" &- . + + "manipulator"&^% +4 "core" % ψ Y  + .tForearm.seek :retract +2 "manipulator"&Y' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&a( +115 "core" ( +2 "manipulator"&& +4 "core" & / 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" & M 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&g' +91 "core" ' +2 "manipulator"&d& +4 "core" & " 0 +2 "manipulator"&]% +4 "core" %  o + "processing"%e& +4 "core" &\ +2 "processing"%%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%b(^ +4 "core" &\  +9 &2vw\ *y +10 &c|\ > +9 &rn\ N +9 &5O\ N +10 &U\ N +9 &Q3\ N +9 &zR\ N +10 &=S\ N +9 &U\ N +10 &Rw\ N +9 & R\ N +9 &"DR\ N +10 &$Sy\ N +9 &%Q|\ N +9 &'Q\ N +10 &)KRx\ N +9 &+ S\ N +10 &,R\ N +9 &.R\ N +9 &0SS\ N +10 &2S\ N +9 &3S\ N +9 &5S\ N +10 &7[Su\ N +9 &9U\ N +10 &:T\ N +9 &<TK\ O +9 &>cU\ N +10 &@%S\ N +9 &AZ\ O +9 &Cp\ R +10 &EY\ U +9 &Gu\ U +10 &H3\ U +9 &J\ U +9 &L^\ U +10 &N\ W +9 &O\ U +9 &Qv\ W +10 &Sb\ W +9 &U#\ W +10 &V\ W +9 &X\ V +9 &Zj\ W +10 &\\+\ W +9 &]~v\ < +9 &^*{\ Y +10 &^-\ 6 +2 ( +2 "processing"%%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + "processing"%j& +4 "core" &^*\ 6 +2 .tHand.open + "manipulator"&+1 +55 "core" 1 + "manipulator"&`% +5 "core" %  o + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&o' +92 "core" ' + .tPSV.dial PSR +2 "processing"%k +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%m'X\\ +1106 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%[' +1614 "core" ' + .tPSV.dial PTV +2 "processing"%f +73 "core" +2 .tPTV.dial :puck + "processing"%q  +72 "core"  +2 .tPBV.dial :waste1 + "processing"%l  +55 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2627 "core" ' +2 .tPSV.dial PSR + "processing"%w +74 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%y' +590 "core" ' + .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%t' +2129 "core" ' +2 .tPSV.dial PTV + "processing"%n +74 "core" + .tPBV.dial PSV +2 "processing"%u U +53 "core" V +2 .tPS.seek 0ml +2 "processing"%h'ؾ +2654 "core" ' + .tPSV.dial PBV +41 "processing"%r @ +52 "core" ? +2 .tPS.seek 2.5ml + "processing"%' +2631 "core" ' + .tPSV.dial :waste1 +2 "processing"%c  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 .tPSV.dial PSR + "processing"% +44 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%z' +2635 "core" ' + .tPSV.dial PTV +2 "processing"%} +72 "core" + .tPBV.dial PSV +3 .PS.seek 0ml + "processing"%C'ؾ +2635 "core" ' +2 .tPSV.dial PBV + "processing"% @ +57 "core" @ +2 .tPS.seek 2.5ml + "processing"%N' +458 "Can"\ IF +2170 "core" ' + .tPSV.dial :waste1 +2 "processing"%p  +74 "core"  +2 .tPS.seek 0ml + "processing"%x'ؾ +2629 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +5 "core" & 0 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &  0 +2 .tForearm.seek PC + "manipulator"&|' +97 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tPC.seek :open +2 "processing"%( +460 "core" ( + "manipulator"&\ & +4 "core" & N 0 +2 "manipulator"&% +4 "core" %  4  +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&i(- +128 "core" ( +2 "manipulator"&v& +4 "core" &- i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"& 'w +93 "core" ' + .tHand.open +2 "manipulator"&1 +52 "core" 1 + "manipulator"&% +4 "core" % }  Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +1768 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +4 "core" & `\ + "manipulator"& & +4 "core" &-  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&W(- +17 "core" ( + "manipulator"&'& +4 "core" &- @ n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- @ n +2 .tForearm.seek :garage + "manipulator"&*'w +94 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 "manipulator"&"& +4 "core" &- m + "manipulator"&&% +4 "core" % g E - +2 .tForearm.seek :retract + "manipulator"&!' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&$(ӂ +285 "core" ( + "manipulator"&.& +4 "core" &Ӟ   :* + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӟ   :* +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'? +96 "core" ' +2 "manipulator"&2& +4 "core" &Ӟ! 6 :* +2 "manipulator"&(% +3 "core" %; C 2 +2 "collection"')& +3 "core" & [\ +2 "collection"'~& +5 "core" & ~ h\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & `\  +9 &0z ~ \\\ +z +10 &b~  \\\ > +9 &rp  ]\ N +9 &4S W\ N +10 &R P\ N +9 &R O\ N +9 &{Q I\ M +10 &<R L\ N +9 &W N\ N +10 &U L\ N +9 & Q J\ M +9 &"DT S\ N +10 &$Q X\ N +9 &%S Q\ M +9 &'R O\ M +10 &)LS Z\ N +9 &+W O\ N +10 &,V Q\ N +9 &.V Q\ N +9 &0TV S\ N +10 &2U M\ M +9 &3T X\ M +9 &5T W\ N +10 &7\\V N\ N +9 &9R O\ N +10 &:T N\ M +9 &<T S\ N +9 &>dT U\ N +10 &@'T W\ M +9 &AY \\\ O +9 &C_ Y\ O +10 &Eav X\ Q +9 &G Y\ V +10 &H \\\ [\ +9 &J ^\ [ +9 &LI X\ \\ +10 &N\ _\ ] +9 &O X\ ] +9 &Q ]\ \\ +10 &SK Z\ ^ +9 &U [\ ^ +10 &V X\ _ +9 &X ]\ ` +9 &ZK \\\ a +10 &[} X\ A +9 &\\. \\\ + +9 &\\ \\\ [ +3 ( + "collection"'~& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.46 + "collection"'1& +4 "core" &\\ ]\ [ + .tHand.open +2 "manipulator"&71 +58 "core" 1 + "manipulator"&4% +4 "core" % ; 0 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +91 "core" ' +7 #t-> CBV,PRV + !o:SyntaxError: mesg"Icompile error\ (ESP):10: syntax error, unexpected '\\n', expecting '=':bt["(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +406 #-> CBV.PRV + .CBV.dial PRV +695 #-> PTV.PRV + .PTV.dial PRV +2 "processing"%< @ +71 "core" @ +726 #t-> PSV.PTV + .PSV.dial PTV + "processing"% +103 "core" +471 #t-> CTV.air +2 .CTV.dial :air +680 #-> PRV.CBV +2 .PRV.dial CBV +739 #-> PSR.flush +2 .PSR.select :flush +2 "processing"%@ +702 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%5 +75 "core"  +546 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%?' +2631 "core" ' +2 "processing"%3% +4 "core" %y\  +6909 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%> +86 "core" +1132 #t-> PS.empty +2 .PS.seek 0ml + "processing"%='ؾ +2630 "core" ' +2 "processing"%#% +8 "core" %ؾp\ +1407 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%D +71 "core"  +431 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%E' +2634 "core" ' +2 "processing"%;% +4 "core" %p\  +6553 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"% +74 "core" +299 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%/'ؾ +2723 "core" ' +2 "processing"%-% +4 "core" %ؿp\ +6 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%K +73 "core"  +6 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%8' +2634 "core" ' + "processing"%% +4 "core" %o\  +1581 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%A +86 "core" +308 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%J'ؾ +2652 "core" ' +2 "processing"%G% +4 "core" %n\  +6 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%{ +73 "core"  +6 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%H' +2630 "core" ' +2 "processing"%:% +4 "core" %o\  +849 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%@ +86 "core" +255 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%F'ؾ +2635 "core" ' + "processing"%L% +4 "core" %ػl\ +7 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%P +72 "core"  +8 #t-> PSR.air + .PSR.select :air +2 "processing"% +63 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%' +2631 "core" ' +2 "processing"%M% +4 "core" %b\  +1189 "Can"{\ WT +1507 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%U +74 "core" +842 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%Q'ؾ +2628 "core" ' +2 "processing"%X% +4 "core" %U\ +6 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%Z +73 "core" +7 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%V' +2634 "core" ' + "processing"%6% +4 "core" %S\  +2328 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%_ +73 "core" +218 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%^'ؾ +2631 "core" ' + "processing"%% +5 "core" %ؼU\ +6 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%0 +74 "core"  +7 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%' +2628 "core" ' +2 "processing"%\\% +4 "core" %]\  +1662 #t-> PSV.PTV + .PSV.dial PTV + "processing"%T +86 "core" +721 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%d'ؾ +2641 "core" ' + "processing"%]% +4 "core" %ػ^\ +9 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&e& +4 "core" &Ӟ  & :* +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&R(ӂ +22 "core" ( +2 "manipulator"&Y& +4 "core" &y x ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +2 "core" &y \ ' +2 .tForearm.seek CC +2 "manipulator"&j'? +96 "core" ' +2 .tHand.close + "manipulator"&+/ +54 "core" / + .tCC.seek :open +2 "collection"'`( +450 "core" ( +2 "manipulator"&%& +4 "core" &y ( ' +2 "manipulator"&k% +3 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&B(- +272 "core" ( + "manipulator"&m& +4 "core" &- >  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&q'w +98 "core" ' +2 .tHand.open + "manipulator"&l1 +63 "core" 1 + "manipulator"&[% +4 "core" % } 8 \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +94 "core" ' +18149 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"' & +3 "core" & ~ j\ +2 "manipulator"&y& +4 "core" &- /  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&n(- +14 "core" ( + "manipulator"&u& +5 "core" &- P 9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &- G 9 +2 .tForearm.seek :garage +2 "manipulator"&r'w +91 "core" ' +2 .tHand.close + "manipulator"&h/ +60 "core" / + "manipulator"&c& +4 "core" &- 9 +2 "manipulator"&% +4 "core" % k  9 + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +284 "core" ( +2 "manipulator"&}& +4 "core" &ӛ  9# + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +2 "core" &ӛ  9# +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + "manipulator"&C& +5 "core" &ӛ  \\ 9# + "manipulator"&p% +4 "core" %8  m +2 "collection"'N& +3 "core" &  d\ +2 "collection"'& +5 "core" &  b\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & c\  +9 &1y  f\ *z +10 &d}  ~b\ > +9 &yn z d\ N +10 &>R i\ L +9 &R c\ M +9 &V  `\ M +10 &R a\ M +9 &DU ~ b\ M +9 &T  ~^\ M +10 &U Z\ M +9 & R  X\ L +10 &"NR b\ L +9 &$R ^\ M +9 &%V Q\ M +10 &'U  X\ M +9 &)UR } Y\ M +9 &+R [\ L +10 &,S P\ M +9 &.V  Y\ M +10 &0]U {V\ M +9 &2 U ^\ L +9 &3T  \\\ M +10 &5W \\\ M +9 &7eR ]\ M +9 &9'T \\\ M +10 &:Q ^\ M +9 &<T a\ M +10 &>lS  ^\ M +9 &@.T ]\ M +9 &AX \\\ M +10 &C_ \\\ N +9 &Eiu Y\ Q +9 &G \\\ U +10 &H W\ Y +9 &J \\\ \\ +10 &LT X\ [ +9 &N Z\ [ +9 &O \\\ ] +10 &Q ^\ \\ +9 &SU Y\ ] +9 &U ]\ ] +10 &V \\\ ^ +9 &X X\ _ +10 &ZU [\ ` +9 &[z \\\ @ +9 &\\0 Z\ (z +10 &\\ \\\ Z +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.46 + "collection"' & +4 "core" &\\ e\ Z +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&a% +4 "core" % 8  m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +94 "core" ' +2 #tPurging external Intake + "collection"'b& +4 "core" &\\ J\ Z +2 "collection"'\ % +4 "core" %e J\ + .tCSV.dial :flush + "collection"'  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'v' +2503 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"' + '|  +72 "core"  +  +2 .tCTV.dial :intake +2 "collection"'  +76 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"''i +2416 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +76 "core"  + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &ӛ ; 9# + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& (ӂ +14 "core" ( + "manipulator"&& +4 "core" &Ӆ ' 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӆ 2 0 +2 .tForearm.seek CC +2 "manipulator"&''? +94 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'( +450 "core" ( +2 "manipulator"&"& +4 "core" &Ӈ M 0 + "manipulator"&&% +4 "core" % C C 3 +2 .tForearm.seek :retract + "manipulator"&i' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +283 "core" ( +2 "manipulator"&*& +4 "core" &- $ O + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &- L O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +95 "core" ' +2 .tHand.open +2 "manipulator"&W1 +56 "core" 1 + "manipulator"&2% +4 "core" % | , < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +95 "core" ' +11132 "Can"r\ A> +16175 #t-> access 5 +2 "storage"()% +4 "core" % @ @ \  + "manipulator"&!% +4 "core" %    +2 "manipulator"&I& +4 "core" &- 2 O + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(1(  +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &  \ +7054 #t-> exit +6 #mEXIT @1632923027.72PDT @1632923046.14PDT = =tMAIN =mMAIN_scheduler @PDT1632923047.91 #"core_reset"Sent BREAK + #t@6169 receive with ifg=0x10, ie=0xFD + #@6802 receive with ifg=0x10, ie=0xFD + #@7460 receive with ifg=0x10, ie=0xFD + #@8095 receive with ifg=0x10, ie=0xFD #@8729 receive with ifg=0x10, ie=0xFD + #@9363 receive with ifg=0x10, ie=0xFD + #@9997 receive with ifg=0x10, ie=0xFD #@10323 receive with ifg=0x80, ie=0xFD + #@60139 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +276 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +363 "Can"z\ CA + z\ CA + #tPolling Can every 10:00 +3748 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %e } 0\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ:\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ f\ > +2 .tSS.configure :default +2 "sampler")#.0X +2 %ػ>\ + %  !  +2 "manipulator"&& +3 "core" &- b O + "storage"(& +4 "core" &  $ ! \  + "storage"(% +3 "core" %   \  +2 "collection"'& +3 "core" & } ~B\ + "processing"%& +4 "core" &d\ +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core"  +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" V +2 "processing"%% +2 "core" @ +2 "processing"%& +3 "core"  + "sampler")' +3 "core"  +2 "collection"'(% +3 "core" %e } ~>\ +2 "processing"%)% +4 "core" %ػh\ +2 "sampler")*% +3 "core" %څ ^\ > +2 "collection"'+& +3 "core" & ?\ +2 "processing"%,& +4 "core" &]\ + "manipulator"&-% +4 "core" %  L  + "manipulator"&.& +4 "core" &- M O + "storage"(/& +4 "core" &   " \  + "storage"(0% +4 "core" % % #\  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +2896 #t-> $da[:extractVol]=0.20 +6959 #-> startTube 5 +833 #-> da 50 + #da sampling at most 50ml +5 #Loading sh1 puck from tube 5 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 5 at 06:46:44PDT29-Sep-21\\n{}\\nCTD data unavailable\\nCan@06:44:14, 16% flow, 22.7C, 39% humidity, 14.9psia, 13.525V, 0.327A, 0.315A avg, 4.42W",Subject: "da sampling at most 50ml" +4 "collection"'3& +3 "core" & 9\ +2 .tHand.open +2 "manipulator"&41 +23 "core" 1 + "manipulator"&5% +4 "core" %  w  +2 "storage"(6% +3 "core" % r\  +2 "storage"(7. +4 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(8(<- +983 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +2 "core" &<*  5\  +2 "manipulator"&:& +4 "core" &- O + "manipulator"&;% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&<( +181 "core" ( +2 "manipulator"&=& +4 "core" & 9 + "storage"(>& +4 "core" &<* A A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +98 "core" ' +2 "storage"(@& +4 "core" &<* \\ b\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'r +291 "core" ' +4 "storage"(B- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (C& +52 "core" &<* : 6 \  +6 "manipulator"&D& +4 "core" & G + .tElbow.seek 5 +2 "manipulator"&E( +3 "core" ( + "manipulator"&F& +4 "core" &  + "storage"(G& +4 "core" &<* ? 3 A\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&H'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +4 "manipulator"&I/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"(K' +10 "core" & % + "manipulator"&L% +4 "core" % ϰ 6 +2 .tForearm.seek :retract +2 "manipulator"&M' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&N(ӂ +150 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 "core" ( +2 "manipulator"&O& +8 "core" &Ӌ) D Ae +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &P& +6 "core" &Ӌ) c Ae +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +5 "manipulator"&Q'? +96 "core" ' +5 "manipulator"&R& +8 "core" &ӌ) < Ad +3 "manipulator"&S% +10 "core" %3 O +2 "collection"'T& +8 "core" &  ;\ +4 "collection"'U& +13 "core" & ?\ +2 & ~ >\ +4 .tCC.seek :closed +6 "collection"'V(\\ +8 "core" & 9\ +2 &  ;\  +6 &1z +\ *y +9 &c~  5\ > +11 &tp )\ N +9 &7R (\ M +8 &V +\ N +15 &V -\ N +6 &|R .\ N +7 &?R 4\ M +11 &X ~ ~0\ N +8 &P 3\ N +11 & U }2\ M +9 &"GS 3\ M +7 &$U  .\ N +12 &%U  /\ N +9 &'P 1\ N +8 &)OQ  (\ M +11 &+R !\ N +14 &,T $\ N +4 &.Q #\ M +10 &0WR \ M +8 &2Q \ N +11 &3U  \ N +10 &5T  \ N +7 &7^R \ N +11 &9!R \ M +8 &:S \ M +11 &<R \ N +9 &>gR \ M +8 &@(T \ N +14 &A\\ \ N +9 &C` \ O +9 &Ecr \ Q +8 &G \ S +7 &H \ W +11 &J \ Y +9 &LP \ [ +8 &N \ [ +11 &O \ [\ +9 &Q \ [\ +8 &SS \ \\ +11 &U \ \\ +8 &V  \ ] +9 &X \ ^ +17 &ZT \ _ +6 &[y \ B +7 &\\+ \ *| +9 &\\v  \ W +2 ( +6 "collection"'U& +8 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + .Hand.open +4 "manipulator"&W1 +8 "core" &\\u  \ W +50 1 +2 "manipulator"&X% +8 "core" % 3 < +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&Y' +93 "core" ' +4 #tcollectSample 50ml w/bubble point of 24psi +4 #Priming 7ml +2 .Intake.select :close +4 .Exhaust.select :close +2 .SS.hold +4 "sampler")Z+ +6 "core" + +4 "sampler")[% +8 "core" %څ \\\ > +2 "collection"'\\& +7 "core" &\\u \ W +6 "Can"}\ _] +2 #tCalibrating pressure and temperature sensors +8 .CTV.dial :air + "collection"']  +5 "core"  +4 .tSSV.dial :spit,avoiding: :exhaust +4 "sampler")^ +6 "core"  +2 "sampler")_  +13 "core"  +4 .tSS.reconfigure :fast +6 "sampler")#.0X% +6 "core" %D e\  +32 "collection"'@% +3 "core" %e v w\ +3 "sampler")% +9 "core" %  a\ \ i +34 "collection"'% +6 "core" %e \ + "sampler")B% +4 "core" %   X\ / +47 "collection"'C% +3 "core" %e \ +2 "sampler")D% +4 "core" % : 9 e\ / +53 "collection"'F% +3 "core" %e \ +2 "sampler")G% +3 "core" % z w c\ / +61 "collection"'I% +3 "core" %e \ +2 "sampler")J% +4 "core" % _\ / +2 "sampler")L% +3 "core" % b\ / + .tIntake.select :close +2 "sampler")0 +12 )<% +2 "core" % Y\ / +2 .tSSV.dial :exhaust + "sampler")?  +73 "core"  + .tExhaust.select :open +2 "sampler")@ +10 .tSS.seek 0ml + "sampler")O'ڀ +190 #"uploadLog"upsync +683 "core" ' +2 .tExhaust.select :close + "sampler") +10 #tSampled 50.0ml + #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) +2 .Intake.select :close + "collection"'P& +3 "core" &\\s \ W +2 ."airStroke"CSV.dial :waste +4 "sampler")A% + "collection"'H +5 "core" %~ j\  +2 ."connect"SSV.dial CBV,avoiding: :exhaust +4 .tCBV.dial SSV + "sampler")E  +33 "core" +2 ."airStroke"CS.reconfigure :fast +2 "collection"'#d @b +2 ."airStroke"CS.seek 0ml +2 "collection"'R'i +4 "core" ' +2 ."airStroke"CSV.dial :air + "collection"'S @ +71 "core" A +2 ."airStroke"CS.seek 10ml +2 "collection"'T' +67 "core"  +2 .tCTV.dial :air + "collection"'K  +76 "core"  + .tdelay 15 seconds +1503 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")M +130 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.seek 0ml +3 "collection"'  + "sampler")W'ڀ +7 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")X  +124 "core"  +7  +560 ' +2 "sampler")U% +4 "core" %} e\  + .tCBV.dial between SSV and waste2 +2 "collection"'[  +29 "core"  +2 "collection"'\\% +4 "core" % \  +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +2 "collection"']  +41 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<< b +2 .tCS.seek 0ml +2 "collection"'^'i +1794 "core" '6 \ +3 "collection"'_% +4 "core" %6 \  +49 "sampler")Q% +4 "core" %} a\  +2 #tBubblePoint: Intake @39.3psia, Outlet @15.1psia + .CBV.dial SSV + "collection"' @ +32 "core" B +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'f'i +107 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust + "sampler")l +132 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X +2 ."airStroke"CS.seek 10ml + "collection"'x' +1484 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")j +128 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +5 .tSS.reconfigure :exhale +2 "collection"'k  +4 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"''i +110 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler") +129 "core"  +3 .tSS.reconfigure :exhale +2 "sampler")#.0X9 +2 "core" 9.d +103 "collection"'@9 +3 "core" 9'3d +103 "collection"'9 +2 "core" 9C7d +102 "collection"'9 +2 "core" 9`;d +102 "collection"'B9 +3 "core" 9?d +102 "collection"'09 +2 "core" 9Cd +102 "collection"'C9 +3 "core" 9Hd +102 "collection"'D9 +2 "core" 9Ld +102 "collection"'F9 +2 "core" 9 Pd +102 "collection"'G9 +3 "core" 9/Td +102 "collection"'I9 +3 "core" 9UXd +102 "collection"'J9 +2 "core" 9{]^ +103 "collection"'L9 +2 "core" 9a[ +102 "collection"'<9 +2 "core" 9eW +102 "collection"'?9 +3 "core" 9iT +102 "collection"'19 +2 "core" 9mP +103 "collection"'P9 +2 "core" 9AqL +102 "collection"'A9 +2 "core" 9hvH +102 "collection"'H9 +2 "core" 9zD +103 "collection"'S9 +2 "core" 9~B +102 "collection"'E9 +3 "core" 9? +102 "collection"'K9 +2 "core" 9; +30 "Can"t +KI& +73 "collection"'9 +2 "core" 9'8 +102 "collection"'R9 +3 "core" 9J6 +102 "collection"'M9 +3 "core" 9m4 +102 "collection"' 9 +2 "core" 92 +102 "collection"'X9 +2 "core" 90 +102 "collection"'O9 +3 "core" 9. +102 "collection"'U9 +2 "core" 9, +103 "collection"'[9 +2 "core" 9* +102 "collection"'\\9 +3 "core" 9") +102 "collection"']9 +2 "core" 9<( +102 "collection"'T9 +3 "core" 9S& +102 "collection"'_9 +2 "core" 9n% +102 "collection"'Q9 +3 "core" 9$ +102 "collection"' 9 +2 "core" 9" +102 "collection"'W9 +3 "core" 9" +102 "collection"'b9 +2 "core" 9 +102 "collection"'a9 +3 "core" 9 +102 "collection"'c9 +2 "core" 9 +102 "collection"'Z9 +2 "core" 9 +103 "collection"'d9 +2 "core" 9  +102 "collection"'`9 +2 "core" 9  +102 "collection"'g9 +2 "core" 9 % +103 "collection"'i9 +2 "core" 9 4 +102 "collection"'e9 +3 "core" 9 @ +102 "collection"'l9 +2 "core" 9 M +102 "collection"'^9 +2 "core" 9 Y +102 "collection"'h9 +3 "core" 9 e +102 "collection"'m9 +3 "core" 9 o +102 "collection"'f9 +2 "core" 9 y +102 "collection"'o9 +3 "core" 9  +102 "collection"'p9 +2 "core" 9  +103 "collection"'n9 +2 "core" 9   +102 "collection"'r9 +3 "core" 9  +102 "collection"'s9 +2 "core" 9  +103 "collection"'t9 +2 "core" 9  +102 "collection"'u9 +2 "core" 9  +102 "collection"'w9 +3 "core" 9 ! +102 "collection"'q9 +2 "core" 9 % +103 "collection"'v9 +2 "core" 9 ) +102 "collection"'j9 +3 "core" 9 . +102 "collection"'k9 +2 "core" 9 2 +102 "collection"'|9 +2 "core" 9 6 +103 "collection"'}9 +2 "core" 9 : +103 "collection"'y9 +2 "core" 9 > +102 "collection"'~9 +2 "core" 9 B +102 "collection"'z9 +3 "core" 9 G +102 "collection"'x9 +2 "core" 9 K +102 "collection"'9 +3 "core" 9 O +102 "collection"'9 +3 "core" 9 S +102 "collection"'9 +2 "core" 9 W +102 "collection"'{9 +2 "core" 9 \\ +103 "collection"'\ 9 +2 "core" 9\ ` +102 "collection"' 9 +3 "core" 9\ d +102 "collection"'9 +2 "core" 9\ h +103 "collection"'9 +2 "core" 9\ l +102 "collection"'9 +44 "core" 9\ q +111 "collection"'9 +3 "core" 9\ w +102 "collection"'9 +2 "core" 9\ { +102 "collection"'9 +3 "core" 9\ $ +102 "collection"'9 +2 "core" 9\ & +102 "collection"'9 +3 "core" 9\ + +102 "collection"'9 +2 "core" 9\ /\  +102 "collection"'9 +3 "core" 9\ 3  +102 "collection"'9 +3 "core" 9\ 6  +102 "collection"'9 +2 "core" 9\ :  +102 "collection"'9 +3 "core" 9\ = +102 "collection"'9 +2 "core" 9\ B +102 "collection"'9 +3 "core" 9\ E +102 "collection"'9 +3 "core" 9\ H +102 "collection"' 9 +2 "core" 9\ L +102 "collection"'9 +3 "core" 9\ P +102 "collection"'!9 +2 "core" 9\ T +102 "collection"'9 +3 "core" 9\ X +102 "collection"'#9 +2 "core" 9\ [ +103 "collection"'"9 +2 "core" 9\ ^ +107 "collection"'%9 +2 "core" 9\ b +103 "collection"'$9 +2 "core" 9\ f +102 "collection"''9 +3 "core" 9\ i +102 "collection"'9 +2 "core" 9\ m +103 "collection"'&9 +2 "core" 9\ q +102 "collection"'*9 +2 "core" 9\ s +102 "collection"')9 +3 "core" 9\ w +102 "collection"'-9 +3 "core" 9\ y +102 "collection"'(9 +2 "core" 9\ | +103 "collection"'/9 +2 "core" 9\  +3 .tCH.hold 10:00,70C +2 "collection"'+ `\ `\ |  +2 '29 +6 "core"  + 9\  + "collection"'3% +4 "core" %`  \ $ +2 #tBegun lysing Collection Puck Heater at 68.1C/44.9psia +51068 "Can"s\  +8921 "core" ` + "collection"'49 +4 "core" 9\  + "collection"'5% +4 "core" %` \ + #tEnded lysing Collection Puck Heater at 70C/43.3psia +2 .CS.seek 0ml +2 "collection"'6'i +343 "core" ' +10 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'7 @ +102 "core" A + .tCSV.dial :air +2 "collection"' @ +44 "core" > + .tCS.seek 5ml +2 "collection"'9's5 +1357 "core" ' +2 .tCSV.dial CTV + "collection"':  +43 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'; @ +42 "core" > + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'=  +41 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'> @ +42 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'@'i +1383 "core" ' +2 "collection"'% +4 "core" %j\  + #tPuck @70.5psia after final lysis pressurization + #Recovering Lysate into Collection syringe +2 .CSV.dial CBV + "collection"' +99 "core"  + .tCBV.dial CSV +2 "collection"'B  +28 "core"  +2 "collection"'0% +4 "core" %k o nn\  + .tCS.seek 5ml +2 "collection"'C's7 +1372 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'D  +43 "core" + "collection"'F% +4 "core" %s< g f\ +2 .tCS.seek 7.001ml +2 "collection"'G'' +586 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air2 +2 "collection"'I @ +39 "core" @ +2 .tCS.seek 10ml +2 "collection"'J' +848 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'L ` +125 "core" a +2 #tLysing Complete + "collection"'<& +4 "core" &\\q R T\ W +2 #tStoring sh1 puck in Collection Clamp to tube 4 + "manipulator"&?% +4 "core" %   + "storage"(1% +4 "core" % & (\  + "storage"(P. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(A(,y +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (H& +3 "core" &,{ % #\ + "manipulator"&S& +4 "core" &Ӎ( 6 Ac + "manipulator"&E% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&K( +161 "core" ( +2 "manipulator"&& +4 "core" & (  + "storage"(R& +4 "core" &,{ Y Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +89 "core" ' +2 "storage"( & +4 "core" &,{ x f \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'r +276 "core" ' + "storage"(O- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(U'1 +46 "core" ' +2 "manipulator"&[& +4 "core" &   +2 "manipulator"&\\% +3 "core" % ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&T(ӂ +159 "core" ( +2 "manipulator"&_& +4 "core" &ӎ" G <? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &ӎ" , <? +2 .tForearm.seek CC +2 "manipulator"& '? +92 "core" ' + .tHand.close + "manipulator"&W/ +62 "core" / +2 .tCC.seek :open +2 "collection"'b( +446 "core" ( + "storage"(a& +4 "core" &,e j\ +2 "storage"(c& +3 "core" &,e Z\ +2 "manipulator"&Z& +3 "core" &ӏ"  <> +2 "manipulator"&d% +3 "core" % >  Z +2 .tForearm.seek :retract +2 "manipulator"&`' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&g( +164 "core" ( + "manipulator"&i& +4 "core" &   +2 "storage"(e& +4 "core" &,e \\\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&l'7 +99 "core" ' + .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&h1 +58 "core" 1 +2 "manipulator"&m% +4 "core" % 9 K + "storage"(f& +4 "core" &,e Z\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 302 counts + "manipulator"&o'e +14 "core" ' + "manipulator"&p& +5 "core" & W  + "storage"(n& +4 "core" &,e j\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +15 "core" ' +2 "storage"(s% +4 "core" %9 \ +2 ."downElevator"SE.seek :down +4 "storage"(t' +98 (u% +3 "core" %7 -\ U^ + "manipulator"&w% +5 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&q' +92 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'v& +3 "core" & S V\ +2 "manipulator"&j& +4 "core" & N  +2 "manipulator"&k% +3 "core" %    +2 .tElbow.seek FlushPuck::Garage + "manipulator"&|(- +179 "core" ( + "manipulator"&}& +4 "core" &- e ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &- = ' +2 .tForearm.seek :garage + "manipulator"&~'w +92 "core" ' +2 .tHand.close + "manipulator"&z/ +53 "core" / +2 "manipulator"&x& +4 "core" &- E ' +2 "manipulator"&% +4 "core" % g  ; +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +282 "core" ( + "manipulator"&{& +4 "core" &ӏ& 8 @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &ӏ& 4 @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +95 "core" ' +2 "manipulator"&& +4 "core" &ӏ' @\\ +2 "manipulator"&% +3 "core" %G C < +2 "collection"'& +3 "core" & T Td\ +2 "collection"'& +5 "core" & S S]\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & R SM\ +7 &> S T\ %h +10 &Xu R S\ 7 +9 &v R S\ L +9 &T S R\ K +10 &V R U\ L +9 &JU Q R\ K +9 & R P Sr\ K +10 &X R SW\ K +9 &U T T,\ K +9 &RS Q R6\ K +10 & R S SR\ K +9 &!U S SD\ K +10 &#R R U.\ K +9 &%YU T T\ \ L +9 &'U P T\ K +10 &(W S S\ K +9 &*U U R\ K +10 &,cR U S\ K +9 &.$U T T\ K +9 &/R T S\ K +10 &1V T R\ K +9 &3kR T Ss\ K +9 &5,U R S[\ K +10 &6T V SA\ K +9 &8X T T4\ K +9 &:rW T R\ K +10 &<4V S R\ K +9 &=X R S\ K +10 &?Y R S\ K +9 &AyZ Q S}\ L +9 &C:_ T S\ L +10 &Dx T TI\ O +9 &F F F\ T +10 &H_ G H\ W +9 &J I I\ Y +9 &K K J\ Z +10 &M K M\ [ +9 &Oa N L\ Y +9 &Q J K\ Z +10 &R N N\ \\ +9 &T O M\ ] +10 &V\\ O M\ ^ +9 &X N P\ ] +9 &Y O Ok\ _ +10 &[ L P^\ K +9 &\\1 P OT\ : +9 &\\y O OB\ W +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.46 +2 "collection"'& +4 "core" &\\s O PS\ W + .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +4 "core" % G 1 < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + .tPSV.dial PSR + "processing"% +71 "core"  +2 "processing"%% +4 "core" %ػe\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%j +9 .tPS.seek 1.5ml +2 "processing"%'+ +1616 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%  +55 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1614 "core" ' + .tPSV.dial PSR +2 "processing"% +42 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2631 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%  + "collection"'  +6 "core"  +2 "processing"%!  +14 "core"  +53 + .tPSV.dial :mixloop +2 "processing"% +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%#  +72 "core" +2 .tPS.seek 0ml + "processing"%"'ؾ +2650 "core" ' + .tPSV.dial :air +2 "processing"%%  +55 "core"  +2 .tPS.seek 2.5ml + "processing"%$' +2636 "core" ' + .tPSV.dial :mixloop +2 "processing"%' +42 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2657 "core" ' + .tPSV.dial :air +2 "processing"%&  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%*' +2628 "core" ' + .tPSV.dial :mixloop +2 "processing"%) +45 "core" +2 .tPS.seek 0ml +2 "processing"%-'ؾ +2635 "core" ' +56 #tGaraging FlushPuck in Collection Clamp + "manipulator"&(& +4 "core" &Ӑ&  @[ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&/(ӂ +41 "core" ( + "manipulator"&2& +4 "core" &Ӄ . : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &Ӄ \ : +2 .tForearm.seek CC + "manipulator"&,'? +92 "core" ' + .tHand.close +2 "manipulator"&+/ +58 "core" / +2 .tCC.seek :open + "collection"'4( +450 "core" ( + "manipulator"&5& +4 "core" &Ӄ > : +2 "manipulator"&.% +3 "core" % @  +2 .tForearm.seek :retract +2 "manipulator"&7' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +281 "core" ( + "manipulator"&6& +4 "core" &-  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &- . & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&;'w +98 "core" ' +2 .tHand.open +2 "manipulator"&=1 +63 "core" 1 +2 "manipulator"&>% +4 "core" %  3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +94 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" & F F\ + "manipulator"&% +4 "core" %    + "storage"(B% +4 "core" % \  + "storage"(0. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(@(<- +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +2 "core" &<*" } s 2\  +2 "manipulator"&F& +4 "core" &- & + "manipulator"&C% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&I( +174 "core" ( +2 "manipulator"&G& +4 "core" & *  + "storage"(L& +4 "core" &<* \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&<'O +92 "core" ' +2 "storage"(?& +4 "core" &<* s\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'r +305 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" &<* \  +2 "manipulator"&H& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&S( +3 "core" ( + "manipulator"&E& +4 "core" &   + "storage"(& +4 "core" &<* \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&R'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& + "storage"(Y' +7 "core" &   +2 "manipulator"&O% +4 "core" % Ϸ + .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&\\(ӂ +155 "core" ( + "manipulator"&X& +5 "core" &Ӄ' / @X + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &Ӄ& 0 @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&Q'? +96 "core" ' +2 "manipulator"&M& +4 "core" &Ӆ& < ?V +2 "manipulator"&K% +3 "core" %E p ? +2 "collection"'W& +4 "core" & F G\ +2 "collection"']& +4 "core" & G G-\ +3 .tCC.seek :closed + "collection"'V(\\ +4 "core" & F F\  +9 &2x F F\ *y +9 &d} G E\ = +9 &{p G G\ L +10 &AR G F\ K +9 &U G Gk\ K +9 &U F GW\ K +10 &T D G:\ K +9 &HT H I2\ K +10 &\ W G G"\ K +9 &T F G\ K +9 & U H G\ K +10 &"QU G G\ K +9 &$U G E\ K +9 &%V G H\ K +10 &'U G G<\ K +9 &)XV F G}\ K +10 &+U F I\ L +9 &,T G Hk\ K +9 &.U F HV\ K +10 &0`U G GO\ K +9 &2"U G GC\ K +9 &3U H J\ K +10 &5X G I\ K +9 &7hU H J\ K +10 &9*W F J\ K +9 &:U I J\ K +9 &<X I I\ K +10 &>pV J K\ K +9 &@2W H J\ K +10 &AW K G\ L +9 &CY K K\ L +9 &Etd N O\ M +10 &G1r N M{\ N +9 &H R Oo\ Q +9 &J T Tj\ V +10 &L] T S\ W +9 &N T U\ X +10 &O S TR\ Y +9 &Q V TC\ Y +9 &S] S S9\ Z +10 &U U V/\ Z +9 &V T W*\ [\ +9 &X W U-\ \\ +10 &Z^ S X\ \\ +9 &\\{ T W\ 9 +9 &\\' X X\ *| +10 &\\} W V\ Z +2 ( +2 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&a1 +61 "core" 1 +2 "manipulator"&c% +4 "core" % E D ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +2 .tCTV.dial CSV,avoiding: :intake + "collection"'d  +135 "core"  + .tCSV.dial CTV +2 "collection"'i  +26 "core"  +2 .tPS.seek 2.5ml +2 "processing"%e' +2637 "core" ' + "collection"' % +4 "core" % : ;s\ \ +2 .tCS.seek 4.5ml +2 "collection"'T'c6 +1495 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%h  +57 "core" +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%m  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%f'ؾ +2651 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'p ` +30 "core" _ + .tCSV.dial :air +2 "collection"'n @ +42 "core" ? +2 .tCS.seek 10ml + "collection"'s' +1492 "core" ' + .tCSV.dial CTV +2 "collection"'`  +42 "core"  +2 .tCS.seek 0ml +2 "collection"'u'i +2632 "core" ' +2 .tCBV.dial :waste1 + "collection"'w @ +29 "core" > + .tdelay 5 seconds +503 .CTV.dial :air,avoiding: :intake +2 "collection"'g  +133 "core" + "collection"'l& +4 "core" &\\y Y Y\ Z +2 #tStoring lyfil puck in Collection Clamp to tube 4 + "manipulator"&v% +4 "core" %  \\  + "storage"(o% +4 "core" % A A s\  + "storage"(j. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(k(,y +363 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &,y &  3\ +2 "manipulator"&r& +4 "core" &ӆ& 2 ?U + "manipulator"&}% +4 "core" %  (  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&y( +167 "core" ( + "manipulator"&t& +4 "core" & =  +2 "storage"(^& +3 "core" &,y ` a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&z' +90 "core" ' + "storage"(x& +4 "core" &,y y \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +311 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&~& +3 "core" & 5  +2 "storage"({& +3 "core" &,h [ Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&\ '7 +19 "core" ' + .tElbow.hold + "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.18 Pucks below Top Plate + "storage"(' +40 "core" ' +2 "manipulator"&% +4 "core" %8 N ! + "storage"(& +4 "core" &,h J I !\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts + "manipulator"&b'd +14 "core" ' + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &,h [ Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +15 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(' +36 "core" ' + "manipulator"&& +5 "core" & X  + "manipulator"&% +4 "core" % j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +115 "Can"m\ US +39 "core" ( +2 "manipulator"&& +4 "core" &x* 7 Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &x* Bg +2 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"' ( +450 "core" ( +2 "storage"(!& +4 "core" &,h Y\ + "storage"(& +3 "core" &,h {\ +2 "manipulator"&& +8 "core" &ӛ# 9 =D +2 "manipulator"&#% +4 "core" % R / +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&%( +166 "core" ( + "manipulator"&"& +4 "core" & v  + "storage"('& +4 "core" &,h \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&$'7 +94 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&)% +4 "core" % + ` = +2 "storage"(*& +4 "core" &,h f\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 288 counts + "manipulator"&('W +13 "core" ' +3 "manipulator"&2& +4 "core" &  + "storage"(3& +4 "core" &,h \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +15 "core" ' + "storage"(% +5 "core" % U\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (% +2 "core" %7 \ U] +2 "manipulator"&5% +4 "core" % / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tPSV.dial :air +46 "processing"%,  +80 "core" +2 .tPS.seek 2.5ml +2 "processing"%6' +2628 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%: +43 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%/  +43 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%= +43 "core" +2 .tdelay 1 second +102 .PSV.dial :air +2 "processing"%>  +43 "core"  + .tdelay 1 second +103 .PS.seek 0ml + "processing"%'ؾ +2624 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%& +4 "core" &\ +2 "manipulator"&B& +4 "core" &  + "manipulator"&7% +4 "core" %    + .tElbow.seek FlushPuck::Garage +2 "manipulator"&0(- +176 "core" ( +2 "manipulator"&;& +3 "core" &- B ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &- # ' +2 .tForearm.seek :garage +2 "manipulator"&D'w +93 "core" ' +2 .tHand.close + "manipulator"&F/ +57 "core" / +2 "manipulator"&C& +4 "core" &- ' + "manipulator"&G% +4 "core" % } =  +2 .tForearm.seek :retract + "manipulator"&L' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&?( +116 "core" ( + "manipulator"&& +4 "core" & i 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +4 "core" & z 8 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&P' +96 "core" ' +2 "manipulator"&8& +4 "core" &  8 +2 "manipulator"&H% +4 "core" % 9  +2 "processing"%E& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed + "processing"% (^ +5 "core" &}\ +6 & +{\ #b +10 &Uy\ 7 +9 &y\ L +10 &T\ N +9 &RU\ N +9 &T\ N +10 &T\ N +9 &T\ N +9 &ZR\ N +10 &U\ N +9 &Q\ N +10 &!TX\ N +9 &#aT9\ O +9 &%$T<\ N +10 &&T5\ O +9 &(T3\ N +9 &*kT~\ N +10 &,,U;\ N +9 &-T?\ N +10 &/U<\ N +9 &1rW<\ N +9 &34TC\ N +10 &4TB\ N +9 &6R<\ N +9 &8{V@\ N +10 &:<U\ N +9 &;X\ N +10 &=V\ N +9 &?S\ N +9 &ADX\ N +10 &Bm\ Q +9 &D~\ S +9 &Fx\ T +10 &H9\ U +9 &I\ U +10 &K\ U +9 &M~\ U +9 &O@\ U +10 &P\ V +9 &R\ V +9 &T\ V +10 &VG\ U +9 &X\ V +10 &Y\ V +9 &[\ V +9 &]K\ M +10 &^|G\ ^ +9 &^ V\ 6 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 + "processing"%N& +4 "core" &^+\ 6 + &^*\ 6 +2 .tHand.open + "manipulator"&O1 +53 "core" 1 + "manipulator"&I% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +94 "core" ' +2 .tPRV.dial :air +2 "processing"%X  +40 "core"  +2 .tPSV.dial :mixloop + "processing"%_ +44 "core" +2 "processing"%1% +4 "core" %\ + .tPS.seek 0.3ml +2 "processing"%R'\ +382 "core" ' + .tPSV.dial PSR +2 "processing"%M +101 "core"  +2 "processing"%K% +4 "core" %\  +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml + "processing"%W'2 +486 "core" ' + .tdelay 3 seconds +303 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%S' +1920 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"%Y +103 "core" + .tPTV.dial :mixing +2 "processing"%[ @ +72 "core" A + .tPBV.dial :waste2 +2 "processing"%4  +90 "core"  +3 .tPS.seek 0ml +2 "processing"%a'ؾ +2628 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&c& +4 "core" & % 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&]( +3 "core" ( + "manipulator"&d& +4 "core" & 8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" & ) 8 +2 .tForearm.seek PC +2 "manipulator"&Q' +93 "core" ' +2 .tHand.close + "manipulator"&-/ +52 "core" / +2 .tPC.seek :open + "processing"% ( +458 "core" ( + "manipulator"&J& +4 "core" & K 8 +2 "manipulator"&h% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&m' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&e(- +126 "core" ( +2 "manipulator"&p& +4 "core" &- * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&T'w +105 "core" ' +2 .tHand.open + "manipulator"&`1 +63 "core" 1 + "manipulator"&s% +5 "core" % r l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +88 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%g& +4 "core" &\ + "manipulator"&l% +4 "core" %  U  + "storage"(v% +4 "core" % \  +2 "storage"(o. +2 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(j(<- +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +2 "core" &<+ e\  +2 "manipulator"&U& +3 "core" &- +2 "manipulator"&r% +3 "core" %  P  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&}( +169 "core" ( +2 "manipulator"&t& +4 "core" & w  + "storage"(^& +4 "core" &<+ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +96 "core" ' +2 "storage"(\\& +4 "core" &<+ O\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'r +298 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" &<+ \  +2 "manipulator"&{& +3 "core" & W  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & ,  + "storage"(& +4 "core" &<+ z\  + .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +7 "core" & j  +2 "manipulator"&z% +4 "core" % Ϲ 2 + .tForearm.seek :retract +2 "manipulator"&y' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&\ & +4 "core" & s 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" & % 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&& +4 "core" &  3 +2 "manipulator"&% +3 "core" % = < +2 "processing"%& +4 "core" &\ +2 "processing"%|& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ +7 & %\ #a +9 &Uz\ 7 +10 &y\ L +9 &R\ N +9 &_V\ M +10 &!Q\ M +9 &P\ N +9 &T\ N +10 &gP\ M +9 &)R\ M +9 &R\ M +10 &!U\ N +9 &#nU\ N +10 &%0R\ N +9 &&U\ N +9 &(T\ N +10 &*vQ\ N +9 &,8Q\ N +9 &-U\ N +10 &/V\ N +9 &1}W\ N +10 &3AS\ M +9 &5R\ M +9 &6T\ N +10 &8V\ N +9 &:HV\ N +9 &<\ W\ N +10 &=W\ N +9 &?U\ N +10 &AOWC\ N +9 &Cn@\ Q +9 &D~@\ R +10 &F@\ T +9 &HCA\ U +9 &J?\ T +10 &K@\ T +9 &M<\ U +10 &OI5\ U +9 &Q\ w\ V +9 &R@\ V +10 &T8\ V +9 &VQ}\ U +9 &X\ V +10 &Y:\ U +9 &[:\ V +10 &]V6\ F +9 &^x?q\ (v +9 &^7\ 1 +6 ( + "processing"%|& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 +2 .Hand.open + "manipulator"& 1 +3 "core" &^%}\ 1 +56 1 +2 "manipulator"&V% +4 "core" %   < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +92 "core" ' +3 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +54 .PH.seek 28C,5:00 +2 "processing"% { +2 %9 +6 "core" 9 +102 "processing"%#9 +2 "core" 9 +102 "processing"%"9 +2 "core" 9  +102 "processing"%'9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +3 "core" 9" +102 "processing"%29 +3 "core" 9& +102 "processing"%39 +2 "core" 9* +102 "processing"%9 +2 "core" 9. +102 "processing"%9 +3 "core" 93 +102 "processing"%9 +2 "core" 97 +103 "processing"%59 +2 "core" 9; +102 "processing"%%9 +3 "core" 9? +102 "processing"%$9 +2 "core" 9C +102 "processing"%(9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%,9 +2 "core" 9P +102 "processing"%+9 +2 "core" 9T +103 "processing"%9 +2 "core" 9X +102 "processing"%f9 +2 "core" 9\\ +102 "processing"%:9 +3 "core" 9a +102 "processing"%/9 +3 "core" 9e +102 "processing"%=9 +2 "core" 9i +102 "processing"%>9 +3 "core" 9m +102 "processing"%69 +3 "core" 9q +102 "processing"%9 +2 "core" 9v +102 "processing"%B9 +3 "core" 9z +102 "processing"%79 +2 "core" 9~ +102 "processing"%;9 +2 "core" 9 +102 "processing"%A9 +3 "core" 9\  +102 "processing"%&9 +2 "core" 9 +103 "processing"%F9 +3 "core" 9 +102 "processing"%C9 +2 "core" 9 +102 "processing"%G9 +2 "core" 9! +102 "processing"%.9 +2 "core" 9& +102 "processing"%9 +3 "core" 9- +102 "processing"%99 +2 "core" 93 +3 .tPH.hold 2:00:00,28C +3 "processing"%D p{p2 +4 .tdelay 1:30 + "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +102 "core"  +2 "processing"%H% +4 "core" %ؿ\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 .tPS.seek 0.5ml + "processing"%E' +595 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%0' +1618 "core" ' + .tPTV.dial :puck +2 "processing"%L  +70 "core"  +2 .tPSV.dial PTV + "processing"% +74 "core" + .tPBV.dial :waste1 +2 "processing"%N  +128 "core"  +2 "processing"%O% +3 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%I'- +588 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +3 .tPS.seek 0ml + "processing"%X'ؾ +1618 "core" ' +2 .tdelay 5:00 +22259 "Can"t\ B? +7743 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%_  +34 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%1 * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%P +72 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%' +2415 "core" ' + .tPSV.dial PTV +2 "processing"%M +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%K +73 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%R +73 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%W  +84 "core"  +2 .tPS.seek 0ml +2 "processing"%Y'ؾ +2352 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%[  +130 "core" + .tPSV.dial :mixloop +2 "processing"%4 +42 "core" + .tPRV.dial :ab1 +2 "processing"%S @ +72 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%c' +376 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV + "collection"'d  + "processing"%i  +44 "core" +3  + "processing"%-% +3 "core" %\ +2 .tPS.seek 0.35ml +2 "processing"%?'h +464 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'<  +27 "core" +2 .tPRV.dial :air +2 "processing"%  +40 "core"  +2 .tPS.seek 0.9ml +2 "processing"%J'K +1176 "core" ' + .tPRV.dial :waste2 +2 "processing"%h @ +72 "core" ? +2 .tPS.seek 0.5ml + "processing"%p' +872 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%n  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%Q' +1616 "core" ' + .tPSV.dial :PML + "processing"%] +45 "core" + .tPTV.dial :mixing + "processing"%` @ +73 "core" @ + .tPBV.dial :waste1 + "processing"%s  +35 "core" + "processing"%g% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%l' +238 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%v * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%o'ؾ +1972 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'m& +2 "core" & E F\ +2 "manipulator"&T& +4 "core" & Q 3 + "manipulator"&k% +4 "core" %  h  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&@(- +120 "core" ( + "manipulator"&U& +4 "core" &- s \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &- 7 \ +2 .tForearm.seek :garage + "manipulator"&t'w +97 "core" ' + .tHand.close +2 "manipulator"&^/ +56 "core" / +2 "manipulator"&\\& +4 "core" &- ` \ +2 "manipulator"&e% +4 "core" % w   +2 .tForearm.seek :retract + "manipulator"&w' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&q(ӂ +277 "core" ( + "manipulator"&~& +4 "core" &ӊ(  @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &ӊ( S @Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +103 "core" ' +2 "manipulator"&& +4 "core" &ӊ( T @Z +2 "manipulator"&% +3 "core" %0 7 2 +2 "collection"'& +4 "core" & B F\ +2 "collection"'z& +5 "core" & F D\ +2 .tCC.seek :closed + "collection"'}(\\ +5 "core" & C D\  +9 &4x D C\ *z +9 &e C F\ ? +10 &p C F(\ N +9 &NS F F-\ M +9 &U F F9\ M +10 &X G C"\ M +9 &V C F8\ M +10 &UU G E8\ N +9 &U D E9\ M +9 &R E F;\ M +10 & V E G:\ M +9 &"^U E E9\ M +9 &$!V F EB\ M +10 &%W E F<\ N +9 &'S G D;\ M +10 &)fW C E:\ M +9 &+(S E E7\ M +9 &,R E F7\ N +10 &.W G F;\ M +9 &0mW D F:\ N +9 &20U D F9\ M +10 &3S D F6\ N +9 &5W C G/\ N +10 &7vR G F<\ M +9 &97T D E4\ N +9 &:U F E0\ N +10 &<R G F+\ M +9 &>~U H F%\ M +9 &@?T H G'\ N +10 &BV H I%\ N +9 &C` J H+\ N +10 &Ezz L I'\ Q +9 &G0 O Q&\ V +9 &H Q S\ \ Y +10 &J Q R$\ Y +9 &Lf S S,\ [\ +9 &N( Q R0\ [\ +10 &O T Q.\ [ +9 &Q R R2\ [ +10 &Si R T$\ ] +9 &U) S R#\ ] +9 &V S T1\ ^ +10 &X R S-\ _ +9 &Zj V U*\ _ +9 &\\ y V T&\ : +10 &\\& V W5\ )z +9 &\\ W W.\ !a +2 ( +2 "collection"'z& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.44 + "collection"'x& +4 "core" &\\ W V}\ !a + .tHand.open +2 "manipulator"&Z1 +57 "core" 1 + "manipulator"&% +4 "core" % 0  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +99 "core" ' +2 .tPSV.dial PSR + "processing"%b +103 "core"  + "processing"%% +4 "core" %ظo\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%'+ +1615 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 + "processing"%  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1635 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%y' +2670 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  "collection"'  +32 "core" +124  +2 .tPSV.dial :mixloop + "processing"%V +102 "core" +2 .tCTV.dial :air,avoiding: :intake +52 .PTV.dial :PRVmixing +2 "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"%|'ؾ +2624 "core" ' +2 .tPSV.dial :air + "processing"%#  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :mixloop + "processing"%" +46 "core" +2 .tPS.seek 0ml +2 "processing"%''ؾ +2654 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2637 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%)'ؾ +2646 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&*& +4 "core" &Ӧ" M <> +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&2(ӂ +20 "core" ( +2 "manipulator"&3& +4 "core" &w n 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &w N 0 +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'5( +449 "core" ( + "manipulator"&%& +4 "core" &x 0 +2 "manipulator"&$% +4 "core" % 2 < + .tForearm.seek :retract +2 "manipulator"&(' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +284 "core" ( + "manipulator"&,& +4 "core" &- ^ A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &- 7 @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +97 "core" ' + .tHand.open +2 "manipulator"&f1 +64 "core" 1 + "manipulator"&:% +4 "core" % p j ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +93 "core" ' +2 ."da"delayUntil "07:36:29.24" +11135 "Can"\ @= +13565 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%= @ +74 "core" A + ."da"PBV.dial :waste1 +2 "processing"%>  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%6 * +35 "core" + + ."da"PSV.dial :air +2 "processing"%  +44 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%B' +2410 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%7 +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%;  +58 "core" + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%A +42 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%&  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%F'ؾ +2369 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%C +129 "core"  +2 "processing"%G% +3 "core" %ؽ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%.' +598 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1605 "core" ' +2 ."da"PTV.dial :puck + "processing"%9  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%8 +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +34 "core" +2 "processing"%a% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%E', +584 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1610 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%N  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%O * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%0 +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2405 "core" ' +2 ."da"PSV.dial PTV + "processing"%I +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%_ +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%1  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +2351 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%X +130 "core"  + "processing"%M% +4 "core" %ؾ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%K' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%R' +1614 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%W +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%[% +4 "core" %f\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%4'' +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%S * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%Y'ؾ +1611 "core" ' +2 ."da"delay 2:00 +4721 "Can"\ GE +7281 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%d  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%i * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%c' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"%< +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%? +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%h  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%J'ؾ +2364 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%n  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%p  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%]  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%` +45 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%s' +395 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%g  +43 "core"  +2 "processing"%v% +4 "core" %\ \ +2 ."da"PS.seek 0.55ml + "processing"%Q' +334 "core" ' + #"da"addPMLReagent08 +49 .PSV.dial :air +3 "processing"%l  +44 "core"  +2 ."da"PS.seek 2ml + "processing"%m' +1556 "core" ' + ."da"PSV.dial :PML +2 "processing"%T +44 "core" + ."da"PTV.dial :mixing +2 "processing"%k @ +73 "core" A +2 ."da"PBV.dial :waste1 + "processing"%U  +35 "core" + "processing"%r% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%^' +230 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%\\ * +34 "core" , +3 ."da"PS.seek 0ml + "processing"%'ؾ +1965 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +36436 "Can"\ C@ +11566 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%e  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%! * +32 "core" * +2 ."da"PSV.dial :air +2 "processing"%t  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%~' +2410 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%{ +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%@  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2370 "core" ' + #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%w +129 "core"  +2 "processing"% % +4 "core" %ؿ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%x' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Z' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%z +82 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%b  +32 "core" +2 "processing"%% +3 "core" %"\  +2 ."da"PS.seek 1.5ml +2 "processing"%') +585 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%o * +33 "core" + +2 ."da"PS.seek 0ml + "processing"%'ؾ +1614 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +32 "core"  +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2417 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%V +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +82 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%y  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%#'ؾ +2360 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%| +129 "core"  +2 "processing"%"% +4 "core" %ؾ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1611 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%' +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +109 "core" +2 "processing"%% +4 "core" %\  + ."da"PS.seek 1.5ml +2 "processing"%*'( +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%3 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1632 "core" ' + ."da"delay 2:00 +6683 "Can"\  +5320 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%q * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%}' +2408 "core" ' +2 ."da"PSV.dial PTV + "processing"%% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%$ +72 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +84 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%,  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +2354 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%2 +131 "core"  +2 "processing"%f% +4 "core" %ؿ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%:' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%(' +1607 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +86 "core" + ."da"PBV.dial :waste1 +2 "processing"%=  +34 "core" +2 "processing"%>% +4 "core" %\  + ."da"PS.seek 1.5ml +2 "processing"%6'* +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%)'ؾ +1605 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%7  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%; * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%A +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%&' +2411 "core" ' + ."da"PSV.dial PTV +2 "processing"%B +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%C +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%G +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%F  +72 "core"  + ."da"PS.seek 0ml +2 "processing"%.'ؾ +2373 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%9 +138 "core" +20 "processing"%8% +8 "core" %ؿ\  +5 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +8 "processing"% +14 ."da"PS.reconfigure :default +4 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +4 "processing"%H' +345 "core" ' + ."da"delay 5 seconds +503 "processing"%a% +3 "core" %\  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%' +339 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%L' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%E +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%N  +34 "core" +2 "processing"%O% +4 "core" %  +2 ."da"PS.seek 1.5ml + "processing"%0'. +593 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +1614 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%_ * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%1 +76 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2498 "core" ' + ."da"PSV.dial PTV +2 "processing"%X +89 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%M +75 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%P +75 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%K  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%W'ؾ +2487 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +134 "core"  +3 "processing"%[% +3 "core" %ػ-\  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%R' +216 "Can"\ P +1901 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%S +84 "core" + ."da"PBV.dial :waste1 +2 "processing"%4  +34 "core" +2 "processing"%d% +4 "core" %{\ % + ."da"PS.seek 1.5ml +2 "processing"%i'( +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%- * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%Y  +105 "core"  +3 ."da"PS.seek 0ml + "processing"%<'ؾ +1609 "core" ' + "processing"% 9 +3 "core" 9}5{ +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%?  +4 "core" 5| 5| + "processing"%h& +4 "core" &^!i\ r1 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&c% +4 "core" %   + "storage"(n% +4 "core" % \ r + "storage"(p. +3 "core" .(<- +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(](,y +356 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (`& +2 "core" &,| +\  +2 "manipulator"&J& +3 "core" &-  @ +2 "manipulator"&g% +4 "core" %   +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&v( +174 "core" ( + "manipulator"&s& +4 "core" &    +2 "storage"(l& +3 "core" &,| \  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&Q' +93 "core" ' +2 "storage"(T& +4 "core" &,| \\ \ ; +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(k'r +309 "core" ' +2 "storage"(U- +3 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&r& +3 "core" &   +2 "storage"(\\& +3 "core" &,h  y N\ n + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&m'7 +21 "core" ' + ."da"Elbow.hold +2 "manipulator"&^, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(e- +2 "core" -' +2 ."da"SE.seek 1.18 Pucks below Top Plate +2 "storage"(!' +29 "core" ' + "manipulator"&t% +4 "core" %( y R  + "storage"(& +4 "core" &,h r J\  + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 4 + 285 counts + "manipulator"&{'T +13 "core" ' +2 "manipulator"&@& +4 "core" &  + "storage"(& +4 "core" &,h T\  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 ."da"SE.seek 2.18 Pucks below Top Plate +2 "storage"(~'_ +40 "core" ' +2 "manipulator"&w& +4 "core" & 1  + "manipulator"& % +4 "core" %  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&x( +243 "core" ( +2 "manipulator"&& +4 "core" &  ) + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &  ) + ."da"Forearm.seek PC +2 "manipulator"&b' +93 "core" ' + ."da"Hand.close +2 "manipulator"&/ +66 "core" / +2 ."da"PC.seek :open + "processing"%Z( +462 "core" ( + "storage"(o& +4 "core" &,h \\\ x + "manipulator"&& +4 "core" & F ) + "manipulator"&% +4 "core" %  p / +2 ."da"Forearm.seek :retract + "manipulator"&' +96 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&( +254 "core" ( + "manipulator"&& +4 "core" & b 8 +2 "storage"( & +3 "core" &,h \ $ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&V' +95 "core" ' + ."da"Hand.open +2 "manipulator"&1 +53 "core" 1 +3 "storage"(y- +3 "core" -'_ +2 ."da"SE.seek 1.83 Pucks below Top Plate +2 "storage"( '+ +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 0.86 Pucks below Top Plate + "storage"(|' +52 "core" ' + #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2908h50ml.tif +1947 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +948 #"da"SX HX9/16 (USB:17): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 25.616 seconds\ /var/log/esp/da21sep2908h50ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2908h50ml15s.tif +1564 #SX HX9/16 (USB:17): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2908h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2908h50ml30s.tif +3069 #SX HX9/16 (USB:17): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2908h50ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2908h50ml70s.tif +7169 #SX HX9/16 (USB:17): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2908h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "25.616 sec auto-exposure",Subject: "da21sep2908h50ml images!" +5 "storage"("- +7 "core" -' + "storage"(#& +6 "core" &,h \  + "manipulator"&& +66 "core" & > 8 + ."da"Elbow.seek 4 +2 "manipulator"&'( +31 "core" ( + "manipulator"&& +4 "core" & @ { + "storage"(& +6 "core" &,h H\  +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&' +13 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.58 Pucks below Top Plate +2 "storage"(3'P +50 "core" ' +2 "manipulator"&*& +5 "core" & u { + "storage"(& +4 "core" &,h \  +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 + "manipulator"&q'7 +14 "core" ' + ."da"Elbow.hold +2 "manipulator"&\ , +4 "core" , + ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.76 Pucks below Top Plate +2 "storage"(' +19 "core" ' + "manipulator"&%% +4 "core" %E N +2 "storage"($& +4 "core" &,h X\  + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 4 + 314 counts +2 "manipulator"&'q +14 "core" ' + "manipulator"&,& +5 "core" & ; { + "storage"(}& +4 "core" &,h O\  +3 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&2' +16 "core" ' +2 "storage"(f% +4 "core" % 0\ +2 ."downElevator"SE.seek :down +3 "storage"(+' +100 (:% +3 "core" %5 P\ SS +2 "manipulator"&% +5 "core" % S +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&=' +89 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (>& +6 "core" &,h w W\  +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge + "processing"%(& +5 "core" &p\ + "manipulator"&& +4 "core" & E { +2 "manipulator"&6% +4 "core" %  J  +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&7(- +173 "core" ( +2 "manipulator"&;& +83 "core" &- Q +2 ."psFlush"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &A& +8 "core" &- " Q +4 ."psFlush"Forearm.seek :garage +7 "manipulator"&)'w +90 "core" ' +4 ."psFlush"Hand.close + "manipulator"&B/ +59 "core" / +4 "manipulator"&C& +7 "core" &- e Q +2 "manipulator"&G% +8 "core" % ς T : +4 ."psFlush"Forearm.seek :retract +4 "manipulator"&F' +98 "core" ' +6 ."psFlush"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 ."psFlush"Elbow.seek PC +3 "manipulator"&&( +120 "core" ( +3 "manipulator"&9& +8 "core" & P C +2 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &8& +6 "core" & C C +3 ."psFlush"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 ."psFlush"Forearm.seek PC +3 "manipulator"&.' +94 "core" ' +4 "manipulator"&a& +8 "core" & B +10 "manipulator"&H% +6 "core" %  +4 "processing"%& +8 "core" &U\ +4 "processing"%E& +10 "core" &N\ +4 &O\ +4 ."psFlush"PC.seek :closed +5 "processing"%N(^ +12 "core" &I\ +2 &R\ \ +6 &0sL\ )w +8 &b~U\ > +8 &noH\ N +11 &0QA\ N +7 &QA\ M +10 &Q9\ M +11 &wQG\ M +18 &9U9\ M +2 &Q?\ M +8 &RD\ N +8 & }T=\ N +11 &"AR>\ M +10 &$SB\ M +7 &%Q>\ N +11 &'T8\ N +8 &)IQ0\ M +11 &+\ W,\ N +9 &,T&\ N +8 &.P/\ M +11 &0PS3\ N +13 &2U3\ N +6 &3U.\ M +10 &5U-\ N +7 &7YW6\ M +11 &9T:\ M +9 &:R%\ N +8 &<R"\ N +11 &>`T\ N +8 &@"U\ N +9 &A\\\ N +11 &Cq#\ Q +8 &EV\ T +11 &G\ T +11 &H\ T +7 &J'\ U +10 &L[#\ U +7 &N"\ U +10 &O'\ U +10 &Q\ V +9 &S`\ V +11 &U! \ V +9 &V \ V +8 &X\ U +11 &Zh\ V +8 &\\)\ V +9 &]~\ 6 +13 &^,p\ U +7 &^(\ 5 +6 ( +7 "processing"%E& +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 +5 "processing"%O& +9 "core" &^&\ 5 +2 &^&\ 5 +2 ."psFlush"Hand.open +3 "manipulator"&L1 +63 "core" 1 +4 "manipulator"& % +8 "core" %  c +4 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."psFlush"Forearm.seek :retract +3 "manipulator"&0' +88 "core" ' +4 ."psFlush"PSR.select :air +3 .PSV.dial PSR +3 "processing"% +44 "core"  +2 "processing"%_% +8 "core" % \ +2 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +11 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +3 "processing"%1' +283 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +316 "core" ' +3 ."psFlush"delay 5 seconds +503 .PSR.select :air +4 "processing"% +11 ."psFlush"PS.seek 2.5ml +2 "processing"%I' +2119 "core" ' +11 ."psFlush"delay 1 second +105 .PRV.dial :waste2,avoiding: :ab2 + "processing"%X @ +183 "core" A +4 ."psFlush"PTV.dial :PRVmixing +4 "processing"%M  +128 "core" +2 ."psFlush"PSV.dial :mixloop +3 "processing"%P +103 "core" +2 ."psFlush"PS.seek :empty +3 "processing"%K'ؠ +2643 "core" ' +2 ."psFlush"PSR.select :air +4 .PSV.dial PSR +4 "processing"% +104 "core"  +2 "processing"%% +8 "core" %؟\ +4 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +6 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +4 "processing"%[' +590 "core" ' +2 ."psFlush"delay 5 seconds +505 .PSR.select :air +3 "processing"% +14 ."psFlush"PS.seek 2.5ml +2 "processing"%W' +1760 #"uploadLog"upsync +369 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%S  +32 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%4 @ +71 "core" A +2 ."psFlush"PSV.dial :mixloop + "processing"%d +102 "core" +2 ."psFlush"PS.seek :empty + "processing"%R'ؠ +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%- +102 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%Y'X\\ +1111 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%i' +1613 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" + ."psFlush"PTV.dial :puck +2 "processing"%?  +70 "core"  +2 ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml + "processing"%h'ؾ +2630 "core" ' + ."psFlush"PSV.dial PSR +54 "processing"%c +74 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%n' +587 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%p' +2125 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%j +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%` U +64 "core" T +2 ."psFlush"PS.seek 0ml +2 "processing"%J'ؾ +2637 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%g @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%s' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%l  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%T'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%/' +2651 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%U +70 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%r'ؾ +2476 "Can"\ EC +174 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%\\ @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%e' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%t  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%@ +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%'X\\ +1098 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +1610 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%Q  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%v'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%k +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%m' +592 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%{' +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%! +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%z @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%^' +2642 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%o' +2638 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +71 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%b @ +44 "core" ? + ."psFlush"PS.seek 2.5ml +2 "processing"%' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%x'ؾ +2655 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'& +4 "core" & S SO\ + "manipulator"&y& +4 "core" & M B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +3 "core" ( + "manipulator"&~& +4 "core" & ? B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & J B +2 .tForearm.seek PC +2 "manipulator"&"' +97 "core" ' + .tHand.close + "manipulator"&#/ +62 "core" / + .tPC.seek :open +2 "processing"%( +458 "core" ( + "manipulator"&& +4 "core" & B +2 "manipulator"&% +4 "core" %  9  +2 .tForearm.seek :retract + "manipulator"&*' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +356 "core" ( +2 "manipulator"&%& +4 "core" &ӟ  7 :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +2 "core" &ӟ! :- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&,'? +96 "core" ' + "manipulator"&}& +4 "core" &Ӡ! ; :, +2 "manipulator"&f% +3 "core" %2 4 R +2 "collection"'& +4 "core" & T SS\ +2 "collection"'V& +5 "core" & S Q[\ +2 .tCC.seek :closed +2 "collection"'|(\\ +4 "core" & S RN\  +9 &1{ Q RP\ *y +9 &d S QO\ > +9 &ss T RV\ N +10 &7R S SQ\ M +9 &U U VV\ M +9 &V T VV\ M +10 &}U T UL\ M +9 &?U S UL\ M +10 &W U TL\ M +9 &U U UP\ M +9 & U T UQ\ M +10 &"GU S ST\ M +9 &$\ T T SX\ M +9 &%V U UZ\ M +10 &'U T TN\ M +9 &)PW U SM\ M +10 &+U S TO\ M +9 &,Y T UO\ M +9 &.U V TS\ M +10 &0WU W TM\ M +9 &2T T TS\ M +9 &3U U UN\ M +10 &5V U TO\ L +9 &7^W T TN\ M +9 &9!V U TI\ M +10 &:V V UN\ M +9 &<W V UF\ M +10 &>gW U TM\ M +9 &@(V W UN\ M +9 &A\\ W XJ\ M +10 &C` Y YF\ N +9 &Edu Y ZD\ Q +10 &G a _H\ U +9 &H a bS\ Y +9 &J a aI\ Z +10 &LR b aS\ Z +9 &N a bU\ Z +9 &O b cH\ Z +10 &Q c dR\ [ +9 &SU b c\\\ [ +10 &U d dZ\ \\ +9 &V f f[\ ] +9 &X d f`\ ^ +10 &ZT f f^\ ^ +9 &[{ h h`\ ? +9 &\\2 i h^\ 'u +10 &\\} i jc\ T +2 ( +2 "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + "collection"':& +4 "core" &\\} h jY\ T +2 .tHand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&% +4 "core" % 2 ] R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +90 "core" ' + #tFlushing the Collection Valve::Manifold +2 "collection"'3& +4 "core" &\\} h gX\ T + "collection"'q% +4 "core" %l e hY\ +2 .tCSV.dial CSR + "collection"'>  +41 "core"  + "collection"'(% +4 "core" %k h hd\ +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"''s5 +1374 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +8 '% +3 "core" %s3 i gY\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'6' +678 "core" ' +2 .tCSV.dial :waste + "collection"' +127 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'2'i +2000 "core" ' + #tFlushing lower manifold's waste1 port +2 "collection"';& +4 "core" &\\| h gb\ T + "collection"'A% +4 "core" %g g iZ\ + .tCSV.dial :flush +2 "collection"'+  +39 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'\ 's5 +1284 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'B @ +42 "core" B + "collection"'C% +4 "core" %s: h jN\ +2 .tCS.seek 7.001ml +2 "collection"'G'% +556 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"'=  + '9  +52 "core"  +84  +2 .tCBV.dial :waste1 +50 "collection"'8 @ +42 "core" > +2 .tCS.seek 0ml +2 "collection"')'i +1673 "core" ' + #tFlushing lower manifold's waste2 port +2 "collection"'a& +4 "core" &\\{ r tU\ T + "collection"'H% +4 "core" %h t sR\ + .tCSV.dial :flush +2 "collection"'  +69 "core" +2 .tCS.seek 5ml +2 "collection"'7's5 +1287 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'F @ +42 "core" B +2 "collection"'Z% +4 "core" %s: l mP\ +2 .tCS.seek 7.001ml + "collection"'O'% +552 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV + "collection"'L  +40 "core"  +2 .tCBV.dial :waste2 + "collection"'  +100 "core"  +2 .tCS.seek 0ml +2 "collection"'E'i +1671 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'& +4 "core" &\\y w wT\ T +2 "collection"'_% +3 "core" %d t tL\ + .tCSV.dial CSR +2 "collection"'.  +40 "core"  + "collection"'<% +4 "core" %d s uK\ +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"'1' +2021 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'X' +545 "core" ' +2 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'M + 'P  +98 "core" +34  + .tCTV.dial :intake +2 "collection"'I  +75 "core" + .tIntake.select :open +2 "sampler") +10 .tCS.seek 2ml + "collection"''T +1895 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +72 "core"  +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml + "collection"'K'i +597 "core" ' + .tCSV.dial CSR +2 "collection"'[  +99 "core"  + "collection"'S% +4 "core" %f g hL\ + #tPulling 5ml of CSR.flush +2 .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'4's5 +1377 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'d' +1358 "core" ' + .tCSV.dial CBV +2 "collection"'W +99 "core" +2 .tCS.seek 0ml + "collection"'-'i +2230 "Can"\ OM +409 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&R& +4 "core" &Ӡ  5 :, + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +38 "core" ( + "manipulator"& & +4 "core" &v | 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &v 5 +2 .tForearm.seek CC + "manipulator"&i'? +99 "core" ' + .tHand.close + "manipulator"&c/ +52 "core" / +2 .tCC.seek :open +2 "collection"'h( +448 "core" ( + "manipulator"&n& +5 "core" &Ӊ 1 3 + "manipulator"&j% +3 "core" %  D  +2 .tForearm.seek :retract +2 "manipulator"&`' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&p(- +286 "core" ( +2 "manipulator"&g& +4 "core" &- 0 ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +2 "core" &- ; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&l'w +96 "core" ' +2 .tHand.open + "manipulator"&s1 +63 "core" 1 + "manipulator"&% +4 "core" % x 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +93 "core" ' +2 "processing"%U& +4 "core" &o\ +17463 #t-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'/& +3 "core" & Q U;\ +2 "manipulator"&\\& +4 "core" &- ; +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&r(- +9 "core" ( + "manipulator"&t& +4 "core" &- , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &- , +2 .tForearm.seek :garage + "manipulator"&@'w +92 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 "manipulator"&& +4 "core" &- , + "manipulator"& % +4 "core" % o C +2 .tForearm.seek :retract + "manipulator"&Q' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&w(ӂ +285 "core" ( +2 "manipulator"&k& +4 "core" &ӑ% >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +2 "core" &ӑ%  >K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&m'? +94 "core" ' +2 "manipulator"&!& +4 "core" &ӑ% >K + "manipulator"&% +4 "core" %B  | +2 "collection"'{& +3 "core" & S SG\ +2 "collection"'z& +5 "core" & U UG\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & S T?\  +9 &4} S P:\ *z +9 &e} T Q9\ > +10 &p S T:\ M +9 &WS T V:\ L +9 &W T U8\ L +10 &W R S:\ L +9 &U V V;\ M +9 &_T Q T;\ L +10 &!T S T:\ L +9 &R T U<\ L +10 & W T T>\ L +9 &"fU T V9\ M +9 &$)T U T:\ L +10 &%R R U:\ L +9 &'W T U7\ L +9 &)oW U T8\ L +10 &+1R T T;\ L +9 &,W U S8\ L +10 &.W S T6\ L +9 &0vV U U9\ M +9 &28U W T<\ M +10 &3U S U8\ M +9 &5W X U9\ L +9 &7~W U T9\ M +10 &9AV U T:\ L +9 &;S T W;\ M +10 &<V V W7\ M +9 &>T V V;\ L +9 &@IT X W8\ L +10 &B\ Y X X8\ M +9 &Ca Z Y:\ N +9 &Ev [ Z0\ P +10 &G7 ^ \\;\ U +9 &H c `=\ X +10 &J _ c<\ Y +9 &Lq d c*\ Y +9 &N3 c b;\ Y +10 &O b c3\ Z +9 &Q c a(\ Z +10 &St c c4\ [\ +9 &U2 d d'\ \\ +9 &V d e5\ ] +10 &X e e+\ ^ +9 &Zr h g+\ ^ +9 &\\{ h g/\ 4 +10 &\\0 h i)\ d +9 ( + &\\q i h-\ V +2 "collection"'z& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.36 + "collection"'& +4 "core" &\\q i j7\ V +2 .tHand.open + "manipulator"&^1 +62 "core" 1 + "manipulator"&% +4 "core" % B Z | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +43 "core"  +2 "processing"%o% +4 "core" %\  + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%b'+ +1608 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +44 "core"  +2 .tPS.seek 0ml + "processing"% 'ؾ +1631 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2636 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%y  + "collection"'~  +75 "core" +25  + .tPSV.dial :PTV,via: :air +2 "processing"% +192 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 "processing"%# @ +72 "core" A +2 .tPS.seek 0ml + "processing"%&'ؾ +2654 "core" ' +2 .tPSV.dial :air + "processing"%0  +74 "core"  +2 .tPS.seek 2.5ml + "processing"%N' +2636 "core" ' + .tPSV.dial :PTV +2 "processing"% +74 "core"  + .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&"& +4 "core" &ӓ% U >I +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +31 "core" ( + "manipulator"&%& +4 "core" &\  Z !s +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &\  ! !s +2 .tForearm.seek CC + "manipulator"&}'? +95 "core" ' +2 .tHand.close + "manipulator"&f/ +57 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "manipulator"&*& +5 "core" &\   !s + "manipulator"&5% +4 "core" % A M * +2 .tForearm.seek :retract +50 "manipulator"&:' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +278 "core" ( + "manipulator"&& +4 "core" &- b L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &- U L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&q'w +101 "core" ' + .tHand.open +2 "manipulator"&V1 +52 "core" 1 + "manipulator"&>% +4 "core" % x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&(' +91 "core" ' +22107 #t-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"',& +3 "core" & T UE\ +2 "manipulator"&u& +4 "core" &- U L +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +9 "core" ( + "manipulator"&& +4 "core" &- ! 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- e 6 +2 .tForearm.seek :garage + "manipulator"&6'w +100 "core" ' + .tHand.close +2 "manipulator"&;/ +62 "core" / +2 "manipulator"&A& +4 "core" &- 2 6 +2 "manipulator"&+% +3 "core" % f o +2 .tForearm.seek :retract +2 "manipulator"&2' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&B(ӂ +289 "core" ( +2 "manipulator"&C& +4 "core" &ӏ  ? :+ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &ӏ! ' :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&='? +92 "core" ' +2 "manipulator"&9& +4 "core" &ӏ! 6 :+ + "manipulator"&8% +4 "core" %< 3 h +2 "collection"'G& +3 "core" & U TC\ +2 "collection"'a& +5 "core" & S RE\ +2 .tCC.seek :closed +2 "collection"'H(\\ +4 "core" & T T<\  +9 &6} V T;\ +{ +9 & f V T<\ ? +10 &m W S3\ M +9 &YT U T=\ M +9 &R S V;\ M +10 &T T V;\ L +9 &U T S:\ M +9 &cW V W8\ L +10 &%U V V;\ L +9 &R T U<\ M +3 "Can"\ JH +7 "core" & R V U<\ L +9 &"kU T V0\ L +9 &$,W T V6\ M +10 &%V T U8\ M +9 &'T R V<\ M +9 &)rX U V6\ M +10 &+5X U U:\ L +9 &,U W U*\ L +10 &.W V T$\ M +9 &0zV W U%\ M +9 &2<R V U'\ M +10 &3W V U+\ M +9 &5Y U U)\ L +9 &7U W V"\ L +10 &9DT U V%\ M +9 &;S U U\ M +10 &<X X U(\ M +9 &>Y W W%\ M +9 &@LX W V$\ M +10 &B \\ Y Y*\ M +9 &Cc a `&\ N +9 &Ev c a"\ P +10 &G< d d$\ U +9 &H h i*\ X +10 &J g g/\ Y +9 &Lt f g,\ Z +9 &N6 h h*\ Z +10 &O h h(\ Z +9 &Q i h.\ Z +9 &Sv h g5\ \\ +10 &U9 f i.\ [ +9 &V h h0\ ] +10 &X i h4\ ^ +9 &Zw i i)\ ^ +9 &\\x l k/\ 5 +10 &\\+ k k1\ [ +9 ( + &\\u k j/\ S +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + "collection"'& +4 "core" &\\u k j:\ S +2 .tHand.open + "manipulator"&)1 +59 "core" 1 + "manipulator"&F% +4 "core" % < H h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +92 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%7  +190 "core"  +2 "processing"%L% +4 "core" %P\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"% '+ +1610 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%O  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1606 "core" ' + .tPSV.dial PSR + "processing"%_ +43 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%.' +2628 "core" ' +2 ."connect"PRV.dial CBV +2 .tCBV.dial PRV +2 .PSV.dial :PTV,via: :air +2 "processing"%< +192 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 .PS.seek 0ml +2 "processing"%E'ؾ +2637 "core" ' + .tPSV.dial :air +2 "processing"%1  +86 "core"  +2 .tPS.seek 2.5ml + "processing"%M' +2642 "core" ' + .tPSV.dial :PTV +2 "processing"%P +72 "core"  +2 .tPS.seek 0ml +2 "processing"%I'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&X& +5 "core" &ӏ  E :+ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +31 "core" ( + "manipulator"&& +4 "core" &ӊ I [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &ӊ  O [ +2 .tForearm.seek CC + "manipulator"&S'? +92 "core" ' + .tHand.close +2 "manipulator"&K/ +55 "core" / +2 .tCC.seek :open + "collection"'4( +451 "core" ( + "manipulator"&W& +4 "core" &ӊ  | [ +2 "manipulator"&d% +3 "core" % I V B +2 .tForearm.seek :retract +2 "manipulator"&R' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"& (- +275 "core" ( +2 "manipulator"&?& +4 "core" &- x Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &- v Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +96 "core" ' +2 .tHand.open + "manipulator"&'1 +63 "core" 1 + "manipulator"&|% +4 "core" % ~ 6 " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +93 "core" ' +43178 "Can"\ 63 +18923 #t-> exit +6 #mEXIT @1632931043.01PDT @1632931065.47PDT = =tMAIN =mMAIN_scheduler @PDT1632931067.44 #"core_reset"Sent BREAK + #t@22680 sendCRC with ifg=0x20, ie=0x7F + #@24515 sendCRC with ifg=0x08, ie=0x5F + #@19233 idle with ifg=0x84, ie=0x75 + #@19905 select with ifg=0x10, ie=0xF5 #@20538 receive with ifg=0x10, ie=0xFD + #@21171 receive with ifg=0x10, ie=0xFD + #@21805 receive with ifg=0x10, ie=0xFD #@22132 receive with ifg=0x80, ie=0xFD + #@3885 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +297 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +401 "Can"\ 85 + \ 85 #tPolling Can every 10:00 +3283 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +6 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %k V V'\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڵ h\ + .tSS.configure :default +3 "sampler")#.0X\ +2 "collection"' +3 "core"  +2 "collection"'  +2 "core"  +2 "collection"'! +3 "core"  +2 "processing"%" +3 "core"  + "processing"%# +3 "core" V +2 "processing"%$ +3 "core" A + "processing"%% +3 "core"  +2 "sampler")& +3 "core"  + "collection"''% +4 "core" %k W Y'\ +2 "processing"%(% +3 "core" %=\ +2 "sampler"))% +4 "core" %ڵ k\ +2 "collection"'*& +3 "core" & X W\ +2 "processing"%+& +4 "core" &5\ + "manipulator"&,% +4 "core" %    + "manipulator"&-& +4 "core" &- g Y +2 "storage"(.& +4 "core" &,k \ +2 "storage"(/% +3 "core" % 3\  +2 "collection"'09 +3 "core" 9 +2 "processing"%19 +3 "core" 9 +1859 #t-> access 4 +2 "storage"(2% +3 "core" % \  +2 "manipulator"&3% +4 "core" %  &  + "manipulator"&4& +4 "core" &- : Y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(5(C +984 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &E 1\ +1907 #t-> access 5 + "storage"(7% +4 "core" % b\  + "manipulator"&8% +4 "core" %   +2 "manipulator"&9& +3 "core" &- Y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(:(  +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (;& +3 "core" & \ +13701 #t-> $da[:extractVol]=0.20 +20295 #-> startTube 5 +282 #-> shortDA +2 "collection"'<% +2 "processing"%=% +5 "core" %6\ +2 %k V X\ +4 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +2384 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%> +43 "core" +2 .tPTV.dial :PRVmixing + "processing"%?  +72 "core" +2 .tPRV.dial :sipper + "processing"%@  +127 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%A'e +2292 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%B  +2 "collection"'C  +17 "core"  +108  +2 .tPS.seek 0.5ml + "processing"%D' +1270 "core" ' + .tPRV.dial :waste2 +2 "processing"%E @ +99 "core" ? + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%F'ؾ +587 "core" ' + .tPSV.dial PSR +2 "processing"%G +102 "core"  + "processing"%H% +4 "core" %!\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%I'X\\ +1111 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%J' +1632 "core" ' +2 .tPSV.dial :mixloop + "processing"%K +102 "core" +2 .tPS.seek 0ml + "processing"%L'ؾ +2655 "core" ' + .tPSV.dial PSR + "processing"%M +102 "core"  +2 "processing"%N% +4 "core" %ؽ\  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%O'X\\ +1108 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%P' +1610 "core" ' + .tPSV.dial :mixloop +2 "processing"%Q +97 "Can"\ 63 +5 "core" + .tPRV.dial :sipper +2 "processing"%R  +42 "core" +2 .tPS.seek 0ml +2 "processing"%S'ؾ +2627 "core" ' + .tPSV.dial PSR +2 "processing"%T +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%U' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%V +102 "core" + .tPS.seek 0ml +2 "processing"%W'ؾ +2651 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%X& +4 "core" &\ +2 .tHand.open + "manipulator"&Y1 +15 "core" 1 + "manipulator"&Z% +4 "core" %    +2 "storage"([% +3 "core" % o\  +2 "storage"(\\. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +48 .tSC.seek 5 +7 "storage"(](<- +982 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +2 "core" &<+ z m\  +2 "manipulator"&_& +4 "core" &- < Y + "manipulator"&`% +4 "core" %  I  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&a( +174 "core" ( + "manipulator"&b& +4 "core" &  +2 "storage"(c& +3 "core" &<+ X\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +92 "core" ' + "storage"(e& +4 "core" &<+ `\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'r +303 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" &<+ 0\  +2 "manipulator"&i& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&k& +4 "core" & v  + "storage"(l& +4 "core" &<+ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&m'Ϲ +40 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& + "storage"(p' +7 "core" &   +2 "manipulator"&q% +4 "core" % ϳ [ +2 .tForearm.seek :retract +2 "manipulator"&r' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +4 "manipulator"&t& +8 "core" & ( 4 +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &u& +9 "core" & O 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&v' +92 "core" ' +2 "manipulator"&w& +4 "core" & ; 4 + "manipulator"&x% +4 "core" % ^ +2 "processing"%y& +4 "core" &\ +2 "processing"%z& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%{(^ +5 "core" &\ +7 & 3\ $d +9 &Vy\ 7 +10 &y\ L +9 &R\ N +9 &bT\ N +10 &$R\ N +9 &S\ M +9 &R\ M +10 &kR\ M +9 &+W\ N +9 &S\ M +10 &!S\ N +9 &#rR\ N +10 &%5R\ M +9 &&S\ M +9 &(T\ N +10 &*zV\ N +9 &,<U\ N +9 &-R\ M +10 &/T\ N +9 &1S\ N +10 &3DS\ N +9 &5V\ N +9 &6S\ N +10 &8R\ N +9 &:KR\ N +9 &< S\ N +10 &=T\ N +9 &?T\ N +10 &AQY\ O +9 &Cg\ P +9 &Dy\ S +10 &F\ T +9 &HH\ T +9 &J\ \ T +10 &K\ T +9 &M\ U +10 &ON\ U +9 &Q\ V +9 &R\ V +10 &T\ V +9 &VT\ V +9 &X\ W +10 &Y\ V +9 &[\ V +10 &]Y\ G +9 &^z?v\ (v +9 &^1\ 1 +6 ( + "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&|1 +3 "core" &^#\ 1 +60 1 +2 "manipulator"&}% +4 "core" %  N ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 %9 +6 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +2 "core" 9  +103 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"% 9 +2 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +3 "core" 9* +102 "processing"%9 +2 "core" 9/ +102 "processing"%9 +3 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%9 +2 "core" 9? +103 "processing"%9 +2 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%9 +3 "core" 9] +102 "processing"%9 +2 "core" 9a +102 "processing"% 9 +3 "core" 9e +102 "processing"%!9 +2 "core" 9i +102 "processing"%"9 +3 "core" 9m +102 "processing"%#9 +3 "core" 9q +102 "processing"%$9 +2 "core" 9v +102 "processing"%%9 +2 "core" 9z +102 "processing"%&9 +3 "core" 9~ +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +3 "core" 9 +102 "processing"%+9 +2 "core" 9 +103 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +3 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +2 "core" 9 +103 "processing"%19 +2 "core" 9 +102 "processing"%29 +3 "core" 9\  +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%69 +3 "core" 9  +2 .tPH.hold 2:00:00,28C +3 "processing"%7 php +3 .tdelay 1:30 +3 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +102 "core"  + "processing"%9% +4 "core" %ؼ\  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%5' +596 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%;' +1611 "core" ' + .tPTV.dial :puck +2 "processing"%=  +128 "core"  +2 .tPSV.dial PTV + "processing"%< +74 "core" + .tPBV.dial :waste1 +2 "processing"%>  +51 "core" +2 "processing"%?% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%@') +598 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%C'ؾ +1612 "core" ' + .tdelay 5:00 +29291 "Can"\ ?< +712 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%B  +32 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +33 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%E +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%D' +2415 "core" ' +2 .tPSV.dial PTV + "processing"%G +74 "core" + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%H +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%F +83 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%I  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2348 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%J  +130 "core" + .tPSV.dial :mixloop +2 "processing"%M +44 "core" + .tPRV.dial :ab1 +2 "processing"%N @ +100 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%L' +359 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%O  +42 "core"  +2 "processing"%Q% +4 "core" %\  +2 .tPS.seek 0.35ml + "processing"%R'n +475 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'P  +30 "core" +2 .tPRV.dial :air +2 "processing"%T  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%S'K +1166 "core" ' +2 .tPRV.dial :waste2 + "processing"%V @ +71 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%U' +863 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%X  +44 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%Y' +1606 "core" ' + .tPSV.dial :PML + "processing"%Z +44 "core" +2 .tPTV.dial :mixing + "processing"%[ @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%\\  +33 "core" +2 "processing"%:% +4 "core" %p\  +2 .tPS.seek 1.85ml + "processing"%^' +240 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%_ * +33 "core" + +2 .tPS.seek 0ml + "processing"%`'ؾ +1989 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'b& +2 "core" & Z Z\ +2 "manipulator"&c& +4 "core" & j 4 + "manipulator"&e% +4 "core" %  *  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +125 "core" ( + "manipulator"&& +5 "core" &- E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &- +2 .tForearm.seek :garage +2 "manipulator"&h'w +98 "core" ' + .tHand.close +2 "manipulator"&i/ +53 "core" / +2 "manipulator"&k& +4 "core" &- 3 +2 "manipulator"&l% +4 "core" % ω  +2 .tForearm.seek :retract + "manipulator"&n' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&o(ӂ +282 "core" ( +2 "manipulator"&q& +4 "core" &ӝ  : 9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &ӝ  8 9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&d'? +94 "core" ' +3 "manipulator"&f& +4 "core" &ӝ  B 9) + "manipulator"&m% +4 "core" %A  3 +2 "collection"'t& +4 "core" & [ \\\ +2 "collection"'u& +5 "core" & [ ]\ +2 .tCC.seek :closed +3 "collection"'j(\\ +3 "core" & [ \\\ +6 &B [ \\\ %g +10 &W{ Z \\\ 8 +9 &y Z [\ M +10 &T Z [\ N +9 &zV [ ]\ M +9 &;U [ Z\ N +10 &U ^ [\ N +9 &U Z ]\ N +9 &U ^ ]\ N +10 &DR ^ ^\ M +9 & Q ] ]\ M +10 &!R ] ]\ M +9 &#T _ \\\ N +9 &%KU ] ]\ N +10 &'W ] \\\ M +9 &(Y ] ]\ N +9 &*V ] \\\ N +10 &,TR \\ ]\ M +9 &.T \\ ^\ M +10 &/O [ ]\ M +9 &1T ] ]\ M +9 &3\\V \\ ^\ M +10 &5V ^ _\ M +9 &6W ^ ^\ M +9 &8Q ^ ^\ M +10 &:dR \\ `\ M +9 &<&T ` `\ M +10 &=W \\ ^\ M +9 &?R b _\ N +9 &AkY ` a\ N +10 &C)` i i\ O +9 &Dr g i\ Q +9 &F j h\ T +10 &HS l l\ Y +9 &J k m\ Z +10 &K k l\ Z +9 &M l k\ Z +9 &OU k l\ [ +10 &Q k m\ [ +9 &R l j\ \\ +9 &T j k\ ] +10 &VV j n\ ] +9 &X m l\ ^ +9 &Y n n\ _ +10 &[ o n\ L +9 &\\; o o\ , +10 &\\ p q\ !a +2 ( + "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.41 + "collection"'w& +4 "core" &\\ n o\ !a +2 .tHand.open + "manipulator"&x1 +61 "core" 1 +2 "manipulator"&y% +4 "core" % A r 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p' +93 "core" ' + .tPSV.dial PSR +2 "processing"%r +103 "core"  + "processing"% % +53 "core" %ػm\  + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%|'+ +1620 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%}  +43 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1617 "core" ' +2 .tPSV.dial PSR + "processing"%z +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2630 "core" ' + ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV + "processing"%v  +2 "collection"'  +31 "core"  +126  +2 .tPSV.dial :mixloop + "processing"% +102 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2627 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2624 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӝ 9) +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +15 "core" ( +2 "manipulator"&& +4 "core" &ӆ Y - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӆ  - +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "manipulator"&& +4 "core" &Ӈ E - + "manipulator"& % +4 "core" % I + $ +2 .tForearm.seek :retract + "manipulator"&!' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&"(- +276 "core" ( +2 "manipulator"&#& +4 "core" &- 0  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &- x  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&%'w +93 "core" ' + .tHand.open +3 "manipulator"&&1 +59 "core" 1 + "manipulator"&'% +4 "core" % ~ S P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +99 "core" ' +2 ."da"delayUntil "09:28:59.10" +18255 "Can"\ _\\ +6535 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%) @ +72 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%*  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%+ * +32 "core" * + ."da"PSV.dial :air +2 "processing"%,  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%-' +2385 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%. +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%/  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%0 +46 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%1  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%2'ؾ +2373 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%3 +129 "core"  +2 "processing"%4% +4 "core" %v\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%' +610 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%6' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%8  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%9 +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%W  +33 "core" + "processing"%5% +4 "core" %h\  +2 ."da"PS.seek 1.5ml +2 "processing"%='' +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +3 "processing"%< * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +1629 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%?  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%; * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%@' +2424 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%B +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%A +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%E  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%C'ؾ +2384 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%G +129 "core"  + "processing"%H% +4 "core" %ؽ\  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%F' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%I' +1610 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%D +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%J  +33 "core" +2 "processing"%M% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%N'* +596 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%K * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%O'ؾ +1607 "core" ' + ."da"delay 2:00 +11697 "Can"\ rq +306 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%Q  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%L * +33 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%P +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%T' +2414 "core" ' + ."da"PSV.dial PTV +2 "processing"%R +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%V +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%S +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%X  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%U'ؾ +2357 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%Z  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%[  +129 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%\\  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%: +56 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%_' +390 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%Y  +43 "core"  +2 "processing"%^% +4 "core" % k\  +2 ."da"PS.seek 0.55ml +2 "processing"%b' +332 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%c  +42 "core"  +2 ."da"PS.seek 2ml +2 "processing"%e' +1562 "core" ' + ."da"PSV.dial :PML +2 "processing"% +44 "core" + ."da"PTV.dial :mixing +2 "processing"%g @ +72 "core" @ +2 ."da"PBV.dial :waste1 +2 "processing"%i  +32 "core" + "processing"%k% +4 "core" %l\  +2 ."da"PS.seek 1.85ml +2 "processing"%s' +242 "core" ' +2 ."da"PBV.dial between PSV and waste1 + "processing"%l * +46 "core" ) +2 ."da"PS.seek 0ml +2 "processing"%~'ؾ +1969 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +43424 "Can"\ QM +4578 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%h  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%q * +35 "core" , + ."da"PSV.dial :air +2 "processing"%a  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2429 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%f +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%m  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%t +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%n  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +2347 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%w +129 "core"  +2 "processing"%x% +4 "core" %ؾ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%y' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%u' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%r  +72 "core"  + ."da"PSV.dial PTV +2 "processing"% +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%d  +34 "core" +2 "processing"%`% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%}'. +593 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%| * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +1617 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3052 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%v +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2410 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2368 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +127 "core"  +2 "processing"%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1611 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'& +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +32 "core" * +3 ."da"PS.seek 0ml + "processing"%'ؾ +1634 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +31 "core" +2 ."da"delay 30 seconds +1623 "Can"{\ >; +1379 ."da"PBV.dial between PSV and waste1 +2 "processing"%o * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%p +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%j' +2399 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%#  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%$'ؾ +2354 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  +2 "processing"%&% +4 "core" %ؿs\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%'' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%!' +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%% +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%)  +32 "core" +2 "processing"%*% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%+', +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%, * +33 "core" * +2 ."da"PS.seek 0ml + "processing"%'ؾ +1612 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%.  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%/ * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%0 +84 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%1' +2408 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%- +82 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%3 +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%4 +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%2  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2374 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +137 "core"  +5 "processing"%9% +10 "core" %ط\  +5 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +8 "processing"% +17 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +2 ."da"PS.seek 0.25ml +4 "processing"%W' +356 "core" ' +2 ."da"delay 5 seconds +502 "processing"%5% +4 "core" %\ + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%6' +341 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%<' +1618 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%= +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%?  +35 "core" + "processing"%;% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'/ +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%> * +34 "core" * +2 ."da"PS.seek 0ml + "processing"%'ؾ +1607 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%B  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +35 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%E +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%@' +2497 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%G +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%H +85 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%C +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%F  +88 "core"  +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +2457 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%J +136 "core"  +2 "processing"%M% +4 "core" %\ + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%I' +2121 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%K +77 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%N  +35 "core" +2 "processing"%Q% +4 "core" %\ ( +2 ."da"PS.seek 1.5ml + "processing"%L'( +593 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%P * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%O  +102 "core"  +2 ."da"PS.seek 0ml +2 "processing"%R'ؾ +1630 "core" ' + "processing"%V9 +4 "core" 9e5} +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%S  +3 "core" 5} + 5} + "processing"%X& +3 "core" &^$\ !1 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&T% +3 "core" %  z   +2 "storage"(Z% +4 "core" % \ ! + "storage"([. +3 "core" .(<* +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(\\(,y +359 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &,{ Z\  +2 "manipulator"&U& +3 "core" &- 7  +2 "manipulator"&Y% +3 "core" %  "  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&^( +172 "core" ( + "manipulator"&_& +4 "core" &  < +2 "storage"(c& +4 "core" &,{ \ w +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&b' +106 "core" ' +2 "storage"(& +4 "core" &,{ m\ ' + ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(g'r +279 "core" ' + "storage"(i- +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"(k'1 +40 "core" ' +2 "manipulator"&l& +4 "core" & ; +2 "manipulator"&e% +3 "core" % +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&s' +89 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&h( +260 "core" ( +2 "manipulator"&q& +4 "core" & u + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" & +2 ."da"Forearm.seek PC +2 "manipulator"&~' +94 "core" ' + ."da"Hand.close +2 "manipulator"&f/ +58 "core" / +2 ."da"PC.seek :open + "processing"%m( +50 "Can"n\ Qj +410 "core" ( +2 "storage"(t& +4 "core" &,f \  + "manipulator"&n& +4 "core" & d + "manipulator"&% +4 "core" %  ^ 8 +44 ."da"Forearm.seek :retract +11 "manipulator"&w' +91 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&x( +243 "core" ( +2 "manipulator"&\ & +4 "core" & W 5 + "storage"(y& +4 "core" &,f \ ' +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&r' +88 "core" ' +2 ."da"Hand.open +2 "manipulator"& 1 +74 "core" 1 +2 "storage"(d- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(`' +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(u' +55 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2910h.tif +6 "processing"%|& +13 "core" &\\\ ! +2 "manipulator"&}& +6 "core" & u 5 +2 "manipulator"&% +6 "core" %   +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&v(- +194 "core" ( +3 "manipulator"&z& +4 "core" &- r ] s ? + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &- w x Q > +3 ."psFlush"Forearm.seek :garage + "manipulator"&'w +102 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"& / +73 "core" / + "manipulator"&& +5 "core" &- 9  + "manipulator"&% +4 "core" % ς + +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +93 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +118 "core" ( +2 "manipulator"& & +4 "core" & H J +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" & J +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&& +4 "core" & y t " ?J +2 "manipulator"&% +4 "core" % y v \\ ? +2 "processing"%& +4 "core" &9 +2 "processing"%& +4 "core" &5 +2 ."psFlush"PC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &-l +| +9 &^r @ +10 &Dc S +9 &> T +9 &> T +10 &@ T +9 &GA T +9 & H\ S +10 &D\ Q +9 &I\ R +9 & XI\ Q +10 &"F\ Q +9 &#J\ 2Q +10 &%I\ .Q +9 &'aI\ Q +9 &)"K\ Q +10 &*K\ Q +9 &,K\ Q +10 &.aI T +9 &0#B T +9 &1A T +10 &3A T +9 &5iB T +9 &7+A T +10 &8C T +9 &:C T +9 &0B U +9 &?B T +10 &AI U +9 &Co\\ W +9 &E'u [ +10 &FxL \\ +9 &Hya \\ +9 &JpzP\ Z +10 &L3X\ Y +9 &Mc\ Z +10 &OU\ Z +9 &QvN\ (Z +9 &S9R\ )Z +10 &TO\ [\ +9 &VQ\ Z +9 &X|P\ [\ +10 &Z>T\ [\ +9 &[O ^ +10 &]F L +9 &^(`F !a +9 &^O: A +3 ( + "processing"%& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.92 +2 "processing"%& +4 "core" &^N9 A + ."psFlush"Hand.open +2 "manipulator"&o1 +70 "core" 1 +2 "manipulator"&p% +4 "core" %  ; 3 +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +86 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"% +45 "core" + "processing"% % +4 "core" %  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"%' +586 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%#' +202 #"da"SX HX9/16 (USB:18): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 25.936 seconds\ /var/log/esp/da21sep2910h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2910h15s.tif +1564 #SX HX9/16 (USB:18): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2910h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2910h30s.tif +356 "core" ' +3 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%j @ +196 "core" B +2 ."psFlush"PTV.dial :PRVmixing + "processing"%  +136 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%& +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%$'ؠ +2154 #"da"SX HX9/16 (USB:18): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2910h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2910h70s.tif +481 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%' +111 "core"  +2 "processing"%%% +4 "core" %؝ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%)' +592 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%*' +2124 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%!  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%, @ +75 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%+ +111 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%.'ؠ +2640 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%/ +108 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%0'X\\ +215 #"da"SX HX9/16 (USB:18): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2910h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "25.936 sec auto-exposure",Subject: "da21sep2910h images!" +4 "storage"(- +2 "core" -' +2 "storage"(-& +10 "core" &,f\ \ \ Y +2 "manipulator"&3& +4 "core" & Z J + "manipulator"&4% +5 "core" %  K  + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&2( +251 "core" ( +2 "manipulator"&1& +4 "core" &  \ +2 "storage"(8& +3 "core" &,f\ \  \ Z +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&9' +94 "core" ' +3 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' + "manipulator"&5& +4 "core" & +2 "storage"(W& +8 "core" &,f G Q G\  +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +83 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b + ."da"Forearm.seek 4 +3 "manipulator"&6'7 +18 "core" ' + ."da"Elbow.hold +2 "manipulator"&=, +5 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.32 Pucks below Top Plate + "storage"(?' +29 "core" ' +2 "manipulator"&;% +4 "core" %F ! + "storage"(<& +4 "core" &,f G G\  +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 4 + 315 counts +2 "manipulator"&>'r +14 "core" ' + "manipulator"&& +5 "core" &  + "storage"(B& +4 "core" &,f u v F\  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&A' +19 "core" ' +2 "storage"(E% +19 "core" % v v 7\  +6 ."downElevator"SE.seek :down +10 "storage"(' +94 (G% +6 "core" %C<   \ ST +6 "manipulator"&H% +10 "core" %  +6 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +8 ."da"Forearm.seek :retract + "manipulator"&C' +8 "core" ' +2 ."psFlush"PSR.select :air +4 "processing"% +14 ."psFlush"PS.seek 2.5ml +3 "processing"%F' +57 "core" ' +47 ' +2 ."downElevator"SE.stop +4 "storage"(5 +7 (@& +8 "core" &,f I N x\  +1500 ' +4 ."psFlush"PSV.dial PTV + "processing"%J +76 "core" +4 ."psFlush"PTV.dial :puck +4 "processing"%M  +71 "core"  +5 ."psFlush"PBV.dial :waste1 +6 .PS.seek 0ml +4 "processing"%D'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +3 "processing"%K +76 "core"  +2 ."psFlush"PSR.select :flush +5 "processing"%@ +22 ."psFlush"PS.seek 0.5ml +4 "processing"%N' +618 "core" ' +2 ."psFlush"PSR.select :air +4 "processing"% +13 ."psFlush"PS.seek 2.5ml +4 "processing"%Q' +2126 "core" ' +2 ."psFlush"PSV.dial PTV +3 "processing"%I +76 "core" +4 ."psFlush"PBV.dial PSV + "processing"%P U +53 "core" V +4 ."psFlush"PS.seek 0ml +4 "processing"%O'ؾ +2652 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%L @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%V' +223 #"uploadLog"upsync +2407 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%S  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%X'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%T +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%Z' +2629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%[ +70 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%]'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%: @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%U' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%Y  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2625 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%c +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1094 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%( +70 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%i  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%l'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%e +72 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%g' +585 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%b' +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%q +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%a U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%^'ؾ +2649 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%f @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%s' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%{  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%t'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%n +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +314 "Can"h\ DA +2314 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%~ +71 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%\ 'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%y @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%h' +2637 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%d'ؾ +2657 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&|& +4 "core" & @ + "manipulator"&}% +4 "core" %    +2 ."psFlush"Elbow.seek PC + "manipulator"&w( +257 "core" ( +2 "manipulator"&& +4 "core" & b + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" & +2 ."psFlush"Forearm.seek PC +2 "manipulator"&`' +92 "core" ' +2 ."psFlush"Hand.close + "manipulator"&z/ +60 "core" / + ."psFlush"PC.seek :open +2 "processing"%( +460 "core" ( + "manipulator"&r& +4 "core" & +2 "manipulator"&x% +3 "core" %  @ +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +120 "core" ( + "manipulator"&& +4 "core" &-  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- "  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"& 'w +97 "core" ' +2 ."psFlush"Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&% +4 "core" % π   +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tFinished short da assay +2734 #-> access 4 +2 "storage"(% +3 "core" % \  +2 "manipulator"&% +4 "core" %   +2 "manipulator"&v& +4 "core" &-  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"( (C +991 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +47 (m& +3 "core" &@ \ +72 #t-> samplePassF + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & d d\ +2 "manipulator"&o& +4 "core" &-   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&p(- +24 "core" ( +2 "manipulator"&& +4 "core" &- ) T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- g T +2 .tForearm.seek :garage +2 "manipulator"& 'w +94 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 "manipulator"&R& +4 "core" &- T +2 "manipulator"&% +4 "core" % } = 0 +2 .tForearm.seek :retract +2 "manipulator"&j' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +281 "core" ( + "manipulator"&&& +4 "core" &Ӈ( \ @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &Ӈ(  @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&''? +95 "core" ' + "manipulator"&%& +5 "core" &Ӈ(  @X + "manipulator"&$% +4 "core" %E  C +2 "collection"')& +4 "core" & e d\ +2 "collection"'!& +4 "core" & d c\ +2 .tCC.seek :closed +2 "collection"',(\\ +4 "core" & c c\  +10 &1| c d\ *y +9 &d b d\ > +10 &ur c d\ M +9 &6V d d\ M +9 &V d e\ M +10 &V e d\ M +9 &|U c f\ M +9 &?U d g\ M +10 &Y e d\ M +9 &V d c\ M +10 & W c e\ M +9 &"GY e e\ M +9 &$ U f e\ M +10 &%W e f\ M +9 &'U e g\ M +9 &)NU f d\ M +10 &+V f c\ M +9 &,U d e\ M +10 &.V d c\ M +9 &0WU d f\ M +9 &2U e f\ M +10 &3V f e\ M +9 &5V d g\ M +9 &7_V d f\ M +10 &9!W f h\ M +9 &:V f g\ M +9 &<W f h\ M +10 &>gX g f\ M +9 &@(V e f\ M +10 &A\\ i h\ M +9 &Ca k j\ N +9 &Edx l k\ Q +10 &G o o\ U +9 &H r q\ X +9 &J s t\ Y +10 &LR r s\ Z +9 &N p r\ Y +10 &O s q\ Z +9 &Q s s\ [ +9 &SU r v\ [ +10 &U s t\ \\ +9 &V u u\ ] +10 &X v u\ ^ +9 &ZT x u\ ^ +9 &[x x y\ C +10 &\\% x z\ , +9 &\\ v z\ ^ +2 ( +2 "collection"'!& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + "collection"'+& +5 "core" &\\ x z\ ^ + .tHand.open +2 "manipulator"&*1 +56 "core" 1 + "manipulator"&/% +4 "core" % E  C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%-  +44 "core"  + "processing"%3% +4 "core" %\  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%4'+ +1607 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%.  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%1'ؾ +1612 "core" ' + .tPSV.dial PSR +2 "processing"%8 +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2633 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%5  +98 "core" +2 .tPSV.dial :PTV,via: :air +2 "processing"%W +192 "core" ~ + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"% @ +70 "core" @ +2 .tPS.seek 0ml + "processing"%;'ؾ +2637 "core" ' +2 .tPSV.dial :air + "processing"%<  +86 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2629 "core" ' + .tPSV.dial :PTV +2 "processing"%B +72 "core"  +2 .tPS.seek 0ml +2 "processing"%u'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&E& +4 "core" &ӈ'  @W + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&G(ӂ +3 "core" ( + "manipulator"&H& +5 "core" &ӈ' @W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &ӈ' @W +2 .tForearm.seek CC +2 "manipulator"&2'? +91 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'6( +449 "core" ( + "manipulator"&>& +4 "core" &Ӊ& ?V +2 "manipulator"&@% +3 "core" % G y N +2 .tForearm.seek :retract +2 "manipulator"&?' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&A(- +285 "core" ( +2 "manipulator"&0& +4 "core" &- O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- ) O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&J'w +98 "core" ' +2 .tHand.open + "manipulator"&M1 +61 "core" 1 + "manipulator"&F% +5 "core" % π D \ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +94 "core" ' +25282 #t-> exit +6 #mEXIT @1632936461.37PDT @1632936478.72PDT = =tMAIN =mMAIN_scheduler @PDT1632936480.60 #"core_reset"Sent BREAK + #t@23702 sendCRC with ifg=0x20, ie=0x7F + #@25537 sendCRC with ifg=0x08, ie=0x5F + #@24176 idle with ifg=0x84, ie=0x75 + #@24846 select with ifg=0x10, ie=0xF5 + #@25479 receive with ifg=0x10, ie=0xFD #@26112 receive with ifg=0x10, ie=0xFD + #@26745 receive with ifg=0x10, ie=0xFD #@27072 receive with ifg=0x80, ie=0xFD + #@1604 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +289 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +390 "Can"D\ 97 + D\ 97 + #tPolling Can every 10:00 +483 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %k a a\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڵ b\ + .tSS.configure :default +3 "sampler")#.0X $da[:extractVol]=0.20 +57671 "Can"G\ ;8 +3690 #t-> access 5 +2 "storage"(2% +3 "core" % "\  +2 "manipulator"&3% +4 "core" %    + "manipulator"&4& +4 "core" &-  O +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(5(  +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &  &\ +1766 #t-> startTube 5 +274 #-> shortDA +3 "collection"'7% +2 "processing"%8% +4 "core" %k ` `b\ +5 %u\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +182 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%9 +44 "core" + .tPTV.dial :PRVmixing +2 "processing"%:  +72 "core" + .tPRV.dial :sipper +2 "processing"%;  +128 "core"  +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%<'e +2297 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%=  + "collection"'>  +6 "core"  +120  +2 .tPS.seek 0.5ml + "processing"%?' +1268 "core" ' +2 .tPRV.dial :waste2 + "processing"%@ @ +101 "core" > + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml + "processing"%A'ؾ +586 "core" ' +2 .tPSV.dial PSR + "processing"%B +102 "core"  +2 "processing"%C% +3 "core" %ؿa\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%D'X\\ +1108 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%E' +1617 "core" ' + .tPSV.dial :mixloop +2 "processing"%F +102 "core" +2 .tPS.seek 0ml + "processing"%G'ؾ +2632 "core" ' +2 .tPSV.dial PSR + "processing"%H +102 "core"  +2 "processing"%I% +4 "core" %ؽc\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%J'X\\ +1093 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%K' +1619 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%L +101 "core" +2 .tPRV.dial :sipper + "processing"%M  +43 "core" +2 .tPS.seek 0ml + "processing"%N'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%O +101 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%P' +2649 "core" ' + .tPSV.dial :mixloop +2 "processing"%Q +114 "core" +2 .tPS.seek 0ml +2 "processing"%R'ؾ +2629 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%S& +4 "core" &d\ +2 .tHand.open + "manipulator"&T1 +22 "core" 1 + "manipulator"&U% +4 "core" %  Z  + "storage"(V% +4 "core" % \  + "storage"(W. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(X(<- +984 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +2 "core" &<, z w R\  +2 "manipulator"&Z& +4 "core" &-  O + "manipulator"&[% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\\( +173 "core" ( + "manipulator"&]& +46 "core" &   +2 "storage"(^& +3 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +98 "core" ' +2 "storage"(`& +4 "core" &<, \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'r +300 "core" ' +2 "storage"(b- +2 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" &<, \  +2 "manipulator"&d& +3 "core" &  +2 .tElbow.seek 5 + "manipulator"&e( +9 "core" ( +2 "manipulator"&f& +4 "core" & !  + "storage"(g& +4 "core" &<, /\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&h'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(k' +7 "core" & "  + "manipulator"&l% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&m' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&n( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( +2 "manipulator"&o& +4 "core" & P ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" & & ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&q' +98 "core" ' + "manipulator"&r& +4 "core" &  ; +2 "manipulator"&s% +3 "core" % +2 "processing"%t& +4 "core" &I\ +2 "processing"%u& +5 "core" &V\ +2 .tPC.seek :closed + "processing"%v(^ +4 "core" &[\  +9 &3xX\ *x +10 &c~X\ > +9 &vp]\ N +10 &8T[\ N +9 &W^\ N +9 &V]\ N +10 &~W[\ N +9 &@RX\ N +9 &WX\ N +10 &RU\ N +9 & RQ\ N +10 &"HRQ\ N +9 &$\ SI\ N +9 &%SB\ M +10 &'WF\ N +9 &)QTF\ M +9 &+TJ\ M +10 &,TC\ N +9 &.VM\ N +10 &0WWK\ N +9 &2TM\ M +9 &3TK\ N +10 &5WE\ N +9 &7aTK\ M +9 &9!TK\ N +10 &:TK\ N +9 &<TF\ N +10 &>gU@\ N +9 &@(V@\ N +9 &A_9\ O +10 &CuB\ R +9 &E\\8\ U +9 &G8\ T +10 &H5\ U +9 &J7\ U +10 &Lc5\ U +9 &N$=\ U +9 &O5\ U +10 &Q<\ V +9 &Sg5\ V +9 &U)4\ V +10 &V8\ V +9 &X6\ U +10 &Zo7\ V +9 &\\14\ V +9 &]zt8\ A +10 &^L8\ C +9 &^v6\ < +9 ( +2 "processing"%u& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&w1 +3 "core" &^27\ 7 +57 1 +2 "manipulator"&x% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +90 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%z h +2 %{9 +6 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +2 "core" 9  +102 "processing"%~9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +3 "core" 9* +102 "processing"% 9 +2 "core" 9. +102 "processing"% 9 +2 "core" 93 +102 "processing"% 9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"%9 +2 "core" 9C +102 "processing"%9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9\\ +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +3 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +2 "core" 9q +102 "processing"%9 +3 "core" 9u +102 "processing"% 9 +2 "core" 9z +102 "processing"%!9 +3 "core" 9~ +102 "processing"%"9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%$9 +3 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +2 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +2 "core" 9 +102 "processing"%,9 +3 "core" 9  +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +3 "core" 9 +102 "processing"%/9 +2 "core" 9 +102 "processing"%09 +3 "core" 9 +102 "processing"%19 +2 "core" 9$ +2 .tPH.hold 2:00:00,28C +3 "processing"%2 php +2 .tdelay 1:30 +5 "core"  +9000 .tPSR.select :air +6 .PSV.dial PSR +7 "processing"%3 +104 "core"  +4 "processing"%4% +16 "core" %غ\ +3 #tPulling 0.5ml of PSR.wash +5 .PSR.select :wash +6 "processing"% +21 .tPS.seek 0.5ml + "processing"%' +594 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +7 "processing"% +13 .tPS.seek 2ml +4 "processing"%6' +1616 "core" ' + .tPTV.dial :puck +2 "processing"%7  +128 "core"  + .tPSV.dial PTV +2 "processing"%8 +73 "core" +2 .tPBV.dial :waste1 + "processing"%9  +54 "core" + "processing"%:% +4 "core" %\ \ +2 .tPS.seek 1.5ml +2 "processing"%;'' +586 "core" ' + .tdelay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" * +2 .tPS.seek 0ml + "processing"%>'ؾ +1631 "core" ' + .tdelay 5:00 +8714 "Can"\\\ >; +21289 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%=  +32 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%< * +33 "core" * + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%?' +2404 "core" ' + .tPSV.dial PTV +2 "processing"%B +84 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%C +71 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%A +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%D  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%F'ؾ +2357 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%E  +128 "core" +2 .tPSV.dial :mixloop + "processing"%H +44 "core" +2 .tPRV.dial :ab1 + "processing"%I @ +100 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%G' +348 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%J  +42 "core"  + "processing"%L% +4 "core" % \  +2 .tPS.seek 0.35ml +2 "processing"%M'c +459 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'K  +29 "core" +2 .tPRV.dial :air + "processing"%O  +41 "core"  +3 .tPS.seek 0.9ml + "processing"%N'K +1165 "core" ' + .tPRV.dial :waste2 +2 "processing"%Q @ +71 "core" ? +2 .tPS.seek 0.5ml + "processing"%P' +861 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%S  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%T' +1619 "core" ' + .tPSV.dial :PML + "processing"%U +44 "core" +2 .tPTV.dial :mixing + "processing"%V @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%W  +33 "core" +2 "processing"%5% +4 "core" %u\  +2 .tPS.seek 1.85ml + "processing"%Y' +240 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%Z * +33 "core" * +2 .tPS.seek 0ml + "processing"%['ؾ +1970 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"']& +3 "core" & ] ^\ + "manipulator"&^& +4 "core" & : ; + "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&`(- +120 "core" ( + "manipulator"&& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &- T  +2 .tForearm.seek :garage + "manipulator"&c'w +94 "core" ' + .tHand.close +2 "manipulator"&d/ +58 "core" / +2 "manipulator"&f& +4 "core" &- `  + "manipulator"&g% +4 "core" % ` Y 5 +2 .tForearm.seek :retract + "manipulator"&i' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +278 "core" ( + "manipulator"&l& +4 "core" &ӏ# i <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &ӏ# Y <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&_'? +93 "core" ' +2 "manipulator"&a& +5 "core" &ӏ# H <> + "manipulator"&h% +4 "core" %< { +2 "collection"'o& +4 "core" & [ ]\ +2 "collection"'p& +4 "core" & ] ^&\ +2 .tCC.seek :closed +2 "collection"'e(\\ +5 "core" & [ ]\  +9 &2{ \\ ]%\ *x +10 &c ] ^\ > +9 &qr _ ]\ N +9 &4T ] ] \ N +10 &W \\ ^\ M +9 &S ^ ]"\ M +9 &{T \\ ]$\ M +10 &<V ^ ^\ N +9 &X ^ ]\ N +10 &S \\ _\ M +9 & T ] ^\ M +9 &"DW ^ ]\ N +10 &$U _ ]\ N +9 &%X _ _ \ M +9 &'R \\ \\\ M +10 &)MS ^ ^%\ M +9 &+X ] ^ \ N +10 &,T \\ ]&\ N +9 &.R ^ ^\ N +9 &0UW ^ ^ \ M +10 &2U ] ]\ N +9 &3U ^ `!\ N +9 &5V \\ ^\ M +10 &7\\W ^ a\ N +9 &9U _ ^\ N +10 &:W ] `\ M +9 &<W _ `\ N +9 &>cV _ ^\ N +10 &@'S _ `\ M +9 &AY b a\ N +9 &Cg c c\ O +10 &Ebt e f\ Q +9 &G j i\ V +10 &H n m\ Y +9 &J n o\ [\ +9 &LN n n\ [ +10 &N n p \ [ +9 &O n n \ ] +9 &Q p n\ \\ +10 &SP o p\ \ ] +9 &U p n\ ] +10 &V o p\ ` +9 &X p p\ _ +9 &ZO q s \ ` +10 &[{ q t\ A +9 &\\) t r\ . +9 &\\{ r s \ Z +3 ( + "collection"'p& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.44 + "collection"'r& +4 "core" &\\~ s s\ Z +2 .tHand.open + "manipulator"&s1 +54 "core" 1 + "manipulator"&t% +4 "core" % < 7 { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +91 "core" ' +2 .tPSV.dial PSR + "processing"%m +103 "core"  + "processing"% % +5 "core" %ػ\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%w'+ +1618 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%x  +44 "core"  +2 .tPS.seek 0ml + "processing"%{'ؾ +1612 "core" ' +2 .tPSV.dial PSR +41 "processing"%u +53 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%|' +2628 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%q  + "collection"'}  +32 "core"  +125  + .tPSV.dial :mixloop +2 "processing"%~ +101 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'  +4 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2626 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2627 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"% 'ؾ +2655 "core" ' + .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"% ' +2624 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +1718 "Can"W\ ][ +910 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &ӏ" P <> +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +38 "core" ( +2 "manipulator"&& +4 "core" &z d I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &z I +2 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( +2 "manipulator"&& +4 "core" &z L I + "manipulator"&% +4 "core" % M $ D + .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(- +275 "core" ( +2 "manipulator"&& +4 "core" &- a A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- { A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"& 'w +101 "core" ' + .tHand.open +2 "manipulator"&!1 +56 "core" 1 +2 "manipulator"&"% +4 "core" % { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +92 "core" ' +2 ."da"delayUntil "11:02:37.58" +24802 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%$ @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%& * +33 "core" * + ."da"PSV.dial :air +2 "processing"%'  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%(' +2403 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%) +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%*  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%+ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%,  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%-'ؾ +2395 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%. +129 "core"  + "processing"%/% +4 "core" %ؽ\  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%0' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%1' +1621 "core" ' + ."da"PTV.dial :puck +2 "processing"%3  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%4 +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%R  +33 "core" + "processing"%% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%7') +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%8 * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%:  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%6 * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%;' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"%z +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%= +72 "core"  +2 ."da"delay 5 seconds +277 "Can"o\ =: +225 ."da"PSV.dial PTV +2 "processing"%< +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%@  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%>'ؾ +2370 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%B +130 "core"  + "processing"%C% +4 "core" %ؼs\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%A' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%D' +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%? +83 "core" +2 ."da"PBV.dial :waste1 + "processing"%E  +33 "core" +2 "processing"%H% +3 "core" %|\  +2 ."da"PS.seek 1.5ml +2 "processing"%I'. +583 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%F * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%J'ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%L  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%G * +32 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%K +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%O' +2419 "core" ' +2 ."da"PSV.dial PTV + "processing"%M +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%Q +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%N +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%S  +86 "core" +2 ."da"PS.seek 0ml + "processing"%P'ؾ +2372 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%U  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%V  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%W  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%5 +43 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%Z' +389 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%T  +44 "core"  + "processing"%Y% +4 "core" %s\  +2 ."da"PS.seek 0.55ml +2 "processing"%]' +330 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%^  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1577 "core" ' + ."da"PSV.dial :PML +2 "processing"% +44 "core" + ."da"PTV.dial :mixing +2 "processing"%b @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%d  +33 "core" + "processing"%f% +4 "core" %z\ +2 ."da"PS.seek 1.85ml +2 "processing"%g' +233 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%n * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%y'ؾ +1963 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +22875 "Can"\ C? +25127 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%c  +31 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%l * +33 "core" * +2 ."da"PSV.dial :air +2 "processing"%\\  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%`' +2404 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%a +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%h  +43 "core"  +2 ."da"delay 2 seconds +201 .PSV.dial :mixloop +2 "processing"%o +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%i  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +2366 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%r +129 "core"  + "processing"%s% +4 "core" %ؽd\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%t' +598 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%p' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%m  +72 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%_  +33 "core" + "processing"%[% +4 "core" %e\  +2 ."da"PS.seek 1.5ml + "processing"%x'& +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%w * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +1618 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%{  +33 "core" + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%} * +32 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%q +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%~' +2410 "core" ' + ."da"PSV.dial PTV +43 "processing"% +82 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +82 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%|  +75 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +1089 "Can"m\ A> +1268 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +129 "core"  +2 "processing"%% +4 "core" %ؾ-\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1607 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"% % +4 "core" %:\  +2 ."da"PS.seek 1.5ml +2 "processing"%'( +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1604 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%j * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%k +72 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%e' +2402 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2351 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +130 "core"  + "processing"%!% +4 "core" %ؾM\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%"' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%$  +33 "core" +2 "processing"%%% +3 "core" %c\ +2 ."da"PS.seek 1.5ml +2 "processing"%&'+ +599 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%' * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%)  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%* * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%+ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%,' +2400 "core" ' + ."da"PSV.dial PTV +2 "processing"%( +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%. +72 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%/ +84 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%-  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%0'ؾ +2372 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%3 +138 "core"  +5 "processing"%4% +8 "core" %ؽG\ ! +3 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +8 "processing"% +13 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +2 ."da"PS.seek 0.25ml +3 "processing"%R' +334 "core" ' + ."da"delay 5 seconds +503 "processing"%% +3 "core" %K\  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%1' +333 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml + "processing"%8' +1606 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%7 +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%:  +36 "core" +2 "processing"%6% +4 "core" %P\  + ."da"PS.seek 1.5ml +2 "processing"%'+ +497 "Can"i\ K +91 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%9 * +34 "core" * +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +1629 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%=  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%< * +36 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%@ +76 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%;' +2499 "core" ' + ."da"PSV.dial PTV +2 "processing"%B +89 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%C +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%> +87 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%A  +78 "core"  +2 ."da"PS.seek 0ml + "processing"%?'ؾ +2462 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%E +135 "core"  +2 "processing"%H% +4 "core" %w\  + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%D' +2122 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%F +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%I  +34 "core"  +2 "processing"%L% +3 "core" %l\ # +2 ."da"PS.seek 1.5ml +2 "processing"%G'+ +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%K * +33 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%J  +105 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +1609 "core" ' + "processing"%Q9 +3 "core" 9l5x +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%N  +4 "core" 5x 5x + "processing"%S& +4 "core" &^,v\ 7 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&O% +4 "core" %  w  + "storage"(U% +4 "core" % 1\  + "storage"(V. +3 "core" .(<* +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 4 +2 "storage"(W(,y +357 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +2 (5& +3 "core" &,| ~ ~ `\ m +2 "manipulator"&P& +4 "core" &- < A + "manipulator"&T% +4 "core" %  9  + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&Y( +174 "core" ( + "manipulator"&Z& +4 "core" & B  +2 "storage"(^& +3 "core" &,| M\  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&]' +94 "core" ' + "storage"(& +4 "core" &,| \ +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(b'r +279 "core" ' +2 "storage"(d- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek :place +2 "storage"(f'1 +45 "core" ' +2 "manipulator"&n& +4 "core" & f W  + "manipulator"&% +4 "core" % s  +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&g' +90 "core" ' +3 ."da"Elbow.seek PC + "manipulator"&c( +240 "core" ( +2 "manipulator"&l& +4 "core" &  = + ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" & @ = +2 ."da"Forearm.seek PC +2 "manipulator"&y' +93 "core" ' + ."da"Hand.close +2 "manipulator"&a/ +69 "core" / +2 ."da"PC.seek :open +2 "processing"%h( +459 "core" ( +2 "storage"(o& +3 "core" &,g \ % +2 "manipulator"&i& +3 "core" & = +2 "manipulator"&`% +3 "core" %  . +2 ."da"Forearm.seek :retract +2 "manipulator"&r' +91 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&s( +241 "core" ( +2 "manipulator"&\ & +4 "core" &  5 7 + "storage"(t& +4 "core" &,g ;\  +2 ."da"Forearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 4 + 450 counts + "manipulator"&m' +94 "core" ' + ."da"Hand.open +2 "manipulator"& 1 +71 "core" 1 +2 "storage"(_- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"([' +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(p' +57 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2911h.tif +5 "processing"%w& +12 "core" &\ +6 "manipulator"&x& +10 "core" & 1 |7 +4 "manipulator"&{% +10 "core" %    - +6 ."psFlush"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&}' +95 "core" ' + ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&q(- +169 "core" ( +2 "manipulator"&u& +4 "core" &- @ + +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  * +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +95 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +71 "core" / + "manipulator"&|& +4 "core" &- 2 ' +2 "manipulator"&~% +4 "core" % s C ' +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +118 "core" ( + "manipulator"&& +4 "core" & I &$ +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & C &$ +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"& ' +99 "core" ' +2 "manipulator"&& +4 "core" & e h l $ +2 "manipulator"& % +3 "core" % h g } + +2 "processing"% & +4 "core" &\  +2 "processing"%& +4 "core" & +3 ."psFlush"PC.seek :closed + "processing"%(^ +5 "core" & +7 & * $e +9 &Sq : +10 &yi N +9 &~C U +9 &B= U +10 &? U +9 &< U +10 &= U +9 &J; U +9 & ?, U +10 &?@ U +9 &!>6 T +13 &#R>H U +6 &%B@ U +9 &&>t U +10 &(>y U +9 &*a?B\ R +9 &,#Fn\ R +10 &-G\ R +9 &/F\ R +9 &1kE\ R +10 &3.I\ Q +9 &4I\ Q +10 &6I\ R +9 &8pF\ S +9 &:4Ez\ R +10 &;Cr T +9 &=?u U +9 &?rAl U +10 &A3Ao U +9 &BUm X +10 &Dhu Z +9 &Fa}d ] +9 &H$yd ] +10 &Ixa ] +9 &K|k ] +9 &Mi^ ] +10 &O)Y ^ +9 &PV ^ +10 &RU ^ +9 &Tjd ` +9 &V.a _ +10 &W\\ _ +9 &Y` [ +9 &[Q [\ +10 &]>J V +9 &^z>`O\ 'r +10 &^\ LS\ 7 +5 ( + "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.92 +2 "processing"%& +4 "core" &^2I\ 7 + &^2H\ 7 + ."psFlush"Hand.open +2 "manipulator"&j1 +65 "core" 1 +2 "manipulator"&k% +4 "core" %  s N #+ +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&' +94 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +47 "core"  + "processing"%% +4 "core" %ؽ \  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%' +594 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +144 #"da"SX HX9/16 (USB:19): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 25.076 seconds\ /var/log/esp/da21sep2911h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2911h15s.tif +1565 #SX HX9/16 (USB:19): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2911h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2911h30s.tif +405 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%e @ +197 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +138 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%! +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2093 #"da"SX HX9/16 (USB:19): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2911h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2911h70s.tif +556 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%" +111 "core"  +2 "processing"% % +4 "core" %آ  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%$' +589 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +2129 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%' @ +76 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%& +110 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%)'ؠ +2628 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%* +109 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%+'X\\ +161 #"da"SX HX9/16 (USB:19): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2911h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "25.076 sec auto-exposure",Subject: "da21sep2911h images!" +4 "storage"(- +2 "core" -' +2 "storage"((& +10 "core" &,g Q\ N + "manipulator"&.& +4 "core" & \  D $ + "manipulator"&/% +5 "core" %  \  ^  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 + "manipulator"&-( +245 "core" ( +2 "manipulator"&,& +4 "core" & \  ; + +2 "storage"(3& +3 "core" &,g d\ P +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&4' +98 "core" ' +2 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(0'" +60 "core" ' + "manipulator"&& +4 "core" & P + +2 "storage"(R& +3 "core" &,g y x +\  +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&1'7 +18 "core" ' + ."da"Elbow.hold +2 "manipulator"&7, +4 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +57 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.32 Pucks below Top Plate + "storage"(:' +24 "core" ' + "manipulator"&6% +4 "core" %H  +2 "storage"(8& +4 "core" &,g 1 2\  + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 4 + 317 counts +2 "manipulator"&9't +13 "core" ' +2 "manipulator"&& +7 "core" & i * +4 "storage"(=& +3 "core" &,g W X _\  +2 ."da"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&<' +16 "core" ' +2 "storage"(@% +10 "core" % [ f /\ +4 ."downElevator"SE.seek :down +5 "storage"(z' +98 (B% +3 "core" %; < @ :\ RR +2 "manipulator"&C% +4 "core" % ( +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&>' +92 "core" ' +27 ' +2 ."psFlush"PSR.select :air +4 "processing"% +13 ."psFlush"PS.seek 2.5ml +4 "processing"%A' +12 "core" ' +7 ."downElevator"SE.stop + "storage"(5 +10 (;& +6 "core" &,g ; A e\  +1572 ' +2 ."psFlush"PSV.dial PTV +3 "processing"%E +75 "core" +2 ."psFlush"PTV.dial :puck +4 "processing"%H  +72 "core"  +2 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml + "processing"%?'ؾ +2633 "core" ' +4 ."psFlush"PSV.dial PSR +3 "processing"%F +74 "core"  +4 ."psFlush"PSR.select :flush +5 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +3 "processing"%I' +587 "core" ' +2 ."psFlush"PSR.select :air +4 "processing"% +14 ."psFlush"PS.seek 2.5ml +4 "processing"%L' +2123 "core" ' +2 ."psFlush"PSV.dial PTV +4 "processing"%D +75 "core" +2 ."psFlush"PBV.dial PSV +3 "processing"%K U +54 "core" V +4 ."psFlush"PS.seek 0ml +3 "processing"%J'ؾ +2637 "core" ' +2 ."psFlush"PSV.dial PBV +3 "processing"%G @ +45 "core" ? +4 ."psFlush"PS.seek 2.5ml +3 "processing"%Q' +716 #"uploadLog"upsync +1913 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%N  +83 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%S'ؾ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%O +42 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%U' +2633 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%V +70 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%X'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%5 @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%P' +1946 "Can"b\ C@ +682 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%T  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%Z'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%^ +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1607 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%# +70 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%d  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%n'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +85 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%b' +594 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%]' +2129 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%l +83 "core" + ."psFlush"PBV.dial PSV +2 "processing"%\\ U +52 "core" V +2 ."psFlush"PS.seek 0ml + "processing"%Y'ؾ +2656 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%a @ +42 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%g' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%v  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%o'ؾ +2648 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%i +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%`' +2637 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%y +70 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%\ 'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%t @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%c' +2628 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +83 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2625 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&w& +3 "core" & Y * +2 "manipulator"&x% +3 "core" %  $  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&r( +244 "core" ( + "manipulator"&{& +4 "core" & r = + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" & = +2 ."psFlush"Forearm.seek PC + "manipulator"&[' +95 "core" ' + ."psFlush"Hand.close +2 "manipulator"&u/ +56 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%( +456 "core" ( + "manipulator"&m& +4 "core" & 0 < +2 "manipulator"&s% +4 "core" %  ! + ."psFlush"Forearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&|(- +126 "core" ( +2 "manipulator"&~& +3 "core" &- R +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &-  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +96 "core" ' + ."psFlush"Hand.open +2 "manipulator"&1 +61 "core" 1 + "manipulator"&% +4 "core" % π |  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +93 "core" ' +2 #tFinished short da assay +2005 #-> access 4 +2 "storage"( % +3 "core" % k\  +2 "manipulator"& % +4 "core" %  I  + "manipulator"&q& +4 "core" &- / + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((C +983 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (h& +3 "core" &F \ +422 #t-> PS.flush +2 #Flushing Processing stage + "processing"%% +3 "core" %L\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%j& +4 "core" &X\ + "manipulator"&k& +4 "core" &- +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +39 "manipulator"&(- +23 "core" ( + "manipulator"&& +4 "core" &- n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  n +2 .tForearm.seek :garage + "manipulator"& 'w +100 "core" ' +2 .tHand.close + "manipulator"&M/ +56 "core" / +2 "manipulator"&& +4 "core" &- N n +2 "manipulator"&e% +4 "core" % ~ = +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&!( +116 "core" ( + "manipulator"&& +4 "core" & ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &  ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +90 "core" ' +2 "manipulator"&& +5 "core" & ; ? + "manipulator"&$% +4 "core" % H f +2 "processing"%& +3 "core" &>\ +2 "processing"%'& +5 "core" &@\ +2 .tPC.seek :closed +2 "processing"%&(^ +4 "core" &?\  +10 &2w6\ )w +9 &d{<\ > +10 &xn<\ N +9 &:R=\ M +9 &T8\ M +10 &R?\ M +9 &U@\ M +10 &DQ>\ M +9 &T>\ M +9 &R5\ M +10 & S<\ M +9 &"LS=\ M +9 &$S4\ L +10 &%R3\ M +9 &'S/\ M +9 &)TS5\ M +10 &+T5\ M +9 &,R=\ M +10 &.R;\ M +9 &0[S;\ M +9 &2R:\ M +10 &3T/\ M +9 &5R>\ M +9 &7bS<\ M +10 &9$U;\ M +9 &:R#\ M +10 &<P1\ M +9 &>jR#\ M +9 &@,Q!\ M +10 &AY/\ N +9 &Cm*\ P +9 &E`.\ T +10 &G!)\ T +9 &H-\ T +10 &J+\ T +9 &Le+\ T +9 &N$*\ U +10 &O%\ U +9 &Q,\ U +9 &Si-\ V +10 &U+#\ V +9 &V*\ V +10 &X.\ U +9 &Zq\ V +9 &\\2*\ V +10 &]}s)\ < +9 &^&o,\ [ +9 &^1*\ 9 +3 ( + "processing"%'& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 +2 "processing"%%& +4 "core" &^,J\ 9 + .tHand.open +2 "manipulator"&*1 +58 "core" 1 +2 "manipulator"&% +4 "core" %  X f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +94 "core" ' +2 .tPSV.dial PSR + "processing"%. +43 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%/'X\\ +1103 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%)' +1613 "core" ' +2 .tPSV.dial PTV + "processing"%, +83 "core" +3 .tPTV.dial :puck + .PBV.dial :waste1 +2 "processing"%3  +52 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 .tPSV.dial PSR + "processing"% +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%R' +589 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2117 "core" ' + .tPSV.dial PTV +2 "processing"%6 +73 "core" +2 .tPBV.dial PSV + "processing"%8 U +54 "core" W +2 .tPS.seek 0ml + "processing"%'ؾ +2645 "core" ' + .tPSV.dial PBV +2 "processing"%= @ +44 "core" > +2 .tPS.seek 2.5ml + "processing"%@' +2628 "core" ' + .tPSV.dial :waste1 +2 "processing"%p  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%4'ؾ +2654 "core" ' +2 .tPSV.dial PSR + "processing"%B +44 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%C' +2632 "core" ' + .tPSV.dial PTV + "processing"%- +71 "core" + .tPBV.dial PSV +3 .PS.seek 0ml + "processing"%0'ؾ +2631 "core" ' + .tPSV.dial PBV +2 "processing"%1 @ +44 "core" ? +2 .tPS.seek 2.5ml + "processing"%9' +1061 "Can"Y\ B? +1576 "core" ' +2 .tPSV.dial :waste1 + "processing"%;  +71 "core"  +2 .tPS.seek 0ml + "processing"%:'ؾ +2639 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&<& +4 "core" & ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&+( +3 "core" ( +2 "manipulator"&z& +3 "core" &  ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" & 5 ? +2 .tForearm.seek PC + "manipulator"&H' +93 "core" ' + .tHand.close +2 "manipulator"&A/ +60 "core" / + .tPC.seek :open +2 "processing"%F( +456 "core" ( + "manipulator"&?& +4 "core" &  ? +2 "manipulator"&I% +4 "core" %  / +2 .tForearm.seek :retract + "manipulator"&D' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&K(- +126 "core" ( +2 "manipulator"&L& +4 "core" &- I \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +2 "core" &-  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&J'w +99 "core" ' + .tHand.open + "manipulator"&N1 +60 "core" 1 + "manipulator"&Q% +5 "core" % ~ e + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&O' +96 "core" ' +5444 #t-> access 5 +2 "storage"(S% +3 "core" % \  +2 "manipulator"&V% +4 "core" %  `  +2 "manipulator"&U& +3 "core" &- \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(5(  +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +2 "core" & c\  +6 #t-> exit +6 #mEXIT @1632942000.27PDT @1632942019.89PDT = =tMAIN =mMAIN_scheduler @PDT1632942021.73 #"core_reset"Sent BREAK + #t@3807 receive with ifg=0x10, ie=0xFD + #@4441 receive with ifg=0x10, ie=0xFD + #@5097 receive with ifg=0x10, ie=0xFD + #@5735 receive with ifg=0x10, ie=0xFD #@6369 receive with ifg=0x10, ie=0xFD + #@7003 receive with ifg=0x10, ie=0xFD + #@7638 receive with ifg=0x10, ie=0xFD #@7964 receive with ifg=0x80, ie=0xFD + #@26201 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +285 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +375 "Can"\\\ 96 \\\ 96 + #tPolling Can every 10:00 +1367 #-> $da[:extractVol]=0.20 +4116 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %k X W\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڵ r\ +2 .tSS.configure :default +2 "sampler")#.0X\  +2 "storage"(/% +4 "core" % i\  +2 "collection"'09 +3 "core" 9 + "processing"%19 +3 "core" 9 +287 #t-> $da[:extractVol]=0.20 +53671 "Can"\\\ @= +21031 #t-> startTube 5 +953 #-> shortDA + "collection"'2% +3 "processing"%3% +4 "core" %k U W\ +5 %ػ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +223 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%4 +130 "core" +2 .tPTV.dial :PRVmixing + "processing"%5  +129 "core" + .tPRV.dial :sipper +2 "processing"%6  +44 "core" + .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%7'e +2293 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%8  +2 "collection"'9  +6 "core"  +119  +2 .tPS.seek 0.5ml + "processing"%:' +1267 "core" ' + .tPRV.dial :waste2 +2 "processing"%; @ +99 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%<'ؾ +590 "core" ' + .tPSV.dial PSR +2 "processing"%= +102 "core"  + "processing"%>% +4 "core" %ؼ\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%?'X\\ +1102 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%@' +1610 "core" ' + .tPSV.dial :mixloop +2 "processing"%A +103 "core" +2 .tPS.seek 0ml +2 "processing"%B'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%C +103 "core"  +2 "processing"%D% +4 "core" %ػ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%E'X\\ +1101 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%F' +1617 "core" ' +2 .tPSV.dial :mixloop + "processing"%G +103 "core" +2 .tPRV.dial :sipper + "processing"%H  +43 "core" +2 .tPS.seek 0ml + "processing"%I'ؾ +2633 "core" ' + .tPSV.dial PSR + "processing"%J +101 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%K' +2642 "core" ' + .tPSV.dial :mixloop + "processing"%L +115 "core" +2 .tPS.seek 0ml + "processing"%M'ؾ +2636 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%N& +4 "core" &\ + .tHand.open +2 "manipulator"&O1 +25 "core" 1 + "manipulator"&P% +4 "core" %\ ?\  ;  +2 "storage"(Q% +3 "core" % ;\  +2 "storage"(R. +3 "core" ., + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(S(<- +989 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (T& +3 "core" &<. t\  +2 "manipulator"&U& +4 "core" &- + \ + "manipulator"&V% +4 "core" %\ ?\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&W( +168 "core" ( +2 "manipulator"&X& +4 "core" &  ; + "storage"(Y& +4 "core" &<. =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z'O +90 "core" ' +2 "storage"([& +4 "core" &<. \  +2 .tSE.reconfigure :pick +38 "storage"(#],K-0-\ b +9 .tSE.seek :beamBreak + "storage"(\\'r +301 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +2 "core" &<. _\  +2 "manipulator"&_& +4 "core" &  ; + .tElbow.seek 5 +2 "manipulator"&`( +3 "core" ( + "manipulator"&a& +4 "core" & ; + "storage"(b& +4 "core" &<. \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&c'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"(f' +7 "core" & ; +2 "manipulator"&g% +4 "core" % ϻ h + .tForearm.seek :retract +2 "manipulator"&h' +97 "core" ' +2 .tElbow.seek PC + "manipulator"&i( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&j& +4 "core" & " = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" & d = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&l' +91 "core" ' + "manipulator"&m& +4 "core" & N = +2 "manipulator"&n% +4 "core" % O + "processing"%o& +4 "core" &\ +2 "processing"%p& +6 "core" &\ +2 .tPC.seek :closed + "processing"%q(^ +4 "core" &\  +9 &2x\ *x +10 &b}\ > +9 &oo\ O +9 &2S\ N +10 &S\ N +9 &T\ N +10 &yR\ N +9 &;R\ N +9 &R\ N +10 &R\ N +9 & R\ N +9 &"BR\ N +10 &$S\ N +9 &%R\ N +10 &'R\ N +9 &)KR\ N +9 &+ R\ N +10 &,R\ N +9 &.Q\ N +9 &0SR\ N +10 &2R\ N +9 &3U\ N +10 &5S\ N +9 &7ZR\ N +9 &9T\ N +10 &:S\ N +9 &<T\ N +9 &>bU\ N +10 &@#U\ N +9 &A]\ O +10 &Cv\ R +9 &EX\ T +9 &G\ T +10 &H\ T +9 &J\ U +9 &L]\ U +10 &N\ V +9 &O\ U +10 &Q\ V +9 &Sc\ V +9 &U$\ V +10 &V\ V +9 &X\ U +9 &Zj\ V +10 &\\+\ W +9 &]\ 8 +10 &^1\ Q +9 &^ \ 1 +2 ( +2 "processing"%p& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open + "manipulator"&r1 +53 "core" 1 +2 "manipulator"&s% +4 "core" %   O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +89 "core" ' +3 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%u h +2 %v9 +6 "core" 9 +102 "processing"%w9 +2 "core" 9 +102 "processing"%x9 +3 "core" 9  +102 "processing"%y9 +3 "core" 9  +102 "processing"%z9 +2 "core" 9 +103 "processing"%{9 +2 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +103 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"% 9 +2 "core" 9C +102 "processing"% 9 +3 "core" 9H +102 "processing"% 9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%9 +3 "core" 9\\ +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +3 "core" 9q +102 "processing"%9 +3 "core" 9v +102 "processing"%9 +2 "core" 9z +102 "processing"%9 +3 "core" 9~ +102 "processing"%9 +3 "core" 9 +101 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%!9 +3 "core" 9 +103 "processing"%"9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%$9 +3 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +3 "core" 9  +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +3 "core" 9# +2 .tPH.hold 2:00:00,28C +3 "processing"%+ php +4 .tdelay 1:30 + "core"  +7735 "Can"[\ =: +1265 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%, +102 "core"  + "processing"%-% +4 "core" %غQ\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%.' +588 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%/' +1614 "core" ' +2 .tPTV.dial :puck + "processing"%0  +129 "core"  + .tPSV.dial PTV +2 "processing"%1 +73 "core" + .tPBV.dial :waste1 +2 "processing"%2  +53 "core" +2 "processing"%3% +4 "core" %+\  +2 .tPS.seek 1.5ml + "processing"%4'. +593 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%5 * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%6'ؾ +1610 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%9 * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%8 +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%7' +2412 "core" ' +2 .tPSV.dial PTV + "processing"%; +74 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%: +72 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%= +73 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%>  +73 "core"  +2 .tPS.seek 0ml + "processing"%<'ؾ +2344 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%?  +128 "core" + .tPSV.dial :mixloop +2 "processing"%A +44 "core" + .tPRV.dial :ab1 +2 "processing"%@ @ +98 "core" @ +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml + "processing"%C' +363 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%D  +43 "core"  +2 "processing"%B% +4 "core" %`\  +2 .tPS.seek 0.35ml + "processing"%E'i +465 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'G  +29 "core" + .tPRV.dial :air +2 "processing"%H  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%F'K +1168 "core" ' + .tPRV.dial :waste2 + "processing"%J @ +73 "core" > +2 .tPS.seek 0.5ml + "processing"%I' +859 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%L  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%K' +1620 "core" ' + .tPSV.dial :PML +2 "processing"%N +44 "core" + .tPTV.dial :mixing +2 "processing"%O @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%P  +34 "core" +2 "processing"%Q% +4 "core" %b\  +2 .tPS.seek 1.85ml + "processing"%R' +229 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * +2 .tPS.seek 0ml + "processing"%T'ؾ +1970 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'U& +3 "core" & W U\ + "manipulator"&V& +4 "core" & 6 = +2 "manipulator"&X% +3 "core" %  )  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&Y(- +126 "core" ( +2 "manipulator"&[& +4 "core" &-  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- 7 +2 .tForearm.seek :garage + "manipulator"&'w +95 "core" ' +2 .tHand.close + "manipulator"&]/ +56 "core" / +2 "manipulator"&^& +5 "core" &- F + "manipulator"&_% +4 "core" % u + \ +2 .tForearm.seek :retract + "manipulator"&a' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&b(ӂ +277 "core" ( + "manipulator"&d& +4 "core" &ӏ% >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &ӏ%  >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'? +98 "core" ' +2 "manipulator"&W& +4 "core" &ӏ%  >N +2 "manipulator"&Z% +4 "core" %H A % + "collection"'\\& +4 "core" & W U\ +2 "collection"'c& +5 "core" & T W\ +2 .tCC.seek :closed +2 "collection"'j(\\ +4 "core" & U T\  +10 &2{ U W\ *y +9 &c W V\ > +9 &rr X W\ N +10 &5R V W\ M +9 &X U Y\ N +10 &S U X\ N +9 &{T V W\ M +9 &=N V X\ M +10 &W W X\ N +9 &U V U\ N +9 & U X W\ N +10 &"DU V V\ N +9 &$Q X W\ M +9 &%Y X W\ M +10 &'S X V\ N +9 &)LS U Y\ N +10 &+U Y X\ N +9 &,T X W\ N +9 &.X X T\ M +10 &0TU W W\ N +9 &2U X V\ N +9 &3V W W\ N +10 &5T W V\ N +9 &7\\U U X\ N +10 &9 S Y Y\ M +9 &:U Y Y\ N +9 &<W X Y\ N +10 &>dT X [\ N +9 &@(R X X\ M +9 &A\\ [ \\\ N +10 &Cb _ ]\ O +9 &Eay b _\ Q +10 &G g d\ V +9 &H h h\ Y +9 &J f h\ Y +10 &LQ h g\ Z +9 &N f h\ Z +9 &O f i\ Z +10 &Q h i\ Z +9 &ST j j\ [ +12 &U i h\ \\ +7 &V j i\ ] +9 &X l h\ ^ +10 &ZT l l\ ^ +9 &[y m l\ A +9 &\\* n l\ , +10 &\\ m n\ X +2 ( +2 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 + "collection"'k& +4 "core" &\\ k m\ X +2 .tHand.open + "manipulator"&`1 +59 "core" 1 + "manipulator"&m% +4 "core" % G k & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&n' +93 "core" ' + .tPSV.dial PSR +2 "processing"%o +102 "core"  +2 "processing"%f% +4 "core" %عb\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%h'+ +1622 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%  +42 "core"  +2 .tPS.seek 0ml + "processing"%r'ؾ +1497 "Can"X\ hg +115 "core" ' +2 .tPSV.dial PSR + "processing"%s +44 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%v' +2626 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%p  + "collection"'w  +31 "core"  +127  + .tPSV.dial :mixloop +2 "processing"%l +149 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'x +3 "core"  +2 "collection"'y  +4 "core"  + .tPTV.dial :PRVmixing +2 "processing"%z  +75 "core" +2 .tPS.seek 0ml +2 "processing"%{'ؾ +2627 "core" ' +2 .tPSV.dial :air + "processing"%|  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%}' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%~ +45 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%  +57 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2628 "core" ' + .tPSV.dial :mixloop +2 "processing"% +42 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2651 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &Ӑ% S >M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +38 "core" ( + "manipulator"& & +4 "core" &Ӈ . G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӈ  G +2 .tForearm.seek CC + "manipulator"& '? +97 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open + "collection"'( +450 "core" ( +2 "manipulator"&& +4 "core" &Ӈ G + "manipulator"&% +4 "core" % F  % +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +278 "core" ( +2 "manipulator"&& +4 "core" &-  A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +91 "core" ' +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&% +4 "core" % π d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + ."da"delayUntil "12:37:35.18" +24761 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +73 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" , + ."da"PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%!' +2425 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%" +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%#  +43 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop + "processing"%$ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%&'ؾ +2369 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%' +129 "core"  +2 "processing"%(% +3 "core" %ؼb\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%)' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +9 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%*' +1607 "core" ' +2 ."da"PTV.dial :puck + "processing"%,  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%- +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%M  +34 "core" +2 "processing"%.% +3 "core" %g\  +2 ."da"PS.seek 1.5ml +2 "processing"%0') +596 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%1 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%2'ؾ +1629 "core" ' + ."da"delay 2:00 +2845 "Can"`\ :7a +9158 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%3  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%/ * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%5 +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%4' +2427 "core" ' +2 ."da"PSV.dial PTV + "processing"%u +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%9 +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%8  +84 "core"  +2 ."da"PS.seek 0ml + "processing"%6'ؾ +2373 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%; +143 "core" + "processing"%:% +4 "core" %غa\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%=' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%>' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%7 +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%?  +34 "core" +2 "processing"%A% +4 "core" %k\  +2 ."da"PS.seek 1.5ml + "processing"%@') +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%< * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%B  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%C * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%G +70 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%H' +2425 "core" ' + ."da"PSV.dial PTV +2 "processing"%E +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%J +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%F +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%L  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +2357 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%N  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%O  +129 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%P  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%Q +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%' +390 "core" ' +2 ."da"delay 2 seconds +201 .PRV.dial :air +2 "processing"%K  +44 "core"  + "processing"%R% +4 "core" %p\  +2 ."da"PS.seek 0.55ml +2 "processing"%U' +330 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%V  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%X' +1567 "core" ' + ."da"PSV.dial :PML + "processing"%[ +44 "core" +2 ."da"PTV.dial :mixing +2 "processing"% @ +71 "core" A +2 ."da"PBV.dial :waste1 + "processing"%]  +35 "core" + "processing"%^% +4 "core" %i\ \ +2 ."da"PS.seek 1.85ml +2 "processing"%i' +228 "core" ' +2 ."da"PBV.dial between PSV and waste1 + "processing"%_ * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%t'ؾ +1970 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +7218 "Can"X\ A> +40785 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%d * +35 "core" , +2 ."da"PSV.dial :air + "processing"%e  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%Y' +2404 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%W +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%Z  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%\\ +43 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%a  +44 "core"  + ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +2373 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%k +130 "core"  + "processing"%`% +4 "core" %ؼ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%m' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%c' +1614 "core" ' +2 ."da"PTV.dial :puck + "processing"%o  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%f +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%g  +34 "core" +2 "processing"%T% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"% '' +602 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%h * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%s'ؾ +1616 "core" ' +2 ."da"delay 2:00 +4872 "Can"W\ @= +7130 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%r  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%w * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%p +73 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%l' +2400 "core" ' + ."da"PSV.dial PTV +2 "processing"%x +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%y +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%z +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%v  +72 "core"  +2 ."da"PS.seek 0ml +42 "processing"%|'ؾ +2357 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +129 "core"  +2 "processing"%~% +3 "core" %ؾz\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%}' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%% +4 "core" %p\ + ."da"PS.seek 1.5ml +2 "processing"%'( +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%b * +32 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%n +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%j' +2402 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2351 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +130 "core"  + "processing"%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +85 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %w\ +2 ."da"PS.seek 1.5ml +2 "processing"%'& +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1614 "core" ' +2 ."da"delay 2:00 +10221 "Can"R\ =; +1782 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%"  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%# * +35 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%$ +72 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%%' +2401 "core" ' + ."da"PSV.dial PTV +2 "processing"%! +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%' +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%( +69 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%&  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%)'ؾ +2353 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%, +138 "core"  +2 "processing"%-% +11 "core" %ؿ\ % +3 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +5 "processing"% +11 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%M' +341 "core" ' +2 ."da"delay 5 seconds +502 "processing"%.% +4 "core" %w\ \ + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%*' +333 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%1' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%0 +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%3  +36 "core" + "processing"%/% +4 "core" %l\  +2 ."da"PS.seek 1.5ml +2 "processing"%5'0 +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%2 * +34 "core" * +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +1616 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%9 * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +76 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%4' +2504 "core" ' + ."da"PSV.dial PTV +2 "processing"%; +77 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%: +76 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%6 +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +6 "processing"%=  +75 "core"  + ."da"PS.seek 0ml +2 "processing"%7'ؾ +2461 "core" ' + #"da"Additional air clear +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%? +133 "core"  + "processing"%A% +4 "core" %\  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%>' +2115 "core" ' +2 ."da"delay 5 seconds +503 .PTV.dial :puck + .PSV.dial PTV +2 "processing"%< +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%@  +35 "core" + "processing"%B% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%C'* +590 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%G * +36 "core" , + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%D  +106 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +1610 "core" ' + "processing"%J9 +3 "core" 9i5u +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%F  +4 "core" 5u 5u + "processing"%L& +4 "core" &^ \ s1 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&H% +4 "core" %  o  + "storage"(N% +4 "core" % \ s + "storage"(O. +3 "core" .(<- +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(P(,y +359 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (Q& +2 "core" &,{ r \  +2 "manipulator"&I& +4 "core" &-  " @ + "manipulator"&K% +3 "core" %    +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&R( +173 "core" ( + "manipulator"&& +4 "core" &  / +2 "storage"(V& +4 "core" &,{ 8\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&U' +95 "core" ' + "storage"([& +4 "core" &,{ \  +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"('r +277 "core" ' + "storage"(]- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(^'1 +40 "core" ' +2 "manipulator"&_& +4 "core" & I / + "manipulator"&X% +4 "core" % * N +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&i' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +245 "core" ( + "manipulator"&d& +4 "core" &  7 + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &  7 +2 ."da"Forearm.seek PC + "manipulator"&t' +95 "core" ' +2 ."da"Hand.close + "manipulator"&W/ +64 "core" / +2 ."da"PC.seek :open +2 "processing"%Z( +459 "core" ( + "storage"(\\& +4 "core" &,e w\ w +2 "manipulator"&a& +3 "core" &  7 +2 "manipulator"&Y% +3 "core" %   +2 ."da"Forearm.seek :retract +2 "manipulator"&k' +92 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&`( +243 "core" ( +2 "manipulator"&\ & +4 "core" & ' / + "storage"(m& +4 "core" &,e V\ " +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&o' +89 "core" ' +2 ."da"Hand.open + "manipulator"&f1 +64 "core" 1 +3 "storage"(g- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(T' +66 "core" ' +13 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(c' +54 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2913h.tif +7 "processing"%h& +11 "core" &6 +4 "manipulator"& & +5 "core" & 7 7  . +3 "manipulator"&r% +4 "core" % A < 3  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&w' +96 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&p(- +178 "core" ( +2 "manipulator"&s& +4 "core" &- d _ C +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &- Q \\ # C +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&y'w +94 "core" ' + ."psFlush"Hand.close +2 "manipulator"&z/ +67 "core" / + "manipulator"&v& +4 "core" &- t H C +2 "manipulator"&l% +4 "core" % n s t N  + ."psFlush"Forearm.seek :retract +3 "manipulator"&{' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&~( +116 "core" ( +2 "manipulator"&|& +4 "core" & t c 6 + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" & q r  6 +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +92 "core" ' + "manipulator"&& +4 "core" & 6 +2 "manipulator"&% +4 "core" % v u < t +2 "processing"%& +3 "core" &\  +2 "processing"% & +5 "core" &\  +2 ."psFlush"PC.seek :closed +2 "processing"%(^ +4 "core" &\  +7 & * $c +10 &Tr 8 +9 &ul M +10 &aI V +9 &$> U +9 &< U +10 &? V +9 &j> U +9 &,: U +10 &A V +9 &? V +9 &!q? V +10 &#3> V +9 &$? V +10 &&? V +9 &(y; V +9 &*<; U +10 &,? S +9 &-E S +10 &/I S +9 &1LCA S +9 &3HV\ S +10 &4EW\ R +9 &6HN\ S +9 &8TFV S +10 &:DK R +9 &;DJ S +10 &=>@ S +9 &?RC@ V +9 &A@E U +10 &BOA X +9 &Dc= [ +9 &FD}+ ^ +10 &Hx, ] +9 &Ix/ ] +9 &K~3 ^ +10 &MK~4 ^ +9 &O 1 ^ +10 &P$ _ +9 &R _ +9 &TN ` +10 &V _ +9 &W _ +9 &Y _ +10 &[a \\ +9 &]" \\ +10 &^Oh ^ +9 &^Y ; +5 ( +2 "processing"% & +4 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.91 +2 "processing"%& +3 "core" &^>\ : +2 &^>\ : + ."psFlush"Hand.open +2 "manipulator"&b1 +75 "core" 1 + "manipulator"&n% +4 "core" % ^ L  t +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +87 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +46 "core"  +2 "processing"%% +4 "core" %ؼ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +602 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml + "processing"%' +205 #"da"SX HX9/16 (USB:20): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 25.943 seconds\ /var/log/esp/da21sep2913h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2913h15s.tif +1565 #SX HX9/16 (USB:20): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2913h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2913h30s.tif +348 "core" ' +3 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%j @ +197 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +139 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2150 #"da"SX HX9/16 (USB:20): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2913h30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2913h70s.tif +483 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +111 "core"  + "processing"%% +4 "core" %؛9 +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +592 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%' +2130 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +35 "core"  +2 ."psFlush"PTV.dial :mixing +2 "processing"% @ +76 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"% +113 "core" + ."psFlush"PS.seek :empty +2 "processing"%"'ؠ +2639 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%# +111 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%$'X\\ +216 #"da"SX HX9/16 (USB:20): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2913h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "25.943 sec auto-exposure",Subject: "da21sep2913h images!" +9 "storage"(- +2 "core" -' +2 "storage"(!& +4 "core" &,e _ ^ /\ ? +2 "manipulator"&'& +5 "core" & u 6 + "manipulator"&(% +4 "core" %   +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 +2 "manipulator"&&( +244 "core" ( + "manipulator"&%& +4 "core" &  I . +2 "storage"(,& +3 "core" &,e m l N\ > +2 ."da"Forearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +4 "manipulator"&-' +94 "core" ' +4 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +6 ."da"SE.seek -0.51 Pucks below Top Plate + "storage"()'" +53 "core" ' + "manipulator"&.& +4 "core" &  . +2 "storage"(M& +4 "core" &,e U U E\  + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&*'7 +21 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&0, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +5 "storage"(3' +35 "core" ' +4 "manipulator"&/% +8 "core" %8  +2 "storage"(1& +6 "core" &,e   \  +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 4 + 301 counts +2 "manipulator"&2'd +13 "core" ' +2 "manipulator"&5& +60 "core" & . +3 "storage"(& +4 "core" &,e 4 3 X\  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&9' +16 "core" ' +2 "storage"(8% +4 "core" % 7 J J\ +2 ."downElevator"SE.seek :down +3 "storage"(u' +100 (;% +6 "core" %@9  \ \ RP +4 "manipulator"&:% +8 "core" %  +2 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +4 "manipulator"&6' +27 "core" ' +4 ."psFlush"PSR.select :air +3 "processing"% +14 ."psFlush"PS.seek 2.5ml + "processing"%=' +44 "core" ' +47 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (4& +5 "core" &,e . # 0\  +1521 ' +2 ."psFlush"PSV.dial PTV +4 "processing"%? +75 "core" +4 ."psFlush"PTV.dial :puck + "processing"%A  +73 "core"  +4 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +4 "processing"%7'ؾ +2638 "core" ' +4 ."psFlush"PSV.dial PSR +4 "processing"%< +86 "core" +2 ."psFlush"PSR.select :flush +5 "processing"%@ +14 ."psFlush"PS.seek 0.5ml + "processing"%@' +600 "core" ' +2 ."psFlush"PSR.select :air +4 "processing"% +13 ."psFlush"PS.seek 2.5ml +4 "processing"%B' +2057 "Can"F\ JG +72 "core" ' +2 ."psFlush"PSV.dial PTV +3 "processing"%> +75 "core" +4 ."psFlush"PBV.dial PSV +3 "processing"%G U +53 "core" V +4 ."psFlush"PS.seek 0ml +4 "processing"%D'ؾ +2652 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%C @ +46 "core" ? +4 ."psFlush"PS.seek 2.5ml +3 "processing"%J' +1043 #"uploadLog"upsync +1591 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%F  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%L'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%H +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%N' +2628 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%O +70 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%S'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%Q @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%I' +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%K  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%V +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%['X\\ +1094 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1616 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"% +70 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%]  +52 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%X +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +595 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%U' +2117 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%d +73 "core" + ."psFlush"PBV.dial PSV +2 "processing"%e U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%R'ؾ +2648 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%W @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%i' +2646 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%q  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%\\'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%a +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%Y' +2628 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%t +71 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%\ 'ؾ +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%m @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%f  +71 "core"  + ."psFlush"PS.seek 0ml +2 "processing"%g'ؾ +2636 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&k& +4 "core" & - + "manipulator"&h% +4 "core" %   +2 ."psFlush"Elbow.seek PC + "manipulator"& ( +244 "core" ( +2 "manipulator"&r& +4 "core" & s ? + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +2 "core" & ? +2 ."psFlush"Forearm.seek PC +2 "manipulator"&T' +98 "core" ' + ."psFlush"Hand.close +2 "manipulator"&s/ +59 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%x( +459 "core" ( + "manipulator"&o& +4 "core" & ? + "manipulator"&`% +4 "core" %   +2 ."psFlush"Forearm.seek :retract + "manipulator"&z' +92 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&v(- +126 "core" ( + "manipulator"&l& +4 "core" &-   +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &- K  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&|'w +100 "core" ' +2 ."psFlush"Hand.open + "manipulator"&}1 +60 "core" 1 + "manipulator"&y% +4 "core" %  I  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +92 "core" ' +2 #tFinished short da assay +3032 #-> access 4 +2 "storage"(% +3 "core" % \  +2 "manipulator"&% +4 "core" %  o  + "manipulator"&p& +4 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"({(C +988 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &F 6\ +8081 "Can";\ 53 +60001 %\ 52 +15662 #t-> exit +5 #mEXIT @1632948184.84PDT @1632948212.65PDT = =tMAIN =mMAIN_scheduler @PDT1632948214.52 #"core_reset"Sent BREAK + #t@61062 receive with ifg=0x10, ie=0xFD + #@61697 receive with ifg=0x10, ie=0xFD + #@62353 receive with ifg=0x10, ie=0xFD + #@62990 receive with ifg=0x10, ie=0xFD + #@63624 receive with ifg=0x10, ie=0xFD #@64258 receive with ifg=0x10, ie=0xFD + #@64892 receive with ifg=0x10, ie=0xFD #@65218 receive with ifg=0x80, ie=0xFD + #@28100 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +383 "Can"!\ 75 + !\ 75 + #tPolling Can every 10:00 +102 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %k U W8\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %غn\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڵ i\ +2 .tSS.configure :default +2 "sampler")#.0X access 5 +3 "storage"(2% +3 "core" % F\  + "manipulator"&3% +4 "core" %   +2 "manipulator"&4& +3 "core" &-  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(5(  +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" & b\ +1474 #t-> $da[:extractVol]=0.20 +10275 #-> startTube 5 +299 #-> shortDA +2 "collection"'7% +2 "processing"%8% +4 "core" %k S U4\ +5 %غX\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +703 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%9 +130 "core" + .tPTV.dial :PRVmixing +2 "processing"%:  +128 "core" +2 .tPRV.dial :sipper + "processing"%;  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%<'e +2294 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%=  + "collection"'>  +7 "core" +117 +2 .tPS.seek 0.5ml +2 "processing"%?' +1277 "core" ' + .tPRV.dial :waste2 +2 "processing"%@ @ +99 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%A'ؾ +590 "core" ' + .tPSV.dial PSR +2 "processing"%B +102 "core"  + "processing"%C% +4 "core" %ؽ`\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%D'X\\ +1096 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%E' +1614 "core" ' + .tPSV.dial :mixloop +2 "processing"%F +103 "core" +2 .tPS.seek 0ml +2 "processing"%G'ؾ +2628 "core" ' + .tPSV.dial PSR + "processing"%H +102 "core"  +2 "processing"%I% +4 "core" %X\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%J'X\\ +1098 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%K' +1620 "core" ' + .tPSV.dial :mixloop +2 "processing"%L +101 "core" +2 .tPRV.dial :sipper + "processing"%M  +43 "core" +2 .tPS.seek 0ml + "processing"%N'ؾ +2631 "core" ' +2 .tPSV.dial PSR + "processing"%O +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%P' +2628 "core" ' + .tPSV.dial :mixloop + "processing"%Q +102 "core" +2 .tPS.seek 0ml +2 "processing"%R'ؾ +2626 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%S& +4 "core" &f\ +2 .tHand.open + "manipulator"&T1 +16 "core" 1 +2 "manipulator"&U% +3 "core" %    +2 "storage"(V% +4 "core" % n\  + "storage"(W. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(X(<- +987 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +2 "core" &<- y { \  +2 "manipulator"&Z& +4 "core" &-  + "manipulator"&[% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\\( +170 "core" ( + "manipulator"&]& +4 "core" & $ 6 +2 "storage"(^& +4 "core" &<- \  +37 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +87 "core" ' +2 "storage"(`& +4 "core" &<- \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(a'r +303 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" &<- <\  +2 "manipulator"&d& +3 "core" & 0 6 +2 .tElbow.seek 5 + "manipulator"&e( +4 "core" ( + "manipulator"&f& +4 "core" &  6 + "storage"(g& +4 "core" &<- \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&h'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&i/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(k' +7 "core" & 6 +2 "manipulator"&l% +4 "core" % ϱ + .tForearm.seek :retract +2 "manipulator"&m' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&n( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&o& +4 "core" & j 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" & 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&q' +92 "core" ' +2 "manipulator"&r& +4 "core" &  4 +2 "manipulator"&s% +3 "core" % . E +2 "processing"%t& +4 "core" &]\ +2 "processing"%u& +5 "core" &M\ +2 .tPC.seek :closed + "processing"%v(^ +4 "core" &_\  +10 &1xa\ *x +9 &c~X\ > +9 &oq]\ N +10 &1S[\ N +9 &RY\ N +9 &PY\ N +10 &xRU\ N +9 &:PP\ N +10 &RY\ N +9 &US\ N +9 & SU\ N +10 &"BPT\ N +9 &$SV\ N +9 &%TT\ N +10 &'UT\ N +9 &)JQG\ N +10 &+ RH\ N +9 &,RB\ N +9 &.QD\ N +10 &0SSN\ M +9 &2TE\ M +9 &3SC\ M +10 &5TG\ N +9 &7ZWT\ N +9 &9WQ\ N +10 &:SD\ N +9 &<W8\ N +10 &>bV9\ N +9 &@#V9\ N +9 &A]<\ O +10 &Cr2\ Q +9 &EX5\ T +9 &G5\ T +10 &H6\ T +9 &J@\ T +10 &L]C\ U +9 &N<\ U +9 &O6\ U +10 &Q3\ W +9 &Sa:\ V +9 &U#6\ V +10 &V-\ V +9 &X)\ V +10 &Zh/\ W +9 &\\,)\ V +9 &]~x*\ < +10 &^5\ L +9 ( + &^$\ 0 +2 "processing"%u& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&w1 +57 "core" 1 +2 "manipulator"&x% +4 "core" %  ^ E + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +91 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%z h +2 %{9 +6 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +3 "core" 9  +102 "processing"%~9 +2 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"% 9 +3 "core" 9. +102 "processing"% 9 +2 "core" 93 +102 "processing"% 9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%9 +2 "core" 9? +102 "processing"%9 +2 "core" 9C +103 "processing"%9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9\\ +102 "processing"%9 +2 "core" 9a +102 "processing"%9 +3 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +3 "core" 9m +102 "processing"%9 +2 "core" 9q +102 "processing"%9 +3 "core" 9v +102 "processing"% 9 +2 "core" 9z +102 "processing"%!9 +3 "core" 9~ +102 "processing"%"9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%$9 +3 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +2 "core" 9 +103 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +3 "core" 9 +102 "processing"%/9 +2 "core" 9 +102 "processing"%09 +3 "core" 9\  +102 "processing"%19 +3 "core" 9 +103 "processing"%29 +2 "core" 9 +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +2 "core" 9 +102 "processing"%9 +3 "core" 9" +2 .tPH.hold 2:00:00,28C +3 "processing"%6 php +2 .tdelay 1:30 +5 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +101 "core"  + "processing"%8% +4 "core" %c\ + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%9' +590 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%:' +1607 "core" ' +2 .tPTV.dial :puck + "processing"%;  +129 "core"  + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPBV.dial :waste1 + "processing"%>  +54 "core" + "processing"%=% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%<'' +587 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%@ * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%?'ؾ +1616 "core" ' +2 .tdelay 5:00 +629 "Can"\ =; +29373 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%B  +35 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%C * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%A +73 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%D' +2399 "core" ' +2 .tPSV.dial PTV + "processing"%F +74 "core" + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%E +73 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%H +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%I  +84 "core"  +2 .tPS.seek 0ml +2 "processing"%G'ؾ +2324 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%J  +129 "core" + .tPSV.dial :mixloop +2 "processing"%L +42 "core" +2 .tPRV.dial :ab1 + "processing"%M @ +99 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%K' +350 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%O  +42 "core"  + "processing"%N% +4 "core" %\ +2 .tPS.seek 0.35ml +2 "processing"%Q'd +450 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'P  +29 "core" +2 .tPRV.dial :air + "processing"%S  +43 "core"  +2 .tPS.seek 0.9ml + "processing"%T'K +1176 "core" ' +2 .tPRV.dial :waste2 + "processing"%U @ +71 "core" > +2 .tPS.seek 0.5ml + "processing"%V' +873 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%W  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%5' +1611 "core" ' + .tPSV.dial :PML +2 "processing"%Y +44 "core" + .tPTV.dial :mixing +2 "processing"%Z @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%[  +34 "core" +2 "processing"%]% +4 "core" %\  +2 .tPS.seek 1.85ml + "processing"%^' +238 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * +2 .tPS.seek 0ml +2 "processing"%`'ؾ +1969 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & Q P*\ + "manipulator"&b& +4 "core" & 4 + "manipulator"&c% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&d(- +126 "core" ( + "manipulator"&f& +4 "core" &- @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &- 5 +2 .tForearm.seek :garage + "manipulator"&i'w +94 "core" ' + .tHand.close + "manipulator"&j/ +60 "core" / +2 "manipulator"&l& +4 "core" &- / + "manipulator"&\\% +4 "core" % m U , +2 .tForearm.seek :retract + "manipulator"&_' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&a(ӂ +278 "core" ( + "manipulator"&h& +4 "core" &Ӑ( M @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &Ӑ( n @X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&p'? +98 "core" ' +2 "manipulator"&e& +5 "core" &Ӑ( d @X + "manipulator"&r% +4 "core" %@ * +2 "collection"'s& +3 "core" & Q Q/\ +3 "collection"'t& +5 "core" & O R2\ +2 .tCC.seek :closed + "collection"'k(\\ +4 "core" & P P&\  +10 &2z Q Q)\ *x +9 &c~ O Q(\ > +9 &nr P S)\ N +10 &1R R P'\ N +9 &T Q P#\ N +9 &R P Q$\ M +10 &wQ Q Q\ N +9 &:P Q Q\ M +10 &Q R S\ N +9 &L S Q\ N +9 & N P Q\ M +10 &"AO P S\ N +9 &$P T Q\ N +9 &%N S S\ N +10 &'L Q P\ N +9 &)IN R S\ N +10 &+ Q Q S\ N +9 &,Q R R \ N +9 &.R S R\ N +10 &0QQ R P \ N +9 &2Q S R\ N +9 &3R Q R\ N +10 &5Q R T\ N +9 &7XR R R\ N +10 &9N S Q\ N +9 &:Q S S\ N +9 &<M Q T\ N +10 &>aO T T\ N +9 &@#Q S U"\ N +9 &AR U V\ N +10 &C] Y X\ O +9 &E]p [ Z\ R +10 &G ] ^"\ V +9 &H ` `\ Y +9 &J ^ `\ Z +10 &LL ` a\ Z +9 &N a _\ [\ +9 &O ` `\ [ +10 &Q _ a \ \\ +9 &SL a `\ ] +10 &U b `\ ] +9 &V b a!\ _ +9 &X a b \ _ +10 &ZK a d"\ ` +9 &[z d c&\ D +9 &\\- d e&\ (y +10 &\\ d d"\ \\ +2 ( +2 "collection"'t& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.47 + "collection"'m& +4 "core" &\\ d f#\ \\ +2 .tHand.open + "manipulator"& 1 +61 "core" 1 +2 "manipulator"&w% +4 "core" % @  * + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +92 "core" ' + .tPSV.dial PSR +2 "processing"%{ +103 "core"  +2 "processing"%u% +4 "core" %ػ~\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%|'+ +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%q  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%}'ؾ +1660 "core" ' +2 .tPSV.dial PSR + "processing"%~ +44 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2629 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV + "processing"%  + "collection"'  +34 "core" ~ +123  +2 .tPSV.dial :mixloop + "processing"% +102 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +75 "core" +2 .tPS.seek 0ml + "processing"% 'ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"% ' +1689 "Can"\ [X +936 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2631 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &Ӓ& / ?V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +36 "core" ( +2 "manipulator"&& +4 "core" &  O Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & P Z +2 .tForearm.seek CC + "manipulator"&'? +95 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( + "manipulator"&& +4 "core" &   Z +2 "manipulator"&% +3 "core" % M ;  +2 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&!(- +281 "core" ( + "manipulator"&"& +4 "core" &-  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &-  5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&$'w +90 "core" ' +2 .tHand.open + "manipulator"&%1 +64 "core" 1 +2 "manipulator"&&% +4 "core" % { 1 T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +91 "core" ' +2 ."da"delayUntil "14:09:32.47" +24783 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%( @ +72 "core" B +2 ."da"PBV.dial :waste1 + "processing"%)  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%* * +35 "core" , + ."da"PSV.dial :air +2 "processing"%+  +44 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%,' +2410 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%- +43 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%.  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%/ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%0  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +2354 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%2 +129 "core"  +2 "processing"%3% +3 "core" %غ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%4' +598 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%7  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%8 +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%R  +35 "core" + "processing"%9% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%;') +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +1605 "core" ' +2 ."da"delay 2:00 +10471 "Can"\ @= +1532 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%=  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%: * +33 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%@ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%<' +2402 "core" ' + ."da"PSV.dial PTV +2 "processing"%z +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%B +69 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%C +84 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%A  +74 "core"  +2 ."da"PS.seek 0ml + "processing"%?'ؾ +2342 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%F +129 "core"  + "processing"%E% +4 "core" %ؼy\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%H' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%I' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%D +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%J  +32 "core" +2 "processing"%L% +4 "core" %\\\  +2 ."da"PS.seek 1.5ml + "processing"%M'+ +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%G * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%O'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%N  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%K * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%P +73 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%S' +2413 "core" ' +2 ."da"PSV.dial PTV + "processing"%Q +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%U +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%T +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%W  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%V'ؾ +2337 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%Y  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%Z  +129 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%[  +42 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%] +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%' +383 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%5  +44 "core"  + "processing"%^% +4 "core" %m\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +339 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%b  +44 "core"  +2 ."da"PS.seek 2ml + "processing"%c' +1558 "core" ' + ."da"PSV.dial :PML +2 "processing"%f +44 "core" + ."da"PTV.dial :mixing +2 "processing"%g @ +74 "core" B + ."da"PBV.dial :waste1 +2 "processing"%j  +32 "core" + "processing"%n% +4 "core" %c\  +2 ."da"PS.seek 1.85ml +2 "processing"%l' +232 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%\\ * +33 "core" * +2 ."da"PS.seek 0ml + "processing"%y'ؾ +1964 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +14963 "Can"\ =: +33039 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%i  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%h * +33 "core" * +2 ."da"PSV.dial :air +2 "processing"%o  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%d' +2402 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%e +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%r  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%s +43 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%_  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +2360 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +3 .PSV.dial PSR + "processing"%m +129 "core"  +2 "processing"% % +4 "core" %ؾ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%w' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%t' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%{  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%u +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%p  +33 "core" + "processing"%`% +4 "core" %y\  +2 ."da"PS.seek 1.5ml +2 "processing"%q'* +607 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%| * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%~'ؾ +1607 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%}  +32 "core" +2 ."da"delay 30 seconds +598 "Can"\ >: +2404 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +42 "processing"%' +2421 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2341 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +128 "core"  +2 "processing"%% +4 "core" %}\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%% +4 "core" %~\  +2 ."da"PS.seek 1.5ml + "processing"%'. +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%a * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%x +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%k' +2382 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +84 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%"  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%#'ؾ +2351 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +130 "core"  + "processing"%%% +4 "core" %ؽ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%&' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%$ +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%(  +33 "core" + "processing"%)% +4 "core" %\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%*'+ +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%+ * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1608 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%-  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%. * +35 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%/ +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%0' +2411 "core" ' +2 ."da"PSV.dial PTV + "processing"%, +74 "core" + ."da"delay 5 seconds +384 "Can""\ ;8 +118 ."da"PSV.dial PSR +2 "processing"%2 +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%3 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%1  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%4'ؾ +2380 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%7 +140 "core"  +5 "processing"%8% +10 "core" %ظl\  +2 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +6 "processing"% +18 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +8 ."da"PS.seek 0.25ml +6 "processing"%R' +342 "core" ' + ."da"delay 5 seconds +503 "processing"%9% +3 "core" %q\  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%' +345 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%; +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%=  +36 "core" + "processing"%:% +4 "core" %~\  +2 ."da"PS.seek 1.5ml +2 "processing"%@'. +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%> * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%z'ؾ +1614 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%B  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%C * +35 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%A +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%<' +2500 "core" ' +2 ."da"PSV.dial PTV + "processing"%F +86 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%E +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%? +76 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%H  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +2463 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%J +133 "core"  +2 "processing"%L% +3 "core" %\ t +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%I' +2132 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%G +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%M  +34 "core" +2 "processing"%N% +4 "core" %\ +2 ."da"PS.seek 1.5ml + "processing"%K'* +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%P * +33 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%O  +105 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Q'ؾ +1618 "core" ' +2 "processing"%U9 +3 "core" 9i5n +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%T  +3 "core" 5n + 5n + "processing"%W& +4 "core" &^\ j0 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&S% +4 "core" %   + "storage"(Y% +4 "core" % \ s + "storage"(Z. +3 "core" .(<- +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 4 +2 "storage"([(,y +353 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" &,{ K\  +2 "manipulator"&V& +4 "core" &- a 5 + "manipulator"&5% +4 "core" %  ~ ;  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&^( +173 "core" ( +2 "manipulator"&& +4 "core" & O ( + "storage"(b& +4 "core" &,{ #\ t +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&' +95 "core" ' +2 "storage"(f& +4 "core" &,{ \  +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(g'r +282 "core" ' + "storage"(j- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(n'1 +46 "core" ' +2 "manipulator"&\\& +4 "core" &  ( + "manipulator"&c% +4 "core" %  b +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&l' +96 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&i( +244 "core" ( + "manipulator"&h& +4 "core" & ? + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &  ? +2 ."da"Forearm.seek PC + "manipulator"&y' +90 "core" ' +2 ."da"Hand.close + "manipulator"&e/ +55 "core" / +2 ."da"PC.seek :open +2 "processing"%r( +458 "core" ( +2 "storage"(s& +4 "core" &,e \ y + "manipulator"&_& +4 "core" & Q ? + "manipulator"&d% +4 "core" % & C J +2 ."da"Forearm.seek :retract + "manipulator"&m' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 + "manipulator"& ( +244 "core" ( + "manipulator"&\ & +4 "core" & r 5 +2 "storage"(w& +3 "core" &,e G\ ! +45 ."da"Forearm.reconfigure :tight +11 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&{' +96 "core" ' +2 ."da"Hand.open +2 "manipulator"&u1 +52 "core" 1 +2 "storage"(p- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate + "storage"(`' +26 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(t' +54 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep2914h.tif +6 "processing"%|& +12 "core" &R +4 "manipulator"&q& +6 "core" &  '5 +2 "manipulator"&}% +5 "core" %  5 ) +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +174 "core" ( +2 "manipulator"&~& +4 "core" &- R 6 ? .W +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-  ,W +3 ."psFlush"Forearm.seek :garage + "manipulator"&'w +95 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +65 "core" / +2 "manipulator"&& +4 "core" &- S ,W +2 "manipulator"&% +3 "core" % o + +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +99 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +116 "core" ( +2 "manipulator"& & +4 "core" & ** + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &  ** +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +93 "core" ' + "manipulator"&& +4 "core" & " * +2 "manipulator"&% +4 "core" % ! k +2 "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" &\  +2 ."psFlush"PC.seek :closed +2 "processing"%(^ +3 "core" &\  +9 &\ #\ $c +9 &Us\ 8 +9 &{m\ \ M +10 &xF U +9 &:; U +9 &> U +10 &? T +9 &> U +9 &C< T +10 &? U +9 &B U +10 &!A U +9 &#JA U +9 &% B U +10 &&A U +9 &(> U +9 &*VC S +10 &,F\ R +9 &-FO\ R +10 &/GN\ R +9 &1bES\ R +9 &3$FT\ R +10 &4ES\ R +9 &6FI\ R +9 &8kGC\ R +10 &:,F?\ R +9 &;F?\ R +10 &=GB\ R +9 &?jD< U +9 &A+A8 U +10 &BR5 W +9 &Dh- Z +9 &F[~/ ] +10 &H{1 ] +9 &Ix. ] +10 &K- ] +9 &M` ^ +9 &O#" ] +10 &P0 ^ +9 &R( ^ +10 &Tb- ` +9 &V*5 ^ +9 &W(\ [\ +10 &Y\ [ +9 &[v\ \\ +9 &]8&\ V +10 &^xBj\ *z +9 &^2\ %4 +5 ( +2 "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.95 +2 "processing"%& +4 "core" &^& \ 4 + &^&\ 4 + ."psFlush"Hand.open +2 "manipulator"&a1 +69 "core" 1 +2 "manipulator"&x% +4 "core" %  ~ *k +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +46 "core"  + "processing"%% +4 "core" %ؽ\  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +598 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +546 #"da"SX HX9/16 (USB:21): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 29.223 seconds\ /var/log/esp/da21sep2914h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep2914h15s.tif +1565 #SX HX9/16 (USB:21): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep2914h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep2914h30s.tif +9 "core" ' +4 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%k @ +197 "core" B + ."psFlush"PTV.dial :PRVmixing +3 "processing"%  +137 "core" +2 ."psFlush"PSV.dial :mixloop + "processing"%% +120 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%#'ؠ +2486 #"da"SX HX9/16 (USB:21): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep2914h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep2914h70s.tif +149 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +108 "core"  +2 "processing"%$% +4 "core" %؜ \  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%(' +598 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%)' +2126 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +33 "core"  +2 ."psFlush"PTV.dial :mixing + "processing"%+ @ +79 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%* +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%-'ؠ +2638 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%. +111 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%/'X\\ +537 #"da"SX HX9/16 (USB:21): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep2914h70s.tif: TIFF Upload Complete\ +4 ."Qmail"DAfans.email "29.223 sec auto-exposure",Subject: "da21sep2914h images!" +4 ."da"Gate.power :camera,:OFF +2 "storage"(- +3 "core" -' + "storage"(,& +5 "core" &,e [ \ S +6 "manipulator"&2& +4 "core" & { * + "manipulator"&3% +4 "core" % ! I $ +2 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 +2 "manipulator"&1( +243 "core" ( + "manipulator"&0& +5 "core" &  j  + "storage"(7& +4 "core" &,e\ \  +\ U +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&8' +109 "core" ' +4 ."da"SE.reconfigure :gently +4 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +57 "core" ' +2 "manipulator"&9& +4 "core" &  + "storage"(R& +4 "core" &,e V T .\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&'7 +19 "core" ' + ."da"Elbow.hold +2 "manipulator"&;, +7 "core" , +2 ."da"Elbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +78 "core" ' +2 ."psFlush"PSR.select :air +3 ."da"SE.reconfigure :default +3 "processing"% + "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(=' +4 ."psFlush"PS.seek 2.5ml + "processing"%:' +23 "core" ' +2 "manipulator"&% +4 "core" %E M  + "storage"(>& +4 "core" &,e C 5 y\ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 4 + 314 counts + "manipulator"&@'q +15 "core" ' + "manipulator"&B& +6 "core" & H  +2 "storage"(C& +20 "core" &,e x  K\ +4 ."da"Forearm.reconfigure :tight +8 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 4 + 450 counts +3 "manipulator"&A' +18 "core" ' +2 "storage"(z% +12 "core" % t t 4\ \ +4 ."downElevator"SE.seek :down +5 "storage"(F' +98 (E% +6 "core" %> 4 0 \ SS +4 "manipulator"&?% +8 "core" %  +4 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 ."da"Forearm.seek :retract +3 "manipulator"&H' +96 "core" ' +42 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (<& +8 "core" &,e A S ]\ +1174 ' +4 ."psFlush"PSV.dial PTV + "processing"%J +79 "core" +4 ."psFlush"PTV.dial :puck +4 "processing"%L  +75 "core"  +4 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +4 "processing"%D'ؾ +2630 "core" ' +4 ."psFlush"PSV.dial PSR +4 "processing"%G +75 "core"  +2 ."psFlush"PSR.select :flush +5 "processing"%@ +14 ."psFlush"PS.seek 0.5ml + "processing"%M' +589 "core" ' +2 ."psFlush"PSR.select :air +3 "processing"% +14 ."psFlush"PS.seek 2.5ml +3 "processing"%N' +2125 "core" ' +2 ."psFlush"PSV.dial PTV +4 "processing"%I +75 "core" +4 ."psFlush"PBV.dial PSV + "processing"%P U +53 "core" V +4 ."psFlush"PS.seek 0ml +5 "processing"%O'ؾ +2654 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%K @ +44 "core" ? +3 ."psFlush"PS.seek 2.5ml + "processing"%U' +1640 #"uploadLog"upsync +1015 "core" ' + ."psFlush"PSV.dial :waste1 +3 "processing"%T  +82 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%W'ؾ +2049 "Can""\ A? +583 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%S +42 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%Y' +2630 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%Z +70 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%X'ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%] @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%V' +2649 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%5  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%b +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%f'X\\ +1103 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +1604 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%' +71 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%j  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%\\'ؾ +2653 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%c +84 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%g' +594 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2123 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%h +70 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%o U +53 "core" W +2 ."psFlush"PS.seek 0ml + "processing"%^'ؾ +2633 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%e @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%l' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%v  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%s'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%_ +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%d' +2628 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%y +83 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%\ 'ؾ +2628 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%w @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%i' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%u  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2632 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&|& +4 "core" &   + "manipulator"&q% +4 "core" %  ;  +2 ."psFlush"Elbow.seek PC + "manipulator"&}( +246 "core" ( + "manipulator"&m& +5 "core" & G +3 ."psFlush"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &n& +2 "core" &  G +2 ."psFlush"Forearm.seek PC +2 "manipulator"&`' +94 "core" ' + ."psFlush"Hand.close +2 "manipulator"&~/ +58 "core" / + ."psFlush"PC.seek :open +2 "processing"%( +458 "core" ( +2 "manipulator"&{& +4 "core" & E + "manipulator"& % +4 "core" % \  +2 ."psFlush"Forearm.seek :retract + "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +128 "core" ( +6 "manipulator"&& +15 "core" &- S +6 ."psFlush"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 && +12 "core" &- +5 ."psFlush"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +7 ."psFlush"Forearm.seek :garage +4 "manipulator"& 'w +98 "core" ' +7 ."psFlush"Hand.open +6 "manipulator"& 1 +58 "core" 1 +3 "manipulator"&% +19 "core" % p d @ +9 ."psFlush"Forearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 ."psFlush"Forearm.seek :retract +5 "manipulator"&' +96 "core" ' +5 #tFinished short da assay +19734 "Can"'\ 52 +494 #t-> access 4 +3 "storage"(% +3 "core" % O\  +2 "manipulator"&% +4 "core" %  G  +2 "manipulator"&& +4 "core" &- h +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"( (C +996 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "core" &E e\ +4178 #t-> access 5 +3 "storage"(% +3 "core" % m\  + "manipulator"&a% +4 "core" %  M  +2 "manipulator"&x& +3 "core" &- m +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +40 "storage"((  +362 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \ +2973 #t-> exit +7 #mEXIT @1632953112.45PDT @1632953130.84PDT = =mMAIN_scheduler =tMAIN @PDT1632953132.69 #"core_reset"Sent BREAK + #t@48346 receive with ifg=0x10, ie=0xFD + #@48984 receive with ifg=0x10, ie=0xFD + #@49640 receive with ifg=0x10, ie=0xFD + #@50276 receive with ifg=0x10, ie=0xFD + #@50910 receive with ifg=0x10, ie=0xFD #@51544 receive with ifg=0x10, ie=0xFD + #@52178 receive with ifg=0x10, ie=0xFD #@52736 receive with ifg=0x80, ie=0xFD + #@58069 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +378 "Can"4\ 75 + 4\ 75 + #tPolling Can every 10:00 +486 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %k G J{\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؼq\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڵ `\ + .tSS.configure :default +3 "sampler")#.0X startTube 2 +1319 #-> $da[extractVol]=.2 +57074 "Can"H\ <8 +6233 #t-> shortDA +2 "collection"'2% +2 "processing"%3% +4 "core" %k E FO\ +5 %ؼY\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1065 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%4 +131 "core" +2 .tPTV.dial :PRVmixing + "processing"%5  +129 "core" + .tPRV.dial :sipper +2 "processing"%6  +43 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%7'e +2294 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%8  + "collection"'9  +18 "core" +108  +2 .tPS.seek 0.5ml +2 "processing"%:' +1277 "core" ' + .tPRV.dial :waste2 +2 "processing"%; @ +99 "core" > + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%<'ؾ +584 "core" ' + .tPSV.dial PSR +2 "processing"%= +101 "core"  +2 "processing"%>% +4 "core" %H\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%?'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%@' +1610 "core" ' + .tPSV.dial :mixloop +2 "processing"%A +114 "core" +2 .tPS.seek 0ml +2 "processing"%B'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"%C +101 "core"  +2 "processing"%D% +4 "core" %/\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%E'X\\ +1105 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%F' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"%G +103 "core" +2 .tPRV.dial :sipper + "processing"%H  +42 "core" +2 .tPS.seek 0ml +2 "processing"%I'ؾ +2639 "core" ' + .tPSV.dial PSR + "processing"%J +102 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%K' +2639 "core" ' +2 .tPSV.dial :mixloop + "processing"%L +102 "core" +2 .tPS.seek 0ml +2 "processing"%M'ؾ +2629 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%N& +4 "core" &O\ +2 .tHand.open + "manipulator"&O1 +20 "core" 1 + "manipulator"&P% +4 "core" %    +2 "storage"(Q% +4 "core" % 3\  + "storage"(R. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(S(  +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +2 "core" &  \ +2 "manipulator"&U& +4 "core" &- p + "manipulator"&V% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&W( +170 "core" ( +2 "manipulator"&X& +4 "core" &  + + "storage"(Y& +4 "core" & 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&Z'S +89 "core" ' + "storage"([& +5 "core" & v\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'r +26 "core" ' E\  +45 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.65 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagia: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressiE :deltaPressi: voltagef12.834594010800197 : @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #1 of 4 +3 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(]' +20 "core" '  Q\ # +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.65 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagib: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiQ : voltagef12.903322533136967 U: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #2 of 4 +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(^' +20 "core" ' M\ # +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.65 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagic: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiM : voltagef12.903322533136967 U: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Retry #3 of 4 +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"(_' +20 "core" ' #\ # +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.65 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagid: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi# : voltagef12.903322533136967 U: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #4 of 4 +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down + "storage"(`' +20 "core" '  e\ " +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(a' +26 "core" ' + .tSE.stop + "storage"(5 +3 "manipulator"&b% +4 "core" %P +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +90 "core" ' +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.65 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagie: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti :pwmi:erri: inPressi : outPressi :deltaPressie : voltagef12.898413352970055: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +29503 "Can"\\\ 63 +60001 f\ 64 +35561 #t-> exit +6 #mEXIT @1632955295.04PDT @1632955324.51PDT = =tMAIN =mMAIN_scheduler @PDT1632955326.31 #"core_reset"Sent BREAK + #t@36729 sendCRC with ifg=0x20, ie=0x7F + #@38544 sendCRC with ifg=0x08, ie=0x5F + #@22277 idle with ifg=0x84, ie=0x75 + #@22947 select with ifg=0x10, ie=0xF5 #@23581 receive with ifg=0x10, ie=0xFD + #@24214 receive with ifg=0x10, ie=0xFD #@24847 receive with ifg=0x10, ie=0xFD + #@25174 receive with ifg=0x80, ie=0xFD + #@32574 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +280 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +375 "Can"k\ 86 + k\ 86 + #tPolling Can every 10:00 +1833 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %k D E\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڵ l\ + .tSS.configure :default +3 "sampler")#.0X SamplePassF +2 !o:NameError: mesg"'uninitialized constant SamplePassF: name:SamplePassF:bt["(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +883 #-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'2& +4 "core" & F F\ + .tHand.open +2 "manipulator"&31 +26 "core" 1 +2 "manipulator"&4& +3 "core" & & + +2 "manipulator"&5% +4 "core" %  Y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(- +175 "core" ( +2 "manipulator"&7& +4 "core" &- t P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &- = P +2 .tForearm.seek :garage +2 "manipulator"&9'w +95 "core" ' + .tHand.close +2 "manipulator"&:/ +53 "core" / + "manipulator"&;& +4 "core" &- P +2 "manipulator"&<% +4 "core" % o   + .tForearm.seek :retract +2 "manipulator"&=' +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +282 "core" ( + "manipulator"&?& +4 "core" &Ӈ+ m Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &Ӈ+ F Cm +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&A'? +95 "core" ' +2 "manipulator"&B& +4 "core" &ӈ* 7 Bl + "manipulator"&C% +4 "core" %D ? +2 "collection"'D& +3 "core" & E E\ +3 "collection"'E& +4 .tCC.seek :closed + "collection"'F(\\ +4 "core" & G F\ +8 &B F E\ %g +10 &Wz E C\ 8 +9 &x F E\ L +10 &R H I\ M +9 &T F E\ M +9 &EW I H\ M +10 &T G F\ M +9 &X E H\ N +9 &U F I\ M +10 &MT G G\ M +9 & W H G\ M +10 &!R G E\ M +9 &#S I H\ N +9 &%TT F F\ N +10 &'U G G\ N +9 &(X G H\ M +9 &*W H H\ M +10 &,]X H E\ M +9 &.W H H\ M +10 &/W H G\ M +9 &1X H G\ M +9 &3dY G H\ N +10 &5'U F H\ M +9 &6S I G\ N +10 &8W H G\ M +9 &:lW G H\ N +9 &<.W I I\ N +10 &=V I I\ N +9 &?T H H\ M +9 &AtX K J\ N +10 &C3_ L J\ O +9 &Dt L N\ Q +9 &F R P\ U +10 &H\\ U T\ Y +9 &J U V\ Z +9 &K T T\ Y +10 &M U U\ [ +9 &O^ V V\ [ +10 &Q U V\ [\ +9 &R V V\ \\ +9 &T U X\ \\ +10 &V^ W V\ ] +9 &X V V\ ^ +10 &Y Y X\ _ +9 &[ Z Y\ M +9 &\\4 Y ]\ 2 +10 &\\ Z Z\ Z +2 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 + "collection"'G& +4 "core" &\\ Z [\ Z +2 .tHand.open + "manipulator"&H1 +59 "core" 1 +2 "manipulator"&I% +4 "core" % D ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +89 "core" ' +3 .tPSV.dial PSR,avoiding: PBV + "processing"%K +4 "core"  + "processing"%L  +162 "core"  +2 "processing"%M% +4 "core" %\ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%N'+ +1614 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%O  +45 "core"  +2 .tPS.seek 0ml + "processing"%P'ؾ +1608 "core" ' + .tPSV.dial PSR +2 "processing"%Q +44 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%R' +2639 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%S  + "collection"'T  +41 "core" +87  + .tPSV.dial :PTV,via: :air +2 "processing"%U +192 "core"  + .tCTV.dial :air,avoiding: :intake +2 "collection"'V +3 "core"  +2 "collection"'W  +5 "core"  +2 .tPTV.dial :PRV,avoiding: :puck + "processing"%X +3 "core"  +2 "processing"%Y @ +73 "core" @ +2 .tPS.seek 0ml + "processing"%Z'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%[  +86 "core"  +2 .tPS.seek 2.5ml +2 "processing"%\\' +2641 "core" ' +2 .tPSV.dial :PTV +2 "processing"%] +71 "core"  +2 .tPS.seek 0ml +2 "processing"%^'ؾ +2631 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&_& +4 "core" &ӈ* l Bl +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +3 "core" ( + "manipulator"&a& +5 "core" &ӈ) A Bl + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &ӈ)  - Bl +2 .tForearm.seek CC +2 "manipulator"&c'? +93 "core" ' + .tHand.close +2 "manipulator"&d/ +52 "core" / + .tCC.seek :open +2 "collection"'e( +449 "core" ( +2 "manipulator"&f& +3 "core" &ӈ* Bl +2 "manipulator"&g% +4 "core" % ; G 5 +2 .tForearm.seek :retract + "manipulator"&h' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&i(- +289 "core" ( + "manipulator"&j& +4 "core" &- ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&l'w +92 "core" ' +2 .tHand.open + "manipulator"&m1 +58 "core" 1 + "manipulator"&n% +4 "core" % u B l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&o' +95 "core" ' +412 #t-> PS.flush + #Flushing Processing stage +2 "processing"%p% +3 "core" %ؾ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%q& +4 "core" &\ +2 "manipulator"&r& +3 "core" &- +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&s(- +2 "core" ( +2 "manipulator"&t& +4 "core" &- [ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&v'w +93 "core" ' +2 .tHand.close + "manipulator"&w/ +63 "core" / +2 "manipulator"&x& +4 "core" &-  + "manipulator"&y% +4 "core" % f [ 1 +2 .tForearm.seek :retract + "manipulator"&z' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&{( +122 "core" ( + "manipulator"&|& +5 "core" & R ? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" & ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~' +92 "core" ' +2 "manipulator"&& +4 "core" & K ? +2 "manipulator"&% +4 "core" % i + "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 & 4\ %f +9 &Vy\ 8 +10 &u\ L +9 &P\ N +10 &gR\ N +9 &)R\ N +9 &R\ N +10 &Q\ N +9 &oQ\ N +9 &1R\ N +10 &Q\ N +9 &!Q\ O +10 &#vR\ N +9 &%8Q\ N +9 &&Q\ O +10 &(R\ N +9 &*~R\ N +9 &,?R\ O +10 &.Q\ N +9 &/R\ N +10 &1T\ N +9 &3HT\ N +9 &5\ R\ N +10 &6R\ N +9 &8T\ O +9 &:RR\ N +10 &<T\ N +9 &=T\ N +10 &?X\ N +9 &AXX\ N +9 &Cl\ Q +10 &D}\ S +9 &F\ U +9 &HM\ U +10 &J\ U +9 &K\ U +10 &M\ U +9 &OR\ V +9 &Q\ W +10 &R\ V +9 &T\ W +9 &V[\ U +10 &X\ V +9 &Y\ V +10 &[\ V +9 &]_\ E +9 &^{=r\ (u +10 &^-\ 2 +5 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 + "processing"%& +4 "core" &^ \ 2 + &^ \ 2 + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"& % +4 "core" %  = i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' + .tPSV.dial PSR +2 "processing"% +83 "core" +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%'X\\ +1102 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1614 "core" ' + .tPSV.dial PTV + "processing"% +73 "core" + .tPTV.dial :puck +2 "processing"%  +72 "core"  + .tPBV.dial :waste1 +2 "processing"%  +53 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2637 "core" ' +2 .tPSV.dial PSR +2 "processing"% +73 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%' +583 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +2126 "core" ' + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPBV.dial PSV + "processing"% U +54 "core" W +2 .tPS.seek 0ml + "processing"%'ؾ +2654 "core" ' +2 .tPSV.dial PBV + "processing"% @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +72 "core"  +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2624 "core" ' + .tPSV.dial PSR +2 "processing"%! +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%"' +2629 "core" ' +2 .tPSV.dial PTV + "processing"%# +72 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml + "processing"%$'ؾ +2642 "core" ' + .tPSV.dial PBV +2 "processing"%% @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%&' +2627 "core" ' + .tPSV.dial :waste1 +2 "processing"%'  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%('ؾ +1684 "Can"x\ IF +950 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&)& +4 "core" & @ ? + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&*( +26 "core" ( + "manipulator"&+& +4 "core" & D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" & +2 .tForearm.seek PC +2 "manipulator"&-' +96 "core" ' + .tHand.close +2 "manipulator"&./ +52 "core" / + .tPC.seek :open +2 "processing"%/( +456 "core" ( +2 "manipulator"&0& +4 "core" & + "manipulator"&1% +4 "core" %  k  +2 .tForearm.seek :retract +2 "manipulator"&2' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&3(- +120 "core" ( + "manipulator"&4& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &- +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&7'w +98 "core" ' +2 .tHand.open + "manipulator"&81 +57 "core" 1 + "manipulator"&% +4 "core" % π t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +91 "core" ' +57864 "Can"|\ ?< +60001 \ >< +60001 \ >< +60002 }\ ?= +60001 ~\ ?< +60001 |\ ?< +60002 u\ >< +60001 w\ ?< +60001 {\ >< +60001 w\ >< +60002 v\ ?< +60001 s\ ?< +60001 n\ >< +60002 n\ ?< +60001 o\ >< +60001 o\ >< +60002 l\ >< +60001 d\ >< +60001 f\ ?< +60002 l\ ?< +60001 g\ >< +60001 g\ >< +60001 i\ >< +60002 k\ >< +60001 n\ ?< +60001 k\ >< +60002 m\ ?< +60001 i\ ?< +60001 o\ ?< +60002 o\ >< +60001 r\ >< +60001 \ ?< +60001 \ >< +60002 \ ?< +60001 \ ?< +60001 \ >< +60001 |\ >< +60002 }\ ?< +60001 \ ?< +60001 s\ ?< +60001 }\ ?< +60001 ~\ ?< +60002 {\ ?< +60001 \ ?< +60001 }\ ?< +60001 p\ ?< +60002 j\ >< +60001 c\ >< @PDT1632985333.05 \\\ ?< +60001 [\ ?< +60002 V\ ?< +60001 L\ ?< +60001 L\ ?< +60001 >\ ?< +60001 H\ ?< +60002 A\ ?< +60001 @\ ?< +60001 ?\ ?< +60001 4\ ?< +60002 =\ ?< +60001 F\ >< +60001 F\ ?< +60001 >\ ?< +60002 K\ >< +60001 U\ ?< +60001 ]\ ?< +60001 X\ ?< +60002 V\ ?< +60001 e\ ?< +60001 _\ ?= +60001 o\ ?< +60002 \ >< +60001 \ ?< +60001 \ ?< +60002 z\ >< +60001 \ >< +60001 {\ ?; +60002 v\ >< @1633002923.06PDT = =mMAIN_scheduler =tMAIN @PDT1633002924.98 #"core_reset"Sent BREAK +2 #t@22348 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +291 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +400 "Can"w\ !q + w\ !q #tPolling Can every 10:00 +529 #-> ESP.ready! +4 #Powering core bus +563 .Gate.power :raw,:ON +2 "sampler") +49 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +3 % +2 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % H K \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %o\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % {\ +2 .tSS.configure :default +2 "sampler")#.0X& +4 "core" &  $ +2 "storage"(?& +3 "core" &,y \  +2 "storage"(@% +3 "core" % \ 5 +2 "collection"'A9 +3 "core" 9 +2 "processing"%B9 +3 "core" 9 +393 #t-> access 4 +2 "storage"(C% +3 "core" % ;\ 5 +2 "manipulator"&D% +4 "core" %   e + "manipulator"&E& +4 "core" &  ? $ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(F(C +984 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (G& +3 "core" &F \ +773 #t-> access 6 +2 "storage"(H% +2 "core" % \ 5 +2 "manipulator"&I% +4 "core" %  " e + "manipulator"&J& +4 "core" &  > $ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(K( +669 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (L& +2 "core" & e\  +1308 #t-> require 'shuffe.rb' +2 !o:LoadError: mesg"&no such file to load -- shuffe.rb:bt[ "(ESP):4:in `require'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1198 #-> require 'shuffle.rb' +1812 #-> 3.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'M& +3 "core" & K N'\ +2 .tHand.open + "manipulator"&N1 +100 "core" 1 + "manipulator"&O% +4 "core" %  e +2 "storage"(P% +4 "core" % \ 5 + "storage"(Q. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(R(,y +369 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (S& +4 "core" &,| \ +2 "manipulator"&T& +4 "core" & ~ $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&U( +25 "core" ( + "manipulator"&V& +4 "core" & @  +2 "storage"(W& +3 "core" &,| 5\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +93 "core" ' +2 "storage"(Y& +4 "core" &,| V\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +294 "core" ' +2 "storage"([- +3 "core" -'. +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +3 "core" &,j \ + "manipulator"&]& +4 "core" &    +2 .tElbow.seek 4 + "manipulator"&^( +4 "core" ( + "manipulator"&_& +4 "core" & 1  + "storage"(`& +4 "core" &,j W\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&a'c +35 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& + "storage"(d' +6 "core" & o  +2 "manipulator"&e% +4 "core" % z W +2 .tForearm.seek :retract +2 "manipulator"&f' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&g(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&h& +4 "core" &}* Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &}*  Bi +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'? +91 "core" ' +2 "manipulator"&k& +4 "core" &Ӌ( m @[ +2 "manipulator"&l% +4 "core" %6 ~ } +2 "collection"'m& +4 "core" & M K\ +3 "collection"'n& +4 "core" & L M\ +2 .tCC.seek :closed +2 "collection"'o(\\ +4 "core" & K L*\  +8 &6} K L'\ +{ +10 &f~ M L(\ ? +9 &ap M M$\ N +9 &&U L OI\ M +10 &U L M\ M +10 &W M O>\ M +9 &mT N Ln\ L +9 &.V N L(\ M +9 &X M M\ M +10 &U M P\ M +9 & tT O ND\ M +9 &"6U L L\ M +10 &#U L L\ M +9 &%T M N\ M +10 &'{U M NA\ M +9 &)=V N O+\ M +9 &+V J No\ M +10 &,V M M\ M +9 &.V N O.\ M +9 &0ET M Nn\ M +10 &2U M OP\ M +9 &3U O Mn\ M +10 &5T N OB\ M +9 &7LV L Nr\ M +9 &9Y N M+\ M +10 &:V O O\ M +9 &<W O OD\ M +9 &>TW P On\ M +10 &@T O Q5\ M +9 &AZ R RA\ N +9 &Ce R Q)\ O +10 &ETu W T$\ P +9 &G Z X3\ T +10 &H ^ ^I\ W +9 &J a `A\ Y +9 &L@ a `(\ Z +10 &N b c+\ Z +9 &O c `-\ Z +9 &Q d bP\ Z +10 &SE c eL\ [ +9 &U d c&\ \\ +10 &V e dP\ \\ +9 &X c e/\ ] +9 &ZE d f \ ] +10 &[y i fI\ H +9 &\\ h h@\ 'q +10 &]\ * h j8\ X +8 ( +4 "collection"'n& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 + .Hand.open +2 "manipulator"&p1 +3 "core" &]y g iJ\ R +52 1 +3 "manipulator"&q% +4 "core" % 6  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%s& +4 "core" &\  + "manipulator"&t% +4 "core" %  h  +2 "storage"(u% +3 "core" % 3 4 :\ +2 "storage"(v. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(w(,y +24 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" &,{ L K 4\ +2 "manipulator"&y& +4 "core" &ӌ( f @Z + "manipulator"&z% +4 "core" %  *  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&{( +179 "core" ( +2 "manipulator"&|& +4 "core" & 2 + "storage"(}& +4 "core" &,{ y S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +93 "core" ' + "storage"(& +4 "core" &,{ y \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +293 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +4 "core" &,i X b \ +2 "manipulator"&& +4 "core" & S * + .tElbow.seek 4 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & g * + "storage"(& +4 "core" &,i \ +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"( ' +7 "core" & . * +2 "manipulator"& % +3 "core" % ψ  W +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( + "manipulator"&& +5 "core" & K E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & D E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&& +4 "core" & E +2 "manipulator"&% +4 "core" %  + "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" &\  +2 .tPC.seek :closed +2 "processing"%(^ +3 "core" &\  +9 &6y\ +{ +10 &e}\ ? +9 &en\ N +9 &(Q\ N +10 &S\ \ N +9 &R\ N +10 &mT\ N +9 &/T\ N +9 &T\ N +10 &T\ N +9 & uR\ N +9 &"8Q\ N +10 &#T \ O +9 &%R\ N +9 &'}W\ N +10 &)?T\ N +9 &+Q\ N +10 &,U\ O +9 &.T \ N +9 &0GW\ N +10 &2X\ O +9 &3U\ N +9 &5W\ N +10 &7OW\ N +9 &9W\ \ O +10 &:V\ \ N +9 &<T\ N +9 &>VW \ O +10 &@W\ O +9 &A\\\ O +10 &Ci\ Q +9 &EVt\ Q +9 &G\ T +10 &H\ T +9 &J\ U +9 &LS\ U +10 &N\ V +9 &O\ V +9 &Q \ V +10 &SX\ V +9 &U\ V +10 &V\ X +9 &X\ V +9 &Z_\ W +10 &\\ \ W +9 &] \ 8 +9 &^-\ V +10 &^$\ \ 3 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&1 +58 "core" 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + "processing"%& +4 "core" &^#\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +4 "core" %    +2 "storage"(#% +3 "core" % 3 4\  +2 "storage"(". +3 "core" .(,y + "storage"(%& +4 "core" &,i 2 -\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(!(,y +11 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +4 "core" &,{ ' 0 ;\  + "manipulator"&&& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & % E +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(''r + "manipulator"&( +5 "core" ( + "manipulator"&*& +4 "core" & K E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" & G E +2 .tForearm.seek PC +2 "manipulator"&/' +93 "core" ' + .tHand.close + "manipulator"&1/ +58 "core" / +2 .tPC.seek :open +2 "processing"%0( +99 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +39 "core" ' +304 ( + "storage"(+& +4 "core" &,f j !\ % + "manipulator"&4& +4 "core" & e E + "manipulator"&5% +4 "core" %   : A +2 .tForearm.seek :retract +2 "manipulator"&6' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&7( +243 "core" ( + "manipulator"&8& +4 "core" &  1 +2 "storage"(9& +4 "core" &,f : O 1\ % + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +90 "core" ' +2 .tHand.open + "manipulator"&;1 +64 "core" 1 +2 "storage"(<- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(=' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(>' +57 "core" ' +2 #tLights, camera, ACTION! + "storage"(?- +4 "core" -' + "storage"(@& +4 "core" &,f k l z\ % +2 "manipulator"&A& +4 "core" & ` 0 + .tElbow.seek 4 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&C& +3 "core" & 0 +2 "storage"(D& +4 "core" &,f i l f\ % +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"()'" +52 "core" ' + "manipulator"&G& +4 "core" & 0 +2 "storage"(H& +4 "core" &,f Y Y\ % +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&I'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&J, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(F' +27 "core" ' +2 "manipulator"&L% +4 "core" %K A  +2 "storage"(M& +4 "core" &,f c c \ % + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&N'w +14 "core" ' + "manipulator"&O& +5 "core" &  0 + "storage"(P& +43 "core" &,f x\ % +11 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +18 "core" ' + "storage"(K% +5 "core" % \ +2 ."downElevator"SE.seek :down +5 "storage"(S' +98 (T% +4 "core" %s< U Y\ V` + "manipulator"&V% +4 "core" % % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&W' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Y& +4 "core" &,f c I n\ % +2 "collection"',& +4 "core" &]w h gK\ R +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&.% +4 "core" %  9  + "storage"([% +4 "core" % y \  +2 "storage"((. +3 "core" .(,y + "storage"(\\& +4 "core" &,f M\ % +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(](,y +35 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +2 "core" &,{ U Y 7\ +2 "manipulator"&`& +4 "core" & 0 +2 .tElbow.seek 4 +2 "manipulator"&b( +3 "core" ( + "manipulator"&c& +4 "core" &  0 +2 "storage"(e& +4 "core" &,{ y \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +93 "core" ' +2 "storage"(X& +4 "core" &,{ } #\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'r +294 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Z& +3 "core" & S 0 +2 "storage"(a& +3 "core" &,i 7 @ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&k'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&l, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(m- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(^'s +30 "core" ' + "manipulator"&d% +4 "core" %6 5 +2 "storage"(f& +3 "core" &,i [ Z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 299 counts + "manipulator"&2'b +14 "core" ' +2 "manipulator"&p& +4 "core" & 0 +2 "storage"(q& +3 "core" &,i w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(t' +39 "core" ' + "manipulator"&u& +4 "core" &  ] 0 +2 "manipulator"&v% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +156 "core" ( + "manipulator"&y& +4 "core" &ә  :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &ә  8 :1 +2 .tForearm.seek CC +2 "manipulator"&j'? +91 "core" ' + .tHand.close +2 "manipulator"&|/ +58 "core" / + .tCC.seek :open +2 "collection"'}( +451 "core" ( +2 "storage"(R& +4 "core" &,i \  +2 "storage"(& +3 "core" &,i \  +2 "manipulator"&g& +3 "core" &ә  X :1 +2 "manipulator"&r% +4 "core" % A 8 Z + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &,i \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'7 +94 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\ 1 +58 "core" 1 +2 "manipulator"& % +4 "core" % 1 $ + "storage"({& +4 "core" &,i _\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 294 counts + "manipulator"&~'] +14 "core" ' +2 "manipulator"&& +5 "core" & p  + "storage"(& +4 "core" &,i h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(% +4 "core" % r\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %5 \ TZ + "manipulator"&% +4 "core" % : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +5 "core" & I K@\ + "manipulator"& % +4 "core" %   A  +2 "storage"(3% +4 "core" % [\  + "storage"(. +4 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<, y -\  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&#( +3 "core" ( + "manipulator"&"& +4 "core" & S  + "storage"(%& +4 "core" &<, W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'O +97 "core" ' +2 "storage"($& +4 "core" &<, t\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'r +291 "core" ' +2 "storage"(*- +3 "core" -'( +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" &<, \  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&1( +3 "core" ( + "manipulator"&w& +4 "core" & >  +2 "storage"(& +3 "core" &<, X\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('' +7 "core" &    + "manipulator"&+% +4 "core" % ϯ r +2 .tForearm.seek :retract +2 "manipulator"&4' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&5(ӂ +155 "core" ( + "manipulator"&/& +5 "core" ' + &Ӎ% H >J + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &8& +2 "core" &Ӎ% S >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'? +101 "core" ' + "manipulator"&& +5 "core" &ӎ& >I + "manipulator"&;% +4 "core" %? ( +2 "collection"'<& +4 "core" & L L\ +2 "collection"'?& +5 "core" & L L \ +2 .tCC.seek :closed +2 "collection"'@(\\ +4 "core" & K Jn\ +8 &4 J L\ $c +9 &V{ H J&\ 7 +9 &v K K"\ K +10 &T M L\\\ M +9 &gW K M_\ L +9 &)T K M\ L +10 &X L N%\ M +9 &X M L\ M +10 &nU L L-\ M +9 &1T J Mh\ L +9 &S K K$\ L +10 &!T N K%\ L +9 &#wU K NH\ L +9 &%8Q L L\ M +10 &&Q M K3\ M +9 &(R K M'\ M +10 &*~R M M\ M +9 &,AR N M\ L +9 &.T K N,\ M +10 &/V P N'\ M +9 &1U L Ko\ M +9 &3IT M N\ L +10 &5 T K M-\ L +9 &6S O N&\ M +9 &8T O Nj\ L +10 &:QT L M\ L +9 &<U O MB\ L +10 &=U K N\ L +9 &?U P P\ M +9 &AWY O O.\ M +10 &C\\ N R5\ N +9 &Dd S S.\ O +9 &Fu S R1\ P +10 &HM V UO\ S +9 &J X XI\ W +10 &K Y Z!\ Z +9 &M~ W X+\ Z +9 &OA X XS\ Z +10 &Q Z XR\ [\ +9 &R Y YP\ [ +10 &T X YQ\ \\ +9 &VB X ZF\ \\ +9 &X Y Z@\ \\ +10 &Y [ YO\ ^ +9 &[ \\ ZI\ K +9 &\\9 Z [H\ - +10 &\\ [ ]?\ V +5 ( +2 "collection"'?& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.30 + .Hand.open + "manipulator"&A1 +4 "core" &\\p \\ [@\ V +59 1 +2 "manipulator"&C% +4 "core" % ? # ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +94 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%6& +4 "core" &\ + "manipulator"&G% +4 "core" %  .  +2 "storage"(H% +3 "core" % U X O\  +2 "storage"(L. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(M(<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<, #  3\  +2 "manipulator"&O& +4 "core" &ӎ%  >I + "manipulator"&P% +4 "core" %  q  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&=( +165 "core" ( + "manipulator"&K& +4 "core" & i  +2 "storage"(7& +3 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&:'O +93 "core" ' + "storage"(>& +5 "core" &<, \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'r +304 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" &<, x y `\  +2 "manipulator"&B& +4 "core" &  U  +2 .tElbow.seek 5 +2 "manipulator"&)( +3 "core" ( + "manipulator"&I& +4 "core" & K  +2 "storage"(Y& +3 "core" &<, \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&N'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +2 "storage"([' +7 "core" & h  + "manipulator"&(% +4 "core" % ϱ # +2 .tForearm.seek :retract +2 "manipulator"&\\' +94 "core" ' + .tElbow.seek PC +2 "manipulator"&F( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&_& +4 "core" & - E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" & % E +42 .tForearm.reconfigure :tight +13 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&c' +94 "core" ' + "manipulator"&e& +5 "core" & ' E + "manipulator"&Q% +4 "core" %   p +2 "processing"%X& +4 "core" &\ +2 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed + "processing"%!(^ +4 "core" &\  +9 &/u\ *x +9 &b\ > +9 &jp\ N +10 &*R\ N +9 &T \ N +9 &Q\ N +10 &qQ\ N +9 &3Q\ N +10 &Q\ N +9 &R \ N +9 & yR\ N +10 &";Q\ N +9 &#R\ N +9 &%Q\ \ N +10 &'R \ N +9 &)CR\ N +10 &+R \ N +9 &,R\ N +9 &.R\ N +10 &0JR\ N +9 &2 P \ N +9 &3S\ N +10 &5O\ N +9 &7SS\ N +10 &9T\ N +9 &:T\ N +9 &<T\ N +10 &>ZT\ N +9 &@S\ O +9 &A]\ O +10 &Ch\ Q +9 &EVy\ R +10 &G\ T +9 &H\ \ T +9 &J\ U +10 &LW\ U +9 &N\ U +9 &O\ V +10 &Q\ V +9 &S[\ V +9 &U\ V +10 &V\ V +9 &X\ V +10 &Zb\ W +9 &\\$\ W +9 &]\ 6 +10 &^+g\ ] +9 &^-\ 6 +2 ( +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"&J1 +58 "core" 1 +2 "manipulator"&W% +4 "core" %  E p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' + "processing"%Z& +5 "core" &^(\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&a% +3 "core" %  C  +2 "storage"(m% +4 "core" % J F 3\  + "storage"(d. +3 "core" .(<- +2 "storage"(f& +3 "core" &<, H E )\  +3 "storage"(p& +4 "manipulator"&q& +3 "core" &<, 8 J \ \  +2 &  E +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&u( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'r +3 "core" ( + "manipulator"&U& +4 "core" & \\ E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" & & E +2 .tForearm.seek PC +2 "manipulator"&h' +97 "core" ' + .tHand.close +2 "manipulator"&k/ +52 "core" / +2 .tPC.seek :open + "processing"%2( +104 "core" ' +2 "storage"(^- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'1 +39 "core" ' +299 ( + "storage"(z& +4 "core" &<, $\  +2 "manipulator"&s& +4 "core" & 2 E + "manipulator"&l% +4 "core" %  ,  + .tForearm.seek :retract +2 "manipulator"&|' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&n( +249 "core" ( +2 "manipulator"&o& +4 "core" & 0 6 +2 "storage"(R& +3 "core" &<, { +\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +98 "core" ' + .tHand.open + "manipulator"&g1 +63 "core" 1 +2 "storage"(r- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +4 "core" -' + "storage"(x& +4 "core" &<, \ { +2 "manipulator"&\ & +3 "core" &   5 +2 .tElbow.seek 5 +2 "manipulator"& ( +28 "core" ( +2 "manipulator"&{& +4 "core" & + s + "storage"(& +4 "core" &<, K\ } +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +52 "core" ' + "manipulator"&& +5 "core" & s + "storage"(& +4 "core" &<, s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&, +61 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"& % +4 "core" %Π 9 + "storage"(~& +4 "core" &<, K\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"& ' +15 "core" ' +2 "manipulator"&3& +4 "core" & s +2 "storage"(& +4 "core" &<, K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +15 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (]% +3 "core" %{= b _\ U_ + "manipulator"&% +4 "core" %M  W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +96 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ("& +3 "core" &<, ` m \  +2 "collection"'%& +4 "core" &\\o \\ [W\ V +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&$% +5 "core" %    + "storage"( % +4 "core" % \  + "storage"(. +3 "core" .(<- +2 "storage"(*& +3 "core" &<, \  +2 "storage"(-& +4 "core" &<, \  + "manipulator"&& +4 "core" & x s +2 .tElbow.seek 5 +2 "manipulator"&w( +3 "core" ( + "manipulator"&& +4 "core" &  s +2 "storage"(& +4 "core" &<, \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +89 "core" ' +2 "storage"(+& +4 "core" &<, Y\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" & 0 s + "storage"(8& +4 "core" &<, { x }\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&&'΍ +22 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(;'~ +33 "core" ' + "manipulator"&<% +4 "core" %Λ +2 "storage"(1& +3 "core" &<, \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 314 counts + "manipulator"&'' +15 "core" ' +2 "manipulator"&4& +4 "core" & x s + "storage"(}& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A'O +15 "core" ' + .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(C' +46 "core" ' +2 "manipulator"&6& +4 "core" & q s +2 "manipulator"&G% +4 "core" %F + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&L(ӂ +158 "core" ( + "manipulator"&?& +4 "core" &Ӄ* 4 Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӄ* ? Bg +2 .tForearm.seek CC + "manipulator"&O'? +89 "core" ' + .tHand.close +2 "manipulator"&P/ +55 "core" / + .tCC.seek :open +2 "collection"'9( +448 "core" ( + "storage"(K& +4 "core" &<, \\\  +2 "storage"(7& +3 "core" &<, \  +2 "manipulator"&& +4 "core" &ӝ% >M + "manipulator"&>% +4 "core" % R $ i +2 .tForearm.seek :retract + "manipulator"&5' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&D( +164 "core" ( +2 "manipulator"&V& +4 "core" & I  + "storage"(E& +4 "core" &<, \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&B'΍ +95 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&Y1 +57 "core" 1 +2 "manipulator"&,% +4 "core" % Γ ` + "storage"(.& +4 "core" &<, \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 306 counts + "manipulator"&('Ͽ +16 "core" ' +2 "manipulator"&=& +4 "core" &  2  + "storage"(:& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&T'O +15 "core" ' + "storage"(N% +5 "core" % D\ +2 ."downElevator"SE.seek :down +3 "storage"(_' +99 (`% +3 "core" %8 \ TZ + "manipulator"&)% +4 "core" %Q  9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'Q& +4 "core" & L LS\ +2 "manipulator"&X% +3 "core" %  m  +2 "storage"([% +4 "core" % \  +2 "storage"(\\. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(0(K +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (J& +2 "core" &K \  +2 "manipulator"&W& +4 "core" &    +2 .tElbow.seek 6 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&a& +4 "core" &  c  +2 "storage"(m& +3 "core" &K *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +95 "core" ' + "storage"(f& +5 "core" &K E\  +43 .tSE.reconfigure :pick +13 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'r +291 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" &K E\  +2 "manipulator"&U& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&b( +3 "core" ( + "manipulator"&c& +4 "core" & \  +2 "storage"(k& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&^'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&F/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& + "storage"(!' +7 "core" &   +2 "manipulator"&v% +4 "core" % ϗ  +2 .tForearm.seek :retract + "manipulator"&z' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&s(ӂ +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&l& +4 "core" &y* ; Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &y*  Bl +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&o'? +102 "core" ' +2 "manipulator"&R& +4 "core" &Ӝ% O >I +2 "manipulator"&u% +4 "core" %Q v +2 "collection"'g& +4 "core" & O K\ +2 "collection"'r& +6 "core" & N LQ\ +2 .tCC.seek :closed +3 "collection"'j(\\ +3 "core" & P L?\ +6 & N MR\ : +9 &PLx N M\ 0 +9 &s| O LL\ E +10 &'Y O L \ M +9 &S O M&\ L +9 &R O L%\ L +10 &nW O M\ L +9 &/U N OA\ M +10 &T P L'\ L +9 &Q O N\ L +9 &vQ N NB\ L +10 &!7T O N(\ M +9 &"R O O\ L +9 &$Q M N+\ L +10 &&}U N L&\ M +9 &(@T N O \ L +9 &*R O N\ L +10 &+U P M\ L +9 &-V O M+\ L +10 &/GU O N\ M +9 &1\ S O K4\ L +9 &2R P N3\ L +10 &4R P N%\ L +9 &6PV O N$\ L +10 &8U Q Nb\ M +9 &9U Q PZ\ M +9 &;Q O Oc\ L +10 &=WU Q P\ M +9 &?W P O\ L +9 &@X P P\ L +10 &BX R P\ L +9 &D\\^ T Q6\ N +10 &Fg V Tb\ O +9 &Gz X T?\ Q +9 &I X X@\ U +10 &KF _ ZA\ X +9 &M ^ \\=\ Y +9 &N ` ^=\ Z +10 &P _ ]?\ [ +9 &RI b `8\ Z +10 &T a _@\ \\ +9 &U ` `H\ \\ +9 &W b _D\ ] +10 &YG b a?\ ] +9 &[ d c=\ ^ +9 &\\aJ c aG\ 4 +10 &\\ b cA\ M +5 ( +2 "collection"'r& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.22 + .Hand.open + "manipulator"&x1 +4 "core" &\\b c cH\ M +56 1 + "manipulator"&\ % +4 "core" % Q 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|' +95 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp + "processing"%{& +5 "core" &\ + "manipulator"&% +4 "core" % ! + & +2 "storage"(% +3 "core" % c `\  +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(y(K +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K( ' % F\  +2 "manipulator"& & +4 "core" &Ӝ% 2 >I + "manipulator"&~% +4 "core" % ! ! & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&3( +158 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(n& +4 "core" &K ~ { 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \  +2 "manipulator"&& +4 "core" &  Z  + .tElbow.seek 6 +2 "manipulator"& ( +20 "core" ( +2 "manipulator"&& +4 "core" &  k +2 "storage"(& +3 "core" &K  \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&"'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&%& +3 "storage"($' +7 "core" & E A +2 "manipulator"& % +4 "core" % υ +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&*( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&& +4 "core" & $ A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" &  A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +89 "core" ' + "manipulator"&& +4 "core" & A +2 "manipulator"&% +4 "core" % S q +2 "processing"%t& +4 "core" &\ +2 "processing"%+& +5 "core" & \ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\ \  +9 &0u\ *x +9 &c}\ > +10 &nn \ N +9 &0N\ N +9 &Q\ N +10 &Q\ N +9 &wQ\ N +10 &9Q\ N +9 &O\ N +9 &Q\ N +10 & ~Q\ N +9 &"@Q\ N +9 &$Q\ N +10 &%Q\ N +9 &'R\ N +10 &)GQ\ N +9 &+ Q\ N +9 &,R\ N +10 &.Q\ N +9 &0NS\ O +9 &2O\ N +10 &3R\ O +9 &5R\ N +9 &7WO\ N +10 &9R\ O +9 &:R\ N +10 &<O\ N +9 &>^T\ O +9 &@!Q\ N +10 &A\\\ O +9 &Ce\ Q +9 &E^q\ Q +10 &G\ T +9 &H\ T +10 &J\ T +9 &L]\ T +9 &N\ V +10 &O\ U +9 &Q\ W +10 &S]\ W +9 &U \ W +9 &V\ W +10 &X\ W +9 &Zg\ V +9 &\\(\ W +10 &]~y\ < +9 &^/\ Y +9 &^1\ 8 +3 ( +2 "processing"%+& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open +2 "manipulator"&1 +59 "core" 1 + "manipulator"& % +4 "core" %  q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 "processing"%/& +4 "core" &^0\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&8% +4 "core" %  F  + "storage"(% +4 "core" % T T 1\  +2 "storage"(<. +3 "core" .(K + "storage"(1& +4 "core" &K T U N\  + "storage"(4& +5 "manipulator"&}& +3 "core" &K _ U \  +2 & L A +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(6'r + "manipulator"&G( +5 "core" ( + "manipulator"&& +4 "core" & N A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &  \\ A +2 .tForearm.seek PC +2 "manipulator"&#' +97 "core" ' + .tHand.close + "manipulator"&&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%'( +84 "core" ' +2 "storage"(;- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'1 +39 "core" ' +318 ( + "storage"(& +4 "core" &K \  +2 "manipulator"&A& +3 "core" & B A +2 "manipulator"&% +3 "core" %  @  +2 .tForearm.seek :retract +2 "manipulator"&P' +90 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&H( +242 "core" ( + "manipulator"&@& +4 "core" & \ 4 +2 "storage"(K& +4 "core" &K y } Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +93 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(>- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(V' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(E' +53 "core" ' +3 #tLights, camera, ACTION! + "storage"(O- +4 "core" -' + "storage"(L& +4 "core" &K C C\  + "manipulator"&Y& +4 "core" & 4 +2 .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( + "manipulator"&.& +4 "core" & K 4 +2 "storage"(=& +4 "core" &K D D 5\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&:' +12 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(N'" +57 "core" ' + "manipulator"&5& +4 "core" & 4 +2 "storage"(`& +4 "core" &K x #\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&)'< +22 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(B' +29 "core" ' + "manipulator"&Q% +4 "core" %=  +2 "storage"(X& +4 "core" &K { X\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 301 counts + "manipulator"&('i +15 "core" ' + "manipulator"&[& +5 "core" &  4 + "storage"(\\& +4 "core" &K w\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&C' +15 "core" ' +2 "storage"(T% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(_' +99 (M% +3 "core" %u= Y U _\ Va + "manipulator"&J% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&W' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (a& +3 "core" &K c 6 =\  +2 "collection"'m& +4 "core" &\\b _ d@\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&f% +4 "core" %  ?  +2 "storage"(I% +3 "core" %  "\  +2 "storage"(e. +3 "core" .(K + "storage"(p& +4 "core" &K y \  +2 "storage"(S& +3 "core" &K { +\  +2 "manipulator"&U& +4 "core" &  4 +44 .tElbow.seek 6 +11 "manipulator"&c( +3 "core" ( +2 "manipulator"&k& +4 "core" & 4 + "storage"(F& +4 "core" &K } 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&i' +94 "core" ' +2 "storage"(v& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'r +307 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +2 "core" & 4 +2 "storage"(h& +4 "core" &K @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&q'< +22 "core" ' + .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(R- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate + "storage"(u'| +29 "core" ' + "manipulator"&g% +4 "core" %8 d +2 "storage"(b& +3 "core" &K ~ L\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 296 counts + "manipulator"&!'d +14 "core" ' +2 "manipulator"&z& +4 "core" &  4 + "storage"(9& +4 "core" &K } ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&x' +15 "core" ' + .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(\ ' +46 "core" ' +2 "manipulator"&{& +4 "core" & 4 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +150 "core" ( + "manipulator"&r& +4 "core" &~+ _ Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &~+ H Cp +2 .tForearm.seek CC +2 "manipulator"& '? +96 "core" ' + .tHand.close +2 "manipulator"&~/ +61 "core" / +2 .tCC.seek :open + "collection"'o( +448 "core" ( +2 "storage"(& +4 "core" &K \  +2 "storage"(n& +4 "core" &K 0\  + "manipulator"&0& +4 "core" &ӟ% >O + "manipulator"&% +4 "core" % D t  +2 .tForearm.seek :retract +2 "manipulator"&s' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&|( +169 "core" ( + "manipulator"&]& +5 "core" &  + "storage"(& +4 "core" &K {\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'< +93 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +65 "core" 1 + "manipulator"& % +5 "core" % B  U + "storage"(%& +4 "core" &K =\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 306 counts + "manipulator"& 'n +14 "core" ' +2 "manipulator"&3& +4 "core" & }  +2 "storage"(& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"("% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (-% +3 "core" %9 #\ U\\ + "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & M L\\\ +2 "manipulator"&t% +4 "core" %  m  + "storage"($% +4 "core" % \ \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(2(,y +674 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &,| a\ +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&/( +3 "core" ( + "manipulator"&8& +4 "core" & B  + "storage"(& +4 "core" &,| C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&<' +97 "core" ' +2 "storage"(1& +4 "core" &,| \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'r +299 "core" ' + "storage"(4- +4 "core" -'. + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +3 "core" &,i \ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&w( +4 "core" ( + "manipulator"&& +3 "core" &  +2 "storage"(&& +5 "core" &,i s\ + .tForearm.seek 4 + 300 counts +2 "manipulator"&;'c +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" & k  +2 "manipulator"&6% +3 "core" % ς  3 +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&A(ӂ +158 "core" ( +2 "manipulator"&& +4 "core" ' + &ӡ  :+ + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &#& +3 "core" &ӡ  : :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'? +91 "core" ' +2 "manipulator"&K& +4 "core" &ӡ!  :+ +2 "manipulator"&G% +4 "core" %: 8 v + "collection"'& +4 "core" & L L.\ +3 "collection"'>& +4 "core" & L LB\ +2 .tCC.seek :closed +2 "collection"'O(\\ +4 "core" & J M6\  +9 &4y L LW\ *y +10 &f{ K L-\ > +9 &n L L&\ M +10 &RR M N\ L +9 &T M MB\ L +9 &T K M'\ M +10 &S M M$\ L +9 &YT N L"\ L +10 &U N M\ L +9 &Q N OM\ L +9 & S N M$\ L +10 &"bQ O N\ L +9 &$#T M M\ L +9 &%U L N+\ L +10 &'T M L+\ L +9 &)hT N L-\ M +9 &++T O NA\ L +10 &,V O O;\ L +9 &.T N PY\ L +10 &0qV N L_\ L +9 &23T M O_\ L +9 &3V N OC\ L +10 &5T M Ph\ M +9 &7yS N M^\ L +9 &9;R L N\\\ L +10 &:U O OB\ L +9 &<U O OJ\ M +10 &>U O Q[\ M +9 &@BU P QZ\ M +9 &BZ T S]\ M +10 &Ce U R_\ N +9 &E}s S UC\ P +9 &G7 [ WA\ S +10 &H ` ^6\ W +9 &J c `;\ Y +10 &Lj c b9\ Z +9 &N+ b c^\ Z +9 &O c dC\ Z +10 &Q c d:\ [ +9 &Sk f c7\ \\ +9 &U, g fX\ \\ +10 &V h f:\ ] +9 &X g g6\ ] +9 &Zm g f3\ ^ +10 &\\y h g8\ 8 +9 &\\) j j5\ 's +9 ( +3 "collection"'>& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + .Hand.open + "manipulator"&L1 +4 "core" &\\ k i(\ ^ +59 1 + "manipulator"&Y% +4 "core" % :  v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%=& +4 "core" &\ +2 "manipulator"&P% +3 "core" %   +2 "storage"(5% +4 "core" % 3 3\  + "storage"(`. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(Q(,y +15 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &,{  \  +2 "manipulator"&X& +4 "core" &ӡ  ' :+ + "manipulator"&[% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&V( +160 "core" ( + "manipulator"&\\& +4 "core" & \  +2 "storage"(T& +3 "core" &,{ i y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +96 "core" ' +2 "storage"(7& +4 "core" &,{ y 3\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'r +296 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (J& +3 "core" &,h V U\ # + "manipulator"&:& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&,( +3 "core" ( +2 "manipulator"&N& +3 "core" & =  +2 "storage"()& +3 "core" &,h V \\\ # +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&a'c +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&(/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&m& +3 "storage"(f' +5 "core" & $  +2 "manipulator"&I% +5 "core" % ϖ + .tForearm.seek :retract +2 "manipulator"&e' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&B( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&p& +5 "core" & 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" & ? 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +44 "manipulator"&U' +99 "core" ' + "manipulator"&k& +5 "core" & 0 + "manipulator"&F% +4 "core" % ; w +2 "processing"%C& +4 "core" &\ +2 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%_(^ +5 "core" &\ +7 & . \ #a +9 &U{\ 7 +9 &u\ L +10 &Q\ N +9 &ZQ\ N +9 &O\ M +10 &Q\ N +9 &O\ N +10 &cP\ N +9 &$O\ N +9 &Q\ N +10 &!P\ N +9 &#kQ\ N +9 &%-P\ N +10 &&Q\ \ N +9 &(Q\ N +10 &*sP\ N +9 &,4Q \ N +9 &-Q\ N +10 &/R\ N +9 &1yQ\ N +9 &3;P\ N +10 &4R\ O +9 &6R\ N +10 &8R\ N +9 &:DO\ N +9 &<R\ N +10 &=U\ N +9 &?U\ N +9 &AKQ\ N +10 &C`\ P +9 &Df\ Q +10 &Fv\ S +9 &H@\ U +9 &J\ U +10 &K\ U +9 &M\ U +9 &OF\ U +10 &Q\ W +9 &R\ V +10 &T\ W +9 &VL\ V +9 &X \ V +10 &Y\ V +9 &[\ V +9 &]R\ H +10 &^xB{\ $l +9 &^8\ 3 +6 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&D1 +3 "core" &^#\ 3 +55 1 + "manipulator"&W% +4 "core" %  S w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +2 "processing"%l& +4 "core" &^#\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&h% +4 "core" %  P  + "storage"(R% +4 "core" % C B \  + "storage"(g. +3 "core" .(,y +2 "storage"(b& +4 "core" &,h C C \ # + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(z(,y +51 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +5 "manipulator"&{& + "core" &,} .  O\ +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" & _ 0 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"(i'r +5 "core" ( + "manipulator"&c& +4 "core" & M 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" & 4 0 +2 .tForearm.seek PC +2 "manipulator"&q' +91 "core" ' +2 .tHand.close +2 "manipulator"&!/ +53 "core" / + .tPC.seek :open +2 "processing"%u( +104 "core" ' + "storage"(r- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +51 "core" ' +288 ( +2 "storage"(x& +4 "core" &,e ` [\  + "manipulator"&^& +4 "core" & f 0 +2 "manipulator"&~% +4 "core" %  ) P +2 .tForearm.seek :retract + "manipulator"&' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&j( +249 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(n& +4 "core" &,e 5 9 &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&0' +94 "core" ' + .tHand.open +2 "manipulator"&1 +52 "core" 1 + "storage"(]- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +58 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &,e V\  +2 "manipulator"& & +4 "core" & + .tElbow.seek 4 +2 "manipulator"&%( +8 "core" ( + "manipulator"&3& +5 "core" & ) + "storage"(& +4 "core" &,e E X +\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(s'" +57 "core" ' +2 "manipulator"&-& +4 "core" & + "storage"( & +4 "core" &,e Z U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&|'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&t% +4 "core" %G  A +2 "storage"( & +4 "core" &,e c c =\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&$'s +15 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(\ & +4 "core" &,e y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(y' +98 (% +4 "core" %; Z Z \ U^ + "manipulator"& % +4 "core" % K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8' +89 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,e Q ; \  + "collection"'1& +4 "core" &\\ h i8\ ^ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  \ +2 "storage"(% +3 "core" % Y [\  +2 "storage"(4. +3 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(+(,y +21 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,} Y Z\ +2 "manipulator"&& +4 "core" & +2 .tElbow.seek 4 +2 "manipulator"&&( +7 "core" ( + "manipulator"&*& +4 "core" &   +2 "storage"(& +4 "core" &,} X Y "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +96 "core" ' +2 "storage"(/& +4 "core" &,} z v\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'r +308 "core" ' +3 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&#& +3 "core" &  +2 "storage"(}& +3 "core" &,h P S /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&;'7 +13 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(G- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('r +33 "core" ' + "manipulator"&w% +4 "core" %D Q D +2 "storage"(& +4 "core" &,h [ Y 4\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&'p +15 "core" ' + "manipulator"&o& +4 "core" &  +2 "storage"(L& +3 "core" &,h a \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(=' +44 "core" ' + "manipulator"&P& +5 "core" & '  + "manipulator"&5% +4 "core" % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&`' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +156 "core" ( + "manipulator"&?& +4 "core" &ӈ- D Dw + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &ӈ-  Dw +2 .tForearm.seek CC + "manipulator"&['? +93 "core" ' +2 .tHand.close + "manipulator"&@/ +61 "core" / +2 .tCC.seek :open +2 "collection"'\\( +448 "core" ( +2 "storage"(T& +4 "core" &,h R\  + "storage"(2& +4 "core" &,h L\  +2 "manipulator"&7& +3 "core" &ӫ& m ?T +2 "manipulator"&A% +4 "core" % : O B + .tForearm.seek :retract +44 "manipulator"&.' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&M( +164 "core" ( + "manipulator"&J& +4 "core" & =  +2 "storage"(:& +3 "core" &,h \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&N'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&(1 +57 "core" 1 +3 "manipulator"&m% +4 "core" % , +2 "storage"(I& +3 "core" &,h \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 289 counts + "manipulator"&V'X +14 "core" ' +2 "manipulator"&H& +4 "core" &  +2 "storage"(E& +3 "core" &,h h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +15 "core" ' + "storage"(p% +5 "core" % ?\ +2 ."downElevator"SE.seek :down +3 "storage"(S' +99 (,% +3 "core" %7 \ TZ +2 "manipulator"&k% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'C& +5 "core" & L L;\ + "manipulator"&f% +4 "core" %   1  +2 "storage"(e% +4 "core" % \  + "storage"('. +4 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(D(<- +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +2 "core" &<- z\  +2 "manipulator"&l& +3 "core" &  s  +2 .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( + "manipulator"&R& +4 "core" & T  + "storage"(g& +4 "core" &<- \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&b'O +94 "core" ' + "storage"(v& +4 "core" &<- I\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'r +295 "core" ' + "storage"({- +4 "core" -'' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +2 "core" &<- \\\  +2 "manipulator"&Z& +4 "core" &  r  + .tElbow.seek 5 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&!& +4 "core" & b  + "storage"(Q& +4 "core" &<- Z\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&r'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&B/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& + "storage"(_' +7 "core" &   +2 "manipulator"&i% +3 "core" % Ϸ ^ +2 .tForearm.seek :retract +2 "manipulator"&x' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^(ӂ +152 "core" ( +2 "manipulator"&~& +5 "core" ' + &x+ U Cr + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&q& +5 "core" &x+ Cr +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' + "manipulator"&n& +5 "core" &x, : Cr + "manipulator"&% +4 "core" %D U w +2 "collection"'& +4 "core" & M MI\ +2 "collection"']& +5 "core" & L M7\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & J KF\ +6 &; M J;\ %g +10 &Wu L KH\ 7 +9 &w L L=\ L +9 &R K L'\ L +10 &T J L\ L +9 &IT J N&\ L +9 & T L K$\ L +10 &T K O;\ K +9 &T N KQ\ L +10 &PT K M[\ L +9 & S I K@\ L +9 &!S L M=\ L +10 &#S L MX\ L +9 &%YS M LZ\ L +9 &'R L LV\ L +10 &(S N LT\ L +9 &*T M M]\ L +10 &,`T O M^\ L +9 &."T O M[\ L +9 &/S L N\ L +10 &1T N ME\ L +9 &3gT M L\\\ L +9 &5)S M M\\\ L +10 &6T L KV\ L +9 &8U L PV\ L +10 &:pT O M^\ L +9 &<1U M N=\ L +9 &=T M OO\ M +10 &?T O NT\ L +9 &AvU P PZ\ M +9 &C7\\ O PG\ M +10 &Dd P RA\ N +9 &Fp R S`\ P +10 &Hk U RB\ S +9 &J" Z V?\ W +9 &K X Z:\ Y +10 &M X [:\ Z +9 &Oa Y Z=\ Y +9 &Q Y Z3\ [ +10 &R Z X7\ [\ +9 &T Y Y:\ \\ +9 &Vb Z Z4\ \\ +10 &X! [ ]6\ ] +9 &Y [ [5\ ] +10 &[ ] [1\ K +9 &\\: [ [4\ , +10 &\\j Z \\2\ R +2 ( + "collection"']& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 + .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"& % +4 "core" % D w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %  =  + "storage"(-% +4 "core" % [ Z 2\  + "storage"( . +3 "core" .(<- +2 "storage"(t& +3 "core" &<- Y T \  +2 "storage"( & +4 "core" &<- V T c\  + "manipulator"&& +4 "core" &y+ S Cq +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\ ( +165 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &<- L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&j'O +91 "core" ' +2 "storage"(0& +4 "core" &<- \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ( & +3 "core" &<- } f\  +2 "manipulator"&"& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&s& +3 "core" & n  +2 "storage"(|& +3 "core" &<- \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&$/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& + "storage"(' +7 "core" & )  +2 "manipulator"&% +4 "core" % ϸ + .tForearm.seek :retract +2 "manipulator"&4' +95 "core" ' + .tElbow.seek PC +2 "manipulator"&( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&& +4 "core" & : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & k : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&*' +95 "core" ' + "manipulator"&& +4 "core" & 1 9 +2 "manipulator"&% +4 "core" %  n +2 "processing"%/& +3 "core" &\ +3 "processing"%y& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%z(^ +4 "core" &\ \ +8 &/r\ \ *w +10 &c}\ > +9 &nn\ N +9 &1N\ N +10 &S\ N +9 &O\ N +9 &xO\ M +10 &:P\ M +9 &Q\ N +10 &S\ N +9 & Q\ N +9 &"AS\ N +10 &$O\ N +9 &%P \ N +9 &'P\ \ M +10 &)IP\ N +9 &+ Q\ M +9 &,Q\ \ N +10 &.N \ N +9 &0PQ\ N +10 &2Q \ N +9 &3R\ N +9 &5R\ N +10 &7XU\ N +9 &9R\ N +10 &:R\ N +9 &<Q\ N +9 &>`T\ N +10 &@ T\ O +9 &AZ\ O +9 &Ch\ Q +10 &E]v\ R +9 &G\ T +9 &H\ U +10 &J\ U +9 &L\\\ U +10 &N\ U +9 &O\ U +9 &Q\ V +10 &Sa\ V +9 &U#\ V +9 &V\ U +10 &X\ V +9 &Zh\ V +10 &\\+\ V +9 &]~\ 7 +9 &^.~\ W +10 &^$\ 3 +2 ( + "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open +2 "manipulator"&1 +55 "core" 1 + "manipulator"&8% +4 "core" %  < n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + "processing"%#& +4 "core" &^#\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&}% +4 "core" %   + "storage"(G% +4 "core" % G X \  +2 "storage"(w. +2 "core" .(<- +2 "storage"(& +3 "core" &<- X R\  +3 "storage"(o& +3 "manipulator"&L& +4 "core" &<- B D i\  +2 &  9 +53 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&P( +2 ."raiseStack"SE.seek :beamBreak +3 "storage"(5'r +2 "core" ( +2 "manipulator"&6& +4 "core" & O 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" & 9 +2 .tForearm.seek PC +2 "manipulator"&<' +94 "core" ' +2 .tHand.close + "manipulator"&;/ +63 "core" / +2 .tPC.seek :open + "processing"%( +92 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(?'1 +48 "core" ' +303 ( + "storage"(X& +4 "core" &<-  \  +2 "manipulator"&Y& +4 "core" & , 9 + "manipulator"&K% +4 "core" %  i 7 +2 .tForearm.seek :retract +2 "manipulator"&@' +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&`( +245 "core" ( + "manipulator"&O& +4 "core" &  % +2 "storage"(T& +4 "core" &<- Z Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2'O +98 "core" ' + .tHand.open + "manipulator"&71 +63 "core" 1 +2 "storage"(A- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"([' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(J' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' + "storage"(>& +4 "core" &<- \ r +2 "manipulator"&(& +4 "core" &  r % + .tElbow.seek 5 +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&I& +3 "core" & C % +2 "storage"(H& +4 "core" &<- \ r +2 .tForearm.seek 5 + 450 counts + "manipulator"&E'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(p'" +58 "core" ' + "manipulator"&.& +5 "core" & _ % + "storage"(,& +4 "core" &<- z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&k'΍ +18 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(N' +24 "core" ' +2 "manipulator"&C% +4 "core" %Ζ  +2 "storage"(f& +4 "core" &<- Q\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts + "manipulator"&V' +16 "core" ' + "manipulator"&e& +4 "core" &  $ +2 "storage"('& +4 "core" &<- \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +15 "core" ' +2 "storage"(a% +4 "core" % W\ +3 ."downElevator"SE.seek :down +3 "storage"(S' +99 (+% +3 "core" %< b b\ U^ +2 "manipulator"&W% +4 "core" %J E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (R& +4 "core" &<- H T c\  +2 "collection"'g& +4 "core" &\\h Z \\8\ R + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&v% +4 "core" %   ]  +2 "storage"()% +3 "core" % \  +2 "storage"(F. +3 "core" .(<- + "storage"({& +4 "core" &<- { P\  +2 "storage"(c& +3 "core" &<- } N\  +2 "manipulator"&Z& +4 "core" &  $ + .tElbow.seek 5 +2 "manipulator"&!( +3 "core" ( + "manipulator"&Q& +4 "core" & E $ +2 "storage"(B& +3 "core" &<- k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&d'O +93 "core" ' + "storage"(i& +4 "core" &<- L\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'r +298 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" &  $ + "storage"(q& +4 "core" &<- \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&9'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(n- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"('} +32 "core" ' +2 "manipulator"&% +4 "core" %Ο + "storage"(U& +4 "core" &<- i\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts + "manipulator"&_' +17 "core" ' + "manipulator"&x& +4 "core" &   $ +2 "storage"(\\& +4 "core" &<- |\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +15 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"( ' +38 "core" ' + "manipulator"&& +5 "core" &  $ + "manipulator"&% +4 "core" %M ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +152 "core" ( +2 "manipulator"&t& +4 "core" &Ӊ)  Ac + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +2 "core" &Ӊ) U Ac +2 .tForearm.seek CC +2 "manipulator"& '? +95 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(& +4 "core" &<- \  +2 "storage"(& +3 "core" &<- \  +2 "manipulator"&& +4 "core" &Ӛ& ?R + "manipulator"&0% +4 "core" % 9  + + .tForearm.seek :retract +2 "manipulator"&^' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&3( +167 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"( & +4 "core" &<- \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&"'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +53 "core" 1 +2 "manipulator"&$% +4 "core" % Ρ  +2 "storage"(1& +3 "core" &<- !\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&' +15 "core" ' +3 "manipulator"&\ & +4 "core" &  + "storage"(j& +4 "core" &<- \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +16 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +4 "core" %; \ U[ + "manipulator"&%% +5 "core" %O T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" & J K@\ +2 "manipulator"&/% +4 "core" %  <  + "storage"(% +5 "core" % \  + "storage"(4. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(u(K +378 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +52 "core" &K C\ +3 "manipulator"&8& +3 "core" & y  +2 .tElbow.seek 6 +2 "manipulator"&#( +3 "core" ( + "manipulator"&}& +4 "core" & )  +2 "storage"(G& +3 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&w' +92 "core" ' + "storage"(& +5 "core" &K D\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'r +293 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &K \ +2 "manipulator"&6& +4 "core" &  +  + .tElbow.seek 6 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&*& +4 "core" &  + "storage"(;& +4 "core" &K \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(z' +7 "core" & _  +2 "manipulator"&5% +4 "core" % Ϛ  | +2 .tForearm.seek :retract + "manipulator"&X' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&K& +4 "core" &ӏ(  @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &ӏ( @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'? +91 "core" ' +2 "manipulator"&T& +5 "core" &Ӑ( @Z + "manipulator"&P% +4 "core" %?  w +2 "collection"'7& +4 "core" & L MO\ +2 "collection"'A& +5 "core" & L LU\ +2 .tCC.seek :closed +3 "collection"':(\\ +3 "core" & L MN\ +7 &; L KP\ %f +9 &Ww L MH\ 7 +9 &v K M(\ L +10 &R N M$\ L +9 &T K K'\ L +9 &CS M KD\ L +10 &S M OH\ K +9 &T L N8\ L +10 &S M L5\ K +9 &JS M N6\ L +9 & R O LC\ L +10 &!Q K N@\ L +9 &#T M NN\ L +9 &%SR N N?\ L +10 &'R L OY\ K +9 &(S K M=\ L +10 &*S O M[\ L +9 &,[T N NM\ L +9 &.T L Mh\ L +10 &/R K M?\ L +9 &1W M M\ L +9 &3bT M N>\ L +10 &5%S M M@\ L +9 &6T L M:\ L +10 &8S N M>\ L +9 &:kT L O7\ L +9 &<-T N N6\ L +10 &=T N O[\ L +9 &?T N P[\ L +9 &AsU N P?\ L +10 &C2Y P Q@\ M +9 &D_ R R@\ M +10 &Fk U S4\ O +9 &Hi U T8\ R +9 &J [ Z@\ V +10 &K ] \\:\ X +9 &M ^ ]>\ X +9 &O[ _ ];\ Y +10 &Q _ _4\ Z +9 &R _ `$\ [ +10 &T _ ^&\ [ +9 &V] ` `3\ [ +9 &X ` _%\ \\ +10 &Y ` a1\ ] +9 &[ c a1\ J +9 &\\< c c4\ ){ +10 &\\a b b2\ M +2 ( + "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&>1 +64 "core" 1 +2 "manipulator"&(% +4 "core" % ?  w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%H& +4 "core" &\ +2 "manipulator"&@% +3 "core" %  R  +2 "storage"(.% +4 "core" % d d \  + "storage"(,. +3 "core" .(K + "storage"(C& +4 "core" &K c d \ +2 "storage"(f& +3 "core" &K b d \ +2 "manipulator"&?& +4 "core" &ӑ( a @Y + "manipulator"&e% +4 "core" %  Z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&'( +163 "core" ( +3 "manipulator"&[& +8 "core" & _  +3 "storage"(a& +8 "core" &K } <\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&`' +97 "core" ' +4 "storage"(2& +9 "core" &K =\ +4 .tSE.reconfigure :pick +5 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(J'r +297 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (W& +3 "core" &K W s \ + "manipulator"&E& +4 "core" &  =  +2 .tElbow.seek 6 + "manipulator"&m( +3 "core" ( +2 "manipulator"&p& +3 "core" &  +2 "storage"(k& +4 "core" &K  _\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&R'h +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& + "storage"(v' +7 "core" &  +2 "manipulator"&)% +4 "core" % ϣ & + .tForearm.seek :retract +2 "manipulator"&F' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +2 "manipulator"&{& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +4 "core" & 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z' +91 "core" ' +2 "manipulator"&Q& +4 "core" & +2 "manipulator"&B% +3 "core" %  U +2 "processing"%=& +4 "core" &\ +2 "processing"%i& +5 "core" &\ +2 .tPC.seek :closed + "processing"%S(^ +5 "core" &\  +10 &3x\ )w +9 &c~\ > +9 &rm\ N +10 &5R\ M +9 &Q\ M +9 &S\ \ N +10 &zN \ N +9 &<N\ N +9 &O\ N +10 &O\ N +9 & Q\ M +10 &"EP\ M +9 &$Q\ M +9 &%P\ M +10 &'Q\ M +9 &)MQ\ M +10 &+Q\ M +9 &,T \ N +9 &.O\ M +10 &0SQ\ \ N +9 &2R\ N +9 &3Q\ N +10 &5Q\ N +9 &7\\T\ N +9 &9P\ N +10 &:R\ N +9 &<Q\ N +10 &>dT\ N +9 &@&U\ N +9 &AZ\ O +10 &Ch\ P +9 &Eas\ Q +9 &G\ T +10 &H\ T +9 &J\ U +10 &L_\ U +9 &N\ U +9 &O\ U +10 &Q\ V +9 &Sd\ V +10 &U&\ V +9 &V\ V +9 &X\ V +10 &Zl\ V +9 &\\.\ V +9 &]}\ 8 +10 &^,\ W +9 &^$\ 3 +2 ( +2 "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&M1 +55 "core" 1 +2 "manipulator"&l% +4 "core" %   U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +89 "core" ' +2 "processing"%~& +4 "core" &^#\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&q% +4 "core" %  9  +2 "storage"(n% +3 "core" % X [\  +2 "storage"(. +3 "core" .(K + "storage"(U& +4 "core" &K c c\ +2 "storage"(x& +2 "manipulator"&\\& +7 "core" &K ] c \ + & w +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( +2 "manipulator"&d& +4 "core" & R + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" & 9 +2 .tForearm.seek PC +2 "manipulator"&h' +93 "core" ' + .tHand.close + "manipulator"&9/ +56 "core" / +2 .tPC.seek :open + "processing"%_( +101 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(t'1 +45 "core" ' +297 ( + "storage"(]& +4 "core" &K F\ +2 "manipulator"&& +3 "core" & , +2 "manipulator"&r% +3 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&-( +250 "core" ( +2 "manipulator"&& +4 "core" & :  + "storage"(& +4 "core" &K ~  _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(0- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' +2 "storage"( & +3 "core" &K 8\ +2 "manipulator"&|& +4 "core" &   +52 .tElbow.seek 6 +3 "manipulator"&$( +4 "core" ( +2 "manipulator"&1& +4 "core" &  + "storage"(\ & +4 "core" &K \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&j' +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' +2 "manipulator"&^& +5 "core" & #  + "storage"(& +4 "core" &K  } D\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&%'< +22 "core" ' +2 .tElbow.hold + "manipulator"&3, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"("' +27 "core" ' +2 "manipulator"&% +4 "core" %@ k + "storage"(/& +4 "core" &K ~ o\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&'l +14 "core" ' + "manipulator"&& +5 "core" &  + "storage"(4& +4 "core" &K 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +19 "core" ' + "storage"( % +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (D% +3 "core" %> z \ V` +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&8' +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (}& +4 "core" &K r T P\ +2 "collection"'G& +4 "core" &\\` b c4\ M + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %   + "storage"(s% +4 "core" % | \  + "storage"(. +4 "core" .(K + "storage"(o& +4 "core" &K v\ + "storage"(y& +4 "core" &K \ +2 "manipulator"&6& +4 "core" &  P  +2 .tElbow.seek 6 + "manipulator"&*( +3 "core" ( +2 "manipulator"&;& +4 "core" & %  + "storage"(& +4 "core" &K F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(5& +4 "core" &K ]\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'r +297 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&K& +3 "core" &  m  +2 "storage"(<& +3 "core" &K  ~ D\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&L'< +21 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(P'~ +29 "core" ' +2 "manipulator"&7% +4 "core" %O ? + "storage"(&& +4 "core" &K  q\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts + "manipulator"&z'{ +15 "core" ' + "manipulator"&X& +5 "core" & X  + "storage"(& +4 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&>' +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"((' +41 "core" ' + "manipulator"&H& +5 "core" &  7  + "manipulator"&@% +4 "core" %  u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&,(ӂ +158 "core" ( + "manipulator"&A& +5 "core" &ӏ% >I + .tElbow.reconfigure :loose +3 "Can"n\ QO +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &ӏ% 7 >I +2 .tForearm.seek CC + "manipulator"&f'? +95 "core" ' +2 .tHand.close + "manipulator"&?/ +57 "core" / + .tCC.seek :open +2 "collection"'e( +448 "core" ( + "storage"(O& +4 "core" &K R\ +2 "storage"([& +4 "core" &K |\ + "manipulator"&a& +4 "core" &ӗ$  =A +2 "manipulator"&Y% +3 "core" % V G K +2 .tForearm.seek :retract +2 "manipulator"&2' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&I( +163 "core" ( + "manipulator"&+& +4 "core" &   +2 "storage"(W& +3 "core" &K '\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&E'< +95 "core" ' + .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&k1 +61 "core" 1 +2 "manipulator"&V% +4 "core" % H 4 + "storage"(g& +4 "core" &K \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&)'t +14 "core" ' +2 "manipulator"&'& +4 "core" & }  +2 "storage"(`& +3 "core" &K J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +19 "core" ' +2 "storage"(R% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"({' +99 (c% +3 "core" %9 \ U[ + "manipulator"&m% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'B& +4 "core" & M LF\ +2 "manipulator"&=% +4 "core" %   + "storage"(v% +4 "core" % 5\  + "storage"(F. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +671 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +2 "core" &,{ \ +2 "manipulator"&l& +3 "core" & d  +2 .tElbow.seek 4 +2 "manipulator"&~( +3 "core" ( + "manipulator"&q& +4 "core" &  +2 "storage"(n& +3 "core" &,{ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +100 "core" ' +2 "storage"(U& +4 "core" &,{ \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'r +311 "core" ' + "storage"(\\- +4 "core" -'. + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" &,k \ +2 "manipulator"&d& +4 "core" & )  + .tElbow.seek 4 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&Z& +4 "core" &   + "storage"(9& +4 "core" &,k Z\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& + "storage"(S' +6 "core" &  v  +2 "manipulator"&% +4 "core" % ϔ  R + .tForearm.seek :retract +2 "manipulator"&]' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +155 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&r& + "storage"(5 +7 "core" &ӊ* U Bh + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &ӊ* L Bh +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + "manipulator"&& +5 "core" &ӌ* Bf + "manipulator"&% +4 "core" %6 s +2 "collection"'& +4 "core" & M L[\ +2 "collection"'0& +61 "core" & L KK\ + & L LQ\ + & L KN\ + & M LH\ + & L J$\ + & J KP\ +2 & L L>\ + & L L6\ +2 .tCC.seek :closed + "collection"' (\\ +5 "core" & L M4\  +9 &4| L M9\ *z +9 &e} N K<\ > +10 &m L K<\ L +9 &NP M N5\ L +10 &S N L<\ L +9 &W M M=\ L +9 &R M L<\ L +10 &WQ M O?\ K +9 &T M N@\ L +9 &R M N:\ L +10 & R M M7\ K +9 &"]T L O=\ L +10 &$R P N9\ L +9 &%T O P9\ L +9 &'R P M8\ L +10 &)eS N M5\ L +9 &+(S P O9\ L +9 &,S K NZ\ L +10 &.S O NA\ K +9 &0mT N O[\ L +10 &20S O N<\ L +9 &3T M L6\ L +9 &5R M O2\ L +10 &7uT N O[\ L +9 &97S O O;\ L +9 &:S O O-\ L +10 &<T P O'\ L +9 &>~U N N'\ L +10 &@?U P P%\ L +9 &A\\ P Q.\ M +9 &Cb S S(\ N +10 &E{p V S0\ O +9 &G3 Y X*\ S +9 &H ` ^3\ W +10 &J d a,\ Y +9 &Lg a a1\ Y +10 &N' b c0\ Z +9 &O c d2\ Z +9 &Q c c4\ Z +10 &Si c d4\ [\ +9 &U) f e;\ \\ +9 &V e e3\ \\ +10 &X f g<\ ^ +9 &Zj f f5\ ] +9 &\\ y e i2\ 9 +10 &\\) j j7\ (x +9 &\\ h h7\ ] +3 ( + "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 +2 .Hand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&|% +4 "core" % 6 2 s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%1& +4 "core" &\ +2 "manipulator"&\ % +4 "core" %  &  +2 "storage"(^% +3 "core" % B C\  +2 "storage"(. +3 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(t(,y +14 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,| 0 3 &\  +2 "manipulator"&& +4 "core" &Ӎ)  Ae + "manipulator"&/% +4 "core" %  3  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +167 "core" ( + "manipulator"&4& +4 "core" &  +2 "storage"( & +4 "core" &,| ^ V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +93 "core" ' +2 "storage"(& +4 "core" &,| _\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +294 "core" ' +2 "storage"(D- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,j U V\ ! + "manipulator"&j& +4 "core" & 1  +2 .tElbow.seek 4 + "manipulator"&$( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(%& +4 "core" &,j Y V\ ! +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&}'c +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(' +7 "core" &  + "manipulator"&s% +4 "core" % σ  +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o( +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +68 "core" ( + "manipulator"&"& +5 "core" & 6 A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" & _ A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&6' +94 "core" ' +2 "manipulator"&;& +4 "core" & S A + "manipulator"&% +4 "core" % I ; +2 "processing"% & +4 "core" &\ +2 "processing"%5& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +9 &/v\ *x +9 &c~\ > +10 &om\ N +9 &1O\ N +10 &R\ N +9 &Q\ N +9 &vR\ N +10 &:P\ M +9 &P \ M +9 &O\ M +10 & Q\ N +9 &"BQ\ M +10 &$Q\ N +9 &%N\ N +9 &'N\ N +10 &)IO\ N +9 &+ P\ M +9 &,Q\ N +10 &.N\ N +9 &0QQ \ N +10 &2R\ M +9 &3R \ N +9 &5R\ N +10 &7XU\ N +9 &9R\ N +9 &:R\ N +10 &<Q\ N +9 &>aS\ N +10 &@"T\ N +9 &AX\ O +9 &Ce\ P +10 &E_p\ Q +9 &G}\ T +9 &H\ T +10 &J\ U +9 &L]\ T +10 &N\ U +9 &O\ V +9 &Q\ V +10 &Sa\ V +9 &U"\ V +9 &V\ V +10 &X\ V +9 &Zi\ V +10 &\\'\ W +9 &]u\ < +9 &^1\ Q +10 &^#\ 1 +2 ( + "processing"%5& +4 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.70 + .Hand.open +2 "manipulator"&31 +61 "core" 1 +2 "manipulator"&8% +4 "core" %  P ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +91 "core" ' + "processing"%K& +4 "core" &^#\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&<% +3 "core" %  ,  +2 "storage"(T% +3 "core" % B = \  +2 "storage"(7. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(&(,y +34 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (X& + "manipulator"&& +6 "core" &,{ 0 > W\ + &  A +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&H( +2 "storage"(@'r +4 "core" ( +2 "manipulator"&& +4 "core" & J A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" & A +2 .tForearm.seek PC + "manipulator"&#' +94 "core" ' +2 .tHand.close + "manipulator"&L/ +63 "core" / + .tPC.seek :open +2 "processing"%z( +93 "core" ' +2 "storage"(P- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'1 +46 "core" ' +303 ( + "storage"(C& +4 "core" &,g T\  + "manipulator"&>& +4 "core" & A +2 "manipulator"&% +3 "core" %  8 +2 .tForearm.seek :retract +2 "manipulator"&?' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&.( +243 "core" ( +2 "manipulator"&:& +4 "core" &  2 + "storage"(O& +4 "core" &,g d c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +90 "core" ' +2 .tHand.open + "manipulator"&a1 +52 "core" 1 +3 "storage"(Y- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(+' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(W' +53 "core" ' + #tLights, camera, ACTION! + "storage"(f- +4 "core" -' +2 "storage"(,& +3 "core" &,g 1\ { +2 "manipulator"&k& +4 "core" & Z 2 + .tElbow.seek 4 +2 "manipulator"&V( +3 "core" ( + "manipulator"&g& +4 "core" & 2 2 +2 "storage"('& +3 "core" &,g \ { +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&`' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(R'" +57 "core" ' + "manipulator"&2& +5 "core" & R 2 + "storage"(c& +4 "core" &,g d d C\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&m'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(E' +28 "core" ' + "manipulator"&B% +5 "core" %? & % + "storage"()& +4 "core" &,g V Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts + "manipulator"&='k +15 "core" ' +2 "manipulator"&v& +4 "core" & 2 +2 "storage"(F& +4 "core" &,g U W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&(' +16 "core" ' +2 "storage"(J% +4 "core" % w :\ +3 ."downElevator"SE.seek :down +3 "storage"({' +98 (u% +4 "core" %< 7 4 6\ U] + "manipulator"&M% +4 "core" %  +54 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +89 "core" ' +12 ' + ."downElevator"SE.stop + "storage"(5 +3 (q& +4 "core" &,g U G s\  +2 "collection"'n& +4 "core" &\\ j j/\ ] + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&U% +4 "core" %  M  +2 "storage"(p% +4 "core" % p e k\ +2 "storage"(Q. +3 "core" .(,| + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(\\(,y +23 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +2 "core" &,| r Y\ +2 "manipulator"&d& +4 "core" & 2 +2 .tElbow.seek 4 + "manipulator"&Z( +4 "core" ( + "manipulator"&9& +4 "core" & T 2 +2 "storage"(N& +4 "core" &,| Y U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +94 "core" ' +2 "storage"(& +4 "core" &,| y \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'r +293 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" & 2 + "storage"(h& +4 "core" &,j Z X\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&x'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('r +42 "core" ' + "manipulator"&% +4 "core" %8 / - +2 "storage"(!& +4 "core" &,j _ b\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 301 counts + "manipulator"&S'd +14 "core" ' +2 "manipulator"&]& +4 "core" & 3 2 +2 "storage"(e& +3 "core" &,j x\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(|' +40 "core" ' +2 "manipulator"&1& +4 "core" & @ 2 + "manipulator"&\ % +4 "core" % n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( + "manipulator"&0& +4 "core" &ӈ* Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӈ* Bk +3 .tForearm.seek CC + "manipulator"&'? +91 "core" ' +2 .tHand.close + "manipulator"&// +55 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(4& +4 "core" &,j "\ + "storage"( & +4 "core" &,j u\ +2 "manipulator"&& +3 "core" &Ө%  . >K +2 "manipulator"&% +4 "core" % J  c + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&D& +4 "core" &   + "storage"(& +4 "core" &,j N\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&j'7 +95 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&%1 +58 "core" 1 +2 "manipulator"&% +4 "core" % @ y - +2 "storage"(G& +3 "core" &,j \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 309 counts +2 "manipulator"&s'l +13 "core" ' +3 "manipulator"&& +4 "core" &  + "storage"(-& +4 "core" &,j 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 "storage"(}% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"("' +98 (y% +4 "core" %7 \ TZ + "manipulator"&$% +4 "core" %  ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [4..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" & K L?\ + "manipulator"& % +4 "core" %  <  +2 "storage"(% +4 "core" % r\ + "storage"(. +3 "core" .(,} +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(_(<- +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +2 "core" &<, \  +2 "manipulator"&8& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&K( +3 "core" ( + "manipulator"&<& +4 "core" & ?  +2 "storage"(T& +3 "core" &<, ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&7'O +96 "core" ' + "storage"(5& +4 "core" &<, N\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'r +290 "core" ' + "storage"(- +3 "core" -'' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<, \  +2 "manipulator"&*& +4 "core" &  j  + .tElbow.seek 5 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&L& +4 "core" & \  + "storage"(t& +4 "core" &<, U\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&P'Ϲ +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&o/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"(' +7 "core" & E  + "manipulator"&@% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&C' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&>(ӂ +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &Ӓ" 2 ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &Ӓ" ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&:'? +92 "core" ' +2 "manipulator"&O& +4 "core" &Ӓ" F ;6 +2 "manipulator"&H% +4 "core" %?  +2 "collection"'a& +3 "core" & K MR\ +2 "collection"'Y& +6 "core" & K LS\ +2 .tCC.seek :closed +2 "collection"'f(\\ +4 "core" & K LL\  +8 &5} O MQ\ +{ +10 &g} L LQ\ ? +9 &m L LN\ M +10 &dS K LP\ K +9 &$U M KR\ L +9 &R L KE\ L +10 &Q J OM\ K +9 &lR L OE\ K +9 &.T M L@\ K +10 &R O M6\ L +9 & P L N5\ K +10 &"tS L M<\ K +9 &$6S O N<\ K +9 &%Q M N8\ L +10 &'Q N N>\ L +9 &)|Q M OG\ K +9 &+=S K NB\ L +10 &,V L O9\ L +9 &.V M N>\ L +9 &0U N N>\ L +10 &2FR M M:\ K +9 &4U N N;\ L +10 &5V N N8\ L +9 &7V O N?\ L +9 &9MR P P<\ L +10 &;W M P>\ L +9 &<W M M?\ L +9 &>S O P>\ L +10 &@UR N P:\ L +9 &BW O O8\ L +10 &C] P P@\ M +9 &Eh S Q8\ N +10 &GQv T S<\ P +9 &I V V?\ T +9 &J [ [7\ W +9 &L~ W [:\ X +10 &N? Y [=\ X +9 &O Y Y8\ Y +10 &Q Y Z?\ Z +9 &S Z Z2\ Z +9 &UA ^ [8\ [ +10 &W \\ [<\ \\ +9 &X ^ [6\ \\ +10 &Z [ ]7\ ] +9 &\\&| ^ ]5\ 1 +9 &\\* ] ]1\ ^ +9 ( +2 &\\u ] _3\ R +2 "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&,1 +61 "core" 1 +2 "manipulator"&k% +4 "core" % ?   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g' +97 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp + "processing"%'& +5 "core" &\ + "manipulator"&?% +4 "core" %  l  +2 "storage"(2% +3 "core" % U Y 4\ +2 "storage"(c. +3 "core" .(<* + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(B(<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ()& +3 "core" &<,( ' % =\  +2 "manipulator"&A& +4 "core" &Ӓ" ;6 + "manipulator"&v% +54 "core" %  )  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&F( +164 "core" ( + "manipulator"&+& +4 "core" & 0  +2 "storage"(J& +3 "core" &<, y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.'O +95 "core" ' +2 "storage"([& +4 "core" &<, `\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'r +297 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &<, Y W\  +2 "manipulator"&`& +4 "core" & j  +2 .tElbow.seek 5 +2 "manipulator"&V( +3 "core" ( + "manipulator"&R& +4 "core" &  +2 "storage"(m& +3 "core" &<, j\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&q'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(U' +7 "core" & *  + "manipulator"&p% +4 "core" % ϭ +2 .tForearm.seek :retract +2 "manipulator"&Q' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&E( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&i& +4 "core" & 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" & * 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&9' +96 "core" ' +2 "manipulator"&N& +4 "core" & 3 + "manipulator"&% +4 "core" %  ! +2 "processing"%(& +4 "core" & \ +2 "processing"%{& +5 "core" &\ +2 .tPC.seek :closed + "processing"%&(^ +5 "core" &\  +9 &2u\ )w +9 &c}\ > +10 &rl\ N +9 &4O\ N +10 &O\ N +9 &R\ N +9 &zR\ N +10 &;Q\ N +9 &O\ M +9 &O\ M +10 & Q\ N +9 &"DR\ N +10 &$T\ N +9 &%N\ N +9 &'N\ N +10 &)LN\ N +9 &+O\ N +9 &,O\ N +10 &.O\ N +9 &0TP\ N +10 &2R\ N +9 &3R\ M +9 &5R\ N +10 &7\\T \ N +9 &9U\ N +9 &:P \ N +10 &<Q\ N +9 &>dS\ N +9 &@&T\ N +10 &AZ\ N +9 &Ck\ Q +10 &Eau\ Q +9 &G\ T +9 &H\ T +10 &J\ T +9 &L_\ U +9 &N!\ U +10 &O\ U +9 &Q\ V +10 &Se\ U +9 &U&\ V +9 &V\ V +10 &X\ U +9 &Zm\ U +9 &\\-\ V +10 &]{\ 8 +9 &^1\ Q +10 &^ \ 0 +2 ( + "processing"%{& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open +2 "manipulator"&I1 +58 "core" 1 +2 "manipulator"&l% +4 "core" %  ! + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + "processing"%r& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&h% +4 "core" %  (  +2 "storage"(% +4 "core" % Z [\  +2 "storage"(. +2 "core" .(<- +2 "storage"(!& +4 "core" &<, Z Y\  + "storage"(]& +4 "manipulator"&e& +4 "core" &<, Y U\  + & L 3 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&1( +2 "storage"(\ 'r +5 "core" ( + "manipulator"&b& +5 "core" & < 3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &  3 +2 .tForearm.seek PC +2 "manipulator"&~' +93 "core" ' +2 .tHand.close + "manipulator"&x/ +54 "core" / + .tPC.seek :open +2 "processing"%S( +101 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(0'1 +40 "core" ' +301 ( +2 "storage"(& +4 "core" &<, g \  + "manipulator"& & +4 "core" & \ 3 + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&/' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&^( +247 "core" ( + "manipulator"& & +4 "core" & @ I +2 "storage"(4& +3 "core" &<, W ` \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +93 "core" ' + .tHand.open +2 "manipulator"&1 +60 "core" 1 + "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(D' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &<, N\ v + "manipulator"&%& +4 "core" &   H +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&G& +4 "core" &  H +2 "storage"(& +4 "core" &<, U\ v +2 .tForearm.seek 5 + 450 counts + "manipulator"&-'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +52 "core" ' + "manipulator"&& +4 "core" & 3 H +2 "storage"(y& +4 "core" &<, [ Y\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&$'΍ +25 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(j' +19 "core" ' +2 "manipulator"&% +4 "core" %Ύ C + "storage"( & +4 "core" &<, E ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&s'Ϻ +26 "core" ' +2 "manipulator"&& +4 "core" & 5 +2 "storage"(& +4 "core" &<, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&|'O +17 "core" ' + "storage"( % +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"("' +99 (\\% +3 "core" %q= V U \ V` +2 "manipulator"&3% +4 "core" %Q 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (<& +4 "core" &<, 7 E \  + "collection"'T& +4 "core" &\\u \\ [F\ R +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&5% +4 "core" %   +2 "storage"(% +3 "core" % { ?\  +2 "storage"(;. +3 "core" .(<- + "storage"(& +4 "core" &<, | \  +2 "storage"(& +4 "core" &<, z | P\  + "manipulator"&*& +4 "core" & ^ 5 + .tElbow.seek 5 +2 "manipulator"&L( +21 "core" ( + "manipulator"&t& +4 "core" & #  +2 "storage"(o& +4 "core" &<, | \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +96 "core" ' +2 "storage"(@& +4 "core" &<, K\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'r +295 "core" ' +2 "storage"(7- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & >  + "storage"(#& +4 "core" &<, w /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&X'΍ +14 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(O- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate + "storage"(H' +30 "core" ' + "manipulator"&a% +5 "core" %Ν v A + "storage"(6& +53 "core" &<, k M\  +3 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&' +14 "core" ' + "manipulator"&C& +4 "core" &  +2 "storage"(& +4 "core" &<, [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&,'O +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(k' +33 "core" ' + "manipulator"&'& +5 "core" & M  + "manipulator"&?% +4 "core" %T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +159 "core" ( +2 "manipulator"&Y& +4 "core" &ӏ& ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &ӏ% x ?T +2 .tForearm.seek CC +2 "manipulator"&A'? +97 "core" ' + .tHand.close + "manipulator"&v/ +60 "core" / +2 .tCC.seek :open + "collection"':( +451 "core" ( +2 "storage"(+& +4 "core" &<, \  + "storage"(J& +4 "core" &<, |\  +2 "manipulator"&_& +3 "core" &Ӡ#  =C +2 "manipulator"&[% +3 "core" % D 7 / +2 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&g( +164 "core" ( + "manipulator"&u& +4 "core" &   +2 "storage"(M& +4 "core" &<, /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&`'΍ +100 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&m1 +61 "core" 1 + "manipulator"&=% +5 "core" % Ό # + "storage"(n& +5 "core" &<, \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 299 counts +2 "manipulator"&p'ϸ +32 "core" ' +2 "manipulator"&F& +4 "core" &  + "storage"(.& +4 "core" &<, U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +18 "core" ' + "storage"(q% +4 "core" % |\  +3 ."downElevator"SE.seek :down +3 "storage"(i' +99 (d% +2 "core" %z6 !\ TZ +2 "manipulator"&V% +4 "core" %C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&N' +89 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [4..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" & M N>\ +2 "manipulator"&(% +3 "core" %   +  +2 "storage"(U% +4 "core" % \  + "storage"(Q. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(z(K +376 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +2 "core" &K &\ +2 "manipulator"&l& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&r( +3 "core" ( + "manipulator"&h& +4 "core" &   + "storage"(& +4 "core" &K 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&' +97 "core" ' + "storage"(!& +4 "core" &K }\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'r +301 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" &K \ +2 "manipulator"&b& +4 "core" & K  +2 .tElbow.seek 6 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&9& +4 "core" &   +2 "storage"(x& +3 "core" &K r\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(&' +7 "core" & S  +2 "manipulator"&\ % +4 "core" % ϕ  G + .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" &Ӕ$  =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &Ӕ$ t =F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +95 "core" ' +2 "manipulator"&4& +4 "core" &ӕ%  =E +2 "manipulator"&1% +3 "core" %C B S +2 "collection"'& +4 "core" & K KD\ +2 "collection"'& +5 "core" & L LQ\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & I JG\  +9 &4~ M KF\ +{ +9 &e} L MP\ > +10 &l M NS\ M +9 &OT M MP\ K +10 &W K NO\ L +9 &R N LP\ L +9 &Q N LN\ K +10 &WR N NK\ K +9 &X N ML\ L +9 &Q M NE\ K +10 & T M MC\ K +9 &"_T M NK\ K +10 &$ V N ME\ L +9 &%W M N:\ L +9 &'U N O7\ L +10 &)fR N N8\ L +9 &+(R M N>\ L +9 &,W M N?\ L +10 &.W M N=\ L +9 &0nV M O?\ L +9 &20R P O>\ L +10 &3X M M@\ L +9 &5U O N@\ L +10 &7wT O MB\ K +9 &99U P M@\ K +9 &:W P O:\ L +10 &<S P N7\ K +9 &>~V P N?\ L +10 &@@S O O=\ L +9 &BU R P>\ L +10 &C\\ Q N>\ L +9 &Ee R T>\ N +9 &G>t V T@\ O +9 &H U W=\ Q +10 &J ] [?\ W +9 &Lj ^ ]=\ X +10 &N( _ ^>\ Y +9 &O _ `:\ Y +9 &Q a ]@\ Z +10 &Sk a `=\ Z +9 &U, ` _8\ [ +9 &V b a8\ \\ +10 &X ^ `;\ \\ +9 &Zl b a:\ ] +10 &\\z b `9\ 4 +9 &\\) d c:\ "e +9 ( +3 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&1 +3 "core" &\\ c b4\ Z +53 1 + "manipulator"&%% +4 "core" % C d S +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G' +89 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&/% +4 "core" %    + "storage"(% +4 "core" % 3 @ W\  +2 "storage"(y. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +12 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &K A D ?\  +2 "manipulator"&0& +4 "core" &ӕ$  =E + "manipulator"&% +4 "core" %  D  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +167 "core" ( + "manipulator"&D& +4 "core" &  +2 "storage"( & +3 "core" &K s \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&^' +93 "core" ' +2 "storage"( & +4 "core" &K z \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (3& +3 "core" &K z t M\  + "manipulator"&-& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&}& +4 "core" & $  +2 "storage"($& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&<'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& + "storage"(5' +7 "core" & h  +2 "manipulator"&% +3 "core" % ψ  @ +2 .tForearm.seek :retract +2 "manipulator"&;' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&j( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&& +4 "core" & F < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" & 8 < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&*' +90 "core" ' +2 "manipulator"&t& +4 "core" & b ; +52 "manipulator"&o% +4 "core" %  q +2 "processing"%|& +4 "core" &\ +3 "processing"%@& +5 "core" &\ +3 .tPC.seek :closed +3 "processing"%"(^ +3 "core" &\ +5 &\ 5 +9 &<Fr \ 0 +9 &fq|\ D +10 &\\\ N +9 &P\ N +9 &R\ N +10 &NR\ N +9 &Q\ N +10 &R\ N +9 &R\ N +9 &VS \ N +10 &!O\ N +9 &"O\ M +9 &$P\ N +10 &&^R\ N +9 &( N\ N +10 &)P\ M +9 &+P \ M +9 &-fQ\ N +10 &/(P\ N +9 &0T \ N +10 &2Q \ N +9 &4mQ\ N +9 &6/Q\ N +10 &7Q\ N +9 &9Q\ N +9 &;vQ\ N +10 &=8Q\ N +9 &>R\ N +10 &@R\ N +9 &By]\ O +9 &D8e\ P +10 &Ez\ R +9 &G\ T +9 &Ir\ T +10 &K3\ U +9 &L\ U +10 &N\ U +9 &Px\ U +9 &R7\ V +10 &S\ V +9 &U\ V +9 &W~\ V +10 &Y=\ W +9 &[\ V +10 &\\\ W +9 &^<g\ * +9 &^\ B +9 ( +3 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open + "manipulator"&1 +4 "core" &^9\ ; +54 1 + "manipulator"&8% +4 "core" %  T q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +91 "core" ' + "processing"%& +4 "core" &^9\ ; +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&#% +4 "core" %  @  +2 "storage"(O% +4 "core" % C = )\  +2 "storage"(a. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(6(K +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +2 "manipulator"&& +4 "core" &K  \ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & O ; +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&'( + "storage"(?'r +5 "core" ( + "manipulator"&w& +4 "core" & ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &  ; +2 .tForearm.seek PC +2 "manipulator"&K' +95 "core" ' +2 .tHand.close + "manipulator"&X/ +62 "core" / +2 .tPC.seek :open +2 "processing"%( +90 "core" ' + "storage"(H- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(Y'1 +45 "core" ' +307 ( +2 "storage"()& +4 "core" &K _ X [\ + "manipulator"&,& +4 "core" & ; +2 "manipulator"&P% +3 "core" %  C ( +2 .tForearm.seek :retract +2 "manipulator"&v' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&2( +243 "core" ( +2 "manipulator"&f& +4 "core" &  + "storage"(+& +4 "core" &K U X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J' +96 "core" ' + .tHand.open + "manipulator"&_1 +60 "core" 1 +2 "storage"([- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(M' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(A- +3 "core" -' +2 "storage"(c& +4 "core" &K e f )\ + "manipulator"&m& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&=( +8 "core" ( +2 "manipulator"&n& +4 "core" & \  +2 "storage"(F& +3 "core" &K e d I\ +3 .tForearm.seek 6 + 450 counts + "manipulator"&.' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(q'" +59 "core" ' + "manipulator"&>& +5 "core" & \\  + "storage"(d& +4 "core" &K W _ @\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&V'< +25 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(`' +28 "core" ' + "manipulator"&% +5 "core" %9  + "storage"((& +4 "core" &K _ W\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 297 counts +2 "manipulator"&p'e +14 "core" ' +2 "manipulator"&U& +4 "core" & !  +2 "storage"(Q& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +19 "core" ' +2 "storage"(W% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(i' +99 (B% +2 "core" %A V U \ V` +2 "manipulator"&I% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +89 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (h& +3 "core" &K ? H n\ +2 "collection"'& +4 "core" &\\{ b d7\ Z +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&!% +4 "core" %   p  + "storage"(R% +4 "core" % \  + "storage"(N. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(e(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ({& +3 "core" &K F D y\  +2 "manipulator"&b& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&9( +8 "core" ( +2 "manipulator"&x& +4 "core" & w  + "storage"(E& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(\ & +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'r +304 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & Z  + "storage"(~& +4 "core" &K d _\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&]'< +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(4- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(1'} +29 "core" ' +2 "manipulator"&% +4 "core" %8 + "storage"(Z& +4 "core" &K Z U \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 296 counts + "manipulator"&&'d +15 "core" ' + "manipulator"&& +4 "core" & T  +2 "storage"(:& +4 "core" &K k ] U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(%' +41 "core" ' +2 "manipulator"&& +4 "core" & D  + "manipulator"&/% +4 "core" % z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +156 "core" ( + "manipulator"&& +4 "core" &ӏ%  >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӏ% G >M +2 .tForearm.seek CC + "manipulator"&0'? +94 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open + "collection"' ( +448 "core" ( +2 "storage"(D& +4 "core" &K `\  + "storage"( & +4 "core" &K *\  + "manipulator"&z& +4 "core" &ӝ# <? + "manipulator"& % +4 "core" % N O +2 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +54 "manipulator"&G( +167 "core" ( + "manipulator"&\\& +4 "core" &  +2 "storage"(3& +3 "core" &K w\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&-'< +93 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&$1 +54 "core" 1 +3 "manipulator"&s% +4 "core" % < 5 + "storage"(T& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 300 counts + "manipulator"&'h +15 "core" ' +2 "manipulator"&& +4 "core" & b  +2 "storage"(^& +3 "core" &K m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +15 "core" ' +2 "storage"(<% +4 "core" % y\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +4 "core" %8 \ \ U\\ +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +33182 "Can"X\ 52 +9265 #t-> startTube 5 +731 #-> access 5 +3 "storage"(o% +3 "core" % 3\  + "manipulator"&|% +4 "core" %  h  +2 "manipulator"&5& +3 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(;(  +1298 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (S& +2 "core" &  \ +829 #t-> access 6 +2 "storage"(% +3 "core" % \  +2 "manipulator"&8% +4 "core" %   5  + "manipulator"&& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(#( +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (O& +2 "core" & Q\ +1894 #t-> access 4 +2 "storage"(a% +2 "core" % ^\  +2 "manipulator"&@% +4 "core" %   + "manipulator"&C& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((C +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (w& +3 "core" &F &\ +3227 #t-> access 5 +2 "storage"(L% +3 "core" % 3\  + "manipulator"&*% +4 "core" %   +2 "manipulator"&X& +4 "core" &  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (H& +3 "core" &  \ +5563 #t-> $da[:extractVol]=0.20 +914 #-> startTube 5 +283 #-> shortDA +2 "collection"'j% +4 "core" %d M M-\ +2 "processing"%7% +4 "core" %غ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +688 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%" +41 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%?  +128 "core" + .tPRV.dial :sipper +2 "processing"%)  +126 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml + "processing"%,'e +2297 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%P  + "collection"'K  +16 "core" +110  +2 .tPS.seek 0.5ml +2 "processing"%f' +1271 "core" ' +2 .tPRV.dial :waste2 + "processing"%+ @ +99 "core" > +3 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%''ؾ +589 "core" ' +2 .tPSV.dial PSR + "processing"%_ +102 "core"  + "processing"%[% +4 "core" %غ\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%A'X\\ +1099 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%c' +1620 "core" ' + .tPSV.dial :mixloop +2 "processing"%m +114 "core" +2 .tPS.seek 0ml + "processing"%n'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%F +102 "core"  + "processing"%v% +4 "core" %ع\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%>'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%d' +1614 "core" ' + .tPSV.dial :mixloop +2 "processing"% +103 "core" +2 .tPRV.dial :sipper + "processing"%Y  +41 "core" +2 .tPS.seek 0ml +2 "processing"%('ؾ +2649 "core" ' + .tPSV.dial PSR +2 "processing"%U +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%u' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%Q +101 "core" +2 .tPS.seek 0ml +2 "processing"%W'ؾ +2635 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%2& +4 "core" &\ +2 "manipulator"&J% +3 "core" %   +2 "storage"(M% +3 "core" % \  +2 "storage"(B. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(I(<- +988 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (.& +3 "core" &<, { z 7\  +2 "manipulator"&=& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&q( +3 "core" ( + "manipulator"&V& +4 "core" & M  +2 "storage"(p& +3 "core" &<, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&h'O +98 "core" ' + "storage"(& +4 "core" &<, c\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(!'r +307 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &<, \  +2 "manipulator"&`& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&{( +3 "core" ( + "manipulator"&b& +4 "core" & Y  +2 "storage"(x& +3 "core" &<, \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E'Ϲ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&k/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(i' +7 "core" &  + "manipulator"&6% +4 "core" %  i +2 .tForearm.seek :retract +2 "manipulator"&g' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&& +4 "core" & ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & f ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~' +101 "core" ' +2 "manipulator"&4& +4 "core" & ) + "manipulator"&% +4 "core" % c +2 "processing"%Z& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%:(^ +4 "core" &}\ +6 & ,z\ #b +10 &Uz|\ 7 +9 &~uz\ K +9 &Rz\ N +10 &bQ\ M +9 &$Pt\ M +10 &O}\ N +9 &P\ M +9 &jQz\ M +10 &,R\ M +9 &R\ M +9 &!Qu\ M +10 &#qQz\ N +9 &%3O~\ N +10 &&P\ N +9 &(Q\ N +9 &*yP\ N +10 &,;Q\ N +9 &-Q\ M +9 &/U\ N +10 &1T\ N +9 &3CQ \ N +10 &5R\ M +9 &6S\ N +9 &8V\ N +10 &:KQ \ N +9 &< T\ N +9 &=W\ N +10 &?U\ N +9 &ARU \ N +10 &C g \ P +9 &Dv\ R +9 &F\ T +10 &HH\ T +9 &J \ T +9 &K\ T +10 &M\ T +9 &OM\ U +9 &Q \ V +10 &R\ V +9 &T\ V +10 &VS\ V +9 &X\ U +9 &Y \ V +10 &[\ U +9 &]Z\ D +9 &^J{ \ R +61 &^ U \ : +3 ( +3 &^8 \ : +2 &^8\ : + &^8 \ : + &^8\ : +5 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 + .Hand.open +2 "manipulator"&1 +3 "core" &^7\ : + &^8\ : + &^8\ : +51 1 +2 "manipulator"&/% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%9 h + %r9 +7 "core" 9 +102 "processing"%]9 +3 "core" 9 +102 "processing"%&9 +2 "core" 9  +102 "processing"%19 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +3 "core" 9* +102 "processing"%D9 +2 "core" 9/ +102 "processing"% 9 +3 "core" 93 +102 "processing"%z9 +2 "core" 97 +102 "processing"% 9 +3 "core" 9; +102 "processing"%09 +2 "core" 9? +102 "processing"%\\9 +3 "core" 9C +102 "processing"%39 +2 "core" 9H +102 "processing"%y9 +3 "core" 9L +102 "processing"%$9 +2 "core" 9P +102 "processing"%s9 +2 "core" 9T +102 "processing"%T9 +3 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%^9 +3 "core" 9a +102 "processing"%<9 +2 "core" 9e +102 "processing"% 9 +3 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +3 "core" 9q +102 "processing"%G9 +3 "core" 9v +102 "processing"%-9 +2 "core" 9z +102 "processing"%9 +2 "core" 9~ +102 "processing"%%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%o9 +22 "core" 9 +102 "processing"%|9 +3 "core" 9 +102 "processing"%59 +2 "core" 9 +102 "processing"%e9 +3 "core" 9 +102 "processing"%S9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%89 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%;9 +2 "core" 9 +102 "processing"%O9 +3 "core" 9 +102 "processing"%a9 +2 "core" 9 +102 "processing"%@9 +3 "core" 9\  +102 "processing"%C9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%w9 +3 "core" 9 +102 "processing"%L9 +2 "core" 9  +3 .tPH.hold 2:00:00,28C +2 "processing"%* php +4 .tdelay 1:30 +2 "core"  +3370 "Can"_\ A? +5630 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%X +103 "core"  + "processing"%% +4 "core" %ؾ\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%H' +589 "core" ' +2 .tdelay 5 seconds +503 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%j' +1611 "core" ' + .tPTV.dial :puck +2 "processing"%7  +129 "core"  +2 .tPSV.dial PTV + "processing"%" +74 "core" + .tPBV.dial :waste1 +2 "processing"%?  +53 "core"  +2 "processing"%)% +4 "core" %(\  +2 .tPS.seek 1.5ml + "processing"%K'* +597 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%P * +32 "core" * +2 .tPS.seek 0ml +2 "processing"%,'ؾ +1611 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%+  +32 "core"  + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%f * +33 "core" * + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%_ +84 "core" +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%[' +2407 "core" ' + .tPSV.dial PTV +2 "processing"%' +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%A +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%m +74 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%c  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%F'ؾ +2357 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%v  +131 "core" +2 .tPSV.dial :mixloop + "processing"%n +44 "core" +2 .tPRV.dial :ab1 + "processing"%> @ +99 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +375 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "processing"%Y  +42 "core"  +2 "processing"%d% +4 "core" %k\ +2 .tPS.seek 0.35ml + "processing"%U'c +465 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'(  +29 "core" +2 .tPRV.dial :air +2 "processing"%Q  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%u'K +1170 "core" ' + .tPRV.dial :waste2 +2 "processing"%2 @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%J' +870 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%M  +42 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%B' +1623 "core" ' + .tPSV.dial :PML +2 "processing"% +44 "core" + .tPTV.dial :mixing +2 "processing"%. @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%=  +32 "core"  +2 "processing"%V% +4 "core" %8\  +2 .tPS.seek 1.85ml + "processing"%p' +227 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 .tPS.seek 0ml +2 "processing"%}'ؾ +1976 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'t& +3 "core" & M N\ +2 "manipulator"&R& +3 "core" & K ( +2 "manipulator"&N% +4 "core" %  W  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&`(- +121 "core" ( +2 "manipulator"&b& +4 "core" &-  \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &- \ +2 .tForearm.seek :garage +2 "manipulator"&k'w +96 "core" ' +2 .tHand.close + "manipulator"&\ / +61 "core" / +2 "manipulator"&6& +4 "core" &- 8 \ + "manipulator"&q% +4 "core" % ω E +2 .tForearm.seek :retract +2 "manipulator"&h' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&!(ӂ +278 "core" ( + "manipulator"&E& +4 "core" &Ӈ( O @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӈ( 8 @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&{& +4 "core" &Ӈ( \ @] +2 "manipulator"&4% +4 "core" %D 3 } + "collection"'& +4 "core" & O O\ +2 "collection"'Z& +5 "core" & L L\ +2 .tCC.seek :closed + "collection"'i(\\ +5 "Can"`\ KH + "core" & K N\ +6 &A M N\ %g +9 &Wx M O\ 8 +9 &t O L\ L +10 &R P P\ N +9 &yQ O N\ M +10 &9Q O N\ N +9 &R N M\ N +9 &R M O\ M +10 &R N O\ N +9 &AR P N\ N +9 & Q O R\ N +10 &!N N P\ N +9 &#R M P\ N +10 &%KP M P\ M +9 &' Q N P\ N +9 &(R P P\ N +10 &*R S O\ N +9 &,QP O O\ N +10 &.R P P\ N +9 &/Q P O\ N +9 &1T N P\ N +10 &3YQ M Q\ N +9 &5R O N\ N +9 &6S P O\ N +10 &8R O P\ M +9 &:bR P O\ N +9 &<$Q O Q\ N +10 &=R R Q\ N +9 &?Q O Q\ M +10 &AiU T T\ N +9 &C'] S U\ O +9 &Dm W U\ Q +10 &F Y Z\ U +9 &HN ] ]\ Z +9 &J \\ ]\ [ +10 &K \\ [\ [ +9 &M ] ]\ \\ +10 &OL _ ]\ ] +9 &Q ] `\ \\ +9 &R ` _\ ] +10 &T ^ `\ ] +9 &VM _ ^\ ` +9 &X ` `\ ` +10 &Y a a\ a +9 &[ _ a\ M +9 &\\8 ` c\ - +10 &\\ c `\ !` +5 ( +2 "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.53 + "collection"'g& +5 "core" &\\ ` b\ !` + &\\ c c\ !` + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % D \ 1 } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/' +91 "core" ' + .tPSV.dial PSR +2 "processing"%r +104 "core"  +2 "processing"%% +4 "core" %ػ=\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%]'+ +1608 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%~  +41 "core"  +54 .tPS.seek 0ml +2 "processing"%&'ؾ +1610 "core" ' + .tPSV.dial PSR +2 "processing"%1 +43 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  + "collection"'  +34 "core" ~ +123  + .tPSV.dial :mixloop +2 "processing"% +102 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%  +74 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%D' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%z'ؾ +2638 "core" ' +2 .tPSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%0' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%\\ +44 "core" +2 .tPS.seek 0ml +2 "processing"%3'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&y& +4 "core" &Ӊ&  / @[ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&$(ӂ +3 "core" ( + "manipulator"&s& +4 "core" &Ӊ&  @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &Ӊ&  ; @[ +2 .tForearm.seek CC + "manipulator"&'? +92 "core" ' + .tHand.close + "manipulator"&^/ +54 "core" / +2 .tCC.seek :open +2 "collection"'<( +450 "core" ( + "manipulator"& & +4 "core" &Ӊ' ! @[ +2 "manipulator"&% +3 "core" % I  M +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&G(- +290 "core" ( +2 "manipulator"&-& +4 "core" &- H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- - H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&%'w +92 "core" ' + .tHand.open + "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +4 "core" % t i b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +89 "core" ' +2 ."da"delayUntil "05:43:27.21" +24822 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%| @ +73 "core" A + ."da"PBV.dial :waste1 +2 "processing"%5  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%e * +35 "core" + + ."da"PSV.dial :air +2 "processing"%S  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2434 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%8 +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%; +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%O  +44 "core"  + ."da"PS.seek 0ml +3 "processing"%a'ؾ +2383 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +129 "core"  + "processing"%C% +4 "core" %n\  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%#' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%w' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%L  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%X +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%W% +3 "core" %V\  +2 ."da"PS.seek 1.5ml +2 "processing"%H', +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%7 * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%"'ؾ +10 "Can"Y\ MJ +1603 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%?  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%) * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%j +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%P' +2405 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%K +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%9 +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%+ +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%f  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%_'ؾ +2364 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%, +129 "core"  +2 "processing"%'% +4 "core" %U\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%A' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%m' +1617 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%c +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%[  +34 "core" +2 "processing"%v% +4 "core" %H\  + ."da"PS.seek 1.5ml +2 "processing"%n'. +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%> * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%F'ؾ +1635 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%Y  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%d * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +74 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%(' +2426 "core" ' + ."da"PSV.dial PTV +2 "processing"%Q +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%U +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%2 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%u  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +2367 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%J  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%.  +50 "core" ~ +3 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%= +43 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%V' +385 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +43 "core"  +2 "processing"%B% +4 "core" %l\  +2 ."da"PS.seek 0.55ml +2 "processing"%p' +332 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%t  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%R' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"%N +44 "core" + ."da"PTV.dial :mixing +2 "processing"%b @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%x  +34 "core" +2 "processing"%\ % +4 "core" %^\ \ +2 ."da"PS.seek 1.85ml +2 "processing"%l' +234 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%6 * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%q'ؾ +1977 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +2788 "Can"Y\ C@ +45215 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%k * +35 "core" , + ."da"PSV.dial :air +2 "processing"%E  +44 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2421 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%` +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%{  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%4 +43 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%h'ؾ +2376 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  + "processing"%g% +4 "core" %ؿ~\  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1620 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%Z  +71 "core"  +2 ."da"PSV.dial PTV +2 "processing"%r +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%% +4 "core" %j\  +2 ."da"PS.seek 1.5ml +2 "processing"%}'/ +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%~ * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%]'ؾ +1613 "core" ' +2 ."da"delay 2:00 +429 "Can"R\ B? +11573 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%1  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%& * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +501 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2365 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +129 "core"  +2 "processing"%D% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +594 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%z' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%\\ +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%0  +34 "core" + "processing"%y% +4 "core" %s\  +2 ."da"PS.seek 1.5ml +7 "processing"%s'* +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%T * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%^'ؾ +1607 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%!  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%/ * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% ' +2412 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +85 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%- +70 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%$'ؾ +2347 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  +2 "processing"%% +4 "core" %ؽv\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +592 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%%' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%| +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%5  +35 "core" + "processing"%e% +4 "core" %]\  +2 ."da"PS.seek 1.5ml +2 "processing"%S'( +586 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%3 * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%8'ؾ +1632 "core" ' +2 ."da"delay 2:00 +5803 "Can"O\ ON +6199 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%; * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%O +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2421 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%@ +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +51 "processing"%C +75 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%a +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%#  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%L'ؾ +2357 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%X +137 "core"  +5 "processing"%% +10 "core" %q\ " +4 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +5 "processing"% +12 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +6 "processing"%W' +337 "core" ' +2 ."da"delay 5 seconds +502 "processing"%w% +4 "core" %_  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%7' +336 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%H' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%? +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%)  +36 "core" +2 "processing"%j% +3 "core" %f\  +2 ."da"PS.seek 1.5ml +2 "processing"%"'. +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%K * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +1613 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%+  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%f * +34 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%P +89 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%,' +2512 "core" ' + ."da"PSV.dial PTV +2 "processing"%' +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%_ +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%A +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%c  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%['ؾ +2477 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%v +137 "core"  + "processing"%m% +4 "core" %ع\  + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%>' +2124 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%n +84 "core" +2 ."da"PBV.dial :waste1 + "processing"%Y  +36 "core" +2 "processing"%d% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'* +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%F * +33 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%Q  +105 "core"  +3 ."da"PS.seek 0ml +2 "processing"%U'ؾ +1614 "core" ' + "processing"%29 +4 "core" 9g5| + #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast +2 "processing"%u  +3 "core" 5} + 5} + "processing"%(& +3 "core" &^6\ : +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&J% +4 "core" %  f f /  +2 "storage"(% +3 "core" % W V &\ \ +2 "storage"(.. +3 "core" .(<- + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(=(,y +359 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (M& +2 "core" &,x   ;\ +2 "manipulator"&& +3 "core" &-   H +2 "manipulator"&B% +3 "core" %    +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&V( +183 "core" ( + "manipulator"&t& +4 "core" & R S `  + "storage"(p& +4 "core" &,x + +\  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +6 "manipulator"&N' +95 "core" ' +2 "storage"(b& +4 "core" &,x @ \ } +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(x'r +278 "core" ' + "storage"(\ - +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek :place +2 "storage"(6'1 +42 "core" ' + "manipulator"&R& +4 "core" & i t   +2 "manipulator"&l% +3 "core" % ( ~ +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&k( +244 "core" ( + "manipulator"&E& +4 "core" & : 3 +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" & # 3 +2 ."da"Forearm.seek PC +2 "manipulator"&`' +90 "core" ' + ."da"Hand.close + "manipulator"&{/ +74 "core" / +2 ."da"PC.seek :open +2 "processing"%4( +455 "core" ( +2 "storage"(& +4 "core" &,e s p\  + "manipulator"&& +4 "core" &  3 + "manipulator"& % +4 "core" % " w < +2 ."da"Forearm.seek :retract +2 "manipulator"&g' +95 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&h( +245 "core" ( + "manipulator"&& +4 "core" & M 8 + "storage"(Z& +4 "core" &,e b f 2\ j +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&r' +96 "core" ' +2 ."da"Hand.open + "manipulator"&1 +68 "core" 1 + "storage"(- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(~' +54 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep3006h.tif +4 "processing"%}& +9 "core" &8\  +3 "manipulator"&1& +9 "core" & i 8 +3 "manipulator"&&% +9 "core" %  sB +4 ."psFlush"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."psFlush"Forearm.seek :retract +5 "manipulator"&' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&](- +178 "core" ( +2 "manipulator"&& +4 "core" &-  R +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- 4 R +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +98 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +71 "core" / + "manipulator"& & +4 "core" &- ^ F D R + "manipulator"& % +4 "core" % χ N Q T  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&D' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +132 "core" ( + "manipulator"& & +4 "core" & z h   + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" & ^ ] )  +55 ."psFlush"Forearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&0' +98 "core" ' +2 "manipulator"&y& +4 "core" & w | S  +2 "manipulator"&z% +3 "core" % r r U $ +2 "processing"%T& +4 "core" & +2 "processing"%s& +5 "core" &\ +2 ."psFlush"PC.seek :closed +2 "processing"%!(^ +4 "core" &  +9 &,k , +9 &_p A +10 &L` T +9 &; V +10 &: U +9 &; U +9 &O; U +10 &8 U +9 &< V +9 &: R +10 & `E R +9 &"!D S +10 &#D S +9 &%D\ R +9 &'kG\ Q +10 &)-D\ Q +9 &*D S +9 &,E S +10 &.pA R +9 &0*@P U +10 &1<+ U +9 &3<S V +9 &5n;\\ V +10 &71<L U +9 &8;G U +9 &:;E U +10 &8?G V +10 &?AM V +9 &ABF V +9 &CvY7 Y +10 &E-r) ] +9 &Fs- ] +9 &Hz1 ] +10 &Jpt2 ] +9 &L1y4 ^ +9 &M~> [ +10 &O~ [\ +9 &Q}! \\ +10 &S> \\ +9 &U\ [\ +9 &V\ Z +10 &X \ [ +9 &ZG \\ +9 &\\ \\ +10 &] G +9 &^"^ %l +10 &^H ? +2 ( + "processing"%s& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 2.03 +2 "processing"%/& +4 "core" &^L ? + ."psFlush"Hand.open +2 "manipulator"&i1 +72 "core" 1 + "manipulator"&^% +4 "core" %  0 $ +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +97 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +44 "core" +2 "processing"%-% +4 "core" %ؽ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +602 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +307 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 27.5 seconds\ /var/log/esp/da21sep3006h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep3006h15s.tif +1564 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep3006h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep3006h30s.tif +253 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +201 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +140 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%$ +109 "core" + ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2249 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep3006h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep3006h70s.tif +390 "core" ' +2 ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%| +112 "core"  + "processing"%5% +4 "core" %؜^ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%e' +593 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +2123 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%3  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%S @ +78 "core" A + ."psFlush"PSV.dial :mixloop +3 "processing"% +112 "core" + ."psFlush"PS.seek :empty +2 "processing"%;'ؠ +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%O +112 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%8'X\\ +301 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep3006h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "27.5 sec auto-exposure",Subject: "da21sep3006h images!" +3 "storage"(@- +3 "core" -' +2 "storage"(C& +9 "core" &,e ; . \ < +2 "manipulator"&a& +4 "core" & + "manipulator"&#% +4 "core" % ! . +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&( +240 "core" ( + "manipulator"&X& +4 "core" &  8 5 +2 "storage"(& +6 "core" &,e _ b\ > +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&L' +95 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(w'" +59 "core" ' + "manipulator"&W& +6 "core" & ' 5 + "storage"(7& +4 "core" &,e  r\  +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 4 +4 "manipulator"&?'7 +27 "core" ' +3 ."da"Elbow.hold +5 "manipulator"&), +8 "core" , + ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 ."da"SE.reconfigure :default +7 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.32 Pucks below Top Plate +5 "storage"(j' +27 "core" ' +2 "manipulator"&H% +4 "core" %3 1 + "storage"(K& +4 "core" &,e \  ?\  +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 4 + 296 counts +2 "manipulator"&"'_ +15 "core" ' + "manipulator"&+& +4 "core" & . 5 +2 "storage"(f& +4 "core" &,e $ # 4\  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&P' +19 "core" ' + "storage"(9% +5 "core" %   \ \ +3 ."downElevator"SE.seek :down +3 "storage"('' +98 (_% +4 "core" %m4   *\ RQ +2 "manipulator"&A% +4 "core" % 6 +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +3 "core" ' + "manipulator"&c' +2 ."psFlush"PSR.select :air +4 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%,' +75 "core" ' +57 ' +3 ."downElevator"SE.stop +3 "storage"(5 +5 (v& +8 "core" &,e  6\  +1462 ' +3 ."psFlush"PSV.dial PTV +3 "processing"%m +75 "core" +2 ."psFlush"PTV.dial :puck +5 "processing"%[  +72 "core"  +3 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml +2 "processing"%n'ؾ +800 "Can"L\ JH +1832 "core" ' +3 ."psFlush"PSV.dial PSR +4 "processing"%Y +87 "core" +3 ."psFlush"PSR.select :flush +5 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +4 "processing"%d' +589 "core" ' +2 ."psFlush"PSR.select :air +3 "processing"% +14 ."psFlush"PS.seek 2.5ml +2 "processing"%>' +2262 "core" ' +3 ."psFlush"PSV.dial PTV +4 "processing"%F +73 "core" +3 ."psFlush"PBV.dial PSV +4 "processing"%Q U +52 "core" V +4 ."psFlush"PS.seek 0ml +4 "processing"%'ؾ +2639 "core" ' +4 ."psFlush"PSV.dial PBV +6 "processing"%2 @ +43 "core" ? +4 ."psFlush"PS.seek 2.5ml +3 "processing"%u' +315 #"uploadLog"upsync +2317 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%(  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%J'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%.' +2629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%I +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%M'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%B' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%t  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2652 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%G +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%b'X\\ +1119 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%o' +1610 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%\ +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%R  +51 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%l'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%x +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%N' +601 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%E' +2154 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%q +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%V U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%{'ؾ +2653 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%:' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +83 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +42 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%`' +2636 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +71 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%Z'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%k @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2633 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%}'ؾ +2633 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&1& +5 "core" & 5 + "manipulator"&&% +4 "core" %  @  + ."psFlush"Elbow.seek PC +2 "manipulator"&g( +263 "core" ( +2 "manipulator"&6& +4 "core" & + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +95 "core" ' + ."psFlush"Hand.close + "manipulator"&/ +57 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%r( +458 "core" ( + "manipulator"&h& +4 "core" & I +2 "manipulator"&% +3 "core" %  Y + +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +90 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"& (- +114 "core" ( + "manipulator"&& +4 "core" &- +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &- +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&\\'w +90 "core" ' + ."psFlush"Hand.open +2 "manipulator"&1 +60 "core" 1 + "manipulator"&]% +4 "core" % u B M +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&y' +92 "core" ' +2 #tFinished short da assay +7320 "Can"D\ 85 +12872 #t-> access 4 +3 "storage"(z% +3 "core" % =\ \ +2 "manipulator"&T% +4 "core" %  H  + "manipulator"&D& +4 "core" &- 6 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(4(C +983 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +3 "core" &F n p \ +4158 #t-> access 5 +2 "storage"(i% +3 "core" % [\ +2 "manipulator"&^% +3 "core" %  a  +2 "manipulator"&s& +3 "core" &- +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (-& +3 "core" & X W 4\  +185 #t-> eit +153 #-> exit +6 #mEXIT @1633009123.74PDT @1633009141.64PDT = =tMAIN =mMAIN_scheduler @PDT1633009143.48 #"core_reset"Sent BREAK +2 #t@2721 receive with ifg=0x10, ie=0xFD + #@3356 receive with ifg=0x10, ie=0xFD #@4013 receive with ifg=0x10, ie=0xFD + #@4648 receive with ifg=0x10, ie=0xFD + #@5283 receive with ifg=0x10, ie=0xFD #@5917 receive with ifg=0x10, ie=0xFD + #@6551 receive with ifg=0x10, ie=0xFD #@6877 receive with ifg=0x80, ie=0xFD + #@53205 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +294 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +377 "Can"G\ <8 + G\ <8 + #tPolling Can every 10:00 +972 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %d U V;\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ؾm\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %{ Y\ +2 .tSS.configure :default +2 "sampler")#.0X startTube 5 +1230 #-> $da[:extractVol]=.2 +56824 "Can"G\ A? +60001 R\ A? +31271 #t-> shortDAy +405 #-> shortDA +2 "collection"'3% +3 "processing"%4% +3 "core" %d N N\ +6 %ؾ \ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +163 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%5 +131 "core" + .tPTV.dial :PRVmixing +2 "processing"%6  +128 "core" + .tPRV.dial :sipper +2 "processing"%7  +42 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%8'e +2294 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%9  +2 "collection"':  +17 "core" +109  +2 .tPS.seek 0.5ml +2 "processing"%;' +1268 "core" ' + .tPRV.dial :waste2 +2 "processing"%< @ +100 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%='ؾ +592 "core" ' + .tPSV.dial PSR +2 "processing"%> +102 "core"  + "processing"%?% +4 "core" %ظ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%@'X\\ +1105 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%A' +1616 "core" ' +2 .tPSV.dial :mixloop + "processing"%B +104 "core" +2 .tPS.seek 0ml + "processing"%C'ؾ +2653 "core" ' + .tPSV.dial PSR +2 "processing"%D +114 "core" + "processing"%E% +4 "core" %ؼ\  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%F'X\\ +1098 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%G' +1617 "core" ' + .tPSV.dial :mixloop +2 "processing"%H +101 "core" +2 .tPRV.dial :sipper + "processing"%I  +43 "core" +2 .tPS.seek 0ml + "processing"%J'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%K +114 "core" + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%L' +2627 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +101 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2642 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%O& +4 "core" &\ + .tHand.open +2 "manipulator"&P1 +23 "core" 1 + "manipulator"&Q% +4 "core" %  [  +2 "storage"(R% +3 "core" % [ Y\ +2 "storage"(S. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(T(<- +984 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +2 "core" &<- 2 % \  +2 "manipulator"&V& +4 "core" &- +2 "manipulator"&W% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&X( +180 "core" ( + "manipulator"&Y& +5 "core" & G + "storage"(Z& +4 "core" &<- =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +136 "core" ' + "storage"(\\& +4 "core" &<- \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'r +297 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &<- s N\  + "manipulator"&`& +4 "core" & +2 .tElbow.seek 5 + "manipulator"&a( +4 "core" ( + "manipulator"&b& +4 "core" & ) + "storage"(c& +4 "core" &<- {\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&d'Ϲ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +59 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(g' +7 "core" & + "manipulator"&h% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&i' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&k& +4 "core" &  : +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" & ' : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&m' +102 "core" ' + "manipulator"&n& +5 "core" & y : + "manipulator"&o% +4 "core" % z +2 "processing"%p& +4 "core" &\ +2 "processing"%q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%r(^ +4 "core" &\ +7 &4\ $e +10 &V|\ 7 +9 &x\ L +10 &R\ N +9 &gR\ N +9 &*Q\ N +10 &T\ N +9 &Q\ M +9 &pQ\ N +10 &2R\ N +9 &P\ N +10 &!Q\ N +9 &#xS\ N +9 &%:Q\ N +10 &&Q\ N +9 &(Q\ M +9 &*Q\ N +10 &,BR\ N +9 &.P\ N +9 &/R\ N +10 &1S\ N +9 &3JR\ N +10 &5 R\ N +9 &6R\ N +9 &8Q\ N +10 &:QQ\ N +9 &<S\ N +9 &=S\ N +10 &?U\ N +9 &AXY\ N +10 &Ck\ Q +9 &D~\ S +9 &F\ T +10 &HN\ T +9 &J\ T +9 &K\ T +10 &M\ U +9 &OS\ U +10 &Q\ V +9 &R\ V +9 &T\ W +10 &V[\ U +9 &X\ V +9 &Y\ V +10 &[\ V +9 &]a\ C +10 &^G|\ Y +9 &^ U\ 6 +5 ( +2 "processing"%q& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 + .Hand.open + "manipulator"&s1 +4 "core" &^+\ 6 +53 1 + "manipulator"&t% +4 "core" %   z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +3 .PH.seek 28C,5:00 +2 "processing"%v h +3 %w9 +5 "core" 9 +102 "processing"%x9 +3 "core" 9 +102 "processing"%y9 +2 "core" 9  +102 "processing"%z9 +3 "core" 9  +102 "processing"%{9 +2 "core" 9 +102 "processing"%|9 +3 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +3 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%\ 9 +3 "core" 9? +102 "processing"% 9 +2 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +2 "core" 9L +103 "processing"%9 +2 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +3 "core" 9i +31 "Can"]\ " +71 "processing"%9 +2 "core" 9m +103 "processing"%9 +2 "core" 9q +102 "processing"%9 +3 "core" 9v +102 "processing"%9 +2 "core" 9z +102 "processing"%9 +3 "core" 9~ +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%!9 +3 "core" 9 +102 "processing"%"9 +2 "core" 9 +102 "processing"%#9 +2 "core" 9 +102 "processing"%$9 +3 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +3 "core" 9 +102 "processing"%+9 +2 "core" 9\  +102 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +3 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9  +2 .tPH.hold 2:00:00,28C +3 "processing"%0 php +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%1 +103 "core"  + "processing"%2% +4 "core" %غ\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%3' +596 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%4' +1614 "core" ' + .tPTV.dial :puck +2 "processing"%5  +128 "core"  + .tPSV.dial PTV +2 "processing"%6 +73 "core" +2 .tPBV.dial :waste1 +2 "processing"%7  +53 "core" + "processing"%% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%:', +589 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%9 * +34 "core" + +2 .tPS.seek 0ml +2 "processing"%8'ؾ +1610 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%<  +34 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%; * +33 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%> +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%?' +2407 "core" ' +2 .tPSV.dial PTV +2 "processing"%= +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%@ +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%B +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%A  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%D'ؾ +2360 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%E  +128 "core" + .tPSV.dial :mixloop +2 "processing"%C +45 "core" + .tPRV.dial :ab1 +2 "processing"%F @ +100 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%H' +375 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%I  +41 "core"  +2 "processing"%G% +4 "core" %y\  +2 .tPS.seek 0.35ml + "processing"%K'a +457 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'J  +28 "core" +2 .tPRV.dial :air +2 "processing"%M  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%L'K +1168 "core" ' + .tPRV.dial :waste2 +2 "processing"%O @ +72 "core" > +2 .tPS.seek 0.5ml + "processing"%P' +391 "Can"L\ MJ +468 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%Q  +56 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%R' +1619 "core" ' + .tPSV.dial :PML +2 "processing"%S +42 "core" + .tPTV.dial :mixing +2 "processing"% @ +73 "core" B +2 .tPBV.dial :waste1 +2 "processing"%U  +34 "core" + "processing"%V% +4 "core" %L\  +2 .tPS.seek 1.85ml +2 "processing"%W' +238 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%Y * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%Z'ؾ +1962 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & O O\ +2 "manipulator"&\\& +3 "core" & S : +2 "manipulator"&% +3 "core" %  P  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&^(- +125 "core" ( + "manipulator"&_& +4 "core" &- ' \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &- H \ +2 .tForearm.seek :garage +2 "manipulator"&b'w +91 "core" ' +2 .tHand.close + "manipulator"&c/ +55 "core" / +2 "manipulator"&e& +5 "core" &- + \ + "manipulator"&f% +4 "core" % e ; % +2 .tForearm.seek :retract +2 "manipulator"&h' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&X(ӂ +276 "core" ( + "manipulator"&[& +4 "core" &ӊ+ Q Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &ӊ* I Bj +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&d'? +92 "core" ' +2 "manipulator"&k& +5 "core" &ӊ+ - Bj + "manipulator"&l% +4 "core" %C  ~ +2 "collection"'a& +4 "core" & O P\ +2 "collection"'n& +6 "core" & R P\ +2 .tCC.seek :closed +2 "collection"'o(\\ +4 "core" & P N\ +6 & 4 N O\ $e +10 &Vz M O\ 7 +9 &~w P O\ L +10 &U P O\ N +9 &^R Q O\ N +9 &U Q R\ N +10 &T Q P\ N +9 &U Q Q\ N +9 &fR P P\ N +10 &(R P P\ N +9 &T O Q\ N +10 &!R O P\ M +9 &#nT O R\ N +9 &%0P P P\ N +10 &&Q R P\ N +9 &(Q Q O\ N +9 &*wR Q P\ M +10 &,8R Q R\ N +9 &-P P Q\ N +10 &/Q Q Q\ N +9 &1~Q R Q\ N +9 &3@R Q P\ N +10 &5U Q Q\ N +9 &6S P R\ N +9 &8U Q Q\ N +10 &:GS R P\ N +9 &<\ S Q S\ N +10 &=R Q Q\ N +9 &?S Q S\ N +9 &ANV R U\ N +10 &C\\ S V\ O +9 &Dp W X\ Q +9 &F Y X\ U +10 &H7 ^ ]\ Y +9 &I ^ ^\ Z +9 &K ` \\\ Z +10 &Mw ^ _\ [\ +9 &O9 _ ]\ [\ +10 &P ] `\ \\ +9 &R ^ _\ \\ +9 &Tx _ `\ ] +10 &V8 ` `\ ^ +9 &W _ b\ _ +9 &Y ` `\ ` +10 &[u d `\ M +9 &\\? b d\ . +10 &\\ c c\ !a +5 ( +2 "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.42 + "collection"'p& +5 "core" &\\ c d\ !a + &\\ b b\ !a + .tHand.open + "manipulator"&g1 +62 "core" 1 + "manipulator"&i% +4 "core" % C  ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 .tPSV.dial PSR +2 "processing"%s +102 "core"  + "processing"%t% +4 "core" %l\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1.5ml + "processing"%w'+ +1609 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%q  +41 "core"  +2 .tPS.seek 0ml + "processing"%x'ؾ +1632 "core" ' + .tPSV.dial PSR +2 "processing"%m +43 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +40 "processing"%y' +2650 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%z  + "collection"'{  +32 "core"  +124 + .tPSV.dial :mixloop +2 "processing"%| +102 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'} +3 "core"  +2 "collection"'~  +4 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"% +43 "core" +3 .tPS.seek 0ml + "processing"%'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%\ ' +2649 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2651 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӎ)  Bf +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&(ӂ +24 "core" ( + "manipulator"&& +5 "core" &ӌ * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ ? * +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( +2 "manipulator"&& +4 "core" &ӌ Y * + "manipulator"&% +4 "core" % < 4 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +279 "core" ( +2 "manipulator"&& +4 "core" &- O f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- U f +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +102 "core" ' +2 .tHand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&!% +4 "core" % q L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +92 "core" ' +2 ."da"delayUntil "07:27:57.69" +24738 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%# @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%$  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%% * +35 "core" , + ."da"PSV.dial :air +2 "processing"%&  +58 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%'' +2435 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%( +43 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%)  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%* +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%+  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%,'ؾ +780 "Can"E\ @= +1604 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%- +129 "core" +2 "processing"%.% +4 "core" %j\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%/' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%1' +1610 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%2  +71 "core"  +2 ."da"PSV.dial PTV +2 "processing"%N +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%3  +34 "core" + "processing"%5% +4 "core" %n\  +2 ."da"PS.seek 1.5ml +2 "processing"%6'* +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%7 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1629 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%4  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%9 * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%: +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%v' +2422 "core" ' + ."da"PSV.dial PTV +2 "processing"%< +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%; +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%> +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%8  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%='ؾ +2362 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +129 "core"  + "processing"%B% +4 "core" %ؿi\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%A' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%?' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%E +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%C  +34 "core" + "processing"%F% +4 "core" %j\  +2 ."da"PS.seek 1.5ml +2 "processing"%D', +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%I * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%H  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%J * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%M +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%K' +2432 "core" ' + ."da"PSV.dial PTV +2 "processing"%O +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%L +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Q +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%P  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%S'ؾ +2369 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +44 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%U  +130 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%V  +42 "core"  + ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%Y +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%R' +381 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%W  +43 "core"  +2 "processing"%% +4 "core" % t\  +2 ."da"PS.seek 0.55ml +2 "processing"%\\' +333 "core" ' + #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%_' +1310 "Can"?\ KJ +253 "core" ' +2 ."da"PSV.dial :PML + "processing"%` +44 "core" + ."da"PTV.dial :mixing +2 "processing"%c @ +74 "core" B + ."da"PBV.dial :waste1 +2 "processing"%e  +34 "core" +2 "processing"%j% +3 "core" %s\  +2 ."da"PS.seek 1.85ml +2 "processing"%f' +243 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%u * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%b'ؾ +1975 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +48003 #recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%[  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" * +2 ."da"PSV.dial :air +2 "processing"%^  +43 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%k' +2450 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%l +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%a  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%h +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%p'ؾ +2388 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%g +129 "core"  + "processing"%i% +4 "core" %ع\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%n' +186 "Can"8\ QM +398 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%s' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%t  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%d +82 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%Z  +32 "core" +2 "processing"%q% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%w') +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%m * +34 "core" * +2 ."da"PS.seek 0ml +2 "processing"%x'ؾ +1610 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%{  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%z * +33 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%| +72 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%}' +2423 "core" ' + ."da"PSV.dial PTV +2 "processing"%~ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +51 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%y +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2385 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  + "processing"%% +4 "core" %ػw\  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%\  +33 "core" + "processing"%% +4 "core" %s\  +2 ."da"PS.seek 1.5ml +2 "processing"%'0 +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1637 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%X  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%o +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2430 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2414 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  +2 "processing"%!% +4 "core" %ؾR\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1620 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%# +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%$  +34 "core" + "processing"%%% +4 "core" %x\  +2 ."da"PS.seek 1.5ml +2 "processing"%&'. +602 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%('ؾ +1533 "Can";\ DB +83 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%)  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%* * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%+ +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'' +2432 "core" ' + ."da"PSV.dial PTV +2 "processing"%- +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%. +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%, +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%/  +74 "core"  +2 ."da"PS.seek 0ml + "processing"%2'ؾ +2362 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%N +140 "core"  +5 "processing"%3% +9 "core" %v\  +5 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +6 "processing"% +13 ."da"PS.reconfigure :default +9 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +5 "processing"%5' +339 "core" ' +2 ."da"delay 5 seconds +502 "processing"%1% +4 "core" %\  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%7' +345 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%6' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%4 +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%9  +36 "core" + "processing"%:% +4 "core" %~  +2 ."da"PS.seek 1.5ml +2 "processing"%', +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%< * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +1613 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%>  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%8 * +35 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%v +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%@' +2527 "core" ' + ."da"PSV.dial PTV +2 "processing"%B +76 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%= +76 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%A +76 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%E  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%C'ؾ +2505 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%F +134 "core" + "processing"%?% +4 "core" % + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%I' +2143 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck + .PSV.dial PTV +2 "processing"%D +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +34 "core" + "processing"%J% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%M') +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%G * +33 "core" * +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%O  +107 "core"  +2 ."da"PS.seek 0ml +2 "processing"%L'ؾ +1607 "core" ' + "processing"%Q9 +4 "core" 9o5 +2 #"da"Processing Puck Heater at 28.2C before imaging + .PH.coast +2 "processing"%P  +3 "core" 5 + 5 + "processing"%K& +4 "core" &^+\ w6 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %  ' +2 "storage"(U% +3 "core" % Q L /\ g +2 "storage"(V. +3 "core" .(<* + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(Y(,y +358 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" &,| w d ` +2 "manipulator"&W& +3 "core" &- [ wf +2 "manipulator"&% +3 "core" %   x +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&R( +174 "core" ( + "manipulator"&& +4 "core" & x7 + "storage"(\\& +4 "core" &,| '\  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&`' +102 "core" ' +2 "storage"(c& +4 "core" &,| ! R \ d +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(e'r +281 "core" ' +2 "storage"(j- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(u'1 +39 "core" ' +2 "manipulator"&_& +4 "core" & o _ P {6 +2 "manipulator"&f% +3 "core" % > x +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&[' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&]( +260 "core" ( +2 "manipulator"&^& +4 "core" & r\ + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" & S q\ + ."da"Forearm.seek PC +2 "manipulator"&l' +92 "core" ' + ."da"Hand.close +2 "manipulator"&a/ +70 "core" / +2 ."da"PC.seek :open +2 "processing"%h( +461 "core" ( + "storage"( & +4 "core" &,f *\  +2 "manipulator"&k& +3 "core" & k i } \ +2 "manipulator"&g% +3 "core" %  f f | C +2 ."da"Forearm.seek :retract +2 "manipulator"&i' +91 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 +2 "manipulator"&p( +241 "core" ( +2 "manipulator"&n& +4 "core" & k xN + "storage"(t& +4 "core" &,f \  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&d' +96 "core" ' + ."da"Hand.open +53 "manipulator"&Z1 +68 "core" 1 +2 "storage"(q- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(s' +27 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(m' +54 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep3008h.tif +5 "processing"%w& +12 "core" &M\ & +4 "manipulator"&{& +6 "core" & e - N +3 "manipulator"&z% +6 "core" % c J  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&|' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&x(- +170 "core" ( + "manipulator"&~& +4 "core" &-  g S +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- ' R +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&y'w +95 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +76 "core" / +2 "manipulator"&}& +4 "core" &- A  +2 "manipulator"&% +3 "core" % n S  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +118 "core" ( + "manipulator"&& +4 "core" & +  PE +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & \\  I E +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&\ ' +92 "core" ' +2 "manipulator"&& +4 "core" &  TE +2 "manipulator"&% +3 "core" % d TO +2 "processing"%& +4 "core" & +2 "processing"%& +5 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%X(^ +4 "core" &  +9 &/m +{ +9 &_o ? +9 &Uc S +10 &> S +9 &A T +9 &@ S +10 &YC S +9 &A T +10 &A S +9 &? S +9 & a> S +10 &"#D S +9 &#M\ !R +9 &%E\ 8P +10 &'rI\ 8P +9 &)5H\ 8P +10 &*J\ 8P +9 &,J\ OP +9 &.}I\ MO +10 &0<J\ 8P +9 &1F\ 9P +9 &3F\ :P +10 &5J\ 8P +9 &7;I S +10 &8D T +9 &:C T +9 &<A T +10 &>BD T +9 &@AT S +9 &AH\\ T +10 &C]Q V +9 &E9vM Z +9 &FwQ [ +10 &H}K [\ +9 &J{{D [\ +10 &L<~G [ +9 &M? \\ +9 &OB \\ +10 &Q~C ] +9 &SH?\ )Z +10 &U 6\ ,Y +9 &V-\ ,Y +9 &X0\ -Y +10 &ZS6\ 9Y +9 &\\3\ @Y +9 &]0\ C: +10 &^-q*\ /Z +9 &^6!\ 79 +3 ( + "processing"%& +3 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.88 +2 "processing"% & +4 "core" &^2"\ 59 + ."psFlush"Hand.open +2 "manipulator"&o1 +66 "core" 1 +2 "manipulator"&% +4 "core" %  GO +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +45 "core"  + "processing"%% +5 "core" %\ 8 + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +587 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +455 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 28.149 seconds\ /var/log/esp/da21sep3008h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep3008h15s.tif +1564 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep3008h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep3008h30s.tif +119 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +195 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%!  +134 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +120 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2376 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep3008h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep3008h70s.tif +258 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%# +109 "core"  +2 "processing"%$% +4 "core" %ؚk + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%%' +596 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2123 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%& @ +75 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%) +111 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%*'ؠ +647 "Can"0\ "  +2002 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%+ +108 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%('X\\ +441 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep3008h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "28.149 sec auto-exposure",Subject: "da21sep3008h images!" +4 "storage"(-- +5 "core" -' +2 "storage"(.& +5 "core" &,f C\ z + "manipulator"&,& +8 "core" & t E + "manipulator"&/% +4 "core" %  T  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +3 "manipulator"&'( +244 "core" ( + "manipulator"&N& +4 "core" & ; 4 +2 "storage"(3& +4 "core" &,f %\ z +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&2' +101 "core" ' +3 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +53 "core" ' +2 "manipulator"&5& +4 "core" & ; 4 +2 "storage"(7& +3 "core" &,f   \  +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 4 +4 "manipulator"&4'7 +20 "core" ' +3 ."da"Elbow.hold +4 "manipulator"&9, +7 "core" , +3 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.32 Pucks below Top Plate +3 "storage"(:' +19 "core" ' + "manipulator"&6% +62 "core" %)   +3 "storage"(<& +4 "core" &,f $\  +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 4 + 286 counts +2 "manipulator"&'U +4 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +7 "core" ' + "manipulator"&>& +5 "core" & Y 4 + "storage"(8& +5 ."psFlush"PS.seek 2.5ml +2 "processing"%v' +3 "core" &,f / 1 ,\  +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&;' +18 "core" ' +2 "storage"(B% +5 "core" %  \ +18 ."downElevator"SE.seek :down +7 "storage"(=' +95 (A% +7 "core" %;   \ U[ +4 "manipulator"&E% +7 "core" % \ +4 ."da"Forearm.reconfigure :loose +8 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +5 "manipulator"&@' +91 "core" ' +46 ' +3 ."downElevator"SE.stop +3 "storage"(5 +5 (F& +8 "core" &,f  #\  +1261 ' +2 ."psFlush"PSV.dial PTV +4 "processing"%? +73 "core" +3 ."psFlush"PTV.dial :puck +2 "processing"%C  +71 "core"  +3 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml +3 "processing"%D'ؾ +2652 "core" ' +3 ."psFlush"PSV.dial PSR +4 "processing"%H +75 "core"  +2 ."psFlush"PSR.select :flush +5 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +2 "processing"%J' +589 "core" ' +2 ."psFlush"PSR.select :air +5 "processing"% +13 ."psFlush"PS.seek 2.5ml +4 "processing"%I' +2130 "core" ' +2 ."psFlush"PSV.dial PTV +3 "processing"%G +76 "core" +3 ."psFlush"PBV.dial PSV +5 "processing"%O U +68 "core" T +7 ."psFlush"PS.seek 0ml +4 "processing"%M'ؾ +2652 "core" ' +3 ."psFlush"PSV.dial PBV +4 "processing"%Q @ +44 "core" ? +5 ."psFlush"PS.seek 2.5ml +4 "processing"%P' +345 #"uploadLog"upsync +2295 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%K  +83 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%U +42 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%V' +2636 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%T +72 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%S'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%W @ +56 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2649 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +74 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%\\'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%c +44 "core" + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1103 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +1617 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%j +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%_  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2630 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%e +74 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%`' +583 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%^' +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%b +73 "core" + ."psFlush"PBV.dial PSV +2 "processing"%R U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%a'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%[ @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%k'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%g +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%l' +2638 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%n +82 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml +2 "processing"%t'ؾ +2652 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%] @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%Z' +2635 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%q  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%i'ؾ +2634 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&w& +4 "core" & { 4 + "manipulator"&{% +4 "core" %  y  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&z( +259 "core" ( + "manipulator"&u& +4 "core" &  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" & E +2 ."psFlush"Forearm.seek PC +2 "manipulator"&~' +93 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +62 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%d( +460 "core" ( +2 "manipulator"&p& +4 "core" & + "manipulator"&% +3 "core" %  U +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&}' +94 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +113 "core" ( + "manipulator"&|& +4 "core" &- 4 +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"& 'w +100 "core" ' +2 ."psFlush"Hand.open + "manipulator"&y1 +55 "core" 1 +2 "manipulator"&% +4 "core" %  O  +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tFinished short da assay +1589 "Can",\ :7 +60001 ,\ ;7 +26427 #t-> exit +6 #mEXIT @1633016014.44PDT @1633016030.74PDT = =tMAIN =mMAIN_scheduler @PDT1633016032.60 #"core_reset"Sent BREAK +2 #t@61490 sendCRC with ifg=0x20, ie=0x7F + #@63325 sendCRC with ifg=0x08, ie=0x5F #@64305 idle with ifg=0x84, ie=0x75 + #@64978 select with ifg=0x10, ie=0xF5 + #@76 receive with ifg=0x10, ie=0xFD #@709 receive with ifg=0x10, ie=0xFD + #@1342 receive with ifg=0x10, ie=0xFD + #@1669 receive with ifg=0x80, ie=0xFD #@37807 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +384 "Can"%\ =: + %\ =: + #tPolling Can every 10:00 +2451 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %d K I,\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؾ:\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %{ a\ +2 .tSS.configure :default +2 "sampler")#.0X\ + "sampler")*% +4 "core" %{ k\ +2 "collection"'+& +4 "core" & H J&\ + "processing"%,& +4 "core" &F\ +2 "manipulator"&-% +4 "core" %    + "manipulator"&.& +4 "core" &-  +2 "storage"(/& +3 "core" &,i z L\  +2 "storage"(0% +4 "core" % } } F\ + "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +9 #t-> access 4 +3 "storage"(3% +3 "core" % { x R\ + "manipulator"&4% +4 "core" %   +2 "manipulator"&5& +3 "core" &- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(6(C +987 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &? z | u\ +2070 #t-> access 5 +3 "storage"(8% +3 "core" % { { b\ +2 "manipulator"&9% +4 "core" %   + "manipulator"&:& +4 "core" &- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(;(  +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" &  > F \  +38864 #t-> $da[:extractVol]=0.20 +482 #-> startTube 5 +2419 #-> shortDA +3 "collection"'=% + "processing"%>% +5 "core" %d I H#\ +7 %ؾ\ +7 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +364 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +4 "processing"%? +132 "core" +3 .tPTV.dial :PRVmixing +7 "processing"%@  +129 "core" +3 .tPRV.dial :sipper +3 "processing"%A  +43 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%B'e +2294 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%C  + "collection"'D  +7 "core" +119 +3 .tPS.seek 0.5ml + "processing"%E' +1268 "core" ' +2 .tPRV.dial :waste2 + "processing"%F @ +100 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%G'ؾ +589 "core" ' +2 .tPSV.dial PSR + "processing"%H +102 "core"  + "processing"%I% +5 "core" %ؽ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +9 .tPS.seek 1ml +2 "processing"%J'X\\ +1120 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%K' +1610 "core" ' + .tPSV.dial :mixloop +2 "processing"%L +103 "core" +2 .tPS.seek 0ml +2 "processing"%M'ؾ +2618 "Can",\ ;9 +13 "core" ' + .tPSV.dial PSR +2 "processing"%N +101 "core"  +2 "processing"%O% +4 "core" %ؽ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%P'X\\ +1102 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%Q' +1614 "core" ' + .tPSV.dial :mixloop +2 "processing"%R +114 "core" + .tPRV.dial :sipper +2 "processing"%S  +42 "core" +2 .tPS.seek 0ml +2 "processing"%T'ؾ +2649 "core" ' +2 .tPSV.dial PSR + "processing"%U +113 "core" + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%V' +2628 "core" ' +2 .tPSV.dial :mixloop + "processing"%W +101 "core" +2 .tPS.seek 0ml + "processing"%X'ؾ +2628 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%Y& +4 "core" &\ +2 .tHand.open + "manipulator"&Z1 +24 "core" 1 + "manipulator"&[% +4 "core" %   +2 "storage"(\\% +3 "core" % n k \ +2 "storage"(]. +45 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(^(<- +1002 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (_& +3 "core" &<1 y \ + "manipulator"&`& +4 "core" &.  + "manipulator"&a% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&b( +172 "core" ( + "manipulator"&c& +4 "core" & & +2 "storage"(d& +4 "core" &<1 y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&e'O +110 "core" ' +2 "storage"(f& +4 "core" &<1 a\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'r +301 "core" ' + "storage"(h- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (i& +2 "core" &<- X [\ +2 "manipulator"&j& +3 "core" & & +2 .tElbow.seek 5 +2 "manipulator"&k( +3 "core" ( + "manipulator"&l& +4 "core" & 4 & +2 "storage"(m& +3 "core" &<- z \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&n'Ϲ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"(q' +7 "core" & % & + "manipulator"&r% +4 "core" % Ϣ c +2 .tForearm.seek :retract +2 "manipulator"&s' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( + "manipulator"&u& +5 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +2 "core" & R  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&w' +92 "core" ' +2 "manipulator"&x& +4 "core" & F  + "manipulator"&y% +4 "core" % q ( +2 "processing"%z& +4 "core" &\ +2 "processing"%{& +4 "core" &6\ +3 .tPC.seek :closed + "processing"%|(^ +5 "core" &\  +9 &1x\ *x +9 &c|\ > +9 &mn \ N +10 &.N\ N +9 &Q\ N +10 &O\ N +9 &uQ\ N +9 &7Q \ N +10 &R\ N +9 &Q \ N +9 & }Q\ N +10 &"?Q\ N +9 &$R\ N +9 &%Q\ N +10 &'T\ N +9 &)GQ\ N +10 &+ R\ N +9 &,R\ N +9 &.Q\ N +10 &0NR\ N +9 &2P\ N +9 &3T\ N +10 &5R\ O +9 &7VR\ N +10 &9O\ N +9 &:O\ N +9 &<O\ N +10 &>^Q\ N +9 &@ T\ N +9 &A`\ P +10 &Cs\ R +9 &ET\ T +10 &G\ T +9 &H\ U +9 &J\ U +10 &L[\ U +9 &N\ V +10 &O\ U +9 &Q\ V +9 &S]\ W +10 &U\ W +9 &V\ W +9 &X\ V +10 &Zf\ V +9 &\\(\ V +9 &]{\ : +10 &^7\ O +9 &^ \ . +3 ( + "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 + .Hand.open +2 "manipulator"&}1 +54 "core" 1 +2 "manipulator"&~% +4 "core" %  @ ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"% h +2 %9 +5 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%\ 9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9. +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%9 +2 "core" 9? +102 "processing"%9 +3 "core" 9C +102 "processing"%9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +103 "processing"%9 +2 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"% 9 +3 "core" 9\\ +102 "processing"%!9 +3 "core" 9a +102 "processing"%"9 +2 "core" 9e +102 "processing"%#9 +3 "core" 9i +103 "processing"%$9 +2 "core" 9m +103 "processing"%%9 +2 "core" 9q +102 "processing"%&9 +3 "core" 9v +102 "processing"%'9 +2 "core" 9z +102 "processing"%(9 +3 "core" 9~ +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +3 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +3 "core" 9 +102 "processing"%19 +2 "core" 9 +102 "processing"%29 +3 "core" 9 +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +3 "core" 9 +102 "processing"%59 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%79 +3 "core" 9 +102 "processing"%89 +2 "core" 9 +102 "processing"%99 +3 "core" 9 +102 "processing"%:9 +3 "core" 9$ +2 .tPH.hold 2:00:00,28C +3 "processing"%6 php +3 .tdelay 1:30 +3 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%< +101 "core"  +2 "processing"%=% +4 "core" %\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%>' +592 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%?' +1617 "core" ' + .tPTV.dial :puck +2 "processing"%@  +128 "core"  + .tPSV.dial PTV +2 "processing"%A +74 "core" + .tPBV.dial :waste1 +2 "processing"%  +53 "core" + "processing"%D% +4 "core" %\ +2 .tPS.seek 1.5ml +2 "processing"%C'/ +599 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%B * +32 "core" * +2 .tPS.seek 0ml +2 "processing"%F'ؾ +1612 "core" ' + .tdelay 5:00 +26094 "Can"1\ @> +3909 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%E  +32 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%H * +33 "core" * + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%I +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%G' +2412 "core" ' + .tPSV.dial PTV +2 "processing"%J +74 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%L +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%K +83 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%N  +85 "core"  +2 .tPS.seek 0ml +2 "processing"%O'ؾ +2357 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%M  +130 "core" + .tPSV.dial :mixloop +2 "processing"%P +42 "core" + .tPRV.dial :ab1 +2 "processing"%R @ +98 "core" ? +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%S' +359 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%Q  +42 "core"  + "processing"%U% +4 "core" % \  +2 .tPS.seek 0.35ml +2 "processing"%T'k +450 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'W  +29 "core" +2 .tPRV.dial :air + "processing"%V  +43 "core"  +2 .tPS.seek 0.9ml +2 "processing"%Y'K +1166 "core" ' + .tPRV.dial :waste2 +2 "processing"%Z @ +72 "core" > +2 .tPS.seek 0.5ml +2 "processing"%[' +865 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%\\  +43 "core"  + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%]' +1616 "core" ' +2 .tPSV.dial :PML +2 "processing"%; +43 "core" +2 .tPTV.dial :mixing +2 "processing"%_ @ +71 "core" B +2 .tPBV.dial :waste1 + "processing"%`  +33 "core"  +2 "processing"%a% +4 "core" %m\  +2 .tPS.seek 1.85ml + "processing"%c' +230 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%d * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%'ؾ +1963 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'f& +3 "core" & I H\ +2 "manipulator"&& +4 "core" &   + "manipulator"&h% +4 "core" %  H  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&i(- +114 "core" ( + "manipulator"&j& +4 "core" &- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &- ; +2 .tForearm.seek :garage + "manipulator"&m'w +100 "core" ' + .tHand.close + "manipulator"&o/ +54 "core" / +2 "manipulator"&p& +4 "core" &- N +2 "manipulator"&r% +4 "core" % d C t + .tForearm.seek :retract +2 "manipulator"&b' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +281 "core" ( + "manipulator"&g& +4 "core" &ӛ" + ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &ӛ" E ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'? +99 "core" ' + "manipulator"&v& +5 "core" &ӛ" K ;3 + "manipulator"&k% +4 "core" %H +2 "collection"'x& +4 "core" & G G \ +2 "collection"'y& +5 "core" & G G\ +2 .tCC.seek :closed +2 "collection"'z(\\ +4 "core" & G G\ \  +9 &1y I H \ *y +10 &c| G H\ > +9 &or K J\ O +9 &2U H I\ N +10 &T I G\ N +9 &T J H\ N +9 &yS I G\ N +10 &;R J I\ N +9 &V K I\ N +10 &R H H\ N +9 & O I H\ M +9 &"CU J H \ N +10 &$T I H\ M +9 &%U H I\ M +9 &'T I J\ N +10 &)LU J H\ M +9 &+ U H I\ N +9 &,V J I\ M +10 &.U H I\ N +9 &0TT H H\ M +10 &2U I G\ N +9 &3U J J\ M +9 &5U M J\ N +10 &7\\U L H\ M +9 &9U J I\ N +9 &:U J J\ N +10 &<Y L M\ N +9 &>cV K J\ N +10 &@&U M L\ M +9 &A\\ N L\ O +9 &Cb Q P\ O +10 &E_y P Q\ R +9 &G V V\ V +10 &H W X\ Y +9 &J Z Z\ Z +9 &LM X Z\ [ +10 &N X X\ \\ +9 &O Z Z\ \\ +9 &Q [ Y\ \\ +10 &SM Z [\ ] +9 &U Y Y\ ^ +9 &V \\ [ \ _ +10 &X Y Y\ _ +9 &ZN ] ]\ ` +10 &[z ] [\ C +9 &\\+ ` ^\ + +9 &\\ ^ ]\ \\ +3 ( + "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.43 + "collection"'q& +4 "core" &\\~ ] ^ \ \\ +2 .tHand.open + "manipulator"&s1 +56 "core" 1 +3 "manipulator"& % +4 "core" % H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +51 .tForearm.seek :retract + "manipulator"&}' +92 "core" ' +2 .tPSV.dial PSR + "processing"%~ +103 "core"  +2 "processing"%% +4 "core" %r\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%{'+ +1610 "core" ' +2 .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%w'ؾ +1607 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2639 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +3 "processing"%  + "collection"'\  +32 "core" ~ +125  +2 .tPSV.dial :mixloop +2 "processing"% +101 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"' +4 "core"  + "collection"'  +4 "core"  +2 .tPTV.dial :PRVmixing + "processing"%  +74 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2640 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2648 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2633 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &ӛ! ;3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +21 "core" ( + "manipulator"&& +4 "core" &ӆ > ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӆ R ' +2 .tForearm.seek CC +2 "manipulator"&!'? +97 "core" ' +2 .tHand.close + "manipulator"&"/ +61 "core" / +2 .tCC.seek :open +2 "collection"'#( +449 "core" ( + "manipulator"&$& +5 "core" &ӆ P ' + "manipulator"&%% +4 "core" % I +2 .tForearm.seek :retract +2 "manipulator"&&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&'(- +276 "core" ( + "manipulator"&(& +5 "core" &- < \\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &- \ \\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&*'w +99 "core" ' +2 .tHand.open + "manipulator"&+1 +56 "core" 1 +2 "manipulator"&,% +4 "core" % z :  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +91 "core" ' +2 ."da"delayUntil "09:05:36.16" +15070 "Can".\ ?< +9700 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%. @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%/  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%0 * +33 "core" * + ."da"PSV.dial :air +2 "processing"%1  +44 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%2' +2416 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%3 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%4  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%5 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%7'ؾ +2363 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +129 "core"  + "processing"%9% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%:' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%<' +1617 "core" ' +2 ."da"PTV.dial :puck + "processing"%=  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%X +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%>  +33 "core" + "processing"%@% +4 "core" %z\  +2 ."da"PS.seek 1.5ml +2 "processing"%A', +606 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%D'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%?  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%B * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%C +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2430 "core" ' + ."da"PSV.dial PTV +2 "processing"%E +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%H +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%I +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%F  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%J'ؾ +2386 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%L +129 "core"  + "processing"%K% +4 "core" %ؽ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%N' +598 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%G' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%M +83 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%P  +34 "core" + "processing"%R% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%O'. +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Q * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%U'ؾ +1607 "core" ' + ."da"delay 2:00 +8506 "Can"*\ @= +3497 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%S  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%W * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%V +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%T' +2426 "core" ' + ."da"PSV.dial PTV +2 "processing"%Z +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%Y +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%\\ +70 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%[  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%;'ؾ +2386 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%_  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%`  +129 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%a  +42 "core"  + ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%d +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%]' +387 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%c  +44 "core"  + "processing"%f% +4 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +333 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%h  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%j' +1579 "core" ' + ."da"PSV.dial :PML +2 "processing"%l +44 "core" + ."da"PTV.dial :mixing +2 "processing"%o @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%p  +34 "core" +2 "processing"%r% +4 "core" %\ +2 ."da"PS.seek 1.85ml +2 "processing"%t' +240 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%m'ؾ +1977 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +40180 "Can"#\ KJ +7822 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%g  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%n * +35 "core" , +2 ."da"PSV.dial :air + "processing"%i  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%v' +2403 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%k +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%x  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%b +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%q'ؾ +2372 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%s +129 "core"  +2 "processing"% % +4 "core" %ظz\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%y' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%~' +1623 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%u +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%% +4 "core" %~\ +2 ."da"PS.seek 1.5ml +2 "processing"%{'2 +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%w'ؾ +1607 "core" ' +11 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%\  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2433 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2351 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +142 "core" + "processing"%% +4 "core" %ؼ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +600 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1607 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%% +5 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%'( +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%"'ؾ +1607 "core" ' + ."da"delay 2:00 +10480 "Can"\ @= +1523 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%e  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%} * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%z +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%$' +2415 "core" ' + ."da"PSV.dial PTV +2 "processing"%% +73 "core" +2 ."da"delay 5 seconds +501 .PSV.dial PSR +2 "processing"%! +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%( +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%)  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2349 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%+ +144 "core"  + "processing"%,% +4 "core" %ؽ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%&' +609 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%*' +1630 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%. +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%/  +34 "core" +2 "processing"%0% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%1') +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +1607 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%4  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%5 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%2' +2404 "core" ' + ."da"PSV.dial PTV +2 "processing"%8 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%9 +71 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%7 +85 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%:  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%='ؾ +2374 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%X +139 "core" +3 "processing"%>% +10 "core" %ؼ\  +3 #"da"Pulling 0.25ml of PSR.sub1 +6 .PSR.select :sub1 +4 "processing"% +17 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +6 "processing"%@' +335 "core" ' +3 ."da"delay 5 seconds +502 "processing"%<% +4 "core" %  + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%' +332 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%A' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%? +75 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%B  +35 "core" +2 "processing"%C% +4 "core" %w\  +2 ."da"PS.seek 1.5ml +2 "processing"%D', +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%E * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%H'ؾ +1607 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%I  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%F * +34 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +76 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%L' +2508 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%K +76 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%J +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%N +76 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%M  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +2474 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%R +137 "core"  + "processing"%G% +4 "core" %\ b +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%Q' +2120 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%O +88 "core" + ."da"PBV.dial :waste1 +2 "processing"%S  +36 "core" + "processing"%W% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%V'' +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%U * +34 "core" * + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%Z  +103 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Y'ؾ +120 "Can"\ 2 +1500 "core" ' +2 "processing"%\\9 +3 "core" 9g5| +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%[  +3 "core" 5} + 5} + "processing"%T& +4 "core" &^ \ . +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&_% +4 "core" %   s +2 "storage"(`% +3 "core" % \  +2 "storage"(a. +3 "core" .(<1 + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(d(,y +355 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &,| % 4 \ ^ +2 "manipulator"&c& +3 "core" &- Z  \\ +2 "manipulator"&f% +3 "core" %  , x +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&]( +174 "core" ( + "manipulator"&h& +4 "core" & / 9 +2 "storage"(& +3 "core" &,| +\ z +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&l' +96 "core" ' +2 "storage"(o& +4 "core" &,|\  +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(p'r +279 "core" ' +2 "storage"(r- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"('1 +44 "core" ' +2 "manipulator"&j& +4 "core" & R 9 + "manipulator"&t% +4 "core" % s +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&g' +88 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&n( +245 "core" ( + "manipulator"&i& +5 "core" &  t0 + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +2 "core" & r0 +2 ."da"Forearm.seek PC +2 "manipulator"&k' +96 "core" ' + ."da"Hand.close +2 "manipulator"&x/ +74 "core" / + ."da"PC.seek :open +45 "processing"%b( +468 "core" ( + "storage"( & +4 "core" &,e Q f \ g +2 "manipulator"&v& +3 "core" & 0 +2 "manipulator"&s% +3 "core" % < L { +2 ."da"Forearm.seek :retract +2 "manipulator"& ' +92 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&q( +245 "core" ( + "manipulator"&y& +4 "core" & ? t/ +2 "storage"(& +4 "core" &,e w\  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&u' +99 "core" ' + ."da"Hand.open +2 "manipulator"&1 +75 "core" 1 +2 "storage"(- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep3009h.tif +5 "processing"%{& +12 "core" &_ +3 "manipulator"&\ & +6 "core" & G w/ +2 "manipulator"&% +5 "core" % k \\ e[ +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +95 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&w(- +177 "core" ( +2 "manipulator"&& +4 "core" &-  0 G +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-  G +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&'w +91 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +71 "core" / +2 "manipulator"&& +4 "core" &- ~ { + jG + "manipulator"&% +4 "core" % ω w w ] jD +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +118 "core" ( + "manipulator"&& +4 "core" &  s 23 +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & q u Q k3 +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +104 "core" ' + "manipulator"&& +5 "core" & ; 5 k 3 + "manipulator"&% +4 "core" %\ 8 9 1  +2 "processing"% & +4 "core" &8 +2 "processing"%& +5 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%e(^ +5 "core" & +6 & + $e +10 &{Rn 9 +9 &wj N +10 &cC V +9 &%9 V +9 &9 U +10 &; U +9 &k9 V +9 &.9 U +10 &B T +9 &A R +10 &!|C S +9 &#>E S +9 &%F S +10 &&D S +9 &(B R +9 &*GC R +10 &,C S +9 &-A R +10 &/D S +11 &1M= S +9 &3> U +9 &4= U +8 &6< U +9 &8M? V +10 &:> U +9 &;= V +10 &=? V +9 &?TA V +9 &A> V +10 &BN X +9 &Db [ +9 &FGy ] +10 &H vG ] +9 &Iwa ] +10 &KD Z +9 &MX\\ Z +9 &O7 [ +10 &PV \\ +9 &RV [ +9 &T[ \\ +10 &VL \\ +9 &WN \\ +10 &YM \\ +9 &[dO \\ +9 &]#P ] +10 &^zMgJ $m +9 &^NN = +5 ( +2 "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 2.01 +2 "processing"%}& +4 "core" &^>N = + &^>C = + ."psFlush"Hand.open +2 "manipulator"&z1 +74 "core" 1 +2 "manipulator"&"% +4 "core" % \  q  +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&%' +95 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%! +46 "core"  +2 "processing"%(% +4 "core" %ػ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"%)' +601 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%$' +400 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 28.101 seconds\ /var/log/esp/da21sep3009h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep3009h15s.tif +1565 #SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep3009h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep3009h30s.tif +155 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%+ @ +203 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%,  +140 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%&'ؠ +2344 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep3009h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep3009h70s.tif +289 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%. +111 "core" +20 "processing"%/% +5 "core" %؝ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%0' +608 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%*' +2126 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%1 @ +78 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%4 +112 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%5'ؠ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +111 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%3'X\\ +368 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep3009h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "28.101 sec auto-exposure",Subject: "da21sep3009h images!" +5 "storage"(8- +7 "core" -' +2 "storage"(9& +4 "core" &,e H @ f\ < +2 "manipulator"&7& +5 "core" & ^ 3 +2 "manipulator"&:% +3 "core" %  d  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&2( +243 "core" ( + "manipulator"&X& +5 "core" &   * + "storage"(>& +4 "core" &,e = = \ < +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 4 + 450 counts +5 "manipulator"&=' +100 "core" ' +5 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.51 Pucks below Top Plate +84 "storage"(<'" +61 "core" ' + "manipulator"&@& +5 "core" & ) + "storage"(& +4 "core" &,e   i\  +2 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 4 +4 "manipulator"&?'7 +24 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&B, +3 "core" , +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(C' +26 "core" ' +2 "manipulator"&A% +4 "core" %6 + "storage"(E& +4 "core" &,e  {\  +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 4 + 299 counts +2 "manipulator"&D'b +14 "core" ' + "manipulator"&I& +5 "core" &  ) + "storage"(F& +4 "core" &,e   \  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' + ."psFlush"PSR.select :air +4 "processing"% +8 "core" ' + "storage"(H% +5 "core" %  \\\ +2 ."downElevator"SE.seek :down +3 "storage"(K' +4 ."psFlush"PS.seek 2.5ml +2 "processing"%J' +93 "storage"(N% +7 "core" %7 X\ SR +3 "manipulator"&M% +8 "core" %  +4 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +5 "manipulator"&L' +92 "core" ' +47 ' +4 ."downElevator"SE.stop +3 "storage"(5 +5 (R& +8 "core" &,e 9 d\  +1347 ' +6 ."psFlush"PSV.dial PTV +2 "processing"%G +77 "core" +5 ."psFlush"PTV.dial :puck +4 "processing"%P  +76 "core"  +3 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +2 "processing"%O'ؾ +2634 "core" ' +3 ."psFlush"PSV.dial PSR +4 "processing"%S +75 "core"  +2 ."psFlush"PSR.select :flush +4 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +3 "processing"%W' +595 "core" ' +3 ."psFlush"PSR.select :air +4 "processing"% +13 ."psFlush"PS.seek 2.5ml +3 "processing"%Q' +2130 "core" ' +3 ."psFlush"PSV.dial PTV +2 "processing"%U +74 "core" +3 ."psFlush"PBV.dial PSV +3 "processing"%Z U +55 "core" W +5 ."psFlush"PS.seek 0ml +4 "processing"%V'ؾ +2651 "core" ' +3 ."psFlush"PSV.dial PBV +2 "processing"%\\ @ +45 "core" ? +4 ."psFlush"PS.seek 2.5ml +3 "processing"%[' +750 #"uploadLog"upsync +1895 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%T  +83 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%` +42 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%a' +2636 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%^ +83 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml +2 "processing"%;'ؾ +2649 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%c @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%f' +2638 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%h  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%o +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%''X\\ +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%-' +1616 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%r +70 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%j  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%t'ؾ +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%p +74 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%l' +586 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%i' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%m +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%] U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%x'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%g @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%|' +2423 "Can"\ GD +211 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +83 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%v'ؾ +2650 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%s +42 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%k' +2627 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%y +82 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%n @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%' +2639 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%{'ؾ +2652 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"& & +4 "core" & ) +2 "manipulator"&\ % +3 "core" %  >  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +244 "core" ( + "manipulator"&& +4 "core" &  / +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" & / +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +93 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +53 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%u( +460 "core" ( + "manipulator"&q& +4 "core" & ^ . + "manipulator"&% +4 "core" %  O  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +125 "core" ( + "manipulator"& & +4 "core" &- S +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- ^ +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +97 "core" ' + ."psFlush"Hand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&% +4 "core" % } X  +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +3 #tFinished short da assay +6583 #-> access 4 +2 "storage"( % +3 "core" % \  +2 "manipulator"&w% +5 "core" %  \\  +2 "manipulator"&& +39 "core" &- U +10 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(b(C +996 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +2 "core" &D u { T\ +7 #t-> PS.flush +2 #Flushing Processing stage +2 "processing"%z% +3 "core" %\  +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%"& +4 "core" &\ +2 "manipulator"&& +3 "core" &- V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&!(- +16 "core" ( + "manipulator"&(& +4 "core" &- S m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-  m +2 .tForearm.seek :garage +2 "manipulator"&Y'w +93 "core" ' + .tHand.close +2 "manipulator"&)/ +56 "core" / +2 "manipulator"&+& +4 "core" &- J m + "manipulator"&,% +4 "core" % | : +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&$( +117 "core" ( + "manipulator"&.& +4 "core" &  + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" & * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&&' +89 "core" ' +2 "manipulator"&0& +4 "core" & * +2 "manipulator"&% +4 "core" % M s +2 "processing"%1& +3 "core" &\ +2 "processing"%4& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%*(^ +4 "core" &\  +9 &2v\ )w +9 &az\ = +10 &pm\ N +9 &3N\ M +10 &Q\ M +9 &P\ M +9 &xQ\ M +10 &:Q\ M +9 &Q\ M +9 &Q\ M +10 & Q\ M +9 &"BR\ M +10 &$R\ M +9 &%Q\ M +9 &'Q\ M +10 &)JQ\ M +9 &+ R\ M +9 &,R\ M +10 &.Q\ M +9 &0SR\ M +10 &2Q\ M +9 &3R\ M +9 &5O\ M +10 &7ZR\ M +9 &9T\ M +9 &:R\ M +10 &<O\ M +9 &>bT\ M +10 &@#U\ N +9 &AY\ N +9 &Ck\ P +10 &EY\ S +9 &G\ S +9 &H\ T +10 &J\ T +9 &L]\ T +10 &N\ U +9 &O\ U +9 &Q\ V +10 &Sa\ V +9 &U$\ U +9 &V\ V +10 &X\ U +9 &Zj\ U +9 &\\+\ V +10 &]~w\ ; +9 &^6\ I +9 ( +3 "processing"%4& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + "processing"%& +5 "core" &^\ . + &^\ . + .tHand.open + "manipulator"&51 +62 "core" 1 +2 "manipulator"&8% +4 "core" %  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9' +94 "core" ' + .tPSV.dial PSR +2 "processing"%7 +43 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%:'X\\ +1110 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%X' +1608 "core" ' + .tPSV.dial PTV +2 "processing"%> +70 "core" +2 .tPTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +51 "core" +2 .tPS.seek 0ml +2 "processing"%@'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"% +73 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%%' +583 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%A' +2126 "core" ' + .tPSV.dial PTV +2 "processing"%E +74 "core" + .tPBV.dial PSV +2 "processing"%I U +51 "core" V +2 .tPS.seek 0ml +2 "processing"%F'ؾ +2624 "core" ' +2 .tPSV.dial PBV + "processing"%H @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%' +2631 "core" ' + .tPSV.dial :waste1 +2 "processing"%N  +82 "core"  +2 .tPS.seek 0ml +2 "processing"%M'ؾ +2629 "core" ' +2 .tPSV.dial PSR + "processing"%= +43 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%2' +2634 "core" ' + .tPSV.dial PTV +2 "processing"%< +70 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%?'ؾ +2631 "core" ' + .tPSV.dial PBV +2 "processing"%D @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%R' +2630 "core" ' + .tPSV.dial :waste1 +2 "processing"%C  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%3'ؾ +2637 "core" ' + #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +5 "core" & G * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&K( +3 "core" ( + "manipulator"&G& +4 "core" & " * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +4 "core" & ? * +2 .tForearm.seek PC + "manipulator"&J' +94 "core" ' +2 .tHand.close + "manipulator"&S/ +57 "core" / + .tPC.seek :open +2 "processing"%O( +457 "core" ( + "manipulator"&W& +4 "core" & c * +2 "manipulator"&U% +3 "core" %   , +2 .tForearm.seek :retract +2 "manipulator"&Z' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Q(- +126 "core" ( +2 "manipulator"&\\& +4 "core" &- C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&T'w +94 "core" ' + .tHand.open + "manipulator"&[1 +63 "core" 1 +2 "manipulator"&`% +4 "core" % l  Y + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +89 "core" ' +7411 "Can"\ 85 +11338 #t-> access 5 +2 "storage"(^% +3 "core" % \  +2 "manipulator"&a% +4 "core" %  p  +2 "manipulator"&c& +3 "core" &- | +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(;(  +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (h& +3 "core" & y y 8\ +271 #t-> exit +6 #mEXIT @1633021559.29PDT @1633021579.06PDT = =mMAIN_scheduler =tMAIN @PDT1633021580.92 #"core_reset"Sent BREAK +2 #t@30602 receive with ifg=0x10, ie=0xFD + #@31238 receive with ifg=0x10, ie=0xFD #@31895 receive with ifg=0x10, ie=0xFD + #@32531 receive with ifg=0x10, ie=0xFD + #@33166 receive with ifg=0x10, ie=0xFD #@33800 receive with ifg=0x10, ie=0xFD + #@34434 receive with ifg=0x10, ie=0xFD #@34760 receive with ifg=0x80, ie=0xFD + #@12177 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +379 "Can"\ :7 + \ :7 + #tPolling Can every 10:00 +772 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +4 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %d B C\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ظD\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %{ `\ +2 .tSS.configure :default +2 "sampler")#.0X startTube 5 +1294 #-> $da[extractVol]=.2 +56505 "Can"\ >; +22513 #t-> shortDA +2 "collection"'3% +2 "processing"%4% +6 "core" %d < <#\ +2 %ظ\ +4 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +468 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%5 +131 "core" +2 .tPTV.dial :PRVmixing + "processing"%6  +129 "core" + .tPRV.dial :sipper +2 "processing"%7  +43 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%8'e +2290 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%9  + "collection"':  +17 "core" +109 +2 .tPS.seek 0.5ml +2 "processing"%;' +1268 "core" ' + .tPRV.dial :waste2 +2 "processing"%< @ +100 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%='ؾ +586 "core" ' + .tPSV.dial PSR +2 "processing"%> +102 "core"  + "processing"%?% +4 "core" %\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +9 .tPS.seek 1ml +2 "processing"%@'X\\ +1096 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%A' +1608 "core" ' + .tPSV.dial :mixloop +2 "processing"%B +103 "core" +2 .tPS.seek 0ml + "processing"%C'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%D +102 "core"  + "processing"%E% +4 "core" %\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%F'X\\ +1108 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%G' +1629 "core" ' +2 .tPSV.dial :mixloop + "processing"%H +114 "core" +2 .tPRV.dial :sipper + "processing"%I  +43 "core" +2 .tPS.seek 0ml + "processing"%J'ؾ +2625 "core" ' + .tPSV.dial PSR +2 "processing"%K +100 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%L' +2642 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +114 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2632 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%O& +4 "core" &\ + .tHand.open + "manipulator"&P1 +16 "core" 1 + "manipulator"&Q% +4 "core" %  1  +2 "storage"(R% +3 "core" % x B\ +2 "storage"(S. +3 "core" ., + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(T(<- +983 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (U& +3 "core" &<- H A 6\  + "manipulator"&V& +4 "core" &- ! +2 "manipulator"&W% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&X( +170 "core" ( + "manipulator"&Y& +5 "core" & / + "storage"(Z& +4 "core" &<- g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +90 "core" ' +2 "storage"(\\& +4 "core" &<- |\  +2 .tSE.reconfigure :pick +39 "storage"(#],K-0-\ b +9 .tSE.seek :beamBreak + "storage"(]'r +297 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &<- | H\  + "manipulator"&`& +4 "core" &  . +2 .tElbow.seek 5 + "manipulator"&a( +3 "core" ( +2 "manipulator"&b& +3 "core" &  . +2 "storage"(c& +4 "core" &<- ~ )\  + .tForearm.seek 5 + 300 counts +2 "manipulator"&d'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&e/ +57 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(g' +7 "core" & s . + "manipulator"&h% +4 "core" % Ϸ d +2 .tForearm.seek :retract +2 "manipulator"&i' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&j( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&k& +4 "core" & [ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" & U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +93 "core" ' + "manipulator"&n& +4 "core" & +2 "manipulator"&o% +3 "core" % J +2 "processing"%p& +4 "core" &\ +2 "processing"%q& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%r(^ +4 "core" &\ +7 &3\ $e +10 &Uy\ 7 +9 &x\ L +9 &R\ N +10 &jR\ N +9 &,Q\ N +9 &Q\ M +10 &Q\ N +9 &rQ\ N +10 &4R\ N +9 &R\ N +9 &!Q\ N +10 &#zR\ N +9 &%<R\ N +9 &&R\ N +10 &(R\ N +9 &*R\ N +10 &,CR\ N +9 &.Q\ N +9 &/R\ N +10 &1R\ N +9 &3KS\ N +10 &5 R\ N +9 &6R\ N +9 &8R\ N +10 &:RR\ N +9 &<S\ N +9 &=R\ N +10 &?R\ N +9 &AYV\ O +9 &Ci\ Q +10 &D{\ S +9 &F\ U +10 &HP\ T +9 &J\ T +9 &K\ U +10 &M\ U +9 &OV\ U +9 &Q\ V +10 &R\ V +9 &T\ W +10 &V\\\ V +9 &X\ V +9 &Y\ V +10 &[\ V +9 &]b\ D +9 &^Dx\ \\ +10 &^L\ 9 +5 ( +2 "processing"%q& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&s1 +4 "core" &^.\ 9 +60 1 +2 "manipulator"&t% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%v h + %w9 +6 "core" 9 +102 "processing"%x9 +3 "core" 9 +101 "processing"%y9 +3 "core" 9  +102 "processing"%z9 +2 "core" 9  +102 "processing"%{9 +2 "core" 9 +102 "processing"%|9 +3 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +3 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9. +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%\ 9 +3 "core" 9? +102 "processing"% 9 +2 "core" 9C +102 "processing"%9 +2 "core" 9H +103 "processing"%9 +2 "core" 9L +102 "processing"%9 +2 "core" 9P +103 "processing"%9 +2 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%9 +3 "core" 9\\ +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +3 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +2 "core" 9q +103 "processing"%9 +2 "core" 9v +102 "processing"%9 +3 "core" 9z +102 "processing"%9 +2 "core" 9~ +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%!9 +2 "core" 9 +102 "processing"%"9 +3 "core" 9 +102 "processing"%#9 +2 "core" 9 +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +2 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +2 "core" 9  +102 "processing"%/9 +2 "core" 9 +103 "processing"%09 +2 "core" 9 +102 "processing"%19 +3 "core" 9 +102 "processing"%29 +2 "core" 9# +2 .tPH.hold 2:00:00,28C +3 "processing"%3 php +4 .tdelay 1:30 +2 "core"  +6319 "Can"\ B@ +2682 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +101 "core"  +2 "processing"%5% +4 "core" %ؾ(\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%6' +598 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%7' +1608 "core" ' + .tPTV.dial :puck +2 "processing"%  +128 "core"  +2 .tPSV.dial PTV + "processing"%: +74 "core" + .tPBV.dial :waste1 +2 "processing"%9  +53 "core" + "processing"%8% +4 "core" %9\  +2 .tPS.seek 1.5ml +2 "processing"%<'& +596 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%; * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%>'ؾ +1613 "core" ' + .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%?  +33 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%= * +34 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%B' +2418 "core" ' +2 .tPSV.dial PTV + "processing"%A +74 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%D +72 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +3 "processing"%E +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%C  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%F'ؾ +2370 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%H  +130 "core" + .tPSV.dial :mixloop +2 "processing"%I +56 "core" + .tPRV.dial :ab1 +2 "processing"%G @ +100 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%K' +353 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "processing"%J  +42 "core"  +2 "processing"%M% +4 "core" %\ \ +2 .tPS.seek 0.35ml + "processing"%L'k +450 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'O  +27 "core" +2 .tPRV.dial :air +2 "processing"%P  +42 "core"  +2 .tPS.seek 0.9ml + "processing"%Q'K +1168 "core" ' +2 .tPRV.dial :waste2 + "processing"%R @ +71 "core" ? +2 .tPS.seek 0.5ml + "processing"%S' +861 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +41 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%U' +1631 "core" ' +2 .tPSV.dial :PML + "processing"%V +44 "core" + .tPTV.dial :mixing +2 "processing"%W @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%Y  +35 "core" + "processing"%Z% +4 "core" %V\ +2 .tPS.seek 1.85ml +2 "processing"%\\' +237 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%'ؾ +1971 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'^& +3 "core" & 9 <\ +2 "manipulator"&_& +3 "core" & z +2 "manipulator"&`% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&b(- +121 "core" ( + "manipulator"&c& +5 "core" &- S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &- [ +2 .tForearm.seek :garage +2 "manipulator"&f'w +93 "core" ' + .tHand.close + "manipulator"&h/ +60 "core" / +2 "manipulator"&X& +5 "core" &- h + "manipulator"&[% +4 "core" % l 5 & +2 .tForearm.seek :retract + "manipulator"&]' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&d(ӂ +280 "core" ( + "manipulator"&k& +4 "core" &ӛ# O =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &ӛ$  =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&a'? +95 "core" ' +2 "manipulator"&n& +4 "core" &ӛ$  =A + "manipulator"&o% +4 "core" %> x +2 "collection"'p& +4 "core" & 9 :\ +2 "collection"'g& +4 "core" & 8 9\ +2 .tCC.seek :closed +2 "collection"'i(\\ +4 "core" & : :\  +8 &2x : 8\ *x +10 &c{ : :\ > +9 &mm 9 :\ N +9 &0K : :\ N +10 &R ; ;\ N +9 &N : :\ N +10 &wN : :\ M +9 &9N ; ;\ M +9 &P = <\ N +10 &P ; ;\ N +9 & ~R 9 :\ N +10 &"@M ; ;\ N +9 &$L < <\ N +9 &%N ; <\ N +10 &'L < ;\ N +9 &)HL ; <\ N +9 &+ O < ;\ M +10 &,O : ;\ M +9 &.P < ;\ N +10 &0PR ; =\ N +9 &2Q ; :\ N +9 &3R ; :\ N +10 &5Q 9 <\ N +9 &7XR ; <\ N +9 &9N > <\ N +10 &:M < <\ M +9 &<O ; <\ N +9 &>^O < <\ N +10 &@ O = >\ N +9 &AT ? @\ O +10 &C_ B C\ O +9 &E\\u D B\ R +9 &G H I\ V +10 &H J L\ Z +9 &J L K\ \\ +10 &LH L M\ [ +9 &N M K\ \\ +9 &O K M\ ] +10 &Q K N\ \\ +9 &SI L M\ ^ +9 &U N N\ ] +10 &V N O\ ` +9 &X O O\ a +10 &ZI P N\ ` +9 &[| S P\ D +9 &\\, Q R\ + +10 &\\ Q Q\ ^ +2 ( + "collection"'g& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.57 +2 "collection"' & +4 "core" &\\ R R\ ^ + .tHand.open + "manipulator"&s1 +62 "core" 1 +2 "manipulator"&t% +4 "core" % > f x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +95 "core" ' +2 .tPSV.dial PSR + "processing"%q +104 "core"  +2 "processing"%x% +4 "core" %@\ } + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%m'+ +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%y  +41 "core"  +2 .tPS.seek 0ml +2 "processing"%z'ؾ +31 "Can"\ c +1575 "core" ' + .tPSV.dial PSR +2 "processing"%{ +44 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +41 "processing"%|' +2650 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +3 "processing"%}  +2 "collection"'~  +31 "core"  +125  +2 .tPSV.dial :mixloop + "processing"% +102 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"' +3 "core"  +2 "collection"'  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +75 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%\ +44 "core" +2 .tPS.seek 0ml + "processing"% 'ؾ +2628 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &Ӝ" <@ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +24 "core" ( +2 "manipulator"&& +4 "core" &Ӂ  3 $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӂ  W $ +2 .tForearm.seek CC + "manipulator"&'? +95 "core" ' + .tHand.close + "manipulator"&/ +53 "core" / + .tCC.seek :open +2 "collection"'( +451 "core" ( + "manipulator"&& +4 "core" &Ӂ  7 $ +2 "manipulator"&% +3 "core" % G T 3 +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +277 "core" ( +2 "manipulator"& & +4 "core" &- d K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &- T K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&"'w +88 "core" ' +2 .tHand.open +2 "manipulator" +64 "core" 1 + "manipulator"&$% +4 "core" % π b l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +90 "core" ' + ."da"delayUntil "10:43:49.13" +24790 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%& @ +73 "core" A + ."da"PBV.dial :waste1 +2 "processing"%'  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%( * +35 "core" , + ."da"PSV.dial :air +2 "processing"%)  +44 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2402 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%+ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%,  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%- +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%.  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%/'ؾ +2388 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%0 +130 "core"  + "processing"%1% +4 "core" %ؾg\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%2' +585 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%4' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%5  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%N +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%6  +35 "core" + "processing"%% +4 "core" %S\  +2 ."da"PS.seek 1.5ml +2 "processing"%:'/ +594 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%9 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%8'ؾ +1616 "core" ' + ."da"delay 2:00 +1389 "Can"\ B? +10614 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%7  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%; * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%< +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%v' +2431 "core" ' + ."da"PSV.dial PTV +2 "processing"%? +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%= +85 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%@ +82 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%>  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +2365 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%D +130 "core"  + "processing"%E% +4 "core" %ؼ`\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%C' +592 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%B' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%H +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%I  +34 "core" +2 "processing"%G% +4 "core" %H\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%F'' +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%J * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +1610 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%K  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%O * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%P +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%L' +2413 "core" ' + ."da"PSV.dial PTV +2 "processing"%R +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%Q +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%S  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%V'ؾ +2365 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%W  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%Y  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%Z  +43 "core" ~ + ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%U' +391 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%\\  +43 "core"  +2 "processing"%^% +4 "core" % `\ +2 ."da"PS.seek 0.55ml + "processing"%_' +337 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%`  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%c' +1563 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%e +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%h @ +71 "core" A +2 ."da"PBV.dial :waste1 + "processing"%X  +35 "core" + "processing"%j% +4 "core" %t\  +2 ."da"PS.seek 1.85ml +2 "processing"%[' +228 "core" ' + ."da"PBV.dial between PSV and waste1 +3 "processing"%u * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%f'ؾ +1964 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +5773 "Can"\ HG +42229 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%k  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%l * +35 "core" , + ."da"PSV.dial :air +2 "processing"%b  +44 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%n' +2426 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%o +56 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%p  +55 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%] +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  + ."da"PS.seek 0ml +2 "processing"% 'ؾ +2353 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%s +129 "core"  + "processing"%t% +4 "core" %ػu\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%g' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +8 ."da"PS.seek 2ml +2 "processing"%q' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%x  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%a +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" + "processing"%y% +4 "core" %]\  +2 ."da"PS.seek 1.5ml +2 "processing"%m') +594 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%{ * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +1610 "core" ' + ."da"delay 2:00 +3412 "Can"\ C@ +8591 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%~  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%} * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2421 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +134 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%| +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2363 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +130 "core"  +2 "processing"%% +4 "core" %e\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1629 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%% +4 "core" %l\ +2 ."da"PS.seek 1.5ml +2 "processing"%'* +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%d  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%w * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%i +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2425 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%!  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2363 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%# +131 "core"  + "processing"%$% +4 "core" %b\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"' +1617 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%& +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%'  +34 "core" +2 "processing"%(% +3 "core" %}\ +2 ."da"PS.seek 1.5ml +2 "processing"%)'1 +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +5 ."da"PS.seek 0ml +5 "processing"%+'ؾ +1608 "core" ' + ."da"delay 2:00 +8640 "Can"\ IF +3362 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%,  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%- * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%. +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2418 "core" ' + ."da"PSV.dial PTV +2 "processing"%0 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%1 +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%/ +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +5 "processing"%2  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +2346 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%N +140 "core"  +4 "processing"%6% +10 "core" %ؽ\  +2 #"da"Pulling 0.25ml of PSR.sub1 +6 .PSR.select :sub1 +6 "processing"% +14 ."da"PS.reconfigure :default +9 "processing"%#A d`xb +3 ."da"PS.seek 0.25ml +4 "processing"%' +338 "core" ' +2 ."da"delay 5 seconds +502 "processing"%4% +3 "core" %\  + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%9' +335 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%:' +1617 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%7 +88 "core" + ."da"PBV.dial :waste1 +2 "processing"%;  +36 "core" + "processing"%<% +4 "core" %w  +2 ."da"PS.seek 1.5ml +2 "processing"%8'- +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%? * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%='ؾ +1612 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%@  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%> * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%v +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%D' +2533 "core" ' + ."da"PSV.dial PTV +2 "processing"%E +77 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%A +76 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%C +75 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%H  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +2491 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%G +135 "core"  +2 "processing"%B% +3 "core" % +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%J' +2125 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%F +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%K  +35 "core" + "processing"%O% +4 "core" %\ W +2 ."da"PS.seek 1.5ml +2 "processing"%P'- +601 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%M * +34 "core" * + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%R  +107 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Q'ؾ +1613 "core" ' + "processing"%9 +4 "core" 9o5 +2 #"da"Processing Puck Heater at 28.2C before imaging + .PH.coast +2 "processing"%S  +3 "core" 5 + 5 + "processing"%L& +4 "core" &^.\ z9 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&W% +4 "core" %  N  + "storage"(Y% +4 "core" % \ w + "storage"(Z. +3 "core" .(<* +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 4 +2 "storage"((,y +357 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" &,| B ^ E + "manipulator"&\\& +4 "core" &-  rK + "manipulator"&^% +4 "core" %  q +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&U( +171 "core" ( +2 "manipulator"&`& +4 "core" &  s1 + "storage"(_& +4 "core" &,| [\  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&e' +88 "core" ' +2 "storage"(h& +4 "core" &,| S\  +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(X'r +282 "core" ' + "storage"(j- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(u'1 +44 "core" ' +2 "manipulator"&c& +4 "core" & 1 +2 "manipulator"&[% +3 "core" %  ~ +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&k' +93 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&l( +263 "core" ( + "manipulator"&b& +4 "core" & T p + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" & c m +2 ."da"Forearm.seek PC +2 "manipulator"&o' +92 "core" ' +2 ."da"Hand.close +2 "manipulator"&p/ +68 "core" / +2 ."da"PC.seek :open +2 "processing"%]( +459 "core" ( +2 "storage"( & +4 "core" &,f ' 3\  + "manipulator"&n& +4 "core" & \\   + "manipulator"&s% +4 "core" % \  ^ ~" +2 ."da"Forearm.seek :retract +2 "manipulator"&t' +92 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 +2 "manipulator"& ( +238 "core" ( +2 "manipulator"&g& +4 "core" & 1 yB + "storage"(x& +3 "core" &,f\  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&a' +94 "core" ' + ."da"Hand.open +53 "manipulator"&1 +74 "core" 1 +2 "storage"(y- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +28 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"({' +55 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +5 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep3011h.tif +5 "processing"%m& +12 "core" &E\ , +4 "manipulator"&~& +6 "core" & { ? A +2 "manipulator"&}% +5 "core" %  z # +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&z(- +176 "core" ( +2 "manipulator"&& +4 "core" &- 5 $9 +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- w $9 +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&|'w +93 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +72 "core" / +2 "manipulator"&& +4 "core" &- u v K 9 +2 "manipulator"&\ % +3 "core" % d j s   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +136 "core" ( +2 "manipulator"&& +4 "core" &  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & i i F +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&& +4 "core" &   & + "manipulator"& % +4 "core" %  %I +2 "processing"%& +3 "core" & +3 "processing"%& +4 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%d(^ +5 "core" & +7 & 1 $d +10 &Rn 9 +9 &xj N +9 &sE U +10 &7= T +9 &; U +9 &< U +10 &|; U +9 &>; U +10 &> T +9 &> U +9 &!>\ R +10 &#OG\ R +9 &%H\ R +9 &&H\ R +10 &(I\ Q +9 &*YG\ $Q +9 &,F\ Q +10 &-E\ R +9 &/I\ R +10 &1_F\ R +9 &3C T +9 &4> U +11 &6? U +9 &8^> U +8 &: < U +10 &;? T +9 &=A: U +10 &?f>N U +9 &A'@U U +9 &BQN W +10 &DdQ Z +9 &FX|N \\ +9 &HyF \\ +10 &Ix; \\ +9 &K{: ] +10 &M^}8 ] +9 &O= ^ +9 &P=\ [\ +10 &R0\ [\ +9 &Tl*\ [\ +9 &V/,\ [ +10 &W1\ Z +9 &Y1\ Z +10 &[w*\ Z +9 &]5+\ W +9 &^{Cc*\ (u +10 &^9\ 7 +5 ( + "processing"%& +5 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.95 + "processing"%w& +4 "core" &^/ 7 + &^. 7 +2 ."psFlush"Hand.open + "manipulator"&i1 +69 "core" 1 + "manipulator"&% +4 "core" % . I +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +45 "core"  +2 "processing"% % +4 "core" %ؼi\ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%!' +588 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +154 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 25.38 seconds\ /var/log/esp/da21sep3011h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep3011h15s.tif +1565 #SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep3011h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep3011h30s.tif +405 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%# @ +201 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%$  +137 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2099 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep3011h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep3011h70s.tif +549 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +112 "core"  + "processing"%'% +5 "core" %؞L\  + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%(' +598 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +2132 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%) @ +78 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%, +120 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%-'ؠ +2641 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%. +113 "core"  +5 ."psFlush"PSR.select :flush +8 "processing"%@ +16 ."psFlush"PS.seek 1ml +5 "processing"%+'X\\ +92 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep3011h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "25.38 sec auto-exposure",Subject: "da21sep3011h images!" +7 "storage"(0- +4 "core" -' +2 "storage"(1& +5 "core" &,f 7\ T +2 "manipulator"&/& +4 "core" & +2 "manipulator"&2% +4 "core" %   + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 +3 "manipulator"&*( +239 "core" ( + "manipulator"&N& +4 "core" &  ~ ! +2 "storage"(6& +3 "core" &,f\ \  a\ V +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +3 "manipulator"&5' +91 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +52 "core" ' + "manipulator"&& +5 "core" & A ! +2 "storage"(9& +3 "core" &,f   i\ +2 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 4 +4 "manipulator"&7'7 +20 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&;, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(<' +34 "core" ' + "manipulator"&:% +59 "core" %A  +2 "storage"(?& +4 "core" &,f   \ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 4 + 310 counts +2 "manipulator"&8'm +13 "core" ' +2 "manipulator"&@& +4 "core" & D ! +2 "storage"(>& +3 "core" &,f 4 > 2\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +3 "manipulator"&v' +21 "core" ' +4 "storage"(=% +12 "core" % ? @ &\ +5 ."downElevator"SE.seek :down +6 "storage"(E' +101 (A% +5 "core" %9 Y\ SU +4 "manipulator"&C% +9 "core" % 1 +3 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +4 "manipulator"&H' +91 "core" ' +42 ' +2 ."downElevator"SE.stop +4 "storage"(5 +5 (D& +9 "core" &,f ,  +\ +8 ' +3 ."psFlush"PSR.select :air +3 "processing"% +13 ."psFlush"PS.seek 2.5ml +4 "processing"%G' +1609 "core" ' +2 ."psFlush"PSV.dial PTV +5 "processing"%B +74 "core" +3 ."psFlush"PTV.dial :puck +3 "processing"%I  +75 "core"  +3 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +3 "processing"%F'ؾ +2636 "core" ' +3 ."psFlush"PSV.dial PSR +5 "processing"%K +86 "core" +3 ."psFlush"PSR.select :flush +4 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +2 "processing"%O' +594 "core" ' +3 ."psFlush"PSR.select :air +3 "processing"% +13 ."psFlush"PS.seek 2.5ml +3 "processing"%J' +280 "Can"\ EC +1850 "core" ' +3 ."psFlush"PSV.dial PTV +2 "processing"%M +84 "core" +3 ."psFlush"PBV.dial PSV +4 "processing"%R U +53 "core" W +4 ."psFlush"PS.seek 0ml +4 "processing"%P'ؾ +2653 "core" ' +2 ."psFlush"PSV.dial PBV +4 "processing"% @ +44 "core" > +4 ."psFlush"PS.seek 2.5ml +6 "processing"%S' +648 #"uploadLog"upsync +1991 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%L  +71 "core"  + ."psFlush"PS.seek 0ml +2 "processing"%W'ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%Y +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%Z' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%T +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%V'ؾ +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%\\ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%^' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%`  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2652 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%h +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%j +71 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%c  +52 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%['ؾ +2624 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%X +73 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%e' +590 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%b' +2122 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%f +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%U U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%k @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%n'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%s +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%o' +2634 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%g +70 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%x'ؾ +2649 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%l @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%y  +72 "core"  + ."psFlush"PS.seek 0ml +2 "processing"%t'ؾ +2634 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&m& +4 "core" & 6 ! +2 "manipulator"&~% +3 "core" %  '  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&}( +242 "core" ( + "manipulator"&u& +4 "core" & 0 > + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" & > + ."psFlush"Forearm.seek PC +2 "manipulator"&' +94 "core" ' + ."psFlush"Hand.close + "manipulator"&/ +57 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%a( +459 "core" ( + "manipulator"& & +4 "core" & m > + "manipulator"&% +4 "core" %  N & +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&\ (- +125 "core" ( + "manipulator"&& +4 "core" &-  \ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- x \ +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +91 "core" ' + ."psFlush"Hand.open +2 "manipulator"&|1 +58 "core" 1 + "manipulator"&% +4 "core" % t P M +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 #tFinished short da assay +10364 "Can"\ 85 +60001 \ 96 +60002 \ 96 +60001 \ 96 +60001 \ 86 +17476 #t-> access 4 +2 "storage"(% +4 "core" % v ;\  + "manipulator"&z% +4 "core" %  9  +2 "manipulator"&& +3 "core" &- 8 \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(](C +987 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +2 "core" &F 2 D\ +2058 #t-> access 5 +2 "storage"(i% +3 "core" % v x @\  +2 "manipulator"&% +4 "core" %   + "manipulator"&& +4 "core" &- \ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +38 ( & +12 "core" & z y \  +174 #t-> exit +6 #mEXIT @1633029599.18PDT @1633029613.26PDT = =tMAIN =mMAIN_scheduler @PDT1633029615.10 #"core_reset"Sent BREAK +2 #t@14371 receive with ifg=0x10, ie=0xFD + #@15005 receive with ifg=0x10, ie=0xFD + #@15661 receive with ifg=0x10, ie=0xFD #@16295 receive with ifg=0x10, ie=0xFD + #@16930 receive with ifg=0x10, ie=0xFD + #@17564 receive with ifg=0x10, ie=0xFD #@18198 receive with ifg=0x10, ie=0xFD + #@18524 receive with ifg=0x80, ie=0xFD #@27873 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +282 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +380 "Can"\ ;8 + \ ;8 + #tPolling Can every 10:00 +646 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %d ( (N\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %N\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %{ ~ } U\ +2 .tSS.configure :default +2 "sampler")#.0X startTube 5 +1265 #-> $da[extractVol]=.2 +56970 "Can"\ C@ +33514 #t-> shortDA +2 "collection"'3% +4 "core" %d ! $4\ +2 "processing"%4% +5 "core" %?\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +854 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%5 +130 "core" +2 .tPTV.dial :PRVmixing + "processing"%6  +130 "core" + .tPRV.dial :sipper +2 "processing"%7  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml +2 "processing"%8'e +2297 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%9  + "collection"':  +7 "core" +121  +2 .tPS.seek 0.5ml +2 "processing"%;' +1269 "core" ' +2 .tPRV.dial :waste2 + "processing"%< @ +99 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%='ؾ +590 "core" ' +2 .tPSV.dial PSR + "processing"%> +102 "core"  + "processing"%?% +4 "core" %c\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%@'X\\ +1111 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%A' +1619 "core" ' + .tPSV.dial :mixloop +2 "processing"%B +103 "core" +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2637 "core" ' + .tPSV.dial PSR +2 "processing"%D +114 "core" +2 "processing"%E% +4 "core" %ؼa\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%F'X\\ +1102 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%G' +1607 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%H +101 "core" + .tPRV.dial :sipper +2 "processing"%I  +42 "core" +2 .tPS.seek 0ml +2 "processing"%J'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%K +103 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%L' +2628 "core" ' +2 .tPSV.dial :mixloop + "processing"%M +104 "core" +2 .tPS.seek 0ml + "processing"%N'ؾ +2628 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%O& +4 "core" &P\ +2 .tHand.open + "manipulator"&P1 +17 "core" 1 +2 "manipulator"&Q% +4 "core" %  a  + "storage"(R% +4 "core" % 7 < h\  + "storage"(S. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(T(<- +986 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &<- " $ 2\  +2 "manipulator"&V& +4 "core" &- % \ + "manipulator"&W% +4 "core" %    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&X( +168 "core" ( + "manipulator"&Y& +4 "core" & Z 6 +2 "storage"(Z& +3 "core" &<- V W \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&['O +93 "core" ' + "storage"(\\& +4 "core" &<- y x \  +2 .tSE.reconfigure :pick +38 "storage"(#],K-0-\ b +9 .tSE.seek :beamBreak +2 "storage"(]'r +300 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &<- e T x\  + "manipulator"&`& +4 "core" & 6 +2 .tElbow.seek 5 + "manipulator"&a( +4 "core" ( + "manipulator"&b& +4 "core" & 6 + "storage"(c& +4 "core" &<- y y \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&d'Ϲ +36 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(g' +6 "core" & 6 +2 "manipulator"&h% +4 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&k& +4 "core" & 5 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" & 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +93 "core" ' + "manipulator"&n& +5 "core" & e 6 + "manipulator"&o% +4 "core" % ] +2 "processing"%p& +3 "core" &g\ +2 "processing"%q& +5 "core" &`\ +2 .tPC.seek :closed +2 "processing"%r(^ +4 "core" &C\  +8 &2vH\ *x +9 &c}L\ > +10 &jn@\ O +9 &.OE\ N +9 &R9\ N +10 &Q?\ N +9 &tQ7\ N +10 &5T6\ N +9 &Q:\ N +9 &R/\ N +10 & {R4\ N +9 &"=Q3\ N +9 &#R7\ N +10 &%R5\ N +9 &'Q0\ N +10 &)DR"\ N +9 &+Q"\ O +9 &,R-\ N +10 &.S.\ N +9 &0KS1\ O +9 &2P%\ N +10 &3O$\ N +9 &5S)\ N +9 &7TR/\ N +10 &9Q#\ N +9 &:T\ N +10 &<R\ O +9 &>\\T\ N +9 &@S\ N +10 &A`\ P +9 &Cv\ S +10 &ER\ T +9 &G\ T +9 &H\ T +10 &J\ T +9 &LY\ U +9 &N\ V +10 &O\ V +9 &Q\ W +9 &S] \ V +10 &U\ V +9 &V\ V +10 &X\ V +9 &Ze \ V +9 &\\&\ W +10 &]|\ 8 +9 &^/\ X +9 &^-\ 6 +3 ( +2 "processing"%q& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open + "manipulator"&s1 +59 "core" 1 + "manipulator"&t% +4 "core" %  ( ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +90 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%v h + %w9 +6 "core" 9 +102 "processing"%x9 +3 "core" 9 +55 "Can"\ # +47 "processing"%y9 +2 "core" 9  +102 "processing"%z9 +3 "core" 9  +102 "processing"%{9 +2 "core" 9 +102 "processing"%|9 +3 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +3 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +3 "core" 9* +102 "processing"%9 +2 "core" 9/ +102 "processing"%9 +3 "core" 93 +102 "processing"%9 +2 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%\ 9 +3 "core" 9? +102 "processing"% 9 +2 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +102 "processing"%9 +3 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%9 +2 "core" 9\\ +103 "processing"%9 +2 "core" 9a +102 "processing"%9 +3 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +3 "core" 9q +104 "processing"%9 +3 "core" 9v +103 "processing"%9 +2 "core" 9z +102 "processing"%9 +2 "core" 9~ +102 "processing"%9 +3 "core" 9 +102 "processing"% 9 +2 "core" 9 +102 "processing"%!9 +3 "core" 9 +102 "processing"%"9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +3 "core" 9  +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +3 "core" 9 +102 "processing"%19 +2 "core" 9 +102 "processing"%29 +3 "core" 9$ +3 .tPH.hold 2:00:00,28C +2 "processing"%3 php +4 .tdelay 1:30 +2 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +114 "core" +2 "processing"%5% +4 "core" %C\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%6' +609 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml + "processing"%7' +1621 "core" ' + .tPTV.dial :puck +2 "processing"%  +128 "core"  +2 .tPSV.dial PTV + "processing"%: +72 "core" + .tPBV.dial :waste1 +2 "processing"%9  +53 "core" +2 "processing"%8% +4 "core" %l\  +2 .tPS.seek 1.5ml + "processing"%<', +598 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%; * +32 "core" * +2 .tPS.seek 0ml +2 "processing"%>'ؾ +1615 "core" ' + .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%?  +33 "core"  + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%= * +33 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%B' +2412 "core" ' + .tPSV.dial PTV +2 "processing"%A +74 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%D +73 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%E +73 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%C  +72 "core"  +2 .tPS.seek 0ml + "processing"%F'ؾ +2350 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%H  +128 "core" + .tPSV.dial :mixloop +2 "processing"%I +44 "core" + .tPRV.dial :ab1 +2 "processing"%G @ +100 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%K' +180 "Can"\ FC +171 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "processing"%J  +42 "core"  +2 "processing"%M% +4 "core" %  \  +2 .tPS.seek 0.35ml + "processing"%L'h +457 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'O  +29 "core" + .tPRV.dial :air +2 "processing"%P  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%Q'K +1173 "core" ' + .tPRV.dial :waste2 +2 "processing"%R @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%S' +864 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +43 "core"  + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%U' +1617 "core" ' +2 .tPSV.dial :PML +2 "processing"%V +43 "core" +2 .tPTV.dial :mixing +2 "processing"%W @ +71 "core" A +2 .tPBV.dial :waste1 + "processing"%Y  +35 "core" +2 "processing"%Z% +4 "core" %\  + .tPS.seek 1.85ml +2 "processing"%\\' +228 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%'ؾ +1968 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'^& +3 "core" & $ !G\ +2 "manipulator"&_& +3 "core" & 6 +2 "manipulator"&`% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&b(- +126 "core" ( + "manipulator"&c& +4 "core" &- m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&f'w +91 "core" ' +2 .tHand.close + "manipulator"&h/ +55 "core" / +2 "manipulator"&X& +4 "core" &- D +2 "manipulator"&[% +4 "core" % ω  M +2 .tForearm.seek :retract + "manipulator"&]' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&d(ӂ +274 "core" ( + "manipulator"&k& +4 "core" &Ӊ(  @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &Ӊ( K @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&a'? +95 "core" ' +2 "manipulator"&n& +4 "core" &Ӊ(  @Y + "manipulator"&o% +4 "core" %: l +2 "collection"'p& +4 "core" & #3\ +2 "collection"'g& +4 "core" & ! #5\ +2 .tCC.seek :closed +2 "collection"'i(\\ +5 "core" & ! "<\  +9 &1x ! $8\ *y +10 &b} " #8\ > +9 &np # #=\ N +10 &0R # $<\ N +9 &V " #8\ N +9 &T # #@\ N +10 &vR " &B\ N +9 &7R " !D\ N +9 &T " #=\ N +10 &R # $A\ N +9 & ~R % #A\ N +10 &"@R $ #<\ N +9 &$R % %@\ N +9 &%R # $=\ N +10 &'R # $D\ N +9 &)GS % #9\ N +9 &+\ S # &?\ N +10 &,T & $C\ N +9 &.T $ #;\ N +10 &0OQ % #C\ N +9 &2S $ !A\ N +9 &3T # $7\ N +10 &5P ! %7\ N +9 &7WP $ #;\ N +9 &9Q $ ":\ N +10 &:Q % $>\ N +9 &<T % #=\ N +10 &>_U % %7\ N +9 &@ T $ %9\ N +9 &AV ' (8\ O +10 &C] ) )5\ P +9 &E[u + *<\ R +9 &G 2 23\ X +10 &H 3 4:\ Z +9 &J 4 32\ \\ +10 &LG 5 48\ \\ +9 &N 5 4;\ ^ +9 &O 6 6<\ \\ +10 &Q 7 6=\ ] +9 &SF 5 71\ _ +9 &U\ 7 50\ ^ +10 &V 8 80\ ` +9 &X 8 91\ ` +10 &ZI 9 8/\ ` +9 &[{ 9 92\ F +9 &\\" 9 :/\ - +10 &\\ < :;\ #g +2 ( + "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 12/26 samples, on/off torque 2.44 + "collection"' & +4 "core" &\\ 9 ;@\ #g + .tHand.open + "manipulator"&s1 +55 "core" 1 +2 "manipulator"&t% +4 "core" % :  % l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +94 "core" ' + .tPSV.dial PSR +2 "processing"%q +102 "core"  +2 "processing"%x% +4 "core" %ؾ\ j + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%m'+ +1609 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%y  +41 "core"  +2 .tPS.seek 0ml +2 "processing"%z'ؾ +1615 "core" ' + .tPSV.dial PSR +2 "processing"%{ +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%|' +2629 "core" ' +12 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%}  +2 "collection"'~  +33 "core" ~ +125  + .tPSV.dial :mixloop +2 "processing"% +114 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'  +4 "core"  +2 .tPTV.dial :PRVmixing + "processing"%  +74 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2629 "core" ' +2 .tPSV.dial :mixloop + "processing"%\ +46 "core" +2 .tPS.seek 0ml + "processing"% 'ؾ +2629 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӌ' p @W +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +3 "core" ( + "manipulator"&& +5 "core" &Ӌ' @W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӌ' 4 @W +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( + "manipulator"&& +4 "core" &ӌ& ?V +2 "manipulator"&% +3 "core" % : . +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +287 "core" ( +2 "manipulator"& & +4 "core" &- 2 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +2 "core" &- " 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&"'w +99 "core" ' +4 .tHand.open + "manipulator" +53 "core" 1 + "manipulator"&$% +4 "core" % x I \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +94 "core" ' + ."da"delayUntil "12:59:37.15" +24849 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%& @ +74 "core" B + ."da"PBV.dial :waste1 +2 "processing"%'  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%( * +34 "core" , + ."da"PSV.dial :air +2 "processing"%)  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%*' +1225 "Can"\ A> +1206 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%+ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%,  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%- +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%.  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%/'ؾ +2370 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +129 "core" + "processing"%1% +4 "core" %ؾ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%2' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%4' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%5  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%N +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%6  +34 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%:'& +596 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%9 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%8'ؾ +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%7  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%; * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%< +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%v' +2413 "core" ' + ."da"PSV.dial PTV +2 "processing"%? +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%= +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%@ +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%>  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +2344 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%D +129 "core"  +2 "processing"%E% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%C' +598 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%B' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%H +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%I  +34 "core" + "processing"%G% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%F'/ +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%J * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +1616 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%K  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%O * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%P +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%L' +2413 "core" ' + ."da"PSV.dial PTV +2 "processing"%R +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%Q +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%S  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%V'ؾ +2362 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%W  +42 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%Y  +129 "core" +2 ."da"delay 5 seconds +247 "Can"\ DA +255 ."da"PRV.dial :ab2 +2 "processing"%Z  +42 "core" ~ +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%U' +392 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%\\  +43 "core"  +2 "processing"%^% +4 "core" %\ \  +2 ."da"PS.seek 0.55ml +2 "processing"%_' +332 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%`  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%c' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"%e +44 "core" + ."da"PTV.dial :mixing +2 "processing"%h @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%X  +34 "core" +2 "processing"%j% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%[' +228 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%u * +34 "core" , +3 ."da"PS.seek 0ml +2 "processing"%f'ؾ +1964 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +48003 #recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%k  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%l * +34 "core" , + ."da"PSV.dial :air +2 "processing"%b  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%n' +2412 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%o +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%p  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%] +55 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +41 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +86 "Can"\ B? +2298 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%s +129 "core"  + "processing"%t% +4 "core" %ؽ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%g' +589 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%q' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%x  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%a +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%y% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%m'- +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%{ * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%~  +33 "core" +2 ."da"delay 30 seconds +3001 .PBV.dial between PSV and waste1 +2 "processing"%} * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2419 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +552 .PSV.dial PTV +2 "processing"%| +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2355 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +131 "core"  + "processing"%% +4 "core" %ػ-\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"% ' +1607 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'& +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%d  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%w * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%i +70 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2399 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%!  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2364 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%# +129 "core"  +2 "processing"%$% +4 "core" %ظ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"' +1604 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%& +56 "Can"\  +16 "core" + ."da"PBV.dial :waste1 +2 "processing"%'  +34 "core" +2 "processing"%(% +4 "core" %6\  +2 ."da"PS.seek 1.5ml +2 "processing"%)'' +589 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +1610 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%,  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%- * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%. +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%*' +2403 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%0 +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%1 +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%/ +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%2  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +2376 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +139 "core"  +3 "processing"%6% +9 "core" %ع\ \ +4 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +3 "processing"% +17 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +6 "processing"%' +339 "core" ' + ."da"delay 5 seconds +503 "processing"%4% +3 "core" %  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%9' +342 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%:' +1621 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%7 +75 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%;  +36 "core" + "processing"%<% +4 "core" %8  +2 ."da"PS.seek 1.5ml +2 "processing"%8'/ +590 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%? * +34 "core" * +2 ."da"PS.seek 0ml +2 "processing"%='ؾ +1613 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%@  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%> * +36 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%v +78 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%D' +2520 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%E +78 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%A +77 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%C +74 "core" +2 ."da"delay 5 seconds +501 .PSV.dial :air +2 "processing"%H  +89 "core"  +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +2493 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%G +137 "core"  +2 "processing"%B% +4 "core" %ػ\ o + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%J' +2133 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%F +89 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%K  +35 "core" +2 "processing"%O% +4 "core" %\ ] + ."da"PS.seek 1.5ml +2 "processing"%P'1 +596 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%M * +36 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%R  +105 "core"  + ."da"PS.seek 0ml +2 "processing"%Q'ؾ +1614 "core" ' + "processing"%9 +3 "core" 9k5{ +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%S  +3 "core" 5{ + 5{ +2 "processing"%L& +4 "core" &^(\ ^6 + #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&W% +3 "core" %  E  +2 "storage"(Y% +4 "core" %   \ ^ + "storage"(Z. +3 "core" .(<- + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"((,y +358 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &,| G +2 "manipulator"&\\& +3 "core" &- T B * f3 +2 "manipulator"&^% +3 "core" % -  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&U( +173 "core" ( +2 "manipulator"&`& +4 "core" & d H  f< + "storage"(_& +4 "core" &,| 6  1 + ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&e' +98 "core" ' +2 "storage"(h& +4 "core" &,|  >\ [ +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(X'r +277 "core" ' + "storage"(j- +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(u'1 +44 "core" ' +2 "manipulator"&c& +4 "core" & 0 0 _; + "manipulator"&[% +4 "core" % 4 < _F +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&k' +91 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&l( +267 "core" ( + "manipulator"&b& +4 "core" & o +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" & +2 ."da"Forearm.seek PC +2 "manipulator"&o' +91 "core" ' +2 ."da"Hand.close + "manipulator"&p/ +76 "core" / + ."da"PC.seek :open +2 "processing"%]( +461 "core" ( + "storage"( & +4 "core" &,f , \ _ + "manipulator"&n& +4 "core" & U + "manipulator"&s% +4 "core" %  < * +2 ."da"Forearm.seek :retract +2 "manipulator"&t' +90 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"& ( +253 "core" ( + "manipulator"&g& +4 "core" & d I 5 g +2 "storage"(x& +3 "core" &,f 8 :  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&a' +93 "core" ' +2 ."da"Hand.open +43 "manipulator"&1 +84 "core" 1 + "storage"(y- +4 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"({' +55 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep3013h.tif +4 "processing"%m& +12 "core" &B\  +4 "manipulator"&~& +7 "core" & q v +2 "manipulator"&}% +6 "core" % vt +2 ."psFlush"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&z(- +172 "core" ( + "manipulator"&& +4 "core" &-  N +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +3 "core" &- N +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&|'w +97 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +75 "core" / +2 "manipulator"&& +4 "core" &-  {N + "manipulator"&\ % +4 "core" % { K s +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +132 "core" ( + "manipulator"&& +4 "core" & v z +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  y +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +94 "core" ' + "manipulator"&& +4 "core" &   +2 "manipulator"& % +4 "core" % y U H +2 "processing"%& +4 "core" & +2 "processing"%& +5 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%d(^ +5 "core" & +7 & * $d +9 &|Sn 9 +10 &xj N +9 &gB U +9 &)> U +10 &=\ R +9 &C\ R +9 &{D\ Q +10 &<D\ R +9 &H\ R +9 &D\ R +10 &!F\ R +9 &#CI\ R +10 &%E\ Q +9 &&E\ R +9 &(H\ R +10 &*G? T +9 &,= U +9 &-= U +10 &/> U +9 &1K> U +10 &3 = U +9 &4> U +9 &6= U +10 &8S> U +9 &:> U +9 &;? U +10 &=? U +9 &?Y= U +10 &A> U +9 &BZ V +9 &Dg V +10 &FX X +9 &H{ Y +9 &I} Y +10 &K\ Y +9 &M] Z +10 &O Z +9 &P Z +9 &R Z +10 &T` [ +9 &V! \\ +9 &W _ +10 &Y ^ +9 &[_ ^ +10 &] _ +9 &^Pe a +9 &^W = +6 ( + "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.98 +2 "processing"%w& +4 "core" &^> = + &^> = + ."psFlush"Hand.open +2 "manipulator"&i1 +67 "core" 1 +2 "manipulator"&% +4 "core" %  Z rH +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +46 "core"  + "processing"% % +4 "core" %غ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%!' +601 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +998 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 34.025 seconds\ /var/log/esp/da21sep3013h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep3013h15s.tif +1119 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%# @ +201 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%$  +135 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep3013h15s.tif: TIFF Upload Complete\ +3 "core" +2 #"da"PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep3013h30s.tif +2 ."psFlush"PSV.dial :mixloop +8 "processing"% +109 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2631 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +112 "core"  +2 "processing"%'% +69 "core" %ء\  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%(' +114 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep3013h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep3013h70s.tif +489 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +461 "Can"\ 6 +1681 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +37 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%) @ +78 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%, +111 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%-'ؠ +2640 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%. +111 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%+'X\\ +902 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep3013h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "34.025 sec auto-exposure",Subject: "da21sep3013h images!" +9 "storage"(0- +2 "core" -' +2 "storage"(1& +5 "core" &,f \ M +2 "manipulator"&/& +4 "core" & 9  + "manipulator"&2% +4 "core" %  P  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 +3 "manipulator"&*( +162 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%N' +63 "core" ( +2 "manipulator"&6& +4 "core" & a 1 + "storage"(5& +4 "core" &,f /\ L +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&4' +97 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"('" +50 "core" ' + "manipulator"&9& +4 "core" & 1 +2 "storage"(7& +3 "core" &,f   \  +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&;'7 +14 "core" ' + ."da"Elbow.hold +3 "manipulator"&<, +3 "core" , +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 ."da"SE.reconfigure :default +81 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(:' +26 "core" ' + "manipulator"&?% +4 "core" %= 9 +2 "storage"(8& +4 "core" &,f   \  + ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 4 + 306 counts +2 "manipulator"&@'i +14 "core" ' + "manipulator"&>& +4 "core" & 1 +2 "storage"(v& +4 "core" &,f   \  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&=' +20 "core" ' +4 "storage"(E% +11 "core" %\  +6 ."downElevator"SE.seek :down +7 "storage"(A' +98 (C% +6 "core" %f<  3\ SV +3 "manipulator"&H% +8 "core" % +4 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&D' +92 "core" ' +48 ' +2 ."downElevator"SE.stop +5 "storage"(5 +6 (G& +7 "core" &,f  \  +820 ' +2 ."psFlush"PSV.dial PTV +3 "processing"%B +74 "core" +3 ."psFlush"PTV.dial :puck +4 "processing"%I  +72 "core"  +3 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml +4 "processing"%F'ؾ +2641 "core" ' +2 ."psFlush"PSV.dial PSR +3 "processing"%K +76 "core"  +3 ."psFlush"PSR.select :flush +4 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +2 "processing"%O' +590 "core" ' +3 ."psFlush"PSR.select :air +7 "processing"% +13 ."psFlush"PS.seek 2.5ml +3 "processing"%J' +2124 "core" ' +28 ."psFlush"PSV.dial PTV +2 "processing"%M +74 "core" +3 ."psFlush"PBV.dial PSV +4 "processing"%R U +55 "core" W +4 ."psFlush"PS.seek 0ml +4 "processing"%P'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PBV +3 "processing"% @ +47 "core" ? +3 ."psFlush"PS.seek 2.5ml +5 "processing"%S' +1614 #"uploadLog"upsync +1015 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%L  +72 "core"  + ."psFlush"PS.seek 0ml +2 "processing"%W'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%Y +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%Z' +2628 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%T +70 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%V'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%\\ @ +44 "core" ? + ."psFlush"PS.seek 2.5ml +2 "processing"%^' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%`  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%h +43 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1101 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%%' +1617 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%j +70 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%c  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%['ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%X +71 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%e' +594 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%b' +2116 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%f +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%U U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2633 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%k @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2629 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%n'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%s +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%o' +2632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%g +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%x'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV +5 "processing"%l @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +5 "processing"%' +2653 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%y  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%t'ؾ +2633 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&m& +4 "core" & 1 +2 "manipulator"&~% +3 "core" %  r  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&}( +258 "core" ( + "manipulator"&u& +4 "core" & d +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" & Q +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +93 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +61 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%a( + "Can"\ FC +459 "core" ( + "manipulator"& & +4 "core" & , \ + "manipulator"&% +4 "core" %  @ - +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&\ (- +121 "core" ( +2 "manipulator"&& +4 "core" &- + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- V +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +92 "core" ' + ."psFlush"Hand.open + "manipulator"&|1 +60 "core" 1 + "manipulator"&% +4 "core" % ρ S L +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +89 "core" ' +2 #tFinished short da assay +778 #-> PS.flush +2 #Flushing Processing stage + "processing"%% +3 "core" %ؽ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%z& +4 "core" &\ + "manipulator"&& +4 "core" &- 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&](- +17 "core" ( + "manipulator"&w& +4 "core" &- J s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &- C s +2 .tForearm.seek :garage + "manipulator"&'w +90 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / + "manipulator"&& +5 "core" &- b s + "manipulator"& % +4 "core" % υ ? M + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +39 "manipulator"&$&.,(\ #b +10 .tElbow.seek PC +2 "manipulator"&Q( +118 "core" ( + "manipulator"&!& +4 "core" & , - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" & K - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&$' +97 "core" ' + "manipulator"&& +5 "core" & 3 - + "manipulator"&% +4 "core" % )  +2 "processing"%&& +3 "core" &4\ +3 "processing"%'& +4 "core" &.\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +8 &2u\ *x +10 &bz\ = +9 &wl\ N +9 &:P\ M +10 &Q\ M +9 &P\ M +10 &P\ M +9 &CO\ M +9 &O\ M +10 &Q\ M +9 & Q\ M +9 &"KP\ M +10 &$ Q\ M +9 &%P\ M +10 &'P \ M +9 &)SQ\ \ M +9 &+Q\ M +10 &,Q\ M +9 &.Q\ M +9 &0[Q \ M +10 &2P\ M +9 &3Q\ M +10 &5Q\ M +9 &7cQ\ \ M +9 &9%R\ M +10 &:R\ M +9 &<R\ M +10 &>iS \ M +9 &@+T \ M +9 &AX\ N +10 &Ck \ Q +9 &E`\ S +9 &G!\ S +10 &H\ T +9 &J\ T +9 &Ld \ T +10 &N%\ \ U +9 &O\ U +10 &Q\ V +9 &Sh\ V +9 &U+\ U +10 &V\ V +9 &X\ U +9 &Zq\ U +10 &\\2 \ V +9 &]}x \ ; +10 &^/ \ P +9 &^"\ \ 3 +2 ( +2 "processing"%'& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + "processing"%(& +4 "core" &^!*\ 3 +2 .tHand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&)% +5 "core" %  m  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +91 "core" ' + .tPSV.dial PSR +2 "processing"%" +43 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%.'X\\ +1098 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%-' +1607 "core" ' +2 .tPSV.dial PTV +2 "processing"%0 +70 "core" + .tPTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%1  +53 "core" +2 .tPS.seek 0ml + "processing"%/'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%2 +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%6' +588 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%5' +2123 "core" ' + .tPSV.dial PTV +2 "processing"% +84 "core" +2 .tPBV.dial PSV +2 "processing"%9 U +63 "core" T +2 .tPS.seek 0ml +2 "processing"%7'ؾ +2635 "core" ' +2 .tPSV.dial PBV + "processing"%+ @ +43 "core" ? +2 .tPS.seek 2.5ml + "processing"%' +2636 "core" ' + .tPSV.dial :waste1 +2 "processing"%?  +72 "core"  +2 .tPS.seek 0ml + "processing"%8'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"%> +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%v' +2632 "core" ' + .tPSV.dial PTV +2 "processing"%E +70 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%{'ؾ +2634 "core" ' + .tPSV.dial PBV +2 "processing"%4 @ +44 "core" ? +2 .tPS.seek 2.5ml + "processing"%*' +2631 "core" ' + .tPSV.dial :waste1 +2 "processing"%C  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" & - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&;( +3 "core" ( +2 "manipulator"&@& +4 "core" &  - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +2 "core" &  - +3 .tForearm.seek PC + "manipulator"&:' +93 "core" ' + .tHand.close +2 "manipulator"&=/ +61 "core" / +2 .tPC.seek :open +2 "processing"%A( +460 "core" ( + "manipulator"&B& +4 "core" & - + "manipulator"&I% +4 "core" %  A 7 +2 .tForearm.seek :retract + "manipulator"&N' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&K(- +126 "core" ( +2 "manipulator"&F& +4 "core" &- 9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&M'w +90 "core" ' + .tHand.open + "manipulator"&R1 +57 "core" 1 +2 "manipulator"&J% +4 "core" % r 5 ` + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +3247 #t-> access 54 +3 "storage"(P% +3 "core" % w y 3\  +2 "manipulator"&L% +4 "core" %  #  +6 "manipulator"&S& +4 "core" &- + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(Y(  +695 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &  B B {\ +643 #t-> access 4 +3 "storage"(T% +3 "core" % x x *\  +2 "manipulator"&Z% +4 "core" %  .  + "manipulator"&\\& +4 "core" &- % +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(V(C +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +2 "core" &E 9 &\ +1428 #t-> access 5 +2 "storage"(^% +3 "core" % x w -\  +2 "manipulator"&h% +4 "core" %    + "manipulator"&_& +4 "core" &- $ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +2 "core" &   \  +209 #t-> exit +6 #mEXIT @1633035407.46PDT @1633035432.24PDT = =tMAIN =mMAIN_scheduler @PDT1633035434.16 #"core_reset"Sent BREAK +2 #t@1367 receive with ifg=0x10, ie=0xFD + #@2002 receive with ifg=0x10, ie=0xFD + #@2659 receive with ifg=0x10, ie=0xFD + #@3295 receive with ifg=0x10, ie=0xFD #@3929 receive with ifg=0x10, ie=0xFD + #@4562 receive with ifg=0x10, ie=0xFD #@5196 receive with ifg=0x10, ie=0xFD + #@5522 receive with ifg=0x80, ie=0xFD + #@23519 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +297 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +391 "Can"\ =9 + \ =9 + #tPolling Can every 10:00 +447 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %d  Y\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %{ s t ]\ +2 .tSS.configure :default +2 "sampler")#.0X startTube 2 +2109 #-> $da[:extractVol]=.2 +55754 "Can"\ EB +42679 #t-> shortDA +2 "collection"'3% +3 "processing"%4% +5 "core" %d  \ +4 %\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1365 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%5 +132 "core" + .tPTV.dial :PRVmixing +2 "processing"%6  +128 "core" +2 .tPRV.dial :sipper + "processing"%7  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%8'e +2297 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%9  +2 "collection"':  +16 "core" +110  +2 .tPS.seek 0.5ml +2 "processing"%;' +1271 "core" ' + .tPRV.dial :waste2 +2 "processing"%< @ +99 "core" ? + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%='ؾ +593 "core" ' + .tPSV.dial PSR +2 "processing"%> +100 "core"  +2 "processing"%?% +4 "core" %ظ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%@'X\\ +1107 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%A' +1613 "core" ' +2 .tPSV.dial :mixloop + "processing"%B +104 "core" +2 .tPS.seek 0ml + "processing"%C'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%D +102 "core"  + "processing"%E% +4 "core" %\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%F'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%G' +1614 "core" ' + .tPSV.dial :mixloop +2 "processing"%H +103 "core" +2 .tPRV.dial :sipper + "processing"%I  +44 "core" +2 .tPS.seek 0ml +2 "processing"%J'ؾ +1601 "Can"\ EC +1033 "core" ' + .tPSV.dial PSR +2 "processing"%K +114 "core" + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%L' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +101 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2635 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%O& +4 "core" &n\ +2 .tHand.open + "manipulator"&P1 +25 "core" 1 + "manipulator"&Q% +4 "core" %    + "storage"(R% +4 "core" % 0 ; \  + "storage"(S. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(T(  +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (U& +2 "core" & < 1 \ \  +2 "manipulator"&V& +4 "core" &- @ +2 "manipulator"&W% +3 "core" %  W  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&X( +172 "core" ( + "manipulator"&Y& +5 "core" & ) A + "storage"(Z& +4 "core" & { | ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&['S +94 "core" ' +8 "storage"(\\& +4 "core" & P\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'r +26 "core" '  \  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagib: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: voltagef12.746228767795779: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Retry #1 of 4 +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(^' +20 "core" ' 3\  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagic: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi3 : voltagef12.819866470299461 : @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #2 of 4 +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"(_' +21 "core" ' s \  +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagid: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressis : outPressi :deltaPressi : voltagef12.819866470299461 : @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Retry #3 of 4 +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(`' +20 "core" ' r \  +4 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagie: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressir :deltaPressi : voltagef12.819866470299461 : @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #4 of 4 +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down + "storage"(a' +20 "core" ' p \  +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :down + "storage"(b' +25 "core" ' + .tSE.stop + "storage"(5 +3 "manipulator"&c% +4 "core" %V n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +89 "core" ' +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagif: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressip : outPressi :deltaPressi: voltagef12.814957290132549: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"6/home/esp/esp2/protocol/2G/DA.rb:124:in `shortDA'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +22609 #-> PS.flush +2 #Flushing Processing stage + "processing"%e% +3 "core" %ظf\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%f& +4 "core" &d\ +2 "manipulator"&g& +3 "core" & ) A +2 "manipulator"&h% +3 "core" %  .  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&i(- +168 "core" ( + "manipulator"&j& +4 "core" &- \  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &-  +2 .tForearm.seek :garage + "manipulator"&l'w +91 "core" ' + .tHand.close + "manipulator"&m/ +52 "core" / +2 "manipulator"&n& +4 "core" &- e  + "manipulator"&o% +4 "core" % d  +2 .tForearm.seek :retract + "manipulator"&p' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&q( +118 "core" ( +2 "manipulator"&r& +4 "core" &  3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +2 "core" & 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&t' +94 "core" ' + "manipulator"&u& +4 "core" & 3 +2 "manipulator"&v% +4 "core" %  7 + "processing"%w& +4 "core" &a\ +2 "processing"%x& +4 "core" &b\ +2 .tPC.seek :closed +2 "processing"%y(^ +4 "core" &v\  +10 &0tz\ *y +9 &b|v\ > +9 &qmv\ N +10 &2Qw\ N +9 &Qv\ N +9 &Pt\ N +10 &yQv\ N +9 &:Pv\ N +10 &Qu\ N +9 &Qt\ N +9 & Qt\ N +10 &"BQl\ N +9 &$Rt\ N +9 &%Qw\ N +10 &'Qq\ N +9 &)KRw\ N +10 &+ Qq\ N +9 &,Rn\ N +9 &.Qj\ N +10 &0RRw\ N +9 &2Sv\ N +10 &3Rn\ N +9 &5Qo\ N +9 &7YRn\ O +10 &9Rl\ N +9 &:Rj\ N +9 &<Rm\ N +10 &>bUk\ N +9 &@$Ui\ N +9 &A]e\ O +10 &Cpg\ Q +9 &EXr\ U +10 &Gu\ T +9 &Hf\ U +9 &Ji\ U +10 &L_n\ U +9 &Nr\ V +9 &Ok\ V +10 &Qj\ W +9 &Scj\ V +10 &U%i\ V +9 &Vp\ V +9 &Xo\ V +10 &Zlm\ V +9 &\\-v\ V +10 &]xr\ ; +9 &^3i\ Q +9 &^%k\ 1 +3 ( + "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + "processing"%z& +4 "core" &^%U\ 1 +2 .tHand.open + "manipulator"&{1 +53 "core" 1 +2 "manipulator"&|% +4 "core" %  ] 7 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&}' +92 "core" ' + .tPSV.dial PSR +2 "processing"%~ +103 "core"  + .tPSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%'X\\ +1105 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1607 "core" ' +2 .tPSV.dial PTV + "processing"% +74 "core" + .tPTV.dial :puck +2 "processing"%  +130 "core"  + .tPBV.dial :waste1 +2 "processing"%  +51 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2629 "core" ' + .tPSV.dial PSR +2 "processing"% +72 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%\ ' +610 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"% ' +2117 "core" ' + .tPSV.dial PTV +2 "processing"% +74 "core" + .tPBV.dial PSV +2 "processing"% U +53 "core" W +2 .tPS.seek 0ml +2 "processing"%'ؾ +2654 "core" ' + .tPSV.dial PBV +2 "processing"% @ +44 "core" ? +2 .tPS.seek 2.5ml + "processing"%' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"% +43 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%' +2635 "core" ' + .tPSV.dial PTV +2 "processing"% +83 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' + .tPSV.dial PBV +2 "processing"% @ +42 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%' +2635 "core" ' +2 .tPSV.dial :waste1 + "processing"%  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"& & +4 "core" & N 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&!( +3 "core" ( + "manipulator"&"& +4 "core" &  3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +2 "core" & , 3 +2 .tForearm.seek PC +2 "manipulator"&$' +94 "core" ' + .tHand.close + "manipulator"&%/ +63 "core" / +2 .tPC.seek :open +2 "processing"%&( +459 "core" ( + "manipulator"&'& +4 "core" & , 3 + "manipulator"&(% +4 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&)' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&*(- +120 "core" ( + "manipulator"&+& +4 "core" &- $ \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" &- M \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&-'w +89 "core" ' + .tHand.open + "manipulator"&.1 +56 "core" 1 + "manipulator"&/% +4 "core" % {  i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +90 "core" ' +61 "Can"\ 62 +4260 #t-> samplePassF +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'1& +3 "core" &  V\ +2 "manipulator"&2& +4 "core" &-  \ + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&3(- +20 "core" ( +2 "manipulator"&4& +4 "core" &- R + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &- m R +2 .tForearm.seek :garage +2 "manipulator"&6'w +90 "core" ' +2 .tHand.close + "manipulator"&7/ +61 "core" / +2 "manipulator"&& +4 "core" &- f R + "manipulator"&:% +4 "core" % y S +2 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&8(ӂ +286 "core" ( + "manipulator"&<& +4 "core" &Ӝ 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +2 "core" &Ӝ  8 9( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&>'? +91 "core" ' +2 "manipulator"&?& +4 "core" &Ӝ  { 9( + "manipulator"&=% +4 "core" %H m +2 "collection"'@& +3 "core" &  ^\ +2 "collection"'B& +5 "core" &  [\ +2 .tCC.seek :closed +2 "collection"'A(\\ +4 "core" &  S\  +9 &2y  S\ *x +9 &b|  M\ = +10 &lq  W\ N +9 &/Q  M\ M +9 &U  M\ M +10 &Q  L\ M +9 &tR  K\ M +9 &7P  G\ M +10 &U  @\ N +9 &R  K\ M +10 & }Q  =\ M +9 &">T  A\ M +9 &$U  @\ M +10 &%T  <\ M +9 &'S  D\ M +10 &)GQ  C\ M +9 &+T  E\ M +9 &,Q  @\ M +10 &.V  @\ M +9 &0MT  E\ N +9 &2S  @\ M +10 &3V  ?\ M +9 &5T  >\ N +9 &7VT  :\ M +10 &9Q  ;\ M +9 &:Q  @\ M +10 &<W  8\ M +9 &>]V  8\ N +9 &@!Q  ?\ M +10 &A[  =\ N +9 &Ca  =\ O +9 &E[s  8\ Q +10 &G 9\ U +9 &H # #2\ Y +10 &J $ #8\ Z +9 &LI $ &1\ Z +9 &N\ % %5\ Z +10 &O % $)\ [ +9 &Q % &:\ [ +9 &SL % $,\ \\ +10 &U & '(\ \\ +9 &V ( ($\ ^ +10 &X ) &$\ ^ +9 &ZJ ) ''\ _ +9 &[z ' ,%\ D +10 &\\& * )*\ , +9 &\\ , ,'\ _ +2 ( +2 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 + "collection"'D& +4 "core" &\\ ) )5\ _ +2 .tHand.open + "manipulator"&E1 +53 "core" 1 +2 "manipulator"&C% +4 "core" % H   m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&F' +95 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%H  +43 "core"  + "processing"%I% +4 "core" %ؽ@\  + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%G'+ +1615 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%K  +45 "core"  +2 .tPS.seek 0ml + "processing"%J'ؾ +1612 "core" ' + .tPSV.dial PSR +2 "processing"%M +42 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%L' +2631 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%O  +128 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%P +193 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + "collection"'Q +3 "core"  +2 "collection"'R  +5 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%S @ +71 "core" @ +2 .tPS.seek 0ml +2 "processing"%U'ؾ +2631 "core" ' + .tPSV.dial :air +2 "processing"%V  +87 "core"  +11 .tPS.seek 2.5ml +2 "processing"%W' +2628 "core" ' + .tPSV.dial :PTV +2 "processing"%Y +74 "core" ~ + .tPS.seek 0ml +2 "processing"%Z'ؾ +2636 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &Ӝ 9( + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +18 "core" ( + "manipulator"&& +4 "core" &Ӄ 2 + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &Ӄ J + +2 .tForearm.seek CC + "manipulator"&^'? +97 "core" ' + .tHand.close + "manipulator"&_/ +54 "core" / +2 .tCC.seek :open +2 "collection"'`( +449 "core" ( + "manipulator"&a& +4 "core" &ӄ d + +2 "manipulator"&% +3 "core" % ? l  +2 .tForearm.seek :retract +2 "manipulator"&c' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&b(- +282 "core" ( + "manipulator"&[& +4 "core" &- E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &- E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&f'w +93 "core" ' +2 .tHand.open +2 "manipulator"&g1 +64 "core" 1 + "manipulator"&h% +4 "core" % ~ ` 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +91 "core" ' @1633038881.90PDT = =tMAIN =mMAIN_scheduler @PDT1633038883.86 #"core_reset"Sent BREAK +2 #t@11025 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +298 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +403 "Can"\ "r + \ "r + #tPolling Can every 10:00 +801 #-> ESP.ready! +3 #Powering core bus +552 .Gate.power :raw,:ON +2 "sampler") +15 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %  \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % q o\ +2 .tSS.configure :default +2 "sampler")#.0X  $\ % +2 .tSC.reconfigure :sloppy +2 "storage"($-.\ 1~b +2 .tSC.hold +2 "storage"(&, +3 "core" ( y .\ " +28 , +2 .tSC.jog -90 + "storage"('* +44 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"((' +21 "core" '3 P f\ 8 +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.93 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi-: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni3: velocityi: currenti:pwmi:erri: inPressiP : outPressi :deltaPressif : voltagef13.006415316642121W: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"()+ +3 "core" + + "storage"(*% +5 "core" %  \ +2 .tSE.jog -128 +2 "storage"(+) +24 "core" ) +2 .tSC.hold + "storage"(,, +5 "core" , +2 .tSC.jog -90 + "storage"(-* +25 "core" ' +14 ' +3 ."rdyProcessing"PS.stop + "processing"%5 +3 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(.' +7 "core" 'B =\ ? +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.94 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi3: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioniB: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi= : voltagef13.040779577810506: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(/+ +4 "core" + +2 "storage"(0% +4 "core" % <\ +2 .tSE.jog -128 +2 "storage"(1) +25 "core" ) + .tSC.hold +2 "storage"(2, +4 "core" , +2 .tSC.jog -90 +2 "storage"(3* +59 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"(4' +7 "core" 'H ? q\ E +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.95 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi9: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioniH: velocityi: currenti:pwmi:erri: inPressi : outPressi? :deltaPressiq : voltagef13.070234658811978IM: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(5+ +2 "core" + +2 "storage"(6% +5 "core" %  U\ +2 .tSE.jog -128 +2 "storage"(7) +25 "core" ) +2 .tSC.hold + "storage"(8, +5 "core" , +2 .tSC.jog -90 + "storage"(9* +62 "core" * +3 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(:' +8 "core" '> ?\ = +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.94 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi?: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni>: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi? : voltagef13.030961217476682m: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(;+ +3 "core" + +2 "storage"(<% +4 "core" % O\ +2 .tSE.jog -128 +2 "storage"(=) +28 "core" ) +2 .tSC.hold +2 "storage"(>, +3 "core" , +2 .tSC.jog -90 +2 "storage"(?* +44 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"(@' +7 "core" 'F S t\ 6 +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.95 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiE: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioniF: velocityi: currenti:pwmi:erri: inPressi : outPressiS :deltaPressit : voltagef12.996596956308297FI: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(A+ +2 "core" + +2 "storage"(B% +5 "core" %  :\ +2 .tSE.jog -128 +2 "storage"(C) +23 "core" ) +2 .tSC.hold +2 "storage"(D, +4 "core" , +2 .tSC.jog -90 +2 "storage"(E* +29 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down +2 "storage"(F' +8 "core" '< t p\ ; +45 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.94 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiK: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni<: velocityi: currenti:pwmi:erri: inPressit : outPressi :deltaPressip : voltagef13.021142857142857: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(G+ +2 "core" + +2 "storage"(H% +5 "core" %  K\ +2 .tSE.jog -128 +2 "storage"(I) +24 "core" ) + .tSC.hold +2 "storage"(J, +4 "core" , +2 .tSC.jog -90 +2 "storage"(K* +64 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"(L' +9 "core" '9 \ ? +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.93 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiQ: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni9: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef13.040779577810506: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(M+ +4 "core" + + "storage"(N% +6 "core" %  ;\ +2 .tSE.jog -128 +2 "storage"(O) +23 "core" ) +2 .tSC.hold +2 "storage"(P, +4 "core" , +2 .tSC.jog -90 +2 "storage"(Q* +34 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(R' +9 "core" '6 h \ < +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.93 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiW: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni6: velocityi: currenti:pwmi:erri: inPressih : outPressi :deltaPressi: voltagef13.026052037309769z: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(S+ +4 "core" + + "storage"(T% +5 "core" %  \ +2 .tSE.jog -128 +2 "storage"(U) +24 "core" ) +2 .tSC.hold +2 "storage"(V, +4 "core" , +2 .tSC.jog -90 +2 "storage"(W* +41 "core" * +3 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(X' +8 "core" '@ -\ A +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.94 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi]: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni@: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi- : voltagef13.05059793814433&]: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(Y+ +2 "core" + +2 "storage"(Z% +5 "core" % 0 \ +2 .tSE.jog -128 +2 "storage"([) +24 "core" ) + .tSC.hold +2 "storage"(\\, +4 "core" , +2 .tSC.jog -90 +2 "storage"(]* +29 "core" * +2 .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(^' +8 "core" '1 \ = +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.93 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagic: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni1: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef13.030961217476682m: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(_+ +2 "core" + +2 "storage"(`% +5 "core" %  ,\ +2 .tSE.jog -128 +2 "storage"(a) +25 "core" ) +3 .tSC.hold + "storage"(b, +5 "core" , +2 .tSC.jog -90 +2 "storage"(c* +52 "core" * +3 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"(d' +8 "core" '0 p\ : +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagii: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni0: velocityi: currenti:pwmi:erri: inPressi : outPressip :deltaPressi: voltagef13.016233676975945i9: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(e+ +4 "core" + + "storage"(f% +5 "core" % " $ 7\ +2 .tSE.jog -128 +2 "storage"(g) +26 "core" ) + .tSC.hold +2 "storage"(h, +4 "core" , +2 .tSC.jog -90 +2 "storage"(i* +68 "core" * +2 .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(j' +8 "core" '/ J\ = +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagio: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni/: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiJ : voltagef13.030961217476682m: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(k+ +4 "core" + + "storage"(l% +5 "core" % , ( \ +2 .tSE.jog -128 +2 "storage"(m) +24 "core" ) + .tSC.hold +2 "storage"(n, +4 "core" , +2 .tSC.jog -90 +2 "storage"(o* +45 "core" * +2 .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(p' +8 "core" '/ G v\ 8 +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiu: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni/: velocityi: currenti:pwmi:erri: inPressi : outPressiG :deltaPressiv : voltagef13.006415316642121W: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.hold + "storage"(q+ +3 "core" + +2 "storage"(r% +4 "core" % & \ +2 .tSE.jog -128 +2 "storage"(s) +24 "core" ) +2 .tSC.hold +2 "storage"(t, +4 "core" , + .tSC.jog -90 +2 "storage"(u* +30 "core" * +2 .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(v' +9 "core" '. j U\ : +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi{: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni.: velocityi: currenti:pwmi:erri: inPressi : outPressij :deltaPressiU : voltagef13.016233676975945i9: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(w+ +2 "core" + +2 "storage"(x% +4 "core" %  )\ +3 .tSE.jog -128 + "storage"(y) +26 "core" ) +2 .tSC.hold + "storage"(z, +4 "core" , +2 .tSC.jog -90 +2 "storage"({* +39 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down +2 "storage"(|' +8 "core" '. P \ 8 +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi|: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni.: velocityi: currenti:pwmi:erri: inPressi : outPressiP :deltaPressi : voltagef13.006415316642121W: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(}+ +4 "core" + + "storage"(~% +5 "core" %  -\ +2 .tSE.jog -128 +2 "storage"() +26 "core" ) +2 .tSC.hold +2 "storage"(, +4 "core" , +2 .tSC.jog -90 +2 "storage"(* +38 "core" * +2 .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(' +8 "core" ', W #\ 6 +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni,: velocityi: currenti:pwmi:erri: inPressiW : outPressi :deltaPressi# : voltagef12.996596956308297FI: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(+ +3 "core" + +2 "storage"(% +4 "core" % * '\ +2 .tSE.jog -128 +2 "storage"() +26 "core" ) +2 .tSC.hold +2 "storage"(, +4 "core" , +2 .tSC.jog -90 +2 "storage"(* +29 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down +2 "storage"( ' +6 "core" '. (\ D +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni.: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi( : voltagef13.065325478645066: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(\ + +3 "core" + +2 "storage"( % +4 "core" %   H\ +2 .tSE.jog -128 +2 "storage"( ) +27 "core" ) + .tSC.hold +2 "storage"( , +4 "core" , +2 .tSC.jog -90 +2 "storage"(* +54 "core" * +2 .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(' +7 "core" ', 2\ E +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni,: velocityi: currenti:pwmi:erri: inPressi : outPressi2 :deltaPressi: voltagef13.070234658811978IM: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(+ +4 "core" + + "storage"(% +5 "core" %  \ +2 .tSE.jog -128 +2 "storage"() +26 "core" ) +2 .tSC.hold + "storage"(, +4 "core" , +2 .tSC.jog -90 +2 "storage"(* +61 "core" * +2 .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(' +8 "core" '+ U\ @ +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni+: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiU : voltagef13.045688757977418: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(+ +3 "core" + +2 "storage"(% +4 "core" % \ ,\ +2 .tSE.jog -128 +2 "storage"() +25 "core" ) +2 .tSC.hold +2 "storage"(, +4 "core" , +2 .tSC.jog -90 +2 "storage"(* +52 "core" * +3 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"( ' +7 "core" ') ) \ D +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.92 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni): velocityi: currenti :pwmi:erri: inPressi) : outPressi :deltaPressi : voltagef13.065325478645066: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(#+ +3 "core" + +2 "storage"("% +3 "core" % "  O\ +3 .tSE.jog -128 +2 "storage"(%) +24 "core" ) +2 .tSC.hold +2 "storage"(!, +5 "core" , +2 .tSC.jog -90 + "storage"((* +60 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(*' +9 "core" ' Y\ > +2 !to:Slide::Error\ : mesg"?Storage Elevator overCurrent at 32.9 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi/: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiY : voltagef13.035870397643594): @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.hold + "storage"(.+ +3 "core" + +2 "storage"(0% +4 "core" % \ +2 .tSE.jog -128 +2 "storage"($) +25 "core" ) +2 .tSC.hold +2 "storage"(&, +4 "core" , +2 .tSC.jog -90 +2 "storage"(4* +34 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(6' +9 "core" ' \ = +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.89 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi;: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: voltagef13.030961217476682m: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"()+ +5 "core" + +2 "storage"('% +4 "core" %  O\ +2 .tSE.jog -128 +2 "storage"(,) +22 "core" ) +2 .tSC.hold +2 "storage"(:, +4 "core" , +2 .tSC.jog -90 +2 "storage"(* +38 "core" * +3 .tSE.reconfigure :default +4 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(<' +9 "core" ' '\ > +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 32.88 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiA: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi' : voltagef13.035870397643594): @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"7/home/esp/esp2/utils/storage.rb:91:in `coreReady!'"2/home/esp/esp2/utils/storage.rb:77:in `times'"7/home/esp/esp2/utils/storage.rb:77:in `coreReady!'"3/home/esp/esp2/utils/storage.rb:40:in `ready!'",/home/esp/esp2/lib/msg.rb:68:in `retry'"3/home/esp/esp2/utils/storage.rb:32:in `ready!'"1/home/esp/esp2/utils/misc.rb:542:in `ready!'"(ESP):1:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold +2 "storage"(++ +3 "core" + +2 "storage"(/% +4 "core" %  3\ +2 .tSE.jog -128 +2 "storage"(-) +27 "core" ) + .tSC.hold +2 "storage"(2, +4 "core" , +2 .tSC.jog -90 +2 "storage"(@* +27 "core" ) \ \  ;\ V +2 !to:Slide::Error\ : mesg"_Storage Elevator positionErr at 32.81 Pucks below Top Plate while jogging Storage Carousel: @replyo:I2C::Servo::RelMove3Reply :@destinationi%: @tagi2: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostT: homeT: positioni: velocityi: currenti :pwmi:erri: inPressi\ : outPressi\ :deltaPressi; : voltagef13.153690721649484]: @type2F: @sourcei-: @error:positionErr:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 .SC.hold +3 "storage"(B, +5 "core" * , +46 .tSC.jog 90 +11 "storage"(1*Z +51 "core" * +2 .tSE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(5' +45 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.home.seek :initial +2 "storage"(3(,y +972 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 "manipulator"&8& +3 "core" &d  G % +2 .tForearm.seek :retract + "manipulator"&F' +4 "core" ' + .tElbow.seek :hammer +2 "manipulator"&H( +92 "core" ( +2 "manipulator"&7& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&;' +5 "core" ' + "manipulator"&9% +4 "core" %  W  +2 "processing"%>& +4 "collection"'L& +5 "core" &\ + &  \ + .tCC.reconfigure :default +3 ."openPC"PC.reconfigure :default +5 "collection"'$x2 ^22b + "processing"%$x2 ^22b +3 .tCC.home.seek :open +3 ."openPC"PC.home.seek :open +2 "collection"'=( + "processing"%N( +279 "core" ( +27 ( +2 "collection"'A +3 "core"  +2 "processing"%? +3 "core" W + "processing"%D +3 "core" @ +2 "processing"%C +3 "core"  + "collection"'R% +4 "core" %m  \ +2 "processing"%T% +3 "core" %ؽ\ +3 "sampler")G% +3 "core" %ڃ p o U\ 4 +2 "collection"'E& +4 "core" &  \  + "processing"%J& +4 "core" &\  + "manipulator"&X% +4 "core" %   +2 "manipulator"&Z& +3 "core" &  +2 "storage"(I& +3 "core" &,w % %\ +2 "storage"(M% +4 "core" %( & %\ K + "collection"'^9 +3 "core" 9 +2 "processing"%`9 +3 "core" 9 +3196 #t-> startTube 5 +1324 #-> $da[:extractVol]=.2 +1019 #-> access 5 +2 "storage"(K% +3 "core" %( ? - \ K + "manipulator"&P% +5 "core" %    + "manipulator"&O& +4 "core" &  T  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(S(  +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +3 "core" &   -\ +47069 "Can"\ FB +60001 \ EC +60001 \ EB +60001 \ EB +18726 #t-> startTube 5 @UTC1633041488.02 #-> shortDA +2 "collection"'d% +2 "processing"%V% +5 "core" %ؽ\ +2 %m  \ +4 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +307 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%f +41 "core" + .tPTV.dial :PRVmixing +2 "processing"%U  +73 "core" +2 .tPRV.dial :sipper +2 "processing"%Y  +126 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%W'e +2289 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%\\  + "collection"'j  +18 "core" ~ +108  +3 .tPS.seek 0.5ml + "processing"%[' +1271 "core" ' +2 .tPRV.dial :waste2 + "processing"%l @ +97 "core" ? +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%_'ؾ +607 "core" ' + .tPSV.dial PSR +2 "processing"%] +114 "core" +2 "processing"%b% +4 "core" %ػ\  + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%p'X\\ +1102 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%r' +1614 "core" ' + .tPSV.dial :mixloop +2 "processing"%a +112 "core" +2 .tPS.seek 0ml +2 "processing"%e'ؾ +2646 "core" ' +2 .tPSV.dial PSR + "processing"%c +100 "core"  +2 "processing"%h% +4 "core" %ؼ\  + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%v'X\\ +1103 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%x' +1616 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%g +114 "core" + .tPRV.dial :sipper +2 "processing"%k  +42 "core" +2 .tPS.seek 0ml +2 "processing"%|'ؾ +2649 "core" ' + .tPSV.dial PSR +2 "processing"%i +100 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%~' +2647 "core" ' +2 .tPSV.dial :mixloop + "processing"%n +114 "core" +3 .tPS.seek 0ml + "processing"%m'ؾ +2626 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%q& +4 "core" &\  +2 .tHand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&o% +4 "core" %   +2 "storage"(% +3 "core" %( L\ K +2 "storage"(t. +2 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(s(<- +988 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +2 "core" &<, P\  +2 "manipulator"& & +4 "core" & T  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&u( +24 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(z& +3 "core" &<, \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +91 "core" ' + "storage"(}& +4 "core" &<, I\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<, T\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( + "manipulator"&& +4 "core" & \ +2 "storage"(& +3 "core" &<, \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'Ϲ +47 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +8 "core" & \ + "manipulator"&\ % +4 "core" % ϟ } +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek PC + "manipulator"& ( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"& & +4 "core" & g / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" & R / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' + "manipulator"&& +5 "core" & . / + "manipulator"&% +4 "core" % / b +2 "processing"%& +4 "core" &\  +2 "processing"%*& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%0(^ +4 "core" &\  +9 &7w\ +{ +9 &f}\ ? +9 &in\ N +10 &-R\ M +9 &Q\ N +9 &T\ M +10 &rO\ N +9 &5T\ M +9 &U\ N +10 &U\ M +9 & {R\ M +10 &"<U\ N +9 &#U\ M +9 &%P\ M +10 &'R\ M +9 &)DP\ N +9 &+P\ M +10 &,T\ M +9 &.Q\ N +10 &0MS\ M +9 &2T\ N +9 &3Q\ N +10 &5U\ N +9 &7UQ\ M +9 &9S\ N +10 &:S\ N +9 &<R\ M +10 &>\\U\ N +9 &@T\ M +9 &A[\ O +10 &Cr\ Q +9 &ES\ S +9 &G\ S +10 &H\ T +9 &J\ T +10 &LZ\ T +9 &N\ U +9 &O\ T +10 &Q\ U +9 &S]\ U +9 &U\ V +10 &V\ V +9 &X\ U +10 &Zc\ V +9 &\\&\ V +9 &]\ 4 +10 &^4o\ > +9 ( +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open +2 "manipulator"&1 +3 "core" &^\ / +53 1 + "manipulator"&% +4 "core" %  , b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +3 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"% h +2 %69 +6 "core" 9 +101 "processing"%'9 +3 "core" 9 +102 "processing"%9 +2 "core" 9  +102 "processing"%#9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%!9 +2 "core" 9 +102 "processing"%<9 +3 "core" 9 +102 "processing"%/9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9" +102 "processing"%-9 +2 "core" 9& +102 "processing"%.9 +2 "core" 9* +102 "processing"%(9 +3 "core" 9. +102 "processing"%&9 +2 "core" 93 +103 "processing"%$9 +2 "core" 97 +102 "processing"%)9 +2 "core" 9; +103 "processing"%49 +3 "core" 9? +102 "processing"%:9 +3 "core" 9C +102 "processing"%,9 +2 "core" 9H +102 "processing"%+9 +3 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%29 +2 "core" 9T +102 "processing"%@9 +2 "core" 9X +103 "processing"%B9 +2 "core" 9] +102 "processing"%19 +3 "core" 9a +102 "processing"%89 +2 "core" 9e +102 "processing"%79 +2 "core" 9i +103 "processing"%99 +2 "core" 9m +102 "processing"%L9 +2 "core" 9q +102 "processing"%>9 +3 "core" 9v +102 "processing"%9 +3 "core" 9z +102 "processing"%9 +2 "core" 9~ +102 "processing"%F9 +2 "core" 9 +103 "processing"%A9 +2 "core" 9 +102 "processing"%?9 +2 "core" 9 +102 "processing"%D9 +3 "core" 9 +102 "processing"%C9 +2 "core" 9 +102 "processing"%R9 +4 "core" 9 +102 "processing"%T9 +2 "core" 9 +102 "processing"%G9 +23 "core" 9 +102 "processing"%E9 +2 "core" 9 +102 "processing"%J9 +2 "core" 9 +102 "processing"%X9 +3 "core" 9 +102 "processing"%Z9 +2 "core" 9 +102 "processing"%I9 +3 "core" 9 +102 "processing"%M9 +3 "core" 9  +102 "processing"%^9 +2 "core" 9 +102 "processing"%`9 +2 "core" 9 +102 "processing"%K9 +3 "core" 9 +102 "processing"%P9 +3 "core" 9! +2 .tPH.hold 2:00:00,28C +3 "processing"%O php +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%3 +100 "core"  +2 "processing"%Q% +4 "core" %G\ + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%V' +591 "core" ' +2 .tdelay 5 seconds +342 "Can"\ FB +159 .tPSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%d' +1614 "core" ' + .tPTV.dial :puck +2 "processing"%f  +128 "core"  +2 .tPSV.dial PTV +2 "processing"%U +73 "core" + .tPBV.dial :waste1 +2 "processing"%Y  +53 "core" +2 "processing"%j% +4 "core" %t\ +2 .tPS.seek 1.5ml + "processing"%\\'1 +590 "core" ' +57 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%W * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%l'ؾ +1613 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%[  +34 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" * + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%b +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%_' +2411 "core" ' +2 .tPSV.dial PTV + "processing"%p +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +3 "processing"%a +72 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%r +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%c  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%h'ؾ +2354 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%e  +128 "core" +2 .tPSV.dial :mixloop + "processing"%v +44 "core" +2 .tPRV.dial :ab1 + "processing"%g @ +97 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%k' +374 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%x  +42 "core"  +2 "processing"%i% +4 "core" %\ +2 .tPS.seek 0.35ml + "processing"%|'d +464 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'n  +30 "core" + .tPRV.dial :air +2 "processing"%~  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%q'K +1169 "core" ' +2 .tPRV.dial :waste2 +2 "processing"% @ +70 "core" > +2 .tPS.seek 0.5ml +2 "processing"%o' +869 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%t' +1609 "core" ' + .tPSV.dial :PML +2 "processing"%S +44 "core" + .tPTV.dial :mixing +2 "processing"%w @ +73 "core" B +2 .tPBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"% % +4 "core" %\  +2 .tPS.seek 1.85ml + "processing"%z' +241 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%} * +33 "core" * +2 .tPS.seek 0ml +2 "processing"%H'ؾ +1973 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"';& +2 "core" &  \  +2 "manipulator"&{& +4 "core" & y / + "manipulator"&5% +4 "core" %  +  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(- +126 "core" ( + "manipulator"&& +4 "core" &- = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- 6 +2 .tForearm.seek :garage + "manipulator"&'w +100 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 "manipulator"&& +4 "core" &- +2 "manipulator"&\ % +3 "core" % φ G +2 .tForearm.seek :retract +2 "manipulator"&u' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&y(ӂ +275 "core" ( + "manipulator"&& +4 "core" &ӆ(  @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӆ( @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +98 "core" ' +2 "manipulator"&"& +5 "core" &ӆ( / @\\ + "manipulator"&% +4 "core" %=  ! +2 "collection"'& +3 "core" &  \  +3 "collection"'& +4 "core" &  \  +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &  \  +8 &8y  \ +} +10 &h}  \ @ +9 &qk  \ N +9 &4T   \ M +10 &T  \ M +9 &U  \ M +9 &{T  \ M +10 &<T  \ M +9 &V  \ M +10 &Q   \ M +9 & T  \ M +9 &"DT  \ \ M +10 &$O   \ M +9 &%U  \ M +9 &'U   \ M +10 &)LQ   \ M +9 &+U   \ M +10 &,V   \ M +9 &.V  \ \ M +9 &0TU   \ M +10 &2T  \ \ M +9 &3U  \ M +9 &5U  \ M +10 &7\\V  \ M +9 &9U  \ M +10 &:R  \ M +9 &<U  \ M +9 &>eV  \ M +10 &@&U  \ M +9 &A\\  \ N +9 &Ca  \ N +10 &E_y  \ R +9 &G  \ V +10 &H # "\ Y +9 &J " "\ Y +9 &LP " $\ Z +10 &N $ !\ Z +9 &O # # \ Z +9 &Q # #\ Z +10 &SR # "\ \\ +9 &U # "\ \\ +10 &V $ $ \ ] +9 &X # %\ ^ +9 &ZQ & ' \ _ +10 &[y ' &\ B +9 &\\, & '\ *} +9 &\\~ $ ) \ Z +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 +2 "collection"'& +4 "core" &\\~ ' (\ Z + .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&N% +4 "core" % = [ ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tPSV.dial PSR +2 "processing"% +100 "core"  +2 "processing"%6% +4 "core" %W\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%*'+ +1617 "core" ' +3 .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%'  +41 "core"  +2 .tPS.seek 0ml +2 "processing"% 'ؾ +1605 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%#' +2076 "Can"\ c` +554 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV + "processing"%  +2 "collection"'!  +31 "core"  +122 +2 .tPSV.dial :mixloop + "processing"%< +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%/  +73 "core" +2 .tPS.seek 0ml +2 "processing"%%'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%-  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%.' +2640 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%( +43 "core" +2 .tPS.seek 0ml +2 "processing"%&'ؾ +2631 "core" ' + .tPSV.dial :air +2 "processing"%$  +43 "core"  +3 .tPS.seek 2.5ml + "processing"%)' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%4 +44 "core" +2 .tPS.seek 0ml + "processing"%:'ؾ +2634 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&,& +4 "core" &ӈ& k @Z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&+(ӂ +45 "core" ( +2 "manipulator"&& +4 "core" &ӈ& G @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &ӈ'  W @Z +2 .tForearm.seek CC + "manipulator"&@'? +93 "core" ' +2 .tHand.close + "manipulator"&B/ +60 "core" / +2 .tCC.seek :open +2 "collection"'1( +449 "core" ( + "manipulator"&8& +5 "core" &ӈ' H @Z + "manipulator"&7% +4 "core" % ; v . + .tForearm.seek :retract +2 "manipulator"&9' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&L(- +285 "core" ( + "manipulator"&>& +4 "core" &-  a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- / a +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +98 "core" ' +2 .tHand.open + "manipulator"&F1 +56 "core" 1 +2 "manipulator"&A% +4 "core" % | ` $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +91 "core" ' +2 ."da"delayUntil "23:01:40.37" +24830 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%D @ +72 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%C  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%R * +33 "core" + +2 ."da"PSV.dial :air +2 "processing"%T  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%G' +2408 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%E +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%J  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%X +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%Z  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%I'ؾ +2370 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%M +127 "core"  +2 "processing"%^% +4 "core" %\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%`' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%K' +1613 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%P  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%3 +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%Q  +33 "core" + "processing"%m% +4 "core" %s\  +2 ."da"PS.seek 1.5ml +2 "processing"%V'/ +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%f * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%U'ؾ +1609 "core" ' + ."da"delay 2:00 +5122 "Can"\ PL +6881 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%Y  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%j * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%d +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%W' +2408 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%\\ +84 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +82 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%[ +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%]  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%b'ؾ +2349 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +128 "core"  + "processing"%p% +4 "core" %ؾc\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +57 "processing"% +13 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%a' +591 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%r' +1630 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%c +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%_  +32 "core" +2 "processing"%e% +4 "core" %g\ + ."da"PS.seek 1.5ml +2 "processing"%v'* +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%g * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%h'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%x  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%i * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%k +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%n' +2399 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%~ +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%| +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%q  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2352 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%o  +41 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%S  +127 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%w  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"% ' +380 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%}  +44 "core"  + "processing"%t% +4 "core" % |\  +2 ."da"PS.seek 0.55ml +2 "processing"%z' +330 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%;  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%{' +1570 "core" ' + ."da"PSV.dial :PML +2 "processing"%5 +44 "core" + ."da"PTV.dial :mixing +2 "processing"% @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"% % +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%' +228 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +1969 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +9539 "Can"\ FC +38464 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +31 "core" * +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2407 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%"  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +2366 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%= +127 "core"  +2 "processing"%% +4 "core" %ؾ\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%N' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%6  +33 "core" + "processing"% % +4 "core" %s\  +2 ."da"PS.seek 1.5ml +2 "processing"%H') +583 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%' * +32 "core" * +3 ."da"PS.seek 0ml + "processing"%*'ؾ +1612 "core" ' +2 ."da"delay 2:00 +7233 "Can"\ EB +4770 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%! +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2409 "core" ' + ."da"PSV.dial PTV +2 "processing"%< +72 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%/ +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%# +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%-  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%%'ؾ +2362 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%( +129 "core"  + "processing"%.% +4 "core" %j\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%$' +600 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%&' +1607 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%4 +84 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%)  +32 "core" +2 "processing"%,% +4 "core" %~\  +2 ."da"PS.seek 1.5ml + "processing"%'& +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%2 * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%B'ؾ +1612 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%y  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%8' +2405 "core" ' + ."da"PSV.dial PTV +48 "processing"%7 +81 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%@ +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%> +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +71 "core"  +3 ."da"PS.seek 0ml + "processing"%+'ؾ +2349 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%F +128 "core"  + "processing"%A% +4 "core" %ع\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%9' +593 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%D +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%C  +32 "core" +2 "processing"%R% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%T'& +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%: * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%J  +33 "core" +2 ."da"delay 30 seconds +534 "Can"\ FD +2468 ."da"PBV.dial between PSV and waste1 +2 "processing"%X * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Z +83 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%G' +2405 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%M +70 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%^ +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%I +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%`  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +2346 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%3 +134 "core"  +3 "processing"%Q% +10 "core" %ؽ\ W +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +14 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +5 "processing"%m' +338 "core" ' +3 ."da"delay 5 seconds +502 "processing"%K% +3 "core" %\ N +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%f' +332 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."da"PS.seek 2ml + "processing"%V' +1630 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%Y +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%j  +35 "core" + "processing"%d% +4 "core" %\ I +2 ."da"PS.seek 1.5ml +2 "processing"%U'& +586 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%\\ * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%[  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%W +72 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%l' +2476 "core" ' + ."da"PSV.dial PTV +2 "processing"%p +86 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%b +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%a +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%c  +86 "core"  +2 ."da"PS.seek 0ml +2 "processing"%_'ؾ +2431 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%e +134 "core"  +2 "processing"%r% +4 "core" %\ V + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%g' +2129 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%v +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%x  +35 "core" + "processing"%i% +4 "core" %\ W +2 ."da"PS.seek 1.5ml +2 "processing"%k'1 +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%h * +34 "core" , + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%~  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%|'ؾ +1632 "core" ' + "processing"%9 +3 "core" 9g5s +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%q  +3 "core" 5s + 5s + "processing"%n& +4 "core" &^\ V/ +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&o% +3 "core" %  {  +2 "storage"(S% +3 "core" %\ \  =\ V +2 "storage"(w. +2 "core" .(<* +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"( (,y +352 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z \ +2 "manipulator"&}& +4 "core" &- ^ a + "manipulator"&t% +4 "core" %  Q  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"& ( +172 "core" ( +2 "manipulator"&;& +4 "core" &  - + "storage"(z& +4 "core" &,z o E\ j +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&5' +97 "core" ' + "storage"(& +4 "core" &,z\  h\ X +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"('r +274 "core" ' + "storage"( - +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek :place +2 "storage"('1 +48 "core" ' +2 "manipulator"&{& +4 "core" & e - + "manipulator"&% +4 "core" % ) z +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +243 "core" ( +2 "manipulator"&& +4 "core" & H 4 + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +2 "core" & 4 +2 ."da"Forearm.seek PC +2 "manipulator"&' +89 "core" ' + ."da"Hand.close + "manipulator"&"/ +68 "core" / +2 ."da"PC.seek :open + "processing"%( +458 "core" ( +2 "storage"(& +4 "core" &,e\ \  m\ X + "manipulator"&& +4 "core" & n 4 + "manipulator"&=% +4 "core" % & D +50 ."da"Forearm.seek :retract +9 "manipulator"&' +92 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&u( +245 "core" ( + "manipulator"&& +5 "core" &  \ + "storage"(& +4 "core" &,e\  \ W +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&' +111 "core" ' +2 ."da"Hand.open +2 "manipulator"&61 +59 "core" 1 +2 "storage"( - +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(N' +26 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"('' +52 "core" ' Y +3 !"da"o:Slide::Error\ : mesg"@Storage Elevator overCurrent at -1.21 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi,: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiY : voltagef12.706955326460481: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"5/home/esp/esp2/utils/puckmoves.rb:527:in `image'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/puckmoves.rb:504:in `image'"6/home/esp/esp2/utils/puckmoves.rb:452:in `unload'"5/home/esp/esp2/utils/puckmoves.rb:502:in `image'"9/home/esp/esp2/utils/puckmoves.rb:970:in `imagePuck'"B/home/esp/esp2/protocol/2G/utilities.rb:129:in `prepAndImage'";/home/esp/esp2/protocol/2G/DAprocess.rb:332:in `runDA'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #Retry #1 of 4 +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 ."da"SE.home.seek :down +2 "storage"(H' +321 "core" ' +2 "storage"(& +4 "core" &,e e R\ + "manipulator"& & +4 "core" & \ +3 ."da"Elbow.seek 4 +2 "manipulator"&!( +15 "core" ( + "manipulator"&*& +4 "core" &   +2 "storage"(<& +3 "core" &,e a a\ +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&/' +3 "core" ' +2 "storage"(#& +3 "core" &,e R\  "\ X +3 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(-'r +310 "core" ' + "storage"(- +3 "core" -' +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&(& +3 "core" &   + "storage"(.& +4 "core" &,e\ \  e\ V +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&%'7 +13 "core" ' + ."da"Elbow.hold +2 "manipulator"&$, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(4- +2 "core" -' +3 ."da"SE.seek 0.17 Pucks below Top Plate +2 "storage"()'v +32 "core" ' +2 "manipulator"&,% +4 "core" %I O + "storage"(&& +4 "core" &,e b c v\ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 4 + 318 counts +2 "manipulator"&2'u +13 "core" ' +2 "manipulator"&& +4 "core" & e  +2 "storage"(y& +3 "core" &,e @ A\ Y +3 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&' +26 "core" ' +3 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"(' +40 "core" ' + "storage"(B& +5 "core" &,e\  E \ Z + "manipulator"&7& +4 "core" &  +2 ."da"Elbow.seek 4 +2 "manipulator"&@( +5 "core" ( + "manipulator"&>& +4 "core" & \  + "storage"(& +5 "core" &,e\ \  \ Y +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&8' +12 "core" ' +2 "storage"(F- +4 "core" -' +2 ."da"SE.seek -0.19 Pucks below Top Plate +2 "storage"(A'9 +35 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.16 Pucks below Top Plate +2 "storage"(+' +55 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21sep3023h.tif +5 "processing"%9& +11 "core" &\ : +5 "manipulator"&D& +8 "core" & 5  +3 "manipulator"&C% +11 "core" % +4 ."psFlush"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."psFlush"Forearm.seek :retract +3 "manipulator"&R' +91 "core" ' +3 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +172 "core" ( +2 "manipulator"&:& +5 "core" &- M C +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &-  C +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&J'w +97 "core" ' +2 ."psFlush"Hand.close + "manipulator"&X/ +75 "core" / +2 "manipulator"&Z& +4 "core" &- N C + "manipulator"&E% +4 "core" % w  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&M' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&^( +130 "core" ( + "manipulator"&I& +4 "core" &  \ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" & A \ +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&G' +99 "core" ' + "manipulator"&3& +4 "core" & ~ \ +2 "manipulator"&Q% +4 "core" % , +2 "processing"%P& +3 "core" &\ d +3 "processing"%K& +4 "core" &\ c +2 ."psFlush"PC.seek :closed +2 "processing"%m(^ +4 "core" &\ c +8 & 2\ `$d +9 &Tv\ [7 +9 &|q\ `L +10 &M\ ^P +9 &QL\ ^O +9 &K\ _O +10 &L\ _O +9 &K\ _O +10 &UJ'\ 4Q +9 &E@\ 5Q +9 &EY\ 4Q +10 &!IO\ 3Q +9 &#^JR\ 3P +9 &% HT\ 2P +10 &&GG\ 3P +9 &(G@\ 3P +10 &*eGC\ 2Q +9 &,'J=\ 2Q +9 &-IB\ 2Q +10 &/FC\ 2Q +9 &1nGD\ 2P +9 &3/G>\ 1Q +10 &4L;\ ZP +9 &6J,\ ^P +10 &8xL/\ ^P +9 &::J/\ ^P +9 &;N,\ ^O +10 &=I.\ _O +9 &?L&\ ^P +9 &ABP&\ ^P +10 &Bb(\ \\R +9 &Dq3\ [U +9 &Fu)\ ZV +10 &H4|1\ ;W +9 &I~'\ .X +10 &K)\ .X +9 &Mv\ -Y +9 &O8\ -X +10 &P\ ,Z +9 &R\ ,Y +9 &T{\ +Z +10 &V?\ ,Y +9 &X\ +Y +10 &Y\ +Z +9 &[\ +Z +9 &]C \ *R +10 &^zDx\ -%n +9 &^?\ [7 +5 ( +2 "processing"%K& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.81 +2 "processing"%f& +4 "core" &^,\ ^7 + &^,\ ^7 + ."psFlush"Hand.open +2 "manipulator"&Y1 +54 "core" 1 +2 "manipulator"&j% +4 "core" %  } , +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&d' +92 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%V +45 "core"  +2 "processing"%\\% +4 "core" %\ ] + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%U' +595 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%[' +817 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 31.78 seconds\ /var/log/esp/da21sep3023h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21sep3023h15s.tif +1297 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%] @ +163 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21sep3023h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21sep3023h30s.tif +23 "core" A + ."psFlush"PTV.dial :PRVmixing +3 "processing"%W  +134 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +115 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%p'ؠ +2632 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%b +107 "core"  +4 "processing"%a% +13 "core" %ؤz\ a +4 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +8 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +3 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21sep3023h30s.tif: TIFF Upload Complete\ +3 "processing"%c' +3 #"da"PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21sep3023h70s.tif +585 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%l' +2119 "core" ' +3 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%e  +34 "core"  + ."psFlush"PTV.dial :mixing +2 "processing"%r @ +75 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"%_ +107 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%v'ؠ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%x +106 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%i'X\\ +861 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21sep3023h70s.tif: TIFF Upload Complete\ +5 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "31.78 sec auto-exposure",Subject: "da21sep3023h images!" +4 "storage"(g- +8 "core" -' +2 "storage"(h& +5 "core" &,e \ v +2 "manipulator"&~& +4 "core" & v \ +2 "manipulator"&k% +4 "core" %  s  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 +2 "manipulator"&( +191 "core" ' +2 ."psFlush"PSR.select :air +4 "processing"% +10 ."psFlush"PS.seek 2.5ml +3 "processing"%q' +31 "core" ( + "manipulator"&n& +4 "core" & g  +2 "storage"(o& +4 "core" &,e d\ u +2 ."da"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&S' +99 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.44 Pucks below Top Plate +3 "storage"(w'^ +47 "core" ' +2 "manipulator"&s& +9 "core" &   +2 "storage"(& +4 "core" &,e \ + ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 4 +4 "manipulator"&}'7 +15 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&t, +6 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(;' +28 "core" ' +2 "manipulator"&z% +4 "core" %<  7 +2 "storage"(& +4 "core" &,e  `\ + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 4 + 305 counts +2 "manipulator"&L'h +13 "core" ' +2 "manipulator"&?& +4 "core" & 8  +2 "storage"( & +4 "core" &,e >\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&{' +15 "core" ' +2 "storage"(% +4 "core" %  \ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (5% +6 "core" %8 9\ TX +5 "manipulator"&% +8 "core" % ; +4 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +4 "manipulator"&\ ' +89 "core" ' +43 ' +2 ."downElevator"SE.stop +3 "storage"(5 +7 ( & +8 "core" &,e {\ +933 ' +3 ."psFlush"PSV.dial PTV +2 "processing"%" +76 "core" +4 ."psFlush"PTV.dial :puck +4 "processing"%  +71 "core"  +4 ."psFlush"PBV.dial :waste1 +7 .PS.seek 0ml +2 "processing"%0'ؾ +2646 "core" ' +5 ."psFlush"PSV.dial PSR +2 "processing"% +86 "core" +4 ."psFlush"PSR.select :flush +4 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%' +587 "core" ' +3 ."psFlush"PSR.select :air +2 "processing"% +14 ."psFlush"PS.seek 2.5ml +3 "processing"%=' +2130 "core" ' +3 ."psFlush"PSV.dial PTV +3 "processing"% +72 "core" +2 ."psFlush"PBV.dial PSV +5 "processing"% U +52 "core" V +4 ."psFlush"PS.seek 0ml +6 "processing"%'ؾ +1076 "Can"\ KI +1559 "core" ' +3 ."psFlush"PSV.dial PBV +4 "processing"% @ +46 "core" > +4 ."psFlush"PS.seek 2.5ml +3 "processing"%6' +2051 #"uploadLog"upsync +585 "core" ' + ."psFlush"PSV.dial :waste1 +3 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%''ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%N +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%*' +2624 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%<  +70 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%#'ؾ +2631 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%u +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%'X\\ +1101 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%H' +1632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%(  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%.'ؾ +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%4 +72 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%,' +598 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%&' +2123 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%y U +52 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%B'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%7 @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%>' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +54 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%F'ؾ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%/ +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%!' +2634 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%- +70 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%9'ؾ +2653 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%D @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%C  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%2'ؾ +2632 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&)& +4 "core" &  +2 "manipulator"&$% +4 "core" %    +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +242 "core" ( +2 "manipulator"&& +4 "core" & ! = + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" & 3 = +2 ."psFlush"Forearm.seek PC +2 "manipulator"&:' +92 "core" ' +2 ."psFlush"Hand.close + "manipulator"&T/ +60 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%8( +460 "core" ( + "manipulator"&@& +4 "core" & < = +2 "manipulator"&X% +4 "core" %  6 ' + ."psFlush"Forearm.seek :retract +2 "manipulator"&Z' +97 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&E(- +126 "core" ( +2 "manipulator"&R& +4 "core" &- ( \ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &- 0 \ +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&`'w +102 "core" ' +2 ."psFlush"Hand.open + "manipulator"&J1 +63 "core" 1 + "manipulator"&3% +4 "core" % s  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&Q' +92 "core" ' +2 #tFinished short da assay +13361 "Can"\ >; @UTC1633046695.69 \ >; +60002 \ >; +60001 \ >; +60001 \ >; +60001 \ =: @1633049173.69UTC = =tMAIN =mMAIN_scheduler @UTC1633049175.55 #"core_reset"Sent BREAK +2 #t@13556 sendCRC with ifg=0x20, ie=0x7F + #@15391 sendCRC with ifg=0x08, ie=0x5F + #@35073 idle with ifg=0x84, ie=0x75 + #@35744 select with ifg=0x10, ie=0xF5 #@36377 receive with ifg=0x10, ie=0xFD + #@37011 receive with ifg=0x10, ie=0xFD #@37644 receive with ifg=0x10, ie=0xFD + #@37971 receive with ifg=0x80, ie=0xFD #@29305 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +166 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +123 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +390 "Can"\ =< + \ =< + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1020 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %m \ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %ڃ d a _\ 4 + .tSS.configure :default +2 "sampler")#.0X access 4 +2 "storage"(3% +3 "core" % [\  +2 "manipulator"&4% +4 "core" %    + "manipulator"&5& +4 "core" &- $ \ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(6(C +986 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &@ \ +3888 #t-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'8& +3 "core" &  \ +2 .tHand.open + "manipulator"&91 +23 "core" 1 + "manipulator"&:& +4 "core" &-  \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&;(- +19 "core" ( +2 "manipulator"&<& +4 "core" &- B O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &- G O +2 .tForearm.seek :garage + "manipulator"&>'w +90 "core" ' +2 .tHand.close + "manipulator"&?/ +57 "core" / + "manipulator"&@& +4 "core" &- ! O +2 "manipulator"&A% +3 "core" % ς G  +2 .tForearm.seek :retract +2 "manipulator"&B' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&C(ӂ +289 "core" ( + "manipulator"&D& +4 "core" &Ӕ   :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &Ӕ! % :- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'? +101 "core" ' +2 "manipulator"&G& +4 "core" &Ӕ"  :- +2 "manipulator"&H% +4 "core" %* h 6 +2 "collection"'I& +3 "core" & \ \ +3 "collection"'J& +6 "core" &  \ \ +2 .tCC.seek :closed + "collection"'K(\\ +5 "core" &  \ \ +7 & 4 \ \ \ $e +10 &Wz \ 7 +9 &y \ \ \ L +9 &U \ M +10 &hR \ \ M +9 &*R \ M +10 &U \ L +9 &U \ L +9 &oX \ M +10 &3T \ \ L +9 &T \ L +9 &!T \ \ L +10 &#yT \ L +9 &%;T \ L +10 &&T \ \ L +9 &(U \ M +9 &*X \ \ \ M +10 &,BY \ M +9 &.T \ \ L +9 &/T \ M +10 &1W \ M +9 &3JS  \ M +10 &5 T \ L +9 &6U \ \ M +9 &8S \ M +10 &:RU \ M +9 &<Y \ M +9 &=T \ L +10 &?T \ M +9 &AZX \ M +10 &C`  \ N +9 &Dr  \ P +9 &F  \ T +10 &HA  \ X +9 &J  \ Y +9 &K  \ Y +10 &M  \ Z +9 &OE  \ Y +10 &Q  \ [ +9 &R  \ [\ +9 &T  \ \\ +10 &VD  \ \\ +9 &X !\ ] +10 &Y \ ^ +9 &[ ! #\ K +9 &\\5 " #\ 4 +10 &\\ " $\ Z +5 ( +2 "collection"'J& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.39 + "collection"'L& +4 "core" &\\ # #\ Z + &\\ $ !\ Z + .tHand.open +2 "manipulator"&M1 +56 "core" 1 + "manipulator"&N% +4 "core" % * 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +96 "core" ' +2 .tPSV.dial PSR,avoiding: PBV + "processing"%P +4 "core"  + "processing"%Q  +43 "core"  +2 "processing"%R% +4 "core" %\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +11 .tPS.seek 1.5ml + "processing"%S'+ +1611 "core" ' +37 .tdelay 5 seconds +508 .PSV.dial :waste1 +2 "processing"%T  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%U'ؾ +1613 "core" ' +2 .tPSV.dial PSR + "processing"%V +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%W' +2635 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%X  +2 "collection"'Y  +6 "core"  +92 +2 .tPSV.dial :PTV,via: :air +2 "processing"%Z +190 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + "collection"'[ +4 "core"  + "collection"'\\  +5 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%] +3 "core"  +2 "processing"%^ @ +71 "core" A +2 .tPS.seek 0ml +2 "processing"%_'ؾ +2635 "core" ' +2 .tPSV.dial :air +2 "processing"%`  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%a' +2635 "core" ' + .tPSV.dial :PTV +2 "processing"%b +73 "core" ~ +2 .tPS.seek 0ml +2 "processing"%c'ؾ +2629 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +4 "core" &ӕ!  K :, +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&e(ӂ +17 "core" ( + "manipulator"&f& +5 "core" &ӂ \\ - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &ӂ - +2 .tForearm.seek CC +2 "manipulator"&h'? +91 "core" ' +2 .tHand.close + "manipulator"&i/ +63 "core" / +2 .tCC.seek :open + "collection"'j( +451 "core" ( + "manipulator"&k& +5 "core" &Ӄ - + "manipulator"&l% +4 "core" % D O +2 .tForearm.seek :retract + "manipulator"&m' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&n(- +283 "core" ( + "manipulator"&o& +4 "core" &- L E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &-  E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&q'w +98 "core" ' +2 .tHand.open + "manipulator"&r1 +59 "core" 1 +2 "manipulator"&s% +4 "core" % y   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +94 "core" ' +2067 #t-> PS.flush + #Flushing Processing stage +2 "processing"%u% +3 "core" %ؾ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%v& +4 "core" &\ +2 "manipulator"&w& +3 "core" &- M E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&x(- +3 "core" ( +2 "manipulator"&y& +3 "core" &- 0 E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &- V E +2 .tForearm.seek :garage +2 "manipulator"&{'w +91 "core" ' + .tHand.close +2 "manipulator"&|/ +59 "core" / +2 "manipulator"&}& +4 "core" &- " E +2 "manipulator"&~% +4 "core" % w C @ + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +117 "core" ( +2 "manipulator"&& +4 "core" & /  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&& +4 "core" & \\  +2 "manipulator"&% +4 "core" % U  + "processing"%\ & +5 "core" &\ +2 "processing"% & +6 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\  +9 &2x\ *x +9 &c}\ > +9 &pp\ N +10 &3R\ N +9 &R\ N +9 &O\ M +10 &yQ\ N +9 &:R\ N +10 &O\ N +9 &O\ N +9 & O\ M +10 &"CQ\ N +9 &$T\ N +9 &%S\ M +10 &'Q\ M +9 &)LQ\ M +10 &+Q\ M +9 &,Q\ M +9 &.Q\ M +10 &0SQ\ N +9 &2P\ N +9 &3R\ N +10 &5Q\ N +9 &7[P\ N +10 &9R\ M +9 &:R\ N +9 &<R\ N +10 &>bW\ N +9 &@#T\ N +9 &A]\ O +10 &Cp\ Q +9 &EY\ T +10 &G\ T +9 &H\ T +9 &J\ U +10 &L_\ T +9 &N\ U +9 &O\ U +10 &Q\ V +9 &Sc\ V +10 &U'\ U +9 &V\ U +9 &X\ U +10 &Zk\ V +9 &\\-\ V +9 &]|v\ = +10 &^'p\ Z +9 &^)\ 6 +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.74 +2 "processing"%& +4 "core" &^%\ 6 + .tHand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +2 .tPSV.dial PSR +2 "processing"% +83 "core" +2 .tPSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%'X\\ +1098 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1614 "core" ' + .tPSV.dial PTV +2 "processing"% +70 "core" +2 .tPTV.dial :puck + "processing"%  +72 "core"  +2 .tPBV.dial :waste1 + "processing"%  +53 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 .tPSV.dial PSR + "processing"% +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%' +591 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +2129 "core" ' + .tPSV.dial PTV +2 "processing"% +85 "core" + .tPBV.dial PSV +2 "processing"%! U +53 "core" W +2 .tPS.seek 0ml +2 "processing"%"'ؾ +2624 "core" ' + .tPSV.dial PBV +2 "processing"%# @ +42 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%$' +2635 "core" ' +2 .tPSV.dial :waste1 + "processing"%%  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%&'ؾ +2637 "core" ' + .tPSV.dial PSR +2 "processing"%' +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%(' +2632 "core" ' +2 .tPSV.dial PTV + "processing"%) +71 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%*'ؾ +2631 "core" ' + .tPSV.dial PBV +2 "processing"%+ @ +43 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%,' +2628 "core" ' + .tPSV.dial :waste1 +2 "processing"%-  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%.'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&/& +4 "core" & <  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&0( +3 "core" ( + "manipulator"&1& +4 "core" & v  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" & F  +2 .tForearm.seek PC +2 "manipulator"&3' +93 "core" ' + .tHand.close +2 "manipulator"&4/ +62 "core" / +2 .tPC.seek :open +2 "processing"%5( +455 "core" ( +2 "manipulator"&& +4 "core" &  + "manipulator"&7% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&9(- +126 "core" ( +2 "manipulator"&:& +4 "core" &- F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&='w +92 "core" ' + .tHand.open + "manipulator"&?1 +58 "core" 1 +2 "manipulator"&@% +4 "core" % x - S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +916 "Can"\ @= +296 #t-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \ +2 "manipulator"&& +4 "core" &-  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&>(- +15 "core" ( + "manipulator"&D& +4 "core" &- ( ~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &-  ~ + .tForearm.seek :garage +2 "manipulator"&;'w +94 "core" ' + .tHand.close + "manipulator"&G/ +58 "core" / +3 "manipulator"&H& +4 "core" &- ~ + "manipulator"&I% +4 "core" % ϋ   +2 .tForearm.seek :retract + "manipulator"&B' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& (ӂ +282 "core" ( +2 "manipulator"&L& +4 "core" &Ә  :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +2 "core" &Ә!  :, +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'? +90 "core" ' + "manipulator"&P& +4 "core" &Ә! \ :, +2 "manipulator"&J% +4 "core" %D o +2 "collection"'Q& +3 "core" & \ +3 "collection"'R& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'F(\\ +4 "core" & \ +7 & - \ $c +10 &Ux \ 6 +9 &{ \ K +9 &W \ M +10 &eU \ L +9 &'R \ L +9 &S \ L +10 &T \ M +9 &mU \ L +10 &0U \ L +9 &W \ L +9 &!U \ M +10 &#tU  \ M +9 &%7Q \ L +9 &&R \ L +10 &(R \ M +9 &*|U \ M +10 &,?W \ L +9 &.W \ M +9 &/U  \ L +10 &1U  \ L +9 &3FU \ M +9 &5 R \ L +10 &6S \ M +9 &8W  }\ L +10 &:NS  ~\ M +9 &<X  \ L +9 &=T \ L +10 &?X  \ M +9 &AVZ  \ M +9 &C_  \ N +10 &Dr  \ O +9 &F  \ S +10 &H>  \ X +9 &I  ~\ Y +9 &K  \ Y +10 &M  \ Y +9 &O@  \ Z +9 &Q \ Z +10 &R  |\ [ +9 &T  \ [ +10 &V@ \ \\ +9 &X  \ ] +9 &Y " !\ ^ +10 &[ # !\ K +9 &\\5 $ #\ 3 +9 &\\ $ #\ \\ +6 ( + "collection"'R& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 + "collection"'& +4 "core" &\\ " &\ \\ + &\\ # "\ \\ + .tHand.open +2 "manipulator"&T1 +62 "core" 1 +2 "manipulator"&S% +4 "core" % D 0 o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +92 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%U  +42 "core"  +2 "processing"%Y% +4 "core" %ؾ\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%X'+ +1616 "core" ' +2 .tdelay 5 seconds +540 .PSV.dial :waste1 +11 "processing"%Z  +44 "core"  +2 .tPS.seek 0ml + "processing"%['ؾ +1612 "core" ' + .tPSV.dial PSR +2 "processing"%\\ +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%]' +2626 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .PSV.dial :PTV,via: :air +2 "processing"%^ +190 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 "processing"%W @ +72 "core" A +2 .tPS.seek 0ml + "processing"%`'ؾ +2628 "core" ' + .tPSV.dial :air +2 "processing"%_  +73 "core"  +2 .tPS.seek 2.5ml +2 "processing"%b' +2635 "core" ' +2 .tPSV.dial :PTV + "processing"%a +74 "core" ~ +2 .tPS.seek 0ml +2 "processing"%d'ؾ +2629 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&f& +4 "core" &Ә   :, +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +26 "core" ( +2 "manipulator"&i& +4 "core" &~\  i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +2 "core" &~\  i +3 .tForearm.seek CC + "manipulator"&O'? +98 "core" ' + .tHand.close +2 "manipulator"&K/ +56 "core" / +2 .tCC.seek :open +2 "collection"'k( +450 "core" ( +2 "manipulator"&l& +4 "core" &~\  i + "manipulator"&h% +4 "core" % + + .tForearm.seek :retract +2 "manipulator"&o' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&p(- +282 "core" ( +3 "manipulator"&e& +8 "core" &- P 7 +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &r& +6 "core" &- 7 +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&s'w +97 "core" ' +2 .tHand.open + "manipulator"&m1 +61 "core" 1 +2 "manipulator"&q% +4 "core" % y 7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +92 "core" ' +1197 #t-> exit +5 #mEXIT @1633049973.39UTC @1633088936.37UTC = =tMAIN =mMAIN_scheduler @UTC1633088938.24 #"core_reset"Sent BREAK +2 #t@28139 sendCRC with ifg=0x20, ie=0x7F + #@29974 sendCRC with ifg=0x08, ie=0x5F + #@24385 idle with ifg=0x84, ie=0x75 + #@25055 select with ifg=0x10, ie=0xF5 #@25688 receive with ifg=0x10, ie=0xFD + #@26321 receive with ifg=0x10, ie=0xFD + #@26954 receive with ifg=0x10, ie=0xFD #@27281 receive with ifg=0x80, ie=0xFD + #@57163 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +289 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +379 "Can" \ B? +  \ B? + #tPolling Can every 10:00 +1494 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %m  {\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %b\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ڃ d b _\ 4 +2 .tSS.configure :default +2 "sampler")#.0X startTube 5 +1533 #-> $da[:extractVol]=.2 +54249 "Can"\ DA +11860 #t-> access 5 +2 "storage"(3% +3 "core" % \  + "manipulator"&4% +4 "core" %  o  +2 "manipulator"&5& +4 "core" &- } 7 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(6(  +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &  E\ +47758 #t-> shortDA +2 "Can"#\ B@ +2 "collection"'8% +2 "processing"%9% +5 "core" %m L\ +3 %@\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1363 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%: +42 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%;  +71 "core" +2 .tPRV.dial :sipper + "processing"%<  +127 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%='e +2298 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + "processing"%>  +2 "collection"'?  +6 "core"  +120  +2 .tPS.seek 0.5ml +2 "processing"%@' +1267 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%A @ +100 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%B'ؾ +595 "core" ' + .tPSV.dial PSR +2 "processing"%C +101 "core"  +2 "processing"%D% +4 "core" %ظA\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +9 .tPS.seek 1ml +2 "processing"%E'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%F' +1620 "core" ' + .tPSV.dial :mixloop +2 "processing"%G +102 "core" +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2628 "core" ' +2 .tPSV.dial PSR +2 "processing"%I +101 "core"  +2 "processing"%J% +4 "core" %ؾ;\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%K'X\\ +1095 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%L' +1613 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%M +101 "core" +2 .tPRV.dial :sipper + "processing"%N  +42 "core" +2 .tPS.seek 0ml +2 "processing"%O'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%P +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%Q' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%R +101 "core" +2 .tPS.seek 0ml +2 "processing"%S'ؾ +2629 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp +2 "processing"%T& +4 "core" &G\ + .tHand.open +2 "manipulator"&U1 +19 "core" 1 +2 "manipulator"&V% +4 "core" %  q  + "storage"(W% +4 "core" % \  + "storage"(X. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Y(<- +980 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Z& +3 "core" &<+ N\ + "manipulator"&[& +4 "core" &- Z 7 + "manipulator"&\\% +4 "core" %  F  +37 .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&]( +187 "core" ( +2 "manipulator"&^& +4 "core" & T  + "storage"(_& +4 "core" &<* p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&`'O +123 "core" ' +2 "storage"(a& +4 "core" &<* \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +294 "core" ' +2 "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &<* \ +2 "manipulator"&e& +3 "core" & #  +2 .tElbow.seek 5 +2 "manipulator"&f( +3 "core" ( + "manipulator"&g& +4 "core" & [  + "storage"(h& +4 "core" &<* 1\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&i'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +3 "storage"(l' +7 "core" & n  + "manipulator"&m% +4 "core" %  ; +2 .tForearm.seek :retract +2 "manipulator"&n' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&o( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&p& +4 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +3 "core" & $ 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r' +100 "core" ' +2 "manipulator"&s& +4 "core" & $ 1 +2 "manipulator"&t% +4 "core" %  + "processing"%u& +4 "core" &,\ +2 "processing"%v& +5 "core" &@\ +2 .tPC.seek :closed + "processing"%w(^ +4 "core" &>\  +9 &2w?\ *x +9 &a};\ = +9 &ho8\ N +10 &+R3\ M +9 &O6\ N +10 &O1\ N +9 &pP9\ N +9 &3P7\ M +10 &R4\ N +9 &U/\ N +9 & xU.\ N +10 &":U/\ N +9 &#U/\ N +10 &%U#\ M +9 &'S*\ M +9 &)BU*\ N +10 &+U(\ M +9 &,S$\ M +9 &.U*\ N +10 &0JR#\ N +9 &2 T(\ N +10 &3U#\ N +9 &5S#\ N +9 &7RW-\ N +10 &9R \ N +9 &:S#\ N +9 &<T#\ N +10 &>YY\ N +9 &@U\ N +10 &A^\ O +9 &Cv\ R +9 &EP\ T +10 &G\ T +9 &H\ T +9 &J\ U +10 &LV\ T +9 &N\ U +10 &O\ U +9 &Q\ U +9 &SZ\ V +10 &U\ V +9 &V\ V +9 &X \ U +10 &Zb\ V +9 &\\#\ V +9 &]\ 3 +10 &^1o\ L +10 &^%\ 5 +2 ( + "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&x1 +60 "core" 1 +2 "manipulator"&y% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +88 "core" ' +3 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%{ h +2 %|9 +5 "core" 9 +102 "processing"%}9 +3 "core" 9 +102 "processing"%~9 +2 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%\ 9 +2 "core" 9* +102 "processing"% 9 +2 "core" 9/ +102 "processing"%9 +3 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%9 +2 "core" 9? +102 "processing"%9 +2 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +103 "processing"%9 +3 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +16 "core" 9n +102 "processing"% 9 +3 "core" 9r +102 "processing"%!9 +2 "core" 9v +102 "processing"%"9 +3 "core" 9z +102 "processing"%#9 +2 "core" 9 +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +4 "core" 9 +102 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +3 "core" 9  +102 "processing"%/9 +2 "core" 9 +102 "processing"%09 +3 "core" 9 +102 "processing"%19 +2 "core" 9 +102 "processing"%29 +3 "core" 9! +3 .tPH.hold 2:00:00,28C +2 "processing"%3 php +5 .tdelay 1:30 +2 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%4 +102 "core"  + "processing"%5% +5 "core" %\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%' +597 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%7' +1608 "core" ' + .tPTV.dial :puck +2 "processing"%8  +128 "core"  + .tPSV.dial PTV +2 "processing"%9 +72 "core" + .tPBV.dial :waste1 +2 "processing"%:  +53 "core" +2 "processing"%;% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%<'( +585 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +3 .tPS.seek 0ml + "processing"%?'ؾ +1631 "core" ' + .tdelay 5:00 +13807 "Can")\ EB +16195 #trecoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%>  +33 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%= * +33 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%A +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml + "processing"%@' +2427 "core" ' + .tPSV.dial PTV +2 "processing"%C +72 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%D +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"%B +72 "core" + .tdelay 5 seconds +502 .PSV.dial :air +3 "processing"%E  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%G'ؾ +2370 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%F  +128 "core" + .tPSV.dial :mixloop +2 "processing"%I +44 "core" + .tPRV.dial :ab1 +2 "processing"%J @ +98 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%H' +349 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "processing"%K  +42 "core"  +2 "processing"%M% +4 "core" %\ \ +2 .tPS.seek 0.35ml + "processing"%N'j +451 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'L  +29 "core" + .tPRV.dial :air +2 "processing"%P  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%O'K +1168 "core" ' + .tPRV.dial :waste2 +2 "processing"%R @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%Q' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%T  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%U' +1614 "core" ' + .tPSV.dial :PML +2 "processing"%V +44 "core" + .tPTV.dial :mixing +2 "processing"%W @ +72 "core" B + .tPBV.dial :waste1 +2 "processing"%X  +33 "core" + "processing"%6% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%Z' +239 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%[ * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%\\'ؾ +1969 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'^& +3 "core" &  *\ +2 "manipulator"&_& +3 "core" & P 0 +2 "manipulator"&% +4 "core" %  E  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&a(- +124 "core" ( + "manipulator"&& +4 "core" &- ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +2 "core" &- S +2 .tForearm.seek :garage +2 "manipulator"&d'w +91 "core" ' +2 .tHand.close + "manipulator"&e/ +60 "core" / +2 "manipulator"&g& +4 "core" &- G +2 "manipulator"&h% +3 "core" % φ d +2 .tForearm.seek :retract +2 "manipulator"&j' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +271 "core" ( +2 "manipulator"&m& +4 "core" &Ӎ& w @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +2 "core" &Ӎ( S @] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&`'? +99 "core" ' +2 "manipulator"&b& +4 "core" &ӎ(  @\\ +2 "manipulator"&i% +4 "core" %/ D - + "collection"'p& +5 "core" &  *\ +2 "collection"'q& +4 "core" &  ,\ +2 .tCC.seek :closed +2 "collection"'f(\\ +5 "core" &  \  +9 &2y  *\ *y +9 &c~  +\ > +10 &qq  ,\ N +9 &5R   \ M +9 &T  \ N +10 &S  $\ N +9 &{Q  \ M +9 &=U  \ M +10 &X  \ N +9 &S  \ M +10 & U  \ M +9 &"EU  \ M +9 &$U  \ M +10 &%T  \ N +9 &'T  \ M +9 &)MU  \ M +10 &+T  \ N +9 &,T  \ N +10 &.T  \ N +9 &0US  "\ M +9 &2O  $\ M +10 &3U  \ M +9 &5U  '\ M +9 &7]V   \ M +10 &9U  %\ M +9 &:U  \ M +10 &<U  #\ N +9 &>eU  &\ M +9 &@&Q  \ N +10 &AZ  $\ N +9 &C`  !\ O +9 &Eau  \ Q +10 &G  \ V +9 &H !"\ Y +10 &J !  \ Z +9 &LP  "\ Z +9 &N " "#\ [ +10 &O " ""\ [\ +9 &Q # #%\ \\ +9 &SR # # \ \\ +10 &U # ##\ ] +9 &V # #"\ ] +10 &X % &\ ^ +9 &ZQ % %\ _ +9 &[z % '\ A +10 &\\( % '\ - +9 &\\ & '\ [ +2 ( +2 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 +2 "collection"'s& +4 "core" &\\ ' )&\ [ + .tHand.open +2 "manipulator"&t1 +52 "core" 1 + "manipulator"&u% +4 "core" % /  - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +93 "core" ' + .tPSV.dial PSR +2 "processing"%n +102 "core"  +2 "processing"% % +4 "core" %ؼ\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%x'+ +1620 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%y  +41 "core"  +50 .tPS.seek 0ml +2 "processing"%|'ؾ +1617 "core" ' + .tPSV.dial PSR +2 "processing"%v +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%}' +2658 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%r  + "collection"'~  +31 "core"  +124 + .tPSV.dial :mixloop +2 "processing"% +112 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"' +3 "core"  +2 "collection"'  +3 "core"  +2 .tPTV.dial :PRVmixing +2 "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%\ +44 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2633 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"% +43 "core" +3 .tPS.seek 0ml + "processing"%'ؾ +2650 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &ӎ' @\\ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +43 "core" ( +2 "manipulator"&& +4 "core" &Ӈ  : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӈ G : +2 .tForearm.seek CC + "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( + "manipulator"&& +4 "core" &Ӈ ? : +2 "manipulator"&% +3 "core" % A - W +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +273 "core" ( +2 "manipulator"& & +4 "core" &- f + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +3 "core" &-  f +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&"'w +101 "core" ' +2 .tHand.open + "manipulator" +54 "core" 1 +2 "manipulator"&$% +4 "core" % k e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +86 "core" ' +3 ."da"delayUntil "12:32:44.51" +2743 "Can"-\ EB +21985 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%& @ +71 "core" A + ."da"PBV.dial :waste1 +2 "processing"%'  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 + "processing"%( * +32 "core" * +2 ."da"PSV.dial :air +2 "processing"%)  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2422 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%+ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%,  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%- +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%.  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%/'ؾ +2366 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +129 "core"  + "processing"%1% +4 "core" %ػ|\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%2' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%4' +1614 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%5  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%S +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%8% +4 "core" %\  +2 ."da"PS.seek 1.5ml + "processing"%9'/ +596 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%: * +32 "core" * +3 ."da"PS.seek 0ml +2 "processing"%;'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%7  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%< +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%{' +2425 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%> +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%= +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%A +72 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%?  +84 "core"  +2 ."da"PS.seek 0ml + "processing"%C'ؾ +2351 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%D +129 "core"  +2 "processing"%B% +3 "core" %ؿv\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%E' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%@' +562 "Can"1\ HE +1046 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%F +84 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%I  +32 "core" +2 "processing"%J% +4 "core" %n\  +2 ."da"PS.seek 1.5ml + "processing"%G'/ +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%K * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +1612 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%H  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%L * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%P +72 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%N' +2407 "core" ' + ."da"PSV.dial PTV +2 "processing"%R +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%O +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%T +71 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%Q  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%V'ؾ +2369 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%W  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%X  +127 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%6  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%[ +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%U' +388 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%Z  +42 "core"  +2 "processing"%^% +3 "core" % s\  +2 ."da"PS.seek 0.55ml +2 "processing"%_' +332 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1554 "core" ' + ."da"PSV.dial :PML +2 "processing"%c +44 "core" + ."da"PTV.dial :mixing +2 "processing"%e @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%g  +33 "core" + "processing"%o% +4 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%h' +226 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%z * +32 "core" * +3 ."da"PS.seek 0ml + "processing"%d'ؾ +1967 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +28049 "Can"6\ FD +19954 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%m  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" + + ."da"PSV.dial :air +2 "processing"%a  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%b' +2405 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%i +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%p  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%j +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%s'ؾ +2367 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%t +128 "core" +2 "processing"%u% +4 "core" %ؾk\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%q' +590 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%n' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%` +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%\\  +33 "core" + "processing"%y% +4 "core" %s\  +2 ."da"PS.seek 1.5ml +2 "processing"%x'/ +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%v * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%|'ؾ +1609 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%~  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%r * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +51 "processing"%' +2425 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%} +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2365 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%\ +130 "core"  + "processing"%% +4 "core" %غ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +585 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%', +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +16 "Can"0\ a^ +16 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1633 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%k  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%l * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%f +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2406 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%!  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2385 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%# +130 "core"  + "processing"%$% +4 "core" %غ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"' +1613 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%& +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%'  +33 "core" + "processing"%(% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%)', +584 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +1612 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%,  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%- * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%. +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2429 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%0 +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%1 +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%/ +84 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%2  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +2346 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%S +135 "core"  +4 "processing"%% +11 "core" %ؿ\ c +3 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +5 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +4 ."da"PS.seek 0.25ml +3 "processing"%8' +329 "core" ' +2 ."da"delay 5 seconds +503 "processing"%4% +3 "core" % \ ` +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%:' +331 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%9' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%7 +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" +2 "processing"%<% +4 "core" %\ S +2 ."da"PS.seek 1.5ml + "processing"%;'( +596 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%> * +34 "core" * +2 ."da"PS.seek 0ml +2 "processing"%='ؾ +1610 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%A  +33 "core" +2 ."da"delay 30 seconds +2008 "Can"%\  +995 ."da"PBV.dial between PSV and waste1 +2 "processing"%? * +34 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +75 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%D' +2470 "core" ' + ."da"PSV.dial PTV +2 "processing"%B +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%C +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%E +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%F  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +2459 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%J +133 "core"  + "processing"%@% +4 "core" %ػ\ P +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%K' +2128 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%G +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +35 "core" + "processing"%L% +4 "core" %\ Q +2 ."da"PS.seek 1.5ml +2 "processing"%P'/ +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%M * +34 "core" + + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%R  +106 "core"  +2 ."da"PS.seek 0ml +2 "processing"%O'ؾ +1617 "core" ' +2 "processing"%T9 +3 "core" 9h5r +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%Q  +4 "core" 5r 5r + "processing"%N& +4 "core" &^*\ Q5 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&W% +4 "core" %  (  + "storage"(X% +4 "core" % +\ P + "storage"(6. +3 "core" .(<- +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 4 +2 "storage"([(,y +353 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" &,{ \ L + "manipulator"&Z& +4 "core" &- 9 f + "manipulator"&^% +4 "core" %  b  + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&U( +189 "core" ( + "manipulator"&& +9 "core" & ; + "storage"(_& +4 "core" &,{ \ N +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&c' +93 "core" ' +2 "storage"(e& +4 "core" &,{ \ | +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +2 ."da"SE.seek :beamBreak +2 "storage"(g'r +274 "core" ' +2 "storage"(o- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"(z'1 +47 "core" ' +2 "manipulator"&& +3 "core" & +2 "manipulator"&h% +4 "core" %  [ +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&m' +92 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&]( +241 "core" ( + "manipulator"&a& +4 "core" & B = + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" & = + ."da"Forearm.seek PC +2 "manipulator"&i' +97 "core" ' + ."da"Hand.close +2 "manipulator"&p/ +65 "core" / +2 ."da"PC.seek :open +2 "processing"%j( +461 "core" ( + "storage"( & +4 "core" &,e C\ P +2 "manipulator"&b& +3 "core" & 7 < +2 "manipulator"&t% +3 "core" %   / +2 ."da"Forearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&s( +254 "core" ( +44 "manipulator"&q& +12 "core" &  ) h +2 "storage"( & +3 "core" &,e \ P +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&`' +97 "core" ' +2 ."da"Hand.open +2 "manipulator"&\\1 +54 "core" 1 +2 "storage"(y- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(n' +27 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(v' +51 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0113h.tif +5 "processing"%x& +14 "core" &r\ $ +2 "manipulator"&~& +6 "core" &  ] h +3 "manipulator"&r% +4 "core" %  H +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' + ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&|(- +169 "core" ( +2 "manipulator"&& +4 "core" &- Z  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-   +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&}'w +95 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +69 "core" / +2 "manipulator"&& +4 "core" &- F  + "manipulator"&\ % +4 "core" % π 0  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +132 "core" ( + "manipulator"&& +4 "core" & L +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +102 "core" ' + "manipulator"&& +5 "core" &  M + "manipulator"& % +5 "core" % B 3 +2 "processing"%& +3 "core" &+\ P +3 "processing"%& +4 "core" &\ P +3 ."psFlush"PC.seek :closed +2 "processing"%k(^ +4 "core" &\ P +7 & +\ N$d +10 &Us\ P7 +9 &|p\ IL +9 &J\ KP +10 &GI\ LP +9 & L\ LP +9 &L\ LP +10 &J\ Q +9 &KG\ Q +9 & G\ Q +10 &H\ Q +9 &!G\ Q +10 &#SD\ Q +9 &%G\ Q +9 &&D\ Q +10 &(I\ Q +9 &*YG\ R +9 &,G\ R +10 &-H\ Q +9 &/H\ R +10 &1aG\ R +9 &3$I\ 'Q +9 &4G\ KP +10 &6I\ KP +9 &8oJ\ KP +9 &:1I\ KP +10 &;J\ TO +9 &=J\ RO +10 &?vM\ KP +9 &A7NH\ LP +9 &B^`\ IR +10 &Dr_\ HU +9 &FgY\ X +10 &H'[\ Y +9 &I|W\ Y +9 &KZ\ Y +10 &Ml]\ Y +9 &O-I\ Y +9 &PJ\ Z +10 &RN\ Z +9 &ToO\ [ +9 &V3O\ Z +10 &WN\ Z +9 &YI\ Z +10 &[x=\ Z +9 &]79\ V +9 &^yAa;\ &q +10 &^ OC\ E7 +5 ( +2 "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.83 + "processing"%l& +4 "core" &^1<\ K7 + &^28\ K7 +2 ."psFlush"Hand.open + "manipulator"&f1 +64 "core" 1 +2 "manipulator"&% +5 "core" %  % 3 + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +45 "core"  + "processing"% % +4 "core" %ػ"\ " +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%!' +597 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1023 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 34.119 seconds\ /var/log/esp/da21oct0113h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0113h15s.tif +1116 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%# @ +193 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%$  +136 "core" +5 ."psFlush"PSV.dial :mixloop +6 "processing"% +5 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0113h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0113h30s.tif +97 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2629 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%& +106 "core"  + "processing"%'% +4 "core" %ؠ\ E +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%(' +201 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0113h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0113h70s.tif +385 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +2129 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +35 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%) @ +74 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%, +107 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%-'ؠ +2641 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%. +108 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%+'X\\ +1036 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0113h70s.tif: TIFF Upload Complete\ +4 ."Qmail"DAfans.email "34.119 sec auto-exposure",Subject: "da21oct0113h images!" +4 ."da"Gate.power :camera,:OFF +2 "storage"(0- +5 "core" -' +5 "storage"(1& +4 "core" &,e O\  e\ ] +2 "manipulator"&/& +4 "core" & U +2 "manipulator"&2% +5 "core" %  z  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&*( +26 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +3 "processing"%S' +202 "core" ( +2 "manipulator"&& +5 "core" &  . ^ +2 "storage"(5& +3 "core" &,e   \ ^ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +9 "manipulator"&4' +89 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(8'" +52 "core" ' + "manipulator"&:& +4 "core" & h ^ +2 "storage"(7& +3 "core" &,e O\ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +77 "manipulator"&#Q@2^d^b +7 ."da"Forearm.seek 4 +4 "manipulator"&'7 +19 "core" ' + ."da"Elbow.hold +2 "manipulator"&<, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +26 "core" ' +2 "manipulator"&>% +4 "core" %I &  + "storage"(;& +4 "core" &,e d\ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 4 + 318 counts + "manipulator"&A'u +14 "core" ' + "manipulator"&?& +4 "core" &  ] +2 "storage"({& +4 "core" &,e \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&=' +16 "core" ' + "storage"(B% +5 "core" % c\  +2 ."downElevator"SE.seek :down +3 "storage"(C' +100 (E% +5 "core" %54  \ SV +3 "manipulator"&F% +10 "core" % ? +4 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&D' +93 "core" ' +45 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 (J& +8 "core" &,e |\ +695 ' +3 ."psFlush"PSV.dial PTV +3 "processing"%@ +76 "core" +3 ."psFlush"PTV.dial :puck +4 "processing"%I  +76 "core"  +3 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml + "processing"%G'ؾ +2636 "core" ' +3 ."psFlush"PSV.dial PSR +4 "processing"%H +75 "core" +2 ."psFlush"PSR.select :flush +5 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +3 "processing"%L' +603 "core" ' +6 ."psFlush"PSR.select :air +4 "processing"% +13 ."psFlush"PS.seek 2.5ml +4 "processing"%K' +2116 "core" ' +3 ."psFlush"PSV.dial PTV +4 "processing"%M +76 "core" +4 ."psFlush"PBV.dial PSV +3 "processing"%R U +56 "core" V +4 ."psFlush"PS.seek 0ml +4 "processing"%P'ؾ +2649 "core" ' +3 ."psFlush"PSV.dial PBV +4 "processing"%T @ +45 "core" ? +4 ."psFlush"PS.seek 2.5ml +4 "processing"%Q' +2430 #"uploadLog"upsync +200 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%N  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%W'ؾ +2639 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%X +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%6' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Y +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%V'ؾ +2627 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%Z @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%^' +2632 "core" ' +4 ."psFlush"PSV.dial :waste1 +6 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2624 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%e'X\\ +1103 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +580 "Can"\ JH +1033 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%o +82 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%h'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%g +72 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%c' +585 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%a' +2123 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%d +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%U U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2650 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%m @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2631 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%b'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%t +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%i' +2628 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%q +71 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%]'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%y  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%x'ؾ +2636 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&~& +4 "core" & ] + "manipulator"&r% +4 "core" %   +2 ."psFlush"Elbow.seek PC +2 "manipulator"&u( +243 "core" ( + "manipulator"&z& +4 "core" &  G +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" & b G +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +90 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +56 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%`( +460 "core" ( + "manipulator"&s& +4 "core" & ; G +2 "manipulator"&% +3 "core" %  o Q +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage + "manipulator"&\ (- +125 "core" ( + "manipulator"&& +4 "core" &- $ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- ' +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +88 "core" ' + ."psFlush"Hand.open +2 "manipulator"&}1 +59 "core" 1 + "manipulator"&% +5 "core" % ~  f + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 #tFinished short da assay +33001 "Can"$\ >< +60001 #\ >; +51232 #t-> access 4 +3 "storage"(% +3 "core" % >\  +2 "manipulator"&|% +4 "core" %  >  + "manipulator"&& +4 "core" &- O +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(j(C +993 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +2 "core" &B &\ +1567 #t-> access 5 +2 "storage"(f% +3 "core" % \  +2 "manipulator"&% +40 "core" %  5  +9 "manipulator"&& +4 "core" &- 8 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & \  +5744 "Can"(\ ?; +53760 #t-> exit +6 #mEXIT @1633096682.45UTC @1633096702.60UTC = =tMAIN =mMAIN_scheduler @UTC1633096704.39 #"core_reset"Sent BREAK +2 #t@45149 receive with ifg=0x10, ie=0xFD + #@45785 receive with ifg=0x10, ie=0xFD + #@46473 receive with ifg=0x10, ie=0xFD + #@47107 receive with ifg=0x10, ie=0xFD #@47741 receive with ifg=0x10, ie=0xFD + #@48375 receive with ifg=0x10, ie=0xFD + #@49009 receive with ifg=0x10, ie=0xFD #@49335 receive with ifg=0x80, ie=0xFD + #@54860 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can"O\ A> + O\ A> #tPolling Can every 10:00 +785 #-> ESP.ready! +155 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %m  ?\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +9 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" %ػ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڃ q n g\ 4 +2 .tSS.configure :default +2 "sampler")#.0X\  + "storage"(% +4 "core" % .\  + "collection"'& +4 "core" &  7\ + "processing"%& +4 "core" &\ + "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "collection"'" +3 "core"  +2 "processing"%# +3 "core"  + "processing"%$ +3 "core" W +2 "processing"%% +3 "core"  + "processing"%& +3 "core" B +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" %m  L\ +2 "processing"%)% +4 "core" %ػ\ +2 "sampler")*% +3 "core" %ڃ q p f\ 4 +2 "collection"'+& +4 "core" &  7\ +2 "processing"%,& +3 "core" &\ +2 "manipulator"&-% +4 "core" %  ?  + "manipulator"&.& +4 "core" &- + "storage"(/& +4 "core" & S\  +2 "storage"(0% +3 "core" % A\  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +981 #t-> $da[:extractVol]=0.20 +1193 #-> access 5 + "storage"(3% +3 "core" % 7\  +2 "manipulator"&4% +4 "core" %  9  +2 "manipulator"&5& +3 "core" &- d +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(6(  +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" & s\  +641 #t-> startTube 5 +596 #-> shortDA +2 "collection"'8% +2 "processing"%9% +3 "core" %m  =\ +6 %ػ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +1388 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%: +130 "core" + .tPTV.dial :PRVmixing +2 "processing"%;  +128 "core" +2 .tPRV.dial :sipper + "processing"%<  +42 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%='e +2299 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%>  +2 "collection"'?  +5 "core" +121  +2 .tPS.seek 0.5ml + "processing"%@' +1275 "core" ' + .tPRV.dial :waste2 +2 "processing"%A @ +98 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%B'ؾ +609 "core" ' +2 .tPSV.dial PSR + "processing"%C +100 "core"  +2 "processing"%D% +4 "core" %ؽ\  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +9 .tPS.seek 1ml +2 "processing"%E'X\\ +1103 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%F' +1617 "core" ' + .tPSV.dial :mixloop +2 "processing"%G +114 "core" +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"%I +100 "core"  +2 "processing"%J% +4 "core" %ػ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%K'X\\ +1109 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%L' +1616 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%M +101 "core" +2 .tPRV.dial :sipper + "processing"%N  +41 "core" +2 .tPS.seek 0ml +2 "processing"%O'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%P +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%Q' +2627 "core" ' +2 .tPSV.dial :mixloop + "processing"%R +102 "core" +2 .tPS.seek 0ml +2 "processing"%S'ؾ +2635 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%T& +4 "core" &\ +2 .tHand.open + "manipulator"&U1 +18 "core" 1 +2 "manipulator"&V% +4 "core" %  <  + "storage"(W% +4 "core" % \  + "storage"(X. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Y(<- +978 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &<+ \ +2 "manipulator"&[& +3 "core" &- ! +2 "manipulator"&\\% +3 "core" %  R  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +37 "manipulator"&]( +175 "core" ( +2 "manipulator"&^& +4 "core" & ? A +2 "storage"(_& +4 "core" &<+ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +91 "core" ' +2 "storage"(a& +4 "core" &<+ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +299 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (d& +2 "core" &<+ {\ +2 "manipulator"&e& +3 "core" & @ +2 .tElbow.seek 5 +2 "manipulator"&f( +3 "core" ( + "manipulator"&g& +4 "core" & @ + "storage"(h& +4 "core" &<+ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&i'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&j/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(l' +7 "core" &  @ + "manipulator"&m% +4 "core" % ϵ Z +2 .tForearm.seek :retract +2 "manipulator"&n' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&p& +4 "core" & 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" & N 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r' +99 "core" ' + "manipulator"&s& +4 "core" & P 3 +2 "manipulator"&t% +4 "core" % 5  + "processing"%u& +4 "core" &\ +2 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%w(^ +4 "core" &\  +9 &1x\ *x +9 &c~\ > +9 &gp\ N +10 &)R\ N +9 &S\ M +9 &R\ M +10 &pR\ N +9 &2T\ N +10 &Q\ N +9 &R\ N +9 & wQ\ N +10 &"9R\ N +9 &#R\ N +9 &%R\ M +10 &'S\ N +9 &)BR\ N +10 &+R\ N +9 &,R\ M +9 &.R\ N +10 &0IT~\ N +9 &2 S\ O +9 &3R\ N +10 &5S\ N +9 &7QS\ N +9 &9S\ N +10 &:S\ N +9 &<T~\ N +10 &>YS~\ N +9 &@Tv\ N +9 &A\\x\ O +10 &Co}\ R +9 &EO|\ T +10 &G\ T +9 &H~\ U +9 &J\ T +10 &LT}\ U +9 &N\ U +9 &O\ U +10 &Q\ V +9 &SZ\ V +9 &U\ U +10 &V|\ V +9 &Xw\ U +10 &Zc\ U +9 &\\#\ V +9 &]{\ 8 +10 &^/\ W +9 &^(\ 4 +2 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&x1 +52 "core" 1 + "manipulator"&y% +4 "core" %  T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +95 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%{ h +2 %|9 +6 "core" 9 +101 "processing"%}9 +3 "core" 9 +102 "processing"%~9 +2 "core" 9  +102 "processing"%9 +4 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%\ 9 +2 "core" 9* +103 "processing"% 9 +2 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%9 +2 "core" 9? +102 "processing"%9 +2 "core" 9C +103 "processing"%9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +102 "processing"%9 +2 "core" 9T +103 "processing"%9 +2 "core" 9X +102 "processing"%9 +2 "core" 9] +103 "processing"%9 +3 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +3 "core" 9m +102 "processing"% 9 +2 "core" 9q +102 "processing"%!9 +3 "core" 9v +102 "processing"%"9 +2 "core" 9z +102 "processing"%#9 +2 "core" 9~ +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +3 "core" 9 +102 "processing"%+9 +2 "core" 9 +102 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +3 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +2 "core" 9 +103 "processing"%09 +2 "core" 9  +102 "processing"%19 +3 "core" 9 +102 "processing"%29 +2 "core" 9 +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +3 "core" 9" +2 .tPH.hold 2:00:00,28C +3 "processing"%5 php +2 .tdelay 1:30 +5 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +100 "core"  +2 "processing"%% +4 "core" %غ\ + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%8' +591 "core" ' +2 .tdelay 5 seconds +501 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%9' +1614 "core" ' + .tPTV.dial :puck +2 "processing"%:  +130 "core"  + .tPSV.dial PTV +2 "processing"%; +84 "core" +2 .tPBV.dial :waste1 + "processing"%<  +54 "core" + "processing"%% +4 "core" %\ +2 .tPS.seek 1.5ml +2 "processing"%?'1 +589 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%> * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%='ؾ +1629 "core" ' +2 .tdelay 5:00 +8725 "Can"S\ FC +21277 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%A  +34 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%@ * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%C +70 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%D' +2434 "core" ' +2 .tPSV.dial PTV + "processing"%B +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%E +71 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%G +84 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%F  +75 "core"  +2 .tPS.seek 0ml + "processing"%I'ؾ +2367 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%J  +130 "core" + .tPSV.dial :mixloop +2 "processing"%H +44 "core" + .tPRV.dial :ab1 +2 "processing"%K @ +100 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%M' +353 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%N  +42 "core"  + "processing"%L% +4 "core" %\ +2 .tPS.seek 0.35ml +2 "processing"%P'j +459 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'O  +30 "core" + .tPRV.dial :air +2 "processing"%R  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%Q'K +1201 "core" ' + .tPRV.dial :waste2 +2 "processing"%T @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%U' +882 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%V  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%W' +1620 "core" ' + .tPSV.dial :PML +2 "processing"%X +44 "core" + .tPTV.dial :mixing +2 "processing"%6 @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%Z  +34 "core" +2 "processing"%[% +4 "core" %\  +2 .tPS.seek 1.85ml + "processing"%\\' +232 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%^ * +34 "core" , +3 .tPS.seek 0ml +2 "processing"%_'ؾ +1964 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'a& +2 "core" &  \ +2 "manipulator"&& +4 "core" & - 3 + "manipulator"&% +4 "core" %  (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&c(- +126 "core" ( + "manipulator"&d& +4 "core" &- S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &- V +2 .tForearm.seek :garage +2 "manipulator"&g'w +91 "core" ' +2 .tHand.close + "manipulator"&h/ +53 "core" / +3 "manipulator"&j& +4 "core" &-  ? + "manipulator"&k% +4 "core" % h ,  +2 .tForearm.seek :retract +2 "manipulator"&m' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&](ӂ +275 "core" ( + "manipulator"&`& +4 "core" &{. h E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &{.  0 E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&i'? +93 "core" ' +2 "manipulator"&p& +4 "core" &Ӂ.   A D| +2 "manipulator"&q% +4 "core" %= = Z +2 "collection"'f& +4 "core" &  \ +2 "collection"'s& +4 "core" &  \ +2 .tCC.seek :closed +2 "collection"'t(\\ +4 "core" &  \  +9 &2y  \ *x +10 &c  \ > +9 &pr  \ N +10 &3Q  \ M +9 &Q  \ M +9 &T  \ N +10 &zR  \ M +9 &<S  \ M +9 &W  \ N +10 &U  \ M +9 & T  \ M +10 &"CR  \ M +9 &$U  \ M +9 &%V  \ M +10 &'T  \ N +9 &)KT  \ M +9 &+R  \ M +10 &,U  \ M +9 &.R  \ M +10 &0RT  \ N +9 &2T  \ N +9 &3T  \ N +10 &5T  \ N +9 &7[V  \ M +9 &9U  \ N +10 &:T  \ M +9 &<R  \ M +10 &>cX  \ M +9 &@$X  \ N +9 &A\\  \ N +10 &Cc  \ O +9 &E^{ " \ R +9 &G ' %\ V +10 &H & )\ Y +9 &J ( (\ Z +10 &LL ) (\ [ +9 &N ) )\ [ +9 &O ) )\ \\ +10 &Q + *\ [\ +9 &SK ( )\ ^ +9 &U ) +\ ^ +10 &V * *\ ^ +9 &X + +\ _ +10 &ZP . -\ _ +9 &[z , ,\ B +9 &\\* . /\ , +10 &\\ - ,\ Z +2 ( +2 "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.48 + "collection"'u& +4 "core" &\\~ + .\ Z +2 .tHand.open + "manipulator"&l1 +54 "core" 1 +2 "manipulator"&n% +4 "core" % =   Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +102 "core" ' +2 .tPSV.dial PSR + "processing"%x +115 "core"  +2 "processing"%y% +4 "core" %ؿ\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%|'+ +1606 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%v  +44 "core"  +2 .tPS.seek 0ml +40 "processing"%}'ؾ +1624 "core" ' + .tPSV.dial PSR +2 "processing"%r +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%~' +2639 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%  +2 "collection"'  +31 "core"  +123  +2 .tPSV.dial :mixloop + "processing"% +100 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'  +5 "core"  + .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2652 "core" ' +2 .tPSV.dial :air + "processing"%\  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"% ' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" + .tPS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' +2 .tPSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2640 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +1570 "Can"_\ a_ +1060 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Ӈ,   Dv +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +3 "core" ( +2 "manipulator"&& +4 "core" &Ӈ,   5 Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӈ, \  Dv +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( + "manipulator"&& +4 "core" &Ӈ, ; Dv +2 "manipulator"&% +4 "core" % +   7  + .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&!(- +291 "core" ( + "manipulator"&"& +4 "core" &- ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &-  ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&$'w +98 "core" ' +2 .tHand.open + "manipulator"&%1 +53 "core" 1 +2 "manipulator"&&% +4 "core" % x ?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +92 "core" ' +3 ."da"delayUntil "14:23:02.34" +24751 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%( @ +71 "core" A + ."da"PBV.dial :waste1 +2 "processing"%)  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%* * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%+  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%,' +2429 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%- +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%.  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%/ +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%0  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +2372 "core" ' +2 #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%2 +129 "core"  +2 "processing"%3% +4 "core" %ؿB\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%4' +597 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%7' +1633 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%S +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%8  +35 "core" + "processing"%:% +4 "core" %G\ +2 ."da"PS.seek 1.5ml +2 "processing"%;', +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%< * +33 "core" , +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%9  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%> * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%? +72 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%{' +2423 "core" ' + ."da"PSV.dial PTV +2 "processing"%A +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%@ +82 "core" + ."da"delay 5 seconds +128 "Can"P\ on +374 ."da"PSV.dial PTV +2 "processing"%C +70 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%=  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%B'ؾ +2375 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%E +129 "core"  +2 "processing"%G% +4 "core" %ؼG\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%F' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%D' +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%J +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +34 "core" +2 "processing"%K% +4 "core" %C\ +2 ."da"PS.seek 1.5ml + "processing"%I'/ +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%N * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%L'ؾ +1629 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%M  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%O * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%R +84 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%P' +2425 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%T +70 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%Q +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%V +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%U  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%X'ؾ +2362 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%6  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%Z  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%[  +41 "core"  +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%^ +44 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%W' +382 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%\\  +44 "core"  + "processing"%a% +4 "core" %Z\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +336 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%d' +1575 "core" ' + ."da"PSV.dial :PML +2 "processing"%e +44 "core" + ."da"PTV.dial :mixing +2 "processing"%h @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%j  +35 "core" + "processing"%k% +4 "core" %\\\ +2 ."da"PS.seek 1.85ml +2 "processing"%o' +228 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%z * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%g'ؾ +1967 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +22719 "Can"L\ HE +25283 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%`  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%b * +33 "core" * + ."da"PSV.dial :air +2 "processing"%c  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%p' +2429 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%q +44 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%f  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%m +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%u'ؾ +2354 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +129 "core"  + "processing"%n% +4 "core" %ؾn\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%s' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%x' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%y  +72 "core"  +2 ."da"PSV.dial PTV + "processing"%i +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%_  +33 "core" + "processing"%v% +4 "core" %^\  +2 ."da"PS.seek 1.5ml +2 "processing"%|'+ +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%r * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%}'ؾ +1613 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +42 "processing"%' +2419 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%~ +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%\  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +942 "Can"B\ HF +1428 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +130 "core"  + "processing"% % +4 "core" %عD\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +585 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%% +4 "core" %O\  +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1605 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%]  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%t +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2443 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +84 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +70 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%" +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%#  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2355 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%% +129 "core"  +2 "processing"%&% +4 "core" %ؽ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%$' +1610 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%( +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%)  +34 "core" + "processing"%*% +4 "core" %m\  +2 ."da"PS.seek 1.5ml +2 "processing"%+') +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%-'ؾ +1629 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%.  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%/ * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%0 +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%,' +2413 "core" ' + ."da"PSV.dial PTV +2 "processing"%2 +84 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%3 +69 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%1 +72 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%4  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2360 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%S +136 "core"  +5 "processing"%8% +10 "core" %Y\ \\ +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +6 "processing"% +17 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%:' +344 "core" ' +2 ."da"delay 5 seconds +502 "processing"%7% +3 "core" %V\ G +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%<' +344 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%;' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%9 +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%>  +35 "core" + "processing"%?% +4 "core" %R\ A +2 ."da"PS.seek 1.5ml +2 "processing"%'. +223 "Can"E\ ~ +366 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%A * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%@'ؾ +1613 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%C  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%= * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%E' +2489 "core" ' + ."da"PSV.dial PTV +2 "processing"%G +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%B +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%F +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%J  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%H'ؾ +2455 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%K +131 "core"  +2 "processing"%D% +4 "core" %ع\ D + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%N' +2130 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%I +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%M  +35 "core" + "processing"%O% +4 "core" %l\ j +2 ."da"PS.seek 1.5ml +2 "processing"%R'( +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" * +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%T  +106 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Q'ؾ +1605 "core" ' + "processing"%V9 +4 "core" 9d5 +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%U  +2 "core" 5 +2 5 + "processing"%P& +4 "core" &^%j\ p4 + #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&6% +3 "core" %  E  +2 "storage"(Z% +3 "core" % \ | +2 "storage"([. +3 "core" .(<- + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(^(,y +356 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (X& +2 "core" &,| A B \ < +2 "manipulator"&\\& +4 "core" &- i ) + "manipulator"&a% +3 "core" %  Q  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&W( +173 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &,| .\ C +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&e' +94 "core" ' + "storage"(h& +4 "core" &,| x _\ @ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(j'r +274 "core" ' +2 "storage"(k- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(z'1 +46 "core" ' +2 "manipulator"&d& +3 "core" &   +2 "manipulator"&o% +4 "core" %  + ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&`' +94 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&b( +242 "core" ( + "manipulator"&c& +4 "core" & 9 @ +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &  @ +2 ."da"Forearm.seek PC +2 "manipulator"&q' +98 "core" ' + ."da"Hand.close +2 "manipulator"&f/ +72 "core" / + ."da"PC.seek :open +2 "processing"%m( +460 "core" ( + "storage"( & +4 "core" &,f \ r +2 "manipulator"&p& +3 "core" & F @ +2 "manipulator"&l% +3 "core" %   +2 ."da"Forearm.seek :retract +2 "manipulator"&n' +91 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 4 + "manipulator"&u( +244 "core" ( + "manipulator"&s& +55 "core" & = 3 +2 "storage"(y& +3 "core" &,f x w y\ A +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&i' +95 "core" ' +2 ."da"Hand.open +2 "manipulator"&_1 +56 "core" 1 +2 "storage"(v- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(x' +24 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(r' +52 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0115h.tif +4 "processing"%|& +13 "core" &)\  +4 "manipulator"&& +5 "core" &  3 +3 "manipulator"&% +4 "core" %  N +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&}(- +176 "core" ( + "manipulator"&& +5 "core" &-  ( B + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- V B +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&~'w +98 "core" ' +2 ."psFlush"Hand.close + "manipulator"&\ / +75 "core" / +2 "manipulator"&& +4 "core" &-  B + "manipulator"&% +4 "core" % ϊ O +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +95 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +115 "core" ( + "manipulator"&& +5 "core" & z 1 \\ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & \\ +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +90 "core" ' +2 "manipulator"&& +4 "core" & F \\ +2 "manipulator"&% +3 "core" % y a +2 "processing"%& +5 "core" &\ Y +2 "processing"%& +4 "core" &\ Y +2 ."psFlush"PC.seek :closed +2 "processing"%](^ +5 "core" &\ Z +7 &3\ J$c +9 &Tt\ D7 +9 &|q\ DL +9 &F\ !Q +10 &DG\ Q +9 &F\ Q +10 &F\ R +9 &F\ R +9 &KF\ R +10 & G\ R +9 &F\ R +9 &!F\ R +10 &#SG\ R +9 &%G\ R +10 &&G\ R +9 &(G\ R +9 &*[F\ R +10 &,G=\ R +9 &-D@\ Q +9 &/IL\ Q +10 &1iE!\ GP +9 &3+IG\ FP +10 &4IB\ GP +9 &6I@\ FP +9 &8qID\ SP +10 &:3HA\ SP +9 &;J>\ RP +9 &=J/\ GP +10 &?xK4\ GP +9 &A8N8\ GQ +10 &B],\ T +9 &Dn0\ V +10 &Fg-\ Y +9 &H)}\ Y +9 &I~\ Y +9 &K \ Y +10 &Mm\ Y +9 &O-\ Z +10 &P\ [ +9 &R_\ Z +9 &Tp}\ [\ +10 &V4\ Z +9 &W\ Z +9 &Yy\ [ +10 &[zy\ Z +9 &]:u\ V +10 &^|Aaq\ 't +9 &^ Gt\ G4 +5 ( +2 "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/25 samples, on/off torque 1.84 + "processing"% & +5 "core" &^&{\ H4 + &^&}\ H4 + ."psFlush"Hand.open +2 "manipulator"&t1 +52 "core" 1 +2 "manipulator"&% +4 "core" %  a +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract + "manipulator"&' +96 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +45 "core"  +2 "processing"%"% +4 "core" %q\  + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%#' +597 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +904 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 32.773 seconds\ /var/log/esp/da21oct0115h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0115h15s.tif +1210 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%% @ +191 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%&  +55 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0115h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0115h30s.tif +76 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +105 "core" +3 ."psFlush"PS.seek :empty +2 "processing"% 'ؠ +2636 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%( +107 "core"  +2 "processing"%)% +4 "core" %؟9\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%*' +108 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0115h30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0115h70s.tif +481 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%$' +2122 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +35 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%+ @ +75 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%. +107 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%/'ؠ +2654 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%0 +106 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%-'X\\ +950 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0115h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "32.773 sec auto-exposure",Subject: "da21oct0115h images!" +5 "storage"(2- +8 "core" -' + "storage"(3& +5 "core" &,f / " 1\ ] +3 "manipulator"&1& +3 "core" & \\ +2 "manipulator"&4% +3 "core" %   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&,( +102 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml +3 "processing"%S' +124 "core" ( +2 "manipulator"&8& +4 "core" & J  + "storage"(& +4 "core" &,f   u\ ] +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&7' +101 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(:'" +49 "core" ' +2 "manipulator"&<& +4 "core" & O  +2 "storage"(9& +6 "core" &,f b c\  +2 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 ."da"Forearm.reconfigure :loose +76 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 4 +2 "manipulator"&>'7 +14 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&?, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(;' +38 "core" ' + "manipulator"&A% +4 "core" %G M + +2 "storage"(& +4 "core" &,f b c "\  + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 4 + 316 counts +2 "manipulator"&C's +18 "core" ' +4 "manipulator"&=& +9 "core" & r  +6 "storage"({& +8 "core" &,f \\\  +4 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 4 + 450 counts +4 "manipulator"&@' +20 "core" ' +2 "storage"(G% +9 "core" % z\ +5 ."downElevator"SE.seek :down +7 "storage"(B' +98 (F% +5 "core" %; a a\ U] +3 "manipulator"&J% +8 "core" % 5 +12 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&E' +92 "core" ' +39 ' +3 ."downElevator"SE.stop +2 "storage"(5 +5 (K& +7 "core" &,f ~ /\  +723 ' +2 ."psFlush"PSV.dial PTV +3 "processing"%D +75 "core" +2 ."psFlush"PTV.dial :puck +3 "processing"%H  +73 "core"  + ."psFlush"PBV.dial :waste1 +6 .PS.seek 0ml +2 "processing"%I'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +5 "processing"%M +75 "core"  +4 ."psFlush"PSR.select :flush +5 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +4 "processing"%O' +598 "core" ' +7 ."psFlush"PSR.select :air +4 "processing"% +12 ."psFlush"PS.seek 2.5ml +3 "processing"%N' +2131 "core" ' +3 ."psFlush"PSV.dial PTV +4 "processing"%L +86 "core" +2 ."psFlush"PBV.dial PSV +4 "processing"%T U +54 "core" V +5 ."psFlush"PS.seek 0ml +4 "processing"%R'ؾ +2657 "core" ' +3 ."psFlush"PSV.dial PBV +2 "processing"%V @ +43 "core" ? +5 ."psFlush"PS.seek 2.5ml +4 "processing"%U' +2489 #"uploadLog"upsync +146 "core" ' +2 ."psFlush"PSV.dial :waste1 +5 "processing"%P  +71 "core"  +6 ."psFlush"PS.seek 0ml +5 "processing"%6'ؾ +2640 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%Z +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%[' +2634 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%Y +82 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%X'ؾ +2633 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%\\ @ +42 "core" ? +3 ."psFlush"PS.seek 2.5ml +2 "processing"%a' +1730 "Can"6\ HG +908 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%h +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%!'X\\ +1101 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%'' +1610 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%k +83 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%d  +52 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%o'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%j +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%e' +588 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%c' +2129 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%g +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%W U +52 "core" W +3 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2641 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%` @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2654 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%l +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%q' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%s +70 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%b'ؾ +2650 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%y @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%_' +2636 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%v  +71 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%|'ؾ +2636 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&& +4 "core" &   + "manipulator"&% +4 "core" %    + ."psFlush"Elbow.seek PC +2 "manipulator"&n( +261 "core" ( + "manipulator"&z& +4 "core" & * +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &  +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +96 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +56 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%i( +459 "core" ( + "manipulator"&u& +4 "core" & I +2 "manipulator"&\ % +3 "core" %  2 +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +121 "core" ( + "manipulator"&& +4 "core" &- O +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- - +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +100 "core" ' +2 ."psFlush"Hand.open + "manipulator"&~1 +57 "core" 1 + "manipulator"&% +4 "core" % {  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tFinished short da assay +5403 #-> access 4 +3 "storage"(% +3 "core" % \ \  +2 "manipulator"&}% +3 "core" %   +2 "manipulator"& & +4 "core" &- 5 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(m(C +989 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &B z y @\ +1003 #t-> access 5 +2 "storage"(t% +3 "core" % B\  +2 "manipulator"&% +4 "core" %   +2 "manipulator"&& +3 "core" &- B +2 .tSC.reconfigure :tight +45 "storage"($\ .\ 1~b +4 .tSC.seek 2 +2 "storage"((  +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +2 "core" & n\  +6096 #t-> PS.flush +2 #Flushing Processing stage + "processing"%% +3 "core" %ػ|\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%Q& +4 "core" &q\ + "manipulator"&#& +4 "core" &- d +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&%(- +13 "core" ( +2 "manipulator"&&& +4 "core" &-  g + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- A g +3 .tForearm.seek :garage + "manipulator"&'w +90 "core" ' +2 .tHand.close + "manipulator"&(/ +60 "core" / + "manipulator"&)& +4 "core" &- 7 g +2 "manipulator"& % +3 "core" % ~ J  +2 .tForearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +115 "core" ( +2 "manipulator"&+& +4 "core" & { G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" & ^ G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&$' +101 "core" ' +2 "manipulator"&0& +4 "core" &  G + "manipulator"&/% +5 "core" % R  + "processing"%2& +5 "core" &_\ +2 "processing"%3& +5 "core" &q\ +2 .tPC.seek :closed +2 "processing"%1(^ +4 "core" &[\  +8 &0u`\ *x +10 &c}]\ > +9 &hn[\ N +10 &,OU\ M +9 &ST\ M +9 &QW\ N +10 &qQ]\ N +9 &3QT\ N +9 &R]\ N +10 &RX\ N +9 & {PQ\ M +10 &";T\\\ N +9 &#R`\ M +9 &%PV\ M +10 &'TZ\ M +9 &)DSW\ M +9 &+T^\ N +10 &,R`\ N +9 &.Ra\ N +10 &0LQ_\ M +9 &2R`\ M +9 &3P\\\ M +10 &5RZ\ M +9 &7SRX\ N +9 &9P`\ M +10 &:QZ\ N +9 &<U`\ M +10 &>[R`\ N +9 &@SV\ M +9 &AY_\ N +10 &CoY\ Q +9 &EQ^\ T +9 &G`\ T +10 &H`\ T +9 &J`\ T +10 &LW`\ T +9 &N_\ U +9 &O_\ U +10 &Q`\ U +9 &S[_\ V +10 &U_\ V +9 &V_\ V +9 &X_\ V +10 &Zc_\ V +9 &\\&_\ U +9 &]`\ 4 +10 &^0k`\ E +8 ( +4 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + "processing"%4& +4 "core" &^'V\ 6 + &^&{\ 6 +2 .tHand.open + "manipulator"&81 +62 "core" 1 +2 "manipulator"&% +4 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tPSV.dial PSR +2 "processing"%- +44 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%<'X\\ +1099 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%9' +1614 "core" ' + .tPSV.dial PTV +2 "processing"% +70 "core" +2 .tPTV.dial :puck + .PBV.dial :waste1 +2 "processing"%A  +53 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%= +72 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%{' +585 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%r' +2129 "core" ' +2 .tPSV.dial PTV + "processing"%G +72 "core" +2 .tPBV.dial PSV +2 "processing"%F U +63 "core" T +3 .tPS.seek 0ml + "processing"%7'ؾ +2632 "core" ' +2 .tPSV.dial PBV + "processing"%J @ +43 "core" > +2 .tPS.seek 2.5ml +2 "processing"%,' +1149 "Can"(\ GE +1479 "core" ' +2 .tPSV.dial :waste1 + "processing"%:  +83 "core"  +2 .tPS.seek 0ml +2 "processing"%>'ؾ +2654 "core" ' + .tPSV.dial PSR +2 "processing"%C +42 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%K' +2633 "core" ' +2 .tPSV.dial PTV + "processing"%; +71 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%@'ؾ +2637 "core" ' + .tPSV.dial PBV +2 "processing"%B @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%D' +2630 "core" ' +2 .tPSV.dial :waste1 + "processing"%H  +83 "core"  +2 .tPS.seek 0ml +2 "processing"%S'ؾ +2635 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&M& +4 "core" & e G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&I( +2 "core" ( +2 "manipulator"&O& +4 "core" & G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +2 "core" & G G +2 .tForearm.seek PC +2 "manipulator"&T' +93 "core" ' +2 .tHand.close + "manipulator"&N/ +57 "core" / + .tPC.seek :open +2 "processing"%V( +456 "core" ( + "manipulator"&R& +5 "core" & k G + "manipulator"&P% +4 "core" %  B  + .tForearm.seek :retract +2 "manipulator"&U' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Z(- +125 "core" ( + "manipulator"&6& +4 "core" &- # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &- M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&['w +103 "core" ' + .tHand.open +2 "manipulator"&\\1 +56 "core" 1 +2 "manipulator"&X% +4 "core" % z 6 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +14207 #t-> access 4 +2 "storage"(a% +3 "core" % \  +2 "manipulator"&h% +4 "core" %  b  + "manipulator"&& +4 "core" &- O +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(!(C +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +2 "core" &@ \ +410 #t-> access 5 +2 "storage"(d% +3 "core" % \  + "manipulator"&'% +4 "core" %  H  +2 "manipulator"&j& +3 "core" &- B +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(o(  +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +2 "core" & 8\ \ +140 #t-> exit +7 #mEXIT @1633101828.45UTC @1633101841.94UTC = =mMAIN_scheduler =tMAIN @UTC1633101843.84 #"core_reset"Sent BREAK +2 #t@3111 receive with ifg=0x10, ie=0xFD + #@3747 receive with ifg=0x10, ie=0xFD + #@4403 receive with ifg=0x10, ie=0xFD + #@5037 receive with ifg=0x10, ie=0xFD #@5671 receive with ifg=0x10, ie=0xFD + #@6305 receive with ifg=0x10, ie=0xFD #@6939 receive with ifg=0x10, ie=0xFD + #@7265 receive with ifg=0x80, ie=0xFD + #@58999 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +297 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +389 "Can"3\ @= + 3\ @= #tPolling Can every 10:00 +502 #-> ESP.ready! +155 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %m & $+\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %عM\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +4 "core" %ڃ x w c\ 4 + .tSS.configure :default +3 "sampler")#.0X startTube 5 +840 #-> $da[:extractVol]=.2 +57021 "Can"3\ CA +7111 #t-> shortDA +2 "collection"'3% +2 "processing"%4% +5 "core" %ع.\ +2 %m # %\ +4 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +174 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%5 +130 "core" +2 .tPTV.dial :PRVmixing + "processing"%6  +128 "core" +2 .tPRV.dial :sipper +2 "processing"%7  +42 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%8'e +2290 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%9  + "collection"':  +6 "core"  +120  +3 .tPS.seek 0.5ml + "processing"%;' +1278 "core" ' + .tPRV.dial :waste2 +2 "processing"%< @ +98 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%='ؾ +616 "core" ' + .tPSV.dial PSR +2 "processing"%> +101 "core"  +2 "processing"%?% +4 "core" %)\  + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +10 .tPS.seek 1ml + "processing"%@'X\\ +1108 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%A' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"%B +114 "core" +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"%D +113 "core" + "processing"%E% +4 "core" %ؾ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%F'X\\ +1116 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%G' +1613 "core" ' +2 .tPSV.dial :mixloop + "processing"%H +100 "core" +2 .tPRV.dial :sipper + "processing"%I  +43 "core" +2 .tPS.seek 0ml + "processing"%J'ؾ +2651 "core" ' + .tPSV.dial PSR +2 "processing"%K +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%L' +2624 "core" ' +2 .tPSV.dial :mixloop + "processing"%M +102 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2635 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%O& +4 "core" & \ +2 .tHand.open + "manipulator"&P1 +16 "core" 1 + "manipulator"&Q% +4 "core" %  7  +2 "storage"(R% +3 "core" % a\  +2 "storage"(S. +3 "core" ., + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(T(<- +980 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (U& +3 "core" &<+ x m 2\ \ + "manipulator"&V& +4 "core" &- B + "manipulator"&W% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&X( +169 "core" ( +2 "manipulator"&Y& +4 "core" &  ? + "storage"(Z& +4 "core" &<+ K\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +91 "core" ' + "storage"(\\& +4 "core" &<+ ^\ \ +2 .tSE.reconfigure :pick +38 "storage"(#],K-0-\ b +9 .tSE.seek :beamBreak +2 "storage"(]'r +305 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +2 "core" &<+ e \ \ +2 "manipulator"&`& +4 "core" & N ? + .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( + "manipulator"&b& +4 "core" & 7 ? +2 "storage"(c& +3 "core" &<+ T\ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&d'Ϲ +41 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&e/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(g' +7 "core" & m ? +2 "manipulator"&h% +3 "core" % Ͻ L +2 .tForearm.seek :retract +2 "manipulator"&i' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&k& +4 "core" & < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" & < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&m' +88 "core" ' +2 "manipulator"&n& +4 "core" & ) < + "manipulator"&o% +4 "core" % b l +2 "processing"%p& +4 "core" & \ +2 "processing"%q& +4 "core" &#\ +2 .tPC.seek :closed +2 "processing"%r(^ +5 "core" & \  +9 &2x \ *x +9 &a~ \ = +10 &op\ N +9 &2Q \ M +10 &R \ M +9 &T\ N +9 &wS\ N +10 &9T\ N +9 &T\ N +9 &T\ N +10 & T\ N +9 &"AS\ N +10 &$O\ N +9 &%O\ N +9 &'P\ N +10 &)JO\ M +9 &+ Q\ N +9 &,P\ N +10 &.O\ N +9 &0PR\ N +10 &2R\ N +9 &3R\ N +9 &5R\ N +10 &7YR\ N +9 &9U\ N +9 &:R\ M +10 &<R\ N +9 &>aT\ N +10 &@#T\ N +9 &A[\ O +9 &Cr\ Q +10 &EW\ T +9 &G\ T +9 &H\ U +11 &J\ T +8 &L[\ U +10 &N\ V +9 &O\ U +9 &Q\ V +10 &S`\ V +9 &U#\ V +9 &V\ V +10 &X\ U +9 &Zh\ V +9 &\\+\ V +10 &]w\ ; +9 &^1\ W +10 &^#\ 1 +2 ( +2 "processing"%q& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 +2 .Hand.open + "manipulator"&s1 +62 "core" 1 +2 "manipulator"&t% +4 "core" %  : l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%v h +2 %w9 +6 "core" 9 +102 "processing"%x9 +2 "core" 9 +102 "processing"%y9 +2 "core" 9  +102 "processing"%z9 +4 "core" 9  +102 "processing"%{9 +3 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +2 "core" 9 +103 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%\ 9 +2 "core" 9? +102 "processing"% 9 +2 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +2 "core" 9i +103 "processing"%9 +2 "core" 9m +102 "processing"%9 +3 "core" 9q +102 "processing"%9 +2 "core" 9v +102 "processing"%9 +3 "core" 9z +102 "processing"%9 +2 "core" 9~ +102 "processing"%9 +3 "core" 9 +102 "processing"% 9 +2 "core" 9 +103 "processing"%!9 +3 "core" 9 +102 "processing"%"9 +2 "core" 9 +102 "processing"%#9 +2 "core" 9 +102 "processing"%$9 +2 "core" 9 +103 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +2 "core" 9 +102 "processing"%,9 +4 "core" 9  +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +3 "core" 9 +102 "processing"%/9 +2 "core" 9 +102 "processing"%09 +3 "core" 9% +2 .tPH.hold 2:00:00,28C +3 "processing"%1 php +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%2 +113 "core" +2 "processing"%4% +4 "core" %ع4\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%3' +589 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%5' +1614 "core" ' + .tPTV.dial :puck +2 "processing"%6  +128 "core"  + .tPSV.dial PTV +2 "processing"%7 +70 "core" +2 .tPBV.dial :waste1 + "processing"%  +52 "core" +2 "processing"%:% +4 "core" %G\  + .tPS.seek 1.5ml +2 "processing"%9'/ +597 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%8 * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%<'ؾ +1613 "core" ' +2 .tdelay 5:00 +7484 "Can"7\ GE +22519 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%;  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%> * +32 "core" * + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%? +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%=' +2404 "core" ' +2 .tPSV.dial PTV +2 "processing"%@ +72 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%B +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"%A +72 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%D  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%E'ؾ +2346 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%C  +128 "core" + .tPSV.dial :mixloop +2 "processing"%F +44 "core" + .tPRV.dial :ab1 +2 "processing"%H @ +98 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%I' +359 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%G  +42 "core"  + "processing"%K% +4 "core" % \  +2 .tPS.seek 0.35ml +2 "processing"%J'l +462 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'M  +29 "core" +2 .tPRV.dial :air +2 "processing"%L  +40 "core"  +2 .tPS.seek 0.9ml + "processing"%O'K +1168 "core" ' +2 .tPRV.dial :waste2 + "processing"%P @ +71 "core" > +2 .tPS.seek 0.5ml +2 "processing"%Q' +869 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%R  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%S' +1618 "core" ' +2 .tPSV.dial :PML + "processing"% +44 "core" +2 .tPTV.dial :mixing + "processing"%U @ +72 "core" B + .tPBV.dial :waste1 +2 "processing"%V  +33 "core" +6 "processing"%W% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%Y' +238 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%Z * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%\\'ؾ +1971 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & % &&\ + "manipulator"&& +4 "core" & : < + "manipulator"&^% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&_(- +125 "core" ( + "manipulator"&`& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &- +2 .tForearm.seek :garage +2 "manipulator"&c'w +93 "core" ' + .tHand.close +2 "manipulator"&e/ +53 "core" / +2 "manipulator"&f& +4 "core" &- H +2 "manipulator"&h% +3 "core" % p V . +2 .tForearm.seek :retract +2 "manipulator"&X' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +281 "core" ( +2 "manipulator"&]& +4 "core" &Ӛ"  ;4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &Ӛ"  ;4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&k'? +100 "core" ' +2 "manipulator"&l& +4 "core" &Ӛ" 9 ;4 +2 "manipulator"&a% +4 "core" %B  w + "collection"'n& +4 "core" & & &0\ +2 "collection"'o& +5 "core" & ( ()\ +2 .tCC.seek :closed +2 "collection"'p(\\ +4 "core" & & &*\ +7 & 3 ' (5\ $d +10 &Uy ' &-\ 7 +9 &x ' '1\ L +9 &R ( (,\ M +10 &cR ' ()\ N +9 &&R ( '\ M +10 &P ' )%\ M +9 &S ' '\ M +9 &mT ) &$\ M +10 &.T + (\ M +9 &V ' (\ M +10 &!T ) ("\ M +9 &#tW ( )\ M +9 &%6T ' *\ M +10 &&P * (\ M +9 &(S ' ("\ M +9 &*|T * )\ M +10 &,>T ) )\ M +9 &.T ) *\ M +10 &/Q ) *\ M +9 &1P ( (\ M +9 &3FO ) *"\ M +10 &5T + )\ M +9 &6R ) *%\ N +9 &8T * ((\ M +10 &:MT * (!\ N +9 &<S ) *!\ N +9 &=T * +"\ M +10 &?U * +,\ M +9 &AUT + ,)\ N +10 &C\\ . -.\ O +9 &Dn / 0/\ Q +9 &F 4 3,\ U +10 &H= 7 9/\ Y +9 &I 8 9,\ Z +9 &K 9 :)\ Z +10 &M} 8 :(\ [ +9 &O> 9 9,\ [\ +10 &P ; :.\ [ +9 &R 7 :&\ \\ +9 &T 9 :+\ \\ +10 &V> ; ;/\ ^ +9 &X : ;&\ ^ +10 &Y < <(\ _ +9 &[~ ? >*\ M +9 &\\9 = >/\ 0 +10 &\\ = @/\ [ +5 ( +2 "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.44 + "collection"'g& +4 "core" &\\ < @,\ [ + &\\ > ?%\ [ + .tHand.open +2 "manipulator"&i1 +54 "core" 1 +2 "manipulator"& % +5 "core" % B k w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +92 "core" ' + .tPSV.dial PSR +2 "processing"%t +103 "core"  +2 "processing"%w% +4 "core" %i\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%q'+ +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%x  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%m'ؾ +1607 "core" ' + .tPSV.dial PSR +2 "processing"%y +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%z' +2639 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +42 .tCBV.dial PRV +11 "processing"%{  +2 "collection"'|  +32 "core"  +122  + .tPSV.dial :mixloop +2 "processing"%} +101 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"'~ +4 "core"  +2 "collection"'  +4 "core"  +2 .tPTV.dial :PRVmixing + "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%  +43 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2639 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2650 "core" ' + .tPSV.dial :air +2 "processing"%\  +44 "core"  +2 .tPS.seek 2.5ml + "processing"% ' +2640 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +435 "Can"3\ db +2217 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӛ! ;3 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +15 "core" ( +2 "manipulator"&& +4 "core" &Ӆ S 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &Ӆ  0 +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'( +449 "core" ( + "manipulator"&& +4 "core" &ӆ D 0 +2 "manipulator"&% +4 "core" % F  + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +287 "core" ( +2 "manipulator"&& +4 "core" &- 4 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &-  8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"& 'w +96 "core" ' + .tHand.open +2 "manipulator"&!1 +61 "core" 1 +2 "manipulator"&"% +4 "core" % | \\  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +94 "core" ' +2 ."da"delayUntil "15:58:53.02" +24737 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%$ @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%& * +33 "core" * +2 ."da"PSV.dial :air +2 "processing"%'  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%(' +2435 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%) +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%*  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%+ +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%,  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%-'ؾ +2376 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%. +130 "core"  + "processing"%/% +4 "core" %ؿ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%0' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%2' +1630 "core" ' + ."da"PTV.dial :puck +2 "processing"%4  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%N +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%3  +33 "core" + "processing"%6% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%7'- +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%5  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%8 * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%9 +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%v' +2072 "Can",\ GE +359 "core" ' + ."da"PSV.dial PTV +2 "processing"%; +73 "core" +2 ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%> +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%? +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%<  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%@'ؾ +2354 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%B +128 "core"  +2 "processing"%A% +3 "core" %ػu\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%D' +586 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%=' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%C +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%F  +34 "core" +2 "processing"%H% +4 "core" %u\  +2 ."da"PS.seek 1.5ml + "processing"%E'/ +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%G * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%K'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%I  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%M * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%L +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%J' +2426 "core" ' + ."da"PSV.dial PTV +2 "processing"%P +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%O +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%R +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%Q  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2363 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%U  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%V  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%W  +41 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%Z +42 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%S' +386 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%Y  +42 "core"  + "processing"%% +4 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +341 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%^  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%`' +1557 "core" ' + ."da"PSV.dial :PML +2 "processing"%b +44 "core" + ."da"PTV.dial :mixing +2 "processing"%e @ +72 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%f  +34 "core" +2 "processing"%h% +4 "core" %\  + ."da"PS.seek 1.85ml +2 "processing"%j' +238 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%u * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%c'ؾ +1967 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +21633 "Can"#\ GE +26369 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%]  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%d * +35 "core" , + ."da"PSV.dial :air +2 "processing"%_  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%l' +2404 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%a +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%n  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%X +43 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%g'ؾ +2360 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +129 "core"  +2 "processing"% % +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%o' +594 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%t' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%w  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%k +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%\\  +35 "core" + "processing"%x% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%q') +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%y * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%m'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%|  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%{ * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%} +84 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%~' +2411 "core" ' + ."da"PSV.dial PTV +2 "processing"% +70 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%z +71 "core" +51 ."da"delay 5 seconds +447 "Can"\ FC +55 ."da"PSV.dial :air +2 "processing"%  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2365 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  + "processing"%% +4 "core" %ؽ\  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%\ ' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1604 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +84 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'( +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1627 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%[  +31 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%s * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%p +82 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2403 "core" ' + ."da"PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2363 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%! +129 "core"  +2 "processing"%"% +4 "core" %ؿ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +594 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%$ +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%%  +33 "core" + "processing"%&% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%''1 +596 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%)'ؾ +1632 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%*  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%+ * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%, +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%(' +2427 "core" ' + ."da"PSV.dial PTV +2 "processing"%. +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%/ +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%- +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%0  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%4'ؾ +2374 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +134 "core"  +3 "processing"%3% +12 "core" %ع\ X +3 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +16 ."da"PS.reconfigure :default +4 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +4 "processing"%6' +344 "core" ' +3 ."da"delay 5 seconds +502 "processing"%2% +3 "core" %\ Q + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%' +339 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%7' +876 "Can"\ { +730 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%5 +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%8  +34 "core" +2 "processing"%9% +4 "core" %\ D +2 ."da"PS.seek 1.5ml + "processing"%:'& +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%; * +34 "core" * +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +1629 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%?  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%< * +35 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%v +74 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%B' +2485 "core" ' + ."da"PSV.dial PTV +2 "processing"%A +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%@ +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%D +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%C  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%F'ؾ +2463 "core" ' +2 #"da"Additional air clear + .PSR.select :air + .PSV.dial PSR +2 "processing"%H +133 "core"  + "processing"%=% +4 "core" %ؼ\ > + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%G' +2116 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +3 .PSV.dial PTV + "processing"%E +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%I  +34 "core" + "processing"%M% +4 "core" %\ @ +2 ."da"PS.seek 1.5ml +2 "processing"%L'& +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%K * +34 "core" + + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%P  +104 "core"  +2 ."da"PS.seek 0ml +2 "processing"%O'ؾ +1610 "core" ' + "processing"%R9 +4 "core" 9g5y + #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%Q  +4 "core" 5y 5y +2 "processing"%J& +3 "core" &^"\ >1 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&U% +4 "core" %   +2 "storage"(V% +4 "core" % _ _\ = + "storage"(W. +3 "core" .(<* + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(Z(,y +374 "core" ( +2 ."da"SC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,z x j \ l + "manipulator"&Y& +4 "core" &- 8 + "manipulator"&% +4 "core" %   +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&S( +183 "core" ( + "manipulator"&^& +4 "core" & 2 +2 "storage"(& +3 "core" &,x } | H\ n +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&b' +93 "core" ' +2 "storage"(e& +4 "core" &,x ] j J\ ? +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(f'r +277 "core" ' + "storage"(h- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(u'1 +47 "core" ' +3 "manipulator"&`& +4 "core" & + "manipulator"&j% +4 "core" %  t + ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&]' +89 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&d( +242 "core" ( + "manipulator"&_& +4 "core" &  / + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" & 0 / +2 ."da"Forearm.seek PC + "manipulator"&a' +95 "core" ' + ."da"Hand.close +2 "manipulator"&n/ +75 "core" / +2 ."da"PC.seek :open +2 "processing"%X( +459 "core" ( + "storage"( & +4 "core" &,f d\ D +2 "manipulator"&l& +3 "core" &  . +2 "manipulator"&i% +3 "core" %  =  +2 ."da"Forearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&g( +255 "core" ( +2 "manipulator"&o& +4 "core" &  + "storage"(w& +4 "core" &,f v s \ p +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&k' +99 "core" ' + ."da"Hand.open +2 "manipulator"&\\1 +62 "core" 1 +45 "storage"(x- +12 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(t' +26 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(y' +55 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0116h.tif +5 "processing"%q& +12 "core" &[\  +4 "manipulator"&|& +6 "core" &  w +3 "manipulator"&{% +5 "core" % n v +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&}' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&m(- +172 "core" ( +2 "manipulator"&& +4 "core" &- I uH + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- 0 tH +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&z'w +92 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +76 "core" / + "manipulator"&~& +5 "core" &- 5 H + "manipulator"&% +4 "core" % y Z $ +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +115 "core" ( + "manipulator"&\ & +5 "core" & A K + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & D K +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"& ' +92 "core" ' + "manipulator"&& +4 "core" &  uK +2 "manipulator"&% +4 "core" %  u{ + "processing"%& +4 "core" &\  +3 "processing"%& +4 "core" & \  +2 ."psFlush"PC.seek :closed +2 "processing"%[(^ +5 "core" &\  +6 & +\ $d +10 &~Tq 8 +9 &{n M +9 &uD S +10 &=D \ /Q +9 &I\ /Q +9 &H \ /Q +10 &F\ 0P +9 &EI\ /Q +10 &F\ 0Q +9 &E\ 0Q +9 &!E\ 0Q +10 &#MI\ /Q +9 &%F\ 0Q +9 &&F\ 0Q +10 &(F\ R +9 &*PC\ R +10 &,D R +9 &-A R +9 &/E R +10 &1XC R +9 &3F R +9 &4D R +10 &6F R +9 &8`D R +9 &:#A R +10 &;F R +9 &=D S +10 &?gG S +9 &A/D\ .Q +9 &B]\ -S +10 &Dn\ +V +9 &Fa\ *X +10 &H$}\ *W +9 &I\ )X +9 &K\ *X +10 &Mg\ *X +9 &O&\ )Y +9 &P\ )Z +10 &R\ )Y +9 &TeW \\ +9 &V)[ [\ +10 &WS \\ +9 &YW \\ +10 &[nY [ +9 &]-X \\ +9 &^PgQ O +10 &^V a +9 &^0P 7 +2 ( +2 "processing"%& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.89 +2 "processing"%s& +4 "core" &^3K 7 + ."psFlush"Hand.open +2 "manipulator"&p1 +77 "core" 1 + "manipulator"&% +4 "core" %   { +3 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +96 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"% +45 "core"  +2 "processing"%% +4 "core" % +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +584 "core" ' + ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +910 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 32.838 seconds\ /var/log/esp/da21oct0116h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0116h15s.tif +1204 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%! @ +195 "core" B +3 ."psFlush"PTV.dial :PRVmixing +2 "processing"%"  +55 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0116h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0116h30s.tif +77 "core" + ."psFlush"PSV.dial :mixloop +3 "processing"% +105 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2627 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%$ +107 "core"  + "processing"%%% +4 "core" %إ\ ( +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"%&' +116 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0116h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0116h70s.tif +480 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2128 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +35 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%' @ +75 "core" @ +2 ."psFlush"PSV.dial :mixloop +2 "processing"%* +106 "core" + ."psFlush"PS.seek :empty +2 "processing"%+'ؠ +2628 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%, +108 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%)'X\\ +957 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0116h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "32.838 sec auto-exposure",Subject: "da21oct0116h images!" +14 "storage"(.- +2 "core" -' +3 "storage"(/& +5 "core" &,f } | \ H +6 "manipulator"&-& +4 "core" & Y K + "manipulator"&0% +5 "core" % \  ;  +2 ."da"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&(( +112 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%N' +127 "core" ( +2 "manipulator"&3& +14 "core" &  +4 "storage"(4& +9 "core" &,f b\ I +4 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 4 + 450 counts +4 "manipulator"&2' +96 "core" ' +3 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(6'" +58 "core" ' +2 "manipulator"&& +4 "core" & +2 "storage"(5& +3 "core" &,f L\  +3 ."da"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&8'7 +14 "core" ' + ."da"Elbow.hold +2 "manipulator"&9, +5 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +57 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(7' +35 "core" ' +2 "manipulator"&;% +4 "core" %K * + "storage"(:& +5 "core" &,f O S *\  +2 ."da"Forearm.force -20 + "manipulator"&5 +4 ."da"Forearm.seek 4 + 320 counts +2 "manipulator"&?'w +18 "core" ' +3 "manipulator"&<& +9 "core" & [ +4 "storage"(v& +10 "core" &,f U ]\  +4 ."da"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 ."da"Forearm.seek 4 + 450 counts +4 "manipulator"&>' +19 "core" ' +3 "storage"(A% +9 "core" % ` b\  +5 ."downElevator"SE.seek :down +7 "storage"(@' +99 (D% +4 "core" %R9 \ }SV +4 "manipulator"&C% +8 "core" % +10 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&B' +92 "core" ' +38 ' +2 ."downElevator"SE.stop +4 "storage"(5 +5 (H& +6 "core" &,f 3\  +719 ' +2 ."psFlush"PSV.dial PTV +5 "processing"%= +75 "core" +4 ."psFlush"PTV.dial :puck +6 "processing"%F  +74 "core"  +3 ."psFlush"PBV.dial :waste1 +3 .PS.seek 0ml +7 "processing"%E'ؾ +2635 "core" ' +3 ."psFlush"PSV.dial PSR +4 "processing"%I +75 "core"  +6 ."psFlush"PSR.select :flush +5 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +2 "processing"%M' +589 "core" ' +3 ."psFlush"PSR.select :air +4 "processing"% +14 ."psFlush"PS.seek 2.5ml +7 "processing"%G' +2115 "core" ' +3 ."psFlush"PSV.dial PTV +2 "processing"%K +76 "core" +2 ."psFlush"PBV.dial PSV +3 "processing"%P U +56 "core" V +4 ."psFlush"PS.seek 0ml +4 "processing"%L'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PBV +4 "processing"%R @ +45 "core" > +4 ."psFlush"PS.seek 2.5ml +4 "processing"%Q' +2531 #"uploadLog"upsync +104 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%J  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%U'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%V +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%W' +2629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%T +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%Y @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +628 "Can"\ KI +2002 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%^  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%e +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1097 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%#' +1629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%h +70 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%`  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%j'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%f +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%b' +597 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%_' +2116 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%c +73 "core" + ."psFlush"PBV.dial PSV +2 "processing"%S U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%n'ؾ +2641 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%] @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%l'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%i +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%a' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%o +83 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%w'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%d @ +42 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +2635 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%x  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2651 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&q& +4 "core" & ~ +2 "manipulator"&|% +3 "core" %  \\  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&{( +241 "core" ( + "manipulator"&u& +4 "core" & . +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" & . +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +92 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&/ +57 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%k( +455 "core" ( +2 "manipulator"&g& +4 "core" & \\ - + "manipulator"&% +4 "core" %  Q ! +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&~' +89 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +128 "core" ( + "manipulator"&}& +4 "core" &- ,  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &-   +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +107 "core" ' + ."psFlush"Hand.open +2 "manipulator"&z1 +56 "core" 1 + "manipulator"&% +4 "core" % s g +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tFinished short da assay +8833 #-> access 4 +2 "storage"(% +3 "core" % \\\  +2 "manipulator"&m% +4 "core" %  A  +2 "manipulator"&& +3 "core" &- \\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(X(C +990 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +2 "core" &@ P\ +16616 "Can"\ ;8 +22535 #t-> access 5 +2 "storage"(p% +3 "core" % g\  +2 "manipulator"&% +4 "core" %  Z  +2 "manipulator"&& +3 "core" &- N  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & \ +1034 #t-> exit +43 #mEXIT @1633107490.17UTC @1633107506.46UTC = =mMAIN_scheduler =tMAIN @UTC1633107508.33 #"core_reset"Sent BREAK +3 #t@59253 receive with ifg=0x10, ie=0xFD #@59890 receive with ifg=0x10, ie=0xFD + #@60548 receive with ifg=0x10, ie=0xFD + #@61182 receive with ifg=0x10, ie=0xFD #@61816 receive with ifg=0x10, ie=0xFD + #@62450 receive with ifg=0x10, ie=0xFD #@63084 receive with ifg=0x10, ie=0xFD + #@63410 receive with ifg=0x80, ie=0xFD + #@50873 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +288 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +388 "Can"\ =: + \ =: + #tPolling Can every 10:00 +442 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %m ( *\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؾ3\  + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ڃ y u _\ 4 +2 .tSS.configure :default +2 "sampler")#.0X startTube 5 +1165 #-> $da[:extractVol]=.2 +57510 "Can"\ A> +60001 \ A> +25717 #t-> shortDA +2 "collection"'3% +4 "core" %m $ #[\ +2 "processing"%4% +5 "core" %ؾF\  + #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +307 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%5 +130 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%6  +128 "core" + .tPRV.dial :sipper +2 "processing"%7  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%8'e +2298 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%9  +2 "collection"':  +6 "core" +119  +2 .tPS.seek 0.5ml + "processing"%;' +1276 "core" ' +2 .tPRV.dial :waste2 + "processing"%< @ +99 "core" > +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%='ؾ +590 "core" ' + .tPSV.dial PSR +2 "processing"%> +100 "core"  +2 "processing"%?% +4 "core" %E\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +3 "processing"%j +9 .tPS.seek 1ml +2 "processing"%@'X\\ +1106 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%A' +1607 "core" ' +2 .tPSV.dial :mixloop + "processing"%B +115 "core" + .tPS.seek 0ml +2 "processing"%C'ؾ +2632 "core" ' +2 .tPSV.dial PSR + "processing"%D +100 "core" +2 "processing"%E% +4 "core" %H\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%F'X\\ +1110 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%G' +1632 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%H +101 "core" +2 .tPRV.dial :sipper + "processing"%I  +43 "core" +2 .tPS.seek 0ml + "processing"%J'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%K +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%L' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +101 "core" +3 .tPS.seek 0ml + "processing"%N'ؾ +2632 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp +2 "processing"%O& +4 "core" &-\ + .tHand.open + "manipulator"&P1 +17 "core" 1 + "manipulator"&Q% +4 "core" %  r  +2 "storage"(R% +4 "core" % ^\  + "storage"(S. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(T(<- +977 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (U& +3 "core" &<* q { n\ + "manipulator"&V& +5 "core" &- (  + "manipulator"&W% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&X( +171 "core" ( + "manipulator"&Y& +4 "core" & g ) + "storage"(Z& +4 "core" &<* '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&['O +89 "core" ' +2 "storage"(\\& +39 "core" &<* (\ +8 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'r +295 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" &<* %\ + "manipulator"&`& +4 "core" & 8 ) +2 .tElbow.seek 5 + "manipulator"&a( +3 "core" ( +2 "manipulator"&b& +4 "core" & ) + "storage"(c& +4 "core" &<* [\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&d'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&e/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(g' +7 "core" & R ) + "manipulator"&h% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&i' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&j( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&k& +5 "core" & b ; + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" & J ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +3 "manipulator"&m' +96 "core" ' +2 "manipulator"&n& +4 "core" & S ; +2 "manipulator"&o% +3 "core" % S  +2 "processing"%p& +4 "core" &S\ +2 "processing"%q& +4 "core" &N\ +2 .tPC.seek :closed +2 "processing"%r(^ +4 "core" &*\  +9 &3x.\ *y +10 &c|/\ > +9 &m\ N +9 &CQ%\ N +10 &Q!\ M +9 &O!\ M +9 &R#\ N +10 &LS#\ N +9 &R#\ N +10 &N$\ N +9 & O'\ N +9 &"TO!\ N +10 &$T!\ N +9 &%N\ M +9 &'Q\ N +10 &)\\T\ N +9 &+T\ N +9 &,N\ N +10 &.T\ N +9 &0cU\ N +10 &2&R\ N +9 &3Q\ N +9 &5R\ M +10 &7kQ\ N +9 &9.Q\ N +10 &:T\ N +9 &<Q\ N +9 &>sQ\ N +10 &@5R\ N +9 &A\\\ O +9 &Co\ Q +10 &Ei\ T +9 &G+\ T +10 &H\ U +9 &J\ T +9 &Lp\ T +10 &N/\ U +9 &O\ U +9 &Q\ V +10 &Ss\ V +9 &U6\ V +9 &V\ V +10 &X\ U +9 &Z}\ U +10 &\\>\ V +9 &]zs\ : +9 &^)\ V +10 &^)\ 6 +2 ( +2 "processing"%q& +2 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.74 +2 .Hand.open + "manipulator"&s1 +54 "core" 1 +2 "manipulator"&t% +4 "core" %  c  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +92 "core" ' +3 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%v h +2 %w9 +6 "core" 9 +101 "processing"%x9 +3 "core" 9 +102 "processing"%y9 +2 "core" 9  +102 "processing"%z9 +2 "core" 9  +102 "processing"%{9 +3 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +3 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9. +102 "processing"%9 +2 "core" 93 +103 "processing"%9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%\ 9 +2 "core" 9? +102 "processing"% 9 +3 "core" 9C +102 "processing"%9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +2 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9\\ +102 "processing"%9 +2 "core" 9a +102 "processing"%9 +3 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +3 "core" 9q +102 "processing"%9 +3 "core" 9v +102 "processing"%9 +2 "core" 9z +102 "processing"%9 +2 "core" 9~ +102 "processing"%9 +3 "core" 9 +102 "processing"% 9 +2 "core" 9 +102 "processing"%!9 +3 "core" 9 +102 "processing"%"9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +4 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +3 "core" 9 +102 "processing"%+9 +2 "core" 9  +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +2 "core" 9$ +3 .tPH.hold 2:00:00,28C +3 "processing"%1 php +3 .tdelay 1:30 +2 "core"  +3496 "Can"\ HE +5504 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%2 +113 "core" +2 "processing"%3% +4 "core" %ؿ<\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%4' +592 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%5' +1608 "core" ' + .tPTV.dial :puck +2 "processing"%6  +128 "core"  +2 .tPSV.dial PTV +2 "processing"%7 +70 "core" + .tPBV.dial :waste1 +2 "processing"%  +53 "core" +2 "processing"%:% +3 "core" %\\\  +2 .tPS.seek 1.5ml +2 "processing"%9'& +586 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%8 * +33 "core" , +3 .tPS.seek 0ml + "processing"%<'ؾ +1610 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%;  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%> * +31 "core" * +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%? +71 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%=' +2445 "core" ' + .tPSV.dial PTV +2 "processing"%@ +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%B +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%A +71 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%D  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%E'ؾ +2368 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%C  +130 "core" + .tPSV.dial :mixloop +2 "processing"%F +44 "core" + .tPRV.dial :ab1 +2 "processing"%H @ +98 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%I' +351 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%G  +39 "core" +2 "processing"%K% +4 "core" %\ +2 .tPS.seek 0.35ml + "processing"%J'h +452 "core" ' +2 .tdelay 2 seconds +201 .CBV.dial between PRV and PSV +2 "collection"'M  +29 "core" + .tPRV.dial :air +2 "processing"%L  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%O'K +1165 "core" ' + .tPRV.dial :waste2 +2 "processing"%P @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%Q' +870 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%R  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%S' +1617 "core" ' + .tPSV.dial :PML +2 "processing"% +43 "core" +2 .tPTV.dial :mixing +2 "processing"%U @ +71 "core" A +2 .tPBV.dial :waste1 +2 "processing"%V  +32 "core" +2 "processing"%W% +4 "core" %\  +2 .tPS.seek 1.85ml + "processing"%Y' +230 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%Z * +32 "core" * +3 .tPS.seek 0ml + "processing"%\\'ؾ +1973 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +2 "core" & " #D\ +2 "manipulator"&& +4 "core" & : ; + "manipulator"&^% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&_(- +127 "core" ( +2 "manipulator"&`& +4 "core" &- /  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &- *  +2 .tForearm.seek :garage + "manipulator"&c'w +96 "core" ' +2 .tHand.close + "manipulator"&e/ +55 "core" / +2 "manipulator"&f& +4 "core" &- m  +2 "manipulator"&h% +4 "core" %  Z + .tForearm.seek :retract +2 "manipulator"&X' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +289 "core" ( +2 "manipulator"&]& +4 "core" &ӎ U 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &ӎ e 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&k'? +96 "core" ' +2 "manipulator"&l& +4 "core" &ӎ  5 +2 "manipulator"&a% +4 "core" %E 3 8 + "collection"'n& +4 "core" & # "@\ +2 "collection"'o& +5 "core" & # #8\ +2 .tCC.seek :closed +2 "collection"'p(\\ +4 "core" & % $B\  +8 &0z " "@\ +z +10 &b~ " "<\ > +9 &qr " "E\ N +9 &4R $ $>\ M +10 &U $ %E\ M +9 &Q # #F\ M +9 &zQ $ %E\ M +10 &=R # %F\ M +9 &U % &G\ N +10 &O % &?\ M +9 & P % $E\ M +9 &"DU # $F\ M +10 &$U % #D\ M +9 &%U ( %G\ M +2 "Can"\ b_ +7 "core" &'T ' %C\ M +10 &)KT # $?\ N +9 &+ T % $B\ N +10 &,T $ $=\ M +9 &.Q ' $=\ M +9 &0TQ ! %>\ M +10 &2U & %C\ M +9 &3T $ &A\ N +9 &5T & &<\ N +10 &7[T % &>\ N +9 &9T & %:\ N +10 &:T $ %;\ N +9 &<U & ';\ N +9 &>cU ' %:\ N +10 &@&R ( '?\ M +9 &AY ' '<\ N +9 &Cb + *8\ O +10 &E`z - *A\ Q +9 &G 2 1<\ V +9 &H 4 5<\ Y +10 &J 4 26\ Z +9 &LO 4 4<\ Z +10 &N 3 57\ [ +9 &O 3 45\ [\ +9 &Q 5 6A\ \\ +10 &SP 5 59\ \\ +9 &U 6 61\ ] +9 &V 6 4.\ ^ +10 &X 8 7.\ _ +9 &ZP 9 77\ _ +10 &[{ 9 97\ C +9 &\\, : ;5\ *} +9 &\\~ 8 87\ Z +3 ( + "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.42 + "collection"'g& +4 "core" &\\} : <.\ Z + .tHand.open +2 "manipulator"&i1 +58 "core" 1 +2 "manipulator"& % +4 "core" % E  & 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +92 "core" ' +2 .tPSV.dial PSR +2 "processing"%t +102 "core"  +2 "processing"%w% +4 "core" %ػx\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1.5ml + "processing"%q'+ +1620 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%x  +41 "core"  +2 .tPS.seek 0ml +2 "processing"%m'ؾ +1608 "core" ' +2 .tPSV.dial PSR +2 "processing"%y +43 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%z' +2635 "core" ' +51 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV + "processing"%{  +2 "collection"'|  +31 "core"  +124  + .tPSV.dial :mixloop +2 "processing"%} +101 "core" +2 .tCTV.dial :air,avoiding: :intake +2 "collection"'~ +3 "core"  +2 "collection"'  +3 "core"  +2 .tPTV.dial :PRVmixing +2 "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tPSV.dial :air +2 "processing"%  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2635 "core" ' + .tPSV.dial :mixloop +2 "processing"% +42 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%\  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"% ' +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &ӎ 5 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +29 "core" ( + "manipulator"&& +4 "core" &Ӌ 9 H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &Ӌ k H +2 .tForearm.seek CC + "manipulator"&'? +91 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( + "manipulator"&& +4 "core" &Ӌ & H +2 "manipulator"&% +3 "core" % F < I +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +276 "core" ( +2 "manipulator"&& +4 "core" &- _ @ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &- S @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"& 'w +102 "core" ' +2 .tHand.open + "manipulator"&!1 +53 "core" 1 +2 "manipulator"&"% +4 "core" % u R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +96 "core" ' +2 ."da"delayUntil "17:46:24.99" +24753 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%$ @ +73 "core" B +2 ."da"PBV.dial :waste1 + "processing"%%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%& * +33 "core" * +2 ."da"PSV.dial :air +2 "processing"%'  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%(' +2413 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%) +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%*  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%+ +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%,  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%-'ؾ +2382 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%. +129 "core"  + "processing"%/% +4 "core" %ؾ\  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%0' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%2' +1629 "core" ' + ."da"PTV.dial :puck +2 "processing"%3  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%N +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%4  +33 "core" + "processing"%6% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%7'* +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +193 "Can"\ JG +1417 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%5  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%8 * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%9 +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%v' +2410 "core" ' + ."da"PSV.dial PTV +2 "processing"%; +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%> +71 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%? +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%<  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%@'ؾ +2382 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%B +128 "core"  +2 "processing"%A% +3 "core" %ظy\  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%D' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%=' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%C +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%F  +34 "core" +2 "processing"%H% +4 "core" %b\  +2 ."da"PS.seek 1.5ml + "processing"%E'+ +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%G * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%K'ؾ +1613 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%I  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%M * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%L +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%J' +2415 "core" ' + ."da"PSV.dial PTV +2 "processing"%P +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%O +71 "core"  +2 ."da"delay 5 seconds +501 .PSV.dial PTV +2 "processing"%R +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%Q  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2349 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%U  +43 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%V  +128 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%W  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%Z +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%S' +390 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%Y  +42 "core"  + "processing"%% +4 "core" % \  +2 ."da"PS.seek 0.55ml +2 "processing"%' +328 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%^  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%`' +1564 "core" ' + ."da"PSV.dial :PML +2 "processing"%b +44 "core" + ."da"PTV.dial :mixing +2 "processing"%e @ +73 "core" B + ."da"PBV.dial :waste1 +2 "processing"%j  +35 "core" + "processing"%f% +4 "core" %\  +2 ."da"PS.seek 1.85ml + "processing"%h' +234 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%u * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%c'ؾ +1985 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +2994 "Can"\ \ FD +45009 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%]  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%d * +32 "core" * +2 ."da"PSV.dial :air +2 "processing"%_  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%l' +2424 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%a +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%n  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%X +43 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%g'ؾ +2388 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%i +129 "core"  +2 "processing"% % +4 "core" %ؾ\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%o' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%t' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%w  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%k +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%\\  +33 "core" + "processing"%x% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%q'1 +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%y * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%m'ؾ +1611 "core" ' +2 ."da"delay 2:00 +630 "Can"\ IG +11372 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%|  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%{ * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%} +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%~' +2428 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +42 "processing"%z +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2370 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"% +130 "core"  + "processing"%% +4 "core" %ؾ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%\ ' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'. +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1606 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%[  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%s * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%p +72 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2407 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2358 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%! +130 "core"  + "processing"%"% +4 "core" %غ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +600 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +7 "processing"% ' +1612 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%$ +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%%  +34 "core" + "processing"%&% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'') +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%)'ؾ +1628 "core" ' +2 ."da"delay 2:00 +5926 "Can"\  +6076 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%*  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%+ * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%, +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%(' +2424 "core" ' + ."da"PSV.dial PTV +2 "processing"%. +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%/ +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%- +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%0  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +2369 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +135 "core"  +5 "processing"%4% +10 "core" %ػ\ Y +3 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +5 "processing"% +11 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +5 "processing"%6' +335 "core" ' +2 ."da"delay 5 seconds +503 "processing"%2% +3 "core" %\ S + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%' +342 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%7' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%5 +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%8  +34 "core" + "processing"%9% +4 "core" %\ I +2 ."da"PS.seek 1.5ml +2 "processing"%:'1 +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%; * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +1619 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%?  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%< * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%v +75 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%B' +2488 "core" ' + ."da"PSV.dial PTV +2 "processing"%A +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%@ +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%D +85 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%C  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%F'ؾ +2454 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%H +132 "core"  +2 "processing"%=% +3 "core" %\ 9 +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%G' +2125 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%E +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%I  +34 "core" +2 "processing"%M% +4 "core" %\ k + ."da"PS.seek 1.5ml +2 "processing"%L'+ +599 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%K * +35 "core" + + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%P  +106 "core"  +2 ."da"PS.seek 0ml +2 "processing"%O'ؾ +1616 "core" ' + "processing"%R9 +4 "core" 9k5x +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast +2 "processing"%Q  +3 "core" 5y + 5y + "processing"%J& +4 "core" &^&\ <6 + #"da"Imaging da puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&U% +3 "core" %  >  +2 "storage"(V% +3 "core" % ? ? \ < +2 "storage"(W. +3 "core" .(<* + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(Z(,y +352 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &,{ h c ,\ j +2 "manipulator"&Y& +4 "core" &- 8 @ + "manipulator"&% +4 "core" %   + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&S( +180 "core" ( +2 "manipulator"&^& +4 "core" & W + "storage"(& +4 "core" &,{ c X \ k +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&b' +91 "core" ' +2 "storage"(e& +4 "core" &,{ R _ K\ ? +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(j'r +275 "core" ' + "storage"(f- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(u'1 +51 "core" ' +2 "manipulator"&`& +4 "core" & p + "manipulator"&h% +4 "core" % 5 + ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&]' +90 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&d( +241 "core" ( +2 "manipulator"&_& +3 "core" &  $ +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" & + $ +2 ."da"Forearm.seek PC +2 "manipulator"&a' +98 "core" ' + ."da"Hand.close +2 "manipulator"&n/ +73 "core" / +2 ."da"PC.seek :open +2 "processing"%X( +461 "core" ( +2 "storage"( & +3 "core" &,f q v s\ p\ +2 "manipulator"&l& +3 "core" &  $ +2 "manipulator"&i% +3 "core" %  +2 ."da"Forearm.seek :retract +2 "manipulator"& ' +91 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&g( +244 "core" ( +2 "manipulator"&o& +4 "core" & " 1 + "storage"(w& +4 "core" &,f ^ i M\ ?\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&k' +91 "core" ' +2 ."da"Hand.open + "manipulator"&\\1 +108 "core" 1 +2 "storage"(x- +3 "core" -'1 +3 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(t' +23 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(y' +54 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0118h.tif +5 "processing"%q& +14 "core" &\ > +2 "manipulator"&|& +7 "core" & C 1 +2 "manipulator"&{% +5 "core" %  x g +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&}' +95 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&m(- +171 "core" ( +2 "manipulator"&& +4 "core" &- t i ? p + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-\ \   p +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&z'w +92 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +67 "core" / +2 "manipulator"&~& +4 "core" &- @ p + "manipulator"&% +5 "core" % } ^ P +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +129 "core" ( + "manipulator"&\ & +5 "core" &  G \ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & Z \ +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"& ' +91 "core" ' +2 "manipulator"&& +4 "core" & T o \ +2 "manipulator"&% +4 "core" % 8 8 " q + "processing"%& +5 "core" &C\  +2 "processing"%& +4 "core" &!\  +2 ."psFlush"PC.seek :closed +2 "processing"%[(^ +5 "core" &-\  +7 & *'\ #b +9 &Ts\ 8 +9 &{n\ M +10 &F\ R +9 &DC\ Q +10 &B\ Q +9 &F \ R +9 &F\ $Q +10 &PC\ ;P +9 &I\ :P +9 &H\ :P +10 &!D\ ;P +9 &#VG\ ' +15 "core" ' +2 "storage"(A% +4 "core" % r g \ +2 ."downElevator"SE.seek :down +4 "storage"(@' +100 (D% +5 "core" %4 | N\ SX +7 "manipulator"&C% +9 "core" % n +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&B' +94 "core" ' +40 ' +2 ."downElevator"SE.stop +2 "storage"(5 +12 (H& +7 "core" &,f a b \ \ +1049 ' +3 ."psFlush"PSV.dial PTV +5 "processing"%= +75 "core" +2 ."psFlush"PTV.dial :puck +3 "processing"%F  +73 "core"  +4 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml +6 "processing"%E'ؾ +1101 "Can"\ OL +1530 "core" ' +3 ."psFlush"PSV.dial PSR +4 "processing"%I +75 "core"  +2 ."psFlush"PSR.select :flush +5 "processing"%@ +15 ."psFlush"PS.seek 0.5ml +3 "processing"%M' +593 "core" ' +3 ."psFlush"PSR.select :air +4 "processing"% +16 ."psFlush"PS.seek 2.5ml +6 "processing"%G' +2134 "core" ' +2 ."psFlush"PSV.dial PTV +3 "processing"%K +76 "core" +4 ."psFlush"PBV.dial PSV +4 "processing"%P U +53 "core" V +4 ."psFlush"PS.seek 0ml +3 "processing"%L'ؾ +2654 "core" ' +3 ."psFlush"PSV.dial PBV +2 "processing"%R @ +45 "core" ? +4 ."psFlush"PS.seek 2.5ml +3 "processing"%Q' +2633 "core" ' +3 ."psFlush"PSV.dial :waste1 +4 "processing"%J  +72 "core"  +4 ."psFlush"PS.seek 0ml +4 "processing"%U'ؾ +1283 #"uploadLog"upsync +1351 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%V +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%W' +2638 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%T +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%Y @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%^  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2641 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%e +44 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1103 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%#' +1620 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%f +70 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%`  +51 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%h'ؾ +2639 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%j +72 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%b' +585 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%_' +2123 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%c +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%S U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%n'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%] @ +42 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2632 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%l'ؾ +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%i +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%a' +2637 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%o +70 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%w'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%d @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +2655 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%x  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%q'ؾ +2642 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"& & +4 "core" & 5 - + "manipulator"&|% +4 "core" %  k  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&{( +261 "core" ( +2 "manipulator"&u& +4 "core" & i  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" & \  +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +92 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +57 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%k( +460 "core" ( + "manipulator"&g& +4 "core" & 0  +2 "manipulator"&% +3 "core" %  ' +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&~' +92 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +121 "core" ( + "manipulator"&}& +4 "core" &- 9  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &-   +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +99 "core" ' + ."psFlush"Hand.open +2 "manipulator"&z1 +62 "core" 1 +2 "manipulator"&% +4 "core" % | h +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 #tFinished short da assay +1174 #-> access 4 +3 "storage"(% +3 "core" % I\  +2 "manipulator"&m% +4 "core" %  .  + "manipulator"&& +4 "core" &- 1  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(X(C +1007 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +3 "core" &B v v .\  +1429 #t-> access 5 +2 "storage"(p% +3 "core" % S\  +2 "manipulator"&% +4 "core" %  l  + "manipulator"&& +4 "core" &- r  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & x y %\ +377 #t-> samplePassF +2 #Beginning samplePassF +46 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +4 "core" & " &\ + "manipulator"&O& +4 "core" &-   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +13 "core" ( + "manipulator"&!& +4 "core" &- l j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &- @ j +2 .tForearm.seek :garage +2 "manipulator"&'w +91 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / + "manipulator"&$& +4 "core" &- j +2 "manipulator"&%% +4 "core" % |  ) + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&&(ӂ +283 "core" ( +2 "manipulator"&& +4 "core" &ӕ  S 9$ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +2 "core" &ӕ  | 9$ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&*'? +91 "core" ' +2 "manipulator"& & +4 "core" &Ӗ  9# +2 "manipulator"&,% +3 "core" %: d +2 "collection"'+& +4 "core" & # $\ +2 "collection"'.& +5 "core" & # "\ +2 .tCC.seek :closed +3 "collection"'/(\\ +3 "core" & $ $\ +6 & % $\ 5 +9 &<Gs % #\ 0 +10 &fr~ $ %\ D +9 &^ # $\ N +9 &R $ '\ M +10 &U $ $\ M +9 &OT $ %\ M +9 &U $ &\ M +10 &S & %\ M +9 &S $ #\ M +10 &VT $ &\ N +9 &!S & &\ M +9 &"T % %\ M +10 &$T & &\ M +9 &&aT $ &\ M +9 &(#T % %\ M +10 &)T % &\ M +9 &+S & %\ M +10 &-iT % $\ M +9 &/+T $ %\ M +9 &0T $ %\ M +10 &2R # '\ M +9 &4oT % $\ M +9 &61S $ &\ M +10 &7U ' %\ M +9 &9T ' $\ N +10 &;xT ) &\ M +9 &=:T ( &\ M +9 &>T ' '\ M +10 &@V ) &\ N +9 &B}^ , +\ N +9 &D<i , ,\ O +10 &E / /\ S +9 &G 5 2\ W +10 &Ie 3 2\ Y +9 &K& 3 4\ Y +9 &L 5 3\ Z +10 &N 5 3\ Z +9 &Pg 4 3\ [\ +10 &R* 3 6\ [ +9 &S 4 5\ \\ +9 &U 8 3\ \\ +10 &Wh 8 6\ ] +9 &Y' 8 7\ ^ +9 &Z 8 8\ _ +10 &\\S\\ ; 8\ . +9 &\\" 9 ;\ ` +9 ( +3 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.36 +2 "collection"'-& +4 "core" &\\ ; 9\ Y + &\\ 9 <\ Y + .tHand.open +2 "manipulator"&01 +56 "core" 1 +2 "manipulator"&N% +4 "core" % : $ d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4' +91 "core" ' +2 .tPSV.dial PSR,avoiding: PBV + "processing"%  +44 "core"  +2 "processing"%6% +4 "core" %ظ\  + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +11 .tPS.seek 1.5ml + "processing"%5'+ +1606 "core" ' +2 .tdelay 5 seconds +224 "Can"\ XU +278 .tPSV.dial :waste1 +2 "processing"%  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%;'ؾ +1615 "core" ' + .tPSV.dial PSR +2 "processing"%: +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%<' +2639 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + "processing"%v  +98 "core" +2 .tPSV.dial :PTV,via: :air +2 "processing"%y +203 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%A @ +71 "core" @ +2 .tPS.seek 0ml +2 "processing"%)'ؾ +2649 "core" ' +2 .tPSV.dial :air + "processing"%3  +85 "core" +2 .tPS.seek 2.5ml +2 "processing"%D' +2627 "core" ' + .tPSV.dial :PTV +2 "processing"%( +72 "core" ~ +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2652 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&2& +4 "core" &Ӗ 9# +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&8(ӂ +26 "core" ( + "manipulator"&H& +4 "core" &Ӏ\  m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &Ӏ\  U m +2 .tForearm.seek CC +2 "manipulator"&7'? +93 "core" ' + .tHand.close + "manipulator"&>/ +57 "core" / +2 .tCC.seek :open + "collection"'@( +449 "core" ( +2 "manipulator"&=& +4 "core" &Ӏ\  T m + "manipulator"&F% +4 "core" % 9 ) + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&I(- +272 "core" ( + "manipulator"&E& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &- b  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&K'w +91 "core" ' +2 .tHand.open + "manipulator"&P1 +57 "core" 1 +2 "manipulator"&G% +4 "core" % w  X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +91 "core" ' +2384 #t-> PS.flush +2 #Flushing Processing stage + "processing"%L% +3 "core" %ؿ\  +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%J& +4 "core" &\ + "manipulator"&Q& +4 "core" &-   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&V(- +2 "core" ( + "manipulator"&U& +4 "core" &- 2  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&W'w +96 "core" ' + .tHand.close +2 "manipulator"&Y/ +53 "core" / +2 "manipulator"&& +3 "core" &- D  +2 "manipulator"&^% +4 "core" % d $ m +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&e( +118 "core" ( + "manipulator"&& +5 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&f' +94 "core" ' + "manipulator"&`& +4 "core" & T  +2 "manipulator"&#% +4 "core" % p G + "processing"%j& +4 "core" &$\ +2 "processing"%h& +5 "core" &&\ +2 .tPC.seek :closed +2 "processing"%b(^ +4 "core" &'\ +7 & ,1\ #b +10 &Vu.\ 7 +9 &~s/\ K +9 &P9\ N +10 &XQ(\ N +9 &P8\ N +9 &R*\ N +10 &QD\ M +9 &aQ)\ M +10 &"R,\ N +9 &Q'\ N +9 &!N3\ M +10 &#hN(\ N +9 &%+S1\ M +9 &&N/\ M +10 &(O%\ M +9 &*pQ&\ N +9 &,3R/\ M +10 &-R6\ M +9 &/Tn\ N +10 &1yQ7\ M +9 &3;P3\ M +9 &4T2\ N +10 &6R.\ N +9 &8R2\ N +9 &:CN3\ M +10 &<Q)\ M +9 &=R/\ M +10 &?W-\ N +9 &AJR2\ N +9 &Cg9\ P +10 &Dx)\ R +9 &F}2\ T +9 &H?%\ T +10 &I$\ U +9 &K&\ U +10 &M2\ U +9 &OD2\ U +9 &Q-\ V +10 &R3\ U +9 &T$\ W +9 &VJ2\ V +10 &X =\ U +9 &Y2\ V +10 &[/\ V +9 &]P-\ H +9 &^xD/\ #h +10 &^;3\ 4 +5 ( +2 "processing"%h& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 + "processing"%c& +4 "core" &^%z\ 4 + &^%6\ 4 + .tHand.open +2 "manipulator"&S1 +58 "core" 1 +2 "manipulator"&_% +4 "core" %   G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]' +91 "core" ' +2 .tPSV.dial PSR + "processing"%n +72 "core"  +2 .tPSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"% 'X\\ +1107 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%r' +1611 "core" ' + .tPSV.dial PTV +2 "processing"%i +72 "core" + .tPTV.dial :puck +2 "processing"%l  +74 "core"  + .tPBV.dial :waste1 +2 "processing"%o  +53 "core" +2 .tPS.seek 0ml +2 "processing"%a'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%d +72 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%w' +585 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%x' +2126 "core" ' +2 .tPSV.dial PTV + "processing"%\\ +72 "core" +2 .tPBV.dial PSV +2 "processing"% U +53 "core" W +48 .tPS.seek 0ml +2 "processing"%|'ؾ +2631 "core" ' + .tPSV.dial PBV +2 "processing"%u @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%t' +2639 "core" ' +2 .tPSV.dial :waste1 + "processing"%9  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' + .tPSV.dial PSR +2 "processing"%B +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%[' +2637 "core" ' +2 .tPSV.dial PTV +2 "processing"%g +70 "core" + .tPBV.dial PSV +3 .PS.seek 0ml + "processing"%'ؾ +2631 "core" ' + .tPSV.dial PBV +2 "processing"%} @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%\ ' +2639 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%{'ؾ +2635 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&z& +4 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&( +2 "core" ( +2 "manipulator"&~& +4 "core" & .  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  +3 .tForearm.seek PC + "manipulator"&' +92 "core" ' + .tHand.close + "manipulator"&m/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +460 "core" ( + "manipulator"&Z& +4 "core" & $  +2 "manipulator"&s% +3 "core" %  C I +2 .tForearm.seek :retract +2 "manipulator"&p' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +126 "core" ( +2 "manipulator"&& +4 "core" &- ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +2 "core" &- # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +96 "core" ' +2 .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&O% +4 "core" % s , $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +93 "core" ' +3218 #t-> samplePassF + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'"& +3 "core" & $ &\ +2 "manipulator"&& +4 "core" &- M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&$(- +14 "core" ( + "manipulator"&%& +4 "core" &- R r +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- G r +2 .tForearm.seek :garage +2 "manipulator"&'w +91 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 "manipulator"&& +4 "core" &- 6 r +2 "manipulator"&'% +4 "core" % k  , +2 .tForearm.seek :retract + "manipulator"&' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& (ӂ +295 "core" ( + "manipulator"&,& +4 "core" &Ӎ o - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &Ӎ  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 "manipulator"&& +4 "core" &Ӎ } - + "manipulator"&-% +5 "core" %> ; x + "collection"'0& +4 "core" & & &\ +2 "collection"'N& +5 "core" & & %\ +2 .tCC.seek :closed + "collection"'.(\\ +5 "core" & & &\ +7 &3 & '\ $c +10 &U{ & %\ 7 +9 &w & %\ K +9 &S ' '\ M +10 &hR & '\ M +9 &*R & $\ M +10 &T ' '\ M +9 &U ( '\ L +9 &qT ' (\ L +10 &2T & (\ M +9 &U ( )\ L +9 &!S & '\ L +10 &#xU & '\ M +9 &%:W & '\ M +10 &&W ) &\ M +9 &(R & '\ M +9 &*T ( (\ L +10 &,CT ) &\ L +9 &.T & &\ L +9 &/S ( '\ L +10 &1T & %\ L +9 &3KT ' '\ L +10 &5 U ' (\ L +9 &6T ( (\ M +9 &8W ' (\ M +10 &:RX ) '\ M +9 &<X ( '\ M +9 &=T ' )\ L +10 &?U ' *{\ M +9 &AZX * *\ M +10 &C_ . +\ N +9 &Dn / -\ O +9 &F ; 5|\ T +10 &HC = =\ W +9 &J = <\ Y +9 &K = =}\ X +10 &M > ;{\ Z +9 &OE < ={\ Y +9 &Q ; <}\ Z +10 &R < <\ Z +9 &T ; ;y\ [ +10 &VD ; <\ \\ +9 &X = <}\ ] +9 &Y = <z\ ^ +10 &[ > >y\ K +9 &\\6 > ?\ 3 +9 &\\ > @\ X +6 ( +2 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.38 +2 "collection"'& +4 "core" &\\v > ?x\ X + &\\v @ @w\ X + .tHand.open +2 "manipulator"&61 +51 "core" 1 +2 "manipulator"&*% +4 "core" % > > x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +90 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +43 "core"  +2 "processing"%5% +4 "core" %ػA\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%:'+ +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%;  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%v'ؾ +1634 "core" ' + .tPSV.dial PSR +2 "processing"%y +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%A' +2632 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .PSV.dial :PTV,via: :air +2 "processing"%< +190 "core"  + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%3 @ +71 "core" A +3 .tPS.seek 0ml + "processing"%)'ؾ +1810 "Can"\ VT +824 "core" ' + .tPSV.dial :air +2 "processing"%(  +86 "core"  +2 .tPS.seek 2.5ml +2 "processing"%D' +2638 "core" ' + .tPSV.dial :PTV +2 "processing"%2 +72 "core" ~ +2 .tPS.seek 0ml +2 "processing"%H'ؾ +2649 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&?& +4 "core" &Ӎ B - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +18 "core" ( +2 "manipulator"&&& +4 "core" &ӌ O S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &ӌ % S + .tForearm.seek CC +2 "manipulator"&/'? +93 "core" ' +2 .tHand.close + "manipulator"&=/ +61 "core" / +2 .tCC.seek :open +2 "collection"'F( +448 "core" ( +2 "manipulator"&7& +4 "core" &ӌ S + "manipulator"&E% +4 "core" % G 1 + .tForearm.seek :retract +2 "manipulator"&M' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&8(- +276 "core" ( +2 "manipulator"&P& +4 "core" &-  G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +2 "core" &- G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +91 "core" ' +2 .tHand.open +2 "manipulator"&K1 +53 "core" 1 + "manipulator"&L% +4 "core" % | W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +93 "core" ' @1633114357.60UTC = =tMAIN =mMAIN_scheduler @UTC1633114359.43 #"core_reset"Sent BREAK +2 #t@27796 sendCRC with ifg=0x20, ie=0x7F + #@29631 sendCRC with ifg=0x08, ie=0x5F + #@15756 idle with ifg=0x84, ie=0x75 + #@16426 select with ifg=0x10, ie=0xF5 #@17060 receive with ifg=0x10, ie=0xFD + #@17693 receive with ifg=0x10, ie=0xFD #@18326 receive with ifg=0x10, ie=0xFD + #@18653 receive with ifg=0x80, ie=0xFD + #@24200 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +163 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +122 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +375 "Can"%\ ?< + %\ ?< + #tPolling Can every 10:00 +13991 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +3 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %m ' &k\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" %ؽQ\  +2 .tPS.configure :default +3 "processing"%#A d`xb +4 .tPS.hold +4 "processing"%+ +4 "core" + +5 .tPS.configure :default +4 "processing"%#A d`xb +4 "sampler")% +6 "core" %ڃ y w _\ 4 +2 .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'3& +3 "core" & & %o\ +2 .tHand.open + "manipulator"&41 +21 "core" 1 + "manipulator"&5& +4 "core" &-  G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(- +3 "core" ( + "manipulator"&7& +4 "core" &- ] G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &-  G + .tForearm.seek :garage +2 "manipulator"&9'w +93 "core" ' +2 .tHand.close + "manipulator"&:/ +58 "core" / +2 "manipulator"&;& +4 "core" &- P G + "manipulator"&<% +4 "core" % π ? L + .tForearm.seek :retract +2 "manipulator"&=' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&>(ӂ +282 "core" ( + "manipulator"&?& +4 "core" &Ӆ( W @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +2 "core" &Ӆ(  @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'? +104 "core" ' +2 "manipulator"&B& +4 "core" &Ӓ& O >O + "manipulator"&C% +4 "core" %R  +2 "collection"'D& +3 "core" & % %k\ +3 "collection"'E& +4 "core" & ' &k\ +2 .tCC.seek :closed +2 "collection"'F(\\ +4 "core" & & 'k\  +10 &\ 6| % &c\ +{ +9 &f~ & 'k\ ? +9 &l & (m\ M +10 &_Q % )c\ M +9 &!W ' (l\ M +9 &S ' (b\ M +10 &R ( (c\ L +9 &gS % 'e\ M +10 &(X ( (Z\ M +9 &R ' '\\\ M +9 & S ' ([\ L +10 &"oT ) (\\\ M +9 &$1V ( *Y\ M +9 &%S * )]\ M +10 &'S ( )b\ L +9 &)wR ) )_\ M +10 &+9V * (d\ M +9 &,R ' '^\ M +9 &.S ( (g\ M +10 &0W ( )h\ M +9 &2AQ ( )_\ M +9 &4T ' (^\ L +10 &5T ( (\\\ M +9 &7W ( *_\ M +10 &9JT ) (`\ L +9 &; T + )^\ M +9 &<W ) *c\ M +10 &>U ( '`\ L +9 &@PU + )f\ M +9 &BY - +]\ M +10 &Cc , .`\ N +9 &E{ 0 /]\ R +10 &G> 4 4d\ V +9 &H 5 5_\ Y +9 &J 7 5e\ Y +10 &Ly 4 6i\ Z +9 &N9 5 7_\ Z +9 &O 6 7g\ \\ +10 &Q 7 7h\ [\ +9 &Sz 8 7`\ \\ +10 &U: : 7g\ ] +9 &V 8 9\\\ ] +9 &X 9 :_\ _ +10 &Zz ; :e\ _ +9 &\\z < <a\ 2 +9 &\\4 : ;g\ #k +9 ( +2 &\\x < ;_\ S +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.45 + "collection"'G& +4 "core" &\\x > ;p\ S + .tHand.open +2 "manipulator"&H1 +61 "core" 1 +2 "manipulator"&I% +3 "core" % R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +92 "core" ' +484 #t-> CBV.PRV +2 .CBV.dial PRV + "collection"'K  +5 "core" +366 #t-> PTV.PRV +2 .PTV.dial PRV + "processing"%L @ +4 "core" @ +418 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%M +4 "core"  +431 #t-> CTV.air +2 .CTV.dial :air +2 "collection"'N  +3 "core"  +605 #t-> PRV.CBV +2 .PRV.dial CBV + "processing"%O  +4 "core" +788 #t-> PSR.flush +2 .PSR.select :flush +2 "processing"%j +1180 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%P +83 "core" +321 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%Q' +2641 "core" ' + "processing"%R% +4 "core" %[\  +1039 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%S +70 "core" +204 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%T'ؾ +2630 "core" ' + "processing"%U% +4 "core" %ؾY\ +436 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%V +73 "core"  +260 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%W' +2629 "core" ' +2 "processing"%X% +4 "core" %V\  +385 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%Y +73 "core" +296 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%Z'ؾ +2652 "core" ' + "processing"%[% +4 "core" %ؾR\  +345 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%\\ +72 "core"  +184 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%]' +2639 "core" ' + "processing"%^% +4 "core" %[\ +376 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%_ +73 "core" +407 #t-> PS.empty +3 .PS.seek 0ml +2 "processing"%`'ؾ +2630 "core" ' + "processing"%a% +4 "core" %T\ +328 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%b +72 "core"  +399 #t-> PSR.air +2 .PSR.select :air +2 "processing"% +668 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%c' +2632 "core" ' +2 "processing"%d% +4 "core" %G\  +1967 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%e +72 "core" +275 #t-> PS.empty +2 .PS.seek 0ml + "processing"%f'ؾ +2633 "core" ' + "processing"%g% +4 "core" %ؽF\ +432 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%h +74 "core"  +343 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%i' +2632 "core" ' +2 "processing"%j% +4 "core" %9\  +355 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%k +73 "core" +138 "Can"\ \\Y +98 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%l'ؾ +2650 "core" ' +2 "processing"%m% +4 "core" %G\  +342 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%n +70 "core"  +215 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%o' +2628 "core" ' +2 "processing"%p% +3 "core" %:\  +370 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%q +85 "core" +271 #t-> PS.empty +3 .PS.seek 0ml +2 "processing"%r'ؾ +2633 "core" ' + "processing"%s% +4 "core" %ػ>\ +356 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&t& +3 "core" &ӓ$ > >N +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&u(ӂ +33 "core" ( +2 "manipulator"&v& +3 "core" &{ [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &{ [ +2 .tForearm.seek CC +2 "manipulator"&x'? +91 "core" ' +2 .tHand.close + "manipulator"&y/ +58 "core" / +2 .tCC.seek :open +2 "collection"'z( +451 "core" ( +2 "manipulator"&{& +4 "core" &{   [ + "manipulator"&|% +3 "core" % V / +2 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&~(- +278 "core" ( + "manipulator"&& +4 "core" &- T 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +96 "core" ' +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" %  P " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +28834 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +5 #mEXIT @1633115364.74UTC @1633116499.89UTC = =mMAIN_scheduler =tMAIN @UTC1633116501.71 #"core_reset"Sent BREAK +2 #t@18998 sendCRC with ifg=0x20, ie=0x7F + #@20832 sendCRC with ifg=0x08, ie=0x5F + #@34242 idle with ifg=0x84, ie=0x75 + #@34911 select with ifg=0x10, ie=0xF5 #@35545 receive with ifg=0x10, ie=0xFD + #@36178 receive with ifg=0x10, ie=0xFD + #@36811 receive with ifg=0x10, ie=0xFD #@37138 receive with ifg=0x80, ie=0xFD + #@62744 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +284 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +380 "Can"8\ FC + 8\ FC + #tPolling Can every 10:00 +470 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %m ( *\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڃ } z `\ 4 + .tSS.configure :default +3 "sampler")#.0X startTube 2 +1134 #-> $da[:extractVol]=.2 +257 #-> access 2 +2 "storage"(3% +3 "core" % *\  +2 "manipulator"&4% +4 "core" %  s  +2 "manipulator"&5& +3 "core" &- 0 4 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(6(K +1301 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +2 "core" &K s m E\  +55405 "Can"9\ ?= +32790 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'8& +3 "core" & * -\ +2 .tHand.open + "manipulator"&91 +22 "core" 1 +2 "manipulator"&:& +4 "core" &- 4 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&;(- +2 "core" ( +2 "manipulator"&<& +3 "core" &-  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &- R 4 +2 .tForearm.seek :garage +2 "manipulator"&>'w +96 "core" ' +2 .tHand.close + "manipulator"&?/ +55 "core" / +2 "manipulator"&@& +4 "core" &- 4 + "manipulator"&A% +4 "core" % σ J +2 .tForearm.seek :retract +2 "manipulator"&B' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&C(ӂ +279 "core" ( + "manipulator"&D& +5 "core" &Ӄ* O Bg + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &Ӄ*  Bg +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&F'? +99 "core" ' + "manipulator"&G& +4 "core" &Ӆ* D Ae +2 "manipulator"&H% +4 "core" %8 D ( +2 "collection"'I& +3 "core" & , , \ +3 "collection"'J& +4 "core" & * +\ +2 .tCC.seek :closed +2 "collection"'K(\\ +4 "core" & , +\  +8 &2z ) +\ *y +10 &c~ + *\ > +9 &uo , ,\ N +9 &8Q - ,\ M +10 &R , , \ L +9 &S - -\ M +10 &~U - .\ M +9 &BR , .\ L +9 &T , -\ L +10 &R . ,\ M +9 & P / -\ M +9 &"IQ - -\ M +10 &$ R + , \ L +9 &%T + /\ M +10 &'U - .\ M +9 &)RS . .\ L +9 &+S 0 -\ M +10 &,R - .\ M +9 &.R - / \ M +9 &0YU , ,\ \ M +10 &2Q . . \ M +9 &3R - - \ M +10 &5S , ,\ M +9 &7aV . -\ M +9 &9"R * -\ M +10 &:S . /\ M +9 &<S . +\ L +9 &>hU . 1\ M +10 &@*T / .\ M +9 &AY 1 3\ N +10 &Ca 3 3\ N +9 &Edx 4 5\ Q +9 &G : 7 \ U +10 &H = =\ Y +9 &J ; =\ Z +9 &LQ < =\ Z +10 &N < ;\ Z +9 &O < >\ [ +10 &Q < <\ [ +9 &SP @ >\ ] +9 &U > <\ ] +10 &V ? =\ ^ +9 &X = A\ ^ +9 &ZT ? ?\ _ +10 &[y ? @\ A +9 &\\' @ @\ / +10 &\\{ A A\ Y +2 ( +2 "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.48 + "collection"'L& +4 "core" &\\x A B\ Y +2 .tHand.open + "manipulator"&M1 +54 "core" 1 +2 "manipulator"&N% +4 "core" % 8 M ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +91 "core" ' +2 #tPurging external Intake + "collection"'P& +4 "core" &\\x A B\ Y +2 "collection"'Q% +4 "core" %m A @\ + .tCSV.dial :flush +38 "collection"'R  +49 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml +2 "collection"'S' +2480 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV + "collection"'T +2 'U  +70 "core"  +3 ~ +2 .tCTV.dial :intake + "collection"'V  +74 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'W'i +2375 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'X  +74 "core"  + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&Y& +4 "core" &ӆ( e Ad +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +2 "core" ( +2 "manipulator"&[& +4 "core" &ӆ(  Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +2 "core" &ӆ( Ad +2 .tForearm.seek CC +2 "manipulator"&]'? +92 "core" ' + .tHand.close +2 "manipulator"&^/ +62 "core" / +2 .tCC.seek :open +2 "collection"'_( +450 "core" ( +2 "manipulator"&`& +4 "core" &ӈ) x Ab + "manipulator"&a% +4 "core" % :  0 +2 .tForearm.seek :retract +2 "manipulator"&b' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&c(- +284 "core" ( + "manipulator"&d& +5 "core" &- y ^ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" &-  ^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&f'w +89 "core" ' +2 .tHand.open +2 "manipulator"&g1 +54 "core" 1 +2 "manipulator"&h% +4 "core" % u L l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +89 "core" ' +2467 #t-> da 50 +2 #da sampling at most 50ml +5 ."Qmail"DAfans.email "Started da in tube 2 at 19:45:45UTC01-Oct-21\\n{}\\nCTD data unavailable\\nCan@19:38:28, 16% flow, 22.3C, 36% humidity, 15.0psia, 13.603V, 0.302A, 0.290A avg, 4.11W",Subject: "da sampling at most 50ml" +3 #tLoading sh1 puck from tube 2 into Collection Clamp +4 "collection"'j& +3 "core" & . -\ +2 "manipulator"&k% +5 "core" %  J  + "storage"(l% +5 "core" % \  + "storage"(m. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(n(  +1301 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +3 (o& +5 "core" &  s Y >\ +4 "manipulator"&p& +9 "core" &- X ^ +3 "manipulator"&q% +8 "core" %   +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +4 "manipulator"&r( +178 "core" ( +3 "manipulator"&s& +10 "core" & " +2 "storage"(t& +8 "core" &  x x l\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 450 counts +4 "manipulator"&u'S +94 "core" ' +4 "storage"(v& +8 "core" &  ^\ +4 .tSE.reconfigure :pick +6 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(w'r +28 "core" ' i c\ H +8 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi|: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressii :deltaPressic : voltagef13.084962199312715: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3 #Retry #1 of 4 +5 .SE.reconfigure :default +3 "storage"(#K-0-\ b +8 .tSE.home.seek :down +2 "storage"(x' +21 "core" ' L $\ P +5 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi}: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressiL :deltaPressi$ : voltagef13.124235640648012)a: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3 #Retry #2 of 4 +4 .SE.reconfigure :default +3 "storage"(#K-0-\ b +5 .tSE.home.seek :down +5 "storage"(y' +26 "core" ' W \ P +6 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi~: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti :pwmi:erri: inPressi : outPressiW :deltaPressi : voltagef13.124235640648012)a: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Retry #3 of 4 +5 .SE.reconfigure :default +4 "storage"(#K-0-\ b +4 .tSE.home.seek :down +4 "storage"(z' +22 "core" '\ W K\ P +6 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti\ :pwmi:erri: inPressi : outPressiW :deltaPressiK : voltagef13.124235640648012)a: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3 #Retry #4 of 4 +4 .SE.reconfigure :default +3 "storage"(#K-0-\ b +4 .tSE.home.seek :down +4 "storage"({' +23 "core" '\ W \ O +8 .tSE.reconfigure :default +6 "storage"(#QK-0-\ b +4 .tSE.seek :down +10 "storage"(|' +28 "core" ' +4 .tSE.stop +2 "storage"(5 +6 "manipulator"&}% +9 "core" %T +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +4 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi{: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti\ :pwmi:erri: inPressi : outPressiW :deltaPressi : voltagef13.1193264604811: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4221 #-> da 50 +10 #da sampling at most 50ml +6 #Loading sh1 puck from tube 2 into Collection Clamp +6 ."Qmail"DAfans.email "Started da in tube 2 at 19:46:49UTC01-Oct-21\\n{}\\nCTD data unavailable\\nCan@19:38:28, 16% flow, 22.3C, 36% humidity, 15.0psia, 13.603V, 0.302A, 0.290A avg, 4.11W",Subject: "da sampling at most 50ml" +10 "collection"'& +6 "core" & - -\ +7 "manipulator"&% +12 "core" %    +4 "storage"(% +11 "core" % o\  +2 "storage"(. +10 "core" .(  +4 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +8 .tSC.seek 2 +4 "storage"((  +9 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +5 (& +5 "core" &  | \ \ +4 "manipulator"&& +8 "core" &  " +7 .tElbow.seek 2 +10 "manipulator"&\ ( +10 "core" ( +5 "manipulator"& & +8 "core" & K " +4 "storage"(& +12 "core" &  7\ +12 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +100 "core" ' +3 "storage"(& +9 "core" &  \ +4 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"('r +28 "core" ' ? /\ N +5 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.65 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi? : outPressi :deltaPressi/ : voltagef13.114417280314187: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3 #Retry #1 of 4 +4 .SE.reconfigure :default +4 "storage"(#K-0-\ b +4 .tSE.home.seek :down +4 "storage"(' +23 "core" ' V B\ Q +6 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti :pwmi:erri: inPressiV : outPressi :deltaPressiB : voltagef13.129144820814924: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Retry #2 of 4 +5 .SE.reconfigure :default +4 "storage"(#K-0-\ b +4 .tSE.home.seek :down +4 "storage"(' +22 "core" ' P '\ Q +6 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti :pwmi:erri: inPressi : outPressiP :deltaPressi' : voltagef13.129144820814924: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3 #Retry #3 of 4 +4 .SE.reconfigure :default +3 "storage"(#K-0-\ b +4 .tSE.home.seek :down +4 "storage"(' +23 "core" ' M T\ R +5 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti :pwmi:erri: inPressiM : outPressi :deltaPressiT : voltagef13.134054000981836:: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #4 of 4 +5 .SE.reconfigure :default +4 "storage"(#K-0-\ b +6 .tSE.home.seek :down + "storage"(' +29 "core" ' Y O\ Q +8 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek :down +4 "storage"(' +27 "core" ' +3 .tSE.stop +2 "storage"(5 +6 "manipulator"&% +8 "core" %U 9 +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&' +102 "core" ' +5 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti :pwmi:erri: inPressi : outPressiY :deltaPressiO : voltagef13.129144820814924: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +471 #-> access 2 +5 "storage"(% +6 "core" %  ,\  +3 "manipulator"&% +8 "core" %  {  +3 "manipulator"&& +10 "core" &  " +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 6 +4 "storage"((K +1298 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +4 ( & +7 "core" &K s Y \ +2000 #"uploadLog"upsync +1130 #t-> da 50 +2 #da sampling at most 50ml +4 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 19:47:46UTC01-Oct-21\\n{}\\nCTD data unavailable\\nCan@19:38:28, 16% flow, 22.3C, 36% humidity, 15.0psia, 13.603V, 0.302A, 0.290A avg, 4.11W",Subject: "da sampling at most 50ml" +3 "collection"'!& +3 "core" & * ,\ +2 "manipulator"&"% +55 "core" %  W  + "storage"(#% +4 "core" % \  + "storage"($. +3 "core" .(K +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(%(  +1301 "core" ( +4 .tSC.configure :limp +5 "storage"($\ 1b +5 (&& +9 "core" &  x Y\ +4 "manipulator"&'& +10 "core" & " +4 .tElbow.seek 2 +4 "manipulator"&(( +7 "core" ( +3 "manipulator"&)& +9 "core" & _ " +3 "storage"(*& +8 "core" &  v { `\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 450 counts +4 "manipulator"&+'S +99 "core" ' +4 "storage"(,& +8 "core" &  f\ +4 .tSE.reconfigure :pick +5 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(-'r +30 "core" ' O !\ M +9 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi2: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressiO : outPressi :deltaPressi! : voltagef13.109508100147275-: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Retry #1 of 4 +7 .SE.reconfigure :default +4 "storage"(#K-0-\ b +4 .tSE.home.seek :down +4 "storage"(.' +22 "core" '\ a\ P +6 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi3: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti\ :pwmi:erri: inPressi : outPressia :deltaPressi: voltagef13.124235640648012)a: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Retry #2 of 4 +5 .SE.reconfigure :default +4 "storage"(#K-0-\ b +4 .tSE.home.seek :down +4 "storage"(/' +22 "core" '\ S R\ P +5 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi4: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti\ :pwmi:erri: inPressi : outPressiS :deltaPressiR : voltagef13.124235640648012)a: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3 #Retry #3 of 4 +10 .SE.reconfigure :default +3 "storage"(#K-0-\ b +5 .tSE.home.seek :down +2 "storage"(0' +22 "core" ' W \ P +9 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi5: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti :pwmi:erri: inPressi : outPressiW :deltaPressi : voltagef13.124235640648012)a: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Retry #4 of 4 +5 .SE.reconfigure :default +4 "storage"(#K-0-\ b +4 .tSE.home.seek :down +4 "storage"(1' +22 "core" ' S \ P +8 .tSE.reconfigure :default +5 "storage"(#QK-0-\ b +4 .tSE.seek :down +4 "storage"(2' +28 "core" ' +4 .tSE.stop +3 "storage"(5 +4 "manipulator"&3% +10 "core" %O & +6 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&4' +90 "core" ' +4 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi6: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti :pwmi:erri: inPressi : outPressiS :deltaPressi : voltagef13.124235640648012)a: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +857 #-> exit +1049 #"uploadLog"upsync\ rsync error: received SIGINT, SIGTERM, or SIGHUP (code 20) at rsync.c(642) [sender=3.1.3]\ rsync: [sender] write error: Broken pipe (32) +6 #mEXIT @1633117705.82UTC @1633117773.49UTC = =mMAIN_scheduler =tMAIN @UTC1633117775.27 #"core_reset"Sent BREAK +2 #t@51382 sendCRC with ifg=0x20, ie=0x7F + #@53217 sendCRC with ifg=0x08, ie=0x5F + #@51082 idle with ifg=0x84, ie=0x75 #@51752 select with ifg=0x10, ie=0xF5 + #@52386 receive with ifg=0x10, ie=0xFD + #@53019 receive with ifg=0x10, ie=0xFD #@53652 receive with ifg=0x10, ie=0xFD + #@53979 receive with ifg=0x80, ie=0xFD #@13374 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can"E\ A? + E\ A? + #tPolling Can every 10:00 +1010 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" %j - +\ + .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڃ  | i\ 4 +2 .tSS.configure :default +2 "sampler")#.0X startTube 5 +1324 #-> $da[:extractVol]=.2 +1053 #-> da 50 +2 #da sampling at most 50ml +4 #Loading sh1 puck from tube 5 into Collection Clamp +3 ."Qmail"DAfans.email "Started da in tube 5 at 19:50:27UTC01-Oct-21\\n{}\\nCTD data unavailable\\nCan@19:49:41, 16% flow, 22.3C, 37% humidity, 15.0psia, 13.588V, 0.315A, 0.302A avg, 4.27W",Subject: "da sampling at most 50ml" + "collection"'3& +6 "core" & , /\ +2 .tHand.open + "manipulator"&41 +23 "core" 1 + "manipulator"&5% +4 "core" %  #  +2 "storage"(6% +3 "core" % X\ +2 "storage"(7. +6 "core" .,  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(8(<- +520 .tSC.hold +2 "storage"(9, +5 "core" (&  # 5\ ! +26 , +2 .tSC.stop +2 "storage"(6 +4 .tSE.seek :down +2 #"uploadLog"upsync\ rsync error: received SIGINT, SIGTERM, or SIGHUP (code 20) at rsync.c(642) [sender=3.1.3]\ rsync: [sender] write error: Broken pipe (32) +2 "storage"(:' +10 "core" ' +2 .tSE.stop + "storage"(5 +2 "manipulator"&;% +4 "core" %  =  +2 !to:IRB::Abort: mesg"(Storage Carousel seek to 5 Aborted!:@checkpoint: omitted:bt["7/home/esp/esp2/lib/slide.rb:334:in `unlimitedSeek'"//home/esp/esp2/lib/slide.rb:324:in `times'"7/home/esp/esp2/lib/slide.rb:324:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"1/home/esp/esp2/utils/storage.rb:139:in `to!'":/home/esp/esp2/utils/puckmoves.rb:243:in `selectTube'"4/home/esp/esp2/utils/puckmoves.rb:361:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +469 #-> access 2 +2 "storage"(<% +4 "core" % \ + "manipulator"&=% +4 "core" %   +2 "manipulator"&>& +3 "core" & " +2 .tSC.seek 6 + "storage"(?(K +778 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +2 "core" &K { \\\ +666 #t-> access 5 +7 "storage"(A% +3 "core" % M\ +2 "manipulator"&B% +4 "core" %   +2 "manipulator"&C& +4 "core" & ! " + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(D(  +1321 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (E& +2 "core" & | !\ +1753 #t-> da 50 +2 #da sampling at most 50ml +3 ."Qmail"DAfans.email "Started da in tube 5 at 19:51:24UTC01-Oct-21\\n{}\\nCTD data unavailable\\nCan@19:49:41, 16% flow, 22.3C, 37% humidity, 15.0psia, 13.588V, 0.315A, 0.302A avg, 4.27W",Subject: "da sampling at most 50ml" +3 #tLoading sh1 puck from tube 5 into Collection Clamp +3 "collection"'F& +4 "core" & / /\ + "manipulator"&G% +5 "core" %   +2 "storage"(H% +3 "core" % A\ +2 "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(J(<- +987 "core" ( +4 .tSC.configure :limp +5 "storage"($\ 1b +5 (K& +9 "core" &<* x s H\  +3 "manipulator"&L& +8 "core" & Z ! +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek 5 +2 "manipulator"&M( +5 "core" ( +3 "manipulator"&N& +14 "core" & O ! +4 "storage"(O& +9 "core" &<* { +\  +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +97 "core" ' +4 "storage"(Q& +8 "core" &<* V\  +4 .tSE.reconfigure :pick +6 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(R'r +299 "core" ' +4 "storage"(S- +8 "core" -' +11 .tSE.configure :default +5 "storage"(#QK-0-\ b +7 (T& +9 "core" &<* n\  +5 "manipulator"&U& +8 "core" & H ! +3 .tElbow.seek 5 +4 "manipulator"&V( +6 "core" ( +3 "manipulator"&W& +11 "core" & R ! +2 "storage"(X& +8 "core" &<* \  +4 .tForearm.seek 5 + 300 counts +4 "manipulator"&Y'Ϲ +18 "core" ' +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tHand.close +4 "manipulator"&Z/ +56 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&[& +3 "storage"(\\' +14 "core" & P ! +4 "manipulator"&]% +8 "core" % ϴ < +4 .tForearm.seek :retract + "manipulator"&^' +99 "core" ' +3 .tElbow.seek CC +4 "manipulator"&_(ӂ +123 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +31 "core" ( +2 "manipulator"&`& +9 "core" &Ӆ) A_ +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &a& +6 "core" &ӆ(  @^ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&b'? +102 "core" ' +4 "manipulator"&c& +8 "core" &ӆ( V @^ +2 "manipulator"&d% +7 "core" %A  # +4 "collection"'e& +8 "core" & , .\ +4 "collection"'f& +11 "core" & + .\ +3 & / .\ +3 .tCC.seek :closed +14 "collection"'g(\\ +11 "core" & / .\ +3 & / /\ +2 & , -\ 4 +6 &:Iu - .\ 0 +7 &fr} . .\ D +8 &\ ] / .\ M +11 &R / 0\ M +9 &Q , /\ M +8 &SR . /\ L +10 &S 0 /\ M +10 &U / ,\ M +8 &R . .\ L +11 &ZS - 1\ M +15 &!U / .\ M +9 &"U , /\ M +6 &$Q 0 /\ M +6 &&cR , .\ L +10 &(%S . /\ L +12 &)S 0 /\ M +7 &+T . / \ M +10 &-iU 1 0\ M +8 &/-R . 0 \ L +9 &0R / 1 \ M +11 &2U 0 /\ M +8 &4rQ / / \ M +10 &64R / . \ M +15 &7V 0 .\ M +5 &9R 1 0\ L +9 &;zR / 0 \ M +8 &==S 0 1\ L +10 &>T 0 0\ M +10 &@T 0 0\ M +8 &BY 3 3 \ N +11 &D?` 4 6\ N +9 &Eq 0 9 \ Q +8 &G 6 5 \ S +11 &Im 9 :\ W +8 &K) < :\ Y +17 &L : :\ Z +4 &N < : \ Y +7 &Pi 9 ; \ [ +10 &R, 9 : \ Z +10 &S : ;\ \\ +8 &U ; ;\ [ +11 &Wk 8 ;\ ] +8 &Y* : ;\ ^ +9 &Z ; ;\ ^ +11 &\\V\\ 8 =\ - +8 &\\% : < \ ] +9 ( +6 "collection"'f& +13 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.22 +5 .Hand.open +2 "manipulator"&h1 +6 "core" &\\n ; ;\ T +2 &\\p : :\ T +54 1 +3 "manipulator"&i% +9 "core" % A # +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +10 .tForearm.seek :retract +4 "manipulator"&j' +92 "core" ' +6 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml +4 .Intake.select :close +2 .Exhaust.select :close +4 .SS.hold + "sampler")k+ +7 "core" + +3 "sampler")l% +10 "core" %ڃ } Z\ 4 +2 "collection"'m& +8 "core" &\\p ; 9 \ T +5 "Can"G\ [X +4 #tCalibrating pressure and temperature sensors +6 .CTV.dial :air +3 "collection"'n  +7 "core"  +4 .tSSV.dial :spit,avoiding: :exhaust + "sampler")o +6 "core"  +3 "sampler")p  +6 "core" +4 .tSS.reconfigure :fast +6 "sampler")#.0X +18 "collection"'+% +3 "core" %j\ +2 "sampler"),% +3 "core" % i\ > +22 "collection"'-% +2 "core" %j\ +2 "sampler").% +4 "core" % ^\ > +24 "collection"'/% +3 "core" %j\ +2 "sampler")0% +3 "core" % j\ > +28 "collection"'1% +4 "core" %j\ + "sampler")2% +4 "core" % Z\ > +32 "collection"'3% +3 "core" %j\ + "sampler")4% +4 "core" % ^\ > +36 "collection"'5% +4 "core" %j\ +2 "sampler")6% +3 "core" % i\ > +42 "collection"'7% +3 "core" %j \ + "sampler")% +5 "core" % g\ > +46 "collection"';% +4 "core" %j \ + "sampler")8% +4 "core" %   [\ > +54 "collection"'9% +3 "core" %j C B\ + "sampler"):% +4 "core" % h h ]\ > + "sampler")<% +4 "core" % m l h\ > + .tIntake.select :close +2 "sampler")0 +8 )=% +3 "core" % w w k\ > + .tSSV.dial :exhaust +2 "sampler")>  +73 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")@'ڀ +870 "core" ' + .tExhaust.select :close +2 "sampler") +56 #tSampled 50.0ml +4 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) + .Intake.select :close +2 "collection"'A& +2 "core" &\\m > >\ T +3 ."airStroke"CSV.dial :waste +2 "sampler")B% +2 "collection"'C +6 "core" %ڃ { z Z\  +2 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +2 "sampler")?  +31 "core" +2 ."airStroke"CS.reconfigure :fast +3 "collection"'#d @b +2 ."airStroke"CS.seek 0ml +2 "collection"'E'i +2 "core" ' +2 ."airStroke"CSV.dial :air +2 "collection"'F @ +80 "core" > +2 ."airStroke"CS.seek 10ml +2 "collection"'G' +54 "core"  + .tCTV.dial :air +2 "collection"'H  +77 "core"  +2 .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust + "sampler")I +129 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.seek 0ml +2 "collection"'D  +2 "sampler")K'ڀ +6 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")L  +122 "core"  +9  +568 ' +2 "sampler")N% +4 "core" %ڃ Z\  + .tCBV.dial between SSV and waste2 +2 "collection"'O  +30 "core"  +2 "collection"'Q% +4 "core" % D D\  +2 ."connect"CTV.dial CSV,avoiding: :air +4 .tCSV.dial CTV +2 "collection"'  +44 "core"  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< 6b +3 .tCS.seek 0ml + "collection"''i +1805 "core" '5 : 8\ +3 "collection"'S% +5 "core" %5 : :\  + "sampler")T% +4 "core" %ڃ a\  + #tBubblePoint: Intake @39.5psia, Outlet @15.5psia +2 .CBV.dial SSV + "collection"'U @ +29 "core" A +2 .tSS.reconfigure :default +3 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"'Y'i +86 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")V +128 "core" +2 .tSS.reconfigure :exhale +2 "sampler")#.0X9 +3 "core" 9iR +102 "collection"'(9 +3 "core" 9mN +102 "collection"'A9 +2 "core" 9GqJ +102 "collection"'B9 +3 "core" 9pvF +102 "collection"'C9 +3 "core" 9zC +102 "collection"'F9 +2 "core" 9~@ +102 "collection"'?9 +2 "core" 9< +102 "collection"'H9 +3 "core" 9: +102 "collection"'9 +3 "core" 936 +102 "collection"'E9 +3 "core" 9Y4 +102 "collection"'I9 +2 "core" 9|2 +102 "collection"'D9 +2 "core" 9/ +103 "collection"'L9 +2 "core" 9. +102 "collection"'@9 +3 "core" 9, +102 "collection"'N9 +2 "core" 9* +102 "collection"'O9 +3 "core" 9( +102 "collection"'Q9 +2 "core" 97& +103 "collection"'9 +2 "core" 9Q% +102 "collection"'G9 +3 "core" 9j$ +102 "collection"'S9 +2 "core" 9" +103 "collection"'T9 +2 "core" 9" +141 "collection"'U9 +14 "core" 9 +102 "collection"'K9 +2 "core" 9 +103 "collection"'X9 +2 "core" 9 +102 "collection"'Z9 +2 "core" 9 +102 "collection"'[9 +3 "core" 9  +102 "collection"'W9 +2 "core" 9  +102 "collection"']9 +3 "core" 9  +102 "collection"'P9 +3 "core" 9 , +102 "collection"'R9 +3 "core" 9 ; +102 "collection"'a9 +2 "core" 9 G +103 "collection"'M9 +2 "core" 9 S +102 "collection"'V9 +2 "core" 9 ^ +103 "collection"'9 +2 "core" 9 i +103 "collection"'`9 +2 "core" 9 t +102 "collection"'c9 +3 "core" 9 } +102 "collection"'Y9 +3 "core" 9  +102 "collection"'e9 +2 "core" 9  +102 "collection"'\\9 +3 "core" 9 \  +102 "collection"'d9 +3 "core" 9  +102 "collection"' 9 +2 "core" 9  +103 "collection"'h9 +2 "core" 9  +102 "collection"'i9 +3 "core" 9  +102 "collection"'f9 +3 "core" 9  +102 "collection"'m9 +2 "core" 9 # +102 "collection"'^9 +3 "core" 9 ' +102 "collection"'l9 +2 "core" 9 , +102 "collection"'o9 +2 "core" 9 0 +103 "collection"'p9 +2 "core" 9 4 +103 "collection"' 9 +2 "core" 9 8 +102 "collection"'k9 +2 "core" 9 < +102 "collection"'s9 +3 "core" 9 A +102 "collection"'r9 +3 "core" 9 E +102 "collection"'t9 +2 "core" 9 I +103 "collection"'n9 +2 "core" 9 M +102 "collection"'v9 +2 "core" 9 Q +102 "collection"'q9 +3 "core" 9 U +102 "collection"'x9 +2 "core" 9 Z +102 "collection"'b9 +3 "core" 9\ ^ +102 "collection"'z9 +3 "core" 9\ b +102 "collection"'w9 +2 "core" 9\ f +102 "collection"'}9 +2 "core" 9\ j +49 "Can"(\ )' +54 "collection"'y9 +2 "core" 9\ o +102 "collection"'~9 +2 "core" 9\ s +102 "collection"'9 +3 "core" 9\ w +102 "collection"'9 +2 "core" 9\ { +102 "collection"'|9 +3 "core" 9\ # +102 "collection"'9 +2 "core" 9\ ' +102 "collection"'9 +3 "core" 9\ *\  +102 "collection"'u9 +3 "core" 9\ /  +102 "collection"'{9 +3 "core" 9\ 3  +102 "collection"'9 +2 "core" 9\ 7  +102 "collection"'\ 9 +2 "core" 9\ ;  +103 "collection"' 9 +2 "core" 9\ >  +103 "collection"'9 +2 "core" 9\ B +102 "collection"'9 +2 "core" 9\ G +102 "collection"'9 +3 "core" 9\ J +102 "collection"'9 +3 "core" 9\ N +102 "collection"'9 +3 "core" 9\ Q +102 "collection"'9 +2 "core" 9\ T +102 "collection"'9 +3 "core" 9\ X +102 "collection"'9 +3 "core" 9\ \\ +102 "collection"'9 +2 "core" 9\ _ +102 "collection"'9 +2 "core" 9\ b +103 "collection"'9 +2 "core" 9\ e +102 "collection"'9 +2 "core" 9\ h +103 "collection"'9 +2 "core" 9\ l +102 "collection"'9 +3 "core" 9\ n +102 "collection"'9 +3 "core" 9\ r +102 "collection"'9 +3 "core" 9\ t +102 "collection"'!9 +2 "core" 9\ x +102 "collection"' 9 +2 "core" 9\ { +103 "collection"'#9 +2 "core" 9\ ~ +3 .tCH.hold 10:00,70C +2 "collection"' `\ `\ {  +2 '&9 +6 "core"  + 9\ } + "collection"'$% +4 "core" %^ \ + #tBegun lysing Collection Puck Heater at 68C/45.1psia +56787 "Can"C\  +3204 "core" ` + "collection"')9 +4 "core" 9\  + "collection"'*% +4 "core" %^ \ + #tEnded lysing Collection Puck Heater at 70C/43.8psia +2 .CS.seek 0ml +2 "collection"'+'i +333 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"', @ +102 "core" B +2 .tCSV.dial :air +2 "collection"'- @ +41 "core" > +2 .tCS.seek 5ml +2 "collection"'.'s5 +1370 "core" ' + .tCSV.dial CTV +2 "collection"'/  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'0 @ +42 "core" > +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'1  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'2 @ +41 "core" ? + .tdelay 2 seconds +203 .CS.seek 0ml + "collection"'3'i +1359 "core" ' + "collection"'4% +4 "core" %c \ + #tPuck @70.8psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'5 +98 "core"  +2 .tCBV.dial CSV + "collection"'6  +28 "core"  +2 "collection"'7% +4 "core" %c 6 6\ +2 .tCS.seek 4.999ml +2 "collection"''s/ +1375 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +3 "collection"''  +42 "core" +2 "collection"';% +4 "core" %s0   \ +2 .tCS.seek 6.999ml + "collection"'8' +593 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"'9 @ +39 "core" @ +2 .tCS.seek 10ml +2 "collection"':' +857 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'< ` +113 "core" ^ +2 #tLysing Complete + "collection"'=& +4 "core" &\\k \ T +2 #tStoring sh1 puck in Collection Clamp to tube 4 + "manipulator"&>% +4 "core" %  B  + "storage"((% +4 "core" % !  7\  + "storage"(A. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(B(,y +354 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (C& +2 "core" &,|  # 6\ +2 "manipulator"&F& +3 "core" &ӈ&  @\\ +2 "manipulator"&?% +3 "core" %  i  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&H( +163 "core" ( +2 "manipulator"&& +4 "core" & - + "storage"(E& +4 "core" &,| V V \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +100 "core" ' + "storage"(D& +5 "core" &,| U S J\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'r +275 "core" ' + "storage"(@- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(N'1 +40 "core" ' +2 "manipulator"&O& +4 "core" &  +2 "manipulator"&Q% +3 "core" % 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&G(ӂ +158 "core" ( +2 "manipulator"&S& +4 "core" &ӏ" 0 <9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &ӏ"  <9 +2 .tForearm.seek CC + "manipulator"&U'? +90 "core" ' + .tHand.close +2 "manipulator"&K/ +59 "core" / +2 .tCC.seek :open +2 "collection"'X( +447 "core" ( + "storage"(Z& +4 "core" &,f E\ \ +2 "storage"([& +3 "core" &,f :\ \ +2 "manipulator"&W& +3 "core" &ӑ" \ ;7 +2 "manipulator"&]% +3 "core" % L ; H +2 .tForearm.seek :retract +2 "manipulator"&P' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&R( +164 "core" ( + "manipulator"&a& +4 "core" & 8  +2 "storage"(M& +3 "core" &,f [\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&V'7 +93 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&`1 +62 "core" 1 +2 "manipulator"&c% +5 "core" % E 5 O + "storage"(Y& +3 "core" &,f U\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&e'q +14 "core" ' +2 "manipulator"&\\& +4 "core" & k  + "storage"(d& +4 "core" &,f \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +18 "core" ' +2 "storage"(h% +4 "core" %9 *\ +2 ."downElevator"SE.seek :down +4 "storage"(i' +98 (f% +2 "core" %O; U\ U^ +2 "manipulator"&m% +4 "core" % ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +90 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'l& +4 "core" &  \ + "manipulator"&o& +4 "core" & Z  +2 "manipulator"&p% +4 "core" %  #  +2 .tElbow.seek FlushPuck::Garage + "manipulator"& (- +172 "core" ( +2 "manipulator"&k& +4 "core" &- ! : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +2 "core" &- ) : +2 .tForearm.seek :garage +2 "manipulator"&r'w +93 "core" ' + .tHand.close +2 "manipulator"&t/ +53 "core" / + "manipulator"&n& +5 "core" &- T : + "manipulator"&v% +4 "core" % υ + $ +2 .tForearm.seek :retract + "manipulator"&q' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +284 "core" ( +2 "manipulator"&b& +4 "core" &ӑ% / ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +2 "core" &ӑ%  ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&w'? +102 "core" ' + "manipulator"&}& +4 "core" &ӑ& ( ?T +2 "manipulator"&y% +4 "core" %J  + "collection"'~& +4 "core" & \ \ +2 "collection"'& +5 "core" &  S\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ ;\ +8 &A \ \ \ %g +9 &Ys  \ \ 7 +10 &t \ K +9 &R \ K +9 &Q \ K +10 &LU \ K +9 & S f\ K +9 &T  V\ L +10 &S \ K +9 &ST  \ c\ K +9 & O  e\ K +10 &!R R\ K +9 &#U  \ 4\ K +10 &%[S \ K +9 &'U \ K +9 &(T  \ K +10 &*U  \ K +9 &,cT \ K +10 &.&Q \ K +9 &/S \ \ K +9 &1U \ \ K +10 &3kT  }\ K +9 &5.Q  \ q\ K +9 &6T \ [\ L +10 &8T \ Q\ K +9 &:sQ @\ K +9 &<5Q '\ K +10 &=U \ K +9 &?Q \ K +10 &AyY  \ L +9 &C:] d\ L +9 &Dw \ .\ P +10 &F  \  \ T +9 &H^ \ X +10 &J \ Y +9 &K \ \ \ Y +9 &M \ Y +10 &O` \ Z +9 &Q!  \ {\ Z +9 &R  \ \ [\ +10 &T  \ [ +9 &V_  \ ] +10 &X  \ ^ +9 &Y  \ _ +9 &[  \ \ L +10 &\\:  q\ 0 +9 &\\q  i\ W +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 +2 "collection"'|& +3 "core" &\\s y\ W +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % J ? +47 .tForearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' + .tPSV.dial PSR +2 "processing"%{ +71 "core"  +2 "processing"%% +4 "core" %ػN\ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +9 .tPS.seek 1.5ml +2 "processing"%\ '+ +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +43 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1614 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"% +2 "collection"'  +6 "core"  + "processing"%  +5 "core" +60 + .tPSV.dial :mixloop +2 "processing"% +99 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"% +44 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2634 "core" ' + .tPSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%!'ؾ +2637 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"& & +4 "core" &Ӓ% # ?S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&#(ӂ +35 "core" ( +2 "manipulator"&&& +4 "core" &ӊ E I + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &ӊ I +2 .tForearm.seek CC +2 "manipulator"&%'? +91 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"')( +447 "core" ( + "manipulator"&*& +4 "core" &ӊ Y I +2 "manipulator"&"% +3 "core" % L  +2 .tForearm.seek :retract +2 "manipulator"&,' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&-(- +283 "core" ( + "manipulator"&+& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &-   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&0'w +101 "core" ' +2 .tHand.open +2 "manipulator"&11 +62 "core" 1 + "manipulator"&2% +5 "core" % { D + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.' +93 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 5 into Collection Clamp + "collection"'4& +4 "core" &  b\ +2 "manipulator"&5% +3 "core" %    +2 "storage"(6% +4 "core" % \  + "storage"(7. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(3(<- +354 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +2 "core" &<-" v \  +2 "manipulator"&;& +3 "core" &-  +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&9( +176 "core" ( + "manipulator"&8& +4 "core" & * " +2 "storage"(<& +3 "core" &<- \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&='O +92 "core" ' + "storage"(>& +4 "core" &<- l\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(('r +306 "core" ' + "storage"(A- +4 "core" -'! + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" &<- 3\  +2 "manipulator"&C& +3 "core" & . " +2 .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( + "manipulator"&?& +4 "core" & w " + "storage"(& +4 "core" &<- B\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +3 "storage"(j' +6 "core" & . " +2 "manipulator"&@% +4 "core" % Ϻ J +2 .tForearm.seek :retract + "manipulator"&O' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&Q(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&L& +4 "core" &ӡ  $ :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +2 "core" &ӡ  ^ :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'? +91 "core" ' +2 "manipulator"&I& +5 "core" &ӡ  6 :/ + "manipulator"&H% +4 "core" %=  v +2 "collection"'K& +4 "core" &  \ +2 "collection"'& +4 "core" &  \ +2 .tCC.seek :closed +2 "collection"'g(\\ +4 "core" &  \  +9 &5{  r\ +| +9 & g|  g\ ? +9 &k  I\ L +10 &]T  6\ K +9 &S  \ K +9 &Q   \ K +10 &S  M\ K +9 &eR  O\ K +10 &'U  \ K +9 &P  \ K +9 & S  \ K +10 &"nT  \ K +9 &$0T  \ K +9 &%T  \ K +10 &'T  \ K +9 &)tT  u\ L +10 &+8T  f\ K +9 &,T  _\ K +9 &.T  L\ L +10 &0~T  7\ K +9 &2@T  '\ K +9 &4T  \ K +10 &5V  \ K +9 &7T  \ K +10 &9HW  \ K +9 &; T  G\ K +9 &<W  K\ K +10 &>V  B\ K +9 &@OR  6\ K +9 &BT \ /\ K +10 &C[ \ L +9 &Ef  \ M +10 &GKx  \ O +9 &I (\ S +9 &J I\ W +10 &Lw  [\ X +9 &N8  [\ Y +9 &O  M\ Y +10 &Q  I\ Y +9 &Sx  \ [ +10 &U:  \ [ +9 &V  \ \\ +9 &X  \ \\ +10 &Z{  \ \\ +9 &\\y  \ 3 +9 &\\*  \ ] +9 ( +2 &\\h  \ S +2 "collection"'& +8 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&Z1 +59 "core" 1 +2 "manipulator"&[% +4 "core" % = 8 v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&W' +88 "core" ' +2 .tCTV.dial CSV,avoiding: :intake + "collection"']  +133 "core"  +2 .tCSV.dial CTV +2 "collection"'a  +29 "core"  +2 .tPS.seek 2.5ml +2 "processing"%M' +2626 "core" ' +2 "collection"'U% +4 "core" %  0\  +2 .tCS.seek 4.501ml +2 "collection"'G'cA +1490 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%`  +44 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%c  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%Y'ؾ +2650 "core" ' +2 .tCBV.dial between PRV and waste1 +2 "collection"'\\ ` +29 "core" ^ + .tCSV.dial :air +2 "collection"'d @ +54 "core" B +3 .tCS.seek 10ml + "collection"'h' +1503 "core" ' + .tCSV.dial CTV +2 "collection"'P  +40 "core"  +3 .tCS.seek 0ml + "collection"'f'i +2659 "core" ' + .tCBV.dial :waste1 +2 "collection"'m @ +25 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'R  +132 "core" + "collection"'V& +4 "core" &\\g  \ S +2 #tStoring lyfil puck in Collection Clamp to tube 4 + "manipulator"&l% +4 "core" %  o  + "storage"(e% +4 "core" % R G \  + "storage"(o. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(p(,y +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +2 "core" &,| % % =\ +2 "manipulator"& & +3 "core" &ӡ  :/ +2 "manipulator"&k% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&s( +165 "core" ( + "manipulator"&i& +4 "core" & C  +2 "storage"(& +3 "core" &,| y y `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&t' +91 "core" ' + "storage"(n& +5 "core" &,| \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(v'r +300 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&r& +3 "core" & D  + "storage"(b& +4 "core" &,h Q E C\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&z'7 +19 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(}- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(y'z +29 "core" ' +2 "manipulator"&~% +4 "core" %K k  + "storage"(q& +4 "core" &,h V V\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&X'w +14 "core" ' + "manipulator"&|& +4 "core" &  +2 "storage"(& +4 "core" &,h R S \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +46 "core" ' +2 "manipulator"&{& +4 "core" & B  + "manipulator"&% +4 "core" % r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +162 "core" ( +2 "manipulator"& & +4 "core" &ӕ J 8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &ӕ 7 8 +2 .tForearm.seek CC + "manipulator"&'? +90 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(& +4 "core" &,h )\  +2 "storage"(& +3 "core" &,h %\  +2 "manipulator"&& +3 "core" &ӗ 7 +57 "manipulator"&% +3 "core" % L ) O +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +162 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &,h \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" % = 3 < +2 "storage"(& +3 "core" &,h 0\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"& 'i +13 "core" ' +2 "manipulator"&&& +4 "core" & '  + "storage"($& +4 "core" &,h e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +15 "core" ' +2 "storage"(x% +4 "core" % P\ +3 ."downElevator"SE.seek :down +3 "storage"(u' +100 (% +3 "core" %8 }\ T[ +2 "manipulator"&*% +3 "core" % _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air +2 "processing"%%  +70 "core" +2 .tPS.seek 2.5ml +2 "processing"%+' +2640 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%/ +42 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%#  +43 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%1 +44 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%2  +57 "core" +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%4'ؾ +829 "Can"6\ 41 +1806 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%5& +4 "core" &\ + "manipulator"&6& +4 "core" & 3  + "manipulator"&,% +4 "core" %  T  +2 .tElbow.seek FlushPuck::Garage + "manipulator"&7(- +172 "core" ( +2 "manipulator"&0& +4 "core" &- ' ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &-  ; +2 .tForearm.seek :garage + "manipulator"&''w +90 "core" ' +2 .tHand.close + "manipulator"&;/ +55 "core" / +2 "manipulator"&& +4 "core" &- - ; + "manipulator"&8% +4 "core" % g ( * +2 .tForearm.seek :retract + "manipulator"&<' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&>( +141 "core" ( + "manipulator"&-& +5 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" & W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&A' +89 "core" ' +2 "manipulator"&J& +4 "core" & K +2 "manipulator"&C% +3 "core" % ? g +2 "processing"%?& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%D(^ +5 "core" &\  +9 &3v\ *y +10 &c|w\ > +9 &qms\ N +9 &4P\ N +10 &O\ N +9 &QI\ N +10 &yTq\ N +9 &=Q/\ M +9 &R7\ M +10 &R1\ M +9 & R9\ N +9 &"DU8\ N +10 &$RB\ M +9 &%QD\ M +9 &'R=\ N +10 &)LQG\ N +9 &+R9\ M +10 &,S\ M +9 &.R\ M +9 &0US\ M +10 &2S\ M +9 &3T\ M +9 &5S\ N +10 &7\\S\ N +9 &9U\ N +10 &:S\ N +9 &<S\ N +9 &>bT\ N +10 &@$Q\ N +9 &A]\ O +10 &Cr\ Q +9 &EX\ U +9 &G\ T +10 &H\ U +9 &J\ U +9 &L_\ U +10 &N\ U +9 &O\ U +9 &Q\ U +10 &Sc\ V +9 &U%\ V +10 &V\ V +9 &X\ V +9 &Zk\ V +10 &\\-\ V +9 &]w\ ; +10 &^3\ Q +9 &^!\ 1 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + "processing"%_& +4 "core" &^ \ 1 + .tHand.open +2 "manipulator"&@1 +61 "core" 1 +2 "manipulator"&9% +4 "core" %  g + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +91 "core" ' + .tPRV.dial :air +2 "processing"%L  +41 "core"  +2 .tPSV.dial :mixloop +2 "processing"%S +53 "core" + "processing"%(% +4 "core" %ؼ\ +2 .tPS.seek 0.3ml +2 "processing"%E' +398 "core" ' +2 .tPSV.dial PSR +2 "processing"%I +103 "core"  + "processing"%H% +4 "core" % \ +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml +2 "processing"%K'2 +488 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%F' +1924 "core" ' + .tdelay 3 seconds +303 .PSV.dial :mixloop + "processing"%j +101 "core" +2 .tPTV.dial :mixing + "processing"%O @ +72 "core" A +2 .tPBV.dial :waste2 + "processing"%)  +91 "core"  +3 .tPS.seek 0ml + "processing"%Z'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&[& +4 "core" & s +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +25 "core" ( + "manipulator"&]& +5 "core" & ; . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" & . +2 .tForearm.seek PC +2 "manipulator"&T' +93 "core" ' + .tHand.close +2 "manipulator"&!/ +61 "core" / +2 .tPC.seek :open +2 "processing"%U( +456 "core" ( +2 "manipulator"&:& +4 "core" & - + "manipulator"&`% +4 "core" %  & + .tForearm.seek :retract +2 "manipulator"&c' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&M(- +126 "core" ( +2 "manipulator"&\\& +4 "core" &-  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +2 "core" &-   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&G'w +90 "core" ' + .tHand.open +2 "manipulator"&P1 +53 "core" 1 + "manipulator"&h% +5 "core" %  < V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +89 "core" ' +2 #tLoading da puck from tube 5 into Processing Clamp + "processing"%R& +5 "core" &6\ + "manipulator"&V% +4 "core" %  9  + "storage"(l% +4 "core" % \  + "storage"(e. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(o(<- +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (3& +2 "core" &<- x \  +2 "manipulator"&N& +4 "core" &- L  + "manipulator"& % +4 "core" %    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&k( +170 "core" ( +2 "manipulator"&i& +4 "core" &  * +2 "storage"(& +3 "core" &<- \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&n'O +93 "core" ' + "storage"(Q& +4 "core" &<- 4\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'r +307 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (r& +3 "core" &<- y\  + "manipulator"&b& +4 "core" & * +2 .tElbow.seek 5 + "manipulator"&}( +3 "core" ( +2 "manipulator"&~& +3 "core" & j * +2 "storage"(q& +3 "core" &<- >\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&|'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&{& + "storage"(' +7 "core" & 7 * +2 "manipulator"&t% +4 "core" % Ϻ + .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&v( +164 "core" ' + ."downElevator"SE.stop +53 "storage"(5 +43 "core" ( + "manipulator"&z& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&y' +90 "core" ' +2 "manipulator"& & +4 "core" &   + "manipulator"&\ % +4 "core" %  c [ +3 "processing"%& +3 "core" &\ +3 "processing"% & +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 & -\ #b +10 &Uz\ 7 +9 &u\ K +10 &Q\ N +9 &bR\ M +9 &$M\ M +10 &R\ M +9 &S\ M +9 &jQ\ M +10 &,O\ M +9 &O\ M +10 &!Q\ N +9 &#rT\ M +9 &%4T\ M +10 &&S\ M +9 &(S\ N +9 &*zR\ M +10 &,<O\ M +9 &-O\ M +10 &/P\ M +9 &1R\ M +9 &3DT\ M +10 &5T\ M +9 &6T\ M +9 &8U\ N +10 &:LS\ M +9 &<R\ M +10 &=U\ M +9 &?R\ M +9 &ASU\ N +10 &Cj\ P +9 &D{\ R +9 &F\ T +10 &HH\ T +9 &J\ \ T +10 &K\ T +9 &M\ U +9 &OL\ U +10 &Q \ V +9 &R\ U +9 &T\ V +10 &VT\ U +9 &X\ V +10 &Y\ V +9 &[\ V +9 &]Y\ F +10 &^z=m5\ 'r +9 &^88\ 1 +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 +2 .Hand.open + "manipulator"&w1 +3 "core" &^$H\ 1 +50 1 + "manipulator"&g% +4 "core" %  0 [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tHeating Puck.from 5, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"% z +3 %9 +5 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9" +102 "processing"%&9 +3 "core" 9& +102 "processing"%$9 +2 "core" 9* +102 "processing"%x9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +2 "core" 97 +102 "processing"%*9 +3 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"%9 +2 "core" 9C +102 "processing"% 9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +103 "processing"%u9 +2 "core" 9X +102 "processing"%Y9 +2 "core" 9] +102 "processing"%/9 +3 "core" 9a +102 "processing"%#9 +3 "core" 9e +102 "processing"%19 +2 "core" 9i +103 "processing"%29 +2 "core" 9m +102 "processing"%+9 +3 "core" 9q +102 "processing"%59 +2 "core" 9v +102 "processing"%69 +3 "core" 9z +102 "processing"%,9 +3 "core" 9~ +102 "processing"%09 +2 "core" 9 +103 "processing"%B9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%;9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +103 "processing"%89 +2 "core" 9 +102 "processing"%"9 +2 "core" 9 +102 "processing"%-9 +3 "core" 9  +102 "processing"%.9 +3 "core" 9  +102 "processing"%'9 +2 "core" 9 +102 "processing"%J9 +2 "core" 9 +103 "processing"%C9 +2 "core" 9 +102 "processing"%?9 +2 "core" 9  +102 "processing"%79 +3 "core" 9& +102 "processing"%<9 +2 "core" 9+ +103 "processing"% 9 +2 "core" 90 +102 "processing"%_9 +3 "core" 95 +2 .tPH.hold 2:00:00,28C +3 "processing"%@ pzp0 +2 .tdelay 1:30 +5 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%9 +102 "core"  + "processing"%% +4 "core" %عm\ + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%L' +597 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml + "processing"%S' +1624 "core" ' + .tPTV.dial :puck +2 "processing"%(  +70 "core"  +2 .tPSV.dial PTV +2 "processing"%A +73 "core" + .tPBV.dial :waste1 +2 "processing"%4  +130 "core"  + "processing"%I% +4 "core" %&\  +2 .tPS.seek 1.5ml +2 "processing"%H'/ +592 "core" ' +2 .tdelay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"%E * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%K'ؾ +1614 "core" ' +2 .tdelay 5:00 +27135 "Can"*\ =: +2868 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%j  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%O * +33 "core" * +2 .tPSR.select :air + .PSV.dial PSR +2 "processing"%) +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%F' +2413 "core" ' + .tPSV.dial PTV +2 "processing"%[ +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +3 "processing"%] +72 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%a +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%!  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%>'ؾ +2371 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%=  +130 "core" + .tPSV.dial :mixloop +2 "processing"%D +44 "core" + .tPRV.dial :ab1 +2 "processing"%: @ +70 "core" @ +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%`' +351 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'\\  + "processing"%d  +41 "core" +2 +2 "processing"%T% +3 "core" % &\  +2 .tPS.seek 0.35ml +2 "processing"%P'i +460 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'h  +29 "core" + .tPRV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%R'K +1170 "core" ' + .tPRV.dial :waste2 +2 "processing"%V @ +72 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%l' +867 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%e  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%c' +1606 "core" ' + .tPSV.dial :PML +2 "processing"%G +44 "core" + .tPTV.dial :mixing +2 "processing"%p @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%3  +33 "core"  + "processing"%N% +4 "core" %+\  +2 .tPS.seek 1.85ml +2 "processing"% ' +236 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%i * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%'ؾ +1985 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'Q& +3 "core" &  9\ +2 "manipulator"&M& +3 "core" &   +2 "manipulator"&m% +3 "core" %  8  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&^(- +121 "core" ( + "manipulator"&r& +4 "core" &- 7 \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &-  \ +2 .tForearm.seek :garage +2 "manipulator"&~'w +91 "core" ' + .tHand.close +2 "manipulator"&q/ +59 "core" / +5 "manipulator"&& +5 "core" &- Q \ + "manipulator"&{% +4 "core" % ω % K +2 .tForearm.seek :retract +2 "manipulator"&t' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&k(ӂ +275 "core" ( + "manipulator"&n& +4 "core" &{,  Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &{+ . Cr +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&|'? +106 "core" ' +2 "manipulator"&z& +4 "core" &ӣ%  >J +2 "manipulator"&X% +3 "core" %W O +2 "collection"'}& +4 "core" &  >\ +2 "collection"' & +5 "core" &  B\ +2 .tCC.seek :closed + "collection"'\ (\\ +4 "core" &  B\  +9 &6{  <\ +{ +9 &\ f}  =\ ? +10 &o  ;\ N +9 &UT  =\ M +9 &U  =\ M +10 &S  >\ M +9 &R  3\ M +9 &\\Q  4\ M +10 &Y  2\ M +9 &R  (\ M +10 & W  .\ M +9 &"dU  .\ M +9 &$&R  3\ M +10 &%V  0\ M +53 &'U  4\ N +4 &)lU  6\ M +5 &+.R  6\ M + &,W  0\ M + &.W  5\ M + &0tV  1\ M +2 &27U  1\ M +8 &3U  0\ M +9 &5R  5\ M +9 &7}R  6\ M +10 &9>X  5\ M +9 &;R  5\ M +10 &<W  2\ M +9 &>X %\ M +9 &@FR   \ M +10 &BW \ &\ M +9 &C` \ "\ O +10 &Ey   \ Q +9 &G5  \ V +9 &H  \ Y +10 &J  ,\ Y +9 &Ln  ,\ Z +9 &N1  ,\ Z +10 &O  \ [ +9 &Q  \ [ +10 &So  )\ ] +9 &U/  *\ ] +9 &V  *\ ^ +10 &X  +\ _ +9 &Zp  )\ _ +9 &\\{  +\ 6 +10 &\\-  +\ ^ +8 ( +4 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 + "collection"'& +4 "core" &\\r  .\ U + &\\r  *\ U +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&s% +4 "core" % W @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' +2 .tPSV.dial PSR + "processing"%w +102 "core"  +2 "processing"%g% +4 "core" %ؼ \  + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%'+ +1620 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +41 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1609 "core" ' + .tPSV.dial PSR +2 "processing"%y +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2654 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  + "collection"'  +33 "core" ~ +124  +2 .tPSV.dial :mixloop + "processing"% +113 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' + .tPSV.dial :air +2 "processing"%  +57 "core" +2 .tPS.seek 2.5ml + "processing"%&' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%$ +42 "core" +2 .tPS.seek 0ml +2 "processing"%x'ؾ +2632 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"%* +44 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2628 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &ӣ$ Q >J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& (ӂ +24 "core" ( + "manipulator"&& +4 "core" &Ӂ ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &Ӂ ] ' +2 .tForearm.seek CC + "manipulator"&'? +100 "core" ' + .tHand.close +2 "manipulator"&u/ +56 "core" / +2 .tCC.seek :open +2 "collection"'Y( +446 "core" ( +2 "manipulator"&/& +4 "core" &Ӂ ' + "manipulator"&#% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&1' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&2(- +279 "core" ( +2 "manipulator"&+& +4 "core" &- v L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &- R L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&6'w +96 "core" ' +2 .tHand.open +2 "manipulator"&,1 +57 "core" 1 +2 "manipulator"&0% +4 "core" % ρ X " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +94 "core" ' +2 ."da"delayUntil "20:41:08.02" +16142 "Can".\ UR +8656 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"% @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%;  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" + + ."da"PSV.dial :air +2 "processing"%8  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%"' +2409 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%- +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%.  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%' +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%J  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%C'ؾ +2366 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%? +129 "core"  +2 "processing"%7% +4 "core" %ؽ4\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%<' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1610 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%_  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%9 +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%Z% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%L'+ +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%( * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +1630 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%4  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%I * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%S +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%E' +2418 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%H +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%j +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%O  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%)'ؾ +2404 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%K +130 "core"  + "processing"%[% +4 "core" %ؼ%\  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%]' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%a' +1621 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%! +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%F  +34 "core" +2 "processing"%=% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%D', +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%: * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +1629 "core" ' +2 ."da"delay 2:00 +9527 "Can"(\ JH +2475 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%\\  +33 "core" +2 ."da"delay 30 seconds +3051 .PBV.dial between PSV and waste1 +3 "processing"%d * +33 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%T +83 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%`' +2424 "core" ' + ."da"PSV.dial PTV +2 "processing"%h +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%P +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%V  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%R'ؾ +2368 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%e  +41 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%l  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%G  +41 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%p +43 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%3' +380 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%N  +44 "core"  + "processing"%i% +4 "core" %<\  +2 ."da"PS.seek 0.55ml +2 "processing"%c' +339 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%Q' +1556 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%M +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%m @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%r  +32 "core"  +2 "processing"%b% +4 "core" %=\  + ."da"PS.seek 1.85ml +2 "processing"%q' +243 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%v'ؾ +1969 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +41208 "Can"*\ LI +6795 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%{  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%~  +43 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%n' +2427 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%W +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%^  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%z +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%X  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%}'ؾ +2369 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%t +129 "core"  +2 "processing"%% +4 "core" %ؼ$\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +590 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%s  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%w  +34 "core" + "processing"%g% +4 "core" %5\  +2 ."da"PS.seek 1.5ml +2 "processing"%|', +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1609 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%y * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2409 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +84 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2376 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  +2 "processing"%$% +3 "core" %7\  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%&' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%x +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%*  +34 "core" +2 "processing"%% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'0 +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +11495 "Can"0\ =: +507 #"da"recoverPSRreagent08 +2 .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%u  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%k * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%U +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%\ ' +2412 "core" ' + ."da"PSV.dial PTV +2 "processing"%/ +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%# +69 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%+  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +2358 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  + "processing"%,% +4 "core" %ػ+\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%0' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%1' +1611 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +51 "processing"%6 +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core"  + "processing"%;% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'( +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%8 * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%-  +34 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%. * +31 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%' +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%J' +2404 "core" ' + ."da"PSV.dial PTV +2 "processing"%" +72 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%? +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%7 +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%C  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%<'ؾ +2373 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%_ +137 "core"  +5 "processing"%9% +10 "core" %ع&\ +3 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +6 "processing"% +17 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +4 ."da"PS.seek 0.25ml +2 "processing"%' +338 "core" ' +2 ."da"delay 5 seconds +503 "processing"%Z% +3 "core" %\  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"% ' +354 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%(' +1609 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%L +75 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%4  +34 "core" + "processing"%I% +4 "core" %.\  +2 ."da"PS.seek 1.5ml +2 "processing"%S', +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%A * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%H'ؾ +1608 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +37 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%j * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%O +76 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%E' +2500 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%K +76 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%[ +75 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%) +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%]  +74 "core"  +3 ."da"PS.seek 0ml +2 "processing"%!'ؾ +2488 "core" ' + #"da"Additional air clear +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%F +134 "core" +2 "processing"%=% +4 "core" %ؾl\  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%a' +2126 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck + .PSV.dial PTV +2 "processing"%: +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%D  +36 "core" + "processing"%\\% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%d'/ +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%T * +34 "core" + + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%>  +106 "core"  +2 ."da"PS.seek 0ml +2 "processing"%h'ؾ +1120 "Can"%\ C{ +485 "core" ' + "processing"%9 +4 "core" 9y5~ + #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast + "processing"%P  +4 "core" 5 5 +2 "processing"%V& +3 "core" &^%6\ 1 +3 #"da"Imaging da puck in Processing Clamp while storing it to tube 4 + "manipulator"&`% +4 "core" %    + "storage"(e% +4 "core" % \  + "storage"(l. +3 "core" .(<- +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 4 +2 "storage"(G(,y +363 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (p& +3 "core" &,z m l\  + "manipulator"&R& +4 "core" &- I L + "manipulator"&N% +4 "core" %    + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&i( +171 "core" ( +2 "manipulator"&3& +4 "core" & . + "storage"( & +4 "core" &,z | | o\ n +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts + "manipulator"&c' +97 "core" ' + "storage"(M& +5 "core" &,z O\  + ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(m'r +297 "core" ' + "storage"(r- +4 "core" -'! + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&b& +3 "core" & u - +2 "storage"(& +3 "core" &,g c [\ j +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&Q'7 +17 "core" ' + ."da"Elbow.hold +2 "manipulator"&q, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -'! +2 ."da"SE.seek 1.18 Pucks below Top Plate +2 "storage"(' +31 "core" ' +2 "manipulator"&~% +4 "core" %0 y  S + "storage"(v& +4 "core" &,g d Q \  + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 4 + 293 counts +2 "manipulator"&W'\\ +13 "core" ' +2 "manipulator"&^& +4 "core" &  - + "storage"(z& +4 "core" &,g u G\  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&X' +13 "core" ' +2 ."da"SE.seek 2.18 Pucks below Top Plate +2 "storage"(n'` +36 "core" ' +2 "manipulator"&t& +4 "core" & h - + "manipulator"&% +4 "core" % v +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +243 "core" ( + "manipulator"&s& +4 "core" &  , +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & k { , +2 ."da"Forearm.seek PC +2 "manipulator"&w' +93 "core" ' + ."da"Hand.close +2 "manipulator"&g/ +73 "core" / +2 ."da"PC.seek :open +2 "processing"%( +461 "core" ( +2 "storage"(& +3 "core" &,g c\ u +2 "manipulator"&|& +3 "core" & $ , +2 "manipulator"&% +3 "core" %  4  +2 ."da"Forearm.seek :retract +53 "manipulator"&y' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 4 +2 "manipulator"&( +252 "core" ( +2 "manipulator"& & +4 "core" &  [ [ + "storage"(& +4 "core" &,g x \ n +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' + ."da"Hand.open +2 "manipulator"&1 +67 "core" 1 +2 "storage"(- +4 "core" -'` +2 ."da"SE.seek 1.83 Pucks below Top Plate +2 "storage"(', +26 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 0.86 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0121h50ml.tif +1944 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +807 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 23.944 seconds\ /var/log/esp/da21oct0121h50ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0121h50ml15s.tif +1564 #SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0121h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0121h50ml30s.tif +3069 #SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0121h50ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0121h50ml70s.tif +7180 #SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0121h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +8 ."Qmail"DAfans.email "23.944 sec auto-exposure",Subject: "da21oct0121h50ml images!" +9 "storage"($- +5 "core" -' +2 "storage"(& +5 "core" &,g )\ +3 "manipulator"&&& +3 "core" &  S [ +2 ."da"Elbow.seek 4 +2 "manipulator"&x( +4 "core" ( + "manipulator"&*& +4 "core" &   [ + "storage"(& +4 "core" &,g ]\ +2 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.58 Pucks below Top Plate +2 "storage"('Q +50 "core" ' +2 "manipulator"&& +4 "core" &   [ +2 "storage"(u& +3 "core" &,g :\ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 4 +2 "manipulator"&k'7 +20 "core" ' + ."da"Elbow.hold +2 "manipulator"&U, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.76 Pucks below Top Plate +2 "storage"(%' +28 "core" ' +2 "manipulator"&/% +4 "core" %H ,  +2 "storage"(#& +7 "core" &,g <\ + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 4 + 317 counts +2 "manipulator"&'t +15 "core" ' +2 "manipulator"&+& +4 "core" & I [ +2 "storage"(\ & +3 "core" &,g \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 4 + 450 counts +2 "manipulator"& ' +18 "core" ' + "storage"(,% +6 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(5' +99 (0% +3 "core" %3 \ SS +2 "manipulator"&6% +7 "core" % +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +40 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (;& +4 "core" &,g K Z 2\ +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge +2 "processing"%1& +4 "core" &\ + "manipulator"&8& +5 "core" &  ) [ +2 "manipulator"&% +3 "core" %    +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&-(- +178 "core" ( +2 "manipulator"&.& +4 "core" &- R +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &- ? R +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +98 "core" ' +2 ."psFlush"Hand.close +4 "manipulator"&"/ +62 "core" / +4 "manipulator"&?& +9 "core" &-  R +4 "manipulator"&7% +9 "core" % { f 8 +6 ."psFlush"Forearm.seek :retract +4 "manipulator"&C' +100 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 ."psFlush"Elbow.seek PC +2 "manipulator"&J( +119 "core" ( +3 "manipulator"&_& +11 "core" &  3 +2 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &9& +6 "core" & ' 3 +4 ."psFlush"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 ."psFlush"Forearm.seek PC +5 "manipulator"&<' +92 "core" ' +4 "manipulator"&Z& +8 "core" & 3 +4 "manipulator"&% +17 "core" % d m +3 "processing"% & +12 "core" &\ +5 "processing"%L& +10 "core" &\ +4 &6\ +4 ."psFlush"PC.seek :closed +5 "processing"%4(^ +10 "core" &\ +4 &\ 4 +6 &4Gr\ 0 +9 &^rz\ D +8 &\\B\ N +11 &QB\ M +9 &NB\ M +8 &FR?\ N +11 & QF\ M +15 &NE\ M +6 &OA\ M +6 &NO=\ N +9 &!QD\ N +11 &"Q=\ N +10 &$Q8\ M +7 &&WN5\ M +11 &(N3\ M +8 &)R\ M +10 &+N\ M +10 &-_S\ M +8 &/!T0\ M +20 &0V\ N +2 &2R\ M +6 &4gO\ M +11 &6)O\ M +8 &7P\ M +11 &9O\ M +9 &;oT\ M +8 &=1P\ M +10 &>R\ M +10 &@U\ N +8 &Br`\ O +11 &D-q\ Q +8 &E\ T +13 &G\ T +6 &Ij\ T +9 &K,\ T +11 &L\ U +12 &N\ U +6 &Po\ U +10 &R1\ U +8 &S\ V +10 &U\ U +10 &Wv\ V +8 &Y9|\ U +10 &Z\ V +12 &\\\ W +6 &^5c\ ({ +11 &^ s\ 9 +8 ( +4 "processing"%L& +7 #"psFlush"Processing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.73 +2 "processing"%I& +10 "core" &^!\ 2 +2 &^ ~\ 2 +3 ."psFlush"Hand.open +2 "manipulator"&(1 +60 "core" 1 +4 "manipulator"&A% +8 "core" %  8 m +3 ."psFlush"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 ."psFlush"Forearm.seek :retract +4 "manipulator"&S' +98 "core" ' +2 ."psFlush"PSR.select :air +4 .PSV.dial PSR +2 "processing"% +45 "core"  +3 "processing"%j% +11 "core" %\ +4 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +5 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%O' +343 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +242 "core" ' +4 ."psFlush"delay 5 seconds +504 .PSR.select :air +3 "processing"% +12 ."psFlush"PS.seek 2.5ml +3 "processing"%H' +2124 "core" ' +4 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +4 "processing"%K @ +183 "core" A +4 ."psFlush"PTV.dial :PRVmixing +4 "processing"%[  +128 "core" +4 ."psFlush"PSV.dial :mixloop +7 "processing"%) +114 "core" +3 ."psFlush"PS.seek :empty +4 "processing"%]'ؠ +2641 "core" ' +2 ."psFlush"PSR.select :air +120 .PSV.dial PSR +6 "processing"%E +102 "core"  +7 "processing"%F% +10 "core" %؞`\ +3 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +6 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%=' +600 "core" ' +4 ."psFlush"delay 5 seconds +503 .PSR.select :air +5 "processing"% +13 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +2132 "core" ' +3 ."psFlush"delay 1 second +104 .PBV.dial :waste1 +4 "processing"%:  +35 "core" +4 ."psFlush"PTV.dial :mixing +4 "processing"%D @ +73 "core" A +3 ."psFlush"PSV.dial :mixloop +3 "processing"%\\ +105 "core" +13 ."psFlush"PS.seek :empty +4 "processing"%a'ؠ +1170 #"uploadLog"upsync +1471 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%T +101 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%>'X\\ +1111 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%d' +1604 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +74 "core" + ."psFlush"PTV.dial :puck +2 "processing"%P  +70 "core"  + ."psFlush"PBV.dial :waste1 +3 .PS.seek 0ml +2 "processing"%V'ؾ +2650 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%` +72 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%e' +584 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%l' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%o +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"%p U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%R'ؾ +2649 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%N @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%3' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%M'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%2 +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%B' +2628 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%r +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%b'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%{' +2627 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%~  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%v'ؾ +1999 "Can"(\ ?< +633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%^ +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%z'X\\ +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%t' +1613 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%c  +52 "core" +3 ."psFlush"PS.seek 0ml +2 "processing"%i'ؾ +2627 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%m +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%Q' +588 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%W' +2122 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +84 "core" + ."psFlush"PBV.dial PSV +2 "processing"%X U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%s'ؾ +2652 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +42 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%q' +2654 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%g  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%}'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%' +2641 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%| +71 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%'ؾ +2652 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%w @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2639 "core" ' +4 #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'& +8 "core" &  [\ +2 "manipulator"&& +7 "core" & 3 +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&y( +4 "core" ( +6 "manipulator"&n& +7 "core" & 3 +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +9 "core" & 3 +2 .tForearm.seek PC +4 "manipulator"&$' +93 "core" ' +2 .tHand.close +4 "manipulator"&/ +58 "core" / +3 .tPC.seek :open +4 "processing"%&( +458 "core" ( +2 "manipulator"&*& +4 "core" & N 3 + "manipulator"&% +4 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&u(ӂ +343 "core" ( +2 "manipulator"&/& +4 "core" &y( Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &y* Ab +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&+'? +92 "core" ' +2 "manipulator"&\ & +5 "core" &( S @\\ + "manipulator"&,% +4 "core" %D M +2 "collection"'& +3 "core" &  W\ +3 "collection"'& +4 "core" &  V\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &  \ \  +9 &4}   \ +{ +9 &c  \ > +9 &o  \ M +10 &NP  \ M +9 &Q  y\ M +9 &T  \ M +10 &Q  \ M +9 &WR  \ L +10 &T  \ M +9 &Q  \ M +9 & S  \ L +10 &"^S  \ M +9 &$ U  \ M +9 &%W  \ M +10 &'R  w\ M +9 &)gR  F\ L +10 &+(S  \ M +9 &,R  \ M +9 &.T  \ M +10 &0nW  \ M +9 &21S  \ L +9 &3T  \ \ M +10 &5W  5\ M +9 &7vT  \ \ M +10 &97R  \ M +9 &:R  \ M +9 &<S   \ M +10 &>~U  ~\ M +9 &@AT  \ L +9 &BW  \ M +10 &C_  \ N +9 &Ezv  \ Q @1633124089.58UTC = =mMAIN_scheduler =tMAIN @UTC1633124091.48 #"core_reset"Sent BREAK +3 #t@32960 receive with ifg=0x10, ie=0xFD #@33606 receive with ifg=0x10, ie=0xFD + #@34264 receive with ifg=0x10, ie=0xFD + #@34908 receive with ifg=0x10, ie=0xFD #@35556 receive with ifg=0x10, ie=0xFD + #@36203 receive with ifg=0x10, ie=0xFD + #@36850 receive with ifg=0x10, ie=0xFD #@37176 receive with ifg=0x80, ie=0xFD + #@39109 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 "core" &\\ ' '\ #e +2 "collection"'% + '& +2 "core" &\\ * (\ #e "collection"'% +2 '& +3 #tESP2 v3.41 I2C Gateway v3.20 for core bus +165 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +124 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +391 "Can".\ VS + .\ VS #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +582 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" %k & *\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڥ k h ^\ +2 .tSS.configure :default +2 "sampler")#.0X access 4 +3 "storage"(2% +3 "core" %   "\  +2 "manipulator"&3% +4 "core" %D M + "manipulator"&4% +4 "core" %D U M +2 .tForearm.seek :retract + "manipulator"&5' +39 "core" 'ز> J b +3 !to:Slide::Error\ : mesg")Forearm speedErr at PC + 2229 counts: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi:: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityiC: currenti:pwmig:erri: inPressi: outPressi:deltaPressiJ : voltagef12.235674030436918|t: @type2F: @sourcei+: @error: speedErr:@axisName" Forearm:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"2/home/esp/esp2/utils/misc.rb:65:in `withdraw'"0/home/esp/esp2/utils/storage.rb:131:in `to'"4/home/esp/esp2/utils/storage.rb:269:in `access'"4/home/esp/esp2/utils/storage.rb:600:in `access'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1801 #-> PS.flush +2 #Flushing Processing stage + "processing"%6% +3 "core" %ػ\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%7& +4 "core" &\ +2 .tHand.open + "manipulator"&81 +704 !to:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[38:->26]: @requesto: I2C::Servo::Release3Request : @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0: @channeli:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @dontLog0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:199:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:327"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #1 of 3 + "manipulator"&91 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[38:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +703 !to:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[39:->26]: @requesto: I2C::Servo::Release3Request : @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0: @channeli:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @dontLog0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:199:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:327"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 + #Retry #2 of 3 +2 "manipulator"&:1 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[39:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +703 !to:I2C::Request::Timeout: mesg"8No Response to I2C::Servo::Release3Request[3A:->26]: @requesto: I2C::Servo::Release3Request : @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0: @channeli:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @dontLog0:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:199:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:327"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #3 of 3 + "manipulator"&;1 +2 "core" 1 + !o:I2C::UnexpectedReply: mesg"1I2C::Servo::Release3Reply[3A:26->20] aborted:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +240 !to:IRB::Abort: mesg"deferring User Abort!!:bt["1/home/esp/esp2/lib/esp.rb:79:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 + #until Hand finishes opening +462 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:849:in `loadAt'"=/home/esp/esp2/utils/puckmoves.rb:974:in `loadFlushPuck'";/home/esp/esp2/protocol/2G/utilities.rb:317:in `flush'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:I2C::Request::Timeout : mesg"^Hand could not finish opening because\ No Response to I2C::Servo::Release3Request[3B:->26]: @requesto: I2C::Servo::Release3Request : @replyqo:\ Queue: @que[: @waiting[:@destinationi+: @tag0: @channeli:@maxDelayo:\ Delay: @_dc_obji : @timeout0: @dontLog0:@checkpoint: omitted:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:199:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:327"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +4041 #-> access 2 +2 "storage"(<% +4 "core" %   B\  + "manipulator"&=% +4 "core" %6 | +2 "manipulator"&>% +3 "core" %6  | +2 .tForearm.seek :retract +2 "manipulator"&?' +26 "core" 'ز ` b +3 !to:Slide::Error\ : mesg")Forearm speedErr at PC + 2229 counts: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiD: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmig:erri: inPressi: outPressi:deltaPressi` : voltagef12.240583210603830: @type2F: @sourcei+: @error: speedErr:@axisName" Forearm:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"2/home/esp/esp2/utils/misc.rb:65:in `withdraw'"0/home/esp/esp2/utils/storage.rb:131:in `to'"4/home/esp/esp2/utils/storage.rb:269:in `access'"4/home/esp/esp2/utils/storage.rb:600:in `access'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1123 #-> exit +6 #mEXIT @1633124214.22UTC @1633178845.20UTC = =tMAIN =mMAIN_scheduler @UTC1633178847.03 #"core_reset"Sent BREAK +2 #t@42315 receive with ifg=0x10, ie=0xFD + #@43045 receive with ifg=0x10, ie=0xFD + #@43678 receive with ifg=0x10, ie=0xFD #@44333 receive with ifg=0x10, ie=0xFD + #@44966 receive with ifg=0x10, ie=0xFD + #@45599 receive with ifg=0x10, ie=0xFD #@46232 receive with ifg=0x10, ie=0xFD + #@46559 receive with ifg=0x80, ie=0xFD #@45511 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +288 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +376 "Can"\ TR + \ TR + #tPolling Can every 10:00 +2 #Cleanly exited at 21:36:54UTC01-Oct-21 +427 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %k \ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ڥ b b Y\ +2 .tSS.configure :default +2 "sampler")#.0X CC.open +2 .CC.seek :open +2 "collection"'1( +449 "core" ( +2 "collection"'2& +4 "core" &\ +403 #t-> Arm.home +2 "manipulator"&3& +3 "core" &ӳ  / 9( + "manipulator"&4% +4 "core" %3  +2 .tForearm.seek :retract +2 "manipulator"&5' +81 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&6( +342 "core" ( + "manipulator"&7& +4 "core" &\  G 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +2 "core" &\  5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home + "manipulator"&9' +38 "core" ' +2 "manipulator"&:& +4 "core" &\  ^ 5 +2 "manipulator"&;% +3 "core" % ] f +464 #t-> Arm.garage +2 "manipulator"&<& +3 "core" &\  5 +2 "manipulator"&=% +4 "core" % f + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +36 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&?(- +118 "core" ( +2 "manipulator"&@& +4 "core" &- =  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&B'w +103 "core" ' +2 "manipulator"&C& +4 "core" &- z  + "manipulator"&D% +4 "core" %ρ \\ +27 1 + !o:I2C::UnexpectedReply: mesg"*I2C::Servo::Release3Reply[3B:26->20] :bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +593 #t-> Arm.home +2 "manipulator"&E& +3 "core" &- I  + "manipulator"&F% +4 "core" %ρ 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&H( +103 "core" ( + "manipulator"&I& +4 "core" & 1  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" & [  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home +2 "manipulator"&K' +43 "core" ' +2 "manipulator"&L& +4 "core" & \  +2 "manipulator"&M% +3 "core" % Y T +389 #t-> PC.open + .PC.seek :open +2 "processing"%N( +3 "core" ( +2 "processing"%O& +4 "core" &\ +329 #t-> CC +2 "collection"'P& +3 "core" &\ +529 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +3 .tForearm.home.seek :retract + "manipulator"&Q' +71 "core" ' + ."closeHand"Hand.close +4 .tElbow.jog 1500 + "manipulator"&R/ +2 &S* +41 "core" * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear + "manipulator"&T(d +11 "core" / +239 ( +2 "manipulator"&U& +4 "core" &d f S + "manipulator"&V% +4 "core" % " - +1107 #t-> access 4 +3 "storage"(W% +3 "core" % \  + "manipulator"&X% +5 "core" % ! - + "manipulator"&Y& +4 "core" &d  S + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +37 "storage"(Z(C +987 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ([& +3 "core" &F l u \ +2443 #t-> samplePassF +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'\\& +3 "core" &\ + .tHand.open +2 "manipulator"&]1 +58 "core" 1 +2 "manipulator"&^& +4 "core" &d  T S + "manipulator"&_% +4 "core" % ! k - + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&`(- +123 "core" ( +2 "manipulator"&a& +5 "core" &- d c + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &- S c +2 .tForearm.seek :garage +2 "manipulator"&c'w +97 "core" ' + .tHand.close +2 "manipulator"&d/ +52 "core" / + "manipulator"&e& +4 "core" &- W c +2 "manipulator"&f% +3 "core" % ω  +2 .tForearm.seek :retract +2 "manipulator"&g' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +279 "core" ( +2 "manipulator"&i& +4 "core" &ӄ' , @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &ӄ' o @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'? +93 "core" ' + "manipulator"&l& +4 "core" &Ӆ' O @[ +2 "manipulator"&m% +3 "core" %6  v +2 "collection"'n& +4 "core" & \ +2 "collection"'o& +4 "core" &\ +2 .tCC.seek :closed +2 "collection"'p(\\ +4 "core" &\  +9 &3|\ +| +10 &e}\ > +9 &o\ L +10 &OT\ K +9 &V\ K +9 &U\ K +10 &V \ L +9 &UU\ L +9 &W \ L +10 &U\ L +9 & V\ L +10 &"^W\ K +9 &$ T\ K +9 &%T\ K +10 &'T\ K +9 &)fY \ K +9 &+'W\ L +10 &,W \ K +9 &.Y \ K +10 &0mW \ L +9 &20W \ K +9 &3Z \ K +10 &5W \ L +9 &7vW \ K +9 &98U  \ K +10 &:Z \ K +9 &<Y \ L +10 &>}Y\ L +9 &@?X \ L +9 &BY  \ L +10 &C_  \ L +9 &E}n  \ N +9 &G0 \ T +10 &H \ \ \ W +9 &J \ X +10 &Lh \ \ X +9 &N( \ \ Y +9 &O \ Z +10 &Q \ Z +9 &Sj \ Z +9 &U)  \ [ +10 &V \ \\ +9 &X  \ ] +9 &Zi  \ ] +10 &\\ z  \ 8 +9 &\\+  \ 'v +9 ( +2 &\\  \ !` +2 "collection"'o& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 +2 "collection"'q& +4 "core" &\\  \ !` + .tHand.open +2 "manipulator"&r1 +54 "core" 1 + "manipulator"&s% +4 "core" % 6 " v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +98 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%u +3 "core"  +2 "processing"%v  +43 "core"  + "processing"%w% +4 "core" %ػ\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml +2 "processing"%x'+ +1609 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%y  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%z'ؾ +1634 "core" ' + .tPSV.dial PSR +2 "processing"%{ +44 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%|' +2635 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%}  + "collection"'~  +18 "core" +79 +2 .tPSV.dial :PTV,via: :air +2 "processing"% +191 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 "collection"' +3 "core"  +2 "collection"'  +4 "core" +2 .tPTV.dial :PRV,avoiding: :puck + "processing"% +3 "core"  +2 "processing"% @ +72 "core" A +2 .tPS.seek 0ml + "processing"%'ؾ +2632 "core" ' +2 .tPSV.dial :air +2 "processing"%  +86 "core"  + .tPS.seek 2.5ml +2 "processing"% ' +2639 "core" ' + .tPSV.dial :PTV +2 "processing"% +72 "core"  +2 .tPS.seek 0ml + "processing"% 'ؾ +2650 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &ӈ' @X +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +2 "core" ( +2 "manipulator"&& +4 "core" &ӈ& : @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &ӈ& @X +2 .tForearm.seek CC +2 "manipulator"&'? +90 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "manipulator"&& +4 "core" &ӈ' @X + "manipulator"&% +4 "core" % D ! S + .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +288 "core" ( + "manipulator"&& +4 "core" &- 1 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &- 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +90 "core" ' +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +4 "core" % π P R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +877 #t-> PS.flush +2 #Flushing Processing stage +2 "processing"%!% +3 "core" %\  +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%"& +4 "core" &\ +2 "manipulator"&#& +3 "core" &- 5 2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&$(- +7 "core" ( + "manipulator"&%& +4 "core" &- + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &- ) + +2 .tForearm.seek :garage + "manipulator"&''w +97 "core" ' + .tHand.close +2 "manipulator"&(/ +62 "core" / +2 "manipulator"&)& +4 "core" &- U + + "manipulator"&*% +4 "core" % ϊ +2 .tForearm.seek :retract +2 "manipulator"&+' +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&,( +135 "core" ( +2 "manipulator"&-& +4 "core" & A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&/' +93 "core" ' + "manipulator"&0& +5 "core" & + "manipulator"&\ % +4 "core" % W = +2 "processing"%2& +3 "core" &\ +3 "processing"%3& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%4(^ +4 "core" &\  +9 &3v\ *y +9 &c|\ > +9 &um\ N +10 &6R\ N +9 &R\ N +9 &O\ N +10 &}Q\ N +9 &?Q\ N +10 &R\ M +9 &R\ N +9 & Q\ N +10 &"GP\ N +9 &$ R\ N +9 &%O\ N +10 &'Q\ N +9 &)OQ\ N +10 &+T\ N +9 &,R\ N +9 &.R\ M +10 &0UT\ N +9 &2U\ N +9 &3T\ N +10 &5S\ M +9 &7^R\ N +9 &9 S\ N +10 &:T\ N +9 &<T\ N +10 &>gT\ N +9 &@(T\ N +9 &A[\ O +10 &Cr\ Q +9 &E[\ U +9 &G\ T +10 &H\ U +9 &J\ U +10 &La\ U +9 &N!\ V +9 &O\ U +10 &Q\ V +9 &Sf\ V +9 &U'\ V +10 &V\ V +9 &X\ U +10 &Zm\ W +9 &\\1\ V +9 &]}x\ ; +10 &^2\ P +9 &^"\ 0 +2 ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 +2 "processing"%& +4 "core" &^ \ 0 + .tHand.open + "manipulator"&71 +56 "core" 1 +2 "manipulator"&8% +4 "core" %  K = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +93 "core" ' + .tPSV.dial PSR +2 "processing"%; +84 "core" + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%5'X\\ +1094 "core" ' +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%<' +1619 "core" ' +2 .tPSV.dial PTV +2 "processing"%= +82 "core" +2 .tPTV.dial :puck +2 "processing"%@  +71 "core"  +2 .tPBV.dial :waste1 +2 "processing"%A  +53 "core" +2 .tPS.seek 0ml + "processing"%C'ؾ +2633 "core" ' + .tPSV.dial PSR +2 "processing"%D +72 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%9' +589 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%6' +2123 "core" ' + .tPSV.dial PTV +2 "processing"%> +74 "core" + .tPBV.dial PSV +2 "processing"%E U +64 "core" T +2 .tPS.seek 0ml +2 "processing"%F'ؾ +2633 "core" ' +2 .tPSV.dial PBV + "processing"%I @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%J' +2627 "core" ' +2 .tPSV.dial :waste1 + "processing"%L  +83 "core"  +2 .tPS.seek 0ml +2 "processing"%M'ؾ +2639 "core" ' + .tPSV.dial PSR +2 "processing"%B +43 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%?' +2638 "core" ' + .tPSV.dial PTV +2 "processing"%G +70 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%O'ؾ +2633 "core" ' +2 .tPSV.dial PBV +2 "processing"% @ +43 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%P' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%R  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2652 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&H& +4 "core" & 0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&U( +3 "core" ( + "manipulator"&V& +5 "core" & M + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" & 6 +2 .tForearm.seek PC +2 "manipulator"&W' +93 "core" ' + .tHand.close +2 "manipulator"&X/ +53 "core" / +2 .tPC.seek :open +2 "processing"%Y( +455 "core" ( + "manipulator"&& +4 "core" & X +2 "manipulator"&[% +3 "core" %  @ + +2 .tForearm.seek :retract +2 "manipulator"&\\' +92 "Can"&\ 1- +7 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&](- +122 "core" ( + "manipulator"&^& +4 "core" &- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &- W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&a'w +103 "core" ' +39 .tHand.open +11 "manipulator"&b1 +60 "core" 1 + "manipulator"&d% +4 "core" % z 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +99 "core" ' +539 #t-> access 2 +2 "storage"(T% +3 "core" % Y\  +2 "manipulator"&f% +3 "core" %  o  +2 "manipulator"&Q& +4 "core" &-  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(c(K +1609 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" &K =\ +641 #t-> access 3 +3 "storage"(j% +3 "core" % h\  +2 "manipulator"&`% +4 "core" %  v  + "manipulator"&l& +4 "core" &- h + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(m([ +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (n& +2 "core" &[ m #\  +677 #t-> access 4 +3 "storage"(g% +3 "core" % 4\  + "manipulator"&1% +4 "core" %   +2 "manipulator"&q& +3 "core" &- K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(r(C +1934 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +2 "core" &D \ +1501 #t-> require 'shuffle.rb' +1493 #-> 2.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'u& +3 "core" &  v\ +2 "manipulator"&o% +4 "core" %  q  + "storage"(v% +4 "core" % \  + "storage"(w. +3 "core" .(C +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(k(  +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & \  + "manipulator"&y& +4 "core" &- L + "manipulator"&x% +4 "core" %  l  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&{( +171 "core" ( +2 "manipulator"&z& +4 "core" & 8 : + "storage"(~& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&}'S +93 "core" ' + "storage"(& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +27 "core" ' V\  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressiV :deltaPressi: voltagef12.849321551300934@A: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):16:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" +9 &p  \ M +9 &ST  \ L +10 &T  $\ L +9 &R  \ L +9 &R  \ L +10 &   \ L +9 &W  \ M +10 &U  \ L +9 & W  \ L +9 &"bU  #\ L +10 &$$W  \ L +9 &%U  \ L +9 &'W  \ L +10 &)jU  \ L +9 &+-R  \ L +10 &,U  \ \ L +9 &.R   \ L +9 &0rU   \ L +10 &25Q   \ L +9 &3T   \ L +9 &5U  \ M +10 &7zU  \ L +9 &9=R  t\ L +10 &:U  z\ M +9 &<U  \ L +9 &>W  \ L +10 &@CU  \ M +9 &BY  \ M +9 &Cb  \ \ N +10 &E~v  \ P +9 &G8  \ S +10 &H  \ W +9 &J  \ Y +9 &Lo  \ X +10 &N/  \ Y +9 &O  \ Z +9 &Q  \ Z +10 &So  \ [\ +9 &U0  \ [ +10 &V  \ \\ +9 &X  \ ] +9 &Zq  \ ] +10 &\\x  \ 7 +9 &\\*  \ &q +9 ( +3 "collection"'%& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 +2 .Hand.open + "manipulator"&(1 +4 "core" &\\}  \ \\ +50 1 +2 "manipulator"&)% +4 "core" % = N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"& % +4 "core" %    + "storage"(-% +4 "core" % \  + "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"('(  +32 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (0& +2 "core" &  ,\ +2 "manipulator"&\ & +4 "core" &Ӊ% =E + "manipulator"&2% +4 "core" %  X  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&$( +163 "core" ( + "manipulator"&+& +4 "core" & '  +2 "storage"(N& +4 "core" &  ? ? b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +96 "core" ' +2 "storage"(7& +4 "core" &  W X\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'r +25 "core" ' Q a\  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.67 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagi=: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressiQ : outPressia :deltaPressi: voltagef12.810048109965637a: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:25:in `shuffle'""(ESP):16:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" CC.open +2 "collection"'A& +3 "core" &\\}  \ \\ +2 !to:Puck::Error: mesg"7Collection Clamp contains generic puck from tube 2:bt[ "4/home/esp/esp2/utils/puckmoves.rb:948:in `open'"(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1402 #-> Arm.CC +2 "manipulator"&<& +3 "core" & +  + "manipulator"&D% +4 "core" %   +2 .tElbow.seek :CC +2 "manipulator"&C(ӂ +157 "core" ( + "manipulator"&9& +4 "core" &Ӑ" ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +2 "core" &Ӑ" x ;5 +2 .tForearm.seek CC +2 "manipulator"&E'? +94 "core" ' + "manipulator"&6& +4 "core" &Ӑ" ` ;5 +2 "manipulator"&I% +3 "core" %8 { @ +407 #t-> CC.open +2 "collection"'F& +3 "core" &\\|  \ \\ + !to:Puck::Error: mesg"7Collection Clamp contains generic puck from tube 2:bt[ "4/home/esp/esp2/utils/puckmoves.rb:948:in `open'"(ESP):19:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1060 #-> access 2 +2 "storage"(L% +3 "core" % '  \  +2 "manipulator"&J% +4 "core" %8 s @ + "manipulator"&B% +4 "core" %8 @ + .tForearm.seek :retract +2 "manipulator"&M' +92 "core" ' + .tElbow.seek :clear +2 "manipulator"&G(d +211 "core" ( + "manipulator"&?% +4 "core" %  4  + "manipulator"& & +4 "core" &d  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(O(K +1295 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +2 "core" &K   \ \ +9532 #t-> CC.unloadPuck 2, :SVS +2 "collection"'P& +3 "core" &\\z  \ \\ +2 !to:Puck::Warning: mesg"8Unloading Puck.from 2, :generic to Storage Carousel:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:419:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Storing SVS puck in Collection Clamp to tube 2 + "manipulator"&H% +4 "core" %   +2 "storage"(V% +3 "core" % 3 3 {\  + "storage"(S. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(X(  +1321 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +2 "core" & 4 '\ +2 "manipulator"&:& +3 "core" &d  +2 "manipulator"&4% +3 "core" %  ^  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +100 "core" ( + "manipulator"&[& +4 "core" & p  +2 "storage"(^& +3 "core" & > > b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'S +141 "core" ' +13 "storage"(W& +4 "core" & W W q\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'r +25 "core" ' ~ K u\  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.67 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiZ: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi~ : outPressiK :deltaPressiu : voltagef12.814957290132549: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'":/home/esp/esp2/utils/puckmoves.rb:314:in `placeStack'"6/home/esp/esp2/utils/puckmoves.rb:444:in `unload'",/home/esp/esp2/lib/msg.rb:68:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:443:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #1 of 4 +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(b' +20 "core" ' . &\  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.65 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagig: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi. :deltaPressi& : voltagef12.751137947962691: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:443:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #2 of 4 +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"(d' +19 "core" ' :\  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.66 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagii: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: : voltagef12.839503190967109.: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:443:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #3 of 4 +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(\\' +20 "core" ' !\  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.66 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagia: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi! : voltagef12.839503190967109.: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:443:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #4 of 4 +2 .SE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(a' +20 "core" ' \  +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(T' +26 "core" ' +2 .tSE.stop + "storage"(5 +3 "manipulator"&f% +4 "core" %I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +88 "core" ' +2 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.66 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagif: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef12.839503190967109.: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:443:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +699 #-> CC.unloadPuck 1, :SVS + "collection"'Z& +3 "core" &\\z  \ \\ +2 !to:Puck::Warning: mesg"8Unloading Puck.from 2, :generic to Storage Carousel:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:419:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Storing SVS puck in Collection Clamp to tube 1 + "manipulator"&i% +4 "core" %  (  +2 "storage"(j% +3 "core" % > > o\  +2 "storage"(`. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(l(C +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +2 "core" &E  1\ +2 "manipulator"&n& +3 "core" &  +2 .tElbow.seek 1 +2 "manipulator"&g( +3 "core" ( + "manipulator"&1& +3 "core" & V  +2 "storage"(q& +3 "core" &E 9 -\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&m' +95 "core" ' +2 "storage"(s& +4 "core" &E < F J\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'r +277 "core" ' + "storage"(o- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place + "storage"(v'1 +45 "core" ' +2 "manipulator"&w& +4 "core" & 7  +2 "manipulator"&r% +3 "core" %  = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&y(ӂ +153 "core" ( +2 "manipulator"&x& +4 "core" &ӊ&  ?V + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &ӊ&  ?V +2 .tForearm.seek CC +2 "manipulator"&~'? +92 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / + .tCC.seek :open +2 "collection"']( +446 "core" ( + "storage"(& +4 "core" &E 2\ +2 "storage"(& +3 "core" &E (\ +2 "manipulator"&& +3 "core" &Ӟ$  =B +2 "manipulator"&% +3 "core" % H ] +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"& ( +158 "core" ( +2 "manipulator"&e& +4 "core" &   + "storage"({& +4 "core" &E \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&}'8 +95 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&% +5 "core" % ? V  + "storage"(& +4 "core" &E \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 307 counts + "manipulator"&t'k +14 "core" ' +2 "manipulator"&p& +4 "core" & %  + "storage"(& +4 "core" &E \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&' +15 "core" ' +2 "storage"(% +4 "core" %9 \ +2 ."downElevator"SE.seek :down +3 "storage"(|' +99 ( % +3 "core" %9 \ U] +2 "manipulator"&% +4 "core" % Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2140 #t-> 2.times {shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" &  r\ + "manipulator"&% +5 "core" % ! # % + "storage"(!% +4 "core" % \  + "storage"(". +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(#( +666 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +2 "core" & D\ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +19 "core" ( +2 "manipulator"&& +4 "core" & T n + "storage"((& +4 "core" & .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&)'7 +98 "core" ' +2 "storage"(& +4 "core" & I\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +294 "core" ' + "storage"(-- +4 "core" -'. + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (.& +3 "core" & <\  + "manipulator"&%& +4 "core" & n +2 .tElbow.seek 3 +2 "manipulator"&0( +3 "core" ( + "manipulator"&\ & +4 "core" & + n + "storage"(2& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"(k' +7 "core" & ` n +2 "manipulator"&7% +3 "core" % ϙ m +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&8(ӂ +159 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&3& + "storage"(5 +7 "core" &ӗ 5 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &ӗ 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'? +102 "core" ' + "manipulator"& & +5 "core" &ӗ : 8 + "manipulator"&*% +4 "core" %9 M " +2 "collection"'=& +5 "core" & o\ +2 "collection"'5& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &  \ +6 &  !\ : +10 &OKu  x\ 0 +9 &t|  \ E +9 &*X   \ L +10 &W   \ L +9 &R  o\ L +10 &rR  \ L +9 &4R  \ L +9 &Q  \ L +10 &R  \ L +9 &zR  \ L +10 &!<S  \ L +9 &"R  \ K +9 &$S  \ L +10 &&W  \ K +9 &(ET  \ K +9 &*R  \ L +10 &+Q  \ L +9 &-R  \ L +9 &/LW  \ L +10 &1U  \ L +9 &2S  \ K +10 &4W  \ L +9 &6TQ  \ L +9 &8R  \ L +10 &9R  \ L +9 &;R  \ L +9 &=\\R  \ L +10 &?U  \ K +9 &@U  \ L +10 &B[  \ L +9 &Da` \ M +9 &Fk \ \ N +10 &G  \ Q +9 &I  \ U +10 &KI  \ X +9 &M  \ X +9 &N  \ X +10 &P  \ Y +9 &RL  }\ Y +9 &T\  u\ [ +10 &U  w\ [ +9 &W  v\ \\ +9 &YJ  t\ ] +10 &[  z\ ] +9 &\\cH  z\ 3 +10 &\\  t\ O +5 ( +2 "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.19 + .Hand.open + "manipulator"&A1 +4 "core" &\\c  v\ O +54 1 +2 "manipulator"&<% +4 "core" % 8 # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%9& +4 "core" & \ + "manipulator"&>% +4 "core" %  ^  +2 "storage"(6% +4 "core" % 3 3 \  + "storage"(I. +3 "core" .( +2 "storage"($& +3 "core" & 6 1\  +2 "storage"(@& +4 "core" & 3 4\  + "manipulator"&F& +4 "core" &ӗ 8 + "manipulator"&L% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&J( +161 "core" ( +2 "manipulator"&B& +4 "core" & ;  + "storage"(E& +4 "core" & V W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&?'7 +98 "core" ' +2 "storage"( & +4 "core" & z t [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'r +299 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (R& +2 "core" & J T \  +2 "manipulator"&P& +4 "core" & (  + .tElbow.seek 3 +2 "manipulator"&H( +3 "core" ( + "manipulator"&V& +4 "core" & _  + "storage"(S& +4 "core" & u u T\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&O'ϡ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(4' +6 "core" & <  +2 "manipulator"&[% +4 "core" % ϗ O K + .tForearm.seek :retract +2 "manipulator"&^' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&W( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&G& +5 "core" & " " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" & " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b' +99 "core" ' +2 "manipulator"&d& +4 "core" & + ! +2 "manipulator"&\\% +4 "core" % Q + "processing"%M& +4 "core" &-\ +2 "processing"%a& +5 "core" &l\ +51 .tPC.seek :closed +12 "processing"%f(^ +4 "core" &.\ + &0\ + &-\ + &:\ + &,\ + &.\ + &2\ +3 &3\ $e +7 &Uw3\ 7 +9 &u%\ L +10 &Pi\ N +9 &bQF\ N +9 &$Pl\ N +10 &O+\ N +9 &O\ N +9 &kPk\ N +10 &-Qj\ N +9 &Ok\ N +10 &!O@\ N +9 &#sQx\ N +9 &%5P\ N +10 &&Pw\ N +9 &(Pv\ N +9 &*{Q|\ N +10 &,=Pu\ N +9 &-Ok\ N +10 &/Qt\ N +9 &1Rq\ N +9 &3CRq\ N +10 &5Qu\ N +9 &6Ru\ O +9 &8Qp\ N +10 &:LQk\ N +9 &< Rn\ O +9 &=Ql\ N +10 &?Up\ O +9 &AQY_\ O +10 &C jr\ Q +9 &Dsr\ S +9 &Fl\ T +10 &HHm\ U +9 &J\ s\ U +9 &Kw\ U +10 &Mv\ U +9 &ONo\ U +10 &Q t\ W +9 &Rm\ V +9 &To\ W +10 &VSs\ V +9 &Xu\ V +9 &Yd\ W +10 &[h\ W +9 &]Y]\ G +10 &^z@vV\ &q +9 &^1b\ 4 +5 ( +2 "processing"%a& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 +2 .Hand.open + "manipulator"&T1 +3 "core" &^&[\ 4 +61 1 + "manipulator"&_% +4 "core" %  L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +91 "core" ' + "processing"%i& +4 "core" &^%Z\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&j% +4 "core" %  *  + "storage"(`% +4 "core" %   \  + "storage"(X. +3 "core" .( +2 "storage"(c& +3 "core" &  a\  +2 "storage"(n& +2 "manipulator"&1& +8 "core" &   r\  + & { ! +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&q( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(s'r +2 "core" ( + "manipulator"&& +4 "core" & T ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" & ! +2 .tForearm.seek PC +2 "manipulator"&o' +95 "core" ' +2 .tHand.close +2 "manipulator"&w/ +62 "core" / +2 .tPC.seek :open +2 "processing"%r( +87 "core" ' +2 "storage"(u- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'1 +44 "core" ' +310 ( +2 "storage"(z& +4 "core" & 3 @ \  + "manipulator"&m& +4 "core" & ! ! + "manipulator"&g% +4 "core" %  \  +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +245 "core" ( + "manipulator"&&& +4 "core" & + +2 "storage"(& +4 "core" & / 2 Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +93 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(e' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"({' +59 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +3 "core" -' +2 "storage"(y& +4 "core" & C C \ e + "manipulator"&& +4 "core" & P + +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & + +2 "storage"(p& +4 "core" & A B \ e +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +53 "core" ' + "manipulator"&& +5 "core" & + + "storage"( & +4 "core" & ; / \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +24 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(}' +18 "core" ' + "manipulator"&t% +5 "core" %v + "storage"(v& +4 "core" &   \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&'Ϣ +26 "core" ' +2 "manipulator"&|& +4 "core" &  + +2 "storage"(& +4 "core" & T S "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' + "storage"(!% +5 "core" % U U \ +2 ."downElevator"SE.seek :down +4 "storage"("' +98 (l% +3 "core" %K   \ Wd + "manipulator"&h% +5 "core" %, +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & O ; ?\  +2 "collection"'(& +3 "core" &\\c  n\ O +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +3 "core" % \  2  +2 "storage"(% +4 "core" % F I\  + "storage"(. +3 "core" .( +2 "storage"(-& +4 "core" & J G \  + "storage"(.& +4 "core" & G H\  + "manipulator"&%& +4 "core" & 8 + +2 .tElbow.seek 3 + "manipulator"&\ ( +3 "core" ( +2 "manipulator"&2& +3 "core" & + +2 "storage"(+& +4 "core" & G F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&N'7 +91 "core" ' +2 "storage"(7& +4 "core" & v u ,\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" & 9 + + "storage"(;& +4 "core" & P T 8\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'u +19 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(*' +32 "core" ' +2 "manipulator"&0% +4 "core" %y + "storage"(=& +4 "core" & 9 4\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 304 counts +2 "manipulator"&k'ϥ +19 "core" ' +2 "manipulator"&& +4 "core" & j + + "storage"(]& +4 "core" & v v Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&A'7 +25 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(<' +47 "core" ' + "manipulator"&9& +4 "core" & = + +2 "manipulator"&>% +4 "core" %* m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I(ӂ +155 "core" ( +3 "manipulator"&$& +4 "core" &ӑ" ;2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +3 "core" &ӑ" 5 ;2 +2 .tForearm.seek CC + "manipulator"&5'? +94 "core" ' + .tHand.close +2 "manipulator"&F/ +58 "core" / +2 .tCC.seek :open + "collection"'L( +446 "core" ( +2 "storage"(/& +4 "core" & R\  + "storage"(B& +4 "core" & \  +2 "manipulator"&E& +3 "core" &Ӓ! 8 :1 +2 "manipulator"& % +3 "core" % I : +2 .tForearm.seek :retract +2 "manipulator"&8' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&D( +164 "core" ( + "manipulator"&'& +4 "core" & ]  +2 "storage"(R& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&P'u +92 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&S1 +57 "core" 1 +2 "manipulator"&,% +4 "core" % ΃ - N + "storage"(:& +4 "core" & +\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&['ϯ +24 "core" ' +2 "manipulator"&J& +4 "core" & ,  +2 "storage"(?& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&C'7 +13 "core" ' + "storage"(O% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(G' +98 (U% +3 "core" % < B\ V_ + "manipulator"&H% +4 "core" %H b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +90 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'\\& +4 "core" &  \ +2 "manipulator"&M% +4 "core" %   + "storage"(4% +4 "core" % \  +2 "storage"(^. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(Y(,y +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (T& +3 "core" &,z /\ + "manipulator"&_& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&i( +37 "core" ( +2 "manipulator"&j& +4 "core" & $  + "storage"(`& +4 "core" &,z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +94 "core" ' + "storage"(c& +4 "core" &,z a\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'r +294 "core" ' +2 "storage"(1- +3 "core" -'. +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +56 (n& +4 "core" &,h *\  + "manipulator"&& +4 "core" & v  +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&b& +4 "core" & 5  + "storage"(w& +4 "core" &,h .\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&u'c +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(f' +7 "core" &  + "manipulator"&s% +4 "core" % ϕ Z +2 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&m(ӂ +155 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&g& +4 "core" &Ӕ" ;8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &Ӕ" ;8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'? +94 "core" ' +2 "manipulator"&& +4 "core" &Ӕ" ;8 +2 "manipulator"&q% +4 "core" %A Z + "collection"'& +5 "core" & \ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'~(\\ +4 "core" &  \ +8 &9  \ %f +9 &Yy  \ 8 +10 &t  \ L +9 &P  \ K +9 &W  \ L +10 &IT  \ L +9 & Q  \ K +9 &S  \ K +10 &V  \ L +9 &QU  \ L +10 & Q  ~\ K +9 &!R  y\ K +9 &#V  w\ L +10 &%YS  {\ L +9 &'Q  z\ K +10 &(R  z\ L +9 &*W  z\ K +9 &,aR  y\ L +10 &.#U  {\ L +9 &/Q  x\ K +9 &1S  m\ K +10 &3jV  m\ K +9 &5+Q  m\ L +9 &6W  v\ K +10 &8T  t\ K +9 &:qW  s\ L +10 &<2V  r\ L +9 &=Q  s\ L +9 &?R  u\ K +10 &AyU  s\ L +9 &C9] o\ L +9 &Dc \ i\ M +10 &Ft h\ O +9 &Hl ^\ S +10 &J%  W\ V +9 &K  V\ X +9 &M  X\ X +10 &Oc  ^\ Y +9 &Q$  c\ Y +9 &R  \\\ Y +10 &T  _\ Z +9 &Vd b\ [\ +10 &X$  c\ \\ +9 &Y  Y\ \\ +9 &[  _\ J +10 &\\1  a\ 2 +9 &\\q  b\ R +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&y1 +58 "core" 1 +3 "manipulator"&% +4 "core" % A > Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%p& +4 "core" &d\ +2 "manipulator"&% +3 "core" %  M  +2 "storage"(% +4 "core" % ; 4\  + "storage"( . +3 "core" .(,y +2 "storage"(t& +4 "core" &,h > > t\  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(v(,y +32 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +2 "core" &,}   \ +2 "manipulator"&|& +4 "core" &ӕ" ;7 + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&e( +167 "core" ( +2 "manipulator"&!& +4 "core" &   +2 "storage"(& +3 "core" &,} M Z $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"({& +4 "core" &,} u e #\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'r +296 "core" ' + "storage"(h- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,i  n\  + "manipulator"&& +4 "core" & 1  +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & M  +2 "storage"(& +3 "core" &,i 0 3 c\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" &  + "manipulator"&% +4 "core" % ϛ  +2 .tForearm.seek :retract +2 "manipulator"&}' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +104 "core" ( +2 "manipulator"&.& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&2' +94 "core" ' +2 "manipulator"&+& +4 "core" & +2 "manipulator"&% +4 "core" % + "processing"%7& +4 "core" &<\ +2 "processing"%"& +6 "core" &\ +2 .tPC.seek :closed + "processing"% (^ +4 "core" &+\ \ +9 &0s%\ )w +10 &b|\ > +9 &nm-\ N +9 &0Nk\ N +10 &R+\ N +9 &Qj\ N +9 &uQ9\ N +10 &8Ow\ N +9 &N\ N +10 &O\ N +9 & O\ M +9 &"@O\ N +10 &$Pv\ N +9 &%L\ N +9 &'N\ N +10 &)GN~\ N +9 &+\ Ow\ N +10 &,Ru\ N +9 &.Ov\ N +9 &0PP|\ N +10 &2Pl\ N +9 &3Qh\ N +9 &5Pv\ N +10 &7WPr\ N +9 &9Pr\ N +10 &:Qo\ N +9 &<Qu\ N +9 &>_Rn\ N +10 &@ Rn\ N +9 &ARq\ N +9 &Cbs\ P +10 &E]ku\ Q +9 &G}s\ T +10 &Hq\ U +9 &Ju\ T +9 &LZs\ U +10 &Nc\ V +9 &O]\ U +9 &Qb\ V +10 &S_`\ V +9 &U b\ V +10 &Va\ W +9 &X^\ V +9 &Zgi\ V +10 &\\(d\ W +9 &]h\ 3 +9 &^1m]\ F +9 ( +2 &^ j\ 3 +2 "processing"%"& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&)% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +89 "core" ' +3 "processing"%;& +4 "core" &^ v\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"& % +3 "core" %    +2 "storage"(0% +4 "core" %   J\  + "storage"(=. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +4 "core" &,z   \ + "manipulator"&9& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(>'r +2 "manipulator"&N( +5 "core" ( +2 "manipulator"&\ & +4 "core" & = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & +2 .tForearm.seek PC +2 "manipulator"& ' +93 "core" ' +2 .tHand.close + "manipulator"&k/ +52 "core" / +2 .tPC.seek :open + "processing"%*( +99 "core" ' +2 "storage"($- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(@'1 +47 "core" ' +296 ( +2 "storage"(A& +4 "core" &,f V V M\  + "manipulator"&& +4 "core" & ; + "manipulator"&F% +4 "core" %  : = +2 .tForearm.seek :retract + "manipulator"&6' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +239 "core" ( + "manipulator"&/& +4 "core" & % " +2 "storage"(B& +4 "core" &,f @ ? \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +96 "core" ' +2 .tHand.open + "manipulator"& 1 +55 "core" 1 +2 "storage"('- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(R' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(5' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(I- +3 "core" -' +2 "storage"(S& +4 "core" &,f Q \ \\ + "manipulator"&,& +4 "core" & # " +2 .tElbow.seek 4 + "manipulator"&:( +4 "core" ( + "manipulator"&J& +4 "core" & D " + "storage"(?& +4 "core" &,f s ;\ q +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +3 "core" ' +2 .tSE.reconfigure :gently +52 "storage"(#QK-0-\ b +5 .tSE.seek -0.51 Pucks below Top Plate + "storage"(8'" +58 "core" ' + "manipulator"&U& +4 "core" & + " +2 "storage"(H& +4 "core" &,f 0 3 K\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&D'7 +24 "core" ' +2 .tElbow.hold +4 "manipulator"&P, +8 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +5 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(\\' +28 "core" ' +2 "manipulator"&M% +4 "core" %# +2 "storage"([& +3 "core" &,f 2 3 X\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 280 counts + "manipulator"&4'O +16 "core" ' + "manipulator"&^& +5 "core" & 0 " + "storage"(<& +5 "core" &,f T T 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&C' +18 "core" ' +2 "storage"(G% +4 "core" % V W N\ +2 ."downElevator"SE.seek :down +3 "storage"(#' +99 (T% +3 "core" %Y< & 1 l\ V` +2 "manipulator"&_% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (`& +5 "core" &,f > ! E\  + "collection"'c& +4 "core" &\\h  U\ R +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&V% +4 "core" %  '  + "storage"(d% +4 "core" % S J 0\  + "storage"(1. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(n(,y +45 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,}   \ +2 "manipulator"&b& +4 "core" & " + .tElbow.seek 4 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&W& +3 "core" & 6 " +2 "storage"(Z& +4 "core" &,} T T \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +101 "core" ' + "storage"(i& +4 "core" &,} x v A\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'r +297 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&o& +2 "core" & 9 " +2 "storage"(a& +3 "core" &,h 4 3 k\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&u'7 +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(q- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(' +32 "core" ' + "manipulator"&Q% +4 "core" % +2 "storage"(f& +3 "core" &,h   ,\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 273 counts + "manipulator"&z'H +13 "core" ' +2 "manipulator"&L& +4 "core" & 6 " + "storage"(y& +4 "core" &,h 3 3 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +20 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(p' +36 "core" ' +2 "manipulator"&& +4 "core" & " +2 "manipulator"&% +4 "core" % 2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t(ӂ +156 "core" ( + "manipulator"&& +4 "core" &ӏ# K <@ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +4 "core" &ӏ# <@ +2 .tForearm.seek CC + "manipulator"&|'? +94 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'&( +446 "core" ( +2 "storage"(!& +4 "core" &,h \ +2 "storage"(& +3 "core" &,h \ +2 "manipulator"&Y& +3 "core" &Ӛ" ;5 +2 "manipulator"&{% +3 "core" % F ? X +2 .tForearm.seek :retract +2 "manipulator"&m' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +168 "core" ( +2 "manipulator"&h& +4 "core" &   + "storage"(& +4 "core" &,h \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'7 +92 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&(% +4 "core" % ; . I +2 "storage"(& +3 "core" &,h \ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 304 counts +2 "manipulator"&'g +13 "core" ' + "manipulator"&e& +4 "core" & !  +2 "storage"(& +3 "core" &,h `\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +15 "core" ' + "storage"(% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(.' +98 (%% +2 "core" %8 \ U\\ +2 "manipulator"&% +4 "core" % u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+' +90 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &  \ +2 "manipulator"&7% +3 "core" %  s  +2 "storage"(% +4 "core" % \  + "storage"(}. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(r( +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & \ + "manipulator"&)& +4 "core" & r  +2 .tElbow.seek 3 +2 "manipulator"&;( +11 "core" ( +2 "manipulator"& & +4 "core" &  y + "storage"(0& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&='7 +95 "core" ' +2 "storage"("& +4 "core" & f\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +25 "core" ' y\  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.68 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagib: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiy : voltagef12.878776632302406t: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"7/home/esp/esp2/lib/log.rb:412:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'": @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: voltagef12.903322533136967 U: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'":/home/esp/esp2/utils/puckmoves.rb:158:in `retryRaise'")/home/esp/esp2/lib/msg.rb:81:in `[]'",/home/esp/esp2/lib/msg.rb:81:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"7/home/esp/esp2/lib/log.rb:412:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" access 1 +2 "storage"(-% +3 "core" % \  +2 "manipulator"&3% +4 "core" %  V  +2 "manipulator"& & +3 "core" & e y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(>(<- +668 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +2 "core" &<, N\ +510 #t-> exit +7 #mEXIT @1633180017.47UTC @1633349721.20UTC = =tMAIN =mMAIN_scheduler @UTC1633349723.02 #"core_reset"Sent BREAK +2 #t@31068 receive with ifg=0x10, ie=0xFD + #@31749 receive with ifg=0x10, ie=0xFD + #@32383 receive with ifg=0x10, ie=0xFD + #@33040 receive with ifg=0x10, ie=0xFD #@33674 receive with ifg=0x10, ie=0xFD + #@34308 receive with ifg=0x10, ie=0xFD #@34941 receive with ifg=0x10, ie=0xFD + #@35268 receive with ifg=0x80, ie=0xFD + #@27399 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +288 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +375 "Can" \ 42 +  \ 42 + #tPolling Can every 10:00 +524 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %k Y\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" % \  + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ڥ |\ +2 .tSS.configure :default +2 "sampler")#.0X access 2 +3 "storage"(1% +3 "core" % }\  +2 "manipulator"&2% +4 "core" %   + "manipulator"&3& +4 "core" &  y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(4(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +2 "core" &K \ +2938 #t-> require 'shuffle.rb' +1202 #-> 1.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'6& +3 "core" & }\ +2 .tHand.open + "manipulator"&71 +27 "core" 1 +2 "manipulator"&8% +4 "core" %    + "storage"(9% +4 "core" % @\  + "storage"(:. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(;(  +1311 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +2 "core" &  \ +2 "manipulator"&=& +4 "core" & u y + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&>( +57 "core" ( + "manipulator"&?& +4 "core" &   +2 "storage"(@& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&A'S +93 "core" ' +2 "storage"(B& +4 "core" &  _\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'r +25 "core" ' e \  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.66 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiH: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressie :deltaPressi : voltagef12.854230731467846: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):4:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" 1.times {shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'K& +3 "core" & z\ +2 "manipulator"&L% +4 "core" %   +2 "storage"(M% +40 "core" % \  +8 "storage"(N. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(O( +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (P& +3 "core" & \  + "manipulator"&Q& +4 "core" & @  +2 .tElbow.seek 3 + "manipulator"&R( +15 "core" ( + "manipulator"&S& +5 "core" &}  n + "storage"(T& +4 "core" & w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&U'7 +92 "core" ' + "storage"(V& +5 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(W'r +296 "core" ' + "storage"(X- +4 "core" -'+ + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Y& +2 "core" & \  +2 "manipulator"&Z& +3 "core" &} V n +2 .tElbow.seek 3 +2 "manipulator"&[( +3 "core" ( + "manipulator"&\\& +4 "core" &} n +2 "storage"(]& +3 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&^'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(a' +7 "core" &} 8 n + "manipulator"&b% +4 "core" % ϲ  P +2 .tForearm.seek :retract +2 "manipulator"&c' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d(ӂ +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&e& +5 "core" &Ӑ% ( =C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &ӑ$ 4 =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'? +94 "core" ' + "manipulator"&h& +4 "core" &ӑ% f =B +2 "manipulator"&i% +4 "core" %6 ) + "collection"'j& +4 "core" & \ +3 "collection"'k& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'l(\\ +3 "core" & y\ +9 &; x\ %f +9 &W| t\ 8 +9 &z y\ L +10 &V y\ M +9 &W u\ M +10 &@W v\ M +9 &W o\ M +9 &X l\ M +10 &W m\ M +9 &IW f\ M +9 & W h\ M +10 &!W j\ M +9 &#Y j\ M +10 &%SV k\ L +9 &'V g\ M +9 &(V ]\ M +10 &*V d\ L +9 &,ZW d\ M +9 &.U Z\ M +10 &/U \\\ M +9 &1V _\ M +10 &3bW W\ M +9 &5$Y ^\ M +9 &6W `\ M +10 &8W b\ L +9 &:iW _\ M +9 &<,X `\ M +10 &=W ]\ M +9 &?[ [\ M +10 &AqY [\ M +9 &C2_ ^\ M +9 &Di U\ O +10 &Fx R\ P +9 &Hf Q\ T +9 &J Z\ W +10 &K c\ Y +9 &M `\ Y +9 &OZ Z\ Z +10 &Q R\ Z +9 &R J\ [\ +10 &T [\ \\ +9 &VZ M\ ] +9 &X R\ \\ +10 &Y T\ ] +9 &[ V\ J +9 &\\3 X\ 2 +10 &\\h T\ N +2 ( +2 "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open + "manipulator"&m1 +59 "core" 1 +2 "manipulator"&n% +4 "core" % 6 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o' +89 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%p& +5 "core" &,\ + "manipulator"&q% +4 "core" %  P  + "storage"(r% +4 "core" % M L \  + "storage"(s. +3 "core" .( +2 "storage"(t& +3 "core" & E K Q\  +2 "storage"(u& +3 "core" & M L >\  +2 "manipulator"&v& +3 "core" &ӑ% =B +2 "manipulator"&w% +4 "core" %  )  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x( +165 "core" ( + "manipulator"&y& +4 "core" &{ G  +2 "storage"(z& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&{'7 +92 "core" ' + "storage"(|& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(}'r +299 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" & d `\  + "manipulator"&& +4 "core" &{ b  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &{  9  + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & + "storage"( ' +9 "core" &{ a  + "manipulator"& % +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&& +4 "core" & b  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&& +5 "core" &  +2 "manipulator"&% +3 "core" % <  +2 "processing"%& +4 "core" &-\ +2 "processing"%& +4 "core" &+\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &+\ +7 & *,\ $c +10 &Ss"\ 6 +9 &|x"\ K +10 &P*\ O +9 &RO \ O +9 &M\ N +10 &P"\ N +9 &O\ O +9 &ZR\ O +10 &T\ N +9 &T\ O +9 &!Q\ N +10 &#cP\ N +9 &%%O\ N +10 &&O\ O +9 &(N\ N +9 &*kP\ N +10 &,,O\ O +9 &-O \ O +10 &/P\ O +9 &1qR\ O +9 &35P\ N +10 &4Q\ N +9 &6P\ O +9 &8zO\ O +10 &:<N \ O +9 &;R \ N +10 &=R\ N +9 &?S\ O +9 &ABW\ O +10 &Bk\ R +9 &Du\ S +9 &Fw\ U +10 &H7\ V +9 &I\ U +9 &K\ V +10 &M|\ V +9 &O;\ W +10 &P\ X +9 &R\ W +9 &T\ X +10 &VC\ W +9 &X \ W +9 &Y\ W +10 &[\ W +9 &]J\ K +10 &^R\ $o +9 &^\ , +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 "processing"%& +4 "core" &^\ , + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %   \ +2 "storage"(% +4 "core" % ? C B\  +2 "storage"( . +3 "core" .( + "storage"(!& +4 "core" & E D\  +2 "storage"("& + "manipulator"&#& +7 "core" & C D\  + &  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&$( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(%'r +2 "core" ( +2 "manipulator"&&& +3 "core" & n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &  +2 .tForearm.seek PC +2 "manipulator"&(' +92 "core" ' +2 .tHand.close + "manipulator"&)/ +63 "core" / +2 .tPC.seek :open +2 "processing"%*( +96 "core" ' + "storage"(+- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'1 +46 "core" ' +302 ( +2 "storage"(-& +4 "core" & v {\  + "manipulator"&.& +4 "core" &  + "manipulator"&/% +4 "core" %   ! +2 .tForearm.seek :retract + "manipulator"&0' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&1( +239 "core" ( + "manipulator"&2& +4 "core" & 6 +2 "storage"(3& +3 "core" & T _ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&5'7 +93 "core" ' + .tHand.open +2 "manipulator"&61 +61 "core" 1 +2 "storage"(7- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(8' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(9' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(:- +3 "core" -' +2 "storage"(4& +3 "core" & j k \ k +2 "manipulator"&<& +4 "core" &  6 + .tElbow.seek 3 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&?& +4 "core" &  9 6 + "storage"(@& +4 "core" & i i \ k +2 .tForearm.seek 3 + 450 counts + "manipulator"&B'7 +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(C'" +50 "core" ' +2 "manipulator"&D& +4 "core" & ^ 6 +2 "storage"(E& +3 "core" & J < \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +22 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(G' +20 "core" ' +2 "manipulator"&% +4 "core" %~ x +2 "storage"(I& +4 "core" & 7 9 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&H'Ϫ +13 "core" ' +2 "manipulator"&A& +5 "core" & % 6 + "storage"(K& +4 "core" & e Y N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&L'7 +15 "core" ' +2 "storage"(M% +4 "core" % t .\ +2 ."downElevator"SE.seek :down +4 "storage"(N' +98 (;% +3 "core" %D A H\ Wc +2 "manipulator"&P% +4 "core" %$ A +42 .tForearm.reconfigure :loose +11 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +91 "core" ' +14 ' + ."downElevator"SE.stop + "storage"(5 +3 (S& +4 "core" & T > \  + "collection"'T& +4 "core" &\\g \ N +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&V% +5 "core" %  J  + "storage"(>% +4 "core" % f e _\  + "storage"(J. +3 "core" .( +2 "storage"(X& +4 "core" & e c U\  + "storage"(Y& +4 "core" & f f `\  + "manipulator"&Z& +4 "core" & 6 +2 .tElbow.seek 3 + "manipulator"&\\( +4 "core" ( + "manipulator"&]& +4 "core" & 6 + "storage"(_& +4 "core" & f d ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&`'7 +95 "core" ' +2 "storage"(b& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'r +304 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +3 "core" & " 6 + "storage"(f& +4 "core" & P U X\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&W'u +19 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(h- +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(i' +32 "core" ' +2 "manipulator"&j% +4 "core" %u q ' + "storage"([& +4 "core" & F T >\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&a'ϡ +14 "core" ' + "manipulator"&c& +5 "core" & Y 6 + "storage"(\ & +4 "core" & f f W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&m'7 +18 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(n' +40 "core" ' + "manipulator"&p& +5 "core" & D 6 + "manipulator"&q% +4 "core" %%  3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s(ӂ +154 "core" ( +2 "manipulator"&t& +8 "core" &Ӎ"   ;8 +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &u& +8 "core" &Ӎ"  ;8 +2 .tForearm.seek CC + "manipulator"&v'? +95 "core" ' + .tHand.close +2 "manipulator"&k/ +55 "core" / + .tCC.seek :open +2 "collection"'w( +446 "core" ( + "storage"(g& +5 "core" & i\  + "storage"(y& +4 "core" & \  + "manipulator"&z& +4 "core" &Ӎ" ;8 + "manipulator"&|% +4 "core" % 3 b 4 +2 .tForearm.seek :retract + "manipulator"&d' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&o( +165 "core" ( +2 "manipulator"&~& +4 "core" &  + "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'u +97 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&% +5 "core" % y ;  + "storage"( & +4 "core" & l\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"& 'ϥ +14 "core" ' +2 "manipulator"&x& +4 "core" & /  +2 "storage"({& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&}'7 +17 "core" ' +2 "storage"(% +4 "core" % N\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +3 "core" %; \ U^ + "manipulator"&% +5 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & 8\ +2 "manipulator"&% +4 "core" %  $  + "storage"( % +4 "core" % \  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (,y +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,w \  +2 "manipulator"&& +3 "core" & (  +2 .tElbow.seek 4 +2 "manipulator"&( +27 "core" ( + "manipulator"&& +4 "core" & %  +2 "storage"(& +4 "core" &,w N\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +92 "core" ' + "storage"(!& +5 "core" &,w =\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"("- +4 "core" -'/ + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +3 "core" &,h k\  + "manipulator"&&& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&'( +23 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"()& +3 "core" &,h \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&+'c +39 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" & >  +2 "manipulator"&%% +4 "core" % ^ +2 .tForearm.seek :retract + "manipulator"&-' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&/& +4 "core" &ӓ" k ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &ӓ" : ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'? +93 "core" ' +2 "manipulator"&3& +4 "core" &ӓ" ;3 +2 "manipulator"&$% +4 "core" %6 H + "collection"'6& +4 "core" & _\ +2 "collection"'7& +5 "core" & ?\ +2 .tCC.seek :closed +2 "collection"':(\\ +4 "core" & \\\  +9 &3x ]\ *y +9 &d} ]\ > +10 &q [\ M +9 &LU Z\ L +9 &S ^\ L +10 &W _\ L +9 &R _\ M +10 &TR `\ L +9 &V \\\ L +9 &W _\ M +10 & U [\ M +9 &"\\S T\ L +9 &$S N\ L +10 &%U H\ L +9 &'X N\ L +10 &)dS H\ L +9 &+&U J\ L +9 &,X K\ L +10 &.W O\ M +9 &0kW K\ M +9 &2-W K\ M +10 &3T L\ L +9 &5S H\ L +9 &7tU F\ L +10 &95T F\ M +9 &:T E\ L +10 &<U G\ L +9 &>{U G\ M +9 &@=T D\ M +10 &A\\ D\ M +9 &Cb 9\ N +9 &E|m 5\ O +10 &G7 5\ Q +9 &H 8\ U +10 &J E\ Y +9 &Lh <\ Y +9 &N' 5\ Z +10 &O ;\ Z +9 &Q 8\ [ +9 &Sj >\ [ +10 &U' :\ \\ +9 &V G\ ] +10 &X K\ ] +9 &Zj H\ ] +9 &\\{ :\ 6 +10 &\\( @\ "g +8 ( +4 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + .Hand.open + "manipulator"&41 +4 "core" &\\ F\ \\ +60 1 + "manipulator"&<% +4 "core" % 6  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%@& +4 "core" &\ +2 "manipulator"&0% +3 "core" %   " +2 "storage"(D% +3 "core" %  \  +2 "storage"(E. +3 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (I& +3 "core" &,| 1 ( =\ +2 "manipulator"&,& +3 "core" &Ӕ" > ;2 +2 "manipulator"&A% +3 "core" %   " +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&K( +163 "core" ( +2 "manipulator"&8& +4 "core" &   +2 "storage"(M& +3 "core" &,| K K .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +98 "core" ' + "storage"(5& +5 "core" &,| [ a\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'r +295 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" &,i ( - \  +2 "manipulator"&B& +3 "core" & E  +2 .tElbow.seek 4 + "manipulator"&=( +3 "core" ( +2 "manipulator"&C& +3 "core" &  +2 "storage"(& +3 "core" &,i + 1 %\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&S'c +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&H/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(V' +7 "core" & 2  + "manipulator"&>% +4 "core" % π  +2 .tForearm.seek :retract +2 "manipulator"&J' +87 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +70 "core" ( + "manipulator"&X& +4 "core" & [ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" & : 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z' +95 "core" ' +2 "manipulator"&]& +4 "core" & e 8 +2 "manipulator"&_% +3 "core" % ! +2 "processing"%b& +4 "core" &\ +2 "processing"%L& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%N(^ +4 "core" &\  +9 &3w"\ *y +9 &e}\ ? +10 &m\ O +9 &CP\ N +9 &Q\ N +48 &L\ N +12 &P\ O + &JQ\ N & S\ N + &S\ N + & Q\ N +3 &"QR\ O +9 &$Q\ O +10 &%O\ O +9 &'P\ O +9 &)[N\ N +10 &+S\ N +9 &,R\ N +9 &.R \ N +10 &0aT\ \ O +9 &2$O\ N +10 &3P\ N +9 &5R \ O +9 &7iQ\ O +10 &9,O \ N +9 &:R\ N +9 &<O\ \ N +10 &>rR\ N +9 &@3Q\ O +10 &AV \ O +9 &Cg\ \ Q +9 &Eol\ R +10 &G,z\ T +9 &H\ U +9 &J\ U +10 &Lm\ U +9 &N+\ W +10 &O\ V +9 &Q\ W +9 &Sp\ W +10 &U2\ W +9 &V\ W +9 &X\ W +10 &Zx\ W +9 &\\<\ V +10 &]{r\ < +9 &^'p\ U +9 &^5\ 8 +3 ( + "processing"%L& +4 #tProcessing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.68 + .Hand.open + "manipulator"&F1 +62 "core" 1 +2 "manipulator"&Q% +4 "core" %  5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U' +91 "core" ' +2 "processing"%e& +4 "core" &^3\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&f% +4 "core" %  p  + "storage"(h% +4 "core" % ) ) '\  + "storage"(j. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"([(,y +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +4 "core" &,{ +\ + "manipulator"&\ & +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & \ M 8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&p( + "storage"(q'r +26 "core" ( +2 "manipulator"&`& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &   +2 .tForearm.seek PC +2 "manipulator"&R' +94 "core" ' + .tHand.close +2 "manipulator"&W/ +52 "core" / +2 .tPC.seek :open +2 "processing"%a( +76 "core" ' +2 "storage"(i- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'1 +39 "core" ' +331 ( + "storage"(u& +4 "core" &,g G Y X\  +2 "manipulator"&m& +3 "core" & N +2 "manipulator"&^% +4 "core" %  8 % + .tForearm.seek :retract +2 "manipulator"&k' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&r( +238 "core" ( +2 "manipulator"&l& +4 "core" & I 3 + "storage"(g& +4 "core" &,g E E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&y' +97 "core" ' + .tHand.open +2 "manipulator"&z1 +59 "core" 1 +2 "storage"(|- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(~' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(v- +3 "core" -' +2 "storage"(s& +4 "core" &,g > (\ \\ + "manipulator"&& +4 "core" &  3 +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" &    3 + "storage"(x& +4 "core" &,g T S \ f +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +29 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&d& +5 "core" & 7 3 + "storage"(& +4 "core" &,g * * N\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +19 "core" ' +2 .tElbow.hold + "manipulator"&o, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' + "manipulator"&% +5 "core" %G \ + "storage"(& +4 "core" &,g ' ' \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"& 's +14 "core" ' + "manipulator"& & +5 "core" &  2 + "storage"(& +4 "core" &,g > C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +16 "core" ' + "storage"(}% +4 "core" % K @ "\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (O% +3 "core" %q; ' '\ V_ +2 "manipulator"&% +4 "core" % / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,g 1 ' 8\  + "collection"'& +4 "core" &\\ \ \\ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&!% +4 "core" %  <  +2 "storage"(% +3 "core" % K K S\  +2 "storage"(. +3 "core" .(,y + "storage"("& +4 "core" &,g H J .\  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(#(,y +35 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (&& +3 "core" &,{ ( ( 0\ +2 "manipulator"&& +4 "core" & 2 + .tElbow.seek 4 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&& +4 "core" & K 2 + "storage"(& +4 "core" &,{ L K K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&%' +92 "core" ' +2 "storage"(& +4 "core" &,{ G J B\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +2 "core" & 5 2 +2 "storage"(& +4 "core" &,h ' * 0\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&+'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"($- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(6' +30 "core" ' +2 "manipulator"&'% +4 "core" %H N + "storage"(& +4 "core" &,h < G i\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&-'t +13 "core" ' + "manipulator"&w& +4 "core" &  2 +2 "storage"(4& +3 "core" &,h Y P <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +18 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(@' +44 "core" ' +2 "manipulator"&0& +4 "core" & 2 + "manipulator"&D% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7(ӂ +163 "core" ( + "manipulator"&I& +5 "core" &ӌ 4 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +2 "core" &ӌ 4 +3 .tForearm.seek CC + "manipulator"&A'? +96 "core" ' + .tHand.close +2 "manipulator"&2/ +55 "core" / +2 .tCC.seek :open + "collection"'8( +450 "core" ( + "storage"(M& +4 "core" &,h $\  + "storage"( & +4 "core" &,h \  + "manipulator"&5& +5 "core" &ӌ  4 + "manipulator"&.% +4 "core" % 8  - +2 .tForearm.seek :retract + "manipulator"&?' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&;( +166 "core" ( + "manipulator"&P& +4 "core" & O  +2 "storage"(B& +4 "core" &,h v\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&C'7 +98 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&H1 +62 "core" 1 +2 "manipulator"&T% +4 "core" % ?  +2 "storage"(>& +3 "core" &,h #\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts +2 "manipulator"&K'k +13 "core" ' + "manipulator"&1& +4 "core" &  q  +2 "storage"(9& +3 "core" &,h ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +18 "core" ' +2 "storage"(X% +4 "core" % ?\ +2 ."downElevator"SE.seek :down +3 "storage"(Y' +99 (=% +3 "core" %7 \ TZ +2 "manipulator"&]% +3 "core" % Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +671 #t-> access 2 +2 "storage"(b% +3 "core" % 2\  +2 "manipulator"&V% +4 "core" %  3  + "manipulator"&J& +4 "core" & 8  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(*(K +665 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +2 "core" &K R\  +1305 #t-> access 3 +3 "storage"(Q% +3 "core" % \  + "manipulator"&e% +4 "core" %     +2 "manipulator"&f& +3 "core" &  e  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(h([ +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +3 "core" &[ B\ +886 #t-> access 5 +3 "storage"(L% +3 "core" % \  + "manipulator"&c% +4 "core" %   +2 "manipulator"&\ & +3 "core" & !  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(`(  +1635 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "core" &  \  +913 #t-> access 6 +2 "storage"(Z% +3 "core" % \  +2 "manipulator"&W% +4 "core" %   y  + "manipulator"&& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(i( +348 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +2 (G& +3 "core" & 3\ \ +1268 #t-> 1.times {shuffle 5..6} +2 #Shuffling pucks in tube 5 of [5..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'U& +4 "core" & S\ + "manipulator"&N% +4 "core" %   +2 "storage"(q% +4 "core" % \  + "storage"(u. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(m(<- +678 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +3 "core" &<1  ~ ^\  + "manipulator"&R& +4 "core" & ;  +2 .tElbow.seek 5 + "manipulator"&l( +4 "core" ( + "manipulator"&g& +4 "core" & y  + "storage"(p& +4 "core" &<1 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&z'O +92 "core" ' +2 "storage"(|& +4 "core" &<1 "\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'r +293 "core" ' + "storage"(s- +4 "core" -'> + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<. \  + "manipulator"& & +4 "core" & a  + .tElbow.seek 5 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&k& +3 "core" & 9  +2 "storage"(d& +3 "core" &<. \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +3 "storage"(' +6 "core" & 8  + "manipulator"& % +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&~' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&}& +4 "core" &Ӎ& ?T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &Ӎ& > ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&y'? +92 "core" ' +2 "manipulator"&& +4 "core" &Ӎ& 8 ?T + "manipulator"&O% +4 "core" %I # m +2 "collection"'& +4 "core" & O\ +2 "collection"'{& +4 "core" & W\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & w\  +9 &3x u\ *z +9 &d| u\ > +9 &p u\ M +10 &HT o\ M +9 &\ U o\ M +10 &Y t\ L +9 &S p\ M +9 &QV t\ L +10 &Y u\ M +9 &W w\ L +9 & R r\ L +10 &"YT v\ L +9 &$W n\ M +9 &%W s\ M +10 &'U s\ M +9 &)aR t\ L +10 &+"T m\ M +9 &,V s\ M +9 &.R n\ L +10 &0hS q\ M +9 &2+W o\ L +9 &3X m\ M +10 &5V i\ L +9 &7qU n\ L +10 &92Y n\ M +9 &:V l\ M +9 &<R p\ L +10 &>xT o\ M +9 &@;X q\ L +9 &A\\ h\ M +10 &Ch j\ N +9 &Etx f\ Q +10 &G- p\ T +9 &H r\ W +9 &J z\ Y +10 &Le w\ Y +9 &N% t\ Y +10 &O }\ Z +9 &Q ~\ Z +9 &Se y\ [ +10 &U& u\ \\ +9 &V s\ \\ +9 &X s\ ] +10 &Zg w\ ] +9 &\\\ z u\ 9 +9 &\\& p\ )z +10 &\\ p\ _ +2 ( +2 "collection"'{& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % I  e m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &I\ +2 "manipulator"&% +3 "core" %  G  +2 "storage"(!% +4 "core" % ' '\  + "storage"(. +3 "core" .(<1 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +2 "core" &  + "storage"(& +4 "core" & +10 &mn-\ N +9 &.N)\ N +9 &M#\ N +10 &L*\ N +9 &tQ,\ N +9 &5O-\ O +10 &Q-\ N +9 &O,\ N +9 & |Q-\ N +10 &"?M,\ N +9 &#Q+\ O +10 &%O(\ O +9 &'P$\ O +9 &)FQ(\ N +10 &+R-\ N +9 &,S#\ N +9 &.Q'\ N +10 &0MT#\ O +9 &2R \ N +10 &3O\ N +9 &5R\ O +9 &7VR\ N +10 &9T\ N +9 &:R\ O +9 &<O\ N +10 &>]U\ O +9 &@Q\ O +10 &A]\ P +9 &Co\ R +9 &ES\ U +10 &G\ U +9 &H\ V +10 &J\ V +9 &LX\ V +9 &N\ V +10 &O\ V +9 &Q\ W +9 &S\\\ W +10 &U\ W +9 &V\ W +9 &X\ W +10 &Ze\ W +9 &\\&\ W +10 &]y\ : +9 &^1\ T +9 &^%\ 2 +3 ( + "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 +2 .Hand.open + "manipulator"&<1 +53 "core" 1 +2 "manipulator"&3% +4 "core" %  o t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +89 "core" ' +2 "processing"%E& +4 "core" &^ <\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&:% +4 "core" %    + "storage"(M% +4 "core" % ' '\  + "storage"( . +3 "core" .(<- + "storage"(5& +4 "core" &/ +57 "core" / +2 .tPC.seek :open + "processing"%1( +103 "core" ' +2 "storage"(9- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(X'1 +45 "core" ' +296 ( + "storage"(?& +4 "core" &<, c c "\  +2 "manipulator"&=& +4 "core" & + * + "manipulator"&]% +4 "core" %  p 2 + .tForearm.seek :retract +2 "manipulator"&;' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&C( +245 "core" ( + "manipulator"&K& +5 "core" &  " + "storage"(@& +4 "core" &<, = ? \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&S'O +98 "core" ' + .tHand.open +2 "manipulator"&Y1 +61 "core" 1 +2 "storage"(b- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(V' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(J' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(#- +3 "core" -' +2 "storage"(F& +3 "core" &<,\ '\ * 5\ \\ +2 "manipulator"&Q& +3 "core" &  " +2 .tElbow.seek 5 +2 "manipulator"&e( +3 "core" ( + "manipulator"&f& +4 "core" &    " +2 "storage"(*& +4 "core" &<, K >\ [ +2 .tForearm.seek 5 + 450 counts + "manipulator"&j'O +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(L'" +50 "core" ' +2 "manipulator"&c& +4 "core" & T " + "storage"(\ & +5 "core" &<, < = u\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&h'΍ +30 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +46 "storage"(#QK-0-\ b +13 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Z' +28 "core" ' + "manipulator"&W% +4 "core" %· 9 +2 "storage"(& +4 "core" &<, ) ) _\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 294 counts +2 "manipulator"&`'ϳ +17 "core" ' + "manipulator"&G& +4 "core" &   +2 "storage"(U& +4 "core" &<, 8 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&N'O +26 "core" ' +2 "storage"(q% +4 "core" % D J \ +2 ."downElevator"SE.seek :down +5 "storage"(u' +99 (i% +3 "core" %t? & '\ Va +2 "manipulator"&^% +4 "core" %C T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +89 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (g& +4 "core" &<, 1 ( \  + "collection"'p& +4 "core" &\\ B\ _ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&|% +4 "core" %  y  + "storage"(% +4 "core" % L L &\  + "storage"(_. +3 "core" .(<- +2 "storage"(s& +3 "core" &<, K K R\  +2 "storage"(& +4 "core" &<, G < -\  + "manipulator"& & +4 "core" & e  + .tElbow.seek 5 +2 "manipulator"&k( +17 "core" ( + "manipulator"&d& +4 "core" &  +2 "storage"(& +4 "core" &<, 6 6 b\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +92 "core" ' + "storage"( & +4 "core" &<, b Y \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'r +296 "core" ' + "storage"(z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&}& +3 "core" & ^  + "storage"(r& +4 "core" &<, < = 1\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v'΍ +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.2 Pucks below Top Plate +2 "storage"(O' +29 "core" ' + "manipulator"&% +5 "core" %Ώ /  + "storage"(x& +4 "core" &<, 7 , D\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"&'ϻ +15 "core" ' +2 "manipulator"&~& +4 "core" &   + "storage"(8& +5 "core" &<, L J \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +18 "core" ' +2 .tSE.seek 1.2 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 "manipulator"& & +5 "core" &  + "manipulator"&% +4 "core" %S 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +162 "core" ( +2 "manipulator"&{& +4 "core" &Ӛ Z 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +3 "core" &Ӛ c 7 +2 .tForearm.seek CC + "manipulator"&'? +92 "core" ' + .tHand.close + "manipulator"&&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'y( +449 "core" ( + "storage"(& +4 "core" &<, \  +2 "storage"(& +3 "core" &<, X\  +2 "manipulator"&m& +3 "core" &Ӛ B 7 +2 "manipulator"&% +3 "core" % G 9 " +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&[& +4 "core" & v  + "storage"(o& +5 "core" &<, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&'% +4 "core" % ΅ 2  +2 "storage"(& +4 "core" &<, \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 292 counts + "manipulator"&4'ϱ +15 "core" ' +2 "manipulator"&& +5 "core" &  G  + "storage"(n& +4 "core" &<, D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +19 "core" ' +2 "storage"($% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(%' +99 ()% +3 "core" %8 w\ U] + "manipulator"&/% +5 "core" %] ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&+' +88 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'-& +4 "core" & e\ + "manipulator"&6% +4 "core" %  |  +2 "storage"(w% +3 "core" % 7\  +2 "storage"(0. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(a(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" &K \  + "manipulator"&3& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&E( +3 "core" ( + "manipulator"&:& +4 "core" & Q  +2 "storage"(M& +4 "core" &K 0\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +89 "core" ' + "storage"(5& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'r +300 "core" ' +2 "storage"(P- +4 "core" -'= + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &K \\\  + "manipulator"&7& +4 "core" & !  +2 .tElbow.seek 6 + "manipulator"&H( +3 "core" ( +2 "manipulator"& & +3 "core" & |  +2 "storage"(>& +3 "core" &K `\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&9'h +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&D/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"(,' +7 "core" &   +2 "manipulator"&A% +4 "core" % c  + .tForearm.seek :retract +2 "manipulator"&?' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&=(ӂ +158 "core" ( +2 "manipulator"&]& +4 "core" ' + &ӈ& x ?U + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&T& +5 "core" &Ӊ& 3 ?T + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'? +100 "core" ' + "manipulator"&@& +5 "core" &Ӊ& K ?T + "manipulator"&B% +4 "core" %< ! / +2 "collection"'Y& +4 "core" & @\ +2 "collection"'b& +4 "core" & C\ +2 .tCC.seek :closed +2 "collection"'#(\\ +4 "core" & k\  +8 &2x o\ *x +10 &b} a\ = +9 &qp g\ M +9 &5Q _\ L +10 &T \\\ L +9 &R h\ L +10 &{T `\ L +9 &>Q c\ L +9 &U c\ L +10 &V g\ L +9 & U c\ L +10 &"ET b\ L +9 &$U b\ L +9 &%U b\ L +10 &'T b\ L +9 &)LU b\ M +9 &+U `\ L +10 &,U \\\ M +9 &.T i\ L +9 &0TU f\ M +10 &2T `\ L +9 &3W ]\ L +10 &5U c\ L +9 &7]W c\ L +9 &9W c\ L +10 &:U b\ L +9 &<S e\ L +9 &>eX b\ L +10 &@'U ^\ L +9 &AT \\\ M +10 &C_ i\ M +9 &Efj b\ O +9 &G"z m\ Q +10 &H r\ T +9 &J b\ X +9 &LP c\ Y +10 &N k\ Y +9 &O j\ Z +10 &Q n\ Y +9 &SS o\ [ +9 &U n\ [\ +10 &V d\ \\ +9 &X f\ ] +9 &ZU `\ ] +10 &[z _\ ? +9 &\\) c\ + +10 &\\n f\ T +2 ( +2 "collection"'b& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&F1 +53 "core" 1 +2 "manipulator"&Q% +4 "core" % < + / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%*& +4 "core" &,\ +2 "manipulator"&;% +3 "core" %   +2 "storage"(c% +3 "core" % & : 0\  +2 "storage"(\ . +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(X(K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" &K   ]\  + "manipulator"&W& +4 "core" &ӊ& C ?S + "manipulator"&% +4 "core" %  ^  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&G( +167 "core" ( +2 "manipulator"&U& +4 "core" & !  + "storage"(C& +4 "core" &K d c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&S' +94 "core" ' + "storage"(q& +4 "core" &K w\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(J'r +298 "core" ' +3 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" &K K C 4\  +2 "manipulator"&^& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&e( +3 "core" ( + "manipulator"&L& +4 "core" &  +2 "storage"(h& +3 "core" &K W U \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&`'h +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&g/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"(|' +7 "core" & S  +2 "manipulator"&% +4 "core" % b % + .tForearm.seek :retract +2 "manipulator"&_' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&s& +5 "core" & c : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & + : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +101 "core" ' +2 "manipulator"&d& +4 "core" & : + "manipulator"&% +5 "core" %\  ; + "processing"%N& +4 "core" &*\ +3 "processing"% & +5 "core" &+\ +2 .tPC.seek :closed +2 "processing"%u(^ +4 "core" &+\  +9 &/s*\ *y +9 &c|-\ > +9 &mm-\ O +10 &1N#\ N +9 &Q+\ N +10 &O&\ N +9 &uQ,\ N +9 &7P$\ N +10 &P,\ N +9 &Q,\ O +9 & ~Q$\ N +10 &"@O,\ N +11 &$Q#\ N +11 &%P!\ N +6 &'Q\ N +9 &)GQ\ N +10 &+P\ O +9 &,P\ N +9 &.P\ O +10 &0NQ\ O +9 &2R\ N +10 &3R\ N +9 &5Q\ O +9 &7WR\ N +10 &9R\ O +9 &:R\ N +9 &<N\ N +10 &>_U\ N +9 &@ U\ O +10 &A]\ P +9 &Cp\ R +9 &EW\ T +10 &G\ U +9 &H\ U +10 &J\ U +9 &L[\ U +9 &N\ V +10 &O\ V +9 &Q\ W +9 &S_\ V +10 &U \ W +9 &V\ W +9 &X\ V +10 &Zg\ W +9 &\\)\ W +10 &]~\ 8 +9 &^,u\ W +9 &^.\ 8 +3 ( + "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 +2 .Hand.open + "manipulator"&\\1 +63 "core" 1 + "manipulator"&R% +4 "core" % \  x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' +2 "processing"%}& +4 "core" &^-'\ 8 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&r% +3 "core" %   +2 "storage"(% +4 "core" %  \ }\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(x(K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (~& + "manipulator"&8& +4 "core" &K C \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & F : +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& ( + "storage"('r +4 "core" ( +2 "manipulator"&t& +5 "core" &  : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +2 "core" &  i : +3 .tForearm.seek PC + "manipulator"&l' +98 "core" ' +2 .tHand.close + "manipulator"&v/ +61 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"(O- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'1 +44 "core" ' +310 ( +2 "storage"("& +4 "core" &K ; 6 3\  + "manipulator"&& +4 "core" & 7 : + "manipulator"&% +4 "core" %  % +2 .tForearm.seek :retract + "manipulator"&&' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&!( +245 "core" ( + "manipulator"&& +4 "core" & ! 4 +2 "storage"(& +4 "core" &K A 7 }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +89 "core" ' + .tHand.open +2 "manipulator"&m1 +56 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"([' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(o' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &K h h \ k + "manipulator"&& +4 "core" &  3 +2 .tElbow.seek 6 +2 "manipulator"&'( +3 "core" ( + "manipulator"&& +5 "core" &   3 + "storage"(& +4 "core" &K [ Z \ j +2 .tForearm.seek 6 + 450 counts + "manipulator"&n' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"($'" +53 "core" ' + "manipulator"&& +4 "core" & , 3 +2 "storage"()& +4 "core" &K 5 7 b\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&/'< +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&-% +5 "core" %E J + "storage"(4& +4 "core" &K D D\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 309 counts +2 "manipulator"&6'q +15 "core" ' +2 "manipulator"&w& +4 "core" & 3 +2 "storage"(0& +4 "core" &K ` b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' +2 "storage"(% +4 "core" % c d\ +2 ."downElevator"SE.seek :down +5 "storage"(%' +99 (% +3 "core" %t? $  R\ Vb +2 "manipulator"&<% +3 "core" % * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (:& +4 "core" &K 1 & E\  +2 "collection"'M& +4 "core" &\\p g\ T + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&5% +4 "core" %    + "storage"((% +4 "core" % 8 E e\  + "storage"(+. +3 "core" .(K + "storage"(P& +5 "core" &K 8 E \  + "storage"(I& +4 "core" &K V Z `\  + "manipulator"&7& +4 "core" & T 3 + .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&>& +4 "core" & 3 +2 "storage"(D& +3 "core" &K F S ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +94 "core" ' +2 "storage"(A& +4 "core" &K f h \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'r +298 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&]& +3 "core" & 3 +2 "storage"(T& +3 "core" &K K H \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&.'< +24 "core" ' + .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(@- +3 "core" -' +2 .tSE.seek 0.2 Pucks below Top Plate + "storage"(B' +30 "core" ' + "manipulator"&H% +4 "core" %A K +2 "storage"(Y& +3 "core" &K & ( 2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&,'m +13 "core" ' + "manipulator"&?& +5 "core" & \ 3 + "storage"(y& +4 "core" &K 7 6 L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&F' +15 "core" ' +2 .tSE.seek 1.2 Pucks below Top Plate +54 "storage"(Q' +41 "core" ' + "manipulator"&*& +5 "core" & 3 + "manipulator"&;% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&\ (ӂ +151 "core" ( +2 "manipulator"&b& +5 "core" &ӏ%  >J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &ӏ% 1 >J +2 .tForearm.seek CC +2 "manipulator"&W'? +95 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'K( +446 "core" ( + "storage"(U& +4 "core" &K \  +2 "storage"(C& +3 "core" &K \  +2 "manipulator"&a& +3 "core" &ӑ% j >H +2 "manipulator"&q% +3 "core" % 1 n : +2 .tForearm.seek :retract +2 "manipulator"&=' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&f( +165 "core" ( +2 "manipulator"&j& +4 "core" & b  + "storage"(i& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&^'< +95 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&h1 +58 "core" 1 +2 "manipulator"&g% +4 "core" % 9  2 +2 "storage"(p& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 297 counts + "manipulator"&'e +13 "core" ' +2 "manipulator"&G& +5 "core" &   + "storage"(S& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&J' +15 "core" ' + "storage"(`% +4 "core" %\ 8\ +3 ."downElevator"SE.seek :down +3 "storage"(s' +99 (% +3 "core" %9 \ U] + "manipulator"&e% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +90 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +1081 #t-> access 4 +3 "storage"(% +3 "core" % .\  + "manipulator"&N% +4 "core" %  b  +2 "manipulator"&|& +3 "core" & T  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(_(C +1611 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" &F c\ +693 #t-> access 5 +2 "storage"(\\% +3 "core" % #\  +2 "manipulator"&R% +4 "core" %  R  + "manipulator"&}& +4 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(r(  +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  =\  +1019 #t-> access 7 +3 "storage"(% +3 "core" % \  + "manipulator"& % +4 "core" %   Z  +2 "manipulator"&~& +3 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(8(,y +669 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" &,v !\ +1449 #t-> 1.times {shuffle 6..7} +2 #Shuffling pucks in tube 6 of [6..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'k& +4 "core" & \ + "manipulator"& % +4 "core" %   +2 "storage"(v% +3 "core" % \ \  +2 "storage"(X. +3 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(O(K +675 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &K ]\ +2 "manipulator"&z& +3 "core" & ]  +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( + "manipulator"&& +4 "core" & f  + "storage"("& +4 "core" &K U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(& +4 "core" &K Y\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(l'r +291 "core" ' +2 "storage"(- +4 "core" -'4 + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K X\ +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&m( +3 "core" ( + "manipulator"&& +3 "core" & \  +2 "storage"(& +4 "core" &K \ +2 .tForearm.seek 6 + 300 counts + "manipulator"&'h +14 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" &  +2 "manipulator"&&% +3 "core" % b W +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&)(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&-& +5 "core" &ӂ& m ?P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &ӂ& < ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'? +98 "core" ' + "manipulator"&w& +5 "core" &ӊ% >H + "manipulator"&0% +4 "core" %4 +2 "collection"'[& +4 "core" & h\ +2 "collection"'& +5 "core" & \ +3 .tCC.seek :closed + "collection"'!(\\ +5 "core" & \ +6 &A \ %g +10 &Wu \ 7 +9 &x \ L +9 &T \ L +10 &{R \ L +9 &=W \ L +10 &W \ L +9 &W \ L +9 &U \ M +10 &DU \ M +9 & T \ L +9 &!R \ L +10 &#W \ L +9 &%LU \ M +10 &'U \ L +9 &(R \ L +9 &*W ~\ L +10 &,TU z\ M +9 &.T {\ L +9 &/Q o\ L +10 &1X o\ L +9 &3\\V p\ M +10 &5V s\ L +9 &6S p\ L +9 &8W r\ L +10 &:eX p\ L +9 &<&V t\ M +9 &=U w\ M +10 &?W q\ M +9 &AlX t\ M +10 &C-^ {\ M +9 &Dh |\ N +9 &Ft |\ P +10 &Hc {\ R +9 &J u\ W +9 &K |\ Y +10 &M |\ Y +9 &OV {\ Z +10 &Q {\ Y +9 &R w\ Z +9 &T x\ [\ +10 &VZ {\ [\ +9 &X r\ \\ +9 &Y v\ ] +10 &[ x\ J +9 &\\? w\ &u +9 &\\ u\ ^ +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&o% +4 "core" % 4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%<& +4 "core" &$\ + "manipulator"&n% +4 "core" %   + "storage"('% +4 "core" % ' '\  + "storage"($. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(/(K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &K ) ( H\ +2 "manipulator"&:& +4 "core" &ӊ% >H + "manipulator"&M% +4 "core" %  f  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&5( +85 "Can"\ OM +82 "core" ( +2 "manipulator"&(& +4 "core" &   +2 "storage"(+& +3 "core" &K J F F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +90 "core" ' + "storage"(P& +4 "core" &K Z V\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'r +299 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (>& +3 "core" &K J J -\ + "manipulator"&D& +4 "core" & 0  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&A& +4 "core" &  + "storage"(%& +4 "core" &K V U \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +74 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(]' +7 "core" & :  +2 "manipulator"&T% +3 "core" % f p +2 .tForearm.seek :retract +2 "manipulator"&@' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&H( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +2 "manipulator"&Y& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&y' +98 "core" ' +2 "manipulator"&*& +4 "core" & V  +2 "manipulator"&;% +4 "core" % 9  + "processing"%2& +4 "core" &F\ +2 "processing"% & +5 "core" &@\ +2 .tPC.seek :closed + "processing"%E(^ +4 "core" &!\ \ +9 &0u-\ *x +10 &c|)\ > +9 &ln'\ O +10 &.P*\ N +9 &Q.\ N +9 &O(\ N +10 &uQ/\ N +9 &6Q/\ N +9 &Q&\ O +10 &Q-\ N +9 & |N.\ N +10 &"?Q+\ N +9 &#Q#\ O +9 &%O,\ N +10 &'Q-\ N +9 &)FM+\ N +9 &+R+\ N +10 &,Q#\ O +9 &.P\ N +10 &0MO$\ O +9 &2O#\ O +9 &3R)\ O +10 &5Q#\ N +9 &7VO!\ N +9 &9O(\ N +10 &:O\ N +9 &<N\ N +10 &>]Q\ O +9 &@Q\ O +9 &A_\ P +10 &Cm\ R +9 &EU\ T +9 &G\ U +10 &H\ U +9 &J\ U +10 &LY\ U +9 &N\ W +9 &O \ V +10 &Q \ W +9 &S] \ W +9 &U\ W +10 &V\ V +9 &X\ X +10 &Ze\ W +9 &\\'\ W +9 &]\ 6 +10 &^-u\ Y +9 &^6\ < +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 +2 .Hand.open + "manipulator"&.1 +62 "core" 1 +2 "manipulator"&,% +4 "core" %   !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +93 "core" ' + "processing"%b& +4 "core" &^>0\ < +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&V% +4 "core" %  + \ +2 "storage"(F% +3 "core" % \  b\  +2 "storage"(9. +3 "core" .(K + "storage"(& +4 "core" &K   \ +2 "storage"(c& +2 "manipulator"&#& +6 "core" &K  n\ +2 & \  B  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&U( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(C'r +3 "core" ( + "manipulator"&a& +4 "core" & O  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +2 "core" & N  +2 .tForearm.seek PC +2 "manipulator"&j' +98 "core" ' + .tHand.close +2 "manipulator"&i/ +59 "core" / +3 .tPC.seek :open + "processing"%W( +93 "core" ' + "storage"(\ - +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(h'1 +40 "core" ' +311 ( +2 "storage"(g& +4 "core" &K 6 = e\ + "manipulator"&p& +4 "core" &   + "manipulator"&G% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&S' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&`( +241 "core" ( + "manipulator"&=& +4 "core" & \\ + +2 "storage"(& +4 "core" &K & & P\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&e' +106 "core" ' + .tHand.open +2 "manipulator"&f1 +61 "core" 1 +2 "storage"(^- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Q' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +4 "core" -' + "storage"(s& +4 "core" &K E H C\ h +2 "manipulator"&& +4 "core" &  G + + .tElbow.seek 6 +2 "manipulator"&N( +3 "core" ( +2 "manipulator"&|& +4 "core" &    + + "storage"(x& +4 "core" &K h h M\ k +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&1' +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(\\'" +58 "core" ' +2 "manipulator"&R& +4 "core" & * + "storage"(}& +5 "core" &K D D\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&_'< +24 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' + "manipulator"& % +5 "core" %6  + "storage"(~& +4 "core" &K #  J\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 294 counts +2 "manipulator"&r'b +15 "core" ' +2 "manipulator"&t& +4 "core" & X * +2 "storage"(k& +4 "core" &K ; 8 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 "storage"(v% +4 "core" % C 9 \ +2 ."downElevator"SE.seek :down +4 "storage"(X' +98 (8% +3 "core" %m< ' &\ Wc +2 "manipulator"&Z% +4 "core" % H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" &K - \ +2 "collection"'"& +4 "core" &\\ :\ ^ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %   + "storage"(L% +4 "core" % C H\  + "storage"(d. +3 "core" .(K +2 "storage"(& +3 "core" &K J J \ +2 "storage"(& +3 "core" &K @ J \ +2 "manipulator"& & +4 "core" & * + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & K * + "storage"(& +4 "core" &K @ J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(&& +4 "core" &K T N A\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&-& +2 "core" & . * +2 "storage"(4& +3 "core" &K 1 * g\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&l'< +13 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(w- +3 "core" -' +2 .tSE.seek 0.2 Pucks below Top Plate +2 "storage"(0' +29 "core" ' + "manipulator"&[% +4 "core" %N : H +2 "storage"(m& +3 "core" &K ' ) 8\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&'z +13 "core" ' +2 "manipulator"&& +4 "core" & M * + "storage"(K& +4 "core" &K > D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +17 "core" ' +2 .tSE.seek 1.2 Pucks below Top Plate +2 "storage"(o' +35 "core" ' + "manipulator"&<& +4 "core" & * * +2 "manipulator"&n% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&$(ӂ +151 "core" ( +2 "manipulator"&& +4 "core" &ӊ(  Z @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &ӊ( 2 @[ +2 .tForearm.seek CC + "manipulator"&:'? +139 "core" ' +10 .tHand.close + "manipulator"&M/ +54 "core" / +2 .tCC.seek :open +2 "collection"'{( +449 "core" ( +2 "storage"((& +4 "core" &K \ +2 "storage"(+& +3 "core" &K \ +2 "manipulator"&O& +3 "core" &Ӎ( ? @X +2 "manipulator"&P% +3 "core" % 5 D C +2 .tForearm.seek :retract +2 "manipulator"&)' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +164 "core" ( +2 "manipulator"&7& +4 "core" & !  + "storage"(>& +4 "core" &K \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&D'< +100 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +63 "core" 1 +2 "manipulator"&3% +4 "core" % >  + "storage"( & +4 "core" &K \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 302 counts +2 "manipulator"&T'j +15 "core" ' + "manipulator"&5& +4 "core" &  +2 "storage"(& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&I' +17 "core" ' + "storage"(% +4 "core" % n\ +3 ."downElevator"SE.seek :down +4 "storage"(Y' +99 (?% +2 "core" %8 \ U] +2 "manipulator"&% +4 "core" % ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*' +95 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [6..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"';& +4 "core" & x\ +2 "manipulator"&2% +4 "core" %  P  + "storage"(]% +4 "core" % ;\  + "storage"(@. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +2 "core" &[ \ \ +2 "manipulator"&,& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&b(r +33 "core" ( +2 "manipulator"&V& +4 "core" & @  +2 "storage"(F& +4 "core" &[ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&9'= +93 "core" ' + "storage"(& +5 "core" &[ r\ \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'r +302 "core" ' +2 "storage"(#- +4 "core" -'< + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &[ :\ \ + "manipulator"&a& +4 "core" &  m  + .tElbow.seek 7 +3 "manipulator"&q(r +22 "core" ( +2 "manipulator"&y& +4 "core" &w  h + "storage"(i& +4 "core" &[ \ \ +2 .tForearm.seek 7 + 300 counts + "manipulator"&\ 'ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&H/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(E' +7 "core" &w  h +2 "manipulator"&C% +4 "core" % ϸ  d + .tForearm.seek :retract +2 "manipulator"&g' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&p(ӂ +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&G& +4 "core" &Ӎ$ 3 =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &Ӎ% Q =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&='? +100 "core" ' +2 "manipulator"&& +4 "core" &Ӕ# Y <@ +2 "manipulator"&U% +4 "core" %G , +2 "collection"'f& +4 "core" & \ +2 "collection"'^& +5 "core" & \\\ +2 .tCC.seek :closed +2 "collection"'J(\\ +4 "core" & ~\ +8 &A \ $f +9 &X{ t\ 8 +10 &u \ L +9 &R |\ L +10 &U }\ L +9 &EU x\ L +9 &U t\ K +10 &U \ L +9 &T v\ L +9 &NU |\ K +10 & U }\ L +9 &!U r\ K +10 &#W y\ L +9 &%VT \ K +9 &'T w\ L +10 &(U p\ K +9 &*V u\ L +9 &,\\U o\ L +10 &.U x\ L +9 &/T p\ L +10 &1T x\ L +9 &3dV r\ L +9 &5&U {\ L +10 &6U x\ L +9 &8U t\ L +9 &:mU s\ L +10 &<.U w\ L +9 &=V z\ L +10 &?V u\ L +9 &As[ |\ L +9 &C2` y\ M +10 &Dt w\ O +9 &F |\ R +9 &H^ t\ V +10 &J {\ X +9 &K y\ Y +10 &M z\ Y +9 &O^ {\ Y +9 &Q |\ Z +10 &R r\ Z +9 &T z\ \\ +9 &V] x\ \\ +10 &X n\ ] +9 &Y y\ ^ +9 &[ x\ K +10 &\\< x\ + +9 &\\j {\ R +2 ( +2 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.31 +2 .Hand.open + "manipulator"&s1 +62 "core" 1 + "manipulator"&% +4 "core" % G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|' +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%x& +4 "core" &\ +2 "manipulator"&S% +4 "core" %  + "storage"(R% +4 "core" % K < \  + "storage"(}. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"( ([ +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (h& +3 "core" &[ ) & U\ \ + "manipulator"&~& +4 "core" &ӕ# K <? +2 "manipulator"&t% +3 "core" %  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(r +164 "core" ( + "manipulator"&k& +4 "core" &u 7  +2 "storage"(v& +3 "core" &[ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&`'= +95 "core" ' + "storage"(e& +4 "core" &[ k\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'r +307 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Z& +3 "core" &[ 4 3\ \ + "manipulator"&1& +4 "core" &u  + .tElbow.seek 7 +2 "manipulator"&N(r +3 "core" ( + "manipulator"&\\& +5 "core" &u  + "storage"(_& +4 "core" &[ U U \ \ +2 .tForearm.seek 7 + 300 counts + "manipulator"&'ϧ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&r/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +2 "storage"(' +8 "core" &u Q  + "manipulator"&L% +4 "core" %  # +2 .tForearm.seek :retract +2 "manipulator"&d' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' +2 "manipulator"&& +4 "core" &  + "manipulator"&% +4 "core" %  +2 "processing"% & +4 "core" &@\ +2 "processing"%&& +4 "core" &F\ +2 .tPC.seek :closed +2 "processing"%X(^ +4 "core" &*\ \ +9 &0t'\ )w +10 &c}&\ > +9 &pl0\ N +9 &1P#\ N +10 &O*\ N +9 &O$\ N +9 &wO&\ N +10 &9O"\ N +9 &O'\ N +10 &O/\ N +9 & O)\ N +9 &"BO0\ N +10 &$P%\ N +9 &%O$\ N +10 &'O,\ O +9 &)JO*\ N +9 &+ Q+\ N +10 &,P&\ N +9 &.O(\ N +9 &0QN%\ N +10 &2P \ N +9 &3R$\ O +9 &5Q$\ N +10 &7YR$\ N +9 &9Q!\ O +10 &:Q"\ N +9 &<R#\ N +9 &>aT$\ N +10 &@"O,\ O +9 &A[$\ O +10 &Cu(\ R +9 &EW\ U +9 &G$\ U +10 &H%\ U +9 &J)\ V +9 &L[#\ V +10 &N!\ W +9 &O\ V +9 &Q%\ W +10 &S`\ W +9 &U$"\ V +10 &V\ V +9 &X%\ V +9 &Zi+\ W +10 &\\,!\ V +9 &]y\ 8 +9 &^-~ \ Y +10 &^(\ 5 +2 ( +2 "processing"%&& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.76 + .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&z% +56 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + "processing"%-& +4 "core" &^&\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&4% +4 "core" %  v  +2 "storage"(w% +3 "core" % ( %\  +2 "storage"([. +3 "core" .([ + "storage"(m& +4 "core" &[ & &\ \ +2 "storage"(& +2 "manipulator"&K& +6 "core" &[ ' %\ \ +2 &  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&<( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(n'r +2 "core" ( + "manipulator"&& +5 "core" & =  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  H  +2 .tForearm.seek PC + "manipulator"&u' +94 "core" ' +2 .tHand.close + "manipulator"&l/ +59 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(0'1 +40 "core" ' +314 ( +2 "storage"(6& +4 "core" &[ \\ ]\ \ + "manipulator"&& +4 "core" &  + "manipulator"&% +4 "core" %  g 5 +2 .tForearm.seek :retract + "manipulator"&M' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&'(r +248 "core" ( + "manipulator"&!& +4 "core" &w ? +2 "storage"((& +3 "core" &[ E D c\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&+'= +96 "core" ' +2 .tHand.open + "manipulator"&O1 +60 "core" 1 +2 "storage"(P- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(7' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(>' +58 "core" ' + #tLights, camera, ACTION! +2 "storage"(:- +3 "core" -' +2 "storage"($& +3 "core" &[ U S I\ f\ +2 "manipulator"&%& +3 "core" &w 3 ? +2 .tElbow.seek 7 +2 "manipulator"&3(r +3 "core" ( +2 "manipulator"& & +4 "core" &w  ? + "storage"(5& +4 "core" &[ U S Y\ f\ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'= +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +60 "core" ' + "manipulator"&)& +4 "core" &w c ? +2 "storage"(?& +4 "core" &[ [ \\\ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'{ +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(D' +19 "core" ' + "manipulator"&;% +4 "core" %Ό " u +2 "storage"(T& +4 "core" &[ $  \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&2'ϸ +13 "core" ' +2 "manipulator"&]& +4 "core" &w ! ? +2 "storage"(@& +4 "core" &[ W [\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&o'= +17 "core" ' + "storage"(I% +4 "core" % \\ ^\ +3 ."downElevator"SE.seek :down +3 "storage"(Y' +99 (/% +3 "core" %t; > 7 \ V` +2 "manipulator"&.% +4 "core" %6 D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&,' +89 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (V& +4 "core" &[ 6 1\ \ +2 "collection"'F& +3 "core" &\\h P\ R +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +4 "core" %  f  + "storage"(A% +4 "core" % T U @\  + "storage"(*. +3 "core" .([ +2 "storage"(#& +3 "core" &[ U T \ \ +2 "storage"( & +3 "core" &[ [ [\ \ +2 "manipulator"&a& +4 "core" &x R > +2 .tElbow.seek 7 + "manipulator"&y(r +4 "core" ( +2 "manipulator"&i& +3 "core" &x K > +2 "storage"(H& +3 "core" &[ U Z\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&B'= +93 "core" ' +2 "storage"(C& +4 "core" &[ m w #\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'r +310 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +2 "core" &x , > +2 "storage"(j& +4 "core" &[ Z S E\ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&c'{ +24 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.2 Pucks below Top Plate + "storage"(U' +33 "core" ' + "manipulator"&f% +5 "core" %· + "storage"(q& +4 "core" &[ C C \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts + "manipulator"&E'ϳ +13 "core" ' +2 "manipulator"&g& +4 "core" &x A > + "storage"({& +4 "core" &[ m } [\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&s'= +16 "core" ' +2 .tSE.seek 1.2 Pucks below Top Plate + "storage"(' +45 "core" ' + "manipulator"&x& +4 "core" &x  > +2 "manipulator"&S% +4 "core" %,  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&}(ӂ +151 "core" ( +2 "manipulator"&^& +4 "core" &ӎ%  >J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +2 "core" &ӎ% s >J +2 .tForearm.seek CC +2 "manipulator"&~'? +93 "core" ' +2 .tHand.close + "manipulator"&t/ +57 "core" / + .tCC.seek :open +2 "collection"'=( +446 "core" ( + "storage"(k& +4 "core" &[ f\ \ +2 "storage"(v& +4 "core" &[ g\ \ + "manipulator"&& +4 "core" &Ӑ% @ >H + "manipulator"&e% +4 "core" % ,  + .tForearm.seek :retract +2 "manipulator"&p' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&|(r +158 "core" ( + "manipulator"&8& +5 "core" &~ F + "storage"(Z& +4 "core" &[ i\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&1'{ +94 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&_1 +54 "core" 1 +2 "manipulator"&r% +4 "core" % ΍ \ +2 "storage"("& +3 "core" &[ $\ \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 318 counts +2 "manipulator"&L'Ϲ +13 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(`& +4 "core" &[ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Q'= +18 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (% +2 "core" %8 \ U] +2 "manipulator"&N% +4 "core" %N t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +138 "core" ' +4 ' + ."downElevator"SE.stop +2 "storage"(5 +957 #t-> access 5 +3 "storage"(% +3 "core" % L\  + "manipulator"& % +4 "core" %  ]  +2 "manipulator"&& +3 "core" & +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(d(  +1612 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &  d\ +224 #t-> access 6 +3 "storage"(% +3 "core" % )\  + "manipulator"&z% +4 "core" %    +2 "manipulator"&&& +3 "core" & ( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(-( +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +2 "core" & \  +777 #t-> access 7 +2 "storage"(w% +3 "core" % Y\  +2 "manipulator"&[% +4 "core" %  ,  + "manipulator"&m& +4 "core" & A +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +2 "core" &,x \  +735 #t-> access 1 +2 "storage"(% +3 "core" % \  +2 "manipulator"&% +4 "core" %  A  + "manipulator"& & +4 "core" & M + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(l(<- +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<, J\  +690 #t-> access 2 +2 "storage"(% +3 "core" % O\  +2 "manipulator"&% +4 "core" %   ]  + "manipulator"&X& +3 "core" &  u +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(n(K +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &K B\ +1299 #t-> 1.times {shuffle 1..2} +2 #Shuffling pucks in tube 1 of [1..2] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&% +4 "core" %   +2 "storage"(u% +3 "core" % \  +2 "storage"(!. +2 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(((C +1616 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" &F \ + "manipulator"&O& +4 "core" & 4 +2 .tElbow.seek 1 + "manipulator"&P( +26 "core" ( + "manipulator"&:& +5 "core" & 3  + "storage"($& +4 "core" &F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&%' +97 "core" ' + "storage"( & +4 "core" &F \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'r +293 "core" ' + "storage"(M- +4 "core" -'- + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &F H\ + "manipulator"&?& +4 "core" &   +2 .tElbow.seek 1 +2 "manipulator"&0( +15 "core" ( +2 "manipulator"&;& +4 "core" &    + "storage"(T& +4 "core" &F 0\ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&7'd +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&@& + "storage"(I' +7 "core" &   +2 "manipulator"&'% +4 "core" %    + .tForearm.seek :retract +2 "manipulator"&+' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&>(ӂ +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&/& +4 "core" &Ә% @ :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &Ә# 0 :, +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 "manipulator"&3& +4 "core" &Ә!  :, +2 "manipulator"&% +4 "core" %; I + "collection"'& +4 "core" & \ +3 "collection"'V& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'2(\\ +3 "core" & \ +6 &; \ $e +10 &Vx \ 7 +9 &y \ L +9 &U \ L +10 &xU \ L +9 &8V \ M +10 &V \ L +9 &Y \ L +9 &U \ L +10 &BS \ L +9 & U \ L +9 &!W \ L +10 &#U \ L +9 &%JU |\ L +9 &' U \ L +10 &(W \ L +9 &*V |\ L +10 &,PV \ M +9 &.T \ L +9 &/T \ L +10 &1R ~\ L +9 &3XU \ M +9 &5U \ L +10 &6W \ M +9 &8U \ M +10 &:aV \ L +9 &<#Y \ L +9 &=X \ L +10 &?W \ M +9 &AhX ~\ M +9 &C*] |\ M +10 &Dh }\ N +9 &F| \ Q +10 &H] \ S +9 &J \ W +9 &K \ Y +10 &M \ Z +9 &OT \ Y +9 &Q \ Z +10 &R \ [ +9 &T \ [\ +10 &VR \ \\ +9 &X \ \\ +9 &Y \ ] +10 &[ \ K +9 &\\> \ * +9 &\\b \ M +3 ( + "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 +2 .Hand.open + "manipulator"&F1 +62 "core" 1 +2 "manipulator"&% +5 "core" % ; + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +91 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp +2 "processing"%*& +4 "core" &W\ + "manipulator"&D% +4 "core" %   +2 "storage"(#% +3 "core" % ; 5 ^\  +2 "storage"( . +3 "core" .(F + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(a(C +2 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" &A A H e\ +2 "manipulator"&H& +3 "core" &Ә! A :, +2 "manipulator"&o% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&C( +155 "core" ( + "manipulator"&Y& +5 "core" & + + "storage"(& +4 "core" &A \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&,' +92 "core" ' + "storage"(9& +5 "core" &A z \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak + "storage"(G'r +294 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &A c c N\ + "manipulator"&f& +4 "core" &  +2 .tElbow.seek 1 +2 "manipulator"&q( +14 "core" ( + "manipulator"&g& +4 "core" &  +2 "storage"({& +3 "core" &A | b\ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&x'd +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&S/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(y' +7 "core" & v  + "manipulator"&b% +4 "core" % φ - +2 .tForearm.seek :retract +2 "manipulator"&c' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&E( +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( +2 "manipulator"&U& +4 "core" & b 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" & > 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&h' +101 "core" ' + "manipulator"&s& +5 "core" & > 5 + "manipulator"&\ % +4 "core" % + "processing"%t& +4 "core" &X\ +2 "processing"%R& +6 "core" &\\\ +2 .tPC.seek :closed + "processing"%J(^ +4 "core" &6\  +9 &1t:\ )w +9 &c}6\ > +10 &cn<\ N +9 &#R4\ N +9 &P:\ N +10 &O1\ N +9 &kP2\ N +9 &-Q.\ N +10 &Q-\ N +9 &Q1\ N +9 & rP#\ N +10 &"4O/\ N +9 &#Q2\ N +10 &%N7\ N +9 &'xQ0\ O +9 &);O9\ N +10 &*Q8\ O +9 &,Q:\ N +10 &.Q9\ O +9 &0BR4\ O +9 &2Q6\ N +10 &3S2\ N +9 &5R6\ N +9 &7LO1\ N +10 &9 R0\ O +9 &:R0\ N +9 &<S0\ N +10 &>SU7\ N +9 &@V2\ O +10 &AV2\ O +9 &Cd-\ P +9 &ESm/\ Q +10 &G0\ S +9 &H8\ T +9 &J/\ U +10 &LO3\ U +9 &N0\ V +10 &O0\ W +9 &Q-\ V +9 &SS(\ V +10 &U.\ V +9 &V0\ W +9 &X,\ V +10 &Z\\1\ V +9 &\\/\ V +10 &]\ 3 +61 &^4p%\ F +4 ( + &^%\ 2 +4 &^%\ 2 +2 &^%)\ 2 + &^%%\ 2 + &^%\ 2 +2 &^%\ 2 + &^%\ 2 +2 "processing"%R& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"&k1 +59 "core" 1 +2 "manipulator"&v% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 "processing"%e& +4 "core" &^%E\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&8% +3 "core" %    +2 "storage"(Z% +4 "core" % , : L\  + "storage"(~. +3 "core" .(C +2 "storage"(}& +4 "core" &A ) 4\ +2 "storage"(_& +2 "manipulator"&r& +7 "core" &A ) 1 B\ + & < 5 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&"( + "storage"('r +5 "core" ( +2 "manipulator"&`& +3 "core" & p 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & * 5 +2 .tForearm.seek PC +2 "manipulator"&p' +97 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%N( +96 "core" ' + "storage"(|- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +44 "core" ' +304 ( +2 "storage"(L& +4 "core" &A [ Z\ +2 "manipulator"&& +4 "core" & 5 + "manipulator"&Q% +4 "core" %  z  + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +243 "core" ( +2 "manipulator"& & +4 "core" & ! ( + "storage"(& +4 "core" &A G Y \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"& ' +95 "core" ' +2 .tHand.open + "manipulator"&W1 +55 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(z' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(&' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(d- +2 "core" -' +2 "storage"(4& +4 "core" &A \ s +2 "manipulator"&w& +4 "core" &  ( + .tElbow.seek 1 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&m& +4 "core" &  ( + "storage"(-& +4 "core" &A \ s +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&K' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&& +4 "core" &  ( + "storage"( & +5 "core" &A d c \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&'8 +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&% +5 "core" %B 4 + "storage"(X& +4 "core" &A K K W\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 310 counts +2 "manipulator"&l'n +14 "core" ' + "manipulator"&6& +5 "core" & ' + "storage"(& +4 "core" &A c c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(u% +5 "core" % q g \ +2 ."downElevator"SE.seek :down +4 "storage"(!' +98 (n% +3 "core" %? < 9 ^\ Va +2 "manipulator"&<% +4 "core" % _ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +96 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (:& +4 "core" &A S q 9\ +2 "collection"'$& +4 "core" &\\` x\ M + #tStoring generic puck in Collection Clamp to tube 1 +2 "manipulator"& % +3 "core" %  +2 "storage"(\\% +4 "core" % { \  + "storage"(. +3 "core" .(C + "storage"(M& +5 "core" &A "\ + "storage"()& +4 "core" &A | {\ + "manipulator"&?& +5 "core" & _ ' + .tElbow.seek 1 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&T& +4 "core" & ' + "storage"(]& +4 "core" &A \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&@' +98 "core" ' +2 "storage"('& +4 "core" &A k \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +296 "core" ' +2 "storage"(%- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" & K ' + "storage"(.& +4 "core" &A C : U\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&5'8 +13 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(3- +2 "core" -' +3 .tSE.seek 0.19 Pucks below Top Plate + "storage"(' +33 "core" ' + "manipulator"&% +4 "core" %? 9 +2 "storage"(0& +3 "core" &A : ; R\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 307 counts + "manipulator"&I'k +13 "core" ' +2 "manipulator"&+& +4 "core" & , ' + "storage"(=& +4 "core" &A b _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&F' +15 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(' +46 "core" ' + "manipulator"&*& +5 "core" & f ' +6 "manipulator"&D% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +89 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +155 "core" ( + "manipulator"&V& +82 "core" &Ӕ# ' <= +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +2 "core" &Ӕ# E <= +2 .tForearm.seek CC +2 "manipulator"&H'? +93 "core" ' + .tHand.close +2 "manipulator"&o/ +53 "core" / +2 .tCC.seek :open + "collection"'( +446 "core" ( +2 "storage"(Y& +4 "core" &A \ +2 "storage"(& +4 "core" &A P\ + "manipulator"&9& +4 "core" &Ӗ# S <; + "manipulator"&(% +4 "core" % H < = + .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&A( +167 "core" ( +2 "manipulator"&j& +4 "core" &   + "storage"(& +4 "core" &A +\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&f'8 +95 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&{1 +55 "core" 1 +2 "manipulator"&S% +4 "core" % G = + "storage"(B& +4 "core" &A A\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 315 counts +2 "manipulator"&b's +13 "core" ' +2 "manipulator"&C& +4 "core" & c  +2 "storage"(,& +4 "core" &A %\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&G' +15 "core" ' + "storage"(x% +4 "core" % '\ +3 ."downElevator"SE.seek :down +55 "storage"(U' +47 (^% +3 "core" %3 \ U\\ +2 "manipulator"&q% +3 "core" % ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +88 "core" ' +104 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [1..2] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'\ & +4 "core" & \ + "manipulator"&t% +5 "core" %    + "storage"(y% +4 "core" % \  + "storage"(c. +3 "core" .(C +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" & \  + "manipulator"&v& +4 "core" & 3  +2 .tElbow.seek 2 + "manipulator"&e( +3 "core" ( +2 "manipulator"&8& +3 "core" &  M  +2 "storage"(Z& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'S +90 "core" ' + "storage"(}& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'r +26 "core" ' \ # +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.66 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagiw: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef12.903322533136967 U: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):20:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" +9 &n u\ M +9 &RP v\ L +10 &S s\ L +9 &T |\ L +9 &P \ L +10 &YR \ L +9 &U \ M +10 &S \ L +9 & T \ L +9 &"aS \ L +10 &$#S \ L +9 &%Q \ L +9 &'S \ L +10 &)iT \ L +9 &+,V {\ L +10 &,T x\ L +9 &.T y\ L +9 &0rQ }\ L +10 &24T \ L +9 &3T w\ L +9 &5U }\ L +10 &7zR w\ L +9 &9;U |\ L +9 &:U ~\ L +10 &<W \ L +9 &>W q\ L +10 &@BU {\ M +9 &BV {\ L +9 &C\\ t\ M +10 &Eh }\ O +9 &G?y \ P +9 &H \ S +10 &J \ X +9 &Ln \ X +10 &N- \ Y +9 &O \ Z +9 &Q |\ Y +10 &Sn |\ [\ +9 &U/ y\ [ +9 &V \ [ +10 &X \ ] +9 &Zp \ ] +10 &\\y \ 6 +9 &\\' \ %m +9 ( +3 "collection"'X& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&61 +4 "core" &\\ u\ Z +60 1 + "manipulator"&% +4 "core" % 8 4 x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%u& +4 "core" &P\ + "manipulator"&% +4 "core" %  @  +2 "storage"( % +3 "core" %   \  +2 "storage"(&. +3 "core" .(  + "storage"(n& +4 "core" & & &\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(<(  +48 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +2 "core" & \ +2 "manipulator"&[& +4 "core" &ӏ#  <= + "manipulator"&% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +162 "core" ( + "manipulator"&:& +5 "core" &  + "storage"(l& +4 "core" & B D \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&$'S +94 "core" ' + "storage"( & +4 "core" & U F d\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'r +26 "core" ' O o \  +3 !to:Slide::Error\ : mesg"@Storage Elevator overCurrent at 33.64 Pucks below Top Plate: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @tagia: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti:pwmi:erri: inPressiO : outPressio :deltaPressi : voltagef12.800229749631812: @type2F: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:@checkpoint: omitted:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:25:in `shuffle'""(ESP):20:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" CC.unloadPuck 3, :SVS +2 "collection"'& +3 "core" &\\ \ Z + !to:Puck::Warning: mesg"8Unloading Puck.from 2, :generic to Storage Carousel:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:419:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Storing SVS puck in Collection Clamp to tube 3 + "manipulator"&'% +4 "core" %   +2 "storage"(!% +3 "core" % D C \  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(O( +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (%& +2 "core" & 0 # o\  +2 "manipulator"&/& +3 "core" & D  +2 .tElbow.seek 3 +2 "manipulator"&.( +33 "core" ( +2 "manipulator"&3& +4 "core" &} ! + "storage"(& +4 "core" & C D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&0'7 +96 "core" ' + "storage"(+& +4 "core" & F D \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='r +276 "core" ' + "storage"(*- +3 "core" -'r +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +54 .tSE.seek :place + "storage"(D'1 +44 "core" ' +2 "manipulator"&@& +4 "core" &}  ! +2 "manipulator"&;% +3 "core" %+ x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +154 "core" ( + "manipulator"&I& +4 "core" &ӑ# T <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӑ# " <: +2 .tForearm.seek CC + "manipulator"&F'? +95 "core" ' +2 .tHand.close + "manipulator"&V/ +52 "core" / +2 .tCC.seek :open + "collection"'i( +446 "core" ( +2 "storage"(7& +3 "core" & k\  +2 "storage"(o& +4 "core" & _\  + "manipulator"&#& +4 "core" &Ӓ# N <9 + "manipulator"&2% +3 "core" % > ; < +2 .tForearm.seek :retract +2 "manipulator"&Y' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +156 "core" ( +2 "manipulator"&9& +4 "core" & + "storage"((& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&j'u +92 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&H1 +60 "core" 1 +2 "manipulator"& % +4 "core" % m  ; +2 "storage"({& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 292 counts +2 "manipulator"&S'ϙ +14 "core" ' + "manipulator"&B& +4 "core" & +2 "storage"(C& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&,'7 +18 "core" ' +2 "storage"(x% +4 "core" %3 \ +2 ."downElevator"SE.seek :down +3 "storage"(>' +99 (^% +3 "core" %D \ Vb +2 "manipulator"&q% +4 "core" %% u + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +90 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +503 #t-> access 3 +3 "storage"(f% +3 "core" % !\  +2 "manipulator"&b% +4 "core" %  v  + "manipulator"&& +4 "core" & + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(\ ([ +1296 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" &[  { :\  +665 #t-> access 2 +2 "storage"(y% +4 "core" % o\  + "manipulator"&c% +4 "core" %   +2 "manipulator"&G& +3 "core" &  \\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(U(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +2 "core" &K _\ +621 #t-> access 1 + "storage"(k% +3 "core" % 7\  +2 "manipulator"&v% +4 "core" %  +  + "manipulator"&8& +4 "core" & + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Z(<- @1633351572.58UTC = =mMAIN_scheduler =tMAIN @UTC1633351574.43 #"core_reset"Sent BREAK +2 #t@45492 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +284 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +397 "Can"\ !n + \ !n #tPolling Can every 10:00 +2010 #-> ESP.ready! +3 #Powering core bus +574 .Gate.power :raw,:ON +3 "sampler") +55 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %2\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % 7\ +2 .tSS.configure :default +2 "sampler")#.0X " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted + "manipulator"&&' +21 "core" ' + "manipulator"&'% +4 "core" %  Y G +2 "processing"%(& +3 "collection"')& +5 "core" &<\ + & \ +2 ."openPC"PC.reconfigure :default +3 .tCC.reconfigure :default +3 "processing"%$x2 ^22b +3 "collection"'$x2 ^22b +2 ."openPC"PC.home.seek :open +3 .tCC.home.seek :open +2 "processing"%*( + "collection"'+( +277 "core" ( +27 ( +2 "collection"', +3 "core"  +2 "processing"%- +3 "core" T + "processing"%. +3 "core"  +2 "processing"%/ +3 "core"  +2 "collection"'0% +4 "core" %i \ +2 "processing"%1% +3 "core" %غc\ +2 "sampler")2% +4 "core" % n\ @ +2 "collection"'3& +4 "core" & \  +2 "processing"%4& +4 "core" &:\  + "manipulator"&5% +4 "core" %  G + "manipulator"&6& +4 "core" & C " +2 "storage"(7& +3 "core" &,~ \  +2 "storage"(8% +4 "core" % \ - +2 "collection"'99 +3 "core" 9z +2 "processing"%:9 +3 "core" 9 +647 #t-> access 2 +2 "storage"(;% +2 "core" % \ - +2 "manipulator"&<% +4 "core" %  Z G +2 "manipulator"&=& +3 "core" &  n " +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &K K\  +789 #t-> access 3 +2 "storage"(@% +4 "core" % \ - + "manipulator"&A% +4 "core" %  G +2 "manipulator"&B& +3 "core" &  " +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(C([ +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +2 "core" &[ s\ +1203 #t-> require 'shuffle.rb' +1143 #-> 1.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'E& +4 "core" & \  +2 .tHand.open + "manipulator"&F1 +56 "core" 1 +2 "manipulator"&G% +4 "core" %  G H + "storage"(H% +4 "core" % \ - + "storage"(I. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(J(  +1610 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +2 "core" &  \ +2 "manipulator"&L& +3 "core" & O " +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( + "manipulator"&N& +4 "core" &  / " + "storage"(O& +4 "core" &  +\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&P'S +92 "core" ' +2 "storage"(Q& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'r +296 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +44 (T& +3 "core" & s { \  +2 "manipulator"&U& +4 "core" & " +2 .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( + "manipulator"&W& +4 "core" & " +2 "storage"(X& +4 "core" & g\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&Y'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& + "storage"(\\' +8 "core" & A " + "manipulator"&]% +4 "core" % ϴ +2 .tForearm.seek :retract +2 "manipulator"&^' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&_(ӂ +150 "core" ( + "manipulator"&`& +5 "core" ' + &z( 7 @[ +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&a& +6 "core" &z(  @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&b'? +90 "core" ' + "manipulator"&c& +5 "core" &z( b @[ + "manipulator"&d% +4 "core" %H j +3 "collection"'e& +4 "core" & \  +2 "collection"'f& +5 "core" & \  +2 .tCC.seek :closed + "collection"'g(\\ +5 "core" & \  +8 &5{ \ +} +9 &g \ @ +10 &`o \ N +9 &%R \ M +9 &V \ M +10 &W \ M +9 &kR \ M +10 &,U \ M +9 &W \ M +9 &W \ M +10 & sU \ M +9 &"4U \ M +9 &#U \ M +10 &%V \ M +9 &'{R \ M +10 &)=U \ M +9 &*U \ M +9 &,U \ M +10 &.U \ M +9 &0EV \ M +9 &2U \ M +10 &3V \ M +9 &5U \ M +9 &7KW \ N +10 &9U \ M +9 &:U \ M +10 &<V \ M +9 &>SV \ N +9 &@U \ M +10 &AZ \ M +9 &C^ \ N +9 &EUl \ P +10 &G{ \ R +9 &H \ T +10 &J \ X +9 &LB J\ Y +9 &N H\ Z +10 &O 5\ Z +9 &Q \ Z +9 &SE \ [ +10 &U \ \\ +9 &V \ \\ +10 &X \ ] +9 &ZF 4\ ] +10 &[z \ C +9 &\\% \ + +9 &\\ \ [ +2 ( +2 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&h1 +54 "core" 1 +2 "manipulator"&i% +4 "core" % H  \ o j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%k& +4 "core" &A\  +2 "manipulator"&l% +4 "core" %  c +2 "storage"(m% +3 "core" % ' &\  +2 "storage"(n. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(o(  +33 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +2 "core" &  ( \ \ +2 "manipulator"&q& +4 "core" &{( ] @Z + "manipulator"&r% +4 "core" %  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&s( +169 "core" ( + "manipulator"&t& +4 "core" & .  +2 "storage"(u& +4 "core" & 8 ; h\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&v'S +90 "core" ' + "storage"(w& +5 "core" & F ? 5\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'r +293 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" & ' & \ +2 "manipulator"&{& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&|( +3 "core" ( + "manipulator"&}& +4 "core" &   +2 "storage"(~& +3 "core" & 1 >\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" &   + "manipulator"&% +4 "core" % ϶ B +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & R  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +98 "core" ' + "manipulator"&\ & +4 "core" &  +2 "manipulator"& % +4 "core" %   +2 "processing"% & +4 "core" &k\  +2 "processing"% & +4 "core" &C\  +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &K\  +8 &6xG\ +{ +10 &d}K\ ? +9 &^nC\ O +10 &"QE\ N +9 &OJ\ O +9 &SE\ N +10 &gPC\ O +9 &*RA\ N +9 &RB\ N +10 &TK\ O +9 & oTH\ O +9 &"1QK\ O +10 &#TI\ O +9 &%SA\ N +10 &'wOG\ O +9 &):OH\ N +9 &*QK\ N +10 &,TG\ O +9 &.~SJ\ O +9 &0ARH\ O +10 &2TQ\ O +9 &3VN\ O +10 &5QK\ O +9 &7IQO\ O +9 &9 RQ\ N +10 &:SH\ O +9 &<UK\ O +9 &>QTK\ O +10 &@TH\ O +9 &AWM\ O +10 &ChL\ Q +9 &EPmI\ R +9 &G {G\ T +10 &HA\ U +9 &JI\ U +9 &LLG\ V +10 &N K\ W +9 &OK\ W +10 &QH\ W +9 &SOL\ X +9 &UN\ W +10 &VO\ X +9 &XO\ W +9 &ZXD\ W +10 &\\C\ W +9 &]K\ : +10 &^.B\ W +9 &^-K\ 4 +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 + .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%& +4 "core" &^,c\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %  \  <  +2 "storage"(% +3 "core" % j  O\  +2 "storage"(. +3 "core" .(  + "storage"(& +4 "core" & e g <\ +2 "storage"(& +2 "manipulator"&& +7 "core" & d n \ + &  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( + "manipulator"&& +4 "core" & Z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" & \ |  +2 .tForearm.seek PC +2 "manipulator"&%' +93 "core" ' + .tHand.close + "manipulator"&'/ +65 "core" / +3 .tPC.seek :open + "processing"%(( +91 "core" ' +2 "storage"()- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +39 "core" ' +311 ( +2 "storage"(& +4 "core" & \  + "manipulator"&#& +4 "core" & 1  + "manipulator"&,% +4 "core" %  e ( +2 .tForearm.seek :retract +2 "manipulator"&-' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&.( +239 "core" ( + "manipulator"&/& +4 "core" &  * +2 "storage"(0& +4 "core" & <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&1'S +93 "core" ' +2 .tHand.open + "manipulator"&21 +58 "core" 1 +2 "storage"(3- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(4' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(5' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(6- +3 "core" -' +2 "storage"(7& +4 "core" & 9  [\ _ + "manipulator"&8& +4 "core" &   * +2 .tElbow.seek 2 +2 "manipulator"&9( +3 "core" ( + "manipulator"&:& +4 "core" &  * +2 "storage"(;& +4 "core" & H F\ \\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&<'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +57 "core" ' + "manipulator"&!& +5 "core" & * + "storage"(?& +4 "core" & <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&@'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +28 "core" ' + "manipulator"&>% +5 "core" %Ν :  + "storage"(D& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&E' +16 "core" ' +2 "manipulator"&F& +4 "core" & @ * +2 "storage"(G& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&H'S +15 "core" ' +2 "storage"(I% +4 "core" % %\ +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 (K% +3 "core" %WK \ Yk +2 "manipulator"&L% +4 "core" %B 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&N' +88 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (O& +4 "core" & E\  +2 "collection"'Q& +4 "core" &\\} \ [ + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&$% +4 "core" %  T  + "storage"(&% +4 "core" % `\  +2 "storage"(S. +3 "core" .(  + "storage"( & +4 "core" & =\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(T(  +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (U& +3 "core" &  g i }\  +2 "manipulator"&W& +4 "core" &  * +2 .tElbow.seek 2 +39 "manipulator"&X( +13 "core" ( + "manipulator"&Z& +4 "core" & } * +2 "storage"([& +4 "core" &  f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&]'S +96 "core" ' + "storage"(M& +5 "core" &  f\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +295 "core" ' +4 "storage"(`- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&a& +3 "core" & f * +2 "storage"(R& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Y'Α +18 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(e'm +29 "core" ' +2 "manipulator"&V% +4 "core" %Ζ  + "storage"(\\& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 305 counts + "manipulator"&^' +14 "core" ' + "manipulator"&+& +5 "core" & R * + "storage"(h& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&i'S +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(k' +34 "core" ' +2 "manipulator"&l& +4 "core" & * +2 "manipulator"&m% +4 "core" %? l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&f(ӂ +150 "core" ( + "manipulator"&p& +4 "core" &x*  Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &x* [ Bg +2 .tForearm.seek CC +2 "manipulator"&r'? +93 "core" ' + .tHand.close + "manipulator"&b/ +59 "core" / + .tCC.seek :open +2 "collection"'t( +451 "core" ( +2 "storage"(u& +4 "core" &  ~\  + "storage"(J& +4 "core" &  G\  +2 "manipulator"&w& +3 "core" &ӏ& f ?P +2 "manipulator"&_% +3 "core" % ? 2 +2 .tForearm.seek :retract +2 "manipulator"&j' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&y( +166 "core" ( + "manipulator"&z& +4 "core" & ]  +2 "storage"({& +4 "core" &  J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&}'Α +95 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % Δ 1 +2 "storage"(& +3 "core" &   \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&s' +16 "core" ' + "manipulator"&v& +4 "core" &  V  +2 "storage"(x& +3 "core" & & & S\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' + "storage"(% +5 "core" % B 7 \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (|% +3 "core" %F ?\ Xh + "manipulator"&\ % +4 "core" %E : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" & \ +2 "manipulator"&% +4 "core" %    + "storage"(% +4 "core" % *\  +2 "storage"(*. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & .\ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&( +33 "core" ( + "manipulator"&& +4 "core" & !  +2 "storage"(& +4 "core" & ( '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +98 "core" ' + "storage"(& +5 "core" & 7 ? \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"( - +4 "core" -'% + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  C\  + "manipulator"&"& +4 "core" & W  +2 .tElbow.seek 3 + "manipulator"& ( +24 "core" ( + "manipulator"&'& +4 "core" &  v +2 "storage"()& +3 "core" &   3\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(' +7 "core" &  ^ v +2 "manipulator"&% +4 "core" % ϝ + .tForearm.seek :retract +2 "manipulator"&#' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&,(ӂ +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&%& +4 "core" &Ӌ& U ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &Ӌ& c ?R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&0'? +92 "core" ' +2 "manipulator"&& +5 "core" &Ӌ'  ?R + "manipulator"&2% +4 "core" %6 ( x +2 "collection"'3& +4 "core" & \ +2 "collection"'6& +5 "core" & \ +2 .tCC.seek :closed +3 "collection"'7(\\ +3 "core" & \ +7 & , \ $d +9 &Vu \ 7 +10 &x \ L +9 &R \ M +9 &`O \ M +10 &!T \ M +9 &S \ N +9 &R \ M +10 &hO \ M +9 &)U \ M +10 &R \ M +9 &!O \ M +9 &#nT \ N +10 &%2R \ M +9 &&T \ M +9 &(R \ M +10 &*wU \ M +9 &,8T \ N +10 &-S \ M +9 &/O \ M +9 &1~T \ N +10 &3AR \ M +9 &5P \ M +9 &6T \ N +10 &8S \ M +9 &:IU \ M +10 &< U \ M +9 &=V \ M +9 &?T \ N +10 &AQT \ M +9 &CW \ M +10 &Db \ O +9 &Fn \ P +9 &HH \ S +9 &I \ W +10 &K \ Y +9 &M| 5\ Y +10 &O< \ Z +9 &P \ [ +9 &R \ [\ +10 &T} 2\ \\ +9 &V= \ \\ +10 &W \ \\ +9 &Y \ ^ +9 &[ \ K +10 &\\9 \ / +9 &\\ \ W +5 ( +2 "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 + .Hand.open + "manipulator"&81 +4 "core" &\\u \ W +56 1 + "manipulator"&:% +5 "core" % 6 = x + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%-& +4 "core" &_\ +2 "manipulator"&!% +3 "core" %   +2 "storage"(?% +4 "core" % n\  +2 "storage"(>. +3 "core" .( + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(D( +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & e b \  +2 "manipulator"&F& +4 "core" &ӌ& W ?Q +2 "manipulator"&G% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&4( +165 "core" ( + "manipulator"&I& +4 "core" &  +2 "storage"(.& +4 "core" & c\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&1'7 +95 "core" ' + "storage"(5& +4 "core" &   w\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'r +306 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" & \  +2 "manipulator"&9& +4 "core" & G  +2 .tElbow.seek 3 + "manipulator"&=( +3 "core" ( +2 "manipulator"&@& +3 "core" &   +2 "storage"(O& +3 "core" & .\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'ϡ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(&' +8 "core" & '  + "manipulator"&S% +4 "core" % Ϙ +2 .tForearm.seek :retract +2 "manipulator"&B' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&U& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z' +91 "core" ' + "manipulator"&[& +5 "core" & ,  + "manipulator"&H% +4 "core" % D M +2 "processing"%M& +3 "core" &_\ +3 "processing"%C& +5 "core" &K\ +2 .tPC.seek :closed +2 "processing"%o(^ +4 "core" &L\ +7 & %I\ #a +10 &U|P\ 8 +9 &~uK\ L +10 &QK\ O +9 &[NH\ O +9 &LH\ O +10 &OG\ O +9 &OL\ O +9 &bQQ\ O +10 &%OS\ O +9 &RP\ O +10 &!OO\ O +9 &#kRI\ O +9 &%.PD\ N +10 &&PI\ O +9 &(OO\ O +10 &*rOF\ O +9 &,4PF\ O +9 &-OL\ O +10 &/QC\ O +9 &1yQK\ O +9 &3:QM\ P +10 &4PL\ O +9 &6QI\ O +10 &8QB\ O +9 &:CQK\ O +9 &<RR\ O +10 &=QJ\ O +9 &?SJ\ O +9 &AIXH\ P +10 &CfJ\ R +9 &DsH\ T +9 &FF\ zU +10 &H@L\ yV +9 &JC\ uW +10 &KJ\ yV +9 &MQ\ {V +9 &OEP\ zW +10 &QL\ yX +9 &RH\ oW +9 &TH\ sX +10 &VLL\ zW +9 &XE\ yW +10 &YG\ xW +51 &[D\ qW +3 &]RG\ sH +2 &^v?qM\ ~)w + &^7E\ 1 +5 ( + &^"G\ 1 + &^"H\ 1 +2 &^"L\ 1 + "processing"%C& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 + .Hand.open + "manipulator"&A1 +65 "core" 1 + "manipulator"&N% +4 "core" %  n M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +91 "core" ' +2 "processing"%a& +4 "core" &^"G\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&R% +4 "core" %  M \ +2 "storage"(d% +4 "core" % z "\  +2 "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\\( +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "manipulator"&h& +4 "core" & : o\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(l'r +3 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&m( +3 "core" ( +2 "manipulator"&]& +4 "core" & \ a  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +4 "core" &   +2 .tForearm.seek PC + "manipulator"&P' +92 "core" ' + .tHand.close +2 "manipulator"&Y/ +60 "core" / + .tPC.seek :open +2 "processing"%^( +82 "core" ' +2 "storage"(p- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'1 +42 "core" ' +321 ( + "storage"(q& +4 "core" & " *\  +2 "manipulator"&i& +3 "core" &  +2 "manipulator"&c% +4 "core" %  G 4 + .tForearm.seek :retract +2 "manipulator"&b' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&n( +245 "core" ( +2 "manipulator"&g& +4 "core" &   + "storage"(u& +4 "core" & ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&J'7 +89 "core" ' + .tHand.open + "manipulator"&w1 +61 "core" 1 + "storage"(_- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(z' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"({' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(r- +4 "core" -' + "storage"(f& +4 "core" & :\ L + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +20 "core" ( + "manipulator"&& +5 "core" &  -  + "storage"(v& +4 "core" & \ O +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&x'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' +2 "manipulator"&j& +4 "core" & *  +2 "storage"(|& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&\ 'u +19 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(}' +19 "core" ' + "manipulator"& % +5 "core" %΁ &  + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&s'ϭ +13 "core" ' +2 "manipulator"&& +5 "core" & 6  + "storage"(*& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&k'7 +18 "core" ' +2 "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (T% +3 "core" %= K\ Xf +2 "manipulator"&% +4 "core" %B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +87 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & 3\  +2 "collection"'& +4 "core" &\\t \ W +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %  j  + "storage"(~% +4 "core" % 3\  +2 "storage"( . +3 "core" .( + "storage"( & +4 "core" & \  + "storage"(& +4 "core" & \  +2 "manipulator"&"& +3 "core" & s  +2 .tElbow.seek 3 +2 "manipulator"&'( +3 "core" ( + "manipulator"&)& +4 "core" & ?  + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +96 "core" ' + "storage"(& +4 "core" & y\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&%& +3 "core" & m  +2 "storage"(/& +3 "core" & B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +17 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(2'} +32 "core" ' +2 "manipulator"&3% +4 "core" %·   + "storage"( & +4 "core" & )\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts + "manipulator"&'ϳ +13 "core" ' +2 "manipulator"&#& +4 "core" & ?  +2 "storage"(t& +4 "core" & O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&8'7 +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(:' +34 "core" ' +2 "manipulator"&-& +4 "core" & 7  +2 "manipulator"&!% +4 "core" %- +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&>(ӂ +159 "core" ( +2 "manipulator"&6& +4 "core" &ӎ$  =C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӎ$ + =C +2 .tForearm.seek CC +2 "manipulator"&F'? +93 "core" ' +2 .tHand.close + "manipulator"&G/ +53 "core" / +2 .tCC.seek :open +2 "collection"'0( +451 "core" ( + "storage"(I& +3 "core" &  %\  +2 "storage"(.& +4 "core" & $ & \  +2 "manipulator"&& +3 "core" &ӡ  : :0 +2 "manipulator"&5% +3 "core" % / 2 > +2 .tForearm.seek :retract +2 "manipulator"&,' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&;( +166 "core" ( + "manipulator"&L& +4 "core" & .  +2 "storage"(<& +4 "core" & & ' \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&9'u +95 "core" ' + .tElbow.hold +2 "manipulator"&@, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&O1 +53 "core" 1 + "manipulator"&Q% +5 "core" % ΅  $ + "storage"($& +4 "core" & 2 ) .\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&S'ϱ +13 "core" ' +2 "manipulator"&4& +4 "core" &  + "storage"(1& +4 "core" & < = \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&K'7 +18 "core" ' +2 "storage"(E% +4 "core" % < < k\ +3 ."downElevator"SE.seek :down +3 "storage"(U' +98 (W% +3 "core" %6 ' & Z\ U^ +2 "manipulator"&=% +4 "core" %2  @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4048 #t-> access 4 +3 "storage"(H% +3 "core" % J < \  + "manipulator"&M% +4 "core" %  v  +2 "manipulator"&&& +3 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(B(C +668 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" &F   <\ +2273 #t-> access 5 +3 "storage"(A% +3 "core" % C = ^\  +2 "manipulator"&N% +4 "core" %  ?  + "manipulator"&a& +3 "core" &  Z  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(R(  +362 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &  \  +3714 #t-> access 6 +3 "storage"(V% +3 "core" % Y\  + "manipulator"&C% +4 "core" %  F  +2 "manipulator"&+& +3 "core" &    +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(h( +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (]& +2 "core" & Z\ +2016 #t-> 5.times {shuffle 2..6} +2 #Shuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'X& +3 "core" & \ +2 "manipulator"&Z% +4 "core" %   +2 "storage"(Y% +3 "core" % \  +2 "storage"(D. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(p(  +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &  ( ' \ + "manipulator"&`& +44 "core" & \\  +11 .tElbow.seek 2 +2 "manipulator"&o( +45 "core" ( + "manipulator"&l& +4 "core" &  \ +2 "storage"(q& +3 "core" &  & + '\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&i'S +92 "core" ' + "storage"(c& +4 "core" &  C @ \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +302 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" &  \  +2 "manipulator"&m& +4 "core" & P \ +2 .tElbow.seek 2 + "manipulator"&w( +7 "core" ( +2 "manipulator"&_& +4 "core" & 6 + "storage"(r& +4 "core" & % 1 O\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&f'Ͻ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(v' +6 "core" &   +2 "manipulator"&b% +4 "core" %  + | +2 .tForearm.seek :retract +2 "manipulator"&j' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"& & +4 "core" &Ӕ  9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӕ / 9) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&e'? +95 "core" ' + "manipulator"&& +4 "core" &Ӕ  9) +2 "manipulator"&*% +4 "core" %G  + +2 "collection"'z& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'n(\\ +4 "core" & \  +9 &1y \ *y +9 &c{ \ > +9 &qo \ N +10 &5O \ M +9 &S \ N +9 &S \ M +10 &zP \ M +9 &=T \ M +10 &T \ M +9 &O \ M +9 & U \ M +10 &"CR \ N +9 &$R \ M +10 &%Q \ M +9 &'S \ N +9 &)LS \ M +10 &+Q \ M +9 &,Q \ M +9 &.U \ M +10 &0TT \ M +9 &2S \ N +9 &3T \ M +10 &5U \ M +9 &7\\U \ M +10 &9U \ N +9 &:T \ N +9 &<T \ N +10 &>cT \ N +9 &@%T \ N +9 &AW \ N +10 &C\\ \ N +9 &Edg /\ P +10 &G| \ R +9 &H \ U +9 &J \ Y +10 &LP \ Z +9 &N  \ Z +9 &O  \ Z +10 &Q  \ Z +9 &SR \ \\ +10 &U \ \\ +9 &V \ ] +9 &X \ ] +10 &ZS \ ^ +9 &[z \ ? +10 &\\/ \ &t +9 &\\k \ R +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&J1 +60 "core" 1 + "manipulator"&{% +4 "core" % G  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T' +93 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &U\ | + "manipulator"&x% +4 "core" %  @  +2 "storage"(% +4 "core" % a N\ x + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(\ (  +16 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +3 "core" &  \ { + "manipulator"&& +4 "core" &Ӕ  S 9) +2 "manipulator"&% +3 "core" %  J  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +164 "core" ( + "manipulator"&~& +5 "core" & W + "storage"( & +4 "core" &  u\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&}'S +91 "core" ' + "storage"( & +5 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +2 "core" & \ n +2 "manipulator"&& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&k( +3 "core" ( + "manipulator"&& +4 "core" & T + "storage"(& +4 "core" & \ u +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&y'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(%' +7 "core" &  +2 "manipulator"&/% +4 "core" % ϸ A + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&3( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"& & +4 "core" & $ A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" & ( A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&t' +100 "core" ' +2 "manipulator"&-& +4 "core" &  A + "manipulator"&!% +4 "core" % . ~ +2 "processing"%& +3 "core" &n\ +2 "processing"%'& +6 "core" &t\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &X\ \ +9 &0s`\ x)w +9 &a}]\ q> +9 &aoZ\ uO +10 &"N_\ O +9 &PS\ O +9 &PP\ O +10 &gP\ O +9 &)Q\ O +10 &L\ rO +9 &NY\ {O +9 & nR\ tP +10 &"2OA\ }O +9 &#QV\ }P +9 &%O_\ ~O +10 &'wP]\ O +9 &):PS\ O +10 &*PP\ O +9 &,QT\ O +9 &.PY\ O +10 &0BOC\ }O +9 &2SQ\ zP +9 &3QX\ {P +10 &5Q\ P +9 &7IQ[\ ~O +10 &9\ N\ wP +9 &:QQ\ ~P +9 &<QP\ wP +10 &>QT^\ |O +9 &@O\ ~P +9 &AR?\ ~P +10 &CcM\ {R +9 &EQj\ |R +10 &G [\ wT +9 &H_\ gV +9 &JV\ oV +10 &LLT\ pV +9 &N [\ oX +9 &OX\ sW +10 &Qb\ tW +9 &SQT\ tX +10 &Ue\ rW +9 &VD\ vW +9 &XY\ yV +10 &ZZY\ wW +9 &\\_\ xX +9 &]R\ |5 +10 &^5pO\ C +9 ( +2 "processing"%'& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&1 +3 "core" &^"9\ 2 +51 1 + "manipulator"&% +5 "core" %  | ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +89 "core" ' +2 "processing"%6& +4 "core" &^# \ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %    +2 "storage"(8% +3 "core" % :\  +2 "storage"(. +3 "core" .(  + "storage"(G& +4 "core" & 1\  +2 "storage"(?& +3 "manipulator"&7& +6 "core" & =\  + & f A +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&I( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(.'r +3 "core" ( + "manipulator"&& +4 "core" &  A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &   A +2 .tForearm.seek PC +2 "manipulator"&L' +95 "core" ' + .tHand.close +2 "manipulator"&- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(O'1 +44 "core" ' +308 ( +2 "storage"(Q& +4 "core" & \  + "manipulator"&$& +4 "core" & S A +2 "manipulator"&4% +3 "core" %  H  +2 .tForearm.seek :retract +2 "manipulator"&1' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&E( +244 "core" ( + "manipulator"&,& +4 "core" & # +2 "storage"(W& +3 "core" & Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&='S +93 "core" ' +2 .tHand.open + "manipulator"&;1 +61 "core" 1 +2 "storage"(9- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(S' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(:' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(K- +4 "core" -' + "storage"(U& +4 "core" & \ T +2 "manipulator"&H& +3 "core" &  \ > " +2 .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( + "manipulator"&&& +66 "core" &  " + "storage"(\\& +5 "core" & \\\ S +2 .tForearm.seek 2 + 450 counts + "manipulator"&('S +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(A'" +57 "core" ' + "manipulator"&N& +5 "core" & " + "storage"(a& +4 "core" & w\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&B'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(V' +27 "core" ' +2 "manipulator"&C% +4 "core" %Λ p " + "storage"(+& +4 "core" & f\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 310 counts +2 "manipulator"&R' +14 "core" ' + "manipulator"&]& +5 "core" & 4 " + "storage"(X& +4 "core" & q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'S +17 "core" ' +2 "storage"(Y% +4 "core" % @\ +3 ."downElevator"SE.seek :down +3 "storage"(D' +98 (h% +3 "core" %O 3\ Ym +2 "manipulator"& % +5 "core" %? # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (l& +45 "core" & q\  +11 "collection"'q& +5 "core" &\\j \ R + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&c% +3 "core" %  4  +2 "storage"(@% +4 "core" % R\  +2 "storage"([. +3 "core" .(  + "storage"(g& +4 "core" & \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(u(  +89 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (m& +3 "core" &  A\ +2 "manipulator"&_& +4 "core" & N " +2 .tElbow.seek 2 + "manipulator"&r( +4 "core" ( + "manipulator"&& +4 "core" & R " + "storage"(& +4 "core" &  c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&b'S +92 "core" ' +2 "storage"(o& +4 "core" &  g\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(i'r +295 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & 7 " +2 "storage"(P& +38 "core" & .\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&f'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(z'n +27 "core" ' +2 "manipulator"&w% +4 "core" %Ώ L + "storage"(v& +4 "core" & R\ \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 298 counts +2 "manipulator"&j'ϻ +14 "core" ' + "manipulator"&0& +5 "core" & z " + "storage"(J& +4 "core" & >\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'S +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +33 "core" ' +2 "manipulator"&x& +4 "core" & 5 " + "manipulator"&% +4 "core" %6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + "manipulator"&s& +4 "core" &Ӑ#  <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӑ# <> +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&e/ +53 "core" / +2 .tCC.seek :open +2 "collection"'~( +450 "core" ( +2 "storage"( & +4 "core" & >\ \ +2 "storage"(p& +4 "core" & X\ \ + "manipulator"& & +4 "core" &ӑ#  <= +2 "manipulator"&|% +4 "core" % > K +2 .tForearm.seek :retract + "manipulator"&T' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +164 "core" ( + "manipulator"&)& +5 "core" &  + "storage"(& +4 "core" & ^\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&'Α +93 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % Ί * +2 "storage"(/& +3 "core" & 0\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 293 counts + "manipulator"&'϶ +13 "core" ' +2 "manipulator"&}& +5 "core" &  + "storage"(& +4 "core" & 7\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&y'S +18 "core" ' + "storage"( % +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(#' +99 (k% +3 "core" %A \ Xk + "manipulator"&-% +4 "core" %8  9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&!' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp +6 "collection"'& +4 "core" & n\ +2 "manipulator"&%% +4 "core" %  5  + "storage"(% +4 "core" % f\  + "storage"(^. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +346 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \ +2 "manipulator"&6& +3 "core" & ^  +2 .tElbow.seek 3 +2 "manipulator"&( +33 "core" ( +2 "manipulator"&8& +4 "core" & K + + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&G'7 +97 "core" ' + "storage"(?& +4 "core" & " [\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'r +295 "core" ' + "storage"('- +4 "core" -'$ + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  $ \ + "manipulator"&5& +4 "core" & ) + +2 .tElbow.seek 3 + "manipulator"&t( +4 "core" ( + "manipulator"&<& +4 "core" &  > + +2 "storage"(>& +3 "core" & ) 3 ]\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϡ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(.' +6 "core" & Y + +2 "manipulator"&Q% +4 "core" %  " +2 .tForearm.seek :retract + "manipulator"&$' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +153 "core" ( + "manipulator"&L& +5 "core" ' + &ӑ$ W =B + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &,& +3 "core" &ӑ# R =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&W'? +104 "core" ' +2 "manipulator"&I& +4 "core" &ӟ" ;4 +2 "manipulator"&;% +4 "core" %M ` + "collection"'9& +4 "core" & \ +2 "collection"'K& +6 "core" & R\ +2 .tCC.seek :closed + "collection"'U(\\ +4 "core" & \  +9 &1w \ *y +9 &c} \ > +10 &xo  \ M +9 &:R u\ M +9 &S J\ M +10 &R \ M +9 &O \ M +9 &CR \ M +10 &Q |\ M +9 &Q \ M +10 & Q \ M +9 &"KR \ M +9 &$ P #\ M +10 &%R \ M +9 &'R \ L +9 &)RR \ M +10 &+R #\ M +9 &,S 4\ M +10 &.R \ M +9 &0[S \ M +9 &2V \ M +10 &3R 3\ M +9 &5S \ M +9 &7bR z\ M +10 &9$R B\ M +9 &:S \ M +10 &<T \ M +9 &>jT  \ M +9 &@+S \ M +10 &AU \ N +9 &C\\ \ N +9 &Elg \ O +10 &G'u \ Q +9 &H \ U +10 &J \ Y +9 &LV \ Y +9 &N \ [ +10 &O \ Z +9 &Q \ \ [\ +9 &SX \ [ +10 &U \ \\ +9 &V 1\ ] +10 &X \ \ ] +9 &ZY \ ^ +9 &[z \ < +10 &\\' \ )z +9 &\\ \ Y +2 ( +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&H1 +64 "core" 1 +2 "manipulator"&1% +4 "core" % M  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%\\& +4 "core" &w\ +2 "manipulator"&N% +3 "core" %   +2 "storage"(a% +4 "core" % +\  + "storage"(O. +3 "core" .( +2 "storage"(S& +3 "core" & %\ +2 "storage"(C& +4 "core" & \ + "manipulator"&+& +4 "core" &ӟ! ;4 + "manipulator"&]% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&X( +157 "core" ( + "manipulator"&E& +4 "core" & w +2 "storage"(Y& +3 "core" & R\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&='7 +93 "core" ' +2 "storage"(:& +4 "core" & M\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'r +294 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ((& +3 "core" & \ + "manipulator"&M& +4 "core" & ' +2 .tElbow.seek 3 + "manipulator"&A( +4 "core" ( + "manipulator"&B& +3 "core" & 9 +2 "storage"(l& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&R'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&q& + "storage"(c' +7 "core" & ! +2 "manipulator"&@% +4 "core" % ϛ + .tForearm.seek :retract +2 "manipulator"&[' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&g( +163 "core" ' +2 ."downElevator"SE.stop +50 "storage"(5 +29 "core" ( + "manipulator"&Z& +4 "core" & K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &  K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&_' +94 "core" ' + "manipulator"&& +4 "core" & K +2 "manipulator"&% +4 "core" % 4 +2 "processing"%D& +4 "core" &t\  +2 "processing"%o& +5 "core" &\\\ +2 .tPC.seek :closed +2 "processing"%\ (^ +4 "core" &Z\ +7 &4\ x#b +10 &V{U\ ~7 +9 &~v\ |L +9 &OS\ O +10 &ZO\ {O +9 &M\ rO +9 &O5\ O +10 &OR\ sO +9 &bOW\ O +10 &$NQ\ O +9 &OP\ N +9 &!N\\\ O +10 &#iR[\ O +9 &%,OT\ O +9 &&NU\ {O +10 &(OP\ zO +9 &*pO^\ sO +9 &,2Oc\ ~O +10 &-Ka\ vO +9 &/P\ O +10 &1xR@\ O +9 &3:QS\ O +9 &4Of\ O +10 &6PE\ O +9 &8Q7\ P +9 &:DOO\ O +10 &<PS\ O +9 &=P]\ O +10 &?QP\ O +9 &AITX\ P +9 &CjT\ R +10 &Ds_\ ~S +9 &F}S\ tV +9 &H=]\ jW +10 &JY\ |V +9 &KK\ zV +2 "processing"%o& +3 !to:SignalException : mesg" SIGHUP:@checkpoint: omitted:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +4 !o:Storage::Warning: mesg">Exiting with generic puck from tube 3 in Collection Clamp:bt["6/home/esp/esp2/utils/storage.rb:560:in `writeAll'"2/home/esp/esp2/utils/storage.rb:555:in `each'"6/home/esp/esp2/utils/storage.rb:555:in `writeAll'"2/home/esp/esp2/utils/storage.rb:551:in `open'"6/home/esp/esp2/utils/storage.rb:551:in `writeAll'"(/home/esp/esp2/utils/storage.rb:567"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:757:in `[]'"0/home/esp/esp2/lib/thread.rb:757:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Storage::Warning: mesg"2Exiting with generic puck from tube 3 in Hand:bt["6/home/esp/esp2/utils/storage.rb:560:in `writeAll'"2/home/esp/esp2/utils/storage.rb:555:in `each'"6/home/esp/esp2/utils/storage.rb:555:in `writeAll'"2/home/esp/esp2/utils/storage.rb:551:in `open'"6/home/esp/esp2/utils/storage.rb:551:in `writeAll'"(/home/esp/esp2/utils/storage.rb:567"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:757:in `[]'"0/home/esp/esp2/lib/thread.rb:757:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #mEXIT @1633352121.62UTC @1633352274.77UTC = =mMAIN_scheduler =tMAIN @UTC1633352276.55 #"core_reset"Sent BREAK +2 #t@60684 sendCRC with ifg=0x20, ie=0x7F + #@62519 sendCRC with ifg=0x08, ie=0x5F #@65469 idle with ifg=0x84, ie=0x75 + #@609 select with ifg=0x10, ie=0xF5 + #@1243 receive with ifg=0x10, ie=0xFD #@1877 receive with ifg=0x10, ie=0xFD + #@2511 receive with ifg=0x10, ie=0xFD #@2838 receive with ifg=0x80, ie=0xFD + #@10589 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +376 "Can"\ ^\\ + \ ^\\ + #tPolling Can every 10:00 +3 #Cleanly exited at 12:55:21UTC04-Oct-21 +2 !o:Storage::Warning: mesg"#CC.holds Puck.from 3, :generic:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Storage::Warning: mesg"%Hand.holds Puck.from 3, :generic:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #ESP.ready! will restore puck positions +900 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %i `\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %غU\ s + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % f\ u@ + .tSS.configure :default +3 "sampler")#.0X CC.unloadPuck 3, :svs +3 "collection"'2& +3 "core" &\\} \ Y + #tStoring svs puck in Collection Clamp to tube 3 +2 .Hand.open + "manipulator"&31 +55 "core" 1 +2 "manipulator"&4% +4 "core" %  # 4 +2 .tForearm.seek :retract + "manipulator"&5' +98 "core" ' + "storage"(6% +4 "core" % \ w + "storage"(7. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(8( +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (9& + "manipulator"&:& +6 "core" & K + &  \ +3 "manipulator"&;% + ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" %  a  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek CC +2 "storage"(<'r +3 "manipulator"&=(ӂ +276 "core" ' +2 "storage"(>- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'1 +47 "core" ' +8 ( + "manipulator"&@& +4 "core" &x( \  @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +2 "core" &x(  @] +3 .tForearm.seek CC + "manipulator"&B'? +95 "core" ' +2 .tHand.close + "manipulator"&C/ +60 "core" / +2 .tCC.seek :open + "collection"'D( +451 "core" ( + "storage"(E& +4 "core" & t \ +2 "storage"(F& +3 "core" & \ +2 "manipulator"&G& +3 "core" &Ӡ"  ;5 +2 "manipulator"&H% +4 "core" % >    +2 .tForearm.seek :retract +2 "manipulator"&I' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&J( +166 "core" ( + "manipulator"&K& +4 "core" & ^  + "storage"(L& +4 "core" &\  k\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&M'u +94 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +55 "core" 1 +2 "manipulator"&P% +4 "core" % ΃ / + "storage"(Q& +4 "core" & E\ | +2 .tForearm.force -20 +3 "manipulator"&5 +2 .tForearm.seek 3 + 314 counts + "manipulator"&R'ϯ +14 "core" ' +2 "manipulator"&S& +4 "core" & q  + "storage"(T& +4 "core" & q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&U'7 +18 "core" ' + "storage"(V% +4 "core" %9 3\ +3 ."downElevator"SE.seek :down +3 "storage"(W' +98 (X% +3 "core" %6 p\ We +2 "manipulator"&Y% +4 "core" %= c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z' +87 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +4 !to:Errno::EIO:\ errnoi\ : mesg"Input/output error:bt["2/opt/mbari/lib/ruby/1.8/irb.rb:318:in `write'"3/opt/mbari/lib/ruby/1.8/irb.rb:318:in `printf'"9/opt/mbari/lib/ruby/1.8/irb.rb:318:in `output_value'"7/opt/mbari/lib/ruby/1.8/irb.rb:167:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:163:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:188:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Errno::EIO:\ errnoi\ : mesg"Input/output error:bt["2/opt/mbari/lib/ruby/1.8/irb.rb:202:in `write'"2/opt/mbari/lib/ruby/1.8/irb.rb:202:in `print'"7/opt/mbari/lib/ruby/1.8/irb.rb:202:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:163:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:188:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +44 !o: EOFError:@timestampu: Time d6N: mesg"end of file reached:bt[,"(eval):4:in `sysreadRaw'"(eval):4:in `sysread'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"(eval):4:in `sysread'"8/home/esp/esp2/lib/reprompt.rb:44:in `origReadline'"4/home/esp/esp2/lib/reprompt.rb:44:in `readline'"0/home/esp/esp2/lib/prompter.rb:20:in `call'"6/home/esp/esp2/lib/prompter.rb:20:in `callKbdPrc'"9/home/esp/esp2/lib/prompter.rb:38:in `claimKeyboard'"5/home/esp/esp2/lib/rmutex.rb:89:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:62:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'"9/home/esp/esp2/lib/prompter.rb:38:in `claimKeyboard'"4/home/esp/esp2/lib/reprompt.rb:41:in `readline'"=/opt/mbari/lib/ruby/1.8/irb/input-method.rb:97:in `gets'"7/opt/mbari/lib/ruby/1.8/irb.rb:148:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:147:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `call'"?/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `buf_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:101:in `getc'":/opt/mbari/lib/ruby/1.8/irb/slex.rb:206:in `match_io'"6/opt/mbari/lib/ruby/1.8/irb/slex.rb:76:in `match'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:284:in `token'"9/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:260:in `lex'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:231:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:188:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Waiting to Resume from Checkpoint "Storing svs puck in Collection Clamp to tube 3" + ."Qmail"BadNews.email "end of file reached",Subject: "EOFError in MAIN" +12411 #"uploadLog"upsync @1633352529.43UTC = =tMAIN =mMAIN_scheduler @UTC1633352531.31 #"core_reset"Sent BREAK +2 #t@9484 select with ifg=0x10, ie=0xF5 + #@10119 receive with ifg=0x10, ie=0xFD #@10753 receive with ifg=0x10, ie=0xFD + #@11388 receive with ifg=0x10, ie=0xFD + #@11715 receive with ifg=0x80, ie=0xFD #@8990 sendCRC with ifg=0x20, ie=0x7F + #@9438 sendCRC with ifg=0x20, ie=0x7F #@11028 sendCRC with ifg=0x08, ie=0x5F + #@27508 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +166 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +125 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +377 "Can"\ HF + \ HF + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Storage::Warning: mesg"#CC.holds Puck.from 3, :generic:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Storage::Warning: mesg"%Hand.holds Puck.from 3, :generic:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #ESP.ready! will restore puck positions +457 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %i b\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %غU\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % e\ @ + .tSS.configure :default +3 "sampler")#.0X PC.unloadPuck 3, :svs +3 "processing"%2& +3 "core" &^(X\ 6 +2 #tStoring svs puck in Processing Clamp to tube 3 + .Hand.open + "manipulator"&31 +23 "core" 1 + "manipulator"&4% +4 "core" %  ]  + "storage"(5% +4 "core" % &\  + "storage"(6. +3 "core" ., +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(7( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +2 "core" & \ +2 "manipulator"&9& +4 "core" & H  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&:( +3 "core" ( + "manipulator"&;& +4 "core" &  +2 "storage"(<& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&='7 +92 "core" ' + "storage"(>& +4 "core" & " z\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'r +306 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +2 "core" & Q  +2 "storage"(B& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&C'u +18 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(E- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(F's +29 "core" ' +2 "manipulator"&G% +4 "core" %΀ w  + "storage"(H& +4 "core" &  O\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 311 counts + "manipulator"&I'Ϭ +15 "core" ' + "manipulator"&J& +5 "core" &   + "storage"(K& +4 "core" &  J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&L'7 +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(M' +34 "core" ' + "manipulator"&N& +4 "core" &  +2 "manipulator"&O% +4 "core" %4 V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&P' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&Q( +241 "core" ( +2 "manipulator"&R& +4 "core" & 3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" & M 3 +2 .tForearm.seek PC +2 "manipulator"&T' +89 "core" ' +2 .tHand.close + "manipulator"&U/ +63 "core" / +2 .tPC.seek :open + "processing"%V( +456 "core" ( + "storage"(W& +4 "core" &  ' \ + "storage"(X& +4 "core" &  \ +2 "manipulator"&Y& +3 "core" & < 3 +2 "manipulator"&Z% +3 "core" %   " < +2 .tForearm.seek :retract +2 "manipulator"&[' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\\( +247 "core" ( + "manipulator"&]& +4 "core" & > +2 "storage"(^& +3 "core" & c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&_'u +94 "core" ' +8 .tElbow.hold + "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&a1 +63 "core" 1 +2 "manipulator"&b% +4 "core" % ΅ ! + "storage"(c& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts + "manipulator"&d'ϱ +16 "core" ' + "manipulator"&e& +4 "core" &  > +2 "storage"(f& +4 "core" &  4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&g'7 +15 "core" ' +2 "storage"(h% +4 "core" %  0\ +2 ."downElevator"SE.seek :down +4 "storage"(i' +99 (j% +4 "core" %3 q w +\ Wd +2 "manipulator"&k% +4 "core" %5 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +88 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +14292 #t-> 5.times {shuffle 2..6} +3 !o:NoMethodError : mesg"0undefined method `shuffle' for Object:Class: name0: args0:bt[ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):3:in `irb_binding'"(ESP):3:in `times'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1072 #-> require 'shuffle.rb' +238 #-> 5.times {shuffle 2..6} +2 #Shuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'m& +3 "core" & h\ +2 "manipulator"&n% +4 "core" %  K  +2 "storage"(o% +4 "core" %  \  + "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(q(  +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "core" &  ) ) K\ +2 "manipulator"&s& +4 "core" & K > +2 .tElbow.seek 2 +2 "manipulator"&t( +32 "core" ( +2 "manipulator"&u& +4 "core" & N + "storage"(v& +4 "core" &  D D E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&w'S +92 "core" ' +2 "storage"(x& +4 "core" &  B < \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'r +297 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" &  &\ +2 "manipulator"&|& +4 "core" & + .tElbow.seek 2 +2 "manipulator"&}( +7 "core" ( +2 "manipulator"&~& +4 "core" &  +2 "storage"(& +4 "core" & 4 * \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & /  + "manipulator"&% +4 "core" % ϸ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"& (ӂ +153 "core" ' + ( +2 "manipulator"& & + ."downElevator"SE.stop +5 "storage"(5 +3 "core" &{( v @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &{( l @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 "manipulator"&& +4 "core" &ӏ$ =G +2 "manipulator"&% +4 "core" %3  ; +2 "collection"'& +4 "core" & c\ +2 "collection"'& +5 "core" & h\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & a\  +9 &0y k\ *y +10 &c} n\ > +9 &qn h\ N +10 &3P `\ N +9 &U j\ M +9 &U j\ N +10 &yR h\ N +9 &<T d\ M +9 &V j\ N +10 &R l\ N +9 & R b\ N +9 &"DO ]\ M +10 &$O Z\ N +9 &%T Y\ N +10 &'P [\ M +9 &)LP ]\ M +9 &+ Q ]\ N +10 &,S ]\ N +9 &.P ]\ M +10 &0TP ^\ M +9 &2Q ]\ M +9 &3S ^\ M +10 &5T ]\ N +9 &7\\Q Z\ M +9 &9P R\ M +10 &:R W\ M +9 &<S Y\ N +9 &>dQ [\ M +10 &@&Q U\ M +9 &AY T\ N +10 &C] [\ O +9 &Edg U\ P +9 &G x R\ R +10 &H X\ U +9 &J V\ Z +10 &LQ O\ Y +9 &N U\ [ +9 &O T\ [\ +10 &Q U\ Z +9 &SQ J\ \\ +9 &U R\ ] +10 &V J\ ^ +9 &X M\ ^ +9 &ZQ G\ _ +10 &[z T\ ? +9 &\\. K\ (x +10 &\\p P\ T +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 + .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % 3 j ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &K\ + "manipulator"&% +4 "core" %    + "storage"(% +4 "core" % \  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +17 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  5\ +2 "manipulator"& & +3 "core" &Ӑ$  =F +2 "manipulator"&!% +4 "core" %  C  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +163 "core" ( +2 "manipulator"&#& +4 "core" & ,  +2 "storage"($& +3 "core" &  %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&%'S +95 "core" ' +2 "storage"(&& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +296 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" & j\  + "manipulator"&*& +4 "core" & b  +2 .tElbow.seek 2 + "manipulator"&+( +4 "core" ( + "manipulator"&,& +4 "core" &   +2 "storage"(-& +3 "core" & \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&.'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +59 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&0& +3 "storage"(1' +7 "core" & n  + "manipulator"&2% +4 "core" %  + +2 .tForearm.seek :retract +2 "manipulator"&3' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&4( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&5& +4 "core" & < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &  < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&8' +97 "core" ' + "manipulator"&9& +5 "core" & \ < + "manipulator"&;% +4 "core" % F # +2 "processing"%<& +4 "core" &;\ +2 "processing"%>& +5 "core" & \ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\  +9 &1v\ *x +10 &a}\ ~> +9 &hn\ O +10 &)O7\ O +9 &O\ N +9 &N\ N +10 &nR\ O +9 &1M\ O +9 &R\ O +10 &Q4\ O +9 & wR>\ O +10 &"8P=\ O +9 &#P\ O +9 &%O\ N +10 &'P\ O +9 &)AN\ O +9 &+O\ O +10 &,O\ N +9 &.O\ O +9 &0HQ\ O +10 &2\ Q4\ O +9 &3P\ O +10 &5P\ O +9 &7QQ\ O +9 &9Q\ O +10 &:U\ O +9 &<O\ O +10 &>XS\ O +9 &@R\ O +9 &AR\ O +10 &Ca\ Q +9 &EVl\ R +9 &Gu\ T +10 &H\ zU +9 &J\ {V +9 &LT\ {V +10 &N\ xW +9 &O\ fW +10 &Q\ uX +9 &SX\ wW +9 &U3\ xX +10 &V\ yW +9 &X\ xV +9 &Z`\ xW +10 &\\!\ xX +9 &]{3\ }8 +10 &^-rz\ V +9 &^(\ 5 +2 ( +2 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&1 +56 "core" 1 + "manipulator"&% +4 "core" %  D # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&@' +98 "core" ' + "processing"%A& +4 "core" &^&N\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&B% +4 "core" % !  z - +2 "storage"(E% +3 "core" % 3\  +2 "storage"(G. +3 "core" .(  + "storage"(H& +4 "core" & d\  +2 "storage"(J& +5 "manipulator"&K& +3 "core" & K\  +2 & < +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&N( +2 "storage"(O'r +5 "core" ( + "manipulator"&=& +4 "core" & 7 < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &  < +2 .tForearm.seek PC +2 "manipulator"&?' +94 "core" ' + .tHand.close + "manipulator"&C/ +59 "core" / +2 .tPC.seek :open + "processing"%I( +98 "core" ' + "storage"(F- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(L'1 +45 "core" ' +302 ( +2 "storage"(R& +4 "core" &  P\  + "manipulator"&S& +4 "core" & j < +2 "manipulator"&D% +3 "core" % \  b 5 +2 .tForearm.seek :retract +2 "manipulator"&U' +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&P( +248 "core" ( + "manipulator"& & +4 "core" & @ +2 "storage"(W& +4 "core" & P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&X'S +90 "core" ' +2 .tHand.open + "manipulator"&Y1 +61 "core" 1 +2 "storage"(Z- +9 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(T' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(]' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +3 "core" -' +2 "storage"(Q& +50 "core" & M 0\ \\ +2 "manipulator"&a& +4 "core" &  @ +2 .tElbow.seek 2 + "manipulator"&b( +4 "core" ( + "manipulator"&c& +4 "core" &   @ +2 "storage"(e& +3 "core" & ' \ \\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&f'S +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(h'" +58 "core" ' +2 "manipulator"&[& +4 "core" &  @ +2 "storage"(j& +3 "core" &  y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&k'Α +22 "core" ' +2 .tElbow.hold + "manipulator"&\\, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +3 "storage"(_' +28 "core" ' + "manipulator"&d% +5 "core" %Μ !  + "storage"(M& +4 "core" &  R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&g' +14 "core" ' + "manipulator"&i& +5 "core" & @ + "storage"(m& +4 "core" &  +\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'S +16 "core" ' + "storage"(o% +5 "core" %   V\ +2 ."downElevator"SE.seek :down +5 "storage"(p' +98 (7% +4 "core" %vL \ Yl + "manipulator"&r% +4 "core" %> K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (u& +4 "core" &  N\  +2 "collection"'v& +4 "core" &\\o X\ T +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&x% +4 "core" %  s  + "storage"(`% +4 "core" %\  + "storage"(l. +4 "core" .(  + "storage"(z& +4 "core" &  q\  + "storage"({& +4 "core" &  \  +2 "manipulator"&|& +4 "core" & ( ? +2 .tElbow.seek 2 + "manipulator"&~( +4 "core" ( +2 "manipulator"&& +4 "core" & ; 4 +2 "storage"(& +3 "core" &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +91 "core" ' +2 "storage"(& +4 "core" &   _\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'r +298 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" & @ 4 +2 "storage"( & +3 "core" &  ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&y'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('n +30 "core" ' +2 "manipulator"&% +4 "core" %Ά L  + "storage"(}& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 289 counts + "manipulator"&'ϲ +14 "core" ' + "manipulator"&& +4 "core" &  4 +2 "storage"(\ & +4 "core" &   s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +33 "core" ' +2 "manipulator"&& +4 "core" & 4 +2 "manipulator"&% +4 "core" %2  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( + "manipulator"&& +4 "core" &Ӓ  y 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӓ   9) +2 .tForearm.seek CC +2 "manipulator"& '? +94 "core" ' +2 .tHand.close + "manipulator"&!/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(#& +4 "core" & D .\  + "storage"($& +4 "core" & & & \  +2 "manipulator"&q& +3 "core" &ӓ  " 9( +2 "manipulator"&&% +3 "core" % D ? U +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&(& +4 "core" &   +2 "storage"()& +3 "core" & Z V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&*'Α +93 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&-1 +53 "core" 1 +2 "manipulator"&/% +4 "core" % Δ a 5 +2 "storage"(0& +4 "core" & G J \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 303 counts + "manipulator"&2' +13 "core" ' +2 "manipulator"&"& +5 "core" & "  + "storage"(%& +4 "core" & U U \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&''S +16 "core" ' +2 "storage"(.% +4 "core" % k q\ +3 ."downElevator"SE.seek :down +3 "storage"(5' +99 (6% +3 "core" %< 0 &\ We +2 "manipulator"&+% +4 "core" %> +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +89 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"';& +4 "core" & E\ +2 "manipulator"&<% +4 "core" %    +2 "storage"(1% +3 "core" % V U\  +2 "storage"(3. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(V( +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & D D v\ \ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&A( +29 "core" ( +2 "manipulator"&B& +4 "core" &x / 7 +2 "storage"(E& +3 "core" & 5 4 l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&G'7 +91 "core" ' + "storage"(H& +4 "core" & d h #\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'r +295 "core" ' + "storage"(J- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +2 "core" & 1 % \ +2 "manipulator"&=& +3 "core" &y 6 +2 .tElbow.seek 3 +2 "manipulator"&:( +3 "core" ( + "manipulator"&8& +4 "core" &y  6 + "storage"(C& +4 "core" & D B \ +3 .tForearm.seek 3 + 300 counts + "manipulator"&F'ϡ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&4/ +59 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&@& +3 "storage"(' +7 "core" &y  6 +2 "manipulator"&O% +4 "core" % ϙ Q + .tForearm.seek :retract +2 "manipulator"&R' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S(ӂ +151 "core" ( + "manipulator"&D& +5 "core" ' + &Ӕ# <9 +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&?& +5 "core" &Ӕ# l <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '? +93 "core" ' + "manipulator"&W& +5 "core" &ӕ"  ;8 + "manipulator"&N% +4 "core" %5 V k +2 "collection"'Y& +4 "core" & \\\ +3 "collection"'Z& +5 "core" & \\\ +2 .tCC.seek :closed + "collection"'^(\\ +4 "core" & X\  +9 &1y \\\ *y +9 &d} \\\ > +9 &|o ]\ M +10 &>R ]\ M +9 &R X\ L +9 &S \\\ L +10 &R Y\ M +9 &GU Y\ M +10 & V Y\ M +9 &Q T\ M +9 & R T\ L +10 &"PS U\ L +9 &$R T\ L +9 &%S Q\ M +10 &'U X\ M +9 &)WU X\ M +10 &+R U\ M +9 &,S M\ L +9 &.S N\ M +10 &0_U T\ M +9 &2 U P\ M +10 &3R M\ L +9 &5S \\\ M +9 &7fV R\ M +10 &9*T R\ L +9 &:T \\\ M +9 &<T S\ L +10 &>oU M\ M +9 &@1T U\ M +10 &AY \\\ M +9 &Cc U\ O +9 &Elu X\ P +10 &G# L\ T +9 &H W\ X +9 &J Y\ Y +10 &LW c\ Z +9 &N Y\ [\ +10 &O Y\ \\ +9 &Q \\\ [ +9 &SY \\\ \\ +10 &U Z\ ] +9 &V \\\ _ +9 &X \\\ ^ +10 &ZX ^\ _ +9 &[z Y\ > +9 &\\, Y\ )z +10 &\\w Y\ X +2 ( +2 "collection"'Z& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.45 + .Hand.open +2 "manipulator"&Q1 +60 "core" 1 +2 "manipulator"&U% +4 "core" % 5 D k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%c& +5 "core" &\ + "manipulator"&e% +4 "core" %  6  +2 "storage"([% +4 "core" % :\  + "storage"(j. +3 "core" .( + "storage"(L& +4 "core" & [\ +2 "storage"(T& +3 "core" & \ +2 "manipulator"&d& +4 "core" &Ӗ" 9 ;7 + "manipulator"&M% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&i( +166 "core" ( + "manipulator"&m& +4 "core" & +  +2 "storage"(o& +3 "core" & b\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&P'7 +92 "core" ' + "storage"(X& +4 "core" &   T\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"(]'r +305 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +41 (r& +12 "core" & 1\ +2 "manipulator"&f& +4 "core" & '  + .tElbow.seek 3 +2 "manipulator"&b( +3 "core" ( + "manipulator"&h& +4 "core" &   +2 "storage"(k& +4 "core" & a\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&u'ϡ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&g/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& + "storage"(x' +8 "core" &   + "manipulator"&`% +4 "core" %  S u +2 .tForearm.seek :retract +2 "manipulator"&l' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&z( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&_& +4 "core" & T D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" & { D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&|' +90 "core" ' + "manipulator"&& +5 "core" & D + "manipulator"&% +4 "core" % W +2 "processing"%n& +4 "core" &\ +2 "processing"%& +5 "core" &9\ +2 .tPC.seek :closed +2 "processing"%p(^ +4 "core" &\ +7 & -\ $c +9 &Ty\ 7 +9 &~u\ L +10 &R\ N +9 &ZQ\ N +9 &L\ N +10 &R\ N +9 &R:\ O +10 &aO\ O +9 &#N\ O +9 &Q\ O +10 &!P\ N +9 &#iN\ O +9 &%,M\ N +10 &&N\ O +9 &(P\ O +9 &*rR\ N +10 &,4R\ N +9 &-M\ N +10 &/N\ O +9 &1zR\ N +9 &3<N\ N +10 &4O\ N +9 &6T\ O +10 &8R\ O +9 &:CN\ O +9 &<N\ O +10 &=O\ O +9 &?O\ O +9 &AKR\ O +10 &C ^\ P +9 &De\ Q +10 &Fv\ S +9 &H@\ U +9 &J\ V +10 &K\ V +9 &M\ V +9 &OD\ V +10 &Q\ W +9 &R\ W +9 &T\ X +10 &VL\ W +9 &X \ W +10 &Y\ W +9 &[\ W +9 &]Q\ H +10 &^xC{\ $l +9 &^6\ 3 +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 + .Hand.open + "manipulator"&\\1 +4 "core" &^%\ 3 +55 1 + "manipulator"&s% +5 "core" %   W + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +92 "core" ' +2 "processing"% & +4 "core" &^%\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %  }  +2 "storage"(% +3 "core" % J\  +2 "storage"(. +3 "core" .( + "storage"(}& +4 "core" & +\ +2 "storage"(& +5 "manipulator"&\ & +3 "core" & n\ +2 & D +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +20 "core" ( +2 "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&t' +94 "core" ' + .tHand.close + "manipulator"&y/ +59 "core" / +2 .tPC.seek :open +2 "processing"%( +78 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +320 ( +2 "storage"(& +4 "core" &  &\ + "manipulator"&& +4 "core" & W + "manipulator"&% +4 "core" %  + # +2 .tForearm.seek :retract +2 "manipulator"&!' +90 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +238 "core" ( +2 "manipulator"&& +4 "core" & h 2 + "storage"(#& +4 "core" & X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&$'7 +92 "core" ' +2 .tHand.open + "manipulator"&q1 +55 "core" 1 +2 "storage"(&- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"((' +27 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"()' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' +2 "storage"(& +3 "core" & \ P +2 "manipulator"&-& +4 "core" &  2 + .tElbow.seek 3 +2 "manipulator"&/( +4 "core" ( + "manipulator"&0& +4 "core" &    2 +2 "storage"("& +3 "core" & X\ S +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%'7 +8 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +58 "core" ' + "manipulator"& & +5 "core" & Z 2 + "storage"(6& +4 "core" & f\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&+'u +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(*' +28 "core" ' + "manipulator"&;% +5 "core" %Έ + "storage"(2& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&<'ϴ +14 "core" ' + "manipulator"&1& +5 "core" & 2 + "storage"(3& +4 "core" & ;\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +17 "core" ' +2 "storage"('% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(5' +98 (% +3 "core" %k; f\ We +2 "manipulator"&% +4 "core" %. 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (B& +4 "core" & \ +2 "collection"'E& +4 "core" &\\u X\ X +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&H% +4 "core" %  v  +2 "storage"(,% +3 "core" % \  +2 "storage"(9. +3 "core" .( + "storage"(J& +4 "core" & \ +2 "storage"(>& +4 "core" & \ + "manipulator"&=& +4 "core" & = 2 +2 .tElbow.seek 3 +2 "manipulator"&8( +3 "core" ( + "manipulator"&C& +4 "core" & 2 +2 "storage"(4& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&@'7 +92 "core" ' +2 "storage"(O& +4 "core" &  K\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +304 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" & X 2 +2 "storage"(?& +4 "core" & m\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&K'u +22 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(W- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(N'r +32 "core" ' +2 "manipulator"&Y% +4 "core" %΃ 7 + "storage"(:& +4 "core" & ]\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts + "manipulator"&'ϯ +14 "core" ' + "manipulator"&R& +4 "core" & 2 +2 "storage"(& +4 "core" & Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q'7 +17 "core" ' + .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(U' +35 "core" ' +2 "manipulator"&c& +4 "core" & [ 2 + "manipulator"&e% +4 "core" %2 ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&[' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j(ӂ +156 "core" ( + "manipulator"&L& +5 "core" &ӄ) \ Aa + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &ӄ) Aa +2 .tForearm.seek CC +2 "manipulator"&Z'? +91 "core" ' + .tHand.close +2 "manipulator"&d/ +60 "core" / + .tCC.seek :open +2 "collection"'M( +450 "core" ( +2 "storage"( & +4 "core" & ' ' \ +2 "storage"(m& +4 "core" & ' '\ + "manipulator"&o& +4 "core" &Ӣ$ ) =C + "manipulator"&X% +4 "core" % = G L +2 .tForearm.seek :retract + "manipulator"&S' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&a( +163 "core" ( +2 "manipulator"&7& +4 "core" &  +2 "storage"(r& +3 "core" & ; J \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&f'u +93 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +55 "core" 1 + "manipulator"&g% +5 "core" % Έ 0 + "storage"(v& +4 "core" & F S (\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&`'ϴ +14 "core" ' +2 "manipulator"&i& +4 "core" & L  +2 "storage"(P& +3 "core" & c c z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&]'7 +19 "core" ' + "storage"(u% +5 "core" % ^ m n\  +2 ."downElevator"SE.seek :down +4 "storage"(_' +99 ({% +4 "core" %W3 D B \ V_ + "manipulator"&b% +4 "core" %@ : +42 .tForearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ' +2 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & K\ +2 "manipulator"&n% +4 "core" %   $ | +2 "storage"(x% +3 "core" % c d \ \  +2 "storage"(l. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(I(,y +376 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "core" &,x X c -\ +2 "manipulator"&s& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"& ( +38 "core" ( +2 "manipulator"& & +4 "core" & ! +2 "storage"(& +3 "core" &,x e e \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(}& +4 "core" &,x U X\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'r +294 "core" ' + "storage"(- +4 "core" -') +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,l  \ \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&|& +4 "core" & + "storage"(y& +4 "core" &,l 0 & 6\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& + "storage"(p' +8 "core" &  - + "manipulator"&% +4 "core" % X  J +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &Ӕ" f ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &ӕ" _ ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 "manipulator"&#& +5 "core" &ӕ" \ ;7 + "manipulator"&% +4 "core" %9 +2 "collection"'q& +4 "core" & `\ +2 "collection"'&& +5 "core" & ]\ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" & ]\ +8 & , ]\ #b +9 &Vv \\\ 7 +10 &v ]\ L +9 &T [\ M +9 &hS W\ M +10 &+P \\\ L +9 &R Z\ L +9 &U Y\ L +10 &qP [\ L +9 &2R X\ M +10 &R P\ M +9 &!P V\ L +9 &#yS W\ L +10 &%:O N\ M +9 &&P V\ L +10 &(R O\ M +9 &*T V\ M +9 &,CR O\ L +10 &.T Y\ M +9 &/P Q\ L +9 &1R H\ M +10 &3IS T\ M +9 &5 R M\ L +9 &6R P\ L +10 &8R P\ L +9 &:QV O\ M +10 &<Q O\ M +9 &=R O\ M +9 &?T S\ L +10 &AYW P\ M +9 &C` L\ N +10 &Do F\ P +9 &F J\ S +9 &HE P\ W +10 &I P\ Y +9 &K E\ Z +9 &M| H\ \\ +10 &OB I\ Z +9 &P O\ \\ +9 &R N\ ] +10 &T U\ ] +9 &V= X\ _ +10 &X \\\ ] +9 &Y Q\ ` +9 &[ c\ L +10 &\\8 R\ 4 +9 &\\ c\ [ +6 ( + "collection"'&& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.47 + .Hand.open + "manipulator"&1 +4 "core" &\\} \\\ [ +56 1 +2 "manipulator"&-% +5 "core" % 9 ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%"& +4 "core" &\ +2 "manipulator"&!% +4 "core" %   + "storage"( % +4 "core" % \  +2 "storage"(6. +3 "core" .(,y + "storage"(;& +4 "core" &,l \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +32 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (2& +2 "core" &,{ +\ +2 "manipulator"&1& +4 "core" &ӕ" ;7 + "manipulator"&3% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&(( +161 "core" ( + "manipulator"&'& +4 "core" & \ +2 "storage"(& +4 "core" &,{ )\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&$' +92 "core" ' + "storage"()& +4 "core" &,{ %\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" &,l u\  +2 "manipulator"&/& +4 "core" & \ +2 .tElbow.seek 4 + "manipulator"&.( +3 "core" ( +2 "manipulator"&+& +3 "core" & 4 \ +2 "storage"(B& +4 "core" &,l E\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&<'c +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&H& + "storage"(,' +8 "core" &  \ + "manipulator"&9% +4 "core" % i k +2 .tForearm.seek :retract +2 "manipulator"&*' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&J( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&>& +5 "core" & > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" & ` > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&C' +88 "core" ' + "manipulator"&4& +4 "core" &  > +2 "manipulator"&% +4 "core" %  m +2 "processing"%O& +4 "core" &\ +2 "processing"%5& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%(^ +3 "core" &\ +7 & -\ #a +9 &Tx\ 7 +9 &~u\ L +10 &O\ N +9 &WN\ O +9 &O\ O +10 &Q\ O +9 &P\ O +10 &_Q\ O +9 &!P\ O +9 &R\ N +10 &!M\ O +9 &#fQ\ O +9 &%*M\ N +10 &&O\ N +9 &(Q\ O +10 &*pR\ N +9 &,1N\ O +9 &-L\ N +10 &/O\ N +9 &1xO\ N +9 &3:O\ N +10 &4O\ N +9 &6P\ N +10 &8P\ N +9 &:BO\ N +9 &<P\ N +10 &=Q\ O +9 &?R\ O +9 &AHT\ O +10 &Ch\ R +9 &Dy\ S +10 &F{\ U +9 &H<\ V +9 &I\ U +10 &K\ U +9 &M\ V +9 &OB\ V +10 &Q\ ~W +9 &R\ }W +10 &T\ {W +9 &VH\ }W +9 &X\ \ |W +10 &Y\ |W +9 &[\ }X +9 &]L\ {M +10 &^|H\ }a +9 &^V\ 6 +6 ( +2 "processing"%5& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open +2 "manipulator"&1 +3 "core" &^-\ 6 +49 1 + "manipulator"&G% +4 "core" %  { m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' + "processing"%?& +4 "core" &^-\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&W% +4 "core" %  !  +2 "storage"(Y% +3 "core" % \  +2 "storage"(:. +3 "core" .(,y + "storage"(R& +4 "core" &,l (\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (c& +4 "core" &,{ ;\ + "manipulator"&e& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &  > +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&@( +4 ."raiseStack"SE.seek :beamBreak + "storage"(8'r +3 "core" ( + "manipulator"&A& +4 "core" & C > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" & \  M > +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 .tHand.close + "manipulator"&N/ +52 "core" / +2 .tPC.seek :open + "processing"%L( +104 "core" ' +2 "storage"(T- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Q'1 +54 "core" ' +287 ( + "storage"(F& +4 "core" &,i J\ +2 "manipulator"&d& +3 "core" & > +2 "manipulator"&[% +3 "core" %  " Z +2 .tForearm.seek :retract +2 "manipulator"&^' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& ( +242 "core" ( +2 "manipulator"&m& +4 "core" &  4 + "storage"(o& +4 "core" &,i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&X' +92 "core" ' + .tHand.open +2 "manipulator"&71 +55 "core" 1 +2 "storage"(r- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(Z' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(j' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +4 "core" -' +2 "storage"(g& +3 "core" &,i _ +\ A +2 "manipulator"&v& +4 "core" & 4 + .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( + "manipulator"&P& +4 "core" &   % 4 +2 "storage"(u& +4 "core" &,i P\ M +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"({'" +52 "core" ' + "manipulator"&b& +5 "core" & C 4 + "storage"(a& +4 "core" &,i  ,\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&f'7 +20 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +43 "storage"(`' +30 "core" ' + "manipulator"&n% +5 "core" %= )  + "storage"(x& +4 "core" &,i -\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"&l'i +15 "core" ' +2 "manipulator"&U& +5 "core" & 4 + "storage"(]& +4 "core" &,i Y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&_' +17 "core" ' + "storage"(V% +5 "core" %  \ +2 ."downElevator"SE.seek :down +4 "storage"(\\' +99 (s% +3 "core" %4; \ Wd +2 "manipulator"& % +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (}& +4 "core" &,i 3\ + "collection"'h& +4 "core" &\\| _\ [ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  -  +2 "storage"(% +3 "core" % -\  +2 "storage"(. +3 "core" .(,y + "storage"(& +4 "core" &,i C\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(|(,y +31 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (y& +4 "core" &,z \ + "manipulator"&z& +4 "core" & y 4 +2 .tElbow.seek 4 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&& +4 "core" & = 4 + "storage"( & +4 "core" &,z  $\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +99 "core" ' +2 "storage"(& +4 "core" &,z   S\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'r +297 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & b 4 + "storage"(#& +4 "core" &,l B\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +13 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(~- +2 "core" -' +3 .tSE.seek 0.18 Pucks below Top Plate + "storage"(p'} +26 "core" ' +2 "manipulator"&% +4 "core" %9  < + "storage"(M& +4 "core" &,l \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 302 counts +2 "manipulator"&'e +15 "core" ' +2 "manipulator"&-& +4 "core" & 4 +2 "storage"("& +4 "core" &,l {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +15 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"( ' +36 "core" ' + "manipulator"&6& +5 "core" &  4 + "manipulator"&;% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2(ӂ +154 "core" ( + "manipulator"&1& +5 "core" &ӏ& K ?S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &ӏ& ?S +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&'/ +55 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( + "storage"(I& +4 "core" &,l ? 8 +\  +2 "storage"()& +3 "core" &,l * & \  +2 "manipulator"&& +4 "core" &ӓ% $ >O + "manipulator"&0% +4 "core" % = e , + .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&%( +165 "core" ( +2 "manipulator"&/& +4 "core" &  + "storage"(+& +4 "core" &,l V U \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&B'7 +95 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&H1 +63 "core" 1 +2 "manipulator"&9% +4 "core" % +  < +2 "storage"((& +4 "core" &,l ` b\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 288 counts + "manipulator"&$'W +15 "core" ' +2 "manipulator"&& +4 "core" & :  + "storage"(<& +4 "core" &,l h u \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +19 "core" ' +2 "storage"(=% +4 "core" % | \ +3 ."downElevator"SE.seek :down +3 "storage"(.' +98 (4% +3 "core" %: : B \ U^ +2 "manipulator"&% +4 "core" % M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +89 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"',& +4 "core" & W\ + "manipulator"&*% +4 "core" %   +2 "storage"(% +4 "core" % y g\  +2 "storage"(. +3 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(G(<- +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &<* + ' a\  + "manipulator"&W& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&:& +4 "core" &  +2 "storage"(R& +3 "core" &<* { k v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&5'O +88 "core" ' +2 "storage"(c& +4 "core" &<*  -\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'r +297 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &<* > 7 \  + "manipulator"&C& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&N( +3 "core" ( + "manipulator"&& +4 "core" &   + "storage"(T& +4 "core" &<* T T q\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&J'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(8' +7 "core" &  L  +2 "manipulator"&F% +4 "core" % ϵ  \ +2 .tForearm.seek :retract + "manipulator"&d' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +5 "core" &ә w 9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &ә  9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&o'? +95 "core" ' + "manipulator"&@& +5 "core" &ә  9) + "manipulator"&7% +4 "core" %6 2 ? +2 "collection"'r& +4 "core" & U\ +2 "collection"'k& +6 "core" & ]\ +2 .tCC.seek :closed +3 "collection"'g(\\ +3 "core" & Z\ +6 & Z\ 5 +9 &>Hs V\ 0 +10 &ls{ X\ D +9 &\\ Z\ M +9 &R b\ M +10 &T ]\ M +9 &XS X\ M +9 &R Y\ M +10 &R Y\ M +9 &S \\\ M +10 &`S Y\ M +9 &!"R X\ M +9 &"R Y\ L +10 &$Q W\ L +9 &&iQ W\ L +9 &(+Q V\ L +10 &)Q W\ L +9 &+R W\ L +10 &-pT T\ M +9 &/2T S\ M +9 &0T N\ L +10 &2U P\ L +9 &4yU O\ L +9 &6:U R\ M +10 &7T R\ L +9 &9S P\ L +9 &;U W\ L +10 &=CU U\ L +9 &?Q V\ M +10 &@U U\ M +9 &BW T\ L +9 &DF_ \\\ N +10 &Fj a\ O +9 &G} Y\ R +10 &Iv \\\ V +9 &K0 e\ X +9 &L ^\ Y +10 &N ]\ Y +9 &Pp a\ Z +9 &R1 h\ [ +10 &S `\ [ +9 &U c\ ] +10 &Wr _\ \\ +9 &Y0 d\ ^ +9 &Z a\ ^ +10 &\\VT ^\ 3 +9 &\\ _\ ` +10 ( + &\\ _\ \\ + "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.21 + .Hand.open + "manipulator"&v1 +53 "core" 1 +2 "manipulator"&P% +4 "core" % 6   ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%^& +4 "core" &\ +2 "manipulator"&b% +3 "core" %  $  +2 "storage"(a% +4 "core" % T\  + "storage"(Q. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(n(<- +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" &<* F\  +2 "manipulator"&Z& +4 "core" &Ӛ  ; 9( + "manipulator"&U% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&]( +167 "core" ( + "manipulator"&V& +4 "core" & C \ +2 "storage"( & +3 "core" &<*  R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +93 "core" ' +2 "storage"(j& +4 "core" &<*   \  +2 .tSE.reconfigure :pick +44 "storage"(#],K-0-\ b +13 .tSE.seek :beamBreak + "storage"(s'r +301 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &<* H\  +2 "manipulator"&i& +4 "core" & > \ +2 .tElbow.seek 5 + "manipulator"&{( +19 "core" ( +2 "manipulator"&f& +4 "core" & A P +2 "storage"(l& +3 "core" &<* \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&}'Ϲ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" & P +2 "manipulator"&% +4 "core" % ϵ +2 .tForearm.seek :retract + "manipulator"&`' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&y& +5 "core" & t < + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" & , < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +141 "core" ' +2 "manipulator"& & +4 "core" & < + "manipulator"&_% +4 "core" % < J +2 "processing"%& +4 "core" &\ +2 "processing"%\\& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +8 &1x\ *x +10 &b{\ > +9 &pm\ O +10 &2M\ N +9 &Q\ N +9 &O\ N +10 &xM\ N +9 &:M\ N +9 &Q\ N +10 &L\ O +9 & Q\ N +10 &"BL\ N +9 &$O\ N +9 &%Q\ O +10 &'O\ O +9 &)JP\ N +9 &+ P\ O +10 &,O\ O +9 &.Q\ N +9 &0QN\ O +10 &2P\ N +9 &3P\ N +10 &5O\ N +9 &7ZO\ N +9 &9O\ N +10 &:P\ N +9 &<N\ O +9 &>bQ\ N +11 &@"Q\ O +10 &AW\ O +9 &Ch\ Q +8 &E]o\ S +9 &G\ U +10 &H\ U +9 &J\ W +9 &L]\ U +10 &N\ V +9 &O\ V +10 &Q\ W +9 &S`\ W +9 &U#\ W +10 &V\ W +9 &X\ V +9 &Zg\ X +10 &\\*\ W +9 &]w\ < +10 &^3\ P +9 &^ \ 0 +2 ( +2 "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.74 + .Hand.open +2 "manipulator"&1 +56 "core" 1 + "manipulator"&% +5 "core" %  s J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +91 "core" ' + "processing"%& +5 "core" &^ \ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&#% +4 "core" %   +2 "storage"(~% +4 "core" % )\  + "storage"(. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(M(<- +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (-& +2 "manipulator"&"& +3 "core" &<+ \\ d\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &   < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&6( + "storage"(;'r +5 "core" ( + "manipulator"&& +4 "core" & A < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" & B < +2 .tForearm.seek PC +2 "manipulator"&t' +94 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%( +100 "core" ' + "storage"(p- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +45 "core" ' +298 ( +2 "storage"(3& +4 "core" &<+  E\  + "manipulator"&!& +4 "core" & $ ; +2 "manipulator"&q% +3 "core" %  2 5 +2 .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&&( +245 "core" ( + "manipulator"& & +5 "core" & :  + "storage"(I& +4 "core" &<+ |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&)'O +93 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(0- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(/' +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(+' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(2& +4 "core" &<+\ \  L\ V +2 "manipulator"&H& +4 "core" & \ o  + .tElbow.seek 5 +2 "manipulator"&9( +9 "core" ( +2 "manipulator"&(& +4 "core" &   + "storage"(& +4 "core" &<+\ \ 9\ X +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +55 "core" ' +2 "manipulator"&& +4 "core" & P  +2 "storage"(4& +4 "core" &<+ 7\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +20 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +28 "core" ' + "manipulator"&,% +5 "core" %Π P + "storage"($& +5 "core" &<+ Q\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&*' +14 "core" ' + "manipulator"&& +5 "core" &  + "storage"(& +4 "core" &<+  @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& 'O +14 "core" ' +2 "storage"(>% +4 "core" %\ +3 ."downElevator"SE.seek :down +4 "storage"(.' +98 (|% +4 "core" %w; P\ Wd +2 "manipulator"&?% +4 "core" %F k + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&W' +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (:& +4 "core" &<+  \  +2 "collection"'R& +4 "core" &\\ c\ \\ + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&c% +4 "core" %  r  + "storage"(E% +4 "core" % ]\  + "storage"(O. +3 "core" .(<- +2 "storage"(A& +4 "core" &<+ \  + "storage"(K& +4 "core" &<+\  + "manipulator"&C& +4 "core" & 2  +2 .tElbow.seek 5 +2 "manipulator"&( +9 "core" ( + "manipulator"&T& +5 "core" & w + "storage"(D& +4 "core" &<+ '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' + "storage"(F& +4 "core" &<+   Y\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'r +304 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & R +2 "storage"(m& +3 "core" &<+ $ ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&e'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(@- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(7'{ +29 "core" ' + "manipulator"&r% +4 "core" %΄ ! +2 "storage"(N& +3 "core" &<+ ,\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 291 counts + "manipulator"&8'ϰ +16 "core" ' + "manipulator"&d& +4 "core" & Z +2 "storage"(& +4 "core" &<+  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +50 "manipulator"&v'O +21 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(P' +41 "core" ' + "manipulator"&^& +5 "core" & w + "manipulator"&b% +4 "core" %E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +159 "core" ( +2 "manipulator"&k& +4 "core" &Ӛ  A 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &Ӛ 8 +2 .tForearm.seek CC +2 "manipulator"&Z'? +93 "core" ' +2 .tHand.close + "manipulator"&U/ +61 "core" / +2 .tCC.seek :open +2 "collection"'o( +447 "core" ( + "storage"(V& +5 "core" &<+ X O \  + "storage"( & +4 "core" &<+ < < 9\  +2 "manipulator"&G& +3 "core" &Ӛ F 8 +2 "manipulator"&j% +4 "core" % A & N +2 .tForearm.seek :retract + "manipulator"&[' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&u( +167 "core" ( + "manipulator"& & +5 "core" & $  + "storage"(S& +4 "core" &<+ c c T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&i'΍ +92 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +56 "core" 1 +2 "manipulator"&h% +4 "core" % Μ P L +2 "storage"(& +4 "core" &<+ r g 4\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&' +15 "core" ' +2 "manipulator"&]& +4 "core" & &  +2 "storage"(X& +4 "core" &<+ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +18 "core" ' +2 "storage"(}% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(y' +98 (z% +3 "core" %8 V Y\ U_ +2 "manipulator"&{% +4 "core" %Q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'_& +5 "core" & T\ + "manipulator"&% +4 "core" %    +2 "storage"(% +4 "core" % d c\  + "storage"(`. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(L(K +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K ~\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&#& +4 "core" & >  + "storage"(~& +4 "core" &K Y e \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(\\& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'r +305 "core" ' + "storage"("- +4 "core" -'( + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K a V \  +2 "manipulator"&w& +3 "core" &  +3 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" &  + "storage"(n& +4 "core" &K t [\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&p'h +35 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"(' +6 "core" & `  +2 "manipulator"&;% +4 "core" % m b +2 .tForearm.seek :retract +2 "manipulator"&3' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&!(ӂ +151 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&q& +4 "core" &ӂ( A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &ӂ( 2 A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '? +92 "core" ' +3 "manipulator"&I& +4 "core" &ӆ( % @[ +2 "manipulator"&6% +3 "core" %G S E +2 "collection"'& +4 "core" & T\ +2 "collection"'0& +6 "core" & _\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & Z\ +7 &: [\ %g +9 &Wu Z\ 7 +10 &u e\ L +9 &S X\ L +10 &{S `\ M +9 &>R \\\ L +9 &P `\ L +10 &R [\ L +9 &O X\ L +9 &ER R\ M +10 & R T\ L +9 &!T Y\ L +10 &#T V\ L +9 &%NT Y\ L +9 &'R T\ L +10 &(P U\ L +9 &*S Q\ M +9 &,VT V\ L +10 &.Q X\ L +9 &/T V\ L +10 &1T Q\ L +9 &3^U Y\ L +9 &5S K\ M +10 &6S G\ L +9 &8P N\ L +9 &:fU M\ L +10 &<'T Q\ M +9 &=T J\ L +9 &?R Q\ L +10 &AnR V\ L +9 &C/Y P\ M +10 &De P\ N +9 &Fn X\ P +9 &Hd T\ S +10 &J b\ W +9 &K ]\ Y +9 &M _\ Z +10 &OX \\\ Y +9 &Q X\ Z +10 &R _\ Z +9 &T [\ [ +10 &VY Z\ \\ +9 &X \\\ \\ +9 &Y b\ ] +10 &[ ^\ J +9 &\\; b\ *~ +9 &\\ d\ ] +3 ( +2 "collection"'0& +2 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 + .Hand.open + "manipulator"&21 +65 "core" 1 +2 "manipulator"&H% +4 "core" % G E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&(' +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&'% +4 "core" %  m  + "storage"(% +4 "core" % T\  +2 "storage"(4. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(,(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (1& +3 "core" &K" i (\  +2 "manipulator"&$& +4 "core" &Ӊ(  K @X + "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +157 "core" ( + "manipulator"&/& +5 "core" &  + "storage"(>& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&&' +92 "core" ' + "storage"()& +4 "core" &K   p\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +308 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +3 "core" &K )\  + "manipulator"&<& +4 "core" & <  +2 .tElbow.seek 6 + "manipulator"&9( +3 "core" ( +2 "manipulator"&=& +3 "core" &   +2 "storage"(& +4 "core" &K   @\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&:'h +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& + "storage"(c' +7 "core" & R  + "manipulator"&E% +4 "core" % _ +2 .tForearm.seek :retract +2 "manipulator"&O' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&B( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&A& +4 "core" & ^ 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +2 "core" & ! 0 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&C' +103 "core" ' + "manipulator"&T& +4 "core" & L 0 +2 "manipulator"&D% +4 "core" %  +2 "processing"% & +4 "core" &\ +2 "processing"%F& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%.(^ +5 "core" &\ +6 & &\ #b +10 &Vy\ 8 +59 &~s\ L +5 &O\ O +3 &^O\ N + & K\ N + &Q\ N + &N\ O + &fN\ N +3 &(L\ N +10 &L\ O +9 &!O\ O +10 &#nO\ N +9 &%0L\ N +9 &&Q\ N +10 &(Q\ N +9 &*uO\ O +10 &,7O\ O +9 &-O\ O +9 &/S\ O +10 &1}U\ O +9 &3?Q\ O +9 &5N\ N +10 &6P\ N +9 &8S\ O +10 &:GP\ O +9 &< O\ O +9 &=Q\ O +10 &?Q\ N +9 &AMX\ O +9 &Ck\ R +10 &Dv\ S +9 &F\ U +10 &HB\ V +9 &J\ V +9 &K\ V +10 &M\ V +9 &OH\ V +9 &Q\ X +10 &R\ W +9 &T\ X +10 &VN\ W +9 &X\ W +9 &Y\ W +10 &[\ X +9 &]T\ I +9 &^|E\ !d +10 &^F\ 6 +5 ( +2 "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 + .Hand.open +2 "manipulator"&%1 +3 "core" &^-\ 6 +52 1 + "manipulator"&W% +4 "core" %  m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +103 "core" ' + "processing"%& +5 "core" &^-\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&m% +4 "core" %  p +2 "storage"(@% +4 "core" % \  + "storage"(r. +3 "core" .(K + "storage"(N& +4 "core" &K \  +2 "storage"(d& +4 "manipulator"&& +4 "core" &K \  + & c 0 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&^( +3 ."raiseStack"SE.seek :beamBreak + "storage"(b'r +3 "core" ( +2 "manipulator"&& +3 "core" & 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  D 0 +2 .tForearm.seek PC +2 "manipulator"&Y' +96 "core" ' + .tHand.close + "manipulator"&e/ +63 "core" / +3 .tPC.seek :open + "processing"%8( +91 "core" ' + "storage"(7- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(k'1 +45 "core" ' +312 ( + "storage"(x& +4 "core" &K  J\  +2 "manipulator"&v& +3 "core" & O 0 +2 "manipulator"&J% +4 "core" %  " + .tForearm.seek :retract +2 "manipulator"&U' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&a( +243 "core" ( +2 "manipulator"&g& +4 "core" & ) + "storage"(V& +4 "core" &K Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +94 "core" ' + .tHand.open + "manipulator"&G1 +57 "core" 1 +2 "storage"(j- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(S' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +4 "core" -' + "storage"(Q& +4 "core" &K \  /\ X + "manipulator"&l& +4 "core" & ? ) +2 .tElbow.seek 6 +2 "manipulator"&h( +3 "core" ( + "manipulator"&& +4 "core" &   \\ ) +2 "storage"(]& +4 "core" &K\ \  U\ W +2 .tForearm.seek 6 + 450 counts + "manipulator"&X' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +56 "core" ' +2 "manipulator"&[& +4 "core" &  ) +2 "storage"(z& +3 "core" &K I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&{'< +21 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(i' +18 "core" ' +2 "manipulator"&_% +4 "core" %N f +2 "storage"(& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'z +16 "core" ' + "manipulator"&& +4 "core" & ) +2 "storage"(`& +4 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +17 "core" ' +2 "storage"(s% +4 "core" % 9\ +2 ."downElevator"SE.seek :down +4 "storage"(y' +99 (M% +3 "core" %\\< u\ Vb +2 "manipulator"&% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +59 "Can"'\ `^ +30 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (#& +4 "core" &K W\  +2 "collection"'~& +4 "core" &\\ `\ ] +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&\\% +3 "core" %  L  +2 "storage"(f% +4 "core" % 4 t\  + "storage"( . +4 "core" .(K + "storage"("& +4 "core" &K $ I\  +2 "storage"(& +3 "core" &K  4\  +2 "manipulator"&w& +4 "core" & O ( + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&n& +4 "core" &  ( + "storage"(& +4 "core" &K !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\ ' +96 "core" ' +2 "storage"(;& +4 "core" &K\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +2 "core" & [ ( +2 "storage"(t& +4 "core" &K d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&-'< +13 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(I- +2 "core" -' +3 .tSE.seek 0.19 Pucks below Top Plate + "storage"(6' +29 "core" ' +2 "manipulator"&% +4 "core" %P R 1 + "storage"(& +4 "core" &K E\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&'| +16 "core" ' + "manipulator"&3& +4 "core" & l ( +2 "storage"(o& +4 "core" &K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2' +17 "core" ' + .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(H' +48 "core" ' + "manipulator"&& +4 "core" & E ( +2 "manipulator"&'% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4(ӂ +146 "core" ( + "manipulator"&0& +84 "core" &y) 7 Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" &y) C Ae +2 .tForearm.seek CC +2 "manipulator"&$'? +94 "core" ' + .tHand.close + "manipulator"&/ +53 "core" / + .tCC.seek :open +2 "collection"' ( +447 "core" ( +2 "storage"(/& +4 "core" &K D : K\  + "storage"(>& +4 "core" &K ( ' N\  +2 "manipulator"&)& +3 "core" &Ӗ% g >H +2 "manipulator"&L% +3 "core" % = V  +2 .tForearm.seek :retract +2 "manipulator"&!' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&(( +163 "core" ( + "manipulator"&|& +4 "core" &   +2 "storage"(?& +4 "core" &K c b 3\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&<'< +100 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&*% +4 "core" % : + "storage"(R& +4 "core" &K F C \  + .tForearm.force -20 + "manipulator"&5 +45 .tForearm.seek 6 + 298 counts +10 "manipulator"&E'f +15 "core" ' + "manipulator"&& +4 "core" & f  +2 "storage"(&& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&+' +16 "core" ' +2 "storage"(:% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(A' +99 (K% +2 "core" %9 S F [\ U_ +2 "manipulator"&9% +5 "core" % ] + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'D& +5 "core" & [\ + "manipulator"& % +4 "core" %    +2 "storage"(c% +4 "core" % | \  +2 "storage"(O. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +1302 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +2 "core" &  U P B\ +2 "manipulator"&W& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&( +11 "core" ( + "manipulator"&m& +4 "core" & / x +2 "storage"(@& +3 "core" &  s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&r'S +88 "core" ' +2 "storage"(N& +4 "core" &  K\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" & 6 B \ +2 "manipulator"&& +4 "core" &  x +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&C& +4 "core" & x + "storage"(e& +4 "core" & U U a\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&7'Ͻ +14 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +59 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&5& +3 "storage"(.' +8 "core" & x + "manipulator"&b% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&x' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&v(ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&J& +4 "core" &ӎ$ Y =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &ӎ# M =E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'? +91 "core" ' +2 "manipulator"&V& +4 "core" &ӏ$ K =D +2 "manipulator"&^% +4 "core" %; * +2 "collection"'G& +3 "core" & j\ +3 "collection"'j& +5 "core" & r\ +2 .tCC.seek :closed + "collection"'Z(\\ +5 "core" & l\ +6 &: p\ %g +10 &Xv j\ 7 +9 &v a\ L +10 &Q b\ L +9 &{T c\ L +9 &=S ]\ L +10 &P d\ L +9 &S \\\ L +9 &R _\ L +10 &DS _\ M +9 & R g\ L +9 &!T g\ L +10 &#T f\ L +9 &%NO d\ L +10 &'S b\ L +9 &(S a\ L +9 &*U c\ L +10 &,UT b\ L +9 &.Q e\ L +9 &/S X\ L +10 &1Q \\\ L +9 &3]T ]\ L +10 &5U b\ L +9 &6S ^\ L +9 &8Q _\ L +10 &:dT T\ M +9 &<'T S\ L +9 &=Q U\ L +10 &?V _\ L +9 &AlU \\\ M +10 &C.Y W\ M +9 &De U\ N +9 &Fq Z\ P +10 &H` a\ T +9 &J Z\ W +9 &K V\ Y +10 &M S\ [ +9 &OV f\ Z +10 &Q [\ Z +9 &R b\ [\ +9 &T Z\ [ +10 &VW e\ \\ +9 &X c\ \\ +9 &Y g\ ] +10 &[ h\ J +9 &\\7 j\ - +10 &\\ f\ Z +5 ( +2 "collection"'j& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.31 + .Hand.open + "manipulator"&Q1 +4 "core" &\\ g\ Z +56 1 + "manipulator"&l% +5 "core" % ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%]& +4 "core" &\ +2 "manipulator"&U% +4 "core" %  *  + "storage"([% +4 "core" % z\  +2 "storage"(z. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(_(  +18 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  ?\  +2 "manipulator"&k& +4 "core" &ӏ$ =D +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&`( +157 "core" ( +2 "manipulator"& & +4 "core" & F  + "storage"(s& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&a'S +94 "core" ' +2 "storage"( & +4 "core" &   \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'r +294 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  \  +2 "manipulator"&X& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&h( +4 "core" ( + "manipulator"&}& +4 "core" & G  + "storage"({& +74 "core" &   =\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&#'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&~& + "storage"(\\' +8 "core" &   + "manipulator"&f% +4 "core" %  } +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&i( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&"& +5 "core" &  . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&w' +93 "core" ' +2 "manipulator"&n& +4 "core" & . +2 "manipulator"&% +4 "core" % O / + "processing"%P& +4 "core" &\ +2 "processing"%;& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%y(^ +3 "core" &\ +6 &\ 2 +10 &9Fs\ 0 +9 &_p{\ E +9 &Y\ O +10 &P\ O +9 &O\ O +9 &DO\ O +10 &J\ N +9 &N\ N +10 &Q\ O +9 &MP\ N +9 &!N\ N +10 &"P\ O +9 &$M\ N +9 &&UM\ N +10 &(K\ O +9 &)L\ N +10 &+N\ N +9 &-\\L\ O +10 &/L\ N +9 &0Q\ O +9 &2O\ O +9 &4dR\ O +10 &6&N\ O +9 &7M\ O +10 &9O\ N +9 &;kR\ O +9 &=/O\ N +10 &>Q\ O +9 &@Q\ N +9 &BqX\ P +10 &D0a\ Q +9 &Es\ R +10 &G\ U +9 &Ig\ V +9 &K)\ V +10 &L\ V +9 &N\ W +9 &Pk\ W +10 &R-\ W +9 &S\ W +9 &U\ W +10 &Ws\ W +9 &Y6\ W +10 &Z\ W +9 &\\\ X +9 &^2`w\ / +10 &^\ D +9 ( + &^-\ 6 +2 "processing"%;& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open +2 "manipulator"&u1 +57 "core" 1 +2 "manipulator"&% +4 "core" %   / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%q& +4 "core" &^- \ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&t% +4 "core" %  @  +2 "storage"(I% +3 "core" % \  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +38 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +2 "manipulator"&o& +4 "core" &  \ \ +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" & p . +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(''r +5 "core" ( + "manipulator"&\ & +4 "core" &  . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & f . +2 .tForearm.seek PC +53 "manipulator"&' +98 "core" ' + .tHand.close +2 "manipulator"&-/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +35 "core" ' + "storage"(6- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +3 "storage"(2'1 +40 "core" ' +368 ( +2 "storage"(0& +5 "core" & \ + "manipulator"&1& +4 "core" &  . +2 "manipulator"&p% +4 "core" %  u + .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +245 "core" ( + "manipulator"&& +4 "core" & c 0 +2 "storage"(/& +4 "core" &  F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'S +93 "core" ' +2 .tHand.open + "manipulator"&)1 +55 "core" 1 +2 "storage"(L- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(|' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(?' +56 "core" ' + #tLights, camera, ACTION! + "storage"($- +4 "core" -' +2 "storage"(4& +4 "core" & @ ;\ [ + "manipulator"&& +4 "core" & " / +2 .tElbow.seek 2 +2 "manipulator"&*( +3 "core" ( + "manipulator"&R& +4 "core" &  / +2 "storage"(& +4 "core" & M l\ [ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&&'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(:'" +55 "core" ' + "manipulator"&!& +5 "core" & R / + "storage"(K& +4 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&9'Α +112 "core" ' +2 .tElbow.hold + "manipulator"&(, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(<' +27 "core" ' +2 "manipulator"&D% +4 "core" %Π P 0 +2 "storage"(E& +3 "core" &  &\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"& ' +15 "core" ' + "manipulator"&c& +4 "core" & / +2 "storage"(O& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&H'S +15 "core" ' + "storage"(+% +5 "core" % 0\ +2 ."downElevator"SE.seek :down +3 "storage"(A' +99 (,% +3 "core" %^N l\ Zn + "manipulator"&%% +4 "core" %D & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (m& +4 "core" & /\ + "collection"'@& +4 "core" &\\ f\ Z +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&N% +4 "core" %    +2 "storage"(=% +3 "core" % e\  +2 "storage"(T. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (d& +3 "core" &  ,\ +2 "manipulator"&& +4 "core" & : / +2 .tElbow.seek 2 + "manipulator"&C( +4 "core" ( + "manipulator"&e& +4 "core" & ; / +2 "storage"(B& +4 "core" &  d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'S +97 "core" ' + "storage"(b& +5 "core" &   \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" & 2 / + "storage"(Y& +4 "core" &  ;\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&F'Α +18 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(V- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(^'k +25 "core" ' +2 "manipulator"&G% +4 "core" %Ύ ; % + "storage"(& +4 "core" & D\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 297 counts + "manipulator"&.'Ϻ +14 "core" ' + "manipulator"&x& +5 "core" & / + "storage"( & +4 "core" & 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +14 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(l' +33 "core" ' +2 "manipulator"&]& +4 "core" & / +2 "manipulator"&U% +4 "core" %1 O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&[' +95 "core" ' +2 .tElbow.seek CC + "manipulator"&z(ӂ +153 "core" ( + "manipulator"&j& +5 "core" &ӕ#  v <> + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ӕ# $ <> +2 .tForearm.seek CC + "manipulator"&k'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'g( +451 "core" ( +2 "storage"( & +4 "core" & < B \ + "storage"(s& +4 "core" & D B \ +2 "manipulator"&& +3 "core" &Ӗ# - <= +2 "manipulator"& % +3 "core" % 7 Z Z +2 .tForearm.seek :retract +2 "manipulator"&v' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&M& +4 "core" & L  +2 "storage"(& +3 "core" & T T G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&X'Α +96 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&{1 +59 "core" 1 +2 "manipulator"&% +4 "core" % Κ  . 3 + "storage"(~& +4 "core" & d c\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&f' +24 "core" ' +2 "manipulator"&`& +4 "core" & o  +2 "storage"(a& +3 "core" & u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&S'S +16 "core" ' + "storage"(#% +4 "core" % y\  +3 ."downElevator"SE.seek :down +3 "storage"("' +99 (% +3 "core" %wH > 1 M\ Xh + "manipulator"&h% +4 "core" %X 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +87 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & e\ +2 "manipulator"&P% +4 "core" %   + "storage"(\\% +4 "core" % E\  +2 "storage"( . +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(8( +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (u& +3 "core" & 4 7 \  + "manipulator"&& +4 "core" & K  +2 .tElbow.seek 3 +2 "manipulator"&q( +12 "core" ( +2 "manipulator"&t& +4 "core" & u + "storage"(I& +4 "core" & p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +52 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +96 "core" ' +2 "storage"(;& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'r +311 "core" ' +2 "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\ & +3 "core" & b c \  +2 "manipulator"&& +3 "core" & * u +2 .tElbow.seek 3 +2 "manipulator"&w( +3 "core" ( + "manipulator"&_& +4 "core" & u +2 "storage"(-& +3 "core" & E\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(y' +7 "core" &  u + "manipulator"&'% +4 "core" % ϙ _ +2 .tForearm.seek :retract +2 "manipulator"&0' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&1(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&p& +4 "core" &Ә  $ 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ә  C 9( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' +2 "manipulator"&/& +4 "core" &Ә  $ 9( +2 "manipulator"&% +4 "core" %> 9 + "collection"')& +4 "core" & \\\ +2 "collection"'L& +5 "core" & b\ +2 .tCC.seek :closed +2 "collection"'$(\\ +4 "core" & a\ +7 &3 f\ $c +10 &Vx h\ 7 +9 &s h\ K +12 &S e\ L +7 &kR g\ L +9 &.R f\ L +9 &S h\ L +10 &S b\ L +10 &sU c\ L +9 &5R f\ L +9 &R _\ L +9 &!R ^\ L +10 &#|S b\ L +9 &%?R _\ K +10 &&R d\ L +9 &(R ^\ L +9 &*R Y\ L +10 &,FS ]\ L +9 &.S a\ L +9 &/R ^\ L +10 &1T Z\ L +9 &3NS V\ L +9 &5T Z\ L +10 &6S [\ L +9 &8R [\ L +10 &:VT Y\ L +9 &<S a\ L +9 &=T \\\ L +10 &?T \\\ L +9 &A\\W Z\ L +10 &C\\ ^\ M +9 &Do d\ O +9 &F c\ Q +10 &HH ^\ V +9 &J i\ X +9 &K h\ Y +10 &M c\ Z +9 &OD h\ Z +10 &Q g\ [\ +9 &R h\ [ +9 &T j\ \\ +10 &VF i\ \\ +9 &X g\ \\ +10 &Y h\ ] +9 &[ g\ K +9 &\\8 k\ 0 +9 &\\ j\ \\ +6 ( + "collection"'L& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.39 + .Hand.open + "manipulator"&41 +4 "core" &\\ g\ \\ +56 1 +2 "manipulator"&% +4 "core" % > f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %  &  +2 "storage"(!% +3 "core" % C\  +2 "storage"(K. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(2( +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" & \  +2 "manipulator"&D& +4 "core" &Ә  E 9( + "manipulator"&E% +4 "core" %  ;  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +163 "core" ( + "manipulator"&c& +4 "core" &  +2 "storage"(O& +4 "core" & t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&>'7 +95 "core" ' + "storage"(?& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'r +306 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +2 "core" & q\  +2 "manipulator"&%& +3 "core" & _  +2 .tElbow.seek 3 +2 "manipulator"&*( +3 "core" ( + "manipulator"&:& +4 "core" &   +2 "storage"(9& +3 "core" & p\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&m'ϡ +36 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& + "storage"(N' +7 "core" & 1  +2 "manipulator"&=% +3 "core" % ϲ S +2 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&<( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&d& +4 "core" & , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 8 , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e' +91 "core" ' + "manipulator"&B& +5 "core" & , + "manipulator"&H% +4 "core" % e M +2 "processing"%b& +3 "core" &\ +2 "processing"%A& +6 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\ \ +9 &1t\ )v +9 &c|\ > +10 &in\ O +9 &,N\ N +10 &Q\ N +9 &N\ O +10 &rQ\ N +9 &4Q\ N +9 &Q\ N +9 &P\ N +10 & yQ\ O +9 &"<O\ N +10 &#O\ N +9 &%O\ N +9 &'M\ N +10 &)DQ\ N +9 &+P\ O +10 &,O\ O +9 &.L\ N +9 &0LO\ N +10 &2P\ N +9 &3N\ O +9 &5M\ N +10 &7TO\ N +9 &9R\ O +10 &:R\ O +9 &<R\ N +9 &>\\Q\ N +10 &@Q\ N +9 &AU\ O +9 &Cc\ Q +10 &EZj\ R +9 &G\ T +10 &H\ V +9 &J\ U +9 &LV\ V +10 &N\ V +9 &O\ V +9 &Q\ W +10 &S[\ W +9 &U\ W +9 &V\ W +10 &X\ V +9 &Zb\ W +10 &\\$\ W +9 &]y\ 9 +10 &^/\ U +9 &^,\ 4 +2 ( +2 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open + "manipulator"&(1 +63 "core" 1 + "manipulator"&W% +5 "core" %   M + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' + "processing"%J& +4 "core" &^+\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Y% +3 "core" %  _  +2 "storage"(V% +4 "core" % \  +2 "storage"(G. +3 "core" .( + "storage"(& +4 "core" & \  + "storage"(x& +5 "manipulator"& & +4 "core" & \  + & % , +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&]( +2 "storage"(U'r +4 "core" ( +2 "manipulator"&5& +4 "core" &  , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" & u , +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&F/ +52 "core" / +2 .tPC.seek :open +2 "processing"%.( +101 "core" ' + "storage"(^- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'1 +40 "core" ' +307 ( + "storage"(& +4 "core" & Y\  +2 "manipulator"&Q& +3 "core" & \\ , +2 "manipulator"&7% +4 "core" %  j 8 + .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&[( +245 "core" ( + "manipulator"&Z& +4 "core" & C +2 "storage"( & +4 "core" & \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s'7 +93 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"( - +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(M' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +4 "core" -' + "storage"(z& +4 "core" &\ *\ ' #\ Z +2 "manipulator"&{& +3 "core" &  B +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&~& +3 "core" &  3 B +2 "storage"(`& +54 "core" & * - -\ ] +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(#'" +59 "core" ' +2 "manipulator"&v& +4 "core" & U B +2 "storage"(& +3 "core" &  X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&h'u +21 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(X' +19 "core" ' +2 "manipulator"&% +4 "core" %Έ  +2 "storage"(P& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&f'ϴ +13 "core" ' + "manipulator"&\\& +5 "core" & g B + "storage"( & +4 "core" & r\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&l'7 +18 "core" ' + "storage"(S% +5 "core" %  p\ +2 ."downElevator"SE.seek :down +3 "storage"("' +99 (% +3 "core" %V> \ Ua +2 "manipulator"&u% +4 "core" %; T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (t& +4 "core" & y\  +2 "collection"'I& +4 "core" &\\ k\ \\ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&;% +4 "core" %  n  +2 "storage"(}% +4 "core" % .\  + "storage"(n. +3 "core" .( + "storage"(o& +4 "core" & \  +2 "storage"(\ & +4 "core" & U\  + "manipulator"&& +4 "core" & ] B +2 .tElbow.seek 3 +2 "manipulator"&_( +3 "core" ( + "manipulator"&-& +4 "core" & B + "storage"(i& +4 "core" & +\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' +2 "storage"('& +4 "core" & Z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +3 "core" & C B + "storage"(& +4 "core" & ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&3'u +23 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(/- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('s +32 "core" ' + "manipulator"&)% +4 "core" %Ά  +2 "storage"(w& +4 "core" & x\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&y'ϲ +14 "core" ' +2 "manipulator"&0& +4 "core" & U B +2 "storage"(g& +4 "core" &   /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&4'7 +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +39 "core" ' +2 "manipulator"&& +4 "core" & L B +2 "manipulator"&% +4 "core" %* N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +154 "core" ( + "manipulator"&L& +4 "core" &ӗ# M <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &ӗ# b <9 +2 .tForearm.seek CC +2 "manipulator"&D'? +94 "core" ' +2 .tHand.close + "manipulator"&E/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( +2 "storage"(c& +4 "core" & K F 8\  + "storage"(O& +4 "core" & B A\  + "manipulator"&8& +4 "core" &ә" O ;7 + "manipulator"&?% +4 "core" % 9 g 8 +2 .tForearm.seek :retract +2 "manipulator"&1' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&R( +165 "core" ( + "manipulator"&&& +5 "core" & 0  + "storage"(,& +4 "core" & d d 3\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&%'u +95 "core" ' +2 .tElbow.hold + "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +55 "core" 1 +2 "manipulator"& % +5 "core" % ΁ 5 + "storage"(@& +4 "core" & b b \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&='ϭ +14 "core" ' +2 "manipulator"&& +5 "core" & 0  + "storage"(>& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&+'7 +15 "core" ' +2 "storage"(m% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(d' +98 (% +3 "core" %5 S G @\ U^ +2 "manipulator"&*% +4 "core" %0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B' +96 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'H& +4 "core" & \\\ +2 "manipulator"&b% +3 "core" %  +2 "storage"(N% +4 "core" % \  +2 "storage"(T. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ((& +3 "core" &,y C - N\  +2 "manipulator"&W& +3 "core" & F  +2 .tElbow.seek 4 +2 "manipulator"&J( +40 "core" ( +2 "manipulator"&Y& +4 "core" & _  +2 "storage"(V& +3 "core" &,y q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +88 "core" ' +2 "storage"(& +4 "core" &,y |\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +294 "core" ' +2 "storage"(x- +3 "core" -') +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" &,l V V \  +2 "manipulator"&5& +3 "core" & E  +3 .tElbow.seek 4 + "manipulator"&C( +4 "core" ( + "manipulator"&e& +3 "core" & .  +2 "storage"(F& +4 "core" &,l \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&^'c +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& +9 &jm\ N +10 &+L\ N +9 &L\ N +10 &K\ N +9 &qQ\ N +9 &2O\ O +9 &O\ N +10 &L\ N +9 & yL\ N +10 &";L\ N +9 &#M\ N +9 &%L\ N +10 &'N\ N +9 &)CP\ N +9 &+P\ N +10 &,L\ O +9 &.N\ O +10 &0JN\ O +9 &2 O\ O +9 &3R\ N +10 &5O\ N +9 &7RR\ O +9 &9R\ N +10 &:N\ O +9 &<N\ O +10 &>ZS\ O +9 &@P\ O +9 &AZ\ P +10 &Co\ R +9 &EP\ U +9 &G\ U +10 &H\ U +9 &J\ U +10 &LU\ V +9 &N\ W +9 &O\ W +10 &Q\ W +9 &SZ\ W +9 &U\ W +10 &V\ W +9 &X\ V +10 &Zb\ W +9 &\\"\ X +9 &]}\ 7 +10 &^*f\ !` +9 &^9\ 8 +2 ( +2 "processing"%"& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.77 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" %   L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +97 "core" ' +2 "processing"%& +4 "core" &^4\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&/% +4 "core" % # \  w / + "storage"()% +4 "core" % \  + "storage"(w. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(0(,y +25 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (g& +4 "core" &,} \ + "manipulator"&& +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  6 % +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&( + "storage"('r +5 "core" ( + "manipulator"&_& +4 "core" & } % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &  W % +2 .tForearm.seek PC +2 "manipulator"&3' +96 "core" ' +2 .tHand.close + "manipulator"&y/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +89 "core" ' +2 "storage"(L- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'1 +46 "core" ' +308 ( +2 "storage"(4& +4 "core" &,j # ]\ + "manipulator"&6& +4 "core" & J $ + "manipulator"&E% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&!' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&$( +254 "core" ( +2 "manipulator"&c& +4 "core" &   + "storage"(O& +4 "core" &,j A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&8' +95 "core" ' +2 .tHand.open + "manipulator"&?1 +61 "core" 1 +2 "storage"(&- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(,' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(D' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(K- +4 "core" -' + "storage"(9& +4 "core" &,j > E\ \\ +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&@( +11 "core" ( + "manipulator"&& +5 "core" &   Z  + "storage"(>& +4 "core" &,j , 5 v\ ^ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +57 "core" ' + "manipulator"&& +4 "core" &   +2 "storage"(*& +4 "core" &,j  C\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&R'7 +20 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(H' +18 "core" ' + "manipulator"&b% +5 "core" %,   + "storage"(=& +4 "core" &,j \\\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 289 counts + "manipulator"&N'X +13 "core" ' +2 "manipulator"&T& +4 "core" &  +2 "storage"(& +4 "core" &,j  W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&+' +16 "core" ' +2 "storage"(d% +4 "core" %   \ +3 ."downElevator"SE.seek :down +3 "storage"(2' +99 ((% +3 "core" %/>  '\ Vb + "manipulator"&W% +4 "core" % ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +88 "core" ' +64 ' + ."downElevator"SE.stop +52 "storage"(5 +3 (V& +4 "core" &,j  \ + "collection"'& +5 "core" &\\s f\ S + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&:% +4 "core" %  K  + "storage"(B% +4 "core" %   m\  + "storage"(x. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(A(,y +24 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &,{  \ +2 "manipulator"&e& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&<& +4 "core" &  + "storage"(r& +4 "core" &,{   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +99 "core" ' + "storage"(J& +5 "core" &,{ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'r +297 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & c  +2 "storage"( & +3 "core" &,l \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&^'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"& , +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +3 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"('} +28 "core" ' +2 "manipulator"&C% +4 "core" %6 h ? + "storage"(& +4 "core" &,l   l\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 299 counts +2 "manipulator"&'b +16 "core" ' + "manipulator"&& +5 "core" &  + "storage"(z& +4 "core" &,l & & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&{' +18 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(`' +32 "core" ' + "manipulator"&& +5 "core" & J  + "manipulator"&v% +4 "core" % ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +154 "core" ( +2 "manipulator"&j& +5 "core" &x1  % G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &x0  I G +2 .tForearm.seek CC +2 "manipulator"&P'? +102 "core" ' + .tHand.close + "manipulator"&\\/ +62 "core" / +2 .tCC.seek :open + "collection"'Z( +451 "core" ( + "storage"(S& +4 "core" &,l ( ( \  +2 "storage"([& +3 "core" &,l & (\  +2 "manipulator"&& +3 "core" &ӭ( 7 @Z +2 "manipulator"&% +4 "core" %  F + .tForearm.seek :retract +2 "manipulator"&Q' +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&~( +157 "core" ( +2 "manipulator"&u& +4 "core" & 0  + "storage"(a& +4 "core" &,l Y V ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'7 +98 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +60 "core" 1 +2 "manipulator"&I% +5 "core" % < x \ + "storage"(;& +4 "core" &,l Y V d\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 305 counts +4 "manipulator"&n'h +15 "core" ' +2 "manipulator"& & +4 "core" &  + "storage"(s& +4 "core" &,l \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(f% +4 "core" % \  +3 ."downElevator"SE.seek :down +3 "storage"(\ ' +99 (% +3 "core" %z9 J F \ V_ + "manipulator"&#% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'l& +5 "core" & f\ + "manipulator"&'% +4 "core" %   +2 "storage"(}% +6 "core" % T T D\  +2 "storage"(X. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(.(<- +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<, ' & \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&/& +4 "core" &  + "storage"()& +4 "core" &<, Z `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +90 "core" ' +2 "storage"("& +4 "core" &<, |\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'r +293 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +2 "core" &<, ? > b\  +2 "manipulator"&q& +4 "core" & @  +2 .tElbow.seek 5 +2 "manipulator"&-( +3 "core" ( + "manipulator"&y& +4 "core" &  + "storage"(M& +4 "core" &<, Z V \ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&L'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(' +7 "core" &  +2 "manipulator"&% +3 "core" % ϳ ' +2 .tForearm.seek :retract +2 "manipulator"&4' +98 "core" ' + .tElbow.seek CC +2 "manipulator"&6(ӂ +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&E& +5 "core" &ӓ# <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &ӓ# U <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&c'? +99 "core" ' + "manipulator"&O& +5 "core" &Ӕ# E <> + "manipulator"&% +4 "core" %; # " +2 "collection"'?& +4 "core" & e\ +2 "collection"'&& +5 "core" & h\ +2 .tCC.seek :closed +2 "collection"'K(\\ +4 "core" & k\ +7 &3 m\ $c +9 &Vs d\ 6 +10 &v g\ K +9 &Q g\ L +9 &cQ d\ L +10 &%R h\ L +9 &R h\ L +9 &R h\ L +10 &lR i\ L +9 &/R e\ K +10 &R h\ L +9 &!R i\ L +9 &#sR i\ L +10 &%6Q _\ L +9 &&R f\ L +9 &(R e\ L +10 &*|R h\ L +9 &,>S h\ L +10 &.R h\ L +9 &/Q c\ L +9 &1R `\ L +10 &3FR h\ L +9 &5S f\ L +9 &6S h\ L +10 &8S \\\ L +9 &:MS c\ L +10 &<S a\ L +9 &=S i\ L +9 &?S `\ L +10 &AUQ b\ L +9 &CZ d\ M +9 &D` c\ N +10 &Fo [\ O +9 &HI U\ S +10 &I ]\ W +9 &K Z\ Y +9 &M~ d\ Y +10 &O> U\ Y +9 &P U\ Z +9 &R Z\ [ +10 &T W\ [\ +9 &V? f\ \\ +10 &W T\ \\ +9 &Y ^\ ^ +9 &[~ Z\ J +10 &\\6 S\ 0 +9 &\\ W\ W +6 ( + "collection"'&& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&91 +4 "core" &\\s U\ W +60 1 + "manipulator"& % +5 "core" % ; " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%>& +5 "core" &\ + "manipulator"&!% +4 "core" %   + "storage"(% +4 "core" % [\  +2 "storage"(*. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(b(<- +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (=& +3 "core" &<,# l\  +2 "manipulator"&|& +3 "core" &Ӕ# R <> +2 "manipulator"&T% +4 "core" %  n +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +157 "core" ( +3 "manipulator"&,& +4 "core" & I + "storage"(d& +4 "core" &<,  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&$'O +93 "core" ' +2 "storage"(8& +4 "core" &<,  g\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'r +302 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (W& +3 "core" &<, \  +2 "manipulator"&m& +4 "core" & r +2 .tElbow.seek 5 +2 "manipulator"&@( +3 "core" ( + "manipulator"&1& +4 "core" &  +2 "storage"(R& +3 "core" &<,  >\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&V'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +3 "storage"(' +8 "core" & " + "manipulator"&:% +4 "core" % ϯ +2 .tForearm.seek :retract +2 "manipulator"&B' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&x( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&5& +4 "core" &  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" & Y ( +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&<' +102 "core" ' + "manipulator"&r& +4 "core" & ( +2 "manipulator"&+% +4 "core" %  +2 "processing"%J& +4 "core" &\ +2 "processing"%2& +6 "core" &\ +2 .tPC.seek :closed + "processing"%0(^ +4 "core" &\ +8 & -\ #b +9 &V{\ 7 +10 &v\ L +9 &N\ N +10 &[O\ O +9 &N\ O +9 &O\ O +10 &O\ O +9 &cN\ O +9 &&Q\ N +10 &L\ O +9 &!Q\ N +9 &#lR\ N +10 &%.M\ N +9 &&R\ N +10 &(Q\ N +9 &*sQ\ O +9 &,5P\ O +10 &-L\ N +9 &/O\ N +9 &1zQ\ O +10 &3>O\ N +9 &5O\ N +10 &6O\ O +9 &8R\ O +9 &:EQ\ O +10 &<Q\ O +9 &=N\ O +9 &?O\ O +10 &ALU\ O +9 &C ^\ Q +10 &Dg\ R +9 &Fy\ T +9 &H@\ V +10 &J\ V +9 &K\ V +9 &M\ V +10 &OG\ V +9 &Q\ W +9 &R\ W +10 &T\ X +9 &VM\ W +10 &X\ W +9 &Y\ W +9 &[\ W +10 &]S\ J +9 &^|G\ _ +9 &^ R\ 5 +6 ( +2 "processing"%2& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 + .Hand.open +2 "manipulator"&%1 +3 "core" &^-\ 5 +52 1 + "manipulator"&Y% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7' +93 "core" ' +2 "processing"%& +4 "core" &^-\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"& % +3 "core" %  .  +2 "storage"(]% +4 "core" % \  +2 "storage"(C. +3 "core" .(<- + "storage"(& +4 "core" &<, \  +2 "storage"(& + "manipulator"&z& +8 "core" &<, \  + & I ( +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&v( +5 "core" ( + "manipulator"&U& +4 "core" &   ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &   A ( +2 .tForearm.seek PC +2 "manipulator"&G' +97 "core" ' + .tHand.close + "manipulator"&^/ +59 "core" / +2 .tPC.seek :open +2 "processing"%( +91 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'1 +46 "core" ' +307 ( + "storage"(& +4 "core" &<,  s\  +2 "manipulator"&{& +4 "core" & 3 ( + "manipulator"& % +4 "core" %  [  +2 .tForearm.seek :retract + "manipulator"&\\' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +243 "core" ( + "manipulator"&k& +4 "core" & + +2 "storage"(S& +4 "core" &<, .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&['O +95 "core" ' + .tHand.open + "manipulator"&1 +59 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(a' +51 "core" ' + #tLights, camera, ACTION! + "storage"(P- +4 "core" -' +2 "storage"( & +3 "core" &<,\ \ V +2 "manipulator"&t& +4 "core" &  \ 0 + + .tElbow.seek 5 +2 "manipulator"&I( +4 "core" ( + "manipulator"&;& +4 "core" &   + + "storage"( & +4 "core" &<,\ \ \ B\ W +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +11 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(f'" +58 "core" ' +2 "manipulator"&Q& +4 "core" & W + + "storage"(& +4 "core" &<,  B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&#'΍ +17 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' + "manipulator"&l% +5 "core" %Ο 2  + "storage"('& +4 "core" &<, 5\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&n' +14 "core" ' + "manipulator"&}& +5 "core" & 5 * + "storage"(X& +4 "core" &<,  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`'O +17 "core" ' +2 "storage"(% +4 "core" %  "\ +3 ."downElevator"SE.seek :down +3 "storage"(\ ' +99 (A% +2 "core" %? \ Wf +2 "manipulator"&% +4 "core" %B c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +87 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (/& +3 "core" &<, (\  +2 "collection"')& +4 "core" &\\r S\ W + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&"% +4 "core" %  _  +2 "storage"(h% +4 "core" %  =\  + "storage"(i. +3 "core" .(<- +2 "storage"(& +4 "core" &<,  T\  + "storage"(_& +4 "core" &<, & a\  + "manipulator"&q& +4 "core" & / * +2 .tElbow.seek 5 + "manipulator"&y( +3 "core" ( +2 "manipulator"&M& +4 "core" & * + "storage"(o& +4 "core" &<,  A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&p'O +96 "core" ' + "storage"(& +4 "core" &<,   F\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +2 "core" & * +2 "storage"(3& +4 "core" &<, ! J\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&g'΍ +17 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(O- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('{ +29 "core" ' + "manipulator"&?% +4 "core" %Θ ! +2 "storage"(-& +4 "core" &<, 5\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +41 "manipulator"&' +25 "core" ' + "manipulator"&4& +4 "core" & u * +2 "storage"(Z& +4 "core" &<,  7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&9'O +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"( ' +39 "core" ' +2 "manipulator"&>& +4 "core" & ' * +2 "manipulator"&!% +4 "core" %= +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&*(ӂ +155 "core" ( +2 "manipulator"&&& +4 "core" &ӎ% d >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &ӏ% & >M +2 .tForearm.seek CC +2 "manipulator"&|'? +93 "core" ' + .tHand.close +2 "manipulator"&T/ +64 "core" / +2 .tCC.seek :open +2 "collection"'c( +450 "core" ( + "storage"(,& +4 "core" &<, ) ) /\  +2 "storage"(d& +4 "core" &<, ' &\  + "manipulator"&.& +4 "core" &Ӝ" p <@ +2 "manipulator"&8% +3 "core" % ; A 9 +2 .tForearm.seek :retract +2 "manipulator"&6' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&(& +4 "core" &  +2 "storage"(W& +3 "core" &<, B C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&m'΍ +94 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +54 "core" 1 +2 "manipulator"&N% +4 "core" % Ρ U +2 "storage"(H& +3 "core" &<, C C\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&:' +15 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"($& +4 "core" &<, d c \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +16 "core" ' +2 "storage"(V% +4 "core" % h c a\ +3 ."downElevator"SE.seek :down +3 "storage"(5' +99 (e% +2 "core" %; = @ e\ V` +2 "manipulator"&@% +4 "core" %A E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&r' +86 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'+& +4 "core" & c\ +2 "manipulator"&J% +3 "core" %  A  +2 "storage"(% +4 "core" % c d\  +2 "storage"(B. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (%& +3 "core" &K ( ' \  + "manipulator"&Y& +4 "core" & #  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" &  + "storage"(]& +4 "core" &K b c \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&C' +94 "core" ' + "storage"(& +4 "core" &K l \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'r +305 "core" ' +2 "storage"(- +3 "core" -', +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" &K  /\  +2 "manipulator"&U& +4 "core" & c  + .tElbow.seek 6 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&<& +3 "core" & L  +2 "storage"(^& +3 "core" &K B B \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& + "storage"(0' +7 "core" &    +2 "manipulator"&% +3 "core" % p +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{(ӂ +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"& & +4 "core" &ӓ( J @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &ӓ'  @Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'? +93 "core" ' +2 "manipulator"&S& +4 "core" &Ӕ( ! @Y + "manipulator"&v% +4 "core" %C X z +2 "collection"'& +4 "core" & z\ +2 "collection"'& +5 "core" & v\ +2 .tCC.seek :closed +2 "collection"'P(\\ +4 "core" & o\  +8 &2v e\ *x +10 &cz m\ = +9 &wn m\ M +10 &;R h\ L +9 &R d\ L +9 &R d\ L +10 &Q b\ K +9 &DQ f\ L +9 &R i\ L +10 &T g\ L +9 & R g\ L +10 &"MR i\ K +9 &$R j\ L +9 &%R h\ L +10 &'T d\ L +9 &)TR b\ L +9 &+R d\ L +10 &,R c\ L +9 &.R e\ L +9 &0[U e\ L +10 &2R g\ L +9 &3S _\ L +10 &5R b\ L +9 &7dR d\ L +9 &9'S ^\ K +10 &:R c\ L +9 &<S [\ L +9 &>kT ^\ L +10 &@-R b\ L +9 &AT c\ L +10 &CZ a\ M +9 &Emc _\ N +10 &G*q a\ P +9 &H _\ S +9 &J c\ W +10 &LV e\ Y +9 &N b\ Y +9 &O e\ Z +10 &Q Z\ Z +9 &SV ]\ [ +9 &U `\ \\ +10 &V l\ \\ +9 &X f\ \\ +10 &ZW X\ ^ +9 &[y a\ > +9 &\\( b\ , +10 &\\| Z\ V +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"& 1 +61 "core" 1 +2 "manipulator"&t% +4 "core" % C v z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&\\% +4 "core" %   s \ + "storage"(Q% +4 "core" % $\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(l(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &K k m\  +2 "manipulator"&j& +4 "core" &Ӗ( H @W + "manipulator"&}% +4 "core" %  ` \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&X( +165 "core" ( + "manipulator"&u& +5 "core" & l  + "storage"(& +4 "core" &K "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"([& +4 "core" &K  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +307 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K b\  + "manipulator"&s& +4 "core" & S  +2 .tElbow.seek 6 +2 "manipulator"&I( +3 "core" ( + "manipulator"&f& +4 "core" &   +2 "storage"(#& +3 "core" &K  #\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&n'h +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"("' +7 "core" & c  +2 "manipulator"&h% +4 "core" % Ϣ " +2 .tForearm.seek :retract + "manipulator"&i' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&& +4 "core" & @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" & N @ +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&q' +99 "core" ' + "manipulator"&M& +4 "core" & 9 @ +2 "manipulator"&o% +4 "core" %   +2 "processing"%`& +4 "core" &\ +51 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (^ +4 "core" &\ +7 & -\ #b +10 &Uv\ 7 +9 &~u\ L +9 &Q\ O +10 &ZO\ N +9 &K\ N +10 &L\ N +9 &J\ N +9 &bO\ N +10 &$Q\ N +9 &P\ O +9 &!O\ O +10 &#jP\ N +9 &%,M\ N +9 &&Q\ N +10 &(L\ O +9 &*rP\ N +10 &,4L\ N +9 &-M\ N +9 &/R\ O +10 &1xT\ O +9 &3;N\ O +10 &4O\ N +9 &6R\ O +9 &8M\ N +10 &:DN\ N +9 &<O\ N +9 &=O\ N +10 &?Q\ N +9 &AHX\ P +10 &Ck\ Q +9 &Dw\ S +9 &F~\ U +10 &H>\ V +9 &J\ U +9 &K\ U +10 &M\ V +9 &OE\ V +10 &Q\ W +9 &R\ V +9 &T\ X +10 &VL\ W +9 &X \ W +10 &Y\ W +9 &[\ W +9 &]Q\ I +9 &^xB}\ %m +10 &^4\ 4 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open +2 "manipulator"&~1 +3 "core" &^+\ 4 +52 1 +2 "manipulator"&% +4 "core" %  :  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +89 "core" ' +2 "processing"%E& +4 "core" &^&\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&3% +4 "core" %  D  +2 "storage"(O% +4 "core" % \  + "storage"(?. +3 "core" .(K + "storage"(-& +4 "core" &K \  +2 "storage"(4& +3 "manipulator"&Z& +6 "core" &K \  + &  H ? +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&>( +3 ."raiseStack"SE.seek :beamBreak + "storage"(!'r +3 "core" ( +2 "manipulator"&p& +4 "core" & ? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &  ? +3 .tForearm.seek PC + "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&g/ +52 "core" / +2 .tPC.seek :open +2 "processing"%( +103 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(&'1 +47 "core" ' +293 ( + "storage"(=& +4 "core" &K   k\  +2 "manipulator"&9& +4 "core" &  ? + "manipulator"&L% +4 "core" % \  R / + .tForearm.seek :retract +2 "manipulator"&T' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +244 "core" ( + "manipulator"&K& +4 "core" & ' +2 "storage"(,& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&d' +96 "core" ' +2 .tHand.open + "manipulator"&.1 +57 "core" 1 +2 "storage"(8- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"((' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +3 "storage"(W' +55 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(|- +3 "core" -' +2 "storage"(*& +4 "core" &K T\ T + "manipulator"&R& +4 "core" &  z & +2 .tElbow.seek 6 +2 "manipulator"&N( +3 "core" ( + "manipulator"&H& +4 "core" & + & +2 "storage"(& +3 "core" &K \ T +3 .tForearm.seek 6 + 450 counts + "manipulator"&$' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(V'" +58 "core" ' + "manipulator"&6& +4 "core" & 5 & +2 "storage"(e& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&@'< +20 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(m' +17 "core" ' +2 "manipulator"&+% +4 "core" %M W +2 "storage"(:& +4 "core" &K a\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts + "manipulator"&J'y +16 "core" ' + "manipulator"&& +5 "core" & S & + "storage"(B& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +16 "core" ' + "storage"(D% +5 "core" %   6\ +2 ."downElevator"SE.seek :down +3 "storage"(5' +99 (b% +3 "core" %z; J\ Wf +2 "manipulator"&%% +4 "core" % Q + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &K M\  +2 "collection"']& +4 "core" &\\y ]\ V +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %  ,  +2 "storage"(1% +3 "core" %  #\  +2 "storage"(r. +3 "core" .(K + "storage"(& +4 "core" &K %\  +2 "storage"(2& +4 "core" &K _\  + "manipulator"&U& +4 "core" & F & +2 .tElbow.seek 6 + "manipulator"&<( +4 "core" ( +2 "manipulator"&^& +4 "core" &  & + "storage"(x& +4 "core" &K  (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7' +94 "core" ' + "storage"(& +5 "core" &K  B\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +301 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" &  & +2 "storage"(G& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&z'< +21 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(S- +3 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(v' +32 "core" ' + "manipulator"&% +4 "core" %M , +2 "storage"(F& +4 "core" &K\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts +2 "manipulator"&0'y +14 "core" ' + "manipulator"&& +4 "core" & R & +2 "storage"(c& +4 "core" &K h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +15 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(t' +45 "core" ' +2 "manipulator"& & +4 "core" & & +2 "manipulator"&\\% +4 "core" % A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Q' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 "manipulator"&& +4 "core" &Ӎ(  U A_ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &Ӎ) \ 8 A_ +2 .tForearm.seek CC +2 "manipulator"&j'? +98 "core" ' + .tHand.close + "manipulator"&}/ +54 "core" / +2 .tCC.seek :open +2 "collection"'k( +447 "core" ( +2 "storage"(u& +4 "core" &K 1 ) U\  + "storage"(& +4 "core" &K # ( \  +2 "manipulator"&& +3 "core" &ӎ' F @^ +2 "manipulator"&[% +3 "core" % I " +2 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&;( +166 "core" ( + "manipulator"&A& +4 "core" &   +2 "storage"(& +4 "core" &K V Y x\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&s'< +95 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +51 .tHand.open +2 "manipulator" +57 "core" 1 +2 "manipulator"&/% +4 "core" % 9  +2 "storage"()& +4 "core" &K T Y [\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 297 counts + "manipulator"&h'e +13 "core" ' +2 "manipulator"&X& +4 "core" & t  +2 "storage"(& +3 "core" &K [ V\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&a' +15 "core" ' + "storage"(n% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +98 (_% +18 "core" %= 3 3 &\ U` +2 "manipulator"&I% +4 "core" % & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +88 "core" ' +37 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'o& +5 "core" & c\ + "manipulator"&`% +4 "core" %   +2 "storage"("% +4 "core" % z \  + "storage"(i. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1294 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (~& +3 "core" &  c c \ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&3& +3 "core" &  4  +2 "storage"(O& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&?'S +92 "core" ' + "storage"(-& +5 "core" &  V\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'r +300 "core" ' + "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & B < K\  +2 "manipulator"&p& +4 "core" &    +2 .tElbow.seek 2 +2 "manipulator"&y( +3 "core" ( + "manipulator"&q& +4 "core" &   +2 "storage"(g& +3 "core" & X a\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(\ ' +6 "core" &  +2 "manipulator"&!% +4 "core" %  ] +2 .tForearm.seek :retract +2 "manipulator"&=' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&9(ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&L& +4 "core" &ӑ  9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӑ  ] 9& +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'? +106 "core" ' + "manipulator"&,& +5 "core" &ӑ  g 9& + "manipulator"&>% +4 "core" %C  +2 "collection"'.& +4 "core" & k\ +2 "collection"'8& +6 "core" & o\ +2 .tCC.seek :closed +3 "collection"'|(\\ +3 "core" & z\ +6 & |\ : +9 &SKu m\ 0 +10 &t{ x\ E +9 &,W n\ M +9 &Q n\ L +10 &S q\ L +9 &vR o\ L +9 &8R p\ L +10 &R d\ L +9 &U e\ L +10 &|R `\ L +9 &!?R `\ L +9 &#R c\ L +10 &$R a\ L +9 &&R a\ L +9 &(HR ^\ L +10 &*\ S f\ L +9 &+S c\ L +10 &-S \\\ L +9 &/QS c\ K +9 &1R f\ L +10 &2R p\ L +9 &4R c\ L +9 &6WS d\ L +10 &8T c\ L +9 &9S i\ L +9 &;R e\ L +10 &=^S d\ L +9 &? S o\ L +10 &@P b\ L +9 &BX g\ M +9 &Db^ o\ N +10 &Fk q\ O +9 &G p\ R +10 &I p\ V +9 &KK d\ X +9 &M `\ Y +10 &N a\ Y +9 &P m\ Z +9 &RN `\ Z +10 &T _\ [ +9 &U Z\ \\ +9 &W `\ ] +10 &YN e\ ] +9 &[ a\ ^ +10 &\\eJ e\ 3 +9 &\\ c\ Q +5 ( +2 "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&*1 +3 "core" &\\g d\ Q +54 1 + "manipulator"&R% +4 "core" % C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&H' +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&T% +3 "core" %  )  +2 "storage"(6% +3 "core" % Z\  +2 "storage"(e. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(+(  +104 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &  ?\ +2 "manipulator"&&& +4 "core" &ӑ  2 9& +2 "manipulator"&% +3 "core" %  ]  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&B( +156 "core" ( + "manipulator"&(& +4 "core" &  +2 "storage"(D& +4 "core" &   # F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +92 "core" ' + "storage"(d& +4 "core" &  ( 0 \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'r +295 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" &  ?\  +2 "manipulator"&$& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&N( +3 "core" ( + "manipulator"&V& +4 "core" & o +2 "storage"(@& +3 "core" & & &\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& + "storage"(' +8 "core" & F + "manipulator"&1% +4 "core" % ϶  +2 .tForearm.seek :retract +2 "manipulator"&r' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&m( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&& +4 "core" & - E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" & 2 E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U' +91 "core" ' + "manipulator"&^& +5 "core" & 0 D + "manipulator"&x% +4 "core" % ; N +2 "processing"% & +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%5(^ +4 "core" &\  +9 &1w\ *x +9 &b}\ > +10 &ln\ O +9 &/L\ N +9 &Q\ N +10 &L\ N +9 &tO\ N +10 &5O\ O +9 &O\ N +9 &L\ N +10 & |L\ N +9 &">L\ N +9 &$M\ N +10 &%K\ N +9 &'L\ N +10 &)GQ\ N +9 &+O\ N +9 &,Q\ N +10 &.O\ N +9 &0NM\ N +9 &2N\ N +10 &3N\ N +9 &5Q\ O +10 &7UP\ O +9 &9R\ N +9 &:O\ N +10 &<N\ N +9 &>]P\ O +9 &@T\ O +10 &AW\ O +9 &Cc\ Q +10 &E\\m\ R +9 &G~\ T +9 &H\ U +10 &J\ U +9 &LY\ U +9 &N\ W +10 &O\ V +9 &Q\ W +10 &S]\ W +9 &U\ W +9 &V\ W +10 &X\ V +9 &Ze\ W +9 &\\&\ W +10 &]y\ 8 +9 &^.}\ U +10 &^(\ 4 +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&Y% +5 "core" %  ] N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +89 "core" ' +2 "processing"% & +4 "core" &^&\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&G% +4 "core" %  \  +2 "storage"(S% +3 "core" % 3\  +2 "storage"(. +3 "core" .(  + "storage"(F& +4 "core" & q\  +2 "storage"(& +5 "manipulator"&c& +3 "core" & |\  +2 & 9 D +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "manipulator"& ( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(\\'r +2 "core" ( + "manipulator"&7& +4 "core" &  D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" &  l D +51 .tForearm.seek PC +3 "manipulator"&' +96 "core" ' +2 .tHand.close + "manipulator"&z/ +54 "core" / + .tPC.seek :open +2 "processing"%0( +49 "core" ' +2 "storage"(v- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +50 "core" ' +345 ( + "storage"('& +4 "core" &  <\  +2 "manipulator"& & +3 "core" & ~ D +2 "manipulator"&% +4 "core" %  b \ +2 .tForearm.seek :retract + "manipulator"&}' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&Q( +244 "core" ( + "manipulator"&P& +4 "core" & > 6 +2 "storage"(u& +4 "core" &   .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +101 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"([- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(A' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(j- +4 "core" -' +2 "storage"(& +3 "core" & + *\ ] +2 "manipulator"&#& +4 "core" &  W 5 + .tElbow.seek 2 +2 "manipulator"&/( +4 "core" ( + "manipulator"&)& +4 "core" &   . 5 +2 "storage"(X& +4 "core" & . . o\ ^ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(n'" +59 "core" ' +2 "manipulator"&{& +4 "core" & $ 5 +2 "storage"(;& +3 "core" &   e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&_'Α +21 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +28 "core" ' + "manipulator"&o% +5 "core" %Ι T  + "storage"(`& +5 "core" &  -\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&h' +16 "core" ' + "manipulator"&"& +4 "core" &  5 +2 "storage"(i& +4 "core" &   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&t'S +16 "core" ' + "storage"(a% +5 "core" %  \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (l% +3 "core" %lQ W\ Ym +2 "manipulator"&~% +4 "core" %@ . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (3& +4 "core" &   P\  +2 "collection"'O& +4 "core" &\\g i\ Q + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&-% +4 "core" %  d  + "storage"(f% +4 "core" %   y\  +2 "storage"(M. +3 "core" .(  + "storage"(Z& +4 "core" &   O\  +2 "storage"(& +4 "core" &   ~\  + "manipulator"&p& +4 "core" & ' 5 +2 .tElbow.seek 2 + "manipulator"&q( +4 "core" ( + "manipulator"&g& +4 "core" & 8 5 +2 "storage"(& +3 "core" &   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&w'S +92 "core" ' +2 "storage"(!& +4 "core" & & $ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'r +307 "core" ' + "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" & = 5 + "storage"(& +4 "core" &  "\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&4'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(>'p +32 "core" ' + "manipulator"&y% +5 "core" %Σ W + + "storage"(.& +4 "core" &  U\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&\ ' +14 "core" ' + "manipulator"&=& +5 "core" &  5 + "storage"(k& +4 "core" &   9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&*'S +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(R' +46 "core" ' + "manipulator"&& +5 "core" & s 5 + "manipulator"&T% +5 "core" %? a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&6' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +148 "core" ( + "manipulator"&8& +4 "core" &|+  s Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &|+ S Cp +2 .tForearm.seek CC +2 "manipulator"&&'? +91 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'K( +447 "core" ( +2 "storage"((& +4 "core" & C B \  + "storage"(D& +4 "core" & . = "\  +2 "manipulator"&& +3 "core" &Ӡ% K >L +2 "manipulator"&d% +3 "core" % J Z _ +2 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&H( +162 "core" ( +2 "manipulator"&b& +4 "core" &  +2 "storage"(%& +3 "core" & U Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&$'Α +93 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +62 "core" 1 +2 "manipulator"&J% +5 "core" % Ν T + "storage"(]& +4 "core" & d c\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 312 counts + "manipulator"&1' +15 "core" ' +2 "manipulator"&B& +5 "core" &  + "storage"(& +4 "core" & y k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&W'S +16 "core" ' +2 "storage"( % +4 "core" % { g\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (2% +3 "core" %> I D \ Ve +2 "manipulator"&N% +4 "core" %B X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +87 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'x& +5 "core" & h\ + "manipulator"& % +4 "core" %  _  +2 "storage"(% +4 "core" % y \  + "storage"(r. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & 7 ; s\ \ +2 "manipulator"&Y& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"& ( +13 "core" ( + "manipulator"&G& +4 "core" & W v +2 "storage"(S& +3 "core" & \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +90 "core" ' + "storage"(F& +5 "core" & 1\ \ +50 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'r +295 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & Y [\ \ +2 "manipulator"&7& +5 "core" & v + .tElbow.seek 3 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&U& +3 "core" & v +2 "storage"(z& +4 "core" & \\ [\ \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&v'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& +2 "storage"(5' +7 "core" & i v + "manipulator"&\\% +4 "core" % ϝ +2 .tForearm.seek :retract +2 "manipulator"&'' +90 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +157 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &ӏ% >L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӏ% b >L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&P'? +101 "core" ' +2 "manipulator"&u& +5 "core" &Ӑ% >K + "manipulator"& % +4 "core" %A _  +2 "collection"'& +4 "core" & \ +2 "collection"'[& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'j(\\ +4 "core" & \ +8 &8 \ %g +9 &Xr }\ 7 +9 &t \ L +10 &Q y\ L +9 &~R i\ L +9 &?R r\ L +10 &R x\ L +9 &Q v\ L +9 &Q r\ L +10 &HO x\ L +9 & \ Q q\ L +10 &!Q p\ L +9 &#R p\ L +9 &%PQ g\ L +10 &'Q k\ L +9 &(R p\ L +9 &*R r\ L +10 &,WR d\ L +9 &.R n\ L +10 &/S m\ L +9 &1R q\ L +10 &3`R s\ L +9 &5!Q r\ L +9 &6S j\ M +10 &8R m\ L +9 &:gR r\ L +9 &<*P n\ L +10 &=S o\ L +9 &?Q p\ L +9 &AnU p\ M +10 &C.\\ n\ M +9 &Dm o\ O +10 &F f\ R +9 &HZ p\ V +9 &J o\ Y +10 &K _\ Y +9 &M Y\ Y +9 &OX a\ Z +10 &Q c\ Z +9 &R `\ \\ +10 &T g\ \\ +9 &VW e\ ] +9 &X l\ ] +10 &Y b\ ^ +9 &[ e\ L +9 &\\: d\ / +10 &\\x f\ T +2 ( +2 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.39 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&#% +5 "core" % >  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%X& +5 "core" &\ + "manipulator"&}% +4 "core" %  \  +2 "storage"({% +4 "core" % \  +2 "storage"(;. +3 "core" .( + "storage"(o& +4 "core" & \ \ +2 "storage"(`& +4 "core" & \ \ + "manipulator"&& +3 "core" &ӑ% >J +2 "manipulator"&"% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&i( +156 "core" ( + "manipulator"&A& +4 "core" &w L  +2 "storage"(a& +3 "core" & 7\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q'7 +98 "core" ' + "storage"(& +4 "core" & &  @\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +305 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &  7\ \ + "manipulator"&& +4 "core" &w ,  +2 .tElbow.seek 3 + "manipulator"&/( +30 "core" ( + "manipulator"&n& +4 "core" &  @ +2 "storage"(_& +3 "core" & I\ \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&3'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&h/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& +3 "storage"(-' +7 "core" & F @ +2 "manipulator"&f% +3 "core" % ϙ k +2 .tForearm.seek :retract +2 "manipulator"&M' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&Z& +4 "core" & $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p' +101 "core" ' +2 "manipulator"&g& +4 "core" & y $ + "manipulator"&% +4 "core" % s +2 "processing"%t& +4 "core" &\ +2 "processing"%!& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\  +8 &1w\ *x +9 &b|\ > +10 &om\ N +9 &0O\ N +9 &P\ N +10 &O\ N +9 &wP\ N +10 &9O\ N +9 &P\ N +9 &Q\ N +10 & P\ M +9 &"AQ\ N +9 &$R\ N +10 &%O\ N +9 &'R\ N +10 &)HO\ N +9 &+\ O\ N +9 &,L\ N +10 &.O\ O +9 &0PQ\ N +9 &2N\ O +10 &3R\ N +9 &5R\ N +10 &7XN\ N +9 &9N\ N +9 &:N\ O +10 &<Q\ O +9 &>`S\ N +9 &@!O\ O +10 &AS\ O +9 &C`\ P +10 &E_j\ Q +9 &G~\ T +9 &H\ U +10 &J\ V +9 &L[\ U +9 &N\ V +10 &O\ V +9 &Q\ V +10 &S_\ W +9 &U!\ W +10 &V\ W +9 &X\ V +9 &Zf\ W +9 &\\(\ W +10 &]~\ 6 +9 &^*j\ "b +10 &^)\ 4 +2 ( + "processing"%!& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open + "manipulator"&I1 +57 "core" 1 + "manipulator"&% +5 "core" %  _ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +92 "core" ' +2 "processing"%L& +4 "core" &^(\ \ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %   g  + "storage"(,% +3 "core" % g\  +2 "storage"(y. +4 "core" .( + "storage"(.& +4 "core" & ~\ \ +2 "storage"(=& +3 "manipulator"&k& +5 "core" & -\ \ + &  $ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(T'r +2 "core" ( +2 "manipulator"&w& +4 "core" &  B $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" & \  S $ +2 .tForearm.seek PC +2 "manipulator"&E' +92 "core" ' + .tHand.close + "manipulator"&4/ +65 "core" / +2 .tPC.seek :open +2 "processing"%\ ( +94 "core" ' + "storage"(>- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(8'1 +46 "core" ' +304 ( + "storage"(:& +4 "core" & T\ \ +2 "manipulator"&*& +4 "core" & i $ + "manipulator"&% +4 "core" %  6 +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&6( +260 "core" ( + "manipulator"&|& +5 "core" & %  + "storage"((& +4 "core" & B\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&D'7 +94 "core" ' + .tHand.open + "manipulator"&1 +49 "Can"\ RP +6 "core" 1 +2 "storage"(d- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(b' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(%' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(e& +4 "core" & H\ \\\ + "manipulator"&@& +4 "core" & f  +2 .tElbow.seek 3 +2 "manipulator"&J( +3 "core" ( + "manipulator"&]& +4 "core" &  6  +2 "storage"(B& +4 "core" & L \ [\ +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +57 "core" ' +3 "manipulator"&9& +4 "core" & G  +2 "storage"(2& +3 "core" & i\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&N'u +19 "core" ' +2 .tElbow.hold +2 "manipulator"&H, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"($' +28 "core" ' + "manipulator"&x% +5 "core" %΃ =  + "storage"( & +4 "core" & N\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&1'ϯ +13 "core" ' + "manipulator"&& +5 "core" &  + "storage"(r& +4 "core" &   l\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R'7 +19 "core" ' + "storage"(W% +5 "core" % \ o\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (+% +3 "core" %<  8\ We +2 "manipulator"&% +4 "core" %+ [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +86 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (G& +4 "core" & \ \ + "collection"'S& +4 "core" &\\y d\ T +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&F% +4 "core" %   +2 "storage"(V% +3 "core" %  \  +2 "storage"(^. +3 "core" .( + "storage"(& +4 "core" & \ \ +2 "storage"(& +4 "core" &  \ \ + "manipulator"&7& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&U( +3 "core" ( + "manipulator"&z& +4 "core" &  +2 "storage"(m& +3 "core" &  V\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&C'7 +92 "core" ' + "storage"(\\& +5 "core" & &  D\ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'r +305 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & A  +2 "storage"(& +4 "core" &  \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&c'u +19 "core" ' + .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"( 's +32 "core" ' + "manipulator"&<% +4 "core" %w ?  +2 "storage"(& +4 "core" &  \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&5'ϣ +15 "core" ' + "manipulator"&'& +4 "core" & 4  +2 "storage"(K& +4 "core" &   \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(#' +41 "core" ' +2 "manipulator"&X& +4 "core" &   +2 "manipulator"&}% +4 "core" % J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(ӂ +160 "core" ( +2 "manipulator"&o& +4 "core" &Ӎ) d A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &ӎ) A_ +2 .tForearm.seek CC + "manipulator"&`'? +93 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'"( +450 "core" ( +2 "storage"(P& +4 "core" & C - \ \ +2 "storage"(A& +3 "core" & & % ;\ \ +2 "manipulator"&a& +3 "core" &Ӑ' @] +2 "manipulator"&% +3 "core" % H  L +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&)( +166 "core" ( + "manipulator"&l& +4 "core" & X  +2 "storage"(~& +4 "core" & V F \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'u +101 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&_1 +57 "core" 1 +2 "manipulator"&h% +4 "core" % ΁ + "storage"(O& +4 "core" & J K )\ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&f'ϭ +13 "core" ' + "manipulator"&i& +5 "core" & x  + "storage"(Q& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +19 "core" ' + "storage"(3% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(Z' +99 (% +2 "core" %8 U T k\ V_ +2 "manipulator"&/% +4 "core" %7 ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & p\ +2 "manipulator"&t% +4 "core" %  g  + "storage"(-% +4 "core" % | \  +2 "storage"(M. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(0(,y +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" &,x * 6 8\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&L( +45 "core" ( + "manipulator"&& +4 "core" & @  +2 "storage"(,& +3 "core" &,x | `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&y' +95 "core" ' + "storage"(.& +5 "core" &,x \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='r +355 "core" ' +2 "storage"(k- +3 "core" -') +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" &,l = R\  +2 "manipulator"&w& +4 "core" & 1  + .tElbow.seek 4 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&p& +3 "core" & E  +2 "storage"(4& +3 "core" &,l d c\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&>'c +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(' +7 "core" &  + "manipulator"&T% +4 "core" % Z V +2 .tForearm.seek :retract +2 "manipulator"&:' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&*(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &ӄ* Z Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &ӄ* r Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&|'? +93 "core" ' +2 "manipulator"&(& +4 "core" &Ӆ) Ae +2 "manipulator"&% +4 "core" %M ' P + "collection"'& +4 "core" & \ +2 "collection"'d& +6 "core" & \ +2 .tCC.seek :closed + "collection"'&(\\ +4 "core" & \  +8 &4y \ +{ +10 &ez \ > +9 &k \ M +10 &NR \ L +9 &R \ L +9 &R \ L +10 &P \ L +9 &WQ \ L +9 &S r\ L +10 &R v\ L +9 & Q p\ L +10 &"_Q u\ L +9 &$!Q r\ L +9 &%P q\ L +10 &'Q q\ L +9 &)fR r\ L +9 &+(R q\ L +10 &,R q\ L +9 &.R u\ L +10 &0nR s\ L +9 &20R r\ L +9 &3R r\ L +10 &5R q\ L +9 &7uR p\ L +53 &96S q\ M +3 &:Q o\ L + &<R q\ L +2 &>|R r\ M +3 &@?R q\ L + &BU p\ M +3 &C` o\ N +9 &Exu p\ Q +9 &G2 r\ T +10 &H p\ X +9 &J n\ Z +10 &Ld q\ Z +9 &N& l\ Z +9 &O k\ [ +10 &Q n\ \\ +9 &Sf g\ \\ +9 &U& g\ ] +10 &V _\ ] +9 &X o\ _ +10 &Zg m\ _ +9 &\\\ y f\ ; +9 &\\' e\ *| +10 &\\ f\ _ +2 ( +2 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.44 + .Hand.open +2 "manipulator"&e1 +60 "core" 1 +2 "manipulator"&@% +4 "core" % M  ! P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%B& +4 "core" &\ +2 "manipulator"&% +4 "core" %   G " +2 "storage"(9% +4 "core" % F\  + "storage"(2. +4 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(x(,y +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &,| 5\ +2 "manipulator"&8& +4 "core" &ӆ( ^ Ad + "manipulator"&% +4 "core" %  B " +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&r( +163 "core" ( + "manipulator"&b& +4 "core" & b  +2 "storage"(W& +3 "core" &,| 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +96 "core" ' +2 "storage"(D& +4 "core" &,|  =\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'r +297 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,l  \ \  +2 "manipulator"&& +4 "core" & 8  +2 .tElbow.seek 4 + "manipulator"&J( +3 "core" ( +2 "manipulator"& & +4 "core" &   + "storage"(N& +4 "core" &,l  b\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&1'c +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(F' +7 "core" &  + "manipulator"&V% +4 "core" % ϙ o +2 .tForearm.seek :retract +2 "manipulator"&^' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&& +5 "core" & N @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ) @ +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&7' +91 "core" ' + "manipulator"&z& +4 "core" &  @ +2 "manipulator"&m% +4 "core" % [ J +2 "processing"%R& +4 "core" &\ +2 "processing"%\\& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ \ +9 &0r\ )w +10 &b{\ > +9 &nl\ O +9 &/O\ O +10 &P\ N +9 &N\ O +9 &uN\ O +10 &8N\ N +9 &K\ N +10 &L\ O +9 & }O\ O +9 &"@O\ N +10 &$P\ O +9 &%O\ N +9 &'O\ O +10 &)GN\ O +9 &+ N\ O +10 &,N\ O +9 &.N\ N +9 &0PO\ N +10 &2O\ O +9 &3P\ O +9 &5N\ O +10 &7XQ\ N +9 &9O\ O +10 &:Q\ O +9 &<N\ N +9 &>`Q\ N +10 &@!Q\ O +9 &A\\\ P +9 &Cl\ R +10 &EU\ U +9 &G\ U +9 &H\ V +10 &J\ V +9 &LZ\ V +10 &N\ W +9 &O\ V +10 &Q\ X +9 &S^\ W +9 &U\ W +9 &V\ W +10 &X\ V +9 &Ze\ X +10 &\\'\ X +9 &]x\ : +9 &^-\ X +10 &^)\ 5 +2 ( +2 "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 + .Hand.open + "manipulator"&H1 +60 "core" 1 +2 "manipulator"&Y% +4 "core" %  J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + "processing"%& +5 "core" &^'\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %  <  +2 "storage"(u% +4 "core" % \  + "storage"(<. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +24 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +3 "core" &,| J\ + "manipulator"&K& +7 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & @ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&X( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'r +3 "core" ( + "manipulator"&C& +4 "core" & - @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &   @ +2 .tForearm.seek PC +2 "manipulator"& ' +97 "core" ' +2 .tHand.close + "manipulator"&c/ +58 "core" / +3 .tPC.seek :open + "processing"%5( +96 "core" ' + "storage"( - +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(o'1 +41 "core" ' +310 ( +2 "storage"([& +4 "core" &,j  *\ \ + "manipulator"&& +4 "core" & f @ + "manipulator"&v% +4 "core" %  * +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&{( +244 "core" ( +2 "manipulator"&j& +4 "core" & /  + "storage"(P& +4 "core" &,j v\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +91 "core" ' +2 .tHand.open + "manipulator"&a1 +58 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(l' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(~' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(`- +4 "core" -' +2 "storage"(;& +4 "core" &,j +  Z\ 6\ + "manipulator"&_& +4 "core" &  U  +2 .tElbow.seek 4 +2 "manipulator"&h( +3 "core" ( + "manipulator"&O& +4 "core" &    +2 "storage"(i& +3 "core" &,j K K 7\ :\ +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +59 "core" ' + "manipulator"& & +4 "core" & >  +2 "storage"(& +4 "core" &,j  S\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&/'7 +20 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +28 "core" ' + "manipulator"&% +5 "core" %E T  + "storage"(f& +4 "core" &,j \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&t'q +15 "core" ' +2 "manipulator"&-& +4 "core" &   +2 "storage"(M& +4 "core" &,j \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +20 "core" ' + "storage"(% +5 "core" % l\ +2 ."downElevator"SE.seek :down +3 "storage"(Z' +99 (% +3 "core" %f= X\ We +2 "manipulator"&I% +4 "core" % F + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +2 (& +4 "core" &,j ]\ \ +2 "collection"',& +3 "core" &\\ c\ _ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&.% +4 "core" %  R  +2 "storage"(n% +4 "core" % ]\  + "storage"(g. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +53 .tSC.seek 4 + "storage"(k(,y +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (!& +3 "core" &,{ \  +2 "manipulator"&w& +4 "core" & +  +2 .tElbow.seek 4 + "manipulator"&p( +4 "core" ( + "manipulator"&4& +4 "core" & D  +2 "storage"(s& +4 "core" &,{ @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +94 "core" ' +2 "storage"(T& +4 "core" &,{ \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(L'r +310 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & X  + "storage"(E& +4 "core" &,j L\ ! + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&='7 +19 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"((- +2 "core" -' +3 .tSE.seek 0.18 Pucks below Top Plate + "storage"('~ +30 "core" ' +2 "manipulator"&% +4 "core" %2 - " + "storage"(q& +4 "core" &,j \ ! + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 295 counts + "manipulator"&'^ +15 "core" ' + "manipulator"&:& +5 "core" & {  + "storage"("& +4 "core" &,j  /\ ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +14 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(@' +47 "core" ' +2 "manipulator"&B& +4 "core" & ]  +2 "manipulator"&% +4 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2(ӂ +151 "core" ( + "manipulator"&d& +4 "core" &x-  ? Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &x-  Dv +2 .tForearm.seek CC +2 "manipulator"&8'? +93 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / + .tCC.seek :open +2 "collection"'|( +450 "core" ( +2 "storage"(b& +4 "core" &,j = 9\ ! + "storage"(W& +4 "core" &,j ' & %\ ! + "manipulator"&0& +4 "core" &ӌ( O Ab +2 "manipulator"&D% +3 "core" % P X J +2 .tForearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&]( +170 "core" ( +2 "manipulator"&+& +4 "core" & # ~ + "storage"(& +4 "core" &,j b b\ ! + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'7 +95 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +60 "core" 1 +2 "manipulator"&G% +4 "core" % % , . +2 "storage"(S& +3 "core" &,j c X\ ! +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 282 counts + "manipulator"&V'Q +17 "core" ' + "manipulator"&r& +4 "core" & L ~ +2 "storage"(6& +3 "core" &,j \ ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +20 "core" ' + "storage"(1% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %5 [ V\ U^ + "manipulator"&J% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +93 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'m& +5 "core" & q\ + "manipulator"&R% +4 "core" % \  d  +2 "storage"(F% +4 "core" % \  + "storage"(^. +4 "core" .(,y + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(\ (<- +371 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (H& +3 "core" &<- \ + "manipulator"&Y& +4 "core" & ? ~ +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & 3 ~ + "storage"(u& +4 "core" &<- g\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&<'O +89 "core" ' + "storage"(\\& +4 "core" &<- ~ %\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''r +290 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (C& +3 "core" &<- @ U @\ +2 "manipulator"&U& +3 "core" &  ~ +2 .tElbow.seek 5 +2 "manipulator"&7( +3 "core" ( + "manipulator"&c& +4 "core" & ~ + "storage"(x& +4 "core" &<- c e \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +8 "core" & k ~ + "manipulator"&}% +4 "core" % Ϯ A +2 .tForearm.seek :retract +2 "manipulator"&[' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&v& +5 "core" &z.  E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &z. E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'? +99 "core" ' + "manipulator"&P& +5 "core" &Ӥ& % ?U + "manipulator"&X% +4 "core" %= ^ +2 "collection"'a& +4 "core" & \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'`(\\ +4 "core" & \ +7 &1 \ $d +9 &Us \ 6 +10 &v \ K +9 &Q \ L +10 &fR \ L +9 &'U \ L +9 &R \ L +10 &U w\ L +9 &oR |\ K +9 &0R \ L +10 &Q \ K +9 &!R \ L +10 &#uU x\ L +9 &%8Q r\ L +9 &&T r\ L +10 &(R p\ K +9 &*}R r\ L +9 &,@R r\ L +10 &.R r\ L +9 &/U q\ L +9 &1R t\ L +10 &3HR r\ L +9 &5 R s\ K +10 &6T u\ L +9 &8R r\ L +9 &:OR v\ L +10 &<R t\ L +9 &=R u\ L +10 &?R s\ L +9 &AWT r\ L +9 &CX r\ M +10 &Da t\ N +9 &Fn s\ P +9 &HL n\ S +10 &J r\ W +9 &K w\ Y +9 &M~ r\ Y +10 &O@ r\ Y +9 &Q r\ Z +10 &R r\ Z +9 &T u\ [ +9 &V= p\ ] +10 &W n\ ] +9 &Y m\ ^ +9 &[ p\ J +10 &\\6 o\ 0 +9 &\\ n\ Y +6 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&;1 +4 "core" &\\s p\ Y +59 1 + "manipulator"&_% +5 "core" % = / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +99 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%i& +4 "core" &\ + "manipulator"&% +4 "core" % \  V  +2 "storage"( % +3 "core" % C\  +2 "storage"(. +3 "core" .(<- + "storage"(& +4 "core" &<- H\ +2 "storage"(f& +3 "core" &<-  \ +2 "manipulator"&o& +4 "core" &Ӥ& ?U + "manipulator"&-% +4 "core" % \  E  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&M( +163 "core" ( +2 "manipulator"&l& +4 "core" & S  + "storage"(& +4 "core" &<-  # |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&{'O +88 "core" ' +2 "storage"(A& +4 "core" &<- ' + 2\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'r +296 "core" ' +2 "storage"(- +3 "core" -' +52 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +2 "core" &<-  ^\ +2 "manipulator"&Q& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( + "manipulator"&3& +4 "core" & Q  +2 "storage"(/& +3 "core" &<- `\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&t'Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(.' +7 "core" & .  + "manipulator"&n% +4 "core" % ϶ N +2 .tForearm.seek :retract +2 "manipulator"&g' +87 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&!& +4 "core" & L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" & Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&4' +95 "core" ' +2 "manipulator"&s& +4 "core" & q +2 "manipulator"&#% +3 "core" % a 8 +2 "processing"%T& +4 "core" &\ +2 "processing"%Z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 &/\ #b +9 &Vu\ 7 +9 &s\ L +10 &Q\ N +9 &XO\ O +9 &N\ N +10 &O\ O +9 &O\ N +9 &aP\ N +10 &"O\ O +9 &P\ N +10 &!P\ N +10 &#iQ\ N +8 &%+P\ N +10 &&Q\ N +9 &(Q\ N +9 &*qP\ N +10 &,3L\ N +9 &-L\ N +10 &/Q\ O +9 &1wT\ O +9 &3:N\ O +10 &4M\ N +9 &6P\ N +10 &8M\ O +9 &:CM\ N +9 &<O\ O +10 &=R\ O +9 &?R\ O +10 &AJR\ O +9 &Cb\ Q +9 &De\ R +9 &Fy\ T +10 &H>\ U +9 &J\ U +10 &K\ V +9 &M\ V +9 &OD\ V +10 &Q\ V +9 &R\ W +9 &T\ W +10 &VJ\ W +9 &X \ W +10 &Y\ W +9 &[\ W +9 &]O\ J +10 &^zG\ b +9 &^E\ 8 +6 ( + "processing"%Z& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 + .Hand.open +2 "manipulator"&)1 +3 "core" &^0\ 8 +53 1 + "manipulator"&% +4 "core" %   8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +96 "core" ' +2 "processing"%& +4 "core" &^0\ 8 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&E% +4 "core" %  E ) +2 "storage"((% +4 "core" % \  + "storage"(. +4 "core" .(<- + "storage"(q& +4 "core" &<- \ +2 "storage"(:& +5 "manipulator"&"& +3 "core" &<- \ +2 &  h +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&B( + "storage"('r +5 "core" ( + "manipulator"&?& +4 "core" & g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &  @ +2 .tForearm.seek PC +2 "manipulator"&L' +92 "core" ' + .tHand.close +2 "manipulator"&=/ +60 "core" / +2 .tPC.seek :open +2 "processing"%( +97 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'1 +40 "core" ' +307 ( + "storage"( & +4 "core" &<, :\ +2 "manipulator"&e& +3 "core" & +2 "manipulator"&>% +3 "core" %  @ ; +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&9( +251 "core" ( +2 "manipulator"&&& +4 "core" &  + "storage"(b& +4 "core" &<, *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&W'O +93 "core" ' + .tHand.open + "manipulator"&01 +53 "core" 1 + "storage"(D- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(+' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"(2& +4 "core" &<, @ \ \\ +2 "manipulator"&N& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&G( +4 "core" ( + "manipulator"&S& +4 "core" &   Y  +2 "storage"(r& +4 "core" &<, L /\ [ +2 .tForearm.seek 5 + 450 counts + "manipulator"&6'O +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +51 "core" ' +2 "manipulator"&*& +4 "core" & N  + "storage"(& +4 "core" &<,  ]\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&J'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +27 "core" ' + "manipulator"&m% +5 "core" %Ι  + "storage"(V& +4 "core" &<, )\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&R' +15 "core" ' +2 "manipulator"&F& +4 "core" & b  +2 "storage"(^& +4 "core" &<,  0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&@'O +18 "core" ' +2 "storage"(%% +4 "core" %   8\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (k% +3 "core" %_h 4\ 5 +102 "storage"(H% +3 "core" %? k\ Wd +2 "manipulator"&Y% +4 "core" %J D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +33 ' + ."downElevator"SE.stop + "storage"(5 +3 (u& +4 "core" &<, * {\ + "collection"'\\& +4 "core" &\\s h\ Y +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %  / + "storage"(z% +4 "core" %   ^\  +2 "storage"(K. +3 "core" .(<- + "storage"(C& +4 "core" &<,   ^\ +2 "storage"(U& +3 "core" &<,   h\ +2 "manipulator"&c& +4 "core" & =  + .tElbow.seek 5 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&$& +4 "core" & 1  + "storage"(& +4 "core" &<,   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&}'O +92 "core" ' +2 "storage"(& +4 "core" &<,  @\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'r +308 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" &  +2 "storage"('& +30 "core" &<, % \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(a'| +29 "core" ' +2 "manipulator"&7% +4 "core" %Ο + "storage"(& +4 "core" &<, B\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&[' +16 "core" ' + "manipulator"&|& +4 "core" &  +2 "storage"(;& +4 "core" &<,   U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&_'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(i' +33 "core" ' + "manipulator"&& +5 "core" &   + "manipulator"& % +4 "core" %@ +51 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +158 "core" ( + "manipulator"&& +4 "core" &Ӌ* Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &ӌ* Bi +2 .tForearm.seek CC +2 "manipulator"&o'? +91 "core" ' +2 .tHand.close + "manipulator"&-/ +55 "core" / +2 .tCC.seek :open + "collection"'j( +451 "core" ( + "storage"(l& +4 "core" &<, C 9 Z\ +2 "storage"(& +3 "core" &<, ( ' \ +2 "manipulator"&A& +4 "core" &Ӫ% y >K + "manipulator"&% +4 "core" % F  ? +2 .tForearm.seek :retract +2 "manipulator"&O' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&I& +4 "core" & t  +2 "storage"(Q& +4 "core" &<, K K 1\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&3'΍ +93 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 + "manipulator"&,% +5 "core" % Ρ  A + "storage"(n& +4 "core" &<, Z Z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&M' +15 "core" ' + "manipulator"&{& +5 "core" & X  + "storage"(~& +4 "core" &<, ] a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&t'O +14 "core" ' +2 "storage"(!% +4 "core" % y l \ +3 ."downElevator"SE.seek :down +3 "storage"(w' +98 (h% +3 "core" %8 J H 7\ U_ +2 "manipulator"&s% +4 "core" %H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +88 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'T& +3 "core" & s\ +2 "manipulator"&.% +5 "core" %  ^  + "storage"(g% +4 "core" % T U \  +2 "storage"(5. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"()(K +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &K  Q\  +2 "manipulator"&& +4 "core" & @  +2 .tElbow.seek 6 + "manipulator"&E( +4 "core" ( + "manipulator"&(& +4 "core" &  + "storage"(& +4 "core" &K T U V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&q' +95 "core" ' + "storage"("& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'r +304 "core" ' + "storage"(Z- +4 "core" -'+ + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (?& +3 "core" &K Q ; \  +2 "manipulator"&p& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&4( +3 "core" ( + "manipulator"&=& +4 "core" &  +2 "storage"(& +3 "core" &K c c \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'h +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +58 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(' +6 "core" &  +2 "manipulator"& % +4 "core" % ϐ  % +2 .tForearm.seek :retract +2 "manipulator"&e' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&L& +4 "core" &Ӑ% J >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &Ӑ% 0 >I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'? +98 "core" ' +2 "manipulator"&B& +4 "core" &Ӑ% V >I +2 "manipulator"&0% +4 "core" %I b  + "collection"'D& +4 "core" & \ +3 "collection"'8& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'2(\\ +4 "core" & \  +8 &0x \ *y +10 &e{ \ > +9 &zm \ M +10 &?N \ L +9 &R \ L +9 &Q \ L +10 &Q \ L +9 &GQ \ L +10 & S \ L +9 &Q \ L +9 & R \ L +10 &"PR \ L +9 &$Q \ L +10 &%R s\ L +9 &'R s\ L +9 &)XR v\ L +9 &+S s\ L +10 &,R q\ L +9 &.R r\ L +10 &0^R x\ L +9 &2 R v\ L +9 &3R o\ L +10 &5R q\ M +9 &7gR v\ L +9 &9(S r\ L +10 &:S q\ L +9 &<T v\ M +10 &>oS t\ L +9 &@0S s\ L +9 &AU r\ L +10 &CZ t\ M +9 &Epc o\ N +10 &G.o t\ P +9 &H s\ S +9 &J q\ X +10 &LZ q\ Y +9 &N q\ Z +10 &O q\ Y +9 &Q o\ Z +9 &S[ g\ [\ +9 &U n\ \\ +10 &V o\ \\ +9 &X k\ ] +10 &Z\\ p\ ] +9 &\\| n\ : +9 &\\* p\ (v +10 &\\y o\ V +2 ( +2 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&N1 +63 "core" 1 +2 "manipulator"&S% +4 "core" % I  %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&*% +3 "core" %  D  +2 "storage"(% +4 "core" % 4\  + "storage"(m. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(V(K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (d& +3 "core" &K  \ \  +2 "manipulator"&F& +4 "core" &Ӑ% y >I + "manipulator"&^% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&+( +155 "core" ( + "manipulator"&%& +5 "core" & Z  + "storage"(9& +4 "core" &K  y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +95 "core" ' + "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'r +306 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &K \  + "manipulator"&1& +4 "core" & 5 +2 .tElbow.seek 6 +2 "manipulator"&H( +3 "core" ( + "manipulator"&Y& +4 "core" & _ +2 "storage"(J& +3 "core" &K  !\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&R'h +35 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(\\' +7 "core" & K +2 "manipulator"& % +3 "core" % h r +2 .tForearm.seek :retract +2 "manipulator"&z' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&K( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&C& +5 "core" & & E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" & ; E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&c' +95 "core" ' +2 "manipulator"&$& +4 "core" & E +2 "manipulator"&% +3 "core" % . i +2 "processing"%& +4 "core" &\ +2 "processing"%@& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +6 & -\ #b +10 &Uv\ 7 +9 &~u\ L +10 &Q\ N +9 &\\N\ N +9 &M\ N +10 &O\ O +9 &N\ N +9 &dO\ N +10 &&L\ N +9 &O\ O +10 &!O\ N +9 &#lP\ N +9 &%/Q\ N +10 &&O\ N +9 &(O\ N +9 &*tQ\ N +10 &,5O\ O +9 &-N\ O +10 &/O\ O +9 &1{P\ O +9 &3>N\ N +10 &5N\ N +58 &6R\ O +5 &8P\ O +3 &:FM\ N + &<O\ N + &=M\ O +2 &?O\ N + &AIW\ P +4 &Ci\ R +9 &Ds\ S +9 &F\ U +10 &H@\ V +9 &J\ V +10 &K\ V +9 &M\ V +9 &OF\ V +10 &Q\ X +9 &R\ W +9 &T\ W +10 &VL\ W +9 &X\ W +10 &Y\ X +9 &[\ X +9 &]S\ J +10 &^|H\ _ +9 &^W\ 4 +5 ( +2 "processing"%@& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open + "manipulator"&]1 +4 "core" &^(\ 4 +49 1 +2 "manipulator"&% +4 "core" %  j i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +98 "core" ' +2 "processing"% & +4 "core" &^(\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&'% +3 "core" % # ( 0 +2 "storage"(X% +4 "core" % \  +2 "storage"(7. +3 "core" .(K + "storage"(& +4 "core" &K \  +2 "storage"(|& +4 "manipulator"&;& +4 "core" &K u\  + & D +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'r +2 "core" ( + "manipulator"&}& +4 "core" & D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &  k D +3 .tForearm.seek PC +2 "manipulator"&<' +92 "core" ' + .tHand.close +2 "manipulator"& / +56 "core" / +3 .tPC.seek :open +2 "processing"%[( +98 "core" ' +2 "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +49 "core" ' +298 ( +2 "storage"(f& +4 "core" &K   =\  +2 "manipulator"&_& +3 "core" & s D +2 "manipulator"&P% +3 "core" %  C C +2 .tForearm.seek :retract +2 "manipulator"&-' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&`& +4 "core" &  ( + "storage"(l& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +92 "core" ' + .tHand.open +2 "manipulator"&A1 +56 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(I' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(Q' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(o- +3 "core" -' +2 "storage"(& +4 "core" &K \ O +2 "manipulator"&& +3 "core" &  d ( +2 .tElbow.seek 6 +2 "manipulator"&,( +4 "core" ( +2 "manipulator"&n& +3 "core" & \  ( +2 "storage"({& +4 "core" &K 5\ Q +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&~' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(!'" +57 "core" ' + "manipulator"&O& +4 "core" & d ( +2 "storage"(h& +4 "core" &K d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&s'< +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(3' +27 "core" ' + "manipulator"&T% +5 "core" %L + "storage"(.& +4 "core" &K _\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&M'x +14 "core" ' + "manipulator"&g& +5 "core" &  ' + "storage"(5& +4 "core" &K T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&i' +17 "core" ' +2 "storage"(t% +4 "core" %   "\ +3 ."downElevator"SE.seek :down +3 "storage"(w' +98 (\ % +3 "core" %D \ Wg +2 "manipulator"&% +4 "core" % 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ((& +4 "core" &K \  + "collection"'& +4 "core" &\\w c\ V +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&"% +4 "core" %  P  +2 "storage"(/% +4 "core" %   \  + "storage"(#. +4 "core" .(K + "storage"(Z& +4 "core" &K  U\  +2 "storage"(?& +3 "core" &K  \  +2 "manipulator"&p& +4 "core" & . ' + .tElbow.seek 6 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&& +3 "core" & ' +2 "storage"(y& +4 "core" &K E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"( & +4 "core" &K  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +310 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" & i ' + "storage"(&& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&:'< +24 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(0' +30 "core" ' +2 "manipulator"&D% +4 "core" %@ + "storage"(4& +4 "core" &K C\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 304 counts +2 "manipulator"&'l +14 "core" ' + "manipulator"&e& +5 "core" & g ' + "storage"(j& +4 "core" &K   V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&N' +14 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(S' +35 "core" ' + "manipulator"&& +5 "core" & F ' + "manipulator"&*% +4 "core" % N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&m(ӂ +151 "core" ( +2 "manipulator"&8& +4 "core" &|0 F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &|/ T F +2 .tForearm.seek CC +2 "manipulator"&F'? +98 "core" ' +2 .tHand.close + "manipulator"&^/ +61 "core" / +2 .tCC.seek :open +2 "collection"'b( +447 "core" ( +2 "storage"(%& +4 "core" &K > 6 I\  + "storage"(9& +4 "core" &K / ( \\\  + "manipulator"&)& +4 "core" &Ө' ^ @[ +2 "manipulator"&% +3 "core" % M # +2 .tForearm.seek :retract +2 "manipulator"&>' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&r( +167 "core" ( +2 "manipulator"&6& +4 "core" & 0  + "storage"(G& +4 "core" &K Z Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&1'< +95 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&J1 +53 "core" 1 +2 "manipulator"&% +5 "core" % D ' + "storage"(u& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"& 'p +15 "core" ' +2 "manipulator"&+& +4 "core" &    +2 "storage"(W& +4 "core" &K \  +2 .tForearm.reconfigure :tight +51 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +16 "core" ' +2 "storage"(R% +4 "core" % $\  +3 ."downElevator"SE.seek :down +3 "storage"(C' +99 (U% +2 "core" %l< 5 : }\ V` +2 "manipulator"&H% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$' +94 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" & u\ +2 "manipulator"&% +3 "core" %  S  +2 "storage"(\\% +4 "core" % ` W\  +2 "storage"(z. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +1300 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" &  7 9 U\ +2 "manipulator"&& +4 "core" & U  + .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&'& +3 "core" & |  +2 "storage"(X& +4 "core" &  ` Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&7'S +97 "core" ' + "storage"(& +5 "core" &  I\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'r +296 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" & : 6\ +2 "manipulator"&}& +4 "core" & m  +2 .tElbow.seek 2 + "manipulator"&x( +4 "core" ( + "manipulator"&c& +4 "core" &   +2 "storage"( & +3 "core" & Y V\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&a'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&K/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&v& + "storage"(' +7 "core" &  P  +2 "manipulator"& % +4 "core" % ϼ , +2 .tForearm.seek :retract + "manipulator"&f' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&_(ӂ +153 "core" ( + ' +2 "manipulator"&P& +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &z* Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" &z* Bj +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&`'? +93 "core" ' +2 "manipulator"&l& +4 "core" &Ӑ& = ?T +2 "manipulator"&% +4 "core" %3 M +2 "collection"'A& +4 "core" & \ +2 "collection"'& +6 "core" & J\ +2 .tCC.seek :closed + "collection"'o(\\ +4 "core" & (\  +9 &4z 6\ +{ +10 & d{ ~\ > +9 &l \ M +9 &XO \ L +10 &R \ L +9 &S \ L +9 &Q \ L +10 &`Q \ L +9 &"S \ L +10 &Q \ L +9 & R \ L +9 &"hR \ L +10 &$*R |\ L +9 &%S {\ L +9 &'S \ L +10 &)pS t\ L +9 &+1R t\ L +10 &,R r\ L +9 &.R v\ L +9 &0xP q\ L +10 &2:R r\ L +9 &3R w\ L +9 &5S s\ L +10 &7S w\ L +9 &9BT r\ L +9 &;R v\ L +10 &<R p\ L +9 &>T s\ M +10 &@IS t\ L +9 &B W r\ L +9 &C[ r\ M +10 &Eh r\ O +9 &GCy o\ Q +10 &H q\ U +9 &J o\ X +9 &Lt o\ X +10 &N2 q\ Z +9 &O q\ Z +9 &Q p\ Z +10 &Ss h\ [ +9 &U6 `\ [\ +9 &V h\ ] +10 &X e\ ] +9 &Zu g\ ] +10 &\\| p\ 1 +9 &\\0 f\ "g +10 ( + &\\s h\ Q + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.26 + .Hand.open +2 "manipulator"&1 +59 "core" 1 + "manipulator"&% +5 "core" % 3  ; M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +94 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%{& +4 "core" &\ + "manipulator"&-% +4 "core" %   +2 "storage"(O% +3 "core" % B\  +2 "storage"(h. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(T(  +29 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +2 "core" &  s\ +2 "manipulator"&& +4 "core" &ӑ& d ?S + "manipulator"&g% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&5( +166 "core" ( + "manipulator"&I& +5 "core" & s  + "storage"(t& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +96 "core" ' +2 "storage"(& +4 "core" &  $ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +294 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  D\  +2 "manipulator"&~& +4 "core" & G  + .tElbow.seek 2 +2 "manipulator"&,( +3 "core" ( + "manipulator"&!& +4 "core" & N  +2 "storage"(s& +3 "core" &   b\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&('Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"("' +7 "core" & 6  +2 "manipulator"&/% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&#' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&3( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&Z& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" & X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p' +98 "core" ' + "manipulator"&& +4 "core" & +2 "manipulator"&y% +4 "core" % 6  +2 "processing"%i& +4 "core" &\ +2 "processing"% & +5 .tPC.seek :closed + "processing"%w(^ +4 "core" &\ +6 & -\ #b +9 &Uu\ 7 +10 &~s\ L +9 &O\ N +9 &[P\ N +10 &J\ N +9 &P\ O +9 &M\ N +10 &cK\ N +9 &%K\ N +10 &L\ N +9 &!N\ O +9 &#jO\ O +10 &%,O\ O +9 &&O\ N +9 &(K\ N +10 &*sO\ N +9 &,4P\ O +10 &-M\ N +9 &/N\ O +9 &1zQ\ O +10 &3<M\ O +9 &4M\ N +9 &6O\ N +10 &8R\ O +9 &:DO\ O +10 &<M\ N +9 &=O\ N +9 &?P\ N +10 &AMP\ N +9 &C\ ]\ P +9 &De\ Q +10 &Fs\ S +9 &HA\ U +10 &J\ U +9 &K\ V +9 &M\ V +10 &OG\ V +9 &Q\ V +9 &R\ V +10 &T\ W +9 &VL\ W +10 &X\ V +9 &Y\ W +9 &[\ W +10 &]S\ I +9 &^{F\ c +9 &^C\ 5 +6 ( + "processing"% & +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 + .Hand.open + "manipulator"&1 +4 "core" &^&\ 5 +58 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +97 "core" ' +2 "processing"%L& +4 "core" &^& \ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&&% +4 "core" % % B + "storage"(B% +4 "core" % \  + "storage"(D. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(4(  +14 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (e& +3 "core" &  { <\  + "manipulator"&j& +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & \ M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&( + "storage"(*'r +5 "core" ( + "manipulator"&& +4 "core" & : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" & x +2 .tForearm.seek PC +2 "manipulator"&E' +98 "core" ' + .tHand.close + "manipulator"&:/ +60 "core" / +3 .tPC.seek :open + "processing"%( +90 "core" ' + "storage"(0- +3 "core" -'r +51 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +40 "core" ' +266 ( +2 "storage"(d& +4 "core" &   \  + "manipulator"&N& +4 "core" &  + "manipulator"&% +4 "core" %  N +2 .tForearm.seek :retract +2 "manipulator"&^' +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&2& +4 "core" & 6 +2 "storage"(%& +3 "core" &  -\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&9'S +118 "core" ' + .tHand.open + "manipulator"&)1 +59 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(6' +23 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(G' +50 "core" ' + #tLights, camera, ACTION! + "storage"(F- +4 "core" -' +2 "storage"(m& +4 "core" & \ s + "manipulator"&J& +4 "core" &  M 6 +2 .tElbow.seek 2 +2 "manipulator"&( +26 "core" ( + "manipulator"&u& +4 "core" &  b  +2 "storage"(+& +4 "core" & \ u +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&W'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(R'" +54 "core" ' + "manipulator"&>& +4 "core" & I  +2 "storage"(U& +4 "core" &  ,\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&H'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(1' +27 "core" ' + "manipulator"&% +4 "core" %Β   +2 "storage"(& +4 "core" &   R\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 301 counts + "manipulator"& 'Ͼ +14 "core" ' + "manipulator"&\\& +5 "core" &  + "storage"(z& +5 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&S'S +16 "core" ' +2 "storage"(k% +4 "core" % ( '\ +3 ."downElevator"SE.seek :down +3 "storage"(C' +98 (V% +5 "core" %S >\ Zp + "manipulator"&]% +4 "core" %4 Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ('& +4 "core" & . y\  +2 "collection"'X& +4 "core" &\\s h\ Q +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %    +2 "storage"(Y% +4 "core" % g\  + "storage"($. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(;(  +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +3 "core" &   B\ + "manipulator"&}& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"& & +3 "core" & i  +2 "storage"(K& +4 "core" &   Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&v'S +92 "core" ' + "storage"( & +5 "core" &  !  U\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +295 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +2 "core" & ^  +2 "storage"(<& +4 "core" &  $\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&|'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('n +26 "core" ' + "manipulator"&A% +4 "core" %Ί k  +2 "storage"(x& +3 "core" &   O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 293 counts + "manipulator"&'϶ +14 "core" ' +2 "manipulator"&f& +4 "core" & K  +2 "storage"(b& +3 "core" & ' & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +33 "core" ' +2 "manipulator"&{& +4 "core" & -  +2 "manipulator"&-% +4 "core" %2 C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +159 "core" ( + "manipulator"&& +4 "core" &Ӓ%  ; >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &Ӓ%  H >I +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close + "manipulator"&g/ +52 "core" / +2 .tCC.seek :open +2 "collection"'`( +447 "core" ( +2 "storage"(I& +4 "core" & D 8 `\ + "storage"(t& +4 "core" & & & R\ + "manipulator"&& +4 "core" &Ӓ% a >I + "manipulator"&% +4 "core" % N H ; +2 .tForearm.seek :retract +2 "manipulator"&_' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&n( +165 "core" ( +2 "manipulator"&\ & +4 "core" & Y +2 "storage"(& +3 "core" & X `\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&~'Α +95 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&s1 +54 "core" 1 +2 "manipulator"&M% +4 "core" % Έ Q +2 "storage"(& +3 "core" & _ b\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 291 counts + "manipulator"&/'ϴ +15 "core" ' +2 "manipulator"&5& +4 "core" & +2 "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +18 "core" ' + "storage"((% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(Z' +99 (?% +2 "core" %I 0 ? 0\ Wl +2 "manipulator"&,% +4 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'y& +5 "core" & n\ + "manipulator"&i% +5 "core" %  } + "storage"("% +4 "core" % } { \  +2 "storage"(#. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"([( +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & X c\ + "manipulator"&& +4 "core" & % +2 .tElbow.seek 3 +2 "manipulator"&L( +30 "core" ( + "manipulator"&&& +4 "core" &x C +2 "storage"(B& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&D'7 +92 "core" ' + "storage"( & +4 "core" & s\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'r +293 "core" ' + "storage"(j- +53 "core" -'! + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & J K ;\ +2 "manipulator"&=& +4 "core" &x C +2 .tElbow.seek 3 +2 "manipulator"&p( +10 "core" ( +2 "manipulator"&:& +4 "core" &y  X # + "storage"(T& +4 "core" & 6 : :\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&0'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&3/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&q& + "storage"(w' +7 "core" &y  ! # +2 "manipulator"&*% +4 "core" % Ϟ 4 +2 .tForearm.seek :retract + "manipulator"&d' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&N(ӂ +153 "core" ( + "manipulator"&& +5 "core" &Ӌ* Cm + ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 &E& +2 "core" &Ӌ+ ( Cm +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'? +91 "core" ' + "manipulator"&%& +5 "core" &ӌ*  Bl + "manipulator"&% +4 "core" %? I { +2 "collection"')& +4 "core" & \ +2 "collection"'& +5 "core" & ~\ +2 .tCC.seek :closed +3 "collection"'F(\\ +3 "core" & \ +7 &: \ %f +9 &Xw \ 8 +9 &r \ L +10 &Q \ L +9 &R \ L +10 &IR \ L +9 & R \ L +9 &R \ L +10 &R \ L +9 &RR \ K +9 & R \ L +10 &!Q }\ L +9 &#R ~\ L +10 &%XR x\ L +9 &'Q {\ L +9 &(R v\ L +10 &*R t\ L +9 &,`R p\ L +9 &."R m\ L +10 &/Q u\ L +9 &1R y\ L +9 &3hR n\ L +10 &5+R v\ L +9 &6S q\ L +10 &8R s\ L +9 &:pR r\ L +9 &<1S s\ L +10 &=R r\ L +9 &?S o\ M +10 &AwU n\ L +9 &C6] t\ M +9 &Dm u\ O +10 &F r\ R +9 &Hb q\ V +9 &J o\ Z +10 &K p\ Y +9 &M n\ Z +9 &O] p\ [ +10 &Q p\ \\ +9 &R p\ [ +10 &T n\ ] +9 &V] m\ ] +9 &X r\ ^ +10 &Y i\ _ +9 &[ l\ K +10 &\\: k\ - +9 &\\k g\ T +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.46 + .Hand.open +2 "manipulator"&m1 +54 "core" 1 +2 "manipulator"&J% +4 "core" % ? { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&^' +93 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp + "processing"%u& +5 "core" &\ + "manipulator"&+% +4 "core" %  2  +2 "storage"(>% +3 "core" % \  +2 "storage"(U. +3 "core" .( + "storage"(8& +4 "core" & m\ + "storage"(& +4 "core" & \ +2 "manipulator"&& +4 "core" &Ӎ*  q Bk + "manipulator"&6% +4 "core" %     +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\\( +165 "core" ( + "manipulator"&z& +4 "core" & a  +2 "storage"(k& +4 "core" &   \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +93 "core" ' +2 "storage"(9& +4 "core" & #  N\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'r +297 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" & b\ +2 "manipulator"&W& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&R& +4 "core" &  +2 "storage"(H& +3 "core" &  ]\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&''ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& + "storage"(' +7 "core" & B  +2 "manipulator"&Y% +4 "core" % ϛ  +2 .tForearm.seek :retract +2 "manipulator"&$' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&1( +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&@& +5 "core" & 5 : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" & g : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& ' +100 "core" ' + "manipulator"&K& +4 "core" & : +2 "manipulator"&S% +4 "core" % ;  + "processing"% & +4 "core" &\ +3 "processing"%C& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%4(^ +4 "core" &\  +8 &0u\ *x +10 &b{\ > +9 &gm\ O +9 &)P\ N +10 &P\ O +9 &N\ N +9 &pP\ N +10 &2O\ N +9 &P\ N +10 &O\ N +9 & wP\ N +9 &"9O\ N +10 &#Q\ N +9 &%N\ N +9 &'O\ N +10 &)AO\ N +9 &+Q\ N +10 &,O\ N +9 &.N\ N +9 &0IR\ N +10 &2 N\ N +9 &3N\ N +10 &5N\ N +9 &7QR\ N +9 &9Q\ O +9 &:Q\ N +10 &<N\ N +9 &>YO\ N +10 &@O\ N +9 &AT\ O +9 &Cb\ P +10 &EYi\ Q +9 &G|\ S +9 &H\ U +10 &J\ U +9 &LU\ U +10 &N\ V +9 &O\ U +10 &Q\ W +9 &SX\ W +9 &U\ V +10 &V\ W +9 &X\ V +9 &Za\ W +10 &\\"\ W +9 &]\ 6 +9 &^4n\ @ +9 ( +2 &^\ 0 +2 "processing"%C& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.70 + .Hand.open +2 "manipulator"&r1 +54 "core" 1 +2 "manipulator"&% +4 "core" %   o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +94 "core" ' +2 "processing"%P& +4 "core" &^\ \ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&<% +4 "core" % ! " & + "storage"(l% +3 "core" % \  +2 "storage"(A. +4 "core" .( + "storage"(x& +4 "core" & \ +2 "storage"(f& +2 "manipulator"&b& +6 "core" & w\ + & : +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&{( +6 ."raiseStack"SE.seek :beamBreak + "storage"(-'r +3 "core" ( +2 "manipulator"&v& +4 "core" & : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +2 "core" & + : +2 .tForearm.seek PC +2 "manipulator"& ' +92 "core" ' + .tHand.close + "manipulator"&|/ +63 "core" / +2 .tPC.seek :open +2 "processing"%( +96 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +40 "core" ' +311 ( + "storage"(.& +5 "core" &   0\ + "manipulator"&& +4 "core" & + : + "manipulator"&a% +4 "core" %   B +2 .tForearm.seek :retract +2 "manipulator"&g' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&O( +246 "core" ( +2 "manipulator"&o& +4 "core" &  - + "storage"(I& +4 "core" & "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&t'7 +95 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(\ ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(h& +4 "core" &   -\ ] +2 "manipulator"&s& +4 "core" &  Q - + .tElbow.seek 3 +2 "manipulator"&M( +9 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(5& +4 "core" & + . Y\ ] +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(('" +58 "core" ' + "manipulator"&_& +4 "core" & 6  +2 "storage"(?& +4 "core" &  >\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +52 "manipulator"&#Q@2^d^b +4 .tForearm.seek 3 + "manipulator"&,'u +18 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(~' +27 "core" ' +2 "manipulator"&y% +4 "core" %Έ . B +2 "storage"(/& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&i'ϴ +14 "core" ' +2 "manipulator"&"& +4 "core" &   +2 "storage"(#& +4 "core" &   Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +19 "core" ' +2 "storage"(Q% +4 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(Z' +98 (;% +4 "core" %@ " M\ Wf +2 "manipulator"&% +4 "core" %-  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (&& +4 "core" & \ + "collection"'B& +4 "core" &\\m h\ T +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %    +2 "storage"(!% +4 "core" %   g\  + "storage"(. +3 "core" .( + "storage"(j& +4 "core" &  \ +2 "storage"(& +4 "core" &   3\ + "manipulator"&=& +4 "core" & O  +2 .tElbow.seek 3 +2 "manipulator"&:( +9 "core" ( + "manipulator"&T& +4 "core" & .  +2 "storage"(3& +4 "core" &   Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&q'7 +98 "core" ' + "storage"(*& +5 "core" &  '\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'r +296 "core" ' +7 "storage"(D- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & :  + "storage"(E& +4 "core" & S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&e'u +13 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('s +30 "core" ' +2 "manipulator"&)% +4 "core" %~ ] 8 + "storage"(p& +4 "core" &  o\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&w'Ϫ +13 "core" ' + "manipulator"&d& +5 "core" &   + "storage"(`& +4 "core" &  >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&m'7 +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(J' +43 "core" ' + "manipulator"&u& +5 "core" &  + "manipulator"&+% +4 "core" %( ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +159 "core" ( + "manipulator"&8& +4 "core" &Ӝ  H :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӝ  V :. +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'6( +447 "core" ( + "storage"(2& +4 "core" & K F \ +2 "storage"(z& +4 "core" & C D H\ + "manipulator"&k& +4 "core" &Ӝ  f :. + "manipulator"&9% +4 "core" % * ?  +2 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&^( +164 "core" ( +2 "manipulator"&V& +4 "core" &~  +2 "storage"(]& +3 "core" & U U 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&W'u +95 "core" ' +2 .tElbow.hold +2 "manipulator"&R, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&H1 +55 "core" 1 +2 "manipulator"& % +4 "core" % ΂ * +2 "storage"(X& +4 "core" & U T \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&Y'Ϯ +14 "core" ' +2 "manipulator"&\\& +4 "core" &~ |  +2 "storage"(& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&G'7 +14 "core" ' +2 "storage"('% +4 "core" % { 6\ +3 ."downElevator"SE.seek :down +3 "storage"(@' +98 (}% +3 "core" %5 7 P \ V` +2 "manipulator"&% +4 "core" %. H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'S& +4 "core" & z\ +2 "manipulator"& % +3 "core" %  s  +2 "storage"(% +4 "core" % Y\  + "storage"($. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (r& +3 "core" &,v ' ' 0\  +2 "manipulator"&& +3 "core" &~ A  +2 .tElbow.seek 4 +2 "manipulator"&P( +38 "core" ( + "manipulator"&<& +4 "core" & 7  +2 "storage"(l& +3 "core" &,v | X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +91 "core" ' +2 "storage"(x& +4 "core" &,v  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'r +294 "core" ' +2 "storage"(f- +3 "core" -') +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +2 "core" &,l b Z\  +2 "manipulator"&v& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"& & +4 "core" & 6  +2 "storage"(|& +3 "core" &,l [ [\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&1/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&7& +3 "storage"(4' +7 "core" &  {  +2 "manipulator"&-% +5 "core" % ψ 9 + .tForearm.seek :retract +2 "manipulator"&.' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ' + ( + ."downElevator"SE.stop +4 "manipulator"&a& "storage"(5 +8 "core" &Ӑ& c ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӑ& R ?S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&o'? +96 "core" ' +2 "manipulator"&I& +5 "core" &ӑ& K ?R + "manipulator"&{% +4 "core" %5 8 +2 "collection"'& +4 "core" & m\ +2 "collection"'& +7 "core" & ~\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +6 & \ 9 +9 &JJr \ 1 +9 &|ty \ E +10 &&U \ M +9 &Q \ K +9 &S \ L +10 &oR \ L +9 &2Q \ K +9 &R \ L +10 &Q \ L +9 &vT \ L +10 &!9R \ L +9 &"P \ L +9 &$Q \ L +10 &&Q s\ L +9 &(@T y\ L +9 &*R v\ L +10 &+Q |\ L +9 &-R w\ L +10 &/HQ u\ L +9 &1\ Q w\ L +9 &2R u\ L +10 &4R s\ L +10 &6PU r\ L +8 &8R w\ L +10 &9R r\ L +9 &;R r\ L +9 &=YR t\ L +10 &?R o\ L +9 &@T q\ L +10 &B\\ t\ M +9 &DZh s\ N +9 &F{ o\ Q +10 &G p\ U +9 &I p\ X +9 &KB m\ Y +10 &M n\ Y +9 &N n\ Y +59 &P p\ Z +7 &RE e\ [ +2 &T b\ [ + &U o\ \\ + &W k\ ] + &YC m\ ^ + &[ c\ ^ +3 &\\_L a\ 9 +10 &\\ b\ S +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.32 + .Hand.open + "manipulator"&h1 +4 "core" &\\h h\ S +60 1 +2 "manipulator"&s% +4 "core" % 5 * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%5& +4 "core" &\ +2 "manipulator"&g% +4 "core" %     +2 "storage"(_% +3 "core" % 6\  +2 "storage"(?. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((,y +24 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" &,{  P\ +2 "manipulator"&y& +4 "core" &ӑ&  2 ?R +2 "manipulator"&/% +3 "core" %   4  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&"( +164 "core" ( +2 "manipulator"&#& +4 "core" &   +2 "storage"(O& +3 "core" &,{  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +96 "core" ' + "storage"(t& +5 "core" &,{  +\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,l  v\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&M( +3 "core" ( + "manipulator"&(& +4 "core" & ?  +2 "storage"(,& +3 "core" &,l ' ' \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&i'c +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& + "storage"( ' +8 "core" & /  + "manipulator"&!% +4 "core" % \\ W +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&~( +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&j& +4 "core" & X = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & p = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&=' +90 "core" ' +2 "manipulator"&T& +4 "core" & = +2 "manipulator"&3% +3 "core" % l +2 "processing"%& +4 "core" &\ +2 "processing"%*& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%Z(^ +4 "core" &\ +8 &6\ #c +9 &Uu\ 7 +10 &}r\ K +9 &M\ N +9 &YO\ N +10 &N\ O +9 &N\ N +9 &P\ N +10 &aN\ N +9 &"O\ O +10 &N\ O +9 &!N\ N +9 &#hO\ O +10 &%+O\ N +9 &&L\ N +10 &(O\ N +9 &*qP\ N +9 &,2O\ O +10 &-M\ O +9 &/O\ O +9 &1xR\ O +10 &3:P\ O +9 &4Q\ N +9 &6R\ N +10 &8N\ N +9 &:DN\ N +10 &<P\ O +9 &=M\ N +9 &?R\ O +10 &AJW\ O +9 &Cj\ R +9 &Dw\ S +10 &F}\ U +9 &H@\ U +11 &J\ U +10 &K\ V +7 &M\ V +10 &OE\ V +9 &Q\ V +9 &R\ W +10 &T\ W +9 &VJ\ W +10 &X \ W +9 &Y\ W +9 &[\ W +10 &]Q\ H +9 &^xBu\ &p +9 &^6\ 2 +6 ( + "processing"%*& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open + "manipulator"&n1 +4 "core" &^"\ 2 +52 1 + "manipulator"&% +5 "core" %  3 l + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' +2 "processing"%& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&E% +4 "core" %  \   +2 "storage"(%% +3 "core" % u\  +2 "storage"(). +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(p(,y +12 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "manipulator"&`& +3 "core" &,~ <\  +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" & = +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&u( + "storage"(+'r +5 "core" ( + "manipulator"&q& +4 "core" & B = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" & = +2 .tForearm.seek PC +2 "manipulator"&L' +93 "core" ' +2 .tHand.close + "manipulator"&e/ +60 "core" / +2 .tPC.seek :open +2 "processing"%w( +95 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'1 +44 "core" ' +306 ( +2 "storage"(& +4 "core" &,j ) , S\ # + "manipulator"&m& +4 "core" & Y = +2 "manipulator"&0% +3 "core" %  ? +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&>( +243 "core" ( +2 "manipulator"&F& +4 "core" & + + "storage"(2& +4 "core" &,j   F\ # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +100 "core" ' +2 .tHand.open + "manipulator"&k1 +63 "core" 1 +2 "storage"(9- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(V' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(]' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(U& +3 "core" &,j \ X# +2 "manipulator"&H& +4 "core" &  ^ * + .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&X& +4 "core" &  * + "storage"(\\& +4 "core" &,j ` J /\ i# +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(''" +49 "core" ' +2 "manipulator"&N& +4 "core" & * + "storage"(}& +4 "core" &,j  \ # +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +21 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(W' +20 "core" ' + "manipulator"&S% +5 "core" %' H  + "storage"( & +4 "core" &,j [\ # +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 284 counts + "manipulator"&Y'S +15 "core" ' + "manipulator"&& +5 "core" & * + "storage"($& +4 "core" &,j  O\ # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&J' +17 "core" ' +2 "storage"(G% +4 "core" % & &\ +3 ."downElevator"SE.seek :down +3 "storage"(@' +99 ([% +3 "core" %? \ Xg + "manipulator"&r% +4 "core" % ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (<& +4 "core" &,j ' \ # + "collection"'l& +4 "core" &\\h i\ S +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&x% +3 "core" %  C  +2 "storage"(R% +4 "core" %   \  + "storage"(K. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(f(,y +36 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +52 "core" &,|\ +3 "manipulator"&v& +3 "core" & O * +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&|& +3 "core" & l * +2 "storage"(1& +4 "core" &,|   N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +93 "core" ' +2 "storage"(-& +4 "core" &,| ' ' \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +301 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +2 "core" & ] * +2 "storage"( & +4 "core" &,l  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&b'7 +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(I- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"({'~ +29 "core" ' +2 "manipulator"&% +4 "core" %4 ] + "storage"(c& +4 "core" &,l   6\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 297 counts +2 "manipulator"&4'` +16 "core" ' + "manipulator"&.& +4 "core" & ' * +2 "storage"(6& +4 "core" &,l 1 ) >\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&h' +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(s' +34 "core" ' +2 "manipulator"&5& +4 "core" & _ * +2 "manipulator"&g% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&?(ӂ +153 "core" ( + "manipulator"&& +4 "core" &ӟ!  ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &ӟ"  ;3 +2 .tForearm.seek CC +2 "manipulator"&y'? +94 "core" ' +2 .tHand.close +2 "manipulator"&// +54 "core" / +2 .tCC.seek :open + "collection"'o( +451 "core" ( + "storage"(#& +4 "core" &,l K F \ + "storage"(O& +4 "core" &,l D C W\ +2 "manipulator"&& +3 "core" &ӟ" H ;3 +2 "manipulator"&t% +4 "core" % 5 { / +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&( +166 "core" ( + "manipulator"&;& +4 "core" &   +2 "storage"(& +4 "core" &,l b c \ +2 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +8 .tForearm.seek 4 +2 "manipulator"&'7 +98 "core" ' +2 .tElbow.hold + "manipulator"&(, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&,1 +52 "core" 1 +2 "manipulator"&&% +4 "core" % = M  +2 "storage"(B& +3 "core" &,l e d %\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"&!'i +14 "core" ' +2 "manipulator"&"& +4 "core" & ;  +2 "storage"(Q& +3 "core" &,l \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(i% +5 "core" % x\ +2 ."downElevator"SE.seek :down +3 "storage"(j' +99 (% +3 "core" %< \\ W\ Va + "manipulator"&M% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +98 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'3& +4 "core" & v\ +2 "manipulator"&% +4 "core" %  u + "storage"( % +4 "core" % y y \  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (n& +3 "core" &<+ ; I \ +2 "manipulator"&& +3 "core" & k  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&E& +4 "core" & Q  +2 "storage"(%& +3 "core" &<+ y z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&)'O +91 "core" ' + "storage"(*& +4 "core" &<+ i\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'r +293 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (q& +3 "core" &<+ T < A\ +2 "manipulator"&:& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&=( +3 "core" ( + "manipulator"&e& +4 "core" &  + "storage"(& +4 "core" &<+ b X\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϲ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& + "storage"(Z' +8 "core" & B  + "manipulator"&+% +4 "core" % Ϲ _ +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&0& +3 "core" &Ӑ% 0 >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &Ӑ% >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&F'? +93 "core" ' +2 "manipulator"&2& +4 "core" &ӑ% { >M +2 "manipulator"&u% +4 "core" %? + "collection"'k& +4 "core" & y\ +3 "collection"'9& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & ~\  +9 &4u \ *z +9 &fy \ > +9 &k \ M +10 &PQ \ L +9 &Q \ L +9 &O \ L +10 &Q \ L +9 &YP \ L +10 &U \ L +9 &Q \ L +9 & Q \ L +10 &"`T \ L +9 &$#Q \ L +9 &%Q \ L +10 &'T }\ L +9 &)iR }\ L +10 &++R w\ L +9 &,R y\ L +9 &.R t\ K +10 &0pR q\ L +9 &22Q p\ L +9 &3Q t\ L +10 &5R u\ L +9 &7yR u\ L +9 &9;R r\ L +10 &:R {\ L +9 &<R y\ L +10 &>R w\ L +9 &@CR {\ L +9 &BT o\ L +10 &C\\ t\ M +9 &Ee u\ N +10 &G=v t\ P +9 &H u\ T +9 &J r\ X +10 &Ll l\ X +9 &N+ s\ Y +9 &O p\ Y +10 &Q q\ Z +9 &Sm y\ [ +10 &U. i\ [\ +9 &V o\ ] +9 &X o\ ] +10 &Zn s\ ] +9 &\\{ s\ 4 +9 &\\+ k\ V +9 ( +2 &\\c m\ N +3 "collection"'9& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&U1 +62 "core" 1 + "manipulator"&H% +4 "core" % ? : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%\\& +4 "core" &\ +2 "manipulator"&% +4 "core" % ! K + + "storage"(N% +4 "core" % 4\  + "storage"(}. +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(S(<- +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &<+ ?\ +2 "manipulator"&8& +3 "core" &Ӓ%  N >L +2 "manipulator"&% +4 "core" % ! ( + + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&$( +161 "core" ( +2 "manipulator"&V& +4 "core" &   +2 "storage"(G& +3 "core" &<+ & '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>'O +93 "core" ' + "storage"(z& +5 "core" &<+ ' * ?\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +298 "core" ' +2 "storage"([- +3 "core" -' +51 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (r& +3 "core" &<+  R\ +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"&'& +4 "core" & .  +2 "storage"(& +3 "core" &<+ * ' \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&<'Ϲ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(x' +7 "core" & Q  +2 "manipulator"&R% +4 "core" % ϭ + .tForearm.seek :retract +2 "manipulator"&K' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&W( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&C& +4 "core" &  * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" & F * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&|' +98 "core" ' +2 "manipulator"&J& +4 "core" & * +2 "manipulator"&1% +3 "core" % ,  +2 "processing"%-& +4 "core" &\ +2 "processing"%@& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%p(^ +3 "core" &\  +9 &1s\ )w +9 &b{\ > +9 &fj\ N +10 &(P\ N +9 &O\ N +10 &N\ N +9 &mN\ N +9 &0O\ N +10 &N\ N +9 &N\ O +9 & uN\ N +10 &"7K\ N +9 &#P\ N +10 &%N\ N +9 &'}P\ N +9 &)>N\ O +10 &+N\ N +9 &,P\ N +9 &.N\ O +10 &0FO\ O +9 &2N\ O +10 &3P\ O +9 &5M\ N +9 &7NQ\ O +10 &9P\ N +9 &:N\ O +9 &<O\ O +10 &>VQ\ O +9 &@O\ N +10 &AW\ O +9 &Cc\ Q +9 &ESo\ R +10 &G\ T +9 &H\ U +9 &J\ U +10 &LR\ U +9 &N\ V +10 &O\ V +9 &Q\ V +9 &SV\ W +10 &U\ W +9 &V\ W +9 &X\ V +10 &Z^\ W +9 &\\ \ W +10 &]}\ 7 +9 &^+j\ "d +9 &^3\ 4 +3 ( +2 "processing"%@& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.72 +2 .Hand.open + "manipulator"&^1 +57 "core" 1 + "manipulator"&% +5 "core" %    + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +98 "core" ' +2 "processing"%a& +4 "core" &^-\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" % % \ < ? +2 "storage"(I% +3 "core" % \  +2 "storage"(. +3 "core" .(<- + "storage"(c& +4 "core" &<+ \ +2 "storage"(.& +5 "manipulator"&6& +4 "core" &<+ \ + &  > * +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&5( +2 "storage"(g'r +5 "core" ( + "manipulator"&7& +4 "core" & < * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &  \ 6 * +2 .tForearm.seek PC +2 "manipulator"&P' +92 "core" ' + .tHand.close +2 "manipulator"&b/ +58 "core" / +2 .tPC.seek :open +2 "processing"%4( +100 "core" ' +2 "storage"({- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +39 "core" ' +304 ( + "storage"(\ & +4 "core" &<+  \ +2 "manipulator"&h& +3 "core" & W * +2 "manipulator"&% +3 "core" %   , +2 .tForearm.seek :retract +2 "manipulator"&/' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&_( +245 "core" ( + "manipulator"&& +4 "core" & ' +2 "storage"(#& +3 "core" &<+ c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&O'O +94 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(t- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(;' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +4 "core" -' + "storage"(?& +4 "core" &<+ K d\ ` +2 "manipulator"&,& +4 "core" & 0 ' + .tElbow.seek 5 +2 "manipulator"&&( +4 "core" ( + "manipulator"&B& +4 "core" &   < ' +2 "storage"("& +3 "core" &<+ , , U\ a +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(i'" +58 "core" ' +2 "manipulator"&& +4 "core" & * ' + "storage"(& +4 "core" &<+ t\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&M'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&3% +4 "core" %Θ  +2 "storage"(& +4 "core" &<+  W\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 311 counts + "manipulator"&!' +14 "core" ' +2 "manipulator"& & +4 "core" & T  +2 "storage"(& +4 "core" &<+ ' ) \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +17 "core" ' + "storage"(% +5 "core" %  =\ +2 ."downElevator"SE.seek :down +3 "storage"(j' +79 "Can"\ VT +20 "storage"(f% +3 "core" %\\D L\ Xh +2 "manipulator"&n% +4 "core" %6 = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &<+ ~\ + "collection"'%& +4 "core" &\\c j\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&*% +4 "core" %  )  +2 "storage"((% +3 "core" % & '\  +2 "storage"(T. +3 "core" .(<- + "storage"(`& +4 "core" &<+ ( '\ +2 "storage"(q& +3 "core" &<+ ' '\ +2 "manipulator"&:& +4 "core" & |  + .tElbow.seek 5 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&& +3 "core" & >  +2 "storage"(~& +4 "core" &<+ ' '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +92 "core" ' + "storage"(+& +5 "core" &<+ ' &\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&0& +3 "core" & >  +2 "storage"(L& +40 "core" &<+ %  W\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&d'΍ +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(2- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(u'{ +29 "core" ' + "manipulator"&k% +4 "core" %Π 2 < + "storage"(=& +4 "core" &<+ ' ' 2\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts + "manipulator"&Z' +14 "core" ' + "manipulator"&& +4 "core" & z  +2 "storage"(o& +4 "core" &<+  Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&U'O +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(H' +38 "core" ' + "manipulator"&\\& +5 "core" &  + "manipulator"&% +4 "core" %> X +2 .tForearm.reconfigure :loose +53 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +149 "core" ( +2 "manipulator"&9& +5 "core" &{- : Du + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &|+ Ct +3 .tForearm.seek CC + "manipulator"&8'? +96 "core" ' + .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'F( +447 "core" ( + "storage"(V& +4 "core" &<+ < < \ +2 "storage"(G& +4 "core" &<+ A C H\ + "manipulator"&& +4 "core" &ӣ% | >M + "manipulator"&z% +4 "core" % D  % +2 .tForearm.seek :retract +2 "manipulator"&m' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&X( +162 "core" ( + "manipulator"&[& +5 "core" &  + "storage"(r& +4 "core" &<+ \\ ] \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +95 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&Y% +5 "core" % Γ E 4 + "storage"(l& +4 "core" &<+ b\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 306 counts + "manipulator"&R'Ͽ +18 "core" ' +2 "manipulator"&$& +5 "core" &  + "storage"(>& +4 "core" &<+ ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +28 "core" ' + "storage"(<% +5 "core" % | \ +2 ."downElevator"SE.seek :down +3 "storage"(C' +99 (v% +3 "core" %9 6 3 D\ V` + "manipulator"& % +4 "core" %K u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'1& +5 "core" & }\ + "manipulator"&-% +4 "core" %  -  +2 "storage"(x% +4 "core" % z \  + "storage"(K. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(w(K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (^& +3 "core" &K h j\ +2 "manipulator"&& +3 "core" & h  +2 .tElbow.seek 6 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"& & +3 "core" &  +2 "storage"(I& +3 "core" &K x L\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +101 "core" ' +2 "storage"(c& +4 "core" &K ~ } Z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'r +396 "core" ' + "storage"(6- +4 "core" -', + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &K @ J \ + "manipulator"&7& +4 "core" & O  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&|& +4 "core" & Y  + "storage"(b& +4 "core" &K c c \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&{'h +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&A& +2 "storage"(p' +6 "core" &   +2 "manipulator"&g% +4 "core" % _  +2 .tForearm.seek :retract + "manipulator"&\ ' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&h(ӂ +153 "core" ( + "manipulator"&& +5 "core" &x0 % G + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 &P& +2 "core" &x0 G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +92 "core" ' +2 "manipulator"&#& +4 "core" &Ӫ' @Y +2 "manipulator"&5% +3 "core" %5  +2 "collection"'& +4 "core" & \ +2 "collection"'t& +6 "core" & \ +2 .tCC.seek :closed + "collection"'y(\\ +4 "core" & \ +8 &9 l\ $e +9 &Wu \ 7 +10 &t \ L +9 &T \ L +9 &xQ \ L +10 &9T \ L +9 &Q \ L +9 &Q \ L +10 &T \ L +9 &BQ \ L +9 & Q \ L +10 &!T \ L +9 &#R \ L +10 &%JQ \ L +9 &' Q \ K +9 &(R z\ L +10 &*R q\ L +9 &,QR u\ L +9 &.Q q\ L +10 &/Q s\ L +9 &1R |\ L +10 &3YR y\ L +9 &5R y\ L +9 &6R r\ L +10 &8R u\ L +9 &:`R x\ L +9 &<"R s\ L +10 &=R y\ L +9 &?R r\ M +10 &AiS t\ L +9 &C(W t\ M +9 &D_ q\ N +10 &Fj q\ O +9 &H_ p\ R +10 &J p\ V +9 &K p\ X +9 &M o\ Y +10 &OR v\ Y +9 &Q q\ Y +9 &R r\ Z +10 &T q\ [\ +9 &VS t\ \\ +9 &X r\ \\ +10 &Y q\ ] +9 &[ p\ K +10 &\\= n\ + +9 &\\ h\ W +3 ( + "collection"'t& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.24 + .Hand.open + "manipulator"&?1 +64 "core" 1 +2 "manipulator"&,% +4 "core" % 5 O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&B' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%"& +4 "core" &\ + "manipulator"&/% +4 "core" %  /  +2 "storage"(% +4 "core" % \  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(3(K +24 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &K \  +2 "manipulator"&& +4 "core" &Ӫ'  5 @Y +2 "manipulator"& % +3 "core" %  h  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&;& +4 "core" &   +2 "storage"(& +3 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_' +95 "core" ' + "storage"(O& +4 "core" &K ' ' (\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +2 "core" &K ! -\  +2 "manipulator"&Q& +4 "core" & N  + .tElbow.seek 6 +2 "manipulator"&&( +3 "core" ( + "manipulator"&i& +4 "core" &  +2 "storage"(M& +3 "core" &K (\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&E'h +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& +2 "storage"(*' +7 "core" &   +2 "manipulator"&(% +4 "core" % l + .tForearm.seek :retract +2 "manipulator"&T' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&`& +4 "core" & A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &  A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&:' +89 "core" ' + "manipulator"&& +4 "core" & y A +2 "manipulator"&~% +4 "core" % G i +2 "processing"%s& +3 "core" &\ +2 "processing"%+& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%j(^ +4 "core" &\ +7 & .\ #b +9 &Uv\ 7 +9 &~r\ K +10 &M\ N +9 &\\O\ N +9 &N\ N +10 &N\ O +9 &M\ N +10 &cN\ N +9 &&P\ N +9 &N\ N +10 &!O\ N +9 &#kO\ N +9 &%.O\ N +10 &&N\ N +9 &(N\ O +10 &*sN\ N +9 &,4N\ O +9 &-N\ N +10 &/Q\ N +9 &1zT\ O +10 &3=R\ N +9 &4Q\ N +9 &6R\ N +10 &8R\ N +9 &:EQ\ N +59 &<L\ N +5 &=N\ O + &?R\ O +3 &AKW\ O + &Ci\ Q + &Dv\ S + &F\ U +4 &H@\ U +9 &J\ V +10 &K\ V +9 &M\ V +10 &OG\ V +9 &Q\ V +9 &R\ V +10 &T\ X +9 &VL\ W +9 &X \ W +10 &Y\ W +9 &[\ W +10 &]R\ J +9 &^{G\ a +9 &^C\ 6 +6 ( +2 "processing"%+& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 + .Hand.open + "manipulator"&1 +4 "core" &^&\ 6 +58 1 +2 "manipulator"&% +4 "core" %  * i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +97 "core" ' +2 "processing"%0& +4 "core" &^& \ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&L% +4 "core" % #   3 +2 "storage"(2% +3 "core" % P\  +2 "storage"(k. +3 "core" .(K + "storage"(=& +4 "core" &K ;\  +2 "storage"(& +2 "manipulator"&o& +6 "core" &K *\  + & F A +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&\\( +7 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( + "manipulator"&D& +4 "core" & z A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +3 "core" & ; A +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' +2 .tHand.close + "manipulator"&d/ +58 "core" / +3 .tPC.seek :open + "processing"%Z( +97 "core" ' +2 "storage"(u- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'1 +41 "core" ' +305 ( + "storage"( & +4 "core" &K " D\  +2 "manipulator"&U& +4 "core" & V A + "manipulator"&% +4 "core" %  = 0 +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&N( +245 "core" ( + "manipulator"&& +5 "core" &  ( + "storage"(V& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&G' +89 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(z- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"([' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(r' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' +2 "storage"(}& +4 "core" &K [ ] \ i + "manipulator"&& +4 "core" &  ( +2 .tElbow.seek 6 + "manipulator"&Y( +4 "core" ( + "manipulator"&l& +4 "core" &  T ( +2 "storage"($& +4 "core" &K a i l\ i +2 .tForearm.seek 6 + 450 counts + "manipulator"&>' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(<'" +51 "core" ' +2 "manipulator"&m& +4 "core" &  ( +2 "storage"(v& +3 "core" &K N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& '< +25 "core" ' +2 .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +19 "core" ' +2 "manipulator"&1% +4 "core" %I  +2 "storage"(R& +4 "core" &K _\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&-'u +15 "core" ' + "manipulator"&x& +4 "core" &  ( +2 "storage"(K& +4 "core" &K  K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&H' +16 "core" ' + "storage"(]% +5 "core" %   X\ +2 ."downElevator"SE.seek :down +3 "storage"(C' +99 (S% +3 "core" %W? \ We +2 "manipulator"&^% +3 "core" % # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &K \  +2 "collection"'I& +4 "core" &\\ ^\ W + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&c% +4 "core" %  B  +2 "storage"('% +4 "core" %  \  + "storage"(J. +3 "core" .(K +2 "storage"(6& +4 "core" &K . \  + "storage"(.& +4 "core" &K W\  + "manipulator"&7& +4 "core" & c ( +2 .tElbow.seek 6 +2 "manipulator"&|( +3 "core" ( + "manipulator"&b& +4 "core" &  ( +2 "storage"(W& +4 "core" &K  W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&A' +97 "core" ' + "storage"(g& +5 "core" &K   #\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & m ( +2 "storage"(P& +4 "core" &K % L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&@'< +24 "core" ' + .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(5' +29 "core" ' + "manipulator"&% +5 "core" %J R + "storage"( & +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&p'v +16 "core" ' + "manipulator"&\ & +5 "core" & * ( + "storage"(F& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&?' +18 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate + "storage"(,' +46 "core" ' +2 "manipulator"&"& +4 "core" & & ( + "manipulator"&/% +4 "core" % W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +168 "core" ( +2 "manipulator"&t& +4 "core" &Ӈ w . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӈ K . +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' + .tHand.close +2 "manipulator"& / +59 "core" / +2 .tCC.seek :open +2 "collection"'( +450 "core" ( + "storage"(;& +3 "core" &K _ X\  +2 "storage"(& +4 "core" &K F : v\  +2 "manipulator"&w& +3 "core" &Ӈ . +2 "manipulator"&O% +4 "core" % R K : + .tForearm.seek :retract +2 "manipulator"&h' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&B( +163 "core" ( + "manipulator"&f& +4 "core" & I  +2 "storage"(n& +3 "core" &K X U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&Q'< +96 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&M1 +63 "core" 1 +2 "manipulator"&!% +4 "core" % J @ + "storage"(%& +4 "core" &K f d 4\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 314 counts +2 "manipulator"&('v +13 "core" ' + "manipulator"&& +5 "core" & E  + "storage"(_& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +51 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(E% +4 "core" % | C\ +3 ."downElevator"SE.seek :down +3 "storage"(`' +99 (q% +2 "core" %? U U\ Vb +2 "manipulator"&&% +5 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..6] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'~& +4 "core" & \ +2 "manipulator"&s% +4 "core" %   +2 "storage"(*% +4 "core" % \  + "storage"(T. +3 "core" .(K +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(4(  +1296 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  ^ j '\ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&0( +4 "core" ( + "manipulator"&L& +4 "core" &   + "storage"(2& +4 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&k'S +91 "core" ' +2 "storage"(=& +4 "core" &  I\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +313 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & u y ]\  + "manipulator"&D& +4 "core" & v  +2 .tElbow.seek 2 + "manipulator"&e( +4 "core" ( + "manipulator"&:& +4 "core" & ?  + "storage"(d& +4 "core" & \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u'Ͻ +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"(j' +7 "core" &  + "manipulator"&% +4 "core" % ϳ  +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +5 "core" &Ӂ&  ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӂ& ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +99 "core" ' + "manipulator"&V& +5 "core" &Ӂ& % ?U + "manipulator"&\\% +4 "core" %I #  +2 "collection"'& +4 "core" &  \ +2 "collection"'z& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'8(\\ +5 "core" & +\  +8 &4z -\ +{ +10 &ez )\ > +9 &l (\ M +10 &QQ l\ L +9 &Q \ L +9 &Q \ L +10 &Q \ L +9 &ZQ \ L +10 &S \ L +9 &Q \ L +9 & Q \ L +10 &"bQ \ L +9 &$$Q \ L +9 &%R \ L +10 &'R \ K +9 &)hR \ L +9 &+*R \ L +10 &,R {\ L +9 &.O {\ L +10 &0qR y\ L +9 &23Q q\ L +9 &3Q p\ L +10 &5R v\ L +9 &7wR t\ M +9 &9;R z\ L +10 &:R t\ L +9 &<R r\ L +10 &>P t\ L +9 &@BR x\ L +9 &BR x\ L +10 &CY s\ M +9 &Ee t\ N +9 &G<y w\ Q +10 &H u\ T +9 &J w\ X +10 &Ll q\ Y +9 &N- {\ Y +9 &O u\ Z +10 &Q s\ Z +9 &Sn u\ [ +10 &U. t\ [ +9 &V k\ \\ +9 &X ~\ ] +10 &Zm {\ ^ +9 &\\{ s\ 3 +9 &\\0 m\ "h +9 ( +3 "collection"'z& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + .Hand.open +2 "manipulator"&}1 +3 "core" &\\k n\ T +53 1 +2 "manipulator"&% +4 "core" % I K  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l' +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%$& +5 "core" &\ + "manipulator"&% +4 "core" % !  % ( + "storage"(m% +4 "core" % @\  +2 "storage"(v. +3 "core" .(  + "storage"(1& +4 "core" & l\  +2 "storage"(R& +4 "core" & |\  + "manipulator"&9& +4 "core" &Ӂ& Q ?U + "manipulator"&x% +4 "core" % ! ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&K( +163 "core" ( + "manipulator"&[& +5 "core" & +  + "storage"(]& +3 "core" &   H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&N'S +96 "core" ' + "storage"(G& +4 "core" &  \ B\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'r +298 "core" ' + "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +2 "core" &  *\  +2 "manipulator"&>& +4 "core" & ;  +2 .tElbow.seek 2 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&<& +4 "core" & |  +2 "storage"( & +3 "core" &  O\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&-/ +55 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&I& + "storage"(c' +7 "core" & 9  +2 "manipulator"&'% +4 "core" % ϲ # +2 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&6& +4 "core" & k ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" & ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&7' +92 "core" ' +2 "manipulator"&b& +4 "core" & [ ) +2 "manipulator"&W% +3 "core" % ? [ +2 "processing"%H& +4 "core" &\ +2 "processing"%g& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(^ +4 "core" &\ \ +8 &0s\ )w +9 &b{\ > +10 &nm\ N +9 &/P\ N +9 &P\ N +10 &N\ N +9 &vO\ N +9 &7O\ N +10 &O\ N +9 &P\ N +10 & }O\ N +9 &"@P\ N +9 &$P\ N +10 &%O\ N +9 &'P\ N +9 &)HN\ N +10 &+ O\ N +9 &,L\ N +9 &.O\ N +10 &0OR\ N +9 &2P\ N +10 &3Q\ O +9 &5P\ N +9 &7WM\ N +10 &9N\ O +9 &:Q\ O +9 &<Q\ O +10 &>^R\ O +9 &@!O\ N +10 &AT\ O +9 &Cc\ P +9 &E^l\ Q +10 &G|\ S +9 &H\ U +9 &J\ U +10 &L\\\ U +9 &N\ V +10 &O\ U +9 &Q\ V +9 &S`\ V +10 &U"\ V +9 &V\ V +9 &X\ V +10 &Zg\ W +9 &\\(\ W +10 &]w\ : +9 &^3\ U +9 &^\ . +3 ( +2 "processing"%g& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&X1 +60 "core" 1 +2 "manipulator"&% +4 "core" %  W [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' + "processing"%& +5 "core" &^\ . + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&P% +4 "core" % # 7 +2 "storage"(#% +3 "core" % C\  +2 "storage"(. +3 "core" .(  + "storage"( & +4 "core" & h\  +2 "storage"(\ & +5 "manipulator"&F& +3 "core" & {\  +2 & ) +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&"( +2 "storage"(/'r +5 "core" ( + "manipulator"&A& +4 "core" &   ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &  \  ) +2 .tForearm.seek PC +2 "manipulator"&a' +94 "core" ' + .tHand.close + "manipulator"&@/ +58 "core" / +2 .tPC.seek :open +2 "processing"%p( +97 "core" ' +2 "storage"(5- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(t'1 +46 "core" ' +300 ( + "storage"(& +5 "core" & 4 , E\  + "manipulator"&?& +4 "core" & ) +2 "manipulator"&{% +3 "core" %  L $ +2 .tForearm.seek :retract +51 "manipulator"& ' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +243 "core" ( +2 "manipulator"&y& +4 "core" & / +2 "storage"(;& +3 "core" &   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' + .tHand.open +2 "manipulator"&w1 +53 "core" 1 +2 "storage"(O- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(f' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(n' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" & ~ \ p +2 "manipulator"&M& +4 "core" & J / + .tElbow.seek 2 +2 "manipulator"&!( +4 "core" ( + "manipulator"&%& +4 "core" &   J / +2 "storage"(& +3 "core" & S\ o +3 .tForearm.seek 2 + 450 counts + "manipulator"&_'S +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(E'" +57 "core" ' + "manipulator"&h& +5 "core" &  / + "storage"(q& +4 "core" &   R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&B'Α +23 "core" ' +2 .tElbow.hold + "manipulator"&&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Q' +18 "core" ' + "manipulator"&~% +5 "core" %Ι L + "storage"((& +5 "core" &  H\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&s' +14 "core" ' +2 "manipulator"&*& +4 "core" & f / +2 "storage"(T& +4 "core" &  G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&,'S +15 "core" ' +2 "storage"(% +4 "core" % ' \ +3 ."downElevator"SE.seek :down +3 "storage"(`' +98 (3% +4 "core" %DZ q\ Zq +2 "manipulator"&% +4 "core" %9 i + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (L& +4 "core" & * ~\  + "collection"'2& +4 "core" &\\k f\ T +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&=% +4 "core" %    +2 "storage"(i% +3 "core" %   H\  +2 "storage"(. +3 "core" .(  + "storage"(o& +4 "core" &   >\  +2 "storage"(& +3 "core" &   U\  +2 "manipulator"&D& +4 "core" & P . +2 .tElbow.seek 2 +2 "manipulator"&:( +3 "core" ( + "manipulator"&d& +4 "core" &  . +2 "storage"(& +3 "core" &   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&)'S +95 "core" ' + "storage"(& +5 "core" &   1\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'r +299 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & . + "storage"(& +4 "core" &  $ x\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&+'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(V- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(\\'p +28 "core" ' + "manipulator"&% +5 "core" %Λ : & + "storage"(e& +4 "core" &  D\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&j' +14 "core" ' + "manipulator"& & +4 "core" &  . +2 "storage"(& +4 "core" & 4 0 f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&}'S +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +38 "core" ' + "manipulator"&$& +5 "core" & C . + "manipulator"&% +4 "core" %5 V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&v(ӂ +154 "core" ( +2 "manipulator"&1& +4 "core" &Ә# i <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &Ә#  <9 +2 .tForearm.seek CC + "manipulator"&R'? +95 "core" ' + .tHand.close +2 "manipulator"&9/ +56 "core" / +2 .tCC.seek :open +2 "collection"'x( +446 "core" ( +2 "storage"(& +4 "core" & 7 @ \  +2 "storage"([& +4 "core" & @ D {\  +2 "manipulator"&]& +3 "core" &Ә# f <9 +2 "manipulator"&G% +3 "core" % R W  +2 .tForearm.seek :retract +2 "manipulator"&U' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&l( +161 "core" ( +2 "manipulator"&S& +4 "core" & r  + "storage"(^& +4 "core" & z [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&>'Α +95 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&-% +4 "core" % Γ  8 +2 "storage"(I& +3 "core" & o \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 302 counts +2 "manipulator"&''Ͽ +14 "core" ' +2 "manipulator"&K& +4 "core" & j  +2 "storage"(N& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&r'S +14 "core" ' +2 "storage"( % +4 "core" % 7\ +3 ."downElevator"SE.seek :down +3 "storage"(6' +99 (.% +2 "core" %N B > \ Yl +2 "manipulator"&Y% +4 "core" %4 h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +90 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'W& +3 "core" & p\ +2 "manipulator"&H% +5 "core" %  ]  + "storage"(c% +4 "core" % p\  +2 "storage"(J. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(Z( +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +2 "core" & J K '\ +2 "manipulator"&& +3 "core" & O  +2 .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( + "manipulator"&P& +4 "core" & F  +2 "storage"(#& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +92 "core" ' + "storage"( & +5 "core" & )\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'r +296 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\ & +3 "core" & ` T\ +2 "manipulator"&A& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&|( +4 "core" ( +2 "manipulator"&7& +3 "core" &  +2 "storage"(@& +3 "core" & [ \\\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&5'ϡ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +50 "manipulator"&/ +65 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"(C' +8 "core" &   + "manipulator"&/% +4 "core" %  # } +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&?(ӂ +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&{& +4 "core" &ә  d 9) +6 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &ә  9) +3 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&y'? +94 "core" ' + "manipulator"&;& +5 "core" &ә  D 9) + "manipulator"&"% +4 "core" %4 s +2 "collection"'w& +4 "core" & \ +3 "collection"'O& +4 "core" & c\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & |\  +10 &4{ \ +{ +9 & ey \ > +9 &k \ M +10 &XL \ L +9 &Q \ L +9 &R \ L +10 &Q \ L +9 &aO \ L +10 &"R \ L +9 &Q \ L +9 & O \ L +10 &"iR w\ L +9 &$+Q t\ L +9 &%U o\ L +10 &'Q s\ L +9 &)qR t\ L +10 &+3R u\ L +9 &,U z\ L +9 &.R z\ L +10 &0xR u\ L +9 &2;R x\ L +9 &3R u\ L +10 &5R v\ L +9 &7Q w\ L +10 &9CR q\ L +9 &;R s\ L +9 &<U n\ L +10 &>S o\ L +9 &@IR m\ L +9 &B\ U r\ M +10 &C_ p\ M +9 &Ew v\ P +10 &G< n\ T +9 &H k\ W +9 &J f\ Z +10 &Lo o\ Z +9 &N1 k\ Z +9 &O o\ [\ +10 &Q f\ [\ +9 &Sq n\ \\ +10 &U1 k\ ] +9 &V g\ ] +9 &X e\ ^ +10 &Zr `\ ^ +9 &\\y j\ 6 +9 &\\* y\ Z +9 ( +3 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.46 + .Hand.open +2 "manipulator"&1 +3 "core" &\\h u\ S +60 1 + "manipulator"&M% +5 "core" % 4 s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"& % +4 "core" % !  - $ + "storage"(h% +4 "core" % \  + "storage"(q. +3 "core" .( +2 "storage"(~& +4 "core" & (\ + "storage"((& +4 "core" & T\ +2 "manipulator"&t& +3 "core" &ә  9) +2 "manipulator"&*% +4 "core" % ! $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&T( +162 "core" ( + "manipulator"&f& +5 "core" & ;  + "storage"(& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +91 "core" ' +2 "storage"(& +4 "core" & ' '\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'r +295 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  \ +2 "manipulator"&_& +4 "core" & )  +2 .tElbow.seek 3 +2 "manipulator"&!( +3 "core" ( + "manipulator"&E& +4 "core" & -  + "storage"(B& +4 "core" & ' # *\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&L'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"(=' +7 "core" & 3  +2 "manipulator"&i% +4 "core" % Ϙ O + .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&Q( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&o& +4 "core" & 0 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & - 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&D' +92 "core" ' + "manipulator"&d& +5 "core" & 3 + "manipulator"&% +4 "core" % < | +2 "processing"%,& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%`(^ +4 "core" &\ +8 &6\ $d +9 &Uv\ 7 +9 &}q\ K +10 &M\ N +9 &\\N\ N +9 &O\ N +10 &N\ N +9 &N\ N +9 &cK\ N +10 &$O\ N +9 &P\ N +9 &!N\ N +10 &#jQ\ N +9 &%,N\ N +10 &&O\ N +9 &(L\ N +9 &*rO\ N +10 &,3O\ O +9 &-N\ N +10 &/R\ N +9 &1xV\ O +9 &3<N\ N +10 &4M\ N +9 &6N\ O +9 &8Q\ O +10 &:CO\ O +9 &<N\ N +10 &=R\ N +9 &?O\ N +9 &ALQ\ N +10 &C\ ]\ P +9 &Dc\ Q +9 &Fw\ S +10 &HB\ T +9 &J\ T +10 &K\ V +9 &M\ V +9 &OG\ U +10 &Q\ W +9 &R\ V +9 &T\ W +10 &VM\ V +9 &X \ W +10 &Y\ W +9 &[\ W +9 &]S\ G +10 &^xBu\ )y +9 &^*\ . +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&&1 +3 "core" &^\ . +56 1 + "manipulator"&% +5 "core" %  0 | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +91 "core" ' + "processing"%& +5 "core" &^\ . + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %  ;  +2 "storage"(V% +3 "core" % 3\  +2 "storage"(. +3 "core" .( + "storage"(e& +4 "core" & *\ +2 "storage"( & +5 "manipulator"&& +3 "core" & h\ +2 & 3 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&$( + "storage"('r +6 "core" ( + "manipulator"&)& +4 "core" & M 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" & 8 3 +2 .tForearm.seek PC +2 "manipulator"&0' +93 "core" ' + .tHand.close + "manipulator"&+/ +53 "core" / + .tPC.seek :open +2 "processing"%j( +118 "core" ' + "storage"(\\- +4 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +47 "core" ' +278 ( + "storage"(z& +5 "core" &   1\ + "manipulator"&}& +4 "core" &  3 +2 "manipulator"&u% +3 "core" %  [ @ +2 .tForearm.seek :retract +2 "manipulator"&9' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&m( +246 "core" ( + "manipulator"&8& +4 "core" & 3 4 +2 "storage"(& +4 "core" & * 1 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&['7 +93 "core" ' +2 .tHand.open + "manipulator"&]1 +54 "core" 1 +2 "storage"(G- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(S' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(^' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(R- +3 "core" -' +2 "storage"(v& +4 "core" & / + \ b + "manipulator"& & +3 "core" & & 3 +3 .tElbow.seek 3 +2 "manipulator"&-( +4 "core" ( +2 "manipulator"&I& +4 "core" &    3 + "storage"(K& +4 "core" & - - e\ d +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&N'7 +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"( '" +52 "core" ' + "manipulator"&U& +4 "core" & 3 +2 "storage"(.& +4 "core" &  c\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Y'u +19 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(>' +21 "core" ' +2 "manipulator"&W% +4 "core" %Ή 3 ! +2 "storage"(H& +3 "core" & \ +51 .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&''ϵ +14 "core" ' + "manipulator"&c& +4 "core" & c 3 +2 "storage"(J& +4 "core" &   I\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +19 "core" ' + "storage"(r% +5 "core" % ) \ +2 ."downElevator"SE.seek :down +5 "storage"(6' +98 (4% +3 "core" %UC C\ Xf +2 "manipulator"&X% +5 "core" %8  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (P& +4 "core" &  \ + "collection"'#& +4 "core" &\\h j\ S +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %  5  +2 "storage"(<% +4 "core" %  v\  + "storage"(b. +3 "core" .( +2 "storage"(F& +4 "core" &   3\ +2 "storage"(\ & +4 "core" &   J\ + "manipulator"&A& +4 "core" & W 3 +2 .tElbow.seek 3 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&@& +4 "core" & ^ 3 + "storage"(& +4 "core" &   S\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +99 "core" ' +2 "storage"(/& +4 "core" & 5 ,\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +2 "core" & ` 3 +2 "storage"(a& +4 "core" &\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&g'u +13 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(;- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"("'s +29 "core" ' + "manipulator"&|% +5 "core" %΄ _ : + "storage"(w& +4 "core" &   `\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&C'ϰ +13 "core" ' +2 "manipulator"&& +4 "core" & c 3 +2 "storage"(x& +3 "core" &   K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(M' +41 "core" ' +2 "manipulator"&& +4 "core" & e 3 +2 "manipulator"& % +4 "core" %  c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q(ӂ +154 "core" ( + "manipulator"&~& +5 "core" &Ӓ%  >J + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &Ӓ% 8 >J +2 .tForearm.seek CC +2 "manipulator"&('? +95 "core" ' + .tHand.close + "manipulator"&t/ +62 "core" / + .tCC.seek :open +2 "collection"'*( +447 "core" ( + "storage"(y& +4 "core" & ` P #\ +2 "storage"(f& +3 "core" & K K )\ +2 "manipulator"&& +4 "core" &Ӛ$ =B + "manipulator"&% +4 "core" % 3 V ? + .tForearm.seek :retract +2 "manipulator"&?' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&%( +162 "core" ( + "manipulator"&3& +5 "core" & z  + "storage"(& +4 "core" & e f w\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&_'u +101 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&B1 +54 "core" 1 + "manipulator"&s% +5 "core" % ~ + "storage"(2& +4 "core" & e d\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&i'Ϫ +14 "core" ' +2 "manipulator"&T& +4 "core" &  +2 "storage"(& +3 "core" & } { u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&n'7 +18 "core" ' +2 "storage"(L% +4 "core" % } \ +3 ."downElevator"SE.seek :down +3 "storage"(o' +98 (% +3 "core" %; a `\ Vb +2 "manipulator"&!% +4 "core" %E   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +87 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & u\ +2 "manipulator"&,% +4 "core" %   + "storage"(=% +4 "core" % \  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(p(,y +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +2 "core" &,| D A \  +3 "manipulator"&& +3 "core" & \  +2 .tElbow.seek 4 +2 "manipulator"&( +28 "core" ( + "manipulator"&& +4 "core" &  " +2 "storage"(V& +4 "core" &,| \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(e& +4 "core" &,| d\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +302 "core" ' + "storage"( - +4 "core" -'( + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,j U H \ " +2 "manipulator"&)& +4 "core" &  " + .tElbow.seek 4 +2 "manipulator"&:( +23 "core" ( +2 "manipulator"&D& +4 "core" &  + "storage"(+& +4 "core" &,j i g\ " +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'c +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Q/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"(`' +7 "core" & a  + "manipulator"&% +4 "core" % ϒ +2 .tForearm.seek :retract +2 "manipulator"&z' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&}(ӂ +156 "core" ( +2 "manipulator"&u& +4 "core" ' + &Ӌ* @ Bk + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +2 &0& +3 "core" &ӌ* Bj +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&8'? +103 "core" ' +2 "manipulator"&& +4 "core" &ӌ* Bj +2 "manipulator"&$% +4 "core" %@ + "collection"']& +4 "core" & \ +2 "collection"'G& +6 "core" & \ +2 .tCC.seek :closed + "collection"'R(\\ +4 "core" & \  +8 &4z \ *z +10 &fx \ > +9 &k \ M +10 &UN \ L +9 &Q \ L +9 &T \ L +10 &Q \ L +9 &]Q \ L +9 &Q \ L +10 &Q ~\ L +9 & Q q\ L +10 &"fQ y\ K +9 &$&Q w\ L +9 &%R u\ L +10 &'Q z\ K +9 &)lR u\ L +9 &+.R {\ L +10 &,R y\ L +9 &.Q s\ L +10 &0uQ z\ L +9 &27Q v\ L +9 &3T r\ L +10 &5R y\ L +9 &7|R u\ L +9 &9>R q\ L +10 &;R u\ L +9 &<R v\ L +9 &>R p\ L +10 &@FR t\ L +9 &BX r\ M +10 &C_ r\ N +9 &Et q\ P +9 &G7 w\ T +10 &H s\ W +9 &J p\ Z +10 &Ll q\ Z +9 &N. k\ Z +9 &O c\ [ +10 &Q h\ [\ +9 &Sj s\ ] +9 &U. k\ \\ +10 &V j\ ] +9 &X j\ ^ +10 &Zo f\ ^ +9 &\\y f\ 7 +9 &\\* i\ &s +9 ( +4 "collection"'G& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.44 + .Hand.open + "manipulator"&v1 +4 "core" &\\ i\ _ +60 1 + "manipulator"& % +4 "core" % @ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +90 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp +50 "processing"%K& +5 "core" &\ + "manipulator"&9% +4 "core" %   f  +2 "storage"(U% +4 "core" % t\  + "storage"(.. +3 "core" .(,y + "storage"(W& +4 "core" &,j \\\ " +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(H(,y +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" &,| \ +2 "manipulator"&S& +3 "core" &Ӎ* \  8 Bi +2 "manipulator"&c% +4 "core" %   O  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&J( +157 "core" ( + "manipulator"&r& +5 "core" & Q  + "storage"(m& +4 "core" &,|  j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +124 "core" ' + "storage"(^& +4 "core" &,|  O\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'r +299 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &,l \ +2 "manipulator"&-& +4 "core" & (  +2 .tElbow.seek 4 +2 "manipulator"& ( +3 "core" ( + "manipulator"&Y& +4 "core" & V  + "storage"('& +4 "core" &,l \ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&P'c +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(<' +7 "core" & U  + "manipulator"&b% +4 "core" % W a  +2 .tForearm.seek :retract +2 "manipulator"&>' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F( +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&\ & +4 "core" &  4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" & " 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@' +87 "core" ' +2 "manipulator"&& +4 "core" & H 4 +2 "manipulator"&% +4 "core" % 4 o +2 "processing"%/& +4 "core" &\ +2 "processing"%6& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%l(^ +3 "core" &\ +6 &6\ #c +9 &Tw\ 7 +9 &u\ L +10 &P\ O +9 &ZN\ N +10 &O\ N +9 &N\ N +9 &O\ N +10 &aM\ N +9 &#O\ N +9 &N\ N +10 &!J\ N +9 &#jP\ N +9 &%+N\ N +10 &&N\ N +9 &(J\ N +10 &*qN\ N +9 &,3O\ N +9 &-M\ N +10 &/Q\ O +9 &1xR\ O +9 &3<L\ N +10 &4Q\ N +9 &6R\ N +10 &8N\ N +9 &:DN\ N +9 &<R\ N +10 &=M\ N +9 &?O\ O +9 &AIV\ O +10 &Cj\ Q +9 &Dx\ S +10 &F}\ U +9 &H?\ U +9 &I\ V +10 &K\ U +9 &M\ V +10 &OD\ V +9 &Q\ W +9 &R\ W +10 &T\ W +9 &VJ\ W +9 &X \ W +10 &Y\ W +9 &[\ X +10 &]P\ K +9 &^O\ "j +9 &^)\ 3 +3 ( +2 "processing"%6& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 + .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&% +5 "core" %   o + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' + "processing"%a& +4 "core" &^#\ 3 +3 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&;% +4 "core" %    + "storage"(|% +4 "core" % \  + "storage"(w. +3 "core" .(,} +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +2 "manipulator"&& +6 "core" &,{ I\  + & ; 4 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& ( +2 "storage"('r +5 "core" ( + "manipulator"&7& +4 "core" & E 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  + 4 +3 .tForearm.seek PC + "manipulator"&g' +92 "core" ' +2 .tHand.close + "manipulator"&C/ +57 "core" / + .tPC.seek :open +2 "processing"%"( +101 "core" ' + "storage"(~- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(O'1 +40 "core" ' +303 ( + "storage"(& +4 "core" &,h  U\ $ +2 "manipulator"&5& +4 "core" & i 4 + "manipulator"&t% +4 "core" %  A Q + .tForearm.seek :retract +2 "manipulator"&h' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +245 "core" ( +2 "manipulator"&y& +4 "core" & } . +2 "storage"(f& +3 "core" &,h U\ $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(3- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"((' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(B& +4 "core" &,h \ ,$ + "manipulator"&s& +4 "core" & ` . +2 .tElbow.seek 4 +2 "manipulator"&2( +3 "core" ( + "manipulator"&T& +4 "core" &  . +2 "storage"(& +4 "core" &,h * R\ -$ +2 .tForearm.seek 4 + 450 counts + "manipulator"&L' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(?'" +64 "core" ' + "manipulator"&& +4 "core" & [ . +2 "storage"(!& +4 "core" &,h  u\ $ +6 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&%'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&_, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +18 "core" ' +2 "manipulator"&i% +4 "core" %E W +2 "storage"(,& +4 "core" &,h " ;\ $ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&='q +13 "core" ' +2 "manipulator"&& +4 "core" & . +2 "storage"(M& +4 "core" &,h  \ $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +15 "core" ' +2 "storage"(o% +4 "core" %  #\ +3 ."downElevator"SE.seek :down +3 "storage"(Z' +98 (&% +3 "core" %kF \ Yi +2 "manipulator"&% +4 "core" % q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (V& +3 "core" &,h \ $ +2 "collection"'e& +4 "core" &\\ [\ _ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&E% +4 "core" %  n  +2 "storage"(d% +3 "core" %   C\  +2 "storage"( . +3 "core" .(,y + "storage"(& +4 "core" &,h   \ $ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"()(,y +48 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (D& +3 "core" &,w\ +2 "manipulator"&+& +3 "core" & A . +2 .tElbow.seek 4 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&k& +3 "core" & . +2 "storage"(& +4 "core" &,w   (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(& +4 "core" &,w   E\ +51 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'r +298 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 4 . + "storage"(\\& +4 "core" &,l A\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(:- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(]'} +27 "core" ' +2 "manipulator"&`% +4 "core" %9 9  +2 "storage"(z& +3 "core" &,l   W\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 302 counts + "manipulator"&*'e +14 "core" ' +2 "manipulator"&v& +4 "core" & . + "storage"( & +4 "core" &,l   ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +15 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(G' +40 "core" ' + "manipulator"&9& +5 "core" & V . + "manipulator"&U% +4 "core" % > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +154 "core" ( + "manipulator"&1& +5 "core" &Ӟ ? 9' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &Ӟ  9' +2 .tForearm.seek CC +2 "manipulator"&c'? +95 "core" ' + .tHand.close + "manipulator"&8/ +57 "core" / +2 .tCC.seek :open + "collection"'r( +450 "core" ( +2 "storage"(m& +4 "core" &,l V L C\ +2 "storage"(p& +3 "core" &,l L K 3\ +2 "manipulator"&}& +3 "core" &Ӟ b 9' +2 "manipulator"&^% +4 "core" % L F +2 .tForearm.seek :retract + "manipulator"&I' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&X( +160 "core" ( + "manipulator"&N& +5 "core" &  + "storage"(-& +4 "core" &,l O\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&Y'7 +94 "core" ' +2 .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +57 "core" 1 +2 "manipulator"& % +4 "core" % / ( 1 + "storage"(b& +4 "core" &,l \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 292 counts +2 "manipulator"&J'[ +15 "core" ' +2 "manipulator"&[& +4 "core" & -  +2 "storage"(4& +3 "core" &,l  p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +19 "core" ' + "storage"(\ % +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(A' +99 ( % +3 "core" %= e f ;\ Vb + "manipulator"&% +4 "core" % C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'/& +5 "core" & u\ + "manipulator"&<% +4 "core" %  f  +2 "storage"(>% +4 "core" % (\  + "storage"(j. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<- +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<, L L (\  +2 "manipulator"&a& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&;( +4 "core" ( + "manipulator"&|& +4 "core" & ;  +2 "storage"(w& +3 "core" &<, Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&6'O +93 "core" ' +2 "storage"(x& +4 "core" &<, ,\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +294 "core" ' + "storage"(7- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<, [ e /\  +2 "manipulator"&@& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( + "manipulator"&H& +4 "core" & /  + "storage"(~& +4 "core" &<, \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&F'Ϲ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& + "storage"(' +8 "core" &  + "manipulator"&% +4 "core" % ϳ  +2 .tForearm.seek :retract +2 "manipulator"&5' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&t(ӂ +154 "core" ' + ( + ."downElevator"SE.stop +4 "manipulator"&g& + "storage"(5 +7 "core" &z+  Cm + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +2 "core" &z+ Cm +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'? +92 "core" ' + "manipulator"& & +5 "core" &ӑ& ] ?V + "manipulator"&% +4 "core" %@ ` W +2 "collection"'3& +3 "core" & z\ +2 "collection"'q& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'B(\\ +4 "core" & {\  +8 &2v j\ *x +9 &cy \ = +10 &xm \ M +9 &<L \ L +9 &Q \ L +10 &O \ L +9 &O \ K +9 &EQ \ L +10 &U \ L +9 &Q \ K +9 & R ~\ L +10 &"MU ~\ L +9 &$Q x\ K +10 &%R p\ L +9 &'T q\ L +9 &)UP p\ L +10 &+R y\ L +9 &,T |\ L +10 &.R |\ K +9 &0]R v\ L +9 &2P w\ L +10 &3R z\ L +9 &5P y\ L +9 &7eR x\ L +10 &9'Q o\ L +9 &:R u\ L +10 &<R q\ K +9 &>lS n\ L +9 &@/R m\ L +10 &AT r\ L +9 &CY o\ M +9 &Emf n\ N +10 &G*s g\ P +9 &H p\ T +10 &J q\ X +9 &LX e\ X +9 &N d\ Y +10 &O r\ Z +9 &Q m\ Y +9 &SY b\ [ +10 &U _\ [ +9 &V k\ \\ +10 &X v\ ] +9 &ZY p\ ] +9 &[z u\ < +10 &\\, w\ 'v +9 &\\s t\ X +2 ( +2 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&s1 +61 "core" 1 + "manipulator"&T% +4 "core" % @   W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%h& +4 "core" &\ + "manipulator"&% +4 "core" %  r  +2 "storage"(!% +3 "core" % H\  +2 "storage"(i. +3 "core" .(<- + "storage"(,& +4 "core" &<, \  +2 "storage"(O& +3 "core" &<, \  +2 "manipulator"&& +5 "core" &ӑ& n ?V + "manipulator"&M% +4 "core" %  .  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +165 "core" ( + "manipulator"&o& +28 "core" & Y  + "storage"(& +4 "core" &<,   !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +91 "core" ' +2 "storage"((& +4 "core" &<, - ( '\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'r +311 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" &<,  d\  +2 "manipulator"&2& +4 "core" & Q  + .tElbow.seek 5 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&%& +3 "core" & m  +2 "storage"(V& +4 "core" &<,  M\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&='Ϲ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +55 "core" / +3 ."downElevator"SE.seek :down +53 "manipulator"&E& + "storage"(d' +8 "core" &  + "manipulator"& % +4 "core" % ϲ \ +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +72 "core" ( +2 "manipulator"&D& +4 "core" & I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" & 0 I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&k' +101 "core" ' + "manipulator"&& +5 "core" & \\ I + "manipulator"&n% +4 "core" %  e  +2 "processing"%& +4 "core" &\ +2 "processing"%Z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &2v\ *x +9 &az\ = +9 &em\ N +10 &&L\ N +9 &N\ N +9 &N\ N +10 &mO\ N +9 &/N\ N +10 &O\ N +9 &N\ N +9 & sO\ O +10 &"7N\ N +9 &#O\ N +10 &%O\ N +9 &'|O\ N +9 &)?O\ N +10 &+O\ N +9 &,O5\ N +9 &.Nf\ N +10 &0EP\ O +9 &2N\ N +9 &3R\ N +10 &5Pf\ N +9 &7NN\ N +10 &9Nb\ N +9 &:R\ N +9 &<M\ N +10 &>US\ O +9 &@R\ O +9 &AU\ O +10 &Cc\ Q +9 &ESn\ R +10 &G\ U +9 &H\ U +9 &J\ U +10 &LQ\ U +9 &N\ V +9 &O\ V +10 &Q\ V +9 &SU\ W +10 &U\ W +9 &V\ W +9 &X\ V +10 &Z]G\ W +9 &\\\ W +9 &]}\ 6 +10 &^/k\ N +9 &^)\ 5 +3 ( +2 "processing"%Z& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&_1 +63 "core" 1 +2 "manipulator"&% +4 "core" %  s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&0' +93 "core" ' +2 "processing"%& +4 "core" &^(T\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&\\% +4 "core" % ! \\ % +2 "storage"(:% +4 "core" % ]\  + "storage"(`. +3 "core" .(<- + "storage"(z& +4 "core" &<, z\  +2 "storage"(v& +4 "manipulator"& & +4 "core" &<, # [\  + & d I +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&9( +5 ."raiseStack"SE.seek :beamBreak + "storage"(U'r +20 "core" ( + "manipulator"&& +5 "core" &  K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" & p +2 .tForearm.seek PC +2 "manipulator"&u' +92 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / +2 .tPC.seek :open + "processing"%*( +79 "core" ' +2 "storage"(]- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +50 "core" ' +314 ( +2 "storage"(S& +4 "core" &<,   \  + "manipulator"&K& +4 "core" & 2 + "manipulator"&$% +4 "core" %   3 +2 .tForearm.seek :retract +2 "manipulator"&8' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&.( +240 "core" ( +2 "manipulator"&R& +4 "core" &   +2 "storage"(m& +3 "core" &<,   s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p'O +93 "core" ' + .tHand.open + "manipulator"&}1 +59 "core" 1 +2 "storage"(^- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(N' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(-' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +4 "core" -' + "storage"(W& +4 "core" &<, 3\ , +2 "manipulator"&#& +3 "core" &  /  +2 .tElbow.seek 5 +2 "manipulator"& ( +10 "core" ( + "manipulator"&b& +4 "core" &   w  +2 "storage"([& +4 "core" &<, ) , #\ 8 +2 .tForearm.seek 5 + 450 counts + "manipulator"&4'O +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(\ '" +59 "core" ' +2 "manipulator"&I& +4 "core" &  +2 "storage"( & +3 "core" &<, ( # \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +24 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(Y' +28 "core" ' + "manipulator"&/% +5 "core" %Ε x + "storage"(J& +4 "core" &<,   B\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&<' +16 "core" ' + "manipulator"&>& +4 "core" &   +2 "storage"(j& +4 "core" &<, 4 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&G'O +17 "core" ' +2 "storage"(P% +4 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(A' +98 ()% +3 "core" %lH =\ Wf +2 "manipulator"&% +4 "core" %@ c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a' +92 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +4 "core" &<, 0 o\  + "collection"'w& +4 "core" &\\s X\ X +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&x% +3 "core" %  Y  +2 "storage"('% +4 "core" %   c\  + "storage"(. +3 "core" .(<- + "storage"(7& +4 "core" &<, ) ( ?\  +2 "storage"(& +3 "core" &<, $ ' \  +2 "manipulator"&@& +4 "core" & m  +2 .tElbow.seek 5 +2 "manipulator"&H( +9 "core" ( + "manipulator"&~& +4 "core" & e +2 "storage"({& +4 "core" &<, ( ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l'O +93 "core" ' +2 "storage"(& +4 "core" &<, ) a\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +310 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&g& +3 "core" &  +2 "storage"(y& +3 "core" &<,   C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +21 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('{ +28 "core" ' +2 "manipulator"&3% +4 "core" %Ξ + "storage"(C& +4 "core" &<,  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&5& +4 "core" & d +2 "storage"(r& +3 "core" &<, ) ( G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s'O +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(T' +34 "core" ' +2 "manipulator"&h& +4 "core" & 8 +2 "manipulator"&% +4 "core" %> +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i(ӂ +160 "core" ( +2 "manipulator"&,& +4 "core" &Ӣ! n ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &Ӣ"  ;2 +2 .tForearm.seek CC +2 "manipulator"&q'? +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'M( +447 "core" ( +43 "storage"(f& +13 "core" &<, 9 7 z\  + "storage"(o& +4 "core" &<, U ` \  + "manipulator"&& +4 "core" &Ӣ" Y ;2 +2 "manipulator"&(% +3 "core" % P  P +2 .tForearm.seek :retract +2 "manipulator"&t' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( + "manipulator"&& +5 "core" &  + "storage"(L& +4 "core" &<, Z V \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&2'΍ +96 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&V1 +56 "core" 1 +2 "manipulator"&e% +4 "core" % Ά O  +2 "storage"(E& +3 "core" &<, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 293 counts +2 "manipulator"& 'ϲ +15 "core" ' +2 "manipulator"&& +4 "core" & L  +2 "storage"(& +3 "core" &<, x ~ "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&&'O +18 "core" ' + "storage"(=% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(D' +99 (+% +3 "core" %l@ e j Z\ Vb +2 "manipulator"&?% +4 "core" %: +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [2..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'n& +5 "core" & } u\ + "manipulator"&% +4 "core" %  @ ! +2 "storage"(d% +4 "core" % \  + "storage"(. +4 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"("(K +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (_& +3 "core" &K 6 : y\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&\\& +4 "core" & )  +2 "storage"(:& +4 "core" &K P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&`' +101 "core" ' + "storage"(z& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +305 "core" ' + "storage"( - +4 "core" -'( + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" &K { \  + "manipulator"&& +4 "core" & v  +2 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( + "manipulator"&k& +4 "core" &  +2 "storage"(& +3 "core" &K z { h\  +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&]'h +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& + "storage"(' +7 "core" & -  +2 "manipulator"&U% +4 "core" % ϝ  B + .tForearm.seek :retract +2 "manipulator"&S' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&K(ӂ +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&$& +4 "core" &Ӛ  - :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &Ӛ  Q :, +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&R'? +90 "core" ' + "manipulator"&m& +5 "core" &Ӛ  :, + "manipulator"&9% +4 "core" %B } +2 "collection"'}& +4 "core" & \ +3 "collection"'^& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'c(\\ +4 "core" & \  +10 &5y \ +{ +9 &g{ \ ? +9 &k \ M +10 &cQ \ L +9 &%P \ L +9 &R \ L +10 &T \ L +9 &kP }\ L +9 &-R ~\ L +10 &T {\ L +9 & O r\ L +10 &"tQ t\ K +9 &$5Q q\ L +9 &%T t\ L +10 &'R |\ K +9 &){R w\ L +10 &+<U t\ L +9 &-R s\ K +9 &.R x\ L +10 &0Q v\ L +9 &2FQ q\ K +10 &4R t\ L +9 &5Q s\ L +9 &7R o\ L +10 &9MU r\ L +9 &;R s\ K +9 &<R i\ L +10 &>R o\ K +9 &@TS u\ L +9 &BT e\ L +10 &CZ q\ M +9 &Eb q\ N +9 &GQp a\ P +10 &I j\ S +9 &J b\ W +10 &L} i\ Y +9 &N? a\ Y +9 &O l\ Y +10 &Q q\ Z +9 &S k\ Z +9 &U? u\ [ +10 &V u\ \\ +9 &X x\ ] +10 &Z u\ ] +9 &\\%z j\ 0 +9 &\\- s\ b +9 ( +3 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&W1 +3 "core" &\\o r\ P +50 1 +2 "manipulator"&#% +5 "core" % B } + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%[& +4 "core" &\ +2 "manipulator"&8% +4 "core" %  G  + "storage"(I% +4 "core" %   \  + "storage"( . +3 "core" .(K +2 "storage"(1& +3 "core" &K   I\  +2 "storage"(/& +4 "core" &K   B\  +2 "manipulator"&J& +3 "core" &Ӛ  :, +2 "manipulator"&N% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&>( +162 "core" ( +2 "manipulator"&j& +4 "core" &  + "storage"(P& +4 "core" &K 6 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&.' +93 "core" ' + "storage"(p& +5 "core" &K ) * (\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(-'r +299 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K   F\  +2 "manipulator"&4& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&\ & +4 "core" &  + "storage"(& +3 "core" &K ' (\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&|'h +40 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& +9 &jm\ N +10 &+L\ N +9 &O\ N +9 &N\ N +10 &rM\ N +9 &3M\ N +9 &N\ N +10 &O7\ N +9 & zN\ N +9 &";N\ N +10 &#O\ O +9 &%M\ N +10 &'Nu\ N +9 &)DO\ N +9 &+N\ N +10 &,N\ O +9 &.M5\ N +9 &0KQ\ N +10 &2O\ N +9 &3Q\ O +10 &5O\ O +9 &7TM\ N +9 &9R\ N +10 &:P\ O +9 &<L\ N +9 &>[R\ N +10 &@P\ O +9 &A]8\ P +10 &Cnk\ R +9 &ERR\ T +9 &G\ U +10 &H\ U +9 &J5\ U +9 &LV\ U +10 &N7\ V +9 &O\ \ V +10 &Qs\ W +9 &SZ}\ W +9 &Uz\ W +10 &Vr\ W +9 &Xm\ V +10 &Zb \ W +9 &\\$p\ W +9 &]N\ 4 +10 &^3ps\ C +9 ( + &^"m\ 1 +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 + .Hand.open +2 "manipulator"&X1 +52 "core" 1 + "manipulator"&a% +4 "core" %  p M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&6' +95 "core" ' + "processing"%g& +4 "core" &^#Y\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&y% +4 "core" % & L +2 "storage"( % +52 "core" % e\  +4 "storage"(3. +3 "core" .(K + "storage"(C& +4 "core" &K \  +2 "storage"(5& +4 "manipulator"&r& +4 "core" &K \  + &  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(h'r +4 "manipulator"&( +3 "core" ( +2 "manipulator"&l& +3 "core" &  k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" & o +2 .tForearm.seek PC +2 "manipulator"&;' +94 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%( +93 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'1 +47 "core" ' +306 ( +2 "storage"(O& +4 "core" &K  S\  + "manipulator"&s& +4 "core" & Q +2 "manipulator"&F% +3 "core" %  O ! +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&!( +239 "core" ( +2 "manipulator"&B& +4 "core" & V , +2 "storage"(f& +3 "core" &K   5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&o' +99 "core" ' + .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "storage"((- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +34 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(L' +62 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +4 "core" -' + "storage"(i& +4 "core" &K g +\ ` +2 "manipulator"&V& +3 "core" & \  + +2 .tElbow.seek 6 +2 "manipulator"&e( +10 "core" ( + "manipulator"&E& +4 "core" &  3  +2 "storage"(& +4 "core" &K \ u +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(='" +49 "core" ' + "manipulator"&t& +4 "core" &  +2 "storage"(+& +4 "core" &K   C\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&?'< +15 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(2' +19 "core" ' +2 "manipulator"&n% +4 "core" %P e +2 "storage"( & +4 "core" &K   S\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&'| +13 "core" ' +2 "manipulator"&d& +4 "core" & d  +2 "storage"(& +4 "core" &K 5 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&T' +16 "core" ' +2 "storage"(&% +4 "core" % & " o\ +2 ."downElevator"SE.seek :down +4 "storage"(D' +99 (% +3 "core" %HF  \ Xi + "manipulator"&_% +4 "core" % Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (\\& +4 "core" &K \  +2 "collection"':& +4 "core" &\\n q\ P +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&z% +4 "core" %  K  + "storage"(%% +4 "core" % 4 1 j\  +2 "storage"(. +3 "core" .(K + "storage"( & +4 "core" &K  4\  +2 "storage"(v& +3 "core" &K  :\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&k( +9 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&0' +98 "core" ' + "storage"(U& +4 "core" &K ' '\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +312 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +2 "core" & K  +2 "storage"(u& +4 "core" &K # ' _\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&Z'< +17 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(m- +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(9' +33 "core" ' +2 "manipulator"&}% +4 "core" %O 7 + "storage"(Q& +4 "core" &K ) ( 3\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&'{ +13 "core" ' + "manipulator"&S& +4 "core" &  +2 "storage"(M& +4 "core" &K ( , J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&W' +15 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(#' +39 "core" ' +2 "manipulator"&[& +4 "core" &  +2 "manipulator"&8% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I' +89 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +157 "core" ( +2 "manipulator"&1& +4 "core" &ӛ   :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &ӛ  :1 +2 .tForearm.seek CC + "manipulator"&J'? +95 "core" ' + .tHand.close + "manipulator"&^/ +56 "core" / + .tCC.seek :open +2 "collection"'N( +447 "core" ( +2 "storage"(R& +4 "core" &K c J \  + "storage"(j& +4 "core" &K 6 O 7\  + "manipulator"&P& +4 "core" &ӛ  ( :1 +2 "manipulator"&p% +3 "core" % @ E ; +2 .tForearm.seek :retract +2 "manipulator"&K' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&b( +162 "core" ( +2 "manipulator"&)& +4 "core" & 1  + "storage"(& +4 "core" &K [ Z \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&4'< +95 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&<% +4 "core" % K  + "storage"(w& +4 "core" &K Z V \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 315 counts + "manipulator"&''w +16 "core" ' + "manipulator"&>& +5 "core" & W  + "storage"(.& +4 "core" &K |  L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&-' +16 "core" ' +2 "storage"(|% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(7' +99 (% +2 "core" %> f e \ Wb +2 "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +6207 "Can"\ =; +19145 #t-> exit +5 #mEXIT @1633355129.62UTC @1633355181.56UTC = =mMAIN_scheduler =tMAIN @UTC1633355183.34 #"core_reset"Sent BREAK +2 #t@15582 select with ifg=0x10, ie=0xF5 + #@16217 receive with ifg=0x10, ie=0xFD #@16851 receive with ifg=0x10, ie=0xFD + #@17486 receive with ifg=0x10, ie=0xFD + #@17813 receive with ifg=0x80, ie=0xFD #@54958 sendCRC with ifg=0x20, ie=0x7F + #@55406 sendCRC with ifg=0x20, ie=0x7F #@56996 sendCRC with ifg=0x08, ie=0x5F + #@44878 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +373 "Can"\ ?= + \ ?= #tPolling Can every 10:00 +530 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %i  \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %غ\ \ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % t\ @ +2 .tSS.configure :default +3 "sampler")#.0X startTube 2 +1221 #-> $da[:extractVol]=.2 +23145 #-> shortDA +2 "collection"'2% +2 "processing"%3% +6 "core" %i \ +4 %غ\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +376 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%4 +45 "core" +2 .tPTV.dial :PRVmixing + "processing"%5  +130 "core" + .tPRV.dial :sipper +2 "processing"%6  +130 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%7'e +2287 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%8  + "collection"'9  +17 "core" ~ +110  +2 .tPS.seek 0.5ml + "processing"%:' +1278 "core" ' + .tPRV.dial :waste2 +2 "processing"%; @ +100 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%<'ؾ +589 "core" ' + .tPSV.dial PSR +2 "processing"%= +103 "core"  + "processing"%>% +4 "core" %ؿ:\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%?'X\\ +1104 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%@' +1617 "core" ' +2 .tPSV.dial :mixloop + "processing"%A +105 "core" +2 .tPS.seek 0ml +2 "processing"%B'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%C +103 "core"  +2 "processing"%D% +4 "core" %ؾ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%E'X\\ +1107 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%F' +1620 "core" ' + .tPSV.dial :mixloop +2 "processing"%G +103 "core" + .tPRV.dial :sipper +2 "processing"%H  +44 "core" +2 .tPS.seek 0ml + "processing"%I'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%J +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%K' +2627 "core" ' +2 .tPSV.dial :mixloop + "processing"%L +116 "core" +2 .tPS.seek 0ml +2 "processing"%M'ؾ +2652 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%N& +5 "core" &\ + .tHand.open + "manipulator"&O1 +18 "core" 1 + "manipulator"&P% +5 "core" %   + "storage"(Q% +4 "core" % C @ \  + "storage"(R. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(S(  +1298 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (T& +3 "core" &   | \ + "manipulator"&U& +4 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&V( +3 "core" ( + "manipulator"&W& +4 "core" &  + "storage"(X& +4 "core" &  u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&Y'S +92 "core" ' +2 "storage"(Z& +4 "core" &  I\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['r +297 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +38 "core" & z \  +8 "manipulator"&^& +3 "core" & i  +2 .tElbow.seek 2 +2 "manipulator"&_( +3 "core" ( + "manipulator"&`& +4 "core" &   + "storage"(a& +4 "core" & @\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&b'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&c/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(e' +7 "core" & #  + "manipulator"&f% +4 "core" % ϴ N +2 .tForearm.seek :retract +2 "manipulator"&g' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&h( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&i& +5 "core" & 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &  5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&k' +100 "core" ' + "manipulator"&l& +5 "core" & . 4 + "manipulator"&m% +4 "core" %  +2 "processing"%n& +4 "core" &\ +2 "processing"%o& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%p(^ +4 "core" &\  +9 &2r\ )v +10 &c|\ > +9 &mpE\ O +9 &/S\ N +10 &R<\ N +9 &Q\ N +10 &vR\ N +9 &8R\ N +9 &T\ N +10 &S\ N +9 & ~S\ N +9 &"AR\ N +10 &$T\ N +9 &%U@\ N +9 &'SW\ N +10 &)JRO\ M +9 &+\ TO\ N +10 &,TS\ N +9 &.QV\ N +9 &0OUU\ N +10 &2VR\ N +9 &3TW\ N +9 &5SM\ N +10 &7YTL\ N +9 &9UM\ N +10 &:UL\ N +9 &<TM\ N +9 &>`SP\ N +10 &@ TN\ O +9 &A[K\ O +9 &CmK\ Q +10 &EWI\ T +9 &GE\ T +10 &HC\ U +9 &JB\ U +9 &L\\=\ U +10 &N@\ U +9 &O?\ U +10 &Q:\ V +9 &S`@\ V +9 &U"@\ V +10 &VI\ V +9 &XC\ U +9 &ZhB\ V +10 &\\)@\ W +9 &]{C\ 8 +9 &^-zC\ V +10 &^+@\ 5 +2 ( +2 "processing"%o& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.69 + .Hand.open +2 "manipulator"&q1 +61 "core" 1 + "manipulator"&r% +4 "core" %  V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&s' +97 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%t h +2 %u9 +6 "core" 9 +102 "processing"%v9 +2 "core" 9 +102 "processing"%w9 +3 "core" 9  +102 "processing"%x9 +2 "core" 9  +102 "processing"%y9 +3 "core" 9 +102 "processing"%z9 +2 "core" 9 +102 "processing"%{9 +3 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +3 "core" 9" +102 "processing"%~9 +3 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%9 +2 "core" 9? +102 "processing"%9 +2 "core" 9C +102 "processing"% 9 +3 "core" 9H +102 "processing"% 9 +2 "core" 9L +102 "processing"% 9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +3 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +3 "core" 9q +101 "processing"%9 +3 "core" 9v +102 "processing"%9 +2 "core" 9z +102 "processing"%9 +2 "core" 9~ +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"% 9 +2 "core" 9 +102 "processing"%!9 +2 "core" 9 +102 "processing"%"9 +3 "core" 9 +102 "processing"%#9 +2 "core" 9 +102 "processing"%$9 +3 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +2 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9\  +102 "processing"%+9 +2 "core" 9 +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +3 "core" 9" +2 .tPH.hold 2:00:00,28C +3 "processing"%/ php +2 .tdelay 1:30 +4 "core"  +2774 "Can"\ NK +6226 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +102 "core"  + "processing"%1% +4 "core" %ؽ\  + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%2' +596 "core" ' + .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%3' +1633 "core" ' + .tPTV.dial :puck +2 "processing"%4  +131 "core"  +2 .tPSV.dial PTV + "processing"%5 +74 "core" + .tPBV.dial :waste1 +2 "processing"%6  +53 "core" + "processing"%9% +4 "core" %\ +2 .tPS.seek 1.5ml +2 "processing"%8'' +593 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%7 * +34 "core" + +2 .tPS.seek 0ml + "processing"%;'ؾ +1611 "core" ' + .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%:  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%= * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%> +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%<' +2462 "core" ' + .tPSV.dial PTV +2 "processing"%? +86 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%A +71 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%@ +73 "core" + .tdelay 5 seconds +503 .PSV.dial :air +2 "processing"%C  +73 "core"  +5 .tPS.seek 0ml +2 "processing"%D'ؾ +2386 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%B  +131 "core" + .tPSV.dial :mixloop +2 "processing"%E +44 "core" + .tPRV.dial :ab1 +2 "processing"%G @ +100 "core" > +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%H' +351 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%F  +41 "core"  +2 "processing"%J% +4 "core" %\ <\  +2 .tPS.seek 0.35ml +2 "processing"%I'i +453 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'L  +29 "core" +2 .tPRV.dial :air + "processing"%K  +43 "core"  +2 .tPS.seek 0.9ml + "processing"%N'K +1167 "core" ' + .tPRV.dial :waste2 +2 "processing"%O @ +72 "core" > +2 .tPS.seek 0.5ml +2 "processing"%P' +865 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%Q  +43 "core"  + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%R' +1616 "core" ' +2 .tPSV.dial :PML + "processing"% +46 "core" + .tPTV.dial :mixing +2 "processing"%T @ +73 "core" A +2 .tPBV.dial :waste1 + "processing"%U  +35 "core" + "processing"%W% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%X' +238 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%Z * +34 "core" , +3 .tPS.seek 0ml + "processing"%'ؾ +1968 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \ + "manipulator"&\\& +4 "core" & 4 + "manipulator"&]% +4 "core" % "  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&^(- +127 "core" ( + "manipulator"&`& +4 "core" &-  E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &- h  +2 .tForearm.seek :garage + "manipulator"&c'w +22 "Can"\ _^ +73 "core" ' +2 .tHand.close + "manipulator"&d/ +55 "core" / +2 "manipulator"&f& +4 "core" &- :  +2 "manipulator"&V% +4 "core" % ς  \ + .tForearm.seek :retract +2 "manipulator"&Y' +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&[(ӂ +281 "core" ( + "manipulator"&b& +4 "core" &Ӑ$ 3 =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &Ӑ$  U =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'? +92 "core" ' +2 "manipulator"&_& +4 "core" &ӑ$   =A + "manipulator"&l% +4 "core" %?  # o +2 "collection"'m& +3 "core" &  \ +2 "collection"'n& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'e(\\ +4 "core" & !\ +7 &@ $\ %g +9 &Vx !\ 8 +10 &v !\ M +9 &O \ N +9 &vO \ N +10 &9P \ M +9 &P \ N +9 &Q \ N +10 &~O \ N +9 &@O \ N +10 & N -\ M +9 &!N \ N +9 &#P $\ N +10 &%HO \ N +9 &' O \ M +10 &(P \ N +9 &*O !\ N +9 &,OO \ N +10 &.O \ N +9 &/N #\ N +9 &1N \ N +10 &3XO \ N +9 &5O \ M +9 &6P \ N +10 &8N \ N +9 &:_O d\ N +10 & +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%;  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%?'ؾ +2390 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%A +131 "core"  + "processing"%@% +4 "core" %غ;\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%C' +596 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%<' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%B +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%E  +34 "core" +2 "processing"%G% +3 "core" %N\  +2 ."da"PS.seek 1.5ml +2 "processing"%D'* +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%F * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%J'ؾ +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%H  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%L * +35 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%K +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%I' +2429 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%O +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%N +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Q +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%P  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2370 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%T  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%U  +129 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%W  +42 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%Z +43 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%R' +408 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%X  +43 "core"  + "processing"%% +4 "core" %L\ +2 ."da"PS.seek 0.55ml +2 "processing"%\\' +330 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%]  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%`' +1557 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%a +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%d @ +73 "core" A + ."da"PBV.dial :waste1 +2 "processing"%f  +34 "core" +2 "processing"%h% +3 "core" %C\  +2 ."da"PS.seek 1.85ml +2 "processing"%V' +227 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%s * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%c'ؾ +1964 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +2105 "Can"\ LJ +45898 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%b  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%i * +35 "core" + + ."da"PSV.dial :air +2 "processing"%^  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%_' +2442 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%l +45 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%m  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%Y +43 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%\  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%g'ؾ +2390 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  + "processing"%q% +4 "core" %ظJ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +12 ."da"PS.reconfigure :default +4 "processing"%#A d`xb +5 ."da"PS.seek 0.5ml +5 "processing"%n' +590 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%u' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%o  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%j +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%k% +3 "core" %A\  +2 ."da"PS.seek 1.5ml +2 "processing"%v'* +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%x * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%w'ؾ +1312 "Can"\ KH +302 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%{  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%z * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%| +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%}' +2429 "core" ' +2 ."da"PSV.dial PTV + "processing"%~ +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%y +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +86 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2444 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  + "processing"%% +4 "core" %ػD\ ~ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1607 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +86 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %V\  +2 ."da"PS.seek 1.5ml + "processing"%'( +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1606 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%[  +35 "core" + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%r * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%e +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2432 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2375 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  +2 "processing"% % +4 "core" %ؿQ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +601 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1616 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%" +84 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%#  +34 "core" + "processing"%$% +4 "core" %M\  +2 ."da"PS.seek 1.5ml +2 "processing"%%'1 +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%''ؾ +1607 "core" ' +2 ."da"delay 2:00 +4905 "Can"\ KH +7097 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%(  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%) * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%* +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%&' +2444 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%, +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%- +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%+ +85 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%.  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +2388 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%M +141 "core"  +4 "processing"%2% +14 "core" %ؿ[\ \ +2 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +4 "processing"% +16 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +3 "processing"%4' +346 "core" ' +2 ."da"delay 5 seconds +502 "processing"%0% +3 "core" %]\  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%6' +335 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%5' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%3 +90 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%7  +36 "core" + "processing"%8% +4 "core" %W +2 ."da"PS.seek 1.5ml +2 "processing"%9') +594 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%: * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%='ؾ +1631 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%>  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%; * +36 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%t +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%A' +2584 "core" ' + ."da"PSV.dial PTV +2 "processing"%@ +78 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%? +77 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%C +76 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%B  +77 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +2549 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%G +138 "core"  +2 "processing"%<% +3 "core" %ؿ}  +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%F' +2116 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%D +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +36 "core" + "processing"%L% +4 "core" %x  +2 ."da"PS.seek 1.5ml +2 "processing"%K'& +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%J * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%O  +110 "core"  +2 ."da"PS.seek 0ml +2 "processing"%N'ؾ +1614 "core" ' +2 "processing"%Q9 +3 "core" 9n5 +2 #"da"Processing Puck Heater at 28.2C before imaging + .PH.coast +2 "processing"%P  +3 "core" 5 + 5 + "processing"%I& +4 "core" &^+z 5 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&T% +4 "core" %  > 5  ] +2 "storage"(U% +3 "core" % E\   + "storage"(W. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(Z(C +359 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &E\ } +2 "manipulator"&X& +4 "core" &- > 2 ]4 + "manipulator"&% +4 "core" %  A A n ^ +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&R( +175 "core" ( +2 "manipulator"&]& +4 "core" & k Y  fA + "storage"(\\& +4 "core" &F\  S +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&a' +92 "core" ' +2 "storage"(d& +4 "core" &F H n\ ] +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(f'r +280 "core" ' + "storage"(h- +3 "core" -'r +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(s'1 +43 "core" ' +2 "manipulator"&`& +4 "core" & H V 8 ^@ + "manipulator"&V% +4 "core" % ! $ & \\b +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&b' +96 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&i( +243 "core" ( + "manipulator"&^& +4 "core" & \  V +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &  V +2 ."da"Forearm.seek PC +2 "manipulator"&l' +97 "core" ' +2 ."da"Hand.close + "manipulator"&m/ +68 "core" / + ."da"PC.seek :open +2 "processing"%Y( +457 "core" ( +2 "storage"(\ & +4 "core" &E < _ ` + "manipulator"&_& +4 "core" & c b f + "manipulator"& % +4 "core" %  @ P c +2 ."da"Forearm.seek :retract +2 "manipulator"&q' +99 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&g( +246 "core" ( + "manipulator"&n& +4 "core" & j O  e> +2 "storage"(o& +3 "core" &E\  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&j' +120 "core" ' +2 ."da"Hand.open + "manipulator"&1 +74 "core" 1 +2 "storage"(k- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(u' +26 "core" ' +2 ."da"SE.reconfigure :seal +53 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate + "storage"(x' +53 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0414h.tif +5 "processing"%v& +13 "core" &6\ +4 "manipulator"&{& +10 "core" &  > 1> +4 "manipulator"&z% +10 "core" % S K . 7A; U +10 &?B T +9 &AD U +9 &Cw[ W +10 &E/v Z +9 &Fv| \\ +10 &H{ \\ +9 &Jpy{ \\ +9 &L2{u \\ +10 &Mv ] +9 &O}u ] +9 &Qtw ] +10 &S6e ] +9 &Uh\ Z +10 &Vs\ Z +9 &Xt\ Z +9 &ZGt\ Z +10 &\\ v\ .Z +9 &]n\ .D +9 &^%ed\ 6V +10 &^7d\ #< +2 ( +2 "processing"%& +3 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.91 + "processing"%r& +5 "core" &^=i\ < + ."psFlush"Hand.open + "manipulator"&e1 +71 "core" 1 + "manipulator"&% +4 "core" %   0' +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +45 "core"  + "processing"%% +4 "core" %ؽ4\ 8 + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +609 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +168 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 25.582 seconds\ /var/log/esp/da21oct0414h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0414h15s.tif +1565 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0414h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0414h30s.tif +380 "core" ' +3 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +198 "core" A + ."psFlush"PTV.dial :PRVmixing +3 "processing"%  +137 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2127 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0414h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0414h70s.tif +496 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%" +106 "core"  +2 "processing"%#% +4 "core" %أ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%$' +599 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2145 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +35 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%% @ +76 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%( +108 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%)'ؠ +2627 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%* +110 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%''X\\ +186 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0414h70s.tif: TIFF Upload Complete\ +3 ."Qmail"DAfans.email "25.582 sec auto-exposure",Subject: "da21oct0414h images!" +4 ."da"Gate.power :camera,:OFF +2 "storage"(,- +7 "core" -' +3 "storage"(-& +4 "core" &E  )\ a +2 "manipulator"&+& +4 "core" & +2 "manipulator"&.% +3 "core" %    +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +4 "manipulator"&&( +241 "core" ( +2 "manipulator"&M& +4 "core" &  * + "storage"(2& +4 "core" &E\ \ \ V +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&1' +98 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +3 "storage"(0'" +56 "core" ' + "manipulator"&4& +5 "core" & * + "storage"(6& +4 "core" &E g d k\ + ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +4 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&3'8 +20 "core" ' +3 ."da"Elbow.hold +2 "manipulator"&7, +7 "core" , +3 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 ."da"SE.reconfigure :default +4 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +27 "core" ' + "manipulator"&5% +4 "core" %H X +2 "storage"(:& +4 "core" &E c d 0\ + ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 316 counts +2 "manipulator"&9't +16 "core" ' + "manipulator"&>& +4 "core" &  * +2 "storage"(;& +3 "core" &E y\ +58 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&t' +26 "core" ' +2 "storage"(=% +4 "core" % \  +2 ."downElevator"SE.seek :down +4 "storage"(@' +100 (?% +6 "core" %< E\ wWf +5 "manipulator"&C% +9 "core" % +4 ."da"Forearm.reconfigure :loose +8 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +4 "manipulator"&B' +50 "core" ' +3 ."psFlush"PSR.select :air +3 "processing"% +21 ."psFlush"PS.seek 2.5ml +3 "processing"%A' +12 "core" ' +36 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 (G& +8 "core" &E ]\ } +1431 "Can"\ RP +133 "core" ' +3 ."psFlush"PSV.dial PTV +4 "processing"%< +73 "core" +3 ."psFlush"PTV.dial :puck +4 "processing"%E  +74 "core"  +3 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +2 "processing"%D'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +3 "processing"%H +75 "core"  +3 ."psFlush"PSR.select :flush +4 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +3 "processing"%L' +595 "core" ' +2 ."psFlush"PSR.select :air +3 "processing"% +15 ."psFlush"PS.seek 2.5ml +4 "processing"%F' +2129 "core" ' +3 ."psFlush"PSV.dial PTV +2 "processing"%J +75 "core" +4 ."psFlush"PBV.dial PSV +4 "processing"%O U +53 "core" V +4 ."psFlush"PS.seek 0ml +4 "processing"%K'ؾ +2633 "core" ' +4 ."psFlush"PSV.dial PBV +6 "processing"%Q @ +48 "core" ? +4 ."psFlush"PS.seek 2.5ml +4 "processing"%P' +2630 "core" ' +3 ."psFlush"PSV.dial :waste1 +5 "processing"%I  +73 "core"  +4 ."psFlush"PS.seek 0ml +2 "processing"%T'ؾ +1203 #"uploadLog"upsync +1434 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%U +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%W' +2631 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%S +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml +2 "processing"%'ؾ +2625 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%X @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%]  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%\\'ؾ +2646 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%d +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 1ml +3 "processing"%'X\\ +1103 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +1610 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%h +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%`  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%V'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%f +73 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%a' +587 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%^' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%c +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%R U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%m'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%b @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%p' +2624 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%\  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2624 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%l' +2653 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%n +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml +2 "processing"%o'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%i @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2633 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%k  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%q'ؾ +2649 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&v& +4 "core" & @ * +2 "manipulator"&{% +3 "core" %  M % +2 ."psFlush"Elbow.seek PC +2 "manipulator"&z( +243 "core" ( + "manipulator"&s& +4 "core" & R " + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +2 "core" & & " +2 ."psFlush"Forearm.seek PC +2 "manipulator"&~' +98 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +63 "core" / + ."psFlush"PC.seek :open +2 "processing"%j( +460 "core" ( + "manipulator"&g& +4 "core" & , ! +2 "manipulator"&% +3 "core" %  ( +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&}' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +130 "core" ( + "manipulator"&|& +4 "core" &- \ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- ! \ +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek :garage +2 "manipulator"& 'w +91 "core" ' + ."psFlush"Hand.open + "manipulator"&y1 +63 "core" 1 +2 "manipulator"&% +4 "core" % ~ } Q + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 #tFinished short da assay +439 #-> access 1 +3 "storage"(% +3 "core" % % # c\  +2 "manipulator"&w% +4 "core" %    + "manipulator"&& +3 "core" &- f \ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Y(<- +1301 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "core" &<, '\  +4438 #t-> require 'shuffle.rb' +216 "Can"\ >; +1653 #t-> 5.times {shuffle 3..5} +3 #Shuffling pucks in tube 3 of [3..5] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'e& +4 "core" & \ +2 "manipulator"&% +4 "core" %  =  + "storage"(% +4 "core" % % %\  + "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +673 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & C\ +2 "manipulator"&N& +3 "core" &- W \ +39 "manipulator"&% +11 "core" %  ^  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +171 "core" ( + "manipulator"& & +5 "core" & - / + "storage"(& +4 "core" &   9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +92 "core" ' + "storage"("& +5 "core" &  ! a\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'r +296 "core" ' + "storage"(- +4 "core" -'" + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ($& +2 "core" & \ +2 "manipulator"& & +3 "core" & / +2 .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( + "manipulator"&(& +4 "core" & / + "storage"(& +4 "core" &  {\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&*'ϡ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"(+' +7 "core" & ; / +2 "manipulator"&.% +4 "core" % Ϯ U +2 .tForearm.seek :retract + "manipulator"&)' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&M(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&2& +4 "core" &ӑ& V ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӑ& . ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&4'? +94 "core" ' +2 "manipulator"&6& +5 "core" &ӑ& @ ?U +2 "manipulator"&5% +3 "core" %E 5 ? +2 "collection"':& +4 "core" & \ +2 "collection"'& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'>(\\ +5 "core" & \ +7 &3 \ $d +9 &U{ \ 7 +10 &y \ L +9 &R \ N +9 &^R \ M +10 &R \ N +9 &R \ M +10 &S \ N +9 &eQ \ N +9 &'T \ N +10 &U \ N +9 &!S \ M +10 &#mS \ N +9 &%/Q \ N +9 &&R \ M +10 &(R \ N +9 &*tU \ N +9 &,7S \ N +10 &-V \ N +9 &/R \ M +9 &1}S \ N +10 &3>U \ N +9 &5R \ M +10 &6S \ N +9 &8R \ M +9 &:GT \ N +10 &<\ S \ M +9 &=T \ N +9 &?T \ N +10 &AMZ \ N +9 &C] \ O +10 &Dp \ Q +9 &F \ S +10 &H< \ W +9 &I \ Z +9 &K \ Z +9 &Mx \ Z +10 &O: \ Z +9 &P \ [\ +10 &R \ \\ +9 &Tz \ \\ +10 &V9 \ ] +9 &W \ ^ +9 &Y \ ^ +9 &[x \ L +10 &\\< \ 2 +9 &\\ \ W +6 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 +2 .Hand.open + "manipulator"&;1 +4 "core" &\\ \ W +52 1 + "manipulator"&x% +5 "core" % E ? ? + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%1& +5 "core" &>\ } + "manipulator"&&% +4 "core" %    + "storage"(?% +4 "core" % \ | + "storage"(C. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(0( +9 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +2 "core" & \ y +2 "manipulator"&9& +3 "core" &Ӓ& 1 ?T +2 "manipulator"&G% +4 "core" %  .  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&8( +166 "core" ( + "manipulator"&t& +4 "core" & m  +2 "storage"('& +3 "core" & d f N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&@'7 +92 "core" ' + "storage"(<& +4 "core" & =\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'r +297 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +2 "core" & \ 2\  +2 "manipulator"&D& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&L( +3 "core" ( + "manipulator"&J& +4 "core" & v  +2 "storage"(O& +3 "core" & _ Q v\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&F'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Q/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&K& + "storage"(I' +8 "core" & 6  + "manipulator"&P% +4 "core" % ϙ  +2 .tForearm.seek :retract +2 "manipulator"&U' +87 "core" ' + .tElbow.seek PC +2 "manipulator"&T( +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( +2 "manipulator"&S& +4 "core" & 2 @ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" & Y @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X' +96 "core" ' + "manipulator"&& +5 "core" & ? + "manipulator"&]% +4 "core" % 8  +2 "processing"%& +3 "core" &?\ +2 "processing"%d& +6 "core" &>\ + .tPC.seek :closed +3 "processing"%\\(^ +3 "core" &B\ +7 & +1\ }$d +9 &Tr2\ o7 +9 &}r-\ oL +10 &L+\ wO +9 &PM)\ wO +9 &I2\ xO +10 &J0\ xO +9 &L+\ wO +10 &XN#\ wO +9 &J\ xO +9 &L \ wO +10 &!L(\ wO +9 &#`K \ wO +9 &%!L#\ wO +10 &&L\ vO +9 &(L\ wO +10 &*gO\ vO +9 &,*L\ wO +9 &-K \ vN +10 &/M \ vO +9 &1nP\ vO +9 &31M\ \ wO +10 &4L\ uO +9 &6M\ vO +10 &8xN\ wO +9 &:9P\ vO +9 &;N\ vO +10 &=N\ wO +9 &?~P\ vO +9 &A@Q\ uO +10 &BZ\ tQ +9 &D]\ tQ +10 &Fzs\ oS +9 &H5\ kV +9 &I\ kV +10 &K\ kV +9 &Mx\ jW +9 &O;\ iV +10 &P\ hW +9 &R\ jW +10 &T}\ hX +9 &VA\ iW +9 &X\ iW +10 &Y\ hW +9 &[\ iX +10 &]H\ hL +9 &^|P\ e#l +9 &^#\ {1 +3 ( + "processing"%d& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 + .Hand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&h% +4 "core" %    + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +93 "core" ' +2 "processing"%!& +4 "core" &^!\ u1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&f% +4 "core" %  e  +2 "storage"(V% +3 "core" % \ t +2 "storage"(a. +3 "core" .( + "storage"(c& +4 "core" & c\ t +2 "storage"(R& + "manipulator"&^& +7 "core" & \ u + & s ? +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&b( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(m'r +3 "core" ( + "manipulator"&\ & +4 "core" & _ ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +4 "core" &  L ? +2 .tForearm.seek PC +2 "manipulator"& ' +91 "core" ' + .tHand.close +2 "manipulator"&_/ +75 "core" / +2 .tPC.seek :open +2 "processing"%n( +80 "core" ' + "storage"(l- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'1 +43 "core" ' +323 ( +2 "storage"(o& +4 "core" & \ | + "manipulator"&k& +4 "core" & z ? + "manipulator"&% +4 "core" %  _ P +2 .tForearm.seek :retract + "manipulator"&v' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&{( +246 "core" ( +2 "manipulator"&s& +4 "core" & r 4 + "storage"(u& +18 "core" & E\ u +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&7'7 +98 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(B- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"([' +25 "core" ' + .tSE.reconfigure :seal +41 "storage"(#QK-0-\ b +12 .tSE.seek -1.22 Pucks below Top Plate + "storage"(g' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(|& +3 "core" & 1 - \ 6 +2 "manipulator"&& +3 "core" & 4 +2 .tElbow.seek 3 +2 "manipulator"&~( +9 "core" ( + "manipulator"&z& +4 "core" &   +2 "storage"(y& +4 "core" & U\ R +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(}'" +48 "core" ' + "manipulator"& & +5 "core" & W  + "storage"(& +4 "core" & N\ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&w'u +17 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(Z' +24 "core" ' + "manipulator"&r% +5 "core" %΂ s  + "storage"(e& +4 "core" & >\ w + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&'Ϯ +14 "core" ' + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" & \ z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y'7 +19 "core" ' + "storage"( % +5 "core" % \ { +2 ."downElevator"SE.seek :down +5 "storage"(N' +98 (% +3 "core" %ZP { \ o[s +2 "manipulator"& % +4 "core" %+ t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ("& +4 "core" & h\ v + "collection"'& +4 "core" &\\ \ W +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" % ! i $ + "storage"(% +4 "core" % \ x +2 "storage"($. +3 "core" .( + "storage"( & +4 "core" & W\ x + "storage"((& +4 "core" & \ x +2 "manipulator"&& +3 "core" & N  +2 .tElbow.seek 3 +2 "manipulator"&,( +9 "core" ( + "manipulator"&-& +4 "core" & n  +2 "storage"(.& +4 "core" & k\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +92 "core" ' +2 "storage"(& +4 "core" & \\\ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'r +297 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&#& +3 "core" & \\  + "storage"(*& +4 "core" & \ v + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&6'u +18 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(:- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(%'r +29 "core" ' + "manipulator"&+% +4 "core" %| " +2 "storage"()& +4 "core" & d\ x + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&'Ϩ +13 "core" ' +2 "manipulator"&;& +4 "core" & ,  +2 "storage"(x& +3 "core" & \ } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&1'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(&' +35 "core" ' +2 "manipulator"&?& +4 "core" & V  + "manipulator"&C% +4 "core" % _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&3(ӂ +158 "core" ( + "manipulator"&9& +4 "core" &Ӓ#  <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &Ӓ# t <; +2 .tForearm.seek CC +2 "manipulator"&4'? +94 "core" ' + .tHand.close + "manipulator"&t/ +55 "core" / + .tCC.seek :open +2 "collection"''( +451 "core" ( +2 "storage"(& +4 "core" &  5\ + "storage"(<& +4 "core" & \ + "manipulator"&M& +4 "core" &Ӕ# <9 + "manipulator"&=% +4 "core" % =  6 +2 .tForearm.seek :retract + "manipulator"&A' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&H( +164 "core" ( +2 "manipulator"&D& +4 "core" & S  + "storage"(J& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&O'u +99 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +64 "core" 1 +2 "manipulator"&P% +4 "core" % ΅  + "storage"(8& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&@'ϱ +14 "core" ' + "manipulator"&E& +4 "core" &  +2 "storage"(F& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&S'7 +17 "core" ' + "storage"(W% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(L' +99 (% +2 "core" %oE \ Zm +2 "manipulator"&]% +4 "core" %& +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'I& +4 "core" & \ +2 "manipulator"&U% +4 "core" %  @  + "storage"(j% +4 "core" % \  +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(h(,y +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (!& +2 "core" &,v f h x\  +2 "manipulator"&f& +4 "core" & Q  + .tElbow.seek 4 +2 "manipulator"&V( +40 "core" ( + "manipulator"&a& +4 "core" & L +2 "storage"(c& +4 "core" &,v \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +97 "core" ' + "storage"(^& +5 "core" &,v =\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'r +308 "core" ' +2 "storage"(\ - +3 "core" -'' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &,k ` l \  + "manipulator"&X& +4 "core" & F +2 .tElbow.seek 4 + "manipulator"&_( +4 "core" ( + "manipulator"&l& +3 "core" & , +2 "storage"(T& +3 "core" &,k u u p\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&`'c +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&m& + "storage"(o' +7 "core" & +2 "manipulator"&k% +4 "core" % X + .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' + .tElbow.seek CC +2 "manipulator"& (ӂ +158 "core" ( +2 "manipulator"&s& +4 "core" ' + &ӑ!  :0 + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +5 &u& +2 "core" &ӑ! = :0 +2 .tForearm.reconfigure :tight +42 "manipulator"&#Q@2^d^\ b +10 .tForearm.seek CC +2 "manipulator"&b'? +91 "core" ' +2 "manipulator"&& +4 "core" &ӑ! :0 +2 "manipulator"&B% +3 "core" %5 t +2 "collection"'v& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'|(\\ +4 "core" & \ +7 & * \ $c +9 &Uv \ 7 +9 &v \ L +10 &R \ N +9 &\\Q \ N +9 &O \ M +10 &T \ N +9 &R \ N +10 &dP \ N +9 &'N \ M +9 &O \ M +10 &!Q \ M +9 &#lT \ N +9 &%.Q \ N +10 &&N \ M +9 &(P \ M +10 &*tS \ N +9 &,6R \ N +9 &-P \ M +10 &/Q 7\ M +9 &1}Q \ M +9 &3?Q $\ M +10 &5P :\ M +9 &6Q 3\ M +10 &8O 3\ N +9 &:FT >\ N +9 &<T <\ N +10 &=O .\ N +9 &?Q <\ N +10 &AMW 7\ N +9 &C ^ \ O +9 &Di S\ P +10 &F \ T +9 &H9 \ X +10 &I \ Z +9 &K \ [ +9 &Mt E\ [ +9 &O4 4\ \\ +10 &P \ \\ +9 &R I\ ] +10 &Tt 5\ ^ +9 &V5 0\ ^ +9 &W 0\ _ +10 &Y R\ ` +9 &[u >\ M +9 &\\? D\ , +10 &\\ n\ !b +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.42 + .Hand.open +2 "manipulator"&1 +4 "core" &\\ \ !b +58 1 + "manipulator"&z% +5 "core" % 5 A + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +5 "core" &\ q + "manipulator"&% +4 "core" %  ^ " +2 "storage"(i% +3 "core" % \ p +2 "storage"(r. +3 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(e(,y +37 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,} ] g\ k +2 "manipulator"&& +4 "core" &ӑ! ? :0 + "manipulator"&[% +4 "core" %  3 " +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& ( +161 "core" ( + "manipulator"&{& +4 "core" & U  +2 "storage"(7& +4 "core" &,} "\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +93 "core" ' +2 "storage"(& +4 "core" &,} @\ w +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" &,l L\ x +2 "manipulator"&}& +3 "core" & &  +2 .tElbow.seek 4 +2 "manipulator"&w( +3 "core" ( + "manipulator"&& +4 "core" & Y  + "storage"("& +4 "core" &,l \ { +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"($' +7 "core" & "  + "manipulator"& % +4 "core" % χ H +2 .tForearm.seek :retract +2 "manipulator"&Z' +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&& +4 "core" & : 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +2 "core" & 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&.' +89 "core" ' +2 "manipulator"&Y& +4 "core" & . 1 + "manipulator"&% +4 "core" % M n +2 "processing"%N& +3 "core" &\ z +2 "processing"%& +5 "core" &\ { +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &'\ { +6 &3\ s$c +9 &Ss"\ g7 +9 &|n\ hK +10 &N\ nP +9 &PK\ pO +9 &K\ \ oO +10 &K\ nO +9 &J \ oO +9 &XJ\ oO +10 &N \ nO +9 &L \ nO +10 &!I\ mO +9 &#`L\ nO +9 &%"I\ oO +10 &&L\ nP +9 &(L\ nO +9 &*hM\ nO +10 &,)L\ oP +9 &-K\ oP +10 &/L\ oP +9 &1oN\ oP +9 &31L\ nP +10 &4M\ nO +9 &6N\ nP +9 &8wM\ oP +10 &:;I\ pO +9 &;N\ nP +10 &=L\ nP +9 &?O\ mP +10 &A@R\ lP +9 &Bc\ iR +9 &Dl\ hT +10 &Ft\ fV +9 &H5~\ cW +9 &I\ fW +10 &K\ gW +9 &My\ fW +9 &O:\ gX +10 &P\ dX +9 &R\ fW +9 &T}\ dY +10 &VA\ cX +9 &X\ fX +10 &Y\ eX +9 &[\ fX +9 &]F\ dN +10 &^|L\ f c +9 &^A\ q9 +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 + .Hand.open +2 "manipulator"&1 +3 "core" &^+\ r9 +53 1 +2 "manipulator"&#% +4 "core" %  n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +91 "core" ' +2 "processing"%:& +4 "core" &^+\ o9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&+% +4 "core" %  Z  + "storage"()% +4 "core" % \ o + "storage"(;. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(x(,y +26 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +5 "manipulator"&C& + "core" &,z Q\ n +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" & E 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( + "storage"(,'r +6 "core" ( + "manipulator"&2& +4 "core" &  < 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" & 1 +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&%/ +71 "core" / +2 .tPC.seek :open +2 "processing"%9( +84 "core" ' +2 "storage"(G- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'1 +50 "core" ' +311 ( +2 "storage"(5& +4 "core" &,j *\ v + "manipulator"&t& +4 "core" & < 1 +2 "manipulator"&% +3 "core" %  + 5 +2 .tForearm.seek :retract +2 "manipulator"&>' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&<& +4 "core" & g 3 + "storage"(M& +4 "core" &,j y z J\ p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&=' +105 "core" ' + .tHand.open + "manipulator"&D1 +52 "core" 1 +2 "storage"(J- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(4' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(3' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"(P& +3 "core" &,j 2 2\ 7 +2 "manipulator"&8& +4 "core" &  2 + .tElbow.seek 4 +2 "manipulator"&E( +3 "core" ( + "manipulator"&F& +4 "core" &  2 +2 "storage"(W& +3 "core" &,j   \ 3 +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +52 "core" ' + "manipulator"&]& +5 "core" & P 2 + "storage"(H& +4 "core" &,j 6\ r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O'7 +19 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(U' +20 "core" ' + "manipulator"&@% +5 "core" %H U + "storage"(j& +5 "core" &,j \ s + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&'t +14 "core" ' + "manipulator"&&& +5 "core" & 2 + "storage"(S& +4 "core" &,j N\ x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +51 "manipulator"&L' +15 "core" ' +2 "storage"(0% +4 "core" % ?\ w +3 ."downElevator"SE.seek :down +3 "storage"(!' +99 (f% +2 "core" %,= \ rYl +2 "manipulator"&a% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +89 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (^& +4 "core" &,j y b\ u +2 "collection"'Q& +4 "core" &\\ \ !b +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %    +2 "storage"(\ % +4 "core" % \ v + "storage"(p. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(X(,y +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (l& +3 "core" &,} z b\ o +2 "manipulator"&T& +4 "core" & s 2 + .tElbow.seek 4 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&m& +4 "core" & 5 2 + "storage"(k& +4 "core" &,} F\ w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +101 "core" ' + "storage"(d& +4 "core" &,} d\ x +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'r +297 "core" ' +2 "storage"(u- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&R& +3 "core" & 2 +2 "storage"(`& +3 "core" &,l F\ r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&_'7 +13 "core" ' +2 .tElbow.hold +2 "manipulator"&, +62 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(B- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(v'{ +28 "core" ' +2 "manipulator"&o% +4 "core" %2 7 + "storage"(& +4 "core" &,l W\ v +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 295 counts +2 "manipulator"&''^ +15 "core" ' + "manipulator"&& +4 "core" & Y 2 +2 "storage"(z& +3 "core" &,l \ t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +48 "core" ' +2 "manipulator"&i& +4 "core" & $ 2 +2 "manipulator"&r% +4 "core" % R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +152 "core" ( + "manipulator"&& +4 "core" &Ӓ% R >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &Ӓ% >L +2 .tForearm.seek CC +2 "manipulator"&b'? +96 "core" ' + .tHand.close +2 "manipulator"&{/ +54 "core" / +2 .tCC.seek :open +2 "collection"'7( +451 "core" ( +2 "storage"(h& +4 "core" &,l #\  + "storage"(& +4 "core" &,l c e \  + "manipulator"& & +4 "core" &Ӕ% J >J + "manipulator"&y% +4 "core" % H (  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&~( +164 "core" ( + "manipulator"&}& +4 "core" & M  +2 "storage"(& +4 "core" &,l \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&"'7 +96 "core" ' +2 .tElbow.hold + "manipulator"&, +41 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"& % +5 "core" % # } 7 + "storage"( & +4 "core" &,l \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 280 counts + "manipulator"&g'O +13 "core" ' +2 "manipulator"& & +4 "core" &  + "storage"(& +4 "core" &,l \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(-% +4 "core" % |\ +3 ."downElevator"SE.seek :down +3 "storage"(w' +98 (Y% +3 "core" %< \ Xg +2 "manipulator"&% +4 "core" % Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +95 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'$& +4 "core" & \ +2 "manipulator"&Z% +4 "core" %   + "storage"(n% +4 "core" % P\  +2 "storage"(. +3 "core" .(,} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(#(<- +342 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &<+ \ +2 "manipulator"&+& +3 "core" & /  +2 .tElbow.seek 5 +2 "manipulator"&)( +7 "core" ( + "manipulator"&;& +5 "core" & -  + "storage"(& +3 "core" &<+ "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +97 "core" ' + "storage"(C& +4 "core" &<+ 4\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'r +293 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (.& +2 "core" &<+ ~ S\ +2 "manipulator"&%& +3 "core" & 9  +2 .tElbow.seek 5 +2 "manipulator"&e( +3 "core" ( + "manipulator"&G& +3 "core" & =  +2 "storage"((& +4 "core" &<+ 7\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&*'Ϲ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(5' +7 "core" &  +2 "manipulator"&t% +4 "core" % Ϯ + .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&<& +3 "core" &ӏ& B ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &ӏ& A ?V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' +2 "manipulator"&D& +5 "core" &ӏ& ?V + "manipulator"&J% +4 "core" %8 ' . +2 "collection"'K& +3 "core" & \ +2 "collection"'P& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'8(\\ +4 "core" & \ +7 & 2 \ $d +10 &Uu \ 7 +9 &~s \ K +9 &R \ N +10 &]O \ M +9 &L \ M +9 &M \ M +10 &L \ M +9 &eM \ M +10 &&N \ N +9 &O \ M +9 &!N \ M +10 &#lN \ N +9 &%/O \ M +9 &&M \ M +10 &(M \ M +9 &*vO 7\ M +10 &,7R 3\ M +9 &-R 2\ N +9 &/P 2\ M +10 &1|N 2\ N +9 &3>P ,\ N +10 &5M 0\ M +9 &6N X\ M +9 &8O \ M +10 &:FS \ N +9 &<Q \ N +9 &=S [\ M +10 &?N \ N +9 &AOO C\ M +9 &CU @\ N +10 &D] E\ O +9 &Fl 4\ Q +10 &HD 5\ T +9 &I =\ X +9 &K 3\ Z +10 &Mw 8\ Z +9 &O8 }\ [ +9 &P \ [ +10 &R \ [ +9 &Ty \ \\ +10 &V: \ ] +9 &W \ ] +9 &Y \ _ +10 &[y \ L +9 &\\8 \ 2 +9 &\\ \ W +6 ( + "collection"'P& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + .Hand.open + "manipulator"&F1 +4 "core" &\\ \ W +52 1 +2 "manipulator"&W% +4 "core" % 8 . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%]& +5 "core" &*\ q + "manipulator"&H% +4 "core" %  3 ! +43 "storage"(@% +12 "core" % \ r +2 "storage"(j. +3 "core" .(<- + "storage"(1& +4 "core" &<+ \ r +2 "storage"(&& +3 "core" &<+ \ r +2 "manipulator"&S& +4 "core" &Ӑ& ?U + "manipulator"&4% +4 "core" %  ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&0( +164 "core" ( + "manipulator"&& +5 "core" &  + "storage"(=& +4 "core" &<+ U\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&3'O +93 "core" ' + "storage"(f& +4 "core" &<+ h\ } +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'r +310 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" &<+ \ q +2 "manipulator"&& +4 "core" & /  +2 .tElbow.seek 5 + "manipulator"&O( +4 "core" ( + "manipulator"&^& +4 "core" & N  +2 "storage"(& +3 "core" &<+ Z\ t +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Q'Ϲ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&\ & + "storage"(p' +7 "core" & 9  + "manipulator"&U% +4 "core" % ϳ b +2 .tForearm.seek :retract +2 "manipulator"&l' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&T( +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +72 "core" ( + "manipulator"&m& +4 "core" & Y : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" & : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&L' +100 "core" ' + "manipulator"&d& +4 "core" & Z 9 +2 "manipulator"&!% +4 "core" % I ~ + "processing"%x& +4 "core" &1\ | +2 "processing"%I& +5 "core" &\ | +2 .tPC.seek :closed +2 "processing"%c(^ +4 "core" &\ | +7 & + \ w#b +10 &Uw\ h8 +9 &~p\ hL +10 &J\ pO +9 &RL\ qO +9 &K\ pO +10 &L\ pP +9 &J\ pO +9 &ZK\ pO +10 &L\ pO +9 &I\ qO +10 &!J\ qO +9 &#bN\ pO +9 &%$L\ qO +10 &&L\ pO +9 &(I\ qO +9 &*jL\ oO +10 &,,L\ pO +9 &-M\ pO +10 &/M\ pO +9 &1qP\ nP +9 &34L\ oO +10 &4N\ oO +9 &6N\ oO +9 &8zO\ oO +10 &:<N\ oO +9 &;J\ oO +10 &=J\ oO +9 &?N\ nO +9 &ACL\ nP +10 &C\\\ jQ +9 &Db\ hR +10 &Fzv\ bU +9 &H8\ XV +9 &I\ VW +10 &K\ VW +9 &Mz\ TX +9 &O<\ TX +10 &P\ TX +9 &R\ WX +9 &T\ VY +10 &VC\ WX +9 &X\ SX +10 &Y\ VX +9 &[\ VX +9 &]I\ UM +10 &^|O\ S#l +9 &^%\ a2 +2 ( +2 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 + .Hand.open +2 "manipulator"&u1 +57 "core" 1 +2 "manipulator"&R% +4 "core" %   ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +88 "core" ' +2 "processing"%B& +4 "core" &^!\ ^2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&o% +4 "core" %  _  + "storage"(% +4 "core" % I F\ \\ + "storage"(. +4 "core" .(<- + "storage"(z& +4 "core" &<+\  C\ \\ + "storage"(i& +4 "manipulator"&r& +4 "core" &<+ ]\  R\ ] + & o 9 +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&V( +2 "storage"(\\'r +5 "core" ( + "manipulator"&s& +4 "core" &  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" & 9 +2 .tForearm.seek PC +2 "manipulator"&'' +97 "core" ' +2 .tHand.close + "manipulator"&v/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +86 "core" ' +2 "storage"([- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +42 "core" ' +314 ( +2 "storage"(& +4 "core" &<+ Q 7 4\ d + "manipulator"&{& +4 "core" &  9 +2 "manipulator"&% +3 "core" %  ! +2 .tForearm.seek :retract +2 "manipulator"&|' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&h( +245 "core" ( + "manipulator"&& +4 "core" &  ' +2 "storage"( & +3 "core" &<+ J e n\ h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +92 "core" ' + .tHand.open +2 "manipulator"&}1 +62 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(b' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"( & +4 "core" &<+ 5 1\ 6 +2 "manipulator"& & +3 "core" & > ' +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" & ' + "storage"(-& +4 "core" &<+ 2 ) \ 6 +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +58 "core" ' +2 "manipulator"&& +4 "core" & 6 ' +2 "storage"(~& +3 "core" &<+ i k W\ i +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&"'΍ +24 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(g' +18 "core" ' +2 "manipulator"&Z% +5 "core" %Ξ < + "storage"(n& +4 "core" &<+ M Q v\ g +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&' +15 "core" ' + "manipulator"&& +5 "core" & 0 ! + "storage"(& +4 "core" &<+ i e \ i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&w'O +16 "core" ' + "storage"(X% +5 "core" % Z f /\ j +2 ."downElevator"SE.seek :down +4 "storage"(:' +99 (+% +3 "core" %7> S e 4\ iYn +2 "manipulator"&;% +5 "core" %>  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +4 "core" &<+ Q - K\ i + "collection"'& +4 "core" &\\s 3\ W +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&N% +4 "core" %  y  +2 "storage"(6% +3 "core" % [ Z /\ k +2 "storage"(.. +3 "core" .(<- + "storage"(%& +4 "core" &<+ F T \ i +2 "storage"(G& +4 "core" &<+ a g o\ i + "manipulator"&(& +4 "core" & ( ! +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&,& +4 "core" &  ! +2 "storage"(t& +4 "core" &<+ ] g $\ k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)'O +92 "core" ' + "storage"(?& +4 "core" &<+ j i e\ i +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'r +296 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" & ! + "storage"(*& +4 "core" &<+ %  \ ` + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&D'΍ +23 "core" ' + .tElbow.hold +2 "manipulator"&J, +3 "core" , +52 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(K- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(e'{ +27 "core" ' +2 "manipulator"&5% +4 "core" %Η N +2 "storage"(& +3 "core" &<+ , . \ c +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&7' +14 "core" ' + "manipulator"&F& +4 "core" &  ! +2 "storage"(W& +4 "core" &<+ Q > .\ c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&]'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(H' +40 "core" ' +2 "manipulator"&@& +4 "core" &  ! +2 "manipulator"&P% +4 "core" %5 l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1(ӂ +151 "core" ( +2 "manipulator"&&& +4 "core" &x1  H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &x1  H +2 .tForearm.seek CC +2 "manipulator"&4'? +97 "core" ' +2 .tHand.close + "manipulator"&/ +74 "core" / +2 .tCC.seek :open + "collection"'( +452 "core" ( + "storage"(=& +4 "core" &<+ O H \ g +2 "storage"(f& +3 "core" &<+ G . K\ g +2 "manipulator"&& +3 "core" &ӳ' A @Y +2 "manipulator"&>% +4 "core" % J J + .tForearm.seek :retract +2 "manipulator"&A' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&E( +165 "core" ( +2 "manipulator"&& +4 "core" & W  + "storage"(^& +4 "core" &<+ \ w +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\ 1 +60 "core" 1 +2 "manipulator"&U% +4 "core" % ~ -  +2 "storage"(0& +3 "core" &<+ n\ x +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 285 counts + "manipulator"&3'Ϫ +14 "core" ' + "manipulator"&a& +4 "core" & 7  +2 "storage"(Q& +4 "core" &<+ R\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&m'O +18 "core" ' +2 "storage"(k% +4 "core" % o\ | +2 ."downElevator"SE.seek :down +4 "storage"(O' +99 (d% +3 "core" %> \ yXh +2 "manipulator"&!% +4 "core" %E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'p& +4 "core" & \ +2 "manipulator"&l% +4 "core" %  T  + "storage"(9% +4 "core" % \ v +2 "storage"(u. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(R( +676 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +2 "core" & z \ p +2 "manipulator"&o& +4 "core" & "  + .tElbow.seek 3 +2 "manipulator"&( +12 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(z& +4 "core" & \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r'7 +101 "core" ' +2 "storage"(i& +4 "core" & \\\ t +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'r +292 "core" ' + "storage"(s- +4 "core" -'! + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +2 "core" & ~ \ o +2 "manipulator"&L& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&v( +4 "core" ( + "manipulator"&[& +4 "core" & x  + "storage"(T& +4 "core" & \ y +2 .tForearm.seek 3 + 300 counts + "manipulator"&`'ϡ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(' +7 "core" & ,  + "manipulator"&{% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'(ӂ +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &ӗ! B :0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӗ! \\ :0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&V'? +94 "core" ' +2 "manipulator"&}& +4 "core" &ӗ! :0 +2 "manipulator"&% +3 "core" %7 - < +2 "collection"'& +4 "core" & \ +2 "collection"' & +5 "core" & \ +2 .tCC.seek :closed +3 "collection"' (\\ +3 "core" & \ +7 & + \ $d +9 &Ur \ 7 +9 &s \ L +10 &P \ N +9 &\\N \ N +9 &K \ N +10 &Q \ N +9 &K \ N +10 &eK \ M +9 &&N \ N +9 &O \ N +10 &!M \ M +9 &#mN \ M +9 &%/N \ M +10 &&Q \ N +9 &(O \ N +10 &*tL \ N +9 &,6L \ N +9 &-O \ M +10 &/N \ M +9 &1|O \ N +9 &3>R \ N +10 &5L \ N +9 &6N 1\ N +9 &8R /\ M +10 &:FN 2\ N +9 &< R <\ M +10 &=P ?\ M +9 &?T 9\ N +9 &ANU 2\ N +10 &C [ 3\ O +9 &Dk 7\ P +10 &F ;\ T +9 &H: <\ W +9 &I 3\ }Z +10 &K <\ |[\ +9 &Mv 6\ |[ +9 &O5 3\ ~\\ +10 &P :\ \\ +9 &R \ \\ +10 &Tt \ |^ +9 &V7 Q\ }^ +9 &W \ z_ +10 &Y \ x` +9 &[u \ wM +9 &\\? \ , +10 &\\ \ !` +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.46 + .Hand.open + "manipulator"&1 +4 "core" &\\ \ !` +52 1 +2 "manipulator"&-% +4 "core" % 7 > < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|' +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &\ f + "manipulator"&~% +4 "core" % ! % +2 "storage"(Z% +3 "core" % P O a\ f +2 "storage"(n. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +11 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & R S \ e +2 "manipulator"&& +4 "core" &ӗ! 1 :0 + "manipulator"&b% +4 "core" % ! h % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&X( +164 "core" ( + "manipulator"&h& +5 "core" & i  + "storage"(y& +4 "core" & ] d (\ k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +96 "core" ' + "storage"(+& +4 "core" & h i _\ i +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & O G P\ h +2 "manipulator"&Y& +3 "core" & S  +2 .tElbow.seek 3 +2 "manipulator"&"( +3 "core" ( + "manipulator"&C& +4 "core" &  + "storage"(& +4 "core" & D F L\ h +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&N/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& + "storage"(.' +7 "core" & b  +2 "manipulator"&g% +4 "core" %  @ + .tForearm.seek :retract +2 "manipulator"&%' +97 "core" ' + .tElbow.seek PC +2 "manipulator"&G( +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&(& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" & Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t' +99 "core" ' + "manipulator"&w& +5 "core" & z + "manipulator"&?% +4 "core" % +2 "processing"%:& +4 "core" &\ f +2 "processing"%$& +5 "core" & \ c +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ g +9 &2r\ Z)w +9 &`x\ X> +9 &di\ \\O +10 &#H\ bP +9 &G\ aO +10 &G\ bP +9 &jJ\ aO +9 &+L\ `P +9 &K\ `P +10 &I\ \\O +9 & rJ\ aO +10 &"2L\ \\P +9 &#G\ ]P +9 &%G\ ^P +10 &'yG\ _P +9 &);G\ ^P +9 &*I\ ]P +10 &,I\ [P +9 &.I\ YO +10 &0BI\ TP +9 &2J\ ]P +9 &3I\ YP +10 &5K\ YP +9 &7KI\ ]P +9 &9 K\ `P +10 &:N\ bO +9 &<J\ _O +10 &>SK\ cP +9 &@L\ aO +9 &AQ\ `P +10 &C]\ ZR +9 &ESg\ _R +10 &Gs\ ^T +9 &H\ UW +9 &J~\ ]V +10 &LN~\ YW +9 &N\ RX +9 &O\ SW +10 &Q\ WX +9 &ST\ TX +9 &U\ VX +10 &V\ XX +9 &X\ XX +10 &ZZ\ WX +9 &\\\ WX +9 &]x\ [7 +10 &^6p\ ^@ +9 ( +3 "processing"%$& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.77 + .Hand.open +2 "manipulator"&M1 +3 "core" &^\ l/ +52 1 +2 "manipulator"&2% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*' +88 "core" ' + "processing"%K& +4 "core" &^\ c/ +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&5% +3 "core" %  r  +2 "storage"(% +3 "core" % R\ X +2 "storage"(F. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(W( +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& + "manipulator"&P& +6 "core" &\ \  d\ W + & 5 +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&)( +2 "storage"('r +5 "core" ( + "manipulator"&<& +4 "core" & X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&7' +93 "core" ' +2 .tHand.close + "manipulator"&e/ +72 "core" / +3 .tPC.seek :open +2 "processing"%&( +84 "core" ' + "storage"(S- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'1 +41 "core" ' +320 ( +2 "storage"(J& +4 "core" & + *\ a + "manipulator"&& +4 "core" & 7 + "manipulator"&j% +4 "core" %  * < +2 .tForearm.seek :retract +2 "manipulator"&8' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&=( +240 "core" ( +2 "manipulator"&f& +4 "core" & - 3 + "storage"(& +4 "core" & =  I\ a +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&>'7 +98 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(^- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(4' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(1' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(\ - +3 "core" -' +2 "storage"(U& +4 "core" &  \ 4 + "manipulator"&0& +4 "core" &  3 +2 .tElbow.seek 3 +2 "manipulator"&a( +3 "core" ( + "manipulator"&Q& +4 "core" &  C 3 +2 "storage"(k& +4 "core" & 6 6\ 6 +2 .tForearm.seek 3 + 450 counts + "manipulator"&A'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(d'" +52 "core" ' +2 "manipulator"&!& +4 "core" & K 3 +2 "storage"(E& +4 "core" & > \ ` +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +25 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(3' +20 "core" ' + "manipulator"&l% +5 "core" %Έ # + "storage"(9& +4 "core" & * $\ ` +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&u'ϴ +14 "core" ' + "manipulator"&H& +5 "core" & 5 3 + "storage"(m& +4 "core" & V M O\ g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&O'7 +19 "core" ' + "storage"(#% +5 "core" % * \ ` +2 ."downElevator"SE.seek :down +3 "storage"(B' +99 (o% +3 "core" %O \  Z\ [\\w +2 "manipulator"&% +4 "core" %E W + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +87 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (i& +4 "core" &\ \  \ Z +2 "collection"'& +4 "core" &\\ \ v!` + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&x% +3 "core" %  V  +2 "storage"(s% +4 "core" % I :\ Z +2 "storage"(_. +3 "core" .( + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(L( +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 ([& +3 "core" & ^ [\ ^ +2 "manipulator"&T& +4 "core" & ] 3 + .tElbow.seek 3 +2 "manipulator"&c( +3 "core" ( + "manipulator"&\\& +4 "core" & c 3 +2 "storage"({& +3 "core" & + * \ a +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' + "storage"(r& +5 "core" & ] 0\ b +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +2 "core" & 7 3 +3 "storage"(`& +3 "core" & 3 $\ d +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'u +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(v's +28 "core" ' + "manipulator"&% +4 "core" %Έ N +2 "storage"(& +3 "core" & I Y\ ` +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ϴ +13 "core" ' +2 "manipulator"&& +4 "core" &  3 + "storage"(-& +4 "core" & * + r\ _ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(~' +39 "core" ' +2 "manipulator"&Z& +4 "core" & R 3 +2 "manipulator"&n% +3 "core" %" d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +157 "core" ( +2 "manipulator"&& +4 "core" &ӓ#  << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +2 "core" &ӓ# : << +3 .tForearm.seek CC +2 "manipulator"&V'? +94 "core" ' +2 .tHand.close + "manipulator"&h/ +53 "core" / +2 .tCC.seek :open +2 "collection"'y( +451 "core" ( +2 "storage"(R& +55 "core" & R\ t + "storage"(+& +4 "core" & t s o\ p +2 "manipulator"&'& +3 "core" &ӗ" . ;8 +2 "manipulator"&|% +3 "core" % ; L @ +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& ( +166 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(C& +4 "core" & [ a \ j + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +95 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&61 +64 "core" 1 +2 "manipulator"&g% +5 "core" % · 0 + "storage"(X& +4 "core" & \ q + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&'ϳ +16 "core" ' +2 "manipulator"&;& +4 "core" &   + "storage"(& +4 "core" & \ s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&('7 +15 "core" ' + "storage"(,% +4 "core" % 2\ t +3 ."downElevator"SE.seek :down +3 "storage"("' +99 (w% +2 "core" %`H '\ qZp +2 "manipulator"&?% +4 "core" %. +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:' +94 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'.& +4 "core" & \ +2 "manipulator"&%% +4 "core" %  \\ & + "storage"(% +4 "core" % \ s +2 "storage"(M. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(2(,y +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (K& +3 "core" &,w \ m + "manipulator"&5& +4 "core" & E  +2 .tElbow.seek 4 + "manipulator"&( +25 "core" ( + "manipulator"&F& +4 "core" & 3  +2 "storage"($& +3 "core" &,w +\ s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +99 "core" ' +2 "storage"(P& +4 "core" &,w 2\ t +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'r +295 "core" ' +2 "storage"(D- +4 "core" -'' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +2 "core" &,l w\  +2 "manipulator"&e& +4 "core" & A  +2 .tElbow.seek 4 + "manipulator"& ( +22 "core" ( + "manipulator"&S& +4 "core" &  +2 "storage"(G& +4 "core" &,l B\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&*'c +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(J' +8 "core" &  + "manipulator"&% +4 "core" % ~ +2 .tForearm.seek :retract +2 "manipulator"&j' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7(ӂ +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&f& +5 "core" &ӌ : 8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ J 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'? +99 "core" ' +2 "manipulator"&& +4 "core" &ӌ  8 +2 "manipulator"&^% +4 "core" %F \\ " + "collection"'\ & +4 "core" & \ +2 "collection"'U& +6 "core" & \ +2 .tCC.seek :closed + "collection"'0(\\ +5 "core" & \ +7 &1 \ $d +9 &Us \ 7 +9 &s \ L +10 &N \ M +9 &dN \ M +10 &&O \ M +9 &P \ M +9 &P \ M +10 &mO \ M +9 &/O \ M +9 &N \ M +10 &!O \ L +9 &#tO \ M +10 &%6O \ M +9 &&O \ M +9 &(O \ M +10 &*}O \ M +9 &,>P \ M +9 &.O \ M +10 &/O \ M +9 &1P \ N +9 &3FO 6\ M +10 &5O ;\ N +9 &6P 2\ M +10 &8R =\ M +9 &:MQ :\ M +9 &<M >\ M +10 &=Q 3\ M +9 &?M <\ M +10 &ATT 2\ N +9 &CY ;\ N +9 &Dh 2\ P +10 &F =\ S +9 &H@ >\ W +9 &I ?\ Z +10 &K 2\ [ +9 &M| *\ [ +10 &O> ;\ [ +9 &P ;\ [\ +9 &R \ \\ +10 &T~ @\ ] +9 &V> {\ ] +9 &W W\ ^ +10 &Y \ |_ +9 &[| \ {M +9 &\\6 X\ 3 +10 &\\\ \ X +5 ( +2 "collection"'U& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.44 +2 .Hand.open + "manipulator"&Q1 +3 "core" &\\s \ X +59 1 + "manipulator"&k% +4 "core" % F ' " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8' +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%!& +5 "core" &\ u + "manipulator"&E% +4 "core" %  m  + "storage"(l% +4 "core" % Q\ u +2 "storage"(9. +3 "core" .(,v + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(](,y +39 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (H& +3 "core" &,| l i\ l +2 "manipulator"&m& +3 "core" &ӌ 8 +2 "manipulator"&4% +3 "core" %  I  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&#( +161 "core" ( +2 "manipulator"&=& +4 "core" & _  + "storage"(>& +4 "core" &,| =\ x +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +93 "core" ' + "storage"(o& +4 "core" &,| \ y +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" &,l l\ w +2 "manipulator"&d& +4 "core" & C  + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&u& +4 "core" &   + "storage"(i& +4 "core" &,l \ y +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'c +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +62 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&s& +2 "storage"(_' +7 "core" &  + "manipulator"&3% +4 "core" % Ϗ 9 +2 .tForearm.seek :retract +2 "manipulator"&[' +91 "core" ' + .tElbow.seek PC +2 "manipulator"&T( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&\\& +4 "core" &  . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +2 "core" & ) . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&O' +92 "core" ' +2 "manipulator"&r& +4 "core" & . + "manipulator"&B% +4 "core" % a g +2 "processing"%W& +3 "core" &\ z +2 "processing"%p& +6 "core" &\ z +2 .tPC.seek :closed +3 "processing"%z(^ +3 "core" &\ z +5 &\ w3 +10 &-Fr\ c1 +9 &Vqx\ bE +10 &Z\ oO +9 &L\ rP +9 &xL\ rO +10 &:K\ rO +9 &K\ qP +9 &K\ pO +10 &N\ oO +9 &BN\ nO +10 &!L\ nO +9 &"L\ mO +9 &$N\ lP +10 &&JJ\ mO +9 &( I\ nO +10 &)K\ mP +9 &+H\ mO +9 &-RH\ qO +10 &/I\ sO +9 &0J\ sO +9 &2J\ sO +10 &4YL\ rP +9 &6L\ rP +9 &7L\ qP +10 &9N\ qO +9 &;aN\ pP +10 &=$L\ qO +9 &>L\ qO +9 &@M\ qO +10 &Be\\\ lQ +9 &D l\ iS +9 &E\ cV +10 &G\ eW +9 &I]\ eW +10 &K\ cW +9 &L\ bW +9 &N\ `W +10 &Pb\ bX +9 &R#\ aX +9 &S\ `Y +10 &U\ bW +9 &Wi\ bX +9 &Y,\ cX +10 &Z\ `X +9 &\\\ bY +10 &^1eq\ k. +9 &^\ iB +10 ( + &^1\ s7 + "processing"%p& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"& 1 +56 "core" 1 + "manipulator"&I% +4 "core" %  g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +52 .tForearm.seek :retract +3 "manipulator"&`' +92 "core" ' + "processing"%& +4 "core" &^,\ m7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %  3  +2 "storage"(% +4 "core" % Z c\ k + "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(-(,y +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +5 "manipulator"&n& + "core" &,z F D\ h +4 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  . +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&c( +5 "core" ( + "manipulator"&& +4 "core" & N . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" & C . +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close +2 "manipulator"&v/ +65 "core" / +2 .tPC.seek :open +2 "processing"%( +84 "core" ' +2 "storage"(b- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +44 "core" ' +317 ( +2 "storage"(& +4 "core" &,j \ s +2 "manipulator"&h& +3 "core" & 1 . +2 "manipulator"& % +4 "core" %  D * + .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&R( +245 "core" ( + "manipulator"&+& +4 "core" &  +2 "storage"('& +3 "core" &,j \ s +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +93 "core" ' +2 .tHand.open + "manipulator"&Y1 +55 "core" 1 +2 "storage"(C- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(V' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +52 "core" ' + #tLights, camera, ACTION! + "storage"(6- +4 "core" -' +2 "storage"(g& +3 "core" &,j 4\ ' +2 "manipulator"&X& +4 "core" & \\  + .tElbow.seek 4 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&& +3 "core" & ]  +2 "storage"(,& +4 "core" &,j 4\ % +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(w'" +53 "core" ' + "manipulator"&?& +5 "core" & 5  + "storage"( & +4 "core" &,j - .\ \\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +14 "core" ' +2 .tElbow.hold + "manipulator"&., +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(%' +19 "core" ' + "manipulator"&% +5 "core" %F 5 L + "storage"(& +4 "core" &,j \ N +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&M'r +16 "core" ' + "manipulator"&~& +4 "core" & #  +2 "storage"((& +4 "core" &,j \ O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +15 "core" ' + "storage"(L% +5 "core" %\  ,\ S +2 ."downElevator"SE.seek :down +4 "storage"(K' +98 (5% +4 "core" % @ .\ M[s + "manipulator"&F% +4 "core" % = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$' +88 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (P& +4 "core" &,j\  \ Y +2 "collection"'N& +3 "core" &\\q 2\ vX +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&:% +5 "core" %   + "storage"(D% +4 "core" %\ \ \ V + "storage"(t. +3 "core" .(,y +2 "storage"(e& +4 "core" &,j\ \ \ V +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(S(,y +30 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &,z W\  *\ ] +2 "manipulator"&& +4 "core" & L  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &,z\ \  t\ V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +92 "core" ' + "storage"(f& +5 "core" &,z \  \ X +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +2 "core" & N  +2 "storage"(& +3 "core" &,l\ \ \ V +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&^'7 +24 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(\ - +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(J'| +29 "core" ' +2 "manipulator"&j% +4 "core" %7 P + "storage"(y& +4 "core" &,l\  [\ V + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 300 counts + "manipulator"&Q'c +15 "core" ' +2 "manipulator"&k& +4 "core" &   +2 "storage"(!& +3 "core" &,l \ T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(l' +47 "core" ' + "manipulator"&9& +5 "core" &   + "manipulator"&U% +4 "core" % J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&H' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +155 "core" ( +2 "manipulator"&4& +4 "core" &ӓ! < ;5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &ӓ" ;5 +2 .tForearm.seek CC +2 "manipulator"&='? +94 "core" ' + .tHand.close +2 "manipulator"&>/ +63 "core" / + .tCC.seek :open +2 "collection"'2( +451 "core" ( +2 "storage"(o& +4 "core" &,l x h T\ n + "storage"(7& +4 "core" &,l { C\ k + "manipulator"&8& +4 "core" &ӓ" F ;5 + "manipulator"&A% +4 "core" % > < @ +2 .tForearm.seek :retract +2 "manipulator"&a' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&d( +163 "core" ( + "manipulator"&u& +4 "core" &  +2 "storage"(i& +3 "core" &,l S D 9\ i +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&x'7 +93 "core" ' +2 .tElbow.hold + "manipulator"&s, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&31 +56 "core" 1 + "manipulator"&#% +5 "core" % 3 F P + "storage"(1& +4 "core" &,l 5 A *\ e + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 296 counts + "manipulator"&'_ +14 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(\\& +3 "core" &,l U d =\ i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +21 "core" ' + "storage"(% +53 "core" % g \\ 4\ k +3 ."downElevator"SE.seek :down +4 "storage"(r' +99 (B% +3 "core" %z5 ? B \ hXj + "manipulator"&W% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +91 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'[& +4 "core" & \ +2 "manipulator"&&% +4 "core" %   # + "storage"( % +4 "core" % * * 9\ b +2 "storage"(I. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(p(<- +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<. 6 B\ e +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & u  +2 "storage"(Z& +3 "core" &<. } } Z\ n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +94 "core" ' + "storage"(& +4 "core" &<. Q G E\ f +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'r +297 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +2 "core" &<. - Y \ ] +2 "manipulator"&]& +3 "core" & \  +2 .tElbow.seek 5 +2 "manipulator"&b( +3 "core" ( + "manipulator"&T& +4 "core" &   +2 "storage"(`& +3 "core" &<. 1 . H\ c +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&z'Ϲ +45 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(h' +7 "core" &   + "manipulator"& % +4 "core" % Ϸ Y +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+(ӂ +156 "core" ( + "manipulator"&'& +5 "core" ' + &ӑ# Z =B + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &c& +2 "core" &ӑ$  =B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'? +93 "core" ' + "manipulator"&C& +5 "core" &ӑ$ X =B + "manipulator"&6% +4 "core" %> < +2 "collection"'g& +4 "core" & \ y +2 "collection"'X& +6 "core" & \ x +3 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & \ ~ +6 & 1 \ r$e +9 &Vu \ r8 +10 &n \ mL +9 &M \ wN +9 &aK \ pN +10 &#K \ wN +9 &K \ uM +9 &L \ wN +10 &iL \ tN +9 &+L \ xN +10 &L \ {M +9 &!M \ xN +9 &#qL \ N +10 &%3O \ |N +9 &&K \ wM +9 &(L \ yN +10 &*yL \ vN +9 &,:L \ tN +9 &-L \ pN +10 &/M \ wN +9 &1M \ zN +10 &3BL \ uN +9 &5K 2\ oN +9 &6N 7\ sN +10 &8M 6\ mN +9 &:JN 3\ N +9 &< N =\ {N +10 &=N ;\ {N +9 &?M >\ xN +10 &ARN >\ uN +9 &CT @\ sO +9 &D[ 4\ oP +10 &Fk ?\ yQ +9 &HH >\ zT +9 &I =\ tX +10 &K =\ yZ +9 &My Y\ j[ +10 &O; <\ i[ +9 &P ?\ h\\ +9 &R 8\ d] +10 &T{ =\ f] +9 &V< {\ j^ +10 &W z\ g^ +9 &Y V\ g` +9 &[{ \ aL +10 &\\< \ l2 +9 &\\} \ sX +5 ( +2 "collection"'X& +3 "core" &\\p :\ rX +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.38 + .Hand.open + "manipulator"&,1 +55 "core" 1 + "manipulator"& % +5 "core" % >  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +4 "core" &\ L +2 "manipulator"&% +3 "core" % ! 5 ' +2 "storage"(% +4 "core" % U\ N + "storage"(. +4 "core" .(<- + "storage"(~& +4 "core" &<. -\ X + "storage"((& +4 "core" &<. \ R +2 "manipulator"&V& +4 "core" &ӑ# ) =B + "manipulator"&L% +4 "core" % !  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&R( +162 "core" ( + "manipulator"&|& +5 "core" & )  + "storage"(& +4 "core" &<. \ (\ X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +94 "core" ' +2 "storage"(F& +4 "core" &<. ] 3\ ^ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +305 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &<. k\ T +2 "manipulator"&& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&M& +3 "core" & R  +2 "storage"(N& +3 "core" &<.  & >\ ^ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&:'Ϲ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&D/ +69 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(%' +7 "core" &   + "manipulator"&e% +4 "core" % ϭ ' +2 .tForearm.seek :retract +2 "manipulator"&G' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&& +4 "core" & A 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & z 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&"' +99 "core" ' + "manipulator"&f& +4 "core" & p 5 +2 "manipulator"&K% +4 "core" % r + "processing"%-& +4 "core" &\ W +2 "processing"%.& +6 "core" &\ U +2 .tPC.seek :closed +2 "processing"%$(^ +4 "core" &\ S +8 & +\ X$c +10 &Tv\ L8 +9 &|o\ IL +9 &K\ PQ +10 &PI\ PP +9 &G\ UP +9 &I\ QP +10 &I\ TP +9 &YH\ RP +10 &I\ UP +9 &I\ WP +9 &!I\ UP +10 &#aJ\ OP +9 &%"I\ OP +9 &&I\ PP +10 &(I\ PP +9 &*gJ\ OP +9 &,*G\ NP +10 &-J\ UP +9 &/J\ NP +10 &1oN\ UP +9 &31J\ LP +9 &4J\ PP +10 &6G\ NP +9 &8wL\ MP +10 &:9J\ QP +9 &;G\ YP +9 &=J\ RP +10 &?L\ RP +9 &A@J\ OQ +9 &BY\ LR +10 &D`\ NS +9 &Fys\ KU +9 &H6\ KW +10 &I{\ PV +9 &K\ JX +10 &M{\ GW +9 &O<\ JX +9 &P\ GY +10 &R\ FX +9 &T~\ EY +9 &VB\ HX +10 &X\ IX +9 &Y\ EY +10 &[\ HY +9 &]H\ IO +9 &^zE\ O"g +10 &^D\ P6 +5 ( +2 "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.78 + .Hand.open + "manipulator"&<1 +4 "core" &^&\ V6 +60 1 + "manipulator"&*% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + "processing"%\ & +4 "core" &^%\ I6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&j% +4 "core" %  /  +2 "storage"(y% +3 "core" % '\ L +2 "storage"(k. +3 "core" .(<- + "storage"(!& +4 "core" &<. A\ Q +2 "storage"(9& +3 "manipulator"&U& +6 "core" &<. I\ N + & T 5 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&@( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( + "manipulator"&& +4 "core" &  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" & x 5 +2 .tForearm.seek PC +2 "manipulator"&Q' +98 "core" ' + .tHand.close + "manipulator"&J/ +74 "core" / +2 .tPC.seek :open +2 "processing"%4( +78 "core" ' + "storage"()- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(E'1 +45 "core" ' +320 ( + "storage"( & +4 "core" &<.\ (\  "\ X +2 "manipulator"&>& +4 "core" & 5 +2 "manipulator"&H% +3 "core" %  , +2 .tForearm.seek :retract +52 "manipulator"&0' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&o( +257 "core" ( + "manipulator"&7& +5 "core" & H + "storage"(8& +4 "core" &<.\ \ \ U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&A'O +92 "core" ' + .tHand.open +2 "manipulator"&u1 +60 "core" 1 +2 "storage"(i- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(=' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(m' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' +2 "storage"(#& +3 "core" &<. \ % +2 "manipulator"&1& +4 "core" & U + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&\\& +4 "core" & ? +2 "storage"(& +4 "core" &<. G\ ( +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&a'O +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(B'" +59 "core" ' + "manipulator"&d& +4 "core" &  +2 "storage"(W& +4 "core" &<.\ \  Y\ W + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&x'΍ +24 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"([' +27 "core" ' + "manipulator"&&% +5 "core" %Ν 6 + "storage"( & +4 "core" &<. R\ K +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&I' +15 "core" ' + "manipulator"&l& +5 "core" & S + "storage"({& +5 "core" &<. G (\ [ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +15 "core" ' + "storage"(S% +5 "core" %\ \ A\ S +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %'B Q\ TZr +2 "manipulator"&% +4 "core" %D 0 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +87 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<.\ \  m\ \\ +2 "collection"'s& +3 "core" &\\p \ ~X +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&_% +3 "core" %  A  +2 "storage"(O% +4 "core" % P d\ d + "storage"(v. +3 "core" .(<- +2 "storage"(]& +4 "core" &<.\  ]\ ^ + "storage"(T& +4 "core" &<. ' ! >\ ] + "manipulator"&`& +4 "core" & , +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & M + "storage"( & +4 "core" &<.\ &\ ) %\ [ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'O +93 "core" ' +2 "storage"(n& +4 "core" &<.\  \ T +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''r +300 "core" ' +2 "storage"(c- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&}& +3 "core" &  +2 "storage"(z& +3 "core" &<. \ T +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&C'΍ +117 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(g- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(b'z +28 "core" ' + "manipulator"&h% +5 "core" %Ν ` + "storage"(& +4 "core" &<. 5\ G +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&2' +14 "core" ' + "manipulator"&,& +5 "core" & + "storage"( & +4 "core" &<. \ T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +49 "core" ' + "manipulator"&& +5 "core" & A + "manipulator"&% +4 "core" %9 ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&((ӂ +157 "core" ( +2 "manipulator"&X& +4 "core" &ӏ&  ?R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +2 "core" &Ӑ& 9 ?Q +2 .tForearm.seek CC +2 "manipulator"&L'? +96 "core" ' +2 .tHand.close + "manipulator"&Y/ +64 "core" / +2 .tCC.seek :open +2 "collection"'|( +451 "core" ( + "storage"(& +5 "core" &<.\ \  W\ V + "storage"(F& +4 "core" &<. ^\ R +2 "manipulator"&+& +3 "core" &Ӑ& S ?Q +2 "manipulator"&?% +3 "core" % 5 ^ ' +2 .tForearm.seek :retract +2 "manipulator"&;' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&w( +160 "core" ( +2 "manipulator"&& +4 "core" & 5 + "storage"(M& +4 "core" &<.\  \ T + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&N'΍ +95 "core" ' +2 .tElbow.hold + "manipulator"&D, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +55 "core" 1 +2 "manipulator"&e% +5 "core" % Μ M ( + "storage"(R& +3 "core" &<.\ 0\ T +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&5' +14 "core" ' +2 "manipulator"&& +4 "core" & ( +2 "storage"(:& +3 "core" &<. + * D\ b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +17 "core" ' +2 "storage"(% +4 "core" % / ,\ _ +2 ."downElevator"SE.seek :down +5 "storage"(P' +98 (f% +3 "core" %t7 2 & 4\ aYk +2 "manipulator"&K% +4 "core" %@ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +93 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'%& +4 "core" & \ +2 "manipulator"&G% +3 "core" % \  P  +2 "storage"(% +4 "core" % / 7 &\ _ +2 "storage"(<. +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(*( +668 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +2 "core" & \ r +2 "manipulator"&j& +4 "core" & +2 .tElbow.seek 3 + "manipulator"&y( +32 "core" ( +2 "manipulator"&k& +4 "core" & k / + "storage"(!& +4 "core" & \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&9'7 +87 "core" ' +2 "storage"(U& +4 "core" & \ t +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'r +297 "core" ' +2 "storage"(- +3 "core" -'" +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +2 "core" & D\ ~ +2 "manipulator"&"& +3 "core" & : / +2 .tElbow.seek 3 +2 "manipulator"&J( +3 "core" ( + "manipulator"&)& +5 "core" & 1 / + "storage"(& +4 "core" & j f K\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +51 .tHand.close +2 "manipulator"&$/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"( ' +7 "core" & u / +2 "manipulator"&>% +4 "core" % Ϛ +2 .tForearm.seek :retract +2 "manipulator"&H' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +154 "core" ( + ' +2 "manipulator"&7& +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &Ӑ% >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &Ӑ$ >L +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'? +93 "core" ' +3 "manipulator"&u& +4 "core" &Ӑ% >L +2 "manipulator"&i% +3 "core" %E t +2 "collection"'3& +4 "core" & \ +2 "collection"'#& +6 "core" & \ +3 .tCC.seek :closed + "collection"'1(\\ +5 "core" & \ +7 &1 \ $d +9 &Vs \ 7 +9 &r \ L +10 &O \ M +9 &cN \ M +10 &%N \ M +9 &N \ M +9 &P \ M +10 &jN \ M +9 &,O \ M +9 &O \ M +10 &!O \ M +9 &#sK \ M +9 &%4N \ M +10 &&K \ M +9 &(L \ M +10 &*zM \ M +10 &,;Q \ N +8 &-P \ N +10 &/P \ M +9 &1K \ N +10 &3CJ \ N +9 &5K \ M +9 &6N \ M +10 &8N \ M +9 &:KL \ N +9 &<Q \ M +10 &=N \ M +9 &?R \ N +9 &ASP \ N +10 &CX \ O +9 &Dj \ Q +10 &F~ $\ T +9 &H@ \ zW +11 &I &\ sZ +9 &K 8\ tZ +10 &My 7\ p[ +7 &O: 0\ p\\ +10 &P 8\ p\\ +9 &R =\ t] +10 &Tz 4\ q^ +9 &V; 8\ s^ +9 &W 9\ o_ +10 &Y 4\ p` +9 &[z 0\ oM +9 &\\8 ;\ w2 +10 &\\ 2\ x\\ +5 ( +2 "collection"'#& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.47 +2 .Hand.open + "manipulator"&\\1 +3 "core" &\\y \ x\\ +52 1 +2 "manipulator"&% +4 "core" % E c t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%d& +5 "core" &\ X + "manipulator"&W% +4 "core" %   +2 "storage"(&% +4 "core" %\ \  V\ V + "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(E( +9 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +2 "core" &\ \  Q\ X +2 "manipulator"&=& +4 "core" &ӑ% 9 >K + "manipulator"&{% +4 "core" %  W  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&S( +168 "core" ( + "manipulator"&o& +5 "core" & C + "storage"(A& +4 "core" & * %\ ` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&m'7 +94 "core" ' +2 "storage"(& +4 "core" & N G 2\ g +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & - _ !\ ] +2 "manipulator"&B& +4 "core" & Q +2 .tElbow.seek 3 +2 "manipulator"&x( +3 "core" ( + "manipulator"&& +4 "core" & O + "storage"(I& +4 "core" & 1 ! \ a +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&s'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +69 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&O& +3 "storage"(v' +7 "core" & 9 +2 "manipulator"&[% +4 "core" % ϛ D + .tForearm.seek :retract +2 "manipulator"&]' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T( +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&`& +4 "core" & " +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 && +3 "core" & Y " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& ' +95 "core" ' + "manipulator"&r& +4 "core" & m " +2 "manipulator"&n% +4 "core" % . . + "processing"%& +4 "core" &\ ` +2 "processing"%& +5 "core" &\ \\ +2 .tPC.seek :closed +2 "processing"%Z(^ +4 "core" &\ Z +7 & *\ \\$d +10 &Ut\ O7 +9 &{q\ SL +9 &H\ WP +10 &RI\ TP +9 &G\ WO +10 &I\ WP +9 &K\ RP +9 &ZF\ RP +10 &I\ YP +9 &L\ RP +9 &!I\ TP +10 &#bG\ TP +9 &%&I\ ZO +10 &&I\ XP +9 &(I\ TP +9 &*kK\ WP +10 &,.I\ UO +9 &-I\ TP +9 &/I\ RP +10 &1rL\ VP +9 &34I\ VP +10 &4I\ SP +9 &6J\ TP +9 &8zJ\ SP +10 &:;I\ QP +9 &;J\ ZP +9 &=K\ \\P +10 &?K\ \\P +9 &ADL\ ]P +10 &CW\ [Q +9 &D\\\ ZR +9 &F~o\ XT +10 &H:\ VV +9 &I}\ VW +9 &K\ SW +10 &M}\ SW +9 &O=\ PX +10 &P\ LY +9 &R\ LY +9 &T\ PY +10 &VC\ LX +9 &X\ NX +9 &Y\ OX +10 &[\ KY +9 &]J\ LN +10 &^}K\ M c +9 &^?\ T8 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 +2 .Hand.open + "manipulator"&c1 +3 "core" &^+\ X8 +50 1 +2 "manipulator"&}% +4 "core" %  J . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +93 "core" ' + "processing"%g& +4 "core" &^+\ T8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&h% +4 "core" %  <  +2 "storage"(% +4 "core" % \ Q +2 "storage"(,. +3 "core" .( + "storage"( & +4 "core" & \ T +2 "storage"(& +5 "manipulator"&& +3 "core" & \ Q +2 & v " +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( + "manipulator"&'& +4 "core" & " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" & X " +2 .tForearm.seek PC +2 "manipulator"&2' +93 "core" ' + .tHand.close +2 "manipulator"&b/ +65 "core" / +3 .tPC.seek :open +2 "processing"%X( +90 "core" ' + "storage"(V- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +40 "core" ' +315 ( +2 "storage"(6& +4 "core" & M R ,\ f + "manipulator"&Y& +4 "core" & " + "manipulator"&~% +4 "core" %  ) 2 +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +245 "core" ( +2 "manipulator"&F& +4 "core" & ; 6 + "storage"(+& +4 "core" &\  \ S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&?'7 +98 "core" ' + .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(M- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(L' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"((' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +4 "core" -' + "storage"(e& +4 "core" & + p\ . +2 "manipulator"&R& +3 "core" & P 6 +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&:& +3 "core" & m 6 +2 "storage"(& +4 "core" & ( c\ / +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&;'7 +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(f'" +59 "core" ' +2 "manipulator"&K& +4 "core" &  6 + "storage"(w& +4 "core" & = .\ Y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&N'u +26 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +55 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(5' +18 "core" ' +2 "manipulator"&G% +4 "core" %΃ 3 +2 "storage"(& +4 "core" & \ P + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&<'ϯ +14 "core" ' +2 "manipulator"&& +5 "core" & . 6 +2 "storage"(& +4 "core" & t\ S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&P'7 +18 "core" ' + "storage"(p% +5 "core" % 7\ T +2 ."downElevator"SE.seek :down +3 "storage"(\ ' +99 (j% +3 "core" %M /\ R\\y +2 "manipulator"&k% +4 "core" %)  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +88 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 (U& +4 "core" &\ \  ]\ Y +2 "collection"'D& +3 "core" &\\y \ {\\ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&-% +5 "core" %  7  + "storage"(% +4 "core" %\ \  \ U +2 "storage"(^. +3 "core" .( + "storage"("& +4 "core" & )\ Q +2 "storage"()& +3 "core" & P\ M +2 "manipulator"&& +4 "core" & 6 + .tElbow.seek 3 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"&& +3 "core" & n 6 +2 "storage"(>& +4 "core" & \ S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&y'7 +92 "core" ' + "storage"(9& +5 "core" & b\ S + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'r +299 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" & ^ 6 + "storage"(& +4 "core" &\ \ ?\ V +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&u'u +24 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(3- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(J's +27 "core" ' +2 "manipulator"& % +4 "core" %Ά  + "storage"(H& +4 "core" & \ O +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&|'ϲ +14 "core" ' +2 "manipulator"&\\& +4 "core" & 6 +2 "storage"(& +3 "core" & Q\ S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(W' +33 "core" ' + "manipulator"&&& +5 "core" &  6 + "manipulator"& % +4 "core" %# G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l(ӂ +28 "Can"\ ~YV +126 "core" ( + "manipulator"&=& +4 "core" &ә!  ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &ә" 5 ;2 +2 .tForearm.seek CC +2 "manipulator"&@'? +91 "core" ' + .tHand.close +2 "manipulator"&o/ +66 "core" / +2 .tCC.seek :open + "collection"'A( +451 "core" ( +2 "storage"(*& +5 "core" & ) + %\ c + "storage"(& +4 "core" & '  \ a +2 "manipulator"&Q& +3 "core" &ә" ;2 +2 "manipulator"&0% +3 "core" % D N Q +2 .tForearm.seek :retract +2 "manipulator"&a' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +156 "core" ( +2 "manipulator"&B& +4 "core" &~ @ + "storage"(& +4 "core" & + - 8\ _ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&I'u +102 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&O1 +56 "core" 1 +2 "manipulator"&[% +4 "core" % ΅ , + "storage"(S& +4 "core" &\ $\ ' >\ Z + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts + "manipulator"&m'ϱ +14 "core" ' +2 "manipulator"&& +4 "core" &~ +2 "storage"(s& +3 "core" & : @ b\ h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`'7 +18 "core" ' + "storage"(% +4 "core" % H s\ \\ +2 ."downElevator"SE.seek :down +4 "storage"(x' +99 (r% +2 "core" %C , - 2\ b[s +2 "manipulator"&n% +4 "core" %B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'v& +5 "core" & \ + "manipulator"&]% +4 "core" %  C  + "storage"(4% +4 "core" % I ]\ [ +2 "storage"(c. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(}(,y +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (g& +3 "core" &,z P 4 o\ a +2 "manipulator"&h& +3 "core" &~  +2 .tElbow.seek 4 +2 "manipulator"&( +35 "core" ( + "manipulator"&,& +4 "core" & &  +2 "storage"( & +3 "core" &,z P P \ e +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(& +4 "core" &,z\ &\ \ Y +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +301 "core" ' + "storage"('- +4 "core" -'' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (C& +3 "core" &,k\ \  \ V + "manipulator"& & +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&b( +3 "core" ( +2 "manipulator"&V& +3 "core" &   +2 "storage"(T& +3 "core" &,k  >\ ` +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&z'c +34 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(6' +7 "core" &  +2 "manipulator"&Y% +4 "core" % s Z + .tForearm.seek :retract +2 "manipulator"&~' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2(ӂ +151 "core" ( + "manipulator"&F& +5 "core" ' + &x+ & Cs +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +5 "manipulator"&+& +3 "core" &x+ R Cs +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +90 "core" ' +2 "manipulator"&& +4 "core" &ӕ& ! ?V +2 "manipulator"&M% +4 "core" %@ 4 N + "collection"'t& +4 "core" & \  +2 "collection"'e& +6 "core" & \ y +2 .tCC.seek :closed + "collection"'R(\\ +5 "core" & \ ~ +7 & 2 \ y$d +9 &Vu \ j7 +9 &r \ rL +10 &K \ vN +9 &[K \ oN +10 &L \ uN +9 &J \ M +9 &L \ M +10 &eM \ M +9 &&O \ N +9 &N \ N +10 &!P \ M +9 &#mM \ M +10 &%.P \ N +9 &&O -\ M +9 &(L \ M +10 &*tM \ }N +9 &,5P \ yN +10 &-M \ zN +9 &/L \ vN +9 &1|Q \ ~N +10 &3>O \ \ }N +9 &4O :\ tN +10 &6M @\ N +9 &8M ;\ yN +9 &:EL =\ yN +9 &<M 9\ wN +10 &=M ?\ tN +9 &?N 4\ vN +10 &ALM F\ vN +9 &C W 3\ xO +9 &De 1\ sQ +10 &F| *\ qT +9 &H8 2\ pX +9 &I =\ h[\ +10 &K ?\ e[ +9 &Mq A\ d\\ +10 &O1 @\ a] +9 &P 1\ g^ +9 &R 1\ g] +10 &Tp 1\ b_ +9 &V1 3\ b` +9 &W ;\ e_ +10 &Y =\ `a +9 &[t >\ dN +10 &\\8 <\ q2 +9 &\\\ \ r[ +5 ( +2 "collection"'e& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.53 +54 .Hand.open +2 "manipulator"&:1 +3 "core" &\\x \ t[ +56 1 + "manipulator"&% +4 "core" % @  R N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%K& +4 "core" &\ I +2 "manipulator"&w% +4 "core" %  y  + "storage"( % +4 "core" % \ F +2 "storage"(L. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(G(,y +17 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,~  { 5\ A +2 "manipulator"&& +4 "core" &Ӛ%  ?Q +2 "manipulator"&% +4 "core" %  W  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&( +164 "core" ( + "manipulator"&p& +4 "core" & c  +2 "storage"(?& +4 "core" &,~ W\ G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&(' +98 "core" ' +2 "storage"(j& +4 "core" &,~ -\ J +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'r +300 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,k #\ K$ +2 "manipulator"&f& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&N( +3 "core" ( + "manipulator"&<& +4 "core" & p  + "storage"(U& +4 "core" &,k\ \ \  C\ U$ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&D'c +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(5' +9 "core" & \  + "manipulator"&^% +4 "core" % o ? +2 .tForearm.seek :retract +2 "manipulator"&"' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&& +4 "core" & - < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & ( < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&>' +96 "core" ' +2 "manipulator"&P& +4 "core" & \\ < +2 "manipulator"&9% +4 "core" % P  + "processing"%\ & +4 "core" &\ W +2 "processing"%%& +6 "core" &\ W +2 .tPC.seek :closed +3 "processing"%!(^ +4 "core" &\ V +5 &\ V4 +10 &8Fp\ N1 +9 &^pw\ JE +9 &Y\ QQ +10 &H\ NP +9 &|G\ PP +9 &?G\ OP +10 &I\ PP +9 &I\ PP +10 &I\ OP +9 &HG\ WP +9 &!\ G\ cP +10 &"L\ aO +9 &$I\ _O +9 &&OK\ YP +10 &(H\ `O +9 &)J\ [O +10 &+H\ WP +9 &-YI\ [O +9 &/J\ ]P +10 &0L\ \\P +9 &2K\ bP +9 &4aI\ bO +10 &6"K\ ^P +9 &7J\ [O +9 &9I\ ZP +10 &;fK\ \\P +9 &=)I\ \\P +10 &>K\ \\P +9 &@L\ [Q +9 &Bh\\\ QR +10 &D&g\ PT +9 &E\ KW +9 &G\ MW +10 &Ia\ GX +9 &K#\ LX +10 &L\ LX +9 &N\ EX +9 &Pg\ EX +10 &R'\ CY +9 &S\ GY +9 &U\ JX +10 &Wn\ PY +9 &Y1\ PX +10 &Z\ JY +9 &\\\ JY +9 &^4dp\ T/ +10 &^z\ PA +9 ( + &^+\ V7 +2 "processing"%%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&81 +62 "core" 1 + "manipulator"&.% +4 "core" %  E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 "processing"%3& +4 "core" &^-\ f7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +4 "core" %  #  + "storage"(H% +4 "core" % k h }\ k +2 "storage"(\\. +3 "core" .(,| + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +58 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +3 "core" &,z \  w\ Y +2 "manipulator"& & +2 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +3 "core" & < +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&y( +2 "storage"($'r +5 "core" ( + "manipulator"&7& +4 "core" &  < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &  < +2 .tForearm.seek PC +2 "manipulator"&|' +91 "core" ' +2 .tHand.close + "manipulator"&=/ +77 "core" / +2 .tPC.seek :open + "processing"%J( +80 "core" ' +2 "storage"({- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(d'1 +44 "core" ' +319 ( + "storage"(i& +4 "core" &,h |\ T +2 "manipulator"&o& +3 "core" & < +2 "manipulator"&#% +3 "core" %  y 8 +2 .tForearm.seek :retract +2 "manipulator"&1' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&*( +243 "core" ( +2 "manipulator"&& +4 "core" & | ' + "storage"(Q& +4 "core" &,h\ \  \ U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +96 "core" ' + .tHand.open +2 "manipulator"&B1 +52 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(@' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +4 "core" -' + "storage"([& +4 "core" &,h\ / +2 "manipulator"&S& +3 "core" & ^ ' +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&s& +4 "core" & J ' +2 "storage"(& +3 "core" &,h J\ . +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(r'" +50 "core" ' +2 "manipulator"&n& +4 "core" &  ' +2 "storage"(& +3 "core" &,h\ \  H\ Z +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&I'7 +13 "core" ' +2 .tElbow.hold + "manipulator"&v, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(]' +20 "core" ' + "manipulator"&m% +5 "core" %7 f A + "storage"(4& +4 "core" &,h \ M +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts +2 "manipulator"&c'c +15 "core" ' + "manipulator"&W& +5 "core" & ' + "storage"(`& +4 "core" &,h\ \  h\ V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +16 "core" ' + "storage"(E% +5 "core" %\ (\  :\ W +2 ."downElevator"SE.seek :down +3 "storage"(g' +99 (h% +3 "core" %< i\ TZp + "manipulator"&,% +4 "core" % & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +89 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,h + K F\ ^ +2 "collection"'_& +4 "core" &\\x 1\ ~[ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  D  + "storage"('% +4 "core" % "\ \\ + "storage"(C. +3 "core" .(,y +2 "storage"( & +4 "core" &,h G )\ [ + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(V(,y +34 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +2 "core" &,| * + .\ ^ +2 "manipulator"&Z& +4 "core" & S ' +51 .tElbow.seek 4 +3 "manipulator"&( +4 "core" ( + "manipulator"&Y& +4 "core" & ' +2 "storage"(& +3 "core" &,|\ \  m\ W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(F& +4 "core" &,|\ ' ^\ T +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&z& +3 "core" & i ' + "storage"(& +4 "core" &,k @ 3 \ d +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&M'7 +14 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(6'| +28 "core" ' +2 "manipulator"&~% +4 "core" %? ; F + "storage"(A& +4 "core" &,k M M ?\ g +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 308 counts +2 "manipulator"&:'k +14 "core" ' +2 "manipulator"&& +4 "core" & X ' +2 "storage"(e& +3 "core" &,k ? + G\ e +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(w' +39 "core" ' +2 "manipulator"& & +4 "core" & 0 ' +2 "manipulator"&L% +4 "core" % 8 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&& +4 "core" &Ӈ&   ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӈ&  ?V +2 .tForearm.seek CC +2 "manipulator"&p'? +91 "core" ' + .tHand.close +2 "manipulator"&?/ +66 "core" / + .tCC.seek :open +2 "collection"'}( +451 "core" ( +2 "storage"(j& +4 "core" &,k\ \ \ V +2 "storage"(2& +3 "core" &,k\ \ \ U +2 "manipulator"&& +4 "core" &Ӌ& I ?R + "manipulator"&k% +4 "core" % U s X + .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&f( +160 "core" ( + "manipulator"&<& +5 "core" & Y  + "storage"(U& +4 "core" &,k\ \  :\ X +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&-'7 +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&^1 +52 "core" 1 +2 "manipulator"&% +4 "core" % ,  7 + "storage"((& +4 "core" &,k f 1\ ` + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 289 counts + "manipulator"&;'X +16 "core" ' +2 "manipulator"&D& +4 "core" & y  + "storage"(& +4 "core" &,k ; ?\ \\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(N% +4 "core" % 0 &\ a +3 ."downElevator"SE.seek :down +3 "storage"(P' +98 (9% +3 "core" %; G 1\ \\Ym +2 "manipulator"&\ % +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +95 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'"& +4 "core" & \ +2 "manipulator"&X% +4 "core" %  <  + "storage"(8% +4 "core" % * ) T\ a +2 "storage"(.. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(3(<- +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +2 "core" &H + "manipulator"&O% +4 "core" %B S +2 "collection"'[& +4 "core" & \ +2 "collection"'S& +5 "core" & \  +2 .tCC.seek :closed + "collection"'s(\\ +5 "core" & \ } +7 & 2 \ u$e +9 &Up \ p7 +10 &~r \ nL +9 &J \ rN +9 &YK \ pN +10 &L \ rN +9 &K \ oN +9 &L \ pN +10 &bJ \ qN +9 &#L \ wN +10 &K \ uN +9 &!O \ qN +9 &#iL \ nN +10 &%+K \ qN +9 &&K \ vN +9 &(L \ uN +10 &*rL \ uN +9 &,3K \ nN +10 &-L \ qN +9 &/L \ qN +9 &1yM \ wN +10 &3;L \ pN +9 &4L \ uN +9 &6M \ yN +10 &8L \ qN +9 &:BM \ xN +10 &<L 0\ zN +9 &=M 2\ |N +9 &?Q D\ |N +10 &ALN 2\ |N +9 &C S 2\ {N +9 &DZ 1\ vP +10 &Fj :\ xQ +9 &H@ :\ rU +10 &I :\ nY +9 &K 9\ h[ +13 &Mq 7\ f\\ +6 &O2 <\ c\\ +11 &P <\ b\\ +7 &R 2\ e] +10 &Tr 7\ b^ +9 &V3 C\ _^ +10 &W /\ \\` +9 &Y \ [` +9 &[r B\ ]N +10 &\\< +\ j2 +9 &\\ A\ mY +6 ( + "collection"'S& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.39 + .Hand.open +2 "manipulator"&1 +3 "core" &\\{ u\ mY +53 1 +2 "manipulator"&1% +4 "core" % B A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ I +2 "manipulator"&m% +3 "core" %  <  +2 "storage"(4% +4 "core" % +\ G +2 "storage"(W. +3 "core" .(<* + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(d(<- +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" &SH\ IQ +10 &@L\ JQ +9 &AR\ KQ +10 &C_\ LS +9 &EQg\ ET +9 &G {\ CW +10 &H\ AX +9 &J\ @X +9 &LO\ @X +10 &N\ =X +9 &O\ AX +10 &Q\ @Y +9 &SS\ AY +9 &U\ DY +10 &V\ @Y +9 &X\ =X +10 &Z[\ @Y +9 &\\\ @Y +9 &]{\ D7 +10 &^3m\ DE +9 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&1 +3 "core" &^ \ L3 +60 1 + "manipulator"&z% +4 "core" %   C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' + "processing"%b& +4 "core" &^ \ P3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&~% +4 "core" %   +2 "storage"(A% +4 "core" % C\ K + "storage"(. +4 "core" .(<- + "storage"(e& +4 "core" & +2 .tForearm.seek :retract + "manipulator"&R' +89 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&j( +244 "core" ( + "manipulator"&2& +5 "core" & 0 3 + "storage"(& +4 "core" &<. ~ _ \ @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&k'O +89 "core" ' + .tHand.open + "manipulator"&<1 +68 "core" 1 +3 "storage"(U- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(p' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(^- +3 "core" -' +2 "storage"(& +3 "core" &<. \ ! +2 "manipulator"&(& +4 "core" & 3 + .tElbow.seek 5 +2 "manipulator"&D( +4 "core" ( + "manipulator"&& +4 "core" & 3 + "storage"(N& +4 "core" &<. c\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +58 "core" ' + "manipulator"&\ & +4 "core" & 3 +2 "storage"(f& +4 "core" &<. )\ M + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&-'΍ +18 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(;' +20 "core" ' + "manipulator"&X% +5 "core" %Ε `  + "storage"(8& +4 "core" &<. |\ I +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&.' +15 "core" ' + "manipulator"&w& +5 "core" & 1 + "storage"(& +4 "core" &<. \ O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&P'O +19 "core" ' + "storage"(V% +5 "core" % \ R +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (H% +3 "core" %I b\ L\\v +2 "manipulator"&%% +4 "core" %H 8 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (7& +4 "core" &<. =\ M + "collection"'& +4 "core" &\\y \ mY +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&5% +4 "core" %  ?  +2 "storage"(>% +4 "core" % l\ N + "storage"(=. +3 "core" .(<- + "storage"(G& +4 "core" &<. b\ S +2 "storage"()& +3 "core" &<. \ R +2 "manipulator"&& +4 "core" & / 1 + .tElbow.seek 5 +2 "manipulator"&$( +3 "core" ( + "manipulator"&i& +4 "core" &  1 +2 "storage"(#& +3 "core" &<. \ R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\'O +98 "core" ' + "storage"( & +4 "core" &<.\ \ F\ X +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'r +297 "core" ' +2 "storage"(y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +3 "core" &  1 +2 "storage"(!& +3 "core" &<.\ \ U +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +13 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"([- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"({'{ +30 "core" ' + "manipulator"&o% +4 "core" %Ξ G ? + "storage"(|& +4 "core" &<.\ (\  g\ W +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&}' +13 "core" ' + "manipulator"&& +5 "core" &  1 + "storage"(1& +4 "core" &<. b\ Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(m' +36 "core" ' +2 "manipulator"&4& +4 "core" & b 1 +2 "manipulator"&W% +46 "core" %A 7 +11 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +153 "core" ( + "manipulator"&@& +4 "core" &ӓ# D <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &ӓ# = <; +2 .tForearm.seek CC +2 "manipulator"&B'? +92 "core" ' +2 .tHand.close + "manipulator"&0/ +77 "core" / +2 .tCC.seek :open +2 "collection"'l( +451 "core" ( + "storage"(3& +4 "core" &<.\ \  f\ W +2 "storage"(,& +3 "core" &<.\ \  \ \ V +2 "manipulator"&& +4 "core" &Ӕ# _ <: + "manipulator"&n% +4 "core" % 0 H = +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&r( +161 "core" ( + "manipulator"&I& +5 "core" &  + "storage"(c& +4 "core" &<. / - ;\ c + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&_'΍ +100 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&C1 +57 "core" 1 +2 "manipulator"& % +4 "core" % Η  + "storage"(*& +4 "core" &<.\ \  \ [ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&h' +13 "core" ' +2 "manipulator"&a& +4 "core" & [  +2 "storage"(& +3 "core" &<. j i \ i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&x'O +16 "core" ' +2 "storage"(Y% +4 "core" % - * 1\ b +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (F% +4 "core" %sA ] Y\ [Zo + "manipulator"&g% +4 "core" %@ ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"']& +4 "core" & \  +2 "manipulator"&T% +5 "core" % ! o * + "storage"(J% +4 "core" % < \ Z +2 "storage"(. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(z( +672 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" & , + K\ a +2 "manipulator"&~& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&A( +48 "core" ( + "manipulator"&& +4 "core" & T  +2 "storage"(e& +3 "core" & z i A\ n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +97 "core" ' +2 "storage"(L& +4 "core" & f \\ E\ j +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'r +297 "core" ' + "storage"(+- +4 "core" -'# + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (M& +2 "core" & S 4\ [ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&6( +7 "core" ( +2 "manipulator"&& +4 "core" & k ` +2 "storage"(Z& +4 "core" & ^ I\ ] +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +68 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(t' +8 "core" &  ` + "manipulator"&?% +4 "core" % ϛ z +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&2& +4 "core" &Ӎ' @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӎ' , @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +101 "core" ' + "manipulator"&<& +4 "core" &ӎ( p @\\ +2 "manipulator"&U% +4 "core" %G N +2 "collection"'^& +4 "core" & \ z +2 "collection"'& +5 "core" & \ w +2 .tCC.seek :closed +2 "collection"'((\\ +4 "core" & \ u +7 & 1 \ o$d +10 &Vt \ t7 +9 &~r \ rL +10 &J \ vN +9 &\\K \ rN +9 & K \ xM +10 &L \ nN +9 &L \ pN +9 &cK \ qN +10 &%L \ pN +9 &I \ mN +10 &!L \ uN +9 &#mL \ uN +9 &%/L \ vN +10 &&K \ rN +9 &(O \ nN +9 &*tN \ pN +10 &,6M \ sN +9 &-L \ rN +10 &/M \ mO +9 &1{L \ mN +9 &3>N \ oN +10 &4L \ nN +9 &6M \ qO +9 &8L \ mN +10 &:FJ \ qN +9 &<N \ gN +10 &=Q \ nN +9 &?N \ lO +9 &ALP \ pO +10 &C U \ oO +9 &Dc \ iQ +9 &F{ \ tS +10 &H9 \ kX +9 &I \ g\\ +10 &K \ e[ +9 &Mq \ a] +9 &O1 \ _] +10 &P \ a_ +9 &R \ ^^ +9 &Tp \ Z` +10 &V1 \ _` +9 &W  \ [a +10 &Y 8\ aa +9 &[r 1\ ZN +9 &\\A 3\ e, +10 &\\ \ d"d +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.57 + .Hand.open +2 "manipulator"&1 +3 "core" &\\ }\ c"d +59 1 + "manipulator"&N% +5 "core" % A  6  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%\ & +5 "core" &\ K + "manipulator"&f% +4 "core" %   + "storage"(X% +4 "core" % | '\ E +2 "storage"(8. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(K( +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (w& +3 "core" & T ^ I\ ? +2 "manipulator"&& +3 "core" &ӎ' @\\ +2 "manipulator"&p% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&V( +165 "core" ( +2 "manipulator"&j& +4 "core" & V  + "storage"(k& +4 "core" & A\ N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +92 "core" ' +2 "storage"(H& +4 "core" & n\ J +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &\ \ M\ V + "manipulator"&9& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&-( +3 "core" ( +2 "manipulator"&.& +3 "core" & /  +2 "storage"(7& +3 "core" & \ R +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&>& +6 "storage"(=' +15 "core" &   +3 "manipulator"&;% +3 "core" % ϟ X +2 .tForearm.seek :retract +2 "manipulator"&G' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&)( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&& +4 "core" & P ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" & J ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&#' +94 "core" ' + "manipulator"&P& +4 "core" & S ) +2 "manipulator"& % +4 "core" % d 4 +2 "processing"% & +3 "core" &\ L +2 "processing"%"& +5 "core" &\ L +2 .tPC.seek :closed +2 "processing"%&(^ +4 "core" &\ L +7 & +\ F$d +10 &Tr\ <7 +9 &zp\ ;L +10 &|J\ @Q +9 &?J\ FP +9 &G\ OP +10 &J\ KQ +9 &I\ FP +9 &GE\ GP +10 & F\ GP +9 &J\ GP +10 &!I\ CQ +9 &#NI\ DQ +9 &%J\ AP +60 &&F\ AQ +5 &(E\ CP +3 &*VD\ AQ + &,E\ ?P + &-G\ AP + &/J\ BQ +2 &1^L\ AQ +2 &3 F\ AQ +10 &4E\ BP +9 &6H\ @Q +9 &8fJ\ =Q +10 &:)F\ =P +9 &;G\ AQ +10 &=F\ >Q +9 &?mI\ CQ +9 &A0I\ BQ +10 &BS\ ?R +9 &DX\ ;S +9 &Fim\ :U +10 &H%\ :W +9 &I}\ :W +10 &K\ 6X +9 &Mh\ AX +9 &O*\ EX +10 &P\ GY +9 &R\ HY +9 &Tn\ DY +10 &V1\ IY +9 &W\ JY +10 &Y\ GY +9 &[x\ GX +9 &]7\ CT +10 &^v@b\ M&p +9 &^\ G\ O3 +5 ( +2 "processing"%"& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.77 + .Hand.open +2 "manipulator"&y1 +3 "core" &^$\ O3 +60 1 + "manipulator"&u% +5 "core" %  g 4 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +95 "core" ' +2 "processing"%[& +4 "core" &^$\ K3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&o% +4 "core" % \  *  +2 "storage"(|% +3 "core" % \ I +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(1( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" & { x )\ B +2 "manipulator"&W& +2 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +3 "core" & | ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&\\( +2 "storage"($'r +5 "core" ( + "manipulator"&Q& +4 "core" & N ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ) +2 .tForearm.seek PC +2 "manipulator"&}' +88 "core" ' +2 .tHand.close + "manipulator"&{/ +68 "core" / + .tPC.seek :open +2 "processing"%@( +91 "core" ' + "storage"(E- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +312 ( +2 "storage"(O& +4 "core" & W R "\ c +2 "manipulator"&0& +3 "core" & H ) +2 "manipulator"&S% +4 "core" %  M + .tForearm.seek :retract +2 "manipulator"&s' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&3( +262 "core" ( +2 "manipulator"&,& +4 "core" & G  + "storage"(& +4 "core" & - , ;\ ^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&n'7 +91 "core" ' + .tHand.open +2 "manipulator"&I1 +56 "core" 1 +2 "storage"(c- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(`' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(C- +4 "core" -' + "storage"( & +4 "core" & \  +2 "manipulator"&*& +3 "core" &  :  +2 .tElbow.seek 3 +2 "manipulator"&a( +3 "core" ( + "manipulator"&& +4 "core" & B  +2 "storage"(Y& +3 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(F'" +63 "core" ' + "manipulator"&g& +4 "core" & 5  +2 "storage"(r& +4 "core" & M A W\ e + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&_'u +21 "core" ' +2 .tElbow.hold + "manipulator"&], +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +8 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(T' +20 "core" ' + "manipulator"&h% +5 "core" %΂ _ + "storage"(J& +5 "core" & . - \ _ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts +2 "manipulator"&'Ϯ +13 "core" ' + "manipulator"&m& +5 "core" &   + "storage"(x& +4 "core" & Q Q \ e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +19 "core" ' + "storage"(d% +5 "core" % U R %\ f +2 ."downElevator"SE.seek :down +5 "storage"(b' +98 (~% +3 "core" %Q E\ O]z +2 "manipulator"&% +5 "core" %, _ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +86 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (L& +4 "core" & L\  \ ] + "collection"''& +4 "core" &\\ \ "d +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %    + "storage"(+% +4 "core" % / & \ a +2 "storage"(M. +3 "core" .( + "storage"(& +4 "core" &\ # d K\ _ +2 "storage"(& +3 "core" & ( -\ W +2 "manipulator"&Z& +3 "core" & 7  +2 .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" & \  +2 "storage"(?& +3 "core" & \ T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&A'7 +93 "core" ' + "storage"( & +4 "core" & M\ [ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&v& +3 "core" &   +2 "storage"(& +3 "core" & \ E +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&<'u +18 "core" ' + .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(^- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(6's +28 "core" ' + "manipulator"&t% +5 "core" %· [ # + "storage"(& +4 "core" & \ K +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&l'ϳ +14 "core" ' + "manipulator"&& +4 "core" & \\  +2 "storage"(N& +4 "core" & \ C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\ '7 +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(f' +35 "core" ' + "manipulator"&X& +4 "core" &  +2 "manipulator"&8% +4 "core" %% +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' + .tElbow.seek CC +2 "manipulator"&w(ӂ +157 "core" ( +2 "manipulator"&& +4 "core" &Ӛ 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +2 "core" &Ӛ q 7 +2 .tForearm.seek CC +2 "manipulator"&'? +97 "core" ' + .tHand.close + "manipulator"&j/ +73 "core" / + .tCC.seek :open +2 "collection"'k( +451 "core" ( +2 "storage"(z& +4 "core" & \ \ t +2 "storage"(H& +3 "core" & \ t +2 "manipulator"&:& +3 "core" &Ӛ  7 +2 "manipulator"&R% +3 "core" % 9   +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&D( +154 "core" ( +2 "manipulator"&9& +4 "core" &z e + "storage"(.& +4 "core" & \ s +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&7'u +103 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +53 "core" 1 + "manipulator"&;% +5 "core" % · m + "storage"(V& +55 "core" & \ t +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϳ +15 "core" ' + "manipulator"&%& +5 "core" &{ + "storage"(& +4 "core" & g c v\ ~ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' + "storage"(i% +5 "core" % \ { +2 ."downElevator"SE.seek :down +3 "storage"(-' +99 (P% +3 "core" %FE z /\ oYo +2 "manipulator"& % +3 "core" %1 * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'=& +4 "core" & \ +2 "manipulator"&G% +4 "core" %  (  + "storage"(% +4 "core" % P\ v +2 "storage"(y. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(u(,y +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ([& +3 "core" &,w \ s +2 "manipulator"&o& +4 "core" &{ C + .tElbow.seek 4 +2 "manipulator"&|( +33 "core" ( + "manipulator"&& +5 "core" & >  + "storage"("& +4 "core" &,w d c @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +93 "core" ' + "storage"(W& +4 "core" &,w u G\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'r +299 "core" ' + "storage"(- +4 "core" -'( + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" &,k L\ s +2 "manipulator"&{& +4 "core" & I  +2 .tElbow.seek 4 + "manipulator"&K( +4 "core" ( + "manipulator"&E& +4 "core" & 4  + "storage"()& +4 "core" &,k v\ s +2 .tForearm.seek 4 + 300 counts + "manipulator"&!'c +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(O' +7 "core" & S  + "manipulator"&0% +4 "core" % k e +2 .tForearm.seek :retract +2 "manipulator"&S' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +151 "core" ( + "manipulator"&,& +5 "core" &x.   E + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 && +3 "core" &y- : E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'? +96 "core" ' +3 "manipulator"&I& +4 "core" &Ӭ% 1 >N +2 "manipulator"&c% +3 "core" %I H  +2 "collection"'C& +4 "core" & \ +2 "collection"' & +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'*(\\ +3 "core" & \ +9 & 1 \ %f +9 &Us \ 7 +9 &r \ L +10 &N \ M +9 &aN \ N +9 &$M \ M +10 &K \ M +9 &P \ M +10 &jP \ M +9 &+N \ N +9 &N \ M +10 &!J \ M +9 &#rQ \ M +9 &%4N \ M +10 &&O \ M +9 &(N \ N +10 &*yN \ N +9 &,;O \ N +9 &-P \ M +10 &/N \ N +9 &1N \ M +9 &3DK \ M +10 &5N \ M +9 &6O \ N +10 &8O \ N +9 &:KO \ N +9 &<L \ M +10 &=O \ N +9 &?O \ N +9 &ASS \ N +10 &CX \ O +9 &Dg \ P +10 &F{ \ {T +9 &H> \ sX +9 &I \ tZ +10 &K \ r[ +9 &Mz \ r[\ +9 &O: \ u\\ +10 &P \ u[ +9 &R \ q] +10 &Tz \ o^ +9 &V: \ o^ +9 &W \ k` +10 &Y *\ h` +9 &[w \ dN +9 &\\: \ r3 +10 &\\ \ x ^ +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.45 + .Hand.open +2 "manipulator"&1 +3 "core" &\\ \ z ^ +52 1 +2 "manipulator"&Y% +5 "core" % I j  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%g& +4 "core" &\ c + "manipulator"&r% +4 "core" %  &  +2 "storage"(h% +3 "core" % * + C\ b +2 "storage"(J. +3 "core" .(,v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +39 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (m& +3 "core" &,|\ \  \ U +2 "manipulator"&x& +4 "core" &Ӭ$ 8 >N +2 "manipulator"&B% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&d( +155 "core" ( + "manipulator"&3& +4 "core" & l +2 "storage"(n& +4 "core" &,|  ) \\\ c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&`' +97 "core" ' + "storage"(~& +4 "core" &,| N 2 ]\ d +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +296 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" &,l & @ 1\ _ +2 "manipulator"&F& +3 "core" & L +2 .tElbow.seek 4 +2 "manipulator"&_( +3 "core" ( + "manipulator"&& +4 "core" & Z +2 "storage"(L& +3 "core" &,l D O @\ g +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&''c +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&+& +3 "storage"(M' +8 "core" & % + "manipulator"&T% +4 "core" % τ H R +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&Z& +4 "core" & j , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & > , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?' +102 "core" ' + "manipulator"&& +4 "core" & , +2 "manipulator"& % +4 "core" %  +2 "processing"%b& +4 "core" &\ j +2 "processing"%]& +4 "core" &\ h +2 .tPC.seek :closed +2 "processing"%e(^ +4 "core" &\ h +9 &1s\ V*x +9 &`w\ W> +10 &eh\ ZO +9 &$I\ `P +9 &I\ `P +10 &F\ aO +9 &kH\ bO +9 &,J\ aP +10 &K\ eP +9 &G\ eO +9 & sH\ cO +10 &"4K\ aP +9 &#J\ cP +10 &%G\ dO +9 &'{H\ dO +9 &)<G\ cP +10 &*K\ dO +9 &,I\ eO +9 &.K\ dP +10 &0DL\ cP +9 &2J\ cO +10 &3I\ bO +9 &5I\ ^P +9 &7LI\ ]P +10 &9 M\ \\P +9 &:J\ bP +9 &<G\ aP +10 &>TK\ _P +9 &@K\ \\P +10 &AU\ `Q +9 &Ci\ YS +9 &EJ~\ SV +10 &G\ \ UV +9 &H\ TW +10 &J\ PX +9 &LN\ SW +9 &N\ RX +10 &O\ RX +9 &Q\ NY +9 &SQ\ SY +10 &U\ PY +9 &V\ OY +9 &X\ LX +10 &ZX\ LY +9 &\\\ JY +10 &]}\ Q7 +9 &^7t\ V> +9 ( +3 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.83 + .Hand.open + "manipulator"&1 +4 "core" &^\ g/ +53 1 + "manipulator"&v% +4 "core" %  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +87 "core" ' + "processing"%^& +5 "core" &^\ ]/ + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&t% +3 "core" %  F  +2 "storage"(% +3 "core" % f O\ _ +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(N(,y +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +3 "core" &,{ + + M\ ] + "manipulator"&8& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(A'r + "manipulator"& ( +5 "core" ( +2 "manipulator"&2& +3 "core" & f , +2 .tElbow.reconfigure :loose +53 "manipulator"&$ &.,(#b +4 &<& +3 "core" & G , +2 .tForearm.seek PC +2 "manipulator"&l' +93 "core" ' +2 .tHand.close + "manipulator"&6/ +68 "core" / + .tPC.seek :open +2 "processing"%( +33 "core" ' +2 "storage"(p- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\ '1 +41 "core" ' +368 ( +2 "storage"(U& +4 "core" &,h I i\ Z +2 "manipulator"&j& +3 "core" & 5 , +2 "manipulator"&% +4 "core" %   0 + .tForearm.seek :retract +2 "manipulator"&(' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&z( +244 "core" ( +2 "manipulator"&H& +4 "core" & s  + "storage"(:& +4 "core" &,h ? 0\ d +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +96 "core" ' + .tHand.open + "manipulator"&91 +60 "core" 1 +2 "storage"(.- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(w' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(>- +3 "core" -' +2 "storage"(;& +4 "core" &,h Z\ + "manipulator"&V& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&%( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"(i& +4 "core" &,h \ " +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(P'" +58 "core" ' + "manipulator"& & +5 "core" & ]  + "storage"(D& +4 "core" &,h + I S\ ] +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&7'7 +14 "core" ' +2 .tElbow.hold + "manipulator"&=, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +28 "core" ' + "manipulator"&G% +5 "core" %9 2 > + "storage"(& +4 "core" &,h\ \  \ V +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 302 counts + "manipulator"&y'e +15 "core" ' +2 "manipulator"&f& +4 "core" & *  +2 "storage"(& +4 "core" &,h\ \ ! 3\ Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +17 "core" ' + "storage"(1% +5 "core" % , + O\ ] +2 ."downElevator"SE.seek :down +5 "storage"([' +98 (o% +4 "core" %/F \ P[t +2 "manipulator"&% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&"' +89 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &,h \  \ U +2 "collection"'5& +3 "core" &\\ \ ^ +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"& % +3 "core" %  K  +2 "storage"(% +4 "core" % J D\ [ + "storage"(#. +3 "core" .(,y + "storage"({& +4 "core" &,h *  \ ^ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(E(,y +29 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +2 "core" &,}\ \  o\ V +2 "manipulator"&&& +4 "core" & "  +2 .tElbow.seek 4 +2 "manipulator"&$( +3 "core" ( + "manipulator"&0& +4 "core" & /  +2 "storage"(|& +3 "core" &,} J P\ [ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +95 "core" ' + "storage"(,& +5 "core" &,} E \ Y + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +2 "core" & I  +2 "storage"(I& +4 "core" &,l ]\ T +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&c'7 +14 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(K- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(O'{ +26 "core" ' + "manipulator"&S% +5 "core" %C  C + "storage"(k& +4 "core" &,l K L\ [ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 312 counts +2 "manipulator"&'o +14 "core" ' + "manipulator"&Y& +4 "core" & O  +2 "storage"(g& +4 "core" &,l * , L\ ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +15 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(h' +39 "core" ' +2 "manipulator"&J& +4 "core" & <  +2 "manipulator"& % +3 "core" % [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +152 "core" ( +2 "manipulator"&B& +4 "core" &ӊ( > Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &Ӌ( E Ab +2 .tForearm.seek CC + "manipulator"&3'? +92 "core" ' + .tHand.close +2 "manipulator"&n/ +75 "core" / +2 .tCC.seek :open + "collection"'u( +451 "core" ( +2 "storage"(~& +4 "core" &,l ^ n q\ i +2 "storage"(}& +3 "core" &,l i g p\ i +2 "manipulator"&s& +3 "core" &ӹ" : ;4 +2 "manipulator"&% +4 "core" % J 2  + .tForearm.seek :retract +2 "manipulator"&a' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&F( +165 "core" ( +2 "manipulator"&& +4 "core" & O  + "storage"(L& +4 "core" &,l A 7 ;\ e +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'7 +95 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +60 "core" 1 +2 "manipulator"&d% +4 "core" % / 6 9 +2 "storage"(`& +3 "core" &,l j L `\ h +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 292 counts +2 "manipulator"&'[ +14 "core" ' +2 "manipulator"&'& +4 "core" &   + "storage"(Z& +4 "core" &,l Q L =\ g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +16 "core" ' + "storage"(_% +4 "core" % L k \\\ h +3 ."downElevator"SE.seek :down +3 "storage"(' +99 ( % +2 "core" %6 $  X\ aXj +2 "manipulator"&b% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M' +89 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" & \ +2 "manipulator"&@% +4 "core" %    + "storage"(% +4 "core" % j V 8\ h +2 "storage"(v. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(^(<- +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (t& +2 "core" &% +4 "core" %/ R H + "collection"';& +4 "core" & \ +2 "collection"'V& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +6 & 0 \ y$e +10 &Ut \ j8 +9 &n \ iL +10 &M \ oN +9 &cI \ oN +9 &$L \ kN +10 &L \ oN +9 &L \ sM +9 &kL \ sN +10 &-L \ pN +9 &K \ oM +10 &!L \ lN +9 &#qL \ lN +9 &%4L \ kN +10 &&K \ qN +9 &(L \ uN +9 &*{L \ tN +10 &,<L \ nN +9 &-K \ lN +10 &/L \ pN +9 &1L \ pN +9 &3BL \ mO +10 &5L \ sN +9 &6M \ vN +9 &8L \ tN +10 &:MM \ rN +9 &<L \ qN +10 &=L \ pN +9 &?M \ qN +9 &ASN \ wN +10 &CR \ xO +9 &DZ \ vO +9 &Fn \ pR +10 &HJ \ eT +9 &I \ ]Y +9 &K \ [[\ +10 &Mz *\ \\\\ +9 &O< >\ ]\\ +10 &P @\ [\\ +9 &R :\ [] +9 &T{ ,\ X^ +10 &V= \ ]^ +9 &W 3\ b_ +9 &Y !\ a_ +10 &[| 9\ _M +9 &\\7 3\ p1 +10 &\\ B\ sZ +5 ( +2 "collection"'V& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + .Hand.open + "manipulator"&i1 +4 "core" &\\x /\ {Z +52 1 +2 "manipulator"&(% +4 "core" % / H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%D& +5 "core" &\ U + "manipulator"&G% +4 "core" % ! & + "storage"(% +4 "core" % \ T + "storage"(\ . +3 "core" .(<* +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(f(<- +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(;- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(p'{ +29 "core" ' +2 "manipulator"&j% +4 "core" %Ι  + "storage"(l& +4 "core" &<. R P 7\ f +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 312 counts +2 "manipulator"&u' +14 "core" ' +2 "manipulator"&i& +4 "core" & Z  +2 "storage"((& +4 "core" &<. h ] \\\ k + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&D'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(G' +47 "core" ' +2 "manipulator"&& +4 "core" &   + "manipulator"&\ % +4 "core" %G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( + "manipulator"&& +4 "core" &{( Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &{( = Ac +2 .tForearm.seek CC +2 "manipulator"&9'? +93 "core" ' + .tHand.close +2 "manipulator"&R/ +59 "core" / +2 .tCC.seek :open +2 "collection"'w( +451 "core" ( + "storage"(^& +4 "core" &<. G\ s +2 "storage"(& +3 "core" &<. E\ s +2 "manipulator"&H& +3 "core" &Ӎ&  ?Q +2 "manipulator"& % +3 "core" % I - C +2 .tForearm.seek :retract +2 "manipulator"&%' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&P( +164 "core" ( + "manipulator"&7& +4 "core" & s  +2 "storage"(W& +4 "core" &<. Z\ s + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&5'΍ +96 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +59 "core" 1 +2 "manipulator"&{% +4 "core" % Κ I  + "storage"(z& +4 "core" &<. \ v + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 313 counts + "manipulator"&o' +14 "core" ' + "manipulator"&& +5 "core" & q  + "storage"( & +4 "core" &<. s\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&0'O +17 "core" ' + "storage"(|% +5 "core" % 5\ | +2 ."downElevator"SE.seek :down +3 "storage"(y' +99 (,% +3 "core" %8 N\ wXh + "manipulator"&[% +4 "core" %@ V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & \ + "manipulator"&)% +4 "core" %    +2 "storage"(% +4 "core" % b\ | + "storage"(Q. +3 "core" .(<- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(!( +675 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +2 "core" & 2\ u +2 "manipulator"&S& +3 "core" & .  +2 .tElbow.seek 3 +2 "manipulator"&k( +35 "core" ( +2 "manipulator"&Y& +4 "core" & 7  + "storage"(g& +4 "core" & \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&J'7 +94 "core" ' + "storage"( & +5 "core" & \ z + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='r +296 "core" ' + "storage"(- +4 "core" -'" + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (c& +3 "core" & \ s + "manipulator"&-& +4 "core" & :  + .tElbow.seek 3 +2 "manipulator"&O( +26 "core" ( + "manipulator"&\\& +4 "core" & Y b +2 "storage"(&& +3 "core" & 4\ v +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&I'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& + "storage"(C' +7 "core" &  b +2 "manipulator"&n% +4 "core" % ϕ + .tForearm.seek :retract +2 "manipulator"&m' +96 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&}& +4 "core" &ӑ&  ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &ӑ& . ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&4'? +94 "core" ' +2 "manipulator"&& +55 "core" &ӑ&  ?P + "manipulator"&L% +4 "core" %7 } } +2 "collection"'T& +4 "core" & \ +2 "collection"'*& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'d(\\ +4 "core" & \ +4 & \ 8 +10 &<Ip \ 0 +9 &eqw \ D +10 &Y \ N +9 &M \ M +9 &Q \ M +10 &MN \ N +9 &N \ M +9 &J \ M +10 &O \ M +9 &UO \ N +10 &!N \ M +9 &"L \ M +9 &$P \ M +10 &&^N \ M +9 &( L \ M +9 &)J \ M +10 &+L \ M +9 &-eO \ N +9 &/(P \ M +10 &0P \ M +9 &2Q \ M +10 &4mQ \ N +9 &60O \ M +9 &7L \ M +10 &9Q \ M +9 &;vL \ M +9 &=7Q \ N +10 &>O \ N +9 &@R \ M +10 &B{X \ N +9 &D:_ \ O +9 &Eu \ R +10 &G +\ V +9 &I_ :\ ~[ +10 &K! =\ }[ +9 &L \ x\\ +9 &N \ w] +10 &P^ \ r^ +9 &R" \ s] +9 &S 4\ p_ +10 &U :\ r^ +9 &W` \ p` +10 &Y ?\ ma +9 &Z \ s` +9 &\\Qb \ \ p4 +10 &\\ \ s$l +9 ( +2 "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.46 + .Hand.open +2 "manipulator"&`1 +3 "core" &\\ /\ "d +58 1 + "manipulator"&Z% +4 "core" % 7 3 } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%b& +4 "core" &\ Z +2 "manipulator"&F% +4 "core" %    + "storage"(r% +4 "core" % < '\ Y +2 "storage"(3. +3 "core" .( + "storage"(& +4 "core" &\ %\ ' \ Y +2 "storage"(& +3 "core" &\ ) J 0\ [ +2 "manipulator"&h& +4 "core" &Ӓ% D >O + "manipulator"&% +4 "core" %  k  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&E( +164 "core" ( + "manipulator"&~& +4 "core" &  +2 "storage"(& +3 "core" & Q P O\ f +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&x'7 +96 "core" ' +2 "storage"(& +4 "core" & ~\ m +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'r +297 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" & ) + A\ _ + "manipulator"& & +4 "core" & b  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&v& +3 "core" &   +2 "storage"(2& +3 "core" & \  $\ [ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&+'ϡ +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& + "storage"(' +7 "core" &   +2 "manipulator"&@% +4 "core" % ϙ 6 + .tForearm.seek :retract +2 "manipulator"&6' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +72 "core" ( + "manipulator"&& +5 "core" & a % + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" & E % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&& +4 "core" & H % +2 "manipulator"&8% +3 "core" %  +2 "processing"%t& +4 "core" &\ f +2 "processing"%& +6 "core" &\ d +2 .tPC.seek :closed + "processing"%X(^ +4 "core" &\ b +8 & *\ X$d +10 &Ts\ O7 +9 &{p\ ML +9 &H\ VP +10 &RG\ SP +9 &E\ SP +10 &F\ XP +9 &G\ VP +9 &[J\ VP +10 &F\ WP +9 &G\ VP +9 &!G\ UP +10 &#cI\ TP +9 &%%G\ SP +10 &&J\ QP +9 &(G\ VP +9 &*kG\ [P +10 &,-K\ [P +9 &-G\ ]P +9 &/I\ ]O +10 &1rK\ \\P +9 &35I\ ]P +10 &4G\ ]P +9 &6I\ \\P +9 &8|J\ ^O +10 &:<I\ ]P +9 &;I\ ]P +9 &=H\ ]P +10 &?J\ \\P +9 &ACJ\ [P +10 &CU\ YQ +9 &D\\\ VS +9 &F}n\ RT +10 &H8\ OW +9 &I{\ NV +9 &K\ KW +10 &M|\ KX +9 &O>\ OW +10 &P\ KY +9 &R\ KX +9 &T\ KY +10 &VB\ KY +9 &X\ LY +9 &Y\ HY +10 &[\ MY +9 &]K\ LL +9 &^{K\ S] +10 &^\ R\ ]8 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"& 1 +3 "core" &^-\ `8 +51 1 + "manipulator"&<% +4 "core" %  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e' +95 "core" ' +2 "processing"%;& +4 "core" &^-\ [8 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&j% +3 "core" %    " +2 "storage"(l% +4 "core" %\  J\ \\ + "storage"(i. +3 "core" .( +2 "storage"((& +4 "core" &\ '\ ( P\ \\ + "storage"(& +5 "manipulator"&\ & +4 "core" &\ \  \ \\ + & % +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +2 "storage"(A'r +5 "core" ( + "manipulator"&:& +4 "core" &  % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &  % +2 .tForearm.seek PC +2 "manipulator"&u' +96 "core" ' +2 .tHand.close + "manipulator"&p/ +72 "core" / +2 .tPC.seek :open +2 "processing"%( +78 "core" ' +2 "storage"(1- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'1 +42 "core" ' +325 ( + "storage"(>& +4 "core" & '  \ [ +2 "manipulator"&R& +3 "core" & i % +2 "manipulator"&V% +4 "core" %  E + .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&^( +246 "core" ( + "manipulator"&& +5 "core" & X D + "storage"(H& +83 "core" & + + R\ ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +102 "core" ' + .tHand.open +2 "manipulator"&71 +52 "core" 1 +2 "storage"(W- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(9' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(#- +3 "core" -' +2 "storage"({& +3 "core" & ?\ & +2 "manipulator"&z& +4 "core" & D + .tElbow.seek 3 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & ) D + "storage"(|& +4 "core" & \ ?\ 3 +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(,'" +51 "core" ' +2 "manipulator"&[& +4 "core" & S D +2 "storage"(P& +3 "core" & K a \ i +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&5'u +13 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(o' +20 "core" ' + "manipulator"&)% +5 "core" %Ή - + "storage"(& +4 "core" & , * G\ b +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&Q'ϵ +14 "core" ' +2 "manipulator"&G& +4 "core" &  D +2 "storage"(0& +4 "core" & g h a\ l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&y'7 +16 "core" ' +2 "storage"(f% +5 "core" % m  \ l +2 ."downElevator"SE.seek :down +3 "storage"(K' +99 (S% +3 "core" %R f +\ _\\x + "manipulator"&Y% +4 "core" %+ . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&g' +141 "core" ' +11 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" & Q - \ j +2 "collection"'& +4 "core" &\\ \ "d +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&N% +4 "core" %  9  +2 "storage"(% +4 "core" % y g 2\ m + "storage"(c. +3 "core" .( +2 "storage"(-& +4 "core" & g g y\ k + "storage"(\\& +4 "core" & h n }\ m + "manipulator"&&& +4 "core" & 1 C +2 .tElbow.seek 3 +2 "manipulator"&"( +9 "core" ( + "manipulator"&$& +4 "core" &  $ +2 "storage"(n& +4 "core" & y h \ m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&k'7 +95 "core" ' + "storage"(J& +4 "core" & \ p +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(}'r +307 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" & $ + "storage"(I& +4 "core" & } x N\ m + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'u +18 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(L- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(T's +27 "core" ' + "manipulator"&C% +5 "core" %~   + "storage"(m& +4 "core" & L V ]\ i + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&w'Ϫ +13 "core" ' +2 "manipulator"&`& +4 "core" & F $ +2 "storage"(Z& +4 "core" & 5\ q + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(F' +35 "core" ' + "manipulator"&r& +5 "core" & $ + "manipulator"&3% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&*& +4 "core" &ӈ&  ) ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &ӈ& b ?T +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' + .tHand.close + "manipulator"&4/ +56 "core" / + .tCC.seek :open +2 "collection"'~( +451 "core" ( +2 "storage"(& +5 "core" & g j \ + "storage"(& +4 "core" & c c )\ + "manipulator"&& +4 "core" &Ӌ& 9 ?Q +2 "manipulator"&_% +3 "core" % Q H +2 .tForearm.seek :retract +2 "manipulator"&a' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'( +164 "core" ( + "manipulator"& & +4 "core" & \  +2 "storage"(v& +4 "core" & m m \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&2'u +103 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&?1 +64 "core" 1 +2 "manipulator"&@% +4 "core" %  +2 "storage"(E& +3 "core" & e d =\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&x'ϫ +16 "core" ' + "manipulator"&]& +5 "core" &  + "storage"(+& +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +16 "core" ' + "storage"(U% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +2 "core" %;E e d \ Ym +2 "manipulator"&8% +4 "core" %8 O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t' +95 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&6% +3 "core" %  V ' +2 "storage"(B% +4 "core" % \  +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(<(,y +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (;& +3 "core" &,z ] \  +2 "manipulator"&j& +4 "core" & }  + .tElbow.seek 4 +2 "manipulator"&l( +25 "core" ( +2 "manipulator"&i& +4 "core" & y  +2 "storage"((& +3 "core" &,z { \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +96 "core" ' +2 "storage"(& +4 "core" &,z C\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(:- +3 "core" -'( +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +2 "core" &,k h s \ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&p( +21 "core" ( + "manipulator"&1& +4 "core" &  +2 "storage"(& +3 "core" &,k 9\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&e'c +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&A& + "storage"(>' +9 "core" & 5  + "manipulator"&R% +4 "core" % g K +2 .tForearm.seek :retract +2 "manipulator"&V' +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u(ӂ +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&& +5 "core" &x+  Cq + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &x+ Cq +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&H'? +97 "core" ' +2 "manipulator"&7& +4 "core" &Ӣ$ . =G +2 "manipulator"&W% +3 "core" %I   +2 "collection"'#& +4 "core" & \ +2 "collection"'{& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'z(\\ +4 "core" & \ +6 &1 \ $d +10 &Vs \ 7 +9 &p \ K +9 &N \ M +10 &eN \ L +9 &%N \ M +9 &N \ M +10 &N \ M +9 &lL \ M +10 &-O \ M +9 &N \ M +9 &!Q \ M +10 &#tL \ M +9 &%6M \ M +9 &&N \ M +10 &(N \ M +9 &*|O \ M +10 &,>N \ M +9 &.O \ M +9 &/L \ M +10 &1O \ L +9 &3FO \ M +10 &5R \ M +9 &6N \ M +9 &8O \ M +10 &:MS \ M +9 &<O \ M +9 &=N \ M +10 &?O \ M +9 &AUR \ M +9 &C\\ \ N +10 &Df \ P +9 &F \ S +10 &H? \ W +9 &I \ Z +9 &K \ [\ +10 &Mt \ {] +9 &O: \ \\ +10 &P \ x] +9 &R \ {^ +9 &Tx \ w^ +10 &V8 0\ v_ +9 &W \ {_ +9 &Y \ wa +10 &[y \ uN +9 &\\9 \ 6 +9 &\\ \ ^ +6 ( + "collection"'{& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.53 + .Hand.open + "manipulator"& 1 +4 "core" &\\ \ ^ +49 1 +2 "manipulator"&|% +4 "core" % I N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%[& +4 "core" &\ n +2 "manipulator"&P% +4 "core" %  $  + "storage"()% +4 "core" % } @\ n +2 "storage"(. +3 "core" .(,y + "storage"(G& +4 "core" &,k z\ o +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(D(,y +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +3 "core" &,z  \ m + "manipulator"&9& +4 "core" &Ӣ#  e =G +2 "manipulator"&f% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&^( +214 "core" ( +3 "manipulator"& & +9 "core" & D  +2 "storage"(& +8 "core" &,z \ \ v +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&S' +99 "core" ' + "storage"(Y& +4 "core" &,z \ y +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'r +297 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +3 "core" &,l \ q + "manipulator"&5& +4 "core" & '  +2 .tElbow.seek 4 + "manipulator"& ( +4 "core" ( + "manipulator"&Q& +4 "core" & `  + "storage"(& +4 "core" &,l \ q +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&N'c +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(o' +7 "core" & 3  + "manipulator"&-% +4 "core" % ϗ l +2 .tForearm.seek :retract +2 "manipulator"&\\' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&&( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( + "manipulator"&$& +4 "core" & A & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" & 2 & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&y' +98 "core" ' + "manipulator"&J& +4 "core" &  & +2 "manipulator"&K% +4 "core" % E +2 "processing"%& +3 "core" &\ p +2 "processing"%g& +6 "core" &\ o +2 .tPC.seek :closed + "processing"%s(^ +5 "core" &\ l +8 &/p\ `*y +9 &cx\ \\? +10 &kh\ [P +9 &-I\ aP +9 &K\ `O +10 &F\ dO +9 &sG\ cP +9 &6J\ cO +10 &J\ fO +9 &I\ eO +10 & |G\ fO +9 &"=J\ eP +9 &$K\ fO +10 &%F\ gO +9 &'G\ gO +9 &)FJ\ fO +10 &+J\ eP +9 &,I\ eP +10 &.F\ fO +9 &0NH\ gO +9 &2L\ eP +10 &3J\ eP +9 &5G\ fP +9 &7VG\ gO +10 &9J\ fP +9 &:L\ dP +9 &<L\ dP +10 &>\\M\ cP +9 &@J\ dP +10 &AT\ dQ +9 &Ck\ ^S +9 &ES}\ ZV +10 &Gz\ ZV +9 &H\ XW +9 &J\ ZW +10 &LW\ XW +9 &N\ YX +10 &O\ YX +9 &Q\ VY +9 &S[\ UY +10 &U\ VX +9 &V\ SY +9 &X\ UX +10 &Zc\ ZY +9 &\\%\ [Y +10 &]v\ _: +9 &^-x\ ]Y +9 &^(\ i5 +3 ( + "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&=1 +54 "core" 1 +2 "manipulator"&I% +4 "core" %  V + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L' +91 "core" ' +2 "processing"%C& +4 "core" &^%\ h5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&m% +4 "core" %  ?  +2 "storage"(`% +3 "core" % M L [\ g +2 "storage"(Z. +3 "core" .(,y + "storage"(r& +4 "core" &,l Q Q\ f +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(3(,y +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +3 "core" &,y d ^\ k + "manipulator"&"& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&}( + "storage"('r +5 "core" ( + "manipulator"&w& +4 "core" & i & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" & ( & +2 .tForearm.seek PC +2 "manipulator"&T' +94 "core" ' +2 .tHand.close + "manipulator"&h/ +72 "core" / +2 .tPC.seek :open +2 "processing"%b( +84 "core" ' +2 "storage"(O- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'1 +44 "core" ' +314 ( + "storage"(& +4 "core" &,j \ s +2 "manipulator"&d& +3 "core" &  & +2 "manipulator"&% +3 "core" %  X 4 +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +245 "core" ( + "manipulator"&_& +4 "core" & ! : +2 "storage"( & +3 "core" &,j 3\ o +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +96 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(?' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(@' +54 "core" ' + #tLights, camera, ACTION! + "storage"(E- +4 "core" -' +2 "storage"(]& +3 "core" &,j C\ ) +2 "manipulator"&+& +4 "core" & : + .tElbow.seek 4 +2 "manipulator"&U( +3 "core" ( + "manipulator"&a& +4 "core" &  : +2 "storage"(& +3 "core" &,j `\ ' +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(''" +57 "core" ' + "manipulator"&2& +5 "core" & N : + "storage"(& +4 "core" &,j 1\ s +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&6'7 +14 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +29 "core" ' + "manipulator"& % +4 "core" %D " 9 +2 "storage"(F& +4 "core" &,j ~\ m +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&'p +14 "core" ' +2 "manipulator"&& +4 "core" & l : +2 "storage"(!& +4 "core" &,j z M\ n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&;' +16 "core" ' +2 "storage"(j% +4 "core" % ~ o\ m +3 ."downElevator"SE.seek :down +3 "storage"(i' +98 ((% +3 "core" %3D e f \ iYn +2 "manipulator"&% +4 "core" % P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&M' +88 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (t& +4 "core" &,j }\ u + "collection"':& +4 "core" &\\ \ ^ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&.% +4 "core" %  /  +2 "storage"(% +3 "core" % \ w +2 "storage"(1. +3 "core" .(,y + "storage"(& +4 "core" &,j \ w +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(X(,y +32 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &,z \ w + "manipulator"&R& +4 "core" & S : +2 .tElbow.seek 4 +2 "manipulator"&l( +3 "core" ( + "manipulator"&\ & +4 "core" &  : +2 "storage"(& +3 "core" &,z B\ w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(& +4 "core" &,z t\ x +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'r +301 "core" ' + "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&W& +2 "core" & - : +2 "storage"(#& +4 "core" &,l | W\ n +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&p'7 +40 "core" ' +2 .tElbow.hold +51 "manipulator"&>, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(V- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(~'} +29 "core" ' +2 "manipulator"& % +4 "core" %@ L  +2 "storage"(|& +3 "core" &,l ` g O\ i +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 309 counts + "manipulator"&['l +15 "core" ' + "manipulator"&P& +4 "core" & A : +2 "storage"()& +4 "core" &,l x y 7\ p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +17 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(G' +49 "core" ' + "manipulator"&{& +5 "core" & & : + "manipulator"&0% +4 "core" % N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +151 "core" ( + "manipulator"&H& +5 "core" &Ӎ& ?U + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &Ӎ& ?U +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 .tHand.close + "manipulator"& +10 &vk \ N +9 &:Q \ M +9 &M \ L +10 &O \ M +9 &Q \ M +9 &BQ \ M +10 &Q \ M +9 &N \ L +10 & O \ L +9 &"JR \ M +10 &$ N \ M +9 &%N \ L +9 &'O \ M +9 &)RQ \ M +10 &+Q \ M +9 &,R \ M +10 &.Q \ M +9 &0ZR \ M +9 &2R \ M +10 &3R \ M +9 &5N \ M +9 &7cN \ L +10 &9$O \ M +9 &:R \ M +10 &<O \ M +9 &>jP \ M +9 &@+S \ M +10 &AQ \ M +9 &CW \ N +10 &Ekb \ O +9 &G&s \ Q +9 &H \ U +10 &J \ Y +9 &LR \ Z +9 &N \ [ +10 &O \ [ +9 &Q \ [ +9 &SU \ \\ +10 &U \ ] +9 &V \ ^ +10 &X \ ~^ +9 &ZT \ ~_ +9 &[{ \ @ +10 &\\* \ + +9 &\\{ \ W +3 ( + "collection"'+& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.28 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % :  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ r +2 "manipulator"& % +3 "core" %   +2 "storage"(F% +4 "core" % \ q + "storage"(4. +4 "core" .(<- + "storage"(& +4 "core" &<0 R\ q + "storage"(!& +4 "core" &<0 { R\ p +2 "manipulator"&?& +3 "core" &Ӑ& \ ?T +2 "manipulator"&j% +4 "core" %   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&v& +4 "core" & F  + "storage"(@& +4 "core" &<0 E\ q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&('O +90 "core" ' + "storage"(& +4 "core" &<0 \ x +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'r +297 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ('& +3 "core" & +10 &gh\ dO +9 &'L\ kO +10 &J\ kO +9 &I\ lO +9 &mJ\ kO +10 &.H\ iP +9 &I\ hP +10 &J\ gO +9 & uG\ jO +9 &"7H\ gO +10 &#J\ jP +9 &%I\ lO +9 &'}F\ kO +10 &)@G\ jO +9 &+I\ jP +9 &,I\ gP +10 &.F\ eP +9 &0FK\ eP +10 &2I\ hP +9 &3G\ fO +9 &5I\ jO +10 &7OL\ jO +9 &9J\ fO +9 &:M\ gP +10 &<G\ hO +9 &>VK\ hP +10 &@N\ hP +9 &AT\ eP +9 &C`\ `R +10 &ESk\ aS +9 &G|\ ZV +9 &H\ ^V +10 &J}\ ^V +9 &LR\ [V +10 &N\ \\X +9 &O\ `W +9 &Q\ \\X +10 &SV\ [X +9 &U\ WX +9 &V\ YX +10 &X\ [W +9 &Z^\ _X +10 &\\ \ bX +9 &]|\ h6 +9 &^3m\ jE +9 ( +4 "processing"%x& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.80 + .Hand.open + "manipulator"&71 +4 "core" &^&\ u4 +54 1 + "manipulator"&W% +4 "core" %  \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#' +94 "core" ' +2 "processing"%V& +4 "core" &^&\ n4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" % # 2 +2 "storage"(|% +3 "core" % } )\ m +2 "storage"(P. +3 "core" .(<- + "storage"()& +4 "core" && +4 "core" &<. \ r + "manipulator"&<& +4 "core" & ] " + "manipulator"&9% +4 "core" %  V  +2 .tForearm.seek :retract +2 "manipulator"&z' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Y( +247 "core" ( + "manipulator"&& +4 "core" & 6  +2 "storage"(& +3 "core" &<. x e N\ n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&,'O +92 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(f' +59 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' + "storage"(S& +4 "core" &<. \ , +2 "manipulator"&%& +3 "core" & S  +2 .tElbow.seek 5 +2 "manipulator"&$( +11 "core" ( +2 "manipulator"&n& +4 "core" & $  + "storage"(J& +4 "core" &<. \ / +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5'O +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&o& +4 "core" &  +2 "storage"(Q& +4 "core" &<. .\ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&c'΍ +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(=' +18 "core" ' +2 "manipulator"&N% +4 "core" %Θ v + "storage"(I& +4 "core" &<. u o\ p +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&C' +13 "core" ' +2 "manipulator"&G& +4 "core" &  + "storage"( & +4 "core" &<. \ v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&K'O +16 "core" ' +2 "storage"(X% +4 "core" % "\ v +3 ."downElevator"SE.seek :down +3 "storage"(`' +98 (Z% +3 "core" %,H H ^ \ g[r +2 "manipulator"&g% +4 "core" %8 B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +97 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (w& +4 "core" &<. \ t +2 "collection"'-& +4 "core" &\\~ \ W + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&\\% +4 "core" %  ^ + "storage"(y% +4 "core" % M\ v + "storage"(h. +4 "core" .(<- + "storage"(D& +4 "core" &<. J\ u +2 "storage"(&& +4 "core" &<. K\ u + "manipulator"&L& +4 "core" & 6  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &<. '\ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&r'O +93 "core" ' + "storage"("& +4 "core" &<. ,\ t +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +297 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&*& +3 "core" & _  +2 "storage"(s& +3 "core" &<. \ s +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'΍ +14 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate + "storage"(O'{ +27 "core" ' +2 "manipulator"&d% +4 "core" %Ο Q O + "storage"(T& +4 "core" &<. \ z + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts + "manipulator"&u' +14 "core" ' + "manipulator"&& +5 "core" & J  + "storage"(& +4 "core" &<. \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +14 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"( ' +41 "core" ' + "manipulator"&F& +5 "core" & <  + "manipulator"&4% +4 "core" %5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&!& +5 "core" &Ӟ X 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +2 "core" &Ӟ 6 +2 .tForearm.seek CC +2 "manipulator"&j'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'v( +451 "core" ( +2 "storage"(@& +4 "core" &<. f q J\  + "storage"(& +4 "core" &<. e c #\  + "manipulator"&_& +4 "core" &Ӟ  6 + "manipulator"&2% +4 "core" % 2 K ( +2 .tForearm.seek :retract +2 "manipulator"&U' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&'( +162 "core" ( +2 "manipulator"&6& +55 "core" & t  + "storage"(& +4 "core" &<. s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&:'΍ +99 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&11 +61 "core" 1 +2 "manipulator"&% +5 "core" % Ι A + "storage"(& +4 "core" &<. P\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&(' +13 "core" ' + "manipulator"&8& +5 "core" &  + "storage"(.& +4 "core" &<. \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ 'O +17 "core" ' +2 "storage"(% +4 "core" % <\ +3 ."downElevator"SE.seek :down +3 "storage"(t' +98 (% +4 "core" %C a\ Wg + "manipulator"&i% +4 "core" %6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3' +86 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +2254 #t-> access 2 +3 "storage"(B% +3 "core" % \  +2 "manipulator"&A% +4 "core" %   + "manipulator"&b& +4 "core" & U  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(7(K +378 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +3 "core" &K L\ +195 #t-> exit +6 #mEXIT @1633361313.88UTC @1633361331.23UTC = =tMAIN =mMAIN_scheduler @UTC1633361333.02 #"core_reset"Sent BREAK +2 #t@34157 receive with ifg=0x10, ie=0xFD + #@34795 receive with ifg=0x10, ie=0xFD #@35452 receive with ifg=0x10, ie=0xFD + #@36088 receive with ifg=0x10, ie=0xFD + #@36739 receive with ifg=0x10, ie=0xFD #@37375 receive with ifg=0x10, ie=0xFD + #@38009 receive with ifg=0x10, ie=0xFD #@38335 receive with ifg=0x80, ie=0xFD + #@60417 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +290 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +369 "Can"\ @= + \ @= #tPolling Can every 10:00 +415 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %i \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" %\ | +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +5 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % \\\ @ +2 .tSS.configure :default +2 "sampler")#.0X startTube 2 +992 #-> $da[:extractVol]=.2 +57661 "Can"\ >; +3618 #t-> shortDA +2 "collection"'3% +4 "core" %i \ + "processing"%4% +5 "core" %\  +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +176 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1002 .PSV.dial :mixloop +2 "processing"%5 +132 "core" + .tPTV.dial :PRVmixing +2 "processing"%6  +129 "core" +2 .tPRV.dial :sipper + "processing"%7  +44 "core" +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml + "processing"%8'e +2294 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%9  +2 "collection"':  +7 "core"  +121  +2 .tPS.seek 0.5ml +2 "processing"%;' +1266 "core" ' + .tPRV.dial :waste2 +2 "processing"%< @ +100 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%='ؾ +595 "core" ' +2 .tPSV.dial PSR + "processing"%> +103 "core"  +2 "processing"%?% +4 "core" %ظ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%@'X\\ +1103 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%A' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"%B +105 "core" +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2629 "core" ' + .tPSV.dial PSR +2 "processing"%D +103 "core"  +2 "processing"%E% +3 "core" %\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%F'X\\ +1106 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%G' +1616 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%H +103 "core" + .tPRV.dial :sipper +2 "processing"%I  +42 "core" +2 .tPS.seek 0ml +2 "processing"%J'ؾ +2651 "core" ' + .tPSV.dial PSR +2 "processing"%K +103 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%L' +2632 "core" ' +2 .tPSV.dial :mixloop + "processing"%M +105 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2651 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%O& +4 "core" &\ + .tHand.open + "manipulator"&P1 +26 "core" 1 + "manipulator"&Q% +4 "core" %  ;  + "storage"(R% +4 "core" % W\  + "storage"(S. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(T(  +1297 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +2 "core" &  \ +2 "manipulator"&V& +4 "core" &  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W( +3 "core" ( + "manipulator"&X& +3 "core" & \  +2 "storage"(Y& +4 "core" &  .\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'S +91 "core" ' + "storage"([& +4 "core" &  f\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +338 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +30 "core" & \ +2 "manipulator"&_& +4 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&`( +3 "core" ( +2 "manipulator"&a& +4 "core" &  + "storage"(b& +4 "core" & M\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&c'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& + "storage"(f' +7 "core" &  c  + "manipulator"&g% +4 "core" % Ϸ " +2 .tForearm.seek :retract +2 "manipulator"&h' +96 "core" ' +2 .tElbow.seek PC + "manipulator"&i( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&j& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +2 "core" & a  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&l' +90 "core" ' +2 "manipulator"&m& +4 "core" & .  +2 "manipulator"&n% +3 "core" % g j +2 "processing"%o& +3 "core" &\ +2 "processing"%p& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%q(^ +3 "core" &\ +6 &3\ $c +10 &Sx\ 7 +9 &}u\ }L +10 &M\ O +9 &SN\ O +9 &M\ O +10 &N\ O +9 &N\ O +9 &[M\ O +10 &N\ O +9 &N\ O +10 &!L\ O +9 &#dN\ O +9 &%&N\ O +10 &&O\ O +9 &(L\ N +9 &*lO\ O +10 &,/O\ O +9 &-O\ O +10 &/O\ O +9 &1tP\ O +9 &35N\ O +10 &4N\ O +9 &6P\ O +10 &8|O\ O +9 &:=O\ O +9 &<L\ O +10 &=P\ O +9 &?P\ O +9 &AEQ\ O +10 &Be\ R +9 &D{\ }T +9 &Fw\ zV +10 &H:\ |V +9 &I\ V +10 &K\ V +9 &M~\ W +9 &O>\ zW +10 &P\ }X +9 &R\ wX +9 &T\ yX +10 &VE\ yX +9 &X\ xX +10 &Y\ wW +9 &[\ {X +9 &]L\ wK +10 &^xH\ z!e +9 &^`\ ; +6 ( + "processing"%p& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.78 + .Hand.open +2 "manipulator"&r1 +3 "core" &^7\ : +52 1 + "manipulator"&s% +4 "core" %  ) j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +90 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%u h + %v9 +6 "core" 9 +102 "processing"%w9 +3 "core" 9 +102 "processing"%x9 +2 "core" 9  +102 "processing"%y9 +3 "core" 9  +101 "processing"%z9 +4 "core" 9 +101 "processing"%{9 +3 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +3 "core" 9" +101 "processing"%9 +4 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +2 "core" 9. +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%9 +2 "core" 9? +102 "processing"%\ 9 +3 "core" 9C +101 "processing"% 9 +3 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9\\ +102 "processing"%9 +2 "core" 9a +102 "processing"%9 +3 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +3 "core" 9m +102 "processing"%9 +2 "core" 9q +102 "processing"%9 +2 "core" 9u +102 "processing"%9 +3 "core" 9z +102 "processing"%9 +3 "core" 9~ +101 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +2 "core" 9 +102 "processing"%!9 +3 "core" 9 +102 "processing"%"9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +2 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +3 "core" 9\  +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9 +101 "processing"%09 +3 "core" 9 +102 "processing"%19 +3 "core" 9% +2 .tPH.hold 2:00:00,28C +3 "processing"%2 php +2 .tdelay 1:30 +4 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%3 +102 "core"  +2 "processing"%4% +3 "core" %ؾ\  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%5' +597 "core" ' + .tdelay 5 seconds +503 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%6' +1620 "core" ' + .tPTV.dial :puck +2 "processing"%7  +130 "core"  + .tPSV.dial PTV +2 "processing"% +86 "core" + .tPBV.dial :waste1 +2 "processing"%:  +53 "core" +2 "processing"%9% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%8'. +588 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%< * +34 "core" + +2 .tPS.seek 0ml +2 "processing"%;'ؾ +1613 "core" ' +2 .tdelay 5:00 +10636 "Can"\ KH +19366 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%>  +34 "core" + .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%? * +34 "core" , + .tPSR.select :air +3 .PSV.dial PSR + "processing"%= +72 "core"  + .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%@' +2443 "core" ' + .tPSV.dial PTV +2 "processing"%B +86 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%A +72 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%D +85 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%E  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2394 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%F  +129 "core" + .tPSV.dial :mixloop +2 "processing"%H +44 "core" +2 .tPRV.dial :ab1 + "processing"%I @ +100 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%G' +358 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%K  +43 "core"  + "processing"%J% +4 "core" %\ s\  +2 .tPS.seek 0.35ml +2 "processing"%M'm +455 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'L  +29 "core" +2 .tPRV.dial :air +2 "processing"%O  +43 "core"  +2 .tPS.seek 0.9ml +2 "processing"%P'K +1168 "core" ' + .tPRV.dial :waste2 +2 "processing"%Q @ +70 "core" > +2 .tPS.seek 0.5ml +2 "processing"%R' +870 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%S  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%' +1614 "core" ' + .tPSV.dial :PML +2 "processing"%U +45 "core" + .tPTV.dial :mixing +2 "processing"%V @ +163 "core" B + .tPBV.dial :waste1 +2 "processing"%X  +34 "core" +2 "processing"%Y% +4 "core" %E\  +2 .tPS.seek 1.85ml + "processing"%[' +233 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"% * +35 "core" , +3 .tPS.seek 0ml + "processing"%'ؾ +1971 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"']& +3 "core" & \ +2 "manipulator"&^& +3 "core" & J  +2 "manipulator"&_% +3 "core" %  N  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&a(- +127 "core" ( + "manipulator"&b& +4 "core" &- 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" &-  +2 .tForearm.seek :garage + "manipulator"&e'w +100 "core" ' + .tHand.close +2 "manipulator"&g/ +74 "core" / + "manipulator"&W& +4 "core" &- E +2 "manipulator"&Z% +3 "core" % ς a +2 .tForearm.seek :retract +2 "manipulator"&\\' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&c(ӂ +275 "core" ( + "manipulator"&j& +4 "core" &y.  E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &y.  E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&`'? +97 "core" ' +2 "manipulator"&m& +4 "core" &y.   ? E + "manipulator"&n% +4 "core" %A * 0 +2 "collection"'o& +3 "core" & \ +3 "collection"'f& +4 "core" & \ +3 .tCC.seek :closed + "collection"'h(\\ +4 "core" & \  +9 &3y \ ~*z +10 &c} \ ? +9 &qi \ pO +9 &3Q \ O +10 &I \ wO +9 &G \ oO +10 &zQ \ N +9 &<P \ N +9 &H \ tO +10 &K \ O +9 & L \ O +9 &"CI \ O +10 &$N \ O +9 &%N \ O +10 &'N \ N +9 &)KH \ sO +9 &+N \ N +10 &,P \ N +9 &.P \ O +9 &0SO \ O +10 &2N \ zO +9 &3U \ O +9 &5P \ }O +10 &7[K \ O +9 &9O \ O +10 &:O \ O +9 &<O \ N +9 &>dL \ N +10 &@&L \ N +9 &AQ \ O +9 &C\\ \ Q +10 &E^{ \ yS +9 &G \ rX +10 &H \ m[ +9 &J \ j\\ +9 &LL \ j\\ +10 &N \ k] +9 &O \ l] +9 &Q \ i] +10 &SM \ f^ +9 &U \ l_ +10 &V \ w_ +9 &X \ q` +9 &ZM \ qa +10 &[z \ F +9 &\\& \ . +9 &\\ \ "c +3 ( +2 "collection"'f& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.57 + "collection"' & +4 "core" &\\ \ c"c + .tHand.open +2 "manipulator"&r1 +53 "core" 1 +2 "manipulator"&s% +4 "core" % A  ` 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v' +93 "core" ' +2 .tPSV.dial PSR +2 "processing"%p +103 "core"  +2 "processing"%w% +4 "core" %ؽ^\ H + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%l'+ +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%x  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%y'ؾ +1617 "core" ' + .tPSV.dial PSR +2 "processing"%z +45 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%{' +2634 "core" ' +3 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +43 "processing"%|  +11 "collection"'}  +31 "core" +126  + .tPSV.dial :mixloop +2 "processing"%~ +114 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'  +5 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +75 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"% +46 "core" +2 .tPS.seek 0ml + "processing"%\ 'ؾ +2642 "core" ' + .tPSV.dial :air +2 "processing"%  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2642 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &ӯ$ f >L +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +18 "core" ( + "manipulator"&& +4 "core" &ӈ 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &ӈ  0 +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' +2 .tHand.close + "manipulator"&/ +74 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( + "manipulator"&& +4 "core" &ӈ  0 +2 "manipulator"&% +3 "core" % E 0 +2 .tForearm.seek :retract +2 "manipulator"&' +28 "Can"\ RP +65 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +282 "core" ( +2 "manipulator"&& +4 "core" &- = H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &- 1 H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&!'w +101 "core" ' +2 .tHand.open + "manipulator"&"1 +59 "core" 1 +2 "manipulator"&#% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +91 "core" ' +2 ."da"delayUntil "16:03:12.80" +24700 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%% @ +76 "core" B + ."da"PBV.dial :waste1 +2 "processing"%&  +34 "core"  +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%' * +35 "core" , + ."da"PSV.dial :air +2 "processing"%(  +58 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%)' +2473 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%* +42 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%+  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%, +56 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%-  +42 "core"  +2 ."da"PS.seek 0ml +2 "processing"%.'ؾ +2410 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%/ +131 "core"  + "processing"%0% +4 "core" %c\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%1' +593 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%3' +1604 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%4  +71 "core"  +2 ."da"PSV.dial PTV +2 "processing"%N +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%5  +34 "core" + "processing"%7% +4 "core" %A\  +2 ."da"PS.seek 1.5ml +2 "processing"%'( +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%: * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +1617 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%6  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%< * +34 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%8 +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%u' +2440 "core" ' + ."da"PSV.dial PTV +2 "processing"%> +86 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%? +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%= +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%;  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%B'ؾ +660 "Can"\ OM +1766 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%A +132 "core"  +2 "processing"%D% +3 "core" %غQ\  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%E' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%@' +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%F +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +35 "core" + "processing"%I% +4 "core" %`\  +2 ."da"PS.seek 1.5ml + "processing"%C'- +587 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%K * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%J'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%G  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%L * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%O +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%M' +2446 "core" ' +2 ."da"PSV.dial PTV + "processing"%Q +73 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%P +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%S +86 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%R  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%U'ؾ +2402 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%V  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%X  +130 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%Y  +43 "core" ~ + ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"% +46 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%' +382 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%[  +45 "core"  +2 "processing"%]% +4 "core" %d\ z + ."da"PS.seek 0.55ml +2 "processing"%^' +357 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%_  +58 "core" + ."da"PS.seek 2ml +2 "processing"%b' +1581 "core" ' + ."da"PSV.dial :PML +2 "processing"%d +42 "core" + ."da"PTV.dial :mixing +2 "processing"%i @ +74 "core" A + ."da"PBV.dial :waste1 +2 "processing"%g  +34 "core" +2 "processing"%W% +3 "core" %h\ +2 ."da"PS.seek 1.85ml +2 "processing"%Z' +232 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%t * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%e'ؾ +1971 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +24285 "Can"\ TQ +23717 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%j  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%k * +34 "core" , +2 ."da"PSV.dial :air + "processing"%a  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%m' +2453 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%n +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%o  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%\\ +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2394 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%r +133 "core"  + "processing"%s% +4 "core" %ؾu\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%f' +595 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%p' +1611 "core" ' + ."da"PTV.dial :puck +2 "processing"%w  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%` +84 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%x% +4 "core" %s\  +2 ."da"PS.seek 1.5ml +2 "processing"%l'* +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%z * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%y'ؾ +1638 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%}  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%| * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%~ +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2469 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%{ +85 "core" +51 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +87 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2312 "Can"\ NK +98 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +132 "core"  +2 "processing"%% +4 "core" %o\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%\ ' +1607 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%% +9 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +589 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%c  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%v * +34 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%h +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2457 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +86 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2378 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%" +130 "core"  +2 "processing"%#% +4 "core" %غ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +584 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%!' +1617 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%% +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%&  +34 "core" + "processing"%'% +4 "core" %i\  +2 ."da"PS.seek 1.5ml +2 "processing"%('- +583 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%*'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%+  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%, * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%)' +2441 "core" ' +2 ."da"PSV.dial PTV + "processing"%/ +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%0 +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%. +86 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%1  +87 "core"  +2 ."da"PS.seek 0ml +2 "processing"%4'ؾ +2399 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +142 "core"  +5 "processing"%5% +5 "core" %ؼq +4 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +18 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%7' +336 "core" ' +2 ."da"delay 5 seconds +503 "processing"%3% +3 "core" %d  + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%:' +344 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1618 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%6 +78 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%<  +35 "core" +2 "processing"%8% +4 "core" %w +2 ."da"PS.seek 1.5ml + "processing"%9'1 +601 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%> * +35 "core" , +3 ."da"PS.seek 0ml +2 "processing"%?'ؾ +487 "Can"\ | +1127 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%=  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%; * +36 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%u +74 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%A' +2555 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%D +88 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%B +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%E +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%F  +88 "core"  +2 ."da"PS.seek 0ml +2 "processing"%H'ؾ +2526 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%I +140 "core"  + "processing"%@% +4 "core" %ؽ\ @ + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%K' +2130 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%C +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%G  +36 "core" + "processing"%L% +4 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%O', +600 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%J * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%Q  +105 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +1618 "core" ' + "processing"%S9 +3 "core" 9h5 +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast +2 "processing"%R  +2 "core" 5 + 5 +2 "processing"%M& +3 "core" &^6 : +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&V% +4 "core" %    V +2 "storage"(X% +3 "core" %   + "storage"(Y. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"((C +355 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +2 (U& +4 "core" &F + + 2\ _ +2 "manipulator"&[& +4 "core" &- o H + "manipulator"&]% +4 "core" %  /  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&( +185 "core" ( + "manipulator"&_& +4 "core" &   +2 "storage"(^& +3 "core" &G L\ K +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&d' +101 "core" ' +2 "storage"(i& +4 "core" &G \  y + ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(g'r +279 "core" ' + "storage"(W- +4 "core" -'r + ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(t'1 +46 "core" ' +2 "manipulator"&b& +4 "core" &  1 V +2 "manipulator"&Z% +3 "core" %   I Vs +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&j' +92 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&k( +239 "core" ( + "manipulator"&a& +4 "core" & 3 +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &  3 +2 ."da"Forearm.seek PC +2 "manipulator"&n' +94 "core" ' +2 ."da"Hand.close + "manipulator"&o/ +66 "core" / +2 ."da"PC.seek :open +2 "processing"%\\( +456 "core" ( + "storage"( & +4 "core" &F s +2 "manipulator"&m& +3 "core" &    Y3 + "manipulator"&r% +4 "core" % \   Y +2 ."da"Forearm.seek :retract +2 "manipulator"&s' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"& ( +253 "core" ( + "manipulator"&f& +4 "core" & E G +2 "storage"(w& +3 "core" &F L\ H +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&`' +94 "core" ' + ."da"Hand.open +2 "manipulator"&1 +76 "core" 1 +45 "storage"(x- +12 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(p' +27 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(z' +54 "core" ' + #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0416h.tif +6 "processing"%l& +10 "core" &A +4 "manipulator"&}& +6 "core" & Z G +2 "manipulator"&|% +5 "core" %  =  +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&~' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&y(- +174 "core" ( +2 "manipulator"&& +4 "core" &-  v T + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &- x T +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&{'w +95 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +72 "core" / + "manipulator"&& +4 "core" &- G T +2 "manipulator"&% +4 "core" % υ  + ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&( +133 "core" ( +2 "manipulator"& & +4 "core" & % 1 [ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +108 "core" ' + "manipulator"&& +4 "core" & r +2 "manipulator"&\ % +4 "core" % L x: + "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" & \  +2 ."psFlush"PC.seek :closed +2 "processing"%c(^ +4 "core" &\  +9 &1p +{ +9 &_q ? +10 &ab Q +9 &8 T +9 &9 V +10 &9 U +9 &[; U +9 &9 V +10 &: V +9 &8 V +10 & c8 U +9 &"%9 U +9 &#< V +10 &%; U +9 &'j< V +9 &),: V +10 &*8 V +9 &,= V +10 &.wF T +9 &0?> R +9 &2A R +9 &3C R +10 &5A* R +9 &7I@\ Q +10 &9 E9\ Q +9 &:CJ R +9 &<?H R +10 &>NFF R +9 &@CJ S +10 &AJF V +9 &CY@ Z +9 &E9r: \\ +10 &Fr9 ^ +9 &Hx5 ^ +9 &Jzt> ^ +10 &L:w> z_ +9 &M7 _ +10 &O{3 _ +9 &Q|, ~` +9 &S?* ` +10 &T+ y` +9 &V* }` +9 &X# ` +10 &ZG! ` +9 &\\\ ! _ +9 &]t! = +10 &^,l \\ +9 &^6 ; +3 ( + "processing"%& +3 #"psFlush"Processing Clamp onSpring/offSpring for 15/25 samples, on/off torque 1.99 +2 "processing"%v& +4 "core" &^4 ; + ."psFlush"Hand.open +2 "manipulator"&h1 +71 "core" 1 +2 "manipulator"&% +4 "core" %  ' : + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"% +47 "core"  + "processing"%% +4 "core" %ع  + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +598 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +47 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 24.585 seconds\ /var/log/esp/da21oct0416h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0416h15s.tif +1565 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0416h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0416h30s.tif +502 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%" @ +201 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%#  +139 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2001 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0416h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0416h70s.tif +630 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%% +113 "core"  +2 "processing"%&% +4 "core" %أ] + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%'' +603 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +2123 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%( @ +80 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%+ +111 "core" + ."psFlush"PS.seek :empty +2 "processing"%,'ؠ +2639 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%- +112 "core"  +5 ."psFlush"PSR.select :flush +8 "processing"%@ +18 ."psFlush"PS.seek 1ml +6 "processing"%*'X\\ +25 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0416h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "24.585 sec auto-exposure",Subject: "da21oct0416h images!" +7 "storage"(/- +3 "core" -' +2 "storage"(0& +6 "core" &F % % \ 8 +2 "manipulator"&.& +3 "core" & } +2 "manipulator"&1% +4 "core" %   + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."da"Elbow.seek 1 +2 "manipulator"&)( +240 "core" ( +2 "manipulator"&N& +4 "core" & d 7 +2 "storage"(5& +4 "core" &F  S\ 8 +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&4' +93 "core" ' +3 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(3'" +52 "core" ' + "manipulator"&7& +8 "core" & ; 7 +3 "storage"(:& +3 "core" &F i\ v +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +3 "manipulator"&6'8 +20 "core" ' +3 ."da"Elbow.hold +3 "manipulator"&<, +6 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(8' +33 "core" ' + "manipulator"&% +5 "core" %D + "storage"(>& +4 "core" &F ~ ~ Q\ n + ."da"Forearm.force -20 + "manipulator"&5 +59 ."da"Forearm.seek 1 + 312 counts +7 "manipulator"&9'p +17 "core" ' +4 "manipulator"&=& +11 "core" & ( 6 +2 "storage"(;& +8 "core" &F R\ w +4 ."da"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&u' +17 "core" ' +3 "storage"(?% +9 "core" % -\ y +4 ."downElevator"SE.seek :down +8 "storage"(D' +96 (B% +7 "core" %FC s u '\ pWb +4 "manipulator"&E% +8 "core" % , +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +10 ."da"Forearm.seek :retract +4 "manipulator"&F' +92 "core" ' +37 ' +3 ."downElevator"SE.stop + "storage"(5 +6 (A& +6 "core" &F p\ w +53 ' +2 ."psFlush"PSR.select :air +5 "processing"% +13 ."psFlush"PS.seek 2.5ml +4 "processing"%I' +1613 "core" ' +3 ."psFlush"PSV.dial PTV +2 "processing"%@ +89 "core" +3 ."psFlush"PTV.dial :puck +3 "processing"%H  +77 "core"  +2 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml +4 "processing"%C'ؾ +2638 "core" ' +3 ."psFlush"PSV.dial PSR +2 "processing"%G +72 "core"  +3 ."psFlush"PSR.select :flush +5 "processing"%@ +16 ."psFlush"PS.seek 0.5ml +4 "processing"%L' +613 "core" ' +3 ."psFlush"PSR.select :air +3 "processing"% +13 ."psFlush"PS.seek 2.5ml +3 "processing"%K' +2132 "core" ' +2 ."psFlush"PSV.dial PTV +3 "processing"%J +74 "core" +3 ."psFlush"PBV.dial PSV +4 "processing"%Q U +54 "core" V +4 ."psFlush"PS.seek 0ml +4 "processing"%O'ؾ +2635 "core" ' +3 ."psFlush"PSV.dial PBV +4 "processing"%S @ +43 "core" ? +4 ."psFlush"PS.seek 2.5ml +4 "processing"%R' +2637 "core" ' +2 ."psFlush"PSV.dial :waste1 +4 "processing"%M  +73 "core"  +4 ."psFlush"PS.seek 0ml +4 "processing"%V'ؾ +82 #"uploadLog"upsync +2551 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%X +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%Y' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%T +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%U'ؾ +2639 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%[ @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%]' +2587 "Can"\ PM +53 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%_  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%^'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%i'X\\ +1103 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%$' +1616 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%W +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%b  +53 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%Z'ؾ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%g +73 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%d' +587 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%a' +2129 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%e +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%o'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%j @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%q' +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%m'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%r +43 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%n' +2632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%f +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%w'ؾ +2657 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%k @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2631 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%x  +72 "core"  + ."psFlush"PS.seek 0ml +2 "processing"%s'ؾ +2631 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&l& +4 "core" & $ 6 + "manipulator"&}% +4 "core" %  F  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&|( +245 "core" ( + "manipulator"&t& +4 "core" & , $ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" & _ $ +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +93 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +56 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%`( +455 "core" ( +2 "manipulator"& & +4 "core" & 2 $ + "manipulator"&% +4 "core" %   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +127 "core" ( +2 "manipulator"&~& +4 "core" &- + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &- +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +91 "core" ' +2 ."psFlush"Hand.open + "manipulator"&{1 +55 "core" 1 +2 "manipulator"&% +3 "core" % p B C +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&\ ' +91 "core" ' +2 #tFinished short da assay +11731 #-> access 1 +3 "storage"(% +3 "core" % y z \  +2 "manipulator"&y% +4 "core" %  "  + "manipulator"&& +4 "core" &- . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(\\(<- +1305 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +2 "core" & access 2 +2 "storage"(h% +3 "core" % ] W n\  +2 "manipulator"&% +4 "core" %  =  + "manipulator"&& +4 "core" &- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K   ~\  +12191 #t-> exit +6 #mEXIT @1633366724.19UTC @1633366742.40UTC = =tMAIN =mMAIN_scheduler @UTC1633366744.34 #"core_reset"Sent BREAK +2 #t@14359 receive with ifg=0x10, ie=0xFD + #@14995 receive with ifg=0x10, ie=0xFD #@15653 receive with ifg=0x10, ie=0xFD + #@16289 receive with ifg=0x10, ie=0xFD + #@16923 receive with ifg=0x10, ie=0xFD #@17557 receive with ifg=0x10, ie=0xFD + #@18191 receive with ifg=0x10, ie=0xFD #@18518 receive with ifg=0x80, ie=0xFD + #@26876 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +299 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +397 "Can"\ A> + \ A> #tPolling Can every 10:00 +470 #-> ESP.ready! +154 "sampler") + ) +3 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %i k\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % b\ @ +2 .tSS.configure :default +2 "sampler")#.0X \  +2 "collection"'19 +4 "core" 9 + "processing"%29 +3 "core" 9 +769 #t-> startTube 2 +1260 #-> $da[:extractVol]=.2 +19806 #-> PS.flush +2 #Flushing Processing stage + "processing"%3% +3 "core" %ؽo\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%4& +4 "core" &{\ +2 .tHand.open + "manipulator"&51 +26 "core" 1 + "manipulator"&6& +4 "core" &-  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&7(- +21 "core" ( +2 "manipulator"&8& +4 "core" &- 8 F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +2 "core" &- H F +2 .tForearm.seek :garage +2 "manipulator"&:'w +95 "core" ' + .tHand.close + "manipulator"&;/ +64 "core" / + "manipulator"&<& +4 "core" &- F +2 "manipulator"&=% +3 "core" % ψ 9 +2 .tForearm.seek :retract +2 "manipulator"&>' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&?( +115 "core" ( +2 "manipulator"&@& +4 "core" &  A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +2 "core" & A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B' +90 "core" ' + "manipulator"&C& +5 "core" & N A + "manipulator"&D% +4 "core" % c +2 "processing"%E& +4 "core" &z\ +2 "processing"%F& +5 "core" &X\ +2 .tPC.seek :closed + "processing"%G(^ +4 "core" &]\ +8 &3Z\ #c +10 &TvW\ 7 +9 &~rV\ K +9 &Q[\ N +10 &^OS\ N +9 &"NW\ M +10 &NW\ N +9 &M_\ N +9 &gO^\ N +10 &)Na\ N +9 &Pb\ N +9 &!Oa\ N +10 &#nO`\ N +9 &%0PZ\ N +10 &&Qa\ N +9 &(OU\ M +9 &*vPh\ N +10 &,9PW\ N +9 &-N]\ N +9 &/Pb\ N +10 &1~Na\ N +9 &3@PZ\ N +9 &5Pb\ N +10 &6Qj\ N +9 &8QU\ N +10 &:GQ\\\ N +9 &<Q\\\ O +9 &=Q[\ N +10 &?U^\ N +9 &ANVd\ O +10 &C\ kb\ Q +9 &D}b\ T +9 &F^\ U +10 &HDa\ U +9 &Ja\ T +9 &K^\ U +10 &M`\ U +9 &OJ`\ U +9 &Q\ a\ V +10 &Re\ V +9 &Ta\ V +10 &VOa\ V +9 &Xd\ V +9 &Yb\ V +10 &[a\ W +9 &]W`\ E +9 &^Eu\\\ !c +10 &^ET\ 6 +5 ( +2 "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 + "processing"%H& +4 "core" &^&^\ 6 + &^&^\ 6 +2 .tHand.open + "manipulator"&I1 +64 "core" 1 + "manipulator"&J% +4 "core" %  [ c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K' +90 "core" ' + .tPSV.dial PSR +2 "processing"%L +44 "core"  + .tPSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%M'X\\ +1103 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%N' +1613 "core" ' +2 .tPSV.dial PTV + "processing"%O +72 "core" +2 .tPTV.dial :puck + "processing"%P  +5 "core"  + .tPBV.dial :waste1 +2 "processing"%Q  +55 "core" +44 .tPS.seek 0ml + "processing"%R'ؾ +2630 "core" ' + .tPSV.dial PSR +2 "processing"%S +73 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%T' +587 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%U' +2123 "core" ' +2 .tPSV.dial PTV +2 "processing"%V +73 "core" + .tPBV.dial PSV +2 "processing"%W U +53 "core" V +2 .tPS.seek 0ml +2 "processing"%X'ؾ +2629 "core" ' + .tPSV.dial PBV +2 "processing"%Y @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%Z' +2636 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%[  +72 "core"  + .tPS.seek 0ml +2 "processing"%\\'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%] +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%^' +2638 "core" ' +2 .tPSV.dial PTV + "processing"%_ +83 "core" + .tPBV.dial PSV +3 .PS.seek 0ml + "processing"%`'ؾ +2650 "core" ' + .tPSV.dial PBV +2 "processing"%a @ +42 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%b' +2632 "core" ' + .tPSV.dial :waste1 +2 "processing"%c  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%d'ؾ +2630 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&e& +4 "core" & ( A +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&f( +2 "core" ( +2 "manipulator"&g& +3 "core" & G A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" & A +2 .tForearm.seek PC +2 "manipulator"&i' +93 "core" ' +2 .tHand.close + "manipulator"&j/ +60 "core" / + .tPC.seek :open +2 "processing"%k( +458 "core" ( +2 "manipulator"&l& +4 "core" & _ A +2 "manipulator"&m% +3 "core" %  X $ +2 .tForearm.seek :retract +2 "manipulator"&n' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&o(- +127 "core" ( + "manipulator"&p& +4 "core" &- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &- 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'w +92 "core" ' + .tHand.open +2 "manipulator"&s1 +55 "core" 1 + "manipulator"&t% +4 "core" % x a Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u' +93 "core" ' +7320 "Can"\ FC +60001 \ FC +60001 \ FC +25477 #t-> shortDA +2 "collection"'v% + "processing"%w% +6 "core" %\ +2 %i \ +4 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +500 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay +2 .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%x +131 "core" + .tPTV.dial :PRVmixing +2 "processing"%y  +130 "core" + .tPRV.dial :sipper +2 "processing"%z  +42 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%{'e +2293 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%|  +2 "collection"'}  +6 "core" +121  +2 .tPS.seek 0.5ml +2 "processing"%~' +1270 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +98 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%'ؾ +594 "core" ' + .tPSV.dial PSR +2 "processing"% +102 "core"  + "processing"%% +4 "core" %ظ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1102 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1607 "core" ' + .tPSV.dial :mixloop +2 "processing"% +103 "core" +2 .tPS.seek 0ml +2 "processing"%\ 'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"% +114 "core" + "processing"%% +4 "core" %ؿ\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%'X\\ +1108 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1610 "core" ' +2 .tPSV.dial :mixloop +2 "processing"% +101 "core" + .tPRV.dial :sipper +2 "processing"%  +44 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"% +103 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%' +2635 "core" ' + .tPSV.dial :mixloop +2 "processing"% +103 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&% +4 "core" %  ;  + "storage"(% +4 "core" %   \  + "storage"(. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +1301 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &  ! % L\ +2 "manipulator"&!& +3 "core" &- " +2 "manipulator"&"% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&#( +169 "core" ( + "manipulator"&$& +4 "core" & a  +2 "storage"(%& +3 "core" &  W T -\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&&'S +94 "core" ' +2 "storage"('& +4 "core" &  g w \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(('r +299 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" & % % \ + "manipulator"&+& +4 "core" & E  + .tElbow.seek 2 +2 "manipulator"&,( +9 "core" ( + "manipulator"&-& +4 "core" &  +2 "storage"(.& +3 "core" & @ @ q\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&/'Ͻ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& + "storage"(2' +7 "core" & <  +2 "manipulator"&3% +4 "core" % Ϲ  +2 .tForearm.seek :retract + "manipulator"&4' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&5( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&6& +4 "core" & I + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" & % + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&9' +89 "core" ' +2 "manipulator"&;& +4 "core" &  + + "manipulator"&<% +4 "core" % ` +2 "processing"%=& +4 "core" &\ + "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\  +9 &2w\ )w +9 &b}\ > +10 &kn\ O +9 &/L\ N +9 &O\ N +10 &M\ N +9 &uO\ N +9 &6O\ N +10 &O\ N +9 &O\ N +10 & {P\ N +9 &"=O\ N +9 &#R\ N +10 &%O\ N +9 &'O\ N +9 &)EL\ N +10 &+O\ N +9 &,N\ N +10 &.O\ N +9 &0NR\ N +9 &2Q\ O +10 &3Q\ N +9 &5N\ N +9 &7US\ N +10 &9R\ O +9 &:R\ N +9 &<O\ N +10 &>]P\ N +9 &@Q\ N +10 &A[\ O +9 &Cp\ R +9 &ER\ U +10 &G~\ T +9 &H\ U +9 &J\ U +10 &LY\ U +9 &N\ V +10 &O\ V +9 &Q\ W +9 &S^\ V +10 &U\ V +9 &V\ V +10 &X\ V +9 &Ze\ V +9 &\\'\ V +10 &]~\ 5 +9 &^,i\ Z +9 &^0\ 6 +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.75 +2 .Hand.open + "manipulator"&@1 +60 "core" 1 +2 "manipulator"&A% +4 "core" %  W ` + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:' +89 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%C h + %D9 +6 "core" 9 +102 "processing"%E9 +2 "core" 9 +102 "processing"%79 +3 "core" 9  +102 "processing"%>9 +2 "core" 9  +102 "processing"% 9 +3 "core" 9 +102 "processing"%H9 +2 "core" 9 +102 "processing"%I9 +3 "core" 9 +102 "processing"%J9 +2 "core" 9 +102 "processing"%F9 +3 "core" 9" +102 "processing"%L9 +3 "core" 9& +102 "processing"%B9 +2 "core" 9* +102 "processing"%9 +2 "core" 9/ +102 "processing"%M9 +3 "core" 93 +102 "processing"%O9 +2 "core" 97 +102 "processing"%P9 +3 "core" 9; +102 "processing"%Q9 +2 "core" 9? +102 "processing"%N9 +2 "core" 9C +102 "processing"%S9 +3 "core" 9H +102 "processing"%R9 +3 "core" 9L +102 "processing"%T9 +2 "core" 9P +102 "processing"%V9 +3 "core" 9T +102 "processing"%W9 +2 "core" 9X +102 "processing"%U9 +3 "core" 9\\ +102 "processing"%Y9 +2 "core" 9a +102 "processing"%X9 +2 "core" 9e +102 "processing"%[9 +3 "core" 9i +102 "processing"%Z9 +2 "core" 9m +102 "processing"%]9 +3 "core" 9q +101 "processing"%\\9 +4 "core" 9v +102 "processing"%_9 +2 "core" 9z +102 "processing"%^9 +3 "core" 9~ +102 "processing"%a9 +2 "core" 9 +102 "processing"%`9 +3 "core" 9 +102 "processing"%c9 +3 "core" 9 +102 "processing"%b9 +2 "core" 9 +102 "processing"%e9 +3 "core" 9 +102 "processing"%g9 +2 "core" 9 +102 "processing"%h9 +3 "core" 9 +102 "processing"%j9 +3 "core" 9 +102 "processing"%?9 +2 "core" 9 +102 "processing"%K9 +3 "core" 9 +102 "processing"%G9 +2 "core" 9 +102 "processing"%l9 +2 "core" 9 +102 "processing"%m9 +3 "core" 9 +102 "processing"%p9 +2 "core" 9 +102 "processing"%q9 +2 "core" 9  +102 "processing"%i9 +3 "core" 9 +102 "processing"%s9 +2 "core" 9 +102 "processing"%t9 +3 "core" 9 +102 "processing"%f9 +2 "core" 9 +102 "processing"%n9 +3 "core" 9" +2 .tPH.hold 2:00:00,28C +3 "processing"%r php +4 .tdelay 1:30 +2 "core"  +3080 "Can"\ d` +5921 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%w +103 "core"  + "processing"%v% +4 "core" %ؽ3\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%x' +585 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%y' +1614 "core" ' +11 .tPTV.dial :puck +2 "processing"%z  +128 "core"  + .tPSV.dial PTV +2 "processing"%d +73 "core" +2 .tPBV.dial :waste1 + "processing"%}  +53 "core" +2 "processing"%|% +4 "core" %J\  +2 .tPS.seek 1.5ml +2 "processing"%{'* +595 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%~'ؾ +1607 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" + .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%' +2423 "core" ' + .tPSV.dial PTV +2 "processing"% +86 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%\ 'ؾ +2386 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +129 "core" +2 .tPSV.dial :mixloop + "processing"% +44 "core" + .tPRV.dial :ab1 +2 "processing"% @ +99 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +376 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "processing"%  +42 "core"  +2 "processing"%% +4 "core" %\ +2 .tPS.seek 0.35ml + "processing"%'f +457 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +30 "core" + .tPRV.dial :air +2 "processing"%  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'K +1173 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"% ' +1631 "core" ' + .tPSV.dial :PML +2 "processing"%! +44 "core" + .tPTV.dial :mixing +2 "processing"%" @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%$  +34 "core" +2 "processing"%%% +4 "core" %q\ +2 .tPS.seek 1.85ml + "processing"%'' +232 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%o * +34 "core" , +3 .tPS.seek 0ml + "processing"%u'ؾ +1968 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"')& +2 "core" &  \ +2 "manipulator"&*& +4 "core" & % + + "manipulator"&+% +4 "core" %  \\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&-(- +126 "core" ( + "manipulator"&.& +4 "core" &- & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&1'w +98 "core" ' + .tHand.close + "manipulator"&3/ +65 "core" / + "manipulator"&#& +4 "core" &- +2 "manipulator"&&% +3 "core" % b l b +2 .tForearm.seek :retract +2 "manipulator"&(' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&/(ӂ +81 "Can"\ TQ +197 "core" ( + "manipulator"&6& +4 "core" &ӆ,  8 Cn + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +2 "core" &ӆ, R Cn +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'? +90 "core" ' +2 "manipulator"&;& +4 "core" &Ӊ+ q Bk +2 "manipulator"&<% +3 "core" %F  m +2 "collection"'=& +4 "core" & \ +2 "collection"'2& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'4(\\ +3 "core" & \  +9 &2w \ *y +9 &c{ \ > +10 &mo \ N +9 &.Q \ N +10 &Q \ N +9 &P \ \ N +9 &vQ \ N +10 &8S \ N +9 &R \ N +9 &Q  \ M +10 & ~R \ N +9 &"@O  \ N +9 &$Q  \ N +10 &%T \ N +9 &'Q \ M +10 &)HR  \ N +9 &+\ P \ N +9 &,R \ N +10 &.Q \ N +9 &0QR \ M +9 &2Q \ N +10 &3U \ N +9 &5R \ M +10 &7XS \ N +9 &9Q \ N +9 &:R  \ M +10 &<S \ N +9 &>`R \ N +9 &@!T \ N +10 &AV \ O +9 &C` \ O +10 &EX \ S +9 &G  \ W +9 &H \ Z +10 &J \ [\ +9 &LJ \ [ +10 &N  \ \\ +9 &O \ \\ +9 &Q  \ \\ +10 &SI  \ ^ +9 &U \ ^ +9 &V \ _ +10 &X \ \ ~` +9 &ZI \ |` +9 &[{  \ F +10 &\\' \ , +9 &\\  \ !b +3 ( + "collection"'2& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.46 + "collection"'k& +5 "core" &\\ \ !b + .tHand.open +2 "manipulator"&@1 +57 "core" 1 +2 "manipulator"&A% +4 "core" % F ; m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +103 "core" ' + .tPSV.dial PSR +2 "processing"% +104 "core"  +2 "processing"%E% +4 "core" %ؾK\ d + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%9'+ +1626 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%7  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%>'ؾ +1607 "core" ' + .tPSV.dial PSR +2 "processing"% +44 "core" + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%H' +2629 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%I  +2 "collection"'J  +32 "core" ~ +126  + .tPSV.dial :mixloop +2 "processing"%F +103 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'L +3 "core"  +2 "collection"'B  +4 "core" + .tPTV.dial :PRVmixing +2 "processing"%  +72 "core" +2 .tPS.seek 0ml +2 "processing"%M'ؾ +2629 "core" ' + .tPSV.dial :air +2 "processing"%O  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%P' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%Q +46 "core" +2 .tPS.seek 0ml + "processing"%N'ؾ +2632 "core" ' +2 .tPSV.dial :air + "processing"%S  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%R' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%T +44 "core" +2 .tPS.seek 0ml + "processing"%V'ؾ +2637 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&W& +4 "core" &Ӌ) 6 Bi +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +3 "core" ( +2 "manipulator"&Y& +3 "core" &Ӌ* Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &Ӌ* y Bi +2 .tForearm.seek CC +2 "manipulator"&['? +98 "core" ' + .tHand.close + "manipulator"&Z/ +66 "core" / +2 .tCC.seek :open +2 "collection"']( +451 "core" ( +2 "manipulator"&\\& +4 "core" &Ӌ) Bi + "manipulator"&_% +4 "core" % ? +2 .tForearm.seek :retract +2 "manipulator"&^' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&a(- +289 "core" ( + "manipulator"&`& +4 "core" &- a 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &-  3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&b'w +99 "core" ' + .tHand.open +2 "manipulator"&e1 +53 "core" 1 + "manipulator"&g% +4 "core" % π   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +92 "core" ' +2 ."da"delayUntil "17:57:06.20" +24822 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%j @ +73 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%?  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%K * +35 "core" , + ."da"PSV.dial :air +2 "processing"%G  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%l' +2454 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%m +56 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%p  +41 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%q +55 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%i  +42 "core"  +2 ."da"PS.seek 0ml +2 "processing"%s'ؾ +2410 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%t +130 "core"  +2 "processing"%f% +4 "core" %l\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%n' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%w' +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%v  +72 "core"  + ."da"PSV.dial PTV +2 "processing"% +84 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%x  +34 "core" + "processing"%z% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%d'2 +530 "Can"\ MJ +55 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%} * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%|'ؾ +1610 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%y  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%C' +2441 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +11 ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%~  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2389 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +144 "core" + "processing"% % +4 "core" %غr\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1617 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%\ '/ +586 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2451 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%!'ؾ +2391 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%"  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%$  +132 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%%  +41 "core"  +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%o +45 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"% ' +391 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%'  +44 "core"  + "processing"%)% +4 "core" %\ v\  +2 ."da"PS.seek 0.55ml +2 "processing"%*' +342 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%+  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%.' +1556 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%0 +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%5 @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%3  +34 "core" + "processing"%#% +4 "core" %w\  +2 ."da"PS.seek 1.85ml +2 "processing"%&' +228 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%: * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%1'ؾ +1965 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +2263 "Can"\ JG +45740 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%6  +34 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%8 * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%-  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%;' +2452 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%< +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%=  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%( +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%k'ؾ +2405 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +131 "core"  + "processing"%A% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%2' +596 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%E  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%, +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%u  +34 "core" +2 "processing"%7% +4 "core" %w\  +2 ."da"PS.seek 1.5ml + "processing"%9'. +598 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +1445 "Can"\ UT +165 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%J  +34 "core" + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%I * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%F +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%L' +2445 "core" ' + ."da"PSV.dial PTV +2 "processing"%B +86 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"% +70 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%H +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%O  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +2404 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%Q +130 "core"  +2 "processing"%P% +4 "core" %عz\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%S' +599 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%N' +1632 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%T +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%R  +34 "core" +2 "processing"%W% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%Y'& +592 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%X * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%Z'ؾ +1607 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%/  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%D * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%\\' +2450 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%_ +73 "core" +2 ."da"delay 5 seconds +501 .PSV.dial PSR +2 "processing"%[ +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%` +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%c  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%U'ؾ +2393 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%e +130 "core"  +2 "processing"%g% +4 "core" %ؿa\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%^' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%b' +1636 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%j +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%?  +34 "core" + "processing"%K% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%G'& +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%V * +33 "core" , +3 ."da"PS.seek 0ml +2 "processing"%m'ؾ +1634 "core" ' +2 ."da"delay 2:00 +4986 "Can"\ a^ +7016 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%p  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%q * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%i +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%l' +2458 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%t +73 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%f +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%s +85 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%n  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%v'ؾ +2406 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +141 "core"  +5 "processing"%x% +9 "core" % +4 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +6 "processing"% +15 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +136 "processing"%z' +339 "core" ' + ."da"delay 5 seconds +503 "processing"%w% +3 "core" %  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%}' +332 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%d' +1617 "core" ' + ."da"PTV.dial :puck +3 .PSV.dial PTV +2 "processing"%y +75 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" +2 "processing"%{% +4 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%|'. +623 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1608 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%~ * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%C +77 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2563 "core" ' + ."da"PSV.dial PTV +2 "processing"% +78 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"% +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +88 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +79 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2547 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +135 "core"  +2 "processing"%% +4 "core" %ػ\ 0 + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml +2 "processing"%' +2140 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%\ +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%% +4 "core" %\ S +2 ."da"PS.seek 1.5ml +2 "processing"%') +613 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" * +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%  +109 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1612 "core" ' + "processing"%9 +3 "core" 9p5 +2 #"da"Processing Puck Heater at 28.2C before imaging +2 .PH.coast + "processing"%  +4 "core" 5 + 5 + "processing"%& +3 "core" &^+\ G6 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&"% +4 "core" %  V  +2 "storage"($% +3 "core" % + * 6\ _ +2 "storage"(%. +2 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(o(C +356 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (!& +3 "core" &F  + "manipulator"&'& +4 "core" &- K3 + "manipulator"&)% +4 "core" %  a M +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"& ( +175 "core" ( + "manipulator"&+& +4 "core" & + 2 SB +2 "storage"(*& +4 "core" &G  + ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&0' +96 "core" ' + "storage"(5& +4 "core" &G \\ +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(3'r +280 "core" ' + "storage"(#- +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"(:'1 +43 "core" ' +2 "manipulator"&.& +4 "core" & ] f ~B +2 "manipulator"&&% +3 "core" % $ N  `< +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&6' +90 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&8( +243 "core" ( + "manipulator"&-& +4 "core" & ? ! [ ]9 + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &   [9 + ."da"Forearm.seek PC +2 "manipulator"&<' +92 "core" ' + ."da"Hand.close +2 "manipulator"&=/ +69 "core" / + ."da"PC.seek :open +2 "processing"%(( +461 "core" ( +2 "storage"( & +4 "core" &E \\ e\  + "manipulator"&;& +4 "core" & r \\ F h8 + "manipulator"&@% +4 "core" %  I I 2 h< +2 ."da"Forearm.seek :retract +2 "manipulator"&A' +89 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&k( +257 "core" ( + "manipulator"&2& +4 "core" &\ 6 D O b l +2 "storage"(E& +3 "core" &E  D +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&,' +90 "core" ' +2 ."da"Hand.open + "manipulator"&u1 +74 "core" 1 +2 "storage"(7- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +54 "core" ' + #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0418h.tif +4 "processing"%9& +9 "core" &x\  +4 "manipulator"&J& +6 "core" &\ | l +2 "manipulator"&I% +5 "core" % < +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&F' +92 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&>(- +180 "core" ( + "manipulator"&B& +5 "core" &- 7 J  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &-  M  +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&H'w +94 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&O/ +75 "core" / +2 "manipulator"&L& +4 "core" &- l V Z  + "manipulator"&Q% +4 "core" % ϋ q f q +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&P' +98 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&M( +114 "core" ( +2 "manipulator"&S& +4 "core" & / }A + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" & \  |A +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&R' +93 "core" ' +2 "manipulator"&W& +4 "core" & + A +2 "manipulator"&N% +4 "core" % t z F + "processing"%X& +4 "core" & +2 "processing"%Y& +5 "core" &! +2 ."psFlush"PC.seek :closed +2 "processing"%/(^ +4 "core" &  +9 &/m ,} +9 &]m @ +10 &N^ T +9 &; V +9 &: U +10 &8 U +9 &O< U +9 &= U +10 &: V +9 &9\ \ R +10 & bF\ R +9 &"%C\ Q +9 &#C\ \ R +10 &%B\ R +9 &'kE\ Q +9 &)-D\ Q +10 &*D\ R +9 &,C\ Q +10 &.rC\ R +9 &03< R +9 &1? U +10 &3< U +51 &5o8 U +11 &71= U + &8> U +4 &:> V + &9> U + &?> U +5 &AA V +9 &CvY Y +9 &E.s \\ +10 &Fu ^ +9 &Hu ] +10 &Jpv ] +9 &L1x= ^ +9 &MK\ [\ +10 &OL\ [ +9 &QL\ [\ +9 &S@I\ [ +10 &UJ\ \ \\ +9 &VM\ [\ +10 &XD [ +9 &ZF: \\ +9 &\\\ ? [ +10 &]@ G +9 &^"Y8 #f +9 &^C2 @ +3 ( + "processing"%Y& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 2.03 +2 "processing"%D& +3 "core" &^F! @ +2 ."psFlush"Hand.open + "manipulator"&41 +76 "core" 1 +2 "manipulator"&Z% +4 "core" %  K < F +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&_' +95 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%[ +47 "core"  +2 "processing"%`% +4 "core" %ؽ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%c' +600 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%\\' +312 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 27.05 seconds\ /var/log/esp/da21oct0418h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0418h15s.tif +1566 #SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0418h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0418h30s.tif +235 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%e @ +201 "core" A + ."psFlush"PTV.dial :PRVmixing +3 "processing"%g  +138 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%U +120 "core" + ."psFlush"PS.seek :empty +3 "processing"%^'ؠ +2253 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0418h30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0418h70s.tif +378 "core" ' +2 ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%j +108 "core"  +2 "processing"%?% +4 "core" %ؠ\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%K' +617 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%b' +2119 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%V  +35 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%G @ +78 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%p +109 "core" + ."psFlush"PS.seek :empty +3 "processing"%q'ؠ +2639 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%i +110 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%m'X\\ +282 #"da"SX HX9/16 (USB:04): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0418h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "27.05 sec auto-exposure",Subject: "da21oct0418h images!" +4 "storage"(t- +2 "core" -' +5 "storage"(f& +7 "core" &E ' % \ _ + "manipulator"&s& +4 "core" & A +2 "manipulator"&n% +4 "core" % ! ( +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&l( +247 "core" ( + "manipulator"&& +5 "core" &  ; C +2 "storage"(x& +5 "core" &E C\ O +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&v' +99 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(w'" +61 "core" ' +3 "manipulator"&z& +8 "core" &  B +3 "storage"(}& +4 "core" &E V\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&y'8 +20 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"({' +26 "core" ' + "manipulator"&d% +4 "core" %@ ; +2 "storage"(& +4 "core" &E G\ + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 308 counts +2 "manipulator"&|'l +14 "core" ' +2 "manipulator"&& +4 "core" & G B +2 "storage"(~& +4 "core" &E "\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&C' +15 "core" ' +2 "storage"(% +4 "core" % 7\  +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (% +6 "core" %E \ U` +4 "manipulator"&% +14 "core" % { +4 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&' +13 "core" ' +3 ."psFlush"PSR.select :air +6 "processing"% +15 ."psFlush"PS.seek 2.5ml +6 "processing"%' +54 "core" ' +32 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (& +8 "core" &E j 8\ +1378 "Can"\ QN +135 "core" ' +6 ."psFlush"PSV.dial PTV +4 "processing"% +87 "core" +2 ."psFlush"PTV.dial :puck +6 "processing"%  +73 "core"  +3 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +2 "processing"%\ 'ؾ +2641 "core" ' +3 ."psFlush"PSV.dial PSR +5 "processing"% +74 "core"  +2 ."psFlush"PSR.select :flush +6 "processing"%@ +12 ."psFlush"PS.seek 0.5ml +4 "processing"%' +588 "core" ' +2 ."psFlush"PSR.select :air +5 "processing"% +13 ."psFlush"PS.seek 2.5ml +4 "processing"%' +2126 "core" ' +2 ."psFlush"PSV.dial PTV +4 "processing"% +88 "core" +3 ."psFlush"PBV.dial PSV +4 "processing"% U +58 "core" V +4 ."psFlush"PS.seek 0ml +4 "processing"%'ؾ +2655 "core" ' +3 ."psFlush"PSV.dial PBV +4 "processing"% @ +43 "core" ? +4 ."psFlush"PS.seek 2.5ml +4 "processing"%' +2638 "core" ' +3 ."psFlush"PSV.dial :waste1 +3 "processing"%  +73 "core"  +4 ."psFlush"PS.seek 0ml +3 "processing"%"'ؾ +781 #"uploadLog"upsync +1851 "core" ' +6 ."psFlush"PSV.dial PSR +56 "processing"%$ +43 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%%' +2630 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%!'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%' @ +56 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%)' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%+  +86 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%*'ؾ +2651 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%5 +42 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%a'X\\ +1098 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%h' +1616 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%# +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%.  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%&'ؾ +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%3 +73 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%0' +590 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%-' +2122 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%1 +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%='ؾ +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%6 @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%;'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%@ +43 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%<' +2638 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%2 +83 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%E'ؾ +2624 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%8 @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%u' +2635 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%7  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%9'ؾ +2636 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&J& +4 "core" & ( B + "manipulator"&I% +4 "core" %  4  + ."psFlush"Elbow.seek PC +2 "manipulator"&A( +245 "core" ( + "manipulator"&:& +5 "core" & j ! + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  ! +2 ."psFlush"Forearm.seek PC +2 "manipulator"&B' +98 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +58 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%,( +457 "core" ( +2 "manipulator"&k& +4 "core" & p + "manipulator"&O% +4 "core" %  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&L' +91 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&Q(- +129 "core" ( + "manipulator"&F& +4 "core" &-  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &- z +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&T'w +93 "core" ' + ."psFlush"Hand.open + "manipulator"&H1 +65 "core" 1 + "manipulator"&W% +4 "core" % | ' 7 +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&N' +90 "core" ' +2 #tFinished short da assay +4712 #-> access 1 +2 "storage"(X% +3 "core" % V a }\  +2 "manipulator"&>% +4 "core" %   +2 "manipulator"&P& +3 "core" &-  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(((<- +1298 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (D& +3 "core" &<*   *\  +235 "Can"\ ?< +10528 #t-> access 2 +3 "storage"(4% +3 "core" % U Y ,\  + "manipulator"&Z% +4 "core" %   +2 "manipulator"&Y& +3 "core" &- > +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"([(K +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +2 "core" &K $ % \  +202 #t-> exit +6 #mEXIT @1633373462.86UTC @1633373476.90UTC = =mMAIN_scheduler =tMAIN @UTC1633373478.77 #"core_reset"Sent BREAK +2 #t@25343 receive with ifg=0x10, ie=0xFD #@25979 receive with ifg=0x10, ie=0xFD + #@26634 receive with ifg=0x10, ie=0xFD + #@27272 receive with ifg=0x10, ie=0xFD + #@27906 receive with ifg=0x10, ie=0xFD #@28540 receive with ifg=0x10, ie=0xFD + #@29174 receive with ifg=0x10, ie=0xFD #@29500 receive with ifg=0x80, ie=0xFD + #@51893 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +291 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +389 "Can"\ A> + \ A> #tPolling Can every 10:00 +536 #-> ESP.ready! +155 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %i U\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %طt\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % X\ @ +2 .tSS.configure :default +2 "sampler")#.0X startTube 2 +949 #-> $da[:extractVol]=.2 +56469 "Can"\ JH +46713 #t-> require 'shuffle.rb' +1145 #-> 1.times {shuffle 5..6} +2 #Shuffling pucks in tube 5 of [5..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'3& +4 "core" & /\ +2 .tHand.open + "manipulator"&41 +15 "core" 1 + "manipulator"&5% +4 "core" %  I  +2 "storage"(6% +4 "core" % ' \  + "storage"(7. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(8(<- +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (9& +3 "core" &<, A A n\ + "manipulator"&:& +4 "core" &- ! + "manipulator"&;% +4 "core" %  R  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&<( +179 "core" ( +2 "manipulator"&=& +4 "core" & G +2 "storage"(>& +3 "core" &<, U ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?'O +91 "core" ' +2 "storage"(@& +4 "core" &<, { { 7\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +298 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (C& +2 "core" &<, ? @ \ +2 "manipulator"&D& +3 "core" & 1 +2 .tElbow.seek 5 +2 "manipulator"&E( +3 "core" ( + "manipulator"&F& +4 "core" &  +2 "storage"(G& +3 "core" &<, 2 1 G\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&H'Ϲ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&I/ +63 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&J& + "storage"(K' +8 "core" & ! + "manipulator"&L% +4 "core" % Ϲ d +2 .tForearm.seek :retract +2 "manipulator"&M' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&N(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&O& +4 "core" &ӗ" ! ;7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &ӗ" k ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Q'? +97 "core" ' +2 "manipulator"&R& +4 "core" &ӗ" T ;7 +2 "manipulator"&S% +3 "core" %7 J ! +2 "collection"'T& +4 "core" & 3\ +3 "collection"'U& +4 "core" & 3\ +2 .tCC.seek :closed +2 "collection"'V(\\ +4 "core" & +\ +8 &2 "\ $c +48 &Ux  \ 7 + &v "\ K + &U \ N + &_P \ M + &!P \ M +4 &R \ M +10 &T \ N +9 &fT \ N +9 &)W  \ M +10 &U \ M +9 &!T  \ N +10 &#nT \ N +9 &%0R \ N +9 &&S \ N +10 &(S \ N +9 &*vT \ N +9 &,8U \ N +10 &-V \ M +9 &/V \ M +10 &1V \ M +9 &3AU \ M +9 &5U \ M +10 &6Q \ M +9 &8S \ M +9 &:IW \ M +10 &<\ W \ N +9 &=U \ N +10 &?R \ M +9 &APS \ N +9 &CY \ N +10 &Df \ O +9 &Fp \ Q +9 &HF \ T +10 &I \ X +9 &K \ Z +10 &Mz \ Z +9 &O: \ [ +9 &P \ [ +10 &R \ \\ +9 &T} \ \\ +9 &V> \ \\ +10 &W \ ] +9 &Y \ ^ +10 &[~ \ K +9 &\\7 \ 2 +9 &\\x \ Q +6 ( +2 "collection"'U& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.27 +2 .Hand.open + "manipulator"&W1 +4 "core" &\\l \ Q +59 1 +2 "manipulator"&X% +4 "core" % 7 ( ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y' +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%Z& +4 "core" &\ + "manipulator"&[% +4 "core" %   +2 "storage"(\\% +4 "core" % '\ + "storage"(]. +3 "core" .(<- + "storage"(^& +4 "core" &<, \ +2 "storage"(_& +3 "core" &<, y\ +2 "manipulator"&`& +4 "core" &ӗ" \ ;7 + "manipulator"&a% +4 "core" %  /  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&b( +163 "core" ( + "manipulator"&c& +5 "core" &   + "storage"(d& +4 "core" &<, J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&e'O +108 "core" ' +2 "storage"(f& +4 "core" &<, & % \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'r +310 "core" ' + "storage"(h- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (i& +3 "core" &<, -\ + "manipulator"&j& +4 "core" & <  +2 .tElbow.seek 5 + "manipulator"&k( +4 "core" ( + "manipulator"&l& +4 "core" & >  + "storage"(m& +4 "core" &<,  \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&n'Ϲ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"(q' +8 "core" &   + "manipulator"&r% +4 "core" % ϳ  +2 .tForearm.seek :retract +2 "manipulator"&s' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&t( +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&u& +4 "core" & U I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" & R I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&w' +92 "core" ' +2 "manipulator"&x& +4 "core" & ; I +2 "manipulator"&y% +4 "core" % H + "processing"%z& +4 "core" &5\ +2 "processing"%{& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%|(^ +5 "core" &\ +7 &;\ %f +9 &Wv\ 8 +9 &s \ M +10 &L\ O +9 &qQ \ O +9 &4O \ N +10 &M\ N +9 &O\ O +10 &yN \ O +9 &;K\ O +9 &P\ O +10 &!P\ O +9 &#O\ O +9 &%CL\ O +10 &'Q\ O +9 &(O\ O +10 &*L\ O +9 &,KL\ O +9 &. L\ O +10 &/Q\ O +9 &1O\ N +9 &3SP\ O +10 &5N\ N +9 &6O\ O +10 &8O\ N +9 &:[N\ O +9 &<O\ O +10 &=R\ O +9 &?R\ O +9 &AbR\ O +10 &Cb\ Q +9 &Dg\ R +10 &F}\ T +9 &HW\ U +9 &J\ U +10 &K\ V +9 &M\ V +9 &O^\ V +10 &Q\ W +9 &R\ W +10 &T\ X +9 &Vd\ W +9 &X%\ W +10 &Y\ W +9 &[\ V +9 &]i\ E +10 &^:k\ 'r +9 &^7\ 1 +6 ( + "processing"%{& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 +2 .Hand.open + "manipulator"&}1 +3 "core" &^%\ 1 +53 1 +2 "manipulator"&~% +4 "core" %  H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 "processing"%& +4 "core" &^%\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %   +2 "storage"(% +4 "core" % \  + "storage"(. +3 "core" .(<- + "storage"(& +4 "core" &<, \ +2 "storage"(& +5 "manipulator"&\ & +3 "core" &<, 9\ +2 & I +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& ( +2 "storage"('r +5 "core" ( + "manipulator"&& +4 "core" & O I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & > I +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open + "processing"%( +102 "core" ' +2 "storage"(- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +301 ( +2 "storage"(& +4 "core" &<, # \ + "manipulator"&& +4 "core" &  I + "manipulator"&% +4 "core" %  R : +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +248 "core" ( +2 "manipulator"&& +4 "core" & S + "storage"(& +4 "core" &<, \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& 'O +94 "core" ' + .tHand.open + "manipulator"&!1 +63 "core" 1 +2 "storage"("- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(#' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"($' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(%- +3 "core" -' +2 "storage"(&& +4 "core" &<,\ \ ~\ X + "manipulator"&'& +4 "core" &  S +2 .tElbow.seek 5 +2 "manipulator"&(( +3 "core" ( + "manipulator"&)& +4 "core" &  u S +2 "storage"(*& +3 "core" &<,\ \  %\ X +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&+'O +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(,'" +58 "core" ' + "manipulator"&-& +4 "core" & D S +2 "storage"(.& +4 "core" &<, \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&/'΍ +25 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(1' +21 "core" ' + "manipulator"&2% +5 "core" %΋ 9 + "storage"(3& +4 "core" &<, B\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 298 counts + "manipulator"&4'Ϸ +15 "core" ' +2 "manipulator"&5& +4 "core" & 8 2 +2 "storage"(6& +4 "core" &<, P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&7'O +15 "core" ' +2 "storage"(% +4 "core" % m\ +3 ."downElevator"SE.seek :down +3 "storage"(9' +99 (:% +3 "core" %=I '\ Xi + "manipulator"&;% +4 "core" %0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (>& +4 "core" &<, \ +2 "collection"'@& +3 "core" &\\k \ Q +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %  A  +2 "storage"(% +3 "core" % @\  +2 "storage"(B. +3 "core" .(<- + "storage"(C& +4 "core" &<, |\ +2 "storage"(D& +3 "core" &<,\ +2 "manipulator"&F& +3 "core" & 2 2 +2 .tElbow.seek 5 +2 "manipulator"&G( +22 "core" ( + "manipulator"&I& +4 "core" & V  +2 "storage"(J& +4 "core" &<,  @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L'O +92 "core" ' + "storage"(<& +4 "core" &<,  %\ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'r +300 "core" ' + "storage"(O- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&P& +3 "core" & o  + "storage"(A& +4 "core" &<, " \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&H'΍ +21 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(T'z +28 "core" ' + "manipulator"&E% +4 "core" %Θ \\ +2 "storage"(K& +4 "core" &<, G\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts + "manipulator"&M' +14 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(W& +3 "core" &<,  c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&X'O +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(Z' +35 "core" ' +2 "manipulator"&[& +5 "core" & B  + "manipulator"&\\% +4 "core" %? w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]' +90 "core" ' +40 .tElbow.seek CC +11 "manipulator"&U(ӂ +166 "core" ( +2 "manipulator"&^& +4 "core" &Ӎ 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +2 "core" &Ӎ 2 +2 .tForearm.seek CC +2 "manipulator"&`'? +96 "core" ' +2 .tHand.close + "manipulator"&a/ +61 "core" / +3 .tCC.seek :open + "collection"'Q( +450 "core" ( + "storage"(c& +4 "core" &<, % % O\ +2 "storage"(d& +3 "core" &<, "  \ +2 "manipulator"&f& +3 "core" &Ӎ L 2 +2 "manipulator"&N% +4 "core" % 3 l  + .tForearm.seek :retract +2 "manipulator"&Y' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&h( +160 "core" ( +2 "manipulator"&i& +4 "core" & A  +2 "storage"(j& +3 "core" &<, @ @ j\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&l'΍ +91 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&o1 +60 "core" 1 +2 "manipulator"&p% +4 "core" % Ρ  > +2 "storage"(r& +3 "core" &<, < A |\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&b' +15 "core" ' +2 "manipulator"&e& +4 "core" &  + "storage"(g& +4 "core" &<, Y X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n'O +18 "core" ' + "storage"(u% +4 "core" % W Y\ +3 ."downElevator"SE.seek :down +3 "storage"(v' +99 (k% +3 "core" %? "  |\ Vb +2 "manipulator"&x% +4 "core" %^ i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'z& +4 "core" & \ +2 "manipulator"&q% +4 "core" %    + "storage"(s% +4 "core" % G : Q\  +2 "storage"( . +3 "core" .(<- + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(}(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (~& +2 "core" &K   3\  +2 "manipulator"&& +4 "core" & c  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & ;  +2 "storage"(& +4 "core" &K S : \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(\ & +5 "core" &K V S D\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' +2 "storage"({- +3 "core" -'+ + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K ( 1 "\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&w( +3 "core" ( + "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &K ? A +\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&t'h +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"(' +6 "core" & X  +2 "manipulator"&% +4 "core" % ϙ @ +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &Ӝ C 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӝ 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +100 "core" ' +2 "manipulator"& & +4 "core" &Ӝ 8 +2 "manipulator"&!% +4 "core" %? | + "collection"'"& +4 "core" & \ +3 "collection"'%& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'&(\\ +4 "core" & \  +8 &1x \ *x +10 &c} \ > +9 &so \ N +9 &7R \ M +10 &R \ M +9 &V \ M +10 &~R \ M +9 &@T \ M +9 &Q \ M +10 &R \ M +9 & U \ M +10 &"HR \ M +9 &$\ R \ M +9 &%W \ M +10 &'Q \ M +9 &)QR \ L +9 &+S \ M +10 &,R \ M +9 &.S \ M +10 &0XR \ M +9 &2R \ M +9 &3W \ M +10 &5S \ M +9 &7_V \ M +9 &9"S \ M +10 &:Q \ M +9 &<T \ M +9 &>hT \ M +10 &@*R \ M +9 &AU \ M +10 &C] \ N +9 &Ejd \ O +9 &G&u \ Q +10 &H \ T +9 &J \ X +9 &LT \ Y +10 &N \ Z +9 &O \ Z +10 &Q \ [ +9 &SV \ [\ +9 &U \ \\ +10 &V \ \\ +9 &X \ ] +9 &ZV \ ^ +10 &[y \ ? +9 &\\- \ 'u +10 &\\x \ S +2 ( + "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open + "manipulator"&'1 +55 "core" 1 +2 "manipulator"&)% +5 "core" % ? K + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&*' +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&-% +3 "core" % ! R ( +2 "storage"(.% +4 "core" % \  + "storage"(2. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(3(K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K w\  +2 "manipulator"&5& +4 "core" &Ӝ u 8 + "manipulator"&6% +4 "core" % ! ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&#( +162 "core" ( + "manipulator"&& +4 "core" & a  +2 "storage"(& +3 "core" &K 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +92 "core" ' + "storage"($& +4 "core" &K  \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +298 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +2 "core" &K \  +2 "manipulator"&(& +4 "core" & s  + .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( + "manipulator"&/& +4 "core" & -  + "storage"(>& +4 "core" &K  #\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&4'h +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&@/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" &  + "manipulator"&B% +4 "core" % ] @ +2 .tForearm.seek :retract +2 "manipulator"&1' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&D& +4 "core" &  N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" & J M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&I' +89 "core" ' +2 "manipulator"&J& +4 "core" & < M +2 "manipulator"&7% +3 "core" % g i +2 "processing"%<& +4 "core" &"\ +2 "processing"%9& +5 "core" &\ +2 .tPC.seek :closed + "processing"%0(^ +4 "core" &\ +9 &+\ #a +9 &Tx\ 7 +9 &r\ L +10 &I\ O +9 &VN\ O +9 &I\ N +10 &N\ O +9 &L\ O +9 &^L\ O +10 &!J\ N +9 &L\ N +10 &!J\ N +9 &#gO\ N +9 &%(N\ O +10 &&M\ O +9 &(J\ N +9 &*pL\ N +10 &,1O\ N +9 &-J\ O +10 &/O\ N +9 &1vN\ O +9 &38L\ O +10 &4L\ O +9 &6J\ N +9 &8M\ N +10 &:@K\ O +9 &<L\ N +10 &=M\ N +9 &?Q\ O +9 &AFU\ O +10 &Cg\ R +9 &Dt\ S +9 &F{\ U +10 &H<\ U +9 &I\ U +10 &K\ U +9 &M\ V +2 "Can"\ li +7 "core" &OB\ V +10 &Q\ W +9 &R\ V +10 &T\ X +9 &VG\ W +9 &X\ \ W +10 &Y\ W +9 &[\ W +9 &]N\ J +10 &^{I\ ] +9 &^ U\ 7 +5 ( +2 "processing"%9& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"&=1 +3 "core" &^-\ 7 +53 1 + "manipulator"&O% +5 "core" %   s i + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +97 "core" ' +2 "processing"%A& +4 "core" &^-\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&S% +4 "core" % # ^ 1 + "storage"(E% +4 "core" % f\  +2 "storage"(K. +3 "core" .(K + "storage"( & +4 "core" &K V\  + "storage"(W& +5 "manipulator"&[& +3 "core" &K {\  +2 & d M +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "manipulator"&\\( +2 ."raiseStack"SE.seek :beamBreak +4 "storage"(L'r +19 "core" ( + "manipulator"&G& +5 "core" &  ] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &   +2 .tForearm.seek PC +2 "manipulator"&H' +95 "core" ' + .tHand.close + "manipulator"&M/ +54 "core" / + .tPC.seek :open +3 "processing"%T( +83 "core" ' +2 "storage"(X- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'1 +49 "core" ' +310 ( + "storage"(_& +4 "core" &K R\  +2 "manipulator"&R& +3 "core" & $ +2 "manipulator"&a% +4 "core" % \  D , +40 .tForearm.seek :retract +12 "manipulator"&]' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&V( +240 "core" ( + "manipulator"&c& +4 "core" & j 3 +2 "storage"(d& +4 "core" &K `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&f' +100 "core" ' + .tHand.open + "manipulator"&N1 +54 "core" 1 +2 "storage"(i- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(j' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(`' +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' +2 "storage"(o& +3 "core" &K\ \  \ ` +2 "manipulator"&p& +4 "core" &   3 + .tElbow.seek 6 +2 "manipulator"&r( +4 "core" ( + "manipulator"&e& +4 "core" & b 3 + "storage"(g& +4 "core" &K ( 5\ ` +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&u' +8 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +57 "core" ' + "manipulator"&k& +5 "core" & [ 3 + "storage"(x& +4 "core" &K  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&h'< +23 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(z' +30 "core" ' + "manipulator"&b% +5 "core" %G * + "storage"(q& +4 "core" &K :\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&s's +16 "core" ' +2 "manipulator"& & +4 "core" & I 3 +2 "storage"(Z& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&n' +17 "core" ' + "storage"(v% +5 "core" % Q\ +2 ."downElevator"SE.seek :down +4 "storage"(8' +99 (~% +3 "core" %;H `\ Xi +2 "manipulator"&% +4 "core" % G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K w\  + "collection"'\ & +4 "core" &\\u \ S +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&m% +4 "core" %  D  +2 "storage"(y% +3 "core" % S\  +2 "storage"({. +3 "core" .(K + "storage"(& +4 "core" &K  0\  + "storage"(& +4 "core" &K Q\  +2 "manipulator"&& +3 "core" & 3 +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & & 3 + "storage"(|& +4 "core" &K O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(& +4 "core" &K  \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak + "storage"('r +310 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & 3 +2 "storage"(& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&t'< +22 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"("' +32 "core" ' +2 "manipulator"&w% +4 "core" %M . + "storage"(& +4 "core" &K #\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts + "manipulator"&'y +15 "core" ' + "manipulator"&Q& +4 "core" & 2 +2 "storage"('& +4 "core" &K B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&)' +15 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(' +35 "core" ' +2 "manipulator"&-& +4 "core" & ; 2 +2 "manipulator"&.% +3 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( + "manipulator"&%& +5 "core" &ӕ" T ;5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &ӕ" < ;5 +2 .tForearm.seek CC +2 "manipulator"&6'? +96 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / + .tCC.seek :open +2 "collection"'( +450 "core" ( +2 "storage"(& +4 "core" &K  ! c\  +2 "storage"(}& +3 "core" &K g\  +2 "manipulator"&$& +3 "core" &Ӝ  :. +2 "manipulator"&% +3 "core" % = *  +2 .tForearm.seek :retract +2 "manipulator"&*' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&;( +161 "core" ( + "manipulator"&+& +4 "core" &   +2 "storage"((& +3 "core" &K @ @ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&/'< +93 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&@1 +59 "core" 1 +2 "manipulator"&% +4 "core" % I C 9 + "storage"(B& +4 "core" &K ; F d\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&#'u +13 "core" ' +2 "manipulator"& & +4 "core" & M  +2 "storage"(:& +3 "core" &K X Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +14 "core" ' +2 "storage"(D% +4 "core" % T X =\ +3 ."downElevator"SE.seek :down +3 "storage"(F' +98 (,% +3 "core" %B - ) U\ Wc +2 "manipulator"&J% +4 "core" % 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +718 #t-> access 2 +3 "storage"(<% +3 "core" % b \\ \  +2 "manipulator"&% +4 "core" %  J  + "manipulator"&1& +3 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +2 "core" &K  ) \  +54603 "Can"\ ?< +25459 #t-> shortDA +2 "collection"'O% +3 "processing"%A% +3 "core" %i \ +6 %ط\ + #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +792 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%S +130 "core" + .tPTV.dial :PRVmixing +2 "processing"%E  +130 "core" + .tPRV.dial :sipper +2 "processing"%K  +42 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"% 'e +2294 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%[  + "collection"'W  +18 "core" +110  +2 .tPS.seek 0.5ml + "processing"%9' +1270 "core" ' + .tPRV.dial :waste2 +2 "processing"%G @ +99 "core" > + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%?'ؾ +587 "core" ' + .tPSV.dial PSR +2 "processing"%I +102 "core"  + "processing"%M% +4 "core" %ؿ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%X'X\\ +1105 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%C' +1610 "core" ' + .tPSV.dial :mixloop +2 "processing"%P +103 "core" +2 .tPS.seek 0ml +2 "processing"%0'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%L +103 "core"  +2 "processing"%_% +3 "core" %ؾ\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%R'X\\ +1097 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%a' +1636 "core" ' + .tPSV.dial :mixloop +2 "processing"%H +103 "core" + .tPRV.dial :sipper +2 "processing"%c  +42 "core" +2 .tPS.seek 0ml +2 "processing"%d'ؾ +2632 "core" ' + .tPSV.dial PSR +2 "processing"%\\ +102 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml + "processing"%N' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%i +114 "core" +2 .tPS.seek 0ml +2 "processing"%U'ؾ +2651 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%o& +4 "core" &\ +2 "manipulator"&p% +3 "core" %  T  +2 "storage"(e% +3 "core" % \  +2 "storage"(g. +2 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(](  +1297 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +2 "core" &  o\ +2 "manipulator"&x& +4 "core" & !  + .tElbow.seek 2 +2 "manipulator"&b( +13 "core" ( + "manipulator"&q& +4 "core" & ^ +2 "storage"(^& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +97 "core" ' + "storage"(Z& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'r +296 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" & _ N "\  +2 "manipulator"&f& +3 "core" & c ^ +2 .tElbow.seek 2 +2 "manipulator"&`( +3 "core" ( + "manipulator"&~& +4 "core" &  ^ + "storage"(& +4 "core" & \  +42 .tForearm.seek 2 + 300 counts +12 "manipulator"&u'Ͻ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +61 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&Y& + "storage"(h' +8 "core" & i ^ + "manipulator"&s% +4 "core" %  z +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ ( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( + "manipulator"&m& +4 "core" & } +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" & / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&{' +92 "core" ' + "manipulator"&z& +5 "core" & + "manipulator"&% +4 "core" % 0 9 +2 "processing"%& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &\ +7 & *\ $c +10 &Uw\ 7 +9 &~p\ K +9 &M\ N +10 &`N\ N +9 &#L\ N +10 &P\ N +9 &L\ N +9 &hM\ N +10 &*O\ N +9 &O\ N +10 &!M\ N +9 &#qO\ N +9 &%3N\ N +10 &&R\ N +9 &(O\ N +9 &*yO\ N +10 &,:Q\ N +9 &-N\ N +9 &/O\ N +10 &1S\ N +9 &3CO\ N +10 &5O\ N +9 &6Q\ N +9 &8R\ N +10 &:JO\ N +9 &< Q\ N +9 &=Q\ N +10 &?S\ N +9 &AOU\ O +10 &C k\ Q +9 &D|\ T +9 &F\ T +10 &HE\ U +9 &J\ U +10 &K\ U +9 &M\ U +9 &OK\ V +10 &Q \ V +9 &R\ V +9 &T\ V +10 &VR\ V +9 &X\ V +9 &Y\ V +10 &[\ V +9 &]X\ E +9 &^Du\ "e +10 &^?\ 7 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open + "manipulator"&|1 +4 "core" &^,\ 7 +51 1 + "manipulator"&n% +5 "core" %  m 9 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%8 h + %l9 +6 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9  +102 "processing"%9 +3 "core" 9  +103 "processing"%9 +3 "core" 9 +102 "processing"%!9 +2 "core" 9 +102 "processing"%w9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%Q9 +2 "core" 9" +102 "processing"%'9 +3 "core" 9& +102 "processing"%-9 +3 "core" 9* +102 "processing"%.9 +2 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%t9 +2 "core" 9? +102 "processing"%9 +3 "core" 9C +103 "processing"%"9 +2 "core" 9H +102 "processing"%%9 +3 "core" 9L +102 "processing"%59 +2 "core" 9P +102 "processing"%)9 +3 "core" 9T +102 "processing"% 9 +2 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%29 +3 "core" 9a +102 "processing"%&9 +3 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%}9 +2 "core" 9m +102 "processing"%$9 +3 "core" 9q +102 "processing"%9 +2 "core" 9v +102 "processing"%+9 +3 "core" 9z +102 "processing"%(9 +2 "core" 9~ +102 "processing"%69 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%@9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%B9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%:9 +2 "core" 9 +102 "processing"%D9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%,9 +3 "core" 9 +101 "processing"%J9 +3 "core" 9 +102 "processing"%;9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%49 +3 "core" 9  +102 "processing"%F9 +2 "core" 9 +102 "processing"%<9 +3 "core" 9 +103 "processing"%9 +3 "core" 9 +102 "processing"%19 +2 "core" 9 +102 "processing"%=9 +2 "core" 9" +3 .tPH.hold 2:00:00,28C +3 "processing"%3 php + .tdelay 1:30 +4 "core"  +2771 "Can"\ XWz +6229 .tPSR.select :air +3 .PSV.dial PSR + "processing"%O +102 "core"  + "processing"%A% +4 "core" %-\  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%S' +583 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%E' +1614 "core" ' + .tPTV.dial :puck +2 "processing"%K  +129 "core"  +2 .tPSV.dial PTV +2 "processing"% +73 "core" + .tPBV.dial :waste1 +2 "processing"%W  +53 "core" +2 "processing"%[% +4 "core" %S\  +2 .tPS.seek 1.5ml + "processing"% ') +597 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%G * +34 "core" , +2 .tPS.seek 0ml + "processing"%9'ؾ +1614 "core" ' + .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%I  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%M * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%? +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%X' +2431 "core" ' + .tPSV.dial PTV +2 "processing"%P +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%C +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%L +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%_  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%0'ؾ +2371 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%R  +129 "core" + .tPSV.dial :mixloop +2 "processing"%H +44 "core" + .tPRV.dial :ab1 +2 "processing"%c @ +99 "core" @ + .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml + "processing"%a' +361 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV + "processing"%\\  +44 "core"  + "processing"%d% +4 "core" %\ \ +2 .tPS.seek 0.35ml +2 "processing"%i'm +455 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'N  +28 "core" + .tPRV.dial :air +2 "processing"%o  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%p'K +1165 "core" ' + .tPRV.dial :waste2 +2 "processing"%e @ +70 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%g' +860 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%k' +1615 "core" ' + .tPSV.dial :PML +2 "processing"%x +44 "core" + .tPTV.dial :mixing +2 "processing"%q @ +72 "core" A + .tPBV.dial :waste1 +2 "processing"%^  +34 "core" +2 "processing"%Z% +4 "core" %\ +2 .tPS.seek 1.85ml + "processing"%>' +229 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%7 * +34 "core" , +3 .tPS.seek 0ml + "processing"%v'ؾ +1990 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'V& +3 "core" & \ + "manipulator"&f& +4 "core" & H + "manipulator"&~% +4 "core" %  R  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +121 "core" ( + "manipulator"&r& +4 "core" &- E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &- b  +2 .tForearm.seek :garage +2 "manipulator"&s'w +96 "core" ' + .tHand.close + "manipulator"&b/ +5 "Can"\ IF +52 "core" / +2 "manipulator"& & +4 "core" &- N  +2 "manipulator"&j% +4 "core" % a e + .tForearm.seek :retract +2 "manipulator"&u' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&m(ӂ +281 "core" ( + "manipulator"&y& +5 "core" &ӓ$ J =E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &ӓ% % =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&z'? +92 "core" ' +2 "manipulator"&& +4 "core" &ӓ$ 8 =E +2 "manipulator"&% +3 "core" %H  0 l +2 "collection"'h& +4 "core" & \ +2 "collection"'& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'T(\\ +4 "core" & \  +9 &1w  \ *y +9 &cy  \ > +9 &rm \ N +10 &5O \ N +9 &R \ N +9 &P \ N +10 &|S \ M +9 &=N \ N +10 &U \ N +9 &Q \ N +10 & N \ N +9 &"DQ \ N +9 &$N \ N +10 &%R \ N +9 &'N \ \ N +9 &)NS \ M +10 &+O \ N +9 &,O \ \ M +9 &.Q \ M +10 &0VQ  \ M +9 &2T \ N +10 &3R \ \ N +9 &5N \ M +9 &7^R  \ M +10 &9 Q  \ M +9 &:O  \ N +9 &<T \ N +10 &>fT  \ M +9 &@(Q \ M +10 &AV  \ N +9 &Cc \ O +9 &E^} \ S +10 &G \ W +9 &H \ Z +9 &J \ Z +10 &LM \ [ +9 &N \ \\ +9 &O \ \\ +10 &Q \ \\ +9 &SP \ ] +10 &U \ ^ +9 &V \ ^ +9 &X \ ` +10 &ZP \ ` +9 &[y \ D +9 &\\/ \ (x +10 &\\ \ Z +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.46 + "collection"'|& +5 "core" &\\ \ Z + .tHand.open + "manipulator"&n1 +53 "core" 1 +2 "manipulator"&l% +4 "core" % H > l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tPSV.dial PSR +2 "processing"% +104 "core"  +2 "processing"%{% +4 "core" %ؿ`\  + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%'+ +1616 "core" ' +2 .tdelay 5 seconds +501 .PSV.dial :waste1 + "processing"%  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' +2 .tPSV.dial PSR + "processing"%! +46 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%w' +2634 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%  +2 "collection"'Q  +32 "core" ~ +125  + .tPSV.dial :mixloop +2 "processing"%' +114 "core" + .tCTV.dial :air,avoiding: :intake +2 "collection"'- +3 "core"  +2 "collection"'.  +4 "core" +2 .tPTV.dial :PRVmixing +44 "processing"%  +83 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%t' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%"'ؾ +2635 "core" ' +2 .tPSV.dial :air + "processing"%%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%5' +2624 "core" ' + .tPSV.dial :mixloop +2 "processing"%) +44 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2640 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &Ӕ# =D +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&2(ӂ +32 "core" ( +2 "manipulator"&&& +4 "core" &z   \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &z * \\ +2 .tForearm.seek CC +2 "manipulator"&}'? +95 "core" ' + .tHand.close + "manipulator"&$/ +57 "core" / +2 .tCC.seek :open + "collection"'( +450 "core" ( + "manipulator"&+& +4 "core" &z  \\ +2 "manipulator"&(% +3 "core" % D U  +2 .tForearm.seek :retract +2 "manipulator"&6' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(- +273 "core" ( + "manipulator"&@& +4 "core" &-  Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&B'w +96 "core" ' +2 .tHand.open + "manipulator"& 1 +63 "core" 1 + "manipulator"&:% +4 "core" % } k \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +94 "core" ' +2 ."da"delayUntil "19:49:23.00" +24772 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%* @ +73 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%,  +34 "core" + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%J * +34 "core" , + ."da"PSV.dial :air +2 "processing"%;  +58 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%/' +2444 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%# +42 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%4 +56 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%F  +41 "core"  +2 ."da"PS.seek 0ml +2 "processing"%<'ؾ +2410 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  + "processing"%1% +4 "core" %ؿs\ } +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%=' +592 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%O' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%A  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%U +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%S  +34 "core" +2 "processing"%K% +4 "core" %|\  +2 ."da"PS.seek 1.5ml +2 "processing"%'. +297 "Can"\ nj +287 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%W * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%['ؾ +1617 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%E  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%G * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%8' +2424 "core" ' + ."da"PSV.dial PTV +2 "processing"%I +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%M +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%? +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%9  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +2394 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%C +129 "core"  +2 "processing"%L% +3 "core" %ػe\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%_' +584 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%X' +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%R +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +34 "core" +2 "processing"%c% +4 "core" %v\  + ."da"PS.seek 1.5ml +2 "processing"%0'+ +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%\\ * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%d'ؾ +1629 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%a  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%N * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%o +73 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%i' +2444 "core" ' + ."da"PSV.dial PTV +2 "processing"%e +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%p +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%g  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%x'ؾ +2391 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%q  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%^  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%Z  +43 "core" ~ + ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%7 +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%k' +397 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%>  +43 "core"  + "processing"%V% +4 "core" % i\  +2 ."da"PS.seek 0.55ml +2 "processing"%f' +339 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%~  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%r' +1563 "core" ' + ."da"PSV.dial :PML +2 "processing"%Y +44 "core" + ."da"PTV.dial :mixing +2 "processing"%b @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%\ % +4 "core" %g\  + ."da"PS.seek 1.85ml +2 "processing"%j' +232 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +3 ."da"PS.seek 0ml +2 "processing"%s'ؾ +1970 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +2052 "Can"\ IF +45997 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%y  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%` * +35 "core" , +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2436 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%h  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%u +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%|'ؾ +2392 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%n +129 "core"  + "processing"%l% +4 "core" %ؼ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +591 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1630 "core" ' + ."da"PTV.dial :puck +2 "processing"%{  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%z +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%v  +34 "core" +2 "processing"%% +3 "core" %v\ +2 ."da"PS.seek 1.5ml +2 "processing"%'* +588 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%! * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1218 "Can"\ LI +411 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%Q  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%' +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%-' +2438 "core" ' + ."da"PSV.dial PTV +2 "processing"%. +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%w +83 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2386 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  +2 "processing"%t% +4 "core" %ؽd\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%%' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%) +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%5  +34 "core" + "processing"%% +4 "core" %{\  +2 ."da"PS.seek 1.5ml +2 "processing"%&'/ +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +3 ."da"PS.seek 0ml +2 "processing"%$'ؾ +1631 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%m  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%T +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%+' +2447 "core" ' + ."da"PSV.dial PTV +2 "processing"%( +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%} +71 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%@ +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%2'ؾ +2390 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core"  + "processing"%:% +4 "core" %ؼ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%6' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%B' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%* +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%,  +34 "core" + "processing"%J% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%;'* +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%#'ؾ +1613 "core" ' + ."da"delay 2:00 +4813 "Can"\ KHa +7190 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%4 * +35 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%F +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%/' +2424 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%1 +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%< +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%=  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +2380 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%U +139 "core"  +5 "processing"%S% +7 "core" % +3 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +6 "processing"% +17 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +4 ."da"PS.seek 0.25ml +5 "processing"%K' +341 "core" ' +2 ."da"delay 5 seconds +503 "processing"%O% +3 "core" %  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%W' +331 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1617 "core" ' +2 ."da"PTV.dial :puck +45 .PSV.dial PTV +8 "processing"%E +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%G  +36 "core" + "processing"% % +4 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%['0 +602 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%I * +35 "core" , +2 ."da"PS.seek 0ml +3 "processing"%M'ؾ +1614 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%?  +36 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%9 * +36 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%C' +2543 "core" ' + ."da"PSV.dial PTV +2 "processing"%L +76 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%P +76 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%_ +76 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%R  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%H'ؾ +2502 "core" ' +2 #"da"Additional air clear + .PSR.select :air +3 .PSV.dial PSR +2 "processing"%c +134 "core"  +2 "processing"%X% +4 "core" %ؽ\  + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%\\' +2122 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%0 +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%a  +35 "core" + "processing"%N% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%o'/ +586 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%d * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%e  +106 "core"  +2 ."da"PS.seek 0ml +2 "processing"%p'ؾ +1614 "core" ' + "processing"%9 +8 "core" 9i5 +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%g  +3 "core" 5 + 5 + "processing"%i& +9 "core" &^,\ 7 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&q% +4 "core" %   q + "storage"(^% +4 "core" % 5\  + "storage"(Z. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(7(C +359 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" &D\ \  ; +2 "manipulator"&>& +3 "core" &- Q C zZ +2 "manipulator"&V% +3 "core" %   S  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&k( +171 "core" ( +2 "manipulator"&~& +4 "core" & # l* + "storage"(f& +4 "core" &E V X S + ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&Y' +106 "core" ' +2 "storage"(b& +4 "core" &E 3 J d\ ] +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"( 'r +277 "core" ' + "storage"(\ - +4 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"('1 +41 "core" ' +2 "manipulator"&r& +4 "core" & 1 m* + "manipulator"&j% +4 "core" %\ { { j +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&y' +94 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&`( +243 "core" ( + "manipulator"&& +4 "core" &   +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" & {  +2 ."da"Forearm.seek PC +2 "manipulator"&' +91 "core" ' +2 ."da"Hand.close + "manipulator"&h/ +71 "core" / + ."da"PC.seek :open +2 "processing"%u( +460 "core" ( +2 "storage"(& +3 "core" &E \  +2 "manipulator"&& +3 "core" & D n +2 "manipulator"&n% +3 "core" % C n +2 ."da"Forearm.seek :retract +2 "manipulator"&l' +93 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&|( +246 "core" ( +2 "manipulator"&& +4 "core" &  3 + "storage"({& +4 "core" &E Z M\ [ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&z' +93 "core" ' + ."da"Hand.open +2 "manipulator"&v1 +67 "core" 1 +3 "storage"(- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(!' +52 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0420h.tif +5 "processing"%& +10 "core" &W +4 "manipulator"&Q& +5 "core" & I R / 92 +2 "manipulator"&% +5 "core" % K T * :W +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&'' +91 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(- +174 "core" ( + "manipulator"&.& +4 "core" &- ^ E | ;E +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- ; < Q 6E +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&w'w +97 "core" ' +3 ."psFlush"Hand.close + "manipulator"&/ +68 "core" / +2 "manipulator"&-& +4 "core" &- 6 E + "manipulator"&% +4 "core" % ρ ' +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&t' +92 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +129 "core" ( + "manipulator"&%& +4 "core" & +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" & +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&5' +94 "core" ' +2 "manipulator"&& +4 "core" & C [ s 8 + "manipulator"&"% +4 "core" % ; ; 5+ +2 "processing"%& +4 "core" & +2 "processing"%&& +4 "core" &" +2 ."psFlush"PC.seek :closed +2 "processing"%m(^ +4 "core" &+ +7 &0 $d +9 &Rm 9 +10 &xg M +9 &xD T +9 &:< T +10 &< T +9 &< T +9 &< T +10 &ED S +9 &C\ Q +10 &D\ Q +9 &!E\ Q +9 &#TF\ Q +10 &%F\ (Q +9 &&F\ +Q +9 &(E\ Q +10 &*\\E\ !Q +9 &,E\ !Q +10 &-E\ !Q +9 &/= R +9 &1[= T +10 &3> T +9 &4= T +10 &6? T +9 &8a> U +9 &:$? T +10 &;> T +9 &=; T +9 &?jA T +10 &A+> U +9 &BQ W +9 &Dc5 Y +10 &FZ{7 ] +9 &Hu: \\ +10 &I;\ \ Z +9 &K0\ Y +9 &Ml3\ Y +10 &O.+\ Y +9 &P(\ Z +10 &R3\ (Z +9 &Tp,\ [ +9 &V2-\ [ +10 &W*\ Z +9 &Y-\ [ +9 &[y\ Z +10 &]. _ +9 &^Pb R +10 &^W F +2 ( + "processing"%&& +3 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.97 +2 "processing"%& +3 "core" &^W= F + ."psFlush"Hand.open +2 "manipulator"&T1 +71 "core" 1 +2 "manipulator"&$% +63 "core" %   + +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&(' +95 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%} +47 "core"  +2 "processing"%@% +4 "core" %ؼ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +601 "core" ' +2 ."psFlush"delay 5 seconds +238 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 21.668 seconds\ /var/log/esp/da21oct0420h.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0420h15s.tif +260 ."psFlush"PSR.select :air +4 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%+' +1289 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0420h15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0420h30s.tif +834 "core" ' +2 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +198 "core" A + ."psFlush"PTV.dial :PRVmixing +3 "processing"%:  +138 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%2 +108 "core" + ."psFlush"PS.seek :empty +3 "processing"%6'ؠ +1680 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0420h30s.tif: TIFF Upload Complete\ +6 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0420h70s.tif +943 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%* +107 "core"  +2 "processing"%,% +4 "core" %ؠL +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%J' +600 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%B' +2126 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +35 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%; @ +76 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"% +120 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%4'ؠ +2503 #"da"SX HX9/16 (USB:05): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0420h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "21.668 sec auto-exposure",Subject: "da21oct0420h images!" +4 "storage"(F- +7 "core" -' +2 "storage"(#& +4 "core" &E . @ _\ d +3 "manipulator"&& +5 "core" & h +2 "manipulator"&1% +3 "core" % \  n  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&<( +88 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%= +102 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%/'X\\ +29 "core" ( +2 "manipulator"&U& +4 "core" & 1 + "storage"(S& +4 "core" &E &  -\ ] +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&A' +103 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(O'" +57 "core" ' +3 "manipulator"&K& +8 "core" & p 1 + "storage"(W& +4 "core" &E \ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek 1 +3 "manipulator"&E'8 +20 "core" ' +3 ."da"Elbow.hold +2 "manipulator"&G, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.32 Pucks below Top Plate +3 "storage"( ' +28 "core" ' +2 "manipulator"&% +4 "core" %=  +2 "storage"(I& +3 "core" &E i\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 305 counts +2 "manipulator"&['i +14 "core" ' +2 "manipulator"&?& +4 "core" & Z 0 +2 "storage"(9& +3 "core" &E\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&8' +15 "core" ' +2 "storage"(M% +5 "core" % a\  +2 ."downElevator"SE.seek :down +12 "storage"(L' +95 (P% +9 "core" %C o\ Va +5 "manipulator"&_% +9 "core" %  +5 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +3 "manipulator"&R' +93 "core" ' +45 ' +2 ."downElevator"SE.stop +2 "storage"(5 +7 (C& +8 "core" &E  k\ +390 ' +2 ."psFlush"PSR.select :air +4 "processing"% +13 ."psFlush"PS.seek 2.5ml +6 "processing"%c' +1566 "Can"\ VT +52 "core" ' +3 ."psFlush"PSV.dial PTV +3 "processing"%X +76 "core" +2 ."psFlush"PTV.dial :puck +5 "processing"%H  +74 "core"  +3 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +2 "processing"%0'ؾ +2631 "core" ' +4 ."psFlush"PSV.dial PSR +5 "processing"%a +77 "core"  +5 ."psFlush"PSR.select :flush +2 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%N' +592 "core" ' +3 ."psFlush"PSR.select :air +4 "processing"% +12 ."psFlush"PS.seek 2.5ml +4 "processing"%\\' +2122 "core" ' +7 ."psFlush"PSV.dial PTV +13 "processing"%d +76 "core" +2 ."psFlush"PBV.dial PSV +5 "processing"%e U +53 "core" V +4 ."psFlush"PS.seek 0ml +4 "processing"%o'ؾ +2651 "core" ' +3 ."psFlush"PSV.dial PBV +2 "processing"% @ +45 "core" ? +4 ."psFlush"PS.seek 2.5ml +4 "processing"%g' +2638 "core" ' +3 ."psFlush"PSV.dial :waste1 +3 "processing"%i  +73 "core"  +4 ."psFlush"PS.seek 0ml +3 "processing"%q'ؾ +1361 #"uploadLog"upsync +1268 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%^ +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%Z' +2641 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%] +83 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%x'ؾ +2649 "core" ' +2 ."psFlush"PSV.dial PBV +50 "processing"%> @ +56 "core" A +2 ."psFlush"PS.seek 2.5ml +2 "processing"%V' +2626 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%~  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%b +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1106 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%D' +1604 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%\ +83 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%r  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%j'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +71 "core" +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%Y' +597 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2116 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%s +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%k U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%h'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%y @ +56 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2641 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%n +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +83 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%{'ؾ +2624 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%` @ +54 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%v' +2641 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2635 "core" ' + #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"&Q& +4 "core" &  0 + "manipulator"&% +4 "core" %    +2 ."psFlush"Elbow.seek PC +2 "manipulator"&l( +244 "core" ( +2 "manipulator"&& +4 "core" & e / + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & / +2 ."psFlush"Forearm.seek PC +2 "manipulator"&.' +92 "core" ' + ."psFlush"Hand.close + "manipulator"&/ +62 "core" / + ."psFlush"PC.seek :open +2 "processing"%z( +457 "core" ( + "manipulator"&|& +4 "core" &  / + "manipulator"&% +4 "core" %  F  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&-' +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +127 "core" ( + "manipulator"&'& +4 "core" &- S \ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &- I \ +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&)'w +91 "core" ' + ."psFlush"Hand.open +2 "manipulator"&w1 +64 "core" 1 +2 "manipulator"&% +4 "core" % }  ` + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&"' +89 "core" ' +2 #tFinished short da assay +699 #-> access 1 +2 "storage"(% +4 "core" % { y 1\  + "manipulator"&% +5 "core" %  N  + "manipulator"&t& +4 "core" &- F \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(u(<- +1302 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<, "  \  +1116 #t-> access 2 +2 "storage"(T% +3 "core" % V ^ g\  +2 "manipulator"&$% +4 "core" %  u  +2 "manipulator"&&& +3 "core" &- \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(}(K +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (@& +3 "core" &K Y W\ +1382 #t-> samplePassF +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'5& +3 "core" & \ +2 "manipulator"&p& +4 "core" &- K \ + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +16 "core" ( + "manipulator"& & +4 "core" &- l c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &- L c +2 .tForearm.seek :garage +2 "manipulator"&2'w +90 "core" ' + .tHand.close +2 "manipulator"&+/ +58 "core" / + "manipulator"&*& +4 "core" &- ; c +2 "manipulator"&,% +4 "core" % σ J M + .tForearm.seek :retract +2 "manipulator"&6' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&J(ӂ +295 "core" ( +2 "manipulator"& & +4 "core" &ӆ . 3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &ӆ " 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +90 "core" ' + "manipulator"&B& +5 "core" &ӆ # 3 + "manipulator"&F% +4 "core" %?  f +2 "collection"'#& +3 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'1(\\ +5 "core" & \ +6 & 4 ~\ $d +10 &Tu \ 6 +9 &~y \ K +9 &U x\ M +10 &]S \ N +9 &T \ N +9 &T \ M +10 &P \ M +9 &eT \ N +10 &'T \ N +9 &S \ M +9 &!U |\ M +10 &#mU \ N +9 &%1S \ M +9 &&T \ N +10 &(S \ M +9 &*vU \ M +10 &,8T \ M +9 &-Q \ M +9 &/T \ N +10 &1~T \ M +9 &3@S \ M +9 &5Q \ M +10 &6U \ M +9 &8U \ M +10 &:GT \ N +9 &<\ U \ M +9 &=S \ M +10 &?U \ N +9 &APT \ M +9 &C` \ O +10 &Dt \ Q +9 &F \ U +10 &H7 \ Y +9 &I \ Z +9 &K \ Z +10 &Mw \ [ +9 &O9 \ [ +9 &P \ [ +10 &R \ \\ +9 &Tz \ \\ +10 &V: \ ] +9 &W \ ^ +9 &Y \ _ +10 &[y \ L +9 &\\; \ 4 +9 &\\ \ Z +6 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.41 +2 "collection"'=& +4 "core" &\\ \ Z + &\\ \ Z + .tHand.open +2 "manipulator"&U1 +52 "core" 1 +2 "manipulator"&S% +4 "core" % ? _ f + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%K  +44 "core"  + "processing"%W% +4 "core" %ػ\ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "Can"\ ]Z +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%4'+ +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +46 "core"  +2 .tPS.seek 0ml + "processing"%I'ؾ +1608 "core" ' + .tPSV.dial PSR +2 "processing"%( +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%?' +2632 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +43 "processing"%9  +107 "core"  +2 .tPSV.dial :PTV,via: :air +2 "processing"%M +191 "core"  +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%! @ +73 "core" B +2 .tPS.seek 0ml + "processing"%P'ؾ +2637 "core" ' + .tPSV.dial :air +2 "processing"%_  +75 "core"  +2 .tPS.seek 2.5ml +2 "processing"%A' +2637 "core" ' + .tPSV.dial :PTV +2 "processing"%< +73 "core"  +2 .tPS.seek 0ml +2 "processing"%O'ؾ +2629 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&E& +4 "core" &ӆ C 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&[(ӂ +4 "core" ( + "manipulator"&C& +4 "core" &ӆ 9 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &ӆ Q 3 +2 .tForearm.seek CC + "manipulator"&8'? +92 "core" ' + .tHand.close + "manipulator"&L/ +60 "core" / +2 .tCC.seek :open +2 "collection"'/( +451 "core" ( + "manipulator"&X& +4 "core" &ӆ  3 +2 "manipulator"&H% +3 "core" % H 8 H +2 .tForearm.seek :retract +2 "manipulator"&c' +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&a(- +278 "core" ( + "manipulator"&0& +4 "core" &- = d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &-  d +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&d'w +98 "core" ' +2 .tHand.open + "manipulator"&e1 +56 "core" 1 +2 "manipulator"&\\% +4 "core" % } * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +43686 "Can"\ B? +60002 \ B? +60001 \ B? +60001 \ B? +60001 \ B? +60002 \ B? +15738 #t-> PS.flush +2 #Flushing Processing stage +2 "processing"%o% +3 "core" %\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%i& +4 "core" &\ +2 "manipulator"&g& +3 "core" &- U d +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&^(- +3 "core" ( + "manipulator"&q& +4 "core" &- d + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &- - d +2 .tForearm.seek :garage +2 "manipulator"&Z'w +100 "core" ' + .tHand.close + "manipulator"&>/ +65 "core" / + "manipulator"&x& +4 "core" &- ^ d +2 "manipulator"&~% +3 "core" % φ > +2 .tForearm.seek :retract +2 "manipulator"&V' +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&b( +137 "core" ( +2 "manipulator"&f& +4 "core" & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&\ ' +100 "core" ' + "manipulator"&r& +5 "core" & [ + "manipulator"&D% +4 "core" % I +2 "processing"% & +4 "core" &\ +2 "processing"%j& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%Y(^ +4 "core" &\  +9 &3t\ *x +9 &b{\ > +9 &wl\ O +10 &9J\ N +9 &L\ N +9 &N\ O +10 &N\ N +9 &AP\ N +10 &N\ N +9 &Q\ N +9 & O\ N +10 &"IL\ N +9 &$ Q\ N +9 &%O\ N +10 &'Q\ N +9 &)RO\ N +9 &+O\ N +10 &,M\ N +9 &.O\ N +10 &0ZM\ N +9 &2R\ N +9 &3R\ N +10 &5R\ N +9 &7`Q\ O +10 &9"O\ O +9 &:Q\ O +9 &<P\ O +10 &>hQ\ O +9 &@*O\ O +9 &A\\\ P +10 &Cp\ R +9 &E^\ U +9 &G"}\ T +10 &H\ U +9 &J\ U +10 &Ld\ U +9 &N#\ W +9 &O\ V +10 &Q\ W +9 &Sh\ W +9 &U+\ V +10 &V\ W +9 &X\ V +10 &Zq\ V +9 &\\3\ V +9 &]~v\ ; +10 &^1\ S +9 &^%\ 1 +2 ( +2 "processing"%j& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.74 + "processing"%s& +4 "core" &^$\ 1 +2 .tHand.open + "manipulator"&k1 +64 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y' +93 "core" ' + .tPSV.dial PSR +2 "processing"%h +73 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%'X\\ +1097 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%' +1616 "core" ' +2 .tPSV.dial PTV +2 "processing"%n +86 "core" + .tPTV.dial :puck +2 "processing"%  +73 "core"  + .tPBV.dial :waste1 +2 "processing"%  +53 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2637 "core" ' + .tPSV.dial PSR +2 "processing"%` +72 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%{' +585 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2126 "core" ' +2 .tPSV.dial PTV +2 "processing"%v +73 "core" + .tPBV.dial PSV +2 "processing"%Q U +53 "core" W +2 .tPS.seek 0ml +2 "processing"%'ؾ +2638 "core" ' +2 .tPSV.dial PBV + "processing"% @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%' +2640 "core" ' + .tPSV.dial :waste1 +2 "processing"%G  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' + .tPSV.dial PSR +2 "processing"%R +44 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%m' +2628 "core" ' +2 .tPSV.dial PTV + "processing"%| +83 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml + "processing"%'ؾ +2634 "core" ' + .tPSV.dial PBV +2 "processing"%' @ +43 "core" ? + .tPS.seek 2.5ml +2 "processing"%%' +2639 "core" ' + .tPSV.dial :waste1 +2 "processing"%.  +72 "core"  +2 .tPS.seek 0ml + "processing"%l'ؾ +2650 "core" ' + #tGaraging FlushPuck in Processing Clamp + "manipulator"&w& +5 "core" & 1 + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +3 "core" ( +2 "manipulator"&-& +4 "core" & % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +2 "core" & X +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open + "processing"%t( +457 "core" ( +2 "manipulator"&7& +4 "core" & 0 + "manipulator"&% +5 "core" %  W R + .tForearm.seek :retract +2 "manipulator"&T' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&$(- +121 "core" ( +2 "manipulator"&&& +4 "core" &- + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &- I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&@'w +99 "core" ' + .tHand.open + "manipulator"&51 +54 "core" 1 + "manipulator"&p% +4 "core" % ~ s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +95 "core" ' +14329 "Can"\ >; +60001 \ =; +60001 \ >< +60002 \ >; +60001 \ >; +60001 \ >; +60002 \ >; +60001 \ >; +60001 \ >; +60001 \ >; +60002 \ >; +60001 \ =; +60001 \ >; @UTC1633392086.00 \ >; +60001 \ >; +60001 \ >; +60002 \ >; +60001 \ >; +60001 \ >; +60001 \ >; +60002 \ >; +60001 \ >; +60001 \ >; +60002 \ >; +60001 \ >; +60001 \ >; +60002 \ >< +60001 \ >; +60001 \ >; +60001 \ >< +60002 \ >; +60001 \ >; +60001 \ >; +60002 \ >; +60001 \ >; +60001 \ ?; +60002 \ >; +60001 \ >; +60001 \ >< +60001 \ >; +60002 \ >; +60001 \ =; +60001 \ =; +60002 \ >< +60001 \ >; +60001 \ =; +60001 \ >; +60002 \ >; +60001 \ >; +60001 \ >; +60001 \ >; +60002 \ >; +60001 \ ?; +60001 \ >; +60001 \ >< +60002 \ >; +60001 \ >; +60001 \ >; +60001 \ >< +60002 \ >; +60001 \ >; +60001 \ >< +60001 \ ?; +60002 \ >; +60001 \ >; +60001 \ >; +60001 \ >; +60002 \ >; +60001 \ >: +60001 \ >; +60001 \ >; +60002 \ >< +60001 \ >; +60001 \ >; +60001 \ >; +60002 \ >; +60001 \ >; +60001 \ ?< +60001 \ >; +60002 \ >; +60001 \ >; +60001 \ >< +60001 \ >; +59949 #t-> exit +7 #mEXIT @1633434086.44UTC @1633434102.44UTC = =tMAIN =mMAIN_scheduler @UTC1633434104.30 #"core_reset"Sent BREAK +2 #t@51148 sendCRC with ifg=0x20, ie=0x7F + #@52983 sendCRC with ifg=0x08, ie=0x5F + #@23613 idle with ifg=0x84, ie=0x75 #@24283 select with ifg=0x10, ie=0xF5 + #@24917 receive with ifg=0x10, ie=0xFD + #@25550 receive with ifg=0x10, ie=0xFD #@26183 receive with ifg=0x10, ie=0xFD + #@26510 receive with ifg=0x80, ie=0xFD + #@18258 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +285 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +387 "Can"\ A> \ A> + #tPolling Can every 10:00 +566 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %i \ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %&\  +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % g\ @ + .tSS.configure :default +2 "sampler")#.0X startTube 2 +1128 #-> $da[:extractVol]=.2 +55651 #-> shortDA +2 "collection"'3% +3 "processing"%4% +4 "core" %i 4\ +5 %P\  +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +454 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +510 "Can"\ A? +492 .tPSV.dial :mixloop +2 "processing"%5 +143 "core" + .tPTV.dial :PRVmixing +2 "processing"%6  +131 "core" +2 .tPRV.dial :sipper + "processing"%7  +129 "core"  + .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%8'e +2287 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%9  + "collection"':  +18 "core" +110  +2 .tPS.seek 0.5ml +2 "processing"%;' +1288 "core" ' + .tPRV.dial :waste2 +2 "processing"%< @ +100 "core" @ +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%='ؾ +592 "core" ' + .tPSV.dial PSR +2 "processing"%> +105 "core"  + "processing"%?% +4 "core" %ؼE\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%@'X\\ +1104 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%A' +1617 "core" ' + .tPSV.dial :mixloop +2 "processing"%B +103 "core" +2 .tPS.seek 0ml + "processing"%C'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%D +103 "core"  +2 "processing"%E% +4 "core" %ؾ;\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%F'X\\ +1131 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%G' +1613 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%H +104 "core" +2 .tPRV.dial :sipper + "processing"%I  +44 "core" +2 .tPS.seek 0ml +2 "processing"%J'ؾ +2629 "core" ' + .tPSV.dial PSR +2 "processing"%K +103 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%L' +2638 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +103 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2637 "core" ' + #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%O& +4 "core" &=\ + .tHand.open + "manipulator"&P1 +22 "core" 1 + "manipulator"&Q% +4 "core" %    + "storage"(R% +4 "core" % J K 8\  + "storage"(S. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(T(  +1298 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (U& +3 "core" &  K K "\ + "manipulator"&V& +4 "core" &- b +2 "manipulator"&W% +3 "core" %  9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&X( +171 "core" ( +2 "manipulator"&Y& +4 "core" & H 3 + "storage"(Z& +4 "core" &  T Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&['S +95 "core" ' +2 "storage"(\\& +4 "core" &  b a\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +45 .tSE.seek :beamBreak + "storage"(]'r +296 "core" ' +2 "storage"(^- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +2 "core" & 9 I \ +2 "manipulator"&`& +4 "core" & % 2 + .tElbow.seek 2 +2 "manipulator"&a( +3 "core" ( + "manipulator"&b& +4 "core" &  2 + "storage"(c& +4 "core" & 7 7 7\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&d'Ͻ +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& + "storage"(g' +7 "core" & ] 2 +2 "manipulator"&h% +4 "core" %  D +2 .tForearm.seek :retract + "manipulator"&i' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +102 "core" ( +2 "manipulator"&k& +4 "core" & h + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +2 "core" & # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +91 "core" ' +2 "manipulator"&n& +4 "core" & + "manipulator"&o% +4 "core" % 2 7 +2 "processing"%p& +3 "core" &^\ +2 "processing"%q& +5 "core" &]\ +2 .tPC.seek :closed +2 "processing"%r(^ +3 "core" &?\  +9 &4t>\ *x +9 &cx=\ > +10 &ql<\ O +9 &4L<\ N +9 &L;\ N +10 &J<\ N +9 &zP>\ N +10 &<P=\ N +9 &Q8\ O +9 &L1\ N +10 & Q2\ N +9 &"DL7\ N +9 &$Q3\ O +10 &%O5\ N +9 &'Q4\ O +10 &)LO/\ N +9 &+L<\ N +9 &,M:\ N +10 &.P7\ N +9 &0TO3\ N +9 &2R:\ O +10 &3Q3\ N +9 &5N8\ N +10 &7\\O1\ N +9 &9R9\ O +9 &:Q3\ O +10 &<O1\ N +9 &>cT7\ O +9 &@&Q0\ N +10 &A\\7\ P +9 &Cs:\ S +10 &EW3\ V +9 &G/\ U +9 &H6\ V +10 &J:\ U +9 &L_4\ U +9 &N(\ W +10 &O/\ V +9 &Q*\ W +10 &Sd0\ V +9 &U%*\ W +9 &V,\ W +10 &X'\ W +9 &Zk\ W +9 &\\,\ W +10 &]t \ < +9 &^/)\ S +9 &^" \ 3 +3 ( +2 "processing"%q& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.77 + .Hand.open + "manipulator"&s1 +56 "core" 1 + "manipulator"&t% +4 "core" %  E 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&u' +95 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%v h +2 %w9 +6 "core" 9 +102 "processing"%x9 +3 "core" 9 +102 "processing"%y9 +2 "core" 9  +102 "processing"%z9 +3 "core" 9  +102 "processing"%{9 +2 "core" 9 +102 "processing"%|9 +3 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +2 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%\ 9 +2 "core" 9? +102 "processing"% 9 +3 "core" 9C +102 "processing"%9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +2 "core" 9e +102 "processing"%9 +3 "core" 9i +103 "processing"%9 +2 "core" 9m +102 "processing"%9 +3 "core" 9q +101 "processing"%9 +3 "core" 9v +102 "processing"%9 +2 "core" 9z +102 "processing"%9 +3 "core" 9~ +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%!9 +3 "core" 9 +102 "processing"%"9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9 +103 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +3 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +2 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +3 "core" 9 +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +3 "core" 9  +102 "processing"%19 +2 "core" 9 +102 "processing"%29 +3 "core" 9 +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +3 "core" 9 +102 "processing"%59 +3 "core" 9% +2 .tPH.hold 2:00:00,28C +3 "processing"%6 php +4 .tdelay 1:30 +2 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +102 "core"  + "processing"%% +4 "core" %غ\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%:' +595 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%9' +1608 "core" ' +2 .tPTV.dial :puck + "processing"%8  +130 "core"  + .tPSV.dial PTV +2 "processing"%< +86 "core" + .tPBV.dial :waste1 +2 "processing"%;  +55 "core" + "processing"%>% +4 "core" %P\  +2 .tPS.seek 1.5ml +2 "processing"%?'& +589 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%= * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%@'ؾ +1617 "core" ' + .tdelay 5:00 +14338 "Can"\ HE +15665 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%B  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%A * +35 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%D +71 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%E' +2435 "core" ' + .tPSV.dial PTV +2 "processing"%C +74 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%F +71 "core" +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%H +74 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%I  +84 "core"  +2 .tPS.seek 0ml +2 "processing"%G'ؾ +2383 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%K  +131 "core" + .tPSV.dial :mixloop +2 "processing"%J +42 "core" + .tPRV.dial :ab1 +2 "processing"%M @ +99 "core" @ + .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%L' +351 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%O  +43 "core"  +2 "processing"%P% +4 "core" %z\ +2 .tPS.seek 0.35ml +2 "processing"%Q'h +461 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'R  +27 "core" +2 .tPRV.dial :air +2 "processing"%S  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'K +1174 "core" ' + .tPRV.dial :waste2 +2 "processing"%U @ +72 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%V' +858 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%W  +42 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%Y' +1619 "core" ' +2 .tPSV.dial :PML + "processing"%Z +46 "core" + .tPTV.dial :mixing +2 "processing"%\\ @ +73 "core" B +2 .tPBV.dial :waste1 + "processing"%  +35 "core" + "processing"%% +4 "core" %'\  +2 .tPS.seek 1.85ml +2 "processing"%^' +232 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%_ * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%`'ؾ +1968 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'b& +3 "core" & l\ +2 "manipulator"&c& +4 "core" & U + "manipulator"&e% +4 "core" %  `  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&f(- +124 "core" ( + "manipulator"&h& +4 "core" &- : \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &- M \ +2 .tForearm.seek :garage + "manipulator"&['w +100 "core" ' + .tHand.close +2 "manipulator"&]/ +56 "core" / +2 "manipulator"&d& +4 "core" &-  \ + "manipulator"&k% +4 "core" % ρ +2 .tForearm.seek :retract + "manipulator"&l' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&a(ӂ +279 "core" ( + "manipulator"&n& +4 "core" &ӏ% W >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &ӏ%  U >O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&p'? +93 "core" ' +2 "manipulator"&g& +4 "core" &ӏ% e >O +2 "manipulator"&i% +4 "core" %9  E + "collection"' & +4 "core" & g\ +3 "collection"'s& +4 "core" & g\ +2 .tCC.seek :closed +2 "collection"'t(\\ +4 "core" & i\ +8 & 3 i\ $d +9 &Sx o\ 7 +10 &}z h\ L +9 &X k\ O +9 &RT h\ N +10 &U j\ O +9 &V j\ O +9 &Y k\ O +10 &YT k\ O +9 &U j\ O +10 &W k\ O +9 &!X k\ O +9 &#`Y o\ O +10 &%#Q f\ O +9 &&R j\ O +10 &(S f\ O +9 &*jU j\ N +9 &,,U h\ N +10 &-T f\ O +9 &/X j\ N +9 &1qT d\ O +10 &32T c\ O +9 &4T k\ O +9 &6W a\ O +10 &8yX i\ O +9 &:;X l\ O +10 &;Y ]\ O +9 &=T j\ O +9 &?S b\ O +10 &ACW f\ O +9 &C_ `\ P +9 &Dv h\ S +10 &Fs b\ V +9 &H) Z\ Z +10 &I `\ [\ +9 &K _\ [ +9 &Mk h\ \\ +10 &O- i\ \\ +9 &P c\ ] +9 &R [\ ] +10 &Tj ]\ _ +9 &V, f\ _ +10 &W m\ _ +9 &Y f\ a +9 &[k Y\ P +10 &\\: f\ 4 +9 &\\ e\ [ +5 ( +2 "collection"'s& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + "collection"'w& +5 "core" &\\ c\ [ + &\\ ]\ [ + .tHand.open + "manipulator"&q1 +55 "core" 1 +2 "manipulator"&x% +4 "core" % 9   f E + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +98 "core" ' + .tPSV.dial PSR +2 "processing"%y +105 "core"  + "processing"%z% +4 "core" %ظ\ t +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%{'+ +1623 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%|  +43 "core"  + .tPS.seek 0ml +2 "processing"%}'ؾ +1620 "core" ' + .tPSV.dial PSR +2 "processing"%~ +45 "core"  +40 .tPSR.select :air +12 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2636 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%  +2 "collection"'  +31 "core"  +127  + .tPSV.dial :mixloop +2 "processing"% +103 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  +2 "collection"'  +3 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%  +75 "core" +2 .tPS.seek 0ml + "processing"%\ 'ؾ +2651 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2639 "core" ' + .tPSV.dial :mixloop + "processing"% +57 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +5 "core" &Ӑ%  >N + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +38 "core" ( + "manipulator"&& +4 "core" &z  M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &y  Z N +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'( +449 "core" ( + "manipulator"&& +4 "core" &y i N +2 "manipulator"& % +3 "core" % S ` 6 +2 .tForearm.seek :retract +2 "manipulator"&!' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&"(- +278 "core" ( + "manipulator"&#& +5 "core" &-  B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &- \\ B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&%'w +98 "core" ' +2 .tHand.open + "manipulator"&&1 +58 "core" 1 +2 "manipulator"&'% +4 "core" % } J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +91 "core" ' +2 ."da"delayUntil "12:15:26.11" +3188 "Can"\ JH +21519 #"da"recoverPRVreagent08 + .PTV.dial :mixing + "processing"%) @ +74 "core" B +2 ."da"PBV.dial :waste1 + "processing"%*  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%+ * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%,  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%-' +2432 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%. +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%/  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%0 +55 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%1  +55 "core"  +2 ."da"PS.seek 0ml +2 "processing"%2'ؾ +2391 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%3 +131 "core"  + "processing"%4% +4 "core" %ػW\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%5' +599 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%7' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%N +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%:  +34 "core" + "processing"%8% +4 "core" %R\  +2 ."da"PS.seek 1.5ml +2 "processing"%<'/ +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%; * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%>'ؾ +1613 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%9  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%= * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%? +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%v' +2424 "core" ' + ."da"PSV.dial PTV +2 "processing"%B +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%A +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%D +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%@  +83 "core"  +2 ."da"PS.seek 0ml +2 "processing"%C'ؾ +2392 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%F +132 "core"  + "processing"%H% +4 "core" %ؽ6\ { + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%I' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%E' +899 "Can"\ OM +718 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%K +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%J  +34 "core" + "processing"%M% +4 "core" %.\  +2 ."da"PS.seek 1.5ml +2 "processing"%G'+ +604 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%O * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +1631 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%L  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%R * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%S +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%Q' +2430 "core" ' + ."da"PSV.dial PTV +2 "processing"%U +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%W +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%V  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Z'ؾ +2391 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%\\  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%  +132 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%_ +44 "core" + ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%Y' +395 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%^  +43 "core"  + "processing"%b% +4 "core" % ,\  +2 ."da"PS.seek 0.55ml +2 "processing"%c' +330 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%e  +44 "core"  + ."da"PS.seek 2ml +2 "processing"%h' +1564 "core" ' + ."da"PSV.dial :PML +2 "processing"%X +44 "core" + ."da"PTV.dial :mixing +2 "processing"%j @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%]  +34 "core" + "processing"%d% +4 "core" %9\ +2 ."da"PS.seek 1.85ml +2 "processing"%k' +229 "core" ' +3 ."da"PBV.dial between PSV and waste1 +2 "processing"%u * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%['ؾ +1969 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +28274 "Can"\ HF +19728 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%n  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%o * +35 "core" + + ."da"PSV.dial :air +2 "processing"%f  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%g' +2437 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%i +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop + "processing"%l +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%w'ؾ +2382 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%q +131 "core"  + "processing"%x% +4 "core" %ؾ[\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%s' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%y' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%z  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%p +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%`  +34 "core" + "processing"%|% +4 "core" %F\  +2 ."da"PS.seek 1.5ml +2 "processing"%{', +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%~ * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%}'ؾ +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2450 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +51 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +2385 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +130 "core"  +2 "processing"%% +4 "core" %ؿ<\ { + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +3 "processing"%' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %3\  +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +38 "Can"\  +1579 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%a  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%m * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%t +83 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2432 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%# +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%$  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2388 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +130 "core"  +2 "processing"%'% +4 "core" %L\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%!' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%%' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%) +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%*  +34 "core" +2 "processing"%+% +4 "core" %k\  + ."da"PS.seek 1.5ml +2 "processing"%,'( +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%.'ؾ +1607 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%/  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%0 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%1 +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%-' +2440 "core" ' + ."da"PSV.dial PTV +2 "processing"%3 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%4 +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%2 +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%5  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2393 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +141 "core"  +3 "processing"%:% +12 "core" %ؾ[ +3 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +17 ."da"PS.reconfigure :default +4 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +2 "processing"%8' +342 "core" ' +2 ."da"delay 5 seconds +502 "processing"%7% +4 "core" %e  + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%;' +338 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%<' +1618 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%9 +88 "core" + ."da"PBV.dial :waste1 +2 "processing"%=  +36 "core" + "processing"%?% +4 "core" %b +2 ."da"PS.seek 1.5ml +2 "processing"%>'1 +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%B * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +1614 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%D  +35 "core" +2 ."da"delay 30 seconds +1953 "Can"  +1049 ."da"PBV.dial between PSV and waste1 +2 "processing"%@ * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%v +76 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%F' +2566 "core" ' + ."da"PSV.dial PTV +2 "processing"%H +75 "core" +2 ."da"delay 5 seconds +501 .PSV.dial PSR +3 "processing"%C +77 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%I +78 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%K  +76 "core"  + ."da"PS.seek 0ml +2 "processing"%J'ؾ +2532 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%M +136 "core"  + "processing"%E% +4 "core" %ؼ + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%O' +2116 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%G +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +36 "core" + "processing"%R% +4 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%S'& +586 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%P * +36 "core" , + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%U  +110 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1609 "core" ' + "processing"%W9 +3 "core" 9p5 +2 #"da"Processing Puck Heater at 28.2C before imaging + .PH.coast +2 "processing"%V  +3 "core" 5 + 5 + "processing"%Q& +4 "core" &^ y\ m3 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&\\% +4 "core" %   + "storage"(% +4 "core" % | Y\ n\ + "storage"(. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(_(C +360 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (Z& +2 "core" &? e +2 "manipulator"&^& +4 "core" &-   : \\B + "manipulator"&b% +4 "core" %    d \\ +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&Y( +173 "core" ( + "manipulator"&e& +4 "core" & /  _+ +2 "storage"(c& +3 "core" &@\ \   +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&X' +94 "core" ' + "storage"(j& +4 "core" &@\ \  +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(]'r +273 "core" ' +2 "storage"(d- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place + "storage"(u'1 +43 "core" ' +2 "manipulator"&h& +4 "core" & 5 + +2 "manipulator"&k% +3 "core" % I > +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&n' +90 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&o( +247 "core" ( + "manipulator"&f& +4 "core" & ) 9 Z + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" & ! X +2 ."da"Forearm.seek PC +2 "manipulator"&i' +93 "core" ' + ."da"Hand.close +2 "manipulator"& / +75 "core" / + ."da"PC.seek :open +2 "processing"%l( +461 "core" ( + "storage"( & +4 "core" &@ \ q + "manipulator"&g& +4 "core" & F  + "manipulator"&q% +4 "core" %  D +2 ."da"Forearm.seek :retract +2 "manipulator"&x' +93 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&w( +244 "core" ( +2 "manipulator"&s& +4 "core" & 7 7 * `D + "storage"(z& +4 "core" &@\ \  L +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +44 "manipulator"&p' +106 "core" ' +2 ."da"Hand.open + "manipulator"&`1 +75 "core" 1 +2 "storage"(|- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(y' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(~' +54 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0512h.tif +5 "processing"%{& +13 "core" &9\  +4 "manipulator"&& +6 "core" & s t ! D +2 "manipulator"&% +6 "core" % e d u @ +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +89 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&}(- +176 "core" ( +2 "manipulator"&& +4 "core" &- = F +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  F +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +91 "core" ' + ."psFlush"Hand.close +2 "manipulator"& / +66 "core" / +2 "manipulator"&& +4 "core" &- v F + "manipulator"&% +4 "core" % σ t v  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&\ ( +116 "core" ( +2 "manipulator"&& +4 "core" &   : + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & l |: +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +90 "core" ' +2 "manipulator"&& +5 "core" & E e n 9 + "manipulator"&% +4 "core" % . - g +2 "processing"%& +3 "core" & +2 "processing"%& +5 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%a(^ +4 "core" & +7 & 0 %f +9 &Qj 9 +9 &wg N +10 &n@ U +9 &08 U +9 &7 U +10 &< U +9 &v7 U +9 &88 U +10 &9 V +9 &< V +9 &!~9 U +10 &#@: U +9 &% @\ R +9 &&D\ R +10 &(G\ R +9 &*TE\ Q +10 &,F\ +Q +9 &-F\ *Q +9 &/G\ *Q +10 &1[B\ R +9 &3C\ R +9 &4G\ R +10 &6D U +9 &8Y< U +10 &:; U +9 &;= U +9 &=: U +10 &?_> V +9 &A"< U +10 &BP X +9 &Db [ +9 &FOy ^ +10 &Hs ^ +9 &Iv ^ +9 &Ky _ +10 &MT{ _ +9 &O ` +10 &P ` +9 &R ` +9 &Tc \\ +10 &V(\ \\ +9 &W\ \\ +9 &Y\ \\ +10 &[q\ [ +9 &]1\ Z +10 &^Ke}\ "X +9 &^ Wz\ > +5 ( +2 "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.98 +2 "processing"%m& +4 "core" &^>\ > + &^F\ > + ."psFlush"Hand.open + "manipulator"&t1 +75 "core" 1 + "manipulator"&% +4 "core" %  % % g +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +97 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +46 "core"  + "processing"%#% +4 "core" %ؼ\\\  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%$' +595 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +329 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 27.092 seconds\ /var/log/esp/da21oct0512h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0512h15s.tif +1565 #SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0512h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0512h30s.tif +232 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%& @ +203 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%'  +140 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +109 "core" + ."psFlush"PS.seek :empty +2 "processing"%!'ؠ +2268 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0512h30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0512h70s.tif +366 "core" ' +2 ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%) +112 "core" + "processing"%*% +4 "core" %؟+ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%+' +594 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +2120 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%, @ +76 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%/ +112 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%0'ؠ +2638 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"%1 +109 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%.'X\\ +341 #"da"SX HX9/16 (USB:06): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0512h70s.tif: TIFF Upload Complete\ +3 ."Qmail"DAfans.email "27.092 sec auto-exposure",Subject: "da21oct0512h images!" +5 ."da"Gate.power :camera,:OFF + "storage"(3- +6 "core" -' +5 "storage"(4& +4 "core" &@\ \  G\ U + "manipulator"&2& +4 "core" & 9 +2 "manipulator"&5% +4 "core" %   | , +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&-( +255 "core" ( + "manipulator"&N& +5 "core" &  : + "storage"(:& +4 "core" &@\ \ \ V +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +97 "core" ' +4 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(7'" +51 "core" ' +2 "manipulator"&8& +4 "core" &  + "storage"(;& +4 "core" &@  \ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +3 "manipulator"&9'8 +23 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&=, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.32 Pucks below Top Plate +81 "storage"(?' +27 "core" ' +2 "manipulator"&<% +4 "core" %8 % + "storage"(B& +4 "core" &@ H\ + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 300 counts +2 "manipulator"&>'d +14 "core" ' + "manipulator"&D& +4 "core" & / +2 "storage"(@& +4 "core" &@ 5\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&v' +16 "core" ' + "storage"(A% +4 "core" % \  +3 ."downElevator"SE.seek :down +3 "storage"(H' +31 "core" ' +3 ."psFlush"PSR.select :air +3 "processing"% +13 ."psFlush"PS.seek 2.5ml +5 "processing"%C' +45 "storage"(I% +6 "core" %8 5\ T[ +4 "manipulator"&K% +9 "core" % n +4 ."da"Forearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +6 ."da"Forearm.seek :retract +13 "manipulator"&F' +92 "core" ' +27 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 (M& +8 "core" &@  \ +1390 ' +2 ."psFlush"PSV.dial PTV +3 "processing"%E +74 "core" +3 ."psFlush"PTV.dial :puck +4 "processing"%J  +72 "core"  +3 ."psFlush"PBV.dial :waste1 +5 .PS.seek 0ml +3 "processing"%G'ؾ +2654 "core" ' +2 ."psFlush"PSV.dial PSR +5 "processing"%L +74 "core"  +2 ."psFlush"PSR.select :flush +5 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%R' +599 "core" ' +2 ."psFlush"PSR.select :air +3 "processing"% +12 ."psFlush"PS.seek 2.5ml +4 "processing"%O' +2123 "core" ' +5 ."psFlush"PSV.dial PTV +4 "processing"%P +88 "core" +6 ."psFlush"PBV.dial PSV +5 "processing"%U U +55 "core" V +8 ."psFlush"PS.seek 0ml +9 "processing"%S'ؾ +2647 "core" ' +3 ."psFlush"PSV.dial PBV +4 "processing"%W @ +43 "core" ? +4 ."psFlush"PS.seek 2.5ml +4 "processing"%V' +2642 "core" ' +3 ."psFlush"PSV.dial :waste1 +4 "processing"%Q  +72 "core"  +4 ."psFlush"PS.seek 0ml +4 "processing"%\\'ؾ +2288 #"uploadLog"upsync +349 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2641 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%T +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%Z'ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%^ @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%b' +2627 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%e  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%c'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%j +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%"'X\\ +1110 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%(' +252 "Can"\ LI +1367 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%d +83 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%h  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%k'ؾ +2652 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%] +72 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%X' +588 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%f' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%[ +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%Y U +53 "core" V + ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%n @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%g'ؾ +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%q +43 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%i' +2635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%s +87 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%z'ؾ +2638 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%o @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%`' +2632 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%|  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%{'ؾ +2630 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&x& +5 "core" & i + "manipulator"&% +4 "core" %  Z  +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +242 "core" ( + "manipulator"&u& +4 "core" & Z . +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" & ( . +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +90 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +61 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%p( +456 "core" ( + "manipulator"&w& +4 "core" & h - +2 "manipulator"& % +3 "core" %  u % +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +127 "core" ( +2 "manipulator"&& +4 "core" &- ? \ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- \ +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +101 "core" ' + ."psFlush"Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % ~ i +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tFinished short da assay +32588 "Can"\ ?= +60001 \ ?< +60002 \ ?< +60001 \ ?< +60001 \ ?< +60002 \ ?< +60001 \ ?< +60001 \ ?< +20072 #t-> access 1 +2 "storage"(% +3 "core" % X X V\  +2 "manipulator"&}% +4 "core" %  N  + "manipulator"&& +4 "core" &- e \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(l(<- +1300 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (m& +3 "core" &<*  \  +980 #t-> access 2 +2 "storage"(t% +3 "core" % V V ]\  +2 "manipulator"&% +4 "core" %  F  + "manipulator"&& +48 "core" &-  \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +374 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (#& +3 "core" &K V V\ +26951 #t-> exit +6 #mEXIT @1633444209.05UTC @1633444224.65UTC = =mMAIN_scheduler =tMAIN @UTC1633444226.50 #"core_reset"Sent BREAK +2 #t@64311 receive with ifg=0x10, ie=0xFD + #@64947 receive with ifg=0x10, ie=0xFD + #@69 receive with ifg=0x10, ie=0xFD #@705 receive with ifg=0x10, ie=0xFD + #@1339 receive with ifg=0x10, ie=0xFD + #@1973 receive with ifg=0x10, ie=0xFD #@2608 receive with ifg=0x10, ie=0xFD + #@2934 receive with ifg=0x80, ie=0xFD #@34565 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +288 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +397 "Can"\ A> + \ A> + #tPolling Can every 10:00 +436 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %i L\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ؼ=\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % X\ @ + .tSS.configure :default +3 "sampler")#.0X\  +2 "storage"(0% +3 "core" % W X s\  +2 "collection"'19 +4 "core" 9 +2 "processing"%29 +3 "core" 9 +424 #t-> startTube 2 +947 #-> $da[:extractVol]=.2 +327 #-> shortDA +2 "collection"'3% +2 "processing"%4% +6 "core" %i U\ +2 %ؼ9\ +3 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +657 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop +2 "processing"%5 +131 "core" + .tPTV.dial :PRVmixing +2 "processing"%6  +130 "core" + .tPRV.dial :sipper +2 "processing"%7  +44 "core" +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 1.1ml +2 "processing"%8'e +2298 "core" ' + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%9  + "collection"':  +7 "core"  +119 +2 .tPS.seek 0.5ml +2 "processing"%;' +1271 "core" ' + .tPRV.dial :waste2 +2 "processing"%< @ +99 "core" ? + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 0ml +2 "processing"%='ؾ +590 "core" ' + .tPSV.dial PSR +2 "processing"%> +102 "core"  + "processing"%?% +4 "core" %@\ + #tPulling 1ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%@'X\\ +1101 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%A' +1619 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%B +103 "core" +2 .tPS.seek 0ml +2 "processing"%C'ؾ +2649 "core" ' + .tPSV.dial PSR +2 "processing"%D +114 "core" + "processing"%E% +4 "core" %ؼ?\  +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%F'X\\ +1105 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%G' +1620 "core" ' + .tPSV.dial :mixloop +2 "processing"%H +102 "core" + .tPRV.dial :sipper +2 "processing"%I  +43 "core" +2 .tPS.seek 0ml +2 "processing"%J'ؾ +2629 "core" ' +2 .tPSV.dial PSR + "processing"%K +103 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%L' +2638 "core" ' +2 .tPSV.dial :mixloop + "processing"%M +103 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2634 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%O& +4 "core" &P\ +2 .tHand.open + "manipulator"&P1 +14 "core" 1 +2 "manipulator"&Q% +4 "core" %  =  + "storage"(R% +4 "core" % @ @ 6\  + "storage"(S. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(T(  +1301 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &  &  \ +2 "manipulator"&V& +3 "core" &- \ +2 "manipulator"&W% +3 "core" %  ?  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&X( +171 "core" ( +2 "manipulator"&Y& +4 "core" & J 5 + "storage"(Z& +4 "core" &  @ ? X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&['S +90 "core" ' + "storage"(\\& +3 "core" &  3 ; \ +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +339 "core" ' + "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +3 "core" & # 1 \ + "manipulator"&`& +4 "core" & @ 5 +2 .tElbow.seek 2 + "manipulator"&a( +4 "core" ( + "manipulator"&b& +4 "core" & o 5 + "storage"(c& +4 "core" & @ ? \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&d'Ͻ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +53 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(g' +7 "core" &  5 + "manipulator"&h% +4 "core" % ϳ _ +2 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&j( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( + "manipulator"&k& +4 "core" & 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" & 4 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m' +94 "core" ' +2 "manipulator"&n& +4 "core" & 9 + "manipulator"&o% +4 "core" % o ; +2 "processing"%p& +4 "core" &Q\ +2 "processing"%q& +5 "core" &B\ +2 .tPC.seek :closed + "processing"%r(^ +4 "core" &O\  +9 &2vN\ )w +10 &a}Q\ > +9 &qmR\ N +9 &2NM\ N +10 &LN\ N +9 &OO\ O +10 &xNO\ N +9 &:KM\ N +9 &N@\ N +10 &PJ\ O +9 & PA\ O +10 &"CLA\ N +9 &$Q@\ N +9 &%P>\ N +10 &'OE\ O +9 &)JOC\ N +9 &+ M?\ N +10 &,Q7\ N +9 &.O4\ N +10 &0RN5\ N +9 &2Q6\ O +9 &3Q5\ O +10 &5N6\ O +9 &7ZN5\ N +9 &9Q5\ N +10 &:O4\ O +9 &<N2\ N +10 &>bQ1\ N +9 &@#R!\ O +9 &A\\&\ P +10 &Cq&\ R +9 &EW$\ U +9 &G~'\ T +10 &H(\ U +9 &J'\ U +9 &L\\&\ V +10 &N%\ V +9 &O%\ U +10 &Q&\ W +9 &Sa#\ W +9 &U""\ W +10 &V!\ W +9 &X"\ V +10 &Zh\ W +9 &\\*\ W +9 &]~t \ = +10 &^+|\ V +9 &^)\ 6 +2 ( +2 "processing"%q& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.76 +2 .Hand.open + "manipulator"&s1 +54 "core" 1 +2 "manipulator"&t% +4 "core" %  ? ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u' +91 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%v h + %w9 +6 "core" 9 +102 "processing"%x9 +2 "core" 9 +102 "processing"%y9 +3 "core" 9  +102 "processing"%z9 +2 "core" 9  +102 "processing"%{9 +3 "core" 9 +102 "processing"%|9 +2 "core" 9 +102 "processing"%}9 +3 "core" 9 +103 "processing"%~9 +2 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"%\ 9 +2 "core" 9? +102 "processing"% 9 +3 "core" 9C +102 "processing"%9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +3 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +3 "core" 9q +102 "processing"%9 +3 "core" 9v +102 "processing"%9 +2 "core" 9z +102 "processing"%9 +3 "core" 9~ +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%!9 +3 "core" 9 +102 "processing"%"9 +2 "core" 9 +102 "processing"%#9 +3 "core" 9 +102 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%&9 +2 "core" 9 +102 "processing"%'9 +3 "core" 9 +102 "processing"%(9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +3 "core" 9 +103 "processing"%-9 +2 "core" 9  +102 "processing"%.9 +3 "core" 9  +102 "processing"%/9 +2 "core" 9 +102 "processing"%09 +3 "core" 9 +102 "processing"%19 +2 "core" 9 +102 "processing"%29 +3 "core" 9! +3 .tPH.hold 2:00:00,28C +2 "processing"%3 php +4 .tdelay 1:30 +2 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +102 "core"  +2 "processing"%5% +4 "core" %H\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%6' +600 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%7' +1617 "core" ' +2 .tPTV.dial :puck + "processing"%  +130 "core"  +2 .tPSV.dial PTV + "processing"%: +74 "core" + .tPBV.dial :waste1 +2 "processing"%9  +53 "core" +2 "processing"%8% +4 "core" %j\  +2 .tPS.seek 1.5ml + "processing"%<', +600 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%; * +33 "core" , +3 .tPS.seek 0ml + "processing"%>'ؾ +1632 "core" ' +2 .tdelay 5:00 +10893 "Can"\ EC +19109 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%?  +34 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%= * +34 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%B' +2446 "core" ' +2 .tPSV.dial PTV + "processing"%A +74 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%D +73 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%E +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%C  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%F'ؾ +2391 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%H  +129 "core" +2 .tPSV.dial :mixloop + "processing"%I +44 "core" + .tPRV.dial :ab1 +2 "processing"%G @ +100 "core" > +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%K' +355 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%J  +41 "core"  +2 "processing"%M% +4 "core" % \  +2 .tPS.seek 0.35ml +2 "processing"%L'k +450 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'O  +29 "core" + .tPRV.dial :air +2 "processing"%P  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%Q'K +1167 "core" ' + .tPRV.dial :waste2 +2 "processing"%R @ +72 "core" > +2 .tPS.seek 0.5ml +2 "processing"%S' +864 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%U' +1609 "core" ' + .tPSV.dial :PML +2 "processing"%V +44 "core" + .tPTV.dial :mixing +2 "processing"%W @ +108 "core" A + .tPBV.dial :waste1 +2 "processing"%Y  +34 "core" +2 "processing"%Z% +4 "core" %\  +2 .tPS.seek 1.85ml +2 "processing"%\\' +239 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%'ؾ +1968 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'^& +3 "core" & Y\ +2 "manipulator"&_& +3 "core" & : 9 +2 "manipulator"&`% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&b(- +127 "core" ( + "manipulator"&c& +4 "core" &- 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &- > +2 .tForearm.seek :garage +2 "manipulator"&f'w +99 "core" ' + .tHand.close + "manipulator"&h/ +63 "core" / +2 "manipulator"&X& +4 "core" &- +2 "manipulator"&[% +3 "core" % π ( +2 .tForearm.seek :retract +2 "manipulator"&]' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&d(ӂ +288 "core" ( + "manipulator"&k& +5 "core" &Ӆ W 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &Ӆ A 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&a'? +90 "core" ' +2 "manipulator"&n& +4 "core" &Ӆ Q 5 +2 "manipulator"&o% +4 "core" %H K o + "collection"'p& +4 "core" & `\ +2 "collection"'g& +6 "core" & \\\ +2 .tCC.seek :closed + "collection"'i(\\ +5 "core" & V\ +6 & 2 S\ %f +10 &Vw Y\ 7 +9 &~s Z\ L +9 &O T\ O +10 &XM S\ N +9 &K R\ O +10 &O M\ O +9 &P U\ N +9 &_O K\ O +10 &"W S\ N +9 &T N\ N +9 &!T F\ N +10 &#hU E\ N +9 &%+Q G\ N +10 &&P F\ O +9 &(O @\ N +9 &*pP 7\ N +10 &,2T G\ N +9 &-Q H\ N +9 &/Q ;\ N +10 &1xT E\ N +9 &3;Q E\ N +10 &4T K\ N +9 &6Q K\ N +9 &8Q E\ N +10 &:BQ G\ N +9 &<U E\ N +9 &=T H\ N +10 &?Q K\ N +9 &AIY J\ O +9 &C\ ^ K\ O +10 &Dt L\ R +9 &F| J\ U +10 &H. J\ [ +9 &I Q\ [ +10 &K P\ [ +9 &Mq Q\ \\ +9 &O4 L\ [ +9 &P G\ \\ +10 &R J\ ] +9 &Tr G\ ^ +10 &V5 J\ ^ +9 &W K\ _ +9 &Y I\ a +10 &[r D\ N +9 &\\@ E\ - +10 &\\ G\ !` +5 ( + "collection"'g& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.49 + "collection"' & +5 "core" &\\ G\ !` + &\\ @\ !` + .tHand.open + "manipulator"&s1 +54 "core" 1 +2 "manipulator"&t% +4 "core" % H  B o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' + .tPSV.dial PSR +2 "processing"%q +104 "core"  +2 "processing"%x% +5 "core" %ؾ\ e + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%m'+ +1621 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%y  +43 "core"  +2 .tPS.seek 0ml + "processing"%z'ؾ +1629 "core" ' +2 .tPSV.dial PSR +2 "processing"%{ +43 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%|' +2638 "core" ' +3 ."connect"PRV.dial CBV,avoiding: :ab2 +52 .tCBV.dial PRV +2 "processing"%}  +2 "collection"'~  +32 "core" +125  + .tPSV.dial :mixloop +2 "processing"% +114 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  + "collection"'  +4 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2637 "core" ' + .tPSV.dial :air +2 "processing"%  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2632 "core" ' + .tPSV.dial :mixloop +2 "processing"%\ +44 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2633 "core" ' +2 .tPSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +5 "core" &Ӆ 5 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +3 "core" ( + "manipulator"&& +5 "core" &Ӆ $ 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӆ G 5 +3 .tForearm.seek CC + "manipulator"&'? +90 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / + .tCC.seek :open +2 "collection"'( +449 "core" ( +2 "manipulator"&& +4 "core" &Ӆ 5 + "manipulator"&% +4 "core" % I 9 +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(- +283 "core" ( + "manipulator"& & +4 "core" &- G = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &-  = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&"'w +6 "Can"\ EB +97 "core" ' +2 .tHand.open + "manipulator" +56 "core" 1 +2 "manipulator"&$% +4 "core" % π O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +91 "core" ' +2 ."da"delayUntil "14:54:43.15" +24735 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%& @ +73 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%'  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%( * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%)  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2451 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%+ +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%,  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%- +56 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%.  +42 "core"  +2 ."da"PS.seek 0ml +2 "processing"%/'ؾ +2386 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +131 "core"  + "processing"%1% +4 "core" %ع\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%2' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%4' +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%5  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%N +82 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%6  +34 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%:'+ +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%9 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%8'ؾ +1610 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%7  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%; * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%< +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%v' +2434 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%? +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%= +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%@ +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%>  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +1094 "Can"\ HF +1279 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%D +130 "core"  +2 "processing"%E% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%C' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%B' +1620 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%H +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%I  +34 "core" +2 "processing"%G% +4 "core" %\ + ."da"PS.seek 1.5ml +2 "processing"%F'2 +585 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +4 "processing"%J * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%M'ؾ +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%K  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%O * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%P +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%L' +2427 "core" ' + ."da"PSV.dial PTV +2 "processing"%R +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%Q +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%S  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%V'ؾ +2387 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%W  +42 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%Y  +131 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%Z  +41 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"% +56 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"%U' +383 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%\\  +44 "core"  + "processing"%^% +4 "core" %\  +2 ."da"PS.seek 0.55ml +2 "processing"%_' +333 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%`  +55 "core"  +2 ."da"PS.seek 2ml +2 "processing"%c' +1577 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%e +42 "core" + ."da"PTV.dial :mixing +2 "processing"%j @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%h  +34 "core" +2 "processing"%X% +7 "core" %s\ +2 ."da"PS.seek 1.85ml +2 "processing"%[' +233 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%u * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%f'ؾ +1971 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +24823 "Can"\ rq +23179 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%k  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%l * +35 "core" , + ."da"PSV.dial :air +2 "processing"%b  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%n' +2434 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%o +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%p  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%] +44 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +2389 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%s +131 "core"  + "processing"%t% +4 "core" %ػ\  +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%g' +596 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%q' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%x  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%a +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%y% +4 "core" %\  + ."da"PS.seek 1.5ml +2 "processing"%m'* +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%{ * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%~  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%} * +34 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%' +2433 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +42 "processing"%| +83 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2402 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%\ +130 "core"  +2 "processing"%% +4 "core" %ؽ\  + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +403 "Can"\ IF +186 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% ' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%'. +599 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1610 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%d  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%w * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2429 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%!  +72 "core"  +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +2375 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%# +129 "core"  + "processing"%$% +4 "core" %غ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"' +1632 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%& +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%'  +34 "core" +2 "processing"%(% +4 "core" %\ ~ +2 ."da"PS.seek 1.5ml +2 "processing"%)'& +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%+'ؾ +1620 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%,  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%- * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%. +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2421 "core" ' + ."da"PSV.dial PTV +2 "processing"%0 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%1 +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%/ +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%2  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%5'ؾ +2382 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +142 "core"  +5 "processing"%6% +11 "core" %ؽ +4 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +5 "processing"% +18 ."da"PS.reconfigure :default +4 "processing"%#A d`xb +4 ."da"PS.seek 0.25ml +3 "processing"%' +341 "core" ' +2 ."da"delay 5 seconds +502 "processing"%4% +4 "core" % + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%9' +332 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%:' +1643 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%7 +78 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%;  +36 "core" + "processing"%<% +4 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%8', +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%? * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%='ؾ +1206 "Can"\ w +406 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%@  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%> * +36 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%v +77 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%D' +2544 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%E +88 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%A +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%C +78 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%H  +78 "core"  +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +2501 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%G +135 "core"  +2 "processing"%B% +4 "core" %\ Z + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%J' +2122 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%F +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%K  +34 "core"  + "processing"%O% +4 "core" %\ [ +2 ."da"PS.seek 1.5ml +2 "processing"%P'+ +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%M * +33 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%R  +108 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Q'ؾ +1603 "core" ' + "processing"%9 +3 "core" 9i5 +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast +2 "processing"%S  +2 "core" 5 +3 5 + "processing"%L& +3 "core" &^%\ Y6 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&W% +3 "core" %   +2 "storage"(Y% +3 "core" %\ \  \ X +2 "storage"(Z. +3 "core" .(  + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"((C +349 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +2 (V& +2 "core" &A K 8 +2 "manipulator"&\\& +3 "core" &- M S f= +2 "manipulator"&^% +3 "core" %  V ] f +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&U( +173 "core" ( + "manipulator"&`& +4 "core" & D d eB + "storage"(_& +4 "core" &A 7 9 +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&e' +88 "core" ' +2 "storage"(j& +4 "core" &A\ \  \ Y +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(h'r +274 "core" ' + "storage"(X- +4 "core" -'r + ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(u'1 +39 "core" ' +2 "manipulator"&c& +3 "core" &   jA +2 "manipulator"&[% +4 "core" % q p Q j{ + ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&k' +94 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&l( +244 "core" ( + "manipulator"&b& +4 "core" & = G 2 d3 +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" & 3 +2 ."da"Forearm.seek PC +2 "manipulator"&o' +90 "core" ' + ."da"Hand.close + "manipulator"&p/ +70 "core" / + ."da"PC.seek :open +2 "processing"%]( +460 "core" ( +2 "storage"( & +4 "core" &A %\  + "manipulator"&n& +4 "core" &  p3 + "manipulator"&s% +4 "core" %   nB +2 ."da"Forearm.seek :retract +2 "manipulator"&t' +90 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"& ( +245 "core" ( +2 "manipulator"&g& +4 "core" & ? + "storage"(x& +4 "core" &A 1 [ +\ _ + ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&a' +103 "core" ' + ."da"Hand.open +2 "manipulator"&1 +74 "core" 1 +10 "storage"(y- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +3 "storage"(q' +23 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"({' +54 "core" ' +2 #"da"Lights, camera, ACTION! +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +4 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0515h.tif +6 "processing"%m& +10 "core" &w +5 "manipulator"&~& +6 "core" &  > +3 "manipulator"&}% +4 "core" %   r +3 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&z(- +172 "core" ( + "manipulator"&& +5 "core" &- p #_ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  "_ +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&|'w +97 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +70 "core" / +2 "manipulator"&& +4 "core" &-   _ + "manipulator"&\ % +4 "core" % ψ | r # +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +131 "core" ( + "manipulator"&& +4 "core" & A  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & x   +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +92 "core" ' +2 "manipulator"&& +4 "core" & q ' " + "manipulator"& % +4 "core" %  "W +2 "processing"%& +4 "core" & +2 "processing"%& +5 "core" &= +2 ."psFlush"PC.seek :closed +2 "processing"%d(^ +4 "core" &*  +10 &,k* ,~ +9 &bs1 @ +9 &ac,\ \ Q +10 &!C\ R +9 &C\ R +9 &D\ Q +10 &gB\ R +9 &*E\ Q +10 &D \ Q +9 &C \ Q +9 & oC\ R +10 &"2F \ Q +9 &#9 S +9 &%? U +10 &'n> U +9 &)0> U +9 &*< U +10 &,? U +9 &.v; U +9 &08; U +10 &1; U +9 &3< U +10 &5~< U +9 &7@< U +9 &9= U +10 &:< U +9 &<C T +10 &>RA\ Q +9 &@F\ R +9 &AL\ S +10 &Ca\ U +9 &EEy\ Y +9 &Gz\ Y +10 &H~\ Z +9 &J~\ Y +9 &LJ}\ Z +10 &N\ [\ +9 &O\ [\ +10 &Q _ +9 &SA _ +9 &U ` +10 &V _ +9 &X _ +10 &ZH ` +9 &\\\  ` +9 &]H J +10 &^#X- "b +9 &^NH C +2 ( +2 "processing"%& +3 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 2.01 + "processing"%w& +5 "core" &^Md C + ."psFlush"Hand.open +2 "manipulator"&i1 +76 "core" 1 +2 "manipulator"&% +4 "core" % \  ~W +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +89 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +47 "core"  +2 "processing"% % +4 "core" %4 +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%!' +590 "core" ' + ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +590 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 29.733 seconds\ /var/log/esp/da21oct0515h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0515h15s.tif +1531 "core" ' +7 ."psFlush"delay 1 second +27 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0515h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0515h30s.tif +75 ."psFlush"PRV.dial :waste2,avoiding: :ab2 +2 "processing"%# @ +199 "core" @ + ."psFlush"PTV.dial :PRVmixing +2 "processing"%$  +141 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +108 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%'ؠ +2524 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0515h30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0515h70s.tif +124 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +110 "core"  + "processing"%'% +4 "core" %؝o\  +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%(' +587 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%"' +2130 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%  +36 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%) @ +78 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%, +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%-'ؠ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%. +109 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%+'X\\ +576 #"da"SX HX9/16 (USB:07): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0515h70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "29.733 sec auto-exposure",Subject: "da21oct0515h images!" +4 "storage"(0- +7 "core" -' +2 "storage"(1& +4 "core" &A\ \  d\ Z +2 "manipulator"&/& +5 "core" & P  + "manipulator"&2% +4 "core" %  ]  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&*( +243 "core" ( + "manipulator"&N& +4 "core" &  ! 9 +2 "storage"(6& +4 "core" &A \  \ Y +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&5' +105 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +50 "core" ' + "manipulator"&& +4 "core" & K 8 +3 "storage"(9& +8 "core" &A\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&7'8 +19 "core" ' +3 ."da"Elbow.hold +4 "manipulator"&;, +7 "core" ' +2 , + ."da"Elbow.reconfigure :tight +2 ."psFlush"PSR.select :air +4 "manipulator"&$&.,(\ #b +2 "processing"% +5 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(<' +62 "core" ' +2 ."psFlush"PS.seek 2.5ml +4 "manipulator"&:% + "processing"%?' +6 "core" %> - + "storage"(8& +4 "core" &A  \ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 306 counts + "manipulator"&@'j +17 "core" ' + "manipulator"&>& +5 "core" & A 8 + "storage"(v& +4 "core" &A $ \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&=' +16 "core" ' +2 "storage"(E% +5 "core" % D\  +12 ."downElevator"SE.seek :down +9 "storage"(A' +99 (C% +8 "core" %I? \ U[ +3 "manipulator"&H% +9 "core" % +4 ."da"Forearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 ."da"Forearm.seek :retract +4 "manipulator"&D' +91 "core" ' +41 ' +2 ."downElevator"SE.stop +3 "storage"(5 +7 (G& +8 "core" &A + T\ +1245 ' +2 ."psFlush"PSV.dial PTV +5 "processing"%B +75 "core" +3 ."psFlush"PTV.dial :puck +4 "processing"%I  +72 "core"  +3 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +2 "processing"%F'ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PSR +4 "processing"%K +78 "core"  +3 ."psFlush"PSR.select :flush +5 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +4 "processing"%O' +597 "core" ' +2 ."psFlush"PSR.select :air +5 "processing"% +12 ."psFlush"PS.seek 2.5ml +5 "processing"%J' +2129 "core" ' +3 ."psFlush"PSV.dial PTV +4 "processing"%M +75 "core" +4 ."psFlush"PBV.dial PSV +7 "processing"%R U +54 "core" V +4 ."psFlush"PS.seek 0ml +3 "processing"%P'ؾ +2640 "core" ' +2 ."psFlush"PSV.dial PBV +4 "processing"% @ +46 "core" ? +4 ."psFlush"PS.seek 2.5ml +4 "processing"%S' +2636 "core" ' +3 ."psFlush"PSV.dial :waste1 +4 "processing"%L  +73 "core"  +5 ."psFlush"PS.seek 0ml +4 "processing"%W'ؾ +1441 #"uploadLog"upsync +1198 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%Y +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%Z' +2634 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%T +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%V'ؾ +2655 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%\\ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%^' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%`  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +697 "Can"\ NL +1940 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%j +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +1616 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%X +70 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%c  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%['ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%h +71 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%e' +590 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%b' +2129 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%f +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%U U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%p'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"%k @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%n'ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%s +43 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%o' +2632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%g +70 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml +2 "processing"%x'ؾ +2655 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%l @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2636 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%y  +82 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%m'ؾ +2651 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&t& +4 "core" & 8 +2 "manipulator"&~% +3 "core" %   +2 ."psFlush"Elbow.seek PC +2 "manipulator"&}( +263 "core" ( + "manipulator"&u& +4 "core" & ^ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" & C +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +91 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +61 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%a( +456 "core" ( +2 "manipulator"& & +4 "core" & \ +2 "manipulator"&% +3 "core" %   0 +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek :garage +2 "manipulator"&\ (- +122 "core" ( + "manipulator"&& +4 "core" &- G + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +90 "core" ' + ."psFlush"Hand.open +2 "manipulator"&|1 +64 "core" 1 +2 "manipulator"&% +4 "core" % z x G +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 #tFinished short da assay +8973 #-> access 1 +2 "storage"(% +4 "core" % v x 9\  + "manipulator"&z% +5 "core" %   + "manipulator"&& +4 "core" &- +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(](<- +1303 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +3 "core" & access 2 +3 "storage"(i% +3 "core" % z w a\  + "manipulator"&% +4 "core" %  o  +2 "manipulator"&& +4 "core" &- / + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +376 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &K v w G\ +1917 #t-> require 'shuffle.rb' +2191 #-> 2.times {shuffle 3,,6} +2 !o:SyntaxError: mesg"ecompile error\ (ESP):8: syntax error, unexpected ','\ 2.times {shuffle 3,,6}\ ^:bt["(ESP):8:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +613 #-> 2.times {shuffle 3,6} +2 #Shuffling pucks in tube 3 of [3, 6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" & \ +2 "manipulator"&Q% +4 "core" %    +2 "storage"(!% +4 "core" % u w Z\  + "storage"(#. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"($( +984 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  ,\ +2 "manipulator"&& +4 "core" &- 5 + "manipulator"&&% +4 "core" %  9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&'( +172 "core" ( + "manipulator"&& +4 "core" & S / +2 "storage"((& +4 "core" & v v '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +92 "core" ' + "storage"()& +4 "core" & v w 2\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'r +294 "core" ' +2 "storage"("- +4 "core" -'" + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (.& +2 "core" & ! $ \ +2 "manipulator"&-& +4 "core" & B / +2 .tElbow.seek 3 + "manipulator"&0( +4 "core" ( + "manipulator"&1& +4 "core" & # / + "storage"(/& +4 "core" & @ ? {\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&2'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&6& + "storage"(' +8 "core" & V / + "manipulator"&% +4 "core" % ϣ 7 +2 .tForearm.seek :retract +2 "manipulator"&9' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +153 "core" ( + "manipulator"&:& +5 "core" &ӛ  6 :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&8& + ."downElevator"SE.stop +6 "storage"(5 +3 "core" &ӛ  ) :1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&>'? +100 "core" ' +2 "manipulator"&v& +4 "core" &ӛ  . :1 +2 "manipulator"&E% +4 "core" %I V & +2 "collection"'{& +3 "core" & V\ +2 "collection"'5& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'C(\\ +4 "core" & \ +7 &; \ %f +9 &Wy \ 8 +9 &u \ L +10 &R O\ N +9 &jT \ N +10 &,R \ N +9 &W \ M +9 &T \ M +10 &rT \ N +9 &5R \ M +9 &S \ M +10 &!U \ N +9 &#zV \ N +10 &%=Q \ M +9 &&V \ M +9 &(Q \ M +10 &*Q \ N +9 &,EV \ M +9 &.Q \ N +10 &/V \ M +9 &1W \ N +10 &3LT }\ N +9 &5Q z\ M +9 &6R z\ N +10 &8Q v\ M +9 &:VS x\ M +9 &<W x\ M +10 &=T x\ M +9 &?W s\ N +10 &A[Z r\ N +9 &C` w\ O +9 &Do t\ P +10 &F t\ T +9 &HH y\ W +9 &J w\ Z +10 &K j\ Z +9 &M h\ [ +9 &OF g\ [ +10 &Q c\ \\ +9 &R d\ \\ +10 &T b\ ] +9 &VG Z\ ] +9 &X d\ ^ +10 &Y f\ _ +9 &[ X\ K +9 &\\3 O\ 1 +10 &\\ O\ W +5 ( +2 "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 +2 .Hand.open + "manipulator"&*1 +3 "core" &\\v M\ W +58 1 +2 "manipulator"&H% +4 "core" % I . & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4' +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%+& +5 "core" &\ + "manipulator"&7% +4 "core" %   +2 "storage"(@% +4 "core" % \  + "storage"(G. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(<( +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" & R\ +2 "manipulator"&A& +4 "core" &ӛ  ' :1 +2 "manipulator"&B% +3 "core" %  8  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&I( +164 "core" ( + "manipulator"&?& +5 "core" & V  + "storage"(K& +4 "core" & '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&F'7 +91 "core" ' + "storage"(O& +5 "core" &   2\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'r +295 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" & \ ,\ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&P( +3 "core" ( +2 "manipulator"&L& +4 "core" & *  + "storage"(S& +4 "core" &  \\\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Y'ϡ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& + "storage"(Z' +8 "core" &  + "manipulator"&\\% +4 "core" %  } +2 .tForearm.seek :retract +2 "manipulator"&V' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&`( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&^& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&_' +100 "core" ' + "manipulator"&& +4 "core" &  +2 "manipulator"&X% +4 "core" % +2 "processing"%c& +4 "core" &\ +2 "processing"%%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%h(^ +3 "core" &\ +7 &:\ $e +9 &Ut\ 7 +9 &r\ L +10 &N\ N +9 &kN\ N +10 &.N\ N +9 &N\ M +9 &N\ N +10 &uN\ M +9 &5O \ N +9 &NO\ N +10 &!N\ N +9 &#{R\ N +10 &%>O:\ N +9 &'N)\ N +9 &(OE\ M +10 &*O@\ N +9 &,EN=\ N +9 &.N<\ N +10 &/O=\ N +9 &1O@\ N +10 &3LP<\ N +9 &5L2\ N +9 &6P,\ O +10 &8O(\ N +9 &:TO-\ N +9 &<M3\ N +10 &=P2\ N +9 &?S/\ N +10 &A\\R+\ N +9 &C\\&\ P +9 &D`(\ P +10 &Fs!\ S +9 &HR!\ T +9 &J\ U +10 &K \ U +9 &M \ V +10 &OV\ V +9 &Q\ W +9 &R\ W +10 &T\ W +9 &V^\ V +10 &X\ V +9 &Y\ V +9 &[ \ V +10 &]d/\ D +9 &^?pb\ $k +9 &^1#\ 4 +6 ( +2 "processing"%%& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.69 +2 .Hand.open + "manipulator"&[1 +4 "core" &^%b\ 4 +59 1 + "manipulator"&e% +5 "core" %  ) + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 "processing"%U& +4 "core" &^%z\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&b% +4 "core" %  J  +2 "storage"(k% +3 "core" % b\  +2 "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +17 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "manipulator"&s& +4 "core" & L\  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" & h  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&n( +2 "storage"(g'r +5 "core" ( + "manipulator"&o& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &   +2 .tForearm.seek PC +2 "manipulator"&x' +92 "core" ' + .tHand.close +2 "manipulator"&y/ +54 "core" / +3 .tPC.seek :open +2 "processing"%( +103 "core" ' + "storage"(t- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +48 "storage"(~'1 +41 "core" ' +256 ( + "storage"(u& +4 "core" & \  s\  +2 "manipulator"&q& +4 "core" &  + "manipulator"&;% +4 "core" % \   M +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&D( +240 "core" ( +2 "manipulator"&d& +4 "core" & < = +2 "storage"( & +3 "core" &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +88 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(}' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(|- +4 "core" -' + "storage"(& +4 "core" & X\  _\ ] +2 "manipulator"&& +4 "core" & = + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & 3 = + "storage"(z& +4 "core" &   <\ ^ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&w& +5 "core" & = + "storage"(i& +4 "core" & 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +17 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(]' +18 "core" ' +2 "manipulator"& % +4 "core" %Ά  +2 "storage"(& +4 "core" & s\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&Q'ϲ +13 "core" ' +2 "manipulator"&!& +4 "core" & \\ = +2 "storage"(#& +4 "core" & Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +17 "core" ' + "storage"(% +5 "core" %   0\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (&% +3 "core" %I \ Xj +2 "manipulator"&% +4 "core" %& +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +87 "core" ' +67 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ()& +3 "core" & \ \  +2 "collection"'\ & +4 "core" &\\v p\ W +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %   +2 "storage"("% +4 "core" %\  + "storage"(.. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(-( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" & F\ +2 "manipulator"&/& +3 "core" &  = +2 .tElbow.seek 3 +2 "manipulator"&N( +3 "core" ( + "manipulator"&6& +4 "core" & z = +2 "storage"(& +4 "core" &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&''7 +93 "core" ' + "storage"(& +5 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'r +295 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +2 "core" & = +3 "storage"(2& +3 "core" & 2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&v'u +18 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"({- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(0'r +27 "core" ' +2 "manipulator"&% +4 "core" %y  + "storage"(9& +4 "core" &\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&'ϥ +14 "core" ' + "manipulator"&*& +5 "core" & j < + "storage"(H& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&+'7 +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(7' +33 "core" ' + "manipulator"&@& +5 "core" & 0 < + "manipulator"&G% +4 "core" % ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +87 "core" ' + .tElbow.seek CC +2 "manipulator"&=(ӂ +151 "core" ( +2 "manipulator"&A& +4 "core" &|. 9 E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &|. E +2 .tForearm.seek CC +2 "manipulator"&>'? +92 "core" ' +2 .tHand.close + "manipulator"&?/ +64 "core" / +2 .tCC.seek :open +2 "collection"'K( +451 "core" ( +2 "storage"($& +4 "core" & 1 1\ +2 "storage"(O& +3 "core" & 1 4 \ +2 "manipulator"&& +4 "core" &ӧ& 7 ?U + "manipulator"&4% +5 "core" % F # 1 +2 .tForearm.seek :retract + "manipulator"&R' +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&J( +166 "core" ( + "manipulator"&& +4 "core" & 3  +2 "storage"(L& +4 "core" & X W ;\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&S'u +103 "core" ' + .tElbow.hold +2 "manipulator"&W, +15 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +53 "core" 1 +2 "manipulator"&\\% +4 "core" % x  +2 "storage"(I& +4 "core" & 4 5 T\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 303 counts +2 "manipulator"&F'Ϥ +16 "core" ' + "manipulator"&M& +4 "core" & #  +2 "storage"(Y& +4 "core" & w y 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&^'7 +16 "core" ' + "storage"(j% +5 "core" % y z \  +2 ."downElevator"SE.seek :down +3 "storage"(P' +99 (% +3 "core" %O< > A \ Wc +2 "manipulator"&X% +4 "core" %4 # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +93 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [3, 6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'Z& +4 "core" & m\ +2 "manipulator"&V% +4 "core" %    +2 "storage"(a% +5 "core" % T J \  + "storage"([. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(e(K +990 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &K  =\  +2 "manipulator"&b& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&k( +38 "core" ( + "manipulator"&p& +4 "core" & 1 +2 "storage"(%& +4 "core" &K W X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&r' +92 "core" ' +2 "storage"(s& +4 "core" &K z z \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'r +294 "core" ' + "storage"(l- +4 "core" -'+ + .tSE.configure :default +2 "storage"(#QK-0-\ b +52 (_& +2 "core" &K 4 D\  +2 "manipulator"&y& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&<( +4 "core" ( + "manipulator"&t& +4 "core" & : + "storage"(`& +4 "core" &K U U l\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&f'h +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(g' +8 "core" & c + "manipulator"&q% +4 "core" % \\ . +2 .tForearm.seek :retract +3 "manipulator"&;' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&d& +4 "core" &Ӕ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &Ӕ t 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&n'? +99 "core" ' + "manipulator"&& +5 "core" &Ӕ  8 +2 "manipulator"&% +3 "core" %O +2 "collection"'|& +4 "core" & \ +2 "collection"'& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & \ +7 &4 |\ $d +9 &Tu \ 6 +10 &~x \ K +9 &S \ M +10 &XS s\ M +9 &S r\ M +9 &T t\ M +10 &S s\ M +9 &aS p\ M +9 &"S j\ M +10 &R b\ M +9 &!S _\ M +9 &#iT d\ M +10 &%+R g\ M +9 &&S f\ M +10 &(S ]\ M +9 &*pW X\ M +9 &,2S U\ M +10 &-S X\ M +9 &/S S\ M +9 &1xS N\ M +10 &3;S V\ M +9 &4S F\ M +10 &6S :\ M +9 &8S 4\ M +9 &:CS D\ M +10 &<T J\ M +9 &=T M\ L +9 &?T L\ M +10 &AIU K\ M +9 &C\ U B\ N +10 &D` =\ N +9 &Fn L\ P +9 &H@ I\ S +10 &I 5\ V +9 &K 4\ Y +9 &Mt 7\ Y +10 &O5 7\ Z +9 &P <\ Z +10 &R >\ [ +9 &Tv 6\ [ +9 &V8 @\ [ +10 &W >\ ] +9 &Y 6\ ^ +10 &[v +\ J +9 &\\C -\ &t +9 &\\ &\ X +6 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&1 +4 "core" &\\x \ X +58 1 + "manipulator"&z% +4 "core" % O , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%w& +4 "core" &D\ + "manipulator"&i% +4 "core" %  K  +2 "storage"( % +4 "core" %  P\  + "storage"(. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(~(K +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +3 "core" &K# Q\  +2 "manipulator"&#& +4 "core" &Ӕ 8 + "manipulator"&% +4 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +163 "core" ( + "manipulator"&D& +4 "core" &  +2 "storage"(& +4 "core" &K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}' +98 "core" ' + "storage"(&& +5 "core" &K  7\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \  +2 "manipulator"&& +4 "core" & D  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&Q& +4 "core" & *  +2 "storage"()& +2 "Can"\ YV +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&\ 'h +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +3 "storage"(]' +8 "core" &  + "manipulator"&.% +4 "core" % ϛ +2 .tForearm.seek :retract +2 "manipulator"&1' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&/( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&6& +4 "core" & 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & | 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&& +4 "core" &  1 +2 "manipulator"&% +4 "core" % b +2 "processing"% & +4 "core" &B\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%((^ +5 "core" &?\  +9 &2vF\ )w +9 &b{D\ > +10 &kjA\ N +9 &,OC\ N +9 &O3\ N +10 &M/\ N +9 &sN/\ N +9 &6N/\ M +10 &O&\ N +9 &O'\ N +9 & zO&\ N +10 &"<O!\ N +9 &#N\ N +9 &%N!\ N +10 &'O!\ N +9 &)DO$\ N +10 &+O]\ N +9 &,O\\\ N +9 &.Nc\ N +10 &0LL\ N +9 &2 Q\ N +9 &3Q\ O +10 &5Oh\ N +9 &7SR{\ N +10 &9Qw\ N +9 &:Mr\ N +9 &<Ql\ N +10 &>ZQn\ O +9 &@Tt\ N +9 &A\\w\ P +10 &Cmw\ R +9 &ER~7\ T +10 &Gy\ U +9 &Hp\ U +10 &Jw\ U +9 &LVv\ U +9 &Ni\ V +10 &Of\ U +9 &Qc\ W +9 &SZh\ W +10 &Uk\ W +9 &Vg\ W +9 &Xa\ V +10 &Zbd\ W +9 &\\#c\ W +9 &]wb\ 8 +10 &^-v]\ Y +9 &^+]\ 6 +3 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 +2 .Hand.open + "manipulator"&81 +64 "core" 1 + "manipulator"&,% +4 "core" %  I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +94 "core" ' + "processing"%{& +4 "core" &^*t\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %  @  +2 "storage"(9% +4 "core" % \  + "storage"(*. +3 "core" .(K + "storage"(H& +4 "core" &K s\  +2 "storage"(@& +3 "manipulator"&G& +6 "core" &K z\  + & 1 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&'( +4 ."raiseStack"SE.seek :beamBreak + "storage"(N'r +3 "core" ( +2 "manipulator"&:& +3 "core" & _ 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" & 4 1 +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&A/ +60 "core" / +2 .tPC.seek :open +2 "processing"%0( +95 "core" ' +2 "storage"(B- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'1 +43 "core" ' +307 ( + "storage"(E& +4 "core" &K   V\  +2 "manipulator"&?& +4 "core" & 1 + "manipulator"&5% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&C' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&$( +244 "core" ( + "manipulator"&O& +4 "core" & # + +2 "storage"(& +4 "core" &K 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&4' +97 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(L- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(>' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(T- +3 "core" -' +2 "storage"(\\& +4 "core" &K + !\ ` +2 "manipulator"&I& +3 "core" & S + +2 .tElbow.seek 6 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&Y& +4 "core" &  + + "storage"(j& +4 "core" &K ) +\ _ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' +2 "manipulator"&X& +54 "core" & + +2 "storage"(J& +4 "core" &K -\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&S'< +27 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(V' +28 "core" ' + "manipulator"&F% +5 "core" %L w + "storage"(a& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&['x +14 "core" ' + "manipulator"&7& +5 "core" & U * + "storage"(^& +4 "core" &K  B\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&P' +16 "core" ' + "storage"(-% +5 "core" %  \ +2 ."downElevator"SE.seek :down +5 "storage"(U' +98 (b% +3 "core" %b@  a\ Xf +2 "manipulator"&p% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%' +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (s& +4 "core" &K `\  + "collection"'W& +4 "core" &\\u @\ X +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&c% +4 "core" %  6  +2 "storage"(l% +4 "core" %\  + "storage"(_. +4 "core" .(K + "storage"(y& +4 "core" &K h\  + "storage"(t& +4 "core" &K\  +2 "manipulator"&`& +4 "core" & 6 * + .tElbow.seek 6 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&u& +4 "core" &  * + "storage"(q& +4 "core" &K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&k' +90 "core" ' + "storage"(r& +5 "core" &K   P\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'r +308 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&o& +3 "core" & * + "storage"(f& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +22 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(|- +2 "core" -' +2 .tSE.seek 0.19 Pucks below Top Plate +2 "storage"(<' +32 "core" ' +2 "manipulator"&g% +4 "core" %O / +2 "storage"(;& +3 "core" &K  ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&K'{ +15 "core" ' +2 "manipulator"&& +4 "core" & k * +2 "storage"(z& +3 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&w' +18 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(i' +34 "core" ' +2 "manipulator"& & +4 "core" &  * +2 "manipulator"&% +4 "core" % J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!(ӂ +154 "core" ( + "manipulator"&#& +5 "core" &Ӕ! Q :, + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӕ! \ :, +2 .tForearm.seek CC +2 "manipulator"&n'? +98 "core" ' + .tHand.close + "manipulator"&D/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( + "storage"(e& +5 "core" &K 2 ( c\  + "storage"(&& +4 "core" &K  " \  +2 "manipulator"&x& +4 "core" &Ӕ! < :, + "manipulator"&% +4 "core" % J  ! +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&& +4 "core" & 2 + "storage"(Q& +4 "core" &K U U +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&)'< +94 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&"1 +57 "core" 1 +2 "manipulator"&.% +4 "core" % G O + +2 "storage"(& +4 "core" &K U U r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&}'s +14 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(\ & +4 "core" &K H K y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&6' +15 "core" ' +2 "storage"(% +4 "core" % w v _\ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %> @ A ,\ Va +2 "manipulator"&% +5 "core" % D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3, 6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"']& +4 "core" & w\ +2 "manipulator"&1% +4 "core" %  4  +2 "storage"(% +4 "core" % U d 0\  + "storage"(8. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(,( +990 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ({& +3 "core" & $ $ Y\ +2 "manipulator"&& +4 "core" & P + .tElbow.seek 3 +2 "manipulator"&9( +33 "core" ( + "manipulator"&*& +4 "core" & 6 2 +2 "storage"(H& +4 "core" & U K H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' + "storage"(G& +4 "core" & x [ v\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'r +293 "core" ' + "storage"(:- +4 "core" -'! +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +2 "core" & G 8 A\ +2 "manipulator"&& +3 "core" &  2 +2 .tElbow.seek 3 +2 "manipulator"&A( +3 "core" ( + "manipulator"&B& +4 "core" & / 2 +2 "storage"(/& +4 "core" & w w Z\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&2'ϡ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&(/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& + "storage"(E' +7 "core" & 2 +2 "manipulator"&?% +4 "core" % ϳ - +2 .tForearm.seek :retract +2 "manipulator"&5' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +154 "core" ' +2 ( + "manipulator"&O& + ."downElevator"SE.stop +6 "storage"(5 +4 "core" &Ӌ(  @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӌ( @W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&''? +92 "core" ' +2 "manipulator"&& +4 "core" &Ӎ& ?V +2 "manipulator"&L% +4 "core" %9 +2 "collection"'T& +4 "core" & \ +2 "collection"'\\& +5 "core" & \ +2 .tCC.seek :closed + "collection"'I(\\ +5 "core" & \  +9 &2x }\ )w +9 &c} ~\ > +9 &sn y\ N +10 &6Q o\ M +9 &R l\ M +9 &U l\ M +10 &}T l\ M +9 &?T o\ M +9 &U v\ M +10 &O a\ M +9 & P ^\ M +10 &"GP a\ M +9 &$\ R b\ L +9 &%R f\ L +10 &'R g\ M +9 &)OU k\ M +10 &+Q _\ M +9 &,R f\ L +9 &.R ^\ M +10 &0WQ J\ M +9 &2Q P\ M +10 &3R R\ L +51 &5R W\ L +14 &7_R W\ M + &9"R W\ L + &:Q U\ M + &<R P\ M + &>fQ Q\ M + &@)S O\ M +5 &AX L\ M +9 &C` Q\ O +9 &Ecs U\ Q +10 &G P\ T +9 &H A\ X +9 &J ?\ Y +10 &LO >\ Z +9 &N A\ Z +9 &O ?\ [ +10 &Q B\ Z +9 &SR H\ \\ +10 &U K\ ] +9 &V M\ ] +9 &X I\ _ +10 &ZS G\ ^ +9 &[z J\ B +9 &\\+ H\ + +10 &\\x K\ W +2 ( +2 "collection"'\\& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.36 +2 .Hand.open + "manipulator"&Y1 +60 "core" 1 +2 "manipulator"&j% +5 "core" % 9 X + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%X& +4 "core" &0\ + "manipulator"&J% +4 "core" %   +2 "storage"(+% +4 "core" % (\  + "storage"(>. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(F( +10 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +2 "core" & r\ +2 "manipulator"&7& +4 "core" &ӎ& ?U +2 "manipulator"&^% +3 "core" %    +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$( +163 "core" ( + "manipulator"&-& +5 "core" & \  + "storage"(4& +4 "core" &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&='7 +92 "core" ' +2 "storage"(b& +4 "core" &   \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'r +297 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &  \ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&S( +4 "core" ( + "manipulator"&s& +4 "core" & 8  + "storage"([& +4 "core" & ,\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&W'ϡ +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&c/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(_' +8 "core" &   + "manipulator"&V% +4 "core" % ϗ +2 .tForearm.seek :retract +2 "manipulator"&y' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&t( +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&`& +4 "core" & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&q' +96 "core" ' +2 "manipulator"&P& +4 "core" & 2 +2 "manipulator"&r% +3 "core" % +2 "processing"%U& +4 "core" &4\ +2 "processing"%Z& +5 "core" &+\ +2 .tPC.seek :closed +2 "processing"%%(^ +5 "core" &/\ +6 & ,.\ $c +9 &Tv3\ 7 +10 &~r1\ K +9 &L<\ N +10 &TO1\ N +9 &M0\ N +9 &M/\ N +10 &N)\ N +9 &]N&\ N +10 &O$\ N +9 &OC\ N +9 &!N'\ N +10 &#dO'\ N +9 &%&O(\ N +9 &&O\ N +10 &(O<\ N +9 &*kO\ N +9 &,.Pz\ N +10 &-Or\ N +9 &/O{\ N +10 &1sS\ N +9 &35R\ N +9 &4Q\ N +10 &6Oz\ N +9 &8{Q|\ N +9 &:=Ow\ N +10 &;Ls\ N +9 &=Rt\ N +10 &?Tu\ N +9 &AERv\ N +9 &CZs\ P +10 &D`w\ P +9 &F}rv\ S +10 &H:w\ U +9 &Iw\ U +9 &Kv\ U +10 &M~w\ U +9 &O?o\ V +9 &Pi\ W +10 &Rm\ V +9 &Tk\ W +9 &VDl\ W +10 &Xk\ W +9 &Yl\ V +10 &[l\ V +9 &]Km\ K +9 &^~Oj\ !f +10 &^-l\ 3 +2 ( +2 "processing"%Z& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&o% +4 "core" %  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 "processing"%|& +4 "core" &^%R\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&g% +4 "core" %  "  +2 "storage"(;% +3 "core" % j\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(z( +22 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 ( & +3 "core" & )\  + "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 "core" & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&k( + "storage"(h'r +5 "core" ( + "manipulator"&d& +4 "core" & M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & & +2 .tForearm.seek PC +2 "manipulator"&K' +94 "core" ' + .tHand.close +2 "manipulator"&% +4 "core" %# A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\\' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&a(ӂ +151 "core" ( +2 "manipulator"&7& +4 "core" &Ӕ" ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &Ӕ" 0 ;7 +2 .tForearm.seek CC +2 "manipulator"&''? +92 "core" ' + .tHand.close +2 "manipulator"&-/ +61 "core" / +2 .tCC.seek :open +2 "collection"'4( +451 "core" ( +2 "storage"(,& +4 "core" & 1 ' i\  +2 "storage"(b& +3 "core" &   I\  +2 "manipulator"&& +4 "core" &Ӗ" ;5 + "manipulator"&C% +4 "core" % E o X +2 .tForearm.seek :retract + "manipulator"&R' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&M( +176 "core" ( +2 "manipulator"&& +4 "core" &z  +2 "storage"(s& +3 "core" & . ' .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&['u +102 "core" ' +2 .tElbow.hold + "manipulator"&c, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&l1 +57 "core" 1 +2 "manipulator"&V% +4 "core" % l & +2 "storage"($& +4 "core" & # # \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 291 counts + "manipulator"&='Ϙ +15 "core" ' + "manipulator"&p& +5 "core" & ;  + "storage"(W& +4 "core" & Q S &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`'7 +21 "core" ' + "storage"(u% +5 "core" % [ S W\ +2 ."downElevator"SE.seek :down +3 "storage"(S' +99 (P% +3 "core" %G< ( 5 \ Wd +2 "manipulator"&r% +4 "core" %# + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +88 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [3, 6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'_& +5 "core" & _\ + "manipulator"&y% +4 "core" %  =  +2 "storage"(0% +4 "core" % k Z &\  + "storage"( . +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(o(K +990 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" &K   \  +2 "manipulator"&g& +4 "core" & *  + .tElbow.seek 6 +2 "manipulator"&;( +4 "core" ( + "manipulator"&& +4 "core" & A  +2 "storage"(Z& +3 "core" &K V c \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& ' +99 "core" ' + "storage"(& +5 "core" &K w [ }\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'r +291 "core" ' + "storage"(- +4 "core" -'* + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (q& +3 "core" &K 6 : v\  +2 "manipulator"&<& +3 "core" & )  +2 .tElbow.seek 6 +2 "manipulator"&F( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(t& +3 "core" &K U U u\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&f'h +20 "core" ' +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(' +7 "core" &  + "manipulator"&D% +4 "core" % v Y +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K(ӂ +154 "core" ( + "manipulator"&&& +5 "core" ' + &Ӑ$ ' =A +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b +2 "storage"(5 +4 "manipulator"&x& +4 "core" &Ӑ$ =A + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'? +102 "core" ' +2 "manipulator"&& +4 "core" &Ӑ$ =A +2 "manipulator"&Q% +4 "core" %=   +2 "collection"'"& +5 "core" & \ +2 "collection"'.& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & y\  +9 &2w \ )w +10 &c{ |\ > +9 &un o\ N +9 &9O l\ M +10 &Q f\ L +9 &U c\ M +10 &N e\ L +9 &CQ m\ L +9 &Q c\ M +10 &O `\ L +9 & R Q\ L +10 &"JP c\ M +9 &$ T ^\ M +9 &%S ]\ M +10 &'O ^\ L +9 &)RQ [\ M +9 &+R Y\ M +10 &,R U\ L +9 &.R S\ L +10 &0ZP \\\ M +9 &2P K\ L +9 &3R H\ L +10 &5Q H\ L +9 &7aT E\ M +9 &9$P F\ M +10 &:P G\ L +9 &<S B\ M +10 &>jU E\ M +9 &@,U F\ M +9 &AW B\ M +10 &CY I\ M +9 &Elb Q\ O +9 &G)s P\ P +10 &H M\ T +9 &J F\ X +10 &LU :\ Y +9 &N 7\ Z +9 &O ?\ Z +10 &Q @\ [ +9 &SX A\ [\ +9 &U J\ \\ +10 &V G\ ] +9 &X J\ ] +9 &ZV E\ ^ +10 &[| L\ < +9 &\\( L\ )y +10 &\\v K\ Y +2 ( + "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&\ 1 +60 "core" 1 +2 "manipulator"&% +4 "core" % =   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %   +2 "storage"(}% +3 "core" %  T\  +2 "storage"(w. +3 "core" .(K + "storage"(n& +4 "core" &K  R\  +2 "storage"(& +3 "core" &K  \  +2 "manipulator"&i& +4 "core" &Ӑ$ =A + "manipulator"&6% +4 "core" %  (  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&e( +156 "core" ( +2 "manipulator"&& +4 "core" & `  + "storage"(~& +4 "core" &K  Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&!' +92 "core" ' +2 "storage"(& +4 "core" &K   \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +54 (*& +3 "core" &K  H\  + "manipulator"&& +4 "core" & 5  +2 .tElbow.seek 6 + "manipulator"&)( +4 "core" ( + "manipulator"&G& +4 "core" &   +2 "storage"(8& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'h +38 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& + "storage"(v' +7 "core" &   +2 "manipulator"&1% +4 "core" % c 1 +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' + .tElbow.seek PC +2 "manipulator"&B( +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&/& +5 "core" & 9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" & 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&?' +99 "core" ' +2 "manipulator"&& +4 "core" & ! 9 +2 "manipulator"&% +4 "core" % g +2 "processing"%{& +3 "core" &}\ +2 "processing"%]& +6 "core" &n\ +2 .tPC.seek :closed +2 "processing"%H(^ +4 "core" &\ +6 &3G\ #b +10 &Uw\ 7 +9 &t\ L +9 &N\ N +10 &`N\ N +9 &#L\ N +9 &N\ N +10 &M\ M +9 &hN\ N +9 &+Nv\ N +9 &Nt\ N +9 &!Lx\ N +10 &#pNv\ N +9 &%1Nt\ N +10 &&Ns\ N +9 &(Mu\ N +9 &*vNs\ O +10 &,:Nj\ N +9 &-Nh\ N +9 &/Nh\ N +10 &1Ou\ N +9 &3AOm\ N +9 &5Pu\ N +10 &6Oo\ N +9 &8Or\ N +10 &:JKq\ N +9 &< Os\ N +9 &=Ll\ N +10 &?Sg\ N +9 &APU_\ O +9 &C\ k_\ Q +10 &Dr[\ S +9 &F]\ U +10 &HF]\ U +9 &Ja\ U +9 &Kd\ U +10 &M^\ V +9 &OLa\ U +9 &Q \\\ V +10 &RZ\ V +9 &T[\ W +10 &VQZ\ V +9 &X]\ V +9 &YK\ W +10 &[L\ W +9 &]VM\ H +9 &^zAyK\ $l +10 &^;O\ 6 +5 ( +2 "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.76 + .Hand.open +2 "manipulator"&1 +3 "core" &^&S\ 6 +60 1 + "manipulator"&@% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2' +93 "core" ' + "processing"%T& +5 "core" &^%5\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&E% +4 "core" %    +2 "storage"(5% +3 "core" % \  +2 "storage"(Y. +3 "core" .(K + "storage"(j& +4 "core" &K \  +2 "storage"(+& +3 "manipulator"&>& +6 "core" &K G\  +2 &  9 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(9'r + "manipulator"&(( +5 "core" ( + "manipulator"&O& +4 "core" & < 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & ' 9 +2 .tForearm.seek PC +2 "manipulator"&' +92 "core" ' + .tHand.close +2 "manipulator"&7/ +63 "core" / +2 .tPC.seek :open +2 "processing"%A( +90 "core" ' +2 "storage"(^- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +41 "core" ' +310 ( +2 "storage"(L& +4 "core" &K  R\  +2 "manipulator"&-& +3 "core" &  9 +2 "manipulator"&\\% +4 "core" %   B + .tForearm.seek :retract +2 "manipulator"&I' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&,( +245 "core" ( + "manipulator"&b& +4 "core" &  " +2 "storage"(& +4 "core" &K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&C' +100 "core" ' + .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(s- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"('' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(a' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +4 "core" -' +2 "storage"(V& +3 "core" &K   \ ] +2 "manipulator"&$& +4 "core" & j " + .tElbow.seek 6 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&W& +4 "core" &   " + "storage"(u& +4 "core" &K N \ ] +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&R' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(P'" +55 "core" ' +2 "manipulator"&r& +4 "core" & " +2 "storage"(M& +4 "core" &K /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&['< +20 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(=' +28 "core" ' + "manipulator"&y% +5 "core" %O  + "storage"(0& +4 "core" &K C\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"& '{ +17 "core" ' + "manipulator"&J& +5 "core" & v " + "storage"(`& +5 "core" &K  @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&S' +18 "core" ' + "storage"(z% +5 "core" %   L\ +2 ."downElevator"SE.seek :down +4 "storage"(|' +98 (g% +4 "core" %jA a\ Wf + "manipulator"&% +4 "core" % 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K  |\  +2 "collection"'c& +3 "core" &\\s J\ Y +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&U% +4 "core" %  ! +2 "storage"(% +4 "core" %\  +2 "storage"(q. +3 "core" .(K + "storage"(<& +4 "core" &K\  +2 "storage"(& +3 "core" &K\  +2 "manipulator"&t& +4 "core" & " +2 .tElbow.seek 6 +2 "manipulator"&%( +3 "core" ( + "manipulator"&h& +4 "core" & J " +2 "storage"(D& +3 "core" &K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;' +93 "core" ' +2 "storage"( & +4 "core" &K   [\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +302 "core" ' + "storage"(x- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&d& +3 "core" &  " +2 "storage"(f& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'< +22 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +2 "core" -' +3 .tSE.seek 0.19 Pucks below Top Plate + "storage"("' +32 "core" ' +2 "manipulator"&% +4 "core" %J - + "storage"(& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&4'v +16 "core" ' + "manipulator"&\ & +5 "core" & Q " + "storage"(& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.19 Pucks below Top Plate +2 "storage"(' +39 "core" ' + "manipulator"&}& +5 "core" & W " + "manipulator"&w% +4 "core" %   +2 .tForearm.reconfigure :loose +53 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +155 "core" ( +2 "manipulator"&.& +4 "core" &ӗ! 8 :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &ӗ  :, +2 .tForearm.seek CC +2 "manipulator"&6'? +96 "core" ' +2 .tHand.close + "manipulator"&k/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( + "storage"(~& +4 "core" &K 0 1 D\  +2 "storage"(& +4 "core" &K 2 1 y\  + "manipulator"&K& +4 "core" &ӗ! " :, + "manipulator"&% +4 "core" % < ' # +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&*( +165 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(G& +4 "core" &K V V m\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&8'< +96 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&:1 +59 "core" 1 + "manipulator"&1% +5 "core" % 1 -  + "storage"(e& +4 "core" &K T F &\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 289 counts +2 "manipulator"&!'] +15 "core" ' + "manipulator"&& +5 "core" &  + "storage"( & +4 "core" &K | | ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&/' +16 "core" ' + "storage"(N% +5 "core" % z \ +2 ."downElevator"SE.seek :down +3 "storage"()' +99 (% +3 "core" %> % ) K\ Va +2 "manipulator"&% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{' +88 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +36304 "Can"\ >: +17660 #t-> access 3 +2 "storage"(v% +4 "core" % x \  + "manipulator"&% +5 "core" %   + "manipulator"&#& +4 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +2 "core" &[ A B \  +705 #t-> access 4 +3 "storage"(T% +3 "core" % | z >\  +2 "manipulator"&E% +4 "core" %    + "manipulator"&5& +4 "core" & H  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(Y(C +1930 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (j& +3 "core" &D 9 D q\ +1111 #t-> access 5 +2 "storage"(]% +4 "core" % { | X\  + "manipulator"&>% +4 "core" %   +2 "manipulator"&+& +3 "core" & 1  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(O(  +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  ( / d\  +649 #t-> access 6 +3 "storage"(?% +3 "core" % y x V\  + "manipulator"&7% +4 "core" %  /  +2 "manipulator"&^& +4 "core" &  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(B( +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +2 "core" & B E \ +34909 #t-> PS.flush +2 #Flushing Processing stage + "processing"%H% +3 "core" %^\  +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%9& +4 "core" &`\ + "manipulator"&L& +4 "core" & #  +2 "manipulator"&-% +3 "core" %   +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&\\(- +170 "core" ( + "manipulator"&& +5 "core" &- Y V + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &- ? V +2 .tForearm.seek :garage +2 "manipulator"&'w +92 "core" ' + .tHand.close + "manipulator"&(/ +54 "core" / + "manipulator"&& +4 "core" &- t V +2 "manipulator"&s% +4 "core" % ρ 2  + .tForearm.seek :retract +2 "manipulator"&l' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&V( +117 "core" ( + "manipulator"&$& +5 "core" & Q + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" & + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&u' +100 "core" ' +2 "manipulator"&I& +4 "core" & 3 + +2 "manipulator"&r% +4 "core" % @ + "processing"%M& +4 "core" &Q\ +2 "processing"%y& +6 "core" &Y\ +2 .tPC.seek :closed +2 "processing"%0(^ +4 "core" &<\ +7 & +6\ $c +10 &Ts)\ 6 +9 &}v9\ K +9 &P;\ N +10 &XQ=\ N +9 &ND\ N +9 &Q9\ N +10 &P.\ N +9 &bO-\ N +10 &$P8\ N +9 &Q3\ M +9 &!Q8\ N +10 &#jQ/\ N +9 &%-Q*\ M +10 &&Q)\ N +9 &(Q5\ M +9 &*rR.\ N +10 &,3T*\ N +9 &-O-\ N +9 &/T.\ N +10 &1yR.\ N +9 &3:R.\ N +9 &4Q'\ N +10 &6R+\ N +9 &8R.\ N +10 &:CQ,\ N +9 &<R/\ N +9 &=R-\ N +10 &?S+\ N +9 &AIU-\ O +9 &Ci6\ P +10 &D~/\ T +9 &F|-\ U +10 &H>)\ U +9 &J.\ T +9 &K3\ U +10 &M3\ V +9 &OE0\ U +10 &Q1\ V +9 &R4\ V +9 &T6\ W +10 &VK4\ V +9 &X -\ V +9 &Y2\ V +10 &[-\ V +9 &]R2\ G +9 &^xC{0\ $k +10 &^>+\ 3 +5 ( +2 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 + "processing"%X& +4 "core" &^ 4\ 3 + &^ 5\ 3 +2 .tHand.open + "manipulator"&J1 +57 "core" 1 +2 "manipulator"&`% +4 "core" %  @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +89 "core" ' +2 .tPSV.dial PSR +2 "processing"%z +42 "core" + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%,'X\\ +410 "Can"\ JG +695 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%C' +1611 "core" ' + .tPSV.dial PTV +2 "processing"%a +72 "core" + .tPTV.dial :puck + .PBV.dial :waste1 +3 "processing"%g  +53 "core" +2 .tPS.seek 0ml + "processing"%'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%R +73 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%p' +587 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%P' +2126 "core" ' +2 .tPSV.dial PTV + "processing"%[ +74 "core" + .tPBV.dial PSV +2 "processing"% U +53 "core" W +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2638 "core" ' +2 .tPSV.dial PBV + "processing"%c @ +44 "core" > +2 .tPS.seek 2.5ml +2 "processing"%U' +2637 "core" ' + .tPSV.dial :waste1 +2 "processing"%  +83 "core"  +2 .tPS.seek 0ml + "processing"%q'ؾ +2636 "core" ' + .tPSV.dial PSR +2 "processing"%= +42 "core" + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%<' +2639 "core" ' +2 .tPSV.dial PTV + "processing"% +72 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%t'ؾ +2635 "core" ' + .tPSV.dial PBV +2 "processing"%h @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%D' +2633 "core" ' +2 .tPSV.dial :waste1 + "processing"%S  +72 "core"  +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2634 "core" ' + #tGaraging FlushPuck in Processing Clamp + "manipulator"&|& +55 "core" & 2 + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&_( +2 "core" ( +2 "manipulator"&Z& +4 "core" & V + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" & r + +2 .tForearm.seek PC +2 "manipulator"&d' +93 "core" ' + .tHand.close +2 "manipulator"&f/ +56 "core" / +2 .tPC.seek :open +2 "processing"%F( +456 "core" ( + "manipulator"&& +4 "core" & c + +2 "manipulator"&% +3 "core" % \  W $ +2 .tForearm.seek :retract +2 "manipulator"&\ ' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +126 "core" ( + "manipulator"&}& +5 "core" &- 6  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +2 "core" &-   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&;'w +91 "core" ' + .tHand.open +2 "manipulator"&%1 +56 "core" 1 +2 "manipulator"&&% +4 "core" % u 8 L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +1547 #t-> samplePassF +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'4& +4 "core" & T\ +2 "manipulator"&"& +4 "core" &- ^  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&.(- +22 "core" ( + "manipulator"&i& +4 "core" &- O ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- @ ? +2 .tForearm.seek :garage +2 "manipulator"&Q'w +91 "core" ' + .tHand.close +2 "manipulator"&k/ +55 "core" / + "manipulator"&n& +5 "core" &- _ ? + "manipulator"&% +4 "core" % b  - +2 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +289 "core" ( + "manipulator"&K& +5 "core" &ӕ @ 8" + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӕ U 8" +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'? +89 "core" ' +2 "manipulator"&G& +4 "core" &ӕ ! 8" +2 "manipulator"&6% +4 "core" %6 ? m + "collection"'& +4 "core" & U\ +2 "collection"':& +6 "core" & U\ +2 .tCC.seek :closed +2 "collection"'1(\\ +4 "core" & R\ +7 & 3 N\ $d +10 &Ux Q\ 7 +9 &~v R\ K +9 &R N\ M +9 &aR W\ M +10 &#T V\ M +9 &T Q\ M +10 &P V\ M +9 &iS R\ M +9 &,P T\ M +10 &R M\ N +9 &!R O\ M +9 &#pR T\ N +10 &%3R Q\ M +9 &&S M\ M +10 &(R L\ M +9 &*zU H\ M +9 &,;T O\ M +10 &-P J\ M +9 &/T >\ M +9 &1T ?\ M +10 &3CO >\ M +9 &5T @\ M +10 &6T <\ M +9 &8Q B\ M +9 &:LQ D\ M +10 &< T >\ N +9 &=S @\ N +9 &?T C\ N +10 &ARU <\ N +9 &C] G\ N +10 &Du C\ Q +9 &F D\ U +10 &H9 =\ Y +9 &I G\ Z +9 &K G\ Z +9 &Mz D\ [ +10 &O< G\ [ +9 &P C\ [ +10 &R >\ \\ +9 &T~ <\ \\ +9 &V< >\ ] +10 &W E\ ^ +9 &Y C\ _ +10 &[z G\ L +9 &\\8 ?\ 3 +9 &\\ @\ X +6 ( +2 "collection"':& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.46 +2 "collection"'e& +4 "core" &\\ D\ X + &\\ A\ X + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"& % +4 "core" % 6 D m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +97 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +43 "core"  + "processing"%% +5 "core" %ؿ\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%'+ +1620 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%*  +46 "core"  + .tPS.seek 0ml +2 "processing"%8'ؾ +1620 "core" ' + .tPSV.dial PSR +2 "processing"%! +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2636 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%/  +99 "core" +2 .tPSV.dial :PTV,via: :air +2 "processing"%) +193 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRV,avoiding: :puck +2 "processing"%v @ +71 "core" A +2 .tPS.seek 0ml +2 "processing"%'ؾ +2639 "core" ' + .tPSV.dial :air +2 "processing"%#  +75 "core"  +2 .tPS.seek 2.5ml +2 "processing"%o' +2636 "core" ' +2 .tPSV.dial :PTV + "processing"%@ +75 "core" ~ +2 .tPS.seek 0ml +2 "processing"%T'ؾ +2634 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&E& +4 "core" &ӕ 8" +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&5(ӂ +27 "core" ( +2 "manipulator"&& +4 "core" &{  e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &{   e +2 .tForearm.seek CC + "manipulator"&]'? +93 "core" ' +2 .tHand.close + "manipulator"&>/ +54 "core" / + .tCC.seek :open +2 "collection"'+( +451 "core" ( + "manipulator"&Y& +4 "core" &{  : e +2 "manipulator"&% +3 "core" % S K +2 .tForearm.seek :retract +2 "manipulator"&?' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&7(- +274 "core" ( +2 "manipulator"&^& +4 "core" &- = ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +2 "core" &- 5 ` + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&2'w +98 "core" ' +2 .tHand.open + "manipulator"&H1 +58 "core" 1 + "manipulator"&9% +4 "core" % x _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +93 "core" ' +12594 "Can"\ ?< +60001 \ @< +60001 \ ?< +38483 #t-> exit +6 #mEXIT @1633452418.23UTC @1633452539.06UTC = =mMAIN_scheduler =tMAIN @UTC1633452540.91 #"core_reset"Sent BREAK +2 #t@6031 sendCRC with ifg=0x20, ie=0x7F + #@7866 sendCRC with ifg=0x08, ie=0x5F + #@41109 idle with ifg=0x84, ie=0x75 #@41780 select with ifg=0x10, ie=0xF5 + #@42414 receive with ifg=0x10, ie=0xFD + #@43047 receive with ifg=0x10, ie=0xFD #@43680 receive with ifg=0x10, ie=0xFD + #@44007 receive with ifg=0x80, ie=0xFD #@33012 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +282 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +378 "Can"\ B? + \ B? #tPolling Can every 10:00 +2 #Cleanly exited at 16:46:58UTC05-Oct-21 +1260 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +3 "collection"'% +3 "core" %i \ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % c\ @ + .tSS.configure :default +3 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'3& +3 "core" & \ +2 .tHand.open + "manipulator"&41 +16 "core" 1 +2 "manipulator"&5& +4 "core" &- ` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(- +8 "core" ( + "manipulator"&7& +4 "core" &- f 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &- c 0 +2 .tForearm.seek :garage +2 "manipulator"&9'w +99 "core" ' +2 .tHand.close +2 "manipulator"&:/ +57 "core" / +2 "manipulator"&;& +4 "core" &-  0 + "manipulator"&<% +4 "core" % ς + +2 .tForearm.seek :retract + "manipulator"&=' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&>(ӂ +281 "core" ( +2 "manipulator"&?& +4 "core" &ӗ!  :. + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &ӗ! D :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'? +101 "core" ' + "manipulator"&B& +4 "core" &ӗ" 9 :. +2 "manipulator"&C% +4 "core" %7 ~  + "collection"'D& +4 "core" & \ +2 "collection"'E& +5 "core" & \ +2 .tCC.seek :closed + "collection"'F(\\ +5 "core" & \  +9 &2x \ *x +10 &c~ \ > +9 &so \ N +9 &6P \ M +10 &S \ M +9 &W \ M +9 &|Q \ M +10 &>P \ M +9 &S \ M +9 &T \ M +10 & O \ M +9 &"EO \ N +10 &$T \ M +9 &%U \ M +9 &'O \ M +10 &)NR \ M +9 &+U \ N +10 &,T \ N +9 &.P \ N +9 &0VU \ M +10 &2P \ M +9 &3S \ M +9 &5R \ N +10 &7]V \ N +9 &9T \ N +9 &:Q \ N +10 &<U \ M +9 &>fS \ M +10 &@'Q \ N +9 &AX \ N +9 &Ce \ O +10 &E^ \ S +9 &G \ W +10 &H \ Z +9 &J \ Z +9 &LP \ Z +10 &N \ Z +9 &O \ [ +9 &Q \ [ +10 &SP \ ] +9 &U \ ] +10 &V \ ^ +9 &X \ _ +9 &ZQ \ _ +10 &[z \ C +9 &\\* \ , +9 &\\ \ \\ +3 ( +2 "collection"'E& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.45 + "collection"'G& +4 "core" &\\ \ \\ + .tHand.open + "manipulator"&H1 +63 "core" 1 +2 "manipulator"&I% +4 "core" % 7    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +94 "core" ' +1169 #t-> CBV.PRV + .CBV.dial PRV +2 "collection"'K  +3 "core" +607 #t-> PTV.PRV +2 .PTV.dial PRV +2 "processing"%L @ +5 "core" @ +420 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%M +5 "core"  +326 #t-> CTV.air + .CTV.dial :air +2 "collection"'N  +4 "core" +674 #t-> PRV.CBV +2 .PRV.dial CBV +2 "processing"%O  +4 "core" +455 #t-> PSR.flush + .PSR.select :flush +3 "processing"%j +524 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%P +74 "core"  +581 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%Q' +2649 "core" ' + "processing"%R% +4 "core" %r\ +1022 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%S +73 "core" +493 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%T'ؾ +2631 "core" ' +2 "processing"%U% +4 "core" %ػ\ +714 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%V +73 "core"  +404 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%W' +2636 "core" ' + "processing"%X% +4 "core" %\ +413 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%Y +72 "core" +270 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%Z'ؾ +2639 "core" ' + "processing"%[% +4 "core" %ؾ\ +427 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%\\ +73 "core"  +188 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%]' +2625 "core" ' + "processing"%^% +4 "core" %s\  +352 #t-> PSV.PTV + .PSV.dial PTV +3 "processing"%_ +73 "core" +259 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%`'ؾ +2631 "core" ' + "processing"%a% +4 "core" %ؿx\ +353 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%b +73 "core"  +303 #t-> PSR.air +2 .PSR.select :air +2 "processing"% +477 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%c' +2650 "core" ' + "processing"%d% +4 "core" %\ +334 #t-> PSV.PTV +2 .PSV.dial PTV + "processing"%e +73 "core" +375 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%f'ؾ +2631 "core" ' + "processing"%g% +4 "core" %ؽt\ +408 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%h +73 "core"  +276 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%i' +2638 "core" ' + "processing"%j% +4 "core" %q\  +325 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%k +73 "core" +211 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%l'ؾ +2635 "core" ' +2 "processing"%m% +4 "core" %ؽ\ +355 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%n +74 "core"  +262 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%o' +2639 "core" ' + "processing"%p% +4 "core" %q\  +330 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%q +85 "core" +252 #t-> PS.empty +3 .PS.seek 0ml + "processing"%r'ؾ +2636 "core" ' +2 "processing"%s% +4 "core" %ؾr\ +401 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&t& +3 "core" &ӗ  | :. +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&u(ӂ +30 "core" ( +2 "manipulator"&v& +4 "core" &ӂ  @ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &ӂ @ +2 .tForearm.seek CC +2 "manipulator"&x'? +96 "core" ' +2 .tHand.close + "manipulator"&y/ +55 "core" / +2 .tCC.seek :open + "collection"'z( +451 "core" ( +2 "manipulator"&{& +3 "core" &ӂ  @ +2 "manipulator"&|% +3 "core" % @ U  +2 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&~(- +271 "core" ( + "manipulator"&& +4 "core" &- P n + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- b n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +99 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&% +5 "core" % k U + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +96 "core" ' +8389 "Can"\ JG +25486 #t-> exit +5 #mEXIT @1633453402.29UTC @1633462150.38UTC = =tMAIN =mMAIN_scheduler @UTC1633462152.15 #"core_reset"Sent BREAK +2 #t@21027 sendCRC with ifg=0x20, ie=0x7F + #@22862 sendCRC with ifg=0x08, ie=0x5F #@48417 idle with ifg=0x84, ie=0x75 + #@49087 select with ifg=0x10, ie=0xF5 + #@49721 receive with ifg=0x10, ie=0xFD #@50354 receive with ifg=0x10, ie=0xFD +2 #@50988 receive with ifg=0x10, ie=0xFD #@51315 receive with ifg=0x80, ie=0xFD + #@14698 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +367 "Can"\ LI + \ LI + #tPolling Can every 10:00 +2 #Cleanly exited at 17:03:22UTC05-Oct-21 +442 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %i \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ؾ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % c\ @ +2 .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'3& +3 "core" & \ +2 .tHand.open + "manipulator"&41 +18 "core" 1 +2 "manipulator"&5& +3 "core" &-  m +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(- +17 "core" ( +2 "manipulator"&7& +4 "core" &-    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &- <  +2 .tForearm.seek :garage +2 "manipulator"&9'w +100 "core" ' + .tHand.close +2 "manipulator"&:/ +60 "core" / + "manipulator"&;& +74 "core" &- o  +2 "manipulator"&<% +4 "core" % h t +2 .tForearm.seek :retract + "manipulator"&=' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&>(ӂ +284 "core" ( +2 "manipulator"&?& +4 "core" &ӈ(  R @X + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &ӈ( \ K @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'? +90 "core" ' + "manipulator"&B& +4 "core" &Ӊ( m @W +2 "manipulator"&C% +4 "core" %A y p + "collection"'D& +4 "core" & \ +2 "collection"'E& +5 "core" & \ +2 .tCC.seek :closed + "collection"'F(\\ +4 "core" & \  +9 &2x \ *y +10 &c~ \ > +9 &tp A\ N +9 &7R \ M +9 &U \ N +10 &U \ N +9 &{T \ N +9 &@R \ M +10 &W \ N +9 &U \ M +10 & Q J\ M +9 &"GU J\ M +9 &$\ R C\ M +10 &%U \ N +9 &'T ?\ N +9 &)OQ C\ M +10 &+T \ M +9 &,T C\ M +10 &.R B\ N +9 &0WQ C\ M +9 &2S C\ M +10 &3R E\ N +9 &5Q A\ M +9 &7^T C\ N +10 &9 W C\ N +9 &:V A\ M +10 &<T B\ N +9 &>fW A\ N +9 &@(V @\ N +10 &AY E\ N +9 &Ce B\ P +9 &E` J\ R +10 &G M\ W +9 &H G\ Z +10 &J J\ \\ +9 &LM K\ \\ +9 &N M\ [ +10 &O L\ ^ +9 &Q B\ \\ +9 &SL E\ _ +10 &U L\ ] +9 &V G\ _ +10 &X C\ ` +9 &ZP F\ ` +10 &[z K\ C +9 &\\, G\ , +9 &\\ K\ Y +2 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.49 + "collection"'G& +5 "core" &\\| \ Y + .tHand.open + "manipulator"&H1 +55 "core" 1 +2 "manipulator"&I% +4 "core" % A  2 p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +995 #t-> CBV.PRV + .CBV.dial PRV +2 "collection"'K  +5 "core" +492 #t-> PTV.PRV +2 .PTV.dial PRV +2 "processing"%L @ +4 "core" @ +409 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%M +4 "core" +669 #t-> CTV.air + .CTV.dial :air +2 "collection"'N  +5 "core" +576 #t-> PRV.CBV +2 .PRV.dial CBV +2 "processing"%O  +4 "core" +1321 #t-> PSR.flush + .PSR.select :flush +3 "processing"%j +682 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%P +71 "core"  +238 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%Q' +2628 "core" ' +2 "processing"%R% +9 "core" %\  +349 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%S +72 "core" +366 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%T'ؾ +2632 "core" ' + "processing"%U% +4 "core" %t\ +448 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%V +73 "core"  +225 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%W' +2639 "core" ' + "processing"%X% +4 "core" %}\  +421 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%Y +74 "core" +299 #t-> PS.empty +3 .PS.seek 0ml +2 "processing"%Z'ؾ +2652 "core" ' + "processing"%[% +4 "core" %\  +375 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%\\ +72 "core"  +204 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%]' +2630 "core" ' + "processing"%^% +3 "core" %\  +329 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%_ +74 "core" +257 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%`'ؾ +2631 "core" ' + "processing"%a% +4 "core" %x\ +361 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%b +72 "core"  +317 #t-> PSR.air + .PSR.select :air +3 "processing"% +316 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%c' +2629 "core" ' +2 "processing"%d% +3 "core" %v\  +404 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%e +73 "core" +374 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%f'ؾ +2633 "core" ' + "processing"%g% +4 "core" %ػz\ +1059 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%h +73 "core"  +329 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%i' +2640 "core" ' +2 "processing"%j% +4 "core" %\ +406 #t-> PSV.PTV + .PSV.dial PTV +3 "processing"%k +72 "core" +434 #t-> PS.empty +3 .PS.seek 0ml + "processing"%l'ؾ +2634 "core" ' + "processing"%m% +4 "core" %ؽ\ +419 #t-> PSV.PSR + .PSV.dial PSR +3 "processing"%n +73 "core"  +355 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%o' +2627 "core" ' +2 "processing"%p% +4 "core" %\ \ +433 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%q +72 "core" +357 #t-> PS.empty +2 .PS.seek 0ml + "processing"%r'ؾ +2651 "core" ' +2 "processing"%s% +3 "core" %ؽ}\  +346 #t-> Flush.garage +3 #Garaging FlushPuck in Collection Clamp + "manipulator"&t& +3 "core" &Ӊ&  H @W +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&u(ӂ +2 "core" ( +2 "manipulator"&v& +3 "core" &Ӊ& * @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &Ӊ& K @W + .tForearm.seek CC +2 "manipulator"&x'? +92 "core" ' +2 .tHand.close + "manipulator"&y/ +58 "core" / +2 .tCC.seek :open +2 "collection"'z( +450 "core" ( +2 "manipulator"&{& +4 "core" &Ӊ' 1 @W + "manipulator"&|% +4 "core" % A N P + .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&~(- +284 "core" ( +2 "manipulator"&& +4 "core" &- t N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- v N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&'w +95 "core" ' +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % | o # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +1867 #t-> exit +5 #mEXIT @1633462711.07UTC @1633465776.71UTC = =mMAIN_scheduler =tMAIN @UTC1633465778.49 #"core_reset"Sent BREAK +2 #t@26051 sendCRC with ifg=0x20, ie=0x7F + #@27886 sendCRC with ifg=0x08, ie=0x5F #@14818 idle with ifg=0x84, ie=0x75 + #@15490 select with ifg=0x10, ie=0xF5 + #@16124 receive with ifg=0x10, ie=0xFD #@16757 receive with ifg=0x10, ie=0xFD + #@17391 receive with ifg=0x10, ie=0xFD #@17718 receive with ifg=0x80, ie=0xFD + #@27910 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +276 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can"\ HE + \ HE + #tPolling Can every 10:00 +700 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %i \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽ\  +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" % c\ @ +2 .tSS.configure :default +2 "sampler")#.0X startTube 2 +1121 #-> $da[:extractVol]=.2 +250 #-> access 2 +2 "storage"(3% +4 "core" % B B (\  + "manipulator"&4% +4 "core" %    +2 "manipulator"&5& +4 "core" &- N +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(6(K +991 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &K N U x\ +35165 #t-> shortDA +2 "collection"'8% + "processing"%9% +6 "core" %ؽ\  + %i \ +4 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +477 #Pulling 1.1ml sample from PRV.sipper after 10 seconds delay + .delay 10 seconds +1003 .PSV.dial :mixloop + "processing"%: +43 "core" +2 .tPTV.dial :PRVmixing + "processing"%;  +74 "core" + .tPRV.dial :sipper +2 "processing"%<  +128 "core"  +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 1.1ml + "processing"%='e +2287 "core" ' +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%>  + "collection"'?  +7 "core" +120  +2 .tPS.seek 0.5ml +2 "processing"%@' +1279 "core" ' + .tPRV.dial :waste2 +2 "processing"%A @ +100 "core" ? +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 0ml + "processing"%B'ؾ +595 "core" ' +2 .tPSV.dial PSR + "processing"%C +104 "core"  + "processing"%D% +4 "core" %ع\ +2 #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%E'X\\ +1106 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%F' +1608 "core" ' + .tPSV.dial :mixloop +2 "processing"%G +103 "core" +2 .tPS.seek 0ml + "processing"%H'ؾ +2634 "core" ' +2 .tPSV.dial PSR + "processing"%I +114 "core" +2 "processing"%J% +4 "core" %ؽ\ + #tPulling 1ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%K'X\\ +1105 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%L' +1610 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +102 "core" + .tPRV.dial :sipper +2 "processing"%N  +42 "core" +2 .tPS.seek 0ml +2 "processing"%O'ؾ +2627 "core" ' + .tPSV.dial PSR +2 "processing"%P +103 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%Q' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%R +103 "core" +2 .tPS.seek 0ml +2 "processing"%S'ؾ +372 "Can"\ C? +2261 "core" ' +3 #tLoading da puck from tube 2 into Processing Clamp + "processing"%T& +4 "core" &\ + .tHand.open +2 "manipulator"&U1 +15 "core" 1 +2 "manipulator"&V% +4 "core" %  {  + "storage"(W% +4 "core" % F U\  + "storage"(X. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(Y(  +1301 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &  B C e\ +2 "manipulator"&[& +4 "core" &- = N + "manipulator"&\\% +4 "core" %  9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +38 .tElbow.seek 2 +8 "manipulator"&]( +173 "core" ( +2 "manipulator"&^& +4 "core" & s # + "storage"(_& +4 "core" &  3 4 )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&`'S +117 "core" ' +2 "storage"(a& +4 "core" &  a ] &\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'r +298 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" & J A \ + "manipulator"&e& +4 "core" & ; " +2 .tElbow.seek 2 + "manipulator"&f( +3 "core" ( +2 "manipulator"&g& +3 "core" & " +2 "storage"(h& +3 "core" & T F L\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&i'Ͻ +18 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& + "storage"(l' +7 "core" & < " +2 "manipulator"&m% +4 "core" %  W +2 .tForearm.seek :retract + "manipulator"&n' +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +110 "core" ( + "manipulator"&p& +4 "core" & [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" & G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&r' +97 "core" ' +2 "manipulator"&s& +4 "core" & m +2 "manipulator"&t% +3 "core" % +2 "processing"%u& +4 "core" &\ +2 "processing"%v& +5 "core" &\ +3 .tPC.seek :closed + "processing"%w(^ +4 "core" &\ +6 &4\ $e +10 &Wy\ 7 +9 &v\ L +10 &O\ N +9 &^Q\ N +9 &!L\ N +10 &O\ O +9 &P\ O +9 &eP\ O +10 &'P\ O +9 &P\ O +10 &!Q{\ N +9 &#nRt\ N +9 &%0Mz\ N +10 &&N\ N +9 &(N\ N +9 &*uN\ O +10 &,7O\ O +9 &-L\ N +10 &/R\ O +9 &1}Q\ O +9 &3AM\ N +10 &5R\ O +9 &6Q\ O +9 &8N\ N +10 &:HN\ N +9 &< Q\ N +10 &=R\ O +9 &?Ry\ N +9 &ANT\ O +10 &C j\ Q +9 &Dyz\ T +9 &Fy\ T +10 &HD\ U +9 &Jw\ U +10 &Kx\ U +9 &Mz\ V +9 &OJw\ V +10 &Q x\ W +9 &Rv\ V +9 &Tx\ X +10 &VOv\ W +9 &Xx\ V +10 &Yw\ W +9 &[w\ W +9 &]Vw\ G +10 &^y?rv\ )w +9 &^,w\ 1 +6 ( + "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open + "manipulator"&x1 +4 "core" &^ \ 1 +58 1 +2 "manipulator"&y% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +93 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%{ h +2 %|9 +6 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%~9 +3 "core" 9  +102 "processing"%9 +2 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%\ 9 +2 "core" 9* +102 "processing"% 9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +103 "processing"%9 +2 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"%9 +2 "core" 9D +102 "processing"%9 +3 "core" 9H +102 "processing"%9 +2 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +3 "core" 9T +102 "processing"%9 +3 "core" 9X +102 "processing"%9 +2 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%9 +3 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +3 "core" 9m +101 "processing"% 9 +3 "core" 9r +102 "processing"%!9 +2 "core" 9v +102 "processing"%"9 +3 "core" 9z +102 "processing"%#9 +2 "core" 9~ +103 "processing"%$9 +2 "core" 9 +102 "processing"%%9 +2 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%'9 +2 "core" 9 +102 "processing"%(9 +3 "core" 9 +102 "processing"%)9 +2 "core" 9 +102 "processing"%*9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +102 "processing"%,9 +3 "core" 9 +102 "processing"%-9 +2 "core" 9 +102 "processing"%.9 +2 "core" 9 +102 "processing"%/9 +3 "core" 9 +102 "processing"%09 +2 "core" 9 +102 "processing"%19 +3 "core" 9\  +102 "processing"%29 +3 "core" 9 +102 "processing"%39 +2 "core" 9 +102 "processing"%49 +2 "core" 9 +102 "processing"%59 +3 "core" 9  +2 .tPH.hold 2:00:00,28C +3 "processing"% php +3 .tdelay 1:30 +3 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%7 +103 "core"  + "processing"%9% +4 "core" %ؽ\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%8' +598 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%:' +1621 "core" ' + .tPTV.dial :puck +2 "processing"%;  +128 "core"  + .tPSV.dial PTV +2 "processing"%< +73 "core" +2 .tPBV.dial :waste1 + "processing"%  +55 "core" +2 "processing"%?% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%>'0 +594 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%= * +33 "core" + +3 .tPS.seek 0ml + "processing"%A'ؾ +1617 "core" ' + .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%@  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%C * +35 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%D +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%B' +1503 "Can"\ JG +925 "core" ' + .tPSV.dial PTV +2 "processing"%E +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%G +72 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%F +73 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%I  +73 "core"  +2 .tPS.seek 0ml + "processing"%J'ؾ +2392 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%H  +130 "core" + .tPSV.dial :mixloop +2 "processing"%K +44 "core" + .tPRV.dial :ab1 +2 "processing"%M @ +100 "core" ? +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%N' +356 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "processing"%L  +42 "core"  + "processing"%P% +4 "core" % Q\  +2 .tPS.seek 0.35ml +2 "processing"%O'k +453 "core" ' +2 .tdelay 2 seconds +204 .CBV.dial between PRV and PSV +2 "collection"'R  +29 "core" + .tPRV.dial :air +2 "processing"%Q  +43 "core"  +2 .tPS.seek 0.9ml +2 "processing"%T'K +1166 "core" ' +2 .tPRV.dial :waste2 + "processing"%U @ +72 "core" > +2 .tPS.seek 0.5ml +2 "processing"%V' +890 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%W  +44 "core"  + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%X' +1612 "core" ' + .tPSV.dial :PML +2 "processing"%6 +45 "core" +2 .tPTV.dial :mixing + "processing"%Z @ +74 "core" A + .tPBV.dial :waste1 +2 "processing"%[  +34 "core" +2 "processing"%\\% +4 "core" %5\  +2 .tPS.seek 1.85ml + "processing"%^' +232 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%_ * +34 "core" , +3 .tPS.seek 0ml + "processing"%'ؾ +1974 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'a& +3 "core" & \ +2 "manipulator"&& +3 "core" &  +2 "manipulator"&c% +3 "core" %  L  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&d(- +121 "core" ( +2 "manipulator"&e& +4 "core" &-   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&h'w +92 "core" ' + .tHand.close + "manipulator"&j/ +62 "core" / +2 "manipulator"&k& +4 "core" &- =  +2 "manipulator"&m% +3 "core" % x ; \ +2 .tForearm.seek :retract +2 "manipulator"&]' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&`(ӂ +284 "core" ( + "manipulator"&b& +4 "core" &Ӫ  9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &Ӫ  9& +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&p'? +90 "core" ' +2 "manipulator"&q& +5 "core" &Ӫ   9& + "manipulator"&f% +4 "core" %5  m +2 "collection"'s& +3 "core" & \ +2 "collection"'t& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'u(\\ +5 "core" & \  +8 &1x \ *z +9 &b| \ > +9 &no \ O +10 &1R \ N +9 &R \ N +10 &T \ N +9 &wW \ N +9 &:M \ N +10 &O \ N +9 &O \ N +10 & M \ N +9 &"BO \ N +9 &$O \ M +10 &%P \ N +9 &'T \ N +9 &)JT \ N +10 &+ Q \ M +9 &,Q \ N +10 &.P \ M +9 &0RQ \ N +9 &2N \ N +10 &3P \ N +9 &5T \ N +9 &7[Q \ M +10 &9Q \ N +9 &:Q \ N +9 &<P \ N +10 &>bR \ N +9 &@$Q \ N +10 &AU \ N +9 &C_ \ P +9 &E[ \ S +10 &G \ X +9 &H \ Z +9 &J \ \\ +10 &LI \ \\ +9 &N \ ] +10 &O \ \\ +9 &Q \ ] +9 &SI \ ^ +10 &U\ \ _ +9 &V \ _ +9 &X \ ` +10 &ZJ \ a +9 &[y \ F +10 &\\% \ / +9 &\\ \ "c +2 ( +2 "collection"'t& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.55 + "collection"'l& +5 "core" &\\ \ "c + .tHand.open +2 "manipulator"&n1 +62 "core" 1 +2 "manipulator"& % +4 "core" % 5   m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +97 "core" ' +2 .tPSV.dial PSR + "processing"%y +104 "core"  + "processing"%|% +4 "core" %ؽ5\  +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%v'+ +1609 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +40 "processing"%}  +53 "core"  +2 .tPS.seek 0ml + "processing"%r'ؾ +1609 "core" ' +2 .tPSV.dial PSR + "processing"%~ +46 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%' +2637 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%  +2 "collection"'  +34 "core" ~ +123  + .tPSV.dial :mixloop +2 "processing"% +101 "core" +2 .tCTV.dial :air,avoiding: :intake + "collection"' +4 "core"  +2 "collection"'  +4 "core" +2 .tPTV.dial :PRVmixing +2 "processing"%  +73 "core" + .tPS.seek 0ml +2 "processing"%\ 'ؾ +2631 "core" ' + .tPSV.dial :air +2 "processing"%  +56 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2627 "core" ' +2 .tPSV.dial :mixloop + "processing"% +43 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2650 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"% +45 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2651 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +97 "core" &ӫ \  Q 9% +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +49 "core" ( + "manipulator"&& +4 "core" &Ӆ" ; ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӆ"  0 ;3 +2 .tForearm.seek CC +2 "manipulator"&'? +93 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( +2 "manipulator"&& +4 "core" &ӛ 8 + "manipulator"& % +4 "core" % G - +2 .tForearm.seek :retract + "manipulator"&!' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&"(- +286 "core" ( +2 "manipulator"&#& +4 "core" &- 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +2 "core" &- Y 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&%'w +90 "core" ' +2 .tHand.open + "manipulator"&&1 +53 "core" 1 + "manipulator"&'% +5 "core" % x j j + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +91 "core" ' +2 ."da"delayUntil "20:59:56.73" +23435 "Can"\ }y +1201 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%) @ +72 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%*  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%+ * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%,  +43 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%-' +2468 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%. +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%/  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%0 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%1  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%2'ؾ +2391 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%3 +129 "core"  + "processing"%4% +4 "core" %ػ`\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%5' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%7' +1632 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%9  +71 "core"  +2 ."da"PSV.dial PTV +2 "processing"%S +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%8  +34 "core" + "processing"%;% +4 "core" %Z\ +2 ."da"PS.seek 1.5ml +2 "processing"%<'' +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%?'ؾ +1610 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%:  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%= * +34 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%> +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%{' +2435 "core" ' + ."da"PSV.dial PTV +2 "processing"%@ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%C +71 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%D +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%A  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E'ؾ +2390 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%G +130 "core"  +2 "processing"%F% +4 "core" %ؾD\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%I' +586 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%B' +1614 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%H +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%K  +34 "core" + "processing"%M% +4 "core" %P\  +2 ."da"PS.seek 1.5ml +2 "processing"%J'' +596 "core" ' +18 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%P'ؾ +1627 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%N  +35 "core" + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%R * +35 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Q +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%O' +1725 "Can"\ HF +716 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%U +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%T +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%W +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%V  +85 "core"  +2 ."da"PS.seek 0ml +2 "processing"%6'ؾ +2391 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%Z  +44 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%[  +129 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%\\  +41 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%_ +42 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%X' +390 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%^  +44 "core"  + "processing"%a% +4 "core" %^\  +2 ."da"PS.seek 0.55ml +2 "processing"%' +330 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%c  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%e' +1554 "core" ' + ."da"PSV.dial :PML +2 "processing"%g +44 "core" + ."da"PTV.dial :mixing +2 "processing"%j @ +73 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%k  +34 "core" + "processing"%o% +4 "core" %e\  +2 ."da"PS.seek 1.85ml +2 "processing"%m' +230 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%z * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%h'ؾ +1964 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +48003 #recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%b  +34 "core" + ."da"delay 30 seconds +533 "Can"\ NL +2469 ."da"PBV.dial between PSV and waste1 +2 "processing"%i * +34 "core" , + ."da"PSV.dial :air +2 "processing"%d  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%q' +2435 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%f +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%s  +43 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%] +43 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%l'ؾ +2385 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%n +129 "core"  +2 "processing"% % +4 "core" %p\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%t' +594 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%y' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%|  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%p +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%}% +4 "core" %g\ +2 ."da"PS.seek 1.5ml +2 "processing"%v'1 +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%~ * +33 "core" , +3 ."da"PS.seek 0ml +2 "processing"%r'ؾ +1613 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +53 ."da"PS.reconfigure :fast +15 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2425 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +2385 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +129 "core" + "processing"%% +4 "core" %ؾe\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +594 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1620 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +4 "core" %d\ \ +2 ."da"PS.seek 1.5ml +2 "processing"%'+ +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%`  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%x * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%u +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2433 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"delay 5 seconds +493 "Can"\ GE +9 ."da"PSV.dial PTV +2 "processing"%# +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%$  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2389 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +131 "core"  + "processing"%'% +4 "core" %ػ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%!' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%%' +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%) +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%*  +35 "core" + "processing"%+% +4 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%,'1 +605 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%.'ؾ +1610 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%/  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%0 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%1 +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%-' +2422 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%3 +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%4 +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%2 +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%5  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +2376 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%S +138 "core"  +3 "processing"%8% +11 "core" %ػk +4 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +13 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +2 "processing"%;' +339 "core" ' +2 ."da"delay 5 seconds +502 "processing"%7% +3 "core" %e +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%' +332 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%<' +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%: +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%=  +36 "core" + "processing"%>% +4 "core" %q  +2 ."da"PS.seek 1.5ml +2 "processing"%?', +595 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%@ * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%C'ؾ +1608 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%D  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +34 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%{ +75 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%G' +2521 "core" ' + ."da"PSV.dial PTV +2 "processing"%F +89 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%E +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%I +86 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%H  +86 "core" +2 ."da"PS.seek 0ml +2 "processing"%K'ؾ +2493 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%M +137 "core"  + "processing"%B% +4 "core" %\  + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%L' +2133 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%J +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%N  +34 "core" +2 "processing"%R% +4 "core" %y\  +2 ."da"PS.seek 1.5ml +2 "processing"%Q'0 +593 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%P * +34 "core" + + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%U  +107 "core"  +3 ."da"PS.seek 0ml + "processing"%T'ؾ +1619 "core" ' +2 "processing"%W9 +3 "core" 9e5 +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%V  +4 "core" 5 5 + "processing"%O& +4 "core" &^!\ a1 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&Z% +4 "core" %  (  + "storage"([% +4 "core" %  | V\ B + "storage"(\\. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(_(C +350 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (6& +2 "core" &@ '\ +2 "manipulator"&^& +4 "core" &- < s6 +2 "manipulator"&a% +3 "core" %  ` s +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&X( +173 "core" ( +2 "manipulator"&c& +4 "core" & N t8 + "storage"(& +4 "core" &@ \  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&g' +93 "core" ' + "storage"(j& +4 "core" &@ M K\ ] +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(k'r +273 "core" ' +2 "storage"(o- +3 "core" -'r + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."da"SE.seek :place +2 "storage"(z'1 +43 "core" ' + "manipulator"&e& +4 "core" & [ m 8 +2 "manipulator"&m% +3 "core" % o ] pD +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&b' +95 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&i( +246 "core" ( + "manipulator"&d& +4 "core" & } l( + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" & x y [ l( +2 ."da"Forearm.seek PC +2 "manipulator"&f' +97 "core" ' + ."da"Hand.close +2 "manipulator"&s/ +74 "core" / + ."da"PC.seek :open +2 "processing"%]( +459 "core" ( + "storage"( & +4 "core" &@ G g s\ +2 "manipulator"&q& +4 "core" &  w' + "manipulator"&n% +3 "core" % 2 w +2 ."da"Forearm.seek :retract +2 "manipulator"& ' +94 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +44 "manipulator"&l( +253 "core" ( + "manipulator"&t& +4 "core" &  C +2 "storage"(|& +3 "core" &@\ \ \ ` +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&p' +98 "core" ' + ."da"Hand.open +2 "manipulator"&1 +77 "core" 1 +2 "storage"(}- +3 "core" -'1 +2 ."da"SE.seek -0.26 Pucks below Top Plate +2 "storage"(y' +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek -1.22 Pucks below Top Plate +2 "storage"(~' +55 "core" ' +2 #"da"Lights, camera, ACTION! +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #"da"PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0521h.tif +5 "processing"%v& +12 "core" &8\  +4 "manipulator"&& +6 "core" & _ C +2 "manipulator"&% +4 "core" %  p % +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +95 "core" ' + ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&r(- +175 "core" ( +2 "manipulator"&& +5 "core" &-   U< + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- 0 S< +2 ."psFlush"Forearm.seek :garage +3 "manipulator"&'w +98 "core" ' + ."psFlush"Hand.close +2 "manipulator"& / +67 "core" / +2 "manipulator"&& +4 "core" &- 0 < + "manipulator"&% +4 "core" % a j n +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&\ ( +133 "core" ( +2 "manipulator"&& +4 "core" &  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & ; +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&' +93 "core" ' +2 "manipulator"&& +5 "core" &   7 W + "manipulator"&% +4 "core" %  & Xc +2 "processing"%& +4 "core" & +2 "processing"%& +5 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%`(^ +5 "core" & +6 & 0 $d +9 &Sp 8 +10 &yk M +9 &{C S +10 &=? S +9 &? S +9 &@ S +10 &< S +9 &D@ S +9 &B T +10 &@ S +9 &!?\ ;Q +10 &#UG\ 9P +9 &%G\ :P +9 &&H\ :P +10 &(F\ PP +9 &*_F\ QP +9 &,!G\ GP +10 &-GF\ ;Q +9 &/IL\ :P +10 &1eDP\ ;P +9 &3 CD S +9 &4AQ S +10 &6>P S +9 &8cAD T +10 &:%@F T +9 &;C? S +9 &=>; S +10 &?lA; S +9 &A.C/ S +9 &BU$ V +10 &Dh* Y +9 &F\\4 \\ +9 &H y2 [\ +10 &Ix- [ +9 &K- \\ +10 &Md|) \\ +9 &O& \\ +9 &P\ .Y +10 &R\ .Y +9 &Tr\ -Z +9 &V6\ /Y +10 &W\ CY +9 &Y\ DY +10 &[{\ .Y +9 &]:^\ -V +9 &^|@`(\ 6'r +10 &^C\ 97 +5 ( +2 "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.95 +2 "processing"%x& +4 "core" &^4 7 + &^4 7 + ."psFlush"Hand.open +2 "manipulator"&u1 +72 "core" 1 + "manipulator"&% +4 "core" % \ Jc +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +44 "core"  +2 "processing"%#% +4 "core" %ظZ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%$' +588 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1130 "Can"\ j +115 #"da"SX HX9/16 (USB:08): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 36.314 seconds\ /var/log/esp/da21oct0521h.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0521h15s.tif +875 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%& @ +197 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%'  +136 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +108 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%!'ؠ +139 #"da"SX HX9/16 (USB:08): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0521h15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0521h30s.tif +2498 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%) +111 "core"  + "processing"%*% +4 "core" %؛^ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%+' +440 #"da"SX HX9/16 (USB:08): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0521h30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0521h70s.tif +148 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%%' +2127 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +35 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%, @ +77 "core" A +2 ."psFlush"PSV.dial :mixloop +2 "processing"%/ +107 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%0'ؠ +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%1 +111 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%.'X\\ +1105 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%3' +168 #"da"SX HX9/16 (USB:08): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0521h70s.tif: TIFF Upload Complete\ +4 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "36.314 sec auto-exposure",Subject: "da21oct0521h images!" +8 "storage"(4- +3 "core" -' +2 "storage"(2& +4 "core" &@ *\ y +3 "manipulator"&5& +4 "core" & +2 "manipulator"&-% +3 "core" %  w  +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&S( +239 "core" ( +2 "manipulator"&8& +5 "core" &  = = + "storage"(9& +4 "core" &@ \ y +3 ."da"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&7' +92 "core" ' +2 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +5 ."da"SE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +51 "core" ' + "manipulator"&& +4 "core" & \ = +2 "storage"(:& +3 "core" &@ " & )\ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +66 "manipulator"&='8 +25 "core" ' +4 ."da"Elbow.hold +4 "manipulator"&>, +8 "core" , +3 ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 ."da"SE.reconfigure :default +5 "storage"(#QK-0-\ b +4 ."da"SE.seek -0.32 Pucks below Top Plate +2 "storage"(<' +26 "core" ' + "manipulator"&@% +5 "core" %K O +2 "storage"(?& +4 "core" &@ \ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 319 counts +2 "manipulator"&D'w +16 "core" ' +2 "manipulator"&A& +4 "core" & / = +2 "storage"({& +4 "core" &@ % ' \ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +5 "manipulator"&C' +18 "core" ' + "storage"(F% +6 "core" %   ?\ +5 ."downElevator"SE.seek :down +5 "storage"(E' +99 (I% +3 "core" %< ! D\ U_ +2 "manipulator"&H% +4 "core" % 5 +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&G' +88 "core" ' +64 ' +3 ."downElevator"SE.stop + "storage"(5 +6 (M& +6 "core" &@   \ +420 ' +3 ."psFlush"PSV.dial PTV +6 "processing"%B +75 "core" +3 ."psFlush"PTV.dial :puck +3 "processing"%K  +77 "core"  +3 ."psFlush"PBV.dial :waste1 +4 .PS.seek 0ml +2 "processing"%J'ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PSR +4 "processing"%N +75 "core"  +3 ."psFlush"PSR.select :flush +4 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +2 "processing"%R' +612 "core" ' +3 ."psFlush"PSR.select :air +3 "processing"% +13 ."psFlush"PS.seek 2.5ml +3 "processing"%L' +2131 "core" ' +3 ."psFlush"PSV.dial PTV +4 "processing"%P +76 "core" +3 ."psFlush"PBV.dial PSV +4 "processing"%U U +55 "core" V +4 ."psFlush"PS.seek 0ml +4 "processing"%Q'ؾ +2634 "core" ' +3 ."psFlush"PSV.dial PBV +4 "processing"%W @ +45 "core" > +4 ."psFlush"PS.seek 2.5ml +3 "processing"%V' +2644 "core" ' +3 ."psFlush"PSV.dial :waste1 +5 "processing"%O  +74 "core"  +4 ."psFlush"PS.seek 0ml +7 "processing"%Z'ؾ +2635 "core" ' +3 ."psFlush"PSV.dial PSR +3 "processing"%[ +44 "core"  +3 ."psFlush"PSR.select :air +5 .PS.seek 2.5ml +3 "processing"%\\' +198 #"uploadLog"upsync +2443 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%Y +70 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%6'ؾ +2650 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%^ @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%a' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%c  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%j +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%"'X\\ +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%(' +1607 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%o +72 "core" + ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +3 "processing"%e  +52 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%m'ؾ +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%k +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%g' +595 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%d' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%h +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%X U +53 "core" W + ."psFlush"PS.seek 0ml +2 "processing"%s'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%b @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%q'ؾ +2652 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%n +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%f' +2628 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%t +71 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%i'ؾ +2543 "Can"\ NK +87 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%| @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%}  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%v'ؾ +2630 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp +2 "manipulator"& & +4 "core" & s = + "manipulator"&% +3 "core" %   +2 ."psFlush"Elbow.seek PC +2 "manipulator"&( +246 "core" ( + "manipulator"&z& +4 "core" & * +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" & V * +2 ."psFlush"Forearm.seek PC +2 "manipulator"&' +97 "core" ' +2 ."psFlush"Hand.close + "manipulator"&/ +58 "core" / +2 ."psFlush"PC.seek :open +2 "processing"%p( +458 "core" ( +2 "manipulator"&l& +4 "core" & = * + "manipulator"& % +4 "core" %  [ +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +127 "core" ( +2 "manipulator"&& +4 "core" &- < + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'w +101 "core" ' +2 ."psFlush"Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % n ' + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 #tFinished short da assay +53071 "Can"\ @= +60001 \ @= +60002 \ A= +60001 \ A> +60001 \ A> +60001 \ A= +60002 \ @= +60001 \ A= +60001 \ @= +60001 \ @= +60002 \ A= +60001 \ A> +60001 \ @= @UTC1633478984.97 \ @= @1633479065.37UTC = =mMAIN_scheduler =tMAIN @UTC1633479067.17 #"core_reset"Sent BREAK +2 #t@45380 sendCRC with ifg=0x20, ie=0x7F + #@47215 sendCRC with ifg=0x08, ie=0x5F #@708 idle with ifg=0x84, ie=0x75 + #@1379 select with ifg=0x10, ie=0xF5 + #@2013 receive with ifg=0x10, ie=0xFD #@2646 receive with ifg=0x10, ie=0xFD + #@3279 receive with ifg=0x10, ie=0xFD #@3606 receive with ifg=0x80, ie=0xFD + #@7050 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +162 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +121 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +377 "Can"\ C@ + \ C@ + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1288 #-> ESP.ready! +154 "sampler") + ) +3 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +3 "collection"'% +2 "core" %i Y\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ؿ?\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +5 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" % V\ @ + .tSS.configure :default +3 "sampler")#.0X access 1 +2 "storage"(3% +3 "core" % V V ?\  +2 "manipulator"&4% +4 "core" %  8  +2 "manipulator"&5& +3 "core" &- P +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(6(<- +1296 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &<+ # % G\  +6479 #t-> samplePassF +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'8& +3 "core" & b\ +2 .tHand.open + "manipulator"&91 +18 "core" 1 + "manipulator"&:& +4 "core" &- ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&;(- +23 "core" ( + "manipulator"&<& +4 "core" &- a 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +4 "core" &- ) 3 + .tForearm.seek :garage +2 "manipulator"&>'w +91 "core" ' +2 .tHand.close + "manipulator"&?/ +52 "core" / + "manipulator"&@& +5 "core" &- & 3 + "manipulator"&A% +4 "core" % } C : + .tForearm.seek :retract +2 "manipulator"&B' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&C(ӂ +294 "core" ( + "manipulator"&D& +4 "core" &Ӌ , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &Ӌ  , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&F'? +92 "core" ' + "manipulator"&G& +4 "core" &Ӌ , +2 "manipulator"&H% +4 "core" %5 6 j +2 "collection"'I& +3 "core" & ]\ +3 "collection"'J& +4 "core" & d\ +2 .tCC.seek :closed +2 "collection"'K(\\ +4 "core" & V\  +9 &1y ^\ *y +9 &c ]\ > +9 &rp \\\ N +10 &3T Z\ N +9 &T Z\ N +9 &R _\ M +10 &zQ _\ M +9 &<Q _\ M +10 &S X\ N +9 &T ^\ N +9 & T [\ N +10 &"CS O\ N +9 &$T X\ N +9 &%U X\ M +10 &'Q O\ M +9 &)LQ N\ M +10 &+W V\ M +9 &,R X\ M +9 &.R V\ M +10 &0TR P\ M +9 &2R P\ M +10 &3W Q\ M +9 &5U E\ N +9 &7[U F\ N +10 &9U D\ N +9 &:T F\ N +9 &<U M\ M +10 &>cR L\ N +9 &@%U H\ N +9 &A\\ H\ N +10 &Ce H\ O +9 &E] J\ R +10 &G E\ W +9 &H H\ Y +9 &J H\ [ +10 &LM M\ [ +9 &N J\ \\ +9 &O K\ \\ +10 &Q L\ ] +9 &SM H\ ] +10 &U N\ ^ +9 &V M\ ^ +9 &X M\ ` +10 &ZN O\ ` +9 &[{ I\ B +9 &\\* M\ . +10 &\\ K\ _ +2 ( +2 "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.51 + "collection"'L& +4 "core" &\\ M\ _ +2 .tHand.open + "manipulator"&M1 +54 "core" 1 +2 "manipulator"&N% +4 "core" % 5 j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O' +90 "core" ' + .tPSV.dial PSR,avoiding: PBV +2 "processing"%P +3 "core"  +2 "processing"%Q  +43 "core"  +2 "processing"%R% +4 "core" %ؿ_\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml +2 "processing"%S'+ +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +38 "processing"%T  +50 "core"  +2 .tPS.seek 0ml +2 "processing"%U'ؾ +1617 "core" ' + .tPSV.dial PSR +2 "processing"%V +44 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%W' +2632 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%X  + "collection"'Y  +17 "core" +82  + .tPSV.dial :PTV,via: :air +2 "processing"%Z +194 "core" ~ + .tCTV.dial :air,avoiding: :intake + "collection"'[ +4 "core"  +2 "collection"'\\  +4 "core" + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%] +3 "core"  +2 "processing"%^ @ +72 "core" A +2 .tPS.seek 0ml + "processing"%_'ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%`  +75 "core"  +2 .tPS.seek 2.5ml +2 "processing"%a' +2633 "core" ' +2 .tPSV.dial :PTV + "processing"%b +74 "core"  +2 .tPS.seek 0ml + "processing"%c'ؾ +2630 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&d& +5 "core" &Ӌ  , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&e(ӂ +2 "core" ( + "manipulator"&f& +4 "core" &Ӌ  , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &Ӌ , +2 .tForearm.seek CC + "manipulator"&h'? +92 "core" ' +2 .tHand.close + "manipulator"&i/ +61 "core" / +2 .tCC.seek :open +2 "collection"'j( +451 "core" ( + "manipulator"&k& +4 "core" &Ӌ , +2 "manipulator"&l% +3 "core" % N  I +2 .tForearm.seek :retract +2 "manipulator"&m' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&n(- +278 "core" ( + "manipulator"&o& +5 "core" &-  H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &-  H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&q'w +92 "core" ' + .tHand.open +2 "manipulator"&r1 +61 "core" 1 +2 "manipulator"&s% +4 "core" % m  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +91 "core" ' +1905 #t-> PS.flush +2 #Flushing Processing stage + "processing"%u% +3 "core" %ؿk\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%v& +4 "core" &p\ +2 "manipulator"&w& +4 "core" &- H + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&x(- +5 "core" ( + "manipulator"&y& +4 "core" &- ! > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &-  > +2 .tForearm.seek :garage +2 "manipulator"&{'w +97 "core" ' +2 .tHand.close + "manipulator"&|/ +54 "core" / + "manipulator"&}& +4 "core" &-  > +2 "manipulator"&~% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&' +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +117 "core" ( +2 "manipulator"&& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & >  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +90 "core" ' + "manipulator"&& +4 "core" & D  +2 "manipulator"&% +4 "core" % Z U +2 "processing"%\ & +4 "core" &h\ +2 "processing"% & +5 "core" &_\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &i\ +7 &3]\ $c +10 &Tyg\ 7 +9 &vd\ L +9 &Qg\ N +10 &TPl\ N +9 &Pd\ N +9 &Qi\ N +10 &Qf\ N +9 &\\O_\ N +10 &Qk\ O +9 &Om\ N +9 &!Qf\ N +10 &#cPl\ N +9 &%&Rm\ N +9 &&Qj\ N +10 &(Qn\ O +9 &*lQb\ N +10 &,-Qa\ N +9 &-Pe\ N +9 &/Rm\ N +10 &1sQe\ N +9 &34Rj\ O +9 &4Q`\ N +10 &6Rc\ O +9 &8{Rb\ N +10 &:=Oe\ N +9 &;T_\ N +9 &=Tl\ N +10 &?Uj\ N +9 &ADW`\ O +9 &Bjd\ Q +10 &D|a\ T +9 &Fyh\ T +9 &H:m\ U +10 &Ii\ U +9 &Kg\ V +10 &M}d\ V +9 &O?`\ V +9 &P_\ V +10 &R^\ V +9 &Tk\ W +9 &VEa\ V +10 &Xj\ V +9 &Yl\ W +10 &[j\ W +9 &]Kb\ L +10 &^Rb\ #m +9 &^"g\ / +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 + "processing"%& +4 "core" &^[\ / +2 .tHand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&% +4 "core" %  d U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tPSV.dial PSR +2 "processing"% +73 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%'X\\ +1103 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +1620 "core" ' + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPTV.dial :puck +2 "processing"%  +73 "core"  + .tPBV.dial :waste1 +2 "processing"%  +53 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2631 "core" ' + .tPSV.dial PSR +2 "processing"% +73 "core"  +2 .tPSR.select :flush +2 "processing"%@ +9 .tPS.seek 0.5ml +2 "processing"%' +587 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2117 "core" ' + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPBV.dial PSV +2 "processing"%! U +53 "core" W +2 .tPS.seek 0ml + "processing"%"'ؾ +2654 "core" ' +2 .tPSV.dial PBV + "processing"%# @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%$' +2628 "core" ' + .tPSV.dial :waste1 +2 "processing"%%  +72 "core"  +2 .tPS.seek 0ml + "processing"%&'ؾ +2628 "core" ' + .tPSV.dial PSR +2 "processing"%' +44 "core"  + .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%(' +2635 "core" ' +2 .tPSV.dial PTV + "processing"%) +71 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%*'ؾ +2652 "core" ' +2 .tPSV.dial PBV + "processing"%+ @ +44 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%,' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%-  +72 "core"  +2 .tPS.seek 0ml + "processing"%.'ؾ +2637 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&/& +4 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&0( +3 "core" ( + "manipulator"&1& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" & w  +2 .tForearm.seek PC + "manipulator"&3' +95 "core" ' + .tHand.close +2 "manipulator"&4/ +52 "core" / + .tPC.seek :open +2 "processing"%5( +459 "core" ( + "manipulator"&& +5 "core" & K  + "manipulator"&7% +4 "core" %  )  + .tForearm.seek :retract +2 "manipulator"&8' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&9(- +128 "core" ( +2 "manipulator"&:& +4 "core" &- P  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +2 "core" &-   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&='w +102 "core" ' +2 .tHand.open + "manipulator"&?1 +55 "core" 1 +2 "manipulator"&@% +4 "core" % p / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +89 "core" ' +46 "Can"\ ?< +27558 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & X\ +2 "manipulator"&& +4 "core" &-   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&>(- +17 "core" ( +2 "manipulator"&D& +4 "core" &-  k + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &- k +2 .tForearm.seek :garage +2 "manipulator"&;'w +90 "core" ' + .tHand.close +2 "manipulator"&G/ +56 "core" / +2 "manipulator"&H& +4 "core" &-  k + "manipulator"&I% +4 "core" % ρ L +2 .tForearm.seek :retract + "manipulator"&B' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& (ӂ +281 "core" ( +2 "manipulator"&L& +4 "core" &ӆ) 6 Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &ӆ) / Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'? +92 "core" ' +2 "manipulator"&P& +4 "core" &ӆ) # Ab +2 "manipulator"&J% +3 "core" %= , h +2 "collection"'Q& +4 "core" & Y\ +2 "collection"'R& +6 "core" & Y\ +2 .tCC.seek :closed +2 "collection"'F(\\ +4 "core" & Y\  +8 &2y Y\ *x +10 &c~ Y\ > +9 &np Z\ N +9 &3Q X\ M +10 &S V\ M +9 &U L\ M +10 &wS K\ N +9 &:R M\ M +9 &W P\ M +10 &S I\ N +9 & S I\ M +9 &"BT K\ M +10 &$R L\ N +9 &%T M\ M +10 &'S N\ N +9 &)JS M\ M +9 &+ U J\ M +10 &,T I\ M +9 &.Q L\ M +10 &0QT M\ N +9 &2S L\ M +9 &3T H\ N +10 &5T N\ M +9 &7ZU I\ M +9 &9Q K\ M +10 &:T H\ N +9 &<T K\ M +10 &>bV N\ M +9 &@$T I\ M +9 &AW L\ M +10 &Cc D\ O +9 &E\\ F\ R +10 &G M\ V +9 &H J\ Y +9 &J D\ Z +9 &LL G\ Z +10 &N H\ [\ +9 &O H\ [ +10 &Q ?\ [ +9 &SM H\ ] +10 &U F\ ] +9 &V I\ ] +9 &X D\ ^ +9 &ZO >\ _ +10 &[z I\ B +9 &\\+ B\ , +10 &\\ @\ \\ +2 ( + "collection"'R& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.43 + "collection"'& +4 "core" &\\ @\ \\ +2 .tHand.open + "manipulator"&T1 +64 "core" 1 + "manipulator"&S% +4 "core" % =  h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +95 "core" ' +1676 #t-> CBV.PRV + .CBV.dial PRV +542 #-> PTV.PRV +2 .PTV.dial PRV +2 "processing"%U @ +73 "core" A +651 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%Y +102 "core" +469 #t-> CTV.air +39 .CTV.dial :air +962 #-> PRV.CBV + .PRV.dial CBV +570 #-> PSR.flush + .PSR.select :flush +2 "processing"%@ +849 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%X +73 "core" +341 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%Z' +2636 "core" ' + "processing"%[% +4 "core" %_\ \ +777 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%\\ +74 "core" +507 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%]'ؾ +2636 "core" ' + "processing"%^% +4 "core" %غd\ +808 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%W +73 "core"  +492 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%`' +2636 "core" ' + "processing"%_% +4 "core" %G\  +2529 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%b +74 "core" +415 #t-> PS.empty +3 .PS.seek 0ml + "processing"%a'ؾ +2635 "core" ' +2 "processing"%d% +4 "core" %ؼR\ +631 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%f +73 "core"  +363 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%g' +2632 "core" ' + "processing"%i% +4 "core" %R\  +637 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%C +72 "core" +495 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%O'ؾ +2651 "core" ' +2 "processing"%K% +4 "core" %_\  +556 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%k +73 "core"  +154 "Can"\ ZX +250 #t-> PSR.air + .PSR.select :air +2 "processing"% +651 #t-> PS.fill +2 .PS.seek 2.5ml + "processing"%l' +2636 "core" ' + "processing"%h% +4 "core" %]\  +537 #t-> PSV.PTV +2 .PSV.dial PTV +2 "processing"%o +72 "core" +433 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%p'ؾ +2626 "core" ' + "processing"%e% +4 "core" %b\ +1096 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%r +74 "core"  +285 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%s' +2642 "core" ' + "processing"%m% +4 "core" %i\ \ +1139 #t-> PSV.Ptv + .PSV.dial :Ptv +2 "processing"%q +73 "core" +377 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%u'ؾ +2649 "core" ' + "processing"%v% +4 "core" %ؾh\  +478 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"%w +73 "core"  +443 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%y' +2628 "core" ' +2 "processing"%z% +4 "core" %_\ \ +573 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%| +73 "core" +429 #t-> PS.empty +3 .PS.seek 0ml +2 "processing"%}'ؾ +2636 "core" ' +2 "processing"%~% +4 "core" %ؼZ\ +1370 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&n& +4 "core" &Ӊ( Z A_ + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&t(ӂ +2 "core" ( +2 "manipulator"&& +3 "core" &Ӊ( A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӊ( 2 A_ +2 .tForearm.seek CC + "manipulator"&{'? +94 "core" ' + .tHand.close + "manipulator"&/ +64 "core" / + .tCC.seek :open +2 "collection"'( +451 "core" ( + "manipulator"&\ & +4 "core" &Ӊ( b A_ + "manipulator"&x% +4 "core" % N  = +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"& (- +285 "core" ( + "manipulator"&& +5 "core" &- T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- F T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&'w +92 "core" ' +2 .tHand.open + "manipulator"& 1 +57 "core" 1 + "manipulator"&% +4 "core" % r < G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +34361 "Can"\ ?< +18988 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'c& +3 "core" & m\ +2 "manipulator"&& +4 "core" &- T +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +2 "core" ( +2 "manipulator"&& +3 "core" &- Q T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- ; T +2 .tForearm.seek :garage + "manipulator"&'w +92 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / + "manipulator"&& +4 "core" &- T +2 "manipulator"&% +3 "core" % ς * +2 .tForearm.seek :retract +2 "manipulator"& ' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&!(ӂ +293 "core" ( + "manipulator"&& +4 "core" &ӄ ! 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &ӄ  4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'? +95 "core" ' + "manipulator"&%& +4 "core" &ӄ F 4 +2 "manipulator"&$% +4 "core" %? 3 + "collection"''& +4 "core" & j\ +2 "collection"'&& +5 "core" & n\ +2 .tCC.seek :closed + "collection"')(\\ +4 "core" & i\  +9 &2y e\ *x +9 &c} l\ > +10 &pp i\ N +9 &4P i\ M +9 &T k\ M +10 &S m\ N +9 &{R m\ M +10 &=S n\ M +9 &U o\ M +9 &S m\ M +10 & S m\ M +9 &"DR m\ M +9 &$T m\ M +10 &%S l\ M +9 &'R j\ M +10 &)LR k\ M +9 &+U h\ M +9 &,T j\ N +10 &.S k\ M +9 &0SS g\ N +10 &2S b\ M +9 &3T h\ M +9 &5V h\ M +10 &7\\T i\ M +9 &9Q d\ M +9 &:T b\ N +10 &<T d\ M +9 &>dQ c\ M +10 &@%T f\ N +9 &AY l\ N +9 &Cb d\ O +10 &E_z f\ R +9 &G i\ V +9 &H _\ Y +10 &J V\ Z +9 &LP T\ Z +9 &N S\ [ +10 &O \\\ [\ +9 &Q X\ [ +10 &SP T\ \\ +9 &U U\ ] +10 &V U\ ^ +9 &X T\ _ +9 &ZQ T\ _ +9 &[y \\\ D +10 &\\, a\ (x +9 &\\ ]\ \\ +3 ( + "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.43 + "collection"'(& +5 "core" &\\ [\ \\ + .tHand.open + "manipulator"&+1 +52 "core" 1 +2 "manipulator"&*% +4 "core" % ? 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-' +93 "core" ' +1657 #t-> CBV.PRV + .CBV.dial PRV +500 #-> PTV.PRV +2 .PTV.dial PRV +548 #-> PSV.PTV + .PSV.dial PTV +375 #-> CTV.air +2 .CTV.dial :air +488 #-> PRV.CBV +2 .PRV.dial CBV +485 #-> PSR.flush + .PSR.select :flush +3 "processing"%@ +906 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%, +73 "core"  +453 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%/' +2633 "core" ' + "processing"%1% +4 "core" %n\  +1431 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%2 +74 "core" +398 #t-> PS.empty +2 .PS.seek 0ml + "processing"%4'ؾ +2639 "core" ' + "processing"%% +4 "core" %غi\ +555 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"% +74 "core"  +396 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%' +2643 "core" ' +2 "processing"%% +4 "core" %k\  +637 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%7 +73 "core" +643 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%:'ؾ +2634 "core" ' +2 "processing"%<% +4 "core" %ؽk\ +866 #t-> PSV.PSR +2 .PSV.dial PSR + "processing"%3 +74 "core"  +308 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%0' +2627 "core" ' + "processing"%?% +4 "core" %o\  +487 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%@ +73 "core" +353 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%8'ؾ +2634 "core" ' + "processing"%=% +4 "core" %ؼi\ +1353 #t-> PSV.PSR + .PSV.dial PSR +2 "processing"% +73 "core"  +375 #t-> PSR.air + .PSR.select :air +3 "processing"% +979 #t-> PS.fill +2 .PS.seek 2.5ml +2 "processing"%' +2638 "core" ' +2 "processing"%D% +4 "core" %S\ +486 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%E +74 "core" +392 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%G'ؾ +2635 "core" ' +2 "processing"%H% +4 "core" %k\ +504 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%I +74 "core"  +365 #t-> PS.fill +3 .PS.seek 2.5ml + "processing"%9' +1837 "Can"\ ]Z +787 "core" ' +2 "processing"%A% +4 "core" %p\ \ +480 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%; +72 "core" +355 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%L'ؾ +2624 "core" ' + "processing"%M% +4 "core" %g\ +822 #t-> PSV.PSR +2 .PSV.dial PSR +2 "processing"%> +72 "core"  +450 #t-> PS.fill +3 .PS.seek 2.5ml +2 "processing"%P' +2639 "core" ' + "processing"%J% +4 "core" %o\  +402 #t-> PSV.PTV + .PSV.dial PTV +2 "processing"%Q +73 "core" +258 #t-> PS.empty +2 .PS.seek 0ml +2 "processing"%B'ؾ +2636 "core" ' + "processing"%j% +4 "core" %ؾ`\ +636 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&& +3 "core" &ӄ 4 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&T(ӂ +3 "core" ( + "manipulator"&S& +4 "core" &ӄ i 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +2 "core" &ӄ 4 +2 .tForearm.seek CC +2 "manipulator"&N'? +92 "core" ' + .tHand.close + "manipulator"&U/ +54 "core" / +2 .tCC.seek :open +2 "collection"'Y( +447 "core" ( + "manipulator"&X& +4 "core" &Ӆ 4 +2 "manipulator"&.% +3 "core" % E 7 +2 .tForearm.seek :retract +2 "manipulator"&[' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&\\(- +286 "core" ( + "manipulator"&Z& +4 "core" &- W  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &- :  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&W'w +100 "core" ' + .tHand.open +2 "manipulator"&]1 +61 "core" 1 + "manipulator"&_% +4 "core" % l * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +96 "core" ' +222 #t-> exit +5 #mEXIT @1633481612.12UTC @1633521001.84UTC = =mMAIN_scheduler =tMAIN @UTC1633521003.65 #"core_reset"Sent BREAK +2 #t@52746 sendCRC with ifg=0x20, ie=0x7F + #@54581 sendCRC with ifg=0x08, ie=0x5F #@28180 idle with ifg=0x84, ie=0x75 + #@28849 select with ifg=0x10, ie=0xF5 + #@29483 receive with ifg=0x10, ie=0xFD #@30116 receive with ifg=0x10, ie=0xFD + #@30749 receive with ifg=0x10, ie=0xFD #@31076 receive with ifg=0x80, ie=0xFD + #@62254 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +285 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +381 "Can"\ C@ + \ C@ + #tPolling Can every 10:00 +616 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %i n qL\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؾ+\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % U\ @ +2 .tSS.configure :default +2 "sampler")#.0X  + "storage"(/& +4 "core" &<+  \  +2 "storage"(0% +3 "core" %   \  +2 "collection"'19 +3 "core" 9 + "processing"%29 +3 "core" 9 +724 #t-> startTube 2 +1556 #-> $da[:extractVol]=.2 +412 #-> access 2 +2 "storage"(3% +3 "core" % % \  + "manipulator"&4% +4 "core" %  t  +2 "manipulator"&5& +3 "core" &- Y  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(6(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &K  1\  +34233 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'8& +3 "core" & n p;\ +2 .tHand.open + "manipulator"&91 +16 "core" 1 + "manipulator"&:& +4 "core" &-  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&;(- +3 "core" ( + "manipulator"&<& +4 "core" &- N  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &- v  +2 .tForearm.seek :garage +2 "manipulator"&>'w +93 "core" ' +2 .tHand.close + "manipulator"&?/ +58 "core" / +2 "manipulator"&@& +4 "core" &-  + "manipulator"&A% +4 "core" % ϋ M  +2 .tForearm.seek :retract +2 "manipulator"&B' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&C(ӂ +284 "core" ( +2 "manipulator"&D& +4 "core" &Ӕ# $ << + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &Ӕ# x << +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'? +92 "core" ' +2 "manipulator"&G& +4 "core" &Ӕ# z << + "manipulator"&H% +4 "core" %9 > i +2 "collection"'I& +4 "core" & p o.\ +2 "collection"'J& +4 "core" & r q7\ +2 .tCC.seek :closed +2 "collection"'K(\\ +4 "core" & n o2\  +10 &5z o o*\ +| +9 & e} p p3\ ? +9 &n o p2\ N +10 &TS n p.\ M +9 &U r q0\ M +9 &W o p.\ N +10 &T o p&\ N +9 & r r'\ N +10 &W q q%\ N +9 &Q q p0\ M +9 & Q o r,\ M +10 &"dR r q+\ M +9 &$'R q p)\ M +10 &%V q p,\ N +9 &'R s p\ M +9 &)lV r q"\ M +10 &+.R p q"\ M +9 &,T q s*\ M +9 &.W r q(\ M +10 &0tV r q\ M +9 &25U t p#\ N +9 &3U r q \ M +10 &5T r r\ M +9 &7|X q r\ M +10 &9>R q r#\ M +9 &;T r r\ M +9 &<V r s\ M +10 &>R v r!\ N +9 &@FU t s#\ M +9 &BZ w w(\ N +10 &Cg z x(\ O +9 &E|  |(\ S +10 &G2 3\ W +9 &H 6\ Y +9 &J *\ [ +10 &Lk 7\ [ +9 &N- ,\ [ +10 &O +\ \\ +9 &Q +\ \\ +9 &Sl 4\ ^ +10 &U/ .\ ] +9 &V 7\ ^ +9 &X 7\ _ +10 &Zo /\ _ +9 &\\{ /\ 6 +10 &\\) 7\ $m +9 ( +2 "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.50 + "collection"'L& +5 "core" &\\ 4\ !b + &\\ 9\ !b + .tHand.open + "manipulator"&M1 +63 "core" 1 + "manipulator"&N% +4 "core" % 9 c i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O' +93 "core" ' +2 #tPurging external Intake + "collection"'P& +4 "core" &\\ 5\ !b +2 "collection"'Q% +3 "core" %i 3\ +2 .tCSV.dial :flush + "collection"'R  +54 "core" +2 .tCS.reconfigure :fast +38 "collection"'#d @b +9 .tCS.seek 10ml + "collection"'S' +2475 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'T + 'U  +69 "core" +5 + .tCTV.dial :intake +2 "collection"'V  +75 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'W'i +2389 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'X  +76 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&Y& +4 "core" &Ӗ#  <: +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&Z(ӂ +20 "core" ( +2 "manipulator"&[& +4 "core" &Ӂ 1 + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &Ӂ G + +2 .tForearm.seek CC + "manipulator"&]'? +92 "core" ' + .tHand.close + "manipulator"&^/ +60 "core" / +2 .tCC.seek :open +2 "collection"'_( +450 "core" ( + "manipulator"&`& +4 "core" &Ӂ q + +2 "manipulator"&a% +3 "core" % L k * +2 .tForearm.seek :retract +2 "manipulator"&b' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&c(- +283 "core" ( + "manipulator"&d& +4 "core" &- a Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &- . Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&f'w +103 "core" ' +2 .tHand.open + "manipulator"&g1 +58 "core" 1 + "manipulator"&h% +4 "core" % z L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +93 "core" ' +1243 #t-> da 50 +2 #da sampling at most 50ml +5 ."Qmail"DAfans.email "Started da in tube 2 at 11:58:12UTC06-Oct-21\\n{}\\nCTD data unavailable\\nCan@11:50:10, 16% flow, 22.4C, 39% humidity, 15.1psia, 13.544V, 0.327A, 0.309A avg, 4.42W",Subject: "da sampling at most 50ml" +3 #tLoading sh1 puck from tube 2 into Collection Clamp +4 "collection"'j& +3 "core" & t s\ +2 "manipulator"&k% +5 "core" %    + "storage"(l% +4 "core" % X U \  + "storage"(m. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(n(  +1303 "core" ( +3 .tSC.configure :limp +6 "storage"($\ 1b +5 (o& +11 "core" &  F 7 y\ +3 "manipulator"&p& +7 "core" &- \\ Q +4 "manipulator"&q% +7 "core" %   +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +4 "manipulator"&r( +176 "core" ( +9 "manipulator"&s& +9 "core" & . ' +3 "storage"(t& +7 "core" &  Y W |\ +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 450 counts +2 "manipulator"&u'S +102 "core" ' +3 "storage"(v& +9 "core" &  Z Y\ +4 .tSE.reconfigure :pick +5 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(w'r +289 "core" ' +3 "storage"(x- +7 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 (y& +6 "core" & % % \ +4 "manipulator"&z& +7 "core" & O ' +3 .tElbow.seek 2 +2 "manipulator"&{( +6 "core" ( +3 "manipulator"&|& +8 "core" & q ' +3 "storage"(}& +7 "core" & % $ \ +4 .tForearm.seek 2 + 300 counts +4 "manipulator"&~'Ͻ +14 "core" ' +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&/ +57 "core" / +10 ."downElevator"SE.seek :down +6 "manipulator"&& +3 "storage"(' +15 "core" & < ' +3 "manipulator"&% +7 "core" % ϱ r +4 .tForearm.seek :retract +4 "manipulator"&' +92 "core" ' +3 .tElbow.seek CC +4 "manipulator"&(ӂ +131 "core" ' +3 ."downElevator"SE.stop +3 "storage"(5 +19 "core" ( +3 "manipulator"&& +8 "core" &ӗ  e 9) +3 .tElbow.reconfigure :loose +12 "manipulator"&$ &.,(#b +6 &\ & +5 "core" &ӗ  ` 9) +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +3 "manipulator"& '? +102 "core" ' +3 "manipulator"&& +8 "core" &ӗ  9 9) +5 "manipulator"&% +9 "core" %C D  +4 "collection"'& +5 "core" & p r:\ +5 "collection"'& +10 "core" & r s1\ +6 .tCC.seek :closed +4 "collection"'(\\ +18 "core" & p q1\ +3 & s s2\  +2 &1x r s$\ *y +3 &d} q r&\ > +7 &sp q p%\ N +10 &8O s s.\ M +9 &V r s\ M +9 &T p r\ M +10 &~R r s\ M +8 &@R q t&\ M +10 &R r s$\ M +10 &R p s&\ M +9 & Q q t'\ M +10 &"IR s t'\ L +20 &$ S r s"\ M +3 &%T r r \ M +6 &'R q q \ M +9 &)PS q t"\ M +8 &+R s t \ M +10 &,T q t\ M +9 &.S r t\ M +10 &0XT r t\ M +9 &2S s t\ M +9 &3R t t\ M +10 &5T s s \ M +8 &7_T v s\ M +10 &9!S s s\ M +15 &:S u w\ M +7 &<T r s\ M +7 &>hT s u \ M +9 &@*T t s \ M +9 &AZ w v\ N +10 &Cb \ O +8 &Edv } w\ Q +10 &G  \ T +10 &H \ X +9 &J \ Y +10 &LR \ Z +9 &N \ Z +9 &O  \ Z +11 &Q  \ [\ +8 &ST  \ \\ +9 &U \ \\ +10 &V  \ ] +12 &X  \ ^ +7 &ZT  \ ^ +9 &[z \ ? +9 &\\1 \ 'u +10 &\\p \ U +4 ( +5 "collection"'& +8 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.36 + .Hand.open +3 "manipulator"&1 +6 "core" &\\p \ U +55 1 +2 "manipulator"&% +9 "core" % C  +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&' +95 "core" ' +11 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml +3 .Intake.select :close + .Exhaust.select :close +4 .SS.hold +3 "sampler")+ +7 "core" + +3 "sampler")% +8 "core" % ^\ @ +3 "collection"'& +7 "core" &\\p \ \ U +8 "Can"\ ][ +4 #tCalibrating pressure and temperature sensors +7 .CTV.dial :air +3 .SSV.dial :spit,avoiding: :exhaust +3 "sampler") +7 "core"  +3 "sampler")  +6 "core"  +4 .tSS.reconfigure :fast +5 "sampler")#.0X% +15 "core" %< [\  +12 "collection"'D% +5 "core" %m R Q\ +3 "sampler")E% +8 "core" %< X\  +24 "collection"';% +6 "core" %m \\ ]\ +3 "sampler")G% +7 "core" %   Y\  +29 "collection"'H% +8 "core" %m o p\ +3 "sampler")I% +8 "core" % _ ] e\ ' +32 "collection"'B% +5 "core" %m \ +4 "sampler") % +8 "core" % h\ ' +3 "sampler")L% +7 "core" % Z\ ' +3 .tIntake.select :close +3 "sampler")0 +12 )M% +5 "core" % Y\ ' +3 .tSSV.dial :exhaust +2 "sampler")N  +75 "core"  +3 .tExhaust.select :open +3 "sampler")@ +120 .tSS.seek 0ml +3 "sampler")P'ڀ +902 "core" ' +3 .tExhaust.select :close +3 "sampler") +12 ."connect"SSV.dial CBV +8 .tCBV.dial SSV +6 "sampler")Q  +76 "core"  +3 #tAllowing 130s for 25.0ml of remaining 25.0ml +3 .Intake.select :open + "sampler") +221 "collection"'J% +6 "core" %m \ +4 #tIntake @15.7psia, vacuum from 10.0 to 13.0psi +3 .SS.reconfigure :inhaling 2.20ml/s +3 "sampler")#.0X \ +3 "collection"'y% +4 "core" % \  + "sampler")z% +4 "core" %ڀ g\ + #tBubblePoint: Intake @41.0psia, Outlet @16.6psia +2 .CBV.dial SSV + "collection"'| @ +29 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml +2 "collection"'{'i +119 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler") +129 "core" +2 .tSS.reconfigure :exhale +3 "sampler")#.0X'i +1453 "core" ' +2 .tCSV.dial CSR + "collection"'D  +43 "core"  + "collection"'E% +4 "core" %e \ + #tPulling 2ml of CSR.AqMeOH + .CSR.select :AqMeOH +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 2ml +2 "collection"';'T +614 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'G% +2 "core" %S \ +3 .tCS.seek 5ml + "collection"'H's4 +848 "core" ' +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'I  +41 "core"  +2 .tCS.seek 1ml + "collection"'B'^ +1098 "core" ' + "collection"' 9 +4 "core" 9 + "collection"'L% +4 "core" %_ ~ \ +2 #tBefore lysing Collection Puck Heater at 21.9C/39.1psia +2 #Heating Puck.from 2, :sh1 in Collection Clamp to 70C for 10:00 +2 .CH.seek 70C,8:00 +3 "collection"'M \  +2 '<9 +4 "core" 9 +102 "collection"'N9 +3 "core" 9d +102 "collection"'=9 +2 "core" 9 d +143 "collection"'Q9 +12 "core" 9d +102 "collection"'J9 +2 "core" 9d +102 "collection"'P9 +3 "core" 9d +102 "collection"'9 +2 "core" 9d +102 "collection"'T9 +3 "core" 9 d +102 "collection"'U9 +2 "core" 9$d +102 "collection"'V9 +3 "core" 9(d +102 "collection"'S9 +2 "core" 9,d +102 "collection"'X9 +2 "core" 90d +103 "collection"'Y9 +2 "core" 95d +102 "collection"'[9 +2 "core" 959d +102 "collection"'\\9 +3 "core" 9P=d +102 "collection"'^9 +3 "core" 9kAd +102 "collection"'C9 +2 "core" 9Ed +102 "collection"'O9 +3 "core" 9Jd +102 "collection"'K9 +2 "core" 9Nd +102 "collection"'`9 +2 "core" 9Rd +103 "collection"'a9 +2 "core" 9Vd +103 "collection"']9 +2 "core" 9'Zd +102 "collection"'R9 +2 "core" 9J^d +102 "collection"'d9 +3 "core" 9kcc +102 "collection"'F9 +3 "core" 9ga +102 "collection"'Z9 +3 "core" 9k[ +102 "collection"'g9 +2 "core" 9oY +102 "collection"'h9 +3 "core" 9sV +102 "collection"'j9 +2 "core" 9xR +102 "collection"'b9 +3 "core" 9>|O +102 "collection"'l9 +2 "core" 9aL +102 "collection"'W9 +2 "core" 9I +102 "collection"'f9 +3 "core" 9F +102 "collection"'m9 +2 "core" 9C +102 "collection"'69 +3 "core" 9@ +102 "collection"'p9 +3 "core" 9 > +102 "collection"'e9 +3 "core" 9,; +102 "collection"'q9 +2 "core" 9M: +102 "collection"'s9 +3 "core" 9k7 +102 "collection"'t9 +2 "core" 94 +102 "collection"'c9 +4 "core" 93 +102 "collection"'k9 +2 "core" 91 +102 "collection"'i9 +3 "core" 9/ +102 "collection"'v9 +2 "core" 9- +102 "collection"'y9 +2 "core" 9+ +102 "collection"'z9 +3 "core" 9,) +103 "collection"'|9 +2 "core" 9E( +102 "collection"'o9 +2 "core" 9\\' +103 "collection"'9 +2 "core" 9r% +102 "collection"'9 +2 "core" 9$ +103 "collection"'9 +2 "core" 9" +102 "collection"'}9 +3 "core" 9! +102 "collection"'r9 +2 "core" 9! +102 "collection"'9 +3 "core" 9 +102 "collection"'w9 +2 "core" 9 +102 "collection"'~9 +3 "core" 9 +102 "collection"'u9 +3 "core" 9  +102 "collection"'9 +2 "core" 9  +102 "collection"'x9 +3 "core" 9 $ +102 "collection"'\ 9 +2 "core" 9 0 +102 "collection"'{9 +3 "core" 9 > +102 "collection"'9 +3 "core" 9 J +102 "collection"'9 +2 "core" 9 V +102 "collection"'9 +2 "core" 9 b\  +102 "collection"'9 +3 "core" 9 l +102 "collection"'9 +2 "core" 9 v +102 "collection"'9 +3 "core" 9 ~ +102 "collection"'9 +2 "core" 9  +102 "collection"'9 +2 "core" 9  +103 "collection"'9 +2 "core" 9 # +102 "collection"'_9 +3 "core" 9 ' +102 "collection"'9 +2 "core" 9 + +102 "collection"' 9 +2 "core" 9 0 +103 "collection"' 9 +2 "core" 9 4 +102 "collection"' 9 +2 "core" 9 8 +102 "collection"'9 +3 "core" 9 < +102 "collection"'!9 +2 "core" 9 @ +102 "collection"'"9 +2 "core" 9 D +102 "collection"'#9 +3 "core" 9 I +102 "collection"'9 +2 "core" 9 M +102 "collection"'%9 +3 "core" 9 Q +102 "collection"'&9 +3 "core" 9 U +102 "collection"''9 +2 "core" 9 Y +102 "collection"'9 +2 "core" 9 ^ +102 "collection"'*9 +3 "core" 9 b +102 "collection"'+9 +3 "core" 9 f +102 "collection"',9 +2 "core" 9 j +102 "collection"'$9 +2 "core" 9 n +102 "collection"'-9 +3 "core" 9 r +102 "collection"'/9 +2 "core" 9\ w +102 "collection"'09 +3 "core" 9\ { +102 "collection"'29 +3 "core" 9\  +102 "collection"'.9 +2 "core" 9\   +102 "collection"'49 +3 "core" 9\ \  +101 "collection"'9 +3 "core" 9\   +102 "collection"'19 +2 "core" 9\   +103 "collection"'39 +2 "core" 9\   +102 "collection"'(9 +2 "core" 9\ "  +102 "collection"'79 +3 "core" 9\ & +102 "collection"'89 +2 "core" 9\ * +102 "collection"')9 +3 "core" 9\ - +102 "collection"'59 +2 "core" 9\ 2 +102 "collection"':9 +3 "core" 9\ 5 +102 "collection"'99 +2 "core" 9\ 9 +102 "collection"'9 +2 "core" 9\ = +102 "collection"'?9 +3 "core" 9\ @ +102 "collection"'A9 +3 "core" 9\ D +102 "collection"'@9 +2 "core" 9\ G +102 "collection"'9 +3 "core" 9\ J +102 "collection"'9 +2 "core" 9\ M +102 "collection"'D9 +3 "core" 9\ R +102 "collection"'E9 +2 "core" 9\ T +102 "collection"'>9 +3 "core" 9\ X +102 "collection"'G9 +2 "core" 9\ [ +102 "collection"';9 +3 "core" 9\ _ +102 "collection"'I9 +2 "core" 9\ b +102 "collection"'H9 +3 "core" 9\ e +102 "collection"' 9 +2 "core" 9\ h +102 "collection"'L9 +3 "core" 9\ l  +102 "collection"'<9 +2 "core" 9\ m! +102 "collection"'N9 +2 "core" 9\ p! +102 "collection"'=9 +3 "core" 9\ t# +102 "collection"'Q9 +2 "core" 9\ v$ +102 "collection"'J9 +3 "core" 9\ y$ +102 "collection"'P9 +2 "core" 9\ {$  +3 .tCH.hold 10:00,70C +2 "collection"' `\ `\ {  +4 'T9 +3 "core"  9\ |$ +2 "collection"'U% +3 "core" %_  +2 #tBegun lysing Collection Puck Heater at 68C/45.0psia +17416 "Can"\ @ +42574 "core" ` +2 "collection"'V9 +3 "core" 9\  +2 "collection"'S% +3 "core" %_ \ +2 #tEnded lysing Collection Puck Heater at 70.1C/43.4psia +2 .CS.seek 0ml + "collection"'X'i +359 "core" ' +5 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'Y @ +102 "core" B +2 .tCSV.dial :air + "collection"'[ @ +42 "core" > +5 .tCS.seek 5ml +2 "collection"'\\'s5 +1370 "core" ' + .tCSV.dial CTV +2 "collection"'^  +55 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'C @ +40 "core" ? + .tdelay 2 seconds +202 .CSV.dial CTV +3 "collection"'O  +41 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'K @ +42 "core" ? + .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'`'i +1360 "core" ' +2 "collection"'a% +4 "core" %d// 6\ + #tPuck @71.9psia after final lysis pressurization + #Recovering Lysate into Collection syringe +2 .CSV.dial CBV + "collection"'] +100 "core" ~ +2 .tCBV.dial CSV + "collection"'R  +28 "core" +2 "collection"'d% +4 "core" %d \ +2 .tCS.seek 4.999ml + "collection"'F's0 +1374 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'Z  +43 "core" + "collection"'g% +4 "core" %s1  Z\ +2 .tCS.seek 7ml +2 "collection"'h' +592 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'j @ +40 "core" ? + .tCS.seek 10ml +2 "collection"'b' +842 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'l ` +114 "core" ^ +2 #tLysing Complete + "collection"'W& +4 "core" &\\m E F\\\ U +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&f% +4 "core" %  T  +2 "storage"(m% +3 "core" % L\  +2 "storage"(6. +2 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(p(C +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (e& +2 "core" &E \ +2 "manipulator"&q& +4 "core" &ӗ R 9) +2 "manipulator"&s% +3 "core" %  X  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&t( +162 "core" ( + "manipulator"&c& +4 "core" & 5  +2 "storage"(k& +3 "core" &F ' ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&i' +96 "core" ' + "storage"(v& +4 "core" &F & '\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'r +278 "core" ' + "storage"(z- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(|'1 +40 "core" ' +2 "manipulator"&o& +4 "core" &  +2 "manipulator"&% +3 "core" % l | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( + "manipulator"&}& +4 "core" &ӓ" S <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &ӓ" <> +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + .tHand.close + "manipulator"&w/ +57 "core" / +2 .tCC.seek :open +2 "collection"'~( +446 "core" ( + "storage"(u& +4 "core" &E Z Z \ +2 "storage"(& +3 "core" &E 6 @ I\ +2 "manipulator"&x& +3 "core" &Ӕ# H <= +2 "manipulator"&\ % +3 "core" % E K  +2 .tForearm.seek :retract +2 "manipulator"&{' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&& +4 "core" & p  + "storage"(& +4 "core" &E z | 2\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&'8 +100 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % L o + "storage"(& +4 "core" &E z v \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 320 counts + "manipulator"&'x +16 "core" ' + "manipulator"&_& +5 "core" & e  + "storage"(& +4 "core" &E p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"& ' +18 "core" ' +2 "storage"( % +4 "core" %3 \ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (% +4 "core" %9 d\ V_ + "manipulator"&!% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'#& +4 "core" & E F\ +2 "manipulator"&& +4 "core" & c  + "manipulator"&%% +4 "core" %  _  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&&(- +168 "core" ( + "manipulator"&'& +4 "core" &- M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- M +2 .tForearm.seek :garage + "manipulator"&*'w +151 "core" ' +2 .tHand.close + "manipulator"&+/ +60 "core" / + "manipulator"&,& +4 "core" &- ` M +2 "manipulator"&$% +3 "core" % ϋ 2 +2 .tForearm.seek :retract +2 "manipulator"&-' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&/(ӂ +282 "core" ( +2 "manipulator"&0& +4 "core" &Ӑ# / =C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &Ӑ# ; =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&.'? +91 "core" ' +2 "manipulator"&4& +5 "core" &ӑ$ v =B + "manipulator"&% +4 "core" %> B v +2 "collection"'1& +4 "core" & E FM\ +2 "collection"'3& +5 "core" & F G2\ +2 .tCC.seek :closed +2 "collection"'((\\ +4 "core" & E G\  +9 &5y G G\ +{ +9 &fz D G\ > +10 &m G F\ L +9 &\\R G G\ L +9 &T H Gz\ L +10 &T H H`\ L +9 &Q I F3\ K +10 &eR E FW\ K +9 &&W G Ge\ L +9 &T I EP\ L +10 & T F G0\ L +9 &"mR G H\ K +10 &$.R E G\ L +9 &%T F G\ L +9 &'Q G H\ K +9 &)uR E G\ K +10 &+7V E H\ K +9 &,R G I\ L +10 &.T H H\ L +9 &0~R G H\ K +9 &2>V I Ig\ L +10 &4T I GM\ L +9 &5W H G;\ K +9 &7R G G)\ L +10 &9GR H H\ K +9 &;R G H\ L +10 &<V G H\ K +9 &>U G G\ K +9 &@NX E H&\ L +10 &BZ G G\ L +9 &Ci F H\ N +9 &E H G\ S +10 &G6 H I\ W +9 &H G I\ Y +10 &J I J\ Z +9 &Lr I K\ Z +9 &N1 I I\ [\ +10 &O K J\ \\ +9 &Q I I\ \\ +9 &Sr H K\ ] +10 &U4 J I\ ] +9 &V J K|\ ^ +10 &X L Ll\ ` +9 &Zr J KZ\ _ +9 &\\z I KC\ 4 +10 &\\1 K K1\ "j +9 ( +2 "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.53 + "collection"'7& +4 "core" &\\~ I L\ X + &\\ J M|\ X +2 .tHand.open + "manipulator"&81 +62 "core" 1 +2 "manipulator"&)% +4 "core" % > * v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +90 "core" ' + .tPSV.dial PSR +2 "processing"%: +73 "core"  +2 "processing"%9% +4 "core" %ؾW\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml +2 "processing"%'+ +1614 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%?  +43 "core"  +2 .tPS.seek 0ml + "processing"%A'ؾ +1611 "core" ' + .tPSV.dial PSR +2 "processing"%@ +44 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +689 "Can"\ RO +1946 "core" ' +3 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +2 "processing"% +2 "collection"'D  +6 "core"  + "processing"%E  +14 "core" +53 + .tPSV.dial :mixloop +2 "processing"%> +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%G  +74 "core" + .tPS.seek 0ml +2 "processing"%;'ؾ +2654 "core" ' +2 .tPSV.dial :air + "processing"%I  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%H' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"% +42 "core" +2 .tPS.seek 0ml +2 "processing"%L'ؾ +2651 "core" ' + .tPSV.dial :air +2 "processing"%<  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%N' +2635 "core" ' + .tPSV.dial :mixloop +2 "processing"%= +46 "core" + .tPS.seek 0ml +2 "processing"%Q'ؾ +2636 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&J& +4 "core" &ӑ#  =B + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&P(ӂ +31 "core" ( +2 "manipulator"&T& +4 "core" &Ӂ\  k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +2 "core" &Ӂ  O k +2 .tForearm.seek CC +2 "manipulator"&M'? +98 "core" ' + .tHand.close + "manipulator"&/ +64 "core" / + .tCC.seek :open +2 "collection"'V( +447 "core" ( + "manipulator"&S& +4 "core" &Ӂ\  G k + "manipulator"&B% +4 "core" % 2 H +2 .tForearm.seek :retract + "manipulator"&Y' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&[(- +280 "core" ( +2 "manipulator"&X& +4 "core" &- \\ / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &- < / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&C'w +103 "core" ' +2 .tHand.open + "manipulator"&O1 +63 "core" 1 + "manipulator"&K% +4 "core" % ~ F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\\' +95 "core" ' + .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +4 .tCBV.dial PRV + .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp +2 "collection"'a& +4 "core" & @ C\ + "manipulator"&]% +4 "core" %  "  + "storage"(R% +4 "core" % \  + "storage"(d. +4 "core" .(F + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(`(  +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" & J\  +2 "manipulator"&g& +3 "core" &-  / +2 "manipulator"&F% +3 "core" %  &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&j( +175 "core" ( + "manipulator"&h& +4 "core" & E # + "storage"(l& +4 "core" & Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&W'S +95 "core" ' + "storage"(f& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'r +297 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +2 "core" & -\  +2 "manipulator"&e& +3 "core" & L # +2 .tElbow.seek 2 +2 "manipulator"&q( +3 "core" ( + "manipulator"&s& +3 "core" &  # +2 "storage"(c& +4 "core" & a\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&k'Ͻ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(' +8 "core" & # + "manipulator"&z% +4 "core" %  ( +2 .tForearm.seek :retract + "manipulator"&o' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&y& +4 "core" &y(  A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &y(  A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&r'? +103 "core" ' + "manipulator"&i& +4 "core" &z&  @^ +2 "manipulator"&t% +4 "core" %F K  +2 "collection"'w& +3 "core" & A CA\ +2 "collection"'& +5 "core" & A A/\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" & ? B#\  +8 &6x ? A}\ +| +10 &h{ @ Ap\ ? +9 &g A AX\ L +10 &gR C A\ K +9 &)U C A\ K +9 &U @ A\ K +10 &U A C\ K +9 &oU C B\ K +9 &1W C >\ K +10 &U C Af\ L +9 & S C CP\ K +10 &"wQ A BB\ K +9 &$9R C B5\ K +9 &%R B C\ K +10 &'Q B D\ K +9 &)Q B C\ K +9 &+BS D B\ K +10 &-T C D\ L +9 &.T D C\ L +10 &0T F Dc\ L +9 &2IT A CG\ K +9 &4 R D D\ K +10 &5T B E\ K +9 &7T D Ew\ L +9 &9RQ B D`\ K +10 &;W E FS\ K +9 &<V F FI\ L +10 &>U B E\ L +9 &@XU E F\ L +9 &BT G E\ K +10 &C\\ G F\ M +9 &Ed H F\ M +9 &GRy J J\ P +10 &I\ P O\ T +9 &J S R\ W +10 &L S S\ X +9 &NC Q R\ X +9 &P R S\ Z +10 &Q S U}\ Z +9 &S S Ts\ Z +9 &UD S Sm\ [ +10 &W T UZ\ [ +9 &X T WU\ ] +9 &Z V UO\ \\ +10 &\\(z X VK\ 0 +9 &\\/ U V@\ !f +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 +2 .Hand.open + "manipulator"&u1 +3 "core" &\\g T V-\ R +54 1 + "manipulator"&% +4 "core" % F C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x' +91 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'\  +134 "core" ~ + .tCSV.dial CTV +2 "collection"'  +30 "core"  + .tPS.seek 2.5ml +2 "processing"%' +2634 "core" ' + "collection"'% +4 "core" % b ^d\  +2 .tCS.seek 4.5ml +2 "collection"''c7 +1488 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%  +56 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2641 "core" ' +2 .tCBV.dial between PRV and waste1 +2 "collection"'_ ` +29 "core" ^ + .tCSV.dial :air +2 "collection"' @ +44 "core" > +2 .tCS.seek 10ml + "collection"' ' +1495 "core" ' +2 .tCSV.dial CTV + "collection"'{  +55 "core"  +2 .tCS.seek 0ml +2 "collection"''i +2663 "core" ' +2 .tCBV.dial :waste1 + "collection"'! @ +28 "core" > +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +3 "collection"'  +131 "core" + "collection"'& +4 "core" &\\g S Ly\ R +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&#% +4 "core" %  J  + "storage"(% +4 "core" % ( %\  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(%(C +362 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" &A & % \ +2 "manipulator"& & +3 "core" &{& @] +2 "manipulator"&'% +3 "core" %  `  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&( +163 "core" ( + "manipulator"& & +3 "core" & x  +2 "storage"(& +4 "core" &B Y Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&+' +91 "core" ' + "storage"(,& +5 "core" &B W Y \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +53 "storage"($'r +303 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&*& +3 "core" & <  +2 "storage"(0& +3 "core" &B = > _\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&2'8 +19 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(4- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('x +27 "core" ' +2 "manipulator"&1% +4 "core" %K { +2 "storage"(-& +3 "core" &B C A\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 319 counts + "manipulator"&~'w +17 "core" ' + "manipulator"&7& +4 "core" & ~  +2 "storage"(8& +4 "core" &B Z Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&)' +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(3' +35 "core" ' +2 "manipulator"&:& +4 "core" & V  +2 "manipulator"&9% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +151 "core" ( +2 "manipulator"&?& +3 "core" &z( N Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &z(  Ac +2 .tForearm.seek CC +2 "manipulator"&@'? +92 "core" ' + .tHand.close + "manipulator"&A/ +54 "core" / +2 .tCC.seek :open + "collection"'( +450 "core" ( +2 "storage"(E& +4 "core" &B { z V\ + "storage"(D& +4 "core" &B w t\ + "manipulator"&>& +4 "core" &}( A` + "manipulator"&G% +4 "core" % : w  +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&I( +162 "core" ( + "manipulator"&;& +5 "core" &  + "storage"( & +4 "core" &B \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&H'8 +98 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&L1 +55 "core" 1 +2 "manipulator"&=% +4 "core" % @ ) + "storage"(N& +4 "core" &B 7\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 308 counts +2 "manipulator"&J'l +15 "core" ' +2 "manipulator"&T& +4 "core" &   + "storage"(U& +4 "core" &B 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +17 "core" ' +2 "storage"(/% +4 "core" % ;\ +2 ."downElevator"SE.seek :down +4 "storage"(5' +99 ((% +3 "core" %e9 8\ U] +2 "manipulator"&S% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +89 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%M  +71 "core" +2 .tPS.seek 2.5ml +2 "processing"%X' +2651 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%^ +43 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%P  +43 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%O +44 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%K  +43 "core"  + .tdelay 1 second +103 .PS.seek 0ml + "processing"%a'ؾ +2634 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%]& +4 "core" &x\ + "manipulator"&R& +4 "core" & G  + "manipulator"&Y% +4 "core" %   +2 .tElbow.seek FlushPuck::Garage + "manipulator"&d(- +174 "core" ( + "manipulator"&C& +4 "core" &- 2 [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +2 "core" &- [ +3 .tForearm.seek :garage + "manipulator"&Z'w +91 "core" ' + .tHand.close + "manipulator"&g/ +52 "core" / +2 "manipulator"&F& +4 "core" &- A [ + "manipulator"&h% +4 "core" % s   +2 .tForearm.seek :retract + "manipulator"&l' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&f( +119 "core" ( + "manipulator"&[& +4 "core" & = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" & = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&6' +93 "core" ' +2 "manipulator"&n& +4 "core" & / = + "manipulator"&e% +4 "core" % F 1 +2 "processing"%s& +3 "core" &^\ +2 "processing"%c& +5 "core" &`\ +2 .tPC.seek :closed +2 "processing"%v(^ +4 "core" &d\ +7 &2d\ $c +10 &Vxk\ 7 +9 &wh\ L +10 &Qm\ N +9 &`Qn\ N +9 &"Qr\ N +10 &Tt\ N +9 &Qy\ N +9 &jQp\ N +10 &,Rm\ N +9 &R\ N +10 &!T\ N +9 &#rS\ N +9 &%5Q\ M +10 &&R\ N +9 &(R\ M +9 &*yR\ N +10 &,;R\ N +9 &-Q\ N +10 &/R\ N +9 &1S\ N +9 &3CO\ N +10 &5R\ N +9 &6S\ N +9 &8S\ N +10 &:JR\ N +9 &< S_\ N +10 &=U\ N +9 &?U\ O +9 &APWa\ O +10 &C m\ Q +9 &DE\ S +9 &FP\ T +10 &HHG\ T +9 &J\ U +10 &K\ U +9 &M\ U +9 &OL\ V +10 &Q \ V +9 &RC\ V +9 &T>\ W +10 &VR\ V +9 &X\ V +10 &Y\ W +9 &[\ W +9 &]Z\ D +10 &^P\ G +9 &^\ Z +9 &^(\ 5 +3 ( +2 "processing"%c& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 + "processing"%& +5 "core" &^&\ 5 + .tHand.open + "manipulator"&z1 +60 "core" 1 + "manipulator"&j% +4 "core" %  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W' +98 "core" ' +2 .tPRV.dial :air + "processing"%y  +43 "core"  +2 .tPSV.dial :mixloop +2 "processing"%} +43 "core" +2 "processing"%m% +4 "core" %ؼ\ +2 .tPS.seek 0.3ml + "processing"%k' +387 "core" ' + .tPSV.dial PSR +2 "processing"%i +103 "core"  + "processing"%t% +4 "core" %\ \ +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml + "processing"%w'2 +491 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%q' +1926 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"% +116 "core" + .tPTV.dial :mixing +2 "processing"%o @ +72 "core" B + .tPBV.dial :waste2 +2 "processing"%V  +90 "core"  +2 .tPS.seek 0ml +2 "processing"%u'ؾ +2632 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" & ^ = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&( +21 "core" ( +2 "manipulator"&\ & +4 "core" & U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & +2 .tForearm.seek PC +2 "manipulator"&r' +92 "core" ' + .tHand.close + "manipulator"&Q/ +59 "core" / + .tPC.seek :open +2 "processing"%( +456 "core" ( + "manipulator"&b& +4 "core" &  +2 "manipulator"&% +3 "core" %  J +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(- +122 "core" ( + "manipulator"&_& +4 "core" &- 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- } +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +92 "core" ' + .tHand.open + "manipulator"&{1 +54 "core" 1 +2 "manipulator"& % +4 "core" % ρ i & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!' +92 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&% +4 "core" %  b  +2 "storage"(#% +3 "core" % \  +2 "storage"(. +3 "core" .(C +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (`& +3 "core" & \ +2 "manipulator"&|& +4 "core" &- ? + "manipulator"& % +4 "core" %  )  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'( +169 "core" ( +2 "manipulator"& & +4 "core" & t  +2 "storage"(& +3 "core" & 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&,'S +105 "core" ' + "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'r +298 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (*& +3 "core" & 5\  +2 "manipulator"&0& +3 "core" & "  +2 .tElbow.seek 2 +2 "manipulator"&4( +8 "core" ( +2 "manipulator"&1& +4 "core" & M  + "storage"(-& +4 "core" & }\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&7'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& +2 "storage"(9' +7 "core" &   +2 "manipulator"&+% +4 "core" % ϻ C ; + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&2& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' +2 "manipulator"&?& +4 "core" &  +2 "manipulator"&% +3 "core" % %  +2 "processing"%)& +4 "core" &\ +2 "processing"%&& +5 "core" &\ +2 .tPC.seek :closed + "processing"%A(^ +4 "core" &\ +8 &4\ $d +9 &Ux\ 7 +9 &~u\ K +10 &R\ N +9 &iN\ M +9 &,N\ M +10 &R\ N +9 &N\ M +10 &qN\ M +9 &3P\ M +9 &O\ N +10 &!T\ N +9 &#xS\ N +9 &%;O\ M +10 &&T\ N +9 &(R\ N +9 &*T\ M +10 &,BO\ N +9 &.R\ M +10 &/O\ N +9 &1P\ M +9 &3KR\ M +10 &5 T\ N +9 &6Q\ M +10 &8R=\ N +9 &:RT=\ N +9 &<Q@\ N +10 &=RA\ N +9 &?W<\ N +9 &AYU=\ N +10 &Cl<\ P +9 &D;\ S +10 &F>\ T +9 &HN>\ T +9 &J7\ T +10 &Ky\ U +9 &M9\ U +10 &OS5\ U +9 &QS\ V +9 &R6\ U +9 &T\ V +12 &VY\ V +9 &X\ V +8 &Y{\ V +9 &[\ V +9 &]`\ D +10 &^Bt\ !b +9 &^<\ 7 +6 ( + "processing"%&& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 + .Hand.open +2 "manipulator"&.1 +3 "core" &^2\ 7 +61 1 +2 "manipulator"&% +4 "core" %  =  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E' +103 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%D y +2 %>9 +5 "core" 9 +102 "processing"%G9 +2 "core" 9 +102 "processing"%;9 +3 "core" 9  +101 "processing"% 9 +3 "core" 9  +102 "processing"%@9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +103 "processing"%L9 +2 "core" 9 +102 "processing"%=9 +2 "core" 9 +102 "processing"%N9 +3 "core" 9" +102 "processing"%T9 +3 "core" 9& +102 "processing"%U9 +2 "core" 9* +102 "processing"%/9 +2 "core" 9/ +102 "processing"%9 +3 "core" 93 +101 "processing"%(9 +3 "core" 97 +102 "processing"%S9 +3 "core" 9; +102 "processing"%I9 +2 "core" 9? +102 "processing"%H9 +3 "core" 9C +102 "processing"%J9 +2 "core" 9H +102 "processing"%39 +2 "core" 9L +102 "processing"%M9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%59 +2 "core" 9X +102 "processing"%9 +3 "core" 9\\ +104 "processing"%^9 +3 "core" 9a +102 "processing"%P9 +3 "core" 9e +102 "processing"%O9 +2 "core" 9i +102 "processing"%K9 +3 "core" 9m +101 "processing"%X9 +3 "core" 9q +102 "processing"%]9 +2 "core" 9v +102 "processing"%R9 +3 "core" 9z +102 "processing"%Y9 +2 "core" 9~ +102 "processing"%C9 +3 "core" 9 +102 "processing"%p9 +2 "core" 9 +102 "processing"%<9 +2 "core" 9  +102 "processing"%g9 +3 "core" 9 +102 "processing"%F9 +2 "core" 9 +102 "processing"%h9 +3 "core" 9 +102 "processing"%B9 +2 "core" 9% +102 "processing"%[9 +3 "core" 9, +102 "processing"%\\9 +3 "core" 92 +2 .tPH.hold 2:00:00,28C +3 "processing"%Z pyp0 +4 .tdelay 1:30 +2 "core"  +3161 "Can"\ >; +5840 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%n +100 "core"  +2 "processing"%e% +4 "core" %\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%s' +584 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml + "processing"%d' +1621 "core" ' + .tPTV.dial :puck +2 "processing"%l  +69 "core"  + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPBV.dial :waste1 + "processing"%  +130 "core"  +2 "processing"%z% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%j'. +597 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%c * +30 "core" * +2 .tPS.seek 0ml +2 "processing"%y'ؾ +1610 "core" ' +2 .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%}  +31 "core"  +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%m * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%6 +72 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%a' +2424 "core" ' +2 .tPSV.dial PTV + "processing"%i +74 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%t +73 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%k +73 "core" +2 .tdelay 5 seconds +501 .PSV.dial :air +2 "processing"%w  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%'ؾ +2379 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%o  +131 "core" +2 .tPSV.dial :mixloop + "processing"%V +46 "core" + .tPRV.dial :ab1 +2 "processing"%q @ +72 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%' +359 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "collection"'\  +2 "processing"%  +41 "core" +3  +2 "processing"%Q% +4 "core" %\  +2 .tPS.seek 0.35ml + "processing"%f'i +454 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'W  +28 "core" + .tPRV.dial :air +2 "processing"%v  +40 "core"  +3 .tPS.seek 0.9ml + "processing"%b'K +1170 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +72 "core" ? +2 .tPS.seek 0.5ml + "processing"%_' +862 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +44 "core"  + .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%r' +1618 "core" ' +2 .tPSV.dial :PML + "processing"% +44 "core" + .tPTV.dial :mixing +2 "processing"%{ @ +72 "core" B + .tPBV.dial :waste1 +52 "processing"%  +35 "core" + "processing"%% +4 "core" %q\  +2 .tPS.seek 1.85ml +2 "processing"%' +237 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%# * +34 "core" + +2 .tPS.seek 0ml +2 "processing"%'ؾ +1968 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & E D+\ +2 "manipulator"&& +3 "core" &  +2 "manipulator"&%% +3 "core" %  v +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&`(- +124 "core" ( + "manipulator"&|& +5 "core" &-  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"& 'w +91 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 "manipulator"&& +5 "core" &- :  + "manipulator"&% +4 "core" % w o $ +2 .tForearm.seek :retract +2 "manipulator"&!' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +179 "Can"\ SO +99 "core" ( + "manipulator"&*& +4 "core" &ӧ { 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &ӧ ; 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&1'? +91 "core" ' +2 "manipulator"&-& +4 "core" &ӧ E 7 +2 "manipulator"&8% +3 "core" %5 N p +2 "collection"':& +4 "core" & D F*\ +2 "collection"'+& +4 "core" & F D%\ +2 .tCC.seek :closed +2 "collection"''(\\ +4 "core" & D D)\  +8 &4x D F*\ +{ +10 &cy E D$\ > +9 &p E B&\ N +10 &GP D G'\ M +9 & T F H\ M +9 &R F H\ M +10 &U E H\ M +9 &OS F G\ M +9 &W G G\ M +10 &S G F\ M +9 & Q E G\ M +10 &"WT H F\ M +9 &$P D E\ M +9 &%U G G\ M +10 &'Q G H\ M +9 &)_U H G\ M +10 &+ T I G\ N +9 &,T G E\ M +9 &.Q E F\ M +10 &0gV E G\ M +9 &2(N G F\ N +9 &3U F G\ M +10 &5R F F\ M +9 &7nK E E\ N +9 &91N F E\ M +10 &:L H F\ M +9 &<Q G F\ M +10 &>wQ F G\ M +9 &@8O D H\ N +9 &AT K J\ N +10 &C\\ I K\ O +9 &Eq{ Q N\ \ R +9 &G' [ Z\ V +10 &H ` _ \ Y +9 &J \\ _ \ Z +10 &La ^ ^\ Z +9 &N" ^ `\ \ [ +9 &O ] `\ [ +10 &Q _ `\ \\ +9 &Sb b _ \ ] +9 &U$ a ` \ ] +10 &V b c\ ^ +9 &X b a\ _ +10 &Zb c b \ _ +9 &\\y c c\ = +10 &\\) f f\ )z +9 &\\ d e\ !` +2 ( +2 "collection"'+& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 + "collection"',& +5 "core" &\\ e e\ !` + .tHand.open + "manipulator"&x1 +56 "core" 1 +2 "manipulator"&7% +4 "core" % 5  p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2' +92 "core" ' +2 .tPSV.dial PSR +2 "processing"%~ +115 "core" + "processing"%4% +4 "core" %ؿ\ t +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%?'+ +1609 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%)'ؾ +1611 "core" ' +2 .tPSV.dial PSR + "processing"%9 +44 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  +2 "collection"'.  +31 "core"  +125  + .tPSV.dial :mixloop +2 "processing"% +102 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%>  +74 "core" +2 .tPS.seek 0ml + "processing"%&'ؾ +2636 "core" ' + .tPSV.dial :air +2 "processing"%G  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%' +2634 "core" ' + .tPSV.dial :mixloop +2 "processing"%; +44 "core" +2 .tPS.seek 0ml +2 "processing"% 'ؾ +2627 "core" ' + .tPSV.dial :air +2 "processing"%@  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%' +2642 "core" ' + .tPSV.dial :mixloop +2 "processing"%L +45 "core" +2 .tPS.seek 0ml +2 "processing"%='ؾ +2651 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&N& +5 "core" &ӧ 7 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&T(ӂ +42 "core" ( + "manipulator"&U& +4 "core" &w$  =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &w$ h =A +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"&(/ +53 "core" / +2 .tCC.seek :open +2 "collection"'S( +449 "core" ( + "manipulator"&I& +4 "core" &Ӡ 7 +2 "manipulator"&H% +4 "core" % E E * + .tForearm.seek :retract +2 "manipulator"&J' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&3(- +290 "core" ( +2 "manipulator"&M& +4 "core" &- Y 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &- 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&5'w +99 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&^% +4 "core" % ρ ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P' +91 "core" ' + ."da"delayUntil "12:48:03.82" +24800 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%O @ +71 "core" A + ."da"PBV.dial :waste1 +2 "processing"%K  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%X * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%]  +43 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%R' +2428 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%Y +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%C  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%p +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%<  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%g'ؾ +2391 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%F +129 "core"  + "processing"%h% +4 "core" %ؽ8\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%B' +585 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%[' +1608 "core" ' + ."da"PTV.dial :puck +2 "processing"%\\  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%n +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%e  +34 "core" +2 "processing"%u% +4 "core" %0\  + ."da"PS.seek 1.5ml +2 "processing"%s') +594 "core" ' +2 ."da"delay 3 seconds +128 "Can"\ @= +174 ."da"PBV.dial between PSV and waste1 +2 "processing"%l * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%z * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +52 "processing"%d +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%c' +2430 "core" ' + ."da"PSV.dial PTV +2 "processing"%j +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%D +84 "core" + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%} +70 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%m  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%6'ؾ +2363 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%y +129 "core"  +2 "processing"%i% +4 "core" %ؿ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%t' +591 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%k' +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%w +83 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%a  +34 "core" + "processing"%o% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%V'. +600 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%q * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1607 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%\  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Q +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2422 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%W +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%v +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%f +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%b'ؾ +2367 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%_  +129 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%  +43 "core" ~ +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%{ +92 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml +2 "processing"% ' +393 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%  +43 "core"  + "processing"%#% +4 "core" %  \  +2 ."da"PS.seek 0.55ml +2 "processing"%r' +327 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.seek 2ml +2 "processing"%' +1564 "core" ' + ."da"PSV.dial :PML +2 "processing"% +43 "core" +2 ."da"PTV.dial :mixing +2 "processing"%% @ +71 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%|  +34 "core" + "processing"% % +4 "core" %+\  +2 ."da"PS.seek 1.85ml +2 "processing"%' +228 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%$'ؾ +1961 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +2469 "Can"\ FD +45534 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%E * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%*' +2412 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%0 +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%`  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%- +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%8  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +2347 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%! +129 "core"  +2 "processing"%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%,' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%x' +1607 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%7  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%+ +83 "core" + ."da"PBV.dial :waste1 +2 "processing"%~  +34 "core" + "processing"%4% +4 "core" %4\  +2 ."da"PS.seek 1.5ml +2 "processing"%1'' +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1632 "core" ' + ."da"delay 2:00 +130 "Can"\ >< +11874 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%?  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%9 * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%) +72 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%.' +2424 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%> +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%G'ؾ +2389 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +129 "core"  +2 "processing"%;% +4 "core" %غ \ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +600 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%@' +1611 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +34 "core" + "processing"%% +4 "core" %\  +52 ."da"PS.seek 1.5ml +2 "processing"%N'* +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%U * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%/'ؾ +1628 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%(  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%" * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%2 +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'' +2446 "core" ' + ."da"PSV.dial PTV +2 "processing"%I +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%H +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%M  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2386 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%T +142 "core" + "processing"%% +4 "core" %ؼ \ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%^' +589 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%J' +1608 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%5 +71 "core" + ."da"PBV.dial :waste1 +2 "processing"%O  +34 "core" +2 "processing"%K% +3 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%X'' +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" , +3 ."da"PS.seek 0ml +2 "processing"%='ؾ +1613 "core" ' + ."da"delay 2:00 +5317 "Can"\ EB +6686 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%Y  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%C * +35 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR +2 "processing"%p +71 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%<' +2413 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%R +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%F +72 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%h +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%g  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%B'ؾ +2362 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%\\ +150 "core" +3 "processing"%n% +10 "core" % \ $ +6 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +6 "processing"% +17 ."da"PS.reconfigure :default +4 "processing"%#A d`xb +4 ."da"PS.seek 0.25ml +4 "processing"%e' +338 "core" ' +3 ."da"delay 5 seconds +502 "processing"%u% +4 "core" % \  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%[' +340 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%l' +1614 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +3 "processing"%s +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +36 "core" + "processing"%z% +4 "core" %)\  +2 ."da"PS.seek 1.5ml +2 "processing"%d'1 +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" * +2 ."da"PS.seek 0ml +2 "processing"%j'ؾ +1613 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%D  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%} * +35 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%m +76 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%c' +2536 "core" ' +2 ."da"PSV.dial PTV + "processing"%y +77 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%i +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%6 +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%t  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%w'ؾ +2491 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%a +137 "core"  + "processing"%o% +4 "core" %ؾ\ ^ + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%k' +2127 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%q +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%V  +36 "core" +2 "processing"%\ % +4 "core" %\  + ."da"PS.seek 1.5ml +2 "processing"%', +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Q * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +103 "core"  +3 ."da"PS.seek 0ml +2 "processing"%W'ؾ +1614 "core" ' + "processing"%v9 +4 "core" 9|5 + #"da"Processing Puck Heater at 28.1C before imaging +2 .PH.coast +2 "processing"%f  +3 "core" 5 + 5 + "processing"%& +3 "core" &^3\ 7 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" %   N   + "storage"(% +4 "core" % 7 ( (\ d + "storage"(_. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"((C +359 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +2 ({& +3 "core" &F   \ +2 "manipulator"&b& +3 "core" &-  e  1 + "manipulator"&% +4 "core" %  j d 6  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&#( +173 "core" ( +2 "manipulator"& & +4 "core" & m Y  4 + "storage"(& +4 "core" &F\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&r' +96 "core" ' + "storage"(& +4 "core" &F E K +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(%'r +298 "core" ' + "storage"(|- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +2 "core" & # 4 +2 "storage"(& +4 "core" &F / ( \ _ + ."da"Elbow.reconfigure :limp +48 "manipulator"&$ ,(b +10 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&'8 +21 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"(E' +34 "core" ' + "manipulator"& % +4 "core" %@ e  " } +2 "storage"($& +4 "core" &F  %\ V + ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 308 counts +2 "manipulator"&0'l +13 "core" ' +2 "manipulator"&`& +4 "core" & ! 3 + "storage"(-& +4 "core" &F E Q A\ h +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&8' +16 "core" ' +2 ."da"SE.seek 2.17 Pucks below Top Plate +2 "storage"(*'] +38 "core" ' +2 "manipulator"&!& +4 "core" & 3 + "manipulator"&% +4 "core" % w  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&:' +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&,( +245 "core" ( + "manipulator"&7& +4 "core" & H y + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +2 "core" & \\ w +2 ."da"Forearm.seek PC +2 "manipulator"&~' +97 "core" ' + ."da"Hand.close +2 "manipulator"&4/ +70 "core" / +2 ."da"PC.seek :open +2 "processing"%x( +459 "core" ( +2 "storage"(& +4 "core" &F < K \  + "manipulator"&1& +4 "core" & W K 7 + "manipulator"&?% +3 "core" % f g ] }\ +2 ."da"Forearm.seek :retract +2 "manipulator"&9' +91 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&)( +245 "core" ( + "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &F P O\ f +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +99 "core" ' +2 ."da"Hand.open + "manipulator"&>1 +77 "core" 1 +2 "storage"(- +3 "core" -'] +2 ."da"SE.seek 1.82 Pucks below Top Plate +2 "storage"(.') +27 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 0.86 Pucks below Top Plate + "storage"(&' +56 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct0613h50ml.tif +1942 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +1277 #"da"SX HX9/16 (USB:09): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 28.785 seconds\ /var/log/esp/da21oct0613h50ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct0613h50ml15s.tif +1565 #SX HX9/16 (USB:09): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct0613h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct0613h50ml30s.tif +3069 #SX HX9/16 (USB:09): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct0613h50ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct0613h50ml70s.tif +7169 #SX HX9/16 (USB:09): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct0613h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "28.785 sec auto-exposure",Subject: "da21oct0613h50ml images!" +7 "storage"(;- +4 "core" -' +2 "storage"(G& +4 "core" &F _ b\ +2 "manipulator"&& +5 "core" &  +2 ."da"Elbow.seek 1 +2 "manipulator"& ( +4 "core" ( + "manipulator"&L& +4 "core" &  +2 "storage"(& +4 "core" &F S V \ +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&@' +17 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.58 Pucks below Top Plate +3 "storage"(U'N +50 "core" ' + "manipulator"&N& +5 "core" & q  +2 "storage"((& +4 "core" &F v v F\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&"'8 +29 "core" ' + ."da"Elbow.hold +4 "manipulator"&2, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +4 ."da"SE.seek 1.76 Pucks below Top Plate +2 "storage"(/' +25 "core" ' + "manipulator"&I% +5 "core" %# ( + "storage"(H& +4 "core" &F   (\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 279 counts +2 "manipulator"&'O +15 "core" ' +2 "manipulator"&M& +5 "core" & &  + "storage"('& +5 "core" &F e [ M\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&T' +19 "core" ' + "storage"(% +5 "core" % w v J\ +3 ."downElevator"SE.seek :down +7 "storage"(' +95 (^% +4 "core" %3 . 0 \ SV +2 "manipulator"&5% +4 "core" % W +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&O' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 (K& +4 "core" &F $ o\ +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +2 "processing"%J& +4 "core" &\ + "manipulator"&]& +4 "core" & s  +2 "manipulator"&X% +4 "core" %  :  + ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&Y(- +169 "core" ( +2 "manipulator"&C& +4 "core" &- I a +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &- a +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&='w +97 "core" ' +3 ."psFlush"Hand.close +4 "manipulator"&R/ +54 "core" / +3 "manipulator"&F& +8 "core" &- ` +3 "manipulator"&h% +7 "core" % ~ \\ +4 ."psFlush"Forearm.seek :retract +4 "manipulator"&g' +94 "core" ' +3 ."psFlush"Elbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +8 ."psFlush"Elbow.seek PC +2 "manipulator"&<( +118 "core" ( +3 "manipulator"&\\& +7 "core" &  ) +3 ."psFlush"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &n& +7 "core" &  ) +4 ."psFlush"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 ."psFlush"Forearm.seek PC +4 "manipulator"&B' +94 "core" ' +4 "manipulator"&u& +11 "core" &  ) +3 "manipulator"&e% +9 "core" % k +3 "processing"%[& +8 "core" &\ +4 "processing"%s& +9 "core" &\ +7 ."psFlush"PC.seek :closed +153 "processing"%(^ +14 "core" &\ +2 &\ +2 &\ +2 &\ +4 &8\ +2 &\ +2 &\ +4 &\ +2 &\ +2 &\ + &-\ +2 &\ +4 &!\ +2 &F\ +2 &\ +2 &\ +2 &\ +2 &7\ +2 &4E\ $c +2 &UvE\ 7 +5 &rE\ K +2 &L=\ N +2 &aR4\ N +4 &#P?\ N +2 &M!\ M +7 &O\ M +10 &jO1\ M +15 &+R\ N +6 &N\ N +7 &!N\ N +9 &#qO\ N +10 &%3N\ N +9 &&N\ N +9 &(N\ N +10 &*zO\ M +9 &,<P\ M +10 &-O\ N +9 &/S\ N +9 &1M\ N +18 &3DO\ M +2 &5P\ M +8 &6O\ N +10 &8R\ N +9 &:LO\ M +10 &< P\ N +9 &=P\ N +9 &?R\ N +10 &ART\ N +8 &C f\ Q +10 &Dz\ S +10 &F\ U +9 &HE\ U +12 &J\ U +7 &K\ U +9 &M\ V +10 &OL\ U +12 &Q \ V +6 &R+\ V +10 &Tg\ X +9 &VRx\ V +10 &Xy\ V +9 &Y{\ W +9 &[z\ W +10 &]W\ H +11 &^y?x\ &o +7 &^3\ 3 +5 ( +5 "processing"%s& +7 #"psFlush"Processing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + "processing"%z& +9 "core" &^#\ 3 +2 &^#\ 3 +3 ."psFlush"Hand.open + "manipulator"&l1 +63 "core" 1 +4 "manipulator"& % +10 "core" %  k +4 ."psFlush"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 ."psFlush"Forearm.seek :retract +3 "manipulator"&d' +92 "core" ' +3 ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%D +45 "core"  +4 "processing"%}% +8 "core" %غ\ +2 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +4 "processing"%@ +17 ."psFlush"PS.seek 0.5ml +4 "processing"%m' +238 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +24 "Can"\ C@ +332 "core" ' +4 ."psFlush"delay 5 seconds +502 .PSR.select :air +6 "processing"% +13 ."psFlush"PS.seek 2.5ml +6 "processing"%j' +2131 "core" ' +3 ."psFlush"delay 1 second +105 .PRV.dial :waste2,avoiding: :ab2 +4 "processing"%y @ +186 "core" A +3 ."psFlush"PTV.dial :PRVmixing +2 "processing"%i  +131 "core" +3 ."psFlush"PSV.dial :mixloop +2 "processing"%6 +102 "core" +4 ."psFlush"PS.seek :empty +4 "processing"%t'ؠ +2652 "core" ' +3 ."psFlush"PSR.select :air +4 .PSV.dial PSR +3 "processing"%c +104 "core"  +5 "processing"%a% +9 "core" %؟s\  +3 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +4 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +2 "processing"%o' +595 "core" ' +3 ."psFlush"delay 5 seconds +503 .PSR.select :air +4 "processing"% +14 ."psFlush"PS.seek 2.5ml +4 "processing"%w' +2118 "core" ' +3 ."psFlush"delay 1 second +105 .PBV.dial :waste1 +2 "processing"%q  +37 "core"  +3 ."psFlush"PTV.dial :mixing +3 "processing"%V @ +72 "core" A +3 ."psFlush"PSV.dial :mixloop +4 "processing"%\ +116 "core" +4 ."psFlush"PS.seek :empty +4 "processing"%k'ؠ +2635 "core" ' +3 ."psFlush"PSV.dial PSR +5 "processing"%Q +102 "core"  +3 ."psFlush"PSR.select :flush +3 "processing"%@ +14 ."psFlush"PS.seek 1ml +4 "processing"%'X\\ +599 #"uploadLog"upsync +497 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1613 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%v +73 "core" + ."psFlush"PTV.dial :puck +2 "processing"%f  +72 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%'ؾ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +598 "core" ' +3 ."psFlush"PSR.select :air +6 "processing"% +12 ."psFlush"PS.seek 2.5ml +2 "processing"%_' +2119 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%{ U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%b'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2624 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2649 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%3 +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%P' +2629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%| +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"% 'ؾ +2649 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2633 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%$'ؾ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%` +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%-'X\\ +1109 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%!' +1629 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +70 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%r  +54 "core" + ."psFlush"PS.seek 0ml +2 "processing"%#'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%% +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +583 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%0' +2117 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%E +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%8 U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%7'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%+ @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2624 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%4  +72 "core"  + ."psFlush"PS.seek 0ml +2 "processing"%:'ؾ +2656 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%A +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2634 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%1 +70 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%?'ؾ +613 "Can"\ ?< +2021 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%~ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2630 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%,'ؾ +2633 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'>& +53 "core" & [ \\\ +2 "manipulator"&& +3 "core" & ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&9( +3 "core" ( +2 "manipulator"&*& +3 "core" & ? ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" & 6 ) +2 .tForearm.seek PC +2 "manipulator"&;' +96 "core" ' +2 .tHand.close + "manipulator"&G/ +64 "core" / +2 .tPC.seek :open +2 "processing"%( +459 "core" ( + "manipulator"&L& +4 "core" &  ) +2 "manipulator"&% +3 "core" %  5  +2 .tForearm.seek :retract +2 "manipulator"&N' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&((ӂ +354 "core" ( +2 "manipulator"&I& +4 "core" &Ӛ"  ;7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &Ӛ" ! ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&M'? +94 "core" ' +3 "manipulator"&'& +4 "core" &Ӛ" , ;7 + "manipulator"&% +4 "core" %4  d +2 "collection"')& +4 "core" & ] ]U\ +2 "collection"'& +5 "core" & Y ]\ +2 .tCC.seek :closed + "collection"'&(\\ +5 "core" & ] Yu\ +7 & 4 [ X5\ $e +10 &Ux \\ Z.\ 7 +9 &x \\ \\{\ L +9 &S [ \\}\ M +10 &_T ] \\\ M +9 &!U [ ]\ M +9 &T \\ \\t\ M +10 &U Z ]\ M +9 &hT [ \\\ M +10 &)T ] ]\ M +9 &U ] ]\ M +9 &!T _ ]\ M +10 &#oT \\ \\\ M +9 &%2P [ \\\ M +9 &&R ^ Z\ M +10 &(T ^ ]\ M +9 &*wU ] \\\ M +10 &,8T \\ ]\ N +9 &-T ] \\\ M +9 &/Q \\ \\\ M +10 &1~U \\ ]\ N +9 &3AR [ \\\ M +9 &5U \\ \\\ M +10 &6T \\ ]\ N +9 &8T [ \\\ N +9 &:IU ^ \\\ M +10 &< R _ \\\ M +9 &=Q ] ]\ M +10 &?R ` _\ M +9 &APY ` ^H\ N +9 &C` b a\ N +10 &Dr f a"\ P +9 &F p m\ U +9 &H7 t s!\ Y +10 &I s u\ Z +9 &K v s\ [ +10 &Ms u w\ \\ +9 &O8 u w\ [ +9 &P w w \ \\ +10 &R t v!\ ] +9 &Tx u v\ ] +10 &V7 y y \ ^ +9 &W w x\ _ +9 &Y y y\ ` +10 &[x z {\ L +9 &\\? { { \ - +9 &\\ { |\ !b +6 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.50 +2 "collection"'^& +4 "core" &\\ { }\ !b + &\\ z {\ !b + .tHand.open +2 "manipulator"&51 +58 "core" 1 +2 "manipulator"&@% +4 "core" % 4 3 d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +90 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'U& +4 "core" &\\ y |b\ !b +2 "collection"'"% +3 "core" %l z {|\ +2 .tCSV.dial CSR +2 "collection"'K  +54 "core"  +2 "collection"'% +4 "core" %l { {\ +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'J's5 +1380 "core" ' + .tdelay 5 seconds +503 .CSR.select :air +2 "collection"' +9 ']% +2 "core" %s: { y]\ +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.501ml +2 "collection"'X' +693 "core" ' + .tCSV.dial :waste +2 "collection"'/ +126 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'T'i +1996 "core" ' + #tFlushing lower manifold's waste1 port +2 "collection"'C& +4 "core" &\\ x zh\ !b + "collection"'p% +4 "core" %d { {a\ + .tCSV.dial :flush +2 "collection"'  +43 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'2's5 +1287 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air +2 "collection"'R @ +39 "core" A +2 "collection"'F% +4 "core" %s7 y {\  +2 .tCS.seek 7ml +2 "collection"'h'" +567 "core" ' + ."connect"CSV.dial CTV +4 .tCTV.dial CSV +3 "collection"'O  +2 '\\  +41 "core"  +94  +2 .tCBV.dial :waste1 + "collection"'n @ +43 "core" > + .tCS.seek 0ml +2 "collection"'='i +1693 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'u& +4 "core" &\\ X\ !b +2 "collection"'e% +3 "core" %f {\ +2 .tCSV.dial :flush +2 "collection"'[  +69 "core" +2 .tCS.seek 5ml +2 "collection"'Y's5 +1283 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'g @ +43 "core" A + "collection"'x% +4 "core" %s6 j\  +2 .tCS.seek 7ml +2 "collection"'z'! +570 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'l  +53 "core"  + .tCBV.dial :waste2 +2 "collection"'  +101 "core"  +2 .tCS.seek 0ml +2 "collection"'s'i +1707 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'D& +4 "core" &\\ R\ !b +2 "collection"'}% +3 "core" %b \ +2 .tCSV.dial CSR + "collection"'B  +43 "core"  +2 "collection"'W% +4 "core" %b \ + #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'m' +2062 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'y' +567 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'i +2 '6  +98 "core" +34  + .tCTV.dial :intake +2 "collection"'j  +75 "core" + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'c'T +1936 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'a  +73 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'t'i +590 "core" ' +2 .tCSV.dial CSR + "collection"'o  +100 "core"  +2 "collection"'q% +4 "core" %c | |\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'V's5 +1385 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml + "collection"'\ ' +1368 "core" ' + .tCSV.dial CBV +2 "collection"'w +99 "core" + .tCS.seek 0ml +2 "collection"'Q'i +2639 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&k& +5 "core" &ӛ!  ;6 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +46 "core" ( + "manipulator"&v& +4 "core" &v  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &v b 8 +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' + .tHand.close +2 "manipulator"&/ +57 "core" / + .tCC.seek :open +2 "collection"'( +451 "core" ( + "manipulator"&& +4 "core" &ӏ 6 5 +2 "manipulator"&% +3 "core" % Q ~ 7 +2 .tForearm.seek :retract +2 "manipulator"&{' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&_(- +279 "core" ( + "manipulator"&& +4 "core" &- c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +4 "core" &-  c + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&'w +100 "core" ' +2 .tHand.open + "manipulator"& 1 +64 "core" 1 + "manipulator"&3% +5 "core" % ρ J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 "processing"%|& +4 "core" &\ +23473 "Can"\ 41 +60001 \ 42 +60001 \ 51 +60002 \ 41 +60001 \ 41 +60001 \ 51 +60001 \ 51 +60002 x\ 51 +60001 \ 41 +60001 \ 41 +60002 \ 42 +60001 \ 51 +60001 \ 41 +60002 \ 42 +60001 \ 41 +60001 \ 41 +42293 #t-> access 1 +3 "storage"(P% +3 "core" % \  + "manipulator"&% +4 "core" %   +2 "manipulator"& & +3 "core" &- c +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"( (<- +1297 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<+ /\  +16380 "Can"\ 51 +60001 \ 51 +60001 \ 42 +60001 \ 41 +60002 \ 41 +60001 \ 41 +60001 \ 42 +60002 \ 41 +60001 \ 41 +60001 \ 41 +60002 \ 41 +60001 \ 52 +60001 \ 41 +60001 \ 41 +22509 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +3003 #Sending Email +30002 !o:Email::Error: mesg"flush stuck!:bt[ "8/home/esp/esp2/utils/commskel.rb:231:in `flushMail'")/home/esp/esp2/utils/commskel.rb:239"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"-/home/esp/esp2/lib/thread.rb:757:in `[]'"0/home/esp/esp2/lib/thread.rb:757:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +5 #mEXIT @1633546165.64UTC @1633550370.67UTC = =tMAIN =mMAIN_scheduler @UTC1633550372.55 #"core_reset"Sent BREAK +2 #t@26919 receive with ifg=0x10, ie=0xFD + #@27555 receive with ifg=0x10, ie=0xFD #@28319 receive with ifg=0x10, ie=0xFD + #@28955 receive with ifg=0x10, ie=0xFD + #@29653 receive with ifg=0x10, ie=0xFD #@30287 receive with ifg=0x10, ie=0xFD + #@30922 receive with ifg=0x10, ie=0xFD #@31248 receive with ifg=0x80, ie=0xFD + #@58039 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +296 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +380 "Can"\ 64 + \ 64 + #tPolling Can every 10:00 + #Cleanly exited at 18:49:25UTC06-Oct-21 @1633550582.37UTC = =mMAIN_scheduler =tMAIN @UTC1633550584.19 #"core_reset"Sent BREAK +2 #t@26919 receive with ifg=0x10, ie=0xFD + #@27555 receive with ifg=0x10, ie=0xFD #@28319 receive with ifg=0x10, ie=0xFD + #@28955 receive with ifg=0x10, ie=0xFD + #@29653 receive with ifg=0x10, ie=0xFD #@30287 receive with ifg=0x10, ie=0xFD + #@30922 receive with ifg=0x10, ie=0xFD #@31248 receive with ifg=0x80, ie=0xFD + #@23622 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +164 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +124 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +379 "Can"\ 74 + \ 74 + #tPolling Can every 10:00 +2 #Cleanly exited at 19:59:39UTC06-Oct-21 +488 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %h \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ؼ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڛ m\ + .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(2% +3 "core" % m \  +2 "manipulator"&3% +4 "core" %  7  + "manipulator"&4& +4 "core" &- Y c +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(5(K +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &K d c \  +1684 #t-> access 3 +2 "storage"(7% +3 "core" % R\  +2 "manipulator"&8% +4 "core" %  .  + "manipulator"&9& +4 "core" &-  b c +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(:([ +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &[ ~ u\ +2220 #t-> require 'shuffle.rb' +1190 #-> 5.times {shuffle 1..3} +3 #Shuffling pucks in tube 1 of [1..3] + #Loading generic puck from tube 1 into Collection Clamp +2 "collection"'<& +3 "core" & <\ +2 .tHand.open + "manipulator"&=1 +17 "core" 1 + "manipulator"&>% +4 "core" %  h  + "storage"(?% +4 "core" % \  +2 "storage"(@. +2 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(A(C +1931 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +2 "core" &@ \ +2 "manipulator"&C& +4 "core" &- = c + "manipulator"&D% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&E( +184 "core" ( +2 "manipulator"&F& +4 "core" & #  + "storage"(G& +4 "core" &@ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&H' +88 "core" ' + "storage"(I& +5 "core" &@ K\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'r +296 "core" ' + "storage"(K- +4 "core" -'0 + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (L& +2 "core" &@ V\ +2 "manipulator"&M& +3 "core" &   +2 .tElbow.seek 1 +2 "manipulator"&N( +3 "core" ( + "manipulator"&O& +4 "core" &  + "storage"(P& +4 "core" &@ ,\ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&Q'd +48 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&R/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& + "storage"(T' +18 "core" & T  + "manipulator"&U% +5 "core" % ` 5 U +2 .tForearm.seek :retract + "manipulator"&V' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W(ӂ +137 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +2 "manipulator"&X& +4 "core" &Ӛ  g :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &Ӛ   :- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Z'? +137 "core" ' +2 "manipulator"&[& +4 "core" &Ӛ! m :- +2 "manipulator"&\\% +3 "core" %; / z +2 "collection"']& +4 "core" & +\ +2 "collection"'^& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'_(\\ +4 "core" & \ +7 & 4 )\ %f +9 &W{  \ 8 +10 &v '\ L +9 &R %\ M +10 &lU &\ M +9 &-U '\ M +9 &S \ M +10 &U d\ N +9 &rT \ N +10 &4T b\ N +9 &T -\ M +9 &!R \ M +9 &#{Q \ M +10 &%>U C\ M +9 &&T *\ M +10 &(Q $\ M +9 &*Q  \ M +9 &,EW '\ M +10 &.R "\ M +9 &/W \ M +9 &1W 5\ M +10 &3LT \ N +9 &5T \ N +10 &6U \ N +9 &8U \ M +9 &:UR e\ M +10 &<S \ M +9 &=W |\ M +9 &?S #\ M +10 &A\\\\ \ N +9 &C` -\ N +10 &Dv f\ Q +9 &F ]\ T +9 &HI 9\ W +10 &J Y\ Y +9 &K @\ [ +9 &M Y\ Z +10 &OE ?\ [\ +9 &Q 5\ Z +10 &R +\ \\ +9 &T .\ \\ +9 &VG @\ ] +10 &X 5\ ] +9 &Y D\ _ +9 &[ +\ L +10 &\\: "\ . +9 &\\ /\ ] +6 ( +2 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 +2 .Hand.open + "manipulator"&`1 +4 "core" &\\ -\ ] +56 1 + "manipulator"&a% +4 "core" % ; z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +89 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%c& +4 "core" & \ +2 "manipulator"&d% +4 "core" %   Q  + "storage"(e% +4 "core" %   V\  +2 "storage"(f. +3 "core" .(@ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(g(C +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +3 "core" &@  \ +2 "manipulator"&i& +3 "core" &Ӛ! :- +2 "manipulator"&j% +3 "core" %  @  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&k( +165 "core" ( +2 "manipulator"&l& +4 "core" & U  + "storage"(m& +4 "core" &@ ' '\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&n' +97 "core" ' + "storage"(o& +5 "core" &@ & '\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'r +297 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (r& +3 "core" &@  R\ +2 "manipulator"&s& +3 "core" &   +2 .tElbow.seek 1 + "manipulator"&t( +4 "core" ( + "manipulator"&u& +4 "core" &   + "storage"(v& +4 "core" &@ ' '\ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&w'd +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&x/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&y& + "storage"(z' +7 "core" & P  + "manipulator"&{% +4 "core" % q +2 .tForearm.seek :retract +2 "manipulator"&|' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&}( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&~& +4 "core" & 8 + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & M + + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +98 "core" ' + "manipulator"&& +4 "core" & + +2 "manipulator"&% +4 "core" % M  +2 "processing"%& +3 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\ +8 &2\ $e +9 &Vy\ 7 +10 &~v\ L +9 &P\ O +9 &XO\ O +10 &Q\ O +9 &R\ O +9 &N\ N +10 &aO\ N +9 &"T\ O +10 &R\ O +9 &!R\ O +9 &#gQ\ O +10 &%*O\ O +9 &&R\ O +10 &(R\ O +9 &*pR\ O +9 &,2R\ O +10 &-Q\ O +9 &/S\ N +9 &1xQ\ O +10 &3;N\ N +9 &4Q\ N +9 &6U\ N +10 &8T-\ O +9 &:BR\ O +10 &<Q\ O +9 &=S\ O +9 &?Q\ O +10 &AHU\ O +9 &Cj\ R +10 &Dw\ T +9 &F}\ U +9 &H=j\ V +10 &I\ V +9 &K\ V +9 &M\ V +10 &OE+\ V +9 &Q]\ W +9 &RL\ V +10 &T\ X +9 &VJ\ W +10 &X \ W +9 &Y\ V +9 &[W\ W +10 &]Q^\ H +9 &^wAvB\ (v +9 &^-\ 0 +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 + .Hand.open + "manipulator"& 1 +4 "core" &^\ 0 +49 1 +2 "manipulator"& % +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 "processing"%& +4 "core" &^h\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" %  7 \ +2 "storage"(% +3 "core" %  <\  +2 "storage"(. +3 "core" .(@ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((C +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" &@  P\ + "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &  N + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( +2 "storage"('r +4 "core" ( +2 "manipulator"&& +4 "core" & - + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  2 + +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%( +93 "core" ' + "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +44 "core" ' +307 ( +2 "storage"(!& +4 "core" &@  s\ + "manipulator"&"& +4 "core" & + +2 "manipulator"&#% +4 "core" %  A  + .tForearm.seek :retract +2 "manipulator"&$' +97 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&%( +246 "core" ( + "manipulator"&&& +4 "core" & n : +2 "storage"('& +3 "core" &@ ' & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&(' +96 "core" ' +2 .tHand.open + "manipulator"&)1 +52 "core" 1 +2 "storage"(*- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(+' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(,' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +3 "core" -' +2 "storage"(.& +4 "core" &@ + + ?\ d + "manipulator"&/& +4 "core" & \  7 : +2 .tElbow.seek 1 +2 "manipulator"&0( +3 "core" ( + "manipulator"&1& +4 "core" &  : +2 "storage"(2& +3 "core" &@ * , \ d +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&3' +20 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(4'" +57 "core" ' +2 "manipulator"&& +4 "core" & / : +2 "storage"(6& +3 "core" &@ ' '\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&7'8 +25 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(9' +27 "core" ' + "manipulator"&5% +5 "core" %I  H + "storage"(;& +4 "core" &@\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&<'u +14 "core" ' +2 "manipulator"&=& +4 "core" & g 9 +2 "storage"(>& +4 "core" &@ & &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&?' +16 "core" ' +2 "storage"(@% +4 "core" %  " O\ +3 ."downElevator"SE.seek :down +3 "storage"(:' +99 (B% +3 "core" %XA >\ We +2 "manipulator"&C% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D' +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (F& +4 "core" &@ T\ +2 "collection"'G& +4 "core" &\\ S\ ] +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&I% +4 "core" %  e  +2 "storage"(% +3 "core" % ' ' <\  +2 "storage"(. +3 "core" .(@ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(K(C +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +2 "core" &@ (  R\ +2 "manipulator"&M& +4 "core" &  9 +2 .tElbow.seek 1 + "manipulator"&O( +4 "core" ( + "manipulator"&P& +4 "core" & 9 +2 "storage"(R& +4 "core" &@ ' ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&S' +94 "core" ' +2 "storage"(U& +4 "core" &@ & & 7\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'r +299 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +2 "core" & U 9 +2 "storage"(Y& +4 "core" &@ #  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&J'8 +23 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate +2 "storage"(['} +28 "core" ' +39 "manipulator"&\\% +13 "core" %G C +2 "storage"(]& +4 "core" &@   D\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 315 counts + "manipulator"&T's +15 "core" ' +2 "manipulator"&V& +4 "core" &  9 +2 "storage"(\ & +4 "core" &@ g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&`' +18 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(a' +40 "core" ' +2 "manipulator"&c& +4 "core" & L 9 + "manipulator"&d% +4 "core" % T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&e' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&f(ӂ +156 "core" ( +2 "manipulator"&^& +4 "core" &Ӛ"  W ;5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &Ӛ"  ;5 +2 .tForearm.seek CC + "manipulator"&i'? +137 "core" ' + .tHand.close + "manipulator"&j/ +57 "core" / +2 .tCC.seek :open + "collection"'Z( +450 "core" ( +2 "storage"(l& +4 "core" &@ k \ + "storage"(m& +4 "core" &@ X `\ +2 "manipulator"&A& +3 "core" &Ӛ" ) ;5 +2 "manipulator"&o% +3 "core" % 3 " +2 .tForearm.seek :retract +2 "manipulator"&W' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&b( +162 "core" ( + "manipulator"&q& +4 "core" &   +2 "storage"(r& +3 "core" &@ a\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&s'8 +97 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&v1 +55 "core" 1 +2 "manipulator"&x% +4 "core" % : k + "storage"(y& +4 "core" &@ }  2\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 302 counts + "manipulator"&{'f +16 "core" ' +2 "manipulator"&k& +4 "core" &   +2 "storage"(n& +3 "core" &@ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&p' +17 "core" ' +2 "storage"(w% +4 "core" % $\ +2 ."downElevator"SE.seek :down +4 "storage"(~' +99 (% +2 "core" %8 | s\ U] +2 "manipulator"&t% +4 "core" % 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [1..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&% +4 "core" %  R  + "storage"(z% +4 "core" % )\  + "storage"(|. +4 "core" .(@ + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"( (  +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &   ~ D\ + "manipulator"& & +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & 9  +2 "storage"(& +3 "core" &  #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' + "storage"(& +4 "core" &  &\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \  +2 "manipulator"&& +4 "core" & B  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +3 "core" & 3  +2 "storage"(g& +4 "core" & \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(' +7 "core" & R  +2 "manipulator"&% +4 "core" % ϶ & + .tForearm.seek :retract +2 "manipulator"&!' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"(ӂ +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&#& +4 "core" &Ӕ& ; ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӕ& % ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&&'? +93 "core" ' + "manipulator"&'& +4 "core" &Ӕ& a ?P +2 "manipulator"&% +4 "core" %> ` ~ +2 "collection"')& +4 "core" & "\ +2 "collection"'*& +6 "core" & "\ +2 .tCC.seek :closed +3 "collection"'-(\\ +3 "core" &  \ +5 & %\ 4 +10 &7Hu \ 0 +9 &cr} \ E +9 &\ Y \ M +10 &T \ L +9 &U \ L +10 &QT \ M +9 &W \ M +9 &U g\ M +10 &V  \ M +9 &YX \ M +9 &!W \ M +10 &"W g\ M +9 &$V i\ M +10 &&aV ~\ M +9 &(#W \ M +9 &)V d\ M +10 &+R 8\ M +9 &-iS y\ M +9 &/,T p\ L +10 &0T u\ M +9 &2W r\ M +10 &4qV t\ M +9 &63W \ M +9 &7S {\ M +10 &9R {\ M +9 &;zU z\ L +10 &=;U |\ M +9 &>Y }\ M +9 &@U \ L +10 &BZ i\ M +9 &D>a  \ N +9 &Ep #\ P +10 &G I\ S +9 &Il $\ W +9 &K# M\ Z +10 &L L\ Z +9 &N J\ Z +10 &Ph O\ [ +9 &R* O\ [ +9 &S P\ \\ +10 &U M\ \\ +9 &Wj O\ ] +9 &Y* #\ ] +10 &Z \ ^ +9 &\\U\\ :\ - +10 &\\$ N\ [ +9 ( +2 "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&.1 +3 "core" &\\{ K\ T +53 1 +2 "manipulator"&/% +4 "core" % > { ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1' +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%2& +4 "core" &\ +2 "manipulator"&$% +4 "core" %    k  + "storage"(% +4 "core" % & $ L\  + "storage"(6. +3 "core" .(  +2 "storage"( & +3 "core" &   $\  +2 "storage"(5& +3 "core" &   @\  +2 "manipulator"&;& +4 "core" &ӕ% * >O + "manipulator"&+% +4 "core" %  )  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&=( +165 "core" ( + "manipulator"&>& +4 "core" & N  +2 "storage"(@& +3 "core" & ' ) ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&%'S +92 "core" ' + "storage"((& +4 "core" & C C \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'r +298 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +2 "core" &  \  +2 "manipulator"&3& +3 "core" & \\  +2 .tElbow.seek 2 +2 "manipulator"&0( +3 "core" ( + "manipulator"&4& +4 "core" & `  + "storage"(7& +4 "core" & 3 4\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&F'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\ U +10 &J\ U +9 &K\ V +10 &M\ V +9 &OE\ U +9 &Q\ W +9 &R\ V +10 &T/\ W +9 &VK\ V +10 &X \ V +9 &Y\ V +10 &[?\ V +9 &]P\ I +9 &^xD\ #j +9 &^>\ 5 +6 ( + "processing"%:& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&81 +4 "core" &^%\ 5 +59 1 + "manipulator"&D% +4 "core" %  C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +90 "core" ' +2 "processing"%X& +4 "core" &^%g\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Y% +4 "core" %     +2 "storage"(N% +3 "core" %   v\  +2 "storage"(\\. +3 "core" .(  + "storage"(]& +4 "core" &   8\  +2 "storage"(V& +3 "manipulator"&\ & +6 "core" &   z\  + & @ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&c( + "storage"(d'r +6 "core" ( + "manipulator"&S& +4 "core" & @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +42 "core" &  @ +12 .tForearm.seek PC + "manipulator"&E' +93 "core" ' + .tHand.close +2 "manipulator"&J/ +53 "core" / +2 .tPC.seek :open +2 "processing"%T( +51 "core" ' +2 "storage"([- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'1 +38 "core" ' +357 ( + "storage"(h& +4 "core" & & & \  +2 "manipulator"&`& +3 "core" & i @ +2 "manipulator"&Q% +4 "core" %  B ' + .tForearm.seek :retract +2 "manipulator"&j' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&e( +254 "core" ( +2 "manipulator"&_& +4 "core" & \ +2 "storage"(l& +3 "core" & C D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'S +91 "core" ' +2 .tHand.open + "manipulator"&A1 +60 "core" 1 +2 "storage"(o- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(r' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(i- +4 "core" -' +2 "storage"(f& +3 "core" & > P /\ e +2 "manipulator"&v& +4 "core" & - \ + .tElbow.seek 2 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"&y& +3 "core" &   . \ +2 "storage"(k& +4 "core" & S T 5\ e +2 .tForearm.seek 2 + 450 counts + "manipulator"&n'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(w'" +58 "core" ' +2 "manipulator"&W& +4 "core" & \\ \ +2 "storage"(& +3 "core" & ' '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&t'Α +20 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +27 "core" ' + "manipulator"&% +5 "core" %Κ R + "storage"({& +5 "core" & & & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&z& +4 "core" & p \ +2 "storage"(|& +4 "core" & C B \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&a'S +17 "core" ' + "storage"(p% +5 "core" % F K "\ +2 ."downElevator"SE.seek :down +4 "storage"(~' +99 (K% +3 "core" %2N \ )\ Xj +2 "manipulator"& % +4 "core" %> 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & & % n\  +2 "collection"'& +4 "core" &\\o C\ T +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %  c  +2 "storage"(u% +3 "core" % & & 1\  +2 "storage"(. +3 "core" .(  + "storage"(& +4 "core" & + ' \  + "storage"(& +4 "core" & 2 % '\  +2 "manipulator"&& +3 "core" &  \ +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&g& +4 "core" &  \ +2 "storage"(}& +3 "core" & & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +93 "core" ' + "storage"(& +4 "core" & E J (\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +3 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&#& +3 "core" & 7 \ +2 "storage"(& +3 "core" & ' '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +22 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"('o +32 "core" ' +2 "manipulator"&)% +4 "core" %Ε ? + "storage"(& +4 "core" & ' ( $\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 304 counts +2 "manipulator"&' +13 "core" ' + "manipulator"&!& +5 "core" & U \ + "storage"(Z& +4 "core" & H K !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&.'S +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(/' +39 "core" ' + "manipulator"&2& +5 "core" & \ + "manipulator"&$% +4 "core" %4 % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6(ӂ +167 "core" ( + "manipulator"& & +4 "core" &ӈ l 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &ӈ T 4 +2 .tForearm.seek CC +2 "manipulator"&;'? +91 "core" ' + .tHand.close +2 "manipulator"&*/ +52 "core" / + .tCC.seek :open +2 "collection"'+( +450 "core" ( +2 "storage"(&& +4 "core" & \  + "storage"(>& +4 "core" & \  + "manipulator"&@& +4 "core" &Ӊ ' 4 + "manipulator"&(% +4 "core" % .  3 +2 .tForearm.seek :retract + "manipulator"&"' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&1( +163 "core" ( + "manipulator"&B& +4 "core" &   +2 "storage"(C& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&3'Α +96 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +55 "core" 1 +2 "manipulator"&<% +4 "core" % Ε i 3 + "storage"(G& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 304 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&=& +4 "core" &   +2 "storage"(%& +3 "core" & E\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&,'S +18 "core" ' + "storage"(F% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(L' +98 (M% +4 "core" %A \ Vd + "manipulator"&0% +4 "core" %G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R' +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [1..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'?& +4 "core" & \ +2 "manipulator"&U% +4 "core" %  + + "storage"(I% +4 "core" % \  + "storage"(. +4 "core" .(  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +346 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" & j\ +2 "manipulator"&D& +4 "core" & D  + .tElbow.seek 3 +2 "manipulator"&X( +53 "core" ( + "manipulator"&Y& +4 "core" & y +2 "storage"(N& +3 "core" & Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\\'7 +93 "core" ' +2 "storage"(]& +4 "core" & 1\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'r +294 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (:& +5 "core" & } S\ + "manipulator"&S& +4 "core" & y +2 .tElbow.seek 3 + "manipulator"&O( +10 "core" ( + "manipulator"&P& +4 "core" & * X +2 "storage"(J& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&['ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&9/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& + "storage"(' +8 "core" & X + "manipulator"&d% +4 "core" % Ϛ +2 .tForearm.seek :retract +2 "manipulator"&h' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&Q& +4 "core" &ӂ c 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &ӂ ) 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&_'? +91 "core" ' +2 "manipulator"&l& +5 "core" &ӂ [ 2 + "manipulator"&c% +4 "core" %< I S +2 "collection"'A& +3 "core" & \ +2 "collection"'o& +6 "core" & \ +2 .tCC.seek :closed + "collection"'i(\\ +5 "core" & \ +6 & + \ $d +9 &Vv \ 7 +10 &u \ K +9 &T \ M +9 &hT \ M +10 &*R \ M +9 &T b\ M +10 &T \ M +9 &pS \ M +9 &4Q \ L +10 &T ^\ M +9 &!S ^\ L +9 &#xQ z\ M +10 &%:R o\ M +9 &&P m\ L +10 &(Q w\ L +9 &*R s\ L +9 &,BV t\ M +10 &.T z\ M +9 &/Q {\ L +9 &1T y\ L +10 &3KU }\ L +9 &5 Q w\ M +10 &6U v\ L +9 &8Q p\ M +9 &:SU u\ L +10 &<R z\ M +9 &=V v\ L +9 &?T r\ L +10 &AZW u\ M +9 &C[ z\ M +10 &Dd z\ N +9 &Fm t\ P +10 &HQ \ R +53 &J K\ W +12 &K J\ Y + &M '\ Y + &OC E\ Z + &Q K\ Z + &R @\ [ +3 &T =\ [ +3 &VE =\ \\ +9 &X =\ ] +9 &Y \ ] +9 &[ :\ K +10 &\\5 A\ 2 +9 &\\ \ S +6 ( +2 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&f1 +3 "core" &\\v K\ S +51 1 + "manipulator"&v% +4 "core" % < S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y' +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%k& +4 "core" &\ + "manipulator"&j% +4 "core" %  7  +2 "storage"(W% +3 "core" % # % \  +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & \ +2 "storage"({& +3 "core" & )\ +2 "manipulator"&^& +4 "core" &ӂ 2 + "manipulator"&z% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&|( +159 "core" ( +2 "manipulator"&q& +4 "core" & i  + "storage"(p& +4 "core" & % % 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&e'7 +94 "core" ' +2 "storage"(m& +4 "core" & E G U\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'r +306 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" & '  \ + "manipulator"&n& +4 "core" & R  +2 .tElbow.seek 3 + "manipulator"&x( +3 "core" ( +2 "manipulator"&w& +3 "core" &   +2 "storage"(t& +4 "core" & $ ' #\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +6 "core" & m  +2 "manipulator"&u% +4 "core" % Ϟ : +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&s& +4 "core" & e  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & W  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +88 "core" ' +2 "manipulator"&g& +4 "core" & U  + "manipulator"&}% +4 "core" % j g +2 "processing"%a& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%~(^ +4 "core" &\  +8 &0s\ )w +10 &c}\ > +9 &em\ N +9 &&P\ N +10 &M\ N +9 &O\ N +10 &nO\ N +9 &0O\ N +9 &P\ N +10 &O\ N +9 & tO\ N +10 &"7L\ N +9 &#O\ N +9 &%P\ N +10 &'|O\ N +9 &)>O\ N +9 &+M\ N +10 &,P\ N +9 &.O\ N +9 &0FL\ N +10 &2R\ N +9 &3R\ O +9 &5P\ N +10 &7OQ\ N +9 &9R\ O +10 &:Q\ O +9 &<P\ O +9 &>UQ\ O +10 &@O\ N +9 &AU\ O +10 &Cc\ Q +9 &EUm\ Q +9 &G{\ T +10 &H\ U +9 &J\ U +9 &LR\ U +10 &N1\ V +9 &OF\ V +10 &Q7\ W +9 &SU5\ W +9 &U\ V +10 &V\ W +9 &X2\ V +9 &Z\\E\ W +10 &\\r\ W +9 &]~v\ 6 +10 &^.m\ Y +9 &^.\ 5 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 + .Hand.open + "manipulator"&b1 +64 "core" 1 +2 "manipulator"& % +4 "core" %  g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' + "processing"%#& +4 "core" &^*W\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %   +2 "storage"('% +3 "core" %  E\  +2 "storage"(). +3 "core" .( + "storage"(& +4 "core" &  l\ +2 "storage"(!& +4 "manipulator"&Z& +4 "core" &  W\ + & :  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&2( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"($'r +2 "core" ( + "manipulator"& & +4 "core" & @  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &  [  +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / + .tPC.seek :open +2 "processing"%( +103 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +46 "core" ' +294 ( + "storage"(5& +4 "core" & ' '\ +2 "manipulator"&.& +3 "core" & H  +2 "manipulator"&% +3 "core" %  1  +2 .tForearm.seek :retract +2 "manipulator"&*' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +256 "core" ( + "manipulator"&-& +4 "core" &  +2 "storage"(&& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&>'7 +98 "core" ' + .tHand.open +2 "manipulator"&@1 +63 "core" 1 +2 "storage"((- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(C' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(;- +4 "core" -' +2 "storage"(6& +3 "core" & \ r +2 "manipulator"&7& +3 "core" & m  +2 .tElbow.seek 3 +2 "manipulator"&<( +7 "core" ( +2 "manipulator"&G& +4 "core" &    ~ +2 "storage"(=& +3 "core" & \ r +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%'7 +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(F'" +58 "core" ' +2 "manipulator"&"& +4 "core" & \ ~ +2 "storage"(M& +3 "core" & ' ' Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&0'u +25 "core" ' +2 .tElbow.hold + "manipulator"&1, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(3' +28 "core" ' + "manipulator"&?% +4 "core" %  +2 "storage"(& +4 "core" & ' ' &\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&U'ϫ +14 "core" ' +2 "manipulator"&I& +4 "core" & O ~ + "storage"(& +4 "core" & D C \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&/'7 +18 "core" ' + "storage"(,% +5 "core" % A < \ +2 ."downElevator"SE.seek :down +3 "storage"(L' +99 ( % +3 "core" %8 \  #\ Vb +2 "manipulator"&8% +3 "core" %+ Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (Y& +4 "core" &   \ + "collection"'N& +4 "core" &\\s C\ S +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&]% +4 "core" %  f  +2 "storage"(4% +3 "core" % B B \  +2 "storage"(R. +3 "core" .( + "storage"(V& +4 "core" & 0  !\ + "storage"(:& +4 "core" & > 5 b\ +2 "manipulator"&S& +3 "core" & , ~ +2 .tElbow.seek 3 +2 "manipulator"&P( +3 "core" ( +2 "manipulator"&J& +4 "core" &  ~ + "storage"(9& +4 "core" & B > u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&H'7 +99 "core" ' + "storage"(d& +5 "core" & B B \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'r +306 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Q& +3 "core" &  ~ + "storage"(E& +4 "core" & & ' \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&\ 'u +14 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(c'r +28 "core" ' +2 "manipulator"&A% +4 "core" %| 8 6 + "storage"(O& +4 "core" & ' * a\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&'Ϩ +13 "core" ' +2 "manipulator"&h& +4 "core" &  ~ + "storage"(+& +4 "core" & D D L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&f'7 +19 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(v' +50 "core" ' +2 "manipulator"&k& +5 "core" & Y ~ + "manipulator"&j% +4 "core" %! b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&& +4 "core" &ӊ( , @[ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &ӊ( 4 @[ +2 .tForearm.seek CC +2 "manipulator"&^'? +92 "core" ' + .tHand.close + "manipulator"&o/ +64 "core" / +4 .tCC.seek :open +2 "collection"'z( +450 "core" ( + "storage"(_& +4 "core" & B\ +2 "storage"(q& +3 "core" & \ +43 "manipulator"&p& +13 "core" &Ӌ( " @Z +2 "manipulator"&m% +4 "core" % 8 Z + .tForearm.seek :retract +2 "manipulator"&`' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&y( +163 "core" ( + "manipulator"&K& +5 "core" &   + "storage"( & +4 "core" & Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&n'u +95 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +59 "core" 1 +2 "manipulator"&% +4 "core" % i 4 , + "storage"(& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 288 counts + "manipulator"&u'ϕ +14 "core" ' + "manipulator"&|& +5 "core" & S  + "storage"(e& +4 "core" & .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r'7 +19 "core" ' + "storage"(% +5 "core" % S\ +2 ."downElevator"SE.seek :down +4 "storage"(s' +99 (% +4 "core" %8 S\ V_ +2 "manipulator"&x% +4 "core" %" G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g' +88 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 1 of [1..3] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'}& +5 "core" & \ + "manipulator"&a% +4 "core" %    +2 "storage"(% +4 "core" % ]\  +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(T(C +667 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" &F Y\ +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 1 +2 "manipulator"&#( +31 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"('& +3 "core" &F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&)' +98 "core" ' +2 "storage"(& +4 "core" &F >\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'r +306 "core" ' + "storage"(!- +3 "core" -'. +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &F w J\ +2 "manipulator"& & +4 "core" &   +2 .tElbow.seek 1 + "manipulator"&( +16 "core" ( +2 "manipulator"&& +4 "core" & r  + "storage"(& +4 "core" &F \ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&'d +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(~' +12 "core" & >  + "manipulator"&$% +4 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&5' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&.(ӂ +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &x)  Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &x) 1 Ae +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'? +94 "core" ' +2 "manipulator"&&& +4 "core" &y* \ Ad +2 "manipulator"&2% +4 "core" %>  ? + "collection"'@& +4 "core" & \ +3 "collection"'(& +4 "core" &  \ +2 .tCC.seek :closed +2 "collection"';(\\ +4 "core" & \  +8 &3x \ *x +9 &d| \ > +10 &zn \ M +9 &?P  \ L +10 &T \ M +9 &S \ L +9 &O \ L +10 &FT 6\ L +9 &T \ L +9 &P \ L +10 & U |\ L +9 &"NT \ L +10 &$Q Q\ L +9 &%T l\ M +9 &'S o\ L +10 &)VQ o\ L +9 &+U s\ L +9 &,V s\ L +10 &.U u\ M +9 &0]T y\ M +10 &2T {\ M +9 &3T t\ M +9 &5T {\ L +10 &7fQ z\ L +9 &9(R w\ L +9 &:V z\ L +10 &<R |\ L +9 &>nR {\ L +10 &@1S v\ L +9 &A] z\ M +9 &Cd v\ N +10 &Eix \ Q +9 &G# \ T +9 &H 6\ X +10 &J J\ Z +9 &LW R\ Z +10 &N 1\ Z +9 &O :\ [ +9 &Q .\ [ +10 &SY \ \\ +9 &U 4\ \\ +9 &V +\ ] +10 &X /\ ^ +9 &ZY \ ^ +10 &[{ C\ < +9 &\\* 6\ )z +9 &\\| \ \\ +3 ( + "collection"'(& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.41 + .Hand.open + "manipulator"&61 +53 "core" 1 +2 "manipulator"&7% +4 "core" % >  S ? + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G' +93 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%=& +5 "core" &\ + "manipulator"&*% +4 "core" %  \ \   + "storage"("% +4 "core" %   *\  +2 "storage"(M. +3 "core" .(F + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"( (C +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &@  d\ +2 "manipulator"&& +4 "core" &|) Q Aa + "manipulator"&B% +4 "core" %  :  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&I( +169 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(,& +4 "core" &@ ) (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(>& +4 "core" &@ 0 B ,\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'r +298 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (8& +3 "core" &@   _\ + "manipulator"&%& +4 "core" & c  +2 .tElbow.seek 1 + "manipulator"&<( +3 "core" ( +2 "manipulator"&F& +3 "core" & %  +2 "storage"(0& +4 "core" &@ & (\ +2 .tForearm.seek 1 + 300 counts + "manipulator"&Y'd +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&U/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&N& + "storage"(]' +43 "core" & 0  +2 "manipulator"&4% +5 "core" % ϕ + .tForearm.seek :retract +2 "manipulator"&R' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&V( +123 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +114 "core" ( +2 "manipulator"&3& +4 "core" & L - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" & A - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&S' +93 "core" ' + "manipulator"&J& +4 "core" & - +2 "manipulator"&9% +4 "core" % s Z +2 "processing"%/& +4 "core" &\ +2 "processing"%d& +5 "core" &\ +2 .tPC.seek :closed + "processing"%L(^ +4 "core" &\ \ +9 &1r\ )v +10 &bz\ > +9 &lk\ O +9 &.J\ N +10 &P\ N +9 &O\ N +9 &sM\ O +10 &6M\ N +9 &O\ N +10 &O\ N +9 & |P\ N +9 &">O\ N +10 &$Q\ N +9 &%N\ N +9 &'J\ N +10 &)FK\ N +9 &+ K\ N +10 &,N\ O +9 &.N\ N +9 &0NL\ N +10 &2P\ N +9 &3Q\ O +9 &5P\ O +10 &7VQ\ N +9 &9Q\ N +10 &:N\ N +9 &<N\ N +9 &>]O\ O +10 &@T\ O +9 &A[\ O +10 &Cq\ R +9 &ET\ U +9 &G\ U +10 &H\ U +9 &J\ V +9 &LY+\ U +10 &N\ V +9 &O\ V +9 &Q\ W +10 &S^\ W +9 &U \ V +10 &V\ W +9 &X\ V +9 &Zd\ W +10 &\\'\ W +9 &]}\ 5 +9 &^+e\ !_ +10 &^+\ 7 +2 ( +2 "processing"%d& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.76 + .Hand.open + "manipulator"&11 +61 "core" 1 + "manipulator"&D% +5 "core" %  # Z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +97 "core" ' +2 "processing"%Q& +4 "core" &^-F\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&E% +4 "core" % !   ' +2 "storage"(l% +4 "core" %  ;\  + "storage"(A. +3 "core" .(C + "storage"(O& +4 "core" &@  \ +2 "storage"(h& +4 "manipulator"&+& +4 "core" &@  K\ + & c - +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(k'r +4 "manipulator"&j( +3 "core" ( + "manipulator"&H& +4 "core" &   < - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &  m - +2 .tForearm.seek PC + "manipulator"&X' +94 "core" ' + .tHand.close + "manipulator"&\ / +60 "core" / +2 .tPC.seek :open +2 "processing"%( +93 "core" ' +2 "storage"(c- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +306 ( +2 "storage"({& +4 "core" &@ & ' \ + "manipulator"&f& +4 "core" & , - + "manipulator"&[% +4 "core" %  ' * +2 .tForearm.seek :retract +2 "manipulator"&o' +151 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&W( +247 "core" ( +2 "manipulator"&i& +4 "core" & D B + "storage"(_& +4 "core" &@ ) ( \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&q' +98 "core" ' +2 .tHand.open + "manipulator"&p1 +54 "core" 1 +2 "storage"(m- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(K' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"( ' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' +2 "storage"(& +3 "core" &@ W Z \ g +2 "manipulator"&t& +4 "core" &  B + .tElbow.seek 1 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  \  B + "storage"(|& +4 "core" &@ [ Z\ g +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&e' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' +2 "manipulator"&`& +4 "core" & D B + "storage"(& +4 "core" &@ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&x'8 +26 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(n' +29 "core" ' + "manipulator"&}% +5 "core" %= X + "storage"(u& +5 "core" &@   3\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 305 counts +2 "manipulator"&a'i +15 "core" ' + "manipulator"&& +5 "core" &  B + "storage"(& +4 "core" &@ ' )\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&v' +17 "core" ' +2 "storage"(r% +4 "core" % ' (\ +3 ."downElevator"SE.seek :down +3 "storage"(s' +98 (% +3 "core" %k>  \ We +2 "manipulator"&b% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +87 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &@   \ +2 "collection"''& +4 "core" &\\{ L\ \\ +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %  *  + "storage"(w% +4 "core" % & ' +\  + "storage"(g. +4 "core" .(C + "storage"(!& +4 "core" &@ " ' \ + "storage"(& +4 "core" &@ # & /\ + "manipulator"& & +4 "core" &  A +2 .tElbow.seek 1 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & A +2 "storage"(& +3 "core" &@ & &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"($& +4 "core" &@ ) 1 P\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'r +299 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & 1 A +2 "storage"(& +4 "core" &@ 3 . \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&Z'8 +14 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(&- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(2'{ +30 "core" ' +2 "manipulator"&@% +4 "core" %J B # + "storage"(& +4 "core" &@  B\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 318 counts + "manipulator"&~'v +14 "core" ' +2 "manipulator"&5& +4 "core" & : A + "storage"(z& +4 "core" &@ 4 3 Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&6' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(7' +45 "core" ' + "manipulator"&=& +5 "core" & G A + "manipulator"&*% +4 "core" % @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&M(ӂ +164 "core" ( + "manipulator"&(& +4 "core" &ӌ 9 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &ӌ ? 7 +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' + .tHand.close + "manipulator"&B/ +53 "core" / + .tCC.seek :open +2 "collection"'-( +450 "core" ( + "storage"(& +4 "core" &@ \ +2 "storage"(,& +4 "core" &@ s g _\ + "manipulator"&T& +4 "core" &ӌ ) 7 + "manipulator"&>% +3 "core" % A 4  +2 .tForearm.seek :retract +2 "manipulator"&.' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&G( +163 "core" ( + "manipulator"& & +4 "core" & T  +2 "storage"(8& +3 "core" &@ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&%'8 +96 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&01 +59 "core" 1 + "manipulator"&U% +5 "core" % >  + "storage"(N& +4 "core" &@ J\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 306 counts + "manipulator"&4'j +15 "core" ' +2 "manipulator"&I& +4 "core" & *  +2 "storage"(& +4 "core" &@ o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&C' +16 "core" ' +2 "storage"(Y% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(3' +99 (:% +2 "core" %7  | -\ U] +2 "manipulator"&<% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [1..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'9& +4 "core" & \ +2 "manipulator"&/% +4 "core" %    + "storage"(]% +4 "core" % &\  +2 "storage"(R. +3 "core" .(C + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +362 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +2 "core" &  j f \  +2 "manipulator"&D& +3 "core" & H  +2 .tElbow.seek 2 +2 "manipulator"&Q( +3 "core" ( + "manipulator"&E& +4 "core" & 2  +2 "storage"(l& +3 "core" &  C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&A'S +92 "core" ' + "storage"(O& +4 "core" &  2\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'r +294 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" & g \  +2 "manipulator"&H& +4 "core" & ?  +2 .tElbow.seek 2 + "manipulator"&P( +4 "core" ( + "manipulator"&S& +3 "core" & 8  +2 "storage"(\ & +4 "core" & \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&c'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +60 "core" / +51 ."downElevator"SE.seek :down +4 "manipulator"&\\& +2 "storage"(L' +7 "core" & G  + "manipulator"&k% +4 "core" % Ͽ W +2 .tForearm.seek :retract +2 "manipulator"&{' +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f(ӂ +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&[& +4 "core" &Ӌ! :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &Ӌ! g :, +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&i'? +90 "core" ' +2 "manipulator"&_& +4 "core" &Ӌ! [ :, +2 "manipulator"&j% +4 "core" %H % v +2 "collection"'p& +4 "core" & \ +2 "collection"'m& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'^(\\ +5 "core" & \ +6 &1 \ $c +10 &Tv \ 6 +9 &w \ K +9 &S \ L +10 &dR \ L +9 &&S \ L +10 &R \ L +9 &R :\ L +9 &kR \ L +10 &,R a\ L +9 &Q c\ L +9 &!R X\ M +10 &#sR ,\ L +9 &%4Q s\ L +10 &&R s\ L +9 &(T \ L +9 &*{R H\ L +10 &,<T r\ L +9 &-P t\ L +9 &/T u\ L +10 &1S t\ L +9 &3DS v\ L +9 &5R z\ L +10 &6Q {\ L +9 &8U x\ L +10 &:KT z\ M +9 &<S {\ L +9 &=U o\ L +10 &?U t\ L +9 &ASU u\ M +10 &CX \ M +9 &De W\ N +9 &Fr \ P +10 &HG \ T +9 &I h\ W +9 &K \ Y +10 &Mz 6\ Z +9 &O;  \ Z +10 &P \ \\ +9 &R \ [ +9 &Ty \ ] +10 &V< \ ] +9 &W (\ ] +9 &Y -\ ^ +10 &[~ I\ J +9 &\\9 A\ 2 +10 &\\{ D\ V +5 ( +2 "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + .Hand.open + "manipulator"&1 +4 "core" &\\o \ V +60 1 + "manipulator"&t% +4 "core" % H g v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%|& +4 "core" &\ +2 "manipulator"&o% +3 "core" %  t  +2 "storage"(`% +4 "core" % ' (\  + "storage"(. +3 "core" .(  + "storage"(}& +4 "core" & & (\  +2 "storage"(& +3 "core" & & (\  +3 "manipulator"&u& +8 "core" &Ӌ! :, +3 "manipulator"&% +6 "core" %  Q  +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +2 "manipulator"&K( +161 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(r& +4 "core" & ( ( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&W'S +111 "core" ' +2 "storage"(q& +4 "core" & : E c\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +302 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (b& +3 "core" & % d\  + "manipulator"&e& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & U  +2 "storage"(x& +3 "core" & & '\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"(' +8 "core" & S  + "manipulator"&w% +4 "core" %  ? +2 .tForearm.seek :retract +2 "manipulator"&g' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&n( +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +71 "core" ( + "manipulator"&!& +4 "core" &  ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & % ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& ' +102 "core" ' + "manipulator"&& +5 "core" & U > + "manipulator"&% +4 "core" % +2 "processing"%v& +4 "core" &\ +2 "processing"%$& +5 "core" &\ +2 .tPC.seek :closed + "processing"%s(^ +4 "core" &\ +8 & +\ $c +9 &Tx\ 7 +10 &s\ L +9 &N\ N +9 &]L\ N +10 &L\ N +9 &N\ N +10 &M\ N +9 &dN\ N +9 &%N\ O +10 &N\ N +9 &!O\ N +10 &#lO\ N +9 &%/O\ N +9 &&O\ N +10 &(O\ N +9 &*vO\ N +9 &,8O\ N +10 &-N\ N +9 &/O\ N +9 &1~O\ N +10 &3@O\ N +9 &5P\ N +10 &6P\ N +9 &8O4\ N +9 &:FQ\ N +10 &<O\ O +9 &=O\ O +9 &?O\ O +10 &AMO\ O +9 &C\ ^\ P +10 &D`\ P +9 &Fu\ S +9 &HC\ U +10 &J\ U +9 &K\ U +9 &M.\ U +10 &OH\ V +9 &Q\ V +10 &R\ V +9 &T\ W +9 &VN\ V +10 &X\ V +9 &Y\ V +9 &[\ V +10 &]T\ G +9 &^x?m\ (t +9 &^0\ 1 +6 ( +2 "processing"%$& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.71 + .Hand.open + "manipulator"&y1 +4 "core" &^!\ 1 +56 1 + "manipulator"& % +4 "core" %  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)' +89 "core" ' + "processing"%& +4 "core" &^!H\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %  \  +2 "storage"(&% +4 "core" %   \  + "storage"(@. +3 "core" .(  + "storage"(& +4 "core" &   \  +2 "storage"(5& +4 "manipulator"&z& +4 "core" &   j\  + & J > +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&=( +2 "storage"(*'r +5 "core" ( + "manipulator"&& +4 "core" & > + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  A > +2 .tForearm.seek PC +2 "manipulator"&#' +92 "core" ' + .tHand.close +2 "manipulator"&Z/ +56 "core" / +2 .tPC.seek :open +2 "processing"%~( +98 "core" ' +2 "storage"(2- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('1 +46 "core" ' +299 ( + "storage"(?& +4 "core" & ( ) \  +2 "manipulator"&6& +3 "core" & C > +2 "manipulator"&% +3 "core" %   / +2 .tForearm.seek :retract +2 "manipulator"&B' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&"( +245 "core" ( +2 "manipulator"&;& +4 "core" & c > +2 "storage"(& +3 "core" &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&,'S +93 "core" ' + .tHand.open + "manipulator"&T1 +60 "core" 1 +2 "storage"(>- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(8' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(M& +4 "core" & ( + \ b +2 "manipulator"&0& +3 "core" & > +2 .tElbow.seek 2 +2 "manipulator"&U( +3 "core" ( + "manipulator"&N& +4 "core" &  \  > + "storage"(I& +4 "core" & \ \ & U\ ` +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(Y'" +58 "core" ' + "manipulator"&.& +4 "core" & e > +2 "storage"(:& +4 "core" & & ' -\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&<'Α +20 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(%' +28 "core" ' + "manipulator"&9% +5 "core" %Δ   + "storage"(/& +4 "core" &  a\  +2 .tForearm.force -20 + "manipulator"&5 +53 .tForearm.seek 2 + 303 counts +2 "manipulator"&4' +17 "core" ' + "manipulator"&]& +4 "core" & _ > +2 "storage"(R& +4 "core" & ) ' V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&7'S +16 "core" ' + "storage"(C% +5 "core" % B - \ +2 ."downElevator"SE.seek :down +3 "storage"(3' +99 ( % +3 "core" %uP   `\ Yl + "manipulator"&1% +4 "core" %K P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D' +91 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &   Y\  + "collection"'l& +4 "core" &\\o E\ V +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&O% +4 "core" %  {  +2 "storage"(F% +3 "core" % & &\  +2 "storage"(J. +3 "core" .(  + "storage"(+& +4 "core" & ' &\  +2 "storage"(h& +3 "core" & ' &\  +2 "manipulator"&H& +4 "core" & > + .tElbow.seek 2 +2 "manipulator"&S( +3 "core" ( + "manipulator"&\ & +4 "core" & > +2 "storage"(V& +4 "core" & & '\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\\'S +94 "core" ' +2 "storage"(k& +5 "core" & 8 C \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'r +307 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +2 "core" &  > +2 "storage"(X& +4 "core" &   E\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&d'Α +18 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(j'q +28 "core" ' +2 "manipulator"&p% +4 "core" %Ύ 7 \ + "storage"(P& +4 "core" &  2\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 297 counts + "manipulator"&L'Ϻ +16 "core" ' + "manipulator"&{& +5 "core" &  = + "storage"(-& +4 "core" & #  `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(t' +50 "core" ' +2 "manipulator"&|& +4 "core" &  = +2 "manipulator"&o% +4 "core" %e + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ( + "manipulator"&}& +4 "core" &Ӝ  8" + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +2 "core" &Ӝ 8" +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 .tHand.close + "manipulator"&u/ +60 "core" / +2 .tCC.seek :open + "collection"'( +450 "core" ( +2 "storage"(i& +4 "core" & } g\  + "storage"(& +4 "core" & y G\  + "manipulator"&r& +4 "core" &Ӝ  8" + "manipulator"&q% +4 "core" % = 5 +2 .tForearm.seek :retract +2 "manipulator"&f' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +161 "core" ( + "manipulator"&& +5 "core" &   + "storage"(b& +4 "core" & h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&e'Α +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&x1 +58 "core" 1 +2 "manipulator"&a% +4 "core" % ΂ = % + "storage"('& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 285 counts + "manipulator"&w'Ϯ +14 "core" ' +2 "manipulator"&K& +4 "core" & |  +2 "storage"(W& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +18 "core" ' + "storage"(% +4 "core" % a\ +2 ."downElevator"SE.seek :down +4 "storage"(!' +99 (% +3 "core" %r: m\ Vd + "manipulator"&% +4 "core" %9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [1..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" & o\ + "manipulator"&v% +5 "core" %   + "storage"(% +4 "core" % \  +2 "storage"(g. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (y& +3 "core" & \ +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +13 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(&& +3 "core" & d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&@'7 +98 "core" ' + "storage"(& +4 "core" & 0\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'r +292 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" & | \ +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" &  + "storage"(Z& +4 "core" & V\ + .tForearm.seek 3 + 300 counts +2 "manipulator"&2'ϡ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"(s' +7 "core" &  +2 "manipulator"&*% +3 "core" % Ϲ  +2 .tForearm.seek :retract +2 "manipulator"&?' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&6(ӂ +153 "core" ( +2 "manipulator"&& +4 "core" ' +2 &x.  ' E + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b +2 "storage"(5 +3 "manipulator"&#& +4 "core" &x. u E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&;'? +93 "core" ' +2 "manipulator"&& +5 "core" &Ө% / >O + "manipulator"&=% +4 "core" %D I | +2 "collection"'T& +4 "core" & \ +2 "collection"'>& +6 "core" & \ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" &  \ +7 & +  \ $d +9 &Us v\ 6 +9 &v  \ K +9 &P \ L +10 &eQ \ L +9 &'Q \ L +10 &S \ L +9 &R \ L +9 &nR _\ L +10 &/R \ L +9 &Q g\ L +9 &!Q `\ L +10 &#vR Y\ L +9 &%8R \ L +10 &&R r\ L +9 &(R q\ L +9 &*~R p\ L +10 &,@S r\ L +9 &.R r\ L +9 &/R x\ L +10 &1R v\ L +9 &3GS v\ L +10 &5\ U w\ L +9 &6R u\ L +9 &8S {\ L +10 &:OT x\ L +9 &<U }\ L +10 &=S w\ L +9 &?U {\ L +9 &AWT {\ L +10 &CU y\ M +9 &D` 2\ N +9 &Fn #\ O +10 &HL \ S +9 &J !\ W +10 &K \ Y +9 &M ,\ Y +9 &O@ ;\ Z +10 &Q M\ Z +9 &R Q\ Z +9 &T +\ [ +10 &VA 9\ \\ +9 &X P\ ] +9 &Y L\ ^ +10 &[ M\ J +9 &\\6 K\ 1 +10 &\\ L\ W +5 ( +2 "collection"'>& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open + "manipulator"&M1 +4 "core" &\\u ,\ W +53 1 +2 "manipulator"&0% +4 "core" % D , | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N' +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%I& +53 "core" &\ +3 "manipulator"&B% +4 "core" %    +2 "storage"(.% +3 "core" % ' '\  +2 "storage"(:. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(9( +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ((& +3 "core" & \  + "manipulator"&/& +4 "core" &Ө%  s >O +2 "manipulator"& % +4 "core" %  9  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&]( +162 "core" ( +2 "manipulator"&R& +4 "core" &  +2 "storage"("& +3 "core" & ' ) \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&C'7 +93 "core" ' + "storage"(,& +4 "core" & A = \  +3 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &  ' )\  +2 "manipulator"&1& +4 "core" & e  +2 .tElbow.seek 3 + "manipulator"&U( +4 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(<& +4 "core" &  >\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&E'ϡ +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& + "storage"(O' +7 "core" & 9  +2 "manipulator"&F% +4 "core" %  z + .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&%( +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( +2 "manipulator"&+& +4 "core" &  % + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" & % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&H' +98 "core" ' + "manipulator"&\ & +4 "core" &  % +2 "manipulator"&V% +4 "core" %   + "processing"%7& +4 "core" &\ +2 "processing"%k& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%3(^ +3 "core" &\ +9 &4\ $d +9 &Uu\ 7 +9 &s\ L +10 &P\ N +9 &^O\ N +9 & M\ N +10 &K\ N +9 &N\ N +10 &fO\ N +9 &'O\ O +9 &N\ N +10 &!K\ N +9 &#nP\ N +9 &%/N\ O +10 &&N\ N +9 &(K\ N +10 &*vQ\ N +9 &,8O\ N +9 &-K\ N +10 &/O\ N +9 &1~L\ N +9 &3@P\ N +10 &5O\ O +9 &6P\ N +9 &8Q\ N +10 &:HQ\ N +9 &< M\ O +10 &=Q\ O +9 &?P\ N +9 &AOO\ O +10 &C _\ Q +9 &Db\ Q +10 &Fx\ S +9 &HC\ U +9 &J\ U +10 &K\ U +9 &M\ V +9 &OJ\ V +10 &Q \ V +9 &R\ V +10 &T\ Y +9 &VP\ V +9 &X\ W +10 &Y\ X +9 &[\ W +9 &]X\ E +10 &^Gx\ ^ +9 &^D\ 7 +6 ( +2 "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 + .Hand.open +2 "manipulator"&G1 +3 "core" &^-\ 7 +50 1 +2 "manipulator"&D% +4 "core" %  H  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +97 "core" ' +2 "processing"%[& +4 "core" &^-X\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&X% +4 "core" % #  P 5 +2 "storage"(_% +4 "core" % @\  + "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(P( +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +4 "core" & \  + "manipulator"&-& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & k % +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(|'r +2 "manipulator"&o( +9 "core" ( + "manipulator"&\\& +4 "core" &  v +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" & \ +  +2 .tForearm.seek PC +2 "manipulator"&Q' +93 "core" ' + .tHand.close + "manipulator"&d/ +57 "core" / +2 .tPC.seek :open + "processing"%L( +94 "core" ' + "storage"(j- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(}'1 +46 "core" ' +307 ( + "storage"(m& +4 "core" & \ ' /\  +2 "manipulator"&& +4 "core" & \\  + "manipulator"&c% +4 "core" %  0 , +2 .tForearm.seek :retract +2 "manipulator"&u' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +245 "core" ( + "manipulator"&^& +4 "core" &| G X +2 "storage"(i& +3 "core" & ' & S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +95 "core" ' + .tHand.open + "manipulator"&r1 +56 "core" 1 +2 "storage"(q- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(b' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & g h \ k + "manipulator"&x& +4 "core" &|  X +2 .tElbow.seek 3 +2 "manipulator"&a( +3 "core" ( + "manipulator"&'& +4 "core" &|   6 X +2 "storage"(K& +4 "core" & k k M\ l +2 .tForearm.seek 3 + 450 counts + "manipulator"&W'7 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +58 "core" ' + "manipulator"&f& +5 "core" &| f X + "storage"(& +4 "core" & 3 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'u +19 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(e' +27 "core" ' + "manipulator"&% +5 "core" %΁ 6  + "storage"(w& +4 "core" & 1 4 *\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&v'ϭ +14 "core" ' +2 "manipulator"&& +4 "core" &} W +2 "storage"(g& +4 "core" & ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&t'7 +19 "core" ' +2 "storage"( % +4 "core" % & )\ +3 ."downElevator"SE.seek :down +3 "storage"(!' +98 (% +3 "core" %r:   5\ Vc +2 "manipulator"&y% +4 "core" %?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +98 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & #  ^\  + "collection"'&& +4 "core" &\\u D\ W +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %  ~ | +2 "storage"(% +3 "core" % & %\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(z( +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +2 "core" & g\  +2 "manipulator"&& +4 "core" &} W +2 .tElbow.seek 3 + "manipulator"& ( +4 "core" ( + "manipulator"&Z& +4 "core" &} H W +2 "storage"(n& +4 "core" & 1 ) ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&)'7 +92 "core" ' +2 "storage"(*& +4 "core" & & & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +52 "storage"('r +306 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &} D W +2 "storage"(#& +4 "core" & & # \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&5'u +14 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(='s +28 "core" ' + "manipulator"&T% +4 "core" %Ί Y 9 +2 "storage"(& +3 "core" & $ % 5\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 321 counts +2 "manipulator"&s'϶ +14 "core" ' + "manipulator"&?& +5 "core" &} C W + "storage"(& +4 "core" & ' , @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&M'7 +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(0' +34 "core" ' + "manipulator"&I& +5 "core" &}  W + "manipulator"&>% +4 "core" %/  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.(ӂ +162 "core" ( + "manipulator"&:& +4 "core" &ӌ 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &ӌ N 2 +2 .tForearm.seek CC +2 "manipulator"&/'? +93 "core" ' + .tHand.close + "manipulator"& / +55 "core" / +2 .tCC.seek :open +2 "collection"';( +450 "core" ( +2 "storage"(R& +4 "core" & \  + "storage"("& +4 "core" & \  + "manipulator"&& +4 "core" &ӎ i 2 + "manipulator"&,% +4 "core" % S , 4 +2 .tForearm.seek :retract + "manipulator"&6' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&N( +162 "core" ( +2 "manipulator"&& +4 "core" & N  +2 "storage"( & +3 "core" & |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&1'u +99 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&<1 +55 "core" 1 +2 "manipulator"&4% +4 "core" % ΃ \ +2 "storage"(l& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&F'ϯ +39 "core" ' +2 "manipulator"&]& +4 "core" &   + "storage"(C& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&8'7 +23 "core" ' +2 "storage"(E% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(+' +98 (h% +4 "core" %5 x i\ U] + "manipulator"&U% +4 "core" %X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ ' +94 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 1 of [1..3] + #Loading generic puck from tube 1 into Collection Clamp +2 "collection"'V& +4 "core" & \ +2 "manipulator"&7% +3 "core" %  Q # +2 "storage"(O% +4 "core" % J\  +2 "storage"(J. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(~(C +541 "Can"\ VS +129 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &E M\ +2 "manipulator"&D& +3 "core" & ,  +2 .tElbow.seek 1 +2 "manipulator"&[( +35 "core" ( +2 "manipulator"&X& +4 "core" & _ & + "storage"(_& +4 "core" &E X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&p' +102 "core" ' + "storage"(k& +4 "core" &E \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"({'r +294 "core" ' + "storage"(-- +4 "core" -'. + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\\& +2 "core" &E y k\ +2 "manipulator"&S& +4 "core" & & +2 .tElbow.seek 1 + "manipulator"&H( +21 "core" ( +2 "manipulator"&d& +4 "core" & M  + "storage"(9& +4 "core" &E W\ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&j'd +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +54 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&A& +2 "storage"(3' +8 "core" &  +2 "manipulator"&|% +3 "core" % X +2 .tForearm.seek :retract +2 "manipulator"&m' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&c& +4 "core" &Ӎ' @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &Ӎ( 4 @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&^'? +97 "core" ' +3 "manipulator"&i& +4 "core" &Ӎ( % @[ +2 "manipulator"&o% +3 "core" %< $ +2 "collection"'r& +4 "core" & \ +2 "collection"'q& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & \ +8 &3 \ $e +9 &Wu t\ 7 +9 &r  \ K +10 &N \ L +9 &gR \ L +9 &)R v\ L +10 &R k\ L +9 &T \ L +10 &qR \ L +9 &2R \ L +9 &Q \ L +10 &!R t\ L +9 &#xR \ L +10 &%:Q \ L +9 &&R \ L +9 &(Q ,\ L +10 &*R l\ L +9 &,BR o\ L +9 &.R r\ L +10 &/R t\ L +9 &1S +\ M +10 &3JR '\ L +9 &5 S (\ L +9 &6S ^\ M +10 &8S \ L +9 &:QS \ L +9 &<U \ L +10 &=R U\ L +9 &?U w\ L +9 &AXW {\ M +10 &C] \ M +9 &Dk \ O +10 &F :\ R +9 &HD S\ V +9 &I Q\ Y +10 &K O\ Y +9 &M H\ Z +9 &OB H\ Z +10 &Q 1\ [ +9 &R ;\ [ +10 &T K\ \\ +9 &VB %\ \\ +9 &X O\ ] +10 &Y .\ ^ +9 &[ -\ K +9 &\\5 H\ 2 +10 &\\ (\ [ +5 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.38 + .Hand.open +2 "manipulator"&1 +3 "core" &\\} F\ [ +57 1 + "manipulator"&x% +4 "core" % <  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'' +90 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%K& +4 "core" &\ +2 "manipulator"&u% +3 "core" %   S  +2 "storage"(f% +3 "core" %   \  +2 "storage"(. +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((C +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +3 "core" &E  \ +2 "manipulator"&}& +4 "core" &ӎ(  @Z + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&g( +162 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"( & +4 "core" &E & '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&`' +105 "core" ' + "storage"(& +4 "core" &E @ B\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +2 "core" &E  \ +2 "manipulator"&W& +3 "core" & t  +2 .tElbow.seek 1 +2 "manipulator"&a( +3 "core" ( + "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &E ( )\ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&'d +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +51 "manipulator"&v/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& + "storage"(' +7 "core" & N  +2 "manipulator"&% +4 "core" % ` ) + .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e( +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&$& +4 "core" &  3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z' +96 "core" ' + "manipulator"&n& +5 "core" & W 3 + "manipulator"&t% +4 "core" %  +2 "processing"%*& +4 "core" &\ +2 "processing"%!& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%P(^ +5 "core" &\ +7 & ,\ $c +9 &Tv\ 7 +10 &}o\ K +9 &L\ N +9 &XO\ N +10 &N\ N +9 &M\ N +9 &J\ N +10 &`O\ N +9 &"O\ N +10 &K\ N +9 &!O\ N +9 &#hN\ N +10 &%*J\ N +9 &&N\ O +9 &(N\ N +10 &*pK\ N +9 &,1O\ O +10 &-N\ N +9 &/P\ N +9 &1wP\ O +10 &39P\ O +9 &4O\ O +9 &6N\ N +10 &8R\ N +9 &:BM\ N +10 &<O\ N +9 &=R\ N +9 &?O\ O +10 &AIT\ O +9 &Cg\ R +9 &Dx\ T +10 &F|\ U +9 &H=\ U +10 &I\ U +9 &K\ V +9 &M\ W +10 &OB\ V +9 &Q\ W +9 &R\ X +10 &T\ W +9 &VI\ W +10 &X \ X +9 &Y\ W +10 &[\ W +9 &]O\ I +9 &^wD\ $m +9 &^N\ ; +6 ( + "processing"%!& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.78 + .Hand.open +2 "manipulator"&1 +3 "core" &^<\ ; +50 1 + "manipulator"& % +4 "core" %  k  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@' +93 "core" ' +2 "processing"%& +4 "core" &^<\ ; + #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&#% +4 "core" %   +2 "storage"(% +3 "core" % B\  +2 "storage"(T. +3 "core" .(C +2 "storage"(& +4 "core" &E P\ + "storage"(?& +4 "manipulator"&& +4 "core" &E ]\ + & Q 3 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&I( +4 ."raiseStack"SE.seek :beamBreak + "storage"(>'r +3 "core" ( +2 "manipulator"&)& +3 "core" &  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & \ $ 3 +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&5/ +52 "core" / +2 .tPC.seek :open +9 "processing"%s( +97 "core" ' +2 "storage"(=- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'1 +47 "core" ' +298 ( + "storage"((& +4 "core" &E ' &\ +2 "manipulator"&M& +3 "core" & X 3 +2 "manipulator"&2% +3 "core" %  E / +2 .tForearm.seek :retract +2 "manipulator"& ' +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&B( +245 "core" ( + "manipulator"&& +4 "core" & : & +2 "storage"(R& +3 "core" &E ' ( \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&"' +93 "core" ' + .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "storage"(,- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"( ' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(/- +4 "core" -' +2 "storage"(.& +3 "core" &E L ]\ [ +2 "manipulator"&<& +3 "core" &  8 & +2 .tElbow.seek 1 +2 "manipulator"&4( +15 "core" ( + "manipulator"&l& +4 "core" &  M \ +2 "storage"(]& +3 "core" &E ? $\ \\ +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&C' +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(E'" +51 "core" ' +2 "manipulator"&6& +4 "core" & ` \ +2 "storage"(h& +3 "core" &E  \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&U'8 +18 "core" ' +2 .tElbow.hold + "manipulator"&N, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(1' +19 "core" ' + "manipulator"&V% +5 "core" %B  + "storage"(F& +4 "core" &E   w\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 310 counts + "manipulator"&7'n +14 "core" ' +2 "manipulator"&O& +4 "core" & e \ +2 "storage"(J& +4 "core" &E  # H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&0' +20 "core" ' + "storage"(8% +5 "core" % & &\ +2 ."downElevator"SE.seek :down +3 "storage"(+' +99 (z% +3 "core" %j<  \ Wd + "manipulator"&G% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +93 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (X& +4 "core" &E  K\ + "collection"'_& +4 "core" &\\| 0\ [ +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&k% +4 "core" % \  k  +2 "storage"(Y% +3 "core" % ) 0 \  +2 "storage"(\ . +3 "core" .(C + "storage"(-& +4 "core" &E & &\ + "storage"(\\& +4 "core" &E & &\ +2 "manipulator"&S& +3 "core" & L \ +2 .tElbow.seek 1 +2 "manipulator"&d( +7 "core" ( + "manipulator"&9& +4 "core" &  +2 "storage"(%& +3 "core" &E & &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&A' +96 "core" ' +2 "storage"(|& +4 "core" &E - D K\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['r +301 "core" ' + "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +2 "core" & !  +3 "storage"(Q& +3 "core" &E  $ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&{'8 +22 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(o'z +33 "core" ' + "manipulator"&r% +4 "core" %= * +2 "storage"(H& +3 "core" &E ( ' <\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 305 counts + "manipulator"&3'i +15 "core" ' +2 "manipulator"&m& +4 "core" & k  +2 "storage"(;& +3 "core" &E B A\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(x' +45 "core" ' +2 "manipulator"&K& +4 "core" &  + "manipulator"&u% +4 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ( + "manipulator"&q& +4 "core" &ӑ$  R =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +2 "core" &ӑ$  =E +2 .tForearm.seek CC +2 "manipulator"&}'? +98 "core" ' + .tHand.close +51 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'^( +450 "core" ( + "storage"(& +4 "core" &E h\ +2 "storage"( & +3 "core" &E ` a \ +2 "manipulator"&~& +3 "core" &Ӓ$ J =D +2 "manipulator"&% +4 "core" % A ! + .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&'( +162 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(y& +4 "core" &E { z 0\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&W'8 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&v% +4 "core" % H = 5 +2 "storage"(&& +4 "core" &E u\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 316 counts + "manipulator"&'t +15 "core" ' +2 "manipulator"&g& +4 "core" & 5  +2 "storage"(`& +4 "core" &E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&b' +18 "core" ' +2 "storage"(% +4 "core" % j\ +2 ."downElevator"SE.seek :down +4 "storage"($' +99 (% +3 "core" %w4 | } M\ U^ +2 "manipulator"&a% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n' +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 2 of [1..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'t& +5 "core" & $\ + "manipulator"&*% +4 "core" %  b  +2 "storage"(% +4 "core" % \  + "storage"(. +4 "core" .(C + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(L(  +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" & L\ +3 "manipulator"& & +3 "core" & <  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&#& +4 "core" & L  +2 "storage"(& +3 "core" & V\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&T'S +91 "core" ' +2 "storage"(& +4 "core" & 3\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'r +292 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (!& +2 "core" & v \  +2 "manipulator"&)& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&Z& +4 "core" &  + "storage"(5& +4 "core" & z U\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&='Ͻ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&@& +2 "storage"(P' +7 "core" &   + "manipulator"&>% +4 "core" % Ϸ z +2 .tForearm.seek :retract +2 "manipulator"&(' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M(ӂ +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&2& +4 "core" &ӑ$ ] =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӑ$ w =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +95 "core" ' + "manipulator"&R& +4 "core" &Ӓ$  =B +2 "manipulator"&I% +4 "core" %> J k +2 "collection"'& +4 "core" & \ +3 "collection"',& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'/(\\ +4 "core" & @\ +7 &2 (\ $c +9 &Uu \ 6 +10 &v \ K +9 &Q d\ L +10 &fQ \ L +9 &)R \ K +9 &S \ L +10 &R B\ K +9 &nR \ L +9 &1R \ K +10 &R B\ L +9 &!T [\ L +10 &#vR \ L +9 &%7T \ L +9 &&Q \ L +10 &(U G\ L +9 &*~R \ L +10 &,?Q =\ L +9 &.R N\ L +9 &/R @\ L +10 &1R !\ L +9 &3GP J\ L +9 &5 S \ L +10 &6S \ L +9 &8S 9\ L +9 &:PT R\ L +10 &<S I\ L +9 &=R J\ L +10 &?T v\ L +9 &AWT \ L +9 &CZ \ M +10 &Dc S\ N +9 &Fs M\ P +9 &HJ S\ S +10 &J T\ W +9 &K +\ Y +10 &M M\ Y +9 &O@ 5\ Y +10 &Q +\ Z +9 &R -\ [ +9 &T /\ [ +9 &VB R\ [ +10 &X X\ \\ +9 &Y 4\ ] +10 &[ 0\ J +9 &\\7 I\ 0 +9 &\\\ .\ X +6 ( +2 "collection"',& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&.1 +4 "core" &\\u 0\ X +53 1 +2 "manipulator"&<% +4 "core" % > 6 k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l' +96 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp + "processing"%]& +5 "core" &\ + "manipulator"& % +3 "core" %  y  +3 "storage"(6% +4 "core" %  s\  + "storage"(h. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(V(  +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" &  )\  +2 "manipulator"&:& +3 "core" &Ӓ$ M =B +2 "manipulator"&O% +4 "core" %  W  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +160 "core" ( + "manipulator"&J& +4 "core" &  +2 "storage"(8& +3 "core" &  ' &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&B'S +95 "core" ' + "storage"("& +4 "core" &  F K $\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +2 .tSE.seek :beamBreak +2 "storage"( 'r +298 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" & +  \  +2 "manipulator"&C& +3 "core" & g  +2 .tElbow.seek 2 +2 "manipulator"&4( +3 "core" ( + "manipulator"&E& +4 "core" &   + "storage"(U& +4 "core" & & '\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&X'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&7/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&_& + "storage"(k' +8 "core" & #  + "manipulator"&Y% +5 "core" %  l + .tForearm.seek :retract +2 "manipulator"&\ ' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( + "manipulator"&1& +4 "core" & Y 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" & A 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&S' +91 "core" ' + "manipulator"&9& +5 "core" &  3 + "manipulator"&%% +4 "core" %  n +2 "processing"%0& +3 "core" &\ +2 "processing"%|& +6 "core" &\ +2 .tPC.seek :closed + "processing"%+(^ +4 "core" &\  +9 &1v\ *x +10 &b{\ > +9 &ll\ O +10 &0K\ N +9 &N\ N +9 &N\ N +10 &uM\ N +9 &7M\ N +9 &M\ N +10 &N\ O +9 & |N\ N +10 &">O\ N +9 &$K\ N +9 &%L\ N +10 &'N\ N +9 &)GO\ N +9 &+ N\ N +10 &,N\ N +9 &.N\ N +10 &0OP\ N +9 &2O\ N +9 &3O\ O +10 &5P\ N +9 &7VM\ N +9 &9R\ N +10 &:P\ O +9 &<P\ N +9 &>^N\ N +10 &@ O\ N +9 &AT\ O +10 &Cb\ P +9 &E]k\ Q +9 &G{\ S +10 &H\ U +9 &J\ U +9 &LY\ U +10 &N\ V +9 &O\ V +10 &Q\ W +9 &S]\ W +9 &U\ W +10 &V\ W +9 &X\ V +10 &Zf\ V +9 &\\&\ W +9 &]x\ 9 +10 &^/\ U +9 &^"\ 3 +2 ( +2 "processing"%|& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 +2 .Hand.open + "manipulator"&N1 +64 "core" 1 + "manipulator"&D% +53 "core" %  " n +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p' +97 "core" ' + "processing"%c& +4 "core" &^ \ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Q% +4 "core" % #  4 8 +2 "storage"(i% +3 "core" % J\  +2 "storage"(r. +3 "core" .(  + "storage"(H& +4 "core" &  t\  +2 "storage"(m& +2 "manipulator"&;& +7 "core" &  2\  + & R 3 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&K( +6 ."raiseStack"SE.seek :beamBreak + "storage"(u'r +3 "core" ( + "manipulator"&A& +4 "core" & _ 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &  b 3 +2 .tForearm.seek PC +2 "manipulator"&[' +91 "core" ' + .tHand.close +2 "manipulator"&{/ +60 "core" / +2 .tPC.seek :open +2 "processing"%3( +96 "core" ' + "storage"(o- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(q'1 +44 "core" ' +302 ( + "storage"(w& +4 "core" &  &\  +2 "manipulator"&& +3 "core" &  3 +2 "manipulator"&j% +3 "core" %  i @ +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&f( +243 "core" ( +2 "manipulator"&& +4 "core" & d B + "storage"(& +4 "core" &  Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +105 "core" ' +2 .tHand.open + "manipulator"&~1 +58 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(y' +61 "core" ' +2 #tLights, camera, ACTION! + "storage"(}- +3 "core" -' +2 "storage"(& +4 "core" & G J\ Z +2 "manipulator"&& +4 "core" &  Q B + .tElbow.seek 2 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&&& +4 "core" &   B + "storage"(g& +4 "core" & e ] \ j +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&`'S +17 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +56 "core" ' + "manipulator"&& +5 "core" & S B + "storage"(& +4 "core" &  Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&a'Α +21 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(W' +27 "core" ' + "manipulator"&t% +5 "core" %Ρ U + "storage"(& +4 "core" &  Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&*' +16 "core" ' +2 "manipulator"&& +4 "core" & ` B +2 "storage"(& +4 "core" & & '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&x'S +16 "core" ' +2 "storage"(b% +4 "core" % ( &\ +2 ."downElevator"SE.seek :down +4 "storage"($' +99 (% +3 "core" %^O  n\ Yn + "manipulator"&% +4 "core" %D K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (#& +4 "core" &  \  + "collection"'& +4 "core" &\\t 0\ X +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % & &\  + "storage"(n. +3 "core" .(  +2 "storage"(& +3 "core" & % & \  +2 "storage"(!& +4 "core" & % % K\  + "manipulator"&)& +4 "core" & Z B +2 .tElbow.seek 2 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&5& +4 "core" & } B + "storage"(e& +4 "core" & % &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&@'S +93 "core" ' +2 "storage"(>& +4 "core" & D 7 =\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +297 "core" ' + "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +2 "core" & g B +2 "storage"(& +4 "core" &  ;\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&?'Α +25 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(R- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(I'q +33 "core" ' + "manipulator"&% +4 "core" %Ζ % +2 "storage"( & +3 "core" & ( ' E\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 305 counts + "manipulator"&P' +14 "core" ' + "manipulator"&(& +4 "core" &  A +2 "storage"(^& +4 "core" & & % N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&.'S +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(<' +44 "core" ' + "manipulator"&]& +4 "core" & f A +2 "manipulator"& % +4 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h(ӂ +152 "core" ( +2 "manipulator"&,& +4 "core" &ӝ  w :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +2 "core" &ӝ  $ :- +2 .tForearm.seek CC +2 "manipulator"&:'? +92 "core" ' + .tHand.close + "manipulator"&O/ +57 "core" / +2 .tCC.seek :open + "collection"'( +447 "core" ( +2 "storage"(J& +4 "core" & M\  +2 "storage"(8& +3 "core" & \  +2 "manipulator"&L& +3 "core" &ӝ  p :- +2 "manipulator"&"% +3 "core" % A p \\ +2 .tForearm.seek :retract +2 "manipulator"&M' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&l( +161 "core" ( + "manipulator"&z& +4 "core" &   +2 "storage"(G& +3 "core" & |  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&C'Α +93 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&U1 +61 "core" 1 +2 "manipulator"&7% +4 "core" % Ξ = L +2 "storage"(_& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 313 counts +2 "manipulator"&Y' +15 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(B& +3 "core" & *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +14 "core" ' +2 "storage"(X% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(1' +99 (\\% +3 "core" %; | 8\ Vd + "manipulator"&4% +4 "core" %B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9' +136 "core" ' +5 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [1..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'%& +5 "core" & \ + "manipulator"&0% +4 "core" %   +2 "storage"(k% +4 "core" % \  + "storage"(\ . +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(s( +341 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (N& +3 "core" &  =\ +2 "manipulator"&D& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&|( +29 "core" ( + "manipulator"&c& +5 "core" &x i 7 + "storage"(Q& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&i'7 +95 "core" ' +2 "storage"(r& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'r +294 "core" ' + "storage"(m- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +2 "core" & | g\ +2 "manipulator"&A& +3 "core" &x 7 +2 .tElbow.seek 3 +2 "manipulator"&d( +11 "core" ( +2 "manipulator"&S& +4 "core" &y  # +2 "storage"({& +3 "core" & | _\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&o'ϡ +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&-/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&p& +2 "storage"(+' +7 "core" &{  7 "~ + "manipulator"&u% +4 "core" % Ϯ  n +2 .tForearm.seek :retract +2 "manipulator"&w' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +152 "core" ( + "manipulator"&j& +4 "core" &z/ F +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&[& + "storage"(5 +7 "core" &{. _ E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 "manipulator"&& +5 "core" &Ө& 7 ?V + "manipulator"&K% +4 "core" %@ - r +2 "collection"'~& +4 "core" & I\ +2 "collection"'& +5 "core" & B\ +2 .tCC.seek :closed +2 "collection"'}(\\ +4 "core" & <\  +8 &5y 2\ +{ +10 &e{ W\ > +9 &l H\ M +10 &\\R [\ L +9 &R ^\ L +9 &R V\ L +10 &Q T\ L +9 &dU c\ L +10 &'T [\ L +9 &R @\ L +9 & U A\ L +10 &"mR Y\ L +9 &$.Q C\ L +9 &%S ]\ L +10 &'R ]\ L +9 &)tU V\ L +9 &+6S W\ L +10 &,T ]\ L +9 &.S V\ L +10 &0}R N\ L +9 &2?S P\ L +9 &4V Q\ L +10 &5R N\ L +9 &7S K\ L +9 &9FS (\ L +10 &;S 5\ L +9 &<T /\ L +10 &>T D\ L +9 &@MT I\ L +9 &BT F\ M +10 &C\\ M\ M +9 &Ee V\ N +10 &GIx U\ P +9 &I <\ S +9 &J 2\ X +10 &Lv 3\ Y +9 &N7 0\ Y +9 &O /\ Z +10 &Q 6\ Y +9 &Sy 1\ [ +9 &U; 2\ [ +10 &V 0\ \\ +9 &X 0\ \\ +10 &Zx 0\ ^ +9 &\\z 1\ 1 +9 &\\0 1\ d +9 ( +4 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&1 +4 "core" &\\c 0\ P +59 1 + "manipulator"&% +4 "core" % @ r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&g% +4 "core" %  y  + "storage"(% +4 "core" % ' & \ + "storage"(. +3 "core" .( +2 "storage"(q& +3 "core" & & &\ +2 "storage"(t& +4 "core" & 0 &\ + "manipulator"&& +4 "core" &Ө&  5 ?V + "manipulator"&% +4 "core" %  9  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(b& +4 "core" & C B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&f'7 +96 "core" ' + "storage"( & +5 "core" & U P N\ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & & &\ +2 "manipulator"&`& +3 "core" & A  +2 .tElbow.seek 3 +2 "manipulator"&v( +3 "core" ( + "manipulator"&& +4 "core" & \  + "storage"(a& +4 "core" & ' & N\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&#'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +8 "core" & :  + "manipulator"&% +5 "core" % Ϟ Z + .tForearm.seek :retract +2 "manipulator"&n' +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&W( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&& +5 "core" &  + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" & 8 + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&)' +93 "core" ' +2 "manipulator"&5& +4 "core" & y + + "manipulator"&e% +4 "core" % b H +2 "processing"%x& +4 "core" &\ + "processing"%>& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%$(^ +5 "core" &\ +6 & ,\ #b +9 &Uu\ 7 +9 &}r\ K +10 &P\ N +9 &\\N\ N +9 &K\ N +10 &N\ N +9 &K\ N +10 &dM\ N +9 &&N\ N +9 &L\ N +10 &!L\ N +9 &#jN\ N +9 &%+N\ O +10 &&N\ N +9 &(N\ N +9 &*sN\ N +10 &,5N\ N +9 &-M\ N +10 &/N\ N +9 &1zN\ N +9 &3;O\ O +10 &4N\ N +9 &6Q\ N +10 &8O\ O +9 &:CO\ O +9 &<O\ N +10 &=M\ N +9 &?N\ N +9 &ALO\ N +10 &C\ ^\ P +9 &De\ Q +9 &Fv\ S +10 &HA\ U +9 &J\ U +10 &K\ U +9 &M\ U +9 &OF\ V +10 &Q\ W +9 &R\ V +9 &T\ X +10 &VM\ V +9 &X\ V +10 &Y\ W +9 &[\ W +9 &]S\ G +10 &^w@p\ (v +9 &^0\ 0 +6 ( + "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.75 + .Hand.open + "manipulator"&'1 +4 "core" &^\ 0 +50 1 +2 "manipulator"& % +4 "core" %  " H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +94 "core" ' +2 "processing"%2& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %  R  + "storage"(R% +4 "core" % & &\  + "storage"(. +3 "core" .( +2 "storage"( & +4 "core" & & ' \ +2 "storage"((& +4 "manipulator"&^& +4 "core" & & & \ + & + +2 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&]( "storage"( 'r +6 "core" ( +2 "manipulator"&@& +3 "core" & + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" & # + +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&?/ +62 "core" / + .tPC.seek :open +2 "processing"%P( +95 "core" ' +2 "storage"(I- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'1 +46 "core" ' +301 ( +2 "storage"(F& +4 "core" & ' -\ +2 "manipulator"&.& +3 "core" &  + +2 "manipulator"&=% +3 "core" %  * 3 +2 .tForearm.seek :retract +2 "manipulator"&O' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&6( +245 "core" ( +2 "manipulator"&/& +4 "core" &  W + "storage"(J& +4 "core" & 4 3 Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +51 "manipulator"&8'7 +95 "core" ' +2 .tHand.open + "manipulator"&L1 +53 "core" 1 +2 "storage"("- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(z' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(G' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' + "storage"(h& +4 "core" & L\ w +2 "manipulator"&U& +4 "core" &  : V + .tElbow.seek 3 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&_& +3 "core" &   I V +2 "storage"(& +4 "core" & N\ w +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&B'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(X'" +51 "core" ' + "manipulator"&M& +5 "core" & ( V + "storage"(\\& +4 "core" & ) ' =\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&4'u +18 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(C' +19 "core" ' +2 "manipulator"&%% +4 "core" %} Q  +2 "storage"(0& +4 "core" &  $ O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&Y'ϩ +13 "core" ' + "manipulator"&k& +5 "core" & 0 V + "storage"(\ & +5 "core" & C D \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&<'7 +19 "core" ' + "storage"( % +5 "core" % C ; m\ +2 ."downElevator"SE.seek :down +4 "storage"(1' +99 (V% +3 "core" %=  $ X\ Vb +2 "manipulator"&N% +3 "core" %> A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D' +88 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (c& +4 "core" & ' % \\\ +2 "collection"'Q& +3 "core" &\\c B\ P +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&r% +4 "core" %  G  +2 "storage"(E% +3 "core" % = 0\  +2 "storage"(9. +3 "core" .( + "storage"(m& +4 "core" & 0 * \ +2 "storage"(;& +3 "core" & C C P\ +2 "manipulator"&A& +3 "core" & I V +2 .tElbow.seek 3 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&{& +3 "core" & c V +2 "storage"(-& +4 "core" & 0 % +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&p'7 +91 "core" ' +2 "storage"(u& +4 "core" & = A K\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'r +298 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&j& +3 "core" & V +2 "storage"([& +3 "core" & ' 2 G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&H'u +24 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +7 "storage"(- +8 "core" -' +4 .tSE.seek 0.16 Pucks below Top Plate + "storage"(K'r +46 "core" ' + "manipulator"&~% +5 "core" %· G + "storage"(d& +4 "core" & & & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&+'ϳ +15 "core" ' + "manipulator"&w& +4 "core" & b V +2 "storage"(& +4 "core" & K K 3\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +38 "core" ' +2 "manipulator"&& +4 "core" & V + "manipulator"&g% +4 "core" %( % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +167 "core" ( +2 "manipulator"&q& +4 "core" &Ӊ N / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &Ӊ X / +2 .tForearm.seek CC +2 "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( +2 "storage"(& +4 "core" & z x <\ + "storage"(& +4 "core" & \ + "manipulator"&b& +4 "core" &ӊ  / + "manipulator"& % +4 "core" % # V +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&&( +161 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" & \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&`'u +93 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&a1 +63 "core" 1 +2 "manipulator"&*% +4 "core" % s 1 + + "storage"(& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 298 counts +2 "manipulator"&'ϟ +13 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(f& +4 "core" & .\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&y'7 +19 "core" ' + "storage"(#% +4 "core" % =\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (!% +4 "core" %6 | f\ U] + "manipulator"&v% +4 "core" %' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 1 of [1..3] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'e& +4 "core" & >\ +2 "manipulator"&x% +4 "core" %    + "storage"(% +4 "core" % \  + "storage"(n. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(3(C +665 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &C \ +2 "manipulator"& & +3 "core" & `  +2 .tElbow.seek 1 +2 "manipulator"&2( +54 "core" ( +2 "manipulator"&& +4 "core" & ]  +6 "storage"(R& +4 "core" &C ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"( & +4 "core" &C n\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'r +304 "core" ' +2 "storage"((- +3 "core" -'. + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (>& +3 "core" &C x  *\ +2 "manipulator"&@& +3 "core" &  +2 .tElbow.seek 1 + "manipulator"&Z( +5 "core" ( +2 "manipulator"&)& +4 "core" & u + "storage"(?& +4 "core" &C \ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&I'd +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&T& +2 "storage"($' +8 "core" &  P u + "manipulator"& % +4 "core" % ϕ +2 .tForearm.seek :retract +2 "manipulator"&F' +93 "core" ' +2 .tElbow.seek CC +50 "manipulator"&.(ӂ +105 "core" ' + ."downElevator"SE.stop + "storage"(5 +55 "core" ( +2 "manipulator"&=& +4 "core" &Ӌ* Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &ӌ* Bk +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&/'? +101 "core" ' + "manipulator"&J& +5 "core" &ӌ* ` Bk + "manipulator"&]% +4 "core" %I 2 " +2 "collection"'L& +4 "core" & G\ +3 "collection"'"& +4 "core" & Y\ +2 .tCC.seek :closed +2 "collection"':(\\ +4 "core" & A\  +9 &5z D\ +{ +10 & e{ <\ > +9 &m I\ M +10 &VR >\ L +9 &S \\\ L +9 &R ?\ L +10 &R Z\ L +9 &_R ?\ L +9 & U 6\ L +10 &Q 8\ L +9 & Q ;\ L +9 &"gR 3\ L +10 &$)R =\ L +9 &%R 6\ L +10 &'R c\ L +9 &)pR B\ K +9 &+/S 9\ L +10 &,S J\ L +9 &.O ;\ L +9 &0vR X\ L +10 &28R @\ L +9 &3S 8\ L +10 &5T 5\ L +9 &7}R 7\ L +9 &9?S 6\ L +10 &;O [\ L +9 &<R =\ L +9 &>T S\ L +10 &@GU :\ L +9 &BZ (\ M +10 &Ca .\ N +9 &Et V\ P +9 &G: 3\ T +10 &H /\ X +9 &J 0\ Y +9 &Ln '\ Z +10 &N0 )\ Z +9 &O ,\ Z +10 &Q .\ [ +9 &Sq .\ [ +9 &U0 7\ \\ +10 &V +\ \\ +9 &X ,\ ^ +9 &Zr 7\ ^ +10 &\\x :\ 8 +9 &\\) 3\ (w +10 &\\ ;\ ^ +2 ( + "collection"'"& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.40 + .Hand.open + "manipulator"&h1 +61 "core" 1 +2 "manipulator"&U% +5 "core" % H  l # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +93 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&O% +4 "core" %    +2 "storage"(M% +3 "core" %  _\  +2 "storage"(\\. +3 "core" .(C + "storage"(%& +4 "core" &C  \ +2 "storage"(0& +3 "core" &C  k\ +2 "manipulator"&k& +4 "core" &ӎ* ; Bi + "manipulator"&,% +4 "core" %  +  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&\ ( +161 "core" ( + "manipulator"&z& +5 "core" & + "storage"( & +4 "core" &C   \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&6' +97 "core" ' + "storage"(8& +4 "core" &C & & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +2 .tSE.seek :beamBreak +2 "storage"(G'r +300 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &C % ' ?\ +2 "manipulator"&B& +3 "core" & P  +2 .tElbow.seek 1 +2 "manipulator"&7( +7 "core" ( + "manipulator"&X& +4 "core" &   +2 "storage"(4& +3 "core" &C \ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&Y'd +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(r' +7 "core" &  +2 "manipulator"&E% +4 "core" % ^ J +2 .tForearm.seek :retract + "manipulator"&9' +93 "core" ' + .tElbow.seek PC +2 "manipulator"&C( +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&m& +4 "core" & _ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" & @ 8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&A' +96 "core" ' +2 "manipulator"&{& +4 "core" & 8 +2 "manipulator"&-% +3 "core" %   +2 "processing"%<& +4 "core" &\ +2 "processing"%u& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%1(^ +4 "core" &\ \ +10 &0s\ )w +9 &b{\ > +9 &ll\ N +10 &-Q\ N +9 &N\ N +9 &N\ N +10 &sM\ N +9 &5M\ N +10 &K\ N +9 &N\ N +9 & zN\ O +10 &">L\ N +9 &#O\ N +10 &%J\ N +9 &'N\ N +9 &)EN\ N +10 &+J\ N +9 &,N\ N +9 &.M\ N +10 &0NK\ N +9 &2N\ O +9 &3N\ N +10 &5L\ N +9 &7UL\ N +10 &9M\ N +9 &:L\ O +9 &<O\ O +10 &>]N\ N +9 &@P\ N +9 &AZ\ P +10 &Cr\ R +9 &ES\ U +10 &G\ U +9 &H\ U +9 &J\ U +10 &LX\ U +9 &N\ W +9 &O0\ V +10 &Q\ V +9 &SX\ X +10 &U\ W +9 &V\ V +9 &X\ W +10 &Za\ X +9 &\\&\ W +9 &]\ 4 +10 &^5r\ = +9 ( + &^\ . +2 "processing"%u& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&l1 +52 "core" 1 +2 "manipulator"&D% +4 "core" %  K  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i' +96 "core" ' + "processing"%j& +4 "core" &^\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&[% +4 "core" % #   0 +2 "storage"(% +3 "core" %  \  +2 "storage"(~. +3 "core" .(C + "storage"(d& +4 "core" &C \ +2 "storage"(w& +4 "manipulator"&& +4 "core" &C  \ + & < 8 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(g'r +5 "core" ( + "manipulator"&p& +4 "core" &  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &   8 +2 .tForearm.seek PC +2 "manipulator"&|' +92 "core" ' +2 .tHand.close + "manipulator"&H/ +61 "core" / +2 .tPC.seek :open +2 "processing"%+( +95 "core" ' + "storage"(K- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(q'1 +40 "core" ' +308 ( +2 "storage"(t& +4 "core" &C  _\ + "manipulator"&& +4 "core" & 8 + "manipulator"&o% +4 "core" %  H , +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +256 "core" ( + "manipulator"&}& +4 "core" & s +2 "storage"(& +4 "core" &C # & \ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +90 "core" ' +2 .tHand.open + "manipulator"&b1 +63 "core" 1 +2 "storage"( - +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &C\  .\ \\ + "manipulator"&a& +4 "core" &  n +2 .tElbow.seek 1 + "manipulator"&*( +4 "core" ( + "manipulator"&& +4 "core" &   H +2 "storage"(& +3 "core" &C * (\ ^ +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&f' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(#'" +58 "core" ' + "manipulator"&& +4 "core" & ) +2 "storage"(!& +4 "core" &C 4 3\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&v'8 +23 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(`' +28 "core" ' +2 "manipulator"&e% +4 "core" %= V +2 "storage"(& +4 "core" &C \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 305 counts +2 "manipulator"&x'i +14 "core" ' +2 "manipulator"&& +4 "core" & +2 "storage"(n& +4 "core" &C & &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +18 "core" ' + "storage"(y% +54 "core" % ' &\ +3 ."downElevator"SE.seek :down +4 "storage"(' +99 (s% +2 "core" %q;  \ Vc +2 "manipulator"&'% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &C  $\ + "collection"'R& +4 "core" &\\ E\ ^ +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"& % +4 "core" %   +2 "storage"(% +3 "core" % ?\  +2 "storage"(5. +3 "core" .(C + "storage"((& +4 "core" &C  \ +2 "storage"(>& +4 "core" &C \ + "manipulator"&@& +4 "core" & L +2 .tElbow.seek 1 +2 "manipulator"&)( +3 "core" ( + "manipulator"&?& +4 "core" &  +2 "storage"(W& +4 "core" &C  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&T' +94 "core" ' +2 "storage"( & +4 "core" &C & &\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'r +306 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&^& +3 "core" & R + "storage"(I& +4 "core" &C  E\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&='8 +23 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(]'{ +28 "core" ' +2 "manipulator"&L% +4 "core" %=  + "storage"(Z& +4 "core" &C ' & .\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 305 counts + "manipulator"&$'i +16 "core" ' + "manipulator"&F& +4 "core" & +2 "storage"(& +4 "core" &C  " \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&h' +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(U' +39 "core" ' +2 "manipulator"&& +4 "core" & , +2 "manipulator"&O% +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M' +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +156 "core" ( + "manipulator"&%& +4 "core" &ӑ$ =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &ӑ$ 3 =E +2 .tForearm.seek CC +2 "manipulator"&0'? +93 "core" ' + .tHand.close + "manipulator"&k/ +52 "core" / +2 .tCC.seek :open +2 "collection"',( +450 "core" ( + "storage"(/& +4 "core" &C \ +2 "storage"(z& +3 "core" &C \\ r \ +2 "manipulator"& & +3 "core" &ӕ$ B =A +2 "manipulator"&8% +3 "core" % = 5 4 +2 .tForearm.seek :retract +2 "manipulator"&.' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&_( +160 "core" ( + "manipulator"&V& +5 "core" &  + "storage"(N& +4 "core" &C \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&B'8 +94 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&41 +53 "core" 1 +2 "manipulator"&c% +4 "core" % > H , +2 "storage"(Q& +3 "core" &C \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 306 counts + "manipulator"&E'j +14 "core" ' +2 "manipulator"&\ & +4 "core" & B  + "storage"(6& +4 "core" &C \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&G' +18 "core" ' +2 "storage"(Y% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(m' +99 (;% +3 "core" %7 y \ V_ + "manipulator"&7% +4 "core" % Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +91 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [1..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'-& +5 "core" & J\ + "manipulator"&<% +4 "core" %   +2 "storage"(r% +3 "core" % \  +2 "storage"(9. +3 "core" .(C +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(P(  +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (l& +3 "core" &  e c 8\  + "manipulator"&D& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&j( +4 "core" ( + "manipulator"&[& +4 "core" &  + "storage"(& +4 "core" & z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'S +91 "core" ' +2 "storage"(d& +4 "core" & *\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +293 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" & s ^ b\  +2 "manipulator"&p& +3 "core" & J  +2 .tElbow.seek 2 +2 "manipulator"&S( +3 "core" ( + "manipulator"&A& +4 "core" &  + "storage"(H& +4 "core" &  '\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&K'Ͻ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&C/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& + "storage"(1' +7 "core" & !  +2 "manipulator"&g% +4 "core" % ϼ  y + .tForearm.seek :retract +2 "manipulator"&t' +97 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&o& +4 "core" &ӏ  3 :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &ӏ  # :1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&}'? +101 "core" ' + "manipulator"&& +4 "core" &ӏ! + :1 +2 "manipulator"&% +4 "core" %H :  +2 "collection"'b& +4 "core" & J\ +2 "collection"' & +4 "core" & I\ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" & Q\  +9 &1w H\ *y +10 &e{ L\ > +9 &m H\ M +9 &EN D\ L +10 &R I\ K +9 &R A\ L +9 &R 7\ L +10 &LT 4\ L +9 &R 7\ L +10 &O 6\ L +9 & Q =\ L +9 &"TT ;\ L +10 &$Q <\ L +9 &%Q >\ L +9 &'Q =\ L +10 &)^R 6\ K +9 &+R ;\ L +10 &,R 9\ L +9 &.R 4\ L +9 &0eR 3\ L +10 &2(R 4\ K +9 &3S <\ L +9 &5S ;\ L +10 &7lS 7\ L +9 &9.S 8\ L +9 &:R 7\ L +10 &<S 7\ L +9 &>tS 8\ L +10 &@6R 8\ L +9 &AU .\ L +9 &CZ 4\ M +10 &Eth %\ O +9 &G0y 6\ Q +10 &H 1\ U +9 &J -\ X +9 &L^ 1\ Y +10 &N /\ Z +9 &O .\ Z +9 &Q 2\ [ +10 &S` 2\ [\ +9 &U! 0\ [ +10 &V 4\ \\ +9 &X 4\ ^ +9 &Za 8\ ] +10 &\\{ 5\ 9 +9 &\\) ;\ (w +9 &\\| =\ \\ +3 ( +2 "collection"' & +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&a% +4 "core" % ? &  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %  C  +2 "storage"(% +4 "core" %  \  + "storage"(!. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(e(  +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  H\ +2 "manipulator"&q& +54 "core" &ӏ  h :1 +2 "manipulator"&% +3 "core" %  *  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&n( +163 "core" ( + "manipulator"&& +4 "core" & Y  +2 "storage"(y& +3 "core" & & &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +90 "core" ' +2 "storage"(& +4 "core" & & , 4\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' + "storage"(f- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (s& +3 "core" &  $ L\  +2 "manipulator"&'& +4 "core" & X  +2 .tElbow.seek 2 +2 "manipulator"&*( +3 "core" ( + "manipulator"&#& +4 "core" &  +2 "storage"(v& +3 "core" & " %\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&x'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& + "storage"( ' +8 "core" & L  + "manipulator"&% +4 "core" % ϴ +2 .tForearm.seek :retract +2 "manipulator"&5' +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&`( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( + "manipulator"&(& +5 "core" &  6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +2 "core" & N 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@' +91 "core" ' +2 "manipulator"&?& +4 "core" &  5 + "manipulator"&W% +4 "core" %  = +2 "processing"%& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +5 "core" &\ +7 &4\ $d +9 &Uu\ 7 +10 &t\ L +9 &O\ N +9 &jN\ N +10 &,L\ N +9 &N\ N +10 &L\ N +9 &qN\ N +9 &3N\ N +10 &N\ N +9 &!N\ N +9 &#xN\ N +10 &%:M\ N +9 &&O\ O +10 &(N\ N +9 &*N\ N +9 &,BN\ N +10 &.J\ N +9 &/N\ N +9 &1N\ N +10 &3JQ\ N +9 &5 O\ O +10 &6O\ N +9 &8M\ N +9 &:RL\ N +10 &<M\ N +9 &=L\ N +9 &?N\ O +10 &AYR\ O +9 &C_\ P +9 &Db\ Q +10 &Ft\ S +9 &HO\ U +10 &J\ U +9 &K\ U +9 &M\ U +10 &OV\ U +9 &Q\ W +9 &R\ V +10 &T\ V +9 &VZ\ V +10 &X\ V +9 &Y\ W +9 &[\ V +10 &]a\ D +9 &^Es\ [ +9 &^L\ 8 +6 ( + "processing"% & +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 + .Hand.open + "manipulator"&&1 +4 "core" &^-\ 8 +56 1 + "manipulator"& % +5 "core" %  d = + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' +2 "processing"%^& +4 "core" &^-\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&I% +4 "core" %   J  + "storage"(J% +4 "core" % $\  +2 "storage"(L. +3 "core" .(  + "storage"(Z& +4 "core" & \  +2 "storage"(F& +4 "manipulator"&& +4 "core" &  =\  + & r 5 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( + "storage"(O'r +6 "core" ( + "manipulator"&T& +4 "core" & X 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &  5 +2 .tForearm.seek PC +2 "manipulator"&2' +93 "core" ' +2 .tHand.close + "manipulator"&=/ +61 "core" / +2 .tPC.seek :open +2 "processing"%$( +95 "core" ' + "storage"(]- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(%'1 +54 "core" ' +294 ( + "storage"("& +5 "core" &  9\  + "manipulator"&h& +4 "core" & 6 5 + "manipulator"&% +4 "core" %  ( / +2 .tForearm.seek :retract + "manipulator"&k' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&M( +245 "core" ( +2 "manipulator"&:& +4 "core" & f M + "storage"(/& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&z'S +93 "core" ' + .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "storage"(8- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(V' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(N' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(0- +4 "core" -' +2 "storage"(\\& +3 "core" & @ =\ \\ +2 "manipulator"&4& +4 "core" &  U M + .tElbow.seek 2 +2 "manipulator"&c( +4 "core" ( + "manipulator"&Q& +4 "core" & \  M + "storage"(\ & +4 "core" & \ (\ % ^\ \\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&6'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(Y'" +56 "core" ' + "manipulator"&.& +4 "core" & M +2 "storage"(;& +3 "core" & & &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&7'Α +22 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(B' +28 "core" ' +2 "manipulator"&-% +4 "core" %Ξ +2 "storage"(E& +4 "core" &   >\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&<' +15 "core" ' +2 "manipulator"&r& +4 "core" & e M +2 "storage"(9& +4 "core" &  @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&U'S +15 "core" ' + "storage"(G% +5 "core" % % % :\ +2 ."downElevator"SE.seek :down +3 "storage"(m' +99 (3% +3 "core" %oQ\ Zn +2 "manipulator"&l% +4 "core" %A 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 ([& +4 "core" &  *\  + "collection"'& +4 "core" &\\z G\ \\ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&d% +4 "core" %  ` +2 "storage"(X% +3 "core" % ' & \  +2 "storage"({. +3 "core" .(  + "storage"(w& +4 "core" & & " 6\  +2 "storage"(u& +4 "core" & & & (\  + "manipulator"&p& +4 "core" & ? M + .tElbow.seek 2 +2 "manipulator"&A( +4 "core" ( + "manipulator"&H& +3 "core" & y M +2 "storage"(C& +4 "core" & ' &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&i'S +91 "core" ' +2 "storage"(g& +4 "core" & & &\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'r +311 "core" ' + "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&o& +2 "core" & , M +2 "storage"(|& +4 "core" & & % B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('r +82 "core" ' +2 "manipulator"&b% +4 "core" %Μ C  + "storage"(S& +4 "core" & & ' +\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 311 counts + "manipulator"&1' +14 "core" ' +2 "manipulator"&t& +4 "core" & b M +2 "storage"(,& +3 "core" & & %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(a' +38 "core" ' +2 "manipulator"&& +4 "core" & 7 M +2 "manipulator"&% +4 "core" %A 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' + .tElbow.seek CC +2 "manipulator"&!(ӂ +151 "core" ( +2 "manipulator"& & +4 "core" &Ӟ" ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӟ" ;6 +2 .tForearm.seek CC +2 "manipulator"&q'? +92 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tCC.seek :open +2 "collection"'}( +450 "core" ( + "storage"(& +4 "core" & \  +2 "storage"(y& +4 "core" & u x \  + "manipulator"&P& +4 "core" &Ӟ! " ;6 + "manipulator"&% +4 "core" % B A N +2 .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&f& +4 "core" &  +2 "storage"(s& +3 "core" & { y 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&''Α +98 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +64 "core" 1 +2 "manipulator"&% +4 "core" %  5  +2 "storage"(R& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 282 counts + "manipulator"&'ϫ +15 "core" ' + "manipulator"&n& +5 "core" &  + "storage"(& +4 "core" & Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +19 "core" ' +2 "storage"(x% +4 "core" % 7\ +2 ."downElevator"SE.seek :down +3 "storage"((' +99 (>% +4 "core" %? c t /\ Ve + "manipulator"&*% +4 "core" %a k +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?' +92 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [1..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'W& +5 "core" & N\ + "manipulator"&% +4 "core" %   +2 "storage"( % +4 "core" % \  +2 "storage"(5. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(+( +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" & b ^ \ \  +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&^( +37 "core" ( + "manipulator"&I& +5 "core" &  + "storage"(J& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&L'7 +94 "core" ' + "storage"(Z& +4 "core" & (\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +300 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & z k\  +2 "manipulator"&T& +3 "core" & 1 \ +2 .tElbow.seek 3 +2 "manipulator"&)( +24 "core" ( + "manipulator"&@& +4 "core" &| i +2 "storage"(=& +3 "core" & s\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&]'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&`/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +8 "core" &|  > i + "manipulator"&O% +4 "core" % Ϯ ! +2 .tForearm.seek :retract +2 "manipulator"&"' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&h(ӂ +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&& +4 "core" &Ӛ d 9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &Ӛ d 9' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'? +92 "core" ' + "manipulator"&/& +5 "core" &Ӛ c 9' + "manipulator"&% +4 "core" %5 s n +2 "collection"' & +4 "core" & [\ +3 "collection"'8& +4 "core" & H\ +2 .tCC.seek :closed +2 "collection"'0(\\ +4 "core" & M\  +8 &2x O\ )w +9 &cz Q\ = +10 &{n O\ M +9 &?R Q\ L +9 &R K\ K +10 &R Q\ L +9 &P H\ L +9 &IR H\ K +10 &\ S E\ L +9 &P A\ L +10 & P ;\ L +9 &"PR >\ L +9 &$T @\ L +10 &%Q >\ L +9 &'R @\ L +10 &)WU ?\ L +9 &+S ?\ L +9 &,U >\ L +10 &.R ?\ L +9 &0`R =\ L +9 &2"Q 6\ L +10 &3R ?\ L +9 &5R <\ L +9 &7gU =\ L +10 &9)T <\ L +9 &:S =\ L +10 &<S 8\ L +9 &>pT =\ L +9 &@2S :\ L +10 &AT 7\ L +9 &CX <\ M +9 &Eqd @\ N +10 &G.r =\ P +9 &H >\ S +10 &J 8\ X +9 &LZ 2\ Y +9 &N 6\ Z +10 &O 1\ Y +9 &Q 2\ Z +10 &S\\ 1\ [ +9 &U 2\ [ +9 &V +\ ] +10 &X 0\ ] +9 &Z[ 1\ ^ +9 &\\z 2\ < +10 &\\' 1\ *} +9 &\\ 4\ [ +3 ( + "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + .Hand.open +2 "manipulator"&\\1 +64 "core" 1 +2 "manipulator"&4% +4 "core" % 5 n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q' +102 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%\ & +4 "core" &\ + "manipulator"&k% +4 "core" %  ; z +2 "storage"(.% +3 "core" %  #\  +2 "storage"(;. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(-( +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +2 "core" & .\  +2 "manipulator"&%& +3 "core" &Ӛ \ 9' +2 "manipulator"&r% +4 "core" %  ) z + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&9( +161 "core" ( +2 "manipulator"&V& +4 "core" & `  +2 "storage"(G& +3 "core" & & ' \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&M'7 +90 "core" ' + "storage"(z& +4 "core" & & %\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'r +308 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" &   \  +2 "manipulator"&6& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&c( +3 "core" ( + "manipulator"&Y& +4 "core" & &  + "storage"(7& +4 "core" & & &\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&['ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& +10 &mk\ N +9 &/K\ N +10 &N\ O +9 &M\ N +9 &uM\ N +10 &6L\ N +9 &J\ N +9 &M\ N +10 & |I\ N +9 &">J\ N +10 &#P\ O +9 &%L\ N +9 &'M\ N +10 &)FJ\ N +9 &+N\ N +10 &,J\ N +9 &.M\ N +9 &0MN\ O +10 &2N\ N +9 &3P\ N +9 &5P\ N +10 &7UO\ O +9 &9O\ O +10 &:O\ O +9 &<L\ N +9 &>]R\ O +10 &@Q\ O +9 &AT\ O +9 &Cc\ Q +10 &E[n\ R +9 &G{\ T +9 &H\ U +10 &J\ U +9 &LY\ U +10 &N\ V +9 &O\ U +9 &Q\ W +10 &S]\ W +9 &U\ W +9 &V\ W +10 &X\ V +9 &Zf\ W +10 &\\&\ W +9 &]u2\ : +9 &^3\ T +10 &^\ 0 +2 ( +2 "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.73 + .Hand.open + "manipulator"&_1 +55 "core" 1 +2 "manipulator"&D% +4 "core" %  N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~' +91 "core" ' + "processing"%o& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&|% +4 "core" %  =  +2 "storage"(% +3 "core" % %\  +2 "storage"(b. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(S( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "manipulator"&,& +3 "core" & \ \  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +3 "core" & 4 6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&( +2 "core" ( +2 "manipulator"&i& +3 "core" &   6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" & a 6 +2 .tForearm.seek PC +2 "manipulator"&j' +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +3 .tPC.seek :open + "processing"%1( +87 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( '1 +42 "core" ' +317 ( + "storage"(& +4 "core" & # & \  +2 "manipulator"&& +4 "core" & _ 6 + "manipulator"&K% +4 "core" %  < 4 +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&& +4 "core" & S + "storage"(& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&y'7 +94 "core" ' + .tHand.open + "manipulator"&P1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(f' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(s' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(q- +4 "core" -' +2 "storage"(!& +3 "core" & j f \ i +2 "manipulator"&v& +4 "core" &  b S + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&R& +3 "core" &   S +2 "storage"(n& +4 "core" & ] k c\ j +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(x'" +57 "core" ' +2 "manipulator"&& +4 "core" & V S +2 "storage"(>& +3 "core" &  :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&*'u +21 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"('' +30 "core" ' + "manipulator"&W% +5 "core" %} + "storage"(& +4 "core" & O\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&'ϩ +14 "core" ' +2 "manipulator"& & +4 "core" & = S +2 "storage"(5& +4 "core" & & & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a'7 +18 "core" ' +2 "storage"(% +4 "core" % #  \ +3 ."downElevator"SE.seek :down +3 "storage"((' +98 (e% +3 "core" %h>  x\ We +2 "manipulator"&&% +4 "core" %+ 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +87 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (I& +4 "core" & 3\  +2 "collection"'J& +4 "core" &\\ 6\ [ + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&Z% +4 "core" %    + "storage"(#% +4 "core" % & &\  + "storage"(?. +3 "core" .( +2 "storage"(F& +3 "core" & " % \  +2 "storage"( & +4 "core" & ' ' <\  + "manipulator"&T& +4 "core" & T S +2 .tElbow.seek 3 + "manipulator"&@( +4 "core" ( + "manipulator"&=& +4 "core" & S + "storage"(`& +4 "core" & & &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +94 "core" ' +2 "storage"(O& +4 "core" & ) & T\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'r +296 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  S +2 "storage"(2& +3 "core" & 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +14 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('r +28 "core" ' + "manipulator"& % +5 "core" %} J + "storage"()& +4 "core" &  \ $\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&'ϩ +14 "core" ' + "manipulator"&"& +5 "core" & , S + "storage"(}& +4 "core" & $ & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\\'7 +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(4' +36 "core" ' + "manipulator"&\ & +5 "core" & p S + "manipulator"&k% +5 "core" %' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&8(ӂ +149 "core" ( +2 "manipulator"&;& +4 "core" &}*   Bh + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &~* \  N Bg +2 .tForearm.seek CC +2 "manipulator"&%'? +92 "core" ' +2 .tHand.close + "manipulator"&r/ +60 "core" / + .tCC.seek :open +2 "collection"':( +450 "core" ( +2 "storage"(V& +4 "core" & g f \  + "storage"(G& +4 "core" & b b\  + "manipulator"&+& +4 "core" &ӝ% K >H + "manipulator"&z% +4 "core" % O  R +2 .tForearm.seek :retract + "manipulator"&h' +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Q( +166 "core" ( + "manipulator"&3& +53 "core" &  +2 "storage"(l& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&6'u +94 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&71 +61 "core" 1 +2 "manipulator"&<% +4 "core" % t g . +2 "storage"(& +3 "core" & 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts + "manipulator"&X'Ϡ +13 "core" ' +2 "manipulator"&9& +4 "core" &  +2 "storage"(M& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&N'7 +18 "core" ' + "storage"([% +5 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(w' +99 (u% +3 "core" %5 z  \ U^ + "manipulator"&c% +4 "core" %)  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H' +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 1 of [1..3] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'C& +4 "core" & @\ +2 "manipulator"&U% +4 "core" %   + "storage"(d% +4 "core" % \  + "storage"({. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"($(C +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (_& +3 "core" &D ~ W\ + "manipulator"&D& +4 "core" & +  +2 .tElbow.seek 1 + "manipulator"&o( +52 "core" ( + "manipulator"&|& +4 "core" &  +2 "storage"(& +3 "core" &D <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&b' +98 "core" ' + "storage"(t& +4 "core" &D 4\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'r +302 "core" ' +2 "storage"(,- +3 "core" -'. +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" &D \ +2 "manipulator"&A& +4 "core" & + .tElbow.seek 1 +2 "manipulator"&p( +10 "core" ( + "manipulator"&& +4 "core" & n ` +2 "storage"(-& +3 "core" &D x\ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&'d +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"(m' +7 "core" &  ` + "manipulator"&% +4 "core" % Ϙ  +2 .tForearm.seek :retract +2 "manipulator"&' +99 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&K& +4 "core" &Ӓ$ =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &ӓ# <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 "manipulator"&& +4 "core" &ӓ# ] <@ +2 "manipulator"&% +4 "core" %H [  + "collection"'P& +4 "core" & O\ +3 "collection"'& +4 "core" & V\ +2 .tCC.seek :closed +2 "collection"'q(\\ +4 "core" & A\  +8 &2w ?\ )w +10 &cz K\ = +9 &vm L\ M +10 &:Q U\ L +9 &Q R\ L +9 &U W\ L +10 &Q T\ K +9 &CQ P\ L +9 &Q P\ L +10 &R N\ L +9 & P G\ L +9 &"KR E\ L +10 &$ P L\ L +9 &%R G\ L +10 &'O A\ L +9 &)SQ =\ L +9 &+U ?\ L +10 &,R =\ L +9 &.R >\ L +9 &0ZQ =\ L +10 &2R >\ L +9 &3R @\ L +10 &5U @\ L +9 &7cR >\ L +9 &9%R ?\ L +10 &:Q =\ L +9 &<S B\ L +9 &>kT =\ L +10 &@-S <\ L +9 &AX ?\ L +10 &C_ >\ N +9 &Egs 9\ P +9 &G ?\ T +10 &H 9\ W +9 &J 8\ Z +9 &LS 6\ Y +10 &N 8\ Z +9 &O >\ Z +10 &Q >\ [ +9 &SV >\ [\ +9 &U 5\ \\ +10 &V >\ ] +9 &X <\ ^ +10 &ZT 6\ ^ +9 &[y 7\ A +9 &\\' 3\ . +10 &\\ ;\ \\ +2 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.39 + .Hand.open + "manipulator"&!1 +62 "core" 1 + "manipulator"&v% +5 "core" % B  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R' +92 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%n& +4 "core" &\ +2 "manipulator"&% +4 "core" %  [  + "storage"(% +4 "core" %   j\  +2 "storage"(>. +3 "core" .(C + "storage"(W& +4 "core" &D   a\ +2 "storage"(& +3 "core" &D   k\ +2 "manipulator"& & +4 "core" &ӓ# G <@ + "manipulator"& % +4 "core" %   @  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&5( +162 "core" ( + "manipulator"&f& +4 "core" & @  +2 "storage"(& +4 "core" &D "  '\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(y& +4 "core" &D & (\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'r +298 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (&& +3 "core" &D  2\ +2 "manipulator"&& +3 "core" & 7  +2 .tElbow.seek 1 +2 "manipulator"&( +3 "core" ( + "manipulator"&x& +4 "core" & \  + "storage"(*& +4 "core" &D |\ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&I'd +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"(Z' +7 "core" & _  +2 "manipulator"&#% +4 "core" % ϔ r + .tForearm.seek :retract +2 "manipulator"&?' +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&'( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&F& +4 "core" & .  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&T' +96 "core" ' +2 "manipulator"&=& +4 "core" & D  +2 "manipulator"&`% +4 "core" % X  + "processing"%a& +4 "core" &\ +2 "processing"%O& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%((^ +5 "core" &\ +7 & -\ $c +9 &Uv\ 7 +9 &~p\ K +10 &L\ N +9 &XN\ N +10 &L\ N +9 &N\ N +9 &J\ N +10 &aL\ N +9 &"O\ N +9 &O\ N +10 &!N\ N +9 &#hN\ N +10 &%*M\ N +9 &&N\ N +9 &(O\ N +10 &*qN\ N +9 &,3N\ N +9 &-N\ N +10 &/O\ N +9 &1xN\ N +10 &3:P\ N +9 &4O\ N +9 &6L\ N +10 &8P\ O +9 &:AO\ O +9 &<O\ O +10 &=P\ N +9 &?N\ O +10 &AHV\ O +9 &Cf\ Q +9 &Dv\ S +10 &F~\ T +9 &H?\ U +9 &J\ T +10 &K\ V +9 &M\ V +9 &OB\ V +10 &Q\ W +9 &R\ X +10 &T\ X +9 &VI\ W +9 &X\ \ W +10 &Y\ W +9 &[\ W +9 &]P\ I +10 &^vA}\ &q +9 &^B\ 8 +6 ( +2 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.77 +2 .Hand.open + "manipulator"&1 +4 "core" &^,\ 8 +53 1 + "manipulator"& % +4 "core" %   R  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L' +93 "core" ' +2 "processing"%& +4 "core" &^,\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&2% +3 "core" %   \ +2 "storage"(/% +4 "core" % g\  + "storage"( . +3 "core" .(C +2 "storage"()& +4 "core" &D N\ + "storage"("& +4 "manipulator"&}& +4 "core" &D 2\ + & O  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +54 "manipulator"&\ ( +2 "storage"(k'r +5 "core" ( + "manipulator"&& +4 "core" & n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &   +2 .tForearm.seek PC +2 "manipulator"&^' +92 "core" ' + .tHand.close + "manipulator"&/ +65 "core" / +2 .tPC.seek :open + "processing"%( +94 "core" ' +2 "storage"(;- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +46 "core" ' +306 ( + "storage"(E& +4 "core" &D  R\ +2 "manipulator"&\\& +4 "core" & D  + "manipulator"&]% +4 "core" %  5 : +2 .tForearm.seek :retract +2 "manipulator"&r' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&.( +253 "core" ( + "manipulator"&0& +4 "core" & !  +2 "storage"(V& +3 "core" &D & %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&G' +93 "core" ' + .tHand.open +2 "manipulator"&+1 +59 "core" 1 +2 "storage"(z- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(3' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(%' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +4 "core" -' +2 "storage"(8& +3 "core" &D / 3 0\ a +2 "manipulator"&7& +4 "core" & \   + .tElbow.seek 1 +2 "manipulator"&<( +4 "core" ( + "manipulator"&& +4 "core" &    +2 "storage"(9& +3 "core" &D [\ q +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&M' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(['" +56 "core" ' + "manipulator"&h& +4 "core" & `  +2 "storage"(u& +3 "core" &D 3 0 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&c'8 +23 "core" ' +2 .tElbow.hold + "manipulator"&Q, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(6' +28 "core" ' + "manipulator"&C% +5 "core" %= M + "storage"(X& +4 "core" &D  \ d\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 305 counts +2 "manipulator"&U'i +14 "core" ' + "manipulator"&d& +4 "core" &  +2 "storage"({& +5 "core" &D  % T\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&4' +15 "core" ' +2 "storage"(N% +4 "core" % 2 2 k\ +3 ."downElevator"SE.seek :down +3 "storage"(w' +98 (S% +3 "core" %n=  *\ We +2 "manipulator"&_% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +91 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (|& +4 "core" &D   @\ +2 "collection"'& +4 "core" &\\z 8\ \\ +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&t% +4 "core" %  V  +2 "storage"(Y% +3 "core" % #  ?\  +2 "storage"(H. +3 "core" .(C + "storage"(,& +4 "core" &D   S\ +2 "storage"(i& +3 "core" &D "  \ +2 "manipulator"&A& +3 "core" & G  +2 .tElbow.seek 1 +2 "manipulator"&( +3 "core" ( + "manipulator"&-& +4 "core" &  +2 "storage"(B& +3 "core" &D "  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&~' +97 "core" ' +2 "storage"(& +4 "core" &D ' &\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'r +298 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&K& +3 "core" & i  +2 "storage"(j& +3 "core" &D   '\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&g'8 +15 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate + "storage"('y +30 "core" ' +2 "manipulator"&P% +4 "core" %G T ) + "storage"(p& +4 "core" &D  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 315 counts +2 "manipulator"&m's +15 "core" ' + "manipulator"&& +5 "core" &   + "storage"(:& +4 "core" &D 4 3 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&!' +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(v' +35 "core" ' +2 "manipulator"&n& +4 "core" & y  +2 "manipulator"&% +3 "core" % | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&>(ӂ +158 "core" ( + "manipulator"&W& +5 "core" &ӏ#  <> + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӏ#  . <> +2 .tForearm.seek CC +2 "manipulator"&'? +94 "core" ' +2 .tHand.close + "manipulator"& / +53 "core" / +2 .tCC.seek :open +2 "collection"' ( +450 "core" ( +2 "storage"(& +4 "core" &D a `\ + "storage"(f& +4 "core" &D b a\ + "manipulator"&& +4 "core" &Ӕ# S <9 + "manipulator"&y% +4 "core" % O ] < +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&R( +161 "core" ( + "manipulator"&e& +4 "core" & 0  +2 "storage"(&& +3 "core" &D { } 3\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&'8 +99 "core" ' + .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&*1 +55 "core" 1 +2 "manipulator"&% +5 "core" % I N + "storage"(J& +4 "core" &D | !\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&#'u +15 "core" ' +2 "manipulator"&5& +4 "core" &  +2 "storage"(& +4 "core" &D {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&s' +18 "core" ' + "storage"(I% +4 "core" % P\ +3 ."downElevator"SE.seek :down +3 "storage"(F' +99 ( % +2 "core" %9 \ U^ +2 "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&=' +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [1..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'`& +4 "core" & L\ +2 "manipulator"&a% +4 "core" %    + "storage"(Z% +4 "core" % s\  +2 "storage"(?. +3 "core" .(C + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(1(  +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  } ~ \  + "manipulator"& & +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&2& +4 "core" & \  + "storage"(/& +52 "core" &  \\\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +92 "core" ' +2 "storage"()& +4 "core" &  (\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'r +296 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +2 "core" & s Y \  +2 "manipulator"&& +4 "core" & *  + .tElbow.seek 2 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&T& +3 "core" &  +2 "storage"(& +3 "core" & 9\  +3 .tForearm.seek 2 + 300 counts + "manipulator"&''Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& +2 "storage"((' +6 "core" &   +2 "manipulator"&k% +4 "core" % ϴ +2 .tForearm.seek :retract + "manipulator"&E' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&\\(ӂ +90 "Can"\ HE +60 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&]& +4 "core" &ә   :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &ә  : :, +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'? +91 "core" ' +2 "manipulator"&V& +4 "core" &ә  d :, +2 "manipulator"&\ % +4 "core" %H  q +2 "collection"'+& +3 "core" & ;\ +2 "collection"'z& +6 "core" & >\ +2 .tCC.seek :closed + "collection"'l(\\ +5 "core" & @\  +8 &2w ;\ *y +10 &cz D\ = +9 &xn J\ M +9 &=Q P\ L +10 &U R\ L +9 &P U\ L +10 &O Q\ L +9 &FQ J\ K +9 &S P\ L +10 &U I\ L +9 & P M\ L +10 &"MQ O\ L +9 &$Q E\ K +9 &%R C\ L +10 &'P ?\ L +9 &)VR ?\ K +9 &+R >\ L +10 &,Q 9\ L +9 &.R <\ L +9 &0]Q B\ L +10 &2R =\ L +9 &3U 9\ L +10 &5R ;\ K +9 &7eR A\ L +9 &9(R >\ K +10 &:S ?\ L +9 &<S >\ L +9 &>mT ;\ L +10 &@.U 7\ L +9 &AU >\ L +10 &C] <\ M +9 &Emg <\ N +9 &G'{ >\ Q +10 &H =\ U +9 &J A\ X +10 &LV M\ Y +9 &N >\ Z +9 &O <\ Z +10 &Q 5\ Z +9 &SW @\ [ +9 &U ;\ [ +10 &V ?\ ] +9 &X <\ ] +9 &ZX 7\ ^ +10 &[{ ?\ < +9 &\\& @\ + +10 &\\ ?\ \\ +2 ( + "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&81 +57 "core" 1 +3 "manipulator"&7% +4 "core" % H 3 q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%9& +4 "core" &%\ + "manipulator"&r% +4 "core" %   +2 "storage"(h% +3 "core" %  \  +2 "storage"(u. +3 "core" .(  + "storage"(C& +4 "core" &   \  + "storage"(& +4 "core" &   \  +2 "manipulator"&X& +4 "core" &ә  % :, + "manipulator"&d% +4 "core" %  L  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&3( +166 "core" ( + "manipulator"&{& +4 "core" &   +2 "storage"(N& +4 "core" &  9\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&.'S +98 "core" ' + "storage"(G& +5 "core" & & \ \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'r +300 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +2 "core" &  \  +2 "manipulator"&M& +3 "core" & d  +2 .tElbow.seek 2 + "manipulator"&<( +4 "core" ( + "manipulator"&[& +4 "core" & <  + "storage"(c& +4 "core" &  $ \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&|'Ͻ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&U/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(t' +7 "core" &  + "manipulator"&Y% +4 "core" %  ; z +2 .tForearm.seek :retract +2 "manipulator"&H' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&6( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( +2 "manipulator"&,& +4 "core" & q G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +4 "core" & G + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&A' +92 "core" ' + "manipulator"&-& +4 "core" & G +2 "manipulator"&B% +4 "core" % F P +2 "processing"%4& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%w(^ +4 "core" &\ +8 & ,\ #b +9 &Tw\ 7 +9 &t\ L +10 &K\ N +9 &TO\ N +9 &L\ N +10 &M\ N +9 &L\ N +9 &[N\ O +10 &N\ N +9 &M\ N +9 &!O\ N +10 &#dN\ N +9 &%&N\ N +10 &&N\ O +9 &(N\ N +9 &*lN\ N +10 &,-N\ O +9 &-N\ N +9 &/N\ N +10 &1uJ\ N +9 &35N\ O +10 &4N\ N +9 &6L\ N +9 &8|L\ N +10 &:?M\ N +9 &;O\ O +10 &=L\ N +9 &?O\ N +9 &AER\ O +10 &CZ\ P +9 &D^\ Q +9 &Fs\ S +10 &H;\ U +9 &I\ U +9 &K\ U +10 &M~\ V +9 &OA\ U +10 &P\ W +9 &R\ V +10 &T\ W +9 &VF\ V +9 &X\ W +9 &Y\ V +10 &[\ V +9 &]L\ J +10 &^yI\ ` +9 &^ O\ 6 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.74 + .Hand.open +2 "manipulator"&Q1 +3 "core" &^&\ 6 +57 1 + "manipulator"&D% +5 "core" %   P + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&b' +90 "core" ' +2 "processing"%K& +4 "core" &^&\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&j% +4 "core" %  /  +2 "storage"(% +3 "core" % {\  +2 "storage"(P. +3 "core" .(  + "storage"(p& +4 "core" &  \  +2 "storage"(& +5 "manipulator"&:& +3 "core" &  M\  + & 8 G +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&n( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('r +2 "core" ( + "manipulator"&~& +4 "core" & I G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & q G +2 .tForearm.seek PC +2 "manipulator"&o' +91 "core" ' +2 .tHand.close + "manipulator"&g/ +58 "core" / +2 .tPC.seek :open +2 "processing"%m( +101 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +3 "storage"(W'1 +45 "core" ' +294 ( +2 "storage"(& +4 "core" & ' & \ \  + "manipulator"&!& +4 "core" & J G + "manipulator"&% +4 "core" %  X M +2 .tForearm.seek :retract + "manipulator"& ' +100 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +243 "core" ( + "manipulator"&q& +4 "core" & 1 @ +2 "storage"(& +3 "core" &   D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&f'S +92 "core" ' + .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(y- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(e' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(&' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(>& +4 "core" & ) & +\ ^ + "manipulator"&*& +4 "core" &  @ +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&J& +4 "core" &    @ +2 "storage"(5& +3 "core" & . . ]\ ^ +52 .tForearm.seek 2 + 450 counts +3 "manipulator"&'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(I'" +57 "core" ' +2 "manipulator"&& +4 "core" & = @ +2 "storage"( & +3 "core" & & ( \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +23 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +29 "core" ' + "manipulator"&`% +5 "core" %Ν + "storage"(#& +4 "core" &   @\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 312 counts + "manipulator"&a' +14 "core" ' +2 "manipulator"&Z& +4 "core" & @ +2 "storage"(?& +4 "core" & 0 3 j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&v'S +19 "core" ' +2 "storage"(s% +4 "core" %  & D\ +3 ."downElevator"SE.seek :down +3 "storage"(F' +99 ($% +2 "core" %XT &\ Zo +2 "manipulator"&% +4 "core" %A 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +96 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (2& +4 "core" &  W\  +2 "collection"'/& +4 "core" &\\ 9\ \\ + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&)% +3 "core" %  K } +2 "storage"(x% +4 "core" %  \  +2 "storage"(=. +3 "core" .(  + "storage"(}& +4 "core" &   V\  + "storage"(O& +4 "core" &   n\  + "manipulator"&& +4 "core" & Z @ +2 .tElbow.seek 2 + "manipulator"&T( +4 "core" ( + "manipulator"&& +4 "core" & @ +2 "storage"(;& +4 "core" &   b\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&L'S +93 "core" ' +2 "storage"(k& +4 "core" &  % ^\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +300 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&]& +2 "core" & N @ +2 "storage"(^& +4 "core" & & & ,\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&"'Α +20 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(V- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(\ 'q +32 "core" ' + "manipulator"&+% +5 "core" %Μ  + "storage"(@& +4 "core" & "  ]\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&(' +16 "core" ' + "manipulator"&E& +4 "core" & g @ +2 "storage"( & +3 "core" & & &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&8'S +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(7' +38 "core" ' +2 "manipulator"&9& +4 "core" &  @ +2 "manipulator"&r% +4 "core" %P = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&h' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&u(ӂ +152 "core" ( + "manipulator"&C& +4 "core" &Ӈ( @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &Ӈ(  l @\\ +3 .tForearm.seek CC + "manipulator"&z'? +98 "core" ' +2 .tHand.close + "manipulator"&X/ +52 "core" / + .tCC.seek :open +2 "collection"'d( +447 "core" ( + "storage"(0& +4 "core" & x g \  +2 "storage"({& +3 "core" & a b Q\  +2 "manipulator"&N& +3 "core" &Ӡ# i =C +2 "manipulator"&G% +4 "core" % G 5  + .tForearm.seek :retract +2 "manipulator"&\\' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&( +166 "core" ( + "manipulator"&S& +4 "core" &  +2 "storage"(_& +4 "core" & |\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&M'Α +97 "core" ' + .tElbow.hold + "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&c1 +57 "core" 1 +2 "manipulator"&U% +4 "core" % ·  + "storage"(& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 290 counts +2 "manipulator"&Y'ϳ +21 "core" ' +2 "manipulator"&3& +4 "core" &  +2 "storage"(.& +3 "core" & :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&%'S +25 "core" ' +2 "storage"(|% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(,' +99 (i% +3 "core" %x? ` s\ Vc +2 "manipulator"&<% +4 "core" %O Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +89 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [1..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'B& +4 "core" & D\ +2 "manipulator"&4% +4 "core" %   + "storage"(t% +4 "core" % u\  + "storage"(H. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +2 "core" & U Y &\  +2 "manipulator"&D& +3 "core" & c  +2 .tElbow.seek 3 +2 "manipulator"&K( +14 "core" ( + "manipulator"&j& +4 "core" &z  +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&P'7 +92 "core" ' + "storage"(p& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'r +305 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & O\  +2 "manipulator"&~& +4 "core" &z   + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&A& +4 "core" &z  + "storage"(g& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"(w' +6 "core" &z x  +2 "manipulator"&% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' + .tElbow.seek CC +2 "manipulator"&!(ӂ +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&& +5 "core" &Ӓ# C <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &Ӓ# + <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&q'? +97 "core" ' +2 "manipulator"&& +4 "core" &ӓ#  <= +2 "manipulator"&n% +4 "core" %9 X $ +2 "collection"'& +4 "core" & I\ +2 "collection"'y& +5 "core" & I\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" & :\  +9 &\ 5y 9\ +{ +9 &e{ C\ > +10 &k O\ M +9 &`R N\ L +9 &"T S\ L +10 &Q W\ L +54 &O M\ L +4 &iQ L\ K &*S L\ L + &Q K\ L + & Q K\ K + &"pR J\ L +4 &$2P I\ L +10 &%R G\ K +9 &'R G\ K +10 &)xR A\ L +9 &+:U A\ L +9 &,Q 9\ L +10 &.R :\ L +9 &0Q =\ L +9 &2BR ?\ L +10 &4U <\ L +9 &5R =\ K +9 &7S @\ L +10 &9JS C\ L +9 &; U ?\ L +10 &<R =\ L +9 &>Q B\ L +9 &@QS @\ L +10 &BT =\ L +9 &CY N\ M +10 &Ed @\ N +9 &GMr B\ P +9 &I K\ T +10 &J C\ X +9 &Lz A\ Y +9 &N: G\ Y +10 &O C\ Z +9 &Q E\ Z +10 &S| @\ [ +9 &U= J\ [\ +9 &V C\ \\ +10 &X F\ ] +9 &Z{ B\ ^ +9 &\\#| B\ 1 +10 &\\, <\ _ +9 ( + &\\g O\ Q +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&>1 +56 "core" 1 +2 "manipulator"&*% +4 "core" % 9 ) $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%5& +4 "core" &r\ +2 "manipulator"& % +4 "core" %  m  +2 "storage"(% +3 "core" % ' &\  +2 "storage"( . +3 "core" .( + "storage"(W& +4 "core" & & % .\  +2 "storage"(e& +3 "core" &   \  +2 "manipulator"&`& +4 "core" &ӓ#  <= + "manipulator"&#% +5 "core" %  3  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Z( +164 "core" ( +2 "manipulator"&?& +4 "core" &   + "storage"(& +4 "core" & & & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&s'7 +96 "core" ' + "storage"(f& +4 "core" & ? 9 \  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'r +305 "core" ' + "storage"($- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &   \  + "manipulator"&& +4 "core" & *  +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&I& +4 "core" &   +2 "storage"(& +3 "core" & & ( \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&2'ϡ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&a/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& + "storage"()' +8 "core" & >  + "manipulator"&x% +4 "core" % ϕ  +2 .tForearm.seek :retract +2 "manipulator"&=' +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( + "manipulator"&}& +5 "core" & ) # + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" & : # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + "manipulator"&& +5 "core" &  # + "manipulator"&;% +4 "core" % 6  +2 "processing"%v& +3 "core" &\ +2 "processing"%k& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(^ +4 "core" &\ +7 &3\ $c +10 &Uu\ 7 +9 &r\ L +9 &O\ N +10 &\\O\ N +9 &L\ N +10 &N\ N +9 &L\ N +9 &eJ\ N +10 &'N\ N +9 &L\ N +9 &!O\ N +10 &#lN\ N +9 &%.N\ N +10 &&L\ N +9 &(M\ N +9 &*uJ\ N +10 &,6N\ N +9 &-M\ O +9 &/N\ N +10 &1|N\ N +9 &3?K\ N +10 &5N\ N +9 &6L\ N +10 &8L\ N +9 &:FK\ N +9 &<L\ N +9 &=M\ N +10 &?M\ N +9 &AMP\ O +10 &C \\\ P +9 &D`\ Q +9 &Ft\ T +10 &HC\ U +9 &J\ U +9 &K\ U +10 &M\ U +9 &OI\ U +10 &Q\ W +9 &R\ V +9 &T\ W +10 &VP\ V +9 &X\ V +9 &Y\ V +10 &[\ V +9 &]U\ G +10 &^x@q\ )w +9 &^'\ / +5 ( +2 "processing"%k& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.73 + .Hand.open +2 "manipulator"&R1 +3 "core" &^\ / +54 1 +2 "manipulator"& % +4 "core" %  7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +98 "core" ' +2 "processing"%]& +4 "core" &^\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&^% +4 "core" % #  3 + "storage"(V% +4 "core" %  p\  + "storage"(+. +3 "core" .( +2 "storage"(@& +3 "core" & g\  +2 "storage"(E& +3 "manipulator"& & +6 "core" &  z\  + & - # +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +4 "manipulator"&9( +4 ."raiseStack"SE.seek :beamBreak + "storage"(r'r +3 "core" ( + "manipulator"&L& +4 "core" & p # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" & 9 # +2 .tForearm.seek PC +2 "manipulator"&' +96 "core" ' + .tHand.close + "manipulator"&"/ +56 "core" / + .tPC.seek :open +2 "processing"%(( +100 "core" ' +2 "storage"(\ - +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(C'1 +41 "core" ' +301 ( +2 "storage"(& +4 "core" &  $ .\  + "manipulator"&8& +4 "core" &  # + "manipulator"&'% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&X' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&h( +246 "core" ( +2 "manipulator"&l& +4 "core" & 4 : + "storage"(0& +4 "core" & & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&{'7 +94 "core" ' +2 .tHand.open + "manipulator"&N1 +57 "core" 1 +2 "storage"(G- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(S' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(_' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(z- +4 "core" -' +2 "storage"(u& +3 "core" & ~ \ m +2 "manipulator"&c& +3 "core" &  - : +2 .tElbow.seek 3 +2 "manipulator"&U( +3 "core" ( + "manipulator"&& +4 "core" & @ : +2 "storage"(3& +4 "core" & j | ?\ m +2 .tForearm.seek 3 + 450 counts + "manipulator"&.'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(|'" +51 "core" ' + "manipulator"&\\& +5 "core" & . : + "storage"(i& +4 "core" & ' & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&<'u +13 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(M' +20 "core" ' +2 "manipulator"&B% +4 "core" %· A 8 +2 "storage"(Y& +4 "core" & & & .\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&4'ϳ +26 "core" ' +2 "manipulator"&t& +4 "core" & ( : +2 "storage"(H& +4 "core" & & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&7'7 +14 "core" ' + "storage"(%% +5 "core" % & &\ +2 ."downElevator"SE.seek :down +3 "storage"(,' +99 (1% +2 "core" %P< & '\ Wd +2 "manipulator"&Q% +4 "core" %>  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +88 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (j& +4 "core" &   B\  + "collection"'& +4 "core" &\\g F\ Q +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&p% +3 "core" %  7  +3 "storage"([% +4 "core" % & )\  + "storage"(-. +3 "core" .( +2 "storage"(& +3 "core" & ( &\  +2 "storage"(& +4 "core" & ' )\  + "manipulator"&~& +4 "core" & : +2 .tElbow.seek 3 +52 "manipulator"&A( +12 "core" ( +3 "manipulator"&g& +6 "core" &  : + "storage"(6& +4 "core" & ) )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&b'7 +95 "core" ' +2 "storage"(& +4 "core" & * / S\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +296 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & a : + "storage"(o& +4 "core" & 5 0 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&:'u +13 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(n'r +33 "core" ' + "manipulator"&% +4 "core" %Έ g J +2 "storage"(& +3 "core" & 0 & &\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&w'ϴ +14 "core" ' + "manipulator"&& +4 "core" & ^ : +2 "storage"(d& +4 "core" & & &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&>'7 +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(*' +40 "core" ' +2 "manipulator"&5& +4 "core" & E : +2 "manipulator"& % +4 "core" %- +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"& (ӂ +149 "core" ( +2 "manipulator"&W& +4 "core" &y+ Cr + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &y+  Cr +2 .tForearm.seek CC +2 "manipulator"&`'? +92 "core" ' + .tHand.close + "manipulator"&y/ +52 "core" / +2 .tCC.seek :open +2 "collection"'#( +449 "core" ( +2 "storage"(q& +4 "core" & g \  + "storage"(?& +4 "core" & W Y\  + "manipulator"&& +4 "core" &ӧ#  =D + "manipulator"&f% +4 "core" % L H O +2 .tForearm.seek :retract +2 "manipulator"&!' +88 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&J( +164 "core" ( + "manipulator"&$& +4 "core" & l  +2 "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'u +99 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&a% +4 "core" % ΂  +2 "storage"(/& +3 "core" & { X\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&x'Ϯ +13 "core" ' +2 "manipulator"&Z& +5 "core" &  + "storage"(s& +4 "core" & #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&&'7 +19 "core" ' + "storage"(2% +4 "core" % a\ +3 ."downElevator"SE.seek :down +3 "storage"(}' +98 (O% +3 "core" %6 \ U] +2 "manipulator"&% +4 "core" %- c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +14817 #t-> exit +5 #mEXIT @1633552092.35UTC @1634228482.77UTC = =mMAIN_scheduler =tMAIN @UTC1634228484.56 #"core_reset"Sent BREAK +2 #t@17127 select with ifg=0x10, ie=0xF5 + #@17761 receive with ifg=0x10, ie=0xFD #@18396 receive with ifg=0x10, ie=0xFD + #@19030 receive with ifg=0x10, ie=0xFD + #@19357 receive with ifg=0x80, ie=0xFD #@60100 sendCRC with ifg=0x20, ie=0x7F + #@60547 sendCRC with ifg=0x20, ie=0x7F + #@62138 sendCRC with ifg=0x08, ie=0x5F #@2753 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +280 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +372 "Can"\ 63 + \ 63 + #tPolling Can every 10:00 +10 #Cleanly exited at 20:28:12UTC06-Oct-21 +517 #-> ESP.ready! +155 "sampler") + ) +3 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +4 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %h \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ؼ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڜ w\ + .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(2% +3 "core" % . ( \  +2 "manipulator"&3% +4 "core" %  +  + "manipulator"&4& +4 "core" & 1  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(5(K +983 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (6& +3 "core" &K R 2 2\ +1310 #t-> require 'shuffle.rb' +981 #-> 3.times {shuffle 1..3} +2 #Shuffling pucks in tube 1 of [1..3] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'7& +4 "core" & }\ + .tHand.open +2 "manipulator"&81 +22 "core" 1 + "manipulator"&9% +4 "core" %    +2 "storage"(:% +3 "core" % ~ w\  +2 "storage"(;. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(<(C +1615 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +2 "core" &E b _ O\ +2 "manipulator"&>& +4 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&?( +55 "core" ( +2 "manipulator"&@& +4 "core" & (  + "storage"(A& +4 "core" &E |\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&B' +103 "core" ' +2 "storage"(C& +4 "core" &E \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(D'r +296 "core" ' +2 "storage"(E- +3 "core" -'/ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" &E a c\ +2 "manipulator"&G& +4 "core" &  z  +2 .tElbow.seek 1 +2 "manipulator"&H( +13 "core" ( + "manipulator"&I& +4 "core" & | +2 "storage"(J& +3 "core" &E \ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&K'd +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&M& +3 "storage"(N' +7 "core" & r | +2 "manipulator"&O% +3 "core" % [  Y +2 .tForearm.seek :retract +2 "manipulator"&P' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&R& +5 "core" &Ӓ$ 8 =D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +2 "core" &Ӓ$ =D +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'? +93 "core" ' +2 "manipulator"&U& +4 "core" &ӓ% =C +2 "manipulator"&V% +39 "core" %?  i +8 "collection"'W& +4 "core" & \ +2 "collection"'X& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'Y(\\ +5 "core" & \  +8 &6x x\ +{ +10 &d~ w\ ? +9 &r ~\ O +9 &KU \ N +10 & W z\ N +9 &[ v\ N +10 &W x\ N +9 &SW v\ N +9 &Y r\ N +10 &W f\ O +9 & W _\ N +9 &"[X l\ N +10 &$W f\ N +9 &%Y n\ N +9 &'X j\ N +10 &)dV n\ N +9 &+%Z m\ N +10 &,W m\ N +9 &.W n\ M +9 &0lW o\ N +10 &2.V i\ N +9 &3W [\ M +9 &5W _\ N +10 &7tW ^\ N +9 &96V X\ N +10 &:W U\ M +9 &<W \\\ N +9 &>|X \\\ N +10 &@>W [\ N +9 &A] _\ O +9 &Ce [\ P +10 &Ewy [\ R +9 &G1 ]\ U +10 &H \\\ Y +9 &J [\ [ +9 &Lf Z\ [ +10 &N& V\ [ +9 &O U\ \\ +9 &Q Z\ \\ +10 &Si U\ \\ +9 &U) N\ ] +9 &V Z\ _ +10 &X K\ _ +9 &Zj H\ _ +10 &\\z C\ 6 +9 &\\' C\ !c +9 ( +2 &\\ D\ \\ +2 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + .Hand.open +2 "manipulator"&Z1 +53 "core" 1 +2 "manipulator"&[% +4 "core" % ?  k i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +94 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%]& +4 "core" &^\ +2 "manipulator"&^% +4 "core" %  ;  + "storage"(_% +4 "core" % k\ + "storage"(`. +3 "core" .(F +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(a(C +9 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" &> +\  +2 "manipulator"&c& +4 "core" &ӓ$  =C + "manipulator"&d% +4 "core" %  p  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&e( +158 "core" ( + "manipulator"&f& +5 "core" &  + "storage"(g& +4 "core" &>   D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&h' +93 "core" ' + "storage"(i& +5 "core" &>   #\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'r +298 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +3 "core" &> J\  + "manipulator"&m& +4 "core" & +2 .tElbow.seek 1 + "manipulator"&n( +4 "core" ( + "manipulator"&o& +4 "core" & % + "storage"(p& +4 "core" &> f\  +2 .tForearm.seek 1 + 300 counts + "manipulator"&q'd +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&r/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& + "storage"(t' +7 "core" & : + "manipulator"&u% +4 "core" % d Q +2 .tForearm.seek :retract + "manipulator"&v' +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w( +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&x& +5 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +2 "core" & k  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&z' +91 "core" ' +2 "manipulator"&{& +4 "core" & %  +2 "manipulator"&|% +3 "core" % M f +2 "processing"%}& +4 "core" &Z\ +2 "processing"%~& +5 "core" &[\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &u\  +8 &3uu\ )w +10 &`~t\ > +9 &fsl\ O +9 &%Tn\ P +10 &Rn\ P +9 &Uj\ O +10 &lYo\ P +9 &/Sn\ O +9 &Un\ P +10 &Wn\ P +9 & tSm\ P +9 &"6Rn\ P +10 &#Re\ P +9 &%Rg\ P +10 &'|Ra\ P +9 &)?T`\ O +9 &+TT\ O +10 &,VU\ O +9 &.R^\ O +9 &0FTa\ P +10 &2RZ\ P +9 &3Qb\ O +9 &5T`\ O +10 &7OTc\ O +9 &9VV\ O +10 &:U^\ P +9 &<R`\ P +9 &>VV`\ P +10 &@T\\\ P +9 &Ab^\ Q +10 &Cs`\ T +9 &ENY\ U +9 &G`\ U +10 &HU\ U +9 &JU\ V +9 &LTT\ V +10 &NO\ W +9 &OP\ W +9 &QR\ X +10 &SWS\ X +9 &UM\ W +10 &VI\ X +9 &XL\ W +10 &Z`P\ W +9 &\\!Q\ X +9 &]R\ 5 +9 &^3nR\ E +9 ( +3 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&1 +3 "core" &^&S\ 4 +58 1 + "manipulator"&% +5 "core" %  h f + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 "processing"%& +4 "core" &^'I\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" %    +2 "storage"(% +4 "core" % `\  + "storage"( . +3 "core" .(C + "storage"( & +4 "core" &> _\  +2 "storage"( & +5 "manipulator"&& +3 "core" &> \  +2 & g  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('r +2 "manipulator"&( +5 "core" ( + "manipulator"&& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 .tHand.close + "manipulator"&/ +66 "core" / +2 .tPC.seek :open +2 "processing"%( +86 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +42 "core" ' +318 ( +2 "storage"(& +4 "core" &> x P\  +2 "manipulator"&& +3 "core" &  +2 "manipulator"&% +3 "core" %  1 +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +243 "core" ( + "manipulator"& & +5 "core" & } 6 + "storage"(!& +4 "core" &> \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&"' +93 "core" ' + .tHand.open + "manipulator" +60 "core" 1 +2 "storage"($- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(%' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(&' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"('- +4 "core" -' + "storage"((& +4 "core" &> Q a \ = +2 "manipulator"&)& +3 "core" &  5 +2 .tElbow.seek 1 +2 "manipulator"&*( +3 "core" ( + "manipulator"&+& +4 "core" &   5 + "storage"(,& +4 "core" &> w { $\ D +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&-' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(.'" +57 "core" ' + "manipulator"&/& +4 "core" & 8 5 +2 "storage"(0& +4 "core" &> O\ } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&1'8 +26 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(3' +18 "core" ' + "manipulator"&4% +5 "core" %@ ! ~ + "storage"(& +5 "core" &> M\ ~ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 308 counts + "manipulator"&6'l +15 "core" ' +2 "manipulator"&7& +4 "core" & R 5 +2 "storage"(8& +4 "core" &> Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&9' +17 "core" ' + "storage"(:% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(;' +99 (5% +3 "core" %= \ Xg + "manipulator"&=% +4 "core" % X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +92 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (@& +4 "core" &> )\  +2 "collection"'A& +4 "core" &\\~ {\ \\ +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&C% +4 "core" %  j  + "storage"(% +4 "core" % \  + "storage"(. +3 "core" .(C +2 "storage"(E& +4 "core" &> \  + "storage"(F& +4 "core" &> \  + "manipulator"&G& +4 "core" & N 5 +2 .tElbow.seek 1 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&J& +3 "core" &  5 +2 "storage"(L& +4 "core" &> \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&M' +91 "core" ' + "storage"(O& +4 "core" &> {\  +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'r +313 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&R& +3 "core" & - 5 +2 "storage"(S& +4 "core" &> \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&D'8 +25 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(U- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(V'y +28 "core" ' + "manipulator"&H% +4 "core" %E +2 "storage"(W& +3 "core" &> S\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 313 counts + "manipulator"&N'q +15 "core" ' + "manipulator"&P& +4 "core" & 5 +2 "storage"(\ & +4 "core" &> !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +49 .tForearm.seek 1 + 450 counts +2 "manipulator"&Z' +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"([' +41 "core" ' + "manipulator"&]& +4 "core" & . 5 +2 "manipulator"&^% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +155 "core" ( +3 "manipulator"&X& +4 "core" &ӑ!  :0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &ӑ   H :0 +2 .tForearm.seek CC + "manipulator"&c'? +97 "core" ' + .tHand.close +2 "manipulator"&d/ +61 "core" / +2 .tCC.seek :open +2 "collection"'T( +451 "core" ( +2 "storage"(f& +4 "core" &> \  + "storage"(g& +4 "core" &>  ,\  +2 "manipulator"&<& +3 "core" &ӑ! h :0 +2 "manipulator"&i% +3 "core" % R   +2 .tForearm.seek :retract +2 "manipulator"&Q' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&\\( +164 "core" ( + "manipulator"&k& +5 "core" &   + "storage"(l& +4 "core" &>  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&m'8 +100 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +61 "core" 1 + "manipulator"&r% +5 "core" % G * + "storage"(s& +4 "core" &>  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 315 counts +2 "manipulator"&u's +13 "core" ' +2 "manipulator"&e& +4 "core" &  +2 "storage"(h& +3 "core" &> N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&j' +18 "core" ' + "storage"(q% +5 "core" % |\ +2 ."downElevator"SE.seek :down +3 "storage"(x' +99 (y% +3 "core" %6 L\ Vc + "manipulator"&n% +4 "core" % R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [1..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'|& +5 "core" & a\ + "manipulator"&}% +6 "core" %  I  + "storage"(t% +4 "core" % ' % 6\  +2 "storage"(v. +3 "core" .(C +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( (  +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" & \  +2 "manipulator"&& +4 "core" & '  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & @  +2 "storage"(& +3 "core" & ' )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +92 "core" ' + "storage"( & +5 "core" & @ H k\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +295 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" & ; $ I\  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&( +4 "core" ( + "manipulator"&z& +3 "core" & E  +2 "storage"(& +4 "core" & 6 7 \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +8 "core" & I  + "manipulator"&% +4 "core" % ϴ R +2 .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &ӗ! 4 :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &ӗ! , :, +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +92 "core" ' +2 "manipulator"&!& +4 "core" &ӗ" i :, +2 "manipulator"&% +3 "core" %3 . ~ +2 "collection"'#& +4 "core" & _\ +2 "collection"'$& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"''(\\ +4 "core" & j\  +9 &0{ i\ *y +9 &c k\ > +9 &kt n\ N +10 &.W l\ M +9 &Z l\ N +10 &U a\ M +9 &sU W\ N +9 &5T X\ N +10 &U Z\ N +9 &U T\ M +10 & |V Y\ M +9 &">U V\ M +9 &$U [\ M +10 &%U U\ M +9 &'T V\ N +9 &)ET W\ N +10 &+W W\ N +9 &,Y W\ N +9 &.T V\ N +10 &0MT L\ N +9 &2U I\ M +9 &3U E\ M +10 &5T B\ M +9 &7UV ;\ N +10 &9Y B\ N +9 &:X B\ N +9 &<Y J\ N +10 &>]Y C\ N +9 &@T D\ N +9 &AV H\ N +10 &C_ C\ O +9 &E^k G\ P +10 &G} H\ S +9 &H A\ V +9 &J D\ Y +10 &LH E\ Z +9 &N\ F\ Z +9 &O D\ [\ +10 &Q B\ [ +9 &SL G\ \\ +10 &U :\ \\ +9 &V <\ ] +10 &X 5\ ^ +9 &ZK 6\ _ +9 &[z 1\ B +9 &\\/ .\ &s +10 &\\k -\ Q +2 ( +2 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&(1 +63 "core" 1 +2 "manipulator"&)% +4 "core" % 3 x ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+' +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%,& +4 "core" &R\ +2 "manipulator"&% +3 "core" %  7  +2 "storage"(/% +3 "core" % '\  +2 "storage"(0. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(4(  +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  \ +2 "manipulator"&& +4 "core" &ӗ!  j :, + "manipulator"&7% +4 "core" %  V  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&8( +156 "core" ( + "manipulator"&%& +5 "core" &  + "storage"(:& +4 "core" &  1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +93 "core" ' +2 "storage"("& +4 "core" &  ^\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'r +294 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (=& +3 "core" & \  + "manipulator"&-& +4 "core" & +2 .tElbow.seek 2 + "manipulator"&*( +3 "core" ( +2 "manipulator"&.& +3 "core" & +2 "storage"(1& +3 "core" & <\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&@'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&A& + "storage"(C' +8 "core" &  N + "manipulator"&% +4 "core" % ϵ f +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&E& +4 "core" & P 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &  7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +3 "manipulator"&G' +92 "core" ' +2 "manipulator"&J& +4 "core" & ( 7 + "manipulator"&L% +4 "core" % T M +2 "processing"%9& +4 "core" &j\ +2 "processing"%O& +4 "core" &n\ +2 .tPC.seek :closed +2 "processing"%;(^ +4 "core" &m\ +8 & $m\ #` +9 &T}h\ 7 +9 &|{i\ L +10 &Wl\ P +9 &IQl\ P +10 & Rm\ O +9 &Rb\ P +9 &T`\ P +10 &RP_\ O +9 &Q[\ P +9 &V\\\ O +10 &!Pc\ O +11 &#YQb\ P +7 &%V[\ O +10 &&W]\ P +9 &(T]\ P +10 &*bUa\ O +9 &,#R]\ P +9 &-T_\ O +10 &/W`\ O +9 &1jUa\ O +9 &3,P_\ O +10 &4Q_\ O +9 &6T\\\ O +10 &8qW_\ P +9 &:4Q^\ O +9 &;TV\ P +10 &=WS\ P +9 &?xSS\ P +9 &A;UR\ P +10 &B_S\ Q +9 &DgU\ R +10 &FvxT\ S +9 &H1S\ V +9 &IR\ V +10 &KQ\ V +9 &MsT\ W +9 &O6M\ W +10 &PR\ |X +9 &RQ\ ~W +10 &TwH\ |Y +9 &V8N\ |Y +9 &WM\ }X +10 &YF\ }X +9 &[I\ |X +9 &]?R\ yQ +10 &^xCxS\ $l +9 &^<I\ 4 +6 ( +2 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&21 +3 "core" &^+O\ 4 +53 1 + "manipulator"&>% +4 "core" %  M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B' +90 "core" ' + "processing"%R& +4 "core" &^+*\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&S% +4 "core" %  4  +2 "storage"(U% +3 "core" % \  +2 "storage"(H. +3 "core" .(  + "storage"(W& +3 "core" & F\  +2 "storage"(P& +5 "manipulator"&\ & +4 "core" & \  + & U 7 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&]( +2 "storage"(^'r +4 "core" ( +2 "manipulator"&M& +4 "core" & S 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &  t 7 +3 .tForearm.seek PC + "manipulator"&?' +91 "core" ' + .tHand.close + "manipulator"&D/ +73 "core" / + .tPC.seek :open +2 "processing"%N( +88 "core" ' +2 "storage"(V- +52 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'1 +45 "core" ' +265 ( + "storage"(b& +4 "core" &  E\  +2 "manipulator"&Z& +4 "core" & 7 + "manipulator"&K% +4 "core" %   ? + .tForearm.seek :retract +2 "manipulator"&d' +88 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&_( +246 "core" ( + "manipulator"&Y& +5 "core" & q 5 + "storage"(f& +4 "core" & s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&g'S +91 "core" ' + .tHand.open +2 "manipulator"&<1 +60 "core" 1 + "storage"(i- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(k' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(l' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(c- +4 "core" -' + "storage"(`& +4 "core" & 3\ A +2 "manipulator"&p& +4 "core" &  5 + .tElbow.seek 2 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&s& +4 "core" &   5 + "storage"(e& +4 "core" & k\ H +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&h'S +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(q'" +53 "core" ' + "manipulator"&Q& +4 "core" & o 5 +2 "storage"(y& +4 "core" &  W\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&n'Α +13 "core" ' +2 .tElbow.hold + "manipulator"&\\, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(m' +19 "core" ' +2 "manipulator"&|% +4 "core" %Τ ? L +2 "storage"(u& +3 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&}' +14 "core" ' +2 "manipulator"&t& +4 "core" &  5 +2 "storage"(v& +4 "core" & # <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&['S +15 "core" ' +2 "storage"(j% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(x' +98 (a% +3 "core" %1K \ Wh +2 "manipulator"&% +4 "core" %@  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  w\  +2 "collection"'& +4 "core" &\\j \ Q +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"& % +4 "core" %   +2 "storage"(o% +3 "core" %\  +2 "storage"({. +3 "core" .(  + "storage"( & +4 "core" &  \  +2 "storage"(~& +3 "core" &  !\  +2 "manipulator"&& +4 "core" & # 5 + .tElbow.seek 2 +2 "manipulator"&z( +3 "core" ( + "manipulator"&& +4 "core" & M 5 +2 "storage"(w& +3 "core" &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +97 "core" ' +2 "storage"(& +4 "core" &   ^\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & b 5 +2 "storage"(& +3 "core" & j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(!- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"('q +29 "core" ' +2 "manipulator"&#% +4 "core" %ΐ  + "storage"(& +4 "core" &  -\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 299 counts + "manipulator"&'ϼ +14 "core" ' + "manipulator"&& +4 "core" & H 5 +2 "storage"(T& +4 "core" & & '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&('S +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"()' +44 "core" ' + "manipulator"&,& +5 "core" &  5 + "manipulator"&% +4 "core" %@ ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&0(ӂ +154 "core" ( +2 "manipulator"&$& +4 "core" &ӑ&  ?T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӑ& & ?T +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' + .tHand.close +2 "manipulator"&7/ +62 "core" / +2 .tCC.seek :open +2 "collection"' ( +448 "core" ( +2 "storage"(%& +40 "core" & ' '\  +2 "storage"(:& +4 "core" &  \  + "manipulator"& & +4 "core" &Ӓ& C ?S + "manipulator"&"% +4 "core" % D G  +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&+( +164 "core" ( + "manipulator"&5& +4 "core" &  +2 "storage"(=& +3 "core" & 6 4 \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&-'Α +92 "core" ' + .tElbow.hold +2 "manipulator"&., +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&11 +59 "core" 1 +3 "manipulator"&6% +4 "core" % ΐ ! E + "storage"(A& +4 "core" & U T W\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 299 counts + "manipulator"&'ϼ +27 "core" ' +2 "manipulator"&8& +4 "core" & $  + "storage"(& +4 "core" & Z V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&&'S +27 "core" ' +2 "storage"(@% +4 "core" % F U T\ +3 ."downElevator"SE.seek :down +3 "storage"(E' +98 (F% +4 "core" %> @ D\ Ua + "manipulator"&*% +4 "core" %U y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J' +97 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [1..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'L& +4 "core" & S\ +2 "manipulator"&9% +4 "core" %  =  + "storage"(C% +4 "core" % \  + "storage"(. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (2& +3 "core" & Y V\ + "manipulator"&>& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&R( +32 "core" ( +2 "manipulator"&S& +4 "core" &   + "storage"(U& +4 "core" & L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&H'7 +93 "core" ' + "storage"(W& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'r +296 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (O& +3 "core" & * 2 W\ +2 "manipulator"&M& +4 "core" & ?  + .tElbow.seek 3 +2 "manipulator"&I( +26 "core" ( +2 "manipulator"&G& +4 "core" & ` + "storage"(D& +4 "core" & J J \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&V'ϡ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&3/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(;' +7 "core" &  ` +2 "manipulator"&^% +3 "core" % ϥ  +2 .tForearm.seek :retract +2 "manipulator"&b' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&Z(ӂ +155 "core" ( + "manipulator"&K& +5 "core" ' + &z* Bk + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &?& +2 "core" &z* N Bk +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'? +95 "core" ' +2 "manipulator"&f& +4 "core" &z* Bk +2 "manipulator"&]% +3 "core" %C 2 / +2 "collection"'<& +4 "core" & m\ +2 "collection"'i& +5 "core" & f\ +2 .tCC.seek :closed +2 "collection"'c(\\ +4 "core" & _\  +10 &3x k\ *y +9 &\ d{ h\ > +9 &p `\ N +10 &LT ]\ N +9 &V W\ M +9 &T T\ M +10 &R [\ N +9 &UQ S\ M +10 &U M\ N +9 &U X\ N +9 & R R\ M +10 &"]T T\ M +9 &$U [\ M +9 &%X K\ N +10 &'T S\ N +9 &)fT F\ M +10 &+&W J\ N +9 &,U ;\ N +9 &.R C\ M +10 &0lR B\ N +9 &2/U B\ M +9 &3W I\ N +10 &5U D\ N +9 &7uR C\ M +10 &97T D\ M +9 &:W D\ N +9 &<U A\ N +10 &>}S A\ M +9 &@?T @\ M +9 &AY C\ N +10 &CZ D\ N +9 &E~d F\ P +10 &G:u F\ R +9 &H A\ U +9 &J 4\ X +10 &Lj 1\ Y +9 &N* <\ Z +9 &O 1\ Z +10 &Q 0\ Z +9 &Sm 3\ [\ +10 &U, 3\ \\ +9 &V 0\ ] +9 &X /\ ] +10 &Zn .\ ] +9 &\\{ ,\ 4 +9 &\\( 3\ #h +9 ( +3 "collection"'i& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&`1 +44 "core" &\\} 3\ \\ +17 1 + "manipulator"&p% +4 "core" % C  i / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%e& +5 "core" &O\ + "manipulator"&d% +4 "core" %   ]  +2 "storage"(Q% +3 "core" % *\  +2 "storage"(y. +3 "core" .( + "storage"(|& +4 "core" & V\ +2 "storage"(u& +3 "core" & ]\ +2 "manipulator"&X& +4 "core" &{*   E Bj + "manipulator"&t% +4 "core" %   A  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&v( +166 "core" ( + "manipulator"&k& +5 "core" & V  + "storage"(j& +4 "core" & D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&_'7 +94 "core" ' +2 "storage"(g& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'r +298 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & ^\ + "manipulator"&h& +4 "core" & "  +2 .tElbow.seek 3 + "manipulator"&r( +4 "core" ( + "manipulator"&q& +4 "core" &  + "storage"(n& +4 "core" & r\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&}'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"( ' +7 "core" &  +2 "manipulator"&o% +4 "core" % Ϙ + .tForearm.seek :retract +2 "manipulator"&{' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&m( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"& & +4 "core" & { 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" & i 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' +2 "manipulator"&& +4 "core" &  4 +2 "manipulator"&w% +4 "core" % [ v + "processing"%[& +4 "core" &h\ +2 "processing"%& +5 "core" &l\ +2 .tPC.seek :closed +2 "processing"%x(^ +4 "core" &e\ +7 & -l\ #b +9 &U{i\ 7 +10 &}x\\\ L +9 &Ua\ P +9 &OT`\ P +10 &OV\ O +9 &U\\\ P +9 &R_\ P +10 &XTc\ O +9 &Ua\ P +10 &Sa\ P +9 &!Oc\ O +9 &#`Q`\ O +10 &%"Qa\ O +9 &&Qa\ O +10 &(P`\ O +9 &*hP_\ O +9 &,*Q]\ O +10 &-OS\ O +9 &/Q^\ P +9 &1pU_\ O +10 &31T]\ P +9 &4RK\ P +9 &6UM\ O +10 &8wRV\ P +9 &::PX\ O +9 &;TS\ P +10 &=UN\ P +9 &?SM\ O +10 &ABUT\ O +9 &BbL\ Q +10 &DgR\ R +9 &FzyW\ T +9 &H6S\ V +10 &IV\ V +9 &KI\ V +9 &M{O\ W +10 &O=R\ V +9 &PR\ W +9 &RR\ V +10 &TJ\ X +9 &VDI\ W +10 &XP\ W +9 &YH\ W +9 &[L\ W +10 &]JN\ K +9 &^RK\ $o +9 &^H\ - +3 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&\\1 +63 "core" 1 + "manipulator"&% +5 "core" %  _ v + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +89 "core" ' +2 "processing"%& +4 "core" &^'\ - + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %  o  +2 "storage"(!% +4 "core" % L\  + "storage"(#. +3 "core" .( +2 "storage"(& +3 "core" & M\ +2 "storage"(& +4 "manipulator"&T& +5 "core" & 4\ +2 & U 4 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&,( +2 "storage"('r +5 "core" ( + "manipulator"&& +4 "core" & 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &  V 4 +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%( +99 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"($'1 +46 "core" ' +299 ( +2 "storage"(& +4 "core" & 6\ +2 "manipulator"&(& +3 "core" & ' 4 +2 "manipulator"&% +4 "core" %   4 + .tForearm.seek :retract +2 "manipulator"&7' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&/( +247 "core" ( + "manipulator"&'& +4 "core" & J + "storage"(%& +4 "core" & _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&:'7 +96 "core" ' + .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "storage"("- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(5' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +55 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(0& +4 "core" & ^ 7\ a +2 "manipulator"&1& +3 "core" &  | J +2 .tElbow.seek 3 +2 "manipulator"&6( +3 "core" ( + "manipulator"&A& +4 "core" &  + J +2 "storage"(8& +3 "core" & - . Y\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(@'" +59 "core" ' + "manipulator"&& +4 "core" & > J +2 "storage"(F& +4 "core" & 0 3\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&*'u +24 "core" ' +2 .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(-' +18 "core" ' + "manipulator"&L% +5 "core" %· + "storage"(& +5 "core" &   ;\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&9'ϳ +22 "core" ' + "manipulator"&C& +4 "core" & J +2 "storage"(& +5 "core" & 4 5\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&)'7 +26 "core" ' +2 "storage"(&% +4 "core" % , 4 0\ +3 ."downElevator"SE.seek :down +3 "storage"(E' +98 (4% +3 "core" %? k\ Wd +2 "manipulator"&2% +4 "core" %3 w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (S& +4 "core" &  \ +2 "collection"'U& +3 "core" &\\} ;\ \\ +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&W% +3 "core" %  M  +2 "storage"(.% +3 "core" % ' ' \  +2 "storage"(J. +3 "core" .( + "storage"(P& +4 "core" & ) (\ + "storage"(O& +4 "core" & 4 4 K\ +2 "manipulator"&M& +3 "core" & D J +2 .tElbow.seek 3 +2 "manipulator"&G( +3 "core" ( + "manipulator"&D& +4 "core" & J +2 "storage"(3& +3 "core" & , ' J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&B'7 +95 "core" ' + "storage"(^& +4 "core" & & \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'r +305 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&K& +3 "core" & P J +2 "storage"(?& +3 "core" &   \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&\ 'u +13 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(f- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(]'r +31 "core" ' +2 "manipulator"&<% +4 "core" %΃ q ; +2 "storage"(I& +3 "core" &   O\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&;'ϯ +13 "core" ' + "manipulator"&b& +5 "core" &  J + "storage"( & +4 "core" & , 3 ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`'7 +14 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(p' +41 "core" ' +2 "manipulator"&e& +4 "core" & S J +2 "manipulator"&d% +4 "core" %! i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Q' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&y(ӂ +154 "core" ( +2 "manipulator"&|& +4 "core" &ӎ&  ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +4 "core" &ӎ& ?T +3 .tForearm.seek CC + "manipulator"&i'? +94 "core" ' +2 .tHand.close + "manipulator"&X/ +61 "core" / +2 .tCC.seek :open +2 "collection"'t( +448 "core" ( +2 "storage"(Y& +4 "core" & e h ,\ + "storage"(k& +4 "core" & X b \ + "manipulator"&j& +4 "core" &Ӑ& . ?R + "manipulator"&g% +4 "core" % D \ 4 +2 .tForearm.seek :retract +2 "manipulator"&Z' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +53 .tElbow.seek 3 +2 "manipulator"&s( +165 "core" ( + "manipulator"&a& +4 "core" & @  +2 "storage"(& +3 "core" & l\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&h'u +95 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +54 "core" 1 +3 "manipulator"&% +4 "core" % q  # + "storage"(& +4 "core" & Z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 296 counts + "manipulator"&o'ϝ +14 "core" ' +2 "manipulator"&v& +4 "core" &  +2 "storage"(_& +3 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&l'7 +18 "core" ' + "storage"(}% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (~% +3 "core" %5 z g\ U^ + "manipulator"&r% +4 "core" %& A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 1 of [1..3] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'w& +5 "core" & U\ +2 "manipulator"&[% +4 "core" %  0  + "storage"( % +4 "core" % :\  + "storage"({. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(N(C +664 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\\& +3 "core" &F 5\ +2 "manipulator"&& +3 "core" & q  +2 .tElbow.seek 1 +2 "manipulator"&( +32 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(!& +3 "core" &G \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&#' +103 "core" ' + "storage"(& +4 "core" &G *\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'r +296 "core" ' + "storage"(- +4 "core" -'- + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &G { 0\ +2 "manipulator"&& +4 "core" & &  +3 .tElbow.seek 1 + "manipulator"&z( +17 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &G \ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&'d +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +2 "storage"(x' +7 "core" & 2  + "manipulator"&% +4 "core" % ς + +2 .tForearm.seek :retract +2 "manipulator"&' +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&((ӂ +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&& +4 "core" &Ӌ( @Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӌ( l @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&''? +90 "core" ' + "manipulator"&%& +4 "core" &Ӌ( B @Y +2 "manipulator"&,% +4 "core" %D , u +2 "collection"' & +4 "core" & l\ +2 "collection"'"& +5 "core" & m\ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" & d\ +6 &; j\ %h +10 &Xx i\ 8 +9 &x \\\ L +9 &T c\ L +10 &U i\ M +9 &GT R\ M +10 & W P\ M +9 &Y M\ M +9 &U T\ M +10 &OU Z\ M +9 & W Z\ M +9 &!T V\ M +10 &#T T\ M +9 &%VU S\ M +10 &'T S\ M +9 &(Y U\ M +9 &*T T\ M +10 &,_S Y\ M +9 &.!T U\ M +9 &/R U\ M +10 &1T V\ M +9 &3fX N\ M +10 &5*U R\ L +9 &6U M\ M +9 &8T S\ M +10 &:oS M\ M +9 &<1U L\ M +9 &=S H\ M +10 &?U B\ M +9 &AuY B\ M +10 &C5_ B\ N +9 &Dr C\ P +9 &F D\ S +10 &Hb B\ W +9 &J H\ Y +9 &K C\ Y +10 &M ?\ [ +9 &O\\ C\ [ +10 &Q B\ [ +9 &R H\ [ +9 &T J\ \\ +10 &V_ C\ ] +9 &X O\ ] +9 &Y J\ _ +10 &[ L\ K +9 &\\7 N\ / +10 &\\l G\ S +2 ( + "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.35 +2 .Hand.open + "manipulator"&01 +63 "core" 1 +2 "manipulator"&1% +4 "core" % D  u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A' +92 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%8& +4 "core" &b\ +2 "manipulator"&7% +4 "core" %   + "storage"(% +4 "core" % \  Q\  +2 "storage"(F. +3 "core" .(F + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(L(C +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &A ?\ +2 "manipulator"&$& +4 "core" &Ӎ( d @W + "manipulator"&C% +4 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&5( +161 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(&& +4 "core" &A D D \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&/' +88 "core" ' + "storage"(:& +4 "core" &A K G h\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='r +296 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +3 "core" &A   R\ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 1 + "manipulator"&6( +3 "core" ( +2 "manipulator"&@& +3 "core" & @  +2 "storage"(*& +3 "core" &A * * g\ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&9'd +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(W' +8 "core" &  + "manipulator"&.% +4 "core" % X L +2 .tForearm.seek :retract +2 "manipulator"&J' +91 "core" ' +2 .tElbow.seek PC + "manipulator"&P( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&-& +4 "core" & " 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" & u 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&M' +100 "core" ' +2 "manipulator"&D& +4 "core" & D 3 +2 "manipulator"&3% +3 "core" % ?  +2 "processing"%)& +4 "core" &n\ +2 "processing"%^& +5 "core" &m\ +2 .tPC.seek :closed +2 "processing"%E(^ +4 "core" &n\ +7 & +k\ $c +9 &U}h\ 7 +9 &~yh\ L +10 &Ul\ O +9 &XRe\ O +9 &Oa\ O +10 &T`\ O +9 &R`\ O +10 &_Sa\ O +9 &!SZ\ O +9 &T`\ O +10 &!O_\ O +9 &#gSb\ O +9 &%)Sd\ O +10 &&TY\ O +9 &(S`\ O +9 &*nS[\ O +10 &,0TY\ O +9 &-O`\ O +10 &/T`\ O +9 &1uTa\ P +9 &38R`\ O +10 &4S`\ O +9 &6Pa\ O +9 &8~V[\ O +10 &:@O\\\ O +9 &<R`\ O +10 &=UT\ P +9 &?ST\ P +9 &AFVQ\ P +10 &ChQ\ R +9 &Dx[\ T +10 &F|]\ U +9 &H<O\ V +9 &IQ\ V +10 &KS\ V +9 &MZ\ W +9 &OCW\ V +10 &QP\ W +9 &RH\ W +10 &TH\ X +9 &VJR\ W +9 &X S\ W +10 &YT\ W +9 &[S\ W +9 &]PT\ I +10 &^yES\ #h +9 &^9O\ 6 +6 ( + "processing"%^& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.70 + .Hand.open +2 "manipulator"&+1 +3 "core" &^%H\ 6 +59 1 + "manipulator"&>% +5 "core" %     + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +94 "core" ' + "processing"%K& +4 "core" &^%H\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&?% +4 "core" %  0  +2 "storage"(f% +4 "core" %   G\  +2 "storage"(<. +3 "core" .(C + "storage"(I& +4 "core" &A   K\ +2 "storage"(b& +3 "manipulator"& & +6 "core" &A   m\ + & ' 3 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&e( +6 ."raiseStack"SE.seek :beamBreak + "storage"(d'r +3 "core" ( + "manipulator"&B& +4 "core" & m 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &  3 +2 .tForearm.seek PC + "manipulator"&R' +92 "core" ' +2 .tHand.close + "manipulator"&\ / +63 "core" / +2 .tPC.seek :open + "processing"%;( +94 "core" ' +2 "storage"(]- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'1 +47 "core" ' +306 ( + "storage"(u& +4 "core" &A ' &\ +2 "manipulator"&`& +4 "core" & 3 + "manipulator"&V% +3 "core" %   ; +3 .tForearm.seek :retract + "manipulator"&X' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&Q( +245 "core" ( +2 "manipulator"&c& +4 "core" & H ) +2 "storage"(Y& +3 "core" &A 1 ' :\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&k' +95 "core" ' +43 .tHand.open +11 "manipulator"&j1 +64 "core" 1 +2 "storage"(g- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(i' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(a' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(y& +4 "core" &A \ P + "manipulator"&n& +4 "core" &  M ( +2 .tElbow.seek 1 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  ( + "storage"(v& +4 "core" &A Y\ T +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&_' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(}'" +58 "core" ' + "manipulator"&Z& +4 "core" & h ( +2 "storage"(~& +4 "core" &A\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&r'8 +25 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(h' +28 "core" ' +2 "manipulator"&w% +4 "core" %E + "storage"(o& +4 "core" &A N\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 313 counts + "manipulator"&['q +14 "core" ' +2 "manipulator"& & +4 "core" & ( +2 "storage"({& +4 "core" &A\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&p' +18 "core" ' +2 "storage"(l% +4 "core" % \\\ +3 ."downElevator"SE.seek :down +3 "storage"( ' +99 (% +3 "core" %v; \ We +2 "manipulator"&\\% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &A  n\ + "collection"'!& +4 "core" &\\h \ S +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %   +2 "storage"(q% +3 "core" % ;\  +2 "storage"(. +3 "core" .(C + "storage"(& +4 "core" &A H\ +2 "storage"(& +3 "core" &A 7\ +2 "manipulator"&& +4 "core" & ' ( + .tElbow.seek 1 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & ( +2 "storage"(m& +4 "core" &A X\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"& ' +94 "core" ' +2 "storage"(& +4 "core" &A  z\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +301 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & x ( +2 "storage"(& +3 "core" &A \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&T'8 +25 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(,'| +31 "core" ' +2 "manipulator"& % +4 "core" %D ^ + "storage"(z& +4 "core" &A \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 312 counts + "manipulator"&x'p +15 "core" ' +2 "manipulator"&& +4 "core" &  ( +2 "storage"(t& +3 "core" &A \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&0' +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(1' +35 "core" ' + "manipulator"&8& +4 "core" & ( +2 "manipulator"&7% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +152 "core" ( +2 "manipulator"&"& +4 "core" &Ӈ+  M Co + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӈ+  Co +2 .tForearm.seek CC +2 "manipulator"&$'? +96 "core" ' +2 .tHand.close + "manipulator"&C/ +57 "core" / + .tCC.seek :open +2 "collection"''( +449 "core" ( + "storage"(& +4 "core" &A + 0 I\ +2 "storage"(&& +3 "core" &A & & \ +2 "manipulator"&N& +3 "core" &Ӌ* T Bk +2 "manipulator"&:% +4 "core" % E p  + .tForearm.seek :retract +2 "manipulator"&(' +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&A( +156 "core" ( + "manipulator"&4& +4 "core" &  +2 "storage"(2& +4 "core" &A ) & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&'8 +93 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&*1 +53 "core" 1 +2 "manipulator"&S% +4 "core" % I v H +2 "storage"(U& +3 "core" &A ' & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&.'u +15 "core" ' + "manipulator"&5& +5 "core" & G + "storage"(/& +5 "core" &A 3 3 !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&=' +21 "core" ' + "storage"(9% +4 "core" % & & -\ +3 ."downElevator"SE.seek :down +3 "storage"(-' +99 (O% +3 "core" %8 ' ' <\ Wb +2 "manipulator"&6% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D' +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [1..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'3& +4 "core" & \ +2 "manipulator"&)% +4 "core" %  R  + "storage"(W% +4 "core" % & &\  +2 "storage"(J. +3 "core" .(C +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (+& +2 "core" &  g\  +2 "manipulator"&>& +4 "core" & 8 +2 .tElbow.seek 2 + "manipulator"&K( +4 "core" ( + "manipulator"&?& +3 "core" & * +2 "storage"(f& +4 "core" &  H J \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&<'S +96 "core" ' + "storage"(I& +5 "core" &  D - \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'r +298 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" &   \  + "manipulator"&B& +4 "core" & z +2 .tElbow.seek 2 + "manipulator"&G( +4 "core" ( + "manipulator"&M& +3 "core" & @ +2 "storage"(\ & +4 "core" & ' (\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&]'Ͻ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(E' +7 "core" & c + "manipulator"&d% +4 "core" %  ) +2 .tForearm.seek :retract +2 "manipulator"&u' +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`(ӂ +151 "core" ( +2 "manipulator"&V& +4 "core" ' +49 &|+  Cr +4 .tElbow.reconfigure :loose + ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&R& +5 "core" &|+ Cr +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&c'? +92 "core" ' +2 "manipulator"&Y& +4 "core" &~+  Cp +2 "manipulator"&e% +3 "core" %<  A +2 "collection"'j& +4 "core" & \ +3 "collection"'g& +4 "core" & ^\ +2 .tCC.seek :closed +2 "collection"'X(\\ +4 "core" & d\ +8 &: i\ %g +9 &Vu k\ 7 +10 &x _\ L +9 &R X\ M +9 &tT ^\ M +10 &6T Q\ M +9 &U W\ M +9 &U V\ N +10 &~T Z\ M +9 &?U V\ M +10 & S U\ M +9 &!T P\ M +9 &#U L\ M +10 &%GS M\ M +9 &'\ T V\ M +9 &(T O\ M +10 &*T N\ M +9 &,OU P\ M +10 &.T U\ M +9 &/T O\ M +9 &1T P\ M +10 &3VT M\ M +9 &5T N\ M +9 &6R J\ M +10 &8T >\ M +9 &:^T D\ M +10 &< U :\ M +9 &=T 9\ N +9 &?T D\ M +10 &AeU F\ N +9 &C'Y <\ N +9 &Dg >\ O +10 &Fu A\ Q +9 &HZ E\ T +10 &J F\ X +9 &K E\ Y +9 &M K\ Z +10 &OQ H\ Z +9 &Q G\ Z +9 &R C\ [ +10 &T G\ \\ +9 &VT I\ \\ +10 &X F\ ] +9 &Y I\ ^ +9 &[ E\ K +10 &\\8 K\ , +9 &\\ C\ [ +5 ( +2 "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&1 +4 "core" &\\z F\ [ +52 1 +2 "manipulator"&y% +4 "core" % < r A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n' +99 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &Y\ +2 "manipulator"&v% +3 "core" %     +2 "storage"(Z% +4 "core" % \  + "storage"(~. +3 "core" .(  +2 "storage"(w& +3 "core" & \ \  +2 "storage"(o& +4 "core" & j\  +2 "manipulator"&|& +4 "core" &ӎ(  ! A` + "manipulator"& % +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&{( +166 "core" ( +2 "manipulator"&i& +4 "core" & D  +2 "storage"(l& +3 "core" &  N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +107 "core" ' + "storage"(k& +5 "core" &  \  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'r +301 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\\& +3 "core" & D\  +2 "manipulator"&_& +3 "core" & 9  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&}& +4 "core" &  G  + "storage"(r& +4 "core" &  [\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&[/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& + "storage"(' +6 "core" & W  +2 "manipulator"&q% +4 "core" %  ! ; +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h( +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&& +5 "core" & E & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & & & + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +100 "core" ' +2 "manipulator"&& +4 "core" & & & +2 "manipulator"&m% +4 "core" % +2 "processing"%p& +3 "core" &Y\ +2 "processing"%& +5 "core" &S\ +2 .tPC.seek :closed +2 "processing"% (^ +3 "core" &]\  +9 &1vj\ *x +10 &b}a\ > +9 &cpe\ O +10 &#Pc\ O +9 &Pe\ O +9 &Nf\ O +10 &iR^\ O +9 &+O^\ O +9 &U[\ P +10 &RX\ P +9 & qTT\ O +9 &"3T`\ O +10 &#T]\ O +9 &%Ra\ P +10 &'yR]\ O +9 &);O^\ O +9 &*Pe\ O +10 &,QZ\ O +9 &.S_\ O +9 &0BS`\ P +10 &2RX\ O +9 &3OU\ O +10 &5Pb\ O +9 &7LQ_\ O +9 &9 W[\ P +10 &:UZ\ P +9 &<Q`\ O +9 &>RW`\ P +10 &@VZ\ P +9 &AZY\ P +10 &CcS\ Q +9 &ERl_\ R +10 &G{^\ T +9 &H_\ V +9 &J[\ U +9 &LPZ\ V +10 &NT\ W +9 &OU\ W +10 &QI\ W +9 &STH\ W +9 &UP\ W +10 &VM\ W +9 &XG\ W +9 &Z\\H\ W +10 &\\I\ X +9 &]Q\ 7 +10 &^+jG\ "d +9 &^-G\ 4 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&s1 +53 "core" 1 +2 "manipulator"&% +4 "core" %  7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#' +92 "core" ' +2 "processing"%& +4 "core" &^'B\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %  \ K  +2 "storage"(%% +3 "core" % G\  +2 "storage"( . +3 "core" .(  + "storage"(z& +4 "core" & C\  +2 "storage"(& +4 "manipulator"&t& +4 "core" & >\  + & E & +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&8( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(7'r +3 "core" ( + "manipulator"& & +4 "core" &  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  & +2 .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close +2 "manipulator"&T/ +62 "core" / +2 .tPC.seek :open +2 "processing"%x( +92 "core" ' +2 "storage"(,- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'1 +39 "core" ' +312 ( +2 "storage"(& +4 "core" & U\  + "manipulator"&0& +4 "core" & 5 & + "manipulator"&% +4 "core" %  $ +2 .tForearm.seek :retract + "manipulator"&C' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +245 "core" ( +2 "manipulator"&& +4 "core" & n 7 + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&&'S +88 "core" ' + .tHand.open + "manipulator"&N1 +53 "core" 1 +2 "storage"(:- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(4' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(2' +51 "core" ' + #tLights, camera, ACTION! + "storage"($- +4 "core" -' +2 "storage"(F& +3 "core" & ) -\ a +2 "manipulator"&*& +4 "core" &  7 + .tElbow.seek 2 +2 "manipulator"&S( +3 "core" ( + "manipulator"&U& +4 "core" &  \ 7 +2 "storage"(5& +3 "core" & + . 1\ a +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&/'S +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(9'" +51 "core" ' + "manipulator"&(& +4 "core" &  7 +2 "storage"(O& +4 "core" &   "\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&6'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&3% +5 "core" %Ν X  +2 "storage"(.& +4 "core" &   C\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&)' +14 "core" ' + "manipulator"&W& +5 "core" & * 7 + "storage"(J& +5 "core" &   >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&1'S +15 "core" ' + "storage"(=% +5 "core" %   S\ +2 ."downElevator"SE.seek :down +53 "storage"(-' +49 (L% +3 "core" %7  \ Va + "manipulator"&+% +4 "core" %D U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +90 "core" ' +113 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (?& +3 "core" &  !\  +2 "collection"'f& +4 "core" &\\y G\ [ + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&I% +4 "core" %   + "storage"(@% +4 "core" % & (\  + "storage"(D. +3 "core" .(  +2 "storage"( & +4 "core" & ' '\  + "storage"(b& +4 "core" & * ' \  +2 "manipulator"&B& +3 "core" & 3 7 +2 .tElbow.seek 2 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&\ & +4 "core" & H 7 +2 "storage"(P& +4 "core" & ) '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&H'S +95 "core" ' + "storage"(d& +5 "core" &  & %\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'r +301 "core" ' + "storage"(<- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & 7 +2 "storage"(^& +3 "core" & ( ' #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&]'Α +14 "core" ' + .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(G- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(Y'q +32 "core" ' + "manipulator"&e% +4 "core" %΢ @ + "storage"(j& +4 "core" &  `\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&E' +13 "core" ' + "manipulator"&u& +5 "core" & 6 + "storage"('& +4 "core" & & '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(y' +39 "core" ' + "manipulator"&& +5 "core" & 6 + "manipulator"&v% +4 "core" %A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&~(ӂ +148 "core" ( + "manipulator"&w& +4 "core" &z* Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &z* x Bj +2 .tForearm.seek CC +2 "manipulator"&g'? +91 "core" ' +2 .tHand.close + "manipulator"&|/ +65 "core" / + .tCC.seek :open +2 "collection"' ( +452 "core" ( +2 "storage"(c& +4 "core" & l G\  + "storage"(i& +4 "core" & ` X\  +2 "manipulator"&l& +3 "core" &Ә% >L +2 "manipulator"&k% +4 "core" % = # W + .tForearm.seek :retract +2 "manipulator"&`' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&n( +156 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(\\& +3 "core" & u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&_'Α +91 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +64 "core" 1 +2 "manipulator"&[% +4 "core" % ΢ A M + "storage"(!& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&q' +14 "core" ' +2 "manipulator"&{& +4 "core" & : +2 "storage"(Q& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&a'S +18 "core" ' + "storage"(% +5 "core" % n\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +2 "core" %< s \ Vc +2 "manipulator"&% +4 "core" %?   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [1..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'m& +4 "core" & S\ +2 "manipulator"&p% +4 "core" %   + "storage"(% +4 "core" % )\  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(;( +345 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +2 "core" & z 6\ +2 "manipulator"&& +4 "core" & Z +2 .tElbow.seek 3 + "manipulator"&( +15 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(%& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"& '7 +90 "core" ' + "storage"(z& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +305 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +15 "core" & 3\ + "manipulator"& & +5 "core" & n  + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & }  + "storage"(T& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&,'ϡ +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&h/ +56 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&#& + "storage"( ' +7 "core" & 5  + "manipulator"&7% +4 "core" % Ϣ  < +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0(ӂ +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&& +4 "core" &Ӣ = 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ӣ  6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'? +99 "core" ' +2 "manipulator"&& +4 "core" &Ӣ ` 6 +2 "manipulator"&8% +4 "core" %D +2 "collection"'N& +4 "core" & k\ +2 "collection"':& +5 "core" & e\ +2 .tCC.seek :closed +2 "collection"'$(\\ +4 "core" & k\ +7 & + j\ $d +9 &Wu i\ 7 +10 &u d\ K +9 &R T\ M +9 &hU _\ M +10 &+W Y\ L +9 &T Z\ L +9 &W [\ L +10 &qW S\ L +9 &4T N\ L +10 &V W\ L +9 &!W X\ M +9 &#yU V\ L +10 &%;R Z\ L +9 &&T Y\ L +10 &(U V\ M +9 &*Q V\ L +9 &,BW Y\ M +10 &.T O\ M +9 &/W S\ L +9 &1W P\ M +10 &3JU T\ M +9 &5 W S\ L +10 &6X O\ M +9 &8U Y\ M +9 &:SR K\ L +10 &<S L\ M +9 &=U M\ M +9 &?T P\ M +10 &AYV I\ M +9 &CY L\ M +9 &Db L\ N +10 &Fm H\ P +9 &HP J\ S +10 &J G\ W +9 &K D\ Y +9 &M C\ Y +10 &OD C\ Z +9 &Q ;\ Z +9 &R A\ [\ +10 &T @\ [ +9 &VF F\ \\ +10 &X I\ \\ +9 &Y A\ ] +9 &[ ?\ K +10 &\\; C\ + +9 &\\ E\ W +6 ( + "collection"':& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 +2 .Hand.open + "manipulator"&F1 +3 "core" &\\t H\ W +59 1 + "manipulator"&*% +4 "core" % D n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U' +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%5& +5 "core" &j\ + "manipulator"&C% +4 "core" %  +  +2 "storage"((% +3 "core" %   \  +2 "storage"(O. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(3( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (.& +3 "core" & L\  + "manipulator"&W& +4 "core" &Ӣ 6 6 +2 "manipulator"&"% +3 "core" %  '  +53 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&J( +162 "core" ( + "manipulator"&4& +4 "core" &  +2 "storage"(=& +4 "core" & Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +91 "core" ' + "storage"(&& +4 "core" & * - \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'r +304 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +2 "core" &   \ +2 "manipulator"&/& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&S( +4 "core" ( + "manipulator"&9& +4 "core" &   + "storage"(6& +4 "core" & * ) M\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&)'ϡ +40 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&?/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(I' +7 "core" & D  +2 "manipulator"&@% +3 "core" % ϯ E +2 .tForearm.seek :retract +2 "manipulator"&D' +89 "core" ' + .tElbow.seek PC +2 "manipulator"&( +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"& & +4 "core" & 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" & ^ 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B' +98 "core" ' + "manipulator"&\ & +4 "core" & 6 6 +2 "manipulator"&P% +4 "core" % 7  +2 "processing"%1& +4 "core" &k\ +2 "processing"%d& +4 "core" &U\ +2 .tPC.seek :closed +2 "processing"%-(^ +5 "core" &n\ \ +9 &/sk\ *x +9 &b{f\ > +10 &jsk\ O +9 &-O_\ O +10 &Ta\ O +9 &Q]\ O +9 &rS`\ O +10 &3RU\ O +9 &Qa\ O +9 &Rc\ O +10 & yRb\ O +9 &";Qb\ O +10 &#SR\ O +9 &%R`\ O +9 &'Re\ O +10 &)DR^\ O +9 &+Rc\ O +9 &,S`\ O +10 &.Q\\\ O +9 &0LR\\\ O +9 &2R_\ O +10 &3Q_\ O +9 &5R_\ O +10 &7SRY\ O +9 &9TZ\ P +9 &:T`\ O +10 &<Ta\ O +9 &>ZUW\ P +10 &@T\\\ O +9 &AUV\ P +9 &Ce_\ Q +10 &EZpX\ R +9 &GW\ T +9 &HO\ U +10 &JI\ V +9 &LYR\ U +9 &NI\ V +10 &OH\ V +9 &QH\ W +10 &S]H\ W +9 &UU\ W +9 &VK\ V +10 &XR\ V +9 &ZdR\ W +10 &\\&H\ W +9 &]wE\ : +9 &^-N\ Y +10 &^#U\ 2 +2 ( +2 "processing"%d& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&A1 +57 "core" 1 + "manipulator"&>% +5 "core" %   N  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +92 "core" ' +2 "processing"%V& +4 "core" &^ H\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&^% +4 "core" %   +2 "storage"(G% +3 "core" %  S\  +2 "storage"(e. +3 "core" .( + "storage"(j& +4 "core" &  \ +2 "storage"(u& +4 "manipulator"&'& +4 "core" &  f\ + & R 6 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'r +3 "core" ( + "manipulator"&H& +4 "core" & N 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &  d 6 +2 .tForearm.seek PC +2 "manipulator"&K' +91 "core" ' +2 .tHand.close + "manipulator"&]/ +54 "core" / + .tPC.seek :open +2 "processing"%E( +107 "core" ' + "storage"(Y- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'1 +47 "core" ' +293 ( + "storage"(o& +5 "core" & ) & \ + "manipulator"&& +4 "core" & 6 + "manipulator"&R% +4 "core" %  ' 8 +2 .tForearm.seek :retract + "manipulator"&|' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z( +247 "core" ( + "manipulator"&X& +4 "core" & | C +2 "storage"(c& +4 "core" & 0 % )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&i'7 +92 "core" ' + .tHand.open +2 "manipulator"&l1 +52 "core" 1 +2 "storage"(k- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +119 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(\\' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(~& +3 "core" & C C \ h +2 "manipulator"&r& +4 "core" &  C + .tElbow.seek 3 +2 "manipulator"&[( +3 "core" ( + "manipulator"&!& +4 "core" & C + "storage"({& +4 "core" & h ^ H\ g +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q'7 +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +51 "core" ' + "manipulator"&`& +5 "core" & c C + "storage"(& +4 "core" &  K\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +14 "core" ' +2 .tElbow.hold + "manipulator"&n, +19 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(_' +19 "core" ' +2 "manipulator"&m% +4 "core" %Ή % H + "storage"(q& +4 "core" &   <\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&p'ϵ +26 "core" ' + "manipulator"&& +5 "core" & S C + "storage"(& +4 "core" & 3 3 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&y'7 +17 "core" ' +2 "storage"(a% +5 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %[<  C\ Wd +2 "manipulator"&s% +4 "core" %2  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & c\ + "collection"'%& +4 "core" &\\t y\ W +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&z% +4 "core" %   +2 "storage"(}% +3 "core" %  U\  +2 "storage"(. +3 "core" .( + "storage"(t& +4 "core" & !  K\ +2 "storage"(& +3 "core" & & ' $\ +2 "manipulator"& & +3 "core" & l B +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&T& +4 "core" & / B + "storage"(h& +4 "core" & 3 /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&#'7 +94 "core" ' + "storage"(7& +5 "core" & ( \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & ` B + "storage"(& +4 "core" &  " \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'u +18 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(8'q +32 "core" ' + "manipulator"&N% +4 "core" %| . ! +2 "storage"(& +3 "core" &   +\ +51 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"& 'Ϩ +15 "core" ' + "manipulator"&& +4 "core" & C B +2 "storage"( & +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&F'7 +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(*' +36 "core" ' +2 "manipulator"&5& +4 "core" & S B +2 "manipulator"&C% +4 "core" %. 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&(' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&O(ӂ +156 "core" ( + "manipulator"&:& +5 "core" &Ӎ(  Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &Ӎ) Ab +2 .tForearm.seek CC +2 "manipulator"&W'? +91 "core" ' +2 .tHand.close + "manipulator"&"/ +61 "core" / +2 .tCC.seek :open +2 "collection"'( +448 "core" ( +2 "storage"(4& +4 "core" & \ + "storage"(=& +4 "core" & d e ?\ +2 "manipulator"&;& +3 "core" &ө#  =F +2 "manipulator"&&% +3 "core" % O ' = +2 .tForearm.seek :retract +2 "manipulator"&0' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&U( +156 "core" ( +2 "manipulator"&L& +4 "core" & + "storage"(+& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&/'u +94 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +53 "core" 1 +2 "manipulator"&?% +4 "core" % ΀ 4 +2 "storage"(f& +3 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&@'Ϭ +15 "core" ' + "manipulator"&J& +4 "core" & +2 "storage"(& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&2'7 +19 "core" ' + "storage"()% +5 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (b% +3 "core" %6 ~ \ U] + "manipulator"&S% +4 "core" %+  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ ' +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 1 of [1..3] + #Loading generic puck from tube 1 into Collection Clamp +2 "collection"'P& +4 "core" & V\ +2 "manipulator"&1% +4 "core" %    + "storage"(I% +4 "core" % \  +2 "storage"(D. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(x(C +670 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &C \ +2 "manipulator"&>& +3 "core" &  +2 .tElbow.seek 1 +2 "manipulator"&V( +35 "core" ( + "manipulator"&^& +5 "core" &   + "storage"(G& +4 "core" &D ?\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&e' +101 "core" ' +2 "storage"(j& +4 "core" &D G\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''r +295 "core" ' +2 "storage"(u- +3 "core" -'- +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &D j\ +2 "manipulator"&H& +4 "core" & \  + .tElbow.seek 1 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&B& +3 "core" &  +2 "storage"(]& +3 "core" &D \ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&Y'd +13 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(-' +7 "core" & ^  + "manipulator"&v% +4 "core" % b * +2 .tForearm.seek :retract +2 "manipulator"&o' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +158 "core" ' + ( + ."downElevator"SE.stop +4 "manipulator"&R& + "storage"(5 +7 "core" &ӓ" <9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +2 "core" &ӓ#  <9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'? +98 "core" ' + "manipulator"&c& +4 "core" &ӓ# @ <9 +2 "manipulator"&% +4 "core" %@ Q ) +2 "collection"'l& +4 "core" & f\ +2 "collection"'k& +5 "core" & b\ +2 .tCC.seek :closed +2 "collection"'|(\\ +4 "core" & l\  +9 &3} l\ +{ +10 &d~ m\ > +9 &p l\ M +10 &PT `\ L +9 &R k\ L +9 &S h\ L +10 &U h\ M +9 &WS k\ M +9 &V g\ M +10 &Q b\ L +9 & Q b\ M +9 &"_T a\ M +10 &$"Q \\\ L +9 &%R T\ M +10 &'T V\ M +9 &)hR W\ L +9 &+)R Z\ M +10 &,W [\ M +9 &.U U\ L +9 &0pT [\ L +10 &22U \\\ L +9 &3R [\ M +10 &5V Y\ L +9 &7wW [\ M +9 &9:R W\ L +10 &:T Y\ L +9 &<W X\ M +10 &>V [\ M +9 &@AR V\ M +9 &BY W\ M +10 &Cc V\ N +9 &E|v V\ P +10 &G4 Y\ T +9 &H W\ X +9 &J Z\ Y +9 &Li X\ Z +10 &N+ R\ Z +9 &O W\ [ +10 &Q W\ \\ +9 &Sk [\ \\ +9 &U* J\ ] +10 &V N\ ] +9 &X O\ ^ +9 &Zk Q\ ^ +10 &\\| G\ 5 +9 &\\, J\ "h +9 ( +4 "collection"'k& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + .Hand.open +2 "manipulator"&g1 +3 "core" &\\ I\ ] +61 1 + "manipulator"&~% +4 "core" % @ i ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r' +93 "core" ' +2 #tLoading generic puck from tube 1 into Processing Clamp +2 "processing"%!& +4 "core" &X\ + "manipulator"&{% +4 "core" %  2  +2 "storage"(`% +4 "core" %  -\  + "storage"(. +3 "core" .(C + "storage"(w& +4 "core" &D  \ + "storage"(m& +4 "core" &D  \ +2 "manipulator"&q& +3 "core" &ӓ# s <9 +2 "manipulator"&% +4 "core" %  ~  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&& +4 "core" & [ ~ + "storage"(a& +4 "core" &D & '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&Z' +105 "core" ' +2 "storage"(i& +4 "core" &D & ' \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\\'r +299 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +2 "core" &D )\ +2 "manipulator"&Q& +4 "core" & H ~ +2 .tElbow.seek 1 +2 "manipulator"&[( +3 "core" ( + "manipulator"&& +4 "core" & ~ +2 "storage"(& +3 "core" &D  \ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&'d +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& + "storage"(z' +7 "core" & 2 ~ +2 "manipulator"&}% +4 "core" % ϑ  + .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' + .tElbow.seek PC +2 "manipulator"&_( +63 "Can"\ ZX +92 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( + "manipulator"&t& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& ' +95 "core" ' +2 "manipulator"&T& +5 "core" & <  + "manipulator"&h% +4 "core" % U  +2 "processing"%y& +4 "core" &j\ +52 "processing"%7& +5 "core" &m\ +2 .tPC.seek :closed +2 "processing"%(^ +4 "core" &k\ +7 & ,n\ #b +9 &Txi\ 7 +10 &~yi\ L +9 &TU\ O +9 &GS^\ O +10 & Q_\ O +9 &Ta\ O +9 &RW\ O +10 &OQ_\ O +9 &Sa\ O +10 &R`\ P +9 &!Qa\ O +9 &#XRa\ O +10 &%Sa\ O +9 &&S`\ O +9 &(Sd\ O +10 &*_Sd\ O +9 &,!Ta\ O +10 &-Rd\ O +9 &/Ta\ O +9 &1gTa\ O +10 &3*Rc\ O +9 &4Ra\ O +9 &6T`\ O +10 &8oU_\ O +9 &:1R_\ O +9 &;P`\ O +10 &=T\\\ P +9 &?wS`\ O +10 &A8W`\ P +9 &Bi[\ R +10 &Dv_\ T +9 &Fm^\ U +9 &H.^\ V +10 &I`\ V +9 &K`\ W +9 &Mp_\ W +10 &O4`\ V +9 &PY\ X +9 &RV\ X +10 &TwN\ X +9 &V;Q\ W +10 &WT\ Y +9 &YU\ W +9 &[I\ W +10 &]@Q\ P +9 &^xJN\ c +9 &^WR\ 5 +6 ( +2 "processing"%7& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.72 +2 .Hand.open + "manipulator"&n1 +4 "core" &^'R\ 5 +52 1 + "manipulator"&% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +92 "core" ' +2 "processing"%& +4 "core" &^'V\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" %  *  + "storage"(% +4 "core" % J\  + "storage"(N. +3 "core" .(C +2 "storage"(& +3 "core" &D \ +2 "storage"(& +4 "manipulator"& & +4 "core" &D <\ + &  f  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&5( +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(C'r +4 "core" ( +2 "manipulator"&#& +4 "core" & 2 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &  0 + .tForearm.seek PC +2 "manipulator"&' +94 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open + "processing"% ( +91 "core" ' +2 "storage"(8- +3 "core" -'r +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(:'1 +43 "core" ' +310 ( + "storage"(.& +4 "core" &D   H\ +2 "manipulator"&F& +4 "core" & Z . + "manipulator"&,% +4 "core" %   + +2 .tForearm.seek :retract +2 "manipulator"&"' +89 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&(( +250 "core" ( + "manipulator"&$& +5 "core" & ] + "storage"(4& +4 "core" &D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&=' +93 "core" ' + .tHand.open + "manipulator"&;1 +57 "core" 1 +2 "storage"(&- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(L' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(+' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(W- +4 "core" -' + "storage"(O& +4 "core" &D \ H +2 "manipulator"&6& +3 "core" &  +2 .tElbow.seek 1 +2 "manipulator"&?( +3 "core" ( + "manipulator"&f& +4 "core" &   +2 "storage"(J& +3 "core" &D \ F +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"()'" +50 "core" ' +2 "manipulator"&0& +4 "core" & 9 +2 "storage"(b& +4 "core" &D \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&S'8 +24 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(/' +18 "core" ' +2 "manipulator"&P% +4 "core" %> L +2 "storage"(@& +4 "core" &D :\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 306 counts + "manipulator"&1'j +16 "core" ' + "manipulator"&I& +5 "core" & +2 "storage"(D& +4 "core" &D z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&*' +18 "core" ' +2 "storage"(2% +4 "core" % =\ +2 ."downElevator"SE.seek :down +4 "storage"( ' +99 (3% +3 "core" %S> 7\ Wf + "manipulator"&A% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>' +89 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (^& +3 "core" &D 8\ +2 "collection"'G& +3 "core" &\\ D\ ] +2 #tStoring generic puck in Collection Clamp to tube 1 +2 "manipulator"&j% +3 "core" %  c  +2 "storage"(9% +3 "core" % \  +2 "storage"(\ . +3 "core" .(C + "storage"(u& +4 "core" &D \ +2 "storage"(d& +3 "core" &D p\ +2 "manipulator"&H& +4 "core" &  + .tElbow.seek 1 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&]& +3 "core" & A +2 "storage"(& +3 "core" &D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&<' +90 "core" ' +2 "storage"(v& +4 "core" &D ! .\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'r +298 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +2 "core" &  +2 "storage"(K& +4 "core" &D G\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&''8 +22 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(c- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"('{ +29 "core" ' + "manipulator"&l% +5 "core" %C 2 + "storage"(M& +4 "core" &D \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 311 counts + "manipulator"&-'o +15 "core" ' + "manipulator"&o& +5 "core" & + "storage"(& +5 "core" &D s\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&g' +19 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(~' +34 "core" ' +2 "manipulator"&!& +4 "core" & +2 "manipulator"&{% +4 "core" % W + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(ӂ +152 "core" ( +2 "manipulator"&w& +4 "core" &* e Bk + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &* R Bk +2 .tForearm.seek CC +2 "manipulator"&m'? +93 "core" ' + .tHand.close +2 "manipulator"&q/ +52 "core" / + .tCC.seek :open +2 "collection"'( +452 "core" ( +2 "storage"(X& +4 "core" &D   B\ +2 "storage"(& +3 "core" &D  Z\ +2 "manipulator"&a& +3 "core" &ӟ%  >K +2 "manipulator"&i% +3 "core" % ,   +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&r( +156 "core" ( + "manipulator"&& +4 "core" & +2 "storage"(s& +26 "core" &D ' & \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&Q'8 +96 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +51 "manipulator"&1 +63 "core" 1 +2 "manipulator"&p% +4 "core" % I  +2 "storage"(%& +3 "core" &D ( &\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&}'u +15 "core" ' + "manipulator"&& +4 "core" &  C +2 "storage"(Z& +4 "core" &D  # o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&\\' +19 "core" ' + "storage"(% +5 "core" % &  c\ +2 ."downElevator"SE.seek :down +3 "storage"(t' +99 (% +3 "core" %7 ' \ Va +2 "manipulator"&[% +4 "core" % s + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T' +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [1..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'h& +4 "core" & W\ +2 "manipulator"&y% +4 "core" %    + "storage"(z% +4 "core" % ) '\  + "storage"(. +4 "core" .(C + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(E(  +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (n& +3 "core" &  +\ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & + "storage"(& +4 "core" &  7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&N'S +99 "core" ' + "storage"(& +4 "core" & % &\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +308 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" & &  \  +2 "manipulator"&#& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & ; +2 "storage"(& +3 "core" & % 0 U\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&8'Ͻ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(' +8 "core" &  O + "manipulator"&C% +4 "core" % ϼ 4 +2 .tForearm.seek :retract +2 "manipulator"&.' +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F(ӂ +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&,& +3 "core" &ӗ! , :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &ӗ!  :- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&$'? +100 "core" ' + "manipulator"&4& +5 "core" &Ә! - :, + "manipulator"&5% +4 "core" %8  +2 "collection"';& +4 "core" & a\ +2 "collection"'&& +5 "core" & j\ +2 .tCC.seek :closed +3 "collection"'W(\\ +3 "core" & m\ +6 & l\ 3 +10 &=Hu l\ 0 +9 &ir} l\ E +10 &Y i\ M +9 &R m\ L +9 &T k\ L +10 &XS f\ L +9 &S k\ L +9 &Q e\ M +10 &Q _\ M +9 &`R [\ L +10 &!"R ]\ L +9 &"Q ^\ M +9 &$Q R\ L +10 &&gS X\ M +9 &()U S\ M +9 &)S S\ L +10 &+V X\ M +9 &-oR V\ M +9 &/1Q Z\ M +10 &0Q Z\ M +9 &2Q [\ M +10 &4wU Y\ M +9 &69V X\ M +9 &7R U\ M +10 &9R [\ M +9 &;S U\ L +9 &=BS Y\ L +10 &?T V\ M +9 &@V Q\ M +10 &BX V\ M +9 &DE` Q\ N +10 &Fk X\ O +9 &G Q\ S +9 &Ir O\ W +9 &K- O\ Y +10 &L I\ Z +9 &N W\ Z +10 &Po W\ Z +9 &R1 P\ Z +9 &S N\ \\ +10 &U P\ \\ +9 &Wq M\ \\ +9 &Y/ @\ ^ +10 &Z L\ ^ +9 &\\WV O\ 1 +10 &\\ =\ b +9 ( +2 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&O1 +3 "core" &\\y I\ [ +61 1 +2 "manipulator"&6% +4 "core" % 8 A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f' +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%J& +4 "core" &m\ +2 "manipulator"&"% +4 "core" %   + "storage"(0% +4 "core" % =\  + "storage"(b. +3 "core" .(  +2 "storage"(P& +4 "core" & <\  + "storage"(@& +4 "core" & h\  +2 "manipulator"&:& +3 "core" &Ә! M :, +2 "manipulator"&I% +4 "core" %    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&D( +161 "core" ( + "manipulator"&L& +4 "core" &  +2 "storage"(2& +3 "core" & t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&('S +93 "core" ' + "storage"(=& +5 "core" &  U\  + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'r +300 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +3 "core" & J B /\  + "manipulator"&& +4 "core" & S  +2 .tElbow.seek 2 + "manipulator"&?( +4 "core" ( + "manipulator"&)& +4 "core" & )  + "storage"(S& +4 "core" & T T A\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&1'Ͻ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"(j' +7 "core" & \\  + "manipulator"&9% +4 "core" % ϲ +2 .tForearm.seek :retract +2 "manipulator"&\ ' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&/( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +74 "core" ( + "manipulator"&u& +4 "core" & n = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" & = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&H' +97 "core" ' +2 "manipulator"&]& +4 "core" & = +2 "manipulator"&% +4 "core" %  + "processing"%*& +4 "core" &Z\ +2 "processing"%v& +6 "core" &p\ +2 .tPC.seek :closed +3 "processing"% (^ +3 "core" &o\ +7 & +k\ $c +9 &Tyo\ 7 +9 &|vn\ K +10 &Rm\ O +9 &YRn\ N +10 &Nl\ O +9 &Uo\ O +9 &Ui\ O +10 &`Ug\ O +9 &"Ui\ O +10 &Ub\ O +9 &!Od\ O +9 &#hQa\ O +10 &%+Q`\ N +9 &&R^\ N +9 &(T`\ N +10 &*pR`\ O +9 &,2R`\ O +9 &-Rf\ N +10 &/Sb\ N +9 &1xR^\ O +10 &3:Ta\ O +9 &4Qa\ O +9 &6Tc\ N +10 &8T`\ O +9 &:BRa\ O +9 &<Ta\ N +10 &=T_\ O +9 &?TW\ O +10 &AITa\ O +9 &C``\ Q +9 &Dc_\ Q +10 &Fta\ S +9 &H?_\ U +9 &I`\ V +10 &K`\ V +9 &M[\ V +10 &OE[\ V +9 &Q`\ W +9 &R_\ W +10 &T]\ W +9 &VJ\\\ W +9 &X ^\ V +10 &Y]\ V +9 &[X\ W +9 &]RS\ G +10 &^x@pW\ )x +9 &^(Z\ . +6 ( +2 "processing"%v& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&U1 +4 "core" &^Z\ . +49 1 + "manipulator"&>% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e' +93 "core" ' +2 "processing"%R& +4 "core" &^S\ . + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&K% +4 "core" %  C  +2 "storage"(c% +3 "core" % ' &\  +2 "storage"(l. +3 "core" .(  + "storage"(M& +4 "core" & & &\  +2 "storage"(o& +4 "manipulator"&& +4 "core" & & &\  +2 & % = +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&!( + "storage"({'r +6 "core" ( + "manipulator"&<& +4 "core" & = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &  = = +2 .tForearm.seek PC +2 "manipulator"&V' +93 "core" ' + .tHand.close + "manipulator"&'/ +65 "core" / +52 .tPC.seek :open +2 "processing"%-( +40 "core" ' +2 "storage"(- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'1 +46 "core" ' +357 ( + "storage"(k& +4 "core" & O T `\  +2 "manipulator"&g& +3 "core" & U = +2 "manipulator"&Y% +4 "core" %  4  + .tForearm.seek :retract +2 "manipulator"&q' +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&`( +244 "core" ( +2 "manipulator"&|& +4 "core" & 3 5 + "storage"(X& +4 "core" & * 7 i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +93 "core" ' + .tHand.open + "manipulator"&a1 +59 "core" 1 +2 "storage"(i- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(s' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(m- +3 "core" -' +2 "storage"(& +4 "core" & K\ o + "manipulator"&& +4 "core" &   5 +2 .tElbow.seek 2 + "manipulator"&p( +3 "core" ( +2 "manipulator"&%& +4 "core" &   5 + "storage"(& +4 "core" & \ o +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'S +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +57 "core" ' + "manipulator"&& +4 "core" &  5 +2 "storage"(r& +4 "core" & J J 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +19 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(Q' +27 "core" ' +2 "manipulator"&h% +4 "core" %Α T +2 "storage"(}& +4 "core" & C C \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 300 counts +2 "manipulator"&y'Ͻ +15 "core" ' +2 "manipulator"&z& +4 "core" & H 5 +2 "storage"(& +4 "core" & 7 4 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'S +16 "core" ' +2 "storage"(\\% +4 "core" % c W\ +3 ."downElevator"SE.seek :down +3 "storage"(t' +99 (x% +3 "core" %O  B\ Ym + "manipulator"&n% +4 "core" %D E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +86 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &  - P\  + "collection"'& +4 "core" &\\y \ [ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %  S  +2 "storage"(% +3 "core" % 5 ; \  +2 "storage"(T. +3 "core" .(  + "storage"( & +4 "core" & 4 6 ?\  +2 "storage"(7& +3 "core" & 4 5 \  +2 "manipulator"&#& +3 "core" & 5 +2 .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" &  5 +2 "storage"(_& +3 "core" & 4 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'S +88 "core" ' + "storage"(C& +5 "core" & a b\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +306 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&,& +3 "core" & 5 +2 "storage"(& +3 "core" & 3 @ \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +17 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(4- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(5'q +32 "core" ' + "manipulator"&;% +5 "core" %Λ   + "storage"(& +4 "core" & ' + 9\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&' +14 "core" ' + "manipulator"&.& +4 "core" & 5 +2 "storage"(& +4 "core" & = ? \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&O'S +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(6' +44 "core" ' + "manipulator"&J& +5 "core" & C 5 + "manipulator"&"% +4 "core" %B l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&0' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b(ӂ +153 "core" ( + "manipulator"&P& +4 "core" &Ӎ' f @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &Ӎ( @ @\\ +2 .tForearm.seek CC + "manipulator"&@'? +95 "core" ' + .tHand.close +2 "manipulator"&:/ +52 "core" / + .tCC.seek :open +2 "collection"'I( +452 "core" ( +2 "storage"($& +4 "core" & _\  + "storage"(L& +4 "core" & M\  + "manipulator"&2& +4 "core" &ӛ% 0 >N + "manipulator"&=% +4 "core" % < ; 6 +2 .tForearm.seek :retract + "manipulator"&F' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&f( +163 "core" ( + "manipulator"&3& +4 "core" & C  +2 "storage"(A& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'Α +93 "core" ' +2 .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +56 "core" 1 +2 "manipulator"&^% +4 "core" % Ύ F + "storage"(G& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 297 counts +2 "manipulator"&9'Ϻ +13 "core" ' +2 "manipulator"&D& +4 "core" & R  +2 "storage"((& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&+'S +19 "core" ' +2 "storage"(1% +4 "core" % (\ +2 ."downElevator"SE.seek :down +3 "storage"(u' +99 (d% +3 "core" %? \ Vd + "manipulator"&?% +4 "core" %= +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [1..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & S\ +2 "manipulator"&*% +4 "core" %   + "storage"(j% +4 "core" % \  +2 "storage"(\ . +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (U& +4 "core" & \ + "manipulator"&>& +4 "core" & (  +2 .tElbow.seek 3 + "manipulator"&R( +33 "core" ( + "manipulator"&K& +5 "core" & / + "storage"(c& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&l'7 +95 "core" ' +2 "storage"(M& +4 "core" & N\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +297 "core" ' + "storage"(o- +52 "core" -' +3 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +2 "core" & \ +2 "manipulator"&<& +4 "core" & * / +2 .tElbow.seek 3 +2 "manipulator"&B( +3 "core" ( + "manipulator"&H& +4 "core" & " / + "storage"('& +4 "core" & C\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&// +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& + "storage"( ' +7 "core" & / +2 "manipulator"&{% +4 "core" %   n +2 .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g(ӂ +146 "core" ( +2 "manipulator"&Y& +4 "core" &x) Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &x* ) Bk + ' + ."downElevator"SE.stop +5 .tForearm.reconfigure :tight +2 "storage"(5 +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&|'? +92 "core" ' + "manipulator"&X& +5 "core" &Ӓ& . ?Q + "manipulator"&!% +4 "core" %E + O +2 "collection"'a& +4 "core" & j\ +2 "collection"'i& +5 "core" & c\ +2 .tCC.seek :closed +2 "collection"'m(\\ +4 "core" & Z\ +6 &3 _\ $c +10 &Uu a\ 6 +9 &y k\ K +9 &R m\ L +10 &fT j\ L +9 &(T l\ L +10 &U o\ L +9 &U l\ L +9 &nW f\ L +10 &0U n\ L +9 &T `\ L +9 &!T b\ K +10 &#vU Z\ L +9 &%9T \\\ L +10 &&T X\ L +9 &(T R\ K +9 &*~T [\ L +10 &,@U \\\ L +9 &.T Y\ L +9 &/T T\ L +10 &1U T\ L +9 &3HX U\ L +10 &5\ U X\ L +9 &6U U\ L +9 &8U W\ L +10 &:OU Y\ L +9 &<U T\ L +9 &=U W\ L +10 &?W W\ L +9 &AXU R\ L +10 &C[ Y\ M +9 &Da _\ M +9 &Fn Z\ O +10 &HM O\ S +9 &J X\ V +10 &K Y\ Y +9 &M Z\ Y +9 &O@ ^\ Z +10 &Q a\ Z +9 &R Z\ Z +9 &T a\ [ +10 &VB T\ \\ +9 &X X\ \\ +9 &Y c\ ] +10 &[ _\ J +9 &\\: T\ . +10 &\\ W\ Y +5 ( + "collection"'i& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.18 + .Hand.open + "manipulator"&1 +4 "core" &\\t U\ Y +49 1 + "manipulator"&% +5 "core" % E Q O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &Y\ +2 "manipulator"&q% +4 "core" %   T  + "storage"(% +4 "core" % & (\  + "storage"(r. +3 "core" .( +2 "storage"(h& +4 "core" & & \ + "storage"(}& +4 "core" &  # s\ +2 "manipulator"&w& +3 "core" &Ӓ&  F ?Q +2 "manipulator"&z% +4 "core" %    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +168 "core" ( +2 "manipulator"&& +4 "core" & #  + "storage"(\\& +4 "core" & S G \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&`'7 +95 "core" ' +2 "storage"(& +4 "core" & f "\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'r +299 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (n& +3 "core" & S 6 %\ + "manipulator"&Z& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&p( +4 "core" ( + "manipulator"&& +3 "core" & %  +2 "storage"(& +4 "core" & U T \ + .tForearm.seek 3 + 300 counts +2 "manipulator"&'ϡ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&y/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +6 "core" & \\  +2 "manipulator"&% +4 "core" %  = + .tForearm.seek :retract +2 "manipulator"&T' +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"& & +6 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&#' +93 "core" ' + "manipulator"&& +5 "core" & "  + "manipulator"&_% +4 "core" % R 5 +2 "processing"%~& +3 "core" &n\ +2 "processing"%C& +6 "core" &n\ +2 .tPC.seek :closed +2 "processing"%t(^ +4 "core" &o\ +6 & ,o\ $c +9 &Tyo\ 7 +10 &}un\ K +9 &Uo\ O +10 &VQn\ O +9 &Qd\ N +9 &Uj\ O +10 &Qj\ O +9 &^Qm\ O +10 & Ql\ O +9 &Qh\ O +9 &!Om\ O +10 &#fUl\ O +9 &%)Un\ N +10 &&Tm\ N +9 &(Rb\ N +9 &*oS`\ N +10 &,0Ra\ O +9 &-Pc\ O +9 &/Qe\ O +10 &1vQa\ O +9 &38Q`\ O +9 &4Ua\ N +10 &6S_\ O +9 &8~Wa\ O +10 &:@Qd\ O +9 &<Te\ N +9 &=T`\ O +10 &?S`\ N +9 &AFU`\ O +9 &C^e\ P +10 &Dg`\ Q +9 &F{`\ S +10 &H=a\ U +9 &I`\ V +9 &Ka\ U +10 &Ma\ V +9 &OD_\ U +9 &Q`\ W +10 &R`\ V +9 &Ta\ W +9 &VI_\ V +10 &X ]\ V +9 &Y^\ V +10 &[a\ V +9 &]N_\ K +9 &^O^\ "h +10 &^&S\ 1 +2 ( +2 "processing"%C& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&[1 +54 "core" 1 +2 "manipulator"&% +4 "core" %  9 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N' +100 "core" ' +2 "processing"%,& +4 "core" &^";\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %  7 +2 "storage"(4% +3 "core" % 3 % <\  +2 "storage"(;. +3 "core" .( + "storage"(& +4 "core" & & ' \ +2 "storage"(.& +3 "manipulator"&& +5 "core" & * ' E\ + &  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&J( +4 ."raiseStack"SE.seek :beamBreak + "storage"("'r +3 "core" ( + "manipulator"& & +4 "core" & "  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & 5  +2 .tForearm.seek PC +2 "manipulator"&' +91 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +3 .tPC.seek :open + "processing"%( +100 "core" ' + "storage"(5- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(P'1 +47 "core" ' +299 ( + "storage"(&& +5 "core" & T T '\ + "manipulator"&O& +4 "core" & 1  + "manipulator"&8% +4 "core" %   Y +2 .tForearm.seek :retract +2 "manipulator"&:' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&0( +246 "core" ( +2 "manipulator"&W& +4 "core" & M + "storage"($& +4 "core" & B B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&L'7 +94 "core" ' +2 .tHand.open + "manipulator"&21 +55 "core" 1 +2 "storage"(=- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(3' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(A' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' + "storage"(b& +4 "core" & !\ { +2 "manipulator"&S& +3 "core" & \   M +2 .tElbow.seek 3 +2 "manipulator"&^( +3 "core" ( + "manipulator"&G& +4 "core" &   M +2 "storage"(D& +4 "core" & \ { +2 .tForearm.seek 3 + 450 counts + "manipulator"&('7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(1'" +63 "core" ' + "manipulator"&F& +4 "core" & J M +2 "storage"(d& +4 "core" & D D \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +52 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&?'u +22 "core" ' +2 .tElbow.hold +2 "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' + "manipulator"&% +5 "core" %΁  + "storage"(9& +4 "core" & * ' (\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&*'ϭ +14 "core" ' + "manipulator"&j& +5 "core" & M + "storage"(\ & +4 "core" & 3 4 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&6'7 +19 "core" ' + "storage"(+% +5 "core" % U E A\ +2 ."downElevator"SE.seek :down +4 "storage"(u' +99 (E% +2 "core" %i: ' &\ Vc +2 "manipulator"&U% +5 "core" %. G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>' +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (K& +4 "core" & : % \ +2 "collection"'c& +3 "core" &\\s c\ Y +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&M% +4 "core" %  +  +2 "storage"()% +4 "core" % C 9 \  + "storage"(]. +3 "core" .( + "storage"(o& +4 "core" & 9 5 \ +2 "storage"(v& +3 "core" & 5 4 N\ +2 "manipulator"&<& +4 "core" & " M + .tElbow.seek 3 +2 "manipulator"&H( +3 "core" ( + "manipulator"&'& +4 "core" & M +2 "storage"(/& +3 "core" & 6 6 G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&e'7 +93 "core" ' + "storage"({& +4 "core" & W Z\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'r +307 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" & ` M + "storage"(V& +4 "core" & 0 =\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'u +13 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(!'q +29 "core" ' + "manipulator"&a% +5 "core" %΅ S D + "storage"(B& +4 "core" & J @\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"& 'ϱ +14 "core" ' + "manipulator"&k& +5 "core" & L M + "storage"(I& +4 "core" & 9 @ 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +17 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(' +43 "core" ' + "manipulator"&& +4 "core" &  M +2 "manipulator"&q% +4 "core" %-  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +157 "core" ( + "manipulator"&h& +5 "core" &ӎ  5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &ӎ  5 +2 .tForearm.seek CC +2 "manipulator"&w'? +95 "core" ' + .tHand.close + "manipulator"&i/ +62 "core" / + .tCC.seek :open +2 "collection"'z( +448 "core" ( +2 "storage"(|& +4 "core" & z\ +2 "storage"(& +4 "core" & |\ + "manipulator"&\\& +4 "core" &ӎ - 5 +2 "manipulator"&% +3 "core" % : '  +2 .tForearm.seek :retract +2 "manipulator"&g' +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&%( +162 "core" ( + "manipulator"&x& +4 "core" &  +2 "storage"(n& +3 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&Z'u +95 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&y% +4 "core" % { 7 ' + "storage"(& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&'ϧ +14 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(`& +3 "core" & %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s'7 +19 "core" ' + "storage"(% +5 "core" % n\ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (7% +3 "core" %}: C\ U] +2 "manipulator"&p% +3 "core" %%  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +4465 #t-> access 1 +2 "storage"(_% +3 "core" % \  +2 "manipulator"&~% +4 "core" %  5  + "manipulator"&& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(T(<- +678 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +2 "core" &<1 9\ +739 #t-> access 2 +2 "storage"([% +3 "core" % $\  +2 "manipulator"&% +4 "core" %  +  + "manipulator"&,& +4 "core" & D  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (4& +3 "core" &K n\  +851 #t-> access 3 +2 "storage"(;% +3 "core" % \  +2 "manipulator"&% +4 "core" %   H  + "manipulator"&& +4 "core" &  "  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(.([ +346 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +2 "core" &[ &\ +1297 #t-> access 2 +2 "storage"( % +3 "core" % Z\  +2 "manipulator"& % +4 "core" %  .  + "manipulator"&#& +4 "core" & V  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +2 "core" &K !\ +6998 #t-> exit +5 #mEXIT @1634229472.49UTC @1634229486.87UTC = =mMAIN_scheduler =tMAIN @UTC1634229488.73 #"core_reset"Sent BREAK +2 #t@10866 receive with ifg=0x10, ie=0xFD + #@11501 receive with ifg=0x10, ie=0xFD #@12157 receive with ifg=0x10, ie=0xFD + #@12791 receive with ifg=0x10, ie=0xFD + #@13426 receive with ifg=0x10, ie=0xFD #@14060 receive with ifg=0x10, ie=0xFD + #@14695 receive with ifg=0x10, ie=0xFD + #@15147 receive with ifg=0x80, ie=0xFD #@52894 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +288 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +384 "Can"\ 74 + \ 74 + #tPolling Can every 10:00 +472 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %h \ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %ؼ~\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڤ v\ +2 .tSS.configure :default +2 "sampler")#.0X startTube 2 +1178 #-> $da[:extractVol]=.2 +1042 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'2& +3 "core" & >\ +2 .tHand.open +2 "manipulator"&31 +20 "core" 1 +2 "manipulator"&4& +4 "core" & 8  + "manipulator"&5% +4 "core" %  ^  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(- +164 "core" ( + "manipulator"&7& +5 "core" &- X  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &- G  +2 .tForearm.seek :garage +2 "manipulator"&9'w +104 "core" ' + .tHand.close + "manipulator"&:/ +56 "core" / +2 "manipulator"&;& +4 "core" &-  + "manipulator"&<% +4 "core" % υ R +2 .tForearm.seek :retract +2 "manipulator"&=' +104 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&>(ӂ +278 "core" ( +2 "manipulator"&?& +4 "core" &Ӂ(  @] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &Ӂ(  : @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&A'? +99 "core" ' +2 "manipulator"&B& +4 "core" &ӣ#  <; + "manipulator"&C% +4 "core" %7 N ~ +2 "collection"'D& +3 "core" & ;\ +3 "collection"'E& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'F(\\ +4 "core" & &\  +9 &3~ \ *z +9 &\ d} (\ > +10 &s %\ N +9 &NT \ M +9 &V \ M +10 &W \ M +9 &S \ M +9 &UV A\ M +10 &Y p\ N +9 &U 4\ M +10 & U *\ N +9 &"]V &\ M +9 &$S '\ M +10 &%W \ N +9 &'U -\ M +9 &)fR \ M +10 &+'U \ M +9 &,X \ M +9 &.W \ M +10 &0lV \ N +9 &20U q\ M +10 &3W +\ M +9 &5W '\ M +9 &7uV \ M +10 &97W \ M +9 &:V \ M +9 &<W \ N +10 &>}W \ M +9 &@@X \ M +10 &AZ *\ N +9 &Ce '\ O +9 &Ex L\ R +10 &G, )\ W +9 &H \ Z +9 &J -\ Z +10 &Lf N\ [ +9 &N( B\ [ +10 &O 1\ [\ +9 &Q O\ [ +9 &Sg )\ ] +10 &U* %\ ] +9 &V I\ ^ +10 &X I\ _ +9 &Zg %\ ` +9 &\\ { F\ 8 +10 &\\) A\ $m +9 ( +2 "collection"'E& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 +2 "collection"'G& +4 "core" &\\ '\ "c + &\\ X\ "c +2 .tHand.open + "manipulator"&H1 +63 "core" 1 + "manipulator"&I% +4 "core" % 7   ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J' +90 "core" ' +2 #tPurging external Intake + "collection"'K& +4 "core" &\\ >\ "c + "collection"'L% +4 "core" %h ;\ + .tCSV.dial :flush +2 "collection"'M  +69 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'N' +2496 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'O + 'P  +6 "core"  +64 ~ +2 .tCTV.dial :intake + "collection"'Q  +77 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'R'i +2409 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +38 "collection"'S  +80 "core" +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&T& +4 "core" &ӣ# <; +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&U(ӂ +20 "core" ( + "manipulator"&V& +4 "core" &y  . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &y  . +2 .tForearm.seek CC + "manipulator"&X'? +98 "core" ' + .tHand.close + "manipulator"&Y/ +54 "core" / +2 .tCC.seek :open +2 "collection"'Z( +448 "core" ( + "manipulator"&[& +4 "core" &y u . +2 "manipulator"&\\% +3 "core" % H +2 .tForearm.seek :retract +2 "manipulator"&]' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&^(- +281 "core" ( + "manipulator"&_& +4 "core" &- o P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &-  P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&a'w +98 "core" ' +2 .tHand.open + "manipulator"&b1 +60 "core" 1 + "manipulator"&c% +4 "core" % ρ _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d' +91 "core" ' +10953 #t-> da 1000 +2 #da sampling at most 1000ml +5 #Loading sh1 puck from tube 2 into Collection Clamp + ."Qmail"DAfans.email "Started da in tube 2 at 16:42:10UTC14-Oct-21\\n{}\\nCTD data unavailable\\nCan@16:38:15, 15% flow, 21.8C, 43% humidity, 14.9psia, 13.622V, 0.254A, 0.236A avg, 3.46W",Subject: "da sampling at most 1000ml" +5 "collection"'e& +3 "core" & a\ +2 "manipulator"&f% +5 "core" %    + "storage"(g% +4 "core" % q\  + "storage"(h. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(i(  +1301 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +6 (j& +8 "core" &  #\ +4 "manipulator"&k& +8 "core" &-  b P +3 "manipulator"&l% +7 "core" %  -  +5 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek 2 +4 "manipulator"&m( +175 "core" ( +3 "manipulator"&n& +16 "core" &  ' +3 "storage"(o& +7 "core" &  G\ +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 450 counts +3 "manipulator"&p'S +94 "core" ' +3 "storage"(q& +10 "core" &  y\ +4 .tSE.reconfigure :pick +5 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(r'r +293 "core" ' +3 "storage"(s- +7 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 (t& +8 "core" & \ +3 "manipulator"&u& +7 "core" & ' +3 .tElbow.seek 2 +4 "manipulator"&v( +6 "core" ( +3 "manipulator"&w& +8 "core" & { ' +3 "storage"(x& +7 "core" & t\ +4 .tForearm.seek 2 + 300 counts +4 "manipulator"&y'Ͻ +44 "core" ' +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&z/ +56 "core" / +7 ."downElevator"SE.seek :down +6 "manipulator"&{& +3 "storage"(|' +15 "core" & ' +3 "manipulator"&}% +8 "core" % ϸ . ^ +4 .tForearm.seek :retract +2 "manipulator"&~' +92 "core" ' +3 .tElbow.seek CC +4 "manipulator"&(ӂ +128 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +22 "core" ( +3 "manipulator"&& +8 "core" &Ӝ  5 9) +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 && +8 "core" &Ӝ  S 9) +3 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +3 "manipulator"&'? +98 "core" ' +3 "manipulator"&& +8 "core" &Ӝ  9) +4 "manipulator"&% +7 "core" %@ 8 * +4 "collection"'& +14 "core" & o\ +5 "collection"' & +9 "core" & f\ +6 .tCC.seek :closed +2 "collection"' (\\ +9 "core" & _\ +3 & Z\  +6 &5} \ +{ +9 & f~ `\ ? +9 &n ^\ N +10 &VU W\ M +9 &U Z\ M +9 &U X\ M +10 &Q U\ M +9 &_T B\ M +17 &!V N\ M +3 &T N\ M +7 & T Q\ M +11 &"fU R\ M +9 &$(T P\ M +10 &%U P\ M +9 &'T J\ M +9 &)nT H\ M +9 &+1U G\ M +10 &,U D\ M +8 &.T H\ M +11 &0vU I\ M +19 &29T (\ M +2 &3U Q\ M +6 &5U J\ M +9 &7~U (\ M +10 &9@U U\ M +12 &;U J\ M +7 &<T M\ M +10 &>T I\ M +9 &@HU H\ M +9 &B \\ H\ N +10 &Cc G\ O +8 &Eu A\ Q +10 &G= >\ T +14 &H D\ W +9 &J D\ Z +7 &Lr >\ Z +9 &N4 ;\ Z +8 &O D\ [ +10 &Q J\ [ +8 &Ss G\ \\ +10 &U5 D\ \\ +10 &V A\ ] +8 &X F\ ^ +11 &Zt :\ ^ +9 &\\z ?\ 4 +9 &\\, B\ \\ +16 ( +6 "collection"' & +6 "core" &\\w R\ Q +4 &\\x Q\ Q +2 &\\w W\ Q +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + .Hand.open + "manipulator"& 1 +68 "core" 1 +3 "manipulator"&% +9 "core" % @ % * +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +3 #tcollectSample 1000ml w/bubble point of 24psi +3 #Priming 7ml +3 .Intake.select :close +3 .Exhaust.select :close +2 .SS.hold +3 "sampler")+ +7 "core" + +2 "sampler")% +8 "core" %ڤ r\  +3 "collection"'& +6 "core" &\\w L\ Q +5 "Can"\ VT +3 #tCalibrating pressure and temperature sensors +6 .CTV.dial :air +3 .SSV.dial :spit,avoiding: :exhaust +2 "sampler") +7 "core"  +3 "sampler")  +6 "core"  +4 .tSS.reconfigure :fast +9 "sampler")#.0X +21 +3 .tdelay 3.8 seconds +385 "collection"'% +5 "core" %k 3\ +3 "sampler")% +10 "core" %/ g\ f +3 .tSSV.dial :spit +2 "sampler") +130 "core"  +5 .tSS.seek 0ml +11 "sampler")'ڀ +277 "core" ' +2 .tSSV.dial CBV +4 "sampler")  +131 "core" +2 .tCTV.dial :intake +4 "collection"'  +76 "core"  +3 ."connect"SSV.dial CBV +7 .tCBV.dial SSV +4 #Allowing 40s for 7.0ml of remaining 7.0ml + .Intake.select :open + "sampler") +217 "collection"'!% +11 "core" %k 3\ +3 #tIntake @14.4psia, vacuum from 8.9 to 11.9psi +4 .SS.reconfigure :inhaling 2.20ml/s +5 "sampler")#.0X j i f\  +10 "collection"'&% +6 "core" %k 3\ +3 "sampler")'% +8 "core" %Q= o m f\  +17 "collection"'(% +6 "core" %k C\ +4 "sampler"))% +10 "core" %Q= w u d\  +18 "collection"'*% +9 "core" %k 3\ +4 "sampler")+% +7 "core" %Q4 ~ } f\  +24 "collection"',% +6 "core" %k 4\ +4 "sampler")-% +8 "core" %Q4 f\  +30 "collection"'.% +6 "core" %k 3\ +4 "sampler")/% +7 "core" %Q4 n\  +37 "collection"'0% +5 "core" %k B\ +4 "sampler")1% +8 "core" %Q4 n\  +38 "collection"'2% +5 "core" %k 4\ +4 "sampler")3% +7 "core" %Q4 e\  +42 "collection"'4% +6 "core" %k 3\ +3 "sampler")5% +8 "core" %Q4 g\  +49 "collection"'7% +6 "core" %k 3\ +3 "sampler")8% +8 "core" %Q( l\  +3 "sampler")% +7 "core" %Q n\ X +2 .tIntake.select :close +4 "sampler")0 +11 ):% +5 "core" %Q m\  +3 .tSSV.dial :exhaust +4 "sampler");  +75 "core"  +3 .tExhaust.select :open + "sampler")@ +14 .tSS.seek 0ml +2 "sampler")<'ڀ +390 "core" ' +3 .tExhaust.select :close +3 "sampler") +19 #tSampling 1000.0ml + .Intake.select :close +2 .Exhaust.select :close +4 .SS.reconfigure :default +4 "sampler")#.0X o\  +17 "collection"'\ % +6 "core" %k 3\ +4 "sampler")G% +7 "core" %|= o\  +16 "collection"'H% +10 "core" %k -\ +3 "sampler")I% +8 "core" %|> h\  +20 "collection"'K% +6 "core" %k +\ +4 "sampler")L% +7 "core" %|= n\  +23 "collection"'E% +6 "core" %k \ +4 "sampler")M% +8 "core" %|= e\  +27 "collection"'A% +6 "core" %k '\ +3 "sampler")% +7 "core" %|= m\  +33 "collection"'P% +8 "core" %k \ +4 "sampler")O% +8 "core" %|=  f\  +37 "collection"'Q% +8 "core" %k \ +4 "sampler")N% +7 "core" %}5   j\  +44 "collection"'S% +117 "core" %k \ +4 "sampler")T% +7 "core" %}4 ! g\  +50 "collection"'V% +6 "core" %k \ +4 "sampler")W% +7 "core" %}4 : 6 m\  +56 "collection"'Y% +6 "core" %k \ +5 "sampler")>% +8 "core" %̂ b b o\ T +7 "collection"'J% +7 "core" %k \ +3 #tIntake @17.3psia, vacuum from 10.0 to 13.0psi +3 .SS.reconfigure :inhaling 1.98ml/s +10 "sampler")#.0X  n\  +27 "collection"'w% +6 "core" %k \ +4 "sampler")x% +15 "core" %ip+ W U e\  +25 "collection"'z% +5 "core" %k \ +4 "sampler"){% +8 "core" %is u s m\ " +3 "collection"'}% +8 "core" %k\  a\ +3 #tIntake @17.7psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 1.61ml/s +4 "sampler")#.n0X % +4 "core" %y~% + ( m\  +32 "collection"'J% +3 "core" %k ]\ + "sampler")C% +4 "core" %y~% 4 3 o\  +37 "collection"'\\% +2 "core" %k _\ +2 "sampler")X% +4 "core" %y~% A @ n\  +41 "collection"'_% +3 "core" %k _\ +2 "sampler")`% +3 "core" %y~% T S k\  +2 "collection"'U% +4 "core" %k ^\ + #tIntake @17.0psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 1.17ml/s +3 "sampler")#.P0X % +4 "core" %3  m\  +41 "collection"'J% +3 "core" %k \ +2 "sampler")C% +3 "core" %3  m\  +48 "collection"'\\% +2 "core" %k F\ +2 "sampler")X% +4 "core" %3   e\  +54 "collection"'_% +2 "core" %k E\ +2 "sampler")`% +4 "core" %3   e\  +60 "collection"'U% +3 "core" %k E\ +2 "sampler")% +4 "core" %3 ( & d\  +69 "collection"']% +3 "core" %k \ +2 "sampler")a% +4 "core" %3 8 6 d\  + "collection"'e% +4 "core" %k D\ + #tIntake @15.8psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 0.95ml/s +2 "sampler")#.A0X+ +3 "core" + +10 "collection"'J% +4 "core" %k \ +2 "sampler")C% +3 "core" %; l\  +19 "collection"'L% +2 "core" %k \ +2 "sampler")\\% +4 "core" %< c\  +21 "collection"'X% +3 "core" %k  \ +2 "sampler")_% +3 "core" %< k\  +25 "collection"'`% +3 "core" %k \ + "sampler")U% +4 "core" %< k\  +28 "collection"'% +3 "core" %k \ + "sampler")]% +4 "core" %3  f\  +32 "collection"'a% +4 "core" %k \ \ + "sampler")e% +4 "core" %3 c\  +36 "collection"'E% +3 "core" %k \ +2 "sampler")h% +4 "core" %3  n\  +41 "collection"'F% +3 "core" %k \ +2 "sampler")[% +4 "core" %3  k\  +47 "collection"'k% +3 "core" %k \ + "sampler")l% +4 "core" %3   m\  +54 "collection"'P% +3 "core" %k \ + "sampler")n% +4 "core" %3  d\  +61 "collection"'o% +3 "core" %k \ + "sampler")^% +4 "core" %3  k\  +69 "collection"'q% +3 "core" %k \ +2 "sampler")d% +4 "core" %3   e\  +78 "collection"'s% +3 "core" %k \ + "sampler")b% +4 "core" %3   l\  +89 "collection"'t% +2 "core" %k q\ +2 "sampler")u% +4 "core" %3 ( & l\  +100 "collection"'w% +2 "core" %k r\ +2 "sampler")f% +4 "core" % : 8 f\ w +113 "collection"'x% +3 "core" %k *\ + "sampler")z% +4 "core" % U S c\ : +128 "collection"'{% +2 "core" %k c\ +2 "sampler")% +4 "core" % x w j\ : +144 "collection"'}% +3 "core" %k e\ + "sampler")% +4 "core" % d\ : +163 "collection"'j% +2 "core" %k `\ +2 "sampler")r% +4 "core" % e\ : +183 "collection"'% +4 "core" %k m\ +2 "sampler")y% +4 "core" % m\ : + "sampler")c% +4 "core" % k\ : + .tIntake.select :close + "sampler")0 +9 )% +2 "core" % d\ : +2 .tSSV.dial :exhaust +2 "sampler")  +73 "core"  + .tExhaust.select :open + "sampler")@ +60 .tSS.seek 0ml +2 "sampler")v'ڀ +875 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")~  +72 "core" +2 #tAllowing 130s for 25.0ml of remaining 850.0ml + .Intake.select :open + "sampler") +210 "collection"'Z% +3 "core" %k \ +2 #tIntake @15.7psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 0.87ml/s +2 "sampler")#.;0X F G c\  +143 "collection"'3% +3 "core" %k \ +2 "sampler")4% +3 "core" %c m k `\ / +2 "collection"'5% +3 "core" %k A\ +2 #tIntake @17.1psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 0.78ml/s +2 "sampler")#.50X ' +728 "core" ' + #tStroke completed -- waiting for pressure to equalize ... + .SS.reconfigure :exhale +2 "sampler")#.0X b\ z +18 "collection"'% +3 "core" %k \ +2 "sampler")% +3 "core" %<  f\ v +21 "collection"'% +3 "core" %k I\ +2 "sampler")% +4 "core" %< ]\ x +24 "collection"'% +3 "core" %k =\ + "sampler")% +4 "core" %< j\ u +28 "collection"'% +3 "core" %k B\ +2 "sampler")p% +3 "core" %< W\ w +32 "collection"'% +3 "core" %k \ +2 "sampler")% +3 "core" %;  j\ | +37 "collection"'% +3 "core" %k ?\ + "sampler")>% +4 "core" %<   W\ y +42 "collection"'% +2 "core" %k L\ +2 "sampler")|% +4 "core" %<   Y\ z +47 "collection"' % +3 "core" %k \ +2 "sampler")$% +3 "core" %< \  j\ { +54 "collection"'%% +3 "core" %k \ + "sampler")&% +4 "core" %<  i\ v +61 "collection"'% +3 "core" %k \ + "sampler")'% +4 "core" %;  g\ z +69 "collection"'(% +3 "core" %k I\ + "sampler"))% +4 "core" %<   _\ | +78 "collection"'*% +3 "core" %k \ +2 "sampler")+% +3 "core" %<   b\ z +89 "collection"',% +3 "core" %k \ + "sampler")-% +4 "core" %<  i\ w +100 "collection"'.% +3 "core" %k  \ +2 "sampler")/% +3 "core" %; , , j\ x +114 "collection"'% +2 "core" %k 2\ +2 "sampler")0% +4 "core" %< ; : ]\ w +127 "collection"'1% +3 "core" %k \ +2 "sampler")"% +3 "core" %2 P N j\ v +2 "collection"'% +3 "core" %k \ +2 #tIntake @16.6psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 0.57ml/s +2 "sampler")#.'0X  < [\ w +69 "collection"';% +3 "core" %k \ +2 "sampler")A% +3 "core" %3 G E i\ x +79 "collection"'#% +2 "core" %k 5\ +2 "sampler")B% +4 "core" %3 U R ]\ v +88 "collection"'O% +3 "core" %k 3\ +2 "sampler")Q% +3 "core" % f a a\ = +100 "collection"'N% +3 "core" %k \ +2 "sampler")S% +3 "core" % { x _\ = +113 "collection"'2% +3 "core" %k \ +2 "sampler")V% +3 "core" % k\ = +128 "collection"'W% +3 "core" %k 9\ +2 "sampler")T% +3 "core" % b\ = +144 "collection"'J% +3 "core" %k \ +2 "sampler")C% +3 "core" % a\ = +163 "collection"'8% +3 "core" %k \ +2 "sampler")\\% +4 "core" % i\ ~= + "sampler")X% +3 "core" % b\ }= +2 .tIntake.select :close + "sampler")0 +9 )L% +3 "core" % b\ = +2 .tSSV.dial :exhaust +2 "sampler")U  +73 "core"  + .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")'ڀ +878 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 .tCBV.dial SSV +3 "sampler")  +73 "core" +2 #tAllowing 130s for 25.0ml of remaining 750.0ml + .Intake.select :open + "sampler") +210 "collection"'e% +3 "core" %k \ +2 #tIntake @15.6psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 0.57ml/s +2 "sampler")#.'0X\ +2 "sampler")t% +4 "core" %za< V\  +47 "collection"'u% +3 "core" %k  \ + "sampler")w% +4 "core" %za< c\  +54 "collection"'f% +2 "core" %k \ +2 "sampler")x% +4 "core" %za<  h\  +61 "collection"'z% +2 "core" %k \ +2 "sampler"){% +4 "core" %za<   e\  +69 "collection"'% +3 "core" %k C\ + "sampler")}% +4 "core" %za<   Z\  +78 "collection"'% +3 "core" %k \ +2 "sampler")j% +3 "core" %za<   a\ | +89 "collection"'r% +3 "core" %k \ + "sampler")% +4 "core" %za<   f\ z +100 "collection"'y% +3 "core" %k \ +2 "sampler")c% +3 "core" %za<   i\  +114 "collection"'% +2 "core" %k B\ +2 "sampler")a% +4 "core" %zb<   Y\ { +127 "collection"'`% +5 "core" %k 6\ + "sampler")Z% +4 "core" %zc< ! a\  +144 "collection"'% +3 "core" %k B\ +2 "sampler")m% +3 "core" %zc< , , _\ { +163 "collection"'% +3 "core" %k \ +2 "sampler")% +3 "core" %zc @ < d\ yB +184 "collection"'% +3 "core" %k 6\ +2 "sampler")% +4 "core" %zc Z X a\ |B + "collection"'% +4 "core" %k >\ + #tIntake @16.5psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 0.51ml/s +2 "sampler")#.#0X % +3 "core" %% _ ^ W\ } +25 "collection"'% +3 "core" %k \ + "sampler")|% +4 "core" %% g c h\ x +28 "collection"'v% +3 "core" %k 9\ + "sampler") % +4 "core" %% j j X\ y +32 "collection"'$% +3 "core" %k \ + "sampler")%% +4 "core" %% r p b\ | +36 "collection"'&% +3 "core" %k C\ +2 "sampler")% +4 "core" %% x w _\ t +41 "collection"''% +3 "core" %k 9\ +2 "sampler")(% +4 "core" %% _\  +47 "collection"')% +3 "core" %k \ + "sampler")*% +4 "core" %% \\\ { +54 "collection"'+% +3 "core" %k \ + "sampler"),% +4 "core" % g\ } +61 "collection"'-% +3 "core" %k \ + "sampler").% +4 "core" % j\ y +69 "collection"'/% +3 "core" %k \ + "sampler")% +4 "core" % k\ x +78 "collection"'0% +3 "core" %k B\ +2 "sampler")1% +3 "core" % [\  +89 "collection"'"% +3 "core" %k A\ + "sampler")% +4 "core" % \\\  +100 "collection"' % +3 "core" %k \ + "sampler")5% +4 "core" % f\  +113 "collection"'3% +4 "core" %k ?\ + "sampler"):% +4 "core" % j\  +2 "sampler") % +3 "core" % c\  + .tIntake.select :close +2 "sampler")0 +8 )9% +3 "core" % b\  + .tSSV.dial :exhaust +2 "sampler")?  +74 "core"  + .tExhaust.select :open +2 "sampler")@ +9 .tSS.seek 0ml +2 "sampler")@'ڀ +892 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")<  +72 "core" +2 #tAllowing 130s for 25.0ml of remaining 725.0ml + .Intake.select :open + "sampler") +211 "collection"'6% +2 "core" %k D\ +2 #tIntake @15.3psia, vacuum from 9.8 to 12.8psi +2 .SS.reconfigure :inhaling 0.51ml/s +2 "sampler")#.#0X% +3 "core" %k l\ +2 "sampler")h% +3 "core" %w{8  _\  +89 "collection"'% +3 "core" %k b\ + "sampler")|% +4 "core" %w{8   `\  +100 "collection"'v% +3 "core" %k 4\ +2 "sampler") % +4 "core" %w{8  \\\  +112 "collection"'$% +3 "core" %k -\ +2 "sampler")%% +3 "core" %w{8 c\  +128 "collection"'&% +3 "core" %k a\ +2 "sampler")% +3 "core" %w{8   Y\  +144 "collection"''% +3 "core" %k ,\ +2 "sampler")(% +3 "core" %w{8   f\  +163 "collection"'% +3 "core" %k ^\ +2 "sampler"))% +3 "core" %w{8 & # e\  +184 "collection"'*% +3 "core" %k %\ +2 "sampler")+% +3 "core" %w{ 6 7 \\\ B +2 "collection"',% +3 "core" %k X\ +2 #tIntake @15.8psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 0.47ml/s +2 "sampler")#. 0X ; _\ @ +24 "collection"' % +3 "core" %k ]\ +2 "sampler")5% +3 "core" % @ ? Y\ @ +28 "collection"'3% +3 "core" %k $\ +2 "sampler"):% +3 "core" % D B ^\ @ +32 "collection"' % +3 "core" %k ^\ +2 "sampler")9% +3 "core" % K F `\ @ +37 "collection"'?% +3 "core" %k $\ +2 "sampler")% +3 "core" % M M f\ @ +42 "collection"'<% +3 "core" %k &\ +2 "sampler")6% +4 "core" % S P c\ @ +47 "collection"'@% +3 "core" %k )\ + "sampler")=% +4 "core" % Z Z g\ @ +54 "collection"'!% +2 "core" %k W\ +2 "sampler")\ % +4 "core" % a ` _\ @ +61 "collection"'G% +2 "core" %k c\ +2 "sampler")% +4 "core" % k i W\ @ +69 "collection"'~% +3 "core" %k _\ + "sampler")I% +4 "core" % w v X\ @ +78 "collection"'7% +3 "core" %k '\ +2 "sampler")g% +4 "core" % a\ @ +88 "collection"'K% +3 "core" %k +\ +2 "sampler")H% +4 "core" % Y\ @ +100 "collection"'M% +3 "core" %k (\ + "sampler");% +4 "core" % e\ @ +113 "collection"'A% +3 "core" %k b\ +2 "sampler")% +4 "core" % a\ @ +127 "collection"'#% +3 "core" %k !\ +2 "sampler")B% +3 "core" % V\ @ +145 "collection"'O% +3 "core" %k &\ +2 "sampler")Q% +3 "core" % ^\ @ +2 "sampler")N% +3 "core" % f\ @ +2 .tIntake.select :close + "sampler")0 +9 )S% +2 "core" % [\ @ +2 .tSSV.dial :exhaust + "sampler")2  +73 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")V'ڀ +174 "Can"\ rq +730 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")W  +72 "core" + #tAllowing 130s for 25.0ml of remaining 675.0ml +2 .Intake.select :open + "sampler") +210 "collection"'T% +3 "core" %k 5\ + #tIntake @15.5psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 0.47ml/s +3 "sampler")#. 0X  +73 "core" + #tAllowing 130s for 25.0ml of remaining 650.0ml + .Intake.select :open +2 "sampler") +209 "collection"'h% +3 "core" %k \ +2 #tIntake @15.6psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 0.47ml/s +2 "sampler")#. 0X% +3 "core" %k G\ +2 "sampler")h% +4 "core" %<   Y\  +27 "collection"'% +3 "core" %k 0\ +2 "sampler")v% +4 "core" %<   c\  +32 "collection"' % +2 "core" %k \ +2 "sampler")$% +4 "core" %<   U\  +36 "collection"'%% +3 "core" %k +\ +2 "sampler")&% +4 "core" %< a\  +41 "collection"'% +3 "core" %k %\ + "sampler")'% +4 "core" %< #  ^\  +47 "collection"'(% +3 "core" %k \ +2 "sampler")% +3 "core" %< % " W\  +54 "collection"')% +3 "core" %k \ +2 "sampler")*% +4 "core" %< ' % V\  +61 "collection"'+% +2 "core" %k  \ +2 "sampler"),% +4 "core" %< + + Z\  +69 "collection"'{% +2 "core" %k &\ +2 "sampler")/% +4 "core" %< 1 / Y\  +78 "collection"'% +3 "core" %k '\ + "sampler")% +4 "core" %< 8 5 a\  +88 "collection"'0% +3 "core" %k \ +2 "sampler")1% +3 "core" %< > = ]\  +101 "collection"'"% +2 "core" %k \ +2 "sampler")% +4 "core" %< H F Y\  +113 "collection"' % +3 "core" %k +\ + "sampler")5% +4 "core" %< S P a\  +128 "collection"'3% +3 "core" %k $\ +2 "sampler"):% +3 "core" % b _ ^\ ? +145 "collection"' % +2 "core" %k \ \ +2 "sampler")9% +4 "core" % r o ^\ ? +163 "collection"'?% +2 "core" %k #\ +2 "sampler")% +4 "core" % W\ ? +183 "collection"'<% +3 "core" %k \ +2 "sampler")6% +3 "core" % \\\ ? +196 "collection"'-% +3 "core" %k 1\ +2 "sampler")@% +3 "core" % ]\ ? +197 "collection"'=% +2 "core" %k 1\ +2 "sampler")!% +4 "core" % [\ ? + "sampler")\ % +4 "core" % e\ ? + .tIntake.select :close + "sampler")0 +9 )G% +3 "core" % Y\ ? + .tSSV.dial :exhaust +2 "sampler")  +72 "core"  +2 .tExhaust.select :open +2 "sampler")@ +9 .tSS.seek 0ml +2 "sampler")~'ڀ +879 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")I  +72 "core" + #tAllowing 130s for 25.0ml of remaining 600.0ml +2 .Intake.select :open + "sampler") +210 "collection"'7% +3 "core" %k !\ +2 #tIntake @15.3psia, vacuum from 9.8 to 12.8psi +2 .SS.reconfigure :inhaling 0.43ml/s +2 "sampler")#.0X% +3 "core" %3 N M Z\  +89 "collection"'h% +3 "core" %k 8\ + "sampler")% +4 "core" %3 Y V Y\  +100 "collection"'v% +3 "core" %k +\ +2 "sampler") % +3 "core" %3 c ` `\  +113 "collection"'$% +3 "core" %k "\ +2 "sampler")%% +3 "core" %3 o l Y\  +128 "collection"'&% +4 "core" %k #\ +2 "sampler")% +4 "core" % ~ | X\ 6 +144 "collection"''% +2 "core" %k :\ +2 "sampler")% +4 "core" % Z\ 6 +163 "collection"'(% +2 "core" %k 8\ +2 "sampler")% +4 "core" % a\ 6 +183 "collection"')% +4 "core" %k (\ +2 "sampler")*% +4 "core" % Z\ 6 + "sampler")+% +4 "core" % W\ 6 + .tIntake.select :close +2 "sampler")0 +8 ),% +3 "core" % h\ 6 +2 .tSSV.dial :exhaust + "sampler"){  +74 "core"  + .tExhaust.select :open +2 "sampler")@ +10 .tSS.seek 0ml + "sampler")/'ڀ +906 "core" ' +2 .tExhaust.select :close + "sampler") +9 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +3 "sampler")  +74 "core" + #tAllowing 130s for 25.0ml of remaining 575.0ml +2 .Intake.select :open + "sampler") +210 "collection"'% +3 "core" %k :\ + #tIntake @15.3psia, vacuum from 9.8 to 12.8psi +2 .SS.reconfigure :inhaling 0.38ml/s +2 "sampler")#.0X \\\ F +196 "collection"'\\% +3 "core" %k g\ + "sampler")% +4 "core" % P N `\ ~ F +196 "collection"'e% +3 "core" %k i\ +2 "sampler")% +4 "core" % a a Y\ ~ F +196 "collection"'F% +2 "core" %k V\ +2 "sampler")[% +4 "core" % t t S\ F +196 "collection"'Y% +3 "core" %k [\ + "sampler")k% +4 "core" % a\ F +196 "collection"'l% +3 "core" %k L\ +2 "sampler")P% +4 "core" % X\ F +196 "collection"'n% +3 "core" %k k\ + "sampler")J% +4 "core" % g\ F +196 "collection"'o% +4 "core" %k s\ + "sampler")^% +4 "core" % W\ F +2 "sampler")_% +3 "core" % f\ F + .tIntake.select :close +2 "sampler")0 +8 )q% +3 "core" % j\ F + .tSSV.dial :exhaust +2 "sampler")]  +73 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")U'ڀ +878 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")d  +73 "core" +2 #tAllowing 130s for 25.0ml of remaining 550.0ml + .Intake.select :open +2 "sampler") +209 "collection"'s% +3 "core" %k Z\ +2 #tIntake @15.3psia, vacuum from 9.8 to 12.8psi +2 .SS.reconfigure :inhaling 0.38ml/s +2 "sampler")#.0X% +2 "core" %k \ +2 "sampler")h% +3 "core" %   [\ \ W +128 "collection"'% +4 "core" %k \ + "sampler")v% +4 "core" % \  W\ \ W +144 "collection"' % +3 "core" %k \ +2 "sampler")$% +4 "core" %  h\ \ W +162 "collection"'%% +3 "core" %k \ +2 "sampler")&% +3 "core" %   e\ \ W +184 "collection"'% +3 "core" %k \ + "sampler")'% +4 "core" %   f\ \ W +196 "collection"'% +3 "core" %k \ +2 "sampler")(% +4 "core" % ! [\ \ W +196 "collection"'% +3 "core" %k \ + "sampler"))% +4 "core" % + & h\ \ W +196 "collection"'*% +3 "core" %k \ +2 "sampler")+% +3 "core" % 7 2 [\ \ W +197 "collection"',% +2 "core" %k \ +2 "sampler"){% +4 "core" % B B g\ \ W +196 "collection"'x% +3 "core" %k \ + "sampler")% +4 "core" % S P f\ \ W +196 "collection"'% +3 "core" %k \ + "sampler")/% +4 "core" % f a Z\ \ W +196 "collection"'"% +3 "core" %k \ +2 "sampler")% +4 "core" % x v b\ \ W +196 "collection"' % +3 "core" %k \ + "sampler")5% +4 "core" % V\ \ W +196 "collection"'3% +3 "core" %k \ +2 "sampler"):% +3 "core" % f\ \ W +197 "collection"' % +3 "core" %k \ + "sampler")9% +4 "core" % g\ \ W +196 "collection"'?% +3 "core" %k \ + "sampler")% +4 "core" % [\ \ W + "sampler")<% +4 "core" % g\ \ W + .tIntake.select :close +2 "sampler")0 +8 )6% +3 "core" % e\ \ W + .tSSV.dial :exhaust +2 "sampler")-  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")@'ڀ +877 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")=  +74 "core" + #tAllowing 130s for 25.0ml of remaining 525.0ml + .Intake.select :open + "sampler") +211 "collection"'!% +2 "core" %k \ +2 #tIntake @15.2psia, vacuum from 9.7 to 12.7psi +2 .SS.reconfigure :inhaling 0.38ml/s +2 "sampler")#.0X'ڀ +4 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")h  +120 "core"  +10  +556 ' +2 "sampler")% +4 "core" %}\ \  f\  + .tCBV.dial between SSV and waste2 +2 "collection"'v  +30 "core"  + "collection"' % +4 "core" % Z\  +2 .tCSV.dial between air and CTV +2 "collection"'$ ` +27 "core" a +2 .tCS.seek 8.31ml +2 "collection"'%' +474 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV + "collection"'&  +28 "core"  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< b +3 .tCS.seek 0ml + "collection"''i +1543 "core" ' z \ +2 "collection"''% +4 "core" % N \  +2 "sampler")% +3 "core" %}\  \\\  +2 #tBubblePoint: Intake @39.8psia, Outlet @15.6psia + .CBV.dial SSV +2 "collection"'( @ +28 "core" A +2 .tSS.reconfigure :default +3 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml +2 "collection"'"'i +117 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler") +129 "core" +2 .tSS.reconfigure :exhale +3 "sampler")#.0X + ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"'.'i +91 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")W +130 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X9 +3 "core" 9&) +101 "collection"')9 +3 "core" 9>) +102 "collection"'*9 +2 "core" 9U' +102 "collection"'+9 +3 "core" 9n& +102 "collection"'9 +3 "core" 9$ +102 "collection"',9 +2 "core" 9# +102 "collection"'x9 +3 "core" 9# +102 "collection"'9 +2 "core" 9! +102 "collection"'/9 +3 "core" 9! +102 "collection"'{9 +3 "core" 9 +102 "collection"'9 +2 "core" 9 +102 "collection"'9 +3 "core" 9  +102 "collection"'9 +2 "core" 9  +102 "collection"'"9 +3 "core" 9  +102 "collection"' 9 +2 "core" 9 + +102 "collection"'39 +2 "core" 9 9 +102 "collection"':9 +3 "core" 9 E +102 "collection"'59 +2 "core" 9 Q  +102 "collection"'99 +3 "core" 9 \\ +102 "collection"'?9 +3 "core" 9 g +102 "collection"'9 +2 "core" 9 q +102 "collection"'<9 +2 "core" 9 { +103 "collection"'-9 +2 "core" 9 ! +102 "collection"' 9 +3 "core" 9 % +102 "collection"'69 +2 "core" 9 ) +102 "collection"'=9 +3 "core" 9 . +102 "collection"'!9 +2 "core" 9 2 +102 "collection"'G9 +3 "core" 9 6 +102 "collection"'9 +3 "core" 9 : +102 "collection"'9 +2 "core" 9 > +102 "collection"'I9 +3 "core" 9 B +102 "collection"'79 +2 "core" 9 G +102 "collection"'t9 +3 "core" 9 K +102 "collection"'H9 +3 "core" 9 O +102 "collection"'M9 +2 "core" 9 S +102 "collection"';9 +3 "core" 9 W +102 "collection"'@9 +2 "core" 9 \\ +102 "collection"'9 +2 "core" 9 ` +102 "collection"'#9 +3 "core" 9 d +102 "collection"'B9 +3 "core" 9 h +102 "collection"'A9 +2 "core" 9 l +102 "collection"'O9 +3 "core" 9 p +102 "collection"'N9 +2 "core" 9 u +102 "collection"'09 +3 "core" 9 y +102 "collection"'29 +2 "core" 9 } +102 "collection"'Q9 +3 "core" 9  +101 "collection"'W9 +3 "core" 9  +102 "collection"'~9 +2 "core" 9\  +102 "collection"'S9 +3 "core" 9\  +102 "collection"'.9 +3 "core" 9\  +102 "collection"'T9 +2 "core" 9\  +102 "collection"'g9 +2 "core" 9\  +9 "Can"\ ,) +94 "collection"'89 +2 "core" 9\  +102 "collection"'V9 +3 "core" 9\  +102 "collection"'X9 +2 "core" 9\  +102 "collection"'L9 +3 "core" 9\  +102 "collection"'|9 +2 "core" 9\  +102 "collection"'\\9 +3 "core" 9\  +102 "collection"'9 +2 "core" 9\ # +102 "collection"'9 +3 "core" 9\ ' +102 "collection"'e9 +2 "core" 9\ + +102 "collection"'[9 +3 "core" 9\ / +102 "collection"'F9 +2 "core" 9\ 2 +102 "collection"'k9 +3 "core" 9\ 7 +102 "collection"'l9 +3 "core" 9\ ; +102 "collection"'Y9 +2 "core" 9\ ? +102 "collection"'n9 +2 "core" 9\ B +102 "collection"'P9 +3 "core" 9\ G +102 "collection"'o9 +3 "core" 9\ K +102 "collection"'J9 +2 "core" 9\ O +102 "collection"'_9 +3 "core" 9\ S +102 "collection"'q9 +2 "core" 9\ W +102 "collection"'19 +2 "core" 9\ [ +102 "collection"'d9 +4 "core" 9\ _ +102 "collection"'s9 +2 "core" 9\ c +102 "collection"'U9 +3 "core" 9\ g +102 "collection"'E9 +2 "core" 9\ l +102 "collection"'u9 +2 "core" 9\ n +103 "collection"'D9 +2 "core" 9\ s  +102 "collection"'K9 +2 "core" 9\ v +102 "collection"'w9 +3 "core" 9\ z +3 .tCH.hold 10:00,70C +2 "collection"' `\ `\ y  +2 '}9 +5 "core"  + 9\ z\ z +2 "collection"'% +3 "core" %b I J $\ $ +2 #tBegun lysing Collection Puck Heater at 68C/45.7psia +56958 "Can"\  +3032 "core" ` +2 "collection"'j9 +3 "core" 9\  +2 "collection"'r% +3 "core" %b  \ +2 #tEnded lysing Collection Puck Heater at 70C/43.4psia +2 .CS.seek 0ml + "collection"''i +344 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'y @ +101 "core" B +2 .tCSV.dial :air + "collection"'c @ +41 "core" ? +2 .tCS.seek 5ml +2 "collection"''s5 +1357 "core" ' + .tCSV.dial CTV +2 "collection"'a  +42 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'` @ +42 "core" ? + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'Z  +42 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"' @ +42 "core" ? + .tdelay 2 seconds +203 .CS.seek 0ml + "collection"'m'i +1359 "core" ' + "collection"'\ % +4 "core" %fom\ + #tPuck @71.8psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe +44 .CSV.dial CBV +10 "collection"'b +99 "core" + .tCBV.dial CSV +2 "collection"'f  +28 "core"  + "collection"'% +4 "core" %f \ +2 .tCS.seek 5ml +2 "collection"'z's2 +1374 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +3 "collection"'  +42 "core" +2 "collection"'4% +4 "core" %s8 \ + .tCS.seek 7ml +2 "collection"''# +618 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"'R @ +53 "core" B +2 .tCS.seek 10ml +2 "collection"'' +849 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"' ` +113 "core" _ +2 #tLysing Complete + "collection"'C& +5 "core" &\\r ]\ Q + #tStoring sh1 puck in Collection Clamp to tube 1 +2 "manipulator"&h% +3 "core" %  u  +2 "storage"(% +3 "core" % 2 6 X\  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(v(C +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &B G ? Z\ + "manipulator"&$& +4 "core" &ӝ \\ 9( + "manipulator"&p% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&&( +159 "core" ( +2 "manipulator"&%& +4 "core" &  + "storage"('& +4 "core" &B { y /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +90 "core" ' + "storage"((& +4 "core" &B ~ 0\ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(>'r +275 "core" ' +2 "storage"()- +4 "core" -'r + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(*'1 +38 "core" ' +2 "manipulator"&+& +4 "core" & C  + "manipulator"&% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&x(ӂ +158 "core" ( + "manipulator"&& +4 "core" &ӑ D 9' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &ӑ  \\ 9' +2 .tForearm.seek CC + "manipulator"&{'? +90 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open +2 "collection"'( +447 "core" ( + "storage"(& +4 "core" &B $\ +2 "storage"("& +3 "core" &B '\ +2 "manipulator"& & +3 "core" &ӑ 9' +2 "manipulator"&3% +3 "core" % E & H +2 .tForearm.seek :retract +2 "manipulator"&:' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&5( +162 "core" ( +2 "manipulator"&9& +4 "core" & B  + "storage"(?& +4 "core" &B 0\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&'8 +94 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&-1 +59 "core" 1 +2 "manipulator"& % +4 "core" % :  +2 "storage"(6& +3 "core" &B `\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 302 counts + "manipulator"&='f +15 "core" ' +3 "manipulator"&!& +5 "core" &  + "storage"(G& +4 "core" &B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(% +4 "core" %1 \ +3 ."downElevator"SE.seek :down +3 "storage"(I' +99 (7% +2 "core" %.? 7\ Vb +2 "manipulator"&t% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'M& +4 "core" & \ + "manipulator"&;& +4 "core" &  +2 "manipulator"&@% +3 "core" %   +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +177 "core" ( +3 "manipulator"&#& +4 "core" &-   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +2 "core" &-   +2 .tForearm.seek :garage +2 "manipulator"&A'w +98 "core" ' +2 .tHand.close + "manipulator"&O/ +55 "core" / +2 "manipulator"&N& +4 "core" &- #  + "manipulator"&0% +4 "core" % υ ] +2 .tForearm.seek :retract + "manipulator"&2' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&Q(ӂ +294 "core" ( + "manipulator"&W& +4 "core" &Ӊ 3 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +2 "core" &Ӊ  5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'? +92 "core" ' + "manipulator"&.& +4 "core" &Ӊ _ 5 +2 "manipulator"&T% +3 "core" %F T k +2 "collection"'g& +4 "core" & W\ +2 "collection"'8& +4 "core" & N\ +2 .tCC.seek :closed +2 "collection"'V(\\ +5 "core" & .\  +9 &5y \ +{ +10 &\ e{ \ > +9 &m \ L +9 &YT \ K +10 &U \ L +9 &U t\ K +9 &S O\ K +10 &aX (\ K +9 &#Y >\ K +10 &U Y\ L +9 & U B\ K +9 &"iX !\ K +10 &$*V \ L +9 &%V \ K +9 &'U \ L +10 &)qU \ K +9 &+4W \ K +10 &,V \ K +9 &.W \ K +9 &0yV \ K +10 &2;X u\ K +9 &3W Z\ K +9 &5W I\ L +10 &7V ,\ K +9 &9CT \ K +10 &;W \ L +9 &<W \ K +9 &>U \ K +10 &@KU \ K +9 &B [ [\ L +9 &Ci \ M +10 &E \ Q +9 &G3 \ V +10 &H \ X +9 &J \ Y +9 &Lp \ Y +10 &N. \ [ +9 &O \ Z +9 &Q \ [ +10 &Sp \ \\ +9 &U/ \ ] +10 &V x\ ] +9 &X t\ ^ +9 &Zq d\ ^ +10 &\\{ J\ 4 +9 &\\0 1\ $n +10 ( + &\\x $\ Z + "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.42 + "collection"'X& +5 "core" &\\y \ Z + .tHand.open + "manipulator"&L1 +54 "core" 1 + "manipulator"&|% +4 "core" % F ^ k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\' +96 "core" ' + .tPSV.dial PSR +2 "processing"% +43 "core"  +2 "processing"%% +4 "core" %ؼ\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml +2 "processing"%e'+ +1616 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%[  +56 "core"  +2 .tPS.seek 0ml +2 "processing"%F'ؾ +1612 "core" ' + .tPSV.dial PSR +2 "processing"%k +54 "core" +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%l' +2665 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%Y +3 "collection"'n  +4 "core" A +2 "processing"%P  +67 "core" +89  + .tPSV.dial :mixloop +2 "processing"%o +103 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%J  +130 "core" +2 .tPS.seek 0ml + "processing"%_'ؾ +2628 "core" ' + .tPSV.dial :air +2 "processing"%q  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%1' +2641 "core" ' +2 .tPSV.dial :mixloop + "processing"%d +44 "core" +2 .tPS.seek 0ml +2 "processing"%s'ؾ +2627 "core" ' +2 .tPSV.dial :air + "processing"%U  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%E' +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%u +44 "core" + .tPS.seek 0ml +2 "processing"%D'ؾ +2628 "core" ' + #tGaraging FlushPuck in Collection Clamp +51 "manipulator"&K& +5 "core" &Ӊ J 5 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&w(ӂ +3 "core" ( +2 "manipulator"&}& +3 "core" &Ӊ \\ 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӊ 5 +2 .tForearm.seek CC + "manipulator"&]'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'j( +447 "core" ( + "manipulator"&r& +4 "core" &Ӊ Z 5 +2 "manipulator"&^% +3 "core" % 6 f +2 .tForearm.seek :retract +2 "manipulator"&y' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&c(- +291 "core" ( + "manipulator"&& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &- 1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&`'w +98 "core" ' +2 .tHand.open + "manipulator"&Z1 +58 "core" 1 + "manipulator"&% +4 "core" % ρ ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'\ & +4 "core" &  \ +2 "manipulator"&b% +3 "core" %  S  +2 "storage"(f% +3 "core" % <\  +2 "storage"(. +3 "core" .(C +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(m(  +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &  h\ +2 "manipulator"&4& +4 "core" &- O  +2 "manipulator"&z% +3 "core" %  n  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&R( +172 "core" ( +2 "manipulator"&& +4 "core" & E  + "storage"(& +4 "core" &  B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&C'S +112 "core" ' + "storage"(h& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +294 "core" ' + "storage"(- +4 "core" -'# + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (i& +2 "core" & p\  +2 "manipulator"& & +4 "core" & X  +2 .tElbow.seek 2 + "manipulator"&$( +3 "core" ( +2 "manipulator"&p& +3 "core" &  +2 "storage"(%& +3 "core" & \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&''Ͻ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&(/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +7 "core" & 4  + "manipulator"&)% +4 "core" % Ͻ E +2 .tForearm.seek :retract +2 "manipulator"&+' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ( +2 "manipulator"&>& +4 "core" ' + &ә# 9$ + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +3 && +3 "core" &ә"  9$ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&/'? +90 "core" ' + "manipulator"&& +5 "core" &ә E 9$ + "manipulator"&&% +4 "core" %3  +2 "collection"'& +4 "core" & ~N\ +2 "collection"',& +5 "core" & B\ +2 .tCC.seek :closed +2 "collection"' (\\ +4 "core" &  1\ +7 &@ ~ \ %g +9 &Zx c\ 8 +10 &t `\ L +9 &R F\ L +9 &U \ K +10 &UU ~ \ K +9 &S \ K +9 &V ~\ K +10 &U y\ K +9 &^S m\ K +10 & U L\ K +9 &!U H\ K +9 &#S 1\ K +10 &%eU #\ K +9 &'(W \ K +9 &(V \ K +10 &*U \ K +9 &,nT \ K +10 &./V o\ K +9 &/W /\ K +9 &1U $\ K +10 &3uU _\ K +9 &58X s\ K +10 &6W f\ K +9 &8X X\ K +9 &:}W D\ K +10 &V \ L +9 &?V \ K +10 &AY \ K +9 &CE^ \ L +9 &Ef \ M +10 &Fs \ O +9 &Hw \ S +10 &J. \ W +9 &K \ X +10 &M \ Y +9 &On y\ Y +9 &Q/ u\ Y +9 &R l\ Z +10 &T \\\ Z +9 &Vo Z\ [\ +10 &X. L\ \\ +9 &Y H\ ] +9 &[ >\ J +10 &\\0 /\ . +9 &\\{ &\ V +3 ( + "collection"',& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&"% +4 "core" % 3 A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +91 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'3  +133 "core"  + .tCSV.dial CTV +2 "collection"'9  +40 "core"  +2 .tPS.seek 2.5ml +2 "processing"%?' +2629 "core" ' + "collection"'{% +4 "core" % \  +2 .tCS.seek 4.5ml +2 "collection"'x'c= +1480 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%-  +43 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 +4 "processing"%  +83 "core"  +2 .tPS.seek 0ml +2 "processing"%6'ؾ +2627 "core" ' +2 .tCBV.dial between PRV and waste1 +2 "collection"'! ` +29 "core" ^ +2 .tCSV.dial :air +2 "collection"'G @ +40 "core" ? +2 .tCS.seek 10ml +2 "collection"'' +1493 "core" ' + .tCSV.dial CTV +2 "collection"':  +42 "core"  +2 .tCS.seek 0ml +2 "collection"'7'i +2635 "core" ' + .tCBV.dial :waste1 +2 "collection"'t @ +27 "core" > + .tdelay 5 seconds +503 .CTV.dial :air,avoiding: :intake +2 "collection"'5  +131 "core" +2 "collection"'& +4 "core" &\\j \ V + #tStoring lyfil puck in Collection Clamp to tube 1 +2 "manipulator"&M% +3 "core" %   +2 "storage"(=% +3 "core" % ? @ y\  +2 "storage"(;. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(@(C +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +2 "core" &E  % \ +2 "manipulator"&& +3 "core" &ә B 9$ +2 "manipulator"&#% +3 "core" %  (  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&B( +160 "core" ( +2 "manipulator"&I& +4 "core" &  + "storage"(<& +4 "core" &F ` `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&O' +100 "core" ' + "storage"(N& +4 "core" &F y \\ /\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'r +297 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&A& +3 "core" & :  +2 "storage"(W& +3 "core" &F , 0 ;\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&'8 +18 "core" ' + .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(.- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate + "storage"(T'y +29 "core" ' +2 "manipulator"&g% +4 "core" %J + "storage"(2& +4 "core" &F ? @ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 318 counts +2 "manipulator"&'v +15 "core" ' + "manipulator"&X& +4 "core" & C  +2 "storage"(L& +3 "core" &F X Y \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&|' +20 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(8' +36 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&% +3 "core" % K +2 .tForearm.reconfigure :loose +45 "manipulator"&#Q@2^d^b +11 .tForearm.seek :retract + "manipulator"&S' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +159 "core" ( +2 "manipulator"&[& +4 "core" &ӛ D 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &ӛ ; 6 +2 .tForearm.seek CC +2 "manipulator"&k'? +91 "core" ' + .tHand.close + "manipulator"&F/ +62 "core" / + .tCC.seek :open +2 "collection"'Y( +447 "core" ( +2 "storage"(n& +4 "core" &F M\ + "storage"(P& +4 "core" &F >\ +2 "manipulator"&o& +3 "core" &ӛ \ 6 +2 "manipulator"&J% +3 "core" % @ ? X +2 .tForearm.seek :retract +2 "manipulator"&l' +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&q( +159 "core" ( + "manipulator"&_& +4 "core" &   +2 "storage"(d& +3 "core" &F B\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&1'8 +93 "core" ' +2 .tElbow.hold + "manipulator"&U, +94 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&s1 +52 "core" 1 +2 "manipulator"&u% +4 "core" % E  5 + "storage"(E& +4 "core" &F '\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 313 counts + "manipulator"&K'q +14 "core" ' +2 "manipulator"&}& +4 "core" &  + "storage"(& +4 "core" &F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +15 "core" ' + "storage"(Q% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(\\' +99 (V% +2 "core" %? )\ Va +2 "manipulator"&r% +4 "core" % d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^' +89 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air +2 "processing"%]  +71 "core" +2 .tPS.seek 2.5ml +2 "processing"%' +2638 "core" ' +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%a +42 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%w  +44 "core"  + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%Z +43 "core" +2 .tdelay 1 second +101 .PSV.dial :air +3 "processing"%  +42 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%\ 'ؾ +778 "Can"\ 86 +1859 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%b& +4 "core" &X\ +2 "manipulator"&f& +3 "core" &  +2 "manipulator"&% +3 "core" %   +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&y(- +170 "core" ( + "manipulator"&`& +4 "core" &- Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +2 "core" &- Y +3 .tForearm.seek :garage + "manipulator"&'w +90 "core" ' +2 .tHand.close +2 "manipulator"&4/ +59 "core" / + "manipulator"&z& +4 "core" &- " Y +2 "manipulator"&% +4 "core" % ψ 0 + .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&c( +145 "core" ( + "manipulator"&h& +4 "core" & x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&' +99 "core" ' + "manipulator"&i& +4 "core" & +2 "manipulator"& % +4 "core" % + "processing"%p& +4 "core" &T\ +2 "processing"%%& +5 "core" &;\ +2 .tPC.seek :closed +2 "processing"%((^ +4 "core" &E\ +8 & *D\ $c +9 &S{G\ 7 +9 &}yH\ K +10 &WG\ O +9 &PWC\ O +9 &UO\ N +10 &VK\ N +9 &TN\ O +10 &YTP\ N +9 &WT\ O +9 &Yb\ N +10 &!Vc\ N +9 &#`Wh\ O +9 &%"Xd\ O +10 &&Xc\ O +9 &(Zg\ N +10 &*hYf\ O +9 &,*Yg\ O +9 &-Tj\ O +10 &/Zi\ N +9 &1pYs\ O +9 &33Vk\ N +10 &4Ti\ N +9 &6Wp\ N +10 &8xVt\ O +9 &::T~\ O +9 &;X\ N +10 &=V|\ O +9 &?W~\ O +9 &AAY\ O +10 &Bk\ Q +9 &Dx\ S +10 &Fw|\ T +9 &H7\ U +9 &I\ U +10 &K\ U +9 &M{\ V +9 &O>\ U +10 &P\ V +9 &R\ V +10 &T\ W +9 &VE\ V +9 &X\ V +10 &Y\ W +9 &[\ W +9 &]I\ M +10 &^zG\ ` +9 &^Z\ 6 +6 ( + "processing"%%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + "processing"%& +4 "core" &^'\ 5 + &^&\ 5 +2 .tHand.open + "manipulator"&)1 +55 "core" 1 +2 "manipulator"&R% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C' +92 "core" ' + .tPRV.dial :air +2 "processing"%>  +41 "core"  + .tPSV.dial :mixloop +2 "processing"% +44 "core" + "processing"%% +4 "core" %ؼ\ +2 .tPS.seek 0.3ml +2 "processing"%'' +380 "core" ' + .tPSV.dial PSR +2 "processing"% +102 "core"  + "processing"%&% +4 "core" %\  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%'2 +489 "core" ' +2 .tdelay 3 seconds +301 .PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%$' +1923 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"% +103 "core" + .tPTV.dial :mixing +2 "processing"%+ @ +74 "core" A + .tPBV.dial :waste2 +2 "processing"%j  +90 "core"  +3 .tPS.seek 0ml + "processing"%'ؾ +2631 "core" ' + #tGaraging FlushPuck in Processing Clamp + "manipulator"&"& +5 "core" & " + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&,( +30 "core" ( + "manipulator"&3& +4 "core" & <  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &   + .tForearm.seek PC +2 "manipulator"&/' +95 "core" ' + .tHand.close +2 "manipulator"&D/ +53 "core" / +2 .tPC.seek :open +2 "processing"%{( +458 "core" ( + "manipulator"&& +4 "core" & M  +2 "manipulator"&-% +3 "core" %  r  +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&?(- +128 "core" ( + "manipulator"&!& +4 "core" &- P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &-  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&x'w +97 "core" ' + .tHand.open + "manipulator"&:1 +62 "core" 1 + "manipulator"&% +4 "core" % ~ i  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t' +92 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%5& +4 "core" &\ +2 "manipulator"&% +3 "core" %    +2 "storage"(M% +3 "core" % +\  +2 "storage"(=. +3 "core" .(C +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(;(  +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (m& +3 "core" & ,\ \ +2 "manipulator"&*& +3 "core" &- f +2 "manipulator"&% +3 "core" %   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&#( +169 "core" ( + "manipulator"&I& +4 "core" & E  +2 "storage"(<& +3 "core" & \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&N'S +95 "core" ' + "storage"(& +4 "core" & j\ \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +51 "storage"( 'r +297 "core" ' +2 "storage"(H- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +4 "core" & p\  +2 "manipulator"&W& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&.( +3 "core" ( +2 "manipulator"&g& +4 "core" & _  + "storage"(2& +4 "core" & I\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&X'Ͻ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(' +7 "core" &   + "manipulator"&O% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&B' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&0( +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&& +4 "core" & < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & X < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&T' +98 "core" ' + "manipulator"&[& +5 "core" & < + "manipulator"&e% +4 "core" % e +2 "processing"%|& +3 "core" &\ +2 "processing"%~& +6 "core" &\ + .tPC.seek :closed +2 "processing"%F(^ +5 "core" &\ +7 & +\ $c +9 &U|\ 7 +10 &}y\ K +9 &W\ N +9 &_W\ N +10 &"U\ N +9 &Z\ N +9 &T\ N +10 &iU\ M +9 &*W\ N +9 &UB\ N +10 &!VD\ N +9 &#oZ\ N +10 &%2V5\ N +9 &&Y?\ N +9 &(V4\ N +10 &*xW6\ N +9 &,9Z\ N +9 &-U`\ N +10 &/WZ\ N +9 &1X\ N +10 &3BT\ N +9 &5X\ N +9 &6W\ N +10 &8W\ N +9 &:JV\ N +9 &< X\ N +10 &=W\ N +9 &?W\ N +10 &AOY\ O +9 &C g\ P +10 &Dx\ R +9 &F\ T +9 &HF\ T +10 &J\ U +9 &K\ T +9 &M|\ U +10 &OL}\ U +9 &Q ~\ V +9 &R|\ U +10 &T\ V +9 &VSy\ U +9 &X\ U +10 &Yx\ V +9 &[x\ V +10 &]Y|\ D +9 &^H{r\ [ +9 &^Ck\ 9 +6 ( +2 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&S1 +3 "core" &^.k\ 9 +49 1 +2 "manipulator"& % +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n' +92 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%P w +3 %o9 +5 "core" 9 +102 "processing"%J9 +3 "core" 9 +102 "processing"%_9 +2 "core" 9  +102 "processing"%d9 +2 "core" 9  +102 "processing"%k9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%s9 +2 "core" 9 +102 "processing"%u9 +3 "core" 9 +102 "processing"%E9 +2 "core" 9" +102 "processing"%}9 +3 "core" 9& +102 "processing"%9 +3 "core" 9* +102 "processing"%l9 +2 "core" 9/ +102 "processing"%Q9 +3 "core" 93 +102 "processing"%q9 +2 "core" 97 +102 "processing"%V9 +3 "core" 9; +102 "processing"%r9 +3 "core" 9? +102 "processing"%19 +2 "core" 9D +102 "processing"%K9 +3 "core" 9H +102 "processing"%89 +2 "core" 9L +102 "processing"%]9 +3 "core" 9P +101 "processing"%9 +3 "core" 9T +102 "processing"%\\9 +2 "core" 9X +102 "processing"%69 +3 "core" 9] +102 "processing"%a9 +2 "core" 9a +102 "processing"%w9 +3 "core" 9e +102 "processing"%Z9 +3 "core" 9i +102 "processing"%9 +2 "core" 9m +102 "processing"%9 +2 "core" 9r +102 "processing"%b9 +3 "core" 9v +102 "processing"%f9 +3 "core" 9z +102 "processing"%9 +3 "core" 9~ +101 "processing"%`9 +3 "core" 9 +102 "processing"%v9 +2 "core" 9 +102 "processing"%U9 +3 "core" 9 +102 "processing"%49 +3 "core" 9 +102 "processing"%z9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%^9 +3 "core" 9 +102 "processing"%h9 +2 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%i9 +3 "core" 9 +102 "processing"% 9 +2 "core" 9" +102 "processing"%p9 +2 "core" 9' +102 "processing"%y9 +3 "core" 9- +102 "processing"%9 +2 "core" 92 +3 .tPH.hold 2:00:00,28C +3 "processing"% pwp. +2 .tdelay 1:30 +5 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +103 "core"  +2 "processing"%)% +4 "core" %\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%R' +589 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml + "processing"%%' +1614 "core" ' +2 .tPTV.dial :puck + "processing"%>  +71 "core"  + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPBV.dial :waste1 +2 "processing"%  +129 "core"  +2 "processing"%% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%\ '. +590 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +30 "core" * +3 .tPS.seek 0ml + "processing"%&'ؾ +1614 "core" ' + .tdelay 5:00 +27273 "Can"\ DA +2730 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%'  +32 "core"  + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +32 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"% +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml +2 "processing"%+' +2429 "core" ' + .tPSV.dial PTV +2 "processing"%j +86 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%$ +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%" +74 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%3  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%9'ؾ +2391 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%D  +129 "core" + .tPSV.dial :mixloop +2 "processing"%c +44 "core" + .tPRV.dial :ab1 +2 "processing"%C @ +72 "core" A +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%(' +346 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "collection"'  +2 "processing"%-  +42 "core" +3  + "processing"%!% +3 "core" % \  +3 .tPS.seek 0.35ml + "processing"%G'c +464 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'/  +27 "core" + .tPRV.dial :air +2 "processing"%,  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%:'K +1174 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +72 "core" > +2 .tPS.seek 0.5ml +2 "processing"%5' +858 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%M' +1616 "core" ' +2 .tPSV.dial :PML + "processing"%= +44 "core" +2 .tPTV.dial :mixing + "processing"% @ +72 "core" @ +2 .tPBV.dial :waste1 + "processing"%x  +35 "core" + "processing"%@% +4 "core" %[\  +2 .tPS.seek 1.85ml +2 "processing"%m' +238 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%* * +34 "core" + +2 .tPS.seek 0ml +2 "processing"%'ؾ +1971 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'I& +3 "core" &  ~&\ + "manipulator"&<& +4 "core" &  < + "manipulator"&% +4 "core" %  \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(- +122 "core" ( + "manipulator"&t& +4 "core" &-   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &-  +2 .tForearm.seek :garage +2 "manipulator"&A'w +98 "core" ' + .tHand.close +2 "manipulator"&W/ +64 "core" / +2 "manipulator"&g& +4 "core" &- %  + "manipulator"&2% +4 "core" % | x +2 .tForearm.seek :retract + "manipulator"&L' +97 "core" ' +51 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(ӂ +275 "core" ( +2 "manipulator"&O& +4 "core" &Ӂ*  Bi + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &ӂ* Bh +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'? +96 "core" ' + "manipulator"& & +5 "core" &Ӕ& L ?V + "manipulator"&X% +4 "core" %F l  +2 "collection"'& +4 "core" & } \ +2 "collection"'& +5 "core" &  "\ +2 .tCC.seek :closed + "collection"'.(\\ +4 "core" & ~ \  +9 &4| ~ ~\ +{ +10 &b  \ > +9 &q \ N +9 &ET \ N +10 &T \ N +9 &S \ M +9 &T  \ M +10 &NV  \ M +9 &Z \ N +10 &U \ N +9 & Q \ M +9 &"UR \ N +10 &$R \ M +9 &%U \ M +9 &'W \ N +10 &)]U \ N +9 &+ W  \ M +9 &,X  \ \ N +10 &.T  \ N +9 &0fR \ M +10 &2'V \ N +9 &3W \ N +9 &5V \ M +10 &7mY  \ N +9 &90W ~\ M +9 &:S \ N +10 &<W \ M +9 &>vU \ M +10 &@7W \ N +9 &A\\ \ N +9 &Cd \ O +10 &Ep \ R +9 &G$ \ W +9 &H \ Z +10 &J \ Z +9 &L` \ Z +10 &N" \ Z +9 &O \ [ +9 &Q \ [\ +10 &Sb \ \\ +9 &U# \ ] +9 &V \ ] +10 &X \ _ +9 &Za \ _ +10 &\\{ \ : +9 &\\+ \ (w +9 &\\ \ ] +3 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.37 +2 "collection"'[& +4 "core" &\\ \ ] + .tHand.open +2 "manipulator"&e1 +61 "core" 1 +2 "manipulator"&|% +4 "core" % F  (  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + .tPSV.dial PSR +2 "processing"%B +103 "core"  +2 "processing"%{% +4 "core" %v\ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%S'+ +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +42 "core"  +3 .tPS.seek 0ml + "processing"%o'ؾ +1607 "core" ' +2 .tPSV.dial PSR + "processing"%~ +44 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%J' +2629 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%T  +2 "collection"'_  +30 "core"  +127  + .tPSV.dial :mixloop +2 "processing"%d +101 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%k  +73 "core" +2 .tPS.seek 0ml +2 "processing"%'ؾ +2654 "core" ' +2 .tPSV.dial :air + "processing"%s  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%u' +2630 "core" ' +2 .tPSV.dial :mixloop + "processing"%E +44 "core" +2 .tPS.seek 0ml +2 "processing"%}'ؾ +2637 "core" ' + .tPSV.dial :air +2 "processing"%  +58 "core" +2 .tPS.seek 2.5ml + "processing"%l' +2629 "core" ' +2 .tPSV.dial :mixloop + "processing"%Q +43 "core" +2 .tPS.seek 0ml + "processing"%q'ؾ +2636 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&V& +5 "core" &Ә& A ?R + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&r(ӂ +19 "core" ( +2 "manipulator"&1& +4 "core" &ӆ . , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +2 "core" &ӆ 5 , +2 .tForearm.seek CC +2 "manipulator"&8'? +92 "core" ' + .tHand.close + "manipulator"&]/ +59 "core" / + .tCC.seek :open +2 "collection"'( +450 "core" ( + "manipulator"&\\& +4 "core" &ӆ  , +2 "manipulator"&6% +3 "core" % Q W +2 .tForearm.seek :retract +2 "manipulator"&a' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&w(- +280 "core" ( + "manipulator"&Z& +4 "core" &- c Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage +2 "manipulator"&'w +97 "core" ' +2 .tHand.open + "manipulator"&b1 +56 "core" 1 +2 "manipulator"&f% +4 "core" % l c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 ."da"delayUntil "17:59:40.80" +16203 "Can"\ ON +8562 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%` @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%v  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%U * +35 "core" , + ."da"PSV.dial :air +2 "processing"%4  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%z' +2431 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +44 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%^  +43 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%h +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2366 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%i +129 "core"  + "processing"% % +4 "core" %ؿ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%p' +590 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%y' +1607 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +72 "core"  +2 ."da"PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%)  +34 "core" + "processing"%% +4 "core" %V\  +2 ."da"PS.seek 1.5ml +2 "processing"%R') +594 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%> * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +1629 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2427 "core" ' + ."da"PSV.dial PTV +2 "processing"%\ +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%P +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%' +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +84 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2371 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%& +142 "core" +2 "processing"%j% +3 "core" %ؼ\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%$' +598 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +51 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%"' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%3 +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%+  +35 "core" + "processing"%D% +4 "core" %o\  +2 ."da"PS.seek 1.5ml +2 "processing"%c'+ +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%C * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%9'ؾ +1608 "core" ' +2 ."da"delay 2:00 +9590 "Can"\ CA +2412 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%- * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%! +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%(' +2434 "core" ' + ."da"PSV.dial PTV +2 "processing"%/ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%, +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%G +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +2372 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%5  +127 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%=  +42 "core"  + ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"% +44 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%x' +382 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%@  +43 "core"  +2 "processing"%*% +4 "core" %\  +2 ."da"PS.seek 0.55ml + "processing"%M' +340 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%m  +44 "core"  +2 ."da"PS.seek 2ml +2 "processing"%I' +1563 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%< +43 "core" + ."da"PTV.dial :mixing +2 "processing"% @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%t  +33 "core"  +2 "processing"%H% +3 "core" %\  +2 ."da"PS.seek 1.85ml +2 "processing"%0' +240 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%W * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%g'ؾ +1972 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +41305 "Can"\ C@ +6697 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%2  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%n * +35 "core" + + ."da"PSV.dial :air +2 "processing"%A  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%O' +2424 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%# +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%?  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +43 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%X  +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2382 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%L +129 "core"  +2 "processing"%Y% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%[' +589 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%e' +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%|  +72 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%B  +34 "core" +2 "processing"%{% +4 "core" %5\  +2 ."da"PS.seek 1.5ml + "processing"%N'+ +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"% 'ؾ +1616 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%S  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%~ * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%o +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%_' +2407 "core" ' + ."da"PSV.dial PTV +2 "processing"%T +84 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%d +69 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%k +83 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%J  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%s'ؾ +2368 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +130 "core"  + "processing"%E% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%u' +588 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%' +1614 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%} +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%Q  +34 "core" + "processing"%l% +4 "core" %\  +2 ."da"PS.seek 1.5ml +2 "processing"%V'. +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%1 * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%K'ؾ +1610 "core" ' +2 ."da"delay 2:00 +11602 "Can"\ DA +401 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%]  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" * +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%.' +2431 "core" ' + ."da"PSV.dial PTV +2 "processing"%\\ +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%6 +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%8 +73 "core" +8 ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%Z  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2376 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%r +129 "core"  + "processing"%b% +4 "core" %ؼ\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%f' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%a' +1616 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%`  +33 "core" + "processing"%v% +4 "core" %0\  +2 ."da"PS.seek 1.5ml +2 "processing"%U'* +613 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%4 * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%q'ؾ +1609 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%^ * +31 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%h +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2405 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%z +73 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%i +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%p'ؾ +2388 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +137 "core"  +3 "processing"%% +10 "core" %ؾ\  +3 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +6 "processing"% +16 ."da"PS.reconfigure :default +9 "processing"%#A d`xb +3 ."da"PS.seek 0.25ml +4 "processing"%)' +345 "core" ' +2 ."da"delay 5 seconds +503 "processing"%% +3 "core" %{\  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%y' +331 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%>' +1615 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%R +75 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" +2 "processing"%% +4 "core" %5\ + +2 ."da"PS.seek 1.5ml +2 "processing"%%'+ +584 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%\ 'ؾ +1620 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%P  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%' * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +89 "core" + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%' +2492 "core" ' + ."da"PSV.dial PTV +2 "processing"%& +86 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%j +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%$  +77 "core"  +2 ."da"PS.seek 0ml +2 "processing"%3'ؾ +2467 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%+ +136 "core"  + "processing"%D% +4 "core" %ؾ\ $ + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%"' +2129 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%C +74 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%c  +34 "core"  + "processing"%% +4 "core" %:\ / +2 ."da"PS.seek 1.5ml +2 "processing"%-'/ +584 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%! * +33 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%9  +105 "core"  +3 ."da"PS.seek 0ml +2 "processing"%/'ؾ +1217 "Can"\  +394 "core" ' + "processing"%,9 +4 "core" 9w5 + #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast +2 "processing"%G  +3 "core" 5 + 5 + "processing"%& +4 "core" &^.\ /9 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&(% +4 "core" %  Y  + "storage"(% +4 "core" %\ / + "storage"(5. +3 "core" .(  + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(=(C +354 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &D ~ 0\ +2 "manipulator"&:& +3 "core" &- Z +2 "manipulator"&@% +3 "core" %   +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&*( +172 "core" ( + "manipulator"&x& +4 "core" & J  +2 "storage"(m& +4 "core" &E % \ , +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&M' +94 "core" ' + "storage"(<& +4 "core" &E ]\ D +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"('r +298 "core" ' +2 "storage"(t- +3 "core" -'$ + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&H& +2 "core" & H  +2 "storage"(W& +3 "core" &E 7\ + +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&I'8 +18 "core" ' + ."da"Elbow.hold +2 "manipulator"&0, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(2- +2 "core" -'$ +2 ."da"SE.seek 1.18 Pucks below Top Plate +2 "storage"(n' +31 "core" ' +2 "manipulator"&A% +4 "core" %H E +2 "storage"(g& +3 "core" &E \ t +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 316 counts +2 "manipulator"&#'t +14 "core" ' + "manipulator"&?& +4 "core" &   +2 "storage"( & +3 "core" &E \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&X' +15 "core" ' +2 ."da"SE.seek 2.18 Pucks below Top Plate +2 "storage"(O'c +40 "core" ' +2 "manipulator"&L& +4 "core" &  + "manipulator"&Y% +4 "core" % # +48 ."da"Forearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&[( +243 "core" ( + "manipulator"&|& +4 "core" & < , +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +7 && +3 "core" & , +2 ."da"Forearm.seek PC +2 "manipulator"&B' +94 "core" ' + ."da"Hand.close +2 "manipulator"&{/ +77 "core" / + ."da"PC.seek :open +2 "processing"%e( +459 "core" ( + "storage"(& +4 "core" &E ! \ 3 +2 "manipulator"&N& +4 "core" & < + + "manipulator"&S% +3 "core" %  &  +2 ."da"Forearm.seek :retract +2 "manipulator"&~' +97 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&o( +245 "core" ( + "manipulator"& & +4 "core" & 5 +2 "storage"(T& +4 "core" &E H C\ 6 +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&d' +90 "core" ' +2 ."da"Hand.open + "manipulator"&k1 +57 "core" 1 +2 "storage"(J- +3 "core" -'c +2 ."da"SE.seek 1.83 Pucks below Top Plate +2 "storage"(_'/ +25 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 0.87 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21oct1418h500ml.tif +1943 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +1390 #"da"SX HX9/16 (USB:10): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 29.833 seconds\ /var/log/esp/da21oct1418h500ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21oct1418h500ml15s.tif +1565 #SX HX9/16 (USB:10): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21oct1418h500ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21oct1418h500ml30s.tif +3069 #SX HX9/16 (USB:10): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21oct1418h500ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21oct1418h500ml70s.tif +7176 #SX HX9/16 (USB:10): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21oct1418h500ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "29.833 sec auto-exposure",Subject: "da21oct1418h500ml images!" +5 "storage"(E- +7 "core" -' +2 "storage"(s& +6 "core" &E \ + "manipulator"&u& +5 "core" &  5 +2 ."da"Elbow.seek 1 +2 "manipulator"&}( +3 "core" ( +2 "manipulator"&Q& +4 "core" &  5 +2 "storage"(l& +4 "core" &E "\ +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +4 "core" ' +3 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.58 Pucks below Top Plate +2 "storage"(1'T +60 "core" ' +2 "manipulator"&V& +4 "core" & 5 + "storage"(]& +4 "core" &E !\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +3 "manipulator"&'8 +27 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.77 Pucks below Top Plate +2 "storage"(K' +24 "core" ' +2 "manipulator"&\\% +4 "core" %2 . +2 "storage"(6& +3 "core" &E u x *\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 294 counts +2 "manipulator"&8'^ +15 "core" ' +2 "manipulator"&Z& +4 "core" & Q 4 +2 "storage"(.& +4 "core" &E \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +4 "manipulator"&r' +17 "core" ' + "storage"(b% +5 "core" % O\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (f% +7 "core" %9 \ ST +4 "manipulator"&% +8 "core" %  +4 ."da"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&`' +88 "core" ' +33 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 (v& +5 "core" &E \ +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +2 "processing"%a& +4 "core" &o\ +2 "manipulator"&4& +4 "core" & B 4 +2 "manipulator"&U% +4 "core" %  8  +4 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&(- +183 "core" ( +3 "manipulator"&^& +10 "core" &- E +5 ."psFlush"Elbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +3 &h& +9 "core" &- J E +4 ."psFlush"Forearm.seek :garage +2 "manipulator"&q'w +96 "core" ' +3 ."psFlush"Hand.close +4 "manipulator"&z/ +60 "core" / +2 "manipulator"&i& +9 "core" &- / E +3 "manipulator"& % +10 "core" % ϋ a +4 ."psFlush"Forearm.seek :retract +4 "manipulator"&' +101 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 ."psFlush"Elbow.seek PC +4 "manipulator"&( +119 "core" ( +5 "manipulator"&& +9 "core" & ]  +3 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +5 && +7 "core" & F  +4 ."psFlush"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 ."psFlush"Forearm.seek PC +4 "manipulator"&p' +102 "core" ' +11 "manipulator"&& +8 "core" & L  +4 "manipulator"&)% +7 "core" %  +3 "processing"%y& +8 "core" &-\ +4 "processing"%R& +9 "core" &#\ +7 &$\ +6 ."psFlush"PC.seek :closed +4 "processing"%(^ +8 "core" &,\ +2 &*\  +5 &.t/\ *y +10 &b~&\ > +8 &lp*\ N +10 &-T)\ N +10 &T!\ N +18 &U\ N +2 &uT\ M +8 &6T\ N +9 &Wm\ N +10 &R\ N +9 & |T\ N +9 &">R\ N +10 &$T\ N +9 &%U\ N +10 &'Su\ M +9 &)FSy\ N +9 &+ Ts\ M +16 &,Tq\ N +5 &.Qi\ N +7 &0OTs\ M +10 &2Ur\ N +9 &3Qs\ M +11 &5Tq\ N +8 &7VWp\ N +9 &9Up\ N +10 &:Yq\ N +9 &<Tp\ N +9 &>]Tr\ N +10 &@Un\ N +8 &A]s\ O +13 &Cqm\ R +6 &ET_\ T +10 &G_\ T +10 &Ha\ T +13 &J^\ U +6 &LY_\ U +9 &N^\ U +8 &Of\ V +11 &Qj\ W +9 &S]c\ V +9 &Ui\ V +10 &Vg\ V +12 &X^\ U +7 &Zed\ V +9 &\\&e\ W +10 &]|_\ : +9 &^2f\ S +10 &^!^\ 3 +9 ( +2 &^ [\ 3 +3 "processing"%R& +8 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.68 +2 "processing"%& +8 "core" &^ U\ 3 +2 &^ i\ 3 +3 ."psFlush"Hand.open +3 "manipulator"&>1 +60 "core" 1 +3 "manipulator"&% +8 "core" %  @  +4 ."psFlush"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +3 "manipulator"&%' +93 "core" ' +3 ."psFlush"PSR.select :air +3 .PSV.dial PSR +3 "processing"%P +154 "core"  +3 "processing"%'% +8 "core" %ؾ^\ +5 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +4 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%' +197 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +401 "core" ' +5 ."psFlush"delay 5 seconds +503 .PSR.select :air +5 "processing"% +12 ."psFlush"PS.seek 2.5ml +4 "processing"%\ ' +2130 "core" ' +3 ."psFlush"delay 1 second +106 .PRV.dial :waste2,avoiding: :ab2 +4 "processing"%& @ +184 "core" A +3 ."psFlush"PTV.dial :PRVmixing +4 "processing"%j  +128 "core" +8 ."psFlush"PSV.dial :mixloop +5 "processing"% +102 "core" +7 ."psFlush"PS.seek :empty +4 "processing"%$'ؠ +2642 "core" ' +2 ."psFlush"PSR.select :air +4 .PSV.dial PSR +2 "processing"% +122 "core" +3 "processing"%+% +7 "core" %ؠ8\ +3 #"psFlush"Pulling 0.5ml of PSR.flush +3 .PSR.select :flush +5 "processing"%@ +13 ."psFlush"PS.seek 0.5ml +3 "processing"%D' +588 "core" ' +3 ."psFlush"delay 5 seconds +503 .PSR.select :air +4 "processing"% +12 ."psFlush"PS.seek 2.5ml +4 "processing"%3' +2140 "core" ' +3 ."psFlush"delay 1 second +103 .PBV.dial :waste1 +4 "processing"%C  +39 "core" +6 ."psFlush"PTV.dial :mixing +3 "processing"%c @ +76 "core" A +3 ."psFlush"PSV.dial :mixloop +4 "processing"% +100 "core" +3 ."psFlush"PS.seek :empty +4 "processing"%"'ؠ +2637 "core" ' +3 ."psFlush"PSV.dial PSR +2 "processing"%! +102 "core"  +3 ."psFlush"PSR.select :flush +4 "processing"%@ +16 ."psFlush"PS.seek 1ml +7 "processing"%9'X\\ +723 #"uploadLog"upsync +385 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%-' +1620 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%, +84 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%G  +70 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%'ؾ +2628 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%( +70 "core" + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +583 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%5' +2123 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%; +72 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%:'ؾ +2652 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%@ @ +43 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%x' +2649 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%m  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%<'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%w +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%' +2638 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%t +70 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%H'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%W @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%2' +2636 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%A  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%g'ؾ +1421 "Can"\ C@ +1214 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%? +43 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"% 'X\\ +1109 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%L' +1614 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Y +70 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%M  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%*'ؾ +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%I' +588 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%#' +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%n +84 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%X U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%|'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%0' +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%{  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2626 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%F +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%' +2631 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%N +70 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%S'ؾ +2630 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%B @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"% ' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%T  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%['ؾ +2651 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'k& +4 "core" & }\ +2 "manipulator"&J& +3 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&O& +3 "core" & J  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &  +2 .tForearm.seek PC + "manipulator"&E' +90 "core" ' +2 .tHand.close + "manipulator"&s/ +61 "core" / +2 .tPC.seek :open +2 "processing"%u( +455 "core" ( + "manipulator"&Q& +4 "core" & A  +2 "manipulator"&l% +3 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&V' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&](ӂ +354 "core" ( +2 "manipulator"&\\& +4 "core" &ӌ,  Cs + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +2 "core" &ӌ+ p Cs +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Z'? +98 "core" ' + "manipulator"&.& +4 "core" &ӌ+ Cs +2 "manipulator"&b% +4 "core" %;   + "collection"'o& +4 "core" & [\ +50 "collection"'d& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'(\\ +5 "core" &  \ +7 & 5 \ $e +9 &Uy  \ 7 +9 &~x \ K +10 &X  \ N +9 &bV  \ M +10 &$S \ M +9 &T  \ M +9 &U \ M +10 &jT \ M +9 &+U \ N +9 &U \ \ M +10 &!T \ M +9 &#qX \ N +9 &%4U  \ M +10 &&R  \ M +9 &(W \ \ M +10 &*yW \ \ N +9 &,;W \ N +9 &-W \ M +10 &/S \ M +10 &1V  \ N +9 &3DU \ M +9 &5T \ M +9 &6W \ M +10 &8U \ M +9 &:LU \ M +9 &< Y \ N +10 &=W  \ M +9 &?T  \ M +9 &ATU \ M +10 &C_  \ N +9 &Dr \ Q +10 &F \ T +9 &H; \ Y +9 &I \ Y +10 &K \ Y +9 &M~ \ Z +9 &O? \ Z +10 &Q \ Z +9 &R \ \ \\ +10 &T \ \\ +9 &V> \ ] +9 &W  \ ^ +10 &Y \ \ _ +9 &[~ \ L +9 &\\4  \ 2 +10 &\\\ \ X +5 ( +2 "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 + "collection"'f& +5 "core" &\\x \ X + &\\x \ X + .tHand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&% +4 "core" % ; Z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +91 "core" ' + #tFlushing the Collection Valve::Manifold + "collection"'1& +5 "core" &\\x U\ X + "collection"'% +4 "core" %j \ +2 .tCSV.dial CSR +2 "collection"'v  +39 "core"  +2 "collection"'a% +4 "core" %j  \ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'8's5 +1356 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '4% +2 "core" %s0  \  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.499ml +2 "collection"'U' +675 "core" ' + .tCSV.dial :waste +2 "collection"'K +137 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'r'i +1998 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'^& +4 "core" &\\x ^\ X +2 "collection"'h% +4 "core" %f s\ + .tCSV.dial :flush +2 "collection"'  +42 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"''s5 +1268 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'z @ +40 "core" A + "collection"'i% +4 "core" %s6 \  +2 .tCS.seek 7ml +2 "collection"' '! +552 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'`  + '  +42 "core"  +92  + .tCBV.dial :waste1 +2 "collection"' @ +41 "core" ? +2 .tCS.seek 0ml +2 "collection"'q'i +1691 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'& +4 "core" &\\ \ X +2 "collection"')% +3 "core" %h \  +2 .tCSV.dial :flush + "collection"'  +70 "core" +2 .tCS.seek 5ml + "collection"'y's5 +1272 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +41 "core" B +2 "collection"'e% +4 "core" %s7 \  +2 .tCS.seek 7ml +2 "collection"''" +553 "core" ' + ."connect"CSV.dial CTV +4 .tCTV.dial CSV +3 "collection"'>  +40 "core"  +2 .tCBV.dial :waste2 +2 "collection"'  +99 "core"  +2 .tCS.seek 0ml +2 "collection"'R'i +1670 "core" ' + #tDisinfecting external Intake with kill +2 "collection"'P& +4 "core" &\\ \ X + "collection"''% +4 "core" %g \ + .tCSV.dial CSR +2 "collection"'p  +40 "core"  + "collection"'/% +4 "core" %g \ + #tPulling 8ml of CSR.kill +2 .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"'' +2011 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'&' +574 "core" ' +2 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'j + '  +97 "core" +36  + .tCTV.dial :intake +2 "collection"'\  +75 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"''T +1897 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'+  +71 "core" + .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'$'i +588 "core" ' +2 .tCSV.dial CSR + "collection"'D  +99 "core"  + "collection"'C% +4 "core" %m \ +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"'c's5 +1371 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'' +1358 "core" ' + .tCSV.dial CBV +2 "collection"'3 +99 "core" +2 .tCS.seek 0ml + "collection"'!'i +2645 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&"& +4 "core" &ӎ* G Cq +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&9(ӂ +47 "core" ( + "manipulator"&,& +4 "core" &Ӆ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &Ӆ 7 +2 .tForearm.seek CC +2 "manipulator"&-'? +90 "core" ' + .tHand.close + "manipulator"&(/ +57 "core" / +2 .tCC.seek :open +2 "collection"'( +451 "core" ( +2 "manipulator"&& +4 "core" &Ӆ < 7 + "manipulator"&;% +4 "core" % V 3 N +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&5(- +274 "core" ( + "manipulator"&@& +4 "core" &- ' W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &- k W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&m'w +101 "core" ' +2 .tHand.open + "manipulator"&x1 +55 "core" 1 + "manipulator"&w% +4 "core" % z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +91 "core" ' + "processing"%t& +4 "core" &\ +2612 "Can"\ 30 +60002 \ 20 +138 #t-> access 1 +3 "storage"(% +3 "core" % \  +2 "manipulator"&W% +4 "core" %    + "manipulator"&H& +4 "core" &- z W +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(A(<- +1303 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (2& +2 "core" & exit +6 #mEXIT @1634238548.09UTC @1634313258.53UTC = =mMAIN_scheduler =tMAIN @UTC1634313260.43 #"core_reset"Sent BREAK +3 #t@63492 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +294 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +406 "Can"$\ "v + $\ "v #tPolling Can every 10:00 +3 #Cleanly exited at 19:09:08UTC14-Oct-21 +549 #-> ESP.ready! +3 #Powering core bus +576 .Gate.power :raw,:ON +2 "sampler") +51 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +5 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % \ +2 .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(;% +3 "core" %/ x a\ Q +2 "manipulator"&<% +4 "core" %  X  +2 "manipulator"&=& +4 "core" & D 1 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +693 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +3 "core" &K e f \ +756 #t-> exit +5 #mEXIT @1634313335.36UTC @1634567893.90UTC = =mMAIN_scheduler =tMAIN @UTC1634567895.76 #"core_reset"Sent BREAK +2 #t@4165 receive with ifg=0x10, ie=0xFD + #@4800 receive with ifg=0x10, ie=0xFD + #@5457 receive with ifg=0x10, ie=0xFD + #@6093 receive with ifg=0x10, ie=0xFD #@6726 receive with ifg=0x10, ie=0xFD + #@7360 receive with ifg=0x10, ie=0xFD #@7994 receive with ifg=0x10, ie=0xFD + #@8320 receive with ifg=0x80, ie=0xFD + #@49549 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +289 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +387 "Can"Z\ IG + Z\ IG + #tPolling Can every 10:00 + #Cleanly exited at 15:55:35UTC15-Oct-21 +1358 #-> ESP.ready! +155 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +3 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %e\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ػ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڄ g c d\ 9 + .tSS.configure :default +4 "sampler")#.0X require 'PrimeReagent.rb' +47863 #-> primePSRflush + #**Prepare to clean and prime PSR flush reagent** + .PSV.dial :air +2 "processing"%3  +4 "core" +2 .tPS.seek 0ml +2 "processing"%4'ؾ +3 "core" ' + .tPSV.dial PSR +2 "processing"%5 +142 "core" + .tPSR.select :flush +2 "processing"%j +10 #tAwaiting answer to "**Disinfect and attach PSR flush fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +1829 .PS.seek 2.5ml +2 "processing"%6' +2639 "core" ' + .tPSV.dial :waste1 +2 "processing"%7  +44 "core"  +2 .tPS.seek 0ml + "processing"%8'ؾ +134 "Can"g\ KH +2503 "core" ' + .tPSV.dial PSR +2 "processing"%9 +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%:' +2633 "core" ' +2 .tPSV.dial :waste1 + "processing"%;  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%<'ؾ +2652 "core" ' +2 .tPSV.dial PSR + "processing"%= +43 "core"  +2 .tPS.seek 2.5ml + "processing"%>' +2630 "core" ' + .tPSV.dial :waste1 +2 "processing"%?  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%@'ؾ +2634 "core" ' + .tPSV.dial PSR +2 "processing"%A +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1389 "processing"%B% +3 "core" %ؼ\ +3 .tPS.seek 0.5ml + "processing"%C' +592 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +1031 .PS.seek 2.5ml +2 "processing"%D' +2143 "core" ' +2 .tPSV.dial :waste2 + "processing"%E  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%F'ؾ +2635 "core" ' + .tPSV.dial PSR +2 "processing"%G +74 "core"  + .tPS.seek 2.5ml +2 "processing"%H' +2629 "core" ' +2 .tPSV.dial :waste2 + "processing"%I  +74 "core"  +2 .tPS.seek 0ml + "processing"%J'ؾ +2645 "core" ' +2 .tPSV.dial PSR + "processing"%K +74 "core"  +2 .tPS.seek 2.5ml + "processing"%L' +2633 "core" ' + .tPSV.dial :waste2 +2 "processing"%M  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%N'ؾ +2638 "core" ' +37 .tPSV.dial PSR +7 "processing"%O +74 "core"  + #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +1012 "processing"%P% +3 "core" %ع\ +2 .tPS.seek 0.5ml +2 "processing"%Q' +597 "core" ' +2 #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +652 .PS.seek 2.5ml + "processing"%R' +2123 "core" ' + .tPSV.dial :waste1 +2 "processing"%S  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%T'ؾ +2645 "core" ' + .tPSV.dial PSR + "processing"%U +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%V' +2635 "core" ' + .tPSV.dial :waste1 +2 "processing"%W  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%X'ؾ +2642 "core" ' + .tPSV.dial PSR + "processing"%Y +45 "core"  + .tPS.seek 2.5ml +2 "processing"%Z' +2628 "core" ' + .tPSV.dial :waste1 +2 "processing"%[  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%\\'ؾ +2638 "core" ' +2 .tPSV.dial PSR + "processing"%] +44 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +1097 "processing"%^% +3 "core" %ع \ +2 .tPS.seek 0.5ml +2 "processing"%_' +594 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** +2 #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +8246 "Can"`\ FD +21722 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +3669 #**Priming reagent line** +2 .PS.seek 2.5ml +2 "processing"%`' +2121 "core" ' + .tPSV.dial :waste1 +2 "processing"%a  +44 "core"  +2 .tPS.seek 0ml + "processing"%b'ؾ +2634 "core" ' +2 .tPSV.dial PSR + "processing"%c +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%d' +2640 "core" ' + .tPSV.dial :waste1 +2 "processing"%e  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%f'ؾ +2638 "core" ' +2 #t**Air out PSR manifold** + .PSR.select :air + "processing"% +9 .tPSV.dial PSR +2 "processing"%g +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%h' +2632 "core" ' +2 .tPSV.dial :waste1 + "processing"%i  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%j'ؾ +2630 "core" ' +2 .tPSV.dial PSR + "processing"%k +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%l' +2634 "core" ' + .tPSV.dial :waste1 +2 "processing"%m  +45 "core"  +2 .tPS.seek 0ml +2 "processing"%n'ؾ +2638 "core" ' + #t**SUCCESSFULLY PRIMED PSR FLUSH REAGENT** +12249 #-> exit +5 #mEXIT @1634569687.91UTC @1635529422.12UTC = =mMAIN_scheduler =tMAIN @UTC1635529423.95 #"core_reset"Sent BREAK +2 #t@9189 sendCRC with ifg=0x20, ie=0x7F + #@11024 sendCRC with ifg=0x08, ie=0x5F + #@26734 idle with ifg=0x84, ie=0x75 + #@27406 select with ifg=0x10, ie=0xF5 #@28047 receive with ifg=0x10, ie=0xFD + #@28681 receive with ifg=0x10, ie=0xFD + #@29314 receive with ifg=0x10, ie=0xFD #@29641 receive with ifg=0x80, ie=0xFD + #@55832 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +284 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +378 "Can"\ IG + \ IG + #tPolling Can every 10:00 +2 #Cleanly exited at 15:08:07UTC18-Oct-21 +1629 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %e  \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽ\ + .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڄ u t m\ 9 + .tSS.configure :default +2 "sampler")#.0X access 3 +2 "storage"(4% +3 "core" %1 T F H\ P +2 "manipulator"&5% +3 "core" %   +2 "manipulator"&6& +3 "core" &  1 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(7([ +353 "core" ( +6 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &[  .\  +695 #t-> access 4 +2 "storage"(9% +3 "core" %1 F : t\ P + "manipulator"&:% +4 "core" %  t  +2 "manipulator"&;& +3 "core" &  1 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(<(C +1933 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (=& +3 "core" &F & ' 6\ +1208 #t-> require 'shuffle.rb' +1705 #-> 3.times {shuffle 2..4} + #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'>& +3 "core" &  {\  +2 .tHand.open + "manipulator"&?1 +69 "core" 1 +2 "manipulator"&@% +4 "core" %  I  +2 "storage"(A% +3 "core" %1 9 J {\ P + "storage"(B. +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(C(  +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (D& +2 "core" & & ' "\ +2 "manipulator"&E& +4 "core" &  1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&F( +3 "core" ( + "manipulator"&G& +4 "core" & y 1 +2 "storage"(H& +4 "core" & K 9 5\ + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&I'S +93 "core" ' + "storage"(J& +4 "core" & U U F\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'r +297 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" & ` T d\  +2 "manipulator"&N& +4 "core" & 1 + .tElbow.seek 2 + "manipulator"&O( +3 "core" ( +2 "manipulator"&P& +3 "core" &  ` 1 +2 "storage"(Q& +3 "core" & e d \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&R'Ͻ +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(U' +7 "core" & Z 1 +2 "manipulator"&V% +4 "core" %  N y +2 .tForearm.seek :retract + "manipulator"&W' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X(ӂ +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&Y& +4 "core" &Ӓ&   ?U + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +44 &Z& +2 "core" &Ӓ&  O ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&['? +92 "core" ' + "manipulator"&\\& +4 "core" &Ӓ&  T ?U +2 "manipulator"&]% +4 "core" %< \  - g +2 "collection"'^& +3 "core" &  \  +3 "collection"'_& +4 "core" &  v\  +2 .tCC.seek :closed +2 "collection"'`(\\ +4 "core" &  y\  +8 &6z  t\ +| +10 &f  s\ @ +9 &Tv  x\ O +9 &W  v\ N +10 &Z  l\ O +9 &Z  \\\ O +9 &_[  n\ N +10 &Z  i\ O +9 &Z  h\ O +10 &Z  u\ N +9 & fW  w\ N +9 &")Z  u\ N +10 &#Z  g\ O +9 &%Y  d\ N +9 &'mY  ]\ O +10 &)0Z  `\ N +9 &*X  X\ N +9 &,Y  b\ N +10 &.wZ  X\ N +11 &08W  V\ N +8 &1Y  W\ N +9 &3Z  ]\ N +9 &5W  T\ N +10 &7@Z  X\ N +9 &9U  ^\ N +10 &:Y `\ N +9 &<X \ `\ O +9 &>GY  \ ^\ O +10 &@\ X  c\ N +9 &AX a\ O +9 &C^ _\ O +10 &EJk  `\ P +9 &G}  N\ R +9 &H  V\ V +10 &Jw  R\ Y +9 &L8  P\ Y +10 &M  Q\ Z +9 &O  L\ Z +9 &Qz  S\ [ +10 &S9  Z\ \\ +9 &T  Y\ \\ +9 &V  d\ \\ +10 &Xz  a\ ] +9 &Z;  `\ ^ +10 &[z  ^\ I +9 &\\  d\ #e +9 &\\$  a\ U +9 ( +3 "collection"'_& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.09 + .Hand.open + "manipulator"&a1 +4 "core" &\\g  `\ P +52 1 +2 "manipulator"&b% +4 "core" % <  b g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&c' +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp "processing"%d& +4 "core" &r\  +2 "manipulator"&e% +4 "core" %   B  + "storage"(f% +4 "core" % #  +\  + "storage"(g. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(h(  +16 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" &  #  S\ +2 "manipulator"&j& +4 "core" &Ӓ&  A ?U + "manipulator"&k% +4 "core" %  :  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&l( +166 "core" ( + "manipulator"&m& +5 "core" &  ]  + "storage"(n& +4 "core" & 3 0 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&o'S +91 "core" ' +2 "storage"(p& +4 "core" & B E\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'r +293 "core" ' +2 "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (s& +3 "core" & ' &\ + "manipulator"&t& +4 "core" & +  + .tElbow.seek 2 +2 "manipulator"&u( +3 "core" ( + "manipulator"&v& +4 "core" & A  + "storage"(w& +4 "core" & & &\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&x'Ͻ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&y/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +2 "storage"({' +7 "core" & %  +2 "manipulator"&|% +4 "core" % ϱ ) +2 .tForearm.seek :retract + "manipulator"&}' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&~( +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&& +4 "core" & ;  +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 && +2 "core" & K  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +99 "core" ' + "manipulator"&& +4 "core" &   X  +2 "manipulator"&% +4 "core" % >  +2 "processing"%& +3 "core" &\  +2 "processing"%& +5 "core" &x\  +2 .tPC.seek :closed + "processing"%\ (^ +4 "core" &\  +9 &6w\ +} +10 &c\ @ +9 &Vx\ P +9 &W\ P +10 &Y\ P +9 &Y\ P +9 &]Z\ P +10 &Y\ P +9 &Z\ P +10 &X\ P +9 & fZ\ P +9 &"(Z\ P +10 &#Z\ P +9 &%Y\ P +9 &'nZ\ P +10 &)1Z\ P +9 &*Z\ P +10 &,Z\ P +9 &.wX\ P +9 &0:Z\ O +10 &1Y\ O +9 &3Z\ O +9 &5X\ P +10 &7AZ\ P +9 &9`\ P +10 &:\\\ P +9 &<\\\ P +9 &>H]\ P +10 &@ \\\ P +9 &A`\ P +9 &Ck\ R +10 &EJr\ R +9 &G\ T +9 &H\ U +10 &J\ W +9 &LG\ V +10 &N\ V +9 &O\ W +9 &Q\ W +11 &SL\ W +8 &U \ W +9 &V\ W +10 &X\ W +9 &ZR\ X +10 &\\\ X +9 &]\ 9 +9 &^-t\ X +10 &^(\ 5 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"& 1 +54 "core" 1 +2 "manipulator"&% +4 "core" %    Y  +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +94 "core" ' + "processing"%& +4 "core" &^%\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %  \   + "storage"(% +4 "core" %   @\  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +32 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  . ]\ + "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" & \   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&( + "storage"('r +5 "core" ( +2 "manipulator"&& +4 "core" &  \   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  a  +2 .tForearm.seek PC + "manipulator"&' +90 "core" ' +2 .tHand.close + "manipulator"& / +66 "core" / +3 .tPC.seek :open + "processing"%!( +92 "core" ' +2 "storage"("- +3 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(#'1 +47 "core" ' +307 ( + "storage"($& +4 "core" & ( '\ +2 "manipulator"&%& +4 "core" &  6  + "manipulator"&&% +4 "core" %  K ] +2 .tForearm.seek :retract + "manipulator"&'' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&(( +245 "core" ( + "manipulator"&)& +4 "core" &  Q  + "storage"(*& +4 "core" & " $ c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&+'S +93 "core" ' +2 .tHand.open + "manipulator"&,1 +58 "core" 1 +2 "storage"(-- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(.' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(/' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(0- +4 "core" -' + "storage"(1& +4 "core" & Z Z ,\ i + "manipulator"&2& +4 "core" & \   +2 .tElbow.seek 2 + "manipulator"&3( +3 "core" ( +2 "manipulator"&4& +3 "core" &   2  +2 "storage"(5& +4 "core" & h ] \ i +2 .tForearm.seek 2 + 450 counts + "manipulator"&6'S +4 "core" ' +2 .tSE.reconfigure :gently + "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' +2 "manipulator"&8& +4 "core" & F  + "storage"(9& +4 "core" & & $ S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&:'Α +17 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default + "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(7' +28 "core" ' +2 "manipulator"&=% +4 "core" %Δ  O  + "storage"(>& +4 "core" & 0 3\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 303 counts + "manipulator"&?' +23 "core" ' +2 "manipulator"&@& +4 "core" & L  +2 "storage"(A& +4 "core" & & '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&B'S +24 "core" ' + "storage"(<% +5 "core" % ' '\ +2 ."downElevator"SE.seek :down +3 "storage"(D' +99 (E% +3 "core" %N  :\ Xh +2 "manipulator"&G% +3 "core" %D K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +89 "core" ' +65 ' +2 ."downElevator"SE.stop + "storage"(5 +2 (J& +4 "core" &  B\ +2 "collection"'& +3 "core" &\\f  ]\ P +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %  ,  +2 "storage"(L% +3 "core" % & '\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(M(  +25 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (N& +4 "core" &    *\  + "manipulator"&P& +4 "core" & +  +2 .tElbow.seek 2 + "manipulator"&Q( +3 "core" ( + "manipulator"&S& +4 "core" &   K  +2 "storage"(T& +4 "core" &  & ' ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&V'S +92 "core" ' +2 "storage"(F& +4 "core" &  % &\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'r +293 "core" ' +2 "storage"(Y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +2 "core" & G  +2 "storage"(K& +4 "core" & & # 0\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&R'Α +19 "core" ' + .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(\\- +41 "core" -' +11 .tSE.seek 0.15 Pucks below Top Plate + "storage"(]'j +27 "core" ' + "manipulator"&^% +4 "core" %΅  +2 "storage"(U& +4 "core" & ) ' "\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 288 counts + "manipulator"&W'ϱ +16 "core" ' +2 "manipulator"& & +4 "core" & 6  + "storage"(a& +4 "core" & ' &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&b'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(d' +35 "core" ' + "manipulator"&e& +4 "core" &  +2 "manipulator"&f% +4 "core" %;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&g' +94 "core" ' + .tElbow.seek CC +2 "manipulator"&_(ӂ +149 "core" ( +2 "manipulator"&i& +4 "core" &{.   N E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &{.  k E +2 .tForearm.seek CC + "manipulator"&k'? +97 "core" ' + .tHand.close + "manipulator"&[/ +57 "core" / +2 .tCC.seek :open + "collection"'m( +451 "core" ( + "storage"(n& +4 "core" & 7 * &\  +2 "storage"(C& +3 "core" & & ' E\  +2 "manipulator"&p& +3 "core" &Ӣ'  ] @Y +2 "manipulator"&X% +3 "core" % = \  A & +2 .tForearm.seek :retract +2 "manipulator"&c' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&r( +163 "core" ( + "manipulator"&s& +5 "core" & :  + "storage"(t& +4 "core" & T Y Y\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&v'Α +94 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&y1 +61 "core" 1 +2 "manipulator"&z% +4 "core" % Η ! F + "storage"(|& +4 "core" & U U t\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 306 counts + "manipulator"&l' +27 "core" ' +2 "manipulator"&o& +4 "core" &  + "storage"(q& +4 "core" & d e \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&x'S +13 "core" ' +2 "storage"(% +4 "core" % m Z D\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (u% +3 "core" %1A V J `\ Vb +2 "manipulator"&% +5 "core" %f + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & i\ +2 "manipulator"&{% +4 "core" %  %  + "storage"(}% +4 "core" % \  + "storage"( . +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +344 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & 7 7 n\ +2 "manipulator"&& +4 "core" & "  + .tElbow.seek 3 + "manipulator"&( +15 "core" ( + "manipulator"&& +4 "core" & g  +2 "storage"(& +4 "core" & z $\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +92 "core" ' +2 "storage"(& +4 "core" & <\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +309 "core" ' + "storage"(- +4 "core" -'! + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & e d\ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"& ( +3 "core" ( + "manipulator"&h& +4 "core" & )  +2 "storage"("& +3 "core" & y \ +3 .tForearm.seek 3 + 300 counts + "manipulator"&~'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(' +7 "core" &   +2 "manipulator"&$% +4 "core" % ϛ u + .tForearm.seek :retract +2 "manipulator"&%' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&&(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&& +5 "core" &ӓ# Z <: + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &ӓ# U <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&*'? +102 "core" ' +2 "manipulator"&& +4 "core" &ӓ#  <: +2 "manipulator"&,% +4 "core" %W  * +2 "collection"'-& +4 "core" &  f\ +2 "collection"'0& +5 "core" &  [\ +2 .tCC.seek :closed + "collection"'1(\\ +4 "core" &  T\ +8 & - Q\ $d +9 &W|  T\ 7 +9 &}  W\ L +10 &[  \\\ N +9 &`X  N\ M +10 &!\\  ^\ N +9 &X  Y\ N +9 &W  H\ M +10 &hY  B\ M +9 &*X  L\ M +9 &W  X\ M +10 &!Z  U\ N +9 &#o\\  U\ N +10 &%1Y  R\ N +9 &&V  [\ M +14 &(Y  U\ M +5 &*xW  S\ M +9 &,9Z  H\ N +9 &-W  Q\ N +10 &/Y  R\ M +9 &1V  F\ N +10 &3BY  A\ M +9 &5U  E\ M +9 &6U  O\ N +10 &8U  P\ M +9 &:JW  Q\ M +9 &< Z  O\ N +10 &=Z  P\ N +9 &?Y  Q\ N +10 &ARU  O\ M +9 &C\\  N\ N +9 &De Q\ O +10 &Fn  K\ P +9 &HI  O\ S +9 &J  <\ W +10 &K  B\ Y +9 &M|  A\ Z +10 &O>  A\ Z +9 &P  B\ Z +9 &R  =\ [ +10 &T|  B\ \\ +9 &V=  B\ ] +9 &W  @\ ] +10 &Y  B\ ^ +9 &[~  B\ K +10 &\\9  C\ 3 +9 &\\p  C\ P +5 ( +2 "collection"'0& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.08 + .Hand.open + "manipulator"&21 +3 "core" &\\e  D\ P +51 1 +2 "manipulator"&4% +4 "core" % W  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&5' +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%'& +4 "core" &\ +2 "manipulator"&8% +3 "core" %   >  +2 "storage"(9% +4 "core" %   m\  + "storage"(=. +3 "core" .( + "storage"(>& +4 "core" &  C\ + "storage"(#& +4 "core" &  \ +2 "manipulator"&@& +3 "core" &ӓ#   <: +2 "manipulator"&A% +8 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&.( +164 "core" ( + "manipulator"&<& +4 "core" & x  +2 "storage"((& +4 "core" & ' '\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&+'7 +96 "core" ' + "storage"(/& +5 "core" & - (\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'r +297 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" & & (\ +2 "manipulator"&3& +3 "core" & Q  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&:& +4 "core" & f  + "storage"(?& +4 "core" &  \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&J'ϡ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(L' +7 "core" & o  +2 "manipulator"&% +3 "core" % Ϛ / +2 .tForearm.seek :retract +2 "manipulator"&7' +94 "core" ' +2 .tElbow.seek PC + "manipulator"&N( +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&P& +4 "core" &  #  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&T' +91 "core" ' + "manipulator"&B& +4 "core" &   +2 "manipulator"&F% +4 "core" % < h +2 "processing"%D& +3 "core" &%\ +2 "processing"%& +5 "core" &!\ +2 .tPC.seek :closed + "processing"%;(^ +4 "core" &\  +9 &.v\ +z +10 &b\ ? +9 &ey\ P +9 &'Z\ P +10 &\\\ P +9 &Z\ P +9 &mY\ P +10 &/\\\ P +9 &Z\ P +10 &Y\ O +9 & tZ\ P +9 &"7Z\ P +10 &#Z\ P +9 &%W\ P +10 &'}Y\ P +9 &)?W\ P +9 &+Y\ P +10 &,Z\ O +9 &.X\ P +9 &0GX\ P +10 &2\ Y\ O +9 &3Y\ O +9 &5Z\ O +10 &7PZ\ O +9 &9\\\ P +10 &:^\ P +9 &<Z\ P +9 &>V\\\ P +10 &@\\\ P +9 &Af\ Q +10 &Cw\ T +9 &EP\ U +9 &G\ U +10 &H\ V +9 &J\ V +9 &LU\ V +10 &N\ W +9 &O\ W +9 &Q\ X +10 &SV\ X +9 &U\ W +10 &V\ X +9 &X\ X +9 &Z^\ X +10 &\\!\ X +9 &]\ 7 +9 &^+l\ "d +10 &^3\ 7 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&H1 +61 "core" 1 + "manipulator"&Y% +4 "core" %  > h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +90 "core" ' + "processing"%K& +5 "core" &^4\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\\% +4 "core" %   2  + "storage"(^% +4 "core" %  N\  + "storage"(U. +3 "core" .( +2 "storage"( & +3 "core" &  \ +2 "storage"(a& +2 "manipulator"&e& +7 "core" &  \ + &  [  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&f( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(V'r +42 "core" ( +11 "manipulator"&Q& +4 "core" &  +  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &   +2 .tForearm.seek PC + "manipulator"&R' +92 "core" ' +2 .tHand.close + "manipulator"&W/ +61 "core" / +3 .tPC.seek :open + "processing"%]( +45 "core" ' +2 "storage"(i- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(j'1 +47 "core" ' +355 ( + "storage"(b& +4 "core" & & \ !\ +2 "manipulator"&O& +4 "core" &  + "manipulator"&[% +4 "core" %  < X + .tForearm.seek :retract +2 "manipulator"&g' +89 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`( +245 "core" ( +2 "manipulator"&n& +4 "core" & ^ 6 +2 "storage"(C& +3 "core" & & ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&p'7 +99 "core" ' + .tHand.open + "manipulator"&X1 +55 "core" 1 +2 "storage"(s- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(t' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(k' +56 "core" ' +3 #tLights, camera, ACTION! + "storage"(_- +3 "core" -' +2 "storage"(y& +4 "core" & z\ P + "manipulator"&z& +4 "core" & \  C 6 +2 .tElbow.seek 3 + "manipulator"&|( +3 "core" ( +2 "manipulator"&o& +3 "core" &   6 +2 "storage"(q& +4 "core" & r\ P +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(c'" +59 "core" ' +2 "manipulator"&u& +4 "core" & 6 +2 "storage"(& +4 "core" & W\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&r'u +19 "core" ' + .tElbow.hold +2 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 "manipulator"&{% +4 "core" %}  ! # +2 "storage"(l& +4 "core" & & 0 5\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&}'ϩ +14 "core" ' +2 "manipulator"& & +4 "core" & 6 6 +2 "storage"(d& +4 "core" & $  K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&x'7 +19 "core" ' + "storage"(% +5 "core" % ( + \ +2 ."downElevator"SE.seek :down +3 "storage"(M' +99 (% +3 "core" %z?  \ Wc + "manipulator"&% +4 "core" %$ 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +86 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &  }\ +2 "collection"'& +4 "core" &\\d  c\ P + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&w% +4 "core" %   +2 "storage"(% +3 "core" % ' &\  +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & & &\ + "storage"(& +4 "core" & & &\ +2 "manipulator"&h& +4 "core" & 6 + .tElbow.seek 3 +2 "manipulator"&"( +3 "core" ( + "manipulator"&& +4 "core" & > 6 +2 "storage"(\ & +3 "core" & $ &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&$'7 +89 "core" ' +2 "storage"(& +4 "core" & & &\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +2 "core" & Q 6 +2 "storage"(& +4 "core" & &  @\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&~'u +19 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(,- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(-'| +30 "core" ' + "manipulator"& % +5 "core" %· e  + "storage"(& +3 "core" &  # 3\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts + "manipulator"&%'ϳ +14 "core" ' +2 "manipulator"&m& +4 "core" & > 6 +2 "storage"(2& +3 "core" & 1 3 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&4'7 +18 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"('' +38 "core" ' + "manipulator"&8& +4 "core" & : 6 +2 "manipulator"&9% +4 "core" %* I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&=' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&>(ӂ +156 "core" ( +2 "manipulator"&#& +4 "core" &Ӑ&   ?U + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &Ӑ&   ?U +2 .tForearm.seek CC + "manipulator"&0'? +96 "core" ' + .tHand.close + "manipulator"&A/ +62 "core" / + .tCC.seek :open +2 "collection"'*( +448 "core" ( +2 "storage"(<& +4 "core" & : < c\ + "storage"((& +4 "core" & K J -\ + "manipulator"&/& +4 "core" &ӑ& \ > ?T + "manipulator"&&% +4 "core" % H   + +2 .tForearm.seek :retract + "manipulator"&5' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&G( +164 "core" ( +2 "manipulator"&6& +4 "core" &   + "storage"(3& +4 "core" & [ [\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&:'u +95 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ·  + "storage"(& +4 "core" & h s f\ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts + "manipulator"&.'ϳ +28 "core" ' + "manipulator"&+& +5 "core" &   + "storage"(E& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&J'7 +16 "core" ' + "storage"(P% +5 "core" % x f\ +2 ."downElevator"SE.seek :down +3 "storage"(S' +99 (% +3 "core" %; Y V \ U^ + "manipulator"&B% +4 "core" %- / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F' +88 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'D& +4 "core" &`\ +2 "manipulator"&L% +4 "core" %    + "storage"(7% +4 "core" % \  +2 "storage"(!. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(H(,y +369 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (Y& +3 "core" &,} t\ +2 "manipulator"&K& +3 "core" &  +2 .tElbow.seek 4 + "manipulator"&\\( +43 "core" ( + "manipulator"&^& +4 "core" & >  + "storage"(U& +4 "core" &,} \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +91 "core" ' +2 "storage"(a& +4 "core" &,} | ,\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'r +299 "core" ' + "storage"(- +3 "core" -') +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (Q& +3 "core" &,k U V\  + "manipulator"&I& +4 "core" & 0  +2 .tElbow.seek 4 + "manipulator"&T( +4 "core" ( + "manipulator"&W& +4 "core" & `  + "storage"(i& +4 "core" &,k ` W\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&N'c +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Z/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(V' +8 "core" & /  +2 "manipulator"&b% +3 "core" % j +2 .tForearm.seek :retract + "manipulator"&O' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&[(ӂ +157 "core" ( +2 "manipulator"&R& +4 "core" ' + &Ӎ%  >L + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +4 &n& +3 "core" &Ӎ%  # >L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&C'? +92 "core" ' +2 "manipulator"&f& +4 "core" &Ӎ%   >L +2 "manipulator"&X% +4 "core" %=  F g + "collection"'s& +4 "core" &I\ +2 "collection"'_& +5 "core" & ]\ +2 .tCC.seek :closed +2 "collection"'y(\\ +4 "core" &J\ +7 &;P\ %g +10 &VxY\ 7 +9 &| L\ L +9 &Z M\ N +10 &hW  P\ N +9 &*X H\ N +10 &V D\ M +9 &U  I\ N +9 &pX O\ N +10 &3U  I\ M +9 &W K\ M +9 &!Y S\ M +10 &#xV U\ N +9 &%<T W\ M +10 &&Y S\ N +9 &(X  P\ N +9 &*Y  T\ M +10 &,CZ R\ M +9 &.Y  Q\ M +9 &/X  S\ M +10 &1Y  Q\ N +9 &3KV  I\ M +10 &5 U  V\ M +9 &6W  R\ N +9 &8T  R\ M +10 &:RY  L\ N +9 &<W  P\ M +51 &=U  S\ M +11 &?V  K\ M + &AZ\\  M\ N +5 &C_  I\ O + &Dn M\ P + &F O\ T + &HB  E\ Y +4 &J  A\ Z +9 &K  K\ [\ +10 &M  Q\ \\ +9 &OB  K\ [ +10 &Q  O\ ] +9 &R  Q\ ] +9 &T  P\ ^ +10 &VA  P\ ^ +9 &X  N\ _ +9 &Y  B\ ` +10 &[  O\ L +9 &\\7  O\ 0 +10 &\\  Q\ Y +5 ( + "collection"'_& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.32 + .Hand.open + "manipulator"&z1 +3 "core" &\\  N\ Y +57 1 + "manipulator"&o% +4 "core" % =  \\ g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +88 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%g& +4 "core" &\ +2 "manipulator"&u% +4 "core" %   5  + "storage"(% +4 "core" %  r\  + "storage"({. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(l(,y +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (j& +3 "core" &,| H\ + "manipulator"& & +4 "core" &Ӎ% # >L + "manipulator"&d% +4 "core" %   _  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&t( +163 "core" ( +2 "manipulator"&& +4 "core" & )  + "storage"(`& +4 "core" &,| 3 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +97 "core" ' + "storage"(k& +4 "core" &,|  ! \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &,m  \ + "manipulator"&|& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&c( +3 "core" ( + "manipulator"&r& +4 "core" & M  + "storage"(& +4 "core" &,m  >\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&}'c +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& + "storage"(' +7 "core" & -  +2 "manipulator"&% +4 "core" % z W + .tForearm.seek :retract +2 "manipulator"&' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&& +4 "core" &   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +94 "core" ' +2 "manipulator"&\ & +4 "core" & @  +2 "manipulator"&x% +4 "core" % k + "processing"%& +4 "core" &\ +2 "processing"%M& +5 "core" &\ +2 .tPC.seek :closed + "processing"%v(^ +5 "core" &\ \ +9 &/u\ *y +10 &b\ ? +9 &fy\ P +10 &(X\ P +9 &\\\ P +9 &Y\ P +10 &nW\ P +9 &0[\ P +9 &[\ P +10 &V\ P +9 & vY\ P +9 &"8[\ P +10 &#W\ P +9 &%X\ O +10 &'Y\ O +9 &)@W\ P +9 &+[\ P +10 &,W\ P +9 &.W\ O +14 &0IY\ O +5 &2 W\ O +9 &3W\ O +10 &5[\ P +9 &7PW\ P +9 &9Z\ O +10 &:Z\ P +9 &<Y\ O +9 &>X[\ P +10 &@Z\ P +9 &A]\ P +10 &Ch\ R +9 &EWt\ S +9 &G\ U +10 &H\ V +9 &J\ V +9 &LU\ V +10 &N\ W +9 &O\ W +10 &Q\ X +9 &SZ\ W +9 &U\ W +10 &V\ X +9 &X\ W +9 &Za\ X +10 &\\"\ X +9 &]\ 9 +10 &^+u\ W +9 &^/\ 8 +2 ( +2 "processing"%M& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&% +4 "core" %   k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&)' +92 "core" ' +2 "processing"%& +4 "core" &^-\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&,% +4 "core" %  *  + "storage"( % +4 "core" % %\  + "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(m(,y +35 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &,z )\ +2 "manipulator"&8& +2 ."raiseStack"SE.reconfigure :place +10 "storage"(#]kK-0-\ b +2 "core" & \ 3  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&9( + "storage"($'r +5 "core" ( + "manipulator"&"& +4 "core" &  )  +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 && +3 "core" & 7  +2 .tForearm.seek PC + "manipulator"&~' +96 "core" ' +2 .tHand.close + "manipulator"&%/ +61 "core" / +3 .tPC.seek :open + "processing"%-( +94 "core" ' + "storage"(#- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(@'1 +41 "core" ' +313 ( + "storage"(4& +4 "core" &,k ' \ \ +2 "manipulator"&& +4 "core" &  + "manipulator"&A% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&=' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&1( +242 "core" ( + "manipulator"&<& +4 "core" &  S C +2 "storage"((& +3 "core" &,k   Y\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +6 "manipulator"&/' +88 "core" ' + .tHand.open + "manipulator"&&1 +53 "core" 1 +2 "storage"(6- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(3' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(0' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +4 "core" -' + "storage"(& +4 "core" &,k * + X\ d\ + "manipulator"&& +4 "core" &  B +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( + "manipulator"&+& +4 "core" & \  B + "storage"(E& +4 "core" &,k + + '\ c\ +2 .tForearm.seek 4 + 450 counts + "manipulator"&P' +4 "core" ' + .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(5'" +52 "core" ' +2 "manipulator"&& +4 "core" & B + "storage"(B& +4 "core" &,k   E\ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&G'7 +23 "core" ' + .tElbow.hold + "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(D' +18 "core" ' +2 "manipulator"&L% +4 "core" %8 +2 "storage"(.& +4 "core" &,k 0\ \ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 301 counts + "manipulator"&7'd +13 "core" ' +2 "manipulator"&!& +4 "core" & P B +2 "storage"('& +4 "core" &,k  C\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&J' +14 "core" ' +2 "storage"(S% +4 "core" %  '\ +2 ."downElevator"SE.seek :down +3 "storage"( ' +99 (Y% +3 "core" %?  \ Wd +2 "manipulator"&K% +4 "core" % : +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^' +90 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (U& +4 "core" &,k  4\ \ +2 "collection"'a& +4 "core" &\\  V\ Y +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&?% +3 "core" %   +2 "storage"(F% +3 "core" % & &\  +2 "storage"(. +3 "core" .(,| +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(Q(,y +27 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +2 (I& +2 "core" &,y & ( !\ +2 "manipulator"&W& +4 "core" &  B + .tElbow.seek 4 +2 "manipulator"&i( +3 "core" ( +2 "manipulator"&Z& +3 "core" &  B +2 "storage"(;& +4 "core" &,y & '\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&b' +94 "core" ' +2 "storage"(\\& +4 "core" &,y  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +296 "core" ' +2 "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +2 "core" & B +2 "storage"(e& +3 "core" &,m /  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&N'7 +18 "core" ' +2 .tElbow.hold + "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 "storage"(X- +3 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"(s'p +30 "core" ' + "manipulator"&T% +4 "core" %F G ! +2 "storage"(V& +4 "core" &,m  \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&O'r +15 "core" ' + "manipulator"&*& +5 "core" &  B + "storage"(z& +4 "core" &,m ) & C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&o' +18 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(g' +34 "core" ' + "manipulator"&u& +4 "core" & 9 B +2 "manipulator"&% +4 "core" % + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&_(ӂ +203 "core" ( +2 "manipulator"&j& +4 "core" &Ӑ&   ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӑ&  1 ?V +2 .tForearm.seek CC + "manipulator"&d'? +93 "core" ' +2 .tHand.close + "manipulator"&C/ +55 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( +2 "storage"(`& +4 "core" &,m O L ;\  + "storage"(H& +4 "core" &,m K K H\  + "manipulator"&k& +4 "core" &Ӑ& { ?V + "manipulator"&[% +4 "core" % C c 5 +2 .tForearm.seek :retract + "manipulator"&q' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +168 "core" ( +2 "manipulator"&& +4 "core" & <  + "storage"(|& +4 "core" &,m d c\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&r'7 +96 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&w% +4 "core" % < - . + "storage"(& +4 "core" &,m Y V\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 305 counts + "manipulator"&t'h +14 "core" ' + "manipulator"&p& +4 "core" &  +2 "storage"(& +4 "core" &,m n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&}' +15 "core" ' + "storage"(% +5 "core" % T\ +2 ."downElevator"SE.seek :down +3 "storage"(h' +99 (c% +3 "core" %< U F S\ V_ + "manipulator"&\ % +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +89 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" &O\ + "manipulator"&% +4 "core" %  <  +2 "storage"(% +4 "core" % `\  + "storage"(]. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +670 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  X Y\ + "manipulator"&& +4 "core" & 7  +2 .tElbow.seek 2 + "manipulator"&,( +3 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(& +3 "core" &  ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&M'S +92 "core" ' + "storage"(2& +4 "core" &  c\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'r +297 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" & J A 9\  + "manipulator"&& +4 "core" & C  + .tElbow.seek 2 +2 "manipulator"&%( +3 "core" ( + "manipulator"&l& +4 "core" &  +2 "storage"(#& +3 "core" & Z V \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +38 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&)/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& + "storage"($' +8 "core" & >  + "manipulator"&4% +4 "core" % ϰ > u +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&A(ӂ +153 "core" ( +2 "manipulator"&~& +5 "core" ' + &z+ \   Cq + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +4 &<& +3 "core" &z+  Z Cq +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&('? +92 "core" ' +2 "manipulator"&9& +4 "core" &z+   5 Cq +2 "manipulator"&&% +3 "core" %F   J \\ +2 "collection"'6& +4 "core" &O\ +2 "collection"'>& +5 "core" &T\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" &L\ +7 & 3U\ $d +9 &UxR\ 7 +10 &{R\ L +9 &U K\ M +10 &bV L\ M +9 &%X N\ M +9 &WF\ M +10 &V @\ N +9 &kU A\ M +9 &+V N\ N +10 &U  V\ M +9 &!V  V\ M +10 &#rY  W\ M +9 &%4V T\ M +9 &&V S\ N +10 &(U  T\ M +9 &*zV S\ M +9 &,=T  Q\ M +10 &-U  T\ M +9 &/U  H\ M +9 &1V  F\ M +10 &3DV  D\ M +9 &5R G\ M +10 &6V A\ M +9 &8U  @\ M +9 &:LX  B\ M +10 &<U  M\ M +9 &=V  F\ M +10 &?Y  C\ M +9 &ATX  L\ M +9 &C^  C\ N +10 &De  G\ O +9 &Fr H\ Q +12 &HH O\ T +7 &I  P\ X +9 &K  O\ Z +9 &M{  M\ [ +10 &O=  N\ [ +9 &P  B\ \\ +10 &R  J\ [ +9 &T|  A\ ] +9 &V>  @\ ] +10 &W  E\ ^ +9 &Y  F\ _ +10 &[|  K\ L +9 &\\6  @\ 1 +9 &\\  >\ W +6 ( + "collection"'>& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&1 +4 "core" &\\x  C\ W +60 1 + "manipulator"&+% +4 "core" % F   \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E' +102 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp + "processing"%=& +4 "core" &\ +2 "manipulator"&% +4 "core" %  \  + "storage"(B% +4 "core" %   Y\  + "storage"(L. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(.(  +34 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (!& +3 "core" &   v\ +2 "manipulator"&@& +3 "core" &|+ D Co +2 "manipulator"&'% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&3( +165 "core" ( +2 "manipulator"&S& +4 "core" & E  + "storage"(1& +4 "core" &  & '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&/'S +89 "core" ' + "storage"(0& +4 "core" &  ' &\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'r +293 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (P& +3 "core" & & '\ + "manipulator"&& +4 "core" & 6  + .tElbow.seek 2 +2 "manipulator"&5( +3 "core" ( + "manipulator"&G& +4 "core" &   + "storage"(U& +4 "core" & ) & Y\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&7'Ͻ +43 "core" ' +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(F' +7 "core" & 7  +2 "manipulator"&% +3 "core" % ϻ M T +2 .tForearm.seek :retract + "manipulator"&D' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&I( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( + "manipulator"&W& +5 "core" & j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +2 "core" & T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&;' +99 "core" ' +2 "manipulator"&J& +4 "core" &  +2 "manipulator"&\\% +4 "core" %   +2 "processing"% & +4 "core" &\ +2 "processing"%m& +5 "core" &\ +2 .tPC.seek :closed + "processing"%:(^ +3 "core" &\ +9 & -\ #b +9 &T~\ 8 +10 &}y\ L +9 &W\ P +9 &QW\ P +10 &[\ P +9 &\\\ P +9 &[\ P +10 &YZ\ P +9 &Z\ P +10 &W\ O +9 &!W\ P +9 &#aW\ P +10 &%$W\ O +9 &&Z\ P +9 &(U\ P +10 &*jX\ O +9 &,+W\ P +9 &-Y\ P +10 &/Z\ P +9 &1qU\ P +10 &33Z\ P +9 &4X\ P +9 &6W\ O +10 &8zY\ O +9 &:;X\ P +9 &;\\\ P +10 &=X\ O +9 &?Y\ P +10 &ADY\ O +9 &Cc\ Q +9 &Dk\ R +10 &F}{\ T +9 &H9\ V +10 &I\ U +9 &K\ V +9 &M\ V +10 &O?\ V +9 &P\ X +9 &R\ V +10 &T\ X +9 &VG\ V +9 &X\ W +10 &Y\ W +9 &[\ W +10 &]M\ I +13 &^wF\ #j +5 &^>\ 4 +6 ( + "processing"%m& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&^1 +3 "core" &^&\ 4 +57 1 + "manipulator"&R% +4 "core" %  %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&n' +97 "core" ' + "processing"%e& +4 "core" &^&\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&X% +4 "core" % ! t % + "storage"(T% +4 "core" %\  + "storage"(V. +3 "core" .(  +2 "storage"(*& +4 "core" &  H\ +2 "storage"(z& +3 "manipulator"&u& +4 "core" &  n\ + &  \  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&( + "storage"(b'r +5 "core" ( +2 "manipulator"&i& +3 "core" &  L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & U +2 .tForearm.seek PC +44 "manipulator"&N' +100 "core" ' + .tHand.close + "manipulator"&O/ +54 "core" / +2 .tPC.seek :open + "processing"%s( +54 "core" ' + "storage"(j- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(o'1 +40 "core" ' +354 ( +6 "storage"( & +8 "core" &   D\  +2 "manipulator"&f& +8 "core" & +2 "manipulator"&C% +8 "core" %  + T +4 .tForearm.seek :retract +2 "manipulator"&{' +91 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +4 "manipulator"&y( +247 "core" ( + "manipulator"&`& +4 "core" & B +2 "storage"(H& +4 "core" &   +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&k'S +91 "core" ' +2 .tHand.open + "manipulator"&[1 +55 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(|' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(d' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +4 "core" -' + "storage"(& +4 "core" & U\ r + "manipulator"&w& +4 "core" & \ \ u +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&p& +4 "core" &  . + "storage"(& +4 "core" & \ r +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(q'" +50 "core" ' +2 "manipulator"&c& +4 "core" & ; + "storage"(\ & +4 "core" &  $ G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +20 "core" ' +2 .tElbow.hold + "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +20 "core" ' +2 "manipulator"&% +4 "core" %Ζ  +  +2 "storage"(t& +4 "core" &   Q\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 305 counts + "manipulator"&' +27 "core" ' +2 "manipulator"&]& +4 "core" & _ +2 "storage"(g& +4 "core" & & & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&}'S +16 "core" ' +2 "storage"(h% +4 "core" % 3 + \ +2 ."downElevator"SE.seek :down +3 "storage"(Q' +100 (% +2 "core" %M k\ Yk +2 "manipulator"&% +4 "core" %X c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &  X\  + "collection"'2& +4 "core" &\\t  L\ W +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %   + "storage"(x% +4 "core" % 3 0 r\  + "storage"(". +3 "core" .(  +2 "storage"(& +4 "core" & 4 4 \  +2 "storage"(& +4 "core" & 4 3\  + "manipulator"&l& +4 "core" & + .tElbow.seek 2 +7 "manipulator"&#( +3 "core" ( +2 "manipulator"&)& +4 "core" & + "storage"(v& +4 "core" & 3 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&4'S +97 "core" ' +2 "storage"(,& +4 "core" & ( & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'r +298 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&<& +3 "core" & # +2 "storage"(8& +3 "core" &  P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'Α +18 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(&- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(6'l +32 "core" ' + "manipulator"&%% +4 "core" %Ί 0 +6 "storage"($& +4 "core" & 1 3 \\\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 293 counts + "manipulator"&'϶ +14 "core" ' + "manipulator"&& +4 "core" & - +2 "storage"(& +4 "core" & & '\  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&+'S +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(=' +45 "core" ' +2 "manipulator"&& +4 "core" & +2 "manipulator"&B% +3 "core" %; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&L' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&>(ӂ +153 "core" ( + "manipulator"&!& +4 "core" &ӆ)  O Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &Ӈ)   Ac +2 .tForearm.seek CC + "manipulator"&''? +94 "core" ' + .tHand.close + "manipulator"&(/ +57 "core" / +2 .tCC.seek :open + "collection"'S( +451 "core" ( + "storage"(1& +5 "core" & F D \  +2 "storage"(& +3 "core" & C B U\  +2 "manipulator"&0& +3 "core" &ӌ(  q @^ + "manipulator"&A% +4 "core" % B \  K 4 +2 .tForearm.seek :retract + "manipulator"&E' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&K( +164 "core" ( + "manipulator"&P& +4 "core" &  +2 "storage"(& +3 "core" & d e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&G'Α +93 "core" ' + .tElbow.hold + "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&a1 +61 "core" 1 +2 "manipulator"&?% +4 "core" % Η [ B + "storage"(& +4 "core" & d d \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 306 counts + "manipulator"&3' +14 "core" ' +2 "manipulator"&/& +4 "core" & C  +2 "storage"(Y& +4 "core" & Y h :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&7'S +19 "core" ' + "storage"(W% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(Z' +100 (5% +3 "core" %> < J _\ Vc +2 "manipulator"&J% +4 "core" %= # +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\' +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp "collection"' & +4 "core" &O\ +2 "manipulator"&F% +4 "core" %  ]  + "storage"(D% +4 "core" % { S\  +2 "storage"(-. +2 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(^( +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (R& +3 "core" & C D k\  + "manipulator"&e& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&X( +19 "core" ( + "manipulator"&T& +4 "core" & P  +2 "storage"(V& +4 "core" & \  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&*'7 +91 "core" ' +2 "storage"(u& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +52 .tSE.seek :beamBreak + "storage"(z'r +294 "core" ' +2 "storage"(m- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +2 "core" & 9 : \  +2 "manipulator"& & +3 "core" & /  +2 .tElbow.seek 3 + "manipulator"&;( +3 "core" ( +2 "manipulator"&O& +3 "core" &  +2 "storage"(j& +4 "core" & T Y s\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&I'ϡ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&n/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(b' +7 "core" &  +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&f' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&C(ӂ +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&N& +4 "core" &ӏ& h ?U + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &ӏ& [ ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'? +101 "core" ' +3 "manipulator"&& +4 "core" &Ӑ&  \  ?T + "manipulator"&[% +4 "core" %H  T  +2 "collection"'& +4 "core" &R\ +2 "collection"'_& +6 "core" &L\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" &I\ +6 & ,H\ $c +9 &W{J\ 7 +10 &zE\ L +9 &W@\ M +9 &dU @\ M +10 &&V O\ M +9 &V U\ M +9 &Y T\ M +10 &kU R\ M +9 &-V R\ M +10 &V  Q\ M +9 &!W J\ M +9 &#tW L\ M +10 &%5TN\ M +9 &&U K\ M +9 &(U D\ M +10 &*|U A\ M +9 &,=T C\ M +10 &.U  :\ M +9 &/U  =\ L +9 &1V =\ M +10 &3GU =\ L +9 &5U?\ M +9 &6U  C\ M +10 &8U  G\ L +9 &:MV  G\ M +9 &<U N\ M +10 &=T  O\ M +9 &?V  G\ M +10 &AVU  @\ M +9 &CY  M\ M +9 &D_ O\ N +10 &Fk  7\ P +9 &HM  F\ R +9 &J  C\ V +10 &K  :\ Y +9 &M~  A\ Z +10 &O@  >\ Z +9 &Q  @\ Z +9 &R  8\ [ +10 &T  3\ \\ +9 &VA  :\ \\ +9 &X  B\ ] +10 &Y  4\ ^ +9 &[  :\ K +10 &\\8  A\ 3 +9 &\\s  ?\ P +5 ( +2 "collection"'_& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&w1 +3 "core" &\\c  @\ P +51 1 + "manipulator"&p% +4 "core" % H    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp + "processing"%{& +4 "core" &\ +2 "manipulator"&c% +4 "core" %   h  + "storage"(\ % +4 "core" % ' &\  + "storage"(. +3 "core" .( +2 "storage"(t& +4 "core" & & &\  + "storage"(o& +4 "core" & & &\  + "manipulator"&]& +4 "core" &Ӑ&   ?T + "manipulator"&g% +4 "core" %   S  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&|( +165 "core" ( + "manipulator"&h& +5 "core" & ^  + "storage"(y& +4 "core" & ' )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&k'7 +94 "core" ' +2 "storage"(d& +4 "core" & . D Z\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & & &\  + "manipulator"&& +4 "core" & G  +2 .tElbow.seek 3 + "manipulator"&q( +3 "core" ( + "manipulator"&& +4 "core" & h  +2 "storage"(& +3 "core" & '  \\\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&2/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(x' +7 "core" & a  +2 "manipulator"&"% +3 "core" % Ϙ 0 +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&& +4 "core" & 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" & 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&)' +95 "core" ' +2 "manipulator"&v& +4 "core" &  0 +2 "manipulator"&}% +3 "core" % * ! +2 "processing"%,& +4 "core" &\ +2 "processing"%Q& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%r(^ +4 "core" &\  +9 &.u\ +z +9 &b\ ? +9 &^x\ P +10 &!V\ O +9 &Z\ O +10 &W\ P +9 &gY\ O +9 &(U\ P +10 &Z\ O +9 &U\ P +9 & oZ\ O +10 &"1U\ O +9 &#W\ O +9 &%T\ O +10 &'wV\ O +9 &)9U\ O +10 &*V\ O +9 &,Z\ O +9 &.Y\ O +10 &0@U\ P +9 &2U\ O +9 &3X\ P +10 &5W\ O +9 &7IU\ O +10 &9 \\\ O +9 &:W\ O +9 &<U\ P +10 &>Q]\ O +9 &@Y\ O +9 &Ae\ Q +10 &Cu\ S +9 &EI\ U +10 &G\ \ U +9 &H\ U +9 &J\ U +10 &LN\ V +9 &N\ W +9 &O\ W +10 &Q\ X +9 &SQ\ X +10 &U\ W +9 &V\ W +9 &X\ W +10 &ZZ\ W +9 &\\\ X +9 &]\ 7 +10 &^5s\ B +9 ( +3 "processing"%Q& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"& 1 +3 "core" &^"\ 2 +50 1 + "manipulator"&~% +4 "core" %  0 ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<' +92 "core" ' + "processing"%8& +4 "core" &^"\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&&% +3 "core" %   8  +7 "storage"(%% +4 "core" %  ! \  + "storage"($. +3 "core" .( +2 "storage"(& +3 "core" & G\  +2 "storage"(& +2 "manipulator"&& +7 "core" & 1\  + & \  l 0 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&B( + "storage"(4'r +6 "core" ( + "manipulator"&#& +4 "core" &  r 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" & - 0 +2 .tForearm.seek PC + "manipulator"&' +98 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%6( +90 "core" ' + "storage"(!- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(@'1 +41 "core" ' +314 ( +2 "storage"(+& +3 "core" &  \  +2 "manipulator"&9& +4 "core" & P 0 + "manipulator"&(% +3 "core" %  [  +2 .tForearm.seek :retract +2 "manipulator"&L' +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +249 "core" ( +5 "manipulator"&1& +4 "core" &  , G + "storage"(& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&0'7 +96 "core" ' +2 .tHand.open + "manipulator"&A1 +61 "core" 1 +2 "storage"(P- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal + "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"('' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +3 "core" -' +2 "storage"(a& +4 "core" &\ \  E\ W + "manipulator"&?& +4 "core" & y G + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&/& +4 "core" &  G + "storage"(Y& +4 "core" &\ \ \ X +2 .tForearm.seek 3 + 450 counts + "manipulator"&W'7 +4 "core" ' + .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(E'" +63 "core" ' + "manipulator"&5& +5 "core" &  j G + "storage"(J& +55 "core" & & &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&K'u +20 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"( ' +18 "core" ' +2 "manipulator"&3% +8 "core" %Έ +2 "storage"(F& +4 "core" & & &\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&D'ϴ +28 "core" ' + "manipulator"&-& +5 "core" & j G + "storage"(=& +4 "core" & ( & )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&7'7 +14 "core" ' + "storage"(Z% +5 "core" % '  O\ +2 ."downElevator"SE.seek :down +3 "storage"(.' +99 (R% +3 "core" %+G  \ We + "manipulator"&e% +5 "core" %3 M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&T' +91 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +2 (V& +4 "core" &  "\  +2 "collection"'u& +4 "core" &\\c  Q\ P + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&U% +4 "core" %  K  +2 "storage"(\\% +3 "core" % ]\  +2 "storage"(m. +3 "core" .( + "storage"(i& +4 "core" & +\  +2 "storage"( & +3 "core" & -\  +2 "manipulator"&O& +4 "core" & & G + .tElbow.seek 3 +2 "manipulator"&j( +3 "core" ( + "manipulator"&n& +4 "core" & a G +2 "storage"(:& +4 "core" & ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +92 "core" ' + "storage"(X& +5 "core" & & &\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'r +296 "core" ' + "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&`& +3 "core" & r G +2 "storage"(z& +3 "core" & & " @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&I'u +23 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate + "storage"('} +29 "core" ' + "manipulator"&;% +4 "core" %΅   +2 "storage"(b& +4 "core" &  f\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 316 counts + "manipulator"&f'ϱ +15 "core" ' + "manipulator"&S& +4 "core" & X F +2 "storage"(w& +4 "core" &  m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&p'7 +19 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"({' +35 "core" ' +2 "manipulator"&c& +9 "core" & 5 F +2 "manipulator"&\ % +4 "core" %, 1 + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&t(ӂ +152 "core" ( + "manipulator"&o& +4 "core" &Ӛ"  <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &Ӛ#  X <; + .tForearm.seek CC +2 "manipulator"&g'? +97 "core" ' + .tHand.close + "manipulator"&_/ +63 "core" / +2 .tCC.seek :open + "collection"'H( +448 "core" ( +2 "storage"(h& +3 "core" & ? = \  +2 "storage"(y& +4 "core" & D D \  + "manipulator"&d& +4 "core" &Ӛ" \  <; + "manipulator"&C% +4 "core" % P   +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&( +165 "core" ( + "manipulator"&& +5 "core" &  + "storage"(& +4 "core" & e d \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'u +101 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&21 +56 "core" 1 +2 "manipulator"&% +4 "core" % u d +2 "storage"("& +3 "core" & U U u\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&|'ϡ +15 "core" ' +2 "manipulator"&k& +4 "core" &   +2 "storage"(& +4 "core" & y \  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +19 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(l' +100 (q% +2 "core" %? ] \\\ Va +2 "manipulator"&v% +4 "core" %D d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}' +90 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp + "collection"',& +4 "core" &H\ + "manipulator"&x% +4 "core" %  /  +2 "storage"(% +3 "core" % y \  +2 "storage"(s. +3 "core" .( +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (,y +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (~& +3 "core" &,| K J $\  +2 "manipulator"&8& +4 "core" & J  + .tElbow.seek 4 + "manipulator"&&( +43 "core" ( + "manipulator"&%& +4 "core" & w  +2 "storage"($& +3 "core" &,| \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(& +4 "core" &,| \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +298 "core" ' + "storage"(Q- +4 "core" -'' + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (#& +3 "core" &,l Y U\  + "manipulator"&M& +5 "core" & $  + .tElbow.seek 4 +2 "manipulator"&)( +3 "core" ( + "manipulator"&& +4 "core" &   + "storage"(!& +4 "core" &,l c b\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&& +4 "core" &T\ +2 .tCC.seek :closed +2 "collection"'a(\\ +4 "core" &R\ +7 &@I\ %g +10 &XyB\ 8 +9 &wD\ L +9 &V@\ M +10 &{UD\ M +9 &>UH\ M +10 &UJ\ M +9 &ZR\ M +9 &UT\ M +10 &FVM\ M +9 & WP\ M +9 &!TP\ M +10 &#VT\ M +9 &%NTR\ M +10 &'S G\ M +9 &(UD\ M +9 &*TD\ M +10 &,VU ;\ M +9 &.Q >\ M +9 &/T ?\ M +10 &1S :\ M +9 &3^T?\ M +10 &5!T ?\ L +9 &6U>\ M +9 &8T C\ M +10 &:fU N\ M +9 &<'X  C\ M +9 &=U  N\ M +10 &?T  @\ M +54 &AlZ  >\ M +4 &C,]  ?\ N + &Dj  @\ P + &F \ I\ S + &HX  M\ W + &J  E\ Z +3 &K  A\ Z +10 &M  I\ [\ +9 &OR  @\ \\ +10 &Q  L\ [ +9 &R  G\ \\ +9 &T  H\ ] +12 &VT  J\ ^ +7 &X  D\ ^ +9 &Y  A\ _ +10 &[  >\ L +9 &\\7  A\ / +10 &\\  <\ [ +5 ( + "collection"'>& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.33 + .Hand.open + "manipulator"&?1 +3 "core" &\\{  A\ [ +57 1 + "manipulator"&/% +4 "core" % H  9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%L& +4 "core" &v\ +2 "manipulator"&5% +4 "core" %  \    + "storage"(J% +4 "core" %  z\  + "storage"(@. +3 "core" .(,y +2 "storage"(3& +3 "core" &,l  C\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +24 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (F& +3 "core" &,{   T\ + "manipulator"&-& +4 "core" &ӂ*  Bi +2 "manipulator"&=% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +165 "core" ( +2 "manipulator"&Z& +4 "core" & \  + "storage"(0& +4 "core" &,{  R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&'' +90 "core" ' + "storage"(R& +4 "core" &,{ '  +\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'r +298 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &,m \ + "manipulator"&E& +4 "core" & $  +2 .tElbow.seek 4 + "manipulator"&K( +3 "core" ( + "manipulator"&V& +4 "core" &   + "storage"(D& +4 "core" &,m & '\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&u'c +43 "core" ' +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(m' +7 "core" & i  +2 "manipulator"& % +8 "core" % b 9 ` +2 .tForearm.seek :retract +2 "manipulator"&i' +91 "core" ' + .tElbow.seek PC +2 "manipulator"& ( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&O& +4 "core" & G ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" & E ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&:' +103 "core" ' +2 "manipulator"&7& +4 "core" & u ! +2 "manipulator"&X% +4 "core" % @ + "processing"%.& +4 "core" &w\ +2 "processing"%G& +5 "core" &\ +2 .tPC.seek :closed + "processing"%T(^ +4 "core" &\ +9 & ,\ $c +9 &U~\ 7 +9 &}}\ L +14 &V\ O +5 &QU\ P +9 &U\ O +10 &V\ O +9 &W\ O +10 &ZU\ O +9 &V\ P +9 &S\ P +10 &!X\ P +9 &#aW\ P +9 &%$V\ O +10 &&Y\ P +9 &(Y\ O +10 &*jU\ O +9 &,+Y\ P +9 &-X\ O +10 &/Y\ P +9 &1rT\ O +9 &34U\ O +10 &4X\ O +9 &6U\ O +10 &8xY\ P +9 &:;T\ P +9 &;W\ O +10 &=V\ P +9 &?T\ P +9 &ADW\ O +10 &Cc\ Q +9 &Dm\ R +10 &F|y\ T +9 &H9\ V +9 &I\ V +10 &K\ W +9 &M{\ W +9 &O?\ V +10 &P\ X +9 &R\ W +10 &T\ X +9 &VE\ W +9 &X\ X +10 &Y\ X +9 &[\ X +9 &]K\ M +10 &^R\ $p +9 &^\ , +2 ( +2 "processing"%G& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 .Hand.open + "manipulator"&N1 +62 "core" 1 +2 "manipulator"&`% +4 "core" %   / +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z' +89 "core" ' + "processing"%[& +4 "core" &^\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&;% +4 "core" %  h  + "storage"(b% +4 "core" % :\  + "storage"(S. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(w(,y +12 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +3 (c& +3 "core" &,{ z\  +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&\ & +4 "storage"(#]kK-0-\ b +3 "core" & K ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"& ( + "storage"(j'r +5 "core" ( + "manipulator"&*& +4 "core" &  ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &  . ! +2 .tForearm.seek PC +2 "manipulator"&f' +91 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%o( +98 "core" ' + "storage"(]- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(p'1 +46 "core" ' +301 ( +2 "storage"(& +4 "core" &,k  \ " + "manipulator"&_& +4 "core" & O ! + "manipulator"&% +4 "core" %  F = +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&h( +243 "core" ( + "manipulator"&y& +5 "core" & O  + "storage"(d& +4 "core" &,k ' '\ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&C' +91 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(g' +27 "core" ' +2 .tSE.reconfigure :seal + "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(t' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +3 "core" -' +2 "storage"(& +3 "core" &,k * * =\ a" +2 "manipulator"&"& +3 "core" &  q  +2 .tElbow.seek 4 + "manipulator"&k( +10 "core" ( + "manipulator"&& +5 "core" & %  + "storage"(& +4 "core" &,k , + 7\ b" +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +4 "core" ' + .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(q'" +52 "core" ' + "manipulator"&v& +5 "core" &   + "storage"(& +4 "core" &,k   [\ " + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +20 "core" ' + .tElbow.hold + "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +7 .tSE.seek -0.32 Pucks below Top Plate + "storage"(|' +22 "core" ' + "manipulator"&x% +5 "core" %@ \  U  + "storage"(& +4 "core" &,k   U\ " +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 309 counts + "manipulator"&s'l +13 "core" ' + "manipulator"&{& +4 "core" & Y  +2 "storage"(& +4 "core" &,k ' &\ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +15 "core" ' +2 "storage"(^% +4 "core" % ' &\ +2 ."downElevator"SE.seek :down +4 "storage"(~' +99 (8% +3 "core" %EF C\ Xh +2 "manipulator"&%% +4 "core" % 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&$' +90 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &,k  %\ " +2 "collection"'& +4 "core" &\\z  M\ [ + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&}% +4 "core" %   +2 "storage"(Q% +3 "core" % + ' \  +2 "storage"(#. +3 "core" .(,y + "storage"(M& +3 "core" &,k & (\ " +2 .tSC.reconfigure :tight +52 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +32 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (!& +3 "core" &,|  \ +2 "manipulator"&<& +4 "core" & 0  +2 .tElbow.seek 4 + "manipulator"&r( +13 "core" ( + "manipulator"&+& +5 "core" &  + "storage"(&& +4 "core" &,| ) 1 [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(& +4 "core" &,| &  -\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak + "storage"(1'r +297 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default + "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & d + "storage"(B& +4 "core" &,m  ! \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&A'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&P, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"()- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(4'q +33 "core" ' + "manipulator"&9% +9 "core" %5 = ! + "storage"(H& +4 "core" &,m ' & \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 298 counts + "manipulator"&?'a +14 "core" ' + "manipulator"&/& +5 "core" & + "storage"(L& +4 "core" &,m \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&5' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(J' +38 "core" ' + "manipulator"&@& +4 "core" &  +2 "manipulator"&3% +4 "core" % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&>' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&F(ӂ +158 "core" ( + "manipulator"&-& +4 "core" &Ӑ%  " >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +2 "core" &Ӑ%   % >O +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&Z/ +60 "core" / +2 .tCC.seek :open + "collection"'0( +448 "core" ( + "storage"( & +4 "core" &,m F B \ +2 "storage"(R& +4 "core" &,m B C\ + "manipulator"&(& +4 "core" &Ӑ% \  [ >O + "manipulator"&Y% +4 "core" % M  + .tForearm.seek :retract +2 "manipulator"&W' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&( +18 "Can"\ @= +146 "core" ( + "manipulator"&E& +4 "core" &   +2 "storage"(V& +3 "core" &,m Y Z @\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&D'7 +93 "core" ' + .tElbow.hold + "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\\1 +62 "core" 1 +2 "manipulator"& % +4 "core" % 5  P + "storage"(& +4 "core" &,m \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 298 counts + "manipulator"&''a +12 "core" ' +3 "manipulator"&e& +4 "core" &  + "storage"(u& +4 "core" &,m "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +15 "core" ' + "storage"(n% +5 "core" % x 8\ +2 ."downElevator"SE.seek :down +3 "storage"(K' +99 (7% +3 "core" %,: U P l\ V` + "manipulator"&X% +4 "core" % K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.' +89 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'m& +4 "core" &_\ + "manipulator"&i% +4 "core" %  K  +2 "storage"(6% +4 "core" % z \  + "storage"(N. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(`(  +674 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +2 "core" &  Z ` ;\ +2 "manipulator"&;& +4 "core" & 9  + .tElbow.seek 2 +2 "manipulator"&b( +3 "core" ( + "manipulator"&S& +4 "core" & O  + "storage"(G& +4 "core" &  x D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&c'S +92 "core" ' +2 "storage"(\ & +4 "core" &  { \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'r +296 "core" ' +2 "storage"(I- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +2 "core" & 9 : \ +2 "manipulator"&& +3 "core" & N  +2 .tElbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&]& +4 "core" & V  +2 "storage"( & +3 "core" & c d \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&z'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&T/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(' +7 "core" & L  +2 "manipulator"&_% +4 "core" % ϵ 1 + .tForearm.seek :retract +2 "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&f(ӂ +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&y& +4 "core" &Ӗ"    ;6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &Ӗ" ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '? +95 "core" ' +2 "manipulator"&& +4 "core" &Ӗ"  ~ ;6 +2 "manipulator"&% +4 "core" %G \  * * +2 "collection"'2& +4 "core" &Z\ +2 "collection"'& +4 "core" &O\ +3 .tCC.seek :closed + "collection"'"(\\ +4 "core" &O\ +8 &?G\ %g +9 &XyU\ 8 +9 &xS\ L +10 &TF\ M +9 &TE\ M +10 &CY<\ M +9 &T6\ M +9 &V B\ L +10 &UQ\ L +9 &KUP\ M +9 & WR\ M +10 &!S U\ M +9 &#Y Y\ M +10 &%SR L\ M +9 &'TN\ L +9 &(UH\ M +10 &*W O\ M +9 &,[W M\ M +9 &.W O\ M +10 &/WL\ M +9 &1X F\ M +10 &3cW ;\ M +9 &5&WF\ L +9 &6U:\ M +10 &8WC\ M +9 &:kW H\ M +9 &<-W G\ M +10 &=S  F\ M +9 &?U  K\ L +10 &AsU  L\ M +9 &C3[  H\ M +9 &Dd  A\ O +10 &Fs \ C\ Q +9 &He O\ T +9 &J  O\ X +10 &K  M\ Z +9 &M  P\ Z +10 &O[  L\ Z +9 &Q  N\ Z +9 &R  C\ [ +10 &T  H\ \\ +9 &V_  L\ \\ +9 &X  G\ ] +10 &Y  L\ ] +9 &[  A\ K +10 &\\<  B\ )} +9 &\\u  M\ Q +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&1 +52 "core" 1 + "manipulator"&% +4 "core" % G  : * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%v& +4 "core" &\ + "manipulator"&% +4 "core" % ! \  & +2 "storage"(x% +3 "core" % \  +2 "storage"(. +3 "core" .(  + "storage"(p& +4 "core" &  y\ + "storage"({& +9 "core" &  b\ + "manipulator"&& +4 "core" &ӗ"  ;5 + "manipulator"&g% +4 "core" % ! [ & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&^( +164 "core" ( +2 "manipulator"&h& +4 "core" &  + "storage"(C& +4 "core" & 1 $ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&t'S +93 "core" ' +2 "storage"(8& +4 "core" & ' ' #\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'r +298 "core" ' +3 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" &   2\ + "manipulator"&q& +4 "core" & I  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & e  + "storage"(s& +4 "core" & ' '\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&}/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(#' +7 "core" & '  +2 "manipulator"&M% +4 "core" % ϶ } +2 .tForearm.seek :retract + "manipulator"&|' +113 "core" ' +2 .tElbow.seek PC + "manipulator"&!( +140 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&<& +4 "core" & z < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" & < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&+' +101 "core" ' +2 "manipulator"&&& +4 "core" &  < +2 "manipulator"&% +4 "core" % / + "processing"%~& +4 "core" &\ +2 "processing"%w& +5 "core" &\ +2 .tPC.seek :closed + "processing"%,(^ +4 "core" &\ +8 & +\ $d +9 &U~\ 8 +10 &}y\ L +9 &V\ P +9 &XW\ P +10 &S\ O +9 &W\ O +9 &T\ O +10 &aT\ O +9 &#Y\ O +10 &Y\ O +9 &!U\ P +9 &#hW\ P +10 &%+S\ O +9 &&T\ P +10 &(S\ O +9 &*qT\ O +9 &,2T\ P +10 &-U\ P +9 &/U\ P +9 &1yW\ O +10 &3:U\ P +9 &4U\ O +9 &6T\ O +10 &8X\ P +9 &:CT\ O +10 &<V\ O +9 &=T\ P +9 &?U\ O +10 &AJY\ P +9 &C`\ Q +9 &Dj\ R +10 &Fy\ S +9 &HA\ U +10 &J\ V +9 &K\ V +9 &M\ W +10 &OF\ V +9 &Q\ W +9 &R\ W +10 &T\ W +9 &VM\ W +10 &X\ W +9 &Y\ W +9 &[\ W +10 &]R\ I +9 &^yC\ $k +9 &^;\ 4 +6 ( + "processing"%w& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&$1 +4 "core" &^&\ 4 +54 1 +2 "manipulator"&% +4 "core" %    + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +88 "core" ' +2 "processing"%B& +4 "core" &^&\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&)% +4 "core" %  \  &  +2 "storage"(9% +3 "core" % \  +2 "storage"(H. +2 "core" .(  +2 "storage"(/& +3 "core" &  c\ +2 "storage"(L& +4 "manipulator"&@& +5 "core" &  \ + & < +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +2 "manipulator"&3( +4 ."raiseStack"SE.seek :beamBreak + "storage"('r +2 "core" ( +2 "manipulator"&r& +4 "core" &  \ U < + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &  p < +2 .tForearm.seek PC + "manipulator"&A' +94 "core" ' + .tHand.close + "manipulator"&?/ +63 "core" / +2 .tPC.seek :open + "processing"%4( +96 "core" ' +2 "storage"(-- +3 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(='1 +40 "core" ' +308 ( +2 "storage"(5& +4 "core" & , 4 \ + "manipulator"&P& +4 "core" &  < + "manipulator"&Z% +4 "core" %  V % +2 .tForearm.seek :retract + "manipulator"&>' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&a( +244 "core" ( +2 "manipulator"& & +4 "core" &   + "storage"(R& +4 "core" & & '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&('S +92 "core" ' + .tHand.open + "manipulator"&Y1 +63 "core" 1 +3 "storage"(E- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(V' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' + #tLights, camera, ACTION! + "storage"(F- +4 "core" -' + "storage"(\\& +4 "core" & k \ l + "manipulator"& & +4 "core" &  h  +2 .tElbow.seek 2 + "manipulator"&( +3 "core" ( +2 "manipulator"&e& +3 "core" &    +2 "storage"(u& +4 "core" & ~  \ m +2 .tForearm.seek 2 + 450 counts + "manipulator"&n'S +8 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(W'" +57 "core" ' + "manipulator"&7& +5 "core" &  + "storage"(X& +4 "core" & & & \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'Α +21 "core" ' + .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(m' +28 "core" ' +2 "manipulator"&'% +4 "core" %Ε  u + "storage"(i& +4 "core" &  X\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 304 counts +2 "manipulator"&6' +13 "core" ' + "manipulator"&N& +5 "core" &  + "storage"(J& +4 "core" & 1 5 p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&O'S +15 "core" ' +2 "storage"(K% +4 "core" % $ ' $\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 ([% +3 "core" %3W \ Zo +2 "manipulator"&;% +4 "core" %3 +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S' +88 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +2 (G& +4 "core" &  L\ +2 "collection"'\ & +4 "core" &\\s  c\ Q + #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&U% +4 "core" %  <  +2 "storage"(.% +4 "core" % 3 3\  + "storage"(I. +3 "core" .(  + "storage"(:& +4 "core" & ( & \ + "storage"(& +4 "core" & 1 + M\ +2 "manipulator"&]& +4 "core" & [  + .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&T& +4 "core" &  +  + "storage"(j& +4 "core" & 0 ( ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&_'S +97 "core" ' +2 "storage"(b& +4 "core" &  \ c\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'r +299 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&d& +3 "core" & e  + "storage"(*& +4 "core" &  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&z'Α +13 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(2'k +33 "core" ' +2 "manipulator"&% +4 "core" %Δ % ? + "storage"(& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 303 counts + "manipulator"&' +13 "core" ' +2 "manipulator"&0& +4 "core" & K  + "storage"(& +4 "core" & ( ) \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(v' +35 "core" ' + "manipulator"&& +4 "core" & K  +2 "manipulator"&x% +4 "core" %2 $ +51 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&p(ӂ +150 "core" ( +2 "manipulator"&{& +4 "core" &y.  \ h E| +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &y.   E| +2 .tForearm.seek CC + "manipulator"&'? +96 "core" ' +2 .tHand.close + "manipulator"&g/ +58 "core" / +2 .tCC.seek :open + "collection"' ( +451 "core" ( + "storage"(h& +4 "core" & F K 5\ +2 "storage"(C& +4 "core" & C B &\ + "manipulator"&8& +4 "core" &Ӣ&  ?S + "manipulator"&f% +4 "core" % 7 \ 0  +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +162 "core" ( +2 "manipulator"&k& +4 "core" & H  + "storage"(q& +4 "core" & d d *\ +2 .tElbow.reconfigure :limp + "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&'Α +98 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&}1 +57 "core" 1 +2 "manipulator"&Q% +4 "core" % Λ  +2 "storage"(M& +4 "core" & e e\ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 310 counts +2 "manipulator"&^' +26 "core" ' +2 "manipulator"&t& +4 "core" & R  +2 "storage"(%& +3 "core" & } \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +15 "core" ' +2 "storage"(<% +4 "core" % ~\ +2 ."downElevator"SE.seek :down +3 "storage"(l' +99 (% +3 "core" %_G L 9 \ Xi +2 "manipulator"&&% +4 "core" %Y  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'~& +4 "core" &[\ +2 "manipulator"&#% +4 "core" %  { + "storage"(|% +4 "core" % |\  +2 "storage"(o. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"($( +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & 4 5\  + "manipulator"&B& +4 "core" & p  +2 .tElbow.seek 3 + "manipulator"&)( +14 "core" ( +2 "manipulator"&9& +4 "core" & A  + "storage"(H& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&/'7 +92 "core" ' + "storage"(L& +4 "core" & ^\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'r +293 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (r& +3 "core" & C : \  + "manipulator"&1& +4 "core" & M  + .tElbow.seek 3 +2 "manipulator"&+( +3 "core" ( + "manipulator"&?& +4 "core" & 1  + "storage"(-& +4 "core" & Z V \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&!'ϡ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(' +8 "core" &   + "manipulator"&5% +4 "core" % ϩ ; +2 .tForearm.seek :retract + "manipulator"&P' +92 "core" ' +2 .tElbow.seek CC + "manipulator"&Z(ӂ +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&A& +4 "core" &Ӏ*  4 Bg + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &Ӏ*  4 Bg +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&R'? +101 "core" ' + "manipulator"&3& +4 "core" &Ӟ%  " >I +4 "manipulator"&Y% +4 "core" %O + "collection"'E& +4 "core" &X\ +2 "collection"'F& +5 "core" &\\\ +2 .tCC.seek :closed + "collection"'\\(\\ +5 "core" &K\  +9 &4|D\ *z +9 &eE\ ? +10 &p>\ M +9 &IU =\ M +9 & W?\ M +10 &XD\ M +9 &W R\ M +10 &RX T\ L +9 &VX\ L +9 &T R\ L +10 & RP\ M +9 &"YW Q\ M +9 &$W I\ L +10 &%UQ\ L +9 &'WS\ M +10 &)aR K\ M +9 &+#T F\ M +9 &,X@\ M +10 &.V9\ M +9 &0iR >\ M +9 &2+W <\ M +10 &3V >\ M +9 &5R C\ M +9 &7qX H\ M +10 &93WG\ M +9 &:U  N\ M +10 &<S  L\ M +9 &>yR  O\ M +9 &@;W  R\ M +10 &AX  L\ M +9 &CZ  P\ M +10 &E{f  N\ O +9 &G8r \ P\ P +9 &H  N\ T +10 &J  L\ X +9 &Lc  Q\ Z +9 &N%  C\ Z +10 &O  I\ Z +9 &Q  L\ [ +10 &Sg  B\ [\ +9 &U(  L\ [ +9 &V  K\ ] +10 &X  I\ ] +9 &Zf  J\ ^ +9 &\\ {  :\ 8 +10 &\\$  A\ (u +9 &\\  I\ ] +2 ( +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&e% +4 "core" % O  - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&u' +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%>& +4 "core" &x\ +2 "manipulator"&7% +3 "core" %   '  +2 "storage"(X% +4 "core" %  Y\  + "storage"('. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(i( +3 "core" ( +6 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" & b\  +2 "manipulator"&N& +4 "core" &Ӟ%  0 >I + "manipulator"&J% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&V( +156 "core" ( + "manipulator"&K& +5 "core" & k + "storage"(a& +4 "core" & & & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&('7 +94 "core" ' +2 "storage"(& +4 "core" & "  j\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['r +296 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (n& +2 "core" &  \  +2 "manipulator"&& +4 "core" & + .tElbow.seek 3 +2 "manipulator"&W( +3 "core" ( + "manipulator"&& +4 "core" & U +2 "storage"(G& +3 "core" &   5\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'ϡ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\ / +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(.' +8 "core" &  + "manipulator"&I% +4 "core" % ϖ > +2 .tForearm.seek :retract + "manipulator"&:' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&m( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&& +4 "core" & 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +2 "core" & 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&T' +101 "core" ' + "manipulator"&j& +34 "core" &  4 +2 "manipulator"&O% +4 "core" % G # +2 "processing"%b& +3 "core" & \ +2 "processing"%& +5 "core" &%\ +2 .tPC.seek :closed + "processing"%D(^ +5 "core" &\  +9 &.t\ +z +9 &c\ ? +10 &lt\ P +9 &/U\ O +10 &T\ P +9 &U\ P +9 &tU\ P +10 &7S\ O +9 &U\ P +9 &T\ O +10 & |T\ P +9 &">V\ P +10 &$T\ O +9 &%S\ P +9 &'W\ O +10 &)FW\ P +9 &+V\ P +9 &,S\ O +10 &.T\ O +9 &0NY\ P +10 &2X\ O +9 &3R\ O +9 &5T\ O +53 &7WU\ O +4 &9Z\ P + &:U\ O +4 &<V\ P + &>]Y\ P + &@ V\ P +2 &A_\ P +9 &Cv\ S +10 &EW\ U +10 &G\ V +8 &H\ V +10 &J\ V +9 &L\\\ V +10 &N\ V +9 &O\ W +9 &Q\ W +10 &S_\ X +9 &U!\ X +9 &V\ W +10 &X\ W +9 &Zf\ X +10 &\\)\ X +9 &]~z\ = +9 &^-\ W +10 &^(\ 6 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&S1 +52 "core" 1 + "manipulator"&y% +4 "core" %  # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&d' +94 "core" ' + "processing"%*& +4 "core" &^&\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %  \ ]  + "storage"(% +4 "core" % +\  + "storage"(. +4 "core" .( + "storage"(0& +4 "core" & r\  +2 "storage"(& +3 "manipulator"&& +5 "core" & -\  + & C 4 +2 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&x( + "storage"(_'r +5 "core" ( +2 "manipulator"& & +4 "core" & \ [ 4 +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &c& +2 "core" &  4 +2 .tForearm.seek PC +2 "manipulator"&z' +94 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open + "processing"%2( +101 "core" ' +2 "storage"({- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('1 +45 "core" ' +301 ( +2 "storage"(& +4 "core" &  ' \  + "manipulator"&& +4 "core" & O 4 + "manipulator"&g% +4 "core" %  7 +2 .tForearm.seek :retract + "manipulator"&' +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&"( +246 "core" ( +2 "manipulator"&h& +4 "core" & 4 +2 "storage"(C& +3 "core" &  _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&8'7 +91 "core" ' + .tHand.open + "manipulator"&f1 +54 "core" 1 +2 "storage"(k- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(q' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +57 "core" ' + #tLights, camera, ACTION! + "storage"(p- +4 "core" -' + "storage"(}& +4 "core" & \ G + "manipulator"&Q& +4 "core" & \  4 +2 .tElbow.seek 3 + "manipulator"&M( +3 "core" ( +2 "manipulator"&t& +3 "core" &  - 4 +2 "storage"(%& +4 "core" & \ G +2 .tForearm.seek 3 + 450 counts + "manipulator"&<'7 +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"('" +59 "core" ' + "manipulator"&& +5 "core" & B 4 + "storage"(&& +4 "core" &  L\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'u +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(~' +28 "core" ' + "manipulator"&#% +5 "core" %t <  + "storage"(^& +4 "core" &   _\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts + "manipulator"&|'Ϡ +13 "core" ' +2 "manipulator"&o& +4 "core" &  4 +2 "storage"(v& +4 "core" & & '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +18 "core" ' + "storage"(l% +5 "core" % ) ' \ +2 ."downElevator"SE.seek :down +3 "storage"(`' +99 (% +3 "core" %GF 2\ Xg + "manipulator"&B% +4 "core" %$ p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9' +86 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +2 (H& +4 "core" &\  +2 "collection"'L& +4 "core" &\\  ^\ ] +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&s% +4 "core" %   + "storage"(% +4 "core" %  ! i\  + "storage"(w. +3 "core" .( +2 "storage"(r& +4 "core" &   E\  + "storage"(1& +4 "core" & ' & :\  + "manipulator"&?& +4 "core" & 7 4 +2 .tElbow.seek 3 + "manipulator"&-( +3 "core" ( +2 "manipulator"&& +3 "core" &  4 +2 "storage"(,& +4 "core" & ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&5'7 +91 "core" ' +2 "storage"()& +4 "core" & ! $ V\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'r +296 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" & F 4 + "storage"(@& +4 "core" & A\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&!'u +18 "core" ' +2 .tElbow.hold + "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate + "storage"(E'} +29 "core" ' +2 "manipulator"&+% +4 "core" %t  + "storage"(& +4 "core" &  \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 299 counts +2 "manipulator"&P'Ϡ +15 "core" ' +2 "manipulator"& & +4 "core" & o 4 +2 "storage"( & +3 "core" & ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&e'7 +17 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate +2 "storage"(>' +35 "core" ' + "manipulator"&7& +4 "core" &  4 +2 "manipulator"&X% +4 "core" %> M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +88 "core" ' +2 .tElbow.seek CC + "manipulator"&=(ӂ +150 "core" ( + "manipulator"&F& +4 "core" &ӂ(  / @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &ӂ( ' @^ +2 .tForearm.seek CC + "manipulator"&J'? +98 "core" ' +2 .tHand.close + "manipulator"&R/ +63 "core" / +2 .tCC.seek :open + "collection"'K( +451 "core" ( +2 "storage"(a& +4 "core" & ? = \  + "storage"($& +4 "core" & D C \  + "manipulator"&& +4 "core" &ӡ"  <? + "manipulator"&Z% +4 "core" % H  _ +2 .tForearm.seek :retract + "manipulator"&u' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&;( +163 "core" ( +2 "manipulator"&n& +4 "core" & e  +2 "storage"(& +4 "core" & \\ [\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'u +91 "core" ' + .tElbow.hold + "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\ 1 +54 "core" 1 +2 "manipulator"&U% +4 "core" % Ά # ) + "storage"(I& +4 "core" & e c \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&V'ϲ +35 "core" ' +2 "manipulator"&(& +4 "core" &   +2 "storage"([& +4 "core" & ` \\\  +2 .tForearm.reconfigure :tight +51 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&6'7 +20 "core" ' + "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(]' +100 (W% +2 "core" %D W G -\ Vb +2 "manipulator"&j% +4 "core" %7 W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&O' +89 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'b& +4 "core" &_\ +2 "manipulator"&.% +4 "core" %  O  +2 "storage"(:% +4 "core" % z \  + "storage"(4. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(S(,y +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (y& +3 "core" &,x B D c\  +2 "manipulator"&*& +3 "core" & )  +2 .tElbow.seek 4 + "manipulator"&( +39 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &,x { ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +94 "core" ' + "storage"(& +5 "core" &,x o I\  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +300 "core" ' + "storage"(- +4 "core" -'& + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &,l b _\  +2 "manipulator"&c& +4 "core" & ;  +2 .tElbow.seek 4 + "manipulator"&T( +3 "core" ( +2 "manipulator"&& +4 "core" & x  + "storage"({& +4 "core" &,l T T >\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&m'c +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(_' +7 "core" & V  +2 "manipulator"&% +4 "core" % e v +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&g(ӂ +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +15 "core" ( + "manipulator"&z& +4 "core" &ӌ E 4 +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &h& +3 "core" &ӌ  4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&C'? +96 "core" ' +2 "manipulator"&x& +4 "core" &ӌ  k 4 +2 "manipulator"&f% +4 "core" %3  D +2 "collection"'k& +4 "core" &c\ +2 "collection"'p& +5 "core" &Q\ +2 .tCC.seek :closed + "collection"'}(\\ +4 "core" &M\  +8 &3}\\\ +{ +10 &d}X\ > +9 &pM\ M +10 &ETN\ L +9 &WC\ M +9 &UD\ M +10 &QR\ L +9 &NTL\ L +9 & WT\ M +10 &RX\ L +9 & TP\ L +10 &"UWS\ L +11 &$WR\ M +7 &%UJ\ M +10 &'T V\ M +9 &)]QR\ L +9 &+ TL\ L +10 &,U P\ M +9 &.R B\ L +9 &0eW@\ L +10 &2&WD\ M +9 &3T;\ L +10 &5Q@\ L +9 &7nTM\ L +9 &9/W P\ L +10 &:W N\ L +9 &<W  P\ M +10 &>tU  P\ M +9 &@6U  P\ M +9 &AW  N\ M +10 &C`  R\ N +9 &Erp J\ P +9 &G* K\ T +10 &H  O\ X +9 &J  I\ Y +9 &L^  P\ Z +10 &N  P\ Z +9 &O  C\ Z +10 &Q  J\ [ +9 &S`  N\ \\ +9 &U  H\ \\ +10 &V  D\ ] +9 &X  K\ ^ +10 &Z`  K\ ^ +9 &\\x  <\ ? +9 &\\'  =\ - +10 &\\}  I\ \\ +2 ( +2 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + .Hand.open + "manipulator"&Q1 +51 "core" 1 +2 "manipulator"&t% +4 "core" % 3  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %     + "storage"(&% +4 "core" % =\  +2 "storage"(#. +2 "core" .(,y +2 "storage"(^& +3 "core" &,l Y\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +29 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (o& +3 "core" &,} \ +2 "manipulator"&v& +3 "core" &ӌ  / 4 +2 "manipulator"&q% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&l( +162 "core" ( +2 "manipulator"&"& +4 "core" &  + "storage"(8& +4 "core" &,} ' '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(& +4 "core" &,}  ' X\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'r +298 "core" ' + "storage"(<- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &,m  \ +2 "manipulator"&& +3 "core" & h  +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&H& +4 "core" & 4  + "storage"(|& +4 "core" &,m & '\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&L'c +19 "core" ' +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(w' +7 "core" & J  +2 "manipulator"&r% +4 "core" % W 0 + .tForearm.seek :retract +2 "manipulator"&~' +89 "core" ' +2 .tElbow.seek PC + "manipulator"&1( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&?& +4 "core" & ` " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & s " +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&,' +91 "core" ' +2 "manipulator"&& +4 "core" & & " +2 "manipulator"&)% +4 "core" % E H +2 "processing"%`& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%9(^ +4 "core" &\ +8 & +\ #b +10 &T~\ 8 +9 &}{\ L +9 &V\ O +10 &WW\ O +9 &S\ O +10 &X\ P +9 &U\ O +9 &_R\ O +10 &!Y\ O +9 &W\ O +9 &!R\ O +10 &#fT\ P +9 &%(V\ P +10 &&U\ P +9 &(W\ O +9 &*oT\ O +10 &,1T\ O +9 &-W\ O +9 &/X\ P +10 &1vV\ P +9 &39U\ O +9 &4R\ O +10 &6T\ O +9 &8Y\ O +10 &:AS\ O +9 &<V\ O +9 &=Y\ O +10 &?Y\ O +9 &AHY\ P +9 &C`\ Q +10 &Dh\ R +9 &F}\ T +10 &H?\ U +12 &I\ V +6 &K\ V +10 &M\ W +9 &OD\ V +9 &Q\ X +10 &R\ W +9 &T\ X +10 &VK\ W +9 &X \ W +9 &Y\ W +10 &[\ W +9 &]Q\ I +9 &^wA{\ &p +10 &^4\ 4 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&A1 +3 "core" &^&\ 4 +60 1 +2 "manipulator"& % +4 "core" %  H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&@' +91 "core" ' + "processing"%Y& +4 "core" &^&\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&+% +3 "core" %  h  +2 "storage"(% +4 "core" % W\  + "storage"( . +3 "core" .(,} +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"( (,y +33 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +4 "manipulator"&X& + "core" &,{  $\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &  Y " +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&5( + "storage"(-'r +5 "core" ( +2 "manipulator"&/& +4 "core" & J " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" & \  " +2 .tForearm.seek PC + "manipulator"&P' +93 "core" ' +2 .tHand.close + "manipulator"&F/ +61 "core" / +2 .tPC.seek :open + "processing"%E( +97 "core" ' +2 "storage"(N- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(e'1 +41 "core" ' +314 ( +2 "storage"(3& +4 "core" &,i  <\ \ + "manipulator"&R& +4 "core" & s " +2 "manipulator"&'% +4 "core" %  N < + .tForearm.seek :retract +2 "manipulator"&\\' +91 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&a( +253 "core" ( +2 "manipulator"&$& +4 "core" &  +2 "storage"(& +4 "core" &,i \  V\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&Z' +96 "core" ' + .tHand.open + "manipulator"&n1 +57 "core" 1 +2 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(J' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(=' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(\ - +3 "core" -' +2 "storage"(U& +4 "core" &,i - + d\ d\ + "manipulator"&I& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&(( +3 "core" ( +2 "manipulator"&[& +3 "core" &  [ +2 "storage"(& +4 "core" &,i 5 + b\ c\ +2 .tForearm.seek 4 + 450 counts + "manipulator"&u' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(;'" +52 "core" ' +2 "manipulator"&W& +4 "core" & P + "storage"(j& +4 "core" &,i  \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'7 +13 "core" ' + .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(V' +18 "core" ' +2 "manipulator"&.% +4 "core" %: C E +2 "storage"(:& +4 "core" &,i  \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&4'f +13 "core" ' + "manipulator"&>& +5 "core" & +2 "storage"(6& +4 "core" &,i  3\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&]' +16 "core" ' +2 "storage"(i% +4 "core" % ) (\ +3 ."downElevator"SE.seek :down +3 "storage"(y' +99 (*% +3 "core" %I S\ Xh +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +2 (& +4 "core" &,i \ \ +2 "collection"'G& +4 "core" &\\y  a\ \\ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&O% +4 "core" %  $  + "storage"(% +4 "core" % ( & ;\  +2 "storage"( . +3 "core" .(,y + "storage"(c& +4 "core" &,i  " \ \ + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +30 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +2 "core" &,z ( & /\ +2 "manipulator"&d& +4 "core" & 4 + .tElbow.seek 4 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&& +4 "core" & I + "storage"(& +4 "core" &,z " %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +98 "core" ' + "storage"(z& +5 "core" &,z 0 % \ + .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'r +296 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" & f + "storage"(x& +4 "core" &,m ) (\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&f'7 +22 "core" ' +2 .tElbow.hold + "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(T- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(_'p +25 "core" ' +2 "manipulator"&% +3 "core" %: 7 +2 "storage"(K& +4 "core" &,m ' ' \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&Q'f +15 "core" ' +2 "manipulator"&t& +4 "core" & e + "storage"(& +4 "core" &,m  #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +14 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(&' +33 "core" ' + "manipulator"&#& +5 "core" & < +2 "manipulator"&^% +4 "core" % . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&o(ӂ +160 "core" ( + "manipulator"&v& +4 "core" &Ӗ"  U ;6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &Ӗ!  [ ;6 +2 .tForearm.seek CC + "manipulator"&C'? +93 "core" ' + .tHand.close + "manipulator"&"/ +59 "core" / +2 .tCC.seek :open + "collection"'8( +451 "core" ( + "storage"(S& +4 "core" &,m J G X\  +2 "storage"(& +3 "core" &,m B ? \  + "manipulator"&g& +4 "core" &Ӗ" } ;6 + "manipulator"&%% +4 "core" % P \\ G +2 .tForearm.seek :retract + "manipulator"&<' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&M( +162 "core" ( + "manipulator"&& +4 "core" & 2  +2 "storage"(H& +3 "core" &,m T U X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&|'7 +94 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&r% +4 "core" % 2 O 1 + "storage"(l& +4 "core" &,m e e G\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 295 counts + "manipulator"&'^ +14 "core" ' +2 "manipulator"&B& +4 "core" &   +2 "storage"(L& +3 "core" &,m z `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&?' +20 "core" ' +2 "storage"(% +4 "core" % v\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %A F U \ Wc + "manipulator"&)% +4 "core" % - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`' +90 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +34291 "Can"\ ?< +60001 \ >< +60004 \ ?< +59998 \ >; +32324 #t-> exit +5 #mEXIT @1635532753.68UTC @1635532888.77UTC = =tMAIN =mMAIN_scheduler @UTC1635532890.56 #"core_reset"Sent BREAK +2 #t@57682 select with ifg=0x10, ie=0xF5 + #@58316 receive with ifg=0x10, ie=0xFD + #@58950 receive with ifg=0x10, ie=0xFD + #@59584 receive with ifg=0x10, ie=0xFD #@59911 receive with ifg=0x80, ie=0xFD + #@61691 sendCRC with ifg=0x20, ie=0x7F + #@62138 sendCRC with ifg=0x20, ie=0x7F #@63729 sendCRC with ifg=0x08, ie=0x5F + #@18349 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +280 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +363 "Can"\ A> + \ A> + #tPolling Can every 10:00 +7 #Cleanly exited at 18:39:13UTC29-Oct-21 +460 #-> ESP.ready? +498 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %ez\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؽ\ + .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڄ t q n\ 9 + .tSS.configure :default +2 "sampler")#.0X require shuffle.rb +2 !o:NoMethodError : mesgu:NameError::message.undefined method `rb' for :shuffle:Symbol: name:rb: args[:bt["(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2335 #-> 2.times {shuffle 2..4} +2 !o:NoMethodError : mesg"0undefined method `shuffle' for Object:Class: name0: args0:bt[ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):4:in `irb_binding'"(ESP):4:in `times'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +611 #-> exit +5 #mEXIT @1635532957.33UTC @1635532976.10UTC = =mMAIN_scheduler =tMAIN @UTC1635532977.99 #"core_reset"Sent BREAK +2 #t@16097 receive with ifg=0x10, ie=0xFD + #@16734 receive with ifg=0x10, ie=0xFD + #@17392 receive with ifg=0x10, ie=0xFD + #@18029 receive with ifg=0x10, ie=0xFD #@18664 receive with ifg=0x10, ie=0xFD + #@19297 receive with ifg=0x10, ie=0xFD + #@19931 receive with ifg=0x10, ie=0xFD #@20262 receive with ifg=0x80, ie=0xFD + #@7899 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +292 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +390 "Can"\ KI + \ KI + #tPolling Can every 10:00 +6 #Cleanly exited at 18:42:37UTC29-Oct-21 +744 #-> require 'shuffle.rb' +1080 #-> 2.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +8 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %e{\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؽ\ + .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +2 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ڄ r q p\ 9 +2 .tSS.configure :default +2 "sampler")#.0X A \ \  +2 .tSC.configure :loose + "storage"($.\ 1~b +3 .tSC.hold + "storage"(, +2 "core" , + .tSC.configure :loose +2 "storage"($.\ 1~b +2 (% +4 "core" % > B \  + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +2 "core" +2 .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast + "processing"%  +3 "core" + .tPH.configure :default +2 "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +8 "collection"'& +3 "core" &~\ +2 .tHand.open + "manipulator"&1 +21 "core" 1 + "manipulator"&% +4 "core" %  L  +2 "storage"(% +3 "core" % = ? \  +2 "storage"(. +3 "core" .,,m +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  Z f \ + "manipulator"&& +4 "core" & *  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +20 "core" ( + "manipulator"& & +4 "core" & . D +2 "storage"(!& +3 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&"'S +92 "core" ' +2 "storage"(#& +4 "core" &   }\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'r +297 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (&& +3 "core" & C K 9\  + "manipulator"&'& +4 "core" & D +2 .tElbow.seek 2 + "manipulator"&(( +3 "core" ( + "manipulator"&)& +4 "core" &  D +2 "storage"(*& +4 "core" & d d /\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&+'Ͻ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"(.' +8 "core" & z D +2 "manipulator"&/% +8 "core" %  $ | +2 .tForearm.seek :retract + "manipulator"&0' +91 "core" ' +3 .tElbow.seek CC + "manipulator"&1(ӂ +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&2& +4 "core" &Ӓ!  :0 +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &3& +2 "core" &Ӓ! \ e :0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&4'? +92 "core" ' +2 "manipulator"&5& +4 "core" &Ӓ!  :0 +2 "manipulator"&6% +4 "core" %;  / y + "collection"'7& +4 "core" &|\ +2 "collection"'8& +6 "core" &q\ +2 .tCC.seek :closed + "collection"'9(\\ +4 "core" &p\ +8 &4h\ $e +10 &W~h\ 8 +9 &ya\ L +9 &Wf\ N +10 &_W f\ N +9 &"Xg\ N +10 &Y ]\ N +9 &WZ\ N +9 &iZ Q\ N +10 &+WR\ N +10 &UV\ N +8 &!W R\ N +10 &#pWM\ N +9 &%3VQ\ N +9 &&WI\ N +10 &(X G\ N +9 &*yY B\ N +10 &,;V F\ N +9 &-YD\ N +9 &/TI\ N +10 &1WS\ N +9 &3CY T\ N +9 &5U S\ M +10 &6V  S\ N +9 &8U  R\ N +10 &:KV  U\ N +9 &< U J\ N +9 &=W  P\ N +10 &?W R\ M +9 &ASX  L\ N +9 &C]  D\ O +10 &De  @\ O +9 &Fw  H\ R +10 &HF J\ U +9 &I F\ X +9 &K A\ Z +10 &M| @\ Z +9 &O; O\ [ +9 &P A\ [ +10 &R  ;\ [ +9 &T~ C\ \\ +10 &V> 7\ ] +9 &W  B\ ^ +9 &Y  B\ ^ +10 &[~  A\ K +9 &\\9  ;\ 0 +9 &\\\  A\ U +6 ( + "collection"'8& +5 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&:1 +3 "core" &\\q  >\ U +61 1 + "manipulator"&;% +4 "core" % ;  ~ y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<' +92 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%=& +40 "core" &y\ +7 "manipulator"&>% +4 "core" %   \   +2 "storage"(?% +4 "core" %   +\  + "storage"(@. +3 "core" .(  + "storage"(A& +4 "core" &   F\  + "storage"(B& +4 "core" &   `\  +2 "manipulator"&C& +4 "core" &Ӓ!  B :0 +2 "manipulator"&D% +4 "core" %   S  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&E( +166 "core" ( + "manipulator"&F& +5 "core" & *  + "storage"(G& +4 "core" &   +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&H'S +91 "core" ' +2 "storage"(I& +4 "core" & ' ' \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'r +296 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default + "storage"(#QK-0-\ b +3 (L& +2 "core" &   .\  +2 "manipulator"&M& +4 "core" & Y  + .tElbow.seek 2 +2 "manipulator"&N( +3 "core" ( + "manipulator"&O& +4 "core" & 7  + "storage"(P& +4 "core" & ' ' \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&Q'Ͻ +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&R/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& "storage"(T' +8 "core" & -  + "manipulator"&U% +4 "core" %  6 +2 .tForearm.seek :retract + "manipulator"&V' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&W( +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&X& +4 "core" & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z' +92 "core" ' + "manipulator"&[& +5 "core" & e + "manipulator"&\\% +4 "core" % H +2 "processing"%]& +3 "core" &\ +3 "processing"%^& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%_(^ +4 "core" &{\ \ +9 &/t}\ *x +10 &a~\ > +9 &Vv\ P +9 &W\ P +10 &Yz\ P +9 &U~\ P +10 &^X|\ O +9 & Y \ O +9 &Y \ P +10 &Y \ P +9 & eZ"\ P +9 &"'W!\ P +10 &#Y \ O +9 &%X!\ P +9 &'lW\ P +10 &)/W\ P +9 &*Y\ P +10 &,Y\ P +9 &.tW\ P +9 &05Y\ P +12 &1T\ P +7 &3W\ P +9 &5{X\ P +10 &7=X\ P +9 &8Z \ P +10 &:W\ \ P +9 &<Z\ P +10 &>D[\ Q +9 &@Z\ P +9 &AZ\ Q +9 &Ce\ R +10 &EFp\ S +9 &G\ U +10 &H\ V +9 &J\ V +9 &LE \ V +10 &N\ W +9 &O\ W +9 &Q\ W +10 &SI\ W +9 &U\ X +10 &V\ W +9 &X\ X +9 &ZP\ X +10 &\\\ X +9 &]\ = +9 &^4\ S +10 &^\ 0 +2 ( +2 "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&`1 +60 "core" 1 + "manipulator"&a% +4 "core" %   H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b' +96 "core" ' +2 "processing"%c& +4 "core" &^\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&d% +3 "core" % ! [ + +2 "storage"(e% +3 "core" %  e\  +2 "storage"(f. +3 "core" .(  + "storage"(g& +4 "core" &   \  +2 "storage"(h& +2 "manipulator"&i& +7 "core" &   Y\  + & M +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&j( + "storage"(k'r +5 "core" ( + "manipulator"&l& +4 "core" & \ \  +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &m& +7 "core" &  j +2 .tForearm.seek PC + "manipulator"&n' +95 "core" ' +2 .tHand.close + "manipulator"&o/ +57 "core" / +2 .tPC.seek :open + "processing"%p( +93 "core" ' + "storage"(q- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(r'1 +44 "core" ' +309 ( +2 "storage"(s& +4 "core" & ( \  + "manipulator"&t& +4 "core" &  h + "manipulator"&u% +4 "core" %  h  + .tForearm.seek :retract +2 "manipulator"&v' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&w( +240 "core" ( +2 "manipulator"&x& +4 "core" & K , +2 "storage"(y& +3 "core" &   3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&z'S +91 "core" ' + .tHand.open + "manipulator"&{1 +57 "core" 1 +2 "storage"(|- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(}' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(~' +59 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +3 "core" & \ q +2 "manipulator"&& +4 "core" & \ # , + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & / , +2 "storage"(& +4 "core" & \ r +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +9 "core" ' + .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(\ '" +62 "core" ' + "manipulator"& & +5 "core" &  l , + "storage"(& +4 "core" &  & S\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 "manipulator"&% +4 "core" %΢ Z  + "storage"(& +4 "core" &   +\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +32 "core" ' + "manipulator"&& +4 "core" & , +2 "storage"(& +4 "core" &   X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +22 "core" ' +2 "storage"(% +4 "core" % * ) )\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %X \ Zp +2 "manipulator"&% +4 "core" %T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +88 "core" ' +66 ' +2 ."downElevator"SE.stop + "storage"(5 +2 (!& +4 "core" &   "\  +2 "collection"'#& +3 "core" &\\p  @\ U +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % ' ( \  + "storage"(%. +3 "core" .(  + "storage"(&& +4 "core" & + 1 H\  +2 "storage"('& +4 "core" & & 0 $\  + "manipulator"&)& +4 "core" & - , + .tElbow.seek 2 +2 "manipulator"&*( +3 "core" ( + "manipulator"&,& +4 "core" & , +2 "storage"(-& +3 "core" & ' ) =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&/'S +91 "core" ' +2 "storage"(& +5 "core" & ' \  +2 .tSE.reconfigure :pick + "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'r +298 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&3& +3 "core" &  Q , +2 "storage"($& +3 "core" &  & '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&+'Α +20 "core" ' +2 .tElbow.hold + "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 "storage"(6- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"(7'k +28 "core" ' + "manipulator"&(% +4 "core" %Ζ  L + "storage"(.& +4 "core" & ) ) \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 305 counts + "manipulator"&0' +14 "core" ' +2 "manipulator"& & +4 "core" & B , + "storage"(:& +4 "core" & 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&;'S +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(=' +35 "core" ' + "manipulator"&8& +5 "core" & o , + "manipulator"&>% +4 "core" %> 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&?' +88 "core" ' + .tElbow.seek CC +2 "manipulator"&@(ӂ +156 "core" ( + "manipulator"&A& +4 "core" &Ӕ  m 8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &Ӕ  % 8 +2 .tForearm.seek CC + "manipulator"&C'? +92 "core" ' + .tHand.close + "manipulator"&D/ +63 "core" / +2 .tCC.seek :open + "collection"'4( +450 "core" ( +2 "storage"(F& +4 "core" & G 9 T\  +2 "storage"(G& +4 "core" & 7 6 E\  + "manipulator"&I& +4 "core" &Ӕ  6 8 + "manipulator"&1% +4 "core" % ;   [ +2 .tForearm.seek :retract + "manipulator"&<' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&K( +160 "core" ( +2 "manipulator"&L& +4 "core" & 9  + "storage"(M& +4 "core" & d d\  +2 .tElbow.reconfigure :limp + "manipulator"&$ ,(b +3 .tForearm.seek 2 +39 "manipulator"&O'Α +102 "core" ' + .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +53 "core" 1 +2 "manipulator"&S% +4 "core" % Δ D N +2 "storage"(U& +4 "core" & g 5\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 303 counts + "manipulator"&E' +14 "core" ' + "manipulator"&H& +5 "core" & =  + "storage"(J& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'S +17 "core" ' + "storage"(X% +5 "core" % z x\ +2 ."downElevator"SE.seek :down +3 "storage"(Y' +99 (N% +3 "core" %O ? C \ Xj +2 "manipulator"&[% +4 "core" %< N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\\' +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"']& +4 "core" &R\ + "manipulator"&T% +4 "core" %  I  +2 "storage"(V% +4 "core" % Y\  + "storage"( . +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(`( +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +2 "core" & 2 ; /\  +2 "manipulator"&c& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&d( +14 "core" ( + "manipulator"&e& +4 "core" & i  +2 "storage"(f& +4 "core" & \  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&g'7 +91 "core" ' +2 "storage"(i& +4 "core" & W\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'r +307 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" & e d N\  +2 "manipulator"&m& +3 "core" & 8  +2 .tElbow.seek 3 + "manipulator"&Z( +4 "core" ( + "manipulator"&o& +4 "core" & =  + "storage"(q& +4 "core" & | Q\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&W'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"(k' +7 "core" & j  +2 "manipulator"&s% +4 "core" % Ϥ ) + .tForearm.seek :retract +2 "manipulator"&t' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&u(ӂ +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&n& +4 "core" &ӑ"  " ;7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &ӑ"  e ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&y'? +102 "core" ' +2 "manipulator"&j& +4 "core" &ӑ"    ;7 +2 "manipulator"&{% +4 "core" %D   + "collection"'|& +4 "core" &G\ +2 "collection"'& +5 "core" &F\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &P\  +9 &0zH\ *y +10 &d~J\ > +9 &nsW\ N +9 &1WW\ N +10 &YT\ M +9 &TW\ N +9 &xSV\ M +10 &:UE\ M +9 &ZA\ N +9 &WB\ N +10 & U ?\ N +9 &"BXC\ M +10 &$VA\ M +9 &%YF\ M +9 &'T;\ M +10 &)JTA\ M +9 &+ X@\ N +9 &,V@\ N +10 &.W>\ N +9 &0RS;\ M +10 &2Y2\ N +9 &3V6\ N +9 &5W1\ M +10 &7YX 2\ N +9 &9U2\ N +9 &:X 2\ M +10 &<X 3\ N +9 &>aW  3\ N +10 &@$S  3\ M +9 &AU  4\ N +9 &CZ  3\ N +10 &Edh  4\ O +9 &G!t  +\ Q +9 &H \ 0\ T +10 &J  2\ X +9 &LN  /\ Z +10 &N  %\ Z +9 &O  "\ Z +9 &Q   \ [ +10 &SR   \ [\ +9 &U   \ \\ +9 &V  '\ ] +10 &X  !\ ] +9 &ZQ  (\ ^ +10 &[{  (\ > +9 &\\(  $\ )x +9 &\\p  '\ U +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % D B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%v& +4 "core" &\ + "manipulator"& % +4 "core" %   h  +2 "storage"(% +8 "core" %  \  +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (r& +3 "core" & `\  +2 "manipulator"&}& +3 "core" &Ӓ" d ;6 +2 "manipulator"&% +4 "core" %  f  +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +166 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(w& +4 "core" & $  '\  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&z'7 +92 "core" ' +2 "storage"(~& +4 "core" & & ' +\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +298 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & ) ( 3\  +2 "manipulator"&& +3 "core" & (  +2 .tElbow.seek 3 + "manipulator"&\ ( +4 "core" ( + "manipulator"&& +3 "core" & %  +2 "storage"(& +4 "core" &  \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&!'ϡ +16 "core" ' +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +8 "core" &  + "manipulator"&%% +4 "core" % ϡ H +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&&( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&'& +4 "core" &  2 % + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &  A % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&,' +92 "core" ' +2 "manipulator"&-& +4 "core" &   % +2 "manipulator"&% +4 "core" % ] A +2 "processing"%& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(^ +4 "core" &\  +10 &-v\ +{ +9 &b \ ? +9 &bu \ P +10 &$W!\ O +9 &V\ O +10 &U\ O +9 &iZ\ P +9 &+Y!\ P +10 &W!\ P +9 &\\!\ P +9 & rZ \ O +10 &"4U \ O +9 &#V!\ P +10 &%W\ P +9 &'yY\ P +9 &)<U \ O +10 &*Y \ P +9 &,\\ \ P +9 &.Y\ P +10 &0C[ \ P +9 &2T \ P +9 &3T\ O +10 &5W \ O +9 &7LW\ O +10 &9 Z\ P +9 &:Y \ P +9 &<W \ P +10 &>SY\ P +9 &@Y\ P +10 &Aa \ Q +9 &Cs\ S +9 &EK\ U +10 &G \ V +9 &H\ V +9 &J\ V +10 &LO\ V +9 &N\ W +9 &O\ W +10 &Q\ X +9 &ST\ X +10 &U\ X +9 &V\ X +9 &X\ X +10 &Z\\\ X +9 &\\\ X +9 &]\ 8 +10 &^+p\ \\ +9 &^1\ 9 +2 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.62 + .Hand.open "manipulator"& 1 +57 "core" 1 +2 "manipulator"&2% +4 "core" %   A + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3' +92 "core" ' + "processing"%$& +5 "core" &^-\ 9 + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&6% +4 "core" %   Y  + "storage"((% +4 "core" %  @\  + "storage"(.. +3 "core" .( +2 "storage"( & +4 "core" &  0\  + "storage"(:& +4 "manipulator"&8& +5 "core" &  '\  + &  R % +3 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&>( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(/'r +2 "core" ( + "manipulator"&*& +4 "core" &  ^ % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &  % +2 .tForearm.seek PC + "manipulator"&+' +93 "core" ' + .tHand.close + "manipulator"&0/ +60 "core" / +2 .tPC.seek :open + "processing"%7( +98 "core" ' + "storage"(A- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(B'1 +49 "core" ' +301 ( + "storage"(;& +5 "core" & 4 , \  + "manipulator"&5& +4 "core" & % + "manipulator"&D% +4 "core" %  & ) + .tForearm.seek :retract +2 "manipulator"&?' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&9( +246 "core" ( + "manipulator"&F& +4 "core" &  @ & +2 "storage"(G& +4 "core" &  s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&I'7 +96 "core" ' + .tHand.open + "manipulator"&11 +56 "core" 1 +2 "storage"(L- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(M' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(C' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' + "storage"(R& +4 "core" & C\ K +2 "manipulator"&S& +3 "core" & \  % +2 .tElbow.seek 3 + "manipulator"&U( +3 "core" ( +2 "manipulator"&H& +3 "core" &  / % +2 "storage"(J& +43 "core" & J\ L +12 .tForearm.seek 3 + 450 counts + "manipulator"&X'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(<'" +60 "core" ' + "manipulator"&N& +4 "core" & A % +2 "storage"([& +4 "core" & ' ' \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&K'u +24 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(]' +27 "core" ' +2 "manipulator"&T% +4 "core" %} \  J +2 "storage"(E& +4 "core" &   D\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&V'ϩ +13 "core" ' + "manipulator"& & +5 "core" & ' % + "storage"(=& +4 "core" &  / 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q'7 +15 "core" ' +2 "storage"(Y% +4 "core" % \ ' \ +2 ."downElevator"SE.seek :down +4 "storage"(' +100 (a% +2 "core" %%N  _\ Xi +2 "manipulator"&c% +4 "core" %) D +7 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&e' +90 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (f& +4 "core" &  V\  +2 "collection"'i& +4 "core" &\\n  4\ U +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&P% +4 "core" %   + "storage"(\\% +4 "core" % 4 \  + "storage"(^. +3 "core" .( +2 "storage"(l& +4 "core" & 0 =\  + "storage"(m& +4 "core" & 4 4\  + "manipulator"&o& +4 "core" & u % +2 .tElbow.seek 3 + "manipulator"&q( +3 "core" ( +2 "manipulator"&b& +3 "core" & 9 % +2 "storage"(_& +4 "core" &  # \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&s'7 +93 "core" ' +2 "storage"(d& +4 "core" &  =\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'r +296 "core" ' + "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&x& +3 "core" & * % +2 "storage"(h& +3 "core" &  # D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&W'u +14 "core" ' + .tElbow.hold + "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"({- +3 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate + "storage"(|'| +29 "core" ' + "manipulator"&Z% +4 "core" %Ή $ F +2 "storage"(k& +3 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&t'ϵ +13 "core" ' +2 "manipulator"&4& +4 "core" &  % +2 "storage"(& +4 "core" & ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +16 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(v' +38 "core" ' +2 "manipulator"& & +4 "core" & I % +2 "manipulator"&% +4 "core" %3 * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( + "manipulator"&r& +4 "core" &Ӎ$  =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &Ӎ#  P =G +2 .tForearm.seek CC + "manipulator"&'? +96 "core" ' + .tHand.close + "manipulator"&y/ +62 "core" / + .tCC.seek :open +2 "collection"'( +450 "core" ( + "storage"(w& +4 "core" & 7 @ \  + "storage"(`& +4 "core" & 4 * R\  + "manipulator"&~& +4 "core" &Ӎ$ \ S =G + "manipulator"&u% +4 "core" % G \ 5  +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +163 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" & Y b\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'u +99 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator" +55 "core" 1 + "manipulator"&% +5 "core" % ΄ [ + "storage"(%& +4 "core" & P 7 \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts + "manipulator"&'ϰ +13 "core" ' +2 "manipulator"&z& +5 "core" & q  + "storage"(& +4 "core" & v j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&!'7 +17 "core" ' +2 "storage"('% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"()' +99 (\ % +3 "core" %F 4 @ (\ Wd + "manipulator"&-% +4 "core" %+ _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &?\ +2 "manipulator"&% +3 "core" %  I  +2 "storage"(% +4 "core" % \  + "storage"(p. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"( (,y +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +2 "core" &,v C E y\  +2 "manipulator"&$& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&6( +23 "core" ( + "manipulator"&(& +4 "core" & -  +2 "storage"(.& +3 "core" &,v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +91 "core" ' +2 "storage"(8& +4 "core" &,v \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'r +299 "core" ' +2 "storage"(- +3 "core" -'' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &,l : F d\  + "manipulator"&"& +4 "core" & >  +2 .tElbow.seek 4 + "manipulator"&,( +17 "core" ( +2 "manipulator"&0& +4 "core" &   + "storage"(A& +4 "core" &,l d e\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&&'c +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&3/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(/' +7 "core" & V  +2 "manipulator"&;% +4 "core" % W  + .tForearm.seek :retract +2 "manipulator"&5' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&D(ӂ +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&+& +4 "core" &Ӛ  f :+ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &Ӛ! :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&G'? +94 "core" ' + "manipulator"&>& +5 "core" &Ӛ!   :+ + "manipulator"&1% +4 "core" %?  +2 "collection"'L& +3 "core" &U\ +3 "collection"'@& +5 "core" &d\ +2 .tCC.seek :closed + "collection"'R(\\ +5 "core" &M\ \ +9 &.vU\ +z +9 &cP\ > +10 &prN\ N +9 &3YA\ M +10 &WA\ M +9 &XA\ M +9 &xT@\ N +10 &;U?\ M +9 &U;\ N +9 &V8\ M +10 & T8\ M +9 &"CX=\ M +10 &$V8\ N +9 &%W3\ M +9 &'U1\ N +10 &)KU9\ M +9 &+ R2\ M +9 &,U1\ N +10 &.U 4\ M +9 &0SU6\ M +10 &2X5\ M +9 &3U4\ M +9 &5V4\ M +10 &7[U2\ M +9 &9S1\ M +9 &:U6\ M +15 &<S 8\ M +4 &>cV $\ M +10 &@&S )\ M +9 &A\\  "\ N +9 &Ca  \ O +10 &Eau   \ Q +9 &G  !\ T +9 &H  \ Y +10 &J $\ Z +9 &LK (\ [\ +10 &N (\ [ +9 &O "\ ] +9 &Q  (\ [\ +10 &SP  "\ \\ +9 &U   \ ] +9 &V \ _ +10 &X   \ _ +9 &ZQ  \ ^ +10 &[z !\ B +9 &\\(  \ - +9 &\\  \ X +3 ( + "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.35 + .Hand.open + "manipulator"&S1 +53 "core" 1 +2 "manipulator"&H% +4 "core" % ?  \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&J' +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%?& +4 "core" &\ + "manipulator"&N% +4 "core" %   \   +2 "storage"([% +3 "core" %  G\  +2 "storage"(B. +3 "core" .(,v + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(M(,y +25 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (T& +3 "core" &,{ G\ + "manipulator"&E& +4 "core" &Ӛ   % :+ + "manipulator"& % +4 "core" %   \ &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&=( +168 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(9& +4 "core" &,{  A\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&I' +94 "core" ' +2 "storage"(C& +4 "core" &,{  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'r +295 "core" ' + "storage"(c- +8 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (X& +3 "core" &,m  \  +2 "manipulator"&U& +4 "core" & 5  + .tElbow.seek 4 +2 "manipulator"&<( +44 "core" ( +11 "manipulator"&K& +4 "core" & 0  + "storage"(f& +4 "core" &,m & '\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&V'c +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&i/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(\\' +7 "core" & .  +2 "manipulator"&^% +4 "core" % ^ . + .tForearm.seek :retract +2 "manipulator"&]' +92 "core" ' + .tElbow.seek PC +2 "manipulator"&l( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&m& +5 "core" &  - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +7 &o& +3 "core" & - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&b' +98 "core" ' +2 "manipulator"&_& +4 "core" & L - +2 "manipulator"&Q% +4 "core" % < + "processing"%d& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%O(^ +4 "core" & \ \ +9 &/v\ *x +9 &a} \ > +10 &cv \ O +9 &$U\ O +9 &U \ P +10 &R \ O +9 &jU\ O +9 &,V\ O +10 &X!\ O +9 &T\ P +9 & rT!\ O +10 &"4U\ O +9 &#Z\ P +10 &%S \ O +9 &'zU\ O +9 &);W\ P +10 &*W \ P +9 &,U \ O +9 &.T\ O +10 &0DX\ O +9 &2Y\ P +10 &3V \ O +9 &5T\ O +9 &7LV\ O +10 &9X \ O +9 &:W\ \ P +9 &<Y\ P +10 &>SW \ P +9 &@W\ P +10 &A^\ P +9 &Cd\ Q +9 &ERs\ S +10 &G\ T +9 &H\ V +9 &J\ W +10 &LQ\ V +9 &N\ W +10 &O\ W +9 &Q\ X +9 &ST\ X +10 &U\ W +9 &V\ X +9 &X\ X +10 &Z]\ W +9 &\\\ X +10 &]\ 7 +9 &^5r\ B +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&e1 +3 "core" &^#\ 1 +49 1 + "manipulator"&n% +4 "core" %   R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x' +89 "core" ' + "processing"%h& +4 "core" &^$\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&{% +4 "core" %   X  + "storage"(Z% +4 "core" % h\  + "storage"(k. +3 "core" .(,y +2 "storage"(4& +4 "core" &,m w\  +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +2 "manipulator"&& +6 "core" & \ B - + &,| +\ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&s( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(q'r +3 "core" ( + "manipulator"&g& +4 "core" &  ' - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" & h - +2 .tForearm.seek PC +2 "manipulator"&t' +93 "core" ' +2 .tHand.close + "manipulator"&|/ +52 "core" / +2 .tPC.seek :open + "processing"%r( +104 "core" ' + "storage"(}- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +46 "core" ' +293 ( +2 "storage"(j& +4 "core" &,j   >\ + "manipulator"&y& +4 "core" &  - + "manipulator"&% +4 "core" %   # +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&w( +243 "core" ( + "manipulator"&`& +4 "core" &  z 9 +2 "storage"(~& +3 "core" &,j  h\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&u' +94 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal + "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(' +54 "core" ' + #tLights, camera, ACTION! + "storage"(#- +4 "core" -' + "storage"(& +4 "core" &,j J E \ g +2 "manipulator"&%& +4 "core" &  9 + .tElbow.seek 4 +2 "manipulator"&z( +3 "core" ( +2 "manipulator"&& +4 "core" &   9 + "storage"('& +4 "core" &,j W Z >\ g +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(\ '" +52 "core" ' + "manipulator"&-& +5 "core" & 3 9 + "storage"(& +4 "core" &,j   H\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(' +20 "core" ' + "manipulator"&% +5 "core" %7  + "storage"(& +4 "core" &,j  :\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 300 counts + "manipulator"&p'c +14 "core" ' + "manipulator"&v& +5 "core" &  9 + "storage"(!& +4 "core" &,j   O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&)' +15 "core" ' +2 "storage"(% +4 "core" % ( .\ +2 ."downElevator"SE.seek :down +4 "storage"(2' +99 ($% +2 "core" %6H F\ Yj +2 "manipulator"&(% +4 "core" % 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.' +90 "core" ' +64 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (8& +3 "core" &,j _\ +2 "collection"'& +4 "core" &\\  %\ X +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %   + "storage"(% +4 "core" %   1\  + "storage"(*. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"("(,y +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +2 "core" &,{  \ +2 "manipulator"&A& +4 "core" &   9 +2 .tElbow.seek 4 + "manipulator"&3( +3 "core" ( +2 "manipulator"&& +3 "core" &  9 +2 "storage"(;& +3 "core" &,{  [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&6' +88 "core" ' +2 "storage"( & +4 "core" &,{ 3 + Z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'r +298 "core" ' + "storage"(F- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&:& +3 "core" & ( 9 + "storage"(&& +4 "core" &,m \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&>'7 +22 "core" ' +2 .tElbow.hold + "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(L- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(,'p +31 "core" ' +2 "manipulator"&/% +4 "core" %7  ] + "storage"(5& +4 "core" &,m   h\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 300 counts + "manipulator"&'c +16 "core" ' + "manipulator"&S& +4 "core" & . 9 +2 "storage"(H& +3 "core" &,m  \ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&?' +14 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(N' +34 "core" ' +2 "manipulator"&[& +4 "core" & O 9 +2 "manipulator"&B% +4 "core" % +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&T(ӂ +165 "core" ( +2 "manipulator"&E& +4 "core" &ӈ  4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &ӈ D 4 +2 .tForearm.seek CC +2 "manipulator"&G'? +90 "core" ' +2 .tHand.close + "manipulator"&Y/ +52 "core" / +2 .tCC.seek :open + "collection"'9( +450 "core" ( +2 "storage"( & +4 "core" &,m G U 8\  +2 "storage"(C& +4 "core" &,m ; 5 \  + "manipulator"&D& +4 "core" &ӈ  d 4 + "manipulator"&J% +4 "core" % G \  8 @ + .tForearm.seek :retract +2 "manipulator"&c' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&X( +162 "core" ( + "manipulator"&U& +5 "core" &  + "storage"(K& +4 "core" &,m c c \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&f'7 +94 "core" ' +2 .tElbow.hold + "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&P1 +56 "core" 1 +2 "manipulator"&^% +4 "core" % " G ) + "storage"(=& +4 "core" &,m d c \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 279 counts + "manipulator"&I'N +14 "core" ' +3 "manipulator"&a& +4 "core" &  + "storage"(V& +4 "core" &,m | %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +15 "core" ' + "storage"(o% +4 "core" % \ +3 ."downElevator"SE.seek :down +54 "storage"(<' +100 (_% +2 "core" %G ; < c\ Xf +2 "manipulator"&Q% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&d' +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'\\& +5 "core" &M\ + "manipulator"&]% +4 "core" %  2  + "storage"(7% +4 "core" % x \  +2 "storage"(e. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(n(  +673 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (h& +3 "core" &  c d W\ + "manipulator"&{& +4 "core" &  +2 .tElbow.seek 2 + "manipulator"&Z( +13 "core" ( + "manipulator"&k& +4 "core" & a +2 "storage"(4& +4 "core" &  w j =\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +110 "core" ' + "storage"(& +5 "core" &  }\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'r +296 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" & H = \ +2 "manipulator"&b& +3 "core" & 8 a +2 .tElbow.seek 2 + "manipulator"&|( +4 "core" ( + "manipulator"&M& +4 "core" & a + "storage"(}& +4 "core" & ` W\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&l'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(q' +8 "core" & R a +2 "manipulator"&j% +4 "core" %  R ; +2 .tForearm.seek :retract + "manipulator"&y' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +154 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&t& + "storage"(5 +7 "core" &y,  & Cs + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &y+ \   Cs +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'? +92 "core" ' +2 "manipulator"&s& +5 "core" &{+   / Cq + "manipulator"&% +4 "core" %> q I +2 "collection"'& +4 "core" &S\ +2 "collection"'#& +6 "core" &d\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &I\  +9 &1yI\ *y +9 &d|M\ > +9 &rqK\ N +10 &6R=\ M +9 &T>\ M +9 &U@\ M +10 &}T?\ M +9 &?U=\ M +10 &V>\ M +9 &U:\ M +9 & U<\ M +10 &"GT9\ M +9 &$ T>\ M +9 &%U :\ M +10 &'U8\ M +9 &)OU7\ M +10 &+U5\ M +9 &,W$\ M +9 &.U,\ M +10 &0VT%\ M +9 &2T0\ M +9 &3T2\ M +10 &5T2\ M +9 &7^T;\ M +10 &9U5\ M +9 &:U :\ M +9 &<U >\ M +10 &>fU9\ M +9 &@(U=\ M +9 &AW 8\ M +10 &C\\  =\ N +9 &Egj  1\ O +10 &G"{  7\ R +9 &H 9\ U +9 &J 5\ Y +10 &LQ  3\ Z +9 &N 2\ Z +9 &O 9\ Z +10 &Q \ 4\ Z +9 &SS \ 3\ \\ +10 &U +\ \\ +9 &V /\ ] +9 &X  (\ ^ +14 &ZS %\ ^ +5 &[z  /\ @ +9 &\\% -\ . +10 &\\ %\ X +2 ( +2 "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.23 + .Hand.open + "manipulator"&%1 +62 "core" 1 + "manipulator"&% +4 "core" % >  ) I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&-% +4 "core" %   "  + "storage"(% +4 "core" %  H\  + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +19 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (v& +3 "core" &  2\  + "manipulator"&& +4 "core" &ӥ#  X =G + "manipulator"&!% +4 "core" %   '  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +163 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(w& +4 "core" &  ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&u'S +92 "core" ' + "storage"(& +4 "core" &    \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'r +295 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  \  +2 "manipulator"&z& +3 "core" & L  +2 .tElbow.seek 2 + "manipulator"&\ ( +4 "core" ( + "manipulator"&& +3 "core" &  +2 "storage"(8& +4 "core" &  ?\  + .tForearm.seek 2 + 300 counts +2 "manipulator"&p'Ͻ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(' +7 "core" & <  +2 "manipulator"&*% +4 "core" % Ͽ  + .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&0( +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&A& +4 "core" & t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & E  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&;' +97 "core" ' +2 "manipulator"&)& +4 "core" &  +2 "manipulator"& % +4 "core" %  +2 "processing"%2& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\ \ +9 &.u\ *y +10 &b!\ ? +9 &hu"\ P +9 &)V\ P +10 &V\ P +9 &R\ O +10 &pR\ O +9 &2U\ O +14 &X\ P +5 &W\ P +9 & vU \ P +9 &"9R \ P +10 &#T\ P +9 &%R\ O +10 &'T\ O +9 &)BT \ O +9 &+T\ O +10 &,Y\ P +9 &.U\ O +9 &0JT \ O +10 &2 W\ P +9 &3U\ P +10 &5R \ O +9 &7QT\ P +9 &9Z \ P +10 &:U \ P +9 &<U\ O +9 &>YX\ P +10 &@Y \ P +9 &AY\ \ P +10 &Cf \ Q +9 &EZm\ R +9 &G \ T +10 &H\ U +9 &J\ V +9 &LV\ V +10 &N\ W +9 &O\ W +10 &Q\ X +9 &SZ\ X +9 &U\ W +10 &V\ W +9 &X\ W +9 &Zb\ X +10 &\\$\ X +9 &]{\ 9 +10 &^.|\ U +9 &^,\ 6 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&.1 +57 "core" 1 + "manipulator"&F% +5 "core" %   + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:' +93 "core" ' +2 "processing"%&& +4 "core" &^*\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&L% +3 "core" %  g  +2 "storage"(/% +4 "core" % n\  + "storage"(5. +3 "core" .(  +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(S(  +25 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +4 "core" &  Y\ + "manipulator"&[& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" & \  g  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(B'r +3 "manipulator"&6( +4 "core" ( + "manipulator"&3& +4 "core" &  \ "  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &    +2 .tForearm.seek PC + "manipulator"&>' +99 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / +2 .tPC.seek :open + "processing"%,( +88 "core" ' + "storage"(E- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( '1 +40 "core" ' +317 ( +2 "storage"(?& +4 "core" &   C\  + "manipulator"&1& +4 "core" & <  + "manipulator"&Y% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&@' +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&R( +244 "core" ( + "manipulator"& & +4 "core" &  W + +2 "storage"(C& +4 "core" &   \  +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&D'S +93 "core" ' + .tHand.open + "manipulator"&J1 +62 "core" 1 +2 "storage"(U- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(K' +37 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(G' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(T- +3 "core" -' +2 "storage"(P& +4 "core" & 1\ r + "manipulator"&^& +4 "core" &  * + .tElbow.seek 2 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&a& +4 "core" &  | * + "storage"(V& +4 "core" & 2\ s +45 .tForearm.seek 2 + 450 counts +11 "manipulator"&o'S +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(c'" +51 "core" ' + "manipulator"&_& +9 "core" & # * +2 "storage"(Q& +4 "core" &   =\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&X'Α +15 "core" ' + .tElbow.hold + "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default + "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(I' +27 "core" ' +2 "manipulator"&\\% +4 "core" %Υ  M +2 "storage"(]& +4 "core" &  0\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&7' +13 "core" ' +2 "manipulator"&e& +4 "core" & * +2 "storage"(N& +4 "core" &  R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'S +16 "core" ' +2 "storage"(<% +4 "core" % '  (\ +2 ."downElevator"SE.seek :down +3 "storage"("' +99 (h% +3 "core" %7` Z\ [s +2 "manipulator"&{% +4 "core" %N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k' +90 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (4& +4 "core" &  ^\  + "collection"'& +4 "core" &\\ 0\ X +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&i% +4 "core" %  P  + "storage"(d% +4 "core" %   G\  + "storage"(g. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(W(  +37 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (b& +3 "core" &    0\ + "manipulator"&M& +4 "core" & \  P * +2 .tElbow.seek 2 + "manipulator"&}( +3 "core" ( +2 "manipulator"&x& +4 "core" &  { * + "storage"(O& +4 "core" &    G\ +7 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&j'S +94 "core" ' + "storage"(Z& +4 "core" &  ) ' \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" & * + "storage"( & +4 "core" &   \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&l'Α +13 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"('j +25 "core" ' + "manipulator"&|% +5 "core" %Ν L F + "storage"(q& +9 "core" &   [\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&y' +13 "core" ' +2 "manipulator"&9& +4 "core" & P * +2 "storage"(%& +4 "core" & ' ( \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +16 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(' +35 "core" ' + "manipulator"&-& +5 "core" & < * + "manipulator"&% +4 "core" %< " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tElbow.seek CC +2 "manipulator"&#(ӂ +157 "core" ( +2 "manipulator"&v& +4 "core" &Ә   8 9& + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Ә  ? 9& +2 .tForearm.seek CC + "manipulator"&!'? +93 "core" ' +2 .tHand.close + "manipulator"&~/ +63 "core" / +2 .tCC.seek :open + "collection"'( +451 "core" ( +2 "storage"(w& +4 "core" & E 6 \  + "storage"(n& +4 "core" & J J 9\  + "manipulator"&& +4 "core" &Ә  t 9& + "manipulator"&% +4 "core" % / & . +2 .tForearm.seek :retract + "manipulator"&'' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(( +161 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(z& +3 "core" & b d \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&'Α +92 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % Γ  J + "storage"(*& +4 "core" & Y c \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 302 counts + "manipulator"&'Ͽ +14 "core" ' +2 "manipulator"&u& +5 "core" & _  + "storage"($& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&p'S +15 "core" ' +2 "storage"(A% +4 "core" % } %\ +2 ."downElevator"SE.seek :down +3 "storage"(' +100 (\ % +2 "core" %Q C > \ Zn +2 "manipulator"&)% +4 "core" %> 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& ' +86 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'2& +4 "core" &>\ + "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % d i N\  + "storage"(r. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(.( +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (F& +3 "core" & 7 5 ,\ +2 "manipulator"&&& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&L( +13 "core" ( +2 "manipulator"&/& +4 "core" &   + "storage"(5& +4 "core" & m p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'7 +91 "core" ' + "storage"(H& +4 "core" & Z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['r +300 "core" ' + "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (+& +3 "core" & S F 6\ + "manipulator"&;& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +3 "core" &  +2 "storage"(E& +4 "core" & a b\ + .tForearm.seek 3 + 300 counts +2 "manipulator"&0'ϡ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&:/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(B' +7 "core" &   +2 "manipulator"&?% +3 "core" % Ϧ I +2 .tForearm.seek :retract + "manipulator"&1' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&Y(ӂ +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&>& +4 "core" &Ӓ$ =C +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 & & +2 "core" &Ӓ$ \  M =C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&C'? +93 "core" ' +2 "manipulator"&6& +4 "core" &Ӓ$   =C +2 "manipulator"&J% +4 "core" %> v +2 "collection"'U& +3 "core" &P\ +2 "collection"'T& +47 "core" &[\ +16 .tCC.seek :closed + "collection"'P(\\ +3 "core" &H\ +2 &I\ +2 &I\ + &@\ + &8\ &;\ + &7\  +5 &0y>\ *y +9 &d{@\ > +9 &xp9\ N +10 &<T=\ M +9 &U>\ L +9 &T?\ L +10 &T6\ M +9 &ER7\ M +10 &U>\ L +9 &U6\ M +9 & R6\ M +10 &"NT9\ L +9 &$T'\ M +9 &%X)\ M +10 &'R+\ M +9 &)VT(\ L +10 &+T0\ M +9 &,W/\ M +9 &.W1\ M +10 &0]R8\ M +9 &2R9\ M +9 &3T1\ L +10 &5T4\ L +9 &7eU5\ M +10 &9'R0\ M +9 &:T 4\ L +9 &<U 8\ L +10 &>nU8\ L +9 &@0U 6\ L +9 &AV 3\ M +10 &CZ  1\ M +9 &Enf  2\ O +10 &G+y  T\ Q +9 &H \ C\ S +9 &J  3\ X +10 &LY  1\ Y +9 &N  1\ Z +11 &O  0\ Z +8 &Q  0\ Z +9 &SZ  -\ [ +9 &U  !\ \\ +10 &V  '\ \\ +9 &X  )\ ] +10 &Z[  !\ ^ +9 &\\{  \ : +9 &\\%  $\ *{ +10 &\\  \ Z +2 ( +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.19 + .Hand.open + "manipulator"&^1 +59 "core" 1 + "manipulator"&a% +4 "core" % >  @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V' +95 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp + "processing"%@& +5 "core" &\ + "manipulator"&_% +4 "core" %  F  + "storage"(Q% +4 "core" %\  + "storage"( . +3 "core" .( +2 "storage"(\\& +4 "core" &\ + "storage"(K& +4 "core" & \ + "manipulator"&]& +4 "core" &ӓ$ \  | =B +2 "manipulator"&e% +3 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&N( +165 "core" ( + "manipulator"&<& +4 "core" &   +2 "storage"(R& +4 "core" &  `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&D'7 +94 "core" ' +2 "storage"(G& +4 "core" & ) ) A\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'r +305 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" &  j\ +2 "manipulator"&=& +4 "core" &  !  + .tElbow.seek 3 +2 "manipulator"&c( +3 "core" ( +2 "manipulator"&X& +3 "core" & @  +2 "storage"(4& +3 "core" &   r\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&7'ϡ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +7 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(d' +7 "core" & *  + "manipulator"&g% +4 "core" % ϖ  +2 .tForearm.seek :retract + "manipulator"&I' +87 "core" ' +2 .tElbow.seek PC + "manipulator"&b( +171 "core" ' + ."downElevator"SE.stop + "storage"(5 +66 "core" ( + "manipulator"&M& +5 "core" &  r 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" & . 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&O' +92 "core" ' + "manipulator"&m& +4 "core" & 1 +2 "manipulator"&Z% +4 "core" % # D + "processing"%"& +4 "core" &\ +2 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed + "processing"%f(^ +4 "core" &\ \ +10 &.u\ *y +9 &b~ \ > +10 &\\v\ O +9 &U\ O +13 &V\ P +6 &T"\ O +9 &bT%\ P +9 &$V\ P +10 &V\ P +9 &U!\ P +10 & jW$\ P +9 &"-S!\ O +9 &#T \ P +10 &%V!\ P +9 &'sW!\ O +9 &)5W\ O +10 &*W\ O +9 &,X\ O +9 &.{V\ O +10 &0<W\ P +9 &1U\ O +10 &3V\ O +9 &5U\ P +9 &7EW\ O +10 &9U\ P +9 &:T\ O +9 &<U\ O +10 &>MY\ O +9 &@V\ P +10 &A`\ Q +9 &Cr \ R +9 &EE \ U +10 &G\ U +9 &H\ U +10 &J\ \ V +9 &LI\ V +9 &N  \ W +10 &O\ V +9 &Q \ W +9 &SO \ W +10 &U\ W +9 &V\ X +9 &X\ W +10 &ZU\ X +9 &\\\ X +10 &]\ 6 +9 &^9v\ 9 +9 ( +3 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&k1 +3 "core" &^\ + +52 1 +2 "manipulator"&t% +4 "core" %  \ D + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`' +92 "core" ' +2 "processing"% & +4 "core" &^\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %    + "storage"(|% +4 "core" % j\  + "storage"(q. +3 "core" .( +2 "storage"(9& +4 "core" &\ +2 "storage"(%& +3 "manipulator"&-& +4 "core" & 4\ +2 &  1 + .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(j'r +2 "core" ( +2 "manipulator"&}& +4 "core" &  l 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  P 1 +2 .tForearm.seek PC + "manipulator"&l' +91 "core" ' +2 .tHand.close + "manipulator"&y/ +57 "core" / + .tPC.seek :open +2 "processing"%( +102 "core" ' + "storage"(v- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('1 +43 "core" ' +303 ( + "storage"(& +5 "core" &   \ + "manipulator"&s& +4 "core" & ( 1 + "manipulator"&~% +4 "core" %  v 6 +2 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +256 "core" ( +2 "manipulator"&w& +4 "core" &  H  + "storage"(n& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +95 "core" ' + .tHand.open + "manipulator"&1 +60 "core" 1 +3 "storage"(- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(z' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(!' +54 "core" ' + #tLights, camera, ACTION! + "storage"(#- +4 "core" -' + "storage"(& +4 "core" & \ R + "manipulator"&& +4 "core" & \   +2 .tElbow.seek 3 + "manipulator"&*( +3 "core" ( +2 "manipulator"&u& +4 "core" &  y  + "storage"($& +4 "core" &\ \  G\ U +2 .tForearm.seek 3 + 450 counts + "manipulator"&A'7 +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(''" +57 "core" ' +2 "manipulator"&\ & +4 "core" & Y  + "storage"()& +4 "core" &   O\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&('u +13 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(2' +28 "core" ' + "manipulator"&% +4 "core" %΃ 2 : +2 "storage"(& +4 "core" &  N\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&'ϯ +13 "core" ' +2 "manipulator"&r& +4 "core" & /  +2 "storage"(& +4 "core" &  "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&p'7 +15 "core" ' + "storage"(% +5 "core" % $  T\ +2 ."downElevator"SE.seek :down +3 "storage"(W' +100 (F% +2 "core" %9L #\ Xi +2 "manipulator"&&% +4 "core" %. ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/' +89 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +2 (5& +4 "core" & B\ +2 "collection"'H& +4 "core" &\\  0\ Z +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&8% +3 "core" %  ?  +52 "storage"( % +6 "core" %  O\  + "storage"(3. +3 "core" .( +2 "storage"(+& +3 "core" &  Y\ +2 "storage"(;& +3 "core" &  H\ +2 "manipulator"&& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&:& +4 "core" & .  + "storage"(& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&?'7 +92 "core" ' + "storage"(L& +5 "core" & ' (\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"('r +307 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & T  +2 "storage"([& +3 "core" &  |\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&0'u +22 "core" ' +2 .tElbow.hold + "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(J- +2 "core" -' +3 .tSE.seek 0.18 Pucks below Top Plate + "storage"(U'} +30 "core" ' + "manipulator"&% +4 "core" %΄ u +2 "storage"(B& +4 "core" &   R\ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts + "manipulator"&1'ϰ +14 "core" ' +2 "manipulator"&& +4 "core" & B  +2 "storage"(^& +4 "core" & ( '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a'7 +18 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(@' +35 "core" ' + "manipulator"&_& +5 "core" & &  + "manipulator"&Q% +4 "core" %3 ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\(ӂ +159 "core" ( + "manipulator"&K& +4 "core" &Ӕ"  _ ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &Ӕ" ;7 +2 .tForearm.seek CC + "manipulator"&]'? +95 "core" ' +2 .tHand.close + "manipulator"&e/ +60 "core" / +2 .tCC.seek :open + "collection"'C( +446 "core" ( +2 "storage"(<& +4 "core" & A @ d\ +2 "storage"(R& +4 "core" & C @ \ + "manipulator"&G& +4 "core" &ӕ"  ] ;6 + "manipulator"&Y% +4 "core" % < \  / +2 .tForearm.seek :retract + "manipulator"&V' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&{( +164 "core" ( + "manipulator"&o& +4 "core" &  +2 "storage"(=& +4 "core" & U T \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&X'u +93 "core" ' + .tElbow.hold + "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&i% +3 "core" % ΀ 1 7 +2 "storage"(g& +4 "core" & _ V\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&N'Ϭ +16 "core" ' +2 "manipulator"&D& +4 "core" &  + "storage"(h& +4 "core" & Y r O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&7'7 +16 "core" ' +2 "storage"(M% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(x' +100 (c% +2 "core" %k? G = \ Wd +2 "manipulator"&m% +4 "core" %0 T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'"& +4 "core" &5\ +2 "manipulator"&d% +4 "core" %  B  + "storage"(I% +4 "core" % Z X\  + "storage"(,. +4 "core" .( + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(k(,y +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (t& +3 "core" &,y ' ( <\  +2 "manipulator"& & +3 "core" & Y  +2 .tElbow.seek 4 + "manipulator"&( +27 "core" ( + "manipulator"&|& +5 "core" & .  + "storage"(q& +4 "core" &,y ] a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&9' +96 "core" ' + "storage"(-& +5 "core" &,y \  + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'r +298 "core" ' + "storage"(S- +3 "core" -'% +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (}& +3 "core" &,l O E Y\  + "manipulator"&& +4 "core" & F  +2 .tElbow.seek 4 + "manipulator"&O( +22 "core" ( + "manipulator"&y& +5 "core" & >  + "storage"(v& +4 "core" &,l e e \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&b'c +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&`/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&f& +5 "storage"(j' +3 "core" & &  +2 "manipulator"&% +4 "core" % ϐ G + .tForearm.seek :retract +2 "manipulator"&s' +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~(ӂ +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&l& +4 "core" &~(  < Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &~(  Ad +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&n'? +99 "core" ' +2 "manipulator"&& +5 "core" &ӓ%   >O +6 "manipulator"&% +4 "core" %F  1 +2 "collection"'& +3 "core" &V\ +3 "collection"'#& +5 "core" &V\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &N\  +8 &4}K\ *z +9 &\ f~G\ ? +10 &oF\ N +9 &TT8\ M +10 &Q6\ L +9 &T7\ M +9 &V:\ M +10 &]V?\ M +9 &Y@\ M +9 &W6\ M +10 & U:\ L +9 &"eQ=\ M +10 &$'Q9\ M +9 &%W?\ M +10 &'T9\ M +9 &)nR4\ L +9 &+/W8\ M +9 &,V=\ M +10 &.U '\ M +9 &0uQ%\ M +10 &27Q3\ M +9 &3R'\ L +9 &5S1\ M +10 &7|T7\ M +9 &9@T;\ L +9 &;T4\ L +10 &<W6\ M +9 &>S/\ M +10 &@HR 6\ L +9 &BY  :\ N +9 &C`  :\ N +10 &Er  :\ P +9 &G:  7\ T +10 &H 9\ X +9 &J 8\ Z +9 &Lo 7\ Z +10 &N0 \ 1\ Z +9 &O 3\ [ +9 &Q  2\ [\ +10 &Sp 2\ \\ +9 &U0  4\ ] +9 &V  5\ ^ +10 &X 2\ _ +9 &Zq  0\ ^ +10 &\\{  3\ 5 +9 &\\)  .\ #j +9 ( +3 "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.34 + .Hand.open + "manipulator"&1 +3 "core" &\\  -\ _ +51 1 +6 "manipulator"&u% +4 "core" % F   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"&\ % +4 "core" %  \  0  +2 "storage"()% +3 "core" %  \  +2 "storage"(. +3 "core" .(,v + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((,y +25 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,|\ +2 "manipulator"&r& +4 "core" &ӕ% + >M + "manipulator"&% +4 "core" %   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&z( +165 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &,| ' '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(!& +4 "core" &,|  4\ +2 .tSE.reconfigure :pick +51 "storage"(#],K-0-\ b +10 .tSE.seek :beamBreak + "storage"(F'r +298 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" &,m \  +2 "manipulator"&*& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&'( +3 "core" ( + "manipulator"&(& +4 "core" & %  +2 "storage"(5& +4 "core" &,m   \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'c +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&H/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& + "storage"(2' +8 "core" & 9  + "manipulator"& % +4 "core" % ϊ +2 .tForearm.seek :retract +2 "manipulator"&3' +100 "core" ' + .tElbow.seek PC +2 "manipulator"&+( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&;& +4 "core" & - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" & P - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&:' +100 "core" ' +2 "manipulator"&& +4 "core" & B - +2 "manipulator"&p% +4 "core" % + "processing"%L& +4 "core" &\ +2 "processing"%W& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(^ +5 "core" &\  +9 &1x\ *x +9 &b}\ > +10 &^u\ O +9 & U\ O +9 &U\ O +10 &R\ O +9 &eW\ O +10 &&U\ P +9 &W\ P +9 &T\ \ O +10 & mY\ O +9 &"/W\ O +9 &#V\ P +10 &%U\ O +9 &'uR \ O +10 &)7W\ O +9 &*W\ P +9 &,W\ O +10 &.|U\ P +9 &0?U \ O +9 &2W\ O +10 &3U \ O +9 &5U\ O +10 &7GX \ O +9 &9 Z\ O +9 &:T\ O +10 &<U \ O +9 &>N[\ \ P +9 &@X \ P +10 &AX\ P +9 &Cg \ Q +10 &ENq\ R +9 &G\  \ T +9 &H\ \ U +10 &J \ V +9 &LL \ V +9 &N \ W +10 &O \ W +9 &Q\ W +10 &SO\ X +9 &U\ W +9 &V\ W +10 &X\ V +9 &ZX\ W +9 &\\\ W +10 &]\ 8 +9 &^+t\ \\ +13 &^/\ 7 +8 ( +2 &^-\ 7 +6 "processing"%W& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 +2 .Hand.open +2 "manipulator"&/1 +7 "core" &^-\ 7 +58 1 +2 "manipulator"&>% +8 "core" %  \ C +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"& ' +91 "core" ' +5 "processing"%[& +8 "core" &^-\ 7 +4 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&J% +8 "core" %   3  +2 "storage"(% +8 "core" % g\  +2 "storage"(B. +6 "core" .(,| +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +3 .tSC.seek 4 +4 "storage"((,y +25 "core" ( +4 .tSC.configure :limp +5 "storage"($\ 1b +4 (^& +10 "manipulator"&_& +12 "core" &,} U\ +3 & ? - +6 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +8 "storage"(#]kK-0-\ b +7 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +3 "manipulator"&Q( +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(?'r +4 "core" ( +4 "manipulator"&E& +8 "core" & \  - +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 && +4 "core" &  # - +4 .tForearm.seek PC +4 "manipulator"&0' +94 "core" ' +2 .tHand.close +2 "manipulator"&1/ +66 "core" / +4 .tPC.seek :open +2 "processing"%U( +66 "core" ' +3 "storage"(K- +15 "core" -'r +3 ."raiseStack"SE.configure :default +8 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +2 "storage"(T'1 +54 "core" ' +299 ( +2 "storage"(a& +4 "core" &,j ' ' "\ \ +2 "manipulator"&6& +3 "core" & . - +2 "manipulator"&e% +3 "core" %  6 +2 .tForearm.seek :retract +2 "manipulator"& ' +93 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&P( +243 "core" ( + "manipulator"&<& +4 "core" & p ) +2 "storage"(R& +3 "core" &,j   A\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&G' +93 "core" ' + .tHand.open + "manipulator"&Y1 +60 "core" 1 +2 "storage"(o- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(=' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(]' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +3 "core" -' +2 "storage"(& +4 "core" &,j  t Q\ p\ + "manipulator"&i& +4 "core" &  > ) + .tElbow.seek 4 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&D& +4 "core" &   ) + "storage"(h& +4 "core" &,j   \ p\ +2 .tForearm.seek 4 + 450 counts +6 "manipulator"&M' +4 "core" ' + .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(V'" +60 "core" ' + "manipulator"&c& +4 "core" & - ) +2 "storage"(m& +4 "core" &,j   (\ \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&{'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"("' +28 "core" ' + "manipulator"&d% +5 "core" %: <  + "storage"(N& +4 "core" &,j  ]\ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 303 counts + "manipulator"&I'f +14 "core" ' + "manipulator"&,& +4 "core" & U ) +3 "storage"(@& +4 "core" &,j   s\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +15 "core" ' +2 "storage"(x% +4 "core" % \ & \ +3 ."downElevator"SE.seek :down +3 "storage"(.' +100 (t% +3 "core" %FG #\ Xi +2 "manipulator"& % +4 "core" % < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|' +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +2 (q& +4 "core" &,j z\ \ +2 "collection"'-& +4 "core" &\\  1\ _ + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&4% +4 "core" %  &  + "storage"(Z% +9 "core" %  u\  + "storage"(S. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(}(,y +34 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,y  Y\ + "manipulator"&y& +4 "core" & ) +2 .tElbow.seek 4 + "manipulator"&v( +3 "core" ( +2 "manipulator"&`& +3 "core" &  m ) +2 "storage"(f& +4 "core" &,y  O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +93 "core" ' +4 "storage"(& +4 "core" &,y   D\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'r +296 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&w& +3 "core" &  ) +2 "storage"(%& +3 "core" &,m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&b'7 +18 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"('p +33 "core" ' + "manipulator"&O% +4 "core" %F Q +2 "storage"(j& +4 "core" &,m   8\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&s'r +63 "core" ' +2 "manipulator"&C& +5 "core" & [ ) + "storage"(& +5 "core" &,m   C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&u' +15 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(' +37 "core" ' + "manipulator"&\ & +4 "core" & o ) +2 "manipulator"&)% +4 "core" % C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&#(ӂ +155 "core" ( + "manipulator"&& +4 "core" &Ӑ&   ?T +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &r& +2 "core" &Ӑ% 9 ?T +2 .tForearm.seek CC +2 "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&n/ +58 "core" / +2 .tCC.seek :open +2 "collection"'( +446 "core" ( + "storage"(& +4 "core" &,m C @\  +2 "storage"(k& +4 "core" &,m D C \  + "manipulator"&!& +4 "core" &ӑ&  ?S + "manipulator"&~% +4 "core" % > l  +2 .tForearm.seek :retract + "manipulator"&$' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&&( +164 "core" ( +2 "manipulator"&A& +4 "core" & N  +2 "storage"(*& +4 "core" &,m c e 3\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&('7 +94 "core" ' +2 .tElbow.hold + "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&H1 +59 "core" 1 +2 "manipulator"&8% +4 "core" % 0 % +2 "storage"( & +8 "core" &,m d `\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 293 counts + "manipulator"&z'\\ +16 "core" ' + "manipulator"&& +4 "core" & M  +2 "storage"(F& +3 "core" &,m \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +16 "core" ' +2 "storage"(;% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 ('% +3 "core" %H ? 5 \ We +2 "manipulator"&% +4 "core" % B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p' +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +7132 "Can"\ =; +60001 \ =; +60001 \ =; +49357 #t-> exit +4 #mEXIT @1635535278.12UTC @1635770502.38UTC = =mMAIN_scheduler =tMAIN @UTC1635770504.29 #"core_reset"Sent BREAK +2 #t@30394 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +293 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +399 "Can"H\ !q + H\ !q + #tPolling Can every 10:00 +11 #Cleanly exited at 19:21:18UTC29-Oct-21 +592 #-> ESP.ready! +2 #Powering core bus +551 .Gate.power :raw,:ON +2 "sampler") +37 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % c f\ + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %Q\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +4 "core" % \ +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +828 #-> 2.times {shuffle 2..4} + #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"';& +3 "core" & k h \ +2 .tHand.open + "manipulator"&<1 +57 "core" 1 + "manipulator"&=% +4 "core" %   +2 "storage"(>% +3 "core" %0 @ 3\ Q +2 "storage"(?. +3 "core" .(,| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(@(  +674 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &  + & 9\ +2 "manipulator"&B& +4 "core" &  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&C( +2 "core" ( +2 "manipulator"&D& +4 "core" & e  + "storage"(E& +4 "core" &  K K >\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'S +91 "core" ' +2 "storage"(G& +4 "core" &  ; F ;\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'r +301 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" & 6 G n\ +2 "manipulator"&K& +4 "core" & 9  + .tElbow.seek 2 +2 "manipulator"&L( +3 "core" ( + "manipulator"&M& +4 "core" & i  + "storage"(N& +4 "core" & U U v\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&O'Ͻ +17 "core" ' +2 .tForearm.reconfigure :loose +37 "manipulator"&#Q@2^d^b +8 .tHand.close +2 "manipulator"&P/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& + "storage"(R' +7 "core" &   +2 "manipulator"&S% +4 "core" % Ͼ  +2 .tForearm.seek :retract + "manipulator"&T' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +156 "core" ( +3 "manipulator"&V& +4 "core" ' + &Ӑ#   <? +2 .tElbow.reconfigure :loose + ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b +2 "storage"(5 +4 "manipulator"&W& +4 "core" &Ӑ#  <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'? +99 "core" ' +2 "manipulator"&Y& +5 "core" &Ӑ# c <? +2 "manipulator"&Z% +4 "core" %? + "collection"'[& +5 "core" & h gv\ +2 "collection"'\\& +5 "core" & h i8\ +2 .tCC.seek :closed + "collection"'](\\ +4 "core" & g g\  +8 &5} g h\ +| +10 &g e h \ @ +9 &Xr h h5\ O +10 &T k k\ N +9 &V g h\ N +9 &Y g h\ N +10 &cW h h8\ N +9 &$W i j\ N +10 &X i i\ N +9 &U g j\ N +9 & kY j h\ N +10 &",W f i\ N +9 &#Z j j\ N +9 &%X h j3\ N +10 &'tX g i\ N +9 &)6X j h\ N +9 &*U g j\ N +10 &,W h i\ N +9 &.|W h j\ N +10 &0=Y g k\ N +9 &2W g k\ N +10 &3V h l\ N +9 &5V i h\ N +9 &7FX h j\ N +9 &9 W g j\ M +10 &:W k k\ N +9 &<V k k\ N +10 &>NW l l\ N +9 &@W k m\ M +9 &AZ k m\ N +10 &C] o m\ O +9 &ENh r p\ P +9 &G\ } v u\ R +10 &H w x\ U +9 &Jz u z\ Y +10 &L; w y\ Z +9 &M x z\ Z +9 &O v x\ Z +10 &Q} w w\ [\ +9 &S< x x\ \\ +9 &T x w\ ] +10 &V x z\ ] +9 &X} y {\ ^ +10 &Z= x x\ ^ +9 &[z y z\ I +9 &\\ x z\ "c +10 &\\ w {\ Z +9 ( +3 "collection"'\\& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&^1 +4 "core" &\\r x y\ U +53 1 + "manipulator"&_% +4 "core" % ?  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&`' +89 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%a& +4 "core" &}\  +2 "manipulator"&b% +4 "core" %     + "storage"(c% +4 "core" % ) ) \  +2 "storage"(d. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(e(  +38 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (f& +3 "core" & ' ) O\ +2 "manipulator"&g& +3 "core" &ӑ#  <> +2 "manipulator"&h% +4 "core" %   O  +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&i( +161 "core" ( +2 "manipulator"&j& +4 "core" & L +2 "storage"(k& +4 "core" & & (\ + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&l'S +92 "core" ' +2 "storage"(m& +4 "core" & & %\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'r +294 "core" ' + "storage"(o- +4 "core" -' +2 .tSE.configure :default + "storage"(#QK-0-\ b +3 (p& +3 "core" & ( %\  + "manipulator"&q& +4 "core" & 8 +2 .tElbow.seek 2 + "manipulator"&r( +4 "core" ( + "manipulator"&s& +4 "core" &  + "storage"(t& +4 "core" &  Z\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u'Ͻ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& + "storage"(x' +8 "core" & + "manipulator"&y% +4 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' +2 .tElbow.seek PC + "manipulator"&{( +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&|& +5 "core" &  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" & 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&~' +94 "core" ' + "manipulator"&& +4 "core" & Q 8 +2 "manipulator"&% +4 "core" % & b +2 "processing"%& +4 "core" &\  +2 "processing"%& +5 "core" &\  +2 .tPC.seek :closed + "processing"%(^ +5 "core" &8\  +7 &E<\ %i +10 &yV\ 9 +9 &~{\ M +9 &Z5\ P +10 &JYn\ O +9 & Vv\ P +10 &[^\ P +9 &Xh\ P +9 &QXc\ P +10 &Zn\ P +9 &Xm\ P +9 &!Wt\ P +10 &#YXo\ P +9 &%\\o\ P +9 &&Xj\ P +10 &(Yj\ P +9 &*aXh\ P +9 &,$Zc\ O +10 &-Yf\ P +9 &/\\b\ P +10 &1jYa\ O +9 &3,W\\\ O +9 &4XS\ O +10 &6Y^\ P +9 &8p]g\ P +9 &:2Y[\ P +10 &;[a\ P +9 &=Zm\ P +10 &?xZh\ P +9 &A9Z`\ P +9 &Ba`\ Q +10 &Dm^\ R +9 &Fux`\ T +10 &H0`\ V +9 &I`\ V +9 &K_\ V +10 &MuU\ V +9 &O6Y\ W +9 &PS\ X +10 &RV\ X +9 &TzW\ X +10 &V=V\ W +9 &WP\ X +9 &YS\ W +10 &[W\ W +9 &]BO\ O +9 &^yJJ\ ^ +10 &^XI\ 7 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&1 +3 "core" &^0Q\ 7 +55 1 + "manipulator"&% +5 "core" %  * b + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +90 "core" ' +2 "processing"%& +4 "core" &^07\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +3 "core" %    +2 "storage"(\ % +4 "core" %   \  +2 "storage"( . +3 "core" .(  + "storage"( & +4 "core" &   \  +2 "storage"( & +3 "manipulator"&& +6 "core" &   \  + &  8 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak + "storage"('r +3 "core" ( +2 "manipulator"&& +4 "core" &  8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  ! 8 +2 .tForearm.seek PC +2 "manipulator"&' +93 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / + .tPC.seek :open +2 "processing"%( +101 "core" ' + "storage"(- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +41 "core" ' +302 ( + "storage"(& +4 "core" &  6\  +2 "manipulator"&& +3 "core" & \\ 8 +2 "manipulator"&% +4 "core" %  V 0 + .tForearm.seek :retract +2 "manipulator"&' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +244 "core" ( + "manipulator"&%& +5 "core" & ^ 0 + "storage"('& +4 "core" &  o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&)'S +104 "core" ' +2 .tHand.open + "manipulator"&(1 +63 "core" 1 +2 "storage"(- +3 "core" -'1 +3 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(#' +55 "core" ' + #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(-& +4 "core" & !\ x +2 "manipulator"&.& +4 "core" &  0 + .tElbow.seek 2 +2 "manipulator"&/( +3 "core" ( + "manipulator"&0& +4 "core" &    0 +2 "storage"(1& +4 "core" & D\ { +2 .tForearm.seek 2 + 450 counts + "manipulator"&2'S +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(3'" +60 "core" ' + "manipulator"&4& +4 "core" &  0 +2 "storage"(5& +4 "core" & ( '\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&6'Α +22 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(8' +19 "core" ' + "manipulator"&9% +5 "core" %Ο i + "storage"(:& +4 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&;' +14 "core" ' +2 "manipulator"&<& +4 "core" &  Q / +2 "storage"(=& +4 "core" & 1 ( D\  +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&>'S +16 "core" ' + "storage"(?% +5 "core" %  x\ +2 ."downElevator"SE.seek :down +4 "storage"(!' +99 (A% +3 "core" %QQ   \ Ym +2 "manipulator"&B% +4 "core" %N 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D' +90 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &  m\  +2 "collection"'G& +4 "core" &\\p x zr\ U + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&$% +3 "core" %   .  +2 "storage"(&% +4 "core" % ( ' +\  + "storage"( . +4 "core" .(  + "storage"(I& +5 "core" & ! % O\  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(J(  +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (K& +3 "core" &   % \ +2 "manipulator"&M& +3 "core" &   / +2 .tElbow.seek 2 +2 "manipulator"&N( +3 "core" ( + "manipulator"&P& +4 "core" &   ( / +2 "storage"(Q& +4 "core" &  ! \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&S'S +95 "core" ' +2 "storage"(C& +5 "core" &   \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +50 .tSE.seek :beamBreak + "storage"(F'r +296 "core" ' + "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&W& +2 "core" &  / +2 "storage"(H& +4 "core" & & " 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&O'Α +13 "core" ' + .tElbow.hold + "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(L'j +25 "core" ' + "manipulator"&[% +4 "core" %Π   G +2 "storage"(R& +4 "core" & ) \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&T' +14 "core" ' +2 "manipulator"&*& +4 "core" & ? / +2 "storage"(^& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(a' +34 "core" ' +2 "manipulator"&b& +4 "core" &  / +2 "manipulator"&c% +4 "core" %G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&\\(ӂ +153 "core" ( + "manipulator"&f& +5 "core" &ӑ%   >N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &ӑ%  >N +2 .tForearm.seek CC + "manipulator"&h'? +94 "core" ' + .tHand.close + "manipulator"&X/ +59 "core" / + .tCC.seek :open +2 "collection"'j( +451 "core" ( + "storage"(k& +4 "core" & F @ \  +2 "storage"(@& +4 "core" & < A \  + "manipulator"&m& +4 "core" &ӑ%  >N + "manipulator"&U% +4 "core" % >  < +2 .tForearm.seek :retract + "manipulator"&`' +92 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&o( +165 "core" ( + "manipulator"&p& +5 "core" &  + "storage"(q& +4 "core" & a e )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&s'Α +95 "core" ' + .tElbow.hold + "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +56 "core" 1 + "manipulator"&w% +5 "core" % Ώ > . + "storage"(y& +4 "core" & d d ;\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 298 counts + "manipulator"&i'ϻ +15 "core" ' +2 "manipulator"&l& +5 "core" & E  + "storage"(n& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&u'S +15 "core" ' + "storage"(|% +5 "core" % \  +2 ."downElevator"SE.seek :down +3 "storage"(}' +99 (r% +3 "core" %iN D I r\ Yl +2 "manipulator"&% +4 "core" %M  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +89 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & g d\ +2 "manipulator"&x% +4 "core" %  J  + "storage"(z% +4 "core" % z \  +2 "storage"(+. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +347 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" & X Z \ \ +2 "manipulator"&& +4 "core" & \\  +2 .tElbow.seek 3 + "manipulator"& ( +34 "core" ( + "manipulator"&\ & +4 "core" & & +2 "storage"( & +4 "core" & h ] \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"& '7 +96 "core" ' + "storage"(& +5 "core" & } \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" & @ B \ +2 "manipulator"&& +3 "core" & & +2 .tElbow.seek 3 + "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" & ; & + "storage"(& +4 "core" & b a\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&{'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(' +7 "core" & & + "manipulator"&% +4 "core" % Ϟ = +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&(ӂ +155 "core" ' + ( + "manipulator"&& + ."downElevator"SE.stop +6 "storage"(5 +4 "core" &Ӌ(  @\\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &Ӌ' 2 @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&''? +94 "core" ' +2 "manipulator"&& +5 "core" &Ӌ(  # @\\ + "manipulator"&(% +5 "core" %H  5 + "collection"'& +4 "core" & c dD\ +2 "collection"',& +5 "core" & c e\ +2 .tCC.seek :closed +2 "collection"'-(\\ +4 "core" & f d\  +10 &1y e e\ *z +9 &c} d d\ > +9 &rs e f\ O +10 &6V e g\ N +9 &X g f\ N +9 &U f f\ N +10 &}T h g\ M +9 &?U i f\ M +10 &V h g\ N +9 &X g h\ N +9 & T h i\ N +10 &"FT h h\ N +9 &$ U g g\ M +9 &%W g h\ M +10 &'U i h\ M +9 &)NU k g\ N +10 &+W i h\ N +9 &,V g g\ N +9 &.T h g\ N +10 &0WT j i\ M +9 &2U h g\ M +9 &3U i h\ M +10 &5R h g\ N +9 &7^T h j\ N +10 &9 T j k\ N +9 &:T j j\ M +9 &<V k k\ N +10 &>fY l l\ N +9 &@(T m j\ N +9 &AU m l\ N +10 &C[ l n\ O +9 &Ejd p p\ O +10 &G%t t p\ Q +9 &H w w\ T +9 &J | z\ X +10 &LR z }\ Z +9 &N z z\ Z +10 &O | z\ [ +9 &Q z z\ [ +9 &ST { {\ \\ +10 &U | {\ \\ +9 &V { z\ ] +9 &X } |\ ^ +10 &ZU { z\ ^ +9 &[z { |\ ? +10 &\\)  }\ ){ +9 &\\k z |\ T +2 ( +2 "collection"',& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&.1 +57 "core" 1 +2 "manipulator"&0% +4 "core" % H   5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1' +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&4% +4 "core" %    + "storage"(5% +4 "core" %  \  + "storage"(9. +3 "core" .( +2 "storage"(:& +4 "core" & \ + "storage"(& +4 "core" &  \ +2 "manipulator"&<& +4 "core" &ӌ(  @[ + "manipulator"&=% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +167 "core" ( + "manipulator"&?& +5 "core" &    + "storage"("& +4 "core" & ' '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&)'7 +92 "core" ' + "storage"(#& +5 "core" & ( ' ,\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'r +306 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" & & '\ +2 "manipulator"&/& +4 "core" & z  + .tElbow.seek 3 +2 "manipulator"&3( +3 "core" ( + "manipulator"&6& +4 "core" & m  + "storage"(E& +5 "core" & 1 4 $\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&;'ϡ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&G/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& +2 "storage"(&' +7 "core" &   + "manipulator"& % +4 "core" % ϝ = +2 .tForearm.seek :retract +2 "manipulator"&8' +88 "core" ' +2 .tElbow.seek PC + "manipulator"&I( +165 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&K& +5 "core" & X +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &M& +2 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&P' +89 "core" ' + "manipulator"&Q& +5 "core" &  + "manipulator"&>% +4 "core" % $ m +2 "processing"%C& +4 "core" &h\ +2 "processing"%!& +5 "core" &@\ +2 .tPC.seek :closed + "processing"%e(^ +5 "core" &q\ \ +9 &/ue\ *x +9 &ae\ > +10 &dxh\ P +9 &&Wc\ O +10 &Xm\ P +9 &Ys\ O +9 &kVo\ P +10 &-Zn\ P +9 &[e\ P +9 &Zn\ P +10 & sWb\ P +9 &"6Xk\ O +10 &#Wd\ P +9 &%Uf\ P +9 &'{Wa\ P +10 &)=UR\ P +9 &*Xf\ P +9 &,[b\ P +10 &.U]\ O +9 &0EX^\ P +9 &2ZR\ P +10 &3U`\ P +9 &5V_\ P +10 &7NW_\ O +9 &9Z`\ P +9 &:XZ\ P +10 &<Yb\ P +9 &>T_a\ P +9 &@ZZ\ P +10 &Ab^\ Q +9 &CuY\ S +10 &ENX\ U +9 &G _\ V +10 &HR\ V +9 &Jb\ V +9 &LRW\ V +9 &NZ\ W +10 &OW\ W +9 &QY\ W +10 &SWZ\ W +9 &UK\ X +9 &VK\ W +10 &XK\ W +9 &Z^H\ X +9 &\\ O\ X +10 &]O\ 7 +9 &^+kN\ "c +10 &^-M\ 6 +2 ( + "processing"%!& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&71 +62 "core" 1 + "manipulator"&D% +5 "core" %    m + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +98 "core" ' + "processing"%W& +5 "core" &^'P\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&H% +3 "core" % \    +41 "storage"(Z% +14 "core" %  "\  + "storage"([. +4 "core" .( + "storage"(R& +4 "core" &  \ +2 "storage"(*& +3 "manipulator"&^& +6 "core" &   1\ + & M +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&b( +6 ."raiseStack"SE.seek :beamBreak + "storage"(c'r +2 "core" ( +2 "manipulator"&S& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &   +2 .tForearm.seek PC +2 "manipulator"&F' +93 "core" ' +2 .tHand.close + "manipulator"&O/ +60 "core" / +2 .tPC.seek :open + "processing"%T( +95 "core" ' + "storage"(L- +4 "core" -'r + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(f'1 +46 "core" ' +305 ( + "storage"(g& +5 "core" &   J\ + "manipulator"&_& +4 "core" & X +2 "manipulator"&Y% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&X' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d( +241 "core" ( + "manipulator"&]& +5 "core" & J = + "storage"(k& +4 "core" & ' ' \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&@'7 +94 "core" ' +2 .tHand.open + "manipulator"&m1 +63 "core" 1 +2 "storage"(U- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(p' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate + "storage"(q' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(h- +3 "core" -' +2 "storage"(\\& +4 "core" & , , H\ a + "manipulator"&v& +4 "core" &  = +2 .tElbow.seek 3 +2 "manipulator"&w( +3 "core" ( + "manipulator"&y& +5 "core" &  = + "storage"(l& +4 "core" & , , -\ a +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&n'7 +3 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"(|'" +53 "core" ' +2 "manipulator"&`& +4 "core" & F = +2 "storage"(r& +4 "core" & p\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'u +21 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(s' +26 "core" ' +2 "manipulator"&% +4 "core" %΄ \  ] +2 "storage"(x& +4 "core" &   A\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&z'ϰ +15 "core" ' +2 "manipulator"&i& +5 "core" & = + "storage"(+& +5 "core" & 4 1 _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&a'7 +16 "core" ' +2 "storage"(u% +5 "core" %  % h\ +2 ."downElevator"SE.seek :down +3 "storage"(}' +99 (J% +3 "core" %D   C\ Xh +2 "manipulator"&% +4 "core" %3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (\ & +4 "core" &  \ +2 "collection"' & +4 "core" &\\m }]\ T +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +3 "core" %  ,  +2 "storage"(t% +4 "core" % 3 0 6\  +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & ) / 9\ +2 "storage"(& +3 "core" & 1 ( 6\ +2 "manipulator"&& +4 "core" &  = +2 .tElbow.seek 3 + "manipulator"&( +4 "core" ( + "manipulator"&& +5 "core" & ] = + "storage"(& +4 "core" & ( '\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'7 +95 "core" ' + "storage"(& +5 "core" & ' & \ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +298 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  = +2 "storage"(%& +4 "core" & ' '\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'u +22 "core" ' +2 .tElbow.hold + "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.17 Pucks below Top Plate + "storage"(('{ +29 "core" ' + "manipulator"&% +5 "core" %·  + "storage"(~& +4 "core" &  X\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts + "manipulator"&'ϳ +16 "core" ' + "manipulator"&& +5 "core" & = + "storage"(j& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&.'7 +17 "core" ' +2 .tSE.seek 1.17 Pucks below Top Plate + "storage"(0' +39 "core" ' + "manipulator"&& +5 "core" & " = + "manipulator"&4% +4 "core" %1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&9(ӂ +155 "core" ( + "manipulator"&:& +4 "core" &Ӓ#  Q <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӓ# F <9 +2 .tForearm.seek CC + "manipulator"&<'? +94 "core" ' + .tHand.close + "manipulator"&,/ +52 "core" / +2 .tCC.seek :open + "collection"'=( +449 "core" ( +2 "storage"('& +4 "core" & C C\ + "storage"(?& +4 "core" & ? C \ +2 "manipulator"&"& +3 "core" &Ӓ#  <9 +2 "manipulator"&#% +4 "core" % @   5 + .tForearm.seek :retract +2 "manipulator"&' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&1( +163 "core" ( + "manipulator"&B& +5 "core" &  + "storage"(2& +4 "core" & V \\\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&/'u +98 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&E1 +54 "core" 1 +2 "manipulator"&G% +5 "core" % ΂  y + "storage"($& +4 "core" & ^ a \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 313 counts + "manipulator"& 'Ϯ +15 "core" ' +2 "manipulator"&& +5 "core" &   + "storage"()& +4 "core" & l \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&A'7 +16 "core" ' +2 "storage"(;% +4 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(K' +99 (M% +3 "core" %R? [ G \ Vb +2 "manipulator"&3% +3 "core" %3 S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q' +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'>& +4 "core" & b ck\ +2 "manipulator"&C% +4 "core" %    + "storage"(&% +5 "core" % j y \  + "storage"(8. +4 "core" .( + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &,x > C \  + "manipulator"&D& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&W( +47 "core" ( + "manipulator"&H& +4 "core" &   +2 "storage"(Z& +3 "core" &,x l Z X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&!' +96 "core" ' + "storage"([& +4 "core" &,x \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'r +300 "core" ' +2 "storage"(^- +3 "core" -'$ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (*& +3 "core" &,k Q 9 6\  +2 "manipulator"&S& +4 "core" & 6  +2 .tElbow.seek 4 + "manipulator"&N( +4 "core" ( + "manipulator"&P& +4 "core" & 2  + "storage"(O& +4 "core" &,k X `\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&L'c +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&I/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +3 "storage"(e' +8 "core" & A  + "manipulator"&c% +5 "core" % } +2 .tForearm.seek :retract + "manipulator"&g' +93 "core" ' +2 .tElbow.seek CC + "manipulator"&_(ӂ +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&Y& +4 "core" &Ӊ)  a Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &ӊ)  Ad +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'? +99 "core" ' +2 "manipulator"&k& +4 "core" &ӊ)   Ad +2 "manipulator"&b% +4 "core" %H   +2 "collection"'m& +4 "core" & c d\ +2 "collection"'U& +51 "core" & c e\ +11 & d b\ + & b b\ + & d d\ + & e d\ + & b a\ +2 & b c\ + & d d\ +2 .tCC.seek :closed +2 "collection"'h(\\ +4 "core" & d a\  +10 &4| d c\ *z +9 & e d e\ ? +9 &p e c\ N +10 &TS b e\ M +9 &S f e\ M +10 &S e f\ M +9 &T f h\ M +9 & h d\ N +10 &W h e\ N +9 &S h f\ M +9 & R g h\ M +10 &"dS f e\ M +9 &$'T h h\ M +10 &%W f h\ N +9 &'V e h\ N +9 &)lW e g\ M +10 &+.W e g\ M +9 &,V h g\ N +9 &.U h gu\ N +10 &0tU g f\ M +9 &26S g f{\ M +9 &3X h g~\ M +10 &5W g i\ M +9 &7{W h f\ N +10 &9?R g h\ M +9 &:U i h\ N +9 &<V g i\ N +10 &>W i k\ N +9 &@EV j h\ N +10 &BW j l\ N +9 &Cd o m\ O +9 &Eu q o\ R +10 &G9 r q\ U +9 &H u t\ X +9 &J u y\ Z +10 &Lo w t\ Z +9 &N/ u w\ [ +10 &O t u\ [\ +9 &Q w u\ [ +9 &Sq w v\ \\ +10 &U2 v y|\ \\ +9 &V w x\ ] +9 &X x vx\ ^ +10 &Zq z wv\ _ +9 &\\y x x{\ 7 +10 &\\' x y{\ 't +9 &\\ z zu\ ] +2 ( +2 "collection"'U& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + .Hand.open + "manipulator"&\\1 +64 "core" 1 + "manipulator"&v% +5 "core" % H    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&y' +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp + "processing"%l& +5 "core" &\ + "manipulator"&X% +4 "core" %    +2 "storage"(`% +4 "core" %  j\  +2 "storage"(r. +3 "core" .(,v + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((,y +30 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" &,} \\\ +2 "manipulator"&f& +4 "core" &ӌ)  Ab +2 "manipulator"&i% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&+( +162 "core" ( + "manipulator"&p& +4 "core" & 7  +2 "storage"(u& +4 "core" &,} ) ' F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +93 "core" ' +2 "storage"(@& +4 "core" &,}   o\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'r +295 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,l  3\ +2 "manipulator"&n& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&w( +4 "core" ( + "manipulator"&|& +4 "core" & >  + "storage"(& +4 "core" &,l % %\ +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\ 'c +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(' +7 "core" & r  + "manipulator"&t% +4 "core" % W +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +5 .tElbow.seek PC + "manipulator"&s( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&& +5 "core" &  i  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &  +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&' +97 "core" ' + "manipulator"&& +5 "core" &  >  + "manipulator"&% +4 "core" %  N  +2 "processing"%a& +4 "core" &9\ +2 "processing"%& +5 "core" &;\ +2 .tPC.seek :closed + "processing"%}(^ +4 "core" &?\ +8 & ,b\ #b +10 &Tf\ 8 +9 &}{q\ L +9 &X^\ P +10 &NU\ P +9 &Ug\ P +10 &Ur\ O +9 &Wt\ O +9 &WVt\ O +10 &X_\ P +9 &Yb\ P +10 &!Ym\ O +9 &#_Vm\ O +9 &%!Wu\ O +10 &&Ve\ O +9 &(Wh\ P +9 &*fYd\ P +10 &,(Zc\ P +9 &-Tc\ P +9 &/UY\ P +10 &1nWd\ P +9 &30Xd\ P +10 &4Y`\ O +9 &6V[\ P +9 &8uZ`\ P +10 &:8Vf\ P +9 &;We\ O +9 &=W_\ P +10 &?}We\ P +9 &A?Yd\ P +10 &Bdg\ Q +9 &Djc\ R +9 &Fxyb\ U +10 &H7b\ U +9 &I]\ V +9 &KX\ V +10 &My_\ W +9 &O;Y\ W +10 &Pc\ X +9 &R`\ W +9 &T~V\ X +10 &VBW\ W +9 &XW\ W +10 &YZ\ W +9 &[V\ X +9 &]HK\ N +9 &^{HX\ _ +10 &^WP\ 5 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&o1 +3 "core" &^'T\ 5 +55 1 +2 "manipulator"&% +4 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 "processing"%& +4 "core" &^(P\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&%% +5 "core" %   o  + "storage"(% +4 "core" %  \  +2 "storage"(. +3 "core" .(,} +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(~(,y +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &,z `\  +2 "manipulator"&j& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +3 "core" &   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(4'r +5 "core" ( + "manipulator"&& +4 "core" & \   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & L  +2 .tForearm.seek PC + "manipulator"& ' +92 "core" ' +2 .tHand.close + "manipulator"& / +60 "core" / +2 .tPC.seek :open + "processing"%( +96 "core" ' +2 "storage"((- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(:'1 +45 "core" ' +305 ( + "storage"(& +4 "core" &,j & ! \ " +2 "manipulator"&.& +4 "core" & X  + "manipulator"&{% +4 "core" %  ( . +2 .tForearm.seek :retract + "manipulator"&,' +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&5( +241 "core" ( + "manipulator"&-& +5 "core" &  g % + "storage"('& +4 "core" &,j ' % \ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&?' +104 "core" ' + .tHand.open + "manipulator"&"1 +60 "core" 1 +3 "storage"(#- +3 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(B' +34 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(2' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +3 "core" -' +2 "storage"(9& +4 "core" &,j  D\ o" + "manipulator"&E& +4 "core" &   $ +2 .tElbow.seek 4 + "manipulator"&G( +3 "core" ( +2 "manipulator"&$& +4 "core" &   # $ + "storage"(& +4 "core" &,j  D\ o" +3 .tForearm.seek 4 + 450 counts + "manipulator"&)' +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate +2 "storage"(;'" +57 "core" ' +2 "manipulator"&& +4 "core" & N $ +2 "storage"(M& +4 "core" &,j   F\ " + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&3'7 +21 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.32 Pucks below Top Plate + "storage"(/' +28 "core" ' + "manipulator"&>% +5 "core" %= # + "storage"(C& +4 "core" &,j  o\ " +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 306 counts + "manipulator"& 'i +16 "core" ' +2 "manipulator"&&& +4 "core" & $ +2 "storage"(8& +4 "core" &,j & &\ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&0' +15 "core" ' + "storage"(A% +5 "core" % & &\ +2 ."downElevator"SE.seek :down +3 "storage"(K' +99 (% +3 "core" %LI  H\ Xi +2 "manipulator"&7% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (H& +4 "core" &,j  o\ " + "collection"'Z& +5 "core" &\\ z z\ ] + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&[% +4 "core" %    +2 "storage"(6% +4 "core" % & &\  + "storage"(Q. +4 "core" .(,y + "storage"(^& +4 "core" &,j & & \ " +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(*(,y +34 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" &,}  \ +2 "manipulator"&P& +4 "core" &  $ +2 .tElbow.seek 4 + "manipulator"&O( +3 "core" ( +2 "manipulator"&I& +4 "core" & W $ + "storage"(V& +4 "core" &,} & &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +91 "core" ' + "storage"(W& +5 "core" &,} " % -\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(!'r +298 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" & . $ + "storage"(R& +4 "core" &,l  Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&L'7 +19 "core" ' + .tElbow.hold + "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate + "storage"(m'm +32 "core" ' +2 "manipulator"&N% +4 "core" %7  C  +2 "storage"(e& +4 "core" &,l   7\ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 300 counts +44 "manipulator"&g'c +25 "core" ' +2 "manipulator"&=& +4 "core" & ( $ +2 "storage"(\\& +4 "core" &,l & &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&v' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(l' +35 "core" ' + "manipulator"&X& +5 "core" & T $ + "manipulator"&`% +5 "core" % + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&U(ӂ +156 "core" ( +2 "manipulator"&x& +5 "core" &ӕ"   ;7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &ӕ"  ;7 +2 .tForearm.seek CC + "manipulator"&i'? +92 "core" ' + .tHand.close + "manipulator"&]/ +60 "core" / +2 .tCC.seek :open + "collection"'p( +448 "core" ( +2 "storage"(u& +4 "core" &,l : > }\ +2 "storage"(& +3 "core" &,l D D \ +2 "manipulator"&@& +4 "core" &Ӗ" 9 ;6 + "manipulator"&_% +4 "core" % L  8 4 +2 .tForearm.seek :retract +2 "manipulator"&y' +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&J( +166 "core" ( + "manipulator"&& +5 "core" & 6  + "storage"(n& +4 "core" &,l V Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&|'7 +95 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&z1 +54 "core" 1 +2 "manipulator"& % +5 "core" % 9  ) +2 "storage"(t& +3 "core" &,l U _\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 302 counts + "manipulator"&+'e +14 "core" ' + "manipulator"&d& +5 "core" & \  + "storage"(q& +4 "core" &,l [ Z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&\ ' +18 "core" ' +2 "storage"(% +4 "core" % { \ +3 ."downElevator"SE.seek :down +2 "storage"(' +99 (w% +4 "core" %I < < `\ We +2 "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +93 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'a& +4 "core" & b dW\ +2 "manipulator"&% +4 "core" % \  |  +2 "storage"(% +4 "core" % z { D\  + "storage"(T. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(o(  +674 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  \\ V \ +2 "manipulator"&& +3 "core" & ]  +2 .tElbow.seek 2 + "manipulator"&%( +4 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +3 "core" &  y x X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +95 "core" ' + "storage"(& +5 "core" &  n\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'r +296 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" & U T Y\ +2 "manipulator"&& +3 "core" & @  +2 .tElbow.seek 2 + "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" & J  + "storage"((& +4 "core" & _ X )\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&s'Ͻ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& + "storage"(4' +8 "core" & K  + "manipulator"&% +4 "core" % Ϸ h +2 .tForearm.seek :retract +2 "manipulator"&.' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&{(ӂ +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"& & +4 "core" &ӑ%  H >H + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" &ӑ%  >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&''? +96 "core" ' +2 "manipulator"&& +4 "core" &Ӓ$   =G +2 "manipulator"&"% +4 "core" %;  G +2 "collection"'#& +3 "core" & c c\ +3 "collection"'<& +5 "core" & b cr\ +2 .tCC.seek :closed + "collection"'9(\\ +4 "core" & c c\  +9 &3} a d\ +{ +10 &d~ b a\ > +9 &r d c\ N +9 &CR d e\ M +10 &U c e\ M +9 &U d d\ M +9 &Q c e\ M +10 &LU f e\ M +9 & W d d\ M +10 &U b d\ N +9 & U d d\ M +9 &"TU e e\ M +10 &$U d c\ M +9 &%W f e\ M +9 &'U f e\ M +10 &)\\Q g e\ M +9 &+T g h\ M +9 &,T g f\ M +10 &.U g f\ M +9 &0eU d h\ M +10 &2'U f ez\ M +9 &3U f g\ M +9 &5U g d\ M +10 &7lU h g\ M +9 &9.U g f\ M +9 &:U h g\ M +10 &<U h g\ M +9 &>tV j h\ M +10 &@6U j k\ M +9 &AX j i\ M +9 &C\\ j k\ N +10 &Eui p m\ O +9 &G0} s p\ R +9 &H t u\ T +10 &J u v\ Y +9 &L_ v w\ Z +10 &N w v\ Z +9 &O w w\ Z +9 &Q v u\ Z +10 &S` u v\ \\ +9 &U v v\ ] +10 &V v x\ ] +9 &X u w\ ] +9 &Za w w\ ^ +10 &\\z y x\ : +9 &\\# w y\ *| +9 &\\ x w\ !` +3 ( +2 "collection"'<& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.22 + .Hand.open + "manipulator"&E1 +61 "core" 1 +2 "manipulator"&$% +5 "core" % ;   G + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&,' +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &5\ +2 "manipulator"&% +3 "core" %    +2 "storage"(M% +4 "core" %  \  + "storage"(:. +4 "core" .(  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(>(  +18 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +2 "core" &  c\  +2 "manipulator"&&& +4 "core" &Ӓ$ 8 =G + "manipulator"&8% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&B( +164 "core" ( + "manipulator"&A& +5 "core" &   + "storage"(5& +4 "core" &    \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&?'S +92 "core" ' + "storage"(2& +5 "core" &  & % \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +295 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +2 "core" &  X\  +2 "manipulator"&G& +4 "core" & a  + .tElbow.seek 2 +2 "manipulator"&;( +3 "core" ( + "manipulator"&3& +4 "core" &  +2 "storage"(H& +3 "core" & 3 \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& 'Ͻ +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& + "storage"(6' +8 "core" & B  + "manipulator"&Q% +4 "core" % Ͼ S +2 .tForearm.seek :retract +2 "manipulator"&/' +90 "core" ' +2 .tElbow.seek PC + "manipulator"&^( +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&S& +5 "core" & $ : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +4 "core" &  : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I' +97 "core" ' +2 "manipulator"&V& +4 "core" &  : +2 "manipulator"&0% +4 "core" % Q  + "processing"%W& +4 "core" &B\ +2 "processing"%K& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%~(^ +4 "core" &\ \ +8 & .`\ $c +9 &S{\ 7 +10 &}}j\ L +9 &[\ P +9 &TVk\ O +10 &W\ O +9 &YX\ P +9 &Up\ O +10 &[V\ P +9 &Z8\ P +10 &Z@\ P +9 &!T\\\ O +9 &#cZ\ P +10 &%%X\ P +9 &&V\ P +9 &(Tg\ P +10 &*kUt\ P +9 &,-Y4\ P +10 &-Xj\ P +9 &/Wn\ P +9 &1tWq\ O +10 &35Xs\ P +9 &4Wp\ P +9 &6Uh\ P +10 &8{Ze\ P +9 &:=Us\ P +9 &;Wg\ P +10 &=Zg\ P +9 &?Vd\ O +10 &ADXf\ P +9 &Cbf\ Q +9 &Dic\ R +10 &F}d\ S +9 &H<g\ U +10 &If\ V +9 &K`\ V +9 &M~d\ W +10 &OAg\ V +9 &Qc\ W +9 &Rq\ V +10 &Ti\ X +9 &VGb\ W +10 &X\ `\ W +9 &Yb\ X +9 &[i\ W +10 &]Mc\ K +9 &^{Jg\ ] +9 &^ Wj\ 7 +6 ( +2 "processing"%K& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&11 +4 "core" &^0_\ 7 +52 1 + "manipulator"&D% +4 "core" %     +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Y' +94 "core" ' + "processing"%F& +5 "core" &^0D\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&R% +4 "core" %     +2 "storage"(b% +3 "core" % <\  +2 "storage"(N. +3 "core" .(  +45 .tSC.reconfigure :tight +11 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(e(  +24 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "manipulator"&\\& +4 "core" &   3\ +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &  : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(X'r +3 "manipulator"&`( +3 "core" ( +2 "manipulator"&c& +4 "core" &  Z : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &  P : +3 .tForearm.seek PC + "manipulator"&!' +92 "core" ' +2 .tHand.close + "manipulator"&L/ +61 "core" / +2 .tPC.seek :open + "processing"%g( +92 "core" ' + "storage"(m- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'1 +49 "core" ' +305 ( +2 "storage"(f& +4 "core" &   D\  + "manipulator"&v& +4 "core" &  P : +2 "manipulator"&k% +4 "core" %  0 +2 .tForearm.seek :retract + "manipulator"&]' +90 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&r( +244 "core" ( +2 "manipulator"&h& +4 "core" & \ ! + + "storage"(u& +4 "core" &  -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +97 "core" ' + .tHand.open + "manipulator"&@1 +59 "core" 1 +2 "storage"(_- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"(n' +54 "core" ' + #tLights, camera, ACTION! + "storage"(i- +4 "core" -' + "storage"(U& +4 "core" & o o }\ l +2 "manipulator"&z& +4 "core" &  + + .tElbow.seek 2 +2 "manipulator"& ( +3 "core" ( + "manipulator"&t& +4 "core" & \  + +2 "storage"(d& +4 "core" & ~ \ m +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&q'S +7 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"('" +58 "core" ' + "manipulator"&y& +4 "core" & a + +2 "storage"(w& +4 "core" &   B\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Α +18 "core" ' + .tElbow.hold + "manipulator"&J, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate + "storage"(|' +28 "core" ' +2 "manipulator"&a% +4 "core" %Ο   u 8 +2 "storage"(& +4 "core" &  a\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&+' +14 "core" ' + "manipulator"&& +5 "core" & + + "storage"(T& +5 "core" &   G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&l'S +15 "core" ' +2 "storage"(\ % +4 "core" %   \ +3 ."downElevator"SE.seek :down +3 "storage"(' +99 (*% +2 "core" %dU  \ Zp +2 "manipulator"&% +5 "core" %C + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &   m\  + "collection"'& +4 "core" &\\ w xj\ !` +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" %  \\\  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +12 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  (\  +2 "manipulator"&& +4 "core" &  + + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&(& +4 "core" & + +2 "storage"( & +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&}'S +94 "core" ' + "storage"(& +4 "core" &  & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'r +295 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" & K + +2 "storage"(-& +4 "core" &   \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&j'Α +25 "core" ' + .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"("'j +26 "core" ' + "manipulator"&#% +5 "core" %Ε   B + "storage"( & +4 "core" &  M\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 304 counts + "manipulator"&4' +15 "core" ' + "manipulator"&.& +4 "core" & @ + +2 "storage"(p& +4 "core" &   t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&E'S +15 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"($' +33 "core" ' +2 "manipulator"&& +4 "core" &  + +2 "manipulator"&% +4 "core" %N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&M' +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:(ӂ +162 "core" ( + "manipulator"&<& +5 "core" &Ӎ J 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &Ӎ 2 +2 .tForearm.seek CC +2 "manipulator"&&'? +95 "core" ' + .tHand.close + "manipulator"&8/ +63 "core" / +2 .tCC.seek :open + "collection"''( +448 "core" ( +2 "storage"(A& +4 "core" & K K \  +2 "storage"(5& +4 "core" & J K %\  + "manipulator"&o& +4 "core" &Ӎ p 2 + "manipulator"&2% +4 "core" % F  & +2 .tForearm.seek :retract + "manipulator"&{' +93 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&,( +152 "core" ( +2 "manipulator"&7& +4 "core" & T +2 "storage"()& +3 "core" & b b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&G'Α +92 "core" ' +2 .tElbow.hold + "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&H1 +61 "core" 1 +2 "manipulator"&Z% +4 "core" % Ζ - 0 + "storage"([& +4 "core" & a W\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 305 counts + "manipulator"&Q' +15 "core" ' +2 "manipulator"&B& +4 "core" & ' +2 "storage"(?& +4 "core" & n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +16 "core" ' +2 "storage"( % +4 "core" % l \ +3 ."downElevator"SE.seek :down +3 "storage"(S' +99 (P% +2 "core" %P B B O\ Yn +2 "manipulator"&;% +5 "core" %Q + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V' +91 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +53 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'0& +4 "core" & c a\ +2 "manipulator"&W% +4 "core" %   +2 "storage"(6% +4 "core" % Z [\  + "storage"(/. +4 "core" .(  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (1& +3 "core" & 4 5 h\ +2 "manipulator"&D& +4 "core" & T + .tElbow.seek 3 +2 "manipulator"&F( +16 "core" ( + "manipulator"&R& +5 "core" & D  + "storage"(b& +4 "core" & [ Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&N'7 +95 "core" ' + "storage"(K& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='r +298 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +3 "core" & b W \ \ + "manipulator"&O& +4 "core" & b  +2 .tElbow.seek 3 + "manipulator"&I( +4 "core" ( + "manipulator"&L& +4 "core" & x  +2 "storage"(>& +4 "core" & x q \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&m'ϡ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&^/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +3 "storage"(~' +7 "core" & {  + "manipulator"&X% +4 "core" % Ϡ  +2 .tForearm.seek :retract +2 "manipulator"&f' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&v(ӂ +156 "core" ( +3 "manipulator"&k& +4 "core" ' + &Ӓ%   >M + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b +2 "storage"(5 +3 "manipulator"&!& +4 "core" &Ӓ%   7 >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&h'? +93 "core" ' + "manipulator"&u& +4 "core" &ӓ%   I >L +2 "manipulator"&`% +4 "core" %9 S +2 "collection"'@& +4 "core" & b a\ +3 "collection"'_& +6 "core" & c c\ +4 .tCC.seek :closed + "collection"'i(\\ +3 "core" & b c\ +5 & b b\ 9 +9 &JIt a d\ 1 +10 &xs~ c b\ E +9 &] d d\ M +10 &U d e\ M +9 &U d c\ M +9 &fV d e\ M +10 &(T c c\ M +9 &U e d\ L +9 &U c d\ M +10 &mY d f\ M +9 &!1U d d\ L +9 &"U f c\ M +10 &$S e e\ M +9 &&wU d f\ L +10 &(8W e d\ M +9 &)W g f\ M +9 &+W f d\ M +10 &-~S d e\ M +9 &/@S f g\ M +9 &1R e f\ M +10 &2S f e\ M +9 &4U f f\ L +10 &6GX f f\ M +9 &8 U g f\ L +9 &9T g f\ M +10 &;W h h\ M +9 &=PR g f\ M +9 &?U k h\ M +10 &@X g i\ M +9 &BW i i\ M +10 &DT] l j\ N +9 &Fi o n\ O +9 &Gy r o\ Q +10 &I x u\ U +9 &K> { {\ X +9 &L z z\ Y +10 &N { y\ Z +9 &P x {\ Z +10 &RA | }\ Z +9 &S { {\ \\ +9 &U | {\ [ +10 &W z }\ ] +9 &Y> ~ |\ ^ +9 &[ { |\ ^ +10 &\\^N | |\ 9 +9 &\\ ~ }\ \\ +6 ( + "collection"'_& +4 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.10 + .Hand.open + "manipulator"&U1 +4 "core" &\\ | ~\ \\ +53 1 +2 "manipulator"&z% +4 "core" % 9   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t' +88 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%d& +4 "core" & \ + "manipulator"&]% +4 "core" %    +2 "storage"(y% +4 "core" % \  +2 "storage"(w. +3 "core" .( + "storage"(a& +4 "core" & -\ +2 "storage"(& +4 "core" &  (\ +2 "manipulator"&x& +3 "core" &Ӕ% g >K +2 "manipulator"&% +4 "core" %  Y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&T( +162 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(\ & +3 "core" & & &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&r'7 +94 "core" ' + "storage"(& +5 "core" & $  a\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'r +298 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  M\ +2 "manipulator"&q& +4 "core" & ?  + .tElbow.seek 3 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" &  #  + "storage"(& +4 "core" &  D\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&'ϡ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&+/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(' +7 "core" & a  +2 "manipulator"&% +4 "core" % ϕ _ +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' +2 .tElbow.seek PC + "manipulator"&|( +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&& +5 "core" & - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & ( - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&(' +90 "core" ' + "manipulator"& & +5 "core" & B - +2 "manipulator"&l% +3 "core" % C i +2 "processing"%& +4 "core" &?\ +2 "processing"%& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%e(^ +4 "core" &\  +9 &.u\ +z +9 &c\ ? +9 &hv\ P +10 &*U\ O +9 &V\ O +9 &X\ O +10 &pY\ O +9 &2UV\ O +10 &Y2\ P +9 &W\ P +9 & wY\ P +10 &":V\ O +9 &#U\ O +9 &%Y\ O +10 &'X\ O +9 &)BTl\ O +10 &+U\ O +9 &,Ui\ P +9 &.U6\ O +10 &0IT\ P +9 &2 Ye\ O +9 &3X\ O +10 &5Xh\ O +9 &7QY\ P +10 &9[\ O +9 &:U\ P +9 &<UD\ O +10 &>ZYE\ O +9 &@Yf\ O +9 &A`c\ P +10 &Cto\ S +9 &ER\ U +10 &G^\ U +9 &H_\ U +9 &Je\ V +10 &LVq\ V +9 &Nm\ W +9 &Oq\ W +10 &Qj\ W +9 &SZm\ X +10 &Ug\ X +9 &Vg\ W +9 &X`\ W +10 &Za`\ X +9 &\\#d\ X +9 &]q\ 8 +10 &^/}b\ V +9 &^.h\ 6 +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.67 + .Hand.open + "manipulator"&J1 +60 "core" 1 + "manipulator"&% +4 "core" %  < i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' + "processing"% & +4 "core" &^-\\\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&-% +4 "core" %  \ I  +2 "storage"(% +4 "core" % \  + "storage"(#. +3 "core" .( +2 "storage"( & +4 "core" &  \ + "storage"(.& +4 "manipulator"&p& +6 "core" & 3 j\ + &  _ - +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC + "storage"('r +2 "manipulator"&( +5 "core" ( + "manipulator"&}& +4 "core" &   - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  - +2 .tForearm.seek PC + "manipulator"&%' +92 "core" ' + .tHand.close + "manipulator"&j/ +62 "core" / + .tPC.seek :open +2 "processing"%4( +93 "core" ' + "storage"("- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'1 +40 "core" ' +313 ( + "storage"(C& +4 "core" &   $\ +2 "manipulator"&E& +3 "core" & - +2 "manipulator"&s% +4 "core" %  1 + .tForearm.seek :retract +2 "manipulator"&8' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&M( +246 "core" ( +2 "manipulator"&9& +4 "core" &  v  + "storage"(A& +4 "core" & +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&5'7 +98 "core" ' + .tHand.open +51 "manipulator"&o1 +56 "core" 1 + "storage"(2- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate +2 "storage"(7' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -1.22 Pucks below Top Plate + "storage"()' +58 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +2 "storage"(:& +4 "core" & \ S +2 "manipulator"&H& +3 "core" &   +2 .tElbow.seek 3 + "manipulator"&Z( +23 "core" ( + "manipulator"&[& +5 "core" &    + "storage"(B& +23 "core" &\ \  R\ U +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&?'7 +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.51 Pucks below Top Plate + "storage"( '" +53 "core" ' + "manipulator"&{& +5 "core" &   + "storage"(P& +5 "core" &  G\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&;'u +24 "core" ' +2 .tElbow.hold + "manipulator"&,, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(G' +30 "core" ' + "manipulator"&0% +5 "core" %~ 2 + "storage"(Q& +4 "core" &  W\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 309 counts + "manipulator"&$'Ϫ +16 "core" ' + "manipulator"&W& +5 "core" & T  +2 "storage"(6& +4 "core" & & &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&/'7 +17 "core" ' + "storage"(% +5 "core" % ' '\ +2 ."downElevator"SE.seek :down +4 "storage"(S' +99 (% +2 "core" %KG $ H\ Xi +2 "manipulator"&1% +4 "core" %5 J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D' +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (R& +4 "core" & V\ + "collection"'b& +4 "core" &\\ | ~\ \\ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&K% +4 "core" %  e  +2 "storage"(3% +4 "core" % & &\  + "storage"(V. +4 "core" .( + "storage"(\\& +4 "core" &  \ +2 "storage"(c& +3 "core" & % % O\ +2 "manipulator"&O& +4 "core" & M  +2 .tElbow.seek 3 + "manipulator"&L( +4 "core" ( + "manipulator"&>& +4 "core" & 8  +2 "storage"(^& +4 "core" & & # \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y'7 +95 "core" ' + "storage"(X& +5 "core" & & & 7\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'r +304 "core" ' + "storage"(N- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&k& +4 "core" & f  + "storage"(!& +4 "core" &  O\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&='u +14 "core" ' + .tElbow.hold + "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +2 .tSE.seek 0.17 Pucks below Top Plate +2 "storage"(`'| +28 "core" ' +2 "manipulator"&@% +4 "core" %΁ = @ + "storage"(I& +4 "core" &   \ \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 312 counts + "manipulator"&~'ϭ +15 "core" ' + "manipulator"&f& +5 "core" &   + "storage"('& +4 "core" & & &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&U'7 +17 "core" ' +4 .tSE.seek 1.17 Pucks below Top Plate +3 "storage"(z' +37 "core" ' +4 "manipulator"&d& +8 "core" & z  +4 "manipulator"&]% +8 "core" %4 +6 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&y' +90 "core" ' +5 .tElbow.seek CC +3 "manipulator"&w(ӂ +161 "core" ( +3 "manipulator"&a& +8 "core" &Ӑ%  >H +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +7 "core" &Ӑ%  >H +3 .tForearm.seek CC +3 "manipulator"&x'? +93 "core" ' +3 .tHand.close +3 "manipulator"&_/ +66 "core" / +4 .tCC.seek :open +3 "collection"'( +449 "core" ( +2 "storage"(h& +4 "core" & [ G 3\ +2 "storage"(& +3 "core" & : F \ +2 "manipulator"&\ & +4 "core" &Ӑ%   >H + "manipulator"&% +4 "core" % 9  C \\ +2 .tForearm.seek :retract + "manipulator"&v' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&t( +165 "core" ( + "manipulator"&*& +5 "core" &   + "storage"(& +4 "core" & b a "\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&q'u +98 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&+% +5 "core" % ΅ i + "storage"(& +4 "core" & T T R\ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&'ϱ +15 "core" ' +2 "manipulator"&T& +4 "core" &  +2 "storage"(r& +3 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&n'7 +16 "core" ' + "storage"(% +5 "core" % | \ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %@ 7 * 9\ Vb +2 "manipulator"& % +4 "core" %5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'l& +5 "core" & b c\ + "manipulator"&% +4 "core" %   +2 "storage"(% +4 "core" % [ Y\  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(g(,y +357 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +3 (J& +2 "core" &,x   \  +2 "manipulator"&& +4 "core" & #  + .tElbow.seek 4 +2 "manipulator"& ( +43 "core" ( + "manipulator"&-& +5 "core" & !  + "storage"(& +4 "core" &,x Y Y !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +93 "core" ' +2 "storage"( & +4 "core" &,x { 8\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +299 "core" ' + "storage"(p- +3 "core" -'" +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +2 "core" &,k ; U %\  +2 "manipulator"&}& +4 "core" & S  +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( + "manipulator"&(& +4 "core" & \\  +2 "storage"(j& +3 "core" &,k _ S `\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&"'c +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&|/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(e' +8 "core" & U  + "manipulator"&% +5 "core" % W  + .tForearm.seek :retract +2 "manipulator"&C' +90 "core" ' +2 .tElbow.seek CC + "manipulator"&E(ӂ +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +51 "manipulator"&s& +10 "core" &Ӓ$  =A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &Ӓ$ } =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&9'? +93 "core" ' +2 "manipulator"&A& +4 "core" &ӓ#   k <@ +2 "manipulator"&% +4 "core" %A \  S +2 "collection"'o& +5 "core" & c a\ +2 "collection"'2& +5 "core" & b c\ +2 .tCC.seek :closed + "collection"'8(\\ +5 "core" & b c\  +9 &3| a c\ +{ +9 &d} c c\ > +9 &p c d\ M +10 &IU b d\ M +9 & T d d\ L +9 &T c e\ M +10 &V c c\ M +9 &RW d e\ M +10 &Y c e\ M +9 &R d e\ M +9 & R d e\ M +10 &"ZR d e\ M +9 &$S e c\ L +9 &%W c c\ M +10 &'R e d\ M +9 &)cT e e\ L +9 &+#W f d\ M +10 &,R d f\ M +9 &.S f c\ M +10 &0kR e e\ L +9 &2,T g e\ M +9 &3W d d\ M +10 &5V f g\ M +9 &7rW f e\ M +9 &94W d f\ M +10 &:W h g\ M +9 &<W h g\ M +10 &>yU h f\ M +9 &@<T i h\ M +9 &A[ l h\ M +10 &C` m j\ N +9 &Ewu o n\ P +9 &G/ r p\ T +10 &H v s\ Y +9 &J t v\ Z +10 &La u v\ Z +9 &N! t w\ [ +9 &O u u\ [\ +10 &Q w x\ \\ +9 &Sb x w\ ] +12 &U! w w\ ^ +7 &V x z\ ^ +9 &X w y\ ` +10 &Zc x w\ _ +9 &\\\ } y x\ 8 +9 &\\$ x x\ *| +10 &\\ z {\ #f +2 ( + "collection"'2& +4 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.38 + .Hand.open + "manipulator"&&1 +57 "core" 1 +2 "manipulator"&:% +4 "core" % A   S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H' +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%[& +4 "core" &\ + "manipulator"&B% +4 "core" %    +2 "storage"({% +4 "core" % \  + "storage"(P. +3 "core" .(,y +2 "storage"(<& +4 "core" &,k $ -\  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(7(,y +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +3 "core" &,| \ +2 "manipulator"&Q& +3 "core" &ӓ# \ # <@ +2 "manipulator"&W% +4 "core" %    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&6( +167 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(M& +4 "core" &,| W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&5' +95 "core" ' + "storage"()& +5 "core" &,| & &\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +296 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (?& +4 "core" &,l  E\ + "manipulator"&Z& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"& ( +4 "core" ( + "manipulator"&;& +4 "core" &  + "storage"(R& +4 "core" &,l  o\ +2 .tForearm.seek 4 + 300 counts + "manipulator"&$'c +37 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +7 "storage"(3' +7 "core" &   + "manipulator"&V% +4 "core" % φ +2 .tForearm.seek :retract +2 "manipulator"&G' +90 "core" ' + .tElbow.seek PC +2 "manipulator"&\\( +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&c& +4 "core" &  \\ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &  s 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&>' +93 "core" ' +2 "manipulator"&^& +4 "core" & 8 +2 "manipulator"&/% +4 "core" % > +2 "processing"%X& +3 "core" &\ +2 "processing"%S& +6 "core" &\ +2 .tPC.seek :closed + "processing"%,(^ +4 "core" &\ +8 & .\ #b +9 &U}\ 7 +10 &}|\ L +13 &Y\ P +5 &QV\ O +10 &W\ O +9 &Z\ P +10 &W\ O +9 &YR\ O +9 &V\ O +10 &X\ O +9 &!S\ O +9 &#bV7\ O +10 &%"Y\ P +9 &&Vk\ P +9 &(YJ\ O +10 &*iSI\ O +9 &,+T\ O +10 &-T\ O +9 &/V\ P +9 &1pS/\ P +10 &32U\ P +9 &4W\ O +10 &6Tm\ P +9 &8xY\ \ P +9 &::X\ P +10 &;T5\ P +9 &=W\ O +9 &?Vg\ P +10 &AAVj\ P +9 &Cbt\ Q +10 &Djj\ R +9 &F|}m\ T +9 &H8q\ V +10 &Im\ V +9 &Ks\ V +9 &M{k\ W +10 &O>h\ V +9 &Ph\ X +9 &Rr\ W +10 &Ti\ X +9 &VEi\ W +10 &Xo\ W +9 &Ym\ X +9 &[s\ W +10 &]Kg\ K +9 &^yJg\ _ +9 &^ Wg\ 7 +6 ( + "processing"%S& +5 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&D1 +4 "core" &^0f\ 7 +51 1 + "manipulator"&N% +4 "core" % \  ! > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&k' +99 "core" ' + "processing"%!& +5 "core" &^0`\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&u% +4 "core" % !  + +2 "storage"(@% +3 "core" % \  +2 "storage"(I. +3 "core" .(,} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(f(,y +16 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +4 "core" &,{ \  + "manipulator"&d& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &  8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&]( + "storage"(Y'r +5 "core" ( + "manipulator"&L& +4 "core" &  8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &  a 8 +2 .tForearm.seek PC + "manipulator"&=' +94 "core" ' + .tHand.close + "manipulator"&~/ +55 "core" / +3 .tPC.seek :open + "processing"%`( +101 "core" ' + "storage"(a- +3 "core" -'r +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('1 +47 "core" ' +298 ( +2 "storage"(U& +4 "core" &,j   F\ " + "manipulator"&m& +4 "core" & 8 +2 "manipulator"&_% +3 "core" %   7 +2 .tForearm.seek :retract +2 "manipulator"&y' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&i( +255 "core" ( + "manipulator"&h& +4 "core" &  l  +2 "storage"(& +4 "core" &,j  d\ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&\ ' +90 "core" ' + .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(*- +4 "core" -'1 +2 .tSE.seek -0.26 Pucks below Top Plate + "storage"(' +36 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -1.22 Pucks below Top Plate +2 "storage"(x' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(w- +4 "core" -' + "storage"(& +4 "core" &,j ~ p\ o" +2 "manipulator"&+& +4 "core" & \   +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( + "manipulator"&T& +4 "core" &    +2 "storage"(r& +4 "core" &,j \ o" +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.51 Pucks below Top Plate + "storage"(v'" +59 "core" ' + "manipulator"&& +4 "core" & #  +2 "storage"( & +4 "core" &,j   \ " +2 .tElbow.reconfigure :limp + "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&t'7 +21 "core" ' + .tElbow.hold + "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.32 Pucks below Top Plate +2 "storage"(l' +28 "core" ' +2 "manipulator"&% +4 "core" %4  +2 "storage"(& +4 "core" &,j  9\ " + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 297 counts + "manipulator"&'` +14 "core" ' + "manipulator"&& +56 "core" & d  +2 "storage"(z& +4 "core" &,j "\ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&n' +15 "core" ' + "storage"(% +5 "core" %  % \ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (J% +3 "core" %gC \ Xh +2 "manipulator"&% +5 "core" %  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +89 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +2 (& +5 "core" &,j 1\ " + "collection"' & +5 "core" &\\ { y\ #f + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %  ]  +2 "storage"( % +4 "core" % @\  +2 "storage"(p. +3 "core" .(,y + "storage"(.& +4 "core" &,j >\ " +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(}(,y +30 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 ((& +3 "core" &,}  \ +2 "manipulator"&j& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&|( +3 "core" ( + "manipulator"&& +4 "core" & m  +2 "storage"(& +4 "core" &,} T\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +93 "core" ' + "storage"(#& +5 "core" &,} & &\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak + "storage"(s'r +299 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +2 "core" & \\  +2 "storage"(%& +4 "core" &,l  ;\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'7 +23 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.16 Pucks below Top Plate +2 "storage"(o'l +29 "core" ' +2 "manipulator"&e% +4 "core" %9 + "storage"(C& +4 "core" &,l  <\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 302 counts + "manipulator"&'e +13 "core" ' +2 "manipulator"&&& +4 "core" & @  +2 "storage"(:& +4 "core" &,l  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&[' +16 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate + "storage"(B' +35 "core" ' +2 "manipulator"&{& +4 "core" & A  +2 "manipulator"&P% +4 "core" % F +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<' +89 "core" ' + .tElbow.seek CC +2 "manipulator"&2(ӂ +156 "core" ( + "manipulator"&0& +4 "core" &ӏ%  8 >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &ӏ% p >J +2 .tForearm.seek CC + "manipulator"&W'? +91 "core" ' + .tHand.close + "manipulator"&9/ +54 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( +2 "storage"(M& +4 "core" &,l A B \ +2 "storage"(g& +3 "core" &,l A C \ +2 "manipulator"&)& +8 "core" &ӏ%  E >J +2 "manipulator"&E% +4 "core" % M E [ + .tForearm.seek :retract +2 "manipulator"&H' +91 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&1( +163 "core" ( + "manipulator"&?& +5 "core" & y  + "storage"(Z& +4 "core" &,l X U k\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&;'7 +98 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&b1 +52 "core" 1 +2 "manipulator"&K% +4 "core" % F   + "storage"(V& +4 "core" &,l X Y \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 315 counts + "manipulator"&6'r +14 "core" ' +2 "manipulator"&5& +4 "core" & 4  +2 "storage"(& +4 "core" &,l _ c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&$' +20 "core" ' + "storage"(c% +5 "core" % [ _\ +2 ."downElevator"SE.seek :down +3 "storage"(O' +99 ( % +3 "core" %bG @ 9 M\ Wc +2 "manipulator"&^% +4 "core" % + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/' +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +1526 #t-> exit +5 #mEXIT @1635771101.89UTC @1635786376.28UTC = =tMAIN =mMAIN_scheduler @UTC1635786378.07 #"core_reset"Sent BREAK + #t@53571 select with ifg=0x10, ie=0xF5 + #@54206 receive with ifg=0x10, ie=0xFD + #@54841 receive with ifg=0x10, ie=0xFD + #@55476 receive with ifg=0x10, ie=0xFD + #@55803 receive with ifg=0x80, ie=0xFD #@5378 sendCRC with ifg=0x20, ie=0x7F + #@5826 sendCRC with ifg=0x20, ie=0x7F #@7416 sendCRC with ifg=0x08, ie=0x5F + #@58923 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can"\ >< + \ >< #tPolling Can every 10:00 +14 #Cleanly exited at 12:51:41UTC01-Nov-21 +425 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %e - /6\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؿ\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ u\ / + .tSS.configure :default +3 "sampler")#.0X B \  +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tCH.coast +2 "collection"'  +2 "core" + .tCH.configure :default +2 "collection"'\ 2 +2 .tPH.coast + "processing"%  +3 "core" + .tPH.configure :default +2 "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +3 "core" %e . -$\ +2 "sampler")% +2 "processing"%% +4 "manipulator"&% +7 "core" %څ {\ / + %ؿ(\ + %  +  + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &,m( > > =\  + "storage"(% +3 "core" % K L \  +2 "collection"'& +4 "core" & - .C\ + "processing"%& +3 "core" &K\ +2 "collection"' +3 "core"  +2 "collection"'  +3 "core"  + "collection"'! +3 "core"  +2 "processing"%" +3 "core"  +2 "processing"%# +2 "core" V +2 "processing"%$ +3 "core"  +2 "processing"%% +3 "core" A +2 "sampler")& +3 "core"  + "collection"''% +4 "core" %e - -#\ +2 "processing"%(% +4 "core" %ؿ\ + "sampler"))% +4 "core" %څ r\ / +2 "collection"'*& +3 "core" & 0 .\ +2 "processing"%+& +4 "core" &3\ + "manipulator"&,% +4 "core" %    + "manipulator"&-& +4 "core" & q  +2 "storage"(.& +4 "core" &,m( A > \  + "storage"(/% +4 "core" % > > \  +2 "collection"'09 +3 "core" 9k + "processing"%19 +3 "core" 9 +1037 #t-> access 2 +3 "storage"(2% +3 "core" % < H L\  +2 "manipulator"&3% +4 "core" %   + "manipulator"&4& +4 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(5(K +693 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +3 "core" &K \ +807 #t-> access 3 +3 "storage"(7% +3 "core" % \  + "manipulator"&8% +4 "core" %    +2 "manipulator"&9& +3 "core" &  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(:([ +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &[ e e 8\ +675 #t-> access 4 +2 "storage"(<% +4 "core" % $\  + "manipulator"&=% +4 "core" %  "  +2 "manipulator"&>& +4 "core" & M  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(?(C +1931 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (@& +3 "core" &A [ g w\ +53366 "Can"\ =; +60001 \ =: +38107 #t-> exit +6 #mEXIT @1635787965.03UTC @1635787985.24UTC = =tMAIN =mMAIN_scheduler @UTC1635787987.14 #"core_reset"Sent BREAK + #t@25542 receive with ifg=0x10, ie=0xFD + #@26175 receive with ifg=0x10, ie=0xFD + #@26894 receive with ifg=0x10, ie=0xFD + #@27527 receive with ifg=0x10, ie=0xFD #@28160 receive with ifg=0x10, ie=0xFD + #@28793 receive with ifg=0x10, ie=0xFD #@29425 receive with ifg=0x10, ie=0xFD + #@29751 receive with ifg=0x80, ie=0xFD + #@27705 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +296 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +389 "Can"\ ?< + \ ?< + #tPolling Can every 10:00 +2 #Cleanly exited at 17:32:45UTC01-Nov-21 +33097 #-> ifconfig +1940 #-> su root +2 !o:NoMethodError : mesg"+undefined method `su' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +799 #-> exit +3 #mEXIT @1635788352.62UTC @1635791317.97UTC = =mMAIN_scheduler =tMAIN @UTC1635791319.86 #"core_reset"Sent BREAK +2 #t@41371 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +387 "Can"T\ l + T\ l + #tPolling Can every 10:00 +2 #Cleanly exited at 17:39:12UTC01-Nov-21 +681 #-> ESP.ready! +3 #Powering core bus +541 .Gate.power :raw,:ON +2 "sampler") +12 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %  \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % }\ +2 .tSS.configure :default +2 "sampler")#.0X require 'PrimeReagent.rb' +1418 #-> primeCSRkill +2 #**Prepare to clean and prime CSR kill reagent** + .CSV.dial :air +2 "collection"'; @ +70 "core" B + .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'<'i +3 "core" ' + .tCSV.dial CSR +2 "collection"'=  +68 "core"  +2 .tCSR.select :kill +2 "collection"' +9 #tAwaiting answer to "**Disinfect and attach CSR kill fluidic line to ESP sipper tube, submerge end of ESP sipper tube into Sigma water** " +18332 .CS.seek 10ml +2 "collection"'>' +2644 "core" ' + .tCSV.dial :waste1 +2 "collection"'? +125 "core" +2 .tCS.seek 0ml +2 "collection"'@'i +2630 "core" ' + .tCSV.dial CSR +2 "collection"'A  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'B' +2640 "core" ' + .tCSV.dial :waste1 +2 "collection"'C +125 "core" +2 .tCS.seek 0ml +2 "collection"'D'i +2633 "core" ' +2 .tCSV.dial CSR +2 "collection"'E  +217 "core"  +41 .tCS.seek 10ml +2 "collection"'F' +2655 "core" ' + .tCSV.dial :waste1 +2 "collection"'G +125 "core" +2 .tCS.seek 0ml +2 "collection"'H'i +2637 "core" ' + .tCSV.dial CSR +2 "collection"'I  +125 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +642 "collection"'J% +3 "core" %c  q\ +2 .tCS.seek 0.499ml +2 "collection"'K'^ +215 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into 70/30 mixture of Ethanol/Sigma water** " +802 .CS.seek 10ml +2 "collection"'L' +2532 "core" ' +2 .tCSV.dial :waste2 + "collection"'M +53 "core"  +2 .tCS.seek 0ml +2 "collection"'N'i +2631 "core" ' + .tCSV.dial CSR +2 "collection"'O  +40 "core"  +2 .tCS.seek 10ml +2 "collection"'P' +2656 "core" ' + .tCSV.dial :waste2 +2 "collection"'Q +42 "core"  +2 .tCS.seek 0ml +2 "collection"'R'i +2632 "core" ' + .tCSV.dial CSR +2 "collection"'S  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'T' +2632 "core" ' + .tCSV.dial :waste2 +2 "collection"'U +42 "core"  +2 .tCS.seek 0ml +2 "collection"'V'i +2234 "Can"F\ >; +398 "core" ' +2 .tCSV.dial CSR + "collection"'W  +43 "core"  + #tAwaiting answer to "**Remove ESP sipper tube from 70/30 mixture holding in air, introduce 0.5 mL of air into fluidic line** " +3994 "collection"'X% +3 "core" %k  s\ +2 .tCS.seek 0.5ml +2 "collection"'Y'f +215 "core" ' + #tAwaiting answer to "**Submerge end of ESP sipper tube into Sigma water** " +763 .CS.seek 10ml + "collection"'Z' +2519 "core" ' +2 .tCSV.dial :waste1 +2 "collection"'[ +124 "core" +2 .tCS.seek 0ml +2 "collection"'\\'i +2640 "core" ' + .tCSV.dial CSR +2 "collection"']  +127 "core"  +2 .tCS.seek 10ml + "collection"'^' +2645 "core" ' + .tCSV.dial :waste1 +2 "collection"'_ +125 "core" +2 .tCS.seek 0ml +2 "collection"'`'i +2652 "core" ' +2 .tCSV.dial CSR + "collection"'a  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'b' +2653 "core" ' + .tCSV.dial :waste1 +2 "collection"'c +125 "core" +2 .tCS.seek 0ml + "collection"'d'i +2637 "core" ' +2 .tCSV.dial CSR + "collection"'e  +127 "core"  +2 #tAwaiting answer to "**Remove ESP sipper tube from Sigma water holding in air, introduce 0.5 mL of air into fluidic line** " +580 "collection"'f% +3 "core" %c  \ +2 .tCS.seek 0.499ml +2 "collection"'g'^ +216 "core" ' + #t**Prepare to connect reagent bag to ESP fluidic line** + #Awaiting answer to "**Disinfect reagent bag connection, remove ESP sipper tube from reagent line and disinfect end connection of reagent line** " +37233 "Can">\ <: +7484 #tAwaiting answer to "**Connect reagent bag to ESP reagent fluidic line, release clip on bag and agitate to remove air bubbles** " +3984 #**Priming reagent line** +2 "collection"'h% +2 "core" %a *\  +3 .tCS.seek 5.5ml + "collection"'i'- +1353 "core" ' +2 .tCSV.dial :waste1 + "collection"'j +126 "core" +2 .tCS.seek 0ml + "collection"'k'i +1484 "core" ' + #t**Flush clean and air out CSR manifold** + .CSR.select :flush +2 "collection"' +9 .tCSV.dial CSR +2 "collection"'l  +126 "core"  + "collection"'m% +4 "core" %g \ +2 .tCS.seek 5ml +2 "collection"'n's3 +1381 "core" ' +2 .tCSV.dial :waste1 + "collection"'o +125 "core" +2 .tCS.seek 0ml +2 "collection"'p'i +1359 "core" ' + .tCSR.select :air +2 "collection"' +9 .tCSV.dial CSR +2 "collection"'q  +125 "core"  +2 .tCS.seek 10ml +2 "collection"'r' +2635 "core" ' + .tCSV.dial :waste1 +2 "collection"'s +125 "core" +2 .tCS.seek 0ml +2 "collection"'t'i +2634 "core" ' + #t**SUCCESSFULLY PRIMED CSR KILL REAGENT** +20233 #-> exit +5 #mEXIT @1635792963.61UTC @1635793456.72UTC = =tMAIN =mMAIN_scheduler @UTC1635793458.52 #"core_reset"Sent BREAK +2 #t@39614 sendCRC with ifg=0x20, ie=0x7F + #@41448 sendCRC with ifg=0x08, ie=0x5F + #@1223 idle with ifg=0x84, ie=0x75 #@1908 select with ifg=0x10, ie=0xF5 + #@2557 receive with ifg=0x10, ie=0xFD + #@3205 receive with ifg=0x10, ie=0xFD #@3853 receive with ifg=0x10, ie=0xFD + #@4180 receive with ifg=0x80, ie=0xFD #@15822 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +275 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can"-\ >; + -\ >; + #tPolling Can every 10:00 +2 #Cleanly exited at 18:56:03UTC01-Nov-21 @1635793668.43UTC = =mMAIN_scheduler =tMAIN @UTC1635793670.37 #"core_reset"Sent BREAK +2 #t@44132 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +291 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +401 "Can"+\ !o + +\ !o + #tPolling Can every 10:00 +3 #Cleanly exited at 19:04:25UTC01-Nov-21 +1051 #-> ESP.ready! +4 #Powering core bus +558 .Gate.power :raw,:ON +2 "sampler") +40 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %  y\ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % ~ {\ + .tSS.configure :default +3 "sampler")#.0XRESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +295 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +403 "Can")\ !o + )\ !o #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"6Invalid entry in line 8 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +271 #-> exit +4 #mEXIT @1635793825.88UTC @1635794063.70UTC = =tMAIN =mMAIN_scheduler @UTC1635794065.59 #"core_reset"Sent BREAK +2 #t@13853 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +291 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +389 "Can"\ "z + \ "z + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"6Invalid entry in line 8 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Storage::Warning: mesg"6Invalid entry in line 9 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 19:10:25UTC01-Nov-21 +1461 #-> exit +4 #mEXIT @1635794087.24UTC @1635961072.33UTC = =mMAIN_scheduler =tMAIN @UTC1635961074.10 #"core_reset"Sent BREAK +2 #t@13851 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +275 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +380 "Can"\ !r + \ !r #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"6Invalid entry in line 8 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Storage::Warning: mesg"6Invalid entry in line 9 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 19:14:47UTC01-Nov-21 +468 #-> ESP.ready! +3 #Powering core bus +572 .Gate.power :raw,:ON + "sampler") +44 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %;\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % \ +2 .tSS.configure :default +2 "sampler")#.0X access 12 + "storage"(;% +3 "core" % \ . +2 "manipulator"&<% +4 "core" %  h  + "manipulator"&=& +4 "core" & 2 " +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(>(  +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +2 "core" &  W\ +49789 #t-> access 2 + "storage"(@% +3 "core" % Y ` \ . +2 "manipulator"&A% +4 "core" %  Q  +2 "manipulator"&B& +3 "core" & \ " +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(C(K +1306 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +2 "core" &K ) * 8\  +3444 "Can"\ @= +60001 \ A= @1636130273.64UTC = =tMAIN =mMAIN_scheduler @UTC1636130275.62 #"core_reset"Sent BREAK +3 #t@13856 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +300 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +410 "Can" !z +  !z #tPolling Can every 10:00 +529 #-> ESP.ready! +2 #Powering core bus +579 .Gate.power :raw,:ON +2 "sampler") +22 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %nl\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +4 "core" %\ + .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(;% +3 "core" %$\  "\ D +2 "manipulator"&<% +4 "core" %     + "manipulator"&=& +4 "core" & G  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &K =\  +44248 #t-> access 3 +2 "storage"(@% +3 "core" %$ \ D + "manipulator"&A% +4 "core" %    +2 "manipulator"&B& +4 "core" &  {  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(C([ +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +3 "core" &[ \  +11045 "Can"\ B@ +60002 \ B? +33189 #t-> access 4 + "storage"(E% +3 "core" %$\ \ \ D +2 "manipulator"&F% +4 "core" %   p  +2 "manipulator"&G& +3 "core" &  3  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(H(C +1927 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (I& +3 "core" &F \ +24853 "Can"\ A? +60001 \ B? +17135 #t-> access 5 +2 "storage"(J% +3 "core" %$ \ \ D +2 "manipulator"&K% +4 "core" %    ;  + "manipulator"&L& +5 "core" & \   + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(M(  +362 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +2 "core" &  \  +42472 "Can"\ B@ +55136 #t-> access 6 +2 "storage"(O% +3 "core" %! ]\ C + "manipulator"&P% +4 "core" %  p  +2 "manipulator"&Q& +3 "core" &  M  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(R( +347 "core" ( +42 .tSC.configure :limp +2 "storage"($\ 1b +2 (S& +3 "core" & )\ \ +4446 "Can"\ A> +60001 \ A> +30263 #t-> access 7 +2 "storage"(T% +3 "core" % \  ^\ C +2 "manipulator"&U% +4 "core" %  j  +2 "manipulator"&V& +3 "core" & |  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(W(,y +375 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +2 "core" &,x\  )\ +29331 "Can"\ A> +60001 \ B? +2844 #t-> access 6 +2 "storage"(Y% +3 "core" %! \ C +2 "manipulator"&Z% +4 "core" %   ~  + "manipulator"&[& +5 "core" & C  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\\( +360 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" & \ \ +506 #t-> access 5 +2 "storage"(^% +3 "core" %!\  Y\ C + "manipulator"&_% +4 "core" %   d  +2 "manipulator"&`& +3 "core" & A  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(a(  +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" &  U\ +855 #t-> access 4 + "storage"(c% +3 "core" %!\  \ C +2 "manipulator"&d% +4 "core" %    +2 "manipulator"&e& +3 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(f(C +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (g& +3 "core" &D \ +952 #t-> access 3 +2 "storage"(h% +4 "core" %!\ \ C + "manipulator"&i% +4 "core" %  M  +2 "manipulator"&j& +3 "core" & D  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(k([ +1932 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +2 "core" &[ 2\  +638 #t-> access 2 +2 "storage"(m% +3 "core" % \\\ C +2 "manipulator"&n% +4 "core" %  O  + "manipulator"&o& +4 "core" & \ ?  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(p(K +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +2 "core" &K ;\ +476 #t-> access 1 +2 "storage"(r% +3 "core" %! S\ C + "manipulator"&s% +4 "core" %   ]  +2 "manipulator"&t& +3 "core" &  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(u(<- +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (v& +3 "core" &<. \ +49823 "Can"\ B? @1636377720.17UTC = =tMAIN =mMAIN_scheduler @UTC1636377722.10 #"core_reset"Sent BREAK +2 #t@20114 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +307 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +398 "Can"\ !y + \ !y #tPolling Can every 10:00 +16858 #-> Can +2233 #-> ESP.ready! +3 #Powering core bus +533 .Gate.power :raw,:ON +2 "sampler") +53 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" %mn\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ +2 .tSS.configure :default +2 "sampler")#.0X purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"';& +3 "core" &moY\  +2 .tHand.open + "manipulator"&<1 +52 "core" 1 +2 "manipulator"&=& +4 "core" &   $ 8 + "manipulator"&>% +4 "core" %     +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(- +173 "core" ( +2 "manipulator"&@& +4 "core" &-  @ E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &-  E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&B'w +101 "core" ' + .tHand.close + "manipulator"&C/ +57 "core" / +2 "manipulator"&D& +4 "core" &-   I E + "manipulator"&E% +4 "core" % ψ  ` } +2 .tForearm.seek :retract +2 "manipulator"&F' +106 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&G(ӂ +286 "core" ( +2 "manipulator"&H& +4 "core" &ӑ(  ` @[ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &ӑ(   @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'? +94 "core" ' + "manipulator"&K& +5 "core" &ӧ$  0 =E + "manipulator"&L% +4 "core" %E d 4 +2 "collection"'M& +3 "core" &nqb\  +3 "collection"'N& +5 "core" &pp \  +2 .tCC.seek :closed +2 "collection"'O(\\ +4 "core" &mqa\  +9 &5}qoa\ +} +9 &frrb\ @ +10 &epopk\ O +9 &)Xoqh\ N +9 &Xqrb\ M +10 &[pri\ N +9 &nYqth\ N +10 &0Zoqh\ N +9 &Zprb\ N +9 &Zqtk\ N +10 & wYoqh\ N +9 &":XqsZ\ N +9 &#Yssf\ N +10 &%Xprh\ N +9 &'Xqq\ N +10 &)BVpt~\ N +9 &+Vpsm\ N +9 &,Wrr\ M +10 &.Ysr\ N +9 &0JZpt\ N +9 &2 \\rrh\ N +10 &3Xqt~\ N +9 &5Wst\ M +10 &7SYst\ M +9 &9Ytt\ N +9 &:\\rv\ N +10 &<Vsv\ N +44 &>[Yvv\ M +10 &@Yvv\ N + &AZxy\ N +2 &Cd||\ O +4 &EU\ R + &G \ V +3 &H\ X +10 &J\ Y +9 &LH\ Y +9 &N \ Z +10 &O\ Z +9 &Q\ Z +10 &SK\ [\ +9 &U m\ \\ +9 &V\ \\ +10 &X\ ] +9 &ZJ\ ^ +9 &[y\ C +10 &\\#\ / +9 &\\\ [ +3 ( + "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.27 + "collection"'P& +5 "core" &\\~\ [ + .tHand.open + "manipulator"&Q1 +58 "core" 1 +2 "manipulator"&R% +4 "core" % E  _ 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S' +92 "core" ' +3 #tPurging external Intake + "collection"'T& +4 "core" &\\~\ [ +2 "collection"'U% +4 "core" %i\ + .tCSV.dial :flush +2 "collection"'V  +41 "core"  +2 .tCS.seek 10ml +2 "collection"'W' +2493 "core" ' + .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'X + 'Y  +6 "core"  +66 ~ + .tCTV.dial :intake +2 "collection"'Z  +78 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'['i +2387 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'\\  +77 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&]& +4 "core" &ӧ#   . =E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&^(ӂ +20 "core" ( + "manipulator"&_& +4 "core" &Ӄ   ! + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &Ӄ  t + +2 .tForearm.seek CC +2 "manipulator"&a'? +97 "core" ' +2 .tHand.close + "manipulator"&b/ +55 "core" / +2 .tCC.seek :open + "collection"'c( +451 "core" ( +2 "manipulator"&d& +4 "core" &Ӄ  E + + "manipulator"&e% +4 "core" % )   , +2 .tForearm.seek :retract + "manipulator"&f' +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&g(- +280 "core" ( + "manipulator"&h& +4 "core" &-   D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &-  ` D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&j'w +95 "core" ' +2 .tHand.open + "manipulator"&k1 +60 "core" 1 + "manipulator"&l% +4 "core" % p  ) T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m' +93 "core" ' +9021 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'n& +4 "core" &cc2\ + "manipulator"&o& +5 "core" &- \  D + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&p(- +3 "core" ( + "manipulator"&q& +4 "core" &-  m D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &- \ % D +2 .tForearm.seek :garage +2 "manipulator"&s'w +101 "core" ' + .tHand.close + "manipulator"&t/ +52 "core" / +2 "manipulator"&u& +4 "core" &-   8 D +2 "manipulator"&v% +3 "core" % ~   I +2 .tForearm.seek :retract +2 "manipulator"&w' +103 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&x(ӂ +278 "core" ( + "manipulator"&y& +4 "core" &|.   X E~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +2 "core" &|.   S E~ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'? +88 "core" ' +2 "manipulator"&|& +4 "core" &}.   s E} +2 "manipulator"&}% +4 "core" %H   k +2 "collection"'~& +3 "core" &bcs\ +2 "collection"'& +5 "core" &dev\ +2 .tCC.seek :closed +3 "collection"'(\\ +3 "core" &adw\ +7 &4bdp\ $d +9 &Tzbc|\ 7 +9 &{cd{\ L +10 &Ybdm\ N +9 &]Scap\ M +9 &Wbdj\ N +10 &Zdcj\ N +9 &Ubcs\ N +9 &eUdck\ M +10 &&Wddj\ N +9 &Ydcl\ N +10 &!Zdco\ N +9 &#lZcen\ N +9 &%.Tadl\ N +10 &&Vdfe\ M +9 &(Wcck\ N +9 &*tYadl\ N +10 &,6Xedo\ N +9 &-Xbdz\ M +9 &/Ucfk\ M +10 &1|Zeck\ N +10 &3=Wfe]\ N +9 &5Ucec\ M +9 &6Xedn\ N +9 &8Xcdv\ M +10 &:GUcdf\ M +9 &< Uddf\ M +10 &=Yddh\ N +9 &?Thft\ M +9 &ANWggt\ N +10 &C_hgt\ N +9 &Dqiid\ Q +10 &Fomv\ T +9 &H7sru\ X +9 &Irrk\ Z +10 &Ktsy\ [\ +9 &Msttm\ \\ +9 &O7rrt\ [\ +10 &Pttn\ \\ +9 &Rssq\ ] +9 &Twttm\ ] +10 &V7tst\ ^ +9 &Wtsn\ ^ +10 &Yuti\ _ +9 &[wtts\ L +9 &\\>vso\ . +10 &\\tup\ _ +5 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.37 + "collection"'& +4 "core" &\\uvs\ _ + &\\vvt\ _ +2 .tHand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&% +4 "core" % H   m k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +98 "core" ' + #tPurging external Intake +2 "collection"'& +4 "core" &\\tvs\ _ + "collection"'% +4 "core" %ltv3\ +2 .tCSV.dial :flush + "collection"'  +83 "core" +2 .tCS.seek 10ml +2 "collection"' ' +2488 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'\ +71 "core" ~ + .tCTV.dial :intake +2 "collection"'  +76 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"' 'i +2399 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +76 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &,   D{ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&(ӂ +3 "core" ( + "manipulator"&& +4 "core" &,   D{ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &,  S D{ +3 .tForearm.seek CC + "manipulator"&'? +98 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +3 .tCC.seek :open + "collection"'( +451 "core" ( + "manipulator"&& +4 "core" &Ӏ-   Dz + "manipulator"&% +4 "core" % B   ! +2 .tForearm.seek :retract + "manipulator"&' +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(- +293 "core" ( + "manipulator"&& +4 "core" &-    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&'w +103 "core" ' +2 .tHand.open + "manipulator"&"1 +59 "core" 1 +2 "manipulator"&%% +4 "core" % q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'' +94 "core" ' +7315 #t-> exit +5 #mEXIT @1636378323.67UTC @1636378473.76UTC = =mMAIN_scheduler =tMAIN @UTC1636378475.60 #"core_reset"Sent BREAK +2 #t@20248 sendCRC with ifg=0x20, ie=0x7F + #@22083 sendCRC with ifg=0x08, ie=0x5F #@49535 idle with ifg=0x84, ie=0x75 + #@50205 select with ifg=0x10, ie=0xF5 + #@50838 receive with ifg=0x10, ie=0xFD #@51470 receive with ifg=0x10, ie=0xFD + #@52103 receive with ifg=0x10, ie=0xFD + #@52430 receive with ifg=0x80, ie=0xFD #@2826 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +263 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +374 "Can"\ @= + \ @= + #tPolling Can every 10:00 + #Cleanly exited at 13:32:03UTC08-Nov-21 +3 #Loading /home/esp/esp2/mission/DA_WCR_110821.rb mission +5 ."Qmail"GoodNews.email "Starting DA_WCR_110821 w/pucks in tube 2\\n{}\\nCTD data unavailable\\nCan@13:34:42, 16% flow, 20.7C, 13% humidity, 15.1psia, 13.510V, 0.309A, 0.290A avg, 4.17W",Subject: "DA_WCR_110821 begun" +38 #tPreparing to sleep until + 00:00:05 +3 #Asleep til + 00:00:05 +2 #Continuing at 13:34 +2 "Can"\ @= +26 ."shutdown"Gate.power :raw,:OFF + .Gate.power :core,:OFF + #Shutdown +297 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [100, 100] #da and wsr are run simultanelously\\n/home/esp/esp2/mission/DA_WCR_110821.rb:14\\n{1 => 0,\\n 2 => 33,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@13:34:42, 16% flow, 20.7C, 13% humidity, 15.1psia, 13.510V, 0.309A, 0.290A avg, 4.17W",Subject: "Asleep until 13:34" +125 "Can"\ p +4 #tPowering core bus +568 .Gate.power :raw,:ON +2 "sampler") +21 ) +4 "core"  +5 "collection"' +4 ' +5 "core"  +4 "processing"% +4 % +9 "core"  +9 "collection"' 9\ +4 ' 0\ +3 ' -\ +8 "processing"% 9\ +5 % 2\ +4 % *\ +3 % 0\ +8 "sampler")&\ +4 "collection"'% +6 "core" %ee\ +4 .tCS.configure :default +3 "collection"'#P d@b +4 "processing"%% +8 "core" %D\ +3 .tPS.configure :default +4 "processing"%#A d`xb +5 "sampler")% +11 "core" % C\ +4 .tSS.configure :default +3 "sampler")#.0X 0,\\n 2 => 33,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@13:35:28, 16% flow, 20.8C, 13% humidity, 15.1psia, 13.496V, 0.339A, 0.321A avg, 4.57W",Subject: "Started DA_WCR_110821 phase initialPurge; da [100, 100] #da and wsr are run simultanelously" +3 #tStarting initialPurge +4 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +5 "collection"'+& +10 "core" &cd\  +3 .tHand.open +2 "manipulator"&,1 +66 "core" 1 +2 "manipulator"&-& +9 "core" & \  9 . +3 "manipulator"&.% +7 "core" %    2  +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +8 .tElbow.seek FlushPuck::Garage +3 "manipulator"&/(- +176 "core" ( +3 "manipulator"&0& +10 "core" &-   9 +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &1& +4 "core" &-   9 +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +13 .tForearm.seek :garage +4 "manipulator"&2'w +92 "core" ' +4 .tHand.close +2 "manipulator"&3/ +56 "core" / +3 "manipulator"&4& +12 "core" &-   ] 9 +3 "manipulator"&5% +7 "core" % u   . +4 .tForearm.seek :retract +3 "manipulator"&6' +97 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +8 .tElbow.seek CC +3 "manipulator"&7(ӂ +285 "core" ( +3 "manipulator"&8& +8 "core" &ӝ  r :, +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &9& +11 "core" &ӝ \  :, +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +3 "manipulator"&:'? +105 "core" ' +3 "manipulator"&;& +8 "core" &ӝ  + :, +4 "manipulator"&<% +7 "core" %K  +3 "collection"'=& +12 "core" &ce\  +4 "collection"'>& +9 "core" &ce\  +4 &dd\  +4 .tCC.seek :closed +5 "collection"'?(\\ +6 "core" &ee\  +9 &de\ = +6 &Jxee\ 1 +8 &;sec\ E +9 &`eb\ N +12 &Uce\ N +7 &dUfe\ N +9 &&Wdf\ N +9 &Ucf\ N +10 &Ucd\ N +8 &lWbc\ N +11 &-Yfd\ N +11 & Ugc\ N +6 &"Vee\ N +11 &$sYcd\ N +9 &&6Ude\ N +10 &'Tff\ N +9 &)Udd\ N +8 &+|Tee\ N +13 &->Vee\ N +7 &.Wcd\ N +9 &0Tbe\ N +13 &2Tdf\ N +6 &4FWce\ N +9 &6Sdf\ N +10 &7Uef\ M +12 &9Udg\ N +7 &;NXee\ N +9 &=Sgd\ N +9 &>Vef\ M +9 &@Vgf\ N +10 &BUZjh\ N +9 &Djlm\ P +13 &E`l\ R +6 &Gfb\ X +10 &I;ih\ Z +9 &Jmk\ Z +10 &Loo\ [ +9 &N~nq\ [ +9 &P>qn\ [ +12 &Rqr\ [ +7 &Srs\ ] +8 &Ust\ ] +10 &W?tv\ ^ +9 &Xut\ _ +10 &Zww\ _ +10 &\\@fww\ 5 +10 &\\wx\ #k +7 ( +6 "collection"'>& +8 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.30 +2 "collection"'@& +8 "core" &\\ww\ !a +3 &\\xy\ !a +4 &\\yy\ !a +2 .tHand.open +2 "manipulator"&A1 +57 "core" 1 +3 "manipulator"&B% +11 "core" % K \ 6 +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&C' +95 "core" ' +3 #tFlushing the Collection Valve::Manifold +2 "collection"'D& +12 "core" &\\zz\ !a +3 "collection"'E% +8 "core" %cyz\ +2 .tCSV.dial CSR +3 "collection"'F  +140 "core"  +7 "collection"'G% +8 "core" %czz\ +3 #tPulling 5ml of CSR.flush + .CSR.select :flush +4 "collection"' +13 .tCS.reconfigure :default +3 "collection"'#P d@b +8 .tCS.seek 5ml +2 "collection"'H's5 +1358 "core" ' +3 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +11 'I% +6 "core" %s8zx\ \ +4 .tCS.reconfigure :fast +4 "collection"'#d @b +4 .tCS.seek 7.5ml +2 "collection"'J' +688 "core" ' +3 .tCSV.dial :waste +2 "collection"'K +129 "core" +4 .tCS.reconfigure :default +3 "collection"'#P d@b +4 .tCS.seek 0ml +2 "collection"'L'i +1996 "core" ' +12 #tPurging external Intake +2 "collection"'M& +8 "core" &\\xx\ !a +2 "collection"'N% +8 "core" %mxx\ +2 .tCSV.dial :flush +3 "collection"'O  +43 "core"  +4 .tCS.reconfigure :fast +3 "collection"'#d @b +4 .tCS.seek 10ml +3 "collection"'P' +2503 "core" ' +3 .tdelay 5 seconds +490 #"uploadLog"upsync +12 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'Q + 'R  +5 "core"  +66 ~ + .tCTV.dial :intake +2 "collection"'S  +75 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml + "collection"'T'i +2411 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air + "collection"'U  +78 "core"  +2 #tFlushing upper manifold + "collection"'V& +4 "core" &\\yz\ !a + "collection"'W% +3 "core" %czz\ +2 .tCSV.dial :flush + "collection"'X  +122 "core"  +2 .tCS.seek 5ml + "collection"'Y's5 +1295 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +2 "collection"'Z @ +42 "core" B +2 "collection"'[% +4 "core" %s9z{\ +2 .tCS.seek 7.001ml + "collection"'\\'$ +566 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +2 "collection"'] +102 "core" ~ +2 .tCTV.dial :air + .CS.seek 0ml +2 "collection"'^'i +1706 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'_'3J +814 "core" ' + .tCSV.dial :waste + "collection"'` +43 "core" +2 .tCS.seek 0ml + "collection"'a'i +796 "core" ' + "collection"'b& +4 "core" &\\x{\ !a + "collection"'c% +4 "core" %gw{\ + .tCSV.dial :flush + "collection"'d  +42 "core"  +2 .tCS.seek 3ml +2 "collection"'e'3J +823 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'f @ +42 "core" B + "collection"'g% +4 "core" %3G y{\  +2 .tCS.seek 5ml + "collection"'h's2 +585 "core" ' +2 .tCSV.dial :air +2 .CS.seek 0ml + "collection"'i'i +1242 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml + "collection"'j'3J +814 "core" ' + .tCSV.dial :waste +2 "collection"'k +70 "core" +2 .tCS.seek 0ml +2 "collection"'l'i +804 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&m& +4 "core" &ӝ   \ :, +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&n(ӂ +18 "core" ( + "manipulator"&o& +4 "core" &Ӆ  K 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &Ӆ  D 1 +2 .tForearm.seek CC +2 "manipulator"&q'? +98 "core" ' +2 .tHand.close + "manipulator"&r/ +61 "core" / +2 .tCC.seek :open +2 "collection"'s( +451 "core" ( + "manipulator"&t& +4 "core" &ӆ   1 + "manipulator"&u% +4 "core" % * \   +2 .tForearm.seek :retract + "manipulator"&v' +97 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&w(- +283 "core" ( +2 "manipulator"&x& +3 "core" &-  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &-  $ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&z'w +101 "core" ' +2 .tHand.open + "manipulator"&{1 +58 "core" 1 + "manipulator"&|% +4 "core" % n  h +37 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&}' +91 "core" ' +2 #tda sampling at most 100ml, wcr at most 100ml +3 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 13:39:52UTC08-Nov-21\\n{1 => 0,\\n 2 => 33,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@13:35:28, 16% flow, 20.8C, 13% humidity, 15.1psia, 13.496V, 0.339A, 0.321A avg, 4.57W",Subject: "da sampling at most 100ml, wcr at most 100ml" +2 "collection"'~& +5 "core" &fe\ + "manipulator"&% +5 "core" %     + "storage"(% +4 "core" % \ @ + "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 2 + "storage"((  +678 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +5 (& +8 "core" &  U\ +4 "manipulator"&& +12 "core" &-   \ $ +4 "manipulator"&% +9 "core" %   \   +5 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +3 "manipulator"&( +178 "core" ( +4 "manipulator"&& +10 "core" &  X & +3 "storage"( & +7 "core" &  \ +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 450 counts +5 "manipulator"&\ 'S +103 "core" ' +2 "storage"( & +9 "core" &  *\ +4 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"( 'r +82 "core" ' +5 "storage"( - +7 "core" -' +9 .tSE.configure :default +6 "storage"(#QK-0-\ b +6 (& +9 "core" &  I\ +4 "manipulator"&& +8 "core" &    & +4 .tElbow.seek 2 +2 "manipulator"&( +7 "core" ( +3 "manipulator"&& +8 "core" &   & +3 "storage"(& +9 "core" &  >\ +5 .tForearm.seek 2 + 300 counts +3 "manipulator"&'Ͻ +42 "core" ' +3 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +6 .tHand.close +2 "manipulator"&/ +54 "core" / +5 ."downElevator"SE.seek :down +6 "manipulator"&& +3 "storage"(' +15 "core" &   & +3 "manipulator"&% +16 "core" %   h +4 .tForearm.seek :retract +3 "manipulator"&' +18 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +75 "core" ' +3 .tElbow.seek CC +3 "manipulator"&(ӂ +158 "core" ( +3 "manipulator"&& +7 "core" &Ӑ'   @^ +6 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +6 && +4 "core" &Ӑ'   4 @^ +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +3 "manipulator"&$'? +101 "core" ' +4 "manipulator"&&& +8 "core" &ӑ'  @] +3 "manipulator"&(% +7 "core" %N  0 +4 "collection"''& +11 "core" &deG\ +8 "collection"'& +9 "core" &fg\ +6 .tCC.seek :closed +3 "collection"'(\\ +8 "core" &ghY\ +3 &ef\  +5 &0xef\ +z +9 &c{fe\ > +9 &vqggd\ N +9 &:Rgel\ M +10 &Ufh\ M +9 &Vggk\ N +9 &Teed\ M +10 &AUeif\ M +8 &Ufhe\ N +18 &Tfgi\ M +2 & Ufhg\ M +9 &"JUhgi\ M +10 &$ Tgg`\ M +9 &%Vfhe\ M +12 &'Ughc\ M +7 &)RRfg\ M +8 &+Tgib\ M +11 &,Tgfa\ M +9 &.Tggc\ M +9 &0ZTfh]\ M +10 &2Uff`\ M +9 &3Tgge\ M +13 &5Shf`\ M +6 &7bUgha\ M +8 &9$Thg\ M +10 &:Thg\ M +10 &<Thh\ M +9 &>jTgh\ M +10 &@,Uhi\ M +9 &AYih\ M +9 &C_ih\ O +10 &Egslk\ Q +8 &G km\ T +11 &Hko\ X +17 &Jqn\ Z +6 &LSoo\ Z +5 &Npo\ [ +9 &Onp\ [\ +9 &Qmn\ [ +12 &STnn\ ] +6 &Unn\ \\ +11 &Voo\ ^ +9 &Xoo}\ _ +9 &ZTom\ _ +10 &[zpm\ A +9 &\\#om\ 2 +9 &\\yom\ [ +3 ( +12 "collection"'& +9 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.30 +2 .Hand.open +2 "manipulator"&"1 +5 "core" &\\xpp\ [ +2 &\\ynn\ [ +56 1 +3 "manipulator"&+% +7 "core" % N \  1 +11 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&,' +91 "core" ' +4 #tcollectSample 100ml w/bubble point of 24psi +2 #Priming 7ml +2 .Intake.select :close +2 .Exhaust.select :close +2 .SS.hold +3 "sampler")-+ +7 "core" + +3 "sampler").% +10 "core" %ڂ x\ ; +3 "collection"'0& +8 "core" &\\xnm\ [ +5 "Can"\ YV +3 #tCalibrating pressure and temperature sensors +6 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +4 .SS.reconfigure :fast +4 "sampler")#.0X +16 +5 .tdelay 3.8 seconds +384 "collection"'4% +5 "core" %pop\  +4 "sampler")5% +4 "core" %/ |\ +4 .tSSV.dial :spit +3 "sampler")% +130 "core"  +5 .tSS.seek 0ml +2 "sampler")2'ڀ +295 "core" ' +2 .tSSV.dial CBV +3 "sampler")8  +131 "core"  +2 .tCTV.dial :intake +3 "collection"'9  +78 "core"  +4 ."connect"SSV.dial CBV +5 .tCBV.dial SSV +2 #Allowing 40s for 7.0ml of remaining 7.0ml +2 .Intake.select :open +3 "sampler") +220 "collection"'/% +6 "core" %pZ^\  +3 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi +3 .SS.reconfigure :inhaling 2.20ml/s +4 "sampler")#.0X+ +5 "core" + +3 "sampler")D% +7 "core" %ڀ \ , +3 "collection"'E& +7 "core" &\\x\ [ +9 "Can"\ ZX +3 .tCTV.dial :intake +2 ."connect"SSV.dial CBV +5 "sampler")F  +3 .tCBV.dial SSV +73 "core"  +3 #tAllowing 130s for 25.0ml of remaining 100.0ml +2 .Intake.select :open +2 "sampler") +218 "collection"'G% +10 "core" %p\\\\\  +3 #tIntake @14.2psia, vacuum from 8.7 to 11.7psi +3 .SS.reconfigure :inhaling 2.20ml/s +4 "sampler")#.0X> x\ ~ +3 "collection"'d% +7 "core" %p:<\  +3 #tIntake @12.6psia, vacuum from 7.1 to 10.1psi +3 .SS.reconfigure :inhaling 1.79ml/s +4 "sampler")#.z0X% +2 "core" %pBDg\  +2 "sampler")I% +4 "core" %+Z[ t\  +88 "collection"'H% +3 "core" %pROj\  +2 "sampler")K% +4 "core" % v\ ) + "sampler"):% +4 "core" % ~\  + .tIntake.select :close + "sampler")0 +9 )% +2 "core" % t\  +2 .tSSV.dial :exhaust + "sampler")N  +73 "core"  + .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")O'ڀ +901 "core" ' + .tExhaust.select :close + "sampler") +9 ."connect"SSV.dial CBV +3 "sampler")L  +2 .tCBV.dial SSV +71 "core"  +2 #tAllowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'R% +2 "core" %p``\  +2 #tIntake @14.3psia, vacuum from 8.8 to 11.8psi + .SS.reconfigure :inhaling 1.45ml/s +2 "sampler")#.c0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"''i +92 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler") +131 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X'^ +345 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air + "collection"' +9 'I% +3 "core" %b{{\  +2 .tCS.seek 6ml + "collection"'H'. +1365 "core" ' + .tdelay 2 seconds +202 .CSV.dial :waste2 + "collection"'K +52 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 0ml + "collection"':'i +1487 "core" ' + .tCSV.dial CSR + "collection"'  +52 "core"  +2 "collection"'N% +4 "core" %j{}\  + #tPulling 2ml of CSR.AqMeOH + .CSR.select :AqMeOH + "collection"' +9 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 2ml + "collection"'$'T +594 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +8 'L% +3 "core" %Z|\  +2 .tCS.seek 5.001ml + "collection"'R's: +843 "core" ' + .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'O  +43 "core"  +2 .tCS.seek 1ml + "collection"'P'^ +1122 "core" ' + "collection"'U9 +4 "core" 9eY + "collection"'V% +4 "core" %` f f\ +2 #tBefore lysing Collection Puck Heater at 20.1C/39.0psia +2 #Heating Puck.from 2, :sh1 in Collection Clamp to 70C for 10:00 + .CH.seek 70C,8:00 +2 "collection"'W \  +3 'X9 +4 "core" 9eYd +101 "collection"'T9 +3 "core" 9eYd +102 "collection"'J9 +2 "core" 9eY d +102 "collection"'Z9 +3 "core" 9dX d +102 "collection"'[9 +3 "core" 9hYd +102 "collection"'Y9 +2 "core" 9kXd +102 "collection"']9 +3 "core" 9rZd +102 "collection"'\\9 +2 "core" 9{Yd +102 "collection"'^9 +3 "core" 9Z"d +102 "collection"'`9 +3 "core" 9Z&d +102 "collection"'_9 +49 "core" 9[,d +102 "collection"'b9 +2 "core" 9[0d +102 "collection"'Q9 +3 "core" 9\\5d +102 "collection"'c9 +2 "core" 9]9d +102 "collection"'d9 +3 "core" 9^=d +103 "collection"'M9 +2 "core" 98_Ad +102 "collection"'g9 +3 "core" 9X_Ed +102 "collection"'e9 +2 "core" 9z`Jd +102 "collection"'h9 +3 "core" 9aNd +102 "collection"'i9 +2 "core" 9cRd +102 "collection"'k9 +3 "core" 9dVd +102 "collection"'j9 +2 "core" 9 eZd +102 "collection"'m9 +3 "core" 90f^d +102 "collection"'o9 +2 "core" 9Whca +102 "collection"'p9 +3 "core" 9~ig] +102 "collection"'r9 +3 "core" 9jkY +102 "collection"'79 +2 "core" 9koV +103 "collection"'C9 +2 "core" 9nsR +102 "collection"'S9 +3 "core" 9nxM +102 "collection"'a9 +3 "core" 9Fq|J +102 "collection"'f9 +2 "core" 9nrF +102 "collection"'t9 +3 "core" 9tC +102 "collection"'q9 +2 "core" 9uA +102 "collection"'{9 +3 "core" 9w> +102 "collection"'l9 +3 "core" 9y; +102 "collection"'u9 +2 "core" 9,{7 +102 "collection"'|9 +3 "core" 9O}6 +102 "collection"'x9 +2 "core" 9q3 +102 "collection"'9 +3 "core" 91 +102 "collection"'?9 +2 "core" 9/ +102 "collection"'9 +3 "core" 9. +102 "collection"'9 +2 "core" 9+ +102 "collection"'z9 +3 "core" 9* +102 "collection"'!9 +2 "core" 9$) +102 "collection"'n9 +3 "core" 9<( +102 "collection"'9 +3 "core" 9T& +102 "collection"'9 +2 "core" 9k% +102 "collection"'9 +3 "core" 9$ +102 "collection"'y9 +2 "core" 9# +102 "collection"'w9 +3 "core" 9" +102 "collection"' 9 +3 "core" 9! +102 "collection"' 9 +2 "core" 9 +102 "collection"' 9 +3 "core" 9 +102 "collection"'9 +2 "core" 9 +102 "collection"'9 +3 "core" 9 +102 "collection"'9 +3 "core" 9  +102 "collection"'}9 +2 "core" 9  +102 "collection"'v9 +3 "core" 9 % +102 "collection"'9 +2 "core" 9 0 +102 "collection"'9 +3 "core" 9 = +102 "collection"'9 +3 "core" 9 G +102 "collection"' 9 +3 "core" 9 R +102 "collection"'9 +2 "core" 9 \\ +102 "collection"'9 +3 "core" 9 f\  +102 "collection"'\ 9 +3 "core" 9 p +102 "collection"'9 +2 "core" 9 w +102 "collection"'9 +3 "core" 9  +102 "collection"'9 +2 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'9 +3 "core" 9 # +102 "collection"'&9 +2 "core" 9 ' +102 "collection"' 9 +2 "core" 9 + +102 "collection"'9 +3 "core" 9 0 +102 "collection"''9 +2 "core" 9 4 +102 "collection"'9 +3 "core" 9 8 +102 "collection"'+9 +3 "core" 9 < +102 "collection"'9 +2 "core" 9 @ +102 "collection"'.9 +3 "core" 9 E +102 "collection"'s9 +2 "core" 9 I +102 "collection"'9 +3 "core" 9 M +102 "collection"'~9 +2 "core" 9 Q +102 "collection"'39 +3 "core" 9 U +102 "collection"'#9 +3 "core" 9 Y +102 "collection"'"9 +2 "core" 9 ^ +102 "collection"'(9 +3 "core" 9 b +102 "collection"'59 +2 "core" 9 f +102 "collection"'%9 +3 "core" 9 j +102 "collection"'19 +2 "core" 9 n +102 "collection"'49 +3 "core" 9 s +102 "collection"'89 +3 "core" 9 w +102 "collection"'/9 +2 "core" 9 { +102 "collection"'29 +3 "core" 9  +102 "collection"'69 +2 "core" 9\  +102 "collection"'99 +3 "core" 9\  +102 "collection"'@9 +3 "core" 9\  +102 "collection"'-9 +2 "core" 9\  +102 "collection"'=9 +3 "core" 9\  +102 "collection"'*9 +2 "core" 9\  +102 "collection"'09 +3 "core" 9\  +102 "collection"';9 +3 "core" 9\  +102 "collection"'<9 +3 "core" 9\  +102 "collection"'A9 +2 "core" 9\  +102 "collection"'E9 +3 "core" 9\ ! +102 "collection"'F9 +2 "core" 9\ # +102 "collection"'D9 +3 "core" 9\ $ +102 "collection"'B9 +2 "core" 9\ ' +102 "collection"'G9 +3 "core" 9\ ) +102 "collection"'I9 +2 "core" 9\ , +102 "collection"'>9 +3 "core" 9\ / +102 "collection"'K9 +3 "core" 9\ 3 +102 "collection"'H9 +2 "core" 9\ 6 +102 "collection"'9 +3 "core" 9\ 9 +102 "collection"'N9 +2 "core" 9\ < +102 "collection"':9 +3 "core" 9\ ? +102 "collection"'L9 +3 "core" 9\ B +102 "collection"'$9 +2 "core" 9\ G +102 "collection"'O9 +3 "core" 9\ J +102 "collection"'R9 +2 "core" 9\ N +102 "collection"'U9 +3 "core" 9\ R +102 "collection"'V9 +3 "core" 9\ V +102 "collection"'X9 +2 "core" 9\ Z +102 "collection"'T9 +3 "core" 9\ ^ +102 "collection"'J9 +2 "core" 9\ b +102 "collection"'Z9 +3 "core" 9\ f +102 "collection"'[9 +3 "core" 9\ j  +102 "collection"'Y9 +2 "core" 9\ n  +102 "collection"']9 +3 "core" 9\ r +102 "collection"'\\9 +2 "core" 9\ u +102 "collection"'^9 +3 "core" 9\ y +2 .tCH.hold 10:00,70C +3 "collection"'` `\ `\ v +2 '_9 +6 "core"  + 9\ z + "collection"'b% +4 "core" %` \  +2 #tBegun lysing Collection Puck Heater at 68.1C/45.1psia +25752 "Can"8\  +34236 "core" ` +2 "collection"'Q9 +3 "core" 9\ l +2 "collection"'c% +3 "core" %` \ +2 #tEnded lysing Collection Puck Heater at 70C/45.4psia +2 .CS.seek 0ml + "collection"'d'i +357 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'M @ +103 "core" B + .tCSV.dial :air + "collection"'g @ +41 "core" ? +3 .tCS.seek 5ml + "collection"'e's5 +1356 "core" ' + .tCSV.dial CTV + "collection"'h  +41 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'i @ +42 "core" ? +2 .tdelay 2 seconds +201 .CSV.dial CTV +2 "collection"'k  +42 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'j @ +42 "core" ? + .tdelay 2 seconds +203 .CS.seek 0ml + "collection"'m'i +1367 "core" ' + "collection"'o% +4 "core" %g 9 7\ + #tPuck @73.4psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'p +99 "core" ~ +2 .tCBV.dial CSV + "collection"'r  +27 "core" + "collection"'7% +4 "core" %g  \ +2 .tCS.seek 5ml + "collection"'C's3 +1353 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'S  +43 "core" +2 "collection"'a% +3 "core" %s4hj\ +2 .tCS.seek 7ml +2 "collection"'f' +593 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'t @ +40 "core" ? +2 .tCS.seek 10ml + "collection"'q' +864 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'{ ` +124 "core" a +2 #tLysing Complete + "collection"'l& +4 "core" &\\wgf V\ [ +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&u% +3 "core" %     +2 "storage"(|% +4 "core" % ) ' \  + "storage"(x. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((C +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +4 "core" &? ( ) \ + "manipulator"&& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" &ӓ&  @[ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek CC + "storage"('r + "manipulator"&z(ӂ +35 "core" ( +2 "manipulator"&!& +4 "core" &y\   o + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &y   o +2 .tForearm.seek CC + "manipulator"&'? +96 "core" ' + .tHand.close + "manipulator"&/ +53 "core" / + .tCC.seek :open +2 "collection"'( +71 "core" ' + "storage"(y- +4 "core" -'r + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(w'1 +41 "core" ' +326 ( +2 "storage"( & +4 "core" &? y\ + "storage"( & +4 "core" &? \ + "manipulator"& & +4 "core" &y\   o + "manipulator"&% +4 "core" % M  7 +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&( +156 "core" ( + "manipulator"&}& +4 "core" &  Y  +2 "storage"(v& +3 "core" &? 1\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 1 + "manipulator"&'8 +97 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"& % +52 "core" % G  R  +4 "storage"(& +4 "core" &? ]\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 315 counts + "manipulator"&'s +15 "core" ' + "manipulator"&\ & +4 "core" & G  +2 "storage"(& +4 "core" &? \ +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +20 "core" ' + "storage"(% +4 "core" %: G\ +3 ."downElevator"SE.seek :down +3 "storage"(' +98 (% +3 "core" %D \ Vb +2 "manipulator"&&% +4 "core" % +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +4 "core" &ed\ + "manipulator"&'& +4 "core" &  [  +2 "manipulator"&% +4 "core" %    +2 .tElbow.seek FlushPuck::Garage + "manipulator"&+(- +171 "core" ( +2 "manipulator"&& +4 "core" &-    9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &- q 9 +2 .tForearm.seek :garage + "manipulator"&s'w +102 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 "manipulator"&~& +8 "core" &-   9 +2 "manipulator"&3% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&#' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&"(ӂ +282 "core" ( +2 "manipulator"&(& +4 "core" &Ӏ*   B Bi + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &Ӏ(  X Bi +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&%'? +100 "core" ' + "manipulator"&1& +4 "core" &Ӂ*  D Bh +2 "manipulator"&4% +3 "core" %9   +2 "collection"'8& +4 "core" &cd\ +2 "collection"'/& +5 "core" &cd \ +2 .tCC.seek :closed + "collection"'2(\\ +5 "core" &dd\  +10 &2xcb\ *y +9 &e~cd\ > +9 &{nde\ M +9 &ARdc\ L +10 &Zec\ L +9 &Vde\ K +9 &Ucf\ L +10 &JVbf\ K +9 &\ Wbe\ L +10 &Wde \ L +9 & Zdb \ L +9 &"RVde\ K +10 &$Vdf\ L +9 &%Udd\ L +9 &'Vdb\ L +10 &)ZWdc\ K +9 &+Vdd\ L +10 &,Yed\ L +9 &.Tef\ L +9 &0bUce\ K +10 &2#Vce\ L +9 &3Ycer\ L +9 &5TdeX\ L +10 &7iUddA\ L +9 &9,Wee\ K +10 &:Vde \ K +9 &<Wfd \ L +9 &>qZcc\ L +10 &@4Vdd\ K +9 &AZdd\ L +9 &Cced\ N +10 &Egcf\ R +9 &G`d\ V +10 &Hge\ Y +9 &Jhh|\ Z +9 &LXhf\ Z +10 &Neh\ Z +9 &Oef\ Z +9 &Qde\ [\ +10 &SYdg\ \\ +9 &Ued\ ] +10 &Vcdz\ ] +9 &Xabe\ ^ +10 &ZVcd_\ ` +9 &[ycdQ\ @ +9 &\\+ebC\ - +9 &\\`a5\ _ +3 ( +2 "collection"'/& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.36 + "collection"'6& +4 "core" &\\ad \ _ + .tHand.open + "manipulator"&91 +63 "core" 1 + "manipulator"&@% +4 "core" % 9   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-' +98 "core" ' + .tPSV.dial PSR +2 "processing"%= +132 "core"  + "processing"%*% +4 "core" %ؽ\ +2 #tPulling 1.5ml of PSR.flush .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%0'+ +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%;  +42 "core"  +2 .tPS.seek 0ml + "processing"%<'ؾ +1613 "core" ' + .tPSV.dial PSR + "processing"%A +43 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml + "processing"%E' +2629 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +2 "processing"%F +2 "collection"'D  +6 "core" A +2 "processing"%B  +67 "core" +91  + .tPSV.dial :mixloop + "processing"%G +115 "core" + .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%I  +129 "core" + .tPS.seek 0ml +2 "processing"%>'ؾ +2632 "core" ' +2 .tPSV.dial :air + "processing"%K  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%H' +2624 "core" ' +2 .tPSV.dial :mixloop + "processing"% +44 "core" +2 .tPS.seek 0ml +2 "processing"%N'ؾ +1432 "Can"\ VS +1192 "core" ' +2 .tPSV.dial :air + "processing"%:  +55 "core"  +2 .tPS.seek 2.5ml + "processing"%L' +2636 "core" ' + .tPSV.dial :mixloop +2 "processing"%$ +41 "core" +2 .tPS.seek 0ml + "processing"%O'ؾ +2634 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&R& +4 "core" &ӆ(    Ac +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&U(ӂ +3 "core" ( +2 "manipulator"&V& +4 "core" &ӆ(   Ac + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &ӆ'  Ac +2 .tForearm.seek CC + "manipulator"&T'? +91 "core" ' + .tHand.close + "manipulator"&J/ +53 "core" / + .tCC.seek :open +2 "collection"'Z( +451 "core" ( + "manipulator"&[& +4 "core" &ӆ(   Ac + "manipulator"&Y% +4 "core" % ? 3 + +2 .tForearm.seek :retract + "manipulator"&]' +97 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&\\(- +279 "core" ( + "manipulator"&^& +4 "core" &- x u +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &_& +2 "core" &- \ E u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&b'w +91 "core" ' +2 .tHand.open + "manipulator"&W1 +60 "core" 1 + "manipulator"&`% +4 "core" % z  0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Q' +92 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +47 .CTV.dial :air,avoiding: :intake +3 #Loading lyfil puck from tube 2 into Collection Clamp "collection"'c& +4 "core" &{{A\ +2 "manipulator"&P% +4 "core" %  m  + "storage"(M% +4 "core" % \  + "storage"(g. +4 "core" .(? + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(d(  +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (h& +3 "core" &  W\ +2 "manipulator"&i& +3 "core" &-  u +2 "manipulator"&k% +3 "core" %  (  @  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&j( +174 "core" ( +2 "manipulator"&e& +4 "core" &  . + "storage"(o& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&p'S +92 "core" ' +2 "storage"(r& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'r +100 "core" ' + "storage"(m- +4 "core" -'3 + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" &  C ?\ +2 "manipulator"&a& +3 "core" & . +2 .tElbow.seek 2 +2 "manipulator"&C( +3 "core" ( + "manipulator"&t& +4 "core" &   . + "storage"(f& +4 "core" &  7 7 ,\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&{'Ͻ +45 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& + "storage"(|' +7 "core" &  . + "manipulator"&x% +4 "core" % ϵ   T +2 .tForearm.seek :retract + "manipulator"&' +50 "core" ' + ."downElevator"SE.stop + "storage"(5 +44 "core" ' +2 .tElbow.seek CC + "manipulator"&?(ӂ +156 "core" ( +2 "manipulator"&& +4 "core" &Ӑ"   _ << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +2 "core" &Ӑ" \  << +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&n'? +92 "core" ' +2 "manipulator"&& +4 "core" &Ӑ"   > << +2 "manipulator"&y% +3 "core" %@  w +2 "collection"'& +4 "core" &||s\ +2 "collection"',& +5 "core" &}|\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" &{}b\  +9 &1x||K\ *z +9 &f{}}0\ > +10 &p{~\ M +9 &GU~}\ K +9 &Y|~\ K +10 &T}~E\ L +9 &S|~x\ K +10 &NU||m\ K +9 &Z}^\ L +9 &Y{\ K +10 & U}\ K +9 &"VY}\ K +9 &$V}}~\ K +10 &%Z}=\ L +9 &'W}~\ L +10 &)_U}~\ K +9 &+ Y|~\ K +9 &,Y\ L +10 &.W}~w\ L +9 &0fS~h\ K +9 &2)V}}R\ K +10 &3Z}~R\ K +9 &5TG\ K +10 &7nV~;\ K +9 &9/U~.\ L +9 &:Y~)\ K +10 &<W~~\ K +9 &>uZ}\ L +10 &@7W\ L +9 &AU~\ L +9 &C\\\ L +10 &Ewi\ N +9 &G3yx\ P +9 &H\ S +10 &Jw\ X +9 &Lbj\ X +9 &N!^\ Y +10 &OR\ Y +9 &Q\ Y +10 &S`\ [\ +9 &U#\ [ +9 &V\ \\ +10 &X\ \\ +9 &Za\ ] +9 &\\{\ 9 +10 &\\%\ , +9 &\\\ Z +3 ( + "collection"',& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&1 +52 "core" 1 +2 "manipulator"& % +4 "core" % @  a w +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& ' +98 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'  +137 "core" ~ +2 .tCSV.dial CTV + "collection"'  +26 "core"  +2 .tPS.seek 2.5ml + "processing"%}' +2634 "core" ' + "collection"'v% +4 "core" %4\ +2 .tCS.seek 4.5ml + "collection"''c: +1490 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air + "processing"%z  +43 "core"  +2 .tdelay 2 seconds +201 .PSV.dial :waste2 +2 "processing"%  +72 "core"  +2 .tPS.seek 0ml + "processing"% 'ؾ +2636 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"' ` +30 "core" ^ +2 .tCSV.dial :air + "collection"'\ @ +43 "core" ? +2 .tCS.seek 10ml + "collection"'' +1492 "core" ' + .tCSV.dial CTV + "collection"'  +42 "core"  +2 .tCS.seek 0ml + "collection"''i +2675 "core" ' + .tCBV.dial :waste1 + "collection"' @ +26 "core" @ + .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'  +134 "core" + "collection"'&& +4 "core" &\\?\ Z +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" % !  ) , +2 "storage"(% +3 "core" %   A\  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"('(C +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &E A\ + "manipulator"&w& +4 "core" &Ӑ" \  << + "manipulator"&% +4 "core" % !   , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&( +156 "core" ( + "manipulator"&.& +4 "core" &   +2 "storage"(& +3 "core" &E 0 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&' +105 "core" ' +2 "storage"(& +4 "core" &E ' ' \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'r +295 "core" ' +2 "storage"(3- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & \  D + "storage"(s& +4 "core" &E  \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&('8 +21 "core" ' + .tElbow.hold + "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(+- +3 "core" -' +2 .tSE.seek 0.18 Pucks below Top Plate + "storage"(1'} +76 "core" ' + "manipulator"&4% +5 "core" %F  + "storage"(8& +4 "core" &E  \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 314 counts + "manipulator"&#'r +15 "core" ' + "manipulator"&& +4 "core" & +2 "storage"(6& +4 "core" &E - 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&9' +18 "core" ' +2 .tSE.seek 1.18 Pucks below Top Plate + "storage"(@' +35 "core" ' +2 "manipulator"&/& +4 "core" & X +2 "manipulator"&=% +4 "core" %  C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&*' +90 "core" ' + .tElbow.seek CC +2 "manipulator"&%(ӂ +161 "core" ( +2 "manipulator"&;& +4 "core" &Ӗ"   <: + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &Ӗ"  <: +2 .tForearm.seek CC + "manipulator"&A'? +95 "core" ' +2 .tHand.close + "manipulator"&& +4 "core" & #  +2 "storage"(& +3 "core" &E <\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&H'8 +93 "core" ' + .tElbow.hold + "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&N1 +59 "core" 1 +2 "manipulator"&$% +5 "core" % 3    + "storage"(L& +3 "core" &E \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 295 counts + "manipulator"&R'_ +16 "core" ' +2 "manipulator"&V& +4 "core" &   + "storage"(X& +4 "core" &E \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&J' +17 "core" ' +2 "storage"("% +4 "core" % w\ +2 ."downElevator"SE.seek :down +3 "storage"(-' +100 (2% +2 "core" %C \ Vb +2 "manipulator"&[% +4 "core" % < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Y' +91 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +2 .tPSV.dial :air +2 "processing"%T  +83 "core"  +2 .tPS.seek 2.5ml +2 "processing"%^' +2637 "core" ' + .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%_ +43 "core" + .tdelay 1 second +101 .PSV.dial :air +2 "processing"%U  +55 "core"  + .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%W +41 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%`  +44 "core"  + .tdelay 1 second +102 .PS.seek 0ml + "processing"%c'ؾ +2639 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%]& +4 "core" &2\  + "manipulator"&P& +4 "core" & z  + "manipulator"&M% +4 "core" %   +2 .tElbow.seek FlushPuck::Garage + "manipulator"&g(- +171 "core" ( + "manipulator"&b& +4 "core" &-  : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &-  ! : +2 .tForearm.seek :garage +2 "manipulator"&h'w +97 "core" ' + .tHand.close + "manipulator"&i/ +57 "core" / +2 "manipulator"&k& +4 "core" &-  t : + "manipulator"&e% +4 "core" % ς  N +2 .tForearm.seek :retract + "manipulator"&o' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&r( +116 "core" ( + "manipulator"&\\& +4 "core" &   k " +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &m& +2 "core" &   " +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S' +102 "core" ' +2 "manipulator"&a& +4 "core" & 6 " + "manipulator"&t% +4 "core" % O +2 "processing"%f& +4 "core" &?\  +2 "processing"%Q& +6 "core" &D\  +2 .tPC.seek :closed +2 "processing"%l(^ +4 "core" &F\  +6 &G\ @ +9 &H|O\ 2 +9 &LsQ\ F +10 &gQ\ O +9 &\\P\ O +9 &wZP\ N +10 &8]^\ O +9 &\\_\ O +10 &[X\ O +9 &}]]\ O +9 &@]i\ O +10 &!\\m\ O +9 &"Zn\ O +9 &$]k\ O +10 &&HZi\ O +9 &( \\k\ O +10 &)\\m\ O +9 &+\\o\ O +9 &-O[r\ O +10 &/]z\ O +9 &0`}\ P +9 &2]\ O +10 &4V\\\ O +9 &6]z\ O +10 &7Z{\ O +9 &9[r\ O +9 &;]]\ P +10 &= ]|\ O +9 &>az\ P +9 &@_{\ O +10 &Baj}\ Q +9 &Dy\ S +10 &E\ U +9 &G\ U +9 &I^\ U +10 &K\ U +9 &L\ V +9 &N\ V +10 &Pa%\ W +9 &R#\ V +10 &S\ X +9 &U\ V +9 &Wg\ W +10 &Y*\ W +9 &Z\ V +9 &\\w\ W +10 &^/cv|\ / +9 &^!~\ F +9 ( +2 "processing"%Q& +4 #tProcessing Clamp onSpring/offSpring for 14/26 samples, on/off torque 1.61 + "processing"%u& +4 "core" &^&y\ 5 + &^'u\ 5 + .tHand.open + "manipulator"&x1 +53 "core" 1 + "manipulator"&j% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p' +94 "core" ' + .tPRV.dial :air +2 "processing"%  +41 "core"  + .tPSV.dial :mixloop +2 "processing"%! +42 "core" +2 "processing"%7% +4 "core" %ظ\ +2 .tPS.seek 0.3ml + "processing"%{' +382 "core" ' + .tPSV.dial PSR + "processing"%| +103 "core"  + "processing"%% +4 "core" %\  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +47 "processing"%y'2 +497 "core" ' +2 .tdelay 3 seconds +301 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%' +1921 "core" ' +2 .tdelay 3 seconds +301 .PSV.dial :mixloop +2 "processing"%C +116 "core" + .tPTV.dial :mixing + "processing"% @ +71 "core" A + .tPBV.dial :waste2 +2 "processing"%Z  +91 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2628 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"& & +4 "core" &  " +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&,( +3 "core" ( +2 "manipulator"& & +4 "core" &  $ " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & " +2 .tForearm.seek PC + "manipulator"&n' +94 "core" ' + .tHand.close + "manipulator"&O/ +53 "core" / +2 .tPC.seek :open + "processing"%v( +461 "core" ( + "manipulator"&q& +4 "core" &  % " +2 "manipulator"&z% +3 "core" %  \  8 +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&}(- +126 "core" ( + "manipulator"&& +4 "core" &-  n \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &- \ B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&'w +93 "core" ' + .tHand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&% +4 "core" % k . G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +96 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"&&% +4 "core" % % ] = +2 "storage"(% +3 "core" % R\  +2 "storage"(. +3 "core" .(F + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (d& +2 "core" & \  +2 "manipulator"&& +4 "core" &-  b \ +2 "manipulator"&w% +3 "core" % %  = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +169 "core" ( +2 "manipulator"&.& +4 "core" &   + +2 "storage"(& +3 "core" & 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'S +94 "core" ' + "storage"(?& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +107 "core" ' + "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ( & +3 "core" & 4 4 \  +2 "manipulator"&s& +3 "core" &  * +2 .tElbow.seek 2 + "manipulator"&+( +3 "core" ( +2 "manipulator"&4& +3 "core" &   \ * +2 "storage"(8& +3 "core" & > A \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&6/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& + "storage"(=' +7 "core" & \\ * +2 "manipulator"&% +3 "core" % Ϸ  f +2 .tForearm.seek :retract + "manipulator"&' +53 "core" ' + ."downElevator"SE.stop + "storage"(5 +36 "core" ' +2 .tElbow.seek PC + "manipulator"&~( +244 "core" ( + "manipulator"&(& +4 "core" &   + " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &  e " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&1' +93 "core" ' + "manipulator"&;& +4 "core" &  G " +2 "manipulator"&0% +3 "core" % { > +2 "processing"%9& +4 "core" &\ +2 "processing"%5& +4 "core" &\ +2 .tPC.seek :closed + "processing"%<(^ +4 "core" &\  +9 &/x\ *y +9 &c\ ? +10 &jw\ O +9 &,Z\ O +10 &\\\ O +9 &Y\ N +9 &s[\ N +10 &4[\ O +9 &]\ O +9 &Y\ O +10 & {[\ N +9 &"<Z\ O +10 &#Y\ O +9 &%X\ O +9 &'Z\ N +10 &)D[\ O +9 &+^\ O +9 &,Z\ N +10 &.Z\ O +9 &0L]\ O +9 &2Wy\ O +10 &3W{\ N +9 &5[t\ O +10 &7TY|\ O +9 &9\\\ O +9 &:]u\ O +10 &<\\x\ O +9 &>\\^\ O +9 &@\\x\ O +10 &Ad\ P +9 &Cs\ R +10 &ET\ T +9 &G\ T +9 &H\ U +10 &J\ U +9 &LW\ V +9 &N\ W +10 &O\ V +9 &Q\ W +10 &S]B\ V +9 &Uv\ W +9 &Vj\ V +10 &X\ W +9 &Zd\ W +9 &\\&\ W +10 &]\ ; +9 &^8\ R +10 &^\ 0 +2 ( + "processing"%5& +4 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&*1 +63 "core" 1 +2 "manipulator"&% +4 "core" %    > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D' +97 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%B r +2 %G9 +5 "core" 9 +102 "processing"%I9 +3 "core" 9 +102 "processing"%>9 +2 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%A9 +2 "core" 9 +102 "processing"%%9 +3 "core" 9 +102 "processing"%N9 +2 "core" 9 +102 "processing"%$9 +3 "core" 9 +101 "processing"%L9 +4 "core" 9" +103 "processing"%V9 +2 "core" 9& +102 "processing"%X9 +2 "core" 9* +102 "processing"%"9 +3 "core" 9/ +102 "processing"%E9 +2 "core" 93 +102 "processing"%29 +3 "core" 97 +102 "processing"%[9 +3 "core" 9; +102 "processing"%K9 +2 "core" 9? +102 "processing"%H9 +2 "core" 9D +102 "processing"%R9 +3 "core" 9H +102 "processing"%@9 +3 "core" 9L +102 "processing"%T9 +2 "core" 9P +102 "processing"%J9 +3 "core" 9T +101 "processing"%-9 +3 "core" 9X +102 "processing"% 9 +2 "core" 9] +102 "processing"%_9 +3 "core" 9a +103 "processing"%U9 +2 "core" 9e +102 "processing"%W9 +3 "core" 9i +102 "processing"%`9 +2 "core" 9m +102 "processing"%^9 +2 "core" 9r +102 "processing"%]9 +3 "core" 9v +102 "processing"%P9 +2 "core" 9z +102 "processing"%M9 +3 "core" 9~ +102 "processing"%b9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%:9 +3 "core" 9 +102 "processing"%i9 +3 "core" 9 +102 "processing"%k9 +2 "core" 9 +102 "processing"%e9 +2 "core" 9 +102 "processing"%Y9 +3 "core" 9 +102 "processing"%\\9 +3 "core" 9 +102 "processing"%m9 +2 "core" 9 +102 "processing"%h9 +3 "core" 9 +101 "processing"%a9 +3 "core" 9 +102 "processing"%t9 +2 "core" 9  +102 "processing"%f9 +3 "core" 9 +102 "processing"%g9 +3 "core" 9 +102 "processing"%o9 +2 "core" 9 +102 "processing"%)9 +2 "core" 9& +102 "processing"%u9 +3 "core" 9, +2 .tPH.hold 2:00:00,28C +3 "processing"%x prp) +2 .tdelay 1:30 +51 "core"  +9001 .tPSR.select :air + .PSV.dial PSR +2 "processing"%j +100 "core" +2 "processing"%Q% +4 "core" %ؿ\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%' +595 "core" ' +2 .tdelay 5 seconds +501 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%!' +1597 "Can"Y\ A> +17 "core" ' +2 .tPTV.dial :puck + "processing"%7  +71 "core"  + .tPSV.dial PTV +2 "processing"%S +73 "core" +2 .tPBV.dial :waste1 + "processing"%c  +132 "core"  + "processing"%|% +4 "core" %\  +2 .tPS.seek 1.5ml +2 "processing"%', +597 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%{ * +32 "core" , +3 .tPS.seek 0ml + "processing"%y'ؾ +1631 "core" ' + .tdelay 5:00 +30003 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%C  +36 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" + + .tPSR.select :air +2 .PSV.dial PSR + "processing"%Z +74 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml + "processing"%' +2426 "core" ' + .tPSV.dial PTV + "processing"% +74 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"% +73 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"% +86 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%O  +75 "core"  +2 .tPS.seek 0ml + "processing"%r'ؾ +2403 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%p  +130 "core" + .tPSV.dial :mixloop + "processing"%l +45 "core" + .tPRV.dial :ab1 + "processing"%q @ +71 "core" B +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml + "processing"%z' +352 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "collection"'  + "processing"%\  +44 "core" +4  + "processing"%n% +4 "core" %t\ \ +2 .tPS.seek 0.35ml + "processing"%'g +457 "core" ' +2 .tdelay 2 seconds +201 .CBV.dial between PRV and PSV +2 "collection"'  +27 "core" +2 .tPRV.dial :air + "processing"%,  +42 "core"  +2 .tPS.seek 0.9ml + "processing"%'K +1176 "core" ' +2 .tPRV.dial :waste2 + "processing"%& @ +71 "core" > +2 .tPS.seek 0.5ml + "processing"%' +867 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%' +1615 "core" ' + .tPSV.dial :PML + "processing"% +43 "core" +2 .tPTV.dial :mixing + "processing"%' @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%d  +33 "core" +2 "processing"%% +4 "core" %u\  +2 .tPS.seek 1.85ml + "processing"%w' +232 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%. * +34 "core" + +2 .tPS.seek 0ml +2 "processing"%'ؾ +1968 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'?& +3 "core" &(\ +2 "manipulator"&}& +3 "core" &    ! +2 "manipulator"&3% +3 "core" % %  ^ > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"& (- +126 "core" ( + "manipulator"&s& +4 "core" &-  K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &- +2 .tForearm.seek :garage + "manipulator"&8'w +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 "manipulator"&6& +4 "core" &-  + "manipulator"&/% +4 "core" %  \  k  +2 .tForearm.seek :retract + "manipulator"&' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +273 "core" ( + "manipulator"&& +4 "core" &z.   E~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +2 "core" &z.   E~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'? +93 "core" ' +2 "manipulator"&(& +4 "core" &ӝ'   @[ +2 "manipulator"&#% +3 "core" %A  W +2 "collection"'=& +4 "core" &\ +2 "collection"'+& +5 "core" & \ +2 .tCC.seek :closed + "collection"';(\\ +5 "core" &\ +7 &:\ %g +9 &Vx\ 8 +9 &u\ L +10 &T\ N +9 &nR\ N +9 &0U\ N +10 &R \ N +9 &R\ N +10 &vR\ N +9 &8Q\ N +9 &P \ N +10 &!S\ N +9 &#}T\ N +10 &%@R\ N +9 &'Q\ N +9 &(R \ N +10 &*P\ N +9 &,HQ\ N +9 &. U\ N +10 &/P\ N +9 &1R\ N +10 &3PU\ N +9 &5P\ N +9 &6P\ N +10 &8Q\ N +9 &:WU\ N +9 &<P\ N +10 &=S\ N +9 &?R\ N +9 &A`W\ N +10 &C!]\ N +9 &Dq\ Q +10 &F\ U +9 &HE\ Z +9 &J\ Z +10 &K\ [\ +9 &M\ [ +9 &OF\ \\ +10 &Q\ \\ +9 &R\ ] +10 &T\ ] +9 &VH\ ^ +9 &X\ ` +10 &Y\ ` +9 &[\ M +9 &\\9\ . +10 &\\ \ ] +5 ( +2 "collection"'+& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.52 + "collection"'0& +4 "core" &\\\ ] + &\\\ ] +2 .tHand.open + "manipulator"&91 +54 "core" 1 +2 "manipulator"&% +4 "core" % A    W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +48 .tForearm.seek :retract + "manipulator"&v' +97 "core" ' + .tPSV.dial PSR +2 "processing"%* +104 "core"  +2 "processing"%% +4 "core" %ؽU\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%G'+ +1607 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%5  +41 "core"  +2 .tPS.seek 0ml +2 "processing"%I'ؾ +1609 "core" ' + .tPSV.dial PSR +2 "processing"%1 +44 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%>' +2636 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +2 "processing"%  + "collection"'A  +33 "core" +127  + .tPSV.dial :mixloop +2 "processing"%% +102 "core" + .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%N  +72 "core" +2 .tPS.seek 0ml + "processing"%$'ؾ +818 "Can"I\ ca +1812 "core" ' + .tPSV.dial :air + "processing"%L  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%V' +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%X +42 "core" +2 .tPS.seek 0ml +2 "processing"%"'ؾ +2632 "core" ' + .tPSV.dial :air +2 "processing"%E  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%2' +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"%[ +44 "core" +2 .tPS.seek 0ml +2 "processing"%K'ؾ +2653 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&H& +4 "core" &Ӟ& \ d @Z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&R(ӂ +20 "core" ( + "manipulator"&@& +4 "core" &ӂ  H , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +2 "core" &ӂ  , +3 .tForearm.seek CC + "manipulator"&J'? +95 "core" ' +2 .tHand.close + "manipulator"&-/ +63 "core" / +2 .tCC.seek :open + "collection"' ( +450 "core" ( +2 "manipulator"&_& +4 "core" &ӂ { , + "manipulator"&U% +4 "core" % G * , +2 .tForearm.seek :retract + "manipulator"&W' +94 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&`(- +282 "core" ( + "manipulator"&^& +4 "core" &-    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +2 "core" &- l  +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&P'w +99 "core" ' +2 .tHand.open + "manipulator"&M1 +64 "core" 1 +2 "manipulator"&b% +4 "core" % {   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 ."da"delayUntil "14:31:11.93" +2 #"WCR"Whole Cell Archive sampling 100ml +2 #Loading wcr puck from tube 2 into Collection Clamp + "collection"':& +4 "core" &\ + "manipulator"&i% +4 "core" % #  B / +2 "storage"(k% +3 "core" % .  \  +2 "storage"(e. +3 "core" .(  +2 "storage"(Y& +4 "core" & /  X\  + "storage"(\\& +4 "core" & > 7 \ \  +2 "manipulator"&m& +3 "core" &- B  +2 "manipulator"&h% +4 "core" % # \ 6 / +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 2 +2 "manipulator"&a( +175 "core" ( + "manipulator"&t& +5 "core" &  R ( + "storage"(f& +4 "core" & % )\  +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts + "manipulator"&g'S +94 "core" ' +2 "storage"(o& +4 "core" & \\ \  +2 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."WCR"SE.seek :beamBreak +2 "storage"()'r +109 "core" ' + "storage"(u- +4 "core" -'k + ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" & : /\  + "manipulator"&Q& +4 "core" & \  ' +2 ."WCR"Elbow.seek 2 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &   ' + "storage"(7& +4 "core" &  \  +2 ."WCR"Forearm.seek 2 + 300 counts +2 "manipulator"&S'Ͻ +15 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."WCR"Hand.close + "manipulator"&c/ +60 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&|& + "storage"(!' +6 "core" &  u ' +2 "manipulator"&{% +4 "core" % ϳ ) +2 ."WCR"Forearm.seek :retract +2 "manipulator"&' +60 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +34 "core" ' +2 ."WCR"Elbow.seek CC + "manipulator"&B(ӂ +158 "core" ( +2 "manipulator"&C& +4 "core" &Ӟ!   ;2 + ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӟ!   ;2 +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek CC +2 "manipulator"&Z'? +102 "core" ' + "manipulator"&y& +4 "core" &Ӟ!   ;2 +2 "manipulator"& % +4 "core" %=   +2 "collection"' & +3 "core" &\ +2 "collection"'& +6 "core" &\ +2 ."WCR"CC.seek :closed + "collection"'O(\\ +4 "core" &\ +8 &2\ $d +9 &Uy\ 7 +9 &x\ L +9 &U\ M +10 &cP\ M +9 &%U\ M +10 &V\ M +9 &U\ M +9 &kV\ M +10 &-W\ M +9 &V\ L +9 &!T\ M +10 &#rU\ M +9 &%6R\ L +9 &&S\ M +10 &(V\ M +9 &*{V\ M +10 &,<T\ M +9 &.R \ L +9 &/S\ L +10 &1S\ L +9 &3FR\ L +10 &5S+\ L +9 &6T#\ L +9 &8T&\ L +55 &:MT?\ M +5 &<U>\ M +2 &=W/\ M + &?T\ L + &ATU\ M +2 &C\\\ N + &Dc\ O +8 &Fr\ Q +10 &HG\ T +9 &I\ \ X +9 &K\ Y +10 &M|%\ Z +9 &O?\ Z +9 &Q \ Z +10 &R\ [ +9 &T~\ \\ +10 &V>\ ] +9 &W:\ ] +9 &Y0\ _ +10 &[~'\ L +9 &\\<=\ - +9 &\\\ s\ \\ +6 ( +2 "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.25 + .Hand.open + "manipulator"&1 +4 "core" &\\y\ \\ +56 1 +2 "manipulator"&p% +4 "core" % =  + +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek :retract +2 "manipulator"&l' +90 "core" ' + #"WCR"collectSample 100ml w/bubble point of 35psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")q+ +4 "core" + + "sampler")r% +4 "core" %ک x\  + "collection"'& +4 "core" &\\y\ \\ +3 "Can"?\ f + #"WCR"Calibrating pressure sensors + .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust + .SS.reconfigure :fast +2 "sampler")#.0X% +3 "core" %n4\ +2 "sampler")L% +4 "core" %QO v\  +196 "collection"'$% +3 "core" %n\ + "sampler")X% +4 "core" %Q o\ / +196 "collection"'V% +3 "core" %n6\ +2 "sampler")E% +4 "core" %Q f\ * +195 "collection"'"% +3 "core" %n,\ +2 "sampler")[% +4 "core" %Q t\ * +196 "collection"'2% +3 "core" %n\ + "sampler")H% +4 "core" %Q g\ * + "sampler")@% +4 "core" %Q o\ * + ."WCR"Intake.select :close +2 "sampler")0 +8 )T% +3 "core" %Q k\ * +2 ."WCR"SSV.dial :exhaust +2 "sampler")-  +71 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml + "sampler")'ڀ +394 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 #"WCR"Sampling 100.0ml + .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +2 "sampler")#.0X {\  +18 "collection"'% +3 "core" %nvxk\ +2 "sampler")&% +4 "core" %= h\  +21 "collection"'d% +3 "core" %nvyn\ + "sampler")% +4 "core" %= w\  +24 "collection"'.% +3 "core" %nxxf\ +2 "sampler")% +4 "core" %< d\  +28 "collection"'w% +2 "core" %ny{n\ +2 "sampler")?% +4 "core" %= x\  +32 "collection"'}% +3 "core" %nzzr\ + "sampler")3% +4 "core" %= t\ } +37 "collection"'s% +2 "core" %n~|n\ +2 "sampler")4% +4 "core" %= w\ | +41 "collection"'% +3 "core" %n~~l\ +2 "sampler")6% +4 "core" %= v\ } +47 "collection"'~% +3 "core" %nv\ + "sampler")/% +4 "core" %)& n\ +54 "collection"'D% +2 "core" %np\ +2 "sampler")8% +4 "core" %>< d\ ' +61 "collection"'% +3 "core" %nq\ + "sampler")% +4 "core" %]\\ t\ ' +69 "collection"' % +3 "core" %nh\ +2 "sampler") % +4 "core" % m\ ' +78 "collection"'(% +3 "core" %n^\ +2 "sampler")#% +3 "core" % j\ ' +2 "sampler")=% +4 "core" % t\ ' + ."WCR"Intake.select :close +2 "sampler")0 +8 )% +3 "core" % t\ ' +2 ."WCR"SSV.dial :exhaust + "sampler")F  +73 "core"  +2 ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")0'ڀ +876 "core" ' + ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")9  +72 "core"  + #"WCR"Allowing 130s for 25.0ml of remaining 75.0ml +2 .Intake.select :open + "sampler") +210 "collection"'% +2 "core" %nV\ +2 #"WCR"Intake @15.2psia, vacuum from 9.7 to 12.7psi +2 .SS.reconfigure :inhaling 1.79ml/s +2 "sampler")#.z0X% +4 "core" %V k\  +36 "collection"'L% +3 "core" %ntw_\ +2 "sampler")$% +4 "core" %V x\ | +41 "collection"'X% +3 "core" %nvvN\ +2 "sampler")V% +4 "core" %V q\ z +47 "collection"'E% +2 "core" %nxw[\ +2 "sampler")"% +4 "core" %V e\  +54 "collection"'[% +2 "core" %nyyM\ +2 "sampler")2% +4 "core" %V h\  +62 "collection"'H% +3 "core" %n{zQ\ +2 "sampler")@% +4 "core" %V w\  +2 "collection"'T% +8 "core" %n~|\\\ +2 #"WCR"Intake @13.9psia, vacuum from 8.4 to 11.4psi +2 .SS.reconfigure :inhaling 1.61ml/s + "sampler")#.n0X s\ 5 +69 "collection"'F% +2 "core" %n)\ +2 "sampler")\ % +4 "core" %a] o\ 5 +78 "collection"'9% +3 "core" %n \ +2 "sampler")% +4 "core" % c\ |5 +88 "collection"'0% +3 "core" %n"\ +2 "sampler")% +4 "core" % g\ 5 +2 "sampler")% +3 "core" % g\ 5 + ."WCR"Intake.select :close +2 "sampler")0 +9 )% +2 "core" % o\ 5 +2 ."WCR"SSV.dial :exhaust + "sampler")5  +75 "core"  + ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")G'ڀ +906 "core" ' + ."WCR"Exhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")1  +74 "core"  + #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'I% +3 "core" %n,\ +2 #"WCR"Intake @15.0psia, vacuum from 9.5 to 12.5psi +2 .SS.reconfigure :inhaling 1.45ml/s + "sampler")#.c0X% +3 "core" %nhi\ +2 "sampler")L% +3 "core" %QYG b\ } +22 "collection"'$% +2 "core" %nhk,\ +2 "sampler")X% +4 "core" %QYG w\ } +24 "collection"'+% +3 "core" %nii \ +2 "sampler")V% +3 "core" %QYF n\ } +28 "collection"'E% +3 "core" %nki'\ +2 "sampler")"% +4 "core" %QYG i\ } +31 "collection"'[% +3 "core" %nml-\ +2 "sampler")2% +4 "core" %QYG d\ | +36 "collection"'H% +3 "core" %njl+\ +2 "sampler")@% +3 "core" %QYF o\ | +42 "collection"'T% +3 "core" %nkm2\ +4 "sampler")*% +8 "core" %QYF a\ | +42 "collection"';% +3 "core" %nml\ +2 "sampler")_% +4 "core" %QYG t\ } +53 "collection"'U% +3 "core" %nno*\ +2 "sampler")% +3 "core" %QYF n\ | +61 "collection"'J% +3 "core" %nln\ +2 "sampler")v% +4 "core" %QYG t\  +69 "collection"'R% +3 "core" %noq,\ + "sampler")M% +4 "core" %QYF r\ } +78 "collection"'b% +3 "core" %npq \ +2 "sampler"):% +4 "core" %QYG h\  + "collection"'i% +4 "core" %nrs*\ + #"WCR"Intake @13.4psia, vacuum from 7.9 to 10.9psi +2 .SS.reconfigure :inhaling 1.30ml/s +2 "sampler")#.Y0X +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +2 ."WCR"CS.seek 10ml +2 "collection"'z' +1491 "core" ' + #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%n +132 "core"  +2 "processing"%% +4 "core" %ؼM\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%!' +594 "core" ' +2 ."da"delay 5 seconds +232 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV + "collection"', @ +74 "core" ? +52 "sampler")% +3 "core" %~ s\ \ +2 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'  +86 "core"  +2 "collection"'% +3 "core" %.\  +3 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +51 ."da"PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%&' +14 "core" b +2 ."WCR"CS.seek 7.319ml +2 "collection"'d'S +707 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +3 "collection"'y  +2 '  +25 "core"  +50  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ nb +3 ."WCR"CS.seek 0ml +2 "collection"'w'i +795 "core" ' + ."da"PTV.dial :puck +2 "processing"%?  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%} +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%3  +34 "core" +2 "processing"%s% +4 "core" %i\  +2 ."da"PS.seek 1.5ml + "processing"%4'( +382 "core" '\ u\ qB\ +3 ."WCR"CBV.dial :waste2b + "collection"'  +30 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +2 ."WCR"CS.seek 0ml +2 "collection"'6'i +174 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%~'ؾ +113 "core" ' +2 ."WCR"delay 1:00 +1518 "core" ' + ."da"delay 2:00 +4483 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'/  +132 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 10:00 + .CSV.dial CSR + "collection"'D  +53 "core"  +2 "collection"'8% +4 "core" %iJ\  + #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater +2 "collection"' +10 ."WCR"CS.seek 2ml + "collection"''T +593 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +2 ."WCR"CS.seek 10ml +2 "collection"'' +885 "Can"$\ ge +1115 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"' @ +72 "core" > +52 "sampler") % +3 "core" %~ c\ \ + ."WCR"CBV.dial between CSV and waste2b +2 "collection"'  +86 "core"  + "collection"'(% +4 "core" %L\ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'# ` +55 "core" _ +2 ."WCR"CS.seek 7.286ml +2 "collection"'='A +702 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +3 "collection"'  +2 'F  +28 "core"  +108  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ xb +3 ."WCR"CS.seek 0ml + "collection"'\ 'i +1912 "core" ' +2 ."WCR"CSV.dial :air +2 "collection"'9 @ +43 "core" > +2 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +2 ."WCR"CS.seek 10ml +2 "collection"'' +1080 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%0  +36 "core" +2 ."da"delay 30 seconds +1347 "core" ' +2 "collection"'% +4 "core" %V\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"' ` +29 "core" b +3 ."WCR"CS.seek 6.891ml +2 "collection"'' +791 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +3 "collection"'5  +26 "core"  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ xb +3 ."WCR"CS.seek 0ml + "collection"'.'i +778 ."da"PBV.dial between PSV and waste1 +2 "processing"%1 * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%I +103 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%G' +887 "core" ' +2 ."WCR"CSV.dial :air + "collection"'% @ +44 "core" > +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'N' +1524 "core" ' + ."da"PSV.dial PTV +2 "processing"%> +86 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%L +71 "core"  +2 ."da"delay 5 seconds +298 "core" ' + "collection"'$% +4 "core" %[\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'X ` +30 "core" b +2 ."WCR"CS.seek 7.013ml +2 "collection"'+' +161 ."da"PSV.dial PTV + "processing"%V +86 "core" +2 ."da"delay 5 seconds +501 .PSV.dial :air +2 "processing"%E  +35 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV + "collection"'"  +27 "core"  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ xb +3 "core"  +48 ."da"PS.seek 0ml +2 ."WCR"CS.seek 0ml +2 "processing"%['ؾ +3 "collection"'2'i +1849 "core" ' + ."WCR"CSV.dial :air +2 "collection"'H @ +55 "core" B +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +2 ."WCR"CS.seek 10ml +2 "collection"'@' +497 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%T +131 "core"  +2 "processing"%*% +4 "core" %m\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%A' +588 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%;' +718 "core" ' + "collection"'_% +4 "core" %\\\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'U ` +27 "core" a +2 ."WCR"CS.seek 7.155ml +2 "collection"'' +741 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +3 "collection"'J  +26 "core"  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ xb +3 ."WCR"CS.seek 0ml + "collection"'v'i +72 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%R +83 "core" +2 ."da"PBV.dial :waste1 + "processing"%M  +35 "core" + "processing"%b% +4 "core" %y\  +2 ."da"PS.seek 1.5ml +2 "processing"%:'. +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%i * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +744 "core" ' + ."WCR"CSV.dial :air +2 "collection"'W @ +42 "core" ? +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +2 ."WCR"CS.hold +2 "collection"'Y+ +3 "core" + +2 !to:ShallowSampler::Error:@timestampu: Time iEN: mesg"GPuck.from 2, :wcr did not reach 35psi after pumping in 40ml of gas:bt[$"4/home/esp/esp2/utils/sampler.rb:346:in `pumpTo'"2/home/esp/esp2/utils/sampler.rb:342:in `loop'"4/home/esp/esp2/utils/sampler.rb:342:in `pumpTo'" showlog +9512 #-> showlog -100 +721 "Can"\ ca +37247 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +46 "processing"%  +42 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" * +2 ."da"PSV.dial :air +2 "processing"%e  +43 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +4 ."da"PS.seek 2.5ml + "processing"%7' +2453 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +45 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%  +44 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%K +45 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%p  +58 "core" +2 ."da"PS.seek 0ml +2 "processing"%r'ؾ +2393 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +3 "processing"% +131 "core"  + "processing"%% +4 "core" %ع\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +11 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%q' +1621 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%n +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%Z% +4 "core" %y\ +2 ."da"PS.seek 1.5ml +2 "processing"%,') +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + +3 ."da"PS.seek 0ml + "processing"%'ؾ +1631 "core" ' + ."da"delay 2:00 +8235 "Can"\  +3768 #"da"recoverPSRreagent08 + .PTV.dial :puck +3 .PBV.dial :waste1 + "processing"%  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +3 "processing"%! +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%z' +2456 "core" ' + ."da"PSV.dial PTV +2 "processing"%y +86 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%d +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%?  +74 "core"  +2 ."da"PS.seek 0ml + "processing"%}'ؾ +2400 "core" ' + #"da"washCycleDA #2 of 3 + .PSR.select :air +3 .PSV.dial PSR +3 "processing"%3 +132 "core"  +2 "processing"%s% +4 "core" %ؼk\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +11 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +4 ."da"PS.seek 0.5ml + "processing"%&' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +11 ."da"PS.seek 2ml + "processing"%' +1616 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +3 "processing"%w +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%4% +4 "core" %c\ +2 ."da"PS.seek 1.5ml +2 "processing"%/'( +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%D * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%8'ؾ +1635 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +3 .PBV.dial :waste1 + "processing"%6  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +4 ."da"PS.seek 2.5ml + "processing"% ' +2449 "core" ' + ."da"PSV.dial PTV +2 "processing"% +87 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%( +72 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%# +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +88 "core" +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2412 "core" ' + #"da"washCycleDA #3 of 3 + .PSR.select :air +3 .PSV.dial PSR +3 "processing"%F +132 "core"  +2 "processing"%=% +4 "core" %ؼw\ w + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +4 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%9' +599 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%\ ' +1614 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +3 "processing"%0 +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +36 "core" +2 "processing"%% +4 "core" %\ w \ +2 ."da"PS.seek 1.5ml + "processing"%') +591 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%5 * +34 "core" + +3 ."da"PS.seek 0ml +2 "processing"%'ؾ +1613 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +4 "processing"%1  +35 "core" + ."da"delay 30 seconds +1292 "Can"\ ec +1710 ."da"PBV.dial between PSV and waste1 +2 "processing"%I * +35 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%~ +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +4 ."da"PS.seek 2.5ml +57 "processing"%%' +2450 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%. +73 "core" +2 ."da"delay 5 seconds +501 .PSV.dial PSR +2 "processing"%> +75 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%L +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%$  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%X'ؾ +2393 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR +3 "processing"%V +141 "core"  +2 "processing"%N% +11 "core" %غ +3 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +9 "processing"% +17 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +6 "processing"%"' +342 "core" ' +2 ."da"delay 5 seconds +502 "processing"%E% +3 "core" %z  + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +4 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%G' +344 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +11 ."da"PS.seek 2ml + "processing"%+' +1611 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +3 "processing"%H +76 "core" +2 ."da"PBV.dial :waste1 + "processing"%2  +38 "core" + "processing"%T% +4 "core" %  +2 ."da"PS.seek 1.5ml +2 "processing"%*', +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%[ * +37 "core" , +2 ."da"PS.seek 0ml +3 "processing"%A'ؾ +1631 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +3 .PBV.dial :waste1 +2 "processing"%_  +37 "core" + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%U * +37 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +3 "processing"%@ +76 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +4 ."da"PS.seek 2.5ml + "processing"%J' +2550 "core" ' + ."da"PSV.dial PTV +2 "processing"%R +75 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%M +78 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%b +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +77 "core"  +2 ."da"PS.seek 0ml +3 "processing"%;'ؾ +2554 "core" ' +2 #"da"Additional air clear + .PSR.select :air +3 .PSV.dial PSR +3 "processing"%i +136 "core"  +2 "processing"%:% +4 "core" %  + #"da"Pulling 2ml of PSR.air + .PSR.select :air +4 .PS.reconfigure :default +3 "processing"%#A d`xb +4 ."da"PS.seek 2ml +2 "processing"%W' +2118 "core" ' +2 ."da"delay 5 seconds +501 .PTV.dial :puck +2 .PSV.dial PTV +3 "processing"%v +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%\\  +35 "core" + "processing"%-% +4 "core" %\ K +2 ."da"PS.seek 1.5ml +2 "processing"%m'+ +592 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"% * +37 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%P  +110 "core"  +3 ."da"PS.seek 0ml +3 "processing"%t'ؾ +1611 "core" ' +2 "processing"%^9 +3 "core" 9x5 +2 #"da"Processing Puck Heater at 28.2C before imaging + .PH.coast +3 "processing"%f  +4 "core" 5 + 5 + "processing"%h& +3 "core" &^\ a0 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&`% +5 "core" %  \ `  + "storage"(u% +4 "core" % * * '\ b + "storage"(j. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"((C +359 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +4 (o& +4 "core" &B\ \  Q + "manipulator"&k& +4 "core" &Ӟ 8 * `;2 + "manipulator"&Q% +3 "core" %     ` +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&]( +162 "core" ( +2 "manipulator"&{& +4 "core" & } ; m + "storage"(|& +4 "core" &B U S +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&a' +95 "core" ' + "storage"(g& +4 "core" &B Y V +2 ."da"SE.reconfigure :pick +3 "storage"(#],K-0-\ b +4 ."da"SE.seek :beamBreak +2 "storage"(C'r +300 "core" ' +2 "storage"('- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&S& +3 "core" &  +2 "storage"(c& +3 "core" &B ( % Q\ d +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&)'8 +19 "core" ' + ."da"Elbow.hold +2 "manipulator"& , +5 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"( - +2 "core" -' +2 ."da"SE.seek 1.17 Pucks below Top Plate +2 "storage"(e' +32 "core" ' + "manipulator"&% +4 "core" %:   k +2 "storage"(& +3 "core" &B L S X +2 ."da"Forearm.force -20 + "manipulator"&5 +4 ."da"Forearm.seek 1 + 302 counts + "manipulator"& 'f +28 "core" ' + "manipulator"&K& +4 "core" & r +2 "storage"(p& +3 "core" &B i g s +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&7' +26 "core" ' +2 ."da"SE.seek 2.17 Pucks below Top Plate +3 "storage"('\\ +36 "core" ' +2 "manipulator"&& +4 "core" &  + "manipulator"&r% +4 "core" % k +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&( +262 "core" ( +2 "manipulator"&n& +4 "core" & e a J g +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" & a a  g +2 ."da"Forearm.seek PC +2 "manipulator"&Z' +91 "core" ' +2 ."da"Hand.close + "manipulator"&q/ +129 "core" / + ."da"PC.seek :open +3 "processing"%( +458 "core" ( + "storage"(,& +4 "core" &B o  v\ k + "manipulator"&& +4 "core" & + "manipulator"&% +4 "core" %  # +2 ."da"Forearm.seek :retract +2 "manipulator"&!' +94 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."da"Elbow.seek 1 +3 "manipulator"&( +251 "core" ( +2 "manipulator"&y& +4 "core" & t @ j2 + "storage"(& +4 "core" &B N U | +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&d' +100 "core" ' + ."da"Hand.open + "manipulator"&?1 +77 "core" 1 +2 "storage"(z- +3 "core" -'\\ +3 ."da"SE.seek 1.82 Pucks below Top Plate + "storage"(3'( +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 ."da"SE.seek 0.86 Pucks below Top Plate +2 "storage"(s' +52 "core" ' +2 #"da"Lights, camera, ACTION! +5 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21nov0815h100ml.tif +1947 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +2121 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 37.172 seconds\ /var/log/esp/da21nov0815h100ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21nov0815h100ml15s.tif +1565 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21nov0815h100ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21nov0815h100ml30s.tif +3069 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21nov0815h100ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21nov0815h100ml70s.tif +7187 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21nov0815h100ml70s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "37.172 sec auto-exposure",Subject: "da21nov0815h100ml images!" +5 "storage"(}- +5 "core" -' +8 "storage"(&& +4 "core" &B \ o +2 "manipulator"&w& +3 "core" & 2 +2 ."da"Elbow.seek 1 +3 "manipulator"&( +32 "core" ( + "manipulator"&4& +6 "core" &  _ g + "storage"(& +4 "core" &B t v \ p +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&D' +7 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.57 Pucks below Top Plate +2 "storage"(/'M +49 "core" ' +2 "manipulator"&6& +5 "core" & * g +2 "storage"(& +4 "core" &B L\ + ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +4 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek 1 +2 "manipulator"&'8 +24 "core" ' + ."da"Elbow.hold +2 "manipulator"&8, +7 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +4 ."da"SE.seek 1.76 Pucks below Top Plate +2 "storage"( ' +26 "core" ' +2 "manipulator"&(% +5 "core" %: + "storage"(#& +6 "core" &B O\ + ."da"Forearm.force -20 +2 "manipulator"&5 +5 ."da"Forearm.seek 1 + 302 counts + "manipulator"&'f +31 "core" ' + "manipulator"& & +5 "core" & g + "storage"(F& +4 "core" &B O\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 ."da"Forearm.seek 1 + 450 counts + "manipulator"&=' +17 "core" ' + "storage"(% +4 "core" %  \ +3 ."downElevator"SE.seek :down +3 "storage"(9' +99 (0% +3 "core" %9 #\ U\\ +2 "manipulator"&% +4 "core" %  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +4 (\ & +5 "core" &B  X\ +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%5& +6 "core" &(\ + "manipulator"&& +4 "core" & g +2 "manipulator"&1% +4 "core" %   +2 ."psFlush"Elbow.seek FlushPuck::Garage + "manipulator"&I(- +179 "core" ( +3 "manipulator"&~& +8 "core" &-  ! +3 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +7 && +7 "core" &- E ! +3 ."psFlush"Forearm.seek :garage +4 "manipulator"&.'w +99 "core" ' +6 ."psFlush"Hand.close +7 "manipulator"&>/ +58 "core" / +4 "manipulator"&L& +7 "core" &- > ! +3 "manipulator"&$% +7 "core" % ψ i +5 ."psFlush"Forearm.seek :retract +3 "manipulator"&%' +104 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 ."psFlush"Elbow.seek PC +6 "manipulator"&V( +120 "core" ( +2 "manipulator"&N& +8 "core" & 5  +4 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +7 &X& +12 "core" &  +4 ."psFlush"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +7 ."psFlush"Forearm.seek PC +4 "manipulator"&E' +92 "core" ' +4 "manipulator"&"& +8 "core" &   +3 "manipulator"&G% +7 "core" % ' k +3 "processing"%H& +8 "core" &\ +4 "processing"%2& +10 "core" &\ +7 ."psFlush"PC.seek :closed +3 "processing"%T(^ +13 "core" &\ +3 &\ +2 &\ 4 +5 &AFv\ 1 +9 &iq\ E +9 &e\ P +9 &W\ O +10 &V\ O +9 &MZ\ O +13 &T \ O +7 &Z \ O +8 &Z \ O +10 &UZ\ O +8 &!V\ O +10 &"U\ O +10 &$V\ O +9 &&]U\ O +10 &(V\ O +10 &)U\ O +8 &+T\ O +10 &-fT\ O +8 &/&Z\ P +10 &0U\ O +10 &2X\ O +9 &4mZ\ O +10 &6.Y\ P +9 &7X\ O +9 &9W\ O +10 &;t[\ P +8 &=8U\ O +11 &>\\\ P +9 &@\\\ O +10 &Bxe\ Q +9 &D5s\ S +9 &E\ U +9 &G\ U +10 &Ir\ V +8 &K4\ V +10 &L\ V +10 &N\ V +8 &Pw\ W +11 &R8\ W +9 &S\ X +9 &U\ W +10 &W~\ W +8 &YA\ W +11 &[\ W +9 &\\\ X +9 &^?k\ / +11 &^k\ E +7 ( +4 &^J\ @ +5 "processing"%2& +6 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.66 +2 "processing"%+& +12 "core" &^J\ @ +2 &^J\ @ +3 ."psFlush"Hand.open +3 "manipulator"&[1 +58 "core" 1 +4 "manipulator"&*% +104 "core" %  f k +22 ."psFlush"Forearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +7 ."psFlush"Forearm.seek :retract +3 "manipulator"&_' +101 "core" ' +3 ."psFlush"PSR.select :air +5 .PSV.dial PSR +4 "processing"%U +45 "core"  +4 "processing"%@% +11 "core" %غ\ +2 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +9 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +4 "processing"%A' +595 "core" ' +3 ."psFlush"delay 5 seconds +502 .PSR.select :air +4 "processing"% +16 ."psFlush"PS.seek 2.5ml +3 "processing"%R' +2122 "core" ' +2 ."psFlush"delay 1 second +104 .PRV.dial :waste2,avoiding: :ab2 +6 "processing"%M @ +188 "core" A +2 ."psFlush"PTV.dial :PRVmixing +4 "processing"%b  +132 "core" +4 ."psFlush"PSV.dial :mixloop +6 "processing"% +104 "core" +9 ."psFlush"PS.seek :empty +4 "processing"%J'ؠ +2638 "core" ' +2 ."psFlush"PSR.select :air +4 .PSV.dial PSR +6 "processing"%i +108 "core"  +4 "processing"%:% +7 "core" %ء\ +3 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +7 "processing"%@ +15 ."psFlush"PS.seek 0.5ml +3 "processing"%;' +430 "Can"\ hf +162 "core" ' +4 ."psFlush"delay 5 seconds +504 .PSR.select :air +3 "processing"% +17 ."psFlush"PS.seek 2.5ml +6 "processing"%v' +2132 "core" ' +3 ."psFlush"delay 1 second +104 .PBV.dial :waste1 +3 "processing"%\\  +37 "core" +3 ."psFlush"PTV.dial :mixing +3 "processing"%- @ +78 "core" A +2 ."psFlush"PSV.dial :mixloop +4 "processing"%W +105 "core" +3 ."psFlush"PS.seek :empty +4 "processing"%'ؠ +2644 "core" ' +3 ."psFlush"PSV.dial PSR +4 "processing"%P +110 "core"  +3 ."psFlush"PSR.select :flush +5 "processing"%@ +15 ."psFlush"PS.seek 1ml +4 "processing"%m'X\\ +1019 #"uploadLog"upsync +99 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml +2 "processing"%^' +1612 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%f +75 "core" +2 ."psFlush"PTV.dial :puck + "processing"%h  +74 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +4 "processing"%`'ؾ +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%u +73 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"%j' +594 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +11 ."psFlush"PS.seek 2.5ml + "processing"%' +2122 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%o +86 "core" + ."psFlush"PBV.dial PSV +2 "processing"%k U +56 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%Q'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%{ @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%|' +2639 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%g  +73 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%B'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%l +45 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +3 "processing"%'' +2628 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%S +74 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +3 "processing"%c'ؾ +2642 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +57 "core" @ +2 ."psFlush"PS.seek 2.5ml + "processing"%' +2640 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +75 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%K'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%p +45 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 1ml +2 "processing"%'X\\ +1097 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml +2 "processing"%r' +1618 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%a +73 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +3 "processing"%]  +55 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%C'ؾ +2627 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%) +75 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +11 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +587 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +11 ."psFlush"PS.seek 2.5ml +2 "processing"%e' +2143 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%7 +75 "core" +2 ."psFlush"PBV.dial PSV + "processing"%n U +57 "core" W +2 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +45 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%q' +2635 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%<'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%, +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +3 "processing"%' +2630 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +4 "processing"%Z'ؾ +2652 "core" ' + ."psFlush"PSV.dial PBV +40 "processing"%y @ +52 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2637 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +73 "core"  +2 ."psFlush"PS.seek 0ml +3 "processing"%?'ؾ +1812 "Can"\ fc +819 "core" ' +2 #"psFlush"Garaging FlushPuck in Processing Clamp + "manipulator"&z& +6 "core" &  g  +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&!( +4 "core" ( +2 "manipulator"&& +4 "core" &    + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &3& +3 "core" &   +2 ."psFlush"Forearm.seek PC +2 "manipulator"&}' +93 "core" ' + ."psFlush"Hand.close +2 "manipulator"&&/ +63 "core" / + ."psFlush"PC.seek :open +2 "processing"%w( +458 "core" ( + "manipulator"&4& +4 "core" &  +2 "manipulator"&% +3 "core" %  $ +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&6' +101 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 ."psFlush"Elbow.seek :garage +2 "manipulator"&(- +126 "core" ( + "manipulator"&(& +4 "core" &-  \ +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +3 "core" &- \ +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 ."psFlush"Forearm.seek :garage +2 "manipulator"& 'w +102 "core" ' + ."psFlush"Hand.open +2 "manipulator"&F1 +56 "core" 1 +2 "manipulator"&% +4 "core" % |  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&' +99 "core" ' +45266 #"dave"Session Ended +12701 "Can"\ TQ +60001 \ TQ +60001 \ SQ +60001 \ TQ +60002 \ TQ +60001 \ TQ +60001 \ TQ +60002 \ TQ +60001 \ TQ +60001 \ TQ +60002 \ TQ +60001 \ UQ +60001 \ TQ +60002 \ TQ +60001 \ TQ +60001 \ TQ +60001 \ TQ +60002 \ UR +60001 \ TQ +60001 \ TQ +60001 \ TQ +60002 \ TQ +60001 \ TR +60001 \ TR +60001 \ TQ +60002 \ TQ +60001 \ UQ +60001 \ TQ +60002 \ TQ @1636403023.57UTC = =mMAIN_scheduler =tMAIN @UTC1636403025.43 #"core_reset"Sent BREAK +3 #t@25410 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +283 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +386 "Can"\ !t + \ !t #tPolling Can every 10:00 +4 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2459 #-> ESP.ready! +3 #Powering core bus +539 .Gate.power :raw,:ON +2 "sampler") +31 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" %xzr\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" % \ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %\ +2 .tSS.configure :default +2 "sampler")#.0X PC +2 "processing"%;& +3 "core" &Q\  +226 #t-> CC +2 "collection"'<& +3 "core" &ww\  +206 #t-> Hand +312 #-> Arm +3 "manipulator"&=& +3 "core" & A +2 "manipulator"&>% +4 "core" %  8 e +641 #t-> FLush +2 !o:NameError: mesg"!uninitialized constant FLush: name:\ FLush:bt["(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +197 #-> Flush +1013 #-> SC +2 "storage"(?& +3 "core" &,x { 0\  +373 #t-> SE + "storage"(@% +4 "core" %! ~ ]\ C +1685 #t-> Puck.count + "storage"(A% +3 "core" %! t ?\ C +2 .tSE.seek :down +2 "storage"(B' +4 "core" ' + .tSE.stop + "storage"(5 +3 .tHand.open + "manipulator"&C1 +59 "core" 1 + "manipulator"&D% +4 "core" %  ' e +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 +2 "storage"(E(C +984 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (F& +4 "core" &F `\ +2 "manipulator"&G& +4 "core" & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&H( +13 "core" ( + "manipulator"&I& +4 "core" & a  +2 "storage"(J& +4 "core" &G 4\ +2 .tForearm.seek 1 + 450 counts + "manipulator"&K' +97 "core" ' + "storage"(L& +4 "core" &G \ +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'r +304 "core" ' +2 "storage"(N- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (O% +2 "core" % w r W\ +3 ."downElevator"SE.seek :down +4 "storage"(P' +99 (Q% +9 "core" %N? ^ X 9\ V` + "manipulator"&R% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S' +98 "core" ' +26 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(T(  +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +3 "core" & Z _ +\  +2 "manipulator"&V& +3 "core" & 3  +2 .tElbow.seek 2 +2 "manipulator"&W( +3 "core" ( + "manipulator"&X& +4 "core" & 3  + "storage"(Y& +4 "core" & ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'S +93 "core" ' + "storage"([& +4 "core" & \ \  +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'r +135 "core" ' +2 "storage"(]- +3 "core" -'' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^% +2 "core" %  V q /\ +3 ."downElevator"SE.seek :down +3 "storage"(_' +68 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +28 (`% +3 "core" % W\  + "manipulator"&a% +4 "core" %U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b' +89 "core" ' +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(c( +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" & z \ +2 "manipulator"&e& +4 "core" & 9  + .tElbow.seek 3 +2 "manipulator"&f( +13 "core" ( + "manipulator"&g& +4 "core" & A  +2 "storage"(h& +3 "core" & A\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&i'7 +94 "core" ' +2 "storage"(j& +5 "core" & M\ + .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'r +104 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (m% +3 "core" % > 3 "\ +2 ."downElevator"SE.seek :down +3 "storage"(n' +35 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +61 (o% +3 "core" % L\  + "manipulator"&p% +4 "core" %6 W @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q' +91 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(r(,y +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +2 "core" &,| Y X\  +2 "manipulator"&t& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&u( +27 "core" ( + "manipulator"&v& +4 "core" &  s  +2 "storage"(w& +3 "core" &,| g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +104 "core" ' +2 "storage"(y& +4 "core" &,| g\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(z'r +106 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (|% +3 "core" % r  7\ f +3 ."downElevator"SE.seek :down +4 "storage"(}' +39 "core" ' + ."downElevator"SE.stop + "storage"(5 +58 (~% +3 "core" % \  + "manipulator"&% +5 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +98 "core" ' +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<- +347 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<* y w K\  +2 "manipulator"&& +4 "core" & -  +2 .tElbow.seek 5 +2 "manipulator"&( +15 "core" ( + "manipulator"&& +5 "core" & T + "storage"(& +4 "core" &<* 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'O +92 "core" ' +2 "storage"( & +4 "core" &<* O\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'r +106 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( % +2 "core" %  # T\ q +3 ."downElevator"SE.seek :down +3 "storage"( ' +37 "core" ' + ."downElevator"SE.stop + "storage"(5 +60 (% +2 "core" % ^\  +2 "manipulator"&% +4 "core" %V 5 , + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +92 "core" ' +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K @ ? J\  + "manipulator"&& +4 "core" & +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & ^ +2 "storage"(& +3 "core" &K T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('r +103 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +2 "core" % % \ +3 ."downElevator"SE.seek :down +3 "storage"("' +39 "core" ' + ."downElevator"SE.stop + "storage"(5 +58 (%% +3 "core" % ;\  + "manipulator"&'% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)' +92 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"((([ +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &[ 5 A h\  + "manipulator"&& +4 "core" & Q +2 .tElbow.seek 7 + "manipulator"&#(r +13 "core" ( + "manipulator"&,& +5 "core" &u @  + "storage"(-& +5 "core" &[ R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&.'= +94 "core" ' +2 "storage"(/& +4 "core" &[ 2\  + .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'r +119 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2% +2 "core" %  : $ ;\ +3 ."downElevator"SE.seek :down +3 "storage"(3' +54 "core" ' + ."downElevator"SE.stop + "storage"(5 +43 (4% +2 "core" % I\  +2 "manipulator"&5% +4 "core" %B ( + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6' +93 "core" ' +15446 #t-> CC.unloadPuck 1, :wcr +2 "collection"'7& +3 "core" &xy\  +2 !to:Puck::Error: mesg"#Collection Clamp is NOT CLOSED:bt[ "7/home/esp/esp2/utils/puckmoves.rb:54:in `contains'"6/home/esp/esp2/utils/puckmoves.rb:417:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +546 #-> CC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Collection Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"(ESP):12:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1785 #-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&8' +72 "core" ' + ."closeHand"Hand.close +4 .tElbow.jog 1500 +2 "manipulator"&9/ +2 &:* +47 "core" * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.home.seek :clear +3 "core" / + "manipulator"&;(d +434 "core" ( + "manipulator"&<& +4 "core" &d  l # +2 "manipulator"&=% +3 "core" %  t  +818 #t-> CC.close +2 "manipulator"&>& +3 "core" &d  # +3 !to:Arm::Error: mesg"@Cannot hold puck in Collection Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:414:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"(ESP):14:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +725 #-> Hand.open +2 .Hand.open + "manipulator"&?1 +62 "core" 1 +347 #t-> CC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Collection Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2705 #-> Claim.Arm +2 !o:NameError: mesg"!uninitialized constant Claim: name:\ Claim:bt["(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +777 #-> Arm.claim +914 #-> Arm.Claim +2 "manipulator"&@& +3 "core" &d  # +2 !to:Axis::Error: mesg""Unknown Elbow position: Claim:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:512:in `baseRaw'",/home/esp/esp2/lib/axis.rb:293:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:277:in `fetch'",/home/esp/esp2/lib/axis.rb:288:in `raw'",/home/esp/esp2/lib/axis.rb:552:in `raw'"./home/esp/esp2/lib/axis.rb:666:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):19:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1485 #-> PC.close + "manipulator"&A& +3 "core" &d  # +2 "manipulator"&C% +4 "core" %   +2 .tElbow.seek PC +2 "manipulator"&D( +198 "core" ( + "manipulator"& & +4 "core" & 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" & - 0 +2 .tForearm.seek PC +2 "manipulator"&!' +90 "core" ' + .tHand.close +2 "manipulator"&F/ +62 "core" / +2 "processing"%G& +4 "core" &G\  +2 "processing"%I& +5 "core" &K\  + .tPC.seek :closed +2 "processing"%J(^ +4 "core" &X\  +9 &5{]\ +{ +9 &ca\ ? +10 &Rxb\ O +9 &Z_\ O +10 &Ya\ O +9 &Y`\ N +9 &\\[`\ N +10 &Z_\ O +9 &Y`\ O +9 &Z[\ O +10 & cZa\ O +9 &"%Z[\ O +10 &#]_\ O +9 &%W[\ O +9 &'kZ`\ O +10 &)-]Y\ O +9 &*[_\ N +9 &,[_\ O +10 &.s]c\ O +9 &05Z[\ O +9 &1ZX\ O +10 &3Z_\ O +9 &5{[X\ O +10 &7<_Z\ O +9 &8^Z\ O +9 &:]Z\ O +10 &<\\b\ O +9 &>D__\ O +10 &@^[\ O +9 &A`]\ O +9 &C`X\ O +10 &EK`[\ O +9 &G \\_\ O +9 &H`^\ O +10 &Jaa\ P +9 &LR``\ P +9 &N]X\ O +10 &O]X\ O +9 &QaZ\ O +10 &S[`^\ O +9 &Ub\\\ O +9 &VdX\ P +10 &XaZ\ P +9 &Zc]W\ O +9 &\\%b_\ O +10 &]Lc\ 1 +9 &^/F^\ 8 +10 &^Z\  +2 ( +2 "processing"%I& +2 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.05 +3 !o:Slide::Error\ : mesg"(No Puck Clamped in Processing Clamp: @reply0:@axisName"Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):20:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +766 #-> PC.open +2 .PC.seek :open + "processing"%L( +458 "core" ( +2 "processing"%$& +4 "core" &`\ +522 #t-> CC.close +2 "manipulator"&&& +3 "core" & 0 +40 !to:Arm::Error: mesg"@Cannot hold puck in Collection Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:414:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1821 #-> Hand.open +2 .Hand.open +2 "manipulator"&N1 +59 "core" 1 +776 #t-> Arm.CC +2 "manipulator"&O& +3 "core" & 0 +2 "manipulator"&Q% +4 "core" %  B +2 .tForearm.seek :retract + "manipulator"&R' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :CC + "manipulator"&M(ӂ +356 "core" ( +2 "manipulator"&K& +4 "core" &Ӗ# <? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &Ӗ# y <? +2 .tForearm.seek CC +2 "manipulator"&E'? +95 "core" ' + "manipulator"&U& +4 "core" &Ӗ#  l <? +2 "manipulator"&V% +3 "core" %N ;  +1192 #t-> Hand.close +2 .Hand.close + "manipulator"&X/ +62 "core" / +2235 #t-> CC.close +2 "manipulator"&Y& +3 "core" &Ӗ# <? +2 "manipulator"&[% +4 "core" % N Z  +2 "collection"']& +3 "core" &wyc\  +2 "collection"'^& +5 "core" &xxU\  +2 .tCC.seek :closed + "collection"'H(\\ +5 "core" &xwU\  +8 &5{yyW\ +} +9 &gyyW\ @ +9 &dqxyS\ N +10 &)Txw]\ M +9 &Vz{X\ M +10 &WwzY\ N +9 &pVwyW\ M +9 &1VzxU\ M +10 &UwyZ\ M +9 &Sv{T\ M +9 & xWzyU\ M +10 &"9UyyV\ M +9 &#WxzV\ M +10 &%WyzV\ M +9 &'Sy{V\ M +9 &)AWywV\ M +10 &+UxzX\ M +9 &,U{xW\ M +9 &.V{zX\ M +10 &0IUzyW\ M +9 &2 Wz{W\ M +10 &3V{{\\\ M +9 &5UzzZ\ M +9 &7RUv{V\ M +10 &9TyyW\ M +9 &:Uyz]\ M +9 &<Uz{\\\ M +10 &>ZU|zY\ M +9 &@Uz{U\ M +10 &AY{xW\ M +9 &C]{}\\\ N +9 &E\\j~}[\ O +10 &Gy|}\\\ Q +9 &H`\ T +9 &JU\ X +10 &LHZ\ Y +9 &NZ\ Y +10 &OZ\ Y +9 &Q^\ Z +9 &SLY\ Z +10 &U W\ Z +9 &VW\ \\ +9 &XY\ \\ +10 &ZJX\ ] +9 &[yW\ C +10 &\\"\\\ , +9 &\\\\\ ^ +2 ( +2 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.24 + "collection"'S& +4 "core" &\\m\ ^ +2159 #t-> CC.unloadPuck 1, :wcr +2 "collection"'`& +3 "core" &\\b\ ^ +2 #tStoring wcr puck in Collection Clamp to tube 1 + .Hand.open +2 "manipulator"&a1 +51 "core" 1 +2 "manipulator"&\\% +4 "core" % N  I  +2 .tForearm.seek :retract + "manipulator"&_' +99 "core" ' +2 "storage"(Z% +4 "core" % \  + "storage"(T. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(d(C +1930 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +2 "core" &D y\ +2 "manipulator"&g& +4 "core" &Ӗ#  <? + "manipulator"&h% +4 "core" % % \ \ : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&j( +164 "core" ( +2 "manipulator"&l& +4 "core" &   + "storage"(m& +4 "core" &D ! \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&W' +111 "core" ' + "storage"(b& +4 "core" &D " \ +2 .tSE.reconfigure :pick +3 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'r +287 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" & L  + "storage"(n& +4 "core" &D + +\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&i'8 +27 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(s- +2 "core" -' +2 .tSE.seek 2.17 Pucks below Top Plate +2 "storage"(t'] +29 "core" ' +2 "manipulator"&v% +4 "core" %- + "storage"(w& +4 "core" &D '\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 289 counts + "manipulator"&y'Y +20 "core" ' + "manipulator"&{& +4 "core" &  +2 "storage"(|& +3 "core" &D z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&f' +17 "core" ' +2 .tSE.seek 3.17 Pucks below Top Plate + "storage"(q' +40 "core" ' + "manipulator"&~& +5 "core" &  + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z' +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}(ӂ +156 "core" ( + "manipulator"&x& +4 "core" &x- \ m Dx +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &x- P Dx +2 .tForearm.seek CC +2 "manipulator"&'? +91 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'( +448 "core" ( + "storage"(& +4 "core" &D X V\ +2 "storage"( & +3 "core" &D S V 2\ +2 "manipulator"& & +3 "core" &Ӑ( A` +2 "manipulator"& % +3 "core" % : M +2 .tForearm.seek :retract +2 "manipulator"&u' +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +166 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &D \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&\ '8 +96 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % C  E +2 "storage"(& + "Can"\ CA +5 "core" &D w z \\\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 311 counts + "manipulator"&'o +22 "core" ' + "manipulator"&& +4 "core" & A  + "storage"(& +4 "core" &D (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +24 "core" ' +2 "storage"(% +4 "core" %  "\ +2 ."downElevator"SE.seek :down +3 "storage"(' +99 (% +3 "core" %l> _ V \ Va +2 "manipulator"&% +3 "core" %  e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%' +98 "core" ' +31 ' + ."downElevator"SE.stop + "storage"(5 +1964 #t-> Puck.count 1..2 +2 "storage"('% +3 "core" % \  +2 .tSE.seek :down + "storage"(' +4 "core" ' + .tSE.stop + "storage"(5 +2 "manipulator"&"% +4 "core" %  1 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((C +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &> 9\ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 1 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&,& +3 "core" & 0  +2 "storage"(-& +3 "core" &> <\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&/' +93 "core" ' + "storage"(1& +4 "core" &> B\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"(2'r +299 "core" ' +2 "storage"(- +3 "core" -'7 + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ()% +3 "core" % : [ a \ +2 ."downElevator"SE.seek :down +3 "storage"(4' +99 (5% +3 "core" %ï; X Y \ V` +2 "manipulator"&0% +4 "core" % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&3' +96 "core" ' +25 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(.(  +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &  U S >\  + "manipulator"&9& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&6( +3 "core" ( + "manipulator"&#& +4 "core" &   + "storage"(:& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&<'S +93 "core" ' + "storage"(=& +4 "core" & \  +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(>'r +142 "core" ' + "storage"(?- +4 "core" -'( + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@% +3 "core" % 0  \ } +2 ."downElevator"SE.seek :down +3 "storage"(A' +68 "core" ' + ."downElevator"SE.stop + "storage"(5 +29 (C% +3 "core" % A\  + "manipulator"& % +4 "core" %Z > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B' +90 "core" ' +56089 "Can"\ ?; +60001 \ >; +60001 \ >; +60002 \ ?; +2446 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +5 #mEXIT @1636406060.98UTC @1636463284.54UTC = =mMAIN_scheduler =tMAIN @UTC1636463286.35 #"core_reset"Sent BREAK +2 #t@36297 sendCRC with ifg=0x20, ie=0x7F + #@38132 sendCRC with ifg=0x08, ie=0x5F + #@35680 idle with ifg=0x84, ie=0x75 #@36350 select with ifg=0x10, ie=0xF5 + #@36984 receive with ifg=0x10, ie=0xFD + #@37617 receive with ifg=0x10, ie=0xFD #@38251 receive with ifg=0x10, ie=0xFD + #@38579 receive with ifg=0x80, ie=0xFD #@36387 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +279 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +367 "Can"\ A= + \ A= + #tPolling Can every 10:00 +4 #Cleanly exited at 21:14:20UTC08-Nov-21 +1968 #-> Can +3307 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %jnn\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % h\  + .tSS.configure :default +3 "sampler")#.0X I Q\  + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +2 "core" +2 .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast +2 "processing"%  +3 "core" + .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 + "sampler") +10 "collection"'% +3 "core" %jpn\ +2 "sampler")% +2 "processing"%% +4 "manipulator"&% +6 "core" % g\  + %\ + %   5  +2 "manipulator"&& +4 "core" &  + "storage"(& +3 "core" &  ? > \ \  +2 "storage"(% +3 "core" % ; 3 \  + "collection"'& +4 "core" &on\ +2 "processing"%& +3 "core" &\ +2 "collection"' +3 "core"  + "collection"'  +3 "core"  +2 "collection"'! +3 "core"  +2 "processing"%" +3 "core"  + "processing"%# +3 "core" W +2 "processing"%$ +2 "core"  +2 "processing"%% +3 "core" A +2 "sampler")& +3 "core"  +2 "collection"''% +3 "core" %jnn\ +2 "processing"%(% +3 "core" %\ +2 "sampler"))% +4 "core" % ]\  +2 "collection"'*& +4 "core" &po\ + "processing"%+& +4 "core" &\ + "manipulator"&,% +4 "core" %  ]  +2 "manipulator"&-& +3 "core" &  D  +2 "storage"(.& +4 "core" &  @ @ ~\ \  +2 "storage"(/% +3 "core" % @ A \  +2 "collection"'09 +3 "core" 9 +2 "processing"%19 +3 "core" 9 +578 #t-> exit +5 #mEXIT @1636463356.84UTC @1636463703.69UTC = =mMAIN_scheduler =tMAIN @UTC1636463705.48 #"core_reset"Sent BREAK +2 #t@32736 receive with ifg=0x10, ie=0xFD + #@33374 receive with ifg=0x10, ie=0xFD + #@34031 receive with ifg=0x10, ie=0xFD + #@34666 receive with ifg=0x10, ie=0xFD #@35301 receive with ifg=0x10, ie=0xFD + #@35934 receive with ifg=0x10, ie=0xFD #@36568 receive with ifg=0x10, ie=0xFD + #@36900 receive with ifg=0x80, ie=0xFD + #@32986 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +253 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +359 "Can"\ KH + \ KH #tPolling Can every 10:00 +4 #Cleanly exited at 13:09:16UTC09-Nov-21 +3 #Loading /home/esp/esp2/mission/DA_WCR_110921.rb mission +38 ."Qmail"GoodNews.email "Starting DA_WCR_110921 w/pucks in tube 2\\n{1 => 4,\\n 2 => 29,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@13:15:11, 16% flow, 22.0C, 13% humidity, 15.2psia, 13.535V, 0.375A, 0.357A avg, 5.07W",Subject: "DA_WCR_110921 begun" +3 #tPreparing to sleep until + 00:00:05 +4 #Asleep til + 00:00:05 +2 #Continuing at 13:15 +2 "Can"\ KH +26 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF + #Shutdown +352 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [100, 100] #da and wsr are run simultanelously\\n/home/esp/esp2/mission/DA_WCR_110921.rb:14\\n{1 => 4,\\n 2 => 29,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@13:15:12, 16% flow, 22.0C, 13% humidity, 15.2psia, 13.535V, 0.375A, 0.357A avg, 5.07W",Subject: "Asleep until 13:15" +70 "Can"\ "t +3 #tPowering core bus +541 .Gate.power :raw,:ON +3 "sampler") +28 ) +4 "core"  +4 "collection"' +4 ' +7 "core"  +3 "processing"% +4 % +6 "core"  +8 "collection"' 9\ +4 ' 0\ +4 ' -\ +8 "processing"% 9\ +4 % 2\ +4 % *\ +12 % 0\ +7 "sampler")&\ +4 "collection"'% +6 "core" %nm\ +4 .tCS.configure :default +3 "collection"'#P d@b +5 "processing"%% +8 "core" %\ +3 .tPS.configure :default +4 "processing"%#A d`xb +8 "sampler")% +5 "core" % \ +3 .tSS.configure :default +4 "sampler")#.0X +25 #tPhase [initialPurge; da [100, 100] #da and wsr are run simultanelously] +3 ."Qmail"Notice.email "At 13:15:53 began in tube 2: initialPurge; da [100, 100] #da and wsr are run simultanelously\\n/home/esp/esp2/mission/DA_WCR_110921.rb:14\\n{1 => 4,\\n 2 => 29,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@13:15:53, 16% flow, 21.9C, 12% humidity, 15.2psia, 13.574V, 0.315A, 0.296A avg, 4.27W",Subject: "Started DA_WCR_110921 phase initialPurge; da [100, 100] #da and wsr are run simultanelously" +6 #tStarting initialPurge +14 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'+& +8 "core" &pp\  +2 .tHand.open +2 "manipulator"&,1 +61 "core" 1 +11 "manipulator"&-& +8 "core" &  +4 "manipulator"&.% +7 "core" %  [  +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek FlushPuck::Garage +2 "manipulator"&/(- +171 "core" ( +4 "manipulator"&0& +14 "core" &- ` +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &1& +7 "core" &- ` +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :garage +3 "manipulator"&2'w +108 "core" ' +3 .tHand.close +2 "manipulator"&3/ +56 "core" / +4 "manipulator"&4& +8 "core" &-  ` +2 "manipulator"&5% +8 "core" % υ  % W +3 .tForearm.seek :retract +7 "manipulator"&6' +110 "core" ' +6 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC +2 "manipulator"&7(ӂ +284 "core" ( +4 "manipulator"&8& +11 "core" &Ӆ* \   Bj +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 &9& +6 "core" &ӆ* Y Bi +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +8 .tForearm.seek CC +2 "manipulator"&:'? +111 "core" ' +4 "manipulator"&;& +8 "core" &Ӥ% % >K +3 "manipulator"&<% +7 "core" %R  C +3 "collection"'=& +12 "core" &rq\  +4 "collection"'>& +10 "core" &pq\  +4 &oo\  +4 .tCC.seek :closed +4 "collection"'?(\\ +12 "core" &oq\  +2 &qo\ > +6 &Jyop\ 2 +8 &Espp\ F +9 &\\qr\ N +10 &Wor\ N +9 &sWoq\ N +10 &5Xrq\ N +13 &Wno\ N +6 &Wmq\ N +9 &|Zpo\ M +8 &>Zrp\ M +11 &!Yrr\ M +10 &"Yrs\ M +8 &$Ypp\ M +13 &&EXpq\ N +6 &(Yrs\ N +9 &)Wrq\ M +10 &+Tro\ M +9 &-MXoq\ N +9 &/Vrp\ M +12 &0Sqr\ M +11 &2Wsq\ N +6 &4VWqr\ M +10 &6Yos\ M +8 &7Ysq\ N +10 &9Wro\ M +9 &;^Yqq\ M +9 &=Wst\ N +12 &>Wst\ M +7 &@Ust\ M +10 &BdZww\ N +14 &D#i{{\ O +5 &E\ S +9 &G\ V +9 &IM\ Y +11 &K \ Y +9 &L\ Y +8 &N\ Z +14 &PQ\ Z +5 &R\ [ +9 &S\ [ +10 &U\ \\ +9 &WP\ ] +9 &Y\ ^ +10 &Z\ ^ +11 &\\B]\ 6 +8 &\\\ "f +8 ( +4 &\\\ _ +6 "collection"'>& +9 #tCollection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.27 +2 "collection"'@& +8 "core" &\\\ _ +2 &\\\ _ +2 .tHand.open +2 "manipulator"&A1 +64 "core" 1 +2 "manipulator"&B% +8 "core" % R  2 +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&C' +91 "core" ' +3 #tFlushing the Collection Valve::Manifold +2 "collection"'D& +8 "core" &\\\ _ +3 "collection"'E% +8 "core" %i\ +3 .tCSV.dial CSR +2 "collection"'F  +129 "core"  +3 "collection"'G% +11 "core" %i\ +3 #tPulling 5ml of CSR.flush +2 .CSR.select :flush +3 "collection"' +13 .tCS.reconfigure :default +4 "collection"'#P d@b +5 .tCS.seek 5ml +7 "collection"'H's5 +1357 "core" ' +6 .tdelay 5 seconds +503 .CSR.select :air +2 "collection"' +15 'I% +5 "core" %s0\  +4 .tCS.reconfigure :fast +4 "collection"'#d @b +5 .tCS.seek 7.499ml +2 "collection"'J' +682 "core" ' +3 .tCSV.dial :waste +3 "collection"'K +127 "core" +8 .tCS.reconfigure :default +4 "collection"'#P d@b +5 .tCS.seek 0ml +2 "collection"'L'i +2002 "core" ' +3 #tPurging external Intake +2 "collection"'M& +8 "core" &\\\ _ +4 "collection"'N% +7 "core" %j\ +2 .tCSV.dial :flush +3 "collection"'O  +42 "core"  +4 .tCS.reconfigure :fast +4 "collection"'#d @b +4 .tCS.seek 10ml +5 "collection"'P' +2476 "core" ' +3 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +5 "collection"'Q +2 'R  +30 "core"  +45  +3 .tCTV.dial :intake +3 "collection"'S  +77 "core"  +2 .tIntake.select :open +2 "sampler") +14 .tCS.seek 0ml +2 "collection"'T'i +211 #"uploadLog"upsync +2180 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'U  +76 "core" ~ +2 #tFlushing upper manifold + "collection"'V& +4 "core" &\\\ _ + "collection"'W% +4 "core" %c\ + .tCSV.dial :flush + "collection"'X  +71 "core"  +2 .tCS.seek 5ml + "collection"'Y's5 +1279 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'Z @ +41 "core" B +2 "collection"'[% +4 "core" %s9\  +2 .tCS.seek 7.001ml + "collection"'\\'$ +557 "core" ' + ."connect"CSV.dial CBV +3 .tCBV.dial CSV + "collection"'] +99 "core"  +2 .tCTV.dial :air +2 .CS.seek 0ml + "collection"'^'i +1697 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'_'3J +811 "core" ' + .tCSV.dial :waste + "collection"'` +41 "core" +2 .tCS.seek 0ml +2 "collection"'a'i +784 "core" ' + "collection"'b& +4 "core" &\\\ _ +2 "collection"'c% +3 "core" %e\  + .tCSV.dial :flush +2 "collection"'d  +42 "core"  +2 .tCS.seek 3ml + "collection"'e'3J +814 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air + "collection"'f @ +41 "core" A +2 "collection"'g% +4 "core" %3L\  +2 .tCS.seek 5ml + "collection"'h's7 +583 "core" ' + .tCSV.dial :air +2 .CS.seek 0ml + "collection"'i'i +1234 "core" ' + .tdelay 7 seconds +703 .CS.seek 3ml + "collection"'j'3J +829 "core" ' + .tCSV.dial :waste +2 "collection"'k +69 "core" +2 .tCS.seek 0ml + "collection"'l'i +781 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&m& +4 "core" &Ӥ$ >K +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&n(ӂ +23 "core" ( + "manipulator"&o& +4 "core" &}  ' +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &p& +3 "core" &} w ' + .tForearm.seek CC +2 "manipulator"&q'? +100 "core" ' + .tHand.close + "manipulator"&r/ +56 "core" / + .tCC.seek :open +2 "collection"'s( +448 "core" ( + "manipulator"&t& +4 "core" &} ' + "manipulator"&u% +4 "core" % . g +2 .tForearm.seek :retract + "manipulator"&v' +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&w(- +285 "core" ( +2 "manipulator"&x& +4 "core" &- )  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &- 3  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&z'w +95 "core" ' +2 .tHand.open + "manipulator"&{1 +55 "core" 1 + "manipulator"&|% +4 "core" % s  9 +2 .tForearm.reconfigure :loose +36 "manipulator"&#Q@2^d^b +9 .tForearm.seek :retract + "manipulator"&}' +100 "core" ' +2 #tda sampling at most 100ml, wcr at most 100ml +3 #Loading sh1 puck from tube 2 into Collection Clamp + ."Qmail"DAfans.email "Started da in tube 2 at 13:20:15UTC09-Nov-21\\n{1 => 4,\\n 2 => 29,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@13:15:53, 16% flow, 21.9C, 12% humidity, 15.2psia, 13.574V, 0.315A, 0.296A avg, 4.27W",Subject: "da sampling at most 100ml, wcr at most 100ml" +2 "collection"'~& +11 "core" &ps\ + "manipulator"&% +4 "core" %  [ +2 "storage"(% +10 "core" % x x 2\  + "storage"(. +4 "core" .(,y +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +676 "core" ( +6 .tSC.configure :limp +4 "storage"($\ 1b +8 (& +5 "core" &   f S\ +5 "manipulator"&& +8 "core" &- "  +4 "manipulator"&% +8 "core" %  r +4 .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +5 .tElbow.seek 2 +3 "manipulator"&( +176 "core" ( +4 "manipulator"&& +8 "core" &  +3 "storage"( & +8 "core" &  \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +12 .tForearm.seek 2 + 450 counts +2 "manipulator"&\ 'S +92 "core" ' +3 "storage"( & +9 "core" &  { z \ +5 .tSE.reconfigure :pick +5 "storage"(#],K-0-\ b +5 .tSE.seek :beamBreak +3 "storage"( 'r +122 "core" ' +2 "storage"( - +8 "core" -' +7 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 (& +4 "core" &   $\ +4 "manipulator"&& +8 "core" &  w  +3 .tElbow.seek 2 +3 "manipulator"&( +11 "core" ( +6 "manipulator"&& +8 "core" &  y  +4 "storage"(& +7 "core" &   $ \ +5 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +27 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&/ +58 "core" / +6 ."downElevator"SE.seek :down +6 "storage"(' +2 "manipulator"&& +15 "core" & #  +3 "manipulator"&% +8 "core" %  M +4 .tForearm.seek :retract +9 "manipulator"&' +42 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +48 "core" ' +3 .tElbow.seek CC +3 "manipulator"&(ӂ +159 "core" ( +4 "manipulator"&& +10 "core" &Ӌ*  Bf +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +8 "core" &Ӌ*  c Bf +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&$'? +96 "core" ' +3 "manipulator"&&& +9 "core" &Ӌ*  Bf +3 "manipulator"&'% +8 "core" %5  1 g +3 "collection"'(& +15 "core" &oq\ +4 "collection"'& +9 "core" &np\ +7 .tCC.seek :closed +3 "collection"'(\\ +8 "core" &oo\ +2 &op\  +6 &4{qo\ +| +10 & f}qp\ ? +8 &nqr\ M +9 &YTpq\ M +11 &Usq\ M +8 &Srp\ L +10 &Sqr\ L +10 &aWrp\ M +8 &"Woq\ M +12 &Rrr\ M +7 & Sqp\ L +10 &"jSro\ L +10 &$,Uqp\ L +11 &%Ypq\ L +7 &'Rsp\ L +10 &)qRrr\ M +8 &+3Upr\ M +10 &,Uqs\ M +9 &.Rns\ L +9 &0zXss\ L +11 &2<Xqq\ L +12 &3Spp\ L +6 &5Qqs\ L +10 &7Sqs\ L +8 &9DTps\ L +13 &;Vrr\ M +6 &<Xnr\ L +9 &>Ysr\ M +11 &@KVur\ M +8 &B Wuu\ M +10 &C`vu\ N +10 &Erwu\ P +8 &GBxy\ R +14 &H||\ W +5 &J~~\ Y +9 &Lr}|\ Z +11 &N2}}\ [ +8 &O|}\ Z +10 &Q}~\ [\ +10 &St||\ \\ +8 &U5|~\ \\ +10 &V}\ ] +8 &X~\ ^ +10 &Zw}\ ^ +11 &\\y\ 5 +13 &\\*\ ] +5 ( +5 "collection"'& +8 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.33 +2 .Hand.open +2 "manipulator"&"1 +6 "core" &\\y~\ U +2 &\\y\ U +63 1 +3 "manipulator"&+% +10 "core" % 5 \ \\ g +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&,' +95 "core" ' +4 #tcollectSample 100ml w/bubble point of 24psi +2 #Priming 7ml +2 .Intake.select :close +2 .Exhaust.select :close +2 .SS.hold +2 "sampler")-+ +7 "core" + +3 "sampler").% +7 "core" %ځ Z\ - +3 "collection"'0& +7 "core" &\\y\ U +5 "Can"\ ^[ +4 #tCalibrating pressure and temperature sensors +6 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +4 .SS.reconfigure :fast +4 "sampler")#.0X +25  +3 .tdelay 3.8 seconds +382 "collection"'4% +6 "core" %i\ +3 "sampler")5% +7 "core" %/ Z\  +2 .tSSV.dial :spit +3 "sampler")% +132 "core"  +5 .tSS.seek 0ml +2 "sampler")2'ڀ +301 "core" ' +3 .tSSV.dial CBV +2 "sampler")8  +131 "core"  +3 .tCTV.dial :intake +2 "collection"'/  +77 "core"  +4 ."connect"SSV.dial CBV +5 .tCBV.dial SSV +11 #Allowing 40s for 7.0ml of remaining 7.0ml +2 .Intake.select :open +2 "sampler") +215 "collection"'9% +5 "core" %ilm\ +4 #tIntake @14.2psia, vacuum from 8.7 to 11.7psi +3 .SS.reconfigure :inhaling 2.20ml/s +8 "sampler")#.0X% +6 "core" %iWV\ +4 "sampler")D% +11 "core" %QE{x X\  +24 "collection"'E% +6 "core" %iZY\ +3 "sampler")F% +7 "core" %QD W\  +28 "collection"'G% +5 "core" %i`b\ +4 "sampler"):% +11 "core" %QD Y\  +28 "collection"'% +6 "core" %igf\ +3 "sampler")I% +8 "core" %QD d\  +3 "sampler")H% +11 "core" %QE X\  +3 .tIntake.select :close +2 "sampler")0 +12 )K% +4 "core" %QI j\  +3 .tSSV.dial :exhaust +3 "sampler")J  +79 "core"  +2 .tExhaust.select :open +2 "sampler")@ +13 .tSS.seek 0ml +6 "sampler")M'ڀ +395 "core" ' +3 .tExhaust.select :close +2 "sampler") +12 #tSampling 100.0ml +2 .Intake.select :close +2 .Exhaust.select :close +2 .SS.reconfigure :default +4 "sampler")#.0XB\ +3 "sampler") % +15 "core" %E W\  +7 "collection"'% +5 "core" %i?C\ +3 "sampler")% +10 "core" %D W\  +16 "collection"'}% +9 "core" %iAAw\ +5 "sampler")% +15 "core" %D X\  +12 "collection"'% +7 "core" %iACz\ +3 "sampler") % +8 "core" %F V\  +22 "collection"'% +12 "core" %iBE\ +4 "sampler")% +7 "core" %D Z\  +28 "collection"'% +5 "core" %iGF{\ +4 "sampler")% +7 "core" %F V\  +32 "collection"'\ % +13 "core" %iEE{\ +3 "sampler") % +10 "core" %D c\  +36 "collection"'% +5 "core" %iHKr\ +3 "sampler")% +8 "core" %D Y\  +42 "collection"'% +5 "core" %iHFl\ +3 "sampler")% +8 "core" %D c\  +49 "collection"'% +6 "core" %iLKs\ +9 "sampler")&% +8 "core" %D e\  +56 "collection"''% +6 "core" %iOMe\ +3 "sampler")(% +8 "core" %G `\  +64 "collection"'% +6 "core" %iTTe\ +4 "sampler")s% +7 "core" %D$! Y\  +74 "collection"'"% +7 "core" %iZ^d\ +3 "sampler")+% +7 "core" %DCD Z\  +3 "collection"'% +14 "core" %i`co\ +3 #tIntake @13.7psia, vacuum from 8.2 to 11.2psi +3 .SS.reconfigure :inhaling 1.61ml/s +4 "sampler")#.n0Xg\ + "sampler"))% +4 "core" %N Y\  +19 "collection"'@% +3 "core" %i>>g\ + "sampler")A% +4 "core" %N Y\  +21 "collection"'B% +3 "core" %i<@\\\ +2 "sampler")>% +3 "core" %N X\  +25 "collection"'D% +3 "core" %iBBU\ + "sampler")E% +4 "core" %N a\  +28 "collection"'F% +3 "core" %iAA_\ + "sampler")G% +4 "core" %N W\  +32 "collection"':% +3 "core" %iFHb\ + "sampler")% +4 "core" %N U\  +37 "collection"'I% +2 "core" %iEFQ\ +2 "sampler")H% +4 "core" %N b\  +41 "collection"';% +3 "core" %iHG`\ +2 "sampler")K% +3 "core" %N Z\  +48 "collection"'J% +2 "core" %iGE\\\ +2 "sampler")<% +4 "core" %N V\  +53 "collection"'O% +3 "core" %iFFY\ +2 "sampler")L% +3 "core" %O a\  +62 "collection"'R% +2 "core" %iJJ`\ +2 "sampler")M% +4 "core" %N [\  +69 "collection"'Q% +3 "core" %iNLV\ +2 "sampler")N% +3 "core" %N b\  +78 "collection"'U% +3 "core" %i^^V\ +2 "sampler")V% +3 "core" %N"# [\  +89 "collection"'W% +3 "core" %idde\ + "sampler")X% +4 "core" %CC X\ E +100 "collection"'T% +3 "core" %ihgc\ +2 "sampler")Z% +4 "core" %z{ X\ E +113 "collection"'[% +3 "core" %iwwS\ + "sampler")Y% +4 "core" % c\ E + "sampler")]% +4 "core" % X\ E + .tIntake.select :close + "sampler")0 +9 )\\% +2 "core" % Z\ E +2 .tSSV.dial :exhaust + "sampler")^  +72 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")S'ڀ +900 "core" ' +2 .tExhaust.select :close + "sampler") +9 ."connect"SSV.dial CBV +2 .tCBV.dial SSV +2 "sampler")`  +74 "core"  + #tAllowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'_% +2 "core" %ixyS\ +2 #tIntake @14.7psia, vacuum from 9.2 to 12.2psi +2 .SS.reconfigure :inhaling 1.61ml/s + "sampler")#.n0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"''i +94 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")- +131 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X  +29 "core"  +2 "collection"'D% +4 "core" %\ \ +2 ."connect"CTV.dial CSV,avoiding: :air +2 .tCSV.dial CTV + "collection"'E  +40 "core"  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< ib +3 .tCS.seek 0ml + "collection"'F'i +2107 "core" ' j j\ +3 "collection"'G% +4 "core" % k j\  + "sampler"):% +4 "core" %ڃ Y\ : + #tBubblePoint: Intake @38.4psia, Outlet @14.4psia + .CBV.dial SSV + "collection"' @ +30 "core" A +2 .tSS.reconfigure :default + "sampler")#.0X +102 "collection"'9 +3 "core" 9Z< +102 "collection"'9 +2 "core" 9s: +102 "collection"'9 +3 "core" 99 +102 "collection"'9 +2 "core" 97 +102 "collection"'&9 +3 "core" 95 +102 "collection"''9 +2 "core" 93 +103 "collection"'(9 +2 "core" 91 +102 "collection"'9 +2 "core" 9/ +103 "collection"'9 +2 "core" 9. +102 "collection"'"9 +3 "core" 9/, +102 "collection"'+9 +3 "core" 9D+ +102 "collection"'$9 +2 "core" 9Y) +103 "collection"'s9 +2 "core" 9m( +102 "collection"'-9 +2 "core" 9& +102 "collection"'9 +3 "core" 9& +102 "collection"'9 +3 "core" 9$ +102 "collection"'39 +2 "core" 9" +102 "collection"'9 +2 "core" 9" +103 "collection"'49 +2 "core" 9! +102 "collection"'59 +3 "core" 9  +102 "collection"'#9 +3 "core" 9 +102 "collection"'19 +2 "core" 9  +102 "collection"'w9 +3 "core" 9  +102 "collection"'.9 +2 "core" 9 % +102 "collection"'09 +3 "core" 9 3! +102 "collection"'99 +3 "core" 9 ?% +102 "collection"'%9 +2 "core" 9 M* +102 "collection"'/9 +3 "core" 9 Z. +102 "collection"'69 +2 "core" 9 f2 +102 "collection"')9 +2 "core" 9 r6 +102 "collection"'A9 +3 "core" 9 |: +102 "collection"'B9 +3 "core" 9 > +102 "collection"'>9 +2 "core" 9 C +102 "collection"'D9 +2 "core" 9 G +103 "collection"'E9 +2 "core" 9 K +102 "collection"'89 +3 "core" 9 O +102 "collection"'G9 +2 "core" 9 S +102 "collection"':9 +3 "core" 9 X +102 "collection"'9 +2 "core" 9 \\ +102 "collection"'@9 +3 "core" 9 ` +102 "collection"'H9 +3 "core" 9 d +102 "collection"';9 +3 "core" 9 h +102 "collection"'K9 +2 "core" 9 m +102 "collection"'I9 +3 "core" 9 q +102 "collection"'29 +2 "core" 9 u +102 "collection"'<9 +3 "core" 9 y +102 "collection"'O9 +3 "core" 9\ } +102 "collection"'R9 +2 "core" 9\  +103 "collection"'J9 +2 "core" 9\  +102 "collection"'Q9 +2 "core" 9\  +102 "collection"'F9 +3 "core" 9\  +102 "collection"'L9 +2 "core" 9\  +102 "collection"'M9 +3 "core" 9\  +102 "collection"'N9 +2 "core" 9\ $ +102 "collection"'V9 +3 "core" 9\ ) +102 "collection"'W9 +3 "core" 9\ - +102 "collection"'U9 +2 "core" 9\ 2 +102 "collection"'T9 +3 "core" 9\ 6 +102 "collection"'Z9 +2 "core" 9\ ; +102 "collection"'X9 +3 "core" 9\ ? +102 "collection"'[9 +3 "core" 9\ C +102 "collection"'Y9 +2 "core" 9\ F +102 "collection"'\\9 +3 "core" 9\ J +102 "collection"']9 +2 "core" 9\ M +103 "collection"'=9 +2 "core" 9\ Q +102 "collection"'^9 +3 "core" 9\ T +102 "collection"'_9 +2 "core" 9\ X +102 "collection"'S9 +3 "core" 9\ \\ +102 "collection"'`9 +2 "core" 9\ ^ +102 "collection"'f9 +3 "core" 9\ b +102 "collection"'a9 +2 "core" 9\ e +102 "collection"'e9 +2 "core" 9\ h +103 "collection"'g9 +2 "core" 9\ j +102 "collection"'i9 +2 "core" 9\ m +103 "collection"'k9 +2 "core" 9\ o +102 "collection"'m9 +3 "core" 9\ s +102 "collection"'o9 +3 "core" 9\ v +102 "collection"'p9 +2 "core" 9\ y +102 "collection"'r9 +3 "core" 9\ | +2 .tCH.hold 10:00,70C +3 "collection"'7 `\ `\ z  +2 'C9 +5 "core"  + 9\ {\ | + "collection"'b% +4 "core" %^ \ 7 + #tBegun lysing Collection Puck Heater at 68C/44.2psia +26741 "Can"\ w +33250 "core" ` +2 "collection"'?9 +3 "core" 9\  +2 "collection"'P% +3 "core" %^ \ +2 #tEnded lysing Collection Puck Heater at 70C/43.3psia + .CS.seek 0ml +2 "collection"'t'i +355 "core" ' +5 .tCTV.dial between spare and air,avoiding: :intake + "collection"'u @ +102 "core" B +2 .tCSV.dial :air + "collection"'q @ +41 "core" ? +3 .tCS.seek 5ml + "collection"'x's5 +1373 "core" ' + .tCSV.dial CTV + "collection"'y  +41 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'n @ +41 "core" ? + .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'{  +42 "core"  +3 .tdelay 2 seconds +201 .CSV.dial :air + "collection"'| @ +42 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml + "collection"'v'i +1359 "core" ' +2 "collection"'~% +4 "core" %f - . 7\ + #tPuck @72.2psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"' +100 "core" ~ + .tCBV.dial CSV + "collection"'c  +27 "core"  +2 "collection"'% +4 "core" %f   ,\ +2 .tCS.seek 5ml + "collection"'z's2 +1352 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air + "collection"'  +42 "core" +2 "collection"'% +4 "core" %s3 " \  +2 .tCS.seek 7ml + "collection"'' +585 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"' @ +40 "core" ? +2 .tCS.seek 10ml + "collection"'!' +864 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'d ` +114 "core" ^ +2 #tLysing Complete "collection"' & +4 "core" &\\wCAx\ U +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"& % +4 "core" %  w ! + "storage"(% +4 "core" % *\  + "storage"(}. +3 "core" .(  +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((C +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (l& +3 "core" &E :\ + "manipulator"&& +4 "core" &ӌ(  L Ae +2 "manipulator"& % +3 "core" %  G ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&( +169 "core" ( + "manipulator"&& +4 "core" & e  + "storage"(& +4 "core" &F & ! Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(\ & +4 "core" &F   Y\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +283 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &   +2 "storage"(& +3 "core" &F \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&'8 +27 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 3.17 Pucks below Top Plate + "storage"(&' +43 "core" ' +2 "manipulator"&'% +4 "core" % y \ + "storage"((& +4 "core" &F \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 269 counts + "manipulator"&'E +13 "core" ' +2 "manipulator"&& +4 "core" & r  +40 "storage"("& +16 "core" &F   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&+' +16 "core" ' +2 .tSE.seek 4.17 Pucks below Top Plate + "storage"($'= +45 "core" ' + "manipulator"&s& +4 "core" & a  +2 "manipulator"&-% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +164 "core" ( + "manipulator"&3& +4 "core" &Ӓ"  a <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &Ӓ" ` <@ +2 .tForearm.seek CC +2 "manipulator"&4'? +95 "core" ' +2 .tHand.close + "manipulator"&5/ +52 "core" / +2 .tCC.seek :open + "collection"'#( +448 "core" ( + "storage"(1& +4 "core" &F W :\ +2 "storage"(w& +3 "core" &F 2 > 7\ +2 "manipulator"&.& +4 "core" &ӓ" <? + "manipulator"&0% +4 "core" % ( E +2 .tForearm.seek :retract + "manipulator"&9' +97 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&%( +161 "core" ( +2 "manipulator"&/& +4 "core" & V  +2 "storage"(6& +3 "core" &F ` `\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&)'8 +94 "core" ' + .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&B1 +59 "core" 1 +2 "manipulator"&>% +4 "core" % : , + "storage"(D& +4 "core" &F V V\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 302 counts + "manipulator"&E'f +22 "core" ' +2 "manipulator"&8& +4 "core" &  +2 "storage"(G& +4 "core" &F n \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&:' +33 "core" ' + "storage"(% +4 "core" %@ :\ +3 ."downElevator"SE.seek :down +2 "storage"(@' +100 (H% +3 "core" %ġ6 W W \ V_ + "manipulator"&;% +4 "core" %+  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K' +89 "core" ' +36 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'I& +4 "core" &?@y\ +2 "manipulator"&2& +3 "core" & /  +2 "manipulator"&<% +4 "core" %  "  +2 .tElbow.seek FlushPuck::Garage + "manipulator"&O(- +169 "core" ( +2 "manipulator"&R& +5 "core" &- : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &- c : +2 .tForearm.seek :garage + "manipulator"&Q'w +93 "core" ' +2 .tHand.close + "manipulator"&F/ +61 "core" / +2 "manipulator"&L& +4 "core" &- : + "manipulator"&M% +4 "core" % j   +2 .tForearm.seek :retract + "manipulator"&N' +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&V(ӂ +283 "core" ( + "manipulator"&W& +4 "core" &Ӑ%  ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &Ӑ% i ?S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&T'? +99 "core" ' +2 "manipulator"&Z& +4 "core" &Ӑ& i ?S +2 "manipulator"&X% +3 "core" %7 +2 "collection"'[& +4 "core" &A@\ +2 "collection"'Y& +5 "core" &?A\ +2 .tCC.seek :closed + "collection"'\\(\\ +4 "core" &@A\  +8 &3z>Bl\ *z +10 &e{C@F\ > +9 &pAB\ M +10 &PU@B\ L +9 &XAA\ L +9 &T?@l\ L +10 &TBC\ L +9 &XT@B\ L +9 &U@Ao\ L +10 &UA?U\ K +9 & U@Ck\ K +9 &"aVA@x\ K +10 &$"V@Ax\ L +9 &%WC@Q\ L +10 &'VAB2\ L +9 &)hYAB\ L +9 &+*YAB\ L +10 &,YBC\ L +9 &.YBA\ L +9 &0pXCB\ L +10 &22XAC\ L +9 &3W@A\ L +10 &5U?A\ K +9 &7yVAC\ K +9 &9;V>@o\ K +10 &:UAAe\ L +9 &<YAAd\ L +10 &>Y@AR\ L +9 &@BY<@<\ L +9 &BZ?@E\ L +10 &CfA@\ N +9 &ExDC\ Q +9 &G,CC9\ V +10 &HEE=\ Y +9 &JFE*\ Y +9 &LhEF\ Y +10 &N)EE\ Z +9 &OGE\ Z +10 &QEF\ [ +9 &SkFF\ [\ +9 &U)FF\ \\ +10 &VDFt\ \\ +9 &XEE\ ^ +9 &ZiDF\ ^ +10 &\\ zDG\ 9 +9 &\\*DD\ *| +10 ( + &\\DD\ #e +2 "collection"'Y& +2 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.36 + "collection"']& +4 "core" &\\EEz\ #e +2 .tHand.open + "manipulator"&=1 +54 "core" 1 + "manipulator"&^% +4 "core" % 7  _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_' +96 "core" ' +2 .tPSV.dial PSR + "processing"%S +130 "core"  +2 "processing"%`% +4 "core" %`\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%f'+ +1604 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%a  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%e'ؾ +1615 "core" ' + .tPSV.dial PSR +2 "processing"%g +42 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%i' +2638 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV + "processing"%k +2 "collection"'m  +6 "core" A + "processing"%o  +69 "core" +89 + .tPSV.dial :mixloop + "processing"%p +101 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%r  +130 "core" +2 .tPS.seek 0ml + "processing"%C'ؾ +2635 "core" ' + .tPSV.dial :air + "processing"%b  +57 "core" +2 .tPS.seek 2.5ml + "processing"%j' +2628 "core" ' + .tPSV.dial :mixloop +2 "processing"%7 +41 "core" +2 .tPS.seek 0ml + "processing"%?'ؾ +1411 "Can"\ VT +1226 "core" ' +2 .tPSV.dial :air + "processing"%P  +43 "core"  +2 .tPS.seek 2.5ml + "processing"%h' +2639 "core" ' + .tPSV.dial :mixloop +2 "processing"%u +42 "core" +2 .tPS.seek 0ml + "processing"%q'ؾ +2636 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&t& +50 "core" &ӑ%  h ?R +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&y(ӂ +34 "core" ( +2 "manipulator"&n& +4 "core" &Ӈ  c _ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &Ӈ \\ _ +2 .tForearm.seek CC + "manipulator"&|'? +94 "core" ' +2 .tHand.close + "manipulator"&x/ +55 "core" / +2 .tCC.seek :open + "collection"'~( +448 "core" ( + "manipulator"&& +4 "core" &Ӈ _ +2 "manipulator"&c% +3 "core" % A  +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&v(- +268 "core" ( + "manipulator"&& +4 "core" &-  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&z'w +107 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&% +5 "core" % }  I + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d' +98 "core" ' + .tPSV.dial :mixloop +2 .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +2 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake + #Loading lyfil puck from tube 2 into Collection Clamp + "collection"' & +4 "core" &Y[h\ +2 "manipulator"& % +3 "core" % % ~ B +2 "storage"(% +4 "core" % z z \  + "storage"(}. +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (l& +3 "core" &  W Y\ + "manipulator"&& +4 "core" &- V + "manipulator"& % +4 "core" % % m B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +175 "core" ( + "manipulator"&& +4 "core" &  Y 0 +2 "storage"(\ & +3 "core" &  X S \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'S +94 "core" ' +2 "storage"(,& +4 "core" &  \ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'r +121 "core" ' + "storage"(- +4 "core" -'v +2 .tSE.configure :default + "storage"(#QK-0-\ b +3 (& +3 "core" &   >\ + "manipulator"&& +4 "core" &  0 +2 .tElbow.seek 2 + "manipulator"&'( +4 "core" ( + "manipulator"&(& +4 "core" & 0 +2 "storage"(& +3 "core" &  % X\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&"'Ͻ +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&s/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"(' +6 "core" & 0 +2 "manipulator"&% +4 "core" % ϶  +2 .tForearm.seek :retract + "manipulator"& ' +75 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +153 "core" ( +2 "manipulator"&& +4 "core" &Ӓ%  ?Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &Ӓ& L ?Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&3'? +99 "core" ' + "manipulator"&& +4 "core" &Ӓ&  * ?Q +2 "manipulator"&+% +4 "core" %I I  + "collection"'& +4 "core" &Z]'\ +3 "collection"'5& +4 "core" &X\\~\ +2 .tCC.seek :closed +2 "collection"'(\\ +4 "core" &\\Z\ +8 &9^[z\ $e +9 &VxZ[g\ 7 +9 &x[ZG\ K +10 &T\\\\,\ K +9 &}UZ[#\ K +9 &>X\\\\ \ L +10 &W[]d\ L +9 &T[ZE\ K +9 &U]]\ K +10 &FT]]\ L +9 & X\\Z\ K +10 &!T\\\\\ L +9 &#Y^[\ L +9 &%NU^^\ L +10 &'T][\ K +9 &(U]]h\ K +9 &*X^_b\ L +10 &,VW_]\\\ L +9 &.S]]D\ K +10 &/S\\]8\ L +9 &1W[\\ \ L +9 &3^S^\\ \ L +10 &5!X\\]\ \ K +9 &6T^]\ L +10 &8X]]\ K +9 &:gV]^a\ K +9 &<(Y]^?\ L +10 &=Y[^B\ K +9 &?V]]=\ K +9 &AnY^_"\ L +10 &C/W_^\ L +9 &Dca_\ M +10 &Fqdb\ O +9 &Hdfej\ R +9 &Jkhe\ V +10 &Kkj[\ X +9 &MijZ\ Y +9 &OXkmM\ Y +10 &Qkl\ Y +9 &Rkl\ [ +9 &Tjm\ [ +10 &VYkk\ [\ +9 &Xkl\ \\ +10 &Yll\ ] +9 &[ll\ J +9 &\\@nm\ 'x +10 &\\nm\ #e +2 ( +2 "collection"'5& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&1 +58 "core" 1 + "manipulator"&1% +5 "core" % A  B  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w' +98 "core" ' +2 .tCTV.dial CSV,avoiding: :intake + "collection"'.  +134 "core"  + .tCSV.dial CTV + "collection"'0  +29 "core"  +2 .tPS.seek 2.5ml + "processing"%/' +2638 "core" ' +2 "collection"'6% +4 "core" %^\\\ +2 .tCS.seek 4.5ml + "collection"'4'c; +1481 "core" ' + .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%  +43 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%B  +71 "core"  +2 .tPS.seek 0ml + "processing"%>'ؾ +2637 "core" ' +2 .tCBV.dial between PRV and waste1 + "collection"'D ` +31 "core" ^ + .tCSV.dial :air +2 "collection"'8 @ +42 "core" ? +2 .tCS.seek 10ml + "collection"'G' +1483 "core" ' + .tCSV.dial CTV +2 "collection"'  +41 "core"  +2 .tCS.seek 0ml + "collection"'9'i +2656 "core" ' + .tCBV.dial :waste1 +2 "collection"'H @ +25 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"';  +132 "core" + "collection"'%& +49 "core" &\\vw+\ #e +3 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&)% +3 "core" %  S . +2 "storage"(I% +3 "core" % \  +2 "storage"(2. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(E(C +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" &F \ +2 "manipulator"&$& +3 "core" &ӓ% J ?P +2 "manipulator"&:% +3 "core" % !  T . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&R( +165 "core" ( + "manipulator"&J& +4 "core" &   +2 "storage"(@& +4 "core" &G &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&A' +104 "core" ' + "storage"(F& +5 "core" &G  >\ + .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'r +283 "core" ' +2 "storage"(M- +3 "core" -'r +2 .tSE.configure :default + "storage"(#QK-0-\ b +3 "manipulator"&K& +3 "core" & M  + "storage"(Q& +4 "core" &G \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&W'8 +24 "core" ' +2 .tElbow.hold + "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(O- +2 "core" -'r +3 .tSE.seek 4.17 Pucks below Top Plate + "storage"(Z'@ +29 "core" ' + "manipulator"&X% +4 "core" %? _ +2 "storage"([& +3 "core" &G \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 307 counts + "manipulator"&N'k +24 "core" ' + "manipulator"&#& +4 "core" &  +2 "storage"(]& +3 "core" &G \ +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&=' +36 "core" ' +2 .tSE.seek 5.17 Pucks below Top Plate +2 "storage"(^' +39 "core" ' +2 "manipulator"&Y& +4 "core" & l  +2 "manipulator"&S% +4 "core" % ( w +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&`' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&T(ӂ +158 "core" ( +2 "manipulator"&a& +4 "core" &Ӂ* \  r Cn +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &f& +2 "core" &Ӂ+  Cn +2 .tForearm.seek CC + "manipulator"&g'? +94 "core" ' + .tHand.close + "manipulator"&e/ +56 "core" / +2 .tCC.seek :open + "collection"'k( +447 "core" ( +2 "storage"(m& +4 "core" &G W L \ + "storage"(o& +4 "core" &G B B \ +2 "manipulator"&p& +3 "core" &Ӡ$ s >O +2 "manipulator"&r% +3 "core" % B q / +2 .tForearm.seek :retract + "manipulator"&i' +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&b( +163 "core" ( + "manipulator"&C& +4 "core" &   +2 "storage"(7& +4 "core" &G T ]\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&j'8 +93 "core" ' + .tElbow.hold +2 "manipulator"&P, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&?1 +62 "core" 1 +2 "manipulator"&u% +4 "core" % G  S  + "storage"(h& +4 "core" &G h W p\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 315 counts + "manipulator"&t's +23 "core" ' + "manipulator"&n& +4 "core" & +  +2 "storage"({& +4 "core" &G k p \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&x' +37 "core" ' +2 "storage"(V% +4 "core" % w \ +2 ."downElevator"SE.seek :down +3 "storage"(_' +99 (\\% +3 "core" %37 ] Z \ V^ + "manipulator"&% +4 "core" %\   l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c' +93 "core" ' +23 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air + "processing"%|  +71 "core" +2 .tPS.seek 2.5ml + "processing"%' +2628 "core" ' +2 .tdelay 1 second +101 .PSV.dial :mixloop + "processing"% +41 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%y  +42 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"% +42 "core" +2 .tdelay 1 second +101 .PSV.dial :air + "processing"%  +43 "core"  +2 .tdelay 1 second +101 .PS.seek 0ml + "processing"% 'ؾ +2631 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"% & +3 "core" &\  +2 "manipulator"&& +4 "core" &  + "manipulator"&% +4 "core" %   + .tElbow.seek FlushPuck::Garage +2 "manipulator"&}(- +167 "core" ( +2 "manipulator"&z& +4 "core" &-  S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- S +2 .tForearm.seek :garage + "manipulator"&l'w +96 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / + "manipulator"& & +4 "core" &-  R +2 "manipulator"&% +3 "core" % τ I +2 .tForearm.seek :retract + "manipulator"&\ ' +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&,( +116 "core" ( + "manipulator"&v& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&' +96 "core" ' +2 "manipulator"&& +4 "core" &  5  +45 "manipulator"&(% +5 "core" % v +2 "processing"%& +4 "core" &r\  +3 "processing"%d& +4 "core" &r\  +2 .tPC.seek :closed +2 "processing"%s(^ +4 "core" &~\  +7 &D\ %h +9 &wW\ 9 +10 &{\ M +9 &U\ O +9 &NY\ O +10 &\\\ O +9 &Y\ O +10 &Z\ O +9 &V\\\ O +9 &Y\ O +10 &ZE\ O +9 &!Y?\ O +9 &#_\\A\ N +10 &% ZH\ O +9 &&^>\ O +9 &(\\;\ N +10 &*f\\@\ O +9 &,(]\ O +10 &-W\ O +9 &/Z\ O +9 &1n[\ O +10 &30^\ O +9 &4\\\ O +10 &6[\ O +9 &8u]\ O +9 &:8Z\ O +10 &;]\ O +9 &=Z\ O +9 &?|]\ O +10 &A=`\ P +9 &Br\ Q +10 &D\ S +9 &Fu\ T +9 &H6\ U +10 &I\ U +9 &K\ U +9 &Mz\ U +10 &O;\ V +9 &P\ W +9 &R\ W +10 &T}\ W +9 &VB\ V +10 &X\ V +9 &Y\ W +9 &[\ V +10 &]H\ M +9 &^zI\ ^ +9 &^ X\ 7 +6 ( +2 "processing"%d& +3 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.63 + "processing"%-& +4 "core" &^-\ 7 +2 &^-\ 7 + .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" %  g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tPRV.dial :air +2 "processing"%  +42 "core"  +2 .tPSV.dial :mixloop + "processing"%& +43 "core" + "processing"% % +4 "core" %ػ\ +2 .tPS.seek 0.3ml + "processing"%"' +382 "core" ' + .tPSV.dial PSR +2 "processing"% +114 "core" +2 "processing"%+% +4 "core" %\  +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml + "processing"%'2 +484 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml + "processing"%' +1912 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"%' +102 "core" + .tPTV.dial :mixing + "processing"% @ +71 "core" A + .tPBV.dial :waste2 +2 "processing"%~  +91 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2639 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&1& +4 "core" & z  + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&5( +3 "core" ( + "manipulator"&.& +5 "core" &  p  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" & 8  +2 .tForearm.seek PC + "manipulator"&3' +91 "core" ' + .tHand.close + "manipulator"&q/ +53 "core" / + .tPC.seek :open +2 "processing"%6( +458 "core" ( + "manipulator"&!& +4 "core" & t  + "manipulator"&% +4 "core" %  + +2 .tForearm.seek :retract + "manipulator"&B' +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&/(- +127 "core" ( +2 "manipulator"&D& +4 "core" &- :  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &-   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&4'w +104 "core" ' + .tHand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&G% +4 "core" %   F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H' +95 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%;& +4 "core" &\ +2 "manipulator"&%% +3 "core" %   +2 "storage"()% +3 "core" % p p E\  +2 "storage"(I. +3 "core" .(F +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(2(  +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  W S\ + "manipulator"&<& +4 "core" &-  + "manipulator"&$% +4 "core" %   +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&:( +172 "core" ( + "manipulator"&J& +4 "core" & Q " +2 "storage"(@& +3 "core" &  -\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'S +96 "core" ' + "storage"(& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'r +124 "core" ' + "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &    R\ + "manipulator"&Q& +4 "core" & < ! + .tElbow.seek 2 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&X& +3 "core" & P ! +2 "storage"([& +3 "core" &  @ ? \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&#'Ͻ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&]/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(S' +7 "core" & V ! + "manipulator"&A% +4 "core" % ϻ T +2 .tForearm.seek :retract + "manipulator"&R' +85 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ' + .tElbow.seek PC +2 "manipulator"&L( +243 "core" ( + "manipulator"&W& +4 "core" & k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&Z' +91 "core" ' +2 "manipulator"&a& +4 "core" & F  +2 "manipulator"&f% +3 "core" % w +2 "processing"%=& +4 "core" &\ +2 "processing"%U& +4 "core" &\ +2 .tPC.seek :closed + "processing"%e(^ +5 "core" &\  +9 &.u\ *x +10 &b\ > +9 &lu\ O +10 &/V\ N +9 &[\ N +9 &V\ N +10 &uT\ N +9 &7Y\ N +9 &Z\ N +10 &Y\ N +11 & }Z\ N +11 &"?Y\ N +6 &$Z\ O +9 &%W\ N +10 &'T\ N +9 &)GZ\ N +9 &+ Z\ N +10 &,Z\ N +9 &.W\ O +10 &0PY\ N +9 &2W\ N +9 &3U\ N +10 &5[\ N +9 &7WZ\ N +9 &9Y\ N +10 &:\\\ N +9 &<Y\ N +10 &>^]\ O +9 &@ ]\ O +9 &Ab\ O +10 &Cu\ Q +9 &EV \ T +9 &G7\ T +10 &HL\ U +9 &JL\ T +10 &L\\K\ U +9 &NK\ V +9 &OE\ V +10 &QF\ V +10 &S_9\ W +8 &U!E\ V +10 &VF\ W +9 &X8\ V +10 &Zg6\ W +9 &\\)D\ W +9 &]~E\ : +10 &^3@\ Y +9 &^"D\ 2 +2 ( +2 "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.63 + .Hand.open +48 "manipulator"&`1 +54 "core" 1 + "manipulator"&% +4 "core" %   w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m' +92 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%o x +2 %p9 +5 "core" 9 +102 "processing"%r9 +3 "core" 9 +102 "processing"%C9 +3 "core" 9  +102 "processing"%79 +2 "core" 9  +102 "processing"%g9 +3 "core" 9 +102 "processing"%T9 +2 "core" 9 +102 "processing"%?9 +2 "core" 9 +103 "processing"%u9 +2 "core" 9 +102 "processing"%h9 +2 "core" 9" +102 "processing"%n9 +3 "core" 9& +102 "processing"%{9 +2 "core" 9* +102 "processing"%V9 +3 "core" 9. +102 "processing"%i9 +3 "core" 93 +102 "processing"%\\9 +2 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%b9 +2 "core" 9? +103 "processing"%j9 +2 "core" 9C +102 "processing"%t9 +3 "core" 9H +102 "processing"%^9 +2 "core" 9L +102 "processing"%|9 +3 "core" 9P +102 "processing"%x9 +2 "core" 9T +102 "processing"%_9 +3 "core" 9X +102 "processing"%>9 +3 "core" 9] +102 "processing"%9 +2 "core" 9a +102 "processing"%y9 +3 "core" 9e +102 "processing"%9 +2 "core" 9i +102 "processing"%9 +3 "core" 9m +102 "processing"%9 +3 "core" 9q +102 "processing"% 9 +2 "core" 9v +103 "processing"%9 +2 "core" 9z +102 "processing"%9 +2 "core" 9~ +102 "processing"%z9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%P9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +2 "core" 9 +103 "processing"%9 +2 "core" 9  +102 "processing"%c9 +3 "core" 9  +102 "processing"%v9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%l9 +2 "core" 9 +102 "processing"%9 +3 "core" 9# +102 "processing"%(9 +3 "core" 9( +102 "processing"%9 +2 "core" 9. +103 "processing"%}9 +2 "core" 93 +3 .tPH.hold 2:00:00,28C +2 "processing"%\ pxp/ +2 .tdelay 1:30 +4 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR + "processing"%* +103 "core"  + "processing"%-% +4 "core" %ؼ\ +2 #tPulling 0.5ml of PSR.wash .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%' +589 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml + "processing"%' +1615 "core" ' +2 .tPTV.dial :puck + "processing"%d  +71 "core"  + .tPSV.dial PTV +2 "processing"% +73 "core" +2 .tPBV.dial :waste1 + "processing"%&  +123 "Can"\ @= +6 "core"  + "processing"% % +4 "core" %\ +2 .tPS.seek 1.5ml + "processing"%'1 +585 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 .tPS.seek 0ml + "processing"%'ؾ +1606 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%+  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 + "processing"%" * +34 "core" + +2 .tPSR.select :air + .PSV.dial PSR +2 "processing"% +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%'' +2409 "core" ' +2 .tPSV.dial PTV + "processing"% +72 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%~ +74 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" + .tdelay 5 seconds +502 .PSV.dial :air + "processing"%1  +85 "core"  +2 .tPS.seek 0ml + "processing"%.'ؾ +2389 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%0  +130 "core" + .tPSV.dial :mixloop + "processing"%q +41 "core" +2 .tPRV.dial :ab1 + "processing"%, @ +72 "core" @ +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%' +369 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +2 .tPRV.dial CBV +2 "collection"'s  +2 "processing"%!  +43 "core" +2  +2 "processing"%% +4 "core" %\ +2 .tPS.seek 0.35ml + "processing"%D'c +456 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'8  +28 "core" + .tPRV.dial :air +2 "processing"%3  +41 "core"  +2 .tPS.seek 0.9ml +2 "processing"%5'K +1173 "core" ' + .tPRV.dial :waste2 + "processing"% @ +70 "core" ? +2 .tPS.seek 0.5ml + "processing"%G' +859 "core" ' +2 #taddPMLReagent08 .PSV.dial :air +2 "processing"%;  +43 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%%' +1609 "core" ' + .tPSV.dial :PML + "processing"%) +43 "core" + .tPTV.dial :mixing +2 "processing"%I @ +70 "core" A +2 .tPBV.dial :waste1 + "processing"%B  +33 "core" +2 "processing"%4% +4 "core" %E\  +2 .tPS.seek 1.85ml + "processing"%E' +252 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"% * +35 "core" + +2 .tPS.seek 0ml + "processing"%<'ؾ +1965 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'$& +3 "core" &dh0\ + "manipulator"&J& +4 "core" & d  +2 "manipulator"&@% +3 "core" %  # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(- +125 "core" ( +2 "manipulator"&/& +4 "core" &-   \ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &- ~ \ +2 .tForearm.seek :garage +2 "manipulator"&K'w +98 "core" ' + .tHand.close +2 "manipulator"&Q/ +63 "core" / +2 "manipulator"&X& +4 "core" &-   \ + "manipulator"&[% +4 "core" % ϊ ? +2 .tForearm.seek :retract + "manipulator"&H' +147 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&](ӂ +283 "core" ( +2 "manipulator"&Y& +4 "core" &ӑ!  a :1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &ӑ  :1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'? +95 "core" ' +2 "manipulator"&F& +4 "core" &ӑ!  @ :1 +2 "manipulator"&w% +5 "core" %D Z + + "collection"'#& +4 "core" &ge,\ +3 "collection"'W& +4 "core" &ff1\ +2 .tCC.seek :closed + "collection"'N(\\ +5 "core" &dh"\  +9 &3}fg&\ +{ +10 &d~gg"\ ? +9 &shh \ N +9 &EQhg)\ N +10 &Whf"\ M +9 &Pgj-\ M +9 &Ufg*\ M +10 &OQih$\ M +9 &Vfh$\ M +10 &Tee%\ M +9 & Ufg"\ M +9 &"YUhf%\ L +10 &$Vfg!\ M +9 &%Vhh\ M +9 &'Tgg \ M +10 &)aTgh\ L +9 &+!Ugj\ M +10 &,Uhg\ M +9 &.Ueh\ M +9 &0gVdi\ M +10 &2(Vgf\ M +9 &3Tgh\ M +9 &5Thh\ M +10 &7pUhf\ M +9 &92Uih\ M +10 &:Thh\ L +9 &<Vgh\ M +9 &>wWjj\ M +10 &@9Vii\ M +9 &AYjk\ M +9 &C`kl\ N +10 &Es~po\ Q +9 &G'wv\ V +10 &Hwx\ Y +9 &Jvw\ Z +9 &L`yy\ Z +10 &Ny{\ \\ +9 &Oy{\ [\ +9 &Qz{\ [ +10 &Scx{\ \\ +9 &U"}{\ ] +10 &Vyz\ ^ +9 &X|z\ _ +9 &Za~z\ _ +10 &\\|y|\ 9 +9 &\\&z{\ )y +9 ( +2 &\\z} \ $h +2 "collection"'W& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.47 + "collection"'S& +4 "core" &\\{{\ $h +2 .tHand.open + "manipulator"&O1 +56 "core" 1 +2 "manipulator"&a% +4 "core" % C   , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&f' +93 "core" ' +2 .tPSV.dial PSR + "processing"%= +103 "core"  +2 "processing"%R% +4 "core" %\ s + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%6'+ +1618 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%`  +42 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +1628 "core" ' +2 .tPSV.dial PSR + "processing"%U +43 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml + "processing"%p' +2638 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +3 "processing"%r  + "collection"'Z  +34 "core" ~ +124 + .tPSV.dial :mixloop +2 "processing"%C +114 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing + "processing"%7  +74 "core" +2 .tPS.seek 0ml + "processing"%g'ؾ +1115 "Can"\ a^ +1518 "core" ' + .tPSV.dial :air +2 "processing"%T  +55 "core" +2 .tPS.seek 2.5ml + "processing"%?' +2633 "core" ' + .tPSV.dial :mixloop + "processing"%u +41 "core" +2 .tPS.seek 0ml +2 "processing"%h'ؾ +2624 "core" ' +2 .tPSV.dial :air + "processing"%n  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%{' +2650 "core" ' +2 .tPSV.dial :mixloop + "processing"%V +43 "core" +2 .tPS.seek 0ml + "processing"%i'ؾ +2654 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&\\& +4 "core" &ӑ  :1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +32 "core" ( +2 "manipulator"&b& +4 "core" &ӊ  - J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +2 "core" &ӊ  e J +2 .tForearm.seek CC +2 "manipulator"&t'? +93 "core" ' +2 .tHand.close + "manipulator"&^/ +61 "core" / +2 .tCC.seek :open + "collection"'|( +448 "core" ( + "manipulator"&x& +4 "core" &ӊ M J + "manipulator"&_% +4 "core" % E b ; +2 .tForearm.seek :retract + "manipulator"&>' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(- +284 "core" ( + "manipulator"&y& +4 "core" &-  C  +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 && +3 "core" &-   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&'w +107 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 + "manipulator"& % +4 "core" % l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&' +95 "core" ' +2 ."da"delayUntil "14:11:37.94" +2 #"WCR"Whole Cell Archive sampling 100ml +2 #Loading wcr puck from tube 2 into Collection Clamp + "collection"'& +4 "core" &dd\ + "manipulator"&z% +4 "core" %  R ! +2 "storage"(% +4 "core" % ) M\  + "storage"(P. +3 "core" .(  +2 "storage"(& +3 "core" &  % 4\ +2 "storage"( & +3 "core" &  $ \ +2 "manipulator"&& +4 "core" &- _  + "manipulator"&c% +4 "core" %  \\ ! +2 ."WCR"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."WCR"Elbow.seek 2 +2 "manipulator"&v( +177 "core" ( +2 "manipulator"&& +4 "core" & J  +2 "storage"(l& +3 "core" &   B\ +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 2 + 450 counts + "manipulator"&'S +106 "core" ' +2 "storage"((& +4 "core" &  @ H ^\ +2 ."WCR"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +4 ."WCR"SE.seek :beamBreak + "storage"('r +135 "core" ' + "storage"(}- +4 "core" -' + ."WCR"SE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &  S z \ + "manipulator"&-& +4 "core" &  +2 ."WCR"Elbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & F  +2 "storage"(d& +4 "core" &  G Z\ +2 ."WCR"Forearm.seek 2 + 300 counts + "manipulator"&'Ͻ +18 "core" ' +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +47 ."WCR"Hand.close +3 "manipulator"&&/ +60 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"& & + "storage"(' +8 "core" &  ~  +2 "manipulator"& % +4 "core" % Ϭ = X +2 ."WCR"Forearm.seek :retract +2 "manipulator"&' +86 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +2 "core" ' +3 ."WCR"Elbow.seek CC +2 "manipulator"&o(ӂ +155 "core" ( + "manipulator"&+& +5 "core" &Ӓ#  S =B + ."WCR"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &Ӓ$ y =B +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek CC +2 "manipulator"&'? +96 "core" ' + "manipulator"&& +5 "core" &Ӓ$  & =B + "manipulator"& % +4 "core" %4 } u +2 "collection"'~& +5 "core" &fe\ +2 "collection"'& +6 "core" &cg\ +2 ."WCR"CC.seek :closed +3 "collection"'1(\\ +3 "core" &ce\ +6 &cf\ 9 +9 &LKxcf\ 0 +10 &ys~dd\ E +9 &"Zdf\ M +9 &Vde\ L +10 &Xce(\ L +9 &iWde&\ L +10 &+Wee)\ L +9 &Wcd!\ L +9 &Tfg\ L +10 &rWff\ L +9 &!3Vdf\ L +9 &"Wgf \ L +10 &$Wge"\ L +9 &&yWhe\ L +9 &(<Tdg\ L +10 &)Vde\ L +9 &+Ubf \ L +10 &-Veg{\ L +9 &/CTgf~\ L +9 &1Vee\ L +10 &2Tef\ L +9 &4Seg\ L +9 &6KTdf\ L +10 &8 Tff\ M +9 &9Shf\ L +10 &;Sfe\ L +9 &=RTfg\ M +9 &?Tef\ L +10 &@Uhh\ M +9 &BXhh\ M +9 &DUegj\ N +10 &Fpjh\ P +9 &Gkj\ S +10 &Ipm\ X +9 &K>nn\ Y +9 &Lmn\ Y +10 &Noo\ Z +9 &P~oq\ [\ +10 &R?np\ [ +9 &Sno\ \\ +9 &Upp\ \\ +10 &W~po\ ^ +9 &Y@po\ ^ +9 &[pr\ ^ +10 &\\]Npq\ 6 +9 &\\rq\ ` +5 ( +2 "collection"'& +4 #"WCR"Collection Clamp onSpring/offSpring for 14/27 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&'1 +3 "core" &\\rr\ !` +54 1 + "manipulator"&0% +4 "core" % 4  u +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek :retract + "manipulator"&q' +90 "core" ' +2 #"WCR"collectSample 100ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler"),+ +4 "core" + + "sampler").% +4 "core" %ڝ _\  +2 "collection"'!& +4 "core" &\\oq\ !` +2 "Can"\ b_ +2 #"WCR"Calibrating pressure sensors + .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X% +3 "core" %fij\ + "sampler")P% +4 "core" %_Q Z\ v +28 "collection"'% +3 "core" %fjl\ +2 "sampler") % +3 "core" %_P `\ s +32 "collection"'% +4 "core" %fkk\ + "sampler")c% +4 "core" %_Q e\  +36 "collection"'% +3 "core" %fln\ +2 "sampler")% +4 "core" %_Q Z\  +41 "collection"'l% +3 "core" %fnn\ +2 "sampler")% +3 "core" %_Q d\  +48 "collection"'(% +3 "core" %fpq\ + "sampler")}% +4 "core" %_Q c\  +54 "collection"'*% +2 "core" %fuu\ +2 "sampler")-% +4 "core" %_Q ^\  +61 "collection"'% +3 "core" %fww\ +2 "sampler")d% +4 "core" %_P f\  +69 "collection"'% +2 "core" %fxx\ +2 "sampler")&% +4 "core" %_P., `\ s +78 "collection"' % +3 "core" %ftv\ + "sampler") % +4 "core" %_QUT Y\ { +2 "collection"'v% +3 "core" %fuv\ +2 #"WCR"Intake @15.4psia, vacuum from 9.9 to 12.9psi +2 .SS.reconfigure :inhaling 1.98ml/s +2 "sampler")#.0X% +4 "core" %fde\ + "sampler")P% +4 "core" %< e\ y +18 "collection"'% +4 "core" %fce\ + "sampler") % +5 "core" %< d\ y +20 "collection"'% +4 "core" %fge\ + "sampler")c% +4 "core" %< Z\  +24 "collection"'% +3 "core" %fcd\ +2 "sampler")% +4 "core" %< `\  +27 "collection"'y% +3 "core" %fcd\ +2 "sampler")l% +4 "core" %< U\ w +32 "collection"'% +3 "core" %fef\ + "sampler")(% +4 "core" %< U\ s +36 "collection"'}% +4 "core" %fgi\ +2 "sampler")*% +3 "core" %< b\  +42 "collection"'-% +3 "core" %fji\ + "sampler")% +4 "core" %< O\ t +47 "collection"'d% +3 "core" %fki\ +2 "sampler")% +4 "core" %< V\ s +53 "collection"'&% +3 "core" %fkk\ +2 "sampler") % +4 "core" %< W\ u +61 "collection"' % +3 "core" %flj\ + "sampler")v% +4 "core" %<\  X\ x +69 "collection"'% +3 "core" %foo\ + "sampler")"% +4 "core" %< `\  +78 "collection"'% +3 "core" %fqq\ +2 "sampler")% +3 "core" %<&& _\ y +89 "collection"'% +3 "core" %fwx\ +2 "sampler") % +3 "core" % D? V\ u +100 "collection"'~% +3 "core" %f}\ +2 "sampler")% +3 "core" %ml L\ {6 +113 "collection"'% +4 "core" %f\ + "sampler")% +4 "core" % V\ 6 +128 "collection"'|% +3 "core" %f\ +2 "sampler")'% +3 "core" % _\ 6 +50 "sampler")0% +5 "core" % V\ 6 + ."WCR"Intake.select :close +2 "sampler")0 +8 ).% +3 "core" % a\ 6 +2 ."WCR"SSV.dial :exhaust +2 "sampler")!  +75 "core"  + ."WCR"Exhaust.select :open + "sampler")@ +10 ."WCR"SS.seek 0ml +2 "sampler")'ڀ +928 "core" ' + ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +2 ."WCR"CBV.dial SSV +3 "sampler")  +75 "core"  +2 #"WCR"Allowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open + "sampler") +210 "collection"'% +3 "core" %fqr\ +2 #"WCR"Intake @15.2psia, vacuum from 9.7 to 12.7psi +2 .SS.reconfigure :inhaling 1.61ml/s +2 "sampler")#.n0X=> X\ u +78 "collection"'h% +3 "core" %fyy\ + "sampler")V% +4 "core" %\\\\ T\ A +88 "collection"'{% +3 "core" %f\ +2 "sampler")\\% +4 "core" % U\ A +100 "collection"'b% +3 "core" %f\ + "sampler")% +4 "core" % ^\ A +113 "collection"'j% +3 "core" %f\ +2 "sampler")^% +3 "core" % Y\ A +2 "sampler")I% +4 "core" % U\ A + ."WCR"Intake.select :close + "sampler")0 +9 )N% +2 "core" % \\\ A +2 ."WCR"SSV.dial :exhaust +2 "sampler")x  +73 "core"  +2 ."WCR"Exhaust.select :open +2 "sampler")@ +9 ."WCR"SS.seek 0ml +2 "sampler")_'ڀ +899 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV + ."WCR"CBV.dial SSV +3 "sampler")]  +72 "core"  +2 #"WCR"Allowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'t% +3 "core" %for\ +2 #"WCR"Intake @15.2psia, vacuum from 9.7 to 12.7psi + .SS.reconfigure :inhaling 1.45ml/s +2 "sampler")#.c0X% +3 "core" %fSS\ +2 "sampler")P% +3 "core" %  Z\ E +25 "collection"'% +3 "core" %fTT\ + "sampler") % +4 "core" %  X\ E +28 "collection"'% +3 "core" %fTV\ + "sampler")c% +4 "core" %  ^\ E +32 "collection"'% +3 "core" %fTX\ +2 "sampler")% +3 "core" %  _\ E +17 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%y @ +17 "collection"'l% +3 "core" %fWU\ + "sampler")% +4 "core" %  `\ | E +41 "collection"'(% +3 "core" %fXV\ +2 "sampler")}% +4 "core" %  ^\ E + B +2 ."da"PBV.dial :waste1 +2 "processing"%*  +34 "core" + ."da"delay 30 seconds +7 "collection"'-% +3 "core" %f\\\\\ + "sampler")% +4 "core" %  a\ E +54 "collection"'z% +3 "core" %f]^\ + "sampler")d% +4 "core" %  W\ E +61 "collection"'% +3 "core" %f_`\ + "sampler")&% +4 "core" %  S\ E +69 "collection"' % +3 "core" %f`a\ +2 "sampler") % +3 "core" %  V\ E +78 "collection"'v% +3 "core" %fdc\ +2 "sampler")% +4 "core" %   _\ E +88 "collection"'"% +3 "core" %ffi\ +2 "sampler")% +3 "core" %  ]\ E +2 "collection"'% +4 "core" %fee\ + #"WCR"Intake @14.5psia, vacuum from 9.0 to 12.0psi +2 .SS.reconfigure :inhaling 1.30ml/s +2 "sampler")#.Y0X +2 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +3 ."WCR"CS.seek 10ml + "collection"'S' +339 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%O' +1613 "core" ' + ."da"PTV.dial :puck + "processing"%a  +41 "core" ' + #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'W @ +28 "core"  + ."da"PSV.dial PTV +2 "processing"%= +44 "core" > +29 + ."da"PBV.dial :waste1 +2 "processing"%R  +20 "sampler"):% +3 "core" %ڂ ^\  +2 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'<  +6 "core" +2 "processing"%%% +3 "core" %\ Z +2 ."da"PS.seek 1.5ml +2 "processing"%6', +72 "core"  +2 "collection"'U% +4 "core" %ts\  + ."WCR"CSV.dial between air and CTV +2 "collection"'` ` +30 "core" b +2 ."WCR"CS.seek 7.316ml +2 "collection"'r'8 +485 "core" ' +2 ."da"delay 3 seconds +213 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +2 "collection"'F  +2 'C  +26 "core"  +51  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ Jb +3 ."WCR"CS.seek 0ml + "collection"'7'i +3 ."da"PBV.dial between PSV and waste1 +2 "processing"%p * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%T'ؾ +1331 "core" '\ Q\ N\ +2 ."WCR"CBV.dial :waste2b +2 "collection"'g  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'u'i +259 "core" ' + ."da"delay 2:00 +360 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'?  +132 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 10:00 + .CSV.dial CSR +2 "collection"'n  +53 "core"  + "collection"'h% +4 "core" %eqt\ + #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater + "collection"' +10 ."WCR"CS.seek 2ml + "collection"'V'T +466 "Can"\  +149 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air + "collection"' +10 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +2 ."WCR"CS.seek 10ml +2 "collection"'{' +2008 "core" ' + #"WCR"Pumping wcr puck from tube 2 up to 35psi... +2 .CBV.dial SSV + "collection"'\\ @ +72 "core" > +52 "sampler")b% +3 "core" %ڂ N\  +2 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'  +87 "core"  + "collection"'j% +4 "core" %rs\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'^ ` +55 "core" _ +2 ."WCR"CS.seek 7.324ml +2 "collection"'I'} +706 "core" ' +3 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +2 "collection"'N  + 'x  +32 "core"  +100  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ Ob +3 ."WCR"CS.seek 0ml + "collection"'w'i +1138 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%]  +35 "core" + ."da"delay 30 seconds +304 "core" '\ Q\ O\ +2 ."WCR"delay 10:00 +2696 ."da"PBV.dial between PSV and waste1 +2 "processing"%t * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%_ +75 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2516 "core" ' + ."da"PSV.dial PTV +2 "processing"% +86 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +71 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%Z +86 "core" +2 ."da"delay 5 seconds +501 .PSV.dial :air +2 "processing"%>  +75 "core"  +2 ."da"PS.seek 0ml + "processing"%P'ؾ +2429 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air + .PSV.dial PSR +2 "processing"% +130 "core"  +2 "processing"% % +4 "core" %ظm\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +598 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%c' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +83 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%l% +4 "core" %w\  +2 ."da"PS.seek 1.5ml +2 "processing"%'- +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%( * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%}'ؾ +1620 "core" ' +2 ."da"delay 2:00 +12001 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%y  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%f * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%* +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%-' +2473 "core" ' + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%z +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%d +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%&'ؾ +2413 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%  +43 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing + "processing"%  +131 "core" +2 ."da"delay 5 seconds +501 .PRV.dial :ab2 +2 "processing"%v  +43 "core" ~ +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop + "processing"% +43 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%"' +386 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%  +43 "core"  + "processing"%% +4 "core" %\ \  +2 ."da"PS.seek 0.55ml +2 "processing"%' +353 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%~  +56 "core" +2 ."da"PS.seek 2ml +2 "processing"%' +1563 "core" ' +2 ."da"PSV.dial :PML + "processing"% +41 "core" +2 ."da"PTV.dial :mixing + "processing"% @ +74 "core" B + ."da"PBV.dial :waste1 +2 "processing"%|  +33 "core" + "processing"%'% +4 "core" %\  +2 ."da"PS.seek 1.85ml + "processing"%0' +235 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%. * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%!'ؾ +1962 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +11139 "Can"\ gd +5307 ."WCR"CBV.dial :waste2b +2 "collection"'  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"''i +511 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'  +133 "core" +2 #"WCR"Fix #2 of 2 (with RNAlater) for 10:00 + .CSV.dial CSR +2 "collection"'  +40 "core"  +2 "collection"'% +4 "core" %ntt\ + #"WCR"Pulling 1.999ml of CSR.RNAlater + .CSR.select :RNAlater + "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'8'T +595 "core" ' + ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +9 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +2 ."WCR"CS.seek 10ml + "collection"'3' +2017 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"' @ +72 "core" ? +52 "sampler")D% +2 "core" %ڂ U\  +2 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'s  +87 "core"  +2 "collection"'5% +4 "core" %ttz\  + ."WCR"CSV.dial between air and CTV +2 "collection"'; ` +58 "core" ^ +3 ."WCR"CS.seek 7.307ml +2 "collection"'G' +706 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +2 ."WCR"CSV.dial CTV +3 "collection"'  +2 'B  +29 "core"  +104  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<<\ Qb +3 ."WCR"CS.seek 0ml + "collection"'4'i +1476 "core" '\ U\ Ql\ +3 ."WCR"delay 10:00 +19039 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%+  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +46 "processing"%E * +36 "core" , + ."da"PSV.dial :air +2 "processing"%$  +44 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%J' +2454 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%, +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%@  +56 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%/ +41 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%M  +44 "core"  +2 ."da"PS.seek 0ml + "processing"%L'ؾ +2408 "core" ' + #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +131 "core"  + "processing"%X% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%[' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%K' +1631 "core" ' + ."da"PTV.dial :puck +2 "processing"%i  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%) +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%Y  +34 "core"  +2 "processing"%A% +3 "core" %\ +2 ."da"PS.seek 1.5ml +2 "processing"%') +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%m * +33 "core" , +3 ."da"PS.seek 0ml + "processing"%'ؾ +1610 "core" ' +2 ."da"delay 2:00 +8640 "Can"\ hfs +3362 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%#  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%k * +33 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%9' +2440 "core" ' +2 ."da"PSV.dial PTV + "processing"%H +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%a +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%W +86 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%=  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +2396 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%R +130 "core"  +2 "processing"%%% +4 "core" %ظ9\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml + "processing"%<' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%U' +1608 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%` +84 "core" + ."da"PBV.dial :waste1 +2 "processing"%O  +33 "core"  + "processing"%S% +4 "core" %/\  +2 ."da"PS.seek 1.5ml + "processing"%F'+ +593 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"%C * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%p'ؾ +692 ."WCR"CBV.dial :waste2b + "collection"'r  +30 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +2 ."WCR"CS.seek 0ml +2 "collection"'6'i +510 "core" ' +2 ."WCR"delay 1:00 +367 "core" ' +2 ."da"delay 2:00 +5634 ."WCR"CTV.dial :air,avoiding: :intake +2 "collection"'g  +131 "core" +6235 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%7  +34 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%? * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%n +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%h' +2455 "core" ' + ."da"PSV.dial PTV +2 "processing"%u +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%V +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%\\ +86 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%b  +75 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2409 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%j +130 "core"  + "processing"%^% +4 "core" %ؿb\ j + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%{' +587 "core" ' +2 ."da"delay 5 seconds +501 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml + "processing"%x' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%N +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%I  +33 "core"  + "processing"%]% +4 "core" %C\  +2 ."da"PS.seek 1.5ml +2 "processing"%t', +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%_ * +34 "core" , +3 ."da"PS.seek 0ml + "processing"%T'ؾ +1607 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core"  + ."da"delay 30 seconds +1828 "Can"\ li +1174 ."da"PBV.dial between PSV and waste1 +42 "processing"% * +41 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%Z +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%>' +2443 "core" ' +2 ."da"PSV.dial PTV + "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%P  +87 "core" +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2412 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates .PSR.select :air +2 .PSV.dial PSR + "processing"% +139 "core"  +5 "processing"%% +12 "core" %ع6 +3 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +4 "processing"% +12 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +4 ."da"PS.seek 0.25ml +5 "processing"%l' +335 "core" ' +2 ."da"delay 5 seconds +503 "processing"%c% +3 "core" %A  + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%(' +340 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1616 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%y +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%f  +35 "core" + "processing"%*% +4 "core" %  +2 ."da"PS.seek 1.5ml + "processing"%}'0 +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%z'ؾ +1609 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%d  +36 "core"  +3 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%- +78 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"% ' +2589 "core" ' + ."da"PSV.dial PTV +2 "processing"% +91 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%v +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +89 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%&  +79 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2527 "core" ' +2 #"da"Additional air clear + .PSR.select :air + .PSV.dial PSR +2 "processing"% +135 "core"  + "processing"%"% +4 "core" % \ : + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml + "processing"%~' +2125 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck + .PSV.dial PTV +2 "processing"% +76 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%% +4 "core" %\ S +2 ."da"PS.seek 1.5ml + "processing"%|'/ +601 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%' * +35 "core" * + ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%.  +110 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +1612 "core" ' +2 "processing"%09 +3 "core" 9|5 +2 #"da"Processing Puck Heater at 28.1C before imaging + .PH.coast + "processing"%  +3 "core" 5 + 5 + "processing"%w& +4 "core" &^!Q\ ;2 + #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&% +3 "core" %  C  +2 "storage"(% +3 "core" % B G\ 9 +2 "storage"(. +3 "core" .(  + ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"((C +358 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" &E E\ 1 + "manipulator"&& +4 "core" &Ӓ# =B +2 "manipulator"&D% +3 "core" %  B  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&s( +154 "core" ( + "manipulator"&5& +5 "core" & , m R + "storage"(;& +4 "core" &F  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&3' +101 "core" ' +2 "storage"(& +4 "core" &F } ?\ C +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(B'r +278 "core" ' + "storage"(G- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&+& +2 "core" & ^ M +2 "storage"(E& +4 "core" &F + ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&$'8 +26 "core" ' + ."da"Elbow.hold +2 "manipulator"&!, +3 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(,- +2 "core" -' +3 ."da"SE.seek 5.15 Pucks below Top Plate + "storage"(@' +32 "core" ' +2 "manipulator"&/% +4 "core" %% ] AQ + "storage"(M& +4 "core" &F l h K +2 ."da"Forearm.force -20 + "manipulator"&5 +2 ."da"Forearm.seek 1 + 281 counts + "manipulator"&J'Q +14 "core" ' + "manipulator"& & +4 "core" & +2 "storage"(X& +3 "core" &F k e o\ > +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&L' +21 "core" ' +2 ."da"SE.seek 6.15 Pucks below Top Plate + "storage"([' +36 "core" ' +2 "manipulator"&i& +4 "core" & +2 "manipulator"&)% +3 "core" %  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract + "manipulator"&Y' +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&A( +243 "core" ( +2 "manipulator"&K& +4 "core" &  N + ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" & { L +44 ."da"Forearm.seek PC +9 "manipulator"&' +91 "core" ' + ."da"Hand.close +2 "manipulator"&#/ +67 "core" / +2 ."da"PC.seek :open +2 "processing"%k( +455 "core" ( + "storage"(& +4 "core" &F 9 +2 "manipulator"&& +4 "core" & " 7 U + "manipulator"&H% +4 "core" %   UE + ."da"Forearm.seek :retract +2 "manipulator"&a' +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&W( +248 "core" ( +2 "manipulator"&=& +4 "core" &  - H + "storage"(9& +4 "core" &F L P G\ @ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts + "manipulator"&R' +113 "core" ' + ."da"Hand.open +2 "manipulator"&%1 +75 "core" 1 +2 "storage"(:- +3 "core" -' +3 ."da"SE.seek 5.8 Pucks below Top Plate + "storage"(<' +25 "core" ' + ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 4.83 Pucks below Top Plate + "storage"(`' +55 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21nov0914h100ml.tif +1944 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +3420 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 50.064 seconds\ /var/log/esp/da21nov0914h100ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21nov0914h100ml15s.tif +1561 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21nov0914h100ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21nov0914h100ml30s.tif +3065 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21nov0914h100ml30s.tif: TIFF Upload Complete\ +2 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21nov0914h100ml70s.tif +7178 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21nov0914h100ml70s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "50.064 sec auto-exposure",Subject: "da21nov0914h100ml images!" +2 "storage"(O- +5 "core" -' +2 "storage"(S& +10 "core" &F %  G\ _ + "manipulator"&U& +4 "core" & I H +2 ."da"Elbow.seek 1 +3 "manipulator"&C( +3 "core" ( +2 "manipulator"&F& +4 "core" &   H +2 "storage"(r& +4 "core" &F * )\ _ +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&4' +15 "core" ' +3 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 ."da"SE.seek 5.55 Pucks below Top Plate + "storage"(g' +57 "core" ' +3 "manipulator"&7& +5 "core" & T H + "storage"(?& +4 "core" &F T S D\ +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 + "manipulator"&n'8 +23 "core" ' +2 ."da"Elbow.hold + "manipulator"&p, +4 "core" , +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 5.73 Pucks below Top Plate + "storage"(u' +30 "core" ' + "manipulator"&V% +6 "core" %3 ; b +2 "storage"(\\& +4 "core" &F L\ } + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 295 counts +2 "manipulator"&b'_ +21 "core" ' +2 "manipulator"&h& +4 "core" &  H +2 "storage"(j& +4 "core" &F R\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&^' +21 "core" ' + "storage"(% +5 "core" % :\ +2 ."downElevator"SE.seek :down +3 "storage"({' +100 (N% +3 "core" %6 ` ^\ U[ +2 "manipulator"&I% +5 "core" % +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&]' +89 "core" ' +23 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (x& +3 "core" &F  d\ +3 "collection"'_& + #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +7 "processing"%t& +5 "core" &\\vv \ !` + &.\ +3 "manipulator"& & +4 "core" & C H + "manipulator"&% +4 "core" %  L  +3 ."psFlush"Elbow.seek FlushPuck::Garage + "manipulator"&Z(- +198 "core" ( +4 "manipulator"&T& +8 "core" &-  +3 ."psFlush"Elbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 && +5 "core" &-   +4 ."psFlush"Forearm.seek :garage +3 "manipulator"&'w +98 "core" ' +3 ."psFlush"Hand.close +3 "manipulator"& / +63 "core" / +3 "manipulator"&P& +8 "core" &- e  +3 "manipulator"&>% +8 "core" % τ 0 +3 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +108 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +4 "manipulator"&( +120 "core" ( +2 "manipulator"&& +8 "core" & * ( +4 ."psFlush"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &c& +6 "core" &  ( +4 ."psFlush"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 ."psFlush"Forearm.seek PC +4 "manipulator"&l' +99 "core" ' +3 "manipulator"&(& +8 "core" &  ( +3 "manipulator"&y% +9 "core" % A  +4 "processing"%f& +7 "core" &\ +4 "processing"%*& +13 "core" &?\ +3 &-\ +4 ."psFlush"PC.seek :closed +5 "processing"%(^ +9 "core" &\ +2 &\  +6 &0v\ w*y +9 &b}\ s? +10 &mp\ uP +10 &/R\ zO +8 &V\ zO +10 &P\ {O +10 &uR\ yO +8 &6U\ zP +11 &T\ zP +8 &Q\ {O +10 & }S\ {O +10 &"?R\ zO +8 &$W\ yP +10 &%U\ zO +8 &'Q\ {P +10 &)GU\ zO +11 &+R\ zP +8 &,Q~\ zO +9 &.Rw\ zO +11 &0NQu\ zP +8 &2Qt\ zO +12 &3Su\ zO +6 &5Rp\ zP +10 &7VRu\ zP +11 &9S{\ zP +9 &:Tw\ zP +9 &<Tu\ yO +10 &>^Vw\ yP +8 &@Yt\ yP +10 &A_u\ xQ +9 &Cqy\ uR +10 &EVr\ qU +9 &Gy\ rV +9 &Hm\ qV +10 &Jp\ qV +10 &L[p\ rV +8 &Nm\ oW +10 &Of\ pW +10 &Qe\ nX +8 &S^c\ oX +10 &U f\ oX +9 &V`\ pX +10 &Xe\ pX +10 &Zgc\ oX +8 &\\)e\ oX +10 &]}e\ s: +10 &^1a\ rU +8 &^(e\ ~6 +6 ( +8 "processing"%*& +11 #"psFlush"Processing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.71 +106 "processing"%& +9 "core" &^&c\ 6 +2 &^&b\ ~6 +2 &^&Z\ 6 +3 ."psFlush"Hand.open +2 "manipulator"&}1 +53 "core" 1 +4 "manipulator"&d% +8 "core" %   +4 ."psFlush"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 ."psFlush"Forearm.seek :retract +3 "manipulator"&' +94 "core" ' +3 ."psFlush"PSR.select :air +6 #"WCR"Storing wcr puck in Collection Clamp to tube 1 +4 ."psFlush"PSV.dial PSR +5 "manipulator"&-% +4 "processing"%z +18 "core" % ! G . +5 "storage"( % +9 "core" % < K R\ e +3 "storage"(v. +6 "core" .(F +4 ."WCR"SC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 ."WCR"SC.seek 1 +4 "storage"((C +6 "core"  +2 ( +2 ."WCR"SC.configure :limp +5 "processing"%&% +9 "storage"($\ 1b +4 ( & +8 "core" %A\ | +2 &A ^\ } +4 #"psFlush"Pulling 0.5ml of PSR.flush +4 "manipulator"&& +2 ."psFlush"PSR.select :flush +9 "processing"%@ +7 "core" & 1 ( +4 "manipulator"&"% +7 "core" % !  . +5 ."WCR"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 ."WCR"Elbow.seek 1 +3 "manipulator"&( +9 ."psFlush"PS.seek 0.5ml +4 "processing"%' +244 "core" ( +2 "manipulator"&& +18 "core" &  b R +3 "storage"(& +10 "core" &A \ z +5 ."WCR"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +7 ."WCR"Forearm.seek 1 + 450 counts +4 "manipulator"&~' +96 "core" ' +2 "storage"('& +10 "core" &A 5\  +4 ."WCR"SE.reconfigure :pick +4 "storage"(#],K-0-\ b +6 ."WCR"SE.seek :beamBreak +3 "storage"(.'r +164 "core" ' +4 ."psFlush"delay 5 seconds +96 "core" ' +3 "storage"(|- +7 "core" -' +4 ."WCR"SE.configure :default +4 "storage"(#QK-0-\ b +6 "manipulator"&0& +11 "core" & * Q +4 "storage"(& +7 "core" &A \ | +3 ."WCR"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +4 ."WCR"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 ."WCR"Forearm.seek 1 +3 "manipulator"&w'8 +23 "core" ' +3 ."WCR"Elbow.hold +3 "manipulator"&, +8 "core" , +2 ."WCR"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 "storage"(- +7 "core" -' +5 ."WCR"SE.seek 6.11 Pucks below Top Plate +3 "storage"(' +33 "core" ' +3 "manipulator"&2% +8 "core" %0 | +3 "storage"(8& +8 "core" &A )\ t +3 ."WCR"Forearm.force -20 +2 "manipulator"&5 +9 ."WCR"Forearm.seek 1 + 292 counts +2 "manipulator"&'\\ +23 "core" ' +3 "manipulator"&D& +9 "core" & Q +3 "storage"(5& +8 "core" &A I\ } +4 ."WCR"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 ."WCR"Forearm.seek 1 + 450 counts +4 "manipulator"&;' +25 "core" ' +5 ."WCR"SE.seek 7.11 Pucks below Top Plate +4 "storage"('^ +49 "core" ' +4 "manipulator"&o& +8 "core" & A P +4 "manipulator"&q% +8 "core" % f +4 ."WCR"Forearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +4 ."WCR"Forearm.seek :retract +4 "manipulator"&G' +11 ."psFlush"PSR.select :air +3 "processing"% +13 ."psFlush"PS.seek 2.5ml +3 "processing"%+' +67 "core" ' +3 ."WCR"Elbow.seek CC +3 "manipulator"&E(ӂ +157 "core" ( +5 "manipulator"&,& +9 "core" &Ӑ%  E >O +3 ."WCR"Elbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &/& +7 "core" &Ӑ%  ? >O +6 ."WCR"Forearm.seek CC +4 "manipulator"&M'? +93 "core" ' +3 ."WCR"Hand.close +3 "manipulator"& / +60 "core" / +4 ."WCR"CC.seek :open +3 "collection"'X( +450 "core" ( +9 "storage"(i& +8 "core" &A N\ +3 "storage"()& +7 "core" &A d\ +3 "manipulator"&3& +7 "core" &ӑ% j >N +3 "manipulator"&s% +7 "core" % 9 N +4 ."WCR"Forearm.seek :retract +3 "manipulator"&B' +95 "core" ' +4 ."WCR"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 ."WCR"Elbow.seek 1 +4 "manipulator"&$( +166 "core" ( +2 "manipulator"&J& +9 "core" &  +3 "storage"(@& +8 "core" &A @\ +2 ."WCR"Elbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 ."WCR"Forearm.seek 1 +4 "manipulator"&L'8 +96 "core" ' +3 ."WCR"Elbow.hold +3 "manipulator"&K, +7 "core" , +3 ."WCR"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 ."WCR"Hand.open +3 "manipulator"&m1 +65 "core" 1 +4 "manipulator"&!% +8 "core" % L @ +3 "storage"(#& +8 "core" &A @\ +3 ."WCR"Forearm.force -20 +2 "manipulator"&5 +6 ."WCR"Forearm.seek 1 + 320 counts +3 "manipulator"&Y'x +21 "core" ' +3 "manipulator"&e& +9 "core" &  +2 "storage"(& +8 "core" &A \ +4 ."WCR"Forearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 ."WCR"Forearm.seek 1 + 450 counts +4 "manipulator"&' +23 "core" ' +7 "storage"(H% +8 "core" %_ t\ +5 ."downElevator"SE.seek :down +6 "storage"(' +97 (=% +7 "core" %3 \ TZ +3 "manipulator"&9% +9 "core" %  +4 ."WCR"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 ."WCR"Forearm.seek :retract +3 "manipulator"&A' +90 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +8 "core" ' +4 #tStarting finalPurge +290 "core" ' +3 ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +4 "processing"%% @ +184 "core" A +3 ."psFlush"PTV.dial :PRVmixing +5 "processing"%:  +131 "core" +2 ."psFlush"PSV.dial :mixloop +4 "processing"%a +103 "core" +4 ."psFlush"PS.seek :empty +3 "processing"%['ؠ +1148 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +1477 "Can"\ OL +19 "core" ' +3 ."psFlush"PSR.select :air +98 .PSV.dial PSR +5 "processing"%< +105 "core"  +6 "processing"%O% +12 "core" %؞+\ +2 #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +4 "processing"%@ +14 ."psFlush"PS.seek 0.5ml +2 "processing"%S' +594 "core" ' +3 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +13 ."psFlush"PS.seek 2.5ml +4 "processing"%U' +2128 "core" ' +3 ."psFlush"delay 1 second +104 .PBV.dial :waste1 +2 "processing"%F  +34 "core"  +3 ."psFlush"PTV.dial :mixing +3 "processing"%r @ +73 "core" @ +3 ."psFlush"PSV.dial :mixloop +3 "processing"%7 +104 "core" +4 ."psFlush"PS.seek :empty +2 "processing"%?'ؠ +2641 "core" ' +2 ."psFlush"PSV.dial PSR +4 "processing"%V +104 "core"  +3 ."psFlush"PSR.select :flush +4 "processing"%@ +13 ."psFlush"PS.seek 1ml +2 "processing"%\\'X\\ +1099 "core" ' +2 ."psFlush"PSR.select :air +7 "processing"% +13 ."psFlush"PS.seek 2.5ml +3 "processing"%h' +1092 #"uploadLog"upsync +525 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%j +73 "core" + ."psFlush"PTV.dial :puck +2 "processing"%  +72 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%W'ؾ +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%R +74 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%`' +593 "core" ' +2 ."psFlush"PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%N' +2130 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%I +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%4 U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%C'ؾ +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%g @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%n' +2653 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%x  +83 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%_'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%t +42 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"% ' +2653 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%b'ؾ +2657 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%u @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%^' +2630 "core" ' +5 ."psFlush"PSV.dial :waste1 +4 "processing"%T  +75 "core"  +8 ."psFlush"PS.seek 0ml +6 "processing"%'ؾ +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%{ +44 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%p'X\\ +1101 "core" ' +2 ."psFlush"PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"% ' +1620 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%P +71 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%>  +52 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%]'ؾ +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +72 "core" + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%c' +586 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2120 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%( +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%y U +53 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%f'ؾ +2653 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%Z @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2638 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%k  +72 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%'ؾ +2656 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%} +44 "core"  + ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%d' +2629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%* +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%-'ؾ +2634 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"% @ +43 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%v' +2636 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%z  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"% 'ؾ +1222 "Can"\ KI +1429 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'&& +4 "core" &ll\ + "manipulator"&& +4 "core" & 9  + "manipulator"&"% +4 "core" %  J  + .tElbow.seek PC +2 "manipulator"&l( +240 "core" ( +2 "manipulator"&& +4 "core" & 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 7 +2 .tForearm.seek PC + "manipulator"&' +90 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%( +455 "core" ( +2 "manipulator"&'& +4 "core" & 7 + "manipulator"&% +4 "core" %  ( + .tForearm.seek :retract +2 "manipulator"&|' +92 "core" ' +2 .tElbow.reconfigure :tight +45 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC +2 "manipulator"&0(ӂ +347 "core" ( +2 "manipulator"&& +4 "core" &y,  Bm +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 && +2 "core" &y, Cm +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&2'? +103 "core" ' +2 "manipulator"&8& +4 "core" &ӕ&   ?Q + "manipulator"&D% +4 "core" %; / +2 "collection"'5& +4 "core" &kk!\ +3 "collection"'o& +6 "core" &mk \ +2 .tCC.seek :closed +2 "collection"'q(\\ +3 "core" &ij\ +6 &:ll\ $e +10 &V|kk\ 7 +9 &ymk\ L +9 &Tlk\ M +10 &lSjl\ M +9 &.Tjk\ M +9 &Qkl\ M +10 &Tll\ M +9 &uVll\ M +10 &6Ukk\ M +9 &Sll\ M +9 &!Qlk\ M +10 &#|Tkl\ M +9 &%>Rik\ M +9 &'Snk+\ M +10 &(Pnl\ M +9 &*Sjn\ M +10 &,FUmh/\ M +9 &.Tll1\ N +9 &/Tlm0\ M +10 &1Tml\ M +9 &3NSkk\ M +9 &5Tkk/\ M +10 &6Vlk\ M +9 &8Ulk\ M +10 &:VUkm\ M +9 &<Qln\ M +9 &=Ukn\ M +10 &?Rlm\ M +9 &A]Uln\ N +9 &C\\qp\ N +10 &Dntq\ P +9 &Fyx\ T +10 &HG|}\ X +9 &J\ Y +9 &K~\ Z +10 &M~~\ Z +9 &OG\ [ +9 &Q\ [ +10 &R\ \\ +9 &T\ \\ +10 &VE\ ^ +9 &X \ ] +9 &Y\ _ +10 &[\ M +9 &\\9\ / +9 &\\\ !` +6 ( +2 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.44 + "collection"'~& +4 "core" &\\\ !` +2 &\\4\ !` + .tHand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&.% +4 "core" % ;  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w' +91 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'& +4 "core" &\\\ !` + "collection"'% +4 "core" %d\ +2 .tCSV.dial CSR + "collection"',  +41 "core"  + "collection"'/% +4 "core" %d\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"';'s5 +1353 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +2 "collection"' +8 '% +3 "core" %s0\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.499ml + "collection"'' +680 "core" ' + .tCSV.dial :waste +2 "collection"' +127 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml + "collection"'G'i +2001 "core" ' + #tFlushing lower manifold's waste1 port + "collection"'1& +4 "core" &\\\ !` +2 "collection"'i% +4 "core" %d\ + .tCSV.dial :flush + "collection"')  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'3's5 +1282 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air + "collection"'s @ +41 "core" A + "collection"'J% +9 "core" %s3  \  +2 .tCS.seek 7ml + "collection"'@' +566 "core" ' +2 ."connect"CSV.dial CTV +2 .tCTV.dial CSV +2 "collection"'M  +2 'E  +41 "core"  +92  + .tCBV.dial :waste1 +2 "collection"'m @ +72 "core" @ +2 .tCS.seek 0ml + "collection"'!'i +1685 "core" ' + #tFlushing lower manifold's waste2 port + "collection"'#& +4 "core" &\\z\ !` +2 "collection"'e% +3 "core" %jv\ + .tCSV.dial :flush +2 "collection"'  +71 "core" +2 .tCS.seek 5ml +2 "collection"'B's5 +1295 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'H @ +43 "core" B +2 "collection"'$% +4 "core" %s6!\ +2 .tCS.seek 7ml + "collection"'='! +562 "core" ' + ."connect"CSV.dial CTV +2 .tCTV.dial CSV +3 "collection"'9  +40 "core"  +2 .tCBV.dial :waste2 + "collection"'L  +104 "core"  +2 .tCS.seek 0ml + "collection"'Y'i +1693 "core" ' +2 #tFlushing lower manifold's waste2b port + "collection"'& +4 "core" &\\t\ !` +2 "collection"'% +3 "core" %ez\ +2 .tCSV.dial :flush + "collection"'  +82 "core"  +3 .tCS.seek 5ml + "collection"'%'s5 +1293 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +2 "collection"': @ +41 "core" A + "collection"'a% +4 "core" %s5n\  +2 .tCS.seek 7ml + "collection"'+' +559 "core" ' +2 ."connect"CSV.dial CTV + .tCTV.dial CSV +3 "collection"'<  +53 "core"  +2 .tCBV.dial :waste2b + "collection"'O  +102 "core"  +2 .tCS.seek 0ml + "collection"'['i +1686 "core" ' + #tDisinfecting external Intake with kill + "collection"'S& +4 "core" &\\w\ !` +2 "collection"'F% +3 "core" %k{\ +2 .tCSV.dial CSR + "collection"'r  +44 "core"  + "collection"'7% +4 "core" %k-\ +2 #tPulling 8ml of CSR.kill .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"'U' +2037 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml + "collection"'V' +559 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +2 "collection"'? +2 '\\  +44 "core"  +58 + .tCTV.dial :intake +2 "collection"'j  +75 "core" + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"''T +1921 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'h  +73 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml + "collection"'R'i +595 "core" ' + .tCSV.dial CSR + "collection"'W  +99 "core"  +2 "collection"'`% +4 "core" %c\ + #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +10 .tCS.seek 5ml + "collection"'I's5 +1372 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml + "collection"'4' +1356 "core" ' +2 .tCSV.dial CBV + "collection"'N +97 "core" +2 .tCS.seek 0ml +2 "collection"'g'i +2634 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&C& +4 "core" &ӗ%  >O +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&x(ӂ +27 "core" ( + "manipulator"&n& +4 "core" &ӄ   I $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +2 "core" &ӄ  _ $ +2 .tForearm.seek CC +2 "manipulator"&_'? +92 "core" ' +46 .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"' ( +446 "core" ( + "manipulator"&u& +4 "core" &ӄ  e $ +2 "manipulator"&b% +4 "core" % E v T +2 .tForearm.seek :retract + "manipulator"&T' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&^(- +279 "core" ( +2 "manipulator"&{& +4 "core" &- 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- M 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&p'w +95 "core" ' + .tHand.open + "manipulator"&P1 +53 "core" 1 + "manipulator"&>% +4 "core" % | T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +2 #tCompleted [initialPurge; da [100, 100] #da and wsr are run simultanelously] begun 13:15:53 +5 #Asleep after completing DA_WCR_110921 assays +2 ."Qmail"GoodNews.email "{1 => 8,\\n 2 => 25,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@15:05:14, 16% flow, 22.5C, 13% humidity, 15.2psia, 13.486V, 0.375A, 0.363A avg, 5.06W\\nSampled 100.0ml",Subject: "Asleep after completing DA_WCR_110921 assays" +3325 #tUploading Logs +10207 #"uploadLog"upsync +5 #mEXIT @1636470799.34UTC @1636750644.88UTC = =mMAIN_scheduler =tMAIN @UTC1636750646.67 #"core_reset"Sent BREAK +2 #t@42457 sendCRC with ifg=0x20, ie=0x7F + #@44292 sendCRC with ifg=0x08, ie=0x5F + #@20838 idle with ifg=0x84, ie=0x75 #@21509 select with ifg=0x10, ie=0xF5 + #@22143 receive with ifg=0x10, ie=0xFD + #@22777 receive with ifg=0x10, ie=0xFD #@23410 receive with ifg=0x10, ie=0xFD + #@23737 receive with ifg=0x80, ie=0xFD #@62156 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +367 "Can"\ B? + \ B? #tPolling Can every 10:00 +5 #Cleanly exited at 15:13:19UTC09-Nov-21 +649 #-> Can +1517 #-> exit +4 #mEXIT @1636750675.05UTC @1636935142.50UTC = =mMAIN_scheduler =tMAIN @UTC1636935144.32 #"core_reset"Sent BREAK +2 #t@42457 sendCRC with ifg=0x20, ie=0x7F + #@44292 sendCRC with ifg=0x08, ie=0x5F + #@20838 idle with ifg=0x84, ie=0x75 + #@21509 select with ifg=0x10, ie=0xF5 #@22143 receive with ifg=0x10, ie=0xFD + #@22777 receive with ifg=0x10, ie=0xFD #@23410 receive with ifg=0x10, ie=0xFD + #@23737 receive with ifg=0x80, ie=0xFD + #@27308 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +281 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +373 "Can"M\ C@ + M\ C@ + #tPolling Can every 10:00 +5 #Cleanly exited at 20:57:55UTC12-Nov-21 +3228 #-> Can +1958 #-> exit +4 #mEXIT @1636935203.01UTC @1637170478.87UTC = =mMAIN_scheduler =tMAIN @UTC1637170480.69 #"core_reset"Sent BREAK +2 #t@42457 sendCRC with ifg=0x20, ie=0x7F + #@44292 sendCRC with ifg=0x08, ie=0x5F + #@20838 idle with ifg=0x84, ie=0x75 #@21509 select with ifg=0x10, ie=0xF5 + #@22143 receive with ifg=0x10, ie=0xFD + #@22777 receive with ifg=0x10, ie=0xFD #@23410 receive with ifg=0x10, ie=0xFD + #@23737 receive with ifg=0x80, ie=0xFD #@44717 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +283 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +378 "Can"u\ C@ + u\ C@ + #tPolling Can every 10:00 +5 #Cleanly exited at 00:13:22UTC15-Nov-21 +1242 #-> Can +1310 #-> exit +4 #mEXIT @1637170513.11UTC @1638194612.80UTC = =tMAIN =mMAIN_scheduler @UTC1638194614.62 #"core_reset"Sent BREAK +2 #t@42457 sendCRC with ifg=0x20, ie=0x7F + #@44292 sendCRC with ifg=0x08, ie=0x5F + #@20838 idle with ifg=0x84, ie=0x75 #@21509 select with ifg=0x10, ie=0xF5 + #@22143 receive with ifg=0x10, ie=0xFD + #@22777 receive with ifg=0x10, ie=0xFD #@23410 receive with ifg=0x10, ie=0xFD + #@23737 receive with ifg=0x80, ie=0xFD #@44593 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +283 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +380 "Can" \ C@ +  \ C@ + #tPolling Can every 10:00 +5 #Cleanly exited at 17:35:13UTC17-Nov-21 +299 #-> Can +1985 #-> ESP.ready? +545 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %l\\\\\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" %ؿ\  +2 .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڂ l\  +2 .tSS.configure :default +2 "sampler")#.0X \ +2 "storage"(0% +3 "core" % H K A\  +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +772 #t-> exit +6 #mEXIT @1638194662.81UTC @1638372590.03UTC = =mMAIN_scheduler =tMAIN @UTC1638372591.80 #"core_reset"Sent BREAK +2 #t@25128 receive with ifg=0x10, ie=0xFD + #@25765 receive with ifg=0x10, ie=0xFD #@26421 receive with ifg=0x10, ie=0xFD + #@27058 receive with ifg=0x10, ie=0xFD + #@27700 receive with ifg=0x10, ie=0xFD #@28334 receive with ifg=0x10, ie=0xFD + #@28967 receive with ifg=0x10, ie=0xFD + #@29298 receive with ifg=0x80, ie=0xFD #@49068 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +272 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can"6\ CA + 6\ CA + #tPolling Can every 10:00 +5 #Cleanly exited at 14:04:22UTC29-Nov-21 +510 #-> ESP.ready? +608 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %lno\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %ؿ\  + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +2 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %ڂ Z\  + .tSS.configure :default +3 "sampler")#.0X Arm +2 "manipulator"&3& +3 "core" &- 5 +2 "manipulator"&4% +4 "core" %   M  +1742 #t-> Arm.CC +2 "manipulator"&5& +3 "core" &- 5 +2 "manipulator"&6% +4 "core" %   0  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC + "manipulator"&7(ӂ +278 "core" ( + "manipulator"&8& +4 "core" &z3   I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +2 "core" &z3  N I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'? +90 "core" ' +2 "manipulator"&;& +4 "core" &Ӑ1  Z F + "manipulator"&<% +4 "core" %I \ r +433 #t-> Arm.PC + "manipulator"&=& +4 "core" &ӓ0 \  F + "manipulator"&>% +4 "core" %I \   r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC +2 "manipulator"&@( +355 "core" ( + "manipulator"&A& +5 "core" & / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &  b / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&C' +93 "core" ' +2 "manipulator"&D& +4 "core" &   / + "manipulator"&E% +4 "core" % W 2 +647 #t-> Arm.SC +2 "manipulator"&F& +3 "core" &  / +2 !to:Axis::Error: mesg"Unknown Elbow position: SC:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:512:in `baseRaw'",/home/esp/esp2/lib/axis.rb:293:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:277:in `fetch'",/home/esp/esp2/lib/axis.rb:288:in `raw'",/home/esp/esp2/lib/axis.rb:552:in `raw'"./home/esp/esp2/lib/axis.rb:666:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +759 #-> Arm.sc +2 "manipulator"&G& +3 "core" &  [ / +2 !to:Axis::Error: mesg"Unknown Elbow position: sc:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:512:in `baseRaw'",/home/esp/esp2/lib/axis.rb:293:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:277:in `fetch'",/home/esp/esp2/lib/axis.rb:288:in `raw'",/home/esp/esp2/lib/axis.rb:552:in `raw'"./home/esp/esp2/lib/axis.rb:666:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +458 #-> Arm.garage +2 "manipulator"&H& +3 "core" &  o / +2 "manipulator"&I% +4 "core" %  2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&J' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&K(- +128 "core" ( +3 "manipulator"&L& +4 "core" &-   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +2 "core" &-  J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&N'w +97 "core" ' + "manipulator"&O& +4 "core" &-  . +2 "manipulator"&P% +3 "core" % = +892 #t-> exit +5 #mEXIT @1638372688.34UTC @1638375567.48UTC = =tMAIN =mMAIN_scheduler @UTC1638375569.15 #t0x00, ie=0x00 +27 #"core_reset"Sent BREAK +2 #t>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 #@52520 initial with ifg=0x00, ie=0xF5 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +293 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +404 "Can"\ ! + \ ! + #tPolling Can every 10:00 +6 #Cleanly exited at 15:31:28UTC01-Dec-21 +1578 #-> ESP.ready! +3 #Powering core bus +549 .Gate.power :raw,:ON +2 "sampler") +22 ) +2 "core"  + "collection"' +3 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %kle\ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %9\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ +2 .tSS.configure :default +2 "sampler")#.0X access 1 +3 "storage"(;% +3 "core" % ' & 3\ ? +2 "manipulator"&<% +4 "core" %    + "manipulator"&=& +4 "core" &\   M !v +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(>(<- +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &<* 8\  @1638476967.01UTC = =tMAIN =mMAIN_scheduler @UTC1638476968.90 #"core_reset"Sent BREAK +2 #t@21858 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +288 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +391 "Can"`\ !~ + `\ !~ + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +210 #-> Can +1614 #-> exit +4 #mEXIT @1638476996.13UTC @1638477004.75UTC = =mMAIN_scheduler =tMAIN @UTC1638477006.66 #"core_reset"Sent BREAK +2 #t@16544 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +363 "Can"f\ !s f\ !s + #tPolling Can every 10:00 +2 #Cleanly exited at 20:29:56UTC02-Dec-21 +406 #-> ESP.ready! +3 #Powering core bus +569 .Gate.power :raw,:ON +2 "sampler") +14 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %  \ +2 .tSS.configure :default +2 "sampler")#.0X exit +6 #mEXIT @1638477062.04UTC @1638998042.60UTC = =tMAIN =mMAIN_scheduler @UTC1638998044.48 #"core_reset"Sent BREAK +2 #t@35007 receive with ifg=0x10, ie=0xFD + #@35643 receive with ifg=0x10, ie=0xFD + #@36297 receive with ifg=0x10, ie=0xFD #@36931 receive with ifg=0x10, ie=0xFD + #@37566 receive with ifg=0x10, ie=0xFD + #@38198 receive with ifg=0x10, ie=0xFD #@38830 receive with ifg=0x10, ie=0xFD + #@39161 receive with ifg=0x80, ie=0xFD #@62465 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +297 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +394 "Can"\ GE + \ GE + #tPolling Can every 10:00 +2 #Cleanly exited at 20:31:02UTC02-Dec-21 +1381 #-> Can +4309 #-> ESP.ready? +331 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +2 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %d\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ؼ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +4 "sampler")% +2 "core" %ڃ d\ 1 +2 .tSS.configure :default +2 "sampler")#.0X exit +6 #mEXIT @1638998119.95UTC @1639168904.66UTC = =tMAIN =mMAIN_scheduler @UTC1639168906.55 #"core_reset"Sent BREAK +3 #t@17626 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +287 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +390 "Can"  v +   v + #tPolling Can every 10:00 +3 #Cleanly exited at 21:15:19UTC08-Dec-21 +2347 #-> ESP.ready! +3 #Powering core bus +561 .Gate.power :raw,:ON +2 "sampler") +43 ) +2 "core"  +2 "collection"' +3 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +4 "core" %,\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % @ ?*\ +2 .tSS.configure :default +2 "sampler")#.0X Flush +460 #-> Can +52641 "Can"\ ?= +60001 \ ?= +39497 #t-> Can +917 #-> exit +5 #mEXIT @1639170521.69UTC @1639419047.09UTC = =tMAIN =mMAIN_scheduler @UTC1639419048.87 #"core_reset"Sent BREAK +3 #t@21180 receive with ifg=0x10, ie=0xFD #@21816 receive with ifg=0x10, ie=0xFD + #@22471 receive with ifg=0x10, ie=0xFD + #@23108 receive with ifg=0x10, ie=0xFD #@23749 receive with ifg=0x10, ie=0xFD + #@24382 receive with ifg=0x10, ie=0xFD + #@25016 receive with ifg=0x10, ie=0xFD #@25347 receive with ifg=0x80, ie=0xFD + #@55486 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +275 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +363 "Can"\ B@ + \ B@ #tPolling Can every 10:00 +3 #Cleanly exited at 21:08:41UTC10-Dec-21 +2878 #-> ESP.ready? +452 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %l\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؿo\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %څ , ( `\ < + .tSS.configure :default +2 "sampler")#.0X Can @1639513453.65UTC = =mMAIN_scheduler =tMAIN @UTC1639513455.57 #"core_reset"Sent BREAK +3 #t@45630 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +335 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +525 "Can" !u +2  !u + #tPolling Can every 10:00 +3 #Cleanly exited at 18:10:55UTC13-Dec-21 +1126 #-> ESP.ready? +304 #-> ESP.ready! +3 #Powering core bus +546 .Gate.power :raw,:ON +2 "sampler") +37 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %5\ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %k\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % A @c\ +2 .tSS.configure :default +2 "sampler")#.0X +2 "collection"'3& +4 "core" &J\  + "processing"%4& +4 "core" &\  + "manipulator"&5% +4 "core" %    +2 "manipulator"&6& +3 "core" &  5 +2 "storage"(7& +7 "core" &,y \  +3 "storage"(8% +7 "core" % \ 5 +4 "collection"'99 +6 "core" 9 +3 "processing"%:9 +7 "core" 9 +394 #t-> Can @1639518748.72UTC = =tMAIN =mMAIN_scheduler @UTC1639518750.62 #"core_reset"Sent BREAK +2 #t@31132 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +289 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +393 "Can"   +    + #tPolling Can every 10:00 +3 #Cleanly exited at 20:24:26UTC14-Dec-21 +26139 #-> exit +4 #mEXIT @1639519021.05UTC @1639573327.59UTC = =tMAIN =mMAIN_scheduler @UTC1639573329.47 #"core_reset"Sent BREAK + #t@10259 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +291 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +388 "Can" !r +  !r #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 21:57:01UTC14-Dec-21 +660 #-> Can @1639578146.48UTC = =mMAIN_scheduler =tMAIN @UTC1639578148.34 #"core_reset"Sent BREAK +2 #t@2749 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +283 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +401 "Can"vx ! + vx ! #tPolling Can every 10:00 +4 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #Cleanly exited at 13:02:16UTC15-Dec-21 +466 #-> Can +15921 #-> ESP.ready! +3 #Powering core bus +558 .Gate.power :raw,:ON +2 "sampler") +48 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %D\ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % R O\ + .tSS.configure :default +3 "sampler")#.0X exit +5 #mEXIT @1639578364.80UTC @1639582696.87UTC = =mMAIN_scheduler =tMAIN @UTC1639582698.67 #"core_reset"Sent BREAK + #t@42135 receive with ifg=0x10, ie=0xFD + #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD #@44697 receive with ifg=0x10, ie=0xFD + #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@9772 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +373 "Can"R\ C@ + R\ C@ + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #Cleanly exited at 14:26:04UTC15-Dec-21 +3287 #-> Can +46190 #-> Can +4232 #-> exit +4 #mEXIT @1639583242.52UTC @1639586609.77UTC = =tMAIN =mMAIN_scheduler @UTC1639586611.56 #"core_reset"Sent BREAK + #t@42135 receive with ifg=0x10, ie=0xFD + #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD + #@44697 receive with ifg=0x10, ie=0xFD #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@29351 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +279 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +375 "Can"|:\ B@( + |:\ B@( #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 15:47:22UTC15-Dec-21 +1177 #-> Can +2270 #-> exit +4 #mEXIT @1639586652.84UTC @1639591338.68UTC = =mMAIN_scheduler =tMAIN @UTC1639591340.47 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD + #@44697 receive with ifg=0x10, ie=0xFD #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@36695 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +279 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +373 "Can"l#\ CAd + l#\ CAd + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 16:44:12UTC15-Dec-21 +354 #-> Can +3058 #-> exit +3 #mEXIT @1639591381.37UTC @1639595783.71UTC = =mMAIN_scheduler =tMAIN @UTC1639595785.47 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD #@44697 receive with ifg=0x10, ie=0xFD + #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@165 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +275 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +357 "Can"^\ C@ + ^\ C@ + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #Cleanly exited at 18:03:01UTC15-Dec-21 +1427 #-> Can +5006 #-> exit +4 #mEXIT @1639595856.38UTC @1639600142.36UTC = =tMAIN =mMAIN_scheduler @UTC1639600144.18 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD #@44697 receive with ifg=0x10, ie=0xFD + #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@7073 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +286 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +384 "Can"F\ CA + F\ CA #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 19:17:36UTC15-Dec-21 +287 #-> Can +9989 #-> exit +5 #mEXIT @1639600253.93UTC @1639604191.69UTC = =tMAIN =mMAIN_scheduler @UTC1639604193.51 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD #@44697 receive with ifg=0x10, ie=0xFD + #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@14767 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +374 "Can"N\ C@ + N\ C@ #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 20:30:53UTC15-Dec-21 +321 #-> Can +5815 #-> exit +4 #mEXIT @1639604261.67UTC @1639616879.15UTC = =mMAIN_scheduler =tMAIN @UTC1639616881.06 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD + #@44697 receive with ifg=0x10, ie=0xFD #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@32483 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +293 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +391 "Can"W\ CA + W\ CA + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 21:37:41UTC15-Dec-21 +1629 #-> Can +16991 #-> exit +4 #mEXIT @1639617074.39UTC @1639660787.43UTC = =mMAIN_scheduler =tMAIN @UTC1639660789.27 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD #@44697 receive with ifg=0x10, ie=0xFD + #@45332 receive with ifg=0x10, ie=0xFD #@45966 receive with ifg=0x10, ie=0xFD + #@46297 receive with ifg=0x80, ie=0xFD + #@63481 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +279 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +369 "Can"e\ B@ + e\ B@ + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 01:11:14UTC16-Dec-21 +1167 #-> Can +14036 #-> exit +4 #mEXIT @1639660948.07UTC @1639665800.94UTC = =mMAIN_scheduler =tMAIN @UTC1639665802.72 #"core_reset"Sent BREAK + #t@42135 receive with ifg=0x10, ie=0xFD + #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD #@44697 receive with ifg=0x10, ie=0xFD + #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@42195 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +275 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can"d\ C@ + d\ C@ #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 13:22:28UTC16-Dec-21 +259 #-> Can +24202 #-> exit +4 #mEXIT @1639666054.00UTC @1639673876.26UTC = =tMAIN =mMAIN_scheduler @UTC1639673878.04 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD + #@44697 receive with ifg=0x10, ie=0xFD #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@7262 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +300 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +373 "Can"d\ A? + d\ A? + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 14:47:33UTC16-Dec-21 +296 #-> Can +9769 #-> exit +4 #mEXIT @1639673985.70UTC @1639682996.63UTC = =tMAIN =mMAIN_scheduler @UTC1639682998.39 #"core_reset"Sent BREAK + #t@42135 receive with ifg=0x10, ie=0xFD + #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD + #@44697 receive with ifg=0x10, ie=0xFD #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@42278 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +275 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can"Y\ C@ + Y\ C@ + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 16:59:45UTC16-Dec-21 +470 #-> Can +3307 #-> exit +4 #mEXIT @1639683042.85UTC @1639690084.84UTC = =tMAIN =mMAIN_scheduler @UTC1639690086.62 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD + #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD #@44063 receive with ifg=0x10, ie=0xFD +2 #@44697 receive with ifg=0x10, ie=0xFD #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@51881 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +275 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +383 "Can"X\ CA + X\ CA + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 19:30:42UTC16-Dec-21 +251 #-> Can +1305 #-> exit +4 #mEXIT @1639690109.06UTC @1639705263.21UTC = =tMAIN =mMAIN_scheduler @UTC1639705264.97 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD #@44697 receive with ifg=0x10, ie=0xFD + #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@42454 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +273 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can"^\ CA + ^\ CA + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 21:28:29UTC16-Dec-21 +531 #-> Can +4127 #-> exit +4 #mEXIT @1639705318.24UTC @1639747337.87UTC = =tMAIN =mMAIN_scheduler @UTC1639747339.65 #"core_reset"Sent BREAK + #t@42135 receive with ifg=0x10, ie=0xFD + #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD + #@44697 receive with ifg=0x10, ie=0xFD #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@24181 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can"c\ C@ + c\ C@ #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 01:41:58UTC17-Dec-21 +264 #-> Can +21367 #-> exit +4 #mEXIT @1639747562.68UTC @1639755098.97UTC = =tMAIN =mMAIN_scheduler @UTC1639755100.77 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD + #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD #@44063 receive with ifg=0x10, ie=0xFD + #@44697 receive with ifg=0x10, ie=0xFD #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD + #@46297 receive with ifg=0x80, ie=0xFD #@10222 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +285 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +377 "Can"a\ B@ + a\ B@ + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 13:26:02UTC17-Dec-21 +326 #-> Can +1917 #-> exit +4 #mEXIT @1639755130.11UTC @1639760618.70UTC = =mMAIN_scheduler =tMAIN @UTC1639760620.46 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD + #@42772 receive with ifg=0x10, ie=0xFD #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD + #@44697 receive with ifg=0x10, ie=0xFD #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD #@46297 receive with ifg=0x80, ie=0xFD + #@54674 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +274 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +361 "Can"C\ CA + C\ CA + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 15:32:10UTC17-Dec-21 +324 #-> Can +34540 #-> exit +4 #mEXIT @1639760975.74UTC @1639769719.51UTC = =tMAIN =mMAIN_scheduler @UTC1639769721.32 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD #@44697 receive with ifg=0x10, ie=0xFD + #@45332 receive with ifg=0x10, ie=0xFD #@45966 receive with ifg=0x10, ie=0xFD + #@46297 receive with ifg=0x80, ie=0xFD + #@41730 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +283 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +372 "Can"$9\ B@ + $9\ B@ + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 17:09:35UTC17-Dec-21 +1309 #-> Can +3534 #-> exit +4 #mEXIT @1639769776.60UTC @1639772460.23UTC = =mMAIN_scheduler =tMAIN @UTC1639772462.04 #"core_reset"Sent BREAK + #t@42135 receive with ifg=0x10, ie=0xFD + #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD + #@44063 receive with ifg=0x10, ie=0xFD #@44697 receive with ifg=0x10, ie=0xFD + #@45332 receive with ifg=0x10, ie=0xFD #@45966 receive with ifg=0x10, ie=0xFD + #@46297 receive with ifg=0x80, ie=0xFD + #@56299 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +283 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +386 "Can"?\ C@ + ?\ C@ + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 19:36:16UTC17-Dec-21 +616 #-> Can +13864 !o: EOFError:@timestampu: Time 4n^: mesg"end of file reached:bt[,"(eval):4:in `sysreadRaw'"(eval):4:in `sysread'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"(eval):4:in `sysread'"8/home/esp/esp2/lib/reprompt.rb:44:in `origReadline'"4/home/esp/esp2/lib/reprompt.rb:44:in `readline'"0/home/esp/esp2/lib/prompter.rb:20:in `call'"6/home/esp/esp2/lib/prompter.rb:20:in `callKbdPrc'"9/home/esp/esp2/lib/prompter.rb:38:in `claimKeyboard'"5/home/esp/esp2/lib/rmutex.rb:89:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:62:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'"9/home/esp/esp2/lib/prompter.rb:38:in `claimKeyboard'"4/home/esp/esp2/lib/reprompt.rb:41:in `readline'"=/opt/mbari/lib/ruby/1.8/irb/input-method.rb:97:in `gets'"7/opt/mbari/lib/ruby/1.8/irb.rb:148:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:147:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `call'"?/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `buf_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:101:in `getc'":/opt/mbari/lib/ruby/1.8/irb/slex.rb:206:in `match_io'"6/opt/mbari/lib/ruby/1.8/irb/slex.rb:76:in `match'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:284:in `token'"9/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:260:in `lex'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:231:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:188:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 ."Qmail"BadNews.email "end of file reached",Subject: "EOFError in MAIN" +2 !mo:Thread::ChildDied : mesg"\ :MAIN: @causeo: EOFError:@timestampu: Time 4n^;"end of file reached:bt[,"(eval):4:in `sysreadRaw'"(eval):4:in `sysread'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"(eval):4:in `sysread'"8/home/esp/esp2/lib/reprompt.rb:44:in `origReadline'"4/home/esp/esp2/lib/reprompt.rb:44:in `readline'"0/home/esp/esp2/lib/prompter.rb:20:in `call'"6/home/esp/esp2/lib/prompter.rb:20:in `callKbdPrc'"9/home/esp/esp2/lib/prompter.rb:38:in `claimKeyboard'"5/home/esp/esp2/lib/rmutex.rb:89:in `synchronize'"./home/esp/esp2/lib/rmutex.rb:62:in `lock'"./home/esp/esp2/lib/delay.rb:78:in `claim'"9/home/esp/esp2/lib/prompter.rb:38:in `claimKeyboard'"4/home/esp/esp2/lib/reprompt.rb:41:in `readline'"=/opt/mbari/lib/ruby/1.8/irb/input-method.rb:97:in `gets'"7/opt/mbari/lib/ruby/1.8/irb.rb:148:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:147:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `call'"?/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:186:in `buf_input'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:101:in `getc'":/opt/mbari/lib/ruby/1.8/irb/slex.rb:206:in `match_io'"6/opt/mbari/lib/ruby/1.8/irb/slex.rb:76:in `match'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:284:in `token'"9/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:260:in `lex'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:231:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:188:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@threadIdiT; [ "4/home/esp/esp2/lib/thread.rb:50:in `raiseInAll'"0/home/esp/esp2/lib/thread.rb:745:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3004 #tSending Email +3529 #Uploading Logs +10465 #"uploadLog"upsync +4 #mEXIT @1639772783.85UTC @1639773349.39UTC = =tMAIN =mMAIN_scheduler @UTC1639773351.17 #"core_reset"Sent BREAK +2 #t@42135 receive with ifg=0x10, ie=0xFD + #@42772 receive with ifg=0x10, ie=0xFD + #@43428 receive with ifg=0x10, ie=0xFD #@44063 receive with ifg=0x10, ie=0xFD + #@44697 receive with ifg=0x10, ie=0xFD #@45332 receive with ifg=0x10, ie=0xFD + #@45966 receive with ifg=0x10, ie=0xFD + #@46297 receive with ifg=0x80, ie=0xFD #@59149 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +276 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can"=\ C@ + =\ C@ #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 20:26:23UTC17-Dec-21 +677 #-> ESP.ready? +524 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %k\  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %ؿ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %چ L J \ ; +2 .tSS.configure :default +2 "sampler")#.0X +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold + "storage"(+ +4 "core" + + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast +2 "collection"'  +2 "core" + .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast +2 "processing"%  +2 "core" +2 .tPH.configure :default + "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +4 "core" %kA\  + "processing"%% +2 "sampler")% +4 "manipulator"&% +6 "core" %ؿ\ +2 %چ L L \ ; %  ; <  +2 "manipulator"&& +4 "core" & ; = \\  + "storage"(& +3 "core" &,v t\  +2 "storage"(% +3 "core" % l\ > +2 "collection"'& +4 "core" &C\ + "processing"%& +3 "core" &I\  +2 "collection"'  +3 "core"  + "collection"'! +3 "core"  +2 "collection"'" +3 "core"  + "processing"%# +3 "core"  +2 "processing"%$ +2 "core" V +2 "processing"%% +3 "core"  + "processing"%& +3 "core" A +2 "sampler")' +2 "core"  +2 "collection"'(% +4 "core" %k)\  + "processing"%)% +4 "core" %ؿ1\ +2 "sampler")*% +3 "core" %چ M J \ ; +2 "collection"'+& +4 "core" &$\ + "processing"%,& +4 "core" &\  + "manipulator"&-% +4 "core" %  < : T  + "manipulator"&.& +4 "core" & : ;  +2 "storage"(/& +3 "core" &,v d\  +2 "storage"(0% +4 "core" % q\ > + "collection"'19 +3 "core" 9t +2 "processing"%29 +3 "core" 9 +1587 #t-> Can +3924 #-> exit +5 #mEXIT @1639773430.23UTC @1639781572.89UTC = =tMAIN =mMAIN_scheduler @UTC1639781574.68 #"core_reset"Sent BREAK +2 #t@35172 receive with ifg=0x10, ie=0xFD #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD #@37731 receive with ifg=0x10, ie=0xFD + #@38364 receive with ifg=0x10, ie=0xFD + #@38998 receive with ifg=0x10, ie=0xFD #@39329 receive with ifg=0x80, ie=0xFD + #@24426 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +280 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +366 "Can"?\ KI2 + ?\ KI2 + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 20:37:10UTC17-Dec-21 +919 #-> Can +2654 #-> exit +4 #mEXIT @1639781617.17UTC @1639857109.92UTC = =tMAIN =mMAIN_scheduler @UTC1639857111.72 #"core_reset"Sent BREAK + #t@35172 receive with ifg=0x10, ie=0xFD + #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD #@37731 receive with ifg=0x10, ie=0xFD + #@38364 receive with ifg=0x10, ie=0xFD #@38998 receive with ifg=0x10, ie=0xFD + #@39329 receive with ifg=0x80, ie=0xFD + #@21506 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +371 "Can"-4\ IFB + -4\ IFB #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 22:53:37UTC17-Dec-21 +950 #-> Can +13069 #-> exit +3 #mEXIT @1639857258.66UTC @1639925649.14UTC = =mMAIN_scheduler =tMAIN @UTC1639925650.92 #"core_reset"Sent BREAK + #t@35172 receive with ifg=0x10, ie=0xFD + #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD #@37731 receive with ifg=0x10, ie=0xFD + #@38364 receive with ifg=0x10, ie=0xFD + #@38998 receive with ifg=0x10, ie=0xFD #@39329 receive with ifg=0x80, ie=0xFD + #@31582 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +276 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +371 "Can"-9\ KG6 + -9\ KG6 #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 19:54:18UTC18-Dec-21 +1471 #-> Can +5727 #-> exit +4 #mEXIT @1639925729.66UTC @1639938472.64UTC = =mMAIN_scheduler =tMAIN @UTC1639938474.41 #"core_reset"Sent BREAK + #t@35172 receive with ifg=0x10, ie=0xFD + #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD + #@37731 receive with ifg=0x10, ie=0xFD #@38364 receive with ifg=0x10, ie=0xFD + #@38998 receive with ifg=0x10, ie=0xFD #@39329 receive with ifg=0x80, ie=0xFD + #@27427 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +276 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +363 "Can"/:\ KI8 + /:\ KI8 + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 14:55:29UTC19-Dec-21 +374 #-> Can +1660 #-> exit +3 #mEXIT @1639938501.44UTC @1640005696.41UTC = =mMAIN_scheduler =tMAIN @UTC1640005698.17 #"core_reset"Sent BREAK +2 #t@35172 receive with ifg=0x10, ie=0xFD #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD #@37731 receive with ifg=0x10, ie=0xFD + #@38364 receive with ifg=0x10, ie=0xFD + #@38998 receive with ifg=0x10, ie=0xFD #@39329 receive with ifg=0x80, ie=0xFD +5 #@57815 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +279 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +363 "Can")@\ KI- + )@\ KI- + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 18:28:21UTC19-Dec-21 +1385 #-> Can +13799 #-> exit +4 #mEXIT @1640005856.78UTC @1640034193.75UTC = =tMAIN =mMAIN_scheduler @UTC1640034195.53 #"core_reset"Sent BREAK + #t@35172 receive with ifg=0x10, ie=0xFD + #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD #@37731 receive with ifg=0x10, ie=0xFD + #@38364 receive with ifg=0x10, ie=0xFD #@38998 receive with ifg=0x10, ie=0xFD + #@39329 receive with ifg=0x80, ie=0xFD + #@50928 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +372 "Can"W\ KI + W\ KI + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 13:10:56UTC20-Dec-21 +326 #-> Can +30035 #-> exit +4 #mEXIT @1640034505.92UTC @1640055906.69UTC = =tMAIN =mMAIN_scheduler @UTC1640055908.48 #"core_reset"Sent BREAK + #t@35172 receive with ifg=0x10, ie=0xFD + #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD #@37731 receive with ifg=0x10, ie=0xFD + #@38364 receive with ifg=0x10, ie=0xFD #@38998 receive with ifg=0x10, ie=0xFD + #@39329 receive with ifg=0x80, ie=0xFD + #@41294 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +280 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +375 "Can"g\ KH + g\ KH #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 #Cleanly exited at 21:08:25UTC20-Dec-21 +308 #-> Can +6251 #-> exit +4 #mEXIT @1640055980.91UTC @1640092326.60UTC = =tMAIN =mMAIN_scheduler @UTC1640092328.41 #"core_reset"Sent BREAK + #t@35172 receive with ifg=0x10, ie=0xFD + #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD #@37731 receive with ifg=0x10, ie=0xFD + #@38364 receive with ifg=0x10, ie=0xFD #@38998 receive with ifg=0x10, ie=0xFD + #@39329 receive with ifg=0x80, ie=0xFD + #@38416 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can"_\ KH + _\ KH + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 #Cleanly exited at 03:06:20UTC21-Dec-21 +311 #-> Can +20572 #-> exit +4 #mEXIT @1640092543.96UTC @1640113254.40UTC = =mMAIN_scheduler =tMAIN @UTC1640113256.22 #"core_reset"Sent BREAK +2 #t@35172 receive with ifg=0x10, ie=0xFD + #@35806 receive with ifg=0x10, ie=0xFD #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD + #@37731 receive with ifg=0x10, ie=0xFD #@38364 receive with ifg=0x10, ie=0xFD + #@38998 receive with ifg=0x10, ie=0xFD #@39329 receive with ifg=0x80, ie=0xFD + #@58894 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +284 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +376 "Can"^\ KH ^\ KH + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 #Cleanly exited at 13:15:43UTC21-Dec-21 +1010 #-> Can +7296 #-> exit +4 #mEXIT @1640113346.17UTC @1640181540.09UTC = =tMAIN =mMAIN_scheduler @UTC1640181541.89 #"core_reset"Sent BREAK +2 #t@35172 receive with ifg=0x10, ie=0xFD + #@35806 receive with ifg=0x10, ie=0xFD #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD + #@37731 receive with ifg=0x10, ie=0xFD #@38364 receive with ifg=0x10, ie=0xFD + #@38998 receive with ifg=0x10, ie=0xFD #@39329 receive with ifg=0x80, ie=0xFD + #@30204 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +7 #ESP2 v3.41 I2C Gateway v3.20 for core bus +280 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +376 "Can"^\ KI + ^\ KI + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #Cleanly exited at 19:02:26UTC21-Dec-21 +1779 #-> Can +1367 #-> Can +4353 #-> exit +4 #mEXIT @1640181623.73UTC @1640203597.38UTC = =tMAIN =mMAIN_scheduler @UTC1640203599.17 #"core_reset"Sent BREAK + #t@35172 receive with ifg=0x10, ie=0xFD + #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD #@37731 receive with ifg=0x10, ie=0xFD + #@38364 receive with ifg=0x10, ie=0xFD + #@38998 receive with ifg=0x10, ie=0xFD #@39329 receive with ifg=0x80, ie=0xFD + #@21633 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +278 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can"U\ JH + U\ JH #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 #Cleanly exited at 14:00:23UTC22-Dec-21 +606 #-> Can +6274 #-> exit +4 #mEXIT @1640203674.72UTC @1640265940.12UTC = =mMAIN_scheduler =tMAIN @UTC1640265941.89 #"core_reset"Sent BREAK +2 #t@35172 receive with ifg=0x10, ie=0xFD #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD + #@37731 receive with ifg=0x10, ie=0xFD #@38364 receive with ifg=0x10, ie=0xFD + #@38998 receive with ifg=0x10, ie=0xFD #@39329 receive with ifg=0x80, ie=0xFD + #@55955 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +274 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +356 "Can"T\ KI + T\ KI #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:733:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 #Cleanly exited at 20:07:54UTC22-Dec-21 +377 #-> Can +9741 #-> exit +4 #mEXIT @1640266049.68UTC @1640294771.05UTC = =tMAIN =mMAIN_scheduler @UTC1640294772.86 #"core_reset"Sent BREAK +2 #t@35172 receive with ifg=0x10, ie=0xFD #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD #@37731 receive with ifg=0x10, ie=0xFD + #@38364 receive with ifg=0x10, ie=0xFD + #@38998 receive with ifg=0x10, ie=0xFD #@39329 receive with ifg=0x80, ie=0xFD + #@13764 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +281 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +360 "Can"g\ KH + g\ KH + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"7Invalid entry in line 12 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 #Cleanly exited at 13:27:29UTC23-Dec-21 +2071 #-> list Tag/:reserve +660 #-> exit +4 #mEXIT @1640294806.90UTC @1640294871.30UTC = =mMAIN_scheduler =tMAIN @UTC1640294873.09 #"core_reset"Sent BREAK + #t@35172 receive with ifg=0x10, ie=0xFD + #@35806 receive with ifg=0x10, ie=0xFD + #@36461 receive with ifg=0x10, ie=0xFD + #@37097 receive with ifg=0x10, ie=0xFD #@37731 receive with ifg=0x10, ie=0xFD + #@38364 receive with ifg=0x10, ie=0xFD #@38998 receive with ifg=0x10, ie=0xFD + #@39329 receive with ifg=0x80, ie=0xFD + #@4079 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +279 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +370 "Can"g\ KH + g\ KH + #tPolling Can every 10:00 +6 #Cleanly exited at 21:26:46UTC23-Dec-21 +437 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %k\  +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؿ\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %چ V Q \ ; +2 .tSS.configure :default +2 "sampler")#.0X + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tSE.hold + "storage"(+ +3 "core" + + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +2 "core" +2 .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast +2 "processing"%  +3 "core" + .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +3 "core" %k\  +3 "processing"%% +4 "sampler")% + "manipulator"&% +7 "core" %ؿ\ + %چ U R \ ; + %  0 /  +2 "manipulator"&& +3 "core" & . *  + "storage"(& +4 "core" &,v {\  + "storage"(% +3 "core" % k\ > +2 "collection"'& +3 "core" &\ + "processing"%& +4 "core" &\  +2 "collection"'  +3 "core"  +2 "collection"'! +2 "core"  +2 "collection"'" +3 "core"  + "processing"%# +3 "core"  +2 "processing"%$ +3 "core" V + "processing"%% +3 "core"  +2 "processing"%& +3 "core" A +2 "sampler")' +2 "core"  +2 "collection"'(% +4 "core" %k\  + "processing"%)% +4 "core" %ؿ\ +2 "sampler")*% +3 "core" %چ T Q \ ; +2 "collection"'+& +4 "core" &\ + "processing"%,& +4 "core" &\  +2 "manipulator"&-% +3 "core" %  / .  +2 "manipulator"&.& +3 "core" & . +  +2 "storage"(/& +4 "core" &,v O\  + "storage"(0% +4 "core" % y\ > + "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +1619 #t-> Puck.count + "storage"(3% +4 "core" % 7\ > +2 .tSE.seek :down + "storage"(4' +4 "core" ' + .tSE.stop + "storage"(5 +3 .tHand.open + "manipulator"&51 +64 "core" 1 + "manipulator"&6% +4 "core" %  2 !  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(7(C +990 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &B v\ +2 "manipulator"&9& +4 "core" & - .  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&:( +60 "core" ( + "manipulator"&;& +4 "core" &  # 7 +2 "storage"(<& +4 "core" &B >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&=' +92 "core" ' + "storage"(>& +5 "core" &B a\ + .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'r +278 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A% +3 "core" % \ +3 ."downElevator"SE.seek :down +3 "storage"(B' +100 (C% +2 "core" %5 \ TZ +2 "manipulator"&D% +4 "core" % / / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E' +93 "core" ' +5 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(F(  +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +3 "core" & -\ + "manipulator"&H& +4 "core" & / - 7 +2 .tElbow.seek 2 + "manipulator"&I( +4 "core" ( +2 "manipulator"&J& +3 "core" & ' # , 7 +2 "storage"(K& +4 "core" & 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&L'S +97 "core" ' +2 "storage"(M& +4 "core" & A\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'r +166 "core" ' +2 "storage"(O- +3 "core" -'d +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P% +2 "core" % l M\  +3 ."downElevator"SE.seek :down +3 "storage"(Q' +96 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 (R% +2 "core" % k\  +2 "manipulator"&S% +4 "core" %G / . @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T' +91 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(U( +350 "core" ( + .tSC.configure :limp +37 "storage"($\ 1b +9 (V& +2 "core" & j\ +2 "manipulator"&W& +4 "core" & / 0 7 +2 .tElbow.seek 3 + "manipulator"&X( +24 "core" ( + "manipulator"&Y& +5 "core" &w 3   + "storage"(Z& +4 "core" & ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&['7 +92 "core" ' +2 "storage"(\\& +4 "core" & \  Y\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'r +109 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (_% +3 "core" %  [\ +2 ."downElevator"SE.seek :down +3 "storage"(`' +37 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +60 (a% +2 "core" %\  \  +2 "manipulator"&b% +3 "core" %C  q j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&c' +91 "core" ' + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(d(,y +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +3 "core" &,v \ + "manipulator"&f& +4 "core" &w / .  + .tElbow.seek 4 +2 "manipulator"&g( +24 "core" ( +2 "manipulator"&h& +4 "core" & 1  Q I + "storage"(i& +4 "core" &,v /\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&j' +107 "core" ' + "storage"(k& +5 "core" &,v 8\ + .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'r +102 "core" ' +2 "storage"(m- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (n% +3 "core" % K\ +2 ."downElevator"SE.seek :down +3 "storage"(o' +39 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +58 (p% +2 "core" % g\  +2 "manipulator"&q% +4 "core" % 0 . r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r' +91 "core" ' +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(s(<- +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (t& +2 "core" &<- T\  +2 "manipulator"&u& +4 "core" & . - I + .tElbow.seek 5 +2 "manipulator"&v( +23 "core" ( + "manipulator"&w& +4 "core" &  #  +2 "storage"(x& +4 "core" &<- \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&y'O +93 "core" ' +3 "storage"(z& +4 "core" &<- \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'r +107 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (}% +3 "core" % <\ +2 ."downElevator"SE.seek :down +4 "storage"(~' +36 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +59 (% +3 "core" % >\  + "manipulator"&% +4 "core" %4    _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +92 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &K r\  +2 "manipulator"&& +4 "core" &  L  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" & , # G  + "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& ' +104 "core" ' +2 "storage"(& +4 "core" &K\  l\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +109 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +2 "core" % U\ +3 ."downElevator"SE.seek :down +4 "storage"(' +37 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +59 (% +3 "core" %\ \  \  +2 "manipulator"&% +3 "core" %  V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +97 "core" ' +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(([ +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ \ \ +2 "manipulator"&& +3 "core" &   W  +2 .tElbow.seek 7 +2 "manipulator"&(r +15 "core" ( + "manipulator"&& +4 "core" &g #  J  +2 "storage"(& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& '= +92 "core" ' + "storage"(!& +5 "core" &[ j\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'r +128 "core" ' + "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($% +2 "core" %  | \ ~ +3 ."downElevator"SE.seek :down +4 "storage"(%' +56 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +40 (&% +3 "core" % |\  +2 "manipulator"&'% +3 "core" %<  +  D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&(' +92 "core" ' +1265 #t-> 33*6 +12369 #-> ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF + #Shutdown +161 #t-> exit +5 #mEXIT @1640295114.94UTC @1640351029.04UTC = =mMAIN_scheduler =tMAIN @UTC1640351030.82 #"core_reset"Sent BREAK + #t@21092 sendCRC with ifg=0x20, ie=0x7F + #@22927 sendCRC with ifg=0x08, ie=0x5F + #@62264 idle with ifg=0x84, ie=0x75 + #@62933 select with ifg=0x10, ie=0xF5 + #@63566 receive with ifg=0x10, ie=0xFD #@64198 receive with ifg=0x10, ie=0xFD + #@64831 receive with ifg=0x10, ie=0xFD #@65158 receive with ifg=0x80, ie=0xFD + #@10284 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +277 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can"_\ ! + _\ ! + #tPolling Can every 10:00 +5 #Cleanly exited at 21:31:54UTC23-Dec-21 +362 #-> Can +2138 #-> ESP.ready? +667 #-> ESP.ready! +3 #Powering core bus +562 .Gate.power :raw,:ON + "sampler") +35 ) +2 "core"  + "collection"' +3 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % i h\ + .tSS.configure :default +3 "sampler")#.0X ^ G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&&' +3 "core" ' + "manipulator"&'% +4 "core" %  < ? s  + "processing"%(& +2 "collection"')& +7 "core" &\ + &\ +3 .tCC.reconfigure :default + ."openPC"PC.reconfigure :default +5 "collection"'$x2 ^22b + "processing"%$x2 ^22b +4 .tCC.home.seek :open +2 ."openPC"PC.home.seek :open +2 "collection"'*( "processing"%+( +283 "core" ( +20 ( +2 "collection"', +4 "core"  + "processing"%- +3 "core" V +2 "processing"%. +3 "core"  + "processing"%/ +3 "core" A +2 "collection"'0% +3 "core" %l\  +2 "processing"%1% +4 "core" %ؼ\ +2 "sampler")2% +4 "core" %~ j h \  +2 "collection"'3& +3 "core" &\  +2 "processing"%4& +4 "core" &|\  + "manipulator"&5% +4 "core" %  8 5 9  + "manipulator"&6& +4 "core" & 6 / B G +2 "storage"(7& +3 "core" &,z / -\  +2 "storage"(8% +4 "core" % . /\ ! + "collection"'99 +3 "core" 9 +2 "processing"%:9 +3 "core" 9 +681 #t-> exit +5 #mEXIT @1640351124.58UTC @1640475524.66UTC = =tMAIN =mMAIN_scheduler @UTC1640475526.47 #"core_reset"Sent BREAK + #t@38672 receive with ifg=0x10, ie=0xFD + #@39307 receive with ifg=0x10, ie=0xFD + #@39961 receive with ifg=0x10, ie=0xFD + #@40594 receive with ifg=0x10, ie=0xFD #@41227 receive with ifg=0x10, ie=0xFD + #@41860 receive with ifg=0x10, ie=0xFD + #@42492 receive with ifg=0x10, ie=0xFD #@42823 receive with ifg=0x80, ie=0xFD + #@42880 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +281 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +365 "Can"]\ =: + ]\ =: + #tPolling Can every 10:00 +6 #Cleanly exited at 13:05:24UTC24-Dec-21 +416 #-> Can +5913 #-> exit +4 #mEXIT @1640475596.52UTC @1640560805.35UTC = =tMAIN =mMAIN_scheduler @UTC1640560807.19 #"core_reset"Sent BREAK + #t@38672 receive with ifg=0x10, ie=0xFD + #@39307 receive with ifg=0x10, ie=0xFD + #@39961 receive with ifg=0x10, ie=0xFD + #@40594 receive with ifg=0x10, ie=0xFD #@41227 receive with ifg=0x10, ie=0xFD + #@41860 receive with ifg=0x10, ie=0xFD + #@42492 receive with ifg=0x10, ie=0xFD #@42823 receive with ifg=0x80, ie=0xFD + #@56617 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +282 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +368 "Can"U\ =: + U\ =: #tPolling Can every 10:00 +6 #Cleanly exited at 23:39:56UTC25-Dec-21 +391 #-> Can +3158 #-> exit +4 #mEXIT @1640560849.46UTC @1640611764.88UTC = =mMAIN_scheduler =tMAIN @UTC1640611766.69 #"core_reset"Sent BREAK +2 #t@38672 receive with ifg=0x10, ie=0xFD #@39307 receive with ifg=0x10, ie=0xFD + #@39961 receive with ifg=0x10, ie=0xFD + #@40594 receive with ifg=0x10, ie=0xFD #@41227 receive with ifg=0x10, ie=0xFD + #@41860 receive with ifg=0x10, ie=0xFD + #@42492 receive with ifg=0x10, ie=0xFD #@42823 receive with ifg=0x80, ie=0xFD + #@43596 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +296 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +373 "Can"_\ =: + _\ =: + #tPolling Can every 10:00 +6 #Cleanly exited at 23:20:49UTC26-Dec-21 +980 #-> Can +22777 !o:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:339 +4 #mEXIT @1640612011.25UTC @1640612147.14UTC = =mMAIN_scheduler =tMAIN @UTC1640612148.95 #"core_reset"Sent BREAK + #t@38672 receive with ifg=0x10, ie=0xFD + #@39307 receive with ifg=0x10, ie=0xFD + #@39961 receive with ifg=0x10, ie=0xFD + #@40594 receive with ifg=0x10, ie=0xFD #@41227 receive with ifg=0x10, ie=0xFD + #@41860 receive with ifg=0x10, ie=0xFD + #@42492 receive with ifg=0x10, ie=0xFD #@42823 receive with ifg=0x80, ie=0xFD + #@21191 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +284 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +377 "Can"[\ =; + [\ =; #tPolling Can every 10:00 +7 #Cleanly exited at 13:33:31UTC27-Dec-21 +542 #-> ESP.ready? +447 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %lk\  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %ؼn\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %چ h e \ q + .tSS.configure :default +3 "sampler")#.0X purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'3& +3 "core" &b\  +2 .tHand.open + "manipulator"&41 +64 "core" 1 + "manipulator"&5& +4 "core" & 0  S G +2 "manipulator"&6% +3 "core" %  4 ,  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&7(- +183 "core" ( +2 "manipulator"&8& +4 "core" &-  2 P  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &-   -  +2 .tForearm.seek :garage + "manipulator"&:'w +88 "core" ' +2 .tHand.close + "manipulator"&;/ +52 "core" / +2 "manipulator"&<& +4 "core" &- /  .  + "manipulator"&=% +4 "core" % χ 0 *  K +2 .tForearm.seek :retract + "manipulator"&>' +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&?(ӂ +288 "core" ( + "manipulator"&@& +4 "core" &ӛ& # < c ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &ӛ& 6 * ?S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'? +92 "core" ' +2 "manipulator"&C& +4 "core" &ӛ& 0   ?S + "manipulator"&D% +4 "core" %5 + .  w +2 "collection"'E& +3 "core" &g\  +2 "collection"'F& +5 "core" &i\  +2 .tCC.seek :closed +2 "collection"'G(\\ +4 "core" &h\ \  +9 &7y]\ +| +9 &e`\ @ +9 &av`\ P +10 &'Za\ N +9 &]_\ O +9 &]\\\ O +10 &l\\b\ N +9 &.Z[\ N +10 &\\]\ N +9 &_[\ O +9 & s_Q\ O +10 &"6\\Z\ N +9 &#^P\ N +9 &%[Y\ N +10 &'|[W\ N +9 &)>]O\ N +10 &+[X\ N +9 &,WP\ N +9 &.\\R\ N +10 &0GXS\ N +9 &2\\R\ N +9 &3ZO\ N +10 &5ZQ\ N +9 &7N]Q\ N +10 &9XQ\ N +9 &:ZO\ N +9 &<^_\ N +10 &>V\\X\ N +9 &@^`\ N +9 &A_d\ O +10 &CeY\ O +9 &EU}`\ Q +10 &G `\ U +9 &HR\ Y +9 &J]\ Y +10 &LBU\ [ +9 &Ne\ Z +9 &Oa\ [ +10 &Qe\ [\ +9 &SG`\ \\ +10 &UV\ ] +9 &VP\ ] +9 &XU\ ^ +10 &ZET\ _ +9 &[xV\ H +9 &\\Y\ , +10 &].]\ X +9 ( + &]!sW\ P +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.21 + "collection"'H& +4 "core" &]!sb\ P +2 .tHand.open + "manipulator"&I1 +59 "core" 1 +2 "manipulator"&J% +4 "core" % 5 A & w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&K' +90 "core" ' +3 #tPurging external Intake + "collection"'L& +4 "core" &]!sb\ P + "collection"'M% +4 "core" %l^\  + .tCSV.dial :flush +2 "collection"'N  +43 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 10ml + "collection"'O' +2475 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +39 .tCBV.dial CSV +9 "collection"'P + 'Q  +5 "core"  +65 ~ +2 .tCTV.dial :intake + "collection"'R  +79 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'S'i +2382 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'T  +76 "core" +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&U& +4 "core" &ӛ& 7 ; ?S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&V(ӂ +29 "core" ( +2 "manipulator"&W& +4 "core" &v > " B # + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &v - -  # +2 .tForearm.seek CC +2 "manipulator"&Y'? +98 "core" ' + .tHand.close +2 "manipulator"&Z/ +53 "core" / +2 .tCC.seek :open +2 "collection"'[( +450 "core" ( +2 "manipulator"&\\& +4 "core" &v , - # + "manipulator"&]% +4 "core" % L 0 2 +2 .tForearm.seek :retract + "manipulator"&^' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&_(- +286 "core" ( +2 "manipulator"&`& +4 "core" &- 3  S  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" &- - ,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&b'w +92 "core" ' +3 .tHand.open + "manipulator"&c1 +54 "core" 1 +2 "manipulator"&d% +4 "core" % z , . ] + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&e' +92 "core" ' +12546 #t-> exit +6 #mEXIT @1640612392.28UTC @1640612538.28UTC = =tMAIN =mMAIN_scheduler @UTC1640612540.09 #"core_reset"Sent BREAK + #t@47427 sendCRC with ifg=0x20, ie=0x7F + #@49262 sendCRC with ifg=0x08, ie=0x5F + #@56437 idle with ifg=0x84, ie=0x75 + #@57106 select with ifg=0x10, ie=0xF5 #@57739 receive with ifg=0x10, ie=0xFD + #@58372 receive with ifg=0x10, ie=0xFD #@59005 receive with ifg=0x10, ie=0xFD + #@59332 receive with ifg=0x80, ie=0xFD + #@30083 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +262 #\ Configuration for short puck jake 1/11/21 by brent@mbari.org\ /home/esp/esp2/type/shallow/jake/configure.rb\ +386 "Can"X\ FD + X\ FD #tPolling Can every 10:00 +6 #Cleanly exited at 13:39:52UTC27-Dec-21 +4 #Loading /home/esp/esp2/mission/DA_WCR_122621.rb mission +5 ."Qmail"GoodNews.email "Starting DA_WCR_122621 w/pucks in tube 2\\n{1 => 8,\\n 2 => 25,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@13:42:26, 18% flow, 15.8C, 35% humidity, 14.6psia, 13.632V, 0.345A, 0.333A avg, 4.70W",Subject: "DA_WCR_122621 begun" +4 #tPreparing to sleep until + 00:00:05 +3 #Asleep til + 00:00:05 + #Continuing at 13:42 +2 "Can"X\ FD +27 ."shutdown"Gate.power :core,:OFF + .Gate.power :raw,:OFF + #Shutdown +455 "Can" Y\  +3 #tPowering core bus +37 ."Qmail"GoodNews.email "Then, in tube 2: initialPurge; da [100, 100] #da and wsr are run simultanelously\\n/home/esp/esp2/mission/DA_WCR_122621.rb:14\\n{1 => 8,\\n 2 => 25,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@13:42:27, 18% flow, 15.8C, 35% humidity, 14.6psia, 13.632V, 0.345A, 0.333A avg, 4.70W",Subject: "Asleep until 13:42" +525 .tGate.power :raw,:ON +3 "sampler") +48 ) +4 "core"  +6 "collection"' +4 ' +6 "core"  +4 "processing"% +3 % +6 "core"  +8 "collection"' 9\ +4 ' 0\ +4 ' -\ +10 "processing"% 9\ +4 % 2\ +10 % *\ +2 % 0\ +8 "sampler")&\ +4 "collection"'% +6 "core" %=\ +4 .tCS.configure :default +4 "collection"'#P d@b +4 "processing"%% +8 "core" %Y\ +4 .tPS.configure :default +6 "processing"%#A d`xb +6 "sampler")% +6 "core" % h f l\ +2 .tSS.configure :default +4 "sampler")#.0X 8,\\n 2 => 25,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@13:43:13, 18% flow, 15.8C, 35% humidity, 14.6psia, 13.637V, 0.345A, 0.327A avg, 4.70W",Subject: "Started DA_WCR_122621 phase initialPurge; da [100, 100] #da and wsr are run simultanelously" +4 #tStarting initialPurge +6 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'+& +7 "core" &G\  +5 .tHand.open +3 "manipulator"&,1 +58 "core" 1 +4 "manipulator"&-& +8 "core" & 9 7 3 +2 "manipulator"&.% +8 "core" %  8 5 <  +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek FlushPuck::Garage +2 "manipulator"&/(- +181 "core" ( +6 "manipulator"&0& +8 "core" &- , / 5 +4 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &1& +6 "core" &- + 1  +4 .tForearm.reconfigure :loose +8 "manipulator"&#Q@2^d^b +4 .tForearm.seek :garage +3 "manipulator"&2'w +90 "core" ' +9 .tHand.close +2 "manipulator"&3/ +54 "core" / +4 "manipulator"&4& +10 "core" &- ( . +4 "manipulator"&5% +6 "core" % ϋ + 5 M +4 .tForearm.seek :retract +2 "manipulator"&6' +93 "core" ' +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek CC +3 "manipulator"&7(ӂ +288 "core" ( +4 "manipulator"&8& +7 "core" &ӗ& : 7 ?V +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +8 &9& +6 "core" &ӗ& + /  ?V +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&:'? +91 "core" ' +4 "manipulator"&;& +12 "core" &ӗ& 8 9 < ?V +2 "manipulator"&<% +8 "core" %B 5 3 B g +4 "collection"'=& +8 "core" &E\  +4 "collection"'>& +8 "core" &<\  +8 &;\  +6 .tCC.seek :closed +2 "collection"'?(\\ +8 "core" &>\  +2 &@\ \  +6 &5|9\ +} +14 &fC\ @ +6 &ht>\ N +8 &,Y:\ N +10 &^C\ N +11 &[<\ N +7 &q\\D\ N +11 &4Z=\ N +12 &]7\ M +5 &];\ N +11 & {]<\ M +8 &"<[;\ N +11 &#_D\ N +9 &%Y<\ N +8 &'Z;\ M +14 &)E[<\ M +5 &+\\:\ M +9 &,\\2\ N +11 &.]=\ N +9 &0K[<\ N +9 &2\\;\ M +10 &3^<\ N +12 &5[=\ M +7 &7TZ6\ N +9 &9X5\ M +8 &:Z1\ M +12 &<]/\ N +7 &>\\\\2\ N +10 &@W8\ M +14 &A])\ N +6 &Cd%\ O +9 &EZ{8\ Q +9 &G3\ U +10 &H(\ X +9 &J0\ Y +8 &LG0\ Z +14 &N$\ [\ +5 &O'\ [\ +9 &Q.\ \\ +11 &SJ5\ \\ +10 &U\ -\ ] +7 &V1\ ] +11 &X%\ ^ +12 &ZI)\ _ +7 &[z0\ D +9 &\\'1\ *} +8 &\\.\ "d +4 ( +9 "collection"'>& +6 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 +2 "collection"'@& +7 "core" &\\'\ "d +3 &\\1\ "d +2 .tHand.open +2 "manipulator"&A1 +63 "core" 1 +4 "manipulator"&B% +8 "core" % B 9 ; g +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +6 "manipulator"&C' +91 "core" ' +4 #tFlushing the Collection Valve::Manifold +2 "collection"'D& +8 "core" &\\/\ "d +2 "collection"'E% +8 "core" %m6\ +2 .tCSV.dial CSR +4 "collection"'F  +126 "core"  +4 "collection"'G% +8 "core" %m-\ +2 #tPulling 5ml of CSR.flush +2 .CSR.select :flush +8 "collection"' +12 .tCS.reconfigure :default +4 "collection"'#P d@b +4 .tCS.seek 5ml +3 "collection"'H's5 +774 #"uploadLog"upsync +582 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +8 'I% +3 "core" %s7\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml + "collection"'J' +676 "core" ' +2 .tCSV.dial :waste + "collection"'K +126 "core" + .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'L'i +2014 "core" ' +2 #tPurging external Intake + "collection"'M& +4 "core" &\\\ "d + "collection"'N% +4 "core" %h!\  + .tCSV.dial :flush + "collection"'O  +43 "core"  +2 .tCS.reconfigure :fast + "collection"'#d @b +3 .tCS.seek 10ml + "collection"'P' +2464 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'Q + 'R  +5 "core"  +67  + .tCTV.dial :intake +2 "collection"'S  +76 "core"  +2 .tIntake.select :open + "sampler") +9 .tCS.seek 0ml + "collection"'T'i +2389 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air + "collection"'U  +79 "core" ~ + #tFlushing upper manifold + "collection"'V& +4 "core" &\\\ "d +2 "collection"'W% +3 "core" %i\ + .tCSV.dial :flush +2 "collection"'X  +70 "core"  +2 .tCS.seek 5ml + "collection"'Y's5 +1288 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air + "collection"'Z @ +43 "core" B + "collection"'[% +4 "core" %s8\ +2 .tCS.seek 7ml + "collection"'\\'# +566 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV + "collection"'] +102 "core" ~ +2 .tCTV.dial :air +2 .CS.seek 0ml + "collection"'^'i +1687 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'_'3J +797 "core" ' +2 .tCSV.dial :waste + "collection"'` +43 "core" +2 .tCS.seek 0ml + "collection"'a'i +776 "core" ' +2 "collection"'b& +4 "core" &\\\ "d + "collection"'c% +3 "core" %m\ +2 .tCSV.dial :flush + "collection"'d  +41 "core"  +2 .tCS.seek 3ml + "collection"'e'3J +800 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'f @ +42 "core" B + "collection"'g% +4 "core" %3J\  +2 .tCS.seek 5ml + "collection"'h's5 +560 "core" ' +2 .tCSV.dial :air + .CS.seek 0ml +2 "collection"'i'i +1220 "core" ' +2 .tdelay 7 seconds +702 .CS.seek 3ml +2 "collection"'j'3J +794 "core" ' +2 .tCSV.dial :waste + "collection"'k +71 "core" +2 .tCS.seek 0ml + "collection"'l'i +770 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&m& +3 "core" &Ә& 9 9 ?U +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +30 "core" ( +2 "manipulator"&o& +4 "core" &~ & > & _ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &~ / / _ +2 .tForearm.seek CC + "manipulator"&q'? +91 "core" ' + .tHand.close + "manipulator"&r/ +54 "core" / +2 .tCC.seek :open + "collection"'s( +448 "core" ( +2 "manipulator"&t& +4 "core" &~ , + # _ + "manipulator"&u% +4 "core" % Q + * D * +2 .tForearm.seek :retract + "manipulator"&v' +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&w(- +282 "core" ( + "manipulator"&x& +4 "core" &-  2 Y  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &- 9  (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&z'w +91 "core" ' +2 .tHand.open + "manipulator"&{1 +64 "core" 1 +2 "manipulator"&|% +4 "core" % q = $ : +36 .tForearm.reconfigure :loose +9 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&}' +90 "core" ' +2 #tda sampling at most 100ml, wcr at most 100ml +3 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 13:47:33UTC27-Dec-21\\n{1 => 8,\\n 2 => 25,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@13:43:13, 18% flow, 15.8C, 35% humidity, 14.6psia, 13.637V, 0.345A, 0.327A avg, 4.70W",Subject: "da sampling at most 100ml, wcr at most 100ml" + "collection"'~& +6 "core" &\ + "manipulator"&% +4 "core" %  9 9 |  +2 "storage"(% +3 "core" %# \ D +2 "storage"(. +3 "core" .(,y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" & b\ +3 "manipulator"&& +4 "core" &- + /  + "manipulator"&% +4 "core" %  9 7 D  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +177 "core" ( +2 "manipulator"&& +8 "core" & : 8  J +4 "storage"( & +8 "core" & \ +9 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 450 counts +4 "manipulator"&\ 'S +93 "core" ' +4 "storage"( & +8 "core" & \ +4 .tSE.reconfigure :pick +4 "storage"(#],K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"( 'r +145 "core" ' +4 "storage"( - +6 "core" -'% +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +4 (& +8 "core" & \ \ ! \ +2 "manipulator"&& +12 "core" & 8 6  I +2 .tElbow.seek 2 +4 "manipulator"&( +6 "core" ( +4 "manipulator"&& +9 "core" & + / I +2 "storage"(& +8 "core" & `\ +4 .tForearm.seek 2 + 300 counts +2 "manipulator"&'Ͻ +19 "core" ' +2 .tForearm.reconfigure :loose +11 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&/ +60 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&& +4 "storage"(' +22 "core" & 9  I +2 "manipulator"&% +8 "core" % ϵ - 1 +5 .tForearm.seek :retract +4 "manipulator"&' +80 "core" ' +4 ."downElevator"SE.stop +2 "storage"(5 +6 "core" ' +4 .tElbow.seek CC +2 "manipulator"&(ӂ +166 "core" ( + "manipulator"&& +10 "core" &ӌ > ; 8 +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 && +5 "core" &ӌ 0 /  8 +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&$'? +102 "core" ' +4 "manipulator"&&& +8 "core" &ӌ 0 5 E 8 +4 "manipulator"&(% +8 "core" %@ - 7 j  +3 "collection"''& +7 "core" &\ +4 "collection"'& +12 "core" &\ +4 & \ +3 .tCC.seek :closed +6 "collection"'(\\ +6 "core" &\ +4 &\  +7 &3~\ +{ +10 &d\ > +10 &u\ M +8 &KW \ M +11 & ]\ \ M +12 &W\ M +6 &X\ L +10 &TX\ L +7 &[\ M +10 &\\\ M +12 & \\\ L +7 &"\\X\ L +10 &$Y\ L +10 &%W\ M +8 &'V\ L +11 &)cY\ M +8 &+%Z\ M +9 &,Z\ L +15 &.Y\ M +6 &0kY\ M +9 &2.V\ L +9 &3W\ M +8 &5X\ M +11 &7t\\\ L +9 &95[\ M +8 &:Y\ L +11 &<V\ L +8 &>}X\ L +11 &@=Z\ M +9 &AX\ M +13 &Ca\ M +5 &E|p\ O +9 &G7\ Q +10 &H\ U +10 &J\ X +8 &Lg\ Y +11 &N(\ Y +9 &O\ Y +8 &Q\ Z +11 &Si\ [\ +9 &U*\ [ +10 &V\ \\ +10 &X\ ] +7 &Zi\ ^ +11 &\\y\ 7 +10 &\\$\ )x +7 &\\\ #e +4 ( +8 "collection"'& +6 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.17 +2 .Hand.open +2 "manipulator"&"1 +6 "core" &\\\ #e +58 1 +2 "manipulator"&+% +8 "core" % ? < =  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&,' +101 "core" ' +4 #tcollectSample 100ml w/bubble point of 24psi +2 #Priming 7ml +2 .Intake.select :close +2 .Exhaust.select :close +2 .SS.hold +2 "sampler")-+ +8 "core" + +2 "sampler").% +8 "core" %څ i f \ A +8 "collection"'0& +7 "core" &\\\ #e +4 "Can""W\ ZX +4 #tCalibrating pressure and temperature sensors +6 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +4 .SS.reconfigure :fast +4 "sampler")#.0X% +4 "core" %i\ +4 "sampler")D% +8 "core" %Q4 \  +24 "collection"'E% +6 "core" %i\ +2 "sampler")F% +10 "core" %Q3   \  +26 "collection"'G% +6 "core" %i\ +4 "sampler"):% +8 "core" %Q  \ 6 +32 "collection"'% +6 "core" %i\ +4 "sampler")I% +6 "core" %Q , * \ +39 "collection"'H% +6 "core" %i\ +4 "sampler")K% +8 "core" %Q 6 7 \ +2 "sampler")J% +8 "core" %Q : 8 \ +2 .tIntake.select :close +2 "sampler")0 +15 )M% +5 "core" %Q < 9 \ +3 .tSSV.dial :exhaust +3 "sampler")N  +73 "core"  +3 .tExhaust.select :open +4 "sampler")@ +17 .tSS.seek 0ml +2 "sampler")O'ڀ +407 "core" ' +4 .tExhaust.select :close +2 "sampler") +15 #tSampling 100.0ml .Intake.select :close +2 .Exhaust.select :close +2 .SS.reconfigure :default +4 "sampler")#.0X% +2 "core" %ibbT\ +2 "sampler")D% +3 "core" %Fqn \  +33 "collection"'E% +3 "core" %iaeX\ + "sampler")F% +4 "core" %Fts \  +37 "collection"'G% +2 "core" %iedP\ +2 "sampler"):% +4 "core" %Fxu \  +41 "collection"'% +3 "core" %ihgN\ +2 "sampler")I% +3 "core" %F~ \  +47 "collection"';% +3 "core" %ijm_\ +2 "sampler")H% +4 "core" % \ G +53 "collection"'K% +3 "core" %iotN\ +2 "sampler")J% +3 "core" % \ G +61 "collection"'M% +3 "core" %i}{[\ +2 "sampler")N% +3 "core" % \ G +69 "collection"'<% +4 "core" %iI\ + "sampler")R% +4 "core" % \ G + "sampler")Q% +4 "core" % \ G + .tIntake.select :close + "sampler")0 +9 )S% +2 "core" %  \ G +2 .tSSV.dial :exhaust + "sampler")O  +74 "core"  + .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")P'ڀ +874 "core" ' +2 .tExhaust.select :close + "sampler") +9 #tSampled 100.0ml +2 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) .Intake.select :close + "collection"'L& +3 "core" &\\n\ #e +2 ."airStroke"CSV.dial :waste +3 "sampler")W% + ."airStroke"CS.seek 0ml +4 "collection"'X'i +4 "core" %ځ $ \  ' +2 ."connect"SSV.dial CBV,avoiding: :exhaust +3 ."airStroke"CSV.dial :air +3 .tCBV.dial SSV + "sampler")T  + "collection"'Z @ +73 "core" B +2 ."airStroke"CS.seek 10ml +2 "collection"'[' +108 "core"  +2 .tCTV.dial :air + "collection"'Y  +77 "core"  +2 .tdelay 15 seconds +1501 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")] +129 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.seek 0ml + "collection"'\\  +2 "sampler")^'ڀ +6 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust + "sampler")`  +128 "core" ~ +3  +481 ' +2 "sampler")_% +4 "core" %ځ d c \  + .tCBV.dial between SSV and waste2 +2 "collection"'b  +29 "core"  + "collection"'c% +4 "core" %x\  +2 ."connect"CTV.dial CSV,avoiding: :air +2 .tCSV.dial CTV +2 "collection"'d  +53 "core"  +2 .tCS.reconfigure :pressurize + "collection"'# d@<<\ b +3 .tCS.seek 0ml + "collection"'a'i +1829 "core" '2\ \ k\ Ϩ +3 "collection"'U% +4 "core" %2\ \ \ h\  + "sampler")f% +4 "core" %ځ e b \  +2 #tBubblePoint: Intake @38.8psia, Outlet @14.6psia .CBV.dial SSV + "collection"'g @ +31 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X9 +2 "core" 9"d +102 "collection"'D9 +2 "core" 9&d +102 "collection"'E9 +4 "core" 9 *d +102 "collection"'F9 +2 "core" 9#/d +102 "collection"'G9 +2 "core" 9>3d +102 "collection"':9 +3 "core" 9Z7d +102 "collection"'9 +2 "core" 9z;d +102 "collection"'I9 +3 "core" 9?d +102 "collection"'89 +3 "core" 9Cd +102 "collection"';9 +2 "core" 9Hd +102 "collection"'H9 +2 "core" 9Ld +102 "collection"'K9 +2 "core" 9,Pd +103 "collection"'J9 +2 "core" 9STd +102 "collection"'M9 +3 "core" 9{Xd +102 "collection"'N9 +2 "core" 9\\d +102 "collection"'<9 +2 "core" 9ad +103 "collection"'R9 +2 "core" 9ed +102 "collection"'Q9 +2 "core" 9ic +102 "collection"'S9 +2 "core" 9Im_ +103 "collection"'O9 +2 "core" 9sq[ +102 "collection"'/9 +2 "core" 9vV +102 "collection"'L9 +3 "core" 9zR +102 "collection"'W9 +2 "core" 9~O +103 "collection"'Z9 +2 "core" 9K +102 "collection"'T9 +2 "core" 9CI +102 "collection"'Y9 +2 "core" 9mE +103 "collection"'l9 +2 "core" 9@ +102 "collection"'X9 +3 "core" 9> +102 "collection"']9 +2 "core" 9; +102 "collection"'\\9 +3 "core" 99 +102 "collection"'`9 +2 "core" 9-6 +102 "collection"'P9 +3 "core" 9O5 +102 "collection"'_9 +2 "core" 9r1 +102 "collection"'b9 +3 "core" 9/ +102 "collection"'c9 +2 "core" 9. +102 "collection"'d9 +2 "core" 9, +103 "collection"'[9 +2 "core" 9* +102 "collection"'U9 +2 "core" 9) +103 "collection"'f9 +2 "core" 9"( +102 "collection"'g9 +2 "core" 9<& +102 "collection"'^9 +3 "core" 9T% +102 "collection"'h9 +2 "core" 9k$ +102 "collection"'i9 +3 "core" 9$ +102 "collection"'k9 +2 "core" 9# +102 "collection"'e9 +3 "core" 9# +102 "collection"'j9 +2 "core" 9# +103 "collection"'V9 +2 "core" 9" +102 "collection"'p9 +51 "core" 9" +102 "collection"'o9 +3 "core" 9 +102 "collection"'m9 +2 "core" 9 +102 "collection"'t9 +3 "core" 9 +102 "collection"'a9 +2 "core" 9 \  +102 "collection"'r9 +3 "core" 9  +102 "collection"'u9 +3 "core" 9 " +102 "collection"'?9 +2 "core" 9 - +102 "collection"'x9 +3 "core" 9 7\  +102 "collection"'y9 +2 "core" 9 B +102 "collection"'q9 +3 "core" 9 L +103 "collection"'{9 +2 "core" 9 U +102 "collection"'|9 +2 "core" 9 _ +103 "collection"'v9 +2 "core" 9 i +102 "collection"'~9 +3 "core" 9 r# +102 "collection"'9 +3 "core" 9 z' +102 "collection"'n9 +2 "core" 9 + +103 "collection"'9 +2 "core" 9 / +102 "collection"'z9 +2 "core" 9 4 +102 "collection"'!9 +3 "core" 9 8 +102 "collection"'9 +3 "core" 9 < +102 "collection"'9 +2 "core" 9 @ +102 "collection"'9 +3 "core" 9 D +102 "collection"'9 +2 "core" 9 I +102 "collection"' 9 +3 "core" 9 M +102 "collection"'9 +3 "core" 9 Q +103 "collection"' 9 +2 "core" 9 U +102 "collection"' 9 +2 "core" 9 Y +102 "collection"'9 +3 "core" 9 ^ +102 "collection"'79 +2 "core" 9 b +102 "collection"'}9 +3 "core" 9 f +102 "collection"'9 +3 "core" 9 j +102 "collection"'9 +2 "core" 9 n +102 "collection"'C9 +3 "core" 9 r +102 "collection"'9 +2 "core" 9 w +103 "collection"'9 +3 "core" 9 { +102 "collection"'9 +2 "core" 9  +103 "collection"' 9 +2 "core" 9  +102 "collection"'9 +2 "core" 9\  +102 "collection"'9 +3 "core" 9\  +102 "collection"'w9 +3 "core" 9\  +102 "collection"'\ 9 +2 "core" 9\  +102 "collection"'9 +3 "core" 9\  +102 "collection"'9 +2 "core" 9\  +102 "collection"'9 +3 "core" 9\  +102 "collection"'&9 +2 "core" 9\  +103 "collection"'9 +2 "core" 9\ # +102 "collection"''9 +2 "core" 9\ ' +102 "collection"'9 +3 "core" 9\ + +102 "collection"'(9 +2 "core" 9\ / +103 "collection"'s9 +3 "core" 9\ 3 +102 "collection"'9 +3 "core" 9\ 7 +102 "collection"'+9 +2 "core" 9\ : +102 "collection"'"9 +3 "core" 9\ ? +102 "collection"'.9 +2 "core" 9\ D +102 "collection"'9 +4 "core" 9\ G +102 "collection"'$9 +2 "core" 9\ K +102 "collection"'9 +2 "core" 9\ M +103 "collection"'09 +2 "core" 9\ R +102 "collection"'39 +2 "core" 9\ V +102 "collection"'-9 +3 "core" 9\ X +103 "collection"'49 +2 "core" 9\ [ +102 "collection"'#9 +2 "core" 9\ _ +102 "collection"'%9 +3 "core" 9\ c +102 "collection"'19 +3 "core" 9\ f +103 "collection"'99 +2 "core" 9\ i +3 .tCH.hold 10:00,70C +2 "collection"'2 `\ `\ f\ +2 '=9 +6 "core"  + 9\ h + "collection"'6% +3 "core" %X C Dz\ i +2 #tBegun lysing Collection Puck Heater at 68C/44.0psia +30189 "Can"QT\  +29802 "core" ` + "collection"')9 +4 "core" 9\  + "collection"'@% +4 "core" %X + ) 4\ + #tEnded lysing Collection Puck Heater at 70C/42.7psia +2 .CS.seek 0ml + "collection"'A'i +361 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake + "collection"'B @ +104 "core" A +2 .tCSV.dial :air + "collection"'> @ +41 "core" ? +3 .tCS.seek 5ml + "collection"'D's5 +1373 "core" ' + .tCSV.dial CTV + "collection"'E  +42 "core"  + .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'F @ +53 "core" B +2 .tdelay 2 seconds +201 .CSV.dial CTV +2 "collection"'G  +41 "core"  + .tdelay 2 seconds +202 .CSV.dial :air + "collection"': @ +53 "core" B +2 .tdelay 2 seconds +202 .CS.seek 0ml + "collection"''i +1359 "core" ' +2 "collection"'I% +3 "core" %d w t\ +2 #tPuck @70.7psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"'8 +101 "core" ~ +2 .tCBV.dial CSV + "collection"';  +29 "core"  + "collection"'H% +4 "core" %d ; :\ +2 .tCS.seek 4.999ml + "collection"'K's0 +1371 "core" ' +2 .tdelay 5 seconds +501 .CTV.dial :air +2 "collection"'J  +45 "core" +2 "collection"'M% +4 "core" %s3p\ +2 .tCS.seek 7ml + "collection"'N' +585 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'< @ +40 "core" ? +2 .tCS.seek 10ml +2 "collection"'R' +851 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV + "collection"'Q ` +114 "core" ^ +2 #tLysing Complete + "collection"'S& +4 "core" &\\\ #e +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&O% +3 "core" % 5 8 D  +2 "storage"(/% +3 "core" % N\  + "storage"(L. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(W(C +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Z& +3 "core" &D \ + "manipulator"&T& +4 "core" &Ӎ" / ,  8 + "manipulator"&Y% +4 "core" % 6 +  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&l( +162 "core" ( +2 "manipulator"&X& +4 "core" &  . N r + "storage"(]& +4 "core" &D [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&\\' +90 "core" ' +2 "storage"(`& +4 "core" &D 4\ +2 .tSE.reconfigure :pick + "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'r +262 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&b& +3 "core" & / 7 ! r +2 "storage"(c& +3 "core" &D z\ +2 .tElbow.reconfigure :limp + "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&d'8 +21 "core" ' +2 .tElbow.hold + "manipulator"&[, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(U- +2 "core" -' +2 .tSE.seek 7.12 Pucks below Top Plate + "storage"(f'g +50 "core" ' + "manipulator"&g% +4 "core" %8 + + +2 "storage"(^& +3 "core" &D d\ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 1 + 300 counts + "manipulator"&h'd +14 "core" ' + "manipulator"&i& +5 "core" &   r + "storage"(k& +4 "core" &D B\ +2 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&e' +15 "core" ' +2 .tSE.seek 8.12 Pucks below Top Plate + "storage"(j' +37 "core" ' +2 "manipulator"&V& +4 "core" & " r + "manipulator"&p% +4 "core" % )  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&o' +89 "core" ' +2 .tElbow.seek CC + "manipulator"&m(ӂ +162 "core" ( +2 "manipulator"&t& +4 "core" &Ӓ& % ? @X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &Ӓ' . 8 w @X +2 .tForearm.seek CC + "manipulator"&r'? +95 "core" ' + .tHand.close + "manipulator"&u/ +56 "core" / + .tCC.seek :open +2 "collection"'?( +447 "core" ( +2 "storage"(x& +4 "core" &D \ + "storage"(y& +4 "core" &D \ + "manipulator"&q& +4 "core" &ӓ& 8 9 @ @W + "manipulator"&{% +4 "core" % 5 + 4  + .tForearm.seek :retract +2 "manipulator"&|' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&v( +164 "core" ( + "manipulator"&~& +4 "core" &  .   +2 "storage"(& +3 "core" &D Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&n'8 +94 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +61 "core" 1 +2 "manipulator"&!% +4 "core" % A  ) <  + "storage"(& +4 "core" &D \ + .tForearm.force -20 + "manipulator"&5 +50 .tForearm.seek 1 + 309 counts +3 "manipulator"&'m +13 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &D \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"& ' +16 "core" ' + "storage"(% +4 "core" % \ +3 ."downElevator"SE.seek :down +2 "storage"( ' +100 ( % +2 "core" % 9 \ U\\ +2 "manipulator"&% +4 "core" % - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7' +94 "core" ' +4 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA +2 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'}& +4 "core" &\ +2 "manipulator"&& +3 "core" & * +  +2 "manipulator"&% +4 "core" %  + * u  + .tElbow.seek FlushPuck::Garage +2 "manipulator"&C(- +174 "core" ( + "manipulator"&& +4 "core" &-   n ( +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 && +2 "core" &- 5   ( +2 .tForearm.seek :garage +2 "manipulator"&'w +94 "core" ' + .tHand.close + "manipulator"& / +60 "core" / +2 "manipulator"&& +4 "core" &- 0  K ( + "manipulator"&% +4 "core" % τ   p # +2 .tForearm.seek :retract + "manipulator"&w' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&\ (ӂ +284 "core" ( +2 "manipulator"&& +4 "core" &Ӎ& : ; @] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Ӎ& , 1 @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'? +105 "core" ' +2 "manipulator"&&& +4 "core" &ӑ' ? % @Y + "manipulator"&% +4 "core" %M + +  +2 "collection"''& +3 "core" & \ +3 "collection"'& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'((\\ +4 "core" &\  +9 &3}\ +| +11 &e\ > +8 &su\ M +8 &SW\\\ L +10 &Z0\ L +9 &Yt\ K +10 &Y '\ K +9 &[\\\ L +9 &X #\ K +10 &Y \ L +9 & Z\ L +9 &"dY\ K +10 &$%\\\ L +9 &%\\\ L +10 &'Zz\ K +9 &)kXe\ L +9 &+.VD\ K +10 &,Vv\ K +9 &.Y\ K +9 &0t\\v\ K +10 &25W`\ L +9 &3ZJ\ L +10 &5V'\ K +9 &7{W\ L +9 &9>\\\ K +10 &:[\ L +9 &<Y\ L +9 &>\\\ K +10 &@FW\ K +9 &B[\ L +10 &Cc\ M +9 &E~~x\ P +9 &G2c\ U +10 &HS\ X +9 &JG\ X +9 &Ll2\ Y +10 &N,\ Z +9 &Ot\ Z +10 &Qg\ Y +9 &SnZ\ [\ +9 &U.N\ \\ +10 &V>\ \\ +9 &X.\ ^ +9 &Zn!\ ^ +10 &\\y0\ 6 +9 &\\*\ %o +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.29 + "collection"'s& +4 "core" &\\\ #f + &\\\ #f + .tHand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&+% +4 "core" % M 5 & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&"' +97 "core" ' + .tPSV.dial PSR +2 "processing"%. +132 "core"  + "processing"%% +4 "core" %ؾs\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%$'+ +1616 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%  +43 "core"  +2 .tPS.seek 0ml + "processing"%0'ؾ +1612 "core" ' + .tPSV.dial PSR +2 "processing"%3 +42 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml + "processing"%-' +2635 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +2 .tCBV.dial PRV +3 "processing"%4 "collection"'#  +7 "core" A + "processing"%%  +68 "core" +92  + .tPSV.dial :mixloop +2 "processing"%1 +100 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing + "processing"%9  +129 "core" +2 .tPS.seek 0ml + "processing"%='ؾ +2626 "core" ' +2 .tPSV.dial :air + "processing"%6  +55 "core"  +2 .tPS.seek 2.5ml + "processing"%5' +2639 "core" ' +2 .tPSV.dial :mixloop + "processing"%2 +41 "core" +2 .tPS.seek 0ml + "processing"%)'ؾ +2635 "core" ' + .tPSV.dial :air + "processing"%@  +57 "core" +2 .tPS.seek 2.5ml + "processing"% ' +2205 "Can">\\\ WU +442 "core" ' + .tPSV.dial :mixloop + "processing"%B +42 "core" +2 .tPS.seek 0ml + "processing"%>'ؾ +2631 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&A& +4 "core" &Ӕ% 9 9 ?V +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&E(ӂ +20 "core" ( + "manipulator"&F& +4 "core" &Ӌ  < - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &Ӌ ) 5 - +2 .tForearm.seek CC + "manipulator"&:'? +96 "core" ' + .tHand.close + "manipulator"&D/ +55 "core" / +2 .tCC.seek :open +2 "collection"'I( +447 "core" ( + "manipulator"&8& +4 "core" &Ӌ . + - +2 "manipulator"&;% +3 "core" % R * ) d  +2 .tForearm.seek :retract + "manipulator"&H' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(- +292 "core" ( + "manipulator"&J& +4 "core" &- 0  0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &-  , I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&K'w +101 "core" ' + .tHand.open + "manipulator"&<1 +57 "core" 1 + "manipulator"&N% +4 "core" % π 3 !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Q' +96 "core" ' + .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +2 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake + #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'S& +4 "core" &\ +2 "manipulator"&O% +4 "core" %  - 0  + "storage"(/% +4 "core" %\  [\  +48 "storage"(L. +4 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (Z& +3 "core" & \ \  }\ \ +2 "manipulator"&T& +3 "core" &- + * +2 "manipulator"&Y% +3 "core" %  + 2  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&X( +179 "core" ( + "manipulator"&]& +5 "core" & 2 % G + "storage"(`& +4 "core" & \ \  4\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'S +93 "core" ' + "storage"(,& +4 "core" & \ \ ' \ \ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'r +145 "core" ' + "storage"(b- +3 "core" -'ڹ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (c& +3 "core" & \ \ +2 "manipulator"&U& +4 "core" & 1 2  G + .tElbow.seek 2 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&^& +4 "core" & . 6  G + "storage"(i& +4 "core" & \ \  \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&k'Ͻ +32 "core" ' +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& + "storage"(\\' +7 "core" & , / 3 G +2 "manipulator"&l% +4 "core" % Ϫ  ) l +2 .tForearm.seek :retract + "manipulator"&P' +92 "core" ' + .tElbow.seek CC +2 "manipulator"&d(ӂ +5 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +145 "core" ( + "manipulator"&h& +4 "core" &ӗ# 5 1 G =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +2 "core" &ӗ# / , =G +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&t'? +99 "core" ' +2 "manipulator"&a& +4 "core" &Ә# 3 7 =F +2 "manipulator"&e% +4 "core" %C , 4 " +2 "collection"'[& +3 "core" & \ +2 "collection"'u& +5 "core" &\ +2 .tCC.seek :closed + "collection"'o(\\ +4 "core" &\ +8 &;\ %h +9 &Z{\ 8 +10 &z+\ K +9 &W\ K +10 &X\ K +9 &J\\\ K +9 & Y\ K +10 &\\\ K +9 &\\\ K +9 &RY\ K +10 & \\\ K +9 &!X\ L +10 &#\\j\ K +9 &%ZWT\ K +9 &'ZB\ K +10 &(]2\ L +9 &*Z\ L +9 &,aZ\ L +10 &.%U\ K +9 &/[\ K +10 &1\\\ L +9 &3jZ?\ K +9 &5-YG\ K +10 &6Z/\ L +9 &8Z\ L +9 &:sW\ K +10 &<4\\\ K +9 &=\\\ K +10 &?W\ K +9 &A{Y\ K +9 &C:`\ L +10 &DbH\ M +9 &Fk\ N +9 &Hr\ Q +10 &J+\ T +9 &K\ W +10 &M\ X +9 &Of\ X +9 &Q$v\ Y +10 &Rd\ Y +9 &Ta\ Z +9 &VfW\ Z +10 &X%Y\ [ +9 &YZ\ \\ +10 &[K\ I +9 &\\1@\ 2 +9 &\\k:\ R +3 ( + "collection"'u& +3 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.05 + .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&x% +4 "core" % B 2 # e # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&y' +94 "core" ' + .tCTV.dial CSV,avoiding: :intake +2 "collection"'q  +135 "core" ~ + .tCSV.dial CTV +2 "collection"'{  +28 "core"  +2 .tPS.seek 2.5ml + "processing"%~' +2636 "core" ' + "collection"'% +4 "core" %\  +2 .tCS.seek 4.5ml + "collection"'r'c9 +1494 "core" ' + .tdelay 8 seconds +802 .PSV.dial :air + "processing"%m  +44 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%z  +69 "core"  +2 .tPS.seek 0ml + "processing"%!'ؾ +2636 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"' ` +29 "core" _ + .tCSV.dial :air +2 "collection"' @ +42 "core" ? +2 .tCS.seek 10ml + "collection"'' +1485 "core" ' + .tCSV.dial CTV + "collection"'  +41 "core"  +2 .tCS.seek 0ml +2 "collection"'|'i +2631 "core" ' + .tCBV.dial :waste1 + "collection"' @ +27 "core" @ +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake + "collection"'  +136 "core" + "collection"'v& +4 "core" &\\g\ R +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&n% +3 "core" %  - 5 2  +2 "storage"(}% +3 "core" % \  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((C +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &F L\ +2 "manipulator"&j& +4 "core" &Ӟ" + ) <@ + "manipulator"& % +3 "core" %  6 + 7  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&( +163 "core" ( + "manipulator"&& +4 "core" & 1  l  +2 "storage"( & +3 "core" &F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"( & +4 "core" &F z\ +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"('r +247 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +3 "core" & 1 ,  + "storage"(& +4 "core" &F \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&'8 +19 "core" ' + .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(C- +2 "core" -' +2 .tSE.seek 8.13 Pucks below Top Plate +2 "storage"(&' +32 "core" ' + "manipulator"&% +5 "core" %F * *  + "storage"('& +4 "core" &F :\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 314 counts +46 "manipulator"&w'r +15 "core" ' +2 "manipulator"&?& +4 "core" &  5  + "storage"(s& +4 "core" &F \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&' +14 "core" ' +2 .tSE.seek 9.13 Pucks below Top Plate +2 "storage"(+'Q +47 "core" ' +2 "manipulator"&& +4 "core" & +   + "manipulator"&.% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&' +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(ӂ +163 "core" ( + "manipulator"&& +4 "core" &Ӓ# 8 2 =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &Ӓ# , 1 + =F +2 .tForearm.seek CC + "manipulator"&3'? +93 "core" ' +2 .tHand.close + "manipulator"&0/ +54 "core" / +2 .tCC.seek :open + "collection"'4( +447 "core" ( +2 "storage"(#& +4 "core" &F D\ + "storage"(%& +4 "core" &F d\ + "manipulator"&1& +4 "core" &ӥ! / 0 ;3 + "manipulator"&9% +4 "core" % ( + /  +2 .tForearm.seek :retract + "manipulator"&-' +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&6( +164 "core" ( +2 "manipulator"&=& +4 "core" & $  j + "storage"(2& +4 "core" &F \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&5'8 +95 "core" ' + .tElbow.hold + "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&)1 +63 "core" 1 +2 "manipulator"&B% +4 "core" % 9 . 6  + "storage"( & +4 "core" &F L\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 301 counts + "manipulator"&A'e +14 "core" ' +2 "manipulator"&F& +4 "core" &   5 j +2 "storage"(G& +4 "core" &F\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&D' +15 "core" ' +2 "storage"(\ % +4 "core" %P\ \  \ +2 ."downElevator"SE.seek :down +3 "storage"("' +99 ((% +3 "core" %y3\ \  U\ TZ +2 "manipulator"&8% +4 "core" %    +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;' +88 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +2 "core" ' +2 .tPSV.dial :air + "processing"%:  +71 "core" +2 .tPS.seek 2.5ml +2 "processing"%J' +2629 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%M +41 "core" +2 .tdelay 1 second +101 .PSV.dial :air + "processing"%E  +43 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop + "processing"%< +43 "core" +2 .tdelay 1 second +101 .PSV.dial :air + "processing"%N  +43 "core"  + .tdelay 1 second +102 .PS.seek 0ml + "processing"%S'ؾ +2632 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%O& +4 "core" &\  +2 "manipulator"&/& +3 "core" & 0 0 j +2 "manipulator"&L% +3 "core" %  0 +  +2 .tElbow.seek FlushPuck::Garage + "manipulator"&H(- +178 "core" ( + "manipulator"&K& +4 "core" &-  0 p + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &-    +2 .tForearm.seek :garage + "manipulator"&Z'w +91 "core" ' +2 .tHand.close + "manipulator"&T/ +54 "core" / + "manipulator"&Y& +4 "core" &- #  f + "manipulator"&]% +4 "core" % φ - + u + +2 .tForearm.seek :retract + "manipulator"&`' +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&,( +117 "core" ( +2 "manipulator"&& +4 "core" &  . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" & / , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&c' +89 "core" ' +2 "manipulator"&U& +4 "core" & $  +2 "manipulator"&^% +3 "core" % \  R W +2 "processing"%i& +4 "core" &\  +2 "processing"%Q& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%V(^ +4 "core" &\  +9 &5~\ +| +10 &d\ @ +9 &M\ P +9 &b\ P +10 &a\ O +9 &_\ O +10 &Wc\ O +9 &a\ P +9 &b\ O +10 &e\ P +9 & ^e\ P +9 &""_\ O +10 &#c\ P +9 &%_\ O +10 &'ff\ P +9 &))e\ O +9 &*f\ P +10 &,e\ P +9 &.o_\ O +9 &00c\ P +10 &1d\ P +9 &3b\ O +10 &5v`\ P +9 &79b\ O +9 &8g\ O +10 &:e\ O +9 &<d\ O +9 &>@g\ P +10 &@f\ P +9 &Am\ P +10 &C|\ R +9 &E;\ T +9 &F\ U +10 &H\ U +9 &J}\ U +9 &L>\ V +10 &M\ V +9 &O\ V +10 &Q\ W +9 &SC \ W +9 &U\ V +10 &V\ W +9 &X\ W +9 &ZL\ V +10 &\\  \ W +9 &]\ ; +10 &^0\ W +9 &^#\ 3 +2 ( +2 "processing"%Q& +3 #tProcessing Clamp onSpring/offSpring for 15/26 samples, on/off torque 1.54 + "processing"%p& +4 "core" &^!2\ 3 + .tHand.open + "manipulator"&l1 +62 "core" 1 + "manipulator"&X% +4 "core" % 4 " W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +91 "core" ' + .tPRV.dial :air + "processing"%h  +42 "core"  + .tPSV.dial :mixloop + "processing"%f +44 "core" +2 "processing"%_% +4 "core" %غF\ +2 .tPS.seek 0.3ml + "processing"%k' +390 "core" ' + .tPSV.dial PSR +2 "processing"%a +102 "core"  + "processing"%e% +4 "core" %z\  + #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml +2 "processing"%['2 +484 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +46 "processing"%g' +1921 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"%\\ +102 "core" + .tPTV.dial :mixing +2 "processing"%P @ +72 "core" B + .tPBV.dial :waste2 +2 "processing"%I  +91 "core"  +2 .tPS.seek 0ml + "processing"%'ؾ +2634 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&x& +4 "core" & . / +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&u( +3 "core" ( +2 "manipulator"&q& +4 "core" & 0  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" & , 5 +2 .tForearm.seek PC + "manipulator"&t' +129 "core" ' + .tHand.close + "manipulator"&>/ +59 "core" / + .tPC.seek :open +2 "processing"%( +457 "core" ( +2 "manipulator"&R& +4 "core" & ' - a + "manipulator"&m% +4 "core" %  ' T < +2 .tForearm.seek :retract + "manipulator"&z' +90 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&~(- +127 "core" ( + "manipulator"&& +4 "core" &-   :  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &- )  i  +3 .tForearm.reconfigure :tight + "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r'w +91 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % q    9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& ' +92 "core" ' +3 #tLoading da puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"&v% +4 "core" %    V  + "storage"(n% +4 "core" %\ '\ & =\  + "storage"(}. +3 "core" .(F +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +2 "core" & \ \  C\  +2 "manipulator"&& +3 "core" &- / 0  +2 "manipulator"&j% +3 "core" %  , %  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +172 "core" ( + "manipulator"&& +4 "core" & -  P +2 "storage"( & +4 "core" & \ &\ ' '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"& 'S +96 "core" ' + "storage"(d& +4 "core" & \ &\ & -\  +2 .tSE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'r +163 "core" ' + "storage"(- +4 "core" -'U + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" & \  +2 "manipulator"&& +3 "core" & / . P +2 .tElbow.seek 2 + "manipulator"&C( +3 "core" ( +2 "manipulator"&& +4 "core" & 7 1 . P + "storage"('& +4 "core" & \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&?'Ͻ +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +54 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +2 "storage"(.' +7 "core" & . 0 P +2 "manipulator"&% +4 "core" % ϳ / / +2 .tForearm.seek :retract + "manipulator"&' +94 "core" ' +3 .tElbow.seek PC + "manipulator"&( +13 "core" ' + ."downElevator"SE.stop + "storage"(5 +233 "core" ( + "manipulator"&& +4 "core" & / . * +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &w& +2 "core" &  / p * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&&' +99 "core" ' +2 "manipulator"&& +4 "core" & , * + "manipulator"&$% +4 "core" %  k y +2 "processing"%& +4 "core" &C\ +2 "processing"%& +4 "core" &?\ +2 .tPC.seek :closed + "processing"%0(^ +4 "core" &C\ +8 & -C\ #a +10 &TD\ 8 +9 &~>\ L +10 &Z1\ O +9 &T`5\ O +9 &]8\ O +10 &`-\ O +9 &_/\ O +9 &\\`)\ O +10 &b,\ O +9 &\\4\ O +10 &!_0\ O +9 &#f_.\ O +9 &%(_.\ O +10 &&c)\ O +9 &(_\ O +9 &*m_\ O +10 &,0`\ O +9 &-^\ N +10 &/_\ O +9 &1v_\ O +9 &38a\ O +10 &4`\ O +9 &6_\ N +9 &8~`\ O +10 &:@^\ O +9 &<`\ O +10 &=]\ O +9 &?`\ O +9 &AG`\ O +10 &Cp\ Q +9 &D\ R +9 &F}\ T +10 &H=\ U +9 &J\ U +10 &K\ U +9 &M\ V +9 &OD\ U +10 &Q\ V +9 &R\ V +9 &T\ W +10 &VK\ V +9 &X \ V +10 &Y\ W +9 &[\ W +9 &]P\ H +10 &^wC\ %m +9 &^6\ 2 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 16/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&1 +3 "core" &^ \ 2 +53 1 +2 "manipulator"&o% +4 "core" %  -  * y +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#' +91 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 + "processing"%% [ +2 %19 +6 "core" 9 +102 "processing"%99 +2 "core" 9& +102 "processing"%=9 +2 "core" 9 ' +102 "processing"%29 +2 "core" 9 ' +103 "processing"%39 +2 "core" 9( +102 "processing"%9 +3 "core" 9( +102 "processing"%)9 +2 "core" 9) +102 "processing"%B9 +2 "core" 9* +102 "processing"% 9 +3 "core" 9"* +102 "processing"%F9 +2 "core" 9&+ +102 "processing"%G9 +3 "core" 9*+ +102 "processing"%\ 9 +2 "core" 9.* +102 "processing"%-9 +3 "core" 93) +102 "processing"%(9 +2 "core" 97) +102 "processing"%89 +3 "core" 9;) +102 "processing"%69 +3 "core" 9?) +102 "processing"%59 +2 "core" 9C( +102 "processing"%A9 +2 "core" 9H( +102 "processing"%:9 +2 "core" 9L' +102 "processing"%+9 +3 "core" 9P' +102 "processing"%D9 +2 "core" 9T +102 "processing"%"9 +3 "core" 9X +102 "processing"%!9 +2 "core" 9\\ +102 "processing"%M9 +3 "core" 9a +102 "processing"%E9 +22 "core" 9"f +102 "processing"%<9 +3 "core" 9+j +102 "processing"%N9 +2 "core" 95n +102 "processing"%J9 +2 "core" 9?r +102 "processing"%O9 +3 "core" 9Iv +102 "processing"%/9 +2 "core" 9Sz +102 "processing"%L9 +3 "core" 9] +102 "processing"%K9 +2 "core" 9g +102 "processing"%W9 +3 "core" 9p +102 "processing"%@9 +2 "core" 9{ +102 "processing"%T9 +2 "core" 9 +102 "processing"%Y9 +3 "core" 9 +102 "processing"%]9 +2 "core" 9 +102 "processing"%;9 +3 "core" 9\ +102 "processing"%9 +2 "core" 9 +102 "processing"%b9 +3 "core" 9 +102 "processing"%Z9 +2 "core" 9 +102 "processing"%U9 +2 "core" 9 +102 "processing"%^9 +3 "core" 9 +102 "processing"%i9 +2 "core" 9 +102 "processing"%H9 +3 "core" 9 +102 "processing"%`9 +2 "core" 9 +102 "processing"%*9 +3 "core" 9 +102 "processing"%p9 +2 "core" 9 +102 "processing"%l9 +2 "core" 9 +102 "processing"%X9 +2 "core" 9 +102 "processing"%Q9 +3 "core" 9  +102 "processing"%h9 +3 "core" 9 +2 .tPH.hold 2:00:00,28C +3 "processing"%f p[p + .tdelay 1:30 +52 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%_ +103 "core"  +2 "processing"%c% +4 "core" %ؾ#\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%S' +590 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml + "processing"%a' +1612 "core" ' +2 .tPTV.dial :puck + "processing"%e  +69 "core"  +2 .tPSV.dial PTV + "processing"%k +74 "core" + .tPBV.dial :waste1 +2 "processing"%[  +131 "core"  +2 "processing"%\\% +4 "core" %\  +2 .tPS.seek 1.5ml + "processing"%P'+ +586 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%I * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%g'ؾ +1612 "core" ' + .tdelay 5:00 +216 "Can"f\ kf +29786 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%x  +34 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%q * +34 "core" + + .tPSR.select :air +2 .PSV.dial PSR + "processing"%{ +74 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml + "processing"%>' +2416 "core" ' + .tPSV.dial PTV +2 "processing"%, +74 "core" + .tdelay 5 seconds +502 .PSV.dial PSR + "processing"% +74 "core"  +2 .tdelay 5 seconds +501 .PSV.dial PTV +2 "processing"%V +73 "core" +2 .tdelay 5 seconds +501 .PSV.dial :air +2 "processing"%R  +73 "core"  +2 .tPS.seek 0ml + "processing"%m'ؾ +2349 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +129 "core" +2 .tPSV.dial :mixloop + "processing"% +43 "core" + .tPRV.dial :ab1 + "processing"%t @ +71 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%u' +359 "core" ' +2 .tdelay 2 seconds +201 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "collection"'  "processing"%  +44 "core" +  +2 "processing"%% +4 "core" % \  +2 .tPS.seek 0.35ml + "processing"%v'k +456 "core" ' +2 .tdelay 2 seconds +201 .CBV.dial between PRV and PSV +2 "collection"'n  +27 "core" +2 .tPRV.dial :air + "processing"%}  +42 "core"  +2 .tPS.seek 0.9ml + "processing"%z'K +1167 "core" ' + .tPRV.dial :waste2 +2 "processing"%r @ +70 "core" ? +3 .tPS.seek 0.5ml + "processing"%' +870 "core" ' + #taddPMLReagent08 + .PSV.dial :air + "processing"%  +44 "core"  +2 .tPS.reconfigure :default + "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%' +1618 "core" ' + .tPSV.dial :PML + "processing"%j +43 "core" + .tPTV.dial :mixing +2 "processing"% @ +74 "core" B + .tPBV.dial :waste1 + "processing"%  +33 "core" +2 "processing"%d% +4 "core" %\  +2 .tPS.seek 1.85ml + "processing"%~' +230 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"% * +35 "core" , +2 .tPS.seek 0ml +2 "processing"%7'ؾ +1962 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" & \ +2 "manipulator"&& +4 "core" & . * * + "manipulator"& % +4 "core" %  / .  +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&'(- +125 "core" ( +2 "manipulator"&s& +4 "core" &- 1  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &-  . & +2 .tForearm.seek :garage + "manipulator"&'w +94 "core" ' +2 .tHand.close + "manipulator"& / +52 "core" / +2 "manipulator"& & +4 "core" &- - , w +2 "manipulator"&y% +3 "core" % w - . + +2 .tForearm.seek :retract +2 "manipulator"&?' +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&(ӂ +277 "core" ( +2 "manipulator"&w& +4 "core" &ӕ& % < L ?Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &ӕ& 6 -  ?Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&.'? +90 "core" ' +2 "manipulator"&& +4 "core" &ӕ& 9 ;  ?Q +2 "manipulator"&$% +4 "core" %9 / / I i +2 "collection"'& +3 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed + "collection"'(\\ +5 "core" &|\ +7 &:_\ %g +9 &V~ \ 8 +10 &z`\ L +9 &Z\ N +9 &pUV\ M +10 &1WQ\ N +9 &X\ N +10 &Y\ N +9 &vY\ N +9 &9W\ N +10 &Z\ N +9 &!U\ N +9 &#W\ N +10 &%AX\ N +9 &'Y\ N +10 &(Y\ N +9 &*W6\ N +9 &,JT\ \ M +10 &. T\ M +9 &/Sg\ M +9 &1Ub\ M +10 &3QWa\ N +9 &5Vj\ N +10 &6Xd\ M +9 &8Uc\ M +9 &:YZj\ N +10 &<Ui\ N +9 &=Tc\ N +9 &?T`\ M +10 &AbVg\ M +9 &C"\\h\ N +10 &Dk\ P +9 &F\ S +9 &HJ\ X +10 &J\ Z +9 &K\ Z +9 &M\ Z +10 &OK\ [ +9 &Q\ Z +10 &R\ [ +9 &T\ ] +9 &VK\ ] +10 &X \ ^ +9 &Y\ _ +9 &[\ L +10 &\\9\ , +9 &\\\ \ !a +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 14/26 samples, on/off torque 2.36 + "collection"'& +4 "core" &\\\ !a + &\\\ !a +2 .tHand.open + "manipulator"&o1 +57 "core" 1 +2 "manipulator"&1% +4 "core" % 9 > $ 6 i +46 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&' +92 "core" ' + .tPSV.dial PSR +2 "processing"%9 +117 "core"  +2 "processing"%&% +4 "core" %ؿ^\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%='+ +1620 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%2  +45 "core"  +2 .tPS.seek 0ml + "processing"%3'ؾ +1618 "core" ' +2 .tPSV.dial PSR + "processing"% +43 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%)' +2637 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%B  + "collection"'  +32 "core" ~ +126  + .tPSV.dial :mixloop +2 "processing"%F +102 "core" + .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%G  +72 "core" +2 .tPS.seek 0ml +2 "processing"%\ 'ؾ +2637 "core" ' + .tPSV.dial :air + "processing"%-  +43 "core"  +2 .tPS.seek 2.5ml + "processing"%(' +1290 "Can"1e\ ca +1349 "core" ' + .tPSV.dial :mixloop +2 "processing"%8 +44 "core" +2 .tPS.seek 0ml + "processing"%6'ؾ +2634 "core" ' +2 .tPSV.dial :air + "processing"%5  +55 "core"  +2 .tPS.seek 2.5ml +2 "processing"%A' +2638 "core" ' +2 .tPSV.dial :mixloop + "processing"%: +41 "core" +2 .tPS.seek 0ml +2 "processing"%+'ؾ +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&D& +4 "core" &ӗ$ 7 7 >O +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&"(ӂ +23 "core" ( + "manipulator"&!& +4 "core" &ӊ 0   & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &ӊ , / & +2 .tForearm.seek CC + "manipulator"&E'? +98 "core" ' +2 .tHand.close + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % ) ;  % M +2 ."WCR"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."WCR"Forearm.seek :retract +2 "manipulator"&' +91 "core" ' +2 #"WCR"collectSample 100ml w/bubble point of 35psi + #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold + "sampler")t+ +4 "core" + + "sampler")m% +4 "core" %ڐ L L \  + "collection"'& +4 "core" &\\\ X +3 "Can")g\ `^ + #"WCR"Calibrating pressure sensors + .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X% +3 "core" %j\ +2 "sampler")% +4 "core" %ZP~| \  +36 "collection"'m% +3 "core" %j\ \ +2 "sampler")% +4 "core" %ZN \  +41 "collection"'V% +3 "core" %j\ +2 "sampler"){% +3 "core" %ZN \  +47 "collection"'t% +4 "core" %j\ + "sampler")u% +4 "core" %ZL \  +54 "collection"'% +3 "core" %j;\ +2 "sampler")n% +4 "core" %ZJ \  + "collection"'}% +4 "core" %j\ + #"WCR"Intake @15.7psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 1.79ml/s +2 "sampler")#.z0Xc% +3 "core" %j\ +2 "sampler")% +3 "core" %2} \  +47 "collection"'m% +3 "core" %j\ +2 "sampler")% +4 "core" %2 \  +53 "collection"'l% +3 "core" %j%\ +2 "sampler")V% +4 "core" %2 \  +60 "collection"'{% +3 "core" %j\ +2 "sampler")t% +4 "core" %2 \  +69 "collection"'u% +3 "core" %j#\ +2 "sampler")% +4 "core" %2 \  +78 "collection"'n% +2 "core" %j\ +2 "sampler")}% +4 "core" %2 \  +88 "collection"'x% +3 "core" %j\ +2 "sampler")z% +4 "core" % \  +99 "collection"'% +3 "core" %j\ +2 "sampler")% +4 "core" % 4 3 \  +113 "collection"'r% +2 "core" %j"\ +2 "sampler") % +4 "core" % L L \  + "sampler")d% +4 "core" % O K \  + ."WCR"Intake.select :close + "sampler")0 +9 )% +2 "core" % P M \  +2 ."WCR"SSV.dial :exhaust +2 "sampler")  +75 "core"  + ."WCR"Exhaust.select :open +2 "sampler")@ +9 ."WCR"SS.seek 0ml +50 "sampler")~'ڀ +865 "core" ' +2 ."WCR"Exhaust.select :close + "sampler") +9 ."connect"SSV.dial CBV +3 ."WCR"CBV.dial SSV +2 "sampler")  +74 "core"  +2 #"WCR"Allowing 130s for 25.0ml of remaining 50.0ml + .Intake.select :open + "sampler") +210 "collection"'% +3 "core" %j\ +2 #"WCR"Intake @15.5psia, vacuum from 10.0 to 13.0psi + .SS.reconfigure :inhaling 1.45ml/s +2 "sampler")#.c0X^\ +2 "sampler")]% +4 "core" %;Ohb \  +24 "collection"'S% +3 "core" %j8\ +2 "sampler")% +4 "core" %;Ofd \  +27 "collection"'\\% +3 "core" %j;\ +2 "sampler")I% +4 "core" %;Oge \  +31 "collection"'`% +3 "core" %j=\ +2 "sampler");% +4 "core" %;Ogf \  +36 "collection"'q% +3 "core" %j@\ +2 "sampler")Q% +4 "core" %;Ohg \  +41 "collection"'k% +3 "core" %j?\ + "sampler")g% +4 "core" %;Olg \  +47 "collection"',% +3 "core" %j5\ +2 "sampler")% +4 "core" %;Opn \  +53 "collection"'% +3 "core" %j,\ +2 "sampler")a% +4 "core" %;Oqo \  +60 "collection"'P% +3 "core" %j/\ +2 "sampler")N% +4 "core" %;Ott \  +68 "collection"'>% +4 "core" %j*\ +2 "sampler")% +3 "core" %;O|{ \  +78 "collection"'e% +3 "core" %j!\ +2 "sampler")m% +4 "core" %;F \  +88 "collection"'% +3 "core" %j+\ + "sampler")l% +4 "core" %;F \  +2 "collection"'V% +3 "core" %j+\ +2 #"WCR"Intake @14.8psia, vacuum from 9.3 to 12.3psi + .SS.reconfigure :inhaling 1.17ml/s +2 "sampler")#.P0X^ +52 "sampler")-% +3 "core" %ڃ ] [ \  +2 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'\  +87 "core"  + "collection"'8% +4 "core" %\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'( ` +28 "core" a +3 ."WCR"CS.seek 7.322ml + "collection"'5'h +148 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 +5 "processing"%6 * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +208 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'A  + 'D  +30 "core"  +45  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<< b +2 ."WCR"CS.seek 0ml +2 "collection"'!'i +1314 "core" ' + ."da"delay 2:00 +124 "core" ' \ +3 ."WCR"CBV.dial :waste2b + "collection"'M  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"'3'i +542 "core" ' +2 ."WCR"delay 1:00 +6003 .CTV.dial :air,avoiding: :intake + "collection"'<  +135 "core" +2 #"WCR"Fix #1 of 2 (with RNAlater) for 10:00 + .CSV.dial CSR +2 "collection"'  +40 "core"  +2 "collection"'% +3 "core" %h8\ +2 #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater + "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"''T +596 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +9 ."WCR"CS.reconfigure :fast +2 "collection"'#d @b +2 ."WCR"CS.seek 10ml +2 "collection"'' +1936 "Can"%h\ mk +43 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"'K @ +73 "core" > +52 "sampler")W% +3 "core" %ڃ b a \  +2 ."WCR"CBV.dial between CSV and waste2b +2 "collection"'"  +87 "core"  +2 "collection"'O% +4 "core" %:\  +2 ."WCR"CSV.dial between air and CTV +2 "collection"'T ` +55 "core" _ +3 ."WCR"CS.seek 7.283ml + "collection"'E'* +701 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +3 "collection"'  'b  +44 "core"  +93  +2 ."WCR"CS.reconfigure :pressurize +3 "collection"'# d@<< b +2 ."WCR"CS.seek 0ml +2 "collection"'Z'i +845 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%/  +33 "core" +2 ."da"delay 30 seconds +680 "core" ' [\ â +2 ."WCR"delay 10:00 +2319 ."da"PBV.dial between PSV and waste1 +2 "processing"%^ * +34 "core" , +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"%i +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"% ' +2412 "core" ' +2 ."da"PSV.dial PTV + "processing"%@ +85 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%* +71 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%H +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%p  +75 "core"  +47 ."da"PS.seek 0ml +2 "processing"%'ؾ +2364 "core" ' + #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%X +131 "core"  + "processing"%h% +4 "core" %ؾ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%Y' +596 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%_' +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%c +71 "core" +2 ."da"PBV.dial :waste1 + "processing"%]  +35 "core" + "processing"%S% +4 "core" %"\  +2 ."da"PS.seek 1.5ml + "processing"%'+ +598 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%\\ * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%I'ؾ +1613 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%`  +34 "core" + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%; * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%q +86 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%Q' +2400 "core" ' + ."da"PSV.dial PTV +2 "processing"%k +70 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%g +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%J +86 "core" +2 ."da"delay 5 seconds +501 .PSV.dial :air +2 "processing"%,  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%'ؾ +2364 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air + "processing"%  +43 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing + "processing"%a  +130 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%P  +44 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%N +43 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%>' +384 "core" ' +2 ."da"delay 2 seconds +201 .PRV.dial :air +2 "processing"%  +42 "core"  +2 "processing"%e% +3 "core" %#\  +2 ."da"PS.seek 0.55ml +2 "processing"%m' +332 "core" ' + #"da"addPMLReagent08 + .PSV.dial :air + "processing"%  +44 "core"  +2 ."da"PS.seek 2ml + "processing"%l' +1562 "core" ' + ."da"PSV.dial :PML +2 "processing"%V +42 "core" +2 ."da"PTV.dial :mixing + "processing"%L @ +72 "core" B +2 ."da"PBV.dial :waste1 + "processing"%u  +33 "core" +2 "processing"%% +4 "core" %&\  +2 ."da"PS.seek 1.85ml + "processing"%n' +232 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%} * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%x'ؾ +1965 "core" ' +2 ."da"delay 2 seconds +201 .delay 8:00 +14353 "Can" j\ b_ +2757 ."WCR"CBV.dial :waste2b + "collection"'z  +29 "core"  +2 ."WCR"CS.reconfigure :default +2 "collection"'#P d@b +3 ."WCR"CS.seek 0ml + "collection"''i +414 "core" ' +2 ."WCR"delay 1:00 +6002 .CTV.dial :air,avoiding: :intake +2 "collection"'  +135 "core" +2 #"WCR"Fix #2 of 2 (with RNAlater) for 10:00 + .CSV.dial CSR + "collection"'r  +55 "core"  +2 "collection"' % +4 "core" %k\ + #"WCR"Pulling 2ml of CSR.RNAlater + .CSR.select :RNAlater + "collection"' +10 ."WCR"CS.seek 2ml +2 "collection"'d'T +613 "core" ' +2 ."WCR"delay 5 seconds +502 .CSR.select :air +2 "collection"' +9 ."WCR"CS.reconfigure :fast +3 "collection"'#d @b +2 ."WCR"CS.seek 10ml + "collection"'' +2001 "core" ' +2 #"WCR"Pumping wcr puck from tube 2 up to 35psi... + .CBV.dial SSV +2 "collection"' @ +72 "core" > +52 "sampler")[% +3 "core" %ڃ b a \  +2 ."WCR"CBV.dial between CSV and waste2b +3 "collection"'  +87 "core"  + "collection"'% +4 "core" %\ +2 ."WCR"CSV.dial between air and CTV +2 "collection"'{ ` +55 "core" _ +2 ."WCR"CS.seek 7.227ml +2 "collection"'~'c +714 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 ."WCR"CSV.dial CTV +2 "collection"'  +2 'v  +29 "core"  +108  +2 ."WCR"CS.reconfigure :pressurize +2 "collection"'# d@<< b +3 ."WCR"CS.seek 0ml + "collection"' 'i +1460 "core" ' \ ǥ +3 ."WCR"delay 10:00 +18461 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 ."da"PSV.dial :air + "processing"%y  +58 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%#' +2451 "core" ' +2 ."da"PSV.dial :mixloop + "processing"% +41 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air + "processing"%j  +57 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%w +41 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%C  +58 "core" +2 ."da"PS.seek 0ml +2 "processing"%''ؾ +2373 "core" ' + #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%t +131 "core"  +2 "processing"%% +3 "core" %&\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash + "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%?' +608 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%+' +1609 "core" ' + ."da"PTV.dial :puck + "processing"%  +71 "core"  + ."da"PSV.dial PTV +2 "processing"% +86 "core" +2 ."da"PBV.dial :waste1 + "processing"%o  +35 "core" + "processing"%1% +4 "core" %$\  +2 ."da"PS.seek 1.5ml + "processing"%') +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%4 * +35 "core" , +2 ."da"PS.seek 0ml + "processing"%&'ؾ +1620 "core" ' +2 ."da"delay 2:00 +11909 "Can"h\ da +92 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%.  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%9 * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%2 +72 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%|' +2417 "core" ' + ."da"PSV.dial PTV +2 "processing"%7 +86 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%s +72 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%B +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%$  +86 "core"  +2 ."da"PS.seek 0ml +2 "processing"%F'ؾ +2371 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%) +134 "core"  +2 "processing"%% +4 "core" %ظ\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%-' +610 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%\ ' +1615 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%8 +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%(  +33 "core" + "processing"%=% +4 "core" %)\  +2 ."da"PS.seek 1.5ml +2 "processing"%6'* +591 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%D * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%A'ؾ +1347 ."WCR"CBV.dial :waste2b +2 "collection"'G  +29 "core"  +2 ."WCR"CS.reconfigure :default +3 "collection"'#P d@b +2 ."WCR"CS.seek 0ml + "collection"'5'i +227 "core" ' +2 ."da"delay 2:00 +267 "core" ' +2 ."WCR"delay 1:00 +6002 .CTV.dial :air,avoiding: :intake +2 "collection"'M  +134 "core" +5595 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%!  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 + "processing"%< * +34 "core" , +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2417 "core" ' + ."da"PSV.dial PTV +2 "processing"%3 +85 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%K +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%W  +86 "core"  +2 ."da"PS.seek 0ml + "processing"%"'ؾ +2342 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air + .PSV.dial PSR +2 "processing"%O +132 "core"  + "processing"%T% +4 "core" %y\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%b' +1617 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +74 "core" + ."da"PBV.dial :waste1 + "processing"%E  +34 "core" + "processing"%/% +4 "core" %\ +2 ."da"PS.seek 1.5ml + "processing"%^'1 +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%i * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%:'ؾ +1619 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%@  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%* * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%H +74 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%p' +2063 "Can"f\ he +343 "core" ' + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +49 "processing"%X +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%h +76 "core" + ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +74 "core"  +2 ."da"PS.seek 0ml + "processing"%Y'ؾ +2354 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%c +138 "core"  +2 "processing"%]% +11 "core" %ؼ\ Y +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +5 "processing"% +14 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +5 "processing"%S' +328 "core" ' + ."da"delay 5 seconds +502 "processing"%_% +3 "core" %*\ R +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%\\' +331 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml + "processing"%' +1616 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%` +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%;  +35 "core" + "processing"%q% +4 "core" %\ N \ +2 ."da"PS.seek 1.5ml +2 "processing"%I'* +586 "core" ' +2 ."da"delay 3 seconds +301 .PBV.dial between PSV and waste1 +2 "processing"%k * +34 "core" * +3 ."da"PS.seek 0ml + "processing"%g'ؾ +1617 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 + "processing"%J  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%, * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Q +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%' +2447 "core" ' + ."da"PSV.dial PTV +2 "processing"%a +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%P +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%N +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +77 "core"  +2 ."da"PS.seek 0ml + "processing"%'ؾ +2443 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%e +134 "core"  + "processing"%>% +4 "core" %ؿ!\ h + #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%' +2117 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck + .PSV.dial PTV +2 "processing"%m +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%V  +34 "core" +2 "processing"%L% +4 "core" %\ J +2 ."da"PS.seek 1.5ml + "processing"%u'( +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +36 "core" , + ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%}  +107 "core"  +2 ."da"PS.seek 0ml + "processing"%l'ؾ +1614 "core" ' + "processing"%n9 +3 "core" 9X)5z +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast + "processing"%z  +4 "core" 5z 5z +2 "processing"%Z& +3 "core" &^ .\ w2 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +3 "core" %  8 5   +2 "storage"(r% +4 "core" %\ \  \\\ Q + "storage"( . +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 + "storage"((C +355 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &B E\ O +2 "manipulator"&& +4 "core" &Ӛ# 7 7 =C + "manipulator"&[% +3 "core" %  7 3 >  +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&( +167 "core" ( + "manipulator"&& +4 "core" & / 5 $ n +2 "storage"({& +4 "core" &B\ \  \ z +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&' +92 "core" ' + "storage"(& +4 "core" &B i\ +2 ."da"SE.reconfigure :pick +2 "storage"(#],K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(v'r +253 "core" ' +2 "storage"(~- +3 "core" -'m + ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & . - n + "storage"(& +4 "core" &B l v 0\ + ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 + "manipulator"&y'8 +19 "core" ' + ."da"Elbow.hold +2 "manipulator"&x, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -'m +3 ."da"SE.seek 9.11 Pucks below Top Plate + "storage"(j'; +32 "core" ' + "manipulator"&w% +5 "core" %I . . + "storage"(C& +4 "core" &B x\ w + ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 317 counts + "manipulator"&#'u +13 "core" ' +2 "manipulator"&t& +4 "core" & 1 , y n + "storage"(& +4 "core" &B\ \  n\ S +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'' +15 "core" ' +2 ."da"SE.seek 10.11 Pucks below Top Plate +2 "storage"(?' +44 "core" ' +2 "manipulator"& & +4 "core" & / . n +2 "manipulator"&% +4 "core" % * , +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&o' +90 "core" ' +2 ."da"Elbow.seek PC + "manipulator"&1( +244 "core" ( + "manipulator"&+& +4 "core" &  0 ; +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +2 "core" & - + +2 ."da"Forearm.seek PC +2 "manipulator"&' +91 "core" ' + ."da"Hand.close + "manipulator"&./ +54 "core" / +2 ."da"PC.seek :open + "processing"%9( +459 "core" ( +2 "storage"(2& +4 "core" &B\ \  Y\ { + "manipulator"&&& +4 "core" & - / + "manipulator"&7% +4 "core" %  - ,  +44 ."da"Forearm.seek :retract +9 "manipulator"&s' +97 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&B( +258 "core" ( + "manipulator"&$& +4 "core" & 0  G K +2 "storage"(|& +3 "core" &B\ \  ^\ S +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&)' +93 "core" ' +2 ."da"Hand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(F- +4 "core" -' +2 ."da"SE.seek 9.76 Pucks below Top Plate + "storage"(-'x +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 8.8 Pucks below Top Plate + "storage"(8'' +49 "core" ' + #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da21dec2715h100ml.tif +1950 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +2913 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 45.005 seconds\ /var/log/esp/da21dec2715h100ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da21dec2715h100ml15s.tif +1565 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da21dec2715h100ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da21dec2715h100ml30s.tif +3069 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da21dec2715h100ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da21dec2715h100ml70s.tif +7185 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da21dec2715h100ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "45.005 sec auto-exposure",Subject: "da21dec2715h100ml images!" +2 "storage"((- +9 "core" -'' +2 "storage"(=& +5 "core" &B \ +2 "manipulator"&\ & +5 "core" & / 0 K +2 ."da"Elbow.seek 1 + "manipulator"&D( +75 "core" ( +2 "manipulator"&6& +5 "core" & 2 7 Q +2 "storage"(G& +4 "core" &B )\ +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"& ' +3 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 9.51 Pucks below Top Plate + "storage"(M' +50 "core" ' + "manipulator"&!& +5 "core" & - - Q + "storage"(<& +4 "core" &B + 0 :\ +2 ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&'8 +19 "core" ' + ."da"Elbow.hold +2 "manipulator"&A, +4 "core" , + ."da"Elbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 9.7 Pucks below Top Plate +2 "storage"(3'@ +20 "core" ' + "manipulator"&% +5 "core" %> - .  + "storage"(K& +4 "core" &B  1\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 306 counts +3 "manipulator"&W'j +15 "core" ' + "manipulator"&& +4 "core" & + 2 Q +2 "storage"(O& +4 "core" &B / .\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&T' +16 "core" ' + "storage"("% +55 "core" %< = = !\ +2 ."downElevator"SE.seek :down +4 "storage"(' +99 (% +2 "core" %k4 * ' ~\ TW +2 "manipulator"&E% +4 "core" % - . +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&/' +85 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ' +2 "storage"(b& +8 "core" &B M H #\ +4 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "collection"'i& + "processing"%^& +7 "core" &\\}\ X + &\ +3 "manipulator"&@& +6 "core" & / / Q + "manipulator"&*% +4 "core" %  / .  +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&H(- +172 "core" ( + "manipulator"&:& +4 "core" &- 1  S s +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &- , / s +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&X'w +96 "core" ' +6 ."psFlush"Hand.close +3 "manipulator"&h/ +65 "core" / +4 "manipulator"&& +9 "core" &- - + % s +4 "manipulator"&p% +8 "core" % ω , . +4 ."psFlush"Forearm.seek :retract +2 "manipulator"&c' +94 "core" ' +4 ."psFlush"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 ."psFlush"Elbow.seek PC +4 "manipulator"&]( +122 "core" ( +4 "manipulator"&Y& +8 "core" & , -  +2 ."psFlush"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &_& +10 "core" & - +  +4 ."psFlush"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 ."psFlush"Forearm.seek PC +2 "manipulator"&S' +98 "core" ' +4 "manipulator"&\\& +8 "core" & - -  +4 "manipulator"&`% +6 "core" % - - ? +5 "processing"%;& +10 "core" &\ +4 "processing"%q& +10 "core" &\ +10 ."psFlush"PC.seek :closed +5 "processing"%(^ +6 "core" &\ +5 &\ + &t\ 2 +8 &6Ez,\ 1 +9 &\\pZ\ E +8 &ix\ P +10 &]t\ P +10 &|\\i\ P +8 &>__\ P +11 &Zm\ P +9 &Zm\ P +8 &Zk\ P +11 &FZj\ P +10 &!Za\ P +7 &"Zb\ P +11 &$[c\ P +8 &&O[f\ O +11 &(]d\ O +10 &)\\a\ O +8 &+[c\ O +10 &-W\\W\ O +8 &/[J\ P +10 &0ZQ\ P +10 &2]T\ P +8 &4_WU\ O +11 &6 _R\ P +9 &7_C\ O +8 &9]O\ O +11 &;f_E\ P +8 &=(ZB\ P +12 &>]H\ P +8 &@]D\ P +8 &BleE\ P +11 &D'u>\ S +9 &EC\ V +8 &G5\ U +12 &Ie8\ U +7 &K&8\ V +9 &L1\ V +11 &N5\ W +8 &Ph:\ W +11 &R*:\ W +9 &S:\ W +8 &U5\ V +11 &Wo-\ X +7 &Y22\ W +10 &Z-\ W +11 &\\*\ X +8 &^/`~%\ 0 +13 &^~'\ @ +6 ( +2 &^' \ 6 +4 "processing"%q& +9 "core" &^'"\ 6 +6 #"psFlush"Processing Clamp onSpring/offSpring for 14/25 samples, on/off torque 1.62 +2 "processing"%k& +8 "core" &^'!\ 6 +2 ."psFlush"Hand.open +4 "manipulator"&I1 +53 "core" 1 +4 "manipulator"&J% +8 "core" % . 0 ? +3 ."psFlush"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 ."psFlush"Forearm.seek :retract +2 "manipulator"&,' +94 "core" ' +2 ."psFlush"PSR.select :air +110 #"WCR"Storing wcr puck in Collection Clamp to tube 1 +4 "manipulator"&Q% +4 ."psFlush"PSV.dial PSR +15 "processing"%g +8 "core" %  - -  +3 "storage"(a% +7 "core" % %\  +4 "storage"(P. +6 "core" .(C +4 "storage"(N& +8 "core" &B \ +2 "storage"(& +11 "core"  + &B 9 ? Y\ +4 "processing"%% +4 "manipulator"&e& +14 "core" %ؾ\ +2 & - *  +4 #"psFlush"Pulling 0.5ml of PSR.flush +4 "manipulator"&>% +2 ."psFlush"PSR.select :flush +10 "processing"%@ +8 "core" %  0 /  +4 ."WCR"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 ."WCR"Elbow.seek 1 +4 "manipulator"&( +8 ."psFlush"PS.seek 0.5ml +2 "processing"%m' +238 "core" ( +2 "manipulator"&V& +8 "core" & . 5 4 +4 "storage"(L& +14 "core" &B & ' h\ +4 ."WCR"Forearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 ."WCR"Forearm.seek 1 + 450 counts +4 "manipulator"&' +108 "core" ' +4 "storage"(& +8 "core" &B @ I N\ +4 ."WCR"SE.reconfigure :pick +4 "storage"(#],K-0-\ b +6 ."WCR"SE.seek :beamBreak +4 "storage"(}'r +167 "core" ' +2 ."psFlush"delay 5 seconds +76 "core" ' +2 "storage"(u- +8 "core" -' +2 ."WCR"SE.configure :default +6 "storage"(#QK-0-\ b +4 "manipulator"&n& +8 "core" & . . 4 +2 "storage"(z& +7 "core" &B L K \ +4 ."WCR"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +4 ."WCR"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 ."WCR"Forearm.seek 1 +4 "manipulator"&Z'8 +23 "core" ' +4 ."WCR"Elbow.hold +3 "manipulator"&, +8 "core" , +3 ."WCR"Elbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +4 "storage"(r- +7 "core" -' +7 ."WCR"SE.seek 10.1 Pucks below Top Plate +4 "storage"( ' +39 "core" ' +2 "manipulator"&U% +11 "core" %3 5 7 + "storage"(d& +4 "core" &B ( ) l\ +2 ."WCR"Forearm.force -20 + "manipulator"&5 +3 ."WCR"Forearm.seek 1 + 295 counts + "manipulator"&'_ +20 "core" ' + "manipulator"&[& +4 "core" & . 0 4 +2 "storage"(& +4 "core" &B : ? L\ +2 ."WCR"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."WCR"Forearm.seek 1 + 450 counts +2 "manipulator"&{' +16 "core" ' +4 ."WCR"SE.seek 11.1 Pucks below Top Plate +6 "storage"(' +41 "core" ' +4 "manipulator"&%& +8 "core" & - / 4 +4 "manipulator"&% +8 "core" % - - +4 ."WCR"Forearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 ."WCR"Forearm.seek :retract +2 "manipulator"&~' +89 ."psFlush"PSR.select :air +4 "processing"% +4 "core" ' +2 ."WCR"Elbow.seek CC +8 "manipulator"& (ӂ +10 ."psFlush"PS.seek 2.5ml +2 "processing"%' +146 "core" ( +4 "manipulator"&& +8 "core" &ӓ% . + >M +2 ."WCR"Elbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +2 &w& +8 "core" &ӓ% 4 ) >M +4 ."WCR"Forearm.seek CC +4 "manipulator"&C'? +95 "core" ' +2 ."WCR"Hand.close +4 "manipulator"&t/ +64 "core" / +4 ."WCR"CC.seek :open +5 "collection"'( +452 "core" ( +2 "storage"( & +8 "core" &B ' ' ~\ +5 "storage"(& +7 "core" &B , 8 u\ +9 "manipulator"&& +7 "core" &Ӕ% 7 8 >L +3 "manipulator"&% +10 "core" % L 4 * 9 0 +4 ."WCR"Forearm.seek :retract +2 "manipulator"&v' +96 "core" ' +4 ."WCR"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 ."WCR"Elbow.seek 1 +2 "manipulator"&y( +169 "core" ( +4 "manipulator"&#& +8 "core" & 0 / ~ +4 "storage"(j& +6 "core" &B I K I\ +4 ."WCR"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 ."WCR"Forearm.seek 1 +3 "manipulator"&''8 +100 "core" ' +2 ."WCR"Elbow.hold +4 "manipulator"&+, +6 "core" , +3 ."WCR"Elbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 ."WCR"Hand.open +2 "manipulator"&41 +62 "core" 1 +6 "manipulator"&x% +9 "core" % 3 / - +3 "storage"(.& +8 "core" &B C B 2\ +2 ."WCR"Forearm.force -20 +2 "manipulator"&5 +6 ."WCR"Forearm.seek 1 + 295 counts +2 "manipulator"&o'_ +15 "core" ' +4 "manipulator"&0& +8 "core" & , , - ~ +2 "storage"(2& +8 "core" &B o m /\ +11 ."WCR"Forearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 ."WCR"Forearm.seek 1 + 450 counts +4 "manipulator"&&' +18 "core" ' +2 "storage"(7% +12 "core" % n o N\ +4 ."downElevator"SE.seek :down +6 "storage"(' +100 ($% +4 "core" %* e m @\ ST +4 "manipulator"&|% +8 "core" % - , +4 ."WCR"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 ."WCR"Forearm.seek :retract +7 "manipulator"&1' +61 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +26 "core" ' +4 #tStarting finalPurge +377 "core" ' +4 ."psFlush"delay 1 second +105 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +187 "core" A +2 ."psFlush"PTV.dial :PRVmixing +4 "processing"%F  +131 "core" +3 ."psFlush"PSV.dial :mixloop +3 "processing"%s +102 "core" +15 ."psFlush"PS.seek :empty +2 "processing"%?'ؠ +1040 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +967 #"uploadLog"upsync +633 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"%- +102 "core"  +2 "processing"%(% +4 "core" %؛\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%=' +589 "core" ' + ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%\ ' +2140 "core" ' +47 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%6  +34 "core" +2 ."psFlush"PTV.dial :mixing + "processing"%G @ +72 "core" A +2 ."psFlush"PSV.dial :mixloop + "processing"%! +104 "core" + ."psFlush"PS.seek :empty +2 "processing"%<'ؠ +563 "Can"f\ MJ +2065 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +114 "core" + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%K'X\\ +1122 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +1614 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%O +72 "core" + ."psFlush"PTV.dial :puck +2 "processing"%B  +72 "core"  + ."psFlush"PBV.dial :waste1 +3 .PS.seek 0ml + "processing"%"'ؾ +2639 "core" ' + ."psFlush"PSV.dial PSR + "processing"%) +74 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%8' +593 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%' +2117 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%E +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%D'ؾ +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%M @ +44 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%' +2637 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%b  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%i'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%^ +44 "core"  + ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%W' +2632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%@ +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%*'ؾ +2651 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%3 @ +57 "core" @ +2 ."psFlush"PS.seek 2.5ml + "processing"%T' +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%:  +74 "core"  +2 ."psFlush"PS.seek 0ml + "processing"% 'ؾ +2629 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +44 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%A'X\\ +1098 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml + "processing"%h' +1618 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +69 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%p  +52 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%/'ؾ +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%Y +73 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%_' +606 "core" ' +2 ."psFlush"PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%X' +2124 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%\\ +73 "core" +2 ."psFlush"PBV.dial PSV + "processing"%` U +54 "core" V +2 ."psFlush"PS.seek 0ml + "processing"%;'ؾ +2632 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%H @ +44 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%c' +2631 "core" ' + ."psFlush"PSV.dial :waste1 + "processing"%9  +73 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%k'ؾ +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%I +44 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%J' +2639 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%Q +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%q'ؾ +2653 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%a @ +42 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%P' +2635 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%N  +83 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%'ؾ +2632 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'g& +4 "core" &)\ + "manipulator"&e& +4 "core" & . / ~ + "manipulator"&% +4 "core" %  & *  +2 .tElbow.seek PC + "manipulator"&S( +240 "core" ( +2 "manipulator"&>& +4 "core" & /   ) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" & , / ) +2 .tForearm.seek PC + "manipulator"&L' +91 "core" ' + .tHand.close + "manipulator"&]/ +65 "core" / +2 .tPC.seek :open + "processing"%l( +459 "core" ( + "manipulator"&& +4 "core" & . 0 & +2 "manipulator"&,% +3 "core" % * .  +2 .tForearm.seek :retract + "manipulator"&u' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&n(ӂ +353 "core" ( +2 "manipulator"&z& +4 "core" &Ӑ& = $ Z ?T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &Ӑ& 0 5 r ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&U'? +103 "core" ' + "manipulator"&d& +4 "core" &Ӑ& % 1 - ?T +2 "manipulator"&[% +3 "core" %) 7 3 f * +40 "collection"'& +10 "core" &9\ +2 "collection"'%& +5 "core" &7\ +2 .tCC.seek :closed + "collection"'(\\ +4 "core" &5\  +9 &1{6\ *y +9 &d3\ > +10 &tv:\ N +9 &7VC\ M +9 &Y9\ M +10 &Y;\ N +9 &~W9\ M +9 &?YA\ M +10 &W3\ M +9 &WC\ M +10 & XH\ M +9 &"GW8\ M +9 &$ Y9\ M +10 &%XC\ M +9 &'W8\ M +9 &)PX:\ M +10 &+W8\ M +9 &,W<\ L +10 &.Y1\ M +9 &0YWC\ M +9 &2VC\ M +10 &3Y:\ M +9 &5V7\ L +9 &7`X3\ M +10 &9#W<\ M +9 &:X>\ L +10 &<YG\ M +9 &>hXN\ M +9 &@+YT\ M +10 &AYV\ M +9 &C`U\ N +9 &EguS\ P +10 &GP\ T +9 &HX\ X +10 &JU\ Y +9 &LSY\ Z +9 &NX\ Z +10 &OX\ Z +9 &QV\ Z +9 &SVX\ [ +10 &UX\ \\ +9 &VW\ \\ +10 &XW\ ] +9 &ZWT\ ^ +9 &[xW\ @ +10 &\\%\\\ / +9 &\\Y\ \\ +2 ( +2 "collection"'%& +3 #tCollection Clamp onSpring/offSpring for 13/26 samples, on/off torque 2.32 + "collection"'& +3 "core" &\\b\ \\ +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&}% +4 "core" % ) : ; B * + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z' +93 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'& +4 "core" &\\X\ \\ + "collection"' % +4 "core" %k`\ + .tCSV.dial CSR +2 "collection"'  +41 "core"  + "collection"'w% +4 "core" %k[\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'{'s5 +823 "Can"*c\ b_ +557 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +8 '% +3 "core" %s5^\ +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml + "collection"'m' +676 "core" ' +2 .tCSV.dial :waste + "collection"'t +126 "core" + .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'~'i +1989 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'R& +4 "core" &\\~x\ \\ + "collection"' % +4 "core" %it\ + .tCSV.dial :flush +2 "collection"'  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 5ml + "collection"''s5 +1286 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +41 "core" B +2 "collection"'#% +4 "core" %s6O\ +2 .tCS.seek 7ml + "collection"'j'! +555 "core" ' +3 ."connect"CSV.dial CTV +2 .tCTV.dial CSV +3 "collection"'C  + '  +41 "core"  +96  + .tCBV.dial :waste1 + "collection"'4 @ +73 "core" A +2 .tCS.seek 0ml + "collection"'x'i +1678 "core" ' + #tFlushing lower manifold's waste2 port + "collection"'.& +4 "core" &\\~X\ \\ +2 "collection"'0% +3 "core" %e^\ +2 .tCSV.dial :flush + "collection"'2  +72 "core" +2 .tCS.seek 5ml + "collection"'v's5 +1292 "core" ' +2 .tdelay 5 seconds +501 .CSV.dial :air +2 "collection"'7 @ +44 "core" B + "collection"'y% +4 "core" %s9;\ +2 .tCS.seek 7.001ml + "collection"'$'$ +552 "core" ' +2 ."connect"CSV.dial CTV +2 "collection"'|  +3 .tCTV.dial CSV +39 "core"  +3 .tCBV.dial :waste2 +2 "collection"''  +103 "core"  +2 .tCS.seek 0ml + "collection"'o'i +1669 "core" ' + #tFlushing lower manifold's waste2b port + "collection"'& +4 "core" &\\>\ \\ +2 "collection"'&% +4 "core" %l>\ + .tCSV.dial :flush +2 "collection"'  +70 "core" +5 .tCS.seek 5ml + "collection"''s5 +1266 "core" ' +2 .tdelay 5 seconds +503 .CSV.dial :air +3 "collection"'F @ +44 "core" B +2 "collection"'s% +4 "core" %s;7\  +2 .tCS.seek 7.001ml + "collection"''& +557 "core" ' + ."connect"CSV.dial CTV +2 "collection"'-  +3 .tCTV.dial CSV +40 "core"  +2 .tCBV.dial :waste2b +4 "collection"'(  +102 "core"  +3 .tCS.seek 0ml + "collection"'?'i +1679 "core" ' + #tDisinfecting external Intake with kill + "collection"'=& +4 "core" &\\6\ \\ +2 "collection"'6% +3 "core" %i8\ +2 .tCSV.dial CSR + "collection"'G  +53 "core"  +2 "collection"'!% +4 "core" %i2\ + #tPulling 8ml of CSR.kill + .CSR.select :kill + "collection"' +10 .tCS.seek 8ml + "collection"'\ ' +1994 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'' +562 "core" ' +2 ."connect"CSV.dial CBV +2 .tCBV.dial CSV +3 "collection"'< 'K  +45 "core"  +59 +2 .tCTV.dial :intake + "collection"'O  +75 "core" +2 .tIntake.select :open + "sampler") +9 .tCS.seek 2ml + "collection"'B'T +1914 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air + "collection"'  +75 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"')'i +595 "core" ' +2 .tCSV.dial CSR + "collection"'"  +99 "core"  + "collection"'8% +4 "core" %g'\ +2 #tPulling 5ml of CSR.flush .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"'E's5 +1375 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml + "collection"' ' +1362 "core" ' +2 .tCSV.dial CBV + "collection"' +110 "core" ~ +2 .tCS.seek 0ml + "collection"'M'i +2644 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&D& +4 "core" &ӑ& 9 ; ~ ?S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&b(ӂ +31 "core" ( +2 "manipulator"&& +4 "core" &Ӄ\ 2  g "z + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &Ӄ\ ) * "z +2 .tForearm.seek CC + "manipulator"&i'? +96 "core" ' + .tHand.close + "manipulator"&@/ +63 "core" / +2 .tCC.seek :open + "collection"'W( +450 "core" ( + "manipulator"&3& +4 "core" &Ӄ - / "z + "manipulator"&*% +4 "core" % : / 0 +2 .tForearm.seek :retract + "manipulator"&:' +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +45 .tElbow.seek :garage +4 "manipulator"&T(- +286 "core" ( +2 "manipulator"&& +4 "core" &- -   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +18 "core" &- * 0  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&A'w +91 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&p% +4 "core" % s " G ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h' +90 "core" ' +2 #tCompleted [initialPurge; da [100, 100] #da and wsr are run simultanelously] begun 13:43:13 +4 #Asleep after completing DA_WCR_122621 assays +2 ."Qmail"GoodNews.email "{1 => 12,\\n 2 => 21,\\n 3 => 33,\\n 4 => 33,\\n 5 => 33,\\n 6 => 33,\\n 7 => 31}\\nCTD data unavailable\\nCan@15:32:29, 18% flow, 16.5C, 36% humidity, 14.7psia, 13.593V, 0.514A, 0.496A avg, 6.99W\\nSampled 100.0ml",Subject: "Asleep after completing DA_WCR_122621 assays" +3515 #tUploading Logs